D’Souza, J.M.Velpula, V.V.Guruprasad, K.R.2026-02-052021International Journal of Control, Automation and Systems, 2021, 19, 7, pp. 2557-256815986446https://doi.org/10.1007/s12555-020-0373-1https://idr.nitk.ac.in/handle/123456789/23181In this paper, we consider a problem of autonomous search using single or multiple Unmanned Ariel Vehicles (UAVs) mounted with downward-facing cameras. A model of the effectiveness of the search sensor, camera, in this case, is essential for developing strategies for optimal deployment and path planning of UAVs for efficient search. The probability of detection of a target of interest as a function of its distance from the point directly below the camera is used to model the search effectiveness. We carried out experiments and obtained a search effectiveness model for a camera in the laboratory environment using ArUco markers and triangular shapes as targets. © 2021, ICROS, KIEE and Springer.CamerasUnmanned aerial vehicles (UAV)Autonomous searchesDeveloping strategyEffectiveness modelsExperimental investigationsLaboratory environmentOptimal deploymentProbability of detectionUnmanned ariel vehiclesAircraft detection