Abstract: An integrated hardware and software system for locating, disposing, and directing resources and personnel on an emergency scene. Such a system includes a set of wearable tags, each an accelerometer, a gyroscope, or a magnetometer; and a transmitter. Hubs, paired with tags, receive and process data. Servers receive the data, and a Simultaneous Locating and Mapping Module processes it to compile a map of at least a portion of the emergency scene. A command device, adapted to receive input from the servers can be provided to process the server input and to provide communications to emergency scene personnel, to control elements having emergency scene responsibility, and storing data in a data repository. A specialized tag can include a ranging unit (radar, etc.), and data from that tag can be used to create a map of the emergency scene, showing room features and responder locations.