Planning and implementing a solid sequence for race day provides the team with the ability to react to anticipated unexpected events. DARPA Grand Challenge race day sequence:

o    Department of Defense (DOD) gives team waypoints two hours before race.

o    Axion Racing inputs waypoints into the Axion Arbitrator and waits for 6:30AM start from Buffalo Bill's in Primm. Spirit will follow the probable 2005 DGC race route provided by DARPA at this time.

o    2D and 3D sensors from Laser Detecting and Ranging (LADAR) determine if anything (Fence, Truck, man-made obstacle, other) is in front and to the sides of the vehicles.

o    Bumble Bee camera looks for negative obstacles or holes in front of Spirit. It helps to identify the edge of any paths or roads.

o    Forward Looking Infrared (FLIR) cameras see sunrise and acknowledges. FLIR determine if anything (Vehicle, Water, Deer, other) is within 60 feet of the front of the vehicle. FLIR camera can monitor up to 12 different heat sources at the same time.

o    Axion Arbitrator determines first of waypoints provided by DOD in a RDDF structure.

o    LADAR, FLIR camera, and Bumble Bee camera tools work together to make sure path is clear to waypoint.

o    When available, Differential GPS, and mapping software help Axion Arbitrator determine exact location of the vehicle on the race course between Slash X and Primm. When not available, the team uses multiple IMU devices to determine location.

o    Obstacles are assessed and actions determined by the Axion Arbitrator.

o    Axion Arbitrator computer sends command to Servo-Actuator hardware to drive to first waypoint.

o    Servo-Actuator shifts gear, turns wheel, and presses accelerator to move Spirit

o    Spirit autonomously drives itself through established waypoints without human control or by any type of remote control.

o    Spirit will drive itself along the race course by following waypoints and using all of its internal sensors.

o    Spirit drives itself even in areas that have no GPS or prior accessibility.

o    Spirit systematically attempts to avoid any encountered Mojave Desert Tortoises, Mojave Ground Squirrels (MGS), Mojave Fringe-Toed Lizards (MFTL), or any other race route wildlife.

o    Spirit identifies and avoids any staked areas or road barriers to continue on to next waypoint.

o    Race finish is in Primm, Nevada with tools, hardware, and software detailed.

o    Axion Racing cashes winner's check and splits proceeds.