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In this study, an evacuation simulation was performed to analyze the appropriate number of robots and occupants, which are major parameters required to develop a fire evacuation scenario for an evacuation device. When a horizontal evacuation aid robot was used, the evacuation time decreased and later increased with increasing number of robots. Further, the time determined by the space of the nursing home and the number of occupants. To properly utilize the horizontal evacuation device, it is assumed that the path of the robot is closed and that the fire brigade can enter through the window and stairs.

Analysis of an Evacuation Simulation for the Development of Scenarios for Fire Evacuation Support Devices