1. A system for guidance and navigation in a building, comprising: a module for obtaining locations of one or more people in the building; a module for selecting a route based on the locations in a building; a module for processing the route into waypoints and segments; a module for associating semantic information with waypoints; a module for processing the waypoints and segments into navigation commands formed from a sentence template; and a module for providing and associating audio tones with waypoints; and wherein: the system comprising the modules is implemented on non-transitory computer readable media; and the audio tones are for distinguishing waypoints from one another and pulse rates for indicating various distances of the recipient of the audio from a waypoint.