Intelligent UAV Map Generation and Discrete Path Planning for Search and Rescue Operations

Table 1

Terrain factor inputs.

Staying	It describes whether the area is often visited by people or not. High values increase potential occupancy. This information can be obtained from an analysis of the area and/or from historical data.
Hazard	It quantifies the hazards inherent to the area, affected by wild animals, weather conditions, terrain access, etc. Higher values increase potential risk.
Transit	It expresses whether the area is usually transited by people, meaning people could be more easily found by other people. The potential occupancy and the risk of these areas decrease.