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The goal of rescue robotics is to extend the eapabilities and to increase the safety ofhuman rescue teams. Our goal is to provide a "'pilot system" to prepose a ltuman tele-op erator a good direction to traverse the environment, taking into an account the robot's static and dynamic propenies, A special path search al gorithm on debris needs a preper definition of a search tree and neighboring states. ]n this paper we present an everview of our results on transitionpossibilitiesbetweentwoconsecutivestates,cennectedwithatranslatienstep.

1A1-B23 Defining a Search Tree for Rescue Robot Navigation in Random Step Environment : Translation Step