A recent paper Building an allocentric travelling direction signal via vector computation (or since its paywalled, the biorxiv equivalent ) shows how structures in the insect brain can perform vector calculations and convert egocentric coordinates to allocentric ones.
A seminar on YouTube describing the research is more accessible since the paper is very, very dense.
As the authors suggest, this mechanism may also relevant for understanding mammalian brains and its seems to me that this might be useful for the TBT and HTM.