diff --git a/docs/figures/master_walker.png b/docs/figures/master_walker.png
new file mode 100644
index 0000000..6f9c83c
Binary files /dev/null and b/docs/figures/master_walker.png differ
diff --git a/docs/figures/master_walker.xml b/docs/figures/master_walker.xml
new file mode 100644
index 0000000..898b1a0
--- /dev/null
+++ b/docs/figures/master_walker.xml
@@ -0,0 +1 @@
+<mxfile modified="2019-03-01T11:07:43.917Z" host="www.draw.io" agent="Mozilla/5.0 (Macintosh; Intel Mac OS X 10_11_6) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/9.3.1 Chrome/66.0.3359.181 Electron/3.0.6 Safari/537.36" etag="yfhPAySZvIgTAZ8sPvLm" version="10.2.9-1" type="device"><diagram id="YVhMqnqmMhdDVmYqlxWs" name="Page-1">5Vxfc+I2EP80zLQPzViSbcxjIMndde6mmaZz13s0tgBfbIsKEaCfvpIt8B8JYopjmRwPGWslGWl3f6vd1ZIBmiTbD9RfLr6QEMcDaIXbAbobQOg6Dv8rCLuc4ACQE+Y0CnNSifAU/Ysl0ZLUdRTiVWUgIyRm0bJKDEia4oBVaD6lZFMdNiNx9VuX/hwrhKfAj1XqtyhkC0kF7qjo+Iij+UJ+tQeHeUfi7wfLnawWfkg2JRK6H6AJJYTlT8l2gmPBuz1f8nkPR3oPC6M4ZU0m/L5zv1qP4+TPDw/k6+ePkz8+LWa/ybe8+PFablgulu32HKBknYZYvMQaoPFmETH8tPQD0bvhIue0BUti3gL8cRbF8YTEhPJ2SlI+aCy/AVOGt0eXDg4M4YqESYIZ3fEhcgK0JQ+lEgFXtjeFSOBI0hYlaUBLEn2pBvPDuwtO8QfJrHMYhxRG4ZBrjmwSyhZkTlI/vi+o4yorizGfCVlKBv7AjO0kDPw1I1X24m3E/hbTbxzZ+l7qudvKN2eN3b6R8v2WJonm93JfMS1r7efl+xObOi01zgOypgE+wSypVMync8xOjEN6LaA49ln0Ul1H6xKFChS++PQZU/Fd/6wjyuXWR2i4NWh4KjRcDTLQWwHDNYkLUEJFgZHXcFFBRQGSI7goy3EA0cwLcBBw+opR8oxLPVPPsR3r0LM/PmC72EINseWYxBaw37u1rGlF6GAvtHVa4cEpct2+aMXIpFYg1eKSF5yIzYolSKOLHlS7uyDJdL0y5444FZvLvVrF5uq8Edd5I0Z6RtH1f2wuOM/mtogMuyEyoElk2AoynmKMl5xk3YBVH/0Q5FYxofNDnC79kINCvFtHpEVQOE1BYemVoBtUOCoqGJfLFaAB2vBGPSM6xQMwekhcGR5GDfEAjOJhpODhUzojNMmyTysmQtf+QQPWoIGA4YMCGD0oqrGJ1RAY1dgEvAKMnkWse4H3PGQdXZ+9vEgtTIesjdUCGHXN98ssWd1HTJNotYpIyulzvoK0h0ErqgetI51L0mnYCoZXZ3lrcSvs0CcBTbPo9oXwyKbeUurvSgOWJErZqvTmR0Eo1MuB1Tw0kjmRh4bjgefV9ClfQaFdh61coHCaHD/hHOHMIVPCWneXwojigAm7gO64fAXI2oCy7bg3PXOiILx2KA87hDJsetRdCuXLZKqedFcQX6jg6EHwDdWE3jc/ftZwkG+cVdlUdcckozS88+NoLgxNwBnFX4zGgo1R4Me3siOJwjDDnU4uVcnNSMok6oDbllxev8P3NDKBbyYTNZ3UR32u1z6gofHaB+iqx6jeHvw02qyTSqfabJ8+gCVXryqfV402gUaQol2KU+270chq+6j2Gh7VyGgqcL9MzQGT3aTiFevltRFUXVkPKUjqtIAFDVXrlgUJJ7nX0gVq0+KEc/I8p3EEVRxZ2UeTOMw+ugzRYUbsT3E89oPnecYe3eQWwYma+tHoiBZ2dJurVllqL666MtgNlQz0VclMaJBt1LwjNRT7iwygGwvvasqNvDsXT0mezCDC6nNFEMol1KSHuUjQwOp3motEp69H24ZjG9c+r5Wkqdn6pv7T+TcDbUJyX+b/qlE3Wi6M1PshsyVVF3nXF2hHg+tEI9ph9PYQ6Y58n2HVZkfi0uiXDXfWo3Q+gJPszTH+tW2zXc5Fb3g40FZ2om7JbW22rVtb/u5r0HsRGqOmRcbIaBobqWXGORTFYx2NBxz2MFR261BzkOFbH6SmtW/jmGz6yD7kjHrGPDX/fIfT3TXwzh7aZnlnq78nMWu/z6xnP+18aaJlYb3NO19243yLUefLPn3+v79Y7gyF6TaWa6wwtlmFUdMr0lu3otVxJ0F46PW+K/DZbVTPuffAZ7dP14K1jtnOjXyDlOgBs20isOlPO8w66bbutx3HnHQRH/fRTVJLT97QyeTN4n9H5AVyxT/gQPf/AQ==</diagram></mxfile>
\ No newline at end of file
diff --git a/docs/figures/sys_arch.png b/docs/figures/sys_arch.png
new file mode 100644
index 0000000..c8bc236
Binary files /dev/null and b/docs/figures/sys_arch.png differ
diff --git a/docs/figures/sys_arch.xml b/docs/figures/sys_arch.xml
new file mode 100644
index 0000000..e51c0ab
--- /dev/null
+++ b/docs/figures/sys_arch.xml
@@ -0,0 +1 @@
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diff --git a/docs/figures/teleoperation_overview.png b/docs/figures/teleoperation_overview.png
index c96247b..7e3ee9f 100644
Binary files a/docs/figures/teleoperation_overview.png and b/docs/figures/teleoperation_overview.png differ
diff --git a/docs/figures/teleoperation_overview.xml b/docs/figures/teleoperation_overview.xml
index 48b7912..c14c1da 100644
--- a/docs/figures/teleoperation_overview.xml
+++ b/docs/figures/teleoperation_overview.xml
@@ -1 +1 @@
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\ No newline at end of file
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diff --git a/docs/report.latex b/docs/report.latex
index 53141d2..4d4a92f 100644
--- a/docs/report.latex
+++ b/docs/report.latex
@@ -344,9 +344,16 @@ only inform the master about the occurrence of certain events, such as the fall
 or fall recovery, so that the master could deny requests for any activities,
 until the fall recovery is complete.
 
+\begin{figure}[h]
+  \centering
+  \includegraphics[width=0.9\linewidth]{figures/sys_arch.png}
+  \caption{Overview of the interactions in the system.}
+  \label{fig:impl_overview}
+\end{figure}
+
 We will now illustrate our architecture by using interaction between the walker
 node and the master node as an example. This interaction is depicted in the
-\autoref{fig:integration-example}. The walker node subscribes to the TF
+\autoref{fig:master-walker}. The walker node subscribes to the TF
 transform of the chest ArUco marker, and requests a position update every 0.1
 seconds. If in the current cycle the marker happens to be outside of the buffer
 zone (see \autoref{fig:joystick}), or the rotation of the marker exceeds the
@@ -375,6 +382,13 @@ walker node, and the master will be informed, that the robot has stopped
 moving. Since in this case the walker node gives up the control, the permission
 from the master doesn't matter.
 
+\begin{figure}[h]
+  \centering
+  \includegraphics[width=0.9\linewidth]{figures/master_walker.png}
+  \caption{Interaction between master and walker modules.}
+  \label{fig:master-walker}
+\end{figure}
+
 A final piece of our system is the speech-based command interface. Since in our
 system the acceptable commands vary between states, the speech recognition
 controller must be aware of the current state of the system, therefore the
@@ -384,8 +398,7 @@ server node. If a relevant word is detected, master receives the result and
 updates the state accordingly and then sends a new recognition target. If a
 state change occurred before any speech was detected, then the master sends a
 cancellation request to the speech server for the currently running objective
-and, again, sends a new target. This interaction is schematically displayed in
-\autoref{fig:master-speech}.
+and, again, sends a new target.
 
 \section{Conclusion and possible drawbacks}