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403PoyntzAvenue,SuiteBManhattan,KS66502USA+1.785.770.8511(SBIR)grantbytheUnitedStatesNationalScienceFoundation.WewouldliketothankRolfJensenandAssociatesfortheirassistancewithtestingandothersuggestionsthathelpedguidethedevelopmentofthesimulator.Inaddition,wewouldliketothankallofthebetatesterswhocontributedfeedbackonthewebforumsandviaemail.ivTableofContentsDisclaimer.............................................................................................................................iiAcknowledgements.............................................................................................................iiiTableofContents................................................................................................................ivFigures.................................................................................................................................viOverview.............................................................................................................................1ExampleProblemIMOTest10.......................................................................................1Geometry............................................................................................................................3GeometrySubdivision.....................................................................................................3OpenSpace(Room)....................................................................................................4Doors(Connecting).....................................................................................................4Stairs............................................................................................................................4Doors(Exit)..................................................................................................................5PathGeneration..................................................................................................................6LocallyQuickest..................................................................................................................8BacktrackPrevention..........................................................................................................8OccupantMotioninSteeringMode...................................................................................9MaximumVelocityandAcceleration..............................................................................9Steering...........................................................................................................................9CollisionAvoidance/Response......................................................................................11ResolvingMovementConflicts.....................................................................................11OccupantMotioninSFPEMode.......................................................................................13SFPEModeParameters.................................................................................................13MovementthroughOpenSpace..................................................................................14MovementthroughStairs.............................................................................................14MovementthroughDoors............................................................................................14CollisionHandling/Response........................................................................................15ResolvingMovementConflicts.....................................................................................15Elevators............................................................................................................................16SolutionProcedure...........................................................................................................18vFileFormat........................................................................................................................19References.......................................................