Negative Feedback Enables Fast and Flexible Collective Decision-Making in Ants

Positive feedback plays a major role in the emergence of many collective animal behaviours. In many ants pheromone trails recruit and direct nestmate foragers to food sources. The strong positive feedback caused by trail pheromones allows fast collective responses but can compromise flexibility. Previous laboratory experiments have shown that when the environment changes, colonies are often unable to reallocate their foragers to a more rewarding food source. Here we show both experimentally, using colonies of Lasius niger, and with an agent-based simulation model, that negative feedback caused by crowding at feeding sites allows ant colonies to maintain foraging flexibility even with strong recruitment to food sources. In a constant environment, negative feedback prevents the frequently found bias towards one feeder (symmetry breaking) and leads to equal distribution of foragers. In a changing environment, negative feedback allows a colony to quickly reallocate the majority of its foragers to a superior food patch that becomes available when foraging at an inferior patch is already well underway. The model confirms these experimental findings and shows that the ability of colonies to switch to a superior food source does not require the decay of trail pheromones. Our results help to resolve inconsistencies between collective foraging patterns seen in laboratory studies and observations in the wild, and show that the simultaneous action of negative and positive feedback is important for efficient foraging in mass-recruiting insect colonies.     

Regulation of ants' foraging to resource productivity

We investigate the behavioural rule used by ant societies to adjust their foraging response to the honeydew productivity of aphids. When a scout finds a single food source, the decision to lay a recruitment trail is an all-or-none response based on the opportunity for this scout to ingest a desired volume acting as a threshold. Here, we demonstrate, through experimental and theoretical approaches, the generic value of this recruitment rule that remains valid when ants have to forage on multiple small sugar feeders to reach their desired volume. Moreover, our experiments show that when ants decide to recruit nest-mates they lay trail marks of equal intensity, whatever the number of food sources visited. A model based on the 'desired volume' rule of recruitment as well as on experimentally validated parameter values was built to investigate how ant societies adjust their foraging response to the honeydew productivity profile of aphids. Simulations predict that, with such recruiting rules, the percentage of recruiting ants is directly related to the total production of honeydew. Moreover, an optimal number of foragers exists that maximizes the strength of recruitment, this number being linearly related to the total production of honeydew by the aphid colony. The 'desired volume' recruitment rule that should be generic for all ant species is enough to explain how ants optimize trail recruitment and select aphid colonies or other liquid food resources according to their productivity profile.     

From nonlinearity to optimality: pheromone trail foraging by ants

Pheromone trails laid by foraging ants serve as a positive feedback mechanism for the sharing of information about food sources. This feedback is nonlinear, in that ants do not react in a proportionate manner to the amount of pheromone deposited. Instead, strong trails elicit disproportionately stronger responses than weak trails. Such nonlinearity has important implications for how a colony distributes its workforce, when confronted with a choice of food sources. We investigated how colonies of the Pharaoh's ant, Monomorium pharaonis, distribute their workforce when offered a choice of two food sources of differing energetic value. By developing a nonlinear differential equation model of trail foraging, and comparing model with experiments, we examined how the ants allocate their workforce between the two food sources. In this allocation, the most profitable feeder (i.e. the feeder with the highest concentration of sugar syrup) was usually exploited by the majority of ants. The particular form of the nonlinear feedback in trail foraging means that when we offered the ants a choice between two feeders of equal profitability, foraging was biased to the feeder with the highest initial number of visitors. Taken together, our experiments illuminate how pheromones provide a mechanism whereby ants can efficiently allocate their workforce among the available food sources without centralized control.     

How patrollers set foraging direction in harvester ants

Recruitment to food or nest sites is well known in ants; the recruiting ants lay a chemical trail that other ants follow to the target site, or they walk with other ants to the target site. Here we report that a different process determines foraging direction in the harvester ant Pogonomyrmex barbatus. Each day, the colony chooses from among up to eight distinct foraging trails; colonies use different trails on different days. Here we show that the patrollers regulate the direction taken by foragers each day by depositing Dufour's secretions onto a sector of the nest mound about 20 cm long and leading to the beginning of a foraging trail. The patrollers do not recruit foragers all the way to food sources, which may be up to 20 m away. Fewer foragers traveled along a trail if patrollers had no access to the sector of the nest mound leading to that trail. Adding Dufour's gland extract to patroller-free sectors of the nest mound rescued foraging in that direction, while poison gland extract did not. We also found that in the absence of patrollers, most foragers used the direction they had used on the previous day. Thus, the colony's 30-50 patrollers act as gatekeepers for thousands of foragers and choose a foraging direction, but they do not recruit and lead foragers all the way to a food source.     

Trail Communication During Foraging and Recruitment in the Subterranean Termite Reticulitermes santonensis De Feytaud (Isoptera, Rhinotermitidae)

The search for food in the French subterranean termite Reticulitermes santonensis De Feytaud is organized in part by chemical trails laid with the secretion of their abdominal sternal gland. Trail-laying and -following behavior of R. santonensis was investigated in bioassays. During foraging for food termites walk slowly (on average, 2.3 mm/s) and lay a dotted trail by dabbing the abdomen at intervals on the ground. When food is discovered they return at a quick pace (on average, 8.9 mm/s) to the nest, laying a trail for recruiting nestmates to the food source. While laying this recruitment trail the workers drag the abdomen continuously on the ground. The recruitment trail is highly attractive: it is followed within a few seconds, by more nestmates, and at a quicker pace (on average, 6.4 mm/s) than foraging trails (on average, 2.9 mm/s). The difference between foraging and recruitment trails in R. santonensis could be attributed to different quantities of trail pheromone. A caste-specific difference in trail pheromone thresholds, with workers of R. santonensis being more sensitive to trails than soldiers, was also documented: soldiers respond only to trails with a high concentration of trail pheromone.     

Tandem Recruitment and Foraging in the Ponerine Ant <Emphasis Type="Italic">Pachycondyla harpax</Emphasis> (Fabricius)

Tandem running is a common recruitment strategy in ant species with small colony sizes. During a tandem run, an informed leader guides a usually naïve nestmate to a food source or a nest site. Some species perform tandem runs only during house hunting, suggesting that tandem running does not always improve foraging success in species known to use tandem running as a recruitment strategy, but more natural history information on tandem running under natural conditions is needed to better understand the adaptive significance of tandem recruitment in foraging. Studying wild colonies in Brazil, we for the first time describe tandem running in the ponerine ant Pachycondyla harpax (Fabricius). We asked if foragers perform tandem runs to carbohydrate- (honey) and protein-rich (cheese) food items. Furthermore, we tested whether the speed and success rate of tandem runs depend on the foraging distance. Foragers performed tandem runs to both carbohydrate food sources and protein-rich food items that exceed a certain size. The probability to perform a tandem run and the travelling speed increase with increasing foraging distances, which could help colonies monopolize more distant food sources in a competitive environment. Guiding a recruit to a food source is costly for leaders as ants are ~66% faster when travelling alone. If tandem runs break up (~23% of all tandem runs), followers do not usually discover the food source on their own but return to the nest. Our results show that tandem running to food sources is common in P. harpax, but that foragers modify their behaviour according to the type of food and its distance from the nest. Competition with other ants was intense and we discuss how tandem running in P. harpax might help colonies to build-up a critical number of ants at large food items that can then defend the food source against competitors.     

How does food distance influence foraging in the ant Lasius niger: the importance of home-range marking

We study the influence of food distance on the individual foraging behaviour of Lasius niger scouts and we investigate which cue they use to assess their distance from the nest and accordingly tune their recruiting behaviour. Globally, the number of U-turns made by scouts increases with distance resulting in longer travel times and duration of the foraging cycle. However, over familiar areas, home-range marking reduces the frequency and thereby the impact of U-turns on foraging times leading to a quicker exploitation of food sources than over unmarked set-ups. Regarding information transfer, the intensity of the recruitment trail reaching the nest decreases with increasing food distance for all set-ups and is even more reduced in the absence of home-range marking. Hence, the probability of a scout continuing to lay a trail changes along the homeward journey but in a different way according to home-range marking. Over unexplored setups, at a given distance from the food source, the percentage of returning trail-laying ants remains unchanged for all tested nest-feeder distances. Hence, the tuning of the trail recruiting signal by scouts was not influenced by an odometric estimate of the distance already travelled by the ants during their outward journey to the food. By contrast, over previously explored set-ups, a distance-related factor – that is the intensity of home-range marking – strongly influences their recruiting behaviour. In fact, over a home-range marked bridge, the probability of returning ants maintaining their trail-laying behaviour increases with decreasing food distance while the gradient of home-range marks even induces ants which have stopped laying a trail to resume this behaviour in the nest vicinity. We suggest that home-range marking laid passively by walking ants is a relevant cue for scouts to indirectly assess distance from the nest but also local activity level or foraging risks in order to adaptively tune trail recruitment and colony foraging dynamics. Received 13 July 2004; revised 26 January and 20 May 2005; accepted 2 July 2005.     

On foraging,recruitment systems and optimum number of scouts in eusocial colonies

Summary A numerical model of an eusocial colony foraging for food showed that, for each set of values of resource density, resource size and recruitment system employed, a given optimal proportion of scouts in the colony maximize the amount of resources retrieved by a colony during a fixed period. The model predicts that ants using mass recruitment systems should have larger colonies with small foragers, and should forage on large food sources. Retrieval of small food sources by small colonies is best achieved with large workers using individual foraging strategies. For mass foragers, several food sources are best retrieved using democratic decision-making systems in recruitment, whereas for very large food sources at very low mean food patch density, autocratic decision-making systems are optimal. Some of the experimental evidence available is discussed in the light of these findings, as they confirm the prediction that large colonies with small workers have mass recruitment systems, whereas workers of small colonies with large workers are generally lone foragers.     

Noise improves collective decision-making by ants in dynamic environments

Recruitment via pheromone trails by ants is arguably one of the best-studied examples of self-organization in animal societies. Yet it is still unclear if and how trail recruitment allows a colony to adapt to changes in its foraging environment. We study foraging decisions by colonies of the ant Pheidole megacephala under dynamic conditions. Our experiments show that P. megacephala, unlike many other mass recruiting species, can make a collective decision for the better of two food sources even when the environment changes dynamically. We developed a stochastic differential equation model that explains our data qualitatively and quantitatively. Analysing this model reveals that both deterministic and stochastic effects (noise) work together to allow colonies to efficiently track changes in the environment. Our study thus suggests that a certain level of noise is not a disturbance in self-organized decision-making but rather serves an important functional role.     

Individual flexibility and choice of foraging strategy in Polyrhachis laboriosa F. Smith (Hymenoptera, Formicidae)

Summary: We report in this study that the tree-dwelling African ant Polyrhachis laboriosa (Formicinae) uses different foraging strategies according to the size of the available food sources. We demonstrate that a recruitment behaviour can be induced with a 125 7l alimentary reward and that foraging remains solitary when rewards are smaller. Small rewards do not elicit trail-laying behaviour, and exploration behaviour is considerable. With large permanent food sources, scouts use group recruitment and there is less exploration around the reward. The choice of the foraging strategy is determined by the first forager, which modifies its behaviour according to the volume of the food supply. Independently of the size of the reward, the forager shows many exploratory displays during the first visit to the source, and contrary to most ants, it never lays a trail during its first return to the nest. Visual cues remain mainly used for individual orientation; information collected during the first trips are then transmitted to nestmates thanks to temporary trail laying behaviour.     

The Regulation of Ant Colony Foraging Activity without Spatial Information

Many dynamical networks, such as the ones that produce the collective behavior of social insects, operate without any central control, instead arising from local interactions among individuals. A well-studied example is the formation of recruitment trails in ant colonies, but many ant species do not use pheromone trails. We present a model of the regulation of foraging by harvester ant (Pogonomyrmex barbatus) colonies. This species forages for scattered seeds that one ant can retrieve on its own, so there is no need for spatial information such as pheromone trails that lead ants to specific locations. Previous work shows that colony foraging activity, the rate at which ants go out to search individually for seeds, is regulated in response to current food availability throughout the colony's foraging area. Ants use the rate of brief antennal contacts inside the nest between foragers returning with food and outgoing foragers available to leave the nest on the next foraging trip. Here we present a feedback-based algorithm that captures the main features of data from field experiments in which the rate of returning foragers was manipulated. The algorithm draws on our finding that the distribution of intervals between successive ants returning to the nest is a Poisson process. We fitted the parameter that estimates the effect of each returning forager on the rate at which outgoing foragers leave the nest. We found that correlations between observed rates of returning foragers and simulated rates of outgoing foragers, using our model, were similar to those in the data. Our simple stochastic model shows how the regulation of ant colony foraging can operate without spatial information, describing a process at the level of individual ants that predicts the overall foraging activity of the colony.     

An agent-based model to investigate the roles of attractive and repellent pheromones in ant decision making during foraging

Pharaoh's ants organise their foraging system using three types of trail pheromone. All previous foraging models based on specific ant foraging systems have assumed that only a single attractive pheromone is used. Here we present an agent-based model based on trail choice at a trail bifurcation within the foraging trail network of a Pharaoh's ant colony which includes both attractive (positive) and repellent (negative) trail pheromones. Experiments have previously shown that Pharaoh's ants use both types of pheromone. We investigate how the repellent pheromone affects trail choice and foraging success in our simulated foraging system. We find that both the repellent and attractive pheromones have a role in trail choice, and that the repellent pheromone prevents random fluctuations which could otherwise lead to a positive feedback loop causing the colony to concentrate its foraging on the unrewarding trail. An emergent feature of the model is a high level of variability in the level of repellent pheromone on the unrewarding branch. This is caused by the repellent pheromone exerting negative feedback on its own deposition. We also investigate the dynamic situation where the location of the food is changed after foraging trails are established. We find that the repellent pheromone has a key role in enabling the colony to refocus the foraging effort to the new location. Our results show that having a repellent pheromone is adaptive, as it increases the robustness and flexibility of the colony's overall foraging response.     

Balancing organization and flexibility in foraging dynamics

Proper pattern organization and reorganization are central problems facing many biological networks which thrive in fluctuating environments. However, in many cases the mechanisms that organize system activity oppose those that support behavioral flexibility. Thus, a balance between pattern organization and pattern flexibility is critically important for overall biological fitness. We study this balance in the foraging strategies of ant colonies exploiting food in dynamic environments. We present discrete time and space simulations of colony activity that uses a pheromone-based recruitment strategy biasing foraging towards a food source. After food relocation, the pheromone must evaporate sufficiently before foraging can shift colony attention to a new food source. The amount of food consumed within the dynamic environment depends non-monotonically on the pheromone evaporation time constant—with maximal consumption occurring at a time constant which balances trail formation and trail flexibility. A deterministic, ‘mean field’ model of pheromone and foragers on trails mimics our colony simulations. This reduced framework captures the essence of the flexibility-organization balance, and relates optimal pheromone evaporation to the timescale of the dynamic environment. We expect that the principles exposed in our study will generalize and motivate novel analysis across a broad range systems biology.     

The Trail Less Traveled: Individual Decision-Making and Its Effect on Group Behavior

Social insect colonies are complex systems in which the interactions of many individuals lead to colony-level collective behaviors such as foraging. However, the emergent properties of collective behaviors may not necessarily be adaptive. Here, we examine symmetry breaking, an emergent pattern exhibited by some social insects that can lead colonies to focus their foraging effort on only one of several available food patches. Symmetry breaking has been reported to occur in several ant species. However, it is not clear whether it arises as an unavoidable epiphenomenon of pheromone recruitment, or whether it is an adaptive behavior that can be controlled through modification of the individual behavior of workers. In this paper, we used a simulation model to test how symmetry breaking is affected by the degree of non-linearity of recruitment, the specific mechanism used by individuals to choose between patches, patch size, and forager number. The model shows that foraging intensity on different trails becomes increasingly asymmetric as the recruitment response of individuals varies from linear to highly non-linear, supporting the predictions of previous work. Surprisingly, we also found that the direction of the relationship between forager number (i.e., colony size) and asymmetry varied depending on the specific details of the decision rule used by individuals. Limiting the size of the resource produced a damping effect on asymmetry, but only at high forager numbers. Variation in the rule used by individual ants to choose trails is a likely mechanism that could cause variation among the foraging behaviors of species, and is a behavior upon which selection could act.     

The Dynamics of Foraging Trails in the Tropical Arboreal Ant Cephalotes goniodontus

The foraging behavior of the arboreal turtle ant, Cephalotes goniodontus, was studied in the tropical dry forest of western Mexico. The ants collected mostly plant-derived food, including nectar and fluids collected from the edges of wounds on leaves, as well as caterpillar frass and lichen. Foraging trails are on small pieces of ephemeral vegetation, and persist in exactly the same place for 4–8 days, indicating that food sources may be used until they are depleted. The species is polydomous, occupying many nests which are abandoned cavities or ends of broken branches in dead wood. Foraging trails extend from trees with nests to trees with food sources. Observations of marked individuals show that each trail is travelled by a distinct group of foragers. This makes the entire foraging circuit more resilient if a path becomes impassable, since foraging in one trail can continue while a different group of ants forms a new trail. The colony’s trails move around the forest from month to month; from one year to the next, only one colony out of five was found in the same location. There is continual searching in the vicinity of trails: ants recruited to bait within 3 bifurcations of a main foraging trail within 4 hours. When bait was offered on one trail, to which ants recruited, foraging activity increased on a different trail, with no bait, connected to the same nest. This suggests that the allocation of foragers to different trails is regulated by interactions at the nest.     

Ants adjust their pheromone deposition to a changing environment and their probability of making errors

Animals must contend with an ever-changing environment. Social animals, especially eusocial insects such as ants and bees, rely heavily on communication for their success. However, in a changing environment, communicated information can become rapidly outdated. This is a particular problem for pheromone trail using ants, as once deposited pheromones cannot be removed. Here, we study the response of ant foragers to an environmental change. Ants were trained to one feeder location, and the feeder was then moved to a different location. We found that ants responded to an environmental change by strongly upregulating pheromone deposition immediately after experiencing the change. This may help maintain the colony''s foraging flexibility, and allow multiple food locations to be exploited simultaneously. Our treatment also caused uncertainty in the foragers, by making their memories less reliable. Ants which had made an error but eventually found the food source upregulated pheromone deposition when returning to the nest. Intriguingly, ants on their way towards the food source downregulated pheromone deposition if they were going to make an error. This may suggest that individual ants can measure the reliability of their own memories and respond appropriately.     

Out of sight but not out of mind: modulation of recruitment according to home range marking in ants

Animals can acquire a global knowledge about their environment that exceeds their individual capacities by estimating the local density and activity of nestmates in an area. In ants, home range marking can indicate the density and activity of nestmates, allowing scouts to assess the potential interest of the area as a foraging site. We investigated how home range marking through footprints influences the foraging behaviour of Lasius niger scouts at a sugary food source (1 M, 1.5 ml). Over a marked apparatus the discovery time of food sources decreased while the probability of scouts recruiting nestmates and of continuing to lay a trail increased. For ants making U turns on their return to the nest, home range marking helped them to resume laying a trail after the U turn and delayed the occurrence of the U turn. As a result, the trail intensity and the rate at which information about food was conveyed by scouts to nestmates depended on home range marking. Such modulation of information reduces the number of foragers mobilized to less frequented areas that are potentially dangerous and promotes recruitment and exploitation of food sources to better known sites.     

Synergy between social and private information increases foraging efficiency in ants

Insect societies integrate many information sources to organize collective activities such as foraging. Many ants use trail pheromones to guide foragers to food sources, but foragers can also use memories to find familiar locations of stable food sources. Route memories are often more accurate than trail pheromones in guiding ants, and are often followed in preference to trail pheromones when the two conflict. Why then does the system expend effort in producing and acquiring seemingly redundant and low-quality information, such as trail pheromones, when route memory is available? Here we show that, in the ant Lasius niger, trail pheromones and route memory act synergistically during foraging; increasing walking speed and straightness by 25 and 30 per cent, respectively, and maintaining trail pheromone deposition, but only when used together. Our results demonstrate a previously undescribed major role of trail pheromones: to complement memory by allowing higher confidence in route memory. This highlights the importance of multiple interacting information sources in the efficient running of complex adaptive systems.     

Path efficiency of ant foraging trails in an artificial network

In this paper we present an individual-based model describing the foraging behavior of ants moving in an artificial network of tunnels in which several interconnected paths can be used to reach a single food source. Ants lay a trail pheromone while moving in the network and this pheromone acts as a system of mass recruitment that attracts other ants in the network. The rules implemented in the model are based on measures of the decisions taken by ants at tunnel bifurcations during real experiments. The collective choice of the ants is estimated by measuring their probability to take a given path in the network. Overall, we found a good agreement between the results of the simulations and those of the experiments, showing that simple behavioral rules can lead ants to find the shortest paths in the network. The match between the experiments and the model, however, was better for nestbound than for outbound ants. A sensitivity study of the model suggests that the bias observed in the choice of the ants at asymmetrical bifurcations is a key behavior to reproduce the collective choice observed in the experiments.     

To be or not to be faithful: flexible fidelity to foraging trails in the leaf‐cutting ant Acromyrmex lobicornis

1. Ants using trails to forage have to select between two alternative routes at bifurcations, using two, potentially conflicting, sources of information to make their decision: individual experience to return to a previous successful foraging site (i.e. fidelity) and ant traffic. In the field, we investigated which of these two types of information individuals of the leaf‐cutting ant Acromyrmex lobicornis Emery use to decide which foraging route to take. 2. We measured the proportion of foraging ants returning to each trail of bifurcations the following day, and for 4–7 consecutive days. We then experimentally increased ant traffic on one trail of the bifurcation by adding additional food sources to examine the effect of increased ant traffic on the decision that ants make. 3. Binomial tests showed that for 62% of the trails, ant fidelity was relatively more important than ant traffic in deciding which bifurcation to follow, suggesting the importance of previous experience. 4. When information conflict was generated by experimentally increasing ant traffic along the trail with less foraging activity, most ants relied on ant traffic to decide. However, in 33% of these bifurcations, ants were still faithful to their trail. Thus, there is some degree of flexibility in the decisions that A. lobicornis make to access food resources. 5. This flexible fidelity results in individual variation in the response of workers to different levels of ant traffic, and allows the colony to simultaneously exploit both established and recently discovered food patches, aiding efficient food gathering.