Aspects and embodiments disclosed herein include a computational approach to automatically generate a wayfinding design for a given environment. To use aspects and embodiments of the disclosed computational approach, a designer specifies all the navigation scenarios likely to be taken by the users. A wayfinding design is then generated to accommodate the needs of all the scenarios while considering a number of desirable factors relevant to the navigation experience and management convenience. Through agent-based simulations, the locations of the wayfinding signs are further refined by considering visibility and robustness with respect to the possible mistakes made by the users throughout their navigation. After generating a wayfinding design, the designer can gain further insights of the design by visualizing the accessibility of a destination from any other locations in the environment and remove any blind zones by adding more signs and re-triggering the optimization.