There are plenty of cool racing drones on the market. They mostly require pilots for control. MAVLab has shared a video that shows what it takes to make autonomous racing drones. The software is replaced by the Paparazzi UAV open source autopilot solution.
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Autonomous drone race: A novel vision-based navigation and control strategy
The drone detects gates using the snake gate detection algorithm. No need to build a detailed map of the track for the drone to race.
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