It is fairly normal concern!
There are a few things various people do, Myself, I make sure to always leave the bathroom roof vent open at least an inch. I also keep the bunk side windows cracked open. Bring the zippers up to the high point, and unzip them a few inches. This allows the condensation a place to escape. It will always migrate to the coldest area, which is out the windows. Since doing this I rarely have condensation under the bunk, and if I do, I do not worry about it, I just pull up the mattress and close up the bunks, and it seams to dry all on its own.
Lots of other people have installed Hypervent under the mattress. This is a nonwoven material that allows air to flow under the mattress.
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