Figure3
![Multi-robot cooperative search for radioactive sources based on particle swarm optimization particle filter](https://image.oaes.cc/b5f21a9a-3f1c-41b4-8e44-80bc5b955dfd/ir3038-3.jpg)
Figure 3. Mountain multi-robot trajectory prediction model. The mobile robot's historical search trajectories are depicted in different colors: blue, orange, yellow, and purple dots. The solid green line represents the predicted trajectory, while the green triangles along the trajectory represent the expected robot position.