Figure5
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/5169-5.jpg)
Figure 5. Illustration of the informative planning protocol (IPP): (A) general process of IPP; and (B) a specific example of IPP. The trees in (B) are mirrored for readable presentation, and the two robots are the same.