say a little bit about planning so I think generally we we have a bunch of knowledge of the environment it's all uncertain there's no guarantees about anything because you know we're not sure if we saw the thin branch where we think we know where we are there's uncertainty about all these things we try to reason about that and the best way possible in the end like we have some measurements and we need a policy that decides what the propeller should do such that the drone accomplishes our goals you know some of which are are