Gap selection and steering during obstacle avoidance in pigeons.

This result holds on average across all of the guidance models that we fitted independently to each flight, and also holds for the proportional navigation controller in particular – albeit that the qualitatively better fit of the model treating the midpoint of the gap as the target of the bird's guidance is not quite significant in this specific case (Wilcoxon signed rank test: z =–1.89, P =0.059).

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