Conditional Routing in the procedures
if the step instruction said
“step 10: If any of the 3 sensors is dirty, go to step 15”
Step 11: Move to next check location
..
..
Step 14 : do A and B and C and hen skip to step 16
Step 15: follow these cleaning steps … first XXXXX, then YYYY etc .. finally ”
Step 16 : proceed normally



