Woodlice have enough "brain" to at some level form a model of their surroundings. They can learn a very simple map.
3.Many small invertebrates form social colonies. In land-living ones, like ants and termites, animals leave a chemical trail as they move around, depositing markers indicating desirable discoveries. This is how an ant colony "finds" sugar in our kitchens, say. One randomly-exploring ant finds sugar, and retraces its steps home leaving a marker indicating that it's found food. Other ants follow the trail, reinforcing it, until a path is marked for the colony to move large amounts of food back to the nest.
In other words, ants make and read signals for other ants.