Fig. 6. Experiment 1A CTRNN network dynamics during the return phase of the journey (see Fig. 5). Plots are of neuron firing rates; the y-axis runs from 0 (bottom) to 1 for each. B₁ and nest indicate the time of arrival at the beacon and the nest, respectively (the nest is reached at the very end of the trial). N_L3/R3 and R_L/R are as in Fig. 4.