The Antarium: A Reconstructed Visual Reality Device for Ant Navigation Research.

We constructed a large projection device (the Antarium) with 20,000 UV-Blue-Green LEDs that allows us to present tethered ants with views of their natural foraging environment. The ants walk on an air-cushioned trackball, their movements are registered and can be fed back to the visual panorama. Views are generated in a 3D model of the ants' environment so that they experience the changing visual world in the same way as they do when foraging naturally. The Antarium is a biscribed pentakis dodecahedron with 55 facets of identical isosceles triangles. The length of the base of the triangles is 368 mm resulting in a device that is roughly 1 m in diameter. Each triangle contains 361 blue/green LEDs and nine UV LEDs. The 55 triangles of the Antarium have 19,855 Green and Blue pixels and 495 UV pixels, covering 360° azimuth and elevation from -50° below the horizon to +90° above the horizon. The angular resolution is 1.5° for Green and Blue LEDs and 6.7° for UV LEDs, offering 65,536 intensity levels at a flicker frequency of more than 9,000 Hz and a framerate of 190 fps. Also, the direction and degree of polarisation of the UV LEDs can be adjusted through polarisers mounted on the axles of rotary actuators. We build 3D models of the natural foraging environment of ants using purely camera-based methods. We reconstruct panoramic scenes at any point within these models, by projecting panoramic images onto six virtual cameras which capture a cube-map of images to be projected by the LEDs of the Antarium. The Antarium is a unique instrument to investigate visual navigation in ants. In an open loop, it allows us to provide ants with familiar and unfamiliar views, with completely featureless visual scenes, or with scenes that are altered in spatial or spectral composition. In closed-loop, we can study the behavior of ants that are virtually displaced within their natural foraging environment. In the future, the Antarium can also be used to investigate the dynamics of navigational guidance and the neurophysiological basis of ant navigation in natural visual environments.

The role of attractive and repellent scene memories in ant homing (Myrmecia croslandi).

Solitary foraging ants rely on vision when travelling along routes and when pinpointing their nest. We tethered foragers of Myrmecia croslandi on a trackball and recorded their intended movements when the trackball was located on their normal foraging corridor (on-route), above their nest and at a location several metres away where they have never been before (off-route). We found that at on- and off-route locations, most ants walk in the nest or foraging direction and continue to do so for tens of metres in a straight line. In contrast, above the nest, ants walk in random directions and change walking direction frequently. In addition, the walking direction of ants above the nest oscillates on a fine scale, reflecting search movements that are absent from the paths of ants at the other locations. An agent-based simulation shows that the behaviour of ants at all three locations can be explained by the integration of attractive and repellent views directed towards or away from the nest, respectively. Ants are likely to acquire such views via systematic scanning movements during their learning walks. The model predicts that ants placed in a completely unfamiliar environment should behave as if at the nest, which our subsequent experiments confirmed. We conclude first, that the ants' behaviour at release sites is exclusively driven by what they currently see and not by information on expected outcomes of their behaviour; and second, that navigating ants might continuously integrate attractive and repellent visual memories. We discuss the benefits of such a procedure.

Naturalistic path integration of Cataglyphis desert ants on an air-cushioned lightweight spherical treadmill.

Air-cushioned spheres are widely used as treadmills to study behavioural and neurophysiological questions in numerous species. We describe an improved spherical treadmill design that reliably registers the path and walking behaviour of an animal walking on top of the sphere. The simple and robust set-up consists of a very light hollowed styrofoam ball supported by an air stream in a hollow half sphere and can be used indoors and outdoors. Two optical mouse sensors provided with lenses of 4.6 mm focal length detect the motion of the sphere with a temporal resolution of more than 200 frames s-1 and a spatial resolution of less than 0.2 mm. The treadmill can be used in an open- or closed-loop configuration with respect to yaw of the animal. The tethering allows animals to freely adjust their body posture and in the closed-loop configuration to quickly rotate around their yaw axis with their own moment of inertia. In this account, we present the first evidence of naturalistic homing navigation on a spherical treadmill for two species of Cataglyphis desert ants. We were able to evaluate with good precision the walking speed and angular orientation at any time. During homing the ants showed a significant difference in walking speed between the approach and search phases; moreover, they slowed down significantly as soon as they reached zero vector state, the fictive nest position.

Odometry for ground moving agents by optic flow recorded with optical mouse chips.

Optical mouse chips-equipped with adequate lenses-can serve as small, light, precise, fast, and cheap motion sensors monitoring optic flow induced by self motion of an agent in a contrasted environment. We present a device that extracts self motion parameters exclusively from flow in eight mouse sensors. Four pairs of sensors with opposite azimuth are mounted on a sensor head, each individual sensor looking down with -45° elevation. The head is mounted on a carriage and is moved at constant height above a textured planar ground. The calibration procedure and tests on the precision of self motion estimates are reported.