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One of the goals of rescue robotics has inevitably lead to the production of rubble often on a been to allow machines to sense and act where vast scale. Speed, accuracy and safety are critical factors people cannot go. Deployed with various sensors and when searching for survivors in urban area turned to under the guidance of trained operators these rubble. systems have shown great potential for finding victims in rubble. However, the current state of Unfortunately search is a difficult and often mobility of all deployed rescue robots is such that dangerous process. While buildings collapse in they can only be employed in very constrained predictable ways, the orientation, interaction and size of circumstances where surfaces are mostly regular and the rubble piles formed are often unpredictable. Spaces acceptable for various modes of tracked and wheeled or voids appear and disappear as the piles shift and mobility. We have been exploring an alternative settle. As time passes the rubble settles but the employing the existing abilities of trained USAR probability of finding survivors is greatly reduced. canines to search rubble both quickly and effectively.Searching though rubble is time consuming because This paper discusses one ofthe potential areas where footing is often unstable as are the structures that form as canines might be augmented to deliver the desired a result of the initial collapse. There are usually no sensing and remote control ofa robot. obvious paths and the threat of secondary collapse is sometimes a concern and often limits where searchers Kireteywords:ar Canine Augme ntch,USAtionR can go. Coordination of the search effort is made more directed search,'rubble search, USAR. difficult by the rigors of simply moving around on the 1 Introduction pile.

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