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In this paper, we propose a method for sensor planning for a mobile robot localization problem. We represent causal relation between local sensing results, actions, and belief of the global localization using a Bayesian network. Initially, the structure of the Bayesian network is learned from the complete data of the environment using K2 algorithm combined with GA (genetic algorithm). In the execution phase, when the robot is taking into account the trade-off between the sensing cost and the global localization belief, which is obtained by inference in the Bayesian network. We have validated the learning and planning algorithm by simulation experiments in an office environment.