Figure4
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/5169-4.jpg)
Figure 4. Overall workflow of the path planning for the broiler mortality detection and removal robots. The dynamic window approach (DWA) local navigator is also utilized to avoid live broilers in simulations.