Props to the San Diego Robotics club for getting the first demonstrated passing behavior at their recent Maker Faire. 

Marco forked Donkey to support odometry, a webcam and it runs on a TK1. 

Here is one of the first head to head races for the Donkey2 in the West Oakland warehouse. The opponent is the Carputer which uses a 1/10th size car with an extended frame to hold a mac book under the hood which does all the processing.

Both of these cars were trained on the track without other cars present so they don't know how to avoid each other. The result is mayhem. 

Here is the winning lap for the Donkey1 at the Thunderhill Track for the Self Racing Cars event. You can see that the car is using constant throttle because it creeps uphill and races down. The autopilot model was trained on data from this track, the West Oakland warehouse track and a track that just had white ribbons. 

A weekend project was to use the Donkey platform to control a differential drive car.

This car records the same data (angle, throttle, camera image) as other cars but turns uses the steering angle value to apply different power to each wheel. Here is the code to setup the drive script and you can see the mixer to learn more about how the angle + throttle values are converted into the power applied to each wheel. 

This the West Oakland warehouse on the first day we had painted lines. Behavioral cloning was new to everyone and it was a surprise whenever a car turned the corner by itself.