ResearchBenchmarksCooperative Soaring on Updraft Simulation 5 UAVs 598 simulated updrafts (6-hour mission simulation)Follow75.1384Unpowered Climb Duration (min)Proposed69.71854471.12562272.532773.939778Feb 13, 2026Evaluation ResultsMethodMethodLinksUnpowered Climb Duration (min)Powered Climb Duration (min)ProposedUAV ID=UAV ID-5, RoIρ=0UAV ID=UAV ID-5, RoIρ=02026.0275.138410.5167ProposedUAV ID=UAV ID-1, RoIρ=1UAV ID=UAV ID-1, RoIρ=12026.0269.9275.9167