How to account for behavioral states in step-selection analysis: a model comparison

Step-selection models are widely used to study animals' fine-scale habitat selection based on movement data. Resource preferences and movement patterns, however, often depend on the animal's unobserved behavioral states, such as resting or foraging. As this is ignored in standard (integrated) step-selection analyses (SSA, iSSA), different approaches have emerged to account for such states in the analysis. The performance of these approaches and the consequences of ignoring the states in step-selection analysis, however, have rarely been quantified. We evaluate the recent idea of combining iSSAs with hidden Markov models (HMMs), which allows for a joint estimation of the unobserved behavioral states and the associated state-dependent habitat selection. Besides theoretical considerations, we use an extensive simulation study and a case study on fine-scale interactions of simultaneously tracked bank voles (Myodes glareolus) to compare this HMM-iSSA empirically to both the standard and a widely used classification-based iSSA (i.e., a two-step approach based on a separate prior state classification). Moreover, to facilitate its use, we implemented the basic HMM-iSSA approach in the R package HMMiSSA available on GitHub.

Trait-based sensitivity of large mammals to a catastrophic tropical cyclone

Extreme weather events perturb ecosystems and increasingly threaten biodiversity1. Ecologists emphasize the need to forecast and mitigate the impacts of these events, which requires knowledge of how risk is distributed among species and environments. However, the scale and unpredictability of extreme events complicate risk assessment1-4-especially for large animals (megafauna), which are ecologically important and disproportionately threatened but are wide-ranging and difficult to monitor5. Traits such as body size, dispersal ability and habitat affiliation are hypothesized to determine the vulnerability of animals to natural hazards1,6,7. Yet it has rarely been possible to test these hypotheses or, more generally, to link the short-term and long-term ecological effects of weather-related disturbance8,9. Here we show how large herbivores and carnivores in Mozambique responded to Intense Tropical Cyclone Idai, the deadliest storm on record in Africa, across scales ranging from individual decisions in the hours after landfall to changes in community composition nearly 2 years later. Animals responded behaviourally to rising floodwaters by moving upslope and shifting their diets. Body size and habitat association independently predicted population-level impacts: five of the smallest and most lowland-affiliated herbivore species declined by an average of 28% in the 20 months after landfall, while four of the largest and most upland-affiliated species increased by an average of 26%. We attribute the sensitivity of small-bodied species to their limited mobility and physiological constraints, which restricted their ability to avoid the flood and endure subsequent reductions in the quantity and quality of food. Our results identify general traits that govern animal responses to severe weather, which may help to inform wildlife conservation in a volatile climate.

Reinforced diffusions as models of memory-mediated animal movement

How memory shapes animals' movement paths is a topic of growing interest in ecology, with connections to planning for conservation and climate change. Empirical studies suggest that memory has both temporal and spatial components, and can include both attractive and aversive elements. Here, we introduce reinforced diffusions (the continuous time counterpart of reinforced random walks) as a modelling framework for understanding the role that memory plays in determining animal movements. This framework includes reinforcement via functions of time before present and of distance away from a current location. Focusing on the interplay between memory and central place attraction (a component of home ranging behaviour), we explore patterns of space usage that result from the reinforced diffusion. Our efforts identify three qualitatively different behaviours: bounded wandering behaviour that does not collapse spatially, collapse to a very small area, and, most intriguingly, convergence to a cycle. Subsequent applications show how reinforced diffusion can create movement trajectories emulating the learning of movement routes by homing pigeons and consolidation of ant travel paths. The mathematically explicit manner with which assumptions about the structure of memory can be stated and subsequently explored provides linkages to biological concepts like an animal's 'immediate surroundings' and memory decay.

Residency and space use estimation methods based on passive acoustic telemetry data

Acoustic telemetry has helped overcome many of the challenges faced when studying the movement ecology of aquatic species, allowing to obtain unprecedented amounts of data. This has made it into one of the most widely used methods nowadays. Many ways to analyse acoustic telemetry data have been made available and deciding on how to analyse the data requires considering the type of research objectives, relevant properties of the data (e.g., resolution, study design, equipment), habits of the study species, researcher experience, among others. To ease this decision process, here we showcase (1) some of the methods used to estimate pseudo-positions and positions from raw acoustic telemetry data, (2) methods to estimate residency and (3) methods to estimate two-dimensional home and occurrence range using geometric or hull-based methods and density-distribution methods, a network-based approach, and three-dimensional methods. We provide examples of some of these were tested using a sample of real data. With this we intend to provide the necessary background for the selection of the method(s) that better fit specific research objectives when using acoustic telemetry.

How to scale up from animal movement decisions to spatiotemporal patterns: An approach via step selection

Uncovering the mechanisms behind animal space use patterns is of vital importance for predictive ecology, thus conservation and management of ecosystems. Movement is a core driver of those patterns so understanding how movement mechanisms give rise to space use patterns has become an increasingly active area of research. This study focuses on a particular strand of research in this area, based around step selection analysis (SSA). SSA is a popular way of inferring drivers of movement decisions, but, perhaps less well appreciated, it also parametrises a model of animal movement. Of key interest is that this model can be propagated forwards in time to predict the space use patterns over broader spatial and temporal scales than those that pertain to the proximate movement decisions of animals. Here, we provide a guide for understanding and using the various existing techniques for scaling up step selection models to predict broad-scale space use patterns. We give practical guidance on when to use which technique, as well as specific examples together with code in R and Python. By pulling together various disparate techniques into one place, and providing code and instructions in simple examples, we hope to highlight the importance of these techniques and make them accessible to a wider range of ecologists, ultimately helping expand the usefulness of SSA.

Drivers of habitat quality for a reintroduced elk herd

Understanding spatiotemporal variation in habitat quality is essential for guiding wildlife reintroduction and restoration programs. The habitat productivity hypothesis posits that home range size is inversely related to habitat quality. Thus, home range size may be used as a proxy for habitat quality and can identify important land cover features for a recovering species. We sought to quantify variation in home range size across the biological cycle (seasons) for a reintroduced elk (Cervus canadensis) population in southwestern Virginia, USA and quantify habitat quality by linking home range sizes to the land cover types they contain using linear mixed-effects models. We found mean home range size was largest during late gestation for female elk. Additionally, throughout the year, smaller home ranges were associated with larger proportions of non-forested habitats whereas forested habitats were generally the opposite. However, both presumed poor- and high-quality habitats influenced female elk space use. Our approach revealed spatial variation in habitat quality for a recovering elk herd, demonstrated the importance of non-forested habitats to elk, can guide decisions regarding the location of future elk reintroduction programs, and serve as a model for evaluating habitat quality associated with wildlife reintroductions.

Optimizing trilateration estimates for tracking fine‐scale movement of wildlife using automated radio telemetry networks

A major advancement in the use of radio telemetry has been the development of automated radio tracking systems (ARTS), which allow animal movements to be tracked continuously. A new ARTS approach is the use of a network of simple radio receivers (nodes) that collect radio signal strength (RSS) values from animal‐borne radio transmitters. However, the use of RSS‐based localization methods in wildlife tracking research is new, and analytical approaches critical for determining high‐quality location data have lagged behind technological developments. We present an analytical approach to optimize RSS‐based localization estimates for a node network designed to track fine‐scale animal movements in a localized area. Specifically, we test the application of analytical filters (signal strength, distance among nodes) to data from real and simulated node networks that differ in the density and configuration of nodes. We evaluate how different filters and network configurations (density and regularity of node spacing) may influence the accuracy of RSS‐based localization estimates. Overall, the use of signal strength and distance‐based filters resulted in a 3‐ to 9‐fold increase in median accuracy of location estimates over unfiltered estimates, with the most stringent filters providing location estimates with a median accuracy ranging from 28 to 73 m depending on the configuration and spacing of the node network. We found that distance filters performed significantly better than RSS filters for networks with evenly spaced nodes, but the advantage diminished when nodes were less uniformly spaced within a network. Our results not only provide analytical approaches to greatly increase the accuracy of RSS‐based localization estimates, as well as the computer code to do so, but also provide guidance on how to best configure node networks to maximize the accuracy and capabilities of such systems for wildlife tracking studies.

Individual and seasonal variation in the movement behavior of two tropical nectarivorous birds

BACKGROUND

Movement of animals directly affects individual fitness, yet fine spatial and temporal resolution movement behavior has been studied in relatively few small species, particularly in the tropics. Nectarivorous Hawaiian honeycreepers are believed to be highly mobile throughout the year, but their fine-scale movement patterns remain unknown. The movement behavior of these crucial pollinators has important implications for forest ecology, and for mortality from avian malaria (Plasmodium relictum), an introduced disease that does not occur in high-elevation forests where Hawaiian honeycreepers primarily breed.

METHODS

We used an automated radio telemetry network to track the movement of two Hawaiian honeycreeper species, the 'apapane (Himatione sanguinea) and 'i'iwi (Drepanis coccinea). We collected high temporal and spatial resolution data across the annual cycle. We identified movement strategies using a multivariate analysis of movement metrics and assessed seasonal changes in movement behavior.

RESULTS

Both species exhibited multiple movement strategies including sedentary, central place foraging, commuting, and nomadism , and these movement strategies occurred simultaneously across the population. We observed a high degree of intraspecific variability at the individual and population level. The timing of the movement strategies corresponded well with regional bloom patterns of 'ōhi'a (Metrosideros polymorpha) the primary nectar source for the focal species. Birds made long-distance flights, including multi-day forays outside the tracking array, but exhibited a high degree of fidelity to a core use area, even in the non-breeding period. Both species visited elevations where avian malaria can occur but exhibited little seasonal change in elevation (< 150 m) and regularly returned to high-elevation roosts at night.

CONCLUSIONS

This study demonstrates the power of automated telemetry to study complex and fine-scale movement behaviors in rugged tropical environments. Our work reveals a system in which birds can track shifting resources using a diverse set of movement behaviors and can facultatively respond to environmental change. Importantly, fidelity to high-elevation roosting sites minimizes nocturnal exposure to avian malaria for far-ranging individuals and is thus a beneficial behavior that may be under high selection pressure.

A fresh look at an old concept: home-range estimation in a tidy world

A rich set of statistical techniques has been developed over the last several decades to estimate the spatial extent of animal home ranges from telemetry data, and new methods to estimate home ranges continue to be developed. Here we investigate home-range estimation from a computational point of view and aim to provide a general framework for computing home ranges, independent of specific estimators. We show how such a workflow can help to make home-range estimation easier and more intuitive, and we provide a series of examples illustrating how different estimators can be compared easily. This allows one to perform a sensitivity analysis to determine the degree to which the choice of estimator influences qualitative and quantitative conclusions. By providing a standardized implementation of home-range estimators, we hope to equip researchers with the tools needed to explore how estimator choice influences answers to biologically meaningful questions.

The Use of Animal-Borne Biologging and Telemetry Data to Quantify Spatial Overlap of Wildlife with Marine Renewables

The growth of the marine renewable energy sector requires the potential effects on marine wildlife to be considered carefully. For this purpose, utilization distributions derived from animal-borne biologging and telemetry data provide accurate information on individual space use. The degree of spatial overlap between potentially vulnerable wildlife such as seabirds and development areas can subsequently be quantified and incorporated into impact assessments and siting decisions. While rich in information, processing and analyses of animal-borne tracking data are often not trivial. There is therefore a need for straightforward and reproducible workflows for this technique to be useful to marine renewables stakeholders. The aim of this study was to develop an analysis workflow to extract utilization distributions from animal-borne biologging and telemetry data explicitly for use in assessment of animal spatial overlap with marine renewable energy development areas. We applied the method to European shags (Phalacrocorax aristotelis) in relation to tidal stream turbines. While shag occurrence in the tidal development area was high (99.4%), there was no overlap (0.14%) with the smaller tidal lease sites within the development area. The method can be applied to any animal-borne bio-tracking datasets and is relevant to stakeholders aiming to quantify environmental effects of marine renewables.

The time frame of home-range studies: from function to utilization

As technological and statistical innovations open new avenues in movement ecology, I review the fundamental implications of the time frame of home-range studies, with the aim of associating terminologies consistently with research objectives and methodologies. There is a fundamental distinction between (a) extrapolations of stationary distributions, associated with long time scales and aiming at asymptotic consistency, and (b) period-specific techniques, aiming at specificity but typically sensitive to the sampling design. I then review the difference between function and utilization in home-range studies. Most home-range studies are based on phenomenological descriptions of the time budgets of the study animals, not the function of the visited areas. I highlight emerging trends in automated pattern-recognition techniques for inference about function rather than utilization.

Correcting for missing and irregular data in home-range estimation

Home-range estimation is an important application of animal tracking data that is frequently complicated by autocorrelation, sampling irregularity, and small effective sample sizes. We introduce a novel, optimal weighting method that accounts for temporal sampling bias in autocorrelated tracking data. This method corrects for irregular and missing data, such that oversampled times are downweighted and undersampled times are upweighted to minimize error in the home-range estimate. We also introduce computationally efficient algorithms that make this method feasible with large data sets. Generally speaking, there are three situations where weight optimization improves the accuracy of home-range estimates: with marine data, where the sampling schedule is highly irregular, with duty cycled data, where the sampling schedule changes during the observation period, and when a small number of home-range crossings are observed, making the beginning and end times more independent and informative than the intermediate times. Using both simulated data and empirical examples including reef manta ray, Mongolian gazelle, and African buffalo, optimal weighting is shown to reduce the error and increase the spatial resolution of home-range estimates. With a conveniently packaged and computationally efficient software implementation, this method broadens the array of data sets with which accurate space-use assessments can be made.

Estimation of baboon daily travel distances by means of point sampling - the magnitude of underestimation

Daily travel distance (DTD), the distance an animal moves over the course of the day, is an important metric in movement ecology. It provides data with which to test hypotheses related to energetics and behaviour, e.g. impact of group size or food distribution on DTDs. The automated tracking of movements by applying GPS technology has become widely available and easy to implement. However, due to battery duration constraints, it is necessary to select a tracking-time resolution, which inevitably introduces an underestimation of the true underlying path distance. Here we give a quantification of this inherent systematic underestimation of DTDs for a terrestrial primate, the Guinea baboon. We show that sampling protocols with interval lengths from 1 to 120 min underestimate DTDs on average by 7 to 35 %. For longer time intervals (i.e. 60, 90, 120 min), the relative increase of deviation from the “true” trajectory is less pronounced than for shorter intervals. Our study provides first hints on the magnitude of error, which can be applied as a corrective when estimating absolute DTDs in calculations on travelling costs in terrestrial primates.