Evacuee routing algorithms in emergency typically adopt one single criterion to compute desired paths and ignore the specific requirements of users caused by different physical strength, mobility and level of resistance to hazard. In this paper, we present a quality of service (QoS) driven multi-path routing algorithm to provide diverse paths for different categories of evacuees. This algorithm borrows the concept of Cognitive Packet Network (CPN), which is a flexible protocol that can rapidly solve optimal solution for any user-defined goal function. Spatial information regarding the location and spread of hazards is taken into consideration to avoid that evacuees be directed towards hazardous zones. Furthermore, since previous emergency navigation algorithms are normally insensitive to sudden changes in the hazard environment such as abrupt congestion or injury of civilians, evacuees are dynamically assigned to several groups to adapt their course of action with regard to their on-going physical condition and environments. Simulation results indicate that the proposed algorithm which is sensitive to the needs of evacuees produces better results than the use of a single metric. Simulations also show that the use of dynamic grouping to adjust the evacuees' category and routing algorithms with regard for their on-going health conditions and mobility, can achieve higher survival rates.
 This paper surveys recent research on the use of sensor networks, communications and computer systems to enhance the human outcome of emergency situations. Areas covered include sensing, communication with evacuees and emergency personnel, path finding algorithms for safe evacuation, simulation and prediction, and decision tools. The systems being considered are a special instance of real-time cyber-physical-human systems that have become a crucial component of all large scale physical infrastructures such as buildings, campuses, sports and entertainment venues, and transportation hubs. In many critical applications such as airport operations (for capacity planning), military simulations (for tactical training and planning), and medical simulations (for the planning of medical treatment and surgical operations), it is very useful to conduct simulations within physically accurate and visually realistic settings that are represented by real video imaging sequences. Furthermore, it is important that the simulated entities conduct autonomous actions which are realistic and which follow plans of action or intelligent behavior in reaction to current situations. We describe the research we have conducted to incorporate synthetic objects in a visually realistic manner in video sequences representing a real scene. We also discuss how the synthetic objects can be designed to conduct intelligent behavior within an augmented reality setting. The paper discusses both the computer vision aspects that we have addressed and solved, and the issues related to the insertion of intelligent autonomous objects within an augmented reality simulation. Computer based analysis of evacuation can be performed using one of three different approaches, namely optimization, simulation and risk assessment. Furthermore, within each approach different means of representing the enclosure, the population and the behaviour of the population are possible. The myriad of approaches that are available has led to the development of some 22 different evacuation models. This review attempts to describe each of the modelling approaches adopted and critically review the inherent capabilities of each approach. The review is based on available published literature. Research on demining includes many different aspects, and in particular the design of efficient and intelligent strategies for (1) determining regions of interest using a variety of sensors, (2) detecting and classifying mines, and (3) searching for mines by autonomous agents. This paper discusses strategies for directing autonomous search based on spatio-temporal distributions. We discuss a model for search assuming that the environment is static, except for the effect of identifying mine locations. Algorithms are designed and compared for autonomously directing a robot, in the case where a single search engine carrying a single sensor.