Ant visual route navigation: How the fine details of behaviour promote successful route performance and convergence
Fig 6
Simulation environment and experimental procedure.
(A) Example unity simulation environment, with a 20m training route (red) and release points perpendicular to the route and running through the start position (perpendicular black line) (B) Example agent view (as acquired from the start of the route in A), panoramic, greyscale and measuring 36 x 180 pixels. (C) Agents are permitted to carry out a training route according to a route learning heuristic, of length 20m or 100m (depending on the experiment). Agents are then displaced to each of the release points and permitted to recapitulate for a distance 1.5 times the training route length.