This is a simulated search optimization algo. It consists of two phases: observation & surveillance. We have 3 simulated UAVs, our “searchers”. They follow a greedy algo. First, the 3D Graph is split into zones based on which drone is where. Next, the searchers identifiy “Frontier Nodes”, or the nodes bordering observed & unobserved nodes and utilize a Dijkstra algo to reach them. This repeats until we have a threshhold of 90%, where the algo then knows the total map and must cover it once more as efficiently as possible. This is the surveillance phase.