Using Virtual Reality to Simulate Human-Robot Emergency Evacuation Scenarios Alan R. Wagner1Colin Holbrook2Daniel Holman2Brett Sheeran1Vidullan Surendran1 Jared Armagost1Savanna Spazak1Yinxuan Yin1

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Using Virtual Reality to Simulate Human-Robot Emergency Evacuation Scenarios

Alan R. Wagner,1Colin Holbrook, 2Daniel Holman, 2Brett Sheeran, 1Vidullan Surendran, 1

Jared Armagost, 1Savanna Spazak, 1Yinxuan Yin, 1

1The Pennsylvania State University

University Park, PA 16802

2The University of California, Merced

Merced, CA 95343

alan.r.wagner@psu.edu, cholbrook@ucmerced.edu, dholman@ucmerced.edu, bjs6056@psu.edu, vus133@psu.edu,

jla5715@psu.edu, szs685@psu.edu, yzy5430@psu.edu

Abstract

This paper describes our recent effort to use virtual reality

to simulate threatening emergency evacuation scenarios in

which a robot guides a person to an exit. Our prior work

has demonstrated that people will follow a robot’s guidance,

even when the robot is faulty, during an emergency evacua-

tion. Yet, because physical in-person emergency evacuation

experiments are difﬁcult and costly to conduct and because

we would like to evaluate many different factors, we are mo-

tivated to develop a system that immerses people in the sim-

ulation environment to encourage genuine subject reactions.

We are working to complete experiments verifying the valid-

ity of our approach.

We seek to build robots capable of quickly and effectively

evacuating people during an emergency. This goal, however,

presents a variety of challenges such as general robotics

perception and navigation issues, designing robots capable

of effectively communicating evacuation directions (Robi-

nette, Wagner, and Howard 2014), recognizing the ethical

implications of these design decisions (Wagner 2021), and

understanding how people will respond to guidance by a

robot during an emergency (Robinette et al. 2016). Our prior

work has demonstrated that during emergencies people tend

to follow the robot regardless of the prior mistakes it has

made (Robinette et al. 2016; Nayyar et al. 2020). Although

this work has deﬁnitely demonstrated that evacuees have a

tendency to overtrust an emergency evacuation robot, many

factors were left unexplored. For instance, the impact that

factors such as baseline attitudes of the participant towards

automation, the reason for the emergency and the anthropo-

morphism of the robot have on the decision making of the

evacuee all remain speculative. It is also unclear if and how

these factors inﬂuence an evacuee’s trust in the robot.

Moreover, running physical, in-person emergency evacu-

ation experiment is a daunting task (Wagner 2021). One im-

portant and challenging aspect of robot-guided emergency

evacuation research is the need to create as realistic an

emergency as possible. A large body of evidence suggests

that emergencies activate ﬁght-or-ﬂight responses which

strongly inﬂuence how evacuees make decisions (Jansen

et al. 1995; Klein, Calderwood, and Clinton-Cirocco 1986).

Presented at the AI-HRI Symposium at AAAI Fall Symposium Se-

ries (FSS) 2022

The ﬁght-or-ﬂight responses are only triggered when the

subject believes that they may be in danger. Yet generat-

ing ﬁctitious, yet convincing, emergencies is difﬁcult and

must only be undertaken with care. In real-world experi-

ments sham emergencies could put the subject at risk if they

panic. On the other hand, if the emergency is not convinc-

ing then the validity of the data is uncertain. Moreover, for

real-world experiments, creating a convincing sham emer-

gency is difﬁcult given that subjects know that they are par-

ticipating in an experiment. In the past we have, for exam-

ple, used smoke machines to ﬁll rooms and hallways with

smoke in order to make the emergency convincing (Robi-

nette et al. 2016). But creating convincing sham emergen-

cies that do not actually endanger the participant and are

acceptable to an institutional review board is challenging.

Because of these challenges we are currently developing a

novel Virtual Reality (VR) system for evaluating different

human-robot emergency evacuation paradigms.

Process Overview

Our process for conducting emergency evacuation experi-

ments in VR begins when human subjects enter the lab. Af-

ter a short brieﬁng by the experimenter, a physical robot (see

for example Figure 1) asks the subject a series of yes/no

questions to demonstrate its competency and to allow partic-

ipants a period of time in which to become familiar with the

robot as a physical agent. The subject interacts with the robot

by speaking into a lavalier microphone and responding with

a ”yes” or ”no” to the robot’s questions. The robot directs the

subject to sit in a specialized seat that allows them to swivel

in a circle while the experimenters outﬁt them with the VR

equipment and special foot interfaces (Cybershoes) that al-

low them to walk through the virtual environment. When

the headset is placed on the participant they ﬁnd themselves

sitting in a virtual replica of same physical room complete

with the items in the room and the robot, in order to maxi-

mally ground the virtual experience as real. The robot then

helps the subject become accustomed to walking in the vir-

tual world. Once the subject is able to walk, the robot guides

them on a tour of a series of university buildings.

The VR environment consists of four different locations.

The initial location is a replica of the physical location where

the experiment is taking place.

arXiv:2210.08414v1 [cs.RO] 16 Oct 2022

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UsingVirtualRealitytoSimulateHuman-RobotEmergencyEvacuationScenariosAlanR.Wagner,1ColinHolbrook,2DanielHolman,2BrettSheeran,1VidullanSurendran,1JaredArmagost,1SavannaSpazak,1YinxuanYin,11ThePennsylvaniaStateUniversityUniversityPark,PA168022TheUniversityofCalifornia,MercedMerced,CA95343alan.r.wagner@...

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Using Virtual Reality to Simulate Human-Robot Emergency Evacuation Scenarios Alan R. Wagner1Colin Holbrook2Daniel Holman2Brett Sheeran1Vidullan Surendran1 Jared Armagost1Savanna Spazak1Yinxuan Yin1

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