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While studies have demonstrated that people will follow an evacuation robot [Nayyar 2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN):1\u20136, 1, Robinette et al. 2016 11th ACM\/IEEE International Conference On:101\u2013108, 2], many practical hurdles remain. This paper uses a human subject study in a physical environment to investigate robot-guided evacuation of individuals versus small groups and considers different strategies for using robots to guide evacuees to exits. We further show that the data collected from these human subject studies can be used to train evacuee motion models which accurately predict the movement of the evacuee (9.9\u00a0cm mean error) while following the robot. We further show that this model can be used to predict the motion of an evacuee in a different environment and show that the accuracy of our model is superior to the more standard social forces model (SFM). The results from this research will contribute to the creation of evacuation robots and to the modeling and prediction of evacuee behavior.<\/jats:p>","DOI":"10.1007\/s12369-025-01259-w","type":"journal-article","created":{"date-parts":[[2025,5,16]],"date-time":"2025-05-16T05:05:18Z","timestamp":1747371918000},"page":"3155-3171","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Evacuee Behavior Modeling during Robot-Guided Evacuations"],"prefix":"10.1007","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5102-5756","authenticated-orcid":false,"given":"Mollik","family":"Nayyar","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alan R.","family":"Wagner","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,5,16]]},"reference":[{"key":"1259_CR1","doi-asserted-by":"publisher","first-page":"105121","DOI":"10.1016\/j.ssci.2020.105121","volume":"136","author":"CN van der Wal","year":"2021","unstructured":"van der Wal CN, Robinson MA, Bruine de Bruin W, Gwynne S (2021) Evacuation behaviors and emergency communications: an analysis of real-world incident videos. 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Fire Saf J 9(3):267\u2013279","journal-title":"Fire Saf J"}],"container-title":["International Journal of Social Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s12369-025-01259-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s12369-025-01259-w","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s12369-025-01259-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,12,24]],"date-time":"2025-12-24T08:41:04Z","timestamp":1766565664000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s12369-025-01259-w"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,5,16]]},"references-count":59,"journal-issue":{"issue":"12","published-print":{"date-parts":[[2025,12]]}},"alternative-id":["1259"],"URL":"https:\/\/doi.org\/10.1007\/s12369-025-01259-w","relation":{},"ISSN":["1875-4791","1875-4805"],"issn-type":[{"type":"print","value":"1875-4791"},{"type":"electronic","value":"1875-4805"}],"subject":[],"published":{"date-parts":[[2025,5,16]]},"assertion":[{"value":"22 April 2025","order":1,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"16 May 2025","order":2,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"Pennsylvania State University Internal Review Board (IRB) approval was obtained prior to the start of experiments. Informed consent was obtained from all participants before participation.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical Approval"}},{"value":"Portions of this work were presented at IEEE International Symposium on Safety, Security,and Rescue Robotics (SSRR2023).","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Original Contribution"}},{"value":"The authors have no competing interests to declare that are relevant to the content of this article.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing Interests"}}]}}