diff --git a/src/algorithms/libs/sensor_data/sensor_data_aggregator.cc b/src/algorithms/libs/sensor_data/sensor_data_aggregator.cc
index 8a8c6ea04..69bfeed93 100644
--- a/src/algorithms/libs/sensor_data/sensor_data_aggregator.cc
+++ b/src/algorithms/libs/sensor_data/sensor_data_aggregator.cc
@@ -110,6 +110,35 @@ SensorDataSample<float> SensorDataAggregator::get_last_f32(SensorIdentifier::val
     return samples.back();
 }
 
+SensorDataSample<float> SensorDataAggregator::get_average_f32(SensorIdentifier::value_type sensor_id) const
+{
+    // The map is populated on construction with empty vectors for each provided sensor.
+    // If a required sensor is not provided, the error is handled on construction.
+    const std::vector<SensorDataSample<float>> samples = f32_data_.at(sensor_id);
+    if (samples.empty())
+        {
+            return {0, 0};
+        }
+    float acc = 0.0;
+    float count = 0;
+    bool first = true;
+    for (const auto& sample : samples)
+        {
+            if (first)
+                {
+                    first = false;
+                    continue;
+                }
+            acc += sample.value;
+            ++count;
+        }
+    if (count == 0)
+        {
+            return {samples.back().timestamp, 0};
+        }
+    return {samples.back().timestamp, acc / count};
+}
+
 
 void SensorDataAggregator::append_data(const pmt::pmt_t& data_dict)
 {
diff --git a/src/algorithms/libs/sensor_data/sensor_data_aggregator.h b/src/algorithms/libs/sensor_data/sensor_data_aggregator.h
index b2df3aa74..3f1516c69 100644
--- a/src/algorithms/libs/sensor_data/sensor_data_aggregator.h
+++ b/src/algorithms/libs/sensor_data/sensor_data_aggregator.h
@@ -53,6 +53,7 @@ public:
 
     const std::vector<SensorDataSample<float>>& get_f32(SensorIdentifier::value_type sensor_id) const;
     SensorDataSample<float> get_last_f32(SensorIdentifier::value_type sensor_id) const;
+    SensorDataSample<float> get_average_f32(SensorIdentifier::value_type sensor_id) const;
 
     // More getters to be added in the future for different types
     // For now, all supported sensors are represented as f32