Yeah, english isn't my primary language and I haven't spoken it in a long time so sorry if I can't make my point across :) I'm not ashamed for being wrong. If

Yeah, english isn't my primary language and I haven't spoken it in a long time so sorry if I can't make my point across :) I'm not ashamed for being wrong. If that'd be the case I would have been ashamed my whole life heh. When I said consistency I was referring to low-error rate in the signal. I should have said that but couldn't find the correct word for it. Efficiency meant efficiency in the bandwidth usage. So in that sense, there's always a tradeoff between efficiency (use 100% of the bandwidth to transmit real data) and consistency (make sure that 100% of the sent data is error-free) Now, when I first wrote my comment. I had the feeling that communication was very basic commands. like a 2 bit integer for movement direction (00 up, 01 down, 10 left, 11right). So if you'd use such a scheme to communicate instruction to the rover, there would be an obvious overhead (encoding 2 bit into 4, 10, etc). But now that I really think about it, instruction sent to the rover are probably very complex, which increase entropy, which in the end, made my first assumption wrong, is this clear? I hope it is ;) If not, I can rephrase !