Fig. 3
From: Search and rescue with autonomous flying robots through behavior-based cooperative intelligence
Standard method showing the paths of three UAVs launched from the blue rectangle on the center left. Red, yellow, and green dots are survivors in different states of discovery. In this scenario, UAVS moved in a search pattern across the area starting in the northwest and ending in the southeast. Photograph by Geospatial Information Authority (GSI) of Japan (Geospatial Information Authority of Japan 2011)