Depending on the level of processing power required, you could do Lidar with a Raspberry Pi (One of the new ones) or stepping up a Intel Compute stick, or I suppose if you need an actual computer in the robot then of of the Intel NUC's. I say this because I'd be worried about the reliability of a Wifi signal. Not sure why but despite our TX's and Wifi both being 2.4Ghz, the former seems far more reliable.
Cramming that kind of tech into a FW would be tricky. But I'd love to see it happen!