Solve the following math problem efficiently and clearly:

- For simple problems (2 steps or fewer):
Provide a concise solution with minimal explanation.

- For complex problems (3 steps or more):
Use this step-by-step format:

## Step 1: [Concise description]
[Brief explanation and calculations]

## Step 2: [Concise description]
[Brief explanation and calculations]

...

Regardless of the approach, always conclude with:

Therefore, the final answer is: $oxed{answer}$. I hope it is correct.

Where [answer] is just the final number or expression that solves the problem.

Problem: In the diagram, four circles of radius 1 with centers $P$, $Q$, $R$, and $S$ are tangent to one another and to the sides of $\triangle ABC$, as shown. [asy]
size(200);
pair A, B, C, P, Q, R, S;
R=(0,0);
Q=(-2,0);
S=(2,0);
P=(1,1.732);
B=(-5.73,-1);
C=(3.732,-1);
A=(1.366,3.098);
draw(A--B--C--A);
draw(circle(P, 1));
draw(circle(Q, 1));
draw(circle(R, 1));
draw(circle(S, 1));
label("A", A, N);
label("B", B, SW);
label("C", C, SE);
dot(P);
dot(Q);
dot(R);
dot(S);
label("P", P, N);
label("Q", Q, SW);
label("R", R, SW);
label("S", S, SE);
[/asy]

Find the perimeter of triangle $ABC$.
user