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Schematic behavioral control systems. (A) When the current nutrient state deviates from a desired state, locomotion is initiated, ultimately bringing the animal to a more desirable state. (B) Elaboration of nutrient state control into a high-level controller (ANS) and a lower-level controller (BNS) capable of two modes of locomotion, local exploitation, and long-range exploration. 5HT, serotonin; ANS/BNS, apical/blastoporal nervous system; DA, dopamine; NPY, neuropeptide Y
