CPC A61L 2/10 (2013.01) [G06N 20/00 (2019.01); A61L 2202/11 (2013.01); A61L 2202/14 (2013.01); A61L 2202/16 (2013.01); A61L 2202/20 (2013.01)] | 20 Claims |
1. A computer-implemented method comprising:
obtaining a three-dimensional image map of m surfaces within an environment, wherein the surfaces are respectively associated with importance weights, and wherein the importance weights represent how frequently the surfaces are expected to be touched;
determining a set of n vantage points for a light source within the environment;
calculating an m×n irradiance matrix representing irradiance presented to each of the surfaces when the light source is in each of the vantage points, wherein each entry in the m×n irradiance matrix is determined by: (i) rasterizing the three-dimensional image map for a given candidate vantage point, (ii) identifying a set of visible surfaces from the three-dimensional image map as rasterized, and (iii) calculating an amount of light-based power that would reach each of the visible surfaces;
determining a set of n dwell times, one associated with each of the vantage points, using linear programming over the m×n irradiance matrix, the importance weights, and an overall time constraint; and
providing instructions, to a disinfecting agent, to traverse at least a subset of the vantage points, pausing at each in accordance with the associated dwell times and illuminating at least some of the surfaces while paused.
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