# UC-02 — Cruise forward while cleaning (SSD)

[← SSD index](../RVC_SSD_Index.md) · Source: `plantuml/UC02_system_sequence.puml`

**Frames:** `loop [cruise cycle until stop or other UC]` — `[typical]` · `[A1 dust boost concurrent]` · `[E1 stale or missing obstacle data]` → UC-08

![UC-02 system sequence](../plantuml/UC02_system_sequence.png)
