PMC

The concurrent logic of our system: moving from learning (gray box) to on-line mode (white box) stimulates a shift from the sequential to the concurrent mode. The darkest box run in the concurrent mode represents the lightweight supervisor thread.

Experiment to switch the autonomous mode to supervisor mode using different charging currents.

Schematic diagram of the data receiver/transmitter module or “master.” Receiver mode: missing people file from the supervisor module ( (A)). Transmitter mode: people found by the slave modules sent to the supervisor module and the missing people file sent to the slave modules ( (B,C)). Figure taken and adapted from Polanco et al. [].

Schematic diagram of the data receiver/transmitter module or “supervisor”. Receiver mode: file of people found by the master modules ( (A)). Transmitter mode: missing people file sent to the master modules ( (B)). Figure taken and adapted from Polanco et al. [].