diff --git a/src/web_server/admin.html b/src/web_server/admin.html
new file mode 100644
index 0000000..de9ad0b
--- /dev/null
+++ b/src/web_server/admin.html
@@ -0,0 +1,64 @@
+<!DOCTYPE html>
+<html>
+  <head>
+    <title>GroundsBot</title>
+    <meta charset="utf-8">
+
+    <!-- Support for browsers on mobile phones. -->
+    <meta name="viewport"
+          content="width=device-width, initial-scale=1, user-scalable=no">
+
+    <!-- Google Web Fonts. -->
+    <link href='https://fonts.googleapis.com/css?family=Roboto+Condensed'
+          rel='stylesheet' type='text/css'>
+
+    <!-- Custom CSS styles for our application. -->
+    <link rel="stylesheet" href="/static/admin.css">
+
+    <!-- The Google JavaScript loader tool (for the Maps, Charts APIs). -->
+    <script src="https://www.google.com/jsapi"></script>
+
+    <!-- Our custom JavaScript for grudsby Lights. -->
+    <script src="/static/admin.js"></script>
+
+  </head>
+  <body>
+
+    <!-- The DOM of our application. -->
+    <div class="grudsby">
+
+      <!-- The title of the application. -->
+      <h1>GroundsBot Admin</h1>
+
+      <!-- The button to draw a polygon. -->
+      <button class="addObstacle">Add New Obstacle</button>
+
+      <!-- The button to draw a polygon. -->
+      <button class="clearObstacles">Clear All Obstacles</button>
+
+      <!-- The button to draw a polygon. -->
+      <button class="drawRegion">Draw New Geofence</button>
+
+      <!-- A container which the Maps API will populate with a map. -->
+      <div class="map"></div>
+
+      <img id="grudsby" src="/static/grudsby_top_tiny.png"/>
+
+      <img id="pylon" src="/static/some_beach_tiny.png"/>
+      
+      <a href="https://earthengine.google.org">
+        <img class="powered-by-ee"
+             alt="Powered by Google Earth Engine"
+             src="/static/google_earthengine_powered_400px.png">
+      </a>
+    </div>
+
+    <!-- Boot our JavaScript once the body has loaded. -->
+    <script>
+      grudsby.boot(
+          '{{ eeMapId | safe }}',
+          '{{ eeToken | safe }}');
+    </script>
+
+  </body>
+</html>
diff --git a/src/web_server/config.pyc b/src/web_server/config.pyc
index 75d3243..86def36 100644
Binary files a/src/web_server/config.pyc and b/src/web_server/config.pyc differ
diff --git a/src/web_server/index.html b/src/web_server/index.html
index a76522b..edbe0ae 100644
--- a/src/web_server/index.html
+++ b/src/web_server/index.html
@@ -41,6 +41,8 @@ <h1>GroundsBot Mowing Selection</h1>
 
       <img id="grudsby" src="/static/grudsby_top_tiny.png"/>
 
+      <img id="pylon" src="/static/some_beach_tiny.png"/>
+      
       <a href="https://earthengine.google.org">
         <img class="powered-by-ee"
              alt="Powered by Google Earth Engine"
@@ -48,7 +50,6 @@ <h1>GroundsBot Mowing Selection</h1>
       </a>
     </div>
 
-
     <!-- Boot our JavaScript once the body has loaded. -->
     <script>
       grudsby.boot(
diff --git a/src/web_server/pyasn1/__init__.pyc b/src/web_server/pyasn1/__init__.pyc
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diff --git a/src/web_server/rsa/pkcs1.pyc b/src/web_server/rsa/pkcs1.pyc
index 4ada0d9..9ca8fa0 100644
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diff --git a/src/web_server/rsa/prime.pyc b/src/web_server/rsa/prime.pyc
index 0b7c785..12ef2b5 100644
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diff --git a/src/web_server/rsa/randnum.pyc b/src/web_server/rsa/randnum.pyc
index 48cf703..5966174 100644
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diff --git a/src/web_server/rsa/transform.pyc b/src/web_server/rsa/transform.pyc
index c22021a..83ba37d 100644
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diff --git a/src/web_server/server.py b/src/web_server/server.py
index 0664a8f..8e2a512 100644
--- a/src/web_server/server.py
+++ b/src/web_server/server.py
@@ -27,6 +27,45 @@ def get(self, path=''):
     template = JINJA2_ENVIRONMENT.get_template('index.html')
     self.response.out.write(template.render(template_values))
 
+class AdminHandler(webapp2.RequestHandler):
+  """A servlet to handle requests to load the main grudsby web page."""
+  def get(self, path=''):
+    mapid = GetgrudsbyMapId()
+    template_values = {
+        'eeMapId': mapid['mapid'],
+        'eeToken': mapid['token']
+    }
+    template = JINJA2_ENVIRONMENT.get_template('admin.html')
+    self.response.out.write(template.render(template_values))
+
+class GeofenceHandler(webapp2.RequestHandler):
+  """A servlet to handle requests for details about a Geofence."""
+  def get(self):
+    polygon_id = self.request.get('polygon_id')
+    loadedPath = getString(polygon_id + "_geofence")
+    try:
+      content = json.dumps(json.loads(loadedPath), sort_keys=True, indent=2)
+    except ValueError, e:
+      content = json.dumps({'error': 'Stored data not formatted correctly'})
+    self.response.headers['Content-Type'] = 'application/json'
+    self.response.out.write(content)
+
+class SaveGeofenceHandler(webapp2.RequestHandler):
+  """A servlet to save details about a Region."""
+  def get(self):
+    rawJson = str(self.request.get('jsonData'))
+    try:
+      polygonData = json.loads(rawJson)
+    except ValueError, e:
+      False  
+    if ('coordinates' in polygonData and 'regionID' in polygonData):
+      content = json.dumps({'result': 'Successfully received region ' + polygonData['regionID']}) 
+      setString(polygonData['regionID']+"_geofence", json.dumps(polygonData, ensure_ascii=False))
+    else:
+      content = json.dumps({'error': 'Request not formatted correctly'})
+    self.response.headers['Content-Type'] = 'application/json'
+    self.response.out.write(content)
+
 
 class RegionHandler(webapp2.RequestHandler):
   """A servlet to handle requests for details about a Region."""
@@ -155,13 +194,61 @@ def get(self):
     self.response.out.write(content)
 
 
+class ObstaclesHandler(webapp2.RequestHandler):
+  """A servlet to handle requests for details about an Approval."""
+  def get(self):
+    loadedPath = getString("obstacles")
+    try:
+      content = json.dumps(json.loads(loadedPath), sort_keys=True, indent=2)
+    except ValueError, e:
+      content = json.dumps({'error': 'Stored data not formatted correctly'})
+    self.response.headers['Content-Type'] = 'application/json'
+    self.response.out.write(content)
+
+
+class ClearObstaclesHandler(webapp2.RequestHandler):
+  """A servlet to handle requests for details about an Approval."""
+  def get(self):
+    setString('obstacles',"{\"obstacles\":[]}")
+    content = json.dumps({'result':'cleared the obstacles'})
+    self.response.headers['Content-Type'] = 'application/json'
+    self.response.out.write(content)
+
+
+
+class AddObstacleHandler(webapp2.RequestHandler):
+  """A servlet to add an Obstacle."""
+  def get(self):
+    rawJson = str(self.request.get('jsonData'))
+    try:
+      obstaclePos = json.loads(rawJson)
+    except ValueError, e:
+      False
+    if ('lat' in obstaclePos and 'lng' in obstaclePos):
+      content = json.dumps({'result': 'Successfully received obstacle position.'}) 
+      obstacles = getString("obstacles")
+      try:
+        obstaclesJSON = json.loads(obstacles)
+        obstaclesJSON["obstacles"].append({"lat":obstaclePos['lat'],"lng":obstaclePos['lng']})
+        setString("obstacles", json.dumps(obstaclesJSON)) 
+      except ValueError, e:
+        setString('obstacles',"{\"obstacles\":[{\"lat\":"+str(obstaclePos['lat'])+",\"lng\":"+str(obstaclePos['lng'])+"}]}")
+        content = json.dumps({'error': 'Stored data not formatted correctly. Added new obstacles object'})
+      
+    else: 
+      content = json.dumps({'error': ' Received data not formatted correctly'})
+    self.response.headers['Content-Type'] = 'application/json'
+    self.response.out.write(content)
+
 
 
 # Define webapp2 routing from URL paths to web request handlers. See:
 # http://webapp-improved.appspot.com/tutorials/quickstart.html
 app = webapp2.WSGIApplication([
-    #('/details', DetailsHandler),
     ('/', MainHandler),
+    ('/admin', AdminHandler),
+    ('/geofence', GeofenceHandler),
+    ('/saveGeofence', SaveGeofenceHandler),
     ('/region', RegionHandler),
     ('/saveRegion', SaveRegionHandler),
     ('/plan', MowingPlanHandler),
@@ -170,6 +257,9 @@ def get(self):
     ('/setApproval', SetApprovalHandler),
     ('/mowerPos', MowerPosHandler),
     ('/setMowerPos', SetMowerPosHandler),
+    ('/obstacles', ObstaclesHandler),
+    ('/clearObstacles', ClearObstaclesHandler),
+    ('/addObstacle', AddObstacleHandler)
 ])
 
 
diff --git a/src/web_server/server.pyc b/src/web_server/server.pyc
index 85fc734..d792c97 100644
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diff --git a/src/web_server/six.pyc b/src/web_server/six.pyc
index f7f2567..377cdca 100644
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diff --git a/src/web_server/static/admin.css b/src/web_server/static/admin.css
new file mode 100644
index 0000000..e5673c6
--- /dev/null
+++ b/src/web_server/static/admin.css
@@ -0,0 +1,241 @@
+/** User interface styles for the grudsby Lights app. */
+
+.template {
+  display: none;
+}
+
+/* Shared across all screen sizes. */
+
+.grudsby h1 {
+  font-family: 'Roboto Condensed', sans-serif;
+  position: absolute;
+  z-index: 1;
+  margin: 0px;
+  color: white;
+  text-shadow: 0px 0px 20px black;
+  top: 22px;
+  left: 30px;
+}
+
+.grudsby .addObstacle {
+    position: absolute;
+    background-color: #4CAF50; /* Green */
+    border: none;
+    color: white;
+    padding: 15px 32px;
+    text-align: center;
+    text-decoration: none;
+    display: inline-block;
+    font-size: 16px;
+    left: 30px;
+    z-index: 1;
+    width:230px;
+}
+
+
+.grudsby .clearObstacles {
+    position: absolute;
+    background-color: #4CAF50; /* green */
+    border: none;
+    color: white;
+    padding: 15px 32px;
+    text-align: center;
+    text-decoration: none;
+    display: inline-block;
+    font-size: 16px;
+    left: 30px;
+    z-index: 1;
+    width:230px;
+}
+
+.grudsby .drawRegion {
+    position: absolute;
+    background-color: #4CAF50; /* green */
+    border: none;
+    color: white;
+    padding: 15px 32px;
+    text-align: center;
+    text-decoration: none;
+    display: inline-block;
+    font-size: 16px;
+    left: 30px;
+    z-index: 1;
+    width:230px;
+}
+
+
+.grudsby .addObstacle:hover {
+    box-shadow: 0 12px 16px 0 rgba(0,0,0,0.24), 0 17px 50px 0 rgba(0,0,0,0.19);
+}
+
+.grudsby .clearObstacles:hover {
+    box-shadow: 0 12px 16px 0 rgba(0,0,0,0.24), 0 17px 50px 0 rgba(0,0,0,0.19);
+}
+
+.grudsby .drawRegion:hover {
+    box-shadow: 0 12px 16px 0 rgba(0,0,0,0.24), 0 17px 50px 0 rgba(0,0,0,0.19);
+}
+
+html,
+body,
+.grudsby,
+.grudsby .map {
+  height: 100%;
+  margin: 0px;
+  padding: 0px;
+  overflow: hidden;
+}
+
+
+/* Small screens. */
+
+@media (max-width: 500px) {
+  .grudsby h1 {
+    font-size: 19px;
+  }
+  .grudsby .addObstacle {
+    top: 115px;
+    height:45px;
+  }
+  .grudsby .clearObstacles {
+    top: 55px;
+    height:45px;
+  }
+  .grudsby .drawRegion {
+    top: 175px;
+    height:45px;
+  }
+}
+  
+
+/* Large screens. */
+
+@media (min-width: 500px) {
+  .grudsby h1 {
+    font-size: 37px;
+  }
+  .grudsby .addObstacle {
+    top: 160px;
+    height:55px;
+  }
+  .grudsby .clearObstacles {
+    top: 80px;
+    height:55px;
+  }
+ .grudsby .drawRegion {
+    top: 240px;
+    height:55px;
+  }
+}
+
+/*.grudsby .panel {
+  display: none;
+  position: absolute;
+  z-index: 1;
+  background-color: white;
+  box-shadow: 0px 0px 20px black;
+  font-family: 'Roboto', sans-serif;
+  padding: 10px;
+  box-sizing: border-box;
+}
+
+.grudsby .panel h2 {
+  margin: 0px;
+  padding-bottom: 10px;
+}
+
+.grudsby .panel .details {
+  overflow: hidden;
+  max-height: 500px;
+}
+
+.grudsby .panel .error {
+  display: none;
+}
+
+.grudsby .powered-by-ee {
+  position: absolute;
+  z-index: 1;
+  bottom: 10px;
+  left: 50%;
+  margin-left: -150px;
+  width: 300px;
+}
+*/
+/* Small screens. */
+
+/*@media (max-width: 900px) {
+  .grudsby h1 {
+    top: 22px;
+    font-size: 37px;
+    left: 30px;
+  }
+
+  /*.grudsby .panel {
+    width: 100%;
+    bottom: 0px;
+    height: 50px;
+  }
+
+  .grudsby .panel .details {
+    visibility: hidden;
+    max-height: 400px;
+    padding-right: 10px;
+  }
+
+  .grudsby .panel .close {
+    display: none;
+  }
+
+  .grudsby .panel .toggler {
+    position: absolute;
+    top: 10px;
+    right: 10px;
+    cursor: pointer;
+  }
+
+  .grudsby .panel.expanded .details  {
+    visibility: visible;
+  }
+
+  .grudsby .panel.expanded {
+    height: 278px;
+  }
+
+  .grudsby .powered-by-ee {
+    width: 180px;
+  }
+}
+
+/* Large screens. */
+/*
+@media (min-width: 900px) {
+  .grudsby h1 {
+    left: 30px;
+    top: 30px;
+    font-size: 56px;
+    opacity: .98;
+  }
+
+  /*
+  .grudsby .panel {
+    width: 400px;
+    left: 40px;
+    top: 126px;
+    padding: 14px;
+    opacity: .98;
+    border-radius: 4px;
+  }
+
+  .grudsby .panel .close {
+    position: absolute;
+    top: 14px;
+    right: 14px;
+    cursor: pointer;
+  }
+
+  .grudsby .panel .toggler {
+    display: none;
+  }
+  */
+/*}*/
diff --git a/src/web_server/static/admin.js b/src/web_server/static/admin.js
new file mode 100644
index 0000000..52b4f2e
--- /dev/null
+++ b/src/web_server/static/admin.js
@@ -0,0 +1,495 @@
+/**
+ * @fileoverview Runs the grudsby application. The code is executed in the
+ * user's browser. It communicates with the App Engine backend, renders output
+ * to the screen, and handles user interactions.
+ */
+
+var RotateIcon = function(options){
+    this.options = options || {};
+    this.rImg = options.img || new Image();
+    this.rImg.src = this.rImg.src || this.options.url;
+    this.options.width = this.options.width || this.rImg.width || 52;
+    this.options.height = this.options.height || this.rImg.height || 60;
+    canvas = document.createElement("canvas");
+    canvas.width = this.options.width;
+    canvas.height = this.options.height;
+    this.context = canvas.getContext("2d");
+    this.canvas = canvas;
+};
+RotateIcon.makeIcon = function(url) {
+    
+    
+    return new RotateIcon({url: url});
+};
+RotateIcon.prototype.setRotation = function(options){
+    var canvas = this.context,
+        angle = options.deg ? options.deg * Math.PI / 180:
+            options.rad,
+        centerX = this.options.width/2,
+        centerY = this.options.height/2;
+
+    canvas.clearRect(0, 0, this.options.width, this.options.height);
+    canvas.save();
+    canvas.translate(centerX, centerY);
+    canvas.rotate(angle);
+    canvas.translate(-centerX, -centerY);
+    canvas.drawImage(this.rImg, 0, 0);
+    canvas.restore();
+    return this;
+};
+
+RotateIcon.prototype.getUrl = function(){
+    return this.canvas.toDataURL('image/png');
+};
+
+grudsby = {};  // Our namespace.
+
+grudsby.boot = function(eeMapId, eeToken) {
+  // Load external libraries.
+  google.load('visualization', '1.0');
+  google.load('jquery', '1');
+  google.load('maps', '3', {'other_params': 'libraries=drawing&key=AIzaSyCY0S3eiXE_-2iWY23mN-LRq8YDV57B_us'});
+
+  // Create the grudsby app.
+  google.setOnLoadCallback(function() {
+    var mapType = grudsby.App.getEeMapType(eeMapId, eeToken);
+    var app = new grudsby.App(mapType);
+  });
+};
+
+
+///////////////////////////////////////////////////////////////////////////////
+//                               The application.                            //
+///////////////////////////////////////////////////////////////////////////////
+
+
+grudsby.App = function(mapType) {
+  // Create and display the map.
+  this.map = this.createMap(mapType);
+
+
+  // Add the polygons to the map.
+  this.addPolygon();
+
+  // Register a click handler to toggle polygon drawing mode.
+  $('.drawRegion').click(this.drawRegion.bind(this));
+
+  // Add the polygons to the map.
+
+  grudsby.grudsby_lat = 0.0;
+  grudsby.grudsby_lng = 0.0; 
+
+  // Register a click handler to add an obstacle.
+  $('.addObstacle').click(this.addObstacle.bind(this));
+
+  // Register a click handler to clear the obstacles.
+  $('.clearObstacles').click(this.clearObstacles.bind(this));
+ 
+
+
+ 
+  var marker = new google.maps.Marker({
+      position: {lat: 40.444505, lng: -79.940777},
+      map: this.map,
+      title: 'grudsby',
+      zIndex:400
+    });
+  var step = 1;
+  var angle = 1;
+
+  setInterval(function(){
+    $.get('/mowerPos').done((function(data) {
+      if (data['error']) 
+      {
+        console.log("Failure: %s", data.error);
+      }
+      else 
+      {
+
+        grudsby.grudsby_lat = data.lat;
+        grudsby.grudsby_lng = data.lng; 
+
+        $('.grudsby').attr('src', RotateIcon.makeIcon("/static/grudsby_top_tiny.png")
+            .setRotation({deg: -data.rot})
+            .getUrl());
+        marker.setOptions({
+            icon: {
+              url:$('.grudsby').attr('src'),
+              size: new google.maps.Size(80, 80),
+              origin: new google.maps.Point(0, 0),
+              anchor: new google.maps.Point(40, 40),
+              scaledSize: new google.maps.Size(80, 80) },
+            position: {lat: data.lat, lng: data.lng},
+
+        });
+      };
+    }).bind(this));                           
+  }, 1000);
+
+
+  
+  $.get('/obstacles').done((function(data) {
+    if (data['error']) 
+    {
+      console.log("Failure: %s", data.error);
+    }
+    else 
+    {
+      for (i = 0; i < data['obstacles'].length; i++) { 
+        obst = data['obstacles'][i];        
+        var marker = new google.maps.Marker({
+          position: {lat: obst['lat'], lng: obst['lng']},
+          map: this.map,
+          title: 'obstacle',
+          zIndex: 300,
+        });
+        marker.setOptions({
+          icon: {
+            url:"/static/some_beach_tiny.png",
+            size: new google.maps.Size(20, 20),
+            origin: new google.maps.Point(0, 0),
+            anchor: new google.maps.Point(10, 10),
+            scaledSize: new google.maps.Size(20, 20) },
+        });
+      }
+    };
+  }).bind(this)); 
+};
+
+
+grudsby.App.prototype.createMap = function(mapType) {
+  var mapOptions = {
+    center: grudsby.App.DEFAULT_CENTER,
+    disableDefaultUI: true,
+    zoom: grudsby.App.DEFAULT_ZOOM
+  };
+  var mapEl = $('.map').get(0);
+  var map = new google.maps.Map(mapEl, mapOptions);
+  //map.overlayMapTypes.push(mapType); // For adding overlays
+  map.setMapTypeId('satellite');
+  grudsby.App.polyDrawingManager = new google.maps.drawing.DrawingManager({
+      drawingMode: null,
+      drawingControl: false,
+      map: map,
+      polygonOptions: {
+        fillColor: 'blue',
+        strokeColor: 'blue',
+	editable: false
+      }
+    });
+  google.maps.event.addListener(grudsby.App.polyDrawingManager, 'polygoncomplete', this.regionComplete.bind(this));
+  return map;
+
+};
+
+grudsby.App.prototype.drawRegion = function() {
+  if (grudsby.App.polyDrawingManager.getDrawingMode() == google.maps.drawing.OverlayType.POLYGON)
+  {
+    grudsby.App.polyDrawingManager.setOptions({
+      drawingMode: null
+    });
+    $('.drawRegion').get(0).innerHTML="Draw New Geofence";
+    if (grudsby.App.currentRegion!=null){
+      grudsby.App.currentRegion.setEditable(true);
+    };
+  }
+  else
+  {
+    grudsby.App.polyDrawingManager.setOptions({
+      drawingMode: google.maps.drawing.OverlayType.POLYGON
+    });
+    $('.drawRegion').get(0).innerHTML='Edit Current Geofence';
+    if (grudsby.App.currentRegion!=null){
+      grudsby.App.currentRegion.setEditable(false);
+    };
+  };
+};
+
+grudsby.App.prototype.regionComplete = function(polygon) {
+  grudsby.App.polyDrawingManager.setOptions({
+    drawingMode: null
+  });
+  $('.drawRegion').get(0).innerHTML="Draw New Geofence";
+  if (grudsby.App.currentRegion!=null){
+    grudsby.App.currentRegion.setMap(null);
+  };
+  polygon.setEditable(true);
+  polygon.setOptions({
+    zIndex:10
+  });
+  grudsby.App.currentRegion = polygon;
+  this.planInvalidated();
+  var polyPath = polygon.getPath()
+  google.maps.event.addListener(polyPath, 'set_at', this.polyMoved.bind(this));
+  google.maps.event.addListener(polyPath, 'insert_at', this.polyMoved.bind(this));
+
+};
+
+grudsby.App.prototype.addPolygon = function() {
+  polygonId = "sve";
+  $.get('/region?polygon_id=' + polygonId).done((function(data) {
+    if (data['error'])
+    {
+      console.log("Failure: %s", data.error);
+    }
+    else
+    {
+      grudsby.App.currentRegion = new google.maps.Polygon({
+        paths: data.coordinates,
+        fillColor: 'blue',
+        strokeColor: 'blue',
+        strokeWeight: 3,
+        map: this.map,
+        editable: true,
+        zIndex: 10
+      });
+      var polyPath = grudsby.App.currentRegion.getPath()
+      google.maps.event.addListener(polyPath, 'set_at', this.polyMoved.bind(this));
+      google.maps.event.addListener(polyPath, 'insert_at', this.polyMoved.bind(this));
+    };
+  }).bind(this));
+};
+
+grudsby.App.prototype.planInvalidated = function() {
+  this.savePolygon();
+};
+
+grudsby.App.prototype.polyMoved = function() {
+  this.planInvalidated();
+}
+
+grudsby.App.prototype.removeDuplicates = function() {
+  var path_to_snap = grudsby.App.currentRegion.getPath().getArray();
+  var path_list = [];
+  for (var i = 0; i < path_to_snap.length; i++) {
+    path_list.push({lng:path_to_snap[i].lng(),lat:path_to_snap[i].lat()});
+  };
+
+  var i = 0; 
+  continue_loop = true; 
+  do {
+    var new_path_list = JSON.parse(JSON.stringify(path_list));
+    new_path_list.splice(i,1);
+    if (this.isDuplicatePoint(path_list[i], new_path_list)) {
+      path_list.splice(i,1);
+    }
+    else {
+      i += 1;
+    }
+    continue_loop = (i < path_list.length);
+  } while (continue_loop); 
+ 
+  var new_path_latlng = [];
+  for (var i = 0; i < path_list.length; i++) {
+    new_path_latlng.push(new google.maps.LatLng(path_list[i]));
+  };
+
+  grudsby.App.currentRegion.setPath(new_path_latlng); 
+  var polyPath = grudsby.App.currentRegion.getPath()
+  google.maps.event.addListener(polyPath, 'set_at', this.polyMoved.bind(this));
+  google.maps.event.addListener(polyPath, 'insert_at', this.polyMoved.bind(this));
+    
+};
+
+
+grudsby.App.prototype.enforceConvexity = function() {
+  var path_to_snap = grudsby.App.currentRegion.getPath().getArray();
+  if (path_to_snap.length >3) {
+    //path_to_snap.pop();
+    var path_list = [];
+    for (var i = 0; i < path_to_snap.length; i++) {
+      path_list.push({lng:path_to_snap[i].lng(),lat:path_to_snap[i].lat()});
+    };
+
+    var i = 0; 
+    continue_loop = true; 
+    do {
+      var new_path_list = JSON.parse(JSON.stringify(path_list));
+      new_path_list.splice(i,1);
+      new_path_list.push(new_path_list[0]);
+      
+      if (this.isInGeofence(path_list[i], new_path_list)) {
+        path_list.splice(i,1);
+      }
+      else {
+        i += 1;
+      }
+      continue_loop = ((i < path_list.length) && (path_list.length > 3));
+    } while (continue_loop); 
+    
+    var new_path_latlng = [];
+    for (var i = 0; i < path_list.length; i++) {
+      new_path_latlng.push(new google.maps.LatLng(path_list[i]));
+    };
+  
+    grudsby.App.currentRegion.setPath(new_path_latlng); 
+    var polyPath = grudsby.App.currentRegion.getPath()
+    google.maps.event.addListener(polyPath, 'set_at', this.polyMoved.bind(this));
+    google.maps.event.addListener(polyPath, 'insert_at', this.polyMoved.bind(this));
+  }   
+};
+
+grudsby.App.prototype.isDuplicatePoint = function(pt, polygon) {
+  for (var j = 0; j < (polygon.length-1); j++) {
+    if (Math.sqrt((polygon[j].lat-pt.lat)**2.0 + (polygon[j].lng-pt.lng)**2.0) < 0.000005) {
+      return true;
+    }
+  }
+  return false;
+}
+
+grudsby.App.prototype.isInGeofence = function(pt, geofence) {
+  var wn = 0;
+  for (var j = 0; j < (geofence.length-1); j++) {
+    if (geofence[j].lat <= pt.lat) {
+      if (geofence[j+1].lat > pt.lat) {
+        if (this.isLeft(geofence[j],geofence[j+1], pt) > 0) {
+          wn++;
+        }
+      }
+    }
+    else {
+      if (geofence[j+1].lat <= pt.lat) {
+        if (this.isLeft(geofence[j],geofence[j+1], pt) < 0) {
+          wn--;
+        } 
+      }
+    }
+  }
+  return (wn != 0);
+};
+
+grudsby.App.prototype.isLeft = function(P0, P1, P2) {
+  return ( (P1.lng - P0.lng) * (P2.lat - P0.lat) - (P2.lng - P0.lng) * (P1.lat - P0.lat));
+};
+
+
+grudsby.App.prototype.savePolygon = function() {
+  this.enforceConvexity();
+  this.removeDuplicates();
+  var dataOut = {
+      "coordinates":grudsby.App.currentRegion.getPath().getArray(),
+      "regionID":"sve"
+    };
+
+  $.get('/saveGeofence?jsonData=' + JSON.stringify(dataOut)).done((function(data) {
+      if (data['error'])
+      {
+        console.log("Failure: %s", data.error);
+      }
+      else
+      {
+
+      };
+    }).bind(this));
+
+};
+
+grudsby.App.prototype.addPolygon = function() {
+  polygonId = "sve";
+  $.get('/geofence?polygon_id=' + polygonId).done((function(data) {
+    if (data['error'])
+    {
+      console.log("Failure: %s", data.error);
+    }
+    else
+    {
+      grudsby.App.currentRegion = new google.maps.Polygon({
+        paths: data.coordinates,
+        fillColor: 'blue',
+        strokeColor: 'blue',
+        strokeWeight: 3,
+        map: this.map,
+        editable: true,
+        zIndex: 10
+      });
+      var polyPath = grudsby.App.currentRegion.getPath()
+      google.maps.event.addListener(polyPath, 'set_at', this.polyMoved.bind(this));
+      google.maps.event.addListener(polyPath, 'insert_at', this.polyMoved.bind(this));
+    };
+  }).bind(this));
+};
+
+grudsby.App.prototype.addObstacle = function() {
+
+  var dataOut = { 
+      lat:grudsby.grudsby_lat,
+      lng:grudsby.grudsby_lng
+    };   
+  //console.log("strin: %s", JSON.stringify(dataOut));       
+  $.get('/addObstacle?jsonData=' + JSON.stringify(dataOut)).done((function(data) {
+      if (data['error']) 
+      {
+        console.log("Failure: %s", data.error);
+      }
+      else 
+      {
+         var marker = new google.maps.Marker({
+          position: {lat: grudsby.grudsby_lat, lng: grudsby.grudsby_lng},
+          map: this.map,
+          title: 'obstacle',
+          zIndex: 300,
+        });
+        marker.setOptions({
+          icon: {
+            url:"/static/some_beach_tiny.png",
+            size: new google.maps.Size(20, 20),
+            origin: new google.maps.Point(0, 0),
+            anchor: new google.maps.Point(10, 10),
+            scaledSize: new google.maps.Size(20, 20) },
+        });
+      };
+    }).bind(this));
+};
+
+grudsby.App.prototype.clearObstacles = function() {
+    $.get('/clearObstacles')
+  };
+
+///////////////////////////////////////////////////////////////////////////////
+//                        Static helpers and constants.                      //
+///////////////////////////////////////////////////////////////////////////////
+
+
+grudsby.App.getEeMapType = function(eeMapId, eeToken) {
+  var eeMapOptions = {
+    getTileUrl: function(tile, zoom) {
+      var url = grudsby.App.EE_URL + '/map/';
+      url += [eeMapId, zoom, tile.x, tile.y].join('/');
+      url += '?token=' + eeToken;
+      return url;
+    },
+    tileSize: new google.maps.Size(256, 256)
+  };
+  return new google.maps.ImageMapType(eeMapOptions);
+};
+
+/** @type {string} The Earth Engine API URL. */
+grudsby.App.EE_URL = 'https://earthengine.googleapis.com';
+
+
+
+/** @type {number} The default zoom level for the map. */
+grudsby.App.DEFAULT_ZOOM = 21;
+
+
+/** @type {Object} The default center of the map. */
+grudsby.App.DEFAULT_CENTER = {lng: -79.940763, lat: 40.444546};
+
+/** @type {Object} The polygon drawing manager. */
+grudsby.App.polyDrawingManager;
+
+
+/** @type {Object} The current polygon. */
+grudsby.App.currentRegion;
+
+
+grudsby.App.currentPlanText = "";
+ 
+
+/** @type {Object} The current polygon. */
+grudsby.App.currentPlan;
+
+/** @type {Object} Tracks whether the user has approved the region. */
+grudsby.App.planApproved = false;
+
diff --git a/src/web_server/static/favicon.ico b/src/web_server/static/favicon.ico
new file mode 100644
index 0000000..1b61055
Binary files /dev/null and b/src/web_server/static/favicon.ico differ
diff --git a/src/web_server/static/script.js b/src/web_server/static/script.js
index 236e64e..90805be 100644
--- a/src/web_server/static/script.js
+++ b/src/web_server/static/script.js
@@ -17,8 +17,6 @@ var RotateIcon = function(options){
     this.canvas = canvas;
 };
 RotateIcon.makeIcon = function(url) {
-    
-    
     return new RotateIcon({url: url});
 };
 RotateIcon.prototype.setRotation = function(options){
@@ -67,8 +65,9 @@ grudsby.App = function(mapType) {
   // Create and display the map.
   this.map = this.createMap(mapType);
 
-  // Add the polygons to the map.
-  this.addPolygon();
+  // Add the geofence to the mape
+  this.addGeofence();
+ 
 
   // Register a click handler to toggle polygon drawing mode.
   $('.drawRegion').click(this.drawRegion.bind(this));
@@ -115,12 +114,36 @@ grudsby.App = function(mapType) {
         });
       };
     }).bind(this));                           
-  }, 500);
-       	
-            
+  }, 1000);
+  
+  $.get('/obstacles').done((function(data) {
+    if (data['error']) 
+    {
+      console.log("Failure: %s", data.error);
+    }
+    else 
+    {
+      for (i = 0; i < data['obstacles'].length; i++) { 
+        obst = data['obstacles'][i];        
+        var marker = new google.maps.Marker({
+          position: {lat: obst['lat'], lng: obst['lng']},
+          map: this.map,
+          title: 'obstacle',
+          zIndex: 300,
+        });
+        marker.setOptions({
+          icon: {
+            url:"/static/some_beach_tiny.png",
+            size: new google.maps.Size(35, 35),
+            origin: new google.maps.Point(0, 0),
+            anchor: new google.maps.Point(17, 17),
+            scaledSize: new google.maps.Size(35, 35) },
+        });
+      }
+    };
+  }).bind(this)); 
 };
 
-
 grudsby.App.prototype.createMap = function(mapType) {
   var mapOptions = {
     center: grudsby.App.DEFAULT_CENTER,
@@ -208,6 +231,32 @@ grudsby.App.prototype.planInvalidated = function() {
   this.savePolygon();
 };
 
+grudsby.App.prototype.addGeofence = function() {
+  polygonId = "sve";
+  $.get('/geofence?polygon_id=' + polygonId).done((function(data) {
+    if (data['error']) 
+    {
+      console.log("Failure: %s", data.error);
+    }
+    else 
+    {
+      grudsby.App.currentGeofence = new google.maps.Polygon({
+        paths: data.coordinates,
+        fillColor: 'blue',
+        strokeColor: 'blue',
+        strokeWeight: 3,
+        map: this.map,
+        editable: false,
+        zIndex: 1
+      });
+      var polyPath = grudsby.App.currentGeofence.getPath()
+      google.maps.event.addListener(polyPath, 'set_at', this.polyMoved.bind(this));
+      google.maps.event.addListener(polyPath, 'insert_at', this.polyMoved.bind(this));
+      this.addPolygon();
+    };
+  }).bind(this)); 
+};
+
 grudsby.App.prototype.addPolygon = function() {
   polygonId = "sve";
   $.get('/region?polygon_id=' + polygonId).done((function(data) {
@@ -229,11 +278,229 @@ grudsby.App.prototype.addPolygon = function() {
       var polyPath = grudsby.App.currentRegion.getPath()
       google.maps.event.addListener(polyPath, 'set_at', this.polyMoved.bind(this));
       google.maps.event.addListener(polyPath, 'insert_at', this.polyMoved.bind(this));
+      this.snapPolyToGeofence();
     };
-  }).bind(this)); 
+  }).bind(this));
+};
+
+grudsby.App.prototype.enforceConvexity = function() {
+  var path_to_snap = grudsby.App.currentRegion.getPath().getArray();
+  if (path_to_snap.length >3) {
+    //path_to_snap.pop();
+    var path_list = []; 
+    for (var i = 0; i < path_to_snap.length; i++) {
+      path_list.push({lng:path_to_snap[i].lng(),lat:path_to_snap[i].lat()}); 
+    };
+
+    var i = 0; 
+    continue_loop = true; 
+    do {
+      var new_path_list = JSON.parse(JSON.stringify(path_list));
+      new_path_list.splice(i,1);
+      new_path_list.push(new_path_list[0]); 
+      if (this.isInGeofence(path_list[i], new_path_list)) {
+        path_list.splice(i,1);
+      }
+      else {
+        i += 1;
+      }
+      continue_loop = ((i < path_list.length) && (path_list.length > 3));
+    } while (continue_loop); 
+
+    var new_path_latlng = []; 
+    for (var i = 0; i < path_list.length; i++) {
+      new_path_latlng.push(new google.maps.LatLng(path_list[i]));
+    };
+  
+    grudsby.App.currentRegion.setPath(new_path_latlng); 
+    var polyPath = grudsby.App.currentRegion.getPath()
+    google.maps.event.addListener(polyPath, 'set_at', this.polyMoved.bind(this));
+    google.maps.event.addListener(polyPath, 'insert_at', this.polyMoved.bind(this));
+  }   
+};
+
+
+grudsby.App.prototype.snapPolyToGeofence = function() {
+  var path_to_snap = grudsby.App.currentRegion.getPath().getArray();
+  var geofence = grudsby.App.currentGeofence.getPath().getArray();
+  var geofence_list = []; 
+  for (var i = 0; i < geofence.length; i++) {
+    geofence_list.push({lng:geofence[i].lng(),lat:geofence[i].lat()}); 
+  }
+  geofence_list.push(geofence_list[0]);
+  
+  var path_to_snap_list = []; 
+  for (var i = 0; i < path_to_snap.length; i++) {
+    path_to_snap_list.push({lng:path_to_snap[i].lng(),lat:path_to_snap[i].lat()}); 
+  }
+
+ 
+  var new_path = []; 
+  for (var i = 0; i < path_to_snap_list.length; i++) {
+    //console.log("value: %f",path_to_snap[i].lat()); 
+    if (this.isInGeofence(path_to_snap_list[i], geofence_list)) {
+      new_path.push(path_to_snap_list[i]); 
+    } 
+    else {
+      new_path.push(this.snapToNearest(path_to_snap_list[i],geofence_list));    
+    }
+  }
+
+  var new_path_latlng = []; 
+  for (var i = 0; i < new_path.length; i++) {
+    new_path_latlng.push(new google.maps.LatLng(new_path[i]));
+  }
+
+  grudsby.App.currentRegion.setPath(new_path_latlng); 
+  var polyPath = grudsby.App.currentRegion.getPath()
+  google.maps.event.addListener(polyPath, 'set_at', this.polyMoved.bind(this));
+  google.maps.event.addListener(polyPath, 'insert_at', this.polyMoved.bind(this));
+ 
 };
 
+grudsby.App.prototype.snapToNearest = function(pt, geofence) {
+  var new_geofence = JSON.parse(JSON.stringify(geofence));
+  var pt1Idx = this.nearestPoint(pt, new_geofence);
+  var pt1 = new_geofence[pt1Idx];
+  new_geofence.splice(pt1Idx,1);
+  var pt2Idx = this.nearestPoint(pt, new_geofence);
+  var pt2 = new_geofence[pt2Idx];
+  
+  var vec_to_pt2 = this.subtract(pt2,pt1);
+  var vec_to_pt = this.subtract(pt,pt1);
+  
+  var unit_vec_pt2 = this.unit(vec_to_pt2);
+  var mag_vec_pt2 = this.mag(vec_to_pt2);
+ 
+  var towards = this.dot(vec_to_pt, unit_vec_pt2);
+  
+  if (towards < 0) {
+    return pt1; 
+  } 
+  else if (towards > mag_vec_pt2) {
+    return pt2;
+  }
+  else {
+    return this.add(pt1, this.mul(unit_vec_pt2,towards)); 
+  }  
+};
+
+grudsby.App.prototype.unit = function(vec1) {
+  return this.div(vec1, this.mag(vec1));
+};
+
+grudsby.App.prototype.mul = function(vec1, val) {
+  return {lat:(vec1.lat*val), lng:(vec1.lng*val)};
+};
+
+grudsby.App.prototype.div = function(vec1, val) {
+  return {lat:(vec1.lat/val), lng:(vec1.lng/val)};
+};
+
+grudsby.App.prototype.mag = function(vec1) {
+  return Math.sqrt(vec1.lat*vec1.lat+vec1.lng*vec1.lng);
+};
+
+grudsby.App.prototype.dot = function(vec1, vec2) {
+  return vec1.lat*vec2.lat + vec1.lng*vec2.lng; 
+};
+
+grudsby.App.prototype.add = function(pt1, pt2) {
+  return {lat:(pt1.lat+pt2.lat), lng:(pt1.lng+pt2.lng)};
+};
+
+grudsby.App.prototype.subtract = function(pt1, pt2) {
+  return {lat:(pt1.lat-pt2.lat), lng:(pt1.lng-pt2.lng)};
+};
+
+
+grudsby.App.prototype.nearestPoint = function(pt, geofence) {
+  var nearestVal = 99999999999999;
+  var nearestIdx = -1; 
+  for (var j = 0; j < (geofence.length-1); j++) {
+    var dist = (pt.lat-geofence[j].lat)**2.0 + (pt.lng-geofence[j].lng)**2.0;
+    if (dist < nearestVal) {
+      nearestIdx = j;
+      nearestVal = dist;
+    } 
+  }
+  return nearestIdx;
+};
+
+grudsby.App.prototype.removeDuplicates = function() {
+  var path_to_snap = grudsby.App.currentRegion.getPath().getArray();
+  var path_list = []; 
+  for (var i = 0; i < path_to_snap.length; i++) {
+    path_list.push({lng:path_to_snap[i].lng(),lat:path_to_snap[i].lat()});
+  };
+
+  var i = 0; 
+  continue_loop = true;
+  do {
+    var new_path_list = JSON.parse(JSON.stringify(path_list));
+    new_path_list.splice(i,1);
+    if (this.isDuplicatePoint(path_list[i], new_path_list)) {
+      path_list.splice(i,1);
+    }
+    else { 
+      i += 1;
+    }
+    continue_loop = (i < path_list.length);
+  } while (continue_loop);
+
+  var new_path_latlng = [];
+  for (var i = 0; i < path_list.length; i++) {
+    new_path_latlng.push(new google.maps.LatLng(path_list[i]));
+  };
+
+  grudsby.App.currentRegion.setPath(new_path_latlng);
+  var polyPath = grudsby.App.currentRegion.getPath()
+  google.maps.event.addListener(polyPath, 'set_at', this.polyMoved.bind(this));
+  google.maps.event.addListener(polyPath, 'insert_at', this.polyMoved.bind(this));
+  
+};
+
+
+grudsby.App.prototype.isDuplicatePoint = function(pt, polygon) {
+  for (var j = 0; j < (polygon.length-1); j++) {
+    if (Math.sqrt((polygon[j].lat-pt.lat)**2.0 + (polygon[j].lng-pt.lng)**2.0) < 0.000005) {
+      return true;
+    }
+  }
+  return false;
+}
+
+
+grudsby.App.prototype.isInGeofence = function(pt, geofence) {
+  var wn = 0;
+  for (var j = 0; j < (geofence.length-1); j++) {
+    if (geofence[j].lat <= pt.lat) {
+      if (geofence[j+1].lat > pt.lat) {
+        if (this.isLeft(geofence[j],geofence[j+1], pt) > 0) {
+          wn++;
+        }
+      }
+    }
+    else {
+      if (geofence[j+1].lat <= pt.lat) {
+        if (this.isLeft(geofence[j],geofence[j+1], pt) < 0) {
+          wn--;
+        } 
+      }
+    }
+  }
+  return (wn != 0);
+};
+
+grudsby.App.prototype.isLeft = function(P0, P1, P2) {
+  return ( (P1.lng - P0.lng) * (P2.lat - P0.lat) - (P2.lng - P0.lng) * (P1.lat - P0.lat));
+};
+
+
 grudsby.App.prototype.savePolygon = function() {
+  this.snapPolyToGeofence();
+  this.enforceConvexity();
+  this.removeDuplicates();
   var dataOut = { 
       "coordinates":grudsby.App.currentRegion.getPath().getArray(),
       "regionID":"sve"
@@ -357,11 +624,11 @@ grudsby.App.EE_URL = 'https://earthengine.googleapis.com';
 
 
 /** @type {number} The default zoom level for the map. */
-grudsby.App.DEFAULT_ZOOM = 20;
+grudsby.App.DEFAULT_ZOOM = 21;
 
 
 /** @type {Object} The default center of the map. */
-grudsby.App.DEFAULT_CENTER = {lng: -78.906790, lat: 33.671536};
+grudsby.App.DEFAULT_CENTER = {lng: -79.940763, lat: 40.444546};
 
 /** @type {Object} The polygon drawing manager. */
 grudsby.App.polyDrawingManager;
@@ -370,6 +637,7 @@ grudsby.App.polyDrawingManager;
 /** @type {Object} The current polygon. */
 grudsby.App.currentRegion;
 
+grudsby.App.currentGeofence;
 
 grudsby.App.currentPlanText = "";
  
diff --git a/src/web_server/static/some_beach.png b/src/web_server/static/some_beach.png
new file mode 100644
index 0000000..2c8421f
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diff --git a/src/web_server/static/some_beach_tiny.png b/src/web_server/static/some_beach_tiny.png
new file mode 100644
index 0000000..91225e9
Binary files /dev/null and b/src/web_server/static/some_beach_tiny.png differ
