README for the "On the Movement of the Honeybee Queen in the Hive" Dataset

Dataset Overview

This dataset supports the analyses and experiments of the paper:

Blaha et al., "On the Movement of the Honeybee Queen in the Hive," Scientific Reports 2025. DOI: 10.1038/s41598-025-07093-4.

The dataset provides observations of three honeybee queens within an observation hive captured using an automated system at the end of the summer season in 2022.  The code for the relevant analysis can be found under DOI: 10.5281/zenodo.15683480.

Data Collection Methodology

For details on the data collection system, please see the Supplementary Information of the main paper, available at DOI: 10.1038/s41598-025-07093-4, also appended to the data here.

Data Structure

The dataset is organized into directories 2022-MM-DD-HH-MM-SS based on hours (rosbags) in which data was recorded. In each such directory, there are further three hive_X directories containing a CSV file detections_hive_X_with_pred.csv with the detection data itself.

File Contents

Files contain individual queen bee detections and have the following columns:

• idx: Identifier of entry in the csv.
• stamp: Timestamp of the detection in Unix epoch nanoseconds (UTC).
• frame_id: Camera id (hive and comb numbers).
• x: X-coordinate of the bee's position in meters.
• y: Y-coordinate of the bee's position in meters.
• whycomb_state: documented in detail in the supplementary.
• detection_confidence: documented in detail in the supplementary.

Data Units: Timestamps are in Unix epoch nanoseconds (UTC), spatial coordinates are in meters.

License and Citation

To attribute this dataset in your research, please cite the corresponding paper:

Blaha et al., "On the Movement of the Honeybee Queen in the Hive," Scientific Reports 2025. DOI: DOI: 10.1038/s41598-025-07093-4.