\section{Robot architecture}
\subsection{Mapping of the sensors and actuators}
The actuators are all plugged into the master brick to achieve the maximum
safety in case the \emph{Bluetooth} connection fails between the master and the
slave and one of the actuators is moving. All the safety-critical sensors for
movement are placed on the master brick too. All other sensors are placed on
the slave brick. Any increased latency on those sensors will not danger the
safety. The final mapping is described in \autoref{tab:mapping}.

\begin{table}[H]
	\centering
	\begin{tabular}{lll}
		\toprule
			& Master Brick & Slave Brick\\
		\midrule
		\multirow{2}{*}{Actuators} & Left motor\\
			& Right motor & \\
			& Measurement motor\\
		\midrule
		\multirow{4}{*}{Sensors} & Left light sensor & Color sensor\\
			& Right light sensor & Front ultrasone sensor\\
			& Back ultrasone sensor & Left touch sensor\\
			& Gyro sensor & Right touch sensor\\
		\bottomrule
	\end{tabular}
	\caption{Proposed mapping of the sensors and actuators}\label{tab:mapping}
\end{table}

\subsection{Design patterns}
