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 * v * t * e
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