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Among so-called active sensors that use self-generated signals, sonar sensors are more challenging to implement than lidar and radar due in part to their limited angular field of sensing. A common solution to this challenge is scanning sensors that sweep an angular range with successive measurements. However, scanning sensors are particularly problematic for sonar because of the relatively slow sound speed and the inertia of the sonar head. Studies of bat behaviour suggest that bats maydoi:10.1049/rsn2.12093 fatcat:sjnrtwvt5nfgnkwylw27dkq2qe