diff --git a/README.md b/README.md
index e13fe2e..3dd1474 100644
--- a/README.md
+++ b/README.md
@@ -2,6 +2,7 @@
 This repository was officially forked from jim1993 (HaoChih, Lin)'s repo, named "Ardrone_indoor_slam"   
 Website: https://github.com/jim1993/Ardrone_indoor_slam  
 The demo video: https://youtu.be/r9LegSK6MfU   
+Original repo: https://github.com/jim1993/Ardrone_indoor_slam  
   
 # Purpose of this package  
 The goal of this forked version is to update and maintain the original version with the help of HyphaROS Workshop.    
@@ -9,7 +10,8 @@ This repo simplified and arranged the source code form origin version which deve
 However, those packages including tum_ardrone and lsd_slam are kind of out of date.
 Since there are more efficient algorithm can be applied in this project now, We will continue improving the repo in the future.   
 
-Concept & Architecture Notes (by Kung): https://medium.com/@k3083518729/ardrone-indoor-slam-navigation-eec3812581dd   
+Concept & Architecture Notes (by Kung):   
+https://medium.com/@k3083518729/ardrone-indoor-slam-navigation-eec3812581dd   
 
 The major maintainers of this repo are:  
 *PouChun, Kung (k3083518729@gmail.com)   
@@ -27,38 +29,38 @@ but don't forget to install the dependences of them.)
   
 # Operation  
 
-## 1. TUM_Ardone (https://github.com/tum-vision/tum_ardrone)
+## 1. tum_ardone (https://github.com/tum-vision/tum_ardrone)
 
 ``` bash
-roslaunch tum_ardrone ardrone_driver.launch
+$ roslaunch tum_ardrone ardrone_driver.launch
 ```
 connect our computer to ardrone
 ```bash
-roslaunch tum_ardrone tum_ardrone.launch
+$ roslaunch tum_ardrone tum_ardrone.launch
 ```
 Initial PTAM and ensure pose estimate is correct (first fly up 1m and then down 1m to facilitate a good scale estimate).
 
-## 2. LSD_Slam (https://github.com/tum-vision/lsd_slam)
+## 2. lsd_slam (https://github.com/tum-vision/lsd_slam)
 
 ``` bash
-rosrun lsd_slam_viewer viewer
-rosrun lsd_slam_core live_slam image:=/ardrone/front/image_rect camera_info:=/ardrone/front/camera_info
+$ rosrun lsd_slam_viewer viewer
+$ rosrun lsd_slam_core live_slam image:=/ardrone/front/image_rect camera_info:=/ardrone/front/camera_info
 ```
 Ensure pose estimate is correct.
 
-## 3. hypharos_ardrone
+## 3. hypharos_ardrone (https://github.com/Hypha-ROS/hypharos_ardrone_navigation)
 
 ``` bash
-rosrun hypharos_ardrone conversion
+$ rosrun hypharos_ardrone conversion
 ```
 Do conversion. Flying Ardrone around until dq and dx value converges completely, press "l" to lock them, and press "p" to publish point cloud.
  
 ```bash
-roslaunch ar_drone_moveit demo.launch
+$ roslaunch ar_drone_moveit demo.launch
 ```
 Launch Moveit. After octomap display in Moveit, you can start path planning with motion planner.
 
 ``` bash
-rosrun hypharos_ardrone ardrone_controller
+$ rosrun hypharos_ardrone ardrone_controller
 ```
 Press "p" and "s" to let Ardrone follow the path.