Mechanistic home range models capture spatial patterns and dynamics of coyote territories in Yellowstone

Patterns of space-use by individuals are fundamental to the ecology of animal populations influencing their social organization, mating systems, demography and the spatial distribution of prey and competitors. To date, the principal method used to analyse the underlying determinants of animal home range patterns has been resource selection analysis (RSA), a spatially implicit approach that examines the relative frequencies of animal relocations in relation to landscape attributes. In this analysis, we adopt an alternative approach, using a series of mechanistic home range models to analyse observed patterns of territorial space-use by coyote packs in the heterogeneous landscape of Yellowstone National Park. Unlike RSAs, mechanistic home range models are derived from underlying correlated random walk models of individual movement behaviour, and yield spatially explicit predictions for patterns of space-use by individuals. As we show here, mechanistic home range models can be used to determine the underlying determinants of animal home range patterns, incorporating both movement responses to underlying landscape heterogeneities and the effects of behavioural interactions between individuals. Our analysis indicates that the spatial arrangement of coyote territories in Yellowstone is determined by the spatial distribution of prey resources and an avoidance response to the presence of neighbouring packs. We then show how the fitted mechanistic home range model can be used to correctly predict observed shifts in the patterns of coyote space-use in response to perturbation.     

Using spatially explicit models to characterize foraging performance in heterogeneous landscapes

ABSTRACT The success of most foragers is constrained by limits to their sensory perception, memory, and locomotion. However, a general and quantitative understanding of how these constraints affect foraging benefits, and the trade-offs they imply for foraging strategies, is difficult to achieve. This article develops foraging performance statistics to assess constraints and define trade-offs for foragers using biased random walk behaviors, a widespread class of foraging strategies that includes area-restricted searches, kineses, and taxes. The statistics are expected payoff and expected travel time and assess two components of foraging performance: how effectively foragers distinguish between resource-poor and resourcerich parts of their environments and how quickly foragers in poor parts of the environment locate resource concentrations. These statistics provide a link between mechanistic models of individuals' movement and functional responses, population-level models of forager distributions in space and time, and foraging theory predictions of optimal forager distributions and criteria for abandoning resource patches. Application of the analysis to area-restricted search in coccinellid beetles suggests that the most essential aspect of these predators's foraging strategy is the "turning threshold," the prey density at which ladybirds switch from slow to rapid turning. This threshold effectively determines whether a forager exploits or abandons a resource concentration. Foraging is most effective when the threshold is tuned to match physiological or energetic requirements. These performance statistics also help anticipate and interpret the dynamics of complex spatially and temporally varying forager-resource systems.     

Memory keeps you at home: a mechanistic model for home range emergence

Despite its central place in animal ecology no general mechanistic movement model with an emergent home-range pattern has yet been proposed. Random walk models, which are commonly used to model animal movement, show diffusion instead of a bounded home range and therefore require special modifications. Current approaches for mechanistic modeling of home ranges apply only to a limited set of taxa, namely territorial animals and/or central place foragers. In this paper we present a more general mechanistic movement model based on a biased correlated random walk, which shows the potential for home-range behavior. The model is based on an animal tracking a dynamic resource landscape, using a biologically plausible two-part memory system, i.e. a reference- and a working-memory. Our results show that by adding these memory processes the random walker produces home-range behavior as it gains experience, which also leads to more efficient resource use. Interestingly, home-range patterns, which we assessed based on home-range overlap and increase in area covered with time, require the combined action of both memory components to emerge. Our model has the potential to predict home-range size and can be used for comparative analysis of the mechanisms shaping home-range patterns.     

Prospecting and informed dispersal: Understanding and predicting their joint eco‐evolutionary dynamics

The ability of individuals to leave a current breeding area and select a future one is important, because such decisions can have multiple consequences for individual fitness, but also for metapopulation dynamics, structure, and long‐term persistence through non‐random dispersal patterns. In the wild, many colonial and territorial animal species display informed dispersal strategies, where individuals use information, such as conspecific breeding success gathered during prospecting, to decide whether and where to disperse. Understanding informed dispersal strategies is essential for relating individual behavior to subsequent movements and then determining how emigration and settlement decisions affect individual fitness and demography. Although numerous theoretical studies have explored the eco‐evolutionary dynamics of dispersal, very few have integrated prospecting and public information use in both emigration and settlement phases. Here, we develop an individual‐based model that fills this gap and use it to explore the eco‐evolutionary dynamics of informed dispersal. In a first experiment, in which only prospecting evolves, we demonstrate that selection always favors informed dispersal based on a low number of prospected patches relative to random dispersal or fully informed dispersal, except when individuals fail to discriminate better patches from worse ones. In a second experiment, which allows the concomitant evolution of both emigration probability and prospecting, we show the same prospecting strategy evolving. However, a plastic emigration strategy evolves, where individuals that breed successfully are always philopatric, while failed breeders are more likely to emigrate, especially when conspecific breeding success is low. Embedding information use and prospecting behavior in eco‐evolutionary models will provide new fundamental understanding of informed dispersal and its consequences for spatial population dynamics.     

Building the bridge between animal movement and population dynamics

While the mechanistic links between animal movement and population dynamics are ecologically obvious, it is much less clear when knowledge of animal movement is a prerequisite for understanding and predicting population dynamics. GPS and other technologies enable detailed tracking of animal location concurrently with acquisition of landscape data and information on individual physiology. These tools can be used to refine our understanding of the mechanistic links between behaviour and individual condition through ‘spatially informed’ movement models where time allocation to different behaviours affects individual survival and reproduction. For some species, socially informed models that address the movements and average fitness of differently sized groups and how they are affected by fission–fusion processes at relevant temporal scales are required. Furthermore, as most animals revisit some places and avoid others based on their previous experiences, we foresee the incorporation of long-term memory and intention in movement models. The way animals move has important consequences for the degree of mixing that we expect to find both within a population and between individuals of different species. The mixing rate dictates the level of detail required by models to capture the influence of heterogeneity and the dynamics of intra- and interspecific interaction.     

Prospecting and dispersal: their eco-evolutionary dynamics and implications for population patterns

Dispersal is not a blind process, and evidence is accumulating that individual dispersal strategies are informed in most, if not all, organisms. The acquisition and use of information are traits that may evolve across space and time as a function of the balance between costs and benefits of informed dispersal. If information is available, individuals can potentially use it in making better decisions, thereby increasing their fitness. However, prospecting for and using information probably entail costs that may constrain the evolution of informed dispersal, potentially with population-level consequences. By using individual-based, spatially explicit simulations, we detected clear coevolutionary dynamics between prospecting and dispersal movement strategies that differed in sign and magnitude depending on their respective costs. More specifically, we found that informed dispersal strategies evolve when the costs of information acquisition during prospecting are low but only if there are mortality costs associated with dispersal movements. That is, selection favours informed dispersal strategies when the acquisition and use processes themselves were not too expensive. When non-informed dispersal strategies evolve, they do so jointly with the evolution of long dispersal distance because this maximizes the sampling area. In some cases, selection produces dispersal rules different from those that would be ‘optimal’ (i.e. the best possible population performance—in our context quantitatively measured as population density and patch occupancy—among all possible individual movement rules) for the population. That is, on the one hand, informed dispersal strategies led to population performance below its highest possible level. On the other hand, un- and poorly informed individuals nearly optimized population performance, both in terms of density and patch occupancy.     

Relative roles of resource stimulus and vegetation architecture on the paths of flies foraging for fruit

Many animals use their perceptual abilities to orient and locate resources in architecturally complex environments. However, it is not well known how the strength of a stimulus source affects the geometry of animal movement in architecturally complex environments. We mapped the 3D vegetation architecture of four apple trees of varying morphology and age and recorded the paths of apple maggot flies Rhagoletis pomonella foraging for artificial fruit. We compared the observed movement with the one obtained from a random walk model on a graph to estimate both 1) the attraction radius and strength of a fruit and 2) the relative roles of the architecture of vegetation and of the strength of attraction of a fruit on the movement of flies. The attraction radius is the maximal distance at which a stimulus source biases the movement of individuals and the attraction strength measures how strong this bias is. Plant architectural complexity is defined according to both foliage density and its 3D distribution within the canopy. A single fruit induces a bias in the path orientation of an insect that is at a large distance, relative to a tree volume, but it has no effect on the step length of moves. The plant complexity makes a minor contribution to defining the radius of the sphere of attraction, but a large contribution to the attraction strength. Conditional on visiting the location, the plant architecture plays a minor role compared to that of the presence of the fruit. Our findings show that the complexity of the environment can alter the use of sensory information, which has important implications for animal movements in complex environments. The importance of our results in animal dispersal and foraging is considered.     

Memory Effects on Movement Behavior in Animal Foraging

An individual’s choices are shaped by its experience, a fundamental property of behavior important to understanding complex processes. Learning and memory are observed across many taxa and can drive behaviors, including foraging behavior. To explore the conditions under which memory provides an advantage, we present a continuous-space, continuous-time model of animal movement that incorporates learning and memory. Using simulation models, we evaluate the benefit memory provides across several types of landscapes with variable-quality resources and compare the memory model within a nested hierarchy of simpler models (behavioral switching and random walk). We find that memory almost always leads to improved foraging success, but that this effect is most marked in landscapes containing sparse, contiguous patches of high-value resources that regenerate relatively fast and are located in an otherwise devoid landscape. In these cases, there is a large payoff for finding a resource patch, due to size, value, or locational difficulty. While memory-informed search is difficult to differentiate from other factors using solely movement data, our results suggest that disproportionate spatial use of higher value areas, higher consumption rates, and consumption variability all point to memory influencing the movement direction of animals in certain ecosystems.     

Quantitative analysis of bottlenose dolphin movement patterns and their relationship with foraging

1. Broad-scale telemetry studies have greatly improved our understanding of the ranging patterns and habitat-use of many large vertebrates. However, there often remains considerable uncertainty over the function of different areas or the factors influencing habitat selection. Further insights into these processes can be obtained through analyses of finer scale movement patterns. For example, search behaviour may be modified in response to prey distribution and abundance. 2. In this study, quantitative analysis techniques are applied to the movements of bottlenose dolphins, recorded from land using a theodolite, to increase our understanding of their foraging strategies. Movements were modelled as a correlated random walk (CRW) and a biased random walk (BRW) to identify movement types and using a first-passage time (FPT) approach, which quantifies the time allocated to different areas and identifies the location and spatial scale of intensive search effort. 3. Only a quarter of the tracks were classed as CRW movement. Turning angle and directionality appeared to be key factors in determining the type of movement adopted. A high degree of overlap in search effort between separate movement paths indicated that there were small key sites (0.3 km radius) within the study area (4 km(2)). Foraging behaviour occurred mainly within these intensive search areas, indicating that they were feeding sites. 4. This approach provides a quantitative method of identifying important foraging areas and their spatial scale. Such techniques could be applied to movement paths for a variety of species derived from telemetry studies and increase our understanding of their foraging strategies.     

Integrating individual movement behaviour into dispersal functions

Dispersal functions are an important tool for integrating dispersal into complex models of population and metapopulation dynamics. Most approaches in the literature are very simple, with the dispersal functions containing only one or two parameters which summarise all the effects of movement behaviour as for example different movement patterns or different perceptual abilities. The summarising nature of these parameters makes assessing the effect of one particular behavioural aspect difficult. We present a way of integrating movement behavioural parameters into a particular dispersal function in a simple way. Using a spatial individual-based simulation model for simulating different movement behaviours, we derive fitting functions for the functional relationship between the parameters of the dispersal function and several details of movement behaviour. This is done for three different movement patterns (loops, Archimedean spirals, random walk). Additionally, we provide measures which characterise the shape of the dispersal function and are interpretable in terms of landscape connectivity. This allows an ecological interpretation of the relationships found.     

How a simple adaptive foraging strategy can lead to emergent home ranges and increased food intake

Animals often alternate between searching for food locally and moving over larger distances depending on the amount of food they find. This ability to switch between movement modes can have large implications on the fate of individuals and populations, and a mechanism that allows animals to find the optimal balance between alternative movement strategies is therefore selectively advantageous. Recent theory suggests that animals are capable of switching movement mode depending on heterogeneities in the landscape, and that different modes may predominate at different temporal scales. Here we develop a conceptual model that enables animals to use either an area‐concentrated food search behavior or undirected random movements. The model builds on the animals’ ability to remember the profitability and location of previously visited areas. In contrast to classical optimal foraging models, our model does not assume food to be distributed in large, well‐defined patches, and our focus is on animal movement rather than on how animals choose between foraging patches with known locations and value. After parameterizing the fine‐scale movements to resemble those of the harbor porpoise Phocoena phocoena we investigate whether the model is capable of producing emergent home ranges and use pattern‐oriented modeling to evaluate whether it can reproduce the large‐scale movement patterns observed for porpoises in nature. Finally we investigate whether the model enables animals to forage optimally. We found that the model was indeed able to produce either stable home ranges or movement patterns that resembled those of real porpoises. It enabled animals to maximize their food intake when fine‐tuning the memory parameters that controlled the relative contribution of area concentrated and random movements.     

Territory surveillance and prey management: Wolves keep track of space and time

Identifying behavioral mechanisms that underlie observed movement patterns is difficult when animals employ sophisticated cognitive‐based strategies. Such strategies may arise when timing of return visits is important, for instance to allow for resource renewal or territorial patrolling. We fitted spatially explicit random‐walk models to GPS movement data of six wolves (Canis lupus; Linnaeus, 1758) from Alberta, Canada to investigate the importance of the following: (1) territorial surveillance likely related to renewal of scent marks along territorial edges, to reduce intraspecific risk among packs, and (2) delay in return to recently hunted areas, which may be related to anti‐predator responses of prey under varying prey densities. The movement models incorporated the spatiotemporal variable “time since last visit,” which acts as a wolf's memory index of its travel history and is integrated into the movement decision along with its position in relation to territory boundaries and information on local prey densities. We used a model selection framework to test hypotheses about the combined importance of these variables in wolf movement strategies. Time‐dependent movement for territory surveillance was supported by all wolf movement tracks. Wolves generally avoided territory edges, but this avoidance was reduced as time since last visit increased. Time‐dependent prey management was weak except in one wolf. This wolf selected locations with longer time since last visit and lower prey density, which led to a longer delay in revisiting high prey density sites. Our study shows that we can use spatially explicit random walks to identify behavioral strategies that merge environmental information and explicit spatiotemporal information on past movements (i.e., “when” and “where”) to make movement decisions. The approach allows us to better understand cognition‐based movement in relation to dynamic environments and resources.     

Should I Stay or Should I Go? A Habitat-Dependent Dispersal Kernel Improves Prediction of Movement

The analysis of animal movement within different landscapes may increase our understanding of how landscape features affect the perceptual range of animals. Perceptual range is linked to movement probability of an animal via a dispersal kernel, the latter being generally considered as spatially invariant but could be spatially affected. We hypothesize that spatial plasticity of an animal''s dispersal kernel could greatly modify its distribution in time and space. After radio tracking the movements of walking insects (Cosmopolites sordidus) in banana plantations, we considered the movements of individuals as states of a Markov chain whose transition probabilities depended on the habitat characteristics of current and target locations. Combining a likelihood procedure and pattern-oriented modelling, we tested the hypothesis that dispersal kernel depended on habitat features. Our results were consistent with the concept that animal dispersal kernel depends on habitat features. Recognizing the plasticity of animal movement probabilities will provide insight into landscape-level ecological processes.     

Informed dispersal, heterogeneity in animal dispersal syndromes and the dynamics of spatially structured populations

There is accumulating evidence that individuals leave their natal area and select a breeding habitat non-randomly by relying upon information about their natal and future breeding environments. This variation in dispersal is not only based on external information (condition dependence) but also depends upon the internal state of individuals (phenotype dependence). As a consequence, not all dispersers are of the same quality or search for the same habitats. In addition, the individual's state is characterized by morphological, physiological or behavioural attributes that might themselves serve as a cue altering the habitat choice of conspecifics. These combined effects of internal and external information have the potential to generate complex movement patterns and could influence population dynamics and colonization processes. Here, we highlight three particular processes that link condition-dependent dispersal, phenotype-dependent dispersal and habitat choice strategies: (1) the relationship between the cause of departure and the dispersers' phenotype; (2) the relationship between the cause of departure and the settlement behaviour and (3) the concept of informed dispersal, where individuals gather and transfer information before and during their movements through the landscape. We review the empirical evidence for these processes with a special emphasis on vertebrate and arthropod model systems, and present case studies that have quantified the impacts of these processes on spatially structured population dynamics. We also discuss recent literature providing strong evidence that individual variation in dispersal has an important impact on both reinforcement and colonization success and therefore must be taken into account when predicting ecological responses to global warming and habitat fragmentation.     

At-sea distribution and scale-dependent foraging behaviour of petrels and albatrosses: a comparative study

1. In order to study and predict population distribution, it is crucial to identify and understand factors affecting individual movement decisions at different scales. Movements of foraging animals should be adjusted to the hierarchical spatial distribution of resources in the environment and this scale-dependent response to environmental heterogeneity should differ according to the forager's characteristics and exploited habitats. 2. Using First-Passage Time analysis, we studied scales of search effort and habitat used by individuals of seven sympatric Indian Ocean Procellariiform species fitted with satellite transmitters. We characterized their search effort distribution and examined whether species differ in scale-dependent adjustments of their movements according to the marine environment exploited. 3. All species and almost all individuals (91% of 122 individuals) exhibited an Area-Restricted Search (ARS) during foraging. At a regional scale (1000s km), foraging ranges showed a large spatial overlap between species. At a smaller scale (100s km, at which an increase in search effort occurred), a segregation in environmental characteristics of ARS zones (where search effort is high) was found between species. 4. Spatial scales at which individuals increased their search effort differed between species and also between exploited habitats, indicating a similar movement adjustment for predators foraging in the same habitat. ARS zones of the two populations of wandering albatross Diomedea exulans (Crozet and Kerguelen) were similar in their adjustments (i.e. same ARS scale) as well as in their environmental characteristics. These two populations showed a weak spatial overlap in their foraging distribution, with males foraging in more southerly waters than females in both populations. 5. This study demonstrates that predators of several species adjust their foraging behaviour to the heterogeneous environment and these scale-dependent movement adjustments depend on both forager and environment characteristics.     

Behavioral intermittence, Lévy patterns, and randomness in animal movement

The recent debate on both the existence and the cause of fractal (Lévy) patterns in animal movement resonates with much deeper and richer problems in movement ecology: (1) establishing mechanistic links between animal behavior and statistical patterns of movement, and (2) understanding what is the role of randomness (stochasticity) in animal motion. Here, the idea of behavioral intermittence is shown to be crucial to establish mechanistic connections between the behavior of organisms and the statistical properties they generate when moving. Attention is drawn to the fact that some random walk modeling procedures can impair the identification of intermittent biological mechanisms which could govern major statistical properties of movement. This fact, together with some misconceptions and prejudices regarding the role of randomness in animal motion may explain why stochastic processes have been disregarded as a potential source of adaptation in animal movement. In the near future, the advances in biotelemetry together with a more explicit consideration of behavioral intermittence, and the development of novel random walk approaches, could help us to set up the bases for a landscape-level behavioral ecology.     

Movement patterns, social dynamics, and the evolution of cooperation

The structure of social interactions influences many aspects of social life, including the spread of information and behavior, and the evolution of social phenotypes. After dispersal, organisms move around throughout their lives, and the patterns of their movement influence their social encounters over the course of their lifespan. Though both space and mobility are known to influence social evolution, there is little analysis of the influence of specific movement patterns on evolutionary dynamics. We explored the effects of random movement strategies on the evolution of cooperation using an agent-based prisoner’s dilemma model with mobile agents. This is the first systematic analysis of a model in which cooperators and defectors can use different random movement strategies, which we chose to fall on a spectrum between highly exploratory and highly restricted in their search tendencies. Because limited dispersal and restrictions to local neighborhood size are known to influence the ability of cooperators to effectively assort, we also assessed the robustness of our findings with respect to dispersal and local capacity constraints. We show that differences in patterns of movement can dramatically influence the likelihood of cooperator success, and that the effects of different movement patterns are sensitive to environmental assumptions about offspring dispersal and local space constraints. Since local interactions implicitly generate dynamic social interaction networks, we also measured the average number of unique and total interactions over a lifetime and considered how these emergent network dynamics helped explain the results. This work extends what is known about mobility and the evolution of cooperation, and also has general implications for social models with randomly moving agents.     

Scavengers on the Move: Behavioural Changes in Foraging Search Patterns during the Annual Cycle

Background

Optimal foraging theory predicts that animals will tend to maximize foraging success by optimizing search strategies. However, how organisms detect sparsely distributed food resources remains an open question. When targets are sparse and unpredictably distributed, a Lévy strategy should maximize foraging success. By contrast, when resources are abundant and regularly distributed, simple Brownian random movement should be sufficient. Although very different groups of organisms exhibit Lévy motion, the shift from a Lévy to a Brownian search strategy has been suggested to depend on internal and external factors such as sex, prey density, or environmental context. However, animal response at the individual level has received little attention.

Methodology/Principal Findings

We used GPS satellite-telemetry data of Egyptian vultures Neophron percnopterus to examine movement patterns at the individual level during consecutive years, with particular interest in the variations in foraging search patterns during the different periods of the annual cycle (i.e. breeding vs. non-breeding). Our results show that vultures followed a Brownian search strategy in their wintering sojourn in Africa, whereas they exhibited a more complex foraging search pattern at breeding grounds in Europe, including Lévy motion. Interestingly, our results showed that individuals shifted between search strategies within the same period of the annual cycle in successive years.

Conclusions/Significance

Results could be primarily explained by the different environmental conditions in which foraging activities occur. However, the high degree of behavioural flexibility exhibited during the breeding period in contrast to the non-breeding period is challenging, suggesting that not only environmental conditions explain individuals'' behaviour but also individuals'' cognitive abilities (e.g., memory effects) could play an important role. Our results support the growing awareness about the role of behavioural flexibility at the individual level, adding new empirical evidence about how animals in general, and particularly scavengers, solve the problem of efficiently finding food resources.     

Integrating individual search and navigation behaviors in mechanistic movement models

Understanding complex movement behaviors via mechanistic models is one key challenge in movement ecology. We built a theoretical simulation model using evolutionarily trained artificial neural networks (ANNs) wherein individuals evolve movement behaviors in response to resource landscapes on which they search and navigate. We distinguished among non-oriented movements in response to proximate stimuli, oriented movements utilizing perceptual cues from distant targets, and memory mechanisms that assume prior knowledge of a target??s location and then tested the relevance of these three movement behaviors in relation to size of resource patches, predictability of resource landscapes, and the occurrence of movement barriers. Individuals were more efficient in locating resources under larger patch sizes and predictable landscapes when memory was advantageous. However, memory was also frequently used in unpredictable landscapes with intermediate patch sizes to systematically search the entire spatial domain, and because of this, we suggest that memory may be important in explaining super-diffusion observed in many empirical studies. The sudden imposition of movement barriers had the greatest effect under predictable landscapes and temporarily eliminated the benefits of memory. Overall, we demonstrate how movement behaviors that are linked to certain cognitive abilities can be represented by state variables in ANNs and how, by altering these state variables, the relevance of different behaviors under different spatiotemporal resource dynamics can be tested. If adapted to fit empirical movement paths, methods described here could help reveal behavioral mechanisms of real animals and predict effects of anthropogenic landscape changes on animal movement.