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Science
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No
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3
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Dec
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201
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1
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Pre
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m
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[
1
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.
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clu
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[
2
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[
5
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3
]
.
Stu
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th
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[
1
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J
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Sci,
Vo
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1
6
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No
.
3
,
Dece
m
b
er
201
9
:
1
3
7
9
-
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1
1380
air
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2.
AUTON
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Au
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g
atio
n
,
an
d
h
u
m
an
-
f
r
ee
ass
ig
n
m
en
ts
r
elate
d
to
its
ef
f
icien
t
an
d
f
lex
ib
le
p
er
f
o
r
m
an
ce
.
Fu
r
th
e
r
m
o
r
e,
au
to
n
o
m
o
u
s
r
o
b
o
ts
ar
e
a
p
p
r
o
p
r
iate
o
n
b
e
h
alf
o
f
wo
r
k
in
h
ar
s
h
a
n
d
r
is
k
y
lo
ca
ti
o
n
s
,
lik
e
h
a
n
d
lin
g
h
ar
m
f
u
l
wa
s
tes
(
r
ad
io
-
ac
tiv
e)
as
well
as
n
eu
tr
alizin
g
g
litch
es
in
n
u
clea
r
p
lan
ts
an
d
r
ea
cto
r
s
.
Mo
r
eo
v
er
,
au
to
n
o
m
o
u
s
f
ly
in
g
tax
i,
s
ec
u
r
in
g
co
n
s
tr
u
ctio
n
s
,
s
wee
p
in
g
lan
d
s
ca
p
e
ex
p
lo
r
in
g
u
n
d
e
r
wate
r
m
in
es
ex
ten
s
iv
ely
,
d
ee
p
o
ce
an
s
tr
av
ellin
g
an
d
d
is
co
v
er
in
g
,
etc.
T
h
er
e
is
a
n
o
n
s
to
p
ess
en
tial
as
s
o
ciatio
n
b
etwe
en
Au
to
n
o
m
o
u
s
m
ap
p
in
g
an
d
n
a
v
ig
atio
n
in
o
n
e
s
id
e,
an
d
th
e
a
cc
ess
ib
ilit
y
o
f
d
ata
o
f
th
e
n
ea
r
b
y
en
v
ir
o
n
m
e
n
t
in
th
e
o
th
e
r
.
I
n
a
d
d
itio
n
,
th
r
o
u
g
h
d
is
tan
ce
ca
lcu
latio
n
s
an
d
m
e
asu
r
em
en
ts
o
r
ev
en
v
is
u
al
p
ictu
r
es
ca
p
tu
r
ed
b
y
th
e
s
u
p
p
o
r
t
o
f
f
u
n
ctio
n
al
ex
ter
n
al
s
en
s
o
r
s
,
a
s
u
f
f
icien
t
am
o
u
n
t
o
f
in
f
o
r
m
atio
n
ca
n
b
e
s
to
r
ed
an
d
p
r
o
ce
s
s
ed
[
1
5
]
.
A
well
d
esig
n
ed
s
elf
-
co
n
tr
o
lle
d
m
o
b
ile
r
o
b
o
ts
m
u
s
t
b
e
ab
le
to
h
an
d
le
task
s
as
f
o
llo
ws
[
1
6
-
1
8
]
;
lear
n
i
n
g
a
n
d
g
ain
a
co
m
p
r
e
h
en
s
iv
e
m
a
p
p
i
n
g
in
f
o
r
m
atio
n
o
f
its
o
p
er
atio
n
al
n
ea
r
b
y
l
o
ca
tio
n
alo
n
g
with
o
b
s
tacle
lo
ca
tio
n
s
to
av
o
id
it,
co
n
s
eq
u
en
tly
n
av
i
g
atio
n
al
d
ec
is
io
n
s
will
m
ee
t
a
h
ig
h
s
tan
d
ar
d
lev
el
o
f
ac
cu
r
ac
y
ac
co
r
d
in
g
to
th
e
e
n
v
ir
o
n
m
en
tal
d
ata
wh
ich
c
o
lle
cted
b
y
th
e
e
x
ter
n
al
s
en
s
o
r
s
.
B
esid
e,
to
m
ee
t h
ig
h
p
er
ce
n
tag
e
o
f
p
r
ec
is
io
n
s
f
o
r
a
p
r
ed
ef
in
e
d
m
is
s
io
n
as
well
a
s
ac
h
iev
in
g
ac
cu
r
ate
s
elf
-
co
n
tr
o
lled
d
ir
ec
tio
n
s
an
d
ar
r
an
g
em
e
n
ts
(
au
to
n
o
m
o
u
s
ly
)
with
n
o
h
u
m
an
in
ter
f
er
en
ce
.
A
ls
o
,
to
r
o
u
te
an
d
u
s
e
o
p
tim
u
m
p
ath
.
i.e
.
th
e
r
o
b
o
t
s
h
o
u
ld
u
s
e
an
d
f
o
llo
w
th
e
s
h
o
r
test
p
ath
to
r
ea
ch
a
s
p
ec
if
ic
p
r
ed
ef
in
ed
aim
a
n
d
m
a
n
eu
v
e
r
ar
o
u
n
d
t
h
e
o
b
s
tacle
s
,
p
lu
s
r
ea
d
an
d
co
llect
th
e
s
en
s
o
r
in
f
o
r
m
atio
n
(
d
ata)
en
d
less
ly
an
d
u
s
e
th
e
u
p
d
ated
d
ata
to
a
d
ju
s
t
an
d
co
r
r
ec
t
its
n
ex
t m
o
v
e
an
d
m
an
eu
v
er
to
a
d
ap
t lim
itles
s
v
ar
ian
ts
ar
o
u
n
d
it.
Mo
b
ile
r
o
b
o
ts
d
esig
n
is
b
ased
o
n
th
e
in
teg
r
atio
n
o
f
v
ar
io
u
s
f
ield
s
o
f
s
cien
ce
.
Fo
r
ex
am
p
l
e,
d
ea
lin
g
with
lo
co
m
o
tio
n
p
r
o
ce
s
s
r
eq
u
ir
e
th
e
u
n
d
e
r
s
tan
d
in
g
o
f
r
o
b
o
t
k
in
em
atics,
d
y
n
am
ics,
m
ec
h
an
is
m
an
d
co
n
t
r
o
l
th
eo
r
ies,
an
d
s
o
lv
in
g
th
e
p
r
o
b
lem
s
o
f
lo
ca
lizatio
n
an
d
n
av
ig
atio
n
r
eq
u
ir
e
g
o
o
d
ex
p
e
r
ien
ce
in
c
o
m
p
u
ter
alg
o
r
ith
m
s
,
ar
tific
ial
in
tellig
e
n
ce
,
in
f
o
r
m
atio
n
th
e
o
r
y
,
an
d
p
r
o
b
a
b
ilit
y
th
eo
r
ies.
A
b
lo
c
k
d
iag
r
am
o
f
co
n
tr
o
l
s
y
s
tem
f
o
r
an
au
t
o
n
o
m
o
u
s
m
o
b
ile
r
o
b
o
t is sh
o
wn
in
Fig
u
r
e
1
[
1
9
]
.
Fig
u
r
e
1
.
B
lo
ck
d
iag
r
am
o
f
c
o
n
tr
o
l sy
s
tem
f
o
r
t
h
e
Mo
b
ile
R
o
b
o
t [
1
9
]
3.
SI
NG
L
E
RO
B
O
T
B
A
SI
C
M
O
T
I
O
N
T
A
SK
S
T
h
is
p
ap
er
h
as
ca
r
r
ied
o
u
t
m
o
b
ile
r
o
b
o
ts
m
u
tu
al
co
n
tr
o
l,
b
esid
es
d
elib
er
ated
a
co
m
p
r
eh
en
s
iv
e
r
ev
iew
o
f
th
e
b
asic
m
o
tio
n
s
th
at
d
eliv
er
ed
u
s
in
g
a
s
in
g
le
m
o
b
ile
r
o
b
o
t.
B
ea
r
in
g
in
m
in
d
a
wh
ee
led
r
o
b
o
t,
a
n
ex
ten
s
iv
e
liter
atu
r
e
s
u
r
v
e
y
h
as
b
ee
n
ac
co
m
p
lis
h
ed
s
u
cc
ess
f
u
lly
,
an
d
f
o
u
n
d
th
at
th
e
r
e
ar
e
t
h
r
ee
class
if
icatio
n
s
o
f
a
s
in
g
le
r
o
b
o
t
b
asic
m
o
tio
n
task
s
,
wh
ich
ar
e
:
p
o
in
t
to
p
o
in
t,
tr
ajec
to
r
y
tr
ac
k
in
g
an
d
p
ath
f
o
llo
win
g
.
T
h
e
th
r
ee
class
if
icatio
n
s
ar
e
s
h
o
wn
in
Fig
u
r
e
2.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
R
o
b
o
ts
s
w
a
r
m
co
mmu
n
ica
tio
n
co
n
tr
o
l b
a
s
ed
o
n
b
i
o
lo
g
ica
l
b
eh
a
vio
r
…
(
Mu
s
h
r
eq
A
b
d
u
lh
u
s
s
a
in
S
h
u
r
iji
)
1381
Fig
u
r
e
2
.
A
s
in
g
le
r
o
b
o
t b
asic th
r
ee
m
o
tio
n
task
s
3
.
1
.
P
o
int
-
to
-
P
o
int
M
o
t
io
n
I
t'
s
al
s
o
k
n
o
wn
as
a
p
o
in
t
s
tab
ilizatio
n
.
T
h
e
r
o
b
o
t
s
tar
t
f
r
o
m
k
n
o
wn
i
n
itial
co
n
f
ig
u
r
atio
n
a
ll
th
r
o
u
g
h
m
o
tio
n
an
d
it h
av
e
to
m
o
v
e
to
r
ea
ch
r
o
u
g
h
l
y
r
eq
u
ir
ed
c
o
n
f
ig
u
r
atio
n
.
3
.
2
.
T
ra
j
e
ct
o
ry
T
ra
ck
ing
Un
lik
e
o
th
e
r
ty
p
e
o
f
m
o
tio
n
,
a
r
o
b
o
t’
s
r
e
f
er
en
ce
p
o
i
n
t
h
av
e
t
o
tr
ac
k
a
tr
ajec
to
r
y
,
wh
ich
is
a
g
eo
m
etr
ic
p
ath
way
with
tim
in
g
ass
o
ciate
d
with
th
e
m
o
tio
n
,
s
tar
tin
g
f
r
o
m
s
o
m
e
in
itial
co
n
f
ig
u
r
atio
n
i
n
a
C
ar
tesi
an
s
p
ac
e.
T
h
e
ass
ig
n
ed
p
ath
way
th
at
d
eter
m
in
e
d
an
d
d
eliv
er
ed
f
r
o
m
th
e
tr
ac
k
i
n
g
c
o
n
tr
o
ller
m
ak
e
s
u
r
e
th
at
r
o
b
o
t
f
o
llo
wed
it
ju
s
t
ab
o
u
t
tim
e.
T
h
e
tr
ac
k
in
g
co
n
tr
o
ll
er
en
s
u
r
es
th
at
th
e
ass
ig
n
ed
p
ath
ca
n
b
e
f
o
llo
we
d
asy
m
p
to
tically
in
tim
e.
3
.
3
.
P
a
t
h F
o
llo
wing
I
n
th
is
m
o
ti
o
n
,
t
h
e
r
o
b
o
t’
s
r
ef
e
r
en
ce
p
o
in
t
s
h
o
u
ld
tr
ac
k
s
o
m
e
g
eo
m
etr
ic
p
ath
way
,
with
o
u
t
a
n
y
tim
in
g
ass
o
c
iated
with
th
e
m
o
tio
n
,
s
tar
tin
g
f
r
o
m
s
o
m
e
in
itial
co
n
f
ig
u
r
atio
n
in
a
C
ar
tesi
an
s
p
ac
e.
R
eg
ar
d
less
,
th
e
d
u
r
atio
n
n
ee
d
e
d
to
f
o
llo
w
an
d
r
ea
ch
th
e
p
ath
way
,
th
e
c
o
n
t
r
o
ller
m
u
s
t
g
u
ar
a
n
tee
th
e
p
ar
t
icu
lar
r
o
u
te
f
o
r
th
e
r
o
b
o
t to
m
o
v
e
an
d
s
tick
alo
n
g
with
it.
4.
B
I
O
M
I
M
E
T
I
C
O
F
SW
AR
M
I
NG
B
E
H
AV
I
O
R
T
h
e
g
r
o
u
p
s
o
f
b
ir
d
s
a
n
d
t
h
e
o
th
er
b
io
lo
g
ical
s
y
s
tem
s
,
lik
e
h
er
d
s
o
f
s
h
ee
p
,
s
ch
o
o
ls
o
f
f
i
s
h
,
an
d
th
e
lik
es,
m
o
v
e
in
a
h
ar
m
o
n
ic
m
a
n
n
er
.
Similar
ly
,
an
ts
s
war
m
o
r
b
ir
d
s
f
lo
ck
f
o
llo
ws
o
th
er
n
e
ar
g
r
o
u
p
s
alth
o
u
g
h
wh
en
th
ey
p
ass
in
an
o
p
p
o
s
ite
d
ir
ec
tio
n
d
u
r
in
g
th
e
s
ee
k
in
g
f
o
r
th
e
d
esire
d
p
ath
.
T
h
e
f
ly
in
g
o
f
b
i
r
d
s
in
d
iv
id
u
als
with
in
th
e
f
lo
ck
is
s
ee
m
s
to
b
e
id
e
n
tical
in
eith
e
r
d
ir
ec
tio
n
a
n
d
a
b
r
u
p
tly
th
ey
m
ig
h
t
all
t
u
r
n
to
t
h
e
r
ig
h
t,
lef
t
o
r
s
wo
o
p
to
th
e
b
o
tto
m
to
war
d
th
e
g
r
o
u
n
d
.
I
t
is
v
e
r
y
asto
n
is
h
in
g
to
id
en
tif
y
th
at
b
ir
d
s
co
u
ld
s
y
n
ch
r
o
n
ize
an
d
o
r
g
an
ize
th
ei
r
m
o
v
e
m
en
ts
p
r
ec
is
ely
.
T
h
er
e
f
o
r
e,
t
o
d
esig
n
a
m
o
d
el
b
ased
o
n
f
lo
c
k
o
f
b
i
r
d
s
,
a
co
n
tin
u
o
u
s
m
o
n
ito
r
in
g
f
o
r
a
f
l
o
ck
o
f
b
ir
d
s
is
es
s
en
tial
to
ac
q
u
ir
e
a
u
s
ef
u
l
co
n
tr
o
l
d
ata.
T
h
e
s
u
g
g
ested
m
o
d
el
is
a
s
p
atial
b
eh
a
v
io
r
al
o
n
e,
w
h
er
e
b
ir
d
f
ly
in
g
is
s
im
u
lated
in
a
3
D
r
e
g
io
n
.
E
ac
h
s
im
u
lat
ed
b
ir
d
with
in
th
e
f
lo
ck
b
eh
av
es
in
a
n
i
n
d
ep
e
n
d
en
t
m
an
n
e
r
th
at
is
tr
av
e
r
s
es
b
ased
o
n
its
p
er
ce
p
tio
n
f
o
r
th
e
d
y
n
am
ic
en
v
ir
o
n
m
en
t.
Sev
er
al
r
u
les we
r
e
ex
tr
ac
ted
th
r
o
u
g
h
m
o
n
ito
r
in
g
th
e
f
lo
c
k
o
f
b
ir
d
s
,
th
ese
r
u
le
s
ar
e;
a.
Rule
-
1:
(
C
o
llis
io
n
Av
o
id
an
c
e)
,
in
th
is
r
u
le,
th
e
i
n
d
iv
id
u
a
ls
tr
y
to
av
o
id
c
o
llid
in
g
n
ei
g
h
b
o
r
in
g
b
ir
d
s
,
en
v
ir
o
n
m
en
t
o
b
s
tacle
s
an
d
b
o
r
d
er
s
b
y
k
ee
p
in
g
a
m
i
n
im
u
m
s
ep
ar
atio
n
with
th
em
e
v
er
y
tim
es.
I
t
h
as
th
e
h
ig
h
est p
r
ec
ed
e
n
ce
am
o
n
g
th
e
r
u
les an
d
it n
ee
d
s
co
n
tin
u
o
u
s
o
b
s
er
v
atio
n
b
y
a
n
im
al.
b.
Rule
-
2:
(
Velo
city
Alig
n
m
en
t)
,
in
th
is
r
u
le,
th
e
b
ir
d
tr
y
to
m
atch
its
v
elo
city
with
th
at
o
f
th
e
n
eig
h
b
o
r
in
g
b
ir
d
s
.
I
f
th
e
b
ir
d
is
n
o
t
ex
ec
u
tin
g
r
u
le
-
1
,
it
tr
ies
to
a
v
o
id
b
ei
n
g
is
o
lated
f
r
o
m
th
e
g
r
o
u
p
b
y
p
e
r
f
o
r
m
in
g
attr
ac
tio
n
b
eh
av
i
o
r
to
war
d
s
th
e
g
r
o
u
p
.
c.
Rule
-
3:
(
f
lo
ck
C
en
ter
in
g
)
,
in
th
is
r
u
le,
th
e
b
ir
d
is
tr
y
in
g
to
f
ly
n
ea
r
n
eig
h
b
o
r
in
g
b
ir
d
s
to
av
o
id
b
ein
g
alo
n
e
an
d
g
iv
i
n
g
t
h
e
f
lo
c
k
th
e
r
eq
u
ir
e
d
co
h
esio
n
.
D
u
r
in
g
t
h
at
th
e
b
ir
d
tr
ies
to
f
ly
to
war
d
th
e
ce
n
ter
o
f
th
e
n
eig
h
b
o
r
in
g
b
ir
d
s
.
I
n
th
e
3
D
s
im
u
latio
n
o
f
th
e
t
h
r
ee
r
u
les
ab
o
v
e,
th
e
v
a
r
iab
le
N
wo
u
ld
b
e
u
s
ed
to
r
e
p
r
esen
ts
th
e
n
u
m
b
er
o
f
b
i
r
d
s
,
i
r
ep
r
esen
ts
th
e
s
eq
u
e
n
ce
o
f
th
e
in
d
iv
i
d
u
al
wh
e
r
e,
(
i=1
,
2
,
…
,
N)
,
p
i
is
th
e
v
ec
to
r
th
at
r
ep
r
esen
ts
th
e
p
o
s
itio
n
o
f
th
e
ith
in
d
iv
id
u
al,
v
i
r
e
p
r
esen
ts
th
e
u
n
it
v
ec
to
r
o
f
d
ir
ec
ti
o
n
o
f
t
h
e
ith
in
d
iv
id
u
al.
T
h
e
s
im
u
latio
n
tim
e
t
was
s
eg
m
en
ted
at
r
e
g
u
l
ar
s
tep
T
=
0
.
1
s
,
wh
ich
c
o
r
r
es
p
o
n
d
s
to
b
ir
d
’
s
r
esp
o
n
s
e
tim
e.
At
ea
ch
tim
e
s
tep
,
th
e
b
ir
d
s
ev
alu
ate
t
h
e
p
o
s
itio
n
an
d
d
ir
ec
tio
n
o
f
th
e
n
eig
h
b
o
r
in
g
b
ir
d
s
in
t
h
e
th
r
ee
n
o
n
-
o
v
e
r
lap
p
in
g
b
eh
a
v
io
r
a
l
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
1
6
,
No
.
3
,
Dece
m
b
er
201
9
:
1
3
7
9
-
1
3
9
1
1382
r
eg
io
n
s
s
h
o
wn
in
Fig
u
r
e
3
.
T
h
is
in
f
o
r
m
atio
n
ar
e
u
s
ed
to
e
s
tim
ate
th
e
d
esire
d
d
ir
ec
tio
n
f
o
r
ea
ch
b
ir
d
in
th
e
n
ex
t tim
e
s
tep
d
i(
t+T
)
ac
co
r
d
i
n
g
to
s
p
ec
if
ic
r
u
les
d
escr
ib
ed
i
n
th
e
f
o
llo
win
g
ex
p
lan
atio
n
.
Fig
u
r
e
3
.
B
ir
d
m
o
d
el
r
e
p
r
esen
tatio
n
,
s
h
o
win
g
th
e
b
ir
d
at
th
e
ce
n
ter
o
f
m
o
d
el
r
e
g
io
n
s
.
β:
is
th
e
f
ield
o
f
p
er
ce
p
tio
n
,
(
3
6
0
-
β):
is
th
e
b
lin
d
r
eg
io
n
b
eh
i
n
d
th
e
b
ir
d
W
ith
in
th
e
r
eg
io
n
o
f
r
e
p
u
ls
io
n
(
r
o
r
)
,
ea
ch
b
ir
d
tr
ies
to
k
ee
p
a
m
in
im
u
m
s
ep
a
r
atio
n
d
is
tan
ce
to
o
t
h
er
b
ir
d
s
.
T
h
is
r
eg
io
n
was
m
o
d
ele
d
as
a
s
p
h
er
e
o
f
r
ad
iu
s
r
r
,
an
d
its
ce
n
ter
lie
s
at
th
e
b
ir
d
p
o
s
itio
n
.
I
f
th
e
n
u
m
b
er
o
f
n
eig
h
b
o
r
in
g
b
ir
d
s
th
at
ex
is
t
with
in
th
e
r
o
r
at
tim
e
t
i
s
n
r
,
t
h
en
th
e
ith
b
ir
d
will
r
esp
o
n
d
b
y
f
ly
in
g
awa
y
an
d
m
an
eu
v
er
b
ey
o
n
d
its
n
eig
h
b
o
r
s
to
av
o
id
an
y
p
o
s
s
ib
le
im
p
ac
t w
ith
in
a
p
ar
ticu
lar
a
r
ea
,
s
ee
Fig
u
r
e
4a
.
(
1
)
T
h
e
d
ir
ec
tio
n
o
f
th
e
u
n
it
v
e
cto
r
is
r
ep
r
esen
ted
b
y
r
ij=(
p
j
-
p
i)
/|
(
p
j
-
p
i)
|
in
th
e
d
ir
ec
tio
n
o
f
th
e
jth
n
eig
h
b
o
r
.
As we
p
o
in
t o
u
t a
b
o
v
e,
th
e
s
p
ec
if
ic
r
u
le
b
e
h
av
io
r
h
as a
n
ex
tr
a
o
r
d
in
ar
y
lev
el
o
f
p
r
io
r
ity
as c
o
m
p
ar
e
d
with
o
th
er
r
u
les
with
in
th
e
m
o
d
el,
th
er
ef
o
r
e
if
n
r
n
o
t
eq
u
a
l
to
0
,
th
en
n
ex
t
d
ir
ec
tio
n
o
f
th
e
b
ir
d
wo
u
ld
b
e
d
i(
t+T
)
=d
r
(
t+T
)
.
T
h
e
r
eg
io
n
o
f
r
e
p
u
ls
io
n
r
e
p
r
esen
ts
th
e
b
ir
d
’
s
p
e
r
s
o
n
al
s
p
ac
e
th
a
t
en
s
u
r
es
co
llis
io
n
av
o
id
an
c
e.
I
f
th
er
e
is
n
o
n
eig
h
b
o
r
s
in
s
id
e
th
e
r
eg
io
n
o
f
r
e
p
u
ls
io
n
,
i.e
.
n
r
=0
,
t
h
en
th
e
b
ir
d
wo
u
ld
r
esp
o
n
d
s
to
o
th
er
b
ir
d
s
in
th
e
r
e
g
io
n
o
f
o
r
i
en
tatio
n
(
r
o
o
)
an
d
th
e
r
eg
io
n
o
f
attr
ac
tio
n
(
r
o
a)
.
T
h
ese
r
eg
i
o
n
s
h
av
e
a
s
p
h
e
r
ical
s
h
ap
e
ex
clu
d
in
g
a
s
m
all
b
lin
d
r
eg
io
n
li
es
b
eh
in
d
th
e
b
ir
d
,
wh
er
e
it
ca
n
n
o
t
d
etec
t
o
th
er
b
ir
d
s
wh
en
th
ey
ar
e
th
er
e.
T
h
e
b
lin
d
r
eg
io
n
,
s
h
o
wn
in
Fig
u
r
e
3
ab
o
v
e,
is
r
ep
r
esen
ted
b
y
a
co
n
e
with
an
g
le
o
f
(
3
6
0
-
β)º
,
an
d
β
r
ep
r
esen
ts
th
e
p
er
ce
p
tio
n
f
ield
,
s
h
o
wn
in
th
e
s
am
e
f
ig
u
r
e
.
Fig
u
r
e
4
.
v
ar
io
u
s
m
o
d
el
r
e
g
io
n
s
o
f
b
ir
d
s
in
ter
ac
tio
n
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
R
o
b
o
ts
s
w
a
r
m
co
mmu
n
ica
tio
n
co
n
tr
o
l b
a
s
ed
o
n
b
i
o
lo
g
ica
l
b
eh
a
vio
r
…
(
Mu
s
h
r
eq
A
b
d
u
lh
u
s
s
a
in
S
h
u
r
iji
)
1383
T
h
e
zo
n
e
o
f
alig
n
m
en
t
en
cl
o
s
es
n
o
v
is
ib
le
f
ello
w
b
ir
d
s
ap
iece
u
s
in
g
r
r
≤
|
(
p
j
-
p
i)
|
<
r
o
also
,
th
e
zo
n
e
o
f
attr
ac
tio
n
en
clo
s
es n
a
v
is
ib
le
n
eig
h
b
o
r
s
ap
iece
b
y
m
ea
n
s
o
f
r
o
≤
|
(
p
j
-
p
i)
|
≤
r
a.
A
b
ir
d
will a
lway
s
a
ttem
p
t t
o
r
ea
r
r
an
g
e
a
n
d
also
alig
n
ed
with
n
eig
h
b
o
r
s
th
at
s
u
r
r
o
u
n
d
ed
b
y
th
e
r
eg
io
n
o
f
p
o
s
itio
n
in
g
,
an
d
th
e
u
n
it
v
ec
to
r
o
f
its
d
ir
ec
tio
n
wo
u
ld
b
e
ca
lcu
lat
ed
u
s
in
g
th
e
f
o
llo
win
g
eq
u
atio
n
:
(
2
)
R
ea
lize
th
e
Fig
u
r
e
4b
,
a
n
d
h
ea
d
ed
t
o
th
e
ce
n
ter
o
f
its
s
u
r
r
o
u
n
d
in
g
f
ello
w
b
i
r
d
s
in
th
e
d
is
tr
ict
o
f
d
esira
b
ilit
y
:
(
3
)
See
Fig
u
r
e
4c
.
T
h
e
d
esira
b
ilit
y
o
r
attr
ac
tio
n
is
an
aim
o
f
an
i
m
als
to
g
et
to
g
eth
er
an
d
ca
tch
u
p
o
n
wit
h
a
g
r
o
u
p
,
in
ad
d
itio
n
to
d
o
d
g
e
an
d
n
o
t
to
b
e
lo
n
ely
.
Ho
we
v
er
,
th
e
p
o
s
itio
n
in
g
p
e
r
m
its
a
m
u
tu
al
m
o
tio
n
b
y
d
ec
r
ea
s
in
g
a
n
y
p
o
s
s
ib
ilit
ies
f
o
r
cr
ash
es
th
at
m
ay
tak
e
p
lace
am
o
n
g
in
d
iv
i
d
u
als.
I
f
t
h
e
n
eig
h
b
o
r
in
g
i
n
d
iv
id
u
als
lo
ca
ted
o
n
ly
in
th
e
r
o
w,
wh
e
r
e
n
=
n
o
,
f
o
r
m
er
ly
d
i
(
t
+
T
)
=
d
o
(
t
+
T
)
;
s
im
ilar
ly
if
th
e
to
tal
n
eig
h
b
o
r
in
g
in
d
iv
id
u
als
lo
ca
ted
in
t
h
e
r
o
w,
wh
er
e
n
=
n
a
,
th
en
d
i
(
t
+
T
)
=
d
a
(
t
+
T
)
.
E
q
u
ally
,
if
t
h
e
n
ei
g
h
b
o
r
in
g
in
d
iv
id
u
als
lo
ca
ted
f
o
r
th
e
two
r
eg
io
n
s
,
at
th
at
p
o
in
t
d
i
(
t
+
T
)
=
½
d
o
(
t
+
T
)
+
½
d
a
(
t
+
T
)
.
On
b
eh
alf
o
f
th
e
s
itu
atio
n
s
wh
en
co
m
m
u
n
ity
p
o
wer
s
p
r
o
d
u
ce
s
n
o
v
ec
t
o
r
(
ze
r
o
-
v
ec
to
r
)
,
else
th
er
e
a
r
e
ze
r
o
in
d
iv
id
u
als
n
o
ticed
with
in
o
r
ien
tatio
n
o
r
a
ttra
ctio
n
r
eg
io
n
s
,
th
u
s
d
i (
t +
T
)
=
v
i.
A
b
ir
d
th
at
tu
r
n
s
at
a
r
ate
o
f
γ
d
eg
r
ee
s
p
er
s
ec
o
n
d
(
º
/s
)
ca
n
tu
r
n
b
y
an
a
n
g
le
eq
u
al
to
γ
T
d
eg
r
ee
s
ea
ch
T
s
ec
at
m
o
s
t.
T
h
en
i
n
th
e
ca
s
e
wh
en
th
e
an
g
le
th
at
lies
b
e
twee
n
d
i(
t+T
)
an
d
v
i(
t)
is
lo
wer
th
an
γ
T
,
at
th
at
tim
e
th
e
ith
b
ir
d
wo
u
ld
b
e
alig
n
ed
with
th
e
ca
lcu
lated
v
ec
to
r
o
f
th
e
d
ir
ec
tio
n
,
v
i
(
t+T
)
=
d
i(
t+T
)
;
o
r
else
it
wo
u
ld
tu
r
n
o
n
ly
γ
T
d
e
g
r
e
es
in
its
d
ir
ec
tio
n
.
Af
ter
co
m
p
letio
n
th
e
esti
m
atio
n
o
f
th
e
n
ex
t
d
i
r
ec
tio
n
v
ec
to
r
,
t
h
e
ca
lcu
latio
n
o
f
th
e
n
ex
t
p
o
s
itio
n
v
ec
to
r
f
o
r
ith
b
ir
d
is
r
ea
d
y
to
b
e
ca
lcu
lated
u
s
in
g
th
e
f
o
r
m
u
la:
p
i(
t+T
)
=v
i(
t+T
)
*
T
U+
p
i(
t)
,
in
th
is
eq
u
atio
n
U
r
ep
r
esen
ts
b
ir
d
’
s
s
p
ee
d
.
I
n
o
r
d
er
to
i
n
v
esti
g
ate
an
d
ev
alu
ate
th
e
co
m
b
in
ed
b
eh
a
v
io
r
u
s
in
g
th
e
s
u
g
g
ested
m
o
d
el,
co
n
s
eq
u
e
n
tly
,
we
b
e
a
b
le
to
d
is
co
v
e
r
th
e
u
ltima
te
r
esu
lts
o
f
th
e
f
lu
ctu
atin
g
v
alu
es th
at
ar
e
s
et
to
f
ac
to
r
s
wh
ich
is
illu
s
tr
ated
in
T
ab
le
1
.
T
ab
le
1
.
T
h
e
Su
m
m
ar
y
F
ac
to
r
s
o
f
th
e
M
o
d
el
5.
T
H
E
P
RO
P
O
SE
D
SWAR
M
I
NG
M
O
D
E
L
D
E
S
I
G
N
AN
D
I
M
P
L
E
M
E
NT
A
T
I
O
N
Firstl
y
,
s
ev
er
al
r
esear
ch
er
s
h
as
b
ee
n
ca
r
r
ied
o
u
t
an
d
tak
e
o
n
m
o
r
e
o
r
less
m
o
tio
n
d
ir
ec
tio
n
an
d
co
n
s
tan
t
s
p
ee
d
f
o
r
f
o
lk
s
s
u
r
r
o
u
n
d
ed
b
y
r
esid
en
t
n
eig
h
b
o
r
h
o
o
d
all
th
r
o
u
g
h
em
er
g
in
g
a
m
o
d
el
with
a
co
llectiv
e
m
o
tio
n
.
I
n
th
is
p
r
o
p
o
s
ed
p
a
p
e
r
,
a
g
en
u
in
e
b
io
lo
g
ical
m
o
d
el
was
cr
ea
ted
an
d
d
ev
el
o
p
ed
t
o
s
im
u
late
f
lig
h
t
o
f
b
ir
d
f
lo
ck
s
co
llectiv
e
b
eh
a
v
i
o
r
wh
ich
is
b
ased
o
n
f
lo
c
k
in
g
ten
d
en
cy
co
n
ce
p
t.
T
h
e
c
o
m
p
u
ter
-
g
en
er
ate
d
alg
o
r
ith
m
o
f
g
ath
e
r
in
g
in
d
iv
i
d
u
als
was
cr
ea
ted
wis
ely
an
d
s
u
b
jecte
d
to
th
e
alig
n
m
en
t,
p
o
s
itio
n
al
r
ep
u
ls
io
n
an
d
attr
ac
tiv
e
ef
f
ec
t
th
at
is
d
ep
en
d
s
o
n
t
h
e
r
elativ
e
p
o
s
t
u
r
e
an
d
d
ir
ec
ti
o
n
o
f
th
ese
i
n
d
iv
id
u
als.
Gr
o
u
p
f
o
r
m
atio
n
a
n
d
co
h
esio
n
is
ac
h
iev
ed
as
a
r
esu
lt
o
f
th
e
in
d
iv
id
u
al
b
eh
a
v
io
r
d
escr
ib
e
d
i
n
th
is
m
o
d
el.
T
h
e
p
er
f
o
r
m
ed
s
im
u
latio
n
m
an
if
es
ts
ch
ar
ac
ter
is
t
ic
f
lo
ck
in
g
b
eh
a
v
io
r
s
,
ex
ac
tly
lik
e
to
th
o
s
e
s
ee
n
o
r
g
an
is
m
s
,
ev
en
wh
en
s
p
ec
if
ic
f
ac
to
r
s
ar
e
v
ar
i
ed
.
T
h
e
s
u
g
g
ested
c
o
m
p
r
e
h
en
s
iv
e
ju
s
tific
atio
n
o
f
th
e
b
eh
av
io
r
al
u
s
in
g
p
s
eu
d
o
co
d
e
p
r
o
g
r
a
m
f
o
r
b
ir
d
f
lo
ck
s
s
war
m
in
g
alg
o
r
ith
m
is
as f
o
llo
ws:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
1
6
,
No
.
3
,
Dece
m
b
er
201
9
:
1
3
7
9
-
1
3
9
1
1384
B
ir
d
_
p
o
s
tu
r
es _
i
n
italis
atio
n
(
)
L
OOP
Plo
t _
b
ir
d
s
(
)
T
r
an
s
f
er
_
b
ir
d
s
_
t
o
_
n
ex
t _
p
o
s
tu
r
es (
)
E
ND
L
OOP
B
ir
d
_
p
o
s
tu
r
es
_
in
italis
atio
n
(
)
p
r
o
ce
s
s
p
lace
s
a
s
tar
tin
g
lo
ca
tio
n
s
f
o
r
all
b
ir
d
s
.
T
h
es
e
lo
ca
tio
n
s
wer
e
s
elec
ted
r
an
d
o
m
ly
an
d
clo
s
e
to
th
e
ce
n
ter
o
f
th
e
s
h
o
win
g
zo
n
e.
On
ce
th
e
s
im
u
latio
n
p
er
f
o
r
m
ed
,
th
e
en
tire
b
ir
d
s
tak
e
win
g
t
o
war
d
s
ex
p
ec
ted
tar
g
et
d
ir
ec
tio
n
.
O
n
th
e
o
th
er
h
an
d
,
as
th
e
s
im
u
latio
n
s
s
u
s
tain
ed
its
r
u
n
n
in
g
s
tate,
b
ir
d
s
k
ee
p
an
e
y
e
an
d
p
u
r
s
u
ed
th
e
r
an
d
o
m
ly
c
o
n
tin
u
o
u
s
m
o
v
e
ta
r
g
et.
Plo
t _
b
ir
d
s
(
)
p
r
o
ce
s
s
wo
u
ld
b
e
u
s
ed
to
d
r
aw
a
b
ir
d
m
o
tio
n
with
s
in
g
le
f
r
am
e,
in
th
e
ex
is
tin
g
p
o
s
tu
r
e
en
tire
b
ir
d
s
d
r
awn
.
T
h
e
p
r
o
p
o
s
ed
m
o
d
el
s
war
m
in
g
f
o
r
b
ir
d
s
f
lo
ck
o
p
e
r
ates
o
p
tim
ally
with
two
o
r
ev
e
n
wit
h
th
r
ee
d
im
en
s
io
n
s
.
T
r
an
s
f
er
_
b
ir
d
s
_
to
_
n
ex
t
_
p
o
s
tu
r
es
(
)
p
r
o
ce
s
s
co
n
s
is
t
o
f
an
alg
o
r
ith
m
f
o
r
r
ea
l
b
i
r
d
s
f
lo
ck
in
g
.
Simp
ly
,
s
u
ch
alg
o
r
ith
m
wo
r
k
o
n
v
ec
t
o
r
m
a
n
ip
u
latio
n
s
o
n
b
i
r
d
s
’
p
o
s
tu
r
es
v
ec
to
r
s
.
E
ac
h
o
n
e
o
f
th
e
s
war
m
in
g
is
wo
r
k
in
d
ep
en
d
en
tly
f
r
o
m
o
th
er
s
,
co
n
s
eq
u
en
tly
f
o
r
ea
ch
b
i
r
d
.
So
,
we
ca
n
ca
lc
u
lates
b
ir
d
m
o
v
em
en
ts
ca
u
s
ed
b
y
ev
e
r
y
s
in
g
le
o
n
e
o
f
th
ese
t
h
r
ee
r
u
les
th
at
b
ee
n
m
e
n
tio
n
e
d
an
d
well
d
escr
ib
e
d
p
r
ev
io
u
s
ly
,
r
esu
ltin
g
th
r
ee
v
ec
to
r
s
with
v
ar
io
u
s
v
el
o
cities.
I
n
ad
d
itio
n
,
ad
d
in
g
th
e
r
esu
ltin
g
v
ec
to
r
s
with
th
e
cu
r
r
en
t
v
elo
city
o
f
th
e
b
ir
d
,
th
er
ef
o
r
e
we
b
e
a
b
le
to
p
r
e
d
ict
th
e
n
ex
t v
elo
city
o
f
a
b
ir
d
.
Ac
ce
p
tin
g
th
at
th
e
v
elo
city
o
f
a
b
ir
d
is
a
v
alu
e
wer
e
b
ir
d
tr
a
v
els
p
er
tim
e
s
tep
,
th
e
n
th
e
n
ex
t
b
ir
d
p
o
s
itio
n
c
an
b
e
ca
lcu
lated
b
y
s
im
p
ly
ad
d
in
g
b
ir
d
v
elo
city
d
u
e
to
th
e
th
r
ee
r
u
les to
th
e
p
r
esen
t
p
o
s
itio
n
o
f
th
e
b
ir
d
.
T
h
e
p
r
o
ce
s
s
m
en
tio
n
ed
a
b
o
v
e
ca
n
b
e
p
r
esen
ted
b
y
m
ea
n
s
o
f
p
s
eu
d
o
-
co
d
e
as f
o
llo
ws:
PR
O
C
tr
an
s
f
er
_
b
ir
d
s
_
to
_
n
ex
t _
p
o
s
tu
r
es (
)
Vec
to
r
v
el1
,
v
el2
,
v
el
3
,
v
el4
,
.
.
.
b
ir
d
b
FOR
E
A
C
H
B
I
R
D
b
v
el1
=r
u
l1
(
b
)
v
el2
=r
u
l2
(
b
)
v
el3
=r
u
l3
(
b
)
v
el4
=r
u
l4
(
b
)
b
.
v
el
=
b
.
v
el
+
v
el
1
+
v
el2
+
v
el3
+
v
el4
+
.
.
.
b
.
p
o
s
=
b
.
p
o
s
+
b
.
v
el
E
ND
E
ND
PR
O
C
T
h
e
th
r
ee
r
u
les u
s
es p
s
eu
d
o
-
c
o
d
e
f
o
r
th
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
o
n
ce
a
tim
e
a
r
e
as f
o
llo
ws:
Rule
1
:
B
ir
d
attem
p
ts
m
ain
tai
n
in
g
a
m
in
o
r
s
ep
ar
atio
n
d
is
ta
n
ce
o
f
d
if
f
er
en
t
b
ir
d
s
(
co
u
n
tin
g
th
e
o
b
s
tacle
s
an
d
walls o
f
th
e
s
u
r
r
o
u
n
d
ed
s
p
ac
e)
.
T
h
is
r
u
le
is
to
en
s
u
r
e
th
at
th
e
b
ir
d
will
av
o
id
th
e
c
o
llis
io
n
with
an
o
th
er
b
ir
d
with
in
th
e
f
lo
ck
.
T
o
ap
p
ly
th
is
r
u
le,
a
ca
s
e
s
tu
d
y
a
u
to
n
o
m
o
u
s
f
ly
i
n
g
tax
i
will
b
e
tak
en
,
it
will
r
e
p
r
esen
t
o
n
e
o
f
cr
i
tical
ca
s
es
is
a
p
r
o
ce
s
s
o
f
m
ass
p
ar
k
in
g
f
o
r
th
ese
f
ly
in
g
v
eh
icles.
Du
r
in
g
th
is
r
u
le,
a
co
n
tin
u
o
u
s
m
o
n
ito
r
in
g
o
f
th
e
n
eig
h
b
o
r
in
g
b
ir
d
s
is
p
er
f
o
r
m
ed
,
an
d
in
th
e
ca
s
e
wh
e
n
an
y
n
eig
h
b
o
r
in
g
b
ir
d
is
with
in
a
s
p
ec
if
ied
lo
wer
s
ep
ar
atio
n
d
is
tan
ce
,
f
o
r
ex
am
p
le
5
0
m
ea
s
u
r
in
g
u
n
its
,
th
en
tr
an
s
f
er
th
e
b
ir
d
awa
y
f
r
o
m
th
at
n
eig
h
b
o
r
i
n
g
b
ir
d
.
T
h
is
ca
n
b
e
ac
c
o
m
p
lis
h
ed
v
ia
th
e
s
u
b
tr
ac
tio
n
o
f
th
e
d
is
p
lac
em
en
t
o
f
ea
c
h
n
eig
h
b
o
r
in
g
b
i
r
d
f
r
o
m
an
ar
b
itra
r
y
v
ec
to
r
,
s
ay
s
p
.
T
h
e
v
ec
to
r
s
p
ca
lcu
lated
h
er
e
is
in
itial
ized
at
0
an
d
it
ad
d
ed
to
th
e
b
ir
d
p
r
esen
t
p
o
s
itio
n
to
tr
an
s
f
er
th
e
b
ir
d
f
ar
f
r
o
m
th
e
b
ir
d
s
f
ly
i
n
g
b
esid
e
it.
An
d
in
p
s
eu
d
o
co
d
e:
PR
O
C
r
u
l1
(
b
ir
d
b
I
)
Vec
to
r
s
p
=
0
;
FOR
E
A
C
H
B
I
R
D
b
I
F b
!
=
b
I
T
HE
N
I
F |
b
.
p
o
s
–
b
I
.
p
o
s
|
<
5
0
T
HE
N
s
p
=
s
p
-
(
b
.
p
o
s
–
b
I
.
p
o
s
)
E
ND
I
F
E
ND
I
F
E
ND
R
E
T
UR
N
s
p
E
ND
PR
O
C
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
R
o
b
o
ts
s
w
a
r
m
co
mmu
n
ica
tio
n
co
n
tr
o
l b
a
s
ed
o
n
b
i
o
lo
g
ica
l
b
eh
a
vio
r
…
(
Mu
s
h
r
eq
A
b
d
u
lh
u
s
s
a
in
S
h
u
r
iji
)
1385
I
n
th
e
ca
s
e
o
f
two
b
ir
d
s
ar
e
s
id
e
b
y
s
id
e,
th
e
p
r
ev
i
o
u
s
r
u
le
is
s
u
itab
le
to
ap
p
ly
f
o
r
b
o
th
.
T
h
er
ef
o
r
e
b
o
th
o
f
th
e
m
will
s
tar
t
g
r
ad
u
a
lly
tu
r
n
ed
awa
y
f
r
o
m
th
e
o
th
e
r
an
d
th
e
s
am
e
p
r
o
ce
d
u
r
e
will
tak
e
p
lace
in
n
e
x
t
tim
e
s
tep
th
at’
s
o
f
co
u
r
s
e
if
t
h
ey
ar
e
s
till
n
ea
r
ea
ch
o
th
e
r
.
T
h
ey
will
co
n
tin
u
e
s
teer
ed
m
o
r
e
awa
y
f
r
o
m
ea
ch
o
th
er
u
n
til
th
ey
ac
ce
d
e
th
e
lo
wer
s
ep
ar
atio
n
d
is
tan
ce
b
etwe
en
th
em
.
Fo
r
th
is
r
ea
s
o
n
th
is
will
tak
e
a
s
m
o
o
th
o
r
g
r
ad
u
al
ac
ce
ler
atio
n
.
Kee
p
in
g
in
m
in
d
,
th
at
is
m
o
r
e
r
ea
lis
tic
to
en
s
u
r
e
s
m
o
o
th
m
o
v
em
en
ts
d
u
r
in
g
th
e
s
im
u
latio
n
.
Rule
2
:
B
ir
d
s
a
ttem
p
t
to
f
ly
i
n
th
e
d
ir
ec
tio
n
o
f
th
e
ce
n
ter
o
f
n
eig
h
b
o
r
in
g
b
ir
d
s
.
T
h
e
id
e
n
tifie
d
n
eig
h
b
o
r
in
g
b
ir
d
s
'
ce
n
ter
is
s
im
p
ly
an
av
er
ag
e
p
o
s
itio
n
s
o
f
th
e
en
tire
n
eig
h
b
o
r
i
n
g
b
ir
d
s
.
On
b
eh
alf
o
f
b
ir
d
bI
(1
<=
I
<=
N)
,
th
e
o
b
v
io
u
s
ce
n
ter
acI
is
p
r
esen
ted
as f
o
llo
ws:
ac
I
=
(
b
1
.
p
o
s
+
b
2
.
p
o
s
+
.
.
.
+
b
I
-
1
.
p
o
s
+
b
I
+
1
.
p
o
s
+
.
.
.
+
b
N.
p
o
s
)
/ (
N
-
1)
On
ce
a
ca
lcu
latio
n
m
ad
e
to
d
eter
m
in
e
th
e
ap
p
ar
e
n
t
ce
n
ter
,
it
is
ess
en
tial
to
tr
an
s
f
er
a
p
ar
t
icu
lar
b
ir
d
in
th
e
d
ir
ec
tio
n
o
f
th
e
in
te
n
d
ed
ce
n
ter
.
W
e
ca
n
d
eter
m
in
e
d
th
is
p
r
o
ce
s
s
f
o
r
tr
an
s
f
er
r
in
g
th
e
b
ir
d
0
.
0
1
ap
a
r
t
f
r
o
m
th
e
ce
n
ter
v
ia
t
h
e
f
o
llo
wi
n
g
:
(
ac
I
–
b
I
.
p
o
s
)
/ 1
0
0
T
h
e
p
s
eu
d
o
-
co
d
e
b
r
ief
is
s
h
o
w
n
as f
o
llo
ws:
PR
O
C
r
u
l2
(
b
ir
d
b
I
)
Vec
to
r
ac
I
FOR
E
A
C
H
B
I
R
D
b
I
F b
!
=
b
I
T
HE
N
ac
I
=
ac
I
+
b
.
p
o
s
E
ND
I
F
E
ND
ac
I
=
ac
I
/ (
N
-
1
)
R
E
T
UR
N
(
ac
I
–
b
I
.
p
o
s
)
/1
0
0
E
ND
PR
O
C
Hen
ce
,
th
e
f
ir
s
t v
elo
city
c
alcu
l
atio
n
o
f
v
ec
to
r
(
v
1
)
f
o
r
a
s
p
ec
if
ic
b
ir
d
was su
cc
ess
f
u
lly
ac
h
ie
v
ed
.
Rule
3
:
B
ir
d
attem
p
t to
s
u
s
tain
s
am
e
v
elo
city
as th
at
o
f
th
e
n
ea
r
b
ir
d
s
.
T
h
is
m
ay
b
e
s
im
ilar
to
R
u
le
2
,
b
u
t
in
its
p
lace
o
f
ta
k
in
g
th
e
av
er
a
g
e
o
f
th
e
n
eig
h
b
o
r
in
g
b
ir
d
s
’
p
o
s
itio
n
s
,
th
e
av
e
r
ag
ed
v
elo
ci
ti
es
o
f
th
e
n
ei
g
h
b
o
r
in
g
b
ir
d
s
'
ap
p
ar
en
t
v
elo
city
'
(
av
I
)
ca
n
b
e
d
eter
m
in
ed
,
p
lu
s
in
cr
ea
s
e
o
n
ly
a
m
in
o
r
f
r
ac
tio
n
,
r
o
u
g
h
ly
o
n
e
s
ix
th
o
f
b
i
r
d
'
s
c
u
r
r
en
t
s
p
ee
d
.
As
a
r
esu
lt,
a
g
r
ad
u
al
b
o
o
s
t
v
elo
city
d
eliv
er
ed
f
o
r
th
e
'
ap
p
ar
e
n
t v
el
o
city
'
.
PR
O
C
r
u
l3
(
b
ir
d
b
I
)
Vec
to
r
av
I
FOR
E
A
C
H
B
I
R
D
b
I
F b
!
=
b
I
T
HE
N
av
I
=
av
I
+
b
.
v
el
E
ND
I
F
E
ND
av
I
=
av
I
/ (
N
-
1)
R
E
T
UR
N
(
av
I
–
b
I
.
v
el)
/ 6
E
ND
PR
O
C
T
h
e
b
ir
d
s
f
lo
c
k
in
g
r
u
les
d
escr
ib
ed
ab
o
v
e
ar
e
ap
p
r
o
p
r
iately
d
em
o
n
s
tr
ate
th
e
co
m
p
licated
ag
g
r
eg
atio
n
b
eh
av
io
r
s
ee
n
in
b
ir
d
f
lo
c
k
.
T
h
ese
ar
e
th
e
ess
en
tial
r
u
les
th
at
ar
e
r
eq
u
ir
ed
in
o
r
d
er
t
o
m
im
ic
th
e
lead
er
less
,
Sp
atial
f
lo
ck
in
g
b
eh
av
i
o
r
.
T
h
is
r
eq
u
ir
es
th
e
p
r
o
v
is
io
n
o
f
co
m
m
u
n
icatio
n
a
n
d
co
n
tr
o
l
d
ev
ices
(
f
o
r
th
is
p
ar
ticu
lar
ca
s
e)
,
in
wh
ich
r
ep
r
esen
ts
a
p
r
o
ce
s
s
o
f
im
itatin
g
t
h
e
r
o
le
o
f
th
e
co
m
m
an
d
e
r
to
m
ain
tain
th
e
s
y
s
tem
an
d
r
eg
u
late
th
e
en
tr
y
p
r
o
ce
s
s
to
th
e
m
ain
g
ate,
b
y
ad
d
a
W
SN
n
o
tes
(
o
r
m
o
tes)
with
m
icr
o
co
n
tr
o
ller
an
d
Z
ig
b
ee
X3
co
m
m
u
n
icatio
n
s
y
s
tem
s
o
r
m
id
d
le
-
d
is
tan
ce
co
m
m
u
n
icatio
n
an
d
r
em
o
te
co
n
tr
o
l.
E
ac
h
o
f
wh
ich
will
ac
t
a
s
th
e
lead
er
o
f
th
e
g
r
o
u
p
(
b
ased
o
n
th
e
f
i
r
s
t
in
,
will
tak
e
th
e
lead
er
s
h
ip
)
an
d
th
e
lead
er
s
h
ip
th
en
tr
an
s
f
er
r
ed
to
th
e
last
o
u
t
b
ir
d
f
r
o
m
th
e
r
e
m
ain
in
g
s
war
m
.
Ho
wev
er
to
ac
q
u
ir
e
a
m
o
r
e
r
ea
lis
tic
m
o
d
el
f
o
r
b
ir
d
s
f
lo
ck
b
eh
a
v
io
r
,
o
th
er
f
ea
tu
r
es
s
h
o
u
ld
b
e
em
b
e
d
d
ed
,
s
o
m
e
o
f
th
e
h
u
g
e
f
ea
tu
r
es
s
ee
n
in
b
ir
d
s
f
lo
c
k
b
eh
av
io
r
ar
e
in
tr
o
d
u
ce
d
in
th
e
f
o
llo
win
g
s
ec
tio
n
s
.
T
h
ese
r
u
les
co
u
l
d
b
e
ad
d
ed
t
o
th
e
tr
an
s
f
er
_
b
ir
d
s
_
to
_
n
e
x
t_
p
o
s
tu
r
es()
p
r
o
ce
d
u
r
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
1
6
,
No
.
3
,
Dece
m
b
er
201
9
:
1
3
7
9
-
1
3
9
1
1386
5
.
1
.
Ac
t
io
n o
f
Wind
Curre
n
t
s
PR
O
C
win
d
_
cu
r
r
en
ts
(
B
ir
d
b
)
Vec
to
r
cu
r
r
e
n
t
R
E
T
UR
N
cu
r
r
en
t
E
ND
PR
O
C
T
h
is
p
r
o
ce
d
u
r
e
r
et
u
r
n
s
th
e
v
alu
e
o
f
win
d
cu
r
r
en
ts
wh
ich
is
t
h
e
s
am
e
f
o
r
ev
er
y
b
ir
d
with
in
th
e
f
lo
ck
;
th
er
ef
o
r
e
t
h
e
o
v
e
r
all
b
ir
d
s
f
lo
c
k
wo
u
ld
h
av
e
th
e
id
en
tical
cu
r
r
en
t p
u
s
h
in
g
ef
f
ec
t.
5
.
2
.
A
t
t
ra
ct
i
o
n t
o
a
Sp
ec
if
ic
P
la
ce
o
r
T
a
rg
et
PR
O
C
attr
ac
t_
to
_
p
lc(
B
ir
d
b
)
Vec
to
r
p
lc
R
E
T
UR
N
(
p
lc
-
b
.
p
o
s
)
/ 1
0
0
E
ND
PR
O
C
T
h
is
p
r
o
ce
d
u
r
e
tr
a
n
s
f
er
s
th
e
b
ir
d
0
.
0
1
o
f
its
way
in
th
e
d
ir
ec
tio
n
o
f
th
e
tar
g
et
at
ea
ch
tim
e
s
tep
.
T
h
is
will e
n
s
u
r
e
a
s
m
o
o
th
r
ea
c
h
to
t
h
e
tar
g
et
m
ain
ly
f
o
r
d
is
tan
t ta
r
g
ets.
5
.
3
.
L
im
it
a
t
io
n o
f
B
ird Spe
ed
L
im
itin
g
th
e
m
ag
n
itu
d
e
o
f
th
e
b
ir
d
s
p
ee
d
g
iv
es
th
e
m
o
d
el
a
r
ea
lis
tic
s
en
s
e,
in
th
is
m
an
n
er
th
e
b
ir
d
s
wo
u
ld
n
'
t
f
ly
in
ex
ce
s
s
iv
e
s
p
ee
d
.
I
f
th
is
lim
itatio
n
is
n
o
t
p
e
r
f
o
r
m
ed
,
th
en
th
e
s
p
ee
d
o
f
th
e
b
ir
d
m
a
y
f
l
u
ctu
ate,
an
d
th
e
r
e
will
b
e
a
g
o
o
d
ch
a
n
ce
f
o
r
th
e
b
i
r
d
s
to
f
ly
in
a
v
er
y
h
ig
h
s
p
ee
d
.
Actu
ally
th
e
r
ea
l
b
ir
d
ca
n
'
t
f
ly
illo
g
ically
v
er
y
f
ast.
Fo
r
a
lim
i
tin
g
s
p
ee
d
to
v
m
x
th
e
f
o
llo
win
g
p
r
o
ce
d
u
r
e
m
ay
b
e
u
s
ed
:
PR
O
C
lim
it_
s
p
ee
d
(
B
ir
d
b
)
I
n
teg
er
v
m
x
I
F |
b
.
v
el|
>
v
m
x
T
HE
N
b
.
v
el
=
(
b
.
v
el
/ |
b
.
v
el|
)
*
v
m
x
E
ND
I
F
E
ND
PR
O
C
I
n
th
is
p
r
o
ce
d
u
r
e,
a
u
n
it
v
ec
to
r
o
f
th
e
b
i
r
d
s
p
ee
d
was
ca
lcu
l
ated
b
y
d
iv
i
d
in
g
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I
n
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4
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tio
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r
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atin
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t r
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ld
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ely
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s
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ch
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atin
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2
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ter
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atin
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3
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k
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im
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.
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.
b
y
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s
.
5
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6
.
T
endency
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o
be
F
a
r
f
ro
m
a
Sp
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if
ied P
la
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h
en
th
e
b
ir
d
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f
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eq
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ir
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to
f
ly
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ar
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r
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s
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o
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a
Pre
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ato
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al,
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h
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th
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e
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ir
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ee
d
s
to
f
ly
f
ar
f
r
o
m
th
at
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lace
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h
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m
p
u
tatio
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n
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e
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e
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ly
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o
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ly
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if
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e
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to
m
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ltip
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e
v
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ct
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r
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ativ
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el
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6.
P
RO
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D
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M
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UN
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C
AT
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M
T
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b
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ain
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tatio
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[
20
-
2
1
]
,
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l
y
in
g
th
e
o
p
e
r
atin
g
c
o
n
d
itio
n
s
(
g
ett
in
g
clo
s
er
t
o
o
t
h
er
f
ly
in
g
o
b
jects)
an
d
th
e
d
is
tan
c
e
b
etwe
en
ea
ch
o
th
er
an
d
th
e
s
tar
tin
g
b
ase
s
tatio
n
T
h
is
d
ata
is
r
ea
d
an
d
ca
lcu
lates
th
e
d
is
tan
ce
s
r
eq
u
ir
ed
f
o
r
th
e
ap
p
licatio
n
o
f
(
r
u
les
1
,
2
,
an
d
3
)
ac
co
r
d
in
g
to
t
h
e
co
o
r
d
in
ates
f
r
o
m
th
e
air
cr
af
t
GPS
s
y
s
t
em
,
W
ith
th
e
aid
o
f
t
h
ese
d
ata,
t
h
e
lead
er
p
ilo
t
will
s
en
d
th
e
in
s
tr
u
ctio
n
s
to
t
h
e
o
th
er
m
em
b
er
s
o
f
s
war
m
(
to
p
r
ev
en
t
co
llis
io
n
s
o
r
cr
itica
l
clo
s
e
am
o
n
g
t
h
e
m
em
b
er
s
)
,
wh
ich
lead
to
th
e
o
r
g
an
ize
o
f
th
e
p
r
o
ce
s
s
o
f
en
tr
y
a
n
d
ex
it
d
u
r
in
g
th
e
m
ass
tak
eo
f
f
an
d
lan
d
in
g
o
p
er
atio
n
s
.
7.
SI
M
UL
A
T
I
O
N
R
E
S
UL
T
S
AND
DIS
CUSS
I
O
N
T
h
e
s
u
g
g
ested
b
ir
d
f
lo
ck
i
n
g
alg
o
r
ith
m
was
s
im
u
lated
ef
f
ec
tiv
ely
in
MA
T
L
AB
.
Mo
r
eo
v
er
,
t
h
e
g
en
u
in
e
b
io
lo
g
ical
m
o
d
el
im
p
lem
en
tatio
n
was
p
o
s
itiv
ely
co
m
p
leted
in
3
-
D
d
is
tr
ib
u
tio
n
s
p
ac
e.
T
h
e
s
im
u
latio
n
h
as
r
ev
ea
led
s
u
p
p
o
s
in
g
th
e
f
o
llo
win
g
;
a
b
ir
d
o
f
len
g
th
1
5
c
m
,
n
u
m
b
er
o
f
b
ir
d
s
in
f
lo
ck
is
3
0
,
av
e
r
ag
e
lin
ea
r
v
elo
city
o
f
b
ir
d
is
4
m
/s
an
d
av
er
ag
e
an
g
u
lar
v
elo
city
o
f
b
ir
d
is
1
0
0
º
/s
.
I
n
ad
d
ito
n
,
a
ll
b
ir
d
s
f
ly
in
th
e
d
ir
ec
tio
n
o
f
th
e
p
r
ed
ictab
le
t
ar
g
et
(
r
ed
h
o
llo
w
cir
cle)
as
we
p
o
in
ted
o
u
t
p
r
ev
io
u
s
ly
.
T
h
e
r
esu
lts
o
f
th
e
p
r
o
p
o
s
ed
s
im
u
latio
n
p
r
o
g
r
am
is
s
h
o
ws
a
v
er
y
p
r
o
m
is
in
g
a
n
d
wis
h
ed
-
f
o
r
m
o
v
em
e
n
ts
(
s
elf
-
o
r
g
n
is
ed
)
an
d
it
illu
s
tr
ated
in
Fig
u
er
s
5
,
6
an
d
7
.
In
b
o
u
n
d
O
u
tb
o
u
n
d
T
T
Fi
r
s
t
IN
M
a
k
e
th
e
m
i
m
i
c
o
f
l
e
a
d
e
r
l
es
s
L
a
s
t
O
u
t
K
eep
th
e
m
i
m
i
c
o
f
l
e
a
d
e
r
l
es
s
1
2
4
3
5
6
6
5
4
3
2
1
L
e
ad
e
r
b
i
r
d
(
m
as
t
e
r
)
Rou
t
e
r
B
i
r
d
Cli
e
n
t
B
i
r
d
(
S
l
ave
)
B
i
r
d
ou
t
of
c
ovar
age
S
t
ar
L
i
n
k
M
e
s
h
L
i
n
k
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