Ant visual route navigation: How the fine details of behaviour promote successful route performance and convergence
Fig 5
Scan range can be modulated without compromising performance.
(A) Maximum scan range versus mean test route displacement for baseline + CS with and without modulation of the scan range by familiarity. Evaluated for a 20m training route, 5 displacements from −2m to 2m and over 10 environment seeds. Error bars represent standard error on the mean. (B) Distance from Training Route versus individual view scan range relative to the maximum scan range permissible (set at 160 degrees) for Baseline + CS with and without modulation of the scan range. Black markers represent every scan taken by the agent across all 10 environment seeds. Black and red lines represent the mean scan range as a function of absolute distance from the training route for agents operating with modulated and non-modulated scan ranges respectively (C-D) Examples of test route (wedges) (C) without and (D) with scan range modulation at 2m displacement for a single seed, converging to a training route (yellow arrows) leading towards a target (yellow cross). Size of wedges and grey colour spectrum represent size of scanning bout.