-```
- parallel +----------+ +----------+ +----------+
- stateless | sensor_1 | | sensor_2 | ... | sensor_n |
- collectors +----------+ +----------+ +----------+
- | | |
- data data data
- | | |
- V V V
- serial +-----------------------------------------+
- stateful | controller |
- observer +-----------------------------------------+
- |
- decisions
- |
- V
- serial +-----------------------------------------+
- stateless | actuator |
- executor +-----------------------------------------+
- |
- system commands
- |
- V
- ~~~~~~
- ~ OS ~
- ~~~~~~
-```