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A Stochastic Reachability Approach to Emergency Building Evacuation


T. A. Wood, S. Summers, J. Lygeros

IEEE Conference on Decision and Control, Florence, Italy, pp. 5722-5727

In this paper 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 finite 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 finally test the results in simulation.


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% Autogenerated BibTeX entry
@InProceedings { WooSum:2013:IFA_4471,
    author={T. A. Wood and S. Summers and J. Lygeros},
    title={{A Stochastic Reachability Approach to Emergency Building
    booktitle={IEEE Conference on Decision and Control},
    address={Florence, Italy},
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