# Path Optimization Using Metaheuristic Techniques for a Surveillance Robot
## 2 Related Works  
The need for safety in both outdoor and indoor environments has led to growth in the development of mobile robots with the ability to explore surfaces. Surveillance robots are used to monitor the behavior, activities, and other changing information for the general purpose of managing, directing, or protecting one's assets or position [4]. Mobile robots assigned the task of surveillance play a crucial role in different sectors: security, health, rescue, agriculture, institutions, etc. [5]. As an example of this variety of uses, an application of surveillance of engine rooms in a ship by autonomous mobile robots to detect fire is presented in [6]. A map of the engine room was created using an autonomous robot, and when a destination was set on the map, a path was found and the engine room was surveilled autonomously. The paper by [PERSON] et al., reviews the latest research on AGVs and AMRs, and discusses visual tracking control technologies in civil engineering applications [7]. Security robots are commonly used to protect and safeguard a location, some valuable assets, or personal property against danger, damage, loss, and crime. Most of the works found in the literature on this specific application of mobile robots work with aerial vehicles (UAVs). The papers by [PERSON] et al., present a surveillance system for early detection of individuals using a swarm mobility model, in the first paper, and a swarm of unmanned aerial vehicles with a Competitive Coevolutionary GA that aims to maximize intruder detection in the second reference [8; 9]. [PERSON] et al. designed a two-mode monitoring systems for industrial facilities and their adjacent territories based on the application of unmanned aerial vehicle (UAV), Internet of Things (IoT), and digital twin (DT) technologies [10]. [PERSON] et al. present a single-robot solution for the surveillance of buildings [11]. The robot operates with a combination of different people detection techniques for detecting and tracking humans. The paper by [PERSON] and [PERSON] proposes an autonomous robotic system based on a convolutional neural network to perform visual perception and control tasks [12]. The visual perception aims to identify all objects moving in the scene and to verify whether the target is an authorized person. There are different systems for security and surveillance which are currently available in the market. According to [13], conventional patrolling lacks an integrated multi-sensing system that coordinates various technologies for surveillance and detection of human intruder movement in the different scenarios. They usually are equipped with cameras. Some of them are controlled remotely [14]. Nevertheless, Light Detection and Ranging (LiDAR) sensors are affordable in terms of the acquisition price and processing requirements. Examples of applications of this sensor can be found in [15], where the authors describe a mobile robot that operates in an indoor environment and it is capable of tracking pairs of legs in a cluttered environment using a 2D LiDAR scanner. The already mentioned paper by [PERSON] and [PERSON] creates a map of the engine room using LiDAR technology [6]. The authors in [16] systematically review and analyze in mobile robotics the use 3D IoT LiDARs in research and industrial applications. In [17], a multimodal sensor module for multiple fixed and mobile agents in outdoor environments is proposed. It has a vision sensor and four-channel sound that are synchronized and integrates them using a 3D LiDAR and a calibration method. This sensor equipment enables integrated data collection for a 24 h monitoring of the outdoor surveillance area. A graph theoretic approach including heuristic algorithms for optimal point-to-point navigation using a LiDAR sensor is presented in [18], ensuring total workspace coverage and minimization of action performed by an indoor robot. Path planning is the core task for the AGV system, and it generates the path from origin to destination.