Sense Plan Act

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Sense-Plan-Act was the predominant robot control methodology through 1985.

1. Sense - gather information using the sensors
2. Plan - create a world model using all the information, and plan the next move
3. Act

SPA is used in iterations: After the acting phase, the sensing phase, and the entire cycle, is repeated.

see also: OODA loop, PDCA, Continual improvement process