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This paper describes the full end-to-end design of our primary scoring agentin an aerial autonomous robotics competition from April 2023. As open-endedrobotics competitions become more popular, we wish to begin documentingsuccessful team designs and approaches. The intended audience of this paper isnot only any future or potential participant in this particular national DefendThe Republic (DTR) competition, but rather anyone thinking about designingtheir first robot or system to be entered in a competition with clear goals.Future DTR participants can and should either build on the ideas here, or findnew alternate strategies that can defeat the most successful design last time.For non-DTR participants but students interested in robotics competitions,identifying the minimum viable system needed to be competitive is stillimportant in helping manage time and prioritizing tasks that are crucial tocompetition success first.

Lighter-Than-Air Autonomous Ball Capture and Scoring Robot -- Design, Development, and Deployment