Monarch migration requires 4 generations to complete one round trip — no individual butterfly completes the journey or has any model of the whole. The destination is opaque to every participant. Magnetic compass + sun compass = dual constraint architecture. Milkweed as the prohibition mechanism: only tolerated host, toxic to most predators. The overwintering site is a Pe=0 constraint pole maintained across centuries.
Anthony W. Eckert (Mon,) studied this question.