uncertainty

Backward-walking ants can steer using learnt terrestrial visual cues.
Steering does not require forward body alignment.
Steering may be based on the integration of attractive and repulsive views.
Peeking behaviour is triggered in periods of low directional certainty.
Directional certainty is built on multiple sources of current and past information.

Sebastian Schwarz, Leo Clement, Evripidis Gkanias, Antoine Wystrach