Environmental memory facilitates search with home returns

TL;DR

This study demonstrates that environmental memory, created by trail-making, significantly enhances search efficiency even for simple robots, with implications supported by experiments, simulations, and theoretical analysis.

Contribution

It provides the first controlled experimental evidence that environmental memory benefits search, using a simple robot and obstacle environment, supported by simulations and theory.

Findings

Trails increase the robot's effective diffusion coefficient.

Environmental memory improves search efficiency.

Results are supported by experiments, simulations, and theoretical estimates.

Abstract

Search processes in the natural world are often punctuated by home returns that reset the position of foraging animals, birds, and insects. Many theoretical, numerical, and experimental studies have now demonstrated that this strategy can drastically facilitate search, which could explain its prevalence. To further facilitate search, foragers also work as a group: modifying their surroundings in highly sophisticated ways e.g., by leaving chemical scent trails that imprint the memory of previous excursions. Here, we design a controlled experiment to show that the benefit coming from such ``environmental memory'' is significant even for a single, non-intelligent, searcher that is limited to simple physical interactions with its surroundings. To this end, we employ a self-propelled bristle robot that moves randomly within an arena filled with obstacles that the robot can push around. To mimic home returns, we reset the bristle robot's position at constant time intervals. We show that trails created by the robot give rise to a form of environmental memory that facilitates search by increasing the effective diffusion coefficient. Numerical simulations, and theoretical estimates, designed to capture the essential physics of the experiment support our conclusions and indicate that these are not limited to the particular system studied herein.