Fig. 7
From: Space D*
![Fig. 7](http://media.springernature.com/full/springer-static/image/art%3A10.1007%2Fs13173-012-0071-9/MediaObjects/13173_2012_71_Article_Fig8_HTML.gif)
Real experiment with two robots, with the real path, the initial position (circle), the goal (cross), and obstacles. (a) Image in the initial situation; (b) conflict situation where the paths of both robots intersect; (c) final position