Figure 8. Cells encoded for both multiple distinct robot locations and robot orientations.

Firing fields and directional tuning of four cells for the experiment shown in Figure 7a. The arrows superimposed on the location firing fields show the two robot orientations encoded by each cell, which correlate with the expected robot orientations at those locations during clockwise movement through the corridors. (a–c) show cells that each encode multiple locations and orientations in different corridors, while (d) shows a cell that encodes for multiple locations and slightly different orientations in the same corridor.