## 4 Snake Robot Ethical Issues in SAR Response Phase
### Autonomy  
Generally, autonomy is the capacity to select one's own decisions and take free action as needed [31]. Numerous robots are trained to perform specified tasks repeatedly in a given context, this raises the question of whether we can still consider them autonomous. Is autonomy the ability to use intelligence to carry out predetermined decisions or the whole freedom to make decisions independently? Assuming robots have complete decision-making autonomy, various philosophical arguments can be made about whether robots' actions are driven by the desired goal or by the best way to achieve it. If the task of saving lives in a given situation is defined as a goal of SAR robots, will the robots take the right actions to save them? And will the selected actions of the robot be according to the regulation? There is much thought involved to use autonomous robots. Hence, the question of what level of autonomy is sufficient to use for a particular operation is evident. According to the revised autonomy and technology readiness assessment (ATRA) framework for snake robots, autonomy is divided into nine levels from remotely controlled to fully autonomous based on its guidance, navigation, and control (GNC) properties [65]. A similar framework can be extended to SAR snake robots by adding victim-robot interaction. \begin{table}
\begin{tabular}{p{42.7 pt} p{113.8 pt} p{113.8 pt} p{113.8 pt}} \hline \hline
**S. No.** & **Ethical Issues** & **Ethical Considerations** & **Brief Idea/Description** \\ \hline
1 & Autonomy & Operation level & How much autonomy each SAR operation is allowed to have? \\  & & Equality & Should we make a comparison between robots and living things in Search and Rescue situations? \\  & & Responsibility & Who is responsible for what during every level of robotic SAR operation? \\  & & Rights & What types of rights, if any, should robots have that people do? \\ \hline
2 & Society-robot relationship & Nostalgia and conservati & Will the public accept the robot for Search and Rescue? \\  & & Trust & In a SAR mission, will people trust the robot’s decision? \\  & & Expectation & Will robots behave as anticipated in SAR, or do people have irrational expectations? \\ \hline
3 & Human-robot interaction & Accountability & Who bears responsibility for careless interactions with the victim during the response phase? \\  & & Reliability and trust & Will the robot consistently behave correctly during the interaction? Will users have trust in robot interactions? Is the method and speed of interaction safe and affords the victim care? \\ \hline
4 & Data & Data safety and security & Will the disaster-related data collected be secure and safe for future use? \\  & & Accessibility & Who is allowed to access the data? \\  & & Privacy & Is it permitted for the robot to collect private and sensitive information about the victim from SAR? \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Ethical framework for robotic SAR response phase operation. At any autonomous level, this interaction can be divided into two basic levels: constrained and unconstrained. Constrained interactions are limited by the developer, unlike full autonomous interactions where decisions are taken by the robot independent of the user. Full autonomy implies that the robot's decisions are independent of external systems like the operator, developer, or stakeholder. Will cognitive technology give the same capabilities of decision-making to a robot as a human rescuer by considering the victim's feelings? There are several issues which can be brought into the robot values while developing or designing the snake robot. Hence, the following ethical considerations in autonomy are discussed below:  
* Operation level: Any SAR situation will require varying technology levels of operation, from remotely controlled to fully autonomous. The application of the level of autonomy in various contexts raises philosophical issues. For instance, is remote control of robotic operations preferable to full autonomy in a precarious situation?