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

Table 2

Simulation results in a warehouse environment of 50 × 34 4-neighbor grids: makespan (standard deviation).

	Robot number	Existing method in [21, 22]	Proposed method	Decrease percentage (%)
0.1
	0.2
		0.3
			0.4
				0.5