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+\chapter{Conclusion}
+
+\section{Results}
+
+In this section we will summarize our most important achievements during the
+work on the project. First, we managed to implement robust detection
+algorithms, on which we could rely when we worked on higher-lever behaviors.
+During our tests, there were almost no false detections, i.e.\ foreign objects
+were not detected as a ball or a goal. Sometimes the ball and the goal were
+missed, even if they were in the field of view, which happened due to imprecise
+color calibration under changing lighting conditions. The goal detection was on
+of the most difficult project milestones, so we are particularly satisfied with
+the resulting performance. It is worth mentioning, that with the current
+algorithm, for successful detection, it is not even necessary to have the whole
+goal in the camera image.
+
+Another important achievement is the overall system robustness. In our tests
+the robot could successfully reach the ball, do the necessary alignments and
+kick the ball. When the robot decided that he should kick the ball, in the
+majority of cases the kick was successful and the ball reached the target. We
+performed these tests from many starting positions and assuming many relative
+position of the ball and the goal. Naturally, we put some constraints on the
+problem, but within th \todo{smth about constraints and such bullshit}.
+
+Furthermore, we managed not only to make the whole approach robust, but also
+worked on making the procedure fast, and the approach planing was a crucial
+element of this. In the project's early stages, the robot couldn't approach the
+ball from the side, depending on the goal position, and instead always walked
+towards the ball directly and aligned to the goal afterwards. The tests have
+shown, that in such configuration the goal alignment was actually the longest
+phase and could take over a minute. Then we introduced the approach planing,
+and as a result the goal alignment stage could in many scenarios be completely
+eliminated, which was greatly beneficial for the execution times.
+
+Finally, \todo{the kick was nice}.
+
+\section{Future Work}
+
+With our objective for this semester completed, there still remains a vast room
+for improvement. Some of the most interesting topics for future work will now
+presented.
+
+The first important topic is the self-localization. Currently our robot is
+completely unaware of his position on the field, but if such information could
+be obtained, then it could be leveraged to make path planning more effective
+and precise.
+
+Another important capability that our robot lacks for now is obstacle
+awareness, which would be unacceptable in the real RoboCup soccer game. Making
+the robot aware of the obstacles on the field would require the obstacle
+detection to be implemented, as well as some changes to the path planning
+algorithms to be made, which makes this task an interesting project on its own.
+
+A further capability that could be useful for the striker is the ability to
+perform different kicks depending on the situation. For example, if the robot
+could perform a sideways kick, then the goal alignment would in many situations
+be unnecessary, which would reduce the time needed to score a goal.
+
+In this semester we concentrated on the ``free-kick'' situation, so our robot
+can perform its tasks in the absence of other players, and only when the ball
+is not moving. Another constraint that we imposed on our problem is that the
+ball is relatively close to the goal, and that the ball is closer to the goal
+than the robot, so that the robot doesn't have to run away from the goal. To be
+useful in a real game the striker should be able to handle more complex
+situations. For example, the \textit{dribbling} skill could help the robot to
+avoid the opponents and to bring the ball into a convenient striking position.
+
+Finally, we realized that the built-in moving functions in NAOqi SDK produce
+fairly slow movements, and also don't allow to change the direction of movement
+fluently, which results in pauses when the robot needs to move in another
+direction. This realization brings us to thought, that the custom-implemented
+movement might result in much faster and smoother behavior.