Abstract
It is an important issue to make a disaster reduction plans. In this paper, we focus on evacuation guidance and propose a modeling and control method of swarm based on vector field. The model reflects some features of evacuee for example field of view and evacuee group. By giving the desired vector field that indicates the safe route for evacuation, the guidance operators are optimally distributed. The number of guidance operators is minimized by the degree of contribution. The proposed modeling and control method of swarm for evacuation guidance is applied to swarm robots and the effectiveness is evaluated by the guide experiments using swarm robots.
