A large scale search is underway for five people, reported missing after their empty boat floating west of their original destination in the Torres Strait Islands, on Friday afternoon.

Search crews are bracing strong winds and heavy rain as they search coastline off the Torres Strait in search of the family presumably lost at sea.

Two men, two women and a 9-year-old boy set sail in the 7-metre boat from Badu Island, a small island located 50km from Queensland’s Thursday Island on Wednesday afternoon.

But the discovery of a young child’s body has taken a tragic turn, as police work to determine whether it belongs to the boy in the boat.

The group, which included a 22-year-old man, 47-year-old man, 21-year-old woman, 21-year-old woman and the young child, had plans to travel to Dauan Island, but they never arrived.

Instead, their empty boat was located roughly 4.5km west of Dauan Island about 1.50pm on Friday.

It is understood the missing group was related to one another.

A statement by Queensland Police said a rescue operation was activated.

“Water and air efforts were commenced immediately upon receiving information that the vessel was overdue using rotary aircraft,” the statement said.

During the wide spread search and rescue operation of the Torres Strait, the body of a young, unidentified child was found in a village on the mainland of Papua New Guinea.

Papua New Guinea authorities discovered the child’s body near Old Mawatta Village, which is outside the perimeter of the official search area, on Friday.

Police are now working to determine whether the child’s body belongs to the nine-year-old boy who was on-board the ill-fated boat.

Queensland Police’s representative for the Torres Strait, Mark Lingwood, told The Courier-Mail he couldn’t be sure the body was that of the missing boy.

“There are a list of things to do today and examining the boat which was found is one of them, but at this stage the priority is to find these people,” Insp Lingwood said.

“We’re throwing everything at it.”

Police are conducting a search and rescue operation for an overdue boat in the Torres Strait. https://t.co/O0dIRCr3QD pic.twitter.com/uqIJlwsWvl — Queensland Police (@QldPolice) August 2, 2019

A rescue helicopter also discovered a bag containing life jackets believed to be from the vessel on Saturday.

The bag will now be tested to determine whether it came from the group’s boat.

Queensland Police said Saturday’s rescue operation concentrated on searching coastline with help from two Queensland Police vessels called ‘Handran’ and ‘Olive’.

“Police are continuing to liaise with the families of the missing people to keep them informed of details of search and rescue efforts,” the statement said.

Insp Lingwood told the ABC people across the Torres Strait communities were joining forces to help locate the missing family.

“The community really bands together at a time like this,” Insp Lingwood said.

“We’ve got our fingers crossed we’ll be successful … With each passing hour, the concerns do grow.”

Insp Lingwood told the news outlet that many people used boats to travel between the islands of the Torres Strait to “visit family and conduct business.”

“From time to time, people do get reported missing,” he said.

“At times, tidal conditions will change and people will be overdue and cause some issues like that.

“But all we do is keep pushing out the safety message that people can use life jackets and make sure they … follow safety procedures and not travel in rough weather.”

Continue the conversation @Rhi_lani or email rhian.deutrom@news.com.au