Rushing inside of a burning building, fire fighters battle intense smoke, heat, flame, poisonous gases, collapse from below and collapse from above. In their heroic efforts to save lives and preserve property, tragically, many fire fighters die every year. When a fire fighter goes down in a burning building, commanders have limited resources to localize fire suppression and coordinate rescue. They cannot suppress the whole building at once nor rescue a fallen fire fighter whose location is unknown. Fire commanders report that 40% of fire fighters who are killed while fighting a fire could have been saved if the commanders only knew where the firefighters were located.