3.3 Initial navigation speed analysis

As described in the main text, we performed the initial navigation speed (0-0.4s) for the results in main text Fig. 3. 50 independent simulations were carried out in each maze with different initial conditions. In free space, the initial optimal navigation speed can be estimated to be \(\langle v_{T, f} \rangle = \frac{1}{\pi}v_{\rm{max}}\) as described in the main text. Fig. S3A shows a good agreement between theoretical predicted mean speed and actual measured average speed from simulation experiments.