Context: [objects_distance_from_drone[bench x:2.00 y:-0.08 z:0.11], yaw_start:229.31, yaw_current:319.31]

Answer: CIRCLE: dx:0.16; dy:0.50; dz:0.00; yaw:154.31;


Context: [objects_distance_from_drone[bench x:1.99 y:-0.18 z:0.07], yaw_start:229.31, yaw_current:334.31]

Answer: CIRCLE: dx:0.03; dy:0.52; dz:0.00; yaw:169.31;


Context: [objects_distance_from_drone[bench x:1.93 y:-0.15 z:0.09], yaw_start:229.31, yaw_current:349.31]

Answer: CIRCLE: dx:-0.11; dy:0.51; dz:0.00; yaw:-175.69;


Context: [objects_distance_from_drone[bench x:1.88 y:-0.22 z:0.14], yaw_start:229.31, yaw_current:4.31]

Answer: CIRCLE: dx:-0.24; dy:0.47; dz:0.00; yaw:-160.69;


Context: [objects_distance_from_drone[bench x:1.87 y:-0.31 z:0.15], yaw_start:229.31, yaw_current:19.31]

Answer: CIRCLE: dx:-0.35; dy:0.39; dz:0.00; yaw:-145.69;


Context: [objects_distance_from_drone[bench x:1.87 y:-0.31 z:0.14], yaw_start:229.31, yaw_current:34.31]

Answer: CIRCLE: dx:-0.44; dy:0.29; dz:0.00; yaw:-130.69;


Context: [objects_distance_from_drone[pedestrian x:10.67 y:4.47 z:0.35, bench x:1.86 y:-0.26 z:0.13], yaw_start:229.31, yaw_current:49.31]

Answer: CIRCLE: dx:-0.50; dy:0.16; dz:0.00; yaw:-115.69;


Context: [objects_distance_from_drone[pedestrian x:11.67 y:2.57 z:0.34, bench x:1.84 y:-0.18 z:0.13], yaw_start:229.31, yaw_current:64.31]

Answer: CIRCLE: dx:-0.52; dy:0.03; dz:0.00; yaw:-100.69;


Context: [objects_distance_from_drone[pedestrian x:12.00 y:-0.03 z:0.34, bench x:1.85 y:-0.03 z:0.12], yaw_start:229.31, yaw_current:79.31]

Answer: CIRCLE: dx:-0.51; dy:-0.11; dz:0.00; yaw:-85.69;


Context: [objects_distance_from_drone[pedestrian x:11.66 y:-2.62 z:0.34, bench x:1.84 y:0.08 z:0.10], yaw_start:229.31, yaw_current:94.31]

Answer: CIRCLE: dx:-0.47; dy:-0.24; dz:0.00; yaw:-70.69;


Context: [objects_distance_from_drone[pedestrian x:10.64 y:-4.49 z:0.34, bench x:1.83 y:0.16 z:0.09], yaw_start:229.31, yaw_current:109.31]

Answer: CIRCLE: dx:-0.39; dy:-0.35; dz:0.00; yaw:-55.69;


Context: [objects_distance_from_drone[bench x:1.80 y:0.18 z:0.06], yaw_start:229.31, yaw_current:124.31]

Answer: CIRCLE: dx:-0.29; dy:-0.44; dz:0.00; yaw:-40.69;


Context: [objects_distance_from_drone[bench x:1.79 y:0.11 z:0.05], yaw_start:229.31, yaw_current:139.31]

Answer: CIRCLE: dx:-0.16; dy:-0.50; dz:0.00; yaw:-25.69;


Context: [objects_distance_from_drone[bench x:1.80 y:0.08 z:0.07], yaw_start:229.31, yaw_current:154.31]

Answer: CIRCLE: dx:-0.03; dy:-0.52; dz:0.00; yaw:-10.69;


Context: [objects_distance_from_drone[bench x:1.85 y:0.18 z:0.07], yaw_start:229.31, yaw_current:169.31]

Answer: CIRCLE: dx:0.11; dy:-0.51; dz:0.00; yaw:4.31;


Context: [objects_distance_from_drone[bench x:1.89 y:0.13 z:0.07], yaw_start:229.31, yaw_current:184.31]

Answer: CIRCLE: dx:0.24; dy:-0.47; dz:0.00; yaw:19.31;


Context: [objects_distance_from_drone[bench x:1.94 y:0.02 z:0.06], yaw_start:229.31, yaw_current:199.31]

Answer: CIRCLE: dx:0.35; dy:-0.39; dz:0.00; yaw:34.31;


Context: [drone_absolute_movement x:6.09 y:8.34 z:0.50, objects_distance_from_drone[bench x:1.97 y:-0.02 z:0.07]]

Answer: RETURN: dx:-6.09; dy:-8.34;


Context: [objects_distance_from_drone[bench x:12.21 y:0.71 z:0.24]]

Answer: LAND


Context: [objects_distance_from_drone[oil barrel x:10.00 y:-1.37 z:0.43]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[oil barrel x:9.98 y:-1.36 z:-0.05]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:5.62 y:0.57 z:0.34, BMW X5 x:9.05 y:6.26 z:0.35, dog x:9.03 y:-4.25 z:-0.01]]

Answer: MOVE: x:3.62; y:0.57; z:0.34


Context: [objects_distance_from_drone[pedestrian x:2.10 y:0.00 z:0.11, BMW X5 x:7.17 y:5.19 z:-0.05], yaw_start:317.59, yaw_current:302.59]

Answer: CIRCLE: dx:0.30; dy:0.43; dz:0.00; yaw:137.59;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10, BMW X5 x:7.01 y:3.92 z:0.35], yaw_start:317.59, yaw_current:317.59]

Answer: CIRCLE: dx:0.18; dy:0.49; dz:0.00; yaw:152.59;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10, BMW X5 x:7.81 y:1.86 z:0.35], yaw_start:317.59, yaw_current:332.59]

Answer: CIRCLE: dx:0.04; dy:0.52; dz:0.00; yaw:167.59;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10, BMW X5 x:8.03 y:0.05 z:0.35], yaw_start:317.59, yaw_current:347.59]

Answer: CIRCLE: dx:-0.09; dy:0.51; dz:0.00; yaw:-177.41;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10, BMW X5 x:7.84 y:-1.55 z:0.34], yaw_start:317.59, yaw_current:2.59]

Answer: CIRCLE: dx:-0.22; dy:0.47; dz:0.00; yaw:-162.41;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10, BMW X5 x:7.25 y:-3.87 z:0.34], yaw_start:317.59, yaw_current:17.59]

Answer: CIRCLE: dx:-0.34; dy:0.40; dz:0.00; yaw:-147.41;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10, BMW X5 x:5.95 y:-4.06 z:0.34], yaw_start:317.59, yaw_current:32.59]

Answer: CIRCLE: dx:-0.43; dy:0.30; dz:0.00; yaw:-132.41;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10, BMW X5 x:5.57 y:-2.49 z:0.42], yaw_start:317.59, yaw_current:47.59]

Answer: CIRCLE: dx:-0.49; dy:0.18; dz:0.00; yaw:-117.41;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09], yaw_start:317.59, yaw_current:62.59]

Answer: CIRCLE: dx:-0.52; dy:0.04; dz:0.00; yaw:-102.41;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09], yaw_start:317.59, yaw_current:77.59]

Answer: CIRCLE: dx:-0.51; dy:-0.09; dz:0.00; yaw:-87.41;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09], yaw_start:317.59, yaw_current:92.59]

Answer: CIRCLE: dx:-0.47; dy:-0.22; dz:0.00; yaw:-72.41;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09], yaw_start:317.59, yaw_current:107.59]

Answer: CIRCLE: dx:-0.40; dy:-0.34; dz:0.00; yaw:-57.41;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, oil barrel x:15.93 y:5.68 z:-0.06], yaw_start:317.59, yaw_current:122.59]

Answer: CIRCLE: dx:-0.30; dy:-0.43; dz:0.00; yaw:-42.41;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, oil barrel x:16.93 y:1.87 z:-0.07], yaw_start:317.59, yaw_current:137.59]

Answer: CIRCLE: dx:-0.18; dy:-0.49; dz:0.00; yaw:-27.41;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:-3.38 y:-0.08 z:0.05, bench x:11.21 y:6.57 z:0.08, oil barrel x:16.91 y:-2.07 z:-0.07], yaw_start:317.59, yaw_current:152.59]

Answer: CIRCLE: dx:-0.04; dy:-0.52; dz:0.00; yaw:-12.41;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09, BMW X5 x:-3.42 y:0.05 z:0.05, bench x:12.67 y:3.24 z:0.08, oil barrel x:15.86 y:-5.86 z:-0.07], yaw_start:317.59, yaw_current:167.59]

Answer: CIRCLE: dx:0.09; dy:-0.51; dz:0.00; yaw:2.59;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, bench x:13.15 y:0.35 z:0.07], yaw_start:317.59, yaw_current:182.59]

Answer: CIRCLE: dx:0.22; dy:-0.47; dz:0.00; yaw:17.59;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, bench x:12.87 y:-2.55 z:0.07], yaw_start:317.59, yaw_current:197.59]

Answer: CIRCLE: dx:0.34; dy:-0.40; dz:0.00; yaw:32.59;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, dog x:7.45 y:2.85 z:-0.13, bench x:11.76 y:-5.69 z:0.06], yaw_start:317.59, yaw_current:212.59]

Answer: CIRCLE: dx:0.43; dy:-0.30; dz:0.00; yaw:47.59;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10, dog x:8.01 y:1.34 z:-0.14], yaw_start:317.59, yaw_current:227.59]

Answer: CIRCLE: dx:0.49; dy:-0.18; dz:0.00; yaw:62.59;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10, dog x:8.13 y:-0.28 z:-0.14], yaw_start:317.59, yaw_current:242.59]

Answer: CIRCLE: dx:0.52; dy:-0.04; dz:0.00; yaw:77.59;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10, dog x:7.85 y:-1.87 z:-0.14], yaw_start:317.59, yaw_current:257.59]

Answer: CIRCLE: dx:0.51; dy:0.09; dz:0.00; yaw:92.59;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10, dog x:7.16 y:-3.07 z:-0.14], yaw_start:317.59, yaw_current:272.59]

Answer: CIRCLE: dx:0.47; dy:0.22; dz:0.00; yaw:107.59;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10, BMW X5 x:5.15 y:2.31 z:0.19], yaw_start:317.59, yaw_current:287.59]

Answer: CIRCLE: dx:0.40; dy:0.34; dz:0.00; yaw:122.59;


Context: [drone_absolute_movement x:-2.65 y:2.49 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10, BMW X5 x:7.07 y:5.19 z:0.05]]

Answer: RETURN: dx:2.65; dy:-2.49;


Context: [objects_distance_from_drone[pedestrian x:5.52 y:-0.15 z:0.53, BMW X5 x:9.53 y:4.66 z:0.67]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:10.50 y:-2.20 z:0.35]]

Answer: MOVE: x:6.50; y:-2.20; z:0.35


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:-0.01 z:0.44], yaw_start:4.74, yaw_current:349.74]

Answer: CIRCLE: dx:-0.22; dy:1.02; dz:0.00; yaw:-175.26;


Context: [objects_distance_from_drone[BMW X5 x:3.92 y:-0.28 z:0.34], yaw_start:4.74, yaw_current:4.74]

Answer: CIRCLE: dx:-0.48; dy:0.93; dz:0.00; yaw:-160.26;


Context: [objects_distance_from_drone[BMW X5 x:3.91 y:-0.24 z:0.35], yaw_start:4.74, yaw_current:19.74]

Answer: CIRCLE: dx:-0.70; dy:0.77; dz:0.00; yaw:-145.26;


Context: [objects_distance_from_drone[BMW X5 x:3.81 y:-0.14 z:0.35], yaw_start:4.74, yaw_current:34.74]

Answer: CIRCLE: dx:-0.88; dy:0.57; dz:0.00; yaw:-130.26;


Context: [objects_distance_from_drone[BMW X5 x:3.81 y:-0.38 z:0.35], yaw_start:4.74, yaw_current:49.74]

Answer: CIRCLE: dx:-0.99; dy:0.32; dz:0.00; yaw:-115.26;


Context: [objects_distance_from_drone[BMW X5 x:3.85 y:-0.54 z:0.35], yaw_start:4.74, yaw_current:64.74]

Answer: CIRCLE: dx:-1.04; dy:0.05; dz:0.00; yaw:-100.26;


Context: [objects_distance_from_drone[BMW X5 x:3.89 y:-0.49 z:0.34], yaw_start:4.74, yaw_current:79.74]

Answer: CIRCLE: dx:-1.02; dy:-0.22; dz:0.00; yaw:-85.26;


Context: [objects_distance_from_drone[BMW X5 x:3.87 y:-0.36 z:0.34], yaw_start:4.74, yaw_current:94.74]

Answer: CIRCLE: dx:-0.93; dy:-0.48; dz:0.00; yaw:-70.26;


Context: [objects_distance_from_drone[BMW X5 x:3.82 y:-0.12 z:0.35], yaw_start:4.74, yaw_current:109.74]

Answer: CIRCLE: dx:-0.77; dy:-0.70; dz:0.00; yaw:-55.26;


Context: [objects_distance_from_drone[BMW X5 x:3.85 y:0.18 z:0.35], yaw_start:4.74, yaw_current:124.74]

Answer: CIRCLE: dx:-0.57; dy:-0.88; dz:0.00; yaw:-40.26;


Context: [objects_distance_from_drone[BMW X5 x:3.84 y:0.34 z:0.35], yaw_start:4.74, yaw_current:139.74]

Answer: CIRCLE: dx:-0.32; dy:-0.99; dz:0.00; yaw:-25.26;


Context: [objects_distance_from_drone[BMW X5 x:3.80 y:0.42 z:0.34], yaw_start:4.74, yaw_current:154.74]

Answer: CIRCLE: dx:-0.05; dy:-1.04; dz:0.00; yaw:-10.26;


Context: [objects_distance_from_drone[BMW X5 x:3.74 y:0.28 z:0.34], yaw_start:4.74, yaw_current:169.74]

Answer: CIRCLE: dx:0.22; dy:-1.02; dz:0.00; yaw:4.74;


Context: [objects_distance_from_drone[BMW X5 x:3.72 y:0.08 z:0.35], yaw_start:4.74, yaw_current:184.74]

Answer: CIRCLE: dx:0.48; dy:-0.93; dz:0.00; yaw:19.74;


Context: [objects_distance_from_drone[BMW X5 x:3.77 y:0.18 z:0.34], yaw_start:4.74, yaw_current:199.74]

Answer: CIRCLE: dx:0.70; dy:-0.77; dz:0.00; yaw:34.74;


Context: [objects_distance_from_drone[BMW X5 x:3.82 y:0.32 z:0.35], yaw_start:4.74, yaw_current:214.74]

Answer: CIRCLE: dx:0.88; dy:-0.57; dz:0.00; yaw:49.74;


Context: [objects_distance_from_drone[BMW X5 x:3.89 y:0.08 z:0.40], yaw_start:4.74, yaw_current:229.74]

Answer: CIRCLE: dx:0.99; dy:-0.32; dz:0.00; yaw:64.74;


Context: [objects_distance_from_drone[BMW X5 x:4.00 y:-0.17 z:0.44], yaw_start:4.74, yaw_current:244.74]

Answer: CIRCLE: dx:1.04; dy:-0.05; dz:0.00; yaw:79.74;


Context: [objects_distance_from_drone[BMW X5 x:4.04 y:-0.17 z:0.46], yaw_start:4.74, yaw_current:259.74]

Answer: CIRCLE: dx:1.02; dy:0.22; dz:0.00; yaw:94.74;


Context: [objects_distance_from_drone[BMW X5 x:4.06 y:-0.10 z:0.46], yaw_start:4.74, yaw_current:274.74]

Answer: CIRCLE: dx:0.93; dy:0.48; dz:0.00; yaw:109.74;


Context: [objects_distance_from_drone[BMW X5 x:4.08 y:0.04 z:0.42], yaw_start:4.74, yaw_current:289.74]

Answer: CIRCLE: dx:0.77; dy:0.70; dz:0.00; yaw:124.74;


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:0.19 z:0.45], yaw_start:4.74, yaw_current:304.74]

Answer: CIRCLE: dx:0.57; dy:0.88; dz:0.00; yaw:139.74;


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:0.25 z:0.45], yaw_start:4.74, yaw_current:319.74]

Answer: CIRCLE: dx:0.32; dy:0.99; dz:0.00; yaw:154.74;


Context: [objects_distance_from_drone[BMW X5 x:4.08 y:0.25 z:0.43], yaw_start:4.74, yaw_current:334.74]

Answer: CIRCLE: dx:0.05; dy:1.04; dz:0.00; yaw:169.74;


Context: [drone_absolute_movement x:-6.70 y:-0.59 z:0.50, objects_distance_from_drone[BMW X5 x:3.99 y:0.01 z:0.39]]

Answer: RETURN: dx:6.70; dy:0.59;


Context: [objects_distance_from_drone[BMW X5 x:10.70 y:-0.18 z:0.39]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[dog x:8.09 y:-0.72 z:-0.14]]

Answer: MOVE: x:6.09; y:-0.72; z:-0.14


Context: [objects_distance_from_drone[dog x:2.10 y:0.00 z:-0.16], yaw_start:73.31, yaw_current:58.31]

Answer: CIRCLE: dx:-0.52; dy:0.08; dz:0.00; yaw:-106.69;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.00 z:-0.14], yaw_start:73.31, yaw_current:73.31]

Answer: CIRCLE: dx:-0.52; dy:-0.05; dz:0.00; yaw:-91.69;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.02 z:-0.14], yaw_start:73.31, yaw_current:88.31]

Answer: CIRCLE: dx:-0.49; dy:-0.19; dz:0.00; yaw:-76.69;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.02 z:-0.14], yaw_start:73.31, yaw_current:103.31]

Answer: CIRCLE: dx:-0.42; dy:-0.31; dz:0.00; yaw:-61.69;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.03 z:-0.14], yaw_start:73.31, yaw_current:118.31]

Answer: CIRCLE: dx:-0.33; dy:-0.40; dz:0.00; yaw:-46.69;


Context: [objects_distance_from_drone[dog x:1.96 y:-0.04 z:-0.14], yaw_start:73.31, yaw_current:133.31]

Answer: CIRCLE: dx:-0.21; dy:-0.48; dz:0.00; yaw:-31.69;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14], yaw_start:73.31, yaw_current:148.31]

Answer: CIRCLE: dx:-0.08; dy:-0.52; dz:0.00; yaw:-16.69;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.03 z:-0.14], yaw_start:73.31, yaw_current:163.31]

Answer: CIRCLE: dx:0.05; dy:-0.52; dz:0.00; yaw:-1.69;


Context: [objects_distance_from_drone[dog x:1.96 y:-0.02 z:-0.14], yaw_start:73.31, yaw_current:178.31]

Answer: CIRCLE: dx:0.19; dy:-0.49; dz:0.00; yaw:13.31;


Context: [objects_distance_from_drone[dog x:1.95 y:-0.02 z:-0.14], yaw_start:73.31, yaw_current:193.31]

Answer: CIRCLE: dx:0.31; dy:-0.42; dz:0.00; yaw:28.31;


Context: [objects_distance_from_drone[BMW X5 x:16.38 y:7.26 z:0.36, dog x:1.95 y:-0.00 z:-0.14], yaw_start:73.31, yaw_current:208.31]

Answer: CIRCLE: dx:0.40; dy:-0.33; dz:0.00; yaw:43.31;


Context: [objects_distance_from_drone[BMW X5 x:17.94 y:3.10 z:0.35, dog x:1.95 y:0.00 z:-0.14], yaw_start:73.31, yaw_current:223.31]

Answer: CIRCLE: dx:0.48; dy:-0.21; dz:0.00; yaw:58.31;


Context: [objects_distance_from_drone[BMW X5 x:18.19 y:-1.16 z:0.34, dog x:1.94 y:-0.01 z:-0.14, bench x:17.81 y:7.92 z:0.08], yaw_start:73.31, yaw_current:238.31]

Answer: CIRCLE: dx:0.52; dy:-0.08; dz:0.00; yaw:73.31;


Context: [objects_distance_from_drone[pedestrian x:16.94 y:7.47 z:0.35, BMW X5 x:17.34 y:-5.31 z:0.34, dog x:1.94 y:-0.01 z:-0.14, bench x:19.37 y:3.29 z:0.08], yaw_start:73.31, yaw_current:253.31]

Answer: CIRCLE: dx:0.52; dy:0.05; dz:0.00; yaw:88.31;


Context: [objects_distance_from_drone[pedestrian x:18.51 y:3.91 z:0.35, BMW X5 x:14.19 y:-9.18 z:-0.00, dog x:1.95 y:-0.00 z:-0.14], yaw_start:73.31, yaw_current:268.31]

Answer: CIRCLE: dx:0.49; dy:0.19; dz:0.00; yaw:103.31;


Context: [objects_distance_from_drone[pedestrian x:18.97 y:-0.51 z:0.34, dog x:1.97 y:0.01 z:-0.14, bench x:18.69 y:-5.85 z:0.07, oil barrel x:8.99 y:2.66 z:-0.07], yaw_start:73.31, yaw_current:283.31]

Answer: CIRCLE: dx:0.42; dy:0.31; dz:0.00; yaw:118.31;


Context: [objects_distance_from_drone[pedestrian x:18.25 y:-4.89 z:0.34, dog x:1.97 y:0.01 z:-0.14], yaw_start:73.31, yaw_current:298.31]

Answer: CIRCLE: dx:0.33; dy:0.40; dz:0.00; yaw:133.31;


Context: [objects_distance_from_drone[dog x:1.98 y:0.02 z:-0.14], yaw_start:73.31, yaw_current:313.31]

Answer: CIRCLE: dx:0.21; dy:0.48; dz:0.00; yaw:148.31;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14, oil barrel x:8.82 y:-3.08 z:-0.07], yaw_start:73.31, yaw_current:328.31]

Answer: CIRCLE: dx:0.08; dy:0.52; dz:0.00; yaw:163.31;


Context: [objects_distance_from_drone[dog x:1.96 y:0.01 z:-0.14], yaw_start:73.31, yaw_current:343.31]

Answer: CIRCLE: dx:-0.05; dy:0.52; dz:0.00; yaw:178.31;


Context: [objects_distance_from_drone[dog x:1.98 y:0.00 z:-0.14], yaw_start:73.31, yaw_current:358.31]

Answer: CIRCLE: dx:-0.19; dy:0.49; dz:0.00; yaw:-166.69;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.00 z:-0.14], yaw_start:73.31, yaw_current:13.31]

Answer: CIRCLE: dx:-0.31; dy:0.42; dz:0.00; yaw:-151.69;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.01 z:-0.14], yaw_start:73.31, yaw_current:28.31]

Answer: CIRCLE: dx:-0.40; dy:0.33; dz:0.00; yaw:-136.69;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.02 z:-0.14], yaw_start:73.31, yaw_current:43.31]

Answer: CIRCLE: dx:-0.48; dy:0.21; dz:0.00; yaw:-121.69;


Context: [drone_absolute_movement x:-1.78 y:-5.86 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:1.78; dy:5.86;


Context: [objects_distance_from_drone[dog x:8.03 y:-0.16 z:-0.13]]

Answer: LAND


Context: [objects_distance_from_drone[bench x:3.77 y:3.89 z:0.59]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:10.64 y:-2.84 z:0.44]]

Answer: SEARCH


Context: [objects_distance_from_drone[bench x:7.95 y:0.67 z:0.08]]

Answer: MOVE: x:5.95; y:0.67; z:0.08


Context: [objects_distance_from_drone[bench x:1.86 y:0.41 z:1.63], yaw_start:250.75, yaw_current:235.75]

Answer: CIRCLE: dx:0.51; dy:-0.11; dz:0.00; yaw:70.75;


Context: [objects_distance_from_drone[bench x:2.11 y:-1.02 z:0.14], yaw_start:250.75, yaw_current:250.75]

Answer: CIRCLE: dx:0.52; dy:0.03; dz:0.00; yaw:85.75;


Context: [objects_distance_from_drone[BMW X5 x:14.13 y:6.88 z:0.02, bench x:1.94 y:-1.12 z:0.17], yaw_start:250.75, yaw_current:265.75]

Answer: CIRCLE: dx:0.50; dy:0.16; dz:0.00; yaw:100.75;


Context: [objects_distance_from_drone[BMW X5 x:15.39 y:4.35 z:0.35, bench x:1.77 y:-1.12 z:0.16], yaw_start:250.75, yaw_current:280.75]

Answer: CIRCLE: dx:0.44; dy:0.29; dz:0.00; yaw:115.75;


Context: [objects_distance_from_drone[BMW X5 x:16.04 y:0.72 z:0.35, bench x:1.54 y:-1.03 z:0.15], yaw_start:250.75, yaw_current:295.75]

Answer: CIRCLE: dx:0.35; dy:0.39; dz:0.00; yaw:130.75;


Context: [objects_distance_from_drone[dog x:15.12 y:5.52 z:-0.13, bench x:1.39 y:-0.61 z:0.11], yaw_start:250.75, yaw_current:310.75]

Answer: CIRCLE: dx:0.24; dy:0.47; dz:0.00; yaw:145.75;


Context: [objects_distance_from_drone[bench x:1.31 y:-0.55 z:0.08], yaw_start:250.75, yaw_current:325.75]

Answer: CIRCLE: dx:0.11; dy:0.51; dz:0.00; yaw:160.75;


Context: [objects_distance_from_drone[bench x:1.24 y:-0.36 z:0.07], yaw_start:250.75, yaw_current:340.75]

Answer: CIRCLE: dx:-0.03; dy:0.52; dz:0.00; yaw:175.75;


Context: [objects_distance_from_drone[bench x:1.10 y:-0.15 z:0.05], yaw_start:250.75, yaw_current:355.75]

Answer: CIRCLE: dx:-0.16; dy:0.50; dz:0.00; yaw:-169.25;


Context: [objects_distance_from_drone[bench x:1.04 y:0.07 z:0.02], yaw_start:250.75, yaw_current:10.75]

Answer: CIRCLE: dx:-0.29; dy:0.44; dz:0.00; yaw:-154.25;


Context: [objects_distance_from_drone[bench x:1.05 y:0.41 z:0.01], yaw_start:250.75, yaw_current:25.75]

Answer: CIRCLE: dx:-0.39; dy:0.35; dz:0.00; yaw:-139.25;


Context: [objects_distance_from_drone[bench x:1.21 y:0.77 z:0.03], yaw_start:250.75, yaw_current:40.75]

Answer: CIRCLE: dx:-0.47; dy:0.24; dz:0.00; yaw:-124.25;


Context: [objects_distance_from_drone[bench x:1.41 y:0.90 z:0.03], yaw_start:250.75, yaw_current:55.75]

Answer: CIRCLE: dx:-0.51; dy:0.11; dz:0.00; yaw:-109.25;


Context: [objects_distance_from_drone[bench x:1.62 y:0.93 z:0.05], yaw_start:250.75, yaw_current:70.75]

Answer: CIRCLE: dx:-0.52; dy:-0.03; dz:0.00; yaw:-94.25;


Context: [objects_distance_from_drone[pedestrian x:12.53 y:5.00 z:0.35, bench x:1.78 y:0.86 z:0.07], yaw_start:250.75, yaw_current:85.75]

Answer: CIRCLE: dx:-0.50; dy:-0.16; dz:0.00; yaw:-79.25;


Context: [objects_distance_from_drone[bench x:1.93 y:0.70 z:0.08, oil barrel x:12.28 y:-3.27 z:-0.07], yaw_start:250.75, yaw_current:100.75]

Answer: CIRCLE: dx:-0.44; dy:-0.29; dz:0.00; yaw:-64.25;


Context: [objects_distance_from_drone[pedestrian x:13.74 y:-0.73 z:0.34, bench x:2.09 y:0.84 z:0.09], yaw_start:250.75, yaw_current:115.75]

Answer: CIRCLE: dx:-0.35; dy:-0.39; dz:0.00; yaw:-49.25;


Context: [objects_distance_from_drone[pedestrian x:13.16 y:-3.76 z:0.34, bench x:2.35 y:0.81 z:0.11], yaw_start:250.75, yaw_current:130.75]

Answer: CIRCLE: dx:-0.24; dy:-0.47; dz:0.00; yaw:-34.25;


Context: [objects_distance_from_drone[pedestrian x:11.81 y:-5.55 z:0.34, bench x:2.51 y:0.67 z:0.08], yaw_start:250.75, yaw_current:145.75]

Answer: CIRCLE: dx:-0.11; dy:-0.51; dz:0.00; yaw:-19.25;


Context: [objects_distance_from_drone[bench x:2.60 y:0.45 z:0.07], yaw_start:250.75, yaw_current:160.75]

Answer: CIRCLE: dx:0.03; dy:-0.52; dz:0.00; yaw:-4.25;


Context: [objects_distance_from_drone[bench x:2.66 y:0.18 z:0.07], yaw_start:250.75, yaw_current:175.75]

Answer: CIRCLE: dx:0.16; dy:-0.50; dz:0.00; yaw:10.75;


Context: [objects_distance_from_drone[bench x:2.68 y:-0.07 z:0.07], yaw_start:250.75, yaw_current:190.75]

Answer: CIRCLE: dx:0.29; dy:-0.44; dz:0.00; yaw:25.75;


Context: [objects_distance_from_drone[bench x:2.62 y:-0.38 z:0.07], yaw_start:250.75, yaw_current:205.75]

Answer: CIRCLE: dx:0.39; dy:-0.35; dz:0.00; yaw:40.75;


Context: [objects_distance_from_drone[bench x:2.46 y:-0.56 z:0.07], yaw_start:250.75, yaw_current:220.75]

Answer: CIRCLE: dx:0.47; dy:-0.24; dz:0.00; yaw:55.75;


Context: [drone_absolute_movement x:2.86 y:0.80 z:0.50, objects_distance_from_drone[bench x:2.31 y:-0.83 z:0.07]]

Answer: RETURN: dx:-2.86; dy:-0.80;


Context: [objects_distance_from_drone[bench x:3.62 y:-3.92 z:0.15]]

Answer: LAND


Context: [objects_distance_from_drone[oil barrel x:9.36 y:-4.06 z:0.43]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[oil barrel x:9.36 y:-4.06 z:-0.05]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:8.85 y:-0.80 z:0.34, BMW X5 x:5.55 y:-2.30 z:0.32]]

Answer: MOVE: x:6.85; y:-0.80; z:0.34


Context: [objects_distance_from_drone[pedestrian x:2.10 y:-0.00 z:0.11], yaw_start:35.74, yaw_current:20.74]

Answer: CIRCLE: dx:-0.36; dy:0.38; dz:0.00; yaw:-144.26;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:35.74, yaw_current:35.74]

Answer: CIRCLE: dx:-0.44; dy:0.27; dz:0.00; yaw:-129.26;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:35.74, yaw_current:50.74]

Answer: CIRCLE: dx:-0.50; dy:0.15; dz:0.00; yaw:-114.26;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10, BMW X5 x:-2.71 y:-0.05 z:0.05], yaw_start:35.74, yaw_current:65.74]

Answer: CIRCLE: dx:-0.52; dy:0.02; dz:0.00; yaw:-99.26;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10, BMW X5 x:-2.70 y:0.06 z:0.05], yaw_start:35.74, yaw_current:80.74]

Answer: CIRCLE: dx:-0.51; dy:-0.12; dz:0.00; yaw:-84.26;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.09], yaw_start:35.74, yaw_current:95.74]

Answer: CIRCLE: dx:-0.46; dy:-0.25; dz:0.00; yaw:-69.26;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09], yaw_start:35.74, yaw_current:110.74]

Answer: CIRCLE: dx:-0.38; dy:-0.36; dz:0.00; yaw:-54.26;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, dog x:12.95 y:4.06 z:-0.13], yaw_start:35.74, yaw_current:125.74]

Answer: CIRCLE: dx:-0.27; dy:-0.44; dz:0.00; yaw:-39.26;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, dog x:13.63 y:1.08 z:-0.14, oil barrel x:16.53 y:7.64 z:-0.06], yaw_start:35.74, yaw_current:140.74]

Answer: CIRCLE: dx:-0.15; dy:-0.50; dz:0.00; yaw:-24.26;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, dog x:13.51 y:-1.97 z:-0.14, oil barrel x:18.08 y:3.85 z:-0.06], yaw_start:35.74, yaw_current:155.74]

Answer: CIRCLE: dx:-0.02; dy:-0.52; dz:0.00; yaw:-9.26;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, dog x:12.60 y:-4.88 z:-0.14, oil barrel x:18.52 y:-0.45 z:-0.07], yaw_start:35.74, yaw_current:170.74]

Answer: CIRCLE: dx:0.12; dy:-0.51; dz:0.00; yaw:5.74;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, oil barrel x:17.85 y:-4.72 z:-0.07], yaw_start:35.74, yaw_current:185.74]

Answer: CIRCLE: dx:0.25; dy:-0.46; dz:0.00; yaw:20.74;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:5.70 y:5.27 z:0.49], yaw_start:35.74, yaw_current:200.74]

Answer: CIRCLE: dx:0.36; dy:-0.38; dz:0.00; yaw:35.74;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, BMW X5 x:6.99 y:3.35 z:0.35], yaw_start:35.74, yaw_current:215.74]

Answer: CIRCLE: dx:0.44; dy:-0.27; dz:0.00; yaw:50.74;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, BMW X5 x:6.84 y:2.93 z:0.35], yaw_start:35.74, yaw_current:230.74]

Answer: CIRCLE: dx:0.50; dy:-0.15; dz:0.00; yaw:65.74;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, BMW X5 x:7.50 y:0.87 z:0.35], yaw_start:35.74, yaw_current:245.74]

Answer: CIRCLE: dx:0.52; dy:-0.02; dz:0.00; yaw:80.74;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, BMW X5 x:7.53 y:-0.59 z:0.34], yaw_start:35.74, yaw_current:260.74]

Answer: CIRCLE: dx:0.51; dy:0.12; dz:0.00; yaw:95.74;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10, BMW X5 x:6.94 y:-2.40 z:0.34], yaw_start:35.74, yaw_current:275.74]

Answer: CIRCLE: dx:0.46; dy:0.25; dz:0.00; yaw:110.74;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10, BMW X5 x:6.14 y:-4.10 z:0.34], yaw_start:35.74, yaw_current:290.74]

Answer: CIRCLE: dx:0.38; dy:0.36; dz:0.00; yaw:125.74;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10, BMW X5 x:6.09 y:-4.13 z:0.00], yaw_start:35.74, yaw_current:305.74]

Answer: CIRCLE: dx:0.27; dy:0.44; dz:0.00; yaw:140.74;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:35.74, yaw_current:320.74]

Answer: CIRCLE: dx:0.15; dy:0.50; dz:0.00; yaw:155.74;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:0.00 z:0.10], yaw_start:35.74, yaw_current:335.74]

Answer: CIRCLE: dx:0.02; dy:0.52; dz:0.00; yaw:170.74;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:35.74, yaw_current:350.74]

Answer: CIRCLE: dx:-0.12; dy:0.51; dz:0.00; yaw:-174.26;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:35.74, yaw_current:5.74]

Answer: CIRCLE: dx:-0.25; dy:0.46; dz:0.00; yaw:-159.26;


Context: [drone_absolute_movement x:-5.49 y:-4.16 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10]]

Answer: RETURN: dx:5.49; dy:4.16;


Context: [objects_distance_from_drone[pedestrian x:8.79 y:-0.01 z:0.34, BMW X5 x:5.80 y:-2.07 z:0.40]]

Answer: LAND


Context: [objects_distance_from_drone[dog x:12.26 y:-5.75 z:0.36]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[dog x:12.21 y:-5.73 z:-0.11]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:9.13 y:-2.74 z:0.34, BMW X5 x:10.93 y:2.33 z:0.35]]

Answer: MOVE: x:6.93; y:2.33; z:0.35


Context: [objects_distance_from_drone[BMW X5 x:4.10 y:-0.01 z:0.30], yaw_start:257.80, yaw_current:242.80]

Answer: CIRCLE: dx:1.04; dy:-0.09; dz:0.00; yaw:77.80;


Context: [objects_distance_from_drone[BMW X5 x:4.03 y:-0.32 z:0.40], yaw_start:257.80, yaw_current:257.80]

Answer: CIRCLE: dx:1.03; dy:0.19; dz:0.00; yaw:92.80;


Context: [objects_distance_from_drone[BMW X5 x:4.10 y:-0.42 z:0.44], yaw_start:257.80, yaw_current:272.80]

Answer: CIRCLE: dx:0.94; dy:0.45; dz:0.00; yaw:107.80;


Context: [objects_distance_from_drone[BMW X5 x:4.08 y:-0.40 z:0.46], yaw_start:257.80, yaw_current:287.80]

Answer: CIRCLE: dx:0.80; dy:0.68; dz:0.00; yaw:122.80;


Context: [objects_distance_from_drone[pedestrian x:-1.33 y:-0.01 z:0.03, BMW X5 x:4.05 y:-0.29 z:0.45], yaw_start:257.80, yaw_current:302.80]

Answer: CIRCLE: dx:0.59; dy:0.86; dz:0.00; yaw:137.80;


Context: [objects_distance_from_drone[BMW X5 x:4.01 y:-0.11 z:0.45], yaw_start:257.80, yaw_current:317.80]

Answer: CIRCLE: dx:0.35; dy:0.98; dz:0.00; yaw:152.80;


Context: [objects_distance_from_drone[BMW X5 x:3.97 y:0.05 z:0.48], yaw_start:257.80, yaw_current:332.80]

Answer: CIRCLE: dx:0.09; dy:1.04; dz:0.00; yaw:167.80;


Context: [objects_distance_from_drone[BMW X5 x:3.93 y:0.13 z:0.48], yaw_start:257.80, yaw_current:347.80]

Answer: CIRCLE: dx:-0.19; dy:1.03; dz:0.00; yaw:-177.20;


Context: [objects_distance_from_drone[BMW X5 x:3.86 y:0.03 z:0.45], yaw_start:257.80, yaw_current:2.80]

Answer: CIRCLE: dx:-0.45; dy:0.94; dz:0.00; yaw:-162.20;


Context: [objects_distance_from_drone[BMW X5 x:3.76 y:-0.17 z:0.41], yaw_start:257.80, yaw_current:17.80]

Answer: CIRCLE: dx:-0.68; dy:0.80; dz:0.00; yaw:-147.20;


Context: [objects_distance_from_drone[BMW X5 x:3.71 y:-0.27 z:0.35], yaw_start:257.80, yaw_current:32.80]

Answer: CIRCLE: dx:-0.86; dy:0.59; dz:0.00; yaw:-132.20;


Context: [objects_distance_from_drone[BMW X5 x:3.65 y:-0.02 z:0.35], yaw_start:257.80, yaw_current:47.80]

Answer: CIRCLE: dx:-0.98; dy:0.35; dz:0.00; yaw:-117.20;


Context: [objects_distance_from_drone[BMW X5 x:3.68 y:-0.05 z:0.35], yaw_start:257.80, yaw_current:62.80]

Answer: CIRCLE: dx:-1.04; dy:0.09; dz:0.00; yaw:-102.20;


Context: [objects_distance_from_drone[BMW X5 x:3.74 y:-0.22 z:0.35], yaw_start:257.80, yaw_current:77.80]

Answer: CIRCLE: dx:-1.03; dy:-0.19; dz:0.00; yaw:-87.20;


Context: [objects_distance_from_drone[BMW X5 x:3.85 y:-0.29 z:0.35], yaw_start:257.80, yaw_current:92.80]

Answer: CIRCLE: dx:-0.94; dy:-0.45; dz:0.00; yaw:-72.20;


Context: [objects_distance_from_drone[BMW X5 x:3.86 y:-0.18 z:0.35], yaw_start:257.80, yaw_current:107.80]

Answer: CIRCLE: dx:-0.80; dy:-0.68; dz:0.00; yaw:-57.20;


Context: [objects_distance_from_drone[BMW X5 x:3.89 y:-0.00 z:0.35], yaw_start:257.80, yaw_current:122.80]

Answer: CIRCLE: dx:-0.59; dy:-0.86; dz:0.00; yaw:-42.20;


Context: [objects_distance_from_drone[BMW X5 x:3.92 y:0.29 z:0.34], yaw_start:257.80, yaw_current:137.80]

Answer: CIRCLE: dx:-0.35; dy:-0.98; dz:0.00; yaw:-27.20;


Context: [objects_distance_from_drone[pedestrian x:8.61 y:-2.57 z:0.34, BMW X5 x:3.96 y:0.45 z:0.35], yaw_start:257.80, yaw_current:152.80]

Answer: CIRCLE: dx:-0.09; dy:-1.04; dz:0.00; yaw:-12.20;


Context: [objects_distance_from_drone[pedestrian x:7.79 y:-3.15 z:0.34, BMW X5 x:3.99 y:0.51 z:0.35], yaw_start:257.80, yaw_current:167.80]

Answer: CIRCLE: dx:0.19; dy:-1.03; dz:0.00; yaw:2.80;


Context: [objects_distance_from_drone[BMW X5 x:3.94 y:0.49 z:0.35], yaw_start:257.80, yaw_current:182.80]

Answer: CIRCLE: dx:0.45; dy:-0.94; dz:0.00; yaw:17.80;


Context: [objects_distance_from_drone[BMW X5 x:3.92 y:0.22 z:0.34], yaw_start:257.80, yaw_current:197.80]

Answer: CIRCLE: dx:0.68; dy:-0.80; dz:0.00; yaw:32.80;


Context: [objects_distance_from_drone[BMW X5 x:3.93 y:0.02 z:0.34], yaw_start:257.80, yaw_current:212.80]

Answer: CIRCLE: dx:0.86; dy:-0.59; dz:0.00; yaw:47.80;


Context: [objects_distance_from_drone[BMW X5 x:3.98 y:0.15 z:0.34], yaw_start:257.80, yaw_current:227.80]

Answer: CIRCLE: dx:0.98; dy:-0.35; dz:0.00; yaw:62.80;


Context: [drone_absolute_movement x:1.25 y:6.97 z:0.50, objects_distance_from_drone[BMW X5 x:3.98 y:-0.01 z:0.34]]

Answer: RETURN: dx:-1.25; dy:-6.97;


Context: [objects_distance_from_drone[pedestrian x:8.37 y:-3.68 z:0.35, BMW X5 x:11.09 y:0.20 z:0.33, oil barrel x:7.78 y:3.44 z:-0.10]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:7.17 y:1.29 z:0.87]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:7.13 y:1.30 z:0.37]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:9.36 y:-2.85 z:0.34, dog x:5.82 y:0.52 z:-0.14]]

Answer: MOVE: x:3.82; y:0.52; z:-0.14


Context: [objects_distance_from_drone[dog x:2.10 y:0.00 z:-0.16], yaw_start:345.60, yaw_current:330.60]

Answer: CIRCLE: dx:0.06; dy:0.52; dz:0.00; yaw:165.60;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.01 z:-0.14], yaw_start:345.60, yaw_current:345.60]

Answer: CIRCLE: dx:-0.07; dy:0.52; dz:0.00; yaw:-179.40;


Context: [objects_distance_from_drone[dog x:2.01 y:0.00 z:-0.14, bench x:8.82 y:3.62 z:0.08], yaw_start:345.60, yaw_current:0.60]

Answer: CIRCLE: dx:-0.20; dy:0.48; dz:0.00; yaw:-164.40;


Context: [objects_distance_from_drone[dog x:2.00 y:0.00 z:-0.14, bench x:9.48 y:1.51 z:0.07], yaw_start:345.60, yaw_current:15.60]

Answer: CIRCLE: dx:-0.32; dy:0.41; dz:0.00; yaw:-149.40;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.02 z:-0.14], yaw_start:345.60, yaw_current:30.60]

Answer: CIRCLE: dx:-0.42; dy:0.31; dz:0.00; yaw:-134.40;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.03 z:-0.14, bench x:9.23 y:-2.45 z:0.07], yaw_start:345.60, yaw_current:45.60]

Answer: CIRCLE: dx:-0.48; dy:0.19; dz:0.00; yaw:-119.40;


Context: [objects_distance_from_drone[dog x:1.96 y:-0.04 z:-0.14, bench x:8.18 y:-4.86 z:0.07, oil barrel x:14.19 y:4.33 z:-0.06], yaw_start:345.60, yaw_current:60.60]

Answer: CIRCLE: dx:-0.52; dy:0.06; dz:0.00; yaw:-104.40;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.05 z:-0.14], yaw_start:345.60, yaw_current:75.60]

Answer: CIRCLE: dx:-0.52; dy:-0.07; dz:0.00; yaw:-89.40;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.05 z:-0.14, oil barrel x:14.72 y:-2.36 z:-0.07], yaw_start:345.60, yaw_current:90.60]

Answer: CIRCLE: dx:-0.48; dy:-0.20; dz:0.00; yaw:-74.40;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.04 z:-0.14, oil barrel x:13.68 y:-5.58 z:-0.07], yaw_start:345.60, yaw_current:105.60]

Answer: CIRCLE: dx:-0.41; dy:-0.32; dz:0.00; yaw:-59.40;


Context: [objects_distance_from_drone[dog x:1.96 y:-0.04 z:-0.14], yaw_start:345.60, yaw_current:120.60]

Answer: CIRCLE: dx:-0.31; dy:-0.42; dz:0.00; yaw:-44.40;


Context: [objects_distance_from_drone[BMW X5 x:13.23 y:6.88 z:0.35, dog x:1.95 y:-0.03 z:-0.14], yaw_start:345.60, yaw_current:135.60]

Answer: CIRCLE: dx:-0.19; dy:-0.48; dz:0.00; yaw:-29.40;


Context: [objects_distance_from_drone[BMW X5 x:14.44 y:3.01 z:0.35, dog x:1.94 y:-0.01 z:-0.14], yaw_start:345.60, yaw_current:150.60]

Answer: CIRCLE: dx:-0.06; dy:-0.52; dz:0.00; yaw:-14.40;


Context: [objects_distance_from_drone[dog x:1.93 y:-0.01 z:-0.14], yaw_start:345.60, yaw_current:165.60]

Answer: CIRCLE: dx:0.07; dy:-0.52; dz:0.00; yaw:0.60;


Context: [objects_distance_from_drone[BMW X5 x:14.28 y:-3.63 z:0.34, dog x:1.93 y:-0.02 z:-0.14], yaw_start:345.60, yaw_current:180.60]

Answer: CIRCLE: dx:0.20; dy:-0.48; dz:0.00; yaw:15.60;


Context: [objects_distance_from_drone[BMW X5 x:12.52 y:-7.17 z:0.34, dog x:1.94 y:-0.02 z:-0.14], yaw_start:345.60, yaw_current:195.60]

Answer: CIRCLE: dx:0.32; dy:-0.41; dz:0.00; yaw:30.60;


Context: [objects_distance_from_drone[dog x:1.94 y:0.00 z:-0.14], yaw_start:345.60, yaw_current:210.60]

Answer: CIRCLE: dx:0.42; dy:-0.31; dz:0.00; yaw:45.60;


Context: [objects_distance_from_drone[dog x:1.96 y:0.01 z:-0.14], yaw_start:345.60, yaw_current:225.60]

Answer: CIRCLE: dx:0.48; dy:-0.19; dz:0.00; yaw:60.60;


Context: [objects_distance_from_drone[pedestrian x:5.63 y:2.46 z:0.35, dog x:1.97 y:0.02 z:-0.14], yaw_start:345.60, yaw_current:240.60]

Answer: CIRCLE: dx:0.52; dy:-0.06; dz:0.00; yaw:75.60;


Context: [objects_distance_from_drone[pedestrian x:6.35 y:2.03 z:0.34, dog x:1.96 y:0.03 z:-0.14], yaw_start:345.60, yaw_current:255.60]

Answer: CIRCLE: dx:0.52; dy:0.07; dz:0.00; yaw:90.60;


Context: [objects_distance_from_drone[pedestrian x:6.77 y:0.98 z:0.34, dog x:1.96 y:0.03 z:-0.14], yaw_start:345.60, yaw_current:270.60]

Answer: CIRCLE: dx:0.48; dy:0.20; dz:0.00; yaw:105.60;


Context: [objects_distance_from_drone[pedestrian x:6.86 y:-0.29 z:0.34, dog x:1.95 y:0.03 z:-0.14], yaw_start:345.60, yaw_current:285.60]

Answer: CIRCLE: dx:0.41; dy:0.32; dz:0.00; yaw:120.60;


Context: [objects_distance_from_drone[pedestrian x:6.62 y:-1.55 z:0.34, dog x:1.97 y:0.02 z:-0.14], yaw_start:345.60, yaw_current:300.60]

Answer: CIRCLE: dx:0.31; dy:0.42; dz:0.00; yaw:135.60;


Context: [objects_distance_from_drone[pedestrian x:6.06 y:-2.25 z:0.34, dog x:1.99 y:0.01 z:-0.14], yaw_start:345.60, yaw_current:315.60]

Answer: CIRCLE: dx:0.19; dy:0.48; dz:0.00; yaw:150.60;


Context: [drone_absolute_movement x:-3.70 y:0.96 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:3.70; dy:-0.96;


Context: [objects_distance_from_drone[pedestrian x:8.88 y:-3.46 z:0.42, dog x:5.72 y:-0.12 z:-0.10]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[bench x:11.60 y:1.12 z:0.08, oil barrel x:15.18 y:-1.58 z:-0.07]]

Answer: MOVE: x:9.60; y:1.12; z:0.08


Context: [objects_distance_from_drone[bench x:2.10 y:-0.00 z:0.10], yaw_start:237.77, yaw_current:222.77]

Answer: CIRCLE: dx:0.47; dy:-0.22; dz:0.00; yaw:57.77;


Context: [objects_distance_from_drone[bench x:2.01 y:0.02 z:0.12], yaw_start:237.77, yaw_current:237.77]

Answer: CIRCLE: dx:0.51; dy:-0.09; dz:0.00; yaw:72.77;


Context: [objects_distance_from_drone[bench x:1.99 y:0.06 z:0.13], yaw_start:237.77, yaw_current:252.77]

Answer: CIRCLE: dx:0.52; dy:0.05; dz:0.00; yaw:87.77;


Context: [objects_distance_from_drone[bench x:1.99 y:0.10 z:0.13], yaw_start:237.77, yaw_current:267.77]

Answer: CIRCLE: dx:0.49; dy:0.18; dz:0.00; yaw:102.77;


Context: [objects_distance_from_drone[bench x:2.00 y:0.11 z:0.13], yaw_start:237.77, yaw_current:282.77]

Answer: CIRCLE: dx:0.43; dy:0.30; dz:0.00; yaw:117.77;


Context: [objects_distance_from_drone[bench x:1.97 y:0.06 z:0.13], yaw_start:237.77, yaw_current:297.77]

Answer: CIRCLE: dx:0.33; dy:0.40; dz:0.00; yaw:132.77;


Context: [objects_distance_from_drone[bench x:1.95 y:-0.08 z:0.12], yaw_start:237.77, yaw_current:312.77]

Answer: CIRCLE: dx:0.22; dy:0.47; dz:0.00; yaw:147.77;


Context: [objects_distance_from_drone[BMW X5 x:9.68 y:6.63 z:0.01, bench x:1.95 y:-0.15 z:0.07], yaw_start:237.77, yaw_current:327.77]

Answer: CIRCLE: dx:0.09; dy:0.51; dz:0.00; yaw:162.77;


Context: [objects_distance_from_drone[bench x:1.90 y:-0.10 z:0.09], yaw_start:237.77, yaw_current:342.77]

Answer: CIRCLE: dx:-0.05; dy:0.52; dz:0.00; yaw:177.77;


Context: [objects_distance_from_drone[bench x:1.87 y:-0.19 z:0.14], yaw_start:237.77, yaw_current:357.77]

Answer: CIRCLE: dx:-0.18; dy:0.49; dz:0.00; yaw:-167.23;


Context: [objects_distance_from_drone[dog x:27.19 y:11.78 z:-0.12, bench x:1.86 y:-0.27 z:0.15], yaw_start:237.77, yaw_current:12.77]

Answer: CIRCLE: dx:-0.30; dy:0.43; dz:0.00; yaw:-152.23;


Context: [objects_distance_from_drone[bench x:1.88 y:-0.26 z:0.13], yaw_start:237.77, yaw_current:27.77]

Answer: CIRCLE: dx:-0.40; dy:0.33; dz:0.00; yaw:-137.23;


Context: [objects_distance_from_drone[bench x:1.86 y:-0.21 z:0.13], yaw_start:237.77, yaw_current:42.77]

Answer: CIRCLE: dx:-0.47; dy:0.22; dz:0.00; yaw:-122.23;


Context: [objects_distance_from_drone[bench x:1.86 y:-0.12 z:0.13], yaw_start:237.77, yaw_current:57.77]

Answer: CIRCLE: dx:-0.51; dy:0.09; dz:0.00; yaw:-107.23;


Context: [objects_distance_from_drone[bench x:1.88 y:0.01 z:0.12], yaw_start:237.77, yaw_current:72.77]

Answer: CIRCLE: dx:-0.52; dy:-0.05; dz:0.00; yaw:-92.23;


Context: [objects_distance_from_drone[bench x:1.87 y:0.11 z:0.10], yaw_start:237.77, yaw_current:87.77]

Answer: CIRCLE: dx:-0.49; dy:-0.18; dz:0.00; yaw:-77.23;


Context: [objects_distance_from_drone[pedestrian x:23.99 y:-5.76 z:0.34, bench x:1.86 y:0.17 z:0.08], yaw_start:237.77, yaw_current:102.77]

Answer: CIRCLE: dx:-0.43; dy:-0.30; dz:0.00; yaw:-62.23;


Context: [objects_distance_from_drone[bench x:1.84 y:0.17 z:0.05], yaw_start:237.77, yaw_current:117.77]

Answer: CIRCLE: dx:-0.33; dy:-0.40; dz:0.00; yaw:-47.23;


Context: [objects_distance_from_drone[bench x:1.82 y:0.09 z:0.06], yaw_start:237.77, yaw_current:132.77]

Answer: CIRCLE: dx:-0.22; dy:-0.47; dz:0.00; yaw:-32.23;


Context: [objects_distance_from_drone[bench x:1.84 y:0.06 z:0.07], yaw_start:237.77, yaw_current:147.77]

Answer: CIRCLE: dx:-0.09; dy:-0.51; dz:0.00; yaw:-17.23;


Context: [objects_distance_from_drone[bench x:1.88 y:0.14 z:0.07], yaw_start:237.77, yaw_current:162.77]

Answer: CIRCLE: dx:0.05; dy:-0.52; dz:0.00; yaw:-2.23;


Context: [objects_distance_from_drone[bench x:1.91 y:0.07 z:0.07], yaw_start:237.77, yaw_current:177.77]

Answer: CIRCLE: dx:0.18; dy:-0.49; dz:0.00; yaw:12.77;


Context: [objects_distance_from_drone[bench x:1.94 y:-0.04 z:0.06], yaw_start:237.77, yaw_current:192.77]

Answer: CIRCLE: dx:0.30; dy:-0.43; dz:0.00; yaw:27.77;


Context: [objects_distance_from_drone[bench x:1.98 y:-0.07 z:0.08], yaw_start:237.77, yaw_current:207.77]

Answer: CIRCLE: dx:0.40; dy:-0.33; dz:0.00; yaw:42.77;


Context: [drone_absolute_movement x:5.03 y:8.26 z:0.50, objects_distance_from_drone[bench x:1.99 y:-0.04 z:0.09]]

Answer: RETURN: dx:-5.03; dy:-8.26;


Context: [objects_distance_from_drone[bench x:11.59 y:0.11 z:0.39, oil barrel x:14.92 y:-2.88 z:0.27]]

Answer: LAND


Context: [objects_distance_from_drone[pedestrian x:7.95 y:-1.23 z:0.84]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:7.95 y:-1.23 z:0.36]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:8.01 y:-0.69 z:0.36]]

Answer: MOVE: x:6.01; y:-0.69; z:0.36


Context: [objects_distance_from_drone[pedestrian x:2.09 y:0.00 z:0.12], yaw_start:170.55, yaw_current:155.55]

Answer: CIRCLE: dx:-0.02; dy:-0.52; dz:0.00; yaw:-9.45;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:170.55, yaw_current:170.55]

Answer: CIRCLE: dx:0.12; dy:-0.51; dz:0.00; yaw:5.55;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:170.55, yaw_current:185.55]

Answer: CIRCLE: dx:0.25; dy:-0.46; dz:0.00; yaw:20.55;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:170.55, yaw_current:200.55]

Answer: CIRCLE: dx:0.36; dy:-0.38; dz:0.00; yaw:35.55;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10, BMW X5 x:11.68 y:7.20 z:0.36], yaw_start:170.55, yaw_current:215.55]

Answer: CIRCLE: dx:0.44; dy:-0.28; dz:0.00; yaw:50.55;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10, BMW X5 x:13.44 y:3.46 z:0.35], yaw_start:170.55, yaw_current:230.55]

Answer: CIRCLE: dx:0.50; dy:-0.15; dz:0.00; yaw:65.55;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10, BMW X5 x:13.94 y:0.37 z:0.35], yaw_start:170.55, yaw_current:245.55]

Answer: CIRCLE: dx:0.52; dy:-0.02; dz:0.00; yaw:80.55;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10, BMW X5 x:13.64 y:-2.74 z:0.34, bench x:11.41 y:4.02 z:0.08], yaw_start:170.55, yaw_current:260.55]

Answer: CIRCLE: dx:0.51; dy:0.12; dz:0.00; yaw:95.55;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, BMW X5 x:12.47 y:-6.47 z:0.34, bench x:12.13 y:1.44 z:0.08], yaw_start:170.55, yaw_current:275.55]

Answer: CIRCLE: dx:0.46; dy:0.25; dz:0.00; yaw:110.55;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:11.57 y:-5.61 z:0.49, bench x:12.16 y:-1.24 z:0.07, oil barrel x:20.25 y:9.14 z:-0.06], yaw_start:170.55, yaw_current:290.55]

Answer: CIRCLE: dx:0.38; dy:0.36; dz:0.00; yaw:125.55;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, bench x:11.50 y:-3.84 z:0.07, oil barrel x:22.02 y:4.15 z:-0.07], yaw_start:170.55, yaw_current:305.55]

Answer: CIRCLE: dx:0.28; dy:0.44; dz:0.00; yaw:140.55;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, oil barrel x:22.41 y:-1.18 z:-0.07], yaw_start:170.55, yaw_current:320.55]

Answer: CIRCLE: dx:0.15; dy:0.50; dz:0.00; yaw:155.55;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, dog x:11.54 y:4.31 z:-0.13, oil barrel x:21.41 y:-6.43 z:-0.08], yaw_start:170.55, yaw_current:335.55]

Answer: CIRCLE: dx:0.02; dy:0.52; dz:0.00; yaw:170.55;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, dog x:12.32 y:1.69 z:-0.14], yaw_start:170.55, yaw_current:350.55]

Answer: CIRCLE: dx:-0.12; dy:0.51; dz:0.00; yaw:-174.45;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, dog x:12.39 y:-1.05 z:-0.14], yaw_start:170.55, yaw_current:5.55]

Answer: CIRCLE: dx:-0.25; dy:0.46; dz:0.00; yaw:-159.45;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09, dog x:11.77 y:-3.72 z:-0.14], yaw_start:170.55, yaw_current:20.55]

Answer: CIRCLE: dx:-0.36; dy:0.38; dz:0.00; yaw:-144.45;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09], yaw_start:170.55, yaw_current:35.55]

Answer: CIRCLE: dx:-0.44; dy:0.28; dz:0.00; yaw:-129.45;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09], yaw_start:170.55, yaw_current:50.55]

Answer: CIRCLE: dx:-0.50; dy:0.15; dz:0.00; yaw:-114.45;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09], yaw_start:170.55, yaw_current:65.55]

Answer: CIRCLE: dx:-0.52; dy:0.02; dz:0.00; yaw:-99.45;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10], yaw_start:170.55, yaw_current:80.55]

Answer: CIRCLE: dx:-0.51; dy:-0.12; dz:0.00; yaw:-84.45;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:170.55, yaw_current:95.55]

Answer: CIRCLE: dx:-0.46; dy:-0.25; dz:0.00; yaw:-69.45;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:170.55, yaw_current:110.55]

Answer: CIRCLE: dx:-0.38; dy:-0.36; dz:0.00; yaw:-54.45;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:170.55, yaw_current:125.55]

Answer: CIRCLE: dx:-0.28; dy:-0.44; dz:0.00; yaw:-39.45;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:170.55, yaw_current:140.55]

Answer: CIRCLE: dx:-0.15; dy:-0.50; dz:0.00; yaw:-24.45;


Context: [drone_absolute_movement x:5.97 y:-0.90 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10]]

Answer: RETURN: dx:-5.97; dy:0.90;


Context: [objects_distance_from_drone[pedestrian x:7.95 y:-0.05 z:0.34]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:4.57 y:0.44 z:0.87]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:5.35 y:2.16 z:0.33]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:6.36 y:0.28 z:0.35]]

Answer: MOVE: x:2.36; y:0.28; z:0.35


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:-0.01 z:0.31], yaw_start:221.77, yaw_current:206.77]

Answer: CIRCLE: dx:0.79; dy:-0.68; dz:0.00; yaw:41.77;


Context: [objects_distance_from_drone[BMW X5 x:4.02 y:0.12 z:0.35], yaw_start:221.77, yaw_current:221.77]

Answer: CIRCLE: dx:0.94; dy:-0.45; dz:0.00; yaw:56.77;


Context: [objects_distance_from_drone[BMW X5 x:4.06 y:0.31 z:0.35], yaw_start:221.77, yaw_current:236.77]

Answer: CIRCLE: dx:1.03; dy:-0.19; dz:0.00; yaw:71.77;


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:0.38 z:0.35], yaw_start:221.77, yaw_current:251.77]

Answer: CIRCLE: dx:1.04; dy:0.08; dz:0.00; yaw:86.77;


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:0.38 z:0.35], yaw_start:221.77, yaw_current:266.77]

Answer: CIRCLE: dx:0.99; dy:0.34; dz:0.00; yaw:101.77;


Context: [objects_distance_from_drone[BMW X5 x:4.02 y:0.19 z:0.34], yaw_start:221.77, yaw_current:281.77]

Answer: CIRCLE: dx:0.86; dy:0.59; dz:0.00; yaw:116.77;


Context: [objects_distance_from_drone[BMW X5 x:3.99 y:-0.12 z:0.34], yaw_start:221.77, yaw_current:296.77]

Answer: CIRCLE: dx:0.68; dy:0.79; dz:0.00; yaw:131.77;


Context: [objects_distance_from_drone[BMW X5 x:4.00 y:-0.16 z:0.34], yaw_start:221.77, yaw_current:311.77]

Answer: CIRCLE: dx:0.45; dy:0.94; dz:0.00; yaw:146.77;


Context: [objects_distance_from_drone[BMW X5 x:3.92 y:-0.06 z:0.34], yaw_start:221.77, yaw_current:326.77]

Answer: CIRCLE: dx:0.19; dy:1.03; dz:0.00; yaw:161.77;


Context: [objects_distance_from_drone[BMW X5 x:3.92 y:-0.35 z:0.40], yaw_start:221.77, yaw_current:341.77]

Answer: CIRCLE: dx:-0.08; dy:1.04; dz:0.00; yaw:176.77;


Context: [objects_distance_from_drone[BMW X5 x:3.95 y:-0.55 z:0.44], yaw_start:221.77, yaw_current:356.77]

Answer: CIRCLE: dx:-0.34; dy:0.99; dz:0.00; yaw:-168.23;


Context: [objects_distance_from_drone[BMW X5 x:3.97 y:-0.54 z:0.47], yaw_start:221.77, yaw_current:11.77]

Answer: CIRCLE: dx:-0.59; dy:0.86; dz:0.00; yaw:-153.23;


Context: [objects_distance_from_drone[BMW X5 x:3.93 y:-0.45 z:0.48], yaw_start:221.77, yaw_current:26.77]

Answer: CIRCLE: dx:-0.79; dy:0.68; dz:0.00; yaw:-138.23;


Context: [objects_distance_from_drone[BMW X5 x:3.86 y:-0.25 z:0.46, dog x:10.45 y:4.00 z:-0.13], yaw_start:221.77, yaw_current:41.77]

Answer: CIRCLE: dx:-0.94; dy:0.45; dz:0.00; yaw:-123.23;


Context: [objects_distance_from_drone[BMW X5 x:3.86 y:0.02 z:0.49], yaw_start:221.77, yaw_current:56.77]

Answer: CIRCLE: dx:-1.03; dy:0.19; dz:0.00; yaw:-108.23;


Context: [objects_distance_from_drone[BMW X5 x:3.83 y:0.19 z:0.50], yaw_start:221.77, yaw_current:71.77]

Answer: CIRCLE: dx:-1.04; dy:-0.08; dz:0.00; yaw:-93.23;


Context: [objects_distance_from_drone[BMW X5 x:3.79 y:0.29 z:0.49], yaw_start:221.77, yaw_current:86.77]

Answer: CIRCLE: dx:-0.99; dy:-0.34; dz:0.00; yaw:-78.23;


Context: [objects_distance_from_drone[BMW X5 x:3.71 y:0.14 z:0.45], yaw_start:221.77, yaw_current:101.77]

Answer: CIRCLE: dx:-0.86; dy:-0.59; dz:0.00; yaw:-63.23;


Context: [objects_distance_from_drone[BMW X5 x:3.66 y:-0.03 z:0.41], yaw_start:221.77, yaw_current:116.77]

Answer: CIRCLE: dx:-0.68; dy:-0.79; dz:0.00; yaw:-48.23;


Context: [objects_distance_from_drone[BMW X5 x:3.68 y:0.07 z:0.35], yaw_start:221.77, yaw_current:131.77]

Answer: CIRCLE: dx:-0.45; dy:-0.94; dz:0.00; yaw:-33.23;


Context: [objects_distance_from_drone[BMW X5 x:3.71 y:0.29 z:0.35], yaw_start:221.77, yaw_current:146.77]

Answer: CIRCLE: dx:-0.19; dy:-1.03; dz:0.00; yaw:-18.23;


Context: [objects_distance_from_drone[BMW X5 x:3.78 y:0.09 z:0.35], yaw_start:221.77, yaw_current:161.77]

Answer: CIRCLE: dx:0.08; dy:-1.04; dz:0.00; yaw:-3.23;


Context: [objects_distance_from_drone[BMW X5 x:3.89 y:-0.11 z:0.35], yaw_start:221.77, yaw_current:176.77]

Answer: CIRCLE: dx:0.34; dy:-0.99; dz:0.00; yaw:11.77;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:-0.13 z:0.34], yaw_start:221.77, yaw_current:191.77]

Answer: CIRCLE: dx:0.59; dy:-0.86; dz:0.00; yaw:26.77;


Context: [drone_absolute_movement x:1.69 y:-2.45 z:0.50, objects_distance_from_drone[BMW X5 x:4.00 y:-0.04 z:0.35]]

Answer: RETURN: dx:-1.69; dy:2.45;


Context: [objects_distance_from_drone[BMW X5 x:4.54 y:-3.12 z:0.32]]

Answer: LAND


Context: [objects_distance_from_drone[bench x:6.61 y:2.92 z:0.59]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[bench x:6.42 y:-3.74 z:0.10]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:14.69 y:2.57 z:0.34, BMW X5 x:13.26 y:-4.73 z:0.34, dog x:1.66 y:-0.16 z:-0.14]]

Answer: MOVE: x:-0.34; y:-0.16; z:-0.14


Context: [objects_distance_from_drone[pedestrian x:14.68 y:2.66 z:0.11, BMW X5 x:13.29 y:-4.65 z:0.13, dog x:1.66 y:-0.15 z:-0.17], yaw_start:80.90, yaw_current:65.90]

Answer: CIRCLE: dx:-0.52; dy:0.01; dz:0.00; yaw:-99.10;


Context: [objects_distance_from_drone[pedestrian x:15.29 y:0.49 z:0.35, BMW X5 x:12.44 y:-7.24 z:0.35, dog x:2.00 y:-0.02 z:-0.14], yaw_start:80.90, yaw_current:80.90]

Answer: CIRCLE: dx:-0.51; dy:-0.12; dz:0.00; yaw:-84.10;


Context: [objects_distance_from_drone[pedestrian x:14.97 y:-2.98 z:0.34, dog x:2.00 y:-0.03 z:-0.14], yaw_start:80.90, yaw_current:95.90]

Answer: CIRCLE: dx:-0.46; dy:-0.25; dz:0.00; yaw:-69.10;


Context: [objects_distance_from_drone[pedestrian x:13.76 y:-5.81 z:0.33, dog x:2.00 y:-0.04 z:-0.14], yaw_start:80.90, yaw_current:110.90]

Answer: CIRCLE: dx:-0.38; dy:-0.36; dz:0.00; yaw:-54.10;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.03 z:-0.14, bench x:8.29 y:3.38 z:0.08], yaw_start:80.90, yaw_current:125.90]

Answer: CIRCLE: dx:-0.27; dy:-0.44; dz:0.00; yaw:-39.10;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.03 z:-0.14, bench x:8.90 y:1.42 z:0.07], yaw_start:80.90, yaw_current:140.90]

Answer: CIRCLE: dx:-0.15; dy:-0.50; dz:0.00; yaw:-24.10;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.04 z:-0.14], yaw_start:80.90, yaw_current:155.90]

Answer: CIRCLE: dx:-0.01; dy:-0.52; dz:0.00; yaw:-9.10;


Context: [objects_distance_from_drone[dog x:1.96 y:-0.04 z:-0.14, bench x:8.68 y:-2.24 z:0.07], yaw_start:80.90, yaw_current:170.90]

Answer: CIRCLE: dx:0.12; dy:-0.51; dz:0.00; yaw:5.90;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.04 z:-0.14, bench x:7.72 y:-4.46 z:0.07], yaw_start:80.90, yaw_current:185.90]

Answer: CIRCLE: dx:0.25; dy:-0.46; dz:0.00; yaw:20.90;


Context: [objects_distance_from_drone[dog x:1.93 y:-0.04 z:-0.14], yaw_start:80.90, yaw_current:200.90]

Answer: CIRCLE: dx:0.36; dy:-0.38; dz:0.00; yaw:35.90;


Context: [objects_distance_from_drone[dog x:1.95 y:-0.04 z:-0.14], yaw_start:80.90, yaw_current:215.90]

Answer: CIRCLE: dx:0.44; dy:-0.27; dz:0.00; yaw:50.90;


Context: [objects_distance_from_drone[dog x:1.95 y:-0.03 z:-0.14], yaw_start:80.90, yaw_current:230.90]

Answer: CIRCLE: dx:0.50; dy:-0.15; dz:0.00; yaw:65.90;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.01 z:-0.14], yaw_start:80.90, yaw_current:245.90]

Answer: CIRCLE: dx:0.52; dy:-0.01; dz:0.00; yaw:80.90;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.00 z:-0.14], yaw_start:80.90, yaw_current:260.90]

Answer: CIRCLE: dx:0.51; dy:0.12; dz:0.00; yaw:95.90;


Context: [objects_distance_from_drone[dog x:1.93 y:0.02 z:-0.14], yaw_start:80.90, yaw_current:275.90]

Answer: CIRCLE: dx:0.46; dy:0.25; dz:0.00; yaw:110.90;


Context: [objects_distance_from_drone[dog x:1.94 y:0.02 z:-0.14], yaw_start:80.90, yaw_current:290.90]

Answer: CIRCLE: dx:0.38; dy:0.36; dz:0.00; yaw:125.90;


Context: [objects_distance_from_drone[dog x:1.94 y:0.01 z:-0.14], yaw_start:80.90, yaw_current:305.90]

Answer: CIRCLE: dx:0.27; dy:0.44; dz:0.00; yaw:140.90;


Context: [objects_distance_from_drone[dog x:1.95 y:0.01 z:-0.14], yaw_start:80.90, yaw_current:320.90]

Answer: CIRCLE: dx:0.15; dy:0.50; dz:0.00; yaw:155.90;


Context: [objects_distance_from_drone[dog x:1.96 y:0.02 z:-0.14], yaw_start:80.90, yaw_current:335.90]

Answer: CIRCLE: dx:0.01; dy:0.52; dz:0.00; yaw:170.90;


Context: [objects_distance_from_drone[dog x:1.98 y:0.02 z:-0.14], yaw_start:80.90, yaw_current:350.90]

Answer: CIRCLE: dx:-0.12; dy:0.51; dz:0.00; yaw:-174.10;


Context: [objects_distance_from_drone[dog x:1.99 y:0.03 z:-0.14], yaw_start:80.90, yaw_current:5.90]

Answer: CIRCLE: dx:-0.25; dy:0.46; dz:0.00; yaw:-159.10;


Context: [objects_distance_from_drone[BMW X5 x:12.74 y:6.46 z:0.35, dog x:2.01 y:0.03 z:-0.14, oil barrel x:18.00 y:4.03 z:-0.06], yaw_start:80.90, yaw_current:20.90]

Answer: CIRCLE: dx:-0.36; dy:0.38; dz:0.00; yaw:-144.10;


Context: [objects_distance_from_drone[BMW X5 x:14.10 y:2.98 z:0.35, dog x:1.99 y:0.02 z:-0.14], yaw_start:80.90, yaw_current:35.90]

Answer: CIRCLE: dx:-0.44; dy:0.27; dz:0.00; yaw:-129.10;


Context: [objects_distance_from_drone[pedestrian x:13.26 y:6.16 z:0.35, dog x:1.98 y:0.01 z:-0.14, oil barrel x:17.87 y:-4.52 z:-0.08], yaw_start:80.90, yaw_current:50.90]

Answer: CIRCLE: dx:-0.50; dy:0.15; dz:0.00; yaw:-114.10;


Context: [drone_absolute_movement x:0.06 y:6.27 z:0.50, objects_distance_from_drone[pedestrian x:14.72 y:3.92 z:0.41, BMW X5 x:13.97 y:-3.48 z:0.31, dog x:2.00 y:-0.00 z:-0.14]]

Answer: RETURN: dx:-0.06; dy:-6.27;


Context: [objects_distance_from_drone[pedestrian x:8.49 y:3.11 z:0.31, BMW X5 x:7.73 y:-4.45 z:0.30]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[bench x:4.25 y:0.41 z:0.08]]

Answer: MOVE: x:2.25; y:0.41; z:0.08


Context: [objects_distance_from_drone[bench x:2.00 y:-0.38 z:1.41], yaw_start:346.16, yaw_current:331.16]

Answer: CIRCLE: dx:0.06; dy:0.52; dz:0.00; yaw:166.16;


Context: [objects_distance_from_drone[bench x:2.36 y:0.61 z:0.08], yaw_start:346.16, yaw_current:346.16]

Answer: CIRCLE: dx:-0.08; dy:0.52; dz:0.00; yaw:-178.84;


Context: [objects_distance_from_drone[bench x:2.57 y:0.42 z:0.07, oil barrel x:5.74 y:-2.59 z:-0.07], yaw_start:346.16, yaw_current:1.16]

Answer: CIRCLE: dx:-0.21; dy:0.48; dz:0.00; yaw:-163.84;


Context: [objects_distance_from_drone[pedestrian x:14.72 y:6.72 z:0.35, bench x:2.62 y:0.13 z:0.07], yaw_start:346.16, yaw_current:16.16]

Answer: CIRCLE: dx:-0.33; dy:0.41; dz:0.00; yaw:-148.84;


Context: [objects_distance_from_drone[bench x:2.63 y:-0.12 z:0.07], yaw_start:346.16, yaw_current:31.16]

Answer: CIRCLE: dx:-0.42; dy:0.31; dz:0.00; yaw:-133.84;


Context: [objects_distance_from_drone[bench x:2.59 y:-0.36 z:0.07], yaw_start:346.16, yaw_current:46.16]

Answer: CIRCLE: dx:-0.49; dy:0.19; dz:0.00; yaw:-118.84;


Context: [objects_distance_from_drone[bench x:2.51 y:-0.56 z:0.08], yaw_start:346.16, yaw_current:61.16]

Answer: CIRCLE: dx:-0.52; dy:0.06; dz:0.00; yaw:-103.84;


Context: [objects_distance_from_drone[pedestrian x:14.89 y:-6.61 z:0.33, bench x:2.37 y:-0.69 z:0.10], yaw_start:346.16, yaw_current:76.16]

Answer: CIRCLE: dx:-0.52; dy:-0.08; dz:0.00; yaw:-88.84;


Context: [objects_distance_from_drone[BMW X5 x:12.15 y:6.46 z:0.35, bench x:2.19 y:-0.62 z:0.12], yaw_start:346.16, yaw_current:91.16]

Answer: CIRCLE: dx:-0.48; dy:-0.21; dz:0.00; yaw:-73.84;


Context: [objects_distance_from_drone[BMW X5 x:13.49 y:3.01 z:0.35, bench x:2.04 y:-0.68 z:0.09], yaw_start:346.16, yaw_current:106.16]

Answer: CIRCLE: dx:-0.41; dy:-0.33; dz:0.00; yaw:-58.84;


Context: [objects_distance_from_drone[bench x:1.88 y:-0.85 z:0.07], yaw_start:346.16, yaw_current:121.16]

Answer: CIRCLE: dx:-0.31; dy:-0.42; dz:0.00; yaw:-43.84;


Context: [objects_distance_from_drone[bench x:1.71 y:-0.94 z:0.05], yaw_start:346.16, yaw_current:136.16]

Answer: CIRCLE: dx:-0.19; dy:-0.49; dz:0.00; yaw:-28.84;


Context: [objects_distance_from_drone[bench x:1.50 y:-0.94 z:0.03], yaw_start:346.16, yaw_current:151.16]

Answer: CIRCLE: dx:-0.06; dy:-0.52; dz:0.00; yaw:-13.84;


Context: [objects_distance_from_drone[bench x:1.30 y:-0.84 z:0.03], yaw_start:346.16, yaw_current:166.16]

Answer: CIRCLE: dx:0.08; dy:-0.52; dz:0.00; yaw:1.16;


Context: [objects_distance_from_drone[bench x:1.16 y:-0.51 z:0.07], yaw_start:346.16, yaw_current:181.16]

Answer: CIRCLE: dx:0.21; dy:-0.48; dz:0.00; yaw:16.16;


Context: [objects_distance_from_drone[bench x:1.11 y:-0.26 z:0.08], yaw_start:346.16, yaw_current:196.16]

Answer: CIRCLE: dx:0.33; dy:-0.41; dz:0.00; yaw:31.16;


Context: [objects_distance_from_drone[bench x:1.14 y:-0.06 z:0.09], yaw_start:346.16, yaw_current:211.16]

Answer: CIRCLE: dx:0.42; dy:-0.31; dz:0.00; yaw:46.16;


Context: [objects_distance_from_drone[bench x:1.24 y:0.13 z:0.09], yaw_start:346.16, yaw_current:226.16]

Answer: CIRCLE: dx:0.49; dy:-0.19; dz:0.00; yaw:61.16;


Context: [objects_distance_from_drone[bench x:1.31 y:0.32 z:0.08], yaw_start:346.16, yaw_current:241.16]

Answer: CIRCLE: dx:0.52; dy:-0.06; dz:0.00; yaw:76.16;


Context: [objects_distance_from_drone[bench x:1.36 y:0.55 z:0.08], yaw_start:346.16, yaw_current:256.16]

Answer: CIRCLE: dx:0.52; dy:0.08; dz:0.00; yaw:91.16;


Context: [objects_distance_from_drone[bench x:1.50 y:0.92 z:0.11], yaw_start:346.16, yaw_current:271.16]

Answer: CIRCLE: dx:0.48; dy:0.21; dz:0.00; yaw:106.16;


Context: [objects_distance_from_drone[bench x:1.69 y:1.04 z:0.13], yaw_start:346.16, yaw_current:286.16]

Answer: CIRCLE: dx:0.41; dy:0.33; dz:0.00; yaw:121.16;


Context: [objects_distance_from_drone[bench x:1.85 y:1.06 z:0.13], yaw_start:346.16, yaw_current:301.16]

Answer: CIRCLE: dx:0.31; dy:0.42; dz:0.00; yaw:136.16;


Context: [objects_distance_from_drone[bench x:2.02 y:0.98 z:0.13], yaw_start:346.16, yaw_current:316.16]

Answer: CIRCLE: dx:0.19; dy:0.49; dz:0.00; yaw:151.16;


Context: [drone_absolute_movement x:-1.89 y:0.15 z:0.50, objects_distance_from_drone[bench x:2.20 y:0.81 z:0.11]]

Answer: RETURN: dx:1.89; dy:-0.15;


Context: [objects_distance_from_drone[bench x:4.10 y:0.88 z:0.08]]

Answer: LAND


Context: [objects_distance_from_drone[pedestrian x:7.91 y:1.50 z:0.84]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:7.89 y:1.50 z:0.36]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:8.00 y:0.75 z:0.36]]

Answer: MOVE: x:6.00; y:0.75; z:0.36


Context: [objects_distance_from_drone[pedestrian x:2.10 y:0.00 z:0.11], yaw_start:191.45, yaw_current:176.45]

Answer: CIRCLE: dx:0.17; dy:-0.49; dz:0.00; yaw:11.45;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:191.45, yaw_current:191.45]

Answer: CIRCLE: dx:0.29; dy:-0.43; dz:0.00; yaw:26.45;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:191.45, yaw_current:206.45]

Answer: CIRCLE: dx:0.39; dy:-0.34; dz:0.00; yaw:41.45;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:191.45, yaw_current:221.45]

Answer: CIRCLE: dx:0.47; dy:-0.23; dz:0.00; yaw:56.45;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:191.45, yaw_current:236.45]

Answer: CIRCLE: dx:0.51; dy:-0.10; dz:0.00; yaw:71.45;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10, bench x:12.26 y:7.19 z:0.08], yaw_start:191.45, yaw_current:251.45]

Answer: CIRCLE: dx:0.52; dy:0.04; dz:0.00; yaw:86.45;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10, dog x:7.26 y:3.02 z:-0.14, bench x:13.83 y:3.51 z:0.08], yaw_start:191.45, yaw_current:266.45]

Answer: CIRCLE: dx:0.49; dy:0.17; dz:0.00; yaw:101.45;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, dog x:7.89 y:1.61 z:-0.14, bench x:14.33 y:0.32 z:0.07], yaw_start:191.45, yaw_current:281.45]

Answer: CIRCLE: dx:0.43; dy:0.29; dz:0.00; yaw:116.45;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, BMW X5 x:15.61 y:7.20 z:0.40, dog x:8.12 y:0.02 z:-0.14, bench x:14.00 y:-2.89 z:0.07, oil barrel x:20.13 y:5.50 z:-0.06], yaw_start:191.45, yaw_current:296.45]

Answer: CIRCLE: dx:0.34; dy:0.39; dz:0.00; yaw:131.45;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:17.89 y:6.25 z:0.35, dog x:7.91 y:-1.59 z:-0.14, bench x:12.70 y:-6.39 z:0.07, oil barrel x:20.93 y:0.62 z:-0.07], yaw_start:191.45, yaw_current:311.45]

Answer: CIRCLE: dx:0.23; dy:0.47; dz:0.00; yaw:146.45;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:18.94 y:1.80 z:0.35, dog x:7.31 y:-3.06 z:-0.14, oil barrel x:20.45 y:-4.31 z:-0.07], yaw_start:191.45, yaw_current:326.45]

Answer: CIRCLE: dx:0.10; dy:0.51; dz:0.00; yaw:161.45;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:18.83 y:-2.65 z:0.34, oil barrel x:18.71 y:-8.68 z:-0.08], yaw_start:191.45, yaw_current:341.45]

Answer: CIRCLE: dx:-0.04; dy:0.52; dz:0.00; yaw:176.45;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:17.55 y:-7.46 z:0.34], yaw_start:191.45, yaw_current:356.45]

Answer: CIRCLE: dx:-0.17; dy:0.49; dz:0.00; yaw:-168.55;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09], yaw_start:191.45, yaw_current:11.45]

Answer: CIRCLE: dx:-0.29; dy:0.43; dz:0.00; yaw:-153.55;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09], yaw_start:191.45, yaw_current:26.45]

Answer: CIRCLE: dx:-0.39; dy:0.34; dz:0.00; yaw:-138.55;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09], yaw_start:191.45, yaw_current:41.45]

Answer: CIRCLE: dx:-0.47; dy:0.23; dz:0.00; yaw:-123.55;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09], yaw_start:191.45, yaw_current:56.45]

Answer: CIRCLE: dx:-0.51; dy:0.10; dz:0.00; yaw:-108.55;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09], yaw_start:191.45, yaw_current:71.45]

Answer: CIRCLE: dx:-0.52; dy:-0.04; dz:0.00; yaw:-93.55;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.09], yaw_start:191.45, yaw_current:86.45]

Answer: CIRCLE: dx:-0.49; dy:-0.17; dz:0.00; yaw:-78.55;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10], yaw_start:191.45, yaw_current:101.45]

Answer: CIRCLE: dx:-0.43; dy:-0.29; dz:0.00; yaw:-63.55;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:191.45, yaw_current:116.45]

Answer: CIRCLE: dx:-0.34; dy:-0.39; dz:0.00; yaw:-48.55;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:191.45, yaw_current:131.45]

Answer: CIRCLE: dx:-0.23; dy:-0.47; dz:0.00; yaw:-33.55;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:191.45, yaw_current:146.45]

Answer: CIRCLE: dx:-0.10; dy:-0.51; dz:0.00; yaw:-18.55;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:191.45, yaw_current:161.45]

Answer: CIRCLE: dx:0.04; dy:-0.52; dz:0.00; yaw:-3.55;


Context: [drone_absolute_movement x:5.95 y:1.11 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10]]

Answer: RETURN: dx:-5.95; dy:-1.11;


Context: [objects_distance_from_drone[pedestrian x:7.95 y:-0.24 z:0.44]]

Answer: LAND


Context: [objects_distance_from_drone[bench x:4.96 y:0.52 z:0.57]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[bench x:4.95 y:0.49 z:0.10]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:11.53 y:-2.16 z:0.35]]

Answer: MOVE: x:7.53; y:-2.16; z:0.35


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:0.00 z:0.40], yaw_start:85.62, yaw_current:70.62]

Answer: CIRCLE: dx:-1.04; dy:-0.06; dz:0.00; yaw:-94.38;


Context: [objects_distance_from_drone[BMW X5 x:3.87 y:-0.25 z:0.40], yaw_start:85.62, yaw_current:85.62]

Answer: CIRCLE: dx:-0.99; dy:-0.32; dz:0.00; yaw:-79.38;


Context: [objects_distance_from_drone[BMW X5 x:3.77 y:-0.47 z:0.36], yaw_start:85.62, yaw_current:100.62]

Answer: CIRCLE: dx:-0.87; dy:-0.57; dz:0.00; yaw:-64.38;


Context: [objects_distance_from_drone[BMW X5 x:3.68 y:-0.28 z:0.35], yaw_start:85.62, yaw_current:115.62]

Answer: CIRCLE: dx:-0.70; dy:-0.78; dz:0.00; yaw:-49.38;


Context: [objects_distance_from_drone[BMW X5 x:3.63 y:-0.18 z:0.35], yaw_start:85.62, yaw_current:130.62]

Answer: CIRCLE: dx:-0.47; dy:-0.93; dz:0.00; yaw:-34.38;


Context: [objects_distance_from_drone[BMW X5 x:3.66 y:-0.34 z:0.35], yaw_start:85.62, yaw_current:145.62]

Answer: CIRCLE: dx:-0.21; dy:-1.02; dz:0.00; yaw:-19.38;


Context: [objects_distance_from_drone[BMW X5 x:3.72 y:-0.44 z:0.35], yaw_start:85.62, yaw_current:160.62]

Answer: CIRCLE: dx:0.06; dy:-1.04; dz:0.00; yaw:-4.38;


Context: [objects_distance_from_drone[BMW X5 x:3.78 y:-0.32 z:0.35], yaw_start:85.62, yaw_current:175.62]

Answer: CIRCLE: dx:0.32; dy:-0.99; dz:0.00; yaw:10.62;


Context: [objects_distance_from_drone[BMW X5 x:3.78 y:-0.13 z:0.35], yaw_start:85.62, yaw_current:190.62]

Answer: CIRCLE: dx:0.57; dy:-0.87; dz:0.00; yaw:25.62;


Context: [objects_distance_from_drone[BMW X5 x:3.78 y:0.21 z:0.35], yaw_start:85.62, yaw_current:205.62]

Answer: CIRCLE: dx:0.78; dy:-0.70; dz:0.00; yaw:40.62;


Context: [objects_distance_from_drone[pedestrian x:11.46 y:-3.59 z:0.34, BMW X5 x:3.85 y:0.45 z:0.35], yaw_start:85.62, yaw_current:220.62]

Answer: CIRCLE: dx:0.93; dy:-0.47; dz:0.00; yaw:55.62;


Context: [objects_distance_from_drone[pedestrian x:10.28 y:-4.62 z:0.33, BMW X5 x:3.89 y:0.57 z:0.35], yaw_start:85.62, yaw_current:235.62]

Answer: CIRCLE: dx:1.02; dy:-0.21; dz:0.00; yaw:70.62;


Context: [objects_distance_from_drone[BMW X5 x:3.85 y:0.61 z:0.35, oil barrel x:23.37 y:-9.97 z:-0.08], yaw_start:85.62, yaw_current:250.62]

Answer: CIRCLE: dx:1.04; dy:0.06; dz:0.00; yaw:85.62;


Context: [objects_distance_from_drone[BMW X5 x:3.85 y:0.45 z:0.34], yaw_start:85.62, yaw_current:265.62]

Answer: CIRCLE: dx:0.99; dy:0.32; dz:0.00; yaw:100.62;


Context: [objects_distance_from_drone[BMW X5 x:3.86 y:0.19 z:0.34], yaw_start:85.62, yaw_current:280.62]

Answer: CIRCLE: dx:0.87; dy:0.57; dz:0.00; yaw:115.62;


Context: [objects_distance_from_drone[BMW X5 x:4.00 y:0.29 z:0.35], yaw_start:85.62, yaw_current:295.62]

Answer: CIRCLE: dx:0.70; dy:0.78; dz:0.00; yaw:130.62;


Context: [objects_distance_from_drone[BMW X5 x:4.01 y:0.26 z:0.34], yaw_start:85.62, yaw_current:310.62]

Answer: CIRCLE: dx:0.47; dy:0.93; dz:0.00; yaw:145.62;


Context: [objects_distance_from_drone[BMW X5 x:4.08 y:-0.06 z:0.38], yaw_start:85.62, yaw_current:325.62]

Answer: CIRCLE: dx:0.21; dy:1.02; dz:0.00; yaw:160.62;


Context: [objects_distance_from_drone[BMW X5 x:4.16 y:-0.28 z:0.42], yaw_start:85.62, yaw_current:340.62]

Answer: CIRCLE: dx:-0.06; dy:1.04; dz:0.00; yaw:175.62;


Context: [objects_distance_from_drone[BMW X5 x:4.17 y:-0.31 z:0.44], yaw_start:85.62, yaw_current:355.62]

Answer: CIRCLE: dx:-0.32; dy:0.99; dz:0.00; yaw:-169.38;


Context: [objects_distance_from_drone[BMW X5 x:4.15 y:-0.27 z:0.44], yaw_start:85.62, yaw_current:10.62]

Answer: CIRCLE: dx:-0.57; dy:0.87; dz:0.00; yaw:-154.38;


Context: [objects_distance_from_drone[BMW X5 x:4.11 y:-0.13 z:0.42], yaw_start:85.62, yaw_current:25.62]

Answer: CIRCLE: dx:-0.78; dy:0.70; dz:0.00; yaw:-139.38;


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:-0.03 z:0.45], yaw_start:85.62, yaw_current:40.62]

Answer: CIRCLE: dx:-0.93; dy:0.47; dz:0.00; yaw:-124.38;


Context: [objects_distance_from_drone[BMW X5 x:4.04 y:0.04 z:0.46], yaw_start:85.62, yaw_current:55.62]

Answer: CIRCLE: dx:-1.02; dy:0.21; dz:0.00; yaw:-109.38;


Context: [drone_absolute_movement x:-0.71 y:-7.70 z:0.50, objects_distance_from_drone[BMW X5 x:3.99 y:-0.02 z:0.44]]

Answer: RETURN: dx:0.71; dy:7.70;


Context: [objects_distance_from_drone[BMW X5 x:11.62 y:-0.54 z:0.46]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[dog x:11.45 y:-1.02 z:-0.14]]

Answer: MOVE: x:9.45; y:-1.02; z:-0.14


Context: [objects_distance_from_drone[dog x:2.10 y:-0.00 z:-0.17], yaw_start:0.08, yaw_current:345.08]

Answer: CIRCLE: dx:-0.07; dy:0.52; dz:0.00; yaw:-179.92;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.01 z:-0.14], yaw_start:0.08, yaw_current:0.08]

Answer: CIRCLE: dx:-0.20; dy:0.48; dz:0.00; yaw:-164.92;


Context: [objects_distance_from_drone[dog x:1.96 y:-0.02 z:-0.14], yaw_start:0.08, yaw_current:15.08]

Answer: CIRCLE: dx:-0.32; dy:0.41; dz:0.00; yaw:-149.92;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.03 z:-0.14], yaw_start:0.08, yaw_current:30.08]

Answer: CIRCLE: dx:-0.41; dy:0.32; dz:0.00; yaw:-134.92;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.03 z:-0.14], yaw_start:0.08, yaw_current:45.08]

Answer: CIRCLE: dx:-0.48; dy:0.20; dz:0.00; yaw:-119.92;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14, oil barrel x:10.12 y:3.36 z:-0.07], yaw_start:0.08, yaw_current:60.08]

Answer: CIRCLE: dx:-0.52; dy:0.07; dz:0.00; yaw:-104.92;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14, oil barrel x:10.71 y:1.14 z:-0.07], yaw_start:0.08, yaw_current:75.08]

Answer: CIRCLE: dx:-0.52; dy:-0.07; dz:0.00; yaw:-89.92;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.02 z:-0.14, oil barrel x:10.72 y:-1.17 z:-0.07], yaw_start:0.08, yaw_current:90.08]

Answer: CIRCLE: dx:-0.48; dy:-0.20; dz:0.00; yaw:-74.92;


Context: [objects_distance_from_drone[BMW X5 x:18.74 y:8.55 z:0.36, dog x:1.95 y:-0.00 z:-0.14, oil barrel x:10.11 y:-3.39 z:-0.07], yaw_start:0.08, yaw_current:105.08]

Answer: CIRCLE: dx:-0.41; dy:-0.32; dz:0.00; yaw:-59.92;


Context: [objects_distance_from_drone[BMW X5 x:20.22 y:3.23 z:0.35, dog x:1.95 y:-0.01 z:-0.14], yaw_start:0.08, yaw_current:120.08]

Answer: CIRCLE: dx:-0.32; dy:-0.41; dz:0.00; yaw:-44.92;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.01 z:-0.14], yaw_start:0.08, yaw_current:135.08]

Answer: CIRCLE: dx:-0.20; dy:-0.48; dz:0.00; yaw:-29.92;


Context: [objects_distance_from_drone[BMW X5 x:19.40 y:-6.33 z:0.34, dog x:1.94 y:-0.01 z:-0.14], yaw_start:0.08, yaw_current:150.08]

Answer: CIRCLE: dx:-0.07; dy:-0.52; dz:0.00; yaw:-14.92;


Context: [objects_distance_from_drone[pedestrian x:15.11 y:6.52 z:0.35, BMW X5 x:16.94 y:-7.72 z:0.49, dog x:1.94 y:-0.01 z:-0.14], yaw_start:0.08, yaw_current:165.08]

Answer: CIRCLE: dx:0.07; dy:-0.52; dz:0.00; yaw:0.08;


Context: [objects_distance_from_drone[dog x:1.96 y:-0.01 z:-0.14], yaw_start:0.08, yaw_current:180.08]

Answer: CIRCLE: dx:0.20; dy:-0.48; dz:0.00; yaw:15.08;


Context: [objects_distance_from_drone[pedestrian x:16.87 y:-0.47 z:0.34, dog x:1.98 y:0.00 z:-0.14, bench x:11.73 y:3.63 z:0.08], yaw_start:0.08, yaw_current:195.08]

Answer: CIRCLE: dx:0.32; dy:-0.41; dz:0.00; yaw:30.08;


Context: [objects_distance_from_drone[pedestrian x:16.24 y:-4.31 z:0.34, dog x:1.97 y:0.01 z:-0.14], yaw_start:0.08, yaw_current:210.08]

Answer: CIRCLE: dx:0.41; dy:-0.32; dz:0.00; yaw:45.08;


Context: [objects_distance_from_drone[pedestrian x:14.64 y:-6.88 z:0.34, dog x:1.97 y:0.02 z:-0.14], yaw_start:0.08, yaw_current:225.08]

Answer: CIRCLE: dx:0.48; dy:-0.20; dz:0.00; yaw:60.08;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14, bench x:11.44 y:-4.34 z:0.07], yaw_start:0.08, yaw_current:240.08]

Answer: CIRCLE: dx:0.52; dy:-0.07; dz:0.00; yaw:75.08;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14], yaw_start:0.08, yaw_current:255.08]

Answer: CIRCLE: dx:0.52; dy:0.07; dz:0.00; yaw:90.08;


Context: [objects_distance_from_drone[dog x:1.97 y:0.00 z:-0.14], yaw_start:0.08, yaw_current:270.08]

Answer: CIRCLE: dx:0.48; dy:0.20; dz:0.00; yaw:105.08;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.01 z:-0.14], yaw_start:0.08, yaw_current:285.08]

Answer: CIRCLE: dx:0.41; dy:0.32; dz:0.00; yaw:120.08;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.01 z:-0.14], yaw_start:0.08, yaw_current:300.08]

Answer: CIRCLE: dx:0.32; dy:0.41; dz:0.00; yaw:135.08;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14], yaw_start:0.08, yaw_current:315.08]

Answer: CIRCLE: dx:0.20; dy:0.48; dz:0.00; yaw:150.08;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14], yaw_start:0.08, yaw_current:330.08]

Answer: CIRCLE: dx:0.07; dy:0.52; dz:0.00; yaw:165.08;


Context: [drone_absolute_movement x:-9.46 y:0.02 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:9.46; dy:-0.02;


Context: [objects_distance_from_drone[dog x:11.36 y:-0.32 z:-0.07]]

Answer: LAND


Context: [objects_distance_from_drone[pedestrian x:12.03 y:2.40 z:0.84, BMW X5 x:9.36 y:-6.08 z:0.87, bench x:6.89 y:-0.09 z:0.57]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:12.01 y:2.34 z:0.36, BMW X5 x:9.28 y:-6.16 z:0.37, bench x:6.86 y:-0.11 z:0.10]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:12.01 y:2.34 z:0.36, BMW X5 x:9.28 y:-6.15 z:0.37, bench x:6.86 y:-0.11 z:0.10]]

Answer: MOVE: x:4.86; y:-0.11; z:0.10


Context: [objects_distance_from_drone[bench x:1.88 y:0.16 z:-0.95], yaw_start:187.96, yaw_current:172.96]

Answer: CIRCLE: dx:0.14; dy:-0.50; dz:0.00; yaw:7.96;


Context: [objects_distance_from_drone[bench x:2.08 y:-0.57 z:0.14], yaw_start:187.96, yaw_current:187.96]

Answer: CIRCLE: dx:0.26; dy:-0.45; dz:0.00; yaw:22.96;


Context: [objects_distance_from_drone[bench x:1.98 y:-0.65 z:0.15], yaw_start:187.96, yaw_current:202.96]

Answer: CIRCLE: dx:0.37; dy:-0.37; dz:0.00; yaw:37.96;


Context: [objects_distance_from_drone[bench x:1.93 y:-0.65 z:0.13], yaw_start:187.96, yaw_current:217.96]

Answer: CIRCLE: dx:0.45; dy:-0.26; dz:0.00; yaw:52.96;


Context: [objects_distance_from_drone[bench x:1.81 y:-0.59 z:0.13], yaw_start:187.96, yaw_current:232.96]

Answer: CIRCLE: dx:0.51; dy:-0.13; dz:0.00; yaw:67.96;


Context: [objects_distance_from_drone[bench x:1.71 y:-0.35 z:0.11], yaw_start:187.96, yaw_current:247.96]

Answer: CIRCLE: dx:0.52; dy:0.00; dz:0.00; yaw:82.96;


Context: [objects_distance_from_drone[bench x:1.66 y:-0.25 z:0.09], yaw_start:187.96, yaw_current:262.96]

Answer: CIRCLE: dx:0.50; dy:0.14; dz:0.00; yaw:97.96;


Context: [objects_distance_from_drone[bench x:1.60 y:-0.16 z:0.08], yaw_start:187.96, yaw_current:277.96]

Answer: CIRCLE: dx:0.45; dy:0.26; dz:0.00; yaw:112.96;


Context: [objects_distance_from_drone[bench x:1.51 y:-0.11 z:0.05], yaw_start:187.96, yaw_current:292.96]

Answer: CIRCLE: dx:0.37; dy:0.37; dz:0.00; yaw:127.96;


Context: [objects_distance_from_drone[bench x:1.46 y:-0.04 z:0.03], yaw_start:187.96, yaw_current:307.96]

Answer: CIRCLE: dx:0.26; dy:0.45; dz:0.00; yaw:142.96;


Context: [objects_distance_from_drone[bench x:1.45 y:0.10 z:0.03], yaw_start:187.96, yaw_current:322.96]

Answer: CIRCLE: dx:0.13; dy:0.51; dz:0.00; yaw:157.96;


Context: [objects_distance_from_drone[bench x:1.52 y:0.34 z:0.07], yaw_start:187.96, yaw_current:337.96]

Answer: CIRCLE: dx:-0.00; dy:0.52; dz:0.00; yaw:172.96;


Context: [objects_distance_from_drone[bench x:1.62 y:0.40 z:0.05], yaw_start:187.96, yaw_current:352.96]

Answer: CIRCLE: dx:-0.14; dy:0.50; dz:0.00; yaw:-172.04;


Context: [objects_distance_from_drone[bench x:1.73 y:0.41 z:0.05], yaw_start:187.96, yaw_current:7.96]

Answer: CIRCLE: dx:-0.26; dy:0.45; dz:0.00; yaw:-157.04;


Context: [objects_distance_from_drone[bench x:1.82 y:0.38 z:0.07], yaw_start:187.96, yaw_current:22.96]

Answer: CIRCLE: dx:-0.37; dy:0.37; dz:0.00; yaw:-142.04;


Context: [objects_distance_from_drone[bench x:1.92 y:0.37 z:0.09], yaw_start:187.96, yaw_current:37.96]

Answer: CIRCLE: dx:-0.45; dy:0.26; dz:0.00; yaw:-127.04;


Context: [objects_distance_from_drone[BMW X5 x:6.85 y:2.59 z:0.51, bench x:1.98 y:0.37 z:0.11], yaw_start:187.96, yaw_current:52.96]

Answer: CIRCLE: dx:-0.51; dy:0.13; dz:0.00; yaw:-112.04;


Context: [objects_distance_from_drone[bench x:2.10 y:0.49 z:0.13], yaw_start:187.96, yaw_current:67.96]

Answer: CIRCLE: dx:-0.52; dy:-0.00; dz:0.00; yaw:-97.04;


Context: [objects_distance_from_drone[bench x:2.19 y:0.46 z:0.13], yaw_start:187.96, yaw_current:82.96]

Answer: CIRCLE: dx:-0.50; dy:-0.14; dz:0.00; yaw:-82.04;


Context: [objects_distance_from_drone[bench x:2.26 y:0.37 z:0.12], yaw_start:187.96, yaw_current:97.96]

Answer: CIRCLE: dx:-0.45; dy:-0.26; dz:0.00; yaw:-67.04;


Context: [objects_distance_from_drone[bench x:2.29 y:0.24 z:0.09], yaw_start:187.96, yaw_current:112.96]

Answer: CIRCLE: dx:-0.37; dy:-0.37; dz:0.00; yaw:-52.04;


Context: [objects_distance_from_drone[bench x:2.31 y:0.03 z:0.07], yaw_start:187.96, yaw_current:127.96]

Answer: CIRCLE: dx:-0.26; dy:-0.45; dz:0.00; yaw:-37.04;


Context: [objects_distance_from_drone[bench x:2.32 y:-0.19 z:0.07], yaw_start:187.96, yaw_current:142.96]

Answer: CIRCLE: dx:-0.13; dy:-0.51; dz:0.00; yaw:-22.04;


Context: [objects_distance_from_drone[bench x:2.23 y:-0.29 z:0.07], yaw_start:187.96, yaw_current:157.96]

Answer: CIRCLE: dx:0.00; dy:-0.52; dz:0.00; yaw:-7.04;


Context: [drone_absolute_movement x:4.62 y:-0.14 z:0.50, objects_distance_from_drone[bench x:2.16 y:-0.45 z:0.08]]

Answer: RETURN: dx:-4.62; dy:0.14;


Context: [objects_distance_from_drone[pedestrian x:12.17 y:0.25 z:0.25, bench x:6.67 y:-1.30 z:0.03]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:11.29 y:-1.48 z:0.87]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:11.27 y:-1.45 z:0.37]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:4.08 y:-0.36 z:0.35]]

Answer: MOVE: x:2.08; y:-0.36; z:0.35


Context: [objects_distance_from_drone[pedestrian x:2.10 y:0.00 z:0.11], yaw_start:122.08, yaw_current:107.08]

Answer: CIRCLE: dx:-0.40; dy:-0.33; dz:0.00; yaw:-57.92;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:122.08, yaw_current:122.08]

Answer: CIRCLE: dx:-0.30; dy:-0.43; dz:0.00; yaw:-42.92;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10, BMW X5 x:10.00 y:6.50 z:0.01], yaw_start:122.08, yaw_current:137.08]

Answer: CIRCLE: dx:-0.18; dy:-0.49; dz:0.00; yaw:-27.92;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10, BMW X5 x:10.26 y:4.71 z:0.35], yaw_start:122.08, yaw_current:152.08]

Answer: CIRCLE: dx:-0.05; dy:-0.52; dz:0.00; yaw:-12.92;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10, BMW X5 x:11.17 y:1.65 z:0.35], yaw_start:122.08, yaw_current:167.08]

Answer: CIRCLE: dx:0.09; dy:-0.51; dz:0.00; yaw:2.08;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10, BMW X5 x:11.28 y:-0.79 z:0.34], yaw_start:122.08, yaw_current:182.08]

Answer: CIRCLE: dx:0.22; dy:-0.47; dz:0.00; yaw:17.08;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10, BMW X5 x:10.78 y:-3.49 z:0.34, bench x:14.52 y:5.59 z:0.08], yaw_start:122.08, yaw_current:197.08]

Answer: CIRCLE: dx:0.33; dy:-0.40; dz:0.00; yaw:32.08;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, BMW X5 x:9.48 y:-4.85 z:0.34, bench x:15.54 y:2.13 z:0.08], yaw_start:122.08, yaw_current:212.08]

Answer: CIRCLE: dx:0.43; dy:-0.30; dz:0.00; yaw:47.08;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, bench x:15.63 y:-1.45 z:0.07], yaw_start:122.08, yaw_current:227.08]

Answer: CIRCLE: dx:0.49; dy:-0.18; dz:0.00; yaw:62.08;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, bench x:14.79 y:-4.94 z:0.07], yaw_start:122.08, yaw_current:242.08]

Answer: CIRCLE: dx:0.52; dy:-0.05; dz:0.00; yaw:77.08;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09], yaw_start:122.08, yaw_current:257.08]

Answer: CIRCLE: dx:0.51; dy:0.09; dz:0.00; yaw:92.08;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09], yaw_start:122.08, yaw_current:272.08]

Answer: CIRCLE: dx:0.47; dy:0.22; dz:0.00; yaw:107.08;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09], yaw_start:122.08, yaw_current:287.08]

Answer: CIRCLE: dx:0.40; dy:0.33; dz:0.00; yaw:122.08;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09], yaw_start:122.08, yaw_current:302.08]

Answer: CIRCLE: dx:0.30; dy:0.43; dz:0.00; yaw:137.08;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09, oil barrel x:10.42 y:4.56 z:-0.07], yaw_start:122.08, yaw_current:317.08]

Answer: CIRCLE: dx:0.18; dy:0.49; dz:0.00; yaw:152.08;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, oil barrel x:11.33 y:2.27 z:-0.07], yaw_start:122.08, yaw_current:332.08]

Answer: CIRCLE: dx:0.05; dy:0.52; dz:0.00; yaw:167.08;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, dog x:15.52 y:5.88 z:-0.13, oil barrel x:11.60 y:-0.23 z:-0.07], yaw_start:122.08, yaw_current:347.08]

Answer: CIRCLE: dx:-0.09; dy:0.51; dz:0.00; yaw:-177.92;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, dog x:16.57 y:2.19 z:-0.13, oil barrel x:11.21 y:-2.72 z:-0.07], yaw_start:122.08, yaw_current:2.08]

Answer: CIRCLE: dx:-0.22; dy:0.47; dz:0.00; yaw:-162.92;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.09, dog x:16.63 y:-1.67 z:-0.14, oil barrel x:10.19 y:-4.74 z:-0.08], yaw_start:122.08, yaw_current:17.08]

Answer: CIRCLE: dx:-0.33; dy:0.40; dz:0.00; yaw:-147.92;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10, dog x:15.69 y:-5.42 z:-0.14], yaw_start:122.08, yaw_current:32.08]

Answer: CIRCLE: dx:-0.43; dy:0.30; dz:0.00; yaw:-132.92;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:122.08, yaw_current:47.08]

Answer: CIRCLE: dx:-0.49; dy:0.18; dz:0.00; yaw:-117.92;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:122.08, yaw_current:62.08]

Answer: CIRCLE: dx:-0.52; dy:0.05; dz:0.00; yaw:-102.92;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:122.08, yaw_current:77.08]

Answer: CIRCLE: dx:-0.51; dy:-0.09; dz:0.00; yaw:-87.92;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:122.08, yaw_current:92.08]

Answer: CIRCLE: dx:-0.47; dy:-0.22; dz:0.00; yaw:-72.92;


Context: [drone_absolute_movement x:1.13 y:-1.78 z:0.50, objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10]]

Answer: RETURN: dx:-1.13; dy:1.78;


Context: [objects_distance_from_drone[pedestrian x:4.00 y:-0.02 z:0.38]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:12.00 y:-0.00 z:0.35]]

Answer: MOVE: x:8.00; y:-0.00; z:0.35


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:-0.00 z:0.38], yaw_start:342.17, yaw_current:327.17]

Answer: CIRCLE: dx:0.19; dy:1.03; dz:0.00; yaw:162.17;


Context: [objects_distance_from_drone[BMW X5 x:3.87 y:-0.25 z:0.40], yaw_start:342.17, yaw_current:342.17]

Answer: CIRCLE: dx:-0.09; dy:1.04; dz:0.00; yaw:177.17;


Context: [objects_distance_from_drone[BMW X5 x:3.77 y:-0.47 z:0.36], yaw_start:342.17, yaw_current:357.17]

Answer: CIRCLE: dx:-0.35; dy:0.98; dz:0.00; yaw:-167.83;


Context: [objects_distance_from_drone[BMW X5 x:3.67 y:-0.27 z:0.34], yaw_start:342.17, yaw_current:12.17]

Answer: CIRCLE: dx:-0.59; dy:0.86; dz:0.00; yaw:-152.83;


Context: [objects_distance_from_drone[BMW X5 x:3.63 y:-0.18 z:0.35], yaw_start:342.17, yaw_current:27.17]

Answer: CIRCLE: dx:-0.80; dy:0.68; dz:0.00; yaw:-137.83;


Context: [objects_distance_from_drone[BMW X5 x:3.66 y:-0.34 z:0.35], yaw_start:342.17, yaw_current:42.17]

Answer: CIRCLE: dx:-0.94; dy:0.45; dz:0.00; yaw:-122.83;


Context: [objects_distance_from_drone[BMW X5 x:3.74 y:-0.44 z:0.35], yaw_start:342.17, yaw_current:57.17]

Answer: CIRCLE: dx:-1.03; dy:0.19; dz:0.00; yaw:-107.83;


Context: [objects_distance_from_drone[BMW X5 x:3.77 y:-0.32 z:0.35], yaw_start:342.17, yaw_current:72.17]

Answer: CIRCLE: dx:-1.04; dy:-0.09; dz:0.00; yaw:-92.83;


Context: [objects_distance_from_drone[BMW X5 x:3.79 y:-0.13 z:0.35], yaw_start:342.17, yaw_current:87.17]

Answer: CIRCLE: dx:-0.98; dy:-0.35; dz:0.00; yaw:-77.83;


Context: [objects_distance_from_drone[BMW X5 x:3.79 y:0.21 z:0.35], yaw_start:342.17, yaw_current:102.17]

Answer: CIRCLE: dx:-0.86; dy:-0.59; dz:0.00; yaw:-62.83;


Context: [objects_distance_from_drone[BMW X5 x:3.85 y:0.45 z:0.35, bench x:15.13 y:-8.63 z:0.06], yaw_start:342.17, yaw_current:117.17]

Answer: CIRCLE: dx:-0.68; dy:-0.80; dz:0.00; yaw:-47.83;


Context: [objects_distance_from_drone[BMW X5 x:3.90 y:0.57 z:0.35], yaw_start:342.17, yaw_current:132.17]

Answer: CIRCLE: dx:-0.45; dy:-0.94; dz:0.00; yaw:-32.83;


Context: [objects_distance_from_drone[BMW X5 x:3.85 y:0.61 z:0.35], yaw_start:342.17, yaw_current:147.17]

Answer: CIRCLE: dx:-0.19; dy:-1.03; dz:0.00; yaw:-17.83;


Context: [objects_distance_from_drone[BMW X5 x:3.84 y:0.44 z:0.34], yaw_start:342.17, yaw_current:162.17]

Answer: CIRCLE: dx:0.09; dy:-1.04; dz:0.00; yaw:-2.83;


Context: [objects_distance_from_drone[BMW X5 x:3.86 y:0.18 z:0.35], yaw_start:342.17, yaw_current:177.17]

Answer: CIRCLE: dx:0.35; dy:-0.98; dz:0.00; yaw:12.17;


Context: [objects_distance_from_drone[BMW X5 x:3.99 y:0.29 z:0.35], yaw_start:342.17, yaw_current:192.17]

Answer: CIRCLE: dx:0.59; dy:-0.86; dz:0.00; yaw:27.17;


Context: [objects_distance_from_drone[BMW X5 x:4.01 y:0.26 z:0.35], yaw_start:342.17, yaw_current:207.17]

Answer: CIRCLE: dx:0.80; dy:-0.68; dz:0.00; yaw:42.17;


Context: [objects_distance_from_drone[BMW X5 x:4.07 y:-0.06 z:0.38], yaw_start:342.17, yaw_current:222.17]

Answer: CIRCLE: dx:0.94; dy:-0.45; dz:0.00; yaw:57.17;


Context: [objects_distance_from_drone[BMW X5 x:4.16 y:-0.28 z:0.42], yaw_start:342.17, yaw_current:237.17]

Answer: CIRCLE: dx:1.03; dy:-0.19; dz:0.00; yaw:72.17;


Context: [objects_distance_from_drone[BMW X5 x:4.16 y:-0.31 z:0.44], yaw_start:342.17, yaw_current:252.17]

Answer: CIRCLE: dx:1.04; dy:0.09; dz:0.00; yaw:87.17;


Context: [objects_distance_from_drone[BMW X5 x:4.15 y:-0.26 z:0.44], yaw_start:342.17, yaw_current:267.17]

Answer: CIRCLE: dx:0.98; dy:0.35; dz:0.00; yaw:102.17;


Context: [objects_distance_from_drone[BMW X5 x:4.11 y:-0.13 z:0.42], yaw_start:342.17, yaw_current:282.17]

Answer: CIRCLE: dx:0.86; dy:0.59; dz:0.00; yaw:117.17;


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:-0.02 z:0.45], yaw_start:342.17, yaw_current:297.17]

Answer: CIRCLE: dx:0.68; dy:0.80; dz:0.00; yaw:132.17;


Context: [objects_distance_from_drone[BMW X5 x:4.05 y:0.04 z:0.46], yaw_start:342.17, yaw_current:312.17]

Answer: CIRCLE: dx:0.45; dy:0.94; dz:0.00; yaw:147.17;


Context: [drone_absolute_movement x:-7.65 y:2.27 z:0.50, objects_distance_from_drone[BMW X5 x:3.99 y:-0.02 z:0.44]]

Answer: RETURN: dx:7.65; dy:-2.27;


Context: [objects_distance_from_drone[BMW X5 x:11.88 y:-0.04 z:0.43]]

Answer: LAND


Context: [objects_distance_from_drone[pedestrian x:12.08 y:1.69 z:0.84, BMW X5 x:7.34 y:-3.29 z:0.94]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:12.01 y:1.74 z:0.36, BMW X5 x:7.28 y:-3.25 z:0.53]]

Answer: SEARCH


Context: [objects_distance_from_drone[dog x:10.77 y:-0.99 z:-0.14, oil barrel x:5.51 y:1.13 z:-0.07]]

Answer: MOVE: x:8.77; y:-0.99; z:-0.14


Context: [objects_distance_from_drone[dog x:2.09 y:-0.00 z:-0.15], yaw_start:28.74, yaw_current:13.74]

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


Context: [objects_distance_from_drone[dog x:2.00 y:-0.02 z:-0.14], yaw_start:28.74, yaw_current:28.74]

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


Context: [objects_distance_from_drone[dog x:1.99 y:-0.04 z:-0.14], yaw_start:28.74, yaw_current:43.74]

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


Context: [objects_distance_from_drone[dog x:2.00 y:-0.05 z:-0.14], yaw_start:28.74, yaw_current:58.74]

Answer: CIRCLE: dx:-0.52; dy:0.08; dz:0.00; yaw:-106.26;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.04 z:-0.14], yaw_start:28.74, yaw_current:73.74]

Answer: CIRCLE: dx:-0.52; dy:-0.06; dz:0.00; yaw:-91.26;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.04 z:-0.14], yaw_start:28.74, yaw_current:88.74]

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


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14], yaw_start:28.74, yaw_current:103.74]

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


Context: [objects_distance_from_drone[dog x:1.96 y:-0.03 z:-0.14], yaw_start:28.74, yaw_current:118.74]

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


Context: [objects_distance_from_drone[BMW X5 x:16.71 y:8.38 z:0.35, dog x:1.94 y:-0.02 z:-0.14], yaw_start:28.74, yaw_current:133.74]

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


Context: [objects_distance_from_drone[BMW X5 x:18.35 y:3.72 z:0.35, dog x:1.93 y:-0.03 z:-0.14, oil barrel x:6.94 y:2.65 z:-0.07], yaw_start:28.74, yaw_current:148.74]

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


Context: [objects_distance_from_drone[pedestrian x:23.34 y:7.39 z:0.35, dog x:1.93 y:-0.04 z:-0.14, oil barrel x:7.46 y:1.27 z:-0.07], yaw_start:28.74, yaw_current:163.74]

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


Context: [objects_distance_from_drone[pedestrian x:24.53 y:1.61 z:0.34, BMW X5 x:18.03 y:-4.97 z:0.34, dog x:1.94 y:-0.02 z:-0.14], yaw_start:28.74, yaw_current:178.74]

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


Context: [objects_distance_from_drone[pedestrian x:24.18 y:-4.29 z:0.34, BMW X5 x:16.66 y:-6.80 z:0.49, dog x:1.94 y:-0.01 z:-0.14, bench x:15.23 y:7.76 z:0.08, oil barrel x:7.37 y:-1.65 z:-0.07], yaw_start:28.74, yaw_current:193.74]

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


Context: [objects_distance_from_drone[dog x:1.95 y:0.00 z:-0.14, bench x:16.79 y:3.52 z:0.08, oil barrel x:6.76 y:-2.91 z:-0.07], yaw_start:28.74, yaw_current:208.74]

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


Context: [objects_distance_from_drone[dog x:1.95 y:0.02 z:-0.14], yaw_start:28.74, yaw_current:223.74]

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


Context: [objects_distance_from_drone[dog x:1.94 y:0.03 z:-0.14, bench x:16.56 y:-4.36 z:0.07], yaw_start:28.74, yaw_current:238.74]

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


Context: [objects_distance_from_drone[dog x:1.94 y:0.03 z:-0.14, bench x:14.53 y:-8.88 z:0.07], yaw_start:28.74, yaw_current:253.74]

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


Context: [objects_distance_from_drone[dog x:1.96 y:0.02 z:-0.14], yaw_start:28.74, yaw_current:268.74]

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


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14], yaw_start:28.74, yaw_current:283.74]

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


Context: [objects_distance_from_drone[dog x:1.98 y:0.01 z:-0.14], yaw_start:28.74, yaw_current:298.74]

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


Context: [objects_distance_from_drone[dog x:1.99 y:0.01 z:-0.14], yaw_start:28.74, yaw_current:313.74]

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


Context: [objects_distance_from_drone[dog x:2.01 y:0.02 z:-0.14], yaw_start:28.74, yaw_current:328.74]

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


Context: [objects_distance_from_drone[dog x:2.00 y:0.02 z:-0.14], yaw_start:28.74, yaw_current:343.74]

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


Context: [objects_distance_from_drone[dog x:2.01 y:0.00 z:-0.14], yaw_start:28.74, yaw_current:358.74]

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


Context: [drone_absolute_movement x:-7.67 y:-4.28 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:7.67; dy:4.28;


Context: [objects_distance_from_drone[dog x:10.68 y:-0.16 z:-0.02, oil barrel x:5.29 y:1.59 z:-0.00]]

Answer: LAND


Context: [objects_distance_from_drone[pedestrian x:6.15 y:-0.91 z:0.84]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:6.15 y:-0.91 z:0.38]]

Answer: SEARCH


Context: [objects_distance_from_drone[bench x:12.69 y:-1.25 z:0.08]]

Answer: MOVE: x:10.69; y:-1.25; z:0.08


Context: [objects_distance_from_drone[bench x:2.09 y:-0.00 z:0.08], yaw_start:19.79, yaw_current:4.79]

Answer: CIRCLE: dx:-0.24; dy:0.46; dz:0.00; yaw:-160.21;


Context: [objects_distance_from_drone[bench x:1.97 y:0.05 z:0.09], yaw_start:19.79, yaw_current:19.79]

Answer: CIRCLE: dx:-0.35; dy:0.39; dz:0.00; yaw:-145.21;


Context: [objects_distance_from_drone[bench x:1.96 y:0.08 z:0.08], yaw_start:19.79, yaw_current:34.79]

Answer: CIRCLE: dx:-0.44; dy:0.28; dz:0.00; yaw:-130.21;


Context: [objects_distance_from_drone[bench x:1.93 y:0.02 z:0.05], yaw_start:19.79, yaw_current:49.79]

Answer: CIRCLE: dx:-0.50; dy:0.16; dz:0.00; yaw:-115.21;


Context: [objects_distance_from_drone[bench x:1.90 y:-0.10 z:0.07], yaw_start:19.79, yaw_current:64.79]

Answer: CIRCLE: dx:-0.52; dy:0.02; dz:0.00; yaw:-100.21;


Context: [objects_distance_from_drone[bench x:1.88 y:-0.11 z:0.07], yaw_start:19.79, yaw_current:79.79]

Answer: CIRCLE: dx:-0.51; dy:-0.11; dz:0.00; yaw:-85.21;


Context: [objects_distance_from_drone[bench x:1.86 y:-0.04 z:0.07], yaw_start:19.79, yaw_current:94.79]

Answer: CIRCLE: dx:-0.46; dy:-0.24; dz:0.00; yaw:-70.21;


Context: [objects_distance_from_drone[bench x:1.86 y:-0.13 z:0.07], yaw_start:19.79, yaw_current:109.79]

Answer: CIRCLE: dx:-0.39; dy:-0.35; dz:0.00; yaw:-55.21;


Context: [objects_distance_from_drone[bench x:1.87 y:-0.20 z:0.07], yaw_start:19.79, yaw_current:124.79]

Answer: CIRCLE: dx:-0.28; dy:-0.44; dz:0.00; yaw:-40.21;


Context: [objects_distance_from_drone[bench x:1.90 y:-0.17 z:0.09], yaw_start:19.79, yaw_current:139.79]

Answer: CIRCLE: dx:-0.16; dy:-0.50; dz:0.00; yaw:-25.21;


Context: [objects_distance_from_drone[pedestrian x:19.31 y:6.48 z:0.35, bench x:1.89 y:-0.11 z:0.10], yaw_start:19.79, yaw_current:154.79]

Answer: CIRCLE: dx:-0.02; dy:-0.52; dz:0.00; yaw:-10.21;


Context: [objects_distance_from_drone[bench x:1.89 y:-0.02 z:0.13], yaw_start:19.79, yaw_current:169.79]

Answer: CIRCLE: dx:0.11; dy:-0.51; dz:0.00; yaw:4.79;


Context: [objects_distance_from_drone[bench x:1.87 y:0.10 z:0.13, oil barrel x:19.28 y:-8.66 z:-0.08], yaw_start:19.79, yaw_current:184.79]

Answer: CIRCLE: dx:0.24; dy:-0.46; dz:0.00; yaw:19.79;


Context: [objects_distance_from_drone[pedestrian x:18.81 y:-7.65 z:0.34, bench x:1.88 y:0.17 z:0.13], yaw_start:19.79, yaw_current:199.79]

Answer: CIRCLE: dx:0.35; dy:-0.39; dz:0.00; yaw:34.79;


Context: [objects_distance_from_drone[bench x:1.89 y:0.21 z:0.13], yaw_start:19.79, yaw_current:214.79]

Answer: CIRCLE: dx:0.44; dy:-0.28; dz:0.00; yaw:49.79;


Context: [objects_distance_from_drone[bench x:1.87 y:0.19 z:0.13], yaw_start:19.79, yaw_current:229.79]

Answer: CIRCLE: dx:0.50; dy:-0.16; dz:0.00; yaw:64.79;


Context: [objects_distance_from_drone[bench x:1.88 y:0.07 z:0.13], yaw_start:19.79, yaw_current:244.79]

Answer: CIRCLE: dx:0.52; dy:-0.02; dz:0.00; yaw:79.79;


Context: [objects_distance_from_drone[bench x:1.91 y:0.04 z:0.08], yaw_start:19.79, yaw_current:259.79]

Answer: CIRCLE: dx:0.51; dy:0.11; dz:0.00; yaw:94.79;


Context: [objects_distance_from_drone[bench x:1.93 y:0.10 z:0.09], yaw_start:19.79, yaw_current:274.79]

Answer: CIRCLE: dx:0.46; dy:0.24; dz:0.00; yaw:109.79;


Context: [objects_distance_from_drone[bench x:1.93 y:-0.03 z:0.13], yaw_start:19.79, yaw_current:289.79]

Answer: CIRCLE: dx:0.39; dy:0.35; dz:0.00; yaw:124.79;


Context: [objects_distance_from_drone[bench x:1.95 y:-0.14 z:0.14], yaw_start:19.79, yaw_current:304.79]

Answer: CIRCLE: dx:0.28; dy:0.44; dz:0.00; yaw:139.79;


Context: [objects_distance_from_drone[bench x:1.97 y:-0.14 z:0.13], yaw_start:19.79, yaw_current:319.79]

Answer: CIRCLE: dx:0.16; dy:0.50; dz:0.00; yaw:154.79;


Context: [objects_distance_from_drone[bench x:1.97 y:-0.11 z:0.13], yaw_start:19.79, yaw_current:334.79]

Answer: CIRCLE: dx:0.02; dy:0.52; dz:0.00; yaw:169.79;


Context: [objects_distance_from_drone[bench x:1.96 y:-0.06 z:0.13], yaw_start:19.79, yaw_current:349.79]

Answer: CIRCLE: dx:-0.11; dy:0.51; dz:0.00; yaw:-175.21;


Context: [drone_absolute_movement x:-10.15 y:-3.56 z:0.50, objects_distance_from_drone[bench x:1.98 y:-0.00 z:0.11]]

Answer: RETURN: dx:10.15; dy:3.56;


Context: [objects_distance_from_drone[bench x:12.66 y:-0.34 z:0.23]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:11.12 y:1.02 z:0.34]]

Answer: MOVE: x:9.12; y:1.02; z:0.34


Context: [objects_distance_from_drone[pedestrian x:2.10 y:0.00 z:0.11], yaw_start:356.13, yaw_current:341.13]

Answer: CIRCLE: dx:-0.03; dy:0.52; dz:0.00; yaw:176.13;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:356.13, yaw_current:356.13]

Answer: CIRCLE: dx:-0.17; dy:0.49; dz:0.00; yaw:-168.87;