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The Autonomy subteam is responsible for developing the competition mission plan and task execution algorithms to ensure efficient and successful competition runs.
The autonomy software module collects and analyzes data from all other software systems. It uses the information to make decisions on what tasks to do and how to perform the desired task. It accomplishes this by using the Behavior Tree Framework to organize decision-making processes and incorporates fallback and recovery nodes for different scenarios of software or hardware malfunction. This software is written in C++ using the ROS2 and BehaviorTree Frameworks.

Behavior Tree Introduction

Introductory Video Series on Behavior Trees

Installation Links & Documentation

Behavior Tree Library Website
ROS2 Humble Documentation