Jesse Drone

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FPV

Planning…

Indoor Room

Top speed

Jesse's map

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gates found by camera

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frames looked at · time

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map error, mean

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map error, worst

Jesse trains

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Does practice carry over to courses she has never flown? See the results.

Lap records

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Rules

Checked every millisecond on the flown path against the exact room. Records are set only by the server: it re-flies Jesse's line on her scouted map with the same planner and runs these checks against the real room.

Flight

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lap time

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gates cleared

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top speed

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peak thrust

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peak tilt rate

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closest approach

Speed and thrust

speed m/sthrust glimits

Planner

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path search

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trajectory

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waypoints

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total, in browser

Show

How it works

Pipeline

Eyes. Jesse starts from a rough briefing (gate order, positions up to 25 cm off) and flies a slow scouting lap. Every 0.1 s her FPV and trailing cameras look for the glowing mint edges; each clean square outline gives that gate's position and heading, and the sightings are fused into her map. She races on that map; the referee judges against the real room.
Map. The room is voxelized at 10 cm with a distance field: every point knows how far the nearest surface is.
Path search. A* between the gates, keeping 35 cm from surfaces and preferring a metre, then a straight run through each opening, shortcut to straight lines of sight.
Trajectory. A minimum-snap spline (7th-order pieces, smooth through the 6th derivative), at rest at start and finish. Each gate is one crossing point that slides anywhere inside the lit edges (less the rotor disc and a margin) while the spline and its timing are optimised.
Timing. Each piece is re-timed until the drone is at its limits but never past them: top speed, thrust 0.1–2.2 g and a 6 rad/s tilt rate. The attitude follows from the thrust direction.
Body. The tilted rotor disc (36 cm) is checked against the room every step. Where it would come within 5 cm of a surface, the piece is split along the searched path and re-planned.
Training. Jesse varies where in each lit square she starts her crossing, the line she takes through it (yaw and climb), how far out she lines up, and how the search trades clearance for distance. Each attempt is a full plan; only clean laps count. A session is 300 attempts: 25 rounds of 12, the best 4 steering the next round (cross-entropy method). Her best is kept per course, speed and map in this browser.
Checked. The result is sampled every 10 ms against the exact room geometry, and each gate opening must be crossed in order.