Urban search and rescue task forces are essential for locating, stabilizing, and extricating people who become trapped in confined spaces following a catastrophic event. Sometimes the search area is too unstable for a live rescue team, so rescuers have turned to robots wielding video cameras. The rescuers control, or teleoperate, from a safe location. Teleoperation can be problematic, as robots frequently become stuck, which can destabilize the search area and hinder rescue operations.