The centralized system was composed of two slaves, each with four GPS receivers connected,
and a master. The additional step of using slaves between the master and the GPS receivers was necessary, due to resource limitations on the microcontrollers. The decentralized system did
not have the same resource limitations, in terms of the microcontrollers,since it operated in a linear fashion, with each microcontroller only communicating with its immediate neighbors. Fig. 8
shows the decentralized system in action.