Extended Data Fig. 6: Emergent frequency and Fourier transform of wingbeats versus K_r in simulation.

Left plot shows the normalized emergent frequency (f/f_s) from Fig. 3a using a continuous colormap. Six horizontal lines correspond to values of t₀/T_n where we examined the Fourier transform of the emergent wingbeats. The six plots in the right column show heatmaps of the Fourier transform of wingbeat at each value of K_r. As t₀ decreases (from top to bottom), the emergent asynchronous frequency varies, and we see mixing of asynchronous and synchronous dynamics near the boundary between async and sync regions (shown in gray). The bridge between synchronous and asynchronous regimes occurs when the emergent async frequency is exactly equal to the synchronous driving frequency (Plot c in right column).