Figure9
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/5169-9.jpg)
Figure 9. Illustration of robot global path planning in the tested workspace: (A and C) examples of informative trajectory between two feeding/drinking lines in various DCPP directions and historical dead bird distribution data; and (B) the overall DCPP trajectory.