Looking and homing: how displaced ants decide where to go

Nest excavators' learning walks in the Australian desert ant Melophorus bagoti

The Australian red honey ant, Melophorus bagoti, stands out as the most thermophilic ant in Australia, engaging in all outdoor activities during the hottest periods of the day during summer months. This species of desert ants often navigates by means of path integration and learning landmark cues around the nest. In our study, we observed the outdoor activities of M. bagoti workers engaged in nest excavation, the maintenance of the nest structure, primarily by taking excess sand out of the nest. Before undertaking nest excavation, the ants conducted a single exploratory walk. Following their initial learning expedition, these ants then engaged in nest excavation activities. Consistent with previous findings on pre-foraging learning walks, after just one learning walk, the desert ants in our study demonstrated the ability to return home from locations 2 m away from the nest, although not from locations 4 m away. These findings indicate that even for activities like dumping excavated sand within a range of 5-10 cm outside the nest, these ants learn and utilize the visual landmark panorama around the nest.

Through Hawks’ Eyes: Synthetically Reconstructing the Visual Field of a Bird in Flight

Birds of prey rely on vision to execute flight manoeuvres that are key to their survival, such as intercepting fast-moving targets or navigating through clutter. A better understanding of the role played by vision during these manoeuvres is not only relevant within the field of animal behaviour, but could also have applications for autonomous drones. In this paper, we present a novel method that uses computer vision tools to analyse the role of active vision in bird flight, and demonstrate its use to answer behavioural questions. Combining motion capture data from Harris’ hawks with a hybrid 3D model of the environment, we render RGB images, semantic maps, depth information and optic flow outputs that characterise the visual experience of the bird in flight. In contrast with previous approaches, our method allows us to consider different camera models and alternative gaze strategies for the purposes of hypothesis testing, allows us to consider visual input over the complete visual field of the bird, and is not limited by the technical specifications and performance of a head-mounted camera light enough to attach to a bird’s head in flight. We present pilot data from three sample flights: a pursuit flight, in which a hawk intercepts a moving target, and two obstacle avoidance flights. With this approach, we provide a reproducible method that facilitates the collection of large volumes of data across many individuals, opening up new avenues for data-driven models of animal behaviour.

An intrinsic oscillator underlies visual navigation in ants

Many insects display lateral oscillations while moving, but how these oscillations are produced and participate in visual navigation remains unclear. Here, we show that visually navigating ants continuously display regular lateral oscillations coupled with variations of forward speed that strongly optimize the distance covered while simultaneously enabling them to scan left and right directions. This pattern of movement is produced endogenously and conserved across navigational contexts in two phylogenetically distant ant species. Moreover, the oscillations' amplitude can be modulated by both innate or learnt visual cues to adjust the exploration/exploitation balance to the current need. This lower-level motor pattern thus drastically reduces the degree of freedom needed for higher-level strategies to control behavior. The observed dynamical signature readily emerges from a simple neural circuit model of the insect's conserved pre-motor area known as the lateral accessory lobe, offering a surprisingly simple but effective neural control and endorsing oscillation as a core, ancestral way of moving in insects.

Varieties of visual navigation in insects

The behaviours and cognitive mechanisms animals use to orient, navigate, and remember spatial locations exemplify how cognitive abilities have evolved to suit a number of different mobile lifestyles and habitats. While spatial cognition observed in vertebrates has been well characterised in recent decades, of no less interest are the great strides that have also been made in characterizing and understanding the behavioural and cognitive basis of orientation and navigation in invertebrate models and in particular insects. Insects are known to exhibit remarkable spatial cognitive abilities and are able to successfully migrate over long distances or pinpoint known locations relying on multiple navigational strategies similar to those found in vertebrate models-all while operating under the constraint of relatively limited neural architectures. Insect orientation and navigation systems are often tailored to each species' ecology, yet common mechanistic principles can be observed repeatedly. Of these, reliance on visual cues is observed across a wide number of insect groups. In this review, we characterise some of the behavioural strategies used by insects to solve navigational problems, including orientation over short-distances, migratory heading maintenance over long distances, and homing behaviours to known locations. We describe behavioural research using examples from a few well-studied insect species to illustrate how visual cues are used in navigation and how they interact with non-visual cues and strategies.

Visual navigation: properties, acquisition and use of views

Panoramic views offer information on heading direction and on location to visually navigating animals. This review covers the properties of panoramic views and the information they provide to navigating animals, irrespective of image representation. Heading direction can be retrieved by alignment matching between memorized and currently experienced views, and a gradient descent in image differences can lead back to the location at which a view was memorized (positional image matching). Central place foraging insects, such as ants, bees and wasps, conduct distinctly choreographed learning walks and learning flights upon first leaving their nest that are likely to be designed to systematically collect scene memories tagged with information provided by path integration on the direction of and the distance to the nest. Equally, traveling along routes, ants have been shown to engage in scanning movements, in particular when routes are unfamiliar, again suggesting a systematic process of acquiring and comparing views. The review discusses what we know and do not know about how view memories are represented in the brain of insects, how they are acquired and how they are subsequently used for traveling along routes and for pinpointing places.

Evidence of learning walks related to scorpion home burrow navigation

The navigation by chemo-textural familiarity hypothesis (NCFH) suggests that scorpions use their midventral pectines to gather chemical and textural information near their burrows and use this information as they subsequently return home. For NCFH to be viable, animals must somehow acquire home-directed ‘tastes’ of the substrate, such as through path integration (PI) and/or learning walks. We conducted laboratory behavioral trials using desert grassland scorpions (Paruroctonus utahensis). Animals reliably formed burrows in small mounds of sand we provided in the middle of circular, sand-lined behavioral arenas. We processed overnight infrared video recordings with a MATLAB script that tracked animal movements at 1–2 s intervals. In all, we analyzed the movements of 23 animals, representing nearly 1500 h of video recording. We found that once animals established their home burrows, they immediately made one to several short, looping excursions away from and back to their burrows before walking greater distances. We also observed similar excursions when animals made burrows in level sand in the middle of the arena (i.e. no mound provided). These putative learning walks, together with recently reported PI in scorpions, may provide the crucial home-directed information requisite for NCFH.

Highlighted Article: Evidence that sand scorpions perform looping walks immediately after establishing a burrow and the possible significance of these putative learning walks in terms of scorpion navigation.

Oscillators and servomechanisms in orientation and navigation, and sometimes in cognition

Navigational mechanisms have been characterized as servomechanisms. A navigational servomechanism specifies a goal state to strive for. Discrepancies between the perceived current state and the goal state specify error. Servomechanisms adjust the course of travel to reduce the error. I now add that navigational servomechanisms work with oscillators, periodic movements of effectors that drive locomotion. I illustrate this concept selectively over a vast range of scales of travel from micrometres in bacteria to thousands of kilometres in sea turtles. The servomechanisms differ in sophistication, with some interrupting forward motion occasionally or changing travel speed in kineses and others adjusting the direction of travel in taxes. I suggest that in other realms of life as well, especially in cognition, servomechanisms work with oscillators.

Nocturnal Myrmecia ants have faster temporal resolution at low light levels but lower adaptability compared to diurnal relatives

Nocturnal insects likely have evolved distinct physiological adaptations to enhance sensitivity for tasks, such as catching moving prey, where the signal-noise ratio of visual information is typically low. Using electroretinogram recordings, we measured the impulse response and the flicker fusion frequency (FFF) in six congeneric species of Myrmecia ants with different diurnal rhythms. The FFF, which measures the ability of an eye to respond to a flickering light, is significantly lower in nocturnal ants (∼125 Hz) compared to diurnal ants (∼189 Hz). However, the nocturnal ants have faster eyes at very low light intensities than the diurnal species. During the day, nocturnal ants had slower impulse responses than their diurnal counterparts. However, at night, both latency and duration significantly shortened in nocturnal species. The characteristics of the impulse responses varied substantially across all six species and did not correlate well with the measured flicker fusion frequency.

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Flicker fusion frequency is lower in nocturnal ants compared to diurnal ants

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Latency and duration of the impulse response shorten at night in nocturnal ants

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In ants, the FFF is not predicted by the measured impulse response characteristics

Multimodal Information Processing and Associative Learning in the Insect Brain

Simple Summary

Insect behaviors are a great indicator of evolution and provide useful information about the complexity of organisms. The realistic sensory scene of an environment is complex and replete with multisensory inputs, making the study of sensory integration that leads to behavior highly relevant. We summarize the recent findings on multimodal sensory integration and the behaviors that originate from them in our review.

Abstract

The study of sensory systems in insects has a long-spanning history of almost an entire century. Olfaction, vision, and gustation are thoroughly researched in several robust insect models and new discoveries are made every day on the more elusive thermo- and mechano-sensory systems. Few specialized senses such as hygro- and magneto-reception are also identified in some insects. In light of recent advancements in the scientific investigation of insect behavior, it is not only important to study sensory modalities individually, but also as a combination of multimodal inputs. This is of particular significance, as a combinatorial approach to study sensory behaviors mimics the real-time environment of an insect with a wide spectrum of information available to it. As a fascinating field that is recently gaining new insight, multimodal integration in insects serves as a fundamental basis to understand complex insect behaviors including, but not limited to navigation, foraging, learning, and memory. In this review, we have summarized various studies that investigated sensory integration across modalities, with emphasis on three insect models (honeybees, ants and flies), their behaviors, and the corresponding neuronal underpinnings.

What view information is most important in the homeward navigation of an Australian bull ant, Myrmecia midas?

Many insects orient by comparing current panoramic views of their environment to memorised views. We tested the navigational abilities of night-active Myrmecia midas foragers while we blocked segments of their visual panorama. Foragers failed to orient homewards when the front view, lower elevations, entire terrestrial surround, or the full panorama was blocked. Initial scanning increased whenever the visual panorama was blocked but scanning only increased along the rest of the route when the front, back, higher, or lower elevations were blocked. Ants meandered more when the front, the back, or the higher elevations were obscured. When everything except the canopy was blocked, the ants were quick and direct, but moved in random directions, as if to escape. We conclude that a clear front view, or a clear lower panorama is necessary for initial homeward headings. Furthermore, the canopy is neither necessary nor sufficient for homeward initial heading, and the back and upper segments of views, while not necessary, do make finding home easier. Discrepancies between image analysis and ant behaviour when the upper and lower views were blocked suggests that ants are selective in what portions of the scene they attend to or learn.

The Basis of Navigation Across Species

Animals navigate a wide range of distances, from a few millimeters to globe-spanning journeys of thousands of kilometers. Despite this array of navigational challenges, similar principles underlie these behaviors across species. Here, we focus on the navigational strategies and supporting mechanisms in four well-known systems: the large-scale migratory behaviors of sea turtles and lepidopterans as well as navigation on a smaller scale by rats and solitarily foraging ants. In lepidopterans, rats, and ants we also discuss the current understanding of the neural architecture which supports navigation. The orientation and navigational behaviors of these animals are defined in terms of behavioral error-reduction strategies reliant on multiple goal-directed servomechanisms. We conclude by proposing to incorporate an additional component into this system: the observation that servomechanisms operate on oscillatory systems of cycling behavior. These oscillators and servomechanisms comprise the basis for directed orientation and navigational behaviors. Expected final online publication date for the Annual Review of Psychology, Volume 73 is January 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

A unified mechanism for innate and learned visual landmark guidance in the insect central complex

Insects can navigate efficiently in both novel and familiar environments, and this requires flexiblity in how they are guided by sensory cues. A prominent landmark, for example, can elicit strong innate behaviours (attraction or menotaxis) but can also be used, after learning, as a specific directional cue as part of a navigation memory. However, the mechanisms that allow both pathways to co-exist, interact or override each other are largely unknown. Here we propose a model for the behavioural integration of innate and learned guidance based on the neuroanatomy of the central complex (CX), adapted to control landmark guided behaviours. We consider a reward signal provided either by an innate attraction to landmarks or a long-term visual memory in the mushroom bodies (MB) that modulates the formation of a local vector memory in the CX. Using an operant strategy for a simulated agent exploring a simple world containing a single visual cue, we show how the generated short-term memory can support both innate and learned steering behaviour. In addition, we show how this architecture is consistent with the observed effects of unilateral MB lesions in ants that cause a reversion to innate behaviour. We suggest the formation of a directional memory in the CX can be interpreted as transforming rewarding (positive or negative) sensory signals into a mapping of the environment that describes the geometrical attractiveness (or repulsion). We discuss how this scheme might represent an ideal way to combine multisensory information gathered during the exploration of an environment and support optimal cue integration.

Looking down: a model for visual route following in flying insects

Insect visual navigation is often assumed to depend on panoramic views of the horizon, and how these change as the animal moves. However, it is known that honey bees can visually navigate in flat, open meadows where visual information at the horizon is minimal, or would remain relatively constant across a wide range of positions. In this paper we hypothesise that these animals can navigate using view memories of the ground. We find that in natural scenes, low resolution views from an aerial perspective of ostensibly self-similar terrain (e.g. within a field of grass) provide surprisingly robust descriptors of precise spatial locations. We propose a new visual route following approach that makes use of transverse oscillations to centre a flight path along a sequence of learned views of the ground. We deploy this model on an autonomous quadcopter and demonstrate that it provides robust performance in the real world on journeys of up to 30 m. The success of our method is contingent on a robust view matching process which can evaluate the familiarity of a view with a degree of translational invariance. We show that a previously developed wavelet based bandpass orientated filter approach fits these requirements well, exhibiting double the catchment area of standard approaches. Using a realistic simulation package, we evaluate the robustness of our approach to variations in heading direction and aircraft height between inbound and outbound journeys. We also demonstrate that our approach can operate using a vision system with a biologically relevant visual acuity and viewing direction.

Learning walks in an Australian desert ant, Melophorus bagoti

The central Australian ant Melophorus bagoti is the most thermophilic ant in Australia and forages solitarily in the summer months during the hottest period of the day. For successful navigation, desert ants of many species are known to integrate a path and learn landmark cues around the nest. Ants perform a series of exploratory walks around the nest before their first foraging trip, during which they are presumed to learn about their landmark panorama. Here, we studied 15 naive M. bagoti ants transitioning from indoor work to foraging outside the nest. In 3–4 consecutive days, they performed 3–7 exploratory walks before heading off to forage. Naive ants increased the area of exploration around the nest and the duration of trips over successive learning walks. In their first foraging walk, the majority of the ants followed a direction explored on their last learning walk. During learning walks, the ants stopped and performed stereotypical orientation behaviours called pirouettes. They performed complete body rotations with stopping phases as well as small circular walks without stops known as voltes. After just one learning walk, these desert ants could head in the home direction from locations 2 m from the nest, although not from locations 4 m from the nest. These results suggest gradual learning of the visual landmark panorama around the foragers’ nest. Our observations show that M. bagoti exhibit similar characteristics in their learning walks to other desert ants of the genera Ocymyrmex and Cataglyphis.

Summary: Before becoming foragers, Melophorus bagoti ants took 3–7 learning walks around their nest. They increased the duration and area explored over successive walks, stopping occasionally to scan the environment.

Minding the gap: learning and visual scanning behaviour in nocturnal bull ants

Insects possess small brains but exhibit sophisticated behaviour, specifically their ability to learn to navigate within complex environments. To understand how they learn to navigate in a cluttered environment, we focused on learning and visual scanning behaviour in the Australian nocturnal bull ant, Myrmecia midas, which are exceptional visual navigators. We tested how individual ants learn to detour via a gap and how they cope with substantial spatial changes over trips. Homing M. midas ants encountered a barrier on their foraging route and had to find a 50 cm gap between symmetrical large black screens, at 1 m distance towards the nest direction from the centre of the releasing platform in both familiar (on-route) and semi-familiar (off-route) environments. Foragers were tested for up to 3 learning trips with the changed conditions in both environments. The results showed that on the familiar route, individual foragers learned the gap quickly compared with when they were tested in the semi-familiar environment. When the route was less familiar, and the panorama was changed, foragers were less successful at finding the gap and performed more scans on their way home. Scene familiarity thus played a significant role in visual scanning behaviour. In both on-route and off-route environments, panoramic changes significantly affected learning, initial orientation and scanning behaviour. Nevertheless, over a few trips, success at gap finding increased, visual scans were reduced, the paths became straighter, and individuals took less time to reach the goal.

Summary: Investigation of how nocturnal bull ants learn to move around obstacles in familiar and semi-familiar environments reveals that scene familiarity plays a significant role in navigation.

Active Inferants: An Active Inference Framework for Ant Colony Behavior

In this paper, we introduce an active inference model of ant colony foraging behavior, and implement the model in a series of in silico experiments. Active inference is a multiscale approach to behavioral modeling that is being applied across settings in theoretical biology and ethology. The ant colony is a classic case system in the function of distributed systems in terms of stigmergic decision-making and information sharing. Here we specify and simulate a Markov decision process (MDP) model for ant colony foraging. We investigate a well-known paradigm from laboratory ant colony behavioral experiments, the alternating T-maze paradigm, to illustrate the ability of the model to recover basic colony phenomena such as trail formation after food location discovery. We conclude by outlining how the active inference ant colony foraging behavioral model can be extended and situated within a nested multiscale framework and systems approaches to biology more generally.

Visual Navigation: Ants Lose Track without Mushroom Bodies

Ants use memorized visual scenes to navigate towards food sources and to return to their nest. Two new studies show that both of these behaviors fail when structures of the ant brain known as mushroom bodies are chemically disrupted, confirming long-held assumptions about the location of ants' visual navigation memories.

Traveling through light clutter: Path integration and panorama guided navigation in the Sonoran Desert ant, Novomessor cockerelli

Foraging ants use multiple navigational strategies, including path integration and visual panorama cues, which are used simultaneously and weighted based upon context, the environment and the species' sensory ecology. In particular, the amount of visual clutter in the habitat predicts the weighting given to the forager's path integrator and surrounding panorama cues. Here, we characterize the individual cue use and cue weighting of the Sonoran Desert ant, Novomessor cockerelli, by testing foragers after local and distant displacement. Foragers attend to both a path-integration-based vector and the surrounding panorama to navigate, on and off foraging routes. When both cues were present, foragers initially oriented to their path integrator alone, yet weighting was dynamic, with foragers abandoning the vector and switching to panorama-based navigation after a few meters. If displaced to unfamiliar locations, experienced foragers travelled almost their full homeward vector (∼85 %) before the onset of search. Through panorama analysis, we show views acquired on-route provide sufficient information for orientation over only short distances, with rapid parallel decreases in panorama similarity and navigational performance after even small local displacements. These findings are consistent with heavy path integrator weighting over the panorama when the local habitat contains few prominent terrestrial cues.

The Antarium: A Reconstructed Visual Reality Device for Ant Navigation Research

We constructed a large projection device (the Antarium) with 20,000 UV-Blue-Green LEDs that allows us to present tethered ants with views of their natural foraging environment. The ants walk on an air-cushioned trackball, their movements are registered and can be fed back to the visual panorama. Views are generated in a 3D model of the ants’ environment so that they experience the changing visual world in the same way as they do when foraging naturally. The Antarium is a biscribed pentakis dodecahedron with 55 facets of identical isosceles triangles. The length of the base of the triangles is 368 mm resulting in a device that is roughly 1 m in diameter. Each triangle contains 361 blue/green LEDs and nine UV LEDs. The 55 triangles of the Antarium have 19,855 Green and Blue pixels and 495 UV pixels, covering 360° azimuth and elevation from −50° below the horizon to +90° above the horizon. The angular resolution is 1.5° for Green and Blue LEDs and 6.7° for UV LEDs, offering 65,536 intensity levels at a flicker frequency of more than 9,000 Hz and a framerate of 190 fps. Also, the direction and degree of polarisation of the UV LEDs can be adjusted through polarisers mounted on the axles of rotary actuators. We build 3D models of the natural foraging environment of ants using purely camera-based methods. We reconstruct panoramic scenes at any point within these models, by projecting panoramic images onto six virtual cameras which capture a cube-map of images to be projected by the LEDs of the Antarium. The Antarium is a unique instrument to investigate visual navigation in ants. In an open loop, it allows us to provide ants with familiar and unfamiliar views, with completely featureless visual scenes, or with scenes that are altered in spatial or spectral composition. In closed-loop, we can study the behavior of ants that are virtually displaced within their natural foraging environment. In the future, the Antarium can also be used to investigate the dynamics of navigational guidance and the neurophysiological basis of ant navigation in natural visual environments.

A dung beetle that path integrates without the use of landmarks

Unusual amongst dung beetles, Scarabaeus galenus digs a burrow that it provisions by making repeated trips to a nearby dung pile. Even more remarkable is that these beetles return home moving backwards, with a pellet of dung between their hind legs. Here, we explore the strategy that S. galenus uses to find its way home. We find that, like many other insects, they use path integration to calculate the direction and distance to their home. If they fail to locate their burrow, the beetles initiate a distinct looping search behaviour that starts with a characteristic sharp turn, we have called a 'turning point'. When homing beetles are passively displaced or transferred to an unfamiliar environment, they initiate a search at a point very close to the location of their fictive burrow-that is, a spot at the same relative distance and direction from the pick-up point as the original burrow. Unlike other insects, S. galenus do not appear to supplement estimates of the burrow location with landmark information. Thus, S. galenus represents a rare case of a consistently backward-homing animal that does not use landmarks to augment its path integration strategy.

Route learning during tandem running in the rock ant Temnothorax albipennis

Many animals use information from conspecifics to change their behavior in adaptive ways. When a rock ant, Temnothorax albipennis, finds food, she returns to her colony and uses a method called tandem running to lead nestmates, one at a time, from the nest to the food. In this way, naive ants can learn the location of a food source. Less clear is whether they also learn navigational cues that guide them from nest to food, although this is often assumed. We tested this idea by tracing the routes of individually marked ants as they followed tandem runs to a feeder, returned to the nest, and later traveled independently back to the food. Our results show, for the first time, that tandem run followers learn specific routes from their leaders. Independent journeys back to the food source were significantly more similar to the routes on which the ants had been led, compared with the routes taken by other tandem runs. In contrast, the homeward journey did not resemble the tandem run route. These results are consistent with followers memorizing visual cues during the tandem run that are useful for recapitulating the outward journey, but not as effective when facing in the opposite direction on the homeward journey. We further showed that foraging routes improved through individual experience over multiple trips but not through the social transfer of route information via tandem running. We discuss our findings in relation to social learning and integration of individual and social information in ants.

Effect of large visual changes on the navigation of the nocturnal bull ant, Myrmecia midas

Nocturnal insects have remarkable visual capacities in dim light. They can navigate using both the surrounding panorama and celestial cues. Individual foraging ants are efficient navigators, able to accurately reach a variety of goal locations. During navigation, foragers compare the current panoramic view to previously learnt views. In this natural experiment, we observed the effects of large panorama changes, the addition of a fence and the removal of several trees near the nest site, on the navigation of the nocturnal bull ant Myrmecia midas. We examined how the ants' navigational efficiency and behaviour changed in response to changes in ~ 30% of the surrounding skyline, following them over multiple nights. Foragers were displaced locally off-route where we collected initial orientations and homing paths both before and after large panorama changes. We found that immediately after these changes, foragers were unable to initially orient correctly to the nest direction and foragers' return paths were less straight, suggesting increased navigational uncertainty. Continued testing showed rapid recovery in both initial orientation and path straightness.

The insect central complex and the neural basis of navigational strategies

Oriented behaviour is present in almost all animals, indicating that it is an ancient feature that has emerged from animal brains hundreds of millions of years ago. Although many complex navigation strategies have been described, each strategy can be broken down into a series of elementary navigational decisions. In each moment in time, an animal has to compare its current heading with its desired direction and compensate for any mismatch by producing a steering response either to the right or to the left. Different from reflex-driven movements, target-directed navigation is not only initiated in response to sensory input, but also takes into account previous experience and motivational state. Once a series of elementary decisions are chained together to form one of many coherent navigation strategies, the animal can pursue a navigational target, e.g. a food source, a nest entrance or a constant flight direction during migrations. Insects show a great variety of complex navigation behaviours and, owing to their small brains, the pursuit of the neural circuits controlling navigation has made substantial progress over the last years. A brain region as ancient as insects themselves, called the central complex, has emerged as the likely navigation centre of the brain. Research across many species has shown that the central complex contains the circuitry that might comprise the neural substrate of elementary navigational decisions. Although this region is also involved in a wide range of other functions, we hypothesize in this Review that its role in mediating the animal's next move during target-directed behaviour is its ancestral function, around which other functions have been layered over the course of evolution.

The internal maps of insects

Insect navigation is strikingly geometric. Many species use path integration to maintain an accurate estimate of their distance and direction (a vector) to their nest and can store the vector information for multiple salient locations in the world, such as food sources, in a common coordinate system. Insects can also use remembered views of the terrain around salient locations or along travelled routes to guide return, which is a fundamentally geometric process. Recent modelling of these abilities shows convergence on a small set of algorithms and assumptions that appear sufficient to account for a wide range of behavioural data. Notably, this 'base model' does not include any significant topological knowledge: the insect does not need to recover the information (implicit in their vector memory) about the relationships between salient places; nor to maintain any connectedness or ordering information between view memories; nor to form any associations between views and vectors. However, there remains some experimental evidence not fully explained by this base model that may point towards the existence of a more complex or integrated mental map in insects.

The role of attractive and repellent scene memories in ant homing (Myrmecia croslandi)

Solitary foraging ants rely on vision when travelling along routes and when pinpointing their nest. We tethered foragers of Myrmecia croslandi on a trackball and recorded their intended movements when the trackball was located on their normal foraging corridor (on-route), above their nest and at a location several meters away where they have never been before (off-route). We find that at on- and off-route locations, most ants walk in the nest or foraging direction and continue to do so for tens of metres in a straight line. In contrast, above the nest, ants walk in random directions and change walking direction frequently. In addition, the walking direction of ants above the nest oscillates at a fine scale, reflecting search movements that are absent from the paths of ants at the other locations. An agent-based simulation shows that the behaviour of ants at all three locations can be explained by the integration of attractive and repellent views directed towards or away from the nest, respectively. Ants are likely to acquire such views via systematic scanning movements during their learning walks. The model predicts that ants placed in a completely unfamiliar environment should behave as if at the nest, which our subsequent experiments confirmed. We conclude first, that the ants’ behaviour at release sites is exclusively driven by what they currently see and not by information on expected outcomes of their behaviour. Second, that navigating ants might continuously integrate attractive and repellent visual memories. We discuss the benefits of such a procedure.

Three Landmark Optimization Strategies for Mobile Robot Visual Homing

Visual homing is an attractive autonomous mobile robot navigation technique, which only uses vision sensors to guide the robot to the specified target location. Landmark is the only input form of the visual homing approaches, which is usually represented by scale-invariant features. However, the landmark distribution has a great impact on the homing performance of the robot, as irregularly distributed landmarks will significantly reduce the navigation precision. In this paper, we propose three strategies to solve this problem. We use scale-invariant feature transform (SIFT) features as natural landmarks, and the proposed strategies can optimize the landmark distribution without over-eliminating landmarks or increasing calculation amount. Experiments on both panoramic image databases and a real mobile robot have verified the effectiveness and feasibility of the proposed strategies.

Rotation invariant visual processing for spatial memory in insects

Visual memory is crucial to navigation in many animals, including insects. Here, we focus on the problem of visual homing, that is, using comparison of the view at a current location with a view stored at the home location to control movement towards home by a novel shortcut. Insects show several visual specializations that appear advantageous for this task, including almost panoramic field of view and ultraviolet light sensitivity, which enhances the salience of the skyline. We discuss several proposals for subsequent processing of the image to obtain the required motion information, focusing on how each might deal with the problem of yaw rotation of the current view relative to the home view. Possible solutions include tagging of views with information from the celestial compass system, using multiple views pointing towards home, or rotation invariant encoding of the view. We illustrate briefly how a well-known shape description method from computer vision, Zernike moments, could provide a compact and rotation invariant representation of sky shapes to enhance visual homing. We discuss the biological plausibility of this solution, and also a fourth strategy, based on observed behaviour of insects, that involves transfer of information from visual memory matching to the compass system.

How to Navigate in Different Environments and Situations: Lessons From Ants

Ants are a globally distributed insect family whose members have adapted to live in a wide range of different environments and ecological niches. Foraging ants everywhere face the recurring challenge of navigating to find food and to bring it back to the nest. More than a century of research has led to the identification of some key navigational strategies, such as compass navigation, path integration, and route following. Ants have been shown to rely on visual, olfactory, and idiothetic cues for navigational guidance. Here, we summarize recent behavioral work, focusing on how these cues are learned and stored as well as how different navigational cues are integrated, often between strategies and even across sensory modalities. Information can also be communicated between different navigational routines. In this way, a shared toolkit of fundamental navigational strategies can lead to substantial flexibility in behavioral outcomes. This allows individual ants to tune their behavioral repertoire to different tasks (e.g., foraging and homing), lifestyles (e.g., diurnal and nocturnal), or environments, depending on the availability and reliability of different guidance cues. We also review recent anatomical and physiological studies in ants and other insects that have started to reveal neural correlates for specific navigational strategies, and which may provide the beginnings of a truly mechanistic understanding of navigation behavior.

Fractal dimension and the navigational information provided by natural scenes

Recent work on virtual reality navigation in humans has suggested that navigational success is inversely correlated with the fractal dimension (FD) of artificial scenes. Here we investigate the generality of this claim by analysing the relationship between the fractal dimension of natural insect navigation environments and a quantitative measure of the navigational information content of natural scenes. We show that the fractal dimension of natural scenes is in general inversely proportional to the information they provide to navigating agents on heading direction as measured by the rotational image difference function (rotIDF). The rotIDF determines the precision and accuracy with which the orientation of a reference image can be recovered or maintained and the range over which a gradient descent in image differences will find the minimum of the rotIDF, that is the reference orientation. However, scenes with similar fractal dimension can differ significantly in the depth of the rotIDF, because FD does not discriminate between the orientations of edges, while the rotIDF is mainly affected by edge orientation parallel to the axis of rotation. We present a new equation for the rotIDF relating navigational information to quantifiable image properties such as contrast to show (1) that for any given scene the maximum value of the rotIDF (its depth) is proportional to pixel variance and (2) that FD is inversely proportional to pixel variance. This contrast dependence, together with scene differences in orientation statistics, explains why there is no strict relationship between FD and navigational information. Our experimental data and their numerical analysis corroborate these results.

The View from the Trees: Nocturnal Bull Ants, Myrmecia midas, Use the Surrounding Panorama While Descending from Trees

Solitary foraging ants commonly use visual cues from their environment for navigation. Foragers are known to store visual scenes from the surrounding panorama for later guidance to known resources and to return successfully back to the nest. Several ant species travel not only on the ground, but also climb trees to locate resources. The navigational information that guides animals back home during their descent, while their body is perpendicular to the ground, is largely unknown. Here, we investigate in a nocturnal ant, Myrmecia midas, whether foragers travelling down a tree use visual information to return home. These ants establish nests at the base of a tree on which they forage and in addition, they also forage on nearby trees. We collected foragers and placed them on the trunk of the nest tree or a foraging tree in multiple compass directions. Regardless of the displacement location, upon release ants immediately moved to the side of the trunk facing the nest during their descent. When ants were released on non-foraging trees near the nest, displaced foragers again travelled around the tree to the side facing the nest. All the displaced foragers reached the correct side of the tree well before reaching the ground. However, when the terrestrial cues around the tree were blocked, foragers were unable to orient correctly, suggesting that the surrounding panorama is critical to successful orientation on the tree. Through analysis of panoramic pictures, we show that views acquired at the base of the foraging tree nest can provide reliable nest-ward orientation up to 1.75 m above the ground. We discuss, how animals descending from trees compare their current scene to a memorised scene and report on the similarities in visually guided behaviour while navigating on the ground and descending from trees.

The interaction of path integration and terrestrial visual cues in navigating desert ants: what can we learn from path characteristics?

Ant foragers make use of multiple navigational cues to navigate through the world and the combination of innate navigational strategies and the learning of environmental information is the secret to their navigational success. We present here detailed information about the paths of Cataglyphis fortis desert ants navigating by an innate strategy, namely path integration. Firstly, we observed that the ants' walking speed decreases significantly along their homing paths, such that they slow down just before reaching the goal, and maintain a slower speed during subsequent search paths. Interestingly, this drop in walking speed is independent of absolute home-vector length and depends on the proportion of the home vector that has been completed. Secondly, we found that ants are influenced more strongly by novel or altered visual cues the further along the homing path they are. These results suggest that path integration modulates speed along the homing path in a way that might help ants search for, utilise or learn environmental information at important locations. Ants walk more slowly and sinuously when encountering novel or altered visual cues and occasionally stop and scan the world; this might indicate the re-learning of visual information.

The choreography of learning walks in the Australian jack jumper ant Myrmecia croslandi

We provide a detailed analysis of the learning walks performed by Myrmecia croslandi ants at the nest during which they acquire visual information on its location. Most learning walks of 12 individually marked naïve ants took place in the morning with a narrow time window separating the first two learning walks, which most often occurred on the same day. Naïve ants performed between 2 to 7 walks over up to 4 consecutive days before heading out to forage. On subsequent walks naïve ants tend to explore the area around the nest in new compass directions. During learning walks ants move along arcs around the nest while performing oscillating scanning movements. In a regular temporal sequence, the ants’ gaze oscillates between the nest direction and the direction pointing away from the nest. Ants thus experience a sequence of views roughly across the nest and away from the nest from systematically spaced vantage points around the nest. We show further that ants leaving the nest for a foraging trip often walk in an arc around the nest on the opposite side to the intended foraging direction, performing a scanning routine indistinguishable from that of a learning walk. These partial learning walks are triggered by disturbance around the nest and may help returning ants with reorienting when overshooting the nest, which they frequently do. We discuss what is known about learning walks in different ant species and their adaptive significance for acquiring robust navigational memories.

Miniaturisation decreases visual navigational competence in ants

Evolution of smaller body size in a given lineage, called miniaturisation, is commonly observed in many animals including ants. It affects various morphological features and is hypothesized to result in inferior behavioural capabilities, possibly owing to smaller sensory organs. To test this hypothesis, we studied whether reduced spatial resolution of compound eyes influences obstacle detection or obstacle avoidance in five different species of ants. We trained all ant species to travel to a sugar feeder. During their return journeys, we placed an obstacle close to the nest entrance. We found that ants with higher spatial resolution exited the corridor, the area covered between either ends of the obstacle, on average 10 cm earlier suggesting they detected the obstacle earlier in their path. Ants with the lowest spatial resolution changed their viewing directions only when they were close to the obstacle. We discuss the effects of miniaturisation on visual navigational competence in ants.

Subtle changes in the landmark panorama disrupt visual navigation in a nocturnal bull ant

The ability of ants to navigate when the visual landmark information is altered has often been tested by creating large and artificial discrepancies in their visual environment. Here, we had an opportunity to slightly modify the natural visual environment around the nest of the nocturnal bull ant Myrmecia pyriformis We achieved this by felling three dead trees, two located along the typical route followed by the foragers of that particular nest and one in a direction perpendicular to their foraging direction. An image difference analysis showed that the change in the overall panorama following the removal of these trees was relatively little. We filmed the behaviour of ants close to the nest and tracked their entire paths, both before and after the trees were removed. We found that immediately after the trees were removed, ants walked slower and were less directed. Their foraging success decreased and they looked around more, including turning back to look towards the nest. We document how their behaviour changed over subsequent nights and discuss how the ants may detect and respond to a modified visual environment in the evening twilight period.This article is part of the themed issue 'Vision in dim light'.

Quantifying navigational information: The catchment volumes of panoramic snapshots in outdoor scenes

Panoramic views of natural environments provide visually navigating animals with two kinds of information: they define locations because image differences increase smoothly with distance from a reference location and they provide compass information, because image differences increase smoothly with rotation away from a reference orientation. The range over which a given reference image can provide navigational guidance (its 'catchment area') has to date been quantified from the perspective of walking animals by determining how image differences develop across the ground plane of natural habitats. However, to understand the information available to flying animals there is a need to characterize the 'catchment volumes' within which panoramic snapshots can provide navigational guidance. We used recently developed camera-based methods for constructing 3D models of natural environments and rendered panoramic views at defined locations within these models with the aim of mapping navigational information in three dimensions. We find that in relatively open woodland habitats, catchment volumes are surprisingly large extending for metres depending on the sensitivity of the viewer to image differences. The size and the shape of catchment volumes depend on the distance of visual features in the environment. Catchment volumes are smaller for reference images close to the ground and become larger for reference images at some distance from the ground and in more open environments. Interestingly, catchment volumes become smaller when only above horizon views are used and also when views include a 1 km distant panorama. We discuss the current limitations of mapping navigational information in natural environments and the relevance of our findings for our understanding of visual navigation in animals and autonomous robots.

Honeybees use the skyline in orientation

In view-based navigation, animals acquire views of the landscape from various locations and then compare the learned views with current views in order to orient in certain directions or move toward certain destinations. One landscape feature of great potential usefulness in view-based navigation is the skyline, the silhouette of terrestrial objects against the sky, as it is distant, relatively stable and easy to detect. The skyline has been shown to be important in the view-based navigation of ants, but no flying insect has yet been shown definitively to use the skyline in this way. Here, we show that honeybees do indeed orient using the skyline. A feeder was surrounded with an artificial replica of the natural skyline there, and the bees' departures toward the nest were recorded from above with a video camera under overcast skies (to eliminate celestial cues). When the artificial skyline was rotated, the bees' departures were rotated correspondingly, showing that the bees oriented by the artificial skyline alone. We discuss these findings in the context of the likely importance of the skyline in long-range homing in bees, the likely importance of altitude in using the skyline, the likely role of ultraviolet light in detecting the skyline, and what we know about the bees' ability to resolve skyline features.

Compass cues used by a nocturnal bull ant, Myrmecia midas

Ants use both terrestrial landmarks and celestial cues to navigate to and from their nest location. These cues persist even as light levels drop during the twilight/night. Here, we determined the compass cues used by a nocturnal bull ant, Myrmecia midas, in which the majority of individuals begin foraging during the evening twilight period. Myrmecia midas foragers with vectors of ≤5 m when displaced to unfamiliar locations did not follow the home vector, but instead showed random heading directions. Foragers with larger home vectors (≥10 m) oriented towards the fictive nest, indicating a possible increase in cue strength with vector length. When the ants were displaced locally to create a conflict between the home direction indicated by the path integrator and terrestrial landmarks, foragers oriented using landmark information exclusively and ignored any accumulated home vector regardless of vector length. When the visual landmarks at the local displacement site were blocked, foragers were unable to orient to the nest direction and their heading directions were randomly distributed. Myrmecia midas ants typically nest at the base of the tree and some individuals forage on the same tree. Foragers collected on the nest tree during evening twilight were unable to orient towards the nest after small lateral displacements away from the nest. This suggests the possibility of high tree fidelity and an inability to extrapolate landmark compass cues from information collected on the tree and at the nest site to close displacement sites.

Light and dark adaptation mechanisms in the compound eyes of Myrmecia ants that occupy discrete temporal niches

Ants of the Australian genus Myrmecia partition their foraging niche temporally, allowing them to be sympatric with overlapping foraging requirements. We used histological techniques to study the light and dark adaptation mechanisms in the compound eyes of diurnal (Myrmecia croslandi), crepuscular (M. tarsata, M. nigriceps) and nocturnal ants (M. pyriformis). We found that, except in the day-active species, all ants have a variable primary pigment cell pupil that constricts the crystalline cone in bright light to control for light flux. We show for the nocturnal M. pyriformis that the constriction of the crystalline cone by the primary pigment cells is light dependent whereas the opening of the aperture is regulated by an endogenous rhythm. In addition, in the light-adapted eyes of all species, the retinular cell pigment granules radially migrate towards the rhabdom, a process that in both the day-active M. croslandi and the night-active M. pyriformis is driven by ambient light intensity. Visual system properties thus do not restrict crepuscular and night-active ants to their temporal foraging niche, while day-active ants require high light intensities to operate. We discuss the ecological significance of these adaptation mechanisms and their role in temporal niche partitioning.

How to find home backwards? Navigation during rearward homing of Cataglyphis fortis desert ants

Cataglyphis ants are renowned for their impressive navigation skills, which have been studied in numerous experiments during forward locomotion. However, the ants' navigational performance during backward homing when dragging large food loads has not been investigated until now. During backward locomotion, the odometer has to deal with unsteady motion and irregularities in inter-leg coordination. The legs' sensory feedback during backward walking is not just a simple reversal of the forward stepping movements: compared with forward homing, ants are facing towards the opposite direction during backward dragging. Hence, the compass system has to cope with a flipped celestial view (in terms of the polarization pattern and the position of the sun) and an inverted retinotopic image of the visual panorama and landmark environment. The same is true for wind and olfactory cues. In this study we analyze for the first time backward-homing ants and evaluate their navigational performance in channel and open field experiments. Backward-homing Cataglyphis fortis desert ants show remarkable similarities in the performance of homing compared with forward-walking ants. Despite the numerous challenges emerging for the navigational system during backward walking, we show that ants perform quite well in our experiments. Direction and distance gauging was comparable to that of the forward-walking control groups. Interestingly, we found that backward-homing ants often put down the food item and performed foodless search loops around the left food item. These search loops were mainly centred around the drop-off position (and not around the nest position), and increased in length the closer the ants came to their fictive nest site.

Optimal cue integration in ants

In situations with redundant or competing sensory information, humans have been shown to perform cue integration, weighting different cues according to their certainty in a quantifiably optimal manner. Ants have been shown to merge the directional information available from their path integration (PI) and visual memory, but as yet it is not clear that they do so in a way that reflects the relative certainty of the cues. In this study, we manipulate the variance of the PI home vector by allowing ants (Cataglyphis velox) to run different distances and testing their directional choice when the PI vector direction is put in competition with visual memory. Ants show progressively stronger weighting of their PI direction as PI length increases. The weighting is quantitatively predicted by modelling the expected directional variance of home vectors of different lengths and assuming optimal cue integration. However, a subsequent experiment suggests ants may not actually compute an internal estimate of the PI certainty, but are using the PI home vector length as a proxy.