docs: audit links, glossary T0-T4, readability pass

Extend glossary with storage floors, source of truth, and linkable anchors.
Fix broken links, pose frame drift, rsync/offload wording, and README tone.
Add docs/improvement audit records and live demo links in design journey.

docs/09-open-questions.md

@@ -18,7 +18,7 @@ Visual-odometry positions are relative; different drones may hold different loca
 
 By construction there are no write conflicts in bulk sync (each drone writes only its own `drone=` subtree). But *derived swarm-level* products (shared maps, fused detections) may need merging.
 
-*Proposal:* keep swarm-level fusion out of the storage layer entirely: every drone stores its own observations; fusion is computed, not stored, in flight — and recomputed from ground truth in the warehouse. If a persistent shared structure becomes unavoidable, use a CRDT type for it rather than inventing reconciliation.
+*Proposal:* keep swarm-level fusion out of the storage layer entirely: every drone stores its own observations; fusion is computed, not stored, in flight — and recomputed from the [source of truth](00-glossary.md#source-of-truth) in the warehouse. If a persistent shared structure becomes unavoidable, use a [CRDT](00-glossary.md#infrastructure--delivery) type for it rather than inventing reconciliation.
 
 ## 4 — Degradation policy under sustained link loss
 
@@ -42,7 +42,7 @@ The degradation ladder ([03](03-data-platform.md)) needs a domain-approved order
 
 The virtual swarm covers logic and protocol; it does not cover radio behavior, GPU thermals, or NVMe write endurance under vibration.
 
-*Proposal:* a small HIL rig at the bench — real compute module + radio, simulated sensor feeds — as stage 5.5 of the roadmap, exercised by the same seeded scenarios as CI.
+*Proposal:* a small [HIL](00-glossary.md#infrastructure--delivery) rig at the bench — real compute module + radio, simulated sensor feeds — as stage 5.5 of the roadmap, exercised by the same seeded scenarios as CI.
 
 ## 8 — Video retention policy
 
@@ -64,6 +64,24 @@ Sub-250 g class units cannot run the full stack (no GPU, minimal CPU/storage).
 
 ## 11 — Lake retention and partition pruning
 
-The observability path now scans only the most recent flights ([ADR-0009](adr/ADR-0009-bounded-lake-scans.md)), but old `flight=` partitions still accumulate on T1 disk after offload to T3.
+The observability path now scans only the most recent flights ([ADR-0009](adr/ADR-0009-bounded-lake-scans.md)), but old `flight=` partitions still accumulate on [T1](00-glossary.md#t1--warm) disk after offload to [T3](00-glossary.md#t3--warehouse).
 
 *Proposal:* a scheduled prune of T1 partitions whose flights are confirmed present in the T3 warehouse (offload as the retention gate), configurable by age and free-space watermark. On the drone the same policy is bounded by the NVMe quota ladder ([03](03-data-platform.md)); in the sim environment it is a ground CronJob alongside the offload job.
+
+## 12 — Bulk transfer tool choice
+
+In-flight peer bulk sync, dock offload, and sim shortcuts have used different wording (rsync, rclone, `mc mirror`, `cp -ru`).
+
+*Proposal:* **rsync over SSH** is the default for peer [bulk sync](00-glossary.md#bulk-sync) and wired dock [offload](00-glossary.md#offload) of the Hive partition tree; **MinIO `mc mirror`** when the far end is the object-store facade; **[rclone](00-glossary.md#rclone)** only when the backend is S3-compatible and rsync is awkward; sim CronJob keeps **`cp -ru` + `mc mirror`** as a documented shortcut. Pick one primary tool per path in provisioning, not all at once.
+
+## 13 — DuckLake vs plain DuckDB + Parquet on T3
+
+The design journey mentions DuckLake; no ADR or implementation commits to it yet.
+
+*Proposal:* baseline remains DuckDB `read_parquet` globs over the [T3](00-glossary.md#t3--warehouse) Hive tree with MinIO underneath; evaluate DuckLake only if catalog/versioning pain appears at warehouse scale — decision gets its own ADR before any dependency lands.
+
+## 14 — `schemas/` registry layout
+
+[03 — Data platform](03-data-platform.md) references an in-repo `schemas/` directory that does not exist yet (roadmap stage 2).
+
+*Proposal:* add `schemas/` as part of stage 2 with one SemVer file per dataset version, referenced from the fleet release manifest; until then treat schema versions as manifest-only fields and document the gap here rather than implying the directory already exists.