EFFICIENT ALGORITHMS FOR

OPTIMAL PERIMETER
GUARDING

Name: Usama Asim

Redg no: 2016-MC-02

 LITERATURE REVIEW:
In previous studies an extensive research has been carried out related to our work which is
as follows:

 Formation Control with large number of robots.

 Motion Planning of Multiple Robots. (Velocity & Acceleration Analysis)
 Sensing by robots in optimal manner.
 Trajectory planning of robots to desire locations.
 Development of an Efficient Algorithm
PROBLEM ANALYSIS:
Following are problems needed to be solved by reviewing past
literature related to our work :

 The existing literature although is quite detailed and

extensive; but it mostly touches the 2-D domain or higher.
 In our case optimal perimeter guarding requires a 1-D
analysis which was yet to be fully investigated.
 METHODOLOGY:
The methodology is based on the type of region, number of segments and no of gaps in it. There are three types of
regions:
 Single Region with Multiple Components (gaps)
 Multiple Region with Single Component (gap)
 Multiple Region with Multiple Components (gaps)

Following is an explanation of an efficient algorithm in form of a pseudo code:

 Find the lengths of total segments and gaps in the perimeter.
 Identify the longest segments and gap.
 Compute number of robots required (n).
 Make some calculations according to the formula’s (provided in paper).
 Apply these calculations in form of while or for loop.
 Compute for optimal solution of system.
For detail view of algorithms you can go to the link below:
http://www.roboticsproceedings.org/rss15/p02.pdf
RESULT ANALYSIS:

 (q) shows specific no of gaps.

 (m) shows no of regions.
 (n) shows no of robots.

 The following table shows as the number of parameters (m) increases along with no of gaps
(q); the computation time taken by each robot increases drastically.
 The computation time of ‘Multiple Region with Multiple Component’ is very less as
Compared to other two regions which makes it a best suitable fit for efficient algorithm
for optimal perimeter guarding implementation.
MY APPROACH
I would have done the following being in Author’s place:
 He has not restricted the task to number of robots used, which makes
complex and expensive. Easier way would be to complete the task in
minimum time with minimum amount of robots to make whole process
cost effective.
 In developing algorithm more generic approach would be quite suitable for
each type region. (A general code for all types of regions)
 ANY QUESTIONS?