屋内UV-C消毒のための自律移動ロボットUltraBot
UltraBot: Autonomous Mobile Robot for Indoor UV-C Disinfection
有害な薬剤を使わずUV-C照射で屋内消毒を行う自律移動ロボットを開発し、自己位置推定や最適軌道、除菌性能（2.8m先で10分照射により細菌数94%減）を実験で示した。
著者: Stepan Perminov, Nikita Mikhailovskiy, Alexander Sedunin, Iaroslav Okunevich, Ivan Kalinov, Mikhail Kurenkov, Dzmitry Tsetserukou
分類: cs.RO
原文アブストラクト
The paper focuses on the development of the autonomous robot UltraBot to reduce COVID-19 transmission and other harmful bacteria and viruses. The motivation behind the research is to develop such a robot that is capable of performing disinfection tasks without the use of harmful sprays and chemicals that can leave residues, require airing the room afterward for a long time, and can cause the corrosion of the metal structures. UltraBot technology has the potential to offer the most optimal autonomous disinfection performance along with taking care of people, keeping them from getting under UV-C radiation. The paper highlights UltraBot's mechanical and electrical structures as well as low-level and high-level control systems. The conducted experiments demonstrate the effectiveness of the robot localization module and optimal trajectories for UV-C disinfection. The results of UV-C disinfection performance revealed a decrease of the total bacterial count (TBC) by 94% on the distance of 2.8 meters from the robot after 10 minutes of UV-C irradiation.
