Before revision:  To achieve this, a Symbiotic Digital Architecture (SDA) was developed to synchronize digital models of the robot, environment and infrastructure and integrate front-end analytics and bidirectional communication for autonomous adaptive mission planning and situation reporting to a remote operator.
After revision:  To achieve this, a Symbiotic Digital Architecture (SDA) was developed to synchronize digital models of the robot, environment , infrastructure, and integrate front-end analytics and bidirectional communication for autonomous adaptive mission planning and situation reporting to a remote operator.