Abstract
This paper presents simulations of Search and Rescue (SaR) using multiple Unmanned Aerial Vehicles (UAVs) equipped with ARVA (Appareil de Recherche de Victimes d'Avalanche) beacons that use Extremum Seeking Control (ESC) to reduce the time operation of rescue avalanche victims. ESC, a real-time optimization technique, enables UAVs to autonomously navigate toward the signal source without requiring a detailed system model. The simulations compare rescue times using single and multiple UAVs configurations in a100m x 200m area. Results show that using four UAVs reduces the victim detection time from 230 seconds (single UAV) to 160 seconds, demonstrating improved efficiency. This work includes mathematical modeling of the magnetic field generated by ARVA transmitters and validates the ESC strategy through simulations.