Figure 4

Routing results with changing building conditions. A solid line depicts the recommended route while a dashed line highlights the actual path traversed. (a) The patient is asked to walk from node 1 to node 13. The algorithm selected the optimal route as indicated. (b) When the patient reached node 6, the edge weight between nodes 7 and 12 increased to 20 times its original value. (c) At node 6 the algorithm calculated the best alternative route. (d) The final route followed by the patient.