Fig. 4.

Navigating real ant routes with realistic head movement. a Actual route followed by an ant through its cluttered environment in Sevilla, Spain, acting as ground truth. b, c Example paths followed by simulated ant following visual compass methodology and realistic head pitch for memory and route recapitulation (b large to small; c small to large). The iterative computation of direction can compensate for the errors introduced by pitch (b) but is still susceptible to failure (continuous loops in this case) (c)