since they give ya the layout it seems easy to me
point bot twards the right go X number of feet , turn left. or pivot left
go X number of feet , pivot left again enter room go to center pivot 360 degrees look for fire, if found , point and shoot CO2 pivot again is fire out, if yes ,exit roon turn left X feet , left X more meters (sorry) turn right X meters ect ect..
note1) be Absolutly sure what the floor in the room is made of , so you can test your bot on the same surface.
i hope you could publish the video of the contest ? that would be cool.