When a packet is sent to an open UDP port, default behavior should be no response, Simply because UDP is a connection-less protocol. When this happens, Nmap or port scanning scripts refers to the port as being open|filtered. It could be open or behind the firewall. However, if it gets a UDP response which is very unusual in UDP, then the port is marked as open.
Then how Nmap or other port scanning scripts confirms whether there is an open UDP port exists??? For this, one should know about the relation between UDP and ICMP. You may refer to this post to understand.
When a packet is sent to a closed UDP port, the target responds with an ICMP (ping) packet containing a message that the port is unreachable. Using ICMP error codes, nmap identifies and confirms the closed ports.