Olin College Robotics Lab developed HydroFleet, an autonomous drone system that quantifies soil moisture across a field for irrigation planning. The drone is equipped with a custom soil-moisture probe and a deployment mechanism that lowers the probe to ground level, records a quantitative reading, and retracts before flying to the next sampling point. A swarm-coordination layer with sophisticated routing optimization assigns sampling locations dynamically, balancing coverage with battery life. Readings stream into a user interface that aggregates measurements into farm-level moisture maps, giving growers an accurate, repeatable basis for irrigation decisions in place of a sparse network of fixed sensors.