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Angela Maio edited this page Apr 20, 2021 · 35 revisions

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

  • 9 wheeled UGVs
  • 3 legged UGVs
  • 5 tracked UGVs
  • 11 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 has 60-minute endurance and 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 has 90-minute endurance and is available with the following payload configurations. Any Explorer R2 configuration may also carry a UAV (X3, X4, DS1, QAV500, M100, Gagarin, RMF, Shafter, X500, Hovermap, or Pam) 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

The Explorer R3 UGV has 60-minute endurance and is available with the following payload configurations.

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

The CERBERUS ANYmal B UGV has 70-minute endurance and is available with the following payload configurations.

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

The CERBERUS ANYmal C UGV has 71-minute endurance and is available with the following payload configurations.

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

CTU_CRAS_NORLAB_SPOT: Medium legged UGV

The CTU-CRAS-NORLAB Spot UGV has 90-minute endurance and is available with the following payload configurations.

CTU_CRAS_NORLAB_Spot_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 3D medium range (50m) lidar 5 x HD cameras 5 x depth cameras 5 x monochrome cameras IMU Gas detector 0 255
#2 3D medium range (50m) lidar 5 x HD cameras 5 x depth cameras 5 x monochrome cameras IMU Gas detector 12 280

CSIRO_DATA61_OZBOT_ATR: Large tracked UGV

The CSIRO Data61 OzBot ATR has 60-minute endurance and is available with the following payload configurations. Any CSIRO Data61 OzBot ATR configuration may also carry a UAV (X3, X4, DS1, QAV500, M100, Gagarin, RMF, Shafter, X500, Hovermap, or Pam) 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

The CoSTAR Husky UGV has 60-minute endurance and is available with the following payload configurations.

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

The MARBLE Husky UGV has 60-minute endurance and is available with the following payload configurations.

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

CoRo_Karen: Large skid-steer UGV

The CoRo Karen UGV has 90-minute endurance and is available with the following payload configurations.

CoRo_Karen_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 3D medium range (100m) lidar VGA camera VGA RGBD camera Thermal camera IMU, air pressure sensor, magnetometer Gas detector 0 150
#2 3D medium range (100m) lidar VGA camera VGA RGBD camera Thermal camera IMU, air pressure sensor, magnetometer Gas detector 12 175

CoRo_Allie: Medium skid-steer UGV

The CoRo Allie UGV has 150-minute endurance and is available with the following payload configurations.

CoRo_Allie_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 3D medium range (100m) lidar VGA camera VGA RGBD camera IMU, air pressure sensor, magnetometer Gas detector 0 135
#2 3D medium range (100m) lidar VGA camera VGA RGBD camera IMU, air pressure sensor, magnetometer Gas detector 12 160

MARBLE_HD2: Medium tracked UGV

The MARBLE HD2 UGV has 60-minute endurance and is available with the following payload configurations.

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

The CSIRO Data61 DTR UGV has 112-minute endurance and is available with the following payload configurations.

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

The CTU-CRAS-NORLAB Absolem UGV has 120-minute endurance and is available with the following payload configurations.

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

CTU_CRAS_NORLAB_MARV: Medium tracked UGV with flippers

The CTU-CRAS-NORLAB MARV UGV has 90-minute endurance and is available with the following payload configurations.

CTU-CRAS-NORLAB_MARV_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 3D medium range (50m) lidar 7 x HD cameras 4 x point lidars IMU Gas detector 0 215
#2 3D medium range (50m) lidar 7 x HD cameras 4 x point lidars IMU Gas detector 12 240
#3 3D medium range (50m) lidar 7 x HD cameras 4 x point lidars IMU Gas detector Thermal camera 0 225
#4 3D medium range (50m) lidar 7 x HD cameras 4 x point lidars IMU Gas detector Thermal camera 12 250

ROBOTIKA_KLOUBAK: Medium yaw-hinged skid-steer UGV

The Robotika Kloubak UGV has 90-minute endurance and is available with the following payload configurations.

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

The Robotika Freyja UGV has 240-minute endurance and is available with the following payload configurations.

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

The X2 UGV has 60-minute endurance and is available with the following payload configurations.

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

The X3 UAV has 20-minute endurance and is available with the following payload configurations.

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

The MARBLE QAV500 UAV has 10-minute endurance and is available with the following payload configurations.

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

The CERBERUS Gagarin UAV has 5-minute endurance and is available with the following payload configurations.

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

The CERBERUS RMF UAV has 10-minute endurance and is available with the following payload configurations.

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

The CERBERUS M100 UAV has 8-minute endurance and is available with the following payload configurations.

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

The CoSTAR Shafter UAV has 10-minute endurance and is available with the following payload configurations.

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

CoRo_Pam: Medium UAV

The CoRo Pam UAV has 19-minute endurance and is available with the following payload configurations.

CoRo_Pam_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 3 x VGA RGBD cameras 2 x point LIDARs IMU Gas detector Air pressure sensor, Magnetometer 0 70

CTU_CRAS_NORLAB_X500: Medium UAV

The CTU-CRAS-NORLAB X500 UAV has 25-minute endurance and is available with the following payload configurations.

CTU_X500_small.png

Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Payload 6 Breadcrumbs Cost
#1 3D short range (50m) lidar 2 x VGA RGBD cameras HD camera IMU Gas detector Air pressure sensor, Magnetometer 0 135

EMESENT_HOVERMAP: Medium UAV

The Emesent Hovermap UAV has 20-minute endurance and is available with the following payload configurations.

EMESENT_Hovermap_small.png

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

EXPLORER_DS1: Medium UAV

The Explorer DS1 UAV has 10-minute endurance and is available with the following payload configurations.

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

The X4 UAV has 20-minute endurance and is available with the following payload configurations.

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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