deletions | additions       diff --git a/Several_conclusions_could_be_drawn__.tex b/Several_conclusions_could_be_drawn__.tex  index 226d56e..abfeb22 100644  --- a/Several_conclusions_could_be_drawn__.tex  +++ b/Several_conclusions_could_be_drawn__.tex 
...
Several conclusions could be drawn from these test. Firstly, despite the spacing being large enough for the robot to pass undetected, detection was still occurring. Secondly, as the IDs were transmitted at regular intervals regardless of the robots actual state, the delay between moving over a tag and receiving its ID on the PC could vary greatly (up to several seconds). This meant that if several tags were passed during this time only the latest ID would be transmitted, thus further decreasing the precision of our localization.  \subsection{Second set of experiments}  To increase the precision of our localization we have first decided to decrease the delay between reading a tag's ID and receiving it. The program aboard the arduino was modified to transmit the tag's ID as soon as it was read. We then measured this delay and got 557  milliseconds on average (out of 50 measurements). Experiment were again performed on triangular grid with 25cm spacing.