Work on doc

README.md

@@ -48,12 +48,6 @@ omitting many details such as node parameters and constraints:
 ![](img/test71_before_delegation.png)
 
 
-### 1.1.1 Introduction
-
-A Task Specification Tree is a tree were the nodes are either
-specification of some specific task to do or the node specify how the
-tree is executed using nodes as "seq", "conc", "test-if" and so on.
-
 For each node the execution agent (or executuion unit or execution
 namespace) is specified. We use ROS2 namespaces for this. If a node
 says "execunit" is "/ex0" than the corresponding task should be
@@ -71,6 +65,8 @@ node types available:
 
 - https://gitlab.liu.se/lrs2/lrs_doc/-/blob/main/generated-tst-node-doc.md
 
+
+
 ### 1.1.2 JSON Specification
 
 JSON is used to specify a TST.  Here is an example of a sequence node
@@ -571,3 +567,13 @@ ros2 launch lrs_turtle turtle.launch.py ns:=/ex1
 ```bash
 ros2 run lrs_exec tst_command --ros-args -r __ns:=/ex0 -p command:=test-turtle-2
 ```
+
+## Additional Information
+
+Many additional properties of TST are described here:
+
+* [A Collaborative Framework for 3D Mapping using Unmanned Aerial Vehicles](http://www.ida.liu.se/divisions/aiics/publications/PRIMA-2016-Collaborative-Framework-3D.pdf)
+  -- describes the framework and a specific application within an earlier project.
+
+* [High-level Mission Specification and Planning for Collaborative Unmanned Aircraft Systems using Delegation](http://www.ida.liu.se/divisions/aiics/publications/US-2013-High-Level-Mission.pdf)
+  -- an earlier journal article providing a deeper view of the underlying formalisms as well as the algorithms being used.