R.GAYATHRI, S.JOSIPHUS, V.KALAIVANI and K.KAVITHA (2018) “An Efficient path planning for Emergency Navigation with Distributed Wireless Sensor Networks ”, International journal of intellectual advancements and research in engineering computations, 6(2), pp. 1736–1742. doi: 10.61096/ijiarec.v6.iss2.2018.1736-1742.