  Structure fires are responsible for the majority of fire-related deaths
nationwide. In order to assist with the rapid evacuation of trapped people,
this paper proposes the use of a system that determines optimal search paths
for firefighters and exit paths for civilians in real time based on
environmental measurements. Through the use of a LiDAR mapping system evaluated
and verified by a trust range derived from sonar and smoke concentration data,
a proposed solution to low visibility mapping is tested. These independent
point clouds are then used to create distinct maps, which are merged through
the use of a RANSAC based alignment methodology and simplified into a
visibility graph. Temperature and humidity data are then used to label each
node with a danger score, creating an environment tensor. After demonstrating
how a Linear Function Approximation based Natural Policy Gradient RL
methodology outperforms more complex competitors with respect to robustness and
speed, this paper outlines two systems (savior and refugee) that process the
environment tensor to create safe rescue and escape routes, respectively.
