update readme

Author: MatCat960

README.md

@@ -3,10 +3,13 @@
 This repository contains training and testing scripts for a decentralized CNN-based controller in a multi-robot coverage control scenario.
 
 ## Description
-![][cnn_coverage/pics/setup.pdf]
+<img src="pics/setup.pdf" width="425"/>
  This CNN-based controller maps locally available information to control actions for each robot. Local information is represented in the form of a 3-channels grid-shaped object, where the first channel encodes information about the local density function, the second one the relative position of detected team-mates, and the third one the relative position of obstacles and boundaries. 
 
+ <img src="pics/cnn-arch-page-fit.pdf" width="425"/>
+
  The model processes the input information and returns the 2D velocity for the robot. 
 
+
 ## Training
 Data is collected running an expert algorithm, generating pairs of (images, velocities) pairs for the training algorithm to learn how to produce a suitable control input for the robot.