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Urban search and rescue (USAR) operations can be extremely dangerous for human rescuers during disaster response. Human task forces carrying necessary tools and equipment and having the required skills and techniques, are deployed for the rescue of victims of structural collapse. Instead of sending human rescuers into such dangerous structures, it is hoped that robots will one day meet the requirements to perform such tasks so that rescuers are not at risk of being hurt or worse. Recently, the National Institute of Standards and Technology, sponsored by the Defense Advanced Research Projects Agency, created reference test arenas that simulate collapsed structures for evaluating the performance of autonomous mobile robots performing USAR tasks. At the same time, the NIST Industrial Autonomous Vehicles Project has been studying advanced 3D range sensors for improved robot safety in warehouses and manufacturing environments. Combined applications are discussed in this paper where advanced 3D range sensors also show promise during USAR operations toward improved robot performance in collapsed structure navigation and rescue operations.