Fig. 11
From: Search and rescue with autonomous flying robots through behavior-based cooperative intelligence
Average percentage of survivors found over time, referred to as camera coverage, by a swarm of five UAVs across six simulation runs. Scatter method was the slowest and spiral method the fastest to reach the goal of 90%. The jump in coverage just after 43 min occurs when the swarm encounters an evacuation center such as a school in which many survivors are co-located