= Sensorless planning
= Conformant planning
{synonym}
<Sensorless planning> chooses one action <sequence> that succeeds from every possible initial physical state without receiving distinguishing observations during execution. A <belief state> is a <set> of possibilities. For a deterministic <search transition model> $T$, an applicable action maps $B$ to $\{T(s,a):s\in B\}$; for nondeterministic outcomes, take the <union> of all possible successors. Applicability must hold for every member of $B$, and success requires the resulting <belief state> to be a <subset> of the physical goal <set>.
Every fixed action <sequence> preserves inclusion of the initial <belief states>. Consequently, a successful <plan> for $B$ also succeeds for every <subset> of $B$. Success on a <superset> is an additional requirement, so cannot be inferred from success on $B$ alone. This property supports <incremental belief-state search>.
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