This research proposes an efficient, continuous-operation strategy for real-world applications, such as agricultural monitoring, wildfire management, and beyond, using a multi-layered control framework. The framework is currently organized into two layers (with a third layer planned for future work):

1. Task Allocation Layer: Assigns robots to the most suitable areas by leveraging local sensor data.

2. Motion Control Layer: Governs robot movements to guarantee safe operation.

3. Fault-tolerance Layer: Maintain the whole system from failure, and reconfigure the allocation strategy. (Future plan)

This research proposes a motion control strategy to search for a potential hazard source by mimicking animal intelligence. 

Here we make the vehicle move by itself!