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Animals use a combination of egocentric navigation driven by the internalintegration of environmental cues, interspersed with geocentric coursecorrection and reorientation, often with uncertainty in sensory acquisition ofinformation, planning and execution. Inspired directly by observations of dungbeetle navigational strategies that show switching between geocentric andegocentric strategies, we consider the question of optimal strategies for thenavigation of an agent along a preferred direction in the presence of multiplesources of noise. We address this using a model that takes the form of acorrelated random walk at short time scales that is interspersed withreorientation events that yields a biased random walks at long time scales. Weidentify optimal alternation schemes and characterize their robustness in thecontext of noisy sensory acquisition, and performance errors linked withvariations in environmental conditions and agent-environment interactions.

Optimal switching strategies for stochastic geocentric/egocentric navigation