Regarding mobility, health conditions and personal preferences, evacuees can be categorized into different classes in realistic environments. Previous emergency navigation algorithms that direct evacuees with a single decision rule cannot fulfil civilians’ distinct service requirements and increase the likelihood of inducing destructive crowd behaviours, such as clogging, pushing and trampling, due to diverse mobility. This paper explores a distributed emergency navigation algorithm that employs the cognitive packet network concept to tailor different quality of service needs to different categories of evacuees. In addition, a congestion-aware algorithm is presented to predict the future congestion degree of a path with respect to the observed population density, arrival rate and service rate of each route segment. Experiments are implemented in a simulated environment populated with autonomous agents. Results show that our algorithm can increase the number of survivors while providing improved quality of service.
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