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Animals within groups need to coordinate their reactions to perceivedenvironmental features and to each other in order to safely move from one pointto another. This paper extends our previously published work on the flightpatterns of Myotis velifer that have been observed in a habitat near JohnsonCity, Texas. Each evening, these bats emerge from a cave in sequences of smallgroups that typically contain no more than three or four individuals, and theythus provide ideal subjects for studying leader-follower behaviors. Byanalyzing the flight paths of a group of M. velifer, the data show that theflight behavior of a follower bat is influenced by the flight behavior of aleader bat in a way that is not well explained by existing pursuit laws, suchas classical pursuit, constant bearing and motion camouflage. Thus we proposean alternative steering law based on virtual loom, a concept we introduce tocapture the geometrical configuration of the leader-follower pair. It is shownthat this law may be integrated with our previously proposed vision-enabledsteering laws to synthesize trajectories, the statistics of which fit withthose of the bats in our data set. The results suggest that bats use perceivedinformation of both the environment and their neighbors for navigation.

Perception and Steering Control in Paired Bat Flight