id sid tid token lemma pos ajst-28608 1 1 academic academic ADJ ajst-28608 1 2 journal journal NOUN ajst-28608 1 3 of of ADP ajst-28608 1 4 science science NOUN ajst-28608 1 5 and and CCONJ ajst-28608 1 6 technology technology NOUN ajst-28608 1 7 issn issn NOUN ajst-28608 1 8 : : PUNCT ajst-28608 1 9 2771 2771 NUM ajst-28608 1 10 - - SYM ajst-28608 1 11 3032 3032 NUM ajst-28608 1 12 | | NOUN ajst-28608 1 13 vol vol NOUN ajst-28608 1 14 . . PROPN ajst-28608 1 15 13 13 NUM ajst-28608 1 16 , , PUNCT ajst-28608 1 17 no no INTJ ajst-28608 1 18 . . NOUN ajst-28608 1 19 3 3 NUM ajst-28608 1 20 , , PUNCT ajst-28608 1 21 2024 2024 NUM ajst-28608 1 22 141 141 NUM ajst-28608 1 23 research research NOUN ajst-28608 1 24 on on ADP ajst-28608 1 25 the the DET ajst-28608 1 26 application application NOUN ajst-28608 1 27 of of ADP ajst-28608 1 28 multi‐rotor multi‐rotor PROPN ajst-28608 1 29 uav uav PROPN ajst-28608 1 30 formation formation NOUN ajst-28608 1 31 in in ADP ajst-28608 1 32 the the DET ajst-28608 1 33 hydrological hydrological ADJ ajst-28608 1 34 monitoring monitoring NOUN ajst-28608 1 35 field field NOUN ajst-28608 1 36 zixuan zixuan PROPN ajst-28608 1 37 cui cui PROPN ajst-28608 1 38 department department PROPN ajst-28608 1 39 of of ADP ajst-28608 1 40 mechanical mechanical ADJ ajst-28608 1 41 engineering engineering NOUN ajst-28608 1 42 , , PUNCT ajst-28608 1 43 north north PROPN ajst-28608 1 44 china china PROPN ajst-28608 1 45 university university PROPN ajst-28608 1 46 of of ADP ajst-28608 1 47 science science NOUN ajst-28608 1 48 and and CCONJ ajst-28608 1 49 technology technology NOUN ajst-28608 1 50 , , PUNCT ajst-28608 1 51 hebei hebei PROPN ajst-28608 1 52 , , PUNCT ajst-28608 1 53 china china PROPN ajst-28608 1 54 abstract abstract NOUN ajst-28608 1 55 : : PUNCT ajst-28608 1 56 in in ADP ajst-28608 1 57 the the DET ajst-28608 1 58 context context NOUN ajst-28608 1 59 of of ADP ajst-28608 1 60 the the DET ajst-28608 1 61 increasing increase VERB ajst-28608 1 62 demand demand NOUN ajst-28608 1 63 for for ADP ajst-28608 1 64 environmental environmental ADJ ajst-28608 1 65 monitoring monitoring NOUN ajst-28608 1 66 , , PUNCT ajst-28608 1 67 multi multi ADJ ajst-28608 1 68 - - ADJ ajst-28608 1 69 rotor rotor ADJ ajst-28608 1 70 uav uav PROPN ajst-28608 1 71 formation formation NOUN ajst-28608 1 72 has have AUX ajst-28608 1 73 gradually gradually ADV ajst-28608 1 74 become become VERB ajst-28608 1 75 an an DET ajst-28608 1 76 important important ADJ ajst-28608 1 77 tool tool NOUN ajst-28608 1 78 in in ADP ajst-28608 1 79 hydrology hydrology NOUN ajst-28608 1 80 monitoring monitoring NOUN ajst-28608 1 81 . . PUNCT ajst-28608 2 1 in in ADP ajst-28608 2 2 this this DET ajst-28608 2 3 study study NOUN ajst-28608 2 4 , , PUNCT ajst-28608 2 5 we we PRON ajst-28608 2 6 propose propose VERB ajst-28608 2 7 a a DET ajst-28608 2 8 control control NOUN ajst-28608 2 9 algorithm algorithm NOUN ajst-28608 2 10 for for ADP ajst-28608 2 11 uav uav PROPN ajst-28608 2 12 formation formation NOUN ajst-28608 2 13 utilizing utilize VERB ajst-28608 2 14 an an DET ajst-28608 2 15 enhanced enhanced ADJ ajst-28608 2 16 artificial artificial ADJ ajst-28608 2 17 potential potential ADJ ajst-28608 2 18 field field NOUN ajst-28608 2 19 method method NOUN ajst-28608 2 20 . . PUNCT ajst-28608 3 1 the the DET ajst-28608 3 2 obstacle obstacle NOUN ajst-28608 3 3 avoidance avoidance NOUN ajst-28608 3 4 problem problem NOUN ajst-28608 3 5 in in ADP ajst-28608 3 6 a a DET ajst-28608 3 7 complex complex ADJ ajst-28608 3 8 environment environment NOUN ajst-28608 3 9 for for ADP ajst-28608 3 10 uav uav PROPN ajst-28608 3 11 formation formation NOUN ajst-28608 3 12 is be AUX ajst-28608 3 13 resolved resolve VERB ajst-28608 3 14 by by ADP ajst-28608 3 15 boosting boost VERB ajst-28608 3 16 the the DET ajst-28608 3 17 repulsive repulsive ADJ ajst-28608 3 18 function function NOUN ajst-28608 3 19 and and CCONJ ajst-28608 3 20 incorporating incorporate VERB ajst-28608 3 21 virtual virtual ADJ ajst-28608 3 22 target target NOUN ajst-28608 3 23 points point NOUN ajst-28608 3 24 , , PUNCT ajst-28608 3 25 consequently consequently ADV ajst-28608 3 26 strengthening strengthen VERB ajst-28608 3 27 the the DET ajst-28608 3 28 formation formation NOUN ajst-28608 3 29 stability stability NOUN ajst-28608 3 30 . . PUNCT ajst-28608 4 1 at at ADP ajst-28608 4 2 the the DET ajst-28608 4 3 same same ADJ ajst-28608 4 4 time time NOUN ajst-28608 4 5 , , PUNCT ajst-28608 4 6 the the DET ajst-28608 4 7 consistency consistency NOUN ajst-28608 4 8 control control NOUN ajst-28608 4 9 algorithm algorithm NOUN ajst-28608 4 10 is be AUX ajst-28608 4 11 introduced introduce VERB ajst-28608 4 12 to to PART ajst-28608 4 13 further far ADV ajst-28608 4 14 optimize optimize VERB ajst-28608 4 15 the the DET ajst-28608 4 16 speed speed NOUN ajst-28608 4 17 oscillation oscillation NOUN ajst-28608 4 18 problem problem NOUN ajst-28608 4 19 during during ADP ajst-28608 4 20 formation formation NOUN ajst-28608 4 21 obstacle obstacle NOUN ajst-28608 4 22 avoidance avoidance NOUN ajst-28608 4 23 . . PUNCT ajst-28608 5 1 through through ADP ajst-28608 5 2 matlab matlab PROPN ajst-28608 5 3 simulation simulation PROPN ajst-28608 5 4 , , PUNCT ajst-28608 5 5 the the DET ajst-28608 5 6 proposed propose VERB ajst-28608 5 7 methodology methodology NOUN ajst-28608 5 8 demonstrates demonstrate VERB ajst-28608 5 9 a a DET ajst-28608 5 10 markedly markedly ADV ajst-28608 5 11 superior superior ADJ ajst-28608 5 12 performance performance NOUN ajst-28608 5 13 in in ADP ajst-28608 5 14 the the DET ajst-28608 5 15 domains domain NOUN ajst-28608 5 16 of of ADP ajst-28608 5 17 path path NOUN ajst-28608 5 18 planning planning NOUN ajst-28608 5 19 and and CCONJ ajst-28608 5 20 obstacle obstacle NOUN ajst-28608 5 21 avoidance avoidance NOUN ajst-28608 5 22 when when SCONJ ajst-28608 5 23 compared compare VERB ajst-28608 5 24 to to ADP ajst-28608 5 25 conventional conventional ADJ ajst-28608 5 26 approaches approach NOUN ajst-28608 5 27 , , PUNCT ajst-28608 5 28 which which PRON ajst-28608 5 29 proves prove VERB ajst-28608 5 30 its its PRON ajst-28608 5 31 effectiveness effectiveness NOUN ajst-28608 5 32 and and CCONJ ajst-28608 5 33 feasibility feasibility NOUN ajst-28608 5 34 in in ADP ajst-28608 5 35 practical practical ADJ ajst-28608 5 36 application application NOUN ajst-28608 5 37 . . PUNCT ajst-28608 6 1 keywords keyword NOUN ajst-28608 6 2 : : PUNCT ajst-28608 6 3 multi multi ADJ ajst-28608 6 4 - - ADJ ajst-28608 6 5 rotor rotor ADJ ajst-28608 6 6 uav uav PROPN ajst-28608 6 7 , , PUNCT ajst-28608 6 8 formation formation NOUN ajst-28608 6 9 control control NOUN ajst-28608 6 10 , , PUNCT ajst-28608 6 11 hydrology hydrology NOUN ajst-28608 6 12 monitoring monitoring NOUN ajst-28608 6 13 , , PUNCT ajst-28608 6 14 artificial artificial ADJ ajst-28608 6 15 potential potential ADJ ajst-28608 6 16 field field NOUN ajst-28608 6 17 method method NOUN ajst-28608 6 18 ( ( PUNCT ajst-28608 6 19 apf apf PROPN ajst-28608 6 20 ) ) PUNCT ajst-28608 6 21 , , PUNCT ajst-28608 6 22 consistency consistency NOUN ajst-28608 6 23 control control NOUN ajst-28608 6 24 algorithm algorithm PROPN ajst-28608 6 25 , , PUNCT ajst-28608 6 26 path path NOUN ajst-28608 6 27 planning planning NOUN ajst-28608 6 28 , , PUNCT ajst-28608 6 29 obstacle obstacle NOUN ajst-28608 6 30 avoidance avoidance NOUN ajst-28608 6 31 performance performance NOUN ajst-28608 6 32 . . PUNCT ajst-28608 7 1 1 1 X ajst-28608 7 2 . . X ajst-28608 7 3 introduction introduction NOUN ajst-28608 7 4 in in ADP ajst-28608 7 5 conjunction conjunction NOUN ajst-28608 7 6 with with ADP ajst-28608 7 7 the the DET ajst-28608 7 8 rapid rapid ADJ ajst-28608 7 9 advancements advancement NOUN ajst-28608 7 10 in in ADP ajst-28608 7 11 science science NOUN ajst-28608 7 12 and and CCONJ ajst-28608 7 13 technology technology NOUN ajst-28608 7 14 , , PUNCT ajst-28608 7 15 the the DET ajst-28608 7 16 utilization utilization NOUN ajst-28608 7 17 of of ADP ajst-28608 7 18 multi multi ADJ ajst-28608 7 19 - - ADJ ajst-28608 7 20 rotor rotor ADJ ajst-28608 7 21 unmanned unmanned ADJ ajst-28608 7 22 aerial aerial ADJ ajst-28608 7 23 vehicles vehicle NOUN ajst-28608 7 24 ( ( PUNCT ajst-28608 7 25 uavs uavs NOUN ajst-28608 7 26 ) ) PUNCT ajst-28608 7 27 within within ADP ajst-28608 7 28 the the DET ajst-28608 7 29 domain domain NOUN ajst-28608 7 30 of of ADP ajst-28608 7 31 hydrological hydrological ADJ ajst-28608 7 32 monitoring monitoring NOUN ajst-28608 7 33 has have AUX ajst-28608 7 34 been be AUX ajst-28608 7 35 progressively progressively ADV ajst-28608 7 36 escalating escalate VERB ajst-28608 7 37 , , PUNCT ajst-28608 7 38 and and CCONJ ajst-28608 7 39 their their PRON ajst-28608 7 40 flexibility flexibility NOUN ajst-28608 7 41 and and CCONJ ajst-28608 7 42 efficiency efficiency NOUN ajst-28608 7 43 show show VERB ajst-28608 7 44 great great ADJ ajst-28608 7 45 potential potential NOUN ajst-28608 7 46 in in ADP ajst-28608 7 47 environmental environmental ADJ ajst-28608 7 48 data datum NOUN ajst-28608 7 49 collection collection NOUN ajst-28608 7 50 . . PUNCT ajst-28608 8 1 however however ADV ajst-28608 8 2 , , PUNCT ajst-28608 8 3 the the DET ajst-28608 8 4 payload payload NOUN ajst-28608 8 5 capacity capacity NOUN ajst-28608 8 6 and and CCONJ ajst-28608 8 7 endurance endurance NOUN ajst-28608 8 8 of of ADP ajst-28608 8 9 a a DET ajst-28608 8 10 single single ADJ ajst-28608 8 11 uav uav PROPN ajst-28608 8 12 are be AUX ajst-28608 8 13 often often ADV ajst-28608 8 14 a a DET ajst-28608 8 15 key key ADJ ajst-28608 8 16 factor factor NOUN ajst-28608 8 17 limiting limit VERB ajst-28608 8 18 its its PRON ajst-28608 8 19 monitoring monitoring NOUN ajst-28608 8 20 efficiency efficiency NOUN ajst-28608 8 21 in in ADP ajst-28608 8 22 complex complex ADJ ajst-28608 8 23 terrain terrain NOUN ajst-28608 8 24 and and CCONJ ajst-28608 8 25 a a DET ajst-28608 8 26 wide wide ADJ ajst-28608 8 27 range range NOUN ajst-28608 8 28 of of ADP ajst-28608 8 29 environments environment NOUN ajst-28608 8 30 . . PUNCT ajst-28608 9 1 in in ADP ajst-28608 9 2 order order NOUN ajst-28608 9 3 to to PART ajst-28608 9 4 solve solve VERB ajst-28608 9 5 these these DET ajst-28608 9 6 problems problem NOUN ajst-28608 9 7 , , PUNCT ajst-28608 9 8 multi multi ADJ ajst-28608 9 9 - - ADJ ajst-28608 9 10 rotor rotor ADJ ajst-28608 9 11 uav uav PROPN ajst-28608 9 12 formation formation NOUN ajst-28608 9 13 , , PUNCT ajst-28608 9 14 as as ADP ajst-28608 9 15 an an DET ajst-28608 9 16 emerging emerge VERB ajst-28608 9 17 technical technical ADJ ajst-28608 9 18 solution solution NOUN ajst-28608 9 19 , , PUNCT ajst-28608 9 20 can can AUX ajst-28608 9 21 effectively effectively ADV ajst-28608 9 22 overcome overcome VERB ajst-28608 9 23 the the DET ajst-28608 9 24 limitations limitation NOUN ajst-28608 9 25 of of ADP ajst-28608 9 26 a a DET ajst-28608 9 27 single single ADJ ajst-28608 9 28 uav uav PROPN ajst-28608 9 29 through through ADP ajst-28608 9 30 collaborative collaborative ADJ ajst-28608 9 31 work work NOUN ajst-28608 9 32 , , PUNCT ajst-28608 9 33 thereby thereby ADV ajst-28608 9 34 enhancing enhance VERB ajst-28608 9 35 the the DET ajst-28608 9 36 efficacy efficacy NOUN ajst-28608 9 37 and and CCONJ ajst-28608 9 38 accuracy accuracy NOUN ajst-28608 9 39 of of ADP ajst-28608 9 40 environmental environmental ADJ ajst-28608 9 41 monitoring monitoring NOUN ajst-28608 9 42 endeavors endeavor NOUN ajst-28608 9 43 . . PUNCT ajst-28608 10 1 in in ADP ajst-28608 10 2 multi multi ADJ ajst-28608 10 3 - - ADJ ajst-28608 10 4 rotor rotor ADJ ajst-28608 10 5 uav uav PROPN ajst-28608 10 6 formation formation NOUN ajst-28608 10 7 , , PUNCT ajst-28608 10 8 uavs uavs PROPN ajst-28608 10 9 can can AUX ajst-28608 10 10 share share VERB ajst-28608 10 11 tasks task NOUN ajst-28608 10 12 through through ADP ajst-28608 10 13 cooperation cooperation NOUN ajst-28608 10 14 and and CCONJ ajst-28608 10 15 information information NOUN ajst-28608 10 16 sharing share VERB ajst-28608 10 17 to to PART ajst-28608 10 18 breeze breeze VERB ajst-28608 10 19 up up ADP ajst-28608 10 20 the the DET ajst-28608 10 21 stability stability NOUN ajst-28608 10 22 and and CCONJ ajst-28608 10 23 reliability reliability NOUN ajst-28608 10 24 of of ADP ajst-28608 10 25 the the DET ajst-28608 10 26 whole whole ADJ ajst-28608 10 27 system system NOUN ajst-28608 10 28 . . PUNCT ajst-28608 11 1 in in ADP ajst-28608 11 2 hydrological hydrological ADJ ajst-28608 11 3 monitoring monitoring NOUN ajst-28608 11 4 , , PUNCT ajst-28608 11 5 the the DET ajst-28608 11 6 stability stability NOUN ajst-28608 11 7 and and CCONJ ajst-28608 11 8 data datum NOUN ajst-28608 11 9 accuracy accuracy NOUN ajst-28608 11 10 of of ADP ajst-28608 11 11 uav uav PROPN ajst-28608 11 12 formation formation NOUN ajst-28608 11 13 are be AUX ajst-28608 11 14 very very ADV ajst-28608 11 15 important important ADJ ajst-28608 11 16 . . PUNCT ajst-28608 12 1 traditional traditional ADJ ajst-28608 12 2 path path NOUN ajst-28608 12 3 planning planning NOUN ajst-28608 12 4 methodologies methodology NOUN ajst-28608 12 5 , , PUNCT ajst-28608 12 6 such such ADJ ajst-28608 12 7 as as ADP ajst-28608 12 8 the the DET ajst-28608 12 9 artificial artificial ADJ ajst-28608 12 10 potential potential ADJ ajst-28608 12 11 field field NOUN ajst-28608 12 12 method method NOUN ajst-28608 12 13 , , PUNCT ajst-28608 12 14 are be AUX ajst-28608 12 15 extensively extensively ADV ajst-28608 12 16 utilized utilize VERB ajst-28608 12 17 owing owe VERB ajst-28608 12 18 to to ADP ajst-28608 12 19 their their PRON ajst-28608 12 20 simplistic simplistic ADJ ajst-28608 12 21 structure structure NOUN ajst-28608 12 22 and and CCONJ ajst-28608 12 23 computationally computationally ADV ajst-28608 12 24 efficient efficient ADJ ajst-28608 12 25 nature nature NOUN ajst-28608 12 26 . . PUNCT ajst-28608 13 1 however however ADV ajst-28608 13 2 , , PUNCT ajst-28608 13 3 these these DET ajst-28608 13 4 methods method NOUN ajst-28608 13 5 often often ADV ajst-28608 13 6 face face VERB ajst-28608 13 7 the the DET ajst-28608 13 8 problem problem NOUN ajst-28608 13 9 of of ADP ajst-28608 13 10 local local ADJ ajst-28608 13 11 minima minima NOUN ajst-28608 13 12 , , PUNCT ajst-28608 13 13 which which PRON ajst-28608 13 14 makes make VERB ajst-28608 13 15 the the DET ajst-28608 13 16 uavs uavs NOUN ajst-28608 13 17 easily easily ADV ajst-28608 13 18 get get VERB ajst-28608 13 19 into into ADP ajst-28608 13 20 trouble trouble NOUN ajst-28608 13 21 in in ADP ajst-28608 13 22 complex complex ADJ ajst-28608 13 23 environments environment NOUN ajst-28608 13 24 and and CCONJ ajst-28608 13 25 can can AUX ajst-28608 13 26 seamlessly seamlessly ADV ajst-28608 13 27 execute execute VERB ajst-28608 13 28 the the DET ajst-28608 13 29 monitoring monitoring NOUN ajst-28608 13 30 task task NOUN ajst-28608 13 31 . . PUNCT ajst-28608 14 1 especially especially ADV ajst-28608 14 2 in in ADP ajst-28608 14 3 the the DET ajst-28608 14 4 dynamic dynamic ADJ ajst-28608 14 5 and and CCONJ ajst-28608 14 6 complex complex ADJ ajst-28608 14 7 hydrologic hydrologic ADJ ajst-28608 14 8 environment environment NOUN ajst-28608 14 9 , , PUNCT ajst-28608 14 10 how how SCONJ ajst-28608 14 11 to to PART ajst-28608 14 12 guarantee guarantee VERB ajst-28608 14 13 the the DET ajst-28608 14 14 stable stable ADJ ajst-28608 14 15 flight flight NOUN ajst-28608 14 16 of of ADP ajst-28608 14 17 drone drone NOUN ajst-28608 14 18 formation formation NOUN ajst-28608 14 19 and and CCONJ ajst-28608 14 20 the the DET ajst-28608 14 21 smooth smooth ADJ ajst-28608 14 22 completion completion NOUN ajst-28608 14 23 of of ADP ajst-28608 14 24 the the DET ajst-28608 14 25 task task NOUN ajst-28608 14 26 has have AUX ajst-28608 14 27 become become VERB ajst-28608 14 28 a a DET ajst-28608 14 29 crucial crucial ADJ ajst-28608 14 30 challenge challenge NOUN ajst-28608 14 31 that that PRON ajst-28608 14 32 demands demand VERB ajst-28608 14 33 a a DET ajst-28608 14 34 solution solution NOUN ajst-28608 14 35 . . PUNCT ajst-28608 15 1 the the DET ajst-28608 15 2 aim aim NOUN ajst-28608 15 3 of of ADP ajst-28608 15 4 this this DET ajst-28608 15 5 study study NOUN ajst-28608 15 6 is be AUX ajst-28608 15 7 to to PART ajst-28608 15 8 research research VERB ajst-28608 15 9 and and CCONJ ajst-28608 15 10 develop develop VERB ajst-28608 15 11 a a DET ajst-28608 15 12 novel novel ADJ ajst-28608 15 13 uav uav PROPN ajst-28608 15 14 formation formation NOUN ajst-28608 15 15 control control NOUN ajst-28608 15 16 approach approach NOUN ajst-28608 15 17 that that PRON ajst-28608 15 18 enhances enhance VERB ajst-28608 15 19 the the DET ajst-28608 15 20 stability stability NOUN ajst-28608 15 21 and and CCONJ ajst-28608 15 22 obstacle obstacle VERB ajst-28608 15 23 avoidance avoidance NOUN ajst-28608 15 24 capabilities capability NOUN ajst-28608 15 25 of of ADP ajst-28608 15 26 multi multi ADJ ajst-28608 15 27 - - ADJ ajst-28608 15 28 rotor rotor ADJ ajst-28608 15 29 uavs uavs NOUN ajst-28608 15 30 during during ADP ajst-28608 15 31 hydrological hydrological ADJ ajst-28608 15 32 monitoring monitoring NOUN ajst-28608 15 33 missions mission NOUN ajst-28608 15 34 . . PUNCT ajst-28608 16 1 by by ADP ajst-28608 16 2 improving improve VERB ajst-28608 16 3 the the DET ajst-28608 16 4 application application NOUN ajst-28608 16 5 of of ADP ajst-28608 16 6 repulsion repulsion NOUN ajst-28608 16 7 function function NOUN ajst-28608 16 8 in in ADP ajst-28608 16 9 artificial artificial ADJ ajst-28608 16 10 potential potential ADJ ajst-28608 16 11 field field NOUN ajst-28608 16 12 ( ( PUNCT ajst-28608 16 13 apf apf PROPN ajst-28608 16 14 ) ) PUNCT ajst-28608 16 15 method method NOUN ajst-28608 16 16 and and CCONJ ajst-28608 16 17 introducing introduce VERB ajst-28608 16 18 a a DET ajst-28608 16 19 virtual virtual ADJ ajst-28608 16 20 target target NOUN ajst-28608 16 21 point point NOUN ajst-28608 16 22 and and CCONJ ajst-28608 16 23 consistency consistency NOUN ajst-28608 16 24 control control NOUN ajst-28608 16 25 algorithm algorithm NOUN ajst-28608 16 26 , , PUNCT ajst-28608 16 27 the the DET ajst-28608 16 28 limitations limitation NOUN ajst-28608 16 29 of of ADP ajst-28608 16 30 the the DET ajst-28608 16 31 conventional conventional ADJ ajst-28608 16 32 method method NOUN ajst-28608 16 33 are be AUX ajst-28608 16 34 resolved resolve VERB ajst-28608 16 35 . . PUNCT ajst-28608 17 1 the the DET ajst-28608 17 2 improved improve VERB ajst-28608 17 3 repulsion repulsion NOUN ajst-28608 17 4 function function NOUN ajst-28608 17 5 can can AUX ajst-28608 17 6 effectively effectively ADV ajst-28608 17 7 alleviate alleviate VERB ajst-28608 17 8 the the DET ajst-28608 17 9 dilemma dilemma NOUN ajst-28608 17 10 of of ADP ajst-28608 17 11 converging converge VERB ajst-28608 17 12 to to ADP ajst-28608 17 13 local local ADJ ajst-28608 17 14 minima minima NOUN ajst-28608 17 15 and and CCONJ ajst-28608 17 16 improve improve VERB ajst-28608 17 17 the the DET ajst-28608 17 18 route route NOUN ajst-28608 17 19 - - PUNCT ajst-28608 17 20 planning planning NOUN ajst-28608 17 21 ability ability NOUN ajst-28608 17 22 of of ADP ajst-28608 17 23 uavs uavs NOUN ajst-28608 17 24 in in ADP ajst-28608 17 25 complex complex ADJ ajst-28608 17 26 environments environment NOUN ajst-28608 17 27 . . PUNCT ajst-28608 18 1 the the DET ajst-28608 18 2 introduction introduction NOUN ajst-28608 18 3 of of ADP ajst-28608 18 4 virtual virtual ADJ ajst-28608 18 5 target target NOUN ajst-28608 18 6 points point NOUN ajst-28608 18 7 can can AUX ajst-28608 18 8 enhance enhance VERB ajst-28608 18 9 the the DET ajst-28608 18 10 flexibility flexibility NOUN ajst-28608 18 11 and and CCONJ ajst-28608 18 12 coordination coordination NOUN ajst-28608 18 13 of of ADP ajst-28608 18 14 the the DET ajst-28608 18 15 formation formation NOUN ajst-28608 18 16 , , PUNCT ajst-28608 18 17 while while SCONJ ajst-28608 18 18 the the DET ajst-28608 18 19 consistency consistency NOUN ajst-28608 18 20 control control NOUN ajst-28608 18 21 algorithm algorithm PROPN ajst-28608 18 22 helps help VERB ajst-28608 18 23 to to PART ajst-28608 18 24 improve improve VERB ajst-28608 18 25 the the DET ajst-28608 18 26 level level NOUN ajst-28608 18 27 of of ADP ajst-28608 18 28 cooperation cooperation NOUN ajst-28608 18 29 between between ADP ajst-28608 18 30 the the DET ajst-28608 18 31 uav uav PROPN ajst-28608 18 32 in in ADP ajst-28608 18 33 the the DET ajst-28608 18 34 formation formation NOUN ajst-28608 18 35 to to PART ajst-28608 18 36 ensure ensure VERB ajst-28608 18 37 the the DET ajst-28608 18 38 stability stability NOUN ajst-28608 18 39 of of ADP ajst-28608 18 40 the the DET ajst-28608 18 41 formation formation NOUN ajst-28608 18 42 and and CCONJ ajst-28608 18 43 the the DET ajst-28608 18 44 smooth smooth ADJ ajst-28608 18 45 execution execution NOUN ajst-28608 18 46 of of ADP ajst-28608 18 47 the the DET ajst-28608 18 48 task task NOUN ajst-28608 18 49 . . PUNCT ajst-28608 19 1 through through ADP ajst-28608 19 2 these these DET ajst-28608 19 3 improvement improvement NOUN ajst-28608 19 4 measures measure NOUN ajst-28608 19 5 , , PUNCT ajst-28608 19 6 this this DET ajst-28608 19 7 paper paper NOUN ajst-28608 19 8 hopes hope VERB ajst-28608 19 9 to to PART ajst-28608 19 10 provide provide VERB ajst-28608 19 11 a a DET ajst-28608 19 12 more more ADV ajst-28608 19 13 stable stable ADJ ajst-28608 19 14 and and CCONJ ajst-28608 19 15 efficient efficient ADJ ajst-28608 19 16 control control NOUN ajst-28608 19 17 strategy strategy NOUN ajst-28608 19 18 for for ADP ajst-28608 19 19 uav uav PROPN ajst-28608 19 20 formation formation NOUN ajst-28608 19 21 , , PUNCT ajst-28608 19 22 so so SCONJ ajst-28608 19 23 as as SCONJ ajst-28608 19 24 to to PART ajst-28608 19 25 refine refine VERB ajst-28608 19 26 the the DET ajst-28608 19 27 precision precision NOUN ajst-28608 19 28 and and CCONJ ajst-28608 19 29 reliability reliability NOUN ajst-28608 19 30 of of ADP ajst-28608 19 31 hydrological hydrological ADJ ajst-28608 19 32 monitoring monitoring NOUN ajst-28608 19 33 . . PUNCT ajst-28608 20 1 this this PRON ajst-28608 20 2 not not PART ajst-28608 20 3 only only ADV ajst-28608 20 4 helps help VERB ajst-28608 20 5 to to PART ajst-28608 20 6 overcome overcome VERB ajst-28608 20 7 the the DET ajst-28608 20 8 limitations limitation NOUN ajst-28608 20 9 of of ADP ajst-28608 20 10 existing exist VERB ajst-28608 20 11 methods method NOUN ajst-28608 20 12 , , PUNCT ajst-28608 20 13 but but CCONJ ajst-28608 20 14 also also ADV ajst-28608 20 15 provides provide VERB ajst-28608 20 16 theoretical theoretical ADJ ajst-28608 20 17 and and CCONJ ajst-28608 20 18 technical technical ADJ ajst-28608 20 19 support support NOUN ajst-28608 20 20 for for ADP ajst-28608 20 21 the the DET ajst-28608 20 22 future future ADJ ajst-28608 20 23 application application NOUN ajst-28608 20 24 of of ADP ajst-28608 20 25 uavs uavs NOUN ajst-28608 20 26 in in ADP ajst-28608 20 27 more more ADJ ajst-28608 20 28 complex complex ADJ ajst-28608 20 29 environments environment NOUN ajst-28608 20 30 . . PUNCT ajst-28608 21 1 in in ADP ajst-28608 21 2 terms term NOUN ajst-28608 21 3 of of ADP ajst-28608 21 4 formation formation NOUN ajst-28608 21 5 control control NOUN ajst-28608 21 6 , , PUNCT ajst-28608 21 7 li li PROPN ajst-28608 21 8 zp zp PROPN ajst-28608 21 9 and and CCONJ ajst-28608 21 10 xian xian PROPN ajst-28608 21 11 b b PROPN ajst-28608 21 12 proposed propose VERB ajst-28608 21 13 a a DET ajst-28608 21 14 robust robust ADJ ajst-28608 21 15 , , PUNCT ajst-28608 21 16 distributed distribute VERB ajst-28608 21 17 formation formation NOUN ajst-28608 21 18 control control NOUN ajst-28608 21 19 approach approach NOUN ajst-28608 21 20 grounded ground VERB ajst-28608 21 21 in in ADP ajst-28608 21 22 a a DET ajst-28608 21 23 virtual virtual ADJ ajst-28608 21 24 structure structure NOUN ajst-28608 21 25 , , PUNCT ajst-28608 21 26 which which PRON ajst-28608 21 27 significantly significantly ADV ajst-28608 21 28 improves improve VERB ajst-28608 21 29 the the DET ajst-28608 21 30 formation formation NOUN ajst-28608 21 31 stability stability NOUN ajst-28608 21 32 and and CCONJ ajst-28608 21 33 the the DET ajst-28608 21 34 resilience resilience NOUN ajst-28608 21 35 to to PART ajst-28608 21 36 interference interference VERB ajst-28608 21 37 of of ADP ajst-28608 21 38 multi multi ADJ ajst-28608 21 39 - - NOUN ajst-28608 21 40 rotor rotor NOUN ajst-28608 21 41 uavs[1 uavs[1 NUM ajst-28608 21 42 ] ] PUNCT ajst-28608 21 43 . . PUNCT ajst-28608 22 1 by by ADP ajst-28608 22 2 constructing construct VERB ajst-28608 22 3 a a DET ajst-28608 22 4 virtual virtual ADJ ajst-28608 22 5 reference reference NOUN ajst-28608 22 6 structure structure NOUN ajst-28608 22 7 , , PUNCT ajst-28608 22 8 the the DET ajst-28608 22 9 uavs uavs NOUN ajst-28608 22 10 can can AUX ajst-28608 22 11 work work VERB ajst-28608 22 12 together together ADV ajst-28608 22 13 according accord VERB ajst-28608 22 14 to to ADP ajst-28608 22 15 the the DET ajst-28608 22 16 predetermined predetermine VERB ajst-28608 22 17 formation formation NOUN ajst-28608 22 18 shape shape NOUN ajst-28608 22 19 , , PUNCT ajst-28608 22 20 so so SCONJ ajst-28608 22 21 as as SCONJ ajst-28608 22 22 to to PART ajst-28608 22 23 realize realize VERB ajst-28608 22 24 efficient efficient ADJ ajst-28608 22 25 monitoring monitoring NOUN ajst-28608 22 26 in in ADP ajst-28608 22 27 complex complex ADJ ajst-28608 22 28 terrain terrain NOUN ajst-28608 22 29 . . PUNCT ajst-28608 23 1 similarly similarly ADV ajst-28608 23 2 , , PUNCT ajst-28608 23 3 qiu qiu PROPN ajst-28608 23 4 hx hx PROPN ajst-28608 23 5 et et PROPN ajst-28608 23 6 al al PROPN ajst-28608 23 7 . . PROPN ajst-28608 23 8 learned learn VERB ajst-28608 23 9 from from ADP ajst-28608 23 10 the the DET ajst-28608 23 11 behavior behavior NOUN ajst-28608 23 12 mechanism mechanism NOUN ajst-28608 23 13 of of ADP ajst-28608 23 14 pigeons pigeon NOUN ajst-28608 23 15 and and CCONJ ajst-28608 23 16 proposed propose VERB ajst-28608 23 17 an an DET ajst-28608 23 18 autonomous autonomous ADJ ajst-28608 23 19 formation formation NOUN ajst-28608 23 20 control control NOUN ajst-28608 23 21 method method NOUN ajst-28608 23 22 for for ADP ajst-28608 23 23 drones drone NOUN ajst-28608 23 24 , , PUNCT ajst-28608 23 25 which which PRON ajst-28608 23 26 enhanced enhance VERB ajst-28608 23 27 the the DET ajst-28608 23 28 flexibility flexibility NOUN ajst-28608 23 29 and and CCONJ ajst-28608 23 30 robustness robustness NOUN ajst-28608 23 31 of of ADP ajst-28608 23 32 uav uav PROPN ajst-28608 23 33 formation formation NOUN ajst-28608 23 34 by by ADP ajst-28608 23 35 simulating simulate VERB ajst-28608 23 36 the the DET ajst-28608 23 37 collective collective ADJ ajst-28608 23 38 behavior behavior NOUN ajst-28608 23 39 of of ADP ajst-28608 23 40 pigeons pigeon NOUN ajst-28608 23 41 , , PUNCT ajst-28608 23 42 and and CCONJ ajst-28608 23 43 was be AUX ajst-28608 23 44 suitable suitable ADJ ajst-28608 23 45 for for ADP ajst-28608 23 46 various various ADJ ajst-28608 23 47 hydrological hydrological ADJ ajst-28608 23 48 monitoring monitoring NOUN ajst-28608 23 49 tasks[2 tasks[2 ADP ajst-28608 23 50 ] ] PUNCT ajst-28608 23 51 . . PUNCT ajst-28608 24 1 regarding regard VERB ajst-28608 24 2 the the DET ajst-28608 24 3 coordination coordination NOUN ajst-28608 24 4 of of ADP ajst-28608 24 5 uav uav PROPN ajst-28608 24 6 formation formation NOUN ajst-28608 24 7 , , PUNCT ajst-28608 24 8 zong zong PROPN ajst-28608 24 9 q q PROPN ajst-28608 24 10 , , PUNCT ajst-28608 24 11 yang yang PROPN ajst-28608 24 12 z z PROPN ajst-28608 24 13 , , PUNCT ajst-28608 24 14 et et PROPN ajst-28608 24 15 al al PROPN ajst-28608 24 16 . . PROPN ajst-28608 24 17 reviewed review VERB ajst-28608 24 18 the the DET ajst-28608 24 19 state state NOUN ajst-28608 24 20 of of ADP ajst-28608 24 21 research research NOUN ajst-28608 24 22 on on ADP ajst-28608 24 23 cooperative cooperative ADJ ajst-28608 24 24 formation formation NOUN ajst-28608 24 25 flight flight NOUN ajst-28608 24 26 control control NOUN ajst-28608 24 27 for for ADP ajst-28608 24 28 multi multi ADJ ajst-28608 24 29 - - ADJ ajst-28608 24 30 uav uav ADJ ajst-28608 24 31 systems system NOUN ajst-28608 24 32 and and CCONJ ajst-28608 24 33 emphasized emphasize VERB ajst-28608 24 34 the the DET ajst-28608 24 35 importance importance NOUN ajst-28608 24 36 of of ADP ajst-28608 24 37 formation formation NOUN ajst-28608 24 38 flight flight NOUN ajst-28608 24 39 in in ADP ajst-28608 24 40 uav uav PROPN ajst-28608 24 41 hydrology hydrology NOUN ajst-28608 24 42 monitoring[3 monitoring[3 PROPN ajst-28608 24 43 , , PUNCT ajst-28608 24 44 4 4 NUM ajst-28608 24 45 ] ] PUNCT ajst-28608 24 46 . . PUNCT ajst-28608 25 1 they they PRON ajst-28608 25 2 pointed point VERB ajst-28608 25 3 out out ADP ajst-28608 25 4 that that SCONJ ajst-28608 25 5 the the DET ajst-28608 25 6 key key ADJ ajst-28608 25 7 challenge challenge NOUN ajst-28608 25 8 of of ADP ajst-28608 25 9 current current ADJ ajst-28608 25 10 formation formation NOUN ajst-28608 25 11 control control NOUN ajst-28608 25 12 technology technology NOUN ajst-28608 25 13 lies lie VERB ajst-28608 25 14 in in ADP ajst-28608 25 15 realtime realtime ADJ ajst-28608 25 16 response response NOUN ajst-28608 25 17 and and CCONJ ajst-28608 25 18 dynamic dynamic ADJ ajst-28608 25 19 obstacle obstacle NOUN ajst-28608 25 20 avoidance avoidance NOUN ajst-28608 25 21 capability capability NOUN ajst-28608 25 22 in in ADP ajst-28608 25 23 complex complex ADJ ajst-28608 25 24 environments environment NOUN ajst-28608 25 25 , , PUNCT ajst-28608 25 26 which which PRON ajst-28608 25 27 provides provide VERB ajst-28608 25 28 a a DET ajst-28608 25 29 clear clear ADJ ajst-28608 25 30 direction direction NOUN ajst-28608 25 31 for for ADP ajst-28608 25 32 follow follow VERB ajst-28608 25 33 - - PUNCT ajst-28608 25 34 up up ADP ajst-28608 25 35 research research NOUN ajst-28608 25 36 . . PUNCT ajst-28608 26 1 on on ADP ajst-28608 26 2 this this DET ajst-28608 26 3 basis basis NOUN ajst-28608 26 4 , , PUNCT ajst-28608 26 5 lopez lopez NOUN ajst-28608 26 6 - - PUNCT ajst-28608 26 7 gonzalez gonzalez PROPN ajst-28608 26 8 a a PRON ajst-28608 26 9 et et PROPN ajst-28608 26 10 al al PROPN ajst-28608 26 11 . . PROPN ajst-28608 26 12 introduced introduce VERB ajst-28608 26 13 a a DET ajst-28608 26 14 multi multi ADJ ajst-28608 26 15 - - ADJ ajst-28608 26 16 robot robot ADJ ajst-28608 26 17 formation formation NOUN ajst-28608 26 18 control control NOUN ajst-28608 26 19 approach approach NOUN ajst-28608 26 20 that that PRON ajst-28608 26 21 relies rely VERB ajst-28608 26 22 on on ADP ajst-28608 26 23 distance distance NOUN ajst-28608 26 24 and and CCONJ ajst-28608 26 25 direction direction NOUN ajst-28608 26 26 . . PUNCT ajst-28608 27 1 by by ADP ajst-28608 27 2 precisely precisely ADV ajst-28608 27 3 controlling control VERB ajst-28608 27 4 the the DET ajst-28608 27 5 relative relative ADJ ajst-28608 27 6 distance distance NOUN ajst-28608 27 7 and and CCONJ ajst-28608 27 8 angle angle NOUN ajst-28608 27 9 between between ADP ajst-28608 27 10 various various ADJ ajst-28608 27 11 uavs uavs NOUN ajst-28608 27 12 , , PUNCT ajst-28608 27 13 the the DET ajst-28608 27 14 formation formation NOUN ajst-28608 27 15 can can AUX ajst-28608 27 16 operate operate VERB ajst-28608 27 17 statically statically ADV ajst-28608 27 18 and and CCONJ ajst-28608 27 19 avoid avoid VERB ajst-28608 27 20 obstacles obstacle NOUN ajst-28608 27 21 efficiently efficiently ADV ajst-28608 27 22 , , PUNCT ajst-28608 27 23 which which PRON ajst-28608 27 24 is be AUX ajst-28608 27 25 of of ADP ajst-28608 27 26 significant significant ADJ ajst-28608 27 27 importance importance NOUN ajst-28608 27 28 for for ADP ajst-28608 27 29 enhancing enhance VERB ajst-28608 27 30 142 142 NUM ajst-28608 27 31 the the DET ajst-28608 27 32 reliability reliability NOUN ajst-28608 27 33 of of ADP ajst-28608 27 34 hydrological hydrological ADJ ajst-28608 27 35 monitoring[5 monitoring[5 NOUN ajst-28608 27 36 ] ] PUNCT ajst-28608 27 37 . . PUNCT ajst-28608 28 1 li li PROPN ajst-28608 28 2 l l PROPN ajst-28608 28 3 q q PROPN ajst-28608 28 4 et et PROPN ajst-28608 28 5 al al PROPN ajst-28608 28 6 . . PROPN ajst-28608 28 7 studied study VERB ajst-28608 28 8 an an DET ajst-28608 28 9 adaptive adaptive ADJ ajst-28608 28 10 distributed distribute VERB ajst-28608 28 11 control control NOUN ajst-28608 28 12 method method NOUN ajst-28608 28 13 to to PART ajst-28608 28 14 solve solve VERB ajst-28608 28 15 the the DET ajst-28608 28 16 problem problem NOUN ajst-28608 28 17 of of ADP ajst-28608 28 18 model model NOUN ajst-28608 28 19 parameter parameter NOUN ajst-28608 28 20 uncertainty uncertainty NOUN ajst-28608 28 21 , , PUNCT ajst-28608 28 22 and and CCONJ ajst-28608 28 23 applied apply VERB ajst-28608 28 24 it it PRON ajst-28608 28 25 to to ADP ajst-28608 28 26 the the DET ajst-28608 28 27 formation formation NOUN ajst-28608 28 28 control control NOUN ajst-28608 28 29 problem problem NOUN ajst-28608 28 30 of of ADP ajst-28608 28 31 auv[6 auv[6 NOUN ajst-28608 28 32 ] ] PUNCT ajst-28608 28 33 . . PUNCT ajst-28608 29 1 in in ADP ajst-28608 29 2 addition addition NOUN ajst-28608 29 3 , , PUNCT ajst-28608 29 4 zhou zhou PROPN ajst-28608 29 5 jk jk PROPN ajst-28608 29 6 et et PROPN ajst-28608 29 7 al al PROPN ajst-28608 29 8 . . PROPN ajst-28608 29 9 discussed discuss VERB ajst-28608 29 10 a a DET ajst-28608 29 11 flight flight NOUN ajst-28608 29 12 cooperative cooperative ADJ ajst-28608 29 13 control control NOUN ajst-28608 29 14 strategy strategy NOUN ajst-28608 29 15 based base VERB ajst-28608 29 16 on on ADP ajst-28608 29 17 lyapunov lyapunov PROPN ajst-28608 29 18 method method NOUN ajst-28608 29 19 , , PUNCT ajst-28608 29 20 demonstrating demonstrate VERB ajst-28608 29 21 the the DET ajst-28608 29 22 advantages advantage NOUN ajst-28608 29 23 of of ADP ajst-28608 29 24 this this DET ajst-28608 29 25 control control NOUN ajst-28608 29 26 strategy strategy NOUN ajst-28608 29 27 for for ADP ajst-28608 29 28 attitude attitude NOUN ajst-28608 29 29 cooperative cooperative ADJ ajst-28608 29 30 control[7 control[7 NOUN ajst-28608 29 31 ] ] PUNCT ajst-28608 29 32 . . PUNCT ajst-28608 30 1 path path NOUN ajst-28608 30 2 planning planning NOUN ajst-28608 30 3 is be AUX ajst-28608 30 4 another another DET ajst-28608 30 5 key key ADJ ajst-28608 30 6 area area NOUN ajst-28608 30 7 for for ADP ajst-28608 30 8 multi multi ADJ ajst-28608 30 9 - - ADJ ajst-28608 30 10 rotor rotor ADJ ajst-28608 30 11 uav uav PROPN ajst-28608 30 12 formation formation NOUN ajst-28608 30 13 to to PART ajst-28608 30 14 effectively effectively ADV ajst-28608 30 15 perform perform VERB ajst-28608 30 16 monitoring monitor VERB ajst-28608 30 17 tasks task NOUN ajst-28608 30 18 in in ADP ajst-28608 30 19 complex complex ADJ ajst-28608 30 20 environments environment NOUN ajst-28608 30 21 . . PUNCT ajst-28608 31 1 zhang zhang PROPN ajst-28608 31 2 xl xl PROPN ajst-28608 31 3 et et PROPN ajst-28608 31 4 al al PROPN ajst-28608 31 5 . . PROPN ajst-28608 31 6 researched research VERB ajst-28608 31 7 the the DET ajst-28608 31 8 utilization utilization NOUN ajst-28608 31 9 of of ADP ajst-28608 31 10 an an DET ajst-28608 31 11 enhanced enhanced ADJ ajst-28608 31 12 ant ant ADJ ajst-28608 31 13 colony colony NOUN ajst-28608 31 14 algorithm algorithm NOUN ajst-28608 31 15 for for ADP ajst-28608 31 16 robot robot NOUN ajst-28608 31 17 path path NOUN ajst-28608 31 18 planning planning NOUN ajst-28608 31 19 and and CCONJ ajst-28608 31 20 demonstrated demonstrate VERB ajst-28608 31 21 the the DET ajst-28608 31 22 advantages advantage NOUN ajst-28608 31 23 of of ADP ajst-28608 31 24 this this DET ajst-28608 31 25 algorithm algorithm NOUN ajst-28608 31 26 in in ADP ajst-28608 31 27 searching search VERB ajst-28608 31 28 the the DET ajst-28608 31 29 optimal optimal ADJ ajst-28608 31 30 path path NOUN ajst-28608 31 31 in in ADP ajst-28608 31 32 complex complex ADJ ajst-28608 31 33 terrain[8 terrain[8 NOUN ajst-28608 31 34 ] ] PUNCT ajst-28608 31 35 . . PUNCT ajst-28608 32 1 this this DET ajst-28608 32 2 method method NOUN ajst-28608 32 3 is be AUX ajst-28608 32 4 also also ADV ajst-28608 32 5 applicable applicable ADJ ajst-28608 32 6 to to ADP ajst-28608 32 7 the the DET ajst-28608 32 8 route route NOUN ajst-28608 32 9 planning planning NOUN ajst-28608 32 10 of of ADP ajst-28608 32 11 multi multi ADJ ajst-28608 32 12 - - ADJ ajst-28608 32 13 uav uav ADJ ajst-28608 32 14 formation formation NOUN ajst-28608 32 15 , , PUNCT ajst-28608 32 16 which which PRON ajst-28608 32 17 is be AUX ajst-28608 32 18 helpful helpful ADJ ajst-28608 32 19 to to PART ajst-28608 32 20 optimize optimize VERB ajst-28608 32 21 its its PRON ajst-28608 32 22 path path NOUN ajst-28608 32 23 selection selection NOUN ajst-28608 32 24 in in ADP ajst-28608 32 25 hydrological hydrological ADJ ajst-28608 32 26 monitoring monitoring NOUN ajst-28608 32 27 tasks task NOUN ajst-28608 32 28 . . PUNCT ajst-28608 33 1 moreover moreover ADV ajst-28608 33 2 , , PUNCT ajst-28608 33 3 sang sing VERB ajst-28608 33 4 hq hq NOUN ajst-28608 33 5 and and CCONJ ajst-28608 33 6 others other NOUN ajst-28608 33 7 integrated integrate VERB ajst-28608 33 8 the the DET ajst-28608 33 9 enhanced enhanced ADJ ajst-28608 33 10 a*algorithm a*algorithm PROPN ajst-28608 33 11 with with ADP ajst-28608 33 12 the the DET ajst-28608 33 13 artificial artificial ADJ ajst-28608 33 14 potential potential ADJ ajst-28608 33 15 field field NOUN ajst-28608 33 16 method method NOUN ajst-28608 33 17 to to PART ajst-28608 33 18 introduce introduce VERB ajst-28608 33 19 a a DET ajst-28608 33 20 hybrid hybrid ADJ ajst-28608 33 21 path path NOUN ajst-28608 33 22 planning planning NOUN ajst-28608 33 23 algorithm algorithm NOUN ajst-28608 33 24 for for ADP ajst-28608 33 25 formations formation NOUN ajst-28608 33 26 of of ADP ajst-28608 33 27 unmanned unmanned ADJ ajst-28608 33 28 surface surface NOUN ajst-28608 33 29 vehicles[9 vehicles[9 NOUN ajst-28608 33 30 ] ] PUNCT ajst-28608 33 31 . . PUNCT ajst-28608 34 1 this this DET ajst-28608 34 2 algorithm algorithm NOUN ajst-28608 34 3 can can AUX ajst-28608 34 4 plan plan VERB ajst-28608 34 5 the the DET ajst-28608 34 6 barrier barrier NOUN ajst-28608 34 7 avert avert PROPN ajst-28608 34 8 path path NOUN ajst-28608 34 9 in in ADP ajst-28608 34 10 the the DET ajst-28608 34 11 complex complex ADJ ajst-28608 34 12 hydrological hydrological ADJ ajst-28608 34 13 circumstances circumstance NOUN ajst-28608 34 14 and and CCONJ ajst-28608 34 15 improve improve VERB ajst-28608 34 16 the the DET ajst-28608 34 17 overall overall ADJ ajst-28608 34 18 task task NOUN ajst-28608 34 19 execution execution NOUN ajst-28608 34 20 efficiency efficiency NOUN ajst-28608 34 21 of of ADP ajst-28608 34 22 the the DET ajst-28608 34 23 uav uav PROPN ajst-28608 34 24 formation formation NOUN ajst-28608 34 25 . . PUNCT ajst-28608 35 1 wang wang PROPN ajst-28608 35 2 n n PROPN ajst-28608 35 3 et et PROPN ajst-28608 35 4 al al PROPN ajst-28608 35 5 and and CCONJ ajst-28608 35 6 yang yang PROPN ajst-28608 35 7 wl wl PROPN ajst-28608 35 8 et et PROPN ajst-28608 35 9 al al PROPN ajst-28608 35 10 respectively respectively ADV ajst-28608 35 11 proposed propose VERB ajst-28608 35 12 hierarchical hierarchical ADJ ajst-28608 35 13 path path NOUN ajst-28608 35 14 planning planning NOUN ajst-28608 35 15 algorithms algorithm NOUN ajst-28608 35 16 using use VERB ajst-28608 35 17 the the DET ajst-28608 35 18 fuzzy fuzzy ADJ ajst-28608 35 19 apf apf PROPN ajst-28608 35 20 method method NOUN ajst-28608 35 21 and and CCONJ ajst-28608 35 22 dynamic dynamic ADJ ajst-28608 35 23 window window NOUN ajst-28608 35 24 method method NOUN ajst-28608 35 25 , , PUNCT ajst-28608 35 26 and and CCONJ ajst-28608 35 27 applied apply VERB ajst-28608 35 28 them they PRON ajst-28608 35 29 to to ADP ajst-28608 35 30 the the DET ajst-28608 35 31 route route NOUN ajst-28608 35 32 planning planning NOUN ajst-28608 35 33 of of ADP ajst-28608 35 34 usv usv ADJ ajst-28608 35 35 and and CCONJ ajst-28608 35 36 robotic robotic ADJ ajst-28608 35 37 mermaids[10 mermaids[10 NOUN ajst-28608 35 38 , , PUNCT ajst-28608 35 39 11 11 NUM ajst-28608 35 40 ] ] PUNCT ajst-28608 35 41 . . PUNCT ajst-28608 36 1 hashem hashem PROPN ajst-28608 36 2 r r NOUN ajst-28608 36 3 et et PROPN ajst-28608 36 4 al al PROPN ajst-28608 36 5 summarized summarize VERB ajst-28608 36 6 the the DET ajst-28608 36 7 research research NOUN ajst-28608 36 8 progress progress NOUN ajst-28608 36 9 related relate VERB ajst-28608 36 10 to to ADP ajst-28608 36 11 fully fully ADV ajst-28608 36 12 moving move VERB ajst-28608 36 13 multi multi ADJ ajst-28608 36 14 - - ADJ ajst-28608 36 15 rotor rotor ADJ ajst-28608 36 16 uavs uavs NOUN ajst-28608 36 17 over over ADP ajst-28608 36 18 the the DET ajst-28608 36 19 past past ADJ ajst-28608 36 20 decade decade NOUN ajst-28608 36 21 and and CCONJ ajst-28608 36 22 systematically systematically ADV ajst-28608 36 23 derived derive VERB ajst-28608 36 24 and and CCONJ ajst-28608 36 25 quantitatively quantitatively ADV ajst-28608 36 26 evaluated evaluate VERB ajst-28608 36 27 their their PRON ajst-28608 36 28 control control NOUN ajst-28608 36 29 assignment assignment NOUN ajst-28608 36 30 matrix[12 matrix[12 NOUN ajst-28608 36 31 ] ] PUNCT ajst-28608 36 32 . . PUNCT ajst-28608 37 1 these these DET ajst-28608 37 2 studies study NOUN ajst-28608 37 3 provide provide VERB ajst-28608 37 4 new new ADJ ajst-28608 37 5 ideas idea NOUN ajst-28608 37 6 and and CCONJ ajst-28608 37 7 methods method NOUN ajst-28608 37 8 for for ADP ajst-28608 37 9 path path NOUN ajst-28608 37 10 planning planning NOUN ajst-28608 37 11 of of ADP ajst-28608 37 12 multi multi ADJ ajst-28608 37 13 - - ADJ ajst-28608 37 14 rotor rotor ADJ ajst-28608 37 15 uavs uavs NOUN ajst-28608 37 16 formation formation NOUN ajst-28608 37 17 in in ADP ajst-28608 37 18 the the DET ajst-28608 37 19 field field NOUN ajst-28608 37 20 of of ADP ajst-28608 37 21 hydrology hydrology NOUN ajst-28608 37 22 monitoring monitoring NOUN ajst-28608 37 23 , , PUNCT ajst-28608 37 24 and and CCONJ ajst-28608 37 25 effectively effectively ADV ajst-28608 37 26 solve solve VERB ajst-28608 37 27 the the DET ajst-28608 37 28 problem problem NOUN ajst-28608 37 29 of of ADP ajst-28608 37 30 obstacle obstacle NOUN ajst-28608 37 31 avoidance avoidance NOUN ajst-28608 37 32 and and CCONJ ajst-28608 37 33 path path NOUN ajst-28608 37 34 optimization optimization NOUN ajst-28608 37 35 of of ADP ajst-28608 37 36 multi multi ADJ ajst-28608 37 37 - - ADJ ajst-28608 37 38 rotor rotor ADJ ajst-28608 37 39 uavs uavs NOUN ajst-28608 37 40 formation formation NOUN ajst-28608 37 41 in in ADP ajst-28608 37 42 complex complex ADJ ajst-28608 37 43 environment environment NOUN ajst-28608 37 44 . . PUNCT ajst-28608 38 1 the the DET ajst-28608 38 2 research research NOUN ajst-28608 38 3 on on ADP ajst-28608 38 4 the the DET ajst-28608 38 5 application application NOUN ajst-28608 38 6 of of ADP ajst-28608 38 7 multi multi ADJ ajst-28608 38 8 - - ADJ ajst-28608 38 9 rotor rotor ADJ ajst-28608 38 10 uavs uavs NOUN ajst-28608 38 11 formation formation NOUN ajst-28608 38 12 in in ADP ajst-28608 38 13 the the DET ajst-28608 38 14 field field NOUN ajst-28608 38 15 of of ADP ajst-28608 38 16 hydrology hydrology NOUN ajst-28608 38 17 monitoring monitoring NOUN ajst-28608 38 18 is be AUX ajst-28608 38 19 deepening deepen VERB ajst-28608 38 20 , , PUNCT ajst-28608 38 21 covering cover VERB ajst-28608 38 22 formation formation NOUN ajst-28608 38 23 control control NOUN ajst-28608 38 24 , , PUNCT ajst-28608 38 25 path path NOUN ajst-28608 38 26 planning planning NOUN ajst-28608 38 27 , , PUNCT ajst-28608 38 28 obstacle obstacle NOUN ajst-28608 38 29 avoidance avoidance NOUN ajst-28608 38 30 mechanism mechanism NOUN ajst-28608 38 31 and and CCONJ ajst-28608 38 32 so so ADV ajst-28608 38 33 on on ADV ajst-28608 38 34 . . PUNCT ajst-28608 39 1 through through ADP ajst-28608 39 2 the the DET ajst-28608 39 3 interactive interactive ADJ ajst-28608 39 4 analysis analysis NOUN ajst-28608 39 5 of of ADP ajst-28608 39 6 the the DET ajst-28608 39 7 literature literature NOUN ajst-28608 39 8 , , PUNCT ajst-28608 39 9 it it PRON ajst-28608 39 10 can can AUX ajst-28608 39 11 be be AUX ajst-28608 39 12 seen see VERB ajst-28608 39 13 that that SCONJ ajst-28608 39 14 the the DET ajst-28608 39 15 current current ADJ ajst-28608 39 16 research research NOUN ajst-28608 39 17 not not PART ajst-28608 39 18 only only ADV ajst-28608 39 19 innovates innovate VERB ajst-28608 39 20 the the DET ajst-28608 39 21 control control NOUN ajst-28608 39 22 strategies strategy NOUN ajst-28608 39 23 of of ADP ajst-28608 39 24 multiuavs multiuavs PROPN ajst-28608 39 25 cooperative cooperative ADJ ajst-28608 39 26 operation operation NOUN ajst-28608 39 27 in in ADP ajst-28608 39 28 theory theory NOUN ajst-28608 39 29 , , PUNCT ajst-28608 39 30 but but CCONJ ajst-28608 39 31 also also ADV ajst-28608 39 32 validates validate VERB ajst-28608 39 33 the the DET ajst-28608 39 34 effectiveness effectiveness NOUN ajst-28608 39 35 of of ADP ajst-28608 39 36 these these DET ajst-28608 39 37 strategies strategy NOUN ajst-28608 39 38 in in ADP ajst-28608 39 39 practical practical ADJ ajst-28608 39 40 applications application NOUN ajst-28608 39 41 . . PUNCT ajst-28608 40 1 future future ADJ ajst-28608 40 2 research research NOUN ajst-28608 40 3 can can AUX ajst-28608 40 4 be be AUX ajst-28608 40 5 further far ADV ajst-28608 40 6 combined combine VERB ajst-28608 40 7 with with ADP ajst-28608 40 8 artificial artificial ADJ ajst-28608 40 9 intelligence intelligence NOUN ajst-28608 40 10 technology technology NOUN ajst-28608 40 11 to to PART ajst-28608 40 12 ameliorate ameliorate VERB ajst-28608 40 13 the the DET ajst-28608 40 14 autonomous autonomous ADJ ajst-28608 40 15 decision decision NOUN ajst-28608 40 16 - - PUNCT ajst-28608 40 17 making make VERB ajst-28608 40 18 ability ability NOUN ajst-28608 40 19 of of ADP ajst-28608 40 20 uav uav PROPN ajst-28608 40 21 formations formation NOUN ajst-28608 40 22 in in ADP ajst-28608 40 23 dynamic dynamic ADJ ajst-28608 40 24 and and CCONJ ajst-28608 40 25 complex complex ADJ ajst-28608 40 26 environments environment NOUN ajst-28608 40 27 , , PUNCT ajst-28608 40 28 so so SCONJ ajst-28608 40 29 as as SCONJ ajst-28608 40 30 to to PART ajst-28608 40 31 promote promote VERB ajst-28608 40 32 the the DET ajst-28608 40 33 wider wide ADJ ajst-28608 40 34 application application NOUN ajst-28608 40 35 of of ADP ajst-28608 40 36 multi multi ADJ ajst-28608 40 37 - - ADJ ajst-28608 40 38 rotor rotor ADJ ajst-28608 40 39 uavs uavs NOUN ajst-28608 40 40 in in ADP ajst-28608 40 41 the the DET ajst-28608 40 42 field field NOUN ajst-28608 40 43 of of ADP ajst-28608 40 44 hydrological hydrological ADJ ajst-28608 40 45 monitoring monitoring NOUN ajst-28608 40 46 . . PUNCT ajst-28608 41 1 2 2 X ajst-28608 41 2 . . X ajst-28608 41 3 kinematic kinematic ADJ ajst-28608 41 4 modeling modeling NOUN ajst-28608 41 5 of of ADP ajst-28608 41 6 multi multi ADJ ajst-28608 41 7 - - ADJ ajst-28608 41 8 rotor rotor ADJ ajst-28608 41 9 uav uav PROPN ajst-28608 41 10 to to PART ajst-28608 41 11 accurately accurately ADV ajst-28608 41 12 depict depict VERB ajst-28608 41 13 the the DET ajst-28608 41 14 motion motion NOUN ajst-28608 41 15 state state NOUN ajst-28608 41 16 of of ADP ajst-28608 41 17 uavs uavs NOUN ajst-28608 41 18 , , PUNCT ajst-28608 41 19 this this DET ajst-28608 41 20 paper paper NOUN ajst-28608 41 21 develops develop VERB ajst-28608 41 22 a a DET ajst-28608 41 23 kinematic kinematic ADJ ajst-28608 41 24 model model NOUN ajst-28608 41 25 for for ADP ajst-28608 41 26 multi multi ADJ ajst-28608 41 27 - - ADJ ajst-28608 41 28 rotor rotor ADJ ajst-28608 41 29 uavs uavs NOUN ajst-28608 41 30 . . PUNCT ajst-28608 42 1 this this DET ajst-28608 42 2 model model NOUN ajst-28608 42 3 employs employ VERB ajst-28608 42 4 both both CCONJ ajst-28608 42 5 the the DET ajst-28608 42 6 ground ground NOUN ajst-28608 42 7 coordinate coordinate NOUN ajst-28608 42 8 system system NOUN ajst-28608 42 9 and and CCONJ ajst-28608 42 10 the the DET ajst-28608 42 11 drone drone NOUN ajst-28608 42 12 coordinate coordinate NOUN ajst-28608 42 13 system system NOUN ajst-28608 42 14 to to PART ajst-28608 42 15 describe describe VERB ajst-28608 42 16 the the DET ajst-28608 42 17 position position NOUN ajst-28608 42 18 , , PUNCT ajst-28608 42 19 angle angle NOUN ajst-28608 42 20 , , PUNCT ajst-28608 42 21 and and CCONJ ajst-28608 42 22 velocity velocity NOUN ajst-28608 42 23 variables variable NOUN ajst-28608 42 24 of of ADP ajst-28608 42 25 the the DET ajst-28608 42 26 uav uav PROPN ajst-28608 42 27 respectively respectively ADV ajst-28608 42 28 , , PUNCT ajst-28608 42 29 which which PRON ajst-28608 42 30 provides provide VERB ajst-28608 42 31 the the DET ajst-28608 42 32 basis basis NOUN ajst-28608 42 33 for for ADP ajst-28608 42 34 the the DET ajst-28608 42 35 subsequent subsequent ADJ ajst-28608 42 36 path path NOUN ajst-28608 42 37 planning planning NOUN ajst-28608 42 38 and and CCONJ ajst-28608 42 39 obstacle obstacle NOUN ajst-28608 42 40 avoidance avoidance NOUN ajst-28608 42 41 algorithm algorithm NOUN ajst-28608 42 42 design design NOUN ajst-28608 42 43 . . PUNCT ajst-28608 43 1 through through ADP ajst-28608 43 2 dynamic dynamic ADJ ajst-28608 43 3 modeling modeling NOUN ajst-28608 43 4 , , PUNCT ajst-28608 43 5 the the DET ajst-28608 43 6 mechanical mechanical ADJ ajst-28608 43 7 characteristics characteristic NOUN ajst-28608 43 8 and and CCONJ ajst-28608 43 9 control control NOUN ajst-28608 43 10 input input NOUN ajst-28608 43 11 of of ADP ajst-28608 43 12 uavs uavs NOUN ajst-28608 43 13 during during ADP ajst-28608 43 14 flight flight NOUN ajst-28608 43 15 are be AUX ajst-28608 43 16 considered consider VERB ajst-28608 43 17 . . PUNCT ajst-28608 44 1 in in ADP ajst-28608 44 2 order order NOUN ajst-28608 44 3 to to PART ajst-28608 44 4 make make VERB ajst-28608 44 5 the the DET ajst-28608 44 6 kinematic kinematic ADJ ajst-28608 44 7 modeling modeling NOUN ajst-28608 44 8 of of ADP ajst-28608 44 9 multi multi ADJ ajst-28608 44 10 - - ADJ ajst-28608 44 11 rotor rotor ADJ ajst-28608 44 12 uavs uavs NOUN ajst-28608 44 13 , , PUNCT ajst-28608 44 14 it it PRON ajst-28608 44 15 is be AUX ajst-28608 44 16 usually usually ADV ajst-28608 44 17 indispensable indispensable ADJ ajst-28608 44 18 to to PART ajst-28608 44 19 consider consider VERB ajst-28608 44 20 the the DET ajst-28608 44 21 following follow VERB ajst-28608 44 22 steps step NOUN ajst-28608 44 23 and and CCONJ ajst-28608 44 24 contents content NOUN ajst-28608 44 25 . . PUNCT ajst-28608 45 1 these these DET ajst-28608 45 2 steps step NOUN ajst-28608 45 3 involve involve VERB ajst-28608 45 4 mathematical mathematical ADJ ajst-28608 45 5 modeling modeling NOUN ajst-28608 45 6 , , PUNCT ajst-28608 45 7 the the DET ajst-28608 45 8 use use NOUN ajst-28608 45 9 of of ADP ajst-28608 45 10 coordinate coordinate NOUN ajst-28608 45 11 systems system NOUN ajst-28608 45 12 to to PART ajst-28608 45 13 describe describe VERB ajst-28608 45 14 motion motion NOUN ajst-28608 45 15 states state NOUN ajst-28608 45 16 , , PUNCT ajst-28608 45 17 the the DET ajst-28608 45 18 derivation derivation NOUN ajst-28608 45 19 of of ADP ajst-28608 45 20 mechanical mechanical ADJ ajst-28608 45 21 equations equation NOUN ajst-28608 45 22 , , PUNCT ajst-28608 45 23 and and CCONJ ajst-28608 45 24 finally finally ADV ajst-28608 45 25 simulation simulation NOUN ajst-28608 45 26 modeling modeling NOUN ajst-28608 45 27 . . PUNCT ajst-28608 46 1 2.1 2.1 NUM ajst-28608 46 2 . . PUNCT ajst-28608 46 3 definition definition NOUN ajst-28608 46 4 of of ADP ajst-28608 46 5 coordinate coordinate NOUN ajst-28608 46 6 system system NOUN ajst-28608 46 7 figure figure NOUN ajst-28608 46 8 1 1 NUM ajst-28608 46 9 . . PUNCT ajst-28608 46 10 ground ground NOUN ajst-28608 46 11 coordinate coordinate NOUN ajst-28608 46 12 system system NOUN ajst-28608 46 13 and and CCONJ ajst-28608 46 14 drone drone NOUN ajst-28608 46 15 coordinate coordinate NOUN ajst-28608 46 16 system system NOUN ajst-28608 46 17 143 143 NUM ajst-28608 46 18 the the DET ajst-28608 46 19 ground ground NOUN ajst-28608 46 20 coordinate coordinate NOUN ajst-28608 46 21 system system NOUN ajst-28608 46 22 , , PUNCT ajst-28608 46 23 which which PRON ajst-28608 46 24 serves serve VERB ajst-28608 46 25 as as ADP ajst-28608 46 26 a a DET ajst-28608 46 27 fixed fix VERB ajst-28608 46 28 reference reference NOUN ajst-28608 46 29 , , PUNCT ajst-28608 46 30 and and CCONJ ajst-28608 46 31 the the DET ajst-28608 46 32 drone drone NOUN ajst-28608 46 33 coordinate coordinate NOUN ajst-28608 46 34 system system NOUN ajst-28608 46 35 , , PUNCT ajst-28608 46 36 which which PRON ajst-28608 46 37 is be AUX ajst-28608 46 38 attached attach VERB ajst-28608 46 39 to to ADP ajst-28608 46 40 the the DET ajst-28608 46 41 uav uav PROPN ajst-28608 46 42 and and CCONJ ajst-28608 46 43 moves move NOUN ajst-28608 46 44 with with ADP ajst-28608 46 45 it it PRON ajst-28608 46 46 , , PUNCT ajst-28608 46 47 are be AUX ajst-28608 46 48 used use VERB ajst-28608 46 49 to to PART ajst-28608 46 50 accurately accurately ADV ajst-28608 46 51 describe describe VERB ajst-28608 46 52 the the DET ajst-28608 46 53 position position NOUN ajst-28608 46 54 and and CCONJ ajst-28608 46 55 orientation orientation NOUN ajst-28608 46 56 of of ADP ajst-28608 46 57 the the DET ajst-28608 46 58 uav uav PROPN ajst-28608 46 59 . . PUNCT ajst-28608 47 1 since since SCONJ ajst-28608 47 2 the the DET ajst-28608 47 3 flight flight NOUN ajst-28608 47 4 of of ADP ajst-28608 47 5 the the DET ajst-28608 47 6 uav uav PROPN ajst-28608 47 7 will will AUX ajst-28608 47 8 change change VERB ajst-28608 47 9 its its PRON ajst-28608 47 10 attitude attitude NOUN ajst-28608 47 11 and and CCONJ ajst-28608 47 12 position position NOUN ajst-28608 47 13 , , PUNCT ajst-28608 47 14 the the DET ajst-28608 47 15 position position NOUN ajst-28608 47 16 and and CCONJ ajst-28608 47 17 direction direction NOUN ajst-28608 47 18 of of ADP ajst-28608 47 19 the the DET ajst-28608 47 20 drone drone NOUN ajst-28608 47 21 coordinate coordinate NOUN ajst-28608 47 22 system system NOUN ajst-28608 47 23 relative relative ADJ ajst-28608 47 24 to to ADP ajst-28608 47 25 the the DET ajst-28608 47 26 ground ground NOUN ajst-28608 47 27 coordinate coordinate NOUN ajst-28608 47 28 system system NOUN ajst-28608 47 29 will will AUX ajst-28608 47 30 constantly constantly ADV ajst-28608 47 31 change change VERB ajst-28608 47 32 . . PUNCT ajst-28608 48 1 to to PART ajst-28608 48 2 convert convert VERB ajst-28608 48 3 data datum NOUN ajst-28608 48 4 such such ADJ ajst-28608 48 5 as as ADP ajst-28608 48 6 position position NOUN ajst-28608 48 7 , , PUNCT ajst-28608 48 8 velocity velocity NOUN ajst-28608 48 9 , , PUNCT ajst-28608 48 10 and and CCONJ ajst-28608 48 11 attitude attitude NOUN ajst-28608 48 12 between between ADP ajst-28608 48 13 these these DET ajst-28608 48 14 two two NUM ajst-28608 48 15 coordinate coordinate NOUN ajst-28608 48 16 systems system NOUN ajst-28608 48 17 , , PUNCT ajst-28608 48 18 we we PRON ajst-28608 48 19 need need VERB ajst-28608 48 20 to to PART ajst-28608 48 21 use use VERB ajst-28608 48 22 a a DET ajst-28608 48 23 rotation rotation NOUN ajst-28608 48 24 matrix matrix NOUN ajst-28608 48 25 . . PUNCT ajst-28608 49 1 the the DET ajst-28608 49 2 rotation rotation NOUN ajst-28608 49 3 matrix matrix NOUN ajst-28608 49 4 indicates indicate VERB ajst-28608 49 5 the the DET ajst-28608 49 6 rotational rotational ADJ ajst-28608 49 7 relationship relationship NOUN ajst-28608 49 8 between between ADP ajst-28608 49 9 the the DET ajst-28608 49 10 drone drone NOUN ajst-28608 49 11 coordinate coordinate NOUN ajst-28608 49 12 system system NOUN ajst-28608 49 13 and and CCONJ ajst-28608 49 14 the the DET ajst-28608 49 15 ground ground NOUN ajst-28608 49 16 coordinate coordinate NOUN ajst-28608 49 17 system[13 system[13 NOUN ajst-28608 49 18 ] ] PUNCT ajst-28608 49 19 . . PUNCT ajst-28608 50 1 a a DET ajst-28608 50 2 rotation rotation NOUN ajst-28608 50 3 matrix matrix NOUN ajst-28608 50 4 is be AUX ajst-28608 50 5 a a DET ajst-28608 50 6 3x3 3x3 NUM ajst-28608 50 7 matrix matrix NOUN ajst-28608 50 8 that that PRON ajst-28608 50 9 transforms transform VERB ajst-28608 50 10 vectors vector NOUN ajst-28608 50 11 in in ADP ajst-28608 50 12 one one NUM ajst-28608 50 13 coordinate coordinate NOUN ajst-28608 50 14 system system NOUN ajst-28608 50 15 into into ADP ajst-28608 50 16 another another PRON ajst-28608 50 17 . . PUNCT ajst-28608 51 1 let let VERB ajst-28608 51 2 's us PRON ajst-28608 51 3 say say VERB ajst-28608 51 4 a a DET ajst-28608 51 5 vector vector NOUN ajst-28608 51 6 in in ADP ajst-28608 51 7 the the DET ajst-28608 51 8 ground ground NOUN ajst-28608 51 9 coordinate coordinate NOUN ajst-28608 51 10 system system NOUN ajst-28608 51 11 is be AUX ajst-28608 51 12 𝑉 𝑉 PROPN ajst-28608 51 13 , , PUNCT ajst-28608 51 14 the the DET ajst-28608 51 15 corresponding correspond VERB ajst-28608 51 16 vector vector NOUN ajst-28608 51 17 in in ADP ajst-28608 51 18 the the DET ajst-28608 51 19 drone drone NOUN ajst-28608 51 20 coordinate coordinate NOUN ajst-28608 51 21 system system NOUN ajst-28608 51 22 is be AUX ajst-28608 51 23 𝑉 𝑉 PROPN ajst-28608 51 24 . . PUNCT ajst-28608 52 1 rotation rotation NOUN ajst-28608 52 2 matrix matrix NOUN ajst-28608 52 3 r r NOUN ajst-28608 52 4 converts convert NOUN ajst-28608 52 5 vectors vector NOUN ajst-28608 52 6 in in ADP ajst-28608 52 7 the the DET ajst-28608 52 8 ground ground NOUN ajst-28608 52 9 coordinate coordinate NOUN ajst-28608 52 10 system system NOUN ajst-28608 52 11 to to ADP ajst-28608 52 12 vectors vector NOUN ajst-28608 52 13 in in ADP ajst-28608 52 14 the the DET ajst-28608 52 15 drone drone NOUN ajst-28608 52 16 coordinate coordinate NOUN ajst-28608 52 17 system system NOUN ajst-28608 52 18 . . PUNCT ajst-28608 53 1 this this DET ajst-28608 53 2 relation relation NOUN ajst-28608 53 3 can can AUX ajst-28608 53 4 be be AUX ajst-28608 53 5 written write VERB ajst-28608 53 6 as as ADP ajst-28608 53 7 : : PUNCT ajst-28608 53 8 𝑉 𝑉 PROPN ajst-28608 53 9 𝑅 𝑅 PROPN ajst-28608 53 10 𝑉 𝑉 PROPN ajst-28608 53 11 if if SCONJ ajst-28608 53 12 you you PRON ajst-28608 53 13 need need VERB ajst-28608 53 14 to to PART ajst-28608 53 15 convert convert VERB ajst-28608 53 16 a a DET ajst-28608 53 17 vector vector NOUN ajst-28608 53 18 in in ADP ajst-28608 53 19 the the DET ajst-28608 53 20 drone drone NOUN ajst-28608 53 21 coordinate coordinate NOUN ajst-28608 53 22 system system NOUN ajst-28608 53 23 back back ADV ajst-28608 53 24 to to ADP ajst-28608 53 25 the the DET ajst-28608 53 26 ground ground NOUN ajst-28608 53 27 coordinate coordinate NOUN ajst-28608 53 28 system system NOUN ajst-28608 53 29 , , PUNCT ajst-28608 53 30 you you PRON ajst-28608 53 31 can can AUX ajst-28608 53 32 use use VERB ajst-28608 53 33 the the DET ajst-28608 53 34 transpose transpose NOUN ajst-28608 53 35 of of ADP ajst-28608 53 36 the the DET ajst-28608 53 37 rotation rotation NOUN ajst-28608 53 38 matrix matrix NOUN ajst-28608 53 39 ( ( PUNCT ajst-28608 53 40 i.e. i.e. X ajst-28608 53 41 , , PUNCT ajst-28608 53 42 the the DET ajst-28608 53 43 inverse inverse NOUN ajst-28608 53 44 matrix matrix NOUN ajst-28608 53 45 ): ): PUNCT ajst-28608 53 46 𝑉 𝑉 PROPN ajst-28608 53 47 𝑅 𝑅 PROPN ajst-28608 53 48 𝑉 𝑉 PROPN ajst-28608 53 49 through through ADP ajst-28608 53 50 this this DET ajst-28608 53 51 rotation rotation NOUN ajst-28608 53 52 matrix matrix NOUN ajst-28608 53 53 , , PUNCT ajst-28608 53 54 we we PRON ajst-28608 53 55 can can AUX ajst-28608 53 56 accurately accurately ADV ajst-28608 53 57 transform transform VERB ajst-28608 53 58 the the DET ajst-28608 53 59 motion motion NOUN ajst-28608 53 60 state state NOUN ajst-28608 53 61 of of ADP ajst-28608 53 62 the the DET ajst-28608 53 63 uav uav PROPN ajst-28608 53 64 between between ADP ajst-28608 53 65 different different ADJ ajst-28608 53 66 coordinate coordinate NOUN ajst-28608 53 67 systems system NOUN ajst-28608 53 68 for for ADP ajst-28608 53 69 flight flight NOUN ajst-28608 53 70 control control NOUN ajst-28608 53 71 and and CCONJ ajst-28608 53 72 navigation navigation NOUN ajst-28608 53 73 . . PUNCT ajst-28608 54 1 figure figure NOUN ajst-28608 54 2 2 2 NUM ajst-28608 54 3 . . PUNCT ajst-28608 54 4 coordinate coordinate NOUN ajst-28608 54 5 transformation transformation NOUN ajst-28608 54 6 and and CCONJ ajst-28608 54 7 attitude attitude NOUN ajst-28608 54 8 representation representation NOUN ajst-28608 54 9 let let VERB ajst-28608 54 10 the the DET ajst-28608 54 11 location location NOUN ajst-28608 54 12 of of ADP ajst-28608 54 13 the the DET ajst-28608 54 14 uav uav PROPN ajst-28608 54 15 in in ADP ajst-28608 54 16 the the DET ajst-28608 54 17 ground ground NOUN ajst-28608 54 18 coordinate coordinate NOUN ajst-28608 54 19 system system NOUN ajst-28608 54 20 be be AUX ajst-28608 54 21 𝑃 𝑃 VERB ajst-28608 54 22 , , PUNCT ajst-28608 54 23 its its PRON ajst-28608 54 24 position position NOUN ajst-28608 54 25 in in ADP ajst-28608 54 26 the the DET ajst-28608 54 27 drone drone NOUN ajst-28608 54 28 coordinate coordinate NOUN ajst-28608 54 29 system system NOUN ajst-28608 54 30 is be AUX ajst-28608 54 31 𝑃 𝑃 NOUN ajst-28608 54 32 , , PUNCT ajst-28608 54 33 where where SCONJ ajst-28608 54 34 𝑃 𝑃 NOUN ajst-28608 54 35 is be AUX ajst-28608 54 36 the the DET ajst-28608 54 37 offset offset NOUN ajst-28608 54 38 in in ADP ajst-28608 54 39 the the DET ajst-28608 54 40 ground ground NOUN ajst-28608 54 41 coordinate coordinate NOUN ajst-28608 54 42 system system NOUN ajst-28608 54 43 relative relative ADJ ajst-28608 54 44 to to ADP ajst-28608 54 45 centroid centroid NOUN ajst-28608 54 46 of of ADP ajst-28608 54 47 the the DET ajst-28608 54 48 uav uav PROPN ajst-28608 54 49 . . PUNCT ajst-28608 55 1 the the DET ajst-28608 55 2 drone drone NOUN ajst-28608 55 3 ’s ’s PART ajst-28608 55 4 attitude attitude NOUN ajst-28608 55 5 , , PUNCT ajst-28608 55 6 or or CCONJ ajst-28608 55 7 its its PRON ajst-28608 55 8 rotation rotation NOUN ajst-28608 55 9 angle angle NOUN ajst-28608 55 10 , , PUNCT ajst-28608 55 11 can can AUX ajst-28608 55 12 be be AUX ajst-28608 55 13 described describe VERB ajst-28608 55 14 by by ADP ajst-28608 55 15 the the DET ajst-28608 55 16 rotation rotation NOUN ajst-28608 55 17 matrix matrix NOUN ajst-28608 55 18 r. r. NOUN ajst-28608 55 19 this this DET ajst-28608 55 20 rotation rotation NOUN ajst-28608 55 21 matrix matrix NOUN ajst-28608 55 22 relocates relocate VERB ajst-28608 55 23 vectors vector NOUN ajst-28608 55 24 from from ADP ajst-28608 55 25 the the DET ajst-28608 55 26 drone drone NOUN ajst-28608 55 27 coordinate coordinate NOUN ajst-28608 55 28 system system NOUN ajst-28608 55 29 to to ADP ajst-28608 55 30 the the DET ajst-28608 55 31 ground ground NOUN ajst-28608 55 32 coordinate coordinate NOUN ajst-28608 55 33 system system NOUN ajst-28608 55 34 . . PUNCT ajst-28608 56 1 if if SCONJ ajst-28608 56 2 we we PRON ajst-28608 56 3 have have VERB ajst-28608 56 4 a a DET ajst-28608 56 5 vector vector NOUN ajst-28608 56 6 in in ADP ajst-28608 56 7 the the DET ajst-28608 56 8 drone drone NOUN ajst-28608 56 9 coordinate coordinate NOUN ajst-28608 56 10 system system NOUN ajst-28608 56 11 , , PUNCT ajst-28608 56 12 by by ADP ajst-28608 56 13 using use VERB ajst-28608 56 14 the the DET ajst-28608 56 15 rotation rotation NOUN ajst-28608 56 16 matrix matrix NOUN ajst-28608 56 17 , , PUNCT ajst-28608 56 18 we we PRON ajst-28608 56 19 can can AUX ajst-28608 56 20 transform transform VERB ajst-28608 56 21 it it PRON ajst-28608 56 22 into into ADP ajst-28608 56 23 the the DET ajst-28608 56 24 ground ground NOUN ajst-28608 56 25 coordinate coordinate NOUN ajst-28608 56 26 system system NOUN ajst-28608 56 27 . . PUNCT ajst-28608 57 1 this this DET ajst-28608 57 2 transformation transformation NOUN ajst-28608 57 3 relationship relationship NOUN ajst-28608 57 4 can can AUX ajst-28608 57 5 be be AUX ajst-28608 57 6 expressed express VERB ajst-28608 57 7 as as ADP ajst-28608 57 8 : : PUNCT ajst-28608 57 9 𝑉 𝑉 PROPN ajst-28608 57 10 𝑅 𝑅 PROPN ajst-28608 57 11 𝑉 𝑉 PROPN ajst-28608 57 12 𝑉 𝑉 PROPN ajst-28608 57 13 represents represent VERB ajst-28608 57 14 a a DET ajst-28608 57 15 vector vector NOUN ajst-28608 57 16 in in ADP ajst-28608 57 17 the the DET ajst-28608 57 18 ground ground NOUN ajst-28608 57 19 coordinate coordinate NOUN ajst-28608 57 20 system system NOUN ajst-28608 57 21 , , PUNCT ajst-28608 57 22 𝑉 𝑉 PROPN ajst-28608 57 23 denotes denote VERB ajst-28608 57 24 a a DET ajst-28608 57 25 vector vector NOUN ajst-28608 57 26 in in ADP ajst-28608 57 27 the the DET ajst-28608 57 28 drone drone NOUN ajst-28608 57 29 coordinate coordinate NOUN ajst-28608 57 30 system system NOUN ajst-28608 57 31 , , PUNCT ajst-28608 57 32 and and CCONJ ajst-28608 57 33 r r NOUN ajst-28608 57 34 is be AUX ajst-28608 57 35 a a DET ajst-28608 57 36 rotation rotation NOUN ajst-28608 57 37 matrix matrix NOUN ajst-28608 57 38 describing describe VERB ajst-28608 57 39 the the DET ajst-28608 57 40 attitude attitude NOUN ajst-28608 57 41 . . PUNCT ajst-28608 58 1 with with ADP ajst-28608 58 2 this this DET ajst-28608 58 3 rotation rotation NOUN ajst-28608 58 4 matrix matrix NOUN ajst-28608 58 5 , , PUNCT ajst-28608 58 6 we we PRON ajst-28608 58 7 are be AUX ajst-28608 58 8 able able ADJ ajst-28608 58 9 to to PART ajst-28608 58 10 accurately accurately ADV ajst-28608 58 11 convert convert VERB ajst-28608 58 12 the the DET ajst-28608 58 13 data datum NOUN ajst-28608 58 14 in in ADP ajst-28608 58 15 the the DET ajst-28608 58 16 drone drone NOUN ajst-28608 58 17 coordinate coordinate NOUN ajst-28608 58 18 system system NOUN ajst-28608 58 19 of of ADP ajst-28608 58 20 the the DET ajst-28608 58 21 drone drone NOUN ajst-28608 58 22 to to ADP ajst-28608 58 23 the the DET ajst-28608 58 24 ground ground NOUN ajst-28608 58 25 coordinate coordinate NOUN ajst-28608 58 26 system system NOUN ajst-28608 58 27 for for ADP ajst-28608 58 28 flight flight NOUN ajst-28608 58 29 control control NOUN ajst-28608 58 30 and and CCONJ ajst-28608 58 31 navigation navigation NOUN ajst-28608 58 32 . . PUNCT ajst-28608 59 1 2.2 2.2 NUM ajst-28608 59 2 . . PUNCT ajst-28608 60 1 uav uav PROPN ajst-28608 60 2 position position NOUN ajst-28608 60 3 and and CCONJ ajst-28608 60 4 attitude attitude NOUN ajst-28608 60 5 description description NOUN ajst-28608 60 6 2.2.1 2.2.1 NUM ajst-28608 60 7 . . PUNCT ajst-28608 60 8 description description NOUN ajst-28608 60 9 of of ADP ajst-28608 60 10 position position NOUN ajst-28608 60 11 144 144 NUM ajst-28608 60 12 figure figure NOUN ajst-28608 60 13 3 3 NUM ajst-28608 60 14 . . PUNCT ajst-28608 60 15 description description NOUN ajst-28608 60 16 of of ADP ajst-28608 60 17 uav uav PROPN ajst-28608 60 18 position position NOUN ajst-28608 60 19 in in ADP ajst-28608 60 20 3d 3d PROPN ajst-28608 60 21 space space NOUN ajst-28608 60 22 the the DET ajst-28608 60 23 position position NOUN ajst-28608 60 24 of of ADP ajst-28608 60 25 the the DET ajst-28608 60 26 uav uav PROPN ajst-28608 60 27 in in ADP ajst-28608 60 28 three three NUM ajst-28608 60 29 - - PUNCT ajst-28608 60 30 dimensional dimensional ADJ ajst-28608 60 31 space space NOUN ajst-28608 60 32 can can AUX ajst-28608 60 33 be be AUX ajst-28608 60 34 represented represent VERB ajst-28608 60 35 by by ADP ajst-28608 60 36 the the DET ajst-28608 60 37 position position NOUN ajst-28608 60 38 vector vector NOUN ajst-28608 60 39 𝑝 𝑝 PROPN ajst-28608 60 40 π‘₯ π‘₯ PROPN ajst-28608 60 41 , , PUNCT ajst-28608 60 42 𝑦 𝑦 NOUN ajst-28608 60 43 , , PUNCT ajst-28608 60 44 𝑧 𝑧 PROPN ajst-28608 60 45 in in ADP ajst-28608 60 46 the the DET ajst-28608 60 47 ground ground NOUN ajst-28608 60 48 coordinate coordinate NOUN ajst-28608 60 49 system system NOUN ajst-28608 60 50 , , PUNCT ajst-28608 60 51 which which PRON ajst-28608 60 52 indicates indicate VERB ajst-28608 60 53 its its PRON ajst-28608 60 54 position position NOUN ajst-28608 60 55 along along ADP ajst-28608 60 56 the the DET ajst-28608 60 57 three three NUM ajst-28608 60 58 axes axis NOUN ajst-28608 60 59 . . PUNCT ajst-28608 61 1 2.2.2 2.2.2 X ajst-28608 61 2 . . NOUN ajst-28608 61 3 attitude attitude NOUN ajst-28608 61 4 description description NOUN ajst-28608 61 5 the the DET ajst-28608 61 6 attitude attitude NOUN ajst-28608 61 7 of of ADP ajst-28608 61 8 the the DET ajst-28608 61 9 drone drone NOUN ajst-28608 61 10 can can AUX ajst-28608 61 11 be be AUX ajst-28608 61 12 represented represent VERB ajst-28608 61 13 by by ADP ajst-28608 61 14 euler euler NOUN ajst-28608 61 15 angle angle PROPN ajst-28608 61 16 ( ( PUNCT ajst-28608 61 17 roll roll NOUN ajst-28608 61 18 , , PUNCT ajst-28608 61 19 pitch pitch NOUN ajst-28608 61 20 , , PUNCT ajst-28608 61 21 yaw yaw PROPN ajst-28608 61 22 ) ) PUNCT ajst-28608 61 23 or or CCONJ ajst-28608 61 24 quaternion quaternion NOUN ajst-28608 61 25 . . PUNCT ajst-28608 62 1 euler euler PROPN ajst-28608 62 2 angle angle PROPN ajst-28608 62 3 πœ™ πœ™ PROPN ajst-28608 62 4 , , PUNCT ajst-28608 62 5 πœƒ πœƒ PROPN ajst-28608 62 6 , , PUNCT ajst-28608 62 7 πœ“ πœ“ PROPN ajst-28608 62 8 is be AUX ajst-28608 62 9 used use VERB ajst-28608 62 10 here here ADV ajst-28608 62 11 to to PART ajst-28608 62 12 describe describe VERB ajst-28608 62 13 the the DET ajst-28608 62 14 rotation rotation NOUN ajst-28608 62 15 angle angle NOUN ajst-28608 62 16 of of ADP ajst-28608 62 17 the the DET ajst-28608 62 18 drone drone NOUN ajst-28608 62 19 : : PUNCT ajst-28608 62 20 1 1 NUM ajst-28608 62 21 . . X ajst-28608 62 22 roll roll NOUN ajst-28608 62 23 angle angle NOUN ajst-28608 62 24 : : PUNCT ajst-28608 62 25 denoted denote VERB ajst-28608 62 26 by by ADP ajst-28608 62 27 πœ™ πœ™ PRON ajst-28608 62 28 , , PUNCT ajst-28608 62 29 it it PRON ajst-28608 62 30 represents represent VERB ajst-28608 62 31 rotation rotation NOUN ajst-28608 62 32 around around ADP ajst-28608 62 33 the the DET ajst-28608 62 34 x x NOUN ajst-28608 62 35 - - NOUN ajst-28608 62 36 axis axis ADJ ajst-28608 62 37 . . PUNCT ajst-28608 63 1 2 2 X ajst-28608 63 2 . . X ajst-28608 63 3 pitch pitch PROPN ajst-28608 63 4 angle angle PROPN ajst-28608 63 5 : : PUNCT ajst-28608 63 6 denoted denote VERB ajst-28608 63 7 by by ADP ajst-28608 63 8 πœƒ πœƒ PROPN ajst-28608 63 9 , , PUNCT ajst-28608 63 10 it it PRON ajst-28608 63 11 represents represent VERB ajst-28608 63 12 rotation rotation NOUN ajst-28608 63 13 around around ADP ajst-28608 63 14 the the DET ajst-28608 63 15 y y NOUN ajst-28608 63 16 - - PUNCT ajst-28608 63 17 axis axis NOUN ajst-28608 63 18 . . PUNCT ajst-28608 64 1 3 3 X ajst-28608 64 2 . . X ajst-28608 64 3 yaw yaw PROPN ajst-28608 64 4 angle angle PROPN ajst-28608 64 5 : : PUNCT ajst-28608 64 6 denoted denote VERB ajst-28608 64 7 by by ADP ajst-28608 64 8 πœ“ πœ“ PROPN ajst-28608 64 9 , , PUNCT ajst-28608 64 10 it it PRON ajst-28608 64 11 represents represent VERB ajst-28608 64 12 rotation rotation NOUN ajst-28608 64 13 around around ADP ajst-28608 64 14 the the DET ajst-28608 64 15 z z NOUN ajst-28608 64 16 - - PUNCT ajst-28608 64 17 axis axis NOUN ajst-28608 64 18 . . PUNCT ajst-28608 65 1 the the DET ajst-28608 65 2 rotation rotation NOUN ajst-28608 65 3 matrix matrix NOUN ajst-28608 65 4 r r NOUN ajst-28608 65 5 , , PUNCT ajst-28608 65 6 which which PRON ajst-28608 65 7 describes describe VERB ajst-28608 65 8 the the DET ajst-28608 65 9 attitude attitude NOUN ajst-28608 65 10 change change NOUN ajst-28608 65 11 , , PUNCT ajst-28608 65 12 can can AUX ajst-28608 65 13 be be AUX ajst-28608 65 14 expressed express VERB ajst-28608 65 15 as as ADP ajst-28608 65 16 : : PUNCT ajst-28608 65 17 𝑅 𝑅 PROPN ajst-28608 65 18 𝑅 𝑅 PROPN ajst-28608 65 19 πœ“ πœ“ PROPN ajst-28608 65 20 𝑅 𝑅 PROPN ajst-28608 65 21 πœƒ πœƒ PROPN ajst-28608 65 22 𝑅 𝑅 PROPN ajst-28608 65 23 πœ™ πœ™ PROPN ajst-28608 65 24 𝑅 𝑅 PROPN ajst-28608 65 25 πœ™ πœ™ NOUN ajst-28608 65 26 1 1 NUM ajst-28608 65 27 0 0 NUM ajst-28608 65 28 0 0 NUM ajst-28608 65 29 0 0 PUNCT ajst-28608 66 1 cos cos ADP ajst-28608 66 2 πœ™ πœ™ PROPN ajst-28608 66 3 𝑠𝑖𝑛 𝑠𝑖𝑛 VERB ajst-28608 66 4 πœ™ πœ™ PROPN ajst-28608 66 5 0 0 NUM ajst-28608 66 6 𝑠𝑖𝑛 𝑠𝑖𝑛 NOUN ajst-28608 66 7 πœ™ πœ™ PROPN ajst-28608 66 8 π‘π‘œπ‘  π‘π‘œπ‘  ADV ajst-28608 66 9 πœ™ πœ™ X ajst-28608 66 10 , , PUNCT ajst-28608 66 11 𝑅 𝑅 PROPN ajst-28608 66 12 πœƒ πœƒ PRON ajst-28608 66 13 π‘π‘œπ‘  π‘π‘œπ‘  NOUN ajst-28608 66 14 πœƒ πœƒ X ajst-28608 66 15 0 0 NUM ajst-28608 66 16 𝑠𝑖𝑛 𝑠𝑖𝑛 NOUN ajst-28608 66 17 πœƒ πœƒ X ajst-28608 66 18 0 0 NUM ajst-28608 66 19 1 1 NUM ajst-28608 66 20 0 0 NUM ajst-28608 66 21 𝑠𝑖𝑛 𝑠𝑖𝑛 NOUN ajst-28608 66 22 πœƒ πœƒ SYM ajst-28608 66 23 0 0 NUM ajst-28608 66 24 π‘π‘œπ‘  π‘π‘œπ‘  NOUN ajst-28608 66 25 πœƒ πœƒ PUNCT ajst-28608 67 1 𝑅 𝑅 NOUN ajst-28608 67 2 πœ“ πœ“ PROPN ajst-28608 67 3 π‘π‘œπ‘  π‘π‘œπ‘  NOUN ajst-28608 67 4 πœ“ πœ“ PROPN ajst-28608 67 5 𝑠𝑖𝑛 𝑠𝑖𝑛 PROPN ajst-28608 67 6 πœ“ πœ“ PROPN ajst-28608 67 7 0 0 NUM ajst-28608 67 8 𝑠𝑖𝑛 𝑠𝑖𝑛 NOUN ajst-28608 67 9 πœ“ πœ“ PROPN ajst-28608 67 10 π‘π‘œπ‘  π‘π‘œπ‘  NOUN ajst-28608 67 11 πœ“ πœ“ PROPN ajst-28608 67 12 0 0 NUM ajst-28608 67 13 0 0 NUM ajst-28608 67 14 0 0 NUM ajst-28608 67 15 1 1 NUM ajst-28608 67 16 2.2.3 2.2.3 NUM ajst-28608 67 17 . . PUNCT ajst-28608 68 1 derivation derivation NOUN ajst-28608 68 2 of of ADP ajst-28608 68 3 kinetic kinetic ADJ ajst-28608 68 4 equations equation NOUN ajst-28608 68 5 the the DET ajst-28608 68 6 dynamics dynamic NOUN ajst-28608 68 7 configuration configuration NOUN ajst-28608 68 8 of of ADP ajst-28608 68 9 a a DET ajst-28608 68 10 multi multi ADJ ajst-28608 68 11 - - ADJ ajst-28608 68 12 rotor rotor ADJ ajst-28608 68 13 uav uav PROPN ajst-28608 68 14 is be AUX ajst-28608 68 15 based base VERB ajst-28608 68 16 on on ADP ajst-28608 68 17 the the DET ajst-28608 68 18 newton newton PROPN ajst-28608 68 19 - - PUNCT ajst-28608 68 20 euler euler NOUN ajst-28608 68 21 equation equation NOUN ajst-28608 68 22 and and CCONJ ajst-28608 68 23 usually usually ADV ajst-28608 68 24 includes include VERB ajst-28608 68 25 the the DET ajst-28608 68 26 following follow VERB ajst-28608 68 27 : : PUNCT ajst-28608 68 28 equation equation NOUN ajst-28608 68 29 of of ADP ajst-28608 68 30 force force NOUN ajst-28608 68 31 : : PUNCT ajst-28608 68 32 the the DET ajst-28608 68 33 force force NOUN ajst-28608 68 34 of of ADP ajst-28608 68 35 uav uav PROPN ajst-28608 68 36 mainly mainly ADV ajst-28608 68 37 includes include VERB ajst-28608 68 38 gravity gravity NOUN ajst-28608 68 39 , , PUNCT ajst-28608 68 40 thrust thrust NOUN ajst-28608 68 41 and and CCONJ ajst-28608 68 42 air air NOUN ajst-28608 68 43 resistance resistance NOUN ajst-28608 68 44 . . PUNCT ajst-28608 69 1 its its PRON ajst-28608 69 2 expression expression NOUN ajst-28608 69 3 is be AUX ajst-28608 69 4 π‘š π‘š ADP ajst-28608 69 5 𝑑 𝑑 PROPN ajst-28608 69 6 𝑝 𝑝 PROPN ajst-28608 69 7 𝑑𝑑 𝑑𝑑 ADP ajst-28608 69 8 𝑇 𝑇 PROPN ajst-28608 69 9 𝐹 𝐹 PROPN ajst-28608 69 10 𝐹 𝐹 PROPN ajst-28608 69 11 among among ADP ajst-28608 69 12 them they PRON ajst-28608 69 13 : : PUNCT ajst-28608 69 14 m m VERB ajst-28608 69 15 signifies signify VERB ajst-28608 69 16 the the DET ajst-28608 69 17 mass mass NOUN ajst-28608 69 18 of of ADP ajst-28608 69 19 the the DET ajst-28608 69 20 drone drone NOUN ajst-28608 69 21 . . PUNCT ajst-28608 70 1 ; ; PUNCT ajst-28608 70 2 𝑝 𝑝 X ajst-28608 70 3 π‘₯ π‘₯ PROPN ajst-28608 70 4 , , PUNCT ajst-28608 70 5 𝑦 𝑦 NOUN ajst-28608 70 6 , , PUNCT ajst-28608 70 7 𝑧 𝑧 X ajst-28608 70 8 is be AUX ajst-28608 70 9 the the DET ajst-28608 70 10 position position NOUN ajst-28608 70 11 vector vector NOUN ajst-28608 70 12 ; ; PUNCT ajst-28608 70 13 t t PROPN ajst-28608 70 14 is be AUX ajst-28608 70 15 the the DET ajst-28608 70 16 thrust thrust ADJ ajst-28608 70 17 vector vector NOUN ajst-28608 70 18 ; ; PUNCT ajst-28608 70 19 𝐹 𝐹 PROPN ajst-28608 70 20 0,0 0,0 NOUN ajst-28608 70 21 , , PUNCT ajst-28608 70 22 π‘šπ‘” π‘šπ‘” PROPN ajst-28608 70 23 is be AUX ajst-28608 70 24 the the DET ajst-28608 70 25 gravity gravity NOUN ajst-28608 70 26 vector vector NOUN ajst-28608 70 27 ; ; PUNCT ajst-28608 70 28 𝐹 𝐹 PROPN ajst-28608 70 29 π‘˜ π‘˜ PROPN ajst-28608 70 30 stands stand VERB ajst-28608 70 31 for for ADP ajst-28608 70 32 the the DET ajst-28608 70 33 air air NOUN ajst-28608 70 34 resistance resistance NOUN ajst-28608 70 35 vector vector NOUN ajst-28608 70 36 and and CCONJ ajst-28608 70 37 π‘˜ π‘˜ PROPN ajst-28608 70 38 is be AUX ajst-28608 70 39 the the DET ajst-28608 70 40 drag drag NOUN ajst-28608 70 41 coefficient coefficient NOUN ajst-28608 70 42 . . PUNCT ajst-28608 71 1 angular angular ADJ ajst-28608 71 2 dynamic dynamic ADJ ajst-28608 71 3 equation equation NOUN ajst-28608 71 4 describes describe VERB ajst-28608 71 5 the the DET ajst-28608 71 6 rotational rotational ADJ ajst-28608 71 7 motion motion NOUN ajst-28608 71 8 of of ADP ajst-28608 71 9 the the DET ajst-28608 71 10 drone drone NOUN ajst-28608 71 11 , , PUNCT ajst-28608 71 12 given give VERB ajst-28608 71 13 by by ADP ajst-28608 71 14 the the DET ajst-28608 71 15 newton newton PROPN ajst-28608 71 16 - - PUNCT ajst-28608 71 17 euler euler NOUN ajst-28608 71 18 equation equation NOUN ajst-28608 71 19 : : PUNCT ajst-28608 71 20 𝐼 𝐼 ADP ajst-28608 71 21 π‘‘πœ” π‘‘πœ” ADP ajst-28608 71 22 𝑑𝑑 𝑑𝑑 ADP ajst-28608 71 23 πœ” πœ” PROPN ajst-28608 71 24 πΌπœ” πΌπœ” PROPN ajst-28608 71 25 𝑀 𝑀 PROPN ajst-28608 71 26 among among ADP ajst-28608 71 27 them they PRON ajst-28608 71 28 : : PUNCT ajst-28608 71 29 i i PRON ajst-28608 71 30 is be AUX ajst-28608 71 31 the the DET ajst-28608 71 32 inertia inertia NOUN ajst-28608 71 33 matrix matrix NOUN ajst-28608 71 34 ; ; PUNCT ajst-28608 71 35 πœ” πœ” PART ajst-28608 71 36 𝑝 𝑝 NOUN ajst-28608 71 37 , , PUNCT ajst-28608 71 38 π‘ž π‘ž X ajst-28608 71 39 , , PUNCT ajst-28608 71 40 π‘Ÿ π‘Ÿ PRON ajst-28608 71 41 is be AUX ajst-28608 71 42 the the DET ajst-28608 71 43 vector vector NOUN ajst-28608 71 44 representing represent VERB ajst-28608 71 45 the the DET ajst-28608 71 46 angular angular ADJ ajst-28608 71 47 velocities velocity NOUN ajst-28608 71 48 about about ADP ajst-28608 71 49 the the DET ajst-28608 71 50 π‘₯ π‘₯ PROPN ajst-28608 71 51 , , PUNCT ajst-28608 71 52 𝑦 𝑦 NOUN ajst-28608 71 53 , , PUNCT ajst-28608 71 54 𝑧 𝑧 DET ajst-28608 71 55 axes axis NOUN ajst-28608 71 56 ; ; PUNCT ajst-28608 71 57 𝑀 𝑀 PROPN ajst-28608 71 58 𝑀 𝑀 PROPN ajst-28608 71 59 , , PUNCT ajst-28608 71 60 𝑀 𝑀 PROPN ajst-28608 71 61 , , PUNCT ajst-28608 71 62 𝑀 𝑀 PROPN ajst-28608 71 63 is be AUX ajst-28608 71 64 the the DET ajst-28608 71 65 external external ADJ ajst-28608 71 66 torque torque NOUN ajst-28608 71 67 . . PUNCT ajst-28608 72 1 3 3 X ajst-28608 72 2 . . NUM ajst-28608 72 3 improved improve VERB ajst-28608 72 4 apf apf PROPN ajst-28608 72 5 method method PROPN ajst-28608 72 6 3.1 3.1 NUM ajst-28608 72 7 . . PUNCT ajst-28608 73 1 apf apf PROPN ajst-28608 73 2 method method PROPN ajst-28608 73 3 function function NOUN ajst-28608 73 4 the the DET ajst-28608 73 5 apf apf PROPN ajst-28608 73 6 method method NOUN ajst-28608 73 7 is be AUX ajst-28608 73 8 a a DET ajst-28608 73 9 widely widely ADV ajst-28608 73 10 use use NOUN ajst-28608 73 11 approach approach NOUN ajst-28608 73 12 in in ADP ajst-28608 73 13 path path NOUN ajst-28608 73 14 planning planning NOUN ajst-28608 73 15 where where SCONJ ajst-28608 73 16 the the DET ajst-28608 73 17 goal goal NOUN ajst-28608 73 18 point point NOUN ajst-28608 73 19 generates generate VERB ajst-28608 73 20 an an DET ajst-28608 73 21 attractive attractive ADJ ajst-28608 73 22 force force NOUN ajst-28608 73 23 while while SCONJ ajst-28608 73 24 obstacles obstacle NOUN ajst-28608 73 25 crate crate VERB ajst-28608 73 26 a a DET ajst-28608 73 27 repulsive repulsive ADJ ajst-28608 73 28 force force NOUN ajst-28608 73 29 . . PUNCT ajst-28608 74 1 the the DET ajst-28608 74 2 traditional traditional ADJ ajst-28608 74 3 repulsive repulsive ADJ ajst-28608 74 4 function function NOUN ajst-28608 74 5 causes cause VERB ajst-28608 74 6 the the DET ajst-28608 74 7 drone drone NOUN ajst-28608 74 8 to to PART ajst-28608 74 9 converge converge VERB ajst-28608 74 10 to to ADP ajst-28608 74 11 a a DET ajst-28608 74 12 local local ADJ ajst-28608 74 13 minimum minimum NOUN ajst-28608 74 14 in in ADP ajst-28608 74 15 some some DET ajst-28608 74 16 cases case NOUN ajst-28608 74 17 , , PUNCT ajst-28608 74 18 resulting result VERB ajst-28608 74 19 in in ADP ajst-28608 74 20 stagnation stagnation NOUN ajst-28608 74 21 . . PUNCT ajst-28608 75 1 by by ADP ajst-28608 75 2 adding add VERB ajst-28608 75 3 smooth smooth ADJ ajst-28608 75 4 transition transition NOUN ajst-28608 75 5 function function NOUN ajst-28608 75 6 to to ADP ajst-28608 75 7 the the DET ajst-28608 75 8 repulsion repulsion NOUN ajst-28608 75 9 function function NOUN ajst-28608 75 10 and and CCONJ ajst-28608 75 11 setting set VERB ajst-28608 75 12 virtual virtual ADJ ajst-28608 75 13 target target NOUN ajst-28608 75 14 point point NOUN ajst-28608 75 15 , , PUNCT ajst-28608 75 16 this this DET ajst-28608 75 17 paper paper NOUN ajst-28608 75 18 reduces reduce VERB ajst-28608 75 19 the the DET ajst-28608 75 20 problem problem NOUN ajst-28608 75 21 caused cause VERB ajst-28608 75 22 by by ADP ajst-28608 75 23 the the DET ajst-28608 75 24 rapid rapid ADJ ajst-28608 75 25 growth growth NOUN ajst-28608 75 26 of of ADP ajst-28608 75 27 repulsion repulsion NOUN ajst-28608 75 28 force force NOUN ajst-28608 75 29 and and CCONJ ajst-28608 75 30 ensures ensure VERB ajst-28608 75 31 that that SCONJ ajst-28608 75 32 the the DET ajst-28608 75 33 uav uav PROPN ajst-28608 75 34 can can AUX ajst-28608 75 35 smoothly smoothly ADV ajst-28608 75 36 circumnavigate circumnavigate VERB ajst-28608 75 37 obstacles obstacle NOUN ajst-28608 75 38 . . PUNCT ajst-28608 76 1 3.1.1 3.1.1 X ajst-28608 76 2 . . PUNCT ajst-28608 76 3 traditional traditional ADJ ajst-28608 76 4 apf apf PROPN ajst-28608 76 5 modeling model VERB ajst-28608 76 6 145 145 NUM ajst-28608 76 7 figure figure NOUN ajst-28608 76 8 4 4 NUM ajst-28608 76 9 . . PUNCT ajst-28608 76 10 traditional traditional ADJ ajst-28608 76 11 apf apf PROPN ajst-28608 76 12 diagram diagram NOUN ajst-28608 76 13 the the DET ajst-28608 76 14 traditional traditional ADJ ajst-28608 76 15 apf apf PROPN ajst-28608 76 16 method method NOUN ajst-28608 76 17 models model NOUN ajst-28608 76 18 , , PUNCT ajst-28608 76 19 the the DET ajst-28608 76 20 attraction attraction NOUN ajst-28608 76 21 of of ADP ajst-28608 76 22 the the DET ajst-28608 76 23 goal goal NOUN ajst-28608 76 24 point point NOUN ajst-28608 76 25 to to ADP ajst-28608 76 26 the the DET ajst-28608 76 27 uav uav PROPN ajst-28608 76 28 as as ADP ajst-28608 76 29 gravity gravity NOUN ajst-28608 76 30 𝐹 𝐹 PROPN ajst-28608 76 31 , , PUNCT ajst-28608 76 32 while while SCONJ ajst-28608 76 33 the the DET ajst-28608 76 34 repulsive repulsive ADJ ajst-28608 76 35 force force NOUN ajst-28608 76 36 exerted exert VERB ajst-28608 76 37 by by ADP ajst-28608 76 38 the the DET ajst-28608 76 39 obstacle obstacle NOUN ajst-28608 76 40 on on ADP ajst-28608 76 41 the the DET ajst-28608 76 42 uav uav PROPN ajst-28608 76 43 is be AUX ajst-28608 76 44 represented represent VERB ajst-28608 76 45 as as ADP ajst-28608 76 46 repulsive repulsive ADJ ajst-28608 76 47 force force NOUN ajst-28608 76 48 𝐹 𝐹 PROPN ajst-28608 76 49 . . PUNCT ajst-28608 77 1 gravitational gravitational ADJ ajst-28608 77 2 potential potential ADJ ajst-28608 77 3 field field NOUN ajst-28608 77 4 model model NOUN ajst-28608 77 5 : : PUNCT ajst-28608 77 6 𝐹 𝐹 PROPN ajst-28608 78 1 𝛼 𝛼 VERB ajst-28608 78 2 βˆ™ βˆ™ PROPN ajst-28608 78 3 π‘Ÿ π‘Ÿ NUM ajst-28608 78 4 π‘Ÿ π‘Ÿ PRON ajst-28608 78 5 π‘Ÿ π‘Ÿ X ajst-28608 78 6 π‘Ÿ π‘Ÿ NOUN ajst-28608 78 7 in in ADP ajst-28608 78 8 this this DET ajst-28608 78 9 model model NOUN ajst-28608 78 10 , , PUNCT ajst-28608 78 11 π‘Ÿ π‘Ÿ PRON ajst-28608 78 12 represents represent VERB ajst-28608 78 13 the the DET ajst-28608 78 14 location location NOUN ajst-28608 78 15 of of ADP ajst-28608 78 16 the the DET ajst-28608 78 17 drone drone NOUN ajst-28608 78 18 , , PUNCT ajst-28608 78 19 π‘Ÿ π‘Ÿ PRON ajst-28608 78 20 represents represent VERB ajst-28608 78 21 the the DET ajst-28608 78 22 location location NOUN ajst-28608 78 23 of of ADP ajst-28608 78 24 the the DET ajst-28608 78 25 goal goal NOUN ajst-28608 78 26 point point NOUN ajst-28608 78 27 , , PUNCT ajst-28608 78 28 and and CCONJ ajst-28608 78 29 𝛼 𝛼 PRON ajst-28608 78 30 indicates indicate VERB ajst-28608 78 31 the the DET ajst-28608 78 32 gravitational gravitational ADJ ajst-28608 78 33 coefficient coefficient NOUN ajst-28608 78 34 . . PUNCT ajst-28608 79 1 repulsion repulsion NOUN ajst-28608 79 2 function function NOUN ajst-28608 79 3 model model NOUN ajst-28608 79 4 : : PUNCT ajst-28608 79 5 𝐹 𝐹 PROPN ajst-28608 80 1 𝛽 𝛽 NOUN ajst-28608 80 2 1 1 NUM ajst-28608 80 3 β€–π‘Ÿ β€–π‘Ÿ NOUN ajst-28608 80 4 π‘Ÿ π‘Ÿ NOUN ajst-28608 80 5 β€– β€– PROPN ajst-28608 80 6 1 1 NUM ajst-28608 80 7 𝑑 𝑑 NOUN ajst-28608 80 8 , , PUNCT ajst-28608 80 9 π‘–π‘“β€–π‘Ÿ π‘–π‘“β€–π‘Ÿ PROPN ajst-28608 80 10 π‘Ÿ π‘Ÿ NOUN ajst-28608 80 11 β€– β€– PROPN ajst-28608 80 12 𝑑 𝑑 PROPN ajst-28608 80 13 0 0 NUM ajst-28608 80 14 , , PUNCT ajst-28608 80 15 π‘œπ‘‘β„Žπ‘’π‘Ÿπ‘€π‘–π‘ π‘’ π‘œπ‘‘β„Žπ‘’π‘Ÿπ‘€π‘–π‘ π‘’ NOUN ajst-28608 80 16 in in ADP ajst-28608 80 17 this this DET ajst-28608 80 18 model model NOUN ajst-28608 80 19 , , PUNCT ajst-28608 80 20 π‘Ÿ π‘Ÿ PRON ajst-28608 80 21 represents represent VERB ajst-28608 80 22 the the DET ajst-28608 80 23 position position NOUN ajst-28608 80 24 of of ADP ajst-28608 80 25 the the DET ajst-28608 80 26 obstacle obstacle NOUN ajst-28608 80 27 , , PUNCT ajst-28608 80 28 𝛽 𝛽 NOUN ajst-28608 80 29 stands stand VERB ajst-28608 80 30 for for ADP ajst-28608 80 31 the the DET ajst-28608 80 32 repulsion repulsion NOUN ajst-28608 80 33 coefficient coefficient NOUN ajst-28608 80 34 , , PUNCT ajst-28608 80 35 𝑑 𝑑 PROPN ajst-28608 80 36 stands stand VERB ajst-28608 80 37 for for ADP ajst-28608 80 38 the the DET ajst-28608 80 39 safe safe ADJ ajst-28608 80 40 distance distance NOUN ajst-28608 80 41 . . PUNCT ajst-28608 81 1 3.1.2 3.1.2 X ajst-28608 81 2 . . NOUN ajst-28608 81 3 improved improve VERB ajst-28608 81 4 apf apf PROPN ajst-28608 81 5 method method NOUN ajst-28608 81 6 to to PART ajst-28608 81 7 tackle tackle VERB ajst-28608 81 8 the the DET ajst-28608 81 9 local local ADJ ajst-28608 81 10 minimum minimum ADJ ajst-28608 81 11 problem problem NOUN ajst-28608 81 12 in in ADP ajst-28608 81 13 the the DET ajst-28608 81 14 traditional traditional ADJ ajst-28608 81 15 method method NOUN ajst-28608 81 16 , , PUNCT ajst-28608 81 17 an an DET ajst-28608 81 18 improved improve VERB ajst-28608 81 19 apf apf PROPN ajst-28608 81 20 method method NOUN ajst-28608 81 21 is be AUX ajst-28608 81 22 introduced introduce VERB ajst-28608 81 23 . . PUNCT ajst-28608 82 1 this this DET ajst-28608 82 2 method method NOUN ajst-28608 82 3 optimizes optimize VERB ajst-28608 82 4 path path NOUN ajst-28608 82 5 planning planning NOUN ajst-28608 82 6 by by ADP ajst-28608 82 7 setting set VERB ajst-28608 82 8 virtual virtual ADJ ajst-28608 82 9 target target NOUN ajst-28608 82 10 points point NOUN ajst-28608 82 11 and and CCONJ ajst-28608 82 12 dynamically dynamically ADV ajst-28608 82 13 adjusting adjust VERB ajst-28608 82 14 repulsive repulsive ADJ ajst-28608 82 15 field field NOUN ajst-28608 82 16 . . PUNCT ajst-28608 83 1 figure figure NOUN ajst-28608 83 2 5 5 NUM ajst-28608 83 3 . . PUNCT ajst-28608 83 4 improved improve VERB ajst-28608 83 5 apf apf PROPN ajst-28608 83 6 method method NOUN ajst-28608 83 7 for for ADP ajst-28608 83 8 path path NOUN ajst-28608 83 9 planning planning NOUN ajst-28608 83 10 improved improve VERB ajst-28608 83 11 gravitational gravitational ADJ ajst-28608 83 12 potential potential ADJ ajst-28608 83 13 field field NOUN ajst-28608 83 14 equation equation NOUN ajst-28608 83 15 model model NOUN ajst-28608 83 16 : : PUNCT ajst-28608 83 17 𝐹 𝐹 PROPN ajst-28608 83 18 ， ， PROPN ajst-28608 84 1 𝛼 𝛼 X ajst-28608 84 2 βˆ™ βˆ™ PROPN ajst-28608 84 3 π‘Ÿ π‘Ÿ NUM ajst-28608 84 4 π‘Ÿ π‘Ÿ PRON ajst-28608 84 5 π‘Ÿ π‘Ÿ NOUN ajst-28608 84 6 π‘Ÿ π‘Ÿ NOUN ajst-28608 84 7 𝛾 𝛾 ADP ajst-28608 84 8 βˆ™ βˆ™ PROPN ajst-28608 84 9 π‘Ÿ π‘Ÿ NOUN ajst-28608 84 10 π‘Ÿ π‘Ÿ NOUN ajst-28608 84 11 β€–π‘Ÿ β€–π‘Ÿ NOUN ajst-28608 84 12 π‘Ÿ π‘Ÿ X ajst-28608 84 13 β€– β€– ADJ ajst-28608 84 14 in in ADP ajst-28608 84 15 this this DET ajst-28608 84 16 model model NOUN ajst-28608 84 17 , , PUNCT ajst-28608 84 18 π‘Ÿ π‘Ÿ PRON ajst-28608 84 19 indicates indicate VERB ajst-28608 84 20 the the DET ajst-28608 84 21 virtual virtual ADJ ajst-28608 84 22 goal goal NOUN ajst-28608 84 23 point point NOUN ajst-28608 84 24 and and CCONJ ajst-28608 84 25 𝛾 𝛾 PROPN ajst-28608 84 26 is be AUX ajst-28608 84 27 the the DET ajst-28608 84 28 weight weight NOUN ajst-28608 84 29 coefficient coefficient NOUN ajst-28608 84 30 of of ADP ajst-28608 84 31 the the DET ajst-28608 84 32 virtual virtual ADJ ajst-28608 84 33 target target NOUN ajst-28608 84 34 point point NOUN ajst-28608 84 35 . . PUNCT ajst-28608 85 1 revised revise VERB ajst-28608 85 2 the the DET ajst-28608 85 3 model model NOUN ajst-28608 85 4 of of ADP ajst-28608 85 5 repulsive repulsive ADJ ajst-28608 85 6 force force NOUN ajst-28608 85 7 potential potential ADJ ajst-28608 85 8 field field NOUN ajst-28608 85 9 function function NOUN ajst-28608 85 10 : : PUNCT ajst-28608 85 11 𝐹 𝐹 PROPN ajst-28608 85 12 𝛽 𝛽 NOUN ajst-28608 85 13 1 1 NUM ajst-28608 85 14 β€–π‘Ÿ β€–π‘Ÿ NOUN ajst-28608 85 15 π‘Ÿ π‘Ÿ NOUN ajst-28608 85 16 β€– β€– PROPN ajst-28608 85 17 1 1 NUM ajst-28608 85 18 𝑑 𝑑 NOUN ajst-28608 85 19 π‘Ÿ π‘Ÿ NOUN ajst-28608 85 20 π‘Ÿ π‘Ÿ NOUN ajst-28608 85 21 β€–π‘Ÿ β€–π‘Ÿ PROPN ajst-28608 85 22 π‘Ÿ π‘Ÿ X ajst-28608 85 23 β€– β€– ADJ ajst-28608 85 24 , , PUNCT ajst-28608 85 25 π‘–π‘“β€–π‘Ÿ π‘–π‘“β€–π‘Ÿ ADJ ajst-28608 85 26 π‘Ÿ π‘Ÿ NOUN ajst-28608 85 27 β€– β€– PROPN ajst-28608 85 28 𝑑 𝑑 PROPN ajst-28608 85 29 0 0 NUM ajst-28608 85 30 , , PUNCT ajst-28608 85 31 π‘œπ‘‘β„Žπ‘’π‘Ÿπ‘€π‘–π‘ π‘’ π‘œπ‘‘β„Žπ‘’π‘Ÿπ‘€π‘–π‘ π‘’ VERB ajst-28608 85 32 146 146 NUM ajst-28608 85 33 3.2 3.2 NUM ajst-28608 85 34 . . PUNCT ajst-28608 86 1 introduction introduction NOUN ajst-28608 86 2 of of ADP ajst-28608 86 3 consistency consistency NOUN ajst-28608 86 4 control control NOUN ajst-28608 86 5 algorithm algorithm NOUN ajst-28608 86 6 the the DET ajst-28608 86 7 consistency consistency NOUN ajst-28608 86 8 control control NOUN ajst-28608 86 9 algorithm algorithm PROPN ajst-28608 86 10 plays play VERB ajst-28608 86 11 a a DET ajst-28608 86 12 key key ADJ ajst-28608 86 13 role role NOUN ajst-28608 86 14 in in ADP ajst-28608 86 15 uav uav PROPN ajst-28608 86 16 formation formation NOUN ajst-28608 86 17 control control NOUN ajst-28608 86 18 , , PUNCT ajst-28608 86 19 especially especially ADV ajst-28608 86 20 for for ADP ajst-28608 86 21 the the DET ajst-28608 86 22 speed speed NOUN ajst-28608 86 23 oscillation oscillation NOUN ajst-28608 86 24 problem problem NOUN ajst-28608 86 25 in in ADP ajst-28608 86 26 formation formation NOUN ajst-28608 86 27 flight flight NOUN ajst-28608 86 28 . . PUNCT ajst-28608 87 1 by by ADP ajst-28608 87 2 introducing introduce VERB ajst-28608 87 3 this this DET ajst-28608 87 4 algorithm algorithm NOUN ajst-28608 87 5 , , PUNCT ajst-28608 87 6 the the DET ajst-28608 87 7 cooperation cooperation NOUN ajst-28608 87 8 between between ADP ajst-28608 87 9 uavs uavs NOUN ajst-28608 87 10 can can AUX ajst-28608 87 11 be be AUX ajst-28608 87 12 enhanced enhance VERB ajst-28608 87 13 , , PUNCT ajst-28608 87 14 so so SCONJ ajst-28608 87 15 that that SCONJ ajst-28608 87 16 it it PRON ajst-28608 87 17 can can AUX ajst-28608 87 18 show show VERB ajst-28608 87 19 better well ADJ ajst-28608 87 20 stability stability NOUN ajst-28608 87 21 while while SCONJ ajst-28608 87 22 planning plan VERB ajst-28608 87 23 the the DET ajst-28608 87 24 path path NOUN ajst-28608 87 25 and and CCONJ ajst-28608 87 26 obstacle obstacle VERB ajst-28608 87 27 avoidance avoidance NOUN ajst-28608 87 28 . . PUNCT ajst-28608 88 1 specifically specifically ADV ajst-28608 88 2 , , PUNCT ajst-28608 88 3 the the DET ajst-28608 88 4 consistency consistency NOUN ajst-28608 88 5 control control NOUN ajst-28608 88 6 algorithm algorithm PROPN ajst-28608 88 7 balances balance VERB ajst-28608 88 8 the the DET ajst-28608 88 9 relative relative ADJ ajst-28608 88 10 motion motion NOUN ajst-28608 88 11 between between ADP ajst-28608 88 12 uavs uavs NOUN ajst-28608 88 13 by by ADP ajst-28608 88 14 adjusting adjust VERB ajst-28608 88 15 the the DET ajst-28608 88 16 control control NOUN ajst-28608 88 17 parameters parameter NOUN ajst-28608 88 18 to to PART ajst-28608 88 19 ensure ensure VERB ajst-28608 88 20 the the DET ajst-28608 88 21 overall overall ADJ ajst-28608 88 22 stability stability NOUN ajst-28608 88 23 of of ADP ajst-28608 88 24 the the DET ajst-28608 88 25 formation formation NOUN ajst-28608 88 26 . . PUNCT ajst-28608 89 1 set set VERB ajst-28608 89 2 the the DET ajst-28608 89 3 relative relative ADJ ajst-28608 89 4 position position NOUN ajst-28608 89 5 between between ADP ajst-28608 89 6 uavs uavs NOUN ajst-28608 89 7 as as ADP ajst-28608 89 8 π‘₯ π‘₯ NOUN ajst-28608 89 9 , , PUNCT ajst-28608 89 10 and and CCONJ ajst-28608 89 11 the the DET ajst-28608 89 12 consistency consistency NOUN ajst-28608 89 13 control control NOUN ajst-28608 89 14 law law NOUN ajst-28608 89 15 can can AUX ajst-28608 89 16 be be AUX ajst-28608 89 17 expressed express VERB ajst-28608 89 18 as as ADP ajst-28608 89 19 𝑒 𝑒 X ajst-28608 89 20 π‘˜ π‘˜ PART ajst-28608 89 21 π‘₯ π‘₯ NOUN ajst-28608 89 22 π‘₯ π‘₯ PRON ajst-28608 90 1 π‘₯βˆ— π‘₯βˆ— NOUN ajst-28608 90 2 𝑁 𝑁 PROPN ajst-28608 90 3 represents represent VERB ajst-28608 90 4 the the DET ajst-28608 90 5 set set NOUN ajst-28608 90 6 of of ADP ajst-28608 90 7 neighbors neighbor NOUN ajst-28608 90 8 of of ADP ajst-28608 90 9 the the DET ajst-28608 90 10 first first ADJ ajst-28608 90 11 drone drone NOUN ajst-28608 90 12 , , PUNCT ajst-28608 90 13 π‘˜ π‘˜ PRON ajst-28608 90 14 is be AUX ajst-28608 90 15 the the DET ajst-28608 90 16 control control NOUN ajst-28608 90 17 gain gain NOUN ajst-28608 90 18 , , PUNCT ajst-28608 90 19 and and CCONJ ajst-28608 90 20 π‘₯βˆ— π‘₯βˆ— PROPN ajst-28608 90 21 is be AUX ajst-28608 90 22 the the DET ajst-28608 90 23 expected expected ADJ ajst-28608 90 24 relative relative ADJ ajst-28608 90 25 position position NOUN ajst-28608 90 26 . . PUNCT ajst-28608 91 1 by by ADP ajst-28608 91 2 adjusting adjust VERB ajst-28608 91 3 the the DET ajst-28608 91 4 control control NOUN ajst-28608 91 5 gain gain VERB ajst-28608 91 6 π‘˜ π‘˜ ADP ajst-28608 91 7 , , PUNCT ajst-28608 91 8 the the DET ajst-28608 91 9 algorithm algorithm NOUN ajst-28608 91 10 can can AUX ajst-28608 91 11 effectively effectively ADV ajst-28608 91 12 reduce reduce VERB ajst-28608 91 13 the the DET ajst-28608 91 14 oscillation oscillation NOUN ajst-28608 91 15 amplitude amplitude NOUN ajst-28608 91 16 of of ADP ajst-28608 91 17 the the DET ajst-28608 91 18 speed speed NOUN ajst-28608 91 19 in in ADP ajst-28608 91 20 the the DET ajst-28608 91 21 course course NOUN ajst-28608 91 22 of of ADP ajst-28608 91 23 obstacle obstacle NOUN ajst-28608 91 24 avoidance avoidance NOUN ajst-28608 91 25 , , PUNCT ajst-28608 91 26 and and CCONJ ajst-28608 91 27 maintain maintain VERB ajst-28608 91 28 the the DET ajst-28608 91 29 compact compact ADJ ajst-28608 91 30 formation formation NOUN ajst-28608 91 31 and and CCONJ ajst-28608 91 32 flight flight NOUN ajst-28608 91 33 stability stability NOUN ajst-28608 91 34 . . PUNCT ajst-28608 92 1 4 4 X ajst-28608 92 2 . . X ajst-28608 92 3 pid pid NOUN ajst-28608 92 4 control control NOUN ajst-28608 92 5 and and CCONJ ajst-28608 92 6 simulation simulation NOUN ajst-28608 92 7 4.1 4.1 NUM ajst-28608 92 8 . . PUNCT ajst-28608 93 1 pid pid NOUN ajst-28608 93 2 control control NOUN ajst-28608 93 3 to to PART ajst-28608 93 4 validate validate VERB ajst-28608 93 5 the the DET ajst-28608 93 6 effectiveness effectiveness NOUN ajst-28608 93 7 of of ADP ajst-28608 93 8 the the DET ajst-28608 93 9 effectiveness effectiveness NOUN ajst-28608 93 10 of of ADP ajst-28608 93 11 the the DET ajst-28608 93 12 consistency consistency NOUN ajst-28608 93 13 control control NOUN ajst-28608 93 14 algorithm algorithm NOUN ajst-28608 93 15 and and CCONJ ajst-28608 93 16 the the DET ajst-28608 93 17 enhanced enhance VERB ajst-28608 93 18 apf apf PROPN ajst-28608 93 19 method method NOUN ajst-28608 93 20 , , PUNCT ajst-28608 93 21 pid pid NOUN ajst-28608 93 22 controller controller NOUN ajst-28608 93 23 is be AUX ajst-28608 93 24 utilized utilize VERB ajst-28608 93 25 to to PART ajst-28608 93 26 precisely precisely ADV ajst-28608 93 27 adjust adjust VERB ajst-28608 93 28 the the DET ajst-28608 93 29 motion motion NOUN ajst-28608 93 30 of of ADP ajst-28608 93 31 uav uav PROPN ajst-28608 93 32 . . PUNCT ajst-28608 94 1 the the DET ajst-28608 94 2 introduction introduction NOUN ajst-28608 94 3 of of ADP ajst-28608 94 4 the the DET ajst-28608 94 5 pid pid NOUN ajst-28608 94 6 controller controller NOUN ajst-28608 94 7 enables enable VERB ajst-28608 94 8 each each DET ajst-28608 94 9 uav uav PROPN ajst-28608 94 10 to to PART ajst-28608 94 11 maintain maintain VERB ajst-28608 94 12 a a DET ajst-28608 94 13 smooth smooth ADJ ajst-28608 94 14 flight flight NOUN ajst-28608 94 15 while while SCONJ ajst-28608 94 16 tracking track VERB ajst-28608 94 17 the the DET ajst-28608 94 18 target target NOUN ajst-28608 94 19 point point NOUN ajst-28608 94 20 , , PUNCT ajst-28608 94 21 avoiding avoid VERB ajst-28608 94 22 overresponse overresponse NOUN ajst-28608 94 23 or or CCONJ ajst-28608 94 24 lag lag VERB ajst-28608 94 25 problems problem NOUN ajst-28608 94 26 . . PUNCT ajst-28608 95 1 the the DET ajst-28608 95 2 pid pid PROPN ajst-28608 95 3 control control NOUN ajst-28608 95 4 model model NOUN ajst-28608 95 5 is be AUX ajst-28608 95 6 as as SCONJ ajst-28608 95 7 follows follow VERB ajst-28608 95 8 : : PUNCT ajst-28608 95 9 𝑒 𝑒 X ajst-28608 95 10 𝑑 𝑑 X ajst-28608 95 11 π‘˜ π‘˜ PROPN ajst-28608 95 12 𝑒 𝑒 X ajst-28608 95 13 𝑑 𝑑 NOUN ajst-28608 95 14 𝐾 𝐾 PROPN ajst-28608 95 15 𝑒 𝑒 PROPN ajst-28608 95 16 𝑑 𝑑 PROPN ajst-28608 95 17 𝑑𝑑 𝑑𝑑 ADP ajst-28608 95 18 𝐾 𝐾 PROPN ajst-28608 95 19 𝑑𝑒 𝑑𝑒 PROPN ajst-28608 95 20 𝑑 𝑑 PROPN ajst-28608 95 21 𝑑𝑑 𝑑𝑑 ADP ajst-28608 95 22 𝑒 𝑒 NOUN ajst-28608 95 23 𝑑 𝑑 PROPN ajst-28608 95 24 denotes denote VERB ajst-28608 95 25 the the DET ajst-28608 95 26 output output NOUN ajst-28608 95 27 of of ADP ajst-28608 95 28 the the DET ajst-28608 95 29 pid pid NOUN ajst-28608 95 30 controller controller NOUN ajst-28608 95 31 , , PUNCT ajst-28608 95 32 and and CCONJ ajst-28608 95 33 𝑒 𝑒 PROPN ajst-28608 95 34 𝑑 𝑑 PROPN ajst-28608 95 35 is be AUX ajst-28608 95 36 the the DET ajst-28608 95 37 error error NOUN ajst-28608 95 38 term term NOUN ajst-28608 95 39 , , PUNCT ajst-28608 95 40 indicating indicate VERB ajst-28608 95 41 the the DET ajst-28608 95 42 gap gap NOUN ajst-28608 95 43 relative relative ADJ ajst-28608 95 44 to to ADP ajst-28608 95 45 the the DET ajst-28608 95 46 uav uav PROPN ajst-28608 95 47 's 's PART ajst-28608 95 48 current current ADJ ajst-28608 95 49 position position NOUN ajst-28608 95 50 and and CCONJ ajst-28608 95 51 the the DET ajst-28608 95 52 expected expect VERB ajst-28608 95 53 position position NOUN ajst-28608 95 54 . . PUNCT ajst-28608 96 1 π‘˜ π‘˜ INTJ ajst-28608 96 2 , , PUNCT ajst-28608 96 3 π‘˜ π‘˜ X ajst-28608 96 4 , , PUNCT ajst-28608 96 5 and and CCONJ ajst-28608 96 6 π‘˜ π‘˜ PROPN ajst-28608 96 7 are be AUX ajst-28608 96 8 proportional proportional ADJ ajst-28608 96 9 , , PUNCT ajst-28608 96 10 integral integral ADJ ajst-28608 96 11 , , PUNCT ajst-28608 96 12 and and CCONJ ajst-28608 96 13 differential differential ADJ ajst-28608 96 14 gains gain NOUN ajst-28608 96 15 , , PUNCT ajst-28608 96 16 respectively respectively ADV ajst-28608 96 17 , , PUNCT ajst-28608 96 18 through through ADP ajst-28608 96 19 which which PRON ajst-28608 96 20 the the DET ajst-28608 96 21 controller controller NOUN ajst-28608 96 22 adjusts adjust VERB ajst-28608 96 23 the the DET ajst-28608 96 24 speed speed NOUN ajst-28608 96 25 and and CCONJ ajst-28608 96 26 direction direction NOUN ajst-28608 96 27 of of ADP ajst-28608 96 28 the the DET ajst-28608 96 29 uav uav PROPN ajst-28608 96 30 to to PART ajst-28608 96 31 accomplish accomplish VERB ajst-28608 96 32 precise precise ADJ ajst-28608 96 33 path path NOUN ajst-28608 96 34 tracking tracking NOUN ajst-28608 96 35 and and CCONJ ajst-28608 96 36 attitude attitude NOUN ajst-28608 96 37 control control NOUN ajst-28608 96 38 . . PUNCT ajst-28608 97 1 in in ADP ajst-28608 97 2 the the DET ajst-28608 97 3 simulation simulation NOUN ajst-28608 97 4 , , PUNCT ajst-28608 97 5 by by ADP ajst-28608 97 6 adjusting adjust VERB ajst-28608 97 7 pid pid NOUN ajst-28608 97 8 parameters parameter NOUN ajst-28608 97 9 , , PUNCT ajst-28608 97 10 the the DET ajst-28608 97 11 system system NOUN ajst-28608 97 12 response response NOUN ajst-28608 97 13 characteristics characteristic NOUN ajst-28608 97 14 can can AUX ajst-28608 97 15 be be AUX ajst-28608 97 16 further far ADV ajst-28608 97 17 optimized optimize VERB ajst-28608 97 18 , , PUNCT ajst-28608 97 19 so so SCONJ ajst-28608 97 20 that that SCONJ ajst-28608 97 21 the the DET ajst-28608 97 22 uav uav PROPN ajst-28608 97 23 formation formation NOUN ajst-28608 97 24 can can AUX ajst-28608 97 25 still still ADV ajst-28608 97 26 maintain maintain VERB ajst-28608 97 27 a a DET ajst-28608 97 28 stable stable ADJ ajst-28608 97 29 flight flight NOUN ajst-28608 97 30 state state NOUN ajst-28608 97 31 in in ADP ajst-28608 97 32 a a DET ajst-28608 97 33 complex complex ADJ ajst-28608 97 34 environment environment NOUN ajst-28608 97 35 . . PUNCT ajst-28608 98 1 specifically specifically ADV ajst-28608 98 2 , , PUNCT ajst-28608 98 3 the the DET ajst-28608 98 4 appropriate appropriate ADJ ajst-28608 98 5 proportional proportional ADJ ajst-28608 98 6 gain gain NOUN ajst-28608 98 7 π‘˜ π‘˜ PRON ajst-28608 98 8 can can AUX ajst-28608 98 9 respond respond VERB ajst-28608 98 10 to to ADP ajst-28608 98 11 the the DET ajst-28608 98 12 attitude attitude NOUN ajst-28608 98 13 deviation deviation NOUN ajst-28608 98 14 quickly quickly ADV ajst-28608 98 15 , , PUNCT ajst-28608 98 16 the the DET ajst-28608 98 17 integral integral ADJ ajst-28608 98 18 gain gain NOUN ajst-28608 98 19 π‘˜ π‘˜ PRON ajst-28608 98 20 can can AUX ajst-28608 98 21 eliminate eliminate VERB ajst-28608 98 22 the the DET ajst-28608 98 23 steady steady ADJ ajst-28608 98 24 - - PUNCT ajst-28608 98 25 state state NOUN ajst-28608 98 26 error error NOUN ajst-28608 98 27 , , PUNCT ajst-28608 98 28 and and CCONJ ajst-28608 98 29 the the DET ajst-28608 98 30 differential differential ADJ ajst-28608 98 31 gain gain NOUN ajst-28608 98 32 π‘˜ π‘˜ PRON ajst-28608 98 33 can can AUX ajst-28608 98 34 restrain restrain VERB ajst-28608 98 35 the the DET ajst-28608 98 36 rapid rapid ADJ ajst-28608 98 37 change change NOUN ajst-28608 98 38 of of ADP ajst-28608 98 39 error error NOUN ajst-28608 98 40 and and CCONJ ajst-28608 98 41 reduce reduce VERB ajst-28608 98 42 the the DET ajst-28608 98 43 phenomenon phenomenon NOUN ajst-28608 98 44 of of ADP ajst-28608 98 45 overharmonic overharmonic ADJ ajst-28608 98 46 oscillation oscillation NOUN ajst-28608 98 47 . . PUNCT ajst-28608 99 1 combined combine VERB ajst-28608 99 2 with with ADP ajst-28608 99 3 the the DET ajst-28608 99 4 consistent consistent ADJ ajst-28608 99 5 control control NOUN ajst-28608 99 6 algorithm algorithm NOUN ajst-28608 99 7 , , PUNCT ajst-28608 99 8 pid pid NOUN ajst-28608 99 9 controller controller NOUN ajst-28608 99 10 can can AUX ajst-28608 99 11 better well ADV ajst-28608 99 12 coordinate coordinate VERB ajst-28608 99 13 the the DET ajst-28608 99 14 motion motion NOUN ajst-28608 99 15 of of ADP ajst-28608 99 16 uav uav PROPN ajst-28608 99 17 and and CCONJ ajst-28608 99 18 improve improve VERB ajst-28608 99 19 the the DET ajst-28608 99 20 stability stability NOUN ajst-28608 99 21 and and CCONJ ajst-28608 99 22 obstacle obstacle NOUN ajst-28608 99 23 avoidance avoidance NOUN ajst-28608 99 24 ability ability NOUN ajst-28608 99 25 of of ADP ajst-28608 99 26 the the DET ajst-28608 99 27 whole whole ADJ ajst-28608 99 28 formation formation NOUN ajst-28608 99 29 . . PUNCT ajst-28608 100 1 4.2 4.2 NUM ajst-28608 100 2 . . PUNCT ajst-28608 100 3 simulation simulation NOUN ajst-28608 100 4 result result VERB ajst-28608 100 5 the the DET ajst-28608 100 6 enhanced enhance VERB ajst-28608 100 7 apf apf PROPN ajst-28608 100 8 method method NOUN ajst-28608 100 9 is be AUX ajst-28608 100 10 simulated simulate VERB ajst-28608 100 11 within within ADP ajst-28608 100 12 the the DET ajst-28608 100 13 matlab matlab PROPN ajst-28608 100 14 environment environment NOUN ajst-28608 100 15 . . PUNCT ajst-28608 101 1 it it PRON ajst-28608 101 2 is be AUX ajst-28608 101 3 assumed assume VERB ajst-28608 101 4 that that SCONJ ajst-28608 101 5 the the DET ajst-28608 101 6 uav uav PROPN ajst-28608 101 7 operates operate VERB ajst-28608 101 8 in in ADP ajst-28608 101 9 a a DET ajst-28608 101 10 dynamic dynamic ADJ ajst-28608 101 11 environment environment NOUN ajst-28608 101 12 , , PUNCT ajst-28608 101 13 and and CCONJ ajst-28608 101 14 both both CCONJ ajst-28608 101 15 the the DET ajst-28608 101 16 goal goal NOUN ajst-28608 101 17 point point NOUN ajst-28608 101 18 and and CCONJ ajst-28608 101 19 the the DET ajst-28608 101 20 barrier barrier NOUN ajst-28608 101 21 move move VERB ajst-28608 101 22 at at ADP ajst-28608 101 23 a a DET ajst-28608 101 24 constant constant ADJ ajst-28608 101 25 speed speed NOUN ajst-28608 101 26 . . PUNCT ajst-28608 102 1 set set VERB ajst-28608 102 2 parameters parameter NOUN ajst-28608 102 3 as as SCONJ ajst-28608 102 4 follows follow VERB ajst-28608 102 5 : : PUNCT ajst-28608 102 6 drone drone NOUN ajst-28608 102 7 speed speed NOUN ajst-28608 102 8 is be AUX ajst-28608 102 9 𝑣 𝑣 PRON ajst-28608 102 10 0.2 0.2 NUM ajst-28608 102 11 m m NOUN ajst-28608 102 12 / / SYM ajst-28608 102 13 s s PROPN ajst-28608 102 14 , , PUNCT ajst-28608 102 15 drone drone NOUN ajst-28608 102 16 mass mass NOUN ajst-28608 102 17 is be AUX ajst-28608 102 18 π‘š π‘š ADP ajst-28608 102 19 2.5 2.5 NUM ajst-28608 102 20 kg kg NOUN ajst-28608 102 21 , , PUNCT ajst-28608 102 22 target target NOUN ajst-28608 102 23 point point NOUN ajst-28608 102 24 mass mass NOUN ajst-28608 102 25 is be AUX ajst-28608 102 26 π‘š π‘š PROPN ajst-28608 102 27 2.5𝑙𝑔 2.5𝑙𝑔 NUM ajst-28608 102 28 , , PUNCT ajst-28608 102 29 obstacle obstacle NOUN ajst-28608 102 30 mass mass PROPN ajst-28608 102 31 is be AUX ajst-28608 102 32 π‘š π‘š ADP ajst-28608 102 33 0.5𝑙𝑔 0.5𝑙𝑔 PROPN ajst-28608 102 34 , , PUNCT ajst-28608 102 35 gravitational gravitational ADJ ajst-28608 102 36 coefficient coefficient NOUN ajst-28608 102 37 is be AUX ajst-28608 102 38 𝛼 𝛼 X ajst-28608 102 39 15 15 NUM ajst-28608 102 40 , , PUNCT ajst-28608 102 41 repulsion repulsion NOUN ajst-28608 102 42 coefficient coefficient NOUN ajst-28608 102 43 is be AUX ajst-28608 102 44 𝛽 𝛽 NOUN ajst-28608 102 45 15 15 NUM ajst-28608 102 46 , , PUNCT ajst-28608 102 47 and and CCONJ ajst-28608 102 48 pid pid NOUN ajst-28608 102 49 controller controller NOUN ajst-28608 102 50 parameter parameter NOUN ajst-28608 102 51 is be AUX ajst-28608 102 52 𝐾 𝐾 PROPN ajst-28608 102 53 5 5 NUM ajst-28608 102 54 , , PUNCT ajst-28608 102 55 𝐾 𝐾 PROPN ajst-28608 102 56 0.1 0.1 NUM ajst-28608 102 57 , , PUNCT ajst-28608 102 58 𝐾 𝐾 PROPN ajst-28608 102 59 0.5 0.5 NUM ajst-28608 102 60 . . PUNCT ajst-28608 103 1 under under ADP ajst-28608 103 2 the the DET ajst-28608 103 3 same same ADJ ajst-28608 103 4 operating operating NOUN ajst-28608 103 5 environment environment NOUN ajst-28608 103 6 , , PUNCT ajst-28608 103 7 both both CCONJ ajst-28608 103 8 the the DET ajst-28608 103 9 traditional traditional ADJ ajst-28608 103 10 and and CCONJ ajst-28608 103 11 the the DET ajst-28608 103 12 improved improve VERB ajst-28608 103 13 apf apf PROPN ajst-28608 103 14 methods method NOUN ajst-28608 103 15 are be AUX ajst-28608 103 16 simulated simulate VERB ajst-28608 103 17 and and CCONJ ajst-28608 103 18 verified verify VERB ajst-28608 103 19 independently independently ADV ajst-28608 103 20 . . PUNCT ajst-28608 104 1 set set VERB ajst-28608 104 2 the the DET ajst-28608 104 3 starting starting NOUN ajst-28608 104 4 point point NOUN ajst-28608 104 5 of of ADP ajst-28608 104 6 drone drone NOUN ajst-28608 104 7 for for ADP ajst-28608 104 8 ( ( PUNCT ajst-28608 104 9 1 1 NUM ajst-28608 104 10 , , PUNCT ajst-28608 104 11 1 1 NUM ajst-28608 104 12 ) ) PUNCT ajst-28608 104 13 , , PUNCT ajst-28608 104 14 target target NOUN ajst-28608 104 15 ( ( PUNCT ajst-28608 104 16 10 10 NUM ajst-28608 104 17 , , PUNCT ajst-28608 104 18 10 10 NUM ajst-28608 104 19 ) ) PUNCT ajst-28608 104 20 , , PUNCT ajst-28608 104 21 the the DET ajst-28608 104 22 location location NOUN ajst-28608 104 23 of of ADP ajst-28608 104 24 the the DET ajst-28608 104 25 obstruction obstruction NOUN ajst-28608 104 26 , , PUNCT ajst-28608 104 27 respectively respectively ADV ajst-28608 104 28 ( ( PUNCT ajst-28608 104 29 5.2 5.2 NUM ajst-28608 104 30 8) 8) NUM ajst-28608 104 31 , , PUNCT ajst-28608 104 32 ( ( PUNCT ajst-28608 104 33 3 3 NUM ajst-28608 104 34 , , PUNCT ajst-28608 104 35 6 6 NUM ajst-28608 104 36 ) ) PUNCT ajst-28608 104 37 , , PUNCT ajst-28608 104 38 ( ( PUNCT ajst-28608 104 39 3.5 3.5 NUM ajst-28608 104 40 8) 8) NUM ajst-28608 104 41 , , PUNCT ajst-28608 104 42 ( ( PUNCT ajst-28608 104 43 6 6 NUM ajst-28608 104 44 , , PUNCT ajst-28608 104 45 2 2 NUM ajst-28608 104 46 ) ) PUNCT ajst-28608 104 47 , , PUNCT ajst-28608 104 48 ( ( PUNCT ajst-28608 104 49 6 6 NUM ajst-28608 104 50 , , PUNCT ajst-28608 104 51 3 3 NUM ajst-28608 104 52 ) ) PUNCT ajst-28608 104 53 and and CCONJ ajst-28608 104 54 ( ( PUNCT ajst-28608 104 55 10 10 NUM ajst-28608 104 56 , , PUNCT ajst-28608 104 57 5 5 NUM ajst-28608 104 58 ) ) PUNCT ajst-28608 104 59 . . PUNCT ajst-28608 105 1 figure figure VERB ajst-28608 105 2 6 6 NUM ajst-28608 105 3 . . PUNCT ajst-28608 105 4 comparison comparison NOUN ajst-28608 105 5 diagram diagram NOUN ajst-28608 105 6 of of ADP ajst-28608 105 7 path path NOUN ajst-28608 105 8 planning plan VERB ajst-28608 105 9 147 147 NUM ajst-28608 105 10 from from ADP ajst-28608 105 11 the the DET ajst-28608 105 12 simulation simulation NOUN ajst-28608 105 13 results result NOUN ajst-28608 105 14 , , PUNCT ajst-28608 105 15 it it PRON ajst-28608 105 16 is be AUX ajst-28608 105 17 evident evident ADJ ajst-28608 105 18 that that SCONJ ajst-28608 105 19 the the DET ajst-28608 105 20 traditional traditional ADJ ajst-28608 105 21 apf apf PROPN ajst-28608 105 22 method method NOUN ajst-28608 105 23 is be AUX ajst-28608 105 24 easy easy ADJ ajst-28608 105 25 to to PART ajst-28608 105 26 be be AUX ajst-28608 105 27 affected affect VERB ajst-28608 105 28 by by ADP ajst-28608 105 29 obstacles obstacle NOUN ajst-28608 105 30 in in ADP ajst-28608 105 31 the the DET ajst-28608 105 32 path path NOUN ajst-28608 105 33 planning planning NOUN ajst-28608 105 34 process process NOUN ajst-28608 105 35 , , PUNCT ajst-28608 105 36 especially especially ADV ajst-28608 105 37 when when SCONJ ajst-28608 105 38 obstacles obstacle NOUN ajst-28608 105 39 are be AUX ajst-28608 105 40 dense dense ADJ ajst-28608 105 41 or or CCONJ ajst-28608 105 42 close close ADJ ajst-28608 105 43 to to ADP ajst-28608 105 44 the the DET ajst-28608 105 45 goal goal NOUN ajst-28608 105 46 point point NOUN ajst-28608 105 47 , , PUNCT ajst-28608 105 48 the the DET ajst-28608 105 49 path path NOUN ajst-28608 105 50 will will AUX ajst-28608 105 51 show show VERB ajst-28608 105 52 oscillatory oscillatory ADJ ajst-28608 105 53 behavior behavior NOUN ajst-28608 105 54 , , PUNCT ajst-28608 105 55 resulting result VERB ajst-28608 105 56 in in ADP ajst-28608 105 57 the the DET ajst-28608 105 58 final final ADJ ajst-28608 105 59 path path NOUN ajst-28608 105 60 instability instability NOUN ajst-28608 105 61 and and CCONJ ajst-28608 105 62 more more ADJ ajst-28608 105 63 detour detour NOUN ajst-28608 105 64 . . PUNCT ajst-28608 106 1 the the DET ajst-28608 106 2 enhanced enhance VERB ajst-28608 106 3 apf apf PROPN ajst-28608 106 4 method method NOUN ajst-28608 106 5 solves solve VERB ajst-28608 106 6 the the DET ajst-28608 106 7 problem problem NOUN ajst-28608 106 8 of of ADP ajst-28608 106 9 path path NOUN ajst-28608 106 10 oscillation oscillation NOUN ajst-28608 106 11 effectively effectively ADV ajst-28608 106 12 by by ADP ajst-28608 106 13 adjusting adjust VERB ajst-28608 106 14 the the DET ajst-28608 106 15 definition definition NOUN ajst-28608 106 16 of of ADP ajst-28608 106 17 potential potential ADJ ajst-28608 106 18 field field NOUN ajst-28608 106 19 or or CCONJ ajst-28608 106 20 introducing introduce VERB ajst-28608 106 21 a a DET ajst-28608 106 22 new new ADJ ajst-28608 106 23 barrier barrier NOUN ajst-28608 106 24 avoidance avoidance NOUN ajst-28608 106 25 strategy strategy NOUN ajst-28608 106 26 , , PUNCT ajst-28608 106 27 to to PART ajst-28608 106 28 enable enable VERB ajst-28608 106 29 the the DET ajst-28608 106 30 uav uav PROPN ajst-28608 106 31 to to PART ajst-28608 106 32 avoid avoid VERB ajst-28608 106 33 obstacles obstacle NOUN ajst-28608 106 34 more more ADV ajst-28608 106 35 smoothly smoothly ADV ajst-28608 106 36 while while SCONJ ajst-28608 106 37 sustaining sustain VERB ajst-28608 106 38 the the DET ajst-28608 106 39 direction direction NOUN ajst-28608 106 40 toward toward ADP ajst-28608 106 41 the the DET ajst-28608 106 42 target target NOUN ajst-28608 106 43 point point NOUN ajst-28608 106 44 . . PUNCT ajst-28608 107 1 compared compare VERB ajst-28608 107 2 with with ADP ajst-28608 107 3 the the DET ajst-28608 107 4 traditional traditional ADJ ajst-28608 107 5 method method NOUN ajst-28608 107 6 , , PUNCT ajst-28608 107 7 the the DET ajst-28608 107 8 improved improved ADJ ajst-28608 107 9 algorithm algorithm NOUN ajst-28608 107 10 is be AUX ajst-28608 107 11 safer safe ADJ ajst-28608 107 12 and and CCONJ ajst-28608 107 13 more more ADV ajst-28608 107 14 reliable reliable ADJ ajst-28608 107 15 while while SCONJ ajst-28608 107 16 maintaining maintain VERB ajst-28608 107 17 a a DET ajst-28608 107 18 shorter short ADJ ajst-28608 107 19 path path NOUN ajst-28608 107 20 , , PUNCT ajst-28608 107 21 avoiding avoid VERB ajst-28608 107 22 the the DET ajst-28608 107 23 possible possible ADJ ajst-28608 107 24 " " PUNCT ajst-28608 107 25 local local ADJ ajst-28608 107 26 minimum minimum NOUN ajst-28608 107 27 " " PUNCT ajst-28608 107 28 trap trap NOUN ajst-28608 107 29 phenomenon phenomenon NOUN ajst-28608 107 30 . . PUNCT ajst-28608 108 1 the the DET ajst-28608 108 2 enhanced enhance VERB ajst-28608 108 3 method method NOUN ajst-28608 108 4 outperforms outperform VERB ajst-28608 108 5 the the DET ajst-28608 108 6 traditional traditional ADJ ajst-28608 108 7 method method NOUN ajst-28608 108 8 significantly significantly ADV ajst-28608 108 9 in in ADP ajst-28608 108 10 obstacle obstacle NOUN ajst-28608 108 11 avoidance avoidance NOUN ajst-28608 108 12 , , PUNCT ajst-28608 108 13 path path NOUN ajst-28608 108 14 smoothness smoothness NOUN ajst-28608 108 15 and and CCONJ ajst-28608 108 16 computational computational ADJ ajst-28608 108 17 efficiency efficiency NOUN ajst-28608 108 18 , , PUNCT ajst-28608 108 19 especially especially ADV ajst-28608 108 20 in in ADP ajst-28608 108 21 intricate intricate ADJ ajst-28608 108 22 environments environment NOUN ajst-28608 108 23 , , PUNCT ajst-28608 108 24 the the DET ajst-28608 108 25 uav uav PROPN ajst-28608 108 26 can can AUX ajst-28608 108 27 swiftly swiftly ADV ajst-28608 108 28 plan plan VERB ajst-28608 108 29 a a DET ajst-28608 108 30 path path NOUN ajst-28608 108 31 to to PART ajst-28608 108 32 evade evade VERB ajst-28608 108 33 obstacles obstacle NOUN ajst-28608 108 34 and and CCONJ ajst-28608 108 35 arrive arrive VERB ajst-28608 108 36 at at ADP ajst-28608 108 37 the the DET ajst-28608 108 38 goal goal NOUN ajst-28608 108 39 point point NOUN ajst-28608 108 40 . . PUNCT ajst-28608 109 1 this this PRON ajst-28608 109 2 demonstrates demonstrate VERB ajst-28608 109 3 that that SCONJ ajst-28608 109 4 the the DET ajst-28608 109 5 improved improve VERB ajst-28608 109 6 apf apf PROPN ajst-28608 109 7 method method NOUN ajst-28608 109 8 has have VERB ajst-28608 109 9 great great ADJ ajst-28608 109 10 application application NOUN ajst-28608 109 11 potential potential ADJ ajst-28608 109 12 and and CCONJ ajst-28608 109 13 practical practical ADJ ajst-28608 109 14 value value NOUN ajst-28608 109 15 in in ADP ajst-28608 109 16 the the DET ajst-28608 109 17 actual actual ADJ ajst-28608 109 18 application application NOUN ajst-28608 109 19 scenarios scenario NOUN ajst-28608 109 20 such such ADJ ajst-28608 109 21 as as ADP ajst-28608 109 22 hydrological hydrological ADJ ajst-28608 109 23 monitoring monitoring NOUN ajst-28608 109 24 . . PUNCT ajst-28608 110 1 5 5 X ajst-28608 110 2 . . X ajst-28608 110 3 conclusions conclusion NOUN ajst-28608 110 4 this this DET ajst-28608 110 5 paper paper NOUN ajst-28608 110 6 investigates investigate VERB ajst-28608 110 7 the the DET ajst-28608 110 8 uav uav PROPN ajst-28608 110 9 formation formation NOUN ajst-28608 110 10 control control NOUN ajst-28608 110 11 method method NOUN ajst-28608 110 12 utilizing utilize VERB ajst-28608 110 13 an an DET ajst-28608 110 14 enhanced enhanced ADJ ajst-28608 110 15 apf apf PROPN ajst-28608 110 16 method method NOUN ajst-28608 110 17 and and CCONJ ajst-28608 110 18 consistency consistency NOUN ajst-28608 110 19 control control NOUN ajst-28608 110 20 algorithm algorithm NOUN ajst-28608 110 21 , , PUNCT ajst-28608 110 22 and and CCONJ ajst-28608 110 23 applies apply VERB ajst-28608 110 24 it it PRON ajst-28608 110 25 to to ADP ajst-28608 110 26 the the DET ajst-28608 110 27 simulation simulation NOUN ajst-28608 110 28 research research NOUN ajst-28608 110 29 in in ADP ajst-28608 110 30 the the DET ajst-28608 110 31 field field NOUN ajst-28608 110 32 of of ADP ajst-28608 110 33 hydrological hydrological ADJ ajst-28608 110 34 monitoring monitoring NOUN ajst-28608 110 35 . . PUNCT ajst-28608 111 1 using use VERB ajst-28608 111 2 the the DET ajst-28608 111 3 conventional conventional ADJ ajst-28608 111 4 path path NOUN ajst-28608 111 5 planning planning NOUN ajst-28608 111 6 method method NOUN ajst-28608 111 7 , , PUNCT ajst-28608 111 8 the the DET ajst-28608 111 9 repulsive repulsive ADJ ajst-28608 111 10 force force NOUN ajst-28608 111 11 function function VERB ajst-28608 111 12 with with ADP ajst-28608 111 13 smooth smooth ADJ ajst-28608 111 14 transition transition NOUN ajst-28608 111 15 and and CCONJ ajst-28608 111 16 the the DET ajst-28608 111 17 virtual virtual ADJ ajst-28608 111 18 target target NOUN ajst-28608 111 19 point point NOUN ajst-28608 111 20 are be AUX ajst-28608 111 21 introduced introduce VERB ajst-28608 111 22 , , PUNCT ajst-28608 111 23 which which PRON ajst-28608 111 24 successfully successfully ADV ajst-28608 111 25 mitigates mitigate VERB ajst-28608 111 26 the the DET ajst-28608 111 27 local local ADJ ajst-28608 111 28 minimum minimum ADJ ajst-28608 111 29 difficulty difficulty NOUN ajst-28608 111 30 and and CCONJ ajst-28608 111 31 enhances enhance VERB ajst-28608 111 32 the the DET ajst-28608 111 33 uav uav PROPN ajst-28608 111 34 's 's PART ajst-28608 111 35 ability ability NOUN ajst-28608 111 36 to to PART ajst-28608 111 37 smoothly smoothly ADV ajst-28608 111 38 avoid avoid VERB ajst-28608 111 39 obstacles obstacle NOUN ajst-28608 111 40 . . PUNCT ajst-28608 112 1 concurrently concurrently ADV ajst-28608 112 2 , , PUNCT ajst-28608 112 3 along along ADP ajst-28608 112 4 with with ADP ajst-28608 112 5 the the DET ajst-28608 112 6 consistency consistency NOUN ajst-28608 112 7 control control NOUN ajst-28608 112 8 algorithm algorithm NOUN ajst-28608 112 9 , , PUNCT ajst-28608 112 10 the the DET ajst-28608 112 11 possible possible ADJ ajst-28608 112 12 speed speed NOUN ajst-28608 112 13 oscillation oscillation NOUN ajst-28608 112 14 in in ADP ajst-28608 112 15 the the DET ajst-28608 112 16 obstacle obstacle NOUN ajst-28608 112 17 avoidance avoidance NOUN ajst-28608 112 18 process process NOUN ajst-28608 112 19 is be AUX ajst-28608 112 20 effectively effectively ADV ajst-28608 112 21 slowed slow VERB ajst-28608 112 22 down down ADP ajst-28608 112 23 , , PUNCT ajst-28608 112 24 and and CCONJ ajst-28608 112 25 the the DET ajst-28608 112 26 steadiness steadiness NOUN ajst-28608 112 27 of of ADP ajst-28608 112 28 the the DET ajst-28608 112 29 uav uav PROPN ajst-28608 112 30 formation formation NOUN ajst-28608 112 31 is be AUX ajst-28608 112 32 further far ADV ajst-28608 112 33 improved improve VERB ajst-28608 112 34 . . PUNCT ajst-28608 113 1 the the DET ajst-28608 113 2 simulation simulation NOUN ajst-28608 113 3 outcomes outcome NOUN ajst-28608 113 4 indicate indicate VERB ajst-28608 113 5 that that SCONJ ajst-28608 113 6 the the DET ajst-28608 113 7 enhanced enhance VERB ajst-28608 113 8 technique technique NOUN ajst-28608 113 9 exhibits exhibit VERB ajst-28608 113 10 superior superior ADJ ajst-28608 113 11 route route NOUN ajst-28608 113 12 planning planning NOUN ajst-28608 113 13 and and CCONJ ajst-28608 113 14 obstacle obstacle VERB ajst-28608 113 15 avoidance avoidance NOUN ajst-28608 113 16 capabilities capability NOUN ajst-28608 113 17 in in ADP ajst-28608 113 18 intricate intricate ADJ ajst-28608 113 19 environments environment NOUN ajst-28608 113 20 , , PUNCT ajst-28608 113 21 outperforming outperform VERB ajst-28608 113 22 conventional conventional ADJ ajst-28608 113 23 methods method NOUN ajst-28608 113 24 . . PUNCT ajst-28608 114 1 in in ADP ajst-28608 114 2 particular particular ADJ ajst-28608 114 3 , , PUNCT ajst-28608 114 4 within within ADP ajst-28608 114 5 the the DET ajst-28608 114 6 domain domain NOUN ajst-28608 114 7 of of ADP ajst-28608 114 8 hydrology hydrology NOUN ajst-28608 114 9 monitoring monitoring NOUN ajst-28608 114 10 , , PUNCT ajst-28608 114 11 formations formation NOUN ajst-28608 114 12 of of ADP ajst-28608 114 13 multi multi ADJ ajst-28608 114 14 - - ADJ ajst-28608 114 15 rotor rotor ADJ ajst-28608 114 16 uavs uavs NOUN ajst-28608 114 17 can can AUX ajst-28608 114 18 execute execute VERB ajst-28608 114 19 tasks task NOUN ajst-28608 114 20 with with ADP ajst-28608 114 21 greater great ADJ ajst-28608 114 22 stability stability NOUN ajst-28608 114 23 and and CCONJ ajst-28608 114 24 demonstrate demonstrate VERB ajst-28608 114 25 heightened heightened ADJ ajst-28608 114 26 adaptability adaptability NOUN ajst-28608 114 27 when when SCONJ ajst-28608 114 28 dealing deal VERB ajst-28608 114 29 with with ADP ajst-28608 114 30 environmental environmental ADJ ajst-28608 114 31 perturbations perturbation NOUN ajst-28608 114 32 . . PUNCT ajst-28608 115 1 for for ADP ajst-28608 115 2 future future ADJ ajst-28608 115 3 research research NOUN ajst-28608 115 4 , , PUNCT ajst-28608 115 5 efforts effort NOUN ajst-28608 115 6 could could AUX ajst-28608 115 7 concentrate concentrate VERB ajst-28608 115 8 on on ADP ajst-28608 115 9 refining refining NOUN ajst-28608 115 10 algorithm algorithm NOUN ajst-28608 115 11 parameters parameter NOUN ajst-28608 115 12 further far ADV ajst-28608 115 13 and and CCONJ ajst-28608 115 14 validating validate VERB ajst-28608 115 15 the the DET ajst-28608 115 16 practicality practicality NOUN ajst-28608 115 17 and and CCONJ ajst-28608 115 18 dependability dependability NOUN ajst-28608 115 19 of of ADP ajst-28608 115 20 this this DET ajst-28608 115 21 approach approach NOUN ajst-28608 115 22 through through ADP ajst-28608 115 23 real real ADJ ajst-28608 115 24 - - PUNCT ajst-28608 115 25 world world NOUN ajst-28608 115 26 flight flight NOUN ajst-28608 115 27 tests test NOUN ajst-28608 115 28 . . PUNCT ajst-28608 116 1 moreover moreover ADV ajst-28608 116 2 , , PUNCT ajst-28608 116 3 integrating integrate VERB ajst-28608 116 4 additional additional ADJ ajst-28608 116 5 sophisticated sophisticated ADJ ajst-28608 116 6 control control NOUN ajst-28608 116 7 algorithms algorithm NOUN ajst-28608 116 8 with with ADP ajst-28608 116 9 the the DET ajst-28608 116 10 enhanced enhance VERB ajst-28608 116 11 apf apf PROPN ajst-28608 116 12 method method NOUN ajst-28608 116 13 could could AUX ajst-28608 116 14 elevate elevate VERB ajst-28608 116 15 the the DET ajst-28608 116 16 autonomy autonomy NOUN ajst-28608 116 17 and and CCONJ ajst-28608 116 18 intelligence intelligence NOUN ajst-28608 116 19 of of ADP ajst-28608 116 20 uav uav PROPN ajst-28608 116 21 formations formation NOUN ajst-28608 116 22 across across ADP ajst-28608 116 23 a a DET ajst-28608 116 24 broader broad ADJ ajst-28608 116 25 range range NOUN ajst-28608 116 26 of of ADP ajst-28608 116 27 applications application NOUN ajst-28608 116 28 , , PUNCT ajst-28608 116 29 offering offer VERB ajst-28608 116 30 enhanced enhance VERB ajst-28608 116 31 technological technological ADJ ajst-28608 116 32 support support NOUN ajst-28608 116 33 for for ADP ajst-28608 116 34 hydrological hydrological ADJ ajst-28608 116 35 monitoring monitoring NOUN ajst-28608 116 36 and and CCONJ ajst-28608 116 37 beyond beyond ADP ajst-28608 116 38 . . PUNCT ajst-28608 117 1 references reference NOUN ajst-28608 117 2 [ [ X ajst-28608 117 3 1 1 NUM ajst-28608 117 4 ] ] PUNCT ajst-28608 117 5 z. z. PROPN ajst-28608 117 6 li li PROPN ajst-28608 117 7 and and CCONJ ajst-28608 117 8 b. b. PROPN ajst-28608 117 9 xian xian PROPN ajst-28608 117 10 , , PUNCT ajst-28608 117 11 " " PUNCT ajst-28608 117 12 robust robust ADJ ajst-28608 117 13 distributed distribute VERB ajst-28608 117 14 formation formation NOUN ajst-28608 117 15 control control NOUN ajst-28608 117 16 of of ADP ajst-28608 117 17 multiple multiple ADJ ajst-28608 117 18 unmanned unmanned ADJ ajst-28608 117 19 aerial aerial ADJ ajst-28608 117 20 vehicles vehicle NOUN ajst-28608 117 21 based base VERB ajst-28608 117 22 on on ADP ajst-28608 117 23 virtual virtual ADJ ajst-28608 117 24 structure structure NOUN ajst-28608 117 25 , , PUNCT ajst-28608 117 26 " " PUNCT ajst-28608 117 27 control control NOUN ajst-28608 117 28 theory theory NOUN ajst-28608 117 29 & & CCONJ ajst-28608 117 30 applications application NOUN ajst-28608 117 31 , , PUNCT ajst-28608 117 32 vol vol NOUN ajst-28608 117 33 . . PROPN ajst-28608 117 34 37 37 NUM ajst-28608 117 35 , , PUNCT ajst-28608 117 36 no no INTJ ajst-28608 117 37 . . NOUN ajst-28608 117 38 11 11 NUM ajst-28608 117 39 , , PUNCT ajst-28608 117 40 pp pp ADJ ajst-28608 117 41 . . PUNCT ajst-28608 118 1 2423 2423 NUM ajst-28608 118 2 - - SYM ajst-28608 118 3 2431 2431 NUM ajst-28608 118 4 , , PUNCT ajst-28608 118 5 2020 2020 NUM ajst-28608 118 6 . . PUNCT ajst-28608 119 1 [ [ X ajst-28608 119 2 2 2 X ajst-28608 119 3 ] ] X ajst-28608 119 4 h. h. PROPN ajst-28608 119 5 qiu qiu PROPN ajst-28608 119 6 , , PUNCT ajst-28608 119 7 h. h. PROPN ajst-28608 119 8 duan duan PROPN ajst-28608 119 9 , , PUNCT ajst-28608 119 10 and and CCONJ ajst-28608 119 11 y. y. PROPN ajst-28608 119 12 fan fan PROPN ajst-28608 119 13 , , PUNCT ajst-28608 119 14 " " PUNCT ajst-28608 119 15 multiple multiple ADJ ajst-28608 119 16 unmanned unmanned ADJ ajst-28608 119 17 aerial aerial ADJ ajst-28608 119 18 vehicle vehicle NOUN ajst-28608 119 19 autonomous autonomous ADJ ajst-28608 119 20 formation formation NOUN ajst-28608 119 21 based base VERB ajst-28608 119 22 on on ADP ajst-28608 119 23 the the DET ajst-28608 119 24 behavior behavior NOUN ajst-28608 119 25 mechanism mechanism NOUN ajst-28608 119 26 in in ADP ajst-28608 119 27 pigeon pigeon NOUN ajst-28608 119 28 flocks flock NOUN ajst-28608 119 29 , , PUNCT ajst-28608 119 30 " " PUNCT ajst-28608 119 31 control control NOUN ajst-28608 119 32 theory theory NOUN ajst-28608 119 33 & & CCONJ ajst-28608 119 34 applications application NOUN ajst-28608 119 35 , , PUNCT ajst-28608 119 36 vol vol NOUN ajst-28608 119 37 . . PROPN ajst-28608 119 38 32 32 NUM ajst-28608 119 39 , , PUNCT ajst-28608 119 40 no no INTJ ajst-28608 119 41 . . NOUN ajst-28608 119 42 10 10 NUM ajst-28608 119 43 , , PUNCT ajst-28608 119 44 pp pp ADJ ajst-28608 119 45 . . PUNCT ajst-28608 120 1 1298 1298 NUM ajst-28608 120 2 - - SYM ajst-28608 120 3 1304 1304 NUM ajst-28608 120 4 , , PUNCT ajst-28608 120 5 2015 2015 NUM ajst-28608 120 6 . . PUNCT ajst-28608 121 1 [ [ X ajst-28608 121 2 3 3 X ajst-28608 121 3 ] ] X ajst-28608 121 4 q. q. PROPN ajst-28608 121 5 zong zong PROPN ajst-28608 121 6 , , PUNCT ajst-28608 121 7 d. d. PROPN ajst-28608 121 8 wang wang PROPN ajst-28608 121 9 , , PUNCT ajst-28608 121 10 s. s. PROPN ajst-28608 121 11 shao shao PROPN ajst-28608 121 12 , , PUNCT ajst-28608 121 13 b. b. PROPN ajst-28608 121 14 zhang zhang PROPN ajst-28608 121 15 , , PUNCT ajst-28608 121 16 and and CCONJ ajst-28608 121 17 y. y. PROPN ajst-28608 121 18 han han PROPN ajst-28608 121 19 , , PUNCT ajst-28608 121 20 " " PUNCT ajst-28608 121 21 research research NOUN ajst-28608 121 22 status status NOUN ajst-28608 121 23 and and CCONJ ajst-28608 121 24 development development NOUN ajst-28608 121 25 of of ADP ajst-28608 121 26 multi multi PROPN ajst-28608 121 27 uav uav PROPN ajst-28608 121 28 coordinated coordinated ADJ ajst-28608 121 29 formation formation NOUN ajst-28608 121 30 flight flight NOUN ajst-28608 121 31 control control NOUN ajst-28608 121 32 , , PUNCT ajst-28608 121 33 " " PUNCT ajst-28608 121 34 journal journal NOUN ajst-28608 121 35 of of ADP ajst-28608 121 36 harbin harbin PROPN ajst-28608 121 37 institute institute PROPN ajst-28608 121 38 of of ADP ajst-28608 121 39 technology technology PROPN ajst-28608 121 40 , , PUNCT ajst-28608 121 41 vol vol NOUN ajst-28608 121 42 . . PROPN ajst-28608 121 43 49 49 NUM ajst-28608 121 44 , , PUNCT ajst-28608 121 45 no no INTJ ajst-28608 121 46 . . NOUN ajst-28608 121 47 03 03 NUM ajst-28608 121 48 , , PUNCT ajst-28608 121 49 pp pp ADJ ajst-28608 121 50 . . PUNCT ajst-28608 122 1 1 1 NUM ajst-28608 122 2 - - SYM ajst-28608 122 3 14 14 NUM ajst-28608 122 4 , , PUNCT ajst-28608 122 5 2017 2017 NUM ajst-28608 122 6 . . PUNCT ajst-28608 123 1 [ [ X ajst-28608 123 2 4 4 X ajst-28608 123 3 ] ] PUNCT ajst-28608 123 4 z. z. PROPN ajst-28608 123 5 c. c. PROPN ajst-28608 123 6 yang yang PROPN ajst-28608 123 7 , , PUNCT ajst-28608 123 8 s. s. PROPN ajst-28608 123 9 q. q. PROPN ajst-28608 123 10 zheng zheng PROPN ajst-28608 123 11 , , PUNCT ajst-28608 123 12 f. f. PROPN ajst-28608 123 13 liu liu PROPN ajst-28608 123 14 , , PUNCT ajst-28608 123 15 and and CCONJ ajst-28608 123 16 y. y. PROPN ajst-28608 123 17 l. l. PROPN ajst-28608 123 18 xie xie PROPN ajst-28608 123 19 , , PUNCT ajst-28608 123 20 " " PUNCT ajst-28608 123 21 adaptive adaptive ADJ ajst-28608 123 22 output output NOUN ajst-28608 123 23 feedback feedback NOUN ajst-28608 123 24 control control NOUN ajst-28608 123 25 for for ADP ajst-28608 123 26 fractional fractional ADJ ajst-28608 123 27 - - PUNCT ajst-28608 123 28 order order NOUN ajst-28608 123 29 multi multi ADJ ajst-28608 123 30 - - ADJ ajst-28608 123 31 agent agent ADJ ajst-28608 123 32 systems system NOUN ajst-28608 123 33 , , PUNCT ajst-28608 123 34 " " PUNCT ajst-28608 123 35 ( ( PUNCT ajst-28608 123 36 in in ADP ajst-28608 123 37 english english PROPN ajst-28608 123 38 ) ) PUNCT ajst-28608 123 39 , , PUNCT ajst-28608 123 40 isa isa PROPN ajst-28608 123 41 trans trans PROPN ajst-28608 123 42 . . PROPN ajst-28608 123 43 , , PUNCT ajst-28608 123 44 article article NOUN ajst-28608 123 45 vol vol NOUN ajst-28608 123 46 . . PROPN ajst-28608 124 1 96 96 NUM ajst-28608 124 2 , , PUNCT ajst-28608 124 3 pp pp ADJ ajst-28608 124 4 . . PUNCT ajst-28608 125 1 195 195 NUM ajst-28608 125 2 - - SYM ajst-28608 125 3 209 209 NUM ajst-28608 125 4 , , PUNCT ajst-28608 125 5 jan jan PROPN ajst-28608 125 6 2020 2020 NUM ajst-28608 125 7 , , PUNCT ajst-28608 125 8 doi doi NOUN ajst-28608 125 9 : : PUNCT ajst-28608 125 10 10.1016 10.1016 NUM ajst-28608 125 11 / / SYM ajst-28608 125 12 j.isatra.2019.07.008 j.isatra.2019.07.008 NOUN ajst-28608 125 13 . . PUNCT ajst-28608 126 1 [ [ X ajst-28608 126 2 5 5 NUM ajst-28608 126 3 ] ] PUNCT ajst-28608 126 4 a. a. NOUN ajst-28608 126 5 lopez lopez PROPN ajst-28608 126 6 - - PUNCT ajst-28608 126 7 gonzalez gonzalez PROPN ajst-28608 126 8 , , PUNCT ajst-28608 126 9 e. e. PROPN ajst-28608 126 10 ferreira ferreira PROPN ajst-28608 126 11 , , PUNCT ajst-28608 126 12 e. e. PROPN ajst-28608 126 13 g. g. PROPN ajst-28608 126 14 hernΓ‘ndez hernΓ‘ndez PROPN ajst-28608 126 15 - - PUNCT ajst-28608 126 16 martΓ­nez martΓ­nez PROPN ajst-28608 126 17 , , PUNCT ajst-28608 126 18 j.j j.j PROPN ajst-28608 126 19 . . PROPN ajst-28608 126 20 flores flores PROPN ajst-28608 126 21 - - PUNCT ajst-28608 126 22 godoy godoy PROPN ajst-28608 126 23 , , PUNCT ajst-28608 126 24 g. g. PROPN ajst-28608 126 25 fernandez fernandez PROPN ajst-28608 126 26 - - PUNCT ajst-28608 126 27 anaya anaya PROPN ajst-28608 126 28 , , PUNCT ajst-28608 126 29 and and CCONJ ajst-28608 126 30 p. p. PROPN ajst-28608 126 31 paniagua paniagua PROPN ajst-28608 126 32 - - PUNCT ajst-28608 126 33 contro contro X ajst-28608 126 34 , , PUNCT ajst-28608 126 35 " " PUNCT ajst-28608 126 36 multi multi ADJ ajst-28608 126 37 - - ADJ ajst-28608 126 38 robot robot ADJ ajst-28608 126 39 formation formation NOUN ajst-28608 126 40 control control NOUN ajst-28608 126 41 using use VERB ajst-28608 126 42 distance distance NOUN ajst-28608 126 43 and and CCONJ ajst-28608 126 44 orientation orientation NOUN ajst-28608 126 45 , , PUNCT ajst-28608 126 46 " " PUNCT ajst-28608 126 47 advanced advanced ADJ ajst-28608 126 48 robotics robotic NOUN ajst-28608 126 49 , , PUNCT ajst-28608 126 50 vol vol NOUN ajst-28608 126 51 . . PROPN ajst-28608 126 52 30 30 NUM ajst-28608 126 53 , , PUNCT ajst-28608 126 54 no no INTJ ajst-28608 126 55 . . NOUN ajst-28608 126 56 14 14 NUM ajst-28608 126 57 , , PUNCT ajst-28608 126 58 pp pp ADJ ajst-28608 126 59 . . PUNCT ajst-28608 127 1 901 901 NUM ajst-28608 127 2 - - SYM ajst-28608 127 3 913 913 NUM ajst-28608 127 4 , , PUNCT ajst-28608 127 5 2016 2016 NUM ajst-28608 127 6 . . PUNCT ajst-28608 128 1 [ [ X ajst-28608 128 2 6 6 NUM ajst-28608 128 3 ] ] PUNCT ajst-28608 128 4 q. q. PROPN ajst-28608 128 5 li li PROPN ajst-28608 128 6 and and CCONJ ajst-28608 128 7 y. y. PROPN ajst-28608 128 8 wang wang PROPN ajst-28608 128 9 , , PUNCT ajst-28608 128 10 " " PUNCT ajst-28608 128 11 adaptive adaptive ADJ ajst-28608 128 12 formation formation NOUN ajst-28608 128 13 control control NOUN ajst-28608 128 14 of of ADP ajst-28608 128 15 auvs auvs NOUN ajst-28608 128 16 in in ADP ajst-28608 128 17 the the DET ajst-28608 128 18 presence presence NOUN ajst-28608 128 19 of of ADP ajst-28608 128 20 parametric parametric ADJ ajst-28608 128 21 model model NOUN ajst-28608 128 22 uncertainty uncertainty NOUN ajst-28608 128 23 " " PUNCT ajst-28608 128 24 ship ship NOUN ajst-28608 128 25 electronic electronic ADJ ajst-28608 128 26 engineering engineering NOUN ajst-28608 128 27 , , PUNCT ajst-28608 128 28 vol vol NOUN ajst-28608 128 29 . . PROPN ajst-28608 128 30 35 35 NUM ajst-28608 128 31 , , PUNCT ajst-28608 128 32 no no INTJ ajst-28608 128 33 . . NOUN ajst-28608 128 34 01 01 NUM ajst-28608 128 35 , , PUNCT ajst-28608 128 36 pp pp ADJ ajst-28608 128 37 . . PUNCT ajst-28608 129 1 154 154 NUM ajst-28608 129 2 - - SYM ajst-28608 129 3 157 157 NUM ajst-28608 129 4 , , PUNCT ajst-28608 129 5 2015 2015 NUM ajst-28608 129 6 . . PUNCT ajst-28608 130 1 [ [ X ajst-28608 130 2 7 7 X ajst-28608 130 3 ] ] X ajst-28608 130 4 j.-k j.-k PROPN ajst-28608 130 5 . . PUNCT ajst-28608 131 1 zhou zhou PROPN ajst-28608 131 2 , , PUNCT ajst-28608 131 3 q.-l q.-l ADV ajst-28608 131 4 . . PUNCT ajst-28608 132 1 hu hu PROPN ajst-28608 132 2 , , PUNCT ajst-28608 132 3 g.-f g.-f NOUN ajst-28608 132 4 . . PUNCT ajst-28608 133 1 ma ma PROPN ajst-28608 133 2 , , PUNCT ajst-28608 133 3 and and CCONJ ajst-28608 133 4 y.-y y.-y NOUN ajst-28608 133 5 . . PUNCT ajst-28608 134 1 lu lu PROPN ajst-28608 134 2 , , PUNCT ajst-28608 134 3 " " PUNCT ajst-28608 134 4 cooperative cooperative ADJ ajst-28608 134 5 attitude attitude NOUN ajst-28608 134 6 and and CCONJ ajst-28608 134 7 translation translation NOUN ajst-28608 134 8 control control NOUN ajst-28608 134 9 of of ADP ajst-28608 134 10 satellite satellite NOUN ajst-28608 134 11 formation formation NOUN ajst-28608 134 12 flying fly VERB ajst-28608 134 13 using use VERB ajst-28608 134 14 consensus consensus NOUN ajst-28608 134 15 algorithm algorithm NOUN ajst-28608 134 16 , , PUNCT ajst-28608 134 17 " " PUNCT ajst-28608 134 18 systems system NOUN ajst-28608 134 19 engineering engineering NOUN ajst-28608 134 20 and and CCONJ ajst-28608 134 21 electronics electronic NOUN ajst-28608 134 22 , , PUNCT ajst-28608 134 23 vol vol NOUN ajst-28608 134 24 . . PROPN ajst-28608 135 1 33 33 NUM ajst-28608 135 2 , , PUNCT ajst-28608 135 3 no no INTJ ajst-28608 135 4 . . NOUN ajst-28608 135 5 4 4 NUM ajst-28608 135 6 , , PUNCT ajst-28608 135 7 pp pp ADJ ajst-28608 135 8 . . PUNCT ajst-28608 136 1 825 825 NUM ajst-28608 136 2 - - SYM ajst-28608 136 3 832 832 NUM ajst-28608 136 4 , , PUNCT ajst-28608 136 5 2011 2011 NUM ajst-28608 136 6 . . PUNCT ajst-28608 137 1 [ [ X ajst-28608 137 2 8 8 NUM ajst-28608 137 3 ] ] PUNCT ajst-28608 137 4 z. z. PROPN ajst-28608 137 5 x. x. PUNCT ajst-28608 137 6 l l PROPN ajst-28608 137 7 , , PUNCT ajst-28608 137 8 y. y. PROPN ajst-28608 137 9 y. y. PROPN ajst-28608 137 10 x x PROPN ajst-28608 137 11 , , PUNCT ajst-28608 137 12 and and CCONJ ajst-28608 137 13 x. x. NOUN ajst-28608 137 14 y. y. PROPN ajst-28608 137 15 c c PROPN ajst-28608 137 16 , , PUNCT ajst-28608 137 17 " " PUNCT ajst-28608 137 18 application application NOUN ajst-28608 137 19 of of ADP ajst-28608 137 20 improved improved ADJ ajst-28608 137 21 ant ant ADJ ajst-28608 137 22 colony colony NOUN ajst-28608 137 23 algorithm algorithm NOUN ajst-28608 137 24 in in ADP ajst-28608 137 25 robot robot NOUN ajst-28608 137 26 path path PROPN ajst-28608 137 27 planning planning NOUN ajst-28608 137 28 , , PUNCT ajst-28608 137 29 " " PUNCT ajst-28608 137 30 computer computer NOUN ajst-28608 137 31 engineering engineering NOUN ajst-28608 137 32 and and CCONJ ajst-28608 137 33 applications application NOUN ajst-28608 137 34 , , PUNCT ajst-28608 137 35 vol vol NOUN ajst-28608 137 36 . . PROPN ajst-28608 138 1 56 56 NUM ajst-28608 138 2 , , PUNCT ajst-28608 138 3 no no INTJ ajst-28608 138 4 . . NOUN ajst-28608 138 5 02 02 NUM ajst-28608 138 6 , , PUNCT ajst-28608 138 7 pp pp ADJ ajst-28608 138 8 . . PUNCT ajst-28608 139 1 29 29 NUM ajst-28608 139 2 - - SYM ajst-28608 139 3 34 34 NUM ajst-28608 139 4 , , PUNCT ajst-28608 139 5 2019 2019 NUM ajst-28608 139 6 . . PUNCT ajst-28608 140 1 [ [ X ajst-28608 140 2 9 9 NUM ajst-28608 140 3 ] ] X ajst-28608 140 4 h. h. NOUN ajst-28608 140 5 sang sing VERB ajst-28608 140 6 , , PUNCT ajst-28608 140 7 y. y. PROPN ajst-28608 140 8 you you PRON ajst-28608 140 9 , , PUNCT ajst-28608 140 10 x. x. PROPN ajst-28608 140 11 sun sun PROPN ajst-28608 140 12 , , PUNCT ajst-28608 140 13 y. y. PROPN ajst-28608 140 14 zhou zhou PROPN ajst-28608 140 15 , , PUNCT ajst-28608 140 16 and and CCONJ ajst-28608 140 17 f. f. PROPN ajst-28608 140 18 liu liu PROPN ajst-28608 140 19 , , PUNCT ajst-28608 140 20 " " PUNCT ajst-28608 140 21 the the DET ajst-28608 140 22 hybrid hybrid ADJ ajst-28608 140 23 path path NOUN ajst-28608 140 24 planning planning NOUN ajst-28608 140 25 algorithm algorithm NOUN ajst-28608 140 26 based base VERB ajst-28608 140 27 on on ADP ajst-28608 140 28 improved improve VERB ajst-28608 140 29 a a DET ajst-28608 140 30 * * ADJ ajst-28608 140 31 and and CCONJ ajst-28608 140 32 artificial artificial ADJ ajst-28608 140 33 potential potential ADJ ajst-28608 140 34 field field NOUN ajst-28608 140 35 for for ADP ajst-28608 140 36 unmanned unmanned ADJ ajst-28608 140 37 surface surface NOUN ajst-28608 140 38 vehicle vehicle NOUN ajst-28608 140 39 formations formation NOUN ajst-28608 140 40 , , PUNCT ajst-28608 140 41 " " PUNCT ajst-28608 140 42 ocean ocean NOUN ajst-28608 140 43 engineering engineering NOUN ajst-28608 140 44 , , PUNCT ajst-28608 140 45 vol vol NOUN ajst-28608 140 46 . . PROPN ajst-28608 140 47 223 223 NUM ajst-28608 140 48 , , PUNCT ajst-28608 140 49 p. p. NOUN ajst-28608 140 50 108709 108709 NUM ajst-28608 140 51 , , PUNCT ajst-28608 140 52 2021 2021 NUM ajst-28608 140 53 . . PUNCT ajst-28608 141 1 [ [ X ajst-28608 141 2 10 10 NUM ajst-28608 141 3 ] ] X ajst-28608 141 4 n. n. PROPN ajst-28608 141 5 wang wang PROPN ajst-28608 141 6 , , PUNCT ajst-28608 141 7 h. h. PROPN ajst-28608 141 8 xu xu PROPN ajst-28608 141 9 , , PUNCT ajst-28608 141 10 c. c. PROPN ajst-28608 141 11 li li PROPN ajst-28608 141 12 , , PUNCT ajst-28608 141 13 and and CCONJ ajst-28608 141 14 j. j. PROPN ajst-28608 141 15 yin yin PROPN ajst-28608 141 16 , , PUNCT ajst-28608 141 17 " " PUNCT ajst-28608 141 18 hierarchical hierarchical ADJ ajst-28608 141 19 path path NOUN ajst-28608 141 20 planning planning NOUN ajst-28608 141 21 of of ADP ajst-28608 141 22 unmanned unmanned ADJ ajst-28608 141 23 surface surface NOUN ajst-28608 141 24 vehicles vehicle NOUN ajst-28608 141 25 : : PUNCT ajst-28608 141 26 a a DET ajst-28608 141 27 fuzzy fuzzy ADJ ajst-28608 141 28 artificial artificial ADJ ajst-28608 141 29 potential potential ADJ ajst-28608 141 30 field field NOUN ajst-28608 141 31 approach approach NOUN ajst-28608 141 32 , , PUNCT ajst-28608 141 33 " " PUNCT ajst-28608 141 34 international international ADJ ajst-28608 141 35 journal journal NOUN ajst-28608 141 36 of of ADP ajst-28608 141 37 fuzzy fuzzy ADJ ajst-28608 141 38 systems system NOUN ajst-28608 141 39 , , PUNCT ajst-28608 141 40 vol vol NOUN ajst-28608 141 41 . . PROPN ajst-28608 141 42 23 23 NUM ajst-28608 141 43 , , PUNCT ajst-28608 141 44 pp pp ADJ ajst-28608 141 45 . . PUNCT ajst-28608 141 46 1797 1797 NUM ajst-28608 141 47 - - SYM ajst-28608 141 48 1808 1808 NUM ajst-28608 141 49 , , PUNCT ajst-28608 141 50 2021 2021 NUM ajst-28608 141 51 . . PUNCT ajst-28608 142 1 [ [ X ajst-28608 142 2 11 11 NUM ajst-28608 142 3 ] ] X ajst-28608 142 4 y. y. PROPN ajst-28608 142 5 wenlin wenlin PROPN ajst-28608 142 6 et et PROPN ajst-28608 142 7 al al PROPN ajst-28608 142 8 . . PROPN ajst-28608 142 9 , , PUNCT ajst-28608 142 10 " " PUNCT ajst-28608 142 11 improved improve VERB ajst-28608 142 12 artificial artificial ADJ ajst-28608 142 13 potential potential ADJ ajst-28608 142 14 field field NOUN ajst-28608 142 15 and and CCONJ ajst-28608 142 16 dynamic dynamic ADJ ajst-28608 142 17 window window NOUN ajst-28608 142 18 method method NOUN ajst-28608 142 19 for for ADP ajst-28608 142 20 amphibious amphibious ADJ ajst-28608 142 21 robot robot NOUN ajst-28608 142 22 fish fish NOUN ajst-28608 142 23 path path NOUN ajst-28608 142 24 planning planning NOUN ajst-28608 142 25 [ [ X ajst-28608 142 26 j j X ajst-28608 142 27 ] ] X ajst-28608 142 28 , , PUNCT ajst-28608 142 29 " " PUNCT ajst-28608 142 30 applied apply VERB ajst-28608 142 31 sciences science NOUN ajst-28608 142 32 , , PUNCT ajst-28608 142 33 vol vol NOUN ajst-28608 142 34 . . PROPN ajst-28608 142 35 11 11 NUM ajst-28608 142 36 , , PUNCT ajst-28608 142 37 no no INTJ ajst-28608 142 38 . . NOUN ajst-28608 142 39 5 5 NUM ajst-28608 142 40 , , PUNCT ajst-28608 142 41 2021 2021 NUM ajst-28608 142 42 . . PUNCT ajst-28608 143 1 [ [ X ajst-28608 143 2 12 12 NUM ajst-28608 143 3 ] ] X ajst-28608 143 4 r. r. PROPN ajst-28608 143 5 rashad rashad PROPN ajst-28608 143 6 , , PUNCT ajst-28608 143 7 j. j. PROPN ajst-28608 143 8 goerres goerres PROPN ajst-28608 143 9 , , PUNCT ajst-28608 143 10 r. r. PROPN ajst-28608 143 11 aarts aarts PROPN ajst-28608 143 12 , , PUNCT ajst-28608 143 13 j. j. PROPN ajst-28608 143 14 b. b. PROPN ajst-28608 143 15 engelen engelen PROPN ajst-28608 143 16 , , PUNCT ajst-28608 143 17 and and CCONJ ajst-28608 143 18 s. s. PROPN ajst-28608 143 19 stramigioli stramigioli PROPN ajst-28608 143 20 , , PUNCT ajst-28608 143 21 " " PUNCT ajst-28608 143 22 fully fully ADV ajst-28608 143 23 actuated actuate VERB ajst-28608 143 24 multirotor multirotor PROPN ajst-28608 143 25 uavs uavs PROPN ajst-28608 143 26 : : PUNCT ajst-28608 143 27 a a DET ajst-28608 143 28 literature literature NOUN ajst-28608 143 29 review review NOUN ajst-28608 143 30 , , PUNCT ajst-28608 143 31 " " PUNCT ajst-28608 143 32 ieee ieee NOUN ajst-28608 143 33 robotics robotic NOUN ajst-28608 143 34 & & CCONJ ajst-28608 143 35 automation automation PROPN ajst-28608 143 36 magazine magazine PROPN ajst-28608 143 37 , , PUNCT ajst-28608 143 38 vol vol NOUN ajst-28608 143 39 . . PROPN ajst-28608 143 40 27 27 NUM ajst-28608 143 41 , , PUNCT ajst-28608 143 42 no no INTJ ajst-28608 143 43 . . NOUN ajst-28608 143 44 3 3 NUM ajst-28608 143 45 , , PUNCT ajst-28608 143 46 pp pp ADJ ajst-28608 143 47 . . PUNCT ajst-28608 144 1 97 97 NUM ajst-28608 144 2 - - SYM ajst-28608 144 3 107 107 NUM ajst-28608 144 4 , , PUNCT ajst-28608 144 5 2020 2020 NUM ajst-28608 144 6 . . PUNCT ajst-28608 145 1 [ [ X ajst-28608 145 2 13 13 NUM ajst-28608 145 3 ] ] PUNCT ajst-28608 145 4 z. z. PROPN ajst-28608 145 5 lin lin PROPN ajst-28608 145 6 , , PUNCT ajst-28608 145 7 " " PUNCT ajst-28608 145 8 retracted retracted ADJ ajst-28608 145 9 article article NOUN ajst-28608 145 10 : : PUNCT ajst-28608 145 11 research research NOUN ajst-28608 145 12 on on ADP ajst-28608 145 13 film film NOUN ajst-28608 145 14 animation animation NOUN ajst-28608 145 15 design design NOUN ajst-28608 145 16 based base VERB ajst-28608 145 17 on on ADP ajst-28608 145 18 inertial inertial ADJ ajst-28608 145 19 motion motion NOUN ajst-28608 145 20 capture capture NOUN ajst-28608 145 21 algorithm algorithm NOUN ajst-28608 145 22 , , PUNCT ajst-28608 145 23 " " PUNCT ajst-28608 145 24 soft soft ADJ ajst-28608 145 25 computing computing NOUN ajst-28608 145 26 , , PUNCT ajst-28608 145 27 vol vol NOUN ajst-28608 145 28 . . PROPN ajst-28608 145 29 25 25 NUM ajst-28608 145 30 , , PUNCT ajst-28608 145 31 no no INTJ ajst-28608 145 32 . . NOUN ajst-28608 145 33 18 18 NUM ajst-28608 145 34 , , PUNCT ajst-28608 145 35 pp pp ADJ ajst-28608 145 36 . . PUNCT ajst-28608 145 37 12491 12491 NUM ajst-28608 145 38 - - SYM ajst-28608 145 39 12505 12505 NUM ajst-28608 145 40 , , PUNCT ajst-28608 145 41 2021 2021 NUM ajst-28608 145 42 . . PUNCT