Unpacking the navigation toolbox: insights from comparative cognition.

The study of navigation is informed by ethological data from many species, laboratory investigation at behavioural and neurobiological levels, and computational modelling. However, the data are often species-specific, making it challenging to develop general models of how biology supports behaviour. Wiener et al. outlined a framework for organizing the results across taxa, called the 'navigation toolbox' (Wiener et al. In Animal thinking: contemporary issues in comparative cognition (eds R Menzel, J Fischer), pp. 51-76). This framework proposes that spatial cognition is a hierarchical process in which sensory inputs at the lowest level are successively combined into ever-more complex representations, culminating in a metric or quasi-metric internal model of the world (cognitive map). Some animals, notably humans, also use symbolic representations to produce an external representation, such as a verbal description, signpost or map that allows communication of spatial information or instructions between individuals. Recently, new discoveries have extended our understanding of how spatial representations are constructed, highlighting that the hierarchical relationships are bidirectional, with higher levels feeding back to influence lower levels. In the light of these new developments, we revisit the navigation toolbox, elaborate it and incorporate new findings. The toolbox provides a common framework within which the results from different taxa can be described and compared, yielding a more detailed, mechanistic and generalized understanding of navigation.

Running together influences where you look.

To read this article, you have to constantly direct your gaze at the words on the page. If you go for a run instead, your gaze will be less constrained, so many factors could influence where you look. We show that you are likely to spend less time looking at the path just in front of you when running alone than when running with someone else, presumably because the presence of the other runner makes foot placement more critical.

Optimizing Indoor Airport Navigation with Advanced Visible Light Communication Systems.

This study presents a novel approach to enhancing indoor navigation in crowded multi-terminal airports using visible light communication (VLC) technology. By leveraging existing luminaires as transmission points, encoded messages are conveyed through modulated light signals to provide location-specific guidance. The objectives are to facilitate navigation, optimize routes, and improve system performance through Edge/Fog integration. The methodology includes the use of tetrachromatic LED-equipped luminaires with On-Off Keying (OOK) modulation and a mesh cellular hybrid structure. Detailed airport modeling and user analysis (pedestrians and luggage/passenger carriers) equipped with PINPIN optical sensors are conducted. A VLC-specific communication protocol with coding and decoding techniques ensures reliable data transmission, while wayfinding algorithms offer real-time guidance. The results show effective data transmission and localization, enabling self-localization, travel direction inference, and route optimization. Agent-based simulations demonstrate improved traffic control, with analyses of user halting and average speed. This approach provides reliable indoor navigation independent of GPS signals, enhancing accessibility and convenience for airport users. The integration of VLC with Edge/Fog architecture ensures efficient movement through complex airport layouts.

Memory effects of visual and olfactory landmark information in human wayfinding.

Non-human animals are exceptionally good at using smell to find their way through the environment. However, the use of olfactory cues for human navigation is often underestimated. Although the sense of smell is well-known for its distinct connection to memory and emotion, memory effects in human navigation using olfactory landmarks have not been studied yet. Therefore, this article compares wayfinding and recognition performance for visual and olfactory landmarks learned by 52 participants in a virtual maze. Furthermore, it is one of the first empirical studies investigating differences in memory effects on human navigation by using two separate test situations 1 month apart. The experimental task was to find the way through a maze-like virtual environment with either olfactory or visual cues at the intersections that served as decision points. Our descriptive results show that performance was above chance level for both conditions (visual and olfactory landmarks). Wayfinding performance did not decrease 1 month later when using olfactory landmarks. In contrast, when using visual landmarks wayfinding performance decreased significantly, while visual landmarks overall lead to better recognition than olfactory landmarks at both times of testing. The results demonstrate the unique character of human odor memory and support the conclusion that olfactory cues may be used in human spatial orientation. Furthermore, the present study expands the research field of human wayfinding by providing a study that investigates memory for landmark knowledge and route decisions for the visual and olfactory modality. However, more studies are required to put this important research strand forward.

At Crossroads in a Virtual City: Effect of Spatial Disorientation on Gait Variability and Psychophysiological Response among Healthy Older Adults.

INTRODUCTION: Aging has been associated with a decline in cognitive and motor performance, often expressed in multitasking situations, which could include wayfinding. A major challenge to successful wayfinding is spatial disorientation, occurring mostly at crossings. Although gait changes have been observed in various dual-task conditions, little is known about the effect of disorientation on gait and psychophysiological response among older adults during wayfinding. The study aimed at identifying the effect of spatial disorientation on gait variability and psychophysiological response among healthy older adults during wayfinding in a controlled environment. METHOD: We analyzed data of 28 participants (age 70.8 ± 4.6, 18 female), 14 experimental and 14 controls. Participants performed a wayfinding task consisting of 14 major decision points (7 intersections) within a virtual environment (VE) projected on a 180° screen while walking on a self-paced treadmill equipped with a marker-based optical motion-capture system. The VE was held constant for the controls and manipulated for the experimental participants. Disorientation was identified based on a customized annotation scheme. Variability in gait, including the coefficient of variation (CV), was measured as the primary endpoint. Psychophysiological response measures, including heart rate variability (RMSSD) and skin conductance response (SCR), were continuously monitored as secondary endpoints and estimates of cognitive effort. Linear Mixed Effects models were applied to hypothesis-driven outcome measures extracted from decision points. RESULTS: Walking speed and step length decreased when disoriented (p < 0.05), while stride time, stance time, walking speed CV, stance time CV, SCR amplitude, and SCR count increased when disoriented (p < 0.05). A higher RMSSD was associated with being disoriented at crossings (p < 0.05). SCR count was greater in the older experimental group (p < 0.001), including when disoriented (p < 0.001). DISCUSSION/CONCLUSION: The results provide evidence for the impact of spatial disorientation on changes in gait pattern and psychophysiological response among older adults during wayfinding. Location also had implications for the effect of disorientation on gait and cognitive effort. This gives further insight into the substrates of real-world navigation challenges among older adults, with an emphasis on viable features for designing situation-adaptive interventional devices aiding independent mobility.

Choice between decision-making strategies in human route-following.

To follow a prescribed route, we must decide which way to turn at intersections. To do so, we can memorize either the serial order of directions or the associations between spatial cues and directions ("at the drug store, turn left"). Here, we investigate which of these two strategies is used if both are available. In Task S, all intersections looked exactly alike, and participants therefore had to use the serial order strategy to decide which way their route continued. In Task SA, each intersection displayed a unique spatial cue, and participants therefore could use either strategy. In Task A, each intersection displayed a unique cue, but the serial order of cues varied between trips, and participants therefore had to use the associative cue strategy. We found that route-following accuracy increased from trip to trip, was higher on routes with 12 rather than 18 intersections, and was higher on Task SA than on the other two tasks, both with 12 and with 18 intersections. Furthermore, participants on Task SA acquired substantial knowledge about the serial order of directions as well as about cue-direction associations, both with 12 and with 18 intersections. From this we conclude that, when both strategies were available, participants did not pick the better one but rather used both. This represents dual encoding, a phenomenon previously described for more elementary memory tasks. We further conclude that dual encoding may be implemented even if the memory load is not very high (i.e., even with only 12 intersections).

A Lightweight Approach to Localization for Blind and Visually Impaired Travelers.

Independent wayfinding is a major challenge for blind and visually impaired (BVI) travelers. Although GPS-based localization approaches enable the use of navigation smartphone apps that provide accessible turn-by-turn directions in outdoor settings, such approaches are ineffective in indoor and other GPS-deprived settings. We build on our previous work on a localization algorithm based on computer vision and inertial sensing; the algorithm is lightweight in that it requires only a 2D floor plan of the environment, annotated with the locations of visual landmarks and points of interest, instead of a detailed 3D model (used in many computer vision localization algorithms), and requires no new physical infrastructure (such as Bluetooth beacons). The algorithm can serve as the foundation for a wayfinding app that runs on a smartphone; crucially, the approach is fully accessible because it does not require the user to aim the camera at specific visual targets, which would be problematic for BVI users who may not be able to see these targets. In this work, we improve upon the existing algorithm so as to incorporate recognition of multiple classes of visual landmarks to facilitate effective localization, and demonstrate empirically how localization performance improves as the number of these classes increases, showing the time to correct localization can be decreased by 51-59%. The source code for our algorithm and associated data used for our analyses have been made available in a free repository.

London taxi drivers: A review of neurocognitive studies and an exploration of how they build their cognitive map of London.

Licensed London taxi drivers have been found to show changes in the gray matter density of their hippocampus over the course of training and decades of navigation in London (UK). This has been linked to their learning and using of the "Knowledge of London," the names and layout of over 26,000 streets and thousands of points of interest in London. Here we review past behavioral and neuroimaging studies of London taxi drivers, covering the structural differences in hippocampal gray matter density and brain dynamics associated with navigating London. We examine the process by which they learn the layout of London, detailing the key learning steps: systematic study of maps, travel on selected overlapping routes, the mental visualization of places and the optimal use of subgoals. Our analysis provides the first map of the street network covered by the routes used to learn the network, allowing insight into where there are gaps in this network. The methods described could be widely applied to aid spatial learning in the general population and may provide insights for artificial intelligence systems to efficiently learn new environments.

Wayfinding and spatial perception among adolescents with mild intellectual disability.

BACKGROUND: The study's aim was to examine whether spatial orientation can be improved in students with cognitive disabilities. METHOD: Participants were 55 boys and girls with attention deficit and mild cognitive impairment from a special education school. The procedure included an intervention for two experimental groups that studied wayfinding and orientation in the environment: group #1 learned to use a map while navigating, and group #2 learned to use a Google navigation app with voice instructions. Two pre-post tests were applied: (1) Mental folding test for children (MFTC) and (2) field test with map. RESULTS: Both groups improved their ability in navigation and wayfinding. No advantage for one learning method over the other was demonstrated, except for shortened navigation time in the group navigating with a map, and a slight though not significant tendency of improvement in the MFTC task in the group learning navigation using a voice app. CONCLUSION: It is worth noting that the study did not examine the students' own preferences for the way of learning, which may have implications for the degree of possible improvement. Also, a longer period of the learning process might yield a clearer understanding concerning the differences between the two teaching methods that were examined.

The MAPS: Toward a Novel Mobility Assistance System for Visually Impaired People.

This paper introduces the design of a novel indoor and outdoor mobility assistance system for visually impaired people. This system is named the MAPS (Mobility Assistance Path Planning and orientation in Space), and it is based on the theoretical frameworks of mobility and spatial cognition. Its originality comes from the assistance of two main functions of navigation: locomotion and wayfinding. Locomotion involves the ability to avoid obstacles, while wayfinding involves the orientation in space and ad hoc path planning in an (unknown) environment. The MAPS architecture proposes a new low-cost system for indoor-outdoor cognitive mobility assistance, relying on two cooperating hardware feedbacks: the Force Feedback Tablet (F2T) and the TactiBelt. F2T is an electromechanical tablet using haptic effects that allow the exploration of images and maps. It is used to assist with maps' learning, space awareness emergence, path planning, wayfinding and effective journey completion. It helps a VIP construct a mental map of their environment. TactiBelt is a vibrotactile belt providing active support for the path integration strategy while navigating; it assists the VIP localize the nearest obstacles in real-time and provides the ego-directions to reach the destination. Technology used for acquiring the information about the surrounding space is based on vision (cameras) and is defined with the localization on a map. The preliminary evaluations of the MAPS focused on the interaction with the environment and on feedback from the users (blindfolded participants) to confirm its effectiveness in a simulated environment (a labyrinth). Those lead-users easily interpreted the system's provided data that they considered relevant for effective independent navigation.

The practice of speleology: What is its relationship with spatial abilities?

Given the evidence of motor and exploring activities being related to spatial abilities on different scales, the present study considers the case of speleology, a peculiar underground exploratory activity. The relation of this practice with spatial abilities was examined. The study compares a group of expert speleologists (18), a group with a reduced amount of experience in speleology (19 novice speleologists), and a group with a similar amount of practice but in the outdoors (19 experts mountaineers). Group differences will be investigated in terms of (i) small-scale spatial task performance (rotation-based and spatial working memory); (ii) large-scale environment learning (reproduced using verbal descriptions) asking participants to learn a path through a cave or up a mountain (in a counterbalanced order) and then to test their recall with true/false spatial questions and graphical representation tasks; and (iii) self-reports of wayfinding attitudes. The results of linear models showed that, after controlling for age, gender, years of education, and vocabulary scores, expert speleologists had greater mental rotation and perspective-taking abilities and less spatial anxiety than expert mountaineers, and the former performed the true/false questions better than the latter. It should be noted that participants who reported having guiding/path-finding experiences had greater accuracy in graphical representation performance and higher scores in attitude towards orientation. Overall, expertise in speleology is related to spatial abilities on different scales and might have a distinctive role in comparison with other motor practices, pointing to the potential value of examining speleology in the spatial cognition framework.

Driving Performance of Experienced Young Adult Drivers with and without Autism Spectrum Disorder While Listening to Music on Two Scenarios: Hazards versus Wayfinding.

This study explored the effect of music on the driving performance of experienced young adult drivers with and without autism spectrum disorder (ASD) using an interactive driving simulator with two types of scenarios. A 2 (Group: autism/neurotypical) × 2 (Music: music/no music) × 2 (Scenario: hazards/wayfinding) factorial design was used with the order of scenarios and music conditions counterbalanced. Participants were 34 neurotypical drivers and 5 drivers with ASD, all with at least 3 years of driving experience. Paired sample t-tests demonstrated no effect of music for any condition. Overall, the drivers with ASD had higher performance means than the neurotypical group with significant differences in the wayfinding scenario and the category for following regulations. Neurotypical drivers had better performance on the wayfinding scenario than the hazard scenario in maneuvers and being attentive to the environment. Although this study had a low number of drivers with ASD, it suggests drivers with ASD can perform better than neurotypical drivers, possibly because they follow road rule guidelines more consistently than neurotypical peers. In addition, this is the first study to examine wayfinding skills in teens/young adults with and without ASD.

Age-Related Changes in Spatial Navigation Are Evident by Midlife and Differ by Sex.

Accumulating evidence suggests that distinct aspects of successful navigation-path integration, spatial-knowledge acquisition, and navigation strategies-change with advanced age. Yet few studies have established whether navigation deficits emerge early in the aging process (prior to age 65) or whether early age-related deficits vary by sex. Here, we probed healthy young adults (ages 18-28) and midlife adults (ages 43-61) on three essential aspects of navigation. We found, first, that path-integration ability shows negligible effects of sex or age. Second, robust sex differences in spatial-knowledge acquisition are observed not only in young adulthood but also, although with diminished effect, at midlife. Third, by midlife, men and women show decreased ability to acquire spatial knowledge and increased reliance on taking habitual paths. Together, our findings indicate that age-related changes in navigation ability and strategy are evident as early as midlife and that path-integration ability is spared, to some extent, in the transition from youth to middle age.

The Influence of Users' Spatial Familiarity on Their Emotional Perception of Space and Wayfinding Movement Patterns.

In order to evaluate the sensory perceptions of users who visited a train station, this study aimed to conduct an evaluation of their spatial emotions and identify the distance and type of transfer. For evaluation and verification, emotional recognition and wayfinding types were analyzed according to types in the groups (gender, age, and spatial familiarity) of experimental participants. There were two research questions: "Will the length of movement patterns in the experiment environment vary depending on the types of the participant group?" and "Is there any moderating effect in the interaction between spatial familiarity and the types of the participant groups?" A total of 28 participants were recruited with consideration of gender, age, and familiarity with spatial experience, which were used to analyze the participant groups. The experiment was conducted at a train station, and a vignette was presented to the participants to record the route and pattern of their wayfinding, followed by providing a questionnaire to record their spatial perception. SPSS was used to conduct a T-test, factor analysis, and multidimensional scaling (MDS). The differences in spatial perception were arranged in visual positioning based on emotional vocabulary, and average movement distances in the participant groups were compared in accordance with the type of wayfinding and interaction effect by ANOVA. The results showed that there was a difference in spatial perception depending on the negative emotional vocabulary and type of participant. An emotional positioning map for average comparison was prepared for each participant group (gender, age, and spatial familiarity) by using the factors extracted in the factor analysis (emotional factor, management factor, and aesthetic factor). Female and unfamiliar groups displayed negative results in the emotional factor (F = 7.202, p < 0.05). In addition, male and familiar groups displayed negative results in the management factor (F = 3.058, p < 0.10). In wayfinding, there was an interaction between gender and the resident group based on the status of their spatial familiarity. Through this, it was possible to extract negative emotional evaluations according to the type of participant and the interaction factors for the type and length of the wayfinding.

Smartphone-Based Inertial Odometry for Blind Walkers.

Pedestrian tracking systems implemented in regular smartphones may provide a convenient mechanism for wayfinding and backtracking for people who are blind. However, virtually all existing studies only considered sighted participants, whose gait pattern may be different from that of blind walkers using a long cane or a dog guide. In this contribution, we present a comparative assessment of several algorithms using inertial sensors for pedestrian tracking, as applied to data from WeAllWalk, the only published inertial sensor dataset collected indoors from blind walkers. We consider two situations of interest. In the first situation, a map of the building is not available, in which case we assume that users walk in a network of corridors intersecting at 45° or 90°. We propose a new two-stage turn detector that, combined with an LSTM-based step counter, can robustly reconstruct the path traversed. We compare this with RoNIN, a state-of-the-art algorithm based on deep learning. In the second situation, a map is available, which provides a strong prior on the possible trajectories. For these situations, we experiment with particle filtering, with an additional clustering stage based on mean shift. Our results highlight the importance of training and testing inertial odometry systems for assisted navigation with data from blind walkers.

Waymarking in Social Robots: Environment Signaling Using Human-Robot Interaction.

Travellers use the term waymarking to define the action of posting signs, or waymarks, along a route. These marks are intended to be points of reference during navigation for the environment. In this research, we will define waymarking as the skill of a robot to signal the environment or generate information to facilitate localization and navigation, both for its own use and for other robots as well. We present an automated environment signaling system using human-robot interaction and radio frequency identification (RFID) technology. The goal is for the robot, through human-robot interaction, to obtain information from the environment and use this information to carry out the signaling or waymarking process. HRI will play a key role in the signaling process since this type of communication makes it possible to exchange more specific and enriching information. The robot uses common phrases such as "Where am I?" and "Where can I go?", just as we humans do when we ask other people for information about the environment. It is also possible to guide the robot and "show" it the environment to carry out the task of writing the signs. The robot will use the information received to create, update, or improve the navigation data in the RFID signals. In this paper, the signaling process will be described, how the robot acquires the information for signals, writing and updating process and finally, the implementation and integration in a real social robot in a real indoor environment.

On Supporting University Communities in Indoor Wayfinding: An Inclusive Design Approach.

Mobility can be defined as the ability of people to move, live and interact with the space. In this context, indoor mobility, in terms of indoor localization and wayfinding, is a relevant topic due to the challenges it presents, in comparison with outdoor mobility, where GPS is hardly exploited. Knowing how to move in an indoor environment can be crucial for people with disabilities, and in particular for blind users, but it can provide several advantages also to any person who is moving in an unfamiliar place. Following this line of thought, we employed an inclusive by design approach to implement and deploy a system that comprises an Internet of Things infrastructure and an accessible mobile application to provide wayfinding functions, targeting the University community. As a real word case study, we considered the University of Bologna, designing a system able to be deployed in buildings with different configurations and settings, considering also historical buildings. The final system has been evaluated in three different scenarios, considering three different target audiences (18 users in total): i. students with disabilities (i.e., visual and mobility impairments); ii. campus students; and iii. visitors and tourists. Results reveal that all the participants enjoyed the provided functions and the indoor localization strategy was fine enough to provide a good wayfinding experience.

Landmarks in wayfinding: a review of the existing literature.

Landmarks are accepted as one of the vital elements in both virtual and real environments during wayfinding tasks. This paper provides an overview of the existing literature on the selection of landmarks in wayfinding mostly in large-scale urban environments and outdoors by discussing two main aspects of landmarks: visibility and salience. Environments and layouts used in previous studies, different tasks given to people and the main findings are explained and compared. Summary tables are created from these findings. The review concludes that there is mostly a consensus on the selection of landmarks, when considering their location. Accordingly, landmarks on route and also at decision points (with a turn) are more effective during wayfinding tasks. However, visibility of landmarks as well as visual and cognitive saliency need to be further investigated using different environments, tasks or different levels of familiarity with environments.

Ageing- and dementia-friendly design: theory and evidence from cognitive psychology, neuropsychology and environmental psychology can contribute to design guidelines that minimise spatial disorientation.

Many older people, both with and without dementia, eventually move from their familiar home environments into unfamiliar surroundings, such as sheltered housing or care homes. Age-related declines in wayfinding skills can make it difficult to learn to navigate in these new, unfamiliar environments. To facilitate the transition to their new accommodation, it is therefore important to develop retirement complexes and care homes specifically designed to reduce the wayfinding difficulties of older people and those with Alzheimer's disease (AD). Residential complexes that are designed to support spatial orientation and that compensate for impaired navigation abilities would make it easier for people with dementia to adapt to their new living environment. This would improve the independence, quality of life and well-being of residents, and reduce the caregivers' workload. Based on these premises, this opinion paper considers how evidence from cognitive psychology, neuropsychology and environmental psychology can contribute to ageing- and dementia-friendly design with a view to minimising spatial disorientation. After an introduction of the cognitive mechanisms and processes involved in spatial navigation, and the changes that occur in typical and atypical ageing, research from the field of environmental psychology is considered, highlighting design factors likely to facilitate (or impair) indoor wayfinding in complex buildings. Finally, psychological theories and design knowledge are combined to suggest ageing- and dementia-friendly design guidelines that aim to minimise spatial disorientation by focusing on residual navigation skills.

Evaluating schematic route maps in wayfinding tasks for in-car navigation.

Today's navigation systems use topographic maps to communicate route information. Being general-purpose maps, topographic maps lack optimal support for the specific task of route reading and navigation. In the public transportation domain, research demonstrated that topographic maps do not support planning of routes as good as schematic maps. Our current paper applies this idea to the domain of in-car navigation. Schematic maps emphasize functional aspects of geography and direction information by highlighting information relevant to navigation actions and orientation. However, there is a lack of systematic studies researching the usability of schematic cartography in wayfinding tasks. This article evaluates schematic route maps, created with an algorithm developed in our previous work, regarding user interaction, navigation performance, and spatial memorability. We compare these schematic maps with correspondent non-schematic ones in two different tasks: prospective and situated (driving simulator) route reading. The schematic map and the corresponding non-schematic map are identical in terms of their elements and topology; they vary only in their geometric shape: on the schematic maps, features are highly generalized, following schematic simplification rules for clarity. The experimental data shows that participants using the schematic route maps require fewer map interactions to complete the tasks, orientation information is more visible and leads to more accurate spatial knowledge acquisition. This result contributes to a better understanding of schematic route visualizations' benefits to support users in wayfinding and orientation tasks.