{"id":"https://openalex.org/W4200572154","doi":"https://doi.org/10.1109/iros51168.2021.9636260","title":"Designing and Deploying a Mobile UVC Disinfection Robot","display_name":"Designing and Deploying a Mobile UVC Disinfection Robot","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200572154","doi":"https://doi.org/10.1109/iros51168.2021.9636260"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636260","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636260","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035836760","display_name":"Alyssa Pierson","orcid":"https://orcid.org/0000-0002-4885-9119"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alyssa Pierson","raw_affiliation_strings":["Boston University, Boston, MA, USA","Computer Science & Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boston University, Boston, MA, USA","institution_ids":[]},{"raw_affiliation_string":"Computer Science & Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054372152","display_name":"John W. Romanishin","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John W. Romanishin","raw_affiliation_strings":["Computer Science & Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science & Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023307958","display_name":"Hunter Hansen","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hunter Hansen","raw_affiliation_strings":["Computer Science & Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science & Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023158602","display_name":"Leonardo Zamora Ya\u00f1ez","orcid":"https://orcid.org/0000-0002-6611-900X"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Leonardo Zamora Yanez","raw_affiliation_strings":["Computer Science & Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science & Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["Computer Science & Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science & Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6700","last_page":"6707"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.9921000003814697,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9807000160217285,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/mobile-robot","display_name":"Mobile robot","score":0.7711822986602783},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6454224586486816},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.6013836860656738},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46736523509025574},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4230685532093048},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4173438549041748},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.407924085855484},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.37975412607192993},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.09396815299987793}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7711822986602783},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6454224586486816},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.6013836860656738},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46736523509025574},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4230685532093048},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4173438549041748},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.407924085855484},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.37975412607192993},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.09396815299987793}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636260","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636260","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6600000262260437,"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1471578414","https://openalex.org/W1543983621","https://openalex.org/W1650780448","https://openalex.org/W1969357301","https://openalex.org/W1982806757","https://openalex.org/W2011193826","https://openalex.org/W2047083748","https://openalex.org/W2054287568","https://openalex.org/W2077245982","https://openalex.org/W2090311321","https://openalex.org/W2128368515","https://openalex.org/W2164948897","https://openalex.org/W2167485994","https://openalex.org/W2189384730","https://openalex.org/W2342581516","https://openalex.org/W2566278123","https://openalex.org/W2734075034","https://openalex.org/W2766851522","https://openalex.org/W2775110590","https://openalex.org/W2783721081","https://openalex.org/W2964284745","https://openalex.org/W2985558354","https://openalex.org/W2991373506","https://openalex.org/W3016687236","https://openalex.org/W3033794704","https://openalex.org/W3034266002","https://openalex.org/W3041095033","https://openalex.org/W3043776404","https://openalex.org/W3049385721","https://openalex.org/W3112508587","https://openalex.org/W3122987118","https://openalex.org/W3134209215","https://openalex.org/W4221018160","https://openalex.org/W4248695280","https://openalex.org/W6704261790","https://openalex.org/W6780549149"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W3114279067","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,21,25,40,75,100],"mobile":[4,22,53,133],"UVC":[5,27,43,48,89,134],"disinfection":[6,44,135],"robot":[7,23,67,86,136],"designed":[8],"to":[9,99,140],"mitigate":[10],"the":[11,52,66,69,85],"threat":[12],"of":[13,42,47,65,91,115,118],"airborne":[14,126],"and":[15,30,35,45,59,124,147],"surface":[16],"pathogens.":[17],"Our":[18],"system":[19],"comprises":[20],"base,":[24],"custom":[26],"lamp":[28],"assembly,":[29],"algorithms":[31],"for":[32,62],"autonomous":[33],"navigation":[34],"path":[36,145],"planning.":[37],"We":[38,55],"present":[39,130],"model":[41],"dosage":[46],"light":[49],"delivered":[50],"by":[51],"robot.":[54],"also":[56],"discuss":[57],"challenges":[58],"prototyping":[60],"decisions":[61],"rapid":[63],"deployment":[64,77],"during":[68],"COVID-19":[70],"pandemic.":[71],"Experimental":[72],"results":[73],"summarize":[74],"long-term":[76],"at":[78,92],"The":[79],"Greater":[80],"Boston":[81],"Food":[82],"Bank,":[83],"where":[84],"delivers":[87],"(nightly)":[88],"dosages":[90,112],"least":[93],"10":[94],"mJ/cm":[95],"<sup":[96,103],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[97,104],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[98,105],"4000":[101],"ft":[102],"area":[106],"in":[107,125,143],"under":[108],"30":[109],"minutes.":[110],"These":[111],"are":[113],"capable":[114],"neutralizing":[116],"99%":[117],"coronaviruses,":[119],"including":[120],"SARS-CoV-2,":[121],"on":[122],"surfaces":[123],"particles.":[127],"Further":[128],"simulations":[129],"how":[131],"this":[132],"may":[137],"be":[138],"extended":[139],"classic":[141],"problems":[142],"robotic":[144],"planning":[146],"adaptive":[148],"multi-robot":[149],"coverage":[150],"control.":[151]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
