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This paper presents a system for autonomous cooperative wall building with ateam of Unmanned Aerial Vehicles (UAVs). The system was developed for Challenge2 of the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020. Thewall-building scenario of Challenge 2 featured an initial stack of bricks andwall structure where the individual bricks had to be placed by a team of threeUAVs. The objective of the task was to maximize collected points for placingthe bricks within the restricted construction time while following theprescribed wall pattern. The proposed approach uses initial scanning to find apriori unknown locations of the bricks and the wall structure. Each UAV is thenassigned to individual bricks and wall placing locations and further performgrasping and placement using onboard resources only. The developed systemconsists of methods for scanning a given area, RGB-D detection of bricks andwall placement locations, precise grasping and placing of bricks, andcoordination of multiple UAVs. The paper describes the overall system,individual components, experimental verification in demanding outdoorconditions, the achieved results in the competition, and lessons learned. Thepresented CTU-UPenn-NYU approach achieved the overall best performance amongall participants to won the MBZIRC competition by collecting the highest numberof points by correct placement of a high number of bricks.

Autonomous Cooperative Wall Building by a Team of Unmanned Aerial Vehicles in the MBZIRC 2020 Competition