Architecture

                                    +--------------------------+
                                    |Web Browser               |
                                    |                          |
                         +----------+   Web App (JavaScript)   |
                         |          |                          |
                         | +--------+                          |
                         | |        +--------------+-----------+
+------+    +------+     | |                       |
|Camera|    |Camera|     | |                       |
+-----++    +---+--+     | |                       |
      |         |        | |     +----------------------------------+
     ++---------+-----+  | |     |Raspberry PI     |                |
     |Raspberry PI    +--+ |     |                 |                |
     |                |    |     |  +--------------+-------------+  |
     |  Vision (C++)  |    |     |  |                            |  |
     |                +-------+  |  |     Agent (Javascript)     |  |
     +----------------+    |  |  |  |                            |  |
                           |  |  |  +--------------+-------------+  |
     +----------------+    |  |  |                 |                |
     |Raspberry PI    +----+  |  |  +--------------+-------------+  |
     |                |       +-----+                            |  |
     |  Vision (C++)  |          |  |        System (C++)        |  |
     |                +-------------+                            |  |       +------+
     ++---------+-----+          |  +----+------------------+----+  |   +---+Sensor|
      |         |                |       |                  |       |   |   +------+
+-----++    +---+--+             +----------------------------------+   |
|Camera|    |Camera|                     |                  |           |    +-----+
+------+    +------+        +------------+-------+   +------+-----------+-+  |Motor|
                            |Arduino             |   |Arduino             +--------+
                            |                    |   |                    |
              +----------+  |  Controller (C++)  |   |  Controller (C++)  |  +-----+
              |Hydrophone+--+                    |   |                    +--+Motor|
              +----------+  ++-------+---------+-+   +----+-------+------++  +-----+
                             |       |         |          |       |      |
                  +----------+  +----+-----+  ++-----+  +-+-+  +--+--+  ++----+
                  |Hydrophone|  |Hydrophone|  |Sensor|  |IMU|  |Motor|  |Motor|
                  +----------+  +----------+  +------+  +---+  +-----+  +-----+