diff --git a/documentation/align.tex b/documentation/align.tex
index b1804ed..d9dc4c4 100644
--- a/documentation/align.tex
+++ b/documentation/align.tex
@@ -37,12 +37,13 @@ but due to time constraints we programmed the robot to kick with the left foot
 only. So, the task now is to place the ball in front of the left foot. We
 realized, that when the ball is in the correct position, then its image in the
 lower camera should be within a certain region. We experimentally determined
-the extents of this region. The algorithm therefore is for the robot to
-gradually adjust its position in small steps, until the ball image reaches the
-target, after which the robot will proceed with the kick. Our tests have shown,
-that this method while being relatively simple, works sufficiently robust,
-which means that we didn't have the situations, when the robot missed the ball
-after alignment or even hit the ball with an edge of the foot.
+the extents of this region, which is schematically presented in figure \ref{p
+  figure ball-alignment}. The algorithm therefore is for the robot to gradually
+adjust its position in small steps, until the ball image reaches the target,
+after which the robot will proceed with the kick. Our tests have shown, that
+this method while being relatively simple, works sufficiently robust, which
+means that we didn't have the situations, when the robot missed the ball after
+alignment or even hit the ball with an edge of the foot.
 
 \begin{figure}[ht]
   \includegraphics[width=\textwidth]{\fig ball-align}
diff --git a/documentation/approach.tex b/documentation/approach.tex
index 19549ac..bbffc34 100644
--- a/documentation/approach.tex
+++ b/documentation/approach.tex
@@ -36,7 +36,8 @@ will stop moving, will adjust the movement direction and then will go further.
 The robot will continue moving until the ball is close enough to start the goal
 alignment. Do determine if that is the case, we don't use trigonometry, but
 simply define a threshold, which the image of the ball in the robot's lower
-camera should reach. Once this has happened, the approach stage is over and the
+camera should reach. The threshold is visualized in figure \ref{p figure
+  direct-approach}. Once this has happened, the approach stage is over and the
 robot will start aligning itself to the goal.
 
 \begin{figure}[ht]
diff --git a/documentation/introduction.tex b/documentation/introduction.tex
index fa672c8..ca40b85 100644
--- a/documentation/introduction.tex
+++ b/documentation/introduction.tex
@@ -33,11 +33,12 @@ aspects of our motivation behind this objective. The first one is the fact,
 that goal scoring is crucial for winning soccer games, therefore fast and
 effective goal scoring will bring the team closer to victory. Secondly, in
 order to score a goal, many problems and tasks need to be solved, which we will
-describe in close detail in the next chapter. The work on these tasks would
-allow us to acquire new competences, which we could then use to complement the
-RoboCup team of the TUM. Finally, this objective encompasses many disciplines, such
-as object detection, mechatronics or path planning, which means that working on
-it might give us a chance to contribute to the research in these areas.
+describe in close detail in the following chapters. The work on these tasks
+would allow us to acquire new competences, which we could then use to
+complement the RoboCup team of the TUM. Finally, this objective encompasses
+many disciplines, such as object detection, mechatronics or path planning,
+which means that working on it might give us a chance to contribute to the
+research in these areas.
 
 Having said that, we hope that our project will be a positive contribution to
 the work being done at the Institute for Cognitive Systems and that this
diff --git a/documentation/kick.tex b/documentation/kick.tex
index 5059945..72a6185 100644
--- a/documentation/kick.tex
+++ b/documentation/kick.tex
@@ -12,7 +12,7 @@ The procedure is as follows. First the robot will use its ankle joints to shift
 its weight to the base leg. After this, the robot will be able to lift the
 kicking leg for the swing. Finally, the robot will perform the swing and return
 to the standing position. Both raising the leg and doing the swing require
-precise coordinated joint movements, so we had to conduct experiments to
+precise coordinated joint movements, so we had to conduct many experiments to
 establish the correct joint angles and the movement speed.
 
 An important drawback of our implementation is that the swing makes the whole