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Every day, burning buildings threaten the lives of occupants and firstresponders trying to save them. Quick action is of essence, but some areasmight not be accessible or too dangerous to enter. Robotic systems have becomea promising addition to firefighting, but at this stage, they are mostlymanually controlled, which is error-prone and requires specially trainedpersonal.  We present two systems for autonomous firefighting from air and ground wedeveloped for the Mohamed Bin Zayed International Robotics Challenge (MBZIRC)2020. The systems use LiDAR for reliable localization within narrow,potentially GNSS-restricted environments while maneuvering close to obstacles.Measurements from LiDAR and thermal cameras are fused to track fires, whilerelative navigation ensures successful extinguishing.  We analyze and discuss our successful participation during the MBZIRC 2020,present further experiments, and provide insights into our lessons learned fromthe competition.

Autonomous Fire Fighting with a UAV-UGV Team at MBZIRC 2020