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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.
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.
