Distributed multi-robot evacuation incorporating human behavior

Shubo Zhang, Yi Guo

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

7 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2013 10th IEEE International Conference on Control and Automation, ICCA 2013
Pages864-869
Number of pages6
DOIs
StatePublished - 2013
Event2013 10th IEEE International Conference on Control and Automation, ICCA 2013 - Hangzhou, China
Duration: 12 Jun 201314 Jun 2013

Publication series

NameIEEE International Conference on Control and Automation, ICCA
ISSN (Print)1948-3449
ISSN (Electronic)1948-3457

Conference

Conference2013 10th IEEE International Conference on Control and Automation, ICCA 2013
Country/TerritoryChina
CityHangzhou
Period12/06/1314/06/13

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