A Bi-Level Probabilistic Path Planning Algorithm for Multiple Robots with Motion Uncertainty

Figure 4

Illustration of the planning result in topology level. Red squares represent the robots which need to be planned. Green squares represent the other robots. The red line shows the planned passing order for each robot assigned with new task. According to the number of robots, the grey shade implies the crowdedness of each district. The fewer the number of robots, the lighter the color.