Performance of the method (MOS) in response to an unexpected change in the environment.

At time step the visual sensor fails and its variance changes to the highest possible value. All graphs are results of averaging over 10 independent runs and passing a moving average window with size 500. (A) Average acceptance rate () of the individual sensors. (B) The average dominancy percentage of each source in decision making (MOS). After failure of the visual sensor, the method detects this change and relies on the auditory sensor for decision making.