Patent ID: 11865218
Assignee: THE BOARD OF TRUSTEES OF THE UNIVERSITY OF ILLINOIS
Field: Computer technology (Electrical engineering)
Classification: CPC A  G | IPC A  G

Claim 0:
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.