## 2 Background
### Robots in SAR
When compared to other robots, the distributed weight and usage of obstacles for locomotion in field environments gives it an advantage. Moreover, the snake-like robots can adapt to the environment of operation [54]. Due to the promising future of snake robots, researchers from Carnegie Mellon University used a snake robot for search operations in the 2017 Mexico city earthquake [5]). On the other hand, while using robots for different social applications, it is vital to talk about how people feel about robots. This relies on various factors, including human circumstances, age, and gender. Less or no literature has been found on how people perceive robots in rescue scenarios. However, certain studies in the healthcare field revealed that older persons share the same sentiments as younger and middle-aged adults about the acceptability and usefulness of robots helping them with household and  
Figure 1: Examples and categories of various robots that could be used in SAR applications [11]. medical activities [55]. Another piece of study produced a trust scale (measurement tool) for industrial human-robot collaboration using participant feedback and suggested trust-related themes like robot performance, physical attributes, safety, etc. People's trust is largely correlated with these trust themes [56]. Hence, based on available literature it is not feasible to tell how people perceive robots during the SAR especially snake robots but people are inclined towards robots to take help. These findings suggest that in future, robots can play an important role in rescue operations, as they can help to alleviate some of the psychological stress that victims experience. In social robotics, inherent complexities in design are an object of ethical concern [57]. From an ethical (safety) standpoint, the robot's ability to locate the victim quickly and offer assistance is essential. During the process, information gathering and processing will ultimately lead to the right actions to save the victim [58]. Furthermore, taking care of victims when taking action is another crucial ethical element in SAR operations. In order to account for these ethical values, it is important to consider the features and design of the robot. Therefore, in the robotic SAR, design considerations may implicitly include or exclude ethical concerns [59]. It is observed there is difficulty in reaching all field environments with other SAR robots (UGVs). Reaching, assisting, and getting information will be challenging, and this raises ethical (safety) concerns. Furthermore, because UGVs are heavy and massive sometimes, careful operation in a delicate field environment is not practicable. Hence, the aforementioned ethical issues can be resolved using a snake robot. Additionally, while interacting with the environment, the snake robot's joint force sensors can provide information about the field environment. Last but not least, the series of elastic joints provide extra care while engaging with both the sufferer and the environment. Also, the \"Center for Robot-Assisted Search and Rescue\" (CRASAR) conducted an investigation and showed its desire for using highly articulated, potent, and multi-terrain robot snake [29]. Therefore, when compared to other UGVs (legged, tracked, wheeled), the snake robot seems like a decent option when taking into account its design and ethical advantages for SAR missions.