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Multiple Cluster Coverage

This repository contains the code for the Multiple Cluster Coverage algorithm developed as a part of my Bachelor's thesis at RBCCPS, IISc, Bangalore.

Installation Instructions

  1. Clone the repository to your local machine.
  2. Use pip to install the repository
cd mcc/
python -m pip install -e .

This installs all the required modules required for the repository.

Benchmark

  1. Run tests/benchmark.py to run the benchmark script. The script compares the performance of our algorithm with the TSP solver from Google OR Tools.
cd mcc
python tests/benchmark.py /path/to/config.yaml
  1. The script requires the path to be a configuration file. A sample configuration file can be found here. The output of the benchmark script ran using this configuration file can be found in the results directory.

Results

+---------------------------------------------------------------+
|                          MCC Results                          |
+-------------+------------+-----------+------------+-----------+
|    Config   | T_mean (s) | T_std (s) | C_mean (m) | C_std (m) |
+-------------+------------+-----------+------------+-----------+
| Grid (1, 2) |   0.0042   |   0.0002  |  36.2886   |   0.189   |
| Grid (2, 2) |   0.0136   |   0.0003  |  94.6935   |   2.445   |
| Grid (3, 5) |   0.1857   |   0.005   |  335.3863  |   1.744   |
+-------------+------------+-----------+------------+-----------+
+---------------------------------------------------------------+
|                          TSP Results                          |
+-------------+------------+-----------+------------+-----------+
|    Config   | T_mean (s) | T_std (s) | C_mean (m) | C_std (m) |
+-------------+------------+-----------+------------+-----------+
| Grid (1, 2) |   0.0239   |   0.0013  |  35.9227   |   0.0345  |
| Grid (2, 2) |   0.1326   |   0.0202  |   82.171   |   0.0634  |
| Grid (3, 5) |   3.022    |   0.573   |  297.5467  |   3.893   |
+-------------+------------+-----------+------------+-----------+
+----------------------------------+
| Relative Performance Statistics  |
+-------------+----------+---------+
|    Config   |  T (%)   |  C (%)  |
+-------------+----------+---------+
| Grid (1, 2) | -82.4804 |  1.0187 |
| Grid (2, 2) | -89.7276 | 15.2395 |
| Grid (3, 5) | -93.8561 | 12.7172 | 
+-------------+----------+---------+

Note: Here (-) sign indicates the better performance of the algorithm compared to the benchmark