Abstract
Malaria mosquitoes mate in swarms, but how these swarms are formed and maintained remains poorly understood. We characterized three-dimensional spatiotemporal flight kinematics of Anopheles coluzzii males swarming at sunset above a ground marker. The location, shape, and volume of swarms were highly stereotypic, consistent over the complete swarming duration. Swarms have an elliptical cone shape; mean flight kinematics varies spatially within the swarm, but remain rather consistent throughout swarming duration. Using a sensory system-informed model, we show that swarming mosquitoes use visual perception of both the ground marker and sunset horizon to display the swarming behavior. To control their height, swarming individuals maintain an optical angle of the marker ranging from 24° to 55°. Limiting the viewing angle deviation to 4.5% of the maximum value results in the observed elliptical cone swarm shape. We discuss the implications of these finding on malaria mosquito mating success, speciation and for vector control.