Way-finding in displaced clock-shifted bees proves bees use a cognitive map

Vector-based navigation in desert ants: the significance of path-integration vectors

In the longstanding discussion of whether insects, especially central place foragers such as bees and ants, use metric representations of their landmark surroundings (so-called "cognitive maps"), the ability to find novel shortcuts between familiar locations has been considered one of the most decisive proofs for the use of such maps. Here we show by channel-based field experiments that desert ants Cataglyphis can travel such shortcuts between locations (defined by memorized goal vectors) just on the basis of path integration. When trained to visit two spatially separated feeders A and B they later travel the hitherto novel route A→B. This behavior may originate from the interaction of goal vectors retrieved from long-term memory and the current vector computed by the continuously running path integrator. Based on former experiments, we further argue that path integration is a necessary requirement also for acquiring landmark information (in form of learned goal-directed views). This emphasizes the paramount importance of path integration in these central place foragers. Finally we hypothesize that the ant's overall system of navigation consists in the optimal combination of path-integration vectors and view-based vectors, and thus handles and uses vectorial information without the need of constructing a "vector map", in which vectors are linked to known places in the environment others than to the origin of all journeys, the nest.

Spatial memory obviates following behaviour in an information centre of wild fruit bats

According to the information centre hypothesis (ICH), colonial species use social information in roosts to locate ephemeral resources. Validating the ICH necessitates showing that uninformed individuals follow informed ones to the new resource. However, following behaviour may not be essential when individuals have a good memory of the resources' locations. For instance, Egyptian fruit bats forage on spatially predictable trees, but some bear fruit at unpredictable times. These circumstances suggest an alternative ICH pathway in which bats learn when fruits emerge from social cues in the roost but then use spatial memory to locate them without following conspecifics. Here, using an unique field manipulation and high-frequency tracking data, we test for this alternative pathway: we introduced bats smeared with the fruit odour of the unpredictably fruiting Ficus sycomorus trees to the roost, when they bore no fruits, and then tracked the movement of conspecifics exposed to the manipulated social cue. As predicted, bats visited the F. sycomorus trees with significantly higher probabilities than during routine foraging trips (of >200 bats). Our results show how the integration of spatial memory and social cues leads to efficient resource tracking and highlight the value of using large movement datasets and field experiments in behavioural ecology. This article is part of the theme issue 'The spatial-social interface: a theoretical and empirical integration'.

Parallel vector memories in the brain of a bee as foundation for flexible navigation

Insects rely on path integration (vector-based navigation) and landmark guidance to perform sophisticated navigational feats, rivaling those seen in mammals. Bees in particular exhibit complex navigation behaviors including creating optimal routes and novel shortcuts between locations, an ability historically indicative of the presence of a cognitive map. A mammalian cognitive map has been widely accepted. However, in insects, the existence of a centralized cognitive map is highly contentious. Using a controlled laboratory assay that condenses foraging behaviors to short distances in walking bumblebees, we reveal that vectors learned during path integration can be transferred to long-term memory, that multiple such vectors can be stored in parallel, and that these vectors can be recalled at a familiar location and used for homeward navigation. These findings demonstrate that bees meet the two fundamental requirements of a vector-based analog of a decentralized cognitive map: Home vectors need to be stored in long-term memory and need to be recalled from remembered locations. Thus, our data demonstrate that bees possess the foundational elements for a vector-based map. By utilizing this relatively simple strategy for spatial organization, insects may achieve high-level navigation behaviors seen in vertebrates with the limited number of neurons in their brains, circumventing the computational requirements associated with the cognitive maps of mammals.

Ingeborg Beling and the time memory in honeybees: almost one hundred years of research

Bees are known for their ability to forage with high efficiency. One of their strategies to avoid unproductive foraging is to be at the food source at the right time of the day. Approximately one hundred years ago, researchers discovered that honeybees have a remarkable time memory, which they use for optimizing foraging. Ingeborg Beling was the first to examine this time memory experimentally. In her doctoral thesis, completed under the mentorship of Karl von Frisch in 1929, she systematically examined the capability of honeybees to remember specific times of the day at which they had been trained to appear at a feeding station. Beling was a pioneer in chronobiology, as she described the basic characteristics of the circadian clock on which the honeybee's time memory is based. Unfortunately, after a few years of extremely productive research, she ended her scientific career, probably due to family reasons or political pressure to reduce the number of women in the workforce. Here, we present a biographical sketch of Ingeborg Beling and review her research on the time memory of honeybees. Furthermore, we discuss the significance of her work, considering what is known about time memory today - nearly 100 years after she conducted her experiments.

Unpacking the navigation toolbox: insights from comparative cognition

The study of navigation is informed by ethological data from many species, laboratory investigation at behavioural and neurobiological levels, and computational modelling. However, the data are often species-specific, making it challenging to develop general models of how biology supports behaviour. Wiener et al. outlined a framework for organizing the results across taxa, called the 'navigation toolbox' (Wiener et al. In Animal thinking: contemporary issues in comparative cognition (eds R Menzel, J Fischer), pp. 51-76). This framework proposes that spatial cognition is a hierarchical process in which sensory inputs at the lowest level are successively combined into ever-more complex representations, culminating in a metric or quasi-metric internal model of the world (cognitive map). Some animals, notably humans, also use symbolic representations to produce an external representation, such as a verbal description, signpost or map that allows communication of spatial information or instructions between individuals. Recently, new discoveries have extended our understanding of how spatial representations are constructed, highlighting that the hierarchical relationships are bidirectional, with higher levels feeding back to influence lower levels. In the light of these new developments, we revisit the navigation toolbox, elaborate it and incorporate new findings. The toolbox provides a common framework within which the results from different taxa can be described and compared, yielding a more detailed, mechanistic and generalized understanding of navigation.

On the 'cognitive map debate' in insect navigation

In a historical account recently published in this journal Dhein argues that the current debate whether insects like bees and ants use cognitive maps (centralized map hypothesis) or other means of navigation (decentralized network hypothesis) largely reflects the classical debate between American experimental psychologists à la Tolman and German ethologists à la Lorenz, respectively. In this dichotomy we, i.e., the proponents of the network hypothesis, are inappropriately placed on the Lorenzian line. In particular, we argue that in contrast to Dhein's claim our concepts are not based on merely instinctive or peripheral modes of information processing. In general, on the one side our approaches have largely been motivated by the early biocybernetics way of thinking. On the other side they are deeply rooted in studies on the insect's behavioral ecology, i.e., in the ecological setting within which the navigational strategies have evolved and within which the animal now operates. Following such a bottom-up approach we are not "anti-cognitive map researchers" but argue that the results we have obtained in ants, and also the results of some decisive experiments in bees, can be explained and simulated without the need of invoking metric maps.

Using a picture (or a thousand words) for supporting spatial knowledge of a complex virtual environment

External representations powerfully support and augment complex human behavior. When navigating, people often consult external representations to help them find the way to go, but do maps or verbal instructions improve spatial knowledge or support effective wayfinding? Here, we examine spatial knowledge with and without external representations in two studies where participants learn a complex virtual environment. In the first study, we asked participants to generate their own maps or verbal instructions, partway through learning. We found no evidence of improved spatial knowledge in a pointing task requiring participants to infer the direction between two targets, either on the same route or on different routes, and no differences between groups in accurately recreating a map of the target landmarks. However, as a methodological note, pointing was correlated with the accuracy of the maps that participants drew. In the second study, participants had access to an accurate map or set of verbal instructions that they could study while learning the layout of target landmarks. Again, we found no evidence of differentially improved spatial knowledge in the pointing task, although we did find that the map group could recreate a map of the target landmarks more accurately. However, overall improvement was high. There was evidence that the nature of improvement across all conditions was specific to initial navigation ability levels. Our findings add to a mixed literature on the role of external representations for navigation and suggest that more substantial intervention-more scaffolding, explicit training, enhanced visualization, perhaps with personalized sequencing-may be necessary to improve navigation ability.

Navigation and dance communication in honeybees: a cognitive perspective

Flying insects like the honeybee experience the world as a metric layout embedded in a compass, the time-compensated sun compass. The focus of the review lies on the properties of the landscape memory as accessible by data from radar tracking and analyses of waggle dance following. The memory formed during exploration and foraging is thought to be composed of multiple elements, the aerial pictures that associate the multitude of sensory inputs with compass directions. Arguments are presented that support retrieval and use of landscape memory not only during navigation but also during waggle dance communication. I argue that bees expect landscape features that they have learned and that are retrieved during dance communication. An intuitive model of the bee's navigation memory is presented that assumes the picture memories form a network of geographically defined locations, nodes. The intrinsic components of the nodes, particularly their generalization process leads to binding structures, the edges. In my view, the cognitive faculties of landscape memory uncovered by these experiments are best captured by the term cognitive map.

The potential underlying mechanisms during learning flights

Hymenopterans, such as bees and wasps, have long fascinated researchers with their sinuous movements at novel locations. These movements, such as loops, arcs, or zigzags, serve to help insects learn their surroundings at important locations. They also allow the insects to explore and orient themselves in their environment. After they gained experience with their environment, the insects fly along optimized paths guided by several guidance strategies, such as path integration, local homing, and route-following, forming a navigational toolkit. Whereas the experienced insects combine these strategies efficiently, the naive insects need to learn about their surroundings and tune the navigational toolkit. We will see that the structure of the movements performed during the learning flights leverages the robustness of certain strategies within a given scale to tune other strategies which are more efficient at a larger scale. Thus, an insect can explore its environment incrementally without risking not finding back essential locations.

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.

Movements, embodiment and the emergence of decisions. Insights from insect navigation

We readily infer that animals make decisions, but what this implies is usually not clearly defined. The notion of 'decision-making' ultimately stems from human introspection, and is thus loaded with anthropomorphic assumptions. Notably, the decision is made internally, is based on information, and precedes the goal directed behaviour. Also, making a decision implies that 'something' did it, thus hints at the presence of a cognitive mind, whose existence is independent of the decision itself. This view may convey some truth, but here I take the opposite stance. Using examples from research in insect navigation, this essay highlights how apparent decisions can emerge without a brain, how actions can precede information or how sophisticated goal directed behaviours can be implemented without neural decisions. This perspective requires us to shake off the idea that behaviour is a consequence of the brain; and embrace the concept that movements arise from - as much as participate in - distributed interactions between various computational centres - including the body - that reverberate in closed-loop with the environment. From this perspective we may start to picture how a cognitive mind can be the consequence, rather than the cause, of such neural and body movements.

Elemental and Configural Associative Learning in Spatial Tasks: Could Zebrafish be Used to Advance Our Knowledge?

Spatial learning and memory have been studied for several decades. Analyses of these processes pose fundamental scientific questions but are also relevant from a biomedical perspective. The cellular, synaptic and molecular mechanisms underlying spatial learning have been intensively investigated, yet the behavioral mechanisms/strategies in a spatial task still pose unanswered questions. Spatial learning relies upon configural information about cues in the environment. However, each of these cues can also independently form part of an elemental association with the specific spatial position, and thus spatial tasks may be solved using elemental (single CS and US association) learning. Here, we first briefly review what we know about configural learning from studies with rodents. Subsequently, we discuss the pros and cons of employing a relatively novel laboratory organism, the zebrafish in such studies, providing some examples of methods with which both elemental and configural learning may be explored with this species. Last, we speculate about future research directions focusing on how zebrafish may advance our knowledge. We argue that zebrafish strikes a reasonable compromise between system complexity and practical simplicity and that adding this species to the studies with laboratory rodents will allow us to gain a better understanding of both the evolution of and the mechanisms underlying spatial learning. We conclude that zebrafish research will enhance the translational relevance of our findings.

Model and Non-model Insects in Chronobiology

The fruit fly Drosophila melanogaster is an established model organism in chronobiology, because genetic manipulation and breeding in the laboratory are easy. The circadian clock neuroanatomy in D. melanogaster is one of the best-known clock networks in insects and basic circadian behavior has been characterized in detail in this insect. Another model in chronobiology is the honey bee Apis mellifera, of which diurnal foraging behavior has been described already in the early twentieth century. A. mellifera hallmarks the research on the interplay between the clock and sociality and complex behaviors like sun compass navigation and time-place-learning. Nevertheless, there are aspects of clock structure and function, like for example the role of the clock in photoperiodism and diapause, which can be only insufficiently investigated in these two models. Unlike high-latitude flies such as Chymomyza costata or D. ezoana, cosmopolitan D. melanogaster flies do not display a photoperiodic diapause. Similarly, A. mellifera bees do not go into "real" diapause, but most solitary bee species exhibit an obligatory diapause. Furthermore, sociality evolved in different Hymenoptera independently, wherefore it might be misleading to study the social clock only in one social insect. Consequently, additional research on non-model insects is required to understand the circadian clock in Diptera and Hymenoptera. In this review, we introduce the two chronobiology model insects D. melanogaster and A. mellifera, compare them with other insects and show their advantages and limitations as general models for insect circadian clocks.

Neonicotinoids disrupt circadian rhythms and sleep in honey bees

Honey bees are critical pollinators in ecosystems and agriculture, but their numbers have significantly declined. Declines in pollinator populations are thought to be due to multiple factors including habitat loss, climate change, increased vulnerability to disease and parasites, and pesticide use. Neonicotinoid pesticides are agonists of insect nicotinic cholinergic receptors, and sub-lethal exposures are linked to reduced honey bee hive survival. Honey bees are highly dependent on circadian clocks to regulate critical behaviors, such as foraging orientation and navigation, time-memory for food sources, sleep, and learning/memory processes. Because circadian clock neurons in insects receive light input through cholinergic signaling we tested for effects of neonicotinoids on honey bee circadian rhythms and sleep. Neonicotinoid ingestion by feeding over several days results in neonicotinoid accumulation in the bee brain, disrupts circadian rhythmicity in many individual bees, shifts the timing of behavioral circadian rhythms in bees that remain rhythmic, and impairs sleep. Neonicotinoids and light input act synergistically to disrupt bee circadian behavior, and neonicotinoids directly stimulate wake-promoting clock neurons in the fruit fly brain. Neonicotinoids disrupt honey bee circadian rhythms and sleep, likely by aberrant stimulation of clock neurons, to potentially impair honey bee navigation, time-memory, and social communication.

The ontogeny of a mammalian cognitive map in the real world

How animals navigate over large-scale environments remains a riddle. Specifically, it is debated whether animals have cognitive maps. The hallmark of map-based navigation is the ability to perform shortcuts, i.e., to move in direct but novel routes. When tracking an animal in the wild, it is extremely difficult to determine whether a movement is truly novel because the animal's past movement is unknown. We overcame this difficulty by continuously tracking wild fruit bat pups from their very first flight outdoors and over the first months of their lives. Bats performed truly original shortcuts, supporting the hypothesis that they can perform large-scale map-based navigation. We documented how young pups developed their visual-based map, exemplifying the importance of exploration and demonstrating interindividual differences.

Probing the invariant structure of spatial knowledge: Support for the cognitive graph hypothesis

We tested four hypotheses about the structure of spatial knowledge used for navigation: (1) the Euclidean hypothesis, a geometrically consistent map; (2) the Neighborhood hypothesis, adjacency relations between spatial regions, based on visible boundaries; (3) the Cognitive Graph hypothesis, a network of paths between places, labeled with approximate local distances and angles; and (4) the Constancy hypothesis, whatever geometric properties are invariant during learning. In two experiments, different groups of participants learned three virtual hedge mazes, which varied specific geometric properties (Euclidean Control Maze, Elastic Maze with stretching paths, Swap Maze with alternating paths to the same place). Spatial knowledge was then tested using three navigation tasks (metric shortcuts on empty ground plane, neighborhood shortcuts with visible boundaries, route task in corridors). They yielded the following results: (a) Metric shortcuts were insensitive to detectable shifts in target location, inconsistent with the Euclidean hypothesis. (b) Neighborhood shortcuts were constrained by visible boundaries in the Elastic Maze, but not in the Swap Maze, contrary to the Neighborhood and Constancy hypotheses. (c) The route task indicated that a graph of the maze was acquired in all environments, including knowledge of local path lengths. We conclude that primary spatial knowledge is consistent with the Cognitive Graph hypothesis. Neighborhoods are derived from the graph, and local distance and angle information is not embedded in a geometrically consistent map.

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.

Arboreal route navigation in a Neotropical mammal: energetic implications associated with tree monitoring and landscape attributes

BACKGROUND

Although navigating along a network of routes might constrain animal movement flexibility, it may be an energetically efficient strategy. Routinely using the same route allows for visually monitoring of food resources, which might reduce the cognitive load and as such facilitate the process of movement decision-making. Similarly, locating routes in areas that avoid costly landscape attributes will enhance their overall energy balance. In this study we determined the benefits of route navigation in an energy minimiser arboreal primate, the black howler monkey (Alouatta pigra).

METHODS

We monitored five neighbouring groups of black howler monkeys at Palenque National Park, Mexico from September 2016 through August 2017. We recorded the location of the focal group every 20 m and mapped all travel paths to establish a route network (N = 1528 travel bouts). We constructed linear mixed models to assess the influence of food resource distribution (N = 931 trees) and landscape attributes (slope, elevation and presence of canopy gaps) on the location of routes within a route network.

RESULTS

The number of food trees that fell within the visual detection distance from the route network was higher (mean: 156.1 ± SD 44.9) than randomly simulated locations (mean: 121.9 ± SD 46.4). Similarly, the number of food trees found within the monkey's visual range per meter travelled increased, on overage, 0.35 ± SE 0.04 trees/m with increasing use of the route. In addition, route segments used at least twice were more likely to occur with increasing density of food resources and decreasing presence of canopy gaps. Route segments used at least four times were more likely to occur in elevated areas within the home ranges but only under conditions of reduced visual access to food resources.

CONCLUSIONS

Route navigation emerged as an efficient movement strategy in a group-living arboreal primate. Highly used route segments potentially increased visual access to food resources while avoiding energetically costly landscape features securing foraging success in a tropical rainforest.

The Waggle Dance as an Intended Flight: A Cognitive Perspective

The notion of the waggle dance simulating a flight towards a goal in a walking pattern has been proposed in the context of evolutionary considerations. Behavioral components, like its arousing effect on the social community, the attention of hive mates induced by this behavior, the direction of the waggle run relative to the sun azimuth or to gravity, as well as the number of waggles per run, have been tentatively related to peculiar behavioral patterns in both solitary and social insect species and are thought to reflect phylogenetic pre-adaptations. Here, I ask whether these thoughts can be substantiated from a functional perspective. Communication in the waggle dance is a group phenomenon involving the dancer and the followers that perform partially overlapping movements encoding and decoding the message respectively. It is thus assumed that the dancer and follower perform close cognitive processes. This provides us with access to these cognitive processes during dance communication because the follower can be tested in its flight performance when it becomes a recruit. I argue that the dance message and the landscape experience are processed in the same navigational memory, allowing the bee to fly novel direct routes, a property understood as an indication of a cognitive map.

The Role of Landscapes and Landmarks in Bee Navigation: A Review

The ability of animals to explore landmarks in their environment is essential to their fitness. Landmarks are widely recognized to play a key role in navigation by providing information in multiple sensory modalities. However, what is a landmark? We propose that animals use a hierarchy of information based upon its utility and salience when an animal is in a given motivational state. Focusing on honeybees, we suggest that foragers choose landmarks based upon their relative uniqueness, conspicuousness, stability, and context. We also propose that it is useful to distinguish between landmarks that provide sensory input that changes ("near") or does not change ("far") as the receiver uses these landmarks to navigate. However, we recognize that this distinction occurs on a continuum and is not a clear-cut dichotomy. We review the rich literature on landmarks, focusing on recent studies that have illuminated our understanding of the kinds of information that bees use, how they use it, potential mechanisms, and future research directions.

Navigation: Whence Our Sense of Direction?

Behavioral data have long implied our sense of direction derives from global environmental shape; electrophysiological evidence, however, has seemed to imply it derives from salient non-geometric landmarks. Experiments on the re-establishment of place fields in disoriented mice now align the electrophysiological data with the behavioral data.

A cognitive map in a poison frog

A fundamental question in cognitive science is whether an animal can use a cognitive map. A cognitive map is a mental representation of the external world, and knowledge of one's place in this world, that can be used to determine efficient routes to any destination. Many birds and mammals are known to employ a cognitive map, but whether other vertebrates can create a cognitive map is less clear. Amphibians are capable of using beacons, gradients and landmarks when navigating, and many are proficient at homing. Yet only one prior study directly tested for a cognitive map in amphibians, with negative results. Poison frogs exhibit unusually complex social and spatial behaviors and are capable of long-distance homing after displacement, suggesting that they may be using complex spatial navigation strategies in nature. Here, we trained the poison frog Dendrobates auratus in a modified Morris water maze that was designed to suppress thigmotaxis to the maze wall, promoting exploration of the arena. In our moat maze, the poison frogs were able to use a configuration of visual cues to find the hidden platform. Moreover, we demonstrate that they chose direct paths to the goal from multiple random initial positions, a hallmark of a cognitive map. The performance of the frogs in the maze was qualitatively similar to that of rodents, suggesting that the potential to evolve a cognitive map is an evolutionarily conserved trait of vertebrates.

The Central Complex as a Potential Substrate for Vector Based Navigation

Insects use path integration (PI) to maintain a home vector, but can also store and recall vector-memories that take them from home to a food location, and even allow them to take novel shortcuts between food locations. The neural circuit of the Central Complex (a brain area that receives compass and optic flow information) forms a plausible substrate for these behaviors. A recent model, grounded in neurophysiological and neuroanatomical data, can account for PI during outbound exploratory routes and the control of steering to return home. Here, we show that minor, hypothetical but neurally plausible, extensions of this model can additionally explain how insects could store and recall PI vectors to follow food-ward paths, take shortcuts, search at the feeder and re-calibrate their vector-memories with experience. In addition, a simple assumption about how one of multiple vector-memories might be chosen at any point in time can produce the development and maintenance of efficient routes between multiple locations, as observed in bees. The central complex circuitry is therefore well-suited to allow for a rich vector-based navigational repertoire.

Non-Euclidean navigation

A basic set of navigation strategies supports navigational tasks ranging from homing to novel detours and shortcuts. To perform these last two tasks, it is generally thought that humans, mammals and perhaps some insects possess Euclidean cognitive maps, constructed on the basis of input from the path integration system. In this article, I review the rationale and behavioral evidence for this metric cognitive map hypothesis, and find it unpersuasive: in practice, there is little evidence for truly novel shortcuts in animals, and human performance is highly unreliable and biased by environmental features. I develop the alternative hypothesis that spatial knowledge is better characterized as a labeled graph: a network of paths between places augmented with local metric information. What distinguishes such a cognitive graph from a metric cognitive map is that this local information is not embedded in a global coordinate system, so spatial knowledge is often geometrically inconsistent. Human path integration appears to be better suited to piecewise measurements of path lengths and turn angles than to building a consistent map. In a series of experiments in immersive virtual reality, we tested human navigation in non-Euclidean environments and found that shortcuts manifest large violations of the metric postulates. The results are contrary to the Euclidean map hypothesis and support the cognitive graph hypothesis. Apparently Euclidean behavior, such as taking novel detours and approximate shortcuts, can be explained by the adaptive use of non-Euclidean strategies.

The internal maps of insects

Insect navigation is strikingly geometric. Many species use path integration to maintain an accurate estimate of their distance and direction (a vector) to their nest and can store the vector information for multiple salient locations in the world, such as food sources, in a common coordinate system. Insects can also use remembered views of the terrain around salient locations or along travelled routes to guide return, which is a fundamentally geometric process. Recent modelling of these abilities shows convergence on a small set of algorithms and assumptions that appear sufficient to account for a wide range of behavioural data. Notably, this 'base model' does not include any significant topological knowledge: the insect does not need to recover the information (implicit in their vector memory) about the relationships between salient places; nor to maintain any connectedness or ordering information between view memories; nor to form any associations between views and vectors. However, there remains some experimental evidence not fully explained by this base model that may point towards the existence of a more complex or integrated mental map in insects.

The brain behind straight-line orientation in dung beetles

For many insects, celestial compass cues play an important role in keeping track of their directional headings. One well-investigated group of celestial orientating insects are the African ball-rolling dung beetles. After finding a dung pile, these insects detach a piece, form it into a ball and roll it away along a straight path while facing backwards. A brain region, termed the central complex, acts as an internal compass that constantly updates the ball-rolling dung beetle about its heading. In this review, we give insights into the compass network behind straight-line orientation in dung beetles and place it in the context of the orientation mechanisms and neural networks of other insects. We find that the neuronal network behind straight-line orientation in dung beetles has strong similarities to the ones described in path-integrating and migrating insects, with the central complex being the key control point for this behavior. We conclude that, despite substantial differences in behavior and navigational challenges, dung beetles encode compass information in a similar way to other insects.

Guidance of Navigating Honeybees by Learned Elongated Ground Structures

Elongated landscape features like forest edges, rivers, roads or boundaries of fields are particularly salient landmarks for navigating animals. Here, we ask how honeybees learn such structures and how they are used during their homing flights after being released at an unexpected location (catch-and-release paradigm). The experiments were performed in two landscapes that differed with respect to their overall structure: a rather feature-less landscape, and one rich in close and far distant landmarks. We tested three different forms of learning: learning during orientation flights, learning during training to a feeding site, and learning during homing flights after release at an unexpected site within the explored area. We found that bees use elongated ground structures, e.g., a field boundary separating two pastures close to the hive (Experiment 1), an irrigation channel (Experiment 2), a hedgerow along which the bees were trained (Experiment 3), a gravel road close to the hive and the feeder (Experiment 4), a path along an irrigation channel with its vegetation close to the feeder (Experiment 5) and a gravel road along which bees performed their homing flights (Experiment 6). Discrimination and generalization between the learned linear landmarks and similar ones in the test area depend on their object properties (irrigation channel, gravel road, hedgerow) and their compass orientation. We conclude that elongated ground structures are embedded into multiple landscape features indicating that memory of these linear structures is one component of bee navigation. Elongated structures interact and compete with other references. Object identification is an important part of this process. The objects are characterized not only by their appearance but also by their alignment in the compass. Their salience is highest if both components are close to what had been learned. High similarity in appearance can compensate for (partial) compass misalignment, and vice versa.

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.

Exploratory behavior of re-orienting foragers differs from other flight patterns of honeybees

Honeybees, Apis mellifera, perform re-orientation flights to learn about the new surroundings of the hive when their hive is transported to a new location. Since the pattern of re-orientation flights has not yet been studied, we asked whether this form of exploratory behavior differs from the well described exploratory orientation flights performed by young honeybees before they start foraging. We also investigated whether the exploratory components of re-orientation flights differ from foraging flights and if so how. We recorded re-orientation flights using harmonic radar technology and compared the patterns and flight parameters of these flights with the first exploratory orientation flights of young honeybees and foraging flights of experienced foragers. Just as exploratory orientation flights of young honeybees, re-orientation flights can be classified into short- and long-range flights, and most short-range re-orientation flights were performed under unfavorable weather conditions. This indicates that bees adapt the flight pattern of their re-orientation and orientation flights to changing weather conditions in a similar way. Unlike exploratory orientation flights, more than one sector of the landscape was explored during a long-range re-orientation flight, and significantly longer flight durations and flight distances were observed. Thus, re-orienting bees explored a larger terrain than bees performing their first exploratory orientation flight. By displacing some bees after their first re-orientation flight, we could demonstrate that a single re-orientation flight seems to be sufficient to learn the new location of the hive. The flight patterns of re-orientation flights differed clearly from those of foraging flights. Thus, re-orientation flights represent a special exploratory behavior that is triggered by a change in the location of the hive.

Human spatial representation: what we cannot learn from the studies of rodent navigation

Studies of human and rodent navigation often reveal a remarkable cross-species similarity between the cognitive and neural mechanisms of navigation. Such cross-species resemblance often overshadows some critical differences between how humans and nonhuman animals navigate. In this review, I propose that a navigation system requires both a storage system (i.e., representing spatial information) and a positioning system (i.e., sensing spatial information) to operate. I then argue that the way humans represent spatial information is different from that inferred from the cellular activity observed during rodent navigation. Such difference spans the whole hierarchy of spatial representation, from representing the structure of an environment to the representation of subregions of an environment, routes and paths, and the distance and direction relative to a goal location. These cross-species inconsistencies suggest that what we learn from rodent navigation does not always transfer to human navigation. Finally, I argue for closing the loop for the dominant, unidirectional animal-to-human approach in navigation research so that insights from behavioral studies of human navigation may also flow back to shed light on the cellular mechanisms of navigation for both humans and other mammals (i.e., a human-to-animal approach).

Long-distance navigation and magnetoreception in migratory animals

For centuries, humans have been fascinated by how migratory animals find their way over thousands of kilometres. Here, I review the mechanisms used in animal orientation and navigation with a particular focus on long-distance migrants and magnetoreception. I contend that any long-distance navigational task consists of three phases and that no single cue or mechanism will enable animals to navigate with pinpoint accuracy over thousands of kilometres. Multiscale and multisensory cue integration in the brain is needed. I conclude by raising twenty important mechanistic questions related to long-distance animal navigation that should be solved over the next twenty years.

A neural network model for familiarity and context learning during honeybee foraging flights

How complex is the memory structure that honeybees use to navigate? Recently, an insect-inspired parsimonious spiking neural network model was proposed that enabled simulated ground-moving agents to follow learned routes. We adapted this model to flying insects and evaluate the route following performance in three different worlds with gradually decreasing object density. In addition, we propose an extension to the model to enable the model to associate sensory input with a behavioral context, such as foraging or homing. The spiking neural network model makes use of a sparse stimulus representation in the mushroom body and reward-based synaptic plasticity at its output synapses. In our experiments, simulated bees were able to navigate correctly even when panoramic cues were missing. The context extension we propose enabled agents to successfully discriminate partly overlapping routes. The structure of the visual environment, however, crucially determines the success rate. We find that the model fails more often in visually rich environments due to the overlap of features represented by the Kenyon cell layer. Reducing the landmark density improves the agents route following performance. In very sparse environments, we find that extended landmarks, such as roads or field edges, may help the agent stay on its route, but often act as strong distractors yielding poor route following performance. We conclude that the presented model is valid for simple route following tasks and may represent one component of insect navigation. Additional components might still be necessary for guidance and action selection while navigating along different memorized routes in complex natural environments.

Optimal multiguidance integration in insect navigation

In the last decades, desert ants have become model organisms for the study of insect navigation. In finding their way, they use two major navigational routines: path integration using a celestial compass and landmark guidance based on sets of panoramic views of the terrestrial environment. It has been claimed that this information would enable the insect to acquire and use a centralized cognitive map of its foraging terrain. Here, we present a decentralized architecture, in which the concurrently operating path integration and landmark guidance routines contribute optimally to the directions to be steered, with "optimal" meaning maximizing the certainty (reliability) of the combined information. At any one time during its journey, the animal computes a path integration (global) vector and landmark guidance (local) vector, in which the length of each vector is proportional to the certainty of the individual estimates. Hence, these vectors represent the limited knowledge that the navigator has at any one place about the direction of the goal. The sum of the global and local vectors indicates the navigator's optimal directional estimate. Wherever applied, this decentralized model architecture is sufficient to simulate the results of quite a number of diverse cue-conflict experiments, which have recently been performed in various behavioral contexts by different authors in both desert ants and honeybees. They include even those experiments that have deliberately been designed by former authors to strengthen the evidence for a metric cognitive map in bees.

In silico Interrogation of Insect Central Complex Suggests Computational Roles for the Ellipsoid Body in Spatial Navigation

The central complex in the insect brain is a composite of midline neuropils involved in processing sensory cues and mediating behavioral outputs to orchestrate spatial navigation. Despite recent advances, however, the neural mechanisms underlying sensory integration and motor action selections have remained largely elusive. In particular, it is not yet understood how the central complex exploits sensory inputs to realize motor functions associated with spatial navigation. Here we report an in silico interrogation of central complex-mediated spatial navigation with a special emphasis on the ellipsoid body. Based on known connectivity and function, we developed a computational model to test how the local connectome of the central complex can mediate sensorimotor integration to guide different forms of behavioral outputs. Our simulations show integration of multiple sensory sources can be effectively performed in the ellipsoid body. This processed information is used to trigger continuous sequences of action selections resulting in self-motion, obstacle avoidance and the navigation of simulated environments of varying complexity. The motor responses to perceived sensory stimuli can be stored in the neural structure of the central complex to simulate navigation relying on a collective of guidance cues, akin to sensory-driven innate or habitual behaviors. By comparing behaviors under different conditions of accessible sources of input information, we show the simulated insect computes visual inputs and body posture to estimate its position in space. Finally, we tested whether the local connectome of the central complex might also allow the flexibility required to recall an intentional behavioral sequence, among different courses of actions. Our simulations suggest that the central complex can encode combined representations of motor and spatial information to pursue a goal and thus successfully guide orientation behavior. Together, the observed computational features identify central complex circuitry, and especially the ellipsoid body, as a key neural correlate involved in spatial navigation.

Wormholes in virtual space: From cognitive maps to cognitive graphs

Humans and other animals build up spatial knowledge of the environment on the basis of visual information and path integration. We compare three hypotheses about the geometry of this knowledge of navigation space: (a) 'cognitive map' with metric Euclidean structure and a consistent coordinate system, (b) 'topological graph' or network of paths between places, and (c) 'labelled graph' incorporating local metric information about path lengths and junction angles. In two experiments, participants walked in a non-Euclidean environment, a virtual hedge maze containing two 'wormholes' that visually rotated and teleported them between locations. During training, they learned the metric locations of eight target objects from a 'home' location, which were visible individually. During testing, shorter wormhole routes to a target were preferred, and novel shortcuts were directional, contrary to the topological hypothesis. Shortcuts were strongly biased by the wormholes, with mean constant errors of 37° and 41° (45° expected), revealing violations of the metric postulates in spatial knowledge. In addition, shortcuts to targets near wormholes shifted relative to flanking targets, revealing 'rips' (86% of cases), 'folds' (91%), and ordinal reversals (66%) in spatial knowledge. Moreover, participants were completely unaware of these geometric inconsistencies, reflecting a surprising insensitivity to Euclidean structure. The probability of the shortcut data under the Euclidean map model and labelled graph model indicated decisive support for the latter (BF_GM>100). We conclude that knowledge of navigation space is best characterized by a labelled graph, in which local metric information is approximate, geometrically inconsistent, and not embedded in a common coordinate system. This class of 'cognitive graph' models supports route finding, novel detours, and rough shortcuts, and has the potential to unify a range of data on spatial navigation.

The evolution of stories: from mimesis to language, from fact to fiction

Why a species as successful as Homo sapiens should spend so much time in fiction, in telling one another stories that neither side believes, at first seems an evolutionary riddle. Because of the advantages of tracking and recombining true information, capacities for event comprehension, memory, imagination, and communication evolved in a range of animal species—yet even chimpanzees cannot communicate beyond the here and now. By Homo erectus, our forebears had reached an increasing dependence on one another, not least in sharing information in mimetic, prelinguistic ways. As Daniel Dor shows, the pressure to pool ever more information, even beyond currently shared experience, led to the invention of language. Language in turn swiftly unlocked efficient forms of narrative, allowing early humans to learn much more about their kind than they could experience at first hand, so that they could cooperate and compete better through understanding one another more fully. This changed the payoff of sociality for individuals and groups. But true narrative was still limited to what had already happened. Once the strong existing predisposition to play combined with existing capacities for event comprehension, memory, imagination, language, and narrative, we could begin to invent fiction, and to explore the full range of human possibilities in concentrated, engaging, memorable forms. First language, then narrative, then fiction, created niches that altered selection pressures, and made us ever more deeply dependent on knowing more about our kind and our risks and opportunities than we could discover through direct experience. WIREs Cogn Sci 2018, 9:e1444. doi: 10.1002/wcs.1444

This article is categorized under: 1

Cognitive Biology > Evolutionary Roots of Cognition

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Linguistics > Evolution of Language

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Neuroscience > Cognition

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.

Honeybees use the skyline in orientation

In view-based navigation, animals acquire views of the landscape from various locations and then compare the learned views with current views in order to orient in certain directions or move toward certain destinations. One landscape feature of great potential usefulness in view-based navigation is the skyline, the silhouette of terrestrial objects against the sky, as it is distant, relatively stable and easy to detect. The skyline has been shown to be important in the view-based navigation of ants, but no flying insect has yet been shown definitively to use the skyline in this way. Here, we show that honeybees do indeed orient using the skyline. A feeder was surrounded with an artificial replica of the natural skyline there, and the bees' departures toward the nest were recorded from above with a video camera under overcast skies (to eliminate celestial cues). When the artificial skyline was rotated, the bees' departures were rotated correspondingly, showing that the bees oriented by the artificial skyline alone. We discuss these findings in the context of the likely importance of the skyline in long-range homing in bees, the likely importance of altitude in using the skyline, the likely role of ultraviolet light in detecting the skyline, and what we know about the bees' ability to resolve skyline features.

A new device for monitoring individual activity rhythms of honey bees reveals critical effects of the social environment on behavior

Chronobiological studies of individual activity rhythms in social insects can be constrained by the artificial isolation of individuals from their social context. We present a new experimental set-up that simultaneously measures the temperature rhythm in a queen-less but brood raising mini colony and the walking activity rhythms of singly kept honey bees that have indirect social contact with it. Our approach enables monitoring of individual bees in the social context of a mini colony under controlled laboratory conditions. In a pilot experiment, we show that social contact with the mini colony improves the survival of monitored young individuals and affects locomotor activity patterns of young and old bees. When exposed to conflicting Zeitgebers consisting of a light–dark (LD) cycle that is phase-delayed with respect to the mini colony rhythm, rhythms of young and old bees are socially synchronized with the mini colony rhythm, whereas isolated bees synchronize to the LD cycle. We conclude that the social environment is a stronger Zeitgeber than the LD cycle and that our new experimental set-up is well suited for studying the mechanisms of social entrainment in honey bees.

Early ant trajectories: spatial behaviour before behaviourism

In the beginning of the twentieth century, when Jacques Loeb's and John Watson's mechanistic view of life started to dominate animal physiology and behavioural biology, several scientists with different academic backgrounds got engaged in studying the wayfinding behaviour of ants. Largely unaffected by the scientific spirit of the time, they worked independently of each other in different countries: in Algeria, Tunisia, Spain, Switzerland and the United States of America. In the current literature on spatial cognition these early ant researchers--Victor Cornetz, Felix Santschi, Charles Turner and Rudolf Brun--are barely mentioned. Moreover, it is virtually unknown that the great neuroanatomist Santiago Ramón y Cajal had also worked on spatial orientation in ants. This general neglect is certainly due to the fact that nearly all these ant researchers were scientific loners, who did their idiosyncratic investigations outside the realm of comparative physiology, neurobiology and the behavioural sciences of the time, and published their results in French, German, and Spanish at rather inaccessible places. Even though one might argue that much of their work resulted in mainly anecdotal evidence, the conceptual approaches of these early ant researchers preempt much of the present-day discussions on spatial representation in animals.