Table 1.

Comparison of existing path integration (PI) models in terms of accuracy and efficiency.

Model	Neurons	Noise [%]	Error [m]	Foraging dist. [m]
Haferlach et al., 2007	6	3	0.46 ± 0.18	≤ 5
Kim and Lee, 2011	100	10	0.018 ± 0.002	≤ 5
Our model	18	5	0.351 ± 0.140	9.3 ± 5.0
	18	10	1.160 ± 0.484	9.3 ± 5.0
	18	5	0.070 ± 0.037	5 ± 3
Cataglyphis fortis	–	–	median=1.27 (N = 51)	5
(Merkle et al., 2006)	–	–	median=2.45 (N = 53)	10
	–	–	median=2.47 (N = 50)	20