---
title: "SSD-01 | UC-01: Perform Normal Cleaning"
---
sequenceDiagram
    actor RVC as RVC System
    participant SYS as :RVC Controller SW

    RVC->>SYS: startCleaning()
    activate SYS

    loop No obstacle / dust event
        SYS->>SYS: pollSensors()
        SYS->>SYS: moveForward()
        SYS->>SYS: clean(powerLevel: NORMAL)
    end

    deactivate SYS
