diff --git a/Files_4_thesis/Pictures/Screenshot from 2016-08-14 19:36:25.png b/Files_4_thesis/Pictures/Screenshot from 2016-08-14 19 36 25.png
similarity index 100%
rename from Files_4_thesis/Pictures/Screenshot from 2016-08-14 19:36:25.png
rename to Files_4_thesis/Pictures/Screenshot from 2016-08-14 19 36 25.png
diff --git a/Files_4_thesis/Pictures/Screenshot from 2016-08-14 19:37:04.png b/Files_4_thesis/Pictures/Screenshot from 2016-08-14 19 37 04.png
similarity index 100%
rename from Files_4_thesis/Pictures/Screenshot from 2016-08-14 19:37:04.png
rename to Files_4_thesis/Pictures/Screenshot from 2016-08-14 19 37 04.png
diff --git a/Files_4_thesis/Pictures/Screenshot from 2016-08-14 19:39:13.png b/Files_4_thesis/Pictures/Screenshot from 2016-08-14 19 39 13.png
similarity index 100%
rename from Files_4_thesis/Pictures/Screenshot from 2016-08-14 19:39:13.png
rename to Files_4_thesis/Pictures/Screenshot from 2016-08-14 19 39 13.png
diff --git a/Files_4_thesis/Priliminary_report.pdf b/Files_4_thesis/Priliminary_report.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..ef7578d1a15702149e0a37c5924d40556aa2c64a
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diff --git a/Files_4_thesis/Q_Learning_Plot.m b/Files_4_thesis/Q_Learning_Plot.m
index 6349caa74d7b52267b5cf916af7fa991fb9feb5e..0e9722671d65ecff46791bc55ae712e5f99b3de8 100644
--- a/Files_4_thesis/Q_Learning_Plot.m
+++ b/Files_4_thesis/Q_Learning_Plot.m
@@ -285,7 +285,11 @@ hold on;
 plot(vec_col(size(vec_col,2)),vec_row(size(vec_row,2)),'ko','LineWidth',4)
 axis([0 row + 1 0 col + 1]);
 grid on
-xlabel('column');
-ylabel('row');
 title('Grid');
-legend('Start','Trajectory','Goal','Orientation','Horizontal');
+ylabel('$ index_{\theta_{mar}} $','interpreter','latex','FontSize',17);
+xlabel('$ index_{y_{mar}}$','interpreter','latex','FontSize',17);
+l = legend('${Start}$','${\alpha = 0.1 , \gamma = 0.8}$','${Goal}$','Orientation','Horizontal');
+set(l,'interpreter','latex','FontSize',14);
+
+
+
diff --git a/Files_4_thesis/Report.docx b/Files_4_thesis/Report.docx
index 6fa44df857e0e5b9a6704dca81be0cef652d05f5..32ab054c26b597a57cb1f4f2c6225e58b1101b46 100644
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diff --git a/Files_4_thesis/traj_Q_learning.jpg b/Files_4_thesis/traj_Q_learning.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b89a68d34d58da9c9dff0d9259d3d10fef8ec63c
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