Description: In a partially observable environment, robot collects information from the world through its sensors, and takes actions following its plan to change the world and achieve some goal. The sensors determine what information is observed by the robot, while the plan determines how the robot will react to different observations. Both are critical for the robot to examine whether it can perform some specific task. In this project, we incorporate the task domain knowledge, sensor technology or fabrication constraints, and build search algorithms to find plans and sensor designs jointly for some planning problem, if and only if they exist.