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.     

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.     

Chemical trail systems,orientation, and territorial interactions in the antLasius neoniger

Foraging and territoriality in the ant Lasius neonigerinvolves a series of trails which channel foragers away from adjacent colonies. Experimental studies suggest that the trails are composed of colony-specific, persistent orientation components of hindgut material that accumulate on trails during foraging. A less durable component of the hindgut trail pheromone regulates recruitment. Foraging directionality and the use of a trail could be modified by experimentally arranging confrontations with conspecifics. The orientation of foragers is mediated by visual as well as chemical cues. Components of the foraging and territorial system of L. neonigerappear to include (1) a network of subnests which change in position seasonally within each polydomous nest; (2) a series of trails emanating from each subnest that adjusts search toward resource patches and away from aggressive, neighboring conspecifics; and (3) trail communication involving an ephemeral component of the hindgut trail pheromone that regulates the organization of cooperative prey retrieval and a more persistent component that serves as an orientation guide.     

Individual rules for trail pattern formation in Argentine ants (Linepithema humile)

We studied the formation of trail patterns by Argentine ants exploring an empty arena. Using a novel imaging and analysis technique we estimated pheromone concentrations at all spatial positions in the experimental arena and at different times. Then we derived the response function of individual ants to pheromone concentrations by looking at correlations between concentrations and changes in speed or direction of the ants. Ants were found to turn in response to local pheromone concentrations, while their speed was largely unaffected by these concentrations. Ants did not integrate pheromone concentrations over time, with the concentration of pheromone in a 1 cm radius in front of the ant determining the turning angle. The response to pheromone was found to follow a Weber's Law, such that the difference between quantities of pheromone on the two sides of the ant divided by their sum determines the magnitude of the turning angle. This proportional response is in apparent contradiction with the well-established non-linear choice function used in the literature to model the results of binary bridge experiments in ant colonies (Deneubourg et al. 1990). However, agent based simulations implementing the Weber's Law response function led to the formation of trails and reproduced results reported in the literature. We show analytically that a sigmoidal response, analogous to that in the classical Deneubourg model for collective decision making, can be derived from the individual Weber-type response to pheromone concentrations that we have established in our experiments when directional noise around the preferred direction of movement of the ants is assumed.     

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.     

Designing pheromone communication in swarm robotics: Group foraging behavior mediated by chemical substance

In swarm robotics, communication among the robots is essential. Inspired by biological swarms using pheromones, we propose the use of chemical compounds to realize group foraging behavior in robot swarms. We designed a fully autonomous robot, and then created a swarm using ethanol as the trail pheromone allowing the robots to communicate with one another indirectly via pheromone trails. Our group recruitment and cooperative transport algorithms provide the robots with the required swarm behavior. We conducted both simulations and experiments with real robot swarms, and analyzed the data statistically to investigate any changes caused by pheromone communication in the performance of the swarm in solving foraging recruitment and cooperative transport tasks. The results show that the robots can communicate using pheromone trails, and that the improvement due to pheromone communication may be non-linear, depending on the size of the robot swarm.     

Homing in Harvester Termites: Evidence of Magnetic Orientation

Colonies of Trinervitermes geminatus (Wasman) build a network of forked foraging trails. Homing workers choose, with few exceptions, those tracks at the forks of the pheromone trail network that lead direct to the nest. Assessments show that these workers are also able to distinguish between the homeward and outward direction along an unbranched trail. Experiments involving the alteration of the local natural magnetic field by means of a weak permanent magnet provide evidence that the termites recognise the home direction by means of magnetoreception.     

Decay rates of attractive and repellent pheromones in an ant foraging trail network

Pharaoh’s ants (Monomorium pharaonis) use at least three types of foraging trail pheromone: a long-lasting attractive pheromone and two short-lived pheromones, one attractive and one repellent. We measured the decay rates of the behavioural response of ant workers at a trail bifurcation to trail substrate marked with either repellent or attractive short-lived pheromones. Our results show that the repellent pheromone effect lasts more than twice as long as the attractive pheromone effect (78 min versus 33 min). Although the effects of these two pheromones decay at approximately the same rate, the initial effect of the repellent pheromone on branch choice is almost twice that of the attractive pheromone (48% versus 25% above control). We hypothesise that the two pheromones have complementary but distinct roles, with the repellent pheromone specifically directing ants at bifurcations, while the attractive pheromone guides ants along the entire trail. Received 15 November 2007; revised 7 March 2008; accepted 18 March 2008.     

Spatial and temporal variation in pheromone composition of ant foraging trails

Many social insects use pheromones to communicate and coordinatetheir activities. Investigation of intraspecific differencesin pheromone use is a new area of social insect research. Forexample, interindividual variation in alarm pheromone contenthas been found in physical castes of polymorphic ants. Manyant species use multiple trail pheromones. Here we present novelresearch into trail pheromone variations between behavioralsubcastes of pharaoh ants, Monomorium pharaonis. Monomoriumpharaonis is attracted to trail pheromones found in its poisonglands (monomorines) and Dufour's glands (faranal). We showthat the most abundant monomorines, I (M1) and III (M3), canbe readily detected in pheromone trails. A behaviorally distinctsubcaste known as "pathfinder" foragers can relocate long-livedpheromone trails. Chemical analysis showed that pathfinder foragershad low M3:M1 ratios (mean 3.09 ± 1.53, range 1.03–7.10).Nonpathfinder foragers had significantly greater M3:M1 ratios(38.3 ± 60.0, range 3.54–289). We found that M3:M1ratio did not differ between foragers of different age but wascorrelated with behavioral subcaste at all ages. The relativeabundance of M3:M1 on foraging trails ranged from 3.03–41.3over time during pheromone trail build-up. M3:M1 ratio alsovaried spatially throughout trail networks, being lowest ontrail sections closest to a food source (M3:M1 = 1.9–3.61)and highest near the nest (M3:M1 = 67–267). Our resultsindicate a functional role for differences in pheromone trailcomposition, whereby pathfinder foragers might preferentiallymark sections of pheromone trail networks for future exploration.     

Monomorium ant's trail pheromones: Glandular source,optimal concentration,longevity and specificity

Many ants use pheromone trails to organize collective foraging. Trail pheromones are produced from different glandular sources and they may be specific to a single species or shared by a number of species. I investigated the source of trail pheromones in three Monomorium ant species: Monomorium niloticum (Emery), M. najrane (Collingwood & Agosti) and M. mayri (Forel). I also examined the optimal concentration, longevity and specificity of the pheromones. M. niloticum and M. najrane secrete trail pheromone from their venom glands, whereas M. mayri secrete trail pheromone from its Dufour's gland. The optimum concentration was 1.0 and 0.1 gaster equivalent (GE)/30 cm trail in M. niloticum, 1.0 GE in M. najrane and 5.0 GE in M. mayri. Longevity of the optimal concentration was about one day for all species. There is no species specificity among the three species of Monomorium in their trail pheromone.     

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.     

Fire ant trail pheromones: Analysis of species specificity after gas chromatographic fractionation

The specificity of the trail pheromones of four Solenopsis species was determined using natural trails. Dufour's gland extracts, and purified fractions from Dufour's gland extracts collected after gas-chromatographic separation. S. richteri and S. invicta possess species-specific major trail pheromones, while S. geminata and S. xyloni appear to have a common trail pheromone. Preliminary chemical characterization of the main trail pheromone of S. richteri indicates a M.W. of 218 and empirical formula of C₁₆H₂₆. The trail pheromone system of S. richteri consists of a blend of compounds and this phenomenon may also occur in the other species. The lowest concentration of their trail pheromone that workers of S. richteri could detect was about 10 fg per cm. The significance of blends of pheromones being utilized to generate chemical trails is discussed.     

The Behavior of <Emphasis Type="Italic">Acromyrmex crassispinus</Emphasis> (Hymenoptera: Formicidae) on Trail Bifurcations and the Influence of Ant Flow on Error Rates of Nestbound Laden Workers

Ants are ordinarily faced with a succession of bifurcations along their foraging networks. Given that there is no directionality in pheromone trails, each bifurcation is potentially an opportunity for error in the trajectory of laden workers to the nest, which could entail considerable inefficiencies in the transportation of food to the colony. Leaf-cutting ants (Atta and Acromyrmex) commonly show intense traffic and complex foraging trail systems, which make them ideal organisms to study worker behavior in trail bifurcations. The behavior of leaf-cutting ants of the genus Acromyrmex in trail bifurcations is still largely unexplored. Thus, this study aimed to assess the behavior of Acromyrmex crassispinus workers on trail bifurcations and to investigate whether differences in ant flow on foraging trails influence the error rate of nestbound laden workers at trail bifurcation. There was a negative relationship between ant flow and error rate of nestbound laden workers. Most workers walked in the central part of the foraging trails but occupied a broader area of the foraging trail when the ant flow was high. The results of this study provide valuable insight into the organization of traffic flow in A. crassispinus and its impacts on the foraging strategy of the species.     

Perceptual differences in trail-following leaf-cutting ants relate to body size

Leaf-cutting ants of the genus Atta have highly size-polymorphic workers, and size is related to division of labor. We studied trail-following behavior of different-sized workers in a laboratory colony of Atta vollenweideri. For small and large workers, we measured responsiveness and preference to artificial conspecific and heterospecific pheromone trails made from poison gland extracts of A. vollenweideri and A. sexdens. Responsiveness was measured as the probability of trail-following, and preference was measured by testing the discrimination between one conspecific and one heterospecific trail. Minute amounts of the releaser component methyl-4-methylpyrrole-2-carboxylate (0.4pg/1m), present in both, conspecific and heterospecific trails, suffice to elicit trail-following behavior. Workers followed heterospecific trails, and these trails (after normalizing their concentration) were as effective as conspecific trails. Small workers were less likely to follow a trail of a given concentration than large workers. In the discrimination test, small workers preferred the conspecific trail over the heterospecific trail, whereas large workers showed no significant preference. It is suggested that large workers primarily respond to the releaser component present in both trails, whereas small workers focus more on the conspecific traits provided by the blend of components contained in the trail pheromone.     

The trail pheromone of the termite, Trinervitermes trinervoides

By using a T-junction choice assay workers of Trinervitermes trinervoides have been shown to lay and follow pheromone trails. The trials are not polarized and there is a quantitative relation between the number of termites laying the trail and the fraction of test termites which follw correctly. Workers reinforce trails whenever they follow them, and the degree of this reinforcement seems to be independent of trail strength. The trail pheromone is volatile and need not be perceived by contact chemoreception. Activity loss from filter paper is approximately exponential with a half-life of about 2 hr. Extracts of papers over which workers had laid trails were used to show a linear relationship, on a log-probit scale, between dose and response. Soldier termites also follow trails about as well as do workers, but workers lay trails that are about six to seven times as strong as soldier trails. No preference of either caste for their own trails could be demonstrated. Thin-layer chromatography indicated that the trail pheromone(s) is a fairly polar substance.     

Foraging strategy quick response to temperature of Messor barbarus (Hymenoptera: Formicidae) in Mediterranean environments

Animals principally forage to try to maximize energy intake per unit of feeding time, developing different foraging strategies. Temperature effects on foraging have been observed in diverse ant species; these effects are limited to the duration of foraging or the number of foragers involved. The harvester ant Messor barbarus L. 1767 has a specialized foraging strategy that consists in the formation of worker trails. Because of the high permeability of their body integument, we presume that the length, shape, and type of foraging trails of M. barbarus must be affected by temperature conditions. From mid-June to mid-August 1999, we tested the effect on these trail characteristics in a Mediterranean forest. We found that thermal stress force ants to use a foraging pattern based on the variation of the workers trail structure. Ants exploit earlier well-known sources using long physical trails, but as temperatures increases throughout the morning, foragers reduce the length of the foraging column gradually, looking for alternative food sources in nonphysical trails. This study shows that animal forage can be highly adaptable and versatile in environments with high daily variations.     

Serotonin modulates worker responsiveness to trail pheromone in the ant <Emphasis Type="Italic">Pheidole dentata</Emphasis>

As social insect workers mature, outside-nest tasks associated with foraging and defense are typically performed at higher frequencies. Foraging in ants is often a pheromonally mediated collective action performed by mature workers; age-dependent differences in olfactory response thresholds may therefore proximately regulate task repertoire development. In the ant Pheidole dentata, foraging activity increases with chronological age in minor workers, and is chemically controlled. The onset of foraging in minor workers is accompanied by marked neuroanatomical and neurochemical changes, including synaptic remodeling in olfactory regions of the brain, proliferation of serotonergic neurons, and increased brain titers of monoamines, notably serotonin. We examined the linkage of serotonin and olfactory responsiveness by assaying trail-following performance in mature P. dentata minor workers with normal serotonin levels, or serotonin levels experimentally lowered by oral administration of the serotonin synthesis inhibitor α-methyltryptophan (AMTP). By assessing responsiveness to standardized pheromone trails, we demonstrate that trail-following behaviors are significantly reduced in serotonin-depleted workers. AMTP-treated individuals were less likely to initiate trail following, and oriented along pheromone trails for significantly shorter distances than untreated, similar-age workers. These results demonstrate for the first time that serotonin modulates olfactory processes and/or motor functions associated with cooperative foraging in ants.     

Stingless bees (<Emphasis Type="Italic">Scaptotrigona pectoralis</Emphasis>) learn foreign trail pheromones and use them to find food

Foragers of several species of stingless bees (Hymenoptera, Apidae and Meliponini) deposit pheromone marks in the vegetation to guide nestmates to new food sources. These pheromones are produced in the labial glands and are nest and species specific. Thus, an important question is how recruited foragers recognize their nestmates’ pheromone in the field. We tested whether naïve workers learn a specific trail pheromone composition while being recruited by nestmates inside the hive in the species Scaptotrigona pectoralis. We installed artificial scent trails branching off from trails deposited by recruiting foragers and registered whether newly recruited bees follow these trails. The artificial trails were baited with trail pheromones of workers collected from foreign S. pectoralis colonies. When the same foreign trail pheromone was presented inside the experimental hives while recruitment took place a significant higher number of bees followed the artificial trails than in experiments without intranidal presentation. Our results demonstrate that recruits of S. pectoralis can learn the composition of specific trail pheromone bouquets inside the nest and subsequently follow this pheromone in the field. We, therefore, suggest that trail pheromone recognition in S. pectoralis is based on a flexible learning process rather than being a genetically fixed behaviour.     

The Role of Tactile and Chemical Stimuli in the Formation and Maintenance of the Processions of the Social Caterpillar Hylesia lineata (Lepidoptera: Saturniidae)

Colonies of the social caterpillar Hylesia lineata (Lepidoptera: Satumiidae) form long, single-file, head-to-tail processions as they move between their shelters and distant feeding sites. Although investigations of other processionary species have implicated a silk trail in the processionary process, silk plays little or no role in initiating or maintaining processions in H. lineata. Studies we report here implicate both tactile stimuli and a trail pheromone in the establishment and maintenance of processions. Processionaries elicit locomotion in the individual preceding them in line by brushing their heads against prominent sulci that project from the tips of their abdomens. Caterpillars mark their pathways with a pheromone deposited by brushing the ventral surfaces of their last abdominal segments against the substrate. The persistent pheromone is soluble in hexanes and appears to be secreted from glandular setae found on the proximal regions of the anal prolegs and the venter. In Y-choice tests, caterpillars selected newer trails over older trails and stronger trails over weaker trails. They did not distinguish between trials deposited by newly fed caterpillars and those deposited by starved caterpillars. Despite the unidirectional nature of processions, there is no indication that caterpillars can determine from the trail alone the direction in which the procession advanced. The significance of these findings to the foraging ecology of the caterpillars is discussed.