Badino H, Huber D, Kanade T (2012) Real-time topometric localization. In: 2012 IEEE International conference on robotics and automation. IEEE, 1635–1642. https://doi.org/10.1109/ICRA.2012.6224716

Beyaert L, Greggers U, Menzel R (2012) Honeybees consolidate navigation memory during sleep. J Exp Biol 215:3981–3988. https://doi.org/10.1242/jeb.075499

Article  PubMed  Google Scholar 

Blaisdell A (2008) Cognitive dimension of operant learning. In: Byrne JH (ed) Learning and Memory. A comprehensive reference. Learning theory and behavior, vol 1. Elsevier, Amsterdam, pp 173–195

Chapter  Google Scholar 

Blough DS (1975) Steady state data and a quantitative model of operant generalization and discrimination. J Exp Psychol: Anim B 1:3–21. https://doi.org/10.1037/0097-7403.1.1.3

Article  Google Scholar 

Bullinger E, Greggers U, Menzel R. Generalization and transfer of navigation memory in honeybees. Front behav Neurosci (inpress)

Capaldi EA, Smith AD, Osborne JL, Fahrbach SE, Farris SM, Reynolds DR, Edwards AS, Martin A, Robinson GE, Poppy GM, Riley JR (2000) Ontogeny of orientation flight in the honeybee revealed by harmonic radar. Nature 403:537–540

Article  CAS  PubMed  Google Scholar 

Cartwright BA, Collett TS (1987) Landmark maps for honeybees. Biol Cyber 57:85–93

Article  Google Scholar 

Cheeseman JF, Winnebeck EC, Millar CD, Kirkland LS, Sleigh J, Goodwin M, Pawley MD, Bloch G, Lehmann K, Menzel R, Warman GR (2012) General anesthesia alters time perception by phase shifting the circadian clock. P Natl Acad Sci USA 109(18):7061–7066. https://doi.org/10.1073/pnas.1201734109

Article  Google Scholar 

Cheeseman JF, Millar CD, Greggers U, Lehmann K, Pawley MD, Gallistel CR, Warman GR, Menzel R (2014a) The cognitive map hypothesis remains the best interpretation of the data in honeybee navigation. P Natl Acad Sci USA 111:E4398. https://doi.org/10.1073/pnas.1415738111

Article  CAS  Google Scholar 

Cheeseman JF, Millar CD, Greggers U, Lehmann K, Pawley MD, Gallistel CR, Warman GR, Menzel R (2014b) Way-finding in displaced clock-shifted bees proves bees use a cognitive map. P Natl Acad Sci USA 111(24):8949–8954. https://doi.org/10.1073/pnas.1408039111

Article  CAS  Google Scholar 

Cheeseman JF, Millar CD, Greggers U, Lehmann K, Pawley MD, Gallistel CR, Warman GR, Menzel R (2014c) The cognitive map hypothesis remains the best interpretation of the data in honeybee navigation. P Natl Acad Sci USA 111:E4398. https://doi.org/10.1073/pnas.1415738111

Article  CAS  Google Scholar 

Cheung A, Collett M, Collett TS, Dyer F, Graham P, Mangan M, Narendra A, Philippides A, Stürzl W, Webb B, Wystrach A, Zeil J (2014) Still no convincing evidence for cognitive map use by honeybees. P Natl Acad Sci USA 111:E4396–E4397. https://doi.org/10.1073/pnas.1413581111

Article  CAS  Google Scholar 

Collett M, Collett TS, Wehner R (1999) Calibration of vector navigation in desert ants. Curr Biol 9:1031–1034. https://doi.org/10.1016/S0960-9822(99)80451-5

Article  CAS  PubMed  Google Scholar 

Collett M, Harland D, Collett TS (2002) The use of landmarks and panoramic context in the performance of local vectors by navigating honeybees. J Exp Biol 205:807–814. https://doi.org/10.1242/jeb.205.6.807

Article  PubMed  Google Scholar 

Collett T, Graham P, A.Harris R, Hempel-de-Ibarra N (2006) Navigational memories in ants and bees: memory retrieval when selecting and following routes. In: Advances in the study of behaviour, Vol 36. Elsevier, London, pp 123–172

Cruse H, Wehner R (2011) No need for a cognitive map: decentralized memory for insect navigation. PLoS Comp Biol 7:e1002009. https://doi.org/10.1371/journal.pcbi.1002009

Article  CAS  Google Scholar 

Degen J, Kirbach A, Reiter L, Lehmann K, Norton P, Storms M, Koblofsky M, Winter S, Georgieva PB, Nguyen H, Chamkhi H, Greggers U, Menzel R (2015) Exploratory behaviour of honeybees during orientation flights. Anim Behav 102:45–57. https://doi.org/10.1016/j.anbehav.2014.12.030

Article  Google Scholar 

Degen J, Kirbach A, Reiter L, Lehmann K, Norton P, Storms M, Koblofsky M, Winter S, Georgieva PB, Nguyen H, Menzel R (2016) Honeybees learn landscape features during exploratory orientation flights. Curr Biol 26:2800–2804. https://doi.org/10.1016/j.cub.2016.08.013

Article  CAS  PubMed  Google Scholar 

Degen J, Hovestadt T, Storms M, Menzel R (2018) Exploratory behavior of re-orienting foragers differs from other flight patterns of honeybees. PLoS ONE 13:e0202171. https://doi.org/10.1371/journal.pone.0202171

Article  CAS  PubMed  PubMed Central  Google Scholar 

Durrant-Whyte H, Bailey T (2006) Simultaneous localization and mapping: part I. IEEE Robot Autom Mag 13:99–110. https://doi.org/10.1109/MRA.2006.1638022

Article  Google Scholar 

Filla I, Menzel R (2015) Mushroom body extrinsic neurons in the honeybee (Apis mellifera) brain integrate context and cue values upon attentional stimulus selection. J Neurophysiol 114:2005–2014. https://doi.org/10.1152/jn.00776.2014

Article  CAS  PubMed  PubMed Central  Google Scholar 

Fischer J, Muller T, Spatz AK, Greggers U, Grunewald B, Menzel R (2014) Neonicotinoids interfere with specific components of navigation in honeybees. PLoS ONE 9:e91364. https://doi.org/10.1371/journal.pone.0091364

Article  CAS  PubMed  PubMed Central  Google Scholar 

Giurfa M (2015) Learning and cognition in insects. Wiley Interdisciplinary Rev: Cognitive Sci 6:383–395. https://doi.org/10.1002/wcs.1348

Article  Google Scholar 

Giurfa M (2019) Honeybees foraging for numbers. J Comp Physiol A 205:439–450. https://doi.org/10.1007/s00359-019-01344-2

Article  Google Scholar 

Giurfa M, Backhaus W, Menzel R (1995) Color and angular orientation in the discrimination of bilateral symmetric patterns in the honeybee. Naturwissenschaften 82:198–201. https://doi.org/10.1007/BF01143197

Article  CAS  Google Scholar 

Giurfa M, Eichmann B, Menzel R (1996) Symmetry perception in an insect. Nature 382:458–461

Article  CAS  PubMed  Google Scholar 

Giurfa M, Zhang SW, Jenett A, Menzel R, Srinivasan MV (2001) The concepts of ‘sameness’ and ‘difference’ in an insect. Nature 410:930–933

Article  CAS  PubMed  Google Scholar 

Gregory RL, Zangwill OL (1987) The Oxford companion to the mind. Oxford University Press, Oxford GB

Google Scholar 

Hoinville T, Wehner R (2018) Optimal multiguidance integration in insect navigation. P Natl Acad Sci USA 115:2824–2829. https://doi.org/10.1073/pnas.172166811

Article  CAS  Google Scholar 

Jacobs LF, Menzel R (2014) Navigation outside of the box: what the lab can learn from the field and what the field can learn from the lab. Movement Ecol 2:1–22. https://doi.org/10.1186/2051-3933-2-3

Article  CAS  Google Scholar 

Kehoe EJ (2009) Discrimination and generalization. In: Byrne JH (ed) Learning and memory. A comprehensive reference. Learning theory and behavior. Elsevier, Amsterdam, pp 123–149

Google Scholar 

Klein BA, Seeley TD (2011) Work or sleep? Honeybee foragers opportunistically nap during the day when forage is not available. Anim Behav 82:77–83. https://doi.org/10.1016/j.anbehav.2011.03.026

Article  Google Scholar 

Lehrer M (1993) Why do bees turn back and look? J Comp Physiol A. https://doi.org/10.1007/BF00213678

Article  Google Scholar 

Lehrer M (1994) Spatial vision in the honeybee: the use of different cues in different tasks. Vision Res 34:2363–2385. https://doi.org/10.1016/0042-6989(94)90282-8

Article  CAS  PubMed  Google Scholar 

Lehrer M, Collett TS (1994) Approaching and departing bees learn different cues to the distance of a landmark. J Comp Physiol A 175:171–177. https://doi.org/10.1007/BF00215113

Article  Google Scholar 

Menzel R (2014) The insect mushroom body, an experience-dependent recoding device. J Physiol-Paris 108:84–95. https://doi.org/10.1016/j.jphysparis.2014.07.004

Article  PubMed  Google Scholar 

Menzel R (2022) In Search for the retrievable memory trace in an insect brain. Front Syst Neurosci 16:876376. https://doi.org/10.3389/fnsys.2022.876376

Article  CAS  PubMed  PubMed Central  Google Scholar 

Menzel R, Greggers U, Smith A, Berger S, Brandt R, Brunke S, Bundrock G, Hulse S, Plumpe T, Schaupp F, Schuttler E, Stach S, Stindt J, Stollhoff N, Watzl S (2005) Honey bees navigate according to a map-like spatial memory. P Natl Acad Sci USA 102:3040–3045. https://doi.org/10.1073/pnas.0408550102

Article  CAS  Google Scholar 

Menzel R, Brembs B, Giurfa M (2007) Cognition in invertebrates. In: Kaas JH (ed) Evolution of nervous systems in invertebrates, vol 2. Academic Press, Oxford, pp 403–422

Chapter  Google Scholar 

Menzel R, Fuchs J, Nadler L, Weiss B, Kumbischinski N, Adebiyi D, Hartfil S, Greggers U (2010) Dominance of the odometer over serial landmark learning in honeybee navigation. Naturwissenschaften 97:763–767

Article  CAS  PubMed  Google Scholar 

Menzel R, Kirbach A, Haass W-D, Fischer B, Fuchs J, Koblofsky M, Lehmann K, Reiter L, Meyer H, Nguyen H, Jones S, Norton P, Greggers U (2011) A common frame of reference for learned and communicated vectors in honeybee navigation. Curr Biol 21:645–650. https://doi.org/10.1016/j.cub.2011.02.039

Article  CAS  PubMed  Google Scholar 

Menzel R, Tison L, Fischer-Nakai J, Cheeseman J, Lehmann K, Balbuena MS, Chen X, Landgraf T, Petrasch J, Greggers U (2018) Honeybees are guided by learned elongated ground structures. Front Behav Neuro 12:322. https://doi.org/10.3389/fnbeh.2018.00322

Article  Google Scholar 

Opfinger E (1931) Über die Orientierung der Biene an der Futterquelle. Z Vergl Physiol 15:432–487

Article  Google Scholar 

Pfeiffer K, Homberg U (2014) Organization and functional roles of the central complex in the insect brain. Annu Rev Entomol 59:165–184. https://doi.org/10.1146/annurev-ento-011613-162031

Article  CAS  PubMed  Google Scholar 

Polster J, Petrasch J, Menzel, R, Landgraf T (2018) Reconstructing the visual perception of honey bees in complex 3-D worlds. arXiv preprint arXiv:1811.07560

Rescorla RA (1992) Response-outcome versus outcome-response associations in instrumental learning. Anim Learn Behav 20:223–232