diff --git a/README.md b/README.md
index 0ab72786ca4947ef41cfde56c447de856a94ec8a..c7606934d67b61de58d48557c0a3b5fabc68e42b 100644
--- a/README.md
+++ b/README.md
@@ -147,15 +147,15 @@ The Robot Behavior project is an [actionlib](http://wiki.ros.org/actionlib) base
 ### Planning Manager
 
 When all the ROS required modules are running, we will be able run all the Behavior actions on the robot by running the Planning Manager node. This node will launch all the following node:
-* behavior_go_to_position_2D_nav_goal
-* behavior_social_cost_map_main
-* global_path_planner_action_server
-* goal_finder_action_server
-* mpc_local_path_planner_action_server
-* occupancy_map_republisher
-* planning_manager
-* pointcloud2occmap
-* rl_local_path_planner_action_server
+* behavior_go_to_position_2D_nav_goal: this node is used to start the `look_at_position` action server when a `2D Nav Goal` is chosen in `rviz` (cf. tools)
+* behavior_social_cost_map_main: to publish the local social cost map
+* global_path_planner_action_server: global path planner action server using the [Fast Marching Method](https://pythonhosted.org/scikit-fmm/) which will get the `final_goal` tf and publish the closest `intermediate_waypoint` tf
+* goal_finder_action_server: goal finder action server which will find the final goal in the global map and publish the `final_goal` tf
+* mpc_local_path_planner_action_server: local path planner action server using Model Predective Control algorithm
+* occupancy_map_republisher: this node is publishing all the dilated or not global and local maps
+* planning_manager: Planning Manager node which control all the robot behavior actions
+* pointcloud2occmap: this node is creating a local obstacles map using the pointcloud from the torso front camera of the robot
+* rl_local_path_planner_action_server: local path planner action server using Deep Reinforcement Learning algorithm
 * /behavior_generator/behavior_go_to_body_action_server_main: action server used to go to a specific body
 * /behavior_generator/behavior_go_to_group_action_server_main: action server used to go to a specific group
 * /behavior_generator/behavior_go_to_person_action_server_main: action server used to go to a specific person