deletions | additions       diff --git a/The_PC_compares_the_IDs__.tex b/The_PC_compares_the_IDs__.tex  index 2bfd072..63e9b68 100644  --- a/The_PC_compares_the_IDs__.tex  +++ b/The_PC_compares_the_IDs__.tex 
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The PC compares the IDs from tags with the map of the tag layout and determines the position of the reader. Since every tag has a different ID a setup like this has the advantage of being incapable of producing an incorrect position coordinates. The main disadvantage of this setup is that only objects equipped with a reader can be tracked. This is however a matter of simple floor tags plus objects with readers versus floor readers plus tags for objects. Since readers are much more difficult to maintain than tags and for a reliable localization the entire floor needs to be covered, we find the setup with floor tags preferable.   For consistent results the tags should be arranged into some kind of grid. The most suitable are square and triangular grids (fig*). Hexagonal grid is either identical to triangular (when placing tags inside the hexagons) or triangular grid with holes (when placing tags into the corners of the hexagons).