In general, the first thing that has to be assumed is that not everyone has knowledge about the environment or where there are and aren't hazards. From this assumption we can create three types of agents. The first type is a trained leader, this agent knows about the environment and is able to spread knowledge to other agents so they know how to exit from an environment. The next type of agent is an untrained leader, this agent does not know about the environment, however, as the agent explores the environment and gets information from other types of leaders, the agent is able to spread the knowledge about the environment. The last type of agent is a follower, this type of agent can only take information from other leaders and not be able to share the information with other agents.