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To estimate the neuron's true spatial information, independent of its HD tuning, we used a straightforward approach: we generated series of random spike trains drawn from a Poisson distribution depending exclusively on the current heading of the animal at each point in time and the cell's HD tuning curve.
To estimate how this modulation was independent from spiking directly explained by the HD tuning curve, the neurons were additionally regressed on the instantaneous firing rate expected from the current heading of the animal and the neuron's HD tuning curve (see Supplementary Fig. 4).
The current heading of the vehicle differs at least 4°.
Each agent locates free space compatible to its orientation as shown in Algorithm 2. Five orientations are explored relative to current heading of the agent; which are, 45° to the left and right, 90° to the left and right, and 0° (i.e. same as current heading).
Therefore, CAMs are only triggered when a set of rules is met [3]: The current heading of the vehicle differs at least 4° from the heading in the last CAM, or The current position of the vehicle differs at least 4 m from the position in the last CAM, or The current speed of the vehicle differs at least 0.5 m s from the speed in the last CAM, or The last CAM was sent 1 s earlier.
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Since I tried Ludwig back in 2017, I have been constantly using it in both editing and translation. Ever since, I suggest it to my translators at ProSciEditing.

Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com