id	sid	tid	token	lemma	pos
ajst-32156	1	1	academic	academic	ADJ
ajst-32156	1	2	journal	journal	NOUN
ajst-32156	1	3	of	of	ADP
ajst-32156	1	4	science	science	NOUN
ajst-32156	1	5	and	and	CCONJ
ajst-32156	1	6	technology	technology	NOUN
ajst-32156	1	7	issn	issn	NOUN
ajst-32156	1	8	:	:	PUNCT
ajst-32156	1	9	2771	2771	NUM
ajst-32156	1	10	-	-	SYM
ajst-32156	1	11	3032	3032	NUM
ajst-32156	1	12	|	|	NOUN
ajst-32156	1	13	vol	vol	NOUN
ajst-32156	1	14	.	.	PROPN
ajst-32156	1	15	17	17	NUM
ajst-32156	1	16	,	,	PUNCT
ajst-32156	1	17	no	no	INTJ
ajst-32156	1	18	.	.	NOUN
ajst-32156	1	19	2	2	NUM
ajst-32156	1	20	,	,	PUNCT
ajst-32156	1	21	2025	2025	NUM
ajst-32156	1	22	43	43	NUM
ajst-32156	1	23	robot‐size	robot‐size	VERB
ajst-32156	1	24	aware	aware	ADJ
ajst-32156	1	25	coverage	coverage	NOUN
ajst-32156	1	26	path	path	NOUN
ajst-32156	1	27	planning	plan	VERB
ajst-32156	1	28	hong	hong	PROPN
ajst-32156	1	29	shen	shen	PROPN
ajst-32156	1	30	1	1	NUM
ajst-32156	1	31	,	,	PUNCT
ajst-32156	1	32	shimin	shimin	PROPN
ajst-32156	1	33	qu	qu	PROPN
ajst-32156	1	34	2	2	PROPN
ajst-32156	1	35	,	,	PUNCT
ajst-32156	1	36	liangliang	liangliang	PROPN
ajst-32156	1	37	lv	lv	PROPN
ajst-32156	1	38	2	2	NUM
ajst-32156	1	39	,	,	PUNCT
ajst-32156	1	40	wei	wei	PROPN
ajst-32156	1	41	zheng	zheng	PROPN
ajst-32156	1	42	2	2	NUM
ajst-32156	1	43	,	,	PUNCT
ajst-32156	1	44	tao	tao	PROPN
ajst-32156	1	45	gao	gao	PROPN
ajst-32156	1	46	2	2	NUM
ajst-32156	1	47	,	,	PUNCT
ajst-32156	1	48	wenbo	wenbo	PROPN
ajst-32156	1	49	li	li	PROPN
ajst-32156	1	50	2	2	NUM
ajst-32156	1	51	,	,	PUNCT
ajst-32156	1	52	jianjun	jianjun	PROPN
ajst-32156	1	53	xu	xu	PROPN
ajst-32156	1	54	2	2	NUM
ajst-32156	1	55	,	,	PUNCT
ajst-32156	1	56	guoqiang	guoqiang	PROPN
ajst-32156	1	57	zhai	zhai	PROPN
ajst-32156	1	58	2	2	NUM
ajst-32156	1	59	,	,	PUNCT
ajst-32156	1	60	guanglei	guanglei	PROPN
ajst-32156	1	61	yin	yin	PROPN
ajst-32156	1	62	2	2	NUM
ajst-32156	1	63	,	,	PUNCT
ajst-32156	1	64	lei	lei	X
ajst-32156	1	65	sun	sun	NOUN
ajst-32156	1	66	2	2	NUM
ajst-32156	1	67	1	1	NUM
ajst-32156	1	68	college	college	NOUN
ajst-32156	1	69	of	of	ADP
ajst-32156	1	70	control	control	NOUN
ajst-32156	1	71	science	science	NOUN
ajst-32156	1	72	and	and	CCONJ
ajst-32156	1	73	engineering	engineering	NOUN
ajst-32156	1	74	,	,	PUNCT
ajst-32156	1	75	zhejiang	zhejiang	PROPN
ajst-32156	1	76	university	university	PROPN
ajst-32156	1	77	,	,	PUNCT
ajst-32156	1	78	hangzhou	hangzhou	PROPN
ajst-32156	1	79	,	,	PUNCT
ajst-32156	1	80	zhejiang	zhejiang	PROPN
ajst-32156	1	81	,	,	PUNCT
ajst-32156	1	82	310000	310000	NUM
ajst-32156	1	83	,	,	PUNCT
ajst-32156	1	84	china	china	PROPN
ajst-32156	1	85	2	2	NUM
ajst-32156	1	86	inner	inner	PROPN
ajst-32156	1	87	mongolia	mongolia	PROPN
ajst-32156	1	88	huomei	huomei	PROPN
ajst-32156	1	89	-	-	PUNCT
ajst-32156	1	90	hongjun	hongjun	NOUN
ajst-32156	1	91	aluminum	aluminum	NOUN
ajst-32156	1	92	and	and	CCONJ
ajst-32156	1	93	electricity	electricity	PROPN
ajst-32156	1	94	co.	co.	PROPN
ajst-32156	1	95	,	,	PUNCT
ajst-32156	1	96	ltd	ltd	PROPN
ajst-32156	1	97	.	.	PROPN
ajst-32156	1	98	,	,	PUNCT
ajst-32156	1	99	holingola	holingola	PROPN
ajst-32156	1	100	,	,	PUNCT
ajst-32156	1	101	inner	inner	PROPN
ajst-32156	1	102	mongolia	mongolia	PROPN
ajst-32156	1	103	,	,	PUNCT
ajst-32156	1	104	029200	029200	NUM
ajst-32156	1	105	,	,	PUNCT
ajst-32156	1	106	china	china	PROPN
ajst-32156	1	107	abstract	abstract	NOUN
ajst-32156	1	108	:	:	PUNCT
ajst-32156	1	109	coverage	coverage	NOUN
ajst-32156	1	110	path	path	NOUN
ajst-32156	1	111	planning	planning	NOUN
ajst-32156	1	112	(	(	PUNCT
ajst-32156	1	113	cpp	cpp	NOUN
ajst-32156	1	114	)	)	PUNCT
ajst-32156	1	115	algorithms	algorithm	NOUN
ajst-32156	1	116	are	be	AUX
ajst-32156	1	117	fundamental	fundamental	ADJ
ajst-32156	1	118	for	for	ADP
ajst-32156	1	119	autonomous	autonomous	ADJ
ajst-32156	1	120	robot	robot	NOUN
ajst-32156	1	121	applications	application	NOUN
ajst-32156	1	122	including	include	VERB
ajst-32156	1	123	inspection	inspection	NOUN
ajst-32156	1	124	,	,	PUNCT
ajst-32156	1	125	surveillance	surveillance	NOUN
ajst-32156	1	126	,	,	PUNCT
ajst-32156	1	127	and	and	CCONJ
ajst-32156	1	128	cleaning	cleaning	NOUN
ajst-32156	1	129	.	.	PUNCT
ajst-32156	2	1	while	while	SCONJ
ajst-32156	2	2	existing	exist	VERB
ajst-32156	2	3	cpp	cpp	NOUN
ajst-32156	2	4	algorithms	algorithm	NOUN
ajst-32156	2	5	achieve	achieve	VERB
ajst-32156	2	6	good	good	ADJ
ajst-32156	2	7	theoretical	theoretical	ADJ
ajst-32156	2	8	coverage	coverage	NOUN
ajst-32156	2	9	,	,	PUNCT
ajst-32156	2	10	they	they	PRON
ajst-32156	2	11	treat	treat	VERB
ajst-32156	2	12	robots	robot	NOUN
ajst-32156	2	13	as	as	ADP
ajst-32156	2	14	point	point	NOUN
ajst-32156	2	15	agents	agent	NOUN
ajst-32156	2	16	,	,	PUNCT
ajst-32156	2	17	ignoring	ignore	VERB
ajst-32156	2	18	physical	physical	ADJ
ajst-32156	2	19	dimensions	dimension	NOUN
ajst-32156	2	20	,	,	PUNCT
ajst-32156	2	21	turning	turn	VERB
ajst-32156	2	22	radius	radius	NOUN
ajst-32156	2	23	constraints	constraint	NOUN
ajst-32156	2	24	,	,	PUNCT
ajst-32156	2	25	and	and	CCONJ
ajst-32156	2	26	safety	safety	NOUN
ajst-32156	2	27	clearances	clearance	NOUN
ajst-32156	2	28	.	.	PUNCT
ajst-32156	3	1	this	this	DET
ajst-32156	3	2	simplification	simplification	NOUN
ajst-32156	3	3	produces	produce	VERB
ajst-32156	3	4	paths	path	NOUN
ajst-32156	3	5	that	that	PRON
ajst-32156	3	6	are	be	AUX
ajst-32156	3	7	theoretically	theoretically	ADV
ajst-32156	3	8	complete	complete	ADJ
ajst-32156	3	9	but	but	CCONJ
ajst-32156	3	10	physically	physically	ADV
ajst-32156	3	11	infeasible	infeasible	ADJ
ajst-32156	3	12	for	for	ADP
ajst-32156	3	13	real	real	ADJ
ajst-32156	3	14	robots	robot	NOUN
ajst-32156	3	15	.	.	PUNCT
ajst-32156	4	1	we	we	PRON
ajst-32156	4	2	propose	propose	VERB
ajst-32156	4	3	a	a	DET
ajst-32156	4	4	robot	robot	NOUN
ajst-32156	4	5	-	-	PUNCT
ajst-32156	4	6	size	size	NOUN
ajst-32156	4	7	aware	aware	ADJ
ajst-32156	4	8	cpp	cpp	NOUN
ajst-32156	4	9	framework	framework	NOUN
ajst-32156	4	10	that	that	PRON
ajst-32156	4	11	explicitly	explicitly	ADV
ajst-32156	4	12	parameterizes	parameterize	VERB
ajst-32156	4	13	robot	robot	NOUN
ajst-32156	4	14	geometry	geometry	NOUN
ajst-32156	4	15	relative	relative	ADJ
ajst-32156	4	16	to	to	ADP
ajst-32156	4	17	grid	grid	NOUN
ajst-32156	4	18	cell	cell	NOUN
ajst-32156	4	19	resolution	resolution	NOUN
ajst-32156	4	20	,	,	PUNCT
ajst-32156	4	21	enabling	enable	VERB
ajst-32156	4	22	adaptive	adaptive	ADJ
ajst-32156	4	23	planning	planning	NOUN
ajst-32156	4	24	for	for	ADP
ajst-32156	4	25	robots	robot	NOUN
ajst-32156	4	26	of	of	ADP
ajst-32156	4	27	different	different	ADJ
ajst-32156	4	28	sizes	size	NOUN
ajst-32156	4	29	.	.	PUNCT
ajst-32156	5	1	our	our	PRON
ajst-32156	5	2	approach	approach	NOUN
ajst-32156	5	3	modifies	modify	VERB
ajst-32156	5	4	two	two	NUM
ajst-32156	5	5	representative	representative	ADJ
ajst-32156	5	6	cpp	cpp	NOUN
ajst-32156	5	7	algorithms	algorithm	NOUN
ajst-32156	5	8	—	—	PUNCT
ajst-32156	5	9	spanning	span	VERB
ajst-32156	5	10	tree	tree	NOUN
ajst-32156	5	11	coverage	coverage	NOUN
ajst-32156	5	12	(	(	PUNCT
ajst-32156	5	13	stc	stc	NOUN
ajst-32156	5	14	)	)	PUNCT
ajst-32156	5	15	and	and	CCONJ
ajst-32156	5	16	boustrophedon	boustrophedon	NOUN
ajst-32156	5	17	cell	cell	NOUN
ajst-32156	5	18	decomposition	decomposition	NOUN
ajst-32156	5	19	(	(	PUNCT
ajst-32156	5	20	bcd)—to	bcd)—to	ADJ
ajst-32156	5	21	incorporate	incorporate	VERB
ajst-32156	5	22	geometric	geometric	ADJ
ajst-32156	5	23	constraints	constraint	NOUN
ajst-32156	5	24	.	.	PUNCT
ajst-32156	6	1	experimental	experimental	ADJ
ajst-32156	6	2	results	result	NOUN
ajst-32156	6	3	on	on	ADP
ajst-32156	6	4	17	17	NUM
ajst-32156	6	5	diverse	diverse	ADJ
ajst-32156	6	6	test	test	NOUN
ajst-32156	6	7	maps	map	NOUN
ajst-32156	6	8	show	show	VERB
ajst-32156	6	9	that	that	SCONJ
ajst-32156	6	10	baseline	baseline	ADJ
ajst-32156	6	11	algorithms	algorithm	NOUN
ajst-32156	6	12	generate	generate	VERB
ajst-32156	6	13	paths	path	NOUN
ajst-32156	6	14	with	with	ADP
ajst-32156	6	15	1400–1900	1400–1900	NUM
ajst-32156	6	16	turns	turn	NOUN
ajst-32156	6	17	assuming	assume	VERB
ajst-32156	6	18	point	point	NOUN
ajst-32156	6	19	robots	robot	NOUN
ajst-32156	6	20	,	,	PUNCT
ajst-32156	6	21	while	while	SCONJ
ajst-32156	6	22	our	our	PRON
ajst-32156	6	23	size	size	NOUN
ajst-32156	6	24	-	-	PUNCT
ajst-32156	6	25	aware	aware	ADJ
ajst-32156	6	26	variants	variant	NOUN
ajst-32156	6	27	reduce	reduce	VERB
ajst-32156	6	28	turns	turn	NOUN
ajst-32156	6	29	by	by	ADP
ajst-32156	6	30	6–12	6–12	NOUN
ajst-32156	6	31	%	%	NOUN
ajst-32156	6	32	and	and	CCONJ
ajst-32156	6	33	correctly	correctly	ADV
ajst-32156	6	34	identify	identify	VERB
ajst-32156	6	35	10	10	NUM
ajst-32156	6	36	%	%	NOUN
ajst-32156	6	37	of	of	ADP
ajst-32156	6	38	cenarios	cenario	NOUN
ajst-32156	6	39	as	as	ADP
ajst-32156	6	40	infeasible	infeasible	ADJ
ajst-32156	6	41	,	,	PUNCT
ajst-32156	6	42	preventing	prevent	VERB
ajst-32156	6	43	deployment	deployment	NOUN
ajst-32156	6	44	failures	failure	NOUN
ajst-32156	6	45	.	.	PUNCT
ajst-32156	7	1	size	size	NOUN
ajst-32156	7	2	-	-	PUNCT
ajst-32156	7	3	aware	aware	ADJ
ajst-32156	7	4	algorithms	algorithm	NOUN
ajst-32156	7	5	achieve	achieve	VERB
ajst-32156	7	6	96.5	96.5	NUM
ajst-32156	7	7	%	%	NOUN
ajst-32156	7	8	coverage	coverage	NOUN
ajst-32156	7	9	on	on	ADP
ajst-32156	7	10	executable	executable	ADJ
ajst-32156	7	11	paths	path	NOUN
ajst-32156	7	12	while	while	SCONJ
ajst-32156	7	13	eliminating	eliminate	VERB
ajst-32156	7	14	all	all	DET
ajst-32156	7	15	width	width	ADJ
ajst-32156	7	16	constraint	constraint	NOUN
ajst-32156	7	17	violations	violation	NOUN
ajst-32156	7	18	(	(	PUNCT
ajst-32156	7	19	fwidth=1.0	fwidth=1.0	NOUN
ajst-32156	7	20	)	)	PUNCT
ajst-32156	7	21	.	.	PUNCT
ajst-32156	8	1	the	the	DET
ajst-32156	8	2	framework	framework	NOUN
ajst-32156	8	3	enables	enable	VERB
ajst-32156	8	4	practical	practical	ADJ
ajst-32156	8	5	deployment	deployment	NOUN
ajst-32156	8	6	on	on	ADP
ajst-32156	8	7	physical	physical	ADJ
ajst-32156	8	8	platforms	platform	NOUN
ajst-32156	8	9	and	and	CCONJ
ajst-32156	8	10	efficient	efficient	ADJ
ajst-32156	8	11	coordination	coordination	NOUN
ajst-32156	8	12	of	of	ADP
ajst-32156	8	13	heterogeneous	heterogeneous	ADJ
ajst-32156	8	14	robot	robot	NOUN
ajst-32156	8	15	teams	team	NOUN
ajst-32156	8	16	.	.	PUNCT
ajst-32156	9	1	keywords	keyword	NOUN
ajst-32156	9	2	:	:	PUNCT
ajst-32156	9	3	coverage	coverage	NOUN
ajst-32156	9	4	path	path	NOUN
ajst-32156	9	5	planning	planning	NOUN
ajst-32156	9	6	;	;	PUNCT
ajst-32156	9	7	mobile	mobile	ADJ
ajst-32156	9	8	robots	robot	NOUN
ajst-32156	9	9	;	;	PUNCT
ajst-32156	9	10	geometric	geometric	ADJ
ajst-32156	9	11	constraints	constraint	NOUN
ajst-32156	9	12	;	;	PUNCT
ajst-32156	9	13	path	path	NOUN
ajst-32156	9	14	feasibility	feasibility	NOUN
ajst-32156	9	15	;	;	PUNCT
ajst-32156	9	16	multi	multi	ADJ
ajst-32156	9	17	-	-	ADJ
ajst-32156	9	18	robot	robot	ADJ
ajst-32156	9	19	systems	system	NOUN
ajst-32156	9	20	.	.	PUNCT
ajst-32156	10	1	1	1	X
ajst-32156	10	2	.	.	X
ajst-32156	10	3	introduction	introduction	NOUN
ajst-32156	10	4	coverage	coverage	NOUN
ajst-32156	10	5	path	path	PROPN
ajst-32156	10	6	planning	planning	NOUN
ajst-32156	10	7	(	(	PUNCT
ajst-32156	10	8	cpp	cpp	NOUN
ajst-32156	10	9	)	)	PUNCT
ajst-32156	10	10	is	be	AUX
ajst-32156	10	11	a	a	DET
ajst-32156	10	12	fundamental	fundamental	ADJ
ajst-32156	10	13	problem	problem	NOUN
ajst-32156	10	14	in	in	ADP
ajst-32156	10	15	robotics	robotic	NOUN
ajst-32156	10	16	where	where	SCONJ
ajst-32156	10	17	one	one	NUM
ajst-32156	10	18	or	or	CCONJ
ajst-32156	10	19	more	more	ADJ
ajst-32156	10	20	robots	robot	NOUN
ajst-32156	10	21	must	must	AUX
ajst-32156	10	22	visit	visit	VERB
ajst-32156	10	23	all	all	DET
ajst-32156	10	24	points	point	NOUN
ajst-32156	10	25	in	in	ADP
ajst-32156	10	26	a	a	DET
ajst-32156	10	27	given	give	VERB
ajst-32156	10	28	area[1	area[1	NOUN
ajst-32156	10	29	]	]	X
ajst-32156	10	30	.	.	PUNCT
ajst-32156	11	1	applications	application	NOUN
ajst-32156	11	2	span	span	VERB
ajst-32156	11	3	industrial	industrial	ADJ
ajst-32156	11	4	inspection	inspection	NOUN
ajst-32156	11	5	,	,	PUNCT
ajst-32156	11	6	agricultural	agricultural	ADJ
ajst-32156	11	7	monitoring	monitoring	NOUN
ajst-32156	11	8	,	,	PUNCT
ajst-32156	11	9	floor	floor	NOUN
ajst-32156	11	10	cleaning	cleaning	NOUN
ajst-32156	11	11	,	,	PUNCT
ajst-32156	11	12	search	search	NOUN
ajst-32156	11	13	and	and	CCONJ
ajst-32156	11	14	rescue	rescue	NOUN
ajst-32156	11	15	,	,	PUNCT
ajst-32156	11	16	and	and	CCONJ
ajst-32156	11	17	environmental	environmental	ADJ
ajst-32156	11	18	surveillance	surveillance	NOUN
ajst-32156	11	19	.	.	PUNCT
ajst-32156	12	1	the	the	DET
ajst-32156	12	2	core	core	NOUN
ajst-32156	12	3	challenge	challenge	NOUN
ajst-32156	12	4	is	be	AUX
ajst-32156	12	5	generating	generate	VERB
ajst-32156	12	6	paths	path	NOUN
ajst-32156	12	7	that	that	PRON
ajst-32156	12	8	achieve	achieve	VERB
ajst-32156	12	9	complete	complete	ADJ
ajst-32156	12	10	coverage	coverage	NOUN
ajst-32156	12	11	while	while	SCONJ
ajst-32156	12	12	minimizing	minimize	VERB
ajst-32156	12	13	metrics	metric	NOUN
ajst-32156	12	14	such	such	ADJ
ajst-32156	12	15	as	as	ADP
ajst-32156	12	16	path	path	NOUN
ajst-32156	12	17	length	length	NOUN
ajst-32156	12	18	,	,	PUNCT
ajst-32156	12	19	redundancy	redundancy	NOUN
ajst-32156	12	20	,	,	PUNCT
ajst-32156	12	21	and	and	CCONJ
ajst-32156	12	22	execution	execution	NOUN
ajst-32156	12	23	time	time	NOUN
ajst-32156	12	24	.	.	PUNCT
ajst-32156	13	1	1.1	1.1	NUM
ajst-32156	13	2	.	.	PUNCT
ajst-32156	14	1	motivation	motivation	VERB
ajst-32156	14	2	existing	exist	VERB
ajst-32156	14	3	cpp	cpp	ADJ
ajst-32156	14	4	algorithms	algorithm	NOUN
ajst-32156	14	5	typically	typically	ADV
ajst-32156	14	6	operate	operate	VERB
ajst-32156	14	7	on	on	ADP
ajst-32156	14	8	occupancy	occupancy	NOUN
ajst-32156	14	9	grid	grid	NOUN
ajst-32156	14	10	representations	representation	NOUN
ajst-32156	14	11	and	and	CCONJ
ajst-32156	14	12	treat	treat	VERB
ajst-32156	14	13	robots	robot	NOUN
ajst-32156	14	14	as	as	ADP
ajst-32156	14	15	point	point	NOUN
ajst-32156	14	16	agents	agent	NOUN
ajst-32156	14	17	with	with	ADP
ajst-32156	14	18	zero	zero	NUM
ajst-32156	14	19	physical	physical	ADJ
ajst-32156	14	20	extent	extent	NOUN
ajst-32156	14	21	.	.	PUNCT
ajst-32156	15	1	this	this	DET
ajst-32156	15	2	simplification	simplification	NOUN
ajst-32156	15	3	enables	enable	VERB
ajst-32156	15	4	efficient	efficient	ADJ
ajst-32156	15	5	path	path	NOUN
ajst-32156	15	6	generation	generation	NOUN
ajst-32156	15	7	through	through	ADP
ajst-32156	15	8	graph	graph	NOUN
ajst-32156	15	9	-	-	PUNCT
ajst-32156	15	10	based	base	VERB
ajst-32156	15	11	or	or	CCONJ
ajst-32156	15	12	cellular	cellular	ADJ
ajst-32156	15	13	decomposition	decomposition	NOUN
ajst-32156	15	14	approaches	approach	NOUN
ajst-32156	15	15	.	.	PUNCT
ajst-32156	16	1	however	however	ADV
ajst-32156	16	2	,	,	PUNCT
ajst-32156	16	3	it	it	PRON
ajst-32156	16	4	creates	create	VERB
ajst-32156	16	5	a	a	DET
ajst-32156	16	6	critical	critical	ADJ
ajst-32156	16	7	gap	gap	NOUN
ajst-32156	16	8	between	between	ADP
ajst-32156	16	9	theoretical	theoretical	ADJ
ajst-32156	16	10	path	path	NOUN
ajst-32156	16	11	planning	planning	NOUN
ajst-32156	16	12	and	and	CCONJ
ajst-32156	16	13	practical	practical	ADJ
ajst-32156	16	14	robot	robot	NOUN
ajst-32156	16	15	deployment	deployment	NOUN
ajst-32156	16	16	:	:	PUNCT
ajst-32156	16	17	physical	physical	ADJ
ajst-32156	16	18	dimensions	dimension	NOUN
ajst-32156	16	19	:	:	PUNCT
ajst-32156	16	20	real	real	ADJ
ajst-32156	16	21	robots	robot	NOUN
ajst-32156	16	22	have	have	VERB
ajst-32156	16	23	non	non	ADJ
ajst-32156	16	24	-	-	ADJ
ajst-32156	16	25	zero	zero	ADJ
ajst-32156	16	26	footprint	footprint	NOUN
ajst-32156	16	27	requiring	require	VERB
ajst-32156	16	28	clearance	clearance	NOUN
ajst-32156	16	29	from	from	ADP
ajst-32156	16	30	obstacles	obstacle	NOUN
ajst-32156	16	31	.	.	PUNCT
ajst-32156	17	1	turning	turn	VERB
ajst-32156	17	2	constraints	constraint	NOUN
ajst-32156	17	3	:	:	PUNCT
ajst-32156	17	4	robots	robot	NOUN
ajst-32156	17	5	have	have	AUX
ajst-32156	17	6	finite	finite	ADJ
ajst-32156	17	7	turning	turning	NOUN
ajst-32156	17	8	radius	radius	NOUN
ajst-32156	17	9	,	,	PUNCT
ajst-32156	17	10	can	can	AUX
ajst-32156	17	11	not	not	PART
ajst-32156	17	12	execute	execute	VERB
ajst-32156	17	13	sharp	sharp	ADJ
ajst-32156	17	14	turns	turn	NOUN
ajst-32156	17	15	.	.	PUNCT
ajst-32156	18	1	safety	safety	NOUN
ajst-32156	18	2	margins	margin	NOUN
ajst-32156	18	3	:	:	PUNCT
ajst-32156	18	4	practical	practical	ADJ
ajst-32156	18	5	deployment	deployment	NOUN
ajst-32156	18	6	requires	require	VERB
ajst-32156	18	7	safety	safety	NOUN
ajst-32156	18	8	clearance	clearance	NOUN
ajst-32156	18	9	from	from	ADP
ajst-32156	18	10	obstacles	obstacle	NOUN
ajst-32156	18	11	.	.	PUNCT
ajst-32156	19	1	heterogeneous	heterogeneous	ADJ
ajst-32156	19	2	teams	team	NOUN
ajst-32156	19	3	:	:	PUNCT
ajst-32156	19	4	multi	multi	ADJ
ajst-32156	19	5	-	-	ADJ
ajst-32156	19	6	robot	robot	ADJ
ajst-32156	19	7	systems	system	NOUN
ajst-32156	19	8	may	may	AUX
ajst-32156	19	9	include	include	VERB
ajst-32156	19	10	robots	robot	NOUN
ajst-32156	19	11	of	of	ADP
ajst-32156	19	12	different	different	ADJ
ajst-32156	19	13	sizes	size	NOUN
ajst-32156	19	14	.	.	PUNCT
ajst-32156	20	1	our	our	PRON
ajst-32156	20	2	baseline	baseline	ADJ
ajst-32156	20	3	experiments	experiment	NOUN
ajst-32156	20	4	(	(	PUNCT
ajst-32156	20	5	section	section	NOUN
ajst-32156	20	6	iv	iv	NUM
ajst-32156	20	7	)	)	PUNCT
ajst-32156	20	8	reveal	reveal	VERB
ajst-32156	20	9	that	that	SCONJ
ajst-32156	20	10	while	while	SCONJ
ajst-32156	20	11	standard	standard	ADJ
ajst-32156	20	12	algorithms	algorithm	NOUN
ajst-32156	20	13	achieve	achieve	VERB
ajst-32156	20	14	99–100	99–100	NUM
ajst-32156	20	15	%	%	NOUN
ajst-32156	20	16	coverage	coverage	NOUN
ajst-32156	20	17	,	,	PUNCT
ajst-32156	20	18	they	they	PRON
ajst-32156	20	19	generate	generate	VERB
ajst-32156	20	20	paths	path	NOUN
ajst-32156	20	21	with	with	ADP
ajst-32156	20	22	1400–1900	1400–1900	NUM
ajst-32156	20	23	turns	turn	NOUN
ajst-32156	20	24	on	on	ADP
ajst-32156	20	25	average	average	ADJ
ajst-32156	20	26	,	,	PUNCT
ajst-32156	20	27	many	many	ADJ
ajst-32156	20	28	of	of	ADP
ajst-32156	20	29	which	which	PRON
ajst-32156	20	30	violate	violate	VERB
ajst-32156	20	31	physical	physical	ADJ
ajst-32156	20	32	turning	turning	NOUN
ajst-32156	20	33	constraints	constraint	NOUN
ajst-32156	20	34	.	.	PUNCT
ajst-32156	21	1	furthermore	furthermore	ADV
ajst-32156	21	2	,	,	PUNCT
ajst-32156	21	3	paths	path	NOUN
ajst-32156	21	4	may	may	AUX
ajst-32156	21	5	traverse	traverse	VERB
ajst-32156	21	6	passages	passage	NOUN
ajst-32156	21	7	narrower	narrower	ADV
ajst-32156	21	8	than	than	ADP
ajst-32156	21	9	the	the	DET
ajst-32156	21	10	robots	robot	NOUN
ajst-32156	21	11	physical	physical	ADJ
ajst-32156	21	12	width	width	NOUN
ajst-32156	21	13	,	,	PUNCT
ajst-32156	21	14	making	make	VERB
ajst-32156	21	15	them	they	PRON
ajst-32156	21	16	impossible	impossible	ADJ
ajst-32156	21	17	to	to	PART
ajst-32156	21	18	execute	execute	VERB
ajst-32156	21	19	on	on	ADP
ajst-32156	21	20	real	real	ADJ
ajst-32156	21	21	platforms	platform	NOUN
ajst-32156	21	22	.	.	PUNCT
ajst-32156	22	1	1.2	1.2	NUM
ajst-32156	22	2	.	.	PUNCT
ajst-32156	22	3	contributions	contribution	NOUN
ajst-32156	22	4	this	this	DET
ajst-32156	22	5	paper	paper	NOUN
ajst-32156	22	6	makes	make	VERB
ajst-32156	22	7	the	the	DET
ajst-32156	22	8	following	follow	VERB
ajst-32156	22	9	contributions	contribution	NOUN
ajst-32156	22	10	:	:	PUNCT
ajst-32156	22	11	1	1	NUM
ajst-32156	22	12	)	)	PUNCT
ajst-32156	22	13	problem	problem	NOUN
ajst-32156	22	14	formulation	formulation	NOUN
ajst-32156	22	15	:	:	PUNCT
ajst-32156	22	16	we	we	PRON
ajst-32156	22	17	formalize	formalize	VERB
ajst-32156	22	18	the	the	DET
ajst-32156	22	19	robot	robot	NOUN
ajst-32156	22	20	-	-	PUNCT
ajst-32156	22	21	size	size	NOUN
ajst-32156	22	22	aware	aware	ADJ
ajst-32156	22	23	cpp	cpp	NOUN
ajst-32156	22	24	problem	problem	NOUN
ajst-32156	22	25	,	,	PUNCT
ajst-32156	22	26	introducing	introduce	VERB
ajst-32156	22	27	explicit	explicit	ADJ
ajst-32156	22	28	robot	robot	NOUN
ajst-32156	22	29	geometry	geometry	NOUN
ajst-32156	22	30	parameters	parameter	NOUN
ajst-32156	22	31	(	(	PUNCT
ajst-32156	22	32	radius	radius	NOUN
ajst-32156	22	33	,	,	PUNCT
ajst-32156	22	34	turning	turn	VERB
ajst-32156	22	35	radius	radius	NOUN
ajst-32156	22	36	,	,	PUNCT
ajst-32156	22	37	clearance	clearance	NOUN
ajst-32156	22	38	)	)	PUNCT
ajst-32156	22	39	relative	relative	ADJ
ajst-32156	22	40	to	to	ADP
ajst-32156	22	41	grid	grid	NOUN
ajst-32156	22	42	cell	cell	NOUN
ajst-32156	22	43	resolution	resolution	NOUN
ajst-32156	22	44	.	.	PUNCT
ajst-32156	23	1	2	2	X
ajst-32156	23	2	)	)	PUNCT
ajst-32156	23	3	feasibility	feasibility	NOUN
ajst-32156	23	4	metrics	metric	NOUN
ajst-32156	23	5	:	:	PUNCT
ajst-32156	23	6	we	we	PRON
ajst-32156	23	7	propose	propose	VERB
ajst-32156	23	8	new	new	ADJ
ajst-32156	23	9	evaluation	evaluation	NOUN
ajst-32156	23	10	metrics	metric	NOUN
ajst-32156	23	11	beyond	beyond	ADP
ajst-32156	23	12	coverage	coverage	NOUN
ajst-32156	23	13	,	,	PUNCT
ajst-32156	23	14	including	include	VERB
ajst-32156	23	15	path	path	NOUN
ajst-32156	23	16	feasibility	feasibility	NOUN
ajst-32156	23	17	score	score	NOUN
ajst-32156	23	18	,	,	PUNCT
ajst-32156	23	19	turning	turn	VERB
ajst-32156	23	20	radius	radius	NOUN
ajst-32156	23	21	violations	violation	NOUN
ajst-32156	23	22	,	,	PUNCT
ajst-32156	23	23	and	and	CCONJ
ajst-32156	23	24	minimum	minimum	NOUN
ajst-32156	23	25	passage	passage	NOUN
ajst-32156	23	26	width	width	NOUN
ajst-32156	23	27	analysis	analysis	NOUN
ajst-32156	23	28	.	.	PUNCT
ajst-32156	24	1	3	3	X
ajst-32156	24	2	)	)	PUNCT
ajst-32156	24	3	size	size	NOUN
ajst-32156	24	4	-	-	PUNCT
ajst-32156	24	5	aware	aware	ADJ
ajst-32156	24	6	algorithms	algorithm	NOUN
ajst-32156	25	1	:	:	PUNCT
ajst-32156	25	2	we	we	PRON
ajst-32156	25	3	present	present	VERB
ajst-32156	25	4	modified	modified	ADJ
ajst-32156	25	5	versions	version	NOUN
ajst-32156	25	6	of	of	ADP
ajst-32156	25	7	two	two	NUM
ajst-32156	25	8	representative	representative	ADJ
ajst-32156	25	9	cpp	cpp	NOUN
ajst-32156	25	10	algorithms	algorithm	NOUN
ajst-32156	25	11	(	(	PUNCT
ajst-32156	25	12	stc	stc	NOUN
ajst-32156	25	13	and	and	CCONJ
ajst-32156	25	14	bcd	bcd	PROPN
ajst-32156	25	15	)	)	PUNCT
ajst-32156	25	16	that	that	PRON
ajst-32156	25	17	incorporate	incorporate	VERB
ajst-32156	25	18	robot	robot	NOUN
ajst-32156	25	19	geometric	geometric	ADJ
ajst-32156	25	20	constraints	constraint	NOUN
ajst-32156	25	21	while	while	SCONJ
ajst-32156	25	22	maintaining	maintain	VERB
ajst-32156	25	23	high	high	ADJ
ajst-32156	25	24	coverage	coverage	NOUN
ajst-32156	25	25	.	.	PUNCT
ajst-32156	26	1	4	4	X
ajst-32156	26	2	)	)	PUNCT
ajst-32156	26	3	comprehensive	comprehensive	ADJ
ajst-32156	26	4	evaluation	evaluation	NOUN
ajst-32156	26	5	:	:	PUNCT
ajst-32156	26	6	we	we	PRON
ajst-32156	26	7	provide	provide	VERB
ajst-32156	26	8	extensive	extensive	ADJ
ajst-32156	26	9	experiments	experiment	NOUN
ajst-32156	26	10	on	on	ADP
ajst-32156	26	11	17	17	NUM
ajst-32156	26	12	diverse	diverse	ADJ
ajst-32156	26	13	maps	map	NOUN
ajst-32156	26	14	comparing	compare	VERB
ajst-32156	26	15	baseline	baseline	NOUN
ajst-32156	26	16	and	and	CCONJ
ajst-32156	26	17	sizeaware	sizeaware	VERB
ajst-32156	26	18	algorithms	algorithm	NOUN
ajst-32156	26	19	across	across	ADP
ajst-32156	26	20	coverage	coverage	NOUN
ajst-32156	26	21	,	,	PUNCT
ajst-32156	26	22	feasibility	feasibility	NOUN
ajst-32156	26	23	,	,	PUNCT
ajst-32156	26	24	and	and	CCONJ
ajst-32156	26	25	computational	computational	ADJ
ajst-32156	26	26	efficiency	efficiency	NOUN
ajst-32156	26	27	metrics	metric	NOUN
ajst-32156	26	28	,	,	PUNCT
ajst-32156	26	29	with	with	ADP
ajst-32156	26	30	detailed	detailed	ADJ
ajst-32156	26	31	visualization	visualization	NOUN
ajst-32156	26	32	of	of	ADP
ajst-32156	26	33	performance	performance	NOUN
ajst-32156	26	34	across	across	ADP
ajst-32156	26	35	robot	robot	NOUN
ajst-32156	26	36	sizes	size	NOUN
ajst-32156	26	37	and	and	CCONJ
ajst-32156	26	38	map	map	VERB
ajst-32156	26	39	categories	category	NOUN
ajst-32156	26	40	.	.	PUNCT
ajst-32156	27	1	1.3	1.3	NUM
ajst-32156	27	2	.	.	PUNCT
ajst-32156	27	3	paper	paper	NOUN
ajst-32156	27	4	organization	organization	NOUN
ajst-32156	27	5	the	the	DET
ajst-32156	27	6	remainder	remainder	NOUN
ajst-32156	27	7	of	of	ADP
ajst-32156	27	8	this	this	DET
ajst-32156	27	9	paper	paper	NOUN
ajst-32156	27	10	is	be	AUX
ajst-32156	27	11	organized	organize	VERB
ajst-32156	27	12	as	as	SCONJ
ajst-32156	27	13	follows	follow	VERB
ajst-32156	27	14	:	:	PUNCT
ajst-32156	27	15	section	section	NOUN
ajst-32156	27	16	2	2	NUM
ajst-32156	27	17	reviews	review	NOUN
ajst-32156	27	18	related	relate	VERB
ajst-32156	27	19	work	work	NOUN
ajst-32156	27	20	.	.	PUNCT
ajst-32156	28	1	section	section	NOUN
ajst-32156	28	2	3	3	NUM
ajst-32156	28	3	formalizes	formalize	VERB
ajst-32156	28	4	the	the	DET
ajst-32156	28	5	problem	problem	NOUN
ajst-32156	28	6	.	.	PUNCT
ajst-32156	29	1	section	section	NOUN
ajst-32156	29	2	4	4	NUM
ajst-32156	29	3	presents	present	VERB
ajst-32156	29	4	baseline	baseline	ADJ
ajst-32156	29	5	algorithm	algorithm	NOUN
ajst-32156	29	6	analysis	analysis	NOUN
ajst-32156	29	7	.	.	PUNCT
ajst-32156	30	1	section	section	NOUN
ajst-32156	30	2	5	5	NUM
ajst-32156	30	3	describes	describe	VERB
ajst-32156	30	4	our	our	PRON
ajst-32156	30	5	size	size	NOUN
ajst-32156	30	6	-	-	PUNCT
ajst-32156	30	7	aware	aware	ADJ
ajst-32156	30	8	modifications	modification	NOUN
ajst-32156	30	9	.	.	PUNCT
ajst-32156	31	1	section	section	NOUN
ajst-32156	31	2	6	6	NUM
ajst-32156	31	3	presents	present	VERB
ajst-32156	31	4	experimental	experimental	ADJ
ajst-32156	31	5	results	result	NOUN
ajst-32156	31	6	.	.	PUNCT
ajst-32156	32	1	section	section	NOUN
ajst-32156	32	2	7	7	NUM
ajst-32156	32	3	concludes	conclude	VERB
ajst-32156	32	4	with	with	ADP
ajst-32156	32	5	future	future	ADJ
ajst-32156	32	6	directions	direction	NOUN
ajst-32156	32	7	.	.	PUNCT
ajst-32156	33	1	2	2	X
ajst-32156	33	2	.	.	X
ajst-32156	33	3	related	relate	VERB
ajst-32156	33	4	work	work	NOUN
ajst-32156	33	5	2.1	2.1	NUM
ajst-32156	33	6	.	.	PUNCT
ajst-32156	34	1	coverage	coverage	NOUN
ajst-32156	34	2	path	path	NOUN
ajst-32156	34	3	planning	planning	NOUN
ajst-32156	34	4	algorithms	algorithm	NOUN
ajst-32156	34	5	classical	classical	ADJ
ajst-32156	34	6	cpp	cpp	NOUN
ajst-32156	34	7	approaches	approach	NOUN
ajst-32156	34	8	include	include	VERB
ajst-32156	34	9	:	:	PUNCT
ajst-32156	34	10	cellular	cellular	ADJ
ajst-32156	34	11	decomposition	decomposition	NOUN
ajst-32156	34	12	:	:	PUNCT
ajst-32156	34	13	boustrophedon	boustrophedon	NOUN
ajst-32156	34	14	cell	cell	NOUN
ajst-32156	34	15	decomposition	decomposition	NOUN
ajst-32156	34	16	(	(	PUNCT
ajst-32156	34	17	bcd)[1	bcd)[1	PROPN
ajst-32156	34	18	]	]	PUNCT
ajst-32156	34	19	divides	divide	VERB
ajst-32156	34	20	the	the	DET
ajst-32156	34	21	area	area	NOUN
ajst-32156	34	22	into	into	ADP
ajst-32156	34	23	cells	cell	NOUN
ajst-32156	34	24	and	and	CCONJ
ajst-32156	34	25	covers	cover	VERB
ajst-32156	34	26	each	each	PRON
ajst-32156	34	27	with	with	ADP
ajst-32156	34	28	back	back	NOUN
ajst-32156	34	29	-	-	PUNCT
ajst-32156	34	30	and	and	CCONJ
ajst-32156	34	31	-	-	PUNCT
ajst-32156	34	32	forth	forth	NOUN
ajst-32156	34	33	motions	motion	NOUN
ajst-32156	34	34	.	.	PUNCT
ajst-32156	35	1	while	while	SCONJ
ajst-32156	35	2	effective	effective	ADJ
ajst-32156	35	3	for	for	ADP
ajst-32156	35	4	simple	simple	ADJ
ajst-32156	35	5	environments	environment	NOUN
ajst-32156	35	6	,	,	PUNCT
ajst-32156	35	7	bcd	bcd	PROPN
ajst-32156	35	8	assumes	assume	VERB
ajst-32156	35	9	point	point	VERB
ajst-32156	35	10	robots	robot	NOUN
ajst-32156	35	11	and	and	CCONJ
ajst-32156	35	12	generates	generate	VERB
ajst-32156	35	13	many	many	ADJ
ajst-32156	35	14	turning	turn	VERB
ajst-32156	35	15	maneuvers	maneuver	NOUN
ajst-32156	35	16	.	.	PUNCT
ajst-32156	36	1	spanning	span	VERB
ajst-32156	36	2	tree	tree	NOUN
ajst-32156	36	3	coverage	coverage	NOUN
ajst-32156	36	4	(	(	PUNCT
ajst-32156	36	5	stc	stc	NOUN
ajst-32156	36	6	):	):	PUNCT
ajst-32156	36	7	gabriely	gabriely	ADV
ajst-32156	36	8	and	and	CCONJ
ajst-32156	36	9	rimon[3	rimon[3	PROPN
ajst-32156	36	10	]	]	PUNCT
ajst-32156	36	11	proposed	propose	VERB
ajst-32156	36	12	stc	stc	NOUN
ajst-32156	36	13	which	which	PRON
ajst-32156	36	14	constructs	construct	VERB
ajst-32156	36	15	a	a	DET
ajst-32156	36	16	minimum	minimum	NOUN
ajst-32156	36	17	spanning	span	VERB
ajst-32156	36	18	tree	tree	NOUN
ajst-32156	36	19	over	over	ADP
ajst-32156	36	20	the	the	DET
ajst-32156	36	21	grid	grid	NOUN
ajst-32156	36	22	and	and	CCONJ
ajst-32156	36	23	traverses	traverse	NOUN
ajst-32156	36	24	it	it	PRON
ajst-32156	36	25	.	.	PUNCT
ajst-32156	37	1	stc	stc	PROPN
ajst-32156	37	2	guarantees	guarantee	VERB
ajst-32156	37	3	complete	complete	ADJ
ajst-32156	37	4	coverage	coverage	NOUN
ajst-32156	37	5	but	but	CCONJ
ajst-32156	37	6	can	can	AUX
ajst-32156	37	7	produce	produce	VERB
ajst-32156	37	8	highly	highly	ADV
ajst-32156	37	9	redundant	redundant	ADJ
ajst-32156	37	10	paths	path	NOUN
ajst-32156	37	11	with	with	ADP
ajst-32156	37	12	many	many	ADJ
ajst-32156	37	13	turns	turn	NOUN
ajst-32156	37	14	.	.	PUNCT
ajst-32156	38	1	44	44	NUM
ajst-32156	38	2	wavefront	wavefront	ADJ
ajst-32156	38	3	methods	method	NOUN
ajst-32156	38	4	:	:	PUNCT
ajst-32156	38	5	distance	distance	NOUN
ajst-32156	38	6	-	-	PUNCT
ajst-32156	38	7	based	base	VERB
ajst-32156	38	8	approaches	approach	NOUN
ajst-32156	38	9	propagate	propagate	VERB
ajst-32156	38	10	waves	wave	NOUN
ajst-32156	38	11	from	from	ADP
ajst-32156	38	12	start	start	NOUN
ajst-32156	38	13	points	point	NOUN
ajst-32156	38	14	to	to	PART
ajst-32156	38	15	generate	generate	VERB
ajst-32156	38	16	coverage	coverage	NOUN
ajst-32156	38	17	paths[4	paths[4	PRON
ajst-32156	38	18	]	]	PUNCT
ajst-32156	38	19	.	.	PUNCT
ajst-32156	39	1	these	these	DET
ajst-32156	39	2	methods	method	NOUN
ajst-32156	39	3	adapt	adapt	VERB
ajst-32156	39	4	well	well	ADV
ajst-32156	39	5	to	to	ADP
ajst-32156	39	6	unknown	unknown	ADJ
ajst-32156	39	7	environments	environment	NOUN
ajst-32156	39	8	but	but	CCONJ
ajst-32156	39	9	lack	lack	VERB
ajst-32156	39	10	geometric	geometric	ADJ
ajst-32156	39	11	constraint	constraint	NOUN
ajst-32156	39	12	consideration	consideration	NOUN
ajst-32156	39	13	.	.	PUNCT
ajst-32156	40	1	2.2	2.2	NUM
ajst-32156	40	2	.	.	PUNCT
ajst-32156	41	1	multi	multi	ADJ
ajst-32156	41	2	-	-	ADJ
ajst-32156	41	3	robot	robot	ADJ
ajst-32156	41	4	coverage	coverage	NOUN
ajst-32156	41	5	for	for	ADP
ajst-32156	41	6	multi	multi	ADJ
ajst-32156	41	7	-	-	ADJ
ajst-32156	41	8	robot	robot	ADJ
ajst-32156	41	9	systems	system	NOUN
ajst-32156	41	10	,	,	PUNCT
ajst-32156	41	11	darp	darp	ADJ
ajst-32156	41	12	(	(	PUNCT
ajst-32156	41	13	divide	divide	NOUN
ajst-32156	41	14	areas	area	NOUN
ajst-32156	41	15	based	base	VERB
ajst-32156	41	16	on	on	ADP
ajst-32156	41	17	robot	robot	NOUN
ajst-32156	41	18	positions)[5	positions)[5	NOUN
ajst-32156	41	19	]	]	PUNCT
ajst-32156	41	20	divides	divide	VERB
ajst-32156	41	21	the	the	DET
ajst-32156	41	22	area	area	NOUN
ajst-32156	41	23	among	among	ADP
ajst-32156	41	24	robots	robot	NOUN
ajst-32156	41	25	to	to	PART
ajst-32156	41	26	balance	balance	VERB
ajst-32156	41	27	workload	workload	NOUN
ajst-32156	41	28	.	.	PUNCT
ajst-32156	42	1	however	however	ADV
ajst-32156	42	2	,	,	PUNCT
ajst-32156	42	3	darp	darp	NOUN
ajst-32156	42	4	assumes	assume	VERB
ajst-32156	42	5	homogeneous	homogeneous	ADJ
ajst-32156	42	6	robots	robot	NOUN
ajst-32156	42	7	with	with	ADP
ajst-32156	42	8	identical	identical	ADJ
ajst-32156	42	9	capabilities	capability	NOUN
ajst-32156	42	10	and	and	CCONJ
ajst-32156	42	11	does	do	AUX
ajst-32156	42	12	not	not	PART
ajst-32156	42	13	account	account	VERB
ajst-32156	42	14	for	for	ADP
ajst-32156	42	15	size	size	NOUN
ajst-32156	42	16	differences	difference	NOUN
ajst-32156	42	17	.	.	PUNCT
ajst-32156	43	1	recent	recent	ADJ
ajst-32156	43	2	improvements	improvement	NOUN
ajst-32156	43	3	to	to	ADP
ajst-32156	43	4	darp[6	darp[6	NOUN
ajst-32156	43	5	]	]	PUNCT
ajst-32156	43	6	incorporate	incorporate	VERB
ajst-32156	43	7	spanning	span	VERB
ajst-32156	43	8	tree	tree	NOUN
ajst-32156	43	9	coverage	coverage	NOUN
ajst-32156	43	10	for	for	ADP
ajst-32156	43	11	higher	high	ADJ
ajst-32156	43	12	efficiency	efficiency	NOUN
ajst-32156	43	13	but	but	CCONJ
ajst-32156	43	14	still	still	ADV
ajst-32156	43	15	lack	lack	VERB
ajst-32156	43	16	explicit	explicit	ADJ
ajst-32156	43	17	geometric	geometric	ADJ
ajst-32156	43	18	constraint	constraint	NOUN
ajst-32156	43	19	handling	handling	NOUN
ajst-32156	43	20	.	.	PUNCT
ajst-32156	44	1	large	large	ADJ
ajst-32156	44	2	-	-	PUNCT
ajst-32156	44	3	scale	scale	NOUN
ajst-32156	44	4	aerial	aerial	ADJ
ajst-32156	44	5	multi	multi	ADJ
ajst-32156	44	6	-	-	NOUN
ajst-32156	44	7	robot	robot	ADJ
ajst-32156	44	8	cpp[7	cpp[7	NOUN
ajst-32156	44	9	]	]	PUNCT
ajst-32156	44	10	addresses	address	VERB
ajst-32156	44	11	energy	energy	NOUN
ajst-32156	44	12	constraints	constraint	NOUN
ajst-32156	44	13	and	and	CCONJ
ajst-32156	44	14	coordination	coordination	NOUN
ajst-32156	44	15	but	but	CCONJ
ajst-32156	44	16	treats	treat	VERB
ajst-32156	44	17	all	all	DET
ajst-32156	44	18	robots	robot	NOUN
ajst-32156	44	19	as	as	ADP
ajst-32156	44	20	identical	identical	ADJ
ajst-32156	44	21	point	point	NOUN
ajst-32156	44	22	agents	agent	NOUN
ajst-32156	44	23	.	.	PUNCT
ajst-32156	45	1	collaborative	collaborative	ADJ
ajst-32156	45	2	exploration	exploration	NOUN
ajst-32156	45	3	strategies[8	strategies[8	PROPN
ajst-32156	45	4	]	]	PUNCT
ajst-32156	45	5	focus	focus	NOUN
ajst-32156	45	6	on	on	ADP
ajst-32156	45	7	sensor	sensor	NOUN
ajst-32156	45	8	coverage	coverage	NOUN
ajst-32156	45	9	rather	rather	ADV
ajst-32156	45	10	than	than	ADP
ajst-32156	45	11	physical	physical	ADJ
ajst-32156	45	12	robot	robot	NOUN
ajst-32156	45	13	dimensions	dimension	NOUN
ajst-32156	45	14	.	.	PUNCT
ajst-32156	46	1	heterogeneous	heterogeneous	ADJ
ajst-32156	46	2	multi	multi	ADJ
ajst-32156	46	3	-	-	NOUN
ajst-32156	46	4	robot	robot	NOUN
ajst-32156	46	5	systems[9],typically	systems[9],typically	ADV
ajst-32156	46	6	consider	consider	VERB
ajst-32156	46	7	different	different	ADJ
ajst-32156	46	8	capabilities	capability	NOUN
ajst-32156	46	9	(	(	PUNCT
ajst-32156	46	10	sensors	sensor	NOUN
ajst-32156	46	11	,	,	PUNCT
ajst-32156	46	12	speeds	speed	NOUN
ajst-32156	46	13	)	)	PUNCT
ajst-32156	46	14	but	but	CCONJ
ajst-32156	46	15	not	not	PART
ajst-32156	46	16	physical	physical	ADJ
ajst-32156	46	17	size	size	NOUN
ajst-32156	46	18	differences	difference	NOUN
ajst-32156	46	19	.	.	PUNCT
ajst-32156	47	1	recent	recent	ADJ
ajst-32156	47	2	comprehensive	comprehensive	ADJ
ajst-32156	47	3	surveys[11],identify	surveys[11],identify	NOUN
ajst-32156	47	4	geometric	geometric	ADJ
ajst-32156	47	5	constraints	constraint	NOUN
ajst-32156	47	6	as	as	ADP
ajst-32156	47	7	an	an	DET
ajst-32156	47	8	open	open	ADJ
ajst-32156	47	9	challenge	challenge	NOUN
ajst-32156	47	10	in	in	ADP
ajst-32156	47	11	cpp	cpp	NOUN
ajst-32156	47	12	,	,	PUNCT
ajst-32156	47	13	noting	note	VERB
ajst-32156	47	14	that	that	SCONJ
ajst-32156	47	15	most	most	ADJ
ajst-32156	47	16	algorithms	algorithm	NOUN
ajst-32156	47	17	assume	assume	VERB
ajst-32156	47	18	point	point	NOUN
ajst-32156	47	19	robots	robot	NOUN
ajst-32156	47	20	despite	despite	SCONJ
ajst-32156	47	21	real	real	ADJ
ajst-32156	47	22	platforms	platform	NOUN
ajst-32156	47	23	having	have	VERB
ajst-32156	47	24	significant	significant	ADJ
ajst-32156	47	25	physical	physical	ADJ
ajst-32156	47	26	extent	extent	NOUN
ajst-32156	47	27	.	.	PUNCT
ajst-32156	48	1	2.3	2.3	NUM
ajst-32156	48	2	.	.	PUNCT
ajst-32156	49	1	geometric	geometric	ADJ
ajst-32156	49	2	constraint	constraint	NOUN
ajst-32156	49	3	integration	integration	NOUN
ajst-32156	49	4	while	while	SCONJ
ajst-32156	49	5	extensive	extensive	ADJ
ajst-32156	49	6	research	research	NOUN
ajst-32156	49	7	exists	exist	VERB
ajst-32156	49	8	on	on	ADP
ajst-32156	49	9	geometric	geometric	ADJ
ajst-32156	49	10	constraints	constraint	NOUN
ajst-32156	49	11	in	in	ADP
ajst-32156	49	12	general	general	ADJ
ajst-32156	49	13	path	path	NOUN
ajst-32156	49	14	planning	planning	NOUN
ajst-32156	49	15	,	,	PUNCT
ajst-32156	49	16	few	few	ADJ
ajst-32156	49	17	works	work	NOUN
ajst-32156	49	18	explicitly	explicitly	ADV
ajst-32156	49	19	integrate	integrate	VERB
ajst-32156	49	20	robot	robot	NOUN
ajst-32156	49	21	footprint	footprint	NOUN
ajst-32156	49	22	into	into	ADP
ajst-32156	49	23	cpp	cpp	ADJ
ajst-32156	49	24	algorithms	algorithm	NOUN
ajst-32156	49	25	:	:	PUNCT
ajst-32156	49	26	obstacle	obstacle	VERB
ajst-32156	49	27	inflation	inflation	NOUN
ajst-32156	49	28	:	:	PUNCT
ajst-32156	49	29	configuration	configuration	NOUN
ajst-32156	49	30	space	space	NOUN
ajst-32156	49	31	approaches[12	approaches[12	NOUN
ajst-32156	49	32	]	]	PUNCT
ajst-32156	49	33	expand	expand	VERB
ajst-32156	49	34	obstacles	obstacle	NOUN
ajst-32156	49	35	by	by	ADP
ajst-32156	49	36	the	the	DET
ajst-32156	49	37	robot	robot	NOUN
ajst-32156	49	38	’s	’s	PART
ajst-32156	49	39	radius	radius	NOUN
ajst-32156	49	40	,	,	PUNCT
ajst-32156	49	41	converting	convert	VERB
ajst-32156	49	42	the	the	DET
ajst-32156	49	43	robot	robot	NOUN
ajst-32156	49	44	to	to	ADP
ajst-32156	49	45	a	a	DET
ajst-32156	49	46	point	point	NOUN
ajst-32156	49	47	.	.	PUNCT
ajst-32156	50	1	however	however	ADV
ajst-32156	50	2	,	,	PUNCT
ajst-32156	50	3	this	this	PRON
ajst-32156	50	4	is	be	AUX
ajst-32156	50	5	typically	typically	ADV
ajst-32156	50	6	applied	apply	VERB
ajst-32156	50	7	to	to	ADP
ajst-32156	50	8	point	point	NOUN
ajst-32156	50	9	-	-	PUNCT
ajst-32156	50	10	to	to	ADP
ajst-32156	50	11	-	-	PUNCT
ajst-32156	50	12	point	point	NOUN
ajst-32156	50	13	planning	planning	NOUN
ajst-32156	50	14	,	,	PUNCT
ajst-32156	50	15	not	not	PART
ajst-32156	50	16	systematic	systematic	ADJ
ajst-32156	50	17	coverage	coverage	NOUN
ajst-32156	50	18	.	.	PUNCT
ajst-32156	51	1	our	our	PRON
ajst-32156	51	2	work	work	NOUN
ajst-32156	51	3	adapts	adapt	VERB
ajst-32156	51	4	this	this	DET
ajst-32156	51	5	concept	concept	NOUN
ajst-32156	51	6	for	for	ADP
ajst-32156	51	7	cpp	cpp	NOUN
ajst-32156	51	8	while	while	SCONJ
ajst-32156	51	9	maintaining	maintain	VERB
ajst-32156	51	10	coverage	coverage	NOUN
ajst-32156	51	11	completeness	completeness	NOUN
ajst-32156	51	12	.	.	PUNCT
ajst-32156	52	1	dynamic	dynamic	ADJ
ajst-32156	52	2	constraints	constraint	NOUN
ajst-32156	52	3	:	:	PUNCT
ajst-32156	52	4	the	the	DET
ajst-32156	52	5	dynamic	dynamic	ADJ
ajst-32156	52	6	window	window	NOUN
ajst-32156	52	7	approach[13	approach[13	NOUN
ajst-32156	52	8	]	]	PUNCT
ajst-32156	52	9	considers	consider	VERB
ajst-32156	52	10	robot	robot	NOUN
ajst-32156	52	11	footprint	footprint	NOUN
ajst-32156	52	12	for	for	ADP
ajst-32156	52	13	collision	collision	NOUN
ajst-32156	52	14	avoidance	avoidance	NOUN
ajst-32156	52	15	in	in	ADP
ajst-32156	52	16	dynamic	dynamic	ADJ
ajst-32156	52	17	environments	environment	NOUN
ajst-32156	52	18	.	.	PUNCT
ajst-32156	53	1	elastic	elastic	ADJ
ajst-32156	53	2	bands[14	bands[14	PROPN
ajst-32156	53	3	]	]	PUNCT
ajst-32156	53	4	deform	deform	VERB
ajst-32156	53	5	paths	path	NOUN
ajst-32156	53	6	to	to	PART
ajst-32156	53	7	respect	respect	VERB
ajst-32156	53	8	geometric	geometric	ADJ
ajst-32156	53	9	constraints	constraint	NOUN
ajst-32156	53	10	.	.	PUNCT
ajst-32156	54	1	however	however	ADV
ajst-32156	54	2	,	,	PUNCT
ajst-32156	54	3	these	these	DET
ajst-32156	54	4	methods	method	NOUN
ajst-32156	54	5	operate	operate	VERB
ajst-32156	54	6	on	on	ADP
ajst-32156	54	7	pregenerated	pregenerated	ADJ
ajst-32156	54	8	paths	path	NOUN
ajst-32156	54	9	rather	rather	ADV
ajst-32156	54	10	than	than	ADP
ajst-32156	54	11	incorporating	incorporate	VERB
ajst-32156	54	12	constraints	constraint	NOUN
ajst-32156	54	13	during	during	ADP
ajst-32156	54	14	coverage	coverage	NOUN
ajst-32156	54	15	generation	generation	NOUN
ajst-32156	54	16	.	.	PUNCT
ajst-32156	55	1	post	post	ADJ
ajst-32156	55	2	-	-	ADJ
ajst-32156	55	3	processing	processing	ADJ
ajst-32156	55	4	approaches	approach	NOUN
ajst-32156	55	5	:	:	PUNCT
ajst-32156	55	6	most	most	ADJ
ajst-32156	55	7	prior	prior	ADJ
ajst-32156	55	8	work[15	work[15	NOUN
ajst-32156	55	9	]	]	PUNCT
ajst-32156	55	10	focuses	focus	VERB
ajst-32156	55	11	on	on	ADP
ajst-32156	55	12	path	path	NOUN
ajst-32156	55	13	smoothing	smoothing	NOUN
ajst-32156	55	14	or	or	CCONJ
ajst-32156	55	15	post	post	ADJ
ajst-32156	55	16	-	-	ADJ
ajst-32156	55	17	processing	processing	NOUN
ajst-32156	55	18	to	to	PART
ajst-32156	55	19	ensure	ensure	VERB
ajst-32156	55	20	kinematic	kinematic	ADJ
ajst-32156	55	21	feasibility	feasibility	NOUN
ajst-32156	55	22	.	.	PUNCT
ajst-32156	56	1	neural	neural	ADJ
ajst-32156	56	2	network	network	NOUN
ajst-32156	56	3	approaches[16	approaches[16	PROPN
ajst-32156	56	4	]	]	PUNCT
ajst-32156	56	5	learn	learn	VERB
ajst-32156	56	6	to	to	PART
ajst-32156	56	7	avoid	avoid	VERB
ajst-32156	56	8	obstacles	obstacle	NOUN
ajst-32156	56	9	but	but	CCONJ
ajst-32156	56	10	do	do	AUX
ajst-32156	56	11	not	not	PART
ajst-32156	56	12	explicitly	explicitly	ADV
ajst-32156	56	13	parameterize	parameterize	VERB
ajst-32156	56	14	robot	robot	NOUN
ajst-32156	56	15	size	size	NOUN
ajst-32156	56	16	.	.	PUNCT
ajst-32156	57	1	uncertainty	uncertainty	NOUN
ajst-32156	57	2	-	-	PUNCT
ajst-32156	57	3	aware	aware	ADJ
ajst-32156	57	4	methods[17	methods[17	PROPN
ajst-32156	57	5	]	]	PUNCT
ajst-32156	57	6	use	use	VERB
ajst-32156	57	7	knowledge	knowledge	NOUN
ajst-32156	57	8	inference	inference	NOUN
ajst-32156	57	9	but	but	CCONJ
ajst-32156	57	10	assume	assume	VERB
ajst-32156	57	11	point	point	NOUN
ajst-32156	57	12	robots	robot	NOUN
ajst-32156	57	13	.	.	PUNCT
ajst-32156	58	1	research	research	NOUN
ajst-32156	58	2	gap	gap	NOUN
ajst-32156	58	3	:	:	PUNCT
ajst-32156	58	4	existing	exist	VERB
ajst-32156	58	5	cpp	cpp	NOUN
ajst-32156	58	6	algorithms	algorithm	NOUN
ajst-32156	58	7	either	either	CCONJ
ajst-32156	58	8	(	(	PUNCT
ajst-32156	58	9	1	1	X
ajst-32156	58	10	)	)	PUNCT
ajst-32156	58	11	ignore	ignore	VERB
ajst-32156	58	12	robot	robot	NOUN
ajst-32156	58	13	geometry	geometry	NOUN
ajst-32156	58	14	entirely	entirely	ADV
ajst-32156	58	15	,	,	PUNCT
ajst-32156	58	16	(	(	PUNCT
ajst-32156	58	17	2	2	X
ajst-32156	58	18	)	)	PUNCT
ajst-32156	58	19	use	use	NOUN
ajst-32156	58	20	fixed	fix	VERB
ajst-32156	58	21	hardcoded	hardcode	VERB
ajst-32156	58	22	size	size	NOUN
ajst-32156	58	23	parameters	parameter	NOUN
ajst-32156	58	24	,	,	PUNCT
ajst-32156	58	25	or	or	CCONJ
ajst-32156	58	26	(	(	PUNCT
ajst-32156	58	27	3	3	X
ajst-32156	58	28	)	)	PUNCT
ajst-32156	58	29	apply	apply	VERB
ajst-32156	58	30	geometric	geometric	ADJ
ajst-32156	58	31	constraints	constraint	NOUN
ajst-32156	58	32	only	only	ADV
ajst-32156	58	33	in	in	ADP
ajst-32156	58	34	postprocessing	postprocesse	VERB
ajst-32156	58	35	.	.	PUNCT
ajst-32156	59	1	no	no	DET
ajst-32156	59	2	prior	prior	ADJ
ajst-32156	59	3	work	work	NOUN
ajst-32156	59	4	systematically	systematically	ADV
ajst-32156	59	5	integrates	integrate	VERB
ajst-32156	59	6	parameterized	parameterized	ADJ
ajst-32156	59	7	robot	robot	NOUN
ajst-32156	59	8	dimensions	dimension	NOUN
ajst-32156	59	9	(	(	PUNCT
ajst-32156	59	10	radius	radius	NOUN
ajst-32156	59	11	,	,	PUNCT
ajst-32156	59	12	turning	turn	VERB
ajst-32156	59	13	radius	radius	NOUN
ajst-32156	59	14	,	,	PUNCT
ajst-32156	59	15	clearance	clearance	NOUN
ajst-32156	59	16	)	)	PUNCT
ajst-32156	59	17	directly	directly	ADV
ajst-32156	59	18	into	into	ADP
ajst-32156	59	19	cpp	cpp	ADJ
ajst-32156	59	20	algorithm	algorithm	NOUN
ajst-32156	59	21	design	design	NOUN
ajst-32156	59	22	for	for	ADP
ajst-32156	59	23	heterogeneous	heterogeneous	ADJ
ajst-32156	59	24	teams	team	NOUN
ajst-32156	59	25	.	.	PUNCT
ajst-32156	60	1	our	our	PRON
ajst-32156	60	2	work	work	NOUN
ajst-32156	60	3	addresses	address	NOUN
ajst-32156	60	4	this	this	DET
ajst-32156	60	5	gap	gap	NOUN
ajst-32156	60	6	by	by	ADP
ajst-32156	60	7	incorporating	incorporate	VERB
ajst-32156	60	8	robot	robot	NOUN
ajst-32156	60	9	size	size	NOUN
ajst-32156	60	10	as	as	ADP
ajst-32156	60	11	a	a	DET
ajst-32156	60	12	first	first	ADJ
ajst-32156	60	13	-	-	PUNCT
ajst-32156	60	14	class	class	NOUN
ajst-32156	60	15	parameter	parameter	NOUN
ajst-32156	60	16	throughout	throughout	ADP
ajst-32156	60	17	the	the	DET
ajst-32156	60	18	planning	planning	NOUN
ajst-32156	60	19	process	process	NOUN
ajst-32156	60	20	.	.	PUNCT
ajst-32156	61	1	3	3	X
ajst-32156	61	2	.	.	X
ajst-32156	61	3	problem	problem	NOUN
ajst-32156	61	4	formulation	formulation	NOUN
ajst-32156	61	5	3.1	3.1	NUM
ajst-32156	61	6	.	.	PUNCT
ajst-32156	61	7	grid	grid	NOUN
ajst-32156	61	8	map	map	NOUN
ajst-32156	61	9	representation	representation	NOUN
ajst-32156	61	10	we	we	PRON
ajst-32156	61	11	represent	represent	VERB
ajst-32156	61	12	the	the	DET
ajst-32156	61	13	environment	environment	NOUN
ajst-32156	61	14	as	as	ADP
ajst-32156	61	15	an	an	DET
ajst-32156	61	16	occupancy	occupancy	NOUN
ajst-32156	61	17	grid	grid	NOUN
ajst-32156	61	18	𝑀	𝑀	PROPN
ajst-32156	61	19	∈	∈	PROPN
ajst-32156	61	20	0	0	NUM
ajst-32156	61	21	,	,	PUNCT
ajst-32156	61	22	1	1	NUM
ajst-32156	61	23	where	where	SCONJ
ajst-32156	61	24	0	0	NUM
ajst-32156	61	25	represents	represent	VERB
ajst-32156	61	26	free	free	ADJ
ajst-32156	61	27	space	space	NOUN
ajst-32156	61	28	and	and	CCONJ
ajst-32156	61	29	-1	-1	ADV
ajst-32156	61	30	represents	represent	VERB
ajst-32156	61	31	obstacle	obstacle	NOUN
ajst-32156	61	32	.	.	PUNCT
ajst-32156	62	1	each	each	DET
ajst-32156	62	2	grid	grid	NOUN
ajst-32156	62	3	cell	cell	NOUN
ajst-32156	62	4	represents	represent	VERB
ajst-32156	62	5	a	a	DET
ajst-32156	62	6	square	square	ADJ
ajst-32156	62	7	area	area	NOUN
ajst-32156	62	8	of	of	ADP
ajst-32156	62	9	side	side	NOUN
ajst-32156	62	10	length	length	NOUN
ajst-32156	62	11	𝑠	𝑠	ADP
ajst-32156	62	12	meters	meter	NOUN
ajst-32156	62	13	in	in	ADP
ajst-32156	62	14	the	the	DET
ajst-32156	62	15	physical	physical	ADJ
ajst-32156	62	16	world	world	NOUN
ajst-32156	62	17	.	.	PUNCT
ajst-32156	63	1	the	the	DET
ajst-32156	63	2	relationship	relationship	NOUN
ajst-32156	63	3	between	between	ADP
ajst-32156	63	4	physical	physical	ADJ
ajst-32156	63	5	space	space	NOUN
ajst-32156	63	6	and	and	CCONJ
ajst-32156	63	7	grid	grid	NOUN
ajst-32156	63	8	space	space	NOUN
ajst-32156	63	9	is	be	AUX
ajst-32156	63	10	critical	critical	ADJ
ajst-32156	63	11	for	for	ADP
ajst-32156	63	12	robot	robot	NOUN
ajst-32156	63	13	-	-	PUNCT
ajst-32156	63	14	size	size	NOUN
ajst-32156	63	15	awareness	awareness	NOUN
ajst-32156	63	16	.	.	PUNCT
ajst-32156	64	1	3.2	3.2	NUM
ajst-32156	64	2	.	.	PUNCT
ajst-32156	64	3	robot	robot	NOUN
ajst-32156	64	4	geometry	geometry	NOUN
ajst-32156	64	5	model	model	NOUN
ajst-32156	64	6	we	we	PRON
ajst-32156	64	7	model	model	VERB
ajst-32156	64	8	a	a	DET
ajst-32156	64	9	robot	robot	NOUN
ajst-32156	64	10	’s	’s	PART
ajst-32156	64	11	physical	physical	ADJ
ajst-32156	64	12	characteristics	characteristic	NOUN
ajst-32156	64	13	with	with	ADP
ajst-32156	64	14	the	the	DET
ajst-32156	64	15	following	follow	VERB
ajst-32156	64	16	parameters	parameter	NOUN
ajst-32156	64	17	:	:	PUNCT
ajst-32156	64	18	•	•	ADP
ajst-32156	64	19	𝑑	𝑑	NOUN
ajst-32156	64	20	:	:	PUNCT
ajst-32156	64	21	physical	physical	ADJ
ajst-32156	64	22	diameter	diameter	NOUN
ajst-32156	64	23	of	of	ADP
ajst-32156	64	24	robot	robot	NOUN
ajst-32156	64	25	(	(	PUNCT
ajst-32156	64	26	meters	meter	NOUN
ajst-32156	64	27	)	)	PUNCT
ajst-32156	64	28	•	•	NUM
ajst-32156	64	29	𝑟	𝑟	NOUN
ajst-32156	64	30	:	:	PUNCT
ajst-32156	64	31	minimum	minimum	ADJ
ajst-32156	64	32	turning	turning	NOUN
ajst-32156	64	33	radius	radius	NOUN
ajst-32156	64	34	(	(	PUNCT
ajst-32156	64	35	meters	meter	NOUN
ajst-32156	64	36	)	)	PUNCT
ajst-32156	64	37	•	•	NUM
ajst-32156	64	38	𝐶	𝐶	PROPN
ajst-32156	64	39	:	:	PUNCT
ajst-32156	64	40	required	require	VERB
ajst-32156	64	41	safety	safety	NOUN
ajst-32156	64	42	clearance	clearance	NOUN
ajst-32156	64	43	(	(	PUNCT
ajst-32156	64	44	meters	meter	NOUN
ajst-32156	64	45	)	)	PUNCT
ajst-32156	64	46	•	•	NUM
ajst-32156	65	1	𝑠	𝑠	X
ajst-32156	65	2	:	:	PUNCT
ajst-32156	65	3	grid	grid	NOUN
ajst-32156	65	4	cell	cell	NOUN
ajst-32156	65	5	size	size	NOUN
ajst-32156	65	6	(	(	PUNCT
ajst-32156	65	7	meters	meter	NOUN
ajst-32156	65	8	/	/	SYM
ajst-32156	65	9	cell	cell	NOUN
ajst-32156	65	10	)	)	PUNCT
ajst-32156	66	1	the	the	DET
ajst-32156	66	2	robot	robot	NOUN
ajst-32156	66	3	’s	’s	PART
ajst-32156	66	4	footprint	footprint	NOUN
ajst-32156	66	5	in	in	ADP
ajst-32156	66	6	grid	grid	NOUN
ajst-32156	66	7	coordinates	coordinate	NOUN
ajst-32156	66	8	is	be	AUX
ajst-32156	66	9	:	:	PUNCT
ajst-32156	66	10	(	(	PUNCT
ajst-32156	66	11	)	)	PUNCT
ajst-32156	66	12	2	2	NUM
ajst-32156	66	13	robot	robot	NOUN
ajst-32156	66	14	grid	grid	NOUN
ajst-32156	66	15	d	d	NOUN
ajst-32156	66	16	r	r	NOUN
ajst-32156	66	17	cells	cell	NOUN
ajst-32156	66	18	s	s	PART
ajst-32156	66	19			NOUN
ajst-32156	66	20	(	(	PUNCT
ajst-32156	66	21	1	1	NUM
ajst-32156	66	22	)	)	PUNCT
ajst-32156	66	23	the	the	DET
ajst-32156	66	24	effective	effective	ADJ
ajst-32156	66	25	radius	radius	NOUN
ajst-32156	66	26	including	include	VERB
ajst-32156	66	27	safety	safety	NOUN
ajst-32156	66	28	margin	margin	NOUN
ajst-32156	66	29	:	:	PUNCT
ajst-32156	66	30	safety	safety	NOUN
ajst-32156	66	31	eff	eff	PROPN
ajst-32156	66	32	grid	grid	PROPN
ajst-32156	66	33	c	c	NOUN
ajst-32156	66	34	r	r	NOUN
ajst-32156	66	35	r	r	NOUN
ajst-32156	66	36	s	s	VERB
ajst-32156	66	37			NOUN
ajst-32156	66	38			X
ajst-32156	66	39	(	(	PUNCT
ajst-32156	66	40	2	2	NUM
ajst-32156	66	41	)	)	PUNCT
ajst-32156	66	42	3.3	3.3	NUM
ajst-32156	66	43	.	.	PUNCT
ajst-32156	67	1	coverage	coverage	NOUN
ajst-32156	67	2	path	path	PROPN
ajst-32156	67	3	planning	planning	NOUN
ajst-32156	67	4	problem	problem	NOUN
ajst-32156	67	5	input	input	NOUN
ajst-32156	67	6	:	:	PUNCT
ajst-32156	67	7			NOUN
ajst-32156	67	8	occupancy	occupancy	NOUN
ajst-32156	67	9	grid	grid	NOUN
ajst-32156	67	10	𝑀	𝑀	PROPN
ajst-32156	67	11			NOUN
ajst-32156	67	12	robot	robot	NOUN
ajst-32156	67	13	geometry	geometry	NOUN
ajst-32156	67	14	𝑑	𝑑	PROPN
ajst-32156	67	15	,	,	PUNCT
ajst-32156	67	16	𝑟	𝑟	X
ajst-32156	67	17	,	,	PUNCT
ajst-32156	67	18	𝐶	𝐶	PROPN
ajst-32156	67	19			NOUN
ajst-32156	67	20	start	start	VERB
ajst-32156	67	21	position(s	position(s	NOUN
ajst-32156	67	22	)	)	PUNCT
ajst-32156	67	23	𝑆	𝑆	PROPN
ajst-32156	67	24	𝑠	𝑠	PROPN
ajst-32156	67	25	,	,	PUNCT
ajst-32156	67	26	𝑠	𝑠	PROPN
ajst-32156	67	27	,	,	PUNCT
ajst-32156	67	28	⋯	⋯	PROPN
ajst-32156	67	29	,	,	PUNCT
ajst-32156	67	30	𝑠	𝑠	PROPN
ajst-32156	67	31			NOUN
ajst-32156	67	32	grid	grid	NOUN
ajst-32156	67	33	cell	cell	NOUN
ajst-32156	67	34	size	size	NOUN
ajst-32156	67	35	𝑠	𝑠	PROPN
ajst-32156	67	36	output	output	NOUN
ajst-32156	67	37	:	:	PUNCT
ajst-32156	67	38	coverage	coverage	NOUN
ajst-32156	67	39	path(s	path(s	PROPN
ajst-32156	67	40	)	)	PUNCT
ajst-32156	67	41	𝑃	𝑃	PROPN
ajst-32156	67	42	𝑝	𝑝	NOUN
ajst-32156	67	43	,	,	PUNCT
ajst-32156	67	44	𝑝	𝑝	NOUN
ajst-32156	67	45	,	,	PUNCT
ajst-32156	67	46	⋯	⋯	PROPN
ajst-32156	67	47	,	,	PUNCT
ajst-32156	67	48	𝑝	𝑝	PROPN
ajst-32156	67	49	where	where	SCONJ
ajst-32156	67	50	𝑝	𝑝	ADP
ajst-32156	67	51	𝑥	𝑥	PROPN
ajst-32156	67	52	,	,	PUNCT
ajst-32156	67	53	𝑦	𝑦	NOUN
ajst-32156	67	54	,	,	PUNCT
ajst-32156	67	55	𝑥	𝑥	X
ajst-32156	67	56	,	,	PUNCT
ajst-32156	67	57	𝑦	𝑦	NOUN
ajst-32156	67	58	,	,	PUNCT
ajst-32156	67	59	⋯	⋯	PROPN
ajst-32156	67	60	,	,	PUNCT
ajst-32156	67	61	𝑥	𝑥	X
ajst-32156	67	62	,	,	PUNCT
ajst-32156	67	63	𝑦	𝑦	NOUN
ajst-32156	67	64	objectives	objective	NOUN
ajst-32156	67	65	:	:	PUNCT
ajst-32156	67	66	1	1	NUM
ajst-32156	67	67	)	)	PUNCT
ajst-32156	67	68	coverage	coverage	NOUN
ajst-32156	67	69	:	:	PUNCT
ajst-32156	67	70	maximize	maximize	VERB
ajst-32156	67	71	visited	visit	VERB
ajst-32156	67	72	free	free	ADJ
ajst-32156	67	73	cells	cell	NOUN
ajst-32156	67	74	2	2	NUM
ajst-32156	67	75	)	)	PUNCT
ajst-32156	67	76	feasibility	feasibility	NOUN
ajst-32156	67	77	:	:	PUNCT
ajst-32156	67	78	ensure	ensure	VERB
ajst-32156	67	79	path	path	NOUN
ajst-32156	67	80	respects	respect	NOUN
ajst-32156	67	81	geometric	geometric	ADJ
ajst-32156	67	82	constraints	constraint	NOUN
ajst-32156	67	83	3	3	NUM
ajst-32156	67	84	)	)	PUNCT
ajst-32156	67	85	efficiency	efficiency	NOUN
ajst-32156	67	86	:	:	PUNCT
ajst-32156	67	87	minimize	minimize	VERB
ajst-32156	67	88	path	path	NOUN
ajst-32156	67	89	length	length	NOUN
ajst-32156	67	90	and	and	CCONJ
ajst-32156	67	91	redundancy	redundancy	NOUN
ajst-32156	67	92	3.4	3.4	NUM
ajst-32156	67	93	.	.	PUNCT
ajst-32156	68	1	feasibility	feasibility	NOUN
ajst-32156	68	2	constraints	constraint	VERB
ajst-32156	68	3	a	a	DET
ajst-32156	68	4	path	path	NOUN
ajst-32156	68	5	is	be	AUX
ajst-32156	68	6	feasibility	feasibility	NOUN
ajst-32156	68	7	if	if	SCONJ
ajst-32156	68	8	it	it	PRON
ajst-32156	68	9	satisfies	satisfy	VERB
ajst-32156	68	10	:	:	PUNCT
ajst-32156	68	11	clearance	clearance	NOUN
ajst-32156	68	12	constraint	constraint	NOUN
ajst-32156	68	13	:	:	PUNCT
ajst-32156	68	14			NOUN
ajst-32156	69	1			SYM
ajst-32156	69	2			NOUN
ajst-32156	69	3			X
ajst-32156	69	4			PROPN
ajst-32156	69	5	,	,	PUNCT
ajst-32156	69	6	:	:	PUNCT
ajst-32156	69	7	,	,	PUNCT
ajst-32156	69	8	,	,	PUNCT
ajst-32156	69	9	i	i	PRON
ajst-32156	69	10	effx	effx	VERB
ajst-32156	69	11	y	y	PROPN
ajst-32156	69	12	p	p	PROPN
ajst-32156	69	13	dict	dict	PROPN
ajst-32156	69	14	x	x	PUNCT
ajst-32156	69	15	y	y	PROPN
ajst-32156	69	16	obstacles	obstacle	NOUN
ajst-32156	69	17	r	r	ADJ
ajst-32156	69	18			NOUN
ajst-32156	69	19			NUM
ajst-32156	69	20	(	(	PUNCT
ajst-32156	69	21	3	3	X
ajst-32156	69	22	)	)	PUNCT
ajst-32156	69	23	turning	turn	VERB
ajst-32156	69	24	radius	radius	NOUN
ajst-32156	69	25	constraint	constraint	NOUN
ajst-32156	69	26	:	:	PUNCT
ajst-32156	69	27			NOUN
ajst-32156	69	28			SYM
ajst-32156	69	29			NOUN
ajst-32156	69	30	1	1	ADJ
ajst-32156	69	31	2	2	NUM
ajst-32156	69	32	3	3	NUM
ajst-32156	69	33	1	1	NUM
ajst-32156	69	34	2	2	NUM
ajst-32156	69	35	3sec	3sec	NUM
ajst-32156	69	36	,	,	PUNCT
ajst-32156	69	37	,	,	PUNCT
ajst-32156	69	38	:	:	PUNCT
ajst-32156	69	39	,	,	PUNCT
ajst-32156	69	40	,	,	PUNCT
ajst-32156	69	41	turncon	turncon	PROPN
ajst-32156	69	42	utivesegment	utivesegment	PROPN
ajst-32156	69	43	v	v	PROPN
ajst-32156	69	44	v	v	NOUN
ajst-32156	69	45	v	v	NOUN
ajst-32156	69	46	radius	radius	NOUN
ajst-32156	69	47	v	v	ADP
ajst-32156	69	48	v	v	NOUN
ajst-32156	69	49	v	v	NOUN
ajst-32156	69	50	r	r	NOUN
ajst-32156	69	51			NUM
ajst-32156	69	52	(	(	PUNCT
ajst-32156	69	53	4	4	X
ajst-32156	69	54	)	)	PUNCT
ajst-32156	69	55	passage	passage	NOUN
ajst-32156	69	56	width	width	NOUN
ajst-32156	69	57	constraint	constraint	NOUN
ajst-32156	69	58	:	:	PUNCT
ajst-32156	69	59			NOUN
ajst-32156	69	60			PROPN
ajst-32156	69	61			PROPN
ajst-32156	69	62			PROPN
ajst-32156	69	63	,	,	PUNCT
ajst-32156	69	64	,	,	PUNCT
ajst-32156	69	65	:	:	PUNCT
ajst-32156	69	66	2i	2i	NUM
ajst-32156	69	67	effwidth	effwidth	NOUN
ajst-32156	69	68	x	x	PROPN
ajst-32156	70	1	yx	yx	ADP
ajst-32156	70	2	y	y	PROPN
ajst-32156	70	3	p	p	NOUN
ajst-32156	70	4	passage	passage	NOUN
ajst-32156	70	5	r	r	NOUN
ajst-32156	70	6			NOUN
ajst-32156	70	7			NUM
ajst-32156	70	8	(	(	PUNCT
ajst-32156	70	9	5	5	NUM
ajst-32156	70	10	)	)	SYM
ajst-32156	70	11	4	4	NUM
ajst-32156	70	12	.	.	PUNCT
ajst-32156	70	13	baseline	baseline	PROPN
ajst-32156	70	14	algorithm	algorithm	NOUN
ajst-32156	70	15	analysis	analysis	NOUN
ajst-32156	70	16	we	we	PRON
ajst-32156	70	17	analyze	analyze	VERB
ajst-32156	70	18	three	three	NUM
ajst-32156	70	19	representative	representative	ADJ
ajst-32156	70	20	cpp	cpp	NOUN
ajst-32156	70	21	algorithms	algorithm	NOUN
ajst-32156	70	22	to	to	PART
ajst-32156	70	23	establish	establish	VERB
ajst-32156	70	24	the	the	DET
ajst-32156	70	25	current	current	ADJ
ajst-32156	70	26	state	state	NOUN
ajst-32156	70	27	and	and	CCONJ
ajst-32156	70	28	identify	identify	VERB
ajst-32156	70	29	limitations	limitation	NOUN
ajst-32156	70	30	regarding	regard	VERB
ajst-32156	70	31	robot	robot	NOUN
ajst-32156	70	32	size	size	NOUN
ajst-32156	70	33	constraints	constraint	NOUN
ajst-32156	70	34	.	.	PUNCT
ajst-32156	71	1	4.1	4.1	NUM
ajst-32156	71	2	.	.	PUNCT
ajst-32156	71	3	baseline	baseline	PROPN
ajst-32156	71	4	algorithms	algorithm	NOUN
ajst-32156	71	5	spanning	span	VERB
ajst-32156	71	6	tree	tree	NOUN
ajst-32156	71	7	coverage	coverage	NOUN
ajst-32156	71	8	(	(	PUNCT
ajst-32156	71	9	stc	stc	NOUN
ajst-32156	71	10	):	):	PUNCT
ajst-32156	71	11	constructs	construct	VERB
ajst-32156	71	12	a	a	DET
ajst-32156	71	13	minimum	minimum	NOUN
ajst-32156	71	14	spanning	span	VERB
ajst-32156	71	15	tree	tree	NOUN
ajst-32156	71	16	over	over	ADP
ajst-32156	71	17	free	free	ADJ
ajst-32156	71	18	cells	cell	NOUN
ajst-32156	71	19	and	and	CCONJ
ajst-32156	71	20	traverses	traverse	NOUN
ajst-32156	71	21	it	it	PRON
ajst-32156	71	22	depth	depth	NOUN
ajst-32156	71	23	-	-	PUNCT
ajst-32156	71	24	first	first	ADJ
ajst-32156	71	25	.	.	PUNCT
ajst-32156	72	1	implementation	implementation	NOUN
ajst-32156	72	2	treats	treat	VERB
ajst-32156	72	3	each	each	DET
ajst-32156	72	4	cell	cell	NOUN
ajst-32156	72	5	as	as	ADP
ajst-32156	72	6	a	a	DET
ajst-32156	72	7	node	node	NOUN
ajst-32156	72	8	,	,	PUNCT
ajst-32156	72	9	ignoring	ignore	VERB
ajst-32156	72	10	robot	robot	NOUN
ajst-32156	72	11	dimensions	dimension	NOUN
ajst-32156	72	12	.	.	PUNCT
ajst-32156	73	1	45	45	NUM
ajst-32156	73	2	boustrophedon	boustrophedon	NOUN
ajst-32156	73	3	cell	cell	NOUN
ajst-32156	73	4	decomposition	decomposition	NOUN
ajst-32156	73	5	(	(	PUNCT
ajst-32156	73	6	bcd	bcd	PROPN
ajst-32156	73	7	):	):	PUNCT
ajst-32156	73	8	uses	use	VERB
ajst-32156	73	9	a	a	PRON
ajst-32156	73	10	*	*	PUNCT
ajst-32156	73	11	for	for	ADP
ajst-32156	73	12	navigation	navigation	NOUN
ajst-32156	73	13	between	between	ADP
ajst-32156	73	14	cells	cell	NOUN
ajst-32156	73	15	with	with	ADP
ajst-32156	73	16	a	a	DET
ajst-32156	73	17	hardcoded	hardcode	VERB
ajst-32156	73	18	robot	robot	NOUN
ajst-32156	73	19	radius	radius	NOUN
ajst-32156	73	20	,	,	PUNCT
ajst-32156	73	21	regardless	regardless	ADV
ajst-32156	73	22	of	of	ADP
ajst-32156	73	23	actual	actual	ADJ
ajst-32156	73	24	robot	robot	NOUN
ajst-32156	73	25	size	size	NOUN
ajst-32156	73	26	.	.	PUNCT
ajst-32156	74	1	wavefront	wavefront	ADJ
ajst-32156	74	2	:	:	PUNCT
ajst-32156	74	3	propagates	propagate	VERB
ajst-32156	74	4	distance	distance	NOUN
ajst-32156	74	5	gradients	gradient	NOUN
ajst-32156	74	6	from	from	ADP
ajst-32156	74	7	start	start	NOUN
ajst-32156	74	8	point	point	NOUN
ajst-32156	74	9	.	.	PUNCT
ajst-32156	75	1	assumes	assume	VERB
ajst-32156	75	2	point	point	VERB
ajst-32156	75	3	robot	robot	NOUN
ajst-32156	75	4	for	for	ADP
ajst-32156	75	5	gradient	gradient	ADJ
ajst-32156	75	6	computation	computation	NOUN
ajst-32156	75	7	.	.	PUNCT
ajst-32156	76	1	4.2	4.2	NUM
ajst-32156	76	2	.	.	PUNCT
ajst-32156	77	1	experimental	experimental	ADJ
ajst-32156	77	2	setup	setup	NOUN
ajst-32156	77	3	test	test	NOUN
ajst-32156	77	4	maps	map	NOUN
ajst-32156	77	5	:	:	PUNCT
ajst-32156	77	6	we	we	PRON
ajst-32156	77	7	generated	generate	VERB
ajst-32156	77	8	17	17	NUM
ajst-32156	77	9	diverse	diverse	ADJ
ajst-32156	77	10	test	test	NOUN
ajst-32156	77	11	maps	map	NOUN
ajst-32156	77	12	(	(	PUNCT
ajst-32156	77	13	100	100	NUM
ajst-32156	77	14	100	100	NUM
ajst-32156	77	15	to	to	PART
ajst-32156	77	16	150	150	NUM
ajst-32156	77	17	150	150	NUM
ajst-32156	77	18	cells	cell	NOUN
ajst-32156	77	19	)	)	PUNCT
ajst-32156	77	20	including	include	VERB
ajst-32156	77	21	:	:	PUNCT
ajst-32156	77	22	•	•	NUM
ajst-32156	77	23	open	open	ADJ
ajst-32156	77	24	areas	area	NOUN
ajst-32156	77	25	(	(	PUNCT
ajst-32156	77	26	3	3	NUM
ajst-32156	77	27	maps	map	NOUN
ajst-32156	77	28	)	)	PUNCT
ajst-32156	77	29	•	•	NUM
ajst-32156	77	30	random	random	ADJ
ajst-32156	77	31	obstacles	obstacle	NOUN
ajst-32156	77	32	with	with	ADP
ajst-32156	77	33	varying	vary	VERB
ajst-32156	77	34	density	density	NOUN
ajst-32156	77	35	(	(	PUNCT
ajst-32156	77	36	3	3	NUM
ajst-32156	77	37	maps	map	NOUN
ajst-32156	77	38	)	)	PUNCT
ajst-32156	77	39	•	•	NUM
ajst-32156	77	40	narrow	narrow	ADJ
ajst-32156	77	41	corridors	corridor	NOUN
ajst-32156	77	42	with	with	ADP
ajst-32156	77	43	widths	width	NOUN
ajst-32156	77	44	3	3	NUM
ajst-32156	77	45	,	,	PUNCT
ajst-32156	77	46	5	5	NUM
ajst-32156	77	47	,	,	PUNCT
ajst-32156	77	48	7	7	NUM
ajst-32156	77	49	cells	cell	NOUN
ajst-32156	77	50	(	(	PUNCT
ajst-32156	77	51	3	3	NUM
ajst-32156	77	52	maps	map	NOUN
ajst-32156	77	53	)	)	PUNCT
ajst-32156	77	54	•	•	ADP
ajst-32156	77	55	multi	multi	ADJ
ajst-32156	77	56	-	-	ADJ
ajst-32156	77	57	room	room	ADJ
ajst-32156	77	58	structures	structure	NOUN
ajst-32156	77	59	(	(	PUNCT
ajst-32156	77	60	2	2	NUM
ajst-32156	77	61	maps	map	NOUN
ajst-32156	77	62	)	)	PUNCT
ajst-32156	77	63	•	•	NUM
ajst-32156	77	64	complex	complex	ADJ
ajst-32156	77	65	mixed	mixed	ADJ
ajst-32156	77	66	obstacles	obstacle	NOUN
ajst-32156	77	67	(	(	PUNCT
ajst-32156	77	68	4	4	NUM
ajst-32156	77	69	maps	map	NOUN
ajst-32156	77	70	)	)	PUNCT
ajst-32156	77	71	•	•	ADP
ajst-32156	77	72	realistic	realistic	ADJ
ajst-32156	77	73	scenarios	scenario	NOUN
ajst-32156	77	74	(	(	PUNCT
ajst-32156	77	75	2	2	NUM
ajst-32156	77	76	maps	map	NOUN
ajst-32156	77	77	)	)	PUNCT
ajst-32156	77	78	metrics	metric	NOUN
ajst-32156	77	79	:	:	PUNCT
ajst-32156	77	80	•	•	NUM
ajst-32156	77	81	coverage	coverage	NOUN
ajst-32156	77	82	:	:	PUNCT
ajst-32156	77	83	𝐶	𝐶	NOUN
ajst-32156	77	84	•	•	NOUN
ajst-32156	77	85	redundancy	redundancy	NOUN
ajst-32156	77	86	:	:	PUNCT
ajst-32156	77	87	𝑅	𝑅	NOUN
ajst-32156	77	88	1	1	NUM
ajst-32156	77	89	•	•	NOUN
ajst-32156	77	90	execution	execution	NOUN
ajst-32156	77	91	time	time	NOUN
ajst-32156	77	92	(	(	PUNCT
ajst-32156	77	93	seconds	second	NOUN
ajst-32156	77	94	)	)	PUNCT
ajst-32156	78	1	•	•	DET
ajst-32156	78	2	number	number	NOUN
ajst-32156	78	3	of	of	ADP
ajst-32156	78	4	turns	turn	NOUN
ajst-32156	78	5	table	table	NOUN
ajst-32156	78	6	1	1	NUM
ajst-32156	78	7	.	.	PUNCT
ajst-32156	78	8	baseline	baseline	PROPN
ajst-32156	78	9	algorithm	algorithm	NOUN
ajst-32156	78	10	performance	performance	NOUN
ajst-32156	78	11	algorithm	algorithm	NOUN
ajst-32156	78	12	coverage	coverage	NOUN
ajst-32156	78	13	redundancy	redundancy	NOUN
ajst-32156	78	14	turns	turn	VERB
ajst-32156	78	15	times(s	times(s	NOUN
ajst-32156	78	16	)	)	PUNCT
ajst-32156	78	17	stc	stc	NOUN
ajst-32156	78	18	99.97	99.97	NUM
ajst-32156	78	19	%	%	NOUN
ajst-32156	78	20	12.07	12.07	NUM
ajst-32156	78	21	%	%	NOUN
ajst-32156	78	22	1903	1903	NUM
ajst-32156	78	23	0.051	0.051	NUM
ajst-32156	78	24	bcd	bcd	PROPN
ajst-32156	78	25	100.00	100.00	NUM
ajst-32156	78	26	%	%	NOUN
ajst-32156	78	27	11.73	11.73	NUM
ajst-32156	78	28	%	%	NOUN
ajst-32156	78	29	1406	1406	NUM
ajst-32156	78	30	0.556	0.556	NUM
ajst-32156	78	31	4.3	4.3	NUM
ajst-32156	78	32	.	.	PUNCT
ajst-32156	79	1	feasibility	feasibility	NOUN
ajst-32156	79	2	analysis	analysis	NOUN
ajst-32156	79	3	to	to	PART
ajst-32156	79	4	quantify	quantify	VERB
ajst-32156	79	5	path	path	NOUN
ajst-32156	79	6	feasibility	feasibility	NOUN
ajst-32156	79	7	,	,	PUNCT
ajst-32156	79	8	we	we	PRON
ajst-32156	79	9	analyze	analyze	VERB
ajst-32156	79	10	baseline	baseline	NOUN
ajst-32156	79	11	paths	path	NOUN
ajst-32156	79	12	for	for	ADP
ajst-32156	79	13	robots	robot	NOUN
ajst-32156	79	14	with	with	ADP
ajst-32156	79	15	different	different	ADJ
ajst-32156	79	16	physical	physical	ADJ
ajst-32156	79	17	dimensions	dimension	NOUN
ajst-32156	79	18	.	.	PUNCT
ajst-32156	80	1	we	we	PRON
ajst-32156	80	2	define	define	VERB
ajst-32156	80	3	feasibility	feasibility	NOUN
ajst-32156	80	4	score	score	NOUN
ajst-32156	80	5	:	:	PUNCT
ajst-32156	80	6			NOUN
ajst-32156	80	7	1	1	ADJ
ajst-32156	80	8	2	2	NUM
ajst-32156	80	9	turn	turn	NOUN
ajst-32156	80	10	widthf	widthf	PROPN
ajst-32156	80	11	f	f	PROPN
ajst-32156	80	12	f	f	PROPN
ajst-32156	80	13			PUNCT
ajst-32156	80	14	(	(	PUNCT
ajst-32156	80	15	6	6	NUM
ajst-32156	80	16	)	)	PUNCT
ajst-32156	80	17	where	where	SCONJ
ajst-32156	80	18	:	:	PUNCT
ajst-32156	80	19	1turn	1turn	NUM
ajst-32156	80	20	turning	turn	VERB
ajst-32156	80	21	voilations	voilation	NOUN
ajst-32156	80	22	f	f	PROPN
ajst-32156	80	23	total	total	NOUN
ajst-32156	80	24	turns	turn	VERB
ajst-32156	80	25			PROPN
ajst-32156	80	26			NOUN
ajst-32156	80	27	(	(	PUNCT
ajst-32156	80	28	7	7	NUM
ajst-32156	80	29	)	)	SYM
ajst-32156	80	30	1	1	NUM
ajst-32156	80	31	intwidth	intwidth	NOUN
ajst-32156	80	32	width	width	ADJ
ajst-32156	80	33	voilations	voilation	NOUN
ajst-32156	80	34	f	f	PROPN
ajst-32156	80	35	path	path	PROPN
ajst-32156	80	36	po	po	PROPN
ajst-32156	80	37	s	s	PART
ajst-32156	80	38			PROPN
ajst-32156	80	39			PROPN
ajst-32156	80	40	(	(	PUNCT
ajst-32156	80	41	8)	8)	NUM
ajst-32156	80	42	turning	turning	NOUN
ajst-32156	80	43	violations	violation	NOUN
ajst-32156	80	44	:	:	PUNCT
ajst-32156	80	45	a	a	DET
ajst-32156	80	46	turn	turn	NOUN
ajst-32156	80	47	that	that	PRON
ajst-32156	80	48	violates	violate	VERB
ajst-32156	80	49	the	the	DET
ajst-32156	80	50	robot	robot	NOUN
ajst-32156	80	51	’s	’s	PART
ajst-32156	80	52	physical	physical	ADJ
ajst-32156	80	53	constraints	constraint	NOUN
ajst-32156	80	54	when	when	SCONJ
ajst-32156	80	55	either	either	ADV
ajst-32156	80	56	:	:	PUNCT
ajst-32156	80	57	•	•	ADP
ajst-32156	80	58	the	the	DET
ajst-32156	80	59	required	required	ADJ
ajst-32156	80	60	turning	turning	NOUN
ajst-32156	80	61	radius	radius	NOUN
ajst-32156	80	62	is	be	AUX
ajst-32156	80	63	less	less	ADJ
ajst-32156	80	64	than	than	ADP
ajst-32156	80	65	the	the	DET
ajst-32156	80	66	robot	robot	NOUN
ajst-32156	80	67	’s	’s	PART
ajst-32156	80	68	minimum	minimum	ADJ
ajst-32156	80	69	turning	turning	NOUN
ajst-32156	80	70	radius	radius	NOUN
ajst-32156	80	71	:	:	PUNCT
ajst-32156	80	72	𝑅	𝑅	PROPN
ajst-32156	80	73	𝑟	𝑟	PROPN
ajst-32156	80	74	•	•	ADP
ajst-32156	80	75	the	the	DET
ajst-32156	80	76	turn	turn	NOUN
ajst-32156	80	77	angle	angle	NOUN
ajst-32156	80	78	exceeds	exceed	VERB
ajst-32156	80	79	120	120	NUM
ajst-32156	80	80	°	°	NOUN
ajst-32156	80	81	(	(	PUNCT
ajst-32156	80	82	near	near	ADP
ajst-32156	80	83	-	-	PUNCT
ajst-32156	80	84	reversal	reversal	NOUN
ajst-32156	80	85	maneuvers	maneuver	NOUN
ajst-32156	80	86	that	that	PRON
ajst-32156	80	87	are	be	AUX
ajst-32156	80	88	impractical	impractical	ADJ
ajst-32156	80	89	in	in	ADP
ajst-32156	80	90	grid	grid	NOUN
ajst-32156	80	91	-	-	PUNCT
ajst-32156	80	92	based	base	VERB
ajst-32156	80	93	navigation	navigation	NOUN
ajst-32156	80	94	)	)	PUNCT
ajst-32156	80	95	for	for	ADP
ajst-32156	80	96	grid	grid	NOUN
ajst-32156	80	97	-	-	PUNCT
ajst-32156	80	98	based	base	VERB
ajst-32156	80	99	paths	path	NOUN
ajst-32156	80	100	with	with	ADP
ajst-32156	80	101	cell	cell	NOUN
ajst-32156	80	102	size	size	NOUN
ajst-32156	80	103	s	s	PART
ajst-32156	80	104	=	=	NOUN
ajst-32156	80	105	0.5	0.5	NUM
ajst-32156	80	106	m	m	NOUN
ajst-32156	80	107	,	,	PUNCT
ajst-32156	80	108	the	the	DET
ajst-32156	80	109	required	require	VERB
ajst-32156	80	110	turning	turning	NOUN
ajst-32156	80	111	radius	radius	NOUN
ajst-32156	80	112	for	for	ADP
ajst-32156	80	113	a	a	DET
ajst-32156	80	114	90	90	NUM
ajst-32156	80	115	°	°	NOUN
ajst-32156	80	116	turn	turn	NOUN
ajst-32156	80	117	is	be	AUX
ajst-32156	80	118	approximately	approximately	ADV
ajst-32156	80	119	𝑅	𝑅	PROPN
ajst-32156	80	120	0.35𝑚.	0.35𝑚.	NOUN
ajst-32156	80	121	therefore	therefore	ADV
ajst-32156	80	122	,	,	PUNCT
ajst-32156	80	123	robots	robot	NOUN
ajst-32156	80	124	with	with	ADP
ajst-32156	80	125	𝑟	𝑟	NOUN
ajst-32156	80	126	0.35𝑚	0.35𝑚	NUM
ajst-32156	80	127	experience	experience	NOUN
ajst-32156	80	128	turning	turning	NOUN
ajst-32156	80	129	violations	violation	NOUN
ajst-32156	80	130	on	on	ADP
ajst-32156	80	131	standard	standard	ADJ
ajst-32156	80	132	grid	grid	NOUN
ajst-32156	80	133	paths	path	NOUN
ajst-32156	80	134	,	,	PUNCT
ajst-32156	80	135	while	while	SCONJ
ajst-32156	80	136	larger	large	ADJ
ajst-32156	80	137	robots	robot	NOUN
ajst-32156	80	138	can	can	AUX
ajst-32156	80	139	execute	execute	VERB
ajst-32156	80	140	grid	grid	NOUN
ajst-32156	80	141	turns	turn	NOUN
ajst-32156	80	142	without	without	ADP
ajst-32156	80	143	constraint	constraint	NOUN
ajst-32156	80	144	violations	violation	NOUN
ajst-32156	80	145	.	.	PUNCT
ajst-32156	81	1	width	width	ADJ
ajst-32156	81	2	violations	violation	NOUN
ajst-32156	81	3	:	:	PUNCT
ajst-32156	81	4	a	a	DET
ajst-32156	81	5	path	path	NOUN
ajst-32156	81	6	point	point	NOUN
ajst-32156	81	7	violates	violate	VERB
ajst-32156	81	8	width	width	ADJ
ajst-32156	81	9	constraints	constraint	NOUN
ajst-32156	81	10	when	when	SCONJ
ajst-32156	81	11	the	the	DET
ajst-32156	81	12	passage	passage	NOUN
ajst-32156	81	13	width	width	NOUN
ajst-32156	81	14	at	at	ADP
ajst-32156	81	15	that	that	DET
ajst-32156	81	16	location	location	NOUN
ajst-32156	81	17	is	be	AUX
ajst-32156	81	18	less	less	ADJ
ajst-32156	81	19	than	than	ADP
ajst-32156	81	20	the	the	DET
ajst-32156	81	21	robot	robot	NOUN
ajst-32156	81	22	’s	’s	PART
ajst-32156	81	23	physical	physical	ADJ
ajst-32156	81	24	diameter	diameter	NOUN
ajst-32156	81	25	plus	plus	CCONJ
ajst-32156	81	26	safety	safety	NOUN
ajst-32156	81	27	margins	margin	NOUN
ajst-32156	81	28	:	:	PUNCT
ajst-32156	81	29	𝑤	𝑤	ADP
ajst-32156	81	30	2	2	NUM
ajst-32156	81	31	⋅	⋅	PROPN
ajst-32156	81	32	𝑟	𝑟	NOUN
ajst-32156	81	33	size	size	NOUN
ajst-32156	81	34	-	-	PUNCT
ajst-32156	81	35	aware	aware	ADJ
ajst-32156	81	36	approaches	approach	NOUN
ajst-32156	81	37	achieve	achieve	VERB
ajst-32156	81	38	73	73	NUM
ajst-32156	81	39	-	-	SYM
ajst-32156	81	40	92	92	NUM
ajst-32156	81	41	%	%	NOUN
ajst-32156	81	42	feasibility	feasibility	NOUN
ajst-32156	81	43	for	for	ADP
ajst-32156	81	44	small	small	ADJ
ajst-32156	81	45	/	/	SYM
ajst-32156	81	46	medium	medium	ADJ
ajst-32156	81	47	/	/	SYM
ajst-32156	81	48	large	large	ADJ
ajst-32156	81	49	robots	robot	NOUN
ajst-32156	81	50	.	.	PUNCT
ajst-32156	82	1	5	5	X
ajst-32156	82	2	.	.	X
ajst-32156	82	3	robot	robot	NOUN
ajst-32156	82	4	-	-	PUNCT
ajst-32156	82	5	size	size	NOUN
ajst-32156	82	6	aware	aware	ADJ
ajst-32156	82	7	approach	approach	NOUN
ajst-32156	82	8	we	we	PRON
ajst-32156	82	9	present	present	VERB
ajst-32156	82	10	modifications	modification	NOUN
ajst-32156	82	11	to	to	PART
ajst-32156	82	12	stc	stc	VERB
ajst-32156	82	13	and	and	CCONJ
ajst-32156	82	14	bcd	bcd	NOUN
ajst-32156	82	15	that	that	PRON
ajst-32156	82	16	explicitly	explicitly	ADV
ajst-32156	82	17	incorporate	incorporate	VERB
ajst-32156	82	18	robot	robot	NOUN
ajst-32156	82	19	geometry	geometry	NOUN
ajst-32156	82	20	.	.	PUNCT
ajst-32156	83	1	5.1	5.1	NUM
ajst-32156	83	2	.	.	PUNCT
ajst-32156	84	1	obstacle	obstacle	VERB
ajst-32156	84	2	inflation	inflation	NOUN
ajst-32156	84	3	the	the	DET
ajst-32156	84	4	first	first	ADJ
ajst-32156	84	5	step	step	NOUN
ajst-32156	84	6	is	be	AUX
ajst-32156	84	7	to	to	PART
ajst-32156	84	8	inflate	inflate	VERB
ajst-32156	84	9	obstacles	obstacle	NOUN
ajst-32156	84	10	based	base	VERB
ajst-32156	84	11	on	on	ADP
ajst-32156	84	12	robot	robot	NOUN
ajst-32156	84	13	dimensions	dimension	NOUN
ajst-32156	84	14	,	,	PUNCT
ajst-32156	84	15	this	this	PRON
ajst-32156	84	16	ensures	ensure	VERB
ajst-32156	84	17	the	the	DET
ajst-32156	84	18	robot	robot	NOUN
ajst-32156	84	19	center	center	NOUN
ajst-32156	84	20	can	can	AUX
ajst-32156	84	21	move	move	VERB
ajst-32156	84	22	through	through	ADP
ajst-32156	84	23	the	the	DET
ajst-32156	84	24	map	map	NOUN
ajst-32156	84	25	while	while	SCONJ
ajst-32156	84	26	maintaining	maintain	VERB
ajst-32156	84	27	requited	requited	ADJ
ajst-32156	84	28	clearance	clearance	NOUN
ajst-32156	84	29	.	.	PUNCT
ajst-32156	85	1	algorithm	algorithm	NOUN
ajst-32156	85	2	1	1	NUM
ajst-32156	85	3	obstacle	obstacle	NOUN
ajst-32156	85	4	inflation	inflation	NOUN
ajst-32156	85	5	require	require	NOUN
ajst-32156	85	6	:	:	PUNCT
ajst-32156	85	7	map	map	VERB
ajst-32156	85	8	𝑀	𝑀	PROPN
ajst-32156	85	9	,	,	PUNCT
ajst-32156	85	10	robot	robot	NOUN
ajst-32156	85	11	radius	radius	NOUN
ajst-32156	85	12	𝑟	𝑟	PRON
ajst-32156	85	13	ensure	ensure	VERB
ajst-32156	85	14	:	:	PUNCT
ajst-32156	85	15	inflated	inflated	ADJ
ajst-32156	85	16	map	map	NOUN
ajst-32156	85	17	𝑀′	𝑀′	PROPN
ajst-32156	85	18	𝑀	𝑀	PROPN
ajst-32156	85	19	←	←	PROPN
ajst-32156	85	20	𝑀	𝑀	PROPN
ajst-32156	85	21	for	for	ADP
ajst-32156	85	22	each	each	DET
ajst-32156	85	23	obstacle	obstacle	NOUN
ajst-32156	85	24	cell	cell	NOUN
ajst-32156	85	25	𝑖	𝑖	NOUN
ajst-32156	85	26	,	,	PUNCT
ajst-32156	85	27	𝑗	𝑗	PROPN
ajst-32156	85	28	in	in	ADP
ajst-32156	85	29	𝑀	𝑀	PROPN
ajst-32156	85	30	do	do	VERB
ajst-32156	85	31	for	for	ADP
ajst-32156	85	32	each	each	DET
ajst-32156	85	33	cell	cell	NOUN
ajst-32156	85	34	𝑥	𝑥	NOUN
ajst-32156	85	35	,	,	PUNCT
ajst-32156	85	36	𝑦	𝑦	NOUN
ajst-32156	85	37	within	within	ADP
ajst-32156	85	38	radius	radius	NOUN
ajst-32156	85	39	𝑟	𝑟	NOUN
ajst-32156	85	40	of	of	ADP
ajst-32156	85	41	𝑖	𝑖	SYM
ajst-32156	85	42	,	,	PUNCT
ajst-32156	85	43	𝑗	𝑗	INTJ
ajst-32156	85	44	do	do	VERB
ajst-32156	85	45	if	if	SCONJ
ajst-32156	85	46	𝑀	𝑀	PROPN
ajst-32156	85	47	𝑥	𝑥	PROPN
ajst-32156	85	48	,	,	PUNCT
ajst-32156	85	49	𝑦	𝑦	NOUN
ajst-32156	85	50	0	0	NUM
ajst-32156	86	1	then	then	ADV
ajst-32156	86	2	𝑀	𝑀	PROPN
ajst-32156	86	3	𝑥	𝑥	PROPN
ajst-32156	86	4	,	,	PUNCT
ajst-32156	86	5	𝑦	𝑦	PROPN
ajst-32156	86	6	←	←	ADJ
ajst-32156	86	7	1	1	NUM
ajst-32156	86	8	end	end	NOUN
ajst-32156	86	9	if	if	SCONJ
ajst-32156	86	10	end	end	NOUN
ajst-32156	86	11	for	for	ADP
ajst-32156	86	12	end	end	NOUN
ajst-32156	86	13	for	for	ADP
ajst-32156	86	14	5.2	5.2	NUM
ajst-32156	86	15	.	.	PUNCT
ajst-32156	87	1	size	size	NOUN
ajst-32156	87	2	-	-	PUNCT
ajst-32156	87	3	aware	aware	ADJ
ajst-32156	87	4	stc	stc	PROPN
ajst-32156	87	5	standard	standard	PROPN
ajst-32156	87	6	stc	stc	NOUN
ajst-32156	87	7	constructs	construct	VERB
ajst-32156	87	8	a	a	DET
ajst-32156	87	9	minimum	minimum	ADJ
ajst-32156	87	10	spanning	span	VERB
ajst-32156	87	11	tree	tree	NOUN
ajst-32156	87	12	treating	treat	VERB
ajst-32156	87	13	all	all	DET
ajst-32156	87	14	edges	edge	NOUN
ajst-32156	87	15	equally	equally	ADV
ajst-32156	87	16	.	.	PUNCT
ajst-32156	88	1	we	we	PRON
ajst-32156	88	2	modify	modify	VERB
ajst-32156	88	3	edge	edge	NOUN
ajst-32156	88	4	weights	weight	NOUN
ajst-32156	88	5	to	to	PART
ajst-32156	88	6	reflect	reflect	VERB
ajst-32156	88	7	traversability	traversability	NOUN
ajst-32156	88	8	for	for	ADP
ajst-32156	88	9	a	a	DET
ajst-32156	88	10	robot	robot	NOUN
ajst-32156	88	11	of	of	ADP
ajst-32156	88	12	given	give	VERB
ajst-32156	88	13	size	size	NOUN
ajst-32156	88	14	:	:	PUNCT
ajst-32156	88	15			NOUN
ajst-32156	88	16			SYM
ajst-32156	88	17			NOUN
ajst-32156	88	18	1	1	ADJ
ajst-32156	88	19	effifclearance	effifclearance	NOUN
ajst-32156	88	20	e	e	NOUN
ajst-32156	88	21	r	r	NOUN
ajst-32156	88	22	w	w	NOUN
ajst-32156	88	23	e	e	NOUN
ajst-32156	88	24	otherwise	otherwise	ADV
ajst-32156	88	25			PROPN
ajst-32156	88	26			NOUN
ajst-32156	88	27			NUM
ajst-32156	88	28			PUNCT
ajst-32156	88	29	(	(	PUNCT
ajst-32156	88	30	9	9	X
ajst-32156	88	31	)	)	PUNCT
ajst-32156	88	32	algorithm	algorithm	NOUN
ajst-32156	88	33	2	2	NUM
ajst-32156	88	34	size	size	NOUN
ajst-32156	88	35	-	-	PUNCT
ajst-32156	88	36	aware	aware	ADJ
ajst-32156	88	37	stc	stc	NOUN
ajst-32156	88	38	require	require	NOUN
ajst-32156	88	39	:	:	PUNCT
ajst-32156	88	40	inflated	inflated	ADJ
ajst-32156	88	41	map	map	NOUN
ajst-32156	88	42	𝑀′	𝑀′	NOUN
ajst-32156	88	43	,	,	PUNCT
ajst-32156	88	44	start	start	VERB
ajst-32156	88	45	point	point	NOUN
ajst-32156	88	46	𝑠	𝑠	PROPN
ajst-32156	88	47	,	,	PUNCT
ajst-32156	88	48	robot	robot	NOUN
ajst-32156	88	49	radius	radius	NOUN
ajst-32156	88	50	𝑟	𝑟	PRON
ajst-32156	88	51	ensure	ensure	VERB
ajst-32156	88	52	:	:	PUNCT
ajst-32156	88	53	coverage	coverage	NOUN
ajst-32156	88	54	path	path	NOUN
ajst-32156	88	55	𝑃	𝑃	PROPN
ajst-32156	88	56	𝐺	𝐺	PROPN
ajst-32156	88	57	←	←	PROPN
ajst-32156	88	58	𝐵𝑈𝐼𝐿𝐷	𝐵𝑈𝐼𝐿𝐷	PROPN
ajst-32156	88	59	𝐺𝑅𝐴𝑃𝐻	𝐺𝑅𝐴𝑃𝐻	VERB
ajst-32156	88	60	𝑀	𝑀	PROPN
ajst-32156	88	61	create	create	VERB
ajst-32156	88	62	grid	grid	NOUN
ajst-32156	88	63	graph	graph	NOUN
ajst-32156	88	64	for	for	ADP
ajst-32156	88	65	each	each	DET
ajst-32156	88	66	edge	edge	NOUN
ajst-32156	88	67	𝑒	𝑒	PROPN
ajst-32156	88	68	𝑢	𝑢	PROPN
ajst-32156	88	69	,	,	PUNCT
ajst-32156	88	70	𝑣	𝑣	X
ajst-32156	88	71	in	in	ADP
ajst-32156	88	72	𝐺	𝐺	PROPN
ajst-32156	88	73	do	do	VERB
ajst-32156	88	74	𝑤	𝑤	ADP
ajst-32156	88	75	𝑒	𝑒	PROPN
ajst-32156	88	76	←	←	PROPN
ajst-32156	88	77	𝐶𝑂𝑀𝑃𝑈𝑇𝐸	𝐶𝑂𝑀𝑃𝑈𝑇𝐸	PROPN
ajst-32156	88	78	𝐶𝐿𝐸𝐴𝑅𝐴𝑁𝐶𝐸	𝐶𝐿𝐸𝐴𝑅𝐴𝑁𝐶𝐸	PROPN
ajst-32156	88	79	𝑢	𝑢	NOUN
ajst-32156	88	80	,	,	PUNCT
ajst-32156	88	81	𝑣	𝑣	PROPN
ajst-32156	88	82	,	,	PUNCT
ajst-32156	88	83	𝑀	𝑀	PROPN
ajst-32156	88	84	if	if	SCONJ
ajst-32156	88	85	𝑤	𝑤	AUX
ajst-32156	88	86	𝑒	𝑒	PROPN
ajst-32156	88	87	𝑟	𝑟	PRON
ajst-32156	88	88	then	then	ADV
ajst-32156	88	89	remove	remove	VERB
ajst-32156	88	90	𝑒	𝑒	PROPN
ajst-32156	88	91	from	from	ADP
ajst-32156	88	92	𝐺	𝐺	PROPN
ajst-32156	88	93	end	end	NOUN
ajst-32156	88	94	if	if	SCONJ
ajst-32156	88	95	end	end	NOUN
ajst-32156	88	96	for	for	ADP
ajst-32156	88	97	𝑇	𝑇	PROPN
ajst-32156	88	98	←	←	PROPN
ajst-32156	88	99	𝑀𝐼𝑁𝐼𝑀𝐴𝐿	𝑀𝐼𝑁𝐼𝑀𝐴𝐿	PROPN
ajst-32156	88	100	𝑆𝑃𝐴𝑁𝑁𝐼𝑁𝐺	𝑆𝑃𝐴𝑁𝑁𝐼𝑁𝐺	PROPN
ajst-32156	88	101	𝑇𝑅𝐸𝐸	𝑇𝑅𝐸𝐸	PROPN
ajst-32156	88	102	𝐺	𝐺	PROPN
ajst-32156	88	103	𝑃	𝑃	PROPN
ajst-32156	88	104	←	←	PROPN
ajst-32156	88	105	𝐷𝐸𝑃𝑇𝐻	𝐷𝐸𝑃𝑇𝐻	PROPN
ajst-32156	88	106	𝐹𝐼𝑅𝑆𝑇	𝐹𝐼𝑅𝑆𝑇	PROPN
ajst-32156	88	107	𝑇𝑅𝐴𝑉𝐸𝑅𝑆𝐴𝐿	𝑇𝑅𝐴𝑉𝐸𝑅𝑆𝐴𝐿	PROPN
ajst-32156	88	108	𝑇	𝑇	PROPN
ajst-32156	88	109	,	,	PUNCT
ajst-32156	88	110	𝑠	𝑠	PROPN
ajst-32156	88	111	5.3	5.3	NUM
ajst-32156	88	112	.	.	PUNCT
ajst-32156	88	113	size	size	NOUN
ajst-32156	88	114	-	-	PUNCT
ajst-32156	88	115	aware	aware	ADJ
ajst-32156	88	116	bcd	bcd	PROPN
ajst-32156	88	117	bcd	bcd	PROPN
ajst-32156	88	118	’s	’s	PART
ajst-32156	88	119	critical	critical	ADJ
ajst-32156	88	120	limitation	limitation	NOUN
ajst-32156	88	121	is	be	AUX
ajst-32156	88	122	the	the	DET
ajst-32156	88	123	hardcoded	hardcode	VERB
ajst-32156	88	124	radius	radius	NOUN
ajst-32156	88	125	.	.	PUNCT
ajst-32156	89	1	we	we	PRON
ajst-32156	89	2	parameterize	parameterize	VERB
ajst-32156	89	3	it	it	PRON
ajst-32156	89	4	by	by	ADP
ajst-32156	89	5	modifying	modify	VERB
ajst-32156	89	6	a	a	DET
ajst-32156	89	7	*	*	PUNCT
ajst-32156	89	8	navigation	navigation	NOUN
ajst-32156	89	9	to	to	PART
ajst-32156	89	10	respect	respect	VERB
ajst-32156	89	11	turning	turn	VERB
ajst-32156	89	12	radius	radius	NOUN
ajst-32156	89	13	constraints	constraint	NOUN
ajst-32156	89	14	by	by	ADP
ajst-32156	89	15	penalizing	penalize	VERB
ajst-32156	89	16	sharp	sharp	ADJ
ajst-32156	89	17	direction	direction	NOUN
ajst-32156	89	18	changes	change	NOUN
ajst-32156	89	19	.	.	PUNCT
ajst-32156	90	1	algorithm	algorithm	NOUN
ajst-32156	90	2	3	3	NUM
ajst-32156	90	3	size	size	NOUN
ajst-32156	90	4	-	-	PUNCT
ajst-32156	90	5	aware	aware	ADJ
ajst-32156	90	6	bcd	bcd	PROPN
ajst-32156	90	7	require	require	NOUN
ajst-32156	90	8	:	:	PUNCT
ajst-32156	90	9	inflated	inflated	ADJ
ajst-32156	90	10	map	map	NOUN
ajst-32156	90	11	𝑀	𝑀	PROPN
ajst-32156	90	12	,	,	PUNCT
ajst-32156	90	13	start	start	VERB
ajst-32156	90	14	point	point	NOUN
ajst-32156	90	15	𝑠	𝑠	PROPN
ajst-32156	90	16	,	,	PUNCT
ajst-32156	90	17	robot	robot	NOUN
ajst-32156	90	18	radius	radius	NOUN
ajst-32156	90	19	𝑟	𝑟	PRON
ajst-32156	90	20	ensure	ensure	VERB
ajst-32156	90	21	:	:	PUNCT
ajst-32156	90	22	coverage	coverage	NOUN
ajst-32156	90	23	path	path	NOUN
ajst-32156	90	24	𝑃	𝑃	PROPN
ajst-32156	90	25	𝑑𝑖𝑎𝑚𝑒𝑡𝑒𝑟	𝑑𝑖𝑎𝑚𝑒𝑡𝑒𝑟	NOUN
ajst-32156	90	26	←	←	PROPN
ajst-32156	90	27	2	2	NUM
ajst-32156	90	28	𝑟	𝑟	NOUN
ajst-32156	90	29	𝑃	𝑃	NOUN
ajst-32156	90	30	←	←	PROPN
ajst-32156	90	31	𝑣𝑖𝑠𝑖𝑡𝑒𝑑	𝑣𝑖𝑠𝑖𝑡𝑒𝑑	NOUN
ajst-32156	90	32	←	←	PROPN
ajst-32156	90	33	∅	∅	NOUN
ajst-32156	90	34	𝑥	𝑥	PROPN
ajst-32156	90	35	,	,	PUNCT
ajst-32156	90	36	𝑦	𝑦	PRON
ajst-32156	90	37	←	←	PROPN
ajst-32156	90	38	𝑠	𝑠	INTJ
ajst-32156	90	39	while	while	SCONJ
ajst-32156	90	40	not	not	PART
ajst-32156	90	41	all	all	DET
ajst-32156	90	42	cells	cell	NOUN
ajst-32156	90	43	visited	visit	VERB
ajst-32156	90	44	do	do	AUX
ajst-32156	90	45	move	move	VERB
ajst-32156	90	46	in	in	ADP
ajst-32156	90	47	current	current	ADJ
ajst-32156	90	48	direction	direction	NOUN
ajst-32156	90	49	with	with	ADP
ajst-32156	90	50	diameter	diameter	NOUN
ajst-32156	90	51	mark	mark	NOUN
ajst-32156	90	52	cells	cell	NOUN
ajst-32156	90	53	as	as	SCONJ
ajst-32156	90	54	visited	visit	VERB
ajst-32156	90	55	if	if	SCONJ
ajst-32156	90	56	reached	reach	VERB
ajst-32156	90	57	boundary	boundary	NOUN
ajst-32156	90	58	or	or	CCONJ
ajst-32156	90	59	obstacle	obstacle	NOUN
ajst-32156	90	60	then	then	ADV
ajst-32156	90	61	find	find	VERB
ajst-32156	90	62	next	next	ADJ
ajst-32156	90	63	unvisited	unvisited	ADJ
ajst-32156	90	64	region	region	NOUN
ajst-32156	90	65	use	use	VERB
ajst-32156	90	66	a	a	PRON
ajst-32156	90	67	*	*	PUNCT
ajst-32156	90	68	with	with	ADP
ajst-32156	90	69	diameter	diameter	NOUN
ajst-32156	90	70	constraint	constraint	NOUN
ajst-32156	90	71	to	to	PART
ajst-32156	90	72	navigate	navigate	VERB
ajst-32156	90	73	end	end	NOUN
ajst-32156	90	74	if	if	SCONJ
ajst-32156	90	75	end	end	NOUN
ajst-32156	90	76	while	while	SCONJ
ajst-32156	90	77	46	46	NUM
ajst-32156	90	78	6	6	NUM
ajst-32156	90	79	.	.	PUNCT
ajst-32156	91	1	experimental	experimental	ADJ
ajst-32156	91	2	evaluation	evaluation	NOUN
ajst-32156	91	3	6.1	6.1	NUM
ajst-32156	91	4	.	.	PUNCT
ajst-32156	92	1	experiment	experiment	NOUN
ajst-32156	92	2	setup	setup	NOUN
ajst-32156	92	3	in	in	ADP
ajst-32156	92	4	the	the	DET
ajst-32156	92	5	following	follow	VERB
ajst-32156	92	6	experiments	experiment	NOUN
ajst-32156	92	7	,	,	PUNCT
ajst-32156	92	8	we	we	PRON
ajst-32156	92	9	use	use	VERB
ajst-32156	92	10	the	the	DET
ajst-32156	92	11	following	follow	VERB
ajst-32156	92	12	robot	robot	NOUN
ajst-32156	92	13	configurations	configuration	NOUN
ajst-32156	92	14	:	:	PUNCT
ajst-32156	92	15	small	small	ADJ
ajst-32156	92	16	:	:	PUNCT
ajst-32156	93	1	d	d	X
ajst-32156	93	2	=	=	PUNCT
ajst-32156	93	3	0.3	0.3	NUM
ajst-32156	93	4	m	m	NOUN
ajst-32156	93	5	,	,	PUNCT
ajst-32156	93	6	rturn	rturn	NOUN
ajst-32156	93	7	=	=	PUNCT
ajst-32156	93	8	0.25	0.25	NUM
ajst-32156	93	9	m	m	NOUN
ajst-32156	93	10	,	,	PUNCT
ajst-32156	93	11	csafety	csafety	NOUN
ajst-32156	93	12	=	=	PUNCT
ajst-32156	93	13	0.05	0.05	NUM
ajst-32156	93	14	m	m	NOUN
ajst-32156	93	15	medium	medium	NOUN
ajst-32156	93	16	:	:	PUNCT
ajst-32156	93	17	d	d	NOUN
ajst-32156	93	18	=	=	SYM
ajst-32156	93	19	0.5	0.5	NUM
ajst-32156	93	20	m	m	NOUN
ajst-32156	93	21	,	,	PUNCT
ajst-32156	93	22	rturn	rturn	NOUN
ajst-32156	93	23	=	=	PUNCT
ajst-32156	93	24	0.35	0.35	NUM
ajst-32156	93	25	m	m	NOUN
ajst-32156	93	26	,	,	PUNCT
ajst-32156	93	27	csafety	csafety	NOUN
ajst-32156	93	28	=	=	PUNCT
ajst-32156	93	29	0.05	0.05	NUM
ajst-32156	93	30	m	m	NOUN
ajst-32156	93	31	large	large	ADJ
ajst-32156	93	32	:	:	PUNCT
ajst-32156	93	33	d	d	NOUN
ajst-32156	93	34	=	=	PUNCT
ajst-32156	93	35	0.7	0.7	NUM
ajst-32156	93	36	m	m	NOUN
ajst-32156	93	37	,	,	PUNCT
ajst-32156	93	38	rturn	rturn	NOUN
ajst-32156	93	39	=	=	PUNCT
ajst-32156	93	40	0.45	0.45	NUM
ajst-32156	93	41	m	m	NOUN
ajst-32156	93	42	,	,	PUNCT
ajst-32156	93	43	csafety	csafety	NOUN
ajst-32156	93	44	=	=	PUNCT
ajst-32156	93	45	0.05	0.05	NUM
ajst-32156	93	46	m	m	NOUN
ajst-32156	93	47	6.2	6.2	NUM
ajst-32156	93	48	.	.	PUNCT
ajst-32156	94	1	algorithms	algorithm	NOUN
ajst-32156	94	2	comparison	comparison	NOUN
ajst-32156	94	3	table	table	NOUN
ajst-32156	94	4	2	2	NUM
ajst-32156	94	5	reveals	reveal	VERB
ajst-32156	94	6	several	several	ADJ
ajst-32156	94	7	critical	critical	ADJ
ajst-32156	94	8	insights	insight	NOUN
ajst-32156	94	9	about	about	ADP
ajst-32156	94	10	the	the	DET
ajst-32156	94	11	baselineto	baselineto	NOUN
ajst-32156	94	12	-	-	PUNCT
ajst-32156	94	13	size	size	NOUN
ajst-32156	94	14	-	-	PUNCT
ajst-32156	94	15	aware	aware	ADJ
ajst-32156	94	16	transition	transition	NOUN
ajst-32156	94	17	.	.	PUNCT
ajst-32156	95	1	the	the	DET
ajst-32156	95	2	most	most	ADV
ajst-32156	95	3	striking	striking	ADJ
ajst-32156	95	4	observation	observation	NOUN
ajst-32156	95	5	is	be	AUX
ajst-32156	95	6	that	that	SCONJ
ajst-32156	95	7	baseline	baseline	ADJ
ajst-32156	95	8	algorithms	algorithm	NOUN
ajst-32156	95	9	show	show	VERB
ajst-32156	95	10	complete	complete	ADJ
ajst-32156	95	11	size	size	NOUN
ajst-32156	95	12	-	-	PUNCT
ajst-32156	95	13	invariance	invariance	NOUN
ajst-32156	95	14	:	:	PUNCT
ajst-32156	95	15	stc	stc	NOUN
ajst-32156	95	16	produces	produce	VERB
ajst-32156	95	17	identical	identical	ADJ
ajst-32156	95	18	metrics	metric	NOUN
ajst-32156	95	19	regardless	regardless	ADV
ajst-32156	95	20	of	of	ADP
ajst-32156	95	21	whether	whether	SCONJ
ajst-32156	95	22	the	the	DET
ajst-32156	95	23	robot	robot	NOUN
ajst-32156	95	24	is	be	AUX
ajst-32156	95	25	0.3	0.3	NUM
ajst-32156	95	26	m	m	NOUN
ajst-32156	95	27	or	or	CCONJ
ajst-32156	95	28	0.7	0.7	NUM
ajst-32156	95	29	m	m	NOUN
ajst-32156	95	30	in	in	ADP
ajst-32156	95	31	diameter	diameter	NOUN
ajst-32156	95	32	.	.	PUNCT
ajst-32156	96	1	this	this	DET
ajst-32156	96	2	uniformity	uniformity	NOUN
ajst-32156	96	3	is	be	AUX
ajst-32156	96	4	not	not	PART
ajst-32156	96	5	a	a	DET
ajst-32156	96	6	feature	feature	NOUN
ajst-32156	96	7	but	but	CCONJ
ajst-32156	96	8	a	a	DET
ajst-32156	96	9	fundamental	fundamental	ADJ
ajst-32156	96	10	flaw	flaw	NOUN
ajst-32156	96	11	since	since	SCONJ
ajst-32156	96	12	it	it	PRON
ajst-32156	96	13	indicates	indicate	VERB
ajst-32156	96	14	that	that	SCONJ
ajst-32156	96	15	robot	robot	NOUN
ajst-32156	96	16	geometry	geometry	NOUN
ajst-32156	96	17	is	be	AUX
ajst-32156	96	18	completely	completely	ADV
ajst-32156	96	19	ignored	ignore	VERB
ajst-32156	96	20	,	,	PUNCT
ajst-32156	96	21	making	make	VERB
ajst-32156	96	22	the	the	DET
ajst-32156	96	23	paths	path	NOUN
ajst-32156	96	24	equally	equally	ADV
ajst-32156	96	25	infeasible	infeasible	ADJ
ajst-32156	96	26	for	for	ADP
ajst-32156	96	27	all	all	DET
ajst-32156	96	28	non	non	ADJ
ajst-32156	96	29	-	-	ADJ
ajst-32156	96	30	point	point	ADJ
ajst-32156	96	31	robots	robot	NOUN
ajst-32156	96	32	.	.	PUNCT
ajst-32156	97	1	bcd	bcd	PROPN
ajst-32156	97	2	baseline	baseline	PROPN
ajst-32156	97	3	exhibits	exhibit	VERB
ajst-32156	97	4	the	the	DET
ajst-32156	97	5	same	same	ADJ
ajst-32156	97	6	problem	problem	NOUN
ajst-32156	97	7	,	,	PUNCT
ajst-32156	97	8	achieving	achieve	VERB
ajst-32156	97	9	perfect	perfect	ADJ
ajst-32156	97	10	100	100	NUM
ajst-32156	97	11	%	%	NOUN
ajst-32156	97	12	coverage	coverage	NOUN
ajst-32156	97	13	with	with	ADP
ajst-32156	97	14	1406	1406	NUM
ajst-32156	97	15	turns	turn	NOUN
ajst-32156	97	16	for	for	ADP
ajst-32156	97	17	all	all	DET
ajst-32156	97	18	robot	robot	NOUN
ajst-32156	97	19	sizes	size	NOUN
ajst-32156	97	20	,	,	PUNCT
ajst-32156	97	21	demonstrating	demonstrate	VERB
ajst-32156	97	22	that	that	SCONJ
ajst-32156	97	23	neither	neither	CCONJ
ajst-32156	97	24	baseline	baseline	ADJ
ajst-32156	97	25	algorithm	algorithm	NOUN
ajst-32156	97	26	accounts	account	VERB
ajst-32156	97	27	for	for	ADP
ajst-32156	97	28	physical	physical	ADJ
ajst-32156	97	29	constraints	constraint	NOUN
ajst-32156	97	30	.	.	PUNCT
ajst-32156	98	1	table	table	NOUN
ajst-32156	98	2	2	2	NUM
ajst-32156	98	3	.	.	PUNCT
ajst-32156	98	4	presents	present	VERB
ajst-32156	98	5	a	a	DET
ajst-32156	98	6	comprehensive	comprehensive	ADJ
ajst-32156	98	7	comparison	comparison	NOUN
ajst-32156	98	8	of	of	ADP
ajst-32156	98	9	baseline	baseline	NOUN
ajst-32156	98	10	and	and	CCONJ
ajst-32156	98	11	size	size	NOUN
ajst-32156	98	12	-	-	PUNCT
ajst-32156	98	13	aware	aware	ADJ
ajst-32156	98	14	algorithms	algorithm	NOUN
ajst-32156	98	15	across	across	ADP
ajst-32156	98	16	coverage	coverage	NOUN
ajst-32156	98	17	,	,	PUNCT
ajst-32156	98	18	efficiency	efficiency	NOUN
ajst-32156	98	19	,	,	PUNCT
ajst-32156	98	20	and	and	CCONJ
ajst-32156	98	21	feasibility	feasibility	NOUN
ajst-32156	98	22	metrics	metric	NOUN
ajst-32156	98	23	algorithm	algorithm	NOUN
ajst-32156	98	24	robot	robot	NOUN
ajst-32156	98	25	size	size	NOUN
ajst-32156	98	26	performance	performance	NOUN
ajst-32156	98	27	metrics	metric	NOUN
ajst-32156	98	28	feasibility	feasibility	NOUN
ajst-32156	98	29	coverage	coverage	NOUN
ajst-32156	98	30	redundancy	redundancy	NOUN
ajst-32156	98	31	turns	turn	VERB
ajst-32156	98	32	times	time	NOUN
ajst-32156	98	33	(	(	PUNCT
ajst-32156	98	34	s	s	NOUN
ajst-32156	98	35	)	)	PUNCT
ajst-32156	98	36	score	score	NOUN
ajst-32156	98	37	stc	stc	NOUN
ajst-32156	98	38	baseline	baseline	VERB
ajst-32156	98	39	small	small	ADJ
ajst-32156	98	40	99.97	99.97	NUM
ajst-32156	98	41	%	%	NOUN
ajst-32156	98	42	2.07	2.07	NUM
ajst-32156	98	43	%	%	NOUN
ajst-32156	98	44	1941	1941	NUM
ajst-32156	99	1	0.051	0.051	NUM
ajst-32156	99	2	n	n	X
ajst-32156	99	3	/	/	SYM
ajst-32156	99	4	a	a	PROPN
ajst-32156	99	5	*	*	PUNCT
ajst-32156	99	6	medium	medium	NOUN
ajst-32156	99	7	99.97	99.97	NUM
ajst-32156	99	8	%	%	NOUN
ajst-32156	99	9	2.07	2.07	NUM
ajst-32156	99	10	%	%	NOUN
ajst-32156	99	11	1941	1941	NUM
ajst-32156	99	12	0.051	0.051	NUM
ajst-32156	99	13	n	n	X
ajst-32156	99	14	/	/	SYM
ajst-32156	99	15	a	a	NOUN
ajst-32156	99	16	*	*	X
ajst-32156	99	17	large	large	ADJ
ajst-32156	99	18	99.97	99.97	NUM
ajst-32156	99	19	%	%	NOUN
ajst-32156	99	20	2.07	2.07	NUM
ajst-32156	99	21	%	%	NOUN
ajst-32156	99	22	1941	1941	NUM
ajst-32156	99	23	0.051	0.051	NUM
ajst-32156	99	24	n	n	X
ajst-32156	99	25	/	/	SYM
ajst-32156	99	26	a	a	PROPN
ajst-32156	99	27	*	*	X
ajst-32156	99	28	stc	stc	NOUN
ajst-32156	99	29	sizeaware	sizeaware	NOUN
ajst-32156	99	30	small	small	ADJ
ajst-32156	99	31	96.5	96.5	NUM
ajst-32156	99	32	%	%	NOUN
ajst-32156	99	33	5.12	5.12	NUM
ajst-32156	99	34	%	%	NOUN
ajst-32156	99	35	1494	1494	NUM
ajst-32156	99	36	0.200	0.200	NUM
ajst-32156	99	37	0.917	0.917	NUM
ajst-32156	99	38	medium	medium	NOUN
ajst-32156	99	39	93.4	93.4	NUM
ajst-32156	99	40	%	%	NOUN
ajst-32156	99	41	6.14	6.14	NUM
ajst-32156	99	42	%	%	NOUN
ajst-32156	99	43	1611	1611	NUM
ajst-32156	99	44	0.200	0.200	NUM
ajst-32156	99	45	0.831	0.831	NUM
ajst-32156	99	46	large	large	ADJ
ajst-32156	99	47	91.6	91.6	NUM
ajst-32156	99	48	%	%	NOUN
ajst-32156	99	49	5.66	5.66	NUM
ajst-32156	99	50	%	%	NOUN
ajst-32156	99	51	1691	1691	NUM
ajst-32156	99	52	0.190	0.190	NUM
ajst-32156	99	53	0.730	0.730	NUM
ajst-32156	99	54	bcd	bcd	PROPN
ajst-32156	99	55	baseline	baseline	NOUN
ajst-32156	99	56	small	small	ADJ
ajst-32156	99	57	100.0	100.0	NUM
ajst-32156	99	58	%	%	NOUN
ajst-32156	99	59	11.73	11.73	NUM
ajst-32156	99	60	%	%	NOUN
ajst-32156	99	61	1406	1406	NUM
ajst-32156	99	62	0.556	0.556	NUM
ajst-32156	99	63	n	n	CCONJ
ajst-32156	99	64	/	/	SYM
ajst-32156	99	65	a	a	PROPN
ajst-32156	99	66	*	*	PUNCT
ajst-32156	99	67	medium	medium	NOUN
ajst-32156	99	68	100.0	100.0	NUM
ajst-32156	99	69	%	%	NOUN
ajst-32156	99	70	11.73	11.73	NUM
ajst-32156	99	71	%	%	NOUN
ajst-32156	99	72	1406	1406	NUM
ajst-32156	99	73	0.556	0.556	NUM
ajst-32156	99	74	n	n	CCONJ
ajst-32156	99	75	/	/	SYM
ajst-32156	99	76	a	a	NOUN
ajst-32156	99	77	*	*	PUNCT
ajst-32156	99	78	large	large	ADJ
ajst-32156	99	79	100.0	100.0	NUM
ajst-32156	99	80	%	%	NOUN
ajst-32156	99	81	11.73	11.73	NUM
ajst-32156	99	82	%	%	NOUN
ajst-32156	99	83	1406	1406	NUM
ajst-32156	99	84	0.556	0.556	NUM
ajst-32156	99	85	n	n	CCONJ
ajst-32156	99	86	/	/	SYM
ajst-32156	99	87	a	a	DET
ajst-32156	99	88	*	*	X
ajst-32156	99	89	bcd	bcd	PROPN
ajst-32156	99	90	sizeaware	sizeaware	NOUN
ajst-32156	99	91	small	small	ADJ
ajst-32156	99	92	96.8	96.8	NUM
ajst-32156	99	93	%	%	NOUN
ajst-32156	99	94	15.81	15.81	NUM
ajst-32156	99	95	%	%	NOUN
ajst-32156	99	96	1311	1311	NUM
ajst-32156	99	97	0.611	0.611	NUM
ajst-32156	99	98	1.0	1.0	NUM
ajst-32156	99	99	medium	medium	NOUN
ajst-32156	99	100	95.3	95.3	NUM
ajst-32156	99	101	%	%	NOUN
ajst-32156	99	102	16.23	16.23	NUM
ajst-32156	99	103	%	%	NOUN
ajst-32156	99	104	1295	1295	NUM
ajst-32156	99	105	0.611	0.611	NUM
ajst-32156	99	106	0.940	0.940	NUM
ajst-32156	99	107	large	large	ADJ
ajst-32156	99	108	93.2	93.2	NUM
ajst-32156	99	109	15.82	15.82	NUM
ajst-32156	99	110	%	%	NOUN
ajst-32156	99	111	1324	1324	NUM
ajst-32156	99	112	0.634	0.634	NUM
ajst-32156	99	113	0.875	0.875	NUM
ajst-32156	99	114	*	*	PUNCT
ajst-32156	99	115	baseline	baseline	ADJ
ajst-32156	99	116	algorithms	algorithm	NOUN
ajst-32156	99	117	do	do	AUX
ajst-32156	99	118	not	not	PART
ajst-32156	99	119	model	model	VERB
ajst-32156	99	120	robot	robot	NOUN
ajst-32156	99	121	size	size	NOUN
ajst-32156	99	122	;	;	PUNCT
ajst-32156	99	123	thus	thus	ADV
ajst-32156	99	124	feasibility	feasibility	NOUN
ajst-32156	99	125	is	be	AUX
ajst-32156	99	126	undefined	undefined	ADJ
ajst-32156	99	127	.	.	PUNCT
ajst-32156	100	1	the	the	DET
ajst-32156	100	2	size	size	NOUN
ajst-32156	100	3	-	-	PUNCT
ajst-32156	100	4	aware	aware	ADJ
ajst-32156	100	5	stc	stc	NOUN
ajst-32156	100	6	results	result	NOUN
ajst-32156	100	7	show	show	VERB
ajst-32156	100	8	systematic	systematic	ADJ
ajst-32156	100	9	degradation	degradation	NOUN
ajst-32156	100	10	as	as	ADP
ajst-32156	100	11	robot	robot	NOUN
ajst-32156	100	12	size	size	NOUN
ajst-32156	100	13	increases	increase	NOUN
ajst-32156	100	14	:	:	PUNCT
ajst-32156	100	15	coverage	coverage	NOUN
ajst-32156	100	16	decreases	decrease	VERB
ajst-32156	100	17	from	from	ADP
ajst-32156	100	18	96.5	96.5	NUM
ajst-32156	100	19	%	%	NOUN
ajst-32156	100	20	(	(	PUNCT
ajst-32156	100	21	small	small	ADJ
ajst-32156	100	22	)	)	PUNCT
ajst-32156	100	23	to	to	ADP
ajst-32156	100	24	93.4	93.4	NUM
ajst-32156	100	25	%	%	NOUN
ajst-32156	100	26	(	(	PUNCT
ajst-32156	100	27	medium	medium	NOUN
ajst-32156	100	28	)	)	PUNCT
ajst-32156	100	29	to	to	ADP
ajst-32156	100	30	91.6	91.6	NUM
ajst-32156	100	31	%	%	NOUN
ajst-32156	100	32	(	(	PUNCT
ajst-32156	100	33	large	large	ADJ
ajst-32156	100	34	)	)	PUNCT
ajst-32156	100	35	,	,	PUNCT
ajst-32156	100	36	while	while	SCONJ
ajst-32156	100	37	feasibility	feasibility	NOUN
ajst-32156	100	38	scores	score	NOUN
ajst-32156	100	39	decline	decline	VERB
ajst-32156	100	40	from	from	ADP
ajst-32156	100	41	0.917	0.917	NUM
ajst-32156	100	42	to	to	ADP
ajst-32156	100	43	0.831	0.831	NUM
ajst-32156	100	44	to	to	ADP
ajst-32156	100	45	0.730	0.730	NUM
ajst-32156	100	46	.	.	PUNCT
ajst-32156	101	1	this	this	DET
ajst-32156	101	2	monotonic	monotonic	ADJ
ajst-32156	101	3	pattern	pattern	NOUN
ajst-32156	101	4	validates	validate	VERB
ajst-32156	101	5	that	that	SCONJ
ajst-32156	101	6	geometric	geometric	ADJ
ajst-32156	101	7	constraints	constraint	NOUN
ajst-32156	101	8	are	be	AUX
ajst-32156	101	9	properly	properly	ADV
ajst-32156	101	10	modeled	model	VERB
ajst-32156	101	11	.	.	PUNCT
ajst-32156	102	1	larger	large	ADJ
ajst-32156	102	2	robots	robot	NOUN
ajst-32156	102	3	sacrifice	sacrifice	VERB
ajst-32156	102	4	more	more	ADJ
ajst-32156	102	5	coverage	coverage	NOUN
ajst-32156	102	6	to	to	PART
ajst-32156	102	7	maintain	maintain	VERB
ajst-32156	102	8	path	path	NOUN
ajst-32156	102	9	feasibility	feasibility	NOUN
ajst-32156	102	10	.	.	PUNCT
ajst-32156	103	1	the	the	DET
ajst-32156	103	2	4.9	4.9	NUM
ajst-32156	103	3	%	%	NOUN
ajst-32156	103	4	coverage	coverage	NOUN
ajst-32156	103	5	reduction	reduction	NOUN
ajst-32156	103	6	from	from	ADP
ajst-32156	103	7	small	small	ADJ
ajst-32156	103	8	to	to	ADP
ajst-32156	103	9	large	large	ADJ
ajst-32156	103	10	robots	robot	NOUN
ajst-32156	103	11	represents	represent	VERB
ajst-32156	103	12	regions	region	NOUN
ajst-32156	103	13	that	that	PRON
ajst-32156	103	14	are	be	AUX
ajst-32156	103	15	physically	physically	ADV
ajst-32156	103	16	inaccessible	inaccessible	ADJ
ajst-32156	103	17	to	to	ADP
ajst-32156	103	18	larger	large	ADJ
ajst-32156	103	19	platforms	platform	NOUN
ajst-32156	103	20	but	but	CCONJ
ajst-32156	103	21	would	would	AUX
ajst-32156	103	22	be	be	AUX
ajst-32156	103	23	incorrectly	incorrectly	ADV
ajst-32156	103	24	claimed	claim	VERB
ajst-32156	103	25	as	as	SCONJ
ajst-32156	103	26	covered	cover	VERB
ajst-32156	103	27	by	by	ADP
ajst-32156	103	28	baseline	baseline	ADJ
ajst-32156	103	29	algorithms	algorithm	NOUN
ajst-32156	103	30	.	.	PUNCT
ajst-32156	104	1	critically	critically	ADV
ajst-32156	104	2	,	,	PUNCT
ajst-32156	104	3	even	even	ADV
ajst-32156	104	4	the	the	DET
ajst-32156	104	5	large	large	ADJ
ajst-32156	104	6	robot	robot	NOUN
ajst-32156	104	7	maintains	maintain	VERB
ajst-32156	104	8	91.6	91.6	NUM
ajst-32156	104	9	%	%	NOUN
ajst-32156	104	10	coverage	coverage	NOUN
ajst-32156	104	11	with	with	ADP
ajst-32156	104	12	a	a	DET
ajst-32156	104	13	feasibility	feasibility	NOUN
ajst-32156	104	14	score	score	NOUN
ajst-32156	104	15	of	of	ADP
ajst-32156	104	16	0.730	0.730	NUM
ajst-32156	104	17	,	,	PUNCT
ajst-32156	104	18	indicating	indicate	VERB
ajst-32156	104	19	that	that	SCONJ
ajst-32156	104	20	73	73	NUM
ajst-32156	104	21	%	%	NOUN
ajst-32156	104	22	of	of	ADP
ajst-32156	104	23	the	the	DET
ajst-32156	104	24	generated	generate	VERB
ajst-32156	104	25	path	path	NOUN
ajst-32156	104	26	respects	respect	VERB
ajst-32156	104	27	geometric	geometric	ADJ
ajst-32156	104	28	constraints	constraint	NOUN
ajst-32156	104	29	,	,	PUNCT
ajst-32156	104	30	a	a	DET
ajst-32156	104	31	dramatic	dramatic	ADJ
ajst-32156	104	32	improvement	improvement	NOUN
ajst-32156	104	33	over	over	ADP
ajst-32156	104	34	baseline	baseline	NOUN
ajst-32156	104	35	's	's	PART
ajst-32156	104	36	unknown	unknown	ADJ
ajst-32156	104	37	feasibility	feasibility	NOUN
ajst-32156	104	38	.	.	PUNCT
ajst-32156	105	1	the	the	DET
ajst-32156	105	2	slight	slight	ADJ
ajst-32156	105	3	variation	variation	NOUN
ajst-32156	105	4	across	across	ADP
ajst-32156	105	5	robot	robot	NOUN
ajst-32156	105	6	sizes	size	NOUN
ajst-32156	105	7	indicates	indicate	VERB
ajst-32156	105	8	redundancy	redundancy	NOUN
ajst-32156	105	9	is	be	AUX
ajst-32156	105	10	relatively	relatively	ADV
ajst-32156	105	11	insensitive	insensitive	ADJ
ajst-32156	105	12	to	to	ADP
ajst-32156	105	13	robot	robot	NOUN
ajst-32156	105	14	diameter	diameter	NOUN
ajst-32156	105	15	,	,	PUNCT
ajst-32156	105	16	remaining	remain	VERB
ajst-32156	105	17	consistently	consistently	ADV
ajst-32156	105	18	low	low	ADJ
ajst-32156	105	19	.	.	PUNCT
ajst-32156	106	1	turn	turn	VERB
ajst-32156	106	2	count	count	NOUN
ajst-32156	106	3	increases	increase	NOUN
ajst-32156	106	4	monotonically	monotonically	ADV
ajst-32156	106	5	,	,	PUNCT
ajst-32156	106	6	reflecting	reflect	VERB
ajst-32156	106	7	that	that	SCONJ
ajst-32156	106	8	larger	large	ADJ
ajst-32156	106	9	robots	robot	NOUN
ajst-32156	106	10	must	must	AUX
ajst-32156	106	11	take	take	VERB
ajst-32156	106	12	longer	long	ADJ
ajst-32156	106	13	detours	detour	NOUN
ajst-32156	106	14	around	around	ADP
ajst-32156	106	15	obstacles	obstacle	NOUN
ajst-32156	106	16	to	to	PART
ajst-32156	106	17	maintain	maintain	VERB
ajst-32156	106	18	required	required	ADJ
ajst-32156	106	19	clearance	clearance	NOUN
ajst-32156	106	20	,	,	PUNCT
ajst-32156	106	21	but	but	CCONJ
ajst-32156	106	22	the	the	DET
ajst-32156	106	23	absolute	absolute	ADJ
ajst-32156	106	24	turn	turn	NOUN
ajst-32156	106	25	reduction	reduction	NOUN
ajst-32156	106	26	from	from	ADP
ajst-32156	106	27	baseline	baseline	NOUN
ajst-32156	106	28	demonstrates	demonstrate	VERB
ajst-32156	106	29	significant	significant	ADJ
ajst-32156	106	30	path	path	NOUN
ajst-32156	106	31	smoothing	smooth	VERB
ajst-32156	106	32	benefits	benefit	NOUN
ajst-32156	106	33	from	from	ADP
ajst-32156	106	34	size	size	NOUN
ajst-32156	106	35	-	-	PUNCT
ajst-32156	106	36	aware	aware	ADJ
ajst-32156	106	37	planning	planning	NOUN
ajst-32156	106	38	.	.	PUNCT
ajst-32156	107	1	besides	besides	SCONJ
ajst-32156	107	2	,	,	PUNCT
ajst-32156	107	3	bcd	bcd	ADJ
ajst-32156	107	4	size	size	NOUN
ajst-32156	107	5	-	-	PUNCT
ajst-32156	107	6	aware	aware	ADJ
ajst-32156	107	7	successfully	successfully	ADV
ajst-32156	107	8	scales	scale	VERB
ajst-32156	107	9	to	to	ADP
ajst-32156	107	10	all	all	DET
ajst-32156	107	11	robot	robot	NOUN
ajst-32156	107	12	sizes	size	NOUN
ajst-32156	107	13	,	,	PUNCT
ajst-32156	107	14	achieving	achieve	VERB
ajst-32156	107	15	coverage	coverage	NOUN
ajst-32156	107	16	of	of	ADP
ajst-32156	107	17	96.8	96.8	NUM
ajst-32156	107	18	%	%	NOUN
ajst-32156	107	19	(	(	PUNCT
ajst-32156	107	20	small	small	ADJ
ajst-32156	107	21	)	)	PUNCT
ajst-32156	107	22	,	,	PUNCT
ajst-32156	107	23	95.3	95.3	NUM
ajst-32156	107	24	%	%	NOUN
ajst-32156	107	25	(	(	PUNCT
ajst-32156	107	26	medium	medium	NOUN
ajst-32156	107	27	)	)	PUNCT
ajst-32156	107	28	,	,	PUNCT
ajst-32156	107	29	and	and	CCONJ
ajst-32156	107	30	93.2	93.2	NUM
ajst-32156	107	31	%	%	NOUN
ajst-32156	107	32	(	(	PUNCT
ajst-32156	107	33	large	large	ADJ
ajst-32156	107	34	)	)	PUNCT
ajst-32156	107	35	with	with	ADP
ajst-32156	107	36	exceptional	exceptional	ADJ
ajst-32156	107	37	feasibility	feasibility	NOUN
ajst-32156	107	38	scores	score	NOUN
ajst-32156	107	39	of	of	ADP
ajst-32156	107	40	1.000	1.000	NUM
ajst-32156	107	41	,	,	PUNCT
ajst-32156	107	42	0.940	0.940	NUM
ajst-32156	107	43	,	,	PUNCT
ajst-32156	107	44	and	and	CCONJ
ajst-32156	107	45	0.875	0.875	NUM
ajst-32156	107	46	respectively	respectively	ADV
ajst-32156	107	47	.	.	PUNCT
ajst-32156	108	1	this	this	PRON
ajst-32156	108	2	indicates	indicate	VERB
ajst-32156	108	3	bcd	bcd	PROPN
ajst-32156	108	4	maintains	maintain	VERB
ajst-32156	108	5	high	high	ADJ
ajst-32156	108	6	coverage	coverage	NOUN
ajst-32156	108	7	while	while	SCONJ
ajst-32156	108	8	ensuring	ensure	VERB
ajst-32156	108	9	strong	strong	ADJ
ajst-32156	108	10	feasibility	feasibility	NOUN
ajst-32156	108	11	across	across	ADP
ajst-32156	108	12	all	all	DET
ajst-32156	108	13	robot	robot	NOUN
ajst-32156	108	14	sizes	size	NOUN
ajst-32156	108	15	.	.	PUNCT
ajst-32156	109	1	the	the	DET
ajst-32156	109	2	feasibility	feasibility	NOUN
ajst-32156	109	3	progression	progression	NOUN
ajst-32156	109	4	shows	show	VERB
ajst-32156	109	5	graceful	graceful	ADJ
ajst-32156	109	6	degradation	degradation	NOUN
ajst-32156	109	7	,	,	PUNCT
ajst-32156	109	8	even	even	ADV
ajst-32156	109	9	large	large	ADJ
ajst-32156	109	10	robots	robot	NOUN
ajst-32156	109	11	achieve	achieve	VERB
ajst-32156	109	12	87.5	87.5	NUM
ajst-32156	109	13	%	%	NOUN
ajst-32156	109	14	feasibility	feasibility	NOUN
ajst-32156	109	15	,	,	PUNCT
ajst-32156	109	16	meaning	mean	VERB
ajst-32156	109	17	87.5	87.5	NUM
ajst-32156	109	18	%	%	NOUN
ajst-32156	109	19	of	of	ADP
ajst-32156	109	20	path	path	NOUN
ajst-32156	109	21	segments	segment	NOUN
ajst-32156	109	22	respect	respect	VERB
ajst-32156	109	23	both	both	PRON
ajst-32156	109	24	turning	turn	VERB
ajst-32156	109	25	and	and	CCONJ
ajst-32156	109	26	width	width	ADJ
ajst-32156	109	27	constraints	constraint	NOUN
ajst-32156	109	28	.	.	PUNCT
ajst-32156	110	1	bcd	bcd	PROPN
ajst-32156	110	2	's	's	PART
ajst-32156	110	3	efficiency	efficiency	NOUN
ajst-32156	110	4	metrics	metric	NOUN
ajst-32156	110	5	are	be	AUX
ajst-32156	110	6	remarkable	remarkable	ADJ
ajst-32156	110	7	:	:	PUNCT
ajst-32156	110	8	redundancy	redundancy	NOUN
ajst-32156	110	9	remains	remain	VERB
ajst-32156	110	10	stable	stable	ADJ
ajst-32156	110	11	,	,	PUNCT
ajst-32156	110	12	turn	turn	VERB
ajst-32156	110	13	counts	count	NOUN
ajst-32156	110	14	are	be	AUX
ajst-32156	110	15	consistently	consistently	ADV
ajst-32156	110	16	the	the	DET
ajst-32156	110	17	lowest	low	ADJ
ajst-32156	110	18	across	across	ADP
ajst-32156	110	19	all	all	DET
ajst-32156	110	20	configurations	configuration	NOUN
ajst-32156	110	21	,	,	PUNCT
ajst-32156	110	22	and	and	CCONJ
ajst-32156	110	23	execution	execution	NOUN
ajst-32156	110	24	time	time	NOUN
ajst-32156	110	25	is	be	AUX
ajst-32156	110	26	acceptable	acceptable	ADJ
ajst-32156	110	27	.	.	PUNCT
ajst-32156	111	1	the	the	DET
ajst-32156	111	2	turn	turn	NOUN
ajst-32156	111	3	count	count	NOUN
ajst-32156	111	4	advantage	advantage	NOUN
ajst-32156	111	5	demonstrates	demonstrate	VERB
ajst-32156	111	6	that	that	SCONJ
ajst-32156	111	7	bcd	bcd	PROPN
ajst-32156	111	8	's	's	PART
ajst-32156	111	9	back	back	NOUN
ajst-32156	111	10	-	-	PUNCT
ajst-32156	111	11	and	and	CCONJ
ajst-32156	111	12	-	-	PUNCT
ajst-32156	111	13	forth	forth	ADV
ajst-32156	111	14	scanning	scan	VERB
ajst-32156	111	15	patterns	pattern	NOUN
ajst-32156	111	16	are	be	AUX
ajst-32156	111	17	inherently	inherently	ADV
ajst-32156	111	18	more	more	ADV
ajst-32156	111	19	efficient	efficient	ADJ
ajst-32156	111	20	than	than	ADP
ajst-32156	111	21	stc	stc	PROPN
ajst-32156	111	22	's	's	PART
ajst-32156	111	23	spanning	span	VERB
ajst-32156	111	24	tree	tree	NOUN
ajst-32156	111	25	approach	approach	NOUN
ajst-32156	111	26	.	.	PUNCT
ajst-32156	112	1	most	most	ADV
ajst-32156	112	2	importantly	importantly	ADV
ajst-32156	112	3	,	,	PUNCT
ajst-32156	112	4	bcd	bcd	PROPN
ajst-32156	112	5	achieves	achieve	VERB
ajst-32156	112	6	perfect	perfect	ADJ
ajst-32156	112	7	feasibility	feasibility	NOUN
ajst-32156	112	8	for	for	ADP
ajst-32156	112	9	small	small	ADJ
ajst-32156	112	10	robots	robot	NOUN
ajst-32156	112	11	,	,	PUNCT
ajst-32156	112	12	indicating	indicate	VERB
ajst-32156	112	13	zero	zero	NUM
ajst-32156	112	14	turning	turning	NOUN
ajst-32156	112	15	or	or	CCONJ
ajst-32156	112	16	width	width	ADJ
ajst-32156	112	17	violations	violation	NOUN
ajst-32156	112	18	,	,	PUNCT
ajst-32156	112	19	a	a	DET
ajst-32156	112	20	result	result	NOUN
ajst-32156	112	21	unmatched	unmatched	ADJ
ajst-32156	112	22	by	by	ADP
ajst-32156	112	23	any	any	DET
ajst-32156	112	24	other	other	ADJ
ajst-32156	112	25	configuration	configuration	NOUN
ajst-32156	112	26	.	.	PUNCT
ajst-32156	113	1	comparing	compare	VERB
ajst-32156	113	2	the	the	DET
ajst-32156	113	3	two	two	NUM
ajst-32156	113	4	size	size	NOUN
ajst-32156	113	5	-	-	PUNCT
ajst-32156	113	6	aware	aware	ADJ
ajst-32156	113	7	algorithms	algorithm	NOUN
ajst-32156	113	8	reveals	reveal	VERB
ajst-32156	113	9	complementary	complementary	ADJ
ajst-32156	113	10	strengths	strength	NOUN
ajst-32156	113	11	.	.	PUNCT
ajst-32156	114	1	stc	stc	NOUN
ajst-32156	114	2	offers	offer	VERB
ajst-32156	114	3	slightly	slightly	ADV
ajst-32156	114	4	higher	high	ADJ
ajst-32156	114	5	coverage	coverage	NOUN
ajst-32156	114	6	on	on	ADP
ajst-32156	114	7	small	small	ADJ
ajst-32156	114	8	/	/	SYM
ajst-32156	114	9	medium	medium	NOUN
ajst-32156	114	10	robots	robot	NOUN
ajst-32156	114	11	with	with	ADP
ajst-32156	114	12	3×	3×	NUM
ajst-32156	114	13	faster	fast	ADJ
ajst-32156	114	14	execution	execution	NOUN
ajst-32156	114	15	,	,	PUNCT
ajst-32156	114	16	making	make	VERB
ajst-32156	114	17	it	it	PRON
ajst-32156	114	18	suitable	suitable	ADJ
ajst-32156	114	19	for	for	ADP
ajst-32156	114	20	time	time	NOUN
ajst-32156	114	21	-	-	PUNCT
ajst-32156	114	22	critical	critical	ADJ
ajst-32156	114	23	applications	application	NOUN
ajst-32156	114	24	.	.	PUNCT
ajst-32156	115	1	however	however	ADV
ajst-32156	115	2	,	,	PUNCT
ajst-32156	115	3	bcd	bcd	PROPN
ajst-32156	115	4	dominates	dominate	VERB
ajst-32156	115	5	on	on	ADP
ajst-32156	115	6	feasibility	feasibility	NOUN
ajst-32156	115	7	,	,	PUNCT
ajst-32156	115	8	redundancy	redundancy	NOUN
ajst-32156	115	9	,	,	PUNCT
ajst-32156	115	10	and	and	CCONJ
ajst-32156	115	11	turn	turn	VERB
ajst-32156	115	12	efficiency	efficiency	NOUN
ajst-32156	115	13	.	.	PUNCT
ajst-32156	116	1	the	the	DET
ajst-32156	116	2	feasibility	feasibility	NOUN
ajst-32156	116	3	advantage	advantage	NOUN
ajst-32156	116	4	of	of	ADP
ajst-32156	116	5	bcd	bcd	PROPN
ajst-32156	116	6	is	be	AUX
ajst-32156	116	7	particularly	particularly	ADV
ajst-32156	116	8	significant	significant	ADJ
ajst-32156	116	9	:	:	PUNCT
ajst-32156	116	10	the	the	DET
ajst-32156	116	11	12.5	12.5	NUM
ajst-32156	116	12	%	%	NOUN
ajst-32156	116	13	gap	gap	NOUN
ajst-32156	116	14	for	for	ADP
ajst-32156	116	15	large	large	ADJ
ajst-32156	116	16	robots	robot	NOUN
ajst-32156	116	17	translates	translate	VERB
ajst-32156	116	18	to	to	ADP
ajst-32156	116	19	substantially	substantially	ADV
ajst-32156	116	20	more	more	ADV
ajst-32156	116	21	deployable	deployable	ADJ
ajst-32156	116	22	paths	path	NOUN
ajst-32156	116	23	.	.	PUNCT
ajst-32156	117	1	for	for	ADP
ajst-32156	117	2	practical	practical	ADJ
ajst-32156	117	3	deployment	deployment	NOUN
ajst-32156	117	4	,	,	PUNCT
ajst-32156	117	5	a	a	DET
ajst-32156	117	6	feasibility	feasibility	NOUN
ajst-32156	117	7	score	score	NOUN
ajst-32156	117	8	of	of	ADP
ajst-32156	117	9	0.875	0.875	NUM
ajst-32156	117	10	suggests	suggest	VERB
ajst-32156	117	11	87.5	87.5	NUM
ajst-32156	117	12	%	%	NOUN
ajst-32156	117	13	path	path	NOUN
ajst-32156	117	14	compliance	compliance	NOUN
ajst-32156	117	15	with	with	ADP
ajst-32156	117	16	geometric	geometric	ADJ
ajst-32156	117	17	constraints	constraint	NOUN
ajst-32156	117	18	,	,	PUNCT
ajst-32156	117	19	requiring	require	VERB
ajst-32156	117	20	only	only	ADJ
ajst-32156	117	21	minor	minor	ADJ
ajst-32156	117	22	operator	operator	NOUN
ajst-32156	117	23	supervision	supervision	NOUN
ajst-32156	117	24	,	,	PUNCT
ajst-32156	117	25	while	while	SCONJ
ajst-32156	117	26	0.730	0.730	NUM
ajst-32156	117	27	indicates	indicate	VERB
ajst-32156	117	28	significant	significant	ADJ
ajst-32156	117	29	constraint	constraint	NOUN
ajst-32156	117	30	violations	violation	NOUN
ajst-32156	117	31	requiring	require	VERB
ajst-32156	117	32	manual	manual	ADJ
ajst-32156	117	33	intervention	intervention	NOUN
ajst-32156	117	34	.	.	PUNCT
ajst-32156	118	1	this	this	PRON
ajst-32156	118	2	makes	make	VERB
ajst-32156	118	3	bcd	bcd	PROPN
ajst-32156	118	4	the	the	DET
ajst-32156	118	5	preferred	preferred	ADJ
ajst-32156	118	6	algorithm	algorithm	NOUN
ajst-32156	118	7	for	for	ADP
ajst-32156	118	8	most	most	ADJ
ajst-32156	118	9	scenarios	scenario	NOUN
ajst-32156	118	10	,	,	PUNCT
ajst-32156	118	11	with	with	ADP
ajst-32156	118	12	stc	stc	NOUN
ajst-32156	118	13	serving	serve	VERB
ajst-32156	118	14	as	as	ADP
ajst-32156	118	15	a	a	DET
ajst-32156	118	16	faster	fast	ADJ
ajst-32156	118	17	alternative	alternative	NOUN
ajst-32156	118	18	when	when	SCONJ
ajst-32156	118	19	sub	sub	ADJ
ajst-32156	118	20	-	-	ADJ
ajst-32156	118	21	second	second	ADJ
ajst-32156	118	22	planning	planning	NOUN
ajst-32156	118	23	is	be	AUX
ajst-32156	118	24	essential	essential	ADJ
ajst-32156	118	25	.	.	PUNCT
ajst-32156	119	1	the	the	DET
ajst-32156	119	2	baseline	baseline	NOUN
ajst-32156	119	3	-	-	PUNCT
ajst-32156	119	4	to	to	ADP
ajst-32156	119	5	-	-	PUNCT
ajst-32156	119	6	size	size	NOUN
ajst-32156	119	7	-	-	PUNCT
ajst-32156	119	8	aware	aware	ADJ
ajst-32156	119	9	transition	transition	NOUN
ajst-32156	119	10	costs	cost	VERB
ajst-32156	119	11	3.2	3.2	NUM
ajst-32156	119	12	-	-	SYM
ajst-32156	119	13	8.4	8.4	NUM
ajst-32156	119	14	%	%	NOUN
ajst-32156	119	15	coverage	coverage	NOUN
ajst-32156	119	16	(	(	PUNCT
ajst-32156	119	17	stc	stc	NOUN
ajst-32156	119	18	)	)	PUNCT
ajst-32156	119	19	or	or	CCONJ
ajst-32156	119	20	3.2	3.2	NUM
ajst-32156	119	21	-	-	SYM
ajst-32156	119	22	6.8	6.8	NUM
ajst-32156	119	23	%	%	NOUN
ajst-32156	119	24	(	(	PUNCT
ajst-32156	119	25	bcd	bcd	PROPN
ajst-32156	119	26	)	)	PUNCT
ajst-32156	119	27	,	,	PUNCT
ajst-32156	119	28	but	but	CCONJ
ajst-32156	119	29	purchases	purchase	VERB
ajst-32156	119	30	quantifiable	quantifiable	ADJ
ajst-32156	119	31	feasibility	feasibility	NOUN
ajst-32156	119	32	guarantees	guarantee	NOUN
ajst-32156	119	33	.	.	PUNCT
ajst-32156	120	1	crucially	crucially	ADV
ajst-32156	120	2	,	,	PUNCT
ajst-32156	120	3	the	the	DET
ajst-32156	120	4	feasibility	feasibility	NOUN
ajst-32156	120	5	scores	score	NOUN
ajst-32156	120	6	provide	provide	VERB
ajst-32156	120	7	deployment	deployment	NOUN
ajst-32156	120	8	confidence	confidence	NOUN
ajst-32156	120	9	metrics	metric	NOUN
ajst-32156	120	10	unavailable	unavailable	ADJ
ajst-32156	120	11	in	in	ADP
ajst-32156	120	12	baseline	baseline	ADJ
ajst-32156	120	13	algorithms	algorithm	NOUN
ajst-32156	120	14	.	.	PUNCT
ajst-32156	121	1	the	the	DET
ajst-32156	121	2	turn	turn	NOUN
ajst-32156	121	3	reduction	reduction	NOUN
ajst-32156	121	4	translates	translate	VERB
ajst-32156	121	5	directly	directly	ADV
ajst-32156	121	6	to	to	ADP
ajst-32156	121	7	energy	energy	NOUN
ajst-32156	121	8	savings	saving	NOUN
ajst-32156	121	9	and	and	CCONJ
ajst-32156	121	10	reduced	reduce	VERB
ajst-32156	121	11	mechanical	mechanical	ADJ
ajst-32156	121	12	wear	wear	NOUN
ajst-32156	121	13	.	.	PUNCT
ajst-32156	122	1	most	most	ADV
ajst-32156	122	2	importantly	importantly	ADV
ajst-32156	122	3	,	,	PUNCT
ajst-32156	122	4	the	the	DET
ajst-32156	122	5	coverage	coverage	NOUN
ajst-32156	122	6	reduction	reduction	NOUN
ajst-32156	122	7	represents	represent	VERB
ajst-32156	122	8	correct	correct	ADJ
ajst-32156	122	9	rejection	rejection	NOUN
ajst-32156	122	10	of	of	ADP
ajst-32156	122	11	physically	physically	ADV
ajst-32156	122	12	inaccessible	inaccessible	ADJ
ajst-32156	122	13	regions	region	NOUN
ajst-32156	122	14	rather	rather	ADV
ajst-32156	122	15	than	than	ADP
ajst-32156	122	16	algorithmic	algorithmic	ADJ
ajst-32156	122	17	failure	failure	NOUN
ajst-32156	122	18	,	,	PUNCT
ajst-32156	122	19	regions	region	NOUN
ajst-32156	122	20	that	that	PRON
ajst-32156	122	21	baseline	baseline	VERB
ajst-32156	122	22	claims	claim	NOUN
ajst-32156	122	23	as	as	ADP
ajst-32156	122	24	"	"	PUNCT
ajst-32156	122	25	covered	cover	VERB
ajst-32156	122	26	"	"	PUNCT
ajst-32156	122	27	but	but	CCONJ
ajst-32156	122	28	would	would	AUX
ajst-32156	122	29	cause	cause	VERB
ajst-32156	122	30	robot	robot	NOUN
ajst-32156	122	31	collision	collision	NOUN
ajst-32156	122	32	or	or	CCONJ
ajst-32156	122	33	immobilization	immobilization	NOUN
ajst-32156	122	34	in	in	ADP
ajst-32156	122	35	deployment	deployment	NOUN
ajst-32156	122	36	.	.	PUNCT
ajst-32156	123	1	size	size	NOUN
ajst-32156	123	2	-	-	PUNCT
ajst-32156	123	3	aware	aware	ADJ
ajst-32156	123	4	algorithms	algorithm	NOUN
ajst-32156	123	5	maintain	maintain	VERB
ajst-32156	123	6	high	high	ADJ
ajst-32156	123	7	feasibility	feasibility	NOUN
ajst-32156	123	8	scores	score	NOUN
ajst-32156	123	9	across	across	ADP
ajst-32156	123	10	all	all	DET
ajst-32156	123	11	map	map	NOUN
ajst-32156	123	12	types	type	NOUN
ajst-32156	123	13	,	,	PUNCT
ajst-32156	123	14	especially	especially	ADV
ajst-32156	123	15	in	in	ADP
ajst-32156	123	16	narrow	narrow	ADJ
ajst-32156	123	17	corridors	corridor	NOUN
ajst-32156	123	18	where	where	SCONJ
ajst-32156	123	19	baseline	baseline	ADJ
ajst-32156	123	20	algorithms	algorithm	NOUN
ajst-32156	123	21	fail	fail	VERB
ajst-32156	123	22	for	for	ADP
ajst-32156	123	23	large	large	ADJ
ajst-32156	123	24	robots	robot	NOUN
ajst-32156	123	25	.	.	PUNCT
ajst-32156	124	1	47	47	NUM
ajst-32156	124	2	figure	figure	NOUN
ajst-32156	124	3	1	1	NUM
ajst-32156	124	4	presents	present	VERB
ajst-32156	124	5	a	a	DET
ajst-32156	124	6	dual	dual	ADJ
ajst-32156	124	7	-	-	PUNCT
ajst-32156	124	8	panel	panel	NOUN
ajst-32156	124	9	analysis	analysis	NOUN
ajst-32156	124	10	revealing	reveal	VERB
ajst-32156	124	11	how	how	SCONJ
ajst-32156	124	12	robot	robot	NOUN
ajst-32156	124	13	size	size	NOUN
ajst-32156	124	14	and	and	CCONJ
ajst-32156	124	15	map	map	VERB
ajst-32156	124	16	geometry	geometry	NOUN
ajst-32156	124	17	interact	interact	NOUN
ajst-32156	124	18	to	to	PART
ajst-32156	124	19	determine	determine	VERB
ajst-32156	124	20	deployment	deployment	NOUN
ajst-32156	124	21	feasibility	feasibility	NOUN
ajst-32156	124	22	.	.	PUNCT
ajst-32156	125	1	the	the	DET
ajst-32156	125	2	left	left	ADJ
ajst-32156	125	3	panel	panel	NOUN
ajst-32156	125	4	shows	show	VERB
ajst-32156	125	5	the	the	DET
ajst-32156	125	6	percentage	percentage	NOUN
ajst-32156	125	7	of	of	ADP
ajst-32156	125	8	test	test	NOUN
ajst-32156	125	9	configurations	configuration	NOUN
ajst-32156	125	10	that	that	PRON
ajst-32156	125	11	generate	generate	VERB
ajst-32156	125	12	valid	valid	ADJ
ajst-32156	125	13	paths	path	NOUN
ajst-32156	125	14	,	,	PUNCT
ajst-32156	125	15	while	while	SCONJ
ajst-32156	125	16	the	the	DET
ajst-32156	125	17	right	right	ADJ
ajst-32156	125	18	panel	panel	NOUN
ajst-32156	125	19	quantifies	quantify	VERB
ajst-32156	125	20	the	the	DET
ajst-32156	125	21	quality	quality	NOUN
ajst-32156	125	22	of	of	ADP
ajst-32156	125	23	those	those	DET
ajst-32156	125	24	generated	generate	VERB
ajst-32156	125	25	paths	path	NOUN
ajst-32156	125	26	.	.	PUNCT
ajst-32156	126	1	left	leave	VERB
ajst-32156	126	2	panel	panel	NOUN
ajst-32156	126	3	shows	show	VERB
ajst-32156	126	4	small	small	ADJ
ajst-32156	126	5	robots	robot	NOUN
ajst-32156	126	6	(	(	PUNCT
ajst-32156	126	7	green	green	ADJ
ajst-32156	126	8	)	)	PUNCT
ajst-32156	126	9	maintain	maintain	VERB
ajst-32156	126	10	near	near	ADV
ajst-32156	126	11	-	-	PUNCT
ajst-32156	126	12	perfect	perfect	ADJ
ajst-32156	126	13	success	success	NOUN
ajst-32156	126	14	rates	rate	NOUN
ajst-32156	126	15	across	across	ADP
ajst-32156	126	16	all	all	DET
ajst-32156	126	17	map	map	NOUN
ajst-32156	126	18	categories	category	NOUN
ajst-32156	126	19	:	:	PUNCT
ajst-32156	126	20	100	100	NUM
ajst-32156	126	21	%	%	NOUN
ajst-32156	126	22	on	on	ADP
ajst-32156	126	23	open	open	ADJ
ajst-32156	126	24	areas	area	NOUN
ajst-32156	126	25	,	,	PUNCT
ajst-32156	126	26	rooms	room	NOUN
ajst-32156	126	27	,	,	PUNCT
ajst-32156	126	28	and	and	CCONJ
ajst-32156	126	29	random	random	ADJ
ajst-32156	126	30	maps	map	NOUN
ajst-32156	126	31	,	,	PUNCT
ajst-32156	126	32	with	with	ADP
ajst-32156	126	33	a	a	DET
ajst-32156	126	34	minor	minor	ADJ
ajst-32156	126	35	drop	drop	NOUN
ajst-32156	126	36	to	to	ADP
ajst-32156	126	37	92	92	NUM
ajst-32156	126	38	%	%	NOUN
ajst-32156	126	39	on	on	ADP
ajst-32156	126	40	complex	complex	ADJ
ajst-32156	126	41	maps	map	NOUN
ajst-32156	126	42	.	.	PUNCT
ajst-32156	127	1	this	this	PRON
ajst-32156	127	2	demonstrates	demonstrate	VERB
ajst-32156	127	3	that	that	SCONJ
ajst-32156	127	4	compact	compact	ADJ
ajst-32156	127	5	robots	robot	NOUN
ajst-32156	127	6	(	(	PUNCT
ajst-32156	127	7	0.3	0.3	NUM
ajst-32156	127	8	m	m	PROPN
ajst-32156	127	9	diameter	diameter	NOUN
ajst-32156	127	10	)	)	PUNCT
ajst-32156	127	11	can	can	AUX
ajst-32156	127	12	navigate	navigate	VERB
ajst-32156	127	13	virtually	virtually	ADV
ajst-32156	127	14	any	any	DET
ajst-32156	127	15	environment	environment	NOUN
ajst-32156	127	16	in	in	ADP
ajst-32156	127	17	our	our	PRON
ajst-32156	127	18	test	test	NOUN
ajst-32156	127	19	suite	suite	NOUN
ajst-32156	127	20	.	.	PUNCT
ajst-32156	128	1	medium	medium	ADJ
ajst-32156	128	2	robots	robot	NOUN
ajst-32156	128	3	(	(	PUNCT
ajst-32156	128	4	blue	blue	ADJ
ajst-32156	128	5	)	)	PUNCT
ajst-32156	128	6	show	show	VERB
ajst-32156	128	7	the	the	DET
ajst-32156	128	8	first	first	ADJ
ajst-32156	128	9	signs	sign	NOUN
ajst-32156	128	10	of	of	ADP
ajst-32156	128	11	geometric	geometric	ADJ
ajst-32156	128	12	constraints	constraint	NOUN
ajst-32156	128	13	,	,	PUNCT
ajst-32156	128	14	dropping	drop	VERB
ajst-32156	128	15	from	from	ADP
ajst-32156	128	16	100	100	NUM
ajst-32156	128	17	%	%	NOUN
ajst-32156	128	18	success	success	NOUN
ajst-32156	128	19	on	on	ADP
ajst-32156	128	20	open	open	ADJ
ajst-32156	128	21	/	/	SYM
ajst-32156	128	22	room	room	NOUN
ajst-32156	128	23	/	/	SYM
ajst-32156	128	24	random	random	ADJ
ajst-32156	128	25	maps	map	NOUN
ajst-32156	128	26	to	to	ADP
ajst-32156	128	27	67	67	NUM
ajst-32156	128	28	%	%	NOUN
ajst-32156	128	29	on	on	ADP
ajst-32156	128	30	corridor	corridor	ADJ
ajst-32156	128	31	and	and	CCONJ
ajst-32156	128	32	complex	complex	ADJ
ajst-32156	128	33	maps	map	NOUN
ajst-32156	128	34	.	.	PUNCT
ajst-32156	129	1	this	this	DET
ajst-32156	129	2	33	33	NUM
ajst-32156	129	3	%	%	NOUN
ajst-32156	129	4	failure	failure	NOUN
ajst-32156	129	5	rate	rate	NOUN
ajst-32156	129	6	on	on	ADP
ajst-32156	129	7	challenging	challenging	ADJ
ajst-32156	129	8	maps	map	NOUN
ajst-32156	129	9	validates	validate	VERB
ajst-32156	129	10	that	that	SCONJ
ajst-32156	129	11	0.5	0.5	NUM
ajst-32156	129	12	m	m	PROPN
ajst-32156	129	13	robots	robot	NOUN
ajst-32156	129	14	encounter	encounter	VERB
ajst-32156	129	15	physical	physical	ADJ
ajst-32156	129	16	limitations	limitation	NOUN
ajst-32156	129	17	in	in	ADP
ajst-32156	129	18	confined	confine	VERB
ajst-32156	129	19	spaces	space	NOUN
ajst-32156	129	20	.	.	PUNCT
ajst-32156	130	1	large	large	ADJ
ajst-32156	130	2	robots	robot	NOUN
ajst-32156	130	3	(	(	PUNCT
ajst-32156	130	4	red	red	ADJ
ajst-32156	130	5	)	)	PUNCT
ajst-32156	130	6	exhibit	exhibit	VERB
ajst-32156	130	7	the	the	DET
ajst-32156	130	8	most	most	ADV
ajst-32156	130	9	dramatic	dramatic	ADJ
ajst-32156	130	10	variation	variation	NOUN
ajst-32156	130	11	:	:	PUNCT
ajst-32156	130	12	maintaining	maintain	VERB
ajst-32156	130	13	100	100	NUM
ajst-32156	130	14	%	%	NOUN
ajst-32156	130	15	success	success	NOUN
ajst-32156	130	16	on	on	ADP
ajst-32156	130	17	open	open	ADJ
ajst-32156	130	18	areas	area	NOUN
ajst-32156	130	19	but	but	CCONJ
ajst-32156	130	20	plummeting	plummet	VERB
ajst-32156	130	21	to	to	ADP
ajst-32156	130	22	67	67	NUM
ajst-32156	130	23	%	%	NOUN
ajst-32156	130	24	on	on	ADP
ajst-32156	130	25	corridors	corridor	NOUN
ajst-32156	130	26	and	and	CCONJ
ajst-32156	130	27	complex	complex	ADJ
ajst-32156	130	28	maps	map	NOUN
ajst-32156	130	29	.	.	PUNCT
ajst-32156	131	1	conversely	conversely	ADV
ajst-32156	131	2	,	,	PUNCT
ajst-32156	131	3	the	the	DET
ajst-32156	131	4	divergence	divergence	NOUN
ajst-32156	131	5	on	on	ADP
ajst-32156	131	6	corridor	corridor	ADJ
ajst-32156	131	7	maps	map	NOUN
ajst-32156	131	8	demonstrates	demonstrate	VERB
ajst-32156	131	9	that	that	SCONJ
ajst-32156	131	10	narrow	narrow	ADJ
ajst-32156	131	11	passages	passage	NOUN
ajst-32156	131	12	are	be	AUX
ajst-32156	131	13	the	the	DET
ajst-32156	131	14	primary	primary	ADJ
ajst-32156	131	15	discriminator	discriminator	NOUN
ajst-32156	131	16	between	between	ADP
ajst-32156	131	17	robot	robot	NOUN
ajst-32156	131	18	size	size	NOUN
ajst-32156	131	19	classes	class	NOUN
ajst-32156	131	20	.	.	PUNCT
ajst-32156	132	1	figure	figure	NOUN
ajst-32156	132	2	1	1	NUM
ajst-32156	132	3	.	.	PUNCT
ajst-32156	132	4	performance	performance	NOUN
ajst-32156	132	5	by	by	ADP
ajst-32156	132	6	map	map	NOUN
ajst-32156	132	7	category	category	NOUN
ajst-32156	132	8	right	right	PROPN
ajst-32156	132	9	panel	panel	NOUN
ajst-32156	132	10	shows	show	VERB
ajst-32156	132	11	small	small	ADJ
ajst-32156	132	12	robots	robot	NOUN
ajst-32156	132	13	(	(	PUNCT
ajst-32156	132	14	green	green	ADJ
ajst-32156	132	15	)	)	PUNCT
ajst-32156	132	16	achieve	achieve	VERB
ajst-32156	132	17	the	the	DET
ajst-32156	132	18	highest	high	ADJ
ajst-32156	132	19	feasibility	feasibility	NOUN
ajst-32156	132	20	scores	score	NOUN
ajst-32156	132	21	(	(	PUNCT
ajst-32156	132	22	90	90	NUM
ajst-32156	132	23	-	-	PUNCT
ajst-32156	132	24	-95	-95	NUM
ajst-32156	132	25	%	%	NOUN
ajst-32156	132	26	)	)	PUNCT
ajst-32156	132	27	across	across	ADP
ajst-32156	132	28	all	all	DET
ajst-32156	132	29	map	map	NOUN
ajst-32156	132	30	categories	category	NOUN
ajst-32156	132	31	,	,	PUNCT
ajst-32156	132	32	showing	show	VERB
ajst-32156	132	33	minimal	minimal	ADJ
ajst-32156	132	34	variation	variation	NOUN
ajst-32156	132	35	.	.	PUNCT
ajst-32156	133	1	medium	medium	ADJ
ajst-32156	133	2	robots	robot	NOUN
ajst-32156	133	3	(	(	PUNCT
ajst-32156	133	4	blue	blue	ADJ
ajst-32156	133	5	)	)	PUNCT
ajst-32156	133	6	maintain	maintain	VERB
ajst-32156	133	7	strong	strong	ADJ
ajst-32156	133	8	feasibility	feasibility	NOUN
ajst-32156	133	9	(	(	PUNCT
ajst-32156	133	10	80	80	NUM
ajst-32156	133	11	-	-	PUNCT
ajst-32156	133	12	-88	-88	NUM
ajst-32156	133	13	%	%	NOUN
ajst-32156	133	14	)	)	PUNCT
ajst-32156	133	15	,	,	PUNCT
ajst-32156	133	16	with	with	ADP
ajst-32156	133	17	slight	slight	ADJ
ajst-32156	133	18	degradation	degradation	NOUN
ajst-32156	133	19	on	on	ADP
ajst-32156	133	20	more	more	ADJ
ajst-32156	133	21	complex	complex	ADJ
ajst-32156	133	22	maps	map	NOUN
ajst-32156	133	23	.	.	PUNCT
ajst-32156	134	1	corridor	corridor	ADJ
ajst-32156	134	2	maps	map	NOUN
ajst-32156	134	3	show	show	VERB
ajst-32156	134	4	the	the	DET
ajst-32156	134	5	expected	expect	VERB
ajst-32156	134	6	pattern	pattern	NOUN
ajst-32156	134	7	:	:	PUNCT
ajst-32156	134	8	success	success	NOUN
ajst-32156	134	9	rate	rate	NOUN
ajst-32156	134	10	drops	drop	VERB
ajst-32156	134	11	for	for	ADP
ajst-32156	134	12	medium	medium	ADJ
ajst-32156	134	13	/	/	SYM
ajst-32156	134	14	large	large	ADJ
ajst-32156	134	15	robots	robot	NOUN
ajst-32156	134	16	,	,	PUNCT
ajst-32156	134	17	but	but	CCONJ
ajst-32156	134	18	feasibility	feasibility	NOUN
ajst-32156	134	19	remains	remain	VERB
ajst-32156	134	20	reasonable	reasonable	ADJ
ajst-32156	134	21	for	for	ADP
ajst-32156	134	22	small	small	ADJ
ajst-32156	134	23	/	/	SYM
ajst-32156	134	24	medium	medium	ADJ
ajst-32156	134	25	.	.	PUNCT
ajst-32156	135	1	complex	complex	ADJ
ajst-32156	135	2	maps	map	NOUN
ajst-32156	135	3	show	show	VERB
ajst-32156	135	4	similar	similar	ADJ
ajst-32156	135	5	behavior	behavior	NOUN
ajst-32156	135	6	.	.	PUNCT
ajst-32156	136	1	room	room	NOUN
ajst-32156	136	2	maps	map	NOUN
ajst-32156	136	3	show	show	VERB
ajst-32156	136	4	uniformly	uniformly	ADV
ajst-32156	136	5	high	high	ADJ
ajst-32156	136	6	performance	performance	NOUN
ajst-32156	136	7	,	,	PUNCT
ajst-32156	136	8	suggesting	suggest	VERB
ajst-32156	136	9	that	that	SCONJ
ajst-32156	136	10	structured	structured	ADJ
ajst-32156	136	11	environments	environment	NOUN
ajst-32156	136	12	with	with	ADP
ajst-32156	136	13	doorways	doorway	NOUN
ajst-32156	136	14	and	and	CCONJ
ajst-32156	136	15	open	open	ADJ
ajst-32156	136	16	chambers	chamber	NOUN
ajst-32156	136	17	are	be	AUX
ajst-32156	136	18	well	well	ADV
ajst-32156	136	19	-	-	PUNCT
ajst-32156	136	20	suited	suit	VERB
ajst-32156	136	21	to	to	ADP
ajst-32156	136	22	all	all	DET
ajst-32156	136	23	robot	robot	NOUN
ajst-32156	136	24	sizes	size	NOUN
ajst-32156	136	25	.	.	PUNCT
ajst-32156	137	1	figure	figure	NOUN
ajst-32156	137	2	2	2	NUM
ajst-32156	137	3	.	.	PUNCT
ajst-32156	137	4	success	success	NOUN
ajst-32156	137	5	rate	rate	NOUN
ajst-32156	137	6	by	by	ADP
ajst-32156	137	7	robot	robot	NOUN
ajst-32156	137	8	size	size	NOUN
ajst-32156	137	9	and	and	CCONJ
ajst-32156	137	10	map	map	VERB
ajst-32156	137	11	category	category	NOUN
ajst-32156	137	12	small	small	ADJ
ajst-32156	137	13	robots	robot	NOUN
ajst-32156	137	14	(	(	PUNCT
ajst-32156	137	15	0.3	0.3	NUM
ajst-32156	137	16	m	m	VERB
ajst-32156	137	17	)	)	PUNCT
ajst-32156	137	18	achieve	achieve	VERB
ajst-32156	137	19	100	100	NUM
ajst-32156	137	20	%	%	NOUN
ajst-32156	137	21	success	success	NOUN
ajst-32156	137	22	across	across	ADP
ajst-32156	137	23	all	all	DET
ajst-32156	137	24	maps	map	NOUN
ajst-32156	137	25	.	.	PUNCT
ajst-32156	138	1	medium	medium	ADJ
ajst-32156	138	2	robots	robot	NOUN
ajst-32156	138	3	(	(	PUNCT
ajst-32156	138	4	0.5	0.5	NUM
ajst-32156	138	5	m	m	NOUN
ajst-32156	138	6	)	)	PUNCT
ajst-32156	138	7	show	show	VERB
ajst-32156	138	8	selective	selective	ADJ
ajst-32156	138	9	failures	failure	NOUN
ajst-32156	138	10	on	on	ADP
ajst-32156	138	11	narrow	narrow	ADJ
ajst-32156	138	12	corridors	corridor	NOUN
ajst-32156	138	13	.	.	PUNCT
ajst-32156	139	1	large	large	ADJ
ajst-32156	139	2	robots	robot	NOUN
ajst-32156	139	3	(	(	PUNCT
ajst-32156	139	4	0.7	0.7	NUM
ajst-32156	139	5	m	m	NOUN
ajst-32156	139	6	)	)	PUNCT
ajst-32156	139	7	are	be	AUX
ajst-32156	139	8	correctly	correctly	ADV
ajst-32156	139	9	rejected	reject	VERB
ajst-32156	139	10	on	on	ADP
ajst-32156	139	11	7	7	NUM
ajst-32156	139	12	challenging	challenging	ADJ
ajst-32156	139	13	scenarios	scenario	NOUN
ajst-32156	139	14	,	,	PUNCT
ajst-32156	139	15	preventing	prevent	VERB
ajst-32156	139	16	deployment	deployment	NOUN
ajst-32156	139	17	failures	failure	NOUN
ajst-32156	139	18	.	.	PUNCT
ajst-32156	140	1	figure	figure	VERB
ajst-32156	140	2	2	2	NUM
ajst-32156	140	3	quantifies	quantifie	NOUN
ajst-32156	140	4	the	the	DET
ajst-32156	140	5	relationship	relationship	NOUN
ajst-32156	140	6	between	between	ADP
ajst-32156	140	7	robot	robot	NOUN
ajst-32156	140	8	size	size	NOUN
ajst-32156	140	9	and	and	CCONJ
ajst-32156	140	10	deployment	deployment	NOUN
ajst-32156	140	11	feasibility	feasibility	NOUN
ajst-32156	140	12	across	across	ADP
ajst-32156	140	13	map	map	NOUN
ajst-32156	140	14	categories	category	NOUN
ajst-32156	140	15	.	.	PUNCT
ajst-32156	141	1	small	small	ADJ
ajst-32156	141	2	robots	robot	NOUN
ajst-32156	141	3	(	(	PUNCT
ajst-32156	141	4	0.3	0.3	NUM
ajst-32156	141	5	m	m	VERB
ajst-32156	141	6	)	)	PUNCT
ajst-32156	141	7	achieve	achieve	VERB
ajst-32156	141	8	100	100	NUM
ajst-32156	141	9	%	%	NOUN
ajst-32156	141	10	success	success	NOUN
ajst-32156	141	11	on	on	ADP
ajst-32156	141	12	open	open	ADJ
ajst-32156	141	13	areas	area	NOUN
ajst-32156	141	14	,	,	PUNCT
ajst-32156	141	15	rooms	room	NOUN
ajst-32156	141	16	,	,	PUNCT
ajst-32156	141	17	and	and	CCONJ
ajst-32156	141	18	sparse	sparse	ADJ
ajst-32156	141	19	maps	map	NOUN
ajst-32156	141	20	,	,	PUNCT
ajst-32156	141	21	with	with	ADP
ajst-32156	141	22	only	only	ADJ
ajst-32156	141	23	selective	selective	ADJ
ajst-32156	141	24	rejections	rejection	NOUN
ajst-32156	141	25	on	on	ADP
ajst-32156	141	26	narrow	narrow	ADJ
ajst-32156	141	27	corridors	corridor	NOUN
ajst-32156	141	28	.	.	PUNCT
ajst-32156	142	1	this	this	PRON
ajst-32156	142	2	validates	validate	VERB
ajst-32156	142	3	that	that	SCONJ
ajst-32156	142	4	compact	compact	ADJ
ajst-32156	142	5	robots	robot	NOUN
ajst-32156	142	6	maintain	maintain	VERB
ajst-32156	142	7	high	high	ADJ
ajst-32156	142	8	operational	operational	ADJ
ajst-32156	142	9	flexibility	flexibility	NOUN
ajst-32156	142	10	across	across	ADP
ajst-32156	142	11	diverse	diverse	ADJ
ajst-32156	142	12	environments	environment	NOUN
ajst-32156	142	13	.	.	PUNCT
ajst-32156	143	1	medium	medium	ADJ
ajst-32156	143	2	robots	robot	NOUN
ajst-32156	143	3	(	(	PUNCT
ajst-32156	143	4	0.5	0.5	NUM
ajst-32156	143	5	m	m	NOUN
ajst-32156	143	6	)	)	PUNCT
ajst-32156	143	7	show	show	VERB
ajst-32156	143	8	a	a	DET
ajst-32156	143	9	20	20	NUM
ajst-32156	143	10	%	%	NOUN
ajst-32156	143	11	drop	drop	NOUN
ajst-32156	143	12	in	in	ADP
ajst-32156	143	13	success	success	NOUN
ajst-32156	143	14	rate	rate	NOUN
ajst-32156	143	15	on	on	ADP
ajst-32156	143	16	narrow	narrow	ADJ
ajst-32156	143	17	corridors	corridor	NOUN
ajst-32156	143	18	,	,	PUNCT
ajst-32156	143	19	while	while	SCONJ
ajst-32156	143	20	maintaining	maintain	VERB
ajst-32156	143	21	perfect	perfect	ADJ
ajst-32156	143	22	scores	score	NOUN
ajst-32156	143	23	on	on	ADP
ajst-32156	143	24	open	open	ADJ
ajst-32156	143	25	and	and	CCONJ
ajst-32156	143	26	room	room	NOUN
ajst-32156	143	27	maps	map	NOUN
ajst-32156	143	28	.	.	PUNCT
ajst-32156	144	1	large	large	ADJ
ajst-32156	144	2	robots	robot	NOUN
ajst-32156	144	3	(	(	PUNCT
ajst-32156	144	4	0.7	0.7	NUM
ajst-32156	144	5	m	m	NOUN
ajst-32156	144	6	)	)	PUNCT
ajst-32156	144	7	experience	experience	VERB
ajst-32156	144	8	the	the	DET
ajst-32156	144	9	most	most	ADV
ajst-32156	144	10	significant	significant	ADJ
ajst-32156	144	11	constraints	constraint	NOUN
ajst-32156	144	12	,	,	PUNCT
ajst-32156	144	13	with	with	ADP
ajst-32156	144	14	only	only	ADV
ajst-32156	144	15	33	33	NUM
ajst-32156	144	16	%	%	NOUN
ajst-32156	144	17	success	success	NOUN
ajst-32156	144	18	on	on	ADP
ajst-32156	144	19	narrow	narrow	ADJ
ajst-32156	144	20	corridors	corridor	NOUN
ajst-32156	144	21	but	but	CCONJ
ajst-32156	144	22	100	100	NUM
ajst-32156	144	23	%	%	NOUN
ajst-32156	144	24	success	success	NOUN
ajst-32156	144	25	on	on	ADP
ajst-32156	144	26	open	open	ADJ
ajst-32156	144	27	areas	area	NOUN
ajst-32156	144	28	,	,	PUNCT
ajst-32156	144	29	demonstrating	demonstrate	VERB
ajst-32156	144	30	graceful	graceful	ADJ
ajst-32156	144	31	degradation	degradation	NOUN
ajst-32156	144	32	rather	rather	ADV
ajst-32156	144	33	than	than	ADP
ajst-32156	144	34	catastrophic	catastrophic	ADJ
ajst-32156	144	35	failure	failure	NOUN
ajst-32156	144	36	.	.	PUNCT
ajst-32156	145	1	the	the	DET
ajst-32156	145	2	aggregate	aggregate	ADJ
ajst-32156	145	3	success	success	NOUN
ajst-32156	145	4	rates	rate	NOUN
ajst-32156	145	5	reveal	reveal	VERB
ajst-32156	145	6	as	as	SCONJ
ajst-32156	145	7	robot	robot	NOUN
ajst-32156	145	8	size	size	NOUN
ajst-32156	145	9	increases	increase	VERB
ajst-32156	145	10	from	from	ADP
ajst-32156	145	11	0.3	0.3	NUM
ajst-32156	145	12	to	to	ADP
ajst-32156	145	13	0.7	0.7	NUM
ajst-32156	145	14	m	m	NOUN
ajst-32156	145	15	,	,	PUNCT
ajst-32156	145	16	success	success	NOUN
ajst-32156	145	17	rate	rate	NOUN
ajst-32156	145	18	decreases	decrease	NOUN
ajst-32156	145	19	by	by	ADP
ajst-32156	145	20	30	30	NUM
ajst-32156	145	21	%	%	NOUN
ajst-32156	145	22	.	.	PUNCT
ajst-32156	146	1	this	this	DET
ajst-32156	146	2	near	near	ADJ
ajst-32156	146	3	-	-	PUNCT
ajst-32156	146	4	linear	linear	NOUN
ajst-32156	146	5	relationship	relationship	NOUN
ajst-32156	146	6	suggests	suggest	VERB
ajst-32156	146	7	that	that	SCONJ
ajst-32156	146	8	our	our	PRON
ajst-32156	146	9	clearance	clearance	NOUN
ajst-32156	146	10	and	and	CCONJ
ajst-32156	146	11	turning	turn	VERB
ajst-32156	146	12	radius	radius	NOUN
ajst-32156	146	13	constraints	constraint	NOUN
ajst-32156	146	14	capture	capture	VERB
ajst-32156	146	15	the	the	DET
ajst-32156	146	16	physical	physical	ADJ
ajst-32156	146	17	reality	reality	NOUN
ajst-32156	146	18	of	of	ADP
ajst-32156	146	19	robot	robot	NOUN
ajst-32156	146	20	-	-	PUNCT
ajst-32156	146	21	environment	environment	NOUN
ajst-32156	146	22	interaction	interaction	NOUN
ajst-32156	146	23	.	.	PUNCT
ajst-32156	147	1	importantly	importantly	ADV
ajst-32156	147	2	,	,	PUNCT
ajst-32156	147	3	the	the	DET
ajst-32156	147	4	failures	failure	NOUN
ajst-32156	147	5	are	be	AUX
ajst-32156	147	6	concentrated	concentrate	VERB
ajst-32156	147	7	in	in	ADP
ajst-32156	147	8	narrow	narrow	ADJ
ajst-32156	147	9	corridors	corridor	NOUN
ajst-32156	147	10	—	—	PUNCT
ajst-32156	147	11	exactly	exactly	ADV
ajst-32156	147	12	where	where	SCONJ
ajst-32156	147	13	we	we	PRON
ajst-32156	147	14	would	would	AUX
ajst-32156	147	15	expect	expect	VERB
ajst-32156	147	16	real	real	ADJ
ajst-32156	147	17	robots	robot	NOUN
ajst-32156	147	18	to	to	PART
ajst-32156	147	19	struggle	struggle	VERB
ajst-32156	147	20	—	—	PUNCT
ajst-32156	147	21	rather	rather	ADV
ajst-32156	147	22	than	than	SCONJ
ajst-32156	147	23	distributed	distribute	VERB
ajst-32156	147	24	randomly	randomly	ADV
ajst-32156	147	25	,	,	PUNCT
ajst-32156	147	26	confirming	confirm	VERB
ajst-32156	147	27	the	the	DET
ajst-32156	147	28	validity	validity	NOUN
ajst-32156	147	29	of	of	ADP
ajst-32156	147	30	our	our	PRON
ajst-32156	147	31	geometric	geometric	ADJ
ajst-32156	147	32	constraint	constraint	NOUN
ajst-32156	147	33	modeling	modeling	NOUN
ajst-32156	147	34	.	.	PUNCT
ajst-32156	148	1	figure	figure	NOUN
ajst-32156	148	2	3	3	NUM
ajst-32156	148	3	.	.	PUNCT
ajst-32156	148	4	coverage	coverage	NOUN
ajst-32156	148	5	vs	vs	ADP
ajst-32156	148	6	feasibility	feasibility	NOUN
ajst-32156	148	7	trade	trade	NOUN
ajst-32156	148	8	-	-	PUNCT
ajst-32156	148	9	off	off	ADP
ajst-32156	148	10	baseline	baseline	NOUN
ajst-32156	148	11	algorithms	algorithm	NOUN
ajst-32156	148	12	achieve	achieve	VERB
ajst-32156	148	13	99%+	99%+	NUM
ajst-32156	148	14	coverage	coverage	NOUN
ajst-32156	148	15	but	but	CCONJ
ajst-32156	148	16	unknown	unknown	ADJ
ajst-32156	148	17	feasibility	feasibility	NOUN
ajst-32156	148	18	.	.	PUNCT
ajst-32156	149	1	size	size	NOUN
ajst-32156	149	2	-	-	PUNCT
ajst-32156	149	3	aware	aware	ADJ
ajst-32156	149	4	algorithms	algorithm	NOUN
ajst-32156	149	5	trade	trade	VERB
ajst-32156	149	6	3.5	3.5	NUM
ajst-32156	149	7	%	%	NOUN
ajst-32156	149	8	coverage	coverage	NOUN
ajst-32156	149	9	for	for	ADP
ajst-32156	149	10	48	48	NUM
ajst-32156	149	11	guaranteed	guarantee	VERB
ajst-32156	149	12	deployability	deployability	NOUN
ajst-32156	149	13	with	with	ADP
ajst-32156	149	14	83	83	NUM
ajst-32156	149	15	–	–	SYM
ajst-32156	149	16	92	92	NUM
ajst-32156	149	17	%	%	NOUN
ajst-32156	149	18	feasibility	feasibility	NOUN
ajst-32156	149	19	for	for	ADP
ajst-32156	149	20	small	small	ADJ
ajst-32156	149	21	/	/	SYM
ajst-32156	149	22	medium	medium	NOUN
ajst-32156	149	23	robots	robot	NOUN
ajst-32156	149	24	.	.	PUNCT
ajst-32156	150	1	figure	figure	VERB
ajst-32156	150	2	3	3	NUM
ajst-32156	150	3	quantifies	quantifie	NOUN
ajst-32156	150	4	the	the	DET
ajst-32156	150	5	coverage	coverage	NOUN
ajst-32156	150	6	-	-	PUNCT
ajst-32156	150	7	feasibility	feasibility	NOUN
ajst-32156	150	8	trade	trade	NOUN
ajst-32156	150	9	-	-	PUNCT
ajst-32156	150	10	off	off	NOUN
ajst-32156	150	11	across	across	ADP
ajst-32156	150	12	all	all	DET
ajst-32156	150	13	experiments	experiment	NOUN
ajst-32156	150	14	.	.	PUNCT
ajst-32156	151	1	the	the	DET
ajst-32156	151	2	baseline	baseline	ADJ
ajst-32156	151	3	algorithms	algorithm	NOUN
ajst-32156	151	4	achieve	achieve	VERB
ajst-32156	151	5	99.97–100	99.97–100	NUM
ajst-32156	151	6	%	%	NOUN
ajst-32156	151	7	coverage	coverage	NOUN
ajst-32156	151	8	by	by	ADP
ajst-32156	151	9	ignoring	ignore	VERB
ajst-32156	151	10	geometric	geometric	ADJ
ajst-32156	151	11	constraints	constraint	NOUN
ajst-32156	151	12	.	.	PUNCT
ajst-32156	152	1	our	our	PRON
ajst-32156	152	2	size	size	NOUN
ajst-32156	152	3	-	-	PUNCT
ajst-32156	152	4	aware	aware	ADJ
ajst-32156	152	5	results	result	NOUN
ajst-32156	152	6	form	form	VERB
ajst-32156	152	7	three	three	NUM
ajst-32156	152	8	distinct	distinct	ADJ
ajst-32156	152	9	clusters	cluster	NOUN
ajst-32156	152	10	corresponding	correspond	VERB
ajst-32156	152	11	to	to	ADP
ajst-32156	152	12	robot	robot	NOUN
ajst-32156	152	13	sizes	size	NOUN
ajst-32156	152	14	.	.	PUNCT
ajst-32156	153	1	small	small	ADJ
ajst-32156	153	2	robots	robot	NOUN
ajst-32156	153	3	(	(	PUNCT
ajst-32156	153	4	blue	blue	ADJ
ajst-32156	153	5	)	)	PUNCT
ajst-32156	153	6	occupy	occupy	VERB
ajst-32156	153	7	the	the	DET
ajst-32156	153	8	upper	upper	ADJ
ajst-32156	153	9	-	-	PUNCT
ajst-32156	153	10	right	right	NOUN
ajst-32156	153	11	region	region	NOUN
ajst-32156	153	12	,	,	PUNCT
ajst-32156	153	13	representing	represent	VERB
ajst-32156	153	14	the	the	DET
ajst-32156	153	15	optimal	optimal	ADJ
ajst-32156	153	16	operating	operating	NOUN
ajst-32156	153	17	regime	regime	NOUN
ajst-32156	153	18	where	where	SCONJ
ajst-32156	153	19	high	high	ADJ
ajst-32156	153	20	coverage	coverage	NOUN
ajst-32156	153	21	is	be	AUX
ajst-32156	153	22	achievable	achievable	ADJ
ajst-32156	153	23	with	with	ADP
ajst-32156	153	24	minimal	minimal	ADJ
ajst-32156	153	25	geometric	geometric	ADJ
ajst-32156	153	26	violations	violation	NOUN
ajst-32156	153	27	.	.	PUNCT
ajst-32156	154	1	the	the	DET
ajst-32156	154	2	cluster	cluster	NOUN
ajst-32156	154	3	’s	’s	PART
ajst-32156	154	4	vertical	vertical	ADJ
ajst-32156	154	5	spread	spread	NOUN
ajst-32156	154	6	indicates	indicate	VERB
ajst-32156	154	7	that	that	SCONJ
ajst-32156	154	8	feasibility	feasibility	NOUN
ajst-32156	154	9	varies	vary	VERB
ajst-32156	154	10	more	more	ADV
ajst-32156	154	11	than	than	ADP
ajst-32156	154	12	coverage	coverage	NOUN
ajst-32156	154	13	,	,	PUNCT
ajst-32156	154	14	suggesting	suggest	VERB
ajst-32156	154	15	that	that	DET
ajst-32156	154	16	map	map	NOUN
ajst-32156	154	17	geometry	geometry	NOUN
ajst-32156	154	18	affects	affect	VERB
ajst-32156	154	19	turn	turn	VERB
ajst-32156	154	20	constraints	constraint	NOUN
ajst-32156	154	21	more	more	ADV
ajst-32156	154	22	strongly	strongly	ADV
ajst-32156	154	23	than	than	ADP
ajst-32156	154	24	reachable	reachable	ADJ
ajst-32156	154	25	area	area	NOUN
ajst-32156	154	26	.	.	PUNCT
ajst-32156	155	1	medium	medium	ADJ
ajst-32156	155	2	robots	robot	NOUN
ajst-32156	155	3	(	(	PUNCT
ajst-32156	155	4	blue	blue	ADJ
ajst-32156	155	5	markers	marker	NOUN
ajst-32156	155	6	)	)	PUNCT
ajst-32156	155	7	shift	shift	NOUN
ajst-32156	155	8	leftward	leftward	NOUN
ajst-32156	155	9	and	and	CCONJ
ajst-32156	155	10	downward	downward	ADJ
ajst-32156	155	11	,	,	PUNCT
ajst-32156	155	12	showing	show	VERB
ajst-32156	155	13	that	that	SCONJ
ajst-32156	155	14	increased	increase	VERB
ajst-32156	155	15	size	size	NOUN
ajst-32156	155	16	reduces	reduce	VERB
ajst-32156	155	17	both	both	DET
ajst-32156	155	18	metrics	metric	NOUN
ajst-32156	155	19	.	.	PUNCT
ajst-32156	156	1	the	the	DET
ajst-32156	156	2	5–8	5–8	NUM
ajst-32156	156	3	%	%	NOUN
ajst-32156	156	4	coverage	coverage	NOUN
ajst-32156	156	5	loss	loss	NOUN
ajst-32156	156	6	represents	represent	VERB
ajst-32156	156	7	regions	region	NOUN
ajst-32156	156	8	that	that	PRON
ajst-32156	156	9	are	be	AUX
ajst-32156	156	10	physically	physically	ADV
ajst-32156	156	11	inaccessible	inaccessible	ADJ
ajst-32156	156	12	,	,	PUNCT
ajst-32156	156	13	while	while	SCONJ
ajst-32156	156	14	the	the	DET
ajst-32156	156	15	0.05–0.15	0.05–0.15	NUM
ajst-32156	156	16	feasibility	feasibility	NOUN
ajst-32156	156	17	reduction	reduction	NOUN
ajst-32156	156	18	indicates	indicate	VERB
ajst-32156	156	19	more	more	ADV
ajst-32156	156	20	frequent	frequent	ADJ
ajst-32156	156	21	turning	turn	VERB
ajst-32156	156	22	radius	radius	NOUN
ajst-32156	156	23	violations	violation	NOUN
ajst-32156	156	24	.	.	PUNCT
ajst-32156	157	1	notably	notably	ADV
ajst-32156	157	2	,	,	PUNCT
ajst-32156	157	3	no	no	DET
ajst-32156	157	4	medium	medium	NOUN
ajst-32156	157	5	robot	robot	NOUN
ajst-32156	157	6	configuration	configuration	NOUN
ajst-32156	157	7	achieves	achieve	VERB
ajst-32156	157	8	f	f	PROPN
ajst-32156	157	9	>	>	PROPN
ajst-32156	157	10	0.90	0.90	NUM
ajst-32156	157	11	,	,	PUNCT
ajst-32156	157	12	confirming	confirm	VERB
ajst-32156	157	13	that	that	SCONJ
ajst-32156	157	14	geometric	geometric	ADJ
ajst-32156	157	15	constraints	constraint	NOUN
ajst-32156	157	16	become	become	VERB
ajst-32156	157	17	binding	bind	VERB
ajst-32156	157	18	at	at	ADP
ajst-32156	157	19	this	this	DET
ajst-32156	157	20	size	size	NOUN
ajst-32156	157	21	scale	scale	NOUN
ajst-32156	157	22	.	.	PUNCT
ajst-32156	158	1	large	large	ADJ
ajst-32156	158	2	robots	robot	NOUN
ajst-32156	158	3	(	(	PUNCT
ajst-32156	158	4	red	red	ADJ
ajst-32156	158	5	markers	marker	NOUN
ajst-32156	158	6	)	)	PUNCT
ajst-32156	158	7	form	form	VERB
ajst-32156	158	8	a	a	DET
ajst-32156	158	9	bimodal	bimodal	NOUN
ajst-32156	158	10	distribution	distribution	NOUN
ajst-32156	158	11	:	:	PUNCT
ajst-32156	158	12	one	one	NUM
ajst-32156	158	13	cluster	cluster	NOUN
ajst-32156	158	14	at	at	ADP
ajst-32156	158	15	high	high	ADJ
ajst-32156	158	16	coverage	coverage	NOUN
ajst-32156	158	17	but	but	CCONJ
ajst-32156	158	18	low	low	ADJ
ajst-32156	158	19	feasibility	feasibility	NOUN
ajst-32156	158	20	,	,	PUNCT
ajst-32156	158	21	and	and	CCONJ
ajst-32156	158	22	another	another	PRON
ajst-32156	158	23	at	at	ADP
ajst-32156	158	24	moderate	moderate	ADJ
ajst-32156	158	25	coverage	coverage	NOUN
ajst-32156	158	26	with	with	ADP
ajst-32156	158	27	moderate	moderate	ADJ
ajst-32156	158	28	feasibility	feasibility	NOUN
ajst-32156	158	29	.	.	PUNCT
ajst-32156	159	1	the	the	DET
ajst-32156	159	2	low	low	ADJ
ajst-32156	159	3	-	-	PUNCT
ajst-32156	159	4	feasibility	feasibility	NOUN
ajst-32156	159	5	cluster	cluster	NOUN
ajst-32156	159	6	represents	represent	VERB
ajst-32156	159	7	maps	map	NOUN
ajst-32156	159	8	where	where	SCONJ
ajst-32156	159	9	paths	path	NOUN
ajst-32156	159	10	are	be	AUX
ajst-32156	159	11	generated	generate	VERB
ajst-32156	159	12	but	but	CCONJ
ajst-32156	159	13	contain	contain	VERB
ajst-32156	159	14	numerous	numerous	ADJ
ajst-32156	159	15	turning	turning	NOUN
ajst-32156	159	16	violations	violation	NOUN
ajst-32156	159	17	,	,	PUNCT
ajst-32156	159	18	while	while	SCONJ
ajst-32156	159	19	the	the	DET
ajst-32156	159	20	moderate	moderate	ADJ
ajst-32156	159	21	cluster	cluster	NOUN
ajst-32156	159	22	represents	represent	VERB
ajst-32156	159	23	maps	map	NOUN
ajst-32156	159	24	where	where	SCONJ
ajst-32156	159	25	the	the	DET
ajst-32156	159	26	algorithm	algorithm	NOUN
ajst-32156	159	27	successfully	successfully	ADV
ajst-32156	159	28	avoids	avoid	VERB
ajst-32156	159	29	infeasible	infeasible	ADJ
ajst-32156	159	30	turns	turn	NOUN
ajst-32156	159	31	by	by	ADP
ajst-32156	159	32	sacrificing	sacrifice	VERB
ajst-32156	159	33	some	some	DET
ajst-32156	159	34	coverage	coverage	NOUN
ajst-32156	159	35	.	.	PUNCT
ajst-32156	160	1	the	the	DET
ajst-32156	160	2	key	key	ADJ
ajst-32156	160	3	insight	insight	NOUN
ajst-32156	160	4	from	from	ADP
ajst-32156	160	5	this	this	DET
ajst-32156	160	6	trade	trade	NOUN
ajst-32156	160	7	-	-	PUNCT
ajst-32156	160	8	off	off	ADP
ajst-32156	160	9	analysis	analysis	NOUN
ajst-32156	160	10	is	be	AUX
ajst-32156	160	11	that	that	PRON
ajst-32156	160	12	size	size	NOUN
ajst-32156	160	13	-	-	PUNCT
ajst-32156	160	14	aware	aware	ADJ
ajst-32156	160	15	cpp	cpp	PROPN
ajst-32156	160	16	achieves	achieve	VERB
ajst-32156	160	17	85–100	85–100	PROPN
ajst-32156	160	18	%	%	NOUN
ajst-32156	160	19	coverage	coverage	NOUN
ajst-32156	160	20	with	with	ADP
ajst-32156	160	21	quantifiable	quantifiable	ADJ
ajst-32156	160	22	feasibility	feasibility	NOUN
ajst-32156	160	23	,	,	PUNCT
ajst-32156	160	24	whereas	whereas	SCONJ
ajst-32156	160	25	baseline	baseline	NOUN
ajst-32156	160	26	approaches	approach	NOUN
ajst-32156	160	27	achieve	achieve	VERB
ajst-32156	160	28	99%+	99%+	NUM
ajst-32156	160	29	coverage	coverage	NOUN
ajst-32156	160	30	with	with	ADP
ajst-32156	160	31	unknown	unknown	ADJ
ajst-32156	160	32	feasibility	feasibility	NOUN
ajst-32156	160	33	.	.	PUNCT
ajst-32156	161	1	for	for	ADP
ajst-32156	161	2	practical	practical	ADJ
ajst-32156	161	3	deployment	deployment	NOUN
ajst-32156	161	4	,	,	PUNCT
ajst-32156	161	5	a	a	DET
ajst-32156	161	6	guaranteed	guarantee	VERB
ajst-32156	161	7	90	90	NUM
ajst-32156	161	8	%	%	NOUN
ajst-32156	161	9	coverage	coverage	NOUN
ajst-32156	161	10	with	with	ADP
ajst-32156	161	11	f	f	PROPN
ajst-32156	161	12	=	=	SYM
ajst-32156	161	13	0.85	0.85	NUM
ajst-32156	161	14	is	be	AUX
ajst-32156	161	15	vastly	vastly	ADV
ajst-32156	161	16	superior	superior	ADJ
ajst-32156	161	17	to	to	ADP
ajst-32156	161	18	a	a	DET
ajst-32156	161	19	theoretical	theoretical	ADJ
ajst-32156	161	20	100	100	NUM
ajst-32156	161	21	%	%	NOUN
ajst-32156	161	22	coverage	coverage	NOUN
ajst-32156	161	23	that	that	PRON
ajst-32156	161	24	may	may	AUX
ajst-32156	161	25	be	be	AUX
ajst-32156	161	26	unexecutable	unexecutable	ADJ
ajst-32156	161	27	.	.	PUNCT
ajst-32156	162	1	the	the	DET
ajst-32156	162	2	3	3	NUM
ajst-32156	162	3	-	-	SYM
ajst-32156	162	4	15	15	NUM
ajst-32156	162	5	%	%	NOUN
ajst-32156	162	6	coverage	coverage	NOUN
ajst-32156	162	7	sacrifice	sacrifice	NOUN
ajst-32156	162	8	buys	buy	VERB
ajst-32156	162	9	measurable	measurable	ADJ
ajst-32156	162	10	path	path	NOUN
ajst-32156	162	11	feasibility	feasibility	NOUN
ajst-32156	162	12	and	and	CCONJ
ajst-32156	162	13	,	,	PUNCT
ajst-32156	162	14	critically	critically	ADV
ajst-32156	162	15	,	,	PUNCT
ajst-32156	162	16	the	the	DET
ajst-32156	162	17	ability	ability	NOUN
ajst-32156	162	18	to	to	PART
ajst-32156	162	19	detect	detect	VERB
ajst-32156	162	20	infeasible	infeasible	ADJ
ajst-32156	162	21	scenarios	scenario	NOUN
ajst-32156	162	22	before	before	ADP
ajst-32156	162	23	deployment	deployment	NOUN
ajst-32156	162	24	.	.	PUNCT
ajst-32156	163	1	7	7	X
ajst-32156	163	2	.	.	X
ajst-32156	163	3	experimental	experimental	ADJ
ajst-32156	163	4	evaluation	evaluation	NOUN
ajst-32156	163	5	our	our	PRON
ajst-32156	163	6	experiments	experiment	NOUN
ajst-32156	163	7	demonstrate	demonstrate	VERB
ajst-32156	163	8	that	that	SCONJ
ajst-32156	163	9	99–100	99–100	NUM
ajst-32156	163	10	%	%	NOUN
ajst-32156	163	11	theoretical	theoretical	ADJ
ajst-32156	163	12	coverage	coverage	NOUN
ajst-32156	163	13	does	do	AUX
ajst-32156	163	14	not	not	PART
ajst-32156	163	15	guarantee	guarantee	VERB
ajst-32156	163	16	deployable	deployable	ADJ
ajst-32156	163	17	paths	path	NOUN
ajst-32156	163	18	.	.	PUNCT
ajst-32156	164	1	baseline	baseline	PROPN
ajst-32156	164	2	stc	stc	PROPN
ajst-32156	164	3	generates	generate	VERB
ajst-32156	164	4	an	an	DET
ajst-32156	164	5	average	average	NOUN
ajst-32156	164	6	of	of	ADP
ajst-32156	164	7	1900	1900	NUM
ajst-32156	164	8	turns	turn	NOUN
ajst-32156	164	9	per	per	ADP
ajst-32156	164	10	map	map	NOUN
ajst-32156	164	11	,	,	PUNCT
ajst-32156	164	12	while	while	SCONJ
ajst-32156	164	13	size	size	NOUN
ajst-32156	164	14	-	-	PUNCT
ajst-32156	164	15	aware	aware	ADJ
ajst-32156	164	16	stc	stc	NOUN
ajst-32156	164	17	produces	produce	VERB
ajst-32156	164	18	turns	turn	NOUN
ajst-32156	164	19	depending	depend	VERB
ajst-32156	164	20	on	on	ADP
ajst-32156	164	21	robot	robot	NOUN
ajst-32156	164	22	size	size	NOUN
ajst-32156	164	23	.	.	PUNCT
ajst-32156	165	1	however	however	ADV
ajst-32156	165	2	,	,	PUNCT
ajst-32156	165	3	the	the	DET
ajst-32156	165	4	critical	critical	ADJ
ajst-32156	165	5	difference	difference	NOUN
ajst-32156	165	6	lies	lie	VERB
ajst-32156	165	7	not	not	PART
ajst-32156	165	8	in	in	ADP
ajst-32156	165	9	turn	turn	NOUN
ajst-32156	165	10	count	count	NOUN
ajst-32156	165	11	but	but	CCONJ
ajst-32156	165	12	in	in	ADP
ajst-32156	165	13	turn	turn	NOUN
ajst-32156	165	14	feasibility	feasibility	NOUN
ajst-32156	165	15	.	.	PUNCT
ajst-32156	166	1	analysis	analysis	NOUN
ajst-32156	166	2	of	of	ADP
ajst-32156	166	3	baseline	baseline	ADJ
ajst-32156	166	4	paths	path	NOUN
ajst-32156	166	5	for	for	ADP
ajst-32156	166	6	small	small	ADJ
ajst-32156	166	7	robots	robot	NOUN
ajst-32156	166	8	reveals	reveal	VERB
ajst-32156	166	9	that	that	SCONJ
ajst-32156	166	10	15	15	NUM
ajst-32156	166	11	–	–	PUNCT
ajst-32156	166	12	20	20	NUM
ajst-32156	166	13	%	%	NOUN
ajst-32156	166	14	of	of	ADP
ajst-32156	166	15	turns	turn	NOUN
ajst-32156	166	16	violate	violate	VERB
ajst-32156	166	17	the	the	DET
ajst-32156	166	18	0.25	0.25	NUM
ajst-32156	166	19	m	m	NOUN
ajst-32156	166	20	turning	turn	VERB
ajst-32156	166	21	radius	radius	NOUN
ajst-32156	166	22	constraint	constraint	NOUN
ajst-32156	166	23	,	,	PUNCT
ajst-32156	166	24	and	and	CCONJ
ajst-32156	166	25	12–15	12–15	NUM
ajst-32156	166	26	%	%	NOUN
ajst-32156	166	27	of	of	ADP
ajst-32156	166	28	path	path	NOUN
ajst-32156	166	29	points	point	NOUN
ajst-32156	166	30	traverse	traverse	VERB
ajst-32156	166	31	passages	passage	NOUN
ajst-32156	166	32	narrower	narrower	ADV
ajst-32156	166	33	than	than	ADP
ajst-32156	166	34	the	the	DET
ajst-32156	166	35	robot	robot	NOUN
ajst-32156	166	36	’s	’s	PART
ajst-32156	166	37	physical	physical	ADJ
ajst-32156	166	38	width	width	NOUN
ajst-32156	166	39	.	.	PUNCT
ajst-32156	167	1	for	for	ADP
ajst-32156	167	2	larger	large	ADJ
ajst-32156	167	3	robots	robot	NOUN
ajst-32156	167	4	,	,	PUNCT
ajst-32156	167	5	these	these	DET
ajst-32156	167	6	violation	violation	NOUN
ajst-32156	167	7	rates	rate	NOUN
ajst-32156	167	8	exceed	exceed	VERB
ajst-32156	167	9	30	30	NUM
ajst-32156	167	10	%	%	NOUN
ajst-32156	167	11	and	and	CCONJ
ajst-32156	167	12	25	25	NUM
ajst-32156	167	13	%	%	NOUN
ajst-32156	167	14	respectively	respectively	ADV
ajst-32156	167	15	,	,	PUNCT
ajst-32156	167	16	rendering	render	VERB
ajst-32156	167	17	the	the	DET
ajst-32156	167	18	paths	path	NOUN
ajst-32156	167	19	unexecutable	unexecutable	ADJ
ajst-32156	167	20	.	.	PUNCT
ajst-32156	168	1	in	in	ADP
ajst-32156	168	2	contrast	contrast	NOUN
ajst-32156	168	3	,	,	PUNCT
ajst-32156	168	4	size	size	NOUN
ajst-32156	168	5	-	-	PUNCT
ajst-32156	168	6	aware	aware	ADJ
ajst-32156	168	7	algorithms	algorithm	NOUN
ajst-32156	168	8	eliminate	eliminate	VERB
ajst-32156	168	9	all	all	DET
ajst-32156	168	10	width	width	ADJ
ajst-32156	168	11	violations	violation	NOUN
ajst-32156	168	12	and	and	CCONJ
ajst-32156	168	13	reduce	reduce	VERB
ajst-32156	168	14	turning	turn	VERB
ajst-32156	168	15	violations	violation	NOUN
ajst-32156	168	16	to	to	ADP
ajst-32156	168	17	acceptable	acceptable	ADJ
ajst-32156	168	18	levels	level	NOUN
ajst-32156	168	19	,	,	PUNCT
ajst-32156	168	20	demonstrating	demonstrate	VERB
ajst-32156	168	21	that	that	SCONJ
ajst-32156	168	22	feasibility	feasibility	NOUN
ajst-32156	168	23	,	,	PUNCT
ajst-32156	168	24	not	not	PART
ajst-32156	168	25	coverage	coverage	NOUN
ajst-32156	168	26	,	,	PUNCT
ajst-32156	168	27	determines	determine	VERB
ajst-32156	168	28	practical	practical	ADJ
ajst-32156	168	29	deployability	deployability	NOUN
ajst-32156	168	30	.	.	PUNCT
ajst-32156	169	1	by	by	ADP
ajst-32156	169	2	explicitly	explicitly	ADV
ajst-32156	169	3	modeling	model	VERB
ajst-32156	169	4	robot	robot	NOUN
ajst-32156	169	5	geometry	geometry	NOUN
ajst-32156	169	6	,	,	PUNCT
ajst-32156	169	7	our	our	PRON
ajst-32156	169	8	approach	approach	NOUN
ajst-32156	169	9	generates	generate	VERB
ajst-32156	169	10	paths	path	NOUN
ajst-32156	169	11	with	with	ADP
ajst-32156	169	12	feasibility	feasibility	NOUN
ajst-32156	169	13	scores	score	NOUN
ajst-32156	169	14	of	of	ADP
ajst-32156	169	15	0.50	0.50	NUM
ajst-32156	169	16	to	to	ADP
ajst-32156	169	17	0.92	0.92	NUM
ajst-32156	169	18	,	,	PUNCT
ajst-32156	169	19	providing	provide	VERB
ajst-32156	169	20	quantitative	quantitative	ADJ
ajst-32156	169	21	deployment	deployment	NOUN
ajst-32156	169	22	confidence	confidence	NOUN
ajst-32156	169	23	metrics	metric	NOUN
ajst-32156	169	24	.	.	PUNCT
ajst-32156	170	1	the	the	DET
ajst-32156	170	2	feasibility	feasibility	NOUN
ajst-32156	170	3	distribution	distribution	NOUN
ajst-32156	170	4	reveals	reveal	VERB
ajst-32156	170	5	that	that	SCONJ
ajst-32156	170	6	68	68	NUM
ajst-32156	170	7	%	%	NOUN
ajst-32156	170	8	of	of	ADP
ajst-32156	170	9	small	small	ADJ
ajst-32156	170	10	robot	robot	NOUN
ajst-32156	170	11	paths	path	NOUN
ajst-32156	170	12	achieve	achieve	VERB
ajst-32156	170	13	f	f	PROPN
ajst-32156	170	14	>	>	X
ajst-32156	170	15	0.85	0.85	NUM
ajst-32156	170	16	,	,	PUNCT
ajst-32156	170	17	indicating	indicate	VERB
ajst-32156	170	18	high	high	ADJ
ajst-32156	170	19	confidence	confidence	NOUN
ajst-32156	170	20	deployment	deployment	NOUN
ajst-32156	170	21	scenarios	scenario	NOUN
ajst-32156	170	22	.	.	PUNCT
ajst-32156	171	1	medium	medium	ADJ
ajst-32156	171	2	robots	robot	NOUN
ajst-32156	171	3	show	show	VERB
ajst-32156	171	4	52	52	NUM
ajst-32156	171	5	%	%	NOUN
ajst-32156	171	6	of	of	ADP
ajst-32156	171	7	paths	path	NOUN
ajst-32156	171	8	with	with	ADP
ajst-32156	171	9	f	f	PROPN
ajst-32156	171	10	>	>	PROPN
ajst-32156	171	11	0.80	0.80	NUM
ajst-32156	171	12	,	,	PUNCT
ajst-32156	171	13	while	while	SCONJ
ajst-32156	171	14	large	large	ADJ
ajst-32156	171	15	robots	robot	NOUN
ajst-32156	171	16	have	have	VERB
ajst-32156	171	17	only	only	ADV
ajst-32156	171	18	31	31	NUM
ajst-32156	171	19	%	%	NOUN
ajst-32156	171	20	above	above	ADP
ajst-32156	171	21	this	this	DET
ajst-32156	171	22	threshold	threshold	NOUN
ajst-32156	171	23	,	,	PUNCT
ajst-32156	171	24	reflecting	reflect	VERB
ajst-32156	171	25	increased	increase	VERB
ajst-32156	171	26	geometric	geometric	ADJ
ajst-32156	171	27	constraints	constraint	NOUN
ajst-32156	171	28	.	.	PUNCT
ajst-32156	172	1	an	an	DET
ajst-32156	172	2	unexpected	unexpected	ADJ
ajst-32156	172	3	finding	finding	NOUN
ajst-32156	172	4	is	be	AUX
ajst-32156	172	5	that	that	SCONJ
ajst-32156	172	6	small	small	ADJ
ajst-32156	172	7	robots	robot	NOUN
ajst-32156	172	8	experience	experience	VERB
ajst-32156	172	9	more	more	ADJ
ajst-32156	172	10	turning	turning	NOUN
ajst-32156	172	11	violations	violation	NOUN
ajst-32156	172	12	than	than	ADP
ajst-32156	172	13	large	large	ADJ
ajst-32156	172	14	robots	robot	NOUN
ajst-32156	172	15	.	.	PUNCT
ajst-32156	173	1	analysis	analysis	NOUN
ajst-32156	173	2	reveals	reveal	VERB
ajst-32156	173	3	this	this	PRON
ajst-32156	173	4	is	be	AUX
ajst-32156	173	5	not	not	PART
ajst-32156	173	6	an	an	DET
ajst-32156	173	7	algorithmic	algorithmic	ADJ
ajst-32156	173	8	flaw	flaw	NOUN
ajst-32156	173	9	but	but	CCONJ
ajst-32156	173	10	a	a	DET
ajst-32156	173	11	physical	physical	ADJ
ajst-32156	173	12	reality	reality	NOUN
ajst-32156	173	13	:	:	PUNCT
ajst-32156	173	14	grid	grid	NOUN
ajst-32156	173	15	-	-	PUNCT
ajst-32156	173	16	based	base	VERB
ajst-32156	173	17	paths	path	NOUN
ajst-32156	173	18	require	require	VERB
ajst-32156	173	19	turning	turn	VERB
ajst-32156	173	20	radius	radius	NOUN
ajst-32156	173	21	rrequired	rrequire	VERB
ajst-32156	173	22	≈	≈	PROPN
ajst-32156	173	23	0.35	0.35	NUM
ajst-32156	173	24	m	m	PROPN
ajst-32156	173	25	for	for	ADP
ajst-32156	173	26	90	90	NUM
ajst-32156	173	27	°	°	PROPN
ajst-32156	173	28	turns	turn	VERB
ajst-32156	173	29	at	at	ADP
ajst-32156	173	30	0.5	0.5	NUM
ajst-32156	173	31	m	m	NOUN
ajst-32156	173	32	cell	cell	NOUN
ajst-32156	173	33	size	size	NOUN
ajst-32156	173	34	,	,	PUNCT
ajst-32156	173	35	which	which	PRON
ajst-32156	173	36	exceeds	exceed	VERB
ajst-32156	173	37	the	the	DET
ajst-32156	173	38	small	small	ADJ
ajst-32156	173	39	robot	robot	NOUN
ajst-32156	173	40	’s	’s	PART
ajst-32156	173	41	capability	capability	NOUN
ajst-32156	173	42	but	but	CCONJ
ajst-32156	173	43	is	be	AUX
ajst-32156	173	44	within	within	ADP
ajst-32156	173	45	the	the	DET
ajst-32156	173	46	large	large	ADJ
ajst-32156	173	47	robot	robot	NOUN
ajst-32156	173	48	’s	’s	PART
ajst-32156	173	49	capability	capability	NOUN
ajst-32156	173	50	.	.	PUNCT
ajst-32156	174	1	however	however	ADV
ajst-32156	174	2	,	,	PUNCT
ajst-32156	174	3	large	large	ADJ
ajst-32156	174	4	robots	robot	NOUN
ajst-32156	174	5	compensate	compensate	VERB
ajst-32156	174	6	with	with	ADP
ajst-32156	174	7	higher	high	ADJ
ajst-32156	174	8	width	width	ADJ
ajst-32156	174	9	violations	violation	NOUN
ajst-32156	174	10	in	in	ADP
ajst-32156	174	11	narrow	narrow	ADJ
ajst-32156	174	12	passages	passage	NOUN
ajst-32156	174	13	.	.	PUNCT
ajst-32156	175	1	across	across	ADP
ajst-32156	175	2	all	all	DET
ajst-32156	175	3	tests	test	NOUN
ajst-32156	175	4	,	,	PUNCT
ajst-32156	175	5	size	size	NOUN
ajst-32156	175	6	-	-	PUNCT
ajst-32156	175	7	aware	aware	ADJ
ajst-32156	175	8	algorithms	algorithm	NOUN
ajst-32156	175	9	achieve	achieve	VERB
ajst-32156	175	10	96.5	96.5	NUM
ajst-32156	175	11	%	%	NOUN
ajst-32156	175	12	average	average	ADJ
ajst-32156	175	13	coverage	coverage	NOUN
ajst-32156	175	14	compared	compare	VERB
ajst-32156	175	15	to	to	PART
ajst-32156	175	16	baseline	baseline	VERB
ajst-32156	175	17	’s	’s	PART
ajst-32156	175	18	99.97	99.97	NUM
ajst-32156	175	19	%	%	NOUN
ajst-32156	175	20	,	,	PUNCT
ajst-32156	175	21	representing	represent	VERB
ajst-32156	175	22	only	only	ADV
ajst-32156	175	23	a	a	DET
ajst-32156	175	24	3.5	3.5	NUM
ajst-32156	175	25	%	%	NOUN
ajst-32156	175	26	sacrifice	sacrifice	NOUN
ajst-32156	175	27	.	.	PUNCT
ajst-32156	176	1	however	however	ADV
ajst-32156	176	2	,	,	PUNCT
ajst-32156	176	3	this	this	DET
ajst-32156	176	4	aggregate	aggregate	NOUN
ajst-32156	176	5	obscures	obscure	VERB
ajst-32156	176	6	important	important	ADJ
ajst-32156	176	7	details	detail	NOUN
ajst-32156	176	8	.	.	PUNCT
ajst-32156	177	1	on	on	ADP
ajst-32156	177	2	open	open	ADJ
ajst-32156	177	3	maps	map	NOUN
ajst-32156	177	4	,	,	PUNCT
ajst-32156	177	5	coverage	coverage	NOUN
ajst-32156	177	6	remains	remain	VERB
ajst-32156	177	7	at	at	ADP
ajst-32156	177	8	98–100	98–100	NUM
ajst-32156	177	9	%	%	NOUN
ajst-32156	177	10	,	,	PUNCT
ajst-32156	177	11	indicating	indicate	VERB
ajst-32156	177	12	negligible	negligible	ADJ
ajst-32156	177	13	penalty	penalty	NOUN
ajst-32156	177	14	when	when	SCONJ
ajst-32156	177	15	space	space	NOUN
ajst-32156	177	16	is	be	AUX
ajst-32156	177	17	abundant	abundant	ADJ
ajst-32156	177	18	.	.	PUNCT
ajst-32156	178	1	on	on	ADP
ajst-32156	178	2	complex	complex	ADJ
ajst-32156	178	3	maps	map	NOUN
ajst-32156	178	4	with	with	ADP
ajst-32156	178	5	narrow	narrow	ADJ
ajst-32156	178	6	passages	passage	NOUN
ajst-32156	178	7	,	,	PUNCT
ajst-32156	178	8	coverage	coverage	NOUN
ajst-32156	178	9	drops	drop	NOUN
ajst-32156	178	10	to	to	ADP
ajst-32156	178	11	88	88	NUM
ajst-32156	178	12	–	–	PUNCT
ajst-32156	178	13	93	93	NUM
ajst-32156	178	14	%	%	NOUN
ajst-32156	178	15	as	as	SCONJ
ajst-32156	178	16	the	the	DET
ajst-32156	178	17	algorithm	algorithm	NOUN
ajst-32156	178	18	avoids	avoid	VERB
ajst-32156	178	19	physically	physically	ADV
ajst-32156	178	20	inaccessible	inaccessible	ADJ
ajst-32156	178	21	regions	region	NOUN
ajst-32156	178	22	.	.	PUNCT
ajst-32156	179	1	this	this	PRON
ajst-32156	179	2	is	be	AUX
ajst-32156	179	3	not	not	PART
ajst-32156	179	4	a	a	DET
ajst-32156	179	5	limitation	limitation	NOUN
ajst-32156	179	6	but	but	CCONJ
ajst-32156	179	7	correct	correct	ADJ
ajst-32156	179	8	behavior	behavior	NOUN
ajst-32156	179	9	:	:	PUNCT
ajst-32156	179	10	the	the	DET
ajst-32156	179	11	“	"	PUNCT
ajst-32156	179	12	missing	missing	ADJ
ajst-32156	179	13	”	"	PUNCT
ajst-32156	179	14	7–12	7–12	PROPN
ajst-32156	179	15	%	%	NOUN
ajst-32156	179	16	represents	represent	VERB
ajst-32156	179	17	areas	area	NOUN
ajst-32156	179	18	where	where	SCONJ
ajst-32156	179	19	the	the	DET
ajst-32156	179	20	robot	robot	NOUN
ajst-32156	179	21	literally	literally	ADV
ajst-32156	179	22	can	can	AUX
ajst-32156	179	23	not	not	PART
ajst-32156	179	24	fit	fit	VERB
ajst-32156	179	25	,	,	PUNCT
ajst-32156	179	26	which	which	PRON
ajst-32156	179	27	baseline	baseline	VERB
ajst-32156	179	28	algorithms	algorithm	NOUN
ajst-32156	179	29	incorrectly	incorrectly	ADV
ajst-32156	179	30	claim	claim	VERB
ajst-32156	179	31	as	as	SCONJ
ajst-32156	179	32	covered	cover	VERB
ajst-32156	179	33	.	.	PUNCT
ajst-32156	180	1	the	the	DET
ajst-32156	180	2	7	7	NUM
ajst-32156	180	3	rejected	reject	VERB
ajst-32156	180	4	configurations	configuration	NOUN
ajst-32156	180	5	(	(	PUNCT
ajst-32156	180	6	10	10	NUM
ajst-32156	180	7	%	%	NOUN
ajst-32156	180	8	of	of	ADP
ajst-32156	180	9	68	68	NUM
ajst-32156	180	10	attempts	attempt	NOUN
ajst-32156	180	11	)	)	PUNCT
ajst-32156	180	12	provide	provide	VERB
ajst-32156	180	13	the	the	DET
ajst-32156	180	14	strongest	strong	ADJ
ajst-32156	180	15	validation	validation	NOUN
ajst-32156	180	16	of	of	ADP
ajst-32156	180	17	our	our	PRON
ajst-32156	180	18	approach	approach	NOUN
ajst-32156	180	19	.	.	PUNCT
ajst-32156	181	1	8	8	X
ajst-32156	181	2	.	.	X
ajst-32156	181	3	conclusion	conclusion	NOUN
ajst-32156	181	4	we	we	PRON
ajst-32156	181	5	presented	present	VERB
ajst-32156	181	6	a	a	DET
ajst-32156	181	7	robot	robot	NOUN
ajst-32156	181	8	-	-	PUNCT
ajst-32156	181	9	size	size	NOUN
ajst-32156	181	10	aware	aware	ADJ
ajst-32156	181	11	framework	framework	NOUN
ajst-32156	181	12	for	for	ADP
ajst-32156	181	13	coverage	coverage	NOUN
ajst-32156	181	14	path	path	NOUN
ajst-32156	181	15	planning	planning	NOUN
ajst-32156	181	16	that	that	PRON
ajst-32156	181	17	bridges	bridge	VERB
ajst-32156	181	18	the	the	DET
ajst-32156	181	19	gap	gap	NOUN
ajst-32156	181	20	between	between	ADP
ajst-32156	181	21	theoretical	theoretical	ADJ
ajst-32156	181	22	algorithms	algorithm	NOUN
ajst-32156	181	23	and	and	CCONJ
ajst-32156	181	24	practical	practical	ADJ
ajst-32156	181	25	deployment	deployment	NOUN
ajst-32156	181	26	.	.	PUNCT
ajst-32156	182	1	by	by	ADP
ajst-32156	182	2	explicitly	explicitly	ADV
ajst-32156	182	3	incorporating	incorporate	VERB
ajst-32156	182	4	robot	robot	NOUN
ajst-32156	182	5	geometry	geometry	NOUN
ajst-32156	182	6	—	—	PUNCT
ajst-32156	182	7	footprint	footprint	NOUN
ajst-32156	182	8	radius	radius	NOUN
ajst-32156	182	9	,	,	PUNCT
ajst-32156	182	10	turning	turn	VERB
ajst-32156	182	11	radius	radius	NOUN
ajst-32156	182	12	,	,	PUNCT
ajst-32156	182	13	and	and	CCONJ
ajst-32156	182	14	safety	safety	NOUN
ajst-32156	182	15	clearance	clearance	NOUN
ajst-32156	182	16	into	into	ADP
ajst-32156	182	17	path	path	NOUN
ajst-32156	182	18	generation	generation	NOUN
ajst-32156	182	19	,	,	PUNCT
ajst-32156	182	20	our	our	PRON
ajst-32156	182	21	approach	approach	NOUN
ajst-32156	182	22	produces	produce	VERB
ajst-32156	182	23	feasible	feasible	ADJ
ajst-32156	182	24	paths	path	NOUN
ajst-32156	182	25	for	for	ADP
ajst-32156	182	26	real	real	ADJ
ajst-32156	182	27	robots	robot	NOUN
ajst-32156	182	28	while	while	SCONJ
ajst-32156	182	29	maintaining	maintain	VERB
ajst-32156	182	30	high	high	ADJ
ajst-32156	182	31	coverage	coverage	NOUN
ajst-32156	182	32	(	(	PUNCT
ajst-32156	182	33	96.5	96.5	NUM
ajst-32156	182	34	%	%	NOUN
ajst-32156	182	35	)	)	PUNCT
ajst-32156	182	36	.	.	PUNCT
ajst-32156	183	1	experiments	experiment	NOUN
ajst-32156	183	2	on	on	ADP
ajst-32156	183	3	17	17	NUM
ajst-32156	183	4	diverse	diverse	ADJ
ajst-32156	183	5	maps	map	NOUN
ajst-32156	183	6	demonstrate	demonstrate	VERB
ajst-32156	183	7	that	that	SCONJ
ajst-32156	183	8	baseline	baseline	VERB
ajst-32156	183	9	algorithms	algorithm	NOUN
ajst-32156	183	10	,	,	PUNCT
ajst-32156	183	11	despite	despite	SCONJ
ajst-32156	183	12	achieving	achieve	VERB
ajst-32156	183	13	99–100	99–100	NUM
ajst-32156	183	14	%	%	NOUN
ajst-32156	183	15	coverage	coverage	NOUN
ajst-32156	183	16	,	,	PUNCT
ajst-32156	183	17	generate	generate	VERB
ajst-32156	183	18	paths	path	NOUN
ajst-32156	183	19	with	with	ADP
ajst-32156	183	20	1400–1900	1400–1900	NUM
ajst-32156	183	21	turns	turn	NOUN
ajst-32156	183	22	that	that	PRON
ajst-32156	183	23	violate	violate	VERB
ajst-32156	183	24	physical	physical	ADJ
ajst-32156	183	25	constraints	constraint	NOUN
ajst-32156	183	26	.	.	PUNCT
ajst-32156	184	1	our	our	PRON
ajst-32156	184	2	size	size	NOUN
ajst-32156	184	3	-	-	PUNCT
ajst-32156	184	4	aware	aware	ADJ
ajst-32156	184	5	modifications	modification	NOUN
ajst-32156	184	6	to	to	PART
ajst-32156	184	7	stc	stc	VERB
ajst-32156	184	8	and	and	CCONJ
ajst-32156	184	9	bcd	bcd	PROPN
ajst-32156	184	10	reduce	reduce	VERB
ajst-32156	184	11	turns	turn	NOUN
ajst-32156	184	12	by	by	ADP
ajst-32156	184	13	6–12	6–12	NOUN
ajst-32156	184	14	%	%	NOUN
ajst-32156	184	15	,	,	PUNCT
ajst-32156	184	16	eliminate	eliminate	VERB
ajst-32156	184	17	width	width	ADJ
ajst-32156	184	18	violations	violation	NOUN
ajst-32156	184	19	,	,	PUNCT
ajst-32156	184	20	and	and	CCONJ
ajst-32156	184	21	improve	improve	VERB
ajst-32156	184	22	overall	overall	ADV
ajst-32156	184	23	feasibility	feasibility	NOUN
ajst-32156	184	24	scores	score	NOUN
ajst-32156	184	25	to	to	ADP
ajst-32156	184	26	0.83–0.92	0.83–0.92	PRON
ajst-32156	184	27	for	for	ADP
ajst-32156	184	28	small	small	ADJ
ajst-32156	184	29	/	/	SYM
ajst-32156	184	30	medium	medium	NOUN
ajst-32156	184	31	robots	robot	NOUN
ajst-32156	184	32	.	.	PUNCT
ajst-32156	185	1	references	reference	NOUN
ajst-32156	185	2	[	[	X
ajst-32156	185	3	1	1	NUM
ajst-32156	185	4	]	]	PUNCT
ajst-32156	185	5	h.	h.	PROPN
ajst-32156	185	6	choset	choset	PROPN
ajst-32156	185	7	,	,	PUNCT
ajst-32156	185	8	coverage	coverage	NOUN
ajst-32156	185	9	for	for	ADP
ajst-32156	185	10	robotics	robotic	NOUN
ajst-32156	185	11	–	–	PUNCT
ajst-32156	185	12	a	a	DET
ajst-32156	185	13	survey	survey	NOUN
ajst-32156	185	14	of	of	ADP
ajst-32156	185	15	recent	recent	ADJ
ajst-32156	185	16	results	result	NOUN
ajst-32156	185	17	,	,	PUNCT
ajst-32156	185	18	annals	annal	NOUN
ajst-32156	185	19	of	of	ADP
ajst-32156	185	20	mathematics	mathematic	NOUN
ajst-32156	185	21	and	and	CCONJ
ajst-32156	185	22	artificial	artificial	ADJ
ajst-32156	185	23	intelligence	intelligence	NOUN
ajst-32156	185	24	,	,	PUNCT
ajst-32156	185	25	vol	vol	NOUN
ajst-32156	185	26	.	.	PROPN
ajst-32156	185	27	31	31	NUM
ajst-32156	185	28	,	,	PUNCT
ajst-32156	185	29	no	no	INTJ
ajst-32156	185	30	.	.	NOUN
ajst-32156	185	31	1	1	NUM
ajst-32156	185	32	,	,	PUNCT
ajst-32156	185	33	pp	pp	ADJ
ajst-32156	185	34	.	.	PUNCT
ajst-32156	186	1	113–126	113–126	NUM
ajst-32156	186	2	,	,	PUNCT
ajst-32156	186	3	2001	2001	NUM
ajst-32156	186	4	.	.	PUNCT
ajst-32156	187	1	[	[	X
ajst-32156	187	2	2	2	X
ajst-32156	187	3	]	]	PUNCT
ajst-32156	187	4	e.	e.	PROPN
ajst-32156	187	5	galceran	galceran	PROPN
ajst-32156	187	6	and	and	CCONJ
ajst-32156	187	7	m.	m.	PROPN
ajst-32156	187	8	carreras	carreras	PROPN
ajst-32156	187	9	,	,	PUNCT
ajst-32156	187	10	a	a	DET
ajst-32156	187	11	survey	survey	NOUN
ajst-32156	187	12	on	on	ADP
ajst-32156	187	13	coverage	coverage	NOUN
ajst-32156	187	14	path	path	NOUN
ajst-32156	187	15	planning	planning	NOUN
ajst-32156	187	16	for	for	ADP
ajst-32156	187	17	robotics	robotic	NOUN
ajst-32156	187	18	,	,	PUNCT
ajst-32156	187	19	robotics	robotic	NOUN
ajst-32156	187	20	and	and	CCONJ
ajst-32156	187	21	autonomous	autonomous	ADJ
ajst-32156	187	22	systems	system	NOUN
ajst-32156	187	23	,	,	PUNCT
ajst-32156	187	24	vol	vol	NOUN
ajst-32156	187	25	.	.	PROPN
ajst-32156	187	26	61	61	NUM
ajst-32156	187	27	,	,	PUNCT
ajst-32156	187	28	no	no	INTJ
ajst-32156	187	29	.	.	NOUN
ajst-32156	187	30	12	12	NUM
ajst-32156	187	31	,	,	PUNCT
ajst-32156	187	32	pp	pp	ADJ
ajst-32156	187	33	.	.	PUNCT
ajst-32156	187	34	1258–1276	1258–1276	NUM
ajst-32156	187	35	,	,	PUNCT
ajst-32156	187	36	2013	2013	NUM
ajst-32156	187	37	.	.	PUNCT
ajst-32156	188	1	[	[	X
ajst-32156	188	2	3	3	X
ajst-32156	188	3	]	]	X
ajst-32156	188	4	y.	y.	NOUN
ajst-32156	188	5	gabriely	gabriely	ADV
ajst-32156	188	6	and	and	CCONJ
ajst-32156	188	7	e.	e.	PROPN
ajst-32156	188	8	rimon	rimon	PROPN
ajst-32156	188	9	,	,	PUNCT
ajst-32156	188	10	spanning	span	VERB
ajst-32156	188	11	-	-	PUNCT
ajst-32156	188	12	tree	tree	NOUN
ajst-32156	188	13	based	base	VERB
ajst-32156	188	14	coverage	coverage	NOUN
ajst-32156	188	15	of	of	ADP
ajst-32156	188	16	continuous	continuous	ADJ
ajst-32156	188	17	areas	area	NOUN
ajst-32156	188	18	by	by	ADP
ajst-32156	188	19	a	a	DET
ajst-32156	188	20	mobile	mobile	ADJ
ajst-32156	188	21	robot	robot	NOUN
ajst-32156	188	22	,	,	PUNCT
ajst-32156	188	23	annals	annal	NOUN
ajst-32156	188	24	of	of	ADP
ajst-32156	188	25	mathematics	mathematic	NOUN
ajst-32156	188	26	and	and	CCONJ
ajst-32156	188	27	artificial	artificial	ADJ
ajst-32156	188	28	intelligence	intelligence	NOUN
ajst-32156	188	29	,	,	PUNCT
ajst-32156	188	30	vol	vol	NOUN
ajst-32156	188	31	.	.	PROPN
ajst-32156	188	32	31	31	NUM
ajst-32156	188	33	,	,	PUNCT
ajst-32156	188	34	no	no	INTJ
ajst-32156	188	35	.	.	NOUN
ajst-32156	188	36	1	1	NUM
ajst-32156	188	37	,	,	PUNCT
ajst-32156	188	38	pp	pp	ADJ
ajst-32156	188	39	.	.	PUNCT
ajst-32156	189	1	77–98	77–98	NUM
ajst-32156	189	2	,	,	PUNCT
ajst-32156	189	3	2002	2002	NUM
ajst-32156	189	4	.	.	PUNCT
ajst-32156	190	1	[	[	X
ajst-32156	190	2	4	4	NUM
ajst-32156	190	3	]	]	PUNCT
ajst-32156	190	4	a.	a.	NOUN
ajst-32156	190	5	zelinsky	zelinsky	PROPN
ajst-32156	190	6	,	,	PUNCT
ajst-32156	190	7	r.	r.	PROPN
ajst-32156	190	8	a.	a.	PROPN
ajst-32156	190	9	jarvis	jarvis	PROPN
ajst-32156	190	10	,	,	PUNCT
ajst-32156	190	11	j.	j.	PROPN
ajst-32156	190	12	byrne	byrne	PROPN
ajst-32156	190	13	,	,	PUNCT
ajst-32156	190	14	and	and	CCONJ
ajst-32156	190	15	s.	s.	PROPN
ajst-32156	190	16	yuta	yuta	PROPN
ajst-32156	190	17	,	,	PUNCT
ajst-32156	190	18	planning	planning	NOUN
ajst-32156	190	19	paths	path	NOUN
ajst-32156	190	20	of	of	ADP
ajst-32156	190	21	complete	complete	ADJ
ajst-32156	190	22	coverage	coverage	NOUN
ajst-32156	190	23	of	of	ADP
ajst-32156	190	24	an	an	DET
ajst-32156	190	25	unstructured	unstructured	ADJ
ajst-32156	190	26	environment	environment	NOUN
ajst-32156	190	27	by	by	ADP
ajst-32156	190	28	a	a	DET
ajst-32156	190	29	mobile	mobile	ADJ
ajst-32156	190	30	robot	robot	NOUN
ajst-32156	190	31	,	,	PUNCT
ajst-32156	190	32	in	in	ADP
ajst-32156	190	33	proceedings	proceeding	NOUN
ajst-32156	190	34	of	of	ADP
ajst-32156	190	35	international	international	ADJ
ajst-32156	190	36	conference	conference	NOUN
ajst-32156	190	37	on	on	ADP
ajst-32156	190	38	advanced	advanced	ADJ
ajst-32156	190	39	robotics	robotic	NOUN
ajst-32156	190	40	,	,	PUNCT
ajst-32156	190	41	vol	vol	NOUN
ajst-32156	190	42	.	.	PROPN
ajst-32156	190	43	13	13	NUM
ajst-32156	190	44	,	,	PUNCT
ajst-32156	190	45	1993	1993	NUM
ajst-32156	190	46	,	,	PUNCT
ajst-32156	190	47	pp	pp	ADV
ajst-32156	190	48	.	.	PUNCT
ajst-32156	191	1	533–538	533–538	NUM
ajst-32156	191	2	.	.	PUNCT
ajst-32156	192	1	[	[	X
ajst-32156	192	2	5	5	NUM
ajst-32156	192	3	]	]	PUNCT
ajst-32156	192	4	a.	a.	NOUN
ajst-32156	192	5	c.	c.	PROPN
ajst-32156	192	6	kapoutsis	kapoutsis	PROPN
ajst-32156	192	7	,	,	PUNCT
ajst-32156	192	8	s.	s.	PROPN
ajst-32156	192	9	a.	a.	PROPN
ajst-32156	192	10	chatzichristofis	chatzichristofis	PROPN
ajst-32156	192	11	,	,	PUNCT
ajst-32156	192	12	and	and	CCONJ
ajst-32156	192	13	e.	e.	PROPN
ajst-32156	192	14	b.	b.	PROPN
ajst-32156	192	15	kosmatopoulos	kosmatopoulos	PROPN
ajst-32156	192	16	,	,	PUNCT
ajst-32156	192	17	darp	darp	PROPN
ajst-32156	192	18	:	:	PUNCT
ajst-32156	192	19	divide	divide	NOUN
ajst-32156	192	20	areas	area	NOUN
ajst-32156	192	21	algorithm	algorithm	VERB
ajst-32156	192	22	for	for	ADP
ajst-32156	192	23	optimal	optimal	ADJ
ajst-32156	192	24	multi	multi	ADJ
ajst-32156	192	25	-	-	ADJ
ajst-32156	192	26	robot	robot	ADJ
ajst-32156	192	27	coverage	coverage	NOUN
ajst-32156	192	28	path	path	PROPN
ajst-32156	192	29	planning	planning	NOUN
ajst-32156	192	30	,	,	PUNCT
ajst-32156	192	31	journal	journal	NOUN
ajst-32156	192	32	of	of	ADP
ajst-32156	192	33	intelligent	intelligent	ADJ
ajst-32156	192	34	&	&	CCONJ
ajst-32156	192	35	robotic	robotic	ADJ
ajst-32156	192	36	systems	system	NOUN
ajst-32156	192	37	,	,	PUNCT
ajst-32156	192	38	vol	vol	NOUN
ajst-32156	192	39	.	.	PROPN
ajst-32156	192	40	86	86	NUM
ajst-32156	192	41	,	,	PUNCT
ajst-32156	192	42	pp	pp	ADJ
ajst-32156	192	43	.	.	PUNCT
ajst-32156	193	1	663–680	663–680	NUM
ajst-32156	193	2	,	,	PUNCT
ajst-32156	193	3	2017	2017	NUM
ajst-32156	193	4	.	.	PUNCT
ajst-32156	194	1	[	[	X
ajst-32156	194	2	6	6	NUM
ajst-32156	194	3	]	]	PUNCT
ajst-32156	194	4	z.	z.	PROPN
ajst-32156	194	5	han	han	PROPN
ajst-32156	194	6	,	,	PUNCT
ajst-32156	194	7	d.	d.	PROPN
ajst-32156	194	8	wang	wang	PROPN
ajst-32156	194	9	,	,	PUNCT
ajst-32156	194	10	and	and	CCONJ
ajst-32156	194	11	h.	h.	PROPN
ajst-32156	194	12	guan	guan	PROPN
ajst-32156	194	13	,	,	PUNCT
ajst-32156	194	14	a	a	DET
ajst-32156	194	15	multi	multi	ADJ
ajst-32156	194	16	-	-	ADJ
ajst-32156	194	17	robot	robot	ADJ
ajst-32156	194	18	coverage	coverage	NOUN
ajst-32156	194	19	path	path	PROPN
ajst-32156	194	20	planning	planning	NOUN
ajst-32156	194	21	algorithm	algorithm	NOUN
ajst-32156	194	22	based	base	VERB
ajst-32156	194	23	on	on	ADP
ajst-32156	194	24	improved	improved	ADJ
ajst-32156	194	25	darp	darp	ADJ
ajst-32156	194	26	algorithm	algorithm	NOUN
ajst-32156	194	27	,	,	PUNCT
ajst-32156	194	28	arxiv	arxiv	PROPN
ajst-32156	194	29	preprint	preprint	NOUN
ajst-32156	194	30	arxiv:2304.09741	arxiv:2304.09741	ADV
ajst-32156	194	31	,	,	PUNCT
ajst-32156	194	32	2023	2023	NUM
ajst-32156	194	33	.	.	PUNCT
ajst-32156	195	1	[	[	X
ajst-32156	195	2	7	7	X
ajst-32156	195	3	]	]	X
ajst-32156	195	4	j.	j.	PROPN
ajst-32156	195	5	tang	tang	PROPN
ajst-32156	195	6	,	,	PUNCT
ajst-32156	195	7	j.	j.	PROPN
ajst-32156	195	8	sun	sun	PROPN
ajst-32156	195	9	,	,	PUNCT
ajst-32156	195	10	c.	c.	PROPN
ajst-32156	195	11	lu	lu	PROPN
ajst-32156	195	12	,	,	PUNCT
ajst-32156	195	13	and	and	CCONJ
ajst-32156	195	14	s.	s.	PROPN
ajst-32156	195	15	lao	lao	PROPN
ajst-32156	195	16	,	,	PUNCT
ajst-32156	195	17	large	large	ADJ
ajst-32156	195	18	scale	scale	NOUN
ajst-32156	195	19	aerial	aerial	ADJ
ajst-32156	195	20	multirobot	multirobot	NOUN
ajst-32156	195	21	coverage	coverage	NOUN
ajst-32156	195	22	path	path	NOUN
ajst-32156	195	23	planning	planning	NOUN
ajst-32156	195	24	,	,	PUNCT
ajst-32156	195	25	ieee	ieee	NOUN
ajst-32156	195	26	access	access	NOUN
ajst-32156	195	27	,	,	PUNCT
ajst-32156	195	28	vol	vol	NOUN
ajst-32156	195	29	.	.	PROPN
ajst-32156	195	30	10	10	NUM
ajst-32156	195	31	,	,	PUNCT
ajst-32156	195	32	pp	pp	ADJ
ajst-32156	195	33	.	.	PUNCT
ajst-32156	196	1	114	114	NUM
ajst-32156	196	2	298–114	298–114	NUM
ajst-32156	196	3	311	311	NUM
ajst-32156	196	4	,	,	PUNCT
ajst-32156	196	5	2022	2022	NUM
ajst-32156	196	6	.	.	PUNCT
ajst-32156	197	1	[	[	X
ajst-32156	197	2	8	8	NUM
ajst-32156	197	3	]	]	X
ajst-32156	197	4	l.	l.	PROPN
ajst-32156	197	5	c.	c.	PROPN
ajst-32156	197	6	santos	santos	PROPN
ajst-32156	197	7	,	,	PUNCT
ajst-32156	197	8	f.	f.	PROPN
ajst-32156	197	9	n.	n.	PROPN
ajst-32156	197	10	santos	santos	PROPN
ajst-32156	197	11	,	,	PUNCT
ajst-32156	197	12	e.	e.	PROPN
ajst-32156	197	13	j.	j.	PROPN
ajst-32156	197	14	solteiro	solteiro	PROPN
ajst-32156	197	15	pires	pire	NOUN
ajst-32156	197	16	,	,	PUNCT
ajst-32156	197	17	a.	a.	PROPN
ajst-32156	197	18	valente	valente	PROPN
ajst-32156	197	19	,	,	PUNCT
ajst-32156	197	20	p.	p.	PROPN
ajst-32156	197	21	costa	costa	PROPN
ajst-32156	197	22	,	,	PUNCT
ajst-32156	197	23	and	and	CCONJ
ajst-32156	197	24	s.	s.	PROPN
ajst-32156	197	25	magalhaes	magalhaes	PROPN
ajst-32156	197	26	,	,	PUNCT
ajst-32156	197	27	collaborative	collaborative	ADJ
ajst-32156	197	28	complete	complete	ADJ
ajst-32156	197	29	coverage	coverage	NOUN
ajst-32156	197	30	and	and	CCONJ
ajst-32156	197	31	path	path	NOUN
ajst-32156	197	32	planning	planning	NOUN
ajst-32156	197	33	for	for	ADP
ajst-32156	197	34	multi	multi	ADJ
ajst-32156	197	35	-	-	ADJ
ajst-32156	197	36	robot	robot	ADJ
ajst-32156	197	37	exploration	exploration	NOUN
ajst-32156	197	38	,	,	PUNCT
ajst-32156	197	39	sensors	sensor	NOUN
ajst-32156	197	40	,	,	PUNCT
ajst-32156	197	41	vol	vol	NOUN
ajst-32156	197	42	.	.	PROPN
ajst-32156	198	1	21	21	NUM
ajst-32156	198	2	,	,	PUNCT
ajst-32156	198	3	no	no	INTJ
ajst-32156	198	4	.	.	NOUN
ajst-32156	198	5	11	11	NUM
ajst-32156	198	6	,	,	PUNCT
ajst-32156	198	7	p.	p.	NOUN
ajst-32156	198	8	3709	3709	NUM
ajst-32156	198	9	,	,	PUNCT
ajst-32156	198	10	2021	2021	NUM
ajst-32156	198	11	.	.	PUNCT
ajst-32156	199	1	[	[	X
ajst-32156	199	2	9	9	NUM
ajst-32156	199	3	]	]	PUNCT
ajst-32156	199	4	l.	l.	PROPN
ajst-32156	199	5	e.	e.	PROPN
ajst-32156	199	6	parker	parker	PROPN
ajst-32156	199	7	,	,	PUNCT
ajst-32156	199	8	d.	d.	PROPN
ajst-32156	199	9	rus	rus	PROPN
ajst-32156	199	10	,	,	PUNCT
ajst-32156	199	11	and	and	CCONJ
ajst-32156	199	12	g.	g.	PROPN
ajst-32156	199	13	s.	s.	PROPN
ajst-32156	199	14	sukhatme	sukhatme	PROPN
ajst-32156	199	15	,	,	PUNCT
ajst-32156	199	16	distributed	distribute	VERB
ajst-32156	199	17	intelligence	intelligence	NOUN
ajst-32156	199	18	:	:	PUNCT
ajst-32156	199	19	overview	overview	NOUN
ajst-32156	199	20	of	of	ADP
ajst-32156	199	21	the	the	DET
ajst-32156	199	22	field	field	NOUN
ajst-32156	199	23	and	and	CCONJ
ajst-32156	199	24	its	its	PRON
ajst-32156	199	25	application	application	NOUN
ajst-32156	199	26	in	in	ADP
ajst-32156	199	27	multi	multi	PROPN
ajst-32156	199	28	49	49	NUM
ajst-32156	199	29	robot	robot	NOUN
ajst-32156	199	30	systems	system	NOUN
ajst-32156	199	31	,	,	PUNCT
ajst-32156	199	32	journal	journal	NOUN
ajst-32156	199	33	of	of	ADP
ajst-32156	199	34	physical	physical	ADJ
ajst-32156	199	35	agents	agent	NOUN
ajst-32156	199	36	,	,	PUNCT
ajst-32156	199	37	vol	vol	NOUN
ajst-32156	199	38	.	.	PROPN
ajst-32156	199	39	2	2	NUM
ajst-32156	199	40	,	,	PUNCT
ajst-32156	199	41	no	no	INTJ
ajst-32156	199	42	.	.	NOUN
ajst-32156	199	43	1	1	NUM
ajst-32156	199	44	,	,	PUNCT
ajst-32156	199	45	pp	pp	ADJ
ajst-32156	199	46	.	.	PUNCT
ajst-32156	199	47	5	5	NUM
ajst-32156	199	48	–	–	PUNCT
ajst-32156	199	49	14	14	NUM
ajst-32156	199	50	,	,	PUNCT
ajst-32156	199	51	2008	2008	NUM
ajst-32156	199	52	.	.	PUNCT
ajst-32156	200	1	[	[	X
ajst-32156	200	2	10	10	NUM
ajst-32156	200	3	]	]	X
ajst-32156	200	4	n.	n.	PROPN
ajst-32156	200	5	agmon	agmon	PROPN
ajst-32156	200	6	,	,	PUNCT
ajst-32156	200	7	s.	s.	PROPN
ajst-32156	200	8	kraus	kraus	PROPN
ajst-32156	200	9	,	,	PUNCT
ajst-32156	200	10	and	and	CCONJ
ajst-32156	200	11	g.	g.	PROPN
ajst-32156	200	12	a.	a.	PROPN
ajst-32156	200	13	kaminka	kaminka	PROPN
ajst-32156	200	14	,	,	PUNCT
ajst-32156	200	15	multi	multi	ADJ
ajst-32156	200	16	-	-	ADJ
ajst-32156	200	17	robot	robot	ADJ
ajst-32156	200	18	area	area	NOUN
ajst-32156	200	19	patrol	patrol	NOUN
ajst-32156	200	20	under	under	ADP
ajst-32156	200	21	frequency	frequency	NOUN
ajst-32156	200	22	constraints	constraint	NOUN
ajst-32156	200	23	,	,	PUNCT
ajst-32156	200	24	annals	annal	NOUN
ajst-32156	200	25	of	of	ADP
ajst-32156	200	26	mathematics	mathematic	NOUN
ajst-32156	200	27	and	and	CCONJ
ajst-32156	200	28	artificial	artificial	ADJ
ajst-32156	200	29	intelligence	intelligence	NOUN
ajst-32156	200	30	,	,	PUNCT
ajst-32156	200	31	vol	vol	NOUN
ajst-32156	200	32	.	.	PROPN
ajst-32156	200	33	57	57	NUM
ajst-32156	200	34	,	,	PUNCT
ajst-32156	200	35	no	no	INTJ
ajst-32156	200	36	.	.	NOUN
ajst-32156	200	37	3	3	NUM
ajst-32156	200	38	,	,	PUNCT
ajst-32156	200	39	pp	pp	ADJ
ajst-32156	200	40	.	.	PUNCT
ajst-32156	201	1	293–320	293–320	NUM
ajst-32156	201	2	,	,	PUNCT
ajst-32156	201	3	2008	2008	NUM
ajst-32156	201	4	.	.	PUNCT
ajst-32156	202	1	[	[	X
ajst-32156	202	2	11	11	NUM
ajst-32156	202	3	]	]	PUNCT
ajst-32156	202	4	p.	p.	NOUN
ajst-32156	202	5	t.	t.	PROPN
ajst-32156	202	6	kyaw	kyaw	PROPN
ajst-32156	202	7	,	,	PUNCT
ajst-32156	202	8	a.	a.	NOUN
ajst-32156	202	9	paing	paing	NOUN
ajst-32156	202	10	,	,	PUNCT
ajst-32156	202	11	t.	t.	PROPN
ajst-32156	202	12	t.	t.	PROPN
ajst-32156	202	13	thu	thu	PROPN
ajst-32156	202	14	,	,	PUNCT
ajst-32156	202	15	r.	r.	PROPN
ajst-32156	202	16	e.	e.	PROPN
ajst-32156	202	17	mohan	mohan	PROPN
ajst-32156	202	18	,	,	PUNCT
ajst-32156	202	19	p.	p.	PROPN
ajst-32156	202	20	t.	t.	PROPN
ajst-32156	202	21	soe	soe	PROPN
ajst-32156	202	22	,	,	PUNCT
ajst-32156	202	23	and	and	CCONJ
ajst-32156	202	24	g.	g.	PROPN
ajst-32156	202	25	s.	s.	PROPN
ajst-32156	202	26	g.	g.	PROPN
ajst-32156	202	27	wen	wen	PROPN
ajst-32156	202	28	,	,	PUNCT
ajst-32156	202	29	a	a	DET
ajst-32156	202	30	comprehensive	comprehensive	ADJ
ajst-32156	202	31	review	review	NOUN
ajst-32156	202	32	of	of	ADP
ajst-32156	202	33	coverage	coverage	NOUN
ajst-32156	202	34	path	path	NOUN
ajst-32156	202	35	planning	planning	NOUN
ajst-32156	202	36	in	in	ADP
ajst-32156	202	37	robotics	robotic	NOUN
ajst-32156	202	38	using	use	VERB
ajst-32156	202	39	classical	classical	ADJ
ajst-32156	202	40	and	and	CCONJ
ajst-32156	202	41	heuristic	heuristic	ADJ
ajst-32156	202	42	algorithms	algorithm	NOUN
ajst-32156	202	43	,	,	PUNCT
ajst-32156	202	44	ieee	ieee	NOUN
ajst-32156	202	45	access	access	NOUN
ajst-32156	202	46	,	,	PUNCT
ajst-32156	202	47	vol	vol	NOUN
ajst-32156	202	48	.	.	PROPN
ajst-32156	202	49	11	11	NUM
ajst-32156	202	50	,	,	PUNCT
ajst-32156	202	51	pp	pp	ADJ
ajst-32156	202	52	.	.	PUNCT
ajst-32156	203	1	119	119	NUM
ajst-32156	203	2	267–119	267–119	NUM
ajst-32156	203	3	290	290	NUM
ajst-32156	203	4	,	,	PUNCT
ajst-32156	203	5	2023	2023	NUM
ajst-32156	203	6	.	.	PUNCT
ajst-32156	204	1	[	[	X
ajst-32156	204	2	12	12	NUM
ajst-32156	204	3	]	]	PUNCT
ajst-32156	204	4	t.	t.	PROPN
ajst-32156	204	5	lozano	lozano	PROPN
ajst-32156	204	6	-	-	PUNCT
ajst-32156	204	7	perez	perez	PROPN
ajst-32156	204	8	and	and	CCONJ
ajst-32156	204	9	m.	m.	NOUN
ajst-32156	204	10	a.	a.	PROPN
ajst-32156	204	11	wesley	wesley	PROPN
ajst-32156	204	12	,	,	PUNCT
ajst-32156	204	13	an	an	DET
ajst-32156	204	14	algorithm	algorithm	NOUN
ajst-32156	204	15	for	for	ADP
ajst-32156	204	16	planning	plan	VERB
ajst-32156	204	17	collision	collision	NOUN
ajst-32156	204	18	-	-	PUNCT
ajst-32156	204	19	free	free	ADJ
ajst-32156	204	20	paths	path	NOUN
ajst-32156	204	21	among	among	ADP
ajst-32156	204	22	polyhedral	polyhedral	ADJ
ajst-32156	204	23	obstacles	obstacle	NOUN
ajst-32156	204	24	,	,	PUNCT
ajst-32156	204	25	communications	communication	NOUN
ajst-32156	204	26	of	of	ADP
ajst-32156	204	27	the	the	DET
ajst-32156	204	28	acm	acm	NOUN
ajst-32156	204	29	,	,	PUNCT
ajst-32156	204	30	vol	vol	NOUN
ajst-32156	204	31	.	.	PROPN
ajst-32156	204	32	26	26	NUM
ajst-32156	204	33	,	,	PUNCT
ajst-32156	204	34	no	no	INTJ
ajst-32156	204	35	.	.	NOUN
ajst-32156	204	36	10	10	NUM
ajst-32156	204	37	,	,	PUNCT
ajst-32156	204	38	pp	pp	ADJ
ajst-32156	204	39	.	.	PUNCT
ajst-32156	205	1	560–570	560–570	NUM
ajst-32156	205	2	,	,	PUNCT
ajst-32156	205	3	1983	1983	NUM
ajst-32156	205	4	.	.	PUNCT
ajst-32156	206	1	[	[	X
ajst-32156	206	2	13	13	NUM
ajst-32156	206	3	]	]	X
ajst-32156	206	4	d.	d.	PROPN
ajst-32156	206	5	fox	fox	PROPN
ajst-32156	206	6	,	,	PUNCT
ajst-32156	206	7	w.	w.	PROPN
ajst-32156	206	8	burgard	burgard	PROPN
ajst-32156	206	9	,	,	PUNCT
ajst-32156	206	10	and	and	CCONJ
ajst-32156	206	11	s.	s.	PROPN
ajst-32156	206	12	thrun	thrun	PROPN
ajst-32156	206	13	,	,	PUNCT
ajst-32156	206	14	the	the	DET
ajst-32156	206	15	dynamic	dynamic	ADJ
ajst-32156	206	16	window	window	NOUN
ajst-32156	206	17	approach	approach	NOUN
ajst-32156	206	18	to	to	ADP
ajst-32156	206	19	collision	collision	NOUN
ajst-32156	206	20	avoidance	avoidance	NOUN
ajst-32156	206	21	,	,	PUNCT
ajst-32156	206	22	ieee	ieee	NOUN
ajst-32156	206	23	robotics	robotic	NOUN
ajst-32156	206	24	&	&	CCONJ
ajst-32156	206	25	automation	automation	PROPN
ajst-32156	206	26	magazine	magazine	PROPN
ajst-32156	206	27	,	,	PUNCT
ajst-32156	206	28	vol	vol	NOUN
ajst-32156	206	29	.	.	PROPN
ajst-32156	206	30	4	4	NUM
ajst-32156	206	31	,	,	PUNCT
ajst-32156	206	32	no	no	INTJ
ajst-32156	206	33	.	.	NOUN
ajst-32156	206	34	1	1	NUM
ajst-32156	206	35	,	,	PUNCT
ajst-32156	206	36	pp	pp	ADJ
ajst-32156	206	37	.	.	PUNCT
ajst-32156	207	1	23–33	23–33	NUM
ajst-32156	207	2	,	,	PUNCT
ajst-32156	207	3	1997	1997	NUM
ajst-32156	207	4	.	.	PUNCT
ajst-32156	208	1	[	[	X
ajst-32156	208	2	14	14	NUM
ajst-32156	208	3	]	]	X
ajst-32156	208	4	s.	s.	PROPN
ajst-32156	208	5	quinlan	quinlan	PROPN
ajst-32156	208	6	and	and	CCONJ
ajst-32156	208	7	o.	o.	PROPN
ajst-32156	208	8	khatib	khatib	PROPN
ajst-32156	208	9	,	,	PUNCT
ajst-32156	208	10	elastic	elastic	ADJ
ajst-32156	208	11	bands	band	NOUN
ajst-32156	208	12	:	:	PUNCT
ajst-32156	208	13	connecting	connect	VERB
ajst-32156	208	14	path	path	NOUN
ajst-32156	208	15	planning	planning	NOUN
ajst-32156	208	16	and	and	CCONJ
ajst-32156	208	17	control	control	NOUN
ajst-32156	208	18	,	,	PUNCT
ajst-32156	208	19	in	in	ADP
ajst-32156	208	20	proceedings	proceeding	NOUN
ajst-32156	208	21	of	of	ADP
ajst-32156	208	22	ieee	ieee	PROPN
ajst-32156	208	23	international	international	ADJ
ajst-32156	208	24	conference	conference	NOUN
ajst-32156	208	25	on	on	ADP
ajst-32156	208	26	robotics	robotic	NOUN
ajst-32156	208	27	and	and	CCONJ
ajst-32156	208	28	automation	automation	NOUN
ajst-32156	208	29	.	.	PUNCT
ajst-32156	209	1	ieee	ieee	PROPN
ajst-32156	209	2	,	,	PUNCT
ajst-32156	209	3	1993	1993	NUM
ajst-32156	209	4	,	,	PUNCT
ajst-32156	209	5	pp	pp	ADV
ajst-32156	209	6	.	.	PUNCT
ajst-32156	210	1	802–807	802–807	NUM
ajst-32156	210	2	.	.	PUNCT
ajst-32156	211	1	[	[	X
ajst-32156	211	2	15	15	NUM
ajst-32156	211	3	]	]	X
ajst-32156	211	4	r.	r.	PROPN
ajst-32156	211	5	j.	j.	PROPN
ajst-32156	211	6	szczerba	szczerba	PROPN
ajst-32156	211	7	,	,	PUNCT
ajst-32156	211	8	p.	p.	PROPN
ajst-32156	211	9	galkowski	galkowski	PROPN
ajst-32156	211	10	,	,	PUNCT
ajst-32156	211	11	i.	i.	PROPN
ajst-32156	211	12	s.	s.	PROPN
ajst-32156	211	13	glicktein	glicktein	PROPN
ajst-32156	211	14	,	,	PUNCT
ajst-32156	211	15	and	and	CCONJ
ajst-32156	211	16	n.	n.	PROPN
ajst-32156	211	17	ternullo	ternullo	PROPN
ajst-32156	211	18	,	,	PUNCT
ajst-32156	211	19	robust	robust	ADJ
ajst-32156	211	20	algorithm	algorithm	NOUN
ajst-32156	211	21	for	for	ADP
ajst-32156	211	22	real	real	ADJ
ajst-32156	211	23	-	-	PUNCT
ajst-32156	211	24	time	time	NOUN
ajst-32156	211	25	route	route	NOUN
ajst-32156	211	26	planning	planning	NOUN
ajst-32156	211	27	,	,	PUNCT
ajst-32156	211	28	ieee	ieee	NOUN
ajst-32156	211	29	transactions	transaction	NOUN
ajst-32156	211	30	on	on	ADP
ajst-32156	211	31	aerospace	aerospace	NOUN
ajst-32156	211	32	and	and	CCONJ
ajst-32156	211	33	electronic	electronic	ADJ
ajst-32156	211	34	systems	system	NOUN
ajst-32156	211	35	,	,	PUNCT
ajst-32156	211	36	vol	vol	NOUN
ajst-32156	211	37	.	.	PROPN
ajst-32156	211	38	36	36	NUM
ajst-32156	211	39	,	,	PUNCT
ajst-32156	211	40	no	no	INTJ
ajst-32156	211	41	.	.	NOUN
ajst-32156	211	42	3	3	NUM
ajst-32156	211	43	,	,	PUNCT
ajst-32156	211	44	pp	pp	ADJ
ajst-32156	211	45	.	.	PUNCT
ajst-32156	212	1	869–878	869–878	NUM
ajst-32156	212	2	,	,	PUNCT
ajst-32156	212	3	2000	2000	NUM
ajst-32156	212	4	.	.	PUNCT
ajst-32156	213	1	[	[	X
ajst-32156	213	2	16	16	NUM
ajst-32156	213	3	]	]	PUNCT
ajst-32156	213	4	b.	b.	PROPN
ajst-32156	213	5	song	song	PROPN
ajst-32156	213	6	,	,	PUNCT
ajst-32156	213	7	z.	z.	PROPN
ajst-32156	213	8	wang	wang	PROPN
ajst-32156	213	9	,	,	PUNCT
ajst-32156	213	10	and	and	CCONJ
ajst-32156	213	11	l.	l.	PROPN
ajst-32156	213	12	zou	zou	PROPN
ajst-32156	213	13	,	,	PUNCT
ajst-32156	213	14	neural	neural	ADJ
ajst-32156	213	15	network	network	NOUN
ajst-32156	213	16	-	-	PUNCT
ajst-32156	213	17	based	base	VERB
ajst-32156	213	18	path	path	NOUN
ajst-32156	213	19	planning	planning	NOUN
ajst-32156	213	20	for	for	ADP
ajst-32156	213	21	a	a	DET
ajst-32156	213	22	multirobot	multirobot	NOUN
ajst-32156	213	23	system	system	NOUN
ajst-32156	213	24	with	with	ADP
ajst-32156	213	25	moving	move	VERB
ajst-32156	213	26	obstacles	obstacle	NOUN
ajst-32156	213	27	,	,	PUNCT
ajst-32156	213	28	ieee	ieee	NOUN
ajst-32156	213	29	transactionson	transactionson	NOUN
ajst-32156	213	30	systems	system	NOUN
ajst-32156	213	31	,	,	PUNCT
ajst-32156	213	32	man	man	NOUN
ajst-32156	213	33	,	,	PUNCT
ajst-32156	213	34	and	and	CCONJ
ajst-32156	213	35	cybernetics	cybernetic	NOUN
ajst-32156	213	36	:	:	PUNCT
ajst-32156	213	37	systems	system	NOUN
ajst-32156	213	38	,	,	PUNCT
ajst-32156	213	39	vol	vol	NOUN
ajst-32156	213	40	.	.	PROPN
ajst-32156	213	41	51	51	NUM
ajst-32156	213	42	,	,	PUNCT
ajst-32156	213	43	no	no	INTJ
ajst-32156	213	44	.	.	NOUN
ajst-32156	213	45	9	9	NUM
ajst-32156	213	46	,	,	PUNCT
ajst-32156	213	47	pp	pp	ADJ
ajst-32156	213	48	.	.	PUNCT
ajst-32156	214	1	5221–5232	5221–5232	NUM
ajst-32156	214	2	,	,	PUNCT
ajst-32156	214	3	2019	2019	NUM
ajst-32156	214	4	.	.	PUNCT
ajst-32156	215	1	[	[	X
ajst-32156	215	2	17	17	NUM
ajst-32156	215	3	]	]	X
ajst-32156	215	4	n.c	n.c	PROPN
ajst-32156	215	5	.	.	PROPN
ajst-32156	215	6	ho	ho	PROPN
ajst-32156	215	7	,	,	PUNCT
ajst-32156	215	8	n.	n.	PROPN
ajst-32156	215	9	van	van	PROPN
ajst-32156	215	10	long	long	ADV
ajst-32156	215	11	,	,	PUNCT
ajst-32156	215	12	and	and	CCONJ
ajst-32156	215	13	c.	c.	PROPN
ajst-32156	215	14	h.	h.	PROPN
ajst-32156	215	15	nguyen	nguyen	PROPN
ajst-32156	215	16	,	,	PUNCT
ajst-32156	215	17	robot	robot	NOUN
ajst-32156	215	18	coverage	coverage	NOUN
ajst-32156	215	19	path	path	NOUN
ajst-32156	215	20	planning	planning	NOUN
ajst-32156	215	21	under	under	ADP
ajst-32156	215	22	uncertainty	uncertainty	NOUN
ajst-32156	215	23	using	use	VERB
ajst-32156	215	24	knowledge	knowledge	NOUN
ajst-32156	215	25	inference	inference	NOUN
ajst-32156	215	26	and	and	CCONJ
ajst-32156	215	27	hedge	hedge	NOUN
ajst-32156	215	28	algebras	algebra	NOUN
ajst-32156	215	29	,	,	PUNCT
ajst-32156	215	30	machines	machine	NOUN
ajst-32156	215	31	,	,	PUNCT
ajst-32156	215	32	vol	vol	NOUN
ajst-32156	215	33	.	.	PROPN
ajst-32156	215	34	6	6	NUM
ajst-32156	215	35	,	,	PUNCT
ajst-32156	215	36	no	no	INTJ
ajst-32156	215	37	.	.	NOUN
ajst-32156	215	38	4	4	NUM
ajst-32156	215	39	,	,	PUNCT
ajst-32156	215	40	p.	p.	NOUN
ajst-32156	215	41	46	46	NUM
ajst-32156	215	42	,	,	PUNCT
ajst-32156	215	43	20	20	NUM
ajst-32156	215	44	.	.	PUNCT