How the viewing of familiar landscapes prior to release allows pigeons to home faster: evidence from GPS tracking

Estimating fine-scale changes in turbulence using the movements of a flapping flier

All animals that operate within the atmospheric boundary layer need to respond to aerial turbulence. Yet little is known about how flying animals do this because evaluating turbulence at fine scales (tens to approx. 300 m) is exceedingly difficult. Recently, data from animal-borne sensors have been used to assess wind and updraft strength, providing a new possibility for sensing the physical environment. We tested whether highly resolved changes in altitude and body acceleration measured onboard solo-flying pigeons (as model flapping fliers) can be used as qualitative proxies for turbulence. A range of pressure and acceleration proxies performed well when tested against independent turbulence measurements from a tri-axial anemometer mounted onboard an ultralight flying the same route, with stronger turbulence causing increasing vertical displacement. The best proxy for turbulence also varied with estimates of both convective velocity and wind shear. The approximately linear relationship between most proxies and turbulence levels suggests this approach should be widely applicable, providing insight into how turbulence changes in space and time. Furthermore, pigeons were able to fly in levels of turbulence that were unsafe for the ultralight, paving the way for the study of how freestream turbulence affects the costs and kinematics of animal flight.

The role of wingbeat frequency and amplitude in flight power

Body-mounted accelerometers provide a new prospect for estimating power use in flying birds, as the signal varies with the two major kinematic determinants of aerodynamic power: wingbeat frequency and amplitude. Yet wingbeat frequency is sometimes used as a proxy for power output in isolation. There is, therefore, a need to understand which kinematic parameter birds vary and whether this is predicted by flight mode (e.g. accelerating, ascending/descending flight), speed or morphology. We investigate this using high-frequency acceleration data from (i) 14 species flying in the wild, (ii) two species flying in controlled conditions in a wind tunnel and (iii) a review of experimental and field studies. While wingbeat frequency and amplitude were positively correlated, R² values were generally low, supporting the idea that parameters can vary independently. Indeed, birds were more likely to modulate wingbeat amplitude for more energy-demanding flight modes, including climbing and take-off. Nonetheless, the striking variability, even within species and flight types, highlights the complexity of describing the kinematic relationships, which appear sensitive to both the biological and physical context. Notwithstanding this, acceleration metrics that incorporate both kinematic parameters should be more robust proxies for power than wingbeat frequency alone.

Fine-scale changes in speed and altitude suggest protean movements in homing pigeon flights

The power curve provides a basis for predicting adjustments that animals make in flight speed, for example in relation to wind, distance, habitat foraging quality and objective. However, relatively few studies have examined how animals respond to the landscape below them, which could affect speed and power allocation through modifications in climb rate and perceived predation risk. We equipped homing pigeons (Columba livia) with high-frequency loggers to examine how flight speed, and hence effort, varies in relation to topography and land cover. Pigeons showed mixed evidence for an energy-saving strategy, as they minimized climb rates by starting their ascent ahead of hills, but selected rapid speeds in their ascents. Birds did not modify their speed substantially in relation to land cover, but used higher speeds during descending flight, highlighting the importance of considering the rate of change in altitude before estimating power use from speed. Finally, we document an unexpected variability in speed and altitude over fine scales; a source of substantial energetic inefficiency. We suggest this may be a form of protean behaviour adopted to reduce predation risk when flocking is not an option, and that such a strategy could be widespread.

Spatial cognitive ability is associated with transitory movement speed but not straightness during the early stages of exploration

Memories about the spatial environment, such as the locations of foraging patches, are expected to affect how individuals move around the landscape. However, individuals differ in the ability to remember spatial locations (spatial cognitive ability) and evidence is growing that these inter-individual differences influence a range of fitness proxies. Yet empirical evaluations directly linking inter-individual variation in spatial cognitive ability and the development and structure of movement paths are lacking. We assessed the performance of young pheasants (Phasianus colchicus) on a spatial cognition task before releasing them into a novel, rural landscape and tracking their movements. We quantified changes in the straightness and speed of their transitory paths over one month. Birds with better performances on the task initially made slower transitory paths than poor performers but by the end of the month, there was no difference in speed. In general, birds increased the straightness of their path over time, indicating improved efficiency independent of speed, but this was not related to performance on the cognitive task. We suggest that initial slow movements may facilitate more detailed information gathering by better performers and indicates a potential link between an individual's spatial cognitive ability and their movement behaviour.

Behavioural traits of individual homing pigeons, Columba livia f. domestica, in their homing flights

Homing tracks of two groups of pigeons, Columba livia f. domestica, were analyzed in view of difference between individual birds and correlations between characteristic variables, looking at the initial phase while the pigeons were still at the release site, and the homing phase separately. Individual birds differed significantly in their flying speed during the initial phase, and one pigeon tended to stay longer at the release site than the others. There were no significant differences in steadiness and efficiency, indicating that all pigeons homed equally well. Differences in correlation dimension, a variable reflecting the complexity of the navigational process, reflect differences in the use of navigational information, with one bird apparently using less complex information than others. The flying speed during the initial phase was positively correlated with the flying speed during the homing phase. During the homing phase, the steadiness of flight and the efficiency of homing were closely correlated, and both tended to be positively correlated with the correlation dimension, suggesting that birds that use more complex navigational information home more efficiently.

Identification of Griffon Vulture's Flight Types Using High-Resolution Tracking Data

Being one of the most frequently killed raptors by collision with wind turbines, little is known about the Griffon vulture's flight strategies and behaviour in a fine scale. In this study, we used high-resolution tracking data to differentiate between the most frequently observed flight types of the Griffon, and evaluated the performance of our proposed approach by an independent observation during a period of 4 weeks of fieldwork. Five passive flight types including three types of soaring and two types of gliding were discriminated using the patterns of measured GPS locations. Of all flight patterns, gliding was classified precisely (precision = 88%), followed by linear and thermal soaring with precision of 83 and 75%, respectively. The overall accuracy of our classification was 70%. Our study contributes a baseline technique using high-resolution tracking data for the classification of flight types, and is one step forward towards the collision management of this species.

Homing pigeons (Columba livia) modulate wingbeat characteristics as a function of route familiarity

Mechanisms of avian navigation have received considerable attention, but whether different navigational strategies are accompanied by different flight characteristics is unknown. Managing energy expenditure is critical for survival; therefore, understanding how flight characteristics, and hence energy allocation, potentially change with birds' familiarity with a navigational task could provide key insights into the costs of orientation. We addressed this question by examining changes in the wingbeat characteristics and airspeed of homing pigeons (Columba livia) as they learned a homing task. Twenty-one pigeons were released 20 times individually either 3.85 or 7.06 km from home. Birds were equipped with 5 Hz GPS trackers and 200 Hz tri-axial accelerometers. We found that, as the birds' route efficiency increased during the first six releases, their median peak-to-peak dorsal body (DB) acceleration and median DB amplitude also increased. This, in turn, led to higher airspeeds, suggesting that birds fly slower when traversing unfamiliar terrain. By contrast, after route efficiency stabilised, birds exhibited increasing wingbeat frequencies, which did not result in further increases in speed. Overall, higher wind support was also associated with lower wingbeat frequencies and increased DB amplitude. Our study suggests that the cost of early flights from an unfamiliar location may be higher than subsequent flights because of both inefficient routes (increased distance) and lower airspeeds (increased time). Furthermore, the results indicate, for the first time, that birds modulate their wingbeat characteristics as a function of navigational knowledge, and suggest that flight characteristics may be used as 'signatures' of birds' route familiarity.

Misinformed leaders lose influence over pigeon flocks

In animal groups where certain individuals have disproportionate influence over collective decisions, the whole group's performance may suffer if these individuals possess inaccurate information. Whether in such situations leaders can be replaced in their roles by better-informed group mates represents an important question in understanding the adaptive consequences of collective decision-making. Here, we use a clock-shifting procedure to predictably manipulate the directional error in navigational information possessed by established leaders within hierarchically structured flocks of homing pigeons (Columba livia). We demonstrate that in the majority of cases when leaders hold inaccurate information they lose their influence over the flock. In these cases, inaccurate information is filtered out through the rearrangement of hierarchical positions, preventing errors by former leaders from propagating down the hierarchy. Our study demonstrates that flexible decision-making structures can be valuable in situations where 'bad' information is introduced by otherwise influential individuals.

Collective Decision-Making in Homing Pigeons: Larger Flocks Take Longer to Decide but Do Not Make Better Decisions

Social animals routinely are challenged to make consensus decisions about movement directions and routes. However, the underlying mechanisms facilitating such decision-making processes are still poorly known. A prominent question is how group members participate in group decisions. We addressed this question by examining how flocks of homing pigeons (Columba livia) decide their homing direction. We released newly formed flocks varying in size and determined the time taken to choose a homing direction (decision-making period) and the accuracy of that choice. We found that the decision-making period increases exponentially with flock size, which is consistent with a participatory decision-making process. We additionally found that there is no effect of flock size on the accuracy of the decisions made, which does not match with current theory for democratic choices of flight directions. Our combined results are better explained by a participatory choice of leaders that subsequently undertake the flock directional decisions. However, this decision-making model would only entirely fit with our results if leaders were chosen based on traits other than their navigational experience. Our study provides rare empirical evidence elucidating decision-making processes in freely moving groups of animals.

Route following and the pigeon's familiar area map

Homing pigeons (Columba livia) have been the central model of avian navigation research for many decades, but only more recently has research extended into understanding their mechanisms of orientation in the familiar area. The discovery (facilitated by GPS tracking) that pigeons gradually acquire with experience individually idiosyncratic routes home to which they remain faithful on repeated releases, even if displaced off-route, has helped uncover the fundamental role of familiar visual landmarks in the avian familiar area map. We evaluate the robustness and generality of the route-following phenomenon by examining extant studies in depth, including the single published counter-example, providing a detailed comparison of route efficiencies, flight corridor widths and fidelity. We combine this analysis with a review of inferences that can be drawn from other experimental approaches to understanding the nature of familiar area orientation in pigeons, including experiments on landmark recognition, and response to clock-shift, to build the first detailed picture of how bird orientation develops with experience of the familiar area. We articulate alternative hypotheses for how guidance might be controlled during route following, concluding that although much remains unknown, the details of route following strongly support a pilotage interpretation. Predictable patterns of efficiency increase, but limited to the local route, typical corridor widths of 100-200 m, high-fidelity pinch-points on route, attraction to landscape edges, and a robustness to clock-shift procedures, all demonstrate that birds can associatively acquire a map of their familiar area guided (at least partially) by direct visual control from memorised local landscape features.

Landscape complexity influences route-memory formation in navigating pigeons

Observations of the flight paths of pigeons navigating from familiar locations have shown that these birds are able to learn and subsequently follow habitual routes home. It has been suggested that navigation along these routes is based on the recognition of memorized visual landmarks. Previous research has identified the effect of landmarks on flight path structure, and thus the locations of potentially salient sites. Pigeons have also been observed to be particularly attracted to strong linear features in the landscape, such as roads and rivers. However, a more general understanding of the specific characteristics of the landscape that facilitate route learning has remained out of reach. In this study, we identify landscape complexity as a key predictor of the fidelity to the habitual route, and thus conclude that pigeons form route memories most strongly in regions where the landscape complexity is neither too great nor too low. Our results imply that pigeons process their visual environment on a characteristic spatial scale while navigating and can explain the different degrees of success in reproducing route learning in different geographical locations.

Migratory Reed Warblers Need Intact Trigeminal Nerves to Correct for a 1,000 km Eastward Displacement

Several studies have shown that experienced night-migratory songbirds can determine their position, but it has remained a mystery which cues and sensory mechanisms they use, in particular, those used to determine longitude (east–west position). One potential solution would be to use a magnetic map or signpost mechanism like the one documented in sea turtles. Night-migratory songbirds have a magnetic compass in their eyes and a second magnetic sense with unknown biological function involving the ophthalmic branch of the trigeminal nerve (V1). Could V1 be involved in determining east–west position? We displaced 57 Eurasian reed warblers (Acrocephalus scirpaceus) with or without sectioned V1. Sham operated birds corrected their orientation towards the breeding area after displacement like the untreated controls did. In contrast, V1-sectioned birds did not correct for the displacement. They oriented in the same direction after the displacement as they had done at the capture site. Thus, an intact ophthalmic branch of the trigeminal nerve is necessary for detecting the 1,000 km eastward displacement in this night-migratory songbird. Our results suggest that V1 carries map-related information used in a large-scale map or signpost sense that the reed warblers needed to determine their approximate geographical position and/or an east–west coordinate.

Homing pigeons respond to time-compensated solar cues even in sight of the loft

The sun has long been thought to guide bird navigation as the second step in a two-stage process, in which determining position using a map is followed by course setting using a compass, both over unfamiliar and familiar terrain. The animal’s endogenous clock time-compensates the solar compass for the sun’s apparent movement throughout the day, and this allows predictable deflections in orientation to test for the compass’ influence using clock-shift manipulations. To examine the influence of the solar compass during a highly familiar navigational task, 24 clock-shifted homing pigeons were precision-tracked from a release site close to and in sight of their final goal, the colony loft. The resulting trajectories displayed significant partial deflection from the loft direction as predicted by either fast or slow clock-shift treatments. The partial deflection was also found to be stable along the entire trajectory indicating regular updating of orientation via input from the solar compass throughout the final approach flight to the loft. Our results demonstrate that time-compensated solar cues are deeply embedded in the way birds orient during homing flight, are accessed throughout the journey and on a remarkably fine-grained scale, and may be combined effectively simultaneously with direct guidance from familiar landmarks, even when birds are flying towards a directly visible goal.

Site fidelity and localised homing behaviour in three-spined sticklebacks (Gasterosteus aculeatus)

The ability of animals to disperse towards their original home range following displacement has been demonstrated in a number of species. However, little is known about the homing ability of three-spine sticklebacks (Gasterosteus aculeatus), an important model species in behavioural ecology. In addition, few studies have examined the role of social facilitation in relation to homing behaviour in fishes. We examined homing behaviour of sticklebacks displaced over distances of between 80 m and 160 m in land-drains with directional water flow. Fish were translocated from their original capture site, tagged and then released either in groups or solitarily. We performed recapture transects either one or two days later. Data provided by recaptured sticklebacks show that the fish dispersed in the direction of their original capture site. Although fish translocated downstream typically moved further than those translocated upstream, both dispersed towards their original capture site. There was no difference between fish released solitarily or in groups in their homing ability and indeed there was little evidence that fish translocated in groups remained together following their release. The homing ability of the fish was demonstrated by the finding that up to 80% of fish returned to their home ranges within two days of release over a distance equivalent to approximately 5000 body lengths of these small fish.

Consistency of leadership in shoals of mosquitofish (Gambusia holbrooki) in novel and in familiar environments

In social animal groups, an individual's spatial position is a major determinant of both predation risk and foraging rewards. Additionally, the occupation of positions in the front of moving groups is generally assumed to correlate with the initiation of group movements. However, whether some individuals are predisposed to consistently occupy certain positions and, in some instances, to consistently lead groups over time is as yet unresolved in many species. Using the mosquitofish (Gambusia holbrooki), we examined the consistency of individuals' spatial positions within a moving group over successive trials. We found that certain individuals consistently occupied front positions in moving groups and also that it was typically these individuals that initiated group decisions. The number of individuals involved in leading the group varied according to the amount of information held by group members, with a greater number of changes in leadership in a novel compared to a relatively familiar environment. Finally, our results show that the occupation of lead positions in moving groups was not explained by characteristics such as dominance, size or sex, suggesting that certain individuals are predisposed to leadership roles. This suggests that being a leader or a follower may to some extent be an intrinsic property of the individual.

Evidence for discrete landmark use by pigeons during homing

Considerable efforts have been made to investigate how homing pigeons (Columba livia f. domestica) are able to return to their loft from distant, unfamiliar sites while the mechanisms underlying navigation in familiar territory have received less attention. With the recent advent of Global-Positioning-System (GPS) data-loggers small enough to be carried by pigeons, the role of visual environmental features in guiding navigation over familiar areas is beginning to be understood, yet surprisingly, we still know very little about whether homing pigeons can rely on discrete, visual landmarks to guide navigation. To assess a possible role of discrete, visual landmarks in navigation, homing pigeons were first trained to home from a site with four wind turbines as salient landmarks as well as from a control site without any distinctive, discrete landmark features. The GPS-recorded flight paths of the pigeons on the last training release were straighter and more similar among birds from the turbine site compared to the control site. The pigeons were then released from both sites following a clock-shift manipulation. Vanishing bearings from the turbine site continued to be homeward oriented as 13 of 14 pigeons returned home. By contrast, at the control site the vanishing bearings were deflected in the expected clock-shift direction and only 5 of 13 pigeons returned home. Taken together, our results offer the first strong evidence that discrete, visual landmarks are one source of spatial information homing pigeons can utilize to navigate when flying over a familiar area.

Bayesian inference for identifying interaction rules in moving animal groups

The emergence of similar collective patterns from different self-propelled particle models of animal groups points to a restricted set of “universal” classes for these patterns. While universality is interesting, it is often the fine details of animal interactions that are of biological importance. Universality thus presents a challenge to inferring such interactions from macroscopic group dynamics since these can be consistent with many underlying interaction models. We present a Bayesian framework for learning animal interaction rules from fine scale recordings of animal movements in swarms. We apply these techniques to the inverse problem of inferring interaction rules from simulation models, showing that parameters can often be inferred from a small number of observations. Our methodology allows us to quantify our confidence in parameter fitting. For example, we show that attraction and alignment terms can be reliably estimated when animals are milling in a torus shape, while interaction radius cannot be reliably measured in such a situation. We assess the importance of rate of data collection and show how to test different models, such as topological and metric neighbourhood models. Taken together our results both inform the design of experiments on animal interactions and suggest how these data should be best analysed.

Fast and accurate decisions through collective vigilance in fish shoals

Although it has been suggested that large animal groups should make better decisions than smaller groups, there are few empirical demonstrations of this phenomenon and still fewer explanations of the how these improvements may be made. Here we show that both speed and accuracy of decision making increase with group size in fish shoals under predation threat. We examined two plausible mechanisms for this improvement: first, that groups are guided by a small proportion of high-quality decision makers and, second, that group members use self-organized division of vigilance. Repeated testing of individuals showed no evidence of different decision-making abilities between individual fish. Instead, we suggest that shoals achieve greater decision-making efficiencies through division of labor combined with social information transfer. Our results should prompt reconsideration of how we view cooperation in animal groups with fluid membership.

Objectively identifying landmark use and predicting flight trajectories of the homing pigeon using Gaussian processes

Pigeons home along idiosyncratic habitual routes from familiar locations. It has been suggested that memorized visual landmarks underpin this route learning. However, the inability to experimentally alter the landscape on large scales has hindered the discovery of the particular features to which birds attend. Here, we present a method for objectively classifying the most informative regions of animal paths. We apply this method to flight trajectories from homing pigeons to identify probable locations of salient visual landmarks. We construct and apply a Gaussian process model of flight trajectory generation for pigeons trained to home from specific release sites. The model shows increasing predictive power as the birds become familiar with the sites, mirroring the animal's learning process. We subsequently find that the most informative elements of the flight trajectories coincide with landscape features that have previously been suggested as important components of the homing task.

Waiting time before release increases the motivation to home in homing pigeons (Columba livia)

When performing homing experiments with individual releases, pigeons have to wait in a transport box for a certain amount of time before being released and hence perceive the departure of companions. Quite often, the last pigeons disappear straightforward from the release site. The question is whether this reflects improved orientation because of prolonged exposure to the release place or whether it reflects increased homing motivation. By releasing pigeons from a familiar site, we investigated the effects of the time spent at the release site on homing performance, recording pigeons' flights with GPS loggers. Our results show that, despite individual peculiarities of flight patterns, the waiting time at release site had a positive effect on homing speed and time, and reduced the time spent circling around the release point. However, the overall path efficiency as derived from GPS tracking was not influenced. These results suggest that a longer waiting time before release improves homing performance and this is related not only to increased navigational abilities but also to increased homing motivation.

Neurobiology of the homing pigeon--a review

Homing pigeons are well known as good homers, and the knowledge of principal parameters determining their homing behaviour and the neurological basis for this have been elucidated in the last decades. Several orientation mechanisms and parameters-sun compass, earth's magnetic field, olfactory cues, visual cues-are known to be involved in homing behaviour, whereas there are still controversial discussions about their detailed function and their importance. This paper attempts to review and summarise the present knowledge about pigeon homing by describing the known orientation mechanisms and factors, including their pros and cons. Additionally, behavioural features like motivation, experience, and track preferences are discussed. All behaviour has its origin in the brain and the neuronal basis of homing and the neuroanatomical particularities of homing pigeons are a main topic of this review. Homing pigeons have larger brains in comparison to other non-homing pigeon breeds and particularly show increased size of the hippocampus. This underlines our hypothesis that there is a relationship between hippocampus size and spatial ability. The role of the hippocampus in homing and its plasticity in response to navigational experience are discussed in support of this hypothesis.

The influence of experience in orientation: GPS tracking of homing pigeons released over the sea after directional training

Flight experience is one of the factors that influences initial orientation of displaced homing pigeons (Columba livia). Prior studies showed a systematic dependence of initial orientation on previously flown direction. Using GPS data loggers, this study sought to examine the effect of previous directional training of 40 homing pigeons when they were released over the sea, in the absence of proximal landmarks, in a direction almost perpendicular to that of previous training flights. Our results demonstrated that previous directional training evoked a systematic and predicted deviation from the beeline over the sea that appeared as a compromise between the direction of training and the direction to the loft. Pigeons were able to efficiently correct their flight direction only once over land, where they flew significantly slower and less directly than over the sea.

Evidence that pigeons orient to geomagnetic intensity during homing

The influence of the Earth's magnetic field on locomotory orientation has been studied in many taxa but is best understood for homing pigeons (Columba livia). Effects of experimentally induced and naturally occurring perturbations in the geomagnetic field suggest that pigeons are sensitive to changes in geomagnetic parameters. However, whether pigeons use the Earth's magnetic field for position determination remains unknown. Here we report an apparent orientation to the intensity gradient of the geomagnetic field observed in pigeons homing from sites in and around a magnetic anomaly. From flight trajectories recorded by GPS-based tracking devices, we noted that many pigeons released at unfamiliar sites initially flew, in some cases up to several kilometres, in directions parallel and/or perpendicular to the bearing of the local intensity field. This behaviour occurred irrespective of the homeward direction and significantly more often than what was expected by random chance. Our study describes a novel behaviour which provides strong evidence that pigeons when homing detect and respond to spatial variation in the Earth's magnetic field--information of potential use for navigation.

Pigeons combine compass and landmark guidance in familiar route navigation

How do birds orient over familiar terrain? In the best studied avian species, the homing pigeon (Columba livia), two apparently independent primary mechanisms are currently debated: either memorized visual landmarks provide homeward guidance directly, or birds rely on a compass to home from familiar locations. Using miniature Global Positioning System tracking technology and clock-shift procedures, we set sun-compass and landmark information in conflict, showing that experienced birds can accurately complete their memorized routes by using landmarks alone. Nevertheless, we also find that route following is often consistently offset in the expected compass direction, faithfully reproducing the shape of the track, but in parallel. Thus, we demonstrate conditions under which compass orientation and landmark guidance must be combined into a system of simultaneous or oscillating dual control.

From compromise to leadership in pigeon homing

A central problem faced by animals traveling in groups is how navigational decisions by group members are integrated, especially when members cannot assess which individuals are best informed or have conflicting information or interests . Pigeons are now known to recapitulate faithfully their individually distinct habitual routes home , and this provides a novel paradigm for investigating collective decisions during flight under varying levels of interindividual conflict. Using high-precision GPS tracking of pairs of pigeons, we found that if conflict between two birds' directional preferences was small, individuals averaged their routes, whereas if conflict rose over a critical threshold, either the pair split or one of the birds became the leader. Modeling such paired decision-making showed that both outcomes-compromise and leadership-could emerge from the same set of simple behavioral rules. Pairs also navigated more efficiently than did the individuals of which they were composed, even though leadership was not necessarily assumed by the more efficient bird. In the context of mass migration of birds and other animals, our results imply that simple self-organizing rules can produce behaviors that improve accuracy in decision-making and thus benefit individuals traveling in groups .

Quantification of spontaneous locomotion activity in foals kept in pastures under various management conditions

OBJECTIVE

To describe spontaneous locomotion activity of foals kept under various management conditions and assess the suitability of global positioning system (GPS) technology for recording foal activity. Animals-59 foals.

PROCEDURES

During the foals' first 4 months of life, 921 observation periods (15 minutes each) were collected and analyzed for locomotion activities. The GPS system was evaluated by simultaneously carrying out field observations with a handheld computer.

RESULTS

Foals spent 0.5% of total observed time cantering, 0.2% trotting, 10.7% walking, 32.0% grazing, 34.8% standing, and 21.6% lying down. Total observed daytime workload (velocity x distance) in the first month was approximately twice that in the following months. Locomotion activity decreased with increasing age. Colts had more activity than fillies in certain periods, and foals that were stabled for some portion of the day had compensatory locomotion activity, which was probably insufficient to reach the level of foals kept continually outside. The GPS recordings and handheld-computer observations were strongly correlated for canter, trot, and walk and moderately correlated for standing and lying. Correlation for grazing was low.

CONCLUSIONS AND CLINICAL RELEVANCE

Results indicated that domestically managed foals, when kept 24 h/d at pasture, will exercise at a level comparable with feral foals. High workload during the first month of life might be important for conditioning the musculoskeletal system. The GPS technique accurately quantified canter, trot, and walk activities; less accurately indexed resting; and was unsuitable for grazing because of the wide array of velocities used while foraging.

An edge-detection approach to investigating pigeon navigation

This study brings together work in pattern recognition and animal behaviour. By applying algorithms in pattern recognition, we examined how visual landscape information influences pigeons' homing behaviour. We used an automated procedure (Canny edge detector) to extract edges from an aerial image of the experimental terrain. Analysis of pigeons' homing routes recorded using global positioning system (GPS) trackers showed that the chosen homing paths, as well as changes in the birds' navigational states, tended to coincide with these edges. This study demonstrates that some edge-containing land features attract homing pigeons and trigger changes in their navigational states.

Homing pigeons develop local route stereotypy

The mechanisms used by homing pigeons (Columba livia) to navigate homeward from distant sites have been well studied, yet the mechanisms underlying navigation within, and mapping of, the local familiar area have been largely neglected. In the local area pigeons pote ntially have access to a powerful navigational aid--a memorized landscape map. Current opinion suggests that landmarks are used only to recognize a familiar start position and that the goalward route is then achieved solely using compass orientation. We used high-resolution global positioning system (GPS) loggers to track homing pigeons as they became progressively familiar with a local homing task. Here, we demonstrate that birds develop highly stereotyped yet individually distinctive routes over the landscape, which remain substantially inefficient. Precise aerial route recapitulation implies close control by localized geocentric cues. Magnetic cues are unlikely to have been used, since recapitulation remains despite magnetic disruption treatment, and olfactory cues would have been positionally unstable under the variable wind conditions, making visual landmarks the most likely cues used.

Familiar route loyalty implies visual pilotage in the homing pigeon

Wide-ranging animals, such as birds, regularly traverse large areas of the landscape efficiently in the course of their local movement patterns, which raises fundamental questions about the cognitive mechanisms involved. By using precision global-positioning-system loggers, we show that homing pigeons (Columba livia) not only come to rely on highly stereotyped yet surprisingly inefficient routes within the local area but are attracted directly back to their individually preferred routes even when released from novel sites off-route. This precise route loyalty demonstrates a reliance on familiar landmarks throughout the flight, which was unexpected under current models of avian navigation. We discuss how visual landmarks may be encoded as waypoints within familiar route maps.

Pigeon Homing along Highways and Exits

BACKGROUND

Anecdotal observations and early airplane and helicopter tracking studies suggest that pigeons sometimes follow large roads and use landmarks as turning points during their homeward journey. However, technical limitations in tracking pigeon routes have prevented proof.

RESULTS

Here, we present experimental and statistical evidence for this strategy from the analysis of 216 GPS-recorded pigeon tracks over distances up to 50 km. Experienced pigeons released from familiar sites during 3 years around Rome, Italy, were significantly attracted to highways and a railway track running toward home, in many cases without anything forcing them to follow such guide-rails. Birds often broke off from the highways when these veered away from home, but many continued their flight along the highway until a major junction, even when the detour added substantially to their journey. The degree of road following increased with repeated releases but not flight length. Significant road following (in 40%-50% of the tracks) was mainly observed from release sites along northwest-southeast axis.

CONCLUSIONS

Our data demonstrate the existence of a learned road-following homing strategy of pigeons and the use of particular topographical points for final navigation to the loft. Apparently, the better-directed early stages of the flight compensated the added final detour. During early and middle stages of the flight, following large and distinct roads is likely to reflect stabilization of a compass course rather than the presence of a mental roadmap. A cognitive (roadmap) component manifested by repeated crossing of preferred topographical points, including highway exits, is more likely when pigeons approach the loft area. However, it might only be expected in pigeons raised in an area characterized by navigationally relevant highway systems.

Positional entropy during pigeon homing II: navigational interpretation of Bayesian latent state models

In these two companion papers we introduce a new approach to the analysis of bird navigation which brings together several novel mathematical and technical applications. Miniaturized GPS logging devices provide track data of sufficiently high spatial and temporal resolution that considerable variation in flight behaviour can be observed remotely from the form of the track alone. We analyse a fundamental measure of bird flight track complexity, spatio-temporal entropy, and explore its state-like structure using a probabilistic hidden Markov model. The emergence of a robust three-state structure proves that the technique has analytical power, since this structure was not obvious in the tracks alone. We propose the hypothesis that positional entropy is indicative of underlying navigational uncertainty, and that familiar area navigation may break down into three states of navigational confidence. By interpreting the relationship between these putative states and features on the map, we are able to propose a number of hypothetical navigational strategies feeding into these states. The first of these two papers details the novel technical developments associated with this work and the second paper contains a navigational interpretation of the results particularly with respect to visual features of the landscape.

Positional entropy during pigeon homing I: application of Bayesian latent state modelling

In these two companion papers, we introduce a new approach to the analysis of bird navigation which brings together several novel mathematical and technical applications. Miniaturized GPS logging devices provide track data of sufficiently high spatial and temporal resolution that considerable variation in flight behaviour can be observed remotely from the form of the track alone. We analyse a fundamental measure of bird flight track complexity, spatio-temporal entropy, and explore its state-like structure using a probabilistic hidden Markov model. The emergence of a robust three-state structure proves that the technique has analytical power, since this structure was not obvious in the tracks alone. We propose the hypothesis that positional entropy is indicative of underlying navigational uncertainty, and that familiar area navigation may break down into three states of navigational confidence. By interpreting the relationship between these putative states and features on the map, we are able to propose a number of hypothetical navigational strategies feeding into these states. The first of these two papers details the novel technical developments associated with this work and the second paper contains a navigational interpretation of the results particularly with respect to visual features of the landscape.

The role of visual landmarks in the avian familiar area map

The question of whether homing pigeons use visual landmarks for orientation from distant, familiar sites is an unresolved issue in the field of avian navigation. Where evidence has been found, the question still remains as to whether the landmarks are used independent of the map and compass mechanism for orientation that is so important to birds. Recent research has challenged the extent to which experiments that do not directly manipulate the visual sense can be used as evidence for compass-independent orientation. However, it is proposed that extending a new technique for research on vision in homing to include manipulation of the compasses used by birds might be able to resolve this issue. The effect of the structure of the visual sense of the homing pigeon on its use of visual landmarks is also considered.