diff --git a/docs/concepts.rst b/docs/concepts.rst
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+..
+.. Copyright (c) 2024 ZettaScale Technology
+..
+.. This program and the accompanying materials are made available under the
+.. terms of the Eclipse Public License 2.0 which is available at
+.. http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+.. which is available at https://www.apache.org/licenses/LICENSE-2.0.
+..
+.. SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+..
+.. Contributors:
+..   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+..
+
+********
+Concepts
+********
+
+Types Classification
+====================
+
+Zenoh-Pico types fall into these categories:
+
+- Owned types: `z_owned_xxx_t`
+- Loaned types: `z_loaned_xxx_t`
+- Moved types: `z_moved_xxx_t`
+- View types: `z_view_xxx_t`
+- Option structures: `z_xxx_options_t`
+- Enums and plain data structures: `z_xxx_t`
+
+Owned Types `z_owned_xxx_t`
+---------------------------
+
+The Zenoh-Pico library incorporates concepts like ownership, moving, and borrowing.
+
+Types prefixed with `z_owned_xxx_t` "own" external resources (e.g., memory, file descriptors). 
+These types must be destroyed at the end of their lifecycle using the `z_xxx_drop` function or 
+the `z_drop` macro. Example:
+
+.. code-block:: c
+
+    z_owned_string_t s;
+    z_string_copy_from_str(&s, "Hello, world!");
+    //...
+    z_drop(z_move(s));
+
+Owned objects can be passed to functions in two ways: by moving (`z_moved_xxx_t`) or 
+loaning (`z_loaned_xxx_t`).
+
+Loaned Types `z_loaned_xxx_t`
+-----------------------------
+
+To temporarily pass an owned object, it can be loaned using `z_xxx_loan` functions, which return 
+a pointer to the corresponding `z_loaned_xxx_t`. For readability, the generic macro `z_loan` is also available.
+
+Functions accepting a loaned object can either read (`const z_loaned_xxx_t*`) or read and 
+modify (`z_loaned_xxx_t*`) the object. In both cases, ownership remains with the caller. Example:
+
+.. code-block:: c
+
+    z_owned_string_t s, s1;
+    z_string_copy_from_str(&s, "Hello, world!");
+    // notice that the prototype of z_string_clone is
+    // void z_string_clone(z_owned_string_t* dst, const z_loaned_string_t* src);
+    // I.e. the only way to pass the source string is by loaning it
+    z_string_clone(&s1, z_loan(s));
+    //...
+    z_drop(z_move(s));
+    z_drop(z_move(s1));
+
+Moved types `z_moved_xxx_t`
+---------------------------
+
+When a function accepts a `z_moved_xxx_t*` parameter, it takes ownership of the passed object. 
+To pass the object, use the `z_xxx_move` function or the `z_move` macro.
+
+Once the object is moved, the caller should no longer use it. While calling `z_drop` is safe, 
+it's not required. Note that `z_drop` itself takes ownership, so `z_move` is also needed in this case. Example:
+
+.. code-block:: c
+    
+    z_owned_config_t cfg;
+    z_config_default(&cfg);
+    z_owned_session_t session;
+    // session takes ownership of the config
+    if (z_open(&session, z_move(cfg)) == Z_OK) {
+        //...
+        z_drop(z_move(session));
+    }
+    // z_drop(z_move(cfg)); // this is safe but useless
+
+View Types `z_view_xxx_t`
+-------------------------
+
+`z_view_xxx_t` types are reference types that point to external data. These values do not need to be dropped and 
+remain valid only as long as the data they reference is valid. 
+
+A key feature is that `z_view_xxx_t` types are loaned as `z_loaned_xxx_t`, just like their owned counterparts, 
+allowing consistent use of both owned and view types. Example:
+
+.. code-block:: c
+
+    z_owned_string_t owned;
+    z_string_copy_from_str(&owned, "Hello, world!");
+    z_view_string_t view;
+    z_view_string_from_str(&view, "Hello, another world!");
+    z_owned_string_t dst;
+    z_string_clone(&dst, z_loan(owned));
+    z_drop(z_move(dst));
+    z_string_clone(&dst, z_loan(view));
+    z_drop(z_move(dst));
+
+Options Structures `z_xxx_options_t`
+------------------------------------
+
+`z_xxx_options_t` are Plain Old Data (POD) structures used to pass multiple parameters to functions. This makes API 
+compact and allows to extend the API keeping backward compatibility.
+
+Note that when an "options" structure contains `z_moved_xxx_t*` fields, assigning `z_move` to this field does not 
+affect the owned object. However, passing the structure to a function transfers ownership of the object. Example:
+
+.. code-block:: c
+
+    // assume that we want to mark our message with some metadate of type int64_t
+    z_publisher_put_options_t options;
+    z_publisher_put_options_default(&options);
+    int64_t metadata = 42;
+    z_owned_bytes_t attachment;
+    z_bytes_serialize_from_int64(&attachment, metadata);
+    options.attachment = z_move(attachment); // the data itself is still in the `attachment`
+
+    z_owned_bytes_t payload;
+    z_bytes_serialize_from_str(&payload, "Don't panic!");
+    z_publisher_put(z_loan(pub), z_move(payload), &options);
+    // the `payload` and `attachment` are consumed by the `z_publisher_put` function
+
+
+Enums and Plain Data Structures `z_xxx_t`
+-----------------------------------------
+
+Types named `z_xxx_t` are simple, copyable, and can be passed by value. They do not have special handling. 
+Examples include `z_timestamp_t`, `z_priority_t`, etc.
+
+.. code-block:: c
+
+    z_timestamp_t ts;
+    z_timestamp_new(&ts, z_loan(session));
+    z_timestamp_t ts1 = ts;
+
+Name Prefixes `z_`, `zp_`
+================================
+
+Most functions and types in the C API use the `z_` prefix, which applies to the common zenoh C API
+(currently Rust-based zenoh-c and pure C zenoh-pico).
+
+The `zp_` prefix is specific to zenoh-pico. zenoh-c uses the `zc_` prefix for the same purpose.
diff --git a/docs/index.rst b/docs/index.rst
index 5d6f4609b..f00e1c2cf 100644
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -21,4 +21,5 @@ The *libzenoh-pico* library provides a C client API for the zenoh protocol.
 .. toctree::
     :maxdepth: 10
 
+    concepts
     api