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Fig. 4. Experiment 1A CTRNN network solving the constant speed path integration task. BL/R, left/right beacon sensor; CL/R, left/right compass sensor; RL/R, left/right rotation motor neuron; NL/R, interneurons. Arrows are directional weighted links; double-headed arrows indicate two links running in opposite directions. Open circles are neurons involved in the oscillations responsible for generating the various modes of behaviour seen in this agent during its return journey (see Fig. 5).