diff --git a/README.md b/README.md
index de163e8..0b4078c 100644
--- a/README.md
+++ b/README.md
@@ -6,5 +6,4 @@ Includes support for the Unity game engine.
 # Basic components
 
 - RoboidControl::Thing
-- RoboidControl::LocalParticipant
-- RoboidControl::SiteServer
\ No newline at end of file
+- RoboidControl::Participant
diff --git a/src/Participant.cs b/src/Participant.cs
index 4fc8489..feb2f05 100644
--- a/src/Participant.cs
+++ b/src/Participant.cs
@@ -37,25 +37,33 @@ namespace RoboidControl {
         /// <summary>
         /// The network ID of the participant
         /// </summary>
-        public byte networkId;
+        public byte networkId = 0;
 
         /// <summary>
         /// The things managed by this participant
         /// </summary>
-        public readonly List<Thing> things = new List<Thing>();
+        public readonly List<Thing> things = new();
 
         public virtual void Update(ulong currentTimeMS = 0) {
             int n = this.things.Count;
             for (int ix = 0; ix < n; ix++) {
                 Thing thing = this.things[ix];
                 if (thing != null)
-                    thing.Update(currentTimeMS, true);                
+                    thing.Update(currentTimeMS, true);
             }
-
         }
 
-        public static List<Participant> participants = new List<Participant>();
+        /// <summary>
+        /// The collection of known participants.
+        /// </summary>
+        public readonly static List<Participant> participants = new();
 
+        /// <summary>
+        /// Retrieve a participant using ip address and port number
+        /// </summary>
+        /// <param name="ipAddress">The ip address of the participant</param>
+        /// <param name="port">The port number used to send messages to the participant</param>
+        /// <returns>The participant or null if it is not found.</returns>
         public static Participant GetParticipant(string ipAddress, int port) {
             //Console.WriteLine($"Get Participant {ipAddress}:{port}");
             foreach (Participant participant in Participant.participants) {
@@ -64,14 +72,26 @@ namespace RoboidControl {
             }
             return null;
         }
-        public static Participant GetParticipant(int participantId) {
-            //Console.WriteLine($"Get Participant [participantId]");
+        /// <summary>
+        /// Retrieve a participant using a network ID
+        /// </summary>
+        /// <param name="networkId">The network ID of the participant</param>
+        /// <returns>The participant or null if it is not found.</returns>
+        public static Participant GetParticipant(int networkId) {
+            //Console.WriteLine($"Get Participant [networkId]");
             foreach (Participant participant in Participant.participants) {
-                if (participant.networkId == participantId)
+                if (participant.networkId == networkId)
                     return participant;
             }
             return null;
         }
+
+        /// <summary>
+        /// Add a new participant to the collection of participants
+        /// </summary>
+        /// <param name="ipAddress">The IP address of the participant</param>
+        /// <param name="port">The port used to send messages to this participant</param>
+        /// <returns>The added participant</returns>
         public static Participant AddParticipant(string ipAddress, int port) {
             Console.WriteLine($"New Participant {ipAddress}:{port}");
             Participant participant = new(ipAddress, port) {
@@ -80,6 +100,11 @@ namespace RoboidControl {
             Participant.participants.Add(participant);
             return participant;
         }
+        /// <summary>
+        /// Add a new participant to the collection of participants
+        /// </summary>
+        /// <param name="participant">The participant to add</param>
+        /// <note>This function only adds the participant if it is not yet in the collection</note>
         public static void AddParticipant(Participant participant) {
             Participant foundParticipant = Participant.GetParticipant(participant.networkId);
             if (foundParticipant == null)
diff --git a/src/Thing.cs b/src/Thing.cs
index b6d145a..9ebd00f 100644
--- a/src/Thing.cs
+++ b/src/Thing.cs
@@ -269,7 +269,7 @@ namespace RoboidControl {
         /// <summary>
         /// Event triggered when the pose has changed
         /// </summary>
-        public event ChangeHandler OnPoseChanged = null; //delegate { };
+        public event ChangeHandler OnPoseChanged = delegate { };
         /// <summary>
         /// Boolean indicating that the thing has an updated position
         /// </summary>