F1TENTH vs MuSHR

Autonomous RC racecars

F1TENTH is a 2-DoF self-driving RC car under the CC-BY-NC-SA-4.0 hardware license (non-commercial), published at $3,022.29 (estimate, master BOM estimate (updated 2026-05-15)). MuSHR is an open-source 2-DoF self-driving RC car under the BSD-3-Clause hardware license, published at $930 (source total, fully equipped car). Reproducibility scores: MuSHR 73 and F1TENTH 63 of 100. F1TENTH publishes URDF; MuSHR publishes URDF.

Change the robots in the atlas

Drawn to scale

The robots side by side at their true relative size, as their source models are posed.

10 cmMuSHR277 mm tall10 cmMuSHR277 mm tall
Specimen renders from each project's source files, scaled so a meter is the same length for every robot (measured at each model's center: the renders are perspective views, so the scale is exact there). Heights are the models as posed in their sources. Not drawn: F1TENTH (the render is a simplified subset of the robot).

Side by side

Every figure is read from each robot's record, with its source; a cost keeps the currency the source states and its basis.

F1TENTH vs MuSHR, compared
CriterionF1TENTHself-driving RC carMuSHRself-driving RC car
Published cost$3,022.29estimate, master BOM estimate (updated 2026-05-15)source$930source total, fully equipped carsource
Degrees of freedom2drive 1, steering 1source2drive 1, steering 1source
TypeAutonomous RC racecarAckermann steering, RC carAutonomous RC racecarAckermann steering, RC car
Actuators in the BOMNone of the tracked parts in its BOMNone of the tracked parts in its BOM
Boards in the BOM
Simulation models
Hardware licenseCC-BY-NC-SA-4.0Non-commercialsourceBSD-3-ClauseCommercial use OKsource
LifecycleActivesourceActivesource
Reproducibility63/100Partial source coverage, unverifiedCADBOMWIREFWBUILDLICREP73/100Partial source coverage, unverifiedCADBOMWIREFWBUILDLICREP
CAD / mesh presentmet20/20met20/20
BOM evidencepartial10/20partial10/20
Wiring diagrampartial7.5/15partial7.5/15
Firmware linkedmet10/10met10/10
Build instructionsmet15/15met15/15
OSHW-compatible licensemissing0/10met10/10
Known reproductionsmissing0/10missing0/10
Build timeNot published
Model sizeNot measured: the render is a simplified subset of the robot440 × 277 × 328 mmwidth × height × depth, as modelled
Sourcef1tenth/f1tenth_systemprl-mushr/mushr

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