Path integration, views, search, and matched filters: the contributions of Rüdiger Wehner to the study of orientation and navigation

Is this scenery worth exploring? Insight into the visual encoding of navigating ants

Solitary foraging insects such as desert ants rely heavily on vision for navigation. Although ants can learn visual scenes, it is unclear what cues they use to decide whether a scene is worth exploring at the first place. To investigate this, we recorded the motor behaviour of Cataglyphis velox ants navigating in a virtual reality setup and measured their lateral oscillations in response to various unfamiliar visual scenes under both closed-loop and open-loop conditions. In naturalistic-looking panorama, ants display regular oscillations as observed outdoors, allowing them to efficiently scan the scenery. Manipulations of the virtual environment revealed distinct functions served by dynamic and static cues. Dynamic cues, mainly rotational optic flow, regulated the amplitude of oscillations but not their regularity. Conversely, static cues had little impact on the amplitude but were essential for producing regular oscillations. Regularity of oscillations decreased in scenes with only horizontal, only vertical or no edges, but was restored in scenes with both edge types together. The actual number of edges, the visual pattern heterogeneity across azimuths, the light intensity or the relative elevation of brighter regions did not affect oscillations. We conclude that ants use a simple but functional heuristic to determine whether the visual world is worth exploring, relying on the presence of at least two different edge orientations in the scene.

Unbalanced visual cues do not affect search precision at the nest in desert ants (Cataglyphis nodus)

Desert ant foragers are well known for their visual navigation abilities, relying on visual cues in the environment to find their way along routes back to the nest. If the inconspicuous nest entrance is missed, ants engage in a highly structured systematic search until it is discovered. Searching ants continue to be guided by visual cues surrounding the nest, from which they derive a location estimate. The precision level of this estimate depends on the information content of the nest panorama. This study examines whether search precision is also affected by the directional distribution of visual information. The systematic searching behavior of ants is examined under laboratory settings. Two different visual scenarios are compared - a balanced one where visual information is evenly distributed, and an unbalanced one where all visual information is located on one side of an experimental arena. The identity and number of visual objects is similar over both conditions. The ants search with comparable precision in both conditions. Even in the visually unbalanced condition, searches are characterized by balanced precision on both sides of the arena. This finding lends support to the idea that ants memorize the visual scenery at the nest as panoramic views from different locations. A searching ant is thus able to estimate its location with equal precision in all directions, leading to symmetrical search paths.

The cognitive map debate in insects: A historical perspective on what is at stake

Though well established in mammals, the cognitive map hypothesis has engendered a decades-long, ongoing debate in insect navigation studies involving many of the field's most prominent researchers. In this paper, I situate the debate within the broader context of 20th century animal behavior research and argue that the debate persists because competing research groups are guided by different constellations of epistemic aims, theoretical commitments, preferred animal subjects, and investigative practices. The expanded history of the cognitive map provided in this paper shows that more is at stake in the cognitive map debate than the truth value of propositions characterizing insect cognition. What is at stake is the future direction of an extraordinarily productive tradition of insect navigation research stretching back to Karl von Frisch. Disciplinary labels like ethology, comparative psychology, and behaviorism became less relevant at the turn of the 21st century, but as I show, the different ways of knowing animals associated with these disciplines continue to motivate debates about animal cognition. This examination of scientific disagreement surrounding the cognitive map hypothesis also has significant consequences for philosophers' use of cognitive map research as a case study.

No Need for Landmarks: An Embodied Neural Controller for Robust Insect-Like Navigation Behaviors

Bayesian filters have been considered to help refine and develop theoretical views on spatial cell functions for self-localization. However, extending a Bayesian filter to reproduce insect-like navigation behaviors (e.g., home searching) remains an open and challenging problem. To address this problem, we propose an embodied neural controller for self-localization, foraging, backward homing (BH), and home searching of an advanced mobility sensor (AMOS)-driven insect-like robot. The controller, comprising a navigation module for the Bayesian self-localization and goal-directed control of AMOS and a locomotion module for coordinating the 18 joints of AMOS, leads to its robust insect-like navigation behaviors. As a result, the proposed controller enables AMOS to perform robust foraging, BH, and home searching against various levels of sensory noise, compared to conventional controllers. Its implementation relies only on self-localization and heading perception, rather than global positioning and landmark guidance. Interestingly, the proposed controller makes AMOS achieve spiral searching patterns comparable to those performed by real insects. We also demonstrated the performance of the controller for real-time indoor and outdoor navigation in a real insect-like robot without any landmark and cognitive map.

High-performance polarization management devices based on thin-film lithium niobate

High-speed polarization management is highly desirable for many applications, such as remote sensing, telecommunication, and medical diagnosis. However, most of the approaches for polarization management rely on bulky optical components that are slow to respond, cumbersome to use, and sometimes with high drive voltages. Here, we overcome these limitations by harnessing photonic integrated circuits based on thin-film lithium niobate platform. We successfully realize a portfolio of thin-film lithium niobate devices for essential polarization management functionalities, including arbitrary polarization generation, fast polarization measurement, polarization scrambling, and automatic polarization control. The present devices feature ultra-fast control speeds, low drive voltages, low optical losses and compact footprints. Using these devices, we achieve high fidelity polarization generation with a polarization extinction ratio up to 41.9 dB and fast polarization scrambling with a scrambling rate up to 65 Mrad s^-1, both of which are best results in integrated optics. We also demonstrate the endless polarization state tracking operation in our devices. The demonstrated devices unlock a drastically new level of performance and scales in polarization management devices, leading to a paradigm shift in polarization management.

Linear and nonlinear chromatic integration in the mouse retina

The computations performed by a neural circuit depend on how it integrates its input signals into an output of its own. In the retina, ganglion cells integrate visual information over time, space, and chromatic channels. Unlike the former two, chromatic integration is largely unexplored. Analogous to classical studies of spatial integration, we here study chromatic integration in mouse retina by identifying chromatic stimuli for which activation from the green or UV color channel is maximally balanced by deactivation through the other color channel. This reveals nonlinear chromatic integration in subsets of On, Off, and On-Off ganglion cells. Unlike the latter two, nonlinear On cells display response suppression rather than activation under balanced chromatic stimulation. Furthermore, nonlinear chromatic integration occurs independently of nonlinear spatial integration, depends on contributions from the rod pathway and on surround inhibition, and may provide information about chromatic boundaries, such as the skyline in natural scenes.

The Coding Question

Recent electrophysiological results imply that the duration of the stimulus onset asynchrony in eyeblink conditioning is encoded by a mechanism intrinsic to the cerebellar Purkinje cell. This raises the general question - how is quantitative information (durations, distances, rates, probabilities, amounts, etc.) transmitted by spike trains and encoded into engrams? The usual assumption is that information is transmitted by firing rates. However, rate codes are energetically inefficient and computationally awkward. A combinatorial code is more plausible. If the engram consists of altered synaptic conductances (the usual assumption), then we must ask how numbers may be written to synapses. It is much easier to formulate a coding hypothesis if the engram is realized by a cell-intrinsic molecular mechanism.

Spectral Skyline Separation: Extended Landmark Databases and Panoramic Imaging

Evidence from behavioral experiments suggests that insects use the skyline as a cue for visual navigation. However, changes of lighting conditions, over hours, days or possibly seasons, significantly affect the appearance of the sky and ground objects. One possible solution to this problem is to extract the “skyline” by an illumination-invariant classification of the environment into two classes, ground objects and sky. In a previous study (Insect models of illumination-invariant skyline extraction from UV (ultraviolet) and green channels), we examined the idea of using two different color channels available for many insects (UV and green) to perform this segmentation. We found out that for suburban scenes in temperate zones, where the skyline is dominated by trees and artificial objects like houses, a “local” UV segmentation with adaptive thresholds applied to individual images leads to the most reliable classification. Furthermore, a “global” segmentation with fixed thresholds (trained on an image dataset recorded over several days) using UV-only information is only slightly worse compared to using both the UV and green channel. In this study, we address three issues: First, to enhance the limited range of environments covered by the dataset collected in the previous study, we gathered additional data samples of skylines consisting of minerals (stones, sand, earth) as ground objects. We could show that also for mineral-rich environments, UV-only segmentation achieves a quality comparable to multi-spectral (UV and green) segmentation. Second, we collected a wide variety of ground objects to examine their spectral characteristics under different lighting conditions. On the one hand, we found that the special case of diffusely-illuminated minerals increases the difficulty to reliably separate ground objects from the sky. On the other hand, the spectral characteristics of this collection of ground objects covers well with the data collected in the skyline databases, increasing, due to the increased variety of ground objects, the validity of our findings for novel environments. Third, we collected omnidirectional images, as often used for visual navigation tasks, of skylines using an UV-reflective hyperbolic mirror. We could show that “local” separation techniques can be adapted to the use of panoramic images by splitting the image into segments and finding individual thresholds for each segment. Contrarily, this is not possible for ‘global’ separation techniques.

Use of the sun as a heading indicator when caching and recovering in a wild rodent

A number of diurnal species have been shown to use directional information from the sun to orientate. The use of the sun in this way has been suggested to occur in either a time-dependent (relying on specific positional information) or a time-compensated manner (a compass that adjusts itself over time with the shifts in the sun’s position). However, some interplay may occur between the two where a species could also use the sun in a time-limited way, whereby animals acquire certain information about the change of position, but do not show full compensational abilities. We tested whether Cape ground squirrels (Xerus inauris) use the sun as an orientation marker to provide information for caching and recovery. This species is a social sciurid that inhabits arid, sparsely vegetated habitats in Southern Africa, where the sun is nearly always visible during the diurnal period. Due to the lack of obvious landmarks, we predicted that they might use positional cues from the sun in the sky as a reference point when caching and recovering food items. We provide evidence that Cape ground squirrels use information from the sun’s position while caching and reuse this information in a time-limited way when recovering these caches.

Insect models of illumination-invariant skyline extraction from UV and green channels

Experiments have shown that the skyline is an important visual cue for navigating insects. However, the comparison between two snapshots collected at different times of day is a complex task due to possible illumination changes. In this study we examine whether the information from two different color channels (UV and green, which are also available for many insects) can be used to obtain an illumination-invariant separation between the sky and ground. We collected UV and green images of seven different scenes over entire days, in which natural and artificial objects are visible in front of the sky. With the collected data we want to find answers to the following two questions: 'Does UV/green contrast vision increase the quality of separation compared to UV-only vision?' and 'What yields a better performance: separation methods based on a fixed threshold (global separation techniques) or separation methods which adapt the threshold dependent on the input image (local separation techniques)?' We implemented several linear separation techniques and found that UV/green contrast only marginally increases the quality of global separation in comparison to UV-only, and that local separation techniques are superior to global separation techniques.