Chapter 1 Using Robots to Understand Animal Behavior

Vision for navigation: What can we learn from ants?

The visual systems of all animals are used to provide information that can guide behaviour. In some cases insects demonstrate particularly impressive visually-guided behaviour and then we might reasonably ask how the low-resolution vision and limited neural resources of insects are tuned to particular behavioural strategies. Such questions are of interest to both biologists and to engineers seeking to emulate insect-level performance with lightweight hardware. One behaviour that insects share with many animals is the use of learnt visual information for navigation. Desert ants, in particular, are expert visual navigators. Across their foraging life, ants can learn long idiosyncratic foraging routes. What's more, these routes are learnt quickly and the visual cues that define them can be implemented for guidance independently of other social or personal information. Here we review the style of visual navigation in solitary foraging ants and consider the physiological mechanisms that underpin it. Our perspective is to consider that robust navigation comes from the optimal interaction between behavioural strategy, visual mechanisms and neural hardware. We consider each of these in turn, highlighting the value of ant-like mechanisms in biomimetic endeavours.

Using insects to drive mobile robots - hybrid robots bridge the gap between biological and artificial systems

The use of mobile robots is an effective method of validating sensory-motor models of animals in a real environment. The well-identified insect sensory-motor systems have been the major targets for modeling. Furthermore, mobile robots implemented with such insect models attract engineers who aim to avail advantages from organisms. However, directly comparing the robots with real insects is still difficult, even if we successfully model the biological systems, because of the physical differences between them. We developed a hybrid robot to bridge the gap. This hybrid robot is an insect-controlled robot, in which a tethered male silkmoth (Bombyx mori) drives the robot in order to localize an odor source. This robot has the following three advantages: 1) from a biomimetic perspective, the robot enables us to evaluate the potential performance of future insect-mimetic robots; 2) from a biological perspective, the robot enables us to manipulate the closed-loop of an onboard insect for further understanding of its sensory-motor system; and 3) the robot enables comparison with insect models as a reference biological system. In this paper, we review the recent works regarding insect-controlled robots and discuss the significance for both engineering and biology.

A bioinspired autonomous swimming robot as a tool for studying goal-directed locomotion

The bioinspired approach has been key in combining the disciplines of robotics with neuroscience in an effective and promising fashion. Indeed, certain aspects in the field of neuroscience, such as goal-directed locomotion and behaviour selection, can be validated through robotic artefacts. In particular, swimming is a functionally important behaviour where neuromuscular structures, neural control architecture and operation can be replicated artificially following models from biology and neuroscience. In this article, we present a biomimetic system inspired by the lamprey, an early vertebrate that locomotes using anguilliform swimming. The artefact possesses extra- and proprioceptive sensory receptors, muscle-like actuation, distributed embedded control and a vision system. Experiments on optimised swimming and on goal-directed locomotion are reported, as well as the assessment of the performance of the system, which shows high energy efficiency and adaptive behaviour. While the focus is on providing a robotic platform for testing biological models, the reported system can also be of major relevance for the development of engineering system applications.

Do ants need to estimate the geometrical properties of trail bifurcations to find an efficient route? A swarm robotics test bed

Interactions between individuals and the structure of their environment play a crucial role in shaping self-organized collective behaviors. Recent studies have shown that ants crossing asymmetrical bifurcations in a network of galleries tend to follow the branch that deviates the least from their incoming direction. At the collective level, the combination of this tendency and the pheromone-based recruitment results in a greater likelihood of selecting the shortest path between the colony's nest and a food source in a network containing asymmetrical bifurcations. It was not clear however what the origin of this behavioral bias is. Here we propose that it results from a simple interaction between the behavior of the ants and the geometry of the network, and that it does not require the ability to measure the angle of the bifurcation. We tested this hypothesis using groups of ant-like robots whose perceptual and cognitive abilities can be fully specified. We programmed them only to lay down and follow light trails, avoid obstacles and move according to a correlated random walk, but not to use more sophisticated orientation methods. We recorded the behavior of the robots in networks of galleries presenting either only symmetrical bifurcations or a combination of symmetrical and asymmetrical bifurcations. Individual robots displayed the same pattern of branch choice as individual ants when crossing a bifurcation, suggesting that ants do not actually measure the geometry of the bifurcations when travelling along a pheromone trail. Finally at the collective level, the group of robots was more likely to select one of the possible shorter paths between two designated areas when moving in an asymmetrical network, as observed in ants. This study reveals the importance of the shape of trail networks for foraging in ants and emphasizes the underestimated role of the geometrical properties of transportation networks in general.

Most ant species form transportation networks, be they foraging trails linking food sources to the main colony or underground galleries connecting the different parts of the nest. As for human transportation networks (roads, airlines, etc.), the design and the placement of the connecting points (or nodes) dramatically affects the movement of individuals and hence the exchanges of material and information. In a previous study, we have shown that the geometrical configuration of these nodes (i.e., the angles between the different exiting branches) can affect the route followed by an ant in a network of galleries and, as a consequence, the efficiency of the pheromone-based recruitment toward a food source. Here we show that we can reproduce these results using ant-like robots with minimal perceptual and cognitive capabilities. We demonstrate that the simple interaction between the displacement of an ant and the geometrical configuration of the gallery network can greatly affect the foraging performances of the colony. This result increases our understanding of how workers move through structures built by ant colonies and more generally points toward possible improvements for the design of man-made transportation networks.

Behavioral type-environment correlations in the field: a study of three-spined stickleback

Behavioral type-environment correlations occur when specific behavioral types of individuals are more common in certain environments. Behavioral type-environment correlations can be generated by several different mechanisms that are probably very common such as niche construction and phenotypic plasticity. Moreover, behavioral type-environment correlations have important ecological and evolutionary implications. However, few studies have examined behavioral type-environment correlations in natural populations. In this study, we asked whether some behavioral types of three-spined stickleback were more likely to occur in certain social environments (alone or in a shoal with other stickleback) or in certain microhabitats in a river (in the open or under cover). We found that individuals that were in shoals with other stickleback at the time of collection from the field emerged from a refuge more quickly compared to individuals that were found alone. In addition, fish that were alone in an open microhabitat explored more of a pool compared to fish that were alone in cover, but this difference did not occur among fish that were in shoals at the time of collection. Subsequent analyses of gut contents suggested that differences in microhabitat use were consistent over time. Our study provides some of the first evidence for behavioral type-environment correlations in a natural population of non-human animals.

Comparisons of different methods to train a young zebra finch (Taeniopygia guttata) to learn a song

Like humans, oscine songbirds exhibit vocal learning. They learn their song by imitating conspecifics, mainly adults. Among them, the zebra finch (Taeniopygia guttata) has been widely used as a model species to study the behavioral, cellular and molecular substrates of vocal learning. Various methods using taped song playback have been used in the laboratory to train young male finches to learn a song. Since different protocols have been applied by different research groups, the efficiency of the studies cannot be directly compared. The purpose of our study was to address this problem. Young finches were raised by their mother alone from day post hatching (dph) 10 and singly isolated from dph 35. One week later, exposure to a song model began, either using a live tutor or taped playback (passive or self-elicited). At dph 100, the birds were transferred to a common aviary. We observed that one-to-one live tutoring is the best method to get a fairly complete imitation. Using self-elicited playback we observed high inter-individual variability; while some finches learned well (including good copying of the song model), others exhibited poor copying. Passive playback resulted in poor imitation of the model. We also observed that finches exhibited vocal changes after dph 100 and that the range of these changes was negatively related to their imitation of the song model. Taken together, these results suggest that social aspects are predominant in the success outcome of song learning in the zebra finch.