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A Stochastic Reachability Approach to Emergency Building Evacuation


T. A. Wood

Master Thesis, HS12 (10107)

In this work we introduce a framework for real-time path planning for emergency building evacuation based on the theory of stochastic reachability with random sets. We consider the problem of a single human in a building escaping from a propagating dangerous contamination. We model the human and the hazard as stochastic processes. We formulate the task as a nite horizon stochastic reach-avoid problem in which the objective is to maximise the probability of the human leaving the building while avoiding contact with the hazard within a certain time. We apply dynamic programming to solve the reach-avoid problem and obtain an optimal control policy for the human and a corresponding value for the probability of success. We then test the results in simulation. Furthermore we extend the framework by applying more realistic actuation methods leading to a open problem in which decision are made for subsets of the state space.


Type of Publication:

(12)Diploma/Master Thesis

S. Summers

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2013:IFA_4370
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