  The philosophical literature on a related topic, the logic of perception, has not been extensive; the main reference is  Hintikka 1970.[38]  But sensation is addressed in recent work in the AI literature which is concerned with developing logical frameworks for general-purpose applications in robotics. The main idea in this area is to add sensing actions to the repertoire of a planning formalism of the sort discussed in  Section 4.  The earliest work in this area was carried out in the 1980s by Robert Moore; see  Moore 1995b;  Moore 1985.  For some of the contemporary work in cognitive robotics, see  Baral et al. 2000,  Bacchus et al. 1999,  Golden &amp; Weld, 1996,  Pirri &amp; Finzi 1999,  and  Thielscher 2000.