Ontogeny of learning walks and the acquisition of landmark information in desert ants, Cataglyphis fortis

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.

Geometrical multiscale tortuosity of desert ant walking trajectories

Desert ants stand out as some of the most intriguing insect navigators, having captured the attention of scientists for decades. This includes the structure of walking trajectories during goal approach and search behaviour for the nest and familiar feeding sites. In the present study, we analysed such trajectories with regard to changes in walking direction. The directional change of the ants was quantified, i.e. an angle θ between trajectory increments of a given arclength λ was computed. This was done for different length scales λ, according to our goal of analysing desert ant path characteristics with respect to length scale. First, varying λ through more than two orders of magnitude demonstrated Brownian motion characteristics typical of the random walk component of search behaviour. Unexpectedly, this random walk component was also present in - supposedly rather linear - approach trajectories. Second, there were small but notable deviations from a uniform angle distribution that is characteristic of random walks. This was true for specific search situations, mostly close to the (virtual) goal position. And third, experience with a feeder position resulted in straighter approaches and more focused searches, which was also true for nest searches, albeit to a lesser extent. Taken together, these results both verify and extend previous studies on desert ant path characteristics. Of particular interest are the ubiquitous Brownian motion signatures and specific deviations thereof close to the goal position, indicative of unexpectedly structured search behaviour.

Movement during the acquisition of a visual landmark may be necessary for rapid learning in ants

We conducted laboratory experiments using Japanese carpenter ants (Camponotus japonicus) to investigate whether movement during visual learning can influence the learning performance of ant foragers. We performed three different experiments. In the first experiment, the ants could move freely in a straight maze during the visual learning. The ants in the experiments two and three were fixed to a certain position during the visual learning training. A distinct difference between these two experiments was that the ants in one experiment could perceive an approaching visual stimulus during the training, although they were fixed. After training phases, a Y-maze test was performed. One arm of the Y-maze had a visual stimulus presented to the ants during the training. We found that the ants in the first experiment showed rapid learning and correctly selected the landmark arm. However, the ants in the experiments two and three did not exhibit any preference for the chosen arm. Interestingly, we found differences in the time spent around a certain location in the Y-maze between the experiments two and three. These results suggest that movement during visual learning may influence the rapid learning of ant foragers.

Scanning behaviour in ants: an interplay between random-rate processes and oscillators

At the start of a journey home or to a foraging site, ants often stop, interrupting their forward movement, turn on the spot a number of times, and fixate in different directions. These scanning bouts are thought to provide visual information for choosing a path to travel. The temporal organization of such scanning bouts has implications about the neural organisation of navigational behaviour. We examined (1) the temporal distribution of the start of such scanning bouts and (2) the dynamics of saccadic body turns and fixations that compose a scanning bout in Australian desert ants, Melophorus bagoti, as they came out of a walled channel onto open field at the start of their homeward journey. Ants were caught when they neared their nest and displaced to different locations to start their journey home again. The observed parameters were mostly similar across familiar and unfamiliar locations. The turning angles of saccadic body turning to the right or left showed some stereotypy, with a peak just under 45°. The direction of such saccades appears to be determined by a slow oscillatory process as described in other insect species. In timing, however, both the distribution of inter-scanning-bout intervals and individual fixation durations showed exponential characteristics, the signature for a random-rate or Poisson process. Neurobiologically, therefore, there must be some process that switches behaviour (starting a scanning bout or ending a fixation) with equal probability at every moment in time. We discuss how chance events in the ant brain that occasionally reach a threshold for triggering such behaviours can generate the results.

Comparative biology of spatial navigation in three arachnid orders (Amblypygi, Araneae, and Scorpiones)

From both comparative biology and translational research perspectives, there is escalating interest in understanding how animals navigate their environments. Considerable work is being directed towards understanding the sensory transduction and neural processing of environmental stimuli that guide animals to, for example, food and shelter. While much has been learned about the spatial orientation behavior, sensory cues, and neurophysiology of champion navigators such as bees and ants, many other, often overlooked animal species possess extraordinary sensory and spatial capabilities that can broaden our understanding of the behavioral and neural mechanisms of animal navigation. For example, arachnids are predators that often return to retreats after hunting excursions. Many of these arachnid central-place foragers are large and highly conducive to scientific investigation. In this review we highlight research on three orders within the Class Arachnida: Amblypygi (whip spiders), Araneae (spiders), and Scorpiones (scorpions). For each, we describe (I) their natural history and spatial navigation, (II) how they sense the world, (III) what information they use to navigate, and (IV) how they process information for navigation. We discuss similarities and differences among the groups and highlight potential avenues for future research.

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.

The role of learning-walk related multisensory experience in rewiring visual circuits in the desert ant brain

Efficient spatial orientation in the natural environment is crucial for the survival of most animal species. Cataglyphis desert ants possess excellent navigational skills. After far-ranging foraging excursions, the ants return to their inconspicuous nest entrance using celestial and panoramic cues. This review focuses on the question about how naïve ants acquire the necessary spatial information and adjust their visual compass systems. Naïve ants perform structured learning walks during their transition from the dark nest interior to foraging under bright sunlight. During initial learning walks, the ants perform rotational movements with nest-directed views using the earth’s magnetic field as an earthbound compass reference. Experimental manipulations demonstrate that specific sky compass cues trigger structural neuronal plasticity in visual circuits to integration centers in the central complex and mushroom bodies. During learning walks, rotation of the sky-polarization pattern is required for an increase in volume and synaptic complexes in both integration centers. In contrast, passive light exposure triggers light-spectrum (especially UV light) dependent changes in synaptic complexes upstream of the central complex. We discuss a multisensory circuit model in the ant brain for pathways mediating structural neuroplasticity at different levels following passive light exposure and multisensory experience during the performance of learning walks.

The balbyter ant Camponotus fulvopilosus combines several navigational strategies to support homing when foraging in the close vicinity of its nest

Many insects rely on path integration to define direct routes back to their nests. When shuttling hundreds of meters back and forth between a profitable foraging site and a nest, navigational errors accumulate unavoidably in this compass- and odometer-based system. In familiar terrain, terrestrial landmarks can be used to compensate for these errors and safely guide the insect back to its nest with pin-point precision. In this study, we investigated the homing strategies employed by Camponotus fulvopilosus ants when repeatedly foraging no more than 1.25 m away from their nest. Our results reveal that the return journeys of the ants, even when setting out from a feeder from which the ants could easily get home using landmark information alone, are initially guided by path integration. After a short run in the direction given by the home vector, the ants then switched strategies and started to steer according to the landmarks surrounding their nest. We conclude that even when foraging in the close vicinity of its nest, an ant still benefits from its path-integrated vector to direct the start of its return journey.

Categorizing Visual Information in Subpopulations of Honeybee Mushroom Body Output Neurons

Multisensory integration plays a central role in perception, as all behaviors usually require the input of different sensory signals. For instance, for a foraging honeybee the association of a food source includes the combination of olfactory and visual cues to be categorized as a flower. Moreover, homing after successful foraging using celestial cues and the panoramic scenery may be dominated by visual cues. Hence, dependent on the context, one modality might be leading and influence the processing of other modalities. To unravel the complex neural mechanisms behind this process we studied honeybee mushroom body output neurons (MBON). MBONs represent the first processing level after olfactory-visual convergence in the honeybee brain. This was physiologically confirmed in our previous study by characterizing a subpopulation of multisensory MBONs. These neurons categorize incoming sensory inputs into olfactory, visual, and olfactory-visual information. However, in addition to multisensory units a prominent population of MBONs was sensitive to visual cues only. Therefore, we asked which visual features might be represented at this high-order integration level. Using extracellular, multi-unit recordings in combination with visual and olfactory stimulation, we separated MBONs with multisensory responses from purely visually driven MBONs. Further analysis revealed, for the first time, that visually driven MBONs of both groups encode detailed aspects within this individual modality, such as light intensity and light identity. Moreover, we show that these features are separated by different MBON subpopulations, for example by extracting information about brightness and wavelength. Most interestingly, the latter MBON population was tuned to separate UV-light from other light stimuli, which were only poorly differentiated from each other. A third MBON subpopulation was neither tuned to brightness nor to wavelength and encoded the general presence of light. Taken together, our results support the view that the mushroom body, a high-order sensory integration, learning and memory center in the insect brain, categorizes sensory information by separating different behaviorally relevant aspects of the multisensory scenery and that these categories are channeled into distinct MBON subpopulations.

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.

Rotation of skylight polarization during learning walks is necessary to trigger neuronal plasticity in Cataglyphis ants

Many animals use celestial cues for impressive navigational performances in challenging habitats. Since the position of the sun and associated skylight cues change throughout the day and season, it is crucial to correct for these changes. Cataglyphis desert ants possess a time-compensated skylight compass allowing them to navigate back to their nest using the shortest way possible. The ants have to learn the sun's daily course (solar ephemeris) during initial learning walks (LW) before foraging. This learning phase is associated with substantial structural changes in visual neuronal circuits of the ant's brain. Here, we test whether the rotation of skylight polarization during LWs is the necessary cue to induce learning-dependent rewiring in synaptic circuits in high-order integration centres of the ant brain. Our results show that structural neuronal changes in the central complex and mushroom bodies are triggered only when LWs were performed under a rotating skylight polarization pattern. By contrast, when naive ants did not perform LWs, but were exposed to skylight cues, plasticity was restricted to light spectrum-dependent changes in synaptic complexes of the lateral complex. The results identify sky-compass cues triggering learning-dependent versus -independent neuronal plasticity during the behavioural transition from interior workers to outdoor foragers.

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.

Evidence for the effect of brief exposure to food, but not learning interference, on maze solving in desert ants

Theories of forgetting highlight two active mechanisms through which animals forget prior knowledge by reciprocal disruption of memories. According to "proactive interference", information learned previously interferes with the acquisition of new information, whereas "retroactive interference" suggests that newly gathered information interferes with already existing information. Our goal was to examine the possible effect of both mechanisms in the desert ant Cataglyphis niger, which does not use pheromone recruitment, when learning spatial information while searching for food in a maze. Our experiment indicated that neither proactive nor retroactive interference took place in this system although this awaits confirmation with individual-level learning assays. Rather, the ants' persistence or readiness to search for food grew with successive runs in the maze. Elevated persistence led to more ant workers arriving at the food when retested a day later, even if the maze was shifted between runs. We support this finding in a second experiment, where ant workers reached the food reward at the maze end in higher numbers after encountering food in the maze entry compared to a treatment, in which food was present only at the maze end. This result suggests that spatial learning and search persistence are two parallel behavioral mechanisms, both assisting foraging ants. We suggest that their relative contribution should depend on habitat complexity. This article is protected by copyright. All rights reserved.

Spatial thinking, cognitive mapping, and spatial awareness

This article looks at wayfinding and spatial orientation as important everyday spatial thinking skills and discusses why some people have difficulty with the skills and how one can assist people with difficulty in navigation. It first clarifies the characteristics of human spatial cognition and behavior and the tendency of spatial knowledge to be distorted and fragmented in the environment. In particular, it emphasizes the existence of large individual differences in the skill of cognitive mapping, namely the accuracy of metric and configurational understanding of the environment. The article then looks at difficulties associated with the use of maps and description of spatial relations. Given these difficulties, the article discusses the possibilities of assisting people with mobile navigation tools and improving the skill of cognitive mapping by training in spatial orientation. Implications for the development of user-adapted and context-aware navigation assistance and the significance of research from an individual differences perspective are finally discussed.

Sex-specific and caste-specific brain adaptations related to spatial orientation in Cataglyphis ants

Cataglyphis desert ants are charismatic central place foragers. After long-ranging foraging trips, individual workers navigate back to their nest relying mostly on visual cues. The reproductive caste faces other orientation challenges, i.e. mate finding and colony foundation. Here we compare brain structures involved in spatial orientation of Cataglyphis nodus males, gynes, and foragers by quantifying relative neuropil volumes associated with two visual pathways, and numbers and volumes of antennal lobe (AL) olfactory glomeruli. Furthermore, we determined absolute numbers of synaptic complexes in visual and olfactory regions of the mushroom bodies (MB) and a major relay station of the sky-compass pathway to the central complex (CX). Both female castes possess enlarged brain centers for sensory integration, learning, and memory, reflected in voluminous MBs containing about twice the numbers of synaptic complexes compared with males. Overall, male brains are smaller compared with both female castes, but the relative volumes of the optic lobes and CX are enlarged indicating the importance of visual guidance during innate behaviors. Male ALs contain greatly enlarged glomeruli, presumably involved in sex-pheromone detection. Adaptations at both the neuropil and synaptic levels clearly reflect differences in sex-specific and caste-specific demands for sensory processing and behavioral plasticity underlying spatial orientation.

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.

Ants’ Personality and Its Dependence on Foraging Styles: Research Perspectives

The paper is devoted to analyzing consistent individual differences in behavior, also known as “personalities,” in the context of a vital ant task—the detection and transportation of food. I am trying to elucidate the extent to which collective cognition is individual-based and whether a single individual’s actions can suffice to direct the entire colony or colony units. The review analyzes personalities in various insects with different life cycles and provides new insights into the role of individuals in directing group actions in ants. Although it is widely accepted that, in eusocial insects, colony personality emerges from the workers’ personalities, there are only a few examples of investigations of personality at the individual level. The central question of the review is how the distribution of behavioral types and cognitive responsibilities within ant colonies depends on a species’ foraging style. In the context of how workers’ behavioral traits display during foraging, a crucial question is what makes an ant a scout that discovers a new food source and mobilizes its nestmates. In mass recruiting, tandem-running, and even in group-recruiting species displaying leadership, the division of labor between scouts and recruits appears to be ephemeral. There is only little, if any, evidence of ants’ careers and behavioral consistency as leaders. Personal traits characterize groups of individuals at the colony level but not performers of functional roles during foraging. The leader-scouting seems to be the only known system that is based on a consistent personal difference between scouting and foraging individuals.

Navigation and orientation in Coleoptera: a review of strategies and mechanisms

Spatial orientation is important for animals to forage, mate, migrate, and escape certain threats, and can require simple to complex cognitive abilities and behaviours. As these behaviours are more difficult to experimentally test in vertebrates, considerable research has focussed on investigating spatial orientation in insects. However, the majority of insect spatial orientation research tends to focus on a few taxa of interest, especially social insects. Beetles present an interesting insect group to study in this respect, due to their diverse taxonomy and biology, and prevalence as agricultural pests. In this article, I review research on beetle spatial orientation. Then, I use this synthesis to discuss mechanisms beetles employ in the context of different behaviours that require orientation or navigation. I conclude by discussing two future avenues for behavioural research on this topic, which could lead to more robust conclusions on how species in this diverse order are able to traverse through a wide variety of environments.

How Dung Beetles Steer Straight

Distant and predictable features in the environment make ideal compass cues to allow movement along a straight path. Ball-rolling dung beetles use a wide range of different signals in the day or night sky to steer themselves along a fixed bearing. These include the sun, the Milky Way, and the polarization pattern generated by the moon. Almost two decades of research into these remarkable creatures have shown that the dung beetle's compass is flexible and readily adapts to the cues available in its current surroundings. In the morning and afternoon, dung beetles use the sun to orient, but at midday, they prefer to use the wind, and at night or in a forest, they rely primarily on polarized skylight to maintain straight paths. We are just starting to understand the neuronal substrate underlying the dung beetle's compass and the mystery of why these beetles start each journey with a dance.

Arthropod spatial cognition

The feats of arthropods, and of the well-studied insects and crustaceans in particular, have fascinated scientists and laymen alike for centuries. Arthropods show a diverse repertoire of cognitive feats, of often unexpected sophistication. Despite their smaller brains and resulting lower neuronal capacity, the cognitive abilities of arthropods are comparable to, or may even exceed, those of vertebrates, depending on the species compared. Miniature brains often provide parsimonious but smart solutions for complex behaviours or ecologically relevant problems. This makes arthropods inspiring subjects for basic research, bionics, and robotics. Investigations of arthropod spatial cognition have originally concentrated on the honeybee, an animal domesticated for several thousand years. Bees are easy to keep and handle, making this species amenable to experimental study. However, there are an estimated 5–10 million arthropod species worldwide, with a broad diversity of lifestyles, ecology, and cognitive abilities. This high diversity provides ample opportunity for comparative analyses. Comparative study, rather than focusing on single model species, is well suited to scrutinise the link between ecological niche, lifestyle, and cognitive competence. It also allows the discovery of general concepts that are transferable between distantly related groups of organisms. With species diversity and a comparative approach in mind, this special issue compiles four review articles and ten original research reports from a spectrum of arthropod species. These contributions range from the well-studied hymenopterans, and ants in particular, to chelicerates and crustaceans. They thus present a broad spectrum of glimpses into current research on arthropod spatial cognition, and together they cogently emphasise the merits of research into arthropod cognitive achievements.

Magnetoreception in Hymenoptera: importance for navigation

The use of information provided by the geomagnetic field (GMF) for navigation is widespread across the animal kingdom. At the same time, the magnetic sense is one of the least understood senses. Here, we review evidence for magnetoreception in Hymenoptera. We focus on experiments aiming to shed light on the role of the GMF for navigation. Both honeybees and desert ants are well-studied experimental models for navigation, and both use the GMF for specific navigational tasks under certain conditions. Cataglyphis desert ants use the GMF as a compass cue for path integration during their initial learning walks to align their gaze directions towards the nest entrance. This represents the first example for the use of the GMF in an insect species for a genuine navigational task under natural conditions and with all other navigational cues available. We argue that the recently described magnetic compass in Cataglyphis opens up a new integrative approach to understand the mechanisms underlying magnetoreception in Hymenoptera on different biological levels.

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.

Homing in the arachnid taxa Araneae and Amblypygi

Adequate homing is essential for the survival of any animal when it leaves its home to find prey or a mate. There are several strategies by which homing can be carried out: (a) retrace the outbound path; (b) use a 'cognitive map'; or (c) use path integration (PI). Here, I review the state of the art of research on spiders (Araneae) and whip spiders (Amblypygi) homing behaviour. The main strategy described in the literature as being used by these arachnids is PI. Behavioural and neural substrates of PI are described in a small group of spider families (Agelenidae, Lycosidae, Gnaphosidae, Ctenidae and Theraphosidae) and a whip spider family (Phrynidae). In spiders, the cues used to detect the position of the animal relative to its home are the position of the sun, polarized light patterns, web elasticity and landmarks. In whip spiders, the cues used are olfactory, tactile and, with a more minor role, visual. The use of a magnetic field in whip spiders has been rejected both with field and laboratory studies. Concerning the distance walked in PI, the possibility of using optic flow and idiothetic information in spiders is considered. The studies about outbound and inbound paths in whip spiders seem to suggest they do not follow the PI rules. As a conclusion, these arachnids' navigation relies on multimodal cues. We have detailed knowledge about the sensory origin (visual, olfactory, mechanosensory receptors) of neural information, but we are far from knowing the central neural structures where sensory information is integrated.

Spatial cognition in the context of foraging styles and information transfer in ants

Ants are central-place foragers: they always return to the nest, and this requires the ability to remember relationships between features of the environment, or an individual's path through the landscape. The distribution of these cognitive responsibilities within a colony depends on a species' foraging style. Solitary foraging as well as leader-scouting, which is based on information transmission about a distant targets from scouts to foragers, can be considered the most challenging tasks in the context of ants' spatial cognition. Solitary foraging is found in species of almost all subfamilies of ants, whereas leader-scouting has been discovered as yet only in the Formica rufa group of species (red wood ants). Solitary foraging and leader-scouting ant species, although enormously different in their levels of sociality and ecological specificities, have many common traits of individual cognitive navigation, such as the primary use of visual navigation, excellent visual landmark memories, and the subordinate role of odour orientation. In leader-scouting species, spatial cognition and the ability to transfer information about a distant target dramatically differ among scouts and foragers, suggesting individual cognitive specialization. I suggest that the leader-scouting style of recruitment is closely connected with the ecological niche of a defined group of species, in particular, their searching patterns within the tree crown. There is much work to be done to understand what cognitive mechanisms underpin route planning and communication about locations in ants.

Route-following ants respond to alterations of the view sequence

Ants can navigate by comparing the currently perceived view with memorised views along a familiar foraging route. Models regarding route-following suggest that the views are stored and recalled independently of the sequence in which they occur. Hence, the ant only needs to evaluate the instantaneous familiarity of the current view to obtain a heading direction. This study investigates whether ant homing behaviour is influenced by alterations in the sequence of views experienced along a familiar route, using the frequency of stop-and-scan behaviour as an indicator of the ant's navigational uncertainty. Ants were trained to forage between their nest and a feeder which they exited through a short channel before proceeding along the homeward route. In tests, ants were collected before entering the nest and released again in the channel, which was placed either in its original location or halfway along the route. Ants exiting the familiar channel in the middle of the route would thus experience familiar views in a novel sequence. Results show that ants exiting the channel scan significantly more when they find themselves in the middle of the route, compared with when emerging at the expected location near the feeder. This behaviour suggests that previously encountered views influence the recognition of current views, even when these views are highly familiar, revealing a sequence component to route memory. How information about view sequences could be implemented in the insect brain, as well as potential alternative explanations to our results, are discussed.

A decentralised neural model explaining optimal integration of navigational strategies in insects

Insect navigation arises from the coordinated action of concurrent guidance systems but the neural mechanisms through which each functions, and are then coordinated, remains unknown. We propose that insects require distinct strategies to retrace familiar routes (route-following) and directly return from novel to familiar terrain (homing) using different aspects of frequency encoded views that are processed in different neural pathways. We also demonstrate how the Central Complex and Mushroom Bodies regions of the insect brain may work in tandem to coordinate the directional output of different guidance cues through a contextually switched ring-attractor inspired by neural recordings. The resultant unified model of insect navigation reproduces behavioural data from a series of cue conflict experiments in realistic animal environments and offers testable hypotheses of where and how insects process visual cues, utilise the different information that they provide and coordinate their outputs to achieve the adaptive behaviours observed in the wild.

Multimodal influences on learning walks in desert ants (Cataglyphis fortis)

Ants are excellent navigators using multimodal information for navigation. To accurately localise the nest at the end of a foraging journey, visual cues, wind direction and also olfactory cues need to be learnt. Learning walks are performed at the start of an ant’s foraging career or when the appearance of the nest surrounding has changed. We investigated here whether the structure of such learning walks in the desert ant Cataglyphis fortis takes into account wind direction in conjunction with the learning of new visual information. Ants learnt to travel back and forth between their nest and a feeder, and we then introduced a black cylinder near their nest to induce learning walks in regular foragers. By doing this across days with different wind directions, we were able to probe how ants balance different sensory modalities. We found that (1) the ants’ outwards headings are influenced by the wind direction with their routes deflected such that they will arrive downwind of their target, (2) a novel object along the route induces learning walks in experienced ants and (3) the structure of learning walks is shaped by the wind direction rather than the position of the visual cue.

Multimodal interactions in insect navigation

Animals travelling through the world receive input from multiple sensory modalities that could be important for the guidance of their journeys. Given the availability of a rich array of cues, from idiothetic information to input from sky compasses and visual information through to olfactory and other cues (e.g. gustatory, magnetic, anemotactic or thermal) it is no surprise to see multimodality in most aspects of navigation. In this review, we present the current knowledge of multimodal cue use during orientation and navigation in insects. Multimodal cue use is adapted to a species’ sensory ecology and shapes navigation behaviour both during the learning of environmental cues and when performing complex foraging journeys. The simultaneous use of multiple cues is beneficial because it provides redundant navigational information, and in general, multimodality increases robustness, accuracy and overall foraging success. We use examples from sensorimotor behaviours in mosquitoes and flies as well as from large scale navigation in ants, bees and insects that migrate seasonally over large distances, asking at each stage how multiple cues are combined behaviourally and what insects gain from using different modalities.

Opponent processes in visual memories: A model of attraction and repulsion in navigating insects' mushroom bodies

Solitary foraging insects display stunning navigational behaviours in visually complex natural environments. Current literature assumes that these insects are mostly driven by attractive visual memories, which are learnt when the insect's gaze is precisely oriented toward the goal direction, typically along its familiar route or towards its nest. That way, an insect could return home by simply moving in the direction that appears most familiar. Here we show using virtual reconstructions of natural environments that this principle suffers from fundamental drawbacks, notably, a given view of the world does not provide information about whether the agent should turn or not to reach its goal. We propose a simple model where the agent continuously compares its current view with both goal and anti-goal visual memories, which are treated as attractive and repulsive respectively. We show that this strategy effectively results in an opponent process, albeit not at the perceptual level-such as those proposed for colour vision or polarisation detection-but at the level of the environmental space. This opponent process results in a signal that strongly correlates with the angular error of the current body orientation so that a single view of the world now suffices to indicate whether the agent should turn or not. By incorporating this principle into a simple agent navigating in reconstructed natural environments, we show that it overcomes the usual shortcomings and produces a step-increase in navigation effectiveness and robustness. Our findings provide a functional explanation to recent behavioural observations in ants and why and how so-called aversive and appetitive memories must be combined. We propose a likely neural implementation based on insects' mushroom bodies' circuitry that produces behavioural and neural predictions contrasting with previous models.

Cataglyphis meets Drosophila

In Cataglyphis and Drosophila - in desert ants and fruit flies - research on visually guided behavior took different paths. While work in Cataglyphis started in the field and covered the animal's wide navigational repertoire, in Drosophila the initial focus was on a particular kind of visual control behavior scrutinized within the confines of the laboratory arena, before research concentrated on more advanced behaviors. In recent times, these multi-pronged approaches in flies and ants increasingly converge, both conceptually and methodologically, and thus lay the ground for combined neuroethological efforts. In spite of the obvious differences in the behavioral repertoire of these two groups of insects, likely commonalities in the navigational processes and underlying neuronal circuitries are increasingly coming to the fore.

Principles of Insect Path Integration

Continuously monitoring its position in space relative to a goal is one of the most essential tasks for an animal that moves through its environment. Species as diverse as rats, bees, and crabs achieve this by integrating all changes of direction with the distance covered during their foraging trips, a process called path integration. They generate an estimate of their current position relative to a starting point, enabling a straight-line return, following what is known as a home vector. While in theory path integration always leads the animal precisely back home, in the real world noise limits the usefulness of this strategy when operating in isolation. Noise results from stochastic processes in the nervous system and from unreliable sensory information, particularly when obtaining heading estimates. Path integration, during which angular self-motion provides the sole input for encoding heading (idiothetic path integration), results in accumulating errors that render this strategy useless over long distances. In contrast, when using an external compass this limitation is avoided (allothetic path integration). Many navigating insects indeed rely on external compass cues for estimating body orientation, whereas they obtain distance information by integration of steps or optic-flow-based speed signals. In the insect brain, a region called the central complex plays a key role for path integration. Not only does the central complex house a ring-attractor network that encodes head directions, neurons responding to optic flow also converge with this circuit. A neural substrate for integrating direction and distance into a memorized home vector has therefore been proposed in the central complex. We discuss how behavioral data and the theoretical framework of path integration can be aligned with these neural data.

Getting older, getting smarter: ontogeny of foraging behaviour in the tropical social wasp Ropalidia marginata

Desert ants and honey bees start foraging when they are a few days old, and subsequently increase their foraging effort and the amount of foraged food. This could be an optimal strategy for scavenger/gatherer animals inhabiting landscapes with fewer features. However, animals inhabiting cluttered landscapes, especially predatory animals, may require substantial familiarity with foraging landscapes to forage efficiently. They may acquire such spatial familiarity with increasing age/experience, and eventually reduce their foraging effort without compromising on foraging success/efficiency. To check whether this holds for the individually foraging predatory tropical paper-wasp Ropalidia marginata, we recorded the number and duration of all foraging trips, the identity of foraged materials, and the directions of outbound and inbound flights (with respect to the nest) of known-age wasps for three consecutive days from three naturally occurring colonies; thus, we measured behavioural profiles of wasps of various ages, and not from the same wasp throughout its lifespan. Wasps increased their foraging duration rapidly until about 4 weeks of age, during which they rarely brought food, although some wasps brought building material and water. Thereafter, their foraging duration started decreasing. Nevertheless, their foraging success/efficiency in bringing food kept on increasing. With age, wasps developed individual directional preferences for outbound and inbound flights, indicating the development of spatial memory for rewarding sites. Also, the angular difference between their outbound and subsequent inbound flights gradually increased, indicating older wasps may have followed tortuous foraging routes. High investment in early life to acquire familiarity with foraging landscapes and using that later to perform efficient foraging could be an optimal strategy for individually foraging animals inhabiting feature-rich landscapes.

Panorama similarity and navigational knowledge in the nocturnal bull ant, Myrmicia midas

Nocturnal ants forage and navigate during periods of reduced light, making detection of visual cues difficult, yet they are skilled visual navigators. These foragers retain visual panoramic memories both around the nest and along known routes for later use, be it to return to previously visited food sites or to the nest. Here, we explore the navigational knowledge of the nocturnal bull ant, Myrmecia midas, by investigating differences in nest-ward homing after displacement of three forager groups based on similarities in the panoramas between the release site and previously visited locations. Foragers that travel straight up the foraging tree or to close trees around the nest show reduced navigational success in orienting and returning from displacements compared to individuals that forage further from the nest site. By analysing the cues present in the panorama, we show that multiple metrics of forager navigational performance correspond with the degree of similarity between the release site panorama and panoramas of previously visited sites. In highly cluttered environments, where panoramas change rapidly over short distances, the views acquired near the nest are only useful over a small area and memories acquired along foraging routes become critical.

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.

Emergence of a complex movement pattern in an unfamiliar food place by foraging ants

Although visual cues are essential for navigation in ants, few studies address movement dynamics in ants when they search and forage after finding food in an unfamiliar environment. Here I introduced Japanese wood ants to an unfamiliar food location by capturing individuals leaving their nest. The food was located at the centre of a straight, narrow, open-top channel. Next, I determined the segment lengths of the foraging paths of the ants between consecutive U-turns. I found that individuals travelled along characteristic and complex paths if they detected a visual landmark. This movement property was not detectable when individuals foraged in the channel without any visual landmarks. These results reveal the movement dynamics of ants when they encounter food in a novel place.

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.

Time-optimized path choice in the termite-hunting ant Megaponera analis

Trail network systems among ants have received a lot of scientific attention because of their various applications in problem solving of networks. Recent studies have shown that ants select the fastest available path when facing different velocities on different substrates, rather than the shortest distance. The progress of decision making by these ants is determined by pheromone-based maintenance of paths, which is a collective decision. However, path optimization through individual decision making remains mostly unexplored. Here, we present the first study of time-optimized path selection via individual decision making by scout ants. Megaponera analis scouts search for termite-foraging sites and lead highly organized raid columns to them. The path of the scout determines the path of the column. Through installation of artificial roads around M. analis nests, we were able to influence the pathway choice of the raids. After road installation, 59% of all recorded raids took place completely or partly on the road, instead of the direct, i.e. distance-optimized, path through grass from the nest to the termites. The raid velocity on the road was more than double that on the grass, and the detour thus saved 34.77±23.01% of the travel time compared with a hypothetical direct path. The pathway choice of the ants was similar to a mathematical model of least time, allowing us to hypothesize the underlying mechanisms regulating the behavior. Our results highlight the importance of individual decision making in the foraging behavior of ants and show a new procedure of pathway optimization.

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.

Innate colour preference, individual learning and memory retention in the ant Camponotus blandus

Ants are a well-characterized insect model for the study of visual learning and orientation, but the extent to which colour vision is involved in these tasks remains unknown. We investigated the colour preference, learning and memory retention of Camponotus blandus foragers under controlled laboratory conditions. Our results show that C. blandus foragers exhibit a strong innate preference for ultraviolet (UV, 365 nm) over blue (450 nm) and green (528 nm) wavelengths. The ants can learn to discriminate 365 nm from either 528 nm or 450 nm, independent of intensity changes. However, they fail to discriminate between 450 nm and 528 nm. Modelling of putative colour spaces involving different numbers of photoreceptor types revealed that colour discrimination performance of individual ants is best explained by dichromacy, comprising a short-wavelength (UV) receptor with peak sensitivity at about 360 nm, and a long-wavelength receptor with peak sensitivity between 470 nm and 560 nm. Foragers trained to discriminate blue or green from UV light are able to retain the learned colour information in an early mid-term (e-MTM), late mid-term (l-MTM), early long-term (e-LTM) and late long-term (l-LTM) memory from where it can be retrieved after 1 h, 12 h, 24 h, 3 days and 7 days after training, indicating that colour learning may induce different memory phases in ants. Overall, our results show that ants can use chromatic information in a way that should promote efficient foraging in complex natural environments.

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.

Early foraging life: spatial and temporal aspects of landmark learning in the ant Cataglyphis noda

Within the powerful navigational toolkit implemented in desert ants, path integration and landmark guidance are the key routines. Here, we use cue-conflict experiments to investigate the interplay between these two routines in ants, Cataglyphis noda, which start their foraging careers (novices) with learning walks and are then tested at different stages of experience. During their learning walks, the novices take nest-centered views from various directions around the nest. In the present experiments, these learning walks are spatially restricted by arranging differently sized water moats around the nest entrance and thus, limiting the space available around the nest and the nest-feeder route. First, we show that the ants are able to return to the nest by landmark guidance only when the novices have had enough space around the nest entrance for properly performing their learning walks. Second, in 180° cue-conflict situations between path integration and landmark guidance, path integration dominates in the beginning of foraging life (after completion of the learning walks), but with increasing numbers of visits to a familiar feeder landmark guidance comes increasingly into play.