Optimal switching strategies for stochastic geocentric/egocentric navigation

Animals use a combination of egocentric navigation driven by the internal integration of environmental cues, interspersed with geocentric course correction and reorientation, often with uncertainty in sensory acquisition of information, planning and execution. Inspired directly by observations of dung beetle navigational strategies that show switching between geocentric and egocentric strategies, we consider the question of optimal strategies for the navigation of an agent along a preferred direction in the presence of multiple sources of noise. We address this using a model that takes the form of a correlated random walk at short time scales that is interspersed with reorientation events that yields a biased random walks at long time scales. We identify optimal alternation schemes and characterize their robustness in the context of noisy sensory acquisition, and performance errors linked with variations in environmental conditions and agent-environment interactions.