The perimeter defense game has received interest in recent years as a variant\nof the pursuit-evasion game. A number of previous works have solved this game\nto obtain the optimal strategies for defender and intruder, but the derived\ntheory considers the players as point particles with first-order assumptions.\nIn this work, we aim to apply the theory derived from the perimeter defense\nproblem to robots with realistic models of actuation and sensing and observe\nperformance discrepancy in relaxing the first-order assumptions. In particular,\nwe focus on the hemisphere perimeter defense problem where a ground intruder\ntries to reach the base of a hemisphere while an aerial defender constrained to\nmove on the hemisphere aims to capture the intruder. The transition from theory\nto practice is detailed, and the designed system is simulated in Gazebo. Two\nmetrics for parametric analysis and comparative study are proposed to evaluate\nthe performance discrepancy.\n