Sensor obstruction detection and mitigation using vibration and/or heat

A system for detecting and/or mitigating the effects of an obstruction on a surface of a sensor may include a surface configured to receive the sensor, and comprising a sensor window configured to provide a path through which the sensor senses the environment. The system may also include a vibratory actuator configured to facilitate vibration of the sensor window and a heating element configured to heat the sensor window. The system may further include an obstruction detection system configured to detect an obstruction, such as moisture, and an obstruction mitigation controller configured to initiate activation of the vibratory actuator and/or the heating element to mitigate the obstruction. The obstruction detection system may be configured to receive a signal from one or more sensors and detect the obstruction based at least in part on the signal.