This paper presents an operational framework to bridge the gap between planning with uncertainty and real-time sensor-based motion control. The environment being known, a planner produces a plan composed of free space and sensor-based motion commands. The representations of uncertainty and its evolution, environment landmarks, and actions generated at the planning level are discussed. Sensor-based actions and command definitions for a nonholonomic mobile robot based on a Task-Potential eld approach are developed. These various elements are integrated in a system that actually generates the motions of the Hilare2 mobile robot.