\chapter{Introduction}

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 Standard Platform league. In this league all teams use the
same robot \textit{Nao}, which is being produced by the SoftBank Robotics. We
will describe the capabilities of this robot in more detail in the next
chapter.

One of the most notable teams in the Standard Platform League is
\textit{B-Human}. This team represents TU 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 an attractive starting point for RoboCup
beginners.

\section{Out objective and motivation}

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 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 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 improve over the existing work in these areas.

Having said that, we hope that our project \todo{will be good}, and this report
will help future students to get familiar with our results and continue our
work.