Optimal Strategies for Search and Rescue Operations with Robot Swarms

Motivated by the modern availability of drones and unmanned surface vessels as well as other low cost search agents, we consider the problem of a swarm of robots searching for a target on the high seas. Coordinating such a search in an effective manner is a non trivial task. In this paper we fully address this problem by first developing an abstract model which allows us to understand searches at sea under ideal conditions, and then apply the abstract model under actual search conditions such as differential search speeds, arrival times to the search area and low probability of detection under poor visibility conditions. We show that the theoretical model still governs the search with suitable adaptations. Lastly we give several search scenarios showing the cost effectiveness of such searches, deriving from lower cost and higher precision in the search.