Figure 3
The flowchart starts with a first text box at the top labeled “Game State Input (100 Hertz sensing), Raw position, velocity, orientation data”. A downward arrow from the first text box leads to the second text box labeled “Preprocessing and Feature Extraction”. A downward arrow from the second text box leads to a first rectangle labeled “Strategic Controller (0.1 to 0.2 Hertz)” that consists of the third, fourth, and fifth text boxes labeled “Formation adjustments”, “Pressing intensity”, and “Tempo modifications”. A downward arrow labeled “Stategic context (every 5 to 10 seconds)” from the first rectangle leads to a second rectangle labeled “Tactical Controller (1 Hertz)” that consists of the sixth, seventh, and eighth text boxes labeled “Passing network activation”, “Defensive shape updates”, and “Transition triggers”. A downward arrow labeled “Tactical Objective (every first)” leads to a third rectangle labeled “Technical Controller (10 Hertz)” that consists ninth, tenth, and eleventh text boxes labeled “Movement vectors”, “Ball control parameters”, and “Action timing”. A downward arrow labeled “Motor command (every 0.1 seconds)” leads to a twelfth text box labeled “Action Execution Layer, Physical implementation and feedback”. The text beside the first rectangle reads “0.1 to 0.2 Hertz, 5 to 10 seconds”. The text beside the second rectangle reads “1 Hertz, 1 second”. The text beside the third rectangle reads “10 Hertz, 5 to 0.1 seconds”. A dashed arrow from the twelfth text box leads to the tenth text box. A dashed arrow from the ninth text box leads to the seventh text box. A dashed arrow from the sixth text box leads to the fourth text box. These dashed arrows are collectively labeled “Feeback paths”.Hierarchical controller information flow