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During floods, reaching survivors in the shortest possible time is a priorityfor rescue teams. Given their ability to explore difficult terrain in shortspans of time, Unmanned Aerial Vehicles (UAVs) have become an increasinglyvaluable aid to search and rescue operations. Traditionally, UAVs utilizeexhaustive lawnmower exploration patterns to locate stranded survivors, withoutany information regarding the survivor's whereabouts. In real life disasterscenarios however, on-ground observers provide valuable information to therescue effort, such as the survivor's last known location and heading. Inearlier work, a Weight Based Exploration (WBE) model, which utilizes thisinformation to generate a prioritized list of waypoints to aid the UAV in itssearch mission, was proposed. This approach was shown to be effective for asingle UAV locating a single survivor. In this paper, we extend the WBE modelto a team of UAVs locating multiple survivors. The model initially partitionsthe search environment amongst the UAVs using Voronoi cells. The UAVs thenutilize the WBE model to locate survivors in their partitions. We test thismodel with varying survivor locations and headings. We demonstrate thescalability of the model developed by testing the model with aerial teamscomprising several UAVs.

Weight-Based Exploration for Unmanned Aerial Teams Searching for Multiple Survivors