Service robotics is a rapidly growing field within robotics that focuses on the development of systems designed to assist humans in non-industrial settings. An important trend within this field is the deployment of such systems in health-related applications. After the SARS-CoV-2 pandemic, awareness of the need for effective environmental monitoring and sanitization of indoor environments resurfaced, to minimize the risks of pathogens and other dangerous particles spread, while ensuring the well-being of the inhabitants of public spaces and workplaces. Given the fact that carbon dioxide (CO2) is largely considered a suitable biomarker for the evaluation of Indoor Air Quality (IAQ) and human presence, this thesis presents the development of a CO2-informed, waypoint-based, navigation algorithm exploiting a behavior-tree-based approach integrated in a heavy-load, multi-wheeled platform able to carry a mobile sanitizer.