A robotic surface cleaning device comprising: a housing; a motor coupled to at least one wheel to drive the robotic surface cleaning device; a first Time of Flight, ToF, sensor having a first field of view, FOV, a second ToF sensor having a second FOV, a third ToF sensor having a third FOV, and a fourth ToF sensor having a fourth FOV, each ToF sensor being coupled to the housing, the first and second FOV at least partially overlapping each other to form a first redundant detection region, the third and fourth FOV at least partially overlapping each other to form a second redundant detection region; a navigation controller disposed in the housing, the navigation controller to: receive a first and second measurement signal from the first and second ToF sensors, respectively; detect an object based, at least in part, on the first and second measurement signals indicating a presence of the object within the first redundant detection region; cause the robotic surface cleaning device to rotate about a center axis of the housing for a predetermined rotation angle; receive a third and fourth measurement signal from the third and fourth ToF sensors, respectively; detect the object based, at least in part, on the third and fourth measurement signals indicating a presence of the object within the second redundant region; track the detected object moving between the first redundant detection region and the second redundant detection region based, at least in part, on the first, second, third, and fourth measurement signals; determine an actual rotation angle based, at least in part, on the tracked movement of the detected object; and compare the actual rotation angle to the predetermined rotation angle to determine whether the actual rotation angle comports with the predetermined rotation angle. a housing; a motor coupled to at least one wheel to drive the robotic surface cleaning device; a first Time of Flight, ToF, sensor having a first field of view, FOV, a second ToF sensor having a second FOV, a third ToF sensor having a third FOV, and a fourth ToF sensor having a fourth FOV, each ToF sensor being coupled to the housing, the first and second FOV at least partially overlapping each other to form a first redundant detection region, the third and fourth FOV at least partially overlapping each other to form a second redundant detection region; a navigation controller disposed in the housing, the navigation controller to: receive a first and second measurement signal from the first and second ToF sensors, respectively; detect an object based, at least in part, on the first and second measurement signals indicating a presence of the object within the first redundant detection region; cause the robotic surface cleaning device to rotate about a center axis of the housing for a predetermined rotation angle; receive a third and fourth measurement signal from the third and fourth ToF sensors, respectively; detect the object based, at least in part, on the third and fourth measurement signals indicating a presence of the object within the second redundant region; track the detected object moving between the first redundant detection region and the second redundant detection region based, at least in part, on the first, second, third, and fourth measurement signals; determine an actual rotation angle based, at least in part, on the tracked movement of the detected object; and compare the actual rotation angle to the predetermined rotation angle to determine whether the actual rotation angle comports with the predetermined rotation angle. receive a first and second measurement signal from the first and second ToF sensors, respectively; detect an object based, at least in part, on the first and second measurement signals indicating a presence of the object within the first redundant detection region; cause the robotic surface cleaning device to rotate about a center axis of the housing for a predetermined rotation angle; receive a third and fourth measurement signal from the third and fourth ToF sensors, respectively; detect the object based, at least in part, on the third and fourth measurement signals indicating a presence of the object within the second redundant region; track the detected object moving between the first redundant detection region and the second redundant detection region based, at least in part, on the first, second, third, and fourth measurement signals; determine an actual rotation angle based, at least in part, on the tracked movement of the detected object; and compare the actual rotation angle to the predetermined rotation angle to determine whether the actual rotation angle comports with the predetermined rotation angle.