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Regarding mobility, health conditions and personal preferences, evacuees can be categorized into different classes in realistic environments. Previous emergency navigation algorithms that direct evacuees with a single decision rule cannot fulfil civilians' distinct service requirements and increase the likelihood of inducing destructive crowd behaviours, such as clogging, pushing and trampling, due to diverse mobility. This paper explores a distributed emergency navigation algorithm thatdoi:10.3390/fi6020203 fatcat:d5sha6elabehdfdbp6hp5jr4dm