©SHUTTERSTOCK.COM/NATATRAVEL UV-C Mobile Robots With Optimized Path Planning Algorithm Design and On-Field Measurements to Improve Surface Disinfection Against SARS-CoV-2 By Luca Tiseni, Domenico Chiaradia, Massimiliano Gabardi, Massimiliano Solazzi, Daniele Leonardis, and Antonio Frisoli Digital Object Identifier 10.1109/MRA.2020.3045069 Date of current version: 25 January 2021 1070-9932/21©2021IEEE U ltraviolet type-C irradiation (UV-C) is an effective no-contact disinfection procedure for surfaces and environments to reduce the spread of severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2), the virus that causes COVID-19. This work evaluates the effect of the adoption of mobile robots for UV-C irradiation, compared to conventional disinfection methods based on static UV-C lamps. On-field evaluation was conducted to measure the energy dose delivered by a robot-based moving source of UV-C radiation at different locations in an indoor environment. The effectively released radiation dose was experimentally measured using distributed UV-C-sensitive detectors, considering all of the environmental factors involved. Moreover, this article proposes a novel trajectory planner MARCH 2021 * IEEE ROBOTICS & AUTOMATION MAGAZINE * 59http://www.SHUTTERSTOCK.COM/NATATRAVEL