Abstract: Systems and methods are described for detecting and identifying discrepancies of states of objects and/or areas of interest in a space. In some aspects, an autonomous device may collect ground truth data of a space including information identifying objects each associated with a location in the space, and a condition associated with at least some of the objects. A checklist including a set of desired states for at some of objects may be obtained and compared to the ground truth data to produce a set of comparisons, where individual comparisons identify discrepancies between the ground truth data of an object and the desired state of the object. The discrepancies may be compared to a criteria for correction, and upon at least one satisfying the criteria, a notification indicating the at least one discrepancy may generated and/or performance of a corrective action triggered.

Abstract: Systems and methods are described for disinfecting a space, such as an interior room. In some aspects, at least one object in the space may be identified, such as by a mobile disinfecting device (device) including an ultraviolet lamp. Next, the object(s) may be categorizing as a certain type based on whether the object allows some light to pass through or around it. A route for the device may be determined, where the route includes a path and speed of the device corresponding to different segments of the path to yield a dosage score (ultraviolet exposure) that meets or exceeds a threshold value for different areas of the space. In some cases, determining the route further includes determining at least one of a speed, a modified path, or an ultraviolet radiation characteristic for at least one segment of the path based on the categorization of the object(s).