  The Amazon Robotics Challenge enlisted sixteen teams to each design a
pick-and-place robot for autonomous warehousing, addressing development in
robotic vision and manipulation. This paper presents the design of our
custom-built, cost-effective, Cartesian robot system Cartman, which won first
place in the competition finals by stowing 14 (out of 16) and picking all 9
items in 27 minutes, scoring a total of 272 points. We highlight our
experience-centred design methodology and key aspects of our system that
contributed to our competitiveness. We believe these aspects are crucial to
building robust and effective robotic systems.
