I'm on my mobile so I can't go into a ton of detail. In Livy The History of Rome book 22, he describes a nighttime maneuver by Hannibal to allow his army to escape from a valley after being trapped by Fabius Cunctator.

Here's an excerpt:

"since [Hannibal] could not escape by way of Casilinum, and since it was necessary to make for the mountains, and pass the summit of Callicula, lest in any place the Romans should attack his troops while enclosed in valleys; having hit upon a stratagem calculated to deceive the sight, and excite terror from its appearance, by means of which he might baffle the enemy, he resolved to come up by stealth to the mountains at the commencement of night. The preparation of his wily stratagem was of this description. Torches, collected from every part of the country, and bundles of rods and dry cuttings, are fastened before the horns of oxen, of which, wild and tame, he had driven away a great number among other plunder of the country: the number of oxen was made up to nearly two thousand. To Hasdrubal was assigned the task of driving to the mountains that herd, after having set fire to their horns, as soon as ever it was dark; particularly, if he could, over the passes beset by the enemy.

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As soon as it was dark the camp was moved in silence; the oxen were driven a little in advance of the standards. When they arrived at the foot of the mountains and the narrow passes, the signal is immediately given for setting fire to their horns and driving them violently up the mountains before them. The mere terror excited by the flame, which cast a glare from their heads, and the heat now approaching the quick and the roots of their horns, drove on the oxen as if goaded by madness. By which dispersion, on a sudden all the surrounding shrubs were in a blaze, as if the mountains and woods had been on fire; and the unavailing tossing of their heads quickening the flame, exhibited an appearance as of men running to and fro on every side. Those who had been placed to guard the passage of the wood, when they saw fires on the tops of the mountains, and some over their own heads, concluding that they were surrounded, abandoned their post; making for the tops of the mountains in the direction in which the fewest fires blazed, as being the safest course; however they fell in with some oxen which had strayed from their herds. At first, when they beheld them at a distance, they stood fixed in amazement at the miracle, as it appeared to them, of creatures breathing fire; afterwards, when it showed itself to be a human stratagem, then, forsooth, concluding that there was an ambuscade, as they are hurrying away in flight, with increased alarm, they fall in also with the light-armed troops of the enemy. But the night, when the fear was equally shared, kept them from commencing the battle till morning. Meanwhile Hannibal, having marched his whole army through the pass, and having cut off some of the enemy in the very defile, pitches his camp in the country of Allifae."