\section{Proposal for mapping the sensors and actuators}
We propose to have the components that are the most safety-critical on a single
brick. In that way the robot can act upon a dangerous situation as quickly as
possible. The most safety critical sensors are both the light sensors and the
ultrasone sensor on the back since they detect if the robot almost falls of the
planet. The most safety critical motors are the motors for the movement since
they can prevent the robot from falling of the planet. The other actuators
and sensors can be placed in any configuration. The full mapping proposal is
described in \autoref{tab:mapping}.

\begin{table}[h]
	\centering
	\begin{tabular}{lll}
		\toprule
			& Brick $1$ & Brick $2$\\
		\midrule
		\multirow{2}{*}{Actuators} & Left motor & Measurement motor\\
			& Right 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}
