doi: 10.7763/IJET.2026.V18.1371
Rolling-horizon Risk-aware Search in Stochastic Mall Hazards: A Paired Multi-agent Simulation Study
Yiming Wang
- Beijing Haidian Foreign Language Tengfei School, Beijing, China
- Manuscript received September 3, 2026
- accepted October 11, 2026
- published November 9, 2026
Abstract
Dynamic indoor search couples task allocation with navigation because target accessibility and route cost can change during execution. This study compares a joint rolling Policy (P) with three reduced-capability study baselines: static distance planning (B0), open-loop arrival-time risk planning (B1), and fixed-assignment periodic path replanning (B2). P additionally combines completion-event replanning, redistribution of unfinished tasks, and failed-agent work recovery; P−B2 therefore estimates this policy bundle rather than any one component. The confirmatory benchmark comprised 1,080 paired synthetic scenarios and 4320 runs across three layouts, three hazard-spread regimes, two observation-noise levels, and team sizes of three and five. P achieved 60.9% mission success, versus 33.1%, 38.9%, and 50.2% for B0, B1, and B2. Relative to B1, P increased success by 0.220 (95% CI 0.194 to 0.247), reduced cumulative normalized exposure among 411 mutual successes (P−B1 = −0.856; 95% CI −1.231 to −0.500), and met the frozen makespan-ratio limit. Relative to B2, its success advantage was 0.107 (95% CI 0.087 to 0.128). Team-size sensitivity met a pre-specified local diminishing-return criterion but was not globally monotone. An independent rerun reproduced all 27 deterministic output columns exactly. The findings describe a reproducible success-exposure-time tradeoff in a stochastic dynamic-cost benchmark, not real-fire safety: the field is not validated fire physics, and normalized exposure is not physiological dose.
Keywords
- multi-agent task allocation
- time-dependent path planning
- stochastic hazard field
- receding horizon
- paired simulation
- computational reproducibility
How to Cite
Yiming Wang, "Rolling-horizon Risk-aware Search in Stochastic Mall Hazards: A Paired Multi-agent Simulation Study," International Journal of Engineering and Technology, vol. 18, no. 4, pp. 193-198, 2026. https://doi.org/ 10.7763/IJET.2026.V18.1371
Copyright & License
Copyright © 2026 by the authors. This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).