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The paper focuses on the development of an autonomous disinfection robotUltraBot to reduce COVID-19 transmission along with other harmful bacteria andviruses. The motivation behind the research is to develop such a robot that iscapable of performing disinfection tasks without the use of harmful sprays andchemicals that can leave residues and require airing the room afterward for along time. UltraBot technology has the potential to offer the most optimalautonomous disinfection performance along with taking care of people, keepingthem from getting under the UV-C radiation. The paper highlights UltraBot'smechanical and electrical design as well as disinfection performance. Theconducted experiments demonstrate the effectiveness of robot disinfectionability and actual disinfection area per each side with UV-C lamp array. Thedisinfection effectiveness results show actual performance for the multi-passtechnique that provides 1-log reduction with combined direct UV-C exposure andozone-based air purification after two robot passes at a speed of 0.14 m/s.This technique has the same performance as ten minutes static disinfection.Finally, we have calculated the non-trivial form of the robot disinfection zoneby two consecutive experiment to produce optimal path planning and to providefull disinfection in selected areas.

UltraBot: Autonomous Mobile Robot for Indoor UV-C Disinfection with Non-trivial Shape of Disinfection Zone