Navigation of brain networks

Understanding the mechanisms of neural communication in large-scale brain networks remains a major goal in neuroscience. We investigated whether navigation is a parsimonious routing model for connectomics. Navigating a network involves progressing to the next node that is closest in distance to a desired destination. We developed a measure to quantify navigation efficiency and found that connectomes in a range of mammalian species (human, mouse and macaque) can be successfully navigated with near-optimal efficiency (>80% of optimal efficiency for typical connection densities). Rewiring network topology or repositioning network nodes resulted in 45%-60% reductions in navigation performance. Specifically, we found that brain networks cannot be progressively rewired (randomized or clusterized) to result in topologies with significantly improved navigation performance. Navigation was also found to: i) promote a resource-efficient distribution of the information traffic load, potentially relieving communication bottlenecks; and, ii) explain significant variation in functional connectivity. Unlike prevalently studied communication strategies in connectomics, navigation does not mandate biologically unrealistic assumptions about global knowledge of network topology. We conclude that the wiring and spatial embedding of brain networks is conducive to effective decentralized communication. Graph-theoretic studies of the connectome should consider measures of network efficiency and centrality that are consistent with decentralized models of neural communication

Multi-Agent Deployment for Visibility Coverage in Polygonal Environments with Holes

This article presents a distributed algorithm for a group of robotic agents with omnidirectional vision to deploy into nonconvex polygonal environments with holes. Agents begin deployment from a common point, possess no prior knowledge of the environment, and operate only under line-of-sight sensing and communication. The objective of the deployment is for the agents to achieve full visibility coverage of the environment while maintaining line-of-sight connectivity with each other. This is achieved by incrementally partitioning the environment into distinct regions, each completely visible from some agent. Proofs are given of (i) convergence, (ii) upper bounds on the time and number of agents required, and (iii) bounds on the memory and communication complexity. Simulation results and description of robust extensions are also included

Patterns of subnet usage reveal distinct scales of regulation in the transcriptional regulatory network of Escherichia coli

The set of regulatory interactions between genes, mediated by transcription factors, forms a species' transcriptional regulatory network (TRN). By comparing this network with measured gene expression data one can identify functional properties of the TRN and gain general insight into transcriptional control. We define the subnet of a node as the subgraph consisting of all nodes topologically downstream of the node, including itself. Using a large set of microarray expression data of the bacterium Escherichia coli, we find that the gene expression in different subnets exhibits a structured pattern in response to environmental changes and genotypic mutation. Subnets with less changes in their expression pattern have a higher fraction of feed-forward loop motifs and a lower fraction of small RNA targets within them. Our study implies that the TRN consists of several scales of regulatory organization: 1) subnets with more varying gene expression controlled by both transcription factors and post-transcriptional RNA regulation, and 2) subnets with less varying gene expression having more feed-forward loops and less post-transcriptional RNA regulation.Comment: 14 pages, 8 figures, to be published in PLoS Computational Biolog

Unsupervised Emergence of Egocentric Spatial Structure from Sensorimotor Prediction

Despite its omnipresence in robotics application, the nature of spatial knowledgeand the mechanisms that underlie its emergence in autonomous agents are stillpoorly understood. Recent theoretical works suggest that the Euclidean structure ofspace induces invariants in an agent’s raw sensorimotor experience. We hypothesizethat capturing these invariants is beneficial for sensorimotor prediction and that,under certain exploratory conditions, a motor representation capturing the structureof the external space should emerge as a byproduct of learning to predict futuresensory experiences. We propose a simple sensorimotor predictive scheme, applyit to different agents and types of exploration, and evaluate the pertinence of thesehypotheses. We show that a naive agent can capture the topology and metricregularity of its sensor’s position in an egocentric spatial frame without any a prioriknowledge, nor extraneous supervision

The Evolution of Wikipedia's Norm Network

Social norms have traditionally been difficult to quantify. In any particular society, their sheer number and complex interdependencies often limit a system-level analysis. One exception is that of the network of norms that sustain the online Wikipedia community. We study the fifteen-year evolution of this network using the interconnected set of pages that establish, describe, and interpret the community's norms. Despite Wikipedia's reputation for \textit{ad hoc} governance, we find that its normative evolution is highly conservative. The earliest users create norms that both dominate the network and persist over time. These core norms govern both content and interpersonal interactions using abstract principles such as neutrality, verifiability, and assume good faith. As the network grows, norm neighborhoods decouple topologically from each other, while increasing in semantic coherence. Taken together, these results suggest that the evolution of Wikipedia's norm network is akin to bureaucratic systems that predate the information age.Comment: 22 pages, 9 figures. Matches published version. Data available at http://bit.ly/wiki_nor

Multi-dimensional modelling for the national mapping agency: a discussion of initial ideas, considerations, and challenges

The Ordnance Survey, the National Mapping Agency (NMA) for Great Britain, has recently begun to research the possible extension of its 2-dimensional geographic information into a multi-dimensional environment. Such a move creates a number of data creation and storage issues which the NMA must consider. Many of these issues are highly relevant to all NMA’s and their customers alike, and are presented and explored here. This paper offers a discussion of initial considerations which NMA’s face in the creation of multi-dimensional datasets. Such issues include assessing which objects should be mapped in 3 dimensions by a National Mapping Agency, what should be sensibly represented dynamically, and whether resolution of multi-dimensional models should change over space. This paper also offers some preliminary suggestions for the optimal creation method for any future enhanced national height model for the Ordnance Survey. This discussion includes examples of problem areas and issues in both the extraction of 3-D data and in the topological reconstruction of such. 3-D feature extraction is not a new problem. However, the degree of automation which may be achieved and the suitability of current techniques for NMA’s remains a largely unchartered research area, which this research aims to tackle. The issues presented in this paper require immediate research, and if solved adequately would mark a cartographic paradigm shift in the communication of geographic information – and could signify the beginning of the way in which NMA’s both present and interact with their customers in the future

Large-scale network organization in the avian forebrain: a connectivity matrix and theoretical analysis

Many species of birds, including pigeons, possess demonstrable cognitive capacities, and some are capable of cognitive feats matching those of apes. Since mammalian cortex is laminar while the avian telencephalon is nucleated, it is natural to ask whether the brains of these two cognitively capable taxa, despite their apparent anatomical dissimilarities, might exhibit common principles of organisation on some level. Complementing recent investigations of macro-scale brain connectivity in mammals, including humans and macaques, we here present the first large-scale wiring diagram for the forebrain of a bird. Using graph theory, we show that the pigeon telencephalon is organised along similar lines to that of a mammal. Both are modular, small-world networks with a connective core of hub nodes that includes prefrontal-like and hippocampal structures. These hub nodes are, topologically speaking, the most central regions of the pigeon's brain, as well as being the most richly connected, implying a crucial role in information flow. Overall, our analysis suggests that indeed, despite the absence of cortical layers and close to 300 million years of separate evolution, the connectivity of the avian brain conforms to the same organisational principles as the mammalian brain