## 1 Introduction  
Decontamination removes oil or chemical substances from objects, surfaces, or environments, reducing the risk of contamination and accidents [1]. Cleaning oil or grease-stained floors requires specific cleaning products and methods such as scrubbing, brushing, and pressure washing, as shown in Figure 1[2]. Manual or traditional decontamination processes, including segregation, cleaning, disinfection, and sterilization, are often labor-intensive, time-consuming, and inconsistent [3, 4]. Prolonged exposure to harsh chemicals in cleaning solutions may cause skin irritation, respiratory issues, or allergic reactions [5]. Inhaling fumes from potent cleaning agents, especially in poorly ventilated areas, can lead to respiratory distress, dizziness, or headaches [6]. Additionally, the physical act of scrubbing or pressure washing, especially when using high-pressure machines, can lead to musculoskeletal injuries such as strains or sprains due to repetitive motion or incorrect posture [6]. Robots assist in decontamination by automating cleaning tasks, reducing human exposure to hazardous chemicals and pathogens [7]. Decontamination includes pressure washing, brushing, UV-C light, chemical spraying, and steam. Using robots minimizes risks to humans from contact with toxic substances, improving safety, and ensuring effective, consistent cleaning [8; 9]. Significant features of a decontamination robot include locomotion, autonomous navigation, decontamination methods, obstacle detection, and real-time monitoring. It has sensors for precise mapping, contamination detection, and data logging. Safety features ensure protection from harmful substances, while user interfaces allow for easy operation [9]. Locomotion is crucial for a decontamination robot as it enables efficient movement across different surfaces, ensuring complete coverage [10]. Whether utilizing wheeled, tracked, or omnidirectional systems, the robot's mobility enables it to navigate complex environments, access hard-to-reach areas, and execute thorough cleaning, thereby enhancing the effectiveness and versatility of the decontamination process, as presented in Figure 2. These decontamination robots are increasingly employed in healthcare facilities, cleanrooms, public spaces, and warehouses to reduce human exposure to contaminants and improve cleaning efficiency [1; 2; 5; 8]. Locomotion in decontamination robots is crucial for navigating environments efficiently. It ensures stability on uneven surfaces and improves operational flexibility. Wheeled robots are common, offering quick, flexible movement ideal for cleaning, inspection, and  
Figure 1: Examples of surface decontamination activities involving industrial, commercial, and outdoor/indoor environments. Figure 2: Mapping of robotic locomotion types to application domains and corresponding environmental conditions. navigation in organized spaces. Generally, the active locomotion wheels of the robots can be used to differentiate the type of locomotion, such as differential drive, skid-steering, Ackermann steering, or omnidirectional configurations, as illustrated in Figure 3. Omnidirectional locomotion robots represent a subset of multi-wheeled locomotion, employing wheels that permit movement in any direction without orientation changes. This capability offers them high maneuverability, making them perfect for tasks that require precise navigation in tight or congested spaces, including wall climbing, sweeping, or cleaning in environments with minimal obstacles. An additional aspect of wheeled locomotion is the rocker-bogie suspension system utilized in robots, which must uphold stability on challenging or uneven terrains [11]. It consists of a set of connected wheels that enable the robot to adjust its body orientation, enhancing traction and stability over obstacles. Tracked locomotion robots are the second most used robotic system category, offering better traction and stability on rough terrains compared to wheeled robots.