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Flight characteristics of bold and shy homing pigeons over 13 consecutive solo flights. (a) Flight speed (distance flown to reach home divided by total time taken), (b) route efficiency (direct straight-line distance from the release point to home divided by distance flown; higher efficiency values mean shorter routes) and (c) route fidelity (mean nearest-neighbour distance between a focal track and the previous track; lower values mean higher fidelity).
