Lab7.markdown

@@ -131,7 +131,7 @@ Look into the three classes and try to identify how the triggering conditions ar
 
 #### Result: 
 
-Every command class has a triggering condition except 'cruise' which is always on unless it overruled by another.
+Every command class has a triggering condition. This is a reactive control strategy as described by Fred Martin [0, p.206-207]. except 'cruise' which is always on unless it overruled by another.
 
 Follow: Is executed when frontLight is larger than lightThreshold. Otherwise it runs noCommand().
 
@@ -374,13 +374,15 @@ Jones, Flynn, and Seiger use a method, void arbitrate() (Fig. 17) to check a fla
 ![IMG_8268](http://gitlab.au.dk/uploads/group-22/lego/0165cb92a7/211.png)
 ##### Fig.17
 
-The advantage of this method, is that it is easy to maintain an overview of what command classes affects the behaviour of the robot, since they are all prioritized in one arbitrator class [1 p.306-309.]
+The advantage of this method, is that it is easy to maintain an overview of what command classes affects the behaviour of the robot, since they are all prioritized in one arbitrator class [1, p.306-309.]
 
 
 ## References
 
 ### Litterature
 
+[0], Fred G. Martin, Robotic Explorations: A Hands-on Introduction to Engineering, Prentice Hall, 2001.
+
 [1], Jones, Flynn, and Seiger, "Mobile Robots, Inspiration to Implementation", Second Edition, 1999.!
 
 ### Videos