Unmanned aerial vehicles (UAVs) are well-suited to a wide range of mission scenarios, such as search
and rescue, border patrol, and military surveillance. The complex and distributed nature of these missions
often requires teams of UAVs to work together. Despite the complexity of the environment and patrol
procedures, the persistent surveillance is a one of an important problem in aerial patrol which can be
simplified with basic patterns. The main object is minimizing the maximum revisit time in specified path.
In this article, the single and multi-agent aerial search and patrol patterns are described and revisit time
equation is driven for known UAV with real model and several situations. The impact of changing speed
and the number of agents on the efficiency of persistent surveillance has been evaluated and compared
with another patrolling pattern. As results of this paper, the basic search methods are distributed to an
arbitrary number of the agent in several patterns. The revisit time function as a dependent parameter can
be calculated from agent’s number as an independent parameter also in fixed value of revisit time, the
optimal number of UAVs can be obtained due to specified search area. The results show that in the highspeed
situation, increase the number of UAVs in the particular area, little performance improvement
occurs in minimizing of maximum revisit time. A velocity and UAV number domain can be determined
whereas the maximum revisit time always is minimal.