  Safe evacuation of people from building and outdoor environments, and search
and rescue operations, always will remain actual in course of all
socio-technological developments. Modern facilities offer a range of automated
systems to guide residents towards emergency exists. The systems are assumed to
be infallible. But what if they fail? How occupants not familiar with a
building layout will be looking for exits in case of very limited visibility
where tactile sensing is the only way to assess the environment? Analogous
models of human behaviour, and socio-dynamics in general, are provided to be
fruitful ways to explore alternative, or would-be scenarios. Crowd, or a single
person, dynamics could be imitated using particle systems, reaction-diffusion
chemical medium, electro-magnetic fields, or social insects. Each type of
analogous model offer unique insights on behavioural patterns of natural
systems in constrained geometries. In this particular paper we have chosen
leeches to analyse patterns of exploration. Reasons are two-fold. First, when
deprived from other stimuli leeches change their behavioural modes in an
automated regime in response to mechanical stimulation. Therefore leeches can
give us invaluable information on how human beings might behave under stress
and limited visibility. Second, leeches are ideal blueprints of future
soft-bodied rescue robots. Leeches have modular nervous circuitry with a rich
behavioral spectrum. Leeches are multi-functional, fault-tolerant with
autonomous inter-segment coordination and adaptive decision-making. We aim to
answer the question: how efficiently a real building can be explored and
whether there any dependencies on the pathways of exploration and geometrical
complexity of the building. In our case studies we use templates made on the
floor plan of real building.
