How to protect the drone from all sides with sensors

I would like to add sensors to all 6 sides of the drone, similar to dji phantom 4 pro, so the drone shall use those sensors for object avoidance, and smart rtl.
Is it possible? What sensors should I use? For example, with the Maxbotic sonar can be only one, is there other sensors that the Cube can handle 6 of those?
I am looking for a low budget solution, I know its possible to put one of those $1k 360deg sensors
Thank you

Somehere @ppoirier has a great article on collision avoidance proof of concept . I think it’s what your after.

found it

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Hi @rickyg32, thank you so much for the pointer, much appreciated.