Dynamic Epistemic Logic (DEL) can be used as a formalism for agents to represent the mental states of other agents: their beliefs and knowledge, and potentially even their plans and goals. Hence, the logic can be used as a formalism to give agents, e.g. robots, a Theory of Mind, allowing them to take the perspective of other agents. In my research, I have combined DEL with techniques from automated planning in order to describe a theory of what I call Epistemic Planning: planning where agents explicitly reason about the mental states of others. The talk will introduce epistemic planning based on DEL, address issues of computational complexity, and demonstrate applications in cognitive robotics and human-robot collaboration.