## 2 Background
### Ethical Issues with Robotic Applications  
Robot ethics is a developing multidisciplinary study that aims at comprehending the ethical implications and effects of robotic technology, particularly autonomous robots. It is generally placed at the nexus of applied ethics and robotics. Robot ethics are sometimes known as \"roboethics\". Regarding robotics, in general, the Three Laws of Robotics (often shortened to The Three Laws or known as Asimov's Laws) pioneered this field in 1942 [23]. The Three Laws, quoted from the \"Handbook of Robotics, 56 th Edition, 2058 A.D.\", are as follows [24]:  
* First Law. A robot may not injure a human being or, through inaction, allow a human being to come to harm. * Second Law. A robot must obey the orders given to it by human beings except where such orders would conflict with the First Law. * Third Law. A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. Only the robots themselves were subject to these laws, which constituted a type of machine ethics. In 1985, [PERSON] updated the above laws by adding the Zeroth Law [25; 26], which reads:  
* Zeroth Law. A robot may not injure humanity, or through inaction, allow humanity to come to harm. These set of laws are considered fictional and not taken as real legal principles [27]. However, there have been significant technological advances since these laws were published. Today, our ideas of what robots may look like and how humans interact with them have greatly changed. To mitigate the unintended consequences of robotic behaviour, some expanded or new implicit robotic laws have been proposed in [26]. In 2002, [PERSON] coined the term 'roboethics' which establishes ethical standards for the design, production, and use of robots. It is important to bring both human (programmers, designers, or users) and robot behaviour into regulations so that it can be controlled by law and code. [PERSON] et al. [28], distinguished code or law into four categories mentioned below. 1. Regulating robot design, production through law. 2. Regulating user behaviour through the robot's design. 3. Regulating the effects of robot behaviour through law. 4. Regulating robot behaviour through code. Roboethics is distinct from \"machine ethics\", which would require robots to follow ethical guidelines, and is still in the theoretical stage because autonomous robots are not yet capable of making moral judgements [27]. This is even more relevant regarding robotics in SAR operations. For instance, robots doing inexperienced first aid may cause extra problems because of their moral incapability and uncertain nature, such as harming or breaking people's parts of body. SAR robotics is highly human-centric, the mismatch between robots and human cognitive abilities is often the limiting factor in SAR; regardless of the technical capabilities of robots in terms of locomotion, communication, and sensing [29]. In this former field, some studies discussed ethical issues. [PERSON] et al. [22] presented legal and ethical issues such as the responsibility and autonomy of robots in the field of healthcare, armed forces and entertainment. The authors discussed some existing regulations that apply to robotic agents. However, existing robot or machine regulations are not concrete and they might be difficult to apply in complex situations. For example, according to a robot's code of ethics, a decision taken by a robot or machine must be safe and align with the welfare of the public. If an autonomous robotic technology misbehaved or acted illegitimately then who will claim the responsibility, is it attributed to the designer, developer, manufacturer, user, or the robot itself? It is difficult to precisely attribute the responsibility, and this might lead to potential conflicts. These issues are debatable and need a lot of philosophical understanding to address them.