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The ability to locomote is a defining characteristic of all animals. Yet, all but the most trivial forms of navigation are poorly understood. Here we report and discuss the analytical results of an in-depth study of a simple navigation problem. In principle, there are two strategies for navigating a straight course. One is to use an external directional reference and to continually reorient with reference to it. The other is to monitor body rotations from internal sensory information only. We showed previously that, at least for simple representations of locomotion, the first strategy will enable an animal or mobile agent to move arbitrarily far away from its starting point, but the second strategy will not do so, even after an infinite number of steps. This paper extends and generalizes the earlier results by demonstrating that these findings are true even when a very general model of locomotion is used. In this general model, error components within individual steps are not independent, and directional errors may be biased. In the absence of a compass, the expected path of a directed walk in general approximates a logarithmic spiral. Some examples are given to illustrate potential applications of the quantitative results derived here. Motivated by the analytical results developed in this work, a nomenclature for directed walks is proposed and discussed. Issues related to path integration in mammals and robots, and measuring the curvature of a noisy path are also addressed using directed walk theory. 相似文献
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Y Deng J Zhao D Sakurai KM Kaufman JC Edberg RP Kimberly DL Kamen GS Gilkeson CO Jacob RH Scofield CD Langefeld JA Kelly ME Alarcón-Riquelme BIOLUPUS GENLES Networks JB Harley TJ Vyse BI Freedman PM Gaffney KM Sivils JA James TB Niewold RM Cantor W Chen BH Hahn EE Brown PROFILE BP Tsao 《Arthritis research & therapy》2012,14(Z3):A5
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Walking insects probably monitor leg movements to estimate how far they travel, whereas flying insects monitor optic flow. 相似文献
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Partha S. Bhagavatula Charles Claudianos Michael R. Ibbotson Mandyam V. Srinivasan 《PLoS computational biology》2014,10(3)
Birds flying through a cluttered environment require the ability to choose routes that will take them through the environment safely and quickly. We have investigated some of the strategies by which they achieve this. We trained budgerigars to fly through a tunnel in which they encountered a barrier that offered two passages, positioned side by side, at the halfway point. When one of the passages was substantially wider than the other, the birds tended to fly through the wider passage to continue their transit to the end of the tunnel, regardless of whether this passage was on the right or the left. Evidently, the birds were selecting the safest and quickest route. However, when the two passages were of equal or nearly equal width, some individuals consistently preferred the left-hand passage, while others consistently preferred the passage on the right. Thus, the birds displayed idiosyncratic biases when choosing between alternative routes. Surprisingly - and unlike most of the instances in which behavioral lateralization has previously been discovered - the bias was found to vary from individual to individual, in its direction as well as its magnitude. This is very different from handedness in humans, where the majority of humans are right-handed, giving rise to a so-called ‘population’ bias. Our experimental results and mathematical model of this behavior suggest that individually varying lateralization, working in concert with a tendency to choose the wider aperture, can expedite the passage of a flock of birds through a cluttered environment. 相似文献
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Srinivasan MV 《Current opinion in neurobiology》2011,21(4):535-543
Flying insects display remarkable agility, despite their diminutive eyes and brains. This review describes our growing understanding of how these creatures use visual information to stabilize flight, avoid collisions with objects, regulate flight speed, detect and intercept other flying insects such as mates or prey, navigate to a distant food source, and orchestrate flawless landings. It also outlines the ways in which these insights are now being used to develop novel, biologically inspired strategies for the guidance of autonomous, airborne vehicles. 相似文献
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Recent studies have shown that honeybees flying through short, narrow tunnels with visually textured walls perform waggle dances that indicate a much greater flight distance than that actually flown. These studies suggest that the bee's “odometer” is driven by the optic flow (image motion) that is experienced during flight. One might therefore expect that, when bees fly to a food source through a varying outdoor landscape, their waggle dances would depend upon the nature of the terrain experienced en route. We trained honeybees to visit feeders positioned along two routes, each 580 m long. One route was exclusively over land. The other was initially over land, then over water and, finally, again over land. Flight over water resulted in a significantly flatter slope of the waggle-duration versus distance regression, compared to flight over land. The mean visual contrast of the scenes was significantly greater over land than over water. The results reveal that, in outdoor flight, the honeybee's odometer does not run at a constant rate; rather, the rate depends upon the properties of the terrain. The bee's perception of distance flown is therefore not absolute, but scene-dependent. These findings raise important and interesting questions about how these animals navigate reliably. 相似文献
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