Fig. 6
Comparative analysis of guidance behaviour. a Box-and-whisker plots comparingN-values for PN guidance models fitted independently to 50 flights from Harris’ Hawks (this paper) and 42 flights from Peregrine Falcons5. Centre line of box denotes median; bounds of box denote first and third quartiles. Crosses indicate outlying points falling >1.5 times interquartile range below the first quartile or above the third quartile; whiskers extend to the most extreme data points not considered outliers. Red dot denotes N-value for globally fitted mixed guidance law. Silhouettes show typical values for missiles6 and predatory flies15,20. b, c Trajectories simulated under PN guidance at N ∈ {1, 2, 3}, in pursuit of (b) jinking ground target from hawk experiments, and (c) aerial target from falcon experiments. Initial position of attacker as measured; initial track angle directed at target to avoid bias. Coloured circles denote collision. Grid spacing: 10 m. Fly icons redrawn from original artwork in refs. 15,20 under CC BY 4.0
