There has been some research by German students about pedestrian routing. They (Nathanael Lang & Jakob Miksch) gave both a presentation at FOSSGIS 2016 (http://www.fossgis-konferenz.de/2016/videos/) unfortunately there presentations are in German. I guess you might be able to find some papers by them in English. I remember Frederik Ramm posting some links on one of the many OSM mailing lists about their work.
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