Autonomous Multi Robot Disinfection Mission

Developed a fully decentralized control framework for six robots to collaboratively disinfect a hospital environment, ensuring collision free navigation via a ∆ disk communication graph and integrating multi phase waypoint, disinfection, and refueling sub missions. Validated in MATLAB and on the Robotarium, the system achieved 100 % mission completion and a 25 % increase in path efficiency over baseline methods.