diff --git a/README.md b/README.md
index 73aaf3bb..df1efb15 100644
--- a/README.md
+++ b/README.md
@@ -15,24 +15,52 @@ terminal 2
 cargo run --release
 ```
 ## Overview
+
 ### Quadrotor Simulator
-Simulates dynamics with properties like position, velocity, orientation, and mass. Includes methods for updating dynamics with and without control inputs.
+Simulates realistic quadrotor dynamics with properties like position, velocity, orientation, angular velocity, mass, and inertia. Includes methods for updating dynamics with control inputs and simulating IMU readings.
+
 ### PID Controller
-Controls position and attitude with configurable gains for proportional, integral, and derivative terms.
-### Planners
-Includes a hover planner and a minimum jerk trajectory planner for generating movement commands.
-### Data Logging
-Logs simulation data for visualization using rerun.
+Controls position and attitude with configurable gains for proportional, integral, and derivative terms. Handles both position and attitude control.
+
+### Trajectory Planners
+Includes multiple planners:
+- Hover Planner
+- Minimum Jerk Line Planner
+- Lissajous Curve Planner
+- Circular Trajectory Planner
+- Landing Planner
+- Obstacle Avoidance Planner
+
+### Obstacle Simulation
+Simulates moving obstacles in the environment, with collision detection and avoidance capabilities.
+
+### Data Logging and Visualization
+Logs comprehensive simulation data including quadrotor state, desired positions, IMU readings, and obstacle positions. Visualizes the simulation using the rerun library.
+
+## Features
+
+- Realistic quadrotor dynamics simulation
+- IMU sensor simulation with configurable noise parameters
+- Multiple trajectory planners for diverse flight patterns
+- PID controller for position and attitude control
+- Obstacle generation and avoidance
+- Integration with rerun for real-time visualization
+
 ## License
+
 Peng is free, open source and permissively licensed!
 Except where noted (below and/or in individual files), all code in this repository is dual-licensed under either:
-
 * MIT License ([LICENSE-MIT](LICENSE-MIT) or [http://opensource.org/licenses/MIT](http://opensource.org/licenses/MIT))
-* Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or [http://www.apache.org/licenses/LICENSE-2.0](http://www.apache.   org/licenses/LICENSE-2.0))
-
+* Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or [http://www.apache.org/licenses/LICENSE-2.0](http://www.apache.org/licenses/LICENSE-2.0))
 at your option.
+
 This means you can select the license you prefer!
 
 ## Why call it Peng?
+
 Peng (traditional Chinese: 鵬; simplified Chinese: 鹏; pinyin: péng; Wade–Giles: p'eng) or Dapeng (大鵬) is a giant bird that transforms from a Kun (鯤; 鲲; kūn; k'un) giant fish in Chinese mythology.
-Reference: <https://en.wikipedia.org/wiki/Peng_(mythology)>
+
+The pipeline is designed to be minimal and for educational purpose.
+We chose the name Peng because our pipeline is flexible and can transform to suit different needs, just like the mythical bird.
+
+Reference: https://en.wikipedia.org/wiki/Peng_(mythology)