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Angela Maio edited this page Jul 22, 2020 · 35 revisions

Eleven robot platforms are available, and more will be added over time. Currently available:

  • 6 skid-steer UGVs
  • 1 legged UGV
  • 1 tracked UGV
  • 5 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 and Explorer R2 (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 an incomplete list of the models in the SubT Tech Repo using the following curl command:

curl -k -X GET --url https://fuel.ignitionrobotics.org/1.0/OpenRobotics/collections/SubT%20Tech%20Repo/models | 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 or MARBLE QAV500) for marsupial deployment.

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, or CERBERUS M100) for marsupial deployment.

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 0 470
#2 3D medium range (100m) lidar 4 x QVGA RGBD cameras IMU Gas detector 12 520

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 0 435
#2 3D medium range (100m) lidar QVGA RGBD camera HD wide camera IMU Gas detector 12 485

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) 0 335
#2 3D medium range (100m) lidar QVGA RGBD camera IMU Gas detector Front point lidar (40m) 12 385

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 0 445
#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 12 495

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 0 315
#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 12 365

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 0 290
#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 12 340

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 0 315
#2 2 x 2D long range (30m, 270-deg FOV) lidar 2 x VGA RGBD cameras 4 x VGA wide cameras IMU Gas detector 6 340

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 RGBD ToF cameras IMU Gas detector Air pressure sensor, Magnetometer 0 200

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 0 195

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 QVGA RGBD cameras IMU Gas detector Air pressure sensor, Magnetometer 0 230

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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