Robots deployed in Search and Rescue missions are required to act autonomously, since in disaster scenarios even a remote control of the robots might not be possible anymore. Additionally it is desirable to use several of these robots at once, since the search for survivors is a time-critical task, and the time to find victims should in the best case scale with the number of robots. In order to achieve this scaling the robots have to communicate and cooperate. This paper discusses how to optimize the search and rescue mission with multiple autonomous yet cooperating robots, evaluating different communication patterns to speed up the search process. Emphasis lies on the evaluation of the diverse types of communication methods, which can be direct, indirect or a combination thereof. Our studies show, that the combination of direct and indirect communication optimizes the search and rescue process. Further using a combined method of data transfer between the agents provides robust communication between the robots, improving the search efficiency.