Performance evaluation of pedestrian navigation algorithms for city evacuation modeling

Simulation is a powerful tool to study the behavior of physical, environmental, and social systems under different conditions. Evacuation simulation can be used to estimate the required time for people to exit a building or evacuate disaster exposed regions. While building evacuation simulation has seen significant study, city evacuation simulation is less developed. For evacuation simulations using Agent-Based Models, the characteristics of the underlying navigation algorithms are important in the overall efficiency of the simulation. In some disasters, e.g. earthquakes, evacuation takes place after the main event. This means evacuating and navigating in an environment with damaged and collapsed buildings and bridges and obstructed roads and paths. Furthermore, possible aftershocks or induced phenomena, such as landslide and liquefaction, can render a more dynamic situation for evacuees where the physical environment changes through time. Evacuees, modeled as agents, require a reliable algorithm for their navigation in these complex dynamic environments. A reliable navigation algorithm should be capable of handling obstacles with different physical properties and performing through dynamic environments. In this study, a framework is introduced to evaluate the relative performance of agent navigation algorithms. The main indices of this framework are Convergence, Optimality, Precision, and Efficiency (COPE). The COPE framework is applied on a set of robot navigation algorithms (the Bug Family) to assess their suitability to be used as pedestrian navigation algorithms.