Lidar-Based Navigation of Subterranean Environments Using Bio-Inspired Wide-Field Integration of Nearness.

Navigating unknown environments is an ongoing challenge in robotics. Processing large amounts of sensor data to maintain localization, maps of the environment, and sensible paths can result in high compute loads and lower maximum vehicle speeds. This paper presents a bio-inspired algorithm for efficiently processing depth measurements to achieve fast navigation of unknown subterranean environments.