https://github.com/k2shah/wadl
A python package for planning surveys over large areas using one or more UAV (Unpersoned Aerial Vehicle).
https://github.com/k2shah/wadl
multi-agent-planning multi-agent-systems pathfinding pathplanning robotics uavs
Last synced: 3 months ago
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A python package for planning surveys over large areas using one or more UAV (Unpersoned Aerial Vehicle).
- Host: GitHub
- URL: https://github.com/k2shah/wadl
- Owner: k2shah
- License: other
- Created: 2019-06-19T18:15:11.000Z (about 7 years ago)
- Default Branch: master
- Last Pushed: 2023-10-20T04:00:47.000Z (over 2 years ago)
- Last Synced: 2025-12-15T20:47:14.712Z (6 months ago)
- Topics: multi-agent-planning, multi-agent-systems, pathfinding, pathplanning, robotics, uavs
- Language: Python
- Homepage:
- Size: 85.6 MB
- Stars: 38
- Watchers: 2
- Forks: 9
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE.md
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README
# WADL
[](https://wadl.readthedocs.io/en/master/?badge=master)
[](https://www.gnu.org/licenses/gpl-3.0)
## Coverage Path Planner
WADL is a python package for planning surveys over large areas using one or more UAV (Unpersoned Aerial Vehicle). WADL take in a geofence and desired gird spacing and produces a series of routes to survey the area inside the geofence.
The project was motivated by the need for efficient route planning for multi-robot systems. WADL was designed and used in a 2019-2020 survey of
Adélie penguins over [Cape Crozier, Ross Island, Antarctica](https://goo.gl/maps/wrMTuMq5kyNxZafx8) If you are interested in the technical details please see our [paper](https://robotics.sciencemag.org/content/5/47/eabc3000) To cite wadl please use the following citation:
```
Shah, G. Ballard, A. Schmidt, M. Schwager, Multidrone aerial surveys of penguin colonies in Antarctica. Sci. Robot. 5, eabc3000 (2020).
```
This work was supported by grant NSF grant 1834986 with logistical support provided by the [United States Antarctic Program](https://www.usap.gov/)
## Install
### pip
```
pip install wadl-planner
```
### source
```
git clone https://github.com/k2shah/wadl.git
pip install -r requirements.txt
```
## Usage
### Quick Start
```
from wadl.survey import Survey
survey = Survey()
survey.addTask(, step=100)
survey.plan()
```
Where ``step`` is the desired grid spacing.
See the [example](example/stanford.py) for a complete demonstration or the [tutorial](https://wadl.readthedocs.io/en/latest/tutorial.html)
### Issues
For any suggestions or bugs please open an issue
### License
This software is licensed under [GNU GENERAL PUBLIC LICENSE verion 3](https://www.gnu.org/licenses/gpl-3.0)