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 roadmapbased 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.
I. INTRODUCTIONSimulating large numbers of agents performing complex tasks that include interacting with each other and the environment is a difficult problem with applications in robotics, computer graphics and animation. Effective simulations could be used to study and train for emergency or disaster scenarios including civilian crowd control, evacuation of a building and many other important training situations. Behavioral based simulations allow for someone to study the result of agents performing a certain behavior, without having to see this behavior in practice. In the case of evacuation planning, the evacuation of an environment can be studied with different behavioral, environmental and interactive conditions. There has been much work in simulating large numbers of agents performing a basic evacuation strategy. However, there is little that incorporates interaction with control or directing agents which may influence how the evacuating agents perform the evacuation. An important focus of this work is to develop and study such control behaviors, where one group of agents actively tries to control or direct the movement of another group of agents.The overall goal is to develop an interactive planning and training tool for crowd-based behaviors of large numbers of interacting agents that supports a variety of situations. Realistic simulations for evacuation planning must consider the behaviors of the (groups of) agents and how these entities interact with each other. The behavior of agents and groupings of agents can also add a level of accuracy and detail, which is necessary when studying real world situations. Our focus on the control behaviors allows us to consider some aspects of evacuation scenarios that have so far not been extensively studied.