## 3 Snake Robot in SAR  
The emergency management framework divides emergency events into four phases [60]. Figure 2 illustrates the four phases of operation: (1) Mitigation, (2) Preparedness, (3) Response, and (4) Recovery. At each stage, various parties are involved including stakeholders, civilians, first responders, and technology, and all are dependent at every phase of the operation. Authorities and stakeholders will play a crucial role in handling the situation by providing funding, regulatory frameworks, operational priorities, and permissions. First responders will use technology to save the lives of citizens in a disaster [41]. When considering the SAR scenario depicted in Figure 3, various incidents i.e., a building collapse, fire, etc., occurring as a consequence of a calamity, there are various categories of people affected by disasters, including children, physically challenged individuals, elderly, etc. In this scenario, first responders are supposed to handle the calamity by using cutting-edge robotics, and cognitive technologies to mitigate the crisis. Current teleoperated robots enable rescue teams to access harsh and inaccessible areas by manipulating and examining the collapsed buildings and provide comprehensive data by using different sensors (i.e., thermal, seismic etc.). And, with the use of haptic technology rescue interventions will get benefit with help of sense of touch and motion [61]. For applications like SAR in addition to the above-mentioned features, robots must have multiple autonomy levels, high mobility and robustness, and adaptability and environment compliance [62] like a biological snake. Certainly, snake robots can act like multi-agent systems (i.e., task sharing, distributed computing, parallelisation and synchronisation) which is having high reachability, decomposition capability, and multiple gait patterns. Further, distributed weight provides the benefit of not adding concentrated weight to delicate objects in a destroyed or disastrous environment. Also, snake robots are capable of exploiting (utilising) the existing environment (i.e., obstacles, poles, stairs, etc.) [63; 64; 65; 66; 67] to propel forward. Unlike traditional UGVs, the robot can act as a whole of the robot. In this case, the robot can act as a whole of the robot. In this case, the robot can act as a whole of the robot. the snake robots' different gait patterns enable a variety of tasks [68] and can manipulate the obstacle [69] without any additional components. Further, a modular snake robot can be deployed by different means like drones, and small UGVs; customised modules can be attached or detached from different sections of the robot to effectively perform specialised tasks. These different features give snake robots various advantages to be used in SAR. Hence, a robot inspired by biological snakes is considered a promising choice due to its robust structure and environmental compliance. Snake robot locomotion can be achieved using multiple actuators (rigid or elastic) driving different segments of the robot's body. The configuration of the robot can be varied to achieve different gait patterns. The power for the robot can be given from an external power cable or batteries or fuel cells. Different levels of controllers (low-level and high-level) can be used to achieve locomotion in different terrains [70]. For this traditional or machine learning control techniques [71] can be employed to move autonomously and adapt to its environment. Snake rescue robots can be used to provide basic care and comfort by delivering food, water, and other supplies while interacting with trapped survivors. This can be achieved by combining locomotion with grasping [69]. Additionally, they can be used to communicate with survivors, enabling them to keep rescuers updated on their situation and share information about it with them. Furthermore, snake rescue robots can be fitted with sensors and cameras that can be used to evaluate the health of survivors and give rescuers access to real-time environmental data.