title: A Model for an Angular Velocity-Tuned Motion Detector Accounting for Deviations in the Corridor-Centering Response of the Bee.
abstract: We present a novel neurally based model for estimating angular velocity (AV) in the bee brain, capable of quantitatively reproducing experimental observations of visual odometry and corridor-centering in free-flying honeybees, including previously unaccounted for manipulations of behaviour. The model is fitted using electrophysiological data, and tested using behavioural data. Based on our model we suggest that the AV response can be considered as an evolutionary extension to the optomotor response. The detector is tested behaviourally in silico with the corridor-centering paradigm, where bees navigate down a corridor with gratings (square wave or sinusoidal) on the walls. When combined with an existing flight control algorithm the detector reproduces the invariance of the average flight path to the spatial frequency and contrast of the gratings, including deviations from perfect centering behaviour as found in the real bee's behaviour. In addition, the summed response of the detector to a unit distance movement along the corridor is constant for a large range of grating spatial frequencies, demonstrating that the detector can be used as a visual odometer.
authors.affiliation: Department of Computer Science, University of Sheffield, Sheffield, South Yorkshire, United Kingdom.|Sheffield Robotics, Sheffield, South Yorkshire, United Kingdom.
authors.forename: Alex J
authors.identifier: 0000-0001-6042-1542
authors.initials: AJ
authors.lastname: Cope
authors.affiliation: Department of Computer Science, University of Sheffield, Sheffield, South Yorkshire, United Kingdom.|Sheffield Robotics, Sheffield, South Yorkshire, United Kingdom.
authors.forename: Chelsea
authors.initials: C
authors.lastname: Sabo
authors.affiliation: Sheffield Robotics, Sheffield, South Yorkshire, United Kingdom.|Department of Psychology, University of Sheffield, Sheffield, South Yorkshire, United Kingdom.
authors.forename: Kevin
authors.initials: K
authors.lastname: Gurney
authors.affiliation: Department of Computer Science, University of Sheffield, Sheffield, South Yorkshire, United Kingdom.|Sheffield Robotics, Sheffield, South Yorkshire, United Kingdom.
authors.forename: Eleni
authors.initials: E
authors.lastname: Vasilaki
authors.affiliation: Department of Computer Science, University of Sheffield, Sheffield, South Yorkshire, United Kingdom.|Sheffield Robotics, Sheffield, South Yorkshire, United Kingdom.
authors.forename: James A R
authors.initials: JA
authors.lastname: Marshall
mesh_terms: D000465:Algorithms; D000818:Animals; D001516:Bees / Q000502:physiology*; D001921:Brain / Q000502:physiology; D019295:Computational Biology; D003198:Computer Simulation; D005426:Flight, Animal / Q000502:physiology*; D008959:Models, Neurological; D009039:Motion Perception / Q000502:physiology; D014584:User-Computer Interface