  Autonomous cleaning robots for public spaces have potential for addressing
current societal challenges, such as labor shortages and cleanliness in public
spaces. Other application domains like autonomous driving, bin picking, or
search and rescue have shown that benchmarking platforms and approaches in
competitive settings can advance their respective research fields, resulting in
more applicable systems under real-world conditions. For this paper, we
analyzed seven semi-structured, qualitative stakeholder interviews about
outdoor cleaning, identified current needs as well as limitations, and
considered those results for the development of a benchmarking scenario based
on the previous observations.
