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

Giammarco Caroleo, Timothée Mahamoodally, Matteo Manzardo, Jin Jin, Marco Pontin, Matias Mattamala, Renato Vidoni, Perla Maiolino and Maurice Fallon

IEEE Robotics and Automation Letters (RAL) 2026

Arxiv

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Abstract: Quadruped robots typically rely on depth cameras and LiDAR sensors to map their local environment. However, these sensors have limited close-range coverage, are relatively expensive, and consume significant power. This study investigates whether distributed Time-of-Flight (ToF) sensors can serve as a low-cost alternative to depth cameras for near-field terrain mapping for locomotion and local navigation. We designed a distributed ToF sensing architecture for the ANYbotics ANYmal quadruped, assessed its environment reconstruction accuracy, and benchmarked it against depth cameras for terrain mapping and obstacle avoidance. Distributing these sensors around the robot can also avoid the blind spots of traditional sensors. Our results show that, despite their low resolution and higher measurement noise, distributed ToF sensors can support reliable perceptual locomotion with centimeter-level local mapping accuracy. The proposed sensing strategy provides sufficient geometric information for near-field obstacle avoidance and footstep planning, at substantially lower cost, energy consumption, and system complexity than depth cameras.

Citation

@inproceedings{caroleo2026tofanymal,
  author={Giammarco Caroleo and Timothée Mahamoodally and Matteo Manzardo and Jin Jin and Marco Pontin and Matias Mattamala and Renato Vidoni and Perla Maiolino and Maurice Fallon},
  title={Quadruped Obstacle Avoidance and Footstep Planning with Distributed Low-cost Time-of-Flight Sensors},
  booktitle={IEEE Robotics and Automation Letters (RAL)},
  year={2026},
}