# Emergency Planning for UAV-Controlled Crowd Evacuations
## 2 Related Work
### Guided Crowd Evacuation  
In a guided evacuation, a leader or leaders (sound systems, robots, humans, etc.) guide the evacuation process. A study using such an approach [8] developed a cellular automaton crowd route choice (CACR) model with audio alarms. The study presented in [9] presented a different guided evacuation approach. However, none of these studies focused on utilization of UAV for guiding evacuees. Nonetheless, to provide a glimpse of the relevant literature, we present below related studies on guided evacuation with a single human leader, multiple human leaders, a single robot leader, and multiple robot leaders.  
\begin{table}
\begin{tabular}{c c c c c c c c} \hline \hline \multirow{2}{*}{**Ref.**} & **No. of** & **Crowd** & **Guidance Model** & **Simulation Approach/Tool** & **Environment Model** &
\begin{tabular}{c} **Performance** \\ **Measure** \\ \end{tabular} & **Leader Role** \\ \hline
[4] & 10–100 & NA & Unguided & EXODUS, Unity &
\begin{tabular}{c} Indoor single floor \\ building—1 exit \\ \end{tabular} & Evacuation time & NA \\ \hline
[7] & 500–2500 & NA & Unguided & NA & Indoor building & Survival rate & NA \\ \hline
[8] & 70 & Micro & Sound System & CACR & Indoor gymsmaum—4 exits & Evacuation time & Give directions \\ \hline
[9] & Large-scale & Micro & Multiple robots & Real world & Indoor building—2 exits & NA & Guide pedestrians \\ \hline
[10] & Multiple & Micro & 1–8 human leaders & NA &
\begin{tabular}{c} Indoor subway \\ station—2 exits \\ \end{tabular} & Evacuation time, number of evacuees & Give directions \\ \hline
[11] & 10–70 & Micro & 1–6 human leaders &
\begin{tabular}{c} Simulation \\ based on 2D CA \\ \end{tabular} & Indoor dance hall—2 exits & Evacuation time & Guide pedestrians \\ \hline
[12] & 20–400 & Micro & 4 human leaders & NA &
\begin{tabular}{c} Indoor building single \\ floor—1 exit \\ \end{tabular} & Agent speed, evacuation time & Guide pedestrians \\ \hline
[13] & Up to 141,000 NA &
\begin{tabular}{c} Multiple \\ autonomous robots \\ \end{tabular} & MengeRos & Indoor & NA & Guide pedestrians \\ \hline
[14] & 70 & Micro & Single robot & CA & Indoor building—2 exits & Evacuation time & Guide pedestrians \\ \hline
[15] & Large-scale & NA &
\begin{tabular}{c} Multiple \\ cooperative robots \\ \end{tabular} & NA & Indoor mall—2 exits & Evacuation time & Guide pedestrians \\ \hline
[16] & NA & Micro & Quadcopter & \
\begin{tabular}{c} Unity3D \\ game engine \\ \end{tabular} & Indoor building & Evacuation time &
\begin{tabular}{c} Locate dangerous \\ areas and \\ guide pedestrians \\ \end{tabular} \\ \hline
[17] & Large-scale & Hybrid & Mobile robot &
\begin{tabular}{c} Numerical \\ gradient descent \\ \end{tabular} & Indoor building & NA & NA \\ \hline
[18] & Large-scale & Macro & Multi-UAV & NA & \
\begin{tabular}{c} Indoor factory 400 \(\times\) 400 \\ mrectangle—1 exit \\ \end{tabular} & NA &
\begin{tabular}{c} UAV scheduling \\ in a polluted area \\ \end{tabular} \\ \hline
[19] & Multiple & NA & Multi-UAV & Real world & Outdoors & NA & Guide pedestrians \\ \hline
[20] & NA & NA & Multi-UAV & Real world & Outdoors near the sea & NA & Guide pedestrians \\ \hline
[21] & Multiple & NA & Multi-UAV & Real world & Outdoors & NA & Guide pedestrians \\ \hline \hline \end{tabular}
\end{table}
Table 1: Summary of literature focusing on guided and unguided crowd evacuation.