Quadruped Obstacle Avoidance and Footstep Planning with Distributed Low-cost Time-of-Flight Sensors

arXiv:2609.31008 · cs.RO · Submitted 2026-09-25 · Read on arXiv

cs.RO

Submitted: 2026-09-25

Updated: 2026-09-25

Terminology

• Accuracy — 8× in this paper · explained in 1 episode
• Fidelity — 4× in this paper · explained in 2 episodes
• Field of View — 4× in this paper
• Robustness — 3× in this paper · explained in 5 episodes
• Ball Pivoting Algorithm — 2× in this paper
• Point Clouds — 2× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Core — 1× in this paper · explained in 2 episodes
• Downstream Tasks — 1× in this paper · explained in 2 episodes
• Reconstruction Error — 1× in this paper · explained in 2 episodes
• VL53L5CX Time-of-Flight — 1× in this paper

Sources

• NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge

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