Context: [objects_distance_from_drone[BMW X5 x:3.78 y:-0.48 z:0.45], yaw_start:154.54, yaw_current:319.54]

Answer: CIRCLE: dx:0.32; dy:0.99; dz:0.00; yaw:154.54;


Context: [objects_distance_from_drone[BMW X5 x:3.82 y:-0.53 z:0.48], yaw_start:154.54, yaw_current:334.54]

Answer: CIRCLE: dx:0.05; dy:1.04; dz:0.00; yaw:169.54;


Context: [objects_distance_from_drone[BMW X5 x:3.82 y:-0.43 z:0.50, bench x:18.17 y:8.25 z:0.08], yaw_start:154.54, yaw_current:349.54]

Answer: CIRCLE: dx:-0.22; dy:1.02; dz:0.00; yaw:-175.46;


Context: [objects_distance_from_drone[BMW X5 x:3.80 y:-0.24 z:0.49], yaw_start:154.54, yaw_current:4.54]

Answer: CIRCLE: dx:-0.47; dy:0.93; dz:0.00; yaw:-160.46;


Context: [objects_distance_from_drone[BMW X5 x:3.80 y:0.09 z:0.48], yaw_start:154.54, yaw_current:19.54]

Answer: CIRCLE: dx:-0.70; dy:0.78; dz:0.00; yaw:-145.46;


Context: [objects_distance_from_drone[BMW X5 x:3.80 y:0.32 z:0.50], yaw_start:154.54, yaw_current:34.54]

Answer: CIRCLE: dx:-0.88; dy:0.57; dz:0.00; yaw:-130.46;


Context: [objects_distance_from_drone[BMW X5 x:3.82 y:0.45 z:0.50, bench x:17.98 y:-8.30 z:0.06], yaw_start:154.54, yaw_current:49.54]

Answer: CIRCLE: dx:-0.99; dy:0.32; dz:0.00; yaw:-115.46;


Context: [objects_distance_from_drone[BMW X5 x:3.76 y:0.47 z:0.47], yaw_start:154.54, yaw_current:64.54]

Answer: CIRCLE: dx:-1.04; dy:0.05; dz:0.00; yaw:-100.46;


Context: [objects_distance_from_drone[BMW X5 x:3.73 y:0.28 z:0.43], yaw_start:154.54, yaw_current:79.54]

Answer: CIRCLE: dx:-1.02; dy:-0.22; dz:0.00; yaw:-85.46;


Context: [objects_distance_from_drone[BMW X5 x:3.75 y:0.13 z:0.36], yaw_start:154.54, yaw_current:94.54]

Answer: CIRCLE: dx:-0.93; dy:-0.47; dz:0.00; yaw:-70.46;


Context: [objects_distance_from_drone[BMW X5 x:3.85 y:0.32 z:0.35], yaw_start:154.54, yaw_current:109.54]

Answer: CIRCLE: dx:-0.78; dy:-0.70; dz:0.00; yaw:-55.46;


Context: [objects_distance_from_drone[BMW X5 x:3.90 y:0.25 z:0.35], yaw_start:154.54, yaw_current:124.54]

Answer: CIRCLE: dx:-0.57; dy:-0.88; dz:0.00; yaw:-40.46;


Context: [drone_absolute_movement x:4.95 y:1.55 z:0.50, objects_distance_from_drone[BMW X5 x:3.98 y:-0.02 z:0.35]]

Answer: RETURN: dx:-4.95; dy:-1.55;


Context: [objects_distance_from_drone[BMW X5 x:7.74 y:4.33 z:0.52]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[dog x:9.37 y:0.85 z:-0.14]]

Answer: MOVE: x:7.37; y:0.85; z:-0.14


Context: [objects_distance_from_drone[dog x:2.10 y:0.00 z:-0.16], yaw_start:354.62, yaw_current:339.62]

Answer: CIRCLE: dx:-0.02; dy:0.52; dz:0.00; yaw:174.62;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14], yaw_start:354.62, yaw_current:354.62]

Answer: CIRCLE: dx:-0.15; dy:0.50; dz:0.00; yaw:-170.38;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.02 z:-0.14], yaw_start:354.62, yaw_current:9.62]

Answer: CIRCLE: dx:-0.28; dy:0.44; dz:0.00; yaw:-155.38;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.05 z:-0.14], yaw_start:354.62, yaw_current:24.62]

Answer: CIRCLE: dx:-0.38; dy:0.36; dz:0.00; yaw:-140.38;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.05 z:-0.14], yaw_start:354.62, yaw_current:39.62]

Answer: CIRCLE: dx:-0.46; dy:0.24; dz:0.00; yaw:-125.38;


Context: [objects_distance_from_drone[pedestrian x:9.86 y:4.59 z:0.35, dog x:1.97 y:-0.04 z:-0.14], yaw_start:354.62, yaw_current:54.62]

Answer: CIRCLE: dx:-0.51; dy:0.12; dz:0.00; yaw:-110.38;


Context: [objects_distance_from_drone[pedestrian x:11.02 y:3.30 z:0.35, dog x:1.96 y:-0.04 z:-0.14], yaw_start:354.62, yaw_current:69.62]

Answer: CIRCLE: dx:-0.52; dy:-0.02; dz:0.00; yaw:-95.38;


Context: [objects_distance_from_drone[pedestrian x:11.57 y:0.84 z:0.34, BMW X5 x:11.11 y:5.07 z:0.40, dog x:1.98 y:-0.03 z:-0.14], yaw_start:354.62, yaw_current:84.62]

Answer: CIRCLE: dx:-0.50; dy:-0.15; dz:0.00; yaw:-80.38;


Context: [objects_distance_from_drone[BMW X5 x:12.29 y:6.21 z:0.35, dog x:1.96 y:-0.02 z:-0.14], yaw_start:354.62, yaw_current:99.62]

Answer: CIRCLE: dx:-0.44; dy:-0.28; dz:0.00; yaw:-65.38;


Context: [objects_distance_from_drone[pedestrian x:10.71 y:-3.97 z:0.34, BMW X5 x:13.50 y:2.42 z:0.35, dog x:1.93 y:-0.02 z:-0.14, oil barrel x:23.24 y:8.65 z:-0.06], yaw_start:354.62, yaw_current:114.62]

Answer: CIRCLE: dx:-0.36; dy:-0.38; dz:0.00; yaw:-50.38;


Context: [objects_distance_from_drone[dog x:1.92 y:-0.02 z:-0.14, oil barrel x:24.76 y:2.85 z:-0.07], yaw_start:354.62, yaw_current:129.62]

Answer: CIRCLE: dx:-0.24; dy:-0.46; dz:0.00; yaw:-35.38;


Context: [objects_distance_from_drone[BMW X5 x:13.18 y:-3.77 z:0.34, dog x:1.94 y:-0.01 z:-0.14], yaw_start:354.62, yaw_current:144.62]

Answer: CIRCLE: dx:-0.12; dy:-0.51; dz:0.00; yaw:-20.38;


Context: [objects_distance_from_drone[BMW X5 x:12.66 y:-6.76 z:0.34, dog x:1.94 y:-0.01 z:-0.14], yaw_start:354.62, yaw_current:159.62]

Answer: CIRCLE: dx:0.02; dy:-0.52; dz:0.00; yaw:-5.38;


Context: [objects_distance_from_drone[dog x:1.95 y:-0.01 z:-0.14], yaw_start:354.62, yaw_current:174.62]

Answer: CIRCLE: dx:0.15; dy:-0.50; dz:0.00; yaw:9.62;


Context: [objects_distance_from_drone[dog x:1.95 y:0.00 z:-0.14], yaw_start:354.62, yaw_current:189.62]

Answer: CIRCLE: dx:0.28; dy:-0.44; dz:0.00; yaw:24.62;


Context: [objects_distance_from_drone[dog x:1.96 y:0.03 z:-0.14], yaw_start:354.62, yaw_current:204.62]

Answer: CIRCLE: dx:0.38; dy:-0.36; dz:0.00; yaw:39.62;


Context: [objects_distance_from_drone[dog x:1.96 y:0.03 z:-0.14], yaw_start:354.62, yaw_current:219.62]

Answer: CIRCLE: dx:0.46; dy:-0.24; dz:0.00; yaw:54.62;


Context: [objects_distance_from_drone[dog x:1.96 y:0.03 z:-0.14], yaw_start:354.62, yaw_current:234.62]

Answer: CIRCLE: dx:0.51; dy:-0.12; dz:0.00; yaw:69.62;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14], yaw_start:354.62, yaw_current:249.62]

Answer: CIRCLE: dx:0.52; dy:0.02; dz:0.00; yaw:84.62;


Context: [objects_distance_from_drone[dog x:1.97 y:0.01 z:-0.14], yaw_start:354.62, yaw_current:264.62]

Answer: CIRCLE: dx:0.50; dy:0.15; dz:0.00; yaw:99.62;


Context: [objects_distance_from_drone[dog x:1.98 y:0.00 z:-0.14], yaw_start:354.62, yaw_current:279.62]

Answer: CIRCLE: dx:0.44; dy:0.28; dz:0.00; yaw:114.62;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.00 z:-0.14], yaw_start:354.62, yaw_current:294.62]

Answer: CIRCLE: dx:0.36; dy:0.38; dz:0.00; yaw:129.62;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.00 z:-0.14], yaw_start:354.62, yaw_current:309.62]

Answer: CIRCLE: dx:0.24; dy:0.46; dz:0.00; yaw:144.62;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14], yaw_start:354.62, yaw_current:324.62]

Answer: CIRCLE: dx:0.12; dy:0.51; dz:0.00; yaw:159.62;


Context: [drone_absolute_movement x:-7.37 y:0.67 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:7.37; dy:-0.67;


Context: [objects_distance_from_drone[dog x:9.31 y:-0.18 z:-0.03]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:11.21 y:4.19 z:0.34, bench x:15.42 y:1.50 z:0.07]]

Answer: MOVE: x:13.42; y:1.50; z:0.07


Context: [objects_distance_from_drone[bench x:2.09 y:-0.01 z:0.10], yaw_start:232.19, yaw_current:217.19]

Answer: CIRCLE: dx:0.45; dy:-0.26; dz:0.00; yaw:52.19;


Context: [objects_distance_from_drone[bench x:1.97 y:0.02 z:0.13], yaw_start:232.19, yaw_current:232.19]

Answer: CIRCLE: dx:0.50; dy:-0.14; dz:0.00; yaw:67.19;


Context: [objects_distance_from_drone[bench x:1.97 y:0.08 z:0.13], yaw_start:232.19, yaw_current:247.19]

Answer: CIRCLE: dx:0.52; dy:-0.00; dz:0.00; yaw:82.19;


Context: [objects_distance_from_drone[bench x:1.97 y:0.10 z:0.13], yaw_start:232.19, yaw_current:262.19]

Answer: CIRCLE: dx:0.51; dy:0.13; dz:0.00; yaw:97.19;


Context: [objects_distance_from_drone[bench x:1.94 y:0.08 z:0.13], yaw_start:232.19, yaw_current:277.19]

Answer: CIRCLE: dx:0.45; dy:0.26; dz:0.00; yaw:112.19;


Context: [objects_distance_from_drone[bench x:1.92 y:-0.05 z:0.13], yaw_start:232.19, yaw_current:292.19]

Answer: CIRCLE: dx:0.37; dy:0.37; dz:0.00; yaw:127.19;


Context: [objects_distance_from_drone[bench x:1.92 y:-0.14 z:0.09], yaw_start:232.19, yaw_current:307.19]

Answer: CIRCLE: dx:0.26; dy:0.45; dz:0.00; yaw:142.19;


Context: [objects_distance_from_drone[bench x:1.88 y:-0.07 z:0.09], yaw_start:232.19, yaw_current:322.19]

Answer: CIRCLE: dx:0.14; dy:0.50; dz:0.00; yaw:157.19;


Context: [objects_distance_from_drone[bench x:1.86 y:-0.13 z:0.14], yaw_start:232.19, yaw_current:337.19]

Answer: CIRCLE: dx:0.00; dy:0.52; dz:0.00; yaw:172.19;


Context: [objects_distance_from_drone[bench x:1.85 y:-0.23 z:0.15], yaw_start:232.19, yaw_current:352.19]

Answer: CIRCLE: dx:-0.13; dy:0.51; dz:0.00; yaw:-172.81;


Context: [objects_distance_from_drone[BMW X5 x:24.74 y:11.21 z:0.36, bench x:1.87 y:-0.23 z:0.14], yaw_start:232.19, yaw_current:7.19]

Answer: CIRCLE: dx:-0.26; dy:0.45; dz:0.00; yaw:-157.81;


Context: [objects_distance_from_drone[bench x:1.87 y:-0.18 z:0.13, oil barrel x:21.39 y:6.85 z:-0.06], yaw_start:232.19, yaw_current:22.19]

Answer: CIRCLE: dx:-0.37; dy:0.37; dz:0.00; yaw:-142.81;


Context: [objects_distance_from_drone[pedestrian x:5.87 y:-2.46 z:0.34, bench x:1.87 y:-0.10 z:0.13], yaw_start:232.19, yaw_current:37.19]

Answer: CIRCLE: dx:-0.45; dy:0.26; dz:0.00; yaw:-127.81;


Context: [objects_distance_from_drone[bench x:1.90 y:0.02 z:0.12], yaw_start:232.19, yaw_current:52.19]

Answer: CIRCLE: dx:-0.50; dy:0.14; dz:0.00; yaw:-112.81;


Context: [objects_distance_from_drone[bench x:1.89 y:0.11 z:0.10, oil barrel x:20.55 y:-8.89 z:-0.08], yaw_start:232.19, yaw_current:67.19]

Answer: CIRCLE: dx:-0.52; dy:0.00; dz:0.00; yaw:-97.81;


Context: [objects_distance_from_drone[bench x:1.90 y:0.17 z:0.09], yaw_start:232.19, yaw_current:82.19]

Answer: CIRCLE: dx:-0.51; dy:-0.13; dz:0.00; yaw:-82.81;


Context: [objects_distance_from_drone[bench x:1.86 y:0.19 z:0.06], yaw_start:232.19, yaw_current:97.19]

Answer: CIRCLE: dx:-0.45; dy:-0.26; dz:0.00; yaw:-67.81;


Context: [objects_distance_from_drone[bench x:1.87 y:0.09 z:0.06], yaw_start:232.19, yaw_current:112.19]

Answer: CIRCLE: dx:-0.37; dy:-0.37; dz:0.00; yaw:-52.81;


Context: [objects_distance_from_drone[bench x:1.87 y:0.03 z:0.07], yaw_start:232.19, yaw_current:127.19]

Answer: CIRCLE: dx:-0.26; dy:-0.45; dz:0.00; yaw:-37.81;


Context: [objects_distance_from_drone[bench x:1.89 y:0.10 z:0.07], yaw_start:232.19, yaw_current:142.19]

Answer: CIRCLE: dx:-0.14; dy:-0.50; dz:0.00; yaw:-22.81;


Context: [objects_distance_from_drone[bench x:1.92 y:0.05 z:0.07], yaw_start:232.19, yaw_current:157.19]

Answer: CIRCLE: dx:-0.00; dy:-0.52; dz:0.00; yaw:-7.81;


Context: [objects_distance_from_drone[bench x:1.94 y:-0.07 z:0.06], yaw_start:232.19, yaw_current:172.19]

Answer: CIRCLE: dx:0.13; dy:-0.51; dz:0.00; yaw:7.19;


Context: [objects_distance_from_drone[bench x:1.98 y:-0.11 z:0.08], yaw_start:232.19, yaw_current:187.19]

Answer: CIRCLE: dx:0.26; dy:-0.45; dz:0.00; yaw:22.19;


Context: [objects_distance_from_drone[bench x:1.98 y:-0.08 z:0.10], yaw_start:232.19, yaw_current:202.19]

Answer: CIRCLE: dx:0.37; dy:-0.37; dz:0.00; yaw:37.19;


Context: [drone_absolute_movement x:8.18 y:4.77 z:0.50, objects_distance_from_drone[bench x:2.00 y:-0.02 z:0.12]]

Answer: RETURN: dx:-8.18; dy:-4.77;


Context: [objects_distance_from_drone[pedestrian x:6.75 y:-0.45 z:0.30, bench x:10.67 y:-3.62 z:0.01]]

Answer: LAND


Context: [objects_distance_from_drone[pedestrian x:12.04 y:2.29 z:0.84, oil barrel x:8.64 y:-2.63 z:0.43]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:12.06 y:2.12 z:0.36, oil barrel x:8.58 y:-2.75 z:-0.05]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:12.21 y:1.03 z:0.36, oil barrel x:8.30 y:-3.51 z:-0.05]]

Answer: MOVE: x:10.21; y:1.03; z:0.36


Context: [objects_distance_from_drone[pedestrian x:2.10 y:-0.00 z:0.11], yaw_start:191.67, yaw_current:176.67]

Answer: CIRCLE: dx:0.17; dy:-0.49; dz:0.00; yaw:11.67;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:191.67, yaw_current:191.67]

Answer: CIRCLE: dx:0.29; dy:-0.43; dz:0.00; yaw:26.67;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:191.67, yaw_current:206.67]

Answer: CIRCLE: dx:0.40; dy:-0.34; dz:0.00; yaw:41.67;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:191.67, yaw_current:221.67]

Answer: CIRCLE: dx:0.47; dy:-0.23; dz:0.00; yaw:56.67;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:191.67, yaw_current:236.67]

Answer: CIRCLE: dx:0.51; dy:-0.10; dz:0.00; yaw:71.67;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:191.67, yaw_current:251.67]

Answer: CIRCLE: dx:0.52; dy:0.04; dz:0.00; yaw:86.67;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.09], yaw_start:191.67, yaw_current:266.67]

Answer: CIRCLE: dx:0.49; dy:0.17; dz:0.00; yaw:101.67;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, bench x:12.88 y:5.10 z:0.08], yaw_start:191.67, yaw_current:281.67]

Answer: CIRCLE: dx:0.43; dy:0.29; dz:0.00; yaw:116.67;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:12.20 y:5.65 z:-0.13, bench x:13.80 y:2.00 z:0.08], yaw_start:191.67, yaw_current:296.67]

Answer: CIRCLE: dx:0.34; dy:0.40; dz:0.00; yaw:131.67;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:14.40 y:4.33 z:0.35, bench x:13.92 y:-1.13 z:0.07], yaw_start:191.67, yaw_current:311.67]

Answer: CIRCLE: dx:0.23; dy:0.47; dz:0.00; yaw:146.67;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:15.10 y:0.98 z:0.35, bench x:13.23 y:-4.18 z:0.07], yaw_start:191.67, yaw_current:326.67]

Answer: CIRCLE: dx:0.10; dy:0.51; dz:0.00; yaw:161.67;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:14.90 y:-2.48 z:0.34], yaw_start:191.67, yaw_current:341.67]

Answer: CIRCLE: dx:-0.04; dy:0.52; dz:0.00; yaw:176.67;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:13.77 y:-5.82 z:0.34], yaw_start:191.67, yaw_current:356.67]

Answer: CIRCLE: dx:-0.17; dy:0.49; dz:0.00; yaw:-168.33;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, BMW X5 x:12.51 y:-5.80 z:0.54, oil barrel x:7.21 y:2.87 z:-0.07], yaw_start:191.67, yaw_current:11.67]

Answer: CIRCLE: dx:-0.29; dy:0.43; dz:0.00; yaw:-153.33;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, dog x:16.75 y:1.82 z:-0.14, oil barrel x:7.77 y:1.42 z:-0.07], yaw_start:191.67, yaw_current:26.67]

Answer: CIRCLE: dx:-0.40; dy:0.34; dz:0.00; yaw:-138.33;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, dog x:16.73 y:-2.07 z:-0.14, oil barrel x:7.94 y:-0.13 z:-0.07], yaw_start:191.67, yaw_current:41.67]

Answer: CIRCLE: dx:-0.47; dy:0.23; dz:0.00; yaw:-123.33;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, dog x:15.71 y:-5.81 z:-0.14, oil barrel x:7.71 y:-1.67 z:-0.07], yaw_start:191.67, yaw_current:56.67]

Answer: CIRCLE: dx:-0.51; dy:0.10; dz:0.00; yaw:-108.33;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.09, oil barrel x:7.08 y:-3.03 z:-0.07], yaw_start:191.67, yaw_current:71.67]

Answer: CIRCLE: dx:-0.52; dy:-0.04; dz:0.00; yaw:-93.33;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10], yaw_start:191.67, yaw_current:86.67]

Answer: CIRCLE: dx:-0.49; dy:-0.17; dz:0.00; yaw:-78.33;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:191.67, yaw_current:101.67]

Answer: CIRCLE: dx:-0.43; dy:-0.29; dz:0.00; yaw:-63.33;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:191.67, yaw_current:116.67]

Answer: CIRCLE: dx:-0.34; dy:-0.40; dz:0.00; yaw:-48.33;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:191.67, yaw_current:131.67]

Answer: CIRCLE: dx:-0.23; dy:-0.47; dz:0.00; yaw:-33.33;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:191.67, yaw_current:146.67]

Answer: CIRCLE: dx:-0.10; dy:-0.51; dz:0.00; yaw:-18.33;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:191.67, yaw_current:161.67]

Answer: CIRCLE: dx:0.04; dy:-0.52; dz:0.00; yaw:-3.33;


Context: [drone_absolute_movement x:10.09 y:1.90 z:0.50, objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10]]

Answer: RETURN: dx:-10.09; dy:-1.90;


Context: [objects_distance_from_drone[pedestrian x:12.16 y:-0.35 z:0.41]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:9.93 y:-4.12 z:0.90]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:10.09 y:2.21 z:0.38, oil barrel x:8.17 y:-3.59 z:-0.04]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:10.27 y:1.15 z:0.37]]

Answer: MOVE: x:6.27; y:1.15; z:0.37


Context: [objects_distance_from_drone[BMW X5 x:4.10 y:0.01 z:0.31], yaw_start:193.73, yaw_current:178.73]

Answer: CIRCLE: dx:0.38; dy:-0.97; dz:0.00; yaw:13.73;


Context: [objects_distance_from_drone[BMW X5 x:3.97 y:0.12 z:0.34], yaw_start:193.73, yaw_current:193.73]

Answer: CIRCLE: dx:0.62; dy:-0.84; dz:0.00; yaw:28.73;


Context: [objects_distance_from_drone[BMW X5 x:3.94 y:0.19 z:0.34], yaw_start:193.73, yaw_current:208.73]

Answer: CIRCLE: dx:0.81; dy:-0.65; dz:0.00; yaw:43.73;


Context: [objects_distance_from_drone[BMW X5 x:3.83 y:0.01 z:0.34], yaw_start:193.73, yaw_current:223.73]

Answer: CIRCLE: dx:0.96; dy:-0.42; dz:0.00; yaw:58.73;


Context: [objects_distance_from_drone[BMW X5 x:3.75 y:-0.20 z:0.34], yaw_start:193.73, yaw_current:238.73]

Answer: CIRCLE: dx:1.03; dy:-0.16; dz:0.00; yaw:73.73;


Context: [objects_distance_from_drone[BMW X5 x:3.74 y:-0.16 z:0.34], yaw_start:193.73, yaw_current:253.73]

Answer: CIRCLE: dx:1.04; dy:0.11; dz:0.00; yaw:88.73;


Context: [objects_distance_from_drone[BMW X5 x:3.70 y:0.07 z:0.37], yaw_start:193.73, yaw_current:268.73]

Answer: CIRCLE: dx:0.97; dy:0.38; dz:0.00; yaw:103.73;


Context: [objects_distance_from_drone[BMW X5 x:3.72 y:-0.11 z:0.43], yaw_start:193.73, yaw_current:283.73]

Answer: CIRCLE: dx:0.84; dy:0.62; dz:0.00; yaw:118.73;


Context: [objects_distance_from_drone[BMW X5 x:3.79 y:-0.29 z:0.47], yaw_start:193.73, yaw_current:298.73]

Answer: CIRCLE: dx:0.65; dy:0.81; dz:0.00; yaw:133.73;


Context: [objects_distance_from_drone[BMW X5 x:3.86 y:-0.28 z:0.49], yaw_start:193.73, yaw_current:313.73]

Answer: CIRCLE: dx:0.42; dy:0.96; dz:0.00; yaw:148.73;


Context: [objects_distance_from_drone[BMW X5 x:3.87 y:-0.15 z:0.49, bench x:21.02 y:9.68 z:0.09], yaw_start:193.73, yaw_current:328.73]

Answer: CIRCLE: dx:0.16; dy:1.03; dz:0.00; yaw:163.73;


Context: [objects_distance_from_drone[BMW X5 x:3.89 y:0.06 z:0.46], yaw_start:193.73, yaw_current:343.73]

Answer: CIRCLE: dx:-0.11; dy:1.04; dz:0.00; yaw:178.73;


Context: [objects_distance_from_drone[BMW X5 x:3.93 y:0.31 z:0.47], yaw_start:193.73, yaw_current:358.73]

Answer: CIRCLE: dx:-0.38; dy:0.97; dz:0.00; yaw:-166.27;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:0.43 z:0.48], yaw_start:193.73, yaw_current:13.73]

Answer: CIRCLE: dx:-0.62; dy:0.84; dz:0.00; yaw:-151.27;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:0.47 z:0.46, bench x:20.48 y:-10.40 z:0.06], yaw_start:193.73, yaw_current:28.73]

Answer: CIRCLE: dx:-0.81; dy:0.65; dz:0.00; yaw:-136.27;


Context: [objects_distance_from_drone[BMW X5 x:3.92 y:0.36 z:0.42], yaw_start:193.73, yaw_current:43.73]

Answer: CIRCLE: dx:-0.96; dy:0.42; dz:0.00; yaw:-121.27;


Context: [objects_distance_from_drone[BMW X5 x:3.90 y:0.08 z:0.37], yaw_start:193.73, yaw_current:58.73]

Answer: CIRCLE: dx:-1.03; dy:0.16; dz:0.00; yaw:-106.27;


Context: [objects_distance_from_drone[BMW X5 x:3.94 y:0.04 z:0.35], yaw_start:193.73, yaw_current:73.73]

Answer: CIRCLE: dx:-1.04; dy:-0.11; dz:0.00; yaw:-91.27;


Context: [objects_distance_from_drone[BMW X5 x:3.93 y:0.17 z:0.35], yaw_start:193.73, yaw_current:88.73]

Answer: CIRCLE: dx:-0.97; dy:-0.38; dz:0.00; yaw:-76.27;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:-0.11 z:0.35], yaw_start:193.73, yaw_current:103.73]

Answer: CIRCLE: dx:-0.84; dy:-0.62; dz:0.00; yaw:-61.27;


Context: [objects_distance_from_drone[BMW X5 x:4.02 y:-0.38 z:0.34], yaw_start:193.73, yaw_current:118.73]

Answer: CIRCLE: dx:-0.65; dy:-0.81; dz:0.00; yaw:-46.27;


Context: [objects_distance_from_drone[BMW X5 x:4.06 y:-0.40 z:0.35], yaw_start:193.73, yaw_current:133.73]

Answer: CIRCLE: dx:-0.42; dy:-0.96; dz:0.00; yaw:-31.27;


Context: [objects_distance_from_drone[BMW X5 x:4.05 y:-0.35 z:0.35], yaw_start:193.73, yaw_current:148.73]

Answer: CIRCLE: dx:-0.16; dy:-1.03; dz:0.00; yaw:-16.27;


Context: [objects_distance_from_drone[BMW X5 x:4.02 y:-0.19 z:0.34], yaw_start:193.73, yaw_current:163.73]

Answer: CIRCLE: dx:0.11; dy:-1.04; dz:0.00; yaw:-1.27;


Context: [drone_absolute_movement x:6.18 y:-4.57 z:0.50, objects_distance_from_drone[BMW X5 x:4.00 y:0.00 z:0.35]]

Answer: RETURN: dx:-6.18; dy:4.57;


Context: [objects_distance_from_drone[BMW X5 x:9.10 y:-3.52 z:0.51]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:12.12 y:-6.35 z:0.35, dog x:7.71 y:-0.68 z:-0.13]]

Answer: MOVE: x:5.71; y:-0.68; z:-0.13


Context: [objects_distance_from_drone[BMW X5 x:5.77 y:-4.83 z:0.30, dog x:2.10 y:-0.00 z:-0.16], yaw_start:128.19, yaw_current:113.19]

Answer: CIRCLE: dx:-0.36; dy:-0.37; dz:0.00; yaw:-51.81;


Context: [objects_distance_from_drone[BMW X5 x:6.23 y:-2.96 z:0.46, dog x:2.01 y:-0.01 z:-0.14], yaw_start:128.19, yaw_current:128.19]

Answer: CIRCLE: dx:-0.26; dy:-0.46; dz:0.00; yaw:-36.81;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.02 z:-0.14], yaw_start:128.19, yaw_current:143.19]

Answer: CIRCLE: dx:-0.13; dy:-0.51; dz:0.00; yaw:-21.81;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.02 z:-0.14], yaw_start:128.19, yaw_current:158.19]

Answer: CIRCLE: dx:0.01; dy:-0.52; dz:0.00; yaw:-6.81;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.02 z:-0.14], yaw_start:128.19, yaw_current:173.19]

Answer: CIRCLE: dx:0.14; dy:-0.50; dz:0.00; yaw:8.19;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.03 z:-0.14], yaw_start:128.19, yaw_current:188.19]

Answer: CIRCLE: dx:0.27; dy:-0.45; dz:0.00; yaw:23.19;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14], yaw_start:128.19, yaw_current:203.19]

Answer: CIRCLE: dx:0.37; dy:-0.36; dz:0.00; yaw:38.19;


Context: [objects_distance_from_drone[pedestrian x:15.27 y:6.86 z:0.35, dog x:1.97 y:-0.05 z:-0.14], yaw_start:128.19, yaw_current:218.19]

Answer: CIRCLE: dx:0.46; dy:-0.26; dz:0.00; yaw:53.19;


Context: [objects_distance_from_drone[pedestrian x:16.79 y:3.90 z:0.35, dog x:1.96 y:-0.05 z:-0.14], yaw_start:128.19, yaw_current:233.19]

Answer: CIRCLE: dx:0.51; dy:-0.13; dz:0.00; yaw:68.19;


Context: [objects_distance_from_drone[dog x:1.96 y:-0.05 z:-0.14], yaw_start:128.19, yaw_current:248.19]

Answer: CIRCLE: dx:0.52; dy:0.01; dz:0.00; yaw:83.19;


Context: [objects_distance_from_drone[pedestrian x:16.75 y:-4.03 z:0.34, dog x:1.96 y:-0.04 z:-0.14, oil barrel x:16.61 y:5.30 z:-0.06], yaw_start:128.19, yaw_current:263.19]

Answer: CIRCLE: dx:0.50; dy:0.14; dz:0.00; yaw:98.19;


Context: [objects_distance_from_drone[pedestrian x:15.21 y:-6.92 z:0.33, dog x:1.95 y:-0.01 z:-0.14], yaw_start:128.19, yaw_current:278.19]

Answer: CIRCLE: dx:0.45; dy:0.27; dz:0.00; yaw:113.19;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.01 z:-0.14, oil barrel x:17.31 y:-2.73 z:-0.07], yaw_start:128.19, yaw_current:293.19]

Answer: CIRCLE: dx:0.36; dy:0.37; dz:0.00; yaw:128.19;


Context: [objects_distance_from_drone[dog x:1.93 y:-0.01 z:-0.14, bench x:17.57 y:5.98 z:0.08, oil barrel x:16.08 y:-6.61 z:-0.07], yaw_start:128.19, yaw_current:308.19]

Answer: CIRCLE: dx:0.26; dy:0.46; dz:0.00; yaw:143.19;


Context: [objects_distance_from_drone[dog x:1.93 y:-0.00 z:-0.14], yaw_start:128.19, yaw_current:323.19]

Answer: CIRCLE: dx:0.13; dy:0.51; dz:0.00; yaw:158.19;


Context: [objects_distance_from_drone[dog x:1.93 y:0.00 z:-0.14], yaw_start:128.19, yaw_current:338.19]

Answer: CIRCLE: dx:-0.01; dy:0.52; dz:0.00; yaw:173.19;


Context: [objects_distance_from_drone[dog x:1.94 y:0.00 z:-0.14, bench x:17.24 y:-6.82 z:0.07], yaw_start:128.19, yaw_current:353.19]

Answer: CIRCLE: dx:-0.14; dy:0.50; dz:0.00; yaw:-171.81;


Context: [objects_distance_from_drone[dog x:1.97 y:0.01 z:-0.14], yaw_start:128.19, yaw_current:8.19]

Answer: CIRCLE: dx:-0.27; dy:0.45; dz:0.00; yaw:-156.81;


Context: [objects_distance_from_drone[BMW X5 x:5.16 y:4.60 z:0.13, dog x:1.96 y:0.02 z:-0.14], yaw_start:128.19, yaw_current:23.19]

Answer: CIRCLE: dx:-0.37; dy:0.36; dz:0.00; yaw:-141.81;


Context: [objects_distance_from_drone[BMW X5 x:7.52 y:4.08 z:0.35, dog x:1.97 y:0.03 z:-0.14], yaw_start:128.19, yaw_current:38.19]

Answer: CIRCLE: dx:-0.46; dy:0.26; dz:0.00; yaw:-126.81;


Context: [objects_distance_from_drone[BMW X5 x:8.32 y:1.94 z:0.35, dog x:1.97 y:0.03 z:-0.14], yaw_start:128.19, yaw_current:53.19]

Answer: CIRCLE: dx:-0.51; dy:0.13; dz:0.00; yaw:-111.81;


Context: [objects_distance_from_drone[dog x:1.98 y:0.03 z:-0.14], yaw_start:128.19, yaw_current:68.19]

Answer: CIRCLE: dx:-0.52; dy:-0.01; dz:0.00; yaw:-96.81;


Context: [objects_distance_from_drone[BMW X5 x:8.45 y:-1.51 z:0.34, dog x:1.98 y:0.02 z:-0.14], yaw_start:128.19, yaw_current:83.19]

Answer: CIRCLE: dx:-0.50; dy:-0.14; dz:0.00; yaw:-81.81;


Context: [objects_distance_from_drone[BMW X5 x:7.77 y:-3.30 z:0.34, dog x:2.00 y:-0.01 z:-0.14], yaw_start:128.19, yaw_current:98.19]

Answer: CIRCLE: dx:-0.45; dy:-0.27; dz:0.00; yaw:-66.81;


Context: [drone_absolute_movement x:3.61 y:-4.57 z:0.50, objects_distance_from_drone[BMW X5 x:5.65 y:-4.87 z:0.33, dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:-3.61; dy:4.57;


Context: [objects_distance_from_drone[BMW X5 x:12.55 y:-4.62 z:0.82, dog x:7.72 y:-0.00 z:0.10]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[bench x:14.81 y:-1.24 z:0.08, oil barrel x:8.50 y:-2.68 z:-0.07]]

Answer: MOVE: x:12.81; y:-1.24; z:0.08


Context: [objects_distance_from_drone[bench x:2.09 y:-0.00 z:0.12], yaw_start:51.58, yaw_current:36.58]

Answer: CIRCLE: dx:-0.45; dy:0.27; dz:0.00; yaw:-128.42;


Context: [objects_distance_from_drone[bench x:1.98 y:0.05 z:0.13], yaw_start:51.58, yaw_current:51.58]

Answer: CIRCLE: dx:-0.50; dy:0.14; dz:0.00; yaw:-113.42;


Context: [objects_distance_from_drone[bench x:1.98 y:0.08 z:0.13], yaw_start:51.58, yaw_current:66.58]

Answer: CIRCLE: dx:-0.52; dy:0.01; dz:0.00; yaw:-98.42;


Context: [objects_distance_from_drone[bench x:1.96 y:0.07 z:0.13], yaw_start:51.58, yaw_current:81.58]

Answer: CIRCLE: dx:-0.51; dy:-0.13; dz:0.00; yaw:-83.42;


Context: [objects_distance_from_drone[bench x:1.93 y:-0.07 z:0.13], yaw_start:51.58, yaw_current:96.58]

Answer: CIRCLE: dx:-0.46; dy:-0.25; dz:0.00; yaw:-68.42;


Context: [objects_distance_from_drone[bench x:1.92 y:-0.17 z:0.09], yaw_start:51.58, yaw_current:111.58]

Answer: CIRCLE: dx:-0.38; dy:-0.36; dz:0.00; yaw:-53.42;


Context: [objects_distance_from_drone[bench x:1.87 y:-0.11 z:0.09], yaw_start:51.58, yaw_current:126.58]

Answer: CIRCLE: dx:-0.27; dy:-0.45; dz:0.00; yaw:-38.42;


Context: [objects_distance_from_drone[bench x:1.84 y:-0.14 z:0.14], yaw_start:51.58, yaw_current:141.58]

Answer: CIRCLE: dx:-0.14; dy:-0.50; dz:0.00; yaw:-23.42;


Context: [objects_distance_from_drone[bench x:1.84 y:-0.24 z:0.15], yaw_start:51.58, yaw_current:156.58]

Answer: CIRCLE: dx:-0.01; dy:-0.52; dz:0.00; yaw:-8.42;


Context: [objects_distance_from_drone[bench x:1.85 y:-0.24 z:0.14], yaw_start:51.58, yaw_current:171.58]

Answer: CIRCLE: dx:0.13; dy:-0.51; dz:0.00; yaw:6.58;


Context: [objects_distance_from_drone[bench x:1.86 y:-0.19 z:0.13], yaw_start:51.58, yaw_current:186.58]

Answer: CIRCLE: dx:0.25; dy:-0.46; dz:0.00; yaw:21.58;


Context: [objects_distance_from_drone[pedestrian x:16.06 y:-4.99 z:0.34, BMW X5 x:24.93 y:8.01 z:0.35, bench x:1.84 y:-0.11 z:0.13, oil barrel x:7.37 y:3.29 z:-0.07], yaw_start:51.58, yaw_current:201.58]

Answer: CIRCLE: dx:0.36; dy:-0.38; dz:0.00; yaw:36.58;


Context: [objects_distance_from_drone[bench x:1.87 y:0.02 z:0.13], yaw_start:51.58, yaw_current:216.58]

Answer: CIRCLE: dx:0.45; dy:-0.27; dz:0.00; yaw:51.58;


Context: [objects_distance_from_drone[bench x:1.88 y:0.12 z:0.11], yaw_start:51.58, yaw_current:231.58]

Answer: CIRCLE: dx:0.50; dy:-0.14; dz:0.00; yaw:66.58;


Context: [objects_distance_from_drone[BMW X5 x:23.51 y:-11.47 z:0.34, bench x:1.89 y:0.19 z:0.09], yaw_start:51.58, yaw_current:246.58]

Answer: CIRCLE: dx:0.52; dy:-0.01; dz:0.00; yaw:81.58;


Context: [objects_distance_from_drone[bench x:1.86 y:0.21 z:0.06], yaw_start:51.58, yaw_current:261.58]

Answer: CIRCLE: dx:0.51; dy:0.13; dz:0.00; yaw:96.58;


Context: [objects_distance_from_drone[bench x:1.86 y:0.13 z:0.05], yaw_start:51.58, yaw_current:276.58]

Answer: CIRCLE: dx:0.46; dy:0.25; dz:0.00; yaw:111.58;


Context: [objects_distance_from_drone[bench x:1.87 y:0.05 z:0.07], yaw_start:51.58, yaw_current:291.58]

Answer: CIRCLE: dx:0.38; dy:0.36; dz:0.00; yaw:126.58;


Context: [objects_distance_from_drone[bench x:1.90 y:0.12 z:0.07], yaw_start:51.58, yaw_current:306.58]

Answer: CIRCLE: dx:0.27; dy:0.45; dz:0.00; yaw:141.58;


Context: [objects_distance_from_drone[bench x:1.94 y:0.08 z:0.07], yaw_start:51.58, yaw_current:321.58]

Answer: CIRCLE: dx:0.14; dy:0.50; dz:0.00; yaw:156.58;


Context: [objects_distance_from_drone[bench x:1.96 y:-0.04 z:0.06], yaw_start:51.58, yaw_current:336.58]

Answer: CIRCLE: dx:0.01; dy:0.52; dz:0.00; yaw:171.58;


Context: [objects_distance_from_drone[bench x:2.00 y:-0.10 z:0.08], yaw_start:51.58, yaw_current:351.58]

Answer: CIRCLE: dx:-0.13; dy:0.51; dz:0.00; yaw:-173.42;


Context: [objects_distance_from_drone[bench x:2.00 y:-0.08 z:0.09], yaw_start:51.58, yaw_current:6.58]

Answer: CIRCLE: dx:-0.25; dy:0.46; dz:0.00; yaw:-158.42;


Context: [objects_distance_from_drone[bench x:2.01 y:-0.03 z:0.11], yaw_start:51.58, yaw_current:21.58]

Answer: CIRCLE: dx:-0.36; dy:0.38; dz:0.00; yaw:-143.42;


Context: [drone_absolute_movement x:-7.98 y:-10.04 z:0.50, objects_distance_from_drone[bench x:1.99 y:-0.00 z:0.13]]

Answer: RETURN: dx:7.98; dy:10.04;


Context: [objects_distance_from_drone[bench x:14.76 y:-0.28 z:0.29, oil barrel x:8.56 y:-2.11 z:0.04]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:11.55 y:-1.11 z:0.34, dog x:6.80 y:-2.91 z:-0.13]]

Answer: MOVE: x:9.55; y:-1.11; z:0.34


Context: [objects_distance_from_drone[pedestrian x:2.09 y:0.00 z:0.12], yaw_start:77.25, yaw_current:62.25]

Answer: CIRCLE: dx:-0.52; dy:0.05; dz:0.00; yaw:-102.75;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:77.25, yaw_current:77.25]

Answer: CIRCLE: dx:-0.51; dy:-0.09; dz:0.00; yaw:-87.75;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:77.25, yaw_current:92.25]

Answer: CIRCLE: dx:-0.47; dy:-0.22; dz:0.00; yaw:-72.75;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:77.25, yaw_current:107.25]

Answer: CIRCLE: dx:-0.40; dy:-0.33; dz:0.00; yaw:-57.75;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:77.25, yaw_current:122.25]

Answer: CIRCLE: dx:-0.30; dy:-0.43; dz:0.00; yaw:-42.75;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:77.25, yaw_current:137.25]

Answer: CIRCLE: dx:-0.18; dy:-0.49; dz:0.00; yaw:-27.75;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10], yaw_start:77.25, yaw_current:152.25]

Answer: CIRCLE: dx:-0.05; dy:-0.52; dz:0.00; yaw:-12.75;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.09], yaw_start:77.25, yaw_current:167.25]

Answer: CIRCLE: dx:0.09; dy:-0.51; dz:0.00; yaw:2.25;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09], yaw_start:77.25, yaw_current:182.25]

Answer: CIRCLE: dx:0.22; dy:-0.47; dz:0.00; yaw:17.25;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09], yaw_start:77.25, yaw_current:197.25]

Answer: CIRCLE: dx:0.33; dy:-0.40; dz:0.00; yaw:32.25;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, oil barrel x:21.33 y:9.87 z:-0.06], yaw_start:77.25, yaw_current:212.25]

Answer: CIRCLE: dx:0.43; dy:-0.30; dz:0.00; yaw:47.25;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, oil barrel x:23.29 y:4.75 z:-0.06], yaw_start:77.25, yaw_current:227.25]

Answer: CIRCLE: dx:0.49; dy:-0.18; dz:0.00; yaw:62.25;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:18.35 y:10.17 z:0.36, dog x:6.52 y:2.42 z:-0.14, oil barrel x:23.79 y:-0.93 z:-0.07], yaw_start:77.25, yaw_current:242.25]

Answer: CIRCLE: dx:0.52; dy:-0.05; dz:0.00; yaw:77.25;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:19.60 y:5.22 z:0.35, dog x:7.00 y:1.15 z:-0.14, oil barrel x:22.82 y:-6.55 z:-0.08], yaw_start:77.25, yaw_current:257.25]

Answer: CIRCLE: dx:0.51; dy:0.09; dz:0.00; yaw:92.25;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, dog x:7.13 y:-0.19 z:-0.14], yaw_start:77.25, yaw_current:272.25]

Answer: CIRCLE: dx:0.47; dy:0.22; dz:0.00; yaw:107.25;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09, BMW X5 x:19.84 y:-4.29 z:0.34, dog x:6.91 y:-1.50 z:-0.14, bench x:4.64 y:3.27 z:0.07], yaw_start:77.25, yaw_current:287.25]

Answer: CIRCLE: dx:0.40; dy:0.33; dz:0.00; yaw:122.25;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, BMW X5 x:17.76 y:-9.65 z:0.34, dog x:6.36 y:-2.71 z:-0.14, bench x:5.54 y:1.99 z:0.08], yaw_start:77.25, yaw_current:302.25]

Answer: CIRCLE: dx:0.30; dy:0.43; dz:0.00; yaw:137.25;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, bench x:5.89 y:0.80 z:0.07], yaw_start:77.25, yaw_current:317.25]

Answer: CIRCLE: dx:0.18; dy:0.49; dz:0.00; yaw:152.25;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, bench x:5.97 y:-0.24 z:0.07], yaw_start:77.25, yaw_current:332.25]

Answer: CIRCLE: dx:0.05; dy:0.52; dz:0.00; yaw:167.25;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10, bench x:5.77 y:-1.27 z:0.07], yaw_start:77.25, yaw_current:347.25]

Answer: CIRCLE: dx:-0.09; dy:0.51; dz:0.00; yaw:-177.75;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10, bench x:5.24 y:-2.60 z:0.07], yaw_start:77.25, yaw_current:2.25]

Answer: CIRCLE: dx:-0.22; dy:0.47; dz:0.00; yaw:-162.75;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10, bench x:4.27 y:-3.77 z:-0.24], yaw_start:77.25, yaw_current:17.25]

Answer: CIRCLE: dx:-0.33; dy:0.40; dz:0.00; yaw:-147.75;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:77.25, yaw_current:32.25]

Answer: CIRCLE: dx:-0.43; dy:0.30; dz:0.00; yaw:-132.75;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:0.00 z:0.10], yaw_start:77.25, yaw_current:47.25]

Answer: CIRCLE: dx:-0.49; dy:0.18; dz:0.00; yaw:-117.75;


Context: [drone_absolute_movement x:-1.92 y:-9.42 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10]]

Answer: RETURN: dx:1.92; dy:9.42;


Context: [objects_distance_from_drone[pedestrian x:11.51 y:0.07 z:0.37, dog x:6.91 y:-2.31 z:-0.12]]

Answer: LAND


Context: [objects_distance_from_drone[dog x:10.60 y:2.58 z:0.36]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[dog x:10.60 y:2.65 z:-0.10]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:8.23 y:-0.24 z:0.35]]

Answer: MOVE: x:4.23; y:-0.24; z:0.35


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:0.01 z:0.32], yaw_start:343.69, yaw_current:328.69]

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


Context: [objects_distance_from_drone[BMW X5 x:3.90 y:-0.18 z:0.44], yaw_start:343.69, yaw_current:343.69]

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


Context: [objects_distance_from_drone[BMW X5 x:3.77 y:-0.38 z:0.40], yaw_start:343.69, yaw_current:358.69]

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


Context: [objects_distance_from_drone[BMW X5 x:3.71 y:-0.42 z:0.34], yaw_start:343.69, yaw_current:13.69]

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


Context: [objects_distance_from_drone[BMW X5 x:3.58 y:-0.16 z:0.35], yaw_start:343.69, yaw_current:28.69]

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


Context: [objects_distance_from_drone[BMW X5 x:3.59 y:-0.21 z:0.35], yaw_start:343.69, yaw_current:43.69]

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


Context: [objects_distance_from_drone[BMW X5 x:3.64 y:-0.35 z:0.35], yaw_start:343.69, yaw_current:58.69]

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


Context: [objects_distance_from_drone[BMW X5 x:3.74 y:-0.34 z:0.35], yaw_start:343.69, yaw_current:73.69]

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


Context: [objects_distance_from_drone[BMW X5 x:3.76 y:-0.18 z:0.35], yaw_start:343.69, yaw_current:88.69]

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


Context: [objects_distance_from_drone[BMW X5 x:3.78 y:0.05 z:0.35], yaw_start:343.69, yaw_current:103.69]

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


Context: [objects_distance_from_drone[BMW X5 x:3.83 y:0.41 z:0.35], yaw_start:343.69, yaw_current:118.69]

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


Context: [objects_distance_from_drone[BMW X5 x:3.89 y:0.58 z:0.35], yaw_start:343.69, yaw_current:133.69]

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


Context: [objects_distance_from_drone[BMW X5 x:3.91 y:0.65 z:0.34, oil barrel x:20.21 y:-7.03 z:-0.07], yaw_start:343.69, yaw_current:148.69]

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


Context: [objects_distance_from_drone[BMW X5 x:3.88 y:0.63 z:0.35], yaw_start:343.69, yaw_current:163.69]

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


Context: [objects_distance_from_drone[BMW X5 x:3.90 y:0.37 z:0.34], yaw_start:343.69, yaw_current:178.69]

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


Context: [objects_distance_from_drone[BMW X5 x:3.94 y:0.22 z:0.35], yaw_start:343.69, yaw_current:193.69]

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


Context: [objects_distance_from_drone[BMW X5 x:4.04 y:0.33 z:0.35], yaw_start:343.69, yaw_current:208.69]

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


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:0.09 z:0.35], yaw_start:343.69, yaw_current:223.69]

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


Context: [objects_distance_from_drone[BMW X5 x:4.15 y:-0.26 z:0.39], yaw_start:343.69, yaw_current:238.69]

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


Context: [objects_distance_from_drone[BMW X5 x:4.20 y:-0.36 z:0.43], yaw_start:343.69, yaw_current:253.69]

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


Context: [objects_distance_from_drone[BMW X5 x:4.17 y:-0.36 z:0.44], yaw_start:343.69, yaw_current:268.69]

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


Context: [objects_distance_from_drone[BMW X5 x:4.15 y:-0.28 z:0.43], yaw_start:343.69, yaw_current:283.69]

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


Context: [objects_distance_from_drone[BMW X5 x:4.10 y:-0.18 z:0.44], yaw_start:343.69, yaw_current:298.69]

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


Context: [objects_distance_from_drone[BMW X5 x:4.05 y:-0.05 z:0.46], yaw_start:343.69, yaw_current:313.69]

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


Context: [drone_absolute_movement x:-4.06 y:1.13 z:0.50, objects_distance_from_drone[BMW X5 x:3.99 y:-0.00 z:0.46]]

Answer: RETURN: dx:4.06; dy:-1.13;


Context: [objects_distance_from_drone[BMW X5 x:8.11 y:-0.28 z:0.47]]

Answer: LAND


Context: [objects_distance_from_drone[pedestrian x:6.26 y:2.10 z:0.84]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:6.24 y:2.09 z:0.36]]

Answer: SEARCH


Context: [objects_distance_from_drone[dog x:9.36 y:0.83 z:-0.14]]

Answer: MOVE: x:7.36; y:0.83; z:-0.14


Context: [objects_distance_from_drone[dog x:2.10 y:0.00 z:-0.16], yaw_start:255.66, yaw_current:240.66]

Answer: CIRCLE: dx:0.52; dy:-0.06; dz:0.00; yaw:75.66;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.01 z:-0.14], yaw_start:255.66, yaw_current:255.66]

Answer: CIRCLE: dx:0.52; dy:0.07; dz:0.00; yaw:90.66;


Context: [objects_distance_from_drone[dog x:2.01 y:0.00 z:-0.14], yaw_start:255.66, yaw_current:270.66]

Answer: CIRCLE: dx:0.48; dy:0.21; dz:0.00; yaw:105.66;


Context: [objects_distance_from_drone[dog x:2.00 y:0.00 z:-0.14], yaw_start:255.66, yaw_current:285.66]

Answer: CIRCLE: dx:0.41; dy:0.32; dz:0.00; yaw:120.66;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.02 z:-0.14], yaw_start:255.66, yaw_current:300.66]

Answer: CIRCLE: dx:0.31; dy:0.42; dz:0.00; yaw:135.66;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.03 z:-0.14, oil barrel x:13.97 y:6.03 z:-0.06], yaw_start:255.66, yaw_current:315.66]

Answer: CIRCLE: dx:0.19; dy:0.48; dz:0.00; yaw:150.66;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14, oil barrel x:15.12 y:2.72 z:-0.07], yaw_start:255.66, yaw_current:330.66]

Answer: CIRCLE: dx:0.06; dy:0.52; dz:0.00; yaw:165.66;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.05 z:-0.14], yaw_start:255.66, yaw_current:345.66]

Answer: CIRCLE: dx:-0.07; dy:0.52; dz:0.00; yaw:-179.34;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.05 z:-0.14, bench x:6.73 y:3.14 z:0.08, oil barrel x:14.72 y:-4.22 z:-0.08], yaw_start:255.66, yaw_current:0.66]

Answer: CIRCLE: dx:-0.21; dy:0.48; dz:0.00; yaw:-164.34;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.04 z:-0.14, bench x:7.33 y:1.48 z:0.07], yaw_start:255.66, yaw_current:15.66]

Answer: CIRCLE: dx:-0.32; dy:0.41; dz:0.00; yaw:-149.34;


Context: [objects_distance_from_drone[dog x:1.96 y:-0.04 z:-0.14], yaw_start:255.66, yaw_current:30.66]

Answer: CIRCLE: dx:-0.42; dy:0.31; dz:0.00; yaw:-134.34;


Context: [objects_distance_from_drone[BMW X5 x:16.86 y:8.94 z:0.35, dog x:1.95 y:-0.03 z:-0.14], yaw_start:255.66, yaw_current:45.66]

Answer: CIRCLE: dx:-0.48; dy:0.19; dz:0.00; yaw:-119.34;


Context: [objects_distance_from_drone[BMW X5 x:18.66 y:3.70 z:0.35, dog x:1.93 y:-0.01 z:-0.14, bench x:6.73 y:-2.96 z:0.07], yaw_start:255.66, yaw_current:60.66]

Answer: CIRCLE: dx:-0.52; dy:0.06; dz:0.00; yaw:-104.34;


Context: [objects_distance_from_drone[pedestrian x:8.75 y:3.46 z:0.35, BMW X5 x:19.06 y:-0.75 z:0.34, dog x:1.93 y:-0.01 z:-0.14], yaw_start:255.66, yaw_current:75.66]

Answer: CIRCLE: dx:-0.52; dy:-0.07; dz:0.00; yaw:-89.34;


Context: [objects_distance_from_drone[pedestrian x:9.52 y:1.99 z:0.34, BMW X5 x:18.28 y:-5.14 z:0.34, dog x:1.93 y:-0.02 z:-0.14], yaw_start:255.66, yaw_current:90.66]

Answer: CIRCLE: dx:-0.48; dy:-0.21; dz:0.00; yaw:-74.34;


Context: [objects_distance_from_drone[pedestrian x:9.78 y:-0.04 z:0.34, BMW X5 x:16.12 y:-8.60 z:0.00, dog x:1.94 y:-0.02 z:-0.14], yaw_start:255.66, yaw_current:105.66]

Answer: CIRCLE: dx:-0.41; dy:-0.32; dz:0.00; yaw:-59.34;


Context: [objects_distance_from_drone[pedestrian x:9.50 y:-2.06 z:0.34, dog x:1.94 y:0.00 z:-0.14], yaw_start:255.66, yaw_current:120.66]

Answer: CIRCLE: dx:-0.31; dy:-0.42; dz:0.00; yaw:-44.34;


Context: [objects_distance_from_drone[pedestrian x:8.73 y:-3.49 z:0.34, dog x:1.96 y:0.01 z:-0.14], yaw_start:255.66, yaw_current:135.66]

Answer: CIRCLE: dx:-0.19; dy:-0.48; dz:0.00; yaw:-29.34;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14], yaw_start:255.66, yaw_current:150.66]

Answer: CIRCLE: dx:-0.06; dy:-0.52; dz:0.00; yaw:-14.34;


Context: [objects_distance_from_drone[dog x:1.96 y:0.03 z:-0.14], yaw_start:255.66, yaw_current:165.66]

Answer: CIRCLE: dx:0.07; dy:-0.52; dz:0.00; yaw:0.66;


Context: [objects_distance_from_drone[dog x:1.96 y:0.03 z:-0.14], yaw_start:255.66, yaw_current:180.66]

Answer: CIRCLE: dx:0.21; dy:-0.48; dz:0.00; yaw:15.66;


Context: [objects_distance_from_drone[dog x:1.95 y:0.03 z:-0.14], yaw_start:255.66, yaw_current:195.66]

Answer: CIRCLE: dx:0.32; dy:-0.41; dz:0.00; yaw:30.66;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14], yaw_start:255.66, yaw_current:210.66]

Answer: CIRCLE: dx:0.42; dy:-0.31; dz:0.00; yaw:45.66;


Context: [objects_distance_from_drone[dog x:1.99 y:0.01 z:-0.14], yaw_start:255.66, yaw_current:225.66]

Answer: CIRCLE: dx:0.48; dy:-0.19; dz:0.00; yaw:60.66;


Context: [drone_absolute_movement x:1.82 y:7.15 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:-1.82; dy:-7.15;


Context: [objects_distance_from_drone[dog x:9.28 y:-0.14 z:-0.02, bench x:4.18 y:3.26 z:-0.15]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:5.05 y:-2.19 z:0.87]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:5.02 y:-2.20 z:0.37]]

Answer: SEARCH


Context: [objects_distance_from_drone[bench x:4.98 y:0.37 z:0.08]]

Answer: MOVE: x:2.98; y:0.37; z:0.08


Context: [objects_distance_from_drone[bench x:2.10 y:0.00 z:0.10], yaw_start:250.08, yaw_current:235.08]

Answer: CIRCLE: dx:0.51; dy:-0.11; dz:0.00; yaw:70.08;


Context: [objects_distance_from_drone[bench x:1.98 y:0.05 z:0.09], yaw_start:250.08, yaw_current:250.08]

Answer: CIRCLE: dx:0.52; dy:0.02; dz:0.00; yaw:85.08;


Context: [objects_distance_from_drone[bench x:1.98 y:0.07 z:0.08], yaw_start:250.08, yaw_current:265.08]

Answer: CIRCLE: dx:0.50; dy:0.16; dz:0.00; yaw:100.08;


Context: [objects_distance_from_drone[BMW X5 x:-4.16 y:-0.04 z:0.05, bench x:1.94 y:-0.00 z:0.05], yaw_start:250.08, yaw_current:280.08]

Answer: CIRCLE: dx:0.44; dy:0.28; dz:0.00; yaw:115.08;


Context: [objects_distance_from_drone[bench x:1.91 y:-0.12 z:0.07], yaw_start:250.08, yaw_current:295.08]

Answer: CIRCLE: dx:0.35; dy:0.39; dz:0.00; yaw:130.08;


Context: [objects_distance_from_drone[bench x:1.88 y:-0.12 z:0.07], yaw_start:250.08, yaw_current:310.08]

Answer: CIRCLE: dx:0.24; dy:0.46; dz:0.00; yaw:145.08;


Context: [objects_distance_from_drone[bench x:1.86 y:-0.05 z:0.07], yaw_start:250.08, yaw_current:325.08]

Answer: CIRCLE: dx:0.11; dy:0.51; dz:0.00; yaw:160.08;


Context: [objects_distance_from_drone[bench x:1.86 y:-0.15 z:0.07], yaw_start:250.08, yaw_current:340.08]

Answer: CIRCLE: dx:-0.02; dy:0.52; dz:0.00; yaw:175.08;


Context: [objects_distance_from_drone[bench x:1.87 y:-0.21 z:0.08], yaw_start:250.08, yaw_current:355.08]

Answer: CIRCLE: dx:-0.16; dy:0.50; dz:0.00; yaw:-169.92;


Context: [objects_distance_from_drone[bench x:1.89 y:-0.18 z:0.09], yaw_start:250.08, yaw_current:10.08]

Answer: CIRCLE: dx:-0.28; dy:0.44; dz:0.00; yaw:-154.92;


Context: [objects_distance_from_drone[bench x:1.89 y:-0.12 z:0.11, oil barrel x:14.35 y:5.77 z:-0.06], yaw_start:250.08, yaw_current:25.08]

Answer: CIRCLE: dx:-0.39; dy:0.35; dz:0.00; yaw:-139.92;


Context: [objects_distance_from_drone[bench x:1.87 y:-0.02 z:0.13], yaw_start:250.08, yaw_current:40.08]

Answer: CIRCLE: dx:-0.46; dy:0.24; dz:0.00; yaw:-124.92;


Context: [objects_distance_from_drone[BMW X5 x:7.17 y:5.62 z:0.01, bench x:1.86 y:0.10 z:0.13], yaw_start:250.08, yaw_current:55.08]

Answer: CIRCLE: dx:-0.51; dy:0.11; dz:0.00; yaw:-109.92;


Context: [objects_distance_from_drone[bench x:1.87 y:0.18 z:0.13, oil barrel x:14.81 y:-4.67 z:-0.07], yaw_start:250.08, yaw_current:70.08]

Answer: CIRCLE: dx:-0.52; dy:-0.02; dz:0.00; yaw:-94.92;


Context: [objects_distance_from_drone[dog x:17.88 y:-8.25 z:-0.09, bench x:1.87 y:0.21 z:0.13], yaw_start:250.08, yaw_current:85.08]

Answer: CIRCLE: dx:-0.50; dy:-0.16; dz:0.00; yaw:-79.92;


Context: [objects_distance_from_drone[bench x:1.85 y:0.19 z:0.13], yaw_start:250.08, yaw_current:100.08]

Answer: CIRCLE: dx:-0.44; dy:-0.28; dz:0.00; yaw:-64.92;


Context: [objects_distance_from_drone[bench x:1.87 y:0.07 z:0.13], yaw_start:250.08, yaw_current:115.08]

Answer: CIRCLE: dx:-0.35; dy:-0.39; dz:0.00; yaw:-49.92;


Context: [objects_distance_from_drone[bench x:1.91 y:0.06 z:0.07], yaw_start:250.08, yaw_current:130.08]

Answer: CIRCLE: dx:-0.24; dy:-0.46; dz:0.00; yaw:-34.92;


Context: [objects_distance_from_drone[bench x:1.92 y:0.12 z:0.10], yaw_start:250.08, yaw_current:145.08]

Answer: CIRCLE: dx:-0.11; dy:-0.51; dz:0.00; yaw:-19.92;


Context: [objects_distance_from_drone[BMW X5 x:5.43 y:-2.76 z:0.24, bench x:1.93 y:-0.02 z:0.14], yaw_start:250.08, yaw_current:160.08]

Answer: CIRCLE: dx:0.02; dy:-0.52; dz:0.00; yaw:-4.92;


Context: [objects_distance_from_drone[bench x:1.96 y:-0.13 z:0.14], yaw_start:250.08, yaw_current:175.08]

Answer: CIRCLE: dx:0.16; dy:-0.50; dz:0.00; yaw:10.08;


Context: [objects_distance_from_drone[bench x:1.97 y:-0.13 z:0.13], yaw_start:250.08, yaw_current:190.08]

Answer: CIRCLE: dx:0.28; dy:-0.44; dz:0.00; yaw:25.08;


Context: [objects_distance_from_drone[bench x:1.97 y:-0.10 z:0.13], yaw_start:250.08, yaw_current:205.08]

Answer: CIRCLE: dx:0.39; dy:-0.35; dz:0.00; yaw:40.08;


Context: [objects_distance_from_drone[bench x:1.98 y:-0.04 z:0.13], yaw_start:250.08, yaw_current:220.08]

Answer: CIRCLE: dx:0.46; dy:-0.24; dz:0.00; yaw:55.08;


Context: [drone_absolute_movement x:1.05 y:2.78 z:0.50, objects_distance_from_drone[bench x:1.99 y:0.01 z:0.11]]

Answer: RETURN: dx:-1.05; dy:-2.78;


Context: [objects_distance_from_drone[bench x:4.89 y:-0.13 z:0.02]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:7.31 y:-0.65 z:0.34]]

Answer: MOVE: x:5.31; y:-0.65; z:0.34


Context: [objects_distance_from_drone[pedestrian x:2.09 y:-0.00 z:0.11], yaw_start:98.85, yaw_current:83.85]

Answer: CIRCLE: dx:-0.50; dy:-0.15; dz:0.00; yaw:-81.15;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:98.85, yaw_current:98.85]

Answer: CIRCLE: dx:-0.45; dy:-0.27; dz:0.00; yaw:-66.15;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:98.85, yaw_current:113.85]

Answer: CIRCLE: dx:-0.36; dy:-0.38; dz:0.00; yaw:-51.15;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:98.85, yaw_current:128.85]

Answer: CIRCLE: dx:-0.25; dy:-0.46; dz:0.00; yaw:-36.15;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:98.85, yaw_current:143.85]

Answer: CIRCLE: dx:-0.12; dy:-0.51; dz:0.00; yaw:-21.15;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10], yaw_start:98.85, yaw_current:158.85]

Answer: CIRCLE: dx:0.01; dy:-0.52; dz:0.00; yaw:-6.15;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.09], yaw_start:98.85, yaw_current:173.85]

Answer: CIRCLE: dx:0.15; dy:-0.50; dz:0.00; yaw:8.85;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09], yaw_start:98.85, yaw_current:188.85]

Answer: CIRCLE: dx:0.27; dy:-0.45; dz:0.00; yaw:23.85;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09], yaw_start:98.85, yaw_current:203.85]

Answer: CIRCLE: dx:0.38; dy:-0.36; dz:0.00; yaw:38.85;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, oil barrel x:20.07 y:8.54 z:-0.06], yaw_start:98.85, yaw_current:218.85]

Answer: CIRCLE: dx:0.46; dy:-0.25; dz:0.00; yaw:53.85;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:16.05 y:8.45 z:0.01, oil barrel x:21.66 y:3.56 z:-0.06], yaw_start:98.85, yaw_current:233.85]

Answer: CIRCLE: dx:0.51; dy:-0.12; dz:0.00; yaw:68.85;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:16.68 y:4.34 z:0.35, oil barrel x:21.92 y:-1.66 z:-0.07], yaw_start:98.85, yaw_current:248.85]

Answer: CIRCLE: dx:0.52; dy:0.01; dz:0.00; yaw:83.85;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:17.30 y:0.38 z:0.35, oil barrel x:20.82 y:-6.76 z:-0.08], yaw_start:98.85, yaw_current:263.85]

Answer: CIRCLE: dx:0.50; dy:0.15; dz:0.00; yaw:98.85;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, BMW X5 x:16.88 y:-3.60 z:0.34], yaw_start:98.85, yaw_current:278.85]

Answer: CIRCLE: dx:0.45; dy:0.27; dz:0.00; yaw:113.85;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, BMW X5 x:15.21 y:-8.40 z:0.34, bench x:13.77 y:6.23 z:0.08], yaw_start:98.85, yaw_current:293.85]

Answer: CIRCLE: dx:0.36; dy:0.38; dz:0.00; yaw:128.85;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, bench x:15.05 y:2.65 z:0.08], yaw_start:98.85, yaw_current:308.85]

Answer: CIRCLE: dx:0.25; dy:0.46; dz:0.00; yaw:143.85;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, bench x:15.29 y:-0.82 z:0.07], yaw_start:98.85, yaw_current:323.85]

Answer: CIRCLE: dx:0.12; dy:0.51; dz:0.00; yaw:158.85;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10, dog x:13.94 y:5.78 z:-0.13, bench x:14.63 y:-4.24 z:0.07], yaw_start:98.85, yaw_current:338.85]

Answer: CIRCLE: dx:-0.01; dy:0.52; dz:0.00; yaw:173.85;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10, dog x:15.03 y:2.49 z:-0.14], yaw_start:98.85, yaw_current:353.85]

Answer: CIRCLE: dx:-0.15; dy:0.50; dz:0.00; yaw:-171.15;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10, dog x:15.24 y:-0.97 z:-0.14], yaw_start:98.85, yaw_current:8.85]

Answer: CIRCLE: dx:-0.27; dy:0.45; dz:0.00; yaw:-156.15;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10, dog x:14.53 y:-4.36 z:-0.14], yaw_start:98.85, yaw_current:23.85]

Answer: CIRCLE: dx:-0.38; dy:0.36; dz:0.00; yaw:-141.15;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:0.00 z:0.10], yaw_start:98.85, yaw_current:38.85]

Answer: CIRCLE: dx:-0.46; dy:0.25; dz:0.00; yaw:-126.15;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:98.85, yaw_current:53.85]

Answer: CIRCLE: dx:-0.51; dy:0.12; dz:0.00; yaw:-111.15;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:98.85, yaw_current:68.85]

Answer: CIRCLE: dx:-0.52; dy:-0.01; dz:0.00; yaw:-96.15;


Context: [drone_absolute_movement x:0.94 y:-5.28 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10]]

Answer: RETURN: dx:-0.94; dy:5.28;


Context: [objects_distance_from_drone[pedestrian x:7.26 y:0.02 z:0.37]]

Answer: LAND


Context: [objects_distance_from_drone[pedestrian x:9.60 y:2.94 z:0.84]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:9.60 y:2.90 z:0.36]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:12.93 y:-0.10 z:0.35]]

Answer: MOVE: x:8.93; y:-0.10; z:0.35


Context: [objects_distance_from_drone[BMW X5 x:4.10 y:0.01 z:0.36], yaw_start:247.97, yaw_current:232.97]

Answer: CIRCLE: dx:1.01; dy:-0.26; dz:0.00; yaw:67.97;


Context: [objects_distance_from_drone[BMW X5 x:3.92 y:-0.33 z:0.35], yaw_start:247.97, yaw_current:247.97]

Answer: CIRCLE: dx:1.04; dy:0.01; dz:0.00; yaw:82.97;


Context: [objects_distance_from_drone[BMW X5 x:3.90 y:-0.33 z:0.34], yaw_start:247.97, yaw_current:262.97]

Answer: CIRCLE: dx:1.01; dy:0.28; dz:0.00; yaw:97.97;


Context: [objects_distance_from_drone[BMW X5 x:3.76 y:-0.16 z:0.35], yaw_start:247.97, yaw_current:277.97]

Answer: CIRCLE: dx:0.90; dy:0.53; dz:0.00; yaw:112.97;


Context: [objects_distance_from_drone[BMW X5 x:3.76 y:-0.39 z:0.35], yaw_start:247.97, yaw_current:292.97]

Answer: CIRCLE: dx:0.73; dy:0.74; dz:0.00; yaw:127.97;


Context: [objects_distance_from_drone[BMW X5 x:3.79 y:-0.55 z:0.34], yaw_start:247.97, yaw_current:307.97]

Answer: CIRCLE: dx:0.51; dy:0.91; dz:0.00; yaw:142.97;


Context: [objects_distance_from_drone[BMW X5 x:3.85 y:-0.50 z:0.35], yaw_start:247.97, yaw_current:322.97]

Answer: CIRCLE: dx:0.26; dy:1.01; dz:0.00; yaw:157.97;


Context: [objects_distance_from_drone[BMW X5 x:3.83 y:-0.36 z:0.35], yaw_start:247.97, yaw_current:337.97]

Answer: CIRCLE: dx:-0.01; dy:1.04; dz:0.00; yaw:172.97;


Context: [objects_distance_from_drone[BMW X5 x:3.80 y:-0.12 z:0.35], yaw_start:247.97, yaw_current:352.97]

Answer: CIRCLE: dx:-0.28; dy:1.01; dz:0.00; yaw:-172.03;


Context: [objects_distance_from_drone[BMW X5 x:3.81 y:0.22 z:0.35], yaw_start:247.97, yaw_current:7.97]

Answer: CIRCLE: dx:-0.53; dy:0.90; dz:0.00; yaw:-157.03;


Context: [objects_distance_from_drone[BMW X5 x:3.82 y:0.39 z:0.35], yaw_start:247.97, yaw_current:22.97]

Answer: CIRCLE: dx:-0.74; dy:0.73; dz:0.00; yaw:-142.03;


Context: [objects_distance_from_drone[BMW X5 x:3.79 y:0.49 z:0.34], yaw_start:247.97, yaw_current:37.97]

Answer: CIRCLE: dx:-0.91; dy:0.51; dz:0.00; yaw:-127.03;


Context: [objects_distance_from_drone[BMW X5 x:3.74 y:0.39 z:0.35], yaw_start:247.97, yaw_current:52.97]

Answer: CIRCLE: dx:-1.01; dy:0.26; dz:0.00; yaw:-112.03;


Context: [objects_distance_from_drone[BMW X5 x:3.73 y:0.19 z:0.35], yaw_start:247.97, yaw_current:67.97]

Answer: CIRCLE: dx:-1.04; dy:-0.01; dz:0.00; yaw:-97.03;


Context: [objects_distance_from_drone[BMW X5 x:3.78 y:0.23 z:0.34], yaw_start:247.97, yaw_current:82.97]

Answer: CIRCLE: dx:-1.01; dy:-0.28; dz:0.00; yaw:-82.03;


Context: [objects_distance_from_drone[BMW X5 x:3.86 y:0.40 z:0.35], yaw_start:247.97, yaw_current:97.97]

Answer: CIRCLE: dx:-0.90; dy:-0.53; dz:0.00; yaw:-67.03;


Context: [objects_distance_from_drone[BMW X5 x:3.94 y:0.14 z:0.39], yaw_start:247.97, yaw_current:112.97]

Answer: CIRCLE: dx:-0.73; dy:-0.74; dz:0.00; yaw:-52.03;


Context: [objects_distance_from_drone[BMW X5 x:4.04 y:-0.14 z:0.43], yaw_start:247.97, yaw_current:127.97]

Answer: CIRCLE: dx:-0.51; dy:-0.91; dz:0.00; yaw:-37.03;


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:-0.18 z:0.45], yaw_start:247.97, yaw_current:142.97]

Answer: CIRCLE: dx:-0.26; dy:-1.01; dz:0.00; yaw:-22.03;


Context: [objects_distance_from_drone[BMW X5 x:4.11 y:-0.13 z:0.45], yaw_start:247.97, yaw_current:157.97]

Answer: CIRCLE: dx:0.01; dy:-1.04; dz:0.00; yaw:-7.03;


Context: [objects_distance_from_drone[BMW X5 x:4.12 y:0.01 z:0.42], yaw_start:247.97, yaw_current:172.97]

Answer: CIRCLE: dx:0.28; dy:-1.01; dz:0.00; yaw:7.97;


Context: [objects_distance_from_drone[BMW X5 x:4.12 y:0.11 z:0.44], yaw_start:247.97, yaw_current:187.97]

Answer: CIRCLE: dx:0.53; dy:-0.90; dz:0.00; yaw:22.97;


Context: [objects_distance_from_drone[BMW X5 x:4.11 y:0.18 z:0.45], yaw_start:247.97, yaw_current:202.97]

Answer: CIRCLE: dx:0.74; dy:-0.73; dz:0.00; yaw:37.97;


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:0.18 z:0.44], yaw_start:247.97, yaw_current:217.97]

Answer: CIRCLE: dx:0.91; dy:-0.51; dz:0.00; yaw:52.97;


Context: [drone_absolute_movement x:3.16 y:8.30 z:0.50, objects_distance_from_drone[BMW X5 x:4.00 y:-0.06 z:0.40]]

Answer: RETURN: dx:-3.16; dy:-8.30;


Context: [objects_distance_from_drone[BMW X5 x:12.84 y:-0.24 z:0.49]]

Answer: LAND


Context: [objects_distance_from_drone[dog x:12.01 y:4.96 z:0.36]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[dog x:12.01 y:4.87 z:-0.12]]

Answer: SEARCH


Context: [objects_distance_from_drone[dog x:12.91 y:1.12 z:-0.13]]

Answer: MOVE: x:10.91; y:1.12; z:-0.13


Context: [objects_distance_from_drone[dog x:2.10 y:-0.00 z:-0.16], yaw_start:202.41, yaw_current:187.41]

Answer: CIRCLE: dx:0.26; dy:-0.45; dz:0.00; yaw:22.41;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.00 z:-0.14], yaw_start:202.41, yaw_current:202.41]

Answer: CIRCLE: dx:0.37; dy:-0.37; dz:0.00; yaw:37.41;


Context: [objects_distance_from_drone[dog x:2.00 y:0.01 z:-0.14], yaw_start:202.41, yaw_current:217.41]

Answer: CIRCLE: dx:0.45; dy:-0.26; dz:0.00; yaw:52.41;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14], yaw_start:202.41, yaw_current:232.41]

Answer: CIRCLE: dx:0.50; dy:-0.14; dz:0.00; yaw:67.41;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.02 z:-0.14], yaw_start:202.41, yaw_current:247.41]

Answer: CIRCLE: dx:0.52; dy:-0.00; dz:0.00; yaw:82.41;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.03 z:-0.14], yaw_start:202.41, yaw_current:262.41]

Answer: CIRCLE: dx:0.50; dy:0.13; dz:0.00; yaw:97.41;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14, oil barrel x:9.08 y:4.23 z:-0.07], yaw_start:202.41, yaw_current:277.41]

Answer: CIRCLE: dx:0.45; dy:0.26; dz:0.00; yaw:112.41;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.05 z:-0.14, oil barrel x:10.01 y:2.52 z:-0.07], yaw_start:202.41, yaw_current:292.41]

Answer: CIRCLE: dx:0.37; dy:0.37; dz:0.00; yaw:127.41;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.04 z:-0.14, bench x:9.29 y:4.85 z:0.08], yaw_start:202.41, yaw_current:307.41]

Answer: CIRCLE: dx:0.26; dy:0.45; dz:0.00; yaw:142.41;


Context: [objects_distance_from_drone[BMW X5 x:24.53 y:11.01 z:0.36, dog x:1.97 y:-0.04 z:-0.14, bench x:10.31 y:2.47 z:0.08, oil barrel x:10.20 y:-1.84 z:-0.07], yaw_start:202.41, yaw_current:322.41]

Answer: CIRCLE: dx:0.14; dy:0.50; dz:0.00; yaw:157.41;


Context: [objects_distance_from_drone[BMW X5 x:26.79 y:4.75 z:0.35, dog x:1.95 y:-0.03 z:-0.14, oil barrel x:9.44 y:-3.91 z:-0.07], yaw_start:202.41, yaw_current:337.41]

Answer: CIRCLE: dx:0.00; dy:0.52; dz:0.00; yaw:172.41;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.02 z:-0.14, bench x:10.42 y:-2.03 z:0.07], yaw_start:202.41, yaw_current:352.41]

Answer: CIRCLE: dx:-0.13; dy:0.50; dz:0.00; yaw:-172.59;


Context: [objects_distance_from_drone[pedestrian x:25.23 y:7.66 z:0.35, BMW X5 x:25.85 y:-8.30 z:0.34, dog x:1.94 y:-0.01 z:-0.14, bench x:9.61 y:-4.22 z:0.07], yaw_start:202.41, yaw_current:7.41]

Answer: CIRCLE: dx:-0.26; dy:0.45; dz:0.00; yaw:-157.59;


Context: [objects_distance_from_drone[pedestrian x:26.43 y:1.38 z:0.35, dog x:1.93 y:-0.02 z:-0.14], yaw_start:202.41, yaw_current:22.41]

Answer: CIRCLE: dx:-0.37; dy:0.37; dz:0.00; yaw:-142.59;


Context: [objects_distance_from_drone[pedestrian x:25.95 y:-4.99 z:0.34, dog x:1.94 y:-0.02 z:-0.14], yaw_start:202.41, yaw_current:37.41]

Answer: CIRCLE: dx:-0.45; dy:0.26; dz:0.00; yaw:-127.59;


Context: [objects_distance_from_drone[pedestrian x:23.85 y:-10.55 z:0.33, dog x:1.94 y:-0.01 z:-0.14], yaw_start:202.41, yaw_current:52.41]

Answer: CIRCLE: dx:-0.50; dy:0.14; dz:0.00; yaw:-112.59;


Context: [objects_distance_from_drone[dog x:1.95 y:0.00 z:-0.14], yaw_start:202.41, yaw_current:67.41]

Answer: CIRCLE: dx:-0.52; dy:0.00; dz:0.00; yaw:-97.59;


Context: [objects_distance_from_drone[dog x:1.95 y:0.01 z:-0.14], yaw_start:202.41, yaw_current:82.41]

Answer: CIRCLE: dx:-0.50; dy:-0.13; dz:0.00; yaw:-82.59;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14], yaw_start:202.41, yaw_current:97.41]

Answer: CIRCLE: dx:-0.45; dy:-0.26; dz:0.00; yaw:-67.59;


Context: [objects_distance_from_drone[dog x:1.96 y:0.03 z:-0.14], yaw_start:202.41, yaw_current:112.41]

Answer: CIRCLE: dx:-0.37; dy:-0.37; dz:0.00; yaw:-52.59;


Context: [objects_distance_from_drone[dog x:1.95 y:0.02 z:-0.14], yaw_start:202.41, yaw_current:127.41]

Answer: CIRCLE: dx:-0.26; dy:-0.45; dz:0.00; yaw:-37.59;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14], yaw_start:202.41, yaw_current:142.41]

Answer: CIRCLE: dx:-0.14; dy:-0.50; dz:0.00; yaw:-22.59;


Context: [objects_distance_from_drone[dog x:1.98 y:0.01 z:-0.14], yaw_start:202.41, yaw_current:157.41]

Answer: CIRCLE: dx:-0.00; dy:-0.52; dz:0.00; yaw:-7.59;


Context: [objects_distance_from_drone[dog x:1.99 y:0.00 z:-0.14], yaw_start:202.41, yaw_current:172.41]

Answer: CIRCLE: dx:0.13; dy:-0.50; dz:0.00; yaw:7.41;


Context: [drone_absolute_movement x:10.17 y:4.19 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:-10.17; dy:-4.19;


Context: [objects_distance_from_drone[dog x:12.90 y:-0.21 z:-0.21]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[dog x:12.49 y:-1.26 z:-0.14, bench x:8.86 y:0.70 z:0.08]]

Answer: MOVE: x:6.86; y:0.70; z:0.08


Context: [objects_distance_from_drone[bench x:2.08 y:-0.06 z:-0.20], yaw_start:282.79, yaw_current:267.79]

Answer: CIRCLE: dx:0.49; dy:0.18; dz:0.00; yaw:102.79;


Context: [objects_distance_from_drone[bench x:2.06 y:0.11 z:0.14], yaw_start:282.79, yaw_current:282.79]

Answer: CIRCLE: dx:0.43; dy:0.30; dz:0.00; yaw:117.79;


Context: [objects_distance_from_drone[bench x:2.10 y:0.12 z:0.13], yaw_start:282.79, yaw_current:297.79]

Answer: CIRCLE: dx:0.33; dy:0.40; dz:0.00; yaw:132.79;


Context: [objects_distance_from_drone[bench x:2.15 y:0.07 z:0.13], yaw_start:282.79, yaw_current:312.79]

Answer: CIRCLE: dx:0.22; dy:0.47; dz:0.00; yaw:147.79;


Context: [objects_distance_from_drone[bench x:2.17 y:0.07 z:0.10], yaw_start:282.79, yaw_current:327.79]

Answer: CIRCLE: dx:0.09; dy:0.51; dz:0.00; yaw:162.79;


Context: [objects_distance_from_drone[bench x:2.17 y:0.04 z:0.08], yaw_start:282.79, yaw_current:342.79]

Answer: CIRCLE: dx:-0.05; dy:0.52; dz:0.00; yaw:177.79;


Context: [objects_distance_from_drone[bench x:2.16 y:-0.01 z:0.07], yaw_start:282.79, yaw_current:357.79]

Answer: CIRCLE: dx:-0.18; dy:0.49; dz:0.00; yaw:-167.21;


Context: [objects_distance_from_drone[bench x:2.12 y:-0.18 z:0.07], yaw_start:282.79, yaw_current:12.79]

Answer: CIRCLE: dx:-0.30; dy:0.43; dz:0.00; yaw:-152.21;


Context: [objects_distance_from_drone[bench x:2.07 y:-0.35 z:0.07], yaw_start:282.79, yaw_current:27.79]

Answer: CIRCLE: dx:-0.40; dy:0.33; dz:0.00; yaw:-137.21;


Context: [objects_distance_from_drone[BMW X5 x:15.74 y:9.29 z:0.01, bench x:1.94 y:-0.37 z:0.07], yaw_start:282.79, yaw_current:42.79]

Answer: CIRCLE: dx:-0.47; dy:0.22; dz:0.00; yaw:-122.21;


Context: [objects_distance_from_drone[bench x:1.89 y:-0.38 z:0.07], yaw_start:282.79, yaw_current:57.79]

Answer: CIRCLE: dx:-0.51; dy:0.09; dz:0.00; yaw:-107.21;


Context: [objects_distance_from_drone[bench x:1.84 y:-0.46 z:0.08], yaw_start:282.79, yaw_current:72.79]

Answer: CIRCLE: dx:-0.52; dy:-0.05; dz:0.00; yaw:-92.21;


Context: [objects_distance_from_drone[pedestrian x:18.51 y:6.23 z:0.35, bench x:1.80 y:-0.46 z:0.09], yaw_start:282.79, yaw_current:87.79]

Answer: CIRCLE: dx:-0.49; dy:-0.18; dz:0.00; yaw:-77.21;


Context: [objects_distance_from_drone[pedestrian x:19.56 y:1.74 z:0.34, bench x:1.79 y:-0.40 z:0.11], yaw_start:282.79, yaw_current:102.79]

Answer: CIRCLE: dx:-0.43; dy:-0.30; dz:0.00; yaw:-62.21;


Context: [objects_distance_from_drone[bench x:1.75 y:-0.30 z:0.13, oil barrel x:9.07 y:4.21 z:-0.06], yaw_start:282.79, yaw_current:117.79]

Answer: CIRCLE: dx:-0.33; dy:-0.40; dz:0.00; yaw:-47.21;


Context: [objects_distance_from_drone[bench x:1.67 y:-0.12 z:0.14], yaw_start:282.79, yaw_current:132.79]

Answer: CIRCLE: dx:-0.22; dy:-0.47; dz:0.00; yaw:-32.21;


Context: [objects_distance_from_drone[bench x:1.69 y:0.08 z:0.13], yaw_start:282.79, yaw_current:147.79]

Answer: CIRCLE: dx:-0.09; dy:-0.51; dz:0.00; yaw:-17.21;


Context: [objects_distance_from_drone[bench x:1.69 y:0.21 z:0.13], yaw_start:282.79, yaw_current:162.79]

Answer: CIRCLE: dx:0.05; dy:-0.52; dz:0.00; yaw:-2.21;


Context: [objects_distance_from_drone[bench x:1.66 y:0.30 z:0.13], yaw_start:282.79, yaw_current:177.79]

Answer: CIRCLE: dx:0.18; dy:-0.49; dz:0.00; yaw:12.79;


Context: [objects_distance_from_drone[bench x:1.66 y:0.30 z:0.13], yaw_start:282.79, yaw_current:192.79]

Answer: CIRCLE: dx:0.30; dy:-0.43; dz:0.00; yaw:27.79;


Context: [objects_distance_from_drone[bench x:1.69 y:0.25 z:0.13], yaw_start:282.79, yaw_current:207.79]

Answer: CIRCLE: dx:0.40; dy:-0.33; dz:0.00; yaw:42.79;


Context: [objects_distance_from_drone[bench x:1.77 y:0.35 z:0.09], yaw_start:282.79, yaw_current:222.79]

Answer: CIRCLE: dx:0.47; dy:-0.22; dz:0.00; yaw:57.79;


Context: [objects_distance_from_drone[bench x:1.89 y:0.38 z:0.11], yaw_start:282.79, yaw_current:237.79]

Answer: CIRCLE: dx:0.51; dy:-0.09; dz:0.00; yaw:72.79;


Context: [objects_distance_from_drone[bench x:1.96 y:0.26 z:0.13], yaw_start:282.79, yaw_current:252.79]

Answer: CIRCLE: dx:0.52; dy:0.05; dz:0.00; yaw:87.79;


Context: [drone_absolute_movement x:-2.23 y:6.46 z:0.50, objects_distance_from_drone[bench x:2.01 y:0.13 z:0.12]]

Answer: RETURN: dx:2.23; dy:-6.46;


Context: [objects_distance_from_drone[dog x:12.40 y:-1.22 z:-0.19, bench x:8.77 y:0.72 z:0.06]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:6.32 y:-0.61 z:0.34]]

Answer: MOVE: x:4.32; y:-0.61; z:0.34


Context: [objects_distance_from_drone[pedestrian x:2.10 y:-0.00 z:0.11], yaw_start:89.29, yaw_current:74.29]

Answer: CIRCLE: dx:-0.52; dy:-0.06; dz:0.00; yaw:-90.71;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:89.29, yaw_current:89.29]

Answer: CIRCLE: dx:-0.48; dy:-0.19; dz:0.00; yaw:-75.71;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:89.29, yaw_current:104.29]

Answer: CIRCLE: dx:-0.42; dy:-0.31; dz:0.00; yaw:-60.71;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:89.29, yaw_current:119.29]

Answer: CIRCLE: dx:-0.32; dy:-0.41; dz:0.00; yaw:-45.71;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:89.29, yaw_current:134.29]

Answer: CIRCLE: dx:-0.21; dy:-0.48; dz:0.00; yaw:-30.71;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:89.29, yaw_current:149.29]

Answer: CIRCLE: dx:-0.07; dy:-0.52; dz:0.00; yaw:-15.71;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.09], yaw_start:89.29, yaw_current:164.29]

Answer: CIRCLE: dx:0.06; dy:-0.52; dz:0.00; yaw:-0.71;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09], yaw_start:89.29, yaw_current:179.29]

Answer: CIRCLE: dx:0.19; dy:-0.48; dz:0.00; yaw:14.29;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, bench x:19.69 y:8.35 z:0.08], yaw_start:89.29, yaw_current:194.29]

Answer: CIRCLE: dx:0.31; dy:-0.42; dz:0.00; yaw:29.29;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, bench x:21.26 y:3.48 z:0.08, oil barrel x:15.18 y:4.67 z:-0.06], yaw_start:89.29, yaw_current:209.29]

Answer: CIRCLE: dx:0.41; dy:-0.32; dz:0.00; yaw:44.29;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, bench x:21.50 y:-1.63 z:0.07, oil barrel x:15.94 y:1.09 z:-0.07], yaw_start:89.29, yaw_current:224.29]

Answer: CIRCLE: dx:0.48; dy:-0.21; dz:0.00; yaw:59.29;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:15.39 y:7.30 z:0.35, bench x:20.42 y:-6.63 z:0.07, oil barrel x:15.76 y:-2.56 z:-0.07], yaw_start:89.29, yaw_current:239.29]

Answer: CIRCLE: dx:0.52; dy:-0.07; dz:0.00; yaw:74.29;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:16.65 y:2.94 z:0.35, oil barrel x:14.62 y:-6.04 z:-0.07], yaw_start:89.29, yaw_current:254.29]

Answer: CIRCLE: dx:0.52; dy:0.06; dz:0.00; yaw:89.29;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:16.92 y:-0.96 z:0.34, dog x:16.94 y:7.87 z:-0.07], yaw_start:89.29, yaw_current:269.29]

Answer: CIRCLE: dx:0.48; dy:0.19; dz:0.00; yaw:104.29;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, BMW X5 x:16.17 y:-4.79 z:0.34, dog x:18.80 y:4.12 z:-0.13], yaw_start:89.29, yaw_current:284.29]

Answer: CIRCLE: dx:0.42; dy:0.31; dz:0.00; yaw:119.29;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, BMW X5 x:15.27 y:-9.30 z:-0.00, dog x:19.29 y:-0.37 z:-0.14], yaw_start:89.29, yaw_current:299.29]

Answer: CIRCLE: dx:0.32; dy:0.41; dz:0.00; yaw:134.29;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, dog x:18.60 y:-4.84 z:-0.14], yaw_start:89.29, yaw_current:314.29]

Answer: CIRCLE: dx:0.21; dy:0.48; dz:0.00; yaw:149.29;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10], yaw_start:89.29, yaw_current:329.29]

Answer: CIRCLE: dx:0.07; dy:0.52; dz:0.00; yaw:164.29;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10], yaw_start:89.29, yaw_current:344.29]

Answer: CIRCLE: dx:-0.06; dy:0.52; dz:0.00; yaw:179.29;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:89.29, yaw_current:359.29]

Answer: CIRCLE: dx:-0.19; dy:0.48; dz:0.00; yaw:-165.71;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:89.29, yaw_current:14.29]

Answer: CIRCLE: dx:-0.31; dy:0.42; dz:0.00; yaw:-150.71;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:89.29, yaw_current:29.29]

Answer: CIRCLE: dx:-0.41; dy:0.32; dz:0.00; yaw:-135.71;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:89.29, yaw_current:44.29]

Answer: CIRCLE: dx:-0.48; dy:0.21; dz:0.00; yaw:-120.71;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:89.29, yaw_current:59.29]

Answer: CIRCLE: dx:-0.52; dy:0.07; dz:0.00; yaw:-105.71;


Context: [drone_absolute_movement x:-0.01 y:-4.33 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10]]

Answer: RETURN: dx:0.01; dy:4.33;


Context: [objects_distance_from_drone[pedestrian x:6.23 y:-0.11 z:0.35]]

Answer: LAND


Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:5.15 y:1.74 z:0.37, BMW X5 x:6.93 y:-2.09 z:0.38]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:7.13 y:0.55 z:0.36]]

Answer: MOVE: x:3.13; y:0.55; z:0.36


Context: [objects_distance_from_drone[BMW X5 x:4.10 y:0.01 z:0.27], yaw_start:165.99, yaw_current:150.99]

Answer: CIRCLE: dx:-0.12; dy:-1.04; dz:0.00; yaw:-14.01;


Context: [objects_distance_from_drone[BMW X5 x:4.05 y:-0.12 z:0.46], yaw_start:165.99, yaw_current:165.99]

Answer: CIRCLE: dx:0.15; dy:-1.03; dz:0.00; yaw:0.99;


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:-0.07 z:0.46], yaw_start:165.99, yaw_current:180.99]

Answer: CIRCLE: dx:0.42; dy:-0.96; dz:0.00; yaw:15.99;


Context: [objects_distance_from_drone[BMW X5 x:4.11 y:0.07 z:0.43], yaw_start:165.99, yaw_current:195.99]

Answer: CIRCLE: dx:0.65; dy:-0.82; dz:0.00; yaw:30.99;


Context: [objects_distance_from_drone[BMW X5 x:4.13 y:0.17 z:0.43], yaw_start:165.99, yaw_current:210.99]

Answer: CIRCLE: dx:0.84; dy:-0.62; dz:0.00; yaw:45.99;


Context: [objects_distance_from_drone[BMW X5 x:4.14 y:0.24 z:0.45], yaw_start:165.99, yaw_current:225.99]

Answer: CIRCLE: dx:0.97; dy:-0.38; dz:0.00; yaw:60.99;


Context: [objects_distance_from_drone[BMW X5 x:4.13 y:0.24 z:0.43], yaw_start:165.99, yaw_current:240.99]

Answer: CIRCLE: dx:1.04; dy:-0.12; dz:0.00; yaw:75.99;


Context: [objects_distance_from_drone[BMW X5 x:4.06 y:0.06 z:0.40], yaw_start:165.99, yaw_current:255.99]

Answer: CIRCLE: dx:1.03; dy:0.15; dz:0.00; yaw:90.99;


Context: [objects_distance_from_drone[BMW X5 x:3.98 y:-0.25 z:0.35], yaw_start:165.99, yaw_current:270.99]

Answer: CIRCLE: dx:0.96; dy:0.42; dz:0.00; yaw:105.99;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:-0.34 z:0.35], yaw_start:165.99, yaw_current:285.99]

Answer: CIRCLE: dx:0.82; dy:0.65; dz:0.00; yaw:120.99;


Context: [objects_distance_from_drone[BMW X5 x:3.83 y:-0.19 z:0.34], yaw_start:165.99, yaw_current:300.99]

Answer: CIRCLE: dx:0.62; dy:0.84; dz:0.00; yaw:135.99;


Context: [objects_distance_from_drone[BMW X5 x:3.81 y:-0.40 z:0.34], yaw_start:165.99, yaw_current:315.99]

Answer: CIRCLE: dx:0.38; dy:0.97; dz:0.00; yaw:150.99;


Context: [objects_distance_from_drone[BMW X5 x:3.83 y:-0.60 z:0.35], yaw_start:165.99, yaw_current:330.99]

Answer: CIRCLE: dx:0.12; dy:1.04; dz:0.00; yaw:165.99;


Context: [objects_distance_from_drone[BMW X5 x:3.88 y:-0.57 z:0.35], yaw_start:165.99, yaw_current:345.99]

Answer: CIRCLE: dx:-0.15; dy:1.03; dz:0.00; yaw:-179.01;


Context: [objects_distance_from_drone[BMW X5 x:3.85 y:-0.46 z:0.34], yaw_start:165.99, yaw_current:0.99]

Answer: CIRCLE: dx:-0.42; dy:0.96; dz:0.00; yaw:-164.01;


Context: [objects_distance_from_drone[BMW X5 x:3.82 y:-0.24 z:0.34], yaw_start:165.99, yaw_current:15.99]

Answer: CIRCLE: dx:-0.65; dy:0.82; dz:0.00; yaw:-149.01;


Context: [objects_distance_from_drone[BMW X5 x:3.81 y:0.11 z:0.35], yaw_start:165.99, yaw_current:30.99]

Answer: CIRCLE: dx:-0.84; dy:0.62; dz:0.00; yaw:-134.01;


Context: [objects_distance_from_drone[BMW X5 x:3.80 y:0.30 z:0.34], yaw_start:165.99, yaw_current:45.99]

Answer: CIRCLE: dx:-0.97; dy:0.38; dz:0.00; yaw:-119.01;


Context: [objects_distance_from_drone[BMW X5 x:3.77 y:0.42 z:0.35], yaw_start:165.99, yaw_current:60.99]

Answer: CIRCLE: dx:-1.04; dy:0.12; dz:0.00; yaw:-104.01;


Context: [objects_distance_from_drone[BMW X5 x:3.70 y:0.36 z:0.34], yaw_start:165.99, yaw_current:75.99]

Answer: CIRCLE: dx:-1.03; dy:-0.15; dz:0.00; yaw:-89.01;


Context: [objects_distance_from_drone[pedestrian x:-0.27 y:-0.06 z:0.03, BMW X5 x:3.68 y:0.18 z:0.35], yaw_start:165.99, yaw_current:90.99]

Answer: CIRCLE: dx:-0.96; dy:-0.42; dz:0.00; yaw:-74.01;


Context: [objects_distance_from_drone[pedestrian x:-0.28 y:0.05 z:0.03, BMW X5 x:3.70 y:0.19 z:0.34], yaw_start:165.99, yaw_current:105.99]

Answer: CIRCLE: dx:-0.82; dy:-0.65; dz:0.00; yaw:-59.01;


Context: [objects_distance_from_drone[BMW X5 x:3.80 y:0.41 z:0.35], yaw_start:165.99, yaw_current:120.99]

Answer: CIRCLE: dx:-0.62; dy:-0.84; dz:0.00; yaw:-44.01;


Context: [objects_distance_from_drone[BMW X5 x:3.87 y:0.22 z:0.39], yaw_start:165.99, yaw_current:135.99]

Answer: CIRCLE: dx:-0.38; dy:-0.97; dz:0.00; yaw:-29.01;


Context: [drone_absolute_movement x:3.03 y:-6.76 z:0.50, objects_distance_from_drone[BMW X5 x:3.98 y:-0.03 z:0.43]]

Answer: RETURN: dx:-3.03; dy:6.76;


Context: [objects_distance_from_drone[pedestrian x:5.88 y:-2.01 z:0.41, BMW X5 x:9.18 y:-5.20 z:0.12]]

Answer: LAND


Context: [objects_distance_from_drone[dog x:8.76 y:3.87 z:0.36]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[dog x:8.72 y:3.91 z:-0.12]]

Answer: SEARCH


Context: [objects_distance_from_drone[dog x:9.56 y:0.86 z:-0.13]]

Answer: MOVE: x:7.56; y:0.86; z:-0.13


Context: [objects_distance_from_drone[dog x:2.10 y:0.00 z:-0.16], yaw_start:204.31, yaw_current:189.31]

Answer: CIRCLE: dx:0.28; dy:-0.44; dz:0.00; yaw:24.31;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.00 z:-0.14], yaw_start:204.31, yaw_current:204.31]

Answer: CIRCLE: dx:0.38; dy:-0.36; dz:0.00; yaw:39.31;


Context: [objects_distance_from_drone[dog x:2.00 y:0.01 z:-0.14], yaw_start:204.31, yaw_current:219.31]

Answer: CIRCLE: dx:0.46; dy:-0.25; dz:0.00; yaw:54.31;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.00 z:-0.14], yaw_start:204.31, yaw_current:234.31]

Answer: CIRCLE: dx:0.51; dy:-0.12; dz:0.00; yaw:69.31;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.02 z:-0.14], yaw_start:204.31, yaw_current:249.31]

Answer: CIRCLE: dx:0.52; dy:0.02; dz:0.00; yaw:84.31;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.03 z:-0.14], yaw_start:204.31, yaw_current:264.31]

Answer: CIRCLE: dx:0.50; dy:0.15; dz:0.00; yaw:99.31;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14], yaw_start:204.31, yaw_current:279.31]

Answer: CIRCLE: dx:0.44; dy:0.28; dz:0.00; yaw:114.31;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.05 z:-0.14], yaw_start:204.31, yaw_current:294.31]

Answer: CIRCLE: dx:0.36; dy:0.38; dz:0.00; yaw:129.31;


Context: [objects_distance_from_drone[pedestrian x:15.64 y:4.81 z:0.35, dog x:1.99 y:-0.05 z:-0.14], yaw_start:204.31, yaw_current:309.31]

Answer: CIRCLE: dx:0.25; dy:0.46; dz:0.00; yaw:144.31;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.04 z:-0.14, bench x:22.26 y:6.24 z:0.08], yaw_start:204.31, yaw_current:324.31]

Answer: CIRCLE: dx:0.12; dy:0.51; dz:0.00; yaw:159.31;


Context: [objects_distance_from_drone[pedestrian x:16.21 y:-2.67 z:0.34, dog x:1.96 y:-0.03 z:-0.14], yaw_start:204.31, yaw_current:339.31]

Answer: CIRCLE: dx:-0.02; dy:0.52; dz:0.00; yaw:174.31;


Context: [objects_distance_from_drone[pedestrian x:15.04 y:-6.09 z:0.33, dog x:1.95 y:-0.02 z:-0.14, bench x:22.67 y:-4.74 z:0.07], yaw_start:204.31, yaw_current:354.31]

Answer: CIRCLE: dx:-0.15; dy:0.50; dz:0.00; yaw:-170.69;


Context: [objects_distance_from_drone[dog x:1.93 y:-0.01 z:-0.14, bench x:20.52 y:-10.47 z:0.07, oil barrel x:23.63 y:7.35 z:-0.06], yaw_start:204.31, yaw_current:9.31]

Answer: CIRCLE: dx:-0.28; dy:0.44; dz:0.00; yaw:-155.69;


Context: [objects_distance_from_drone[BMW X5 x:16.11 y:9.44 z:0.40, dog x:1.93 y:-0.01 z:-0.14, oil barrel x:24.80 y:1.49 z:-0.07], yaw_start:204.31, yaw_current:24.31]

Answer: CIRCLE: dx:-0.38; dy:0.36; dz:0.00; yaw:-140.69;


Context: [objects_distance_from_drone[BMW X5 x:19.00 y:5.89 z:0.35, dog x:1.94 y:-0.02 z:-0.14, oil barrel x:24.42 y:-4.47 z:-0.07], yaw_start:204.31, yaw_current:39.31]

Answer: CIRCLE: dx:-0.46; dy:0.25; dz:0.00; yaw:-125.69;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.02 z:-0.14, oil barrel x:22.49 y:-10.12 z:-0.08], yaw_start:204.31, yaw_current:54.31]

Answer: CIRCLE: dx:-0.51; dy:0.12; dz:0.00; yaw:-110.69;


Context: [objects_distance_from_drone[BMW X5 x:19.67 y:-3.42 z:0.34, dog x:1.94 y:-0.00 z:-0.14], yaw_start:204.31, yaw_current:69.31]

Answer: CIRCLE: dx:-0.52; dy:-0.02; dz:0.00; yaw:-95.69;


Context: [objects_distance_from_drone[BMW X5 x:18.08 y:-8.62 z:0.34, dog x:1.96 y:0.01 z:-0.14], yaw_start:204.31, yaw_current:84.31]

Answer: CIRCLE: dx:-0.50; dy:-0.15; dz:0.00; yaw:-80.69;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14], yaw_start:204.31, yaw_current:99.31]

Answer: CIRCLE: dx:-0.44; dy:-0.28; dz:0.00; yaw:-65.69;


Context: [objects_distance_from_drone[dog x:1.96 y:0.03 z:-0.14], yaw_start:204.31, yaw_current:114.31]

Answer: CIRCLE: dx:-0.36; dy:-0.38; dz:0.00; yaw:-50.69;


Context: [objects_distance_from_drone[dog x:1.95 y:0.03 z:-0.14], yaw_start:204.31, yaw_current:129.31]

Answer: CIRCLE: dx:-0.25; dy:-0.46; dz:0.00; yaw:-35.69;


Context: [objects_distance_from_drone[dog x:1.96 y:0.02 z:-0.14], yaw_start:204.31, yaw_current:144.31]

Answer: CIRCLE: dx:-0.12; dy:-0.51; dz:0.00; yaw:-20.69;


Context: [objects_distance_from_drone[dog x:1.98 y:0.02 z:-0.14], yaw_start:204.31, yaw_current:159.31]

Answer: CIRCLE: dx:0.02; dy:-0.52; dz:0.00; yaw:-5.69;


Context: [objects_distance_from_drone[dog x:1.99 y:0.01 z:-0.14], yaw_start:204.31, yaw_current:174.31]

Answer: CIRCLE: dx:0.15; dy:-0.50; dz:0.00; yaw:9.31;


Context: [drone_absolute_movement x:6.95 y:3.10 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:-6.95; dy:-3.10;


Context: [objects_distance_from_drone[dog x:9.51 y:-0.23 z:-0.13]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[dog x:14.47 y:-1.39 z:-0.14, bench x:6.39 y:0.66 z:0.08]]

Answer: MOVE: x:4.39; y:0.66; z:0.08


Context: [objects_distance_from_drone[dog x:9.54 y:-2.80 z:-3.02, bench x:1.92 y:0.11 z:-0.44], yaw_start:337.08, yaw_current:322.08]

Answer: CIRCLE: dx:0.14; dy:0.50; dz:0.00; yaw:157.08;


Context: [objects_distance_from_drone[bench x:2.04 y:-0.14 z:0.15], yaw_start:337.08, yaw_current:337.08]

Answer: CIRCLE: dx:0.00; dy:0.52; dz:0.00; yaw:172.08;


Context: [objects_distance_from_drone[bench x:2.00 y:-0.27 z:0.13], yaw_start:337.08, yaw_current:352.08]

Answer: CIRCLE: dx:-0.13; dy:0.51; dz:0.00; yaw:-172.92;


Context: [objects_distance_from_drone[bench x:1.93 y:-0.41 z:0.11], yaw_start:337.08, yaw_current:7.08]

Answer: CIRCLE: dx:-0.26; dy:0.45; dz:0.00; yaw:-157.92;


Context: [objects_distance_from_drone[BMW X5 x:6.24 y:-4.75 z:0.34, bench x:1.84 y:-0.42 z:0.08], yaw_start:337.08, yaw_current:22.08]

Answer: CIRCLE: dx:-0.37; dy:0.37; dz:0.00; yaw:-142.92;


Context: [objects_distance_from_drone[BMW X5 x:6.11 y:-5.27 z:0.14, bench x:1.71 y:-0.31 z:0.14], yaw_start:337.08, yaw_current:37.08]

Answer: CIRCLE: dx:-0.45; dy:0.26; dz:0.00; yaw:-127.92;


Context: [objects_distance_from_drone[bench x:1.66 y:-0.35 z:0.17], yaw_start:337.08, yaw_current:52.08]

Answer: CIRCLE: dx:-0.50; dy:0.14; dz:0.00; yaw:-112.92;


Context: [objects_distance_from_drone[bench x:1.64 y:-0.36 z:0.16], yaw_start:337.08, yaw_current:67.08]

Answer: CIRCLE: dx:-0.52; dy:0.00; dz:0.00; yaw:-97.92;


Context: [objects_distance_from_drone[pedestrian x:15.40 y:7.20 z:0.35, bench x:1.67 y:-0.28 z:0.14], yaw_start:337.08, yaw_current:82.08]

Answer: CIRCLE: dx:-0.51; dy:-0.13; dz:0.00; yaw:-82.92;


Context: [objects_distance_from_drone[bench x:1.68 y:-0.17 z:0.13], yaw_start:337.08, yaw_current:97.08]

Answer: CIRCLE: dx:-0.45; dy:-0.26; dz:0.00; yaw:-67.92;


Context: [objects_distance_from_drone[bench x:1.68 y:-0.01 z:0.13], yaw_start:337.08, yaw_current:112.08]

Answer: CIRCLE: dx:-0.37; dy:-0.37; dz:0.00; yaw:-52.92;


Context: [objects_distance_from_drone[pedestrian x:17.24 y:-3.74 z:0.34, bench x:1.72 y:0.23 z:0.13], yaw_start:337.08, yaw_current:127.08]

Answer: CIRCLE: dx:-0.26; dy:-0.45; dz:0.00; yaw:-37.92;


Context: [objects_distance_from_drone[pedestrian x:15.76 y:-6.95 z:0.33, bench x:1.78 y:0.35 z:0.11], yaw_start:337.08, yaw_current:142.08]

Answer: CIRCLE: dx:-0.14; dy:-0.50; dz:0.00; yaw:-22.92;


Context: [objects_distance_from_drone[BMW X5 x:-2.90 y:-0.07 z:0.05, bench x:1.78 y:0.42 z:0.08], yaw_start:337.08, yaw_current:157.08]

Answer: CIRCLE: dx:-0.00; dy:-0.52; dz:0.00; yaw:-7.92;


Context: [objects_distance_from_drone[BMW X5 x:-2.92 y:0.05 z:0.05, bench x:1.80 y:0.44 z:0.05], yaw_start:337.08, yaw_current:172.08]

Answer: CIRCLE: dx:0.13; dy:-0.51; dz:0.00; yaw:7.08;


Context: [objects_distance_from_drone[bench x:1.86 y:0.38 z:0.06], yaw_start:337.08, yaw_current:187.08]

Answer: CIRCLE: dx:0.26; dy:-0.45; dz:0.00; yaw:22.08;


Context: [objects_distance_from_drone[bench x:1.92 y:0.34 z:0.07], yaw_start:337.08, yaw_current:202.08]

Answer: CIRCLE: dx:0.37; dy:-0.37; dz:0.00; yaw:37.08;


Context: [objects_distance_from_drone[bench x:2.04 y:0.37 z:0.07], yaw_start:337.08, yaw_current:217.08]

Answer: CIRCLE: dx:0.45; dy:-0.26; dz:0.00; yaw:52.08;


Context: [objects_distance_from_drone[bench x:2.10 y:0.21 z:0.07], yaw_start:337.08, yaw_current:232.08]

Answer: CIRCLE: dx:0.50; dy:-0.14; dz:0.00; yaw:67.08;


Context: [objects_distance_from_drone[bench x:2.15 y:0.02 z:0.07], yaw_start:337.08, yaw_current:247.08]

Answer: CIRCLE: dx:0.52; dy:-0.00; dz:0.00; yaw:82.08;


Context: [objects_distance_from_drone[bench x:2.17 y:-0.04 z:0.08], yaw_start:337.08, yaw_current:262.08]

Answer: CIRCLE: dx:0.51; dy:0.13; dz:0.00; yaw:97.08;


Context: [objects_distance_from_drone[dog x:9.98 y:2.99 z:-0.13, bench x:2.17 y:-0.07 z:0.10], yaw_start:337.08, yaw_current:277.08]

Answer: CIRCLE: dx:0.45; dy:0.26; dz:0.00; yaw:112.08;


Context: [objects_distance_from_drone[BMW X5 x:5.88 y:4.68 z:0.35, bench x:2.17 y:-0.07 z:0.12], yaw_start:337.08, yaw_current:292.08]

Answer: CIRCLE: dx:0.37; dy:0.37; dz:0.00; yaw:127.08;


Context: [objects_distance_from_drone[bench x:2.12 y:-0.12 z:0.13], yaw_start:337.08, yaw_current:307.08]

Answer: CIRCLE: dx:0.26; dy:0.45; dz:0.00; yaw:142.08;


Context: [drone_absolute_movement x:-3.82 y:1.91 z:0.50, objects_distance_from_drone[dog x:9.75 y:-3.52 z:-0.17, bench x:2.09 y:-0.13 z:0.13]]

Answer: RETURN: dx:3.82; dy:-1.91;


Context: [objects_distance_from_drone[dog x:13.84 y:-4.06 z:-0.07, bench x:6.29 y:-0.56 z:0.10]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:11.47 y:-6.40 z:0.53]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:11.42 y:-6.51 z:0.03]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:8.70 y:0.80 z:0.34]]

Answer: MOVE: x:6.70; y:0.80; z:0.34


Context: [objects_distance_from_drone[pedestrian x:2.09 y:0.00 z:0.11], yaw_start:350.39, yaw_current:335.39]

Answer: CIRCLE: dx:0.02; dy:0.52; dz:0.00; yaw:170.39;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:0.00 z:0.10], yaw_start:350.39, yaw_current:350.39]

Answer: CIRCLE: dx:-0.12; dy:0.51; dz:0.00; yaw:-174.61;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10, dog x:5.74 y:2.47 z:-0.13], yaw_start:350.39, yaw_current:5.39]

Answer: CIRCLE: dx:-0.24; dy:0.46; dz:0.00; yaw:-159.61;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10, dog x:6.32 y:1.73 z:-0.14], yaw_start:350.39, yaw_current:20.39]

Answer: CIRCLE: dx:-0.36; dy:0.38; dz:0.00; yaw:-144.61;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10, dog x:6.62 y:0.53 z:-0.14], yaw_start:350.39, yaw_current:35.39]

Answer: CIRCLE: dx:-0.44; dy:0.28; dz:0.00; yaw:-129.61;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10, dog x:6.61 y:-0.70 z:-0.14, bench x:15.20 y:4.48 z:0.08], yaw_start:350.39, yaw_current:50.39]

Answer: CIRCLE: dx:-0.50; dy:0.15; dz:0.00; yaw:-114.61;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10, dog x:6.28 y:-1.88 z:-0.14, bench x:15.91 y:0.91 z:0.07], yaw_start:350.39, yaw_current:65.39]

Answer: CIRCLE: dx:-0.52; dy:0.02; dz:0.00; yaw:-99.61;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10, dog x:6.04 y:-2.78 z:-0.08, bench x:15.67 y:-2.73 z:0.07], yaw_start:350.39, yaw_current:80.39]

Answer: CIRCLE: dx:-0.51; dy:-0.12; dz:0.00; yaw:-84.61;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10, bench x:14.50 y:-6.18 z:0.06], yaw_start:350.39, yaw_current:95.39]

Answer: CIRCLE: dx:-0.46; dy:-0.24; dz:0.00; yaw:-69.61;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.09, BMW X5 x:21.33 y:11.73 z:0.36], yaw_start:350.39, yaw_current:110.39]

Answer: CIRCLE: dx:-0.38; dy:-0.36; dz:0.00; yaw:-54.61;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:23.17 y:6.14 z:0.35], yaw_start:350.39, yaw_current:125.39]

Answer: CIRCLE: dx:-0.28; dy:-0.44; dz:0.00; yaw:-39.61;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:24.04 y:0.44 z:0.35], yaw_start:350.39, yaw_current:140.39]

Answer: CIRCLE: dx:-0.15; dy:-0.50; dz:0.00; yaw:-24.61;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:23.40 y:-5.29 z:0.34], yaw_start:350.39, yaw_current:155.39]

Answer: CIRCLE: dx:-0.02; dy:-0.52; dz:0.00; yaw:-9.61;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:21.41 y:-9.54 z:-0.01], yaw_start:350.39, yaw_current:170.39]

Answer: CIRCLE: dx:0.12; dy:-0.51; dz:0.00; yaw:5.39;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, oil barrel x:17.21 y:5.81 z:-0.06], yaw_start:350.39, yaw_current:185.39]

Answer: CIRCLE: dx:0.24; dy:-0.46; dz:0.00; yaw:20.39;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, oil barrel x:18.19 y:1.66 z:-0.07], yaw_start:350.39, yaw_current:200.39]

Answer: CIRCLE: dx:0.36; dy:-0.38; dz:0.00; yaw:35.39;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09, oil barrel x:18.07 y:-2.59 z:-0.07], yaw_start:350.39, yaw_current:215.39]

Answer: CIRCLE: dx:0.44; dy:-0.28; dz:0.00; yaw:50.39;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09, oil barrel x:16.86 y:-6.67 z:-0.08], yaw_start:350.39, yaw_current:230.39]

Answer: CIRCLE: dx:0.50; dy:-0.15; dz:0.00; yaw:65.39;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09], yaw_start:350.39, yaw_current:245.39]

Answer: CIRCLE: dx:0.52; dy:-0.02; dz:0.00; yaw:80.39;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09], yaw_start:350.39, yaw_current:260.39]

Answer: CIRCLE: dx:0.51; dy:0.12; dz:0.00; yaw:95.39;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10], yaw_start:350.39, yaw_current:275.39]

Answer: CIRCLE: dx:0.46; dy:0.24; dz:0.00; yaw:110.39;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10], yaw_start:350.39, yaw_current:290.39]

Answer: CIRCLE: dx:0.38; dy:0.36; dz:0.00; yaw:125.39;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:350.39, yaw_current:305.39]

Answer: CIRCLE: dx:0.28; dy:0.44; dz:0.00; yaw:140.39;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:350.39, yaw_current:320.39]

Answer: CIRCLE: dx:0.15; dy:0.50; dz:0.00; yaw:155.39;


Context: [drone_absolute_movement x:-6.60 y:1.39 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:0.00 z:0.10]]

Answer: RETURN: dx:6.60; dy:-1.39;


Context: [objects_distance_from_drone[pedestrian x:8.64 y:-0.33 z:0.35, dog x:10.52 y:3.94 z:-0.13]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:10.89 y:-1.85 z:0.35, dog x:7.25 y:0.53 z:-0.13]]

Answer: MOVE: x:6.89; y:-1.85; z:0.35


Context: [objects_distance_from_drone[BMW X5 x:4.10 y:-0.01 z:0.32], yaw_start:132.73, yaw_current:117.73]

Answer: CIRCLE: dx:-0.67; dy:-0.80; dz:0.00; yaw:-47.27;


Context: [objects_distance_from_drone[BMW X5 x:4.06 y:0.01 z:0.35], yaw_start:132.73, yaw_current:132.73]

Answer: CIRCLE: dx:-0.44; dy:-0.95; dz:0.00; yaw:-32.27;


Context: [objects_distance_from_drone[BMW X5 x:4.11 y:0.10 z:0.34], yaw_start:132.73, yaw_current:147.73]

Answer: CIRCLE: dx:-0.18; dy:-1.03; dz:0.00; yaw:-17.27;


Context: [objects_distance_from_drone[BMW X5 x:4.15 y:0.20 z:0.35], yaw_start:132.73, yaw_current:162.73]

Answer: CIRCLE: dx:0.10; dy:-1.04; dz:0.00; yaw:-2.27;


Context: [objects_distance_from_drone[BMW X5 x:4.19 y:0.30 z:0.35], yaw_start:132.73, yaw_current:177.73]

Answer: CIRCLE: dx:0.36; dy:-0.98; dz:0.00; yaw:12.73;


Context: [objects_distance_from_drone[BMW X5 x:4.19 y:0.32 z:0.35], yaw_start:132.73, yaw_current:192.73]

Answer: CIRCLE: dx:0.60; dy:-0.85; dz:0.00; yaw:27.73;


Context: [objects_distance_from_drone[BMW X5 x:4.17 y:0.25 z:0.34], yaw_start:132.73, yaw_current:207.73]

Answer: CIRCLE: dx:0.80; dy:-0.67; dz:0.00; yaw:42.73;


Context: [objects_distance_from_drone[BMW X5 x:4.10 y:-0.07 z:0.34], yaw_start:132.73, yaw_current:222.73]

Answer: CIRCLE: dx:0.95; dy:-0.44; dz:0.00; yaw:57.73;


Context: [objects_distance_from_drone[BMW X5 x:4.04 y:-0.41 z:0.34], yaw_start:132.73, yaw_current:237.73]

Answer: CIRCLE: dx:1.03; dy:-0.18; dz:0.00; yaw:72.73;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:-0.31 z:0.34], yaw_start:132.73, yaw_current:252.73]

Answer: CIRCLE: dx:1.04; dy:0.10; dz:0.00; yaw:87.73;


Context: [objects_distance_from_drone[BMW X5 x:3.88 y:-0.35 z:0.37], yaw_start:132.73, yaw_current:267.73]

Answer: CIRCLE: dx:0.98; dy:0.36; dz:0.00; yaw:102.73;


Context: [objects_distance_from_drone[BMW X5 x:3.86 y:-0.63 z:0.43], yaw_start:132.73, yaw_current:282.73]

Answer: CIRCLE: dx:0.85; dy:0.60; dz:0.00; yaw:117.73;


Context: [objects_distance_from_drone[BMW X5 x:3.86 y:-0.69 z:0.46], yaw_start:132.73, yaw_current:297.73]

Answer: CIRCLE: dx:0.67; dy:0.80; dz:0.00; yaw:132.73;


Context: [objects_distance_from_drone[BMW X5 x:3.87 y:-0.63 z:0.49], yaw_start:132.73, yaw_current:312.73]

Answer: CIRCLE: dx:0.44; dy:0.95; dz:0.00; yaw:147.73;


Context: [objects_distance_from_drone[BMW X5 x:3.81 y:-0.47 z:0.50], yaw_start:132.73, yaw_current:327.73]

Answer: CIRCLE: dx:0.18; dy:1.03; dz:0.00; yaw:162.73;


Context: [objects_distance_from_drone[BMW X5 x:3.72 y:-0.14 z:0.49], yaw_start:132.73, yaw_current:342.73]

Answer: CIRCLE: dx:-0.10; dy:1.04; dz:0.00; yaw:177.73;


Context: [objects_distance_from_drone[BMW X5 x:3.73 y:0.13 z:0.52], yaw_start:132.73, yaw_current:357.73]

Answer: CIRCLE: dx:-0.36; dy:0.98; dz:0.00; yaw:-167.27;


Context: [objects_distance_from_drone[BMW X5 x:3.72 y:0.31 z:0.52], yaw_start:132.73, yaw_current:12.73]

Answer: CIRCLE: dx:-0.60; dy:0.85; dz:0.00; yaw:-152.27;


Context: [objects_distance_from_drone[BMW X5 x:3.64 y:0.38 z:0.49], yaw_start:132.73, yaw_current:27.73]

Answer: CIRCLE: dx:-0.80; dy:0.67; dz:0.00; yaw:-137.27;


Context: [objects_distance_from_drone[BMW X5 x:3.60 y:0.24 z:0.46], yaw_start:132.73, yaw_current:42.73]

Answer: CIRCLE: dx:-0.95; dy:0.44; dz:0.00; yaw:-122.27;


Context: [objects_distance_from_drone[BMW X5 x:3.59 y:0.10 z:0.40], yaw_start:132.73, yaw_current:57.73]

Answer: CIRCLE: dx:-1.03; dy:0.18; dz:0.00; yaw:-107.27;


Context: [objects_distance_from_drone[BMW X5 x:3.71 y:0.35 z:0.35], yaw_start:132.73, yaw_current:72.73]

Answer: CIRCLE: dx:-1.04; dy:-0.10; dz:0.00; yaw:-92.27;


Context: [objects_distance_from_drone[BMW X5 x:3.76 y:0.42 z:0.35], yaw_start:132.73, yaw_current:87.73]

Answer: CIRCLE: dx:-0.98; dy:-0.36; dz:0.00; yaw:-77.27;


Context: [objects_distance_from_drone[BMW X5 x:3.88 y:0.21 z:0.35], yaw_start:132.73, yaw_current:102.73]

Answer: CIRCLE: dx:-0.85; dy:-0.60; dz:0.00; yaw:-62.27;


Context: [drone_absolute_movement x:4.83 y:-5.14 z:0.50, objects_distance_from_drone[BMW X5 x:4.00 y:-0.03 z:0.35]]

Answer: RETURN: dx:-4.83; dy:5.14;


Context: [objects_distance_from_drone[BMW X5 x:10.95 y:-0.02 z:0.71, dog x:6.99 y:1.73 z:0.11]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[dog x:8.67 y:0.78 z:-0.14]]

Answer: MOVE: x:6.67; y:0.78; z:-0.14


Context: [objects_distance_from_drone[dog x:2.10 y:-0.00 z:-0.16], yaw_start:289.87, yaw_current:274.87]

Answer: CIRCLE: dx:0.46; dy:0.24; dz:0.00; yaw:109.87;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.01 z:-0.14], yaw_start:289.87, yaw_current:289.87]

Answer: CIRCLE: dx:0.39; dy:0.35; dz:0.00; yaw:124.87;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.02 z:-0.14], yaw_start:289.87, yaw_current:304.87]

Answer: CIRCLE: dx:0.28; dy:0.44; dz:0.00; yaw:139.87;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.03 z:-0.14], yaw_start:289.87, yaw_current:319.87]

Answer: CIRCLE: dx:0.16; dy:0.50; dz:0.00; yaw:154.87;


Context: [objects_distance_from_drone[dog x:1.95 y:-0.04 z:-0.14], yaw_start:289.87, yaw_current:334.87]

Answer: CIRCLE: dx:0.02; dy:0.52; dz:0.00; yaw:169.87;


Context: [objects_distance_from_drone[dog x:1.96 y:-0.04 z:-0.14], yaw_start:289.87, yaw_current:349.87]

Answer: CIRCLE: dx:-0.11; dy:0.51; dz:0.00; yaw:-175.13;


Context: [objects_distance_from_drone[dog x:1.96 y:-0.04 z:-0.14], yaw_start:289.87, yaw_current:4.87]

Answer: CIRCLE: dx:-0.24; dy:0.46; dz:0.00; yaw:-160.13;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.03 z:-0.14, oil barrel x:13.39 y:4.52 z:-0.06], yaw_start:289.87, yaw_current:19.87]

Answer: CIRCLE: dx:-0.35; dy:0.39; dz:0.00; yaw:-145.13;


Context: [objects_distance_from_drone[dog x:1.95 y:-0.02 z:-0.14, bench x:14.30 y:6.66 z:0.08], yaw_start:289.87, yaw_current:34.87]

Answer: CIRCLE: dx:-0.44; dy:0.28; dz:0.00; yaw:-130.13;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.01 z:-0.14, bench x:15.67 y:2.85 z:0.08, oil barrel x:14.12 y:-1.80 z:-0.07], yaw_start:289.87, yaw_current:49.87]

Answer: CIRCLE: dx:-0.50; dy:0.16; dz:0.00; yaw:-115.13;


Context: [objects_distance_from_drone[dog x:1.94 y:0.01 z:-0.14, oil barrel x:13.25 y:-4.89 z:-0.07], yaw_start:289.87, yaw_current:64.87]

Answer: CIRCLE: dx:-0.52; dy:0.02; dz:0.00; yaw:-100.13;


Context: [objects_distance_from_drone[pedestrian x:21.39 y:9.65 z:0.36, dog x:1.94 y:0.00 z:-0.14, bench x:15.27 y:-4.38 z:0.07], yaw_start:289.87, yaw_current:79.87]

Answer: CIRCLE: dx:-0.51; dy:-0.11; dz:0.00; yaw:-85.13;