id	sid	tid	token	lemma	pos
ajst-23742	1	1	academic	academic	ADJ
ajst-23742	1	2	journal	journal	NOUN
ajst-23742	1	3	of	of	ADP
ajst-23742	1	4	science	science	NOUN
ajst-23742	1	5	and	and	CCONJ
ajst-23742	1	6	technology	technology	NOUN
ajst-23742	1	7	issn	issn	NOUN
ajst-23742	1	8	:	:	PUNCT
ajst-23742	1	9	2771	2771	NUM
ajst-23742	1	10	-	-	SYM
ajst-23742	1	11	3032	3032	NUM
ajst-23742	1	12	|	|	NOUN
ajst-23742	1	13	vol	vol	NOUN
ajst-23742	1	14	.	.	PROPN
ajst-23742	2	1	11	11	NUM
ajst-23742	2	2	,	,	PUNCT
ajst-23742	2	3	no	no	INTJ
ajst-23742	2	4	.	.	NOUN
ajst-23742	2	5	3	3	NUM
ajst-23742	2	6	,	,	PUNCT
ajst-23742	2	7	2024	2024	NUM
ajst-23742	2	8	198	198	NUM
ajst-23742	2	9	intelligent	intelligent	ADJ
ajst-23742	2	10	decision	decision	NOUN
ajst-23742	2	11	and	and	CCONJ
ajst-23742	2	12	path	path	NOUN
ajst-23742	2	13	planning	planning	NOUN
ajst-23742	2	14	algorithm	algorithm	NOUN
ajst-23742	2	15	of	of	ADP
ajst-23742	2	16	agv	agv	NOUN
ajst-23742	2	17	vehicle	vehicle	NOUN
ajst-23742	2	18	based	base	VERB
ajst-23742	2	19	on	on	ADP
ajst-23742	2	20	deep	deep	ADJ
ajst-23742	2	21	learning	learning	NOUN
ajst-23742	2	22	hongwei	hongwei	PROPN
ajst-23742	2	23	huang	huang	PROPN
ajst-23742	2	24	1	1	NUM
ajst-23742	2	25	,	,	PUNCT
ajst-23742	2	26	xiangda	xiangda	PROPN
ajst-23742	2	27	wang	wang	PROPN
ajst-23742	2	28	2	2	NUM
ajst-23742	2	29	,	,	PUNCT
ajst-23742	2	30	xinyu	xinyu	PROPN
ajst-23742	2	31	song	song	PROPN
ajst-23742	2	32	1	1	NUM
ajst-23742	2	33	,	,	PUNCT
ajst-23742	2	34	renyu	renyu	PROPN
ajst-23742	2	35	yang	yang	PROPN
ajst-23742	2	36	3	3	NUM
ajst-23742	2	37	,	,	PUNCT
ajst-23742	2	38	run	run	VERB
ajst-23742	2	39	guo	guo	PROPN
ajst-23742	2	40	4	4	NUM
ajst-23742	2	41	,	,	PUNCT
ajst-23742	2	42	shuyang	shuyang	PROPN
ajst-23742	2	43	liu	liu	PROPN
ajst-23742	2	44	1	1	PROPN
ajst-23742	2	45	,	,	PUNCT
ajst-23742	2	46	*	*	PROPN
ajst-23742	2	47	1	1	NUM
ajst-23742	2	48	college	college	NOUN
ajst-23742	2	49	of	of	ADP
ajst-23742	2	50	information	information	NOUN
ajst-23742	2	51	engineering	engineering	PROPN
ajst-23742	2	52	,	,	PUNCT
ajst-23742	2	53	shanghai	shanghai	PROPN
ajst-23742	2	54	maritime	maritime	PROPN
ajst-23742	2	55	university	university	PROPN
ajst-23742	2	56	,	,	PUNCT
ajst-23742	2	57	shanghai	shanghai	PROPN
ajst-23742	2	58	,	,	PUNCT
ajst-23742	2	59	china	china	PROPN
ajst-23742	2	60	2	2	NUM
ajst-23742	2	61	school	school	NOUN
ajst-23742	2	62	of	of	ADP
ajst-23742	2	63	mechatronic	mechatronic	ADJ
ajst-23742	2	64	engineering	engineering	NOUN
ajst-23742	2	65	and	and	CCONJ
ajst-23742	2	66	automation	automation	NOUN
ajst-23742	2	67	,	,	PUNCT
ajst-23742	2	68	shanghai	shanghai	PROPN
ajst-23742	2	69	university	university	PROPN
ajst-23742	2	70	,	,	PUNCT
ajst-23742	2	71	shanghai	shanghai	PROPN
ajst-23742	2	72	,	,	PUNCT
ajst-23742	2	73	china	china	PROPN
ajst-23742	2	74	3	3	NUM
ajst-23742	2	75	business	business	NOUN
ajst-23742	2	76	school	school	NOUN
ajst-23742	2	77	,	,	PUNCT
ajst-23742	2	78	university	university	NOUN
ajst-23742	2	79	of	of	ADP
ajst-23742	2	80	shanghai	shanghai	PROPN
ajst-23742	2	81	for	for	ADP
ajst-23742	2	82	science	science	NOUN
ajst-23742	2	83	and	and	CCONJ
ajst-23742	2	84	technology	technology	NOUN
ajst-23742	2	85	,	,	PUNCT
ajst-23742	2	86	china	china	PROPN
ajst-23742	2	87	4	4	NUM
ajst-23742	2	88	shanghai	shanghai	PROPN
ajst-23742	2	89	university	university	PROPN
ajst-23742	2	90	of	of	ADP
ajst-23742	2	91	political	political	ADJ
ajst-23742	2	92	science	science	NOUN
ajst-23742	2	93	and	and	CCONJ
ajst-23742	2	94	law	law	NOUN
ajst-23742	2	95	,	,	PUNCT
ajst-23742	2	96	language	language	NOUN
ajst-23742	2	97	and	and	CCONJ
ajst-23742	2	98	culture	culture	NOUN
ajst-23742	2	99	college	college	PROPN
ajst-23742	2	100	(	(	PUNCT
ajst-23742	2	101	international	international	ADJ
ajst-23742	2	102	exchange	exchange	NOUN
ajst-23742	2	103	college	college	PROPN
ajst-23742	2	104	)	)	PUNCT
ajst-23742	2	105	,	,	PUNCT
ajst-23742	2	106	china	china	PROPN
ajst-23742	2	107	*	*	PUNCT
ajst-23742	2	108	corresponding	correspond	VERB
ajst-23742	2	109	author	author	NOUN
ajst-23742	2	110	:	:	PUNCT
ajst-23742	3	1	shuyang	shuyang	PROPN
ajst-23742	3	2	liu	liu	PROPN
ajst-23742	3	3	(	(	PUNCT
ajst-23742	3	4	email	email	NOUN
ajst-23742	3	5	:	:	PUNCT
ajst-23742	3	6	lsy201922@163.com	lsy201922@163.com	X
ajst-23742	3	7	)	)	PUNCT
ajst-23742	3	8	abstract	abstract	NOUN
ajst-23742	3	9	:	:	PUNCT
ajst-23742	3	10	with	with	ADP
ajst-23742	3	11	the	the	DET
ajst-23742	3	12	widespread	widespread	ADJ
ajst-23742	3	13	application	application	NOUN
ajst-23742	3	14	of	of	ADP
ajst-23742	3	15	intelligent	intelligent	ADJ
ajst-23742	3	16	unmanned	unmanned	ADJ
ajst-23742	3	17	vehicles	vehicle	NOUN
ajst-23742	3	18	,	,	PUNCT
ajst-23742	3	19	intelligent	intelligent	ADJ
ajst-23742	3	20	navigation	navigation	NOUN
ajst-23742	3	21	,	,	PUNCT
ajst-23742	3	22	path	path	NOUN
ajst-23742	3	23	planning	planning	NOUN
ajst-23742	3	24	,	,	PUNCT
ajst-23742	3	25	and	and	CCONJ
ajst-23742	3	26	obstacle	obstacle	NOUN
ajst-23742	3	27	avoidance	avoidance	NOUN
ajst-23742	3	28	technologies	technology	NOUN
ajst-23742	3	29	have	have	AUX
ajst-23742	3	30	become	become	VERB
ajst-23742	3	31	important	important	ADJ
ajst-23742	3	32	research	research	NOUN
ajst-23742	3	33	topics	topic	NOUN
ajst-23742	3	34	.	.	PUNCT
ajst-23742	4	1	this	this	DET
ajst-23742	4	2	paper	paper	NOUN
ajst-23742	4	3	proposes	propose	VERB
ajst-23742	4	4	an	an	DET
ajst-23742	4	5	agv	agv	NOUN
ajst-23742	4	6	(	(	PUNCT
ajst-23742	4	7	automated	automate	VERB
ajst-23742	4	8	guided	guide	VERB
ajst-23742	4	9	vehicle	vehicle	NOUN
ajst-23742	4	10	)	)	PUNCT
ajst-23742	4	11	intelligent	intelligent	ADJ
ajst-23742	4	12	decision	decision	NOUN
ajst-23742	4	13	-	-	PUNCT
ajst-23742	4	14	making	make	VERB
ajst-23742	4	15	and	and	CCONJ
ajst-23742	4	16	path	path	NOUN
ajst-23742	4	17	planning	planning	NOUN
ajst-23742	4	18	algorithm	algorithm	NOUN
ajst-23742	4	19	based	base	VERB
ajst-23742	4	20	on	on	ADP
ajst-23742	4	21	deep	deep	ADJ
ajst-23742	4	22	learning	learning	NOUN
ajst-23742	4	23	.	.	PUNCT
ajst-23742	5	1	this	this	DET
ajst-23742	5	2	algorithm	algorithm	NOUN
ajst-23742	5	3	uses	use	VERB
ajst-23742	5	4	environmental	environmental	ADJ
ajst-23742	5	5	information	information	NOUN
ajst-23742	5	6	to	to	PART
ajst-23742	5	7	trace	trace	VERB
ajst-23742	5	8	a	a	DET
ajst-23742	5	9	route	route	NOUN
ajst-23742	5	10	to	to	ADP
ajst-23742	5	11	the	the	DET
ajst-23742	5	12	target	target	NOUN
ajst-23742	5	13	point	point	NOUN
ajst-23742	5	14	while	while	SCONJ
ajst-23742	5	15	avoiding	avoid	VERB
ajst-23742	5	16	both	both	CCONJ
ajst-23742	5	17	static	static	ADJ
ajst-23742	5	18	and	and	CCONJ
ajst-23742	5	19	dynamic	dynamic	ADJ
ajst-23742	5	20	obstacles	obstacle	NOUN
ajst-23742	5	21	,	,	PUNCT
ajst-23742	5	22	making	make	VERB
ajst-23742	5	23	it	it	PRON
ajst-23742	5	24	adaptable	adaptable	ADJ
ajst-23742	5	25	to	to	ADP
ajst-23742	5	26	different	different	ADJ
ajst-23742	5	27	environments	environment	NOUN
ajst-23742	5	28	.	.	PUNCT
ajst-23742	6	1	by	by	ADP
ajst-23742	6	2	employing	employ	VERB
ajst-23742	6	3	a	a	DET
ajst-23742	6	4	combination	combination	NOUN
ajst-23742	6	5	of	of	ADP
ajst-23742	6	6	global	global	ADJ
ajst-23742	6	7	planning	planning	NOUN
ajst-23742	6	8	and	and	CCONJ
ajst-23742	6	9	local	local	ADJ
ajst-23742	6	10	obstacle	obstacle	NOUN
ajst-23742	6	11	avoidance	avoidance	NOUN
ajst-23742	6	12	decision	decision	NOUN
ajst-23742	6	13	-	-	PUNCT
ajst-23742	6	14	making	making	NOUN
ajst-23742	6	15	,	,	PUNCT
ajst-23742	6	16	this	this	DET
ajst-23742	6	17	method	method	NOUN
ajst-23742	6	18	addresses	address	VERB
ajst-23742	6	19	the	the	DET
ajst-23742	6	20	path	path	NOUN
ajst-23742	6	21	planning	planning	NOUN
ajst-23742	6	22	problem	problem	NOUN
ajst-23742	6	23	with	with	ADP
ajst-23742	6	24	better	well	ADJ
ajst-23742	6	25	globality	globality	NOUN
ajst-23742	6	26	and	and	CCONJ
ajst-23742	6	27	robustness	robustness	NOUN
ajst-23742	6	28	,	,	PUNCT
ajst-23742	6	29	and	and	CCONJ
ajst-23742	6	30	the	the	DET
ajst-23742	6	31	obstacle	obstacle	NOUN
ajst-23742	6	32	avoidance	avoidance	NOUN
ajst-23742	6	33	problem	problem	NOUN
ajst-23742	6	34	with	with	ADP
ajst-23742	6	35	improved	improved	ADJ
ajst-23742	6	36	dynamism	dynamism	NOUN
ajst-23742	6	37	and	and	CCONJ
ajst-23742	6	38	generalizability	generalizability	NOUN
ajst-23742	6	39	,	,	PUNCT
ajst-23742	6	40	while	while	SCONJ
ajst-23742	6	41	also	also	ADV
ajst-23742	6	42	reducing	reduce	VERB
ajst-23742	6	43	iteration	iteration	NOUN
ajst-23742	6	44	time	time	NOUN
ajst-23742	6	45	.	.	PUNCT
ajst-23742	7	1	during	during	ADP
ajst-23742	7	2	the	the	DET
ajst-23742	7	3	network	network	NOUN
ajst-23742	7	4	training	training	NOUN
ajst-23742	7	5	phase	phase	NOUN
ajst-23742	7	6	,	,	PUNCT
ajst-23742	7	7	traditional	traditional	ADJ
ajst-23742	7	8	algorithms	algorithm	NOUN
ajst-23742	7	9	such	such	ADJ
ajst-23742	7	10	as	as	ADP
ajst-23742	7	11	pid	pid	NOUN
ajst-23742	7	12	and	and	CCONJ
ajst-23742	7	13	a	a	PRON
ajst-23742	7	14	*	*	PUNCT
ajst-23742	7	15	are	be	AUX
ajst-23742	7	16	integrated	integrate	VERB
ajst-23742	7	17	to	to	PART
ajst-23742	7	18	enhance	enhance	VERB
ajst-23742	7	19	the	the	DET
ajst-23742	7	20	convergence	convergence	NOUN
ajst-23742	7	21	speed	speed	NOUN
ajst-23742	7	22	and	and	CCONJ
ajst-23742	7	23	stability	stability	NOUN
ajst-23742	7	24	of	of	ADP
ajst-23742	7	25	the	the	DET
ajst-23742	7	26	proposed	propose	VERB
ajst-23742	7	27	method	method	NOUN
ajst-23742	7	28	.	.	PUNCT
ajst-23742	8	1	finally	finally	ADV
ajst-23742	8	2	,	,	PUNCT
ajst-23742	8	3	various	various	ADJ
ajst-23742	8	4	experimental	experimental	ADJ
ajst-23742	8	5	scenarios	scenario	NOUN
ajst-23742	8	6	for	for	ADP
ajst-23742	8	7	navigation	navigation	NOUN
ajst-23742	8	8	and	and	CCONJ
ajst-23742	8	9	obstacle	obstacle	NOUN
ajst-23742	8	10	avoidance	avoidance	NOUN
ajst-23742	8	11	were	be	AUX
ajst-23742	8	12	designed	design	VERB
ajst-23742	8	13	in	in	ADP
ajst-23742	8	14	the	the	DET
ajst-23742	8	15	robot	robot	NOUN
ajst-23742	8	16	operating	operate	VERB
ajst-23742	8	17	system	system	NOUN
ajst-23742	8	18	(	(	PUNCT
ajst-23742	8	19	ros	ros	PROPN
ajst-23742	8	20	)	)	PUNCT
ajst-23742	8	21	and	and	CCONJ
ajst-23742	8	22	simulation	simulation	NOUN
ajst-23742	8	23	program	program	NOUN
ajst-23742	8	24	gazebo	gazebo	PROPN
ajst-23742	8	25	.	.	PUNCT
ajst-23742	9	1	the	the	DET
ajst-23742	9	2	simulation	simulation	NOUN
ajst-23742	9	3	results	result	NOUN
ajst-23742	9	4	verified	verify	VERB
ajst-23742	9	5	that	that	SCONJ
ajst-23742	9	6	the	the	DET
ajst-23742	9	7	proposed	propose	VERB
ajst-23742	9	8	method	method	NOUN
ajst-23742	9	9	,	,	PUNCT
ajst-23742	9	10	which	which	PRON
ajst-23742	9	11	takes	take	VERB
ajst-23742	9	12	into	into	ADP
ajst-23742	9	13	account	account	NOUN
ajst-23742	9	14	both	both	CCONJ
ajst-23742	9	15	global	global	ADJ
ajst-23742	9	16	and	and	CCONJ
ajst-23742	9	17	dynamic	dynamic	ADJ
ajst-23742	9	18	aspects	aspect	NOUN
ajst-23742	9	19	,	,	PUNCT
ajst-23742	9	20	is	be	AUX
ajst-23742	9	21	reliable	reliable	ADJ
ajst-23742	9	22	and	and	CCONJ
ajst-23742	9	23	that	that	SCONJ
ajst-23742	9	24	the	the	DET
ajst-23742	9	25	generated	generate	VERB
ajst-23742	9	26	paths	path	NOUN
ajst-23742	9	27	and	and	CCONJ
ajst-23742	9	28	time	time	NOUN
ajst-23742	9	29	efficiency	efficiency	NOUN
ajst-23742	9	30	have	have	AUX
ajst-23742	9	31	been	be	AUX
ajst-23742	9	32	optimized	optimize	VERB
ajst-23742	9	33	.	.	PUNCT
ajst-23742	10	1	keywords	keyword	NOUN
ajst-23742	10	2	:	:	PUNCT
ajst-23742	10	3	intelligent	intelligent	ADJ
ajst-23742	10	4	navigation	navigation	NOUN
ajst-23742	10	5	;	;	PUNCT
ajst-23742	10	6	path	path	NOUN
ajst-23742	10	7	planning	planning	NOUN
ajst-23742	10	8	;	;	PUNCT
ajst-23742	10	9	agv	agv	NOUN
ajst-23742	10	10	;	;	PUNCT
ajst-23742	10	11	network	network	NOUN
ajst-23742	10	12	training	training	NOUN
ajst-23742	10	13	phase	phase	NOUN
ajst-23742	10	14	.	.	PUNCT
ajst-23742	11	1	1	1	X
ajst-23742	11	2	.	.	X
ajst-23742	11	3	introduction	introduction	NOUN
ajst-23742	11	4	as	as	ADP
ajst-23742	11	5	a	a	DET
ajst-23742	11	6	type	type	NOUN
ajst-23742	11	7	of	of	ADP
ajst-23742	11	8	mobile	mobile	NOUN
ajst-23742	11	9	robot	robot	NOUN
ajst-23742	11	10	,	,	PUNCT
ajst-23742	11	11	intelligent	intelligent	ADJ
ajst-23742	11	12	vehicles	vehicle	NOUN
ajst-23742	11	13	are	be	AUX
ajst-23742	11	14	becoming	become	VERB
ajst-23742	11	15	increasingly	increasingly	ADV
ajst-23742	11	16	important	important	ADJ
ajst-23742	11	17	in	in	ADP
ajst-23742	11	18	today	today	NOUN
ajst-23742	11	19	's	's	PART
ajst-23742	11	20	world	world	NOUN
ajst-23742	11	21	and	and	CCONJ
ajst-23742	11	22	have	have	AUX
ajst-23742	11	23	become	become	VERB
ajst-23742	11	24	essential	essential	ADJ
ajst-23742	11	25	tools	tool	NOUN
ajst-23742	11	26	across	across	ADP
ajst-23742	11	27	various	various	ADJ
ajst-23742	11	28	industries	industry	NOUN
ajst-23742	11	29	.	.	PUNCT
ajst-23742	12	1	they	they	PRON
ajst-23742	12	2	can	can	AUX
ajst-23742	12	3	be	be	AUX
ajst-23742	12	4	widely	widely	ADV
ajst-23742	12	5	applied	apply	VERB
ajst-23742	12	6	for	for	ADP
ajst-23742	12	7	flexible	flexible	ADJ
ajst-23742	12	8	handling	handling	NOUN
ajst-23742	12	9	and	and	CCONJ
ajst-23742	12	10	transportation	transportation	NOUN
ajst-23742	12	11	in	in	ADP
ajst-23742	12	12	sectors	sector	NOUN
ajst-23742	12	13	such	such	ADJ
ajst-23742	12	14	as	as	ADP
ajst-23742	12	15	machinery	machinery	NOUN
ajst-23742	12	16	and	and	CCONJ
ajst-23742	12	17	electronics	electronic	NOUN
ajst-23742	12	18	,	,	PUNCT
ajst-23742	12	19	and	and	CCONJ
ajst-23742	12	20	can	can	AUX
ajst-23742	12	21	also	also	ADV
ajst-23742	12	22	be	be	AUX
ajst-23742	12	23	used	use	VERB
ajst-23742	12	24	as	as	ADP
ajst-23742	12	25	transport	transport	NOUN
ajst-23742	12	26	tools	tool	NOUN
ajst-23742	12	27	for	for	ADP
ajst-23742	12	28	cargo	cargo	NOUN
ajst-23742	12	29	handling	handling	NOUN
ajst-23742	12	30	at	at	ADP
ajst-23742	12	31	stations	station	NOUN
ajst-23742	12	32	and	and	CCONJ
ajst-23742	12	33	airports.[1	airports.[1	NUM
ajst-23742	12	34	]	]	PUNCT
ajst-23742	12	35	additionally	additionally	ADV
ajst-23742	12	36	,	,	PUNCT
ajst-23742	12	37	they	they	PRON
ajst-23742	12	38	can	can	AUX
ajst-23742	12	39	be	be	AUX
ajst-23742	12	40	extensively	extensively	ADV
ajst-23742	12	41	utilized	utilize	VERB
ajst-23742	12	42	in	in	ADP
ajst-23742	12	43	locations	location	NOUN
ajst-23742	12	44	such	such	ADJ
ajst-23742	12	45	as	as	ADP
ajst-23742	12	46	hotels	hotel	NOUN
ajst-23742	12	47	,	,	PUNCT
ajst-23742	12	48	hospitals	hospital	NOUN
ajst-23742	12	49	,	,	PUNCT
ajst-23742	12	50	and	and	CCONJ
ajst-23742	12	51	banks	bank	NOUN
ajst-23742	12	52	to	to	PART
ajst-23742	12	53	provide	provide	VERB
ajst-23742	12	54	business	business	NOUN
ajst-23742	12	55	guidance	guidance	NOUN
ajst-23742	12	56	functions	function	NOUN
ajst-23742	12	57	.	.	PUNCT
ajst-23742	13	1	furthermore	furthermore	ADV
ajst-23742	13	2	,	,	PUNCT
ajst-23742	13	3	they	they	PRON
ajst-23742	13	4	can	can	AUX
ajst-23742	13	5	replace	replace	VERB
ajst-23742	13	6	humans	human	NOUN
ajst-23742	13	7	in	in	ADP
ajst-23742	13	8	completing	complete	VERB
ajst-23742	13	9	dangerous	dangerous	ADJ
ajst-23742	13	10	tasks	task	NOUN
ajst-23742	13	11	such	such	ADJ
ajst-23742	13	12	as	as	ADP
ajst-23742	13	13	emergency	emergency	NOUN
ajst-23742	13	14	rescue	rescue	NOUN
ajst-23742	13	15	operations	operation	NOUN
ajst-23742	13	16	and	and	CCONJ
ajst-23742	13	17	lunar	lunar	ADJ
ajst-23742	13	18	exploration	exploration	NOUN
ajst-23742	13	19	.	.	PUNCT
ajst-23742	14	1	since	since	SCONJ
ajst-23742	14	2	autonomous	autonomous	ADJ
ajst-23742	14	3	mobile	mobile	ADJ
ajst-23742	14	4	robots	robot	NOUN
ajst-23742	14	5	operate	operate	VERB
ajst-23742	14	6	in	in	ADP
ajst-23742	14	7	unpredictable	unpredictable	ADJ
ajst-23742	14	8	and	and	CCONJ
ajst-23742	14	9	partially	partially	ADV
ajst-23742	14	10	unknown	unknown	ADJ
ajst-23742	14	11	environments	environment	NOUN
ajst-23742	14	12	,	,	PUNCT
ajst-23742	14	13	navigation	navigation	NOUN
ajst-23742	14	14	in	in	ADP
ajst-23742	14	15	dynamic	dynamic	ADJ
ajst-23742	14	16	and	and	CCONJ
ajst-23742	14	17	dense	dense	ADJ
ajst-23742	14	18	settings	setting	NOUN
ajst-23742	14	19	presents	present	VERB
ajst-23742	14	20	numerous	numerous	ADJ
ajst-23742	14	21	challenges	challenge	NOUN
ajst-23742	14	22	.	.	PUNCT
ajst-23742	15	1	this	this	PRON
ajst-23742	15	2	means	mean	VERB
ajst-23742	15	3	that	that	SCONJ
ajst-23742	15	4	the	the	DET
ajst-23742	15	5	robot	robot	NOUN
ajst-23742	15	6	must	must	AUX
ajst-23742	15	7	have	have	VERB
ajst-23742	15	8	the	the	DET
ajst-23742	15	9	ability	ability	NOUN
ajst-23742	15	10	to	to	PART
ajst-23742	15	11	navigate	navigate	VERB
ajst-23742	15	12	without	without	ADP
ajst-23742	15	13	interference	interference	NOUN
ajst-23742	15	14	and	and	CCONJ
ajst-23742	15	15	avoid	avoid	VERB
ajst-23742	15	16	any	any	DET
ajst-23742	15	17	obstacles	obstacle	NOUN
ajst-23742	15	18	within	within	ADP
ajst-23742	15	19	its	its	PRON
ajst-23742	15	20	movement	movement	NOUN
ajst-23742	15	21	constraints[2	constraints[2	PROPN
ajst-23742	15	22	]	]	PUNCT
ajst-23742	15	23	.	.	PUNCT
ajst-23742	16	1	traditional	traditional	ADJ
ajst-23742	16	2	path	path	NOUN
ajst-23742	16	3	planning	planning	NOUN
ajst-23742	16	4	techniques	technique	NOUN
ajst-23742	16	5	can	can	AUX
ajst-23742	16	6	be	be	AUX
ajst-23742	16	7	used	use	VERB
ajst-23742	16	8	to	to	PART
ajst-23742	16	9	solve	solve	VERB
ajst-23742	16	10	path	path	NOUN
ajst-23742	16	11	planning	planning	NOUN
ajst-23742	16	12	problems	problem	NOUN
ajst-23742	16	13	in	in	ADP
ajst-23742	16	14	known	known	ADJ
ajst-23742	16	15	environments	environment	NOUN
ajst-23742	16	16	and	and	CCONJ
ajst-23742	16	17	are	be	AUX
ajst-23742	16	18	easy	easy	ADJ
ajst-23742	16	19	to	to	PART
ajst-23742	16	20	implement	implement	VERB
ajst-23742	16	21	.	.	PUNCT
ajst-23742	17	1	however	however	ADV
ajst-23742	17	2	,	,	PUNCT
ajst-23742	17	3	they	they	PRON
ajst-23742	17	4	have	have	VERB
ajst-23742	17	5	poor	poor	ADJ
ajst-23742	17	6	exploratory	exploratory	ADJ
ajst-23742	17	7	capabilities	capability	NOUN
ajst-23742	17	8	in	in	ADP
ajst-23742	17	9	dynamic	dynamic	ADJ
ajst-23742	17	10	or	or	CCONJ
ajst-23742	17	11	complex	complex	ADJ
ajst-23742	17	12	environments	environment	NOUN
ajst-23742	17	13	,	,	PUNCT
ajst-23742	17	14	slow	slow	ADJ
ajst-23742	17	15	convergence	convergence	NOUN
ajst-23742	17	16	speeds	speed	NOUN
ajst-23742	17	17	,	,	PUNCT
ajst-23742	17	18	long	long	ADJ
ajst-23742	17	19	execution	execution	NOUN
ajst-23742	17	20	times	time	NOUN
ajst-23742	17	21	,	,	PUNCT
ajst-23742	17	22	and	and	CCONJ
ajst-23742	17	23	are	be	AUX
ajst-23742	17	24	prone	prone	ADJ
ajst-23742	17	25	to	to	ADP
ajst-23742	17	26	getting	getting	AUX
ajst-23742	17	27	stuck	stick	VERB
ajst-23742	17	28	in	in	ADP
ajst-23742	17	29	local	local	ADJ
ajst-23742	17	30	optima	optima	NOUN
ajst-23742	17	31	.	.	PUNCT
ajst-23742	18	1	additionally	additionally	ADV
ajst-23742	18	2	,	,	PUNCT
ajst-23742	18	3	when	when	SCONJ
ajst-23742	18	4	the	the	DET
ajst-23742	18	5	environment	environment	NOUN
ajst-23742	18	6	changes	change	VERB
ajst-23742	18	7	,	,	PUNCT
ajst-23742	18	8	the	the	DET
ajst-23742	18	9	algorithm	algorithm	NOUN
ajst-23742	18	10	needs	need	VERB
ajst-23742	18	11	to	to	PART
ajst-23742	18	12	be	be	AUX
ajst-23742	18	13	adjusted	adjust	VERB
ajst-23742	18	14	.	.	PUNCT
ajst-23742	19	1	in	in	ADP
ajst-23742	19	2	contrast	contrast	NOUN
ajst-23742	19	3	,	,	PUNCT
ajst-23742	19	4	deep	deep	ADJ
ajst-23742	19	5	learning	learning	NOUN
ajst-23742	19	6	methods	method	NOUN
ajst-23742	19	7	,	,	PUNCT
ajst-23742	19	8	based	base	VERB
ajst-23742	19	9	on	on	ADP
ajst-23742	19	10	heuristic	heuristic	ADJ
ajst-23742	19	11	strategies	strategy	NOUN
ajst-23742	19	12	obtained	obtain	VERB
ajst-23742	19	13	through	through	ADP
ajst-23742	19	14	data	datum	NOUN
ajst-23742	19	15	training	training	NOUN
ajst-23742	19	16	,	,	PUNCT
ajst-23742	19	17	can	can	AUX
ajst-23742	19	18	be	be	AUX
ajst-23742	19	19	applied	apply	VERB
ajst-23742	19	20	to	to	ADP
ajst-23742	19	21	many	many	ADJ
ajst-23742	19	22	path	path	NOUN
ajst-23742	19	23	planning	planning	NOUN
ajst-23742	19	24	tasks[3	tasks[3	PROPN
ajst-23742	19	25	]	]	X
ajst-23742	19	26	.	.	PUNCT
ajst-23742	20	1	currently	currently	ADV
ajst-23742	20	2	,	,	PUNCT
ajst-23742	20	3	there	there	PRON
ajst-23742	20	4	are	be	VERB
ajst-23742	20	5	not	not	PART
ajst-23742	20	6	many	many	ADJ
ajst-23742	20	7	solutions	solution	NOUN
ajst-23742	20	8	using	use	VERB
ajst-23742	20	9	reinforcement	reinforcement	NOUN
ajst-23742	20	10	learning	learning	NOUN
ajst-23742	20	11	for	for	ADP
ajst-23742	20	12	global	global	ADJ
ajst-23742	20	13	planning	planning	NOUN
ajst-23742	20	14	,	,	PUNCT
ajst-23742	20	15	with	with	ADP
ajst-23742	20	16	some	some	DET
ajst-23742	20	17	works	work	NOUN
ajst-23742	20	18	utilizing	utilize	VERB
ajst-23742	20	19	the	the	DET
ajst-23742	20	20	qlearning	qlearning	NOUN
ajst-23742	20	21	algorithm	algorithm	NOUN
ajst-23742	20	22	.	.	PUNCT
ajst-23742	21	1	gao	gao	PROPN
ajst-23742	21	2	et	et	PROPN
ajst-23742	21	3	al	al	PROPN
ajst-23742	21	4	.	.	PROPN
ajst-23742	21	5	divided	divide	VERB
ajst-23742	21	6	the	the	DET
ajst-23742	21	7	state	state	NOUN
ajst-23742	21	8	space	space	NOUN
ajst-23742	21	9	using	use	VERB
ajst-23742	21	10	a	a	DET
ajst-23742	21	11	grid	grid	NOUN
ajst-23742	21	12	map	map	NOUN
ajst-23742	21	13	,	,	PUNCT
ajst-23742	21	14	where	where	SCONJ
ajst-23742	21	15	the	the	DET
ajst-23742	21	16	coordinates	coordinate	NOUN
ajst-23742	21	17	of	of	ADP
ajst-23742	21	18	grid	grid	NOUN
ajst-23742	21	19	cells	cell	NOUN
ajst-23742	21	20	without	without	ADP
ajst-23742	21	21	obstacles	obstacle	NOUN
ajst-23742	21	22	were	be	AUX
ajst-23742	21	23	considered	consider	VERB
ajst-23742	21	24	states	state	NOUN
ajst-23742	21	25	in	in	ADP
ajst-23742	21	26	the	the	DET
ajst-23742	21	27	q	q	NOUN
ajst-23742	21	28	-	-	PUNCT
ajst-23742	21	29	table	table	NOUN
ajst-23742	21	30	,	,	PUNCT
ajst-23742	21	31	and	and	CCONJ
ajst-23742	21	32	the	the	DET
ajst-23742	21	33	actions	action	NOUN
ajst-23742	21	34	involved	involve	VERB
ajst-23742	21	35	moving	move	VERB
ajst-23742	21	36	one	one	NUM
ajst-23742	21	37	cell	cell	NOUN
ajst-23742	21	38	left	leave	VERB
ajst-23742	21	39	,	,	PUNCT
ajst-23742	21	40	right	right	INTJ
ajst-23742	21	41	,	,	PUNCT
ajst-23742	21	42	up	up	ADV
ajst-23742	21	43	,	,	PUNCT
ajst-23742	21	44	or	or	CCONJ
ajst-23742	21	45	down[4	down[4	PROPN
ajst-23742	21	46	]	]	PUNCT
ajst-23742	21	47	.	.	PUNCT
ajst-23742	22	1	the	the	DET
ajst-23742	22	2	q	q	ADJ
ajst-23742	22	3	-	-	PUNCT
ajst-23742	22	4	learning	learn	VERB
ajst-23742	22	5	algorithm	algorithm	NOUN
ajst-23742	22	6	was	be	AUX
ajst-23742	22	7	then	then	ADV
ajst-23742	22	8	used	use	VERB
ajst-23742	22	9	for	for	ADP
ajst-23742	22	10	exploration	exploration	NOUN
ajst-23742	22	11	and	and	CCONJ
ajst-23742	22	12	planning	planning	NOUN
ajst-23742	22	13	,	,	PUNCT
ajst-23742	22	14	which	which	PRON
ajst-23742	22	15	achieved	achieve	VERB
ajst-23742	22	16	global	global	ADJ
ajst-23742	22	17	path	path	NOUN
ajst-23742	22	18	planning	planning	NOUN
ajst-23742	22	19	in	in	ADP
ajst-23742	22	20	a	a	DET
ajst-23742	22	21	discrete	discrete	ADJ
ajst-23742	22	22	environment	environment	NOUN
ajst-23742	22	23	.	.	PUNCT
ajst-23742	23	1	sichkar	sichkar	PROPN
ajst-23742	23	2	attempted	attempt	VERB
ajst-23742	23	3	to	to	PART
ajst-23742	23	4	randomly	randomly	VERB
ajst-23742	23	5	sample	sample	NOUN
ajst-23742	23	6	points	point	NOUN
ajst-23742	23	7	in	in	ADP
ajst-23742	23	8	a	a	DET
ajst-23742	23	9	continuous	continuous	ADJ
ajst-23742	23	10	state	state	NOUN
ajst-23742	23	11	map	map	NOUN
ajst-23742	23	12	,	,	PUNCT
ajst-23742	23	13	use	use	VERB
ajst-23742	23	14	these	these	DET
ajst-23742	23	15	points	point	NOUN
ajst-23742	23	16	as	as	ADP
ajst-23742	23	17	states	state	NOUN
ajst-23742	23	18	in	in	ADP
ajst-23742	23	19	the	the	DET
ajst-23742	23	20	qtable	qtable	NOUN
ajst-23742	23	21	,	,	PUNCT
ajst-23742	23	22	connect	connect	VERB
ajst-23742	23	23	all	all	DET
ajst-23742	23	24	points	point	NOUN
ajst-23742	23	25	into	into	ADP
ajst-23742	23	26	multiple	multiple	ADJ
ajst-23742	23	27	line	line	NOUN
ajst-23742	23	28	segments	segment	NOUN
ajst-23742	23	29	,	,	PUNCT
ajst-23742	23	30	and	and	CCONJ
ajst-23742	23	31	eliminate	eliminate	VERB
ajst-23742	23	32	segments	segment	NOUN
ajst-23742	23	33	that	that	PRON
ajst-23742	23	34	crossed	cross	VERB
ajst-23742	23	35	obstacles[5	obstacles[5	PROPN
ajst-23742	23	36	]	]	PUNCT
ajst-23742	23	37	.	.	PUNCT
ajst-23742	24	1	thus	thus	ADV
ajst-23742	24	2	,	,	PUNCT
ajst-23742	24	3	for	for	ADP
ajst-23742	24	4	a	a	DET
ajst-23742	24	5	given	give	VERB
ajst-23742	24	6	state	state	NOUN
ajst-23742	24	7	,	,	PUNCT
ajst-23742	24	8	the	the	DET
ajst-23742	24	9	action	action	NOUN
ajst-23742	24	10	was	be	AUX
ajst-23742	24	11	to	to	PART
ajst-23742	24	12	move	move	VERB
ajst-23742	24	13	to	to	ADP
ajst-23742	24	14	an	an	DET
ajst-23742	24	15	adjacent	adjacent	ADJ
ajst-23742	24	16	point	point	NOUN
ajst-23742	24	17	.	.	PUNCT
ajst-23742	25	1	this	this	DET
ajst-23742	25	2	improved	improved	ADJ
ajst-23742	25	3	method	method	NOUN
ajst-23742	25	4	is	be	AUX
ajst-23742	25	5	similar	similar	ADJ
ajst-23742	25	6	to	to	ADP
ajst-23742	25	7	q	q	NOUN
ajst-23742	25	8	-	-	PUNCT
ajst-23742	25	9	learning	learning	NOUN
ajst-23742	25	10	based	base	VERB
ajst-23742	25	11	on	on	ADP
ajst-23742	25	12	grid	grid	NOUN
ajst-23742	25	13	maps	map	NOUN
ajst-23742	25	14	,	,	PUNCT
ajst-23742	25	15	converting	convert	VERB
ajst-23742	25	16	the	the	DET
ajst-23742	25	17	continuous	continuous	ADJ
ajst-23742	25	18	environment	environment	NOUN
ajst-23742	25	19	into	into	ADP
ajst-23742	25	20	a	a	DET
ajst-23742	25	21	discrete	discrete	ADJ
ajst-23742	25	22	one	one	NUM
ajst-23742	25	23	solvable	solvable	NOUN
ajst-23742	25	24	by	by	ADP
ajst-23742	25	25	q	q	NOUN
ajst-23742	25	26	-	-	PUNCT
ajst-23742	25	27	learning	learning	NOUN
ajst-23742	25	28	.	.	PUNCT
ajst-23742	26	1	however	however	ADV
ajst-23742	26	2	,	,	PUNCT
ajst-23742	26	3	this	this	DET
ajst-23742	26	4	algorithm	algorithm	NOUN
ajst-23742	26	5	is	be	AUX
ajst-23742	26	6	essentially	essentially	ADV
ajst-23742	26	7	still	still	ADV
ajst-23742	26	8	based	base	VERB
ajst-23742	26	9	on	on	ADP
ajst-23742	26	10	discrete	discrete	ADJ
ajst-23742	26	11	environments	environment	NOUN
ajst-23742	26	12	and	and	CCONJ
ajst-23742	26	13	actions[6	actions[6	PRON
ajst-23742	26	14	]	]	PUNCT
ajst-23742	26	15	.	.	PUNCT
ajst-23742	27	1	panov	panov	NOUN
ajst-23742	27	2	et	et	PROPN
ajst-23742	27	3	al	al	PROPN
ajst-23742	27	4	.	.	PROPN
ajst-23742	27	5	proposed	propose	VERB
ajst-23742	27	6	using	use	VERB
ajst-23742	27	7	the	the	DET
ajst-23742	27	8	dqn	dqn	ADJ
ajst-23742	27	9	algorithm	algorithm	NOUN
ajst-23742	27	10	to	to	PART
ajst-23742	27	11	solve	solve	VERB
ajst-23742	27	12	the	the	DET
ajst-23742	27	13	global	global	ADJ
ajst-23742	27	14	planning	planning	NOUN
ajst-23742	27	15	problem	problem	NOUN
ajst-23742	27	16	on	on	ADP
ajst-23742	27	17	grid	grid	NOUN
ajst-23742	27	18	maps	map	NOUN
ajst-23742	27	19	,	,	PUNCT
ajst-23742	27	20	effectively	effectively	ADV
ajst-23742	27	21	addressing	address	VERB
ajst-23742	27	22	the	the	DET
ajst-23742	27	23	curse	curse	NOUN
ajst-23742	27	24	of	of	ADP
ajst-23742	27	25	dimensionality	dimensionality	NOUN
ajst-23742	27	26	in	in	ADP
ajst-23742	27	27	state	state	NOUN
ajst-23742	27	28	space	space	NOUN
ajst-23742	27	29	,	,	PUNCT
ajst-23742	27	30	though	though	SCONJ
ajst-23742	27	31	the	the	DET
ajst-23742	27	32	action	action	NOUN
ajst-23742	27	33	space	space	NOUN
ajst-23742	27	34	remained	remain	VERB
ajst-23742	27	35	discrete[6	discrete[6	NOUN
ajst-23742	27	36	]	]	PUNCT
ajst-23742	27	37	.	.	PUNCT
ajst-23742	28	1	the	the	DET
ajst-23742	28	2	aforementioned	aforementione	VERB
ajst-23742	28	3	works	work	NOUN
ajst-23742	28	4	using	use	VERB
ajst-23742	28	5	reinforcement	reinforcement	NOUN
ajst-23742	28	6	learning	learning	NOUN
ajst-23742	28	7	for	for	ADP
ajst-23742	28	8	global	global	ADJ
ajst-23742	28	9	planning	planning	NOUN
ajst-23742	28	10	are	be	AUX
ajst-23742	28	11	all	all	PRON
ajst-23742	28	12	limited	limited	ADJ
ajst-23742	28	13	to	to	PART
ajst-23742	28	14	discrete	discrete	ADJ
ajst-23742	28	15	spaces	space	NOUN
ajst-23742	28	16	.	.	PUNCT
ajst-23742	29	1	however	however	ADV
ajst-23742	29	2	,	,	PUNCT
ajst-23742	29	3	in	in	ADP
ajst-23742	29	4	the	the	DET
ajst-23742	29	5	future	future	NOUN
ajst-23742	29	6	,	,	PUNCT
ajst-23742	29	7	one	one	NUM
ajst-23742	29	8	direction	direction	NOUN
ajst-23742	29	9	is	be	AUX
ajst-23742	29	10	to	to	PART
ajst-23742	29	11	use	use	VERB
ajst-23742	29	12	ppo	ppo	PROPN
ajst-23742	29	13	,	,	PUNCT
ajst-23742	29	14	ddpg	ddpg	ADJ
ajst-23742	29	15	,	,	PUNCT
ajst-23742	29	16	sac	sac	NOUN
ajst-23742	29	17	,	,	PUNCT
ajst-23742	29	18	and	and	CCONJ
ajst-23742	29	19	other	other	ADJ
ajst-23742	29	20	algorithms	algorithm	NOUN
ajst-23742	29	21	based	base	VERB
ajst-23742	29	22	on	on	ADP
ajst-23742	29	23	continuous	continuous	ADJ
ajst-23742	29	24	actions	action	NOUN
ajst-23742	29	25	to	to	PART
ajst-23742	29	26	attempt	attempt	VERB
ajst-23742	29	27	to	to	PART
ajst-23742	29	28	solve	solve	VERB
ajst-23742	29	29	the	the	DET
ajst-23742	29	30	global	global	ADJ
ajst-23742	29	31	path	path	PROPN
ajst-23742	29	32	planning	planning	NOUN
ajst-23742	29	33	problem	problem	NOUN
ajst-23742	29	34	.	.	PUNCT
ajst-23742	30	1	this	this	PRON
ajst-23742	30	2	can	can	AUX
ajst-23742	30	3	improve	improve	VERB
ajst-23742	30	4	the	the	DET
ajst-23742	30	5	reliability	reliability	NOUN
ajst-23742	30	6	of	of	ADP
ajst-23742	30	7	global	global	ADJ
ajst-23742	30	8	planning	planning	NOUN
ajst-23742	30	9	.	.	PUNCT
ajst-23742	31	1	2	2	X
ajst-23742	31	2	.	.	X
ajst-23742	31	3	path	path	NOUN
ajst-23742	31	4	planning	planning	NOUN
ajst-23742	31	5	based	base	VERB
ajst-23742	31	6	on	on	ADP
ajst-23742	31	7	deep	deep	ADJ
ajst-23742	31	8	reinforcement	reinforcement	NOUN
ajst-23742	31	9	learning	learn	VERB
ajst-23742	31	10	global	global	ADJ
ajst-23742	31	11	planning	planning	NOUN
ajst-23742	31	12	addresses	address	NOUN
ajst-23742	31	13	the	the	DET
ajst-23742	31	14	problem	problem	NOUN
ajst-23742	31	15	of	of	ADP
ajst-23742	31	16	how	how	SCONJ
ajst-23742	31	17	an	an	DET
ajst-23742	31	18	unmanned	unmanned	ADJ
ajst-23742	31	19	vehicle	vehicle	NOUN
ajst-23742	31	20	navigates	navigate	VERB
ajst-23742	31	21	to	to	ADP
ajst-23742	31	22	its	its	PRON
ajst-23742	31	23	destination	destination	NOUN
ajst-23742	31	24	,	,	PUNCT
ajst-23742	31	25	allowing	allow	VERB
ajst-23742	31	26	the	the	DET
ajst-23742	31	27	optimal	optimal	ADJ
ajst-23742	31	28	path	path	NOUN
ajst-23742	31	29	to	to	PART
ajst-23742	31	30	be	be	AUX
ajst-23742	31	31	calculated	calculate	VERB
ajst-23742	31	32	from	from	ADP
ajst-23742	31	33	the	the	DET
ajst-23742	31	34	global	global	ADJ
ajst-23742	31	35	map	map	NOUN
ajst-23742	31	36	.	.	PUNCT
ajst-23742	32	1	however	however	ADV
ajst-23742	32	2	,	,	PUNCT
ajst-23742	32	3	many	many	ADJ
ajst-23742	32	4	uncertainties	uncertainty	NOUN
ajst-23742	32	5	arise	arise	VERB
ajst-23742	32	6	during	during	ADP
ajst-23742	32	7	actual	actual	ADJ
ajst-23742	32	8	movement	movement	NOUN
ajst-23742	32	9	,	,	PUNCT
ajst-23742	32	10	such	such	ADJ
ajst-23742	32	11	as	as	ADP
ajst-23742	32	12	the	the	DET
ajst-23742	32	13	appearance	appearance	NOUN
ajst-23742	32	14	of	of	ADP
ajst-23742	32	15	additional	additional	ADJ
ajst-23742	32	16	obstacles	obstacle	NOUN
ajst-23742	32	17	when	when	SCONJ
ajst-23742	32	18	the	the	DET
ajst-23742	32	19	global	global	ADJ
ajst-23742	32	20	map	map	NOUN
ajst-23742	32	21	does	do	AUX
ajst-23742	32	22	not	not	PART
ajst-23742	32	23	match	match	VERB
ajst-23742	32	24	local	local	ADJ
ajst-23742	32	25	conditions	condition	NOUN
ajst-23742	32	26	.	.	PUNCT
ajst-23742	33	1	in	in	ADP
ajst-23742	33	2	such	such	ADJ
ajst-23742	33	3	cases	case	NOUN
ajst-23742	33	4	,	,	PUNCT
ajst-23742	33	5	local	local	ADJ
ajst-23742	33	6	obstacle	obstacle	NOUN
ajst-23742	33	7	avoidance	avoidance	NOUN
ajst-23742	33	8	becomes	become	VERB
ajst-23742	33	9	crucial	crucial	ADJ
ajst-23742	33	10	,	,	PUNCT
ajst-23742	33	11	as	as	SCONJ
ajst-23742	33	12	it	it	PRON
ajst-23742	33	13	can	can	AUX
ajst-23742	33	14	control	control	VERB
ajst-23742	33	15	the	the	DET
ajst-23742	33	16	vehicle	vehicle	NOUN
ajst-23742	33	17	to	to	PART
ajst-23742	33	18	avoid	avoid	VERB
ajst-23742	33	19	obstacles	obstacle	NOUN
ajst-23742	33	20	at	at	ADP
ajst-23742	33	21	specific	specific	ADJ
ajst-23742	33	22	locations	location	NOUN
ajst-23742	33	23	.	.	PUNCT
ajst-23742	34	1	without	without	ADP
ajst-23742	34	2	global	global	ADJ
ajst-23742	34	3	planning	planning	NOUN
ajst-23742	34	4	,	,	PUNCT
ajst-23742	34	5	199	199	NUM
ajst-23742	34	6	local	local	ADJ
ajst-23742	34	7	obstacle	obstacle	NOUN
ajst-23742	34	8	avoidance	avoidance	NOUN
ajst-23742	34	9	can	can	AUX
ajst-23742	34	10	not	not	PART
ajst-23742	34	11	complete	complete	VERB
ajst-23742	34	12	planning	planning	NOUN
ajst-23742	34	13	tasks	task	NOUN
ajst-23742	34	14	in	in	ADP
ajst-23742	34	15	larger	large	ADJ
ajst-23742	34	16	scenarios	scenario	NOUN
ajst-23742	34	17	.	.	PUNCT
ajst-23742	35	1	therefore	therefore	ADV
ajst-23742	35	2	,	,	PUNCT
ajst-23742	35	3	global	global	ADJ
ajst-23742	35	4	planning	planning	NOUN
ajst-23742	35	5	and	and	CCONJ
ajst-23742	35	6	local	local	ADJ
ajst-23742	35	7	obstacle	obstacle	NOUN
ajst-23742	35	8	avoidance	avoidance	NOUN
ajst-23742	35	9	complement	complement	VERB
ajst-23742	35	10	each	each	DET
ajst-23742	35	11	other	other	ADJ
ajst-23742	35	12	,	,	PUNCT
ajst-23742	35	13	and	and	CCONJ
ajst-23742	35	14	combining	combine	VERB
ajst-23742	35	15	both	both	DET
ajst-23742	35	16	algorithms	algorithm	NOUN
ajst-23742	35	17	can	can	AUX
ajst-23742	35	18	solve	solve	VERB
ajst-23742	35	19	most	most	ADJ
ajst-23742	35	20	path	path	NOUN
ajst-23742	35	21	planning	planning	NOUN
ajst-23742	35	22	problems	problem	NOUN
ajst-23742	35	23	for	for	ADP
ajst-23742	35	24	unmanned	unmanned	ADJ
ajst-23742	35	25	vehicles	vehicle	NOUN
ajst-23742	35	26	.	.	PUNCT
ajst-23742	36	1	the	the	DET
ajst-23742	36	2	algorithm	algorithm	NOUN
ajst-23742	36	3	first	first	ADV
ajst-23742	36	4	plans	plan	VERB
ajst-23742	36	5	the	the	DET
ajst-23742	36	6	driving	drive	VERB
ajst-23742	36	7	route	route	NOUN
ajst-23742	36	8	using	use	VERB
ajst-23742	36	9	a	a	DET
ajst-23742	36	10	global	global	ADJ
ajst-23742	36	11	planning	planning	NOUN
ajst-23742	36	12	algorithm	algorithm	NOUN
ajst-23742	36	13	,	,	PUNCT
ajst-23742	36	14	and	and	CCONJ
ajst-23742	36	15	then	then	ADV
ajst-23742	36	16	uses	use	VERB
ajst-23742	36	17	local	local	ADJ
ajst-23742	36	18	obstacle	obstacle	NOUN
ajst-23742	36	19	avoidance	avoidance	NOUN
ajst-23742	36	20	for	for	ADP
ajst-23742	36	21	continuous	continuous	ADJ
ajst-23742	36	22	local	local	ADJ
ajst-23742	36	23	control	control	NOUN
ajst-23742	36	24	as	as	SCONJ
ajst-23742	36	25	the	the	DET
ajst-23742	36	26	robot	robot	NOUN
ajst-23742	36	27	moves	move	VERB
ajst-23742	36	28	.	.	PUNCT
ajst-23742	37	1	figure	figure	VERB
ajst-23742	37	2	1	1	NUM
ajst-23742	37	3	shows	show	VERB
ajst-23742	37	4	the	the	DET
ajst-23742	37	5	overall	overall	ADJ
ajst-23742	37	6	framework	framework	NOUN
ajst-23742	37	7	for	for	ADP
ajst-23742	37	8	path	path	NOUN
ajst-23742	37	9	planning	planning	NOUN
ajst-23742	37	10	of	of	ADP
ajst-23742	37	11	an	an	DET
ajst-23742	37	12	unmanned	unmanned	ADJ
ajst-23742	37	13	vehicle	vehicle	NOUN
ajst-23742	37	14	.	.	PUNCT
ajst-23742	38	1	this	this	DET
ajst-23742	38	2	framework	framework	NOUN
ajst-23742	38	3	illustrates	illustrate	VERB
ajst-23742	38	4	how	how	SCONJ
ajst-23742	38	5	global	global	ADJ
ajst-23742	38	6	planning	planning	NOUN
ajst-23742	38	7	and	and	CCONJ
ajst-23742	38	8	local	local	ADJ
ajst-23742	38	9	obstacle	obstacle	NOUN
ajst-23742	38	10	avoidance	avoidance	NOUN
ajst-23742	38	11	are	be	AUX
ajst-23742	38	12	combined	combine	VERB
ajst-23742	38	13	to	to	PART
ajst-23742	38	14	accomplish	accomplish	VERB
ajst-23742	38	15	the	the	DET
ajst-23742	38	16	path	path	NOUN
ajst-23742	38	17	planning	planning	NOUN
ajst-23742	38	18	and	and	CCONJ
ajst-23742	38	19	navigation	navigation	NOUN
ajst-23742	38	20	tasks	task	NOUN
ajst-23742	38	21	.	.	PUNCT
ajst-23742	39	1	first	first	ADV
ajst-23742	39	2	,	,	PUNCT
ajst-23742	39	3	the	the	DET
ajst-23742	39	4	coordinates	coordinate	NOUN
ajst-23742	39	5	of	of	ADP
ajst-23742	39	6	the	the	DET
ajst-23742	39	7	target	target	NOUN
ajst-23742	39	8	point	point	NOUN
ajst-23742	39	9	are	be	AUX
ajst-23742	39	10	input	input	VERB
ajst-23742	39	11	into	into	ADP
ajst-23742	39	12	the	the	DET
ajst-23742	39	13	global	global	ADJ
ajst-23742	39	14	planning	planning	NOUN
ajst-23742	39	15	module	module	NOUN
ajst-23742	39	16	.	.	PUNCT
ajst-23742	40	1	the	the	DET
ajst-23742	40	2	global	global	ADJ
ajst-23742	40	3	planning	planning	NOUN
ajst-23742	40	4	uses	use	VERB
ajst-23742	40	5	the	the	DET
ajst-23742	40	6	sac	sac	NOUN
ajst-23742	40	7	algorithm	algorithm	NOUN
ajst-23742	40	8	to	to	PART
ajst-23742	40	9	explore	explore	VERB
ajst-23742	40	10	the	the	DET
ajst-23742	40	11	path	path	NOUN
ajst-23742	40	12	based	base	VERB
ajst-23742	40	13	on	on	ADP
ajst-23742	40	14	the	the	DET
ajst-23742	40	15	known	know	VERB
ajst-23742	40	16	global	global	ADJ
ajst-23742	40	17	map	map	NOUN
ajst-23742	40	18	and	and	CCONJ
ajst-23742	40	19	the	the	DET
ajst-23742	40	20	current	current	ADJ
ajst-23742	40	21	position	position	NOUN
ajst-23742	40	22	coordinates	coordinate	NOUN
ajst-23742	40	23	,	,	PUNCT
ajst-23742	40	24	outputting	output	VERB
ajst-23742	40	25	nnn	nnn	NOUN
ajst-23742	40	26	intermediate	intermediate	ADJ
ajst-23742	40	27	exploration	exploration	NOUN
ajst-23742	40	28	points	point	NOUN
ajst-23742	40	29	[	[	X
ajst-23742	40	30	xi	xi	X
ajst-23742	40	31	,	,	PUNCT
ajst-23742	40	32	yi	yi	NOUN
ajst-23742	40	33	]	]	PUNCT
ajst-23742	40	34	,	,	PUNCT
ajst-23742	40	35	where	where	SCONJ
ajst-23742	40	36	i∈{0,1,	i∈{0,1,	NOUN
ajst-23742	40	37	…	…	SYM
ajst-23742	40	38	,n	,n	NOUN
ajst-23742	40	39	}	}	PUNCT
ajst-23742	40	40	,	,	PUNCT
ajst-23742	40	41	and	and	CCONJ
ajst-23742	40	42	stores	store	VERB
ajst-23742	40	43	them	they	PRON
ajst-23742	40	44	.	.	PUNCT
ajst-23742	41	1	figure	figure	VERB
ajst-23742	41	2	1	1	NUM
ajst-23742	41	3	.	.	PUNCT
ajst-23742	42	1	overall	overall	ADJ
ajst-23742	42	2	path	path	NOUN
ajst-23742	42	3	planning	planning	NOUN
ajst-23742	42	4	framework	framework	NOUN
ajst-23742	42	5	for	for	ADP
ajst-23742	42	6	these	these	DET
ajst-23742	42	7	n	n	PRON
ajst-23742	42	8	intermediate	intermediate	ADJ
ajst-23742	42	9	exploration	exploration	NOUN
ajst-23742	42	10	points	point	NOUN
ajst-23742	43	1	,	,	PUNCT
ajst-23742	43	2	they	they	PRON
ajst-23742	43	3	are	be	AUX
ajst-23742	43	4	input	input	ADJ
ajst-23742	43	5	into	into	ADP
ajst-23742	43	6	the	the	DET
ajst-23742	43	7	local	local	ADJ
ajst-23742	43	8	planning	planning	NOUN
ajst-23742	43	9	module	module	NOUN
ajst-23742	43	10	in	in	ADP
ajst-23742	43	11	the	the	DET
ajst-23742	43	12	order	order	NOUN
ajst-23742	43	13	from	from	ADP
ajst-23742	43	14	0	0	NUM
ajst-23742	43	15	to	to	PART
ajst-23742	43	16	n.	n.	VERB
ajst-23742	43	17	this	this	PRON
ajst-23742	43	18	means	mean	VERB
ajst-23742	43	19	that	that	SCONJ
ajst-23742	43	20	the	the	DET
ajst-23742	43	21	local	local	ADJ
ajst-23742	43	22	planning	planning	NOUN
ajst-23742	43	23	is	be	AUX
ajst-23742	43	24	expected	expect	VERB
ajst-23742	43	25	to	to	PART
ajst-23742	43	26	navigate	navigate	VERB
ajst-23742	43	27	to	to	ADP
ajst-23742	43	28	each	each	DET
ajst-23742	43	29	exploration	exploration	NOUN
ajst-23742	43	30	point	point	NOUN
ajst-23742	43	31	in	in	ADP
ajst-23742	43	32	sequence	sequence	NOUN
ajst-23742	43	33	and	and	CCONJ
ajst-23742	43	34	finally	finally	ADV
ajst-23742	43	35	reach	reach	VERB
ajst-23742	43	36	the	the	DET
ajst-23742	43	37	target	target	NOUN
ajst-23742	43	38	point	point	NOUN
ajst-23742	43	39	.	.	PUNCT
ajst-23742	44	1	each	each	DET
ajst-23742	44	2	exploration	exploration	NOUN
ajst-23742	44	3	point	point	NOUN
ajst-23742	44	4	from	from	ADP
ajst-23742	44	5	the	the	DET
ajst-23742	44	6	global	global	ADJ
ajst-23742	44	7	planning	planning	NOUN
ajst-23742	44	8	serves	serve	VERB
ajst-23742	44	9	as	as	ADP
ajst-23742	44	10	a	a	DET
ajst-23742	44	11	target	target	NOUN
ajst-23742	44	12	point	point	NOUN
ajst-23742	44	13	for	for	ADP
ajst-23742	44	14	the	the	DET
ajst-23742	44	15	local	local	ADJ
ajst-23742	44	16	planning	planning	NOUN
ajst-23742	44	17	.	.	PUNCT
ajst-23742	45	1	the	the	DET
ajst-23742	45	2	local	local	ADJ
ajst-23742	45	3	planning	planning	NOUN
ajst-23742	45	4	calculates	calculate	VERB
ajst-23742	45	5	continuous	continuous	ADJ
ajst-23742	45	6	control	control	NOUN
ajst-23742	45	7	quantities	quantity	NOUN
ajst-23742	46	1	_	_	PUNCT
ajst-23742	46	2	vt	vt	NOUN
ajst-23742	46	3	and	and	CCONJ
ajst-23742	46	4	wt	wt	PROPN
ajst-23742	46	5	for	for	ADP
ajst-23742	46	6	the	the	DET
ajst-23742	46	7	vehicle	vehicle	NOUN
ajst-23742	46	8	over	over	ADP
ajst-23742	46	9	a	a	DET
ajst-23742	46	10	period	period	NOUN
ajst-23742	46	11	of	of	ADP
ajst-23742	46	12	time	time	NOUN
ajst-23742	46	13	through	through	ADP
ajst-23742	46	14	the	the	DET
ajst-23742	46	15	actor	actor	NOUN
ajst-23742	46	16	network	network	NOUN
ajst-23742	46	17	of	of	ADP
ajst-23742	46	18	ddpg	ddpg	ADJ
ajst-23742	46	19	by	by	ADP
ajst-23742	46	20	inputting	inputte	VERB
ajst-23742	46	21	a	a	DET
ajst-23742	46	22	specific	specific	ADJ
ajst-23742	46	23	point	point	NOUN
ajst-23742	46	24	[	[	X
ajst-23742	46	25	xi	xi	X
ajst-23742	46	26	,	,	PUNCT
ajst-23742	46	27	yi	yi	NOUN
ajst-23742	46	28	]	]	PUNCT
ajst-23742	46	29	and	and	CCONJ
ajst-23742	46	30	some	some	DET
ajst-23742	46	31	perception	perception	NOUN
ajst-23742	46	32	information	information	NOUN
ajst-23742	46	33	,	,	PUNCT
ajst-23742	46	34	and	and	CCONJ
ajst-23742	46	35	navigates	navigate	VERB
ajst-23742	46	36	the	the	DET
ajst-23742	46	37	vehicle	vehicle	NOUN
ajst-23742	46	38	to	to	ADP
ajst-23742	46	39	[	[	X
ajst-23742	46	40	xi	xi	PROPN
ajst-23742	46	41	,	,	PUNCT
ajst-23742	46	42	yi	yi	NOUN
ajst-23742	46	43	]	]	PUNCT
ajst-23742	46	44	.	.	PUNCT
ajst-23742	47	1	once	once	SCONJ
ajst-23742	47	2	it	it	PRON
ajst-23742	47	3	is	be	AUX
ajst-23742	47	4	confirmed	confirm	VERB
ajst-23742	47	5	that	that	SCONJ
ajst-23742	47	6	the	the	DET
ajst-23742	47	7	vehicle	vehicle	NOUN
ajst-23742	47	8	has	have	AUX
ajst-23742	47	9	approached	approach	VERB
ajst-23742	47	10	this	this	DET
ajst-23742	47	11	point	point	NOUN
ajst-23742	47	12	,	,	PUNCT
ajst-23742	47	13	[	[	X
ajst-23742	47	14	xi+1,yi+1	xi+1,yi+1	X
ajst-23742	47	15	]	]	X
ajst-23742	47	16	is	be	AUX
ajst-23742	47	17	then	then	ADV
ajst-23742	47	18	input	input	ADJ
ajst-23742	47	19	into	into	ADP
ajst-23742	47	20	the	the	DET
ajst-23742	47	21	local	local	ADJ
ajst-23742	47	22	controller	controller	NOUN
ajst-23742	47	23	to	to	PART
ajst-23742	47	24	navigate	navigate	VERB
ajst-23742	47	25	the	the	DET
ajst-23742	47	26	vehicle	vehicle	NOUN
ajst-23742	47	27	to	to	ADP
ajst-23742	47	28	the	the	DET
ajst-23742	47	29	next	next	ADJ
ajst-23742	47	30	exploration	exploration	NOUN
ajst-23742	47	31	point	point	NOUN
ajst-23742	47	32	.	.	PUNCT
ajst-23742	48	1	this	this	DET
ajst-23742	48	2	process	process	NOUN
ajst-23742	48	3	is	be	AUX
ajst-23742	48	4	repeated	repeat	VERB
ajst-23742	48	5	for	for	ADP
ajst-23742	48	6	each	each	DET
ajst-23742	48	7	navigation	navigation	NOUN
ajst-23742	48	8	to	to	ADP
ajst-23742	48	9	the	the	DET
ajst-23742	48	10	final	final	ADJ
ajst-23742	48	11	target	target	NOUN
ajst-23742	48	12	point	point	NOUN
ajst-23742	48	13	,	,	PUNCT
ajst-23742	48	14	requiring	require	VERB
ajst-23742	48	15	n	n	NOUN
ajst-23742	48	16	calls	call	NOUN
ajst-23742	48	17	to	to	ADP
ajst-23742	48	18	the	the	DET
ajst-23742	48	19	local	local	ADJ
ajst-23742	48	20	obstacle	obstacle	NOUN
ajst-23742	48	21	avoidance	avoidance	NOUN
ajst-23742	48	22	and	and	CCONJ
ajst-23742	48	23	generating	generate	VERB
ajst-23742	48	24	a	a	DET
ajst-23742	48	25	large	large	ADJ
ajst-23742	48	26	number	number	NOUN
ajst-23742	48	27	of	of	ADP
ajst-23742	48	28	control	control	NOUN
ajst-23742	48	29	quantities	quantity	NOUN
ajst-23742	48	30	.	.	PUNCT
ajst-23742	49	1	this	this	DET
ajst-23742	49	2	way	way	NOUN
ajst-23742	49	3	,	,	PUNCT
ajst-23742	49	4	the	the	DET
ajst-23742	49	5	vehicle	vehicle	NOUN
ajst-23742	49	6	can	can	AUX
ajst-23742	49	7	make	make	VERB
ajst-23742	49	8	real	real	ADJ
ajst-23742	49	9	-	-	PUNCT
ajst-23742	49	10	time	time	NOUN
ajst-23742	49	11	obstacle	obstacle	NOUN
ajst-23742	49	12	avoidance	avoidance	NOUN
ajst-23742	49	13	actions	action	NOUN
ajst-23742	49	14	while	while	SCONJ
ajst-23742	49	15	ensuring	ensure	VERB
ajst-23742	49	16	it	it	PRON
ajst-23742	49	17	does	do	AUX
ajst-23742	49	18	not	not	PART
ajst-23742	49	19	deviate	deviate	VERB
ajst-23742	49	20	from	from	ADP
ajst-23742	49	21	the	the	DET
ajst-23742	49	22	guidance	guidance	NOUN
ajst-23742	49	23	of	of	ADP
ajst-23742	49	24	the	the	DET
ajst-23742	49	25	global	global	ADJ
ajst-23742	49	26	path	path	NOUN
ajst-23742	49	27	.	.	PUNCT
ajst-23742	50	1	if	if	SCONJ
ajst-23742	50	2	the	the	DET
ajst-23742	50	3	local	local	ADJ
ajst-23742	50	4	obstacle	obstacle	NOUN
ajst-23742	50	5	avoidance	avoidance	NOUN
ajst-23742	50	6	control	control	NOUN
ajst-23742	50	7	encounters	encounter	VERB
ajst-23742	50	8	an	an	DET
ajst-23742	50	9	obstacle	obstacle	NOUN
ajst-23742	50	10	,	,	PUNCT
ajst-23742	50	11	it	it	PRON
ajst-23742	50	12	will	will	AUX
ajst-23742	50	13	return	return	VERB
ajst-23742	50	14	the	the	DET
ajst-23742	50	15	result	result	NOUN
ajst-23742	50	16	to	to	ADP
ajst-23742	50	17	the	the	DET
ajst-23742	50	18	global	global	ADJ
ajst-23742	50	19	planning	planning	NOUN
ajst-23742	50	20	.	.	PUNCT
ajst-23742	51	1	the	the	DET
ajst-23742	51	2	global	global	ADJ
ajst-23742	51	3	planning	planning	NOUN
ajst-23742	51	4	,	,	PUNCT
ajst-23742	51	5	after	after	ADP
ajst-23742	51	6	obtaining	obtain	VERB
ajst-23742	51	7	the	the	DET
ajst-23742	51	8	planning	planning	NOUN
ajst-23742	51	9	status	status	NOUN
ajst-23742	51	10	from	from	ADP
ajst-23742	51	11	the	the	DET
ajst-23742	51	12	local	local	ADJ
ajst-23742	51	13	obstacle	obstacle	NOUN
ajst-23742	51	14	avoidance	avoidance	NOUN
ajst-23742	51	15	,	,	PUNCT
ajst-23742	51	16	will	will	AUX
ajst-23742	51	17	make	make	VERB
ajst-23742	51	18	a	a	DET
ajst-23742	51	19	judgment	judgment	NOUN
ajst-23742	51	20	and	and	CCONJ
ajst-23742	51	21	take	take	VERB
ajst-23742	51	22	re	re	ADJ
ajst-23742	51	23	-	-	ADJ
ajst-23742	51	24	planning	planning	ADJ
ajst-23742	51	25	measures	measure	NOUN
ajst-23742	51	26	,	,	PUNCT
ajst-23742	51	27	clearing	clear	VERB
ajst-23742	51	28	the	the	DET
ajst-23742	51	29	exploration	exploration	NOUN
ajst-23742	51	30	points	point	NOUN
ajst-23742	51	31	and	and	CCONJ
ajst-23742	51	32	re	re	VERB
ajst-23742	51	33	-	-	VERB
ajst-23742	51	34	initiating	initiate	VERB
ajst-23742	51	35	the	the	DET
ajst-23742	51	36	global	global	ADJ
ajst-23742	51	37	planning	planning	NOUN
ajst-23742	51	38	.	.	PUNCT
ajst-23742	52	1	2.1	2.1	NUM
ajst-23742	52	2	.	.	PUNCT
ajst-23742	52	3	local	local	ADJ
ajst-23742	52	4	obstacle	obstacle	NOUN
ajst-23742	52	5	avoidance	avoidance	NOUN
ajst-23742	52	6	based	base	VERB
ajst-23742	52	7	on	on	ADP
ajst-23742	52	8	ddpg	ddpg	ADJ
ajst-23742	52	9	local	local	ADJ
ajst-23742	52	10	path	path	NOUN
ajst-23742	52	11	planning	planning	NOUN
ajst-23742	52	12	focuses	focus	VERB
ajst-23742	52	13	on	on	ADP
ajst-23742	52	14	the	the	DET
ajst-23742	52	15	robot	robot	NOUN
ajst-23742	52	16	's	's	PART
ajst-23742	52	17	current	current	ADJ
ajst-23742	52	18	local	local	ADJ
ajst-23742	52	19	environmental	environmental	ADJ
ajst-23742	52	20	information	information	NOUN
ajst-23742	52	21	in	in	ADP
ajst-23742	52	22	situations	situation	NOUN
ajst-23742	52	23	where	where	SCONJ
ajst-23742	52	24	the	the	DET
ajst-23742	52	25	environment	environment	NOUN
ajst-23742	52	26	is	be	AUX
ajst-23742	52	27	either	either	CCONJ
ajst-23742	52	28	completely	completely	ADV
ajst-23742	52	29	unknown	unknown	ADJ
ajst-23742	52	30	or	or	CCONJ
ajst-23742	52	31	partially	partially	ADV
ajst-23742	52	32	known	know	VERB
ajst-23742	52	33	,	,	PUNCT
ajst-23742	52	34	ensuring	ensure	VERB
ajst-23742	52	35	that	that	SCONJ
ajst-23742	52	36	the	the	DET
ajst-23742	52	37	robot	robot	NOUN
ajst-23742	52	38	has	have	VERB
ajst-23742	52	39	good	good	ADJ
ajst-23742	52	40	obstacle	obstacle	NOUN
ajst-23742	52	41	avoidance	avoidance	NOUN
ajst-23742	52	42	capabilities	capability	NOUN
ajst-23742	52	43	.	.	PUNCT
ajst-23742	53	1	the	the	DET
ajst-23742	53	2	robot	robot	NOUN
ajst-23742	53	3	uses	use	VERB
ajst-23742	53	4	sensors	sensor	NOUN
ajst-23742	53	5	to	to	PART
ajst-23742	53	6	detect	detect	VERB
ajst-23742	53	7	the	the	DET
ajst-23742	53	8	working	working	NOUN
ajst-23742	53	9	environment	environment	NOUN
ajst-23742	53	10	,	,	PUNCT
ajst-23742	53	11	acquiring	acquire	VERB
ajst-23742	53	12	geometric	geometric	ADJ
ajst-23742	53	13	and	and	CCONJ
ajst-23742	53	14	positional	positional	ADJ
ajst-23742	53	15	information	information	NOUN
ajst-23742	53	16	of	of	ADP
ajst-23742	53	17	obstacles	obstacle	NOUN
ajst-23742	53	18	,	,	PUNCT
ajst-23742	53	19	and	and	CCONJ
ajst-23742	53	20	can	can	AUX
ajst-23742	53	21	dynamically	dynamically	ADV
ajst-23742	53	22	update	update	VERB
ajst-23742	53	23	and	and	CCONJ
ajst-23742	53	24	correct	correct	VERB
ajst-23742	53	25	its	its	PRON
ajst-23742	53	26	understanding	understanding	NOUN
ajst-23742	53	27	of	of	ADP
ajst-23742	53	28	the	the	DET
ajst-23742	53	29	environment	environment	NOUN
ajst-23742	53	30	at	at	ADP
ajst-23742	53	31	any	any	DET
ajst-23742	53	32	time	time	NOUN
ajst-23742	53	33	.	.	PUNCT
ajst-23742	54	1	the	the	DET
ajst-23742	54	2	local	local	ADJ
ajst-23742	54	3	planning	planning	NOUN
ajst-23742	54	4	method	method	NOUN
ajst-23742	54	5	integrates	integrate	VERB
ajst-23742	54	6	environment	environment	NOUN
ajst-23742	54	7	perception	perception	NOUN
ajst-23742	54	8	and	and	CCONJ
ajst-23742	54	9	search	search	NOUN
ajst-23742	54	10	,	,	PUNCT
ajst-23742	54	11	requiring	require	VERB
ajst-23742	54	12	the	the	DET
ajst-23742	54	13	robot	robot	NOUN
ajst-23742	54	14	system	system	NOUN
ajst-23742	54	15	to	to	PART
ajst-23742	54	16	have	have	VERB
ajst-23742	54	17	high	high	ADJ
ajst-23742	54	18	robustness	robustness	NOUN
ajst-23742	54	19	to	to	ADP
ajst-23742	54	20	environmental	environmental	ADJ
ajst-23742	54	21	errors	error	NOUN
ajst-23742	54	22	,	,	PUNCT
ajst-23742	54	23	as	as	ADV
ajst-23742	54	24	well	well	ADV
ajst-23742	54	25	as	as	ADP
ajst-23742	54	26	high	high	ADJ
ajst-23742	54	27	-	-	PUNCT
ajst-23742	54	28	speed	speed	NOUN
ajst-23742	54	29	information	information	NOUN
ajst-23742	54	30	processing	processing	NOUN
ajst-23742	54	31	and	and	CCONJ
ajst-23742	54	32	computing	computing	NOUN
ajst-23742	54	33	capabilities	capability	NOUN
ajst-23742	54	34	,	,	PUNCT
ajst-23742	54	35	allowing	allow	VERB
ajst-23742	54	36	it	it	PRON
ajst-23742	54	37	to	to	PART
ajst-23742	54	38	implement	implement	VERB
ajst-23742	54	39	feedback	feedback	NOUN
ajst-23742	54	40	and	and	CCONJ
ajst-23742	54	41	correction	correction	NOUN
ajst-23742	54	42	of	of	ADP
ajst-23742	54	43	the	the	DET
ajst-23742	54	44	planning	planning	NOUN
ajst-23742	54	45	results[7	results[7	NOUN
ajst-23742	54	46	]	]	PUNCT
ajst-23742	54	47	.	.	PUNCT
ajst-23742	55	1	due	due	ADP
ajst-23742	55	2	to	to	ADP
ajst-23742	55	3	the	the	DET
ajst-23742	55	4	need	need	NOUN
ajst-23742	55	5	for	for	ADP
ajst-23742	55	6	adjusting	adjust	VERB
ajst-23742	55	7	numerous	numerous	ADJ
ajst-23742	55	8	parameters	parameter	NOUN
ajst-23742	55	9	in	in	ADP
ajst-23742	55	10	traditional	traditional	ADJ
ajst-23742	55	11	obstacle	obstacle	NOUN
ajst-23742	55	12	avoidance	avoidance	NOUN
ajst-23742	55	13	algorithms	algorithm	NOUN
ajst-23742	55	14	such	such	ADJ
ajst-23742	55	15	as	as	ADP
ajst-23742	55	16	the	the	DET
ajst-23742	55	17	dwa	dwa	PROPN
ajst-23742	55	18	algorithm	algorithm	PROPN
ajst-23742	55	19	,	,	PUNCT
ajst-23742	55	20	which	which	PRON
ajst-23742	55	21	can	can	AUX
ajst-23742	55	22	not	not	PART
ajst-23742	55	23	directly	directly	ADV
ajst-23742	55	24	benefit	benefit	VERB
ajst-23742	55	25	from	from	ADP
ajst-23742	55	26	continuous	continuous	ADJ
ajst-23742	55	27	large	large	ADJ
ajst-23742	55	28	-	-	PUNCT
ajst-23742	55	29	scale	scale	NOUN
ajst-23742	55	30	datasets	dataset	NOUN
ajst-23742	55	31	,	,	PUNCT
ajst-23742	55	32	a	a	DET
ajst-23742	55	33	novel	novel	ADJ
ajst-23742	55	34	learning	learning	NOUN
ajst-23742	55	35	-	-	PUNCT
ajst-23742	55	36	based	base	VERB
ajst-23742	55	37	approach	approach	NOUN
ajst-23742	55	38	is	be	AUX
ajst-23742	55	39	proposed	propose	VERB
ajst-23742	55	40	to	to	PART
ajst-23742	55	41	achieve	achieve	VERB
ajst-23742	55	42	faster	fast	ADJ
ajst-23742	55	43	speed	speed	NOUN
ajst-23742	55	44	and	and	CCONJ
ajst-23742	55	45	more	more	ADV
ajst-23742	55	46	stable	stable	ADJ
ajst-23742	55	47	learning	learning	NOUN
ajst-23742	55	48	performance	performance	NOUN
ajst-23742	55	49	.	.	PUNCT
ajst-23742	56	1	by	by	ADP
ajst-23742	56	2	directly	directly	ADV
ajst-23742	56	3	mapping	mapping	NOUN
ajst-23742	56	4	sensor	sensor	NOUN
ajst-23742	56	5	data	datum	NOUN
ajst-23742	56	6	to	to	ADP
ajst-23742	56	7	motion	motion	NOUN
ajst-23742	56	8	control	control	NOUN
ajst-23742	56	9	quantities	quantity	NOUN
ajst-23742	56	10	,	,	PUNCT
ajst-23742	56	11	this	this	DET
ajst-23742	56	12	approach	approach	NOUN
ajst-23742	56	13	solves	solve	VERB
ajst-23742	56	14	the	the	DET
ajst-23742	56	15	problem	problem	NOUN
ajst-23742	56	16	of	of	ADP
ajst-23742	56	17	traditional	traditional	ADJ
ajst-23742	56	18	local	local	ADJ
ajst-23742	56	19	planning	planning	NOUN
ajst-23742	56	20	requiring	require	VERB
ajst-23742	56	21	extensive	extensive	ADJ
ajst-23742	56	22	computation	computation	NOUN
ajst-23742	56	23	of	of	ADP
ajst-23742	56	24	cost	cost	NOUN
ajst-23742	56	25	maps[8	maps[8	PROPN
ajst-23742	56	26	]	]	PUNCT
ajst-23742	56	27	.	.	PUNCT
ajst-23742	57	1	additionally	additionally	ADV
ajst-23742	57	2	,	,	PUNCT
ajst-23742	57	3	this	this	DET
ajst-23742	57	4	reactive	reactive	ADJ
ajst-23742	57	5	obstacle	obstacle	NOUN
ajst-23742	57	6	avoidance	avoidance	NOUN
ajst-23742	57	7	can	can	AUX
ajst-23742	57	8	handle	handle	VERB
ajst-23742	57	9	uncertain	uncertain	ADJ
ajst-23742	57	10	and	and	CCONJ
ajst-23742	57	11	dynamic	dynamic	ADJ
ajst-23742	57	12	environments	environment	NOUN
ajst-23742	57	13	,	,	PUNCT
ajst-23742	57	14	for	for	ADP
ajst-23742	57	15	which	which	PRON
ajst-23742	57	16	deep	deep	ADJ
ajst-23742	57	17	reinforcement	reinforcement	NOUN
ajst-23742	57	18	learning	learning	NOUN
ajst-23742	57	19	is	be	AUX
ajst-23742	57	20	suitable	suitable	ADJ
ajst-23742	57	21	.	.	PUNCT
ajst-23742	58	1	it	it	PRON
ajst-23742	58	2	improves	improve	VERB
ajst-23742	58	3	the	the	DET
ajst-23742	58	4	network	network	NOUN
ajst-23742	58	5	by	by	ADP
ajst-23742	58	6	exploring	explore	VERB
ajst-23742	58	7	the	the	DET
ajst-23742	58	8	environment	environment	NOUN
ajst-23742	58	9	and	and	CCONJ
ajst-23742	58	10	obtaining	obtain	VERB
ajst-23742	58	11	rewards	reward	NOUN
ajst-23742	58	12	.	.	PUNCT
ajst-23742	59	1	to	to	PART
ajst-23742	59	2	enable	enable	VERB
ajst-23742	59	3	unmanned	unmanned	ADJ
ajst-23742	59	4	vehicles	vehicle	NOUN
ajst-23742	59	5	to	to	PART
ajst-23742	59	6	navigate	navigate	VERB
ajst-23742	59	7	obstacles	obstacle	NOUN
ajst-23742	59	8	in	in	ADP
ajst-23742	59	9	different	different	ADJ
ajst-23742	59	10	dynamic	dynamic	ADJ
ajst-23742	59	11	environments	environment	NOUN
ajst-23742	59	12	,	,	PUNCT
ajst-23742	59	13	model	model	NOUN
ajst-23742	59	14	-	-	PUNCT
ajst-23742	59	15	free	free	ADJ
ajst-23742	59	16	deep	deep	ADJ
ajst-23742	59	17	reinforcement	reinforcement	NOUN
ajst-23742	59	18	learning	learning	NOUN
ajst-23742	59	19	algorithms	algorithm	NOUN
ajst-23742	59	20	are	be	AUX
ajst-23742	59	21	needed	need	VERB
ajst-23742	59	22	.	.	PUNCT
ajst-23742	60	1	they	they	PRON
ajst-23742	60	2	directly	directly	ADV
ajst-23742	60	3	learn	learn	VERB
ajst-23742	60	4	action	action	NOUN
ajst-23742	60	5	policies	policy	NOUN
ajst-23742	60	6	by	by	ADP
ajst-23742	60	7	collecting	collect	VERB
ajst-23742	60	8	data	datum	NOUN
ajst-23742	60	9	from	from	ADP
ajst-23742	60	10	simulated	simulated	ADJ
ajst-23742	60	11	or	or	CCONJ
ajst-23742	60	12	real	real	ADJ
ajst-23742	60	13	environments	environment	NOUN
ajst-23742	60	14	without	without	ADP
ajst-23742	60	15	the	the	DET
ajst-23742	60	16	need	need	NOUN
ajst-23742	60	17	for	for	ADP
ajst-23742	60	18	pre	pre	VERB
ajst-23742	60	19	-	-	VERB
ajst-23742	60	20	modeling	model	VERB
ajst-23742	60	21	the	the	DET
ajst-23742	60	22	environment	environment	NOUN
ajst-23742	60	23	.	.	PUNCT
ajst-23742	61	1	if	if	SCONJ
ajst-23742	61	2	model	model	NOUN
ajst-23742	61	3	-	-	PUNCT
ajst-23742	61	4	based	base	VERB
ajst-23742	61	5	deep	deep	ADJ
ajst-23742	61	6	reinforcement	reinforcement	NOUN
ajst-23742	61	7	learning	learning	NOUN
ajst-23742	61	8	models	model	NOUN
ajst-23742	61	9	are	be	AUX
ajst-23742	61	10	unstable	unstable	ADJ
ajst-23742	61	11	,	,	PUNCT
ajst-23742	61	12	their	their	PRON
ajst-23742	61	13	learning	learning	NOUN
ajst-23742	61	14	performance	performance	NOUN
ajst-23742	61	15	will	will	AUX
ajst-23742	61	16	be	be	AUX
ajst-23742	61	17	greatly	greatly	ADV
ajst-23742	61	18	reduced	reduce	VERB
ajst-23742	61	19	,	,	PUNCT
ajst-23742	61	20	and	and	CCONJ
ajst-23742	61	21	their	their	PRON
ajst-23742	61	22	asymptotic	asymptotic	ADJ
ajst-23742	61	23	performance	performance	NOUN
ajst-23742	61	24	will	will	AUX
ajst-23742	61	25	not	not	PART
ajst-23742	61	26	be	be	AUX
ajst-23742	61	27	as	as	ADV
ajst-23742	61	28	good	good	ADJ
ajst-23742	61	29	as	as	ADP
ajst-23742	61	30	model	model	NOUN
ajst-23742	61	31	-	-	PUNCT
ajst-23742	61	32	free	free	ADJ
ajst-23742	61	33	methods	method	NOUN
ajst-23742	61	34	.	.	PUNCT
ajst-23742	62	1	especially	especially	ADV
ajst-23742	62	2	for	for	ADP
ajst-23742	62	3	dynamic	dynamic	ADJ
ajst-23742	62	4	environment	environment	NOUN
ajst-23742	62	5	models	model	NOUN
ajst-23742	62	6	,	,	PUNCT
ajst-23742	62	7	modeling	model	VERB
ajst-23742	62	8	them	they	PRON
ajst-23742	62	9	is	be	AUX
ajst-23742	62	10	very	very	ADV
ajst-23742	62	11	challenging	challenging	ADJ
ajst-23742	62	12	.	.	PUNCT
ajst-23742	63	1	model	model	ADJ
ajst-23742	63	2	-	-	PUNCT
ajst-23742	63	3	free	free	ADJ
ajst-23742	63	4	experience	experience	NOUN
ajst-23742	63	5	-	-	PUNCT
ajst-23742	63	6	driven	drive	VERB
ajst-23742	63	7	deep	deep	ADJ
ajst-23742	63	8	reinforcement	reinforcement	NOUN
ajst-23742	63	9	learning	learning	NOUN
ajst-23742	63	10	algorithms	algorithm	NOUN
ajst-23742	63	11	do	do	AUX
ajst-23742	63	12	not	not	PART
ajst-23742	63	13	need	need	VERB
ajst-23742	63	14	to	to	PART
ajst-23742	63	15	make	make	VERB
ajst-23742	63	16	assumptions	assumption	NOUN
ajst-23742	63	17	about	about	ADP
ajst-23742	63	18	the	the	DET
ajst-23742	63	19	environment	environment	NOUN
ajst-23742	63	20	and	and	CCONJ
ajst-23742	63	21	can	can	AUX
ajst-23742	63	22	change	change	VERB
ajst-23742	63	23	strategies	strategy	NOUN
ajst-23742	63	24	during	during	ADP
ajst-23742	63	25	runtime	runtime	NOUN
ajst-23742	63	26	by	by	ADP
ajst-23742	63	27	accumulating	accumulate	VERB
ajst-23742	63	28	experience	experience	NOUN
ajst-23742	63	29	to	to	PART
ajst-23742	63	30	adapt	adapt	VERB
ajst-23742	63	31	to	to	ADP
ajst-23742	63	32	environmental	environmental	ADJ
ajst-23742	63	33	changes[9	changes[9	PROPN
ajst-23742	63	34	]	]	PUNCT
ajst-23742	63	35	.	.	PUNCT
ajst-23742	64	1	local	local	ADJ
ajst-23742	64	2	obstacle	obstacle	NOUN
ajst-23742	64	3	avoidance	avoidance	NOUN
ajst-23742	64	4	requires	require	VERB
ajst-23742	64	5	collecting	collect	VERB
ajst-23742	64	6	sensor	sensor	NOUN
ajst-23742	64	7	information	information	NOUN
ajst-23742	64	8	,	,	PUNCT
ajst-23742	64	9	thus	thus	ADV
ajst-23742	64	10	requiring	require	VERB
ajst-23742	64	11	improved	improved	ADJ
ajst-23742	64	12	sampling	sampling	NOUN
ajst-23742	64	13	efficiency	efficiency	NOUN
ajst-23742	64	14	.	.	PUNCT
ajst-23742	65	1	as	as	ADP
ajst-23742	65	2	a	a	DET
ajst-23742	65	3	deterministic	deterministic	ADJ
ajst-23742	65	4	policy	policy	NOUN
ajst-23742	65	5	gradient	gradient	NOUN
ajst-23742	65	6	algorithm	algorithm	NOUN
ajst-23742	65	7	for	for	ADP
ajst-23742	65	8	offline	offline	ADJ
ajst-23742	65	9	learning	learning	NOUN
ajst-23742	65	10	,	,	PUNCT
ajst-23742	65	11	ddpg	ddpg	ADJ
ajst-23742	65	12	introduces	introduce	VERB
ajst-23742	65	13	the	the	DET
ajst-23742	65	14	actor	actor	NOUN
ajst-23742	65	15	-	-	PUNCT
ajst-23742	65	16	critic	critic	NOUN
ajst-23742	65	17	framework	framework	NOUN
ajst-23742	65	18	,	,	PUNCT
ajst-23742	65	19	as	as	ADV
ajst-23742	65	20	well	well	ADV
ajst-23742	65	21	as	as	ADP
ajst-23742	65	22	concepts	concept	NOUN
ajst-23742	65	23	like	like	ADP
ajst-23742	65	24	experience	experience	NOUN
ajst-23742	65	25	replay	replay	NOUN
ajst-23742	65	26	buffers	buffer	NOUN
ajst-23742	65	27	and	and	CCONJ
ajst-23742	65	28	target	target	NOUN
ajst-23742	65	29	networks	network	NOUN
ajst-23742	65	30	.	.	PUNCT
ajst-23742	66	1	its	its	PRON
ajst-23742	66	2	algorithm	algorithm	NOUN
ajst-23742	66	3	exhibits	exhibit	VERB
ajst-23742	66	4	high	high	ADJ
ajst-23742	66	5	sampling	sampling	NOUN
ajst-23742	66	6	efficiency	efficiency	NOUN
ajst-23742	66	7	and	and	CCONJ
ajst-23742	66	8	stability	stability	NOUN
ajst-23742	66	9	,	,	PUNCT
ajst-23742	66	10	preventing	prevent	VERB
ajst-23742	66	11	the	the	DET
ajst-23742	66	12	correlation	correlation	NOUN
ajst-23742	66	13	of	of	ADP
ajst-23742	66	14	different	different	ADJ
ajst-23742	66	15	events	event	NOUN
ajst-23742	66	16	during	during	ADP
ajst-23742	66	17	the	the	DET
ajst-23742	66	18	training	training	NOUN
ajst-23742	66	19	stage	stage	NOUN
ajst-23742	66	20	,	,	PUNCT
ajst-23742	66	21	avoiding	avoid	VERB
ajst-23742	66	22	convergence	convergence	NOUN
ajst-23742	66	23	oscillations	oscillation	NOUN
ajst-23742	66	24	caused	cause	VERB
ajst-23742	66	25	by	by	ADP
ajst-23742	66	26	directly	directly	ADV
ajst-23742	66	27	copying	copy	VERB
ajst-23742	66	28	parameters	parameter	NOUN
ajst-23742	66	29	,	,	PUNCT
ajst-23742	66	30	and	and	CCONJ
ajst-23742	66	31	preventing	prevent	VERB
ajst-23742	66	32	overfitting	overfitte	VERB
ajst-23742	66	33	phenomena	phenomenon	NOUN
ajst-23742	66	34	caused	cause	VERB
ajst-23742	66	35	by	by	ADP
ajst-23742	66	36	solely	solely	ADV
ajst-23742	66	37	using	use	VERB
ajst-23742	66	38	new	new	ADJ
ajst-23742	66	39	data	datum	NOUN
ajst-23742	66	40	,	,	PUNCT
ajst-23742	66	41	thus	thus	ADV
ajst-23742	66	42	enhancing	enhance	VERB
ajst-23742	66	43	the	the	DET
ajst-23742	66	44	algorithm	algorithm	NOUN
ajst-23742	66	45	's	's	PART
ajst-23742	66	46	robustness	robustness	NOUN
ajst-23742	66	47	and	and	CCONJ
ajst-23742	66	48	generalization	generalization	NOUN
ajst-23742	66	49	.	.	PUNCT
ajst-23742	67	1	therefore	therefore	ADV
ajst-23742	67	2	,	,	PUNCT
ajst-23742	67	3	the	the	DET
ajst-23742	67	4	problem	problem	NOUN
ajst-23742	67	5	of	of	ADP
ajst-23742	67	6	obstacle	obstacle	NOUN
ajst-23742	67	7	avoidance	avoidance	NOUN
ajst-23742	67	8	for	for	ADP
ajst-23742	67	9	mobile	mobile	ADJ
ajst-23742	67	10	robots	robot	NOUN
ajst-23742	67	11	can	can	AUX
ajst-23742	67	12	be	be	AUX
ajst-23742	67	13	addressed	address	VERB
ajst-23742	67	14	using	use	VERB
ajst-23742	67	15	deep	deep	ADJ
ajst-23742	67	16	reinforcement	reinforcement	NOUN
ajst-23742	67	17	learning	learning	NOUN
ajst-23742	67	18	with	with	ADP
ajst-23742	67	19	ddpg	ddpg	ADJ
ajst-23742	67	20	,	,	PUNCT
ajst-23742	67	21	resolving	resolve	VERB
ajst-23742	67	22	issues	issue	NOUN
ajst-23742	67	23	related	relate	VERB
ajst-23742	67	24	to	to	ADP
ajst-23742	67	25	the	the	DET
ajst-23742	67	26	large	large	ADJ
ajst-23742	67	27	exploration	exploration	NOUN
ajst-23742	67	28	space	space	NOUN
ajst-23742	67	29	,	,	PUNCT
ajst-23742	67	30	high	high	ADJ
ajst-23742	67	31	number	number	NOUN
ajst-23742	67	32	of	of	ADP
ajst-23742	67	33	steps	step	NOUN
ajst-23742	67	34	required	require	VERB
ajst-23742	67	35	for	for	ADP
ajst-23742	67	36	network	network	NOUN
ajst-23742	67	37	convergence	convergence	NOUN
ajst-23742	67	38	,	,	PUNCT
ajst-23742	67	39	and	and	CCONJ
ajst-23742	67	40	high	high	ADJ
ajst-23742	67	41	variance	variance	NOUN
ajst-23742	67	42	.	.	PUNCT
ajst-23742	68	1	the	the	DET
ajst-23742	68	2	research	research	NOUN
ajst-23742	68	3	focus	focus	NOUN
ajst-23742	68	4	of	of	ADP
ajst-23742	68	5	this	this	DET
ajst-23742	68	6	method	method	NOUN
ajst-23742	68	7	is	be	AUX
ajst-23742	68	8	unmanned	unmanned	ADJ
ajst-23742	68	9	vehicles	vehicle	NOUN
ajst-23742	68	10	equipped	equip	VERB
ajst-23742	68	11	with	with	ADP
ajst-23742	68	12	laser	laser	NOUN
ajst-23742	68	13	rangefinder	rangefinder	NOUN
ajst-23742	68	14	sensors	sensor	NOUN
ajst-23742	68	15	,	,	PUNCT
ajst-23742	68	16	capable	capable	ADJ
ajst-23742	68	17	of	of	ADP
ajst-23742	68	18	perceiving	perceive	VERB
ajst-23742	68	19	obstacles	obstacle	NOUN
ajst-23742	68	20	within	within	ADP
ajst-23742	68	21	0	0	NUM
ajst-23742	68	22	to	to	PART
ajst-23742	68	23	10	10	NUM
ajst-23742	68	24	meters	meter	NOUN
ajst-23742	68	25	.	.	PUNCT
ajst-23742	69	1	when	when	SCONJ
ajst-23742	69	2	encountering	encounter	VERB
ajst-23742	69	3	obstacles	obstacle	NOUN
ajst-23742	69	4	within	within	ADP
ajst-23742	69	5	this	this	DET
ajst-23742	69	6	range	range	NOUN
ajst-23742	69	7	,	,	PUNCT
ajst-23742	69	8	the	the	DET
ajst-23742	69	9	laser	laser	NOUN
ajst-23742	69	10	beams	beam	NOUN
ajst-23742	69	11	are	be	AUX
ajst-23742	69	12	obstructed	obstruct	VERB
ajst-23742	69	13	,	,	PUNCT
ajst-23742	69	14	and	and	CCONJ
ajst-23742	69	15	each	each	DET
ajst-23742	69	16	beam	beam	NOUN
ajst-23742	69	17	returns	return	VERB
ajst-23742	69	18	a	a	DET
ajst-23742	69	19	distance	distance	NOUN
ajst-23742	69	20	value	value	NOUN
ajst-23742	69	21	.	.	PUNCT
ajst-23742	70	1	state	state	NOUN
ajst-23742	70	2	s	s	PROPN
ajst-23742	70	3	in	in	ADP
ajst-23742	70	4	ddpg	ddpg	ADJ
ajst-23742	70	5	algorithm	algorithm	NOUN
ajst-23742	70	6	includes	include	VERB
ajst-23742	70	7	the	the	DET
ajst-23742	70	8	following	following	NOUN
ajst-23742	70	9	:	:	PUNCT
ajst-23742	70	10	(	(	PUNCT
ajst-23742	70	11	1	1	X
ajst-23742	70	12	)	)	PUNCT
ajst-23742	70	13	the	the	DET
ajst-23742	70	14	observation	observation	NOUN
ajst-23742	70	15	data	datum	NOUN
ajst-23742	70	16	from	from	ADP
ajst-23742	70	17	the	the	DET
ajst-23742	70	18	laser	laser	NOUN
ajst-23742	70	19	rangefinder	rangefinder	NOUN
ajst-23742	70	20	sensor	sensor	NOUN
ajst-23742	70	21	consists	consist	VERB
ajst-23742	70	22	of	of	ADP
ajst-23742	70	23	laser	laser	NOUN
ajst-23742	70	24	scans	scan	NOUN
ajst-23742	70	25	within	within	ADP
ajst-23742	70	26	a	a	DET
ajst-23742	70	27	180	180	NUM
ajst-23742	70	28	°	°	NOUN
ajst-23742	70	29	range	range	NOUN
ajst-23742	70	30	in	in	ADP
ajst-23742	70	31	front	front	NOUN
ajst-23742	70	32	of	of	ADP
ajst-23742	70	33	the	the	DET
ajst-23742	70	34	vehicle	vehicle	NOUN
ajst-23742	70	35	,	,	PUNCT
ajst-23742	70	36	stored	store	VERB
ajst-23742	70	37	in	in	ADP
ajst-23742	70	38	an	an	DET
ajst-23742	70	39	array	array	NOUN
ajst-23742	70	40	called	call	VERB
ajst-23742	70	41	laser_scan	laser_scan	NOUN
ajst-23742	70	42	with	with	ADP
ajst-23742	70	43	dimensions	dimension	NOUN
ajst-23742	70	44	of	of	ADP
ajst-23742	70	45	360	360	NUM
ajst-23742	70	46	,	,	PUNCT
ajst-23742	70	47	representing	represent	VERB
ajst-23742	70	48	the	the	DET
ajst-23742	70	49	laser	laser	NOUN
ajst-23742	70	50	values	value	NOUN
ajst-23742	70	51	observed	observe	VERB
ajst-23742	70	52	within	within	ADP
ajst-23742	70	53	every	every	DET
ajst-23742	70	54	0.5	0.5	NUM
ajst-23742	70	55	°	°	NUM
ajst-23742	70	56	range	range	NOUN
ajst-23742	70	57	(	(	PUNCT
ajst-23742	70	58	d1	d1	PROPN
ajst-23742	70	59	,	,	PUNCT
ajst-23742	70	60	d2	d2	PROPN
ajst-23742	70	61	,	,	PUNCT
ajst-23742	70	62	...	...	PUNCT
ajst-23742	70	63	,	,	PUNCT
ajst-23742	70	64	d360	d360	NUM
ajst-23742	70	65	)	)	PUNCT
ajst-23742	70	66	.	.	PUNCT
ajst-23742	71	1	as	as	SCONJ
ajst-23742	71	2	the	the	DET
ajst-23742	71	3	laser	laser	NOUN
ajst-23742	71	4	sensor	sensor	NOUN
ajst-23742	71	5	can	can	AUX
ajst-23742	71	6	not	not	PART
ajst-23742	71	7	guarantee	guarantee	VERB
ajst-23742	71	8	capturing	capture	VERB
ajst-23742	71	9	all	all	DET
ajst-23742	71	10	laser	laser	NOUN
ajst-23742	71	11	data	datum	NOUN
ajst-23742	71	12	,	,	PUNCT
ajst-23742	71	13	parts	part	NOUN
ajst-23742	71	14	where	where	SCONJ
ajst-23742	71	15	di	di	NOUN
ajst-23742	72	1	=	=	NOUN
ajst-23742	72	2	none	none	NOUN
ajst-23742	72	3	are	be	AUX
ajst-23742	72	4	changed	change	VERB
ajst-23742	72	5	to	to	ADP
ajst-23742	72	6	di	di	NOUN
ajst-23742	72	7	=	=	NOUN
ajst-23742	72	8	dmax	dmax	X
ajst-23742	72	9	=	=	NOUN
ajst-23742	72	10	10	10	NUM
ajst-23742	72	11	during	during	ADP
ajst-23742	72	12	laser	laser	NOUN
ajst-23742	72	13	data	datum	NOUN
ajst-23742	72	14	preprocessing	preprocessing	NOUN
ajst-23742	72	15	.	.	PUNCT
ajst-23742	73	1	to	to	PART
ajst-23742	73	2	reduce	reduce	VERB
ajst-23742	73	3	observation	observation	NOUN
ajst-23742	73	4	data	datum	NOUN
ajst-23742	73	5	errors	error	NOUN
ajst-23742	73	6	and	and	CCONJ
ajst-23742	73	7	computational	computational	ADJ
ajst-23742	73	8	costs	cost	NOUN
ajst-23742	73	9	,	,	PUNCT
ajst-23742	73	10	the	the	DET
ajst-23742	73	11	360	360	NUM
ajst-23742	73	12	-	-	PUNCT
ajst-23742	73	13	dimensional	dimensional	ADJ
ajst-23742	73	14	data	datum	NOUN
ajst-23742	73	15	is	be	AUX
ajst-23742	73	16	reduced	reduce	VERB
ajst-23742	73	17	to	to	ADP
ajst-23742	73	18	40	40	NUM
ajst-23742	73	19	dimensions	dimension	NOUN
ajst-23742	73	20	,	,	PUNCT
ajst-23742	73	21	where	where	SCONJ
ajst-23742	73	22	every	every	DET
ajst-23742	73	23	9	9	NUM
ajst-23742	73	24	distance	distance	NOUN
ajst-23742	73	25	values	value	NOUN
ajst-23742	73	26	are	be	AUX
ajst-23742	73	27	averaged	average	VERB
ajst-23742	73	28	to	to	PART
ajst-23742	73	29	obtain	obtain	VERB
ajst-23742	73	30	(	(	PUNCT
ajst-23742	73	31	d1	d1	NOUN
ajst-23742	73	32	,	,	PUNCT
ajst-23742	73	33	d2	d2	PROPN
ajst-23742	73	34	,	,	PUNCT
ajst-23742	73	35	...	...	PUNCT
ajst-23742	73	36	,	,	PUNCT
ajst-23742	73	37	d40	d40	ADJ
ajst-23742	73	38	)	)	PUNCT
ajst-23742	73	39	.	.	PUNCT
ajst-23742	74	1	after	after	ADP
ajst-23742	74	2	obtaining	obtain	VERB
ajst-23742	74	3	the	the	DET
ajst-23742	74	4	distribution	distribution	NOUN
ajst-23742	74	5	of	of	ADP
ajst-23742	74	6	obstacles	obstacle	NOUN
ajst-23742	74	7	at	at	ADP
ajst-23742	74	8	each	each	DET
ajst-23742	74	9	angle	angle	NOUN
ajst-23742	74	10	,	,	PUNCT
ajst-23742	74	11	200	200	NUM
ajst-23742	74	12	normalization	normalization	NOUN
ajst-23742	74	13	is	be	AUX
ajst-23742	74	14	performed	perform	VERB
ajst-23742	74	15	by	by	ADP
ajst-23742	74	16	di	di	X
ajst-23742	74	17	=	=	NOUN
ajst-23742	74	18	di	di	X
ajst-23742	74	19	/	/	SYM
ajst-23742	74	20	dmax	dmax	ADJ
ajst-23742	74	21	=	=	NOUN
ajst-23742	74	22	di	di	NOUN
ajst-23742	74	23	/	/	SYM
ajst-23742	74	24	10	10	NUM
ajst-23742	74	25	to	to	PART
ajst-23742	74	26	obtain	obtain	VERB
ajst-23742	74	27	new	new	ADJ
ajst-23742	74	28	normalized	normalize	VERB
ajst-23742	74	29	data	datum	NOUN
ajst-23742	74	30	(	(	PUNCT
ajst-23742	74	31	d1	d1	PROPN
ajst-23742	74	32	,	,	PUNCT
ajst-23742	74	33	d2	d2	PROPN
ajst-23742	74	34	,	,	PUNCT
ajst-23742	74	35	...	...	PUNCT
ajst-23742	74	36	,	,	PUNCT
ajst-23742	74	37	d40	d40	ADJ
ajst-23742	74	38	)	)	PUNCT
ajst-23742	74	39	.	.	PUNCT
ajst-23742	75	1	subsequently	subsequently	ADV
ajst-23742	75	2	,	,	PUNCT
ajst-23742	75	3	the	the	DET
ajst-23742	75	4	normalized	normalize	VERB
ajst-23742	75	5	data	datum	NOUN
ajst-23742	75	6	collected	collect	VERB
ajst-23742	75	7	from	from	ADP
ajst-23742	75	8	the	the	DET
ajst-23742	75	9	past	past	ADJ
ajst-23742	75	10	two	two	NUM
ajst-23742	75	11	times	time	NOUN
ajst-23742	75	12	and	and	CCONJ
ajst-23742	75	13	the	the	DET
ajst-23742	75	14	most	most	ADV
ajst-23742	75	15	recent	recent	ADJ
ajst-23742	75	16	normalized	normalize	VERB
ajst-23742	75	17	data	datum	NOUN
ajst-23742	75	18	are	be	AUX
ajst-23742	75	19	merged	merge	VERB
ajst-23742	75	20	to	to	PART
ajst-23742	75	21	form	form	VERB
ajst-23742	75	22	a	a	DET
ajst-23742	75	23	data	data	NOUN
ajst-23742	75	24	set	set	NOUN
ajst-23742	75	25	(	(	PUNCT
ajst-23742	75	26	d1	d1	PROPN
ajst-23742	75	27	,	,	PUNCT
ajst-23742	75	28	d2	d2	PROPN
ajst-23742	75	29	,	,	PUNCT
ajst-23742	75	30	...	...	PUNCT
ajst-23742	75	31	,	,	PUNCT
ajst-23742	75	32	d120	d120	NUM
ajst-23742	75	33	)	)	PUNCT
ajst-23742	75	34	,	,	PUNCT
ajst-23742	75	35	which	which	PRON
ajst-23742	75	36	serves	serve	VERB
ajst-23742	75	37	as	as	ADP
ajst-23742	75	38	the	the	DET
ajst-23742	75	39	input	input	NOUN
ajst-23742	75	40	for	for	ADP
ajst-23742	75	41	the	the	DET
ajst-23742	75	42	laser	laser	NOUN
ajst-23742	75	43	rangefinder	rangefinder	NOUN
ajst-23742	75	44	observation	observation	NOUN
ajst-23742	75	45	data	datum	NOUN
ajst-23742	75	46	.	.	PUNCT
ajst-23742	76	1	(	(	PUNCT
ajst-23742	76	2	2	2	X
ajst-23742	76	3	)	)	PUNCT
ajst-23742	76	4	the	the	DET
ajst-23742	76	5	driving	drive	VERB
ajst-23742	76	6	state	state	NOUN
ajst-23742	76	7	of	of	ADP
ajst-23742	76	8	the	the	DET
ajst-23742	76	9	unmanned	unmanned	ADJ
ajst-23742	76	10	vehicle	vehicle	NOUN
ajst-23742	76	11	is	be	AUX
ajst-23742	76	12	determined	determine	VERB
ajst-23742	76	13	by	by	ADP
ajst-23742	76	14	the	the	DET
ajst-23742	76	15	current	current	ADJ
ajst-23742	76	16	linear	linear	ADJ
ajst-23742	76	17	velocity	velocity	NOUN
ajst-23742	76	18	v	v	NOUN
ajst-23742	76	19	and	and	CCONJ
ajst-23742	76	20	angular	angular	ADJ
ajst-23742	76	21	velocity	velocity	NOUN
ajst-23742	76	22	w	w	PROPN
ajst-23742	76	23	of	of	ADP
ajst-23742	76	24	the	the	DET
ajst-23742	76	25	vehicle	vehicle	NOUN
ajst-23742	76	26	,	,	PUNCT
ajst-23742	76	27	which	which	PRON
ajst-23742	76	28	are	be	AUX
ajst-23742	76	29	input	input	VERB
ajst-23742	76	30	into	into	ADP
ajst-23742	76	31	the	the	DET
ajst-23742	76	32	network	network	NOUN
ajst-23742	76	33	.	.	PUNCT
ajst-23742	77	1	the	the	DET
ajst-23742	77	2	driving	drive	VERB
ajst-23742	77	3	state	state	NOUN
ajst-23742	77	4	can	can	AUX
ajst-23742	77	5	be	be	AUX
ajst-23742	77	6	obtained	obtain	VERB
ajst-23742	77	7	from	from	ADP
ajst-23742	77	8	the	the	DET
ajst-23742	77	9	odometer	odometer	NOUN
ajst-23742	77	10	-	-	PUNCT
ajst-23742	77	11	recorded	record	VERB
ajst-23742	77	12	information	information	NOUN
ajst-23742	77	13	.	.	PUNCT
ajst-23742	78	1	(	(	PUNCT
ajst-23742	78	2	3	3	X
ajst-23742	78	3	)	)	PUNCT
ajst-23742	78	4	the	the	DET
ajst-23742	78	5	status	status	NOUN
ajst-23742	78	6	information	information	NOUN
ajst-23742	78	7	of	of	ADP
ajst-23742	78	8	the	the	DET
ajst-23742	78	9	target	target	NOUN
ajst-23742	78	10	point	point	NOUN
ajst-23742	78	11	is	be	AUX
ajst-23742	78	12	input	input	NOUN
ajst-23742	78	13	with	with	ADP
ajst-23742	78	14	the	the	DET
ajst-23742	78	15	coordinates	coordinate	NOUN
ajst-23742	78	16	of	of	ADP
ajst-23742	78	17	the	the	DET
ajst-23742	78	18	target	target	NOUN
ajst-23742	78	19	point	point	NOUN
ajst-23742	78	20	with	with	ADP
ajst-23742	78	21	the	the	DET
ajst-23742	78	22	vehicle	vehicle	NOUN
ajst-23742	78	23	as	as	ADP
ajst-23742	78	24	the	the	DET
ajst-23742	78	25	coordinate	coordinate	NOUN
ajst-23742	78	26	center	center	NOUN
ajst-23742	78	27	.	.	PUNCT
ajst-23742	79	1	the	the	DET
ajst-23742	79	2	current	current	ADJ
ajst-23742	79	3	position	position	NOUN
ajst-23742	79	4	coordinates	coordinate	NOUN
ajst-23742	79	5	and	and	CCONJ
ajst-23742	79	6	heading	head	VERB
ajst-23742	79	7	angle	angle	NOUN
ajst-23742	79	8	deviation	deviation	NOUN
ajst-23742	79	9	of	of	ADP
ajst-23742	79	10	the	the	DET
ajst-23742	79	11	unmanned	unmanned	ADJ
ajst-23742	79	12	vehicle	vehicle	NOUN
ajst-23742	79	13	at	at	ADP
ajst-23742	79	14	the	the	DET
ajst-23742	79	15	current	current	ADJ
ajst-23742	79	16	time	time	NOUN
ajst-23742	79	17	can	can	AUX
ajst-23742	79	18	also	also	ADV
ajst-23742	79	19	be	be	AUX
ajst-23742	79	20	obtained	obtain	VERB
ajst-23742	79	21	from	from	ADP
ajst-23742	79	22	the	the	DET
ajst-23742	79	23	odometer	odometer	NOUN
ajst-23742	79	24	information	information	NOUN
ajst-23742	79	25	as	as	ADP
ajst-23742	79	26	(	(	PUNCT
ajst-23742	79	27	x	x	NOUN
ajst-23742	79	28	,	,	PUNCT
ajst-23742	79	29	y	y	PROPN
ajst-23742	79	30	,	,	PUNCT
ajst-23742	79	31	θ	θ	PROPN
ajst-23742	79	32	)	)	PUNCT
ajst-23742	79	33	.	.	PUNCT
ajst-23742	80	1	with	with	ADP
ajst-23742	80	2	this	this	DET
ajst-23742	80	3	information	information	NOUN
ajst-23742	80	4	,	,	PUNCT
ajst-23742	80	5	the	the	DET
ajst-23742	80	6	coordinates	coordinate	NOUN
ajst-23742	80	7	of	of	ADP
ajst-23742	80	8	the	the	DET
ajst-23742	80	9	target	target	NOUN
ajst-23742	80	10	point	point	NOUN
ajst-23742	80	11	(	(	PUNCT
ajst-23742	80	12	xtarget	xtarget	NOUN
ajst-23742	80	13	,	,	PUNCT
ajst-23742	80	14	ytarget	ytarget	NOUN
ajst-23742	80	15	)	)	PUNCT
ajst-23742	80	16	in	in	ADP
ajst-23742	80	17	the	the	DET
ajst-23742	80	18	coordinate	coordinate	NOUN
ajst-23742	80	19	system	system	NOUN
ajst-23742	80	20	of	of	ADP
ajst-23742	80	21	the	the	DET
ajst-23742	80	22	unmanned	unmanned	ADJ
ajst-23742	80	23	vehicle	vehicle	NOUN
ajst-23742	80	24	can	can	AUX
ajst-23742	80	25	be	be	AUX
ajst-23742	80	26	calculated	calculate	VERB
ajst-23742	80	27	as	as	ADP
ajst-23742	80	28	:	:	PUNCT
ajst-23742	80	29	'	'	PUNCT
ajst-23742	80	30	arg	arg	NOUN
ajst-23742	80	31	arg	arg	NOUN
ajst-23742	80	32	(	(	PUNCT
ajst-23742	80	33	)	)	PUNCT
ajst-23742	80	34	*	*	PUNCT
ajst-23742	80	35	cos	cos	PROPN
ajst-23742	80	36	(	(	PUNCT
ajst-23742	80	37	)	)	PUNCT
ajst-23742	80	38	*	*	PUNCT
ajst-23742	80	39	sint	sint	PROPN
ajst-23742	80	40	et	et	PROPN
ajst-23742	80	41	t	t	PROPN
ajst-23742	80	42	etx	etx	NOUN
ajst-23742	81	1	x	x	X
ajst-23742	81	2	x	x	SYM
ajst-23742	81	3	y	y	PROPN
ajst-23742	81	4	y	y	PROPN
ajst-23742	81	5			PROPN
ajst-23742	81	6			PROPN
ajst-23742	81	7			VERB
ajst-23742	81	8			NOUN
ajst-23742	81	9	(	(	PUNCT
ajst-23742	81	10	1	1	NUM
ajst-23742	81	11	)	)	PUNCT
ajst-23742	81	12	'	'	PUNCT
ajst-23742	81	13	arg	arg	NOUN
ajst-23742	81	14	arg	arg	NOUN
ajst-23742	81	15	(	(	PUNCT
ajst-23742	81	16	)	)	PUNCT
ajst-23742	81	17	*	*	PUNCT
ajst-23742	81	18	sin	sin	NOUN
ajst-23742	81	19	(	(	PUNCT
ajst-23742	81	20	)	)	PUNCT
ajst-23742	81	21	*	*	PUNCT
ajst-23742	81	22	cost	cost	NOUN
ajst-23742	81	23	et	et	PROPN
ajst-23742	81	24	t	t	NOUN
ajst-23742	81	25	etx	etx	NOUN
ajst-23742	81	26	x	x	X
ajst-23742	81	27	x	x	SYM
ajst-23742	81	28	y	y	PROPN
ajst-23742	81	29	y	y	PROPN
ajst-23742	81	30			PROPN
ajst-23742	81	31			PROPN
ajst-23742	81	32			PROPN
ajst-23742	81	33			ADV
ajst-23742	81	34			NOUN
ajst-23742	81	35	(	(	PUNCT
ajst-23742	81	36	2	2	NUM
ajst-23742	81	37	)	)	PUNCT
ajst-23742	81	38	that	that	PRON
ajst-23742	81	39	is	be	AUX
ajst-23742	81	40	,	,	PUNCT
ajst-23742	81	41	(	(	PUNCT
ajst-23742	81	42	x	x	X
ajst-23742	81	43	'	'	X
ajst-23742	81	44	,	,	PUNCT
ajst-23742	81	45	y	y	PROPN
ajst-23742	81	46	'	'	PUNCT
ajst-23742	81	47	)	)	PUNCT
ajst-23742	81	48	represents	represent	VERB
ajst-23742	81	49	the	the	DET
ajst-23742	81	50	coordinates	coordinate	NOUN
ajst-23742	81	51	of	of	ADP
ajst-23742	81	52	the	the	DET
ajst-23742	81	53	target	target	NOUN
ajst-23742	81	54	point	point	NOUN
ajst-23742	81	55	relative	relative	ADJ
ajst-23742	81	56	to	to	ADP
ajst-23742	81	57	the	the	DET
ajst-23742	81	58	coordinate	coordinate	NOUN
ajst-23742	81	59	system	system	NOUN
ajst-23742	81	60	centered	center	VERB
ajst-23742	81	61	on	on	ADP
ajst-23742	81	62	the	the	DET
ajst-23742	81	63	vehicle	vehicle	NOUN
ajst-23742	81	64	.	.	PUNCT
ajst-23742	82	1	these	these	DET
ajst-23742	82	2	coordinates	coordinate	NOUN
ajst-23742	82	3	are	be	AUX
ajst-23742	82	4	input	input	VERB
ajst-23742	82	5	into	into	ADP
ajst-23742	82	6	the	the	DET
ajst-23742	82	7	network	network	NOUN
ajst-23742	82	8	.	.	PUNCT
ajst-23742	83	1	for	for	ADP
ajst-23742	83	2	the	the	DET
ajst-23742	83	3	ddpg	ddpg	ADJ
ajst-23742	83	4	algorithm	algorithm	NOUN
ajst-23742	83	5	,	,	PUNCT
ajst-23742	83	6	the	the	DET
ajst-23742	83	7	action	action	NOUN
ajst-23742	83	8	a	a	PRON
ajst-23742	83	9	is	be	AUX
ajst-23742	83	10	a	a	DET
ajst-23742	83	11	continuous	continuous	ADJ
ajst-23742	83	12	control	control	NOUN
ajst-23742	83	13	value	value	NOUN
ajst-23742	83	14	passed	pass	VERB
ajst-23742	83	15	from	from	ADP
ajst-23742	83	16	the	the	DET
ajst-23742	83	17	local	local	ADJ
ajst-23742	83	18	obstacle	obstacle	NOUN
ajst-23742	83	19	avoidance	avoidance	NOUN
ajst-23742	83	20	module	module	NOUN
ajst-23742	83	21	to	to	ADP
ajst-23742	83	22	the	the	DET
ajst-23742	83	23	unmanned	unmanned	ADJ
ajst-23742	83	24	vehicle	vehicle	NOUN
ajst-23742	83	25	,	,	PUNCT
ajst-23742	83	26	representing	represent	VERB
ajst-23742	83	27	linear	linear	ADJ
ajst-23742	83	28	velocity	velocity	NOUN
ajst-23742	83	29	v	v	NOUN
ajst-23742	83	30	and	and	CCONJ
ajst-23742	83	31	angular	angular	ADJ
ajst-23742	83	32	velocity	velocity	NOUN
ajst-23742	83	33	w.	w.	NOUN
ajst-23742	84	1	this	this	DET
ajst-23742	84	2	control	control	NOUN
ajst-23742	84	3	value	value	NOUN
ajst-23742	84	4	directly	directly	ADV
ajst-23742	84	5	guides	guide	VERB
ajst-23742	84	6	the	the	DET
ajst-23742	84	7	motion	motion	NOUN
ajst-23742	84	8	control	control	NOUN
ajst-23742	84	9	of	of	ADP
ajst-23742	84	10	the	the	DET
ajst-23742	84	11	vehicle	vehicle	NOUN
ajst-23742	84	12	.	.	PUNCT
ajst-23742	85	1	the	the	DET
ajst-23742	85	2	reward	reward	NOUN
ajst-23742	85	3	function	function	NOUN
ajst-23742	85	4	for	for	ADP
ajst-23742	85	5	ddpg	ddpg	ADJ
ajst-23742	85	6	is	be	AUX
ajst-23742	85	7	as	as	SCONJ
ajst-23742	85	8	follows	follow	VERB
ajst-23742	85	9	:	:	PUNCT
ajst-23742	85	10	1	1	NUM
ajst-23742	85	11	,	,	PUNCT
ajst-23742	85	12	(	(	PUNCT
ajst-23742	85	13	,	,	PUNCT
ajst-23742	85	14	)	)	PUNCT
ajst-23742	85	15	,	,	PUNCT
ajst-23742	85	16	min	min	NOUN
ajst-23742	85	17	(	(	PUNCT
ajst-23742	85	18	)	)	PUNCT
ajst-23742	85	19	(	(	PUNCT
ajst-23742	85	20	)	)	PUNCT
ajst-23742	85	21	,	,	PUNCT
ajst-23742	85	22	goal	goal	NOUN
ajst-23742	85	23	t	t	PROPN
ajst-23742	85	24	goal	goal	NOUN
ajst-23742	86	1	t	t	PROPN
ajst-23742	86	2	t	t	PROPN
ajst-23742	86	3	collision	collision	NOUN
ajst-23742	87	1	i	i	PRON
ajst-23742	87	2	collision	collision	VERB
ajst-23742	87	3	t	t	X
ajst-23742	88	1	t	t	NOUN
ajst-23742	88	2	r	r	NOUN
ajst-23742	88	3	s	s	PROPN
ajst-23742	88	4	d	d	NOUN
ajst-23742	88	5	r	r	NOUN
ajst-23742	88	6	s	s	PROPN
ajst-23742	88	7	a	a	DET
ajst-23742	88	8	r	r	NOUN
ajst-23742	88	9	d	d	PROPN
ajst-23742	88	10	d	d	X
ajst-23742	88	11	k	k	PROPN
ajst-23742	88	12	s	s	PROPN
ajst-23742	88	13	s	s	X
ajst-23742	88	14	else	else	NOUN
ajst-23742	88	15			NOUN
ajst-23742	88	16			X
ajst-23742	88	17			NOUN
ajst-23742	88	18			NOUN
ajst-23742	88	19			ADP
ajst-23742	88	20			CCONJ
ajst-23742	88	21	(	(	PUNCT
ajst-23742	88	22	3	3	NUM
ajst-23742	88	23	)	)	PUNCT
ajst-23742	88	24	where	where	SCONJ
ajst-23742	88	25	st	st	PROPN
ajst-23742	88	26	denotes	denote	VERB
ajst-23742	88	27	the	the	DET
ajst-23742	88	28	current	current	ADJ
ajst-23742	88	29	distance	distance	NOUN
ajst-23742	88	30	of	of	ADP
ajst-23742	88	31	the	the	DET
ajst-23742	88	32	vehicle	vehicle	NOUN
ajst-23742	88	33	from	from	ADP
ajst-23742	88	34	the	the	DET
ajst-23742	88	35	target	target	NOUN
ajst-23742	88	36	point	point	NOUN
ajst-23742	88	37	.	.	PUNCT
ajst-23742	89	1	when	when	SCONJ
ajst-23742	89	2	the	the	DET
ajst-23742	89	3	distance	distance	NOUN
ajst-23742	89	4	of	of	ADP
ajst-23742	89	5	the	the	DET
ajst-23742	89	6	vehicle	vehicle	NOUN
ajst-23742	89	7	from	from	ADP
ajst-23742	89	8	the	the	DET
ajst-23742	89	9	target	target	NOUN
ajst-23742	89	10	point	point	NOUN
ajst-23742	89	11	is	be	AUX
ajst-23742	89	12	less	less	ADJ
ajst-23742	89	13	than	than	ADP
ajst-23742	89	14	the	the	DET
ajst-23742	89	15	dgoal	dgoal	ADJ
ajst-23742	89	16	threshold	threshold	NOUN
ajst-23742	89	17	,	,	PUNCT
ajst-23742	89	18	it	it	PRON
ajst-23742	89	19	can	can	AUX
ajst-23742	89	20	be	be	AUX
ajst-23742	89	21	considered	consider	VERB
ajst-23742	89	22	as	as	ADP
ajst-23742	89	23	reaching	reach	VERB
ajst-23742	89	24	the	the	DET
ajst-23742	89	25	target	target	NOUN
ajst-23742	89	26	point	point	NOUN
ajst-23742	89	27	,	,	PUNCT
ajst-23742	89	28	and	and	CCONJ
ajst-23742	89	29	the	the	DET
ajst-23742	89	30	environment	environment	NOUN
ajst-23742	89	31	provides	provide	VERB
ajst-23742	89	32	a	a	DET
ajst-23742	89	33	positive	positive	ADJ
ajst-23742	89	34	reward	reward	NOUN
ajst-23742	89	35	rgoal	rgoal	NOUN
ajst-23742	89	36	.	.	PUNCT
ajst-23742	90	1	when	when	SCONJ
ajst-23742	90	2	the	the	DET
ajst-23742	90	3	minimum	minimum	ADJ
ajst-23742	90	4	distance	distance	NOUN
ajst-23742	90	5	feedback	feedback	NOUN
ajst-23742	90	6	from	from	ADP
ajst-23742	90	7	the	the	DET
ajst-23742	90	8	laser	laser	NOUN
ajst-23742	90	9	sensor	sensor	NOUN
ajst-23742	90	10	is	be	AUX
ajst-23742	90	11	less	less	ADJ
ajst-23742	90	12	than	than	ADP
ajst-23742	90	13	the	the	DET
ajst-23742	90	14	safety	safety	NOUN
ajst-23742	90	15	threshold	threshold	NOUN
ajst-23742	90	16	dcollision	dcollision	NOUN
ajst-23742	90	17	,	,	PUNCT
ajst-23742	90	18	indicating	indicate	VERB
ajst-23742	90	19	that	that	SCONJ
ajst-23742	90	20	the	the	DET
ajst-23742	90	21	vehicle	vehicle	NOUN
ajst-23742	90	22	is	be	AUX
ajst-23742	90	23	about	about	ADJ
ajst-23742	90	24	to	to	PART
ajst-23742	90	25	collide	collide	VERB
ajst-23742	90	26	with	with	ADP
ajst-23742	90	27	an	an	DET
ajst-23742	90	28	obstacle	obstacle	NOUN
ajst-23742	90	29	,	,	PUNCT
ajst-23742	90	30	in	in	ADP
ajst-23742	90	31	order	order	NOUN
ajst-23742	90	32	to	to	PART
ajst-23742	90	33	give	give	VERB
ajst-23742	90	34	the	the	DET
ajst-23742	90	35	vehicle	vehicle	NOUN
ajst-23742	90	36	a	a	DET
ajst-23742	90	37	chance	chance	NOUN
ajst-23742	90	38	to	to	PART
ajst-23742	90	39	change	change	VERB
ajst-23742	90	40	its	its	PRON
ajst-23742	90	41	direction	direction	NOUN
ajst-23742	90	42	of	of	ADP
ajst-23742	90	43	motion	motion	NOUN
ajst-23742	90	44	,	,	PUNCT
ajst-23742	90	45	a	a	DET
ajst-23742	90	46	threshold	threshold	NOUN
ajst-23742	90	47	iii	iii	NOUN
ajst-23742	90	48	can	can	AUX
ajst-23742	90	49	be	be	AUX
ajst-23742	90	50	set	set	VERB
ajst-23742	90	51	,	,	PUNCT
ajst-23742	90	52	representing	represent	VERB
ajst-23742	90	53	the	the	DET
ajst-23742	90	54	number	number	NOUN
ajst-23742	90	55	of	of	ADP
ajst-23742	90	56	times	time	NOUN
ajst-23742	90	57	allowing	allow	VERB
ajst-23742	90	58	min(di)<dcollision	min(di)<dcollision	PROPN
ajst-23742	90	59	.	.	PUNCT
ajst-23742	91	1	if	if	SCONJ
ajst-23742	91	2	the	the	DET
ajst-23742	91	3	number	number	NOUN
ajst-23742	91	4	of	of	ADP
ajst-23742	91	5	times	time	NOUN
ajst-23742	91	6	the	the	DET
ajst-23742	91	7	vehicle	vehicle	NOUN
ajst-23742	91	8	's	's	PART
ajst-23742	91	9	distance	distance	NOUN
ajst-23742	91	10	from	from	ADP
ajst-23742	91	11	obstacles	obstacle	NOUN
ajst-23742	91	12	is	be	AUX
ajst-23742	91	13	less	less	ADJ
ajst-23742	91	14	than	than	ADP
ajst-23742	91	15	the	the	DET
ajst-23742	91	16	safety	safety	NOUN
ajst-23742	91	17	threshold	threshold	NOUN
ajst-23742	91	18	in	in	ADP
ajst-23742	91	19	multiple	multiple	ADJ
ajst-23742	91	20	iterations	iteration	NOUN
ajst-23742	91	21	reaches	reach	VERB
ajst-23742	91	22	a	a	DET
ajst-23742	91	23	certain	certain	ADJ
ajst-23742	91	24	limit	limit	NOUN
ajst-23742	91	25	,	,	PUNCT
ajst-23742	91	26	it	it	PRON
ajst-23742	91	27	is	be	AUX
ajst-23742	91	28	considered	consider	VERB
ajst-23742	91	29	that	that	SCONJ
ajst-23742	91	30	the	the	DET
ajst-23742	91	31	vehicle	vehicle	NOUN
ajst-23742	91	32	has	have	AUX
ajst-23742	91	33	collided	collide	VERB
ajst-23742	91	34	with	with	ADP
ajst-23742	91	35	an	an	DET
ajst-23742	91	36	obstacle	obstacle	NOUN
ajst-23742	91	37	,	,	PUNCT
ajst-23742	91	38	receiving	receive	VERB
ajst-23742	91	39	a	a	DET
ajst-23742	91	40	negative	negative	ADJ
ajst-23742	91	41	reward	reward	NOUN
ajst-23742	91	42	rcollision	rcollision	NOUN
ajst-23742	91	43	.	.	PUNCT
ajst-23742	92	1	if	if	SCONJ
ajst-23742	92	2	the	the	DET
ajst-23742	92	3	vehicle	vehicle	NOUN
ajst-23742	92	4	is	be	AUX
ajst-23742	92	5	in	in	ADP
ajst-23742	92	6	other	other	ADJ
ajst-23742	92	7	states	state	NOUN
ajst-23742	92	8	,	,	PUNCT
ajst-23742	92	9	the	the	DET
ajst-23742	92	10	algorithm	algorithm	NOUN
ajst-23742	92	11	aims	aim	VERB
ajst-23742	92	12	to	to	PART
ajst-23742	92	13	guide	guide	VERB
ajst-23742	92	14	the	the	DET
ajst-23742	92	15	vehicle	vehicle	NOUN
ajst-23742	92	16	towards	towards	ADP
ajst-23742	92	17	the	the	DET
ajst-23742	92	18	target	target	NOUN
ajst-23742	92	19	point	point	NOUN
ajst-23742	92	20	.	.	PUNCT
ajst-23742	93	1	if	if	SCONJ
ajst-23742	93	2	the	the	DET
ajst-23742	93	3	vehicle	vehicle	NOUN
ajst-23742	93	4	moves	move	VERB
ajst-23742	93	5	away	away	ADV
ajst-23742	93	6	from	from	ADP
ajst-23742	93	7	the	the	DET
ajst-23742	93	8	target	target	NOUN
ajst-23742	93	9	point	point	NOUN
ajst-23742	93	10	,	,	PUNCT
ajst-23742	93	11	the	the	DET
ajst-23742	93	12	environment	environment	NOUN
ajst-23742	93	13	gives	give	VERB
ajst-23742	93	14	a	a	DET
ajst-23742	93	15	small	small	ADJ
ajst-23742	93	16	penalty	penalty	NOUN
ajst-23742	93	17	.	.	PUNCT
ajst-23742	94	1	if	if	SCONJ
ajst-23742	94	2	the	the	DET
ajst-23742	94	3	vehicle	vehicle	NOUN
ajst-23742	94	4	moves	move	VERB
ajst-23742	94	5	closer	close	ADV
ajst-23742	94	6	to	to	ADP
ajst-23742	94	7	the	the	DET
ajst-23742	94	8	target	target	NOUN
ajst-23742	94	9	point	point	NOUN
ajst-23742	94	10	,	,	PUNCT
ajst-23742	94	11	a	a	DET
ajst-23742	94	12	reward	reward	NOUN
ajst-23742	94	13	is	be	AUX
ajst-23742	94	14	given	give	VERB
ajst-23742	94	15	to	to	ADP
ajst-23742	94	16	the	the	DET
ajst-23742	94	17	action	action	NOUN
ajst-23742	94	18	from	from	ADP
ajst-23742	94	19	the	the	DET
ajst-23742	94	20	previous	previous	ADJ
ajst-23742	94	21	time	time	NOUN
ajst-23742	94	22	step	step	NOUN
ajst-23742	94	23	.	.	PUNCT
ajst-23742	95	1	this	this	PRON
ajst-23742	95	2	also	also	ADV
ajst-23742	95	3	addresses	address	VERB
ajst-23742	95	4	the	the	DET
ajst-23742	95	5	problem	problem	NOUN
ajst-23742	95	6	of	of	ADP
ajst-23742	95	7	sparse	sparse	ADJ
ajst-23742	95	8	rewards	reward	NOUN
ajst-23742	95	9	when	when	SCONJ
ajst-23742	95	10	the	the	DET
ajst-23742	95	11	vehicle	vehicle	NOUN
ajst-23742	95	12	explores	explore	VERB
ajst-23742	95	13	the	the	DET
ajst-23742	95	14	environment	environment	NOUN
ajst-23742	95	15	,	,	PUNCT
ajst-23742	95	16	which	which	PRON
ajst-23742	95	17	accelerates	accelerate	VERB
ajst-23742	95	18	the	the	DET
ajst-23742	95	19	convergence	convergence	NOUN
ajst-23742	95	20	of	of	ADP
ajst-23742	95	21	the	the	DET
ajst-23742	95	22	network	network	NOUN
ajst-23742	95	23	.	.	PUNCT
ajst-23742	96	1	figure	figure	NOUN
ajst-23742	96	2	2	2	NUM
ajst-23742	96	3	illustrates	illustrate	VERB
ajst-23742	96	4	the	the	DET
ajst-23742	96	5	framework	framework	NOUN
ajst-23742	96	6	for	for	ADP
ajst-23742	96	7	utilizing	utilize	VERB
ajst-23742	96	8	the	the	DET
ajst-23742	96	9	ddpg	ddpg	ADJ
ajst-23742	96	10	algorithm	algorithm	NOUN
ajst-23742	96	11	to	to	PART
ajst-23742	96	12	solve	solve	VERB
ajst-23742	96	13	local	local	ADJ
ajst-23742	96	14	planning	planning	NOUN
ajst-23742	96	15	.	.	PUNCT
ajst-23742	97	1	the	the	DET
ajst-23742	97	2	arrows	arrow	NOUN
ajst-23742	97	3	in	in	ADP
ajst-23742	97	4	the	the	DET
ajst-23742	97	5	figure	figure	NOUN
ajst-23742	97	6	indicate	indicate	VERB
ajst-23742	97	7	the	the	DET
ajst-23742	97	8	direction	direction	NOUN
ajst-23742	97	9	of	of	ADP
ajst-23742	97	10	data	datum	NOUN
ajst-23742	97	11	generation	generation	NOUN
ajst-23742	97	12	or	or	CCONJ
ajst-23742	97	13	flow	flow	NOUN
ajst-23742	97	14	,	,	PUNCT
ajst-23742	97	15	and	and	CCONJ
ajst-23742	97	16	the	the	DET
ajst-23742	97	17	rectangles	rectangle	NOUN
ajst-23742	97	18	within	within	ADP
ajst-23742	97	19	dashed	dash	VERB
ajst-23742	97	20	boxes	box	NOUN
ajst-23742	97	21	represent	represent	VERB
ajst-23742	97	22	network	network	NOUN
ajst-23742	97	23	layers	layer	NOUN
ajst-23742	97	24	,	,	PUNCT
ajst-23742	97	25	with	with	ADP
ajst-23742	97	26	the	the	DET
ajst-23742	97	27	numbers	number	NOUN
ajst-23742	97	28	inside	inside	ADP
ajst-23742	97	29	the	the	DET
ajst-23742	97	30	rectangles	rectangle	NOUN
ajst-23742	97	31	denoting	denote	VERB
ajst-23742	97	32	the	the	DET
ajst-23742	97	33	dimensions	dimension	NOUN
ajst-23742	97	34	of	of	ADP
ajst-23742	97	35	the	the	DET
ajst-23742	97	36	network	network	NOUN
ajst-23742	97	37	layers	layer	NOUN
ajst-23742	97	38	.	.	PUNCT
ajst-23742	98	1	the	the	DET
ajst-23742	98	2	main	main	ADJ
ajst-23742	98	3	idea	idea	NOUN
ajst-23742	98	4	of	of	ADP
ajst-23742	98	5	this	this	DET
ajst-23742	98	6	framework	framework	NOUN
ajst-23742	98	7	is	be	AUX
ajst-23742	98	8	to	to	PART
ajst-23742	98	9	provide	provide	VERB
ajst-23742	98	10	a	a	DET
ajst-23742	98	11	pid	pid	NOUN
ajst-23742	98	12	controller	controller	NOUN
ajst-23742	98	13	to	to	PART
ajst-23742	98	14	assist	assist	VERB
ajst-23742	98	15	the	the	DET
ajst-23742	98	16	network	network	NOUN
ajst-23742	98	17	in	in	ADP
ajst-23742	98	18	policy	policy	NOUN
ajst-23742	98	19	search	search	NOUN
ajst-23742	98	20	,	,	PUNCT
ajst-23742	98	21	thereby	thereby	ADV
ajst-23742	98	22	accelerating	accelerate	VERB
ajst-23742	98	23	and	and	CCONJ
ajst-23742	98	24	stabilizing	stabilize	VERB
ajst-23742	98	25	the	the	DET
ajst-23742	98	26	training	training	NOUN
ajst-23742	98	27	process	process	NOUN
ajst-23742	98	28	.	.	PUNCT
ajst-23742	99	1	figure	figure	NOUN
ajst-23742	99	2	2	2	NUM
ajst-23742	99	3	.	.	PUNCT
ajst-23742	99	4	oddpg	oddpg	ADJ
ajst-23742	99	5	network	network	NOUN
ajst-23742	99	6	structure	structure	NOUN
ajst-23742	99	7	the	the	DET
ajst-23742	99	8	network	network	NOUN
ajst-23742	99	9	also	also	ADV
ajst-23742	99	10	learns	learn	VERB
ajst-23742	99	11	from	from	ADP
ajst-23742	99	12	the	the	DET
ajst-23742	99	13	experience	experience	NOUN
ajst-23742	99	14	replay	replay	NOUN
ajst-23742	99	15	pool	pool	NOUN
ajst-23742	99	16	,	,	PUNCT
ajst-23742	99	17	regardless	regardless	ADV
ajst-23742	99	18	of	of	ADP
ajst-23742	99	19	the	the	DET
ajst-23742	99	20	current	current	ADJ
ajst-23742	99	21	policy	policy	NOUN
ajst-23742	99	22	.	.	PUNCT
ajst-23742	100	1	the	the	DET
ajst-23742	100	2	actor	actor	NOUN
ajst-23742	100	3	network	network	NOUN
ajst-23742	100	4	can	can	AUX
ajst-23742	100	5	benefit	benefit	VERB
ajst-23742	100	6	from	from	ADP
ajst-23742	100	7	the	the	DET
ajst-23742	100	8	learning	learning	NOUN
ajst-23742	100	9	samples	sample	NOUN
ajst-23742	100	10	generated	generate	VERB
ajst-23742	100	11	by	by	ADP
ajst-23742	100	12	both	both	CCONJ
ajst-23742	100	13	the	the	DET
ajst-23742	100	14	recorded	record	VERB
ajst-23742	100	15	policy	policy	NOUN
ajst-23742	100	16	and	and	CCONJ
ajst-23742	100	17	the	the	DET
ajst-23742	100	18	pid	pid	NOUN
ajst-23742	100	19	controller	controller	NOUN
ajst-23742	100	20	policy	policy	NOUN
ajst-23742	100	21	.	.	PUNCT
ajst-23742	101	1	initially	initially	ADV
ajst-23742	101	2	,	,	PUNCT
ajst-23742	101	3	the	the	DET
ajst-23742	101	4	pid	pid	NOUN
ajst-23742	101	5	controller	controller	NOUN
ajst-23742	101	6	is	be	AUX
ajst-23742	101	7	frequently	frequently	ADV
ajst-23742	101	8	chosen	choose	VERB
ajst-23742	101	9	as	as	ADP
ajst-23742	101	10	the	the	DET
ajst-23742	101	11	optimal	optimal	ADJ
ajst-23742	101	12	policy	policy	NOUN
ajst-23742	101	13	.	.	PUNCT
ajst-23742	102	1	as	as	SCONJ
ajst-23742	102	2	the	the	DET
ajst-23742	102	3	number	number	NOUN
ajst-23742	102	4	of	of	ADP
ajst-23742	102	5	training	training	NOUN
ajst-23742	102	6	iterations	iteration	NOUN
ajst-23742	102	7	increases	increase	NOUN
ajst-23742	102	8	and	and	CCONJ
ajst-23742	102	9	meaningful	meaningful	ADJ
ajst-23742	102	10	guided	guide	VERB
ajst-23742	102	11	experiences	experience	NOUN
ajst-23742	102	12	are	be	AUX
ajst-23742	102	13	collected	collect	VERB
ajst-23742	102	14	,	,	PUNCT
ajst-23742	102	15	the	the	DET
ajst-23742	102	16	learned	learn	VERB
ajst-23742	102	17	policy	policy	NOUN
ajst-23742	102	18	will	will	AUX
ajst-23742	102	19	surpass	surpass	VERB
ajst-23742	102	20	the	the	DET
ajst-23742	102	21	simple	simple	ADJ
ajst-23742	102	22	controller	controller	NOUN
ajst-23742	102	23	.	.	PUNCT
ajst-23742	103	1	2.2	2.2	NUM
ajst-23742	103	2	.	.	PUNCT
ajst-23742	104	1	global	global	ADJ
ajst-23742	104	2	planning	planning	NOUN
ajst-23742	104	3	based	base	VERB
ajst-23742	104	4	on	on	ADP
ajst-23742	104	5	sac	sac	NOUN
ajst-23742	104	6	like	like	ADP
ajst-23742	104	7	the	the	DET
ajst-23742	104	8	ddpg	ddpg	ADJ
ajst-23742	104	9	algorithm	algorithm	NOUN
ajst-23742	104	10	,	,	PUNCT
ajst-23742	104	11	the	the	DET
ajst-23742	104	12	sac	sac	NOUN
ajst-23742	104	13	algorithm	algorithm	NOUN
ajst-23742	104	14	is	be	AUX
ajst-23742	104	15	also	also	ADV
ajst-23742	104	16	based	base	VERB
ajst-23742	104	17	on	on	ADP
ajst-23742	104	18	model	model	ADJ
ajst-23742	104	19	-	-	PUNCT
ajst-23742	104	20	free	free	ADJ
ajst-23742	104	21	deep	deep	ADJ
ajst-23742	104	22	reinforcement	reinforcement	NOUN
ajst-23742	104	23	learning	learning	NOUN
ajst-23742	104	24	,	,	PUNCT
ajst-23742	104	25	eliminating	eliminate	VERB
ajst-23742	104	26	the	the	DET
ajst-23742	104	27	need	need	NOUN
ajst-23742	104	28	for	for	ADP
ajst-23742	104	29	environment	environment	NOUN
ajst-23742	104	30	modeling	modeling	NOUN
ajst-23742	104	31	.	.	PUNCT
ajst-23742	105	1	there	there	PRON
ajst-23742	105	2	is	be	VERB
ajst-23742	105	3	no	no	DET
ajst-23742	105	4	requirement	requirement	NOUN
ajst-23742	105	5	for	for	ADP
ajst-23742	105	6	precomputing	precompute	VERB
ajst-23742	105	7	transition	transition	NOUN
ajst-23742	105	8	models	model	NOUN
ajst-23742	105	9	,	,	PUNCT
ajst-23742	105	10	dynamics	dynamic	NOUN
ajst-23742	105	11	models	model	NOUN
ajst-23742	105	12	,	,	PUNCT
ajst-23742	105	13	or	or	CCONJ
ajst-23742	105	14	reward	reward	NOUN
ajst-23742	105	15	models	model	NOUN
ajst-23742	105	16	about	about	ADP
ajst-23742	105	17	the	the	DET
ajst-23742	105	18	environment[10	environment[10	NOUN
ajst-23742	105	19	]	]	PUNCT
ajst-23742	105	20	.	.	PUNCT
ajst-23742	106	1	instead	instead	ADV
ajst-23742	106	2	,	,	PUNCT
ajst-23742	106	3	it	it	PRON
ajst-23742	106	4	directly	directly	ADV
ajst-23742	106	5	interacts	interact	VERB
ajst-23742	106	6	with	with	ADP
ajst-23742	106	7	the	the	DET
ajst-23742	106	8	environment	environment	NOUN
ajst-23742	106	9	to	to	PART
ajst-23742	106	10	obtain	obtain	VERB
ajst-23742	106	11	the	the	DET
ajst-23742	106	12	information	information	NOUN
ajst-23742	106	13	needed	need	VERB
ajst-23742	106	14	for	for	ADP
ajst-23742	106	15	network	network	NOUN
ajst-23742	106	16	training	training	NOUN
ajst-23742	106	17	,	,	PUNCT
ajst-23742	106	18	including	include	VERB
ajst-23742	106	19	reward	reward	NOUN
ajst-23742	106	20	values	value	NOUN
ajst-23742	106	21	and	and	CCONJ
ajst-23742	106	22	the	the	DET
ajst-23742	106	23	current	current	ADJ
ajst-23742	106	24	state	state	NOUN
ajst-23742	106	25	of	of	ADP
ajst-23742	106	26	the	the	DET
ajst-23742	106	27	agent	agent	NOUN
ajst-23742	106	28	.	.	PUNCT
ajst-23742	107	1	this	this	DET
ajst-23742	107	2	capability	capability	NOUN
ajst-23742	107	3	enables	enable	VERB
ajst-23742	107	4	its	its	PRON
ajst-23742	107	5	applicability	applicability	NOUN
ajst-23742	107	6	to	to	ADP
ajst-23742	107	7	different	different	ADJ
ajst-23742	107	8	environments	environment	NOUN
ajst-23742	107	9	,	,	PUNCT
ajst-23742	107	10	without	without	ADP
ajst-23742	107	11	relying	rely	VERB
ajst-23742	107	12	solely	solely	ADV
ajst-23742	107	13	on	on	ADP
ajst-23742	107	14	an	an	DET
ajst-23742	107	15	environment	environment	NOUN
ajst-23742	107	16	model	model	NOUN
ajst-23742	107	17	during	during	ADP
ajst-23742	107	18	network	network	NOUN
ajst-23742	107	19	training	training	NOUN
ajst-23742	107	20	.	.	PUNCT
ajst-23742	108	1	sac	sac	NOUN
ajst-23742	108	2	's	's	PART
ajst-23742	108	3	reward	reward	NOUN
ajst-23742	108	4	function	function	NOUN
ajst-23742	108	5	design	design	NOUN
ajst-23742	108	6	is	be	AUX
ajst-23742	108	7	as	as	SCONJ
ajst-23742	108	8	follows	follow	VERB
ajst-23742	108	9	:	:	PUNCT
ajst-23742	108	10	arg	arg	NOUN
ajst-23742	108	11	arg	arg	PROPN
ajst-23742	108	12	,	,	PUNCT
ajst-23742	108	13	(	(	PUNCT
ajst-23742	108	14	,	,	PUNCT
ajst-23742	108	15	)	)	PUNCT
ajst-23742	108	16	,	,	PUNCT
ajst-23742	108	17	[	[	PUNCT
ajst-23742	108	18	]	]	X
ajst-23742	108	19	1	1	NUM
ajst-23742	108	20	,	,	PUNCT
ajst-23742	108	21	[	[	PUNCT
ajst-23742	108	22	]	]	X
ajst-23742	108	23	1	1	NUM
ajst-23742	108	24	t	t	NOUN
ajst-23742	108	25	et	et	NOUN
ajst-23742	108	26	t	t	PROPN
ajst-23742	108	27	t	t	PROPN
ajst-23742	108	28	et	et	PROPN
ajst-23742	108	29	t	t	PROPN
ajst-23742	108	30	t	t	PROPN
ajst-23742	108	31	obstacle	obstacle	PROPN
ajst-23742	108	32	t	t	PROPN
ajst-23742	108	33	opt	opt	VERB
ajst-23742	108	34	opt	opt	NOUN
ajst-23742	108	35	rat	rat	NOUN
ajst-23742	108	36	rat	rat	NOUN
ajst-23742	109	1	euq	euq	PROPN
ajst-23742	109	2	euq	euq	PROPN
ajst-23742	110	1	t	t	NOUN
ajst-23742	110	2	r	r	NOUN
ajst-23742	110	3	s	s	NOUN
ajst-23742	110	4	s	s	NOUN
ajst-23742	110	5	r	r	NOUN
ajst-23742	110	6	s	s	NOUN
ajst-23742	110	7	a	a	DET
ajst-23742	110	8	r	r	NOUN
ajst-23742	110	9	c	c	NOUN
ajst-23742	110	10	s	s	NOUN
ajst-23742	110	11	r	r	NOUN
ajst-23742	110	12	r	r	NOUN
ajst-23742	110	13	r	r	NOUN
ajst-23742	110	14	c	c	NOUN
ajst-23742	110	15	s	s	NOUN
ajst-23742	110	16			X
ajst-23742	110	17			X
ajst-23742	110	18			VERB
ajst-23742	110	19			NUM
ajst-23742	110	20			NOUN
ajst-23742	110	21			PROPN
ajst-23742	110	22			NUM
ajst-23742	110	23			PROPN
ajst-23742	110	24			PUNCT
ajst-23742	110	25			X
ajst-23742	110	26	(	(	PUNCT
ajst-23742	110	27	4	4	NUM
ajst-23742	110	28	)	)	PUNCT
ajst-23742	110	29	where	where	SCONJ
ajst-23742	110	30	∑αᵢ	∑αᵢ	ADP
ajst-23742	110	31	=	=	NOUN
ajst-23742	110	32	1	1	NUM
ajst-23742	110	33	,	,	PUNCT
ajst-23742	110	34	st	st	PROPN
ajst-23742	110	35	represents	represent	VERB
ajst-23742	110	36	the	the	DET
ajst-23742	110	37	coordinates	coordinate	NOUN
ajst-23742	110	38	of	of	ADP
ajst-23742	110	39	the	the	DET
ajst-23742	110	40	current	current	ADJ
ajst-23742	110	41	exploration	exploration	NOUN
ajst-23742	110	42	point	point	NOUN
ajst-23742	110	43	,	,	PUNCT
ajst-23742	110	44	starget	starget	NOUN
ajst-23742	110	45	represents	represent	VERB
ajst-23742	110	46	the	the	DET
ajst-23742	110	47	coordinates	coordinate	NOUN
ajst-23742	110	48	of	of	ADP
ajst-23742	110	49	the	the	DET
ajst-23742	110	50	target	target	NOUN
ajst-23742	110	51	point	point	NOUN
ajst-23742	110	52	,	,	PUNCT
ajst-23742	110	53	and	and	CCONJ
ajst-23742	110	54	rtarget	rtarget	NOUN
ajst-23742	110	55	represents	represent	VERB
ajst-23742	110	56	the	the	DET
ajst-23742	110	57	reward	reward	NOUN
ajst-23742	110	58	obtained	obtain	VERB
ajst-23742	110	59	when	when	SCONJ
ajst-23742	110	60	the	the	DET
ajst-23742	110	61	exploration	exploration	NOUN
ajst-23742	110	62	point	point	NOUN
ajst-23742	110	63	reaches	reach	VERB
ajst-23742	110	64	the	the	DET
ajst-23742	110	65	target	target	NOUN
ajst-23742	110	66	point	point	NOUN
ajst-23742	110	67	,	,	PUNCT
ajst-23742	110	68	i.e.	i.e.	X
ajst-23742	110	69	,	,	PUNCT
ajst-23742	110	70	st=	st=	NOUN
ajst-23742	110	71	starget	starget	NOUN
ajst-23742	110	72	;	;	PUNCT
ajst-23742	110	73	if	if	SCONJ
ajst-23742	110	74	the	the	DET
ajst-23742	110	75	current	current	ADJ
ajst-23742	110	76	exploration	exploration	NOUN
ajst-23742	110	77	point	point	NOUN
ajst-23742	110	78	is	be	AUX
ajst-23742	110	79	not	not	PART
ajst-23742	110	80	in	in	ADP
ajst-23742	110	81	a	a	DET
ajst-23742	110	82	determined	determined	ADJ
ajst-23742	110	83	feasible	feasible	ADJ
ajst-23742	110	84	area	area	NOUN
ajst-23742	110	85	,	,	PUNCT
ajst-23742	110	86	it	it	PRON
ajst-23742	110	87	receives	receive	VERB
ajst-23742	110	88	a	a	DET
ajst-23742	110	89	penalty	penalty	NOUN
ajst-23742	110	90	value	value	NOUN
ajst-23742	110	91	robstacle	robstacle	NOUN
ajst-23742	110	92	.	.	PUNCT
ajst-23742	111	1	figure	figure	VERB
ajst-23742	111	2	3	3	NUM
ajst-23742	111	3	depicts	depict	VERB
ajst-23742	111	4	the	the	DET
ajst-23742	111	5	framework	framework	NOUN
ajst-23742	111	6	of	of	ADP
ajst-23742	111	7	the	the	DET
ajst-23742	111	8	sac	sac	NOUN
ajst-23742	111	9	algorithm	algorithm	NOUN
ajst-23742	111	10	.	.	PUNCT
ajst-23742	112	1	after	after	ADP
ajst-23742	112	2	inputting	inputte	VERB
ajst-23742	112	3	the	the	DET
ajst-23742	112	4	state	state	NOUN
ajst-23742	112	5	into	into	ADP
ajst-23742	112	6	the	the	DET
ajst-23742	112	7	network	network	NOUN
ajst-23742	112	8	,	,	PUNCT
ajst-23742	112	9	the	the	DET
ajst-23742	112	10	mean	mean	NOUN
ajst-23742	112	11	and	and	CCONJ
ajst-23742	112	12	variance	variance	NOUN
ajst-23742	112	13	of	of	ADP
ajst-23742	112	14	the	the	DET
ajst-23742	112	15	action	action	NOUN
ajst-23742	112	16	are	be	AUX
ajst-23742	112	17	obtained	obtain	VERB
ajst-23742	112	18	.	.	PUNCT
ajst-23742	113	1	actions	action	NOUN
ajst-23742	113	2	are	be	AUX
ajst-23742	113	3	then	then	ADV
ajst-23742	113	4	sampled	sample	VERB
ajst-23742	113	5	using	use	VERB
ajst-23742	113	6	gaussian	gaussian	NOUN
ajst-23742	113	7	sampling	sample	VERB
ajst-23742	113	8	to	to	PART
ajst-23742	113	9	acquire	acquire	VERB
ajst-23742	113	10	action	action	NOUN
ajst-23742	113	11	values	value	NOUN
ajst-23742	113	12	[	[	X
ajst-23742	113	13	δx	δx	X
ajst-23742	113	14	,	,	PUNCT
ajst-23742	113	15	δy	δy	NOUN
ajst-23742	113	16	]	]	PUNCT
ajst-23742	113	17	along	along	ADP
ajst-23742	113	18	with	with	ADP
ajst-23742	113	19	their	their	PRON
ajst-23742	113	20	corresponding	correspond	VERB
ajst-23742	113	21	probabilities	probability	NOUN
ajst-23742	113	22	.	.	PUNCT
ajst-23742	114	1	the	the	DET
ajst-23742	114	2	action	action	NOUN
ajst-23742	114	3	values	value	NOUN
ajst-23742	114	4	represent	represent	VERB
ajst-23742	114	5	the	the	DET
ajst-23742	114	6	displacement	displacement	NOUN
ajst-23742	114	7	towards	towards	ADP
ajst-23742	114	8	the	the	DET
ajst-23742	114	9	next	next	ADJ
ajst-23742	114	10	exploration	exploration	NOUN
ajst-23742	114	11	point	point	NOUN
ajst-23742	114	12	,	,	PUNCT
ajst-23742	114	13	while	while	SCONJ
ajst-23742	114	14	the	the	DET
ajst-23742	114	15	probability	probability	NOUN
ajst-23742	114	16	values	value	NOUN
ajst-23742	114	17	are	be	AUX
ajst-23742	114	18	used	use	VERB
ajst-23742	114	19	to	to	PART
ajst-23742	114	20	compute	compute	VERB
ajst-23742	114	21	the	the	DET
ajst-23742	114	22	entropy	entropy	NOUN
ajst-23742	114	23	of	of	ADP
ajst-23742	114	24	the	the	DET
ajst-23742	114	25	actions	action	NOUN
ajst-23742	114	26	.	.	PUNCT
ajst-23742	115	1	the	the	DET
ajst-23742	115	2	critic	critic	PROPN
ajst-23742	115	3	network	network	NOUN
ajst-23742	115	4	optimizes	optimize	VERB
ajst-23742	115	5	its	its	PRON
ajst-23742	115	6	parameters	parameter	NOUN
ajst-23742	115	7	by	by	ADP
ajst-23742	115	8	performing	perform	VERB
ajst-23742	115	9	loss	loss	NOUN
ajst-23742	115	10	and	and	CCONJ
ajst-23742	115	11	gradient	gradient	NOUN
ajst-23742	115	12	computations	computation	NOUN
ajst-23742	115	13	between	between	ADP
ajst-23742	115	14	the	the	DET
ajst-23742	115	15	q	q	NOUN
ajst-23742	115	16	-	-	PUNCT
ajst-23742	115	17	values	value	NOUN
ajst-23742	115	18	from	from	ADP
ajst-23742	115	19	the	the	DET
ajst-23742	115	20	data	data	NOUN
ajst-23742	115	21	items	item	NOUN
ajst-23742	115	22	in	in	ADP
ajst-23742	115	23	the	the	DET
ajst-23742	115	24	experience	experience	NOUN
ajst-23742	115	25	replay	replay	NOUN
ajst-23742	115	26	pool	pool	NOUN
ajst-23742	115	27	and	and	CCONJ
ajst-23742	115	28	the	the	DET
ajst-23742	115	29	q	q	NOUN
ajst-23742	115	30	-	-	PUNCT
ajst-23742	115	31	values	value	NOUN
ajst-23742	115	32	obtained	obtain	VERB
ajst-23742	115	33	from	from	ADP
ajst-23742	115	34	the	the	DET
ajst-23742	115	35	network	network	NOUN
ajst-23742	115	36	.	.	PUNCT
ajst-23742	116	1	the	the	DET
ajst-23742	116	2	use	use	NOUN
ajst-23742	116	3	of	of	ADP
ajst-23742	116	4	double	double	ADJ
ajst-23742	116	5	q	q	NOUN
ajst-23742	116	6	-	-	PUNCT
ajst-23742	116	7	network	network	NOUN
ajst-23742	116	8	,	,	PUNCT
ajst-23742	116	9	represented	represent	VERB
ajst-23742	116	10	by	by	ADP
ajst-23742	116	11	q1q_1q1	q1q_1q1	PROPN
ajst-23742	116	12	and	and	CCONJ
ajst-23742	116	13	q2q_2q2	q2q_2q2	PROPN
ajst-23742	116	14	,	,	PUNCT
ajst-23742	116	15	eliminates	eliminate	VERB
ajst-23742	116	16	the	the	DET
ajst-23742	116	17	maximization	maximization	NOUN
ajst-23742	116	18	bias	bias	NOUN
ajst-23742	116	19	compared	compare	VERB
ajst-23742	116	20	to	to	ADP
ajst-23742	116	21	using	use	VERB
ajst-23742	116	22	a	a	DET
ajst-23742	116	23	single	single	ADJ
ajst-23742	116	24	q	q	NOUN
ajst-23742	116	25	-	-	PUNCT
ajst-23742	116	26	network	network	NOUN
ajst-23742	116	27	,	,	PUNCT
ajst-23742	116	28	enhancing	enhance	VERB
ajst-23742	116	29	the	the	DET
ajst-23742	116	30	201	201	NUM
ajst-23742	116	31	accuracy	accuracy	NOUN
ajst-23742	116	32	and	and	CCONJ
ajst-23742	116	33	stability	stability	NOUN
ajst-23742	116	34	of	of	ADP
ajst-23742	116	35	the	the	DET
ajst-23742	116	36	network	network	NOUN
ajst-23742	116	37	,	,	PUNCT
ajst-23742	116	38	and	and	CCONJ
ajst-23742	116	39	preventing	prevent	VERB
ajst-23742	116	40	rapid	rapid	ADJ
ajst-23742	116	41	convergence	convergence	NOUN
ajst-23742	116	42	or	or	CCONJ
ajst-23742	116	43	oscillations	oscillation	NOUN
ajst-23742	116	44	in	in	ADP
ajst-23742	116	45	q	q	ADJ
ajst-23742	116	46	-	-	PUNCT
ajst-23742	116	47	value	value	NOUN
ajst-23742	116	48	networks	network	NOUN
ajst-23742	116	49	.	.	PUNCT
ajst-23742	117	1	figure	figure	VERB
ajst-23742	117	2	3	3	NUM
ajst-23742	117	3	.	.	PUNCT
ajst-23742	117	4	sac	sac	NOUN
ajst-23742	117	5	network	network	NOUN
ajst-23742	117	6	frame	frame	NOUN
ajst-23742	117	7	diagram	diagram	PROPN
ajst-23742	117	8	3	3	NUM
ajst-23742	117	9	.	.	PUNCT
ajst-23742	118	1	experimental	experimental	ADJ
ajst-23742	118	2	results	result	NOUN
ajst-23742	118	3	and	and	CCONJ
ajst-23742	118	4	analysis	analysis	NOUN
ajst-23742	118	5	the	the	DET
ajst-23742	118	6	experimental	experimental	ADJ
ajst-23742	118	7	environment	environment	NOUN
ajst-23742	118	8	utilizes	utilize	VERB
ajst-23742	118	9	the	the	DET
ajst-23742	118	10	simulation	simulation	NOUN
ajst-23742	118	11	program	program	NOUN
ajst-23742	118	12	gazebo	gazebo	PROPN
ajst-23742	118	13	under	under	ADP
ajst-23742	118	14	the	the	DET
ajst-23742	118	15	ros	ros	PROPN
ajst-23742	118	16	(	(	PUNCT
ajst-23742	118	17	robot	robot	NOUN
ajst-23742	118	18	operating	operating	NOUN
ajst-23742	118	19	system	system	NOUN
ajst-23742	118	20	)	)	PUNCT
ajst-23742	118	21	environment	environment	NOUN
ajst-23742	118	22	.	.	PUNCT
ajst-23742	119	1	ros	ros	PROPN
ajst-23742	119	2	is	be	AUX
ajst-23742	119	3	an	an	DET
ajst-23742	119	4	open	open	ADJ
ajst-23742	119	5	-	-	PUNCT
ajst-23742	119	6	source	source	NOUN
ajst-23742	119	7	meta	meta	ADV
ajst-23742	119	8	-	-	PUNCT
ajst-23742	119	9	operating	operate	VERB
ajst-23742	119	10	system	system	NOUN
ajst-23742	119	11	designed	design	VERB
ajst-23742	119	12	for	for	ADP
ajst-23742	119	13	robots	robot	NOUN
ajst-23742	119	14	,	,	PUNCT
ajst-23742	119	15	providing	provide	VERB
ajst-23742	119	16	hardware	hardware	NOUN
ajst-23742	119	17	abstraction	abstraction	NOUN
ajst-23742	119	18	,	,	PUNCT
ajst-23742	119	19	lowlevel	lowlevel	VERB
ajst-23742	119	20	device	device	NOUN
ajst-23742	119	21	control	control	NOUN
ajst-23742	119	22	,	,	PUNCT
ajst-23742	119	23	inter	inter	ADJ
ajst-23742	119	24	-	-	NOUN
ajst-23742	119	25	process	process	NOUN
ajst-23742	119	26	communication	communication	NOUN
ajst-23742	119	27	,	,	PUNCT
ajst-23742	119	28	and	and	CCONJ
ajst-23742	119	29	package	package	NOUN
ajst-23742	119	30	management	management	NOUN
ajst-23742	119	31	mechanisms	mechanism	NOUN
ajst-23742	119	32	,	,	PUNCT
ajst-23742	119	33	along	along	ADP
ajst-23742	119	34	with	with	ADP
ajst-23742	119	35	tools	tool	NOUN
ajst-23742	119	36	and	and	CCONJ
ajst-23742	119	37	libraries	library	NOUN
ajst-23742	119	38	necessary	necessary	ADJ
ajst-23742	119	39	for	for	ADP
ajst-23742	119	40	running	run	VERB
ajst-23742	119	41	code	code	NOUN
ajst-23742	119	42	.	.	PUNCT
ajst-23742	120	1	ros	ros	PROPN
ajst-23742	120	2	operates	operate	VERB
ajst-23742	120	3	as	as	ADP
ajst-23742	120	4	a	a	DET
ajst-23742	120	5	distributed	distribute	VERB
ajst-23742	120	6	process	process	NOUN
ajst-23742	120	7	framework	framework	NOUN
ajst-23742	120	8	,	,	PUNCT
ajst-23742	120	9	facilitating	facilitate	VERB
ajst-23742	120	10	information	information	NOUN
ajst-23742	120	11	exchange	exchange	NOUN
ajst-23742	120	12	between	between	ADP
ajst-23742	120	13	processes	process	NOUN
ajst-23742	120	14	through	through	ADP
ajst-23742	120	15	topic	topic	NOUN
ajst-23742	120	16	subscription	subscription	NOUN
ajst-23742	120	17	and	and	CCONJ
ajst-23742	120	18	publication	publication	NOUN
ajst-23742	120	19	,	,	PUNCT
ajst-23742	120	20	thus	thus	ADV
ajst-23742	120	21	supporting	support	VERB
ajst-23742	120	22	robot	robot	NOUN
ajst-23742	120	23	research	research	NOUN
ajst-23742	120	24	,	,	PUNCT
ajst-23742	120	25	development	development	NOUN
ajst-23742	120	26	,	,	PUNCT
ajst-23742	120	27	and	and	CCONJ
ajst-23742	120	28	applications	application	NOUN
ajst-23742	120	29	.	.	PUNCT
ajst-23742	121	1	gazebo	gazebo	NOUN
ajst-23742	121	2	,	,	PUNCT
ajst-23742	121	3	on	on	ADP
ajst-23742	121	4	the	the	DET
ajst-23742	121	5	other	other	ADJ
ajst-23742	121	6	hand	hand	NOUN
ajst-23742	121	7	,	,	PUNCT
ajst-23742	121	8	is	be	AUX
ajst-23742	121	9	a	a	DET
ajst-23742	121	10	powerful	powerful	ADJ
ajst-23742	121	11	3d	3d	NUM
ajst-23742	121	12	physics	physics	PROPN
ajst-23742	121	13	simulation	simulation	PROPN
ajst-23742	121	14	platform	platform	NOUN
ajst-23742	121	15	offering	offering	NOUN
ajst-23742	121	16	features	feature	VERB
ajst-23742	121	17	such	such	ADJ
ajst-23742	121	18	as	as	ADP
ajst-23742	121	19	dynamic	dynamic	ADJ
ajst-23742	121	20	simulation	simulation	NOUN
ajst-23742	121	21	,	,	PUNCT
ajst-23742	121	22	3d	3d	NUM
ajst-23742	121	23	visualization	visualization	NOUN
ajst-23742	121	24	environments	environment	NOUN
ajst-23742	121	25	,	,	PUNCT
ajst-23742	121	26	sensor	sensor	NOUN
ajst-23742	121	27	simulation	simulation	NOUN
ajst-23742	121	28	,	,	PUNCT
ajst-23742	121	29	and	and	CCONJ
ajst-23742	121	30	extensible	extensible	ADJ
ajst-23742	121	31	plugin	plugin	NOUN
ajst-23742	121	32	support	support	NOUN
ajst-23742	121	33	.	.	PUNCT
ajst-23742	122	1	it	it	PRON
ajst-23742	122	2	is	be	AUX
ajst-23742	122	3	particularly	particularly	ADV
ajst-23742	122	4	suitable	suitable	ADJ
ajst-23742	122	5	for	for	ADP
ajst-23742	122	6	research	research	NOUN
ajst-23742	122	7	and	and	CCONJ
ajst-23742	122	8	development	development	NOUN
ajst-23742	122	9	involving	involve	VERB
ajst-23742	122	10	unmanned	unmanned	ADJ
ajst-23742	122	11	vehicles	vehicle	NOUN
ajst-23742	122	12	.	.	PUNCT
ajst-23742	123	1	the	the	DET
ajst-23742	123	2	experimental	experimental	ADJ
ajst-23742	123	3	setup	setup	NOUN
ajst-23742	123	4	is	be	AUX
ajst-23742	123	5	illustrated	illustrate	VERB
ajst-23742	123	6	in	in	ADP
ajst-23742	123	7	figure	figure	NOUN
ajst-23742	123	8	4	4	NUM
ajst-23742	123	9	,	,	PUNCT
ajst-23742	123	10	depicting	depict	VERB
ajst-23742	123	11	an	an	DET
ajst-23742	123	12	8x8	8x8	NUM
ajst-23742	123	13	m²	m²	NOUN
ajst-23742	123	14	map	map	NOUN
ajst-23742	123	15	enclosed	enclose	VERB
ajst-23742	123	16	by	by	ADP
ajst-23742	123	17	walls	wall	NOUN
ajst-23742	123	18	.	.	PUNCT
ajst-23742	124	1	the	the	DET
ajst-23742	124	2	ultimate	ultimate	ADJ
ajst-23742	124	3	goal	goal	NOUN
ajst-23742	124	4	of	of	ADP
ajst-23742	124	5	the	the	DET
ajst-23742	124	6	experiment	experiment	NOUN
ajst-23742	124	7	is	be	AUX
ajst-23742	124	8	to	to	PART
ajst-23742	124	9	navigate	navigate	VERB
ajst-23742	124	10	the	the	DET
ajst-23742	124	11	car	car	NOUN
ajst-23742	124	12	from	from	ADP
ajst-23742	124	13	the	the	DET
ajst-23742	124	14	starting	starting	NOUN
ajst-23742	124	15	point	point	NOUN
ajst-23742	124	16	to	to	ADP
ajst-23742	124	17	any	any	DET
ajst-23742	124	18	obstacle	obstacle	NOUN
ajst-23742	124	19	-	-	PUNCT
ajst-23742	124	20	free	free	ADJ
ajst-23742	124	21	location	location	NOUN
ajst-23742	124	22	on	on	ADP
ajst-23742	124	23	the	the	DET
ajst-23742	124	24	map	map	NOUN
ajst-23742	124	25	,	,	PUNCT
ajst-23742	124	26	within	within	ADP
ajst-23742	124	27	this	this	DET
ajst-23742	124	28	complex	complex	ADJ
ajst-23742	124	29	and	and	CCONJ
ajst-23742	124	30	dynamic	dynamic	ADJ
ajst-23742	124	31	environment	environment	NOUN
ajst-23742	124	32	.	.	PUNCT
ajst-23742	125	1	for	for	ADP
ajst-23742	125	2	environment	environment	NOUN
ajst-23742	125	3	construction	construction	NOUN
ajst-23742	125	4	,	,	PUNCT
ajst-23742	125	5	challenging	challenge	VERB
ajst-23742	125	6	obstacles	obstacle	NOUN
ajst-23742	125	7	such	such	ADJ
ajst-23742	125	8	as	as	ADP
ajst-23742	125	9	concave	concave	NOUN
ajst-23742	125	10	and	and	CCONJ
ajst-23742	125	11	elongated	elongated	ADJ
ajst-23742	125	12	walls	wall	NOUN
ajst-23742	125	13	were	be	AUX
ajst-23742	125	14	chosen	choose	VERB
ajst-23742	125	15	to	to	PART
ajst-23742	125	16	assess	assess	VERB
ajst-23742	125	17	obstacle	obstacle	NOUN
ajst-23742	125	18	avoidance	avoidance	NOUN
ajst-23742	125	19	difficulty	difficulty	NOUN
ajst-23742	125	20	.	.	PUNCT
ajst-23742	126	1	additionally	additionally	ADV
ajst-23742	126	2	,	,	PUNCT
ajst-23742	126	3	certain	certain	ADJ
ajst-23742	126	4	obstacles	obstacle	NOUN
ajst-23742	126	5	were	be	AUX
ajst-23742	126	6	made	make	VERB
ajst-23742	126	7	dynamic	dynamic	ADJ
ajst-23742	126	8	through	through	ADP
ajst-23742	126	9	motion	motion	NOUN
ajst-23742	126	10	plugins	plugin	NOUN
ajst-23742	126	11	,	,	PUNCT
ajst-23742	126	12	aimed	aim	VERB
ajst-23742	126	13	at	at	ADP
ajst-23742	126	14	validating	validate	VERB
ajst-23742	126	15	the	the	DET
ajst-23742	126	16	efficacy	efficacy	NOUN
ajst-23742	126	17	of	of	ADP
ajst-23742	126	18	the	the	DET
ajst-23742	126	19	duallayer	duallayer	NOUN
ajst-23742	126	20	path	path	NOUN
ajst-23742	126	21	planning	planning	NOUN
ajst-23742	126	22	for	for	ADP
ajst-23742	126	23	the	the	DET
ajst-23742	126	24	car	car	NOUN
ajst-23742	126	25	.	.	PUNCT
ajst-23742	127	1	figure	figure	NOUN
ajst-23742	127	2	4	4	NUM
ajst-23742	127	3	.	.	PUNCT
ajst-23742	128	1	experimental	experimental	ADJ
ajst-23742	128	2	scenario	scenario	NOUN
ajst-23742	128	3	the	the	DET
ajst-23742	128	4	experimental	experimental	ADJ
ajst-23742	128	5	data	datum	NOUN
ajst-23742	128	6	is	be	AUX
ajst-23742	128	7	transmitted	transmit	VERB
ajst-23742	128	8	using	use	VERB
ajst-23742	128	9	the	the	DET
ajst-23742	128	10	topic	topic	NOUN
ajst-23742	128	11	mechanism	mechanism	NOUN
ajst-23742	128	12	specific	specific	ADJ
ajst-23742	128	13	to	to	ADP
ajst-23742	128	14	the	the	DET
ajst-23742	128	15	ros	ros	PROPN
ajst-23742	128	16	operating	operating	NOUN
ajst-23742	128	17	system	system	NOUN
ajst-23742	128	18	.	.	PUNCT
ajst-23742	129	1	these	these	DET
ajst-23742	129	2	data	datum	NOUN
ajst-23742	129	3	are	be	AUX
ajst-23742	129	4	generated	generate	VERB
ajst-23742	129	5	by	by	ADP
ajst-23742	129	6	plugins	plugin	NOUN
ajst-23742	129	7	of	of	ADP
ajst-23742	129	8	the	the	DET
ajst-23742	129	9	gazebo	gazebo	PROPN
ajst-23742	129	10	simulation	simulation	PROPN
ajst-23742	129	11	program	program	PROPN
ajst-23742	129	12	.	.	PUNCT
ajst-23742	130	1	for	for	ADP
ajst-23742	130	2	example	example	NOUN
ajst-23742	130	3	,	,	PUNCT
ajst-23742	130	4	the	the	DET
ajst-23742	130	5	odometry	odometry	NOUN
ajst-23742	130	6	information	information	NOUN
ajst-23742	130	7	is	be	AUX
ajst-23742	130	8	transmitted	transmit	VERB
ajst-23742	130	9	via	via	ADP
ajst-23742	130	10	the	the	DET
ajst-23742	130	11	/odom	/odom	NOUN
ajst-23742	130	12	topic	topic	NOUN
ajst-23742	130	13	,	,	PUNCT
ajst-23742	130	14	including	include	VERB
ajst-23742	130	15	the	the	DET
ajst-23742	130	16	position	position	NOUN
ajst-23742	130	17	and	and	CCONJ
ajst-23742	130	18	orientation	orientation	NOUN
ajst-23742	130	19	of	of	ADP
ajst-23742	130	20	the	the	DET
ajst-23742	130	21	vehicle	vehicle	NOUN
ajst-23742	130	22	in	in	ADP
ajst-23742	130	23	the	the	DET
ajst-23742	130	24	current	current	ADJ
ajst-23742	130	25	simulated	simulate	VERB
ajst-23742	130	26	environment	environment	NOUN
ajst-23742	130	27	.	.	PUNCT
ajst-23742	131	1	the	the	DET
ajst-23742	131	2	laser	laser	NOUN
ajst-23742	131	3	scan	scan	VERB
ajst-23742	131	4	information	information	NOUN
ajst-23742	131	5	of	of	ADP
ajst-23742	131	6	the	the	DET
ajst-23742	131	7	vehicle	vehicle	NOUN
ajst-23742	131	8	is	be	AUX
ajst-23742	131	9	transmitted	transmit	VERB
ajst-23742	131	10	via	via	ADP
ajst-23742	131	11	the	the	DET
ajst-23742	131	12	/laser_scan	/laser_scan	PROPN
ajst-23742	131	13	topic	topic	NOUN
ajst-23742	131	14	,	,	PUNCT
ajst-23742	131	15	including	include	VERB
ajst-23742	131	16	the	the	DET
ajst-23742	131	17	maximum	maximum	ADJ
ajst-23742	131	18	laser	laser	NOUN
ajst-23742	131	19	distance	distance	NOUN
ajst-23742	131	20	,	,	PUNCT
ajst-23742	131	21	scanning	scan	VERB
ajst-23742	131	22	angle	angle	NOUN
ajst-23742	131	23	,	,	PUNCT
ajst-23742	131	24	and	and	CCONJ
ajst-23742	131	25	laser	laser	NOUN
ajst-23742	131	26	distance	distance	NOUN
ajst-23742	131	27	measurement	measurement	NOUN
ajst-23742	131	28	at	at	ADP
ajst-23742	131	29	each	each	DET
ajst-23742	131	30	angle	angle	NOUN
ajst-23742	131	31	.	.	PUNCT
ajst-23742	132	1	for	for	ADP
ajst-23742	132	2	the	the	DET
ajst-23742	132	3	motion	motion	NOUN
ajst-23742	132	4	control	control	NOUN
ajst-23742	132	5	of	of	ADP
ajst-23742	132	6	the	the	DET
ajst-23742	132	7	vehicle	vehicle	NOUN
ajst-23742	132	8	in	in	ADP
ajst-23742	132	9	the	the	DET
ajst-23742	132	10	simulation	simulation	NOUN
ajst-23742	132	11	program	program	NOUN
ajst-23742	132	12	,	,	PUNCT
ajst-23742	132	13	commands	command	NOUN
ajst-23742	132	14	for	for	ADP
ajst-23742	132	15	linear	linear	ADJ
ajst-23742	132	16	and	and	CCONJ
ajst-23742	132	17	angular	angular	ADJ
ajst-23742	132	18	velocities	velocity	NOUN
ajst-23742	132	19	can	can	AUX
ajst-23742	132	20	be	be	AUX
ajst-23742	132	21	published	publish	VERB
ajst-23742	132	22	to	to	ADP
ajst-23742	132	23	the	the	DET
ajst-23742	132	24	/cmd_vel	/cmd_vel	PUNCT
ajst-23742	132	25	topic	topic	NOUN
ajst-23742	132	26	programmatically	programmatically	ADV
ajst-23742	132	27	.	.	PUNCT
ajst-23742	133	1	as	as	ADP
ajst-23742	133	2	for	for	ADP
ajst-23742	133	3	the	the	DET
ajst-23742	133	4	global	global	ADJ
ajst-23742	133	5	cost	cost	NOUN
ajst-23742	133	6	map	map	NOUN
ajst-23742	133	7	required	require	VERB
ajst-23742	133	8	by	by	ADP
ajst-23742	133	9	the	the	DET
ajst-23742	133	10	global	global	ADJ
ajst-23742	133	11	planning	planning	NOUN
ajst-23742	133	12	,	,	PUNCT
ajst-23742	133	13	the	the	DET
ajst-23742	133	14	cost	cost	NOUN
ajst-23742	133	15	map	map	NOUN
ajst-23742	133	16	parsed	parse	VERB
ajst-23742	133	17	by	by	ADP
ajst-23742	133	18	the	the	DET
ajst-23742	133	19	map	map	NOUN
ajst-23742	133	20	resolver	resolver	NOUN
ajst-23742	133	21	can	can	AUX
ajst-23742	133	22	be	be	AUX
ajst-23742	133	23	obtained	obtain	VERB
ajst-23742	133	24	through	through	ADP
ajst-23742	133	25	the	the	DET
ajst-23742	133	26	/map	/map	PROPN
ajst-23742	133	27	topic	topic	NOUN
ajst-23742	133	28	.	.	PUNCT
ajst-23742	134	1	3.1	3.1	NUM
ajst-23742	134	2	.	.	PUNCT
ajst-23742	134	3	local	local	ADJ
ajst-23742	134	4	obstacle	obstacle	NOUN
ajst-23742	134	5	avoidance	avoidance	NOUN
ajst-23742	134	6	training	train	VERB
ajst-23742	134	7	an	an	DET
ajst-23742	134	8	unmanned	unmanned	ADJ
ajst-23742	134	9	vehicle	vehicle	NOUN
ajst-23742	134	10	's	's	PART
ajst-23742	134	11	local	local	ADJ
ajst-23742	134	12	obstacle	obstacle	NOUN
ajst-23742	134	13	avoidance	avoidance	NOUN
ajst-23742	134	14	using	use	VERB
ajst-23742	134	15	ddpg	ddpg	ADJ
ajst-23742	134	16	requires	require	VERB
ajst-23742	134	17	the	the	DET
ajst-23742	134	18	utilization	utilization	NOUN
ajst-23742	134	19	of	of	ADP
ajst-23742	134	20	sensor	sensor	NOUN
ajst-23742	134	21	data	datum	NOUN
ajst-23742	134	22	such	such	ADJ
ajst-23742	134	23	as	as	ADP
ajst-23742	134	24	lidar	lidar	NOUN
ajst-23742	134	25	and	and	CCONJ
ajst-23742	134	26	odometry	odometry	NOUN
ajst-23742	134	27	.	.	PUNCT
ajst-23742	135	1	the	the	DET
ajst-23742	135	2	training	training	NOUN
ajst-23742	135	3	environment	environment	NOUN
ajst-23742	135	4	for	for	ADP
ajst-23742	135	5	this	this	DET
ajst-23742	135	6	algorithm	algorithm	NOUN
ajst-23742	135	7	is	be	AUX
ajst-23742	135	8	relatively	relatively	ADV
ajst-23742	135	9	simple	simple	ADJ
ajst-23742	135	10	,	,	PUNCT
ajst-23742	135	11	consisting	consist	VERB
ajst-23742	135	12	of	of	ADP
ajst-23742	135	13	an	an	DET
ajst-23742	135	14	8x8	8x8	NUM
ajst-23742	135	15	m^2	m^2	ADJ
ajst-23742	135	16	map	map	NOUN
ajst-23742	135	17	enclosed	enclose	VERB
ajst-23742	135	18	by	by	ADP
ajst-23742	135	19	walls	wall	NOUN
ajst-23742	135	20	,	,	PUNCT
ajst-23742	135	21	with	with	ADP
ajst-23742	135	22	some	some	DET
ajst-23742	135	23	obstacles	obstacle	NOUN
ajst-23742	135	24	placed	place	VERB
ajst-23742	135	25	within	within	ADP
ajst-23742	135	26	the	the	DET
ajst-23742	135	27	walls	wall	NOUN
ajst-23742	135	28	.	.	PUNCT
ajst-23742	136	1	during	during	ADP
ajst-23742	136	2	the	the	DET
ajst-23742	136	3	training	training	NOUN
ajst-23742	136	4	process	process	NOUN
ajst-23742	136	5	,	,	PUNCT
ajst-23742	136	6	the	the	DET
ajst-23742	136	7	simulation	simulation	NOUN
ajst-23742	136	8	system	system	NOUN
ajst-23742	136	9	is	be	AUX
ajst-23742	136	10	reset	reset	VERB
ajst-23742	136	11	at	at	ADP
ajst-23742	136	12	the	the	DET
ajst-23742	136	13	beginning	beginning	NOUN
ajst-23742	136	14	of	of	ADP
ajst-23742	136	15	each	each	DET
ajst-23742	136	16	training	training	NOUN
ajst-23742	136	17	iteration	iteration	NOUN
ajst-23742	136	18	,	,	PUNCT
ajst-23742	136	19	placing	place	VERB
ajst-23742	136	20	the	the	DET
ajst-23742	136	21	vehicle	vehicle	NOUN
ajst-23742	136	22	at	at	ADP
ajst-23742	136	23	the	the	DET
ajst-23742	136	24	initial	initial	ADJ
ajst-23742	136	25	point	point	NOUN
ajst-23742	136	26	(	(	PUNCT
ajst-23742	136	27	0	0	NUM
ajst-23742	136	28	,	,	PUNCT
ajst-23742	136	29	0	0	NUM
ajst-23742	136	30	)	)	PUNCT
ajst-23742	136	31	,	,	PUNCT
ajst-23742	136	32	and	and	CCONJ
ajst-23742	136	33	randomly	randomly	ADV
ajst-23742	136	34	assigning	assign	VERB
ajst-23742	136	35	a	a	DET
ajst-23742	136	36	valid	valid	ADJ
ajst-23742	136	37	target	target	NOUN
ajst-23742	136	38	point	point	NOUN
ajst-23742	136	39	within	within	ADP
ajst-23742	136	40	the	the	DET
ajst-23742	136	41	wall	wall	NOUN
ajst-23742	136	42	boundaries	boundary	NOUN
ajst-23742	136	43	for	for	ADP
ajst-23742	136	44	local	local	ADJ
ajst-23742	136	45	planning	planning	NOUN
ajst-23742	136	46	control	control	NOUN
ajst-23742	136	47	.	.	PUNCT
ajst-23742	137	1	this	this	DET
ajst-23742	137	2	approach	approach	NOUN
ajst-23742	137	3	enhances	enhance	VERB
ajst-23742	137	4	the	the	DET
ajst-23742	137	5	network	network	NOUN
ajst-23742	137	6	's	's	PART
ajst-23742	137	7	generalization	generalization	NOUN
ajst-23742	137	8	capability	capability	NOUN
ajst-23742	137	9	and	and	CCONJ
ajst-23742	137	10	prevents	prevent	VERB
ajst-23742	137	11	policy	policy	NOUN
ajst-23742	137	12	overfitting	overfitting	NOUN
ajst-23742	137	13	.	.	PUNCT
ajst-23742	138	1	additionally	additionally	ADV
ajst-23742	138	2	,	,	PUNCT
ajst-23742	138	3	ros	ros	PROPN
ajst-23742	138	4	nodes	node	NOUN
ajst-23742	138	5	are	be	AUX
ajst-23742	138	6	used	use	VERB
ajst-23742	138	7	to	to	PART
ajst-23742	138	8	subscribe	subscribe	VERB
ajst-23742	138	9	to	to	ADP
ajst-23742	138	10	topics	topic	NOUN
ajst-23742	138	11	related	relate	VERB
ajst-23742	138	12	to	to	ADP
ajst-23742	138	13	environment	environment	NOUN
ajst-23742	138	14	information	information	NOUN
ajst-23742	138	15	,	,	PUNCT
ajst-23742	138	16	such	such	ADJ
ajst-23742	138	17	as	as	ADP
ajst-23742	138	18	odometry	odometry	NOUN
ajst-23742	138	19	and	and	CCONJ
ajst-23742	138	20	lidar	lidar	NOUN
ajst-23742	138	21	data	datum	NOUN
ajst-23742	138	22	.	.	PUNCT
ajst-23742	139	1	then	then	ADV
ajst-23742	139	2	,	,	PUNCT
ajst-23742	139	3	the	the	DET
ajst-23742	139	4	environmental	environmental	ADJ
ajst-23742	139	5	information	information	NOUN
ajst-23742	139	6	is	be	AUX
ajst-23742	139	7	inputted	inputte	VERB
ajst-23742	139	8	into	into	ADP
ajst-23742	139	9	the	the	DET
ajst-23742	139	10	network	network	NOUN
ajst-23742	139	11	,	,	PUNCT
ajst-23742	139	12	and	and	CCONJ
ajst-23742	139	13	the	the	DET
ajst-23742	139	14	output	output	NOUN
ajst-23742	139	15	values	value	NOUN
ajst-23742	139	16	obtained	obtain	VERB
ajst-23742	139	17	from	from	ADP
ajst-23742	139	18	the	the	DET
ajst-23742	139	19	policy	policy	NOUN
ajst-23742	139	20	network	network	NOUN
ajst-23742	139	21	serve	serve	VERB
ajst-23742	139	22	as	as	ADP
ajst-23742	139	23	control	control	NOUN
ajst-23742	139	24	commands	command	NOUN
ajst-23742	139	25	,	,	PUNCT
ajst-23742	139	26	which	which	PRON
ajst-23742	139	27	are	be	AUX
ajst-23742	139	28	published	publish	VERB
ajst-23742	139	29	to	to	ADP
ajst-23742	139	30	the	the	DET
ajst-23742	139	31	/cmd_vel	/cmd_vel	NOUN
ajst-23742	139	32	topic	topic	NOUN
ajst-23742	139	33	by	by	ADP
ajst-23742	139	34	the	the	DET
ajst-23742	139	35	nodes	node	NOUN
ajst-23742	139	36	.	.	PUNCT
ajst-23742	140	1	the	the	DET
ajst-23742	140	2	vehicle	vehicle	NOUN
ajst-23742	140	3	in	in	ADP
ajst-23742	140	4	the	the	DET
ajst-23742	140	5	simulation	simulation	NOUN
ajst-23742	140	6	system	system	NOUN
ajst-23742	140	7	receives	receive	VERB
ajst-23742	140	8	control	control	NOUN
ajst-23742	140	9	information	information	NOUN
ajst-23742	140	10	from	from	ADP
ajst-23742	140	11	the	the	DET
ajst-23742	140	12	/cmd_vel	/cmd_vel	NOUN
ajst-23742	140	13	topic	topic	NOUN
ajst-23742	140	14	and	and	CCONJ
ajst-23742	140	15	executes	execute	VERB
ajst-23742	140	16	the	the	DET
ajst-23742	140	17	control	control	NOUN
ajst-23742	140	18	actions	action	NOUN
ajst-23742	140	19	.	.	PUNCT
ajst-23742	141	1	when	when	SCONJ
ajst-23742	141	2	the	the	DET
ajst-23742	141	3	vehicle	vehicle	NOUN
ajst-23742	141	4	collides	collide	VERB
ajst-23742	141	5	with	with	ADP
ajst-23742	141	6	obstacles	obstacle	NOUN
ajst-23742	141	7	or	or	CCONJ
ajst-23742	141	8	reaches	reach	VERB
ajst-23742	141	9	the	the	DET
ajst-23742	141	10	target	target	NOUN
ajst-23742	141	11	point	point	NOUN
ajst-23742	141	12	,	,	PUNCT
ajst-23742	141	13	the	the	DET
ajst-23742	141	14	next	next	ADJ
ajst-23742	141	15	iteration	iteration	NOUN
ajst-23742	141	16	begins	begin	VERB
ajst-23742	141	17	.	.	PUNCT
ajst-23742	142	1	the	the	DET
ajst-23742	142	2	experiment	experiment	NOUN
ajst-23742	142	3	compared	compare	VERB
ajst-23742	142	4	the	the	DET
ajst-23742	142	5	use	use	NOUN
ajst-23742	142	6	of	of	ADP
ajst-23742	142	7	only	only	ADV
ajst-23742	142	8	the	the	DET
ajst-23742	142	9	ddpg	ddpg	ADJ
ajst-23742	142	10	algorithm	algorithm	NOUN
ajst-23742	142	11	with	with	ADP
ajst-23742	142	12	the	the	DET
ajst-23742	142	13	combination	combination	NOUN
ajst-23742	142	14	of	of	ADP
ajst-23742	142	15	the	the	DET
ajst-23742	142	16	ddpg	ddpg	ADJ
ajst-23742	142	17	algorithm	algorithm	NOUN
ajst-23742	142	18	and	and	CCONJ
ajst-23742	142	19	the	the	DET
ajst-23742	142	20	pid	pid	NOUN
ajst-23742	142	21	algorithm	algorithm	NOUN
ajst-23742	142	22	,	,	PUNCT
ajst-23742	142	23	and	and	CCONJ
ajst-23742	142	24	tested	test	VERB
ajst-23742	142	25	them	they	PRON
ajst-23742	142	26	in	in	ADP
ajst-23742	142	27	multiple	multiple	ADJ
ajst-23742	142	28	environments	environment	NOUN
ajst-23742	142	29	.	.	PUNCT
ajst-23742	143	1	the	the	DET
ajst-23742	143	2	parameters	parameter	NOUN
ajst-23742	143	3	of	of	ADP
ajst-23742	143	4	the	the	DET
ajst-23742	143	5	ddpg	ddpg	ADJ
ajst-23742	143	6	algorithm	algorithm	NOUN
ajst-23742	143	7	are	be	AUX
ajst-23742	143	8	listed	list	VERB
ajst-23742	143	9	in	in	ADP
ajst-23742	143	10	table	table	NOUN
ajst-23742	143	11	1	1	NUM
ajst-23742	143	12	.	.	PUNCT
ajst-23742	143	13	table	table	NOUN
ajst-23742	143	14	1	1	NUM
ajst-23742	143	15	.	.	PUNCT
ajst-23742	144	1	evaluation	evaluation	NOUN
ajst-23742	144	2	of	of	ADP
ajst-23742	144	3	capacity	capacity	NOUN
ajst-23742	144	4	of	of	ADP
ajst-23742	144	5	distributed	distribute	VERB
ajst-23742	144	6	power	power	NOUN
ajst-23742	144	7	supply	supply	NOUN
ajst-23742	144	8	under	under	ADP
ajst-23742	144	9	different	different	ADJ
ajst-23742	144	10	operation	operation	NOUN
ajst-23742	144	11	modes	mode	NOUN
ajst-23742	144	12	discount	discount	NOUN
ajst-23742	144	13	factor	factor	NOUN
ajst-23742	144	14	actor	actor	NOUN
ajst-23742	144	15	learning	learn	VERB
ajst-23742	144	16	rare	rare	ADJ
ajst-23742	144	17	critic	critic	NOUN
ajst-23742	144	18	learning	learn	VERB
ajst-23742	144	19	rate	rate	NOUN
ajst-23742	144	20	soft	soft	ADJ
ajst-23742	144	21	update	update	NOUN
ajst-23742	144	22	param	param	NOUN
ajst-23742	144	23	buffer	buffer	NOUN
ajst-23742	144	24	size	size	NOUN
ajst-23742	144	25	0.99	0.99	NUM
ajst-23742	144	26	0.001	0.001	NUM
ajst-23742	144	27	0.001	0.001	NUM
ajst-23742	144	28	0.001	0.001	NUM
ajst-23742	144	29	20000	20000	NUM
ajst-23742	144	30	during	during	ADP
ajst-23742	144	31	the	the	DET
ajst-23742	144	32	experiment	experiment	NOUN
ajst-23742	144	33	,	,	PUNCT
ajst-23742	144	34	the	the	DET
ajst-23742	144	35	car	car	NOUN
ajst-23742	144	36	using	use	VERB
ajst-23742	144	37	only	only	ADV
ajst-23742	144	38	the	the	DET
ajst-23742	144	39	ddpg	ddpg	ADJ
ajst-23742	144	40	algorithm	algorithm	NOUN
ajst-23742	144	41	exhibited	exhibit	VERB
ajst-23742	144	42	behavior	behavior	NOUN
ajst-23742	144	43	of	of	ADP
ajst-23742	144	44	spinning	spin	VERB
ajst-23742	144	45	in	in	ADP
ajst-23742	144	46	place	place	NOUN
ajst-23742	144	47	.	.	PUNCT
ajst-23742	145	1	the	the	DET
ajst-23742	145	2	reason	reason	NOUN
ajst-23742	145	3	for	for	ADP
ajst-23742	145	4	this	this	DET
ajst-23742	145	5	behavior	behavior	NOUN
ajst-23742	145	6	is	be	AUX
ajst-23742	145	7	that	that	SCONJ
ajst-23742	145	8	most	most	ADJ
ajst-23742	145	9	of	of	ADP
ajst-23742	145	10	the	the	DET
ajst-23742	145	11	experiences	experience	NOUN
ajst-23742	145	12	learned	learn	VERB
ajst-23742	145	13	by	by	ADP
ajst-23742	145	14	the	the	DET
ajst-23742	145	15	car	car	NOUN
ajst-23742	145	16	from	from	ADP
ajst-23742	145	17	the	the	DET
ajst-23742	145	18	experience	experience	NOUN
ajst-23742	145	19	replay	replay	NOUN
ajst-23742	145	20	buffer	buffer	NOUN
ajst-23742	145	21	are	be	AUX
ajst-23742	145	22	obstacle	obstacle	NOUN
ajst-23742	145	23	avoidance	avoidance	NOUN
ajst-23742	145	24	experiences	experience	NOUN
ajst-23742	145	25	.	.	PUNCT
ajst-23742	146	1	the	the	DET
ajst-23742	146	2	car	car	NOUN
ajst-23742	146	3	randomly	randomly	ADV
ajst-23742	146	4	explores	explore	VERB
ajst-23742	146	5	the	the	DET
ajst-23742	146	6	environment	environment	NOUN
ajst-23742	146	7	from	from	ADP
ajst-23742	146	8	the	the	DET
ajst-23742	146	9	beginning	beginning	NOUN
ajst-23742	146	10	of	of	ADP
ajst-23742	146	11	training	training	NOUN
ajst-23742	146	12	,	,	PUNCT
ajst-23742	146	13	with	with	ADP
ajst-23742	146	14	a	a	DET
ajst-23742	146	15	high	high	ADJ
ajst-23742	146	16	probability	probability	NOUN
ajst-23742	146	17	of	of	ADP
ajst-23742	146	18	ending	end	VERB
ajst-23742	146	19	the	the	DET
ajst-23742	146	20	iteration	iteration	NOUN
ajst-23742	146	21	with	with	ADP
ajst-23742	146	22	a	a	DET
ajst-23742	146	23	collision	collision	NOUN
ajst-23742	146	24	,	,	PUNCT
ajst-23742	146	25	making	make	VERB
ajst-23742	146	26	it	it	PRON
ajst-23742	146	27	difficult	difficult	ADJ
ajst-23742	146	28	to	to	PART
ajst-23742	146	29	reach	reach	VERB
ajst-23742	146	30	the	the	DET
ajst-23742	146	31	target	target	NOUN
ajst-23742	146	32	point	point	NOUN
ajst-23742	146	33	.	.	PUNCT
ajst-23742	147	1	these	these	DET
ajst-23742	147	2	data	datum	NOUN
ajst-23742	147	3	are	be	AUX
ajst-23742	147	4	loaded	load	VERB
ajst-23742	147	5	into	into	ADP
ajst-23742	147	6	the	the	DET
ajst-23742	147	7	experience	experience	NOUN
ajst-23742	147	8	replay	replay	NOUN
ajst-23742	147	9	buffer	buffer	NOUN
ajst-23742	147	10	during	during	ADP
ajst-23742	147	11	training	training	NOUN
ajst-23742	147	12	,	,	PUNCT
ajst-23742	147	13	allowing	allow	VERB
ajst-23742	147	14	the	the	DET
ajst-23742	147	15	car	car	NOUN
ajst-23742	147	16	to	to	PART
ajst-23742	147	17	learn	learn	VERB
ajst-23742	147	18	obstacle	obstacle	NOUN
ajst-23742	147	19	avoidance	avoidance	NOUN
ajst-23742	147	20	ability	ability	NOUN
ajst-23742	147	21	from	from	ADP
ajst-23742	147	22	them	they	PRON
ajst-23742	147	23	.	.	PUNCT
ajst-23742	148	1	however	however	ADV
ajst-23742	148	2	,	,	PUNCT
ajst-23742	148	3	without	without	ADP
ajst-23742	148	4	controllers	controller	NOUN
ajst-23742	148	5	such	such	ADJ
ajst-23742	148	6	as	as	ADP
ajst-23742	148	7	pid	pid	NOUN
ajst-23742	148	8	algorithms	algorithm	NOUN
ajst-23742	148	9	to	to	PART
ajst-23742	148	10	assist	assist	VERB
ajst-23742	148	11	in	in	ADP
ajst-23742	148	12	control	control	NOUN
ajst-23742	148	13	,	,	PUNCT
ajst-23742	148	14	although	although	SCONJ
ajst-23742	148	15	the	the	DET
ajst-23742	148	16	car	car	NOUN
ajst-23742	148	17	can	can	AUX
ajst-23742	148	18	avoid	avoid	VERB
ajst-23742	148	19	collisions	collision	NOUN
ajst-23742	148	20	by	by	ADP
ajst-23742	148	21	spinning	spin	VERB
ajst-23742	148	22	,	,	PUNCT
ajst-23742	148	23	it	it	PRON
ajst-23742	148	24	can	can	AUX
ajst-23742	148	25	not	not	PART
ajst-23742	148	26	trace	trace	VERB
ajst-23742	148	27	to	to	ADP
ajst-23742	148	28	the	the	DET
ajst-23742	148	29	target	target	NOUN
ajst-23742	148	30	point	point	NOUN
ajst-23742	148	31	.	.	PUNCT
ajst-23742	149	1	as	as	ADP
ajst-23742	149	2	a	a	DET
ajst-23742	149	3	result	result	NOUN
ajst-23742	149	4	,	,	PUNCT
ajst-23742	149	5	the	the	DET
ajst-23742	149	6	reward	reward	NOUN
ajst-23742	149	7	value	value	NOUN
ajst-23742	149	8	is	be	AUX
ajst-23742	149	9	almost	almost	ADV
ajst-23742	149	10	zero	zero	NUM
ajst-23742	149	11	,	,	PUNCT
ajst-23742	149	12	satisfying	satisfy	VERB
ajst-23742	149	13	only	only	ADV
ajst-23742	149	14	the	the	DET
ajst-23742	149	15	locally	locally	ADV
ajst-23742	149	16	optimal	optimal	ADJ
ajst-23742	149	17	condition	condition	NOUN
ajst-23742	149	18	.	.	PUNCT
ajst-23742	150	1	moreover	moreover	ADV
ajst-23742	150	2	,	,	PUNCT
ajst-23742	150	3	the	the	DET
ajst-23742	150	4	controller	controller	NOUN
ajst-23742	150	5	using	use	VERB
ajst-23742	150	6	only	only	ADV
ajst-23742	150	7	the	the	DET
ajst-23742	150	8	ddpg	ddpg	ADJ
ajst-23742	150	9	algorithm	algorithm	NOUN
ajst-23742	150	10	often	often	ADV
ajst-23742	150	11	encounters	encounter	VERB
ajst-23742	150	12	situations	situation	NOUN
ajst-23742	150	13	of	of	ADP
ajst-23742	150	14	insufficient	insufficient	ADJ
ajst-23742	150	15	time	time	NOUN
ajst-23742	150	16	due	due	ADJ
ajst-23742	150	17	to	to	ADP
ajst-23742	150	18	accumulated	accumulate	VERB
ajst-23742	150	19	time	time	NOUN
ajst-23742	150	20	penalties	penalty	NOUN
ajst-23742	150	21	.	.	PUNCT
ajst-23742	151	1	the	the	DET
ajst-23742	151	2	car	car	NOUN
ajst-23742	151	3	learned	learn	VERB
ajst-23742	151	4	to	to	PART
ajst-23742	151	5	collide	collide	VERB
ajst-23742	151	6	to	to	PART
ajst-23742	151	7	avoid	avoid	VERB
ajst-23742	151	8	time	time	NOUN
ajst-23742	151	9	penalties	penalty	NOUN
ajst-23742	151	10	instead	instead	ADV
ajst-23742	151	11	of	of	ADP
ajst-23742	151	12	reaching	reach	VERB
ajst-23742	151	13	the	the	DET
ajst-23742	151	14	target	target	NOUN
ajst-23742	151	15	.	.	PUNCT
ajst-23742	152	1	as	as	SCONJ
ajst-23742	152	2	shown	show	VERB
ajst-23742	152	3	in	in	ADP
ajst-23742	152	4	figure	figure	NOUN
ajst-23742	152	5	5	5	NUM
ajst-23742	152	6	(	(	PUNCT
ajst-23742	152	7	a	a	NOUN
ajst-23742	152	8	)	)	PUNCT
ajst-23742	152	9	,	,	PUNCT
ajst-23742	152	10	where	where	SCONJ
ajst-23742	152	11	white	white	ADJ
ajst-23742	152	12	obstacles	obstacle	NOUN
ajst-23742	152	13	represent	represent	VERB
ajst-23742	152	14	walls	wall	NOUN
ajst-23742	152	15	,	,	PUNCT
ajst-23742	152	16	and	and	CCONJ
ajst-23742	152	17	the	the	DET
ajst-23742	152	18	black	black	ADJ
ajst-23742	152	19	areas	area	NOUN
ajst-23742	152	20	represent	represent	VERB
ajst-23742	152	21	shadows	shadow	NOUN
ajst-23742	152	22	cast	cast	VERB
ajst-23742	152	23	,	,	PUNCT
ajst-23742	152	24	the	the	DET
ajst-23742	152	25	car	car	NOUN
ajst-23742	152	26	(	(	PUNCT
ajst-23742	152	27	white	white	ADJ
ajst-23742	152	28	)	)	PUNCT
ajst-23742	152	29	departs	depart	VERB
ajst-23742	152	30	from	from	ADP
ajst-23742	152	31	the	the	DET
ajst-23742	152	32	origin	origin	NOUN
ajst-23742	152	33	202	202	NUM
ajst-23742	152	34	and	and	CCONJ
ajst-23742	152	35	moves	move	VERB
ajst-23742	152	36	around	around	ADP
ajst-23742	152	37	the	the	DET
ajst-23742	152	38	walls	wall	NOUN
ajst-23742	152	39	to	to	PART
ajst-23742	152	40	avoid	avoid	VERB
ajst-23742	152	41	obstacles	obstacle	NOUN
ajst-23742	152	42	,	,	PUNCT
ajst-23742	152	43	but	but	CCONJ
ajst-23742	152	44	does	do	AUX
ajst-23742	152	45	not	not	PART
ajst-23742	152	46	trace	trace	VERB
ajst-23742	152	47	to	to	ADP
ajst-23742	152	48	the	the	DET
ajst-23742	152	49	target	target	NOUN
ajst-23742	152	50	point	point	NOUN
ajst-23742	152	51	.	.	PUNCT
ajst-23742	153	1	figure	figure	NOUN
ajst-23742	153	2	5	5	NUM
ajst-23742	153	3	.	.	PUNCT
ajst-23742	154	1	the	the	DET
ajst-23742	154	2	experimental	experimental	ADJ
ajst-23742	154	3	comparison	comparison	NOUN
ajst-23742	154	4	between	between	ADP
ajst-23742	154	5	ddpg	ddpg	ADJ
ajst-23742	154	6	method	method	NOUN
ajst-23742	154	7	and	and	CCONJ
ajst-23742	154	8	ddpg	ddpg	ADJ
ajst-23742	154	9	combined	combine	VERB
ajst-23742	154	10	with	with	ADP
ajst-23742	154	11	pid	pid	NOUN
ajst-23742	154	12	method	method	NOUN
ajst-23742	154	13	in	in	ADP
ajst-23742	154	14	static	static	ADJ
ajst-23742	154	15	environment	environment	NOUN
ajst-23742	154	16	figure	figure	NOUN
ajst-23742	154	17	6	6	NUM
ajst-23742	154	18	illustrates	illustrate	VERB
ajst-23742	154	19	the	the	DET
ajst-23742	154	20	variations	variation	NOUN
ajst-23742	154	21	in	in	ADP
ajst-23742	154	22	reward	reward	NOUN
ajst-23742	154	23	and	and	CCONJ
ajst-23742	154	24	steps	step	NOUN
ajst-23742	154	25	under	under	ADP
ajst-23742	154	26	different	different	ADJ
ajst-23742	154	27	control	control	NOUN
ajst-23742	154	28	algorithms	algorithm	NOUN
ajst-23742	154	29	.	.	PUNCT
ajst-23742	155	1	figure	figure	NOUN
ajst-23742	155	2	6	6	NUM
ajst-23742	155	3	(	(	PUNCT
ajst-23742	155	4	a	a	NOUN
ajst-23742	155	5	)	)	PUNCT
ajst-23742	155	6	shows	show	VERB
ajst-23742	155	7	the	the	DET
ajst-23742	155	8	changes	change	NOUN
ajst-23742	155	9	in	in	ADP
ajst-23742	155	10	reward	reward	NOUN
ajst-23742	155	11	values	value	NOUN
ajst-23742	155	12	for	for	ADP
ajst-23742	155	13	each	each	DET
ajst-23742	155	14	algorithm	algorithm	NOUN
ajst-23742	155	15	,	,	PUNCT
ajst-23742	155	16	while	while	SCONJ
ajst-23742	155	17	figure	figure	NOUN
ajst-23742	155	18	6	6	NUM
ajst-23742	155	19	(	(	PUNCT
ajst-23742	155	20	b	b	NOUN
ajst-23742	155	21	)	)	PUNCT
ajst-23742	155	22	represents	represent	VERB
ajst-23742	155	23	the	the	DET
ajst-23742	155	24	changes	change	NOUN
ajst-23742	155	25	in	in	ADP
ajst-23742	155	26	steps	step	NOUN
ajst-23742	155	27	for	for	ADP
ajst-23742	155	28	each	each	DET
ajst-23742	155	29	algorithm	algorithm	NOUN
ajst-23742	155	30	.	.	PUNCT
ajst-23742	156	1	figure	figure	VERB
ajst-23742	156	2	6	6	NUM
ajst-23742	156	3	.	.	PUNCT
ajst-23742	156	4	comparison	comparison	NOUN
ajst-23742	156	5	of	of	ADP
ajst-23742	156	6	reward	reward	NOUN
ajst-23742	156	7	and	and	CCONJ
ajst-23742	156	8	steps	step	NOUN
ajst-23742	156	9	for	for	ADP
ajst-23742	156	10	dqn	dqn	NOUN
ajst-23742	156	11	,	,	PUNCT
ajst-23742	156	12	ddpg	ddpg	ADJ
ajst-23742	156	13	,	,	PUNCT
ajst-23742	156	14	ddpg	ddpg	ADJ
ajst-23742	156	15	combined	combine	VERB
ajst-23742	156	16	with	with	ADP
ajst-23742	156	17	pid	pid	NOUN
ajst-23742	156	18	from	from	ADP
ajst-23742	156	19	the	the	DET
ajst-23742	156	20	graphs	graph	NOUN
ajst-23742	156	21	,	,	PUNCT
ajst-23742	156	22	it	it	PRON
ajst-23742	156	23	can	can	AUX
ajst-23742	156	24	be	be	AUX
ajst-23742	156	25	observed	observe	VERB
ajst-23742	156	26	that	that	SCONJ
ajst-23742	156	27	the	the	DET
ajst-23742	156	28	reward	reward	NOUN
ajst-23742	156	29	values	value	NOUN
ajst-23742	156	30	in	in	ADP
ajst-23742	156	31	the	the	DET
ajst-23742	156	32	combined	combine	VERB
ajst-23742	156	33	ddpg	ddpg	ADJ
ajst-23742	156	34	with	with	ADP
ajst-23742	156	35	pid	pid	NOUN
ajst-23742	156	36	method	method	NOUN
ajst-23742	156	37	are	be	AUX
ajst-23742	156	38	stabilizing	stabilize	VERB
ajst-23742	156	39	at	at	ADP
ajst-23742	156	40	positive	positive	ADJ
ajst-23742	156	41	values	value	NOUN
ajst-23742	156	42	,	,	PUNCT
ajst-23742	156	43	indicating	indicate	VERB
ajst-23742	156	44	the	the	DET
ajst-23742	156	45	correctness	correctness	NOUN
ajst-23742	156	46	of	of	ADP
ajst-23742	156	47	actions	action	NOUN
ajst-23742	156	48	.	.	PUNCT
ajst-23742	157	1	additionally	additionally	ADV
ajst-23742	157	2	,	,	PUNCT
ajst-23742	157	3	the	the	DET
ajst-23742	157	4	steps	step	NOUN
ajst-23742	157	5	are	be	AUX
ajst-23742	157	6	gradually	gradually	ADV
ajst-23742	157	7	decreasing	decrease	VERB
ajst-23742	157	8	,	,	PUNCT
ajst-23742	157	9	suggesting	suggest	VERB
ajst-23742	157	10	that	that	SCONJ
ajst-23742	157	11	the	the	DET
ajst-23742	157	12	policy	policy	NOUN
ajst-23742	157	13	is	be	AUX
ajst-23742	157	14	optimizing	optimize	VERB
ajst-23742	157	15	,	,	PUNCT
ajst-23742	157	16	and	and	CCONJ
ajst-23742	157	17	the	the	DET
ajst-23742	157	18	time	time	NOUN
ajst-23742	157	19	to	to	PART
ajst-23742	157	20	reach	reach	VERB
ajst-23742	157	21	the	the	DET
ajst-23742	157	22	target	target	NOUN
ajst-23742	157	23	is	be	AUX
ajst-23742	157	24	reducing	reduce	VERB
ajst-23742	157	25	.	.	PUNCT
ajst-23742	158	1	in	in	ADP
ajst-23742	158	2	contrast	contrast	NOUN
ajst-23742	158	3	,	,	PUNCT
ajst-23742	158	4	with	with	ADP
ajst-23742	158	5	methods	method	NOUN
ajst-23742	158	6	using	use	VERB
ajst-23742	158	7	only	only	ADV
ajst-23742	158	8	ddpg	ddpg	ADJ
ajst-23742	158	9	or	or	CCONJ
ajst-23742	158	10	dqn	dqn	NOUN
ajst-23742	158	11	,	,	PUNCT
ajst-23742	158	12	the	the	DET
ajst-23742	158	13	networks	network	NOUN
ajst-23742	158	14	hardly	hardly	ADV
ajst-23742	158	15	converge	converge	VERB
ajst-23742	158	16	,	,	PUNCT
ajst-23742	158	17	with	with	ADP
ajst-23742	158	18	reward	reward	NOUN
ajst-23742	158	19	values	value	NOUN
ajst-23742	158	20	difficult	difficult	ADJ
ajst-23742	158	21	to	to	PART
ajst-23742	158	22	stabilize	stabilize	VERB
ajst-23742	158	23	and	and	CCONJ
ajst-23742	158	24	even	even	ADV
ajst-23742	158	25	tend	tend	VERB
ajst-23742	158	26	towards	towards	ADP
ajst-23742	158	27	negative	negative	ADJ
ajst-23742	158	28	rewards	reward	NOUN
ajst-23742	158	29	.	.	PUNCT
ajst-23742	159	1	particularly	particularly	ADV
ajst-23742	159	2	,	,	PUNCT
ajst-23742	159	3	the	the	DET
ajst-23742	159	4	ddpg	ddpg	ADJ
ajst-23742	159	5	algorithm	algorithm	NOUN
ajst-23742	159	6	,	,	PUNCT
ajst-23742	159	7	compared	compare	VERB
ajst-23742	159	8	to	to	ADP
ajst-23742	159	9	the	the	DET
ajst-23742	159	10	combination	combination	NOUN
ajst-23742	159	11	of	of	ADP
ajst-23742	159	12	ddpg	ddpg	ADJ
ajst-23742	159	13	with	with	ADP
ajst-23742	159	14	pid	pid	PROPN
ajst-23742	159	15	,	,	PUNCT
ajst-23742	159	16	eliminates	eliminate	VERB
ajst-23742	159	17	the	the	DET
ajst-23742	159	18	pid	pid	NOUN
ajst-23742	159	19	control	control	NOUN
ajst-23742	159	20	module	module	NOUN
ajst-23742	159	21	and	and	CCONJ
ajst-23742	159	22	relies	rely	VERB
ajst-23742	159	23	solely	solely	ADV
ajst-23742	159	24	on	on	ADP
ajst-23742	159	25	network	network	NOUN
ajst-23742	159	26	output	output	NOUN
ajst-23742	159	27	results	result	NOUN
ajst-23742	159	28	.	.	PUNCT
ajst-23742	160	1	while	while	SCONJ
ajst-23742	160	2	this	this	DET
ajst-23742	160	3	approach	approach	NOUN
ajst-23742	160	4	performs	perform	VERB
ajst-23742	160	5	better	well	ADV
ajst-23742	160	6	than	than	ADP
ajst-23742	160	7	dqn	dqn	NOUN
ajst-23742	160	8	,	,	PUNCT
ajst-23742	160	9	it	it	PRON
ajst-23742	160	10	still	still	ADV
ajst-23742	160	11	falls	fall	VERB
ajst-23742	160	12	short	short	ADJ
ajst-23742	160	13	.	.	PUNCT
ajst-23742	161	1	based	base	VERB
ajst-23742	161	2	on	on	ADP
ajst-23742	161	3	these	these	DET
ajst-23742	161	4	results	result	NOUN
ajst-23742	161	5	from	from	ADP
ajst-23742	161	6	the	the	DET
ajst-23742	161	7	ablation	ablation	NOUN
ajst-23742	161	8	experiments	experiment	NOUN
ajst-23742	161	9	,	,	PUNCT
ajst-23742	161	10	it	it	PRON
ajst-23742	161	11	can	can	AUX
ajst-23742	161	12	be	be	AUX
ajst-23742	161	13	inferred	infer	VERB
ajst-23742	161	14	that	that	SCONJ
ajst-23742	161	15	pid	pid	NOUN
ajst-23742	161	16	control	control	NOUN
ajst-23742	161	17	plays	play	VERB
ajst-23742	161	18	a	a	DET
ajst-23742	161	19	crucial	crucial	ADJ
ajst-23742	161	20	role	role	NOUN
ajst-23742	161	21	in	in	ADP
ajst-23742	161	22	the	the	DET
ajst-23742	161	23	convergence	convergence	NOUN
ajst-23742	161	24	of	of	ADP
ajst-23742	161	25	the	the	DET
ajst-23742	161	26	ddpg	ddpg	ADJ
ajst-23742	161	27	algorithm	algorithm	NOUN
ajst-23742	161	28	.	.	PUNCT
ajst-23742	162	1	3.2	3.2	NUM
ajst-23742	162	2	.	.	PUNCT
ajst-23742	162	3	global	global	ADJ
ajst-23742	162	4	planning	planning	NOUN
ajst-23742	162	5	global	global	ADJ
ajst-23742	162	6	planning	planning	NOUN
ajst-23742	162	7	addresses	address	NOUN
ajst-23742	162	8	the	the	DET
ajst-23742	162	9	problem	problem	NOUN
ajst-23742	162	10	of	of	ADP
ajst-23742	162	11	path	path	NOUN
ajst-23742	162	12	searching	search	VERB
ajst-23742	162	13	in	in	ADP
ajst-23742	162	14	static	static	ADJ
ajst-23742	162	15	global	global	ADJ
ajst-23742	162	16	cost	cost	NOUN
ajst-23742	162	17	maps	map	NOUN
ajst-23742	162	18	,	,	PUNCT
ajst-23742	162	19	thus	thus	ADV
ajst-23742	162	20	the	the	DET
ajst-23742	162	21	generation	generation	NOUN
ajst-23742	162	22	of	of	ADP
ajst-23742	162	23	global	global	ADJ
ajst-23742	162	24	cost	cost	NOUN
ajst-23742	162	25	maps	map	NOUN
ajst-23742	162	26	is	be	AUX
ajst-23742	162	27	necessary	necessary	ADJ
ajst-23742	162	28	.	.	PUNCT
ajst-23742	163	1	in	in	ADP
ajst-23742	163	2	the	the	DET
ajst-23742	163	3	ros	ros	PROPN
ajst-23742	163	4	environment	environment	NOUN
ajst-23742	163	5	and	and	CCONJ
ajst-23742	163	6	gazebo	gazebo	PROPN
ajst-23742	163	7	simulation	simulation	PROPN
ajst-23742	163	8	environment	environment	PROPN
ajst-23742	163	9	,	,	PUNCT
ajst-23742	163	10	mapping	mapping	NOUN
ajst-23742	163	11	algorithms	algorithm	NOUN
ajst-23742	163	12	and	and	CCONJ
ajst-23742	163	13	matching	match	VERB
ajst-23742	163	14	image	image	NOUN
ajst-23742	163	15	analysis	analysis	NOUN
ajst-23742	163	16	programs	program	NOUN
ajst-23742	163	17	are	be	AUX
ajst-23742	163	18	required	require	VERB
ajst-23742	163	19	to	to	PART
ajst-23742	163	20	construct	construct	VERB
ajst-23742	163	21	cost	cost	NOUN
ajst-23742	163	22	maps	map	NOUN
ajst-23742	163	23	of	of	ADP
ajst-23742	163	24	the	the	DET
ajst-23742	163	25	simulated	simulated	ADJ
ajst-23742	163	26	environment	environment	NOUN
ajst-23742	163	27	.	.	PUNCT
ajst-23742	164	1	the	the	DET
ajst-23742	164	2	experiment	experiment	NOUN
ajst-23742	164	3	adopts	adopt	VERB
ajst-23742	164	4	the	the	DET
ajst-23742	164	5	gmap	gmap	ADJ
ajst-23742	164	6	-	-	PUNCT
ajst-23742	164	7	ping	ping	ADJ
ajst-23742	164	8	mapping	mapping	NOUN
ajst-23742	164	9	algorithm	algorithm	NOUN
ajst-23742	164	10	to	to	PART
ajst-23742	164	11	construct	construct	VERB
ajst-23742	164	12	images	image	NOUN
ajst-23742	164	13	of	of	ADP
ajst-23742	164	14	a	a	DET
ajst-23742	164	15	simulated	simulated	ADJ
ajst-23742	164	16	environment	environment	NOUN
ajst-23742	164	17	measuring	measure	VERB
ajst-23742	164	18	8x4	8x4	NUM
ajst-23742	164	19	square	square	ADJ
ajst-23742	164	20	meters	meter	NOUN
ajst-23742	164	21	with	with	ADP
ajst-23742	164	22	fixed	fix	VERB
ajst-23742	164	23	obstacles	obstacle	NOUN
ajst-23742	164	24	.	.	PUNCT
ajst-23742	165	1	the	the	DET
ajst-23742	165	2	algorithm	algorithm	NOUN
ajst-23742	165	3	controls	control	VERB
ajst-23742	165	4	the	the	DET
ajst-23742	165	5	robot	robot	NOUN
ajst-23742	165	6	to	to	PART
ajst-23742	165	7	traverse	traverse	VERB
ajst-23742	165	8	all	all	DET
ajst-23742	165	9	positions	position	NOUN
ajst-23742	165	10	in	in	ADP
ajst-23742	165	11	the	the	DET
ajst-23742	165	12	environment	environment	NOUN
ajst-23742	165	13	until	until	SCONJ
ajst-23742	165	14	the	the	DET
ajst-23742	165	15	entire	entire	ADJ
ajst-23742	165	16	image	image	NOUN
ajst-23742	165	17	construction	construction	NOUN
ajst-23742	165	18	process	process	NOUN
ajst-23742	165	19	is	be	AUX
ajst-23742	165	20	completed	complete	VERB
ajst-23742	165	21	and	and	CCONJ
ajst-23742	165	22	the	the	DET
ajst-23742	165	23	results	result	NOUN
ajst-23742	165	24	are	be	AUX
ajst-23742	165	25	saved	save	VERB
ajst-23742	165	26	.	.	PUNCT
ajst-23742	166	1	subsequently	subsequently	ADV
ajst-23742	166	2	,	,	PUNCT
ajst-23742	166	3	the	the	DET
ajst-23742	166	4	map_server	map_server	NOUN
ajst-23742	166	5	analyzes	analyze	VERB
ajst-23742	166	6	the	the	DET
ajst-23742	166	7	image	image	NOUN
ajst-23742	166	8	to	to	PART
ajst-23742	166	9	generate	generate	VERB
ajst-23742	166	10	the	the	DET
ajst-23742	166	11	cost	cost	NOUN
ajst-23742	166	12	map	map	NOUN
ajst-23742	166	13	c[i][j	c[i][j	NOUN
ajst-23742	166	14	]	]	PUNCT
ajst-23742	166	15	,	,	PUNCT
ajst-23742	166	16	which	which	PRON
ajst-23742	166	17	is	be	AUX
ajst-23742	166	18	then	then	ADV
ajst-23742	166	19	published	publish	VERB
ajst-23742	166	20	through	through	ADP
ajst-23742	166	21	the	the	DET
ajst-23742	166	22	/map	/map	PROPN
ajst-23742	166	23	topic	topic	NOUN
ajst-23742	166	24	.	.	PUNCT
ajst-23742	167	1	global	global	ADJ
ajst-23742	167	2	planning	planning	NOUN
ajst-23742	167	3	can	can	AUX
ajst-23742	167	4	access	access	VERB
ajst-23742	167	5	the	the	DET
ajst-23742	167	6	map	map	NOUN
ajst-23742	167	7	through	through	ADP
ajst-23742	167	8	the	the	DET
ajst-23742	167	9	/map	/map	PROPN
ajst-23742	167	10	topic	topic	NOUN
ajst-23742	167	11	,	,	PUNCT
ajst-23742	167	12	preprocess	preprocess	NOUN
ajst-23742	167	13	it	it	PRON
ajst-23742	167	14	,	,	PUNCT
ajst-23742	167	15	and	and	CCONJ
ajst-23742	167	16	utilize	utilize	VERB
ajst-23742	167	17	it	it	PRON
ajst-23742	167	18	as	as	ADP
ajst-23742	167	19	the	the	DET
ajst-23742	167	20	cost	cost	NOUN
ajst-23742	167	21	map	map	NOUN
ajst-23742	167	22	required	require	VERB
ajst-23742	167	23	for	for	ADP
ajst-23742	167	24	global	global	ADJ
ajst-23742	167	25	planning	planning	NOUN
ajst-23742	167	26	.	.	PUNCT
ajst-23742	168	1	similar	similar	ADJ
ajst-23742	168	2	to	to	ADP
ajst-23742	168	3	local	local	ADJ
ajst-23742	168	4	planning	planning	NOUN
ajst-23742	168	5	,	,	PUNCT
ajst-23742	168	6	the	the	DET
ajst-23742	168	7	global	global	ADJ
ajst-23742	168	8	planning	planning	NOUN
ajst-23742	168	9	sets	set	VERB
ajst-23742	168	10	the	the	DET
ajst-23742	168	11	initial	initial	ADJ
ajst-23742	168	12	position	position	NOUN
ajst-23742	168	13	to	to	ADP
ajst-23742	168	14	the	the	DET
ajst-23742	168	15	origin	origin	NOUN
ajst-23742	168	16	(	(	PUNCT
ajst-23742	168	17	0	0	NUM
ajst-23742	168	18	,	,	PUNCT
ajst-23742	168	19	0	0	NUM
ajst-23742	168	20	)	)	PUNCT
ajst-23742	168	21	at	at	ADP
ajst-23742	168	22	the	the	DET
ajst-23742	168	23	beginning	beginning	NOUN
ajst-23742	168	24	of	of	ADP
ajst-23742	168	25	each	each	DET
ajst-23742	168	26	iteration	iteration	NOUN
ajst-23742	168	27	and	and	CCONJ
ajst-23742	168	28	randomly	randomly	ADV
ajst-23742	168	29	generates	generate	VERB
ajst-23742	168	30	a	a	DET
ajst-23742	168	31	valid	valid	ADJ
ajst-23742	168	32	target	target	NOUN
ajst-23742	168	33	point	point	NOUN
ajst-23742	168	34	.	.	PUNCT
ajst-23742	169	1	during	during	ADP
ajst-23742	169	2	the	the	DET
ajst-23742	169	3	training	training	NOUN
ajst-23742	169	4	iterations	iteration	NOUN
ajst-23742	169	5	,	,	PUNCT
ajst-23742	169	6	each	each	DET
ajst-23742	169	7	newly	newly	ADV
ajst-23742	169	8	explored	explore	VERB
ajst-23742	169	9	point	point	NOUN
ajst-23742	169	10	is	be	AUX
ajst-23742	169	11	saved	save	VERB
ajst-23742	169	12	,	,	PUNCT
ajst-23742	169	13	and	and	CCONJ
ajst-23742	169	14	when	when	SCONJ
ajst-23742	169	15	a	a	DET
ajst-23742	169	16	new	new	ADJ
ajst-23742	169	17	exploration	exploration	NOUN
ajst-23742	169	18	point	point	NOUN
ajst-23742	169	19	reaches	reach	VERB
ajst-23742	169	20	the	the	DET
ajst-23742	169	21	target	target	NOUN
ajst-23742	169	22	point	point	NOUN
ajst-23742	169	23	,	,	PUNCT
ajst-23742	169	24	it	it	PRON
ajst-23742	169	25	signifies	signify	VERB
ajst-23742	169	26	the	the	DET
ajst-23742	169	27	success	success	NOUN
ajst-23742	169	28	of	of	ADP
ajst-23742	169	29	global	global	ADJ
ajst-23742	169	30	planning	planning	NOUN
ajst-23742	169	31	.	.	PUNCT
ajst-23742	170	1	then	then	ADV
ajst-23742	170	2	,	,	PUNCT
ajst-23742	170	3	the	the	DET
ajst-23742	170	4	entire	entire	ADJ
ajst-23742	170	5	set	set	NOUN
ajst-23742	170	6	of	of	ADP
ajst-23742	170	7	exploration	exploration	NOUN
ajst-23742	170	8	points	point	NOUN
ajst-23742	170	9	is	be	AUX
ajst-23742	170	10	handed	hand	VERB
ajst-23742	170	11	over	over	ADP
ajst-23742	170	12	to	to	ADP
ajst-23742	170	13	the	the	DET
ajst-23742	170	14	local	local	ADJ
ajst-23742	170	15	planning	planning	NOUN
ajst-23742	170	16	for	for	ADP
ajst-23742	170	17	processing	processing	NOUN
ajst-23742	170	18	,	,	PUNCT
ajst-23742	170	19	and	and	CCONJ
ajst-23742	170	20	the	the	DET
ajst-23742	170	21	exploration	exploration	NOUN
ajst-23742	170	22	point	point	NOUN
ajst-23742	170	23	set	set	NOUN
ajst-23742	170	24	is	be	AUX
ajst-23742	170	25	cleared	clear	VERB
ajst-23742	170	26	.	.	PUNCT
ajst-23742	171	1	if	if	SCONJ
ajst-23742	171	2	an	an	DET
ajst-23742	171	3	exploration	exploration	NOUN
ajst-23742	171	4	point	point	NOUN
ajst-23742	171	5	reaches	reach	VERB
ajst-23742	171	6	an	an	DET
ajst-23742	171	7	obstacle	obstacle	NOUN
ajst-23742	171	8	grid	grid	NOUN
ajst-23742	171	9	or	or	CCONJ
ajst-23742	171	10	if	if	SCONJ
ajst-23742	171	11	the	the	DET
ajst-23742	171	12	number	number	NOUN
ajst-23742	171	13	of	of	ADP
ajst-23742	171	14	exploration	exploration	NOUN
ajst-23742	171	15	points	point	NOUN
ajst-23742	171	16	becomes	become	VERB
ajst-23742	171	17	too	too	ADV
ajst-23742	171	18	large	large	ADJ
ajst-23742	171	19	,	,	PUNCT
ajst-23742	171	20	global	global	ADJ
ajst-23742	171	21	planning	planning	NOUN
ajst-23742	171	22	is	be	AUX
ajst-23742	171	23	deemed	deem	VERB
ajst-23742	171	24	unsuccessful	unsuccessful	ADJ
ajst-23742	171	25	,	,	PUNCT
ajst-23742	171	26	and	and	CCONJ
ajst-23742	171	27	the	the	DET
ajst-23742	171	28	exploration	exploration	NOUN
ajst-23742	171	29	point	point	NOUN
ajst-23742	171	30	set	set	NOUN
ajst-23742	171	31	is	be	AUX
ajst-23742	171	32	cleared	clear	VERB
ajst-23742	171	33	directly	directly	ADV
ajst-23742	171	34	.	.	PUNCT
ajst-23742	172	1	then	then	ADV
ajst-23742	172	2	,	,	PUNCT
ajst-23742	172	3	the	the	DET
ajst-23742	172	4	next	next	ADJ
ajst-23742	172	5	iteration	iteration	NOUN
ajst-23742	172	6	begins	begin	VERB
ajst-23742	172	7	.	.	PUNCT
ajst-23742	173	1	in	in	ADP
ajst-23742	173	2	the	the	DET
ajst-23742	173	3	process	process	NOUN
ajst-23742	173	4	of	of	ADP
ajst-23742	173	5	using	use	VERB
ajst-23742	173	6	sac	sac	NOUN
ajst-23742	173	7	to	to	PART
ajst-23742	173	8	solve	solve	VERB
ajst-23742	173	9	the	the	DET
ajst-23742	173	10	global	global	ADJ
ajst-23742	173	11	planning	planning	NOUN
ajst-23742	173	12	problem	problem	NOUN
ajst-23742	173	13	,	,	PUNCT
ajst-23742	173	14	we	we	PRON
ajst-23742	173	15	tested	test	VERB
ajst-23742	173	16	the	the	DET
ajst-23742	173	17	global	global	ADJ
ajst-23742	173	18	planning	planning	NOUN
ajst-23742	173	19	capabilities	capability	NOUN
ajst-23742	173	20	of	of	ADP
ajst-23742	173	21	algorithms	algorithm	NOUN
ajst-23742	173	22	such	such	ADJ
ajst-23742	173	23	as	as	ADP
ajst-23742	173	24	dqn	dqn	NOUN
ajst-23742	173	25	,	,	PUNCT
ajst-23742	173	26	ddpg	ddpg	ADJ
ajst-23742	173	27	,	,	PUNCT
ajst-23742	173	28	and	and	CCONJ
ajst-23742	173	29	sac	sac	VERB
ajst-23742	173	30	in	in	ADP
ajst-23742	173	31	various	various	ADJ
ajst-23742	173	32	environments	environment	NOUN
ajst-23742	173	33	,	,	PUNCT
ajst-23742	173	34	and	and	CCONJ
ajst-23742	173	35	conducted	conduct	VERB
ajst-23742	173	36	experimental	experimental	ADJ
ajst-23742	173	37	analysis	analysis	NOUN
ajst-23742	173	38	and	and	CCONJ
ajst-23742	173	39	comparisons	comparison	NOUN
ajst-23742	173	40	of	of	ADP
ajst-23742	173	41	the	the	DET
ajst-23742	173	42	results	result	NOUN
ajst-23742	173	43	of	of	ADP
ajst-23742	173	44	these	these	DET
ajst-23742	173	45	algorithms	algorithm	NOUN
ajst-23742	173	46	.	.	PUNCT
ajst-23742	174	1	the	the	DET
ajst-23742	174	2	parameters	parameter	NOUN
ajst-23742	174	3	of	of	ADP
ajst-23742	174	4	the	the	DET
ajst-23742	174	5	sac	sac	NOUN
ajst-23742	174	6	algorithm	algorithm	NOUN
ajst-23742	174	7	are	be	AUX
ajst-23742	174	8	listed	list	VERB
ajst-23742	174	9	in	in	ADP
ajst-23742	174	10	table	table	NOUN
ajst-23742	174	11	2	2	NUM
ajst-23742	174	12	.	.	PUNCT
ajst-23742	174	13	table	table	NOUN
ajst-23742	174	14	2	2	NUM
ajst-23742	174	15	.	.	PUNCT
ajst-23742	174	16	sac	sac	NOUN
ajst-23742	174	17	parameter	parameter	NOUN
ajst-23742	174	18	discount	discount	NOUN
ajst-23742	174	19	factor	factor	NOUN
ajst-23742	174	20	learning	learn	VERB
ajst-23742	174	21	rart	rart	PROPN
ajst-23742	174	22	entropy	entropy	PROPN
ajst-23742	174	23	param	param	PROPN
ajst-23742	174	24	soft	soft	ADJ
ajst-23742	174	25	update	update	NOUN
ajst-23742	174	26	param	param	NOUN
ajst-23742	174	27	buffer	buffer	NOUN
ajst-23742	174	28	size	size	NOUN
ajst-23742	174	29	0.99	0.99	NUM
ajst-23742	174	30	0.0003	0.0003	NUM
ajst-23742	174	31	0.2	0.2	NUM
ajst-23742	174	32	0.005	0.005	NUM
ajst-23742	174	33	107	107	NUM
ajst-23742	174	34	figure	figure	NOUN
ajst-23742	174	35	7	7	NUM
ajst-23742	174	36	.	.	NOUN
ajst-23742	174	37	comparison	comparison	NOUN
ajst-23742	174	38	of	of	ADP
ajst-23742	174	39	dqn	dqn	NOUN
ajst-23742	174	40	,	,	PUNCT
ajst-23742	174	41	ddpg	ddpg	ADJ
ajst-23742	174	42	and	and	CCONJ
ajst-23742	174	43	sac	sac	NOUN
ajst-23742	174	44	algorithms	algorithm	NOUN
ajst-23742	174	45	during	during	ADP
ajst-23742	174	46	the	the	DET
ajst-23742	174	47	experiments	experiment	NOUN
ajst-23742	174	48	,	,	PUNCT
ajst-23742	174	49	the	the	DET
ajst-23742	174	50	success	success	NOUN
ajst-23742	174	51	rate	rate	NOUN
ajst-23742	174	52	of	of	ADP
ajst-23742	174	53	solving	solve	VERB
ajst-23742	174	54	the	the	DET
ajst-23742	174	55	global	global	ADJ
ajst-23742	174	56	planning	planning	NOUN
ajst-23742	174	57	task	task	NOUN
ajst-23742	174	58	using	use	VERB
ajst-23742	174	59	the	the	DET
ajst-23742	174	60	sac	sac	NOUN
ajst-23742	174	61	algorithm	algorithm	NOUN
ajst-23742	174	62	was	be	AUX
ajst-23742	174	63	higher	high	ADJ
ajst-23742	174	64	compared	compare	VERB
ajst-23742	174	65	to	to	ADP
ajst-23742	174	66	the	the	DET
ajst-23742	174	67	dqn	dqn	ADJ
ajst-23742	174	68	algorithm	algorithm	NOUN
ajst-23742	174	69	.	.	PUNCT
ajst-23742	175	1	as	as	SCONJ
ajst-23742	175	2	shown	show	VERB
ajst-23742	175	3	in	in	ADP
ajst-23742	175	4	figure	figure	NOUN
ajst-23742	175	5	9	9	NUM
ajst-23742	175	6	,	,	PUNCT
ajst-23742	175	7	discrete	discrete	ADJ
ajst-23742	175	8	points	point	NOUN
ajst-23742	175	9	represent	represent	VERB
ajst-23742	175	10	the	the	DET
ajst-23742	175	11	regions	region	NOUN
ajst-23742	175	12	where	where	SCONJ
ajst-23742	175	13	the	the	DET
ajst-23742	175	14	goal	goal	NOUN
ajst-23742	175	15	points	point	NOUN
ajst-23742	175	16	were	be	AUX
ajst-23742	175	17	successfully	successfully	ADV
ajst-23742	175	18	reached	reach	VERB
ajst-23742	175	19	starting	start	VERB
ajst-23742	175	20	from	from	ADP
ajst-23742	175	21	the	the	DET
ajst-23742	175	22	origin	origin	NOUN
ajst-23742	175	23	.	.	PUNCT
ajst-23742	176	1	figure	figure	NOUN
ajst-23742	176	2	7(a	7(a	NUM
ajst-23742	176	3	)	)	PUNCT
ajst-23742	176	4	presents	present	VERB
ajst-23742	176	5	the	the	DET
ajst-23742	176	6	results	result	NOUN
ajst-23742	176	7	of	of	ADP
ajst-23742	176	8	the	the	DET
ajst-23742	176	9	dqn	dqn	NOUN
ajst-23742	176	10	algorithm	algorithm	NOUN
ajst-23742	176	11	,	,	PUNCT
ajst-23742	176	12	figure	figure	NOUN
ajst-23742	176	13	7(b	7(b	NOUN
ajst-23742	176	14	)	)	PUNCT
ajst-23742	176	15	shows	show	VERB
ajst-23742	176	16	the	the	DET
ajst-23742	176	17	results	result	NOUN
ajst-23742	176	18	of	of	ADP
ajst-23742	176	19	the	the	DET
ajst-23742	176	20	ddpg	ddpg	ADJ
ajst-23742	176	21	algorithm	algorithm	NOUN
ajst-23742	176	22	,	,	PUNCT
ajst-23742	176	23	and	and	CCONJ
ajst-23742	176	24	figure	figure	VERB
ajst-23742	176	25	7(c	7(c	NUM
ajst-23742	176	26	)	)	PUNCT
ajst-23742	176	27	illustrates	illustrate	VERB
ajst-23742	176	28	the	the	DET
ajst-23742	176	29	results	result	NOUN
ajst-23742	176	30	of	of	ADP
ajst-23742	176	31	the	the	DET
ajst-23742	176	32	sac	sac	NOUN
ajst-23742	176	33	algorithm	algorithm	NOUN
ajst-23742	176	34	.	.	PUNCT
ajst-23742	177	1	since	since	SCONJ
ajst-23742	177	2	the	the	DET
ajst-23742	177	3	dqn	dqn	ADJ
ajst-23742	177	4	algorithm	algorithm	NOUN
ajst-23742	177	5	is	be	AUX
ajst-23742	177	6	based	base	VERB
ajst-23742	177	7	on	on	ADP
ajst-23742	177	8	discrete	discrete	ADJ
ajst-23742	177	9	actions	action	NOUN
ajst-23742	177	10	,	,	PUNCT
ajst-23742	177	11	it	it	PRON
ajst-23742	177	12	requires	require	VERB
ajst-23742	177	13	higher	high	ADJ
ajst-23742	177	14	accuracy	accuracy	NOUN
ajst-23742	177	15	in	in	ADP
ajst-23742	177	16	policy	policy	NOUN
ajst-23742	177	17	,	,	PUNCT
ajst-23742	177	18	thus	thus	ADV
ajst-23742	177	19	resulting	result	VERB
ajst-23742	177	20	in	in	ADP
ajst-23742	177	21	a	a	DET
ajst-23742	177	22	lower	low	ADJ
ajst-23742	177	23	success	success	NOUN
ajst-23742	177	24	rate	rate	NOUN
ajst-23742	177	25	.	.	PUNCT
ajst-23742	178	1	on	on	ADP
ajst-23742	178	2	the	the	DET
ajst-23742	178	3	other	other	ADJ
ajst-23742	178	4	hand	hand	NOUN
ajst-23742	178	5	,	,	PUNCT
ajst-23742	178	6	the	the	DET
ajst-23742	178	7	ddpg	ddpg	ADJ
ajst-23742	178	8	algorithm	algorithm	NOUN
ajst-23742	178	9	may	may	AUX
ajst-23742	178	10	be	be	AUX
ajst-23742	178	11	influenced	influence	VERB
ajst-23742	178	12	203	203	NUM
ajst-23742	178	13	by	by	ADP
ajst-23742	178	14	local	local	ADJ
ajst-23742	178	15	optima	optima	NOUN
ajst-23742	178	16	,	,	PUNCT
ajst-23742	178	17	resulting	result	VERB
ajst-23742	178	18	in	in	ADP
ajst-23742	178	19	higher	high	ADJ
ajst-23742	178	20	success	success	NOUN
ajst-23742	178	21	rates	rate	NOUN
ajst-23742	178	22	at	at	ADP
ajst-23742	178	23	certain	certain	ADJ
ajst-23742	178	24	points	point	NOUN
ajst-23742	178	25	but	but	CCONJ
ajst-23742	178	26	being	be	AUX
ajst-23742	178	27	ineffective	ineffective	ADJ
ajst-23742	178	28	for	for	ADP
ajst-23742	178	29	points	point	NOUN
ajst-23742	178	30	that	that	PRON
ajst-23742	178	31	are	be	AUX
ajst-23742	178	32	farther	far	ADV
ajst-23742	178	33	away	away	ADV
ajst-23742	178	34	.	.	PUNCT
ajst-23742	179	1	for	for	ADP
ajst-23742	179	2	the	the	DET
ajst-23742	179	3	sac	sac	NOUN
ajst-23742	179	4	algorithm	algorithm	NOUN
ajst-23742	179	5	,	,	PUNCT
ajst-23742	179	6	it	it	PRON
ajst-23742	179	7	utilizes	utilize	VERB
ajst-23742	179	8	the	the	DET
ajst-23742	179	9	continuous	continuous	ADJ
ajst-23742	179	10	action	action	NOUN
ajst-23742	179	11	space	space	NOUN
ajst-23742	179	12	output	output	NOUN
ajst-23742	179	13	by	by	ADP
ajst-23742	179	14	the	the	DET
ajst-23742	179	15	network	network	NOUN
ajst-23742	179	16	,	,	PUNCT
ajst-23742	179	17	which	which	PRON
ajst-23742	179	18	makes	make	VERB
ajst-23742	179	19	it	it	PRON
ajst-23742	179	20	more	more	ADV
ajst-23742	179	21	favorable	favorable	ADJ
ajst-23742	179	22	for	for	ADP
ajst-23742	179	23	the	the	DET
ajst-23742	179	24	success	success	NOUN
ajst-23742	179	25	rate	rate	NOUN
ajst-23742	179	26	of	of	ADP
ajst-23742	179	27	global	global	ADJ
ajst-23742	179	28	planning	planning	NOUN
ajst-23742	179	29	.	.	PUNCT
ajst-23742	180	1	this	this	PRON
ajst-23742	180	2	allows	allow	VERB
ajst-23742	180	3	for	for	ADP
ajst-23742	180	4	more	more	ADJ
ajst-23742	180	5	possibilities	possibility	NOUN
ajst-23742	180	6	in	in	ADP
ajst-23742	180	7	the	the	DET
ajst-23742	180	8	exploration	exploration	NOUN
ajst-23742	180	9	direction	direction	NOUN
ajst-23742	180	10	of	of	ADP
ajst-23742	180	11	exploration	exploration	NOUN
ajst-23742	180	12	points	point	NOUN
ajst-23742	180	13	.	.	PUNCT
ajst-23742	181	1	additionally	additionally	ADV
ajst-23742	181	2	,	,	PUNCT
ajst-23742	181	3	based	base	VERB
ajst-23742	181	4	on	on	ADP
ajst-23742	181	5	the	the	DET
ajst-23742	181	6	maximum	maximum	PROPN
ajst-23742	181	7	entropy	entropy	NOUN
ajst-23742	181	8	stochastic	stochastic	ADJ
ajst-23742	181	9	policy	policy	NOUN
ajst-23742	181	10	,	,	PUNCT
ajst-23742	181	11	it	it	PRON
ajst-23742	181	12	exhibits	exhibit	VERB
ajst-23742	181	13	stronger	strong	ADJ
ajst-23742	181	14	action	action	NOUN
ajst-23742	181	15	randomness	randomness	NOUN
ajst-23742	181	16	,	,	PUNCT
ajst-23742	181	17	making	make	VERB
ajst-23742	181	18	it	it	PRON
ajst-23742	181	19	easier	easy	ADJ
ajst-23742	181	20	to	to	PART
ajst-23742	181	21	explore	explore	VERB
ajst-23742	181	22	new	new	ADJ
ajst-23742	181	23	paths	path	NOUN
ajst-23742	181	24	,	,	PUNCT
ajst-23742	181	25	including	include	VERB
ajst-23742	181	26	those	those	PRON
ajst-23742	181	27	that	that	PRON
ajst-23742	181	28	bypass	bypass	VERB
ajst-23742	181	29	obstacles	obstacle	NOUN
ajst-23742	181	30	.	.	PUNCT
ajst-23742	182	1	consequently	consequently	ADV
ajst-23742	182	2	,	,	PUNCT
ajst-23742	182	3	its	its	PRON
ajst-23742	182	4	performance	performance	NOUN
ajst-23742	182	5	is	be	AUX
ajst-23742	182	6	superior	superior	ADJ
ajst-23742	182	7	to	to	ADP
ajst-23742	182	8	that	that	PRON
ajst-23742	182	9	of	of	ADP
ajst-23742	182	10	the	the	DET
ajst-23742	182	11	dqn	dqn	NOUN
ajst-23742	182	12	and	and	CCONJ
ajst-23742	182	13	ddpg	ddpg	ADJ
ajst-23742	182	14	algorithms	algorithm	NOUN
ajst-23742	182	15	.	.	PUNCT
ajst-23742	183	1	the	the	DET
ajst-23742	183	2	graphs	graph	NOUN
ajst-23742	183	3	in	in	ADP
ajst-23742	183	4	(	(	PUNCT
ajst-23742	183	5	a	a	NOUN
ajst-23742	183	6	)	)	PUNCT
ajst-23742	183	7	and	and	CCONJ
ajst-23742	183	8	(	(	PUNCT
ajst-23742	183	9	b	b	NOUN
ajst-23742	183	10	)	)	PUNCT
ajst-23742	183	11	respectively	respectively	ADV
ajst-23742	183	12	depict	depict	VERB
ajst-23742	183	13	the	the	DET
ajst-23742	183	14	variations	variation	NOUN
ajst-23742	183	15	in	in	ADP
ajst-23742	183	16	reward	reward	NOUN
ajst-23742	183	17	and	and	CCONJ
ajst-23742	183	18	loss	loss	NOUN
ajst-23742	183	19	values	value	NOUN
ajst-23742	183	20	under	under	ADP
ajst-23742	183	21	various	various	ADJ
ajst-23742	183	22	algorithms	algorithm	NOUN
ajst-23742	183	23	.	.	PUNCT
ajst-23742	184	1	from	from	ADP
ajst-23742	184	2	the	the	DET
ajst-23742	184	3	graphs	graph	NOUN
ajst-23742	184	4	,	,	PUNCT
ajst-23742	184	5	it	it	PRON
ajst-23742	184	6	can	can	AUX
ajst-23742	184	7	be	be	AUX
ajst-23742	184	8	observed	observe	VERB
ajst-23742	184	9	that	that	SCONJ
ajst-23742	184	10	the	the	DET
ajst-23742	184	11	loss	loss	NOUN
ajst-23742	184	12	value	value	NOUN
ajst-23742	184	13	under	under	ADP
ajst-23742	184	14	the	the	DET
ajst-23742	184	15	sac	sac	NOUN
ajst-23742	184	16	algorithm	algorithm	NOUN
ajst-23742	184	17	is	be	AUX
ajst-23742	184	18	lower	low	ADJ
ajst-23742	184	19	compared	compare	VERB
ajst-23742	184	20	to	to	ADP
ajst-23742	184	21	dqn	dqn	NOUN
ajst-23742	184	22	and	and	CCONJ
ajst-23742	184	23	ddpg	ddpg	ADJ
ajst-23742	184	24	,	,	PUNCT
ajst-23742	184	25	approaching	approach	VERB
ajst-23742	184	26	a	a	DET
ajst-23742	184	27	converged	converged	ADJ
ajst-23742	184	28	state	state	NOUN
ajst-23742	184	29	.	.	PUNCT
ajst-23742	185	1	dqn	dqn	NOUN
ajst-23742	185	2	algorithm	algorithm	NOUN
ajst-23742	185	3	exhibits	exhibit	VERB
ajst-23742	185	4	higher	high	ADJ
ajst-23742	185	5	loss	loss	NOUN
ajst-23742	185	6	values	value	NOUN
ajst-23742	185	7	due	due	ADP
ajst-23742	185	8	to	to	ADP
ajst-23742	185	9	a	a	DET
ajst-23742	185	10	higher	high	ADJ
ajst-23742	185	11	number	number	NOUN
ajst-23742	185	12	of	of	ADP
ajst-23742	185	13	failures	failure	NOUN
ajst-23742	185	14	,	,	PUNCT
ajst-23742	185	15	while	while	SCONJ
ajst-23742	185	16	ddpg	ddpg	ADJ
ajst-23742	185	17	falls	fall	VERB
ajst-23742	185	18	between	between	ADP
ajst-23742	185	19	dqn	dqn	NOUN
ajst-23742	185	20	and	and	CCONJ
ajst-23742	185	21	sac	sac	NOUN
ajst-23742	185	22	in	in	ADP
ajst-23742	185	23	terms	term	NOUN
ajst-23742	185	24	of	of	ADP
ajst-23742	185	25	loss	loss	NOUN
ajst-23742	185	26	values	value	NOUN
ajst-23742	185	27	.	.	PUNCT
ajst-23742	186	1	figure	figure	VERB
ajst-23742	186	2	8	8	NUM
ajst-23742	186	3	.	.	PUNCT
ajst-23742	186	4	comparison	comparison	NOUN
ajst-23742	186	5	of	of	ADP
ajst-23742	186	6	reward	reward	NOUN
ajst-23742	186	7	and	and	CCONJ
ajst-23742	186	8	loss	loss	NOUN
ajst-23742	186	9	in	in	ADP
ajst-23742	186	10	dqn	dqn	NOUN
ajst-23742	186	11	,	,	PUNCT
ajst-23742	186	12	ddpg	ddpg	ADJ
ajst-23742	186	13	and	and	CCONJ
ajst-23742	186	14	sac	sac	NOUN
ajst-23742	186	15	algorithms	algorithms	NOUN
ajst-23742	186	16	4	4	NUM
ajst-23742	186	17	.	.	PUNCT
ajst-23742	186	18	conclusion	conclusion	NOUN
ajst-23742	186	19	as	as	SCONJ
ajst-23742	186	20	the	the	DET
ajst-23742	186	21	applications	application	NOUN
ajst-23742	186	22	of	of	ADP
ajst-23742	186	23	robots	robot	NOUN
ajst-23742	186	24	continue	continue	VERB
ajst-23742	186	25	to	to	PART
ajst-23742	186	26	evolve	evolve	VERB
ajst-23742	186	27	,	,	PUNCT
ajst-23742	186	28	unmanned	unmanned	ADJ
ajst-23742	186	29	vehicles	vehicle	NOUN
ajst-23742	186	30	find	find	VERB
ajst-23742	186	31	utility	utility	NOUN
ajst-23742	186	32	across	across	ADP
ajst-23742	186	33	various	various	ADJ
ajst-23742	186	34	industries	industry	NOUN
ajst-23742	186	35	,	,	PUNCT
ajst-23742	186	36	where	where	SCONJ
ajst-23742	186	37	their	their	PRON
ajst-23742	186	38	navigation	navigation	NOUN
ajst-23742	186	39	and	and	CCONJ
ajst-23742	186	40	path	path	NOUN
ajst-23742	186	41	planning	planning	NOUN
ajst-23742	186	42	technologies	technology	NOUN
ajst-23742	186	43	constitute	constitute	VERB
ajst-23742	186	44	the	the	DET
ajst-23742	186	45	core	core	NOUN
ajst-23742	186	46	of	of	ADP
ajst-23742	186	47	their	their	PRON
ajst-23742	186	48	intelligence	intelligence	NOUN
ajst-23742	186	49	.	.	PUNCT
ajst-23742	187	1	however	however	ADV
ajst-23742	187	2	,	,	PUNCT
ajst-23742	187	3	traditional	traditional	ADJ
ajst-23742	187	4	path	path	NOUN
ajst-23742	187	5	planning	planning	NOUN
ajst-23742	187	6	techniques	technique	NOUN
ajst-23742	187	7	are	be	AUX
ajst-23742	187	8	inadequate	inadequate	ADJ
ajst-23742	187	9	for	for	ADP
ajst-23742	187	10	unknown	unknown	ADJ
ajst-23742	187	11	and	and	CCONJ
ajst-23742	187	12	dynamically	dynamically	ADV
ajst-23742	187	13	changing	change	VERB
ajst-23742	187	14	environments	environment	NOUN
ajst-23742	187	15	.	.	PUNCT
ajst-23742	188	1	hence	hence	ADV
ajst-23742	188	2	,	,	PUNCT
ajst-23742	188	3	there	there	PRON
ajst-23742	188	4	arises	arise	VERB
ajst-23742	188	5	a	a	DET
ajst-23742	188	6	need	need	NOUN
ajst-23742	188	7	to	to	PART
ajst-23742	188	8	propose	propose	VERB
ajst-23742	188	9	intelligent	intelligent	ADJ
ajst-23742	188	10	methods	method	NOUN
ajst-23742	188	11	to	to	PART
ajst-23742	188	12	enhance	enhance	VERB
ajst-23742	188	13	task	task	NOUN
ajst-23742	188	14	execution	execution	NOUN
ajst-23742	188	15	efficiency	efficiency	NOUN
ajst-23742	188	16	and	and	CCONJ
ajst-23742	188	17	adaptability	adaptability	NOUN
ajst-23742	188	18	to	to	ADP
ajst-23742	188	19	complex	complex	ADJ
ajst-23742	188	20	environments	environment	NOUN
ajst-23742	188	21	.	.	PUNCT
ajst-23742	189	1	in	in	ADP
ajst-23742	189	2	this	this	DET
ajst-23742	189	3	regard	regard	NOUN
ajst-23742	189	4	,	,	PUNCT
ajst-23742	189	5	a	a	DET
ajst-23742	189	6	solution	solution	NOUN
ajst-23742	189	7	based	base	VERB
ajst-23742	189	8	on	on	ADP
ajst-23742	189	9	deep	deep	ADJ
ajst-23742	189	10	reinforcement	reinforcement	NOUN
ajst-23742	189	11	learning	learning	NOUN
ajst-23742	189	12	(	(	PUNCT
ajst-23742	189	13	drl	drl	PROPN
ajst-23742	189	14	)	)	PUNCT
ajst-23742	189	15	has	have	AUX
ajst-23742	189	16	been	be	AUX
ajst-23742	189	17	introduced	introduce	VERB
ajst-23742	189	18	,	,	PUNCT
ajst-23742	189	19	which	which	PRON
ajst-23742	189	20	includes	include	VERB
ajst-23742	189	21	algorithms	algorithm	NOUN
ajst-23742	189	22	such	such	ADJ
ajst-23742	189	23	as	as	ADP
ajst-23742	189	24	ddpg	ddpg	ADJ
ajst-23742	189	25	and	and	CCONJ
ajst-23742	189	26	sac	sac	NOUN
ajst-23742	189	27	.	.	PUNCT
ajst-23742	189	28	by	by	ADP
ajst-23742	189	29	integrating	integrate	VERB
ajst-23742	189	30	global	global	ADJ
ajst-23742	189	31	planning	planning	NOUN
ajst-23742	189	32	and	and	CCONJ
ajst-23742	189	33	local	local	ADJ
ajst-23742	189	34	obstacle	obstacle	NOUN
ajst-23742	189	35	avoidance	avoidance	NOUN
ajst-23742	189	36	,	,	PUNCT
ajst-23742	189	37	this	this	DET
ajst-23742	189	38	approach	approach	NOUN
ajst-23742	189	39	employs	employ	VERB
ajst-23742	189	40	intelligent	intelligent	ADJ
ajst-23742	189	41	algorithms	algorithm	NOUN
ajst-23742	189	42	to	to	PART
ajst-23742	189	43	address	address	VERB
ajst-23742	189	44	the	the	DET
ajst-23742	189	45	entire	entire	ADJ
ajst-23742	189	46	path	path	NOUN
ajst-23742	189	47	planning	planning	NOUN
ajst-23742	189	48	problem	problem	NOUN
ajst-23742	189	49	.	.	PUNCT
ajst-23742	190	1	experimental	experimental	ADJ
ajst-23742	190	2	results	result	NOUN
ajst-23742	190	3	demonstrate	demonstrate	VERB
ajst-23742	190	4	that	that	SCONJ
ajst-23742	190	5	this	this	DET
ajst-23742	190	6	method	method	NOUN
ajst-23742	190	7	enhances	enhance	VERB
ajst-23742	190	8	planning	plan	VERB
ajst-23742	190	9	and	and	CCONJ
ajst-23742	190	10	obstacle	obstacle	NOUN
ajst-23742	190	11	avoidance	avoidance	NOUN
ajst-23742	190	12	abilities	ability	NOUN
ajst-23742	190	13	in	in	ADP
ajst-23742	190	14	most	most	ADJ
ajst-23742	190	15	scenarios	scenario	NOUN
ajst-23742	190	16	.	.	PUNCT
ajst-23742	191	1	however	however	ADV
ajst-23742	191	2	,	,	PUNCT
ajst-23742	191	3	there	there	PRON
ajst-23742	191	4	remains	remain	VERB
ajst-23742	191	5	a	a	DET
ajst-23742	191	6	necessity	necessity	NOUN
ajst-23742	191	7	to	to	PART
ajst-23742	191	8	improve	improve	VERB
ajst-23742	191	9	navigation	navigation	NOUN
ajst-23742	191	10	capabilities	capability	NOUN
ajst-23742	191	11	,	,	PUNCT
ajst-23742	191	12	especially	especially	ADV
ajst-23742	191	13	in	in	ADP
ajst-23742	191	14	more	more	ADJ
ajst-23742	191	15	complex	complex	ADJ
ajst-23742	191	16	environments	environment	NOUN
ajst-23742	191	17	,	,	PUNCT
ajst-23742	191	18	particularly	particularly	ADV
ajst-23742	191	19	addressing	address	VERB
ajst-23742	191	20	global	global	ADJ
ajst-23742	191	21	issues	issue	NOUN
ajst-23742	191	22	within	within	ADP
ajst-23742	191	23	global	global	ADJ
ajst-23742	191	24	planning	planning	NOUN
ajst-23742	191	25	,	,	PUNCT
ajst-23742	191	26	in	in	ADP
ajst-23742	191	27	future	future	ADJ
ajst-23742	191	28	endeavors	endeavor	NOUN
ajst-23742	191	29	.	.	PUNCT
ajst-23742	192	1	references	reference	NOUN
ajst-23742	192	2	[	[	X
ajst-23742	192	3	1	1	X
ajst-23742	192	4	]	]	PUNCT
ajst-23742	192	5	t.	t.	PROPN
ajst-23742	192	6	chu	chu	PROPN
ajst-23742	192	7	,	,	PUNCT
ajst-23742	192	8	and	and	CCONJ
ajst-23742	192	9	j.	j.	PROPN
ajst-23742	192	10	wang	wang	PROPN
ajst-23742	192	11	,	,	PUNCT
ajst-23742	192	12	“	"	PUNCT
ajst-23742	192	13	multi	multi	ADJ
ajst-23742	192	14	-	-	ADJ
ajst-23742	192	15	agent	agent	ADJ
ajst-23742	192	16	deep	deep	ADJ
ajst-23742	192	17	reinforcement	reinforcement	NOUN
ajst-23742	192	18	learning	learning	NOUN
ajst-23742	192	19	for	for	ADP
ajst-23742	192	20	large	large	ADJ
ajst-23742	192	21	-	-	PUNCT
ajst-23742	192	22	scale	scale	NOUN
ajst-23742	192	23	traffic	traffic	NOUN
ajst-23742	192	24	signal	signal	NOUN
ajst-23742	192	25	control	control	NOUN
ajst-23742	192	26	,	,	PUNCT
ajst-23742	192	27	”	"	PUNCT
ajst-23742	192	28	ieee	ieee	NOUN
ajst-23742	192	29	transactions	transaction	NOUN
ajst-23742	192	30	on	on	ADP
ajst-23742	192	31	intelligent	intelligent	ADJ
ajst-23742	192	32	transportation	transportation	NOUN
ajst-23742	192	33	systems	system	NOUN
ajst-23742	192	34	,	,	PUNCT
ajst-23742	192	35	vol	vol	NOUN
ajst-23742	192	36	.	.	PROPN
ajst-23742	192	37	21	21	NUM
ajst-23742	192	38	,	,	PUNCT
ajst-23742	192	39	no	no	INTJ
ajst-23742	192	40	.	.	NOUN
ajst-23742	192	41	3	3	NUM
ajst-23742	192	42	,	,	PUNCT
ajst-23742	192	43	pp	pp	ADJ
ajst-23742	192	44	.	.	PUNCT
ajst-23742	192	45	10861095	10861095	NUM
ajst-23742	192	46	,	,	PUNCT
ajst-23742	192	47	2020	2020	NUM
ajst-23742	192	48	.	.	PUNCT
ajst-23742	193	1	[	[	X
ajst-23742	193	2	2	2	X
ajst-23742	193	3	]	]	PUNCT
ajst-23742	193	4	s.	s.	PROPN
ajst-23742	193	5	dong	dong	PROPN
ajst-23742	193	6	,	,	PUNCT
ajst-23742	193	7	p.	p.	PROPN
ajst-23742	193	8	wang	wang	PROPN
ajst-23742	193	9	,	,	PUNCT
ajst-23742	193	10	and	and	CCONJ
ajst-23742	193	11	abbas	abbas	PROPN
ajst-23742	193	12	k	k	PROPN
ajst-23742	193	13	,	,	PUNCT
ajst-23742	193	14	et	et	PROPN
ajst-23742	193	15	al	al	PROPN
ajst-23742	193	16	,	,	PUNCT
ajst-23742	193	17	“	"	PUNCT
ajst-23742	193	18	a	a	DET
ajst-23742	193	19	survey	survey	NOUN
ajst-23742	193	20	on	on	ADP
ajst-23742	193	21	deep	deep	ADJ
ajst-23742	193	22	learning	learning	NOUN
ajst-23742	193	23	and	and	CCONJ
ajst-23742	193	24	its	its	PRON
ajst-23742	193	25	applications	application	NOUN
ajst-23742	193	26	,	,	PUNCT
ajst-23742	193	27	”	"	PUNCT
ajst-23742	193	28	computer	computer	NOUN
ajst-23742	193	29	science	science	NOUN
ajst-23742	193	30	review	review	PROPN
ajst-23742	193	31	,	,	PUNCT
ajst-23742	193	32	no	no	INTJ
ajst-23742	193	33	.	.	NOUN
ajst-23742	193	34	40	40	NUM
ajst-23742	193	35	,	,	PUNCT
ajst-23742	193	36	pp	pp	ADJ
ajst-23742	193	37	.	.	PUNCT
ajst-23742	194	1	100378	100378	NUM
ajst-23742	194	2	-	-	SYM
ajst-23742	194	3	100379	100379	NUM
ajst-23742	194	4	,	,	PUNCT
ajst-23742	194	5	2021	2021	NUM
ajst-23742	194	6	.	.	PUNCT
ajst-23742	195	1	[	[	X
ajst-23742	195	2	3	3	X
ajst-23742	195	3	]	]	X
ajst-23742	195	4	j.	j.	PROPN
ajst-23742	195	5	gu	gu	PROPN
ajst-23742	195	6	,	,	PUNCT
ajst-23742	195	7	and	and	CCONJ
ajst-23742	195	8	z.	z.	PROPN
ajst-23742	195	9	wang	wang	PROPN
ajst-23742	195	10	,	,	PUNCT
ajst-23742	195	11	“	"	PUNCT
ajst-23742	195	12	recent	recent	ADJ
ajst-23742	195	13	advances	advance	NOUN
ajst-23742	195	14	in	in	ADP
ajst-23742	195	15	convolutional	convolutional	ADJ
ajst-23742	195	16	neural	neural	ADJ
ajst-23742	195	17	networks	network	NOUN
ajst-23742	195	18	,	,	PUNCT
ajst-23742	195	19	”	"	PUNCT
ajst-23742	195	20	pattern	pattern	NOUN
ajst-23742	195	21	recognition	recognition	NOUN
ajst-23742	195	22	,	,	PUNCT
ajst-23742	195	23	no	no	INTJ
ajst-23742	195	24	.	.	NOUN
ajst-23742	195	25	77	77	NUM
ajst-23742	195	26	,	,	PUNCT
ajst-23742	195	27	pp	pp	ADJ
ajst-23742	195	28	.	.	PUNCT
ajst-23742	196	1	354	354	NUM
ajst-23742	196	2	-	-	SYM
ajst-23742	196	3	377	377	NUM
ajst-23742	196	4	,	,	PUNCT
ajst-23742	196	5	2020	2020	NUM
ajst-23742	196	6	.	.	PUNCT
ajst-23742	197	1	[	[	X
ajst-23742	197	2	4	4	NUM
ajst-23742	197	3	]	]	X
ajst-23742	197	4	prashanth	prashanth	ADJ
ajst-23742	197	5	l	l	NOUN
ajst-23742	197	6	a	a	X
ajst-23742	197	7	,	,	PUNCT
ajst-23742	197	8	and	and	CCONJ
ajst-23742	197	9	bhatnagar	bhatnagar	PROPN
ajst-23742	197	10	s	s	PROPN
ajst-23742	197	11	,	,	PUNCT
ajst-23742	197	12	“	"	PUNCT
ajst-23742	197	13	reinforcement	reinforcement	NOUN
ajst-23742	197	14	learning	learning	NOUN
ajst-23742	197	15	with	with	ADP
ajst-23742	197	16	function	function	NOUN
ajst-23742	197	17	approximation	approximation	NOUN
ajst-23742	197	18	for	for	ADP
ajst-23742	197	19	traffic	traffic	NOUN
ajst-23742	197	20	signal	signal	NOUN
ajst-23742	197	21	control	control	NOUN
ajst-23742	197	22	,	,	PUNCT
ajst-23742	197	23	”	"	PUNCT
ajst-23742	197	24	ieee	ieee	NOUN
ajst-23742	197	25	transactions	transaction	NOUN
ajst-23742	197	26	on	on	ADP
ajst-23742	197	27	intelligent	intelligent	ADJ
ajst-23742	197	28	transportation	transportation	NOUN
ajst-23742	197	29	systems	system	NOUN
ajst-23742	197	30	,	,	PUNCT
ajst-23742	197	31	vol	vol	NOUN
ajst-23742	197	32	.	.	PROPN
ajst-23742	197	33	12	12	NUM
ajst-23742	197	34	,	,	PUNCT
ajst-23742	197	35	no	no	INTJ
ajst-23742	197	36	.	.	NOUN
ajst-23742	197	37	2	2	NUM
ajst-23742	197	38	,	,	PUNCT
ajst-23742	197	39	pp	pp	ADJ
ajst-23742	197	40	.	.	PUNCT
ajst-23742	198	1	412	412	NUM
ajst-23742	198	2	-	-	SYM
ajst-23742	198	3	421	421	NUM
ajst-23742	198	4	,	,	PUNCT
ajst-23742	198	5	2021	2021	NUM
ajst-23742	198	6	.	.	PUNCT
ajst-23742	199	1	[	[	X
ajst-23742	199	2	5	5	NUM
ajst-23742	199	3	]	]	X
ajst-23742	199	4	mercader	mercader	NOUN
ajst-23742	199	5	p	p	PROPN
ajst-23742	199	6	,	,	PUNCT
ajst-23742	199	7	uwayid	uwayid	PROPN
ajst-23742	199	8	w	w	PROPN
ajst-23742	199	9	,	,	PUNCT
ajst-23742	199	10	and	and	CCONJ
ajst-23742	199	11	haddad	haddad	PROPN
ajst-23742	199	12	j	j	PROPN
ajst-23742	199	13	,	,	PUNCT
ajst-23742	199	14	“	"	PUNCT
ajst-23742	199	15	max	max	ADJ
ajst-23742	199	16	-	-	PUNCT
ajst-23742	199	17	pressure	pressure	NOUN
ajst-23742	199	18	traffic	traffic	NOUN
ajst-23742	199	19	controller	controller	NOUN
ajst-23742	199	20	based	base	VERB
ajst-23742	199	21	on	on	ADP
ajst-23742	199	22	travel	travel	NOUN
ajst-23742	199	23	times	time	NOUN
ajst-23742	199	24	:	:	PUNCT
ajst-23742	199	25	an	an	DET
ajst-23742	199	26	experimental	experimental	ADJ
ajst-23742	199	27	analysis	analysis	NOUN
ajst-23742	199	28	,	,	PUNCT
ajst-23742	199	29	”	"	PUNCT
ajst-23742	199	30	transportation	transportation	NOUN
ajst-23742	199	31	research	research	NOUN
ajst-23742	199	32	part	part	NOUN
ajst-23742	199	33	c	c	NOUN
ajst-23742	199	34	:	:	PUNCT
ajst-23742	199	35	emerging	emerge	VERB
ajst-23742	199	36	technologies	technology	NOUN
ajst-23742	199	37	,	,	PUNCT
ajst-23742	199	38	no	no	INTJ
ajst-23742	199	39	.	.	NOUN
ajst-23742	199	40	110	110	NUM
ajst-23742	199	41	,	,	PUNCT
ajst-23742	199	42	pp	pp	ADJ
ajst-23742	199	43	.	.	PUNCT
ajst-23742	200	1	275	275	NUM
ajst-23742	200	2	-	-	SYM
ajst-23742	200	3	290	290	NUM
ajst-23742	200	4	,	,	PUNCT
ajst-23742	200	5	2020	2020	NUM
ajst-23742	200	6	.	.	PUNCT
ajst-23742	201	1	[	[	X
ajst-23742	201	2	6	6	NUM
ajst-23742	201	3	]	]	PUNCT
ajst-23742	201	4	somes	some	NOUN
ajst-23742	201	5	n	n	CCONJ
ajst-23742	201	6	,	,	PUNCT
ajst-23742	201	7	and	and	CCONJ
ajst-23742	201	8	moore	moore	PROPN
ajst-23742	201	9	j	j	PROPN
ajst-23742	201	10	,	,	PUNCT
ajst-23742	201	11	“	"	PUNCT
ajst-23742	201	12	design	design	NOUN
ajst-23742	201	13	and	and	CCONJ
ajst-23742	201	14	construction	construction	NOUN
ajst-23742	201	15	of	of	ADP
ajst-23742	201	16	a	a	DET
ajst-23742	201	17	regional	regional	ADJ
ajst-23742	201	18	scale	scale	NOUN
ajst-23742	201	19	bioret	bioret	NOUN
ajst-23742	201	20	ention	ention	NOUN
ajst-23742	201	21	system	system	NOUN
ajst-23742	201	22	,	,	PUNCT
ajst-23742	201	23	”	"	PUNCT
ajst-23742	201	24	rainwater&urban	rainwater&urban	NUM
ajst-23742	201	25	design	design	NOUN
ajst-23742	201	26	,	,	PUNCT
ajst-23742	201	27	vol	vol	NOUN
ajst-23742	201	28	.	.	PROPN
ajst-23742	201	29	20	20	NUM
ajst-23742	201	30	,	,	PUNCT
ajst-23742	201	31	no	no	INTJ
ajst-23742	201	32	.	.	NOUN
ajst-23742	201	33	3	3	NUM
ajst-23742	201	34	,	,	PUNCT
ajst-23742	201	35	pp	pp	ADJ
ajst-23742	201	36	.	.	PUNCT
ajst-23742	201	37	12	12	NUM
ajst-23742	201	38	-	-	SYM
ajst-23742	201	39	13	13	NUM
ajst-23742	201	40	,	,	PUNCT
ajst-23742	201	41	2007	2007	NUM
ajst-23742	201	42	.	.	PUNCT
ajst-23742	202	1	[	[	X
ajst-23742	202	2	7	7	X
ajst-23742	202	3	]	]	X
ajst-23742	202	4	rajeswari	rajeswari	ADJ
ajst-23742	202	5	l	l	NOUN
ajst-23742	202	6	p	p	X
ajst-23742	202	7	,	,	PUNCT
ajst-23742	202	8	kannan	kannan	PROPN
ajst-23742	202	9	a	a	PRON
ajst-23742	202	10	,	,	PUNCT
ajst-23742	202	11	and	and	CCONJ
ajst-23742	202	12	baskaran	baskaran	ADJ
ajst-23742	202	13	r	r	NOUN
ajst-23742	202	14	,	,	PUNCT
ajst-23742	202	15	“	"	PUNCT
ajst-23742	202	16	an	an	DET
ajst-23742	202	17	escalated	escalate	VERB
ajst-23742	202	18	approach	approach	NOUN
ajst-23742	202	19	to	to	ADP
ajst-23742	202	20	ant	ant	ADJ
ajst-23742	202	21	colony	colony	NOUN
ajst-23742	202	22	clustering	cluster	VERB
ajst-23742	202	23	algorithm	algorithm	NOUN
ajst-23742	202	24	for	for	ADP
ajst-23742	202	25	intrusion	intrusion	NOUN
ajst-23742	202	26	detection	detection	NOUN
ajst-23742	202	27	system	system	NOUN
ajst-23742	202	28	,	,	PUNCT
ajst-23742	202	29	”	"	PUNCT
ajst-23742	202	30	distributed	distribute	VERB
ajst-23742	202	31	computing	computing	NOUN
ajst-23742	202	32	&	&	CCONJ
ajst-23742	202	33	networking	networking	NOUN
ajst-23742	202	34	,	,	PUNCT
ajst-23742	202	35	vol	vol	NOUN
ajst-23742	202	36	.	.	PROPN
ajst-23742	202	37	23	23	NUM
ajst-23742	202	38	,	,	PUNCT
ajst-23742	202	39	no	no	INTJ
ajst-23742	202	40	.	.	NOUN
ajst-23742	202	41	56	56	NUM
ajst-23742	202	42	,	,	PUNCT
ajst-23742	202	43	pp	pp	ADJ
ajst-23742	202	44	.	.	PUNCT
ajst-23742	203	1	23	23	NUM
ajst-23742	203	2	-	-	SYM
ajst-23742	203	3	25	25	NUM
ajst-23742	203	4	,	,	PUNCT
ajst-23742	203	5	2018	2018	NUM
ajst-23742	203	6	.	.	PUNCT
ajst-23742	204	1	[	[	X
ajst-23742	204	2	8	8	NUM
ajst-23742	204	3	]	]	X
ajst-23742	204	4	lt	lt	PRON
ajst-23742	204	5	a	a	NOUN
ajst-23742	204	6	,	,	PUNCT
ajst-23742	204	7	and	and	CCONJ
ajst-23742	204	8	yh	yh	PROPN
ajst-23742	204	9	a	a	PRON
ajst-23742	204	10	,	,	PUNCT
ajst-23742	204	11	“	"	PUNCT
ajst-23742	204	12	application	application	NOUN
ajst-23742	204	13	of	of	ADP
ajst-23742	204	14	photovoltaic	photovoltaic	NOUN
ajst-23742	204	15	power	power	NOUN
ajst-23742	204	16	generation	generation	NOUN
ajst-23742	204	17	in	in	ADP
ajst-23742	204	18	rail	rail	NOUN
ajst-23742	204	19	transit	transit	NOUN
ajst-23742	204	20	power	power	NOUN
ajst-23742	204	21	supply	supply	NOUN
ajst-23742	204	22	system	system	NOUN
ajst-23742	204	23	under	under	ADP
ajst-23742	204	24	the	the	DET
ajst-23742	204	25	background	background	NOUN
ajst-23742	204	26	of	of	ADP
ajst-23742	204	27	energy	energy	NOUN
ajst-23742	204	28	low	low	ADJ
ajst-23742	204	29	carbon	carbon	NOUN
ajst-23742	204	30	transformation	transformation	NOUN
ajst-23742	204	31	,	,	PUNCT
ajst-23742	204	32	”	"	PUNCT
ajst-23742	204	33	alexandria	alexandria	PROPN
ajst-23742	204	34	engineering	engineering	PROPN
ajst-23742	204	35	journal	journal	PROPN
ajst-23742	204	36	,	,	PUNCT
ajst-23742	204	37	vol	vol	NOUN
ajst-23742	204	38	.	.	PROPN
ajst-23742	204	39	60	60	NUM
ajst-23742	204	40	,	,	PUNCT
ajst-23742	204	41	no	no	INTJ
ajst-23742	204	42	.	.	NOUN
ajst-23742	204	43	6	6	NUM
ajst-23742	204	44	,	,	PUNCT
ajst-23742	204	45	pp	pp	ADJ
ajst-23742	204	46	.	.	PUNCT
ajst-23742	205	1	5167	5167	NUM
ajst-23742	205	2	-	-	SYM
ajst-23742	205	3	5174	5174	NUM
ajst-23742	205	4	,	,	PUNCT
ajst-23742	205	5	2021	2021	NUM
ajst-23742	205	6	.	.	PUNCT
ajst-23742	206	1	[	[	X
ajst-23742	206	2	9	9	NUM
ajst-23742	206	3	]	]	PUNCT
ajst-23742	206	4	barbieri	barbieri	NOUN
ajst-23742	206	5	f	f	PROPN
ajst-23742	206	6	,	,	PUNCT
ajst-23742	206	7	rajakaruna	rajakaruna	PROPN
ajst-23742	206	8	s	s	PART
ajst-23742	206	9	,	,	PUNCT
ajst-23742	206	10	and	and	CCONJ
ajst-23742	206	11	ghosh	ghosh	PROPN
ajst-23742	206	12	a	a	PROPN
ajst-23742	206	13	,	,	PUNCT
ajst-23742	206	14	“	"	PUNCT
ajst-23742	206	15	very	very	ADV
ajst-23742	206	16	short	short	ADJ
ajst-23742	206	17	-	-	PUNCT
ajst-23742	206	18	term	term	NOUN
ajst-23742	206	19	photovoltaic	photovoltaic	NOUN
ajst-23742	206	20	power	power	NOUN
ajst-23742	206	21	forecasting	forecasting	NOUN
ajst-23742	206	22	with	with	ADP
ajst-23742	206	23	cloud	cloud	NOUN
ajst-23742	206	24	modeling	modeling	NOUN
ajst-23742	206	25	:	:	PUNCT
ajst-23742	206	26	a	a	DET
ajst-23742	206	27	review	review	NOUN
ajst-23742	206	28	,	,	PUNCT
ajst-23742	206	29	”	"	PUNCT
ajst-23742	206	30	renewable	renewable	ADJ
ajst-23742	206	31	&	&	CCONJ
ajst-23742	206	32	sustainable	sustainable	ADJ
ajst-23742	206	33	energy	energy	NOUN
ajst-23742	206	34	reviews	review	NOUN
ajst-23742	206	35	,	,	PUNCT
ajst-23742	206	36	vol	vol	NOUN
ajst-23742	206	37	.	.	PROPN
ajst-23742	207	1	75	75	NUM
ajst-23742	207	2	,	,	PUNCT
ajst-23742	207	3	no	no	INTJ
ajst-23742	207	4	.	.	NOUN
ajst-23742	207	5	2	2	NUM
ajst-23742	207	6	,	,	PUNCT
ajst-23742	207	7	pp	pp	ADJ
ajst-23742	207	8	.	.	PUNCT
ajst-23742	208	1	242	242	NUM
ajst-23742	208	2	-	-	SYM
ajst-23742	208	3	263	263	NUM
ajst-23742	208	4	,	,	PUNCT
ajst-23742	208	5	2016	2016	NUM
ajst-23742	208	6	.	.	PUNCT
ajst-23742	209	1	[	[	X
ajst-23742	209	2	10	10	NUM
ajst-23742	209	3	]	]	X
ajst-23742	209	4	kazem	kazem	PROPN
ajst-23742	209	5	h	h	PROPN
ajst-23742	209	6	a	a	INTJ
ajst-23742	209	7	,	,	PUNCT
ajst-23742	209	8	yousif	yousif	PROPN
ajst-23742	209	9	j	j	PROPN
ajst-23742	209	10	,	,	PUNCT
ajst-23742	209	11	and	and	CCONJ
ajst-23742	209	12	chaichan	chaichan	PROPN
ajst-23742	209	13	m	m	PROPN
ajst-23742	209	14	t	t	PROPN
ajst-23742	209	15	,	,	PUNCT
ajst-23742	209	16	et	et	PROPN
ajst-23742	209	17	al	al	PROPN
ajst-23742	209	18	,	,	PUNCT
ajst-23742	209	19	“	"	PUNCT
ajst-23742	209	20	experimental	experimental	ADJ
ajst-23742	209	21	and	and	CCONJ
ajst-23742	209	22	deep	deep	ADJ
ajst-23742	209	23	learning	learn	VERB
ajst-23742	209	24	artificial	artificial	ADJ
ajst-23742	209	25	neural	neural	ADJ
ajst-23742	209	26	network	network	NOUN
ajst-23742	209	27	approach	approach	NOUN
ajst-23742	209	28	for	for	ADP
ajst-23742	209	29	evaluating	evaluate	VERB
ajst-23742	209	30	grid	grid	NOUN
ajst-23742	209	31	-	-	PUNCT
ajst-23742	209	32	connected	connect	VERB
ajst-23742	209	33	photovoltaic	photovoltaic	NOUN
ajst-23742	209	34	systems	system	NOUN
ajst-23742	209	35	,	,	PUNCT
ajst-23742	209	36	”	"	PUNCT
ajst-23742	209	37	international	international	ADJ
ajst-23742	209	38	journal	journal	NOUN
ajst-23742	209	39	of	of	ADP
ajst-23742	209	40	energy	energy	NOUN
ajst-23742	209	41	research	research	NOUN
ajst-23742	209	42	,	,	PUNCT
ajst-23742	209	43	vol	vol	NOUN
ajst-23742	209	44	.	.	PROPN
ajst-23742	210	1	43	43	NUM
ajst-23742	210	2	,	,	PUNCT
ajst-23742	210	3	no	no	INTJ
ajst-23742	210	4	.	.	NOUN
ajst-23742	210	5	14	14	NUM
ajst-23742	210	6	,	,	PUNCT
ajst-23742	210	7	pp	pp	ADJ
ajst-23742	210	8	.	.	PUNCT
ajst-23742	210	9	8572	8572	NUM
ajst-23742	210	10	-	-	SYM
ajst-23742	210	11	8591	8591	NUM
ajst-23742	210	12	,	,	PUNCT
ajst-23742	210	13	2019	2019	NUM
ajst-23742	210	14	.	.	PUNCT