{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,3]],"date-time":"2026-03-03T16:47:32Z","timestamp":1772556452251,"version":"3.50.1"},"reference-count":50,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2023,6,19]],"date-time":"2023-06-19T00:00:00Z","timestamp":1687132800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In recent years, multi-robot control systems and service robots equipped with graphical computing have been introduced in various application scenarios. However, the long-term operation of VSLAM calculation leads to reduced energy efficiency of the robot, and accidental localization failure still persists in large-scale fields with dynamic crowds and obstacles. This study proposes an EnergyWise multi-robot system based on ROS that actively determines the activation of VSLAM using real-time fused localization poses by an innovative energy-saving selector algorithm. The service robot is equipped with multiple sensors and utilizes the novel 2-level EKF method and incorporates the UWB global localization mechanism to adapt to complex environments. During the COVID-19 pandemic, three disinfection service robots were deployed to disinfect a large, open, and complex experimental site for 10 days. The results demonstrated that the proposed EnergyWise multi-robot control system successfully achieved a 54% reduction in computing energy consumption during long-term operations while maintaining a localization accuracy of 3 cm.<\/jats:p>","DOI":"10.3390\/s23125724","type":"journal-article","created":{"date-parts":[[2023,6,20]],"date-time":"2023-06-20T02:26:56Z","timestamp":1687228016000},"page":"5724","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["The Energy Efficiency Multi-Robot System and Disinfection Service Robot Development in Large-Scale Complex Environment"],"prefix":"10.3390","volume":"23","author":[{"given":"Chin-Sheng","family":"Chen","sequence":"first","affiliation":[{"name":"Graduate Institute of Automation Technology, National Taipei University of Technology, Taipei 10608, Taiwan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Feng-Chieh","family":"Lin","sequence":"additional","affiliation":[{"name":"Graduate Institute of Automation Technology, National Taipei University of Technology, Taipei 10608, Taiwan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7934-6132","authenticated-orcid":false,"given":"Chia-Jen","family":"Lin","sequence":"additional","affiliation":[{"name":"Graduate Institute of Automation Technology, National Taipei University of Technology, Taipei 10608, Taiwan"},{"name":"Smart Automation Unit, TECO Electric & Machinery Co., Ltd., 10F, No. 3-1, Park St., Nan-Kang, Taipei 11503, Taiwan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,6,19]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Gonzalez-Aguirre, J.A., Osorio-Oliveros, R., RodrAguez-Hern\u00c3\u00a1ndez, K.L., Liz\u00c3\u00a1rraga-Iturralde, J., Menendez, R.M., and Ram\u00c3rez-Mendoza, R.A. 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