One of key goals of disaster response and relief robots is to acquire knowledge about the situation that would be either dangerous or inaccessible to human operator. However, the robot is difficult to acquire tele-operations from the operator. A disconnected communication link and no-visual control situation are frequently happened in disaster areas. Moreover, disaster scenarios are typically spatially distributed, so we may need an intelligent robot that has functions such as autonomy, cooperation, and collective behaviors. Thus, we propose the bio-inspired modular robot named as ARTHROBOT so as to support emergency responders. ARTHROBOT can assemble or disassemble process based on the proposed mobile algorithms.