  The paper focuses on the development of an autonomous disinfection robot
UltraBot to reduce COVID-19 transmission along with other harmful bacteria and
viruses. The motivation behind the research is to develop such a robot that is
capable of performing disinfection tasks without the use of harmful sprays and
chemicals that can leave residues and require airing the room afterward for a
long time. UltraBot technology has the potential to offer the most optimal
autonomous disinfection performance along with taking care of people, keeping
them from getting under the UV-C radiation. The paper highlights UltraBot's
mechanical and electrical design as well as disinfection performance. The
conducted experiments demonstrate the effectiveness of robot disinfection
ability and actual disinfection area per each side with UV-C lamp array. The
disinfection effectiveness results show actual performance for the multi-pass
technique that provides 1-log reduction with combined direct UV-C exposure and
ozone-based air purification after two robot passes at a speed of 0.14 m/s.
This technique has the same performance as ten minutes static disinfection.
Finally, we have calculated the non-trivial form of the robot disinfection zone
by two consecutive experiment to produce optimal path planning and to provide
full disinfection in selected areas.
