A Mobile Robotic System Design and Approach for Autonomous Targeted Disinfection

The recent global pandemic has posed unprecedented challenges to public health systems and has highlighted the critical need for effective, contactless disinfection strategies in shared environments. This study investigates the use of autonomous robotics to enhance disinfection efficiency and safety in public spaces through the development of a custom-built mobile spraying platform. The proposed robotic system is equipped with an integrated 3D object pose estimation framework that fuses RGB-based object detection with point cloud segmentation to accurately identify and localize high-contact surfaces. To facilitate autonomous operation, both local and global motion planning algorithms are implemented, enabling the robot to navigate complex environments and execute disinfection tasks with minimal human intervention. Experimental results demonstrate the feasibility of the proposed disinfection robotic system.