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+# VDA 5050 Integration Guide / Hướng dẫn Tích hợp VDA 5050
+
+## 📋 Overview / Tổng quan
+
+VDA 5050 là tiêu chuẩn quốc tế cho giao tiếp giữa Fleet Management System và AGV/AMR. Tài liệu này mô tả cách RobotNet10 triển khai tiêu chuẩn này.
+
+## 🎯 Why VDA 5050? / Tại sao VDA 5050?
+
+### Lợi ích / Benefits
+
+1. **Interoperability** - Khả năng tương tác
+   - Robot của RobotNet10 có thể hoạt động với Fleet Manager của hãng khác
+   - FleetManager của RobotNet10 có thể quản lý robot của hãng khác
+
+2. **Standardization** - Chuẩn hóa
+   - Định nghĩa rõ ràng message formats
+   - Behavior được mô tả chi tiết
+   - Giảm thiểu hiểu lầm trong implementation
+
+3. **Industry Adoption** - Được công nghiệp chấp nhận
+   - Nhiều nhà sản xuất robot hỗ trợ
+   - Nhiều Fleet Management System hỗ trợ
+   - Community support và tài liệu phong phú
+
+## 🆕 What's New in VDA 5050 2.1.0 / Tính năng Mới trong 2.1.0
+
+### Key Features / Tính năng Chính
+
+1. **Corridors (Hành lang di chuyển)**
+   - Cho phép robot di chuyển trong các hành lang xác định
+   - Tăng tính linh hoạt trong navigation
+   - Tránh chướng ngại vật một cách tự động
+   - Đặc biệt hữu ích cho các robot có mức độ tự động hóa cao
+
+2. **Map Distribution & Management (Phân phối và Quản lý Bản đồ)**
+   - Chuẩn hóa quy trình cập nhật và quản lý bản đồ
+   - Tải, kích hoạt và quản lý bản đồ điều hướng trên robot
+   - Hỗ trợ map versioning và updates
+
+3. **Improved Documentation (Tài liệu Cải thiện)**
+   - Hình minh họa được cập nhật, dễ hiểu hơn
+   - Loại bỏ các điểm không rõ ràng
+   - Phát hành hoàn toàn bằng tiếng Anh (Single Point of Truth)
+
+4. **Backward Compatibility (Tương thích Ngược)**
+   - Tương thích với version 2.0.0
+   - Các hệ thống hiện có có thể nâng cấp mà không gặp vấn đề
+
+### Implementation Notes / Ghi chú Triển khai
+
+**For RobotNet10**:
+- RobotNet10 sẽ implement VDA 5050 2.1.0 với đầy đủ tính năng mới
+- Corridors sẽ được tích hợp vào TrafficControl module để tăng tính linh hoạt navigation
+- Map Distribution & Management sẽ được tích hợp với MapEditor module
+- Tương thích ngược đảm bảo có thể làm việc với robot/hệ thống v2.0.0
+
+**Note**: Chi tiết implementation của Corridors và Map Distribution sẽ được cập nhật trong các module documentation khi triển khai.
+
+## 📚 VDA 5050 Standard Overview / Tổng quan Tiêu chuẩn
+
+### Version Information
+- **Current Implementation**: VDA 5050 Version 2.1.0
+- **Release Date**: January 2025
+- **Standard Body**: VDA (Verband der Automobilindustrie)
+- **Backward Compatibility**: Compatible with version 2.0.0
+- **Language**: English (first fully English release)
+
+### Key Concepts
+
+**AGV (Automated Guided Vehicle) / AMR (Autonomous Mobile Robot)**
+- Robot di động tự động
+- Nhận lệnh từ Master Control (Fleet Manager)
+- Báo cáo trạng thái về Master Control
+
+**Master Control (Fleet Manager)**
+- Hệ thống điều phối robot
+- Gửi orders đến robot
+- Nhận state từ robot
+
+**Order**
+- Nhiệm vụ được gửi đến robot
+- Bao gồm nodes (điểm đến) và edges (đường đi)
+- Có thể chứa actions (hành động tại các node)
+
+**State**
+- Trạng thái hiện tại của robot
+- Được gửi định kỳ và khi có thay đổi
+- Bao gồm vị trí, battery, errors, etc.
+
+## 🔄 Message Types / Các Loại Message
+
+### 1. Order (Master Control → AGV)
+
+**Purpose**: Gửi nhiệm vụ đến robot
+
+**Direction**: FleetManager → RobotApp
+
+**Topic**: `uagv/v2/{manufacturer}/{serialNumber}/order`
+
+**Structure**:
+```json
+{
+  "headerId": 0,
+  "timestamp": "2025-11-12T10:30:00Z",
+  "version": "2.1.0",
+  "manufacturer": "RobotNet10",
+  "serialNumber": "ROBOT001",
+  "orderId": "ORDER-12345",
+  "orderUpdateId": 0,
+  "nodes": [
+    {
+      "nodeId": "node1",
+      "sequenceId": 0,
+      "released": true,
+      "nodeDescription": "Pick location",
+      "nodePosition": {
+        "x": 10.5,
+        "y": 20.3,
+        "theta": 0.0,
+        "allowedDeviationXY": 0.5,
+        "allowedDeviationTheta": 0.1,
+        "mapId": "factory_floor_1",
+        "mapDescription": "Factory Floor 1"
+      },
+      "actions": [
+        {
+          "actionType": "pick",
+          "actionId": "action1",
+          "actionDescription": "Pick pallet",
+          "blockingType": "HARD",
+          "actionParameters": [
+            {
+              "key": "stationType",
+              "value": "floor"
+            }
+          ]
+        }
+      ]
+    },
+    {
+      "nodeId": "node2",
+      "sequenceId": 2,
+      "released": true,
+      "nodePosition": {
+        "x": 50.0,
+        "y": 30.0,
+        "theta": 1.57,
+        "mapId": "factory_floor_1"
+      },
+      "actions": [
+        {
+          "actionType": "drop",
+          "actionId": "action2",
+          "blockingType": "HARD"
+        }
+      ]
+    }
+  ],
+  "edges": [
+    {
+      "edgeId": "edge1",
+      "sequenceId": 1,
+      "released": true,
+      "startNodeId": "node1",
+      "endNodeId": "node2",
+      "maxSpeed": 1.5,
+      "maxHeight": 2.0,
+      "minHeight": 0.0,
+      "orientation": 0.0,
+      "direction": "forward",
+      "rotationAllowed": true,
+      "maxRotationSpeed": 0.5,
+      "trajectory": {
+        "degree": 1,
+        "knotVector": [0, 1],
+        "controlPoints": [
+          {"x": 10.5, "y": 20.3, "weight": 1.0},
+          {"x": 50.0, "y": 30.0, "weight": 1.0}
+        ]
+      },
+      "actions": []
+    }
+  ]
+}
+```
+
+**Key Fields**:
+- `orderId`: Unique order identifier
+- `orderUpdateId`: Increments when order is updated
+- `nodes`: Array of waypoints
+- `edges`: Array of paths between nodes
+- `sequenceId`: Determines execution order (even for nodes, odd for edges)
+
+### 2. InstantActions (Master Control → AGV)
+
+**Purpose**: Gửi lệnh ngay lập tức (stop, pause, etc.)
+
+**Direction**: FleetManager → RobotApp
+
+**Topic**: `uagv/v2/{manufacturer}/{serialNumber}/instantActions`
+
+**Structure**:
+```json
+{
+  "headerId": 1,
+  "timestamp": "2025-11-12T10:31:00Z",
+  "version": "2.1.0",
+  "manufacturer": "RobotNet10",
+  "serialNumber": "ROBOT001",
+  "instantActions": [
+    {
+      "actionType": "stopPause",
+      "actionId": "instant1",
+      "actionDescription": "Emergency pause",
+      "blockingType": "HARD"
+    }
+  ]
+}
+```
+
+**Common InstantAction Types**:
+- `stopPause`: Pause robot immediately
+- `cancelOrder`: Cancel current order
+- `initPosition`: Set initial position
+- `stateRequest`: Request state update
+
+### 3. State (AGV → Master Control)
+
+**Purpose**: Báo cáo trạng thái robot
+
+**Direction**: RobotApp → FleetManager
+
+**Topic**: `uagv/v2/{manufacturer}/{serialNumber}/state`
+
+**Structure**:
+```json
+{
+  "headerId": 100,
+  "timestamp": "2025-11-12T10:30:05Z",
+  "version": "2.1.0",
+  "manufacturer": "RobotNet10",
+  "serialNumber": "ROBOT001",
+  "orderId": "ORDER-12345",
+  "orderUpdateId": 0,
+  "zoneSetId": "zone1",
+  "lastNodeId": "node1",
+  "lastNodeSequenceId": 0,
+  "driving": true,
+  "paused": false,
+  "newBaseRequest": false,
+  "distanceSinceLastNode": 2.5,
+  "operatingMode": "AUTOMATIC",
+  "nodeStates": [
+    {
+      "nodeId": "node1",
+      "sequenceId": 0,
+      "released": true,
+      "nodePosition": {
+        "x": 10.5,
+        "y": 20.3,
+        "theta": 0.0,
+        "mapId": "factory_floor_1"
+      }
+    }
+  ],
+  "edgeStates": [
+    {
+      "edgeId": "edge1",
+      "sequenceId": 1,
+      "released": true,
+      "trajectory": {}
+    }
+  ],
+  "actionStates": [
+    {
+      "actionId": "action1",
+      "actionType": "pick",
+      "actionStatus": "FINISHED",
+      "resultDescription": "Successfully picked pallet"
+    }
+  ],
+  "agvPosition": {
+    "x": 15.2,
+    "y": 22.1,
+    "theta": 0.15,
+    "mapId": "factory_floor_1",
+    "positionInitialized": true,
+    "localizationScore": 0.95,
+    "deviationRange": 0.1
+  },
+  "velocity": {
+    "vx": 1.0,
+    "vy": 0.0,
+    "omega": 0.05
+  },
+  "loads": [
+    {
+      "loadId": "pallet123",
+      "loadType": "EPAL",
+      "loadPosition": "front",
+      "boundingBoxReference": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0,
+        "theta": 0.0
+      },
+      "loadDimensions": {
+        "length": 1.2,
+        "width": 0.8,
+        "height": 1.5
+      },
+      "weight": 500.0
+    }
+  ],
+  "batteryState": {
+    "batteryCharge": 75.5,
+    "batteryVoltage": 48.2,
+    "batteryHealth": 95.0,
+    "charging": false,
+    "reach": 5400
+  },
+  "errors": [
+    {
+      "errorType": "warning",
+      "errorLevel": "WARNING",
+      "errorDescription": "Battery below 80%",
+      "errorReferences": [
+        {
+          "referenceKey": "batteryLevel",
+          "referenceValue": "75.5"
+        }
+      ]
+    }
+  ],
+  "information": [
+    {
+      "infoType": "info",
+      "infoLevel": "INFO",
+      "infoDescription": "Mission in progress",
+      "infoReferences": []
+    }
+  ],
+  "safetyState": {
+    "eStop": "NONE",
+    "fieldViolation": false
+  }
+}
+```
+
+**Key State Information**:
+- **Position**: Current robot position and velocity
+- **Order Progress**: Which node/edge is active
+- **Battery**: Charge level and charging status
+- **Actions**: Status of actions (WAITING, RUNNING, FINISHED, FAILED)
+- **Errors**: Any errors or warnings
+- **Safety**: E-stop and safety field status
+
+### 4. Visualization (AGV → Master Control)
+
+**Purpose**: Gửi dữ liệu để hiển thị trên bản đồ
+
+**Direction**: RobotApp → FleetManager
+
+**Topic**: `uagv/v2/{manufacturer}/{serialNumber}/visualization`
+
+**Structure**:
+```json
+{
+  "headerId": 200,
+  "timestamp": "2025-11-12T10:30:05Z",
+  "version": "2.1.0",
+  "manufacturer": "RobotNet10",
+  "serialNumber": "ROBOT001",
+  "agvPosition": {
+    "x": 15.2,
+    "y": 22.1,
+    "theta": 0.15,
+    "mapId": "factory_floor_1",
+    "positionInitialized": true
+  },
+  "velocity": {
+    "vx": 1.0,
+    "vy": 0.0,
+    "omega": 0.05
+  }
+}
+```
+
+### 5. Connection (Bidirectional)
+
+**Purpose**: Heartbeat và connection status
+
+**Direction**: Bidirectional
+
+**Topics**:
+- `uagv/v2/{manufacturer}/{serialNumber}/connection`
+
+**Structure**:
+```json
+{
+  "headerId": 300,
+  "timestamp": "2025-11-12T10:30:00Z",
+  "version": "2.1.0",
+  "manufacturer": "RobotNet10",
+  "serialNumber": "ROBOT001",
+  "connectionState": "ONLINE"
+}
+```
+
+**Connection States**:
+- `ONLINE`: Connected and operational
+- `OFFLINE`: Disconnected
+- `CONNECTIONBROKEN`: Connection lost unexpectedly
+
+## 🔌 MQTT Configuration / Cấu hình MQTT
+
+### QoS Levels
+
+| Message Type | QoS | Reason |
+|--------------|-----|--------|
+| Order | 1 | At least once delivery |
+| InstantActions | 1 | At least once delivery |
+| State | 0 | High frequency, latest value matters |
+| Visualization | 0 | High frequency, latest value matters |
+| Connection | 1 | Reliable delivery needed |
+
+### Retain Flag
+
+| Message Type | Retain | Reason |
+|--------------|--------|--------|
+| Order | false | Order-specific |
+| InstantActions | false | Time-sensitive |
+| State | true | Latest state available for new subscribers |
+| Visualization | false | Real-time only |
+| Connection | true | Connection status for new subscribers |
+
+### Topic Wildcards
+
+**FleetManager subscribes to all robots**:
+```
+uagv/v2/RobotNet10/+/state
+uagv/v2/RobotNet10/+/visualization
+uagv/v2/RobotNet10/+/connection
+```
+
+**RobotApp subscribes to its own topics**:
+```
+uagv/v2/RobotNet10/ROBOT001/order
+uagv/v2/RobotNet10/ROBOT001/instantActions
+```
+
+## 🏗️ Architecture & Design / Kiến trúc & Thiết kế
+
+### Message Flow Architecture
+
+```mermaid
+graph TB
+    subgraph "FleetManager"
+        OrderGen[Order Generator<br/>Create VDA 5050 Orders]
+        StateProc[State Processor<br/>Process Robot States]
+        ActionGen[Action Generator<br/>Generate Instant Actions]
+    end
+    
+    subgraph "MQTT Broker"
+        OrderTopic[Order Topics<br/>uagv/v2/{mfr}/{serial}/order]
+        StateTopic[State Topics<br/>uagv/v2/{mfr}/{serial}/state]
+        InstantTopic[Instant Action Topics<br/>uagv/v2/{mfr}/{serial}/instantActions]
+    end
+    
+    subgraph "RobotApp"
+        OrderHandler[Order Handler<br/>Process Orders]
+        StatePub[State Publisher<br/>Publish States]
+        InstantHandler[Instant Action Handler<br/>Process Immediate Commands]
+    end
+    
+    OrderGen --> OrderTopic
+    OrderTopic --> OrderHandler
+    
+    StatePub --> StateTopic
+    StateTopic --> StateProc
+    
+    ActionGen --> InstantTopic
+    InstantTopic --> InstantHandler
+    
+    style OrderGen fill:#e6f3ff
+    style StateProc fill:#fff0e6
+    style OrderHandler fill:#e6ffe6
+    style StatePub fill:#e6ffe6
+```
+
+### Message Processing Flow
+
+**Order Processing**:
+
+```mermaid
+sequenceDiagram
+    participant FM as FleetManager
+    participant MQTT as MQTT Broker
+    participant RA as RobotApp
+    participant Validator as Message Validator
+    participant Executor as Order Executor
+    
+    FM->>MQTT: Publish Order (QoS 1)
+    MQTT->>RA: Forward Order
+    RA->>Validator: Validate Order Structure
+    Validator->>Validator: Check Sequence IDs<br/>Check Node/Edge Relations<br/>Check Released Flags
+    
+    alt Valid Order
+        Validator->>Executor: Execute Order
+        Executor->>RA: Update State
+        RA->>MQTT: Publish State (QoS 0)
+        MQTT->>FM: Forward State
+    else Invalid Order
+        Validator->>RA: Reject Order
+        RA->>MQTT: Publish Error State
+        MQTT->>FM: Forward Error
+    end
+```
+
+**State Publishing**:
+
+```mermaid
+flowchart TD
+    Start[State Update Trigger] --> Collect[Collect State Data<br/>Position, Battery, Order Progress]
+    Collect --> Validate{Validate State<br/>Required Fields Present?}
+    
+    Validate -->|Valid| Build[Build VDA 5050 State Message]
+    Validate -->|Invalid| LogError[Log Error<br/>Skip Update]
+    
+    Build --> Serialize[Serialize to JSON<br/>camelCase naming]
+    Serialize --> Publish[Publish to MQTT<br/>QoS 0, Retain: true]
+    Publish --> FleetMgr[FleetManager Receives]
+    
+    FleetMgr --> UpdateDB[Update Database]
+    FleetMgr --> UpdateUI[Update Dashboard]
+    
+    style Start fill:#e6ffe6
+    style Publish fill:#e6f3ff
+    style FleetMgr fill:#fff0e6
+```
+
+### Message Validation Architecture
+
+```mermaid
+graph TB
+    subgraph "Validation Layers"
+        SchemaVal[JSON Schema Validation<br/>Structure & Types]
+        BusinessVal[Business Logic Validation<br/>Sequence IDs, Relations]
+        StateVal[State Validation<br/>Consistency Checks]
+    end
+    
+    IncomingMsg[Incoming Message] --> SchemaVal
+    SchemaVal -->|Valid| BusinessVal
+    SchemaVal -->|Invalid| Reject[Reject Message<br/>Log Error]
+    
+    BusinessVal -->|Valid| StateVal
+    BusinessVal -->|Invalid| Reject
+    
+    StateVal -->|Valid| Accept[Accept Message<br/>Process]
+    StateVal -->|Invalid| Reject
+    
+    style SchemaVal fill:#e6f3ff
+    style BusinessVal fill:#fff0e6
+    style StateVal fill:#e6ffe6
+    style Accept fill:#e6ffe6
+    style Reject fill:#ffe6e6
+```
+
+## ✅ Validation & Testing / Kiểm tra & Test
+
+### Message Validation Strategy
+
+**Validation Layers**:
+
+```mermaid
+graph LR
+    subgraph "Validation Pipeline"
+        Schema[JSON Schema<br/>Structure & Types]
+        Business[Business Logic<br/>Sequence IDs, Relations]
+        State[State Consistency<br/>Order Progress]
+    end
+    
+    Message[Incoming Message] --> Schema
+    Schema --> Business
+    Business --> State
+    State --> Process[Process Message]
+    
+    Schema -->|Invalid| Error[Error Handling]
+    Business -->|Invalid| Error
+    State -->|Invalid| Error
+    
+    style Schema fill:#e6f3ff
+    style Business fill:#fff0e6
+    style State fill:#e6ffe6
+    style Process fill:#e6ffe6
+    style Error fill:#ffe6e6
+```
+
+**Validation Checks**:
+
+1. **JSON Schema Validation**:
+   - Use official VDA 5050 JSON schemas
+   - Validate structure and data types
+   - Check required fields
+
+2. **Business Logic Validation**:
+   - Sequence IDs: Nodes (even), Edges (odd), sequential
+   - Node/Edge relationships: Edges connect nodes properly
+   - Released flags: Valid release sequence
+   - Order updates: orderUpdateId increments correctly
+
+3. **State Consistency Validation**:
+   - Order progress matches current order
+   - Position matches mapId
+   - Action states match order actions
+
+### Testing Strategy
+
+**Testing Approach**:
+
+```mermaid
+graph TB
+    subgraph "Test Levels"
+        Unit[Unit Tests<br/>Message Parsing<br/>Validation Logic]
+        Integration[Integration Tests<br/>MQTT Communication<br/>End-to-end Flow]
+        Interop[Interoperability Tests<br/>Third-party Systems<br/>VDA 5050 Compliance]
+    end
+    
+    subgraph "Test Scenarios"
+        Valid[Valid Messages<br/>Normal Operation]
+        Invalid[Invalid Messages<br/>Error Handling]
+        EdgeCases[Edge Cases<br/>Order Updates<br/>Disconnections]
+    end
+    
+    Unit --> Valid
+    Unit --> Invalid
+    Integration --> Valid
+    Integration --> EdgeCases
+    Interop --> Valid
+    
+    style Unit fill:#e6f3ff
+    style Integration fill:#fff0e6
+    style Interop fill:#e6ffe6
+```
+
+**Key Test Scenarios**:
+
+1. **Order Handling**:
+   - Valid order acceptance
+   - Invalid order rejection
+   - Order update handling (same orderId, higher orderUpdateId)
+   - Order replacement (new orderId)
+   - Sequence ID ordering
+   - Released vs unreleased nodes/edges
+
+2. **State Reporting**:
+   - Publishing frequency (1-10 Hz)
+   - Required fields present
+   - Position accuracy
+   - Battery state correctness
+   - Action state updates
+   - Error reporting
+
+3. **Instant Actions**:
+   - stopPause immediate response (< 50ms)
+   - cancelOrder order cancellation
+   - Resume after pause
+
+4. **Connection Management**:
+   - MQTT disconnection handling
+   - Auto-reconnection
+   - Missed message handling
+   - Connection state reporting
+
+5. **Interoperability**:
+   - Third-party Fleet Manager compatibility
+   - Third-party robot compatibility
+   - VDA 5050 conformance validation
+
+## 📊 Monitoring & Debugging / Giám sát & Debug
+
+### Monitoring Architecture
+
+```mermaid
+graph TB
+    subgraph "Monitoring Tools"
+        MQTTTools[MQTT Monitoring Tools<br/>MQTT Explorer<br/>mosquitto_sub]
+        Logging[Structured Logging<br/>Message Events<br/>Error Tracking]
+        Metrics[Metrics Collection<br/>Message Rates<br/>Latency Tracking]
+    end
+    
+    subgraph "Monitoring Points"
+        OrderFlow[Order Flow<br/>Publish/Receive<br/>Processing Time]
+        StateFlow[State Flow<br/>Publish Frequency<br/>Update Latency]
+        ErrorTracking[Error Tracking<br/>Validation Failures<br/>Connection Issues]
+    end
+    
+    MQTTTools --> OrderFlow
+    MQTTTools --> StateFlow
+    Logging --> ErrorTracking
+    Metrics --> OrderFlow
+    Metrics --> StateFlow
+    
+    style MQTTTools fill:#e6f3ff
+    style Logging fill:#fff0e6
+    style Metrics fill:#e6ffe6
+```
+
+### Monitoring Strategy
+
+**MQTT Monitoring**:
+- Use MQTT Explorer GUI tool để view topics
+- Monitor message flow với `mosquitto_sub`
+- Track message rates và latency
+
+**Logging Approach**:
+- Structured logging với parameters
+- Log message events (receive, publish)
+- Track validation failures
+- Monitor connection status
+
+**Key Metrics**:
+- Message processing time
+- State update frequency
+- Error rates
+- Connection stability
+
+## 🔄 Common Scenarios / Các Tình huống Thường gặp
+
+### Scenario 1: Simple Transport Mission
+
+**FleetManager sends**:
+```json
+{
+  "orderId": "TRANSPORT-001",
+  "orderUpdateId": 0,
+  "nodes": [
+    {"nodeId": "A", "sequenceId": 0, "released": true, "nodePosition": {...}},
+    {"nodeId": "B", "sequenceId": 2, "released": true, "nodePosition": {...}}
+  ],
+  "edges": [
+    {"edgeId": "A-B", "sequenceId": 1, "released": true,
+     "startNodeId": "A", "endNodeId": "B"}
+  ]
+}
+```
+
+**RobotApp executes**:
+1. Receives order
+2. Moves to node A (sequenceId 0)
+3. Reaches node A, updates state (lastNodeId = "A", lastNodeSequenceId = 0)
+4. Follows edge A-B (sequenceId 1)
+5. Reaches node B (sequenceId 2)
+6. Updates state (lastNodeId = "B", lastNodeSequenceId = 2, driving = false)
+
+### Scenario 2: Pick and Place with Actions
+
+**FleetManager sends**:
+```json
+{
+  "orderId": "PICK-PLACE-001",
+  "orderUpdateId": 0,
+  "nodes": [
+    {
+      "nodeId": "PICK",
+      "sequenceId": 0,
+      "released": true,
+      "actions": [
+        {"actionId": "pick1", "actionType": "pick", "blockingType": "HARD"}
+      ]
+    },
+    {
+      "nodeId": "DROP",
+      "sequenceId": 2,
+      "released": true,
+      "actions": [
+        {"actionId": "drop1", "actionType": "drop", "blockingType": "HARD"}
+      ]
+    }
+  ],
+  "edges": [...]
+}
+```
+
+**RobotApp executes**:
+1. Moves to PICK node
+2. Executes pick action (actionStates: RUNNING → FINISHED)
+3. Moves to DROP node
+4. Executes drop action
+5. Reports completion
+
+### Scenario 3: Order Update (Add Waypoint)
+
+**Initial order**:
+```json
+{"orderId": "ORD-001", "orderUpdateId": 0, "nodes": ["A", "B"]}
+```
+
+**Updated order** (add node C):
+```json
+{"orderId": "ORD-001", "orderUpdateId": 1, "nodes": ["A", "B", "C"]}
+```
+
+**RobotApp behavior**:
+- Recognize same orderId with higher orderUpdateId
+- Continue current node/edge
+- Append new nodes to plan
+- Update state with new orderUpdateId
+
+### Scenario 4: Emergency Stop
+
+**FleetManager sends InstantAction**:
+```json
+{
+  "instantActions": [
+    {"actionId": "stop1", "actionType": "stopPause", "blockingType": "HARD"}
+  ]
+}
+```
+
+**RobotApp behavior**:
+1. Immediately stop motion
+2. Set `paused = true` in state
+3. Continue publishing state
+4. Wait for resume command
+
+## 📚 References / Tài liệu Tham khảo
+
+### Official VDA 5050 Resources
+
+- **Specification**: VDA 5050 v2.1.0 (English - first fully English release)
+- **JSON Schemas**: Official schemas for validation
+- **GitHub**: https://github.com/VDA5050/VDA5050
+- **Release Notes**: Check GitHub releases for 2.1.0 changes
+
+### Recommended Reading
+
+1. VDA 5050 Specification Document (Main reference)
+2. VDA 5050 FAQ and Best Practices
+3. MQTT Protocol Specification v3.1.1 / v5.0
+4. JSON Schema Specification
+
+### Community & Support
+
+- VDA 5050 Working Group
+- Industrial automation forums
+- GitHub discussions
+
+## 📖 Related Documents / Tài liệu Liên quan
+
+- [Architecture Overview](../architecture/README.md)
+- [RobotApp Implementation](../robotapp/README.md)
+- [FleetManager Implementation](../fleetmanager/README.md)
+- [MQTT Configuration Guide](mqtt-configuration.md) (TBD)
+
+---
+
+**VDA 5050 Version**: 2.1.0
+**Implementation Status**: Design Phase
+**Last Updated**: 2025-11-13
+**Release Date**: January 2025