Exploration of unknown environments with a team of robots is a fundamentally important problem in the area of victim search and rescue operations. Leading existing works on exploration is focusing upon the coverage of an entire environment with minimum amount of time. In this paper, we present a novel goal oriented and prioritized exploration approach based on a percolation model for victim search operation in unknown environments. The percolation model is used to describe the behavior of liquid in random media. In our approach robots start prioritized exploration beginning from regions of the highest likelihood of finding victims. Percolation model based controller is used to carry out transitions among search regions.