We present a qualitative model for reasoning about perceptions, sensors, and belief, and a logic to reason about this mdoel. Basic to our model is a distinction between precision and accuracy, for both of which we provide qualitative definitions. In our logic this distinction gives rise to two modal operators--P for actual perception, and C_p for perceptual capability, which is captured as a set of possible percepts. Adding to these operators the standard B operator to mdoel belief, we end up with a logic combining standard Kripke-style semantics with the almost-standard 'neighbor-hood semantics.' We define various agent types in the logic, from agents who believe all and only what the sensors tell them, to much more skeptical agents. We define each agent both axiomatially and model-theoretically, and provide soundness and completeness resutls relating the two types of definitions.
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