Two arrangements – centralized and decentralized (Figs. 6 and
7, respectively) – were built and tested. 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.
Two arrangements – centralized and decentralized (Figs. 6 and7, respectively) – were built and tested. The centralized systemwas composed of two slaves, each with four GPS receivers connected,and a master. The additional step of using slaves betweenthe master and the GPS receivers was necessary, due to resourcelimitations on the microcontrollers. The decentralized system didnot have the same resource limitations, in terms of the microcontrollers,since it operated in a linear fashion, with each microcontrolleronly communicating with its immediate neighbors. Fig. 8shows the decentralized system in action.
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