Add high-level architecture diagram to docs (#3488)

* Added high_level_architecture.svg

* Add high-level architecture diagram to docs

* Small docs changes

Author: williamckha

docs/images/high_level_architecture.svg

@@ -78,7 +78,9 @@
 
 # Architecture Overview
 
-At a high-level, our system is split into several independent processes that [communicate with each other](#inter-process-communication). Our architecture is designed in this manner to promote decoupling of different features, making our system easier to expand, maintain, and test.
+![High-Level Architecture Diagram](images/high_level_architecture.svg)
+
+At a high-level, our system is split into several independent processes that [communicate with each other](#inter-process-communication). Our architecture is designed in this manner to promote decoupling of different features, making our software easier to expand, maintain, and test.
 
 - [**Fullsystem**](#fullsystem) is the program that processes data and makes decisions for a [team](#team) of [robots](#robot). It manages [**Sensor Fusion**](#sensor-fusion), which is responsible for processing and filtering raw data, and the [**AI**](#ai) that makes gameplay decisions.
 
@@ -550,7 +552,7 @@ Trajectories are generated by sampling intermediate *sub-destinations* around th
 
 # Thunderscope
 
-**Thunderscope** chiefly refers to the [GUI application](#thunderscope-gui) we use to visualize and interact with our robots and software. Some non-UI related functionality (namely, Robot Communication) is implemented as part of Thunderscope since it acts as a central point in our architecture, making it convenient for coordinating activities between different modules.
+**Thunderscope** refers to the [GUI application](#thunderscope-gui) we use to visualize and interact with our robots and software. Some non-UI related functionality (namely, Robot Communication) is implemented as part of Thunderscope since it acts as a central point in our architecture, making it convenient for coordinating activities between different modules.
 
 [`thunderscope_main.py`](/src/software/thunderscope/thunderscope_main.py) serves as the main entry point ("launcher") for our entire system. You can run the script to start up the [Thunderscope GUI](#thunderscope-gui) and a number of other optional processes, such as a [Fullsystem](#fullsystem) for each [AI](#ai) team, the [Simulator](#simulator), and [SSL Gamecontroller](#ssl-gamecontroller).