WHACO — Wind-Harvesting Adaptive Controller for Operations
Copyright (c) 2026 Blackridge Autonomy LLC

Third-Party Software
====================

This project uses the following open-source libraries:

NumPy (BSD License)
  Copyright (c) 2005-2026 NumPy Developers
  https://numpy.org/

Matplotlib (PSF License)
  Copyright (c) 2012-2026 Matplotlib Development Team
  https://matplotlib.org/

NetworkX (BSD License)
  Copyright (c) 2004-2026 NetworkX Developers
  https://networkx.org/

pymavlink (LGPL v3)
  Copyright (c) 2011-2026 Andrew Tridgell
  https://github.com/ArduPilot/pymavlink

PX4 Autopilot (BSD 3-Clause)
  Copyright (c) 2012-2026 PX4 Development Team
  https://px4.io/
  Used for SITL validation only (not embedded in WHACO)

jMAVSim (BSD 3-Clause)
  Part of PX4 project
  Used for SITL simulation environment only

Algorithm Originality
=====================

The WHACO mode-switching throttle controller, swarm governor architecture,
fuel-pressure model, wind proxy system, and PX4 companion integration are
original works of Blackridge Autonomy LLC.

The MPC direction oracle used in benchmarks is a standard receding-horizon
planner implemented from first principles (not derived from any specific
open-source implementation).

Reynolds flocking rules used as a baseline are implemented from:
  Reynolds, C.W. (1987). "Flocks, herds and schools: A distributed
  behavioral model." SIGGRAPH '87.
