TY - GEN
T1 - Distributed multi-robot evacuation incorporating human behavior
AU - Zhang, Shubo
AU - Guo, Yi
PY - 2013
Y1 - 2013
N2 - When a disaster happens, evacuation in a building can be dangerous. It is well known that trained leaders have an important influence on saving human lives in emergency evacu-ation. In this paper, we present a novel distributed multi-robot system for guiding people in an emergency evacuation mission. A closed environment, which is represented by the means of Laplacian Artificial Potential Field (LAPF), is considered in the emergency evacuation scenario. A cooperative exit seeking algorithms is designed for the robots to guide evacuees by online estimating the gradient and tracing gradient-descend while maintaining a predefined formation in movement. To better deal with evacuees' behavior in emergency situations, a human panic behavior model is taken into account to the evacuation strategies. Simulations of a single robot team and multi-team are shown to demonstrate our methods for evacuation guidance.
AB - When a disaster happens, evacuation in a building can be dangerous. It is well known that trained leaders have an important influence on saving human lives in emergency evacu-ation. In this paper, we present a novel distributed multi-robot system for guiding people in an emergency evacuation mission. A closed environment, which is represented by the means of Laplacian Artificial Potential Field (LAPF), is considered in the emergency evacuation scenario. A cooperative exit seeking algorithms is designed for the robots to guide evacuees by online estimating the gradient and tracing gradient-descend while maintaining a predefined formation in movement. To better deal with evacuees' behavior in emergency situations, a human panic behavior model is taken into account to the evacuation strategies. Simulations of a single robot team and multi-team are shown to demonstrate our methods for evacuation guidance.
UR - http://www.scopus.com/inward/record.url?scp=84882410443&partnerID=8YFLogxK
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U2 - 10.1109/ICCA.2013.6564911
DO - 10.1109/ICCA.2013.6564911
M3 - Conference contribution
AN - SCOPUS:84882410443
SN - 9781467347075
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 864
EP - 869
BT - 2013 10th IEEE International Conference on Control and Automation, ICCA 2013
T2 - 2013 10th IEEE International Conference on Control and Automation, ICCA 2013
Y2 - 12 June 2013 through 14 June 2013
ER -