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 If you are interested in the technical details please see our paper 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

pip install wadl-planner

git clone https://github.com/k2shah/wadl.git
pip install -r requirements.txt

from wadl.survey import Survey
survey = Survey()
survey.addTask(<path_to_geofence.csv>, step=100)
survey.plan()

Where step is the desired grid spacing.

See the example for a complete demonstration or the tutorial

For any suggestions or bugs please open an issue

This software is licensed under GNU GENERAL PUBLIC LICENSE verion 3