Most of the feedback loop is generic, except for the detailed implementation of flapping flight contained in the black box labelled “dynamics and control”. The boxes denote transfer functions, and additional parameters of the functions are noted in between brackets. A detailed explanation of the model equations is provided in Materials and methods. This diagram is intended to communicate the general structure of the model. ![]() High-altitude stoops are shown to be beneficial because their high airspeed enables production of higher aerodynamic forces for maneuvering, and facilitates higher roll agility as the wings are tucked, each of which is essential to catching maneuvering prey at realistic response delays. Remarkably, the optimal tuning of the guidance law in our simulations coincides closely with what has been observed empirically in peregrines. We find that, when the prey maneuvers erratically, high-altitude stoops increase catch success compared to low-altitude attacks, but only if the falcon's guidance law is appropriately tuned, and only given a high degree of precision in vision and control. We parametrically vary the falcon's starting position relative to its prey, together with the feedback gain of its guidance loop, under differing assumptions regarding its errors and delay in vision and control, and for three different patterns of prey motion. To intercept its prey, model-falcons use the same guidance law as missiles (pure proportional navigation) this assumption is corroborated by empirical data on peregrine falcons hunting lures. ![]() The model-birds' flight control inputs are commanded by their guidance system, comprising a phenomenological model of its vision, guidance, and control. We simulate avian flapping and gliding flight using an analytical quasi-steady model of the aerodynamic forces and moments, parametrized by empirical measurements of flight morphology. Here we investigate whether, when, and why stooping promotes catch success, using a three-dimensional, agent-based modeling approach to simulate attacks of falcons on aerial prey. Many other raptors employ a similar mode of attack, but the functional benefits of stooping remain obscure. The peregrine falcon Falco peregrinus is renowned for attacking its prey from high altitude in a fast controlled dive called a stoop.
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