Copyright 2021 University of Illinois Board of Trustees. All Rights Reserved.

Licensed under the “Non-exclusive Research Use License” (the "License");

The License is included in the distribution as LICENSE.txt file.

See the License for the specific language governing permissions and imitations under the License.

This is the public repository for the code of the paper "Optimized Coverage Planning for UV Surface Disinfection", ICRA 2021.

Authors: Joao Correia Marques, Ramya Ramalingam, Zherong Pan, and Kris Hauser

Contact: Joao Correia Marques

Requires Python 3.x (3.7+ recommended) and an OpenGL 4.1-compatible graphics card for visibility calculations.

This program depends on two pieces of software distributed under separate liceses: Gurobi and LKH-3.0.6. To install:

1. Install the Python libraries contained in requirements.txt (pip install -r requirements.txt)

2. To get gurobi up and running on your system,you can follow the instructions here (for academic licenses) : https://www.gurobi.com/academia/academic-program-and-licenses/

3. To install LKH-3.0.6 you can follow the instructions on the project's website: http://webhotel4.ruc.dk/~keld/research/LKH-3/

4. After installing LKH place it in the Optimized-UV-Disinfection/LKH-3.0.6 folder

In order to reproduce the results in the paper, run python {robot_model}_experiments.py.

In order to visualize the results as a movie, the {Robot Model} Animations.ipynb Jupyter notebooks will create a series of still images that can be used to create a movie using ffmpeg or your program of choice.

To use the planner with a different environment, you should be able to simply change the "mesh_file" argument to any of the {robot}_experiments.py file.

Towerbot_experiments.py and floatbot_experiments.py give examples of how to adopt our pipeline to different robots. The first is a mobile base robot that has no rotational joints and a light that is not a point light-source, thus showing how to adapt to more general light models.

floatbot is a robot that floats in 3D space, as though it were a quadrobot carrying a light source. This example shows what changes need to be made in case of larger differences between tested robots and the default robot - armbot.

For further inquiries, please contact us.