assigned the portions

documentation/Common/conclusion.tex

@@ -0,0 +1,72 @@
+\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
+one 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 it 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 a variety of
+different relative positions of the ball and the goal.
+
+Furthermore, we managed not only to make the whole approach robust, but also
+worked on making the procedure fast, and the approach planning 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 planning,
+and as a result the goal alignment stage could in many scenarios be completely
+eliminated, which was greatly beneficial for the execution times. Finally,
+thanks to the strong kick, the goal can be scored from a large range of
+distances, which means that in some situations is not necessary to bring the
+ball closer to the goal, which can also save time.
+
+\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 \textit{self-localization}. Currently our robot is
+completely unaware of its 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 \textit{obstacle
+  awareness}, which would be unacceptable in a 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 \textit{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 a ``free-kick'' situation, so our robot can
+perform its tasks in the absence of other players 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 move away from the goal first. To be
+useful in a real game the striker should be able to handle more complex
+situations. For example, \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.

documentation/Common/introduction.tex

@@ -0,0 +1,46 @@
+\chapter{Introduction}
+
+RoboCup \cite{robocup} is an international competition in the field of
+robotics, the ultimate goal of which is to win a game of soccer against a human
+team by the middle of the 21st century. The motivation behind this objective is
+the following: It is impossible to achieve such an ambitious goal with the
+current state of technology, which means that the RoboCup competitions will
+drive scientific and technological advancement in such areas as computer
+vision, mechatronics and multi-agent cooperation in complex dynamic
+environments. The RoboCup teams compete in five different leagues: Humanoid,
+Standard Platform, Medium Size, Small Size and Simulation. Our work in this
+semester was based on the rules of the \textit{Standard Platform League}. In
+this league all teams use the same robot \textit{Nao}, which is being produced
+by SoftBank Robotics. We will describe the capabilities of this robot in
+more detail in the next chapter.
+
+A couple of words need to be said about the state-of-the-art. One of the most
+notable teams in the Standard Platform League is \textit{B-Human}
+\cite{bhuman}. This team represents the University of Bremen and in the last
+nine years they won the international RoboCup competition six times and twice
+were the runner-up. The source code of the framework that B-Human use for
+programming their robots is available on GitHub, together with an extensive
+documentation, which makes the B-Human framework a frequent starting point for
+RoboCup beginners.
+
+\section{Our Objective and Motivation}
+\label{sec problem statement}
+
+In this report we are going to introduce the robotics project, which our team
+worked on during the Summer Semester 2018. The main objective of our work was
+to explore a possible strategy for fast goal scoring. There are three main
+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 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
+report will help future students to get familiar with our results and continue
+our work.

documentation/Common/solintro.tex

@@ -0,0 +1,33 @@
+\chapter{Our Solution}
+
+To achieve our objective, we identified ten big milestones that needed to be
+completed, which are:
+
+\begin{enumerate}
+
+  \item Ball detection
+
+  \item Goal detection
+
+  \item Field detection
+
+  \item Turning to ball
+
+  \item Distance measurement
+
+  \item Approach planning
+
+  \item Ball approach
+
+  \item Goal alignment
+
+  \item Ball alignment
+
+  \item Kick.
+
+\end{enumerate}
+
+In this chapter we will give our solutions to the problems posed by each of the
+milestones, and at the end the resulting goal scoring strategy will be
+presented. We will now start with the lower level detection milestones and
+will gradually introduce higher level behaviors.