Fig 4. Closed-loop simulations of trajectories of the agent equipped with the collision avoidance algorithm in a cubic box.

Blue and red lines are intersaccades and saccades, respectively. A) The saccade amplitudes were computed such that the agent moves in the CAD after the saccade. B, C and D) The saccade amplitudes were computed such that the agent moves in a direction corresponding to only a fraction of the CAD after the saccade. The fraction of the CAD was computed with a sigmoid function, parameterized by a gain and a threshold, of the CAN. B) Gain = 2, Threshold = 1.6. C) Gain = 2, Threshold = 3.2 D) Gain = 10⁶, Threshold = 3.2.