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|
              +----------+  +----------+  +------+  +---+  +-----+  +-----+