diff --git a/Dockerfile b/Dockerfile
index dbc0dfe..0594b26 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -2,17 +2,13 @@ FROM alpine:3.12
 RUN echo "@community http://dl-cdn.alpinelinux.org/alpine/v3.12/community" >> /etc/apk/repositories
 RUN apk add --no-cache build-base libffi-dev openssl-dev python3-dev curl krb5-dev linux-headers zeromq-dev lapack-dev blas-dev redis
 RUN apk add cmake gcc libxml2 automake g++ subversion libxml2-dev libxslt-dev gfortran jpeg-dev py3-pip
-RUN python3 -m pip install --upgrade pip
-RUN python3 -m pip install wheel
-RUN python3 -m pip install certifi==2020.06.20
+RUN apk add tmux vim mercurial iw
+RUN apk add bash # required by codecov GH action
+RUN apk add raspberrypi; exit 0 # Only succeeds on raspberry pi but not needed otherwise.
 RUN apk add py3-scipy py3-numpy-dev
+RUN python3 -m pip install --upgrade pip
+RUN python3 -m pip install wheel certifi==2020.06.20 pytest coverage[toml]
 COPY server/requirements.txt /install/server/
 RUN python3 -m pip install -r /install/server/requirements.txt
 COPY vehicle/requirements.txt /install/vehicle/
 RUN python3 -m pip install -r /install/vehicle/requirements.txt
-RUN apk add tmux vim mercurial
-RUN python3 -m pip install adafruit-circuitpython-mcp230xx coloredlogs
-RUN apk add iw
-RUN apk add raspberrypi; exit 0 # Only succeeds on raspberry pi but not needed otherwise.
-RUN python3 -m pip install pytest coverage[toml]
-RUN apk add --no-cache bash # required by codecov GH action
diff --git a/Makefile b/Makefile
index e7ecbf0..810348b 100644
--- a/Makefile
+++ b/Makefile
@@ -72,4 +72,4 @@ docker-image: Dockerfile
 	docker build -t $(LOCAL_IMAGE) .
 
 Dockerfile: vehicle/requirements.txt server/requirements.txt
-	@docker build --no-cache -t $(LOCAL_IMAGE) . # Force rebuilding image if requirements files have been changed
+	@docker build -t $(LOCAL_IMAGE) . && touch Dockerfile # Rebuilding image if requirements files have been changed
diff --git a/server/redis.conf b/server/redis.conf
index 1731632..0e83285 100644
--- a/server/redis.conf
+++ b/server/redis.conf
@@ -1057,7 +1057,7 @@ latency-monitor-threshold 0
 #  By default all notifications are disabled because most users don't need
 #  this feature and the feature has some overhead. Note that if you don't
 #  specify at least one of K or E, no events will be delivered.
-notify-keyspace-events ""
+notify-keyspace-events "E$"
 
 ############################### ADVANCED CONFIG ###############################
 
diff --git a/server/redis_utils.py b/server/redis_utils.py
index 40b06cc..f371f9b 100644
--- a/server/redis_utils.py
+++ b/server/redis_utils.py
@@ -33,12 +33,18 @@ def get_robot_command_key(robot_key):
     return bytes(str(robot_key)[2:-1].replace(":key", ":command:key"), encoding='ascii')
 
 
+def is_robot_key(key):
+    if ':robot:' in key:
+        if ':command:' not in key and ':energy_segment' not in key:
+            return True
+    return False
+
+
 def get_robot_keys(redis_client):
     robot_keys = []
     for key in redis_client.scan_iter():
-        if ':robot:' in str(key):
-            if ':command:' not in str(key) and ':energy_segment' not in str(key):
-                robot_keys.append(key)
+        if is_robot_key(str(key)):
+            robot_keys.append(key)
     # print(robot_keys)
     return robot_keys
 
diff --git a/server/requirements.txt b/server/requirements.txt
index 0dec800..0b0828d 100644
--- a/server/requirements.txt
+++ b/server/requirements.txt
@@ -1,4 +1,6 @@
-redis
+csaps
+eventlet
 flask-redis
+flask-socketio
+redis
 zmq
-csaps
diff --git a/server/server.py b/server/server.py
index cf3af59..b2559ec 100644
--- a/server/server.py
+++ b/server/server.py
@@ -28,9 +28,13 @@
         import time
         from flask import Flask, render_template, request, send_from_directory, jsonify
         from flask_redis import FlaskRedis
+        from flask_socketio import SocketIO
         import re
         import pickle
         import datetime
+        import eventlet
+        eventlet.monkey_patch()  # allow flask_socketio to support WebSocket.
+
         import redis_utils
         from model import RobotCommand
         break
@@ -42,6 +46,7 @@
 app = Flask(__name__, template_folder="templates")
 app.config['REDIS_URL'] = "redis://:@localhost:6379/0"
 redis_client = FlaskRedis(app)
+socketio = SocketIO(app)
 
 volatile_path = []  # When the robot is streaming a path, save it in RAM here.
 active_site = "twistedfields"
@@ -309,13 +314,39 @@ def get_dense_path():
     return "No keys found"
 
 
+@socketio.on_error()
+def socket_io_error_handler(e):
+    print('SocketIO error: ' + str(e))
+
+
+def redis_change_handler(msg):
+    key = msg['data'].decode()
+    if redis_utils.is_robot_key(key):
+        print(key)
+        data = robots_to_json([key])
+        socketio.emit('herd-data', data, callback=lambda x: print(x))
+
+
+def exception_handler(ex, pubsub, thread):
+    print(ex)
+    thread.stop()
+    thread.join(timeout=1.0)
+    pubsub.close()
+
+
 if __name__ == "__main__":
     while True:
         try:
-            app.run(debug=True,
-                    use_reloader=True,
-                    host="0.0.0.0",
-                    port=int("80"))
-        except BaseException:
+            pubsub = redis_client.pubsub()
+            # see https://redis.io/topics/notifications
+            pubsub.psubscribe(**{'__keyevent@0__:set': redis_change_handler})
+            thread = pubsub.run_in_thread(exception_handler=exception_handler)
+            socketio.run(app,
+                         debug=True,
+                         use_reloader=True,
+                         host="0.0.0.0",
+                         port=int("80"))
+        except Exception as e:
+            print(e)
             print("Server had some error. Restarting...")
             time.sleep(5)
diff --git a/server/static/js/actions.js b/server/static/js/actions.js
index ecdf361..0868edd 100644
--- a/server/static/js/actions.js
+++ b/server/static/js/actions.js
@@ -1,43 +1,32 @@
 // actions are triggered by UI events. It mostly involves calling backend API, and as a result, updating the store.
 
-var INTERVAL = 2000;
-
-function getRobotData() {
-  api("get_herd_data")
-    .then((resp) => resp.json())
-    .then(function (herd) {
-      store.robots = herd;
-
-      //loop through herd data from server
-      for (const robot of herd) {
-        const date = Date.parse(robot.time_stamp);
-        robot.data_age_sec = (new Date() - date) / 1000.0;
-
-        // clear autonomy once on page open?
-        if (store.have_cleared_autonomy[robot.name] == false) {
-          store.have_cleared_autonomy[robot.name] = true;
-          modifyAutonomyHold(`${robot.name}`, false);
-        }
-
-        // if(robot.autonomy_hold)
-        // {
-        //   let speed = 0.0;
-        //   let active = false;
-        //   updateVehicleAutonomy(`${robot.name}`, speed, active);
-        // }
-        //console.log(robot.autonomy_hold)
-        //console.log(robot.strafeD)
-
-        if (robot.gps_path_data.length != store.gpsPathLength) {
-          store.gps_path = robot.gps_path_data;
-          store.gpsPathLength = robot.gps_path_data.length;
-        }
-      }
-    }).catch(function (error) {
-      console.log(error);
-    });
-
-    window.setTimeout(getRobotData, INTERVAL);
+function updateHerdData(herd) {
+  //loop through herd data from server
+  for (const robot of herd) {
+    const date = Date.parse(robot.time_stamp);
+    robot.data_age_sec = (new Date() - date) / 1000.0;
+    Vue.set(store.robots, robot.name, robot);
+
+    // clear autonomy once on page open?
+    if (!store.have_cleared_autonomy[robot.name]) {
+      Vue.set(store.have_cleared_autonomy,robot.name, true);
+      modifyAutonomyHold(`${robot.name}`, false);
+    }
+
+    // if(robot.autonomy_hold)
+    // {
+    //   let speed = 0.0;
+    //   let active = false;
+    //   updateVehicleAutonomy(`${robot.name}`, speed, active);
+    // }
+    //console.log(robot.autonomy_hold)
+    //console.log(robot.strafeD)
+
+    if (robot.gps_path_data.length != store.gpsPathLength) {
+      store.gps_path = robot.gps_path_data;
+      store.gpsPathLength = robot.gps_path_data.length;
+    }
+  }
 }
 
 function loadPath(pathname) {
diff --git a/server/static/js/app.js b/server/static/js/app.js
index e2f3c2c..054760d 100644
--- a/server/static/js/app.js
+++ b/server/static/js/app.js
@@ -3,7 +3,7 @@
 //
 // http://192.168.1.170:8090/api/projects/3/tasks/3116cce4-4215-4de9-9e9a-0e9c93df87f6/orthophoto/tiles/{Z}/{X}/{Y}.png
 
-var app = new Vue({
+const app = new Vue({
   el: "#app",
   data: store,
   delimiters: ["${", "}"], // the default, "{{-}}", conflicts with Jinjia2
@@ -25,6 +25,17 @@ var app = new Vue({
       })
       .then((access_token_data) => {store.access_token_data = access_token_data})
       .catch(()=>{})
-      .finally(getRobotData); // kick off the ball after the map gets setup.
   },
 });
+
+const socket = io();
+socket.on("connect", () => {
+  console.log("socket connected");
+});
+
+socket.on("disconnect", () => {
+  console.log("socket diconnected");
+});
+socket.on("herd-data", (data) => {
+  updateHerdData(data)
+});
diff --git a/server/static/js/components.js b/server/static/js/components.js
index 98b7d20..4c0cc7c 100644
--- a/server/static/js/components.js
+++ b/server/static/js/components.js
@@ -1,5 +1,5 @@
 Vue.component("control-panel", {
-  props: ["show-plots", "map", "path-names"],
+  props: ["path-names"],
   data: function () {
     return {
       isDrawingPolygon: false,
@@ -285,7 +285,7 @@ Vue.component("plots", {
 });
 
 Vue.component("map-canvas", {
-  props: ["robots", "current_robot_index",
+  props: ["robots", "current_robot_name",
           "displayed_path", "displayed_dense_path", "drawing_polygon",
           "path_start", "path_end", "path_point_to_remove"],
   components: {
@@ -318,18 +318,18 @@ Vue.component("map-canvas", {
   },
   methods: {
     selectRobot(index) {
-      if (store.current_robot_index == index) {
-        store.current_robot_index = null
+      if (store.current_robot_name == index) {
+        store.current_robot_name = null
       } else {
-        store.current_robot_index = index
+        store.current_robot_name = index
       }
     },
-    robotIcon(index) {
+    robotIcon(name) {
       return  L.icon({
         iconUrl: "/static/images/robot.png",
         iconSize: [30, 40],
         iconAnchor: [15, 20],
-        className: this.current_robot_index === index ? "selected-acorn": null,
+        className: this.current_robot_name === name ? "selected-acorn": null,
       })
     },
   },
diff --git a/server/static/js/lib/socket.io.min.js b/server/static/js/lib/socket.io.min.js
new file mode 100644
index 0000000..282fb15
--- /dev/null
+++ b/server/static/js/lib/socket.io.min.js
@@ -0,0 +1,7 @@
+/*!
+ * Socket.IO v4.4.0
+ * (c) 2014-2021 Guillermo Rauch
+ * Released under the MIT License.
+ */
+!function(t,e){"object"==typeof exports&&"undefined"!=typeof module?module.exports=e():"function"==typeof define&&define.amd?define(e):(t="undefined"!=typeof globalThis?globalThis:t||self).io=e()}(this,(function(){"use strict";function t(e){return t="function"==typeof Symbol&&"symbol"==typeof Symbol.iterator?function(t){return typeof t}:function(t){return t&&"function"==typeof Symbol&&t.constructor===Symbol&&t!==Symbol.prototype?"symbol":typeof t},t(e)}function e(t,e){if(!(t instanceof e))throw new TypeError("Cannot call a class as a function")}function n(t,e){for(var n=0;n<e.length;n++){var r=e[n];r.enumerable=r.enumerable||!1,r.configurable=!0,"value"in r&&(r.writable=!0),Object.defineProperty(t,r.key,r)}}function r(t,e,r){return e&&n(t.prototype,e),r&&n(t,r),t}function o(){return o=Object.assign||function(t){for(var e=1;e<arguments.length;e++){var n=arguments[e];for(var r in n)Object.prototype.hasOwnProperty.call(n,r)&&(t[r]=n[r])}return t},o.apply(this,arguments)}function 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e(this,o),(t=n.apply(this,arguments)).polling=!1,t}return r(o,[{key:"name",get:function(){return"polling"}},{key:"doOpen",value:function(){this.poll()}},{key:"pause",value:function(t){var e=this;this.readyState="pausing";var n=function(){e.readyState="paused",t()};if(this.polling||!this.writable){var r=0;this.polling&&(r++,this.once("pollComplete",(function(){--r||n()}))),this.writable||(r++,this.once("drain",(function(){--r||n()})))}else n()}},{key:"poll",value:function(){this.polling=!0,this.doPoll(),this.emit("poll")}},{key:"onData",value:function(t){var e=this;(function(t,e){for(var n=t.split(V),r=[],o=0;o<n.length;o++){var i=F(n[o],e);if(r.push(i),"error"===i.type)break}return r})(t,this.socket.binaryType).forEach((function(t){if("opening"===e.readyState&&"open"===t.type&&e.onOpen(),"close"===t.type)return e.onClose(),!1;e.onPacket(t)})),"closed"!==this.readyState&&(this.polling=!1,this.emit("pollComplete"),"open"===this.readyState&&this.poll())}},{key:"doClose",value:function(){var t=this,e=function(){t.write([{type:"close"}])};"open"===this.readyState?e():this.once("open",e)}},{key:"write",value:function(t){var e=this;this.writable=!1,function(t,e){var n=t.length,r=new Array(n),o=0;t.forEach((function(t,i){x(t,!1,(function(t){r[i]=t,++o===n&&e(r.join(V))}))}))}(t,(function(t){e.doWrite(t,(function(){e.writable=!0,e.emit("drain")}))}))}},{key:"uri",value:function(){var t=this.query||{},e=this.opts.secure?"https":"http",n="";!1!==this.opts.timestampRequests&&(t[this.opts.timestampParam]=X()),this.supportsBinary||t.sid||(t.b64=1),this.opts.port&&("https"===e&&443!==Number(this.opts.port)||"http"===e&&80!==Number(this.opts.port))&&(n=":"+this.opts.port);var r=G.encode(t);return e+"://"+(-1!==this.opts.hostname.indexOf(":")?"["+this.opts.hostname+"]":this.opts.hostname)+n+this.opts.path+(r.length?"?"+r:"")}}]),o}(H);function Z(){}var tt=null!=new b({xdomain:!1}).responseType,et=function(t){i(s,t);var n=h(s);function s(t){var r;if(e(this,s),r=n.call(this,t),"undefined"!=typeof location){var o="https:"===location.protocol,i=location.port;i||(i=o?"443":"80"),r.xd="undefined"!=typeof location&&t.hostname!==location.hostname||i!==t.port,r.xs=t.secure!==o}var a=t&&t.forceBase64;return r.supportsBinary=tt&&!a,r}return r(s,[{key:"request",value:function(){var t=arguments.length>0&&void 0!==arguments[0]?arguments[0]:{};return o(t,{xd:this.xd,xs:this.xs},this.opts),new nt(this.uri(),t)}},{key:"doWrite",value:function(t,e){var n=this,r=this.request({method:"POST",data:t});r.on("success",e),r.on("error",(function(t){n.onError("xhr post error",t)}))}},{key:"doPoll",value:function(){var t=this,e=this.request();e.on("data",this.onData.bind(this)),e.on("error",(function(e){t.onError("xhr poll error",e)})),this.pollXhr=e}}]),s}(Q),nt=function(t){i(o,t);var n=h(o);function o(t,r){var i;return e(this,o),A(c(i=n.call(this)),r),i.opts=r,i.method=r.method||"GET",i.uri=t,i.async=!1!==r.async,i.data=void 0!==r.data?r.data:null,i.create(),i}return r(o,[{key:"create",value:function(){var t=this,e=w(this.opts,"agent","pfx","key","passphrase","cert","ca","ciphers","rejectUnauthorized","autoUnref");e.xdomain=!!this.opts.xd,e.xscheme=!!this.opts.xs;var n=this.xhr=new b(e);try{n.open(this.method,this.uri,this.async);try{if(this.opts.extraHeaders)for(var r in 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document&&(this.index=o.requestsCount++,o.requests[this.index]=this)}},{key:"onSuccess",value:function(){this.emit("success"),this.cleanup()}},{key:"onData",value:function(t){this.emit("data",t),this.onSuccess()}},{key:"onError",value:function(t){this.emit("error",t),this.cleanup(!0)}},{key:"cleanup",value:function(t){if(void 0!==this.xhr&&null!==this.xhr){if(this.xhr.onreadystatechange=Z,t)try{this.xhr.abort()}catch(t){}"undefined"!=typeof document&&delete o.requests[this.index],this.xhr=null}}},{key:"onLoad",value:function(){var t=this.xhr.responseText;null!==t&&this.onData(t)}},{key:"abort",value:function(){this.cleanup()}}]),o}(R);if(nt.requestsCount=0,nt.requests={},"undefined"!=typeof document)if("function"==typeof attachEvent)attachEvent("onunload",rt);else if("function"==typeof addEventListener){addEventListener("onpagehide"in k?"pagehide":"unload",rt,!1)}function rt(){for(var t in nt.requests)nt.requests.hasOwnProperty(t)&&nt.requests[t].abort()}var ot="function"==typeof Promise&&"function"==typeof Promise.resolve?function(t){return Promise.resolve().then(t)}:function(t,e){return e(t,0)},it=k.WebSocket||k.MozWebSocket,st="undefined"!=typeof navigator&&"string"==typeof navigator.product&&"reactnative"===navigator.product.toLowerCase(),at=function(t){i(o,t);var n=h(o);function o(t){var r;return e(this,o),(r=n.call(this,t)).supportsBinary=!t.forceBase64,r}return r(o,[{key:"name",get:function(){return"websocket"}},{key:"doOpen",value:function(){if(this.check()){var t=this.uri(),e=this.opts.protocols,n=st?{}:w(this.opts,"agent","perMessageDeflate","pfx","key","passphrase","cert","ca","ciphers","rejectUnauthorized","localAddress","protocolVersion","origin","maxPayload","family","checkServerIdentity");this.opts.extraHeaders&&(n.headers=this.opts.extraHeaders);try{this.ws=st?new it(t,e,n):e?new it(t,e):new it(t)}catch(t){return this.emit("error",t)}this.ws.binaryType=this.socket.binaryType||"arraybuffer",this.addEventListeners()}}},{key:"addEventListeners",value:function(){var t=this;this.ws.onopen=function(){t.opts.autoUnref&&t.ws._socket.unref(),t.onOpen()},this.ws.onclose=this.onClose.bind(this),this.ws.onmessage=function(e){return t.onData(e.data)},this.ws.onerror=function(e){return t.onError("websocket error",e)}}},{key:"write",value:function(t){var e=this;this.writable=!1;for(var n=function(n){var r=t[n],o=n===t.length-1;x(r,e.supportsBinary,(function(t){try{e.ws.send(t)}catch(t){}o&&ot((function(){e.writable=!0,e.emit("drain")}),e.setTimeoutFn)}))},r=0;r<t.length;r++)n(r)}},{key:"doClose",value:function(){void 0!==this.ws&&(this.ws.close(),this.ws=null)}},{key:"uri",value:function(){var t=this.query||{},e=this.opts.secure?"wss":"ws",n="";this.opts.port&&("wss"===e&&443!==Number(this.opts.port)||"ws"===e&&80!==Number(this.opts.port))&&(n=":"+this.opts.port),this.opts.timestampRequests&&(t[this.opts.timestampParam]=X()),this.supportsBinary||(t.b64=1);var r=G.encode(t);return e+"://"+(-1!==this.opts.hostname.indexOf(":")?"["+this.opts.hostname+"]":this.opts.hostname)+n+this.opts.path+(r.length?"?"+r:"")}},{key:"check",value:function(){return!(!it||"__initialize"in it&&this.name===o.prototype.name)}}]),o}(H),ct={websocket:at,polling:et},ut=function(n){i(a,n);var s=h(a);function a(n){var r,i=arguments.length>1&&void 0!==arguments[1]?arguments[1]:{};return e(this,a),r=s.call(this),n&&"object"===t(n)&&(i=n,n=null),n?(n=v(n),i.hostname=n.host,i.secure="https"===n.protocol||"wss"===n.protocol,i.port=n.port,n.query&&(i.query=n.query)):i.host&&(i.hostname=v(i.host).host),A(c(r),i),r.secure=null!=i.secure?i.secure:"undefined"!=typeof location&&"https:"===location.protocol,i.hostname&&!i.port&&(i.port=r.secure?"443":"80"),r.hostname=i.hostname||("undefined"!=typeof location?location.hostname:"localhost"),r.port=i.port||("undefined"!=typeof location&&location.port?location.port:r.secure?"443":"80"),r.transports=i.transports||["polling","websocket"],r.readyState="",r.writeBuffer=[],r.prevBufferLen=0,r.opts=o({path:"/engine.io",agent:!1,withCredentials:!1,upgrade:!0,timestampParam:"t",rememberUpgrade:!1,rejectUnauthorized:!0,perMessageDeflate:{threshold:1024},transportOptions:{},closeOnBeforeunload:!0},i),r.opts.path=r.opts.path.replace(/\/$/,"")+"/","string"==typeof r.opts.query&&(r.opts.query=G.decode(r.opts.query)),r.id=null,r.upgrades=null,r.pingInterval=null,r.pingTimeout=null,r.pingTimeoutTimer=null,"function"==typeof addEventListener&&(r.opts.closeOnBeforeunload&&addEventListener("beforeunload",(function(){r.transport&&(r.transport.removeAllListeners(),r.transport.close())}),!1),"localhost"!==r.hostname&&(r.offlineEventListener=function(){r.onClose("transport close")},addEventListener("offline",r.offlineEventListener,!1))),r.open(),r}return r(a,[{key:"createTransport",value:function(t){var e=function(t){var e={};for(var n in t)t.hasOwnProperty(n)&&(e[n]=t[n]);return e}(this.opts.query);e.EIO=4,e.transport=t,this.id&&(e.sid=this.id);var n=o({},this.opts.transportOptions[t],this.opts,{query:e,socket:this,hostname:this.hostname,secure:this.secure,port:this.port});return new ct[t](n)}},{key:"open",value:function(){var t,e=this;if(this.opts.rememberUpgrade&&a.priorWebsocketSuccess&&-1!==this.transports.indexOf("websocket"))t="websocket";else{if(0===this.transports.length)return void this.setTimeoutFn((function(){e.emitReserved("error","No transports 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Error("probe error");o.transport=n.name,e.emitReserved("upgradeError",o)}})))};function i(){r||(r=!0,f(),n.close(),n=null)}var s=function(t){var r=new Error("probe error: "+t);r.transport=n.name,i(),e.emitReserved("upgradeError",r)};function c(){s("transport closed")}function u(){s("socket closed")}function h(t){n&&t.name!==n.name&&i()}var f=function(){n.removeListener("open",o),n.removeListener("error",s),n.removeListener("close",c),e.off("close",u),e.off("upgrading",h)};n.once("open",o),n.once("error",s),n.once("close",c),this.once("close",u),this.once("upgrading",h),n.open()}},{key:"onOpen",value:function(){if(this.readyState="open",a.priorWebsocketSuccess="websocket"===this.transport.name,this.emitReserved("open"),this.flush(),"open"===this.readyState&&this.opts.upgrade&&this.transport.pause)for(var t=0,e=this.upgrades.length;t<e;t++)this.probe(this.upgrades[t])}},{key:"onPacket",value:function(t){if("opening"===this.readyState||"open"===this.readyState||"closing"===this.readyState)switch(this.emitReserved("packet",t),this.emitReserved("heartbeat"),t.type){case"open":this.onHandshake(JSON.parse(t.data));break;case"ping":this.resetPingTimeout(),this.sendPacket("pong"),this.emitReserved("ping"),this.emitReserved("pong");break;case"error":var e=new Error("server error");e.code=t.data,this.onError(e);break;case"message":this.emitReserved("data",t.data),this.emitReserved("message",t.data)}}},{key:"onHandshake",value:function(t){this.emitReserved("handshake",t),this.id=t.sid,this.transport.query.sid=t.sid,this.upgrades=this.filterUpgrades(t.upgrades),this.pingInterval=t.pingInterval,this.pingTimeout=t.pingTimeout,this.onOpen(),"closed"!==this.readyState&&this.resetPingTimeout()}},{key:"resetPingTimeout",value:function(){var t=this;this.clearTimeoutFn(this.pingTimeoutTimer),this.pingTimeoutTimer=this.setTimeoutFn((function(){t.onClose("ping timeout")}),this.pingInterval+this.pingTimeout),this.opts.autoUnref&&this.pingTimeoutTimer.unref()}},{key:"onDrain",value:function(){this.writeBuffer.splice(0,this.prevBufferLen),this.prevBufferLen=0,0===this.writeBuffer.length?this.emitReserved("drain"):this.flush()}},{key:"flush",value:function(){"closed"!==this.readyState&&this.transport.writable&&!this.upgrading&&this.writeBuffer.length&&(this.transport.send(this.writeBuffer),this.prevBufferLen=this.writeBuffer.length,this.emitReserved("flush"))}},{key:"write",value:function(t,e,n){return this.sendPacket("message",t,e,n),this}},{key:"send",value:function(t,e,n){return this.sendPacket("message",t,e,n),this}},{key:"sendPacket",value:function(t,e,n,r){if("function"==typeof e&&(r=e,e=void 0),"function"==typeof n&&(r=n,n=null),"closing"!==this.readyState&&"closed"!==this.readyState){(n=n||{}).compress=!1!==n.compress;var o={type:t,data:e,options:n};this.emitReserved("packetCreate",o),this.writeBuffer.push(o),r&&this.once("flush",r),this.flush()}}},{key:"close",value:function(){var t=this,e=function(){t.onClose("forced close"),t.transport.close()},n=function n(){t.off("upgrade",n),t.off("upgradeError",n),e()},r=function(){t.once("upgrade",n),t.once("upgradeError",n)};return"opening"!==this.readyState&&"open"!==this.readyState||(this.readyState="closing",this.writeBuffer.length?this.once("drain",(function(){t.upgrading?r():e()})):this.upgrading?r():e()),this}},{key:"onError",value:function(t){a.priorWebsocketSuccess=!1,this.emitReserved("error",t),this.onClose("transport error",t)}},{key:"onClose",value:function(t,e){"opening"!==this.readyState&&"open"!==this.readyState&&"closing"!==this.readyState||(this.clearTimeoutFn(this.pingTimeoutTimer),this.transport.removeAllListeners("close"),this.transport.close(),this.transport.removeAllListeners(),"function"==typeof removeEventListener&&removeEventListener("offline",this.offlineEventListener,!1),this.readyState="closed",this.id=null,this.emitReserved("close",t,e),this.writeBuffer=[],this.prevBufferLen=0)}},{key:"filterUpgrades",value:function(t){for(var e=[],n=0,r=t.length;n<r;n++)~this.transports.indexOf(t[n])&&e.push(t[n]);return e}}]),a}(R);ut.protocol=4;var ht="function"==typeof ArrayBuffer,ft=Object.prototype.toString,lt="function"==typeof Blob||"undefined"!=typeof Blob&&"[object BlobConstructor]"===ft.call(Blob),pt="function"==typeof File||"undefined"!=typeof File&&"[object FileConstructor]"===ft.call(File);function dt(t){return ht&&(t instanceof ArrayBuffer||function(t){return"function"==typeof ArrayBuffer.isView?ArrayBuffer.isView(t):t.buffer instanceof ArrayBuffer}(t))||lt&&t instanceof Blob||pt&&t instanceof File}function yt(e,n){if(!e||"object"!==t(e))return!1;if(Array.isArray(e)){for(var r=0,o=e.length;r<o;r++)if(yt(e[r]))return!0;return!1}if(dt(e))return!0;if(e.toJSON&&"function"==typeof e.toJSON&&1===arguments.length)return yt(e.toJSON(),!0);for(var i in e)if(Object.prototype.hasOwnProperty.call(e,i)&&yt(e[i]))return!0;return!1}function vt(t){var e=[],n=t.data,r=t;return r.data=mt(n,e),r.attachments=e.length,{packet:r,buffers:e}}function mt(e,n){if(!e)return e;if(dt(e)){var r={_placeholder:!0,num:n.length};return n.push(e),r}if(Array.isArray(e)){for(var o=new Array(e.length),i=0;i<e.length;i++)o[i]=mt(e[i],n);return o}if("object"===t(e)&&!(e instanceof Date)){var s={};for(var a in e)e.hasOwnProperty(a)&&(s[a]=mt(e[a],n));return s}return e}function gt(t,e){return t.data=kt(t.data,e),t.attachments=void 0,t}function kt(e,n){if(!e)return e;if(e&&e._placeholder)return n[e.num];if(Array.isArray(e))for(var r=0;r<e.length;r++)e[r]=kt(e[r],n);else if("object"===t(e))for(var o in e)e.hasOwnProperty(o)&&(e[o]=kt(e[o],n));return e}var bt;!function(t){t[t.CONNECT=0]="CONNECT",t[t.DISCONNECT=1]="DISCONNECT",t[t.EVENT=2]="EVENT",t[t.ACK=3]="ACK",t[t.CONNECT_ERROR=4]="CONNECT_ERROR",t[t.BINARY_EVENT=5]="BINARY_EVENT",t[t.BINARY_ACK=6]="BINARY_ACK"}(bt||(bt={}));var wt=function(){function t(){e(this,t)}return r(t,[{key:"encode",value:function(t){return t.type!==bt.EVENT&&t.type!==bt.ACK||!yt(t)?[this.encodeAsString(t)]:(t.type=t.type===bt.EVENT?bt.BINARY_EVENT:bt.BINARY_ACK,this.encodeAsBinary(t))}},{key:"encodeAsString",value:function(t){var e=""+t.type;return t.type!==bt.BINARY_EVENT&&t.type!==bt.BINARY_ACK||(e+=t.attachments+"-"),t.nsp&&"/"!==t.nsp&&(e+=t.nsp+","),null!=t.id&&(e+=t.id),null!=t.data&&(e+=JSON.stringify(t.data)),e}},{key:"encodeAsBinary",value:function(t){var e=vt(t),n=this.encodeAsString(e.packet),r=e.buffers;return r.unshift(n),r}}]),t}(),_t=function(n){i(a,n);var o=h(a);function a(){return e(this,a),o.call(this)}return r(a,[{key:"add",value:function(t){var e;if("string"==typeof t)(e=this.decodeString(t)).type===bt.BINARY_EVENT||e.type===bt.BINARY_ACK?(this.reconstructor=new Et(e),0===e.attachments&&f(s(a.prototype),"emitReserved",this).call(this,"decoded",e)):f(s(a.prototype),"emitReserved",this).call(this,"decoded",e);else{if(!dt(t)&&!t.base64)throw new Error("Unknown type: "+t);if(!this.reconstructor)throw new Error("got binary data when not reconstructing a packet");(e=this.reconstructor.takeBinaryData(t))&&(this.reconstructor=null,f(s(a.prototype),"emitReserved",this).call(this,"decoded",e))}}},{key:"decodeString",value:function(t){var e=0,n={type:Number(t.charAt(0))};if(void 0===bt[n.type])throw new Error("unknown packet type "+n.type);if(n.type===bt.BINARY_EVENT||n.type===bt.BINARY_ACK){for(var r=e+1;"-"!==t.charAt(++e)&&e!=t.length;);var o=t.substring(r,e);if(o!=Number(o)||"-"!==t.charAt(e))throw new Error("Illegal attachments");n.attachments=Number(o)}if("/"===t.charAt(e+1)){for(var i=e+1;++e;){if(","===t.charAt(e))break;if(e===t.length)break}n.nsp=t.substring(i,e)}else n.nsp="/";var s=t.charAt(e+1);if(""!==s&&Number(s)==s){for(var c=e+1;++e;){var u=t.charAt(e);if(null==u||Number(u)!=u){--e;break}if(e===t.length)break}n.id=Number(t.substring(c,e+1))}if(t.charAt(++e)){var h=function(t){try{return JSON.parse(t)}catch(t){return!1}}(t.substr(e));if(!a.isPayloadValid(n.type,h))throw new Error("invalid payload");n.data=h}return n}},{key:"destroy",value:function(){this.reconstructor&&this.reconstructor.finishedReconstruction()}}],[{key:"isPayloadValid",value:function(e,n){switch(e){case bt.CONNECT:return"object"===t(n);case bt.DISCONNECT:return void 0===n;case bt.CONNECT_ERROR:return"string"==typeof n||"object"===t(n);case bt.EVENT:case bt.BINARY_EVENT:return Array.isArray(n)&&n.length>0;case bt.ACK:case bt.BINARY_ACK:return Array.isArray(n)}}}]),a}(R);var Et=function(){function t(n){e(this,t),this.packet=n,this.buffers=[],this.reconPack=n}return r(t,[{key:"takeBinaryData",value:function(t){if(this.buffers.push(t),this.buffers.length===this.reconPack.attachments){var e=gt(this.reconPack,this.buffers);return this.finishedReconstruction(),e}return null}},{key:"finishedReconstruction",value:function(){this.reconPack=null,this.buffers=[]}}]),t}(),At=Object.freeze({__proto__:null,protocol:5,get PacketType(){return bt},Encoder:wt,Decoder:_t});function Rt(t,e,n){return t.on(e,n),function(){t.off(e,n)}}var Tt=Object.freeze({connect:1,connect_error:1,disconnect:1,disconnecting:1,newListener:1,removeListener:1}),Ct=function(t){i(o,t);var n=h(o);function o(t,r,i){var s;return e(this,o),(s=n.call(this)).connected=!1,s.disconnected=!0,s.receiveBuffer=[],s.sendBuffer=[],s.ids=0,s.acks={},s.flags={},s.io=t,s.nsp=r,i&&i.auth&&(s.auth=i.auth),s.io._autoConnect&&s.open(),s}return r(o,[{key:"subEvents",value:function(){if(!this.subs){var t=this.io;this.subs=[Rt(t,"open",this.onopen.bind(this)),Rt(t,"packet",this.onpacket.bind(this)),Rt(t,"error",this.onerror.bind(this)),Rt(t,"close",this.onclose.bind(this))]}}},{key:"active",get:function(){return!!this.subs}},{key:"connect",value:function(){return this.connected||(this.subEvents(),this.io._reconnecting||this.io.open(),"open"===this.io._readyState&&this.onopen()),this}},{key:"open",value:function(){return this.connect()}},{key:"send",value:function(){for(var t=arguments.length,e=new Array(t),n=0;n<t;n++)e[n]=arguments[n];return e.unshift("message"),this.emit.apply(this,e),this}},{key:"emit",value:function(t){if(Tt.hasOwnProperty(t))throw new Error('"'+t+'" is a reserved event name');for(var e=arguments.length,n=new Array(e>1?e-1:0),r=1;r<e;r++)n[r-1]=arguments[r];n.unshift(t);var o={type:bt.EVENT,data:n,options:{}};if(o.options.compress=!1!==this.flags.compress,"function"==typeof n[n.length-1]){var i=this.ids++,s=n.pop();this._registerAckCallback(i,s),o.id=i}var a=this.io.engine&&this.io.engine.transport&&this.io.engine.transport.writable,c=this.flags.volatile&&(!a||!this.connected);return c||(this.connected?this.packet(o):this.sendBuffer.push(o)),this.flags={},this}},{key:"_registerAckCallback",value:function(t,e){var n=this,r=this.flags.timeout;if(void 0!==r){var o=this.io.setTimeoutFn((function(){delete n.acks[t];for(var r=0;r<n.sendBuffer.length;r++)n.sendBuffer[r].id===t&&n.sendBuffer.splice(r,1);e.call(n,new Error("operation has timed out"))}),r);this.acks[t]=function(){n.io.clearTimeoutFn(o);for(var t=arguments.length,r=new Array(t),i=0;i<t;i++)r[i]=arguments[i];e.apply(n,[null].concat(r))}}else this.acks[t]=e}},{key:"packet",value:function(t){t.nsp=this.nsp,this.io._packet(t)}},{key:"onopen",value:function(){var t=this;"function"==typeof this.auth?this.auth((function(e){t.packet({type:bt.CONNECT,data:e})})):this.packet({type:bt.CONNECT,data:this.auth})}},{key:"onerror",value:function(t){this.connected||this.emitReserved("connect_error",t)}},{key:"onclose",value:function(t){this.connected=!1,this.disconnected=!0,delete this.id,this.emitReserved("disconnect",t)}},{key:"onpacket",value:function(t){if(t.nsp===this.nsp)switch(t.type){case bt.CONNECT:if(t.data&&t.data.sid){var e=t.data.sid;this.onconnect(e)}else this.emitReserved("connect_error",new Error("It seems you are trying to reach a Socket.IO server in v2.x with a v3.x client, but they are not compatible (more information here: https://socket.io/docs/v3/migrating-from-2-x-to-3-0/)"));break;case bt.EVENT:case bt.BINARY_EVENT:this.onevent(t);break;case bt.ACK:case bt.BINARY_ACK:this.onack(t);break;case bt.DISCONNECT:this.ondisconnect();break;case bt.CONNECT_ERROR:this.destroy();var n=new Error(t.data.message);n.data=t.data.data,this.emitReserved("connect_error",n)}}},{key:"onevent",value:function(t){var e=t.data||[];null!=t.id&&e.push(this.ack(t.id)),this.connected?this.emitEvent(e):this.receiveBuffer.push(Object.freeze(e))}},{key:"emitEvent",value:function(t){if(this._anyListeners&&this._anyListeners.length){var e,n=p(this._anyListeners.slice());try{for(n.s();!(e=n.n()).done;){e.value.apply(this,t)}}catch(t){n.e(t)}finally{n.f()}}f(s(o.prototype),"emit",this).apply(this,t)}},{key:"ack",value:function(t){var e=this,n=!1;return function(){if(!n){n=!0;for(var r=arguments.length,o=new Array(r),i=0;i<r;i++)o[i]=arguments[i];e.packet({type:bt.ACK,id:t,data:o})}}}},{key:"onack",value:function(t){var e=this.acks[t.id];"function"==typeof e&&(e.apply(this,t.data),delete this.acks[t.id])}},{key:"onconnect",value:function(t){this.id=t,this.connected=!0,this.disconnected=!1,this.emitBuffered(),this.emitReserved("connect")}},{key:"emitBuffered",value:function(){var t=this;this.receiveBuffer.forEach((function(e){return t.emitEvent(e)})),this.receiveBuffer=[],this.sendBuffer.forEach((function(e){return t.packet(e)})),this.sendBuffer=[]}},{key:"ondisconnect",value:function(){this.destroy(),this.onclose("io server disconnect")}},{key:"destroy",value:function(){this.subs&&(this.subs.forEach((function(t){return t()})),this.subs=void 0),this.io._destroy(this)}},{key:"disconnect",value:function(){return this.connected&&this.packet({type:bt.DISCONNECT}),this.destroy(),this.connected&&this.onclose("io client disconnect"),this}},{key:"close",value:function(){return this.disconnect()}},{key:"compress",value:function(t){return this.flags.compress=t,this}},{key:"volatile",get:function(){return this.flags.volatile=!0,this}},{key:"timeout",value:function(t){return this.flags.timeout=t,this}},{key:"onAny",value:function(t){return this._anyListeners=this._anyListeners||[],this._anyListeners.push(t),this}},{key:"prependAny",value:function(t){return this._anyListeners=this._anyListeners||[],this._anyListeners.unshift(t),this}},{key:"offAny",value:function(t){if(!this._anyListeners)return this;if(t){for(var e=this._anyListeners,n=0;n<e.length;n++)if(t===e[n])return e.splice(n,1),this}else this._anyListeners=[];return this}},{key:"listenersAny",value:function(){return this._anyListeners||[]}}]),o}(R),Ot=St;function St(t){t=t||{},this.ms=t.min||100,this.max=t.max||1e4,this.factor=t.factor||2,this.jitter=t.jitter>0&&t.jitter<=1?t.jitter:0,this.attempts=0}St.prototype.duration=function(){var t=this.ms*Math.pow(this.factor,this.attempts++);if(this.jitter){var e=Math.random(),n=Math.floor(e*this.jitter*t);t=0==(1&Math.floor(10*e))?t-n:t+n}return 0|Math.min(t,this.max)},St.prototype.reset=function(){this.attempts=0},St.prototype.setMin=function(t){this.ms=t},St.prototype.setMax=function(t){this.max=t},St.prototype.setJitter=function(t){this.jitter=t};var Bt=function(n){i(s,n);var o=h(s);function s(n,r){var i,a;e(this,s),(i=o.call(this)).nsps={},i.subs=[],n&&"object"===t(n)&&(r=n,n=void 0),(r=r||{}).path=r.path||"/socket.io",i.opts=r,A(c(i),r),i.reconnection(!1!==r.reconnection),i.reconnectionAttempts(r.reconnectionAttempts||1/0),i.reconnectionDelay(r.reconnectionDelay||1e3),i.reconnectionDelayMax(r.reconnectionDelayMax||5e3),i.randomizationFactor(null!==(a=r.randomizationFactor)&&void 0!==a?a:.5),i.backoff=new Ot({min:i.reconnectionDelay(),max:i.reconnectionDelayMax(),jitter:i.randomizationFactor()}),i.timeout(null==r.timeout?2e4:r.timeout),i._readyState="closed",i.uri=n;var u=r.parser||At;return i.encoder=new u.Encoder,i.decoder=new u.Decoder,i._autoConnect=!1!==r.autoConnect,i._autoConnect&&i.open(),i}return r(s,[{key:"reconnection",value:function(t){return arguments.length?(this._reconnection=!!t,this):this._reconnection}},{key:"reconnectionAttempts",value:function(t){return void 0===t?this._reconnectionAttempts:(this._reconnectionAttempts=t,this)}},{key:"reconnectionDelay",value:function(t){var e;return void 0===t?this._reconnectionDelay:(this._reconnectionDelay=t,null===(e=this.backoff)||void 0===e||e.setMin(t),this)}},{key:"randomizationFactor",value:function(t){var e;return void 0===t?this._randomizationFactor:(this._randomizationFactor=t,null===(e=this.backoff)||void 0===e||e.setJitter(t),this)}},{key:"reconnectionDelayMax",value:function(t){var e;return void 0===t?this._reconnectionDelayMax:(this._reconnectionDelayMax=t,null===(e=this.backoff)||void 0===e||e.setMax(t),this)}},{key:"timeout",value:function(t){return arguments.length?(this._timeout=t,this):this._timeout}},{key:"maybeReconnectOnOpen",value:function(){!this._reconnecting&&this._reconnection&&0===this.backoff.attempts&&this.reconnect()}},{key:"open",value:function(t){var e=this;if(~this._readyState.indexOf("open"))return this;this.engine=new ut(this.uri,this.opts);var n=this.engine,r=this;this._readyState="opening",this.skipReconnect=!1;var o=Rt(n,"open",(function(){r.onopen(),t&&t()})),i=Rt(n,"error",(function(n){r.cleanup(),r._readyState="closed",e.emitReserved("error",n),t?t(n):r.maybeReconnectOnOpen()}));if(!1!==this._timeout){var s=this._timeout;0===s&&o();var a=this.setTimeoutFn((function(){o(),n.close(),n.emit("error",new Error("timeout"))}),s);this.opts.autoUnref&&a.unref(),this.subs.push((function(){clearTimeout(a)}))}return this.subs.push(o),this.subs.push(i),this}},{key:"connect",value:function(t){return this.open(t)}},{key:"onopen",value:function(){this.cleanup(),this._readyState="open",this.emitReserved("open");var t=this.engine;this.subs.push(Rt(t,"ping",this.onping.bind(this)),Rt(t,"data",this.ondata.bind(this)),Rt(t,"error",this.onerror.bind(this)),Rt(t,"close",this.onclose.bind(this)),Rt(this.decoder,"decoded",this.ondecoded.bind(this)))}},{key:"onping",value:function(){this.emitReserved("ping")}},{key:"ondata",value:function(t){this.decoder.add(t)}},{key:"ondecoded",value:function(t){this.emitReserved("packet",t)}},{key:"onerror",value:function(t){this.emitReserved("error",t)}},{key:"socket",value:function(t,e){var n=this.nsps[t];return n||(n=new Ct(this,t,e),this.nsps[t]=n),n}},{key:"_destroy",value:function(t){for(var e=0,n=Object.keys(this.nsps);e<n.length;e++){var r=n[e];if(this.nsps[r].active)return}this._close()}},{key:"_packet",value:function(t){for(var e=this.encoder.encode(t),n=0;n<e.length;n++)this.engine.write(e[n],t.options)}},{key:"cleanup",value:function(){this.subs.forEach((function(t){return t()})),this.subs.length=0,this.decoder.destroy()}},{key:"_close",value:function(){this.skipReconnect=!0,this._reconnecting=!1,this.onclose("forced close"),this.engine&&this.engine.close()}},{key:"disconnect",value:function(){return this._close()}},{key:"onclose",value:function(t){this.cleanup(),this.backoff.reset(),this._readyState="closed",this.emitReserved("close",t),this._reconnection&&!this.skipReconnect&&this.reconnect()}},{key:"reconnect",value:function(){var t=this;if(this._reconnecting||this.skipReconnect)return this;var e=this;if(this.backoff.attempts>=this._reconnectionAttempts)this.backoff.reset(),this.emitReserved("reconnect_failed"),this._reconnecting=!1;else{var n=this.backoff.duration();this._reconnecting=!0;var r=this.setTimeoutFn((function(){e.skipReconnect||(t.emitReserved("reconnect_attempt",e.backoff.attempts),e.skipReconnect||e.open((function(n){n?(e._reconnecting=!1,e.reconnect(),t.emitReserved("reconnect_error",n)):e.onreconnect()})))}),n);this.opts.autoUnref&&r.unref(),this.subs.push((function(){clearTimeout(r)}))}}},{key:"onreconnect",value:function(){var t=this.backoff.attempts;this._reconnecting=!1,this.backoff.reset(),this.emitReserved("reconnect",t)}}]),s}(R),Nt={};function xt(e,n){"object"===t(e)&&(n=e,e=void 0);var r,o=function(t){var e=arguments.length>1&&void 0!==arguments[1]?arguments[1]:"",n=arguments.length>2?arguments[2]:void 0,r=t;n=n||"undefined"!=typeof location&&location,null==t&&(t=n.protocol+"//"+n.host),"string"==typeof t&&("/"===t.charAt(0)&&(t="/"===t.charAt(1)?n.protocol+t:n.host+t),/^(https?|wss?):\/\//.test(t)||(t=void 0!==n?n.protocol+"//"+t:"https://"+t),r=v(t)),r.port||(/^(http|ws)$/.test(r.protocol)?r.port="80":/^(http|ws)s$/.test(r.protocol)&&(r.port="443")),r.path=r.path||"/";var o=-1!==r.host.indexOf(":")?"["+r.host+"]":r.host;return r.id=r.protocol+"://"+o+":"+r.port+e,r.href=r.protocol+"://"+o+(n&&n.port===r.port?"":":"+r.port),r}(e,(n=n||{}).path||"/socket.io"),i=o.source,s=o.id,a=o.path,c=Nt[s]&&a in Nt[s].nsps;return n.forceNew||n["force new connection"]||!1===n.multiplex||c?r=new Bt(i,n):(Nt[s]||(Nt[s]=new Bt(i,n)),r=Nt[s]),o.query&&!n.query&&(n.query=o.queryKey),r.socket(o.path,n)}return o(xt,{Manager:Bt,Socket:Ct,io:xt,connect:xt}),xt}));
+//# sourceMappingURL=socket.io.min.js.map
diff --git a/server/static/js/store.js b/server/static/js/store.js
index b35fbdf..aee5b0c 100644
--- a/server/static/js/store.js
+++ b/server/static/js/store.js
@@ -5,12 +5,10 @@
 //
 
 var store = {
-  debug: true,
-  map: null,
   showPlots: false,
   drawing_polygon: false,
-  robots: [],
-  current_robot_index: 0, // select the first robot by default
+  robots: {},
+  current_robot_name: '',
   pathNames: [],
   gps_path: [],
   displayed_path: [],
diff --git a/server/templates/acorn.html b/server/templates/acorn.html
index 8946a7a..71dcb64 100644
--- a/server/templates/acorn.html
+++ b/server/templates/acorn.html
@@ -38,6 +38,7 @@
     <!--app-->
 
     <script src="{{ url_for('static', filename='js/lib/bootstrap.bundle.min.js') }}"></script>
+    <script src="{{ url_for('static', filename='js/lib/socket.io.min.js') }}"></script>
     <script src="{{ url_for('static', filename='js/lib/vue.js') }}"></script>
     <script src="{{ url_for('static', filename='js/lib/leaflet.js') }}"></script>
     <script src="{{ url_for('static', filename='js/lib/Leaflet.Editable.js') }}"></script>
diff --git a/server/templates/control-panel.html b/server/templates/control-panel.html
index 4d4e6d2..1c729d5 100644
--- a/server/templates/control-panel.html
+++ b/server/templates/control-panel.html
@@ -1,8 +1,4 @@
-<control-panel
-  v-bind:path-names="pathNames"
-  v-bind:map="map"
-  inline-template
->
+<control-panel v-bind:path-names="pathNames" inline-template>
   <div class="row">
     <div class="col-sm-3">
       <h1>Acorn control</h1>
diff --git a/server/templates/map.html b/server/templates/map.html
index 58a9c39..00199d6 100644
--- a/server/templates/map.html
+++ b/server/templates/map.html
@@ -1,6 +1,6 @@
 <map-canvas
     v-bind:robots="robots"
-    v-bind:current_robot_index="current_robot_index"
+    v-bind:current_robot_name="current_robot_name"
     v-bind:displayed_path="displayed_path"
     v-bind:displayed_dense_path="displayed_dense_path"
     v-bind:drawing_polygon="drawing_polygon"
@@ -18,12 +18,12 @@
       v-bind:path_point_to_remove="path_point_to_remove"
     ></path-point>
     <debug-path-point v-for="(point, i) in displayed_dense_path" :key="'dense-' + i" :index="i" :point="point"></debug-path-point>
-    <div v-for="(robot, index) in robots" :key="'robot-' + index">
+    <div v-for="(robot, name) in robots" :key="'robot-' + name">
       <debug-path-point v-for="(point, i) in robot.debug_points" :key="'debug-' + i" :index="i" :point="point"></debug-path-point>
       <gps-point v-for="(point, i) in robot.gps_path_data" :key="'gps-' + i" :pt="point"></gps-point>
       <l-polyline :lat-lngs="robot.live_path_data" :color="'#00FF00'"></l-polyline>
       <l-marker :lat-lng="[robot.lat, robot.lon]" :icon="arrowIcon" :options="{rotationAngle: robot.turn_intent_degrees + robot.heading}"></l-marker>
-      <l-marker :lat-lng="[robot.lat, robot.lon]" :icon="robotIcon(index)" :options="{rotationAngle: robot.heading}" v-on:click="selectRobot(index)"></l-marker>
+      <l-marker :lat-lng="[robot.lat, robot.lon]" :icon="robotIcon(name)" :options="{rotationAngle: robot.heading}" v-on:click="selectRobot(name)"></l-marker>
     </div>
   </l-map>
 </map-canvas>
diff --git a/server/templates/robot-cardview.html b/server/templates/robot-cardview.html
index 77f1202..c293ed2 100644
--- a/server/templates/robot-cardview.html
+++ b/server/templates/robot-cardview.html
@@ -1,6 +1,6 @@
 <robot-cardview
-  v-if="current_robot_index !== null && robots[current_robot_index]"
-  v-bind:robot="robots[current_robot_index]"
+  v-if="current_robot_name && robots[current_robot_name]"
+  v-bind:robot="robots[current_robot_name]"
   v-bind:show-plots="showPlots"
   inline-template
 >
diff --git a/vehicle/master_process.py b/vehicle/master_process.py
index e98e92e..4e6ddc3 100644
--- a/vehicle/master_process.py
+++ b/vehicle/master_process.py
@@ -55,11 +55,10 @@
 
 _MAX_GPS_DISTANCES = 1000
 
-_SIMULATION_UPDATE_PERIOD = 0.1
-_SIMULATION_SERVER_REPLY_TIMEOUT_MILLISECONDS = 300
-
+_SIMULATION_UPDATE_PERIOD = 0.5
+_SIMULATION_SERVER_REPLY_TIMEOUT_SECONDS = 0.3
 _UPDATE_PERIOD = 2.0
-_SERVER_REPLY_TIMEOUT_MILLISECONDS = 3000
+_SERVER_REPLY_TIMEOUT_SECONDS = 3
 
 _MAX_ALLOWED_SERVER_COMMS_OUTAGE_SEC = 60
 
@@ -270,10 +269,10 @@ def get_path(self, pathkey, robot):
             time.sleep(0.5)
             while attempts < 5:
                 if self.simulation:
-                    timeout = _SIMULATION_SERVER_REPLY_TIMEOUT_MILLISECONDS
+                    timeout = _SIMULATION_SERVER_REPLY_TIMEOUT_SECONDS
                 else:
-                    timeout = _SERVER_REPLY_TIMEOUT_MILLISECONDS
-                if self.server_comms_parent_conn.poll(timeout=timeout / 1000.0):
+                    timeout = _SERVER_REPLY_TIMEOUT_SECONDS
+                if self.server_comms_parent_conn.poll(timeout=timeout):
                     self.logger.info("READING PATH DATA")
                     command, msg = self.server_comms_parent_conn.recv()
                     if command == _CMD_READ_KEY_REPLY:
diff --git a/vehicle/requirements.txt b/vehicle/requirements.txt
index 3d413bc..4fe0cd8 100644
--- a/vehicle/requirements.txt
+++ b/vehicle/requirements.txt
@@ -1,14 +1,16 @@
-svgpathtools
-zmq
-odrive==0.4.12
-evdev
-geopy==1.22.0
 Adafruit_ADS1x15
-pyyaml
-scipy
-click
-psutil
-netifaces
 RPi.GPIO
 adafruit-blinka
+adafruit-circuitpython-mcp230xx
+click
+coloredlogs
 csaps
+evdev
+geopy==1.22.0
+netifaces
+odrive==0.4.12
+psutil
+pyyaml
+scipy
+svgpathtools
+zmq