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Evacuation for a firefighter in complex fire scene is challenge problem. In this paper, we discuss a firefighter’s evacuation decision making model in ad hoc robot network on fire scene. Due to the dynamics on fire scene, we know that the sensed information in ad hoc robot network is also dynamically variance. So in this paper, we adapt dynamic decision method, Markov decision process, to model the firefighter’s decision making process for evacuation from fire scene. In firefighting decision making process, we know that the critical problems are how to define action space and evaluate the transition law in Markov decision process. In this paper, we discuss those problems according to the triangular sensors situation in ad hoc robot network and describe a decision making model for a firefighter’s evacuation the in the end. KeywordsAd hoc robot network, information fusion, directed graph, evacuation for a firefighter)

An Evacuation Decision Making Model for Firefighters in Ad Hoc Robot Network