<?xml version="1.0"?>
<xabsl:option-trees xmlns:xabsl="http://www.ki.informatik.hu-berlin.de/XABSL2.2" xmlns="http://www.w3.org/1999/xhtml" xmlns:dotml="http://www.martin-loetzsch.de/DOTML">
  <xabsl:option-tree root-option="catch-and-release-ball">
    <xabsl:o-n name="catch-and-release-ball">
      <xabsl:e2b to="grab-ball"/>
      <xabsl:e2b to="grab-ball-high"/>
      <xabsl:e2b to="release-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="grab-ball" g="basic-behaviors"/>
    <xabsl:b-n name="grab-ball-high" g="basic-behaviors"/>
    <xabsl:b-n name="release-ball" g="basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="head-control">
    <xabsl:o-n name="head-control">
      <xabsl:e2o to="other-head-movement"/>
      <xabsl:e2o to="track-ball"/>
      <xabsl:e2o to="catch-and-release-ball"/>
      <xabsl:e2b to="directed-scan-for-obstacles"/>
    </xabsl:o-n>
    <xabsl:o-n name="other-head-movement">
      <xabsl:e2b to="hold-ball"/>
      <xabsl:e2b to="open-challenge"/>
      <xabsl:e2b to="none"/>
      <xabsl:e2b to="look-left"/>
      <xabsl:e2b to="look-right"/>
      <xabsl:e2b to="scan-for-obstacles"/>
      <xabsl:e2b to="search-for-landmarks"/>
      <xabsl:e2b to="search-for-landmarks-head-low"/>
      <xabsl:e2b to="look-at-blue-pink-landmark"/>
      <xabsl:e2b to="look-straight-ahead"/>
      <xabsl:e2b to="look-toward-opponent-goal"/>
      <xabsl:e2b to="look-between-feet"/>
      <xabsl:e2b to="look-to-stars"/>
      <xabsl:e2b to="snap-at-finger"/>
      <xabsl:e2b to="look-parallel-to-ground"/>
      <xabsl:e2b to="direct"/>
      <xabsl:e2b to="stay-as-forced"/>
      <xabsl:e2b to="watch-origin"/>
      <xabsl:e2b to="calibrate-head-speed"/>
    </xabsl:o-n>
    <xabsl:b-n name="hold-ball" g="basic-behaviors"/>
    <xabsl:b-n name="open-challenge" g="basic-behaviors"/>
    <xabsl:b-n name="none" g="basic-behaviors"/>
    <xabsl:b-n name="look-left" g="basic-behaviors"/>
    <xabsl:b-n name="look-right" g="basic-behaviors"/>
    <xabsl:b-n name="scan-for-obstacles" g="basic-behaviors"/>
    <xabsl:b-n name="search-for-landmarks" g="basic-behaviors"/>
    <xabsl:b-n name="search-for-landmarks-head-low" g="basic-behaviors"/>
    <xabsl:b-n name="look-at-blue-pink-landmark" g="basic-behaviors"/>
    <xabsl:b-n name="look-straight-ahead" g="basic-behaviors"/>
    <xabsl:b-n name="look-toward-opponent-goal" g="basic-behaviors"/>
    <xabsl:b-n name="look-between-feet" g="basic-behaviors"/>
    <xabsl:b-n name="look-to-stars" g="basic-behaviors"/>
    <xabsl:b-n name="snap-at-finger" g="basic-behaviors"/>
    <xabsl:b-n name="look-parallel-to-ground" g="basic-behaviors"/>
    <xabsl:b-n name="direct" g="basic-behaviors"/>
    <xabsl:b-n name="stay-as-forced" g="basic-behaviors"/>
    <xabsl:b-n name="watch-origin" g="basic-behaviors"/>
    <xabsl:b-n name="calibrate-head-speed" g="basic-behaviors"/>
    <xabsl:o-n name="track-ball">
      <xabsl:e2o to="other-head-movement"/>
      <xabsl:e2b to="look-at-ball-and-closest-landmark"/>
      <xabsl:e2b to="return-to-ball"/>
      <xabsl:e2b to="directed-scan-for-landmarks"/>
      <xabsl:e2b to="scan-back-to-ball"/>
      <xabsl:e2b to="look-around-at-seen-ball"/>
      <xabsl:e2b to="find-ball"/>
      <xabsl:e2b to="look-at-ball"/>
    </xabsl:o-n>
    <xabsl:o-n name="other-head-movement">
      <xabsl:e2b to="hold-ball"/>
      <xabsl:e2b to="open-challenge"/>
      <xabsl:e2b to="none"/>
      <xabsl:e2b to="look-left"/>
      <xabsl:e2b to="look-right"/>
      <xabsl:e2b to="scan-for-obstacles"/>
      <xabsl:e2b to="search-for-landmarks"/>
      <xabsl:e2b to="search-for-landmarks-head-low"/>
      <xabsl:e2b to="look-at-blue-pink-landmark"/>
      <xabsl:e2b to="look-straight-ahead"/>
      <xabsl:e2b to="look-toward-opponent-goal"/>
      <xabsl:e2b to="look-between-feet"/>
      <xabsl:e2b to="look-to-stars"/>
      <xabsl:e2b to="snap-at-finger"/>
      <xabsl:e2b to="look-parallel-to-ground"/>
      <xabsl:e2b to="direct"/>
      <xabsl:e2b to="stay-as-forced"/>
      <xabsl:e2b to="watch-origin"/>
      <xabsl:e2b to="calibrate-head-speed"/>
    </xabsl:o-n>
    <xabsl:b-n name="hold-ball" g="basic-behaviors"/>
    <xabsl:b-n name="open-challenge" g="basic-behaviors"/>
    <xabsl:b-n name="none" g="basic-behaviors"/>
    <xabsl:b-n name="look-left" g="basic-behaviors"/>
    <xabsl:b-n name="look-right" g="basic-behaviors"/>
    <xabsl:b-n name="scan-for-obstacles" g="basic-behaviors"/>
    <xabsl:b-n name="search-for-landmarks" g="basic-behaviors"/>
    <xabsl:b-n name="search-for-landmarks-head-low" g="basic-behaviors"/>
    <xabsl:b-n name="look-at-blue-pink-landmark" g="basic-behaviors"/>
    <xabsl:b-n name="look-straight-ahead" g="basic-behaviors"/>
    <xabsl:b-n name="look-toward-opponent-goal" g="basic-behaviors"/>
    <xabsl:b-n name="look-between-feet" g="basic-behaviors"/>
    <xabsl:b-n name="look-to-stars" g="basic-behaviors"/>
    <xabsl:b-n name="snap-at-finger" g="basic-behaviors"/>
    <xabsl:b-n name="look-parallel-to-ground" g="basic-behaviors"/>
    <xabsl:b-n name="direct" g="basic-behaviors"/>
    <xabsl:b-n name="stay-as-forced" g="basic-behaviors"/>
    <xabsl:b-n name="watch-origin" g="basic-behaviors"/>
    <xabsl:b-n name="calibrate-head-speed" g="basic-behaviors"/>
    <xabsl:b-n name="look-at-ball-and-closest-landmark" g="basic-behaviors"/>
    <xabsl:b-n name="return-to-ball" g="basic-behaviors"/>
    <xabsl:b-n name="directed-scan-for-landmarks" g="basic-behaviors"/>
    <xabsl:b-n name="scan-back-to-ball" g="basic-behaviors"/>
    <xabsl:b-n name="look-around-at-seen-ball" g="basic-behaviors"/>
    <xabsl:b-n name="find-ball" g="basic-behaviors"/>
    <xabsl:b-n name="look-at-ball" g="basic-behaviors"/>
    <xabsl:o-n name="catch-and-release-ball">
      <xabsl:e2b to="grab-ball"/>
      <xabsl:e2b to="grab-ball-high"/>
      <xabsl:e2b to="release-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="grab-ball" g="basic-behaviors"/>
    <xabsl:b-n name="grab-ball-high" g="basic-behaviors"/>
    <xabsl:b-n name="release-ball" g="basic-behaviors"/>
    <xabsl:b-n name="directed-scan-for-obstacles" g="basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="other-head-movement">
    <xabsl:o-n name="other-head-movement">
      <xabsl:e2b to="hold-ball"/>
      <xabsl:e2b to="open-challenge"/>
      <xabsl:e2b to="none"/>
      <xabsl:e2b to="look-left"/>
      <xabsl:e2b to="look-right"/>
      <xabsl:e2b to="scan-for-obstacles"/>
      <xabsl:e2b to="search-for-landmarks"/>
      <xabsl:e2b to="search-for-landmarks-head-low"/>
      <xabsl:e2b to="look-at-blue-pink-landmark"/>
      <xabsl:e2b to="look-straight-ahead"/>
      <xabsl:e2b to="look-toward-opponent-goal"/>
      <xabsl:e2b to="look-between-feet"/>
      <xabsl:e2b to="look-to-stars"/>
      <xabsl:e2b to="snap-at-finger"/>
      <xabsl:e2b to="look-parallel-to-ground"/>
      <xabsl:e2b to="direct"/>
      <xabsl:e2b to="stay-as-forced"/>
      <xabsl:e2b to="watch-origin"/>
      <xabsl:e2b to="calibrate-head-speed"/>
    </xabsl:o-n>
    <xabsl:b-n name="hold-ball" g="basic-behaviors"/>
    <xabsl:b-n name="open-challenge" g="basic-behaviors"/>
    <xabsl:b-n name="none" g="basic-behaviors"/>
    <xabsl:b-n name="look-left" g="basic-behaviors"/>
    <xabsl:b-n name="look-right" g="basic-behaviors"/>
    <xabsl:b-n name="scan-for-obstacles" g="basic-behaviors"/>
    <xabsl:b-n name="search-for-landmarks" g="basic-behaviors"/>
    <xabsl:b-n name="search-for-landmarks-head-low" g="basic-behaviors"/>
    <xabsl:b-n name="look-at-blue-pink-landmark" g="basic-behaviors"/>
    <xabsl:b-n name="look-straight-ahead" g="basic-behaviors"/>
    <xabsl:b-n name="look-toward-opponent-goal" g="basic-behaviors"/>
    <xabsl:b-n name="look-between-feet" g="basic-behaviors"/>
    <xabsl:b-n name="look-to-stars" g="basic-behaviors"/>
    <xabsl:b-n name="snap-at-finger" g="basic-behaviors"/>
    <xabsl:b-n name="look-parallel-to-ground" g="basic-behaviors"/>
    <xabsl:b-n name="direct" g="basic-behaviors"/>
    <xabsl:b-n name="stay-as-forced" g="basic-behaviors"/>
    <xabsl:b-n name="watch-origin" g="basic-behaviors"/>
    <xabsl:b-n name="calibrate-head-speed" g="basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="track-ball">
    <xabsl:o-n name="track-ball">
      <xabsl:e2o to="other-head-movement"/>
      <xabsl:e2b to="look-at-ball-and-closest-landmark"/>
      <xabsl:e2b to="return-to-ball"/>
      <xabsl:e2b to="directed-scan-for-landmarks"/>
      <xabsl:e2b to="scan-back-to-ball"/>
      <xabsl:e2b to="look-around-at-seen-ball"/>
      <xabsl:e2b to="find-ball"/>
      <xabsl:e2b to="look-at-ball"/>
    </xabsl:o-n>
    <xabsl:o-n name="other-head-movement">
      <xabsl:e2b to="hold-ball"/>
      <xabsl:e2b to="open-challenge"/>
      <xabsl:e2b to="none"/>
      <xabsl:e2b to="look-left"/>
      <xabsl:e2b to="look-right"/>
      <xabsl:e2b to="scan-for-obstacles"/>
      <xabsl:e2b to="search-for-landmarks"/>
      <xabsl:e2b to="search-for-landmarks-head-low"/>
      <xabsl:e2b to="look-at-blue-pink-landmark"/>
      <xabsl:e2b to="look-straight-ahead"/>
      <xabsl:e2b to="look-toward-opponent-goal"/>
      <xabsl:e2b to="look-between-feet"/>
      <xabsl:e2b to="look-to-stars"/>
      <xabsl:e2b to="snap-at-finger"/>
      <xabsl:e2b to="look-parallel-to-ground"/>
      <xabsl:e2b to="direct"/>
      <xabsl:e2b to="stay-as-forced"/>
      <xabsl:e2b to="watch-origin"/>
      <xabsl:e2b to="calibrate-head-speed"/>
    </xabsl:o-n>
    <xabsl:b-n name="hold-ball" g="basic-behaviors"/>
    <xabsl:b-n name="open-challenge" g="basic-behaviors"/>
    <xabsl:b-n name="none" g="basic-behaviors"/>
    <xabsl:b-n name="look-left" g="basic-behaviors"/>
    <xabsl:b-n name="look-right" g="basic-behaviors"/>
    <xabsl:b-n name="scan-for-obstacles" g="basic-behaviors"/>
    <xabsl:b-n name="search-for-landmarks" g="basic-behaviors"/>
    <xabsl:b-n name="search-for-landmarks-head-low" g="basic-behaviors"/>
    <xabsl:b-n name="look-at-blue-pink-landmark" g="basic-behaviors"/>
    <xabsl:b-n name="look-straight-ahead" g="basic-behaviors"/>
    <xabsl:b-n name="look-toward-opponent-goal" g="basic-behaviors"/>
    <xabsl:b-n name="look-between-feet" g="basic-behaviors"/>
    <xabsl:b-n name="look-to-stars" g="basic-behaviors"/>
    <xabsl:b-n name="snap-at-finger" g="basic-behaviors"/>
    <xabsl:b-n name="look-parallel-to-ground" g="basic-behaviors"/>
    <xabsl:b-n name="direct" g="basic-behaviors"/>
    <xabsl:b-n name="stay-as-forced" g="basic-behaviors"/>
    <xabsl:b-n name="watch-origin" g="basic-behaviors"/>
    <xabsl:b-n name="calibrate-head-speed" g="basic-behaviors"/>
    <xabsl:b-n name="look-at-ball-and-closest-landmark" g="basic-behaviors"/>
    <xabsl:b-n name="return-to-ball" g="basic-behaviors"/>
    <xabsl:b-n name="directed-scan-for-landmarks" g="basic-behaviors"/>
    <xabsl:b-n name="scan-back-to-ball" g="basic-behaviors"/>
    <xabsl:b-n name="look-around-at-seen-ball" g="basic-behaviors"/>
    <xabsl:b-n name="find-ball" g="basic-behaviors"/>
    <xabsl:b-n name="look-at-ball" g="basic-behaviors"/>
  </xabsl:option-tree>
</xabsl:option-trees>
