Introduction and OverviewDisastrous nature such as earthquake, flood or tornado has a great impact on the affected area. These types of disasters cause another disaster, such as a landslide or building collapse, which can cost many lives. During this critical situation, people, especially police and firefighters, are deployed on search and rescue missions to save countless lives and, of course, in these circumstances their well-being is put into question. danger and exposed to high risk. Therefore, robots are designed to replace humans when it comes to difficult tasks involving critical situations that neither humans nor tools can accomplish. There are a variety of robot types designed to perform different tasks depending on their specialty. For example, search and rescue (SAR) robots are designed to help humans search and rescue victims of an urban disaster. According to Burion (2004), this autonomous robot must be able to help rescuers determine the location and condition of victims by having the ability of different sensors to operate in conditions with many unknown parameters. The SAR robot can be either semi-au...