id sid tid token lemma pos ajst-10390 1 1 academic academic ADJ ajst-10390 1 2 journal journal NOUN ajst-10390 1 3 of of ADP ajst-10390 1 4 science science NOUN ajst-10390 1 5 and and CCONJ ajst-10390 1 6 technology technology NOUN ajst-10390 1 7 issn issn NOUN ajst-10390 1 8 : : PUNCT ajst-10390 1 9 2771 2771 NUM ajst-10390 1 10 - - SYM ajst-10390 1 11 3032 3032 NUM ajst-10390 1 12 | | NOUN ajst-10390 1 13 vol vol NOUN ajst-10390 1 14 . . PROPN ajst-10390 2 1 6 6 NUM ajst-10390 2 2 , , PUNCT ajst-10390 2 3 no no INTJ ajst-10390 2 4 . . NOUN ajst-10390 2 5 3 3 NUM ajst-10390 2 6 , , PUNCT ajst-10390 2 7 2023 2023 NUM ajst-10390 2 8 93 93 NUM ajst-10390 2 9 research research NOUN ajst-10390 2 10 on on ADP ajst-10390 2 11 uav uav PROPN ajst-10390 2 12 cluster cluster NOUN ajst-10390 2 13 obstacle obstacle NOUN ajst-10390 2 14 avoidance avoidance NOUN ajst-10390 2 15 algorithm algorithm NOUN ajst-10390 2 16 based base VERB ajst-10390 2 17 on on ADP ajst-10390 2 18 improved improve VERB ajst-10390 2 19 artificial artificial ADJ ajst-10390 2 20 potential potential ADJ ajst-10390 2 21 field field NOUN ajst-10390 2 22 method method NOUN ajst-10390 2 23 lige lige NOUN ajst-10390 2 24 zhang zhang PROPN ajst-10390 2 25 chengdu chengdu PROPN ajst-10390 2 26 foreign foreign PROPN ajst-10390 2 27 language language PROPN ajst-10390 2 28 school school NOUN ajst-10390 2 29 international international ADJ ajst-10390 2 30 department department NOUN ajst-10390 2 31 , , PUNCT ajst-10390 2 32 pidu pidu PROPN ajst-10390 2 33 chengdu chengdu PROPN ajst-10390 2 34 611700 611700 NUM ajst-10390 3 1 , , PUNCT ajst-10390 3 2 china china PROPN ajst-10390 3 3 abstract abstract NOUN ajst-10390 3 4 : : PUNCT ajst-10390 3 5 in in ADP ajst-10390 3 6 view view NOUN ajst-10390 3 7 of of ADP ajst-10390 3 8 the the DET ajst-10390 3 9 shortcomings shortcoming NOUN ajst-10390 3 10 of of ADP ajst-10390 3 11 the the DET ajst-10390 3 12 traditional traditional ADJ ajst-10390 3 13 artificial artificial ADJ ajst-10390 3 14 potential potential ADJ ajst-10390 3 15 field field NOUN ajst-10390 3 16 method method NOUN ajst-10390 3 17 for for ADP ajst-10390 3 18 the the DET ajst-10390 3 19 obstacle obstacle NOUN ajst-10390 3 20 avoidance avoidance NOUN ajst-10390 3 21 of of ADP ajst-10390 3 22 the the DET ajst-10390 3 23 uav uav PROPN ajst-10390 3 24 cluster cluster NOUN ajst-10390 3 25 , , PUNCT ajst-10390 3 26 this this DET ajst-10390 3 27 paper paper NOUN ajst-10390 3 28 solves solve VERB ajst-10390 3 29 the the DET ajst-10390 3 30 safety safety NOUN ajst-10390 3 31 problem problem NOUN ajst-10390 3 32 of of ADP ajst-10390 3 33 obstacle obstacle NOUN ajst-10390 3 34 avoidance avoidance NOUN ajst-10390 3 35 during during ADP ajst-10390 3 36 the the DET ajst-10390 3 37 flight flight NOUN ajst-10390 3 38 of of ADP ajst-10390 3 39 the the DET ajst-10390 3 40 uav uav PROPN ajst-10390 3 41 group group NOUN ajst-10390 3 42 , , PUNCT ajst-10390 3 43 introduces introduce VERB ajst-10390 3 44 the the DET ajst-10390 3 45 relative relative ADJ ajst-10390 3 46 speed speed NOUN ajst-10390 3 47 repulsion repulsion NOUN ajst-10390 3 48 force force NOUN ajst-10390 3 49 field field NOUN ajst-10390 3 50 between between ADP ajst-10390 3 51 the the DET ajst-10390 3 52 uav uav PROPN ajst-10390 3 53 group group NOUN ajst-10390 3 54 and and CCONJ ajst-10390 3 55 the the DET ajst-10390 3 56 dynamic dynamic ADJ ajst-10390 3 57 obstacle obstacle NOUN ajst-10390 3 58 , , PUNCT ajst-10390 3 59 and and CCONJ ajst-10390 3 60 builds build VERB ajst-10390 3 61 a a DET ajst-10390 3 62 virtual virtual ADJ ajst-10390 3 63 force force NOUN ajst-10390 3 64 field field NOUN ajst-10390 3 65 to to PART ajst-10390 3 66 solve solve VERB ajst-10390 3 67 the the DET ajst-10390 3 68 obstacle obstacle NOUN ajst-10390 3 69 avoidance avoidance NOUN ajst-10390 3 70 problem problem NOUN ajst-10390 3 71 of of ADP ajst-10390 3 72 the the DET ajst-10390 3 73 calculate calculate NOUN ajst-10390 3 74 the the DET ajst-10390 3 75 force force NOUN ajst-10390 3 76 between between ADP ajst-10390 3 77 the the DET ajst-10390 3 78 drones drone NOUN ajst-10390 3 79 according accord VERB ajst-10390 3 80 to to ADP ajst-10390 3 81 the the DET ajst-10390 3 82 distance distance NOUN ajst-10390 3 83 between between ADP ajst-10390 3 84 the the DET ajst-10390 3 85 drones drone NOUN ajst-10390 3 86 . . PUNCT ajst-10390 4 1 the the DET ajst-10390 4 2 obstacle obstacle NOUN ajst-10390 4 3 generates generate VERB ajst-10390 4 4 repulsive repulsive ADJ ajst-10390 4 5 force force NOUN ajst-10390 4 6 on on ADP ajst-10390 4 7 the the DET ajst-10390 4 8 drone drone NOUN ajst-10390 4 9 , , PUNCT ajst-10390 4 10 the the DET ajst-10390 4 11 target target NOUN ajst-10390 4 12 generates generate VERB ajst-10390 4 13 gravity gravity NOUN ajst-10390 4 14 on on ADP ajst-10390 4 15 the the DET ajst-10390 4 16 drone drone NOUN ajst-10390 4 17 , , PUNCT ajst-10390 4 18 and and CCONJ ajst-10390 4 19 the the DET ajst-10390 4 20 combined combined ADJ ajst-10390 4 21 force force NOUN ajst-10390 4 22 of of ADP ajst-10390 4 23 gravity gravity NOUN ajst-10390 4 24 and and CCONJ ajst-10390 4 25 repulsion repulsion NOUN ajst-10390 4 26 acts act VERB ajst-10390 4 27 on on ADP ajst-10390 4 28 the the DET ajst-10390 4 29 drone drone NOUN ajst-10390 4 30 to to PART ajst-10390 4 31 control control VERB ajst-10390 4 32 the the DET ajst-10390 4 33 drone drone NOUN ajst-10390 4 34 to to PART ajst-10390 4 35 avoid avoid VERB ajst-10390 4 36 obstacles obstacle NOUN ajst-10390 4 37 . . PUNCT ajst-10390 5 1 the the DET ajst-10390 5 2 paper paper NOUN ajst-10390 5 3 aims aim VERB ajst-10390 5 4 to to PART ajst-10390 5 5 realize realize VERB ajst-10390 5 6 multi multi ADJ ajst-10390 5 7 - - ADJ ajst-10390 5 8 uav uav ADJ ajst-10390 5 9 obstacle obstacle NOUN ajst-10390 5 10 avoidance avoidance NOUN ajst-10390 5 11 , , PUNCT ajst-10390 5 12 and and CCONJ ajst-10390 5 13 improves improve VERB ajst-10390 5 14 the the DET ajst-10390 5 15 artificial artificial ADJ ajst-10390 5 16 potential potential ADJ ajst-10390 5 17 field field NOUN ajst-10390 5 18 method method NOUN ajst-10390 5 19 . . PUNCT ajst-10390 6 1 through through ADP ajst-10390 6 2 the the DET ajst-10390 6 3 design design NOUN ajst-10390 6 4 of of ADP ajst-10390 6 5 the the DET ajst-10390 6 6 formation formation NOUN ajst-10390 6 7 of of ADP ajst-10390 6 8 uavs uavs NOUN ajst-10390 6 9 and and CCONJ ajst-10390 6 10 the the DET ajst-10390 6 11 uav uav PROPN ajst-10390 6 12 obstacle obstacle NOUN ajst-10390 6 13 avoidance avoidance NOUN ajst-10390 6 14 algorithm algorithm NOUN ajst-10390 6 15 , , PUNCT ajst-10390 6 16 the the DET ajst-10390 6 17 obstacle obstacle NOUN ajst-10390 6 18 avoidance avoidance NOUN ajst-10390 6 19 of of ADP ajst-10390 6 20 uavs uavs PROPN ajst-10390 6 21 is be AUX ajst-10390 6 22 carried carry VERB ajst-10390 6 23 out out ADP ajst-10390 6 24 . . PUNCT ajst-10390 7 1 the the DET ajst-10390 7 2 simulation simulation NOUN ajst-10390 7 3 results result NOUN ajst-10390 7 4 show show VERB ajst-10390 7 5 that that SCONJ ajst-10390 7 6 the the DET ajst-10390 7 7 improved improved ADJ ajst-10390 7 8 artificial artificial ADJ ajst-10390 7 9 potential potential ADJ ajst-10390 7 10 field field NOUN ajst-10390 7 11 can can AUX ajst-10390 7 12 meet meet VERB ajst-10390 7 13 the the DET ajst-10390 7 14 safety safety NOUN ajst-10390 7 15 , , PUNCT ajst-10390 7 16 real real ADJ ajst-10390 7 17 - - PUNCT ajst-10390 7 18 time time NOUN ajst-10390 7 19 and and CCONJ ajst-10390 7 20 accessibility accessibility NOUN ajst-10390 7 21 requirements requirement NOUN ajst-10390 7 22 of of ADP ajst-10390 7 23 the the DET ajst-10390 7 24 path path NOUN ajst-10390 7 25 planning planning NOUN ajst-10390 7 26 of of ADP ajst-10390 7 27 the the DET ajst-10390 7 28 uav uav PROPN ajst-10390 7 29 under under ADP ajst-10390 7 30 the the DET ajst-10390 7 31 dynamic dynamic ADJ ajst-10390 7 32 change change NOUN ajst-10390 7 33 of of ADP ajst-10390 7 34 targets target NOUN ajst-10390 7 35 and and CCONJ ajst-10390 7 36 obstacles obstacle NOUN ajst-10390 7 37 , , PUNCT ajst-10390 7 38 and and CCONJ ajst-10390 7 39 improve improve VERB ajst-10390 7 40 the the DET ajst-10390 7 41 tracking tracking NOUN ajst-10390 7 42 and and CCONJ ajst-10390 7 43 obstacle obstacle NOUN ajst-10390 7 44 avoidance avoidance NOUN ajst-10390 7 45 speed speed NOUN ajst-10390 7 46 of of ADP ajst-10390 7 47 the the DET ajst-10390 7 48 uav uav PROPN ajst-10390 7 49 in in ADP ajst-10390 7 50 the the DET ajst-10390 7 51 dynamic dynamic ADJ ajst-10390 7 52 environment environment NOUN ajst-10390 7 53 . . PUNCT ajst-10390 8 1 keywords keyword NOUN ajst-10390 8 2 : : PUNCT ajst-10390 8 3 uav uav PROPN ajst-10390 8 4 cluster cluster NOUN ajst-10390 8 5 , , PUNCT ajst-10390 8 6 artificial artificial ADJ ajst-10390 8 7 field field NOUN ajst-10390 8 8 method method NOUN ajst-10390 8 9 , , PUNCT ajst-10390 8 10 dynamic dynamic ADJ ajst-10390 8 11 obstacle obstacle NOUN ajst-10390 8 12 avoidance avoidance NOUN ajst-10390 8 13 . . PUNCT ajst-10390 9 1 1 1 X ajst-10390 9 2 . . X ajst-10390 9 3 foreword foreword NOUN ajst-10390 9 4 in in ADP ajst-10390 9 5 recent recent ADJ ajst-10390 9 6 years year NOUN ajst-10390 9 7 , , PUNCT ajst-10390 9 8 with with ADP ajst-10390 9 9 the the DET ajst-10390 9 10 continuous continuous ADJ ajst-10390 9 11 development development NOUN ajst-10390 9 12 of of ADP ajst-10390 9 13 the the DET ajst-10390 9 14 uav uav PROPN ajst-10390 9 15 industry industry PROPN ajst-10390 9 16 , , PUNCT ajst-10390 9 17 uavs uavs PROPN ajst-10390 9 18 have have AUX ajst-10390 9 19 been be AUX ajst-10390 9 20 widely widely ADV ajst-10390 9 21 used use VERB ajst-10390 9 22 . . PUNCT ajst-10390 10 1 the the DET ajst-10390 10 2 complementarity complementarity NOUN ajst-10390 10 3 between between ADP ajst-10390 10 4 uav uav PROPN ajst-10390 10 5 groups group NOUN ajst-10390 10 6 has have AUX ajst-10390 10 7 made make VERB ajst-10390 10 8 uavs uavs NOUN ajst-10390 10 9 synergistic synergistic ADJ ajst-10390 10 10 and and CCONJ ajst-10390 10 11 expandable expandable ADJ ajst-10390 10 12 , , PUNCT ajst-10390 10 13 and and CCONJ ajst-10390 10 14 has have AUX ajst-10390 10 15 played play VERB ajst-10390 10 16 a a DET ajst-10390 10 17 great great ADJ ajst-10390 10 18 advantage advantage NOUN ajst-10390 10 19 in in ADP ajst-10390 10 20 practical practical ADJ ajst-10390 10 21 application application NOUN ajst-10390 10 22 . . PUNCT ajst-10390 11 1 in in ADP ajst-10390 11 2 the the DET ajst-10390 11 3 existing exist VERB ajst-10390 11 4 cluster cluster NOUN ajst-10390 11 5 methods method NOUN ajst-10390 11 6 , , PUNCT ajst-10390 11 7 due due ADP ajst-10390 11 8 to to ADP ajst-10390 11 9 the the DET ajst-10390 11 10 complexity complexity NOUN ajst-10390 11 11 of of ADP ajst-10390 11 12 the the DET ajst-10390 11 13 working working NOUN ajst-10390 11 14 environment environment NOUN ajst-10390 11 15 , , PUNCT ajst-10390 11 16 the the DET ajst-10390 11 17 multilateral multilateral ADJ ajst-10390 11 18 nature nature NOUN ajst-10390 11 19 and and CCONJ ajst-10390 11 20 the the DET ajst-10390 11 21 large large ADJ ajst-10390 11 22 size size NOUN ajst-10390 11 23 of of ADP ajst-10390 11 24 the the DET ajst-10390 11 25 group group NOUN ajst-10390 11 26 , , PUNCT ajst-10390 11 27 cluster cluster NOUN ajst-10390 11 28 obstacle obstacle NOUN ajst-10390 11 29 avoidance avoidance NOUN ajst-10390 11 30 has have AUX ajst-10390 11 31 become become VERB ajst-10390 11 32 one one NUM ajst-10390 11 33 of of ADP ajst-10390 11 34 the the DET ajst-10390 11 35 key key ADJ ajst-10390 11 36 problems problem NOUN ajst-10390 11 37 that that PRON ajst-10390 11 38 can can AUX ajst-10390 11 39 not not PART ajst-10390 11 40 be be AUX ajst-10390 11 41 avoided avoid VERB ajst-10390 11 42 . . PUNCT ajst-10390 12 1 in in ADP ajst-10390 12 2 view view NOUN ajst-10390 12 3 of of ADP ajst-10390 12 4 the the DET ajst-10390 12 5 obstacle obstacle NOUN ajst-10390 12 6 avoidance avoidance NOUN ajst-10390 12 7 of of ADP ajst-10390 12 8 the the DET ajst-10390 12 9 uav uav PROPN ajst-10390 12 10 group group NOUN ajst-10390 12 11 , , PUNCT ajst-10390 12 12 domestic domestic ADJ ajst-10390 12 13 scholars scholar NOUN ajst-10390 12 14 have have AUX ajst-10390 12 15 carried carry VERB ajst-10390 12 16 out out ADP ajst-10390 12 17 a a DET ajst-10390 12 18 lot lot NOUN ajst-10390 12 19 of of ADP ajst-10390 12 20 research research NOUN ajst-10390 12 21 . . PUNCT ajst-10390 13 1 at at ADP ajst-10390 13 2 present present ADJ ajst-10390 13 3 , , PUNCT ajst-10390 13 4 the the DET ajst-10390 13 5 commonly commonly ADV ajst-10390 13 6 used use VERB ajst-10390 13 7 obstacle obstacle NOUN ajst-10390 13 8 avoidance avoidance NOUN ajst-10390 13 9 algorithms algorithm NOUN ajst-10390 13 10 include include VERB ajst-10390 13 11 the the DET ajst-10390 13 12 artificial artificial ADJ ajst-10390 13 13 potential potential ADJ ajst-10390 13 14 field field NOUN ajst-10390 13 15 through through ADP ajst-10390 13 16 network network NOUN ajst-10390 13 17 method method NOUN ajst-10390 13 18 , , PUNCT ajst-10390 13 19 optimization optimization NOUN ajst-10390 13 20 theory theory NOUN ajst-10390 13 21 [ [ X ajst-10390 13 22 2 2 NUM ajst-10390 13 23 ] ] PUNCT ajst-10390 13 24 , , PUNCT ajst-10390 13 25 etc etc X ajst-10390 13 26 . . X ajst-10390 14 1 the the DET ajst-10390 14 2 problem problem NOUN ajst-10390 14 3 of of ADP ajst-10390 14 4 obstacle obstacle NOUN ajst-10390 14 5 avoidance avoidance NOUN ajst-10390 14 6 of of ADP ajst-10390 14 7 uav uav PROPN ajst-10390 14 8 groups group NOUN ajst-10390 14 9 in in ADP ajst-10390 14 10 limited limited ADJ ajst-10390 14 11 space space NOUN ajst-10390 14 12 can can AUX ajst-10390 14 13 provide provide VERB ajst-10390 14 14 greater great ADJ ajst-10390 14 15 guarantee guarantee NOUN ajst-10390 14 16 for for ADP ajst-10390 14 17 the the DET ajst-10390 14 18 safety safety NOUN ajst-10390 14 19 of of ADP ajst-10390 14 20 uavs uavs NOUN ajst-10390 14 21 and and CCONJ ajst-10390 14 22 the the DET ajst-10390 14 23 efficiency efficiency NOUN ajst-10390 14 24 of of ADP ajst-10390 14 25 carrying carry VERB ajst-10390 14 26 out out ADP ajst-10390 14 27 tasks task NOUN ajst-10390 14 28 , , PUNCT ajst-10390 14 29 and and CCONJ ajst-10390 14 30 the the DET ajst-10390 14 31 development development NOUN ajst-10390 14 32 and and CCONJ ajst-10390 14 33 improvement improvement NOUN ajst-10390 14 34 of of ADP ajst-10390 14 35 obstacle obstacle NOUN ajst-10390 14 36 avoidance avoidance NOUN ajst-10390 14 37 systems system NOUN ajst-10390 14 38 is be AUX ajst-10390 14 39 the the DET ajst-10390 14 40 key key NOUN ajst-10390 14 41 to to ADP ajst-10390 14 42 uav uav PROPN ajst-10390 14 43 group group PROPN ajst-10390 14 44 technology technology PROPN ajst-10390 14 45 . . PUNCT ajst-10390 15 1 this this DET ajst-10390 15 2 paper paper NOUN ajst-10390 15 3 introduces introduce VERB ajst-10390 15 4 an an DET ajst-10390 15 5 improved improved ADJ ajst-10390 15 6 artificial artificial ADJ ajst-10390 15 7 potential potential ADJ ajst-10390 15 8 field field NOUN ajst-10390 15 9 method method NOUN ajst-10390 15 10 [ [ X ajst-10390 15 11 3 3 X ajst-10390 15 12 ] ] PUNCT ajst-10390 15 13 to to PART ajst-10390 15 14 solve solve VERB ajst-10390 15 15 the the DET ajst-10390 15 16 obstacle obstacle NOUN ajst-10390 15 17 avoidance avoidance NOUN ajst-10390 15 18 problem problem NOUN ajst-10390 15 19 of of ADP ajst-10390 15 20 unmanned unmanned ADJ ajst-10390 15 21 clusters cluster NOUN ajst-10390 15 22 . . PUNCT ajst-10390 16 1 artificial artificial ADJ ajst-10390 16 2 potential potential ADJ ajst-10390 16 3 field field NOUN ajst-10390 16 4 method method NOUN ajst-10390 16 5 is be AUX ajst-10390 16 6 a a DET ajst-10390 16 7 relatively relatively ADV ajst-10390 16 8 mature mature ADJ ajst-10390 16 9 and and CCONJ ajst-10390 16 10 real real ADJ ajst-10390 16 11 - - PUNCT ajst-10390 16 12 time time NOUN ajst-10390 16 13 method method NOUN ajst-10390 16 14 in in ADP ajst-10390 16 15 the the DET ajst-10390 16 16 research research NOUN ajst-10390 16 17 of of ADP ajst-10390 16 18 obstacle obstacle NOUN ajst-10390 16 19 avoidance avoidance NOUN ajst-10390 16 20 algorithms algorithm NOUN ajst-10390 16 21 , , PUNCT ajst-10390 16 22 which which PRON ajst-10390 16 23 is be AUX ajst-10390 16 24 convenient convenient ADJ ajst-10390 16 25 to to PART ajst-10390 16 26 solve solve VERB ajst-10390 16 27 the the DET ajst-10390 16 28 obstacle obstacle NOUN ajst-10390 16 29 avoidance avoidance NOUN ajst-10390 16 30 problem problem NOUN ajst-10390 16 31 of of ADP ajst-10390 16 32 unmanned unmanned ADJ ajst-10390 16 33 aerial aerial ADJ ajst-10390 16 34 vehicles vehicle NOUN ajst-10390 16 35 in in ADP ajst-10390 16 36 dynamic dynamic ADJ ajst-10390 16 37 environment environment NOUN ajst-10390 16 38 . . PUNCT ajst-10390 17 1 based base VERB ajst-10390 17 2 on on ADP ajst-10390 17 3 the the DET ajst-10390 17 4 traditional traditional ADJ ajst-10390 17 5 artificial artificial ADJ ajst-10390 17 6 potential potential ADJ ajst-10390 17 7 field field NOUN ajst-10390 17 8 method method NOUN ajst-10390 17 9 , , PUNCT ajst-10390 17 10 an an DET ajst-10390 17 11 improved improved ADJ ajst-10390 17 12 strategy strategy NOUN ajst-10390 17 13 of of ADP ajst-10390 17 14 artificial artificial ADJ ajst-10390 17 15 potential potential ADJ ajst-10390 17 16 field field NOUN ajst-10390 17 17 method method NOUN ajst-10390 17 18 applicable applicable ADJ ajst-10390 17 19 to to ADP ajst-10390 17 20 dynamic dynamic ADJ ajst-10390 17 21 environment environment NOUN ajst-10390 17 22 is be AUX ajst-10390 17 23 proposed propose VERB ajst-10390 17 24 . . PUNCT ajst-10390 18 1 by by ADP ajst-10390 18 2 calculating calculate VERB ajst-10390 18 3 the the DET ajst-10390 18 4 size size NOUN ajst-10390 18 5 of of ADP ajst-10390 18 6 the the DET ajst-10390 18 7 repulsive repulsive ADJ ajst-10390 18 8 force force NOUN ajst-10390 18 9 on on ADP ajst-10390 18 10 the the DET ajst-10390 18 11 obstacle obstacle NOUN ajst-10390 18 12 data datum NOUN ajst-10390 18 13 returned return VERB ajst-10390 18 14 by by ADP ajst-10390 18 15 the the DET ajst-10390 18 16 uav uav PROPN ajst-10390 18 17 according accord VERB ajst-10390 18 18 to to ADP ajst-10390 18 19 the the DET ajst-10390 18 20 sensor sensor NOUN ajst-10390 18 21 , , PUNCT ajst-10390 18 22 the the DET ajst-10390 18 23 velocity velocity NOUN ajst-10390 18 24 vector vector NOUN ajst-10390 18 25 of of ADP ajst-10390 18 26 the the DET ajst-10390 18 27 target target NOUN ajst-10390 18 28 and and CCONJ ajst-10390 18 29 the the DET ajst-10390 18 30 obstacle obstacle NOUN ajst-10390 18 31 is be AUX ajst-10390 18 32 introduced introduce VERB ajst-10390 18 33 into into ADP ajst-10390 18 34 the the DET ajst-10390 18 35 relative relative ADJ ajst-10390 18 36 position position NOUN ajst-10390 18 37 gravitational gravitational ADJ ajst-10390 18 38 field field NOUN ajst-10390 18 39 and and CCONJ ajst-10390 18 40 repulsive repulsive ADJ ajst-10390 18 41 field field NOUN ajst-10390 18 42 function function VERB ajst-10390 18 43 respectively respectively ADV ajst-10390 18 44 , , PUNCT ajst-10390 18 45 and and CCONJ ajst-10390 18 46 the the DET ajst-10390 18 47 position position NOUN ajst-10390 18 48 change change NOUN ajst-10390 18 49 is be AUX ajst-10390 18 50 incorporated incorporate VERB ajst-10390 18 51 into into ADP ajst-10390 18 52 the the DET ajst-10390 18 53 improved improve VERB ajst-10390 18 54 relative relative ADJ ajst-10390 18 55 velocity velocity NOUN ajst-10390 18 56 gravitational gravitational ADJ ajst-10390 18 57 field field NOUN ajst-10390 18 58 and and CCONJ ajst-10390 18 59 repulsive repulsive ADJ ajst-10390 18 60 force force NOUN ajst-10390 18 61 field field NOUN ajst-10390 18 62 , , PUNCT ajst-10390 18 63 the the DET ajst-10390 18 64 improved improve VERB ajst-10390 18 65 artificial artificial ADJ ajst-10390 18 66 potential potential ADJ ajst-10390 18 67 field field NOUN ajst-10390 18 68 function function NOUN ajst-10390 18 69 and and CCONJ ajst-10390 18 70 the the DET ajst-10390 18 71 resultant resultant NOUN ajst-10390 18 72 force force NOUN ajst-10390 18 73 function function NOUN ajst-10390 18 74 of of ADP ajst-10390 18 75 multiple multiple ADJ ajst-10390 18 76 obstacles obstacle NOUN ajst-10390 18 77 are be AUX ajst-10390 18 78 established establish VERB ajst-10390 18 79 , , PUNCT ajst-10390 18 80 and and CCONJ ajst-10390 18 81 the the DET ajst-10390 18 82 simulation simulation NOUN ajst-10390 18 83 analysis analysis NOUN ajst-10390 18 84 is be AUX ajst-10390 18 85 carried carry VERB ajst-10390 18 86 out out ADP ajst-10390 18 87 in in ADP ajst-10390 18 88 the the DET ajst-10390 18 89 simulation simulation NOUN ajst-10390 18 90 environment environment NOUN ajst-10390 18 91 . . PUNCT ajst-10390 19 1 to to PART ajst-10390 19 2 verify verify VERB ajst-10390 19 3 the the DET ajst-10390 19 4 obstacle obstacle NOUN ajst-10390 19 5 avoidance avoidance NOUN ajst-10390 19 6 of of ADP ajst-10390 19 7 uav uav PROPN ajst-10390 19 8 cluster cluster NOUN ajst-10390 19 9 by by ADP ajst-10390 19 10 the the DET ajst-10390 19 11 improved improved ADJ ajst-10390 19 12 artificial artificial ADJ ajst-10390 19 13 potential potential ADJ ajst-10390 19 14 field field NOUN ajst-10390 19 15 method method NOUN ajst-10390 19 16 . . PUNCT ajst-10390 20 1 2 2 X ajst-10390 20 2 . . NUM ajst-10390 20 3 basic basic ADJ ajst-10390 20 4 principles principle NOUN ajst-10390 20 5 and and CCONJ ajst-10390 20 6 existing exist VERB ajst-10390 20 7 problems problem NOUN ajst-10390 20 8 of of ADP ajst-10390 20 9 traditional traditional ADJ ajst-10390 20 10 artificial artificial ADJ ajst-10390 20 11 potential potential ADJ ajst-10390 20 12 field field NOUN ajst-10390 20 13 method method NOUN ajst-10390 20 14 2.1 2.1 NUM ajst-10390 20 15 . . PUNCT ajst-10390 20 16 basic basic ADJ ajst-10390 20 17 principle principle NOUN ajst-10390 20 18 of of ADP ajst-10390 20 19 traditional traditional ADJ ajst-10390 20 20 artificial artificial ADJ ajst-10390 20 21 potential potential ADJ ajst-10390 20 22 field field NOUN ajst-10390 20 23 artificial artificial ADJ ajst-10390 20 24 potential potential ADJ ajst-10390 20 25 field field NOUN ajst-10390 20 26 method method NOUN ajst-10390 20 27 was be AUX ajst-10390 20 28 proposed propose VERB ajst-10390 20 29 by by ADP ajst-10390 20 30 khatib[4 khatib[4 PROPN ajst-10390 20 31 ] ] PUNCT ajst-10390 20 32 in in ADP ajst-10390 20 33 1986 1986 NUM ajst-10390 20 34 to to PART ajst-10390 20 35 solve solve VERB ajst-10390 20 36 the the DET ajst-10390 20 37 problem problem NOUN ajst-10390 20 38 of of ADP ajst-10390 20 39 path path NOUN ajst-10390 20 40 planning planning NOUN ajst-10390 20 41 and and CCONJ ajst-10390 20 42 obstacle obstacle NOUN ajst-10390 20 43 avoidance avoidance NOUN ajst-10390 20 44 . . PUNCT ajst-10390 21 1 the the DET ajst-10390 21 2 principle principle NOUN ajst-10390 21 3 of of ADP ajst-10390 21 4 artificial artificial ADJ ajst-10390 21 5 potential potential ADJ ajst-10390 21 6 field field NOUN ajst-10390 21 7 is be AUX ajst-10390 21 8 simple simple ADJ ajst-10390 21 9 and and CCONJ ajst-10390 21 10 easy easy ADJ ajst-10390 21 11 to to PART ajst-10390 21 12 understand understand VERB ajst-10390 21 13 , , PUNCT ajst-10390 21 14 easy easy ADJ ajst-10390 21 15 to to PART ajst-10390 21 16 calculate calculate VERB ajst-10390 21 17 , , PUNCT ajst-10390 21 18 and and CCONJ ajst-10390 21 19 efficient efficient ADJ ajst-10390 21 20 in in ADP ajst-10390 21 21 path path NOUN ajst-10390 21 22 planning planning NOUN ajst-10390 21 23 . . PUNCT ajst-10390 22 1 it it PRON ajst-10390 22 2 also also ADV ajst-10390 22 3 plays play VERB ajst-10390 22 4 a a DET ajst-10390 22 5 very very ADV ajst-10390 22 6 important important ADJ ajst-10390 22 7 role role NOUN ajst-10390 22 8 in in ADP ajst-10390 22 9 the the DET ajst-10390 22 10 control control NOUN ajst-10390 22 11 of of ADP ajst-10390 22 12 multi multi ADJ ajst-10390 22 13 - - ADJ ajst-10390 22 14 uav uav ADJ ajst-10390 22 15 formation formation NOUN ajst-10390 22 16 . . PUNCT ajst-10390 23 1 the the DET ajst-10390 23 2 direction direction NOUN ajst-10390 23 3 is be AUX ajst-10390 23 4 directed direct VERB ajst-10390 23 5 by by ADP ajst-10390 23 6 the the DET ajst-10390 23 7 drone drone NOUN ajst-10390 23 8 to to ADP ajst-10390 23 9 the the DET ajst-10390 23 10 target target NOUN ajst-10390 23 11 point point NOUN ajst-10390 23 12 ; ; PUNCT ajst-10390 23 13 a a DET ajst-10390 23 14 repulsive repulsive ADJ ajst-10390 23 15 force force NOUN ajst-10390 23 16 field field NOUN ajst-10390 23 17 is be AUX ajst-10390 23 18 generated generate VERB ajst-10390 23 19 around around ADP ajst-10390 23 20 the the DET ajst-10390 23 21 obstacle obstacle NOUN ajst-10390 23 22 , , PUNCT ajst-10390 23 23 and and CCONJ ajst-10390 23 24 the the DET ajst-10390 23 25 direction direction NOUN ajst-10390 23 26 is be AUX ajst-10390 23 27 directed direct VERB ajst-10390 23 28 from from ADP ajst-10390 23 29 the the DET ajst-10390 23 30 obstacle obstacle NOUN ajst-10390 23 31 to to ADP ajst-10390 23 32 the the DET ajst-10390 23 33 uav uav PROPN ajst-10390 23 34 . . PUNCT ajst-10390 24 1 finally finally ADV ajst-10390 24 2 , , PUNCT ajst-10390 24 3 the the DET ajst-10390 24 4 uav uav PROPN ajst-10390 24 5 searches search VERB ajst-10390 24 6 the the DET ajst-10390 24 7 collision collision NOUN ajst-10390 24 8 - - PUNCT ajst-10390 24 9 free free ADJ ajst-10390 24 10 track track NOUN ajst-10390 24 11 in in ADP ajst-10390 24 12 the the DET ajst-10390 24 13 direction direction NOUN ajst-10390 24 14 of of ADP ajst-10390 24 15 potential potential ADJ ajst-10390 24 16 field field NOUN ajst-10390 24 17 decline decline NOUN ajst-10390 24 18 under under ADP ajst-10390 24 19 the the DET ajst-10390 24 20 superposition superposition NOUN ajst-10390 24 21 of of ADP ajst-10390 24 22 the the DET ajst-10390 24 23 gravitational gravitational ADJ ajst-10390 24 24 field field NOUN ajst-10390 24 25 and and CCONJ ajst-10390 24 26 repulsive repulsive ADJ ajst-10390 24 27 force force NOUN ajst-10390 24 28 field field NOUN ajst-10390 25 1 [ [ X ajst-10390 25 2 5 5 NUM ajst-10390 25 3 ] ] PUNCT ajst-10390 25 4 , , PUNCT ajst-10390 25 5 as as SCONJ ajst-10390 25 6 shown show VERB ajst-10390 25 7 in in ADP ajst-10390 25 8 figure figure NOUN ajst-10390 25 9 1 1 NUM ajst-10390 25 10 . . PUNCT ajst-10390 25 11 figure figure NOUN ajst-10390 25 12 1 1 NUM ajst-10390 25 13 . . PUNCT ajst-10390 25 14 artificial artificial ADJ ajst-10390 25 15 potential potential ADJ ajst-10390 25 16 field field NOUN ajst-10390 25 17 uav uav PROPN ajst-10390 25 18 force force PROPN ajst-10390 25 19 map map VERB ajst-10390 25 20 94 94 NUM ajst-10390 25 21 the the DET ajst-10390 25 22 gravitational gravitational ADJ ajst-10390 25 23 and and CCONJ ajst-10390 25 24 repulsive repulsive ADJ ajst-10390 25 25 functions function NOUN ajst-10390 25 26 of of ADP ajst-10390 25 27 the the DET ajst-10390 25 28 traditional traditional ADJ ajst-10390 25 29 artificial artificial ADJ ajst-10390 25 30 potential potential ADJ ajst-10390 25 31 field field NOUN ajst-10390 25 32 method method NOUN ajst-10390 25 33 have have VERB ajst-10390 25 34 a a DET ajst-10390 25 35 certain certain ADJ ajst-10390 25 36 relationship relationship NOUN ajst-10390 25 37 with with ADP ajst-10390 25 38 the the DET ajst-10390 25 39 distance distance NOUN ajst-10390 25 40 [ [ X ajst-10390 25 41 6 6 NUM ajst-10390 25 42 ] ] PUNCT ajst-10390 25 43 . . PUNCT ajst-10390 26 1 the the DET ajst-10390 26 2 commonly commonly ADV ajst-10390 26 3 used use VERB ajst-10390 26 4 gravitational gravitational ADJ ajst-10390 26 5 function function NOUN ajst-10390 26 6 is be AUX ajst-10390 26 7 π‘ˆ π‘ˆ PROPN ajst-10390 26 8 ( ( PUNCT ajst-10390 26 9 1 1 NUM ajst-10390 26 10 ) ) PUNCT ajst-10390 26 11 the the DET ajst-10390 26 12 corresponding correspond VERB ajst-10390 26 13 gravity gravity NOUN ajst-10390 26 14 on on ADP ajst-10390 26 15 the the DET ajst-10390 26 16 drone drone NOUN ajst-10390 26 17 is be AUX ajst-10390 26 18 𝐹 𝐹 PROPN ajst-10390 26 19 π‘₯ π‘₯ PROPN ajst-10390 26 20 βˆ†π‘ˆ βˆ†π‘ˆ NUM ajst-10390 26 21 π‘₯ π‘₯ X ajst-10390 26 22 ( ( PUNCT ajst-10390 26 23 2 2 NUM ajst-10390 26 24 ) ) PUNCT ajst-10390 26 25 in in ADP ajst-10390 26 26 the the DET ajst-10390 26 27 formula formula NOUN ajst-10390 26 28 : : PUNCT ajst-10390 26 29 π‘˜ π‘˜ ADP ajst-10390 26 30 the the DET ajst-10390 26 31 gravitational gravitational ADJ ajst-10390 26 32 gain gain NOUN ajst-10390 26 33 coefficient coefficient NOUN ajst-10390 26 34 ; ; PUNCT ajst-10390 26 35 𝑋 𝑋 NOUN ajst-10390 26 36 （ （ PUNCT ajst-10390 26 37 π‘₯ π‘₯ PROPN ajst-10390 26 38 , , PUNCT ajst-10390 26 39 𝑦 𝑦 NOUN ajst-10390 26 40 , , PUNCT ajst-10390 26 41 𝑧 𝑧 PROPN ajst-10390 26 42 οΌ‰ οΌ‰ PUNCT ajst-10390 26 43 for for ADP ajst-10390 26 44 the the DET ajst-10390 26 45 current current ADJ ajst-10390 26 46 position position NOUN ajst-10390 26 47 of of ADP ajst-10390 26 48 the the DET ajst-10390 26 49 drone;𝑋 drone;𝑋 PROPN ajst-10390 26 50 π‘₯ π‘₯ PROPN ajst-10390 26 51 , , PUNCT ajst-10390 26 52 𝑦 𝑦 NOUN ajst-10390 26 53 , , PUNCT ajst-10390 26 54 𝑧 𝑧 PROPN ajst-10390 26 55 the the DET ajst-10390 26 56 position position NOUN ajst-10390 26 57 of of ADP ajst-10390 26 58 the the DET ajst-10390 26 59 target target NOUN ajst-10390 26 60 point;𝑋 point;𝑋 NOUN ajst-10390 26 61 𝑋 𝑋 NOUN ajst-10390 26 62 it it PRON ajst-10390 26 63 is be AUX ajst-10390 26 64 the the DET ajst-10390 26 65 euclide euclide ADJ ajst-10390 26 66 distance distance NOUN ajst-10390 26 67 between between ADP ajst-10390 26 68 the the DET ajst-10390 26 69 drone drone NOUN ajst-10390 26 70 and and CCONJ ajst-10390 26 71 the the DET ajst-10390 26 72 target target NOUN ajst-10390 26 73 point point NOUN ajst-10390 26 74 . . PUNCT ajst-10390 27 1 the the DET ajst-10390 27 2 commonly commonly ADV ajst-10390 27 3 used use VERB ajst-10390 27 4 repulsion repulsion NOUN ajst-10390 27 5 field field NOUN ajst-10390 27 6 function function NOUN ajst-10390 27 7 is be AUX ajst-10390 27 8 π‘ˆ π‘ˆ PROPN ajst-10390 27 9 π‘₯ π‘₯ PROPN ajst-10390 27 10 π‘˜ π‘˜ ADP ajst-10390 27 11 𝑋 𝑋 NOUN ajst-10390 27 12 𝑋 𝑋 PROPN ajst-10390 27 13 𝑋 𝑋 PROPN ajst-10390 27 14 0 0 NUM ajst-10390 27 15 , , PUNCT ajst-10390 27 16 𝑋 𝑋 PROPN ajst-10390 27 17 𝑋 𝑋 PROPN ajst-10390 27 18 ≫ ≫ PROPN ajst-10390 27 19 𝑋 𝑋 PROPN ajst-10390 27 20 ( ( PUNCT ajst-10390 27 21 3 3 NUM ajst-10390 27 22 ) ) PUNCT ajst-10390 27 23 the the DET ajst-10390 27 24 corresponding correspond VERB ajst-10390 27 25 drone drone NOUN ajst-10390 27 26 is be AUX ajst-10390 27 27 repulsive repulsive ADJ ajst-10390 27 28 . . PUNCT ajst-10390 28 1 𝐹 𝐹 PROPN ajst-10390 28 2 π‘₯ π‘₯ PROPN ajst-10390 28 3 βˆ†π‘ˆ βˆ†π‘ˆ NOUN ajst-10390 28 4 π‘₯ π‘₯ X ajst-10390 28 5 ( ( PUNCT ajst-10390 28 6 4 4 NUM ajst-10390 28 7 ) ) PUNCT ajst-10390 28 8 in in ADP ajst-10390 28 9 the the DET ajst-10390 28 10 formula formula NOUN ajst-10390 28 11 : : PUNCT ajst-10390 28 12 π‘˜ π‘˜ X ajst-10390 29 1 𝑖𝑑 𝑖𝑑 INTJ ajst-10390 29 2 𝑖𝑠 𝑖𝑠 INTJ ajst-10390 29 3 π‘‘β„Žπ‘’ π‘‘β„Žπ‘’ ADJ ajst-10390 29 4 π‘Ÿπ‘’π‘π‘’π‘™π‘ π‘–π‘œπ‘› π‘Ÿπ‘’π‘π‘’π‘™π‘ π‘–π‘œπ‘› NOUN ajst-10390 29 5 π‘”π‘Žπ‘–π‘› π‘”π‘Žπ‘–π‘› NOUN ajst-10390 29 6 π‘“π‘’π‘›π‘π‘‘π‘–π‘œπ‘› π‘“π‘’π‘›π‘π‘‘π‘–π‘œπ‘› NOUN ajst-10390 29 7 ; ; PUNCT ajst-10390 29 8 𝑋 𝑋 PROPN ajst-10390 29 9 π‘₯ π‘₯ PROPN ajst-10390 29 10 , , PUNCT ajst-10390 29 11 𝑦 𝑦 NOUN ajst-10390 29 12 , , PUNCT ajst-10390 29 13 𝑧 𝑧 PROPN ajst-10390 29 14 the the DET ajst-10390 29 15 location location NOUN ajst-10390 29 16 of of ADP ajst-10390 29 17 the the DET ajst-10390 29 18 obstacle;𝑋 obstacle;𝑋 ADJ ajst-10390 29 19 𝑋 𝑋 PROPN ajst-10390 29 20 it it PRON ajst-10390 29 21 is be AUX ajst-10390 29 22 the the DET ajst-10390 29 23 euclide euclide ADJ ajst-10390 29 24 distance distance NOUN ajst-10390 29 25 between between ADP ajst-10390 29 26 the the DET ajst-10390 29 27 drone drone NOUN ajst-10390 29 28 and and CCONJ ajst-10390 29 29 the the DET ajst-10390 29 30 obstacle;𝑋 obstacle;𝑋 ADJ ajst-10390 29 31 the the DET ajst-10390 29 32 impact impact NOUN ajst-10390 29 33 radius radius NOUN ajst-10390 29 34 of of ADP ajst-10390 29 35 the the DET ajst-10390 29 36 obstacle obstacle NOUN ajst-10390 29 37 . . PUNCT ajst-10390 30 1 2.2 2.2 NUM ajst-10390 30 2 . . PUNCT ajst-10390 30 3 problems problem NOUN ajst-10390 30 4 existing exist VERB ajst-10390 30 5 in in ADP ajst-10390 30 6 the the DET ajst-10390 30 7 traditional traditional ADJ ajst-10390 30 8 artificial artificial ADJ ajst-10390 30 9 field field NOUN ajst-10390 30 10 method method NOUN ajst-10390 30 11 based base VERB ajst-10390 30 12 on on ADP ajst-10390 30 13 dynamic dynamic ADJ ajst-10390 30 14 obstacles obstacle NOUN ajst-10390 30 15 , , PUNCT ajst-10390 30 16 in in ADP ajst-10390 30 17 the the DET ajst-10390 30 18 background background NOUN ajst-10390 30 19 environment environment NOUN ajst-10390 30 20 of of ADP ajst-10390 30 21 the the DET ajst-10390 30 22 movement movement NOUN ajst-10390 30 23 of of ADP ajst-10390 30 24 the the DET ajst-10390 30 25 target target NOUN ajst-10390 30 26 point point NOUN ajst-10390 30 27 , , PUNCT ajst-10390 30 28 the the DET ajst-10390 30 29 traditional traditional ADJ ajst-10390 30 30 artificial artificial ADJ ajst-10390 30 31 potential potential ADJ ajst-10390 30 32 field field NOUN ajst-10390 30 33 method method NOUN ajst-10390 30 34 faces face VERB ajst-10390 30 35 the the DET ajst-10390 30 36 following follow VERB ajst-10390 30 37 problems problem NOUN ajst-10390 30 38 for for ADP ajst-10390 30 39 the the DET ajst-10390 30 40 avoidance avoidance NOUN ajst-10390 30 41 of of ADP ajst-10390 30 42 the the DET ajst-10390 30 43 uav uav PROPN ajst-10390 30 44 group group NOUN ajst-10390 30 45 . . PUNCT ajst-10390 31 1 ( ( PUNCT ajst-10390 31 2 1 1 X ajst-10390 31 3 ) ) PUNCT ajst-10390 31 4 the the DET ajst-10390 31 5 target target NOUN ajst-10390 31 6 can can AUX ajst-10390 31 7 not not PART ajst-10390 31 8 be be AUX ajst-10390 31 9 reached reach VERB ajst-10390 31 10 . . PUNCT ajst-10390 32 1 when when SCONJ ajst-10390 32 2 the the DET ajst-10390 32 3 target target NOUN ajst-10390 32 4 point point NOUN ajst-10390 32 5 and and CCONJ ajst-10390 32 6 the the DET ajst-10390 32 7 obstacle obstacle NOUN ajst-10390 32 8 have have VERB ajst-10390 32 9 the the DET ajst-10390 32 10 same same ADJ ajst-10390 32 11 random random ADJ ajst-10390 32 12 movement movement NOUN ajst-10390 32 13 model model NOUN ajst-10390 32 14 , , PUNCT ajst-10390 32 15 the the DET ajst-10390 32 16 obstacle obstacle NOUN ajst-10390 32 17 is be AUX ajst-10390 32 18 near near ADP ajst-10390 32 19 the the DET ajst-10390 32 20 target target NOUN ajst-10390 32 21 point point NOUN ajst-10390 32 22 and and CCONJ ajst-10390 32 23 follows follow VERB ajst-10390 32 24 the the DET ajst-10390 32 25 target target NOUN ajst-10390 32 26 point point NOUN ajst-10390 32 27 for for ADP ajst-10390 32 28 synchronous synchronous ADJ ajst-10390 32 29 movement movement NOUN ajst-10390 32 30 . . PUNCT ajst-10390 33 1 under under ADP ajst-10390 33 2 the the DET ajst-10390 33 3 assumed assumed ADJ ajst-10390 33 4 artificial artificial ADJ ajst-10390 33 5 field field NOUN ajst-10390 33 6 , , PUNCT ajst-10390 33 7 when when SCONJ ajst-10390 33 8 the the DET ajst-10390 33 9 drone drone NOUN ajst-10390 33 10 approaches approach VERB ajst-10390 33 11 the the DET ajst-10390 33 12 target target NOUN ajst-10390 33 13 point point NOUN ajst-10390 33 14 , , PUNCT ajst-10390 33 15 because because SCONJ ajst-10390 33 16 the the DET ajst-10390 33 17 unknown unknown ADJ ajst-10390 33 18 obstacle obstacle NOUN ajst-10390 33 19 is be AUX ajst-10390 33 20 near near ADP ajst-10390 33 21 the the DET ajst-10390 33 22 target target NOUN ajst-10390 33 23 point point NOUN ajst-10390 33 24 , , PUNCT ajst-10390 33 25 the the DET ajst-10390 33 26 target target NOUN ajst-10390 33 27 point point NOUN ajst-10390 33 28 moves move VERB ajst-10390 33 29 synchronously synchronously ADV ajst-10390 33 30 . . PUNCT ajst-10390 34 1 with with ADP ajst-10390 34 2 the the DET ajst-10390 34 3 gradual gradual ADJ ajst-10390 34 4 approach approach NOUN ajst-10390 34 5 of of ADP ajst-10390 34 6 the the DET ajst-10390 34 7 drone drone NOUN ajst-10390 34 8 , , PUNCT ajst-10390 34 9 the the DET ajst-10390 34 10 attraction attraction NOUN ajst-10390 34 11 between between ADP ajst-10390 34 12 the the DET ajst-10390 34 13 drone drone NOUN ajst-10390 34 14 and and CCONJ ajst-10390 34 15 the the DET ajst-10390 34 16 target target NOUN ajst-10390 34 17 point point NOUN ajst-10390 34 18 is be AUX ajst-10390 34 19 gradually gradually ADV ajst-10390 34 20 decreasing decrease VERB ajst-10390 34 21 , , PUNCT ajst-10390 34 22 but but CCONJ ajst-10390 34 23 the the DET ajst-10390 34 24 repulsion repulsion NOUN ajst-10390 34 25 between between ADP ajst-10390 34 26 the the DET ajst-10390 34 27 drone drone NOUN ajst-10390 34 28 and and CCONJ ajst-10390 34 29 the the DET ajst-10390 34 30 obstacle obstacle NOUN ajst-10390 34 31 is be AUX ajst-10390 34 32 gradually gradually ADV ajst-10390 34 33 increasing increase VERB ajst-10390 34 34 , , PUNCT ajst-10390 34 35 resulting result VERB ajst-10390 34 36 in in ADP ajst-10390 34 37 the the DET ajst-10390 34 38 target target NOUN ajst-10390 34 39 point point NOUN ajst-10390 34 40 . . PUNCT ajst-10390 35 1 the the DET ajst-10390 35 2 repulsion repulsion NOUN ajst-10390 35 3 generated generate VERB ajst-10390 35 4 between between ADP ajst-10390 35 5 the the DET ajst-10390 35 6 nearby nearby ADJ ajst-10390 35 7 obstacle obstacle NOUN ajst-10390 35 8 and and CCONJ ajst-10390 35 9 the the DET ajst-10390 35 10 drone drone NOUN ajst-10390 35 11 is be AUX ajst-10390 35 12 much much ADV ajst-10390 35 13 greater great ADJ ajst-10390 35 14 than than ADP ajst-10390 35 15 the the DET ajst-10390 35 16 attraction attraction NOUN ajst-10390 35 17 of of ADP ajst-10390 35 18 the the DET ajst-10390 35 19 target target NOUN ajst-10390 35 20 point point NOUN ajst-10390 35 21 to to ADP ajst-10390 35 22 the the DET ajst-10390 35 23 drone drone NOUN ajst-10390 35 24 , , PUNCT ajst-10390 35 25 causing cause VERB ajst-10390 35 26 the the DET ajst-10390 35 27 drone drone NOUN ajst-10390 35 28 to to PART ajst-10390 35 29 constantly constantly ADV ajst-10390 35 30 oscillate oscillate VERB ajst-10390 35 31 near near ADP ajst-10390 35 32 the the DET ajst-10390 35 33 target target NOUN ajst-10390 35 34 point point NOUN ajst-10390 35 35 , , PUNCT ajst-10390 35 36 but but CCONJ ajst-10390 35 37 it it PRON ajst-10390 35 38 can can AUX ajst-10390 35 39 not not PART ajst-10390 35 40 reach reach VERB ajst-10390 35 41 the the DET ajst-10390 35 42 target target NOUN ajst-10390 35 43 point point NOUN ajst-10390 35 44 . . PUNCT ajst-10390 36 1 this this DET ajst-10390 36 2 situation situation NOUN ajst-10390 36 3 is be AUX ajst-10390 36 4 called call VERB ajst-10390 36 5 the the DET ajst-10390 36 6 unreachable unreachable ADJ ajst-10390 36 7 target target NOUN ajst-10390 36 8 , , PUNCT ajst-10390 36 9 as as SCONJ ajst-10390 36 10 shown show VERB ajst-10390 36 11 in in ADP ajst-10390 36 12 figure figure NOUN ajst-10390 36 13 2 2 NUM ajst-10390 36 14 . . PUNCT ajst-10390 36 15 figure figure NOUN ajst-10390 36 16 2 2 NUM ajst-10390 36 17 . . PUNCT ajst-10390 37 1 the the DET ajst-10390 37 2 goal goal NOUN ajst-10390 37 3 is be AUX ajst-10390 37 4 unattainable unattainable ADJ ajst-10390 37 5 ( ( PUNCT ajst-10390 37 6 2 2 NUM ajst-10390 37 7 ) ) PUNCT ajst-10390 37 8 local local ADJ ajst-10390 37 9 minimum minimum NOUN ajst-10390 37 10 point point NOUN ajst-10390 37 11 the the DET ajst-10390 37 12 artificial artificial ADJ ajst-10390 37 13 potential potential ADJ ajst-10390 37 14 field field NOUN ajst-10390 37 15 method method NOUN ajst-10390 37 16 is be AUX ajst-10390 37 17 used use VERB ajst-10390 37 18 to to PART ajst-10390 37 19 study study VERB ajst-10390 37 20 the the DET ajst-10390 37 21 track track NOUN ajst-10390 37 22 planning planning NOUN ajst-10390 37 23 of of ADP ajst-10390 37 24 uavs uavs NOUN ajst-10390 37 25 , , PUNCT ajst-10390 37 26 and and CCONJ ajst-10390 37 27 the the DET ajst-10390 37 28 traction traction ADJ ajst-10390 37 29 effect effect NOUN ajst-10390 37 30 of of ADP ajst-10390 37 31 gravity gravity NOUN ajst-10390 37 32 and and CCONJ ajst-10390 37 33 repulsion repulsion NOUN ajst-10390 37 34 force force NOUN ajst-10390 37 35 on on ADP ajst-10390 37 36 uavs uavs NOUN ajst-10390 37 37 should should AUX ajst-10390 37 38 be be AUX ajst-10390 37 39 fully fully ADV ajst-10390 37 40 considered consider VERB ajst-10390 37 41 . . PUNCT ajst-10390 38 1 when when SCONJ ajst-10390 38 2 the the DET ajst-10390 38 3 obstacle obstacle NOUN ajst-10390 38 4 and and CCONJ ajst-10390 38 5 the the DET ajst-10390 38 6 target target NOUN ajst-10390 38 7 point point NOUN ajst-10390 38 8 move move NOUN ajst-10390 38 9 in in ADP ajst-10390 38 10 the the DET ajst-10390 38 11 same same ADJ ajst-10390 38 12 direction direction NOUN ajst-10390 38 13 in in ADP ajst-10390 38 14 the the DET ajst-10390 38 15 same same ADJ ajst-10390 38 16 straight straight ADJ ajst-10390 38 17 line line NOUN ajst-10390 38 18 and and CCONJ ajst-10390 38 19 when when SCONJ ajst-10390 38 20 the the DET ajst-10390 38 21 obstacle obstacle NOUN ajst-10390 38 22 and and CCONJ ajst-10390 38 23 the the DET ajst-10390 38 24 target target NOUN ajst-10390 38 25 point point NOUN ajst-10390 38 26 move move NOUN ajst-10390 38 27 in in ADP ajst-10390 38 28 the the DET ajst-10390 38 29 same same ADJ ajst-10390 38 30 direction direction NOUN ajst-10390 38 31 as as ADP ajst-10390 38 32 the the DET ajst-10390 38 33 drone drone NOUN ajst-10390 38 34 and and CCONJ ajst-10390 38 35 in in ADP ajst-10390 38 36 the the DET ajst-10390 38 37 opposite opposite ADJ ajst-10390 38 38 direction direction NOUN ajst-10390 38 39 as as ADP ajst-10390 38 40 the the DET ajst-10390 38 41 drone drone NOUN ajst-10390 38 42 , , PUNCT ajst-10390 38 43 there there PRON ajst-10390 38 44 will will AUX ajst-10390 38 45 always always ADV ajst-10390 38 46 be be AUX ajst-10390 38 47 the the DET ajst-10390 38 48 phenomenon phenomenon NOUN ajst-10390 38 49 of of ADP ajst-10390 38 50 the the DET ajst-10390 38 51 local local ADJ ajst-10390 38 52 smallest small ADJ ajst-10390 38 53 point point NOUN ajst-10390 38 54 in in ADP ajst-10390 38 55 the the DET ajst-10390 38 56 movement movement NOUN ajst-10390 38 57 process process NOUN ajst-10390 38 58 . . PUNCT ajst-10390 39 1 it it PRON ajst-10390 39 2 is be AUX ajst-10390 39 3 the the DET ajst-10390 39 4 uav uav PROPN ajst-10390 39 5 falling fall VERB ajst-10390 39 6 into into ADP ajst-10390 39 7 a a DET ajst-10390 39 8 static static ADJ ajst-10390 39 9 state state NOUN ajst-10390 39 10 , , PUNCT ajst-10390 39 11 as as SCONJ ajst-10390 39 12 shown show VERB ajst-10390 39 13 in in ADP ajst-10390 39 14 figure figure NOUN ajst-10390 39 15 3 3 NUM ajst-10390 39 16 . . PUNCT ajst-10390 39 17 figure figure NOUN ajst-10390 39 18 3 3 NUM ajst-10390 39 19 . . PUNCT ajst-10390 39 20 local local ADJ ajst-10390 39 21 minimum minimum NOUN ajst-10390 39 22 point point NOUN ajst-10390 39 23 ( ( PUNCT ajst-10390 39 24 3 3 X ajst-10390 39 25 ) ) PUNCT ajst-10390 39 26 forced force VERB ajst-10390 39 27 collision collision NOUN ajst-10390 39 28 the the DET ajst-10390 39 29 uav uav PROPN ajst-10390 39 30 is be AUX ajst-10390 39 31 in in ADP ajst-10390 39 32 the the DET ajst-10390 39 33 assumed assumed ADJ ajst-10390 39 34 artificial artificial ADJ ajst-10390 39 35 potential potential ADJ ajst-10390 39 36 field field NOUN ajst-10390 39 37 environment environment NOUN ajst-10390 39 38 . . PUNCT ajst-10390 40 1 as as SCONJ ajst-10390 40 2 shown show VERB ajst-10390 40 3 in in ADP ajst-10390 40 4 figure figure NOUN ajst-10390 40 5 4 4 NUM ajst-10390 40 6 , , PUNCT ajst-10390 40 7 when when SCONJ ajst-10390 40 8 the the DET ajst-10390 40 9 obstacle obstacle NOUN ajst-10390 40 10 and and CCONJ ajst-10390 40 11 the the DET ajst-10390 40 12 target target NOUN ajst-10390 40 13 point point NOUN ajst-10390 40 14 move move NOUN ajst-10390 40 15 in in ADP ajst-10390 40 16 the the DET ajst-10390 40 17 same same ADJ ajst-10390 40 18 straight straight ADJ ajst-10390 40 19 line line NOUN ajst-10390 40 20 , , PUNCT ajst-10390 40 21 the the DET ajst-10390 40 22 uav uav PROPN ajst-10390 40 23 moves move VERB ajst-10390 40 24 in in ADP ajst-10390 40 25 the the DET ajst-10390 40 26 direction direction NOUN ajst-10390 40 27 of of ADP ajst-10390 40 28 the the DET ajst-10390 40 29 target target NOUN ajst-10390 40 30 point point NOUN ajst-10390 40 31 escape escape NOUN ajst-10390 40 32 from from ADP ajst-10390 40 33 the the DET ajst-10390 40 34 uav uav PROPN ajst-10390 40 35 on on ADP ajst-10390 40 36 the the DET ajst-10390 40 37 side side NOUN ajst-10390 40 38 of of ADP ajst-10390 40 39 the the DET ajst-10390 40 40 obstacle obstacle NOUN ajst-10390 40 41 . . PUNCT ajst-10390 41 1 the the DET ajst-10390 41 2 gravity gravity NOUN ajst-10390 41 3 gradually gradually ADV ajst-10390 41 4 increases increase VERB ajst-10390 41 5 , , PUNCT ajst-10390 41 6 and and CCONJ ajst-10390 41 7 the the DET ajst-10390 41 8 speed speed NOUN ajst-10390 41 9 of of ADP ajst-10390 41 10 repulsion repulsion NOUN ajst-10390 41 11 increase increase NOUN ajst-10390 41 12 is be AUX ajst-10390 41 13 much much ADV ajst-10390 41 14 less less ADJ ajst-10390 41 15 than than ADP ajst-10390 41 16 that that PRON ajst-10390 41 17 of of ADP ajst-10390 41 18 gravity gravity NOUN ajst-10390 41 19 . . PUNCT ajst-10390 42 1 figure figure NOUN ajst-10390 42 2 4 4 NUM ajst-10390 42 3 . . PUNCT ajst-10390 42 4 forced force VERB ajst-10390 42 5 collision collision NOUN ajst-10390 42 6 ( ( PUNCT ajst-10390 42 7 4 4 X ajst-10390 42 8 ) ) PUNCT ajst-10390 42 9 track track NOUN ajst-10390 42 10 planning planning NOUN ajst-10390 42 11 model model NOUN ajst-10390 42 12 the the DET ajst-10390 42 13 main main ADJ ajst-10390 42 14 task task NOUN ajst-10390 42 15 of of ADP ajst-10390 42 16 uav uav PROPN ajst-10390 42 17 track track PROPN ajst-10390 42 18 95 95 NUM ajst-10390 42 19 planning planning NOUN ajst-10390 42 20 is be AUX ajst-10390 42 21 to to PART ajst-10390 42 22 find find VERB ajst-10390 42 23 an an DET ajst-10390 42 24 optimal optimal ADJ ajst-10390 42 25 trajectory trajectory NOUN ajst-10390 42 26 from from ADP ajst-10390 42 27 the the DET ajst-10390 42 28 take take VERB ajst-10390 42 29 - - PUNCT ajst-10390 42 30 off off ADP ajst-10390 42 31 point point NOUN ajst-10390 42 32 to to ADP ajst-10390 42 33 the the DET ajst-10390 42 34 target target NOUN ajst-10390 42 35 point point NOUN ajst-10390 42 36 in in ADP ajst-10390 42 37 a a DET ajst-10390 42 38 certain certain ADJ ajst-10390 42 39 task task NOUN ajst-10390 42 40 area area NOUN ajst-10390 42 41 with with ADP ajst-10390 42 42 known known ADJ ajst-10390 42 43 and and CCONJ ajst-10390 42 44 unknown unknown ADJ ajst-10390 42 45 obstacles obstacle NOUN ajst-10390 42 46 in in ADP ajst-10390 42 47 accordance accordance NOUN ajst-10390 42 48 with with ADP ajst-10390 42 49 certain certain ADJ ajst-10390 42 50 evaluation evaluation NOUN ajst-10390 42 51 standards standard NOUN ajst-10390 42 52 . . PUNCT ajst-10390 43 1 the the DET ajst-10390 43 2 goal goal NOUN ajst-10390 43 3 of of ADP ajst-10390 43 4 uav uav PROPN ajst-10390 43 5 track track NOUN ajst-10390 43 6 planning planning NOUN ajst-10390 43 7 is be AUX ajst-10390 43 8 to to PART ajst-10390 43 9 achieve achieve VERB ajst-10390 43 10 as as SCONJ ajst-10390 43 11 shown show VERB ajst-10390 43 12 in in ADP ajst-10390 43 13 figure figure NOUN ajst-10390 43 14 5 5 NUM ajst-10390 43 15 . . PUNCT ajst-10390 44 1 the the DET ajst-10390 44 2 uav uav PROPN ajst-10390 44 3 is be AUX ajst-10390 44 4 under under ADP ajst-10390 44 5 a a DET ajst-10390 44 6 randomly randomly ADV ajst-10390 44 7 moving move VERB ajst-10390 44 8 obstacle obstacle NOUN ajst-10390 44 9 , , PUNCT ajst-10390 44 10 tracking track VERB ajst-10390 44 11 the the DET ajst-10390 44 12 dynamic dynamic ADJ ajst-10390 44 13 target target NOUN ajst-10390 44 14 point point NOUN ajst-10390 44 15 in in ADP ajst-10390 44 16 real real ADJ ajst-10390 44 17 time time NOUN ajst-10390 44 18 along along ADP ajst-10390 44 19 the the DET ajst-10390 44 20 direction direction NOUN ajst-10390 44 21 of of ADP ajst-10390 44 22 the the DET ajst-10390 44 23 fastest fast ADJ ajst-10390 44 24 decline decline NOUN ajst-10390 44 25 of of ADP ajst-10390 44 26 the the DET ajst-10390 44 27 potential potential ADJ ajst-10390 44 28 field field NOUN ajst-10390 44 29 . . PUNCT ajst-10390 45 1 in in ADP ajst-10390 45 2 the the DET ajst-10390 45 3 process process NOUN ajst-10390 45 4 of of ADP ajst-10390 45 5 track track NOUN ajst-10390 45 6 planning planning NOUN ajst-10390 45 7 , , PUNCT ajst-10390 45 8 the the DET ajst-10390 45 9 track track NOUN ajst-10390 45 10 costs cost VERB ajst-10390 45 11 the the DET ajst-10390 45 12 least least ADJ ajst-10390 45 13 in in ADP ajst-10390 45 14 the the DET ajst-10390 45 15 direction direction NOUN ajst-10390 45 16 of of ADP ajst-10390 45 17 the the DET ajst-10390 45 18 fastest fast ADJ ajst-10390 45 19 gradient gradient NOUN ajst-10390 45 20 . . PUNCT ajst-10390 46 1 figure figure NOUN ajst-10390 46 2 5 5 NUM ajst-10390 46 3 . . PUNCT ajst-10390 46 4 track track NOUN ajst-10390 46 5 planning planning NOUN ajst-10390 46 6 model model NOUN ajst-10390 46 7 3 3 NUM ajst-10390 46 8 . . PUNCT ajst-10390 47 1 improvement improvement NOUN ajst-10390 47 2 of of ADP ajst-10390 47 3 artificial artificial ADJ ajst-10390 47 4 potential potential ADJ ajst-10390 47 5 field field NOUN ajst-10390 47 6 method method NOUN ajst-10390 47 7 3.1 3.1 NUM ajst-10390 47 8 . . PUNCT ajst-10390 47 9 establish establish VERB ajst-10390 47 10 an an DET ajst-10390 47 11 artificial artificial ADJ ajst-10390 47 12 potential potential ADJ ajst-10390 47 13 field field NOUN ajst-10390 47 14 model model NOUN ajst-10390 47 15 in in ADP ajst-10390 47 16 the the DET ajst-10390 47 17 actual actual ADJ ajst-10390 47 18 flight flight NOUN ajst-10390 47 19 process process NOUN ajst-10390 47 20 , , PUNCT ajst-10390 47 21 many many ADJ ajst-10390 47 22 obstacles obstacle NOUN ajst-10390 47 23 may may AUX ajst-10390 47 24 be be AUX ajst-10390 47 25 detected detect VERB ajst-10390 47 26 , , PUNCT ajst-10390 47 27 which which PRON ajst-10390 47 28 can can AUX ajst-10390 47 29 not not PART ajst-10390 47 30 avoid avoid VERB ajst-10390 47 31 irregular irregular ADJ ajst-10390 47 32 moving moving NOUN ajst-10390 47 33 obstacles obstacle NOUN ajst-10390 47 34 and and CCONJ ajst-10390 47 35 dynamic dynamic ADJ ajst-10390 47 36 environmental environmental ADJ ajst-10390 47 37 factors factor NOUN ajst-10390 47 38 . . PUNCT ajst-10390 48 1 therefore therefore ADV ajst-10390 48 2 , , PUNCT ajst-10390 48 3 it it PRON ajst-10390 48 4 is be AUX ajst-10390 48 5 necessary necessary ADJ ajst-10390 48 6 to to PART ajst-10390 48 7 establish establish VERB ajst-10390 48 8 a a DET ajst-10390 48 9 " " PUNCT ajst-10390 48 10 detection detection NOUN ajst-10390 48 11 distance distance NOUN ajst-10390 48 12 " " PUNCT ajst-10390 48 13 between between ADP ajst-10390 48 14 the the DET ajst-10390 48 15 drone drone NOUN ajst-10390 48 16 and and CCONJ ajst-10390 48 17 the the DET ajst-10390 48 18 obstacle obstacle NOUN ajst-10390 48 19 . . PUNCT ajst-10390 49 1 according accord VERB ajst-10390 49 2 to to ADP ajst-10390 49 3 the the DET ajst-10390 49 4 formula formula NOUN ajst-10390 49 5 ( ( PUNCT ajst-10390 49 6 5 5 NUM ajst-10390 49 7 ) ) PUNCT ajst-10390 49 8 , , PUNCT ajst-10390 49 9 the the DET ajst-10390 49 10 repulsion repulsion NOUN ajst-10390 49 11 can can AUX ajst-10390 49 12 be be AUX ajst-10390 49 13 calculated calculate VERB ajst-10390 49 14 to to PART ajst-10390 49 15 stay stay VERB ajst-10390 49 16 away away ADV ajst-10390 49 17 from from ADP ajst-10390 49 18 the the DET ajst-10390 49 19 obstacles obstacle NOUN ajst-10390 49 20 . . PUNCT ajst-10390 50 1 r r NOUN ajst-10390 50 2 βˆ‘ βˆ‘ PUNCT ajst-10390 50 3 Ξ± Ξ± X ajst-10390 50 4 x x X ajst-10390 51 1 k k NOUN ajst-10390 51 2 x x X ajst-10390 51 3 ( ( PUNCT ajst-10390 51 4 5 5 NUM ajst-10390 51 5 ) ) PUNCT ajst-10390 51 6 in in ADP ajst-10390 51 7 the the DET ajst-10390 51 8 formula formula NOUN ajst-10390 51 9 : : PUNCT ajst-10390 51 10 the the DET ajst-10390 51 11 sum sum NOUN ajst-10390 51 12 of of ADP ajst-10390 51 13 the the DET ajst-10390 51 14 repulsion repulsion NOUN ajst-10390 51 15 received receive VERB ajst-10390 51 16 by by ADP ajst-10390 51 17 the the DET ajst-10390 51 18 drone drone NOUN ajst-10390 51 19 isr isr NOUN ajst-10390 51 20 ; ; PUNCT ajst-10390 51 21 the the DET ajst-10390 51 22 coordinates coordinate NOUN ajst-10390 51 23 of of ADP ajst-10390 51 24 the the DET ajst-10390 51 25 obstacle obstacle NOUN ajst-10390 51 26 arex arex PROPN ajst-10390 51 27 ; ; PUNCT ajst-10390 51 28 the the DET ajst-10390 51 29 number number NOUN ajst-10390 51 30 of of ADP ajst-10390 51 31 obstacles obstacle NOUN ajst-10390 51 32 is be AUX ajst-10390 51 33 m m PRON ajst-10390 51 34 ; ; PUNCT ajst-10390 51 35 the the DET ajst-10390 51 36 repulsion repulsion NOUN ajst-10390 51 37 coefficient coefficient NOUN ajst-10390 51 38 isΞ± isΞ± PROPN ajst-10390 51 39 , , PUNCT ajst-10390 51 40 used use VERB ajst-10390 51 41 to to PART ajst-10390 51 42 adjust adjust VERB ajst-10390 51 43 the the DET ajst-10390 51 44 size size NOUN ajst-10390 51 45 of of ADP ajst-10390 51 46 the the DET ajst-10390 51 47 repulsion repulsion NOUN ajst-10390 51 48 . . PUNCT ajst-10390 52 1 the the DET ajst-10390 52 2 repulsion repulsion NOUN ajst-10390 52 3 coefficient coefficient NOUN ajst-10390 52 4 is be AUX ajst-10390 52 5 : : PUNCT ajst-10390 52 6 Ξ± Ξ± PROPN ajst-10390 52 7 βˆ™ βˆ™ PROPN ajst-10390 52 8 ( ( PUNCT ajst-10390 52 9 6 6 NUM ajst-10390 52 10 ) ) PUNCT ajst-10390 52 11 in in ADP ajst-10390 52 12 the the DET ajst-10390 52 13 formula formula NOUN ajst-10390 52 14 : : PUNCT ajst-10390 52 15 d d X ajst-10390 52 16 ||x ||x NOUN ajst-10390 52 17 x x SYM ajst-10390 52 18 ||οΌ›d ||οΌ›d PRON ajst-10390 52 19 it it PRON ajst-10390 52 20 is be AUX ajst-10390 52 21 the the DET ajst-10390 52 22 detection detection NOUN ajst-10390 52 23 distance distance NOUN ajst-10390 52 24 , , PUNCT ajst-10390 52 25 which which PRON ajst-10390 52 26 can can AUX ajst-10390 52 27 be be AUX ajst-10390 52 28 adjusted adjust VERB ajst-10390 52 29 according accord VERB ajst-10390 52 30 to to ADP ajst-10390 52 31 the the DET ajst-10390 52 32 actual actual ADJ ajst-10390 52 33 requirementsοΌ›Ξ΄ requirementsοΌ›Ξ΄ NOUN ajst-10390 52 34 it it PRON ajst-10390 52 35 is be AUX ajst-10390 52 36 constant.the constant.the DET ajst-10390 52 37 gravity gravity NOUN ajst-10390 52 38 generated generate VERB ajst-10390 52 39 by by ADP ajst-10390 52 40 the the DET ajst-10390 52 41 target target NOUN ajst-10390 52 42 point point NOUN ajst-10390 52 43 on on ADP ajst-10390 52 44 the the DET ajst-10390 52 45 uav uav PROPN ajst-10390 52 46 is be AUX ajst-10390 52 47 as as SCONJ ajst-10390 52 48 follows follow VERB ajst-10390 52 49 : : PUNCT ajst-10390 52 50 when when SCONJ ajst-10390 52 51 the the DET ajst-10390 52 52 uav uav PROPN ajst-10390 52 53 encounters encounter VERB ajst-10390 52 54 an an DET ajst-10390 52 55 obstacle obstacle NOUN ajst-10390 52 56 far far ADV ajst-10390 52 57 away away ADV ajst-10390 52 58 from from ADP ajst-10390 52 59 the the DET ajst-10390 52 60 target target NOUN ajst-10390 52 61 , , PUNCT ajst-10390 52 62 the the DET ajst-10390 52 63 gravity gravity NOUN ajst-10390 52 64 is be AUX ajst-10390 52 65 very very ADV ajst-10390 52 66 large large ADJ ajst-10390 52 67 , , PUNCT ajst-10390 52 68 which which PRON ajst-10390 52 69 is be AUX ajst-10390 52 70 far far ADV ajst-10390 52 71 greater great ADJ ajst-10390 52 72 than than ADP ajst-10390 52 73 the the DET ajst-10390 52 74 repulsion repulsion NOUN ajst-10390 52 75 generated generate VERB ajst-10390 52 76 by by ADP ajst-10390 52 77 the the DET ajst-10390 52 78 obstacle obstacle NOUN ajst-10390 52 79 , , PUNCT ajst-10390 52 80 then then ADV ajst-10390 52 81 the the DET ajst-10390 52 82 uav uav PROPN ajst-10390 52 83 can can AUX ajst-10390 52 84 not not PART ajst-10390 52 85 avoid avoid VERB ajst-10390 52 86 the the DET ajst-10390 52 87 obstacle obstacle NOUN ajst-10390 52 88 and and CCONJ ajst-10390 52 89 will will AUX ajst-10390 52 90 rush rush VERB ajst-10390 52 91 to to ADP ajst-10390 52 92 the the DET ajst-10390 52 93 obstacle obstacle NOUN ajst-10390 52 94 under under ADP ajst-10390 52 95 the the DET ajst-10390 52 96 action action NOUN ajst-10390 52 97 of of ADP ajst-10390 52 98 gravity gravity NOUN ajst-10390 52 99 , , PUNCT ajst-10390 52 100 so so CCONJ ajst-10390 52 101 it it PRON ajst-10390 52 102 is be AUX ajst-10390 52 103 necessary necessary ADJ ajst-10390 52 104 to to PART ajst-10390 52 105 set set VERB ajst-10390 52 106 the the DET ajst-10390 52 107 maximum maximum ADJ ajst-10390 52 108 gravitational gravitational ADJ ajst-10390 52 109 distance distance NOUN ajst-10390 52 110 to to PART ajst-10390 52 111 solve solve VERB ajst-10390 52 112 the the DET ajst-10390 52 113 obstacle obstacle NOUN ajst-10390 52 114 avoidance avoidance NOUN ajst-10390 52 115 . . PUNCT ajst-10390 53 1 when when SCONJ ajst-10390 53 2 the the DET ajst-10390 53 3 drone drone NOUN ajst-10390 53 4 is be AUX ajst-10390 53 5 close close ADJ ajst-10390 53 6 to to ADP ajst-10390 53 7 the the DET ajst-10390 53 8 target target NOUN ajst-10390 53 9 , , PUNCT ajst-10390 53 10 if if SCONJ ajst-10390 53 11 there there PRON ajst-10390 53 12 is be VERB ajst-10390 53 13 an an DET ajst-10390 53 14 obstacle obstacle NOUN ajst-10390 53 15 near near ADP ajst-10390 53 16 the the DET ajst-10390 53 17 target target NOUN ajst-10390 53 18 point point NOUN ajst-10390 53 19 , , PUNCT ajst-10390 53 20 as as SCONJ ajst-10390 53 21 the the DET ajst-10390 53 22 distance distance NOUN ajst-10390 53 23 between between ADP ajst-10390 53 24 the the DET ajst-10390 53 25 drone drone NOUN ajst-10390 53 26 and and CCONJ ajst-10390 53 27 the the DET ajst-10390 53 28 obstacle obstacle NOUN ajst-10390 53 29 and and CCONJ ajst-10390 53 30 the the DET ajst-10390 53 31 target target NOUN ajst-10390 53 32 point point NOUN ajst-10390 53 33 decreases decrease VERB ajst-10390 53 34 , , PUNCT ajst-10390 53 35 according accord VERB ajst-10390 53 36 to to ADP ajst-10390 53 37 the the DET ajst-10390 53 38 traditional traditional ADJ ajst-10390 53 39 artificial artificial ADJ ajst-10390 53 40 potential potential ADJ ajst-10390 53 41 field field NOUN ajst-10390 53 42 theory theory NOUN ajst-10390 53 43 , , PUNCT ajst-10390 53 44 the the DET ajst-10390 53 45 repulsion repulsion NOUN ajst-10390 53 46 field field NOUN ajst-10390 53 47 will will AUX ajst-10390 53 48 increase increase VERB ajst-10390 53 49 and and CCONJ ajst-10390 53 50 the the DET ajst-10390 53 51 gravitational gravitational ADJ ajst-10390 53 52 field field NOUN ajst-10390 53 53 will will AUX ajst-10390 53 54 decrease decrease VERB ajst-10390 53 55 , , PUNCT ajst-10390 53 56 which which PRON ajst-10390 53 57 will will AUX ajst-10390 53 58 lead lead VERB ajst-10390 53 59 to to ADP ajst-10390 53 60 the the DET ajst-10390 53 61 inability inability NOUN ajst-10390 53 62 to to PART ajst-10390 53 63 reach reach VERB ajst-10390 53 64 the the DET ajst-10390 53 65 target target NOUN ajst-10390 53 66 point point NOUN ajst-10390 53 67 . . PUNCT ajst-10390 54 1 we we PRON ajst-10390 54 2 are be AUX ajst-10390 54 3 improving improve VERB ajst-10390 54 4 the the DET ajst-10390 54 5 traditional traditional ADJ ajst-10390 54 6 artificial artificial ADJ ajst-10390 54 7 potential potential ADJ ajst-10390 54 8 energy energy NOUN ajst-10390 54 9 repulsion repulsion NOUN ajst-10390 54 10 function function NOUN ajst-10390 54 11 , , PUNCT ajst-10390 54 12 introducing introduce VERB ajst-10390 54 13 the the DET ajst-10390 54 14 influence influence NOUN ajst-10390 54 15 of of ADP ajst-10390 54 16 the the DET ajst-10390 54 17 target target NOUN ajst-10390 54 18 point point NOUN ajst-10390 54 19 and and CCONJ ajst-10390 54 20 the the DET ajst-10390 54 21 distance distance NOUN ajst-10390 54 22 of of ADP ajst-10390 54 23 the the DET ajst-10390 54 24 uav uav PROPN ajst-10390 54 25 , , PUNCT ajst-10390 54 26 and and CCONJ ajst-10390 54 27 find find VERB ajst-10390 54 28 a a DET ajst-10390 54 29 new new ADJ ajst-10390 54 30 repulsion repulsion NOUN ajst-10390 54 31 function function NOUN ajst-10390 54 32 . . PUNCT ajst-10390 55 1 when when SCONJ ajst-10390 55 2 the the DET ajst-10390 55 3 uav uav PROPN ajst-10390 55 4 approaches approach VERB ajst-10390 55 5 the the DET ajst-10390 55 6 target target NOUN ajst-10390 55 7 point point NOUN ajst-10390 55 8 , , PUNCT ajst-10390 55 9 the the DET ajst-10390 55 10 repulsion repulsion NOUN ajst-10390 55 11 gradually gradually ADV ajst-10390 55 12 becomes become VERB ajst-10390 55 13 zero zero NUM ajst-10390 55 14 , , PUNCT ajst-10390 55 15 so so SCONJ ajst-10390 55 16 that that SCONJ ajst-10390 55 17 the the DET ajst-10390 55 18 entire entire ADJ ajst-10390 55 19 combined combine VERB ajst-10390 55 20 field field NOUN ajst-10390 55 21 can can AUX ajst-10390 55 22 reach reach VERB ajst-10390 55 23 a a DET ajst-10390 55 24 minimum minimum NOUN ajst-10390 55 25 at at ADP ajst-10390 55 26 the the DET ajst-10390 55 27 target target NOUN ajst-10390 55 28 point point NOUN ajst-10390 55 29 , , PUNCT ajst-10390 55 30 so so SCONJ ajst-10390 55 31 that that SCONJ ajst-10390 55 32 the the DET ajst-10390 55 33 obstacle obstacle NOUN ajst-10390 55 34 and and CCONJ ajst-10390 55 35 the the DET ajst-10390 55 36 uav uav PROPN ajst-10390 55 37 are be AUX ajst-10390 55 38 near near ADP ajst-10390 55 39 the the DET ajst-10390 55 40 punctuation punctuation NOUN ajst-10390 55 41 . . PUNCT ajst-10390 56 1 the the DET ajst-10390 56 2 improved improve VERB ajst-10390 56 3 repulsion repulsion NOUN ajst-10390 56 4 field field NOUN ajst-10390 56 5 function function NOUN ajst-10390 56 6 is be AUX ajst-10390 56 7 π‘ˆ π‘ˆ PROPN ajst-10390 56 8 π‘₯ π‘₯ PROPN ajst-10390 56 9 , , PUNCT ajst-10390 56 10 𝑋 𝑋 PROPN ajst-10390 56 11 𝑋 𝑋 PROPN ajst-10390 56 12 0 0 NUM ajst-10390 56 13 , , PUNCT ajst-10390 56 14 𝑋 𝑋 PROPN ajst-10390 56 15 ≫ ≫ PROPN ajst-10390 56 16 𝑋 𝑋 PROPN ajst-10390 56 17 ( ( PUNCT ajst-10390 56 18 5 5 NUM ajst-10390 56 19 ) ) PUNCT ajst-10390 56 20 the the DET ajst-10390 56 21 corresponding correspond VERB ajst-10390 56 22 repulsion repulsion NOUN ajst-10390 56 23 function function NOUN ajst-10390 56 24 is be AUX ajst-10390 56 25 𝐹 𝐹 PROPN ajst-10390 56 26 π‘₯ π‘₯ PROPN ajst-10390 56 27 𝑋 𝑋 PROPN ajst-10390 56 28 β‰ͺ β‰ͺ PUNCT ajst-10390 56 29 𝑋 𝑋 PROPN ajst-10390 56 30 0 0 NUM ajst-10390 56 31 , , PUNCT ajst-10390 56 32 𝑋 𝑋 PROPN ajst-10390 56 33 𝑋 𝑋 PROPN ajst-10390 56 34 ( ( PUNCT ajst-10390 56 35 6 6 NUM ajst-10390 56 36 ) ) PUNCT ajst-10390 56 37 in in ADP ajst-10390 56 38 order order NOUN ajst-10390 56 39 to to PART ajst-10390 56 40 avoid avoid VERB ajst-10390 56 41 obstacles obstacle NOUN ajst-10390 56 42 during during ADP ajst-10390 56 43 the the DET ajst-10390 56 44 operation operation NOUN ajst-10390 56 45 of of ADP ajst-10390 56 46 uav uav PROPN ajst-10390 56 47 swarm swarm NOUN ajst-10390 56 48 , , PUNCT ajst-10390 56 49 the the DET ajst-10390 56 50 relative relative ADJ ajst-10390 56 51 velocity velocity NOUN ajst-10390 56 52 potential potential ADJ ajst-10390 56 53 field field NOUN ajst-10390 56 54 between between ADP ajst-10390 56 55 uav uav PROPN ajst-10390 56 56 and and CCONJ ajst-10390 56 57 dynamic dynamic ADJ ajst-10390 56 58 obstacles obstacle NOUN ajst-10390 56 59 needs need VERB ajst-10390 56 60 to to PART ajst-10390 56 61 be be AUX ajst-10390 56 62 introduced introduce VERB ajst-10390 56 63 into into ADP ajst-10390 56 64 the the DET ajst-10390 56 65 repulsion repulsion NOUN ajst-10390 56 66 field field NOUN ajst-10390 56 67 function function NOUN ajst-10390 56 68 , , PUNCT ajst-10390 56 69 so so SCONJ ajst-10390 56 70 that that SCONJ ajst-10390 56 71 the the DET ajst-10390 56 72 uav uav PROPN ajst-10390 56 73 is be AUX ajst-10390 56 74 comprehensively comprehensively ADV ajst-10390 56 75 affected affect VERB ajst-10390 56 76 by by ADP ajst-10390 56 77 relative relative ADJ ajst-10390 56 78 distance distance NOUN ajst-10390 56 79 and and CCONJ ajst-10390 56 80 speed speed NOUN ajst-10390 56 81 during during ADP ajst-10390 56 82 movement movement NOUN ajst-10390 56 83 . . PUNCT ajst-10390 57 1 the the DET ajst-10390 57 2 relative relative ADJ ajst-10390 57 3 velocity velocity NOUN ajst-10390 57 4 potential potential ADJ ajst-10390 57 5 field field NOUN ajst-10390 57 6 between between ADP ajst-10390 57 7 the the DET ajst-10390 57 8 uav uav PROPN ajst-10390 57 9 and and CCONJ ajst-10390 57 10 the the DET ajst-10390 57 11 dynamic dynamic ADJ ajst-10390 57 12 obstacle obstacle NOUN ajst-10390 57 13 is be AUX ajst-10390 57 14 π‘ˆ π‘ˆ PROPN ajst-10390 57 15 𝜐 𝜐 PROPN ajst-10390 58 1 π‘˜ π‘˜ NOUN ajst-10390 59 1 𝜐 𝜐 NOUN ajst-10390 59 2 , , PUNCT ajst-10390 59 3 𝑑 𝑑 PROPN ajst-10390 59 4 𝑋 𝑋 PROPN ajst-10390 59 5 𝑋 𝑋 PROPN ajst-10390 59 6 ∩ ∩ ADJ ajst-10390 59 7 βˆ… βˆ… NOUN ajst-10390 59 8 ∈ ∈ PROPN ajst-10390 59 9 , , PUNCT ajst-10390 59 10 0 0 NUM ajst-10390 59 11 , , PUNCT ajst-10390 59 12 π‘œπ‘‘β„Žπ‘’π‘Ÿ π‘œπ‘‘β„Žπ‘’π‘Ÿ PROPN ajst-10390 59 13 ( ( PUNCT ajst-10390 59 14 7 7 NUM ajst-10390 59 15 ) ) PUNCT ajst-10390 59 16 according accord VERB ajst-10390 59 17 to to ADP ajst-10390 59 18 the the DET ajst-10390 59 19 definition definition NOUN ajst-10390 59 20 of of ADP ajst-10390 59 21 the the DET ajst-10390 59 22 repulsive repulsive ADJ ajst-10390 59 23 force force NOUN ajst-10390 59 24 field field NOUN ajst-10390 59 25 generated generate VERB ajst-10390 59 26 by by ADP ajst-10390 59 27 the the DET ajst-10390 59 28 traditional traditional ADJ ajst-10390 59 29 artificial artificial ADJ ajst-10390 59 30 potential potential ADJ ajst-10390 59 31 field field NOUN ajst-10390 59 32 method method NOUN ajst-10390 59 33 on on ADP ajst-10390 59 34 the the DET ajst-10390 59 35 obstacle obstacle NOUN ajst-10390 59 36 , , PUNCT ajst-10390 59 37 its its PRON ajst-10390 59 38 scope scope NOUN ajst-10390 59 39 of of ADP ajst-10390 59 40 action action NOUN ajst-10390 59 41 is be AUX ajst-10390 59 42 local local ADJ ajst-10390 59 43 . . PUNCT ajst-10390 60 1 in in ADP ajst-10390 60 2 the the DET ajst-10390 60 3 corresponding corresponding ADJ ajst-10390 60 4 local local ADJ ajst-10390 60 5 scope scope NOUN ajst-10390 60 6 , , PUNCT ajst-10390 60 7 the the DET ajst-10390 60 8 direction direction NOUN ajst-10390 60 9 of of ADP ajst-10390 60 10 the the DET ajst-10390 60 11 repulsive repulsive ADJ ajst-10390 60 12 force force NOUN ajst-10390 60 13 in in ADP ajst-10390 60 14 the the DET ajst-10390 60 15 relative relative ADJ ajst-10390 60 16 position position NOUN ajst-10390 60 17 is be AUX ajst-10390 60 18 pointed point VERB ajst-10390 60 19 from from ADP ajst-10390 60 20 the the DET ajst-10390 60 21 obstacle obstacle NOUN ajst-10390 60 22 to to ADP ajst-10390 60 23 the the DET ajst-10390 60 24 uav uav PROPN ajst-10390 60 25 , , PUNCT ajst-10390 60 26 which which PRON ajst-10390 60 27 can can AUX ajst-10390 60 28 make make VERB ajst-10390 60 29 the the DET ajst-10390 60 30 uav uav PROPN ajst-10390 60 31 away away ADV ajst-10390 60 32 from from ADP ajst-10390 60 33 the the DET ajst-10390 60 34 obstacle obstacle NOUN ajst-10390 60 35 . . PUNCT ajst-10390 61 1 the the DET ajst-10390 61 2 relative relative ADJ ajst-10390 61 3 speed speed NOUN ajst-10390 61 4 repulsion repulsion NOUN ajst-10390 61 5 force force NOUN ajst-10390 61 6 is be AUX ajst-10390 61 7 perpendicular perpendicular ADJ ajst-10390 61 8 to to ADP ajst-10390 61 9 the the DET ajst-10390 61 10 relative relative ADJ ajst-10390 61 11 position position NOUN ajst-10390 61 12 direction direction NOUN ajst-10390 61 13 of of ADP ajst-10390 61 14 the the DET ajst-10390 61 15 uav uav PROPN ajst-10390 61 16 and and CCONJ ajst-10390 61 17 the the DET ajst-10390 61 18 obstacle obstacle NOUN ajst-10390 61 19 , , PUNCT ajst-10390 61 20 as as SCONJ ajst-10390 61 21 shown show VERB ajst-10390 61 22 in in ADP ajst-10390 61 23 figure figure NOUN ajst-10390 61 24 6 6 NUM ajst-10390 61 25 . . PUNCT ajst-10390 62 1 when when SCONJ ajst-10390 62 2 the the DET ajst-10390 62 3 speed speed NOUN ajst-10390 62 4 is be AUX ajst-10390 62 5 relatively relatively ADV ajst-10390 62 6 small small ADJ ajst-10390 62 7 , , PUNCT ajst-10390 62 8 the the DET ajst-10390 62 9 speed speed NOUN ajst-10390 62 10 repulsion repulsion NOUN ajst-10390 62 11 force force NOUN ajst-10390 62 12 is be AUX ajst-10390 62 13 almost almost ADV ajst-10390 62 14 perpendicular perpendicular ADJ ajst-10390 62 15 to to ADP ajst-10390 62 16 the the DET ajst-10390 62 17 relative relative ADJ ajst-10390 62 18 speed speed NOUN ajst-10390 62 19 direction direction NOUN ajst-10390 62 20 of of ADP ajst-10390 62 21 the the DET ajst-10390 62 22 uav uav PROPN ajst-10390 62 23 and and CCONJ ajst-10390 62 24 the the DET ajst-10390 62 25 obstacle obstacle NOUN ajst-10390 62 26 , , PUNCT ajst-10390 62 27 which which PRON ajst-10390 62 28 can can AUX ajst-10390 62 29 make make VERB ajst-10390 62 30 the the DET ajst-10390 62 31 uav uav PROPN ajst-10390 62 32 quickly quickly ADV ajst-10390 62 33 escape escape VERB ajst-10390 62 34 from from ADP ajst-10390 62 35 the the DET ajst-10390 62 36 dynamic dynamic ADJ ajst-10390 62 37 obstacle obstacle NOUN ajst-10390 62 38 threat threat NOUN ajst-10390 62 39 and and CCONJ ajst-10390 62 40 improve improve VERB ajst-10390 62 41 the the DET ajst-10390 62 42 efficiency efficiency NOUN ajst-10390 62 43 of of ADP ajst-10390 62 44 obstacle obstacle NOUN ajst-10390 62 45 avoidance avoidance NOUN ajst-10390 62 46 route route NOUN ajst-10390 62 47 planning planning NOUN ajst-10390 62 48 . . PUNCT ajst-10390 63 1 figure figure VERB ajst-10390 63 2 6 6 NUM ajst-10390 63 3 . . PUNCT ajst-10390 63 4 total total ADJ ajst-10390 63 5 force force NOUN ajst-10390 63 6 of of ADP ajst-10390 63 7 drones drone NOUN ajst-10390 63 8 96 96 NUM ajst-10390 63 9 4 4 NUM ajst-10390 63 10 . . PUNCT ajst-10390 64 1 drone drone NOUN ajst-10390 64 2 cluster cluster NOUN ajst-10390 64 3 formation formation NOUN ajst-10390 64 4 algorithm algorithm NOUN ajst-10390 64 5 4.1 4.1 NUM ajst-10390 64 6 . . PUNCT ajst-10390 65 1 uav uav PROPN ajst-10390 65 2 cluster cluster NOUN ajst-10390 65 3 formation formation NOUN ajst-10390 65 4 design design NOUN ajst-10390 65 5 according accord VERB ajst-10390 65 6 to to ADP ajst-10390 65 7 the the DET ajst-10390 65 8 theory theory NOUN ajst-10390 65 9 of of ADP ajst-10390 65 10 consistency consistency NOUN ajst-10390 65 11 [ [ X ajst-10390 65 12 7 7 NUM ajst-10390 65 13 ] ] PUNCT ajst-10390 65 14 , , PUNCT ajst-10390 65 15 the the DET ajst-10390 65 16 formation formation NOUN ajst-10390 65 17 of of ADP ajst-10390 65 18 the the DET ajst-10390 65 19 uav uav PROPN ajst-10390 65 20 group group NOUN ajst-10390 65 21 can can AUX ajst-10390 65 22 keep keep VERB ajst-10390 65 23 the the DET ajst-10390 65 24 position position NOUN ajst-10390 65 25 , , PUNCT ajst-10390 65 26 speed speed NOUN ajst-10390 65 27 and and CCONJ ajst-10390 65 28 other other ADJ ajst-10390 65 29 status status NOUN ajst-10390 65 30 information information NOUN ajst-10390 65 31 of of ADP ajst-10390 65 32 each each DET ajst-10390 65 33 uav uav PROPN ajst-10390 65 34 consistent consistent ADJ ajst-10390 65 35 , , PUNCT ajst-10390 65 36 and and CCONJ ajst-10390 65 37 the the DET ajst-10390 65 38 pilot pilot NOUN ajst-10390 65 39 is be AUX ajst-10390 65 40 selected select VERB ajst-10390 65 41 to to PART ajst-10390 65 42 control control VERB ajst-10390 65 43 the the DET ajst-10390 65 44 distribution distribution NOUN ajst-10390 65 45 of of ADP ajst-10390 65 46 the the DET ajst-10390 65 47 uav uav PROPN ajst-10390 65 48 group group NOUN ajst-10390 65 49 . . PUNCT ajst-10390 66 1 the the DET ajst-10390 66 2 first first ADJ ajst-10390 66 3 - - PUNCT ajst-10390 66 4 order order NOUN ajst-10390 66 5 continuous continuous ADJ ajst-10390 66 6 system system NOUN ajst-10390 66 7 model model NOUN ajst-10390 66 8 of of ADP ajst-10390 66 9 the the DET ajst-10390 66 10 uav uav PROPN ajst-10390 66 11 cluster cluster NOUN ajst-10390 66 12 formation formation NOUN ajst-10390 66 13 system system NOUN ajst-10390 66 14 is be AUX ajst-10390 66 15 as as SCONJ ajst-10390 66 16 follows follow VERB ajst-10390 66 17 : : PUNCT ajst-10390 66 18 π‘₯ π‘₯ NOUN ajst-10390 66 19 = = SYM ajst-10390 66 20 𝑒 𝑒 X ajst-10390 66 21 ( ( PUNCT ajst-10390 66 22 8) 8) NUM ajst-10390 66 23 π‘₯ π‘₯ NOUN ajst-10390 66 24 、 、 NOUN ajst-10390 66 25 𝑒 𝑒 NOUN ajst-10390 66 26 it it PRON ajst-10390 66 27 represents represent VERB ajst-10390 66 28 the the DET ajst-10390 66 29 state state NOUN ajst-10390 66 30 quantity quantity NOUN ajst-10390 66 31 and and CCONJ ajst-10390 66 32 input input NOUN ajst-10390 66 33 under under ADP ajst-10390 66 34 the the DET ajst-10390 66 35 i i PRON ajst-10390 66 36 node node VERB ajst-10390 66 37 respectively respectively ADV ajst-10390 66 38 ; ; PUNCT ajst-10390 66 39 n n PRON ajst-10390 66 40 represents represent VERB ajst-10390 66 41 the the DET ajst-10390 66 42 dimension dimension NOUN ajst-10390 66 43 of of ADP ajst-10390 66 44 the the DET ajst-10390 66 45 state state NOUN ajst-10390 66 46 quantity quantity NOUN ajst-10390 66 47 . . PUNCT ajst-10390 67 1 in in ADP ajst-10390 67 2 general general ADJ ajst-10390 67 3 , , PUNCT ajst-10390 67 4 the the DET ajst-10390 67 5 input input NOUN ajst-10390 67 6 calculation calculation NOUN ajst-10390 67 7 formula formula NOUN ajst-10390 67 8 is be AUX ajst-10390 67 9 shown show VERB ajst-10390 67 10 in in ADP ajst-10390 67 11 the the DET ajst-10390 67 12 formula formula NOUN ajst-10390 67 13 ( ( PUNCT ajst-10390 67 14 9 9 NUM ajst-10390 67 15 ) ) PUNCT ajst-10390 67 16 . . PUNCT ajst-10390 68 1 𝑒 𝑒 X ajst-10390 68 2 βˆ‘ βˆ‘ PUNCT ajst-10390 68 3 π‘Ž π‘Ž PROPN ajst-10390 68 4 π‘₯ π‘₯ NOUN ajst-10390 68 5 π‘₯∈ π‘₯∈ NOUN ajst-10390 68 6 ( ( PUNCT ajst-10390 68 7 9 9 NUM ajst-10390 68 8 ) ) PUNCT ajst-10390 68 9 in in ADP ajst-10390 68 10 the the DET ajst-10390 68 11 formula formula NOUN ajst-10390 68 12 : : PUNCT ajst-10390 68 13 π‘Ž π‘Ž X ajst-10390 68 14 it it PRON ajst-10390 68 15 is be AUX ajst-10390 68 16 a a DET ajst-10390 68 17 formation formation NOUN ajst-10390 68 18 adjacent adjacent ADJ ajst-10390 68 19 matrix matrix NOUN ajst-10390 68 20 element;𝑁 element;𝑁 ADJ ajst-10390 68 21 it it PRON ajst-10390 68 22 is be AUX ajst-10390 68 23 the the DET ajst-10390 68 24 neighbor neighbor NOUN ajst-10390 68 25 set set VERB ajst-10390 68 26 of of ADP ajst-10390 68 27 member member NOUN ajst-10390 68 28 i. i. PROPN ajst-10390 68 29 the the DET ajst-10390 68 30 algorithm algorithm NOUN ajst-10390 68 31 formula formula NOUN ajst-10390 68 32 of of ADP ajst-10390 68 33 the the DET ajst-10390 68 34 follower follower NOUN ajst-10390 68 35 in in ADP ajst-10390 68 36 the the DET ajst-10390 68 37 drone drone NOUN ajst-10390 68 38 cluster cluster NOUN ajst-10390 68 39 is be AUX ajst-10390 68 40 as as SCONJ ajst-10390 68 41 follows follow VERB ajst-10390 68 42 : : PUNCT ajst-10390 68 43 𝑒 𝑒 PROPN ajst-10390 68 44 π‘˜ π‘˜ X ajst-10390 68 45 πœ€ πœ€ NOUN ajst-10390 68 46 βˆ‘ βˆ‘ PROPN ajst-10390 68 47 π‘Ž π‘Ž PROPN ajst-10390 68 48 π‘₯ π‘₯ NOUN ajst-10390 68 49 π‘˜ π‘˜ ADP ajst-10390 68 50 π‘₯ π‘₯ X ajst-10390 68 51 π‘˜ π‘˜ ADP ajst-10390 68 52 π‘Ÿ π‘Ÿ X ajst-10390 68 53 π‘˜βˆˆ π‘˜βˆˆ NOUN ajst-10390 68 54 ( ( PUNCT ajst-10390 68 55 10 10 NUM ajst-10390 68 56 ) ) PUNCT ajst-10390 68 57 in in ADP ajst-10390 68 58 the the DET ajst-10390 68 59 formula formula NOUN ajst-10390 68 60 : : PUNCT ajst-10390 68 61 Ξ΅ Ξ΅ PROPN ajst-10390 68 62 it it PRON ajst-10390 68 63 is be AUX ajst-10390 68 64 a a DET ajst-10390 68 65 constant constant ADJ ajst-10390 68 66 greater great ADJ ajst-10390 68 67 than than ADP ajst-10390 68 68 0 0 NUM ajst-10390 68 69 ; ; PUNCT ajst-10390 68 70 π‘Ÿ π‘Ÿ NOUN ajst-10390 68 71 it it PRON ajst-10390 68 72 represents represent VERB ajst-10390 68 73 the the DET ajst-10390 68 74 relative relative ADJ ajst-10390 68 75 position position NOUN ajst-10390 68 76 between between ADP ajst-10390 68 77 the the DET ajst-10390 68 78 drone drone NOUN ajst-10390 68 79 i i PRON ajst-10390 68 80 and and CCONJ ajst-10390 68 81 the the DET ajst-10390 68 82 drone drone NOUN ajst-10390 68 83 j j PROPN ajst-10390 68 84 , , PUNCT ajst-10390 68 85 so so ADV ajst-10390 68 86 the the DET ajst-10390 68 87 pilot pilot NOUN ajst-10390 68 88 control control NOUN ajst-10390 68 89 formula formula NOUN ajst-10390 68 90 is be AUX ajst-10390 68 91 shown show VERB ajst-10390 68 92 in in ADP ajst-10390 68 93 ( ( PUNCT ajst-10390 68 94 11 11 NUM ajst-10390 68 95 ) ) PUNCT ajst-10390 68 96 . . PUNCT ajst-10390 69 1 𝑒 𝑒 X ajst-10390 69 2 π‘˜ π‘˜ X ajst-10390 69 3 π‘š π‘š X ajst-10390 69 4 π‘˜ π‘˜ ADP ajst-10390 69 5 βˆ™ βˆ™ PROPN ajst-10390 69 6 𝐷 𝐷 PROPN ajst-10390 69 7 π‘˜ π‘˜ PROPN ajst-10390 69 8 βˆ‘ βˆ‘ PROPN ajst-10390 69 9 𝛼𝑁 𝛼𝑁 NOUN ajst-10390 69 10 π‘Ÿπ‘ π‘Ÿπ‘ PROPN ajst-10390 69 11 π‘˜βˆˆ π‘˜βˆˆ PROPN ajst-10390 69 12 ( ( PUNCT ajst-10390 69 13 11 11 NUM ajst-10390 69 14 ) ) PUNCT ajst-10390 69 15 4.2 4.2 NUM ajst-10390 69 16 . . PUNCT ajst-10390 70 1 uav uav PROPN ajst-10390 70 2 cluster cluster NOUN ajst-10390 70 3 formation formation NOUN ajst-10390 70 4 design design NOUN ajst-10390 70 5 optimization optimization NOUN ajst-10390 70 6 according accord VERB ajst-10390 70 7 to to ADP ajst-10390 70 8 the the DET ajst-10390 70 9 artificial artificial ADJ ajst-10390 70 10 potential potential ADJ ajst-10390 70 11 field field NOUN ajst-10390 70 12 method method NOUN ajst-10390 71 1 , , PUNCT ajst-10390 71 2 the the DET ajst-10390 71 3 control control NOUN ajst-10390 71 4 model model NOUN ajst-10390 71 5 of of ADP ajst-10390 71 6 the the DET ajst-10390 71 7 leader leader NOUN ajst-10390 71 8 of of ADP ajst-10390 71 9 the the DET ajst-10390 71 10 uav uav PROPN ajst-10390 71 11 group group NOUN ajst-10390 71 12 can can AUX ajst-10390 71 13 be be AUX ajst-10390 71 14 obtained obtain VERB ajst-10390 71 15 as as ADP ajst-10390 71 16 shown show VERB ajst-10390 71 17 in in ADP ajst-10390 71 18 ( ( PUNCT ajst-10390 71 19 12 12 NUM ajst-10390 71 20 ): ): PUNCT ajst-10390 71 21 𝑒 𝑒 PROPN ajst-10390 71 22 π‘˜ π‘˜ ADP ajst-10390 71 23 π‘š π‘š X ajst-10390 71 24 π‘˜ π‘˜ ADP ajst-10390 71 25 βˆ™ βˆ™ PROPN ajst-10390 71 26 𝐷 𝐷 PROPN ajst-10390 71 27 π‘˜ π‘˜ PROPN ajst-10390 71 28 βˆ‘ βˆ‘ PROPN ajst-10390 71 29 𝛼𝑁 𝛼𝑁 NOUN ajst-10390 71 30 π‘Ÿπ‘ π‘Ÿπ‘ PROPN ajst-10390 71 31 π‘˜ π‘˜ PRON ajst-10390 71 32 𝛽 𝛽 NOUN ajst-10390 71 33 βˆ™ βˆ™ PROPN ajst-10390 71 34 𝑅 𝑅 PROPN ajst-10390 71 35 π‘˜βˆˆ π‘˜βˆˆ PROPN ajst-10390 71 36 ( ( PUNCT ajst-10390 71 37 12 12 NUM ajst-10390 71 38 ) ) PUNCT ajst-10390 71 39 the the DET ajst-10390 71 40 control control NOUN ajst-10390 71 41 model model NOUN ajst-10390 71 42 of of ADP ajst-10390 71 43 the the DET ajst-10390 71 44 follower follower NOUN ajst-10390 71 45 drone drone NOUN ajst-10390 71 46 is be AUX ajst-10390 71 47 shown show VERB ajst-10390 71 48 in in ADP ajst-10390 71 49 the the DET ajst-10390 71 50 formula formula NOUN ajst-10390 71 51 ( ( PUNCT ajst-10390 71 52 13 13 NUM ajst-10390 71 53 ) ) PUNCT ajst-10390 71 54 𝑒 𝑒 PROPN ajst-10390 71 55 π‘˜ π‘˜ X ajst-10390 71 56 πœ€ πœ€ NOUN ajst-10390 71 57 βˆ‘ βˆ‘ PUNCT ajst-10390 71 58 π‘₯ π‘₯ PROPN ajst-10390 72 1 π‘˜ π‘˜ ADP ajst-10390 72 2 π‘₯ π‘₯ X ajst-10390 72 3 π‘˜ π‘˜ ADP ajst-10390 72 4 π‘Ÿ π‘Ÿ X ajst-10390 72 5 π‘˜ π‘˜ PRON ajst-10390 72 6 𝛽 𝛽 NOUN ajst-10390 72 7 βˆ™ βˆ™ PROPN ajst-10390 72 8 𝑅 𝑅 PROPN ajst-10390 72 9 π‘˜βˆˆ π‘˜βˆˆ PROPN ajst-10390 72 10 ( ( PUNCT ajst-10390 72 11 13 13 NUM ajst-10390 72 12 ) ) PUNCT ajst-10390 72 13 5 5 NUM ajst-10390 72 14 . . PUNCT ajst-10390 72 15 research research NOUN ajst-10390 72 16 on on ADP ajst-10390 72 17 uav uav PROPN ajst-10390 72 18 obstacle obstacle PROPN ajst-10390 72 19 avoidance avoidance NOUN ajst-10390 72 20 algorithm algorithm PROPN ajst-10390 72 21 5.1 5.1 NUM ajst-10390 72 22 . . PUNCT ajst-10390 73 1 uav uav PROPN ajst-10390 73 2 obstacle obstacle PROPN ajst-10390 73 3 avoidance avoidance PROPN ajst-10390 73 4 path path PROPN ajst-10390 73 5 algorithm algorithm PROPN ajst-10390 73 6 real real ADJ ajst-10390 73 7 - - PUNCT ajst-10390 73 8 time time NOUN ajst-10390 73 9 planning planning NOUN ajst-10390 73 10 of of ADP ajst-10390 73 11 the the DET ajst-10390 73 12 uav uav PROPN ajst-10390 73 13 path path NOUN ajst-10390 74 1 [ [ X ajst-10390 74 2 8 8 X ajst-10390 74 3 ] ] X ajst-10390 74 4 moves move VERB ajst-10390 74 5 directly directly ADV ajst-10390 74 6 in in ADP ajst-10390 74 7 the the DET ajst-10390 74 8 environment environment NOUN ajst-10390 74 9 through through ADP ajst-10390 74 10 the the DET ajst-10390 74 11 potential potential ADJ ajst-10390 74 12 field field NOUN ajst-10390 74 13 force force NOUN ajst-10390 74 14 , , PUNCT ajst-10390 74 15 and and CCONJ ajst-10390 74 16 a a DET ajst-10390 74 17 gravitational gravitational ADJ ajst-10390 74 18 field field NOUN ajst-10390 74 19 is be AUX ajst-10390 74 20 generated generate VERB ajst-10390 74 21 around around ADP ajst-10390 74 22 the the DET ajst-10390 74 23 target target NOUN ajst-10390 74 24 point point NOUN ajst-10390 74 25 , , PUNCT ajst-10390 74 26 and and CCONJ ajst-10390 74 27 the the DET ajst-10390 74 28 uav uav PROPN ajst-10390 74 29 points point VERB ajst-10390 74 30 the the DET ajst-10390 74 31 direction direction NOUN ajst-10390 74 32 to to ADP ajst-10390 74 33 the the DET ajst-10390 74 34 target target NOUN ajst-10390 74 35 point point NOUN ajst-10390 74 36 ; ; PUNCT ajst-10390 74 37 a a DET ajst-10390 74 38 repulsion repulsion NOUN ajst-10390 74 39 field field NOUN ajst-10390 74 40 is be AUX ajst-10390 74 41 generated generate VERB ajst-10390 74 42 around around ADP ajst-10390 74 43 the the DET ajst-10390 74 44 obstacle obstacle NOUN ajst-10390 74 45 , , PUNCT ajst-10390 74 46 from from ADP ajst-10390 74 47 the the DET ajst-10390 74 48 obstacle obstacle NOUN ajst-10390 74 49 to to ADP ajst-10390 74 50 the the DET ajst-10390 74 51 uav uav PROPN ajst-10390 74 52 . . PUNCT ajst-10390 75 1 finally finally ADV ajst-10390 75 2 , , PUNCT ajst-10390 75 3 under under ADP ajst-10390 75 4 the the DET ajst-10390 75 5 superposition superposition NOUN ajst-10390 75 6 of of ADP ajst-10390 75 7 the the DET ajst-10390 75 8 gravitational gravitational ADJ ajst-10390 75 9 field field NOUN ajst-10390 75 10 towards towards ADP ajst-10390 75 11 motion motion NOUN ajst-10390 75 12 , , PUNCT ajst-10390 75 13 the the DET ajst-10390 75 14 newly newly ADV ajst-10390 75 15 established establish VERB ajst-10390 75 16 potential potential ADJ ajst-10390 75 17 field field NOUN ajst-10390 75 18 function function NOUN ajst-10390 75 19 can can AUX ajst-10390 75 20 ensure ensure VERB ajst-10390 75 21 the the DET ajst-10390 75 22 global global ADJ ajst-10390 75 23 minimum minimum NOUN ajst-10390 75 24 at at ADP ajst-10390 75 25 the the DET ajst-10390 75 26 target target NOUN ajst-10390 75 27 point point NOUN ajst-10390 75 28 , , PUNCT ajst-10390 75 29 avoiding avoid VERB ajst-10390 75 30 the the DET ajst-10390 75 31 problem problem NOUN ajst-10390 75 32 of of ADP ajst-10390 75 33 goal goal NOUN ajst-10390 75 34 inachability inachability NOUN ajst-10390 75 35 . . PUNCT ajst-10390 76 1 when when SCONJ ajst-10390 76 2 the the DET ajst-10390 76 3 obstacle obstacle NOUN ajst-10390 76 4 and and CCONJ ajst-10390 76 5 the the DET ajst-10390 76 6 target target NOUN ajst-10390 76 7 point point NOUN ajst-10390 76 8 are be AUX ajst-10390 76 9 in in ADP ajst-10390 76 10 the the DET ajst-10390 76 11 same same ADJ ajst-10390 76 12 straight straight ADJ ajst-10390 76 13 line line NOUN ajst-10390 76 14 , , PUNCT ajst-10390 76 15 the the DET ajst-10390 76 16 drone drone NOUN ajst-10390 76 17 is be AUX ajst-10390 76 18 controlled control VERB ajst-10390 76 19 by by ADP ajst-10390 76 20 the the DET ajst-10390 76 21 force force NOUN ajst-10390 76 22 and and CCONJ ajst-10390 76 23 can can AUX ajst-10390 76 24 only only ADV ajst-10390 76 25 move move VERB ajst-10390 76 26 repeatedly repeatedly ADV ajst-10390 76 27 in in ADP ajst-10390 76 28 a a DET ajst-10390 76 29 straight straight ADJ ajst-10390 76 30 line line NOUN ajst-10390 76 31 , , PUNCT ajst-10390 76 32 but but CCONJ ajst-10390 76 33 can can AUX ajst-10390 76 34 not not PART ajst-10390 76 35 reach reach VERB ajst-10390 76 36 the the DET ajst-10390 76 37 target target NOUN ajst-10390 76 38 point point NOUN ajst-10390 76 39 . . PUNCT ajst-10390 77 1 the the DET ajst-10390 77 2 improvement improvement NOUN ajst-10390 77 3 case case NOUN ajst-10390 77 4 adds add VERB ajst-10390 77 5 the the DET ajst-10390 77 6 direction direction NOUN ajst-10390 77 7 coordination coordination NOUN ajst-10390 77 8 force force NOUN ajst-10390 77 9 . . PUNCT ajst-10390 78 1 when when SCONJ ajst-10390 78 2 calculating calculate VERB ajst-10390 78 3 the the DET ajst-10390 78 4 combined combined ADJ ajst-10390 78 5 force force NOUN ajst-10390 78 6 of of ADP ajst-10390 78 7 the the DET ajst-10390 78 8 x x ADJ ajst-10390 78 9 - - ADJ ajst-10390 78 10 axis axis ADJ ajst-10390 78 11 direction direction NOUN ajst-10390 78 12 , , PUNCT ajst-10390 78 13 the the DET ajst-10390 78 14 direction direction NOUN ajst-10390 78 15 coordination coordination NOUN ajst-10390 78 16 force force NOUN ajst-10390 78 17 of of ADP ajst-10390 78 18 the the DET ajst-10390 78 19 y y ADJ ajst-10390 78 20 - - PUNCT ajst-10390 78 21 axis axis NOUN ajst-10390 78 22 direction direction NOUN ajst-10390 78 23 is be AUX ajst-10390 78 24 introduced introduce VERB ajst-10390 78 25 . . PUNCT ajst-10390 79 1 when when SCONJ ajst-10390 79 2 the the DET ajst-10390 79 3 combined combined ADJ ajst-10390 79 4 force force NOUN ajst-10390 79 5 of of ADP ajst-10390 79 6 the the DET ajst-10390 79 7 y y PROPN ajst-10390 79 8 introduce introduce VERB ajst-10390 79 9 the the DET ajst-10390 79 10 direction direction NOUN ajst-10390 79 11 coordination coordination NOUN ajst-10390 79 12 force force NOUN ajst-10390 79 13 of of ADP ajst-10390 79 14 the the DET ajst-10390 79 15 x x ADJ ajst-10390 79 16 - - ADJ ajst-10390 79 17 axis axis ADJ ajst-10390 79 18 direction direction NOUN ajst-10390 79 19 . . PUNCT ajst-10390 80 1 assuming assume VERB ajst-10390 80 2 that that SCONJ ajst-10390 80 3 the the DET ajst-10390 80 4 obstacle obstacle NOUN ajst-10390 80 5 felt feel VERB ajst-10390 80 6 by by ADP ajst-10390 80 7 the the DET ajst-10390 80 8 uav uav PROPN ajst-10390 80 9 vision vision PROPN ajst-10390 80 10 sensor sensor PROPN ajst-10390 80 11 [ [ X ajst-10390 80 12 10 10 NUM ajst-10390 80 13 ] ] PUNCT ajst-10390 80 14 is be AUX ajst-10390 80 15 approximately approximately ADV ajst-10390 80 16 a a DET ajst-10390 80 17 cylinder cylinder NOUN ajst-10390 80 18 , , PUNCT ajst-10390 80 19 with with ADP ajst-10390 80 20 a a DET ajst-10390 80 21 surface surface NOUN ajst-10390 80 22 radius radius NOUN ajst-10390 80 23 of of ADP ajst-10390 80 24 r r NOUN ajst-10390 80 25 and and CCONJ ajst-10390 80 26 a a DET ajst-10390 80 27 height height NOUN ajst-10390 80 28 of of ADP ajst-10390 80 29 h h NOUN ajst-10390 80 30 , , PUNCT ajst-10390 80 31 and and CCONJ ajst-10390 80 32 the the DET ajst-10390 80 33 artificial artificial ADJ ajst-10390 80 34 potential potential ADJ ajst-10390 80 35 field field NOUN ajst-10390 80 36 generated generate VERB ajst-10390 80 37 around around ADP ajst-10390 80 38 the the DET ajst-10390 80 39 cylinder cylinder NOUN ajst-10390 80 40 is be AUX ajst-10390 80 41 approximately approximately ADV ajst-10390 80 42 in in ADP ajst-10390 80 43 the the DET ajst-10390 80 44 shape shape NOUN ajst-10390 80 45 of of ADP ajst-10390 80 46 an an DET ajst-10390 80 47 ellipsoid ellipsoid NOUN ajst-10390 80 48 . . PUNCT ajst-10390 81 1 the the DET ajst-10390 81 2 artificial artificial ADJ ajst-10390 81 3 potential potential ADJ ajst-10390 81 4 field field NOUN ajst-10390 81 5 envelops envelop VERB ajst-10390 81 6 the the DET ajst-10390 81 7 obstacle obstacle NOUN ajst-10390 81 8 with with ADP ajst-10390 81 9 the the DET ajst-10390 81 10 smallest small ADJ ajst-10390 81 11 volume volume NOUN ajst-10390 81 12 , , PUNCT ajst-10390 81 13 that that ADV ajst-10390 81 14 is is ADV ajst-10390 81 15 , , PUNCT ajst-10390 81 16 the the DET ajst-10390 81 17 smallest small ADJ ajst-10390 81 18 ellipsoid ellipsoid NOUN ajst-10390 81 19 that that PRON ajst-10390 81 20 envels envel VERB ajst-10390 81 21 the the DET ajst-10390 81 22 cylinder cylinder NOUN ajst-10390 81 23 . . PUNCT ajst-10390 82 1 the the DET ajst-10390 82 2 ellipsoid ellipsoid NOUN ajst-10390 82 3 satisfies satisfy VERB ajst-10390 82 4 the the DET ajst-10390 82 5 following follow VERB ajst-10390 82 6 equation equation NOUN ajst-10390 82 7 π‘₯ π‘₯ PRON ajst-10390 82 8 π‘₯ π‘₯ X ajst-10390 82 9 𝑦 𝑦 NUM ajst-10390 82 10 𝑦 𝑦 X ajst-10390 82 11 𝑧 𝑧 PRON ajst-10390 82 12 𝑧 𝑧 PROPN ajst-10390 82 13 = = NOUN ajst-10390 82 14 1 1 NUM ajst-10390 82 15 ( ( PUNCT ajst-10390 82 16 14 14 NUM ajst-10390 82 17 ) ) PUNCT ajst-10390 82 18 the the DET ajst-10390 82 19 uav uav PROPN ajst-10390 82 20 group group PROPN ajst-10390 82 21 uses use VERB ajst-10390 82 22 artificial artificial ADJ ajst-10390 82 23 potential potential ADJ ajst-10390 82 24 field field NOUN ajst-10390 82 25 to to PART ajst-10390 82 26 avoid avoid VERB ajst-10390 82 27 obstacles obstacle NOUN ajst-10390 82 28 , , PUNCT ajst-10390 82 29 which which PRON ajst-10390 82 30 mainly mainly ADV ajst-10390 82 31 depends depend VERB ajst-10390 82 32 on on ADP ajst-10390 82 33 repulsion repulsion NOUN ajst-10390 82 34 . . PUNCT ajst-10390 83 1 when when SCONJ ajst-10390 83 2 the the DET ajst-10390 83 3 uav uav PROPN ajst-10390 83 4 formation formation NOUN ajst-10390 83 5 [ [ X ajst-10390 83 6 9 9 NUM ajst-10390 83 7 ] ] PUNCT ajst-10390 83 8 approaches approach VERB ajst-10390 83 9 the the DET ajst-10390 83 10 obstacle obstacle NOUN ajst-10390 83 11 , , PUNCT ajst-10390 83 12 the the DET ajst-10390 83 13 repulsion repulsion NOUN ajst-10390 83 14 received receive VERB ajst-10390 83 15 by by ADP ajst-10390 83 16 the the DET ajst-10390 83 17 uav uav PROPN ajst-10390 83 18 is be AUX ajst-10390 83 19 contrary contrary ADJ ajst-10390 83 20 to to ADP ajst-10390 83 21 its its PRON ajst-10390 83 22 movement movement NOUN ajst-10390 83 23 speed speed NOUN ajst-10390 83 24 . . PUNCT ajst-10390 84 1 the the DET ajst-10390 84 2 uav uav PROPN ajst-10390 84 3 will will AUX ajst-10390 84 4 be be AUX ajst-10390 84 5 in in ADP ajst-10390 84 6 the the DET ajst-10390 84 7 local local ADJ ajst-10390 84 8 minimum minimum NOUN ajst-10390 84 9 position position NOUN ajst-10390 84 10 , , PUNCT ajst-10390 84 11 and and CCONJ ajst-10390 84 12 the the DET ajst-10390 84 13 composite composite ADJ ajst-10390 84 14 artificial artificial ADJ ajst-10390 84 15 potential potential ADJ ajst-10390 84 16 field field NOUN ajst-10390 84 17 can can AUX ajst-10390 84 18 envelop envelop VERB ajst-10390 84 19 the the DET ajst-10390 84 20 ellipsoid ellipsoid NOUN ajst-10390 84 21 , , PUNCT ajst-10390 84 22 so so SCONJ ajst-10390 84 23 that that SCONJ ajst-10390 84 24 the the DET ajst-10390 84 25 uav uav PROPN ajst-10390 84 26 group group NOUN ajst-10390 84 27 can can AUX ajst-10390 84 28 bypass bypass VERB ajst-10390 84 29 the the DET ajst-10390 84 30 obstacle obstacle NOUN ajst-10390 84 31 in in ADP ajst-10390 84 32 the the DET ajst-10390 84 33 optimal optimal ADJ ajst-10390 84 34 path path NOUN ajst-10390 84 35 . . PUNCT ajst-10390 85 1 the the DET ajst-10390 85 2 composite composite ADJ ajst-10390 85 3 artificial artificial ADJ ajst-10390 85 4 potential potential ADJ ajst-10390 85 5 field field NOUN ajst-10390 85 6 is be AUX ajst-10390 85 7 composed compose VERB ajst-10390 85 8 of of ADP ajst-10390 85 9 two two NUM ajst-10390 85 10 artificial artificial ADJ ajst-10390 85 11 potential potential ADJ ajst-10390 85 12 fields field NOUN ajst-10390 85 13 parallel parallel ADJ ajst-10390 85 14 to to ADP ajst-10390 85 15 the the DET ajst-10390 85 16 x x PROPN ajst-10390 85 17 - - PROPN ajst-10390 85 18 y y ADJ ajst-10390 85 19 plane plane NOUN ajst-10390 85 20 and and CCONJ ajst-10390 85 21 the the DET ajst-10390 85 22 y y PROPN ajst-10390 85 23 - - PUNCT ajst-10390 85 24 z z PROPN ajst-10390 85 25 plane plane NOUN ajst-10390 85 26 respectively respectively ADV ajst-10390 85 27 , , PUNCT ajst-10390 85 28 as as SCONJ ajst-10390 85 29 shown show VERB ajst-10390 85 30 in in ADP ajst-10390 85 31 figure figure NOUN ajst-10390 85 32 7 7 NUM ajst-10390 85 33 . . PUNCT ajst-10390 85 34 figure figure VERB ajst-10390 85 35 7 7 NUM ajst-10390 85 36 . . PUNCT ajst-10390 85 37 rotating rotate VERB ajst-10390 85 38 vector vector NOUN ajst-10390 85 39 field field NOUN ajst-10390 85 40 around around ADP ajst-10390 85 41 space space NOUN ajst-10390 85 42 obstacles obstacle NOUN ajst-10390 85 43 the the DET ajst-10390 85 44 uav uav PROPN ajst-10390 85 45 obstacle obstacle PROPN ajst-10390 85 46 avoidance avoidance NOUN ajst-10390 85 47 trajectory trajectory NOUN ajst-10390 85 48 is be AUX ajst-10390 85 49 the the DET ajst-10390 85 50 result result NOUN ajst-10390 85 51 of of ADP ajst-10390 85 52 the the DET ajst-10390 85 53 superposition superposition NOUN ajst-10390 85 54 of of ADP ajst-10390 85 55 two two NUM ajst-10390 85 56 rotating rotate VERB ajst-10390 85 57 vector vector NOUN ajst-10390 85 58 fields field NOUN ajst-10390 85 59 . . PUNCT ajst-10390 86 1 at at ADP ajst-10390 86 2 the the DET ajst-10390 86 3 same same ADJ ajst-10390 86 4 time time NOUN ajst-10390 86 5 , , PUNCT ajst-10390 86 6 the the DET ajst-10390 86 7 uav uav PROPN ajst-10390 86 8 quickly quickly ADV ajst-10390 86 9 avoids avoid VERB ajst-10390 86 10 obstacles obstacle NOUN ajst-10390 86 11 with with ADP ajst-10390 86 12 the the DET ajst-10390 86 13 optimal optimal ADJ ajst-10390 86 14 trajectory trajectory NOUN ajst-10390 86 15 , , PUNCT ajst-10390 86 16 and and CCONJ ajst-10390 86 17 then then ADV ajst-10390 86 18 quickly quickly ADV ajst-10390 86 19 gathers gather VERB ajst-10390 86 20 to to PART ajst-10390 86 21 reach reach VERB ajst-10390 86 22 the the DET ajst-10390 86 23 target target NOUN ajst-10390 86 24 point point NOUN ajst-10390 86 25 . . PUNCT ajst-10390 87 1 here,Ο• here,Ο• PROPN ajst-10390 87 2 andΞ³ andΞ³ NOUN ajst-10390 87 3 are be AUX ajst-10390 87 4 affected affect VERB ajst-10390 87 5 by by ADP ajst-10390 87 6 two two NUM ajst-10390 87 7 vector vector NOUN ajst-10390 87 8 fields field NOUN ajst-10390 87 9 respectively respectively ADV ajst-10390 87 10 , , PUNCT ajst-10390 87 11 and and CCONJ ajst-10390 87 12 their their PRON ajst-10390 87 13 expressions expression NOUN ajst-10390 87 14 are be AUX ajst-10390 87 15 as as SCONJ ajst-10390 87 16 follows follow VERB ajst-10390 87 17 . . PUNCT ajst-10390 88 1 πœ™ πœ™ PROPN ajst-10390 88 2 arctan arctan PROPN ajst-10390 88 3 𝑦 𝑦 PROPN ajst-10390 88 4 , , PUNCT ajst-10390 88 5 π‘₯ π‘₯ X ajst-10390 88 6 ; ; PUNCT ajst-10390 88 7 𝛾 𝛾 ADP ajst-10390 88 8 π‘Žπ‘Ÿπ‘ π‘Žπ‘Ÿπ‘ PROPN ajst-10390 88 9 tan tan PROPN ajst-10390 88 10 𝑧 𝑧 PROPN ajst-10390 88 11 , , PUNCT ajst-10390 88 12 π‘₯ π‘₯ PROPN ajst-10390 88 13 𝑦 𝑦 NOUN ajst-10390 88 14 ( ( PUNCT ajst-10390 88 15 15 15 NUM ajst-10390 88 16 ) ) PUNCT ajst-10390 88 17 the the DET ajst-10390 88 18 projection projection NOUN ajst-10390 88 19 line line NOUN ajst-10390 88 20 of of ADP ajst-10390 88 21 the the DET ajst-10390 88 22 drone drone NOUN ajst-10390 88 23 's 's PART ajst-10390 88 24 motion motion NOUN ajst-10390 88 25 trajectory trajectory NOUN ajst-10390 88 26 in in ADP ajst-10390 88 27 the the DET ajst-10390 88 28 x x PROPN ajst-10390 88 29 - - ADJ ajst-10390 88 30 y y ADJ ajst-10390 88 31 plane plane NOUN ajst-10390 88 32 is be AUX ajst-10390 88 33 only only ADV ajst-10390 88 34 affected affect VERB ajst-10390 88 35 by by ADP ajst-10390 88 36 the the DET ajst-10390 88 37 rotating rotate VERB ajst-10390 88 38 vector vector NOUN ajst-10390 88 39 artificial artificial ADJ ajst-10390 88 40 potential potential ADJ ajst-10390 88 41 field field NOUN ajst-10390 88 42 parallel parallel ADJ ajst-10390 88 43 to to ADP ajst-10390 88 44 the the DET ajst-10390 88 45 x x PROPN ajst-10390 88 46 - - ADJ ajst-10390 88 47 y y ADJ ajst-10390 88 48 plane plane NOUN ajst-10390 88 49 . . PUNCT ajst-10390 89 1 the the DET ajst-10390 89 2 rotating rotate VERB ajst-10390 89 3 vector vector NOUN ajst-10390 89 4 artificial artificial ADJ ajst-10390 89 5 potential potential ADJ ajst-10390 89 6 field field NOUN ajst-10390 89 7 is be AUX ajst-10390 89 8 divided divide VERB ajst-10390 89 9 into into ADP ajst-10390 89 10 two two NUM ajst-10390 89 11 directions direction NOUN ajst-10390 89 12 : : PUNCT ajst-10390 89 13 counterclockwise counterclockwise NOUN ajst-10390 89 14 and and CCONJ ajst-10390 89 15 clockwise clockwise NOUN ajst-10390 89 16 . . PUNCT ajst-10390 90 1 the the DET ajst-10390 90 2 kinematic kinematic ADJ ajst-10390 90 3 equation equation NOUN ajst-10390 90 4 of of ADP ajst-10390 90 5 the the DET ajst-10390 90 6 rotating rotate VERB ajst-10390 90 7 vector vector NOUN ajst-10390 90 8 field field NOUN ajst-10390 90 9 of of ADP ajst-10390 90 10 the the DET ajst-10390 90 11 parallel parallel ADJ ajst-10390 90 12 x x NOUN ajst-10390 90 13 - - ADJ ajst-10390 90 14 y y ADJ ajst-10390 90 15 plane plane NOUN ajst-10390 90 16 is be AUX ajst-10390 90 17 as as SCONJ ajst-10390 90 18 follows follow VERB ajst-10390 90 19 π‘₯ π‘₯ PRON ajst-10390 90 20 π‘₯ π‘₯ ADP ajst-10390 90 21 π‘₯ π‘₯ X ajst-10390 90 22 𝑦 𝑦 X ajst-10390 90 23 𝑦 𝑦 NOUN ajst-10390 90 24 𝑦 𝑦 NOUN ajst-10390 90 25 𝐼𝑛 𝐼𝑛 PROPN ajst-10390 90 26 π‘‘β„Žπ‘’ π‘‘β„Žπ‘’ PROPN ajst-10390 90 27 π‘π‘™π‘œπ‘π‘˜π‘€π‘–π‘ π‘’ π‘π‘™π‘œπ‘π‘˜π‘€π‘–π‘ π‘’ VERB ajst-10390 91 1 π‘‘π‘–π‘Ÿπ‘’π‘π‘‘π‘–π‘œπ‘› π‘‘π‘–π‘Ÿπ‘’π‘π‘‘π‘–π‘œπ‘› PROPN ajst-10390 91 2 z z PROPN ajst-10390 91 3 0 0 NUM ajst-10390 91 4 ( ( PUNCT ajst-10390 91 5 16 16 NUM ajst-10390 91 6 ) ) PUNCT ajst-10390 91 7 97 97 NUM ajst-10390 91 8 π‘₯ π‘₯ NOUN ajst-10390 91 9 π‘₯ π‘₯ PRON ajst-10390 91 10 π‘₯ π‘₯ X ajst-10390 91 11 𝑦 𝑦 X ajst-10390 91 12 𝑦 𝑦 NOUN ajst-10390 91 13 𝑦 𝑦 X ajst-10390 91 14 𝐼𝑛 𝐼𝑛 PROPN ajst-10390 91 15 π‘‘β„Žπ‘’ π‘‘β„Žπ‘’ PROPN ajst-10390 91 16 π‘π‘œπ‘’π‘›π‘‘π‘’π‘Ÿπ‘π‘™π‘œπ‘π‘˜π‘€π‘–π‘ π‘’ π‘π‘œπ‘’π‘›π‘‘π‘’π‘Ÿπ‘π‘™π‘œπ‘π‘˜π‘€π‘–π‘ π‘’ VERB ajst-10390 91 17 π‘‘π‘–π‘Ÿπ‘’π‘π‘‘π‘–π‘œπ‘› π‘‘π‘–π‘Ÿπ‘’π‘π‘‘π‘–π‘œπ‘› VERB ajst-10390 91 18 𝑧 𝑧 ADV ajst-10390 91 19 0 0 NUM ajst-10390 91 20 ( ( PUNCT ajst-10390 91 21 17 17 NUM ajst-10390 91 22 ) ) PUNCT ajst-10390 91 23 5.2 5.2 NUM ajst-10390 91 24 . . PUNCT ajst-10390 92 1 algorithm algorithm PROPN ajst-10390 92 2 design design NOUN ajst-10390 92 3 based base VERB ajst-10390 92 4 on on ADP ajst-10390 92 5 improved improve VERB ajst-10390 92 6 artificial artificial ADJ ajst-10390 92 7 potential potential ADJ ajst-10390 92 8 field field NOUN ajst-10390 92 9 method method PROPN ajst-10390 92 10 uav uav PROPN ajst-10390 92 11 group group PROPN ajst-10390 92 12 obstacle obstacle NOUN ajst-10390 92 13 avoidance avoidance NOUN ajst-10390 92 14 through through ADP ajst-10390 92 15 problem problem NOUN ajst-10390 92 16 analysis analysis NOUN ajst-10390 92 17 and and CCONJ ajst-10390 92 18 optimization optimization NOUN ajst-10390 92 19 , , PUNCT ajst-10390 92 20 it it PRON ajst-10390 92 21 effectively effectively ADV ajst-10390 92 22 solves solve VERB ajst-10390 92 23 the the DET ajst-10390 92 24 problem problem NOUN ajst-10390 92 25 of of ADP ajst-10390 92 26 effective effective ADJ ajst-10390 92 27 obstacle obstacle NOUN ajst-10390 92 28 avoidance avoidance NOUN ajst-10390 92 29 in in ADP ajst-10390 92 30 the the DET ajst-10390 92 31 completely completely ADV ajst-10390 92 32 dynamic dynamic ADJ ajst-10390 92 33 environment environment NOUN ajst-10390 92 34 of of ADP ajst-10390 92 35 the the DET ajst-10390 92 36 movement movement NOUN ajst-10390 92 37 of of ADP ajst-10390 92 38 the the DET ajst-10390 92 39 target target NOUN ajst-10390 92 40 point point NOUN ajst-10390 92 41 and and CCONJ ajst-10390 92 42 the the DET ajst-10390 92 43 movement movement NOUN ajst-10390 92 44 of of ADP ajst-10390 92 45 obstacles obstacle NOUN ajst-10390 92 46 . . PUNCT ajst-10390 93 1 the the DET ajst-10390 93 2 track track NOUN ajst-10390 93 3 planning planning NOUN ajst-10390 93 4 is be AUX ajst-10390 93 5 carried carry VERB ajst-10390 93 6 out out ADP ajst-10390 93 7 in in ADP ajst-10390 93 8 real real ADJ ajst-10390 93 9 time time NOUN ajst-10390 93 10 , , PUNCT ajst-10390 93 11 and and CCONJ ajst-10390 93 12 the the DET ajst-10390 93 13 design design NOUN ajst-10390 93 14 parameters parameter NOUN ajst-10390 93 15 are be AUX ajst-10390 93 16 shown show VERB ajst-10390 93 17 in in ADP ajst-10390 93 18 table table NOUN ajst-10390 94 1 1 1 NUM ajst-10390 94 2 . . PUNCT ajst-10390 94 3 table table NOUN ajst-10390 94 4 1 1 NUM ajst-10390 94 5 . . PUNCT ajst-10390 95 1 algorithm algorithm NOUN ajst-10390 95 2 design design NOUN ajst-10390 95 3 parameters parameter NOUN ajst-10390 95 4 parameter parameter NOUN ajst-10390 95 5 definition definition NOUN ajst-10390 95 6 x x PUNCT ajst-10390 95 7 location location NOUN ajst-10390 95 8 coordinates coordinate NOUN ajst-10390 95 9 of of ADP ajst-10390 95 10 the the DET ajst-10390 95 11 drone drone NOUN ajst-10390 95 12 at at ADP ajst-10390 95 13 a a DET ajst-10390 95 14 certain certain ADJ ajst-10390 95 15 moment moment NOUN ajst-10390 95 16 𝑋 𝑋 NOUN ajst-10390 95 17 the the DET ajst-10390 95 18 position position NOUN ajst-10390 95 19 coordinates coordinate NOUN ajst-10390 95 20 of of ADP ajst-10390 95 21 the the DET ajst-10390 95 22 target target NOUN ajst-10390 95 23 at at ADP ajst-10390 95 24 a a DET ajst-10390 95 25 certain certain ADJ ajst-10390 95 26 moment moment NOUN ajst-10390 95 27 𝑋 𝑋 NOUN ajst-10390 95 28 location location NOUN ajst-10390 95 29 coordinates coordinate NOUN ajst-10390 95 30 of of ADP ajst-10390 95 31 obstacles obstacle NOUN ajst-10390 95 32 at at ADP ajst-10390 95 33 a a DET ajst-10390 95 34 certain certain ADJ ajst-10390 95 35 moment moment NOUN ajst-10390 95 36 t t NOUN ajst-10390 95 37 x x X ajst-10390 95 38 , , PUNCT ajst-10390 95 39 x x PROPN ajst-10390 95 40 the the DET ajst-10390 95 41 distance distance NOUN ajst-10390 95 42 between between ADP ajst-10390 95 43 the the DET ajst-10390 95 44 drone drone NOUN ajst-10390 95 45 and and CCONJ ajst-10390 95 46 the the DET ajst-10390 95 47 target target NOUN ajst-10390 95 48 point point NOUN ajst-10390 95 49 at at ADP ajst-10390 95 50 a a DET ajst-10390 95 51 certain certain ADJ ajst-10390 95 52 moment moment NOUN ajst-10390 95 53 𝑃 𝑃 PROPN ajst-10390 95 54 𝑋 𝑋 PROPN ajst-10390 95 55 , , PUNCT ajst-10390 95 56 𝑋 𝑋 NOUN ajst-10390 95 57 the the DET ajst-10390 95 58 distance distance NOUN ajst-10390 95 59 between between ADP ajst-10390 95 60 the the DET ajst-10390 95 61 drone drone NOUN ajst-10390 95 62 and and CCONJ ajst-10390 95 63 the the DET ajst-10390 95 64 obstacle obstacle NOUN ajst-10390 95 65 i i PRON ajst-10390 95 66 at at ADP ajst-10390 95 67 some some DET ajst-10390 95 68 point point NOUN ajst-10390 95 69 𝑃 𝑃 NOUN ajst-10390 95 70 minimum minimum ADJ ajst-10390 95 71 safe safe ADJ ajst-10390 95 72 distance distance NOUN ajst-10390 95 73 between between ADP ajst-10390 95 74 drones drone NOUN ajst-10390 95 75 and and CCONJ ajst-10390 95 76 obstacles obstacle NOUN ajst-10390 95 77 k k PROPN ajst-10390 95 78 repulsion repulsion NOUN ajst-10390 95 79 gain gain VERB ajst-10390 95 80 coefficient coefficient NOUN ajst-10390 95 81 m m VERB ajst-10390 95 82 gravitational gravitational ADJ ajst-10390 95 83 gain gain NOUN ajst-10390 95 84 coefficient coefficient NOUN ajst-10390 95 85 i i PRON ajst-10390 95 86 number number NOUN ajst-10390 95 87 of of ADP ajst-10390 95 88 obstacles obstacle NOUN ajst-10390 95 89 n n CCONJ ajst-10390 95 90 coordinated coordinate VERB ajst-10390 95 91 force force NOUN ajst-10390 95 92 gain gain NOUN ajst-10390 95 93 coefficient coefficient VERB ajst-10390 95 94 the the DET ajst-10390 95 95 gravitational gravitational ADJ ajst-10390 95 96 field field NOUN ajst-10390 95 97 between between ADP ajst-10390 95 98 the the DET ajst-10390 95 99 drone drone NOUN ajst-10390 95 100 and and CCONJ ajst-10390 95 101 the the DET ajst-10390 95 102 target target NOUN ajst-10390 95 103 point point NOUN ajst-10390 95 104 is be AUX ajst-10390 95 105 π‘ˆ π‘ˆ PROPN ajst-10390 95 106 𝑋 𝑋 PROPN ajst-10390 95 107 π‘šπ‘‡ π‘šπ‘‡ NOUN ajst-10390 95 108 𝑋 𝑋 PROPN ajst-10390 95 109 , , PUNCT ajst-10390 95 110 𝑋 𝑋 PROPN ajst-10390 95 111 ( ( PUNCT ajst-10390 95 112 18 18 NUM ajst-10390 95 113 ) ) PUNCT ajst-10390 95 114 define define VERB ajst-10390 95 115 the the DET ajst-10390 95 116 repulsion repulsion NOUN ajst-10390 95 117 field field NOUN ajst-10390 95 118 between between ADP ajst-10390 95 119 the the DET ajst-10390 95 120 drone drone NOUN ajst-10390 95 121 and and CCONJ ajst-10390 95 122 the the DET ajst-10390 95 123 obstacle obstacle NOUN ajst-10390 95 124 as as ADP ajst-10390 95 125 π‘ˆ π‘ˆ PROPN ajst-10390 95 126 𝑋 𝑋 PROPN ajst-10390 95 127 π‘˜ π‘˜ PRON ajst-10390 95 128 βˆ‘ βˆ‘ PUNCT ajst-10390 95 129 𝑃 𝑃 PROPN ajst-10390 95 130 𝑃 𝑃 PROPN ajst-10390 95 131 𝑋 𝑋 NOUN ajst-10390 95 132 , , PUNCT ajst-10390 95 133 𝑋 𝑋 PROPN ajst-10390 95 134 𝑖 𝑖 SYM ajst-10390 95 135 𝑃 𝑃 NOUN ajst-10390 95 136 0 0 NUM ajst-10390 95 137 𝑃 𝑃 NOUN ajst-10390 95 138 𝑋 𝑋 PROPN ajst-10390 95 139 , , PUNCT ajst-10390 95 140 𝑋 𝑋 PROPN ajst-10390 95 141 𝑖 𝑖 SYM ajst-10390 95 142 𝑃 𝑃 PROPN ajst-10390 95 143 ( ( PUNCT ajst-10390 95 144 19 19 NUM ajst-10390 95 145 ) ) PUNCT ajst-10390 95 146 among among ADP ajst-10390 95 147 p= p= PROPN ajst-10390 95 148 （ （ PUNCT ajst-10390 95 149 , , PUNCT ajst-10390 95 150 οΌ‰ οΌ‰ PUNCT ajst-10390 95 151 ， ， PUNCT ajst-10390 95 152 n n X ajst-10390 95 153 ∈ ∈ NOUN ajst-10390 95 154 r r NOUN ajst-10390 95 155 indicates indicate VERB ajst-10390 95 156 the the DET ajst-10390 95 157 number number NOUN ajst-10390 95 158 of of ADP ajst-10390 95 159 obstacles obstacle NOUN ajst-10390 95 160 . . PUNCT ajst-10390 96 1 the the DET ajst-10390 96 2 repulsion repulsion NOUN ajst-10390 96 3 field field NOUN ajst-10390 96 4 function function NOUN ajst-10390 96 5 is be AUX ajst-10390 96 6 𝐹 𝐹 PROPN ajst-10390 96 7 𝑋 𝑋 PROPN ajst-10390 96 8 π‘˜ π‘˜ PRON ajst-10390 96 9 βˆ‘ βˆ‘ PROPN ajst-10390 96 10 𝑃𝐹𝐿 𝑃𝐹𝐿 PROPN ajst-10390 96 11 𝑃 𝑃 PROPN ajst-10390 96 12 𝑋 𝑋 PROPN ajst-10390 96 13 , , PUNCT ajst-10390 96 14 𝑋 𝑋 PROPN ajst-10390 96 15 𝑖 𝑖 SYM ajst-10390 96 16 β‰ͺ β‰ͺ PUNCT ajst-10390 96 17 𝑃 𝑃 NOUN ajst-10390 96 18 0 0 NUM ajst-10390 96 19 𝑃 𝑃 NOUN ajst-10390 96 20 𝑋 𝑋 PROPN ajst-10390 96 21 , , PUNCT ajst-10390 96 22 𝑋 𝑋 PROPN ajst-10390 96 23 𝑖 𝑖 SYM ajst-10390 96 24 𝑃 𝑃 PROPN ajst-10390 96 25 ( ( PUNCT ajst-10390 96 26 20 20 NUM ajst-10390 96 27 ) ) PUNCT ajst-10390 96 28 the the DET ajst-10390 96 29 direction direction NOUN ajst-10390 96 30 coordination coordination NOUN ajst-10390 96 31 force force NOUN ajst-10390 96 32 is be AUX ajst-10390 96 33 expressed express VERB ajst-10390 96 34 as as ADP ajst-10390 96 35 : : PUNCT ajst-10390 96 36 𝐹 𝐹 PROPN ajst-10390 96 37 𝑋 𝑋 PROPN ajst-10390 96 38 𝑛𝑇 𝑛𝑇 PROPN ajst-10390 96 39 𝑋 𝑋 PROPN ajst-10390 96 40 , , PUNCT ajst-10390 96 41 𝑋 𝑋 NOUN ajst-10390 96 42 βˆ‘ βˆ‘ PUNCT ajst-10390 96 43 𝑃 𝑃 PROPN ajst-10390 96 44 ( ( PUNCT ajst-10390 96 45 21 21 NUM ajst-10390 96 46 ) ) PUNCT ajst-10390 96 47 the the DET ajst-10390 96 48 combined combined ADJ ajst-10390 96 49 force force NOUN ajst-10390 96 50 of of ADP ajst-10390 96 51 the the DET ajst-10390 96 52 improved improve VERB ajst-10390 96 53 artificial artificial ADJ ajst-10390 96 54 potential potential ADJ ajst-10390 96 55 field field NOUN ajst-10390 96 56 function function NOUN ajst-10390 96 57 is be AUX ajst-10390 96 58 expressed express VERB ajst-10390 96 59 as as ADP ajst-10390 96 60 : : PUNCT ajst-10390 96 61 fx fx PROPN ajst-10390 96 62 f f NOUN ajst-10390 96 63 x x SYM ajst-10390 96 64 f f PROPN ajst-10390 96 65 x x X ajst-10390 96 66 f f PROPN ajst-10390 96 67 ( ( PUNCT ajst-10390 96 68 22 22 NUM ajst-10390 96 69 ) ) PUNCT ajst-10390 97 1 fy fy PROPN ajst-10390 97 2 f f PROPN ajst-10390 97 3 y y PROPN ajst-10390 97 4 f f PROPN ajst-10390 97 5 y y PROPN ajst-10390 97 6 f f PROPN ajst-10390 97 7 ( ( PUNCT ajst-10390 97 8 23 23 NUM ajst-10390 97 9 ) ) PUNCT ajst-10390 97 10 step1 step1 PROPN ajst-10390 97 11 : : PUNCT ajst-10390 97 12 initialize initialize VERB ajst-10390 97 13 the the DET ajst-10390 97 14 gravitational gravitational ADJ ajst-10390 97 15 gain gain NOUN ajst-10390 97 16 coefficient coefficient NOUN ajst-10390 97 17 k k NOUN ajst-10390 97 18 , , PUNCT ajst-10390 97 19 repulsion repulsion NOUN ajst-10390 97 20 gain gain VERB ajst-10390 97 21 coefficient coefficient NOUN ajst-10390 97 22 m m PRON ajst-10390 97 23 , , PUNCT ajst-10390 97 24 known know VERB ajst-10390 97 25 static static ADJ ajst-10390 97 26 obstacle obstacle NOUN ajst-10390 97 27 position position NOUN ajst-10390 97 28 coordinates coordinate NOUN ajst-10390 97 29 m_obs{π‘₯ m_obs{π‘₯ PROPN ajst-10390 97 30 , , PUNCT ajst-10390 97 31 π‘₯ π‘₯ INTJ ajst-10390 97 32 , , PUNCT ajst-10390 97 33 β‹― β‹― ADP ajst-10390 97 34 π‘₯ π‘₯ NOUN ajst-10390 97 35 } } PUNCT ajst-10390 97 36 ; ; PUNCT ajst-10390 97 37 step2 step2 NOUN ajst-10390 97 38 : : PUNCT ajst-10390 97 39 the the DET ajst-10390 97 40 target target NOUN ajst-10390 97 41 point point NOUN ajst-10390 97 42 sends send VERB ajst-10390 97 43 the the DET ajst-10390 97 44 current current ADJ ajst-10390 97 45 position position NOUN ajst-10390 97 46 to to ADP ajst-10390 97 47 the the DET ajst-10390 97 48 drone drone NOUN ajst-10390 97 49 , , PUNCT ajst-10390 97 50 and and CCONJ ajst-10390 97 51 the the DET ajst-10390 97 52 drone drone NOUN ajst-10390 97 53 receives receive VERB ajst-10390 97 54 the the DET ajst-10390 97 55 location location NOUN ajst-10390 97 56 coordinate coordinate NOUN ajst-10390 97 57 information information NOUN ajst-10390 97 58 of of ADP ajst-10390 97 59 the the DET ajst-10390 97 60 target target NOUN ajst-10390 97 61 point point NOUN ajst-10390 97 62 m_target m_target NOUN ajst-10390 97 63 π‘₯ π‘₯ X ajst-10390 97 64 , , PUNCT ajst-10390 97 65 𝑦 𝑦 NOUN ajst-10390 97 66 ; ; PUNCT ajst-10390 97 67 step3 step3 PROPN ajst-10390 97 68 : : PUNCT ajst-10390 97 69 initialize initialize VERB ajst-10390 97 70 the the DET ajst-10390 97 71 current current ADJ ajst-10390 97 72 position position NOUN ajst-10390 97 73 coordinates coordinate NOUN ajst-10390 97 74 of of ADP ajst-10390 97 75 the the DET ajst-10390 97 76 drone drone NOUN ajst-10390 97 77 𝑋 𝑋 PROPN ajst-10390 97 78 π‘₯ π‘₯ PROPN ajst-10390 97 79 , , PUNCT ajst-10390 97 80 𝑦 𝑦 PROPN ajst-10390 97 81 ; ; PUNCT ajst-10390 97 82 step4 step4 PROPN ajst-10390 97 83 : : PUNCT ajst-10390 97 84 perceive perceive ADJ ajst-10390 97 85 unknown unknown ADJ ajst-10390 97 86 environmental environmental ADJ ajst-10390 97 87 information information NOUN ajst-10390 97 88 through through ADP ajst-10390 97 89 sensors sensor NOUN ajst-10390 97 90 to to PART ajst-10390 97 91 obtain obtain VERB ajst-10390 97 92 obstacles obstacle NOUN ajst-10390 97 93 within within ADP ajst-10390 97 94 the the DET ajst-10390 97 95 perceptual perceptual ADJ ajst-10390 97 96 range range NOUN ajst-10390 97 97 m_obs{π‘₯ m_obs{π‘₯ X ajst-10390 97 98 , , PUNCT ajst-10390 97 99 π‘₯ π‘₯ INTJ ajst-10390 97 100 , , PUNCT ajst-10390 97 101 β‹― β‹― ADP ajst-10390 97 102 π‘₯ π‘₯ NOUN ajst-10390 97 103 } } PUNCT ajst-10390 97 104 ; ; PUNCT ajst-10390 97 105 step5 step5 PROPN ajst-10390 97 106 : : PUNCT ajst-10390 97 107 drones drone NOUN ajst-10390 97 108 obtain obtain VERB ajst-10390 97 109 information information NOUN ajst-10390 97 110 about about ADP ajst-10390 97 111 the the DET ajst-10390 97 112 distance distance NOUN ajst-10390 97 113 between between ADP ajst-10390 97 114 drones drone NOUN ajst-10390 97 115 within within ADP ajst-10390 97 116 the the DET ajst-10390 97 117 range range NOUN ajst-10390 97 118 of of ADP ajst-10390 97 119 communication communication NOUN ajst-10390 97 120 to to PART ajst-10390 97 121 determine determine VERB ajst-10390 97 122 whether whether SCONJ ajst-10390 97 123 they they PRON ajst-10390 97 124 are be AUX ajst-10390 97 125 in in ADP ajst-10390 97 126 a a DET ajst-10390 97 127 safe safe ADJ ajst-10390 97 128 range range NOUN ajst-10390 97 129 𝑑 𝑑 NOUN ajst-10390 97 130 , , PUNCT ajst-10390 97 131 𝑑 𝑑 X ajst-10390 97 132 ; ; PUNCT ajst-10390 97 133 if if SCONJ ajst-10390 97 134 the the DET ajst-10390 97 135 drone drone NOUN ajst-10390 97 136 in in ADP ajst-10390 97 137 the the DET ajst-10390 97 138 communication communication NOUN ajst-10390 97 139 range range NOUN ajst-10390 97 140 is be AUX ajst-10390 97 141 in in ADP ajst-10390 97 142 the the DET ajst-10390 97 143 safe safe ADJ ajst-10390 97 144 zone zone NOUN ajst-10390 97 145 , , PUNCT ajst-10390 97 146 jump jump VERB ajst-10390 97 147 to to ADP ajst-10390 97 148 step8 step8 NOUN ajst-10390 97 149 and and CCONJ ajst-10390 97 150 continue continue VERB ajst-10390 97 151 to to PART ajst-10390 97 152 execute;if execute;if VERB ajst-10390 97 153 d>𝑑 d>𝑑 PROPN ajst-10390 97 154 , , PUNCT ajst-10390 97 155 continue continue VERB ajst-10390 97 156 to to PART ajst-10390 97 157 execute execute VERB ajst-10390 97 158 step6,if step6,if NOUN ajst-10390 97 159 d<𝑑 d<𝑑 NOUN ajst-10390 97 160 continues continue VERB ajst-10390 97 161 to to PART ajst-10390 97 162 execute execute VERB ajst-10390 97 163 step7 step7 NOUN ajst-10390 97 164 ; ; PUNCT ajst-10390 97 165 step6 step6 NOUN ajst-10390 97 166 : : PUNCT ajst-10390 97 167 calculate calculate VERB ajst-10390 97 168 the the DET ajst-10390 97 169 repulsion repulsion NOUN ajst-10390 97 170 between between ADP ajst-10390 97 171 drones drone NOUN ajst-10390 97 172 , , PUNCT ajst-10390 97 173 frep_uav frep_uav PROPN ajst-10390 97 174 , , PUNCT ajst-10390 97 175 jump jump VERB ajst-10390 97 176 to to ADP ajst-10390 97 177 step8 step8 NOUN ajst-10390 97 178 and and CCONJ ajst-10390 97 179 continue continue VERB ajst-10390 97 180 ; ; PUNCT ajst-10390 97 181 step7 step7 X ajst-10390 97 182 : : PUNCT ajst-10390 97 183 calculate calculate VERB ajst-10390 97 184 the the DET ajst-10390 97 185 gravity gravity NOUN ajst-10390 97 186 between between ADP ajst-10390 97 187 drones drone NOUN ajst-10390 97 188 fatt fatt NOUN ajst-10390 97 189 _ _ DET ajst-10390 97 190 uav uav PROPN ajst-10390 97 191 and and CCONJ ajst-10390 97 192 continue continue VERB ajst-10390 97 193 to to PART ajst-10390 97 194 perform perform VERB ajst-10390 97 195 step8 step8 ADJ ajst-10390 97 196 ; ; PUNCT ajst-10390 97 197 step8 step8 PRON ajst-10390 97 198 : : PUNCT ajst-10390 97 199 according accord VERB ajst-10390 97 200 to to ADP ajst-10390 97 201 the the DET ajst-10390 97 202 improved improved ADJ ajst-10390 97 203 artificial artificial ADJ ajst-10390 97 204 potential potential ADJ ajst-10390 97 205 field field NOUN ajst-10390 97 206 avoidance avoidance NOUN ajst-10390 97 207 algorithm algorithm NOUN ajst-10390 97 208 , , PUNCT ajst-10390 97 209 the the DET ajst-10390 97 210 improved improved ADJ ajst-10390 97 211 potential potential ADJ ajst-10390 97 212 field field NOUN ajst-10390 97 213 function function NOUN ajst-10390 97 214 is be AUX ajst-10390 97 215 used use VERB ajst-10390 97 216 to to PART ajst-10390 97 217 calculate calculate VERB ajst-10390 97 218 as as SCONJ ajst-10390 97 219 follows follow VERB ajst-10390 97 220 ( ( PUNCT ajst-10390 97 221 1 1 X ajst-10390 97 222 ) ) PUNCT ajst-10390 97 223 calculate calculate VERB ajst-10390 97 224 the the DET ajst-10390 97 225 gravitational gravitational ADJ ajst-10390 97 226 angle angle NOUN ajst-10390 97 227 parameter parameter NOUN ajst-10390 97 228 angel angel PROPN ajst-10390 97 229 _ _ PROPN ajst-10390 98 1 att att PROPN ajst-10390 98 2 of of ADP ajst-10390 98 3 the the DET ajst-10390 98 4 drone drone NOUN ajst-10390 98 5 and and CCONJ ajst-10390 98 6 the the DET ajst-10390 98 7 target target NOUN ajst-10390 98 8 point point NOUN ajst-10390 98 9 , , PUNCT ajst-10390 99 1 and and CCONJ ajst-10390 100 1 calculate calculate VERB ajst-10390 100 2 the the DET ajst-10390 100 3 repulsion repulsion NOUN ajst-10390 100 4 angle angle NOUN ajst-10390 100 5 parameter parameter NOUN ajst-10390 100 6 angel_rep angel_rep PROPN ajst-10390 100 7 of of ADP ajst-10390 100 8 the the DET ajst-10390 100 9 drone drone NOUN ajst-10390 100 10 and and CCONJ ajst-10390 100 11 the the DET ajst-10390 100 12 obstacle obstacle NOUN ajst-10390 100 13 ; ; PUNCT ajst-10390 100 14 ( ( PUNCT ajst-10390 100 15 2 2 X ajst-10390 100 16 ) ) PUNCT ajst-10390 100 17 calculate calculate VERB ajst-10390 100 18 the the DET ajst-10390 100 19 gravitational gravitational ADJ ajst-10390 100 20 parameters parameter NOUN ajst-10390 100 21 of of ADP ajst-10390 100 22 drones drone NOUN ajst-10390 100 23 ( ( PUNCT ajst-10390 100 24 3 3 X ajst-10390 100 25 ) ) PUNCT ajst-10390 100 26 calculate calculate VERB ajst-10390 100 27 the the DET ajst-10390 100 28 repulsion repulsion NOUN ajst-10390 100 29 parameters parameter NOUN ajst-10390 100 30 of of ADP ajst-10390 100 31 the the DET ajst-10390 100 32 drone𝐹 drone𝐹 PROPN ajst-10390 100 33 , , PUNCT ajst-10390 100 34 direction direction NOUN ajst-10390 100 35 coordination coordination NOUN ajst-10390 100 36 force𝐹 force𝐹 PROPN ajst-10390 100 37 ; ; PUNCT ajst-10390 100 38 ( ( PUNCT ajst-10390 100 39 4 4 X ajst-10390 100 40 ) ) PUNCT ajst-10390 100 41 calculate calculate NOUN ajst-10390 100 42 the the DET ajst-10390 100 43 joint joint ADJ ajst-10390 100 44 force force NOUN ajst-10390 100 45 and and CCONJ ajst-10390 100 46 direction direction NOUN ajst-10390 100 47 parameters parameter NOUN ajst-10390 100 48 between between ADP ajst-10390 100 49 the the DET ajst-10390 100 50 drone drone NOUN ajst-10390 100 51 and and CCONJ ajst-10390 100 52 the the DET ajst-10390 100 53 target target NOUN ajst-10390 100 54 point point NOUN ajst-10390 100 55 , , PUNCT ajst-10390 100 56 and and CCONJ ajst-10390 100 57 between between ADP ajst-10390 100 58 the the DET ajst-10390 100 59 drone drone NOUN ajst-10390 100 60 and and CCONJ ajst-10390 100 61 the the DET ajst-10390 100 62 obstacle obstacle NOUN ajst-10390 100 63 position_angle(j position_angle(j NOUN ajst-10390 100 64 ) ) PUNCT ajst-10390 100 65 ; ; PUNCT ajst-10390 100 66 ( ( PUNCT ajst-10390 100 67 5 5 X ajst-10390 100 68 ) ) PUNCT ajst-10390 100 69 calculate calculate NOUN ajst-10390 100 70 the the DET ajst-10390 100 71 next next ADJ ajst-10390 100 72 track track NOUN ajst-10390 101 1 point𝑋 point𝑋 PROPN ajst-10390 101 2 𝑋 𝑋 NOUN ajst-10390 101 3 1 1 NUM ajst-10390 101 4 𝑋 𝑋 PROPN ajst-10390 101 5 1 1 NUM ajst-10390 101 6 π‘™π‘œπ‘›π‘”π‘‘β„Ž π‘™π‘œπ‘›π‘”π‘‘β„Ž NOUN ajst-10390 101 7 cos cos INTJ ajst-10390 101 8 π‘ƒπ‘œπ‘ π‘–π‘‘π‘–π‘œπ‘›_π‘Žπ‘›π‘”π‘™π‘’ π‘ƒπ‘œπ‘ π‘–π‘‘π‘–π‘œπ‘›_π‘Žπ‘›π‘”π‘™π‘’ VERB ajst-10390 101 9 𝑗 𝑗 INTJ ajst-10390 101 10 ; ; PUNCT ajst-10390 101 11 𝑋 𝑋 PROPN ajst-10390 101 12 2 2 NUM ajst-10390 101 13 𝑋 𝑋 PROPN ajst-10390 101 14 2 2 NUM ajst-10390 101 15 π‘™π‘œπ‘›π‘”π‘‘β„Ž π‘™π‘œπ‘›π‘”π‘‘β„Ž NOUN ajst-10390 101 16 sin sin NOUN ajst-10390 101 17 π‘ƒπ‘œπ‘ π‘–π‘‘π‘–π‘œπ‘›_π‘Žπ‘›π‘”π‘™π‘’ π‘ƒπ‘œπ‘ π‘–π‘‘π‘–π‘œπ‘›_π‘Žπ‘›π‘”π‘™π‘’ NOUN ajst-10390 101 18 𝑗 𝑗 X ajst-10390 101 19 ; ; PUNCT ajst-10390 101 20 step9 step9 NOUN ajst-10390 101 21 : : PUNCT ajst-10390 101 22 move move VERB ajst-10390 101 23 in in ADP ajst-10390 101 24 the the DET ajst-10390 101 25 direction direction NOUN ajst-10390 101 26 of of ADP ajst-10390 101 27 the the DET ajst-10390 101 28 combined combined ADJ ajst-10390 101 29 force force NOUN ajst-10390 101 30 to to ADP ajst-10390 101 31 the the DET ajst-10390 101 32 next next ADJ ajst-10390 101 33 track track NOUN ajst-10390 101 34 pointx pointx VERB ajst-10390 101 35 ; ; PUNCT ajst-10390 101 36 step10 step10 PROPN ajst-10390 101 37 : : PUNCT ajst-10390 101 38 save save VERB ajst-10390 101 39 the the DET ajst-10390 101 40 coordinates coordinate NOUN ajst-10390 101 41 of of ADP ajst-10390 101 42 the the DET ajst-10390 101 43 current current ADJ ajst-10390 101 44 position position NOUN ajst-10390 101 45 of of ADP ajst-10390 101 46 the the DET ajst-10390 101 47 drone drone NOUN ajst-10390 101 48 and and CCONJ ajst-10390 101 49 set set VERB ajst-10390 101 50 it it PRON ajst-10390 101 51 to to ADP ajst-10390 101 52 the the DET ajst-10390 101 53 coordinates coordinate NOUN ajst-10390 101 54 of of ADP ajst-10390 101 55 the the DET ajst-10390 101 56 starting starting NOUN ajst-10390 101 57 point point NOUN ajst-10390 101 58 of of ADP ajst-10390 101 59 the the DET ajst-10390 101 60 drone𝑋 drone𝑋 PROPN ajst-10390 101 61 𝑋 𝑋 PROPN ajst-10390 101 62 ; ; PUNCT ajst-10390 101 63 step11 step11 ADJ ajst-10390 101 64 : : PUNCT ajst-10390 101 65 determine determine VERB ajst-10390 101 66 whether whether SCONJ ajst-10390 101 67 the the DET ajst-10390 101 68 flight flight NOUN ajst-10390 101 69 time time NOUN ajst-10390 101 70 of of ADP ajst-10390 101 71 the the DET ajst-10390 101 72 uav uav PROPN ajst-10390 101 73 meets meet VERB ajst-10390 101 74 the the DET ajst-10390 101 75 time time NOUN ajst-10390 101 76 constraint constraint NOUN ajst-10390 101 77 condition condition NOUN ajst-10390 101 78 t t PROPN ajst-10390 101 79 ∈ ∈ PROPN ajst-10390 101 80 β‹‚ β‹‚ PROPN ajst-10390 101 81 t t PROPN ajst-10390 101 82 , , PUNCT ajst-10390 101 83 t t PROPN ajst-10390 101 84 meets meet VERB ajst-10390 101 85 the the DET ajst-10390 101 86 collaborative collaborative ADJ ajst-10390 101 87 time time NOUN ajst-10390 101 88 constraint constraint NOUN ajst-10390 101 89 condition condition NOUN ajst-10390 101 90 and and CCONJ ajst-10390 101 91 continue continue VERB ajst-10390 101 92 to to PART ajst-10390 101 93 execute execute VERB ajst-10390 101 94 step12 step12 NOUN ajst-10390 101 95 . . PUNCT ajst-10390 102 1 if if SCONJ ajst-10390 102 2 it it PRON ajst-10390 102 3 does do AUX ajst-10390 102 4 not not PART ajst-10390 102 5 meet meet VERB ajst-10390 102 6 the the DET ajst-10390 102 7 collaborative collaborative ADJ ajst-10390 102 8 time time NOUN ajst-10390 102 9 constraint constraint NOUN ajst-10390 102 10 , , PUNCT ajst-10390 102 11 abandon abandon VERB ajst-10390 102 12 this this DET ajst-10390 102 13 path path NOUN ajst-10390 102 14 ; ; PUNCT ajst-10390 102 15 step12 step12 NOUN ajst-10390 102 16 : : PUNCT ajst-10390 102 17 determine determine VERB ajst-10390 102 18 whether whether SCONJ ajst-10390 102 19 the the DET ajst-10390 102 20 drone drone NOUN ajst-10390 102 21 has have AUX ajst-10390 102 22 reached reach VERB ajst-10390 102 23 the the DET ajst-10390 102 24 target target NOUN ajst-10390 102 25 point point NOUN ajst-10390 102 26 by by ADP ajst-10390 102 27 the the DET ajst-10390 102 28 location location NOUN ajst-10390 102 29 of of ADP ajst-10390 102 30 the the DET ajst-10390 102 31 drone drone NOUN ajst-10390 102 32 and and CCONJ ajst-10390 102 33 the the DET ajst-10390 102 34 target target NOUN ajst-10390 102 35 point point NOUN ajst-10390 102 36 : : PUNCT ajst-10390 102 37 if if SCONJ ajst-10390 102 38 the the DET ajst-10390 102 39 drone drone NOUN ajst-10390 102 40 reaches reach VERB ajst-10390 102 41 the the DET ajst-10390 102 42 target target NOUN ajst-10390 102 43 point point NOUN ajst-10390 102 44 , , PUNCT ajst-10390 102 45 the the DET ajst-10390 102 46 drone drone NOUN ajst-10390 102 47 will will AUX ajst-10390 102 48 stop stop VERB ajst-10390 102 49 the the DET ajst-10390 102 50 path path NOUN ajst-10390 102 51 planning planning NOUN ajst-10390 102 52 and and CCONJ ajst-10390 102 53 continue continue VERB ajst-10390 102 54 to to PART ajst-10390 102 55 implement implement VERB ajst-10390 102 56 step13 step13 NOUN ajst-10390 102 57 ; ; PUNCT ajst-10390 102 58 if if SCONJ ajst-10390 102 59 the the DET ajst-10390 102 60 drone drone NOUN ajst-10390 102 61 does do AUX ajst-10390 102 62 not not PART ajst-10390 102 63 reach reach VERB ajst-10390 102 64 the the DET ajst-10390 102 65 target target NOUN ajst-10390 102 66 point point NOUN ajst-10390 102 67 , , PUNCT ajst-10390 102 68 it it PRON ajst-10390 102 69 needs need VERB ajst-10390 102 70 to to PART ajst-10390 102 71 return return VERB ajst-10390 102 72 to to ADP ajst-10390 102 73 step2 step2 PROPN ajst-10390 102 74 and and CCONJ ajst-10390 102 75 continue continue VERB ajst-10390 102 76 to to PART ajst-10390 102 77 execute execute VERB ajst-10390 102 78 the the DET ajst-10390 102 79 following follow VERB ajst-10390 102 80 steps step NOUN ajst-10390 102 81 . . PUNCT ajst-10390 103 1 step13 step13 PROPN ajst-10390 103 2 : : PUNCT ajst-10390 103 3 finally finally ADV ajst-10390 103 4 , , PUNCT ajst-10390 103 5 according accord VERB ajst-10390 103 6 to to ADP ajst-10390 103 7 the the DET ajst-10390 103 8 simulation simulation NOUN ajst-10390 103 9 results result VERB ajst-10390 103 10 , , PUNCT ajst-10390 103 11 you you PRON ajst-10390 103 12 can can AUX ajst-10390 103 13 judge judge VERB ajst-10390 103 14 whether whether SCONJ ajst-10390 103 15 the the DET ajst-10390 103 16 uav uav PROPN ajst-10390 103 17 has have AUX ajst-10390 103 18 finally finally ADV ajst-10390 103 19 achieved achieve VERB ajst-10390 103 20 path path NOUN ajst-10390 103 21 planning planning NOUN ajst-10390 103 22 to to ADP ajst-10390 103 23 98 98 NUM ajst-10390 103 24 avoid avoid VERB ajst-10390 103 25 obstacles obstacle NOUN ajst-10390 103 26 by by ADP ajst-10390 103 27 comparing compare VERB ajst-10390 103 28 the the DET ajst-10390 103 29 number number NOUN ajst-10390 103 30 of of ADP ajst-10390 103 31 steps step NOUN ajst-10390 103 32 of of ADP ajst-10390 103 33 the the DET ajst-10390 103 34 uav uav PROPN ajst-10390 103 35 and and CCONJ ajst-10390 103 36 the the DET ajst-10390 103 37 maximum maximum ADJ ajst-10390 103 38 number number NOUN ajst-10390 103 39 of of ADP ajst-10390 103 40 steps step NOUN ajst-10390 103 41 given give VERB ajst-10390 103 42 . . PUNCT ajst-10390 104 1 step14 step14 PROPN ajst-10390 104 2 : : PUNCT ajst-10390 104 3 get get VERB ajst-10390 104 4 the the DET ajst-10390 104 5 optimal optimal ADJ ajst-10390 104 6 path path NOUN ajst-10390 104 7 , , PUNCT ajst-10390 104 8 and and CCONJ ajst-10390 104 9 the the DET ajst-10390 104 10 drone drone NOUN ajst-10390 104 11 avoidance avoidance NOUN ajst-10390 104 12 is be AUX ajst-10390 104 13 over over ADV ajst-10390 104 14 . . PUNCT ajst-10390 105 1 6 6 X ajst-10390 105 2 . . X ajst-10390 105 3 algorithm algorithm PROPN ajst-10390 105 4 simulation simulation NOUN ajst-10390 105 5 and and CCONJ ajst-10390 105 6 result result VERB ajst-10390 105 7 analysis analysis NOUN ajst-10390 105 8 matlab matlab PROPN ajst-10390 105 9 is be AUX ajst-10390 105 10 used use VERB ajst-10390 105 11 to to PART ajst-10390 105 12 simulate simulate VERB ajst-10390 105 13 and and CCONJ ajst-10390 105 14 analyze analyze VERB ajst-10390 105 15 the the DET ajst-10390 105 16 multi multi ADJ ajst-10390 105 17 - - ADJ ajst-10390 105 18 uav uav ADJ ajst-10390 105 19 collaborative collaborative ADJ ajst-10390 105 20 collision collision PROPN ajst-10390 105 21 avoidance avoidance NOUN ajst-10390 105 22 track track NOUN ajst-10390 105 23 planning planning NOUN ajst-10390 105 24 . . PUNCT ajst-10390 106 1 during during ADP ajst-10390 106 2 the the DET ajst-10390 106 3 simulation simulation NOUN ajst-10390 106 4 process process NOUN ajst-10390 106 5 , , PUNCT ajst-10390 106 6 the the DET ajst-10390 106 7 x x ADJ ajst-10390 106 8 - - ADJ ajst-10390 106 9 axis axis ADJ ajst-10390 106 10 coordinates coordinate NOUN ajst-10390 106 11 and and CCONJ ajst-10390 106 12 y y NOUN ajst-10390 106 13 - - PUNCT ajst-10390 106 14 axis axis NOUN ajst-10390 106 15 coordinates coordinate NOUN ajst-10390 106 16 are be AUX ajst-10390 106 17 represented represent VERB ajst-10390 106 18 as as ADP ajst-10390 106 19 the the DET ajst-10390 106 20 simulation simulation NOUN ajst-10390 106 21 environment environment NOUN ajst-10390 106 22 with with ADP ajst-10390 106 23 a a DET ajst-10390 106 24 spatial spatial ADJ ajst-10390 106 25 range range NOUN ajst-10390 106 26 of of ADP ajst-10390 106 27 10km*10 10km*10 NUM ajst-10390 106 28 km km NOUN ajst-10390 106 29 , , PUNCT ajst-10390 106 30 the the DET ajst-10390 106 31 number number NOUN ajst-10390 106 32 of of ADP ajst-10390 106 33 drones drone NOUN ajst-10390 106 34 is be AUX ajst-10390 106 35 4 4 NUM ajst-10390 106 36 , , PUNCT ajst-10390 106 37 and and CCONJ ajst-10390 106 38 the the DET ajst-10390 106 39 number number NOUN ajst-10390 106 40 of of ADP ajst-10390 106 41 randomly randomly ADV ajst-10390 106 42 moving move VERB ajst-10390 106 43 obstacles obstacle NOUN ajst-10390 106 44 is be AUX ajst-10390 106 45 3 3 NUM ajst-10390 106 46 , , PUNCT ajst-10390 106 47 a a DET ajst-10390 106 48 randomly randomly ADV ajst-10390 106 49 moving move VERB ajst-10390 106 50 target target NOUN ajst-10390 106 51 point point NOUN ajst-10390 106 52 . . PUNCT ajst-10390 107 1 the the DET ajst-10390 107 2 simulation simulation NOUN ajst-10390 107 3 process process NOUN ajst-10390 107 4 is be AUX ajst-10390 107 5 to to PART ajst-10390 107 6 randomly randomly ADV ajst-10390 107 7 set set VERB ajst-10390 107 8 four four NUM ajst-10390 107 9 coordinates coordinate NOUN ajst-10390 107 10 as as ADP ajst-10390 107 11 the the DET ajst-10390 107 12 preliminary preliminary ADJ ajst-10390 107 13 test test NOUN ajst-10390 107 14 position position NOUN ajst-10390 107 15 of of ADP ajst-10390 107 16 the the DET ajst-10390 107 17 uav uav PROPN ajst-10390 107 18 in in ADP ajst-10390 107 19 space space NOUN ajst-10390 107 20 , , PUNCT ajst-10390 107 21 and and CCONJ ajst-10390 107 22 randomly randomly ADV ajst-10390 107 23 set set VERB ajst-10390 107 24 the the DET ajst-10390 107 25 target target NOUN ajst-10390 107 26 points point NOUN ajst-10390 107 27 and and CCONJ ajst-10390 107 28 moving move VERB ajst-10390 107 29 obstacles obstacle NOUN ajst-10390 107 30 of of ADP ajst-10390 107 31 random random ADJ ajst-10390 107 32 motion motion NOUN ajst-10390 107 33 in in ADP ajst-10390 107 34 the the DET ajst-10390 107 35 space space NOUN ajst-10390 107 36 . . PUNCT ajst-10390 108 1 multi multi ADJ ajst-10390 108 2 - - ADJ ajst-10390 108 3 uavs uavs NOUN ajst-10390 108 4 use use NOUN ajst-10390 108 5 the the DET ajst-10390 108 6 proposed propose VERB ajst-10390 108 7 improved improve VERB ajst-10390 108 8 artificial artificial ADJ ajst-10390 108 9 potential potential ADJ ajst-10390 108 10 field field NOUN ajst-10390 108 11 method method NOUN ajst-10390 108 12 to to PART ajst-10390 108 13 carry carry VERB ajst-10390 108 14 out out ADP ajst-10390 108 15 the the DET ajst-10390 108 16 track track NOUN ajst-10390 108 17 planning planning NOUN ajst-10390 108 18 algorithm algorithm NOUN ajst-10390 108 19 to to PART ajst-10390 108 20 obtain obtain VERB ajst-10390 108 21 the the DET ajst-10390 108 22 optimal optimal ADJ ajst-10390 108 23 path path NOUN ajst-10390 108 24 of of ADP ajst-10390 108 25 a a DET ajst-10390 108 26 single single ADJ ajst-10390 108 27 uav uav PROPN ajst-10390 108 28 along along ADP ajst-10390 108 29 the the DET ajst-10390 108 30 direction direction NOUN ajst-10390 108 31 of of ADP ajst-10390 108 32 the the DET ajst-10390 108 33 fastest fast ADJ ajst-10390 108 34 decline decline NOUN ajst-10390 108 35 of of ADP ajst-10390 108 36 the the DET ajst-10390 108 37 potential potential ADJ ajst-10390 108 38 field field NOUN ajst-10390 108 39 . . PUNCT ajst-10390 109 1 diameter diameter NOUN ajst-10390 109 2 , , PUNCT ajst-10390 109 3 and and CCONJ ajst-10390 109 4 achieve achieve VERB ajst-10390 109 5 real real ADJ ajst-10390 109 6 - - PUNCT ajst-10390 109 7 time time NOUN ajst-10390 109 8 obstacle obstacle NOUN ajst-10390 109 9 avoidance avoidance NOUN ajst-10390 109 10 . . PUNCT ajst-10390 110 1 in in ADP ajst-10390 110 2 the the DET ajst-10390 110 3 simulation simulation NOUN ajst-10390 110 4 , , PUNCT ajst-10390 110 5 the the DET ajst-10390 110 6 speed speed NOUN ajst-10390 110 7 of of ADP ajst-10390 110 8 the the DET ajst-10390 110 9 uav uav PROPN ajst-10390 110 10 and and CCONJ ajst-10390 110 11 the the DET ajst-10390 110 12 speed speed NOUN ajst-10390 110 13 of of ADP ajst-10390 110 14 the the DET ajst-10390 110 15 obstacle obstacle NOUN ajst-10390 110 16 are be AUX ajst-10390 110 17 1 1 NUM ajst-10390 110 18 m/s m/s NUM ajst-10390 110 19 , , PUNCT ajst-10390 110 20 and and CCONJ ajst-10390 110 21 the the DET ajst-10390 110 22 movement movement NOUN ajst-10390 110 23 speed speed NOUN ajst-10390 110 24 of of ADP ajst-10390 110 25 the the DET ajst-10390 110 26 target target NOUN ajst-10390 110 27 point point NOUN ajst-10390 110 28 is be AUX ajst-10390 110 29 2 2 NUM ajst-10390 110 30 m/s m/s NUM ajst-10390 110 31 . . PUNCT ajst-10390 111 1 the the DET ajst-10390 111 2 simulation simulation NOUN ajst-10390 111 3 results result NOUN ajst-10390 111 4 verify verify VERB ajst-10390 111 5 that that SCONJ ajst-10390 111 6 the the DET ajst-10390 111 7 algorithm algorithm NOUN ajst-10390 111 8 proposed propose VERB ajst-10390 111 9 in in ADP ajst-10390 111 10 this this DET ajst-10390 111 11 paper paper NOUN ajst-10390 111 12 can can AUX ajst-10390 111 13 realize realize VERB ajst-10390 111 14 the the DET ajst-10390 111 15 coordinated coordinate VERB ajst-10390 111 16 obstacle obstacle NOUN ajst-10390 111 17 avoidance avoidance NOUN ajst-10390 111 18 of of ADP ajst-10390 111 19 the the DET ajst-10390 111 20 uav uav PROPN ajst-10390 111 21 group group NOUN ajst-10390 111 22 . . PUNCT ajst-10390 112 1 figure figure VERB ajst-10390 112 2 8 8 NUM ajst-10390 112 3 . . PUNCT ajst-10390 113 1 many many ADJ ajst-10390 113 2 drones drone NOUN ajst-10390 113 3 encounter encounter VERB ajst-10390 113 4 obstacles obstacle NOUN ajst-10390 113 5 figure figure VERB ajst-10390 113 6 9 9 NUM ajst-10390 113 7 . . PUNCT ajst-10390 114 1 multiple multiple ADJ ajst-10390 114 2 drones drone NOUN ajst-10390 114 3 work work VERB ajst-10390 114 4 together together ADV ajst-10390 114 5 to to PART ajst-10390 114 6 avoid avoid VERB ajst-10390 114 7 obstacles obstacle NOUN ajst-10390 114 8 figure figure NOUN ajst-10390 114 9 10 10 NUM ajst-10390 114 10 . . PUNCT ajst-10390 115 1 multiple multiple ADJ ajst-10390 115 2 drones drone NOUN ajst-10390 115 3 successfully successfully ADV ajst-10390 115 4 avoid avoid VERB ajst-10390 115 5 obstacles obstacle NOUN ajst-10390 115 6 figure figure NOUN ajst-10390 115 7 11 11 NUM ajst-10390 115 8 . . PUNCT ajst-10390 116 1 multiple multiple ADJ ajst-10390 116 2 drones drone NOUN ajst-10390 116 3 fly fly AUX ajst-10390 116 4 collaboratively collaboratively ADV ajst-10390 116 5 figure figure VERB ajst-10390 116 6 12 12 NUM ajst-10390 116 7 . . PUNCT ajst-10390 117 1 multiple multiple ADJ ajst-10390 117 2 drones drone NOUN ajst-10390 117 3 encounter encounter VERB ajst-10390 117 4 obstacles obstacle NOUN ajst-10390 117 5 figure figure VERB ajst-10390 117 6 13 13 NUM ajst-10390 117 7 . . PUNCT ajst-10390 118 1 multiple multiple ADJ ajst-10390 118 2 drones drone NOUN ajst-10390 118 3 reach reach VERB ajst-10390 118 4 near near ADP ajst-10390 118 5 the the DET ajst-10390 118 6 target target NOUN ajst-10390 118 7 point point NOUN ajst-10390 118 8 at at ADP ajst-10390 118 9 the the DET ajst-10390 118 10 same same ADJ ajst-10390 118 11 time time NOUN ajst-10390 118 12 99 99 NUM ajst-10390 118 13 figure figure NOUN ajst-10390 118 14 14 14 NUM ajst-10390 118 15 . . PUNCT ajst-10390 119 1 distance distance NOUN ajst-10390 119 2 curve curve NOUN ajst-10390 119 3 between between ADP ajst-10390 119 4 drones drone NOUN ajst-10390 119 5 7 7 NUM ajst-10390 119 6 . . PUNCT ajst-10390 119 7 conclusion conclusion NOUN ajst-10390 119 8 this this DET ajst-10390 119 9 paper paper NOUN ajst-10390 119 10 adopts adopt VERB ajst-10390 119 11 the the DET ajst-10390 119 12 artificial artificial ADJ ajst-10390 119 13 potential potential ADJ ajst-10390 119 14 field field NOUN ajst-10390 119 15 method method NOUN ajst-10390 119 16 for for ADP ajst-10390 119 17 uav uav PROPN ajst-10390 119 18 cluster cluster NOUN ajst-10390 119 19 obstacle obstacle NOUN ajst-10390 119 20 avoidance avoidance NOUN ajst-10390 120 1 [ [ X ajst-10390 120 2 11 11 NUM ajst-10390 120 3 ] ] PUNCT ajst-10390 120 4 , , PUNCT ajst-10390 121 1 and and CCONJ ajst-10390 121 2 introduces introduce VERB ajst-10390 121 3 the the DET ajst-10390 121 4 relative relative ADJ ajst-10390 121 5 speed speed NOUN ajst-10390 121 6 potential potential ADJ ajst-10390 121 7 field field NOUN ajst-10390 121 8 between between ADP ajst-10390 121 9 the the DET ajst-10390 121 10 uav uav PROPN ajst-10390 121 11 and and CCONJ ajst-10390 121 12 the the DET ajst-10390 121 13 obstacle obstacle NOUN ajst-10390 121 14 , , PUNCT ajst-10390 121 15 which which PRON ajst-10390 121 16 can can AUX ajst-10390 121 17 improve improve VERB ajst-10390 121 18 the the DET ajst-10390 121 19 efficiency efficiency NOUN ajst-10390 121 20 of of ADP ajst-10390 121 21 avoiding avoid VERB ajst-10390 121 22 dynamic dynamic ADJ ajst-10390 121 23 obstacles obstacle NOUN ajst-10390 121 24 . . PUNCT ajst-10390 122 1 combined combine VERB ajst-10390 122 2 with with ADP ajst-10390 122 3 the the DET ajst-10390 122 4 formation formation NOUN ajst-10390 122 5 theory theory NOUN ajst-10390 122 6 algorithm algorithm NOUN ajst-10390 122 7 and and CCONJ ajst-10390 122 8 the the DET ajst-10390 122 9 uav uav PROPN ajst-10390 122 10 obstacle obstacle NOUN ajst-10390 122 11 avoidance avoidance NOUN ajst-10390 122 12 algorithm algorithm NOUN ajst-10390 122 13 , , PUNCT ajst-10390 122 14 the the DET ajst-10390 122 15 pilot pilot NOUN ajst-10390 122 16 can can AUX ajst-10390 122 17 keep keep VERB ajst-10390 122 18 the the DET ajst-10390 122 19 uav uav PROPN ajst-10390 122 20 group group NOUN ajst-10390 122 21 in in ADP ajst-10390 122 22 formation formation NOUN ajst-10390 122 23 and and CCONJ ajst-10390 122 24 pass pass VERB ajst-10390 122 25 through through ADP ajst-10390 122 26 the the DET ajst-10390 122 27 obstacle obstacle NOUN ajst-10390 122 28 avoidance avoidance NOUN ajst-10390 122 29 path path NOUN ajst-10390 122 30 . . PUNCT ajst-10390 123 1 in in ADP ajst-10390 123 2 the the DET ajst-10390 123 3 operation operation NOUN ajst-10390 123 4 , , PUNCT ajst-10390 123 5 you you PRON ajst-10390 123 6 can can AUX ajst-10390 123 7 choose choose VERB ajst-10390 123 8 the the DET ajst-10390 123 9 optimal optimal ADJ ajst-10390 123 10 path path NOUN ajst-10390 123 11 to to PART ajst-10390 123 12 bypass bypass VERB ajst-10390 123 13 the the DET ajst-10390 123 14 obstacle obstacle NOUN ajst-10390 123 15 and and CCONJ ajst-10390 123 16 make make VERB ajst-10390 123 17 the the DET ajst-10390 123 18 drone drone NOUN ajst-10390 123 19 formation formation NOUN ajst-10390 123 20 fly fly VERB ajst-10390 123 21 to to ADP ajst-10390 123 22 the the DET ajst-10390 123 23 target target NOUN ajst-10390 123 24 point point NOUN ajst-10390 123 25 . . PUNCT ajst-10390 124 1 references reference NOUN ajst-10390 124 2 [ [ X ajst-10390 124 3 1 1 NUM ajst-10390 124 4 ] ] PUNCT ajst-10390 124 5 xiong xiong PROPN ajst-10390 124 6 chao chao PROPN ajst-10390 124 7 , , PUNCT ajst-10390 124 8 xie xie PROPN ajst-10390 124 9 wujie wujie PROPN ajst-10390 124 10 , , PUNCT ajst-10390 124 11 dong dong NOUN ajst-10390 124 12 wenhan wenhan NOUN ajst-10390 124 13 . . PUNCT ajst-10390 125 1 uav uav PROPN ajst-10390 125 2 obstacle obstacle PROPN ajst-10390 125 3 avoidance avoidance PROPN ajst-10390 125 4 path path PROPN ajst-10390 125 5 planning planning NOUN ajst-10390 125 6 based base VERB ajst-10390 125 7 on on ADP ajst-10390 125 8 collision collision NOUN ajst-10390 125 9 cone cone NOUN ajst-10390 125 10 to to PART ajst-10390 125 11 improve improve VERB ajst-10390 125 12 artificial artificial ADJ ajst-10390 125 13 potential potential ADJ ajst-10390 125 14 field field NOUN ajst-10390 126 1 [ [ X ajst-10390 126 2 j j X ajst-10390 126 3 ] ] X ajst-10390 126 4 . . PUNCT ajst-10390 127 1 computer computer NOUN ajst-10390 127 2 engineering engineering NOUN ajst-10390 127 3 , , PUNCT ajst-10390 127 4 2018 2018 NUM ajst-10390 127 5 , , PUNCT ajst-10390 127 6 44(9 44(9 NUM ajst-10390 127 7 ): ): PUNCT ajst-10390 127 8 314 314 NUM ajst-10390 127 9 - - SYM ajst-10390 127 10 320 320 NUM ajst-10390 127 11 [ [ SYM ajst-10390 127 12 2 2 NUM ajst-10390 127 13 ] ] PUNCT ajst-10390 127 14 yuan yuan PROPN ajst-10390 127 15 yaxiang yaxiang PROPN ajst-10390 127 16 , , PUNCT ajst-10390 127 17 sun sun NOUN ajst-10390 127 18 wenyu wenyu NOUN ajst-10390 127 19 . . PUNCT ajst-10390 128 1 optimization optimization NOUN ajst-10390 128 2 theory theory NOUN ajst-10390 128 3 and and CCONJ ajst-10390 128 4 method method NOUN ajst-10390 129 1 [ [ X ajst-10390 130 1 m m X ajst-10390 130 2 ] ] X ajst-10390 130 3 . . PUNCT ajst-10390 131 1 science science NOUN ajst-10390 131 2 press press PROPN ajst-10390 131 3 , , PUNCT ajst-10390 131 4 1997 1997 NUM ajst-10390 131 5 . . PUNCT ajst-10390 132 1 [ [ X ajst-10390 132 2 3 3 X ajst-10390 132 3 ] ] X ajst-10390 132 4 yu yu PROPN ajst-10390 132 5 xiang xiang PROPN ajst-10390 132 6 , , PUNCT ajst-10390 132 7 jiang jiang PROPN ajst-10390 132 8 chen chen PROPN ajst-10390 132 9 , , PUNCT ajst-10390 132 10 duan duan PROPN ajst-10390 132 11 sirui sirui PROPN ajst-10390 132 12 , , PUNCT ajst-10390 132 13 etc etc X ajst-10390 132 14 . . X ajst-10390 132 15 improved improve VERB ajst-10390 132 16 path path NOUN ajst-10390 132 17 planning planning NOUN ajst-10390 132 18 of of ADP ajst-10390 132 19 a a DET ajst-10390 132 20 * * ADJ ajst-10390 132 21 algorithm algorithm NOUN ajst-10390 132 22 and and CCONJ ajst-10390 132 23 artificial artificial ADJ ajst-10390 132 24 potential potential ADJ ajst-10390 132 25 field field NOUN ajst-10390 132 26 method method NOUN ajst-10390 132 27 [ [ X ajst-10390 132 28 j j X ajst-10390 132 29 / / SYM ajst-10390 132 30 ol ol PROPN ajst-10390 132 31 ] ] PUNCT ajst-10390 132 32 . . PUNCT ajst-10390 133 1 journal journal PROPN ajst-10390 133 2 of of ADP ajst-10390 133 3 system system NOUN ajst-10390 133 4 simulation simulation NOUN ajst-10390 133 5 : : PUNCT ajst-10390 133 6 1 1 NUM ajst-10390 133 7 - - SYM ajst-10390 133 8 12 12 NUM ajst-10390 134 1 [ [ X ajst-10390 134 2 2023 2023 NUM ajst-10390 134 3 - - SYM ajst-10390 134 4 07 07 NUM ajst-10390 134 5 - - PUNCT ajst-10390 134 6 11 11 NUM ajst-10390 134 7 ] ] PUNCT ajst-10390 134 8 . . PUNCT ajst-10390 135 1 doi:10.16182 doi:10.16182 PROPN ajst-10390 135 2 / / SYM ajst-10390 135 3 j.issn1004731x.joss.23 j.issn1004731x.joss.23 PROPN ajst-10390 135 4 - - PUNCT ajst-10390 135 5 0255 0255 NUM ajst-10390 135 6 . . PUNCT ajst-10390 136 1 [ [ X ajst-10390 136 2 4 4 NUM ajst-10390 136 3 ] ] PUNCT ajst-10390 136 4 khatibo.real khatibo.real ADJ ajst-10390 136 5 - - PUNCT ajst-10390 136 6 time time NOUN ajst-10390 136 7 obstacle obstacle NOUN ajst-10390 136 8 avoidance avoidance NOUN ajst-10390 136 9 for for ADP ajst-10390 136 10 manipulators manipulator NOUN ajst-10390 136 11 and and CCONJ ajst-10390 136 12 mobile mobile ADJ ajst-10390 136 13 robots[c robots[c NOUN ajst-10390 136 14 ] ] PUNCT ajst-10390 136 15 pro pro ADJ ajst-10390 136 16 - - ADJ ajst-10390 136 17 ceedings.1985 ceedings.1985 PRON ajst-10390 136 18 ieee ieee NOUN ajst-10390 136 19 international international ADJ ajst-10390 136 20 conference conference NOUN ajst-10390 136 21 on on ADP ajst-10390 136 22 robotics robotic NOUN ajst-10390 136 23 and and CCONJ ajst-10390 136 24 automation automation NOUN ajst-10390 136 25 international international PROPN ajst-10390 136 26 journal journal PROPN ajst-10390 136 27 research research NOUN ajst-10390 136 28 of of ADP ajst-10390 136 29 robotics.st.louis robotics.st.louis NOUN ajst-10390 136 30 : : PUNCT ajst-10390 136 31 ieee,2003:90 ieee,2003:90 NOUN ajst-10390 136 32 - - X ajst-10390 136 33 98 98 NUM ajst-10390 136 34 . . PUNCT ajst-10390 137 1 [ [ X ajst-10390 137 2 5 5 NUM ajst-10390 137 3 ] ] X ajst-10390 137 4 guo guo PROPN ajst-10390 137 5 yinjing yinjing PROPN ajst-10390 137 6 , , PUNCT ajst-10390 137 7 liu liu PROPN ajst-10390 137 8 qi qi PROPN ajst-10390 137 9 , , PUNCT ajst-10390 137 10 bao bao PROPN ajst-10390 137 11 jiankang jiankang PROPN ajst-10390 137 12 , , PUNCT ajst-10390 137 13 etc etc X ajst-10390 137 14 . . X ajst-10390 137 15 review review NOUN ajst-10390 137 16 of of ADP ajst-10390 137 17 the the DET ajst-10390 137 18 research research NOUN ajst-10390 137 19 on on ADP ajst-10390 137 20 auv auv PROPN ajst-10390 137 21 obstacle obstacle NOUN ajst-10390 137 22 avoidance avoidance NOUN ajst-10390 137 23 algorithm algorithm NOUN ajst-10390 137 24 based base VERB ajst-10390 137 25 on on ADP ajst-10390 137 26 artificial artificial ADJ ajst-10390 137 27 potential potential ADJ ajst-10390 137 28 field field NOUN ajst-10390 137 29 method method NOUN ajst-10390 138 1 [ [ X ajst-10390 138 2 j j X ajst-10390 138 3 ] ] X ajst-10390 138 4 . . PUNCT ajst-10390 139 1 computer computer NOUN ajst-10390 139 2 engineering engineering NOUN ajst-10390 139 3 and and CCONJ ajst-10390 139 4 applications application NOUN ajst-10390 139 5 , , PUNCT ajst-10390 139 6 2020 2020 NUM ajst-10390 139 7 , , PUNCT ajst-10390 139 8 56 56 NUM ajst-10390 139 9 ( ( PUNCT ajst-10390 139 10 4):16 4):16 NUM ajst-10390 139 11 - - SYM ajst-10390 139 12 23 23 NUM ajst-10390 139 13 . . PUNCT ajst-10390 140 1 [ [ X ajst-10390 140 2 6 6 NUM ajst-10390 140 3 ] ] X ajst-10390 140 4 luo luo PROPN ajst-10390 140 5 qiang qiang PROPN ajst-10390 140 6 , , PUNCT ajst-10390 140 7 wang wang PROPN ajst-10390 140 8 haibao haibao PROPN ajst-10390 140 9 , , PUNCT ajst-10390 140 10 cui cui PROPN ajst-10390 140 11 xiaojin xiaojin VERB ajst-10390 140 12 , , PUNCT ajst-10390 140 13 etc etc X ajst-10390 140 14 . . X ajst-10390 140 15 improve improve VERB ajst-10390 140 16 the the DET ajst-10390 140 17 path path NOUN ajst-10390 140 18 planning planning NOUN ajst-10390 140 19 of of ADP ajst-10390 140 20 autonomous autonomous ADJ ajst-10390 140 21 mobile mobile ADJ ajst-10390 140 22 robots robot NOUN ajst-10390 140 23 by by ADP ajst-10390 140 24 artificial artificial ADJ ajst-10390 140 25 potential potential ADJ ajst-10390 140 26 field field NOUN ajst-10390 140 27 method method NOUN ajst-10390 140 28 [ [ X ajst-10390 140 29 j j X ajst-10390 140 30 ] ] X ajst-10390 140 31 . . PUNCT ajst-10390 141 1 control control PROPN ajst-10390 141 2 engineering engineering PROPN ajst-10390 141 3 , , PUNCT ajst-10390 141 4 2019 2019 NUM ajst-10390 141 5 , , PUNCT ajst-10390 141 6 26(6):1091 26(6):1091 PROPN ajst-10390 141 7 - - NOUN ajst-10390 141 8 1098 1098 NUM ajst-10390 141 9 . . PUNCT ajst-10390 142 1 [ [ X ajst-10390 142 2 7 7 X ajst-10390 142 3 ] ] X ajst-10390 142 4 qin qin NOUN ajst-10390 142 5 wenjing wenjing PROPN ajst-10390 142 6 , , PUNCT ajst-10390 142 7 lin lin PROPN ajst-10390 142 8 yong yong PROPN ajst-10390 142 9 , , PUNCT ajst-10390 142 10 qi qi PROPN ajst-10390 142 11 guoqing guoqing NOUN ajst-10390 142 12 . . PUNCT ajst-10390 143 1 research research NOUN ajst-10390 143 2 on on ADP ajst-10390 143 3 consistencybased consistencybase VERB ajst-10390 143 4 uav uav PROPN ajst-10390 143 5 formation formation NOUN ajst-10390 143 6 formation formation NOUN ajst-10390 143 7 and and CCONJ ajst-10390 143 8 collision collision NOUN ajst-10390 143 9 prevention prevention NOUN ajst-10390 144 1 [ [ X ajst-10390 144 2 j j X ajst-10390 144 3 ] ] X ajst-10390 144 4 . . PUNCT ajst-10390 145 1 electronic electronic ADJ ajst-10390 145 2 design design NOUN ajst-10390 145 3 engineering engineering NOUN ajst-10390 145 4 , , PUNCT ajst-10390 145 5 2018 2018 NUM ajst-10390 145 6 , , PUNCT ajst-10390 145 7 26 26 NUM ajst-10390 145 8 ( ( PUNCT ajst-10390 145 9 9 9 NUM ajst-10390 145 10 ) ) PUNCT ajst-10390 145 11 . . PUNCT ajst-10390 146 1 [ [ X ajst-10390 146 2 8 8 X ajst-10390 146 3 ] ] X ajst-10390 146 4 ding ding NOUN ajst-10390 146 5 jiaru jiaru NOUN ajst-10390 146 6 , , PUNCT ajst-10390 146 7 du du PROPN ajst-10390 146 8 changping changping NOUN ajst-10390 146 9 , , PUNCT ajst-10390 146 10 zhao zhao PROPN ajst-10390 146 11 yao yao PROPN ajst-10390 146 12 , , PUNCT ajst-10390 146 13 etc etc X ajst-10390 146 14 . . X ajst-10390 146 15 uav uav PROPN ajst-10390 146 16 path path PROPN ajst-10390 146 17 planning planning NOUN ajst-10390 146 18 algorithm algorithm NOUN ajst-10390 146 19 based base VERB ajst-10390 146 20 on on ADP ajst-10390 146 21 improved improve VERB ajst-10390 146 22 artificial artificial ADJ ajst-10390 146 23 potential potential ADJ ajst-10390 146 24 field field NOUN ajst-10390 146 25 method method NOUN ajst-10390 146 26 [ [ X ajst-10390 146 27 j j X ajst-10390 146 28 ] ] X ajst-10390 146 29 . . PUNCT ajst-10390 147 1 computer computer NOUN ajst-10390 147 2 applications application NOUN ajst-10390 147 3 , , PUNCT ajst-10390 147 4 2016 2016 NUM ajst-10390 147 5 , , PUNCT ajst-10390 147 6 36 36 NUM ajst-10390 147 7 ( ( PUNCT ajst-10390 147 8 1 1 NUM ajst-10390 147 9 ): ): PUNCT ajst-10390 147 10 287 287 NUM ajst-10390 147 11 - - SYM ajst-10390 147 12 290 290 NUM ajst-10390 147 13 . . PUNCT ajst-10390 148 1 [ [ X ajst-10390 148 2 9 9 NUM ajst-10390 148 3 ] ] X ajst-10390 148 4 zhang zhang PROPN ajst-10390 148 5 jialong jialong PROPN ajst-10390 148 6 , , PUNCT ajst-10390 148 7 yan yan PROPN ajst-10390 148 8 jianguo jianguo PROPN ajst-10390 148 9 , , PUNCT ajst-10390 148 10 zhang zhang PROPN ajst-10390 148 11 pu pu PROPN ajst-10390 148 12 , , PUNCT ajst-10390 148 13 etc etc X ajst-10390 148 14 . . X ajst-10390 148 15 research research NOUN ajst-10390 148 16 on on ADP ajst-10390 148 17 obstacle obstacle NOUN ajst-10390 148 18 avoidance avoidance NOUN ajst-10390 148 19 control control NOUN ajst-10390 148 20 of of ADP ajst-10390 148 21 uav uav PROPN ajst-10390 148 22 formation formation NOUN ajst-10390 148 23 based base VERB ajst-10390 148 24 on on ADP ajst-10390 148 25 improving improve VERB ajst-10390 148 26 artificial artificial ADJ ajst-10390 148 27 potential potential ADJ ajst-10390 148 28 field field NOUN ajst-10390 149 1 [ [ X ajst-10390 149 2 j j X ajst-10390 149 3 ] ] X ajst-10390 149 4 . . PUNCT ajst-10390 150 1 journal journal PROPN ajst-10390 150 2 of of ADP ajst-10390 150 3 xi'an xi'an PROPN ajst-10390 150 4 jiaotong jiaotong PROPN ajst-10390 150 5 university university PROPN ajst-10390 150 6 , , PUNCT ajst-10390 150 7 2018 2018 NUM ajst-10390 150 8 , , PUNCT ajst-10390 150 9 52 52 NUM ajst-10390 150 10 . . PUNCT ajst-10390 151 1 [ [ X ajst-10390 151 2 10 10 NUM ajst-10390 151 3 ] ] X ajst-10390 151 4 wang wang PROPN ajst-10390 151 5 wensheng wensheng PROPN ajst-10390 151 6 , , PUNCT ajst-10390 151 7 li li PROPN ajst-10390 151 8 shi shi PROPN ajst-10390 151 9 jiao jiao PROPN ajst-10390 151 10 . . PUNCT ajst-10390 151 11 smart smart ADJ ajst-10390 151 12 car car NOUN ajst-10390 151 13 design design NOUN ajst-10390 151 14 based base VERB ajst-10390 151 15 on on ADP ajst-10390 151 16 monocular monocular ADJ ajst-10390 151 17 vision vision NOUN ajst-10390 151 18 sensor sensor NOUN ajst-10390 151 19 obstacle obstacle NOUN ajst-10390 151 20 avoidance avoidance NOUN ajst-10390 151 21 [ [ X ajst-10390 151 22 j].sensors j].sensor NOUN ajst-10390 151 23 and and CCONJ ajst-10390 151 24 microsystems microsystem NOUN ajst-10390 151 25 , , PUNCT ajst-10390 151 26 2023,42(04):119 2023,42(04):119 NUM ajst-10390 151 27 - - SYM ajst-10390 151 28 122 122 NUM ajst-10390 151 29 . . PUNCT ajst-10390 151 30 doi:10.13873 doi:10.13873 PROPN ajst-10390 151 31 / / SYM ajst-10390 152 1 j.10009787(2023)04 j.10009787(2023)04 PROPN ajst-10390 152 2 - - PUNCT ajst-10390 152 3 0119 0119 NUM ajst-10390 152 4 - - PUNCT ajst-10390 152 5 04 04 NUM ajst-10390 152 6 . . PUNCT ajst-10390 153 1 [ [ X ajst-10390 153 2 11 11 NUM ajst-10390 153 3 ] ] X ajst-10390 153 4 wu wu PROPN ajst-10390 153 5 xuesong xuesong PROPN ajst-10390 153 6 , , PUNCT ajst-10390 153 7 yang yang PROPN ajst-10390 153 8 xinmin xinmin PROPN ajst-10390 153 9 . . PROPN ajst-10390 154 1 preliminary preliminary ADJ ajst-10390 154 2 exploration exploration NOUN ajst-10390 154 3 of of ADP ajst-10390 154 4 uav uav PROPN ajst-10390 154 5 cluster cluster NOUN ajst-10390 154 6 c2 c2 PROPN ajst-10390 154 7 intelligent intelligent ADJ ajst-10390 154 8 system system NOUN ajst-10390 155 1 [ [ X ajst-10390 155 2 j j X ajst-10390 155 3 ] ] X ajst-10390 155 4 . . PUNCT ajst-10390 156 1 journal journal PROPN ajst-10390 156 2 of of ADP ajst-10390 156 3 the the DET ajst-10390 156 4 chinese chinese PROPN ajst-10390 156 5 academy academy PROPN ajst-10390 156 6 of of ADP ajst-10390 156 7 electronic electronic ADJ ajst-10390 156 8 sciences science NOUN ajst-10390 156 9 , , PUNCT ajst-10390 156 10 2018 2018 NUM ajst-10390 156 11 , , PUNCT ajst-10390 156 12 13 13 NUM ajst-10390 156 13 ( ( PUNCT ajst-10390 156 14 05 05 NUM ajst-10390 156 15 ): ): PUNCT ajst-10390 156 16 515 515 NUM ajst-10390 156 17 - - SYM ajst-10390 156 18 519 519 NUM ajst-10390 156 19 . . PUNCT