Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10, bench x:6.73 y:0.50 z:0.07], yaw_start:114.56, yaw_current:144.56]

Answer: CIRCLE: dx:-0.12; dy:-0.51; dz:0.00; yaw:-20.44;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10, bench x:6.70 y:-0.75 z:0.07], yaw_start:114.56, yaw_current:159.56]

Answer: CIRCLE: dx:0.02; dy:-0.52; dz:0.00; yaw:-5.44;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10, bench x:6.30 y:-2.02 z:0.07], yaw_start:114.56, yaw_current:174.56]

Answer: CIRCLE: dx:0.15; dy:-0.50; dz:0.00; yaw:9.56;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, bench x:5.40 y:-3.69 z:0.07], yaw_start:114.56, yaw_current:189.56]

Answer: CIRCLE: dx:0.28; dy:-0.44; dz:0.00; yaw:24.56;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09], yaw_start:114.56, yaw_current:204.56]

Answer: CIRCLE: dx:0.38; dy:-0.36; dz:0.00; yaw:39.56;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09], yaw_start:114.56, yaw_current:219.56]

Answer: CIRCLE: dx:0.46; dy:-0.24; dz:0.00; yaw:54.56;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09], yaw_start:114.56, yaw_current:234.56]

Answer: CIRCLE: dx:0.51; dy:-0.12; dz:0.00; yaw:69.56;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, oil barrel x:20.34 y:6.02 z:-0.06], yaw_start:114.56, yaw_current:249.56]

Answer: CIRCLE: dx:0.52; dy:0.02; dz:0.00; yaw:84.56;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, oil barrel x:21.29 y:1.06 z:-0.07], yaw_start:114.56, yaw_current:264.56]

Answer: CIRCLE: dx:0.50; dy:0.15; dz:0.00; yaw:99.56;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:26.43 y:8.41 z:0.36, oil barrel x:20.90 y:-3.98 z:-0.07], yaw_start:114.56, yaw_current:279.56]

Answer: CIRCLE: dx:0.44; dy:0.28; dz:0.00; yaw:114.56;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, BMW X5 x:27.78 y:1.79 z:0.35, oil barrel x:19.23 y:-8.68 z:-0.08], yaw_start:114.56, yaw_current:294.56]

Answer: CIRCLE: dx:0.36; dy:0.38; dz:0.00; yaw:129.56;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, BMW X5 x:27.36 y:-4.95 z:0.34, dog x:12.08 y:3.45 z:-0.13], yaw_start:114.56, yaw_current:309.56]

Answer: CIRCLE: dx:0.24; dy:0.46; dz:0.00; yaw:144.56;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, BMW X5 x:25.01 y:-12.27 z:0.34, dog x:12.62 y:0.72 z:-0.14], yaw_start:114.56, yaw_current:324.56]

Answer: CIRCLE: dx:0.12; dy:0.51; dz:0.00; yaw:159.56;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, dog x:12.44 y:-2.08 z:-0.14], yaw_start:114.56, yaw_current:339.56]

Answer: CIRCLE: dx:-0.02; dy:0.52; dz:0.00; yaw:174.56;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10, dog x:11.56 y:-4.73 z:-0.14], yaw_start:114.56, yaw_current:354.56]

Answer: CIRCLE: dx:-0.15; dy:0.50; dz:0.00; yaw:-170.44;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:114.56, yaw_current:9.56]

Answer: CIRCLE: dx:-0.28; dy:0.44; dz:0.00; yaw:-155.44;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:114.56, yaw_current:24.56]

Answer: CIRCLE: dx:-0.38; dy:0.36; dz:0.00; yaw:-140.44;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:114.56, yaw_current:39.56]

Answer: CIRCLE: dx:-0.46; dy:0.24; dz:0.00; yaw:-125.44;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:114.56, yaw_current:54.56]

Answer: CIRCLE: dx:-0.51; dy:0.12; dz:0.00; yaw:-110.44;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:114.56, yaw_current:69.56]

Answer: CIRCLE: dx:-0.52; dy:-0.02; dz:0.00; yaw:-95.44;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:114.56, yaw_current:84.56]

Answer: CIRCLE: dx:-0.50; dy:-0.15; dz:0.00; yaw:-80.44;


Context: [drone_absolute_movement x:3.66 y:-7.43 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10]]

Answer: RETURN: dx:-3.66; dy:7.43;


Context: [objects_distance_from_drone[pedestrian x:10.19 y:0.18 z:0.21, bench x:13.17 y:3.89 z:-0.12]]

Answer: LAND


Context: [objects_distance_from_drone[bench x:11.30 y:-7.28 z:0.63]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[bench x:11.68 y:-0.48 z:0.10]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:4.35 y:-0.99 z:0.34, BMW X5 x:18.22 y:1.95 z:0.34]]

Answer: MOVE: x:14.22; y:1.95; z:0.34


Context: [objects_distance_from_drone[BMW X5 x:4.10 y:-0.01 z:0.41], yaw_start:241.33, yaw_current:226.33]

Answer: CIRCLE: dx:0.97; dy:-0.38; dz:0.00; yaw:61.33;


Context: [objects_distance_from_drone[BMW X5 x:4.02 y:0.16 z:0.44], yaw_start:241.33, yaw_current:241.33]

Answer: CIRCLE: dx:1.04; dy:-0.11; dz:0.00; yaw:76.33;


Context: [objects_distance_from_drone[BMW X5 x:4.04 y:0.31 z:0.46], yaw_start:241.33, yaw_current:256.33]

Answer: CIRCLE: dx:1.03; dy:0.16; dz:0.00; yaw:91.33;


Context: [objects_distance_from_drone[BMW X5 x:4.07 y:0.37 z:0.46], yaw_start:241.33, yaw_current:271.33]

Answer: CIRCLE: dx:0.96; dy:0.42; dz:0.00; yaw:106.33;


Context: [objects_distance_from_drone[BMW X5 x:4.02 y:0.34 z:0.43], yaw_start:241.33, yaw_current:286.33]

Answer: CIRCLE: dx:0.81; dy:0.65; dz:0.00; yaw:121.33;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:0.06 z:0.38], yaw_start:241.33, yaw_current:301.33]

Answer: CIRCLE: dx:0.62; dy:0.84; dz:0.00; yaw:136.33;


Context: [objects_distance_from_drone[BMW X5 x:3.94 y:-0.21 z:0.35], yaw_start:241.33, yaw_current:316.33]

Answer: CIRCLE: dx:0.38; dy:0.97; dz:0.00; yaw:151.33;


Context: [objects_distance_from_drone[BMW X5 x:3.91 y:-0.07 z:0.35], yaw_start:241.33, yaw_current:331.33]

Answer: CIRCLE: dx:0.11; dy:1.04; dz:0.00; yaw:166.33;


Context: [objects_distance_from_drone[BMW X5 x:3.89 y:-0.12 z:0.35], yaw_start:241.33, yaw_current:346.33]

Answer: CIRCLE: dx:-0.16; dy:1.03; dz:0.00; yaw:-178.67;


Context: [objects_distance_from_drone[BMW X5 x:3.92 y:-0.40 z:0.35], yaw_start:241.33, yaw_current:1.33]

Answer: CIRCLE: dx:-0.42; dy:0.96; dz:0.00; yaw:-163.67;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:-0.50 z:0.35], yaw_start:241.33, yaw_current:16.33]

Answer: CIRCLE: dx:-0.65; dy:0.81; dz:0.00; yaw:-148.67;


Context: [objects_distance_from_drone[pedestrian x:17.09 y:5.28 z:0.35, BMW X5 x:3.97 y:-0.45 z:0.35], yaw_start:241.33, yaw_current:31.33]

Answer: CIRCLE: dx:-0.84; dy:0.62; dz:0.00; yaw:-133.67;


Context: [objects_distance_from_drone[BMW X5 x:3.94 y:-0.33 z:0.34], yaw_start:241.33, yaw_current:46.33]

Answer: CIRCLE: dx:-0.97; dy:0.38; dz:0.00; yaw:-118.67;


Context: [objects_distance_from_drone[BMW X5 x:3.90 y:-0.07 z:0.35], yaw_start:241.33, yaw_current:61.33]

Answer: CIRCLE: dx:-1.04; dy:0.11; dz:0.00; yaw:-103.67;


Context: [objects_distance_from_drone[pedestrian x:16.98 y:-5.54 z:0.33, BMW X5 x:3.89 y:0.14 z:0.35], yaw_start:241.33, yaw_current:76.33]

Answer: CIRCLE: dx:-1.03; dy:-0.16; dz:0.00; yaw:-88.67;


Context: [objects_distance_from_drone[BMW X5 x:3.88 y:0.26 z:0.35], yaw_start:241.33, yaw_current:91.33]

Answer: CIRCLE: dx:-0.96; dy:-0.42; dz:0.00; yaw:-73.67;


Context: [objects_distance_from_drone[BMW X5 x:3.81 y:0.26 z:0.34], yaw_start:241.33, yaw_current:106.33]

Answer: CIRCLE: dx:-0.81; dy:-0.65; dz:0.00; yaw:-58.67;


Context: [objects_distance_from_drone[BMW X5 x:3.74 y:0.08 z:0.34], yaw_start:241.33, yaw_current:121.33]

Answer: CIRCLE: dx:-0.62; dy:-0.84; dz:0.00; yaw:-43.67;


Context: [objects_distance_from_drone[BMW X5 x:3.69 y:-0.10 z:0.34], yaw_start:241.33, yaw_current:136.33]

Answer: CIRCLE: dx:-0.38; dy:-0.97; dz:0.00; yaw:-28.67;


Context: [objects_distance_from_drone[BMW X5 x:3.75 y:0.13 z:0.34], yaw_start:241.33, yaw_current:151.33]

Answer: CIRCLE: dx:-0.11; dy:-1.04; dz:0.00; yaw:-13.67;


Context: [objects_distance_from_drone[BMW X5 x:3.76 y:0.15 z:0.39], yaw_start:241.33, yaw_current:166.33]

Answer: CIRCLE: dx:0.16; dy:-1.03; dz:0.00; yaw:1.33;


Context: [objects_distance_from_drone[BMW X5 x:3.83 y:-0.06 z:0.43], yaw_start:241.33, yaw_current:181.33]

Answer: CIRCLE: dx:0.42; dy:-0.96; dz:0.00; yaw:16.33;


Context: [objects_distance_from_drone[BMW X5 x:3.95 y:-0.22 z:0.47], yaw_start:241.33, yaw_current:196.33]

Answer: CIRCLE: dx:0.65; dy:-0.81; dz:0.00; yaw:31.33;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:-0.16 z:0.48], yaw_start:241.33, yaw_current:211.33]

Answer: CIRCLE: dx:0.84; dy:-0.62; dz:0.00; yaw:46.33;


Context: [drone_absolute_movement x:6.60 y:6.77 z:0.50, objects_distance_from_drone[BMW X5 x:3.99 y:-0.03 z:0.47]]

Answer: RETURN: dx:-6.60; dy:-6.77;


Context: [objects_distance_from_drone[BMW X5 x:12.96 y:-2.67 z:0.41]]

Answer: LAND


Context: [objects_distance_from_drone[pedestrian x:10.84 y:-4.76 z:0.84, dog x:10.01 y:-0.26 z:0.36]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:10.81 y:-4.77 z:0.36, dog x:10.00 y:-0.29 z:-0.12]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:10.82 y:-4.77 z:0.36, dog x:10.00 y:-0.28 z:-0.12]]

Answer: MOVE: x:8.00; y:-0.28; z:-0.12


Context: [objects_distance_from_drone[dog x:2.10 y:-0.00 z:-0.16], yaw_start:178.43, yaw_current:163.43]

Answer: CIRCLE: dx:0.05; dy:-0.52; dz:0.00; yaw:-1.57;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.01 z:-0.14], yaw_start:178.43, yaw_current:178.43]

Answer: CIRCLE: dx:0.19; dy:-0.49; dz:0.00; yaw:13.43;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.01 z:-0.14], yaw_start:178.43, yaw_current:193.43]

Answer: CIRCLE: dx:0.31; dy:-0.42; dz:0.00; yaw:28.43;


Context: [objects_distance_from_drone[BMW X5 x:9.77 y:4.21 z:0.56, dog x:1.98 y:-0.01 z:-0.14], yaw_start:178.43, yaw_current:208.43]

Answer: CIRCLE: dx:0.41; dy:-0.33; dz:0.00; yaw:43.43;


Context: [objects_distance_from_drone[BMW X5 x:10.43 y:5.01 z:0.35, dog x:1.97 y:-0.02 z:-0.14], yaw_start:178.43, yaw_current:223.43]

Answer: CIRCLE: dx:0.48; dy:-0.21; dz:0.00; yaw:58.43;


Context: [objects_distance_from_drone[BMW X5 x:11.30 y:2.12 z:0.35, dog x:1.97 y:-0.05 z:-0.14], yaw_start:178.43, yaw_current:238.43]

Answer: CIRCLE: dx:0.52; dy:-0.08; dz:0.00; yaw:73.43;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14], yaw_start:178.43, yaw_current:253.43]

Answer: CIRCLE: dx:0.52; dy:0.05; dz:0.00; yaw:88.43;


Context: [objects_distance_from_drone[BMW X5 x:11.12 y:-2.83 z:0.34, dog x:1.97 y:-0.03 z:-0.14], yaw_start:178.43, yaw_current:268.43]

Answer: CIRCLE: dx:0.49; dy:0.19; dz:0.00; yaw:103.43;


Context: [objects_distance_from_drone[BMW X5 x:9.73 y:-5.50 z:0.34, dog x:1.96 y:-0.03 z:-0.14], yaw_start:178.43, yaw_current:283.43]

Answer: CIRCLE: dx:0.42; dy:0.31; dz:0.00; yaw:118.43;


Context: [objects_distance_from_drone[BMW X5 x:8.98 y:-4.15 z:0.50, dog x:1.97 y:-0.02 z:-0.14, bench x:15.58 y:7.96 z:0.08], yaw_start:178.43, yaw_current:298.43]

Answer: CIRCLE: dx:0.33; dy:0.41; dz:0.00; yaw:133.43;


Context: [objects_distance_from_drone[dog x:1.96 y:-0.01 z:-0.14, bench x:17.19 y:3.59 z:0.08], yaw_start:178.43, yaw_current:313.43]

Answer: CIRCLE: dx:0.21; dy:0.48; dz:0.00; yaw:148.43;


Context: [objects_distance_from_drone[dog x:1.93 y:-0.01 z:-0.14], yaw_start:178.43, yaw_current:328.43]

Answer: CIRCLE: dx:0.08; dy:0.52; dz:0.00; yaw:163.43;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.01 z:-0.14, bench x:16.95 y:-4.50 z:0.07, oil barrel x:18.94 y:4.14 z:-0.06], yaw_start:178.43, yaw_current:343.43]

Answer: CIRCLE: dx:-0.05; dy:0.52; dz:0.00; yaw:178.43;


Context: [objects_distance_from_drone[dog x:1.95 y:-0.01 z:-0.14, bench x:14.82 y:-9.22 z:0.06], yaw_start:178.43, yaw_current:358.43]

Answer: CIRCLE: dx:-0.19; dy:0.49; dz:0.00; yaw:-166.57;


Context: [objects_distance_from_drone[dog x:1.95 y:-0.01 z:-0.14, oil barrel x:18.74 y:-4.90 z:-0.08], yaw_start:178.43, yaw_current:13.43]

Answer: CIRCLE: dx:-0.31; dy:0.42; dz:0.00; yaw:-151.57;


Context: [objects_distance_from_drone[dog x:1.96 y:-0.01 z:-0.14], yaw_start:178.43, yaw_current:28.43]

Answer: CIRCLE: dx:-0.41; dy:0.33; dz:0.00; yaw:-136.57;


Context: [objects_distance_from_drone[pedestrian x:5.95 y:2.63 z:0.35, dog x:1.97 y:0.00 z:-0.14], yaw_start:178.43, yaw_current:43.43]

Answer: CIRCLE: dx:-0.48; dy:0.21; dz:0.00; yaw:-121.57;


Context: [objects_distance_from_drone[pedestrian x:6.71 y:2.16 z:0.34, dog x:1.97 y:0.03 z:-0.14], yaw_start:178.43, yaw_current:58.43]

Answer: CIRCLE: dx:-0.52; dy:0.08; dz:0.00; yaw:-106.57;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14], yaw_start:178.43, yaw_current:73.43]

Answer: CIRCLE: dx:-0.52; dy:-0.05; dz:0.00; yaw:-91.57;


Context: [objects_distance_from_drone[pedestrian x:7.23 y:-0.38 z:0.34, dog x:1.97 y:0.02 z:-0.14], yaw_start:178.43, yaw_current:88.43]

Answer: CIRCLE: dx:-0.49; dy:-0.19; dz:0.00; yaw:-76.57;


Context: [objects_distance_from_drone[pedestrian x:6.95 y:-1.73 z:0.34, dog x:1.97 y:0.01 z:-0.14], yaw_start:178.43, yaw_current:103.43]

Answer: CIRCLE: dx:-0.42; dy:-0.31; dz:0.00; yaw:-61.57;


Context: [objects_distance_from_drone[pedestrian x:6.34 y:-2.45 z:0.34, dog x:1.97 y:0.00 z:-0.14], yaw_start:178.43, yaw_current:118.43]

Answer: CIRCLE: dx:-0.33; dy:-0.41; dz:0.00; yaw:-46.57;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.01 z:-0.14], yaw_start:178.43, yaw_current:133.43]

Answer: CIRCLE: dx:-0.21; dy:-0.48; dz:0.00; yaw:-31.57;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14], yaw_start:178.43, yaw_current:148.43]

Answer: CIRCLE: dx:-0.08; dy:-0.52; dz:0.00; yaw:-16.57;


Context: [drone_absolute_movement x:8.01 y:-0.19 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:-8.01; dy:0.19;


Context: [objects_distance_from_drone[pedestrian x:10.81 y:-4.69 z:0.41, dog x:9.92 y:-0.15 z:-0.08]]

Answer: LAND


Context: [objects_distance_from_drone[pedestrian x:10.36 y:-0.28 z:0.84, BMW X5 x:2.04 y:2.44 z:0.80]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:10.33 y:-0.23 z:0.36, BMW X5 x:2.09 y:2.45 z:0.11]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:3.09 y:-2.80 z:0.35, bench x:10.13 y:0.83 z:0.08]]

Answer: MOVE: x:8.13; y:0.83; z:0.08


Context: [objects_distance_from_drone[bench x:2.08 y:0.03 z:0.05], yaw_start:265.80, yaw_current:250.80]

Answer: CIRCLE: dx:0.52; dy:0.03; dz:0.00; yaw:85.80;


Context: [objects_distance_from_drone[bench x:1.98 y:0.01 z:0.07], yaw_start:265.80, yaw_current:265.80]

Answer: CIRCLE: dx:0.50; dy:0.16; dz:0.00; yaw:100.80;


Context: [objects_distance_from_drone[bench x:1.92 y:-0.10 z:0.06], yaw_start:265.80, yaw_current:280.80]

Answer: CIRCLE: dx:0.44; dy:0.29; dz:0.00; yaw:115.80;


Context: [objects_distance_from_drone[bench x:1.89 y:-0.21 z:0.07], yaw_start:265.80, yaw_current:295.80]

Answer: CIRCLE: dx:0.35; dy:0.39; dz:0.00; yaw:130.80;


Context: [objects_distance_from_drone[bench x:1.82 y:-0.16 z:0.07], yaw_start:265.80, yaw_current:310.80]

Answer: CIRCLE: dx:0.23; dy:0.47; dz:0.00; yaw:145.80;


Context: [objects_distance_from_drone[bench x:1.81 y:-0.11 z:0.07], yaw_start:265.80, yaw_current:325.80]

Answer: CIRCLE: dx:0.11; dy:0.51; dz:0.00; yaw:160.80;


Context: [objects_distance_from_drone[bench x:1.81 y:-0.19 z:0.07], yaw_start:265.80, yaw_current:340.80]

Answer: CIRCLE: dx:-0.03; dy:0.52; dz:0.00; yaw:175.80;


Context: [objects_distance_from_drone[bench x:1.82 y:-0.21 z:0.08], yaw_start:265.80, yaw_current:355.80]

Answer: CIRCLE: dx:-0.16; dy:0.50; dz:0.00; yaw:-169.20;


Context: [objects_distance_from_drone[bench x:1.84 y:-0.16 z:0.10], yaw_start:265.80, yaw_current:10.80]

Answer: CIRCLE: dx:-0.29; dy:0.44; dz:0.00; yaw:-154.20;


Context: [objects_distance_from_drone[bench x:1.84 y:-0.07 z:0.11], yaw_start:265.80, yaw_current:25.80]

Answer: CIRCLE: dx:-0.39; dy:0.35; dz:0.00; yaw:-139.20;


Context: [objects_distance_from_drone[BMW X5 x:7.64 y:2.83 z:0.51, bench x:1.83 y:0.07 z:0.13], yaw_start:265.80, yaw_current:40.80]

Answer: CIRCLE: dx:-0.47; dy:0.23; dz:0.00; yaw:-124.20;


Context: [objects_distance_from_drone[bench x:1.85 y:0.18 z:0.13], yaw_start:265.80, yaw_current:55.80]

Answer: CIRCLE: dx:-0.51; dy:0.11; dz:0.00; yaw:-109.20;


Context: [objects_distance_from_drone[bench x:1.87 y:0.25 z:0.13], yaw_start:265.80, yaw_current:70.80]

Answer: CIRCLE: dx:-0.52; dy:-0.03; dz:0.00; yaw:-94.20;


Context: [objects_distance_from_drone[bench x:1.86 y:0.28 z:0.13], yaw_start:265.80, yaw_current:85.80]

Answer: CIRCLE: dx:-0.50; dy:-0.16; dz:0.00; yaw:-79.20;


Context: [objects_distance_from_drone[bench x:1.87 y:0.24 z:0.13], yaw_start:265.80, yaw_current:100.80]

Answer: CIRCLE: dx:-0.44; dy:-0.29; dz:0.00; yaw:-64.20;


Context: [objects_distance_from_drone[bench x:1.90 y:0.12 z:0.12], yaw_start:265.80, yaw_current:115.80]

Answer: CIRCLE: dx:-0.35; dy:-0.39; dz:0.00; yaw:-49.20;


Context: [objects_distance_from_drone[BMW X5 x:5.56 y:-4.90 z:0.38, bench x:1.94 y:0.13 z:0.07], yaw_start:265.80, yaw_current:130.80]

Answer: CIRCLE: dx:-0.23; dy:-0.47; dz:0.00; yaw:-34.20;


Context: [objects_distance_from_drone[bench x:1.98 y:0.12 z:0.10], yaw_start:265.80, yaw_current:145.80]

Answer: CIRCLE: dx:-0.11; dy:-0.51; dz:0.00; yaw:-19.20;


Context: [objects_distance_from_drone[bench x:1.98 y:-0.03 z:0.13], yaw_start:265.80, yaw_current:160.80]

Answer: CIRCLE: dx:0.03; dy:-0.52; dz:0.00; yaw:-4.20;


Context: [objects_distance_from_drone[bench x:2.01 y:-0.12 z:0.13], yaw_start:265.80, yaw_current:175.80]

Answer: CIRCLE: dx:0.16; dy:-0.50; dz:0.00; yaw:10.80;


Context: [objects_distance_from_drone[bench x:2.02 y:-0.14 z:0.13], yaw_start:265.80, yaw_current:190.80]

Answer: CIRCLE: dx:0.29; dy:-0.44; dz:0.00; yaw:25.80;


Context: [objects_distance_from_drone[bench x:2.01 y:-0.12 z:0.13], yaw_start:265.80, yaw_current:205.80]

Answer: CIRCLE: dx:0.39; dy:-0.35; dz:0.00; yaw:40.80;


Context: [objects_distance_from_drone[bench x:2.01 y:-0.06 z:0.13], yaw_start:265.80, yaw_current:220.80]

Answer: CIRCLE: dx:0.47; dy:-0.23; dz:0.00; yaw:55.80;


Context: [objects_distance_from_drone[bench x:2.01 y:-0.05 z:0.10], yaw_start:265.80, yaw_current:235.80]

Answer: CIRCLE: dx:0.51; dy:-0.11; dz:0.00; yaw:70.80;


Context: [drone_absolute_movement x:0.88 y:8.11 z:0.50, objects_distance_from_drone[bench x:2.00 y:-0.00 z:0.09]]

Answer: RETURN: dx:-0.88; dy:-8.11;


Context: [objects_distance_from_drone[BMW X5 x:3.82 y:-2.70 z:0.43, bench x:10.07 y:-0.53 z:0.14]]

Answer: LAND


Context: [objects_distance_from_drone[pedestrian x:10.98 y:-4.42 z:0.84, dog x:6.22 y:-2.66 z:0.25]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:10.98 y:-4.42 z:0.36, dog x:6.22 y:-2.66 z:-0.23]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:11.92 y:-1.14 z:0.35, dog x:6.82 y:-0.82 z:-0.13, bench x:14.38 y:-7.92 z:0.08]]

Answer: MOVE: x:9.92; y:-1.14; z:0.35


Context: [objects_distance_from_drone[pedestrian x:2.10 y:0.00 z:0.11], yaw_start:144.28, yaw_current:129.28]

Answer: CIRCLE: dx:-0.25; dy:-0.46; dz:0.00; yaw:-35.72;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:144.28, yaw_current:144.28]

Answer: CIRCLE: dx:-0.12; dy:-0.51; dz:0.00; yaw:-20.72;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:144.28, yaw_current:159.28]

Answer: CIRCLE: dx:0.02; dy:-0.52; dz:0.00; yaw:-5.72;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:144.28, yaw_current:174.28]

Answer: CIRCLE: dx:0.15; dy:-0.50; dz:0.00; yaw:9.28;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:144.28, yaw_current:189.28]

Answer: CIRCLE: dx:0.27; dy:-0.44; dz:0.00; yaw:24.28;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:144.28, yaw_current:204.28]

Answer: CIRCLE: dx:0.38; dy:-0.36; dz:0.00; yaw:39.28;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:144.28, yaw_current:219.28]

Answer: CIRCLE: dx:0.46; dy:-0.25; dz:0.00; yaw:54.28;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:144.28, yaw_current:234.28]

Answer: CIRCLE: dx:0.51; dy:-0.12; dz:0.00; yaw:69.28;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10], yaw_start:144.28, yaw_current:249.28]

Answer: CIRCLE: dx:0.52; dy:0.02; dz:0.00; yaw:84.28;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09], yaw_start:144.28, yaw_current:264.28]

Answer: CIRCLE: dx:0.50; dy:0.15; dz:0.00; yaw:99.28;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09], yaw_start:144.28, yaw_current:279.28]

Answer: CIRCLE: dx:0.44; dy:0.27; dz:0.00; yaw:114.28;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, dog x:6.42 y:2.46 z:-0.14], yaw_start:144.28, yaw_current:294.28]

Answer: CIRCLE: dx:0.36; dy:0.38; dz:0.00; yaw:129.28;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, dog x:6.90 y:1.24 z:-0.14], yaw_start:144.28, yaw_current:309.28]

Answer: CIRCLE: dx:0.25; dy:0.46; dz:0.00; yaw:144.28;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, dog x:7.05 y:-0.10 z:-0.14, oil barrel x:17.64 y:7.94 z:-0.06], yaw_start:144.28, yaw_current:324.28]

Answer: CIRCLE: dx:0.12; dy:0.51; dz:0.00; yaw:159.28;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:13.10 y:7.59 z:0.36, dog x:6.85 y:-1.41 z:-0.14, oil barrel x:19.18 y:3.67 z:-0.06], yaw_start:144.28, yaw_current:339.28]

Answer: CIRCLE: dx:-0.02; dy:0.52; dz:0.00; yaw:174.28;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:14.77 y:3.48 z:0.35, dog x:6.31 y:-2.57 z:-0.14, oil barrel x:19.54 y:-0.91 z:-0.07], yaw_start:144.28, yaw_current:354.28]

Answer: CIRCLE: dx:-0.15; dy:0.50; dz:0.00; yaw:-170.72;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09, BMW X5 x:15.24 y:0.05 z:0.35, oil barrel x:18.71 y:-5.43 z:-0.08], yaw_start:144.28, yaw_current:9.28]

Answer: CIRCLE: dx:-0.27; dy:0.44; dz:0.00; yaw:-155.72;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09, BMW X5 x:14.79 y:-3.39 z:0.34], yaw_start:144.28, yaw_current:24.28]

Answer: CIRCLE: dx:-0.38; dy:0.36; dz:0.00; yaw:-140.72;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, BMW X5 x:13.81 y:-5.94 z:0.34], yaw_start:144.28, yaw_current:39.28]

Answer: CIRCLE: dx:-0.46; dy:0.25; dz:0.00; yaw:-125.72;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, bench x:7.93 y:3.02 z:0.08], yaw_start:144.28, yaw_current:54.28]

Answer: CIRCLE: dx:-0.51; dy:0.12; dz:0.00; yaw:-110.72;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, bench x:8.50 y:1.38 z:0.07], yaw_start:144.28, yaw_current:69.28]

Answer: CIRCLE: dx:-0.52; dy:-0.02; dz:0.00; yaw:-95.72;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10, bench x:8.64 y:-0.36 z:0.07], yaw_start:144.28, yaw_current:84.28]

Answer: CIRCLE: dx:-0.50; dy:-0.15; dz:0.00; yaw:-80.72;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10, bench x:8.32 y:-2.08 z:0.07], yaw_start:144.28, yaw_current:99.28]

Answer: CIRCLE: dx:-0.44; dy:-0.27; dz:0.00; yaw:-65.72;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10, bench x:7.52 y:-4.03 z:0.07], yaw_start:144.28, yaw_current:114.28]

Answer: CIRCLE: dx:-0.36; dy:-0.38; dz:0.00; yaw:-50.72;


Context: [drone_absolute_movement x:9.36 y:-3.61 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:0.00 z:0.10]]

Answer: RETURN: dx:-9.36; dy:3.61;


Context: [objects_distance_from_drone[pedestrian x:11.62 y:2.36 z:0.72, dog x:6.65 y:1.18 z:0.07, bench x:16.01 y:-2.66 z:0.41]]

Answer: LAND


Context: [objects_distance_from_drone[pedestrian x:11.12 y:0.91 z:0.84, BMW X5 x:11.78 y:-6.08 z:0.87, dog x:5.29 y:-1.71 z:0.36]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:11.05 y:0.99 z:0.36, BMW X5 x:11.80 y:-5.98 z:0.37, dog x:5.26 y:-1.69 z:-0.12]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:9.92 y:4.30 z:0.35, BMW X5 x:13.29 y:-0.72 z:0.35, dog x:5.50 y:0.38 z:-0.13, oil barrel x:13.03 y:-5.82 z:-0.06]]

Answer: MOVE: x:9.29; y:-0.72; z:0.35


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:-0.01 z:0.36], yaw_start:150.72, yaw_current:135.72]

Answer: CIRCLE: dx:-0.39; dy:-0.97; dz:0.00; yaw:-29.28;


Context: [objects_distance_from_drone[BMW X5 x:4.04 y:0.12 z:0.45], yaw_start:150.72, yaw_current:150.72]

Answer: CIRCLE: dx:-0.12; dy:-1.04; dz:0.00; yaw:-14.28;


Context: [objects_distance_from_drone[BMW X5 x:4.08 y:0.27 z:0.44], yaw_start:150.72, yaw_current:165.72]

Answer: CIRCLE: dx:0.15; dy:-1.03; dz:0.00; yaw:0.72;


Context: [objects_distance_from_drone[BMW X5 x:4.11 y:0.38 z:0.45], yaw_start:150.72, yaw_current:180.72]

Answer: CIRCLE: dx:0.41; dy:-0.96; dz:0.00; yaw:15.72;


Context: [objects_distance_from_drone[BMW X5 x:4.14 y:0.39 z:0.44], yaw_start:150.72, yaw_current:195.72]

Answer: CIRCLE: dx:0.65; dy:-0.82; dz:0.00; yaw:30.72;


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:0.31 z:0.40], yaw_start:150.72, yaw_current:210.72]

Answer: CIRCLE: dx:0.84; dy:-0.63; dz:0.00; yaw:45.72;


Context: [objects_distance_from_drone[BMW X5 x:4.04 y:-0.02 z:0.35], yaw_start:150.72, yaw_current:225.72]

Answer: CIRCLE: dx:0.97; dy:-0.39; dz:0.00; yaw:60.72;


Context: [objects_distance_from_drone[BMW X5 x:4.02 y:-0.25 z:0.35], yaw_start:150.72, yaw_current:240.72]

Answer: CIRCLE: dx:1.04; dy:-0.12; dz:0.00; yaw:75.72;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:-0.14 z:0.35], yaw_start:150.72, yaw_current:255.72]

Answer: CIRCLE: dx:1.03; dy:0.15; dz:0.00; yaw:90.72;


Context: [objects_distance_from_drone[BMW X5 x:3.93 y:-0.29 z:0.34], yaw_start:150.72, yaw_current:270.72]

Answer: CIRCLE: dx:0.96; dy:0.41; dz:0.00; yaw:105.72;


Context: [objects_distance_from_drone[BMW X5 x:3.93 y:-0.57 z:0.35, bench x:19.32 y:10.44 z:0.08], yaw_start:150.72, yaw_current:285.72]

Answer: CIRCLE: dx:0.82; dy:0.65; dz:0.00; yaw:120.72;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:-0.61 z:0.35], yaw_start:150.72, yaw_current:300.72]

Answer: CIRCLE: dx:0.63; dy:0.84; dz:0.00; yaw:135.72;


Context: [objects_distance_from_drone[BMW X5 x:3.95 y:-0.55 z:0.35], yaw_start:150.72, yaw_current:315.72]

Answer: CIRCLE: dx:0.39; dy:0.97; dz:0.00; yaw:150.72;


Context: [objects_distance_from_drone[BMW X5 x:3.90 y:-0.40 z:0.35], yaw_start:150.72, yaw_current:330.72]

Answer: CIRCLE: dx:0.12; dy:1.04; dz:0.00; yaw:165.72;


Context: [objects_distance_from_drone[BMW X5 x:3.85 y:-0.09 z:0.34], yaw_start:150.72, yaw_current:345.72]

Answer: CIRCLE: dx:-0.15; dy:1.03; dz:0.00; yaw:-179.28;


Context: [objects_distance_from_drone[BMW X5 x:3.83 y:0.12 z:0.35], yaw_start:150.72, yaw_current:0.72]

Answer: CIRCLE: dx:-0.41; dy:0.96; dz:0.00; yaw:-164.28;


Context: [objects_distance_from_drone[BMW X5 x:3.80 y:0.26 z:0.35], yaw_start:150.72, yaw_current:15.72]

Answer: CIRCLE: dx:-0.65; dy:0.82; dz:0.00; yaw:-149.28;


Context: [objects_distance_from_drone[BMW X5 x:3.71 y:0.22 z:0.34], yaw_start:150.72, yaw_current:30.72]

Answer: CIRCLE: dx:-0.84; dy:0.63; dz:0.00; yaw:-134.28;


Context: [objects_distance_from_drone[BMW X5 x:3.64 y:0.07 z:0.34], yaw_start:150.72, yaw_current:45.72]

Answer: CIRCLE: dx:-0.97; dy:0.39; dz:0.00; yaw:-119.28;


Context: [objects_distance_from_drone[BMW X5 x:3.62 y:0.01 z:0.34], yaw_start:150.72, yaw_current:60.72]

Answer: CIRCLE: dx:-1.04; dy:0.12; dz:0.00; yaw:-104.28;


Context: [objects_distance_from_drone[BMW X5 x:3.69 y:0.27 z:0.34], yaw_start:150.72, yaw_current:75.72]

Answer: CIRCLE: dx:-1.03; dy:-0.15; dz:0.00; yaw:-89.28;


Context: [objects_distance_from_drone[BMW X5 x:3.73 y:0.23 z:0.41], yaw_start:150.72, yaw_current:90.72]

Answer: CIRCLE: dx:-0.96; dy:-0.41; dz:0.00; yaw:-74.28;


Context: [objects_distance_from_drone[BMW X5 x:3.84 y:0.04 z:0.44], yaw_start:150.72, yaw_current:105.72]

Answer: CIRCLE: dx:-0.82; dy:-0.65; dz:0.00; yaw:-59.28;


Context: [objects_distance_from_drone[BMW X5 x:3.94 y:-0.10 z:0.47], yaw_start:150.72, yaw_current:120.72]

Answer: CIRCLE: dx:-0.63; dy:-0.84; dz:0.00; yaw:-44.28;


Context: [drone_absolute_movement x:8.55 y:-3.80 z:0.50, objects_distance_from_drone[BMW X5 x:3.98 y:-0.03 z:0.47]]

Answer: RETURN: dx:-8.55; dy:3.80;


Context: [objects_distance_from_drone[BMW X5 x:13.22 y:0.93 z:0.36, dog x:5.35 y:1.11 z:-0.13, oil barrel x:13.57 y:-4.25 z:-0.04]]

Answer: LAND


Context: [objects_distance_from_drone[dog x:4.54 y:0.85 z:0.36]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[dog x:4.53 y:0.91 z:-0.12]]

Answer: SEARCH


Context: [objects_distance_from_drone[dog x:4.61 y:0.42 z:-0.12]]

Answer: MOVE: x:2.61; y:0.42; z:-0.12


Context: [objects_distance_from_drone[dog x:2.10 y:-0.00 z:-0.16], yaw_start:191.14, yaw_current:176.14]

Answer: CIRCLE: dx:0.17; dy:-0.49; dz:0.00; yaw:11.14;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.02 z:-0.14], yaw_start:191.14, yaw_current:191.14]

Answer: CIRCLE: dx:0.29; dy:-0.43; dz:0.00; yaw:26.14;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.04 z:-0.14], yaw_start:191.14, yaw_current:206.14]

Answer: CIRCLE: dx:0.39; dy:-0.34; dz:0.00; yaw:41.14;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.05 z:-0.14], yaw_start:191.14, yaw_current:221.14]

Answer: CIRCLE: dx:0.47; dy:-0.23; dz:0.00; yaw:56.14;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.03 z:-0.14], yaw_start:191.14, yaw_current:236.14]

Answer: CIRCLE: dx:0.51; dy:-0.10; dz:0.00; yaw:71.14;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.02 z:-0.14], yaw_start:191.14, yaw_current:251.14]

Answer: CIRCLE: dx:0.52; dy:0.03; dz:0.00; yaw:86.14;


Context: [objects_distance_from_drone[BMW X5 x:7.91 y:3.55 z:0.56, dog x:1.97 y:-0.04 z:-0.14], yaw_start:191.14, yaw_current:266.14]

Answer: CIRCLE: dx:0.49; dy:0.17; dz:0.00; yaw:101.14;


Context: [objects_distance_from_drone[BMW X5 x:8.55 y:5.09 z:0.35, dog x:1.95 y:-0.04 z:-0.14], yaw_start:191.14, yaw_current:281.14]

Answer: CIRCLE: dx:0.43; dy:0.29; dz:0.00; yaw:116.14;


Context: [objects_distance_from_drone[BMW X5 x:9.92 y:2.75 z:0.35, dog x:1.94 y:-0.04 z:-0.14], yaw_start:191.14, yaw_current:296.14]

Answer: CIRCLE: dx:0.34; dy:0.39; dz:0.00; yaw:131.14;


Context: [objects_distance_from_drone[dog x:1.93 y:-0.04 z:-0.14], yaw_start:191.14, yaw_current:311.14]

Answer: CIRCLE: dx:0.23; dy:0.47; dz:0.00; yaw:146.14;


Context: [objects_distance_from_drone[BMW X5 x:10.22 y:-1.61 z:0.34, dog x:1.95 y:-0.04 z:-0.14], yaw_start:191.14, yaw_current:326.14]

Answer: CIRCLE: dx:0.10; dy:0.51; dz:0.00; yaw:161.14;


Context: [objects_distance_from_drone[BMW X5 x:9.53 y:-4.14 z:0.34, dog x:1.96 y:-0.02 z:-0.14], yaw_start:191.14, yaw_current:341.14]

Answer: CIRCLE: dx:-0.03; dy:0.52; dz:0.00; yaw:176.14;


Context: [objects_distance_from_drone[pedestrian x:19.13 y:6.80 z:0.35, BMW X5 x:7.41 y:-5.31 z:-0.00, dog x:1.94 y:-0.01 z:-0.14], yaw_start:191.14, yaw_current:356.14]

Answer: CIRCLE: dx:-0.17; dy:0.49; dz:0.00; yaw:-168.86;


Context: [objects_distance_from_drone[dog x:1.94 y:0.00 z:-0.14], yaw_start:191.14, yaw_current:11.14]

Answer: CIRCLE: dx:-0.29; dy:0.43; dz:0.00; yaw:-153.86;


Context: [objects_distance_from_drone[pedestrian x:20.24 y:-2.69 z:0.34, dog x:1.94 y:0.02 z:-0.14], yaw_start:191.14, yaw_current:26.14]

Answer: CIRCLE: dx:-0.39; dy:0.34; dz:0.00; yaw:-138.86;


Context: [objects_distance_from_drone[pedestrian x:18.92 y:-7.33 z:0.33, dog x:1.93 y:0.03 z:-0.14], yaw_start:191.14, yaw_current:41.14]

Answer: CIRCLE: dx:-0.47; dy:0.23; dz:0.00; yaw:-123.86;


Context: [objects_distance_from_drone[dog x:1.94 y:0.01 z:-0.14, oil barrel x:12.78 y:4.31 z:-0.07], yaw_start:191.14, yaw_current:56.14]

Answer: CIRCLE: dx:-0.51; dy:0.10; dz:0.00; yaw:-108.86;


Context: [objects_distance_from_drone[dog x:1.96 y:0.01 z:-0.14, oil barrel x:13.53 y:1.37 z:-0.07], yaw_start:191.14, yaw_current:71.14]

Answer: CIRCLE: dx:-0.52; dy:-0.03; dz:0.00; yaw:-93.86;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14, oil barrel x:13.49 y:-1.67 z:-0.07], yaw_start:191.14, yaw_current:86.14]

Answer: CIRCLE: dx:-0.49; dy:-0.17; dz:0.00; yaw:-78.86;


Context: [objects_distance_from_drone[dog x:1.99 y:0.02 z:-0.14, oil barrel x:12.67 y:-4.60 z:-0.07], yaw_start:191.14, yaw_current:101.14]

Answer: CIRCLE: dx:-0.43; dy:-0.29; dz:0.00; yaw:-63.86;


Context: [objects_distance_from_drone[dog x:2.01 y:0.03 z:-0.14], yaw_start:191.14, yaw_current:116.14]

Answer: CIRCLE: dx:-0.34; dy:-0.39; dz:0.00; yaw:-48.86;


Context: [objects_distance_from_drone[dog x:2.01 y:0.02 z:-0.14], yaw_start:191.14, yaw_current:131.14]

Answer: CIRCLE: dx:-0.23; dy:-0.47; dz:0.00; yaw:-33.86;


Context: [objects_distance_from_drone[dog x:1.99 y:0.02 z:-0.14], yaw_start:191.14, yaw_current:146.14]

Answer: CIRCLE: dx:-0.10; dy:-0.51; dz:0.00; yaw:-18.86;


Context: [objects_distance_from_drone[dog x:1.99 y:0.01 z:-0.14], yaw_start:191.14, yaw_current:161.14]

Answer: CIRCLE: dx:0.03; dy:-0.52; dz:0.00; yaw:-3.86;


Context: [drone_absolute_movement x:2.59 y:0.46 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:-2.59; dy:-0.46;


Context: [objects_distance_from_drone[dog x:4.53 y:-0.16 z:-0.13]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:6.26 y:-2.75 z:0.75, oil barrel x:8.10 y:-0.39 z:0.43]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:6.38 y:-2.72 z:0.51, oil barrel x:8.13 y:-0.24 z:-0.05]]

Answer: SEARCH


Context: [objects_distance_from_drone[bench x:9.64 y:0.82 z:0.08]]

Answer: MOVE: x:7.64; y:0.82; z:0.08


Context: [objects_distance_from_drone[bench x:2.09 y:0.01 z:0.03], yaw_start:282.08, yaw_current:267.08]

Answer: CIRCLE: dx:0.49; dy:0.18; dz:0.00; yaw:102.08;


Context: [objects_distance_from_drone[bench x:1.96 y:-0.07 z:0.05], yaw_start:282.08, yaw_current:282.08]

Answer: CIRCLE: dx:0.43; dy:0.30; dz:0.00; yaw:117.08;


Context: [objects_distance_from_drone[bench x:1.91 y:-0.19 z:0.07], yaw_start:282.08, yaw_current:297.08]

Answer: CIRCLE: dx:0.34; dy:0.40; dz:0.00; yaw:132.08;


Context: [objects_distance_from_drone[bench x:1.86 y:-0.22 z:0.07], yaw_start:282.08, yaw_current:312.08]

Answer: CIRCLE: dx:0.22; dy:0.47; dz:0.00; yaw:147.08;


Context: [objects_distance_from_drone[bench x:1.80 y:-0.13 z:0.07], yaw_start:282.08, yaw_current:327.08]

Answer: CIRCLE: dx:0.09; dy:0.51; dz:0.00; yaw:162.08;


Context: [objects_distance_from_drone[bench x:1.80 y:-0.17 z:0.07], yaw_start:282.08, yaw_current:342.08]

Answer: CIRCLE: dx:-0.04; dy:0.52; dz:0.00; yaw:177.08;


Context: [objects_distance_from_drone[bench x:1.80 y:-0.24 z:0.08], yaw_start:282.08, yaw_current:357.08]

Answer: CIRCLE: dx:-0.18; dy:0.49; dz:0.00; yaw:-167.92;


Context: [objects_distance_from_drone[bench x:1.82 y:-0.20 z:0.09], yaw_start:282.08, yaw_current:12.08]

Answer: CIRCLE: dx:-0.30; dy:0.43; dz:0.00; yaw:-152.92;


Context: [objects_distance_from_drone[bench x:1.82 y:-0.12 z:0.10], yaw_start:282.08, yaw_current:27.08]

Answer: CIRCLE: dx:-0.40; dy:0.34; dz:0.00; yaw:-137.92;


Context: [objects_distance_from_drone[bench x:1.84 y:-0.01 z:0.12], yaw_start:282.08, yaw_current:42.08]

Answer: CIRCLE: dx:-0.47; dy:0.22; dz:0.00; yaw:-122.92;


Context: [objects_distance_from_drone[bench x:1.82 y:0.14 z:0.13], yaw_start:282.08, yaw_current:57.08]

Answer: CIRCLE: dx:-0.51; dy:0.09; dz:0.00; yaw:-107.92;


Context: [objects_distance_from_drone[bench x:1.85 y:0.23 z:0.13], yaw_start:282.08, yaw_current:72.08]

Answer: CIRCLE: dx:-0.52; dy:-0.04; dz:0.00; yaw:-92.92;


Context: [objects_distance_from_drone[bench x:1.86 y:0.29 z:0.13], yaw_start:282.08, yaw_current:87.08]

Answer: CIRCLE: dx:-0.49; dy:-0.18; dz:0.00; yaw:-77.92;


Context: [objects_distance_from_drone[bench x:1.85 y:0.29 z:0.13], yaw_start:282.08, yaw_current:102.08]

Answer: CIRCLE: dx:-0.43; dy:-0.30; dz:0.00; yaw:-62.92;


Context: [objects_distance_from_drone[bench x:1.88 y:0.20 z:0.13], yaw_start:282.08, yaw_current:117.08]

Answer: CIRCLE: dx:-0.34; dy:-0.40; dz:0.00; yaw:-47.92;


Context: [objects_distance_from_drone[bench x:1.92 y:0.13 z:0.09], yaw_start:282.08, yaw_current:132.08]

Answer: CIRCLE: dx:-0.22; dy:-0.47; dz:0.00; yaw:-32.92;


Context: [objects_distance_from_drone[bench x:1.98 y:0.17 z:0.08], yaw_start:282.08, yaw_current:147.08]

Answer: CIRCLE: dx:-0.09; dy:-0.51; dz:0.00; yaw:-17.92;


Context: [objects_distance_from_drone[bench x:1.99 y:0.06 z:0.11], yaw_start:282.08, yaw_current:162.08]

Answer: CIRCLE: dx:0.04; dy:-0.52; dz:0.00; yaw:-2.92;


Context: [objects_distance_from_drone[bench x:2.02 y:-0.09 z:0.14], yaw_start:282.08, yaw_current:177.08]

Answer: CIRCLE: dx:0.18; dy:-0.49; dz:0.00; yaw:12.08;


Context: [objects_distance_from_drone[bench x:2.03 y:-0.12 z:0.13], yaw_start:282.08, yaw_current:192.08]

Answer: CIRCLE: dx:0.30; dy:-0.43; dz:0.00; yaw:27.08;


Context: [objects_distance_from_drone[pedestrian x:9.15 y:-3.06 z:0.34, bench x:2.03 y:-0.12 z:0.13], yaw_start:282.08, yaw_current:207.08]

Answer: CIRCLE: dx:0.40; dy:-0.34; dz:0.00; yaw:42.08;


Context: [objects_distance_from_drone[pedestrian x:8.12 y:-3.84 z:0.34, bench x:2.03 y:-0.09 z:0.13], yaw_start:282.08, yaw_current:222.08]

Answer: CIRCLE: dx:0.47; dy:-0.22; dz:0.00; yaw:57.08;


Context: [objects_distance_from_drone[bench x:2.03 y:-0.07 z:0.12], yaw_start:282.08, yaw_current:237.08]

Answer: CIRCLE: dx:0.51; dy:-0.09; dz:0.00; yaw:72.08;


Context: [objects_distance_from_drone[bench x:2.02 y:-0.03 z:0.09], yaw_start:282.08, yaw_current:252.08]

Answer: CIRCLE: dx:0.52; dy:0.04; dz:0.00; yaw:87.08;


Context: [drone_absolute_movement x:-1.47 y:7.55 z:0.50, objects_distance_from_drone[bench x:1.99 y:-0.00 z:0.09]]

Answer: RETURN: dx:1.47; dy:-7.55;


Context: [objects_distance_from_drone[bench x:9.59 y:-0.53 z:0.18]]

Answer: LAND


Context: [objects_distance_from_drone[bench x:10.82 y:3.36 z:0.57]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[bench x:10.72 y:3.50 z:0.10]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:10.22 y:-1.00 z:0.35, oil barrel x:13.99 y:2.08 z:-0.07]]

Answer: MOVE: x:8.22; y:-1.00; z:0.35


Context: [objects_distance_from_drone[pedestrian x:2.09 y:-0.00 z:0.11], yaw_start:112.62, yaw_current:97.62]

Answer: CIRCLE: dx:-0.45; dy:-0.26; dz:0.00; yaw:-67.38;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10, oil barrel x:6.10 y:2.54 z:-0.07], yaw_start:112.62, yaw_current:112.62]

Answer: CIRCLE: dx:-0.37; dy:-0.37; dz:0.00; yaw:-52.38;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10, oil barrel x:6.63 y:1.42 z:-0.07], yaw_start:112.62, yaw_current:127.62]

Answer: CIRCLE: dx:-0.26; dy:-0.45; dz:0.00; yaw:-37.38;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10, oil barrel x:6.84 y:0.16 z:-0.07], yaw_start:112.62, yaw_current:142.62]

Answer: CIRCLE: dx:-0.13; dy:-0.50; dz:0.00; yaw:-22.38;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10, oil barrel x:6.72 y:-1.11 z:-0.07], yaw_start:112.62, yaw_current:157.62]

Answer: CIRCLE: dx:0.00; dy:-0.52; dz:0.00; yaw:-7.38;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, oil barrel x:6.27 y:-2.30 z:-0.07], yaw_start:112.62, yaw_current:172.62]

Answer: CIRCLE: dx:0.14; dy:-0.50; dz:0.00; yaw:7.62;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09], yaw_start:112.62, yaw_current:187.62]

Answer: CIRCLE: dx:0.26; dy:-0.45; dz:0.00; yaw:22.62;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, bench x:14.77 y:6.24 z:0.08], yaw_start:112.62, yaw_current:202.62]

Answer: CIRCLE: dx:0.37; dy:-0.37; dz:0.00; yaw:37.62;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, bench x:15.91 y:2.54 z:0.08], yaw_start:112.62, yaw_current:217.62]

Answer: CIRCLE: dx:0.45; dy:-0.26; dz:0.00; yaw:52.62;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:20.84 y:11.76 z:0.02, dog x:22.56 y:4.95 z:-0.13, bench x:16.09 y:-1.16 z:0.07], yaw_start:112.62, yaw_current:232.62]

Answer: CIRCLE: dx:0.50; dy:-0.13; dz:0.00; yaw:67.62;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:22.18 y:5.67 z:0.35, dog x:23.14 y:-0.56 z:-0.14, bench x:15.32 y:-4.77 z:0.07], yaw_start:112.62, yaw_current:247.62]

Answer: CIRCLE: dx:0.52; dy:0.00; dz:0.00; yaw:82.62;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:22.96 y:0.25 z:0.35, dog x:22.26 y:-6.03 z:-0.14], yaw_start:112.62, yaw_current:262.62]

Answer: CIRCLE: dx:0.50; dy:0.14; dz:0.00; yaw:97.62;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:22.32 y:-5.19 z:0.34], yaw_start:112.62, yaw_current:277.62]

Answer: CIRCLE: dx:0.45; dy:0.26; dz:0.00; yaw:112.62;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, BMW X5 x:19.46 y:-10.28 z:0.34], yaw_start:112.62, yaw_current:292.62]

Answer: CIRCLE: dx:0.37; dy:0.37; dz:0.00; yaw:127.62;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09], yaw_start:112.62, yaw_current:307.62]

Answer: CIRCLE: dx:0.26; dy:0.45; dz:0.00; yaw:142.62;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09], yaw_start:112.62, yaw_current:322.62]

Answer: CIRCLE: dx:0.13; dy:0.50; dz:0.00; yaw:157.62;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09], yaw_start:112.62, yaw_current:337.62]

Answer: CIRCLE: dx:-0.00; dy:0.52; dz:0.00; yaw:172.62;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10], yaw_start:112.62, yaw_current:352.62]

Answer: CIRCLE: dx:-0.14; dy:0.50; dz:0.00; yaw:-172.38;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10], yaw_start:112.62, yaw_current:7.62]

Answer: CIRCLE: dx:-0.26; dy:0.45; dz:0.00; yaw:-157.38;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:112.62, yaw_current:22.62]

Answer: CIRCLE: dx:-0.37; dy:0.37; dz:0.00; yaw:-142.38;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:112.62, yaw_current:37.62]

Answer: CIRCLE: dx:-0.45; dy:0.26; dz:0.00; yaw:-127.38;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:0.00 z:0.10], yaw_start:112.62, yaw_current:52.62]

Answer: CIRCLE: dx:-0.50; dy:0.13; dz:0.00; yaw:-112.38;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:112.62, yaw_current:67.62]

Answer: CIRCLE: dx:-0.52; dy:-0.00; dz:0.00; yaw:-97.38;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:112.62, yaw_current:82.62]

Answer: CIRCLE: dx:-0.50; dy:-0.14; dz:0.00; yaw:-82.38;


Context: [drone_absolute_movement x:3.65 y:-7.42 z:0.50, objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10]]

Answer: RETURN: dx:-3.65; dy:7.42;


Context: [objects_distance_from_drone[pedestrian x:10.15 y:0.40 z:0.36, oil barrel x:13.48 y:3.95 z:-0.06]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:4.86 y:3.72 z:0.87, dog x:9.54 y:-3.19 z:0.36]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:4.82 y:3.74 z:0.37, dog x:9.52 y:-3.16 z:-0.12]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:5.52 y:1.86 z:0.36]]

Answer: MOVE: x:1.52; y:1.86; z:0.36


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:0.00 z:0.31], yaw_start:208.85, yaw_current:193.85]

Answer: CIRCLE: dx:0.62; dy:-0.84; dz:0.00; yaw:28.85;


Context: [objects_distance_from_drone[BMW X5 x:3.87 y:-0.25 z:0.34], yaw_start:208.85, yaw_current:208.85]

Answer: CIRCLE: dx:0.82; dy:-0.65; dz:0.00; yaw:43.85;


Context: [objects_distance_from_drone[BMW X5 x:3.77 y:-0.47 z:0.34], yaw_start:208.85, yaw_current:223.85]

Answer: CIRCLE: dx:0.96; dy:-0.42; dz:0.00; yaw:58.85;


Context: [objects_distance_from_drone[BMW X5 x:3.67 y:-0.31 z:0.34], yaw_start:208.85, yaw_current:238.85]

Answer: CIRCLE: dx:1.03; dy:-0.16; dz:0.00; yaw:73.85;


Context: [objects_distance_from_drone[BMW X5 x:3.62 y:-0.16 z:0.41], yaw_start:208.85, yaw_current:253.85]

Answer: CIRCLE: dx:1.04; dy:0.12; dz:0.00; yaw:88.85;


Context: [objects_distance_from_drone[BMW X5 x:3.63 y:-0.32 z:0.47], yaw_start:208.85, yaw_current:268.85]

Answer: CIRCLE: dx:0.97; dy:0.38; dz:0.00; yaw:103.85;


Context: [objects_distance_from_drone[pedestrian x:16.07 y:6.93 z:0.35, BMW X5 x:3.68 y:-0.44 z:0.49], yaw_start:208.85, yaw_current:283.85]

Answer: CIRCLE: dx:0.84; dy:0.62; dz:0.00; yaw:118.85;


Context: [objects_distance_from_drone[BMW X5 x:3.73 y:-0.33 z:0.52], yaw_start:208.85, yaw_current:298.85]

Answer: CIRCLE: dx:0.65; dy:0.82; dz:0.00; yaw:133.85;


Context: [objects_distance_from_drone[BMW X5 x:3.75 y:-0.14 z:0.51], yaw_start:208.85, yaw_current:313.85]

Answer: CIRCLE: dx:0.42; dy:0.96; dz:0.00; yaw:148.85;


Context: [objects_distance_from_drone[BMW X5 x:3.73 y:0.20 z:0.48], yaw_start:208.85, yaw_current:328.85]

Answer: CIRCLE: dx:0.16; dy:1.03; dz:0.00; yaw:163.85;


Context: [objects_distance_from_drone[pedestrian x:16.44 y:-6.66 z:0.34, BMW X5 x:3.82 y:0.45 z:0.50], yaw_start:208.85, yaw_current:343.85]

Answer: CIRCLE: dx:-0.12; dy:1.04; dz:0.00; yaw:178.85;


Context: [objects_distance_from_drone[BMW X5 x:3.87 y:0.59 z:0.49], yaw_start:208.85, yaw_current:358.85]

Answer: CIRCLE: dx:-0.38; dy:0.97; dz:0.00; yaw:-166.15;


Context: [objects_distance_from_drone[BMW X5 x:3.85 y:0.63 z:0.46], yaw_start:208.85, yaw_current:13.85]

Answer: CIRCLE: dx:-0.62; dy:0.84; dz:0.00; yaw:-151.15;


Context: [objects_distance_from_drone[BMW X5 x:3.85 y:0.50 z:0.42], yaw_start:208.85, yaw_current:28.85]

Answer: CIRCLE: dx:-0.82; dy:0.65; dz:0.00; yaw:-136.15;


Context: [objects_distance_from_drone[BMW X5 x:3.87 y:0.23 z:0.36], yaw_start:208.85, yaw_current:43.85]

Answer: CIRCLE: dx:-0.96; dy:0.42; dz:0.00; yaw:-121.15;


Context: [objects_distance_from_drone[BMW X5 x:3.98 y:0.29 z:0.35], yaw_start:208.85, yaw_current:58.85]

Answer: CIRCLE: dx:-1.03; dy:0.16; dz:0.00; yaw:-106.15;


Context: [objects_distance_from_drone[BMW X5 x:4.02 y:0.30 z:0.35], yaw_start:208.85, yaw_current:73.85]

Answer: CIRCLE: dx:-1.04; dy:-0.12; dz:0.00; yaw:-91.15;


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:-0.03 z:0.35], yaw_start:208.85, yaw_current:88.85]

Answer: CIRCLE: dx:-0.97; dy:-0.38; dz:0.00; yaw:-76.15;


Context: [objects_distance_from_drone[BMW X5 x:4.17 y:-0.28 z:0.35], yaw_start:208.85, yaw_current:103.85]

Answer: CIRCLE: dx:-0.84; dy:-0.62; dz:0.00; yaw:-61.15;


Context: [objects_distance_from_drone[BMW X5 x:4.18 y:-0.32 z:0.35], yaw_start:208.85, yaw_current:118.85]

Answer: CIRCLE: dx:-0.65; dy:-0.82; dz:0.00; yaw:-46.15;


Context: [objects_distance_from_drone[BMW X5 x:4.16 y:-0.29 z:0.35], yaw_start:208.85, yaw_current:133.85]

Answer: CIRCLE: dx:-0.42; dy:-0.96; dz:0.00; yaw:-31.15;


Context: [objects_distance_from_drone[BMW X5 x:4.11 y:-0.14 z:0.34], yaw_start:208.85, yaw_current:148.85]

Answer: CIRCLE: dx:-0.16; dy:-1.03; dz:0.00; yaw:-16.15;


Context: [objects_distance_from_drone[BMW X5 x:4.10 y:-0.06 z:0.35], yaw_start:208.85, yaw_current:163.85]

Answer: CIRCLE: dx:0.12; dy:-1.04; dz:0.00; yaw:-1.15;


Context: [objects_distance_from_drone[BMW X5 x:4.05 y:0.02 z:0.34], yaw_start:208.85, yaw_current:178.85]

Answer: CIRCLE: dx:0.38; dy:-0.97; dz:0.00; yaw:13.85;


Context: [drone_absolute_movement x:1.52 y:0.88 z:0.50, objects_distance_from_drone[BMW X5 x:4.00 y:-0.03 z:0.34]]

Answer: RETURN: dx:-1.52; dy:-0.88;


Context: [objects_distance_from_drone[BMW X5 x:5.65 y:-0.36 z:0.43]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:6.79 y:-2.99 z:0.86, dog x:7.46 y:0.70 z:0.36]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:10.73 y:-5.06 z:0.36, BMW X5 x:6.84 y:-2.96 z:0.57, dog x:7.40 y:0.80 z:-0.12]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:6.76 y:-3.00 z:0.57, dog x:7.41 y:0.69 z:-0.12]]

Answer: MOVE: x:5.41; y:0.69; z:-0.12


Context: [objects_distance_from_drone[dog x:2.10 y:0.00 z:-0.16], yaw_start:185.10, yaw_current:170.10]

Answer: CIRCLE: dx:0.11; dy:-0.51; dz:0.00; yaw:5.10;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.04 z:-0.14], yaw_start:185.10, yaw_current:185.10]

Answer: CIRCLE: dx:0.24; dy:-0.46; dz:0.00; yaw:20.10;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.06 z:-0.14], yaw_start:185.10, yaw_current:200.10]

Answer: CIRCLE: dx:0.35; dy:-0.38; dz:0.00; yaw:35.10;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.05 z:-0.14], yaw_start:185.10, yaw_current:215.10]

Answer: CIRCLE: dx:0.44; dy:-0.28; dz:0.00; yaw:50.10;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.05 z:-0.14], yaw_start:185.10, yaw_current:230.10]

Answer: CIRCLE: dx:0.50; dy:-0.16; dz:0.00; yaw:65.10;


Context: [objects_distance_from_drone[BMW X5 x:-3.71 y:-0.03 z:0.05, dog x:1.98 y:-0.05 z:-0.14], yaw_start:185.10, yaw_current:245.10]

Answer: CIRCLE: dx:0.52; dy:-0.02; dz:0.00; yaw:80.10;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14], yaw_start:185.10, yaw_current:260.10]

Answer: CIRCLE: dx:0.51; dy:0.11; dz:0.00; yaw:95.10;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.03 z:-0.14], yaw_start:185.10, yaw_current:275.10]

Answer: CIRCLE: dx:0.46; dy:0.24; dz:0.00; yaw:110.10;


Context: [objects_distance_from_drone[dog x:1.92 y:-0.03 z:-0.14], yaw_start:185.10, yaw_current:290.10]

Answer: CIRCLE: dx:0.38; dy:0.35; dz:0.00; yaw:125.10;


Context: [objects_distance_from_drone[dog x:1.93 y:-0.03 z:-0.14], yaw_start:185.10, yaw_current:305.10]

Answer: CIRCLE: dx:0.28; dy:0.44; dz:0.00; yaw:140.10;


Context: [objects_distance_from_drone[dog x:1.93 y:-0.02 z:-0.14], yaw_start:185.10, yaw_current:320.10]

Answer: CIRCLE: dx:0.16; dy:0.50; dz:0.00; yaw:155.10;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.02 z:-0.14, oil barrel x:17.96 y:6.00 z:-0.06], yaw_start:185.10, yaw_current:335.10]

Answer: CIRCLE: dx:0.02; dy:0.52; dz:0.00; yaw:170.10;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.01 z:-0.14, bench x:20.43 y:8.26 z:0.08, oil barrel x:18.97 y:1.66 z:-0.07], yaw_start:185.10, yaw_current:350.10]

Answer: CIRCLE: dx:-0.11; dy:0.51; dz:0.00; yaw:-174.90;


Context: [objects_distance_from_drone[dog x:1.94 y:0.02 z:-0.14, bench x:21.93 y:3.20 z:0.08, oil barrel x:18.82 y:-2.79 z:-0.07], yaw_start:185.10, yaw_current:5.10]

Answer: CIRCLE: dx:-0.24; dy:0.46; dz:0.00; yaw:-159.90;


Context: [objects_distance_from_drone[BMW X5 x:6.55 y:5.82 z:0.50, dog x:1.95 y:0.04 z:-0.14, bench x:22.09 y:-2.07 z:0.07, oil barrel x:17.53 y:-7.06 z:-0.08], yaw_start:185.10, yaw_current:20.10]

Answer: CIRCLE: dx:-0.35; dy:0.38; dz:0.00; yaw:-144.90;


Context: [objects_distance_from_drone[BMW X5 x:8.01 y:3.53 z:0.35, dog x:1.95 y:0.03 z:-0.14, bench x:20.87 y:-7.21 z:0.07], yaw_start:185.10, yaw_current:35.10]

Answer: CIRCLE: dx:-0.44; dy:0.28; dz:0.00; yaw:-129.90;


Context: [objects_distance_from_drone[dog x:1.96 y:0.03 z:-0.14], yaw_start:185.10, yaw_current:50.10]

Answer: CIRCLE: dx:-0.50; dy:0.16; dz:0.00; yaw:-114.90;


Context: [objects_distance_from_drone[pedestrian x:8.22 y:3.61 z:0.35, dog x:1.97 y:0.03 z:-0.14], yaw_start:185.10, yaw_current:65.10]

Answer: CIRCLE: dx:-0.52; dy:0.02; dz:0.00; yaw:-99.90;


Context: [objects_distance_from_drone[pedestrian x:9.14 y:2.60 z:0.34, BMW X5 x:8.45 y:-1.11 z:0.34, dog x:1.97 y:0.02 z:-0.14], yaw_start:185.10, yaw_current:80.10]

Answer: CIRCLE: dx:-0.51; dy:-0.11; dz:0.00; yaw:-84.90;


Context: [objects_distance_from_drone[pedestrian x:9.56 y:0.66 z:0.34, BMW X5 x:7.62 y:-3.28 z:0.34, dog x:1.99 y:0.01 z:-0.14], yaw_start:185.10, yaw_current:95.10]

Answer: CIRCLE: dx:-0.46; dy:-0.24; dz:0.00; yaw:-69.90;


Context: [objects_distance_from_drone[pedestrian x:9.48 y:-1.33 z:0.34, BMW X5 x:7.52 y:-3.35 z:0.00, dog x:2.01 y:0.01 z:-0.14], yaw_start:185.10, yaw_current:110.10]

Answer: CIRCLE: dx:-0.38; dy:-0.35; dz:0.00; yaw:-54.90;


Context: [objects_distance_from_drone[pedestrian x:8.88 y:-3.13 z:0.34, BMW X5 x:6.14 y:-5.54 z:0.14, dog x:2.01 y:0.01 z:-0.14], yaw_start:185.10, yaw_current:125.10]

Answer: CIRCLE: dx:-0.28; dy:-0.44; dz:0.00; yaw:-39.90;


Context: [objects_distance_from_drone[dog x:2.01 y:0.00 z:-0.14], yaw_start:185.10, yaw_current:140.10]

Answer: CIRCLE: dx:-0.16; dy:-0.50; dz:0.00; yaw:-24.90;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.00 z:-0.14], yaw_start:185.10, yaw_current:155.10]

Answer: CIRCLE: dx:-0.02; dy:-0.52; dz:0.00; yaw:-9.90;


Context: [drone_absolute_movement x:5.46 y:0.53 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:-5.46; dy:-0.53;


Context: [objects_distance_from_drone[dog x:7.39 y:-0.01 z:-0.05]]

Answer: LAND


Answer: TAKEOFF


Context: [objects_distance_from_drone[dog x:3.34 y:-0.91 z:-0.03]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:3.47 y:1.65 z:0.05, bench x:9.37 y:0.91 z:0.08]]

Answer: MOVE: x:7.37; y:0.91; z:0.08


Context: [objects_distance_from_drone[bench x:2.07 y:0.02 z:-0.03], yaw_start:276.61, yaw_current:261.61]

Answer: CIRCLE: dx:0.51; dy:0.13; dz:0.00; yaw:96.61;


Context: [objects_distance_from_drone[bench x:2.01 y:-0.15 z:0.07], yaw_start:276.61, yaw_current:276.61]

Answer: CIRCLE: dx:0.46; dy:0.25; dz:0.00; yaw:111.61;


Context: [objects_distance_from_drone[bench x:2.02 y:-0.17 z:0.09], yaw_start:276.61, yaw_current:291.61]

Answer: CIRCLE: dx:0.37; dy:0.36; dz:0.00; yaw:126.61;


Context: [objects_distance_from_drone[bench x:2.02 y:-0.15 z:0.10, oil barrel x:7.25 y:2.74 z:-0.07], yaw_start:276.61, yaw_current:306.61]

Answer: CIRCLE: dx:0.27; dy:0.45; dz:0.00; yaw:141.61;


Context: [objects_distance_from_drone[bench x:1.99 y:-0.10 z:0.13], yaw_start:276.61, yaw_current:321.61]

Answer: CIRCLE: dx:0.14; dy:0.50; dz:0.00; yaw:156.61;


Context: [objects_distance_from_drone[bench x:1.96 y:-0.05 z:0.13], yaw_start:276.61, yaw_current:336.61]

Answer: CIRCLE: dx:0.01; dy:0.52; dz:0.00; yaw:171.61;


Context: [objects_distance_from_drone[bench x:1.93 y:0.01 z:0.13], yaw_start:276.61, yaw_current:351.61]

Answer: CIRCLE: dx:-0.13; dy:0.51; dz:0.00; yaw:-173.39;


Context: [objects_distance_from_drone[BMW X5 x:8.06 y:5.25 z:0.01, bench x:1.92 y:0.04 z:0.13, oil barrel x:6.99 y:-3.07 z:-0.07], yaw_start:276.61, yaw_current:6.61]

Answer: CIRCLE: dx:-0.25; dy:0.46; dz:0.00; yaw:-158.39;


Context: [objects_distance_from_drone[bench x:1.88 y:-0.01 z:0.13], yaw_start:276.61, yaw_current:21.61]

Answer: CIRCLE: dx:-0.36; dy:0.37; dz:0.00; yaw:-143.39;


Context: [objects_distance_from_drone[bench x:1.85 y:-0.12 z:0.13], yaw_start:276.61, yaw_current:36.61]

Answer: CIRCLE: dx:-0.45; dy:0.27; dz:0.00; yaw:-128.39;


Context: [objects_distance_from_drone[bench x:1.84 y:-0.13 z:0.09], yaw_start:276.61, yaw_current:51.61]

Answer: CIRCLE: dx:-0.50; dy:0.14; dz:0.00; yaw:-113.39;


Context: [objects_distance_from_drone[bench x:1.80 y:-0.04 z:0.12], yaw_start:276.61, yaw_current:66.61]

Answer: CIRCLE: dx:-0.52; dy:0.01; dz:0.00; yaw:-98.39;


Context: [objects_distance_from_drone[bench x:1.79 y:-0.10 z:0.16], yaw_start:276.61, yaw_current:81.61]

Answer: CIRCLE: dx:-0.51; dy:-0.13; dz:0.00; yaw:-83.39;


Context: [objects_distance_from_drone[bench x:1.81 y:-0.18 z:0.15], yaw_start:276.61, yaw_current:96.61]

Answer: CIRCLE: dx:-0.46; dy:-0.25; dz:0.00; yaw:-68.39;


Context: [objects_distance_from_drone[bench x:1.85 y:-0.15 z:0.13], yaw_start:276.61, yaw_current:111.61]

Answer: CIRCLE: dx:-0.37; dy:-0.36; dz:0.00; yaw:-53.39;


Context: [objects_distance_from_drone[bench x:1.85 y:-0.08 z:0.13], yaw_start:276.61, yaw_current:126.61]

Answer: CIRCLE: dx:-0.27; dy:-0.45; dz:0.00; yaw:-38.39;


Context: [objects_distance_from_drone[bench x:1.86 y:0.01 z:0.13], yaw_start:276.61, yaw_current:141.61]

Answer: CIRCLE: dx:-0.14; dy:-0.50; dz:0.00; yaw:-23.39;


Context: [objects_distance_from_drone[bench x:1.90 y:0.13 z:0.12], yaw_start:276.61, yaw_current:156.61]

Answer: CIRCLE: dx:-0.01; dy:-0.52; dz:0.00; yaw:-8.39;


Context: [objects_distance_from_drone[bench x:1.92 y:0.21 z:0.10], yaw_start:276.61, yaw_current:171.61]

Answer: CIRCLE: dx:0.13; dy:-0.51; dz:0.00; yaw:6.61;


Context: [objects_distance_from_drone[bench x:1.93 y:0.24 z:0.08], yaw_start:276.61, yaw_current:186.61]

Answer: CIRCLE: dx:0.25; dy:-0.46; dz:0.00; yaw:21.61;


Context: [objects_distance_from_drone[bench x:1.92 y:0.23 z:0.05], yaw_start:276.61, yaw_current:201.61]

Answer: CIRCLE: dx:0.36; dy:-0.37; dz:0.00; yaw:36.61;


Context: [objects_distance_from_drone[bench x:1.93 y:0.11 z:0.07], yaw_start:276.61, yaw_current:216.61]

Answer: CIRCLE: dx:0.45; dy:-0.27; dz:0.00; yaw:51.61;


Context: [objects_distance_from_drone[bench x:1.94 y:0.05 z:0.07], yaw_start:276.61, yaw_current:231.61]

Answer: CIRCLE: dx:0.50; dy:-0.14; dz:0.00; yaw:66.61;


Context: [objects_distance_from_drone[bench x:1.96 y:0.09 z:0.07], yaw_start:276.61, yaw_current:246.61]

Answer: CIRCLE: dx:0.52; dy:-0.01; dz:0.00; yaw:81.61;


Context: [drone_absolute_movement x:-2.29 y:3.16 z:0.50, objects_distance_from_drone[bench x:1.98 y:-0.03 z:0.07]]

Answer: RETURN: dx:2.29; dy:-3.16;


Context: [objects_distance_from_drone[bench x:5.37 y:2.02 z:0.03]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:11.10 y:0.93 z:0.35, bench x:10.27 y:5.81 z:0.08]]

Answer: MOVE: x:9.10; y:0.93; z:0.35


Context: [objects_distance_from_drone[pedestrian x:2.09 y:0.00 z:0.12], yaw_start:238.95, yaw_current:223.95]

Answer: CIRCLE: dx:0.48; dy:-0.21; dz:0.00; yaw:58.95;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:238.95, yaw_current:238.95]

Answer: CIRCLE: dx:0.52; dy:-0.08; dz:0.00; yaw:73.95;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:238.95, yaw_current:253.95]

Answer: CIRCLE: dx:0.52; dy:0.06; dz:0.00; yaw:88.95;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10, bench x:4.75 y:3.75 z:-0.23], yaw_start:238.95, yaw_current:268.95]

Answer: CIRCLE: dx:0.49; dy:0.19; dz:0.00; yaw:103.95;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10, bench x:5.72 y:2.24 z:0.07], yaw_start:238.95, yaw_current:283.95]

Answer: CIRCLE: dx:0.42; dy:0.31; dz:0.00; yaw:118.95;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10, bench x:6.16 y:1.13 z:0.07], yaw_start:238.95, yaw_current:298.95]

Answer: CIRCLE: dx:0.33; dy:0.41; dz:0.00; yaw:133.95;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10, bench x:6.32 y:0.01 z:0.07], yaw_start:238.95, yaw_current:313.95]

Answer: CIRCLE: dx:0.21; dy:0.48; dz:0.00; yaw:148.95;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10, BMW X5 x:15.92 y:9.34 z:0.02, bench x:6.17 y:-1.12 z:0.07], yaw_start:238.95, yaw_current:328.95]

Answer: CIRCLE: dx:0.08; dy:0.52; dz:0.00; yaw:163.95;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, BMW X5 x:18.41 y:5.61 z:0.35, bench x:5.74 y:-2.17 z:0.07], yaw_start:238.95, yaw_current:343.95]

Answer: CIRCLE: dx:-0.06; dy:0.52; dz:0.00; yaw:178.95;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, BMW X5 x:19.31 y:1.16 z:0.35, oil barrel x:22.09 y:9.01 z:-0.06], yaw_start:238.95, yaw_current:358.95]

Answer: CIRCLE: dx:-0.19; dy:0.49; dz:0.00; yaw:-166.05;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:19.02 y:-3.36 z:0.34, oil barrel x:23.73 y:3.49 z:-0.06], yaw_start:238.95, yaw_current:13.95]

Answer: CIRCLE: dx:-0.31; dy:0.42; dz:0.00; yaw:-151.05;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:17.42 y:-8.49 z:0.34, oil barrel x:23.90 y:-2.26 z:-0.07], yaw_start:238.95, yaw_current:28.95]

Answer: CIRCLE: dx:-0.41; dy:0.33; dz:0.00; yaw:-136.05;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, dog x:14.44 y:6.67 z:0.11, oil barrel x:22.58 y:-7.86 z:-0.07], yaw_start:238.95, yaw_current:43.95]

Answer: CIRCLE: dx:-0.48; dy:0.21; dz:0.00; yaw:-121.05;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, dog x:15.54 y:3.67 z:-0.14], yaw_start:238.95, yaw_current:58.95]

Answer: CIRCLE: dx:-0.52; dy:0.08; dz:0.00; yaw:-106.05;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, dog x:16.04 y:0.04 z:-0.14], yaw_start:238.95, yaw_current:73.95]

Answer: CIRCLE: dx:-0.52; dy:-0.06; dz:0.00; yaw:-91.05;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09, dog x:15.55 y:-3.60 z:-0.14], yaw_start:238.95, yaw_current:88.95]

Answer: CIRCLE: dx:-0.49; dy:-0.19; dz:0.00; yaw:-76.05;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09, dog x:14.27 y:-6.55 z:-0.08], yaw_start:238.95, yaw_current:103.95]

Answer: CIRCLE: dx:-0.42; dy:-0.31; dz:0.00; yaw:-61.05;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09], yaw_start:238.95, yaw_current:118.95]

Answer: CIRCLE: dx:-0.33; dy:-0.41; dz:0.00; yaw:-46.05;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09], yaw_start:238.95, yaw_current:133.95]

Answer: CIRCLE: dx:-0.21; dy:-0.48; dz:0.00; yaw:-31.05;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.09], yaw_start:238.95, yaw_current:148.95]

Answer: CIRCLE: dx:-0.08; dy:-0.52; dz:0.00; yaw:-16.05;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:238.95, yaw_current:163.95]

Answer: CIRCLE: dx:0.06; dy:-0.52; dz:0.00; yaw:-1.05;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:238.95, yaw_current:178.95]

Answer: CIRCLE: dx:0.19; dy:-0.49; dz:0.00; yaw:13.95;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:238.95, yaw_current:193.95]

Answer: CIRCLE: dx:0.31; dy:-0.42; dz:0.00; yaw:28.95;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:0.00 z:0.10], yaw_start:238.95, yaw_current:208.95]

Answer: CIRCLE: dx:0.41; dy:-0.33; dz:0.00; yaw:43.95;


Context: [drone_absolute_movement x:4.99 y:7.69 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:0.00 z:0.10]]

Answer: RETURN: dx:-4.99; dy:-7.69;


Context: [objects_distance_from_drone[pedestrian x:11.06 y:-0.50 z:0.34, bench x:11.09 y:3.83 z:0.10]]

Answer: LAND


Context: [objects_distance_from_drone[dog x:9.50 y:2.12 z:0.36, bench x:5.85 y:-2.70 z:0.57]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[dog x:9.49 y:2.09 z:-0.12, bench x:5.82 y:-2.73 z:0.10]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:5.24 y:2.70 z:0.35]]

Answer: MOVE: x:1.24; y:2.70; z:0.35


Context: [objects_distance_from_drone[BMW X5 x:3.85 y:0.37 z:2.64], yaw_start:358.69, yaw_current:343.69]

Answer: CIRCLE: dx:-0.11; dy:1.04; dz:0.00; yaw:178.69;


Context: [objects_distance_from_drone[BMW X5 x:3.97 y:-1.66 z:0.50], yaw_start:358.69, yaw_current:358.69]

Answer: CIRCLE: dx:-0.38; dy:0.97; dz:0.00; yaw:-166.31;


Context: [objects_distance_from_drone[BMW X5 x:3.78 y:-1.71 z:0.50], yaw_start:358.69, yaw_current:13.69]

Answer: CIRCLE: dx:-0.62; dy:0.84; dz:0.00; yaw:-151.31;


Context: [objects_distance_from_drone[BMW X5 x:3.50 y:-1.57 z:0.55], yaw_start:358.69, yaw_current:28.69]

Answer: CIRCLE: dx:-0.81; dy:0.65; dz:0.00; yaw:-136.31;


Context: [objects_distance_from_drone[pedestrian x:14.65 y:5.48 z:0.35, BMW X5 x:3.15 y:-1.15 z:0.62], yaw_start:358.69, yaw_current:43.69]

Answer: CIRCLE: dx:-0.96; dy:0.42; dz:0.00; yaw:-121.31;


Context: [objects_distance_from_drone[BMW X5 x:3.06 y:-0.59 z:0.64], yaw_start:358.69, yaw_current:58.69]

Answer: CIRCLE: dx:-1.03; dy:0.16; dz:0.00; yaw:-106.31;


Context: [objects_distance_from_drone[BMW X5 x:3.01 y:-0.29 z:0.64], yaw_start:358.69, yaw_current:73.69]

Answer: CIRCLE: dx:-1.04; dy:-0.11; dz:0.00; yaw:-91.31;


Context: [objects_distance_from_drone[BMW X5 x:2.82 y:-0.07 z:0.64], yaw_start:358.69, yaw_current:88.69]

Answer: CIRCLE: dx:-0.97; dy:-0.38; dz:0.00; yaw:-76.31;


Context: [objects_distance_from_drone[BMW X5 x:2.68 y:0.17 z:0.63], yaw_start:358.69, yaw_current:103.69]

Answer: CIRCLE: dx:-0.84; dy:-0.62; dz:0.00; yaw:-61.31;


Context: [objects_distance_from_drone[BMW X5 x:2.68 y:0.39 z:0.59], yaw_start:358.69, yaw_current:118.69]

Answer: CIRCLE: dx:-0.65; dy:-0.81; dz:0.00; yaw:-46.31;


Context: [objects_distance_from_drone[BMW X5 x:2.94 y:0.99 z:0.49], yaw_start:358.69, yaw_current:133.69]

Answer: CIRCLE: dx:-0.42; dy:-0.96; dz:0.00; yaw:-31.31;


Context: [objects_distance_from_drone[BMW X5 x:3.19 y:1.36 z:0.38], yaw_start:358.69, yaw_current:148.69]

Answer: CIRCLE: dx:-0.16; dy:-1.03; dz:0.00; yaw:-16.31;


Context: [objects_distance_from_drone[BMW X5 x:3.52 y:1.39 z:0.35], yaw_start:358.69, yaw_current:163.69]

Answer: CIRCLE: dx:0.11; dy:-1.04; dz:0.00; yaw:-1.31;


Context: [objects_distance_from_drone[BMW X5 x:3.76 y:1.31 z:0.35], yaw_start:358.69, yaw_current:178.69]

Answer: CIRCLE: dx:0.38; dy:-0.97; dz:0.00; yaw:13.69;


Context: [objects_distance_from_drone[BMW X5 x:4.02 y:1.05 z:0.35], yaw_start:358.69, yaw_current:193.69]

Answer: CIRCLE: dx:0.62; dy:-0.84; dz:0.00; yaw:28.69;


Context: [objects_distance_from_drone[BMW X5 x:4.18 y:0.93 z:0.35, oil barrel x:12.38 y:-4.46 z:-0.07], yaw_start:358.69, yaw_current:208.69]

Answer: CIRCLE: dx:0.81; dy:-0.65; dz:0.00; yaw:43.69;


Context: [objects_distance_from_drone[BMW X5 x:4.41 y:1.11 z:0.35], yaw_start:358.69, yaw_current:223.69]

Answer: CIRCLE: dx:0.96; dy:-0.42; dz:0.00; yaw:58.69;


Context: [objects_distance_from_drone[BMW X5 x:4.70 y:1.02 z:0.35], yaw_start:358.69, yaw_current:238.69]

Answer: CIRCLE: dx:1.03; dy:-0.16; dz:0.00; yaw:73.69;


Context: [objects_distance_from_drone[BMW X5 x:4.85 y:0.78 z:0.35], yaw_start:358.69, yaw_current:253.69]

Answer: CIRCLE: dx:1.04; dy:0.11; dz:0.00; yaw:88.69;


Context: [objects_distance_from_drone[BMW X5 x:4.94 y:0.45 z:0.35], yaw_start:358.69, yaw_current:268.69]

Answer: CIRCLE: dx:0.97; dy:0.38; dz:0.00; yaw:103.69;


Context: [objects_distance_from_drone[BMW X5 x:4.94 y:0.00 z:0.34], yaw_start:358.69, yaw_current:283.69]

Answer: CIRCLE: dx:0.84; dy:0.62; dz:0.00; yaw:118.69;


Context: [objects_distance_from_drone[BMW X5 x:4.89 y:-0.56 z:0.34], yaw_start:358.69, yaw_current:298.69]

Answer: CIRCLE: dx:0.65; dy:0.81; dz:0.00; yaw:133.69;


Context: [objects_distance_from_drone[BMW X5 x:4.64 y:-0.91 z:0.34], yaw_start:358.69, yaw_current:313.69]

Answer: CIRCLE: dx:0.42; dy:0.96; dz:0.00; yaw:148.69;


Context: [objects_distance_from_drone[BMW X5 x:4.41 y:-1.13 z:0.34], yaw_start:358.69, yaw_current:328.69]

Answer: CIRCLE: dx:0.16; dy:1.03; dz:0.00; yaw:163.69;


Context: [drone_absolute_movement x:-1.30 y:0.19 z:0.50, objects_distance_from_drone[BMW X5 x:4.20 y:-1.49 z:0.36]]

Answer: RETURN: dx:1.30; dy:-0.19;


Context: [objects_distance_from_drone[BMW X5 x:5.45 y:-1.59 z:0.39]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:10.11 y:3.75 z:1.02, oil barrel x:3.99 y:-0.76 z:0.43]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:8.92 y:4.15 z:-0.12, oil barrel x:3.94 y:-0.78 z:-0.05]]

Answer: SEARCH


Context: [objects_distance_from_drone[dog x:15.07 y:-1.36 z:-0.14]]

Answer: MOVE: x:13.07; y:-1.36; z:-0.14


Context: [objects_distance_from_drone[dog x:2.10 y:-0.00 z:-0.16], yaw_start:35.08, yaw_current:20.08]

Answer: CIRCLE: dx:-0.35; dy:0.38; dz:0.00; yaw:-144.92;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.03 z:-0.14], yaw_start:35.08, yaw_current:35.08]

Answer: CIRCLE: dx:-0.44; dy:0.28; dz:0.00; yaw:-129.92;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.05 z:-0.14], yaw_start:35.08, yaw_current:50.08]

Answer: CIRCLE: dx:-0.50; dy:0.16; dz:0.00; yaw:-114.92;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.07 z:-0.14], yaw_start:35.08, yaw_current:65.08]

Answer: CIRCLE: dx:-0.52; dy:0.02; dz:0.00; yaw:-99.92;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.05 z:-0.14], yaw_start:35.08, yaw_current:80.08]

Answer: CIRCLE: dx:-0.51; dy:-0.11; dz:0.00; yaw:-84.92;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.05 z:-0.14], yaw_start:35.08, yaw_current:95.08]

Answer: CIRCLE: dx:-0.46; dy:-0.24; dz:0.00; yaw:-69.92;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14], yaw_start:35.08, yaw_current:110.08]

Answer: CIRCLE: dx:-0.38; dy:-0.35; dz:0.00; yaw:-54.92;


Context: [objects_distance_from_drone[dog x:1.95 y:-0.03 z:-0.14], yaw_start:35.08, yaw_current:125.08]

Answer: CIRCLE: dx:-0.28; dy:-0.44; dz:0.00; yaw:-39.92;


Context: [objects_distance_from_drone[pedestrian x:22.88 y:5.67 z:0.35, dog x:1.93 y:-0.02 z:-0.14], yaw_start:35.08, yaw_current:140.08]

Answer: CIRCLE: dx:-0.16; dy:-0.50; dz:0.00; yaw:-24.92;


Context: [objects_distance_from_drone[pedestrian x:23.64 y:0.07 z:0.34, dog x:1.92 y:-0.02 z:-0.14, bench x:24.50 y:5.77 z:0.09], yaw_start:35.08, yaw_current:155.08]

Answer: CIRCLE: dx:-0.02; dy:-0.52; dz:0.00; yaw:-9.92;


Context: [objects_distance_from_drone[BMW X5 x:24.89 y:13.40 z:0.36, dog x:1.93 y:-0.01 z:-0.14, oil barrel x:18.97 y:6.49 z:-0.06], yaw_start:35.08, yaw_current:170.08]

Answer: CIRCLE: dx:0.11; dy:-0.51; dz:0.00; yaw:5.08;


Context: [objects_distance_from_drone[BMW X5 x:27.72 y:6.19 z:0.36, dog x:1.93 y:-0.01 z:-0.14, bench x:24.37 y:-6.27 z:0.06, oil barrel x:20.06 y:1.87 z:-0.07], yaw_start:35.08, yaw_current:185.08]

Answer: CIRCLE: dx:0.24; dy:-0.46; dz:0.00; yaw:20.08;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.01 z:-0.14, oil barrel x:19.93 y:-2.88 z:-0.07], yaw_start:35.08, yaw_current:200.08]

Answer: CIRCLE: dx:0.35; dy:-0.38; dz:0.00; yaw:35.08;


Context: [objects_distance_from_drone[BMW X5 x:27.36 y:-7.53 z:0.34, dog x:1.95 y:0.01 z:-0.14, oil barrel x:18.58 y:-7.43 z:-0.07], yaw_start:35.08, yaw_current:215.08]

Answer: CIRCLE: dx:0.44; dy:-0.28; dz:0.00; yaw:50.08;


Context: [objects_distance_from_drone[BMW X5 x:25.05 y:-11.29 z:0.54, dog x:1.96 y:0.03 z:-0.14], yaw_start:35.08, yaw_current:230.08]

Answer: CIRCLE: dx:0.50; dy:-0.16; dz:0.00; yaw:65.08;


Context: [objects_distance_from_drone[dog x:1.96 y:0.05 z:-0.14], yaw_start:35.08, yaw_current:245.08]

Answer: CIRCLE: dx:0.52; dy:-0.02; dz:0.00; yaw:80.08;


Context: [objects_distance_from_drone[dog x:1.97 y:0.03 z:-0.14], yaw_start:35.08, yaw_current:260.08]

Answer: CIRCLE: dx:0.51; dy:0.11; dz:0.00; yaw:95.08;


Context: [objects_distance_from_drone[dog x:1.97 y:0.03 z:-0.14], yaw_start:35.08, yaw_current:275.08]

Answer: CIRCLE: dx:0.46; dy:0.24; dz:0.00; yaw:110.08;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14], yaw_start:35.08, yaw_current:290.08]

Answer: CIRCLE: dx:0.38; dy:0.35; dz:0.00; yaw:125.08;


Context: [objects_distance_from_drone[dog x:1.99 y:0.01 z:-0.14], yaw_start:35.08, yaw_current:305.08]

Answer: CIRCLE: dx:0.28; dy:0.44; dz:0.00; yaw:140.08;


Context: [objects_distance_from_drone[dog x:2.01 y:0.00 z:-0.14], yaw_start:35.08, yaw_current:320.08]

Answer: CIRCLE: dx:0.16; dy:0.50; dz:0.00; yaw:155.08;


Context: [objects_distance_from_drone[dog x:2.02 y:-0.00 z:-0.14], yaw_start:35.08, yaw_current:335.08]

Answer: CIRCLE: dx:0.02; dy:0.52; dz:0.00; yaw:170.08;


Context: [objects_distance_from_drone[dog x:2.02 y:-0.01 z:-0.14], yaw_start:35.08, yaw_current:350.08]

Answer: CIRCLE: dx:-0.11; dy:0.51; dz:0.00; yaw:-174.92;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.01 z:-0.14], yaw_start:35.08, yaw_current:5.08]

Answer: CIRCLE: dx:-0.24; dy:0.46; dz:0.00; yaw:-159.92;


Context: [drone_absolute_movement x:-10.69 y:-7.60 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:10.69; dy:7.60;


Context: [objects_distance_from_drone[dog x:15.02 y:-0.18 z:-0.11]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:3.75 y:-0.76 z:1.10]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:3.84 y:-0.78 z:0.40]]

Answer: SEARCH


Context: [objects_distance_from_drone[bench x:11.48 y:-1.16 z:0.08]]

Answer: MOVE: x:9.48; y:-1.16; z:0.08


Context: [objects_distance_from_drone[bench x:2.10 y:0.00 z:0.10], yaw_start:61.37, yaw_current:46.37]

Answer: CIRCLE: dx:-0.49; dy:0.19; dz:0.00; yaw:-118.63;


Context: [objects_distance_from_drone[bench x:1.98 y:0.07 z:0.10], yaw_start:61.37, yaw_current:61.37]

Answer: CIRCLE: dx:-0.52; dy:0.06; dz:0.00; yaw:-103.63;


Context: [objects_distance_from_drone[bench x:1.99 y:0.09 z:0.08], yaw_start:61.37, yaw_current:76.37]

Answer: CIRCLE: dx:-0.52; dy:-0.08; dz:0.00; yaw:-88.63;


Context: [objects_distance_from_drone[bench x:1.96 y:0.07 z:0.06], yaw_start:61.37, yaw_current:91.37]

Answer: CIRCLE: dx:-0.48; dy:-0.21; dz:0.00; yaw:-73.63;


Context: [objects_distance_from_drone[bench x:1.94 y:-0.05 z:0.07], yaw_start:61.37, yaw_current:106.37]

Answer: CIRCLE: dx:-0.41; dy:-0.33; dz:0.00; yaw:-58.63;


Context: [objects_distance_from_drone[bench x:1.91 y:-0.14 z:0.07], yaw_start:61.37, yaw_current:121.37]

Answer: CIRCLE: dx:-0.31; dy:-0.42; dz:0.00; yaw:-43.63;


Context: [objects_distance_from_drone[bench x:1.88 y:-0.07 z:0.07], yaw_start:61.37, yaw_current:136.37]

Answer: CIRCLE: dx:-0.19; dy:-0.49; dz:0.00; yaw:-28.63;


Context: [objects_distance_from_drone[bench x:1.88 y:-0.12 z:0.07], yaw_start:61.37, yaw_current:151.37]

Answer: CIRCLE: dx:-0.06; dy:-0.52; dz:0.00; yaw:-13.63;


Context: [objects_distance_from_drone[BMW X5 x:12.09 y:5.73 z:0.56, bench x:1.88 y:-0.22 z:0.07], yaw_start:61.37, yaw_current:166.37]

Answer: CIRCLE: dx:0.08; dy:-0.52; dz:0.00; yaw:1.37;


Context: [objects_distance_from_drone[BMW X5 x:13.10 y:6.19 z:0.35, bench x:1.90 y:-0.21 z:0.09], yaw_start:61.37, yaw_current:181.37]

Answer: CIRCLE: dx:0.21; dy:-0.48; dz:0.00; yaw:16.37;


Context: [objects_distance_from_drone[bench x:1.89 y:-0.16 z:0.10], yaw_start:61.37, yaw_current:196.37]

Answer: CIRCLE: dx:0.33; dy:-0.41; dz:0.00; yaw:31.37;


Context: [objects_distance_from_drone[bench x:1.90 y:-0.08 z:0.12], yaw_start:61.37, yaw_current:211.37]

Answer: CIRCLE: dx:0.42; dy:-0.31; dz:0.00; yaw:46.37;


Context: [objects_distance_from_drone[bench x:1.88 y:0.03 z:0.13], yaw_start:61.37, yaw_current:226.37]

Answer: CIRCLE: dx:0.49; dy:-0.19; dz:0.00; yaw:61.37;


Context: [objects_distance_from_drone[BMW X5 x:12.98 y:-7.73 z:0.34, bench x:1.87 y:0.12 z:0.13], yaw_start:61.37, yaw_current:241.37]

Answer: CIRCLE: dx:0.52; dy:-0.06; dz:0.00; yaw:76.37;


Context: [objects_distance_from_drone[bench x:1.88 y:0.18 z:0.13], yaw_start:61.37, yaw_current:256.37]

Answer: CIRCLE: dx:0.52; dy:0.08; dz:0.00; yaw:91.37;


Context: [objects_distance_from_drone[bench x:1.85 y:0.20 z:0.13], yaw_start:61.37, yaw_current:271.37]

Answer: CIRCLE: dx:0.48; dy:0.21; dz:0.00; yaw:106.37;


Context: [objects_distance_from_drone[bench x:1.85 y:0.09 z:0.13], yaw_start:61.37, yaw_current:286.37]

Answer: CIRCLE: dx:0.41; dy:0.33; dz:0.00; yaw:121.37;


Context: [objects_distance_from_drone[bench x:1.87 y:0.02 z:0.10], yaw_start:61.37, yaw_current:301.37]

Answer: CIRCLE: dx:0.31; dy:0.42; dz:0.00; yaw:136.37;


Context: [objects_distance_from_drone[bench x:1.90 y:0.09 z:0.08], yaw_start:61.37, yaw_current:316.37]

Answer: CIRCLE: dx:0.19; dy:0.49; dz:0.00; yaw:151.37;


Context: [objects_distance_from_drone[bench x:1.91 y:0.04 z:0.13], yaw_start:61.37, yaw_current:331.37]

Answer: CIRCLE: dx:0.06; dy:0.52; dz:0.00; yaw:166.37;


Context: [objects_distance_from_drone[bench x:1.92 y:-0.09 z:0.14], yaw_start:61.37, yaw_current:346.37]

Answer: CIRCLE: dx:-0.08; dy:0.52; dz:0.00; yaw:-178.63;


Context: [objects_distance_from_drone[bench x:1.96 y:-0.12 z:0.13], yaw_start:61.37, yaw_current:1.37]

Answer: CIRCLE: dx:-0.21; dy:0.48; dz:0.00; yaw:-163.63;


Context: [objects_distance_from_drone[bench x:1.96 y:-0.10 z:0.13], yaw_start:61.37, yaw_current:16.37]

Answer: CIRCLE: dx:-0.33; dy:0.41; dz:0.00; yaw:-148.63;


Context: [objects_distance_from_drone[bench x:1.96 y:-0.04 z:0.13], yaw_start:61.37, yaw_current:31.37]

Answer: CIRCLE: dx:-0.42; dy:0.31; dz:0.00; yaw:-133.63;


Context: [drone_absolute_movement x:-4.59 y:-8.36 z:0.50, objects_distance_from_drone[bench x:1.99 y:0.01 z:0.12]]

Answer: RETURN: dx:4.59; dy:8.36;


Context: [objects_distance_from_drone[bench x:11.45 y:-0.27 z:0.25]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:8.69 y:0.73 z:0.34, dog x:11.40 y:-5.09 z:-0.13]]

Answer: MOVE: x:6.69; y:0.73; z:0.34


Context: [objects_distance_from_drone[pedestrian x:2.10 y:-0.00 z:0.11], yaw_start:252.04, yaw_current:237.04]

Answer: CIRCLE: dx:0.51; dy:-0.09; dz:0.00; yaw:72.04;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:252.04, yaw_current:252.04]

Answer: CIRCLE: dx:0.52; dy:0.04; dz:0.00; yaw:87.04;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:252.04, yaw_current:267.04]

Answer: CIRCLE: dx:0.49; dy:0.17; dz:0.00; yaw:102.04;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:252.04, yaw_current:282.04]

Answer: CIRCLE: dx:0.43; dy:0.30; dz:0.00; yaw:117.04;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:252.04, yaw_current:297.04]

Answer: CIRCLE: dx:0.34; dy:0.40; dz:0.00; yaw:132.04;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10, BMW X5 x:14.31 y:6.66 z:-0.13], yaw_start:252.04, yaw_current:312.04]

Answer: CIRCLE: dx:0.22; dy:0.47; dz:0.00; yaw:147.04;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.09, BMW X5 x:14.24 y:4.21 z:0.35], yaw_start:252.04, yaw_current:327.04]

Answer: CIRCLE: dx:0.09; dy:0.51; dz:0.00; yaw:162.04;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:14.91 y:0.90 z:0.35], yaw_start:252.04, yaw_current:342.04]

Answer: CIRCLE: dx:-0.04; dy:0.52; dz:0.00; yaw:177.04;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:14.70 y:-2.48 z:0.34, bench x:18.85 y:6.35 z:0.08], yaw_start:252.04, yaw_current:357.04]

Answer: CIRCLE: dx:-0.17; dy:0.49; dz:0.00; yaw:-167.96;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:13.63 y:-6.12 z:0.34, bench x:19.92 y:1.76 z:0.08], yaw_start:252.04, yaw_current:12.04]

Answer: CIRCLE: dx:-0.30; dy:0.43; dz:0.00; yaw:-152.96;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:12.55 y:-5.89 z:0.50, bench x:19.76 y:-2.95 z:0.07], yaw_start:252.04, yaw_current:27.04]

Answer: CIRCLE: dx:-0.40; dy:0.34; dz:0.00; yaw:-137.96;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, bench x:18.40 y:-7.45 z:0.07], yaw_start:252.04, yaw_current:42.04]

Answer: CIRCLE: dx:-0.47; dy:0.22; dz:0.00; yaw:-122.96;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, oil barrel x:17.17 y:6.84 z:-0.06], yaw_start:252.04, yaw_current:57.04]

Answer: CIRCLE: dx:-0.51; dy:0.09; dz:0.00; yaw:-107.96;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09, oil barrel x:18.42 y:2.67 z:-0.07], yaw_start:252.04, yaw_current:72.04]

Answer: CIRCLE: dx:-0.52; dy:-0.04; dz:0.00; yaw:-92.96;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, oil barrel x:18.56 y:-1.68 z:-0.07], yaw_start:252.04, yaw_current:87.04]

Answer: CIRCLE: dx:-0.49; dy:-0.17; dz:0.00; yaw:-77.96;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, oil barrel x:17.56 y:-5.91 z:-0.07], yaw_start:252.04, yaw_current:102.04]

Answer: CIRCLE: dx:-0.43; dy:-0.30; dz:0.00; yaw:-62.96;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09], yaw_start:252.04, yaw_current:117.04]

Answer: CIRCLE: dx:-0.34; dy:-0.40; dz:0.00; yaw:-47.96;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, dog x:7.51 y:3.51 z:-0.12], yaw_start:252.04, yaw_current:132.04]

Answer: CIRCLE: dx:-0.22; dy:-0.47; dz:0.00; yaw:-32.96;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10, dog x:8.34 y:2.16 z:-0.14], yaw_start:252.04, yaw_current:147.04]

Answer: CIRCLE: dx:-0.09; dy:-0.51; dz:0.00; yaw:-17.96;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10, dog x:8.67 y:0.46 z:-0.14], yaw_start:252.04, yaw_current:162.04]

Answer: CIRCLE: dx:0.04; dy:-0.52; dz:0.00; yaw:-2.96;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10, dog x:8.56 y:-1.30 z:-0.14], yaw_start:252.04, yaw_current:177.04]

Answer: CIRCLE: dx:0.17; dy:-0.49; dz:0.00; yaw:12.04;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10, dog x:7.99 y:-2.96 z:-0.14], yaw_start:252.04, yaw_current:192.04]

Answer: CIRCLE: dx:0.30; dy:-0.43; dz:0.00; yaw:27.04;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:0.00 z:0.10], yaw_start:252.04, yaw_current:207.04]

Answer: CIRCLE: dx:0.40; dy:-0.34; dz:0.00; yaw:42.04;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:252.04, yaw_current:222.04]

Answer: CIRCLE: dx:0.47; dy:-0.22; dz:0.00; yaw:57.04;


Context: [drone_absolute_movement x:2.11 y:6.38 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10]]

Answer: RETURN: dx:-2.11; dy:-6.38;


Context: [objects_distance_from_drone[pedestrian x:8.61 y:-0.18 z:0.55]]

Answer: LAND


Context: [objects_distance_from_drone[pedestrian x:9.94 y:4.00 z:0.84]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:9.92 y:3.95 z:0.36]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:11.55 y:0.06 z:0.35, oil barrel x:4.29 y:1.74 z:-0.07]]

Answer: MOVE: x:7.55; y:0.06; z:0.35


Context: [objects_distance_from_drone[BMW X5 x:4.10 y:-0.01 z:0.50], yaw_start:237.43, yaw_current:222.43]

Answer: CIRCLE: dx:0.95; dy:-0.44; dz:0.00; yaw:57.43;


Context: [objects_distance_from_drone[BMW X5 x:3.90 y:-0.18 z:0.43], yaw_start:237.43, yaw_current:237.43]

Answer: CIRCLE: dx:1.03; dy:-0.18; dz:0.00; yaw:72.43;


Context: [objects_distance_from_drone[BMW X5 x:3.79 y:-0.39 z:0.39], yaw_start:237.43, yaw_current:252.43]

Answer: CIRCLE: dx:1.04; dy:0.09; dz:0.00; yaw:87.43;


Context: [objects_distance_from_drone[BMW X5 x:3.73 y:-0.42 z:0.34], yaw_start:237.43, yaw_current:267.43]

Answer: CIRCLE: dx:0.98; dy:0.36; dz:0.00; yaw:102.43;


Context: [objects_distance_from_drone[BMW X5 x:3.60 y:-0.16 z:0.35], yaw_start:237.43, yaw_current:282.43]

Answer: CIRCLE: dx:0.86; dy:0.60; dz:0.00; yaw:117.43;


Context: [objects_distance_from_drone[BMW X5 x:3.60 y:-0.24 z:0.35], yaw_start:237.43, yaw_current:297.43]

Answer: CIRCLE: dx:0.67; dy:0.80; dz:0.00; yaw:132.43;


Context: [objects_distance_from_drone[BMW X5 x:3.65 y:-0.38 z:0.35], yaw_start:237.43, yaw_current:312.43]

Answer: CIRCLE: dx:0.44; dy:0.95; dz:0.00; yaw:147.43;


Context: [objects_distance_from_drone[BMW X5 x:3.75 y:-0.36 z:0.35], yaw_start:237.43, yaw_current:327.43]

Answer: CIRCLE: dx:0.18; dy:1.03; dz:0.00; yaw:162.43;


Context: [objects_distance_from_drone[BMW X5 x:3.76 y:-0.20 z:0.35], yaw_start:237.43, yaw_current:342.43]

Answer: CIRCLE: dx:-0.09; dy:1.04; dz:0.00; yaw:177.43;


Context: [objects_distance_from_drone[BMW X5 x:3.77 y:0.04 z:0.35], yaw_start:237.43, yaw_current:357.43]

Answer: CIRCLE: dx:-0.36; dy:0.98; dz:0.00; yaw:-167.57;


Context: [objects_distance_from_drone[BMW X5 x:3.82 y:0.40 z:0.35], yaw_start:237.43, yaw_current:12.43]

Answer: CIRCLE: dx:-0.60; dy:0.86; dz:0.00; yaw:-152.57;


Context: [objects_distance_from_drone[BMW X5 x:3.88 y:0.57 z:0.35], yaw_start:237.43, yaw_current:27.43]

Answer: CIRCLE: dx:-0.80; dy:0.67; dz:0.00; yaw:-137.57;


Context: [objects_distance_from_drone[BMW X5 x:3.89 y:0.64 z:0.34], yaw_start:237.43, yaw_current:42.43]

Answer: CIRCLE: dx:-0.95; dy:0.44; dz:0.00; yaw:-122.57;


Context: [objects_distance_from_drone[BMW X5 x:3.86 y:0.62 z:0.35], yaw_start:237.43, yaw_current:57.43]

Answer: CIRCLE: dx:-1.03; dy:0.18; dz:0.00; yaw:-107.57;


Context: [objects_distance_from_drone[BMW X5 x:3.88 y:0.36 z:0.35], yaw_start:237.43, yaw_current:72.43]

Answer: CIRCLE: dx:-1.04; dy:-0.09; dz:0.00; yaw:-92.57;


Context: [objects_distance_from_drone[BMW X5 x:3.93 y:0.24 z:0.35], yaw_start:237.43, yaw_current:87.43]

Answer: CIRCLE: dx:-0.98; dy:-0.36; dz:0.00; yaw:-77.57;


Context: [objects_distance_from_drone[BMW X5 x:4.03 y:0.35 z:0.35], yaw_start:237.43, yaw_current:102.43]

Answer: CIRCLE: dx:-0.86; dy:-0.60; dz:0.00; yaw:-62.57;


Context: [objects_distance_from_drone[BMW X5 x:4.07 y:0.09 z:0.35], yaw_start:237.43, yaw_current:117.43]

Answer: CIRCLE: dx:-0.67; dy:-0.80; dz:0.00; yaw:-47.57;


Context: [objects_distance_from_drone[BMW X5 x:4.14 y:-0.25 z:0.40], yaw_start:237.43, yaw_current:132.43]

Answer: CIRCLE: dx:-0.44; dy:-0.95; dz:0.00; yaw:-32.57;


Context: [objects_distance_from_drone[BMW X5 x:4.19 y:-0.34 z:0.43], yaw_start:237.43, yaw_current:147.43]

Answer: CIRCLE: dx:-0.18; dy:-1.03; dz:0.00; yaw:-17.57;


Context: [objects_distance_from_drone[BMW X5 x:4.17 y:-0.34 z:0.44], yaw_start:237.43, yaw_current:162.43]

Answer: CIRCLE: dx:0.09; dy:-1.04; dz:0.00; yaw:-2.57;


Context: [objects_distance_from_drone[BMW X5 x:4.15 y:-0.25 z:0.42], yaw_start:237.43, yaw_current:177.43]

Answer: CIRCLE: dx:0.36; dy:-0.98; dz:0.00; yaw:12.43;


Context: [objects_distance_from_drone[BMW X5 x:4.11 y:-0.15 z:0.44], yaw_start:237.43, yaw_current:192.43]

Answer: CIRCLE: dx:0.60; dy:-0.86; dz:0.00; yaw:27.43;


Context: [objects_distance_from_drone[BMW X5 x:4.06 y:-0.04 z:0.46], yaw_start:237.43, yaw_current:207.43]

Answer: CIRCLE: dx:0.80; dy:-0.67; dz:0.00; yaw:42.43;


Context: [drone_absolute_movement x:4.08 y:6.35 z:0.50, objects_distance_from_drone[BMW X5 x:4.01 y:0.01 z:0.46]]

Answer: RETURN: dx:-4.08; dy:-6.35;


Context: [objects_distance_from_drone[BMW X5 x:11.45 y:-0.46 z:0.33, oil barrel x:4.25 y:1.55 z:-0.07]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:10.84 y:6.05 z:0.87]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:10.82 y:6.06 z:0.37]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:13.60 y:0.03 z:0.34, dog x:4.66 y:-0.45 z:-0.14]]

Answer: MOVE: x:2.66; y:-0.45; z:-0.14


Context: [objects_distance_from_drone[pedestrian x:10.96 y:1.28 z:0.27, dog x:2.10 y:-0.00 z:-0.16], yaw_start:39.41, yaw_current:24.41]

Answer: CIRCLE: dx:-0.38; dy:0.36; dz:0.00; yaw:-140.59;


Context: [objects_distance_from_drone[pedestrian x:10.90 y:-1.07 z:0.34, dog x:2.01 y:-0.01 z:-0.14], yaw_start:39.41, yaw_current:39.41]

Answer: CIRCLE: dx:-0.46; dy:0.25; dz:0.00; yaw:-125.59;


Context: [objects_distance_from_drone[pedestrian x:10.31 y:-3.35 z:0.34, dog x:2.00 y:0.01 z:-0.14, oil barrel x:7.52 y:3.19 z:-0.07], yaw_start:39.41, yaw_current:54.41]

Answer: CIRCLE: dx:-0.51; dy:0.12; dz:0.00; yaw:-110.59;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14, oil barrel x:8.17 y:1.68 z:-0.07], yaw_start:39.41, yaw_current:69.41]

Answer: CIRCLE: dx:-0.52; dy:-0.02; dz:0.00; yaw:-95.59;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.02 z:-0.14], yaw_start:39.41, yaw_current:84.41]

Answer: CIRCLE: dx:-0.50; dy:-0.15; dz:0.00; yaw:-80.59;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.03 z:-0.14, oil barrel x:8.19 y:-1.65 z:-0.07], yaw_start:39.41, yaw_current:99.41]

Answer: CIRCLE: dx:-0.44; dy:-0.28; dz:0.00; yaw:-65.59;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14, oil barrel x:7.54 y:-3.19 z:-0.07], yaw_start:39.41, yaw_current:114.41]

Answer: CIRCLE: dx:-0.36; dy:-0.38; dz:0.00; yaw:-50.59;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.05 z:-0.14], yaw_start:39.41, yaw_current:129.41]

Answer: CIRCLE: dx:-0.25; dy:-0.46; dz:0.00; yaw:-35.59;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.04 z:-0.14], yaw_start:39.41, yaw_current:144.41]

Answer: CIRCLE: dx:-0.12; dy:-0.51; dz:0.00; yaw:-20.59;


Context: [objects_distance_from_drone[BMW X5 x:16.33 y:9.69 z:0.36, dog x:1.97 y:-0.04 z:-0.14], yaw_start:39.41, yaw_current:159.41]

Answer: CIRCLE: dx:0.02; dy:-0.52; dz:0.00; yaw:-5.59;


Context: [objects_distance_from_drone[BMW X5 x:17.94 y:5.43 z:0.35, dog x:1.95 y:-0.03 z:-0.14], yaw_start:39.41, yaw_current:174.41]

Answer: CIRCLE: dx:0.15; dy:-0.50; dz:0.00; yaw:9.41;


Context: [objects_distance_from_drone[dog x:1.95 y:-0.02 z:-0.14], yaw_start:39.41, yaw_current:189.41]

Answer: CIRCLE: dx:0.28; dy:-0.44; dz:0.00; yaw:24.41;


Context: [objects_distance_from_drone[BMW X5 x:18.53 y:-3.29 z:0.34, dog x:1.94 y:-0.01 z:-0.14], yaw_start:39.41, yaw_current:204.41]

Answer: CIRCLE: dx:0.38; dy:-0.36; dz:0.00; yaw:39.41;


Context: [objects_distance_from_drone[BMW X5 x:16.84 y:-7.85 z:0.34, dog x:1.94 y:-0.01 z:-0.14], yaw_start:39.41, yaw_current:219.41]

Answer: CIRCLE: dx:0.46; dy:-0.25; dz:0.00; yaw:54.41;


Context: [objects_distance_from_drone[dog x:1.93 y:-0.02 z:-0.14], yaw_start:39.41, yaw_current:234.41]

Answer: CIRCLE: dx:0.51; dy:-0.12; dz:0.00; yaw:69.41;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.01 z:-0.14], yaw_start:39.41, yaw_current:249.41]

Answer: CIRCLE: dx:0.52; dy:0.02; dz:0.00; yaw:84.41;


Context: [objects_distance_from_drone[dog x:1.94 y:0.00 z:-0.14], yaw_start:39.41, yaw_current:264.41]

Answer: CIRCLE: dx:0.50; dy:0.15; dz:0.00; yaw:99.41;


Context: [objects_distance_from_drone[dog x:1.95 y:0.01 z:-0.14, bench x:7.26 y:3.62 z:0.07], yaw_start:39.41, yaw_current:279.41]

Answer: CIRCLE: dx:0.44; dy:0.28; dz:0.00; yaw:114.41;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14, bench x:8.11 y:1.69 z:0.07], yaw_start:39.41, yaw_current:294.41]

Answer: CIRCLE: dx:0.36; dy:0.38; dz:0.00; yaw:129.41;


Context: [objects_distance_from_drone[dog x:1.97 y:0.03 z:-0.14], yaw_start:39.41, yaw_current:309.41]

Answer: CIRCLE: dx:0.25; dy:0.46; dz:0.00; yaw:144.41;


Context: [objects_distance_from_drone[dog x:1.95 y:0.02 z:-0.14, bench x:8.13 y:-1.60 z:0.07], yaw_start:39.41, yaw_current:324.41]

Answer: CIRCLE: dx:0.12; dy:0.51; dz:0.00; yaw:159.41;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14, bench x:7.37 y:-3.53 z:0.07], yaw_start:39.41, yaw_current:339.41]

Answer: CIRCLE: dx:-0.02; dy:0.52; dz:0.00; yaw:174.41;


Context: [objects_distance_from_drone[dog x:1.98 y:0.01 z:-0.14], yaw_start:39.41, yaw_current:354.41]

Answer: CIRCLE: dx:-0.15; dy:0.50; dz:0.00; yaw:-170.59;


Context: [objects_distance_from_drone[pedestrian x:10.23 y:3.53 z:0.35, dog x:1.99 y:0.00 z:-0.14], yaw_start:39.41, yaw_current:9.41]

Answer: CIRCLE: dx:-0.28; dy:0.44; dz:0.00; yaw:-155.59;


Context: [drone_absolute_movement x:-2.06 y:-1.68 z:0.50, objects_distance_from_drone[pedestrian x:10.86 y:1.27 z:0.37, dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:2.06; dy:1.68;


Context: [objects_distance_from_drone[pedestrian x:13.43 y:1.10 z:0.63, dog x:4.56 y:-0.07 z:-0.04]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[bench x:13.26 y:1.12 z:0.08]]

Answer: MOVE: x:11.26; y:1.12; z:0.08


Context: [objects_distance_from_drone[bench x:2.09 y:0.05 z:-0.02], yaw_start:223.14, yaw_current:208.14]

Answer: CIRCLE: dx:0.40; dy:-0.33; dz:0.00; yaw:43.14;


Context: [objects_distance_from_drone[bench x:1.97 y:-0.20 z:0.07], yaw_start:223.14, yaw_current:223.14]

Answer: CIRCLE: dx:0.48; dy:-0.22; dz:0.00; yaw:58.14;


Context: [objects_distance_from_drone[bench x:1.91 y:-0.15 z:0.07], yaw_start:223.14, yaw_current:238.14]

Answer: CIRCLE: dx:0.52; dy:-0.08; dz:0.00; yaw:73.14;


Context: [objects_distance_from_drone[bench x:1.89 y:-0.20 z:0.07], yaw_start:223.14, yaw_current:253.14]

Answer: CIRCLE: dx:0.52; dy:0.05; dz:0.00; yaw:88.14;


Context: [objects_distance_from_drone[bench x:1.88 y:-0.30 z:0.07], yaw_start:223.14, yaw_current:268.14]

Answer: CIRCLE: dx:0.49; dy:0.18; dz:0.00; yaw:103.14;


Context: [objects_distance_from_drone[bench x:1.88 y:-0.29 z:0.09], yaw_start:223.14, yaw_current:283.14]

Answer: CIRCLE: dx:0.42; dy:0.30; dz:0.00; yaw:118.14;


Context: [objects_distance_from_drone[bench x:1.87 y:-0.25 z:0.11], yaw_start:223.14, yaw_current:298.14]

Answer: CIRCLE: dx:0.33; dy:0.40; dz:0.00; yaw:133.14;


Context: [objects_distance_from_drone[bench x:1.87 y:-0.16 z:0.12], yaw_start:223.14, yaw_current:313.14]

Answer: CIRCLE: dx:0.22; dy:0.48; dz:0.00; yaw:148.14;


Context: [objects_distance_from_drone[bench x:1.82 y:-0.02 z:0.13], yaw_start:223.14, yaw_current:328.14]

Answer: CIRCLE: dx:0.08; dy:0.52; dz:0.00; yaw:163.14;


Context: [objects_distance_from_drone[bench x:1.82 y:0.09 z:0.13], yaw_start:223.14, yaw_current:343.14]

Answer: CIRCLE: dx:-0.05; dy:0.52; dz:0.00; yaw:178.14;


Context: [objects_distance_from_drone[bench x:1.81 y:0.17 z:0.13], yaw_start:223.14, yaw_current:358.14]

Answer: CIRCLE: dx:-0.18; dy:0.49; dz:0.00; yaw:-166.86;


Context: [objects_distance_from_drone[bench x:1.79 y:0.21 z:0.13], yaw_start:223.14, yaw_current:13.14]

Answer: CIRCLE: dx:-0.30; dy:0.42; dz:0.00; yaw:-151.86;


Context: [objects_distance_from_drone[bench x:1.78 y:0.14 z:0.13], yaw_start:223.14, yaw_current:28.14]

Answer: CIRCLE: dx:-0.40; dy:0.33; dz:0.00; yaw:-136.86;


Context: [objects_distance_from_drone[bench x:1.81 y:0.07 z:0.12], yaw_start:223.14, yaw_current:43.14]

Answer: CIRCLE: dx:-0.48; dy:0.22; dz:0.00; yaw:-121.86;


Context: [objects_distance_from_drone[bench x:1.86 y:0.16 z:0.08], yaw_start:223.14, yaw_current:58.14]

Answer: CIRCLE: dx:-0.52; dy:0.08; dz:0.00; yaw:-106.86;


Context: [objects_distance_from_drone[bench x:1.89 y:0.14 z:0.12], yaw_start:223.14, yaw_current:73.14]

Answer: CIRCLE: dx:-0.52; dy:-0.05; dz:0.00; yaw:-91.86;


Context: [objects_distance_from_drone[bench x:1.92 y:0.02 z:0.14], yaw_start:223.14, yaw_current:88.14]

Answer: CIRCLE: dx:-0.49; dy:-0.18; dz:0.00; yaw:-76.86;


Context: [objects_distance_from_drone[bench x:1.97 y:-0.04 z:0.13], yaw_start:223.14, yaw_current:103.14]

Answer: CIRCLE: dx:-0.42; dy:-0.30; dz:0.00; yaw:-61.86;


Context: [objects_distance_from_drone[bench x:1.98 y:-0.02 z:0.13], yaw_start:223.14, yaw_current:118.14]

Answer: CIRCLE: dx:-0.33; dy:-0.40; dz:0.00; yaw:-46.86;


Context: [objects_distance_from_drone[bench x:1.99 y:0.02 z:0.13], yaw_start:223.14, yaw_current:133.14]

Answer: CIRCLE: dx:-0.22; dy:-0.48; dz:0.00; yaw:-31.86;


Context: [objects_distance_from_drone[bench x:2.04 y:0.04 z:0.12], yaw_start:223.14, yaw_current:148.14]

Answer: CIRCLE: dx:-0.08; dy:-0.52; dz:0.00; yaw:-16.86;


Context: [objects_distance_from_drone[bench x:2.04 y:0.08 z:0.10], yaw_start:223.14, yaw_current:163.14]

Answer: CIRCLE: dx:0.05; dy:-0.52; dz:0.00; yaw:-1.86;


Context: [objects_distance_from_drone[bench x:2.04 y:0.09 z:0.08], yaw_start:223.14, yaw_current:178.14]

Answer: CIRCLE: dx:0.18; dy:-0.49; dz:0.00; yaw:13.14;


Context: [objects_distance_from_drone[bench x:2.04 y:0.07 z:0.06], yaw_start:223.14, yaw_current:193.14]

Answer: CIRCLE: dx:0.30; dy:-0.42; dz:0.00; yaw:28.14;


Context: [drone_absolute_movement x:8.41 y:7.51 z:0.50, objects_distance_from_drone[bench x:2.00 y:-0.07 z:0.07]]

Answer: RETURN: dx:-8.41; dy:-7.51;


Context: [objects_distance_from_drone[bench x:13.19 y:-0.88 z:0.66]]

Answer: LAND


Context: [objects_distance_from_drone[oil barrel x:8.70 y:-1.32 z:0.43]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[oil barrel x:8.67 y:-1.31 z:-0.05]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:7.72 y:0.74 z:0.34]]

Answer: MOVE: x:5.72; y:0.74; z:0.34


Context: [objects_distance_from_drone[pedestrian x:2.09 y:-0.00 z:0.12], yaw_start:263.43, yaw_current:248.43]

Answer: CIRCLE: dx:0.52; dy:0.01; dz:0.00; yaw:83.43;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:263.43, yaw_current:263.43]

Answer: CIRCLE: dx:0.50; dy:0.14; dz:0.00; yaw:98.43;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:263.43, yaw_current:278.43]

Answer: CIRCLE: dx:0.45; dy:0.27; dz:0.00; yaw:113.43;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10, dog x:6.56 y:2.85 z:-0.25], yaw_start:263.43, yaw_current:293.43]

Answer: CIRCLE: dx:0.36; dy:0.38; dz:0.00; yaw:128.43;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10, dog x:7.08 y:1.67 z:-0.14], yaw_start:263.43, yaw_current:308.43]

Answer: CIRCLE: dx:0.25; dy:0.46; dz:0.00; yaw:143.43;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10, dog x:7.34 y:0.28 z:-0.14], yaw_start:263.43, yaw_current:323.43]

Answer: CIRCLE: dx:0.13; dy:0.51; dz:0.00; yaw:158.43;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, dog x:7.22 y:-1.12 z:-0.14], yaw_start:263.43, yaw_current:338.43]

Answer: CIRCLE: dx:-0.01; dy:0.52; dz:0.00; yaw:173.43;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, dog x:6.75 y:-2.45 z:-0.14], yaw_start:263.43, yaw_current:353.43]

Answer: CIRCLE: dx:-0.14; dy:0.50; dz:0.00; yaw:-171.57;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09], yaw_start:263.43, yaw_current:8.43]

Answer: CIRCLE: dx:-0.27; dy:0.45; dz:0.00; yaw:-156.57;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:18.21 y:8.88 z:0.35], yaw_start:263.43, yaw_current:23.43]

Answer: CIRCLE: dx:-0.38; dy:0.36; dz:0.00; yaw:-141.57;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:19.80 y:3.67 z:0.35], yaw_start:263.43, yaw_current:38.43]

Answer: CIRCLE: dx:-0.46; dy:0.25; dz:0.00; yaw:-126.57;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:20.14 y:-1.06 z:0.34], yaw_start:263.43, yaw_current:53.43]

Answer: CIRCLE: dx:-0.51; dy:0.13; dz:0.00; yaw:-111.57;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:19.25 y:-5.74 z:0.34, bench x:15.76 y:7.38 z:0.08], yaw_start:263.43, yaw_current:68.43]

Answer: CIRCLE: dx:-0.52; dy:-0.01; dz:0.00; yaw:-96.57;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09, BMW X5 x:17.32 y:-7.46 z:0.49, bench x:17.16 y:3.21 z:0.08], yaw_start:263.43, yaw_current:83.43]

Answer: CIRCLE: dx:-0.50; dy:-0.14; dz:0.00; yaw:-81.57;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, bench x:17.48 y:-0.83 z:0.07, oil barrel x:13.31 y:3.53 z:-0.07], yaw_start:263.43, yaw_current:98.43]

Answer: CIRCLE: dx:-0.45; dy:-0.27; dz:0.00; yaw:-66.57;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, bench x:16.74 y:-4.82 z:0.07, oil barrel x:13.84 y:0.47 z:-0.07], yaw_start:263.43, yaw_current:113.43]

Answer: CIRCLE: dx:-0.36; dy:-0.38; dz:0.00; yaw:-51.57;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, oil barrel x:13.56 y:-2.61 z:-0.07], yaw_start:263.43, yaw_current:128.43]

Answer: CIRCLE: dx:-0.25; dy:-0.46; dz:0.00; yaw:-36.57;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, oil barrel x:12.49 y:-5.50 z:-0.07], yaw_start:263.43, yaw_current:143.43]

Answer: CIRCLE: dx:-0.13; dy:-0.51; dz:0.00; yaw:-21.57;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10], yaw_start:263.43, yaw_current:158.43]

Answer: CIRCLE: dx:0.01; dy:-0.52; dz:0.00; yaw:-6.57;