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Angela Maio edited this page Feb 11, 2021 · 35 revisions

Twenty-one robot platforms are available, and more will be added over time. Currently available:

  • 7 wheeled UGVs
  • 2 legged UGVs
  • 4 tracked UGVs
  • 8 multirotor UAVs

Each platform is available with different payload configurations. See the API for detailed information including sensor specifications and ROS topics.

The SubT Credit cost of each platform changes according to the sensor payloads present, as listed below.

The X1, Explorer R2, and CSIRO Data61 OzBot ATR (large UGVs) may carry UAVs for marsupial deployment. A marsupial's cost is the sum of the two chosen robot platforms. See the robots list below for valid marsupial pairs.

You can get a complete list of the robot models in the SubT Tech Repo using the following curl command:

curl -k -X GET --url "https://fuel.ignitionrobotics.org/1.0/models?per_page=100&q=collections:SubT%20Tech%20Repo%26categories:Robots" | python -m json.tool

X1: Large skid-steer UGV

The X1 UGV is available with the following payload configurations. Any X1 configuration including EXPLORER_X1 may also carry a small UAV (X3, MARBLE QAV500, CERBERUS Gagarin, CERBERUS RMF, or CoSTAR Shafter) for marsupial deployment. The UAV is mounted to a platform above the X1's sensors facing forward.

x1-small.jpg

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 2D short range (5m) lidar QVGA camera IMU Gas detector 0 270
#2 2D long range (30m) lidar HD camera IMU Gas detector 0 300
#3 3D medium range (100m) lidar QVGA camera IMU Gas detector 0 320
#4 3D long range (300m) lidar HD camera IMU Gas detector 0 370
#5 HD camera HD camera IMU Gas detector 0 290
#6 3D long range (300m) lidar HD camera IMU Gas detector Front point lidar (40m) Rear point lidar (40m) 0 380
#7 3D long range (300m) lidar HD camera IMU Gas detector 12 420
#8 3D medium range (100m) lidar QVGA camera IMU Gas detector 12 370

EXPLORER_X1: Large skid-steer UGV

x1-small.jpg

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 3D medium range (100m) lidar 4 x QVGA RGBD cameras IMU Gas detector 0 390
#2 3D medium range (100m) lidar 4 x QVGA RGBD cameras IMU Gas detector 12 440

EXPLORER_R2: Large roll-hinged skid-steer UGV

The Explorer R2 UGV is available with the following payload configurations. Any Explorer R2 configuration may also carry a UAV (X3, X4, Explorer DS1, MARBLE QAV500, CERBERUS M100, CERBERUS Gagarin, CERBERUS RMF, or CoSTAR Shafter) for marsupial deployment. The UAV is mounted on the silver platform facing backward.

EXPLORER_R2_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 3D medium range (100m) lidar 4 x QVGA RGBD cameras IMU Gas detector 0 235
#2 3D medium range (100m) lidar 4 x QVGA RGBD cameras IMU Gas detector 12 260

EXPLORER_R3: Large roll-hinged skid-steer UGV

EXPLORER_R3_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 3D medium range (100m) lidar 4 x QVGA RGBD cameras IMU Gas detector 0 235
#2 3D medium range (100m) lidar 4 x QVGA RGBD cameras IMU Gas detector 12 260

CERBERUS_ANYMAL_B: Large legged UGV

CERBERUS_ANYmal_B_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 3D medium range (100m) lidar QVGA RGBD camera HD wide camera IMU Gas detector 0 215
#2 3D medium range (100m) lidar QVGA RGBD camera HD wide camera IMU Gas detector 12 240

CERBERUS_ANYMAL_C: Large legged UGV

CERBERUS_ANYmal_C_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 3D medium range (100m) lidar 2 x 3D short range (30m) lidar 7 x VGA cameras 2 x IMUs Gas detector 0 280
#2 3D medium range (100m) lidar 2 x 3D short range (30m) lidar 7 x VGA cameras 2 x IMUs Gas detector 12 305

CSIRO_DATA61_OZBOT_ATR: Large tracked UGV

The CSIRO Data61 OzBot ATR is available with the following payload configurations. Any CSIRO Data61 OzBot ATR configuration may also carry a UAV (X3, X4, Explorer DS1, MARBLE QAV500, CERBERUS M100, CERBERUS Gagarin, CERBERUS RMF, or CoSTAR Shafter) for marsupial deployment. The UAV is mounted on the rear platform facing backward.

CSIRO_Data61_OzBot_ATR_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 Gimballed 3D medium range (100m) lidar 4 x HD cameras IMU Gas detector 0 235
#2 Gimballed 3D medium range (100m) lidar 4 x HD cameras IMU Gas detector 12 260

COSTAR_HUSKY: Large skid-steer UGV

CoSTAR_Husky_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 3D medium range (100m) lidar QVGA RGBD camera IMU Gas detector Front point lidar (40m) 0 165
#2 3D medium range (100m) lidar QVGA RGBD camera IMU Gas detector Front point lidar (40m) 12 190

MARBLE_HUSKY: Large skid-steer UGV

MARBLE_Husky_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 3D medium range (100m) lidar 2D long range (25m, 360-deg FOV) lidar 2 x QVGA RGBD cameras Gimballed VGA RGBD camera IMU Gas detector 0 220
#2 3D medium range (100m) lidar 2D long range (25m, 360-deg FOV) lidar 2 x QVGA RGBD cameras Gimballed VGA RGBD camera IMU Gas detector 12 245
#3 3D medium range (100m) lidar 2D long range (25m, 360-deg FOV) lidar 2 x QVGA RGBD cameras Gimballed VGA RGBD camera & thermal camera IMU Gas detector 0 230
#4 3D medium range (100m) lidar 2D long range (25m, 360-deg FOV) lidar 2 x QVGA RGBD cameras Gimballed VGA RGBD camera & thermal camera IMU Gas detector 12 255

MARBLE_HD2: Medium tracked UGV

MARBLE_HD2_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 3D medium range (100m) lidar 2D long range (25m, 360-deg FOV) lidar 2 x QVGA RGBD cameras Gimballed VGA RGBD camera IMU Gas detector 0 155
#2 3D medium range (100m) lidar 2D long range (25m, 360-deg FOV) lidar 2 x QVGA RGBD cameras Gimballed VGA RGBD camera IMU Gas detector 12 180
#3 3D medium range (100m) lidar 2D long range (25m, 360-deg FOV) lidar 2 x QVGA RGBD cameras Gimballed VGA RGBD camera & thermal camera IMU Gas detector 0 165
#4 3D medium range (100m) lidar 2D long range (25m, 360-deg FOV) lidar 2 x QVGA RGBD cameras Gimballed VGA RGBD camera & thermal camera IMU Gas detector 12 190

CSIRO_DATA61_DTR: Medium tracked UGV

CSIRO_Data61_DTR_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 Gimballed 3D medium range (100m) lidar 4 x HD cameras IMU Gas detector 0 135
#2 Gimballed 3D medium range (100m) lidar 4 x HD cameras IMU Gas detector 12 160

CTU_CRAS_NORLAB_ABSOLEM: Medium tracked UGV with flippers

CTU-CRAS-NORLAB_Absolem_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 Gimballed 2D medium range (50m) lidar VGA RGBD camera 6 x HD cameras IMU Gas detector 0 155
#2 Gimballed 2D medium range (50m) lidar VGA RGBD camera 6 x HD cameras IMU Gas detector 12 180

ROBOTIKA_KLOUBAK: Medium yaw-hinged skid-steer UGV

Robotika_Kloubak_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 2 x 2D long range (30m, 270-deg FOV) lidar 2 x VGA RGBD cameras 2 x HD wide cameras 2 x IMUs Gas detector 0 145
#2 2 x 2D long range (30m, 270-deg FOV) lidar 2 x VGA RGBD cameras 2 x HD wide cameras 2 x IMUs Gas detector 12 170

ROBOTIKA_FREYJA: Small skid-steer UGV

Robotika_Freyja_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 2 x 2D long range (30m, 270-deg FOV) lidar 2 x VGA RGBD cameras 4 x VGA wide cameras IMU Gas detector 0 155
#2 2 x 2D long range (30m, 270-deg FOV) lidar 2 x VGA RGBD cameras 4 x VGA wide cameras IMU Gas detector 6 170

X2: Small skid-steer UGV

x2-small.jpg

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 2D short range (5m) lidar QVGA camera IMU Gas detector 0 150
#2 2D short range (5m) lidar HD camera IMU Gas detector 0 160
#3 2D long range (30m) lidar QVGA camera IMU Gas detector 0 170
#4 2D long range (30m) lidar HD camera IMU Gas detector 0 180
#5 HD camera HD camera IMU Gas detector 0 170
#6 3D long range (300m) lidar HD camera IMU Gas detector 0 250
#7 3D long range (300m) lidar HD camera IMU Gas detector Front point lidar (40m) Rear point lidar (40m) 0 260
#8 3D long range (300m) lidar HD camera IMU Gas detector 6 275
#9 2D long range (30m) lidar HD camera IMU Gas detector 6 205

ROBOTIKA_X2: Small skid-steer UGV

x2-small.jpg

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 2D long range (30m) lidar VGA RGBD camera IMU Gas detector 0 190

SSCI_X2: Small skid-steer UGV

x2-small.jpg

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 2D long range (25m, 360-deg FOV) lidar 2 x VGA RGBD cameras IMU Gas detector Upward point lidar (40m) 0 230

SOPHISTICATED_ENGINEERING_X2: Small skid-steer UGV

x2-small.jpg

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 HD wide camera HD wide camera IMU Gas detector 0 180

X3: Small UAV

x3-small.jpg

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 QVGA camera IMU Gas detector Air pressure sensor, Magnetometer 0 80
#2 HD camera IMU Gas detector Air pressure sensor, Magnetometer 0 90
#3 QVGA RGBD camera IMU Gas detector Air pressure sensor, Magnetometer 0 90
#4 VGA RGBD camera IMU Gas detector Air pressure sensor, Magnetometer 0 100
#5 VGA RGBD camera IMU Gas detector Air pressure sensor, Magnetometer 2 x long range (40m) point lidars (top and bottom) 0 110

MARBLE_QAV500: Small UAV

MARBLE_QAV500_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 3D medium range (100m) lidar VGA RGBD camera 2 x ToF depth cameras IMU Gas detector Air pressure sensor, Magnetometer 0 100

CERBERUS_Gagarin: Small Collision-Tolerant UAV

CERBERUS_Gagarin_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 3D medium range (120m) lidar HD camera ToF depth camera IMU Gas detector Air pressure sensor, Magnetometer 0 115

CERBERUS_RMF: Small Collision-Tolerant UAV

CERBERUS_RMF_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 4 x ToF lidars 2 x VGA cameras IMU Gas detector Air pressure sensor, Magnetometer 0 55

CERBERUS_M100: Medium UAV

CERBERUS_M100_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 3D medium range (100m) lidar HD wide camera IMU Gas detector Air pressure sensor, Magnetometer 0 95
#2 3D medium range (100m) lidar HD wide camera IMU Gas detector Air pressure sensor, Magnetometer Thermal camera 0 105

CoSTAR_Shafter: Medium UAV

CoSTAR_Shafter_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 3D medium range (100m) lidar VGA RGBD camera IMU Gas detector Air pressure sensor, Magnetometer 0 110

EXPLORER_DS1: Medium UAV

EXPLORER_DS1_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 3D medium range (100m) lidar 3 x VGA RGBD cameras IMU Gas detector Air pressure sensor, Magnetometer 0 115

X4: Large UAV

x4-small.jpg

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 HD camera IMU Gas detector Air pressure sensor, Magnetometer 0 130
#2 QVGA RGBD camera IMU Gas detector Air pressure sensor, Magnetometer 0 130
#3 2D short range (5m) lidar QVGA camera IMU Gas detector Air pressure sensor, Magnetometer 0 130
#4 2D long range (30m) lidar HD camera IMU Gas detector Air pressure sensor, Magnetometer 0 160
#5 HD camera HD camera IMU Gas detector Air pressure sensor, Magnetometer 0 150
#6 QVGA RGBD camera IMU Gas detector Air pressure sensor, Magnetometer 2 x long range (40m) point lidars (top and bottom) 0 140

SOPHISTICATED_ENGINEERING_X4: Large UAV

x4-small.jpg

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 HD wide camera HD wide camera IMU Gas detector Air pressure sensor, Magnetometer 0 160

SSCI_X4: Large UAV

x4-small.jpg

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 3D medium range (100m) lidar HD camera IMU Gas detector Air pressure sensor, Magnetometer 2 x long range (40m) point lidars (top and bottom) 0 200
#2 2D long range (25m, 360-deg FOV) lidar VGA RGBD camera IMU Gas detector Air pressure sensor, Magnetometer 2 x long range (40m) point lidars (top and bottom) 0 185
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