dronomy.io

Autonomous Flight is a dockerized autonomous drone simulator implementing a full robotics stack: 24-ray LiDAR SLAM, Extended Kalman Filter state estimation, A* global planning with obstacle inflation, Dynamic Window Approach local planning, and an 8-state flight FSM with guarded transitions. The differentiator is a dual-mode RL correction agent — switch between a simulated Q-learning policy and a live LLM policy backed by Nebius token factory (Llama 3.1 8B on H100s) with one button toggle. In LLM mode, the model receives a structured prompt encoding drone position, velocity, path deviation, nearest obstacle, EKF covariance and FSM state, then returns a JSON thrust vector at ~700ms latency via async background thread. FastAPI backend streams full simulation state over WebSocket at 30fps to a React/Vite UI. Two Docker containers, zero setup.