Reasoning about Noisy Sensors and Effectors in the Situation Calculus. Bacchus, F., Halpern, J. Y., & Levesque, H. J. Artif. Intell., 111(1-2):171-208, 1999.
Reasoning about Noisy Sensors and Effectors in the Situation Calculus [link]Paper  bibtex   
@article{DBLP:journals/ai/BacchusHL99,
	author = {Fahiem Bacchus and Joseph Y. Halpern and Hector J. Levesque},
	title = {Reasoning about Noisy Sensors and Effectors in the Situation Calculus},
        area = {Planning (including under Uncertainty)},
	journal = {Artif. Intell.},
	volume = {111},
	number = {1-2},
	year = {1999},
	pages = {171-208},
	url = {http://dx.doi.org/10.1016/S0004-3702(99)00031-4},
	bibsource = {DBLP http://dblp.uni-trier.de}
}

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