Loop

Sense–plan–act loop

You might say: autonomy loop, perception-action loop

The conventional autonomy cycle senses the world, estimates or perceives state, plans an action, commands actuators and senses the result.

What it does
It connects perception, planning and control into one repeated behavior loop.
Ask
How long from a change in the world to the robot's reaction, and where can stale data enter?

What to look for

  1. Sensor measurements
  2. Perceived state and planned action
  3. Actuator command
  4. Sensed result after motion

Loop: cycle

Sensors → Perception → State estimation → Planning → Control → Actuators ↺

Pattern

Cascade of loops

Sources

  1. Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, §11.1 Control System OverviewThe controller takes as input a desired motion from the user and sensor feedback from the robot.

Use it on your project

teardown-apply: hold "Sense–plan–act loop" (sense-plan-act) from the teardown at https://teardownatlas.com/robotics/ against my project

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