# Uncorrelated optic flow's invariants controlling altitude in honeybees: a new experimental setup

Aimie Berger Dauxère, Gilles Montagne, Julien Serres

► To cite this version:

Aimie Berger Dauxère, Gilles Montagne, Julien Serres. Uncorrelated optic flow's invariants controlling altitude in honeybees: a new experimental setup. Insectes Sociaux - 30ème congrès UIEIS - Section française, Aug 2019, Avignon, France. . hal-03793125

HAL Id: hal-03793125

https://hal.science/hal-03793125

Submitted on 30 Sep 2022

HAL is a multi-disciplinary open access
archive for the deposit and dissemination of sci-
entific research documents, whether they are pub-
lished or not. The documents may come from
teaching and research institutions in France or
abroad, or from public or private research centers.

L'archive ouverte pluridisciplinaire HAL, est
destinée au dépôt et à la diffusion de documents
scientifiques de niveau recherche, publiés ou non,
émanant des établissements d'enseignement et de
recherche français ou étrangers, des laboratoires
publics ou privés.

<figure><img src="image_1.png" /></figure>

Distributed under a Creative Commons Attribution 4.0 International License
## Experimental set up's aim: is baseline's splay angle rate of change involved in altitude control in *Apis mellifera*?

two optical invariants:

- optical scrolling speed $\dot{S} = 0$

- base lines' splay angle rate of change $\dot{\omega} = 0$

--> optical invariants can be uncorrelated

--> optical invariants can be individually suppressed

--> optical invariants can be distorted

## Optical scolling speed (OSS) experienced by a flying agent

altitude (z)

<figure><img src="image_2.png" /></figure>

$$\omega = \frac{V_x}{z}$$

$$\dot{\omega} = 0$$

[1, 2, 3, 4, 7]

## Splay angle's rate of change experienced by a flying agent

$S = 1/2$ angle formed by base lines

$S_R$ = right splay ; $S_L$ = left splay

$S_R = S_L = S$ for a centered bee

$L$ = path width

$$\begin{aligned} \dot{S} &= \arctan \left( \frac{L/2}{z} \right) \\ \dot{S} &= 0 \end{aligned}$$

<figure><img src="image_3.png" /></figure>

<figure><img src="image_4.png" /></figure>

horizon
base line

agent's forward
direction

flying agent

based on [6] in humans

[5, 6]

## Experimental set up

<figure><img src="image_5.png" /></figure>

OSS available
Narrowed splay angle

OSS available
Real splay angle

<figure><img src="image_6.png" /></figure>

No OSS available
Narrowed splay angle

No OSS available
Real splay angle

## Predictive bee's altitude in response to an apparent splay angle rate of change

<figure><img src="image_7.png" /></figure>

$$\dot{S} = - \frac{L}{z^2 + \left(\frac{L}{2}\right)^2} \dot{z}$$

<figure><img src="image_8.png" /></figure>

Question : ? < S < ? (°. S⁻¹)