Started work on Our Solution and Perception

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+\chapter{Our solution}
+
+To achieve our objective, we identified ten big milestones that needed to be
+completed. These milestones can roughly be grouped into perception, approach
+planing, approach and the kick. 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
+perception milestones and will gradually introduce higher level behaviors.