One of the most important applications of wireless sensor networks is building monitoring and more specically, the early detection of emergency events and the provision of guidance for safe evacuation of the building. In this pa- per, we describe a demo application that, in the event of a re inside a monitored building, uses the information from the deployed sensor network in order to nd the shortest safest path away from the emergency and provides naviga- tion guidance to the occupants (modelled by a mobile robot), in order to safely evacuate the building. For this demo, we developed our own ad-hoc robot-sensor interconnection us- ing expansion connectors and programming in a low-level language.