The WASP consortium operates two wide-field camera arrays in the northern (La Palma) and southern (Sutherland) hemispheres. Each installation comprises a robotic mount bearing 8 cameras, forming a mosaic with a field of view of 30 degrees in declination by 1 hour in right ascension. Here we describe the system performance, observing strategy, candidate selection procedures and follow-up campaigns, and the yield and physical characteristics of the 16 planets discovered in the course of the survey to date.