The Dark Energy Spectroscopic Instrument, consisting of 5020 robotic fiber positioners and associated systems on the Mayall telescope at Kitt Peak, Arizona, is carrying out a survey to measure the spectra of 40 million galaxies and quasars and produce the largest 3D map of the universe to date. The primary science goal is to use baryon acoustic oscillations to measure the expansion history of the universe and the time evolution of dark energy. A key function of the online control system is to position each fiber on a particular target in the focal plane with an accuracy of 11
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Abstract μ m rms 2D. This paper describes the set of software programs used to perform this function along with the methods used to validate their performance.
