I solved by using GetCurrentlyPerceivedActors method which detects all the actor in the radius and on passing nullptr it will select actors for all senses.
void AAIController::SenseAllActors(const TArray<AActor*>& detectedActors)
{
UE_LOG(LogTemp, Warning, TEXT("I am sensing"));
TArray<AActor*> sensedActors;
AIPerception->GetCurrentlyPerceivedActors(nullptr, sensedActors);
}