  During floods, reaching survivors in the shortest possible time is a priority
for rescue teams. Given their ability to explore difficult terrain in short
spans of time, Unmanned Aerial Vehicles (UAVs) have become an increasingly
valuable aid to search and rescue operations. Traditionally, UAVs utilize
exhaustive lawnmower exploration patterns to locate stranded survivors, without
any information regarding the survivor's whereabouts. In real life disaster
scenarios however, on-ground observers provide valuable information to the
rescue effort, such as the survivor's last known location and heading. In
earlier work, a Weight Based Exploration (WBE) model, which utilizes this
information to generate a prioritized list of waypoints to aid the UAV in its
search mission, was proposed. This approach was shown to be effective for a
single UAV locating a single survivor. In this paper, we extend the WBE model
to a team of UAVs locating multiple survivors. The model initially partitions
the search environment amongst the UAVs using Voronoi cells. The UAVs then
utilize the WBE model to locate survivors in their partitions. We test this
model with varying survivor locations and headings. We demonstrate the
scalability of the model developed by testing the model with aerial teams
comprising several UAVs.
