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The Dark Energy Spectroscopic Instrument, consisting of 5020 robotic fiberpositioners and associated systems on the Mayall telescope at Kitt Peak,Arizona, is carrying out a survey to measure the spectra of 40 million galaxiesand quasars and produce the largest 3D map of the universe to date. The primaryscience goal is to use baryon acoustic oscillations to measure the expansionhistory of the universe and the time evolution of dark energy. A key functionof the online control system is to position each fiber on a particular targetin the focal plane with an accuracy of 11$\mu$m rms 2-D. This paper describesthe set of software programs used to perform this function along with themethods used to validate their performance.

Astrometric Calibration and Performance of the Dark Energy Spectroscopic Instrument Focal Plane