Fig. 5 | Nature Communications

Fig. 5

From: Hawks steer attacks using a guidance system tuned for close pursuit of erratically manoeuvring targets

Fig. 5

Model parameters and fit under each guidance law.ac proportional pursuit (PP), fitted independently to each flight; df proportional navigation (PN), fitted independently to each flight; gi mixed (PP + PN) guidance law, fitted independently to each flight; jl mixed (PP + PN) guidance law, fitted globally to all flights.a, d, g histograms showing the prediction error ε of the best-fitting model for each flight, where the solid and dashed red lines denote the median prediction error \(\tilde \varepsilon\) and its bootstrapped 95% confidence interval;b, e, h histograms showing the best-fitting guidance constant K (magenta) and/or N (blue) for each flight; c, f, i histograms showing the best-fitting delay τ for each flight. jl Surface plots showing how median prediction error \(\tilde \varepsilon\) for all flights varies as a function of each pair of the parameters N,K and τ of the mixed guidance law, holding the third parameter constant at its best-fitting value. Surface colour denotes surface height; red dot denotes location of global optimum

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