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Interception by two predatory fly species is explained by a proportional navigation feedback controller.

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cam.issuedOnline2018-10-17
dc.contributor.authorFabian, Samuel T
dc.contributor.authorSumner, Mary E
dc.contributor.authorWardill, Trevor J
dc.contributor.authorRossoni, Sergio
dc.contributor.authorGonzalez-Bellido, Paloma T
dc.contributor.orcidFabian, Samuel T [0000-0002-0366-7236]
dc.contributor.orcidWardill, Trevor J [0000-0002-2049-113X]
dc.contributor.orcidGonzalez-Bellido, Paloma T [0000-0003-2201-991X]
dc.date.accessioned2018-12-04T00:30:37Z
dc.date.available2018-12-04T00:30:37Z
dc.date.issued2018-10-17
dc.description.abstractWhen aiming to capture a fast-moving target, animals can follow it until they catch up, or try to intercept it. In principle, interception is the more complicated strategy, but also more energy efficient. To study whether simple feedback controllers can explain interception behaviours by animals with miniature brains, we have reconstructed and studied the predatory flights of the robber fly Holcocephala fusca and killer fly Coenosia attenuata Although both species catch other aerial arthropods out of the air, Holcocephala contrasts prey against the open sky, while Coenosia hunts against clutter and at much closer range. Thus, their solutions to this target catching task may differ significantly. We reconstructed in three dimensions the flight trajectories of these two species and those of the presented targets they were attempting to intercept. We then tested their recorded performances against simulations. We found that both species intercept targets on near time-optimal courses. To investigate the guidance laws that could underlie this behaviour, we tested three alternative control systems (pure pursuit, deviated pursuit and proportional navigation). Only proportional navigation explains the timing and magnitude of fly steering responses, but with differing gain constants and delays for each fly species. Holcocephala uses a dimensionless navigational constant of N ≈ 3 with a time delay of ≈28 ms to intercept targets over a comparatively long range. This constant is optimal, as it minimizes the control effort required to hit the target. In contrast, Coenosia uses a constant of N ≈ 1.5 with a time delay of ≈18 ms, this setting may allow Coenosia to cope with the extremely high line-of-sight rotation rates, which are due to close target proximity, and thus prevent overcompensation of steering. This is the first clear evidence of interception supported by proportional navigation in insects. This work also demonstrates how by setting different gains and delays, the same simple feedback controller can yield the necessary performance in two different environments.
dc.description.sponsorshipThis work was funded by the Air Force Office of Scientific Research (FA9550-15-1-0188 to P.T.G.-B.), an Isaac Newton Trust/Wellcome Trust ISSF/University of Cambridge Joint Research Grant (097814/Z/11/Z) to P.T.G.-B., a Biotechnology and Biological Sciences Research Council David Phillips Fellowship (BBSRC, BB/L024667/1) to T.J.W., a Royal Society International Exchange Scheme grant to P.T.G.-B. (75166), and a Shared Equipment Grant from the School of Biological Sciences (University of Cambridge, RG70368).
dc.format.mediumElectronic
dc.identifier.doi10.17863/CAM.33558
dc.identifier.eissn1742-5662
dc.identifier.issn1742-5689
dc.identifier.urihttps://www.repository.cam.ac.uk/handle/1810/286246
dc.languageeng
dc.language.isoeng
dc.publisherThe Royal Society
dc.publisher.urlhttp://dx.doi.org/10.1098/rsif.2018.0466
dc.rightsAttribution 4.0 International
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/
dc.subjectcontrol system
dc.subjectflight
dc.subjectinsect
dc.subjectinterception
dc.subjectpredation
dc.subjectAnimals
dc.subjectDiptera
dc.subjectFlight, Animal
dc.subjectModels, Biological
dc.subjectPredatory Behavior
dc.titleInterception by two predatory fly species is explained by a proportional navigation feedback controller.
dc.typeArticle
dcterms.dateAccepted2018-09-06
prism.issueIdentifier147
prism.publicationDate2018
prism.publicationNameJ R Soc Interface
prism.volume15
pubs.funder-project-idRoyal Society (IE140163)
pubs.funder-project-idBiotechnology and Biological Sciences Research Council (BB/L024667/1)
pubs.funder-project-idWellcome Trust (097814/Z/11/Z)
pubs.funder-project-idBiotechnology and Biological Sciences Research Council (1804804)
rioxxterms.licenseref.startdate2018-10-17
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserved
rioxxterms.typeJournal Article/Review
rioxxterms.versionVoR
rioxxterms.versionofrecord10.1098/rsif.2018.0466

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