In this article, we address the task of experimental evaluation of autonomous map-based
navigation of a Boston Dynamics Spot quadruped robot in confined environments equipped
with the developed autonomy package that incorporates a 3D lidar, an IMU, and an onboard
computer. For that, we propose an integrated software and hardware system that is
considered as an enabler for robot localization and risk-aware path planning, based on the
known map. The system design itself is modular and incorporates the perception capabilities …