An unmanned aerial vehicle (UAV) is an aircraft without a human pilot aboard. The flight of UAVs may be controlled either autonomously by onboard computers or by the remote control of a pilot on the ground or in another vehicle. The aim of IRANOPENUAV2016 competition is to explore the applications of UAVs in civil applications, such as disaster response theme and firefighting scenario. The main theme of IRANOPENUAV2016 is ‘search and rescue’ on an off-shore oil rig. The competition simulates an accident happened in the rig, causing fire to the platform and result in people falling into the water. A team of UAV experts is to perform search and rescue missions based on the above scenarios.