Introduction and Overview Disastrous nature such as earthquakes, floods or tornadoes have a great impact on the affected area. This type of catastrophe causes another disaster, such as a landslide or collapsed building, which can cause many casualties. During this critical situation, people, especially police and firefighters, are deployed on search and rescue missions to save countless lives and of course, in the circumstance their well-being is put at high risk and exposed to danger. Therefore, robots are built to replace humans when it comes to difficult tasks and engaging in critical situations that neither humans nor tools can do. They are various types of robots built to perform different tasks depending on their specialty. For example, search and rescue (SAR) robots are designed to assist humans in searching and rescuing victims of urban disasters. According to Burion (2004) this autonomous robot must be able to help rescuers determine the location and condition of victims by having the diverse ability of sensors to operate in conditions with many unknown parameters. The SAR robot can be semi-au...