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Path selection is one of the critical aspects in emergency evacuation. In a fire scene, how to choose an optimal evacuation path for firefighters is a challenging aspect. In this paper, firstly, a dynamic triangular network model formed by robots is presented. On the basis of this model, directed graph is established in order to calculate direct paths. Then multiparameter information fusion which includes smoke density, temperature and oxygen density is discussed in detail for environmentdoi:10.14569/ijarai.2012.010701 fatcat:wj2h7fzltrejhfkcrfkx5wg7j4