Abstract: 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.
