Before revision:  To account for environmental and sensing uncertainty, we extend  Linear Temporal Logic (LTL) by including sensor-based predicates allowing us to incorporate uncertainty and probabilistic satisfaction requirements directly into the task specification.
After revision:  To account for environmental and sensing uncertainty, we extend Linear Temporal Logic (LTL) , called co-safe LTL, by including perception-based atomic predicates allowing us to incorporate uncertainty and probabilistic satisfaction requirements directly into the task specification.