Figure10
From: An informative planning-based multi-layer robot navigation system as applied in a poultry barn
![An informative planning-based multi-layer robot navigation system as applied in a poultry barn](https://image.oaes.cc/d6f884ad-91fd-4b28-9214-c2afee46bb1f/5169-10.jpg)
Figure 10. Informative planning protocol avoids a random obstacle in the grid: (A) the final planned informative directed coverage trajectory in grid; and (B) heat map with historical data of dead broilers and DCPP direction information.