Cool! One suggestion, your language can be more specific, I had a hard time figuring out what was going on. You know this will be for drone formations, so: "E

Cool! One suggestion, your language can be more specific, I had a hard time figuring out what was going on. You know this will be for drone formations, so: "Every simulation is modelled as a scenario. You can add multiple nodes to your world in a scenario." A scenario is a single formation? or Multiple formations (with the transitions encapsulated)? Nodes are just drones? I realize you might be adopting the language from some ROS framework, but for you specific situation you can make it so much easier to read!