A Generalized Dynamic Potential Energy Model for Multiagent Path Planning

Table 4

Relationship between speed decline rate and space occupation.

Sex	Luggage	ρ (%)	Obstacle type	Obstacle occupation μ
				0%	10%	20%	30%	40%	50%	60%	70%	80%	90%	100%
Male	None	27	Stationary obstacle (SO)	100%	98%	95%	84%	76%	61%	40%	10%	1%	0%	0%
	Bag	33		100%	93%	90%	78%	67%	52%	21%	3%	1%	0%	0%
	Knapsack	34		100%	95%	91%	80%	71%	57%	33%	7%	1%	0%	0%
	Suitcase	94		100%	61%	24%	11%	3%	2%	0%	0%	0%	0%	0%
Female	None	17		100%	96%	90%	81%	72%	54%	35%	12%	2%	0%	0%
	Bag	27		100%	92%	88%	75%	62%	47%	15%	2%	0%	0%	0%
	Knapsack	22		100%	94%	86%	78%	65%	50%	22%	3%	1%	0%	0%
	Suitcase	88		100%	35%	5%	2%	1%	1%	0%	0%	0%	0%	0%
Male	None	27	Male group (MG)	100%	95%	88%	75%	63%	49%	33%	10%	3%	1%	0%
	Bag	33		100%	90%	80%	69%	54%	38%	15%	5%	2%	0%	0%
	Knapsack	34		100%	91%	82%	71%	58%	42%	20%	6%	2%	0%	0%
	Suitcase	94		100%	40%	12%	5%	2%	1%	1%	0%	0%	0%	0%
Female	None	17		100%	90%	78%	47%	21%	7%	2%	0%	0%	0%	0%
	Bag	27		100%	85%	70%	41%	18%	5%	1%	0%	0%	0%	0%
	Knapsack	22		100%	88%	72%	42%	18%	6%	1%	0%	0%	0%	0%
	Suitcase	88		100%	40%	10%	5%	4%	3%	2%	1%	0%	0%	0%
Male	None	27	Female group (FG)	100%	95%	87%	69%	47%	30%	8%	0%	0%	0%	0%
	Bag	33		100%	92%	82%	60%	38%	15%	5%	0%	0%	0%	0%
	Knapsack	34		100%	92%	83%	65%	41%	15%	2%	0%	0%	0%	0%
	Suitcase	94		100%	33%	8%	5%	3%	0%	0%	0%	0%	0%	0%
Female	None	17		100%	94%	82%	72%	54%	41%	30%	12%	5%	0%	0%
	Bag	27		100%	88%	75%	58%	41%	29%	12%	2%	1%	0%	0%
	Knapsack	22		100%	88%	76%	60%	43%	32%	18%	2%	1%	0%	0%
	Suitcase	88		100%	35%	10%	3%	2%	1%	0%	0%	0%	0%	0%