Home

Welcome to the lunadev-2025 wiki! The guidebook of the competition can be found here. Most notably, we need to drive autonomously around rocks in the obstacle zone, and move as much material from the excavation zone into the construction zone. Any rocks we hit in the obstacle zone loses us points, and the rocks in the construction zone may be too heavy to move. Being able to have complete hands free operation grants us more points than being able to do each section autonomously with some human intervention in between.

This wiki aims to catalogue all of the systems involved, but it is not guaranteed to be up to date.

Our robot roughly follows the Model View Controller architecture. The View represents the "physical" interface between the software and the real world. There is a production "view" which involves connecting to real motors and sensors, and a simulated "view" which uses Godot to simulate a virtual world. The Controller is a behavior tree which is a more composable form of a state machine. Our specific implementation, ares-bt is statically typed which allows specific static analyses to be performed by the compiler. The Model is the blackboard that the behavior tree uses. The behavior tree has no other source of input and state besides the blackboard. Out of the three elements, the blackboard is the most trivial and thus will not be discussed further.