The present Self-Configuring Alarm System uses a decentralized (ad hoc or mesh) architecture where any node is capable of autonomously reporting the alarm event directly to all other nodes in the ad hoc network independent of where the alarm event occurred. In addition, the Self-Configuring Alarm System includes a plurality of autonomous output devices which function to provide an audible alarm that directs the occupants to the location of the hazard and/or provides an indication of the nature of the detected hazard or whether an indication of the hazard has been received at a Public Safety Answering Point (PSAP) that serves the dwelling or locale. The alarm networks and output networks may not be coextensive in their coverage areas.