Groups of bats improve sonar efficiency through mutual suppression of pulse emissions

Communication with self, friends and foes in active-sensing animals

Animals that rely on electrolocation and echolocation for navigation and prey detection benefit from sensory systems that can operate in the dark, allowing them to exploit sensory niches with few competitors. Active sensing has been characterized as a highly specialized form of communication, whereby an echolocating or electrolocating animal serves as both the sender and receiver of sensory information. This characterization inspires a framework to explore the functions of sensory channels that communicate information with the self and with others. Overlapping communication functions create challenges for signal privacy and fidelity by leaving active-sensing animals vulnerable to eavesdropping, jamming and masking. Here, we present an overview of active-sensing systems used by weakly electric fish, bats and odontocetes, and consider their susceptibility to heterospecific and conspecific jamming signals and eavesdropping. Susceptibility to interference from signals produced by both conspecifics and prey animals reduces the fidelity of electrolocation and echolocation for prey capture and foraging. Likewise, active-sensing signals may be eavesdropped, increasing the risk of alerting prey to the threat of predation or the risk of predation to the sender, or drawing competition to productive foraging sites. The evolutionary success of electrolocating and echolocating animals suggests that they effectively counter the costs of active sensing through rich and diverse adaptive behaviors that allow them to mitigate the effects of competition for signal space and the exploitation of their signals.

Absence of Jamming Avoidance and Flight Path Similarity in Paired Bent-Winged Bats,

Echolocating bats perceive their surroundings by listening to the echoes of self-generated ultrasound pulses. When multiple conspecifics fly in close proximity to each other, sounds emitted from nearby individuals could mutually interfere with echo reception. Many studies suggest that bats employ frequency shifts to avoid spectral overlap of pulses with other bats. Technical constraints in recording technology have made it challenging to capture subtle changes in the pulse characteristics of bat calls. Therefore, how bats change their behavior to extract their own echoes in the context of acoustic interference remains unclear. Also, to our best knowledge, no studies have investigated whether individual flight paths change when other bats are present, although movements likely reduce acoustic masking. Here, we recorded the echolocation pulses of bats flying alone or in pairs using telemetry microphones. Flight trajectories were also reconstructed using stereo camera recordings. We found no clear tendency to broaden individual differences in the acoustic characteristics of pulses emitted by pairs of bats compared to bats flying alone. However, some bats showed changes in pulse characteristics when in pairs, which suggests that bats can recognize their own calls based on the initial differences in call characteristics between individuals. In addition, we found that the paired bats spend more time flying in the same directions than in the opposite directions. Besides, we found that the flight paths of bats were more similar in “paired flight trials” than in virtual pairs of paired flight trials. Our results suggest that the bats tend to follow the other bat in paired flight. For the following bat, acoustic interference may be reduced, while the opportunity to eavesdrop on other bats’ calls may be increased.

The frugivorous bat Carollia perspicillata dynamically changes echolocation parameters in response to acoustic playback

Animals extract behaviorally relevant signals from 'noisy' environments. Echolocation behavior provides a rich system testbed for investigating signal extraction. When echolocating in acoustically enriched environments, bats show many adaptations that are believed to facilitate signal extraction. Most studies to date focused on describing adaptations in insectivorous bats while frugivorous bats have rarely been tested. Here, we characterize how the frugivorous bat Carollia perspicillata adapts its echolocation behavior in response to acoustic playback. Since bats not only adapt their echolocation calls in response to acoustic interference but also with respect to target distances, we swung bats on a pendulum to control for distance-dependent call changes. Forward swings evoked consistent echolocation behavior similar to approach flights. By comparing the echolocation behavior recorded in the presence and absence of acoustic playback, we could precisely define the influence of the acoustic context on the bats' vocal behavior. Our results show that C. perspicillata decrease the terminal peak frequencies of their calls when echolocating in the presence of acoustic playback. When considering the results at an individual level, it became clear that each bat dynamically adjusts different echolocation parameters across and even within experimental days. Utilizing such dynamics, bats create unique echolocation streams that could facilitate signal extraction in noisy environments.

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

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

A sensorimotor model shows why a spectral jamming avoidance response does not help bats deal with jamming

For decades, researchers have speculated how echolocating bats deal with masking by conspecific calls when flying in aggregations. To date, only a few attempts have been made to mathematically quantify the probability of jamming, or its effects. We developed a comprehensive sensorimotor predator-prey simulation, modeling numerous bats foraging in proximity. We used this model to examine the effectiveness of a spectral Jamming Avoidance Response (JAR) as a solution for the masking problem. We found that foraging performance deteriorates when bats forage near conspecifics, however, applying a JAR does not improve insect sensing or capture. Because bats constantly adjust their echolocation to the performed task (even when flying alone), further shifting the signals' frequencies does not mitigate jamming. Our simulations explain how bats can hunt successfully in a group despite competition and despite potential masking. This research demonstrates the advantages of a modeling approach when examining a complex biological system.

Modeling active sensing reveals echo detection even in large groups of bats

Active sensing animals perceive their surroundings by emitting probes of energy and analyzing how the environment modulates these probes. However, the probes of conspecifics can jam active sensing, which should cause problems for groups of active sensing animals. This problem was termed the cocktail party nightmare for echolocating bats: as bats listen for the faint returning echoes of their loud calls, these echoes will be masked by the loud calls of other close-by bats. Despite this problem, many bats echolocate in groups and roost socially. Here, we present a biologically parametrized framework to quantify echo detection in groups. Incorporating properties of echolocation, psychoacoustics, acoustics, and group flight, we quantify how well bats flying in groups can detect each other despite jamming. A focal bat in the center of a group can detect neighbors in group sizes of up to 100 bats. With increasing group size, fewer and only the closest and frontal neighbors are detected. Neighbor detection is improved by longer call intervals, shorter call durations, denser groups, and more variable flight and sonar beam directions. Our results provide a quantification of the sensory input of echolocating bats in collective group flight, such as mating swarms or emergences. Our results further generate predictions on the sensory strategies bats may use to reduce jamming in the cocktail party nightmare. Lastly, we suggest that the spatially limited sensory field of echolocators leads to limited interactions within a group, so that collective behavior is achieved by following only nearest neighbors.

The jamming avoidance response in echolocating bats

Bats face many sources of acoustic interference in their natural environments, including other bats and potential prey items that affect their ability to interpret the returning echoes of their biosonar signals. To be able to navigate and forage successfully, bats must be able to counteract this interference and one of the ways they achieve this is by altering the various parameters of their echolocation. We describe these changes in signal design within the context of a modified definition of the jamming avoidance response originally applied to the signal changes of weakly electric fish. Both of these groups use active sensory systems that exhibit similarities in function but we take this opportunity to highlight major differences each groups' response to signal interference. These discrepancies form the basis of our need for an expanded description of the jamming avoidance response in echolocating bats.

The effect of jamming stimuli on the echolocation behavior of the bottlenose dolphin, Tursiops truncatus

Echolocating bats and odontocetes face the potential challenge of acoustic interference from neighbors, or sonar jamming. To counter this, many bat species have adapted jamming avoidance strategies to improve signal detection, but any such avoidance strategies in dolphins is unknown. This study provides an investigation into whether dolphins modify echolocation behavior during jamming scenarios. Recorded echolocation clicks were projected at different click repetition rates and at different aspect angles relative to two dolphins' heads while each dolphin was performing a target detection task. Changes in the timing, amplitude, and frequency of structure of the dolphin's emitted signals were compared to determine if and how dolphins modify echolocation when faced with potentially interfering conspecific echolocation signals. The results indicate that both dolphins demonstrated different responses when faced with jamming scenarios, which may reflect optimal strategies according to individual auditory perception abilities.

Bats enhance their call identities to solve the cocktail party problem

Echolocating bats need to solve the problem of signal jamming by conspecifics when they are in a group. However, while several mechanisms have been suggested, it remains unclear how bats avoid confusion between their own echoes and interfering sounds in a complex acoustic environment. Here, we fixed on-board microphones onto individual frequency-modulating bats flying in groups. We found that group members broaden the inter-individual differences in the terminal frequencies of pulses, thereby decreasing the similarity of pulses among individuals. To understand what features most affect similarity between pulses, we calculated the similarity of signals mimicking pulses. We found that the similarity between those artificial signals was decreased most by manipulation of terminal frequency. These results demonstrate that the signal jamming problem is solved by this simple strategy, which may be universally used by animals that use active sensing, such as echolocating bats and electric fish, thereby transcending species and sensory modalities.

Sensing in a noisy world: lessons from auditory specialists, echolocating bats

All animals face the essential task of extracting biologically meaningful sensory information from the ‘noisy’ backdrop of their environments. Here, we examine mechanisms used by echolocating bats to localize objects, track small prey and communicate in complex and noisy acoustic environments. Bats actively control and coordinate both the emission and reception of sound stimuli through integrated sensory and motor mechanisms that have evolved together over tens of millions of years. We discuss how bats behave in different ecological scenarios, including detecting and discriminating target echoes from background objects, minimizing acoustic interference from competing conspecifics and overcoming insect noise. Bats tackle these problems by deploying a remarkable array of auditory behaviors, sometimes in combination with the use of other senses. Behavioral strategies such as ceasing sonar call production and active jamming of the signals of competitors provide further insight into the capabilities and limitations of echolocation. We relate these findings to the broader topic of how animals extract relevant sensory information in noisy environments. While bats have highly refined abilities for operating under noisy conditions, they face the same challenges encountered by many other species. We propose that the specialized sensory mechanisms identified in bats are likely to occur in analogous systems across the animal kingdom.

Frequency shifting reduces but does not eliminate acoustic interference between echolocating bats: A theoretical analysis

Bats have been observed to shift the frequency of their echolocation calls in the presence of other echolocating bats, ostensibly as a way to reduce acoustic interference. Few studies, however, have examined the theoretical efficacy of such jamming avoidance responses. The present study uses the wideband ambiguity function to analyze the effects of acoustic interference from conspecifics and congeneric heterospecifics on the target acquisition ability of Myotis californicus and Myotis yumanensis, specifically whether unilateral or bilateral frequency shifts reduce the effects of such interference. Model results suggest that in conspecific interactions, M. yumanensis recovers its target acquisition ability more completely and with less absolute frequency shift than does M. californicus, but that alternative methods of jamming avoidance may be easier to implement. The optimal strategy for reducing heterospecific interference is for M. californicus to downshift its call and M. yumanensis to upshift its call, which exaggerates a preexisting difference in mean frequency between the calls of the two species. Further empirical research would elucidate whether these species do in practice actively employ frequency shifting or other means for jamming avoidance, as well as illuminate the role of acoustic interference in niche partitioning.

Echolocating bats rely on audiovocal feedback to adapt sonar signal design

Many species of bat emit acoustic signals and use information carried by echoes reflecting from nearby objects to navigate and forage. It is widely documented that echolocating bats adjust the features of sonar calls in response to echo feedback; however, it remains unknown whether audiovocal feedback contributes to sonar call design. Audiovocal feedback refers to the monitoring of one's own vocalizations during call production and has been intensively studied in nonecholocating animals. Audiovocal feedback not only is a necessary component of vocal learning but also guides the control of the spectro-temporal structure of vocalizations. Here, we show that audiovocal feedback is directly involved in the echolocating bat's control of sonar call features. As big brown bats tracked targets from a stationary position, we played acoustic jamming signals, simulating calls of another bat, timed to selectively perturb audiovocal feedback or echo feedback. We found that the bats exhibited the largest call-frequency adjustments when the jamming signals occurred during vocal production. By contrast, bats did not show sonar call-frequency adjustments when the jamming signals coincided with the arrival of target echoes. Furthermore, bats rapidly adapted sonar call design in the first vocalization following the jamming signal, revealing a response latency in the range of 66 to 94 ms. Thus, bats, like songbirds and humans, rely on audiovocal feedback to structure sonar signal design.

Suppression of emission rates improves sonar performance by flying bats

Echolocating bats face the challenge of actively sensing their environment through their own emissions, while also hearing calls and echoes of nearby conspecifics. How bats mitigate interference is a long-standing question that has both ecological and technological implications, as biosonar systems continue to outperform man-made sonar systems in noisy, cluttered environments. We recently showed that perched bats decreased calling rates in groups, displaying a behavioral strategy resembling the back-off algorithms used in artificial communication networks to optimize information throughput at the group level. We tested whether free-tailed bats (Tadarida brasiliensis) would employ such a coordinated strategy while performing challenging flight maneuvers, and report here that bats navigating obstacles lowered emission rates when hearing artificial playback of another bat’s calls. We measured the impact of acoustic interference on navigation performance and show that the calculated reductions in interference rates are sufficient to reduce interference and improve obstacle avoidance. When bats flew in pairs, each bat responded to the presence of the other as an obstacle by increasing emissions, but hearing the sonar emissions of the nearby bat partially suppressed this response. This behavior supports social cohesion by providing a key mechanism for minimizing mutual interference.

Calling louder and longer: how bats use biosonar under severe acoustic interference from other bats

Active-sensing systems such as echolocation provide animals with distinct advantages in dark environments. For social animals, however, like many bat species, active sensing can present problems as well: when many individuals emit bio-sonar calls simultaneously, detecting and recognizing the faint echoes generated by one's own calls amid the general cacophony of the group becomes challenging. This problem is often termed 'jamming' and bats have been hypothesized to solve it by shifting the spectral content of their calls to decrease the overlap with the jamming signals. We tested bats' response in situations of extreme interference, mimicking a high density of bats. We played-back bat echolocation calls from multiple speakers, to jam flying Pipistrellus kuhlii bats, simulating a naturally occurring situation of many bats flying in proximity. We examined behavioural and echolocation parameters during search phase and target approach. Under severe interference, bats emitted calls of higher intensity and longer duration, and called more often. Slight spectral shifts were observed but they did not decrease the spectral overlap with jamming signals. We also found that pre-existing inter-individual spectral differences could allow self-call recognition. Results suggest that the bats' response aimed to increase the signal-to-noise ratio and not to avoid spectral overlap.

Bats adjust their pulse emission rates with swarm size in the field

Flying in swarms, e.g., when exiting a cave, could pose a problem to bats that use an active biosonar system because the animals could risk jamming each other's biosonar signals. Studies from current literature have found different results with regard to whether bats reduce or increase emission rate in the presence of jamming ultrasound. In the present work, the number of Eastern bent-wing bats (Miniopterus fuliginosus) that were flying inside a cave during emergence was estimated along with the number of signal pulses recorded. Over the range of average bat numbers present in the recording (0 to 14 bats), the average number of detected pulses per bat increased with the average number of bats. The result was interpreted as an indication that the Eastern bent-wing bats increased their emission rate and/or pulse amplitude with swarm size on average. This finding could be explained by the hypothesis that the bats might not suffer from substantial jamming probabilities under the observed density regimes, so jamming might not have been a limiting factor for their emissions. When jamming did occur, the bats could avoid it through changing the pulse amplitude and other pulse properties such as duration or frequency, which has been suggested by other studies. More importantly, the increased biosonar activities may have addressed a collision-avoidance challenge that was posed by the increased swarm size.

No evidence for spectral jamming avoidance in echolocation behavior of foraging pipistrelle bats

Frequency shifts in signals of bats flying near conspecifics have been interpreted as a spectral jamming avoidance response (JAR). However, several prerequisites supporting a JAR hypothesis have not been controlled for in previous studies. We recorded flight and echolocation behavior of foraging Pipistrellus pipistrellus while flying alone and with a conspecific and tested whether frequency changes were due to a spectral JAR with an increased frequency difference, or whether changes could be explained by other reactions. P. pipistrellus reacted to conspecifics with a reduction of sound duration and often also pulse interval, accompanied by an increase in terminal frequency. This reaction is typical of behavioral situations where targets of interest have captured the bat’s attention and initiated a more detailed exploration. All observed frequency changes were predicted by the attention reaction alone, and do not support the JAR hypothesis of increased frequency separation. Reaction distances of 1–11 m suggest that the attention response may be elicited either by detection of the conspecific by short range active echolocation or by long range passive acoustic detection of echolocation calls.

Rapid frequency control of sonar sounds by the FM bat, Miniopterus fuliginosus, in response to spectral overlap

In the presence of multiple flying conspecifics, echolocating bats avoid jamming by adjusting the spectral and/or temporal features of their vocalizations. However, little is known about how bats alter their pulse acoustic characteristics to adapt to an acoustically jamming situation during flight. We investigated echolocation behavior in a bat (Miniopterus fuliginosus) during free flight under acoustic jamming conditions created by downward FM jamming sounds mimicking bat echolocation sounds. In an experimental chamber, the flying bat was exposed to FM jamming sounds with different terminal frequencies (TFs) from loudspeakers. Echolocation pulses emitted by the flying bat were recorded using a telemetry microphone (Telemike) mounted on the back of the bat. The bats immediately (within 150ms) shifted the TFs of emitted pulses upward when FM jamming sounds were presented. Moreover, the amount of upward TF shift differed depending on the TF ranges of the jamming sounds presented. When the TF range was lower than or overlapped the bat's mean TF, the bat TF shifted significantly upward (by 1-2kHz, Student's t-test, P<0.05), corresponding to 3-5% of the total bandwidth of their emitted pulses. These findings indicate that bats actively avoid overlap of the narrow frequency band around the TF.

Adaptive changes in echolocation sounds by Pipistrellus abramus in response to artificial jamming sounds

The echolocation behavior of Pipistrellus abramus during exposure to artificial jamming sounds during flight was investigated. Echolocation pulses emitted by the bats were recorded using a telemetry microphone mounted on the bats' backs, and their adaptation based on acoustic characteristics of emitted pulses was assessed in terms of jamming-avoidance responses (JARs). In experiment 1, frequency-modulated jamming sounds (3 ms duration) mimicking echolocation pulses of P. abramus were prepared. All bats showed significant increases in the terminal frequency of the frequency-modulated pulse by an average of 2.1-4.5 kHz when the terminal frequency of the jamming sounds was lower than the bats' own pulses. This frequency shift was not observed using jamming frequencies that overlapped with or were higher than the bats' own pulses. These findings suggest that JARs in P. abramus are sensitive to the terminal frequency of jamming pulses and that the bats' response pattern was dependent on the slight difference in stimulus frequency. In experiment 2, when bats were repeatedly exposed to a band-limited noise of 70 ms duration, the bats in flight more frequently emitted pulses during silent periods between jamming sounds, suggesting that the bats could actively change the timing of pulse emissions, even during flight, to avoid temporal overlap with jamming sounds. Our findings demonstrate that bats could adjust their vocalized frequency and emission timing during flight in response to acoustic jamming stimuli.

Influence of call structure on the jamming avoidance response of echolocating bats

Bats rely heavily on echolocation for orientation and prey detection, hence acoustic signals that interfere with echo reception are problematic. When flying in the presence of other bats, some species adjust their echolocation to avoid frequency overlap with the calls of nearby conspecifics, known as a jamming avoidance response (JAR). One aspect of JAR that has not been thoroughly examined is how the spectral structure of the jamming signal impacts the jamming response. Our objective was to examine how the structural characteristics of an echolocation broadcast impact JAR in free-flying Brazilian free-tailed bats, Tadarida brasiliensis . We created 4 echolocation playbacks that differed only in call shape and frequency modulation. We examined the response of bats when flying in the presence of an unchanging broadcast (static stimulus) and when the playback signal was abruptly switched as the bat approached the speaker (dynamic stimulus). Results revealed that the bandwidth of the interfering signal impacted the strength of the observed JAR, while the presence and/or length of a terminal quasi-constant frequency section in the interfering signal did not. Our results agree with laboratory studies documenting JAR in the presence of white noise, as well as field studies demonstrating extensive variability in the echolocation calls of Brazilian free-tailed bats. We relate these results to previous findings on JAR, including a recent study documenting no JAR in a bat species and suggest further experiments to tease apart the physiological limitations of JAR. Overall, this study provides additional insight into the signal processing capabilities of bats and improves our understanding of how bats are able to orient using sound in a noisy world.

On-board recordings reveal no jamming avoidance in wild bats

Animals often deal with situations in which vast sensory input is received simultaneously. They therefore must possess sophisticated mechanisms to select important input and ignore the rest. In bat echolocation, this problem is at its extreme. Echolocating bats emit sound signals and analyse the returning echoes to sense their environment. Bats from the same species use signals with similar frequencies. Nearby bats therefore face the difficulty of distinguishing their own echoes from the signals of other bats, a problem often referred to as jamming. Because bats commonly fly in large groups, jamming might simultaneously occur from numerous directions and at many frequencies. Jamming is a special case of the general phenomenon of sensory segregation. Another well-known example is the human problem of following conversation within a crowd. In both situations, a flood of auditory incoming signals must be parsed into important versus irrelevant information. Here, we present a novel method, fitting wild bats with a miniature microphone, which allows studying jamming from the bat's 'point of view'. Previous studies suggested that bats deal with jamming by shifting their echolocation frequency. On-board recordings suggest otherwise. Bats shifted their frequencies, but they did so because they were responding to the conspecifics as though they were nearby objects rather than avoiding being jammed by them. We show how bats could use alternative measures to deal with jamming instead of shifting their frequency. Despite its intuitive appeal, a spectral jamming avoidance response might not be the prime mechanism to avoid sensory interference from conspecifics.