Robotic vehicle decontaminator

A robotic system comprising:

• a robotic arm;
• an end effector connected to the robotic arm;
• a transport platform;
• a memory configured to store computer-executable instructions;
• and
• one or more processors configured to access the memory and execute the computer-executable instructions to cause the robotic system to:
• generate, based on sensor data generated by a robotic system, a three-dimensional representation of a surface of a target object, the three-dimensional representation comprising a first set of data points;
• localize the target object in a coordinate system of the robotic system;
• generate waypoints based on a subset of the first set of data points, the waypoints being arranged on the three-dimensional representation;
• determine a path for an end effector of the robotic system to traverse over the surface based on the waypoints, the end effector mounted on a robotic arm of the robotic system;
• determine a trajectory for the robotic arm to traverse based on the path;
• and
• initialize a movement of the robotic arm based on the trajectory.

A non-transitory computer-readable medium including stored thereon instructions that, that when executed by a processor, cause the processor to:

• generating, based on sensor data generated by a robotic system, a three-dimensional representation of a surface of a target object, the three-dimensional representation comprising a first set of data points;
• localize the target object in a coordinate system of the robotic system;
• generate waypoints based on a subset of the first set of data points, the waypoints being arranged on the three-dimensional representation;
• determine a path for an end effector of the robotic system to traverse over the surface based on the waypoints, the end effector mounted on a robotic arm of the robotic system;
• determine a trajectory for the robotic arm to traverse based on the path;
• and
• initialize a movement of the robotic arm based on the trajectory.