1 Introduction. - 1. 1 Motivation. - 1. 2 Contributions. - 1. 3 Contents of Chapters. - 2 Perception and Action. - 2. 1 The Situated Robot and its Environment. - 2. 2 Defining State and State Update. - 2. 3 Comparison to other Conventional Approaches. - 2. 4 Conclusion. - 3 Formalizing Incomplete Information. - 3. 1 Sources of Incomplete Information. - 3. 2 Representing Incomplete Information. - 3. 3 State-Set Tracking: Execution Monitoring. - 3. 4 Related Work. - 4 Goal-Directed Control Systems. - 4. 1 Defining a Problem Instance. - 4. 2 Advance Planning Control Systems. - 4. 3 Related Work. - 5 Interleaving Planning and Execution. - 5. 1 Introduction: Interleaving. - 5. 2 Premature Search Termination. - 5. 3 Experimental Results. - 5. 4 Related Work. - 6 Using Assumptions to Oversimplify. - 6. 1 Introduction. - 6. 2 Assumptions. - 6. 3 Assumptive Control Systems. - 6. 4 Continuous Selection Algorithm. - 6. 5 The Cost of Assumptions. - 6. 6 Large-scale Real-World Experimental Results. - 6. 7 Related Work. - 6. 8 Conclusion. - 7 Strategic Subgoaling: Using Abstraction Systems. - 7. 1 Introduction. - 7. 2 Problem Spaces. - 7. 3 Abstraction. - 7. 4 Examples of Abstraction Systems and their Cost. - 7. 5 Related Work and Discussion. - 8 Generalizing beyond State Sets>. - 8. 1 Introduction. - 8. 2 Representation Examples. - 8. 3 Conclusion. - 9 Conclusions. Language: English