Integrated Task Scheduling, Action Planning and Control for Autonomous Disinfection by a Mobile Robotic Manipulator

This paper presents an approach for solving a challenging problem in the integration of low-level system sensing and control with high-level task scheduling, planning and perception in mobile robotic manipulator systems for autonomous disinfection. First, a unified event-based reference will be introduced. Then, the approach will be implemented in the task of disinfection by a mobile manipulator. The task of disinfection involves both continuous and discrete events. The interactions between discrete and continuous actions will also be considered. The disinfection task in a multiple-object venue is used to illustrate the proposed approach. The experimental results demonstrate the advantages of this method.