Path integration in a three-dimensional world: the case of desert ants

Three systems of circuit formation: assembly, updating and tuning

Understanding the relationship between genotype and neuronal circuit phenotype necessitates an integrated view of genetics, development, plasticity and learning. Challenging the prevailing notion that emphasizes learning and plasticity as primary drivers of circuit assembly, in this Perspective, we delineate a tripartite framework to clarify the respective roles that learning and plasticity might have in this process. In the first part of the framework, which we term System One, neural circuits are established purely through genetically driven algorithms, in which spike timing-dependent plasticity serves no instructive role. We propose that these circuits equip the animal with sufficient skill and knowledge to successfully engage the world. Next, System Two is governed by rare but critical 'single-shot learning' events, which occur in response to survival situations and prompt rapid synaptic reconfiguration. Such events serve as crucial updates to the existing hardwired knowledge base of an organism. Finally, System Three is characterized by a perpetual state of synaptic recalibration, involving continual plasticity for circuit stabilization and fine-tuning. By outlining the definitions and roles of these three core systems, our framework aims to resolve existing ambiguities related to and enrich our understanding of neural circuit formation.

The allocentric nature of ground-surface representation: A study of depth and location perception

When observers perceive 3D relations, they represent depth and spatial locations with the ground as a reference. This frame of reference could be egocentric, that is, moving with the observer, or allocentric, that is, remaining stationary and independent of the moving observer. We tested whether the representation of relative depth and of spatial location took an egocentric or allocentric frame of reference in three experiments, using a blind walking task. In Experiments 1 and 2, participants either observed a target in depth, and then straightaway blind walked for the previously seen distance between the target and the self; or walked to the side or along an oblique path for 3 m and then started blind walking for the previously seen distance. The difference between the conditions was whether blind walking started from the observation point. Results showed that blind walking distance varied with the starting locations. Thus, the represented distance did not seem to go through spatial updating with the moving observer and the frame of reference was likely allocentric. In Experiment 3, participants observed a target in space, then immediately blind walked to the target, or blind walked to another starting point and then blind walked to the target. Results showed that the end location of blind walking was different for different starting points, which suggested the representation of spatial location is likely to take an allocentric frame of reference. Taken together, these experiments convergingly suggested that observers used an allocentric frame of reference to construct their mental space representation.

Formalising the role of behaviour in neuroscience

We develop a mathematical approach to formally proving that certain neural computations and representations exist based on patterns observed in an organism's behaviour. To illustrate, we provide a simple set of conditions under which an ant's ability to determine how far it is from its nest would logically imply neural structures isomorphic to the natural numbers ℕ . We generalise these results to arbitrary behaviours and representations and show what mathematical characterisation of neural computation and representation is simplest while being maximally predictive of behaviour. We develop this framework in detail using a path integration example, where an organism's ability to search for its nest in the correct location implies representational structures isomorphic to two-dimensional coordinates under addition. We also study a system for processinga n b n strings common in comparative work. Our approach provides an objective way to determine what theory of a physical system is best, addressing a fundamental challenge in neuroscientific inference. These results motivate considering which neurobiological structures have the requisite formal structure and are otherwise physically plausible given relevant physical considerations such as generalisability, information density, thermodynamic stability and energetic cost.

An allocentric human odometer for perceiving distances on the ground plane

We reliably judge locations of static objects when we walk despite the retinal images of these objects moving with every step we take. Here, we showed our brains solve this optical illusion by adopting an allocentric spatial reference frame. We measured perceived target location after the observer walked a short distance from the home base. Supporting the allocentric coding scheme, we found the intrinsic bias , which acts as a spatial reference frame for perceiving location of a dimly lit target in the dark, remained grounded at the home base rather than traveled along with the observer. The path-integration mechanism responsible for this can utilize both active and passive (vestibular) translational motion signals, but only along the horizontal direction. This asymmetric path-integration finding in human visual space perception is reminiscent of the asymmetric spatial memory finding in desert ants, pointing to nature's wondrous and logically simple design for terrestrial creatures.

An allocentric human odometer for perceiving distances on the ground plane

We reliably judge locations of static objects when we walk despite the retinal images of these objects moving with every step we take. Here, we showed our brains solve this optical illusion by adopting an allocentric spatial reference frame. We measured perceived target location after the observer walked a short distance from the home base. Supporting the allocentric coding scheme, we found the intrinsic bias 1, 2 , which acts as a spatial reference frame for perceiving location of a dimly lit target in the dark, remained grounded at the home base rather than traveled along with the observer. The path-integration mechanism responsible for this can utilize both active and passive (vestibular) translational motion signals, but only along the horizontal direction. This anisotropic path-integration finding in human visual space perception is reminiscent of the anisotropic spatial memory finding in desert ants 3 , pointing to nature's wondrous and logically simple design for terrestrial creatures.

Effect of repetition of vertical and horizontal routes on navigation performance in Australian bull ants

Solitarily foraging ant species differ in their reliance on their two primary navigational systems- path integration and visual learning. Despite many species of Australian bull ants spending most of their foraging time on their foraging tree, little is known about the use of these systems while climbing. "Rewinding" displacements are commonly used to understand navigational system usage, and work by introducing a mismatch between these navigational systems, by displacing foragers after they have run-down their path integration vector. We used rewinding to test the role of path integration on the arboreal and terrestrial navigation of M. midas. We rewound foragers along either the vertical portion, the ground surface portion, or across both portions of their homing trip. Since rewinding involves repeatedly capturing and releasing foragers, we included a nondisplacement, capture-and-release control, in which the path integration vector is unchanged. We found that rewound foragers do not seem to accumulate path integration vector, although a limited effect of vertical rewinding was found, suggesting a potential higher sensitivity while descending the foraging tree. However, the decrease in navigational efficiency due to capture was larger than the vertical rewinding effect, which along with the negative impact of the vertical surface, and an interaction between capture and rewinding, may suggest aversion rather than path integration caused the vertical rewinding response. Together these results add to the evidence that M. midas makes minimal use of path integration while foraging, and the growing evidence that they are capable of quickly learning from aversive stimulus.

Measurement Modeling and Performance Analysis of a Bionic Polarimetric Imaging Navigation Sensor Using Rayleigh Scattering to Generate Scattered Sunlight

The bionic polarimetric imaging navigation sensor (BPINS) is a navigation sensor that provides absolute heading, and it is of practical engineering significance to model the measurement error of BPINS. The existing BPINSs are still modeled using photodiode-based measurements rather than imaging measurements and are not modeled systematically enough. This paper proposes a measurement performance analysis method of BPINS that takes into account the geometric and polarization errors of the optical system. Firstly, the key error factors affecting the overall measurement performance of BPINS are investigated, and the Stokes vector-based measurement error model of BPINS is introduced. Secondly, based on its measurement error model, the effect of the error source on the measurement performance of BPINS is quantitatively analyzed using Rayleigh scattering to generate scattered sunlight as a known incident light source. The numerical results show that in angle of E-vector (AoE) measurement, the coordinate deviation of the principal point has a greater impact, followed by grayscale response inconsistency of CMOS and integration angle error of micro-polarization array, and finally lens attenuation; in degree of linear polarization (DoLP) measurement, the grayscale response inconsistency of CMOS has a more significant impact. This finding can accurately guide the subsequent calibration of BPINS, and the quantitative results provide an important theoretical reference for its optimal design.

Optic flow based spatial vision in insects

The optic flow, i.e., the displacement of retinal images of objects in the environment induced by self-motion, is an important source of spatial information, especially for fast-flying insects. Spatial information over a wide range of distances, from the animal's immediate surroundings over several hundred metres to kilometres, is necessary for mediating behaviours, such as landing manoeuvres, collision avoidance in spatially complex environments, learning environmental object constellations and path integration in spatial navigation. To facilitate the processing of spatial information, the complexity of the optic flow is often reduced by active vision strategies. These result in translations and rotations being largely separated by a saccadic flight and gaze mode. Only the translational components of the optic flow contain spatial information. In the first step of optic flow processing, an array of local motion detectors provides a retinotopic spatial proximity map of the environment. This local motion information is then processed in parallel neural pathways in a task-specific manner and used to control the different components of spatial behaviour. A particular challenge here is that the distance information extracted from the optic flow does not represent the distances unambiguously, but these are scaled by the animal's speed of locomotion. Possible ways of coping with this ambiguity are discussed.

Measurement error model of the bio-inspired polarization imaging orientation sensor

This article studies the measurement error model and calibration method of the bio-inspired polarization imaging orientation sensor (BPIOS), which has important engineering significance for promoting bio-inspired polarization navigation. Firstly, we systematically analyzed the measurement errors in the imaging process of polarized skylight and accurately established an error model of BPIOS based on Stokes vector. Secondly, using the simulated Rayleigh skylight as the incident surface light source, the influence of multi-source factors on the measurement accuracy of BPIOS is quantitatively given for the first time. These simulation results can guide the later calibration of BPIOS. We then proposed a calibration method of BPIOS based on geometric parameters and the Mueller matrix of the optical system and conducted an indoor calibration experiment. Experimental results show that the measurement accuracy of the calibrated BPIOS can reach 0.136°. Finally, the outdoor performance of BPIOS is studied. Outdoor dynamic performance test and field compensation were performed. Outdoor results show that the heading accuracy of BPIOS is 0.667°.

Navigating in a challenging semiarid environment: the use of a route-based mental map by a small-bodied neotropical primate

To increase efficiency in the search for resources, many animals rely on their spatial abilities. Specifically, primates have been reported to use mostly topological and rarely Euclidean maps when navigating in large-scale space. Here, we aimed to investigate if the navigation of wild common marmosets inhabiting a semiarid environment is consistent with a topological representation and how environmental factors affect navigation. We collected 497 h of direct behavioral and GPS information on a group of marmosets using a 2-min instantaneous focal animal sampling technique. We found that our study group reused not only long-route segments (mean of 1007 m) but entire daily routes, a pattern that is not commonly seen in primates. The most frequently reused route segments were the ones closer to feeding sites, distant to resting sites, and in areas sparse in tree vegetation. We also identified a total of 56 clustered direction change points indicating that the group modified their direction of travel. These changes in direction were influenced by their close proximity to resting and feeding sites. Despite our small sample size, the obtained results are important and consistent with the contention that common marmosets navigate using a topological map that seems to benefit these animals in response to the exploitation of clustered exudate trees. Based on our findings, we hypothesize that the Caatinga landscape imposes physical restrictions in our group's navigation such as gaps in vegetation, small trees and xerophytic plants. This study, based on preliminary evidence, raises the question of whether navigation patterns are an intrinsic characteristic of a species or are ecologically dependent and change according to the environment.