These projects are based on the course Building Robots And Other Devices With Arduino (Строим роботов и другие устройства на Arduino) that is available online from the Moscow Physics and Technical Instutute (МФТИ - Московский физико-технический институт)
The course provides engaging and often brilliant lectures but minimal or missing documentation, diagrams, schematics, spec sheets, etc. So the projects had to be created basically from ground up based on the general and sometimes incomplete presentations in the lectures. Part lists had to be put together, the parts ordered, sorted, catagorized, and tested and spec sheets for the components located. This included finding the best equivalents to the Amperka Troyka boards and modules that were highlighted in the course that are not readily available. And schematics and board layouts put had to be put together and then jetisoned for a more ideal solution with the actual physical layout, wiring, testing for the components that would be the best fit for the ones utilized in the projects as presented in the lectures.
The software is basically coded up from scratch to match the assembly and testing of the projects. The main control loop for the various devices and their interactions is in C++ and utilizes libraries specific to the Arduinio boards.
This is an ongoing project and one of the eventual goals is to build a custom differential drive autonomous robot to implement and use as a test-bed for the software engineering side for autonomous vehicle and robotic systems that I have done a lot of work with over the last several years.