Fig 7

(a) A sample trajectory showing the thermalling behaviour of the soaring glider. The glider reacts to mechanical cues such as torques and accelerations. See [25,26] for more details. Regions of downdraft and updraft (blue through yellow) are marked, which highlight the relatively disperse trajectories in downdrafts compared to the spiraling behaviour in updrafts. (b) Motifs found by BASS that span the largest fraction of the thermalling dataset (i.e., episodes where the glider used a thermalling strategy). Most enriched motifs are those of a spiralling pattern. The green and red dots mark the start and end points. Note that the glider sinks without updrafts. (c) Same as (b) for motifs found in the dataset of a glider executing a random policy