  Mobile manipulators have the potential to revolutionize modern agriculture,
logistics and manufacturing. In this work, we present the design of a
ground-based mobile manipulator for automated structure assembly. The proposed
system is capable of autonomous localization, grasping, transportation and
deployment of construction material in a semi-structured environment. Special
effort was put into making the system invariant to lighting changes, and not
reliant on external positioning systems. Therefore, the presented system is
self-contained and capable of operating in outdoor and indoor conditions alike.
Finally, we present means to extend the perceptive radius of the vehicle by
using it in cooperation with an autonomous drone, which provides aerial
reconnaissance. Performance of the proposed system has been evaluated in a
series of experiments conducted in real-world conditions.
