 <b> Satisfying Universally Quantified Goals: </b> Goals of the form   ``Move all widgets to the warehouse'' or ``Make all files in  /tex   write protected'' are common in real world domains. Classical planners such as PRODIGY or <a href="http://www.cs.washington.edu/research/projects/ai/www/ucpop.html">UCPOP</a> satisfy universally quantified goals by computing the set of ground instances of the goal.  But how can a planner compute this set in the absence of complete information?  Sometimes it may have to sense <i>which</i> widgets or <i>which</i> files are present before generating its plan.  <li>
