{"id":"https://openalex.org/W3142025975","doi":"https://doi.org/10.1109/icra48506.2021.9561405","title":"Robot Development and Path Planning for Indoor Ultraviolet Light Disinfection","display_name":"Robot Development and Path Planning for Indoor Ultraviolet Light Disinfection","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3142025975","doi":"https://doi.org/10.1109/icra48506.2021.9561405","mag":"3142025975"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561405","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2104.02913","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067955248","display_name":"Jonathan Conroy","orcid":null},"institutions":[{"id":"https://openalex.org/I121934306","display_name":"Tufts University","ror":"https://ror.org/05wvpxv85","country_code":"US","type":"education","lineage":["https://openalex.org/I121934306"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jonathan Conroy","raw_affiliation_strings":["Tufts University,MA,USA","Tufts University , MA, USA"],"affiliations":[{"raw_affiliation_string":"Tufts University,MA,USA","institution_ids":["https://openalex.org/I121934306"]},{"raw_affiliation_string":"Tufts University , MA, USA","institution_ids":["https://openalex.org/I121934306"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079601359","display_name":"Christopher Thierauf","orcid":"https://orcid.org/0000-0002-5650-2574"},"institutions":[{"id":"https://openalex.org/I121934306","display_name":"Tufts University","ror":"https://ror.org/05wvpxv85","country_code":"US","type":"education","lineage":["https://openalex.org/I121934306"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher Thierauf","raw_affiliation_strings":["Tufts University,MA,USA","Tufts University , MA, USA"],"affiliations":[{"raw_affiliation_string":"Tufts University,MA,USA","institution_ids":["https://openalex.org/I121934306"]},{"raw_affiliation_string":"Tufts University , MA, USA","institution_ids":["https://openalex.org/I121934306"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072097586","display_name":"Parker Rule","orcid":null},"institutions":[{"id":"https://openalex.org/I121934306","display_name":"Tufts University","ror":"https://ror.org/05wvpxv85","country_code":"US","type":"education","lineage":["https://openalex.org/I121934306"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Parker Rule","raw_affiliation_strings":["Tufts University,MA,USA","Tufts University , MA, USA"],"affiliations":[{"raw_affiliation_string":"Tufts University,MA,USA","institution_ids":["https://openalex.org/I121934306"]},{"raw_affiliation_string":"Tufts University , MA, USA","institution_ids":["https://openalex.org/I121934306"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080825557","display_name":"Evan Krause","orcid":"https://orcid.org/0000-0003-1032-9240"},"institutions":[{"id":"https://openalex.org/I121934306","display_name":"Tufts University","ror":"https://ror.org/05wvpxv85","country_code":"US","type":"education","lineage":["https://openalex.org/I121934306"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Evan Krause","raw_affiliation_strings":["Tufts University,MA,USA","Tufts University , MA, USA"],"affiliations":[{"raw_affiliation_string":"Tufts University,MA,USA","institution_ids":["https://openalex.org/I121934306"]},{"raw_affiliation_string":"Tufts University , MA, USA","institution_ids":["https://openalex.org/I121934306"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021328602","display_name":"Hugo A. Akitaya","orcid":"https://orcid.org/0000-0002-6827-2200"},"institutions":[{"id":"https://openalex.org/I133738476","display_name":"University of Massachusetts Lowell","ror":"https://ror.org/03hamhx47","country_code":"US","type":"education","lineage":["https://openalex.org/I133738476"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hugo Akitaya","raw_affiliation_strings":["University of Massachusetts Lowell,MA,USA","University of Massachusetts, Lowell, MA, USA"],"affiliations":[{"raw_affiliation_string":"University of Massachusetts Lowell,MA,USA","institution_ids":["https://openalex.org/I133738476"]},{"raw_affiliation_string":"University of Massachusetts, Lowell, MA, USA","institution_ids":["https://openalex.org/I133738476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059971846","display_name":"Andrei Gonczi","orcid":null},"institutions":[{"id":"https://openalex.org/I121934306","display_name":"Tufts University","ror":"https://ror.org/05wvpxv85","country_code":"US","type":"education","lineage":["https://openalex.org/I121934306"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrei Gonczi","raw_affiliation_strings":["Tufts University,MA,USA","Tufts University , MA, USA"],"affiliations":[{"raw_affiliation_string":"Tufts University,MA,USA","institution_ids":["https://openalex.org/I121934306"]},{"raw_affiliation_string":"Tufts University , MA, USA","institution_ids":["https://openalex.org/I121934306"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012765386","display_name":"Matias Korman","orcid":"https://orcid.org/0000-0002-4880-1101"},"institutions":[{"id":"https://openalex.org/I4210137693","display_name":"Siemens (United States)","ror":"https://ror.org/04axb7e79","country_code":"US","type":"company","lineage":["https://openalex.org/I1325886976","https://openalex.org/I4210137693"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matias Korman","raw_affiliation_strings":["Siemens Electronic Design Automation,OR,USA"],"affiliations":[{"raw_affiliation_string":"Siemens Electronic Design Automation,OR,USA","institution_ids":["https://openalex.org/I4210137693"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044523801","display_name":"Matthias Scheutz","orcid":"https://orcid.org/0000-0002-0064-2789"},"institutions":[{"id":"https://openalex.org/I121934306","display_name":"Tufts University","ror":"https://ror.org/05wvpxv85","country_code":"US","type":"education","lineage":["https://openalex.org/I121934306"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthias Scheutz","raw_affiliation_strings":["Tufts University,MA,USA","Tufts University , MA, USA"],"affiliations":[{"raw_affiliation_string":"Tufts University,MA,USA","institution_ids":["https://openalex.org/I121934306"]},{"raw_affiliation_string":"Tufts University , MA, USA","institution_ids":["https://openalex.org/I121934306"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5067955248"],"corresponding_institution_ids":["https://openalex.org/I121934306"],"apc_list":null,"apc_paid":null,"fwci":2.0671,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.91788335,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"7795","last_page":"7801"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9807000160217285,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6273447275161743},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6179364919662476},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.561026930809021},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5474408864974976},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.5157520771026611},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5150877833366394},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5055205821990967},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.48451822996139526},{"id":"https://openalex.org/keywords/irradiation","display_name":"Irradiation","score":0.4305569529533386},{"id":"https://openalex.org/keywords/ultraviolet-light","display_name":"Ultraviolet light","score":0.42317262291908264},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3947005271911621},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.33325865864753723},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3194752037525177},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20747947692871094},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.1615208387374878},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.13157492876052856},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.08951330184936523}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6273447275161743},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6179364919662476},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.561026930809021},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5474408864974976},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.5157520771026611},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5150877833366394},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5055205821990967},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.48451822996139526},{"id":"https://openalex.org/C111337013","wikidata":"https://www.wikidata.org/wiki/Q2737837","display_name":"Irradiation","level":2,"score":0.4305569529533386},{"id":"https://openalex.org/C2987116853","wikidata":"https://www.wikidata.org/wiki/Q11391","display_name":"Ultraviolet light","level":2,"score":0.42317262291908264},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3947005271911621},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.33325865864753723},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3194752037525177},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20747947692871094},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.1615208387374878},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.13157492876052856},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.08951330184936523},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C185544564","wikidata":"https://www.wikidata.org/wiki/Q81197","display_name":"Nuclear physics","level":1,"score":0.0},{"id":"https://openalex.org/C49040817","wikidata":"https://www.wikidata.org/wiki/Q193091","display_name":"Optoelectronics","level":1,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9561405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561405","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2104.02913","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.02913","pdf_url":"https://arxiv.org/pdf/2104.02913","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2104.02913","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2104.02913","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"},{"id":"mag:3142025975","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2104.02913","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.02913","pdf_url":"https://arxiv.org/pdf/2104.02913","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.4399999976158142,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3142025975.pdf","grobid_xml":"https://content.openalex.org/works/W3142025975.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W120774042","https://openalex.org/W1949465169","https://openalex.org/W1963641530","https://openalex.org/W1981934656","https://openalex.org/W2005835083","https://openalex.org/W2065429801","https://openalex.org/W2123522802","https://openalex.org/W2125420246","https://openalex.org/W2130422193","https://openalex.org/W2130515279","https://openalex.org/W2130763585","https://openalex.org/W2134470392","https://openalex.org/W2152906236","https://openalex.org/W2336416123","https://openalex.org/W2775416623","https://openalex.org/W2898787646","https://openalex.org/W2901136733","https://openalex.org/W3014410379","https://openalex.org/W3034266002","https://openalex.org/W3046756900","https://openalex.org/W3093047710","https://openalex.org/W3100326637","https://openalex.org/W6622247781","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W3205715799","https://openalex.org/W2028664813","https://openalex.org/W3214496971","https://openalex.org/W2891995929","https://openalex.org/W2767030204","https://openalex.org/W2744585611","https://openalex.org/W3135421608","https://openalex.org/W2058040501","https://openalex.org/W3118240012","https://openalex.org/W2784751274","https://openalex.org/W2057447957","https://openalex.org/W3003571623","https://openalex.org/W2794129638","https://openalex.org/W1994724450","https://openalex.org/W1968836781","https://openalex.org/W2550259989","https://openalex.org/W842642348","https://openalex.org/W3113504894","https://openalex.org/W2471967133","https://openalex.org/W2767973322"],"abstract_inverted_index":{"Regular":[0],"irradiation":[1,64],"of":[2,22,84,92,124,133],"indoor":[3,100],"environments":[4],"with":[5,49,57],"ultraviolet":[6],"C":[7],"(UVC)":[8],"light":[9],"has":[10],"become":[11],"a":[12,20,44,58,89,122,134],"regular":[13],"task":[14],"for":[15,61,75],"many":[16],"in-door":[17],"settings":[18],"as":[19],"result":[21],"COVID-19,":[23],"but":[24],"current":[25],"robotic":[26,47,96],"systems":[27],"attempting":[28],"to":[29,69,128],"automate":[30],"it":[31,117],"suffer":[32],"from":[33],"high":[34],"costs":[35],"and":[36,52,72,87],"inefficient":[37],"irradiation.":[38,77],"In":[39,102],"this":[40],"paper,":[41],"we":[42],"propose":[43],"purpose-made":[45],"inexpensive":[46],"platform":[48],"off-the-shelf":[50],"components":[51],"standard":[53],"navigation":[54],"software":[55],"that,":[56],"novel":[59],"algorithm":[60,86,108],"finding":[62],"optimal":[63],"locations,":[65],"addresses":[66],"both":[67],"shortcomings":[68],"offer":[70],"affordable":[71],"efficient":[73],"solutions":[74],"UVC":[76],"We":[78],"demonstrate":[79],"in":[80,98],"simulations":[81],"the":[82,85,93,110,119,129],"efficacy":[83],"show":[88],"prototypical":[90],"run":[91],"autonomous":[94],"integrated":[95],"system":[97],"an":[99],"environment.":[101],"our":[103,106],"sample":[104],"instances,":[105],"proposed":[107],"reduces":[109],"time":[111],"needed":[112],"by":[113,121],"roughly":[114],"30%":[115],"while":[116],"increases":[118],"coverage":[120],"factor":[123],"35%":[125],"(when":[126],"compared":[127],"best":[130],"possible":[131],"placement":[132],"static":[135],"light).":[136]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}