Just wanted to say that’s a fantastic project, reminds me a bit of my thesis since it uses a lot of the same parts 
In terms of runtime, if you plan on adding a NUC to the existing battery setup as you say you’ll see that plummet severely since they can draw quite a bit. Given that this is a robot that’ll be confined to one specific area, it might make sense to have it use something like microROS with a wifi capable microcontroller and offload all the expensive processing to another mains powered machine on the local network?
Not sure how well that’ll work for the point cloud data since you’d need quite the high throughput connection, but it may be worth checking out.