Mixed-feedback oscillations in the foraging dynamics of arboreal turtle ants

We propose and analyze a model for the dynamics of the flow into and out of a nest for the arboreal turtle ant $\textit{Cephalotes goniodontus}$ during foraging to investigate a possible mechanism for the emergence of oscillations. In our model, there is mixed dynamic feedback between the flow of ants between different behavioral compartments and the amount of pheromone along trails. On one hand, the ants deposit pheromone along the trail, which provides a positive feedback by increasing rates of return to the nest. On the other hand, pheromone evaporation is a source of negative feedback, as it depletes the pheromone and inhibits the return rate. We prove that the model is globally asymptotically stable in the absence of pheromone feedback. Then we show that pheromone feedback can lead to a loss of stability of the equilibrium and onset of sustained oscillations in the flow in and out of the nest via a Hopf bifurcation. This analysis sheds light on a potential key mechanism that enables arboreal turtle ants to effectively optimize their trail networks to minimize traveled path lengths and eliminate graph cycles.