Recent paper on using robots to guide the movement of groups of people:

Anais Garrell and Alberto Sanfeliu, "Cooperative Social Robots to Accompany Groups of People," The International Journal of Robotics Research, published 4 September 2012. [link]

Dear colleagues, This document describes the revised set of fixed rules used currently by our pedestrians. The rules are presented in the form state-action and I expect this format is easily managed to incorporate the Game Theory based rules prepared by Enrique and Raj. I'm sending the Netlogo program directly to your email addresses. Let me know if you need any further explanation.