  Mobile robots with complex morphology are essential for traversing rough
terrains in Urban Search & Rescue missions (USAR). Since teleoperation of the
complex morphology causes high cognitive load of the operator, the morphology
is controlled autonomously. The autonomous control measures the robot state and
surrounding terrain which is usually only partially observable, and thus the
data are often incomplete. We marginalize the control over the missing
measurements and evaluate an explicit safety condition. If the safety condition
is violated, tactile terrain exploration by the body-mounted robotic arm
gathers the missing data.
