docs(cosmovisor): add design description

[robert-zaremba]

Description

Closes: #XXXX

During the last Cosmovisor working group call we learned the original (not documented) cosmovisor deisgn goals.
In this PR we add it to the README file.

Ref: #9999

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Author Checklist

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I have...

• included the correct type prefix in the PR title
• added ! to the type prefix if API or client breaking change
• targeted the correct branch (see PR Targeting)
• provided a link to the relevant issue or specification
• followed the guidelines for building modules
• included the necessary unit and integration tests
• added a changelog entry to CHANGELOG.md
• included comments for documenting Go code
• updated the relevant documentation or specification
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• confirmed the correct type prefix in the PR title
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• reviewed state machine logic
• reviewed API design and naming
• reviewed documentation is accurate
• reviewed tests and test coverage
• manually tested (if applicable)