  Regular irradiation of indoor environments with ultraviolet C (UVC) light has
become a regular task for many indoor settings as a result of COVID-19, but
current robotic systems attempting to automate it suffer from high costs and
inefficient irradiation. In this paper, we propose a purpose-made inexpensive
robotic platform with off-the-shelf components and standard navigation software
that, with a novel algorithm for finding optimal irradiation locations,
addresses both shortcomings to offer affordable and efficient solutions for UVC
irradiation. We demonstrate in simulations the efficacy of the algorithm and
show a prototypical run of the autonomous integrated robotic system in an
indoor environment. In our sample instances, our proposed algorithm reduces the
time needed by roughly 30\% while it increases the coverage by a factor of 35\%
(when compared to the best possible placement of a static light).
