forever do
    update beliefs using sensors
    update actions based on current plans
    if( a plan, P, has succeeded )
      mark relevant goal, G, as achieved
      drop the intention to achieve G
    elseif( a plan, P, has failed )
      if( there is another plan, P2, that might achieve G )
        replace P with P2 in the intention to achieve G
      else
        mark relevant goal, G, as failed
    endif
    if( there is a new goal, G )
      if( there is a plan P that might achieve G )
        form an intention to achieve G, using plan P
      else mark G as failed
  end //forever do