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pyrate/README.md

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+# Pyrate ⛵🛥️🗺
+
+[![pipeline status](https://gitlab.sailingteam.hg.tu-darmstadt.de/informatik/pyrate/badges/master/pipeline.svg)](https://gitlab.sailingteam.hg.tu-darmstadt.de/informatik/pyrate/-/commits/master)
+[![statement coverage report](https://img.shields.io/badge/Statement%20Coverage-100%25-success)](https://gitlab.sailingteam.hg.tu-darmstadt.de/informatik/pyrate/-/commits/master)
+[![branch coverage report](https://gitlab.sailingteam.hg.tu-darmstadt.de/informatik/pyrate/badges/master/coverage.svg?key_text=Branch%20Coverage&key_width=110)](https://gitlab.sailingteam.hg.tu-darmstadt.de/informatik/pyrate/-/commits/master)
+
+[![link to docs for `master`](https://img.shields.io/badge/docs-master%20branch-blue)](http://informatik.pages.sailingteam.hg.tu-darmstadt.de/pyrate/)
+[![python version](https://img.shields.io/badge/python-3.6+-green)](https://devguide.python.org/#status-of-python-branches)
+
+This project offers algorithms targeted towards autonomous surface vehicles implemented in the Python 3.6+ programming language.
+The functionality included in the Pyrate Python package enables the perception and processing of environmental features, planning of strategies and trajectories as well as action taking.
+Pyrate is therefore divided into multiple distinct subpackages *sense*, *plan* and *act*, as well as the *common* package for additional features such as file I/O and mathematical abstractions.
+
+The sense subpackage includes algorithms for computer vision, single and multi target state estimation, data smoothing and more.
+In the plan subpackage, the perceived state of the agent and its environment is processed to compute trajectories for long- and short-term navigation as well as strategic decisions.
+This also includes methods for gradient based and gradient free optimization methods.
+Finally, the act subpackage contains state controllers to carry out planned behavior.
+
+<img src="resources/project_structure.png" width="1080">
+
+This project aims at providing the algorithmic backend for the ROS driven on-board systems and simulations.
+Models of the robot's mechanics, electronics and its environment shall be developed within their own respective repository.
+Furthermore, technical specifications, maps and so on go into a separate project repository as well.
+This ensures a clean separation of distinct requirements for quality assurance and responsibilities that distinguish these projects.
+
+## Features
+
+These are the currently supported features:
+
+- Sense:
+  - Filters:
+    - Kalman filters for linear and non-linear state estimation
+    - A gaussian mixture PHD filter for multi target tracking
+  - Smoothers:
+    - Rauch-Tung-Striebel based smoothing of time series data.
+    - Extended and Unscented Kalman filter extension to the RTS smoothing approach for non-linear models.
+  - Vision:
+    - Base classes for simple image regions, e.g. lines and boxes.
+    - Horizon line detection as basis for later obstacle localization.
+- Plan:
+  - Geometric primitives for both cartesian and polar coordinate systems
+    - Locations, polygons and routes
+    - Transformations, unary and binary geometric operations based on [shapely](https://shapely.readthedocs.io/en/latest/project.html)
+  - Graphs for use in navigation
+    - Base classes and common abstractions like (de)serialization and pruning
+    - Generation of graphs covering the entire globe
+- Act
+  - Controllers
+    - PID & LQR implementations
+    - Optional anti-windup
+- Common
+  - Chart IO
+    - Discovery and loading of obstacles, e.g. landmasses, from S-57 chart files
+    - Writing and querying of a [spatialite database](https://www.gaia-gis.it/fossil/libspatialite) containing obstacles/polygons
+  - Raster dataset IO
+  - Math helpers
+- Other:
+  - [Hypothesis](https://hypothesis.readthedocs.io/en/latest/) driven testing environment (including generators for simple testing of geometric calculations)
+  - Documentation generated by [Sphinx](https://www.sphinx-doc.org/en/master/)
+  - Continuous integration (CI) pipeline with linting, type checking, auto formatting, testing and documentation generation
+
+**Documentation**: For a complete overview over the project, how to set things up and contribute,
+please visit [our documentation](http://informatik.pages.sailingteam.hg.tu-darmstadt.de/pyrate/).
+It can also be reached by the "External Wiki" link on the left sidebar the project overview.
+The CI pipeline ensures that its content is always up to date with the current `master` branch.
+
+**New Features**: Upcoming or required features and existing problems can be found, added and discussed in the
+[Gitlab issues](https://gitlab.sailingteam.hg.tu-darmstadt.de/informatik/pyrate/-/boards)
+and [merge requests](https://gitlab.sailingteam.hg.tu-darmstadt.de/informatik/pyrate/-/merge_requests).