  For robotic systems to succeed in high risk, real-world situations, they have
to be quickly deployable and robust to environmental changes, under-performing
hardware, and mission subtask failures. These robots are often designed to
consider a single sequence of mission events, with complex algorithms lowering
individual subtask failure rates under some critical constraints. Our approach
utilizes common techniques in vision and control, and encodes robustness into
mission structure through outcome monitoring and recovery strategies. In
addition, our system infrastructure enables rapid deployment and requires no
central communication. This report also includes lessons in rapid field robotic
development and testing. We developed and evaluated our systems through
real-robot experiments at an outdoor test site in Pittsburgh, Pennsylvania,
USA, as well as in the 2020 Mohamed Bin Zayed International Robotics Challenge.
All competition trials were completed in fully autonomous mode without RTK-GPS.
Our system placed fourth in Challenge 2 and seventh in the Grand Challenge,
with notable achievements such as popping five balloons (Challenge 1),
successfully picking and placing a block (Challenge 2), and dispensing the most
water onto an outdoor, real fire with an autonomous UAV (Challenge 3).
