Figure 3.

Graphical representation of the transfer entropy between mosquitofish and tadpoles in absence (non-exposed, panels A and B) and presence (robot-exposed, panels C and D) of the biologically inspired, interactive robotic predator.

Transfer entropy measures the uncertainty reduction in predicting the future behavior of one species from its present because of additional knowledge about the present behavior of the other species. Transfer entropy is computed on a symbolic time series of the average magnitude of group turning rate (panels (A) and (C)) and presence in the central region of the arena (panels (B) and (D)). Dashed arrows represent significant information transfer (entropy) from one species to the other.