Jason Matthiopoulos

State–space models of individual animal movement

Detailed observation of the movement of individual animals offers the potential to understand spatial population processes as the ultimate consequence of individual behaviour, physiological constraints and fine-scale environmental influences. However, movement data from individuals are intrinsically stochastic and often subject to severe observation error. Linking such complex data to dynamical models of movement is a major challenge for animal ecology. Here, we review a statistical approach, state-space modelling, which involves changing how we analyse movement data and draw inferences about the behaviours that shape it. The statistical robustness and predictive ability of state-space models make them the most promising avenue towards a new type of movement ecology that fuses insights from the study of animal behaviour, biogeography and spatial population dynamics.

The home-range concept: are traditional estimators still relevant with modern telemetry technology?

Recent advances in animal tracking and telemetry technology have allowed the collection of location data at an ever-increasing rate and accuracy, and these advances have been accompanied by the development of new methods of data analysis for portraying space use, home ranges and utilization distributions. New statistical approaches include data-intensive techniques such as kriging and nonlinear generalized regression models for habitat use. In addition, mechanistic home-range models, derived from models of animal movement behaviour, promise to offer new insights into how home ranges emerge as the result of specific patterns of movements by individuals in response to their environment. Traditional methods such as kernel density estimators are likely to remain popular because of their ease of use. Large datasets make it possible to apply these methods over relatively short periods of time such as weeks or months, and these estimates may be analysed using mixed effects models, offering another approach to studying temporal variation in space-use patterns. Although new technologies open new avenues in ecological research, our knowledge of why animals use space in the ways we observe will only advance by researchers using these new technologies and asking new and innovative questions about the empirical patterns they observe.

Building the bridge between animal movement and population dynamics

While the mechanistic links between animal movement and population dynamics are ecologically obvious, it is much less clear when knowledge of animal movement is a prerequisite for understanding and predicting population dynamics. GPS and other technologies enable detailed tracking of animal location concurrently with acquisition of landscape data and information on individual physiology. These tools can be used to refine our understanding of the mechanistic links between behaviour and individual condition through ‘spatially informed’ movement models where time allocation to different behaviours affects individual survival and reproduction. For some species, socially informed models that address the movements and average fitness of differently sized groups and how they are affected by fission–fusion processes at relevant temporal scales are required. Furthermore, as most animals revisit some places and avoid others based on their previous experiences, we foresee the incorporation of long-term memory and intention in movement models. The way animals move has important consequences for the degree of mixing that we expect to find both within a population and between individuals of different species. The mixing rate dictates the level of detail required by models to capture the influence of heterogeneity and the dynamics of intra- and interspecific interaction.

The interpretation of habitat preference metrics under use–availability designs

Models of habitat preference are widely used to quantify animal–habitat relationships, to describe and predict differential space use by animals, and to identify habitat that is important to an animal (i.e. that is assumed to influence fitness). Quantifying habitat preference involves the statistical comparison of samples of habitat use and availability. Preference is therefore contingent upon both of these samples. The inferences that can be made from use versus availability designs are influenced by subjectivity in defining what is available to the animal, the problem of quantifying the accessibility of available resources and the framework in which preference is modelled. Here, we describe these issues, document the conditional nature of preference and establish the limits of inferences that can be drawn from these analyses. We argue that preference is not interpretable as reflecting the intrinsic behavioural motivations of the animal, that estimates of preference are not directly comparable among different samples of availability and that preference is not necessarily correlated with the value of habitat to the animal. We also suggest that preference is context-dependent and that functional responses in preference resulting from changing availability are expected. We conclude by describing advances in analytical methods that begin to resolve these issues.

Correlation and studies of habitat selection: problem, red herring or opportunity?

With the advent of new technologies, animal locations are being collected at ever finer spatio-temporal scales. We review analytical methods for dealing with correlated data in the context of resource selection, including post hoc variance inflation techniques, ‘two-stage’ approaches based on models fit to each individual, generalized estimating equations and hierarchical mixed-effects models. These methods are applicable to a wide range of correlated data problems, but can be difficult to apply and remain especially challenging for use–availability sampling designs because the correlation structure for combinations of used and available points are not likely to follow common parametric forms. We also review emerging approaches to studying habitat selection that use fine-scale temporal data to arrive at biologically based definitions of available habitat, while naturally accounting for autocorrelation by modelling animal movement between telemetry locations. Sophisticated analyses that explicitly model correlation rather than consider it a nuisance, like mixed effects and state-space models, offer potentially novel insights into the process of resource selection, but additional work is needed to make them more generally applicable to large datasets based on the use–availability designs. Until then, variance inflation techniques and two-stage approaches should offer pragmatic and flexible approaches to modelling correlated data.

Flexible and practical modeling of animal telemetry data: hidden Markov models and extensions

We discuss hidden Markov-type models for fitting a variety of multistate random walks to wildlife movement data. Discrete-time hidden Markov models (HMMs) achieve considerable computational gains by focusing on observations that are regularly spaced in time, and for which the measurement error is negligible. These conditions are often met, in particular for data related to terrestrial animals, so that a likelihood-based HMM approach is feasible. We describe a number of extensions of HMMs for animal movement modeling, including more flexible state transition models and individual random effects (fitted in a non-Bayesian framework). In particular we consider so-called hidden semi-Markov models, which may substantially improve the goodness of fit and provide important insights into the behavioral state switching dynamics. To showcase the expediency of these methods, we consider an application of a hierarchical hidden semi-Markov model to multiple bison movement paths.

A general discrete-time modeling framework for animal movement using multistate random walks

Recent developments in animal tracking technology have permitted the collection of detailed data on the movement paths of individuals from many species. However, analysis methods for these data have not developed at a similar pace, largely due to a lack of suitable candidate models, coupled with the technical difficulties of fitting such models to data. To facilitate a general modeling framework, we propose that complex movement paths can be conceived as a series of movement strategies among which animals transition as they are affected by changes in their internal and external environment. We synthesize previously existing and novel methodologies to develop a general suite of mechanistic models based on biased and correlated random walks that allow different behavioral states for directed (e.g., migration), exploratory (e.g., dispersal), area-restricted (e.g., foraging), and other types of movement. Using this “toolbox” of nested model components, multistate movement models may be custom-built for a wide variety of species and applications. As a unified state-space modeling framework, it allows the simultaneous investigation of numerous hypotheses about animal movement from imperfectly observed data, including time allocations to different movement behavior states, transitions between states, the use of memory or navigation, and strengths of attraction (or repulsion) to specific locations. The inclusion of covariate information permits further investigation of specific hypotheses related to factors driving different types of movement behavior. Using reversible-jump Markov chain Monte Carlo methods to facilitate Bayesian model selection and multi-model inference, we apply the proposed methodology to real data by adapting it to the natural history of the grey seal (Halichoerus grypus) in the North Sea. Although previous grey seal studies tended to focus on correlated movements, we found overwhelming evidence that bias toward haul-out or foraging locations better explained seal movement than did simple or correlated random walks. Posterior model probabilities also provided evidence that seals transition among directed, area-restricted, and exploratory movements associated with haul-out, foraging, and other behaviors. With this intuitive framework for modeling and interpreting animal movement, we believe that the development and application of custom-made movement models will become more accessible to ecologists and non-statisticians.

The use of space by animals as a function of accessibility and preference

Heterogeneous usage of space by individual animals or animal populations is partly due to their preference for particular resources that are, themselves, heterogeneously distributed. When all points in the environment are equally accessible, a direct relationship between usage and preference can be assumed. However, when accessibility is restricted, spatial variations in usage can no longer be attributed entirely to preference. In such cases, it is necessary to control for the effects of accessibility on observed usage before conclusions about preference can be drawn. In this paper, I develop a modelling framework that treats the use of space by animals as a joint function of preference and accessibility. I specify a null version of the framework that assumes no preference and propose that its output can be used to control for the effect of accessibility on the observed, spatial distribution of usage. I briefly discuss how the framework can subsequently be used to provide insights about the animals’ preference for different resources and types of movement, and to predict usage in areas where no usage data exist. I explore the properties of the methodology using data from a population of simulated animals and present the first results of its application to a sub-set of the British population of grey seals (Halichoerus grypus).

The Functional Response of a Generalist Predator

Background Predators can have profound impacts on the dynamics of their prey that depend on how predator consumption is affected by prey density (the predators functional response). Consumption by a generalist predator is expected to depend on the densities of all its major prey species (its multispecies functional response, or MSFR), but most studies of generalists have focussed on their functional response to only one prey species. Methodology and principal findings Using Bayesian methods, we fit an MSFR to field data from an avian predator (the hen harrier Circus cyaneus) feeding on three different prey species. We use a simple graphical approach to show that ignoring the effects of alternative prey can give a misleading impression of the predators effect on the prey of interest. For example, in our system, a “predator pit” for one prey species only occurs when the availability of other prey species is low. Conclusions and significance The Bayesian approach is effective in fitting the MSFR model to field data. It allows flexibility in modelling over-dispersion, incorporates additional biological information into the parameter priors, and generates estimates of uncertainty in the models predictions. These features of robustness and data efficiency make our approach ideal for the study of long-lived predators, for which data may be sparse and management/conservation priorities pressing.

Generalized functional responses for species distributions

Researchers employing resource selection functions (RSFs) and other related methods aim to detect correlates of space-use and mitigate against detrimental environmental change. However, an empirical model fit to data from one place or time is unlikely to capture species responses under different conditions because organisms respond nonlinearly to changes in habitat availability. This phenomenon, known as a functional response in resource selection, has been debated extensively in the RSF literature but continues to be ignored by practitioners for lack of a practical treatment. We therefore extend the RSF approach to enable it to estimate generalized functional responses (GFRs) from spatial data. GFRs employ data from several sampling instances characterized by diverse profiles of habitat availability. By modeling the regression coefficients of the underlying RSF as functions of availability, GFRs can account for environmental change and thus predict population distributions in new environments. We formulate the approach as a mixed-effects model so that it is estimable by readily available statistical software. We illustrate its application using (1) simulation and (2) wolf home-range telemetry. Our results indicate that GFRs can offer considerable improvements in estimation speed and predictive ability over existing mixed-effects approaches.