Collective Sensing as Emergent Bayesian Inference
Abstract
Collective behavior in animal groups is routinely described in cognitive language: fish schools sense gradients, swarms compute, colonies decide. These formulations often leave open what the collective is inferring, what computational object is represented, or how that representation arises from microscopic interactions. Here we develop that description quantitatively in a simulation based on the canonical model of collective sensing in fish schools (Berdahl et al., 2013), in which collective gradient sensing emerges from individuals that do not estimate gradients themselves: agents only modulate their speed in response to local light intensity and respond to simple social forces from neighbors. We show that these local rules admit a mesoscopic Bayesian reinterpretation at the level of the school, and hypothesize that the collective dynamics realize approximate inference on a generative model of how darkness gradients drive inter-individual speed differences. The resulting school-level inference process yields a posterior distribution over the local darkness gradient, whose statistics vary with environmental structure and relate systematically to collective motion and sensing performance. The school can therefore be described, in a Bayesian-mechanical sense, as a distributed inferential system without requiring individual agents to perform probabilistic belief updates themselves. This yields a quantitative, falsifiable account of collective sensing as emergent inference, and a concrete bridge from collective behavior to Bayesian mechanics.
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BibTeX
@misc{heins2026collective,
title = {{Collective Sensing as Emergent Bayesian Inference}},
author = {Conor Heins},
howpublished = {arXiv},
year = {2026},
month = oct,
doi = {10.48550/arxiv.2610.04415},
eprint = {2610.04415},
archivePrefix = {arXiv},
url = {https://arxiv.org/abs/2610.04415},
}
RIS
TY - UNPB
TI - Collective Sensing as Emergent Bayesian Inference
AU - Conor Heins
PY - 2026
DA - 2026/10/03
PB - arXiv
DO - 10.48550/arxiv.2610.04415
UR - https://arxiv.org/abs/2610.04415
AB - Collective behavior in animal groups is routinely described in cognitive language: fish schools sense gradients, swarms compute, colonies decide. These formulations often leave open what the collective is inferring, what computational object is represented, or how that representation arises from microscopic interactions. Here we develop that description quantitatively in a simulation based on the canonical model of collective sensing in fish schools (Berdahl et al., 2013), in which collective gradient sensing emerges from individuals that do not estimate gradients themselves: agents only modulate their speed in response to local light intensity and respond to simple social forces from neighbors. We show that these local rules admit a mesoscopic Bayesian reinterpretation at the level of the school, and hypothesize that the collective dynamics realize approximate inference on a generative model of how darkness gradients drive inter-individual speed differences. The resulting school-level inference process yields a posterior distribution over the local darkness gradient, whose statistics vary with environmental structure and relate systematically to collective motion and sensing performance. The school can therefore be described, in a Bayesian-mechanical sense, as a distributed inferential system without requiring individual agents to perform probabilistic belief updates themselves. This yields a quantitative, falsifiable account of collective sensing as emergent inference, and a concrete bridge from collective behavior to Bayesian mechanics.
ER -