CAMBRIDGE — A 13-year-old boy reported missing around 2:30 p.m. Monday came out of the woods on his own about five hours later, according to police.

The boy, who reportedly has Asperger’s syndrome, took a book with him to read when he left his home on Dexter Road, said Sgt. Michael Knight, with the Somerset County Sheriff’s Office.

His disappearance prompted a search by two state troopers, three wardens and two members of the sheriff’s office.

The boy was cold and hungry but uninjured, Knight said.