“…When fighting fires with limited visibility, in buildings with complex layouts, it is quite difficult to determine the focus of a fire or the location of an incident (Mufeng et al, 2021). Finding their way back and evacuating people who are in the danger zone (Ryzhenkov et al, 2020;Dadashi Haji et al, 2022) is an even greater problem, compounded by the physical fatigue of rescuers and the extreme psychological and emotional strain (Asif et al, 2022). Therefore, firefighters not only have difficulty in finding victims but are also faced with danger themselves.…”