Fuente: Wipo "Sensorization" A mobile robot (100) including a drive system (200) supporting a robot body (110) and a controller (500) in communication with the drive system (200). The robot also includes an actuator (190) moving a portion of the robot body through a volume of space (S) adjacent the mobile robot and a sensor pod (700) in communication with the controller The sensor pod includes a collar (710) rotatably supported and having a curved wall (712) formed at least partially as a surface of revolution about a vertical axis (C). The sensor pod also includes a volumetric point cloud sensor (450) housed by the collar and observing the volume of space adjacent the robot from within the collar along an observation axis (455) extending through the curved wall. A collar actuator (730) rotates the collar and the volumetric point cloud sensor together about the collar axis.