docs: define distributed Mission Core topology

README.md

@@ -190,9 +190,19 @@ invalid/corrupt evidence fails closed. The browser receives no D root, artifact
 bytes, command payloads or PX4/process-lifecycle operation.
 
 See the [Polygon product/SRS](docs/12_SIMULATION_POLYGON_PRODUCT_AND_SRS.md),
-[ADR 0015](docs/adr/0015-simulation-polygon-qualification-boundary.md) and the
+[ADR 0015](docs/adr/0015-simulation-polygon-qualification-boundary.md),
+[ADR 0016](docs/adr/0016-distributed-product-edge-and-worker-topology.md) and the
 [SIM S0 worker runbook](docs/runbooks/SIM_S0_AI_WORKER.md).
 
+Mission Core remains a distributed browser product rather than a
+platform-specific desktop executable. React runs in the operator browser;
+Gateway/API and Control Plane run as long-lived services; Gazebo/PX4/ROS 2/Nav2
+run headless on a registered simulation worker; and a future field vehicle runs
+a headless onboard Linux Edge Agent with local-first evidence and
+store-and-forward synchronization. Native Gazebo GUI is worker-local
+diagnostics. Product 3D uses canonical state in browser-native Rerun/WebGL views,
+so field execution never depends on streaming a simulator desktop.
+
 ## Mission Core Control Station and visualization adapters
 
 The browser application is the universal Mission Core Control Station rather than
@@ -429,6 +439,8 @@ present.
 - [Plugin-owned frontend device workflows](docs/adr/0010-plugin-owned-frontend-device-workflows.md)
 - [Laboratory plugin runtime handshake and transport seam](docs/adr/0011-laboratory-plugin-runtime-handshake-and-transport-seam.md)
 - [Device-bound K1 command authority](docs/adr/0012-device-bound-k1-command-authority.md)
+- [Simulation Polygon qualification boundary](docs/adr/0015-simulation-polygon-qualification-boundary.md)
+- [Distributed product, edge and worker topology](docs/adr/0016-distributed-product-edge-and-worker-topology.md)
 - [Redacted live lab report](docs/lab/001_K1_LIVE_MQTT_20260715.redacted.md)
 - [Canonical control and durable archive milestone](docs/lab/004_K1_CANONICAL_CONTROL_ARCHIVE_20260719.redacted.md)
 - [Session manifest schema](schemas/session-manifest.schema.json)