Is there any paper earlier than Brooks' "A Robust Layered Control System For A Mobile Robot" (1986) about the sense-plan-act paradigm from robotics?

Dear all, I am looking for the oldest publication describing the sense-plan-act paradigm known from robotics. The earliest paper I managed to find so far was Brooks' "A Robust Layered Control...

09 March 2016 4,986 4 View