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The Computational Geometry group at Tufts University is investigating robotic path planning for irradiation of dormitories used to house COVID patients. Studies have found that UV light can be used to deactivate the virus. A robot carrying a UV light could be used to disinfect rooms in a safe and efficient manner. We investigate algorithms to plan a disinfection route that minimizes time and energy costs.

[TODO: link studies, improve intro]

Table of Contents

How to Run: Setup instruction and a description of the parameters in main.py

Preprocessing: Description of how the input LiDAR scan is converted into a "room" region and a "guard" region

Algorithm: Description of the LP approach used to find an optimal path

Results: [TODO: Comparison of the LP algorithm to a naive solution]