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upenn_team_description2014.aux
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\relax
\@writefile{toc}{\contentsline {section}{\numberline {1}Introduction}{2}}
\@writefile{toc}{\contentsline {section}{\numberline {2}Software Architecture}{2}}
\@writefile{lof}{\contentsline {figure}{\numberline {1}{\ignorespaces Block Diagram of the Software Architecture.\relax }}{3}}
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\@writefile{toc}{\contentsline {section}{\numberline {3}Motion}{4}}
\@writefile{toc}{\contentsline {subsection}{\numberline {3.1}Walk}{5}}
\@writefile{lof}{\contentsline {figure}{\numberline {2}{\ignorespaces Overview of the walk controller\relax }}{5}}
\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.1.1}Step controller}{5}}
\@writefile{lof}{\contentsline {figure}{\numberline {3}{\ignorespaces Example parameters for one of our walk files.\relax }}{6}}
\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.1.2}Trajectory controller}{6}}
\@writefile{lof}{\contentsline {figure}{\numberline {4}{\ignorespaces An example for a reference ZMP trajectory and corresponding torso trajectory.\relax }}{7}}
\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.1.3}Feedback controller}{8}}
\@writefile{toc}{\contentsline {subsection}{\numberline {3.2}Kicks}{8}}
\@writefile{toc}{\contentsline {subsection}{\numberline {3.3}Get up}{8}}
\@writefile{toc}{\contentsline {section}{\numberline {4}Cognition}{9}}
\@writefile{lof}{\contentsline {figure}{\numberline {5}{\ignorespaces Block Diagram of the Cognition Module.\relax }}{10}}
\newlabel{fig:cog}{{5}{10}}
\@writefile{toc}{\contentsline {subsection}{\numberline {4.1}Image Processing}{10}}
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\@writefile{lof}{\contentsline {figure}{\numberline {7}{\ignorespaces Hough transformation for field line detection in images.\relax }}{12}}
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\@writefile{toc}{\contentsline {subsection}{\numberline {4.2}Updates to Vision Code - Chris \& Junda}{12}}
\@writefile{toc}{\contentsline {subsubsection}{\numberline {4.2.1}Changes in Goalpost Detection}{12}}
\@writefile{toc}{\contentsline {subsubsection}{\numberline {4.2.2}Changes in Line and Spot Detection}{12}}
\@writefile{toc}{\contentsline {subsubsection}{\numberline {4.2.3}Changes in Ball Detection}{12}}
\@writefile{toc}{\contentsline {subsection}{\numberline {4.3}Self-Localization}{13}}
\@writefile{lof}{\contentsline {figure}{\numberline {8}{\ignorespaces Rao-Blackwellized probabilistic representation used for localization.\relax }}{14}}
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\@writefile{toc}{\contentsline {subsubsection}{\numberline {4.3.1}Particle Initialization}{14}}
\@writefile{lof}{\contentsline {figure}{\numberline {9}{\ignorespaces Initialization of particles before game starts.\relax }}{15}}
\newlabel{fig:Init}{{9}{15}}
\@writefile{toc}{\contentsline {subsubsection}{\numberline {4.3.2}Odometry, Landmark Observation and Re-sampling}{15}}
\@writefile{lof}{\contentsline {figure}{\numberline {10}{\ignorespaces Visualization of the odometry calculation after one step.\relax }}{15}}
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\@writefile{lof}{\contentsline {figure}{\numberline {11}{\ignorespaces The robot weighs different landmark positions to establish an accurate estimation of its position on the field.\relax }}{16}}
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\@writefile{toc}{\contentsline {subsection}{\numberline {4.4}Debugging Tools}{17}}
\@writefile{toc}{\contentsline {subsubsection}{\numberline {4.4.1}Monitoring}{17}}
\@writefile{lof}{\contentsline {figure}{\numberline {12}{\ignorespaces Monitor\relax }}{17}}
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\@writefile{lof}{\contentsline {figure}{\numberline {13}{\ignorespaces Example camera parameters.\relax }}{18}}
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\@writefile{toc}{\contentsline {subsection}{\numberline {5.1}The Body Finite State Machine }{19}}
\@writefile{toc}{\contentsline {subsubsection}{\numberline {5.1.1}BodyFSM for Normal Players}{19}}
\@writefile{lof}{\contentsline {figure}{\numberline {15}{\ignorespaces Body State Machine for a non-goalie player.\relax }}{20}}
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\@writefile{lof}{\contentsline {figure}{\numberline {16}{\ignorespaces Difference between our original and our improved approach.\relax }}{21}}
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\@writefile{lof}{\contentsline {figure}{\numberline {18}{\ignorespaces Head State Machine Left : during the game / Right: while waiting for game start \relax }}{23}}
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\@writefile{lof}{\contentsline {figure}{\numberline {19}{\ignorespaces Simple Example of Role Switching.\relax }}{24}}
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