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This paper surveys recent research on the use of sensor networks, communications and computer systems to enhance the human outcome of emergency situations. Areas covered include sensing, communication with evacuees and emergency personnel, path finding algorithms for safe evacuation, simulation and prediction, and decision tools. The systems being considered are a special instance of real-time cyber-physical-human systems that have become a crucial component of all large scale physical infrastructures such as buildings, campuses, sports and entertainment venues, and transportation hubs.