Beliefs  my_pos, ID, micromanager, AOI
  while  AOI not scanned  do
    Perform  scan_AOI
    
    if  next_pos = object/event  then
    Perform  avoid  next_pos
    Perform  report object/event to micromanager
    else
     Perform  move to  next_pos
   end if
   Update  Beliefs
  end while
Algorithm 3: Sensing agent BDI model.