{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,14]],"date-time":"2026-05-14T11:38:18Z","timestamp":1778758698131,"version":"3.51.4"},"reference-count":31,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2025,2,27]],"date-time":"2025-02-27T00:00:00Z","timestamp":1740614400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Macao Science and Technology Development Fund","award":["0004\/2022\/AKP"],"award-info":[{"award-number":["0004\/2022\/AKP"]}]},{"name":"Macao Science and Technology Development Fund","award":["0102\/2022\/A2"],"award-info":[{"award-number":["0102\/2022\/A2"]}]},{"name":"Macao Science and Technology Development Fund","award":["0078\/2023\/RIB3"],"award-info":[{"award-number":["0078\/2023\/RIB3"]}]},{"name":"Macao Science and Technology Development Fund","award":["MYRG2022-00068-FST"],"award-info":[{"award-number":["MYRG2022-00068-FST"]}]},{"name":"Macao Science and Technology Development Fund","award":["MYRG-CRG2022-00004-FST-ICI"],"award-info":[{"award-number":["MYRG-CRG2022-00004-FST-ICI"]}]},{"name":"Macao Science and Technology Development Fund","award":["MYRG-GRG2024-00222-FST-UMDF"],"award-info":[{"award-number":["MYRG-GRG2024-00222-FST-UMDF"]}]},{"name":"University of Macau","award":["0004\/2022\/AKP"],"award-info":[{"award-number":["0004\/2022\/AKP"]}]},{"name":"University of Macau","award":["0102\/2022\/A2"],"award-info":[{"award-number":["0102\/2022\/A2"]}]},{"name":"University of Macau","award":["0078\/2023\/RIB3"],"award-info":[{"award-number":["0078\/2023\/RIB3"]}]},{"name":"University of Macau","award":["MYRG2022-00068-FST"],"award-info":[{"award-number":["MYRG2022-00068-FST"]}]},{"name":"University of Macau","award":["MYRG-CRG2022-00004-FST-ICI"],"award-info":[{"award-number":["MYRG-CRG2022-00004-FST-ICI"]}]},{"name":"University of Macau","award":["MYRG-GRG2024-00222-FST-UMDF"],"award-info":[{"award-number":["MYRG-GRG2024-00222-FST-UMDF"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>In the post-COVID era, international business and tourism are quickly recovering from the global lockdown, with people and products traveling faster at higher frequency. This boosts the economy while facilitating the spread of pathogens, causing waves of COVID aftershock with new variants like Omicron XBB. Hence, continuous disinfection of our living environments becomes our first priority. Autonomous disinfection robots provide an efficient solution to this issue. Compared to human cleaners, disinfection robots are able to operate tirelessly in harsh environments without increasing the risk of cross-infection. In this paper, we propose the design of a new generation of the Smart Cleaner disinfection robot, which is equipped with both an Ultraviolet-C (UVC) light tower and a hydrogen peroxide (HP) aerosol dispenser. The safety of an autonomous disinfection robot has been a persistent problem, especially when they work in complex environments. To tackle this problem, Hamilton\u2013Jacobi (HJ) reachability is adopted to construct a safety filter for motion control, which guarantees that the disinfection path taken by the robot is collision-free without severely compromising the optimality of control actions. The effectiveness of the developed robot has been demonstrated by conducting extensive experimental studies.<\/jats:p>","DOI":"10.3390\/robotics14030026","type":"journal-article","created":{"date-parts":[[2025,2,27]],"date-time":"2025-02-27T03:37:57Z","timestamp":1740627477000},"page":"26","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Design of a Dual-Function Autonomous Disinfection Robot with Safety Filter-Based Motion Control"],"prefix":"10.3390","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0009-0002-6654-3799","authenticated-orcid":false,"given":"Yuning","family":"Cao\u00a0","sequence":"first","affiliation":[{"name":"Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa, Macau, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8865-7271","authenticated-orcid":false,"given":"Zehao","family":"Wu\u00a0","sequence":"additional","affiliation":[{"name":"Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa, Macau, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4831-3781","authenticated-orcid":false,"given":"I-Ming","family":"Chen\u00a0","sequence":"additional","affiliation":[{"name":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1700-322X","authenticated-orcid":false,"given":"Qingsong","family":"Xu\u00a0","sequence":"additional","affiliation":[{"name":"Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa, Macau, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2025,2,27]]},"reference":[{"key":"ref_1","unstructured":"Murphy, R.R., Gandudi, V.B.M., and Adams, J. 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