Context: [objects_distance_from_drone[dog x:1.99 y:-0.05 z:-0.14], yaw_start:143.31, yaw_current:188.31]

Answer: CIRCLE: dx:0.27; dy:-0.45; dz:0.00; yaw:23.31;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.05 z:-0.14], yaw_start:143.31, yaw_current:203.31]

Answer: CIRCLE: dx:0.37; dy:-0.36; dz:0.00; yaw:38.31;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14], yaw_start:143.31, yaw_current:218.31]

Answer: CIRCLE: dx:0.46; dy:-0.25; dz:0.00; yaw:53.31;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.04 z:-0.14], yaw_start:143.31, yaw_current:233.31]

Answer: CIRCLE: dx:0.51; dy:-0.13; dz:0.00; yaw:68.31;


Context: [objects_distance_from_drone[dog x:1.92 y:-0.04 z:-0.14, bench x:18.78 y:9.20 z:0.08], yaw_start:143.31, yaw_current:248.31]

Answer: CIRCLE: dx:0.52; dy:0.01; dz:0.00; yaw:83.31;


Context: [objects_distance_from_drone[dog x:1.93 y:-0.03 z:-0.14, bench x:20.67 y:4.13 z:0.08], yaw_start:143.31, yaw_current:263.31]

Answer: CIRCLE: dx:0.50; dy:0.14; dz:0.00; yaw:98.31;


Context: [objects_distance_from_drone[pedestrian x:22.63 y:10.00 z:0.35, dog x:1.94 y:-0.03 z:-0.14], yaw_start:143.31, yaw_current:278.31]

Answer: CIRCLE: dx:0.45; dy:0.27; dz:0.00; yaw:113.31;


Context: [objects_distance_from_drone[pedestrian x:24.64 y:4.80 z:0.35, dog x:1.94 y:-0.03 z:-0.14, bench x:20.24 y:-5.77 z:0.07], yaw_start:143.31, yaw_current:293.31]

Answer: CIRCLE: dx:0.36; dy:0.37; dz:0.00; yaw:128.31;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.01 z:-0.14, oil barrel x:24.66 y:6.99 z:-0.06], yaw_start:143.31, yaw_current:308.31]

Answer: CIRCLE: dx:0.25; dy:0.46; dz:0.00; yaw:143.31;


Context: [objects_distance_from_drone[pedestrian x:24.01 y:-7.18 z:0.34, BMW X5 x:10.65 y:7.30 z:0.40, dog x:1.95 y:0.02 z:-0.14], yaw_start:143.31, yaw_current:323.31]

Answer: CIRCLE: dx:0.13; dy:0.51; dz:0.00; yaw:158.31;


Context: [objects_distance_from_drone[BMW X5 x:13.44 y:5.18 z:0.35, dog x:1.94 y:0.03 z:-0.14, oil barrel x:25.12 y:-5.30 z:-0.07], yaw_start:143.31, yaw_current:338.31]

Answer: CIRCLE: dx:-0.01; dy:0.52; dz:0.00; yaw:173.31;


Context: [objects_distance_from_drone[dog x:1.95 y:0.03 z:-0.14], yaw_start:143.31, yaw_current:353.31]

Answer: CIRCLE: dx:-0.14; dy:0.50; dz:0.00; yaw:-171.69;


Context: [objects_distance_from_drone[BMW X5 x:14.38 y:-1.47 z:0.34, dog x:1.95 y:0.03 z:-0.14], yaw_start:143.31, yaw_current:8.31]

Answer: CIRCLE: dx:-0.27; dy:0.45; dz:0.00; yaw:-156.69;


Context: [objects_distance_from_drone[BMW X5 x:13.57 y:-4.76 z:0.34, dog x:1.95 y:0.03 z:-0.14], yaw_start:143.31, yaw_current:23.31]

Answer: CIRCLE: dx:-0.37; dy:0.36; dz:0.00; yaw:-141.69;


Context: [objects_distance_from_drone[BMW X5 x:12.15 y:-5.01 z:0.54, dog x:1.97 y:0.02 z:-0.14], yaw_start:143.31, yaw_current:38.31]

Answer: CIRCLE: dx:-0.46; dy:0.25; dz:0.00; yaw:-126.69;


Context: [objects_distance_from_drone[dog x:2.00 y:0.02 z:-0.14], yaw_start:143.31, yaw_current:53.31]

Answer: CIRCLE: dx:-0.51; dy:0.13; dz:0.00; yaw:-111.69;


Context: [objects_distance_from_drone[dog x:2.01 y:0.02 z:-0.14], yaw_start:143.31, yaw_current:68.31]

Answer: CIRCLE: dx:-0.52; dy:-0.01; dz:0.00; yaw:-96.69;


Context: [objects_distance_from_drone[dog x:2.01 y:0.01 z:-0.14], yaw_start:143.31, yaw_current:83.31]

Answer: CIRCLE: dx:-0.50; dy:-0.14; dz:0.00; yaw:-81.69;


Context: [objects_distance_from_drone[dog x:2.01 y:0.01 z:-0.14], yaw_start:143.31, yaw_current:98.31]

Answer: CIRCLE: dx:-0.45; dy:-0.27; dz:0.00; yaw:-66.69;


Context: [objects_distance_from_drone[dog x:2.00 y:0.01 z:-0.14], yaw_start:143.31, yaw_current:113.31]

Answer: CIRCLE: dx:-0.36; dy:-0.37; dz:0.00; yaw:-51.69;


Context: [drone_absolute_movement x:8.64 y:-6.47 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:-8.64; dy:6.47;


Context: [objects_distance_from_drone[dog x:12.69 y:-0.40 z:0.01]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:6.70 y:-1.37 z:0.87, bench x:9.35 y:5.02 z:0.57]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:6.65 y:-1.40 z:0.37, bench x:9.36 y:4.95 z:0.10]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:5.11 y:-3.17 z:0.01, bench x:10.41 y:0.85 z:0.08]]

Answer: MOVE: x:8.41; y:0.85; z:0.08


Context: [objects_distance_from_drone[bench x:2.06 y:0.02 z:0.46], yaw_start:204.09, yaw_current:189.09]

Answer: CIRCLE: dx:0.27; dy:-0.44; dz:0.00; yaw:24.09;


Context: [objects_distance_from_drone[bench x:2.05 y:-0.02 z:0.14], yaw_start:204.09, yaw_current:204.09]

Answer: CIRCLE: dx:0.38; dy:-0.36; dz:0.00; yaw:39.09;


Context: [objects_distance_from_drone[bench x:2.07 y:-0.01 z:0.13], yaw_start:204.09, yaw_current:219.09]

Answer: CIRCLE: dx:0.46; dy:-0.25; dz:0.00; yaw:54.09;


Context: [objects_distance_from_drone[BMW X5 x:-3.58 y:0.00 z:0.05, bench x:2.08 y:-0.01 z:0.11], yaw_start:204.09, yaw_current:234.09]

Answer: CIRCLE: dx:0.51; dy:-0.12; dz:0.00; yaw:69.09;


Context: [objects_distance_from_drone[bench x:2.08 y:-0.00 z:0.08], yaw_start:204.09, yaw_current:249.09]

Answer: CIRCLE: dx:0.52; dy:0.01; dz:0.00; yaw:84.09;


Context: [objects_distance_from_drone[bench x:2.06 y:-0.01 z:0.07], yaw_start:204.09, yaw_current:264.09]

Answer: CIRCLE: dx:0.50; dy:0.15; dz:0.00; yaw:99.09;


Context: [objects_distance_from_drone[bench x:2.02 y:-0.14 z:0.07], yaw_start:204.09, yaw_current:279.09]

Answer: CIRCLE: dx:0.44; dy:0.27; dz:0.00; yaw:114.09;


Context: [objects_distance_from_drone[bench x:1.97 y:-0.28 z:0.07], yaw_start:204.09, yaw_current:294.09]

Answer: CIRCLE: dx:0.36; dy:0.38; dz:0.00; yaw:129.09;


Context: [objects_distance_from_drone[bench x:1.87 y:-0.27 z:0.07], yaw_start:204.09, yaw_current:309.09]

Answer: CIRCLE: dx:0.25; dy:0.46; dz:0.00; yaw:144.09;


Context: [objects_distance_from_drone[bench x:1.83 y:-0.23 z:0.07], yaw_start:204.09, yaw_current:324.09]

Answer: CIRCLE: dx:0.12; dy:0.51; dz:0.00; yaw:159.09;


Context: [objects_distance_from_drone[bench x:1.81 y:-0.32 z:0.07], yaw_start:204.09, yaw_current:339.09]

Answer: CIRCLE: dx:-0.01; dy:0.52; dz:0.00; yaw:174.09;


Context: [objects_distance_from_drone[BMW X5 x:6.81 y:3.00 z:0.40, bench x:1.80 y:-0.33 z:0.09], yaw_start:204.09, yaw_current:354.09]

Answer: CIRCLE: dx:-0.15; dy:0.50; dz:0.00; yaw:-170.91;


Context: [objects_distance_from_drone[BMW X5 x:7.12 y:3.33 z:0.01, bench x:1.81 y:-0.27 z:0.10], yaw_start:204.09, yaw_current:9.09]

Answer: CIRCLE: dx:-0.27; dy:0.44; dz:0.00; yaw:-155.91;


Context: [objects_distance_from_drone[BMW X5 x:7.33 y:3.49 z:0.35, bench x:1.79 y:-0.18 z:0.12], yaw_start:204.09, yaw_current:24.09]

Answer: CIRCLE: dx:-0.38; dy:0.36; dz:0.00; yaw:-140.91;


Context: [objects_distance_from_drone[bench x:1.76 y:-0.05 z:0.13], yaw_start:204.09, yaw_current:39.09]

Answer: CIRCLE: dx:-0.46; dy:0.25; dz:0.00; yaw:-125.91;


Context: [objects_distance_from_drone[bench x:1.76 y:0.14 z:0.13], yaw_start:204.09, yaw_current:54.09]

Answer: CIRCLE: dx:-0.51; dy:0.12; dz:0.00; yaw:-110.91;


Context: [objects_distance_from_drone[bench x:1.78 y:0.24 z:0.13], yaw_start:204.09, yaw_current:69.09]

Answer: CIRCLE: dx:-0.52; dy:-0.01; dz:0.00; yaw:-95.91;


Context: [objects_distance_from_drone[bench x:1.77 y:0.30 z:0.13], yaw_start:204.09, yaw_current:84.09]

Answer: CIRCLE: dx:-0.50; dy:-0.15; dz:0.00; yaw:-80.91;


Context: [objects_distance_from_drone[BMW X5 x:6.70 y:-5.54 z:0.34, bench x:1.77 y:0.30 z:0.13], yaw_start:204.09, yaw_current:99.09]

Answer: CIRCLE: dx:-0.44; dy:-0.27; dz:0.00; yaw:-65.91;


Context: [objects_distance_from_drone[bench x:1.81 y:0.21 z:0.13], yaw_start:204.09, yaw_current:114.09]

Answer: CIRCLE: dx:-0.36; dy:-0.38; dz:0.00; yaw:-50.91;


Context: [objects_distance_from_drone[bench x:1.87 y:0.23 z:0.08], yaw_start:204.09, yaw_current:129.09]

Answer: CIRCLE: dx:-0.25; dy:-0.46; dz:0.00; yaw:-35.91;


Context: [objects_distance_from_drone[bench x:1.95 y:0.26 z:0.09], yaw_start:204.09, yaw_current:144.09]

Answer: CIRCLE: dx:-0.12; dy:-0.51; dz:0.00; yaw:-20.91;


Context: [objects_distance_from_drone[bench x:1.99 y:0.12 z:0.13], yaw_start:204.09, yaw_current:159.09]

Answer: CIRCLE: dx:0.01; dy:-0.52; dz:0.00; yaw:-5.91;


Context: [objects_distance_from_drone[bench x:2.03 y:-0.01 z:0.13], yaw_start:204.09, yaw_current:174.09]

Answer: CIRCLE: dx:0.15; dy:-0.50; dz:0.00; yaw:9.09;


Context: [drone_absolute_movement x:7.56 y:3.63 z:0.50, objects_distance_from_drone[bench x:2.04 y:-0.03 z:0.13]]

Answer: RETURN: dx:-7.56; dy:-3.63;


Context: [objects_distance_from_drone[BMW X5 x:4.72 y:-3.68 z:0.06, bench x:10.36 y:0.23 z:0.17]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:11.18 y:-1.03 z:0.34]]

Answer: MOVE: x:9.18; y:-1.03; z:0.34


Context: [objects_distance_from_drone[pedestrian x:2.09 y:-0.00 z:0.11], yaw_start:95.57, yaw_current:80.57]

Answer: CIRCLE: dx:-0.51; dy:-0.12; dz:0.00; yaw:-84.43;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:95.57, yaw_current:95.57]

Answer: CIRCLE: dx:-0.46; dy:-0.25; dz:0.00; yaw:-69.43;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:95.57, yaw_current:110.57]

Answer: CIRCLE: dx:-0.38; dy:-0.36; dz:0.00; yaw:-54.43;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10], yaw_start:95.57, yaw_current:125.57]

Answer: CIRCLE: dx:-0.28; dy:-0.44; dz:0.00; yaw:-39.43;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10], yaw_start:95.57, yaw_current:140.57]

Answer: CIRCLE: dx:-0.15; dy:-0.50; dz:0.00; yaw:-24.43;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09], yaw_start:95.57, yaw_current:155.57]

Answer: CIRCLE: dx:-0.02; dy:-0.52; dz:0.00; yaw:-9.43;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09], yaw_start:95.57, yaw_current:170.57]

Answer: CIRCLE: dx:0.12; dy:-0.51; dz:0.00; yaw:5.57;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09], yaw_start:95.57, yaw_current:185.57]

Answer: CIRCLE: dx:0.25; dy:-0.46; dz:0.00; yaw:20.57;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09], yaw_start:95.57, yaw_current:200.57]

Answer: CIRCLE: dx:0.36; dy:-0.38; dz:0.00; yaw:35.57;


Context: [objects_distance_from_drone[pedestrian x:1.93 y:-0.00 z:0.09], yaw_start:95.57, yaw_current:215.57]

Answer: CIRCLE: dx:0.44; dy:-0.28; dz:0.00; yaw:50.57;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09], yaw_start:95.57, yaw_current:230.57]

Answer: CIRCLE: dx:0.50; dy:-0.15; dz:0.00; yaw:65.57;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09], yaw_start:95.57, yaw_current:245.57]

Answer: CIRCLE: dx:0.52; dy:-0.02; dz:0.00; yaw:80.57;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, bench x:15.60 y:7.05 z:0.08, oil barrel x:8.10 y:3.01 z:-0.07], yaw_start:95.57, yaw_current:260.57]

Answer: CIRCLE: dx:0.51; dy:0.12; dz:0.00; yaw:95.57;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, oil barrel x:8.67 y:1.32 z:-0.07], yaw_start:95.57, yaw_current:275.57]

Answer: CIRCLE: dx:0.46; dy:0.25; dz:0.00; yaw:110.57;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, BMW X5 x:12.93 y:6.15 z:0.35, oil barrel x:8.78 y:-0.46 z:-0.07], yaw_start:95.57, yaw_current:290.57]

Answer: CIRCLE: dx:0.38; dy:0.36; dz:0.00; yaw:125.57;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, BMW X5 x:14.45 y:3.59 z:0.35, oil barrel x:8.44 y:-2.21 z:-0.07], yaw_start:95.57, yaw_current:305.57]

Answer: CIRCLE: dx:0.28; dy:0.44; dz:0.00; yaw:140.57;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10, BMW X5 x:14.95 y:0.24 z:0.35, dog x:7.87 y:2.52 z:-0.13, oil barrel x:7.65 y:-3.54 z:-0.08], yaw_start:95.57, yaw_current:320.57]

Answer: CIRCLE: dx:0.15; dy:0.50; dz:0.00; yaw:155.57;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10, BMW X5 x:14.58 y:-3.13 z:0.34, dog x:8.34 y:0.91 z:-0.14], yaw_start:95.57, yaw_current:335.57]

Answer: CIRCLE: dx:0.02; dy:0.52; dz:0.00; yaw:170.57;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10, BMW X5 x:13.25 y:-7.14 z:0.34, dog x:8.37 y:-0.75 z:-0.14], yaw_start:95.57, yaw_current:350.57]

Answer: CIRCLE: dx:-0.12; dy:0.51; dz:0.00; yaw:-174.43;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:0.00 z:0.10, dog x:7.95 y:-2.37 z:-0.14], yaw_start:95.57, yaw_current:5.57]

Answer: CIRCLE: dx:-0.25; dy:0.46; dz:0.00; yaw:-159.43;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:0.00 z:0.10], yaw_start:95.57, yaw_current:20.57]

Answer: CIRCLE: dx:-0.36; dy:0.38; dz:0.00; yaw:-144.43;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:95.57, yaw_current:35.57]

Answer: CIRCLE: dx:-0.44; dy:0.28; dz:0.00; yaw:-129.43;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:95.57, yaw_current:50.57]

Answer: CIRCLE: dx:-0.50; dy:0.15; dz:0.00; yaw:-114.43;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:95.57, yaw_current:65.57]

Answer: CIRCLE: dx:-0.52; dy:0.02; dz:0.00; yaw:-99.43;


Context: [drone_absolute_movement x:1.31 y:-9.16 z:0.50, objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10]]

Answer: RETURN: dx:-1.31; dy:9.16;


Context: [objects_distance_from_drone[pedestrian x:11.14 y:0.16 z:0.36]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:10.87 y:2.79 z:0.87]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:10.86 y:2.79 z:0.37]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:11.18 y:0.76 z:0.36]]

Answer: MOVE: x:7.18; y:0.76; z:0.36


Context: [objects_distance_from_drone[BMW X5 x:4.10 y:-0.01 z:0.24], yaw_start:193.61, yaw_current:178.61]

Answer: CIRCLE: dx:0.38; dy:-0.97; dz:0.00; yaw:13.61;


Context: [objects_distance_from_drone[BMW X5 x:4.02 y:0.17 z:0.35], yaw_start:193.61, yaw_current:193.61]

Answer: CIRCLE: dx:0.62; dy:-0.84; dz:0.00; yaw:28.61;


Context: [objects_distance_from_drone[BMW X5 x:4.04 y:0.33 z:0.34], yaw_start:193.61, yaw_current:208.61]

Answer: CIRCLE: dx:0.81; dy:-0.66; dz:0.00; yaw:43.61;


Context: [objects_distance_from_drone[BMW X5 x:4.06 y:0.38 z:0.35], yaw_start:193.61, yaw_current:223.61]

Answer: CIRCLE: dx:0.95; dy:-0.42; dz:0.00; yaw:58.61;


Context: [objects_distance_from_drone[BMW X5 x:4.02 y:0.36 z:0.35], yaw_start:193.61, yaw_current:238.61]

Answer: CIRCLE: dx:1.03; dy:-0.16; dz:0.00; yaw:73.61;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:0.08 z:0.35], yaw_start:193.61, yaw_current:253.61]

Answer: CIRCLE: dx:1.04; dy:0.11; dz:0.00; yaw:88.61;


Context: [objects_distance_from_drone[BMW X5 x:3.93 y:-0.20 z:0.34], yaw_start:193.61, yaw_current:268.61]

Answer: CIRCLE: dx:0.97; dy:0.38; dz:0.00; yaw:103.61;


Context: [objects_distance_from_drone[BMW X5 x:3.93 y:-0.07 z:0.34], yaw_start:193.61, yaw_current:283.61]

Answer: CIRCLE: dx:0.84; dy:0.62; dz:0.00; yaw:118.61;


Context: [objects_distance_from_drone[BMW X5 x:3.89 y:-0.12 z:0.37], yaw_start:193.61, yaw_current:298.61]

Answer: CIRCLE: dx:0.66; dy:0.81; dz:0.00; yaw:133.61;


Context: [objects_distance_from_drone[BMW X5 x:3.92 y:-0.40 z:0.42], yaw_start:193.61, yaw_current:313.61]

Answer: CIRCLE: dx:0.42; dy:0.95; dz:0.00; yaw:148.61;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:-0.50 z:0.46], yaw_start:193.61, yaw_current:328.61]

Answer: CIRCLE: dx:0.16; dy:1.03; dz:0.00; yaw:163.61;


Context: [objects_distance_from_drone[pedestrian x:20.79 y:9.32 z:0.36, BMW X5 x:3.96 y:-0.46 z:0.48, oil barrel x:25.69 y:10.44 z:-0.05], yaw_start:193.61, yaw_current:343.61]

Answer: CIRCLE: dx:-0.11; dy:1.04; dz:0.00; yaw:178.61;


Context: [objects_distance_from_drone[pedestrian x:22.80 y:5.27 z:0.35, BMW X5 x:3.93 y:-0.33 z:0.47], yaw_start:193.61, yaw_current:358.61]

Answer: CIRCLE: dx:-0.38; dy:0.97; dz:0.00; yaw:-166.39;


Context: [objects_distance_from_drone[BMW X5 x:3.89 y:-0.09 z:0.46], yaw_start:193.61, yaw_current:13.61]

Answer: CIRCLE: dx:-0.62; dy:0.84; dz:0.00; yaw:-151.39;


Context: [objects_distance_from_drone[BMW X5 x:3.87 y:0.13 z:0.49, oil barrel x:26.72 y:-7.98 z:-0.07], yaw_start:193.61, yaw_current:28.61]

Answer: CIRCLE: dx:-0.81; dy:0.66; dz:0.00; yaw:-136.39;


Context: [objects_distance_from_drone[pedestrian x:21.02 y:-9.17 z:0.33, BMW X5 x:3.86 y:0.25 z:0.49], yaw_start:193.61, yaw_current:43.61]

Answer: CIRCLE: dx:-0.95; dy:0.42; dz:0.00; yaw:-121.39;


Context: [objects_distance_from_drone[BMW X5 x:3.80 y:0.25 z:0.47], yaw_start:193.61, yaw_current:58.61]

Answer: CIRCLE: dx:-1.03; dy:0.16; dz:0.00; yaw:-106.39;


Context: [objects_distance_from_drone[BMW X5 x:3.73 y:0.07 z:0.43], yaw_start:193.61, yaw_current:73.61]

Answer: CIRCLE: dx:-1.04; dy:-0.11; dz:0.00; yaw:-91.39;


Context: [objects_distance_from_drone[BMW X5 x:3.70 y:-0.11 z:0.37], yaw_start:193.61, yaw_current:88.61]

Answer: CIRCLE: dx:-0.97; dy:-0.38; dz:0.00; yaw:-76.39;


Context: [objects_distance_from_drone[BMW X5 x:3.73 y:0.12 z:0.35], yaw_start:193.61, yaw_current:103.61]

Answer: CIRCLE: dx:-0.84; dy:-0.62; dz:0.00; yaw:-61.39;


Context: [objects_distance_from_drone[BMW X5 x:3.75 y:0.15 z:0.35], yaw_start:193.61, yaw_current:118.61]

Answer: CIRCLE: dx:-0.66; dy:-0.81; dz:0.00; yaw:-46.39;


Context: [objects_distance_from_drone[BMW X5 x:3.83 y:-0.05 z:0.35], yaw_start:193.61, yaw_current:133.61]

Answer: CIRCLE: dx:-0.42; dy:-0.95; dz:0.00; yaw:-31.39;


Context: [objects_distance_from_drone[BMW X5 x:3.93 y:-0.22 z:0.35], yaw_start:193.61, yaw_current:148.61]

Answer: CIRCLE: dx:-0.16; dy:-1.03; dz:0.00; yaw:-16.39;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:-0.15 z:0.35], yaw_start:193.61, yaw_current:163.61]

Answer: CIRCLE: dx:0.11; dy:-1.04; dz:0.00; yaw:-1.39;


Context: [drone_absolute_movement x:7.02 y:1.75 z:0.50, objects_distance_from_drone[BMW X5 x:3.99 y:-0.03 z:0.35]]

Answer: RETURN: dx:-7.02; dy:-1.75;


Context: [objects_distance_from_drone[BMW X5 x:11.13 y:-0.10 z:0.34]]

Answer: LAND


Context: [objects_distance_from_drone[oil barrel x:7.32 y:-1.36 z:0.43]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[oil barrel x:7.31 y:-1.28 z:-0.05]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:7.50 y:-3.60 z:0.51, dog x:9.93 y:0.92 z:-0.14, bench x:9.70 y:6.58 z:-0.24]]

Answer: MOVE: x:7.93; y:0.92; z:-0.14


Context: [objects_distance_from_drone[dog x:2.10 y:-0.00 z:-0.16], yaw_start:335.66, yaw_current:320.66]

Answer: CIRCLE: dx:0.15; dy:0.50; dz:0.00; yaw:155.66;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14], yaw_start:335.66, yaw_current:335.66]

Answer: CIRCLE: dx:0.02; dy:0.52; dz:0.00; yaw:170.66;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.01 z:-0.14], yaw_start:335.66, yaw_current:350.66]

Answer: CIRCLE: dx:-0.12; dy:0.51; dz:0.00; yaw:-174.34;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.01 z:-0.14, bench x:5.64 y:3.17 z:-0.24], yaw_start:335.66, yaw_current:5.66]

Answer: CIRCLE: dx:-0.25; dy:0.46; dz:0.00; yaw:-159.34;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.02 z:-0.14, bench x:6.37 y:1.81 z:0.07], yaw_start:335.66, yaw_current:20.66]

Answer: CIRCLE: dx:-0.36; dy:0.38; dz:0.00; yaw:-144.34;


Context: [objects_distance_from_drone[dog x:1.96 y:-0.04 z:-0.14, bench x:6.69 y:0.61 z:0.07], yaw_start:335.66, yaw_current:35.66]

Answer: CIRCLE: dx:-0.44; dy:0.28; dz:0.00; yaw:-129.34;


Context: [objects_distance_from_drone[pedestrian x:12.87 y:6.05 z:0.35, dog x:1.97 y:-0.04 z:-0.14], yaw_start:335.66, yaw_current:50.66]

Answer: CIRCLE: dx:-0.50; dy:0.15; dz:0.00; yaw:-114.34;


Context: [objects_distance_from_drone[pedestrian x:14.31 y:3.97 z:0.35, dog x:1.97 y:-0.03 z:-0.14, bench x:6.37 y:-1.84 z:0.07], yaw_start:335.66, yaw_current:65.66]

Answer: CIRCLE: dx:-0.52; dy:0.02; dz:0.00; yaw:-99.34;


Context: [objects_distance_from_drone[pedestrian x:14.93 y:0.64 z:0.34, dog x:1.97 y:-0.03 z:-0.14, bench x:5.66 y:-3.37 z:0.07], yaw_start:335.66, yaw_current:80.66]

Answer: CIRCLE: dx:-0.51; dy:-0.12; dz:0.00; yaw:-84.34;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.02 z:-0.14], yaw_start:335.66, yaw_current:95.66]

Answer: CIRCLE: dx:-0.46; dy:-0.25; dz:0.00; yaw:-69.34;


Context: [objects_distance_from_drone[pedestrian x:13.51 y:-5.58 z:0.33, dog x:1.96 y:-0.01 z:-0.14], yaw_start:335.66, yaw_current:110.66]

Answer: CIRCLE: dx:-0.38; dy:-0.36; dz:0.00; yaw:-54.34;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.01 z:-0.14, oil barrel x:18.12 y:6.22 z:-0.06], yaw_start:335.66, yaw_current:125.66]

Answer: CIRCLE: dx:-0.28; dy:-0.44; dz:0.00; yaw:-39.34;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.01 z:-0.14, oil barrel x:19.18 y:1.83 z:-0.07], yaw_start:335.66, yaw_current:140.66]

Answer: CIRCLE: dx:-0.15; dy:-0.50; dz:0.00; yaw:-24.34;


Context: [objects_distance_from_drone[BMW X5 x:7.04 y:5.08 z:0.01, dog x:1.95 y:-0.01 z:-0.14], yaw_start:335.66, yaw_current:155.66]

Answer: CIRCLE: dx:-0.02; dy:-0.52; dz:0.00; yaw:-9.34;


Context: [objects_distance_from_drone[BMW X5 x:8.62 y:4.85 z:0.35, dog x:1.95 y:-0.01 z:-0.14, oil barrel x:17.78 y:-7.02 z:-0.08], yaw_start:335.66, yaw_current:170.66]

Answer: CIRCLE: dx:0.12; dy:-0.51; dz:0.00; yaw:5.66;


Context: [objects_distance_from_drone[BMW X5 x:9.44 y:2.01 z:0.35, dog x:1.96 y:-0.01 z:-0.14], yaw_start:335.66, yaw_current:185.66]

Answer: CIRCLE: dx:0.25; dy:-0.46; dz:0.00; yaw:20.66;


Context: [objects_distance_from_drone[BMW X5 x:9.70 y:0.01 z:0.35, dog x:1.97 y:0.00 z:-0.14], yaw_start:335.66, yaw_current:200.66]

Answer: CIRCLE: dx:0.36; dy:-0.38; dz:0.00; yaw:35.66;


Context: [objects_distance_from_drone[BMW X5 x:9.44 y:-2.08 z:0.34, dog x:1.97 y:0.02 z:-0.14], yaw_start:335.66, yaw_current:215.66]

Answer: CIRCLE: dx:0.44; dy:-0.28; dz:0.00; yaw:50.66;


Context: [objects_distance_from_drone[BMW X5 x:8.47 y:-4.75 z:0.34, dog x:1.97 y:0.02 z:-0.14], yaw_start:335.66, yaw_current:230.66]

Answer: CIRCLE: dx:0.50; dy:-0.15; dz:0.00; yaw:65.66;


Context: [objects_distance_from_drone[BMW X5 x:7.52 y:-2.90 z:0.50, dog x:1.97 y:0.02 z:-0.14], yaw_start:335.66, yaw_current:245.66]

Answer: CIRCLE: dx:0.52; dy:-0.02; dz:0.00; yaw:80.66;


Context: [objects_distance_from_drone[dog x:1.97 y:0.01 z:-0.14], yaw_start:335.66, yaw_current:260.66]

Answer: CIRCLE: dx:0.51; dy:0.12; dz:0.00; yaw:95.66;


Context: [objects_distance_from_drone[dog x:1.96 y:0.00 z:-0.14], yaw_start:335.66, yaw_current:275.66]

Answer: CIRCLE: dx:0.46; dy:0.25; dz:0.00; yaw:110.66;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.01 z:-0.14], yaw_start:335.66, yaw_current:290.66]

Answer: CIRCLE: dx:0.38; dy:0.36; dz:0.00; yaw:125.66;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14], yaw_start:335.66, yaw_current:305.66]

Answer: CIRCLE: dx:0.28; dy:0.44; dz:0.00; yaw:140.66;


Context: [drone_absolute_movement x:-7.26 y:3.22 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:7.26; dy:-3.22;


Context: [objects_distance_from_drone[dog x:9.85 y:-0.03 z:-0.10, bench x:10.41 y:5.10 z:0.12]]

Answer: LAND


Context: [objects_distance_from_drone[oil barrel x:4.88 y:-0.86 z:0.43]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:8.99 y:-4.25 z:0.45]]

Answer: SEARCH


Context: [objects_distance_from_drone[bench x:11.63 y:1.06 z:0.07]]

Answer: MOVE: x:9.63; y:1.06; z:0.07


Context: [objects_distance_from_drone[bench x:1.95 y:0.53 z:0.61], yaw_start:307.46, yaw_current:292.46]

Answer: CIRCLE: dx:0.37; dy:0.37; dz:0.00; yaw:127.46;


Context: [objects_distance_from_drone[bench x:1.80 y:-0.56 z:0.20], yaw_start:307.46, yaw_current:307.46]

Answer: CIRCLE: dx:0.26; dy:0.45; dz:0.00; yaw:142.46;


Context: [objects_distance_from_drone[bench x:1.73 y:-0.59 z:0.17], yaw_start:307.46, yaw_current:322.46]

Answer: CIRCLE: dx:0.14; dy:0.50; dz:0.00; yaw:157.46;


Context: [objects_distance_from_drone[bench x:1.70 y:-0.55 z:0.15], yaw_start:307.46, yaw_current:337.46]

Answer: CIRCLE: dx:0.00; dy:0.52; dz:0.00; yaw:172.46;


Context: [objects_distance_from_drone[bench x:1.69 y:-0.46 z:0.13], yaw_start:307.46, yaw_current:352.46]

Answer: CIRCLE: dx:-0.13; dy:0.50; dz:0.00; yaw:-172.54;


Context: [objects_distance_from_drone[bench x:1.62 y:-0.31 z:0.13], yaw_start:307.46, yaw_current:7.46]

Answer: CIRCLE: dx:-0.26; dy:0.45; dz:0.00; yaw:-157.54;


Context: [objects_distance_from_drone[bench x:1.62 y:-0.01 z:0.12], yaw_start:307.46, yaw_current:22.46]

Answer: CIRCLE: dx:-0.37; dy:0.37; dz:0.00; yaw:-142.54;


Context: [objects_distance_from_drone[bench x:1.61 y:0.17 z:0.11], yaw_start:307.46, yaw_current:37.46]

Answer: CIRCLE: dx:-0.45; dy:0.26; dz:0.00; yaw:-127.54;


Context: [objects_distance_from_drone[bench x:1.58 y:0.31 z:0.08], yaw_start:307.46, yaw_current:52.46]

Answer: CIRCLE: dx:-0.50; dy:0.14; dz:0.00; yaw:-112.54;


Context: [objects_distance_from_drone[bench x:1.57 y:0.37 z:0.05], yaw_start:307.46, yaw_current:67.46]

Answer: CIRCLE: dx:-0.52; dy:0.00; dz:0.00; yaw:-97.54;


Context: [objects_distance_from_drone[bench x:1.61 y:0.37 z:0.02], yaw_start:307.46, yaw_current:82.46]

Answer: CIRCLE: dx:-0.50; dy:-0.13; dz:0.00; yaw:-82.54;


Context: [objects_distance_from_drone[bench x:1.68 y:0.44 z:0.07], yaw_start:307.46, yaw_current:97.46]

Answer: CIRCLE: dx:-0.45; dy:-0.26; dz:0.00; yaw:-67.54;


Context: [objects_distance_from_drone[bench x:1.83 y:0.54 z:0.07], yaw_start:307.46, yaw_current:112.46]

Answer: CIRCLE: dx:-0.37; dy:-0.37; dz:0.00; yaw:-52.54;


Context: [objects_distance_from_drone[bench x:1.96 y:0.47 z:0.07], yaw_start:307.46, yaw_current:127.46]

Answer: CIRCLE: dx:-0.26; dy:-0.45; dz:0.00; yaw:-37.54;


Context: [objects_distance_from_drone[bench x:2.04 y:0.34 z:0.06], yaw_start:307.46, yaw_current:142.46]

Answer: CIRCLE: dx:-0.14; dy:-0.50; dz:0.00; yaw:-22.54;


Context: [objects_distance_from_drone[bench x:2.11 y:0.24 z:0.07], yaw_start:307.46, yaw_current:157.46]

Answer: CIRCLE: dx:-0.00; dy:-0.52; dz:0.00; yaw:-7.54;


Context: [objects_distance_from_drone[bench x:2.17 y:0.20 z:0.10], yaw_start:307.46, yaw_current:172.46]

Answer: CIRCLE: dx:0.13; dy:-0.50; dz:0.00; yaw:7.46;


Context: [objects_distance_from_drone[bench x:2.22 y:0.14 z:0.13], yaw_start:307.46, yaw_current:187.46]

Answer: CIRCLE: dx:0.26; dy:-0.45; dz:0.00; yaw:22.46;


Context: [objects_distance_from_drone[dog x:18.92 y:-7.08 z:-0.14, bench x:2.23 y:0.11 z:0.13], yaw_start:307.46, yaw_current:202.46]

Answer: CIRCLE: dx:0.37; dy:-0.37; dz:0.00; yaw:37.46;


Context: [objects_distance_from_drone[bench x:2.24 y:0.06 z:0.13], yaw_start:307.46, yaw_current:217.46]

Answer: CIRCLE: dx:0.45; dy:-0.26; dz:0.00; yaw:52.46;


Context: [objects_distance_from_drone[bench x:2.24 y:-0.02 z:0.12], yaw_start:307.46, yaw_current:232.46]

Answer: CIRCLE: dx:0.50; dy:-0.14; dz:0.00; yaw:67.46;


Context: [objects_distance_from_drone[bench x:2.22 y:-0.17 z:0.09], yaw_start:307.46, yaw_current:247.46]

Answer: CIRCLE: dx:0.52; dy:-0.00; dz:0.00; yaw:82.46;


Context: [objects_distance_from_drone[bench x:2.18 y:-0.38 z:0.07], yaw_start:307.46, yaw_current:262.46]

Answer: CIRCLE: dx:0.50; dy:0.13; dz:0.00; yaw:97.46;


Context: [objects_distance_from_drone[bench x:2.04 y:-0.50 z:0.07], yaw_start:307.46, yaw_current:277.46]

Answer: CIRCLE: dx:0.45; dy:0.26; dz:0.00; yaw:112.46;


Context: [drone_absolute_movement x:-6.43 y:1.25 z:0.50, objects_distance_from_drone[bench x:1.91 y:-0.49 z:0.09]]

Answer: RETURN: dx:6.43; dy:-1.25;


Context: [objects_distance_from_drone[bench x:6.53 y:4.74 z:0.09]]

Answer: LAND


Context: [objects_distance_from_drone[dog x:4.81 y:-0.03 z:0.36]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[dog x:4.81 y:0.06 z:-0.12]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:13.39 y:-1.19 z:0.35, dog x:4.32 y:1.78 z:-0.24]]

Answer: MOVE: x:11.39; y:-1.19; z:0.35


Context: [objects_distance_from_drone[pedestrian x:2.10 y:0.00 z:0.11], yaw_start:146.34, yaw_current:131.34]

Answer: CIRCLE: dx:-0.23; dy:-0.47; dz:0.00; yaw:-33.66;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:146.34, yaw_current:146.34]

Answer: CIRCLE: dx:-0.10; dy:-0.51; dz:0.00; yaw:-18.66;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:146.34, yaw_current:161.34]

Answer: CIRCLE: dx:0.04; dy:-0.52; dz:0.00; yaw:-3.66;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:146.34, yaw_current:176.34]

Answer: CIRCLE: dx:0.17; dy:-0.49; dz:0.00; yaw:11.34;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:146.34, yaw_current:191.34]

Answer: CIRCLE: dx:0.29; dy:-0.43; dz:0.00; yaw:26.34;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:146.34, yaw_current:206.34]

Answer: CIRCLE: dx:0.39; dy:-0.34; dz:0.00; yaw:41.34;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10], yaw_start:146.34, yaw_current:221.34]

Answer: CIRCLE: dx:0.47; dy:-0.23; dz:0.00; yaw:56.34;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09], yaw_start:146.34, yaw_current:236.34]

Answer: CIRCLE: dx:0.51; dy:-0.10; dz:0.00; yaw:71.34;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09], yaw_start:146.34, yaw_current:251.34]

Answer: CIRCLE: dx:0.52; dy:0.04; dz:0.00; yaw:86.34;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:19.00 y:8.04 z:0.35], yaw_start:146.34, yaw_current:266.34]

Answer: CIRCLE: dx:0.49; dy:0.17; dz:0.00; yaw:101.34;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:20.37 y:2.87 z:0.35, dog x:11.09 y:2.98 z:-0.14], yaw_start:146.34, yaw_current:281.34]

Answer: CIRCLE: dx:0.43; dy:0.29; dz:0.00; yaw:116.34;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:20.49 y:-2.00 z:0.34, dog x:11.56 y:0.52 z:-0.14], yaw_start:146.34, yaw_current:296.34]

Answer: CIRCLE: dx:0.34; dy:0.39; dz:0.00; yaw:131.34;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:19.35 y:-6.80 z:0.34, dog x:11.39 y:-1.97 z:-0.14, bench x:25.79 y:6.80 z:0.08], yaw_start:146.34, yaw_current:311.34]

Answer: CIRCLE: dx:0.23; dy:0.47; dz:0.00; yaw:146.34;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, dog x:10.55 y:-4.33 z:-0.14, bench x:26.74 y:0.41 z:0.07], yaw_start:146.34, yaw_current:326.34]

Answer: CIRCLE: dx:0.10; dy:0.51; dz:0.00; yaw:161.34;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09, bench x:26.00 y:-6.02 z:0.07, oil barrel x:15.71 y:5.64 z:-0.07], yaw_start:146.34, yaw_current:341.34]

Answer: CIRCLE: dx:-0.04; dy:0.52; dz:0.00; yaw:176.34;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, bench x:23.23 y:-13.00 z:-0.26, oil barrel x:16.71 y:1.89 z:-0.07], yaw_start:146.34, yaw_current:356.34]

Answer: CIRCLE: dx:-0.17; dy:0.49; dz:0.00; yaw:-168.66;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, oil barrel x:16.70 y:-1.99 z:-0.07], yaw_start:146.34, yaw_current:11.34]

Answer: CIRCLE: dx:-0.29; dy:0.43; dz:0.00; yaw:-153.66;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, oil barrel x:15.68 y:-5.73 z:-0.07], yaw_start:146.34, yaw_current:26.34]

Answer: CIRCLE: dx:-0.39; dy:0.34; dz:0.00; yaw:-138.66;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10], yaw_start:146.34, yaw_current:41.34]

Answer: CIRCLE: dx:-0.47; dy:0.23; dz:0.00; yaw:-123.66;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:146.34, yaw_current:56.34]

Answer: CIRCLE: dx:-0.51; dy:0.10; dz:0.00; yaw:-108.66;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:146.34, yaw_current:71.34]

Answer: CIRCLE: dx:-0.52; dy:-0.04; dz:0.00; yaw:-93.66;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:146.34, yaw_current:86.34]

Answer: CIRCLE: dx:-0.49; dy:-0.17; dz:0.00; yaw:-78.66;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:146.34, yaw_current:101.34]

Answer: CIRCLE: dx:-0.43; dy:-0.29; dz:0.00; yaw:-63.66;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:146.34, yaw_current:116.34]

Answer: CIRCLE: dx:-0.34; dy:-0.39; dz:0.00; yaw:-48.66;


Context: [drone_absolute_movement x:9.90 y:-5.75 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10]]

Answer: RETURN: dx:-9.90; dy:5.75;


Context: [objects_distance_from_drone[pedestrian x:13.33 y:0.49 z:0.49]]

Answer: LAND


Context: [objects_distance_from_drone[bench x:7.68 y:-4.54 z:0.26]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[bench x:7.66 y:-4.54 z:-0.22]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:2.88 y:-1.77 z:0.36]]

Answer: MOVE: x:-1.12; y:-1.77; z:0.36


Context: [objects_distance_from_drone[BMW X5 x:2.89 y:-1.74 z:0.36], yaw_start:39.09, yaw_current:24.09]

Answer: CIRCLE: dx:-0.76; dy:0.72; dz:0.00; yaw:-140.91;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:1.08 z:0.35], yaw_start:39.09, yaw_current:39.09]

Answer: CIRCLE: dx:-0.92; dy:0.50; dz:0.00; yaw:-125.91;


Context: [objects_distance_from_drone[BMW X5 x:4.19 y:0.82 z:0.35], yaw_start:39.09, yaw_current:54.09]

Answer: CIRCLE: dx:-1.02; dy:0.24; dz:0.00; yaw:-110.91;


Context: [objects_distance_from_drone[BMW X5 x:4.34 y:0.73 z:0.35, oil barrel x:9.18 y:-3.33 z:-0.07], yaw_start:39.09, yaw_current:69.09]

Answer: CIRCLE: dx:-1.04; dy:-0.03; dz:0.00; yaw:-95.91;


Context: [objects_distance_from_drone[BMW X5 x:4.55 y:0.83 z:0.35], yaw_start:39.09, yaw_current:84.09]

Answer: CIRCLE: dx:-1.00; dy:-0.30; dz:0.00; yaw:-80.91;


Context: [objects_distance_from_drone[BMW X5 x:4.71 y:0.72 z:0.35], yaw_start:39.09, yaw_current:99.09]

Answer: CIRCLE: dx:-0.89; dy:-0.55; dz:0.00; yaw:-65.91;


Context: [objects_distance_from_drone[BMW X5 x:4.79 y:0.49 z:0.35], yaw_start:39.09, yaw_current:114.09]

Answer: CIRCLE: dx:-0.72; dy:-0.76; dz:0.00; yaw:-50.91;


Context: [objects_distance_from_drone[BMW X5 x:4.83 y:0.17 z:0.34], yaw_start:39.09, yaw_current:129.09]

Answer: CIRCLE: dx:-0.50; dy:-0.92; dz:0.00; yaw:-35.91;


Context: [objects_distance_from_drone[BMW X5 x:4.79 y:-0.35 z:0.34], yaw_start:39.09, yaw_current:144.09]

Answer: CIRCLE: dx:-0.24; dy:-1.02; dz:0.00; yaw:-20.91;


Context: [objects_distance_from_drone[BMW X5 x:4.71 y:-0.78 z:0.34], yaw_start:39.09, yaw_current:159.09]

Answer: CIRCLE: dx:0.03; dy:-1.04; dz:0.00; yaw:-5.91;


Context: [objects_distance_from_drone[BMW X5 x:4.38 y:-1.01 z:0.34], yaw_start:39.09, yaw_current:174.09]

Answer: CIRCLE: dx:0.30; dy:-1.00; dz:0.00; yaw:9.09;


Context: [objects_distance_from_drone[BMW X5 x:4.16 y:-1.22 z:0.34], yaw_start:39.09, yaw_current:189.09]

Answer: CIRCLE: dx:0.55; dy:-0.89; dz:0.00; yaw:24.09;


Context: [objects_distance_from_drone[BMW X5 x:3.98 y:-1.47 z:0.44], yaw_start:39.09, yaw_current:204.09]

Answer: CIRCLE: dx:0.76; dy:-0.72; dz:0.00; yaw:39.09;


Context: [objects_distance_from_drone[BMW X5 x:3.78 y:-1.57 z:0.50], yaw_start:39.09, yaw_current:219.09]

Answer: CIRCLE: dx:0.92; dy:-0.50; dz:0.00; yaw:54.09;


Context: [objects_distance_from_drone[BMW X5 x:3.64 y:-1.51 z:0.52], yaw_start:39.09, yaw_current:234.09]

Answer: CIRCLE: dx:1.02; dy:-0.24; dz:0.00; yaw:69.09;


Context: [objects_distance_from_drone[BMW X5 x:3.37 y:-1.29 z:0.57], yaw_start:39.09, yaw_current:249.09]

Answer: CIRCLE: dx:1.04; dy:0.03; dz:0.00; yaw:84.09;


Context: [objects_distance_from_drone[BMW X5 x:3.13 y:-0.72 z:0.62, dog x:18.94 y:6.71 z:-0.13], yaw_start:39.09, yaw_current:264.09]

Answer: CIRCLE: dx:1.00; dy:0.30; dz:0.00; yaw:99.09;


Context: [objects_distance_from_drone[BMW X5 x:3.13 y:-0.24 z:0.62], yaw_start:39.09, yaw_current:279.09]

Answer: CIRCLE: dx:0.89; dy:0.55; dz:0.00; yaw:114.09;


Context: [objects_distance_from_drone[BMW X5 x:3.06 y:0.08 z:0.63], yaw_start:39.09, yaw_current:294.09]

Answer: CIRCLE: dx:0.72; dy:0.76; dz:0.00; yaw:129.09;


Context: [objects_distance_from_drone[BMW X5 x:2.89 y:0.26 z:0.63], yaw_start:39.09, yaw_current:309.09]

Answer: CIRCLE: dx:0.50; dy:0.92; dz:0.00; yaw:144.09;


Context: [objects_distance_from_drone[BMW X5 x:2.83 y:0.43 z:0.60], yaw_start:39.09, yaw_current:324.09]

Answer: CIRCLE: dx:0.24; dy:1.02; dz:0.00; yaw:159.09;


Context: [objects_distance_from_drone[BMW X5 x:2.90 y:0.64 z:0.54], yaw_start:39.09, yaw_current:339.09]

Answer: CIRCLE: dx:-0.03; dy:1.04; dz:0.00; yaw:174.09;


Context: [objects_distance_from_drone[BMW X5 x:3.27 y:1.15 z:0.43], yaw_start:39.09, yaw_current:354.09]

Answer: CIRCLE: dx:-0.30; dy:1.00; dz:0.00; yaw:-170.91;


Context: [objects_distance_from_drone[BMW X5 x:3.46 y:1.34 z:0.35], yaw_start:39.09, yaw_current:9.09]

Answer: CIRCLE: dx:-0.55; dy:0.89; dz:0.00; yaw:-155.91;


Context: [drone_absolute_movement x:0.50 y:0.37 z:0.50, objects_distance_from_drone[BMW X5 x:3.73 y:1.25 z:0.36]]

Answer: RETURN: dx:-0.50; dy:-0.37;


Context: [objects_distance_from_drone[BMW X5 x:3.20 y:1.42 z:0.38]]

Answer: LAND


Context: [objects_distance_from_drone[pedestrian x:5.30 y:1.12 z:0.84, oil barrel x:9.78 y:0.13 z:0.43]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:5.32 y:1.14 z:0.36, oil barrel x:9.80 y:0.15 z:-0.05]]

Answer: SEARCH


Context: [objects_distance_from_drone[dog x:14.08 y:1.32 z:-0.13]]

Answer: MOVE: x:12.08; y:1.32; z:-0.13


Context: [objects_distance_from_drone[dog x:2.10 y:0.00 z:-0.16], yaw_start:240.16, yaw_current:225.16]

Answer: CIRCLE: dx:0.48; dy:-0.20; dz:0.00; yaw:60.16;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.03 z:-0.14], yaw_start:240.16, yaw_current:240.16]

Answer: CIRCLE: dx:0.52; dy:-0.07; dz:0.00; yaw:75.16;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.03 z:-0.14], yaw_start:240.16, yaw_current:255.16]

Answer: CIRCLE: dx:0.52; dy:0.07; dz:0.00; yaw:90.16;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.04 z:-0.14], yaw_start:240.16, yaw_current:270.16]

Answer: CIRCLE: dx:0.48; dy:0.20; dz:0.00; yaw:105.16;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.04 z:-0.14], yaw_start:240.16, yaw_current:285.16]

Answer: CIRCLE: dx:0.41; dy:0.32; dz:0.00; yaw:120.16;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.04 z:-0.14], yaw_start:240.16, yaw_current:300.16]

Answer: CIRCLE: dx:0.32; dy:0.42; dz:0.00; yaw:135.16;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14], yaw_start:240.16, yaw_current:315.16]

Answer: CIRCLE: dx:0.20; dy:0.48; dz:0.00; yaw:150.16;


Context: [objects_distance_from_drone[BMW X5 x:18.33 y:8.60 z:0.52, dog x:1.95 y:-0.05 z:-0.14], yaw_start:240.16, yaw_current:330.16]

Answer: CIRCLE: dx:0.07; dy:0.52; dz:0.00; yaw:165.16;


Context: [objects_distance_from_drone[BMW X5 x:20.74 y:7.09 z:0.36, dog x:1.95 y:-0.05 z:-0.14], yaw_start:240.16, yaw_current:345.16]

Answer: CIRCLE: dx:-0.07; dy:0.52; dz:0.00; yaw:-179.84;


Context: [objects_distance_from_drone[BMW X5 x:21.94 y:2.00 z:0.35, dog x:1.95 y:-0.05 z:-0.14, bench x:18.18 y:5.91 z:0.08], yaw_start:240.16, yaw_current:0.16]

Answer: CIRCLE: dx:-0.20; dy:0.48; dz:0.00; yaw:-164.84;


Context: [objects_distance_from_drone[dog x:1.93 y:-0.05 z:-0.14, bench x:19.15 y:1.51 z:0.07], yaw_start:240.16, yaw_current:15.16]

Answer: CIRCLE: dx:-0.32; dy:0.41; dz:0.00; yaw:-149.84;


Context: [objects_distance_from_drone[BMW X5 x:20.28 y:-8.59 z:0.34, dog x:1.94 y:-0.04 z:-0.14, bench x:18.97 y:-2.99 z:0.07], yaw_start:240.16, yaw_current:30.16]

Answer: CIRCLE: dx:-0.42; dy:0.32; dz:0.00; yaw:-134.84;


Context: [objects_distance_from_drone[pedestrian x:12.46 y:4.02 z:0.34, dog x:1.94 y:-0.01 z:-0.14, bench x:17.61 y:-7.44 z:0.07], yaw_start:240.16, yaw_current:45.16]

Answer: CIRCLE: dx:-0.48; dy:0.20; dz:0.00; yaw:-119.84;


Context: [objects_distance_from_drone[dog x:1.93 y:0.01 z:-0.14, oil barrel x:12.96 y:5.72 z:-0.06], yaw_start:240.16, yaw_current:60.16]

Answer: CIRCLE: dx:-0.52; dy:0.07; dz:0.00; yaw:-104.84;


Context: [objects_distance_from_drone[pedestrian x:13.07 y:-1.76 z:0.34, dog x:1.93 y:0.01 z:-0.14, oil barrel x:14.08 y:2.71 z:-0.07], yaw_start:240.16, yaw_current:75.16]

Answer: CIRCLE: dx:-0.52; dy:-0.07; dz:0.00; yaw:-89.84;


Context: [objects_distance_from_drone[pedestrian x:12.24 y:-4.58 z:0.34, dog x:1.93 y:0.02 z:-0.14], yaw_start:240.16, yaw_current:90.16]

Answer: CIRCLE: dx:-0.48; dy:-0.20; dz:0.00; yaw:-74.84;


Context: [objects_distance_from_drone[dog x:1.93 y:0.02 z:-0.14, oil barrel x:13.82 y:-3.71 z:-0.07], yaw_start:240.16, yaw_current:105.16]

Answer: CIRCLE: dx:-0.41; dy:-0.32; dz:0.00; yaw:-59.84;


Context: [objects_distance_from_drone[dog x:1.94 y:0.02 z:-0.14], yaw_start:240.16, yaw_current:120.16]

Answer: CIRCLE: dx:-0.32; dy:-0.42; dz:0.00; yaw:-44.84;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14], yaw_start:240.16, yaw_current:135.16]

Answer: CIRCLE: dx:-0.20; dy:-0.48; dz:0.00; yaw:-29.84;


Context: [objects_distance_from_drone[dog x:1.99 y:0.03 z:-0.14], yaw_start:240.16, yaw_current:150.16]

Answer: CIRCLE: dx:-0.07; dy:-0.52; dz:0.00; yaw:-14.84;


Context: [objects_distance_from_drone[dog x:1.98 y:0.03 z:-0.14], yaw_start:240.16, yaw_current:165.16]

Answer: CIRCLE: dx:0.07; dy:-0.52; dz:0.00; yaw:0.16;


Context: [objects_distance_from_drone[dog x:2.00 y:0.03 z:-0.14], yaw_start:240.16, yaw_current:180.16]

Answer: CIRCLE: dx:0.20; dy:-0.48; dz:0.00; yaw:15.16;


Context: [objects_distance_from_drone[dog x:2.00 y:0.03 z:-0.14], yaw_start:240.16, yaw_current:195.16]

Answer: CIRCLE: dx:0.32; dy:-0.41; dz:0.00; yaw:30.16;


Context: [objects_distance_from_drone[dog x:2.00 y:0.02 z:-0.14], yaw_start:240.16, yaw_current:210.16]

Answer: CIRCLE: dx:0.42; dy:-0.32; dz:0.00; yaw:45.16;


Context: [drone_absolute_movement x:6.05 y:10.50 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:-6.05; dy:-10.50;


Context: [objects_distance_from_drone[dog x:14.02 y:-0.39 z:-0.19]]

Answer: LAND


Context: [objects_distance_from_drone[oil barrel x:10.74 y:-1.60 z:0.44]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:10.93 y:-1.48 z:0.37, oil barrel x:10.74 y:4.34 z:-0.04]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:13.18 y:6.80 z:0.00, bench x:17.30 y:1.53 z:0.07]]

Answer: MOVE: x:15.30; y:1.53; z:0.07


Context: [objects_distance_from_drone[bench x:2.08 y:0.01 z:0.07], yaw_start:285.56, yaw_current:270.56]

Answer: CIRCLE: dx:0.48; dy:0.20; dz:0.00; yaw:105.56;


Context: [objects_distance_from_drone[bench x:1.97 y:0.03 z:0.08], yaw_start:285.56, yaw_current:285.56]

Answer: CIRCLE: dx:0.41; dy:0.32; dz:0.00; yaw:120.56;


Context: [objects_distance_from_drone[bench x:1.93 y:-0.02 z:0.05], yaw_start:285.56, yaw_current:300.56]

Answer: CIRCLE: dx:0.31; dy:0.42; dz:0.00; yaw:135.56;


Context: [objects_distance_from_drone[bench x:1.90 y:-0.13 z:0.07], yaw_start:285.56, yaw_current:315.56]

Answer: CIRCLE: dx:0.20; dy:0.48; dz:0.00; yaw:150.56;


Context: [objects_distance_from_drone[BMW X5 x:6.40 y:3.11 z:0.50, bench x:1.86 y:-0.17 z:0.07], yaw_start:285.56, yaw_current:330.56]

Answer: CIRCLE: dx:0.06; dy:0.52; dz:0.00; yaw:165.56;


Context: [objects_distance_from_drone[bench x:1.82 y:-0.07 z:0.07], yaw_start:285.56, yaw_current:345.56]

Answer: CIRCLE: dx:-0.07; dy:0.52; dz:0.00; yaw:-179.44;


Context: [objects_distance_from_drone[bench x:1.82 y:-0.12 z:0.07], yaw_start:285.56, yaw_current:0.56]

Answer: CIRCLE: dx:-0.20; dy:0.48; dz:0.00; yaw:-164.44;


Context: [objects_distance_from_drone[bench x:1.83 y:-0.20 z:0.07], yaw_start:285.56, yaw_current:15.56]

Answer: CIRCLE: dx:-0.32; dy:0.41; dz:0.00; yaw:-149.44;


Context: [objects_distance_from_drone[bench x:1.85 y:-0.17 z:0.09], yaw_start:285.56, yaw_current:30.56]

Answer: CIRCLE: dx:-0.42; dy:0.31; dz:0.00; yaw:-134.44;


Context: [objects_distance_from_drone[bench x:1.86 y:-0.11 z:0.10], yaw_start:285.56, yaw_current:45.56]

Answer: CIRCLE: dx:-0.48; dy:0.20; dz:0.00; yaw:-119.44;


Context: [objects_distance_from_drone[BMW X5 x:7.95 y:-4.91 z:0.34, bench x:1.87 y:-0.01 z:0.12], yaw_start:285.56, yaw_current:60.56]

Answer: CIRCLE: dx:-0.52; dy:0.06; dz:0.00; yaw:-104.44;


Context: [objects_distance_from_drone[BMW X5 x:6.12 y:-5.26 z:-0.00, bench x:1.86 y:0.12 z:0.13], yaw_start:285.56, yaw_current:75.56]

Answer: CIRCLE: dx:-0.52; dy:-0.07; dz:0.00; yaw:-89.44;


Context: [objects_distance_from_drone[bench x:1.88 y:0.21 z:0.13], yaw_start:285.56, yaw_current:90.56]

Answer: CIRCLE: dx:-0.48; dy:-0.20; dz:0.00; yaw:-74.44;


Context: [objects_distance_from_drone[bench x:1.88 y:0.25 z:0.13], yaw_start:285.56, yaw_current:105.56]

Answer: CIRCLE: dx:-0.41; dy:-0.32; dz:0.00; yaw:-59.44;


Context: [objects_distance_from_drone[bench x:1.87 y:0.25 z:0.13], yaw_start:285.56, yaw_current:120.56]

Answer: CIRCLE: dx:-0.31; dy:-0.42; dz:0.00; yaw:-44.44;


Context: [objects_distance_from_drone[bench x:1.89 y:0.14 z:0.13], yaw_start:285.56, yaw_current:135.56]

Answer: CIRCLE: dx:-0.20; dy:-0.48; dz:0.00; yaw:-29.44;


Context: [objects_distance_from_drone[bench x:1.92 y:0.07 z:0.08], yaw_start:285.56, yaw_current:150.56]

Answer: CIRCLE: dx:-0.06; dy:-0.52; dz:0.00; yaw:-14.44;


Context: [objects_distance_from_drone[bench x:1.97 y:0.12 z:0.08], yaw_start:285.56, yaw_current:165.56]

Answer: CIRCLE: dx:0.07; dy:-0.52; dz:0.00; yaw:0.56;


Context: [objects_distance_from_drone[bench x:1.96 y:0.01 z:0.12], yaw_start:285.56, yaw_current:180.56]

Answer: CIRCLE: dx:0.20; dy:-0.48; dz:0.00; yaw:15.56;


Context: [objects_distance_from_drone[bench x:1.99 y:-0.13 z:0.14], yaw_start:285.56, yaw_current:195.56]

Answer: CIRCLE: dx:0.32; dy:-0.41; dz:0.00; yaw:30.56;


Context: [objects_distance_from_drone[bench x:2.01 y:-0.15 z:0.13], yaw_start:285.56, yaw_current:210.56]

Answer: CIRCLE: dx:0.42; dy:-0.31; dz:0.00; yaw:45.56;


Context: [objects_distance_from_drone[bench x:2.00 y:-0.14 z:0.13], yaw_start:285.56, yaw_current:225.56]

Answer: CIRCLE: dx:0.48; dy:-0.20; dz:0.00; yaw:60.56;


Context: [objects_distance_from_drone[bench x:1.99 y:-0.09 z:0.13], yaw_start:285.56, yaw_current:240.56]

Answer: CIRCLE: dx:0.52; dy:-0.06; dz:0.00; yaw:75.56;


Context: [objects_distance_from_drone[bench x:2.00 y:-0.06 z:0.12], yaw_start:285.56, yaw_current:255.56]

Answer: CIRCLE: dx:0.52; dy:0.07; dz:0.00; yaw:90.56;


Context: [drone_absolute_movement x:-3.71 y:8.96 z:0.50, objects_distance_from_drone[bench x:1.99 y:0.00 z:0.10]]

Answer: RETURN: dx:3.71; dy:-8.96;


Context: [objects_distance_from_drone[bench x:11.55 y:0.94 z:0.11]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:11.64 y:1.01 z:0.34]]

Answer: MOVE: x:9.64; y:1.01; z:0.34


Context: [objects_distance_from_drone[pedestrian x:2.09 y:-0.00 z:0.11], yaw_start:352.86, yaw_current:337.86]

Answer: CIRCLE: dx:-0.00; dy:0.52; dz:0.00; yaw:172.86;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:352.86, yaw_current:352.86]

Answer: CIRCLE: dx:-0.14; dy:0.50; dz:0.00; yaw:-172.14;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:352.86, yaw_current:7.86]

Answer: CIRCLE: dx:-0.26; dy:0.45; dz:0.00; yaw:-157.14;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:352.86, yaw_current:22.86]

Answer: CIRCLE: dx:-0.37; dy:0.37; dz:0.00; yaw:-142.14;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:352.86, yaw_current:37.86]

Answer: CIRCLE: dx:-0.45; dy:0.26; dz:0.00; yaw:-127.14;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:352.86, yaw_current:52.86]

Answer: CIRCLE: dx:-0.51; dy:0.13; dz:0.00; yaw:-112.14;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10], yaw_start:352.86, yaw_current:67.86]

Answer: CIRCLE: dx:-0.52; dy:-0.00; dz:0.00; yaw:-97.14;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, BMW X5 x:14.53 y:6.70 z:0.35], yaw_start:352.86, yaw_current:82.86]

Answer: CIRCLE: dx:-0.50; dy:-0.14; dz:0.00; yaw:-82.14;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, BMW X5 x:16.04 y:3.08 z:0.35, dog x:11.80 y:4.62 z:-0.13], yaw_start:352.86, yaw_current:97.86]

Answer: CIRCLE: dx:-0.45; dy:-0.26; dz:0.00; yaw:-67.14;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:16.36 y:-0.67 z:0.34, dog x:12.65 y:1.93 z:-0.14, bench x:16.05 y:5.78 z:0.08], yaw_start:352.86, yaw_current:112.86]

Answer: CIRCLE: dx:-0.37; dy:-0.37; dz:0.00; yaw:-52.14;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:15.69 y:-4.37 z:0.34, dog x:12.77 y:-0.91 z:-0.14, bench x:17.07 y:1.94 z:0.08, oil barrel x:21.41 y:5.09 z:-0.06], yaw_start:352.86, yaw_current:127.86]

Answer: CIRCLE: dx:-0.26; dy:-0.45; dz:0.00; yaw:-37.14;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:12.95 y:-7.68 z:0.00, dog x:12.17 y:-3.68 z:-0.14, bench x:17.06 y:-2.04 z:0.07, oil barrel x:22.07 y:-0.12 z:-0.07], yaw_start:352.86, yaw_current:142.86]

Answer: CIRCLE: dx:-0.13; dy:-0.51; dz:0.00; yaw:-22.14;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, bench x:16.02 y:-5.87 z:0.07, oil barrel x:21.35 y:-5.32 z:-0.07], yaw_start:352.86, yaw_current:157.86]

Answer: CIRCLE: dx:0.00; dy:-0.52; dz:0.00; yaw:-7.14;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09], yaw_start:352.86, yaw_current:172.86]

Answer: CIRCLE: dx:0.14; dy:-0.50; dz:0.00; yaw:7.86;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09], yaw_start:352.86, yaw_current:187.86]

Answer: CIRCLE: dx:0.26; dy:-0.45; dz:0.00; yaw:22.86;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09], yaw_start:352.86, yaw_current:202.86]

Answer: CIRCLE: dx:0.37; dy:-0.37; dz:0.00; yaw:37.86;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09], yaw_start:352.86, yaw_current:217.86]

Answer: CIRCLE: dx:0.45; dy:-0.26; dz:0.00; yaw:52.86;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09], yaw_start:352.86, yaw_current:232.86]

Answer: CIRCLE: dx:0.51; dy:-0.13; dz:0.00; yaw:67.86;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10], yaw_start:352.86, yaw_current:247.86]

Answer: CIRCLE: dx:0.52; dy:0.00; dz:0.00; yaw:82.86;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:352.86, yaw_current:262.86]

Answer: CIRCLE: dx:0.50; dy:0.14; dz:0.00; yaw:97.86;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:352.86, yaw_current:277.86]

Answer: CIRCLE: dx:0.45; dy:0.26; dz:0.00; yaw:112.86;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:352.86, yaw_current:292.86]

Answer: CIRCLE: dx:0.37; dy:0.37; dz:0.00; yaw:127.86;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:352.86, yaw_current:307.86]

Answer: CIRCLE: dx:0.26; dy:0.45; dz:0.00; yaw:142.86;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:352.86, yaw_current:322.86]

Answer: CIRCLE: dx:0.13; dy:0.51; dz:0.00; yaw:157.86;


Context: [drone_absolute_movement x:-9.54 y:1.48 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10]]

Answer: RETURN: dx:9.54; dy:-1.48;


Context: [objects_distance_from_drone[pedestrian x:11.55 y:-0.44 z:0.49]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:9.13 y:1.84 z:0.87]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:9.16 y:1.74 z:0.37]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:9.30 y:0.53 z:0.36]]

Answer: MOVE: x:5.30; y:0.53; z:0.36


Context: [objects_distance_from_drone[BMW X5 x:4.10 y:-0.01 z:0.29], yaw_start:190.21, yaw_current:175.21]

Answer: CIRCLE: dx:0.32; dy:-0.99; dz:0.00; yaw:10.21;


Context: [objects_distance_from_drone[BMW X5 x:4.00 y:0.15 z:0.35], yaw_start:190.21, yaw_current:190.21]

Answer: CIRCLE: dx:0.56; dy:-0.88; dz:0.00; yaw:25.21;


Context: [objects_distance_from_drone[BMW X5 x:4.05 y:0.32 z:0.35], yaw_start:190.21, yaw_current:205.21]

Answer: CIRCLE: dx:0.77; dy:-0.70; dz:0.00; yaw:40.21;


Context: [objects_distance_from_drone[BMW X5 x:4.08 y:0.38 z:0.34], yaw_start:190.21, yaw_current:220.21]

Answer: CIRCLE: dx:0.93; dy:-0.48; dz:0.00; yaw:55.21;


Context: [objects_distance_from_drone[BMW X5 x:4.06 y:0.37 z:0.35], yaw_start:190.21, yaw_current:235.21]

Answer: CIRCLE: dx:1.02; dy:-0.22; dz:0.00; yaw:70.21;


Context: [objects_distance_from_drone[BMW X5 x:4.01 y:0.14 z:0.35], yaw_start:190.21, yaw_current:250.21]

Answer: CIRCLE: dx:1.04; dy:0.05; dz:0.00; yaw:85.21;


Context: [objects_distance_from_drone[BMW X5 x:3.97 y:-0.17 z:0.34], yaw_start:190.21, yaw_current:265.21]

Answer: CIRCLE: dx:0.99; dy:0.32; dz:0.00; yaw:100.21;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:-0.12 z:0.34], yaw_start:190.21, yaw_current:280.21]

Answer: CIRCLE: dx:0.88; dy:0.56; dz:0.00; yaw:115.21;


Context: [objects_distance_from_drone[BMW X5 x:3.90 y:-0.09 z:0.35], yaw_start:190.21, yaw_current:295.21]

Answer: CIRCLE: dx:0.70; dy:0.77; dz:0.00; yaw:130.21;


Context: [objects_distance_from_drone[BMW X5 x:3.92 y:-0.37 z:0.41], yaw_start:190.21, yaw_current:310.21]

Answer: CIRCLE: dx:0.48; dy:0.93; dz:0.00; yaw:145.21;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:-0.53 z:0.45], yaw_start:190.21, yaw_current:325.21]

Answer: CIRCLE: dx:0.22; dy:1.02; dz:0.00; yaw:160.21;


Context: [objects_distance_from_drone[BMW X5 x:3.97 y:-0.51 z:0.48, bench x:14.98 y:8.94 z:0.09], yaw_start:190.21, yaw_current:340.21]

Answer: CIRCLE: dx:-0.05; dy:1.04; dz:0.00; yaw:175.21;


Context: [objects_distance_from_drone[BMW X5 x:3.93 y:-0.40 z:0.48, bench x:17.06 y:4.87 z:0.08], yaw_start:190.21, yaw_current:355.21]

Answer: CIRCLE: dx:-0.32; dy:0.99; dz:0.00; yaw:-169.79;


Context: [objects_distance_from_drone[BMW X5 x:3.85 y:-0.16 z:0.46], yaw_start:190.21, yaw_current:10.21]

Answer: CIRCLE: dx:-0.56; dy:0.88; dz:0.00; yaw:-154.79;


Context: [objects_distance_from_drone[BMW X5 x:3.86 y:0.07 z:0.49], yaw_start:190.21, yaw_current:25.21]

Answer: CIRCLE: dx:-0.77; dy:0.70; dz:0.00; yaw:-139.79;


Context: [objects_distance_from_drone[BMW X5 x:3.85 y:0.22 z:0.50], yaw_start:190.21, yaw_current:40.21]

Answer: CIRCLE: dx:-0.93; dy:0.48; dz:0.00; yaw:-124.79;


Context: [objects_distance_from_drone[BMW X5 x:3.79 y:0.28 z:0.48], yaw_start:190.21, yaw_current:55.21]

Answer: CIRCLE: dx:-1.02; dy:0.22; dz:0.00; yaw:-109.79;


Context: [objects_distance_from_drone[BMW X5 x:3.72 y:0.11 z:0.44], yaw_start:190.21, yaw_current:70.21]

Answer: CIRCLE: dx:-1.04; dy:-0.05; dz:0.00; yaw:-94.79;


Context: [objects_distance_from_drone[BMW X5 x:3.68 y:-0.07 z:0.39], yaw_start:190.21, yaw_current:85.21]

Answer: CIRCLE: dx:-0.99; dy:-0.32; dz:0.00; yaw:-79.79;


Context: [objects_distance_from_drone[BMW X5 x:3.73 y:0.09 z:0.35], yaw_start:190.21, yaw_current:100.21]

Answer: CIRCLE: dx:-0.88; dy:-0.56; dz:0.00; yaw:-64.79;


Context: [objects_distance_from_drone[BMW X5 x:3.73 y:0.23 z:0.35], yaw_start:190.21, yaw_current:115.21]

Answer: CIRCLE: dx:-0.70; dy:-0.77; dz:0.00; yaw:-49.79;


Context: [objects_distance_from_drone[BMW X5 x:3.80 y:0.02 z:0.35], yaw_start:190.21, yaw_current:130.21]

Answer: CIRCLE: dx:-0.48; dy:-0.93; dz:0.00; yaw:-34.79;


Context: [objects_distance_from_drone[BMW X5 x:3.91 y:-0.18 z:0.35], yaw_start:190.21, yaw_current:145.21]

Answer: CIRCLE: dx:-0.22; dy:-1.02; dz:0.00; yaw:-19.79;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:-0.14 z:0.35], yaw_start:190.21, yaw_current:160.21]

Answer: CIRCLE: dx:0.05; dy:-1.04; dz:0.00; yaw:-4.79;


Context: [drone_absolute_movement x:5.22 y:1.01 z:0.50, objects_distance_from_drone[BMW X5 x:3.99 y:-0.03 z:0.35]]

Answer: RETURN: dx:-5.22; dy:-1.01;


Context: [objects_distance_from_drone[BMW X5 x:9.22 y:0.06 z:0.32]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[dog x:12.18 y:1.08 z:-0.14]]

Answer: MOVE: x:10.18; y:1.08; z:-0.14


Context: [objects_distance_from_drone[dog x:2.10 y:0.00 z:-0.16], yaw_start:293.32, yaw_current:278.32]

Answer: CIRCLE: dx:0.45; dy:0.27; dz:0.00; yaw:113.32;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.04 z:-0.14], yaw_start:293.32, yaw_current:293.32]

Answer: CIRCLE: dx:0.36; dy:0.37; dz:0.00; yaw:128.32;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.06 z:-0.14], yaw_start:293.32, yaw_current:308.32]

Answer: CIRCLE: dx:0.25; dy:0.46; dz:0.00; yaw:143.32;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.05 z:-0.14], yaw_start:293.32, yaw_current:323.32]

Answer: CIRCLE: dx:0.13; dy:0.51; dz:0.00; yaw:158.32;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.05 z:-0.14], yaw_start:293.32, yaw_current:338.32]

Answer: CIRCLE: dx:-0.01; dy:0.52; dz:0.00; yaw:173.32;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.05 z:-0.14], yaw_start:293.32, yaw_current:353.32]

Answer: CIRCLE: dx:-0.14; dy:0.50; dz:0.00; yaw:-171.68;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14], yaw_start:293.32, yaw_current:8.32]

Answer: CIRCLE: dx:-0.27; dy:0.45; dz:0.00; yaw:-156.68;


Context: [objects_distance_from_drone[dog x:1.95 y:-0.03 z:-0.14, oil barrel x:10.92 y:3.08 z:-0.07], yaw_start:293.32, yaw_current:23.32]

Answer: CIRCLE: dx:-0.37; dy:0.36; dz:0.00; yaw:-141.68;


Context: [objects_distance_from_drone[dog x:1.92 y:-0.03 z:-0.14], yaw_start:293.32, yaw_current:38.32]

Answer: CIRCLE: dx:-0.46; dy:0.25; dz:0.00; yaw:-126.68;


Context: [objects_distance_from_drone[dog x:1.93 y:-0.03 z:-0.14], yaw_start:293.32, yaw_current:53.32]

Answer: CIRCLE: dx:-0.51; dy:0.13; dz:0.00; yaw:-111.68;


Context: [objects_distance_from_drone[dog x:1.93 y:-0.03 z:-0.14, bench x:21.90 y:11.24 z:0.08, oil barrel x:10.48 y:-4.15 z:-0.07], yaw_start:293.32, yaw_current:68.32]

Answer: CIRCLE: dx:-0.52; dy:-0.01; dz:0.00; yaw:-96.68;


Context: [objects_distance_from_drone[pedestrian x:21.63 y:8.31 z:0.35, dog x:1.93 y:-0.03 z:-0.14, bench x:24.20 y:5.02 z:0.08], yaw_start:293.32, yaw_current:83.32]

Answer: CIRCLE: dx:-0.50; dy:-0.14; dz:0.00; yaw:-81.68;


Context: [objects_distance_from_drone[pedestrian x:23.12 y:2.93 z:0.35, dog x:1.94 y:-0.01 z:-0.14], yaw_start:293.32, yaw_current:98.32]

Answer: CIRCLE: dx:-0.45; dy:-0.27; dz:0.00; yaw:-66.68;


Context: [objects_distance_from_drone[pedestrian x:23.15 y:-2.64 z:0.34, dog x:1.94 y:0.02 z:-0.14, bench x:23.74 y:-6.77 z:0.07], yaw_start:293.32, yaw_current:113.32]

Answer: CIRCLE: dx:-0.36; dy:-0.37; dz:0.00; yaw:-51.68;


Context: [objects_distance_from_drone[pedestrian x:21.76 y:-8.03 z:0.33, BMW X5 x:13.92 y:6.25 z:0.56, dog x:1.95 y:0.04 z:-0.14], yaw_start:293.32, yaw_current:128.32]

Answer: CIRCLE: dx:-0.25; dy:-0.46; dz:0.00; yaw:-36.68;


Context: [objects_distance_from_drone[BMW X5 x:15.33 y:5.66 z:0.35, dog x:1.94 y:0.03 z:-0.14], yaw_start:293.32, yaw_current:143.32]

Answer: CIRCLE: dx:-0.13; dy:-0.51; dz:0.00; yaw:-21.68;


Context: [objects_distance_from_drone[dog x:1.95 y:0.03 z:-0.14], yaw_start:293.32, yaw_current:158.32]

Answer: CIRCLE: dx:0.01; dy:-0.52; dz:0.00; yaw:-6.68;


Context: [objects_distance_from_drone[BMW X5 x:16.38 y:-1.77 z:0.34, dog x:1.95 y:0.03 z:-0.14], yaw_start:293.32, yaw_current:173.32]

Answer: CIRCLE: dx:0.14; dy:-0.50; dz:0.00; yaw:8.32;


Context: [objects_distance_from_drone[BMW X5 x:15.43 y:-5.45 z:0.34, dog x:1.97 y:0.02 z:-0.14], yaw_start:293.32, yaw_current:188.32]

Answer: CIRCLE: dx:0.27; dy:-0.45; dz:0.00; yaw:23.32;


Context: [objects_distance_from_drone[BMW X5 x:14.20 y:-6.25 z:0.50, dog x:1.99 y:0.02 z:-0.14], yaw_start:293.32, yaw_current:203.32]

Answer: CIRCLE: dx:0.37; dy:-0.36; dz:0.00; yaw:38.32;


Context: [objects_distance_from_drone[dog x:2.02 y:0.01 z:-0.14], yaw_start:293.32, yaw_current:218.32]

Answer: CIRCLE: dx:0.46; dy:-0.25; dz:0.00; yaw:53.32;


Context: [objects_distance_from_drone[dog x:2.01 y:0.01 z:-0.14], yaw_start:293.32, yaw_current:233.32]

Answer: CIRCLE: dx:0.51; dy:-0.13; dz:0.00; yaw:68.32;


Context: [objects_distance_from_drone[dog x:2.01 y:0.01 z:-0.14], yaw_start:293.32, yaw_current:248.32]

Answer: CIRCLE: dx:0.52; dy:0.01; dz:0.00; yaw:83.32;


Context: [objects_distance_from_drone[dog x:2.00 y:0.01 z:-0.14], yaw_start:293.32, yaw_current:263.32]

Answer: CIRCLE: dx:0.50; dy:0.14; dz:0.00; yaw:98.32;


Context: [drone_absolute_movement x:-4.03 y:9.40 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:4.03; dy:-9.40;


Context: [objects_distance_from_drone[dog x:12.12 y:-0.34 z:-0.07]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:6.68 y:-5.39 z:0.67]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:6.65 y:-5.39 z:0.17]]

Answer: SEARCH


Context: [objects_distance_from_drone[bench x:5.83 y:-0.62 z:0.08]]

Answer: MOVE: x:3.83; y:-0.62; z:0.08


Context: [objects_distance_from_drone[bench x:2.03 y:-0.19 z:-0.21], yaw_start:51.25, yaw_current:36.25]

Answer: CIRCLE: dx:-0.45; dy:0.27; dz:0.00; yaw:-128.75;


Context: [objects_distance_from_drone[bench x:2.04 y:0.13 z:0.14], yaw_start:51.25, yaw_current:51.25]

Answer: CIRCLE: dx:-0.50; dy:0.15; dz:0.00; yaw:-113.75;


Context: [objects_distance_from_drone[bench x:2.08 y:0.12 z:0.13], yaw_start:51.25, yaw_current:66.25]

Answer: CIRCLE: dx:-0.52; dy:0.01; dz:0.00; yaw:-98.75;


Context: [objects_distance_from_drone[bench x:2.14 y:0.11 z:0.12], yaw_start:51.25, yaw_current:81.25]

Answer: CIRCLE: dx:-0.51; dy:-0.12; dz:0.00; yaw:-83.75;


Context: [objects_distance_from_drone[bench x:2.15 y:0.11 z:0.10], yaw_start:51.25, yaw_current:96.25]

Answer: CIRCLE: dx:-0.46; dy:-0.25; dz:0.00; yaw:-68.75;


Context: [objects_distance_from_drone[bench x:2.16 y:0.07 z:0.08], yaw_start:51.25, yaw_current:111.25]

Answer: CIRCLE: dx:-0.38; dy:-0.36; dz:0.00; yaw:-53.75;


Context: [objects_distance_from_drone[bench x:2.15 y:-0.00 z:0.07], yaw_start:51.25, yaw_current:126.25]

Answer: CIRCLE: dx:-0.27; dy:-0.45; dz:0.00; yaw:-38.75;


Context: [objects_distance_from_drone[bench x:2.11 y:-0.20 z:0.07], yaw_start:51.25, yaw_current:141.25]

Answer: CIRCLE: dx:-0.15; dy:-0.50; dz:0.00; yaw:-23.75;


Context: [objects_distance_from_drone[bench x:2.06 y:-0.33 z:0.07], yaw_start:51.25, yaw_current:156.25]

Answer: CIRCLE: dx:-0.01; dy:-0.52; dz:0.00; yaw:-8.75;


Context: [objects_distance_from_drone[bench x:1.95 y:-0.31 z:0.07], yaw_start:51.25, yaw_current:171.25]

Answer: CIRCLE: dx:0.12; dy:-0.51; dz:0.00; yaw:6.25;


Context: [objects_distance_from_drone[bench x:1.90 y:-0.41 z:0.07], yaw_start:51.25, yaw_current:186.25]

Answer: CIRCLE: dx:0.25; dy:-0.46; dz:0.00; yaw:21.25;


Context: [objects_distance_from_drone[bench x:1.86 y:-0.45 z:0.08], yaw_start:51.25, yaw_current:201.25]

Answer: CIRCLE: dx:0.36; dy:-0.38; dz:0.00; yaw:36.25;


Context: [objects_distance_from_drone[bench x:1.83 y:-0.44 z:0.10], yaw_start:51.25, yaw_current:216.25]

Answer: CIRCLE: dx:0.45; dy:-0.27; dz:0.00; yaw:51.25;


Context: [objects_distance_from_drone[bench x:1.81 y:-0.38 z:0.12, oil barrel x:10.60 y:3.55 z:-0.07], yaw_start:51.25, yaw_current:231.25]

Answer: CIRCLE: dx:0.50; dy:-0.15; dz:0.00; yaw:66.25;


Context: [objects_distance_from_drone[bench x:1.74 y:-0.27 z:0.14], yaw_start:51.25, yaw_current:246.25]

Answer: CIRCLE: dx:0.52; dy:-0.01; dz:0.00; yaw:81.25;


Context: [objects_distance_from_drone[bench x:1.71 y:-0.05 z:0.13], yaw_start:51.25, yaw_current:261.25]

Answer: CIRCLE: dx:0.51; dy:0.12; dz:0.00; yaw:96.25;


Context: [objects_distance_from_drone[bench x:1.71 y:0.09 z:0.13, oil barrel x:10.59 y:-3.60 z:-0.07], yaw_start:51.25, yaw_current:276.25]

Answer: CIRCLE: dx:0.46; dy:0.25; dz:0.00; yaw:111.25;


Context: [objects_distance_from_drone[bench x:1.69 y:0.20 z:0.13], yaw_start:51.25, yaw_current:291.25]

Answer: CIRCLE: dx:0.38; dy:0.36; dz:0.00; yaw:126.25;


Context: [objects_distance_from_drone[bench x:1.65 y:0.25 z:0.13], yaw_start:51.25, yaw_current:306.25]

Answer: CIRCLE: dx:0.27; dy:0.45; dz:0.00; yaw:141.25;


Context: [objects_distance_from_drone[bench x:1.67 y:0.22 z:0.13], yaw_start:51.25, yaw_current:321.25]

Answer: CIRCLE: dx:0.15; dy:0.50; dz:0.00; yaw:156.25;


Context: [objects_distance_from_drone[bench x:1.71 y:0.23 z:0.13], yaw_start:51.25, yaw_current:336.25]

Answer: CIRCLE: dx:0.01; dy:0.52; dz:0.00; yaw:171.25;


Context: [objects_distance_from_drone[bench x:1.80 y:0.35 z:0.10], yaw_start:51.25, yaw_current:351.25]

Answer: CIRCLE: dx:-0.12; dy:0.51; dz:0.00; yaw:-173.75;


Context: [objects_distance_from_drone[bench x:1.88 y:0.30 z:0.13], yaw_start:51.25, yaw_current:6.25]

Answer: CIRCLE: dx:-0.25; dy:0.46; dz:0.00; yaw:-158.75;


Context: [objects_distance_from_drone[bench x:1.96 y:0.19 z:0.13], yaw_start:51.25, yaw_current:21.25]

Answer: CIRCLE: dx:-0.36; dy:0.38; dz:0.00; yaw:-143.75;


Context: [drone_absolute_movement x:-1.85 y:-3.31 z:0.50, objects_distance_from_drone[bench x:2.00 y:0.12 z:0.13]]

Answer: RETURN: dx:1.85; dy:3.31;


Context: [objects_distance_from_drone[bench x:5.69 y:0.72 z:0.15]]

Answer: LAND


Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:12.00 y:5.40 z:0.37]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:8.85 y:0.86 z:0.34]]

Answer: MOVE: x:6.85; y:0.86; z:0.34


Context: [objects_distance_from_drone[pedestrian x:2.09 y:-0.00 z:0.12], yaw_start:103.74, yaw_current:88.74]

Answer: CIRCLE: dx:-0.49; dy:-0.19; dz:0.00; yaw:-76.26;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:103.74, yaw_current:103.74]

Answer: CIRCLE: dx:-0.42; dy:-0.31; dz:0.00; yaw:-61.26;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:103.74, yaw_current:118.74]

Answer: CIRCLE: dx:-0.33; dy:-0.41; dz:0.00; yaw:-46.26;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:103.74, yaw_current:133.74]

Answer: CIRCLE: dx:-0.21; dy:-0.48; dz:0.00; yaw:-31.26;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:103.74, yaw_current:148.74]

Answer: CIRCLE: dx:-0.08; dy:-0.52; dz:0.00; yaw:-16.26;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10], yaw_start:103.74, yaw_current:163.74]

Answer: CIRCLE: dx:0.06; dy:-0.52; dz:0.00; yaw:-1.26;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10], yaw_start:103.74, yaw_current:178.74]

Answer: CIRCLE: dx:0.19; dy:-0.49; dz:0.00; yaw:13.74;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09], yaw_start:103.74, yaw_current:193.74]

Answer: CIRCLE: dx:0.31; dy:-0.42; dz:0.00; yaw:28.74;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, bench x:19.44 y:6.80 z:0.08], yaw_start:103.74, yaw_current:208.74]

Answer: CIRCLE: dx:0.41; dy:-0.33; dz:0.00; yaw:43.74;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, dog x:20.78 y:6.14 z:-0.13, bench x:20.61 y:2.05 z:0.08, oil barrel x:13.27 y:5.99 z:-0.06], yaw_start:103.74, yaw_current:223.74]

Answer: CIRCLE: dx:0.48; dy:-0.21; dz:0.00; yaw:58.74;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, dog x:21.73 y:1.06 z:-0.14, bench x:20.51 y:-2.84 z:0.07, oil barrel x:14.47 y:2.99 z:-0.06], yaw_start:103.74, yaw_current:238.74]

Answer: CIRCLE: dx:0.52; dy:-0.08; dz:0.00; yaw:73.74;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, dog x:21.33 y:-4.09 z:-0.14, bench x:19.15 y:-7.55 z:0.07, oil barrel x:14.83 y:-0.35 z:-0.07], yaw_start:103.74, yaw_current:253.74]

Answer: CIRCLE: dx:0.52; dy:0.06; dz:0.00; yaw:88.74;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, dog x:19.61 y:-8.81 z:-0.15, oil barrel x:14.30 y:-3.67 z:-0.07], yaw_start:103.74, yaw_current:268.74]

Answer: CIRCLE: dx:0.49; dy:0.19; dz:0.00; yaw:103.74;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09], yaw_start:103.74, yaw_current:283.74]

Answer: CIRCLE: dx:0.42; dy:0.31; dz:0.00; yaw:118.74;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09], yaw_start:103.74, yaw_current:298.74]

Answer: CIRCLE: dx:0.33; dy:0.41; dz:0.00; yaw:133.74;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, BMW X5 x:10.56 y:6.49 z:0.36], yaw_start:103.74, yaw_current:313.74]

Answer: CIRCLE: dx:0.21; dy:0.48; dz:0.00; yaw:148.74;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, BMW X5 x:12.38 y:4.32 z:0.35], yaw_start:103.74, yaw_current:328.74]

Answer: CIRCLE: dx:0.08; dy:0.52; dz:0.00; yaw:163.74;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, BMW X5 x:13.06 y:1.19 z:0.35], yaw_start:103.74, yaw_current:343.74]

Answer: CIRCLE: dx:-0.06; dy:0.52; dz:0.00; yaw:178.74;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10, BMW X5 x:13.00 y:-1.72 z:0.34], yaw_start:103.74, yaw_current:358.74]

Answer: CIRCLE: dx:-0.19; dy:0.49; dz:0.00; yaw:-166.26;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10, BMW X5 x:12.16 y:-5.09 z:0.34], yaw_start:103.74, yaw_current:13.74]

Answer: CIRCLE: dx:-0.31; dy:0.42; dz:0.00; yaw:-151.26;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10, BMW X5 x:11.42 y:-7.90 z:0.14], yaw_start:103.74, yaw_current:28.74]

Answer: CIRCLE: dx:-0.41; dy:0.33; dz:0.00; yaw:-136.26;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:103.74, yaw_current:43.74]

Answer: CIRCLE: dx:-0.48; dy:0.21; dz:0.00; yaw:-121.26;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:103.74, yaw_current:58.74]

Answer: CIRCLE: dx:-0.52; dy:0.08; dz:0.00; yaw:-106.26;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:103.74, yaw_current:73.74]

Answer: CIRCLE: dx:-0.52; dy:-0.06; dz:0.00; yaw:-91.26;


Context: [drone_absolute_movement x:2.34 y:-6.66 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10]]

Answer: RETURN: dx:-2.34; dy:6.66;


Context: [objects_distance_from_drone[pedestrian x:8.93 y:0.61 z:0.33]]

Answer: LAND


Context: [objects_distance_from_drone[oil barrel x:4.87 y:0.50 z:0.42]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:3.77 y:-2.73 z:0.04]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:5.46 y:0.06 z:0.35]]

Answer: MOVE: x:1.46; y:0.06; z:0.35


Context: [objects_distance_from_drone[BMW X5 x:4.10 y:0.00 z:0.25], yaw_start:146.58, yaw_current:131.58]

Answer: CIRCLE: dx:-0.46; dy:-0.94; dz:0.00; yaw:-33.42;


Context: [objects_distance_from_drone[BMW X5 x:3.94 y:-0.01 z:0.34], yaw_start:146.58, yaw_current:146.58]

Answer: CIRCLE: dx:-0.20; dy:-1.03; dz:0.00; yaw:-18.42;


Context: [objects_distance_from_drone[BMW X5 x:3.82 y:-0.21 z:0.34], yaw_start:146.58, yaw_current:161.58]

Answer: CIRCLE: dx:0.07; dy:-1.04; dz:0.00; yaw:-3.42;


Context: [objects_distance_from_drone[BMW X5 x:3.71 y:-0.40 z:0.34], yaw_start:146.58, yaw_current:176.58]

Answer: CIRCLE: dx:0.34; dy:-0.99; dz:0.00; yaw:11.58;


Context: [objects_distance_from_drone[BMW X5 x:3.66 y:-0.26 z:0.34], yaw_start:146.58, yaw_current:191.58]

Answer: CIRCLE: dx:0.59; dy:-0.86; dz:0.00; yaw:26.58;


Context: [objects_distance_from_drone[BMW X5 x:3.60 y:-0.06 z:0.41], yaw_start:146.58, yaw_current:206.58]

Answer: CIRCLE: dx:0.79; dy:-0.68; dz:0.00; yaw:41.58;


Context: [objects_distance_from_drone[BMW X5 x:3.62 y:-0.21 z:0.46], yaw_start:146.58, yaw_current:221.58]

Answer: CIRCLE: dx:0.94; dy:-0.46; dz:0.00; yaw:56.58;


Context: [objects_distance_from_drone[BMW X5 x:3.69 y:-0.34 z:0.49], yaw_start:146.58, yaw_current:236.58]

Answer: CIRCLE: dx:1.03; dy:-0.20; dz:0.00; yaw:71.58;


Context: [objects_distance_from_drone[pedestrian x:24.62 y:11.37 z:0.36, BMW X5 x:3.75 y:-0.25 z:0.51], yaw_start:146.58, yaw_current:251.58]

Answer: CIRCLE: dx:1.04; dy:0.07; dz:0.00; yaw:86.58;


Context: [objects_distance_from_drone[BMW X5 x:3.78 y:-0.08 z:0.51], yaw_start:146.58, yaw_current:266.58]

Answer: CIRCLE: dx:0.99; dy:0.34; dz:0.00; yaw:101.58;


Context: [objects_distance_from_drone[BMW X5 x:3.77 y:0.21 z:0.48], yaw_start:146.58, yaw_current:281.58]

Answer: CIRCLE: dx:0.86; dy:0.59; dz:0.00; yaw:116.58;


Context: [objects_distance_from_drone[pedestrian x:27.23 y:-5.95 z:0.34, BMW X5 x:3.87 y:0.47 z:0.49], yaw_start:146.58, yaw_current:296.58]

Answer: CIRCLE: dx:0.68; dy:0.79; dz:0.00; yaw:131.58;


Context: [objects_distance_from_drone[pedestrian x:24.89 y:-11.17 z:0.33, BMW X5 x:3.92 y:0.60 z:0.48], yaw_start:146.58, yaw_current:311.58]

Answer: CIRCLE: dx:0.46; dy:0.94; dz:0.00; yaw:146.58;


Context: [objects_distance_from_drone[BMW X5 x:3.93 y:0.62 z:0.45], yaw_start:146.58, yaw_current:326.58]

Answer: CIRCLE: dx:0.20; dy:1.03; dz:0.00; yaw:161.58;


Context: [objects_distance_from_drone[BMW X5 x:3.92 y:0.49 z:0.41], yaw_start:146.58, yaw_current:341.58]

Answer: CIRCLE: dx:-0.07; dy:1.04; dz:0.00; yaw:176.58;


Context: [objects_distance_from_drone[BMW X5 x:3.92 y:0.20 z:0.35], yaw_start:146.58, yaw_current:356.58]

Answer: CIRCLE: dx:-0.34; dy:0.99; dz:0.00; yaw:-168.42;


Context: [objects_distance_from_drone[BMW X5 x:4.00 y:0.21 z:0.35], yaw_start:146.58, yaw_current:11.58]

Answer: CIRCLE: dx:-0.59; dy:0.86; dz:0.00; yaw:-153.42;


Context: [objects_distance_from_drone[BMW X5 x:4.04 y:0.23 z:0.35], yaw_start:146.58, yaw_current:26.58]

Answer: CIRCLE: dx:-0.79; dy:0.68; dz:0.00; yaw:-138.42;


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:-0.11 z:0.35], yaw_start:146.58, yaw_current:41.58]

Answer: CIRCLE: dx:-0.94; dy:0.46; dz:0.00; yaw:-123.42;


Context: [objects_distance_from_drone[BMW X5 x:4.14 y:-0.36 z:0.35], yaw_start:146.58, yaw_current:56.58]

Answer: CIRCLE: dx:-1.03; dy:0.20; dz:0.00; yaw:-108.42;


Context: [objects_distance_from_drone[BMW X5 x:4.16 y:-0.41 z:0.35], yaw_start:146.58, yaw_current:71.58]

Answer: CIRCLE: dx:-1.04; dy:-0.07; dz:0.00; yaw:-93.42;


Context: [objects_distance_from_drone[BMW X5 x:4.14 y:-0.37 z:0.35], yaw_start:146.58, yaw_current:86.58]

Answer: CIRCLE: dx:-0.99; dy:-0.34; dz:0.00; yaw:-78.42;


Context: [objects_distance_from_drone[BMW X5 x:4.07 y:-0.23 z:0.34], yaw_start:146.58, yaw_current:101.58]

Answer: CIRCLE: dx:-0.86; dy:-0.59; dz:0.00; yaw:-63.42;


Context: [objects_distance_from_drone[BMW X5 x:4.05 y:-0.10 z:0.35], yaw_start:146.58, yaw_current:116.58]

Answer: CIRCLE: dx:-0.68; dy:-0.79; dz:0.00; yaw:-48.42;


Context: [drone_absolute_movement x:1.24 y:-6.72 z:0.50, objects_distance_from_drone[BMW X5 x:3.99 y:-0.00 z:0.34]]

Answer: RETURN: dx:-1.24; dy:6.72;


Context: [objects_distance_from_drone[BMW X5 x:7.14 y:-5.33 z:0.17]]

Answer: LAND


Context: [objects_distance_from_drone[oil barrel x:9.13 y:2.19 z:0.43]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[oil barrel x:9.16 y:2.07 z:-0.05]]

Answer: SEARCH


Context: [objects_distance_from_drone[dog x:8.85 y:-0.83 z:-0.14]]

Answer: MOVE: x:6.85; y:-0.83; z:-0.14


Context: [objects_distance_from_drone[dog x:2.10 y:-0.00 z:-0.16], yaw_start:67.83, yaw_current:52.83]

Answer: CIRCLE: dx:-0.51; dy:0.13; dz:0.00; yaw:-112.17;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.03 z:-0.14], yaw_start:67.83, yaw_current:67.83]

Answer: CIRCLE: dx:-0.52; dy:-0.00; dz:0.00; yaw:-97.17;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.04 z:-0.14], yaw_start:67.83, yaw_current:82.83]

Answer: CIRCLE: dx:-0.50; dy:-0.14; dz:0.00; yaw:-82.17;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.06 z:-0.14], yaw_start:67.83, yaw_current:97.83]

Answer: CIRCLE: dx:-0.45; dy:-0.26; dz:0.00; yaw:-67.17;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.05 z:-0.14], yaw_start:67.83, yaw_current:112.83]

Answer: CIRCLE: dx:-0.37; dy:-0.37; dz:0.00; yaw:-52.17;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.04 z:-0.14], yaw_start:67.83, yaw_current:127.83]

Answer: CIRCLE: dx:-0.26; dy:-0.45; dz:0.00; yaw:-37.17;


Context: [objects_distance_from_drone[dog x:1.96 y:-0.04 z:-0.14], yaw_start:67.83, yaw_current:142.83]

Answer: CIRCLE: dx:-0.13; dy:-0.51; dz:0.00; yaw:-22.17;


Context: [objects_distance_from_drone[dog x:1.96 y:-0.05 z:-0.14], yaw_start:67.83, yaw_current:157.83]

Answer: CIRCLE: dx:0.00; dy:-0.52; dz:0.00; yaw:-7.17;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.05 z:-0.14], yaw_start:67.83, yaw_current:172.83]

Answer: CIRCLE: dx:0.14; dy:-0.50; dz:0.00; yaw:7.83;


Context: [objects_distance_from_drone[dog x:1.93 y:-0.04 z:-0.14, oil barrel x:17.56 y:4.74 z:-0.06], yaw_start:67.83, yaw_current:187.83]

Answer: CIRCLE: dx:0.26; dy:-0.45; dz:0.00; yaw:22.83;


Context: [objects_distance_from_drone[dog x:1.93 y:-0.04 z:-0.14], yaw_start:67.83, yaw_current:202.83]

Answer: CIRCLE: dx:0.37; dy:-0.37; dz:0.00; yaw:37.83;


Context: [objects_distance_from_drone[BMW X5 x:11.49 y:5.41 z:0.51, dog x:1.94 y:-0.03 z:-0.14, oil barrel x:17.84 y:-3.69 z:-0.07], yaw_start:67.83, yaw_current:217.83]

Answer: CIRCLE: dx:0.45; dy:-0.26; dz:0.00; yaw:52.83;


Context: [objects_distance_from_drone[BMW X5 x:12.41 y:6.18 z:0.35, dog x:1.94 y:-0.01 z:-0.14, bench x:21.00 y:7.70 z:0.08, oil barrel x:16.34 y:-7.49 z:-0.07], yaw_start:67.83, yaw_current:232.83]

Answer: CIRCLE: dx:0.51; dy:-0.13; dz:0.00; yaw:67.83;


Context: [objects_distance_from_drone[pedestrian x:18.43 y:7.84 z:0.35, dog x:1.93 y:0.01 z:-0.14], yaw_start:67.83, yaw_current:247.83]

Answer: CIRCLE: dx:0.52; dy:0.00; dz:0.00; yaw:82.83;


Context: [objects_distance_from_drone[pedestrian x:19.99 y:3.63 z:0.35, BMW X5 x:13.76 y:-0.51 z:0.34, dog x:1.93 y:0.02 z:-0.14], yaw_start:67.83, yaw_current:262.83]

Answer: CIRCLE: dx:0.50; dy:0.14; dz:0.00; yaw:97.83;


Context: [objects_distance_from_drone[pedestrian x:20.31 y:-1.16 z:0.34, BMW X5 x:13.22 y:-3.53 z:0.34, dog x:1.93 y:0.04 z:-0.14], yaw_start:67.83, yaw_current:277.83]

Answer: CIRCLE: dx:0.45; dy:0.26; dz:0.00; yaw:112.83;


Context: [objects_distance_from_drone[pedestrian x:19.39 y:-5.87 z:0.34, BMW X5 x:11.67 y:-7.25 z:0.34, dog x:1.94 y:0.03 z:-0.14], yaw_start:67.83, yaw_current:292.83]

Answer: CIRCLE: dx:0.37; dy:0.37; dz:0.00; yaw:127.83;


Context: [objects_distance_from_drone[dog x:1.95 y:0.02 z:-0.14], yaw_start:67.83, yaw_current:307.83]

Answer: CIRCLE: dx:0.26; dy:0.45; dz:0.00; yaw:142.83;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14], yaw_start:67.83, yaw_current:322.83]

Answer: CIRCLE: dx:0.13; dy:0.51; dz:0.00; yaw:157.83;


Context: [objects_distance_from_drone[dog x:1.98 y:0.03 z:-0.14], yaw_start:67.83, yaw_current:337.83]

Answer: CIRCLE: dx:-0.00; dy:0.52; dz:0.00; yaw:172.83;


Context: [objects_distance_from_drone[dog x:2.00 y:0.03 z:-0.14], yaw_start:67.83, yaw_current:352.83]

Answer: CIRCLE: dx:-0.14; dy:0.50; dz:0.00; yaw:-172.17;


Context: [objects_distance_from_drone[dog x:2.02 y:0.02 z:-0.14], yaw_start:67.83, yaw_current:7.83]

Answer: CIRCLE: dx:-0.26; dy:0.45; dz:0.00; yaw:-157.17;


Context: [objects_distance_from_drone[dog x:2.02 y:0.02 z:-0.14], yaw_start:67.83, yaw_current:22.83]

Answer: CIRCLE: dx:-0.37; dy:0.37; dz:0.00; yaw:-142.17;


Context: [objects_distance_from_drone[dog x:2.00 y:0.01 z:-0.14], yaw_start:67.83, yaw_current:37.83]

Answer: CIRCLE: dx:-0.45; dy:0.26; dz:0.00; yaw:-127.17;


Context: [drone_absolute_movement x:-2.60 y:-6.38 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:2.60; dy:6.38;


Context: [objects_distance_from_drone[dog x:8.79 y:-0.16 z:-0.10]]

Answer: LAND


Context: [objects_distance_from_drone[pedestrian x:6.96 y:0.56 z:0.84]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:6.92 y:0.56 z:0.36]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:6.15 y:-2.55 z:0.35, dog x:7.01 y:1.73 z:-0.13, bench x:14.96 y:1.26 z:0.08]]

Answer: MOVE: x:12.96; y:1.26; z:0.08


Context: [objects_distance_from_drone[bench x:2.09 y:-0.00 z:0.10], yaw_start:216.63, yaw_current:201.63]

Answer: CIRCLE: dx:0.36; dy:-0.37; dz:0.00; yaw:36.63;


Context: [objects_distance_from_drone[bench x:2.01 y:0.00 z:0.12], yaw_start:216.63, yaw_current:216.63]

Answer: CIRCLE: dx:0.45; dy:-0.27; dz:0.00; yaw:51.63;


Context: [objects_distance_from_drone[bench x:2.01 y:0.06 z:0.10], yaw_start:216.63, yaw_current:231.63]

Answer: CIRCLE: dx:0.50; dy:-0.14; dz:0.00; yaw:66.63;


Context: [objects_distance_from_drone[bench x:2.00 y:0.08 z:0.08], yaw_start:216.63, yaw_current:246.63]

Answer: CIRCLE: dx:0.52; dy:-0.01; dz:0.00; yaw:81.63;


Context: [objects_distance_from_drone[bench x:1.98 y:0.06 z:0.06], yaw_start:216.63, yaw_current:261.63]

Answer: CIRCLE: dx:0.51; dy:0.13; dz:0.00; yaw:96.63;


Context: [objects_distance_from_drone[bench x:1.95 y:-0.07 z:0.07], yaw_start:216.63, yaw_current:276.63]

Answer: CIRCLE: dx:0.46; dy:0.25; dz:0.00; yaw:111.63;


Context: [objects_distance_from_drone[bench x:1.93 y:-0.16 z:0.07], yaw_start:216.63, yaw_current:291.63]

Answer: CIRCLE: dx:0.37; dy:0.36; dz:0.00; yaw:126.63;


Context: [objects_distance_from_drone[BMW X5 x:11.09 y:5.18 z:0.40, bench x:1.88 y:-0.10 z:0.07], yaw_start:216.63, yaw_current:306.63]

Answer: CIRCLE: dx:0.27; dy:0.45; dz:0.00; yaw:141.63;


Context: [objects_distance_from_drone[bench x:1.87 y:-0.14 z:0.07], yaw_start:216.63, yaw_current:321.63]

Answer: CIRCLE: dx:0.14; dy:0.50; dz:0.00; yaw:156.63;


Context: [objects_distance_from_drone[bench x:1.87 y:-0.24 z:0.07], yaw_start:216.63, yaw_current:336.63]

Answer: CIRCLE: dx:0.01; dy:0.52; dz:0.00; yaw:171.63;


Context: [objects_distance_from_drone[bench x:1.89 y:-0.23 z:0.09], yaw_start:216.63, yaw_current:351.63]

Answer: CIRCLE: dx:-0.13; dy:0.51; dz:0.00; yaw:-173.37;


Context: [objects_distance_from_drone[bench x:1.89 y:-0.18 z:0.10], yaw_start:216.63, yaw_current:6.63]

Answer: CIRCLE: dx:-0.25; dy:0.46; dz:0.00; yaw:-158.37;


Context: [objects_distance_from_drone[pedestrian x:11.02 y:3.79 z:0.35, bench x:1.87 y:-0.10 z:0.12, oil barrel x:14.09 y:6.50 z:-0.06], yaw_start:216.63, yaw_current:21.63]

Answer: CIRCLE: dx:-0.36; dy:0.37; dz:0.00; yaw:-143.37;


Context: [objects_distance_from_drone[pedestrian x:11.70 y:1.32 z:0.34, bench x:1.85 y:0.03 z:0.13], yaw_start:216.63, yaw_current:36.63]

Answer: CIRCLE: dx:-0.45; dy:0.27; dz:0.00; yaw:-128.37;


Context: [objects_distance_from_drone[bench x:1.86 y:0.13 z:0.13], yaw_start:216.63, yaw_current:51.63]

Answer: CIRCLE: dx:-0.50; dy:0.14; dz:0.00; yaw:-113.37;


Context: [objects_distance_from_drone[bench x:1.87 y:0.19 z:0.13], yaw_start:216.63, yaw_current:66.63]

Answer: CIRCLE: dx:-0.52; dy:0.01; dz:0.00; yaw:-98.37;


Context: [objects_distance_from_drone[bench x:1.84 y:0.21 z:0.13], yaw_start:216.63, yaw_current:81.63]

Answer: CIRCLE: dx:-0.51; dy:-0.13; dz:0.00; yaw:-83.37;


Context: [objects_distance_from_drone[bench x:1.84 y:0.12 z:0.13], yaw_start:216.63, yaw_current:96.63]

Answer: CIRCLE: dx:-0.46; dy:-0.25; dz:0.00; yaw:-68.37;


Context: [objects_distance_from_drone[bench x:1.85 y:0.05 z:0.11], yaw_start:216.63, yaw_current:111.63]

Answer: CIRCLE: dx:-0.37; dy:-0.36; dz:0.00; yaw:-53.37;


Context: [objects_distance_from_drone[bench x:1.90 y:0.12 z:0.08], yaw_start:216.63, yaw_current:126.63]

Answer: CIRCLE: dx:-0.27; dy:-0.45; dz:0.00; yaw:-38.37;


Context: [objects_distance_from_drone[bench x:1.91 y:0.07 z:0.12], yaw_start:216.63, yaw_current:141.63]

Answer: CIRCLE: dx:-0.14; dy:-0.50; dz:0.00; yaw:-23.37;


Context: [objects_distance_from_drone[bench x:1.93 y:-0.06 z:0.14], yaw_start:216.63, yaw_current:156.63]

Answer: CIRCLE: dx:-0.01; dy:-0.52; dz:0.00; yaw:-8.37;


Context: [objects_distance_from_drone[bench x:1.97 y:-0.10 z:0.13], yaw_start:216.63, yaw_current:171.63]

Answer: CIRCLE: dx:0.13; dy:-0.51; dz:0.00; yaw:6.63;


Context: [objects_distance_from_drone[bench x:1.97 y:-0.08 z:0.13], yaw_start:216.63, yaw_current:186.63]

Answer: CIRCLE: dx:0.25; dy:-0.46; dz:0.00; yaw:21.63;


Context: [drone_absolute_movement x:10.38 y:7.82 z:0.50, objects_distance_from_drone[bench x:1.98 y:-0.03 z:0.14]]

Answer: RETURN: dx:-10.38; dy:-7.82;


Context: [objects_distance_from_drone[pedestrian x:5.78 y:-2.77 z:0.48, dog x:7.04 y:1.10 z:0.01, bench x:14.92 y:-0.01 z:0.40]]

Answer: LAND


Context: [objects_distance_from_drone[dog x:5.27 y:2.11 z:0.36, bench x:9.26 y:-2.72 z:0.57]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[dog x:5.19 y:2.16 z:-0.12, bench x:9.27 y:-2.60 z:0.10]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:14.35 y:-1.24 z:0.34]]

Answer: MOVE: x:12.35; y:-1.24; z:0.34


Context: [objects_distance_from_drone[pedestrian x:2.10 y:-0.00 z:0.11], yaw_start:41.56, yaw_current:26.56]

Answer: CIRCLE: dx:-0.39; dy:0.34; dz:0.00; yaw:-138.44;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:41.56, yaw_current:41.56]

Answer: CIRCLE: dx:-0.47; dy:0.23; dz:0.00; yaw:-123.44;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:41.56, yaw_current:56.56]

Answer: CIRCLE: dx:-0.51; dy:0.10; dz:0.00; yaw:-108.44;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:41.56, yaw_current:71.56]

Answer: CIRCLE: dx:-0.52; dy:-0.04; dz:0.00; yaw:-93.44;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.09], yaw_start:41.56, yaw_current:86.56]

Answer: CIRCLE: dx:-0.49; dy:-0.17; dz:0.00; yaw:-78.44;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09], yaw_start:41.56, yaw_current:101.56]

Answer: CIRCLE: dx:-0.43; dy:-0.29; dz:0.00; yaw:-63.44;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, oil barrel x:9.19 y:4.22 z:-0.07], yaw_start:41.56, yaw_current:116.56]

Answer: CIRCLE: dx:-0.34; dy:-0.39; dz:0.00; yaw:-48.44;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, oil barrel x:10.10 y:2.43 z:-0.07], yaw_start:41.56, yaw_current:131.56]

Answer: CIRCLE: dx:-0.23; dy:-0.47; dz:0.00; yaw:-33.44;


Context: [objects_distance_from_drone[pedestrian x:1.93 y:-0.00 z:0.09, oil barrel x:10.45 y:0.24 z:-0.07], yaw_start:41.56, yaw_current:146.56]

Answer: CIRCLE: dx:-0.10; dy:-0.51; dz:0.00; yaw:-18.44;


Context: [objects_distance_from_drone[pedestrian x:1.93 y:-0.00 z:0.09, bench x:21.24 y:8.30 z:0.08, oil barrel x:10.23 y:-1.96 z:-0.07], yaw_start:41.56, yaw_current:161.56]

Answer: CIRCLE: dx:0.04; dy:-0.52; dz:0.00; yaw:-3.44;


Context: [objects_distance_from_drone[pedestrian x:1.93 y:-0.00 z:0.09, dog x:19.79 y:8.55 z:-0.13, bench x:22.73 y:3.03 z:0.08, oil barrel x:9.44 y:-4.03 z:-0.07], yaw_start:41.56, yaw_current:176.56]

Answer: CIRCLE: dx:0.17; dy:-0.49; dz:0.00; yaw:11.56;


Context: [objects_distance_from_drone[pedestrian x:1.93 y:0.00 z:0.09, dog x:21.41 y:3.66 z:-0.13, bench x:22.81 y:-2.45 z:0.07], yaw_start:41.56, yaw_current:191.56]

Answer: CIRCLE: dx:0.29; dy:-0.43; dz:0.00; yaw:26.56;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09, BMW X5 x:10.40 y:4.57 z:0.52, dog x:21.70 y:-1.48 z:-0.14, bench x:21.48 y:-7.76 z:0.06], yaw_start:41.56, yaw_current:206.56]

Answer: CIRCLE: dx:0.39; dy:-0.34; dz:0.00; yaw:41.56;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, BMW X5 x:11.37 y:5.14 z:0.35, dog x:20.64 y:-6.53 z:-0.14], yaw_start:41.56, yaw_current:221.56]

Answer: CIRCLE: dx:0.47; dy:-0.23; dz:0.00; yaw:56.56;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, BMW X5 x:12.46 y:2.33 z:0.35], yaw_start:41.56, yaw_current:236.56]

Answer: CIRCLE: dx:0.51; dy:-0.10; dz:0.00; yaw:71.56;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10, BMW X5 x:12.71 y:-0.48 z:0.34], yaw_start:41.56, yaw_current:251.56]

Answer: CIRCLE: dx:0.52; dy:0.04; dz:0.00; yaw:86.56;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10, BMW X5 x:12.22 y:-3.23 z:0.34], yaw_start:41.56, yaw_current:266.56]

Answer: CIRCLE: dx:0.49; dy:0.17; dz:0.00; yaw:101.56;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10, BMW X5 x:10.79 y:-6.65 z:0.34], yaw_start:41.56, yaw_current:281.56]

Answer: CIRCLE: dx:0.43; dy:0.29; dz:0.00; yaw:116.56;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:41.56, yaw_current:296.56]

Answer: CIRCLE: dx:0.34; dy:0.39; dz:0.00; yaw:131.56;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:41.56, yaw_current:311.56]

Answer: CIRCLE: dx:0.23; dy:0.47; dz:0.00; yaw:146.56;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:0.00 z:0.10], yaw_start:41.56, yaw_current:326.56]

Answer: CIRCLE: dx:0.10; dy:0.51; dz:0.00; yaw:161.56;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:41.56, yaw_current:341.56]

Answer: CIRCLE: dx:-0.04; dy:0.52; dz:0.00; yaw:176.56;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:41.56, yaw_current:356.56]

Answer: CIRCLE: dx:-0.17; dy:0.49; dz:0.00; yaw:-168.44;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:41.56, yaw_current:11.56]

Answer: CIRCLE: dx:-0.29; dy:0.43; dz:0.00; yaw:-153.44;


Context: [drone_absolute_movement x:-8.94 y:-8.54 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10]]

Answer: RETURN: dx:8.94; dy:8.54;


Context: [objects_distance_from_drone[pedestrian x:14.25 y:-0.00 z:0.73]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:4.68 y:-2.24 z:0.67]]

Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:4.99 y:1.17 z:0.35]]

Answer: MOVE: x:0.99; y:1.17; z:0.35


Context: [objects_distance_from_drone[BMW X5 x:4.01 y:0.34 z:2.81], yaw_start:136.88, yaw_current:121.88]

Answer: CIRCLE: dx:-0.61; dy:-0.85; dz:0.00; yaw:-43.12;


Context: [objects_distance_from_drone[BMW X5 x:4.11 y:-1.60 z:0.36], yaw_start:136.88, yaw_current:136.88]

Answer: CIRCLE: dx:-0.37; dy:-0.98; dz:0.00; yaw:-28.12;


Context: [objects_distance_from_drone[BMW X5 x:3.85 y:-1.84 z:0.47], yaw_start:136.88, yaw_current:151.88]

Answer: CIRCLE: dx:-0.10; dy:-1.04; dz:0.00; yaw:-13.12;


Context: [objects_distance_from_drone[BMW X5 x:3.58 y:-1.91 z:0.54], yaw_start:136.88, yaw_current:166.88]

Answer: CIRCLE: dx:0.17; dy:-1.03; dz:0.00; yaw:1.88;


Context: [objects_distance_from_drone[BMW X5 x:3.39 y:-1.80 z:0.57], yaw_start:136.88, yaw_current:181.88]

Answer: CIRCLE: dx:0.43; dy:-0.95; dz:0.00; yaw:16.88;


Context: [objects_distance_from_drone[BMW X5 x:3.06 y:-1.49 z:0.63], yaw_start:136.88, yaw_current:196.88]

Answer: CIRCLE: dx:0.66; dy:-0.81; dz:0.00; yaw:31.88;


Context: [objects_distance_from_drone[BMW X5 x:2.83 y:-0.79 z:0.68, dog x:14.73 y:6.28 z:-0.13], yaw_start:136.88, yaw_current:211.88]

Answer: CIRCLE: dx:0.85; dy:-0.61; dz:0.00; yaw:46.88;


Context: [objects_distance_from_drone[BMW X5 x:2.84 y:-0.17 z:0.68], yaw_start:136.88, yaw_current:226.88]

Answer: CIRCLE: dx:0.98; dy:-0.37; dz:0.00; yaw:61.88;


Context: [objects_distance_from_drone[BMW X5 x:2.74 y:0.19 z:0.68], yaw_start:136.88, yaw_current:241.88]

Answer: CIRCLE: dx:1.04; dy:-0.10; dz:0.00; yaw:76.88;


Context: [objects_distance_from_drone[BMW X5 x:2.58 y:0.49 z:0.69], yaw_start:136.88, yaw_current:256.88]

Answer: CIRCLE: dx:1.03; dy:0.17; dz:0.00; yaw:91.88;


Context: [objects_distance_from_drone[BMW X5 x:2.57 y:0.75 z:0.65], yaw_start:136.88, yaw_current:271.88]

Answer: CIRCLE: dx:0.95; dy:0.43; dz:0.00; yaw:106.88;


Context: [objects_distance_from_drone[BMW X5 x:2.71 y:1.07 z:0.57], yaw_start:136.88, yaw_current:286.88]

Answer: CIRCLE: dx:0.81; dy:0.66; dz:0.00; yaw:121.88;


Context: [objects_distance_from_drone[BMW X5 x:3.19 y:1.63 z:0.45], yaw_start:136.88, yaw_current:301.88]

Answer: CIRCLE: dx:0.61; dy:0.85; dz:0.00; yaw:136.88;


Context: [objects_distance_from_drone[BMW X5 x:3.48 y:1.72 z:0.35], yaw_start:136.88, yaw_current:316.88]

Answer: CIRCLE: dx:0.37; dy:0.98; dz:0.00; yaw:151.88;


Context: [objects_distance_from_drone[BMW X5 x:3.81 y:1.62 z:0.35], yaw_start:136.88, yaw_current:331.88]

Answer: CIRCLE: dx:0.10; dy:1.04; dz:0.00; yaw:166.88;


Context: [objects_distance_from_drone[BMW X5 x:4.10 y:1.35 z:0.35, bench x:18.45 y:-8.97 z:0.07], yaw_start:136.88, yaw_current:346.88]

Answer: CIRCLE: dx:-0.17; dy:1.03; dz:0.00; yaw:-178.12;


Context: [objects_distance_from_drone[BMW X5 x:4.37 y:1.00 z:0.35], yaw_start:136.88, yaw_current:1.88]

Answer: CIRCLE: dx:-0.43; dy:0.95; dz:0.00; yaw:-163.12;


Context: [objects_distance_from_drone[BMW X5 x:4.56 y:0.85 z:0.35], yaw_start:136.88, yaw_current:16.88]

Answer: CIRCLE: dx:-0.66; dy:0.81; dz:0.00; yaw:-148.12;


Context: [objects_distance_from_drone[BMW X5 x:4.82 y:0.89 z:0.35, oil barrel x:14.06 y:-3.02 z:-0.07], yaw_start:136.88, yaw_current:31.88]

Answer: CIRCLE: dx:-0.85; dy:0.61; dz:0.00; yaw:-133.12;


Context: [objects_distance_from_drone[BMW X5 x:4.97 y:0.67 z:0.35, oil barrel x:12.94 y:-5.53 z:-0.08], yaw_start:136.88, yaw_current:46.88]

Answer: CIRCLE: dx:-0.98; dy:0.37; dz:0.00; yaw:-118.12;


Context: [objects_distance_from_drone[BMW X5 x:5.06 y:0.34 z:0.35], yaw_start:136.88, yaw_current:61.88]

Answer: CIRCLE: dx:-1.04; dy:0.10; dz:0.00; yaw:-103.12;


Context: [objects_distance_from_drone[BMW X5 x:5.06 y:-0.06 z:0.34], yaw_start:136.88, yaw_current:76.88]

Answer: CIRCLE: dx:-1.03; dy:-0.17; dz:0.00; yaw:-88.12;


Context: [objects_distance_from_drone[BMW X5 x:4.99 y:-0.61 z:0.34], yaw_start:136.88, yaw_current:91.88]

Answer: CIRCLE: dx:-0.95; dy:-0.43; dz:0.00; yaw:-73.12;


Context: [objects_distance_from_drone[BMW X5 x:4.83 y:-1.09 z:0.34], yaw_start:136.88, yaw_current:106.88]

Answer: CIRCLE: dx:-0.81; dy:-0.66; dz:0.00; yaw:-58.12;


Context: [drone_absolute_movement x:0.13 y:-0.61 z:0.50, objects_distance_from_drone[BMW X5 x:4.39 y:-1.34 z:0.33]]

Answer: RETURN: dx:-0.13; dy:0.61;


Context: [objects_distance_from_drone[BMW X5 x:4.75 y:-1.80 z:0.44]]

Answer: LAND


Context: [objects_distance_from_drone[oil barrel x:12.39 y:-0.14 z:0.43]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[oil barrel x:12.34 y:-0.17 z:-0.05]]

Answer: SEARCH


Context: [objects_distance_from_drone[dog x:6.03 y:-0.54 z:-0.14]]

Answer: MOVE: x:4.03; y:-0.54; z:-0.14


Context: [objects_distance_from_drone[dog x:2.09 y:-0.00 z:-0.15], yaw_start:5.42, yaw_current:350.42]

Answer: CIRCLE: dx:-0.12; dy:0.51; dz:0.00; yaw:-174.58;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.01 z:-0.14], yaw_start:5.42, yaw_current:5.42]

Answer: CIRCLE: dx:-0.24; dy:0.46; dz:0.00; yaw:-159.58;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.03 z:-0.14], yaw_start:5.42, yaw_current:20.42]

Answer: CIRCLE: dx:-0.36; dy:0.38; dz:0.00; yaw:-144.58;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.03 z:-0.14, bench x:13.67 y:3.96 z:0.08], yaw_start:5.42, yaw_current:35.42]

Answer: CIRCLE: dx:-0.44; dy:0.28; dz:0.00; yaw:-129.58;


Context: [objects_distance_from_drone[dog x:1.96 y:-0.04 z:-0.14], yaw_start:5.42, yaw_current:50.42]

Answer: CIRCLE: dx:-0.50; dy:0.15; dz:0.00; yaw:-114.58;


Context: [objects_distance_from_drone[dog x:1.96 y:-0.04 z:-0.14], yaw_start:5.42, yaw_current:65.42]

Answer: CIRCLE: dx:-0.52; dy:0.02; dz:0.00; yaw:-99.58;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14, bench x:13.00 y:-5.62 z:0.07], yaw_start:5.42, yaw_current:80.42]

Answer: CIRCLE: dx:-0.51; dy:-0.12; dz:0.00; yaw:-84.58;


Context: [objects_distance_from_drone[dog x:1.96 y:-0.03 z:-0.14], yaw_start:5.42, yaw_current:95.42]

Answer: CIRCLE: dx:-0.46; dy:-0.24; dz:0.00; yaw:-69.58;


Context: [objects_distance_from_drone[dog x:1.95 y:-0.02 z:-0.14], yaw_start:5.42, yaw_current:110.42]

Answer: CIRCLE: dx:-0.38; dy:-0.36; dz:0.00; yaw:-54.58;


Context: [objects_distance_from_drone[dog x:1.95 y:-0.01 z:-0.14], yaw_start:5.42, yaw_current:125.42]

Answer: CIRCLE: dx:-0.28; dy:-0.44; dz:0.00; yaw:-39.58;


Context: [objects_distance_from_drone[dog x:1.94 y:0.01 z:-0.14, oil barrel x:18.51 y:8.06 z:-0.06], yaw_start:5.42, yaw_current:140.42]

Answer: CIRCLE: dx:-0.15; dy:-0.50; dz:0.00; yaw:-24.58;


Context: [objects_distance_from_drone[dog x:1.94 y:0.00 z:-0.14, oil barrel x:20.04 y:3.50 z:-0.06], yaw_start:5.42, yaw_current:155.42]

Answer: CIRCLE: dx:-0.02; dy:-0.52; dz:0.00; yaw:-9.58;


Context: [objects_distance_from_drone[pedestrian x:16.37 y:5.47 z:0.35, BMW X5 x:8.41 y:5.76 z:0.35, dog x:1.94 y:-0.01 z:-0.14, oil barrel x:20.33 y:-1.29 z:-0.07], yaw_start:5.42, yaw_current:170.42]

Answer: CIRCLE: dx:0.12; dy:-0.51; dz:0.00; yaw:5.42;


Context: [objects_distance_from_drone[pedestrian x:17.30 y:1.56 z:0.34, BMW X5 x:8.91 y:4.60 z:0.35, dog x:1.95 y:-0.01 z:-0.14, oil barrel x:19.37 y:-6.00 z:-0.08], yaw_start:5.42, yaw_current:185.42]

Answer: CIRCLE: dx:0.24; dy:-0.46; dz:0.00; yaw:20.42;


Context: [objects_distance_from_drone[dog x:1.95 y:0.01 z:-0.14], yaw_start:5.42, yaw_current:200.42]

Answer: CIRCLE: dx:0.36; dy:-0.38; dz:0.00; yaw:35.42;


Context: [objects_distance_from_drone[pedestrian x:16.02 y:-6.32 z:0.34, BMW X5 x:10.19 y:-0.39 z:0.34, dog x:1.97 y:0.02 z:-0.14], yaw_start:5.42, yaw_current:215.42]

Answer: CIRCLE: dx:0.44; dy:-0.28; dz:0.00; yaw:50.42;


Context: [objects_distance_from_drone[BMW X5 x:9.70 y:-2.63 z:0.34, dog x:1.99 y:0.02 z:-0.14], yaw_start:5.42, yaw_current:230.42]

Answer: CIRCLE: dx:0.50; dy:-0.15; dz:0.00; yaw:65.42;


Context: [objects_distance_from_drone[BMW X5 x:8.57 y:-5.30 z:0.34, dog x:1.98 y:0.03 z:-0.14], yaw_start:5.42, yaw_current:245.42]

Answer: CIRCLE: dx:0.52; dy:-0.02; dz:0.00; yaw:80.42;


Context: [objects_distance_from_drone[BMW X5 x:7.95 y:-6.31 z:0.14, dog x:1.97 y:0.02 z:-0.14], yaw_start:5.42, yaw_current:260.42]

Answer: CIRCLE: dx:0.51; dy:0.12; dz:0.00; yaw:95.42;


Context: [objects_distance_from_drone[dog x:1.98 y:0.01 z:-0.14], yaw_start:5.42, yaw_current:275.42]

Answer: CIRCLE: dx:0.46; dy:0.24; dz:0.00; yaw:110.42;


Context: [objects_distance_from_drone[dog x:1.98 y:0.00 z:-0.14], yaw_start:5.42, yaw_current:290.42]

Answer: CIRCLE: dx:0.38; dy:0.36; dz:0.00; yaw:125.42;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14], yaw_start:5.42, yaw_current:305.42]

Answer: CIRCLE: dx:0.28; dy:0.44; dz:0.00; yaw:140.42;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.02 z:-0.14], yaw_start:5.42, yaw_current:320.42]

Answer: CIRCLE: dx:0.15; dy:0.50; dz:0.00; yaw:155.42;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.02 z:-0.14], yaw_start:5.42, yaw_current:335.42]

Answer: CIRCLE: dx:0.02; dy:0.52; dz:0.00; yaw:170.42;


Context: [drone_absolute_movement x:-3.99 y:-0.42 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:3.99; dy:0.42;


Context: [objects_distance_from_drone[dog x:5.92 y:-0.09 z:-0.17]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:10.55 y:4.20 z:0.34, bench x:9.71 y:-0.87 z:0.08]]

Answer: MOVE: x:7.71; y:-0.87; z:0.08


Context: [objects_distance_from_drone[bench x:2.09 y:-0.05 z:0.45], yaw_start:42.00, yaw_current:27.00]

Answer: CIRCLE: dx:-0.40; dy:0.34; dz:0.00; yaw:-138.00;