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Four robot platforms are available at the time of the SubT kickoff in September 2018. The number of available robots will grow over time. Two of these four robots are skid-steer UGVs and the remaining two are UAVs.

Each platform is available with 4 to 6 different sensor configurations.

The credit value of each platform changes according to the sensor payloads present, as listed below.

Platform Configuration Payload 1 Payload 2 Payload 3 Payload 4 Payload 5 Cost
X1 Large skid-steer UGV x1-small.jpg
#1 2D short range (5m) lidar QVGA camera IMU 270
#2 2D long range (30m) lidar HD camera IMU 300
#3 3D medium range (100m) lidar QVGA camera IMU 320
#4 3D long range (300m) lidar HD camera IMU 370
#5 HD camera HD camera IMU 290
X2 Small skid-steer UGV x2-small.jpg
#1 2D short range (5m) lidar QVGA camera IMU 150
#2 2D short range (5m) lidar HD camera IMU 160
#3 2D long range (30m) lidar QVGA camera IMU 170
#4 2D long range (30m) lidar HD camera IMU 180
#5 HD camera HD camera IMU 170
#6 3D long range (300m) lidar HD camera IMU 250
X3 Small UAV x3-small.jpg
#1 QVGA camera IMU Air pressure sensor Magnetometer 80
#2 HD camera IMU Air pressure sensor Magnetometer 90
#3 QVGA RGBD camera IMU Air pressure sensor Magnetometer 90
#4 VGA RGBD camera IMU Air pressure sensor Magnetometer 100
X4 Large UAV x4-small.jpg
#1 HD camera IMU Air pressure sensor Magnetometer 130
#2 QVGA RGBD camera IMU Air pressure sensor Magnetometer 130
#3 2D short range (5m) lidar QVGA camera IMU Air pressure sensor Magnetometer 130
#4 2D long range (30m) lidar HD camera IMU Air pressure sensor Magnetometer 160
#5 HD camera HD camera IMU Air pressure sensor Magnetometer 150

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