Emergent spatial goals in an integrative model of the insect central complex
Fig 3
(A) Circuit diagram incorporating the direct PFN − to − PFL and the indirect PFN − to − hΔ − to − PFL pathways. The activity rate of hΔ is updated continuously based on the PFN inputs to retain the PI memory. (B) Detailed connectivity diagram of the PI circuit, from the compass circuit output (Δ7) to the steering generator (Comparison of summed outputs of the PFL from both hemispheres). (C) Vectors encoded by the PI circuit over the path of the agent. The direct PFN − PFL pathway encodes a vector of constant length and with the immediate orientation of the agent. Note that, because we did not use a purely theoretical sinusoidal signal to represent the inner compass, the PFN population signal inherit some variability, in amplitude and shape, that can modify the length of this vector in a relative small magnitude. The indirect PFN − hΔ-PFL pathway encodes the integrated homing vector that points to the starting location of the path (nest/home). Clipart(s) in the figure have been modified from https://openclipart.org/.