Figure 3.

Effect of perception type depends on flow direction. (a,b) Heatmaps of the median arrival time as a function of the flow speed in the y-direction and sensing range. Each parameter combination is averaged over 50 realizations. (a) Results for a fixed range interaction and intended headings [FI]. (b) fixed range interaction and actual headings [FA]. Green asterisks denote parameters where solo navigation was outperformed by $\ge 5$%. The green solid line indicates the boundary of the region where collective navigation induces a $\ge 5$% improvement. Missing cells indicate where there is failed migration. (c) The difference in median arrival time between the [FI] and [FA] models across a variety of flow strengths and sensing ranges. Positive values (yellow) indicate scenarios in which sharing actual headings leads to faster arrival times than when sharing intended headings (blue). (d–g) Illustrative neighbour heading distributions relative to the goal direction ϕ in unfavourable (d,e) and favourable (f,g) flows.