Fig. 5
From: Search and rescue with autonomous flying robots through behavior-based cooperative intelligence
Spiral method showing the paths of three UAVs. As with standard method, UAVs launched from the blue rectangle. Note the circular pattern in the northeast corner as a UAV located the group of survivors (green dots) on top of the elevated building and performed the spiral behavior while the others continued the search. Photograph by GSI of Japan (Geospatial Information Authority of Japan 2011)