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. 2012 Nov 6;12(11):15009–15035. doi: 10.3390/s121115009

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© 2012 by the authors; licensee MDPI, Basel, Switzerland.

This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/).

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Figure 13. — Maps of the second (a) and first (b) floors of the building with fire conditions and guiding information at time t₁. The trajectory followed by FIREMAN1 while escaping from the building is also shown.