Probing Asymmetric Interactions with Time-Separated Mutual Information: A Case Study Using Golden Shiners

Leader-follower modalities and other asymmetric interactions that drive the collective motion of organisms are often quantified using information theory metrics like transfer or causation entropy. These metrics are difficult to accurately evaluate without a much larger number of data than is typically available from a time series of animal trajectories collected in the field or from experiments. In this paper, we use a generalized leader-follower model to argue that the time-separated mutual information between two organism positions can serve as an alternative metric for capturing asymmetric correlations that is much less data intensive and more accurately estimated by popular k-nearest neighbor algorithms than transfer entropy. Our model predicts a local maximum of this mutual information at a time separation value corresponding to the fundamental reaction timescale of the follower organism. We confirm this prediction by analyzing time series trajectories recorded for a pair of golden shiner fish circling an annular tank.

Intrinsic statistical separation of subpopulations in heterogeneous collective motion via dimensionality reduction

Collective motion of locally interacting agents is found ubiquitously throughout nature. The inability to probe individuals has driven longstanding interest in the development of methods for inferring the underlying interactions. In the context of heterogeneous collectives, where the population consists of individuals driven by different interactions, existing approaches require some knowledge about the heterogeneities or underlying interactions. Here, we investigate the feasibility of identifying the identities in a heterogeneous collective without such prior knowledge. We numerically explore the behavior of a heterogeneous Vicsek model and find sufficiently long trajectories intrinsically cluster in a principal component analysis-based dimensionally reduced model-agnostic description of the data. We identify how heterogeneities in each parameter in the model (interaction radius, noise, population proportions) dictate this clustering. Finally, we show the generality of this phenomenon by finding similar behavior in a heterogeneous D'Orsogna model. Altogether, our results establish and quantify the intrinsic model-agnostic statistical disentanglement of identities in heterogeneous collectives.

Inferring social influence in animal groups across multiple timescales

Many animal behaviours exhibit complex temporal dynamics, suggesting there are multiple timescales at which they should be studied. However, researchers often focus on behaviours that occur over relatively restricted temporal scales, typically ones that are more accessible to human observation. The situation becomes even more complex when considering multiple animals interacting, where behavioural coupling can introduce new timescales of importance. Here, we present a technique to study the time-varying nature of social influence in mobile animal groups across multiple temporal scales. As case studies, we analyse golden shiner fish and homing pigeons, which move in different media. By analysing pairwise interactions among individuals, we show that predictive power of the factors affecting social influence depends on the timescale of analysis. Over short timescales the relative position of a neighbour best predicts its influence and the distribution of influence across group members is relatively linear, with a small slope. At longer timescales, however, both relative position and kinematics are found to predict influence, and nonlinearity in the influence distribution increases, with a small number of individuals being disproportionately influential. Our results demonstrate that different interpretations of social influence arise from analysing behaviour at different timescales, highlighting the importance of considering its multiscale nature. This article is part of a discussion meeting issue 'Collective behaviour through time'.

Modes of information flow in collective cohesion

Pairwise interactions are fundamental drivers of collective behavior-responsible for group cohesion. The abiding question is how each individual influences the collective. However, time-delayed mutual information and transfer entropy, commonly used to quantify mutual influence in aggregated individuals, can result in misleading interpretations. Here, we show that these information measures have substantial pitfalls in measuring information flow between agents from their trajectories. We decompose the information measures into three distinct modes of information flow to expose the role of individual and group memory in collective behavior. It is found that decomposed information modes between a single pair of agents reveal the nature of mutual influence involving many-body nonadditive interactions without conditioning on additional agents. The pairwise decomposed modes of information flow facilitate an improved diagnosis of mutual influence in collectives.

Spontaneous emergence of leadership patterns drives synchronization in complex human networks

Synchronization of human networks is fundamental in many aspects of human endeavour. Recently, much research effort has been spent on analyzing how motor coordination emerges in human groups (from rocking chairs to violin players) and how it is affected by coupling structure and strength. Here we uncover the spontaneous emergence of leadership (based on physical signaling during group interaction) as a crucial factor steering the occurrence of synchronization in complex human networks where individuals perform a joint motor task. In two experiments engaging participants in an arm movement synchronization task, in the physical world as well as in the digital world, we found that specific patterns of leadership emerged and increased synchronization performance. Precisely, three patterns were found, involving a subtle interaction between phase of the motion and amount of influence. Such patterns were independent of the presence or absence of physical interaction, and persisted across manipulated spatial configurations. Our results shed light on the mechanisms that drive coordination and leadership in human groups, and are consequential for the design of interactions with artificial agents, avatars or robots, where social roles can be determinant for a successful interaction.

Temporal Patterns in Interactions Across Same- and Mixed-Sex Wild Zebrafish Dyads

Animals communicate with each other through a variety of behavioral interactions, many of which are often complex due to the interplay of several ecological factors. Observations on dyadic interactions can help throw light on the more complex interactions observed among group living organisms and can help in understanding mechanisms of behaviors related to mating strategies, dominance hierarchies, and decision-making. This study focused on the assessment of several generally observed interactions among dyads of different sexes (female-female, male-male, and male-female) in wild zebrafish (Danio rerio). Temporal dynamics of these interactive behaviors were observed in 45 dyads across 3 time intervals of the day. We used generalized linear mixed models to investigate the effect of time, sex of dyad, and their interaction on specific behaviors. While the frequency of occurrence of some behaviors showed clear variation across time intervals of the day, these were further found to depend on the composition of the dyad. Contrary to previous reports, we found that same-sex dyads are equally aggressive and aggressive interactions did not vary temporally. Mating-associated interactions, as expected, were significantly higher in mixed-sex dyads and declined significantly from early morning to afternoon. Interestingly, we also found some mating-associated interactions in same-sex dyads. A fine line exists between social and mating-associated interactions in many organisms and so we speculate that these interactions could also be social interactions and not mating-related behavior. Our findings shed light on complex interactive behaviors among zebrafish, that are likely to be affected by time as well as sex composition of interacting individuals and thus has important implications for groups varying in sex ratios in the wild.

Transfer entropy dependent on distance among agents in quantifying leader-follower relationships

Synchronized movement of (both unicellular and multicellular) systems can be observed almost everywhere. Understanding of how organisms are regulated to synchronized behavior is one of the challenging issues in the field of collective motion. It is hypothesized that one or a few agents in a group regulate(s) the dynamics of the whole collective, known as leader(s). The identification of the leader (influential) agent(s) is very crucial. This article reviews different mathematical models that represent different types of leadership. We focus on the improvement of the leader-follower classification problem. It was found using a simulation model that the use of interaction domain information significantly improves the leader-follower classification ability using both linear schemes and information-theoretic schemes for quantifying influence. This article also reviews different schemes that can be used to identify the interaction domain using the motion data of agents.

An information-theoretic approach to infer the underlying interaction domain among elements from finite length trajectories in a noisy environment

Transfer entropy in information theory was recently demonstrated [Basak et al., Phys. Rev. E 102, 012404 (2020)] to enable us to elucidate the interaction domain among interacting elements solely from an ensemble of trajectories. Therefore, only pairs of elements whose distances are shorter than some distance variable, termed cutoff distance, are taken into account in the computation of transfer entropies. The prediction performance in capturing the underlying interaction domain is subject to the noise level exerted on the elements and the sufficiency of statistics of the interaction events. In this paper, the dependence of the prediction performance is scrutinized systematically on noise level and the length of trajectories by using a modified Vicsek model. The larger the noise level and the shorter the time length of trajectories, the more the derivative of average transfer entropy fluctuates, which makes the identification of the interaction domain in terms of the position of global minimum of the derivative of average transfer entropy difficult. A measure to quantify the degree of strong convexity at the coarse-grained level is proposed. It is shown that the convexity score scheme can identify the interaction distance fairly well even while the position of the global minimum of the derivative of average transfer entropy does not. We also derive an analytical model to explain the relationship between the interaction domain and the change in transfer entropy that supports our cutoff distance technique to elucidate the underlying interaction domain from trajectories.

Transfer Entropy Analysis of Interactions between Bats Using Position and Echolocation Data

Many animal species, including many species of bats, exhibit collective behavior where groups of individuals coordinate their motion. Bats are unique among these animals in that they use the active sensing mechanism of echolocation as their primary means of navigation. Due to their use of echolocation in large groups, bats run the risk of signal interference from sonar jamming. However, several species of bats have developed strategies to prevent interference, which may lead to different behavior when flying with conspecifics than when flying alone. This study seeks to explore the role of this acoustic sensing on the behavior of bat pairs flying together. Field data from a maternity colony of gray bats (Myotis grisescens) were collected using an array of cameras and microphones. These data were analyzed using the information theoretic measure of transfer entropy in order to quantify the interaction between pairs of bats and to determine the effect echolocation calls have on this interaction. This study expands on previous work that only computed information theoretic measures on the 3D position of bats without echolocation calls or that looked at the echolocation calls without using information theoretic analyses. Results show that there is evidence of information transfer between bats flying in pairs when time series for the speed of the bats and their turning behavior are used in the analysis. Unidirectional information transfer was found in some subsets of the data which could be evidence of a leader-follower interaction.

On Geometry of Information Flow for Causal Inference

Causal inference is perhaps one of the most fundamental concepts in science, beginning originally from the works of some of the ancient philosophers, through today, but also weaved strongly in current work from statisticians, machine learning experts, and scientists from many other fields. This paper takes the perspective of information flow, which includes the Nobel prize winning work on Granger-causality, and the recently highly popular transfer entropy, these being probabilistic in nature. Our main contribution will be to develop analysis tools that will allow a geometric interpretation of information flow as a causal inference indicated by positive transfer entropy. We will describe the effective dimensionality of an underlying manifold as projected into the outcome space that summarizes information flow. Therefore, contrasting the probabilistic and geometric perspectives, we will introduce a new measure of causal inference based on the fractal correlation dimension conditionally applied to competing explanations of future forecasts, which we will write GeoCy→x. This avoids some of the boundedness issues that we show exist for the transfer entropy, Ty→x. We will highlight our discussions with data developed from synthetic models of successively more complex nature: these include the Hénon map example, and finally a real physiological example relating breathing and heart rate function.

Searching for structure in collective systems

From fish schools and bird flocks to biofilms and neural networks, collective systems in nature are made up of many mutually influencing individuals that interact locally to produce large-scale coordinated behavior. Although coordination is central to what it means to behave collectively, measures of large-scale coordination in these systems are ad hoc and system specific. The lack of a common quantitative scale makes broad cross-system comparisons difficult. Here we identify a system-independent measure of coordination based on an information-theoretic measure of multivariate dependence and show it can be used in practice to give a new view of even classic, well-studied collective systems. Moreover, we use this measure to derive a novel method for finding the most coordinated components within a system and demonstrate how this can be used in practice to reveal intrasystem organizational structure.

Decoding collective communications using information theory tools

Organisms have evolved sensory mechanisms to extract pertinent information from their environment, enabling them to assess their situation and act accordingly. For social organisms travelling in groups, like the fish in a school or the birds in a flock, sharing information can further improve their situational awareness and reaction times. Data on the benefits and costs of social coordination, however, have largely allowed our understanding of why collective behaviours have evolved to outpace our mechanistic knowledge of how they arise. Recent studies have begun to correct this imbalance through fine-scale analyses of group movement data. One approach that has received renewed attention is the use of information theoretic (IT) tools like mutual information, transfer entropy and causation entropy, which can help identify causal interactions in the type of complex, dynamical patterns often on display when organisms act collectively. Yet, there is a communications gap between studies focused on the ecological constraints and solutions of collective action with those demonstrating the promise of IT tools in this arena. We attempt to bridge this divide through a series of ecologically motivated examples designed to illustrate the benefits and challenges of using IT tools to extract deeper insights into the interaction patterns governing group-level dynamics. We summarize some of the approaches taken thus far to circumvent existing challenges in this area and we conclude with an optimistic, yet cautionary perspective.

Inferring causal relationship in coordinated flight of pigeon flocks

Collective phenomenon of natural animal groups will be attributed to individual intelligence and interagent interactions, where a long-standing challenge is to reveal the causal relationship among individuals. In this study, we propose a causal inference method based on information theory. More precisely, we calculate mutual information by using a data mining algorithm named "k-nearest neighbor" and subsequently induce the transfer entropy to obtain the causality entropy quantifying the causal dependence of one individual on another subject to a condition set consisting of other neighboring ones. Accordingly, we analyze the high-resolution GPS data of three pigeon flocks to extract the hidden interaction mechanism governing the coordinated free flight. The comparison of spatial distribution between causal neighbors and all other remainders validates that no bias exists for the causal inference. We identify the causal relationships to establish the interaction network and observe that the revealed causal relationship follows a local interaction mode. Interestingly, the individuals closer to the mass center and the average velocity direction are more influential than others.

Robots mediating interactions between animals for interspecies collective behaviors

Self-organized collective behavior has been analyzed in diverse types of gregarious animals. Such collective intelligence emerges from the synergy between individuals, which behave at their own time and spatial scales and without global rules. Recently, robots have been developed to collaborate with animal groups in the pursuit of better understanding their decision-making processes. These biohybrid systems make cooperative relationships between artificial systems and animals possible, which can yield new capabilities in the resulting mixed group. However, robots are currently tailor-made to successfully engage with one animal species at a time. This limits the possibilities of introducing distinct species-dependent perceptual capabilities and types of behaviors in the same system. Here, we show that robots socially integrated into animal groups of honeybees and zebrafish, each one located in a different city, allowing these two species to interact. This interspecific information transfer is demonstrated by collective decisions that emerge between the two autonomous robotic systems and the two animal groups. The robots enable this biohybrid system to function at any distance and operates in water and air with multiple sensorimotor properties across species barriers and ecosystems. These results demonstrate the feasibility of generating and controlling behavioral patterns in biohybrid groups of multiple species. Such interspecies connections between diverse robotic systems and animal species may open the door for new forms of artificial collective intelligence, where the unrivaled perceptual capabilities of the animals and their brains can be used to enhance autonomous decision-making, which could find applications in selective "rewiring" of ecosystems.

Speed-mediated properties of schooling

Collectively moving animals often display a high degree of synchronization and cohesive group-level formations, such as elongated schools of fish. These global patterns emerge as the result of localized rules of interactions. However, the exact relationship between speed, polarization, neighbour positioning and group structure has produced conflicting results and is largely limited to modelling approaches. This hinders our ability to understand how information spreads between individuals, which may determine the collective functioning of groups. We tested how speed interacts with polarization and positional composition to produce the elongation observed in moving groups of fish as well as how this impacts information flow between individuals. At the local level, we found that increases in speed led to increases in alignment and shifts from lateral to linear neighbour positioning. At the global level, these increases in linear neighbour positioning resulted in elongation of the group. Furthermore, mean pairwise transfer entropy increased with speed and alignment, implying an adaptive value to forming faster, more polarized and linear groups. Ultimately, this research provides vital insight into the mechanisms underlying the elongation of moving animal groups and highlights the functional significance of cohesive and coordinated movement.

Extracting Interactions between Flying Bat Pairs Using Model-Free Methods

Social animals exhibit collective behavior whereby they negotiate to reach an agreement, such as the coordination of group motion. Bats are unique among most social animals, since they use active sensory echolocation by emitting ultrasonic waves and sensing echoes to navigate. Bats’ use of active sensing may result in acoustic interference from peers, driving different behavior when they fly together rather than alone. The present study explores quantitative methods that can be used to understand whether bats flying in pairs move independently of each other or interact. The study used field data from bats in flight and is based on the assumption that interactions between two bats are evidenced in their flight patterns. To quantify pairwise interaction, we defined the strength of coupling using model-free methods from dynamical systems and information theory. We used a control condition to eliminate similarities in flight path due to environmental geometry. Our research question is whether these data-driven methods identify directed coupling between bats from their flight paths and, if so, whether the results are consistent between methods. Results demonstrate evidence of information exchange between flying bat pairs, and, in particular, we find significant evidence of rear-to-front coupling in bats’ turning behavior when they fly in the absence of obstacles.

Metrics for describing dyadic movement: a review

In movement ecology, the few works that have taken collective behaviour into account are data-driven and rely on simplistic theoretical assumptions, relying in metrics that may or may not be measuring what is intended. In the present paper, we focus on pairwise joint-movement behaviour, where individuals move together during at least a segment of their path. We investigate the adequacy of twelve metrics introduced in previous works for assessing joint movement by analysing their theoretical properties and confronting them with contrasting case scenarios. Two criteria are taken into account for review of those metrics: 1) practical use, and 2) dependence on parameters and underlying assumptions. When analysing the similarities between the metrics as defined, we show how some of them can be expressed using general mathematical forms. In addition, we evaluate the ability of each metric to assess specific aspects of joint-movement behaviour: proximity (closeness in space-time) and coordination (synchrony) in direction and speed. We found that some metrics are better suited to assess proximity and others are more sensitive to coordination. To help readers choose metrics, we elaborate a graphical representation of the metrics in the coordination and proximity space based on our results, and give a few examples of proximity and coordination focus in different movement studies.

Cohesion, order and information flow in the collective motion of mixed-species shoals

Despite the frequency with which mixed-species groups are observed in nature, studies of collective behaviour typically focus on single-species groups. Here, we quantify and compare the patterns of interactions between three fish species, threespine sticklebacks (Gasterosteus aculeatus), ninespine sticklebacks (Pungitius pungitius) and roach (Rutilus rutilus) in both single- and mixed-species shoals in the laboratory. Pilot data confirmed that the three species form both single- and mixed-species shoals in the wild. In our laboratory study, we found that single-species groups were more polarized than mixed-species groups, while single-species groups of threespine sticklebacks and roach were more cohesive than mixed shoals of these species. Furthermore, while there was no difference between the inter-individual distances between threespine and ninespine sticklebacks within mixed-species groups, there was some evidence of segregation by species in mixed groups of threespine sticklebacks and roach. There were differences between treatments in mean pairwise transfer entropy, and in particular we identify species-differences in information use within the mixed-species groups, and, similarly, differences in responses to conspecifics and heterospecifics in mixed-species groups. We speculate that differences in the patterns of interactions between species in mixed-species groups may determine patterns of fission and fusion in such groups.

Introduction to Focus Issue: Causation inference and information flow in dynamical systems: Theory and applications

Questions of causation are foundational across science and often relate further to problems of control, policy decisions, and forecasts. In nonlinear dynamics and complex systems science, causation inference and information flow are closely related concepts, whereby "information" or knowledge of certain states can be thought of as coupling influence onto the future states of other processes in a complex system. While causation inference and information flow are by now classical topics, incorporating methods from statistics and time series analysis, information theory, dynamical systems, and statistical mechanics, to name a few, there remain important advancements in continuing to strengthen the theory, and pushing the context of applications, especially with the ever-increasing abundance of data collected across many fields and systems. This Focus Issue considers different aspects of these questions, both in terms of founding theory and several topical applications.

Anatomy of leadership in collective behaviour

Understanding the mechanics behind the coordinated movement of mobile animal groups (collective motion) provides key insights into their biology and ecology, while also yielding algorithms for bio-inspired technologies and autonomous systems. It is becoming increasingly clear that many mobile animal groups are composed of heterogeneous individuals with differential levels and types of influence over group behaviors. The ability to infer this differential influence, or leadership, is critical to understanding group functioning in these collective animal systems. Due to the broad interpretation of leadership, many different measures and mathematical tools are used to describe and infer "leadership," e.g., position, causality, influence, and information flow. But a key question remains: which, if any, of these concepts actually describes leadership? We argue that instead of asserting a single definition or notion of leadership, the complex interaction rules and dynamics typical of a group imply that leadership itself is not merely a binary classification (leader or follower), but rather, a complex combination of many different components. In this paper, we develop an anatomy of leadership, identify several principal components, and provide a general mathematical framework for discussing leadership. With the intricacies of this taxonomy in mind, we present a set of leadership-oriented toy models that should be used as a proving ground for leadership inference methods going forward. We believe this multifaceted approach to leadership will enable a broader understanding of leadership and its inference from data in mobile animal groups and beyond.

Geometric k-nearest neighbor estimation of entropy and mutual information

Nonparametric estimation of mutual information is used in a wide range of scientific problems to quantify dependence between variables. The k-nearest neighbor (knn) methods are consistent, and therefore expected to work well for a large sample size. These methods use geometrically regular local volume elements. This practice allows maximum localization of the volume elements, but can also induce a bias due to a poor description of the local geometry of the underlying probability measure. We introduce a new class of knn estimators that we call geometric knn estimators (g-knn), which use more complex local volume elements to better model the local geometry of the probability measures. As an example of this class of estimators, we develop a g-knn estimator of entropy and mutual information based on elliptical volume elements, capturing the local stretching and compression common to a wide range of dynamical system attractors. A series of numerical examples in which the thickness of the underlying distribution and the sample sizes are varied suggest that local geometry is a source of problems for knn methods such as the Kraskov-Stögbauer-Grassberger estimator when local geometric effects cannot be removed by global preprocessing of the data. The g-knn method performs well despite the manipulation of the local geometry. In addition, the examples suggest that the g-knn estimators can be of particular relevance to applications in which the system is large, but the data size is limited.

Semblance of Heterogeneity in Collective Cell Migration

Cell population heterogeneity is increasingly a focus of inquiry in biological research. For example, cell migration studies have investigated the heterogeneity of invasiveness and taxis in development, wound healing, and cancer. However, relatively little effort has been devoted to exploring when heterogeneity is mechanistically relevant and how to reliably measure it. Statistical methods from the animal movement literature offer the potential to analyze heterogeneity in collections of cell tracking data. A popular measure of heterogeneity, which we use here as an example, is the distribution of delays in directional cross-correlation. Employing a suitably generic, yet minimal, model of collective cell movement in three dimensions, we show how using such measures to quantify heterogeneity in tracking data can result in the inference of heterogeneity where there is none. Our study highlights a potential pitfall in the statistical analysis of cell population heterogeneity, and we argue that this can be mitigated by the appropriate choice of null models.