Hierarchical UAV flight planner

This program is an experimental flight planner for simulated unmanned aerial vehicles (i.e. UAVs or "drones"). I wrote it as part of my master's thesis, Sensor-Driven Hierarchical Path Planning for Unmanned Aerial Vehicles Using Canonical Tasks and Sensors.

It uses a combination of A*, genetic algorithms, and love to generate a UAV flight path that satisfies constraints and achieves configurable tasks.