Rivertown Fire Department has been facing significant challenges during search and rescue missions, especially when responding to emergencies in unfamiliar or complex structures. Traditional methods involving walkie-talkies for communication and physical maps for navigation have been inadequate in several critical respects, often leading to delays in victim location and extraction, as well as increased risk to the rescue personnel due to the dynamic nature of emergency environments. Moreover, only relying on audio communication or verbal instruction can become even more challenging in noisy environments