diff --git a/README.md b/README.md
index 67a396e..4004ecc 100644
--- a/README.md
+++ b/README.md
@@ -19,8 +19,6 @@ The main concepts of Physical are:
 * Node: A node hosts peripherals. A node can have a commander but does not need one. A node can ignore or even override
   commands from the commander. In a complex system, nodes are intended to be kept simple, less likely to
   encounter an error than the commander, and in some cases should check for obvious problems in commands from the
-  commander.
-* Commander: A commander hosts nodes. It is possible for a device to be both a node and a commander at the same time,
-  although it may not be the best idea to make such a setup. There is no concept of nesting commanders built into
-  Physical. If some kind of abstraction for a computer that commands multiple commanders, which command nodes, is
-  necessary, it should be made for that specific application.
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+  commander. Nodes may also communicate with one another.
+* Commander: A commander hosts nodes. It performs long-running complex computation to optimize the system and gives
+commands to nodes based on its results.
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