SoccerSim 2022 | TDP | Connection

Team: Connection
Team description paper:

If you’d like to know more, please feel free to ask by replying to this thread!

you wrote in your TDP:
“mastermind : The task of this robot is to find the position of the ball
and follow to the ball
subordinate: .This robot has the task of following the mastermind in
I am not exactly sure if I understand this correctly. Does this mean that only the ‘mastermind’ is locating the ball? Also, how does this following in parallel work?
Nice work and looking forward to your answer.