Abstract: An embodiment may involve obtaining a three-dimensional image map of m surfaces within an environment, wherein the surfaces are associated with importance weights that represent how frequently the surfaces are expected to be touched; determining a set of n vantage points for a light source within the environment; calculating an m×n irradiance matrix for each of the surfaces when the light source is in each of the vantage points, wherein each entry in the m×n irradiance matrix is determined by: (i) rasterizing the three-dimensional image map, (ii) identifying a set of visible surfaces, and (iii) calculating an amount of light-based power that would reach each of the visible surfaces; determining a set of n dwell times for the vantage points; and providing instructions, to a disinfecting agent, to traverse at least a subset of the vantage points, pausing at and illuminating at least some.

Abstract: An embodiment may involve obtaining a three-dimensional image map of m surfaces within an environment, wherein the surfaces are associated with importance weights that represent how frequently the surfaces are expected to be touched; determining a set of n vantage points for a light source within the environment; calculating an m×n irradiance matrix for each of the surfaces when the light source is in each of the vantage points, wherein each entry in the m×n irradiance matrix is determined by: (i) rasterizing the three-dimensional image map, (ii) identifying a set of visible surfaces, and (iii) calculating an amount of light-based power that would reach each of the visible surfaces; determining a set of n dwell times for the vantage points; and providing instructions, to a disinfecting agent, to traverse at least a subset of the vantage points, pausing at and illuminating at least some.

Abstract: Embodiments described herein relate to a system for packing objects in a container. The system may include a robotic device with a robotic arm, a plurality of object detection sensors, and a controller including at least one processor and a non-transitory computer-readable medium. The non-transitory computer-readable medium may store a set of program instructions, and the at least one processor may execute the program instructions including the operations of sensing a measurement of each object among a plurality of objects with at least one object detection sensor of the plurality of object detection sensors, obtaining a three-dimensional model for each object, determining a packing plan for the plurality of objects based on the three-dimensional model for each object, and loading, by a robotic arm, at least a portion of the plurality of objects into a container according to the packing plan for the plurality of objects.