Abstract
Problem statement: control task for group of robots performing localization of contamination area and its primary disinfection is an important scientific problem. In order to increase efficiency of robots—members of the team one should produce algorithms for decision making, robots distribution within contamination area, minimizing number of robots effectively treating the area. Purpose: to produce algorithms for collaboration of robots in group performing detection and disinfection of indoor spaces from COVID-19 virus (SARS-CoV-2COVID). Methods: algorithms for robots’ motion in case of insufficient information about environment. This includes stationary and moving obstacles, which were not considered during preplanning phase, decision making by separate robots of the group in case of emerging situations. Creating of mathematical model of robots’ motion in group, which implies optimal distance among robots. Selection of most effective express-analysis methods for COVID-19 detection and ways of its contamination area localization. Analysis of space disinfection by UV-radiation or spraying various suspended matters from on-board of robots. Results: a new mathematical model was created and studied basing on suggested algorithm of mobile robots’ behavior and on suggested ways to detect and dispose virus within closed areas. Basing on this model new software was developed. This software allows to control group of robots effectively, implementing trajectory planning for robots within indoor spaces, to change dynamic features of robots, formulate obstacles and forbidden areas. Discussions: results of this study have proved effectiveness of using mobile robots (agents) for localization of contamination area and its primary disinfection from COVID-19 virus and other pathogens.
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The present work was supported by the Ministry of Science and Higher Education within the framework of the Russian State Assignment under contract No. AAAA-A20-120011690138-6.
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Ermolov, I.L., Knyazkov, M.M., Sobolnikov, S.A., Sukhanov, A.N., Usov, V.M. (2021). Position Control of UGV Group for COVID (Virus SARS-CoV-2COVID) Localization and Primary Treatment Within Indoor Environment. In: Gorodetskiy, A.E., Tarasova, I.L. (eds) Smart Electromechanical Systems. Studies in Systems, Decision and Control, vol 352. Springer, Cham. https://doi.org/10.1007/978-3-030-68172-2_10
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