Fly eyes are not still: a motion illusion in Drosophila flight supports parallel visual processing

Moving in an Uncertain World: Robust and Adaptive Control of Locomotion from Organisms to Machine Intelligence

Whether walking, running, slithering, or flying, organisms display a remarkable ability to move through complex and uncertain environments. In particular, animals have evolved to cope with a host of uncertainties-both of internal and external origin-to maintain adequate performance in an ever-changing world. In this review, we present mathematical methods in engineering to highlight emerging principles of robust and adaptive control of organismal locomotion. Specifically, by drawing on the mathematical framework of control theory, we decompose the robust and adaptive hierarchical structure of locomotor control. We show how this decomposition along the robust-adaptive axis provides testable hypotheses to classify behavioral outcomes to perturbations. With a focus on studies in non-human animals, we contextualize recent findings along the robust-adaptive axis by emphasizing two broad classes of behaviors: (1) compensation to appendage loss and (2) image stabilization and fixation. Next, we attempt to map robust and adaptive control of locomotion across some animal groups and existing bio-inspired robots. Finally, we highlight exciting future directions and interdisciplinary collaborations that are needed to unravel principles of robust and adaptive locomotion.

The influence of saccades on yaw gaze stabilization in fly flight

In a way analogous to human vision, the fruit fly D. melanogaster and many other flying insects generate smooth and saccadic movements to stabilize and shift their gaze in flight, respectively. It has been hypothesized that this combination of continuous and discrete movements benefits both flight stability and performance, particularly at high frequencies or speeds. Here we develop a hybrid control system model to explore the effects of saccades on the yaw stabilization reflex of D. melanogaster. Inspired from experimental data, the model includes a first order plant, a Proportional-Integral (PI) continuous controller, and a saccadic reset system that fires based on the integrated error of the continuous controller. We explore the gain, delay and switching threshold parameter space to quantify the optimum regions for yaw stability and performance. We show that the addition of saccades to a continuous controller provides benefits to both stability and performance across a range of frequencies. Our model suggests that Drosophila operates near its optimal switching threshold for its experimental gain set. We also show that based on experimental data, D. melanogaster operates in a region that trades off performance and stability. This trade-off increases flight robustness to compensate for internal perturbations such as wing damage.

Flies adaptively control flight to compensate for added inertia

Animal locomotion is highly adaptive, displaying a large degree of flexibility, yet how this flexibility arises from the integration of mechanics and neural control remains elusive. For instance, animals require flexible strategies to maintain performance as changes in mass or inertia impact stability. Compensatory strategies to mechanical loading are especially critical for animals that rely on flight for survival. To shed light on the capacity and flexibility of flight neuromechanics to mechanical loading, we pushed the performance of fruit flies (Drosophila) near its limit and implemented a control theoretic framework. Flies with added inertia were placed inside a virtual reality arena which permitted free rotation about the vertical (yaw) axis. Adding inertia increased the fly's response time yet had little influence on overall gaze stabilization performance. Flies maintained stability following the addition of inertia by adaptively modulating both visuomotor gain and damping. By contrast, mathematical modelling predicted a significant decrease in gaze stabilization performance. Adding inertia altered saccades, however, flies compensated for the added inertia by increasing saccade torque. Taken together, in response to added inertia flies increase reaction time but maintain flight performance through adaptive neural control. Overall, adding inertia decreases closed-loop flight robustness. Our work highlights the flexibility and capacity of motor control in flight.

Muscles that move the retina augment compound eye vision in Drosophila

Most animals have compound eyes, with tens to thousands of lenses attached rigidly to the exoskeleton. A natural assumption is that all of these species must resort to moving either their head or their body to actively change their visual input. However, classic anatomy has revealed that flies have muscles poised to move their retinas under the stable lenses of each compound eye1-3. Here we show that Drosophila use their retinal muscles to smoothly track visual motion, which helps to stabilize the retinal image, and also to perform small saccades when viewing a stationary scene. We show that when the retina moves, visual receptive fields shift accordingly, and that even the smallest retinal saccades activate visual neurons. Using a head-fixed behavioural paradigm, we find that Drosophila perform binocular, vergence movements of their retinas-which could enhance depth perception-when crossing gaps, and impairing the physiology of retinal motor neurons alters gap-crossing trajectories during free behaviour. That flies evolved an ability to actuate their retinas suggests that moving the eye independently of the head is broadly paramount for animals. The similarities of smooth and saccadic movements of the Drosophila retina and the vertebrate eye highlight a notable example of convergent evolution.

Illusional Perspective across Humans and Bees

For two centuries, visual illusions have attracted the attention of neurobiologists and comparative psychologists, given the possibility of investigating the complexity of perceptual mechanisms by using relatively simple patterns. Animal models, such as primates, birds, and fish, have played a crucial role in understanding the physiological circuits involved in the susceptibility of visual illusions. However, the comprehension of such mechanisms is still a matter of debate. Despite their different neural architectures, recent studies have shown that some arthropods, primarily Hymenoptera and Diptera, experience illusions similar to those humans do, suggesting that perceptual mechanisms are evolutionarily conserved among species. Here, we review the current state of illusory perception in bees. First, we introduce bees' visual system and speculate which areas might make them susceptible to illusory scenes. Second, we review the current state of knowledge on misperception in bees (Apidae), focusing on the visual stimuli used in the literature. Finally, we discuss important aspects to be considered before claiming that a species shows higher cognitive ability while equally supporting alternative hypotheses. This growing evidence provides insights into the evolutionary origin of visual mechanisms across species.

Mechanisms of punctuated vision in fly flight

To guide locomotion, animals control gaze via movements of their eyes, head, and/or body, but how the nervous system controls gaze during complex motor tasks remains elusive. In many animals, shifts in gaze consist of periods of smooth movement punctuated by rapid eye saccades. Notably, eye movements are constrained by anatomical limits, which requires resetting eye position. By studying tethered, flying fruit flies (Drosophila), we show that flies perform stereotyped head saccades to reset gaze, analogous to optokinetic nystagmus in primates. Head-reset saccades interrupted head smooth movement for as little as 50 ms-representing less than 5% of the total flight time-thereby enabling punctuated gaze stabilization. By revealing the passive mechanics of the neck joint, we show that head-reset saccades leverage the neck's natural elastic recoil, enabling mechanically assisted redirection of gaze. The consistent head orientation at saccade initiation, the influence of the head's angular position on saccade rate, the decrease in wing saccade frequency in head-fixed flies, and the decrease in head-reset saccade rate in flies with their head range of motion restricted together implicate proprioception as the primary trigger of head-reset saccades. Wing-reset saccades were influenced by head orientation, establishing a causal link between neck sensory signals and the execution of body saccades. Head-reset saccades were abolished when flies switched to a landing state, demonstrating that head movements are gated by behavioral state. We propose a control architecture for active vision systems with limits in sensor range of motion. VIDEO ABSTRACT.

Hybrid visual control in fly flight: insights into gaze shift via saccades

Flies fly by alternating between periods of fixation and body saccades, analogous to how our own eyes move. Gaze fixation via smooth movement in fly flight has been studied extensively, but comparatively less is known about the mechanism by which flies trigger and control body saccades to shift their gaze. Why do flies implement a hybrid fixate-and-saccade locomotion strategy? Here we review recent developments that provide new insights into this question. We focus on the interplay between smooth movement and saccades, the trigger classes of saccades, and the timeline of saccade execution. We emphasize recent mechanistic advances in Drosophila, where genetic tools have enabled cellular circuit analysis at an unprecedented level in a flying insect. In addition, we review trade-offs in behavioral paradigms used to study saccades. Throughout we highlight exciting avenues for future research in the control of fly flight.