Abstract：
The ability of \"target tracking,\" such as keeping a target object in sight, is crucial for various activities. However, most sensing systems experience a certain degree of delay due to information processing, which challenges accurate target tracking. The long history of studies on animal behavior has revealed several tactics for it, although a systematic understanding of how individual tactics are combined into a strategy has not been reached. This study demonstrates a multifaceted tracking strategy in animals, which mitigates the adverse delay effects with small implementation costs. Using an active-sensing bat to measure their sensing state while chasing natural prey, we found that bats use a tracking strategy by combining multiple echolocation and flight tactics. The three echolocation tactics, namely the predictive control of sensing direction accompanied by adjusting the sensing rate and angular range, produce a direct compensation effect. Simultaneously, the flight tactic, the counter maneuver, assists echolocation by stabilizing the target direction. Our simulation results demonstrate that these combined tactics improve tracking accuracy over a wide range of delay constraints. In addition, a concise rule based on the angular velocity between bats and targets explains how bats control these tactics, suggesting that bats successfully reduce the burden of multitasking management. Our findings reveal the sophisticated strategy in animals\' tracking systems and provide insights into understanding and developing efficiently integrated strategies in target tracking across various disciplines.
摘要：
“目标跟踪的能力，“例如将目标物体保持在视线范围内，对各种活动至关重要。然而,大多数传感系统由于信息处理而经历一定程度的延迟，这对准确的目标跟踪提出了挑战。动物行为研究的悠久历史揭示了几种策略，尽管尚未对个人战术如何结合成战略有系统的了解。这项研究证明了动物的多方面跟踪策略，以较小的实施成本减轻了不利的延迟影响。使用主动感应蝙蝠在追逐自然猎物时测量它们的感应状态，我们发现蝙蝠通过结合多种回声定位和飞行战术来使用跟踪策略。三种回声定位策略，即通过调节传感速率和角度范围对传感方向进行预测控制，产生直接的补偿效应。同时,飞行战术,反机动，通过稳定目标方向来辅助回声定位。我们的仿真结果表明，这些组合策略在宽范围的延迟约束下提高了跟踪精度。此外,基于蝙蝠和目标之间的角速度的简明规则解释了蝙蝠如何控制这些战术，这表明蝙蝠成功地减轻了多任务管理的负担。我们的发现揭示了动物跟踪系统中复杂的策略，并提供了理解和开发跨各个学科的目标跟踪中的有效集成策略的见解。
