  This paper describes an integrated solution to the problem of describing and
interpreting goals for robots in open uncertain domains. Given a formal
specification of a desired situation, in which objects are described only by
their properties, general-purpose planning and reasoning tools are used to
derive appropriate actions for a robot. These goals are carried out through an
online combination of hierarchical planning, state-estimation, and execution
that operates robustly in real robot domains with substantial occlusion and
sensing error.
