{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,8]],"date-time":"2026-05-08T03:14:54Z","timestamp":1778210094987,"version":"3.51.4"},"reference-count":45,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2025,9,5]],"date-time":"2025-09-05T00:00:00Z","timestamp":1757030400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Innovation Fund Denmark for the DIREC project","award":["9142-00001B"],"award-info":[{"award-number":["9142-00001B"]}]},{"name":"Innovation Fund Denmark for the DIREC project","award":["10.46540\/4264-00105B"],"award-info":[{"award-number":["10.46540\/4264-00105B"]}]},{"name":"Innovation Fund Denmark for the DIREC project","award":["101071224"],"award-info":[{"award-number":["101071224"]}]},{"name":"Independent Research Fund Denmark under grant","award":["9142-00001B"],"award-info":[{"award-number":["9142-00001B"]}]},{"name":"Independent Research Fund Denmark under grant","award":["10.46540\/4264-00105B"],"award-info":[{"award-number":["10.46540\/4264-00105B"]}]},{"name":"Independent Research Fund Denmark under grant","award":["101071224"],"award-info":[{"award-number":["101071224"]}]},{"name":"EU Horizon Europe","award":["9142-00001B"],"award-info":[{"award-number":["9142-00001B"]}]},{"name":"EU Horizon Europe","award":["10.46540\/4264-00105B"],"award-info":[{"award-number":["10.46540\/4264-00105B"]}]},{"name":"EU Horizon Europe","award":["101071224"],"award-info":[{"award-number":["101071224"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Drones"],"abstract":"<jats:p>Unmanned aerial vehicles (UAVs) play an increasingly vital role in wilderness search and rescue (SAR) operations by enhancing situational awareness and extending the capabilities of human teams. Yet, a lack of standardized benchmarks has impeded the systematic evaluation of single- and multi-agent path-planning algorithms. This paper introduces an open-source dataset and evaluation framework to address this gap. The framework comprises 60 geospatial scenarios across four distinct European environments, featuring high-resolution probability maps. We present a lost person probabilistic model derived from statistical models of lost person behavior. We provide a suite of tools for evaluating search paths against four baseline methods: Concentric Circles, Pizza Zigzag, Greedy, and Random Exploration, using three quantitative metrics: Accumulated probability of detection, time-discounted probability of detection, and lost person discovery score. We provide an evaluation framework to facilitate the comparative analysis of single- and multi-agent path-planning algorithms, supporting both the baseline methods presented and custom user-defined path generators. By providing a structured and extensible framework, this work establishes a foundation for the rigorous and reproducible assessment of UAV search strategies in complex wilderness environments.<\/jats:p>","DOI":"10.3390\/drones9090628","type":"journal-article","created":{"date-parts":[[2025,9,5]],"date-time":"2025-09-05T14:53:01Z","timestamp":1757083981000},"page":"628","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["SAREnv: An Open-Source Dataset and Benchmark Tool for Informed Wilderness Search and Rescue Using UAVs"],"prefix":"10.3390","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6360-371X","authenticated-orcid":false,"given":"Kasper Andreas R\u00f8mer","family":"Gr\u00f8ntved","sequence":"first","affiliation":[{"name":"SDU UAS Center, MMMI, University of Southern Denmark, 5230 Odense, Denmark"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3312-7062","authenticated-orcid":false,"given":"Alejandro","family":"Jarabo-Pe\u00f1as","sequence":"additional","affiliation":[{"name":"SDU UAS Center, MMMI, University of Southern Denmark, 5230 Odense, Denmark"}]},{"given":"Sid","family":"Reid","sequence":"additional","affiliation":[{"name":"Faculty of Science and Engineering, University of Bristol, Bristol BS8 1TR, UK"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-4657-8552","authenticated-orcid":false,"given":"Edouard George Alain","family":"Rolland","sequence":"additional","affiliation":[{"name":"SDU UAS Center, MMMI, University of Southern Denmark, 5230 Odense, Denmark"}]},{"given":"Matthew","family":"Watson","sequence":"additional","affiliation":[{"name":"Faculty of Science and Engineering, University of Bristol, Bristol BS8 1TR, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9500-5514","authenticated-orcid":false,"given":"Arthur","family":"Richards","sequence":"additional","affiliation":[{"name":"Faculty of Science and Engineering, University of Bristol, Bristol BS8 1TR, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9086-1055","authenticated-orcid":false,"given":"Steve","family":"Bullock","sequence":"additional","affiliation":[{"name":"Faculty of Science and Engineering, University of Bristol, Bristol BS8 1TR, UK"}]},{"given":"Anders Lyhne","family":"Christensen","sequence":"additional","affiliation":[{"name":"SDU UAS Center, MMMI, University of Southern Denmark, 5230 Odense, Denmark"}]}],"member":"1968","published-online":{"date-parts":[[2025,9,5]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"191617","DOI":"10.1109\/ACCESS.2020.3030190","article-title":"Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision","volume":"8","author":"Queralta","year":"2020","journal-title":"IEEE Access"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Hoang, M.T., van Berkel, N., Gr\u00f8ntved, K.A.R., Skov, M., Christensen, A.L., and Merritt, T. 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