Architecture: Figure out the general system level interactions

[nico-palmar]

At this point I should have a decent understanding of the configurations and interconnections.

There will be more parts at play than just the toy navigation tasks being done. Take a look back at the SAR missions, and draw out the high level picture of how behaviours will connect together to complete the task. Then more tasks can be delegated to other members - at least once I know how stuff can fit in together.