As famousactress may have been alluding to, this is equivalent to the well understood problem of robot localization in dynamic environments. If my robot has a

As famousactress may have been alluding to, this is equivalent to the well understood problem of robot localization in dynamic environments. If my robot has a map of the building and it thinks it knows where it is, will it get confused if someone walks in front of it? Not if I reserve some probability mass for the possibility of seeing an obstacle at any distance (in the range of the sensor). For some background, see these slides (PPTX): http://pub1.willowgarage.com/~konolige/cs225B/slides/09-sensor_model.pptx http://pub1.willowgarage.com/~konolige/cs225B/slides/09-sens... (via http://pr.willowgarage.com/wiki/CS225B/Handouts http://pr.willowgarage.com/wiki/CS225B/Handouts)