Sense-Plan-Act was the predominate 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.
Famous quotes containing the words sense, plan and/or act:
“No: until I want the protection of Massachusetts to be extended to me in some distant Southern port, where my liberty is endangered, or until I am bent solely on building up an estate at home by peaceful enterprise, I can afford to refuse allegiance to Massachusetts, and her right to my property and life. It costs me less in every sense to incur the penalty of disobedience to the State than it would to obey. I should feel as if I were worth less in that case.”
—Henry David Thoreau (1817–1862)
“He fashions evil for himself who does evil to another, and an evil plan does mischief to the planner.”
—Hesiod (c. 8th century B.C.)
“But the whim we have of happiness is somewhat thus. By certain valuations, and averages, of our own striking, we come upon some sort of average terrestrial lot; this we fancy belongs to us by nature, and of indefeasible rights. It is simple payment of our wages, of our deserts; requires neither thanks nor complaint.... Foolish soul! What act of legislature was there that thou shouldst be happy? A little while ago thou hadst no right to be at all.”
—Thomas Carlyle (1795–1881)