# Sense Plan Act

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**Sense-Plan-Act**[1] was the predominant [robot](/source/Robot) control methodology through 1985.

1. [Sense](/source/Robotic_sensing) - gather information using the [sensors](/source/Sensor)
1. [Plan](/source/Motion_planning) - create a world model using all the information, and plan the next move
1. [Act](/source/Robot_control)

SPA is used in [iterations](/source/Iteration): After the acting phase, the sensing phase, and the entire cycle, is repeated.

## See also

- [OODA loop](/source/OODA_loop)
- [PDCA](/source/PDCA)
- [Continual improvement process](/source/Continual_improvement_process)

## References

1. ["Sense Plan Act"](https://www.cmu.edu/roboticsacademy/roboticscurriculum/VEX%20Curriculum/files/spa.pdf). *cmu.edu*. Carnegie Mellon Robotics Academy. Retrieved 26 July 2025.

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