Obstacle traversal and route choice in flying honeybees: Evidence for individual handedness

Tracking and modeling the movement of Queensland fruit flies, Bactrocera tryoni, using harmonic radar in papaya fields

Determining movement parameters for pest insects such as tephritid fruit flies is critical to developing models which can be used to increase the effectiveness of surveillance and control strategies. In this study, harmonic radar was used to track wild-caught male Queensland fruit flies (Qflies), Bactrocera tryoni, in papaya fields. Experiment 1 continuously tracked single flies which were prodded to induce movement. Qfly movements from this experiment showed greater mean squared displacement than predicted by both a simple random walk (RW) or a correlated random walk (CRW) model, suggesting that movement parameters derived from the entire data set do not adequately describe the movement of individual Qfly at all spatial scales or for all behavioral states. This conclusion is supported by both fractal and hidden Markov model (HMM) analysis. Lower fractal dimensions (straighter movement paths) were observed at larger spatial scales (> 2.5 m) suggesting that Qflies have qualitatively distinct movement at different scales. Further, a two-state HMM fit the observed movement data better than the CRW or RW models. Experiment 2 identified individual landing locations, twice a day, for groups of released Qflies, demonstrating that flies could be tracked over longer periods of time.

Brightness cues affect gap negotiation behaviours in zebra finches flying between perches

Flying animals have had to evolve robust and effective guidance strategies for dealing with habitat clutter. Birds and insects use optic flow expansion cues to sense and avoid obstacles, but orchid bees have also been shown to use brightness cues during gap negotiation. Such brightness cues might therefore be of general importance in structuring visually guided flight behaviours. To test the hypothesis that brightness cues also affect gap negotiation behaviours in birds, we presented captive zebra finches Taeniopygia guttata with a symmetric or asymmetric background brightness distribution on the other side of a tunnel. The background brightness conditions influenced both the birds' decision to enter the tunnel aperture, and their flight direction upon exit. Zebra finches were more likely to initiate flight through the tunnel if they could see a bright background through it; they were also more likely to fly to the bright side upon exiting. We found no evidence of the centring response that would be expected if optic flow cues were balanced bilaterally during gap negotiation. Instead, the birds entered the tunnel by targeting a clearance of approximately one wing length from its near edge. Brightness cues therefore affect how zebra finches structure their flight when negotiating gaps in enclosed environments.

Analysis of collision avoidance in honeybee flight

Insects are excellent at flying in dense vegetation and navigating through other complex spatial environments. This study investigates the strategies used by honeybees (Apis mellifera) to avoid collisions with an obstacle encountered frontally during flight. Bees were trained to fly through a tunnel that contained a solitary vertically oriented cylindrical obstacle placed along the midline. Flight trajectories of bees were recorded for six conditions in which the diameter of the obstructing cylinder was systematically varied from 25 mm to 160 mm. Analysis of salient events during the bees' flight, such as the deceleration before the obstacle, and the initiation of the deviation in flight path to avoid collisions, revealed a strategy for obstacle avoidance that is based on the relative retinal expansion velocity generated by the obstacle when the bee is on a collision course. We find that a quantitative model, featuring a controller that extracts specific visual cues from the frontal visual field, provides an accurate characterization of the geometry and the dynamics of the manoeuvres adopted by honeybees to avoid collisions. This study paves the way for the design of unmanned aerial systems, by identifying the visual cues that are used by honeybees for performing robust obstacle avoidance flight.

Finding the gap: neuromorphic motion-vision in dense environments

Animals have evolved mechanisms to travel safely and efficiently within different habitats. On a journey in dense terrains animals avoid collisions and cross narrow passages while controlling an overall course. Multiple hypotheses target how animals solve challenges faced during such travel. Here we show that a single mechanism enables safe and efficient travel. We developed a robot inspired by insects. It has remarkable capabilities to travel in dense terrain, avoiding collisions, crossing gaps and selecting safe passages. These capabilities are accomplished by a neuromorphic network steering the robot toward regions of low apparent motion. Our system leverages knowledge about vision processing and obstacle avoidance in insects. Our results demonstrate how insects might safely travel through diverse habitats. We anticipate our system to be a working hypothesis to study insects' travels in dense terrains. Furthermore, it illustrates that we can design novel hardware systems by understanding the underlying mechanisms driving behaviour.

Visuo-motor lateralization in Apis mellifera: flight speed differences in foraging choices

Evidence of lateralization has been provided in Apis mellifera in olfactory learning and social interactions, but not much is known about how it influences visuo-motor tasks. This study investigates visuo-motor biases in free-flying honeybees by analysing left/right choices related to foraging in a Y-maze. Individual bees were trained to associate a visual stimulus (a blue or yellow target) with a reward/punishment: the Blue + group was reinforced for the blue and punished for the yellow, and vice versa for the Yellow + group. In unrewarded tests, we assessed for each bee the directional choice for one of the two identical targets (12 trials with blue targets and 12 with yellow targets) placed in the left and right arms of the maze as well as the flight times to reach the target chosen. The results did not reveal a significant directional preference at the population level, but only at the individual level, with some individuals presenting a strong bias for choosing the right or left stimulus. However, the data revealed an interesting new factor: the influence of both direction and colour on flight times. Overall, bees took less time to choose the stimulus in the left arm. Furthermore, the yellow target, when previously associated with a punishment, was reached on average faster than the punished blue target, with a higher number of no-choices for punished blue targets than for punished yellow targets. This opens new perspectives not only on the study of lateralization in Apis mellifera, but also on the bees' chromatic preferences.

FlyDetector-Automated Monitoring Platform for the Visual-Motor Coordination of Honeybees in a Dynamic Obstacle Scene Using Digital Paradigm

Vision plays a crucial role in the ability of compound-eyed insects to perceive the characteristics of their surroundings. Compound-eyed insects (such as the honeybee) can change the optical flow input of the visual system by autonomously controlling their behavior, and this is referred to as visual-motor coordination (VMC). To analyze an insect's VMC mechanism in dynamic scenes, we developed a platform for studying insects that actively shape the optic flow of visual stimuli by adapting their flight behavior. Image-processing technology was applied to detect the posture and direction of insects' movement, and automatic control technology provided dynamic scene stimulation and automatic acquisition of perceptual insect behavior. In addition, a virtual mapping technique was used to reconstruct the visual cues of insects for VMC analysis in a dynamic obstacle scene. A simulation experiment at different target speeds of 1-12 m/s was performed to verify the applicability and accuracy of the platform. Our findings showed that the maximum detection speed was 8 m/s, and triggers were 95% accurate. The outdoor experiments showed that flight speed in the longitudinal axis of honeybees was more stable when facing dynamic barriers than static barriers after analyzing the change in geometric optic flow. Finally, several experiments showed that the platform can automatically and efficiently monitor honeybees' perception behavior, and can be applied to study most insects and their VMC.

Harmonic radar tracking of individual melon flies, Zeugodacus cucurbitae, in Hawaii: Determining movement parameters in cage and field settings

Tephritid fruit flies, such as the melon fly, Zeugodacus cucurbitae, are major horticultural pests worldwide and pose invasion risks due primarily to international trade. Determining movement parameters for fruit flies is critical to effective surveillance and control strategies, from setting quarantine boundaries after incursions to development of agent-based models for management. While mark-release-recapture, flight mills, and visual observations have been used to study tephritid movement, none of these techniques give a full picture of fruit fly movement in nature. Tracking tagged flies offers an alternative method which has the potential to observe individual fly movements in the field, mirroring studies conducted by ecologists on larger animals. In this study, harmonic radar (HR) tags were fabricated using superelastic nitinol wire which is light (tags weighed less than 1 mg), flexible, and does not tangle. Flight tests with wild melon flies showed no obvious adverse effects of HR tag attachment. Subsequent experiments successfully tracked HR tagged flies in large field cages, a papaya field, and open parkland. Unexpectedly, a majority of tagged flies showed strong flight directional biases with these biases varying between flies, similar to what has been observed in the migratory butterfly Pieris brassicae. In field cage experiments, 30 of the 36 flies observed (83%) showed directionally biased flights while similar biases were observed in roughly half the flies tracked in a papaya field. Turning angles from both cage and field experiments were non-random and indicate a strong bias toward continued “forward” movement. At least some of the observed direction bias can be explained by wind direction with a correlation observed between collective melon fly flight directions in field cage, papaya field, and open field experiments. However, individual mean flight directions coincided with the observed wind direction for only 9 out of the 25 flies in the cage experiment and half of the flies in the papaya field, suggesting wind is unlikely to be the only factor affecting flight direction. Individual flight distances (meters per flight) differed between the field cage, papaya field, and open field experiments with longer mean step-distances observed in the open field. Data on flight directionality and step-distances determined in this study might assist in the development of more effective control and better parametrize models of pest tephritid fruit fly movement.

Wind and route choice affect performance of bees flying above versus within a cluttered obstacle field

Bees flying through natural landscapes frequently encounter physical challenges, such as wind and cluttered vegetation, but the influence of these factors on flight performance remains unknown. We analyzed 548 videos of wild-caught honeybees (Apis mellifera) flying through an enclosure containing a field of vertical obstacles that bees could choose to fly within (through open corridors, without maneuvering) or above. We varied obstacle field height and wind condition (still, headwinds or tailwinds), and examined how these factors affected bees’ flight altitude, ground speed, and side-to-side casting motions (lateral excursions). When obstacle fields were short, bees flew at altitudes near the midpoint between the tunnel floor and ceiling. When obstacle fields approached or exceeded this midpoint, bees tended to increase their altitude, but they did not always avoid flying through obstacles, despite having the freedom to do so. Bees that flew above the obstacles exhibited 40% faster ground speeds and 36% larger lateral excursions than bees that flew within the obstacle fields. Wind did not affect flight altitude, but bees flew 12–19% faster in tailwinds, and their lateral excursions were 19% larger when flying in headwinds or tailwinds, as compared to still air. Our results show that bees flying through complex environments display flexibility in their route choices (i.e., flying above obstacles in some trials and through them in others), which affects their overall flight performance. Similar choices in natural landscapes could have broad implications for foraging efficiency, pollination, and mortality in wild bees.

Random or handedness? Use of laterally paired penises in Nala earwigs (Insecta: Dermaptera: Labiduridae)

Animals can show bias in their use of laterally paired organs that do not have any conspicuous anatomical differentiation between the right and left organs. Like right handedness in humans, males of the giant earwig Labidura riparia (Labiduridae: Labidurinae) preferentially (~90%) use the right one of their laterally paired penises for copulation. To elucidate the evolutionary origin of this lateralization, patterns of penis use were examined for the related species of the genus Nala (Labiduridae: Nalinae). In multiple populations and broods of both Nala lividipes and Nala nepalensis, males that were ready to use the right or left penis were equally frequent, providing a striking contrast to Labidura. Surgical ablation of one of the two penises revealed that both penises are functionally competent in N. lividipes. Nevertheless, each male almost consistently used only one of the paired penises, either the right or the left one. Changes in penis use were estimated to occur only once per 64–143 days per male. The present study is the first report of individual-level lateralization for animal genitalia that do not show any conspicuous anatomical differentiation between the right and left organs. Possible advantages of lateralization are discussed in relationship to co-evolution of the genitalia between the sexes.

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.

Brain Lateralization and Cognitive Capacity

One way to increase cognitive capacity is to avoid duplication of functions on the left and right sides of the brain. There is a convincing body of evidence showing that such asymmetry, or lateralization, occurs in a wide range of both vertebrate and invertebrate species. Each hemisphere of the brain can attend to different types of stimuli or to different aspects of the same stimulus and each hemisphere analyses information using different neural processes. A brain can engage in more than one task at the same time, as in monitoring for predators (right hemisphere) while searching for food (left hemisphere). Increased cognitive capacity is achieved if individuals are lateralized in one direction or the other. The advantages and disadvantages of individual lateralization are discussed. This paper argues that directional, or population-level, lateralization, which occurs when most individuals in a species have the same direction of lateralization, provides no additional increase in cognitive capacity compared to individual lateralization although directional lateralization is advantageous in social interactions. Strength of lateralization is considered, including the disadvantage of being very strongly lateralized. The role of brain commissures is also discussed with consideration of cognitive capacity.

Vision, perception, navigation and 'cognition' in honeybees and applications to aerial robotics

This review summarizes research carried out in the author's laboratory investigating the ways in which honeybees use vision to guide their flight and navigate in their environment, and describes how these principles have been used to design, build and test biologically-inspired systems for the guidance and navigation of unmanned aerial vehicles. It also outlines studies investigating the capacities of honeybees in the areas of visual perception, pattern recognition, and 'cognition'.

Visuo-motor biases in buff-tailed bumblebees (Bombus terrestris)

Bees provide a good model to investigate the evolution of lateralization. So far, most studies focused on olfactory learning and memories in tethered bees. This study investigated possible behavioural biases in free-flying buff-tailed bumblebees (Bombus terrestris) by analysing their turning decisions in a T-maze. Bees of various size were trained to associate a syrup reward with a blue target placed at the centre of the T-maze. The bees were then tested over 16 trials by presenting them with blue targets at the end of the maze's arms. The maze was rotated 180° after the first 8 trials to control for environmental factors. The number of turnings to the left and right arms were analysed. The bees sampled exhibited a population-level rightward turning bias. As bumblebees vary significantly in size with large bees being better learners than smaller ones, we measured the thorax width to identify a possible relationship between size and bias. No significant correlation was identified. This study shows that bees present lateralization in a visuo-motor task that mimics their foraging behaviour, indicating a possible specialization of the right side of the nervous system in routine tasks.

Wind and obstacle motion affect honeybee flight strategies in cluttered environments

Bees often forage in habitats with cluttered vegetation and unpredictable winds. Navigating obstacles in wind presents a challenge that may be exacerbated by wind-induced motions of vegetation. Although wind-blown vegetation is common in natural habitats, we know little about how the strategies of bees for flying through clutter are affected by obstacle motion and wind. We filmed honeybees Apis mellifera flying through obstacles in a flight tunnel with still air, headwinds or tailwinds. We tested how their ground speeds and centering behavior (trajectory relative to the midline between obstacles) changed when obstacles were moving versus stationary, and how their approach strategies affected flight outcome (successful transit versus collision). We found that obstacle motion affects ground speed: bees flew slower when approaching moving versus stationary obstacles in still air but tended to fly faster when approaching moving obstacles in headwinds or tailwinds. Bees in still air reduced their chances of colliding with obstacles (whether moving or stationary) by reducing ground speed, whereas flight outcomes in wind were not associated with ground speed, but rather with improvement in centering behavior during the approach. We hypothesize that in challenging flight situations (e.g. navigating moving obstacles in wind), bees may speed up to reduce the number of wing collisions that occur if they pass too close to an obstacle. Our results show that wind and obstacle motion can interact to affect flight strategies in unexpected ways, suggesting that wind-blown vegetation may have important effects on foraging behaviors and flight performance of bees in natural habitats.

A function for the bicameral mind

Why do the left and right sides of the brain have different functions? Having a lateralized brain, in which each hemisphere processes sensory inputs differently and carries out different functions, is common in vertebrates, and it has now been reported for invertebrates too. Experiments with several animal species have shown that having a lateralized brain can enhance the capacity to perform two tasks at the same time. Thus, the different specializations of the left and right sides of the brain seem to increase brain efficiency. Other advantages may involve control of action that, in Bilateria, may be confounded by separate and independent sensory processing and motor outputs on the left and right sides. Also, the opportunity for increased perceptual training associated with preferential use of only one sensory or motoric organ may result in a time advantage for the dominant side. Although brain efficiency of individuals can be achieved without the need for alignment of lateralization in the population, lateral biases (such as preferences in the use of a laterally-placed eye) usually occur at the population level, with most individuals showing a similar direction of bias. Why is this the case? Not only humans, but also most non-human animals, show a similar pattern of population bias (i.e., directional asymmetry). For instance, in several vertebrate species (from fish to mammals) most individuals react faster when a predator approaches from their left side, although some individuals (a minority usually ranging from 10 to 35%) escape faster from predators arriving from their right side. Invoking individual efficiency (lateralization may increase fitness), evolutionary chance or simply genetic inheritance cannot explain this widespread pattern. Using mathematical theory of games, it has been argued that the population structure of lateralization (with either antisymmetry or directional asymmetry) may result from the type of interactions asymmetric organisms face with each other.

Honeybees show a context-dependent rightward bias

Lateralized behaviour in social insects is of biological significance, as certain lateral biases appear to have emerged in tandem with eusociality, and thus can provide insights into its functioning. Here, I investigate behavioural asymmetry in an ecologically important social insect, the honeybee Apis mellifera. Experiments show that foraging bees exhibit a strong rightward turning bias, accompanied by reduced decision latency when entering open cavities, yet demonstrate no directional preference in sequential choice-mazes. A rightward exploration preference within unknown cavities is consistent with current information relating to the physiology of this species, with workers being better equipped for sensory investigation and threat response using their right antenna and eye. Furthermore, when applied to collective nest-choice scenarios, a similar bias would promote the uniform assessment of nest cavities, and consistency in quorum attainment. Conversely, such laterality appears to provide no immediate advantage in enclosed decision-maze systems, where thigmotaxis instead predominates. As such, my results show that directional biases in A. mellifera are extent, yet context-dependent, thus providing a simple and optimized response to varied social challenges.

Gap perception in bumblebees

A number of insects fly over long distances below the natural canopy, where the physical environment is highly cluttered consisting of obstacles of varying shape, size and texture. While navigating within such environments, animals need to perceive and disambiguate environmental features that might obstruct their flight. The most elemental aspect of aerial navigation through such environments is gap identification and 'passability' evaluation. We used bumblebees to seek insights into the mechanisms used for gap identification when confronted with an obstacle in their flight path and behavioral compensations employed to assess gap properties. Initially, bumblebee foragers were trained to fly though an unobstructed flight tunnel that led to a foraging chamber. After the bees were familiar with this situation, we placed a wall containing a gap that unexpectedly obstructed the flight path on a return trip to the hive. The flight trajectories of the bees as they approached the obstacle wall and traversed the gap were analyzed in order to evaluate their behavior as a function of the distance between the gap and a background wall that was placed behind the gap. Bumblebees initially decelerated when confronted with an unexpected obstacle. Deceleration was first noticed when the obstacle subtended around 35 deg on the retina but also depended on the properties of the gap. Subsequently, the bees gradually traded off their longitudinal velocity to lateral velocity and approached the gap with increasing lateral displacement and lateral velocity. Bumblebees shaped their flight trajectory depending on the salience of the gap, indicated in our case by the optic flow contrast between the region within the gap and on the obstacle, which decreased with decreasing distance between the gap and the background wall. As the optic flow contrast decreased, the bees spent an increasing amount of time moving laterally across the obstacles. During these repeated lateral maneuvers, the bees are probably assessing gap geometry and passability.

Individual-Level and Population-Level Lateralization: Two Sides of the Same Coin

Lateralization, i.e., the different functional roles played by the left and right sides of the brain, is expressed in two main ways: (1) in single individuals, regardless of a common direction (bias) in the population (aka individual-level lateralization); or (2) in single individuals and in the same direction in most of them, so that the population is biased (aka population-level lateralization). Indeed, lateralization often occurs at the population-level, with 60–90% of individuals showing the same direction (right or left) of bias, depending on species and tasks. It is usually maintained that lateralization can increase the brain’s efficiency. However, this may explain individual-level lateralization, but not population-level lateralization, for individual brain efficiency is unrelated to the direction of the asymmetry in other individuals. From a theoretical point of view, a possible explanation for population-level lateralization is that it may reflect an evolutionarily stable strategy (ESS) that can develop when individually asymmetrical organisms are under specific selective pressures to coordinate their behavior with that of other asymmetrical organisms. This prediction has been sometimes misunderstood as it is equated with the idea that population-level lateralization should only be present in social species. However, population-level asymmetries have been observed in aggressive and mating displays in so-called “solitary” insects, suggesting that engagement in specific inter-individual interactions rather than “sociality” per se may promote population-level lateralization. Here, we clarify that the nature of inter-individuals interaction can generate evolutionarily stable strategies of lateralization at the individual- or population-level, depending on ecological contexts, showing that individual-level and population-level lateralization should be considered as two aspects of the same continuum.

Miniaturisation decreases visual navigational competence in ants

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