Submodule characterization, modelling and
optimization is focused on the evaluation and further refinement of existing
submodules to cope with the INSPEX smart spatial exploration system
requirements in terms of consumption, size and form factor, and weight. These
submodules include four range sensors, namely, a short range LiDAR with a wide
field-of-view for detection of nearby obstacles, a Long range LiDAR with narrow
field-of-view for detection of upcoming obstacles, a wide field-of-view short
range ultrasonic MEMS and a UWB RF radar with wide field-of-view and medium
range