Multi-agent based path planning for first responders among moving obstacles

• We investigate four navigation cases for first responders among moving obstacles.
• Develop a multi‐agent system to support path finding among moving obstacles
• Develop a data model to manage data for multiple responders with multiple tasks
• Provide a set of algorithms for different types of path panning problems
• Define a multi‐objective function to minimize the delays caused by moving obstacles

Natural or man-made disasters can cause different kinds of moving obstacles (e.g., fires, plumes, floods), which make some parts of the road network temporarily unavailable. After such incidents occur, responders have to go to different destinations to perform their tasks in the environment affected by the disaster. Therefore they need a path planner that is capable of dealing with such moving obstacles, as well as generating and coordinating their routes quickly and efficiently. In this paper, we present a novel approach for using a multi-agent system for navigating one or multiple responders to one or multiple destinations in the presence of moving obstacles. Our navigation system supports information collection from hazard simulations, spatio-temporal data processing and analysis, connection with a geo-database, and route generation in dynamic environments affected by disasters. We design and develop a set of software geospatial agents that assist emergency actors in dealing with the spatio-temporal data required for emergency navigation, based on their roles in the disaster response. One of the key components of the system is the path planning module, which combines the modified A* algorithm, insertion heuristics, and auction algorithm to calculate obstacle-avoiding routes for multiple responders with multiple destinations. A spatial data model is designed to support the storage of information about the tasks and routes produced during the disaster response. Our system has been validated using four navigation cases. Some preliminary results are presented in this paper and show the potential of the system for solving more navigation cases.