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# Long description

At the bottom of this diagram is a narrow irregular horizontal shape representing the environment. Above it are three boxes, with the first one on the left, the third one on the right and the second one above and centred on the other two. The first box is labelled ‘Sensing’, the second box is labelled ‘Logic – reasoning, planning and control’, and the third box is labelled ‘Actuation’. Arrows connect the three boxes and the environment to form a continuous clockwise cycle from the environment to the sensing box to the logic box to the actuation box, and back to the environment again. This is the sensing–logic–actuation control cycle.