ABSTRACT
This paper presents a mobile UVC disinfection robot designed to mitigate the threat of airborne and surface pathogens. Our system comprises a mobile robot base, a custom UVC lamp assembly, and algorithms for autonomous navigation and path planning. We present a model of UVC disinfection and dosage of UVC light delivered by the mobile robot. We also discuss challenges and prototyping decisions for rapid deployment of the robot during the COVID-19 pandemic. Experimental results summarize a long-term deployment at The Greater Boston Food Bank, where the robot delivers (nightly) UVC dosages of at least 10 mJ/cm to a 4000 ft area in under 30 minutes. These dosages are capable of neutralizing 99% of coronaviruses, including SARS-CoV-2, on surfaces and in airborne particles. Further simulations present how this mobile UVC disinfection robot may be extended to classic problems in robotic path planning and adaptive multi-robot coverage control. © 2021 IEEE.