Fig. 7. Visualization of the three search patterns considered in this work: sinusoidal, spiral, and square raster scan.

The sinusoidal pattern provides a smooth, dynamically feasible trajectory approximating an optimal boustrophedonic (zigzag) sweep across the target area. The spiral pattern densely fills the search region by expanding outward in a continuous curve, while the square raster scan follows a back-and-forth path along the perimeter of the search region. These patterns each represent different trade-offs between coverage efficiency and robustness to pose uncertainty.