Before choosing the GPS receiver that fits you, you have to look for the connectivity type, the number of channels it tracks at a time, the update position frequency as well as the accuracy.

The HOLUX GPSlim240 Bluetooth GPS receiver is a fully integrated GPS receiver. It includes a rechargeable Lithium-Ion battery, GPS antenna and Bluetooth […]

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Create a single large list before starting scheduling instead of dynamically building a priority list while scheduling every control step.
 It sorts all operations using the ALAP labels in ascending order as the primary key and the ASAP labels in descending order as the secondary key.

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It is a generalization of the ASAP since it produces same results in the absence of resource constraints.
It uses a priority list of ready nodes (ready node: node that has its predecessors scheduled – the priority list is sorted with respect to a priority function)

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Nodes are assigned to their last state that they can possibly be in.

All nodes in V which have no successors are assigned to the last state which can be inferred from the Time constraint T and they are removed from set V

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Nodes are assigned to their earliest state that they can possibly be in.

All nodes in V which have no predecessors are assigned to state 1 and they are removed from set V
All the nodes that have all their predecessors scheduled are assigned to their earliest […]

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