Table 1: Average elapsed escape time of each scenario.

Fire Scenario	Without Navigation	With Navigation	p-value
Fire Scenario 1	82.94 s	43.12 s	0.00
Fire Scenario 2	37.18 s	28.71 s	0.01
Fire Scenario 3	46.18 s	46.77 s	0.86
Total	166.29 s	118.59 s	0.00