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When it is possible that combatants are unaware of each other perception rolls are made to determine who sees who.
In this case the orcs should be given automatic success unless the players are traveling with some extreme tactic.
1)The players fail perception and the orcs are granted stealth until they make any action that would justify a new perception check vs stealth.
2)The orcs can use their surprise round when ever they like.
They can attempt to stealth into a position where they can accomplish their goals,
or if for what ever reason they cant seem to get the ability to close into melee
you can use these special initiative actions to give them better options in the first round on combat.
Most of these posts are correct in that any time they move out of cover or concealment,
they are not going to be able to use stealth under normal circumstances.
technically this wasted their surprise round since the players are aware of the threat. (automatic success on perception check)
The orcs should move to the edge of the cover/concealment.
Then when the players are in optimal range, they attack.
If they rolled good for initiative they charge in getting 2 rounds on the players flatfooted AC
If they rolled bad, they reset to the top initiative position and get 1 round on flatfooted AC.