[Greg Needel]

i have a question for you. is there a reason you are sticking with the IFI system for this project other then it's simplicity? there are many other micro controllers that handle I2C bus along with many other communication standards.

I have worked on a similar system for the DARPA grand challenge team i am on and it might open up the possibilities of what you are capable of, but this all depends on your time, budget, and goals for the project.