DRONE SWARM RACING · CONTROL STACK · HARDWARE

Themis

A 7-stage control pipeline for multi-drone swarm racing: perception → local track model → path planner → formation → swarm → safety → autopilot. Developed in simulation, then deployed on a custom 250mm quad (Raspberry Pi 5 + PX4) chasing a physical track model.

7-stage pipeline· Pi 5 + Pixhawk 6C Mini· PX4 / MAVLink· 250mm bounding cube
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interactive sim

Racing Sim

Web bench for the full pipeline — 2D top-down + 3D FPV views, live knobs, auto-tuner, educational walkthrough of every stage.

open sim →
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interactive 3D viewer

Drone CAD

Custom 130×100mm printed frame — Raspberry Pi 5, Pixhawk 6C Mini (PX4), Mightycam VIO, downward ToF, UWB. Fits the 250mm competition cube.

open 3D model →
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course generator + 3D

Track Model

Generated competition course per the brief addendum — 900 mm green-tape corridor, bends, 90° turns, 900→600 mm narrowings and an overhead hurdle.

open track model →
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live env · raylib / wasm

RL Eval

The PufferLib training environment running in the browser: four drones, random addendum courses, classical planner + bounded RL residual, PX4-style physics.

watch a run →