Modified README

Author: mattia-gramuglia

README.md

@@ -1,3 +1,43 @@
-# PyChrono_Wrapper
-This is the latest version of the PyChrono simulator. The wrapper is embedded with the main file.
-Please open loop.py to run the code
+# High-fidelity PyChrono-based Simulator
+[![BSD License](https://img.shields.io/badge/License-BSD%203--Clause-blue.svg)](LICENSE.txt)
+[![Website](https://img.shields.io/badge/Website-acslstack.com-green)](https://www.acslstack.com/)
+
+
+## Introduction
+
+The **UAV_Sim_PyChrono** is a high-fidelity PyChrono-based simulator designed for multi-rotor UAVs (Uncrewed Aerial Vehicles).
+
+
+## Outlook on the Control Architecture
+
+Autonomous UAVs with collinear propellers are inherently under-actuated. For this reason, the software includes:
+
+- **Inner Loop**: Handles the rotational dynamics.
+- **Outer Loop**: Handles the translational dynamics.
+
+Both loops are governed by nonlinear equations of motion.
+
+### Available Control Solutions
+
+This software currently offers two control solutions for the inner and outer loops:
+
+1. **Continuous-Time Feedback-Linearizing Control Law** combined with a **PID (Proportional-Integral-Derivative) Control Law**.
+2. The above control law is augmented by a **Robust Model Reference Adaptive Control (MRAC) System**, incorporating a simplified quadratic-in-the-velocity aerodynamic model.
+
+For further details on these control architectures, refer to the publications found [here](https://www.acslstack.com/Journals).
+
+Future versions of the software will include additional control systems.
+
+## Maintenance Team
+
+- [**Andrea L'Afflitto**](https://github.com/andrealaffly)
+- [**Mattia Gramuglia**](https://github.com/mattia-gramuglia)
+
+For more information, visit [acslstack.com](https://www.acslstack.com/).
+
+[![ACSL Flight Stack Logo](https://lafflitto.com/images/ACSL_Logo.jpg)](https://lafflitto.com/ACSL.html)
+
+
+---
+
+This software is distributed under a permissive **3-Clause BSD License**.