arm navigation plan arround unknown space?

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Can the arm navigation package be used to plan around unknown space? For instance, if the collision map only knows what is in front of the robot arm. And it wants to rotate to left or right but does not know if there is an obstacle there or not? It should then stop.

I can't find a setting for this. Is it possible? I have read something about FCL and moveit but I could not find any documentation about this combination. http://www.willowgarage.com/blog/2012/10/09/advancements-flexible-collision-checking-library-fcl?page=35