improve README

Author: v4hn

README.md

@@ -1,14 +1,46 @@
 # MoveIt Task Constructor Framework
 
-The Task Constructor framework provides a flexible and transparent way to define and plan actions that consist of *multiple interdependent* subtasks.
+The Task Constructor framework provides a flexible and transparent way to define and plan actions that consist of multiple interdependent subtasks.
 It draws on the planning capabilities of [MoveIt](https://moveit.ros.org/) to solve individual subproblems in black-box *planning stages*.
 A common interface, based on MoveIt's PlanningScene is used to pass solution hypotheses between stages.
 The framework enables the hierarchical organization of basic stages using *containers*, allowing for sequential as well as parallel compositions.
-For more details, please refer to the associated [ICRA 2019 publication](https://pub.uni-bielefeld.de/download/2918864/2933599/paper.pdf).
+
+## Video
+
+[![Video associated with ICRA 2019 paper](https://img.youtube.com/vi/fCORKVYsdDI/0.jpg )](https://www.youtube.com/watch?v=fCORKVYsdDI)
 
 ## Roadmap
 
-**Feedback and contributions are very welcome.**
+**Feedback, reports and contributions are very welcome.**
 
 The current roadmap is to replace MoveIt's old pick&place pipeline and provide a *transparent mechanism* to enable and debug complex motion sequences.
 
+Further planned features include
+
+- Entwined planning and execution for early execution, monitoring and code hooks
+- Support custom cost terms
+- Subsolution blending
+- Parallel planning
+- Iterative solution improvement
+
+Ideas and requests for other interesting/useful features are welcome.
+
+## Citation
+
+If you use this framework in your project, please cite the associated paper:
+
+
+    Michael Görner*, Robert Haschke*, Helge Ritter, and Jianwei Zhang,
+    MoveIt! Task Constructor for Task-Level Motion Planning,
+    International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada.
+    [[DOI]](https://doi.org/10.1109/ICRA.2019.8793898) [PDF](https://pub.uni-bielefeld.de/download/2918864/2933599/paper.pdf).
+
+
+```plain
+@inproceedings{goerner2019mtc,
+  title={{MoveIt! Task Constructor for Task-Level Motion Planning}},
+  author={Görner, Michael* and Haschke, Robert* and Ritter, Helge and Zhang, Jianwei},
+  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
+  year={2019}
+}
+```