This is the main body of the report, which presents a theory-of-operation for your project. It should include:
1. A description of the Base State Class, and how sub-classes are used in this project.
2. A description of how state transitions are accomplished. What factors affect the state-transition choice?
3. A description of the meaning and use of Global Weights and Local Weights.
4. A discussion of the use of the radio, highlighting what creature-transmitted local data is critical to the emergent behavior of the entire group.