Figure6
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/5169-6.jpg)
Figure 6. Illustration of the informative directed path planning in the grid, which performs target finding, i.e., where the dead broilers most likely exist: (A) heat map with historical data of dead broilers and DCPP direction information; and (B) the final planned informative directed trajectory in the grid.