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A neural circuit architecture for angular integration in Drosophila
Open accessAbstract
Many animals keep track of their angular heading over time while navigating through their environment. However, a neural-circuit architecture for computing heading has not been experimentally defined in any species. Here we describe a set of clockwise- and anticlockwise-shifting neurons in the Drosophila central complex whose wiring and physiology provide a means to rotate an angular heading estimate based on the fly's angular velocity. We show that each class of shifting neurons exists in two subtypes, with spatiotemporal activity profiles that suggest different roles for each subtype at the start and end of tethered-walking turns. Shifting neurons are required for the heading system to properly track the fly's heading in the dark, and stimulation of these neurons induces predictable shifts in the heading signal. The central features of this biological circuit are analogous to those of computational models proposed for head-direction cells in rodents and may shed light on how neural systems, in general, perform integration.
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“No statistical methods were used to predetermine sample sizes but our sample sizes are similar to those reported in previous publications23,24,33,34,37,38.”
From Multimodal cue integration and learning in a neural representation of head direction (2025) · cites this paper as [38]
Experimental — accuracy not yet measuredThe source backs part of the claim, not all of it — or backs it for a different population, condition or comparison.
In the citing paper
“Similarly, compartments of PEN2 neurons in the protocerebral bridge have been shown to respond entirely differently from their compartments in the ellipsoid body (Green et al., 2017; Turner-Evans et al., 2019).”
From A connectome and analysis of the adult Drosophila central brain (2020) · cites this paper as Green et al., 2017
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In the citing paper
“Another well studied neuropil, the EB, is known to be involved in navigation, supporting persistent activity correlated to heading direction57–59.”
From Network statistics of the whole-brain connectome of Drosophila (2024) · cites this paper as [58]
In the citing paper
“we found that there is a single bump of activity in the EPG ensemble whose angular velocity generally correlates with the fly’s angular velocity (Green et al., 2017; Seelig and Jayaraman, 2015; Turner-Evans et al., 2017).”
From Neural circuit mechanisms for steering control in walking Drosophila (2025) · cites this paper as Green et al., 2017
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“The central complex is the primary locus of spatial computations in arthropods.”
From Transforming representations of movement from body- to world-centric space (2022) · cites this paper as [19]
In the citing paper
“Here, world-centric heading direction (θ) is computed in the ellipsoid body and sent to the protocerebral bridge (PB)17–19 while body-centric translation direction (φ) is relayed to the nodulus (NO)20.”
From Transforming representations of movement from body- to world-centric space (2022) · cites this paper as [19]
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Neural circuit mechanisms for steering control in walking Drosophila
Rayshubskiy, A., Holtz, S. L., Bates, A. S., Vanderbeck, Q. X., Capdevila, L. S., Rockwell, V., & Wilson, R. I. (2025) · eLife · doi:10.7554/elife.102230.3 · Cited by 9
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“simulated agents that navigate autonomously via familiarity [1, 18, 37–39], and some 63 studies [40, 41] have suggested how neural tissue, such as the central complex and 64 mushroom bodies [42–51], might be organized to accommodate familiarity-based 65”
BackgroundThe structure and function of neural connectomes are shaped by a small number of design principlesPreprint
Haber, A., Wanner, A. A., Friedrich, R. W., & Schneidman, E. (2023) · bioRxiv (Cold Spring Harbor Laboratory) · doi:10.1101/2023.03.15.532611 · Cited by 12
Closed-loop two-photon functional imaging in a freely moving animal
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“Is bump attractor dynamics realized in a cortical circuit a plausible neural mechanism for stimulus estimation? A bump attractor realized in a physical ring layout has recently been found in the fly’s heading direction system (Seelig and Jayaraman, 2015; Green et al., 2017; Kim et al., 2017).”
BackgroundWhittington, J. C. R., Dorrell, W., Behrens, T. E. J., Ganguli, S., & El-Gaby, M. (2023) · bioRxiv (Cold Spring Harbor Laboratory) · doi:10.1101/2023.11.05.565662 · Cited by 8
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“In recent years, the topography and connectivity of the insect heading direction network has been discovered and described in great detail [5, 27–31].”
The head-direction signal is generated from two types of head direction cells in brainstem nuclei
Taube, J. S., Butler, W. N., Dumont, J. R., Graham, J. A., Marcroft, J. L., Shinder, M. E., Stackman, R. W., & Yoder, R. M. (2025) · Nature Communications · doi:10.1038/s41467-025-63968-0 · Cited by 8
Lou, F., Jiaoli, Z., Schunter, C., Lin, W., Yongzheng, T., Zhiqiang, H., & Bin, K. (2023) · International Journal of Biological Macromolecules · doi:10.1016/j.ijbiomac.2023.129053 · Cited by 7
Castor is a temporal transcription factor that specifies early born central complex neuron identity
Dillon, N. R., & Doe, C. Q. (2024) · Development · doi:10.1242/dev.204318 · Cited by 7
Hensgen, R., Dippel, S., Hümmert, S., Jahn, S., Seyfarth, J., & Homberg, U. (2022) · The Journal of Comparative Neurology · doi:10.1002/cne.25374 · Cited by 8
“Although they appear morphologically similar, they have different synaptic partners and exhibit cell-type-specific activity patterns when the animal turns (Green et al., 2017; Scheffer et al. 2020, Turner-Evans et al., 2020).”
BackgroundYang, G., Wang, Y., Mo, F., Xu, Z., Lu, B., Fan, P., Kong, F., Xu, W., He, E., Zhang, K., et al. (2023) · Sensors and Actuators B Chemical · doi:10.1016/j.snb.2023.134802 · Cited by 7
van Breugel, F. (2021) · IEEE Conference on Decision and Control (CDC) · doi:10.1109/cdc45484.2021.9683219 · Cited by 7
Neuronal circuit mechanisms of competitive interaction between action-based and coincidence learning
Rozenfeld, E., & Parnas, M. (2024) · Science Advances · doi:10.1126/sciadv.adq3016 · Cited by 10
“We first examined the involvement of ellipsoid body-protocerebral bridge-gall (EPG) neurons, which encode the fly heading ( 83 – 89 ).”
A historical perspective on the insect central complex: Anatomy, development, and function
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“…driver lines in flies, in conjunction with UAS-mediated expression of genetically encoded calcium indicators even allows imaging the activity of specific cell populations through optical two-photon calcium imaging in virtual reality systems (e.g. Green et al. 2017 ; Mussells Pires et al. 2024).”
Dynamic control of cortical head-direction signal by angular velocityPreprint
Finkelstein, A., Rouault, H., Romani, S., & Ulanovsky, N. (2019) · bioRxiv (Cold Spring Harbor Laboratory) · doi:10.1101/730374 · Cited by 6
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“PEN (CL2 in honey bees) is responsive to the rotation velocity caused by self-motions in the fruit fly (Green et al., 2017; Turner-Evans et al., 2017) and to the polarized light in locusts (Heinze and Homberg, 2009).”
BackgroundInfluentialSearch and return model for stochastic path integrators
Noetel, J., Freitas, V. L. S., Macau, E. E. N., & Schimansky-Geier, L. (2018) · Chaos An Interdisciplinary Journal of Nonlinear Science · doi:10.1063/1.5040108 · Cited by 7
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“As demonstrated in previous studies (Seelig and Jayaraman 2015; Green et al. 2017), the activities of 228 EPG neurons in EB and PEN neurons in PB encode the azimuthal position of visual stimuli.”
BackgroundMethodInfluentialA dynamical model exploring sensory integration in the insect central complex substructures
Pickard, S. C., Quinn, R. D., & Szczecinski, N. S. (2019) · Bioinspiration & Biomimetics · doi:10.1088/1748-3190/ab57b6 · Cited by 5
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“…by neural representations of space in what is called a ‘cognitive map’ 3–6 , arising from diverse brain regions including mammalian hippocampus 6–9 , entorhinal cortex 10,11 , hippocampus’ homologue in fish 12–14 , central complex of Drosophila melanogaster 15,16 , and retrosplenial cortex 17 .”
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“6A), which are head-direction neurons representing the fly’s heading direction and initiating body turns towards or away from sensory stimuli (Green et al., 2017; Hulse et al., 2021; Kim et al., 2017; Turner-Evans et al., 2017; Vafidis et al., 2022).”
BackgroundWolff, T., Eddison, M., Chen, N., Nern, A., Sundaramurthi, P., Sitaraman, D., & Rubin, G. M. (2025) · eLife · doi:10.7554/elife.104764.2 · Cited by 5
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Theoretical principles explain the structure of the insect head direction circuit
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Reverse Engineering and Robotics as Tools for Analyzing Neural Circuits
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“The following analysis considers four types of neurons, the E-PG, P-EG, P-EN, and Delta7 neurons ( Table 1 ), in accordance with previous work (Green et al., 2017; Kakaria and de Bivort, 2017; Kim et al., 2017; Su et al., 2017).”
ResultNeuroscience: Fish and fly headed in the same direction
Heinze, S. (2023) · Current Biology · doi:10.1016/j.cub.2023.05.006 · Cited by 4
Network synchrony creates neural filters promoting quiescence in Drosophila
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“As a consequence, the antagonistic inputs of neighbouring helicon and R5 synapses to the head-direction system (EPG neurons) 6,7,39 can cancel each other out, which reduces functional connectivity within the system to initiate a quiescent state that can allow for sleep need to transition into sleep.”
Plasticity between visual input pathways and the head direction system
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“…al., 1999; Pasternak and Greenlee, 2005; Wimmer et al., 2014), rats (Taube et al., 2000), mice (Yoder and Taube, 2009), flies (Seelig and V., 2015; Green et al., 2017; Kim et al., 2017), and fish (Petrucco et al., 2023); namely, remembering a circular variable that can take continuous values…”
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Search and return model for stochastic path integrators
Noetel, J., Freitas, V. L. D. S., Macau, E. E. N., & Schimansky-Geier, L. (2018) · Biblioteca Digital da Memória Científica do INPE (National Institute for Space Research) · Cited by 3
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InfluentialExperience- and Context-Dependent Modulation of the Invertebrate Compass System
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“In Drosophila, neurons called P-EN asymmetrically connect the HD cells (i.e., E-PG) [36], and are modulated by multimodal cells called GLNO, which construct multi-modal estimates of the animals’ self-motion combining the motor efference copy and optic flow signals [37].”
Neural drift during rest drives walking direction and memory consolidation in DrosophilaPreprint
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Functional Logic of a Cognitive Brain System for Navigation
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Self-citationBimodular continuous attractor neural networks with static and moving stimuli
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“[19] Jonathan Green, Atsuko Adachi, Kunal K Shah,”
BackgroundContinuous State Estimation With Synapse-constrained Connectivity
Norman-Tenazas, R., Robinson, B. S., Joyce, J., Western, I., Johnson, E. C., Gray-Roncal, W., & Hoffmann, J. A. (2022) · International Joint Conference on Neural Networks (IJCNN) · doi:10.1109/ijcnn55064.2022.9892549 · Cited by 2
“Additionally, a set of “shift” neurons, referred to as PEN neurons due to their neuropil connectivity from the PB to EB and noduli (N), encode angular velocity [11], [12] by moving the bump of activity in the EPG neurons.”
BackgroundBiological Investigation of Neural Circuits in the Insect Brain
Patané, L., Strauß, R., & Arena, P. (2018) · SpringerBriefs in applied sciences and technology · doi:10.1007/978-3-319-73347-0_1 · Cited by 2
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“Neurons within central complex have been recently shown to maintain an internal representation of the fly’s heading during walking, both in the presence or absence of visual cues Seelig and Jayaraman (2015); Green et al. (2017); Turner-Evans et al. (2017).”
BackgroundHan, R., Huang, H.-P., Chuang, C.-L., Yen, H.-H., Kao, W.-T., Chang, H.-Y., & Lo, C. (2019) · bioRxiv (Cold Spring Harbor Laboratory) · doi:10.1101/819185 · Cited by 2
Integration of optic flow into the sky compass network in the brain of the desert locustPreprint
Zittrell, F., Pabst, K., Carlomagno, E., Rosner, R., Pegel, U., Endres, D., & Homberg, U. (2022) · bioRxiv (Cold Spring Harbor Laboratory) · doi:10.1101/2022.11.24.517785 · Cited by 2
Neural circuit mechanisms for steering control in walking DrosophilaPreprint
Rayshubskiy, A., Holtz, S. L., Bates, A. S., Vanderbeck, Q. X., Capdevila, L. S., Rockwell, V., & Wilson, R. I. (2025) · eLife · doi:10.7554/elife.102230.2 · Cited by 2
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Octopamine instructs head direction plasticityPreprint
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Drosophila maintain a consistent navigational goal angle for days to weeksPreprint
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“As a result of this visual learning, the angle of the bar on the display and the angular position of the EPG bump around the ellipsoid body show a different offset from fly to fly; this offset also can change across time within a single fly (Seelig and Jayaraman 2015; Green et al. 2017).”
InfluentialSelf-citationVisual Processing in Free Flight
Egelhaaf, M. (2019) · Springer eBooks · doi:10.1007/978-1-4614-7320-6_343-16 · Cited by 3
A computational model for angular velocity integration in a locust heading circuit
Pabst, K., Gkanias, E., Webb, B. H., Homberg, U., & Endres, D. (2024) · PLoS Computational Biology · doi:10.1371/journal.pcbi.1012155 · Cited by 1
A multi-ring shifter network computes head direction in zebrafish
Mei, S., Lavian, H., Wu, Y. K., Stemmler, M., Portugues, R., & Herz, A. V. M. (2026) · Current Biology · doi:10.1016/j.cub.2026.05.054 · Cited by 1
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Nair, A., Linderman, S. W., & Anderson, D. J. (2026) · Annual Review of Neuroscience · doi:10.1146/annurev-neuro-090225-115629 · Cited by 1
Symmetries and continuous attractors in disordered neural circuits
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Simulation of the Arthropod Central Complex: Moving Towards Bioinspired Robotic Navigation Control
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“More recently, physiological work elaborated on the connectivity between the PB and EB and found that these two structures have coordinated activity that correlates to rotational body movement [3,11].”
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Building a functional connectome of the Drosophila central complex
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CRASH2p: Closed-loop Two Photon Imaging in a Freely Moving AnimalPreprint
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Spatial learning in feature-impoverished environments in DrosophilaPreprint
Chen, Y., Alfredson, R., Motevalli, D., Fogleman, S., Stern, U., & Yang, C.-H. (2024) · bioRxiv (Cold Spring Harbor Laboratory) · doi:10.1101/2024.09.28.615625 · Cited by 1
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“The central complex has now become a focal point for studying the synaptic mechanisms behind such high-level computations (Green et al., 2017; Kim et al., 2017).”
Stabilization of memory on neural manifolds through multiple synaptic time scalesPreprint
Chechelnizki, G., Shaham, N., Salhov, A., & Burak, Y. (2025) · bioRxiv (Cold Spring Harbor Laboratory) · doi:10.1101/2025.01.30.635710 · Cited by 1
Combining Sampling Methods with Attractor Dynamics in Spiking Models of Head-Direction SystemsPreprint
Pjanovic, V., Zavatone-Veth, J. A., Masset, P., Keemink, S. W., & Nardin, M. (2025) · bioRxiv (Cold Spring Harbor Laboratory) · doi:10.1101/2025.02.25.640158 · Cited by 1
“Biologically, there is substantial evidence that attractor-like mechanisms are at play in HD systems of rodents [15, 3] and the central complex of the fruit fly [21, 51, 13].”
InfluentialBernard, M., Shine, J. P., Bičanski, A., & Wolbers, T. (2025) · bioRxiv (Cold Spring Harbor Laboratory) · doi:10.1101/2025.11.24.690256 · Cited by 2
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“The quantitative modulation of dopamine, via different receptors and/or perhaps through different types of neurons (Green et al., 2017), could engage and disengage the action programs, by respectively strengthening or weakening the inhibitory process.”
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Foraging fruit flies mix navigational and learning-based decision-making strategiesPreprint
Seidenbecher, S. E., Sanders, J. I., von Philipsborn, A. C., & Kvitsiani, D. (2019) · bioRxiv (Cold Spring Harbor Laboratory) · doi:10.1101/842096
A Study on Operational Strategies and Programs of Healthy Family Support Centers
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Network mechanisms of working memory: the role of neuronal nonlinearitiesPreprint
Suarez-Perez, A., Harish, O., & Hansel, D. (2021) · arXiv (Cornell University) · doi:10.48550/arxiv.2112.05091
Optimal and Adaptive Stimulation Design
Zhang, X., & Santaniello, S. (2022) · Handbook of Neuroengineering · doi:10.1007/978-981-15-2848-4_60-1
Can the Insect Path Integration Memory be a Bump Attractor?Preprint
Pisokas, I., Kudryashova, N., & Hennig, M. H. (2022) · bioRxiv (Cold Spring Harbor Laboratory) · doi:10.1101/2022.04.05.487126
Visual Processing in Free Flight
Egelhaaf, M. (2022) · Springer eBooks · doi:10.1007/978-1-0716-1006-0_343
Metadata
- Authors
- Green, J., Adachi, A., Shah, K. K., Hirokawa, J. D., Magani, P. S., & Maimon, G.
- Affiliations
- Rockefeller University (US)
- Corresponding author
- Maimon, Gaby
- Venue
- Nature
- Published
- 2017-05-22
- Volume
- 546
- Issue
- 7656
- Pages
- 101-106
- ISSN
- 0028-0836 (ISSN-L)
- 1476-4687
- PMC
- PMC6320684
- OpenAlex
- W2614915054
- Cited by
- 331
- References
- 43
- Citations by year
- 2026: 24 · 2025: 41 · 2024: 39 · 2023: 39 · 2022: 37 · 2021: 30 · 2020: 31 · 2019: 41 · 2018: 31 · 2017: 17
- FWCI
- 16.20
- Type
- journal article
- Language
- en
- Open access
- green
- europepmc.org
- Licence
- www.springer.com/tdm (tdm)
- Locations
- Nature (publishedVersion)
- PubMed (publishedVersion)
- Europe PMC (PubMed Central) (acceptedVersion)
- PubMed Central (acceptedVersion)
- RePEc: Research Papers in Economics (submittedVersion)
- Funders
- National Institute for Health and Care Research
- National Institutes of Health (P40OD018537)
- National Institute on Drug Abuse (DP2DA035148)
- National Institute of Neurological Disorders and Stroke (R01NS104934)
- Topics
- Life Sciences › Neuroscience › Cellular and Molecular Neuroscience › Neurobiology and Insect Physiology Research
- Life Sciences › Neuroscience › Cognitive Neuroscience › Memory and Neural Mechanisms
- Life Sciences › Neuroscience › Neurology › Vestibular and auditory disorders
- Keywords
- central complex, angular integration, Drosophila, spatial navigation, persistent activity, turning behavior, neural circuit architecture, angular velocity
- MeSH terms
- Animals, Darkness, Drosophila melanogaster, Female, Flight, Animal, Models, Neurological, Neural Pathways, Neurons, Orientation, Rotation, Space Perception, Walking, Spatio-Temporal Analysis
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