This dataset contains synchronized Region of Interest (ROI) and multi-UAV exploration messages collected from a UAV search and rescue system. The data was generated as part of a larger research project evaluating autonomous coordination among multiple UAVs operating in uncertain environments. Each batch includes:- One ROI message defining the search area.- A set of exploration messages, one per UAV, detailing planned waypoint paths. The dataset is organized by the number of UAVs involved in each batch, with subfolders for 1_uav, 2_uav, etc. Data is stored in JSON format and can be used for training, validation, or testing of multi-agent planning, coordination, and pathfinding algorithms in robotics and AI research. This release contributes to the reproducibility and transparency of our work on distributed edge intelligence for autonomous UAV systems.