Improved search paths for camera-equipped UAVS in wilderness search and rescue

The goal of the performed research was to investigate potentially improved UAV Wilderness Search and Rescue [](WiSAR) search leg paths that attempt to maximize the weighted [](by terrain area) cumulative sum of Probability of Detections [](PODs) over segments of intervening terrain on consecutive search legs. Maximized POD values, as a consequence, increase the overall probability of success of a search. It is possible the application of the derived techniques can be extended and improved to include searching areas of interest for high value targets [](HVTs), searches for signs of improvised explosive devices [](IEDs), searches for activity in urbanized areas [](during, for example, MOUT), and for other types of generalized searches, such as search and rescue in combat areas [](CSAR), drug interdictions, and preventing border crossings.