{"id":"https://openalex.org/W4407997795","doi":"https://doi.org/10.3390/robotics14030026","title":"Design of a Dual-Function Autonomous Disinfection Robot with Safety Filter-Based Motion Control","display_name":"Design of a Dual-Function Autonomous Disinfection Robot with Safety Filter-Based Motion Control","publication_year":2025,"publication_date":"2025-02-27","ids":{"openalex":"https://openalex.org/W4407997795","doi":"https://doi.org/10.3390/robotics14030026"},"language":"en","primary_location":{"id":"doi:10.3390/robotics14030026","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14030026","pdf_url":"https://www.mdpi.com/2218-6581/14/3/26/pdf?version=1740629895","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/14/3/26/pdf?version=1740629895","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070966841","display_name":"Yuning Cao","orcid":"https://orcid.org/0009-0002-6654-3799"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Yuning Cao","raw_affiliation_strings":["Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa, Macau, China"],"raw_orcid":"https://orcid.org/0009-0002-6654-3799","affiliations":[{"raw_affiliation_string":"Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa, Macau, China","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001035177","display_name":"Zehao Wu","orcid":"https://orcid.org/0000-0002-8865-7271"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Zehao Wu","raw_affiliation_strings":["Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa, Macau, China"],"raw_orcid":"https://orcid.org/0000-0002-8865-7271","affiliations":[{"raw_affiliation_string":"Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa, Macau, China","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046605612","display_name":"I\u2010Ming Chen","orcid":"https://orcid.org/0000-0002-4831-3781"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"I-Ming Chen","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-4831-3781","affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100763750","display_name":"Qingsong Xu","orcid":"https://orcid.org/0000-0002-1700-322X"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":true,"raw_author_name":"Qingsong Xu","raw_affiliation_strings":["Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa, Macau, China"],"raw_orcid":"https://orcid.org/0000-0002-1700-322X","affiliations":[{"raw_affiliation_string":"Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa, Macau, China","institution_ids":["https://openalex.org/I204512498"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100763750"],"corresponding_institution_ids":["https://openalex.org/I204512498"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":0.5271,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.58814918,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"14","issue":"3","first_page":"26","last_page":"26"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9896000027656555,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9896000027656555,"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/T12222","display_name":"IoT-based Smart Home Systems","score":0.9799000024795532,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10709","display_name":"Social Robot Interaction and HRI","score":0.9678999781608582,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.6289238929748535},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5284404754638672},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5284017324447632},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5251514911651611},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5076647996902466},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47907763719558716},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.46884334087371826},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43735551834106445},{"id":"https://openalex.org/keywords/dual-function","display_name":"Dual function","score":0.43547290563583374},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4336245059967041},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4090748727321625},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3567317724227905},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3038766384124756},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.20979833602905273},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.10770383477210999}],"concepts":[{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.6289238929748535},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5284404754638672},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5284017324447632},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5251514911651611},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5076647996902466},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47907763719558716},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.46884334087371826},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43735551834106445},{"id":"https://openalex.org/C3019659684","wikidata":"https://www.wikidata.org/wiki/Q2275559","display_name":"Dual function","level":3,"score":0.43547290563583374},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4336245059967041},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4090748727321625},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3567317724227905},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3038766384124756},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.20979833602905273},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.10770383477210999},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C2779104521","wikidata":"https://www.wikidata.org/wiki/Q23058469","display_name":"Contouring","level":2,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics14030026","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14030026","pdf_url":"https://www.mdpi.com/2218-6581/14/3/26/pdf?version=1740629895","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:d94d55ecc68844a5a2a189b37bad8f66","is_oa":false,"landing_page_url":"https://doaj.org/article/d94d55ecc68844a5a2a189b37bad8f66","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 14, Iss 3, p 26 (2025)","raw_type":"article"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/206571","is_oa":false,"landing_page_url":"https://hdl.handle.net/10356/206571","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"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":"Journal Article"}],"best_oa_location":{"id":"doi:10.3390/robotics14030026","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14030026","pdf_url":"https://www.mdpi.com/2218-6581/14/3/26/pdf?version=1740629895","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1411232199","display_name":null,"funder_award_id":"MYRG\u2010CRG2022\u201000004\u2010FST\u2010ICI","funder_id":"https://openalex.org/F4320322841","funder_display_name":"Universidade de Macau"},{"id":"https://openalex.org/G2932639960","display_name":null,"funder_award_id":"0004/2022/AKP","funder_id":"https://openalex.org/F4320323893","funder_display_name":"Fundo para o Desenvolvimento das Ci\u00eancias e da Tecnologia"},{"id":"https://openalex.org/G3110971784","display_name":null,"funder_award_id":"0078/2023/RIB3","funder_id":"https://openalex.org/F4320323893","funder_display_name":"Fundo para o Desenvolvimento das Ci\u00eancias e da Tecnologia"},{"id":"https://openalex.org/G5611852121","display_name":null,"funder_award_id":"MYRG-GRG2024-00222-FST-UMDF","funder_id":"https://openalex.org/F4320322841","funder_display_name":"Universidade de Macau"},{"id":"https://openalex.org/G6342556565","display_name":null,"funder_award_id":"0102/2022/A2","funder_id":"https://openalex.org/F4320323893","funder_display_name":"Fundo para o Desenvolvimento das Ci\u00eancias e da Tecnologia"},{"id":"https://openalex.org/G7675799298","display_name":null,"funder_award_id":"MYRG2022-00068-FST","funder_id":"https://openalex.org/F4320322841","funder_display_name":"Universidade de Macau"}],"funders":[{"id":"https://openalex.org/F4320322841","display_name":"Universidade de Macau","ror":"https://ror.org/01r4q9n85"},{"id":"https://openalex.org/F4320323893","display_name":"Fundo para o Desenvolvimento das Ci\u00eancias e da Tecnologia","ror":"https://ror.org/05vna4324"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4407997795.pdf"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W2082512404","https://openalex.org/W2116364955","https://openalex.org/W2117211893","https://openalex.org/W2149731870","https://openalex.org/W2416561473","https://openalex.org/W2891413349","https://openalex.org/W2950772276","https://openalex.org/W2963525569","https://openalex.org/W2964040381","https://openalex.org/W2968945909","https://openalex.org/W3011042361","https://openalex.org/W3034395227","https://openalex.org/W3048463148","https://openalex.org/W3082541965","https://openalex.org/W3104753760","https://openalex.org/W3119084295","https://openalex.org/W3129503641","https://openalex.org/W3129706807","https://openalex.org/W3179120174","https://openalex.org/W3194815930","https://openalex.org/W3202864130","https://openalex.org/W3216484251","https://openalex.org/W4210981920","https://openalex.org/W4220686662","https://openalex.org/W4220693965","https://openalex.org/W4226340612","https://openalex.org/W4296799495"],"related_works":["https://openalex.org/W4391701205","https://openalex.org/W2350826763","https://openalex.org/W4405357452","https://openalex.org/W2377424649","https://openalex.org/W2066823581","https://openalex.org/W2115985662","https://openalex.org/W2366033604","https://openalex.org/W2056544790","https://openalex.org/W2044900919","https://openalex.org/W3121843926"],"abstract_inverted_index":{"In":[0,86],"the":[1,12,26,30,82,91,98,159,164,171,179],"post-COVID":[2],"era,":[3],"international":[4],"business":[5],"and":[6,17,113],"tourism":[7],"are":[8,72],"quickly":[9],"recovering":[10],"from":[11],"global":[13],"lockdown,":[14],"with":[15,39,106],"people":[16],"products":[18],"traveling":[19],"faster":[20],"at":[21],"higher":[22],"frequency.":[23],"This":[24],"boosts":[25],"economy":[27],"while":[28],"facilitating":[29],"spread":[31],"of":[32,36,48,84,93,97,122,173,178],"pathogens,":[33],"causing":[34],"waves":[35],"COVID":[37],"aftershock":[38],"new":[40,95],"variants":[41],"like":[42],"Omicron":[43],"XBB.":[44],"Hence,":[45],"continuous":[46],"disinfection":[47,57,70,101,125,160],"our":[49,53],"living":[50],"environments":[51,79],"becomes":[52],"first":[54],"priority.":[55],"Autonomous":[56],"robots":[58,71],"provide":[59],"an":[60,108,123],"efficient":[61],"solution":[62],"to":[63,67,74,148],"this":[64,87,141],"issue.":[65],"Compared":[66],"human":[68],"cleaners,":[69],"able":[73],"operate":[75],"tirelessly":[76],"in":[77,136],"harsh":[78],"without":[80,168],"increasing":[81],"risk":[83],"cross-infection.":[85],"paper,":[88],"we":[89],"propose":[90],"design":[92],"a":[94,114,129,150],"generation":[96],"Smart":[99],"Cleaner":[100],"robot,":[102],"which":[103,156],"is":[104,146,166],"equipped":[105],"both":[107],"Ultraviolet-C":[109],"(UVC)":[110],"light":[111],"tower":[112],"hydrogen":[115],"peroxide":[116],"(HP)":[117],"aerosol":[118],"dispenser.":[119],"The":[120,176],"safety":[121,151],"autonomous":[124],"robot":[126,165,181],"has":[127,182],"been":[128,183],"persistent":[130],"problem,":[131,142],"especially":[132],"when":[133],"they":[134],"work":[135],"complex":[137],"environments.":[138],"To":[139],"tackle":[140],"Hamilton\u2013Jacobi":[143],"(HJ)":[144],"reachability":[145],"adopted":[147],"construct":[149],"filter":[152],"for":[153],"motion":[154],"control,":[155],"guarantees":[157],"that":[158],"path":[161],"taken":[162],"by":[163,185],"collision-free":[167],"severely":[169],"compromising":[170],"optimality":[172],"control":[174],"actions.":[175],"effectiveness":[177],"developed":[180],"demonstrated":[184],"conducting":[186],"extensive":[187],"experimental":[188],"studies.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}
