Simulation and Digital Twin of a Robotic Sanitizing Process of Environments at Risk During the Pandemic

The goal of this work is the design and development of intelligent semi-autonomous processes conducted by a team of mobile robots for cleaning environments whose hygiene must comply with the law, such as restaurant and community environments, healthcare facilities, laboratories and hospital departments. The cleaning team is composed by mobile robots designed for wall cleaning tasks but they can also be used for floor and ceiling cleaning tasks. The article proposes a simulator, based on the geometric model of the environment and functional model of the robot, that allows to define cleaning procedures adapted to needs and regulations with a good margin of flexibility. This simulator is configured as a digital twin of the local cleaning system and can be used for cleaning procedure improvements, for the punctual definition of maintenance operations and for the review of the process in case of new regulations and o runexpected occurrences.