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

Figure 9

Planning percentage in a warehouse environment of 50 × 34 4-neighbor grids. (a)  = 0.1. (b)  = 0.2. (c)  = 0.3. (d)  = 0.4. (e)  = 0.5.

(a)

(b)

(c)

(d)

(e)