First round of corrections

documentation/conclusion.tex

@@ -16,18 +16,18 @@ 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
+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 planing was a crucial
+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 planing,
+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
@@ -41,7 +41,7 @@ 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 his position on the field, but if such information could
+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.