RESCUE MAZE JUNIOR HARDWARE B .ROBOTS O VERVIEW Main Controlleè Arduino Giga RÅ Drive Trai” 4 DC motors with encodersÉ ABOUT US Rescue Kit Ejectio” 2 servo motor¾ We are B.Robots Seniors, an Austrian engineering team Wall Detection and Distance Measuremen¼ from HTL Bulme in Graz, Styria. 10 ToF sensor¾ Victim Detectio” Paul Charusa - Hardware, CAD, PCÔ RasPi CM5 with TensorFlow-LighÀ “I am the team captain and was responsible Sensor Connection for the CAD design and parts of the PCB Custom PCB¾ layout.” Lighting for Camera suppor¼ 18 Neopixel RGBW LEDs to improve visibilitÌ Achievements Main Displaì 2024 - World Cup Thomas Rauch - Camera, Vide) 4” TFT-LCD display with interactive U– “I trained and programmed the Machine Inclination Measuremen¼ Participated 2025 - Austrian Open Vision Model for optimal detection of victims.” Adafruit BNO055 IM— Frontal Collision Detection (Bumperä 1st plac7 Two mechanical switches for collision detection Best Documentatio= Vincent Rohkamm - Mapping, UI, Software Best Poster 2025 - World Cup IntegratioS “I developed the mapping system, the UI and Innovative Design Solutions the main structure of the programs” Our Robot consists of 3 modular layers, 5th plac7 each with its own PCB. The layers connect Community Award ia pin headers and can be easily Florian Wiesner - Sensor Integration, Drivinn v 2026 - Austrian Open seperated by removing just a few screws, “I integrated the sensors and developed the simplifying repairs and maintenace. 1st plac7 driving algorithms and parts of the main Best Documentatio= program.” upported by two ball bearings, the swivel Best Poster S axis rotates freely and self-aligns to ground obstacles, ensuring stable positioning and reliable sensor readings by improving ground contact. Cameras V ictim detection is managed by a R aspberry Pi 5 Compute Module with two wide-angle cameras that utilize a custom TensorFlow Lite model. To optimize power consumption and processing overhead, the Compute Module is connected to Time-of- Flight (ToF) sensors positioned next to the cameras. These sensors only trigger the cameras when a wall is detected. Once a victim is successfully detected and validated, the Raspberry Pi transmits the data via UART to the Arduino G iga for signaling and mapping reference. SOFTWARE OVERVIEW I TERESTI G ALGORITH S Technologies & programming language T he software of the Robot is coded in C++ and Python, using N N M VS -Code, PlatformIO and G ithub. General Software Architecture A * pathfinding T he architecture is built on two nested state machines. The Navigation uses an A* search over a 3D tile graph outer RobotState machine handles the operating mode, while for multiple maze levels. Tiles have a traversal cost. the inner RunState machine executes the competition run as T he planner avoids expensive tiles automatically a deterministic cycle. Every loop iteration first executes the whenever a cheaper route exists. Exploring and g lobal cyclic tasks, and during a run, additional cyclic run returning home use one consistent mechanism. tasks are layered on top. This guarantees that sensor data is T he cost model also drives obstacle handling. always fresh® When a bumper is triggered, the current tile's cost Each subsystem is realized as its own C++ class inside a is increased or the route is locked. The active path dedicated library. Dependencies are wired explicitly by is invalidated. The A* plans around the obstruction pointer injection during initialization. This removes hidden on the next cycle. g lobal singletons, so every interaction path is visible in the UML on the right, and each module can be tested in isolation. Innovations PID controller - drive & turn Non-blocking sensor framework Modified ToF library with continuous ranging and data-ready polling instead of blocking reads) Continous Traversal T he robot does not stop on each tile when driving straight. In the middle of each tile, information about walls, the floor, and ramps is saved and sent to the mapping system. The robot only stops if a wall is in front of it or if the mapping commands a turn.