  The COVID-19 pandemic has demonstrated the need for a more effective and
efficient disinfection approach to combat infectious diseases. Ultraviolet
germicidal irradiation (UVGI) is a proven mean for disinfection and
sterilization and has been integrated into handheld devices and autonomous
mobile robots. Existing UVGI robots which are commonly equipped with uncovered
lamps that emit intense ultraviolet radiation suffer from: inability to be used
in human presence, shadowing of objects, and long disinfection time. These
robots also have a high operational cost. This paper introduces a
cost-effective germicidal system that utilizes UVGI to disinfect pathogens,
such as viruses, bacteria, and fungi, on high contact surfaces (e.g. doors and
tables). This system is composed of a team of 5-DOF mobile manipulators with
end-effectors that are equipped with far-UVC excimer lamps. The design of the
system is discussed with emphasis on path planning, coverage planning, and
scene understanding. Evaluations of the UVGI system using simulations and
irradiance models are also included.
