Abstract: Systems and methods for robot-executed site disinfection are provided, employing an autonomous robot equipped with a germicidal light source. In an area that is already mapped with a pre-defined trajectory, the robot may generate a map of delivered dosage and regions of UVC shadows when the robot moves in the environment. Alternatively, the robot may generate a trajectory to be followed, optimized to reduce shadows and minimize electrical energy usage. In an area already mapped, the robot may generate a map of delivered dosage and of shadows. Alternatively, the robot may generate a trajectory to disinfect surfaces based on an area map while reducing shadows and minimizing electrical energy usage. In an unmapped area, the robot may employ an exploration strategy to generate a trajectory to create a map of the area, while simultaneously performing disinfection of surfaces using a minimum amount of electrical energy.

Abstract: A site disinfection robot includes a robot base and one or more UVC light sources with reflectors. The one or more UVC light sources may be included in a tower that is detachable from the base. The tower may asymmetrically locate the one or more UVC light sources along one side of the robot to allow efficient, close disinfection of surfaces. Additional UVC light sources may be provided for disinfection of surfaces under overhangs and of the robot itself including its wheels. A portable accessory, dockable to the robot base, may be provided to allow additional manual disinfection by a human operator.

Abstract: Systems and methods for robot-executed site disinfection are provided, employing an autonomous robot equipped with a germicidal light source. In an area that is already mapped with a pre-defined trajectory, the robot may generate a map of delivered dosage and regions of UVC shadows when the robot moves in the environment. Alternatively, the robot may generate a trajectory to be followed, optimized to reduce shadows and minimize electrical energy usage. In an area already mapped, the robot may generate a map of delivered dosage and of shadows. Alternatively, the robot may generate a trajectory to disinfect surfaces based on an area map while reducing shadows and minimizing electrical energy usage. In an unmapped area, the robot may employ an exploration strategy to generate a trajectory to create a map of the area, while simultaneously performing disinfection of surfaces using a minimum amount of electrical energy.

Abstract: A mixed mode robot is provided having an autonomous mode, wherein the robot moves autonomously, and a manual mode, wherein the robot is passive and allows manual manipulation by a user. The mixed mode robot is wheeled and in an embodiment is powered by one or more direct drive motor while in the autonomous mode. One or more handholds are adapted for use by a user to move the robot when the robot is in the manual mode. A processor associated with the robot places the robot in a selected one of the autonomous mode and the manual mode, such that the robot is easily moved by a user when in the manual mode.