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Autonomous robotic systems for various applications including transport,mobile manipulation, and disaster response are becoming more and more complex.Evaluating and analyzing such systems is challenging. Robotic competitions aredesigned to benchmark complete robotic systems on complex state-of-the-arttasks. Participants compete in defined scenarios under equal conditions. Wepresent our UGV solution developed for the Mohamed Bin Zayed InternationalRobotics Challenge 2020. Our hard- and software components to address thechallenge tasks of wall building and fire fighting are integrated into a fullyautonomous system. The robot consists of a wheeled omnidirectional base, a 6DoF manipulator arm equipped with a magnetic gripper, a highly efficientstorage system to transport box-shaped objects, and a water spraying system tofight fires. The robot perceives its environment using 3D LiDAR as well as RGBand thermal camera-based perception modules, is capable of picking box-shapedobjects and constructing a pre-defined wall structure, as well as detecting andlocalizing heat sources in order to extinguish potential fires. A high-levelplanner solves the challenge tasks using the robot skills. We analyze anddiscuss our successful participation during the MBZIRC 2020 finals, presentfurther experiments, and provide insights to our lessons learned.

Team NimbRo's UGV Solution for Autonomous Wall Building and Fire Fighting at MBZIRC 2020