Decontamination robot with swerve drive and scissor lift

A decontamination robot, the robot comprising:

• a decontamination box including at least two arrays of ultraviolet LEDs, the two arrays arranged to irradiate an object placed inside the decontamination box from at least two independent directions, the decontamination box further including an interior surface providing at least 90% reflectivity of ultraviolet light;
• a drivetrain including a frame and four swerve-drive units connected by the frame, each swerve-drive unit including a wheel and capable of rotating the wheel on a first axis, where the four swerve-drive units are arranged such that the first axes of the four wheels are substantially coplanar and define a plane that is substantially parallel to a working surface, and where each swerve-drive unit is capable of rotating the wheel on a second axis, where the second axis is perpendicular to the plane;
• the drivetrain further including a processor to provide control signals to the four swerve-drive units to coordinate the rotation of the wheels about their first and second axes to generate translational motion of the decontamination robot on the working surface;
• a scissor lift capable of raising the decontamination box from a first position to a second position, wherein the scissor lift comprises a plurality of bars connected by a plurality of joints such that the plurality of bars form a series of crosses;
• a top plate attached to a top of the decontamination box;
• a flag configured to extend via a vertically telescoping shaft, calling attention to the decontamination robot;
• a crane mounted outside the decontamination box to an upper surface of the top plate;
• and
• a claw attached to the crane configured to selectively engage with one or more target objects above the working surface.