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The paper presents a framework for fire extinguishing in an urban scenario bya team of aerial and ground robots. The system was developed to addressChallenge 3 of the 2020Mohamed Bin Zayed International Robotics Challenge(MBZIRC). The challenge required to autonomously detect, locate and extinguishfires on different floors of a building, as well as in its surroundings. Themulti-robot system developed consists of a heterogeneous robot team of up tothree Unmanned Aerial Vehicles (UAV) and one Unmanned Ground Vehicle (UGV). Wedescribe the main hardware and software components for UAV and UGVplatforms andalso present the main algorithmic components of the system: a 3D LIDAR-basedmapping and localization module able to work in GPS-denied scenarios; a globalplanner and a fast local re-planning system for robot navigation;infrared-based perception and robot actuation control for fire extinguishing;and a mission executive and coordination module based on Behavior Trees. Thepaper finally describes the results obtained during the competition, where thesystem worked fully autonomously and scored in all the trials performed. Thepresented system ended in 7th position out of 20 teams in the Challenge3competition and in 5th position (out of 17 teams) in the Challenge 3 entry tothe Grand Finale (Grand Challenge) of MBZIRC 2020 competition.

Skyeye Team at MBZIRC 2020: A team of aerial and ground robots for GPS-denied autonomous fire extinguishing in an urban building scenario