In the event of an emergency involving a building collapse, the structure and layout of the area becomes changed from the original design of the building. This creates issues for first responders tasked with evacuation of the building, as they risk getting injured from falling debris or an unstable foundation. The Rubble Wrangler will be an autonomous robot used to quickly map the area and new obstacles, and generate a path that is best for the first responder to avoid risk and reach victims in a timely manner.