this paper, we combine these two ideas and demonstrate their power by presenting an interpreter, written in Prolog, for a variant of Golog that is suitable for eciently operating in open-world setting by exploiting sensing and bounded lookahead. Categories and Subject Descriptors: I.2.8 [Articial Intelligence]: Problem Solving, Control Methods, and Search|Plan execution, formation, and generation; I.2.3 [Articial Intelligence]: Deduction and Theorem Proving|Logic Programming General Terms:...