| 释义 |
{{Unreferenced|date=December 2009}} Sense-Plan-Act was the predominant robot control methodology through 1985. - Sense - gather information using the sensors
- Plan - create a world model using all the information, and plan the next move
- 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 {{Robo-stub}} 1 : Robot architectures |