  Autonomous mobile robots have the potential to solve missions that are either
too complex or dangerous to be accomplished by humans. In this paper, we
address the design and autonomous deployment of a ground vehicle equipped with
a robotic arm for urban firefighting scenarios. We describe the hardware design
and algorithm approaches for autonomous navigation, planning, fire source
identification and abatement in unstructured urban scenarios. The approach
employs on-board sensors for autonomous navigation and thermal camera
information for source identification. A custom electro{mechanical pump is
responsible to eject water for fire abatement. The proposed approach is
validated through several experiments, where we show the ability to identify
and abate a sample heat source in a building. The whole system was developed
and deployed during the Mohamed Bin Zayed International Robotics Challenge
(MBZIRC) 2020, for Challenge No. 3 Fire Fighting Inside a High-Rise Building
and during the Grand Challenge where our approach scored the highest number of
points among all UGV solutions and was instrumental to win the first place.
