Fig. 1. (a) The foraging process. Ln: nth primary landmark near nth food source. The arrow indicates the direction for bee to fly; (b) the functional structure of our model of control system; (c) the neural network model of the square route map; (d) A: response property of the network as the sequence route map after the training process. A horizontal bar on the row corresponding to landmark number n indicates that the network activity state stays in the point attractor corresponding to the landmark n during the period shown by the bar; B: a vertical bar means the uniform impulse stimulus arising from the initiation of leaving the present source.

Fig. 2. (a) The functional architecture of the cognitive spatial map model. The destination cells indicate the positions of food sources; (b) Spatial correspondence between the place cells generated and the real positions; (c) Formation of the hierarchical dynamical map consisting of itinerant limit cycle attractors, and the anticipation and pattern matching processes; (d) Dynamical state and response property of the hierarchical dynamical map. The odd numbers on the vertical axis correspond to the point attractor patterns of the network into which primary landmarks are encoded, and the even numbers correspond to the patterns relevant to the sources. Short horizontal bars on a row corresponding to point attractor N indicate that the network activity state stays in the attractor N during the time length shown by the bars. The vertical arrow with the letter L4 denotes that the input corresponding to 4th landmark is applied at that time.