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Sam Rodriguez, Nancy M. Amato, "Behavior-Based Evacuation Planning," In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 350-355, Anchorage, AK, May 2010.
Proceedings(ps, pdf, abstract)

In this work, we present a formulation of an evacuation planning problem that is inspired by motion planning and describe an integrated behavioral agent-based and roadmap-based motion planning approach to solve it. Our formulation allows users to test the effect on evacuation of a number of different environmental factors. One of our main focuses is to provide a mechanism to investigate how the interaction between agents influences the resulting evacuation plans. Specifically, we explore how various types of control provided by a set of directing agents effects the overall evacuation planning strategies of the evacuating agents.