diff --git a/docs/_static/uml/ChoosesMode.png b/docs/_static/uml/ChoosesMode.png
new file mode 100644
index 00000000000..64caa83c25f
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diff --git a/docs/_static/uml/ChoosesParking.png b/docs/_static/uml/ChoosesParking.png
new file mode 100644
index 00000000000..6720b81c4f2
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diff --git a/docs/_static/uml/DrivesVehicle.png b/docs/_static/uml/DrivesVehicle.png
new file mode 100644
index 00000000000..6454dcf57e1
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diff --git a/docs/_static/uml/HouseholdCAVDriverAgentFSM.png b/docs/_static/uml/HouseholdCAVDriverAgentFSM.png
new file mode 100644
index 00000000000..37284d0a718
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diff --git a/docs/_static/uml/PersonAgent.png b/docs/_static/uml/PersonAgent.png
new file mode 100644
index 00000000000..716f66a61f5
Binary files /dev/null and b/docs/_static/uml/PersonAgent.png differ
diff --git a/docs/_static/uml/RideHailAgentFSM.png b/docs/_static/uml/RideHailAgentFSM.png
new file mode 100644
index 00000000000..916436392d5
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diff --git a/docs/_static/uml/TransistDriverFSM.png b/docs/_static/uml/TransistDriverFSM.png
new file mode 100644
index 00000000000..80c237e2dcb
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diff --git a/docs/_static/uml/UnifiedStateFSM.png b/docs/_static/uml/UnifiedStateFSM.png
new file mode 100644
index 00000000000..a8593281aac
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diff --git a/docs/uml/ChoosesModeFSM.puml b/docs/uml/ChoosesModeFSM.puml
new file mode 100755
index 00000000000..1bdda47cf73
--- /dev/null
+++ b/docs/uml/ChoosesModeFSM.puml
@@ -0,0 +1,24 @@
+@startuml
+
+scale 1000 width
+skinparam stateBorderColor #black
+skinparam stateFontStyle bold
+skinparam arrowColor #black
+
+' BeamAgent: States '
+state ChoosingMode #eb1921
+
+state FinishingModeChoice #eb1921
+
+'Transition State'
+
+FinishingModeChoice -[#blue,dotted]-> WaitingForDeparture : IntermediateTransition
+ChoosingMode --> ChoosingMode : MobilityStatusResponse
+ChoosingMode --> ChoosingMode : RoutingResponse
+ChoosingMode --> ChoosingMode : RideHailResponse
+ChoosingMode --> ChoosingMode : ParkingInquiryResponse
+ChoosingMode --> ChoosingMode : CavTripLegsResponse
+ChoosingMode --> FinishingModeChoice
+
+
+@enduml
\ No newline at end of file
diff --git a/docs/uml/ChoosesParkingFSM.puml b/docs/uml/ChoosesParkingFSM.puml
new file mode 100755
index 00000000000..11e43f644cf
--- /dev/null
+++ b/docs/uml/ChoosesParkingFSM.puml
@@ -0,0 +1,20 @@
+@startuml
+
+scale 1000 width
+skinparam stateBorderColor #black
+skinparam stateFontStyle bold
+skinparam arrowColor #black
+
+' BeamAgent: States '
+state ReleasingParkingSpot #eb1921
+
+state ChoosingParkingSpot #eb1921
+
+'Transition State'
+ReleasingParkingSpot --> ReleasingParkingSpot: StartLegTrigger
+ReleasingParkingSpot -[#blue,dotted]-> WaitingToDrive: IntermediateTransition
+ChoosingParkingSpot --> ChoosingParkingSpot : ParkingInquiryResponse
+ChoosingParkingSpot --> WaitingToDrive : RoutingResponse
+
+
+@enduml
\ No newline at end of file
diff --git a/docs/uml/DrivesVehicle.puml b/docs/uml/DrivesVehicle.puml
new file mode 100755
index 00000000000..b089ea71d5d
--- /dev/null
+++ b/docs/uml/DrivesVehicle.puml
@@ -0,0 +1,38 @@
+@startuml
+
+scale 1000 width
+scale 700 height
+skinparam stateBorderColor #black
+skinparam stateFontStyle bold
+skinparam arrowColor #black
+
+' BeamAgent: States '
+state Driving #eb1921
+
+state DrivingInterrupted #eb1921
+
+state WaitingToDrive #eb1921
+
+state WaitingToDriveInterrupted #eb1921
+
+
+'BeamAgent Transitions'
+Driving ---> ReadyToChooseParking : (EndLegTrigger,LiterallyDrivingData)
+Driving ---> WaitingToDrive : (EndLegTrigger,LiterallyDrivingData)
+Driving ---> PassengerScheduleEmpty :(EndLegTrigger,LiterallyDrivingData)
+Driving ---> Driving : EndLegTrigger,StopDrivingIfNoPassengerOnBoard
+Driving ---> DrivingInterrupted : Interrupt,StopDrivingIfNoPassengerOnBoard
+
+DrivingInterrupted ---> PassengerScheduleEmptyInterrupted : (StopDriving,LiterallyDrivingData)
+DrivingInterrupted ---> Driving : Resume
+DrivingInterrupted ---> DrivingInterrupted : EndLegTrigger,Interrupt
+
+WaitingToDrive ---> Driving : StartLegTrigger
+WaitingToDrive ---> WaitingToDrive : Interrupt,NotifyVehicleResourceIdleReply,StopDrivingIfNoPassengerOnBoard
+WaitingToDrive ---> DrivingInterrupted : StopDrivingIfNoPassengerOnBoard
+
+
+WaitingToDriveInterrupted ---> Driving : Resume
+WaitingToDriveInterrupted ---> WaitingToDriveInterrupted : TriggerWithId
+
+@enduml
\ No newline at end of file
diff --git a/docs/uml/HouseholdFSM.puml b/docs/uml/HouseholdFSM.puml
new file mode 100755
index 00000000000..3325d3ab2e7
--- /dev/null
+++ b/docs/uml/HouseholdFSM.puml
@@ -0,0 +1,25 @@
+@startuml
+
+scale 1000 width
+skinparam stateBorderColor #black
+skinparam stateFontStyle bold
+skinparam arrowColor #black
+
+' BeamAgent: States '
+state Uninitialized #gray
+
+state Idle #eb1921
+
+state PassengerScheduleEmpty #eb1921
+
+'Transition State'
+
+[*] --> Uninitialized
+Uninitialized --> Idle: InitializeTrigger
+Idle --> WaitingToDrive: ModifyPassengerSchedule
+PassengerScheduleEmpty --> PassengerScheduleEmpty: PassengerScheduleEmptyMessage
+PassengerScheduleEmpty --> Idle: Success
+PassengerScheduleEmpty --> [*]: KillTrigger
+
+
+@enduml
\ No newline at end of file
diff --git a/docs/uml/PersonAgent.puml b/docs/uml/PersonAgent.puml
new file mode 100644
index 00000000000..1d768ac3e7c
--- /dev/null
+++ b/docs/uml/PersonAgent.puml
@@ -0,0 +1,76 @@
+@startuml
+
+scale 1000 width
+scale 800 height
+skinparam stateBorderColor #black
+skinparam stateFontStyle bold
+skinparam arrowColor #black
+
+' BeamAgent: States '
+state Uninitialized #grey
+
+state Initialized #grey
+
+state PerformingActivity #eb1921
+
+state WaitingForDeparture #eb1921
+
+state WaitingForReservationConfirmation #eb1921
+
+state Waiting #eb1921
+
+state Moving #eb1921
+
+state PassengerScheduleEmpty #eb1921
+
+state ReadyToChooseParking #eb1921
+
+state TryingToBoardVehicle #eb1921
+
+state ProcessingNextLegOrStartActivity #eb1921
+
+'BeamAgent Transitions'
+[*] --> Uninitialized
+Uninitialized --> Initialized :InitializeTrigger
+
+Initialized --> PerformingActivity : ActivityStartTrigger
+
+
+PerformingActivity --> ChoosingMode : ActivityEndTrigger
+PerformingActivity --> [*] : ActivityEndTrigger
+
+WaitingForDeparture --> ProcessingNextLegOrStartActivity : PersonDepartureTrigger
+
+WaitingForReservationConfirmation --> Waiting : ReservationResponse
+WaitingForReservationConfirmation --> ChoosingMode : ReservationResponse(error)
+WaitingForReservationConfirmation --> WaitingForReservationConfirmation : DelayedRideHailResponse
+WaitingForReservationConfirmation --> ChoosingMode : RideHailResponseTrigger(error)
+WaitingForReservationConfirmation --> Waiting : RideHailResponse
+WaitingForReservationConfirmation --> ChoosingMode : RideHailResponse(error)
+
+Waiting --> Moving : BoardVehicleTrigger
+
+Moving --> ProcessingNextLegOrStartActivity : AlightVehicleTrigger
+
+PassengerScheduleEmpty --> ProcessingNextLegOrStartActivity: PassengerScheduleEmptyMessage
+
+ReadyToChooseParking -[#blue,dotted]-> ChoosingParkingSpot: IntermediateTransition
+
+TryingToBoardVehicle --> ProcessingNextLegOrStartActivity : Boarded
+TryingToBoardVehicle --> ChoosingMode : NotAvailable
+
+
+ProcessingNextLegOrStartActivity --> ReleasingParkingSpot : ProcessingNextLegOrStartActivity
+ProcessingNextLegOrStartActivity --> WaitingToDrive : ProcessingNextLegOrStartActivity
+ProcessingNextLegOrStartActivity -[#blue,dotted]-> ChoosingMode : IntermediateTransition
+ProcessingNextLegOrStartActivity -[#blue,dotted]-> WaitingForReservationConfirmation : IntermediateTransition
+ProcessingNextLegOrStartActivity -[#blue,dotted]-> Waiting : IntermediateTransition
+ProcessingNextLegOrStartActivity -[#blue,dotted]-> PerformingActivity : IntermediateTransition
+'[*] is stop event'
+ProcessingNextLegOrStartActivity -[#blue,dotted]-> [*] : IntermediateTransition
+
+
+
+
+
+@enduml
\ No newline at end of file
diff --git a/docs/uml/RideHailAgentFSM.puml b/docs/uml/RideHailAgentFSM.puml
new file mode 100755
index 00000000000..8d5fb9e874b
--- /dev/null
+++ b/docs/uml/RideHailAgentFSM.puml
@@ -0,0 +1,46 @@
+@startuml
+
+scale 1000 width
+scale 700 height
+skinparam stateBorderColor #black
+skinparam stateFontStyle bold
+skinparam arrowColor #black
+
+' BeamAgent: States '
+state Uninitialized #grey
+
+state Idle #eb1921
+
+state Offline #eb1921
+
+state IdleInterrupted #eb1921
+
+state PassengerScheduleEmpty #eb1921
+
+state PassengerScheduleEmptyInterrupted  #eb1921
+
+
+'BeamAgent Transitions'
+[*] --> Uninitialized
+Uninitialized --> Idle : InitializeTrigger
+Uninitialized --> Offline : InitializeTrigger
+
+Offline --> Idle: StartShiftTrigger
+Offline --> Offline : Interrupt,NotifyVehicleResourceIdleReply,StartRefuelTrigger,EndRefuelTrigger
+
+Idle --> Offline: EndShiftTrigger
+Idle --> Idle: NotifyVehicleResourceIdleReply,EndRefuelTrigger,StartRefuelTrigger
+Idle --> IdleInterrupted: Interrupt
+
+IdleInterrupted --> Idle : Resume
+IdleInterrupted --> IdleInterrupted : Interrupt,NotifyVehicleResourceIdleReply
+IdleInterrupted --> WaitingToDriveInterrupted : ModifyPassengerSchedule
+
+PassengerScheduleEmpty --> Idle : PassengerScheduleEmptyMessage
+PassengerScheduleEmpty --> PassengerScheduleEmpty: Interrupt
+
+PassengerScheduleEmptyInterrupted --> IdleInterrupted : PassengerScheduleEmptyMessage
+PassengerScheduleEmptyInterrupted --> PassengerScheduleEmptyInterrupted : ModifyPassengerSchedule,Resume,Interrupt
+
+
+@enduml
\ No newline at end of file
diff --git a/docs/uml/TransistDriverFSM.puml b/docs/uml/TransistDriverFSM.puml
new file mode 100755
index 00000000000..5a043809dbb
--- /dev/null
+++ b/docs/uml/TransistDriverFSM.puml
@@ -0,0 +1,20 @@
+@startuml
+
+scale 1000 width
+skinparam stateBorderColor #black
+skinparam stateFontStyle bold
+skinparam arrowColor #black
+
+state Uninitialized #gray
+
+state PassengerScheduleEmpty  #eb1921
+
+
+[*] --> Uninitialized
+Uninitialized --> WaitingToDrive : InitializeTrigger
+
+PassengerScheduleEmpty --> PassengerScheduleEmpty : PassengerScheduleEmptyMessage
+PassengerScheduleEmpty --> [*] : KillTrigger
+
+
+@enduml
\ No newline at end of file
diff --git a/docs/uml/UnifiedStateFSM.puml b/docs/uml/UnifiedStateFSM.puml
new file mode 100644
index 00000000000..01a3ff8f06e
--- /dev/null
+++ b/docs/uml/UnifiedStateFSM.puml
@@ -0,0 +1,215 @@
+@startuml
+
+scale 2000 width
+scale 2000 height
+skinparam stateBorderColor #black
+skinparam stateFontStyle bold
+skinparam arrowColor #black
+
+
+
+state ChoosesModes #eb1921{
+
+    'Transition State'
+    state ChoosingMode #eb1921
+
+    state FinishingModeChoice #eb1921
+
+    FinishingModeChoice -[#blue,dotted]-> WaitingForDeparture : IntermediateTransition
+    ChoosingMode --> ChoosingMode : MobilityStatusResponse
+    ChoosingMode --> ChoosingMode : RoutingResponse
+    ChoosingMode --> ChoosingMode : RideHailResponse
+    ChoosingMode --> ChoosingMode : ParkingInquiryResponse
+    ChoosingMode --> ChoosingMode : CavTripLegsResponse
+    ChoosingMode --> FinishingModeChoice
+
+}
+
+state ChoosesParking #eb1921{
+
+   'Transition State'
+    state ReleasingParkingSpot #eb1921
+
+    state ChoosingParkingSpot #eb1921
+
+    'Transition State'
+    ReleasingParkingSpot --> ReleasingParkingSpot: StartLegTrigger
+    ReleasingParkingSpot -[#blue,dotted]-> WaitingToDrive: IntermediateTransition
+    ChoosingParkingSpot --> ChoosingParkingSpot : ParkingInquiryResponse
+    ChoosingParkingSpot --> WaitingToDrive : RoutingResponse
+
+}
+
+state DrivingVehicle #eb1921 {
+    ' BeamAgent: States '
+    state Driving #eb1921
+
+    state DrivingInterrupted #eb1921
+
+    state WaitingToDrive #eb1921
+
+    state WaitingToDriveInterrupted #eb1921
+
+
+    'BeamAgent Transitions'
+    Driving ---> ReadyToChooseParking : (EndLegTrigger,LiterallyDrivingData)
+    Driving ---> WaitingToDrive : (EndLegTrigger,LiterallyDrivingData)
+    Driving ---> PassengerScheduleEmpty :(EndLegTrigger,LiterallyDrivingData)
+    Driving ---> Driving : EndLegTrigger,StopDrivingIfNoPassengerOnBoard
+    Driving ---> DrivingInterrupted : Interrupt,StopDrivingIfNoPassengerOnBoard
+
+    DrivingInterrupted ---> PassengerScheduleEmptyInterrupted : (StopDriving,LiterallyDrivingData)
+    DrivingInterrupted ---> Driving : Resume
+    DrivingInterrupted ---> DrivingInterrupted : EndLegTrigger,Interrupt
+
+    WaitingToDrive ---> Driving : StartLegTrigger
+    WaitingToDrive ---> WaitingToDrive : Interrupt,NotifyVehicleResourceIdleReply,StopDrivingIfNoPassengerOnBoard
+    WaitingToDrive ---> DrivingInterrupted : StopDrivingIfNoPassengerOnBoard
+
+
+    WaitingToDriveInterrupted ---> Driving : Resume
+    WaitingToDriveInterrupted ---> WaitingToDriveInterrupted : TriggerWithId
+
+}
+
+state Household #eb1921 {
+    ' BeamAgent: States '
+    state Uninitialized #gray
+
+    state Idle #eb1921
+
+    state PassengerScheduleEmpty #eb1921
+
+    'Transition State'
+
+    [*] --> Uninitialized
+    Uninitialized --> Idle: InitializeTrigger
+    Idle --> WaitingToDrive: ModifyPassengerSchedule
+    PassengerScheduleEmpty --> PassengerScheduleEmpty: PassengerScheduleEmptyMessage
+    PassengerScheduleEmpty --> Idle: Success
+    PassengerScheduleEmpty --> [*]: KillTrigger
+
+}
+
+state PersonAgent #eb1921 {
+
+    state Uninitialized #grey
+
+    state Initialized #grey
+
+    state PerformingActivity #eb1921
+
+    state WaitingForDeparture #eb1921
+
+    state WaitingForReservationConfirmation #eb1921
+
+    state Waiting #eb1921
+
+    state Moving #eb1921
+
+    state PassengerScheduleEmpty #eb1921
+
+    state ReadyToChooseParking #eb1921
+
+    state TryingToBoardVehicle #eb1921
+
+    state ProcessingNextLegOrStartActivity #eb1921
+
+    'BeamAgent Transitions'
+    [*] --> Uninitialized
+    Uninitialized --> Initialized :InitializeTrigger
+
+    Initialized --> PerformingActivity : ActivityStartTrigger
+
+
+    PerformingActivity --> ChoosingMode : ActivityEndTrigger
+    PerformingActivity --> [*] : ActivityEndTrigger
+
+    WaitingForDeparture --> ProcessingNextLegOrStartActivity : PersonDepartureTrigger
+
+    WaitingForReservationConfirmation --> Waiting : ReservationResponse
+    WaitingForReservationConfirmation --> ChoosingMode : ReservationResponse(error)
+    WaitingForReservationConfirmation --> WaitingForReservationConfirmation : DelayedRideHailResponse
+    WaitingForReservationConfirmation --> ChoosingMode : RideHailResponseTrigger(error)
+    WaitingForReservationConfirmation --> Waiting : RideHailResponse
+    WaitingForReservationConfirmation --> ChoosingMode : RideHailResponse(error)
+
+    Waiting --> Moving : BoardVehicleTrigger
+
+    Moving --> ProcessingNextLegOrStartActivity : AlightVehicleTrigger
+
+    PassengerScheduleEmpty --> ProcessingNextLegOrStartActivity: PassengerScheduleEmptyMessage
+
+    ReadyToChooseParking -[#blue,dotted]-> ChoosingParkingSpot: IntermediateTransition
+
+    TryingToBoardVehicle --> ProcessingNextLegOrStartActivity : Boarded
+    TryingToBoardVehicle --> ChoosingMode : NotAvailable
+
+
+    ProcessingNextLegOrStartActivity --> ReleasingParkingSpot : ProcessingNextLegOrStartActivity
+    ProcessingNextLegOrStartActivity --> WaitingToDrive : ProcessingNextLegOrStartActivity
+    ProcessingNextLegOrStartActivity -[#blue,dotted]-> ChoosingMode : IntermediateTransition
+    ProcessingNextLegOrStartActivity -[#blue,dotted]-> WaitingForReservationConfirmation : IntermediateTransition
+    ProcessingNextLegOrStartActivity -[#blue,dotted]-> Waiting : IntermediateTransition
+    ProcessingNextLegOrStartActivity -[#blue,dotted]-> PerformingActivity : IntermediateTransition
+    '[*] is stop event'
+    ProcessingNextLegOrStartActivity -[#blue,dotted]-> [*] : IntermediateTransition
+
+}
+
+
+state RideHailAgent #eb1921 {
+    ' BeamAgent: States '
+    state Uninitialized #grey
+
+    state Idle #eb1921
+
+    state Offline #eb1921
+
+    state IdleInterrupted #eb1921
+
+    state PassengerScheduleEmpty #eb1921
+
+    state PassengerScheduleEmptyInterrupted  #eb1921
+
+
+    'BeamAgent Transitions'
+    [*] --> Uninitialized
+    Uninitialized --> Idle : InitializeTrigger
+    Uninitialized --> Offline : InitializeTrigger
+
+    Offline --> Idle: StartShiftTrigger
+    Offline --> Offline : Interrupt,NotifyVehicleResourceIdleReply,StartRefuelTrigger,EndRefuelTrigger
+
+    Idle --> Offline: EndShiftTrigger
+    Idle --> Idle: NotifyVehicleResourceIdleReply,EndRefuelTrigger,StartRefuelTrigger
+    Idle --> IdleInterrupted: Interrupt
+
+    IdleInterrupted --> Idle : Resume
+    IdleInterrupted --> IdleInterrupted : Interrupt,NotifyVehicleResourceIdleReply
+    IdleInterrupted --> WaitingToDriveInterrupted : ModifyPassengerSchedule
+
+    PassengerScheduleEmpty --> Idle : PassengerScheduleEmptyMessage
+    PassengerScheduleEmpty --> PassengerScheduleEmpty: Interrupt
+
+    PassengerScheduleEmptyInterrupted --> IdleInterrupted : PassengerScheduleEmptyMessage
+    PassengerScheduleEmptyInterrupted --> PassengerScheduleEmptyInterrupted : ModifyPassengerSchedule,Resume,Interrupt
+
+
+}
+
+state TransistDriver #eb1921{
+    state Uninitialized #gray
+
+    state PassengerScheduleEmpty  #eb1921
+
+
+    [*] --> Uninitialized
+    Uninitialized --> WaitingToDrive : InitializeTrigger
+
+    PassengerScheduleEmpty --> PassengerScheduleEmpty : PassengerScheduleEmptyMessage
+    PassengerScheduleEmpty --> [*] : KillTrigger
+
+}
+
+@enduml
\ No newline at end of file