ABSTRACTThe utilization of autonomous intelligent robots SNAKE ROBOTSin search and rescue (SAR) is a new and challenging field of robotics dealingwith tas!s in e"tremel# hazardous and com$le" disasteren%ironments&'onsideringthelargenumber of $eo$lewhoha%ediedduetoreacti%es$ontaneousandun$rofessional rescue efforts resultingfroma lac!of ade(uate e(ui$ment or lac! of immediate res$onse researchers ha%enaturall# been de%elo$ing mechatronic rescue tools and strategic $lanningtechni(ues for $lanned rescue o$erations Autonom# high mobilit# robustness and modularit# are critical designissues of rescue robotics re(uiring de"terous de%ices e(ui$$ed with the abilit#to learn from $rior rescue e"$erience ada$table to %ariable t#$es of usage witha wide enough functionalit# under different sensing modules and com$liant toen%ironmental and%ictimconditions& )ntelligent biologicall#ins$iredmobilerobots and in $articular ser$entine mechanisms ha%e turned out to be widel#used robot effecti%e immediate and reliable res$onses to man# SARo$erations& This article $uts a s$ecial em$hasis on the challenges of ser$entinesearch robot hardware sensor*based $ath $lanning and control design& +echanical sna!e robots could boost the scientific out$ut of ne"tgeneration mars ro%ers and get them out of ,ams from time to time it also hel$ tocollect soil from underneath the roc!s and other hard to hard $laces