A GRASP-Based Approach for Planning UAV-Assisted Search and Rescue Missions

Casper Bak Pedersen, Kasper Gaj Nielsen, Kasper Rosenkrands, Alex Elkjær Vasegaard, Peter Nielsen, Mohamed El Yafrani*

*Corresponding author for this work

Research output: Contribution to journalJournal articleResearchpeer-review

4 Citations (Scopus)
28 Downloads (Pure)


Search and Rescue (SAR) missions aim to search and provide first aid to persons in distress or danger. Due to the urgency of these situations, it is important to possess a system able to take fast action and effectively and efficiently utilise the available resources to conduct the mission. In addition, the potential complexity of the search such as the ruggedness of terrain or large size of the search region should be considered. Such issues can be tackled by using Unmanned Aerial Vehicles (UAVs) equipped with optical sensors. This can ensure the efficiency in terms of speed, coverage and flexibility required to conduct this type of time-sensitive missions. This paper centres on designing a fast solution approach for planning UAV-assisted SAR missions. The challenge is to cover an area where targets (people in distress after a hurricane or earthquake, lost vessels in sea, missing persons in mountainous area, etc.) can be potentially found with a variable likelihood. The search area is modelled using a scoring map to support the choice of the search sub-areas, where the scores represent the likelihood of finding a target. The goal of this paper is to propose a heuristic approach to automate the search process using scarce heterogeneous resources in the most efficient manner.

Original languageEnglish
Article number275
Issue number1
Publication statusPublished - 1 Jan 2022

Bibliographical note

Publisher Copyright:
© 2020 by the authors. Licensee MDPI, Basel, Switzerland.


  • Greedy Randomised Adaptive Search Procedure
  • Search and Rescue
  • Unmanned Aerial Vehicles


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