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 ## CARLA 0.9.2
 
+  * Updated ROS bridge for CARLA 0.9.X (moved to its own repository)
+  * Added Traffic Scenarios engine to reproduce complex traffic situations for training and evaluating driving agents
+  * Added NHTSA Traffic Scenarios
+    - FollowLeadingVehicle: hero vehicle must react to the deccelerations of a leading vehicle
+    - FollowLeadingVehicleWithObstacle: hero vehicle must react to a leading vehicle due to an obstacle blocking the road
+    - StationaryObjectCrossing: hero vehicle must react to a cyclist or pedestrian blocking the road
+    - DynamicObjectCrossing: hero vehicle must react to a cyclist or pedestrian suddenly crossing in front of it
+    - OppositeVehicleRunningRedLight: hero vehicle must avoid a collision at an intersection regulated by traffic lights when the crossing traffic runs a red light
+    - NoSignalJunctionCrossing: hero vehicle must cross a non-signalized intersection
+    - VehicleTurningRight: hero vehicle must react to a cyclist or pedestrian crossing ahead after a right turn
+    - VehicleTurningLeft: hero vehicle must react to a cyclist or pedestrian crossing ahead after a left turn
+ * Added atomic behaviors using py_trees behavior trees library
+    - InTriggerRegion: new behavior to check if an object is within a trigger region
+    - InTriggerDistanceToVehicle: check if a vehicle is within certain distance with respect to a reference vehicle
+    - InTriggerDistanceToLocation: check if a vehicle is within certain distance with respect to a reference location
+    - TriggerVelocity: triggers if a velocity is met
+    - InTimeToArrivalToLocation:  check if a vehicle arrives within a given time budget to a reference location
+    - InTimeToArrivalToVehicle: check if a vehicle arrives within a given time budget to a reference vehicle
+    - AccelerateToVelocity: accelerate until reaching requested velocity
+    - KeepVelocity: keep constant velocity
+    - DriveDistance: drive certain distance
+    - UseAutoPilot: enable autopilot
+    - StopVehicle: stop vehicle
+    - WaitForTrafficLightState: wait for the traffic light to have a given state
+    - SyncArrival: sync the arrival of two vehicles to a given target
   * Added Python API "agents" extension, includes
-    - Global route planner based in out waypoints API (compatible with OpenDrive)
-    - RoamingAgent agent that can drive at different speeds following waypoints based on PID controllers, attending to other vehicles and traffic signs
+    - Global route planner based on the Waypoints API (compatible with OpenDrive)
+    - BasicAgent: new client agent that can drive to a given coordinate of the map using the waypoint API and PID controllers, attending to other vehicles and traffic lights
+    - RoamingAgent: new client agent that can drive at different speeds following waypoints based on PID controllers, attending to other vehicles and traffic lights
     - LocalPlanner functionality to navigate waypoints using PID controllers
-    - LateralControl and LongitudinalControl
+    - LateralControl and LongitudinalControl PIDs
   * Add support for manual gear shifting
   * Add "role_name" attribute to actors to easily identify the "hero" vehicle
   * Updates to documentation and tutorials
   * Simulator now starts by default in windowed mode
-  * ROS bridge moved to its own repository
   * CMake version required downgraded to 3.5 for better compatibility
   * Fix waypoints height were all placed at zero height
   * Fix actors in world.get_actors() missing parent actor