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Regular irradiation of indoor environments with ultraviolet C (UVC) light hasbecome a regular task for many indoor settings as a result of COVID-19, butcurrent robotic systems attempting to automate it suffer from high costs andinefficient irradiation. In this paper, we propose a purpose-made inexpensiverobotic platform with off-the-shelf components and standard navigation softwarethat, with a novel algorithm for finding optimal irradiation locations,addresses both shortcomings to offer affordable and efficient solutions for UVCirradiation. We demonstrate in simulations the efficacy of the algorithm andshow a prototypical run of the autonomous integrated robotic system in anindoor environment. In our sample instances, our proposed algorithm reduces thetime needed by roughly 30\% while it increases the coverage by a factor of 35\%(when compared to the best possible placement of a static light).

Robot Development and Path Planning for Indoor Ultraviolet Light Disinfection