id	sid	tid	token	lemma	pos
ajst-32561	1	1	169	169	NUM
ajst-32561	1	2	comparative	comparative	ADJ
ajst-32561	1	3	analysis	analysis	NOUN
ajst-32561	1	4	of	of	ADP
ajst-32561	1	5	drone	drone	NOUN
ajst-32561	1	6	stabilization	stabilization	NOUN
ajst-32561	1	7	methods	method	NOUN
ajst-32561	1	8	and	and	CCONJ
ajst-32561	1	9	optimization	optimization	NOUN
ajst-32561	1	10	techniques	technique	NOUN
ajst-32561	1	11	yuxin	yuxin	NOUN
ajst-32561	1	12	(	(	PUNCT
ajst-32561	1	13	yuliana	yuliana	PROPN
ajst-32561	1	14	)	)	PUNCT
ajst-32561	1	15	zheng	zheng	PROPN
ajst-32561	1	16	1	1	NUM
ajst-32561	1	17	,	,	PUNCT
ajst-32561	1	18	*	*	PUNCT
ajst-32561	1	19	,	,	PUNCT
ajst-32561	1	20	zichen	zichen	ADV
ajst-32561	1	21	zhao	zhao	PROPN
ajst-32561	1	22	2	2	NUM
ajst-32561	1	23	,	,	PUNCT
ajst-32561	1	24	a	a	DET
ajst-32561	1	25	1	1	NUM
ajst-32561	1	26	concord	concord	PROPN
ajst-32561	1	27	college	college	PROPN
ajst-32561	1	28	,	,	PUNCT
ajst-32561	1	29	shrewsbury	shrewsbury	PROPN
ajst-32561	1	30	,	,	PUNCT
ajst-32561	1	31	shropshire	shropshire	NOUN
ajst-32561	1	32	,	,	PUNCT
ajst-32561	1	33	sy57pf	sy57pf	PROPN
ajst-32561	1	34	,	,	PUNCT
ajst-32561	1	35	uk	uk	PROPN
ajst-32561	1	36	2	2	NUM
ajst-32561	1	37	the	the	DET
ajst-32561	1	38	affiliated	affiliate	VERB
ajst-32561	1	39	international	international	ADJ
ajst-32561	1	40	school	school	NOUN
ajst-32561	1	41	of	of	ADP
ajst-32561	1	42	shenzhen	shenzhen	PROPN
ajst-32561	1	43	university	university	PROPN
ajst-32561	1	44	(	(	PUNCT
ajst-32561	1	45	aissu	aissu	PROPN
ajst-32561	1	46	)	)	PUNCT
ajst-32561	1	47	,	,	PUNCT
ajst-32561	1	48	shenzhen	shenzhen	PROPN
ajst-32561	1	49	,	,	PUNCT
ajst-32561	1	50	guangdong	guangdong	PROPN
ajst-32561	1	51	,	,	PUNCT
ajst-32561	1	52	china	china	PROPN
ajst-32561	1	53	*	*	PUNCT
ajst-32561	1	54	corresponding	correspond	VERB
ajst-32561	1	55	author	author	NOUN
ajst-32561	1	56	:	:	PUNCT
ajst-32561	1	57	yuxin	yuxin	PROPN
ajst-32561	1	58	(	(	PUNCT
ajst-32561	1	59	yuliana	yuliana	PROPN
ajst-32561	1	60	)	)	PUNCT
ajst-32561	1	61	zheng	zheng	PROPN
ajst-32561	1	62	(	(	PUNCT
ajst-32561	1	63	email	email	NOUN
ajst-32561	1	64	:	:	PUNCT
ajst-32561	1	65	yxzheng616@gmail.com	yxzheng616@gmail.com	X
ajst-32561	1	66	)	)	PUNCT
ajst-32561	1	67	,	,	PUNCT
ajst-32561	1	68	a	a	DET
ajst-32561	1	69	234484124@qq.com	234484124@qq.com	NUM
ajst-32561	1	70	abstract	abstract	NOUN
ajst-32561	1	71	.	.	PUNCT
ajst-32561	2	1	with	with	ADP
ajst-32561	2	2	the	the	DET
ajst-32561	2	3	rapid	rapid	ADJ
ajst-32561	2	4	expansion	expansion	NOUN
ajst-32561	2	5	of	of	ADP
ajst-32561	2	6	unmanned	unmanned	ADJ
ajst-32561	2	7	aerial	aerial	ADJ
ajst-32561	2	8	vehicle	vehicle	NOUN
ajst-32561	2	9	(	(	PUNCT
ajst-32561	2	10	uav	uav	PROPN
ajst-32561	2	11	)	)	PUNCT
ajst-32561	2	12	applications	application	NOUN
ajst-32561	2	13	in	in	ADP
ajst-32561	2	14	commercial	commercial	ADJ
ajst-32561	2	15	,	,	PUNCT
ajst-32561	2	16	military	military	ADJ
ajst-32561	2	17	,	,	PUNCT
ajst-32561	2	18	and	and	CCONJ
ajst-32561	2	19	scientific	scientific	ADJ
ajst-32561	2	20	fields	field	NOUN
ajst-32561	2	21	,	,	PUNCT
ajst-32561	2	22	flight	flight	NOUN
ajst-32561	2	23	stabilization	stabilization	NOUN
ajst-32561	2	24	has	have	AUX
ajst-32561	2	25	become	become	VERB
ajst-32561	2	26	a	a	DET
ajst-32561	2	27	critical	critical	ADJ
ajst-32561	2	28	factor	factor	NOUN
ajst-32561	2	29	influencing	influence	VERB
ajst-32561	2	30	both	both	DET
ajst-32561	2	31	performance	performance	NOUN
ajst-32561	2	32	and	and	CCONJ
ajst-32561	2	33	safety	safety	NOUN
ajst-32561	2	34	.	.	PUNCT
ajst-32561	3	1	this	this	DET
ajst-32561	3	2	study	study	NOUN
ajst-32561	3	3	examined	examine	VERB
ajst-32561	3	4	the	the	DET
ajst-32561	3	5	significance	significance	NOUN
ajst-32561	3	6	of	of	ADP
ajst-32561	3	7	stabilization	stabilization	NOUN
ajst-32561	3	8	in	in	ADP
ajst-32561	3	9	uavs	uavs	NOUN
ajst-32561	3	10	and	and	CCONJ
ajst-32561	3	11	investigated	investigate	VERB
ajst-32561	3	12	various	various	ADJ
ajst-32561	3	13	methods	method	NOUN
ajst-32561	3	14	developed	develop	VERB
ajst-32561	3	15	to	to	PART
ajst-32561	3	16	achieve	achieve	VERB
ajst-32561	3	17	it	it	PRON
ajst-32561	3	18	.	.	PUNCT
ajst-32561	4	1	the	the	DET
ajst-32561	4	2	primary	primary	ADJ
ajst-32561	4	3	objective	objective	NOUN
ajst-32561	4	4	was	be	AUX
ajst-32561	4	5	to	to	PART
ajst-32561	4	6	identify	identify	VERB
ajst-32561	4	7	the	the	DET
ajst-32561	4	8	most	most	ADV
ajst-32561	4	9	effective	effective	ADJ
ajst-32561	4	10	and	and	CCONJ
ajst-32561	4	11	accessible	accessible	ADJ
ajst-32561	4	12	optimization	optimization	NOUN
ajst-32561	4	13	technique	technique	NOUN
ajst-32561	4	14	on	on	ADP
ajst-32561	4	15	improving	improve	VERB
ajst-32561	4	16	the	the	DET
ajst-32561	4	17	drone	drone	NOUN
ajst-32561	4	18	stability	stability	NOUN
ajst-32561	4	19	.	.	PUNCT
ajst-32561	5	1	relevant	relevant	ADJ
ajst-32561	5	2	literature	literature	NOUN
ajst-32561	5	3	was	be	AUX
ajst-32561	5	4	collected	collect	VERB
ajst-32561	5	5	from	from	ADP
ajst-32561	5	6	ieee	ieee	PROPN
ajst-32561	5	7	xplore	xplore	PROPN
ajst-32561	5	8	,	,	PUNCT
ajst-32561	5	9	sciencedirect	sciencedirect	PROPN
ajst-32561	5	10	,	,	PUNCT
ajst-32561	5	11	and	and	CCONJ
ajst-32561	5	12	springerlink	springerlink	NOUN
ajst-32561	5	13	databases	database	NOUN
ajst-32561	5	14	,	,	PUNCT
ajst-32561	5	15	focusing	focus	VERB
ajst-32561	5	16	on	on	ADP
ajst-32561	5	17	publications	publication	NOUN
ajst-32561	5	18	from	from	ADP
ajst-32561	5	19	2000	2000	NUM
ajst-32561	5	20	to	to	ADP
ajst-32561	5	21	2024	2024	NUM
ajst-32561	5	22	.	.	PUNCT
ajst-32561	6	1	the	the	DET
ajst-32561	6	2	study	study	NOUN
ajst-32561	6	3	compared	compare	VERB
ajst-32561	6	4	both	both	CCONJ
ajst-32561	6	5	traditional	traditional	ADJ
ajst-32561	6	6	and	and	CCONJ
ajst-32561	6	7	modern	modern	ADJ
ajst-32561	6	8	stabilization	stabilization	NOUN
ajst-32561	6	9	approaches	approach	NOUN
ajst-32561	6	10	while	while	SCONJ
ajst-32561	6	11	exploring	explore	VERB
ajst-32561	6	12	optimization	optimization	NOUN
ajst-32561	6	13	techniques	technique	NOUN
ajst-32561	6	14	designed	design	VERB
ajst-32561	6	15	to	to	PART
ajst-32561	6	16	enhance	enhance	VERB
ajst-32561	6	17	adaptability	adaptability	NOUN
ajst-32561	6	18	and	and	CCONJ
ajst-32561	6	19	reliability	reliability	NOUN
ajst-32561	6	20	in	in	ADP
ajst-32561	6	21	complex	complex	ADJ
ajst-32561	6	22	real	real	ADJ
ajst-32561	6	23	-	-	PUNCT
ajst-32561	6	24	world	world	NOUN
ajst-32561	6	25	environments	environment	NOUN
ajst-32561	6	26	.	.	PUNCT
ajst-32561	7	1	the	the	DET
ajst-32561	7	2	methodology	methodology	NOUN
ajst-32561	7	3	involved	involve	VERB
ajst-32561	7	4	theoretical	theoretical	ADJ
ajst-32561	7	5	analysis	analysis	NOUN
ajst-32561	7	6	of	of	ADP
ajst-32561	7	7	the	the	DET
ajst-32561	7	8	physical	physical	ADJ
ajst-32561	7	9	principles	principle	NOUN
ajst-32561	7	10	underlying	underlie	VERB
ajst-32561	7	11	uav	uav	PROPN
ajst-32561	7	12	operations	operation	NOUN
ajst-32561	7	13	,	,	PUNCT
ajst-32561	7	14	followed	follow	VERB
ajst-32561	7	15	by	by	ADP
ajst-32561	7	16	the	the	DET
ajst-32561	7	17	integration	integration	NOUN
ajst-32561	7	18	of	of	ADP
ajst-32561	7	19	sensors	sensor	NOUN
ajst-32561	7	20	and	and	CCONJ
ajst-32561	7	21	signal	signal	NOUN
ajst-32561	7	22	-	-	PUNCT
ajst-32561	7	23	conditioning	conditioning	NOUN
ajst-32561	7	24	circuits	circuit	NOUN
ajst-32561	7	25	into	into	ADP
ajst-32561	7	26	the	the	DET
ajst-32561	7	27	control	control	NOUN
ajst-32561	7	28	system	system	NOUN
ajst-32561	7	29	design	design	NOUN
ajst-32561	7	30	.	.	PUNCT
ajst-32561	8	1	a	a	DET
ajst-32561	8	2	proportional	proportional	ADJ
ajst-32561	8	3	–	–	PUNCT
ajst-32561	8	4	integral	integral	ADJ
ajst-32561	8	5	–	–	PUNCT
ajst-32561	8	6	derivative	derivative	ADJ
ajst-32561	8	7	(	(	PUNCT
ajst-32561	8	8	pid	pid	NOUN
ajst-32561	8	9	)	)	PUNCT
ajst-32561	8	10	control	control	NOUN
ajst-32561	8	11	framework	framework	NOUN
ajst-32561	8	12	was	be	AUX
ajst-32561	8	13	modeled	model	VERB
ajst-32561	8	14	and	and	CCONJ
ajst-32561	8	15	evaluated	evaluate	VERB
ajst-32561	8	16	,	,	PUNCT
ajst-32561	8	17	and	and	CCONJ
ajst-32561	8	18	its	its	PRON
ajst-32561	8	19	limitations	limitation	NOUN
ajst-32561	8	20	under	under	ADP
ajst-32561	8	21	nonlinear	nonlinear	ADJ
ajst-32561	8	22	conditions	condition	NOUN
ajst-32561	8	23	were	be	AUX
ajst-32561	8	24	analyzed	analyze	VERB
ajst-32561	8	25	.	.	PUNCT
ajst-32561	9	1	in	in	ADP
ajst-32561	9	2	contrast	contrast	NOUN
ajst-32561	9	3	,	,	PUNCT
ajst-32561	9	4	sensor	sensor	NOUN
ajst-32561	9	5	fusion	fusion	NOUN
ajst-32561	9	6	combined	combine	VERB
ajst-32561	9	7	with	with	ADP
ajst-32561	9	8	optimization	optimization	NOUN
ajst-32561	9	9	algorithms	algorithm	NOUN
ajst-32561	9	10	significantly	significantly	ADV
ajst-32561	9	11	improved	improve	VERB
ajst-32561	9	12	the	the	DET
ajst-32561	9	13	system	system	NOUN
ajst-32561	9	14	’s	’s	PART
ajst-32561	9	15	robustness	robustness	NOUN
ajst-32561	9	16	and	and	CCONJ
ajst-32561	9	17	precision	precision	NOUN
ajst-32561	9	18	.	.	PUNCT
ajst-32561	10	1	the	the	DET
ajst-32561	10	2	results	result	NOUN
ajst-32561	10	3	demonstrated	demonstrate	VERB
ajst-32561	10	4	that	that	SCONJ
ajst-32561	10	5	integrating	integrate	VERB
ajst-32561	10	6	conventional	conventional	ADJ
ajst-32561	10	7	control	control	NOUN
ajst-32561	10	8	with	with	ADP
ajst-32561	10	9	intelligent	intelligent	ADJ
ajst-32561	10	10	methods	method	NOUN
ajst-32561	10	11	provided	provide	VERB
ajst-32561	10	12	superior	superior	ADJ
ajst-32561	10	13	stabilization	stabilization	NOUN
ajst-32561	10	14	performance	performance	NOUN
ajst-32561	10	15	.	.	PUNCT
ajst-32561	11	1	this	this	DET
ajst-32561	11	2	research	research	NOUN
ajst-32561	11	3	contributed	contribute	VERB
ajst-32561	11	4	to	to	ADP
ajst-32561	11	5	a	a	DET
ajst-32561	11	6	better	well	ADJ
ajst-32561	11	7	understanding	understanding	NOUN
ajst-32561	11	8	of	of	ADP
ajst-32561	11	9	uav	uav	PROPN
ajst-32561	11	10	stabilization	stabilization	NOUN
ajst-32561	11	11	mechanisms	mechanism	NOUN
ajst-32561	11	12	and	and	CCONJ
ajst-32561	11	13	offered	offer	VERB
ajst-32561	11	14	valuable	valuable	ADJ
ajst-32561	11	15	insights	insight	NOUN
ajst-32561	11	16	for	for	ADP
ajst-32561	11	17	future	future	ADJ
ajst-32561	11	18	development	development	NOUN
ajst-32561	11	19	of	of	ADP
ajst-32561	11	20	more	more	ADV
ajst-32561	11	21	reliable	reliable	ADJ
ajst-32561	11	22	and	and	CCONJ
ajst-32561	11	23	adaptive	adaptive	ADJ
ajst-32561	11	24	drone	drone	NOUN
ajst-32561	11	25	control	control	NOUN
ajst-32561	11	26	systems	system	NOUN
ajst-32561	11	27	.	.	PUNCT
ajst-32561	12	1	keywords	keyword	NOUN
ajst-32561	12	2	:	:	PUNCT
ajst-32561	12	3	drone	drone	NOUN
ajst-32561	12	4	;	;	PUNCT
ajst-32561	12	5	stabilization	stabilization	NOUN
ajst-32561	12	6	;	;	PUNCT
ajst-32561	12	7	optimization	optimization	NOUN
ajst-32561	12	8	;	;	PUNCT
ajst-32561	12	9	pid	pid	NOUN
ajst-32561	12	10	control	control	NOUN
ajst-32561	12	11	;	;	PUNCT
ajst-32561	12	12	sensor	sensor	NOUN
ajst-32561	12	13	.	.	PUNCT
ajst-32561	13	1	1	1	X
ajst-32561	13	2	.	.	X
ajst-32561	13	3	introduction	introduction	NOUN
ajst-32561	13	4	in	in	ADP
ajst-32561	13	5	recent	recent	ADJ
ajst-32561	13	6	years	year	NOUN
ajst-32561	13	7	,	,	PUNCT
ajst-32561	13	8	the	the	DET
ajst-32561	13	9	rapid	rapid	ADJ
ajst-32561	13	10	evolution	evolution	NOUN
ajst-32561	13	11	of	of	ADP
ajst-32561	13	12	embedded	embed	VERB
ajst-32561	13	13	systems	system	NOUN
ajst-32561	13	14	,	,	PUNCT
ajst-32561	13	15	lightweight	lightweight	ADJ
ajst-32561	13	16	materials	material	NOUN
ajst-32561	13	17	and	and	CCONJ
ajst-32561	13	18	autonomous	autonomous	ADJ
ajst-32561	13	19	control	control	NOUN
ajst-32561	13	20	technologies	technology	NOUN
ajst-32561	13	21	has	have	AUX
ajst-32561	13	22	driven	drive	VERB
ajst-32561	13	23	more	more	ADJ
ajst-32561	13	24	and	and	CCONJ
ajst-32561	13	25	more	more	ADJ
ajst-32561	13	26	products	product	NOUN
ajst-32561	13	27	towards	towards	ADP
ajst-32561	13	28	greater	great	ADJ
ajst-32561	13	29	efficiency	efficiency	NOUN
ajst-32561	13	30	,	,	PUNCT
ajst-32561	13	31	responsiveness	responsiveness	NOUN
ajst-32561	13	32	and	and	CCONJ
ajst-32561	13	33	precision	precision	NOUN
ajst-32561	13	34	[	[	X
ajst-32561	13	35	1	1	NUM
ajst-32561	13	36	]	]	PUNCT
ajst-32561	13	37	.	.	PUNCT
ajst-32561	14	1	the	the	DET
ajst-32561	14	2	most	most	ADV
ajst-32561	14	3	typical	typical	ADJ
ajst-32561	14	4	example	example	NOUN
ajst-32561	14	5	is	be	AUX
ajst-32561	14	6	the	the	DET
ajst-32561	14	7	unmanned	unmanned	ADJ
ajst-32561	14	8	aerials	aerial	NOUN
ajst-32561	14	9	vehicles	vehicle	NOUN
ajst-32561	14	10	(	(	PUNCT
ajst-32561	14	11	uav	uav	PROPN
ajst-32561	14	12	)	)	PUNCT
ajst-32561	14	13	,	,	PUNCT
ajst-32561	14	14	commonly	commonly	ADV
ajst-32561	14	15	referred	refer	VERB
ajst-32561	14	16	to	to	ADP
ajst-32561	14	17	drones	drone	NOUN
ajst-32561	14	18	which	which	PRON
ajst-32561	14	19	are	be	AUX
ajst-32561	14	20	aircraft	aircraft	NOUN
ajst-32561	14	21	that	that	PRON
ajst-32561	14	22	operate	operate	VERB
ajst-32561	14	23	without	without	ADP
ajst-32561	14	24	human	human	ADJ
ajst-32561	14	25	pilots	pilot	NOUN
ajst-32561	14	26	which	which	PRON
ajst-32561	14	27	have	have	AUX
ajst-32561	14	28	experienced	experience	VERB
ajst-32561	14	29	significant	significant	ADJ
ajst-32561	14	30	innovation	innovation	NOUN
ajst-32561	14	31	and	and	CCONJ
ajst-32561	14	32	miniaturization	miniaturization	NOUN
ajst-32561	14	33	from	from	ADP
ajst-32561	14	34	a	a	DET
ajst-32561	14	35	remote	remote	ADJ
ajst-32561	14	36	-	-	PUNCT
ajst-32561	14	37	controlled	control	VERB
ajst-32561	14	38	aircraft	aircraft	NOUN
ajst-32561	14	39	to	to	ADP
ajst-32561	14	40	a	a	DET
ajst-32561	14	41	highly	highly	ADV
ajst-32561	14	42	sophisticated	sophisticated	ADJ
ajst-32561	14	43	autonomous	autonomous	ADJ
ajst-32561	14	44	system	system	NOUN
ajst-32561	14	45	,	,	PUNCT
ajst-32561	14	46	making	make	VERB
ajst-32561	14	47	them	they	PRON
ajst-32561	14	48	more	more	ADV
ajst-32561	14	49	accessible	accessible	ADJ
ajst-32561	14	50	and	and	CCONJ
ajst-32561	14	51	practical	practical	ADJ
ajst-32561	14	52	for	for	ADP
ajst-32561	14	53	civil	civil	ADJ
ajst-32561	14	54	and	and	CCONJ
ajst-32561	14	55	commercial	commercial	ADJ
ajst-32561	14	56	applications	application	NOUN
ajst-32561	14	57	[	[	X
ajst-32561	14	58	2	2	NUM
ajst-32561	14	59	]	]	PUNCT
ajst-32561	14	60	.	.	PUNCT
ajst-32561	15	1	this	this	PRON
ajst-32561	15	2	includes	include	VERB
ajst-32561	15	3	precision	precision	NOUN
ajst-32561	15	4	agriculture	agriculture	NOUN
ajst-32561	15	5	,	,	PUNCT
ajst-32561	15	6	environment	environment	NOUN
ajst-32561	15	7	monitoring	monitoring	NOUN
ajst-32561	15	8	,	,	PUNCT
ajst-32561	15	9	and	and	CCONJ
ajst-32561	15	10	disaster	disaster	NOUN
ajst-32561	15	11	management	management	NOUN
ajst-32561	15	12	.	.	PUNCT
ajst-32561	16	1	their	their	PRON
ajst-32561	16	2	ability	ability	NOUN
ajst-32561	16	3	to	to	PART
ajst-32561	16	4	be	be	AUX
ajst-32561	16	5	able	able	ADJ
ajst-32561	16	6	to	to	PART
ajst-32561	16	7	operate	operate	VERB
ajst-32561	16	8	in	in	ADP
ajst-32561	16	9	hazardous	hazardous	ADJ
ajst-32561	16	10	environments	environment	NOUN
ajst-32561	16	11	makes	make	VERB
ajst-32561	16	12	them	they	PRON
ajst-32561	16	13	irreplaceable	irreplaceable	ADJ
ajst-32561	16	14	tools	tool	NOUN
ajst-32561	16	15	for	for	ADP
ajst-32561	16	16	the	the	DET
ajst-32561	16	17	modern	modern	ADJ
ajst-32561	16	18	industry	industry	NOUN
ajst-32561	16	19	and	and	CCONJ
ajst-32561	16	20	research	research	NOUN
ajst-32561	16	21	[	[	X
ajst-32561	16	22	3	3	NUM
ajst-32561	16	23	]	]	PUNCT
ajst-32561	16	24	.	.	PUNCT
ajst-32561	17	1	among	among	ADP
ajst-32561	17	2	the	the	DET
ajst-32561	17	3	critical	critical	ADJ
ajst-32561	17	4	aspects	aspect	NOUN
ajst-32561	17	5	of	of	ADP
ajst-32561	17	6	the	the	DET
ajst-32561	17	7	uav	uav	PROPN
ajst-32561	17	8	development	development	PROPN
ajst-32561	17	9	,	,	PUNCT
ajst-32561	17	10	flight	flight	NOUN
ajst-32561	17	11	stabilization	stabilization	NOUN
ajst-32561	17	12	still	still	ADV
ajst-32561	17	13	remains	remain	VERB
ajst-32561	17	14	a	a	DET
ajst-32561	17	15	challenging	challenging	ADJ
ajst-32561	17	16	area	area	NOUN
ajst-32561	17	17	with	with	ADP
ajst-32561	17	18	considerable	considerable	ADJ
ajst-32561	17	19	room	room	NOUN
ajst-32561	17	20	for	for	ADP
ajst-32561	17	21	refinement	refinement	NOUN
ajst-32561	17	22	.	.	PUNCT
ajst-32561	18	1	stability	stability	NOUN
ajst-32561	18	2	refers	refer	VERB
ajst-32561	18	3	to	to	ADP
ajst-32561	18	4	the	the	DET
ajst-32561	18	5	systems	system	NOUN
ajst-32561	18	6	’	'	PUNCT
ajst-32561	18	7	ability	ability	NOUN
ajst-32561	18	8	to	to	PART
ajst-32561	18	9	respond	respond	VERB
ajst-32561	18	10	effectively	effectively	ADV
ajst-32561	18	11	rapidly	rapidly	ADV
ajst-32561	18	12	to	to	ADP
ajst-32561	18	13	internal	internal	ADJ
ajst-32561	18	14	and	and	CCONJ
ajst-32561	18	15	external	external	ADJ
ajst-32561	18	16	stimuli	stimulus	NOUN
ajst-32561	18	17	,	,	PUNCT
ajst-32561	18	18	including	include	VERB
ajst-32561	18	19	payload	payload	NOUN
ajst-32561	18	20	variations	variation	NOUN
ajst-32561	18	21	,	,	PUNCT
ajst-32561	18	22	sensor	sensor	NOUN
ajst-32561	18	23	noise	noise	NOUN
ajst-32561	18	24	,	,	PUNCT
ajst-32561	18	25	wind	wind	NOUN
ajst-32561	18	26	disturbances	disturbance	NOUN
ajst-32561	18	27	and	and	CCONJ
ajst-32561	18	28	other	other	ADJ
ajst-32561	18	29	aerodynamic	aerodynamic	ADJ
ajst-32561	18	30	perturbations	perturbation	NOUN
ajst-32561	18	31	[	[	X
ajst-32561	18	32	3	3	NUM
ajst-32561	18	33	]	]	PUNCT
ajst-32561	18	34	.	.	PUNCT
ajst-32561	19	1	it	it	PRON
ajst-32561	19	2	is	be	AUX
ajst-32561	19	3	fundamental	fundamental	ADJ
ajst-32561	19	4	for	for	ADP
ajst-32561	19	5	achieving	achieve	VERB
ajst-32561	19	6	the	the	DET
ajst-32561	19	7	flights	flight	NOUN
ajst-32561	19	8	’	'	PUNCT
ajst-32561	19	9	stability	stability	NOUN
ajst-32561	19	10	in	in	ADP
ajst-32561	19	11	the	the	DET
ajst-32561	19	12	aspect	aspect	NOUN
ajst-32561	19	13	of	of	ADP
ajst-32561	19	14	ensuring	ensure	VERB
ajst-32561	19	15	precise	precise	ADJ
ajst-32561	19	16	control	control	NOUN
ajst-32561	19	17	over	over	ADP
ajst-32561	19	18	the	the	DET
ajst-32561	19	19	drone	drone	NOUN
ajst-32561	19	20	’s	’s	PART
ajst-32561	19	21	position	position	NOUN
ajst-32561	19	22	and	and	CCONJ
ajst-32561	19	23	orientation	orientation	NOUN
ajst-32561	19	24	,	,	PUNCT
ajst-32561	19	25	which	which	PRON
ajst-32561	19	26	are	be	AUX
ajst-32561	19	27	the	the	DET
ajst-32561	19	28	key	key	ADJ
ajst-32561	19	29	requirements	requirement	NOUN
ajst-32561	19	30	for	for	ADP
ajst-32561	19	31	accurate	accurate	ADJ
ajst-32561	19	32	task	task	NOUN
ajst-32561	19	33	executions	execution	NOUN
ajst-32561	19	34	.	.	PUNCT
ajst-32561	20	1	unlike	unlike	ADP
ajst-32561	20	2	fixed	fix	VERB
ajst-32561	20	3	-	-	PUNCT
ajst-32561	20	4	wing	wing	NOUN
ajst-32561	20	5	aircraft	aircraft	NOUN
ajst-32561	20	6	that	that	PRON
ajst-32561	20	7	benefit	benefit	VERB
ajst-32561	20	8	from	from	ADP
ajst-32561	20	9	its	its	PRON
ajst-32561	20	10	aerodynamic	aerodynamic	ADJ
ajst-32561	20	11	stability	stability	NOUN
ajst-32561	20	12	,	,	PUNCT
ajst-32561	20	13	the	the	DET
ajst-32561	20	14	multi	multi	ADJ
ajst-32561	20	15	-	-	ADJ
ajst-32561	20	16	rotor	rotor	ADJ
ajst-32561	20	17	uavs	uavs	NOUN
ajst-32561	20	18	are	be	AUX
ajst-32561	20	19	inherently	inherently	ADV
ajst-32561	20	20	unstable	unstable	ADJ
ajst-32561	20	21	platforms	platform	NOUN
ajst-32561	20	22	,	,	PUNCT
ajst-32561	20	23	meaning	mean	VERB
ajst-32561	20	24	that	that	SCONJ
ajst-32561	20	25	even	even	ADV
ajst-32561	20	26	small	small	ADJ
ajst-32561	20	27	disturbances	disturbance	NOUN
ajst-32561	20	28	from	from	ADP
ajst-32561	20	29	the	the	DET
ajst-32561	20	30	environment	environment	NOUN
ajst-32561	20	31	may	may	AUX
ajst-32561	20	32	cause	cause	VERB
ajst-32561	20	33	drones	drone	NOUN
ajst-32561	20	34	’	’	PART
ajst-32561	20	35	deflections	deflection	NOUN
ajst-32561	20	36	from	from	ADP
ajst-32561	20	37	their	their	PRON
ajst-32561	20	38	intended	intend	VERB
ajst-32561	20	39	flight	flight	NOUN
ajst-32561	20	40	path	path	NOUN
ajst-32561	20	41	.	.	PUNCT
ajst-32561	21	1	their	their	PRON
ajst-32561	21	2	ability	ability	NOUN
ajst-32561	21	3	to	to	PART
ajst-32561	21	4	remain	remain	VERB
ajst-32561	21	5	airborne	airborne	ADJ
ajst-32561	21	6	depends	depend	VERB
ajst-32561	21	7	fully	fully	ADV
ajst-32561	21	8	on	on	ADP
ajst-32561	21	9	the	the	DET
ajst-32561	21	10	active	active	ADJ
ajst-32561	21	11	feedback	feedback	NOUN
ajst-32561	21	12	control	control	NOUN
ajst-32561	21	13	.	.	PUNCT
ajst-32561	22	1	to	to	PART
ajst-32561	22	2	address	address	VERB
ajst-32561	22	3	this	this	PRON
ajst-32561	22	4	,	,	PUNCT
ajst-32561	22	5	it	it	PRON
ajst-32561	22	6	is	be	AUX
ajst-32561	22	7	essential	essential	ADJ
ajst-32561	22	8	to	to	PART
ajst-32561	22	9	implement	implement	VERB
ajst-32561	22	10	advanced	advanced	ADJ
ajst-32561	22	11	control	control	NOUN
ajst-32561	22	12	170	170	NUM
ajst-32561	22	13	systems	system	NOUN
ajst-32561	22	14	which	which	PRON
ajst-32561	22	15	can	can	AUX
ajst-32561	22	16	continuously	continuously	ADV
ajst-32561	22	17	interpret	interpret	VERB
ajst-32561	22	18	and	and	CCONJ
ajst-32561	22	19	analyze	analyze	VERB
ajst-32561	22	20	real	real	ADJ
ajst-32561	22	21	-	-	PUNCT
ajst-32561	22	22	time	time	NOUN
ajst-32561	22	23	sensor	sensor	NOUN
ajst-32561	22	24	data	datum	NOUN
ajst-32561	22	25	from	from	ADP
ajst-32561	22	26	imus	imus	PROPN
ajst-32561	22	27	,	,	PUNCT
ajst-32561	22	28	barometers	barometer	NOUN
ajst-32561	22	29	and	and	CCONJ
ajst-32561	22	30	gps	gps	VERB
ajst-32561	22	31	in	in	ADP
ajst-32561	22	32	order	order	NOUN
ajst-32561	22	33	to	to	PART
ajst-32561	22	34	apply	apply	VERB
ajst-32561	22	35	corrections	correction	NOUN
ajst-32561	22	36	.	.	PUNCT
ajst-32561	23	1	these	these	DET
ajst-32561	23	2	systems	system	NOUN
ajst-32561	23	3	,	,	PUNCT
ajst-32561	23	4	often	often	ADV
ajst-32561	23	5	implemented	implement	VERB
ajst-32561	23	6	using	use	VERB
ajst-32561	23	7	proportional	proportional	ADJ
ajst-32561	23	8	interval	interval	NOUN
ajst-32561	23	9	derivative	derivative	NOUN
ajst-32561	23	10	(	(	PUNCT
ajst-32561	23	11	pid	pid	NOUN
ajst-32561	23	12	)	)	PUNCT
ajst-32561	23	13	controllers	controller	NOUN
ajst-32561	23	14	,	,	PUNCT
ajst-32561	23	15	model	model	NOUN
ajst-32561	23	16	predictive	predictive	ADJ
ajst-32561	23	17	control	control	PROPN
ajst-32561	23	18	(	(	PUNCT
ajst-32561	23	19	mpc	mpc	NOUN
ajst-32561	23	20	)	)	PUNCT
ajst-32561	23	21	are	be	AUX
ajst-32561	23	22	critical	critical	ADJ
ajst-32561	23	23	for	for	ADP
ajst-32561	23	24	ensuring	ensure	VERB
ajst-32561	23	25	stable	stable	ADJ
ajst-32561	23	26	flight	flight	NOUN
ajst-32561	23	27	performance	performance	NOUN
ajst-32561	23	28	in	in	ADP
ajst-32561	23	29	the	the	DET
ajst-32561	23	30	presence	presence	NOUN
ajst-32561	23	31	of	of	ADP
ajst-32561	23	32	both	both	CCONJ
ajst-32561	23	33	predictable	predictable	ADJ
ajst-32561	23	34	variations	variation	NOUN
ajst-32561	23	35	and	and	CCONJ
ajst-32561	23	36	unexpected	unexpected	ADJ
ajst-32561	23	37	environmental	environmental	ADJ
ajst-32561	23	38	disruptions	disruption	NOUN
ajst-32561	23	39	[	[	X
ajst-32561	23	40	4	4	NUM
ajst-32561	23	41	]	]	PUNCT
ajst-32561	23	42	.	.	PUNCT
ajst-32561	24	1	in	in	ADP
ajst-32561	24	2	parallel	parallel	NOUN
ajst-32561	24	3	with	with	ADP
ajst-32561	24	4	stabilization	stabilization	NOUN
ajst-32561	24	5	,	,	PUNCT
ajst-32561	24	6	optimization	optimization	NOUN
ajst-32561	24	7	techniques	technique	NOUN
ajst-32561	24	8	play	play	VERB
ajst-32561	24	9	an	an	DET
ajst-32561	24	10	increasingly	increasingly	ADV
ajst-32561	24	11	important	important	ADJ
ajst-32561	24	12	role	role	NOUN
ajst-32561	24	13	in	in	ADP
ajst-32561	24	14	enhancing	enhance	VERB
ajst-32561	24	15	uavs	uavs	NOUN
ajst-32561	24	16	performances	performance	NOUN
ajst-32561	24	17	by	by	ADP
ajst-32561	24	18	adjusting	adjust	VERB
ajst-32561	24	19	details	detail	NOUN
ajst-32561	24	20	for	for	ADP
ajst-32561	24	21	control	control	NOUN
ajst-32561	24	22	system	system	NOUN
ajst-32561	24	23	parameters	parameter	NOUN
ajst-32561	24	24	,	,	PUNCT
ajst-32561	24	25	algorithmic	algorithmic	ADJ
ajst-32561	24	26	behaviors	behavior	NOUN
ajst-32561	24	27	and	and	CCONJ
ajst-32561	24	28	mechanical	mechanical	ADJ
ajst-32561	24	29	configurations	configuration	NOUN
ajst-32561	24	30	.	.	PUNCT
ajst-32561	25	1	optimization	optimization	NOUN
ajst-32561	25	2	seeks	seek	VERB
ajst-32561	25	3	to	to	PART
ajst-32561	25	4	achieve	achieve	VERB
ajst-32561	25	5	higher	high	ADJ
ajst-32561	25	6	intelligence	intelligence	NOUN
ajst-32561	25	7	and	and	CCONJ
ajst-32561	25	8	accuracy	accuracy	NOUN
ajst-32561	25	9	to	to	ADP
ajst-32561	25	10	dynamic	dynamic	ADJ
ajst-32561	25	11	environments	environment	NOUN
ajst-32561	25	12	through	through	ADP
ajst-32561	25	13	techniques	technique	NOUN
ajst-32561	25	14	such	such	ADJ
ajst-32561	25	15	as	as	ADP
ajst-32561	25	16	pid	pid	NOUN
ajst-32561	25	17	gain	gain	NOUN
ajst-32561	25	18	tuning	tune	VERB
ajst-32561	25	19	,	,	PUNCT
ajst-32561	25	20	without	without	ADP
ajst-32561	25	21	optimization	optimization	NOUN
ajst-32561	25	22	techniques	technique	NOUN
ajst-32561	25	23	,	,	PUNCT
ajst-32561	25	24	drones	drone	NOUN
ajst-32561	25	25	may	may	AUX
ajst-32561	25	26	exhibit	exhibit	VERB
ajst-32561	25	27	issues	issue	NOUN
ajst-32561	25	28	such	such	ADJ
ajst-32561	25	29	as	as	ADP
ajst-32561	25	30	sluggish	sluggish	ADJ
ajst-32561	25	31	response	response	NOUN
ajst-32561	25	32	and	and	CCONJ
ajst-32561	25	33	not	not	PART
ajst-32561	25	34	be	be	AUX
ajst-32561	25	35	able	able	ADJ
ajst-32561	25	36	to	to	PART
ajst-32561	25	37	perform	perform	VERB
ajst-32561	25	38	advanced	advanced	ADJ
ajst-32561	25	39	tasks	task	NOUN
ajst-32561	25	40	like	like	ADP
ajst-32561	25	41	obstacle	obstacle	NOUN
ajst-32561	25	42	avoidance	avoidance	NOUN
ajst-32561	25	43	.	.	PUNCT
ajst-32561	26	1	this	this	DET
ajst-32561	26	2	essay	essay	NOUN
ajst-32561	26	3	aims	aim	VERB
ajst-32561	26	4	to	to	PART
ajst-32561	26	5	present	present	VERB
ajst-32561	26	6	the	the	DET
ajst-32561	26	7	background	background	NOUN
ajst-32561	26	8	knowledge	knowledge	NOUN
ajst-32561	26	9	for	for	ADP
ajst-32561	26	10	drones	drone	NOUN
ajst-32561	26	11	and	and	CCONJ
ajst-32561	26	12	a	a	DET
ajst-32561	26	13	comparative	comparative	ADJ
ajst-32561	26	14	analysis	analysis	NOUN
ajst-32561	26	15	of	of	ADP
ajst-32561	26	16	various	various	ADJ
ajst-32561	26	17	drone	drone	NOUN
ajst-32561	26	18	stabilization	stabilization	NOUN
ajst-32561	26	19	methods	method	NOUN
ajst-32561	26	20	,	,	PUNCT
ajst-32561	26	21	ranging	range	VERB
ajst-32561	26	22	from	from	ADP
ajst-32561	26	23	traditional	traditional	ADJ
ajst-32561	26	24	pid	pid	NOUN
ajst-32561	26	25	to	to	ADP
ajst-32561	26	26	modern	modern	ADJ
ajst-32561	26	27	mpc	mpc	PROPN
ajst-32561	26	28	and	and	CCONJ
ajst-32561	26	29	artificial	artificial	ADJ
ajst-32561	26	30	intelligence	intelligence	NOUN
ajst-32561	26	31	-	-	PUNCT
ajst-32561	26	32	based	base	VERB
ajst-32561	26	33	approaches	approach	NOUN
ajst-32561	26	34	in	in	ADP
ajst-32561	26	35	order	order	NOUN
ajst-32561	26	36	to	to	PART
ajst-32561	26	37	find	find	VERB
ajst-32561	26	38	out	out	ADP
ajst-32561	26	39	the	the	DET
ajst-32561	26	40	most	most	ADV
ajst-32561	26	41	effective	effective	ADJ
ajst-32561	26	42	way	way	NOUN
ajst-32561	26	43	to	to	PART
ajst-32561	26	44	maintain	maintain	VERB
ajst-32561	26	45	stabilization	stabilization	NOUN
ajst-32561	26	46	.	.	PUNCT
ajst-32561	27	1	for	for	ADP
ajst-32561	27	2	the	the	DET
ajst-32561	27	3	main	main	ADJ
ajst-32561	27	4	text	text	NOUN
ajst-32561	27	5	,	,	PUNCT
ajst-32561	27	6	it	it	PRON
ajst-32561	27	7	was	be	AUX
ajst-32561	27	8	divided	divide	VERB
ajst-32561	27	9	into	into	ADP
ajst-32561	27	10	four	four	NUM
ajst-32561	27	11	aspects	aspect	NOUN
ajst-32561	27	12	,	,	PUNCT
ajst-32561	27	13	including	include	VERB
ajst-32561	27	14	physical	physical	ADJ
ajst-32561	27	15	basis	basis	NOUN
ajst-32561	27	16	of	of	ADP
ajst-32561	27	17	uav	uav	PROPN
ajst-32561	27	18	operations	operation	NOUN
ajst-32561	27	19	,	,	PUNCT
ajst-32561	27	20	drone	drone	NOUN
ajst-32561	27	21	stabilization	stabilization	NOUN
ajst-32561	27	22	methods	method	NOUN
ajst-32561	27	23	,	,	PUNCT
ajst-32561	27	24	optimization	optimization	NOUN
ajst-32561	27	25	techniques	technique	NOUN
ajst-32561	27	26	and	and	CCONJ
ajst-32561	27	27	comparative	comparative	ADJ
ajst-32561	27	28	evaluation	evaluation	NOUN
ajst-32561	27	29	.	.	PUNCT
ajst-32561	28	1	2	2	X
ajst-32561	28	2	.	.	X
ajst-32561	28	3	physical	physical	ADJ
ajst-32561	28	4	basis	basis	NOUN
ajst-32561	28	5	of	of	ADP
ajst-32561	28	6	uav	uav	PROPN
ajst-32561	28	7	operations	operation	NOUN
ajst-32561	28	8	2.1	2.1	NUM
ajst-32561	28	9	air	air	NOUN
ajst-32561	28	10	-	-	PUNCT
ajst-32561	28	11	frame	frame	NOUN
ajst-32561	28	12	and	and	CCONJ
ajst-32561	28	13	structural	structural	ADJ
ajst-32561	28	14	design	design	NOUN
ajst-32561	28	15	the	the	DET
ajst-32561	28	16	air	air	NOUN
ajst-32561	28	17	-	-	PUNCT
ajst-32561	28	18	frame	frame	NOUN
ajst-32561	28	19	is	be	AUX
ajst-32561	28	20	the	the	DET
ajst-32561	28	21	foundational	foundational	ADJ
ajst-32561	28	22	mechanical	mechanical	ADJ
ajst-32561	28	23	structure	structure	NOUN
ajst-32561	28	24	of	of	ADP
ajst-32561	28	25	uavs	uavs	PROPN
ajst-32561	28	26	,	,	PUNCT
ajst-32561	28	27	acting	act	VERB
ajst-32561	28	28	as	as	ADP
ajst-32561	28	29	the	the	DET
ajst-32561	28	30	physical	physical	ADJ
ajst-32561	28	31	skeleton	skeleton	NOUN
ajst-32561	28	32	which	which	PRON
ajst-32561	28	33	supports	support	VERB
ajst-32561	28	34	all	all	DET
ajst-32561	28	35	onboard	onboard	ADJ
ajst-32561	28	36	subsystems	subsystem	NOUN
ajst-32561	28	37	.	.	PUNCT
ajst-32561	29	1	modern	modern	ADJ
ajst-32561	29	2	uav	uav	PROPN
ajst-32561	29	3	airframes	airframe	NOUN
ajst-32561	29	4	are	be	AUX
ajst-32561	29	5	predominantly	predominantly	ADV
ajst-32561	29	6	constructed	construct	VERB
ajst-32561	29	7	from	from	ADP
ajst-32561	29	8	lightweight	lightweight	ADJ
ajst-32561	29	9	materials	material	NOUN
ajst-32561	29	10	such	such	ADJ
ajst-32561	29	11	as	as	ADP
ajst-32561	29	12	carbon	carbon	NOUN
ajst-32561	29	13	fiber	fiber	NOUN
ajst-32561	29	14	reinforced	reinforce	VERB
ajst-32561	29	15	polymer	polymer	NOUN
ajst-32561	29	16	(	(	PUNCT
ajst-32561	29	17	cfrp	cfrp	NOUN
ajst-32561	29	18	)	)	PUNCT
ajst-32561	29	19	and	and	CCONJ
ajst-32561	29	20	aircraft	aircraft	NOUN
ajst-32561	29	21	-	-	PUNCT
ajst-32561	29	22	grade	grade	NOUN
ajst-32561	29	23	aluminum	aluminum	NOUN
ajst-32561	29	24	alloys	alloy	NOUN
ajst-32561	29	25	in	in	ADP
ajst-32561	29	26	order	order	NOUN
ajst-32561	29	27	to	to	PART
ajst-32561	29	28	ensure	ensure	VERB
ajst-32561	29	29	both	both	DET
ajst-32561	29	30	flight	flight	NOUN
ajst-32561	29	31	efficiency	efficiency	NOUN
ajst-32561	29	32	and	and	CCONJ
ajst-32561	29	33	mechanical	mechanical	ADJ
ajst-32561	29	34	reliability	reliability	NOUN
ajst-32561	29	35	[	[	X
ajst-32561	29	36	5	5	NUM
ajst-32561	29	37	]	]	PUNCT
ajst-32561	29	38	.	.	PUNCT
ajst-32561	30	1	these	these	DET
ajst-32561	30	2	material	material	NOUN
ajst-32561	30	3	selections	selection	NOUN
ajst-32561	30	4	offer	offer	VERB
ajst-32561	30	5	exceptional	exceptional	ADJ
ajst-32561	30	6	stiffness	stiffness	NOUN
ajst-32561	30	7	-	-	PUNCT
ajst-32561	30	8	to	to	ADP
ajst-32561	30	9	-	-	PUNCT
ajst-32561	30	10	weight	weight	NOUN
ajst-32561	30	11	ratios	ratio	NOUN
ajst-32561	30	12	and	and	CCONJ
ajst-32561	30	13	intrinsic	intrinsic	ADJ
ajst-32561	30	14	vibration	vibration	NOUN
ajst-32561	30	15	resistance	resistance	NOUN
ajst-32561	30	16	in	in	ADP
ajst-32561	30	17	order	order	NOUN
ajst-32561	30	18	to	to	PART
ajst-32561	30	19	minimize	minimize	VERB
ajst-32561	30	20	energy	energy	NOUN
ajst-32561	30	21	consumption	consumption	NOUN
ajst-32561	30	22	and	and	CCONJ
ajst-32561	30	23	reduce	reduce	VERB
ajst-32561	30	24	high	high	ADJ
ajst-32561	30	25	frequency	frequency	NOUN
ajst-32561	30	26	noise	noise	NOUN
ajst-32561	30	27	.	.	PUNCT
ajst-32561	31	1	this	this	PRON
ajst-32561	31	2	is	be	AUX
ajst-32561	31	3	essential	essential	ADJ
ajst-32561	31	4	for	for	ADP
ajst-32561	31	5	sensitive	sensitive	ADJ
ajst-32561	31	6	instruments	instrument	NOUN
ajst-32561	31	7	,	,	PUNCT
ajst-32561	31	8	particularly	particularly	ADV
ajst-32561	31	9	imus	imus	PROPN
ajst-32561	31	10	[	[	X
ajst-32561	31	11	6	6	NUM
ajst-32561	31	12	]	]	PUNCT
ajst-32561	31	13	,	,	PUNCT
ajst-32561	31	14	whose	whose	DET
ajst-32561	31	15	readings	reading	NOUN
ajst-32561	31	16	can	can	AUX
ajst-32561	31	17	be	be	AUX
ajst-32561	31	18	easily	easily	ADV
ajst-32561	31	19	skewed	skew	VERB
ajst-32561	31	20	by	by	ADP
ajst-32561	31	21	structural	structural	ADJ
ajst-32561	31	22	oscillations	oscillation	NOUN
ajst-32561	31	23	.	.	PUNCT
ajst-32561	32	1	air	air	NOUN
ajst-32561	32	2	-	-	PUNCT
ajst-32561	32	3	frame	frame	NOUN
ajst-32561	32	4	geometry	geometry	NOUN
ajst-32561	32	5	is	be	AUX
ajst-32561	32	6	trailered	trailere	VERB
ajst-32561	32	7	to	to	ADP
ajst-32561	32	8	specific	specific	ADJ
ajst-32561	32	9	mission	mission	NOUN
ajst-32561	32	10	requirements	requirement	NOUN
ajst-32561	32	11	.	.	PUNCT
ajst-32561	33	1	for	for	ADP
ajst-32561	33	2	example	example	NOUN
ajst-32561	33	3	,	,	PUNCT
ajst-32561	33	4	h	h	NOUN
ajst-32561	33	5	-	-	PUNCT
ajst-32561	33	6	frames	frame	NOUN
ajst-32561	33	7	and	and	CCONJ
ajst-32561	33	8	xframes	xframe	NOUN
ajst-32561	33	9	configurations	configuration	NOUN
ajst-32561	33	10	are	be	AUX
ajst-32561	33	11	optimized	optimize	VERB
ajst-32561	33	12	for	for	ADP
ajst-32561	33	13	payload	payload	ADJ
ajst-32561	33	14	stability	stability	NOUN
ajst-32561	33	15	,	,	PUNCT
ajst-32561	33	16	thrust	thrust	NOUN
ajst-32561	33	17	symmetry	symmetry	NOUN
ajst-32561	33	18	and	and	CCONJ
ajst-32561	33	19	the	the	DET
ajst-32561	33	20	center	center	NOUN
ajst-32561	33	21	-	-	PUNCT
ajst-32561	33	22	of	of	ADP
ajst-32561	33	23	-	-	PUNCT
ajst-32561	33	24	mass	mass	NOUN
ajst-32561	33	25	alignment	alignment	NOUN
ajst-32561	33	26	which	which	PRON
ajst-32561	33	27	is	be	AUX
ajst-32561	33	28	often	often	ADV
ajst-32561	33	29	employed	employ	VERB
ajst-32561	33	30	in	in	ADP
ajst-32561	33	31	the	the	DET
ajst-32561	33	32	multi	multi	ADJ
ajst-32561	33	33	-	-	ADJ
ajst-32561	33	34	rotor	rotor	ADJ
ajst-32561	33	35	uavs	uavs	NOUN
ajst-32561	33	36	,	,	PUNCT
ajst-32561	33	37	while	while	SCONJ
ajst-32561	33	38	coaxial	coaxial	ADJ
ajst-32561	33	39	and	and	CCONJ
ajst-32561	33	40	hydride	hydride	NOUN
ajst-32561	33	41	vertical	vertical	ADJ
ajst-32561	33	42	takeoff	takeoff	NOUN
ajst-32561	33	43	and	and	CCONJ
ajst-32561	33	44	landing	landing	NOUN
ajst-32561	33	45	(	(	PUNCT
ajst-32561	33	46	vtol	vtol	NOUN
ajst-32561	33	47	)	)	PUNCT
ajst-32561	33	48	designs	design	NOUN
ajst-32561	33	49	enhance	enhance	VERB
ajst-32561	33	50	space	space	NOUN
ajst-32561	33	51	and	and	CCONJ
ajst-32561	33	52	efficiency	efficiency	NOUN
ajst-32561	33	53	and	and	CCONJ
ajst-32561	33	54	operational	operational	ADJ
ajst-32561	33	55	versatility	versatility	NOUN
ajst-32561	34	1	[	[	X
ajst-32561	34	2	6	6	NUM
ajst-32561	34	3	]	]	PUNCT
ajst-32561	34	4	.	.	PUNCT
ajst-32561	35	1	to	to	PART
ajst-32561	35	2	address	address	VERB
ajst-32561	35	3	the	the	DET
ajst-32561	35	4	engineering	engineering	NOUN
ajst-32561	35	5	considerations	consideration	NOUN
ajst-32561	35	6	,	,	PUNCT
ajst-32561	35	7	including	include	VERB
ajst-32561	35	8	moment	moment	NOUN
ajst-32561	35	9	of	of	ADP
ajst-32561	35	10	inertia	inertia	NOUN
ajst-32561	35	11	and	and	CCONJ
ajst-32561	35	12	aerodynamic	aerodynamic	ADJ
ajst-32561	35	13	drag	drag	NOUN
ajst-32561	35	14	,	,	PUNCT
ajst-32561	35	15	this	this	PRON
ajst-32561	35	16	means	mean	VERB
ajst-32561	35	17	the	the	DET
ajst-32561	35	18	frame	frame	NOUN
ajst-32561	35	19	layout	layout	NOUN
ajst-32561	35	20	is	be	AUX
ajst-32561	35	21	carefully	carefully	ADV
ajst-32561	35	22	managed	manage	VERB
ajst-32561	35	23	.	.	PUNCT
ajst-32561	36	1	due	due	ADP
ajst-32561	36	2	to	to	ADP
ajst-32561	36	3	mechanical	mechanical	ADJ
ajst-32561	36	4	disturbances	disturbance	NOUN
ajst-32561	36	5	including	include	VERB
ajst-32561	36	6	motors	motor	NOUN
ajst-32561	36	7	and	and	CCONJ
ajst-32561	36	8	propellers	propeller	NOUN
ajst-32561	36	9	,	,	PUNCT
ajst-32561	36	10	effective	effective	ADJ
ajst-32561	36	11	use	use	NOUN
ajst-32561	36	12	of	of	ADP
ajst-32561	36	13	rubber	rubber	NOUN
ajst-32561	36	14	grommets	grommet	NOUN
ajst-32561	36	15	and	and	CCONJ
ajst-32561	36	16	silicons	silicon	NOUN
ajst-32561	36	17	pads	pad	NOUN
ajst-32561	36	18	are	be	AUX
ajst-32561	36	19	protectable	protectable	ADJ
ajst-32561	36	20	crucial	crucial	ADJ
ajst-32561	36	21	electronics	electronic	NOUN
ajst-32561	36	22	from	from	ADP
ajst-32561	36	23	mechanical	mechanical	ADJ
ajst-32561	36	24	fatigue	fatigue	NOUN
ajst-32561	36	25	and	and	CCONJ
ajst-32561	36	26	signal	signal	VERB
ajst-32561	36	27	degradation	degradation	NOUN
ajst-32561	36	28	[	[	X
ajst-32561	36	29	6	6	NUM
ajst-32561	36	30	]	]	PUNCT
ajst-32561	36	31	.	.	PUNCT
ajst-32561	37	1	as	as	SCONJ
ajst-32561	37	2	uav	uav	PROPN
ajst-32561	37	3	systems	systems	PROPN
ajst-32561	37	4	evolve	evolve	VERB
ajst-32561	37	5	towards	towards	ADP
ajst-32561	37	6	a	a	DET
ajst-32561	37	7	higher	high	ADJ
ajst-32561	37	8	level	level	NOUN
ajst-32561	37	9	of	of	ADP
ajst-32561	37	10	autonomy	autonomy	NOUN
ajst-32561	37	11	and	and	CCONJ
ajst-32561	37	12	modularity	modularity	NOUN
ajst-32561	37	13	,	,	PUNCT
ajst-32561	37	14	the	the	DET
ajst-32561	37	15	role	role	NOUN
ajst-32561	37	16	of	of	ADP
ajst-32561	37	17	the	the	DET
ajst-32561	37	18	airframe	airframe	NOUN
ajst-32561	37	19	extends	extend	VERB
ajst-32561	37	20	beyond	beyond	ADP
ajst-32561	37	21	structural	structural	ADJ
ajst-32561	37	22	support	support	NOUN
ajst-32561	37	23	,	,	PUNCT
ajst-32561	37	24	but	but	CCONJ
ajst-32561	37	25	also	also	ADV
ajst-32561	37	26	accommodates	accommodate	VERB
ajst-32561	37	27	other	other	ADJ
ajst-32561	37	28	functions	function	NOUN
ajst-32561	37	29	such	such	ADJ
ajst-32561	37	30	as	as	ADP
ajst-32561	37	31	thermal	thermal	ADJ
ajst-32561	37	32	management	management	NOUN
ajst-32561	37	33	,	,	PUNCT
ajst-32561	37	34	emi	emi	NOUN
ajst-32561	37	35	shielding	shielding	NOUN
ajst-32561	37	36	,	,	PUNCT
ajst-32561	37	37	and	and	CCONJ
ajst-32561	37	38	plug	plug	VERB
ajst-32561	37	39	and	and	CCONJ
ajst-32561	37	40	play	play	VERB
ajst-32561	37	41	reconfigurability	reconfigurability	NOUN
ajst-32561	37	42	in	in	ADP
ajst-32561	37	43	order	order	NOUN
ajst-32561	37	44	to	to	PART
ajst-32561	37	45	adapt	adapt	VERB
ajst-32561	37	46	well	well	ADV
ajst-32561	37	47	in	in	ADP
ajst-32561	37	48	the	the	DET
ajst-32561	37	49	further	further	ADJ
ajst-32561	37	50	complex	complex	ADJ
ajst-32561	37	51	and	and	CCONJ
ajst-32561	37	52	dynamic	dynamic	ADJ
ajst-32561	37	53	operational	operational	ADJ
ajst-32561	37	54	environment	environment	NOUN
ajst-32561	37	55	[	[	X
ajst-32561	37	56	7	7	NUM
ajst-32561	37	57	]	]	PUNCT
ajst-32561	37	58	.	.	PUNCT
ajst-32561	38	1	2.2	2.2	NUM
ajst-32561	38	2	propulsion	propulsion	NOUN
ajst-32561	38	3	and	and	CCONJ
ajst-32561	38	4	actuation	actuation	NOUN
ajst-32561	38	5	systems	system	NOUN
ajst-32561	38	6	the	the	DET
ajst-32561	38	7	propulsion	propulsion	NOUN
ajst-32561	38	8	and	and	CCONJ
ajst-32561	38	9	actuation	actuation	NOUN
ajst-32561	38	10	subsystems	subsystem	NOUN
ajst-32561	38	11	are	be	AUX
ajst-32561	38	12	vital	vital	ADJ
ajst-32561	38	13	for	for	ADP
ajst-32561	38	14	enabling	enable	VERB
ajst-32561	38	15	controlled	control	VERB
ajst-32561	38	16	flight	flight	NOUN
ajst-32561	38	17	and	and	CCONJ
ajst-32561	38	18	ensuring	ensure	VERB
ajst-32561	38	19	dynamic	dynamic	ADJ
ajst-32561	38	20	stability	stability	NOUN
ajst-32561	38	21	.	.	PUNCT
ajst-32561	39	1	the	the	DET
ajst-32561	39	2	main	main	ADJ
ajst-32561	39	3	electric	electric	ADJ
ajst-32561	39	4	actuation	actuation	NOUN
ajst-32561	39	5	architectures	architecture	NOUN
ajst-32561	39	6	in	in	ADP
ajst-32561	39	7	drones	drone	NOUN
ajst-32561	39	8	include	include	VERB
ajst-32561	39	9	brushless	brushless	PROPN
ajst-32561	39	10	dc	dc	PROPN
ajst-32561	39	11	motors	motors	PROPN
ajst-32561	39	12	(	(	PUNCT
ajst-32561	39	13	bldc	bldc	PROPN
ajst-32561	39	14	)	)	PUNCT
ajst-32561	39	15	,	,	PUNCT
ajst-32561	39	16	electronic	electronic	ADJ
ajst-32561	39	17	speed	speed	NOUN
ajst-32561	39	18	controllers	controller	NOUN
ajst-32561	39	19	(	(	PUNCT
ajst-32561	39	20	escs	esc	NOUN
ajst-32561	39	21	)	)	PUNCT
ajst-32561	39	22	,	,	PUNCT
ajst-32561	39	23	and	and	CCONJ
ajst-32561	39	24	fixed	fix	VERB
ajst-32561	39	25	-	-	PUNCT
ajst-32561	39	26	pitch	pitch	NOUN
ajst-32561	39	27	propellers	propeller	NOUN
ajst-32561	39	28	[	[	X
ajst-32561	39	29	8	8	NUM
ajst-32561	39	30	]	]	PUNCT
ajst-32561	39	31	.	.	PUNCT
ajst-32561	40	1	bldc	bldc	PROPN
ajst-32561	40	2	motors	motor	NOUN
ajst-32561	40	3	are	be	AUX
ajst-32561	40	4	preferred	prefer	VERB
ajst-32561	40	5	due	due	ADP
ajst-32561	40	6	to	to	ADP
ajst-32561	40	7	their	their	PRON
ajst-32561	40	8	high	high	ADJ
ajst-32561	40	9	-	-	PUNCT
ajst-32561	40	10	torque	torque	NOUN
ajst-32561	40	11	-	-	PUNCT
ajst-32561	40	12	weight	weight	NOUN
ajst-32561	40	13	ratio	ratio	NOUN
ajst-32561	40	14	and	and	CCONJ
ajst-32561	40	15	minimal	minimal	ADJ
ajst-32561	40	16	mechanical	mechanical	ADJ
ajst-32561	40	17	wear	wear	NOUN
ajst-32561	40	18	,	,	PUNCT
ajst-32561	40	19	meaning	mean	VERB
ajst-32561	40	20	the	the	DET
ajst-32561	40	21	motors	motor	NOUN
ajst-32561	40	22	will	will	AUX
ajst-32561	40	23	provide	provide	VERB
ajst-32561	40	24	significant	significant	ADJ
ajst-32561	40	25	rotational	rotational	ADJ
ajst-32561	40	26	force	force	NOUN
ajst-32561	40	27	relative	relative	ADJ
ajst-32561	40	28	to	to	ADP
ajst-32561	40	29	their	their	PRON
ajst-32561	40	30	mass	mass	NOUN
ajst-32561	40	31	by	by	ADP
ajst-32561	40	32	using	use	VERB
ajst-32561	40	33	a	a	DET
ajst-32561	40	34	small	small	ADJ
ajst-32561	40	35	amount	amount	NOUN
ajst-32561	40	36	of	of	ADP
ajst-32561	40	37	resources	resource	NOUN
ajst-32561	40	38	.	.	PUNCT
ajst-32561	41	1	moreover	moreover	ADV
ajst-32561	41	2	,	,	PUNCT
ajst-32561	41	3	these	these	DET
ajst-32561	41	4	motors	motor	NOUN
ajst-32561	41	5	do	do	AUX
ajst-32561	41	6	not	not	PART
ajst-32561	41	7	operate	operate	VERB
ajst-32561	41	8	autonomously	autonomously	ADV
ajst-32561	41	9	;	;	PUNCT
ajst-32561	41	10	instead	instead	ADV
ajst-32561	41	11	,	,	PUNCT
ajst-32561	41	12	their	their	PRON
ajst-32561	41	13	rotational	rotational	ADJ
ajst-32561	41	14	speed	speed	NOUN
ajst-32561	41	15	is	be	AUX
ajst-32561	41	16	regulated	regulate	VERB
ajst-32561	41	17	by	by	ADP
ajst-32561	41	18	escs	esc	NOUN
ajst-32561	41	19	.	.	PUNCT
ajst-32561	42	1	they	they	PRON
ajst-32561	42	2	receive	receive	VERB
ajst-32561	42	3	pulse	pulse	NOUN
ajst-32561	42	4	-	-	PUNCT
ajst-32561	42	5	width	width	NOUN
ajst-32561	42	6	modulated	modulate	VERB
ajst-32561	42	7	signals	signal	NOUN
ajst-32561	42	8	(	(	PUNCT
ajst-32561	42	9	pwm	pwm	NOUN
ajst-32561	42	10	)	)	PUNCT
ajst-32561	42	11	from	from	ADP
ajst-32561	42	12	flight	flight	NOUN
ajst-32561	42	13	controllers	controller	NOUN
ajst-32561	42	14	and	and	CCONJ
ajst-32561	42	15	then	then	ADV
ajst-32561	42	16	convert	convert	VERB
ajst-32561	42	17	these	these	DET
ajst-32561	42	18	signals	signal	NOUN
ajst-32561	42	19	into	into	ADP
ajst-32561	42	20	corresponding	corresponding	ADJ
ajst-32561	42	21	voltage	voltage	NOUN
ajst-32561	42	22	levels	level	NOUN
ajst-32561	42	23	[	[	X
ajst-32561	42	24	9	9	NUM
ajst-32561	42	25	]	]	PUNCT
ajst-32561	42	26	.	.	PUNCT
ajst-32561	43	1	the	the	DET
ajst-32561	43	2	induced	induced	ADJ
ajst-32561	43	3	current	current	NOUN
ajst-32561	43	4	enables	enable	VERB
ajst-32561	43	5	a	a	DET
ajst-32561	43	6	real	real	ADJ
ajst-32561	43	7	-	-	PUNCT
ajst-32561	43	8	time	time	NOUN
ajst-32561	43	9	modulation	modulation	NOUN
ajst-32561	43	10	of	of	ADP
ajst-32561	43	11	rotor	rotor	NOUN
ajst-32561	43	12	rpm	rpm	NOUN
ajst-32561	43	13	(	(	PUNCT
ajst-32561	43	14	revolutions	revolution	NOUN
ajst-32561	43	15	per	per	ADP
ajst-32561	43	16	minute	minute	NOUN
ajst-32561	43	17	)	)	PUNCT
ajst-32561	43	18	to	to	PART
ajst-32561	43	19	produce	produce	VERB
ajst-32561	43	20	differential	differential	NOUN
ajst-32561	43	21	thrust	thrust	VERB
ajst-32561	43	22	across	across	ADP
ajst-32561	43	23	the	the	DET
ajst-32561	43	24	rotors	rotor	NOUN
ajst-32561	43	25	.	.	PUNCT
ajst-32561	44	1	thus	thus	ADV
ajst-32561	44	2	,	,	PUNCT
ajst-32561	44	3	this	this	DET
ajst-32561	44	4	movement	movement	NOUN
ajst-32561	44	5	171	171	NUM
ajst-32561	44	6	also	also	ADV
ajst-32561	44	7	causes	cause	VERB
ajst-32561	44	8	the	the	DET
ajst-32561	44	9	spin	spin	NOUN
ajst-32561	44	10	propellers	propeller	NOUN
ajst-32561	44	11	which	which	PRON
ajst-32561	44	12	impart	impart	VERB
ajst-32561	44	13	momentum	momentum	NOUN
ajst-32561	44	14	to	to	ADP
ajst-32561	44	15	the	the	DET
ajst-32561	44	16	surrounding	surround	VERB
ajst-32561	44	17	air	air	NOUN
ajst-32561	44	18	and	and	CCONJ
ajst-32561	44	19	produce	produce	VERB
ajst-32561	44	20	a	a	DET
ajst-32561	44	21	downward	downward	ADJ
ajst-32561	44	22	airflow	airflow	NOUN
ajst-32561	44	23	known	know	VERB
ajst-32561	44	24	as	as	ADP
ajst-32561	44	25	downwash	downwash	NOUN
ajst-32561	44	26	.	.	PUNCT
ajst-32561	45	1	according	accord	VERB
ajst-32561	45	2	to	to	ADP
ajst-32561	45	3	newton	newton	PROPN
ajst-32561	45	4	's	's	PART
ajst-32561	45	5	third	third	ADJ
ajst-32561	45	6	law	law	NOUN
ajst-32561	45	7	,	,	PUNCT
ajst-32561	45	8	the	the	DET
ajst-32561	45	9	downward	downward	ADJ
ajst-32561	45	10	acceleration	acceleration	NOUN
ajst-32561	45	11	results	result	NOUN
ajst-32561	45	12	in	in	ADP
ajst-32561	45	13	an	an	DET
ajst-32561	45	14	equal	equal	ADJ
ajst-32561	45	15	and	and	CCONJ
ajst-32561	45	16	opposite	opposite	ADJ
ajst-32561	45	17	upward	upward	ADJ
ajst-32561	45	18	force	force	NOUN
ajst-32561	45	19	thrust	thrust	PROPN
ajst-32561	45	20	.	.	PUNCT
ajst-32561	46	1	moreover	moreover	ADV
ajst-32561	46	2	,	,	PUNCT
ajst-32561	46	3	due	due	ADP
ajst-32561	46	4	to	to	ADP
ajst-32561	46	5	the	the	DET
ajst-32561	46	6	special	special	ADJ
ajst-32561	46	7	airfoil	airfoil	NOUN
ajst-32561	46	8	shape	shape	NOUN
ajst-32561	46	9	and	and	CCONJ
ajst-32561	46	10	pitch	pitch	NOUN
ajst-32561	46	11	angle	angle	NOUN
ajst-32561	46	12	of	of	ADP
ajst-32561	46	13	the	the	DET
ajst-32561	46	14	propeller	propeller	NOUN
ajst-32561	46	15	blades	blade	NOUN
ajst-32561	46	16	,	,	PUNCT
ajst-32561	46	17	a	a	DET
ajst-32561	46	18	pressure	pressure	NOUN
ajst-32561	46	19	difference	difference	NOUN
ajst-32561	46	20	forms	form	NOUN
ajst-32561	46	21	between	between	ADP
ajst-32561	46	22	the	the	DET
ajst-32561	46	23	upper	upper	ADJ
ajst-32561	46	24	and	and	CCONJ
ajst-32561	46	25	lower	low	ADJ
ajst-32561	46	26	blade	blade	NOUN
ajst-32561	46	27	surfaces	surface	NOUN
ajst-32561	46	28	which	which	PRON
ajst-32561	46	29	generate	generate	VERB
ajst-32561	46	30	a	a	DET
ajst-32561	46	31	lift	lift	NOUN
ajst-32561	46	32	and	and	CCONJ
ajst-32561	46	33	explained	explain	VERB
ajst-32561	46	34	via	via	ADP
ajst-32561	46	35	bernoulli	bernoulli	PROPN
ajst-32561	46	36	’s	’s	PART
ajst-32561	46	37	principle	principle	NOUN
ajst-32561	46	38	[	[	X
ajst-32561	46	39	9	9	NUM
ajst-32561	46	40	]	]	PUNCT
ajst-32561	46	41	.	.	PUNCT
ajst-32561	47	1	without	without	ADP
ajst-32561	47	2	mechanical	mechanical	ADJ
ajst-32561	47	3	actuation	actuation	NOUN
ajst-32561	47	4	,	,	PUNCT
ajst-32561	47	5	control	control	NOUN
ajst-32561	47	6	in	in	ADP
ajst-32561	47	7	multi	multi	ADJ
ajst-32561	47	8	-	-	ADJ
ajst-32561	47	9	rotor	rotor	ADJ
ajst-32561	47	10	platforms	platform	NOUN
ajst-32561	47	11	is	be	AUX
ajst-32561	47	12	achieved	achieve	VERB
ajst-32561	47	13	through	through	ADP
ajst-32561	47	14	differential	differential	ADJ
ajst-32561	47	15	thrust	thrust	PROPN
ajst-32561	47	16	.	.	PUNCT
ajst-32561	48	1	pitch	pitch	NOUN
ajst-32561	48	2	,	,	PUNCT
ajst-32561	48	3	roll	roll	NOUN
ajst-32561	48	4	and	and	CCONJ
ajst-32561	48	5	yaw	yaw	NOUN
ajst-32561	48	6	are	be	AUX
ajst-32561	48	7	produced	produce	VERB
ajst-32561	48	8	by	by	ADP
ajst-32561	48	9	asymmetrical	asymmetrical	ADJ
ajst-32561	48	10	modulation	modulation	NOUN
ajst-32561	48	11	of	of	ADP
ajst-32561	48	12	rotor	rotor	NOUN
ajst-32561	48	13	velocities	velocity	NOUN
ajst-32561	48	14	with	with	ADP
ajst-32561	48	15	motor	motor	NOUN
ajst-32561	48	16	configurations	configuration	NOUN
ajst-32561	48	17	determining	determine	VERB
ajst-32561	48	18	the	the	DET
ajst-32561	48	19	dynamics	dynamic	NOUN
ajst-32561	48	20	and	and	CCONJ
ajst-32561	48	21	fault	fault	VERB
ajst-32561	48	22	tolerance	tolerance	NOUN
ajst-32561	48	23	of	of	ADP
ajst-32561	48	24	the	the	DET
ajst-32561	48	25	system	system	NOUN
ajst-32561	48	26	[	[	X
ajst-32561	48	27	7	7	NUM
ajst-32561	48	28	]	]	PUNCT
ajst-32561	48	29	.	.	PUNCT
ajst-32561	49	1	together	together	ADV
ajst-32561	49	2	,	,	PUNCT
ajst-32561	49	3	the	the	DET
ajst-32561	49	4	integration	integration	NOUN
ajst-32561	49	5	of	of	ADP
ajst-32561	49	6	differential	differential	ADJ
ajst-32561	49	7	thrust	thrust	NOUN
ajst-32561	49	8	,	,	PUNCT
ajst-32561	49	9	and	and	CCONJ
ajst-32561	49	10	efficient	efficient	ADJ
ajst-32561	49	11	power	power	NOUN
ajst-32561	49	12	electronics	electronic	NOUN
ajst-32561	49	13	provides	provide	VERB
ajst-32561	49	14	a	a	DET
ajst-32561	49	15	simplified	simplified	ADJ
ajst-32561	49	16	mechanical	mechanical	ADJ
ajst-32561	49	17	design	design	NOUN
ajst-32561	49	18	while	while	SCONJ
ajst-32561	49	19	enabling	enable	VERB
ajst-32561	49	20	complex	complex	ADJ
ajst-32561	49	21	dynamics	dynamic	NOUN
ajst-32561	49	22	flight	flight	NOUN
ajst-32561	49	23	behaviors	behavior	NOUN
ajst-32561	49	24	across	across	ADP
ajst-32561	49	25	various	various	ADJ
ajst-32561	49	26	uav	uav	PROPN
ajst-32561	49	27	configurations	configuration	NOUN
ajst-32561	49	28	.	.	PUNCT
ajst-32561	50	1	3	3	X
ajst-32561	50	2	.	.	X
ajst-32561	50	3	drone	drone	NOUN
ajst-32561	50	4	stabilization	stabilization	NOUN
ajst-32561	50	5	methods	method	NOUN
ajst-32561	50	6	3.1	3.1	NUM
ajst-32561	50	7	attitude	attitude	NOUN
ajst-32561	50	8	control	control	NOUN
ajst-32561	50	9	(	(	PUNCT
ajst-32561	50	10	pid	pid	NOUN
ajst-32561	50	11	)	)	PUNCT
ajst-32561	50	12	since	since	SCONJ
ajst-32561	50	13	differential	differential	ADJ
ajst-32561	50	14	thrust	thrust	NOUN
ajst-32561	50	15	provides	provide	VERB
ajst-32561	50	16	the	the	DET
ajst-32561	50	17	basic	basic	ADJ
ajst-32561	50	18	mechanism	mechanism	NOUN
ajst-32561	50	19	for	for	ADP
ajst-32561	50	20	maneuvering	maneuvering	NOUN
ajst-32561	50	21	,	,	PUNCT
ajst-32561	50	22	stabilization	stabilization	NOUN
ajst-32561	50	23	methods	method	NOUN
ajst-32561	50	24	like	like	ADP
ajst-32561	50	25	pid	pid	NOUN
ajst-32561	50	26	control	control	NOUN
ajst-32561	50	27	are	be	AUX
ajst-32561	50	28	applied	apply	VERB
ajst-32561	50	29	to	to	PART
ajst-32561	50	30	ensure	ensure	VERB
ajst-32561	50	31	that	that	SCONJ
ajst-32561	50	32	these	these	DET
ajst-32561	50	33	movements	movement	NOUN
ajst-32561	50	34	remain	remain	VERB
ajst-32561	50	35	accurate	accurate	ADJ
ajst-32561	50	36	and	and	CCONJ
ajst-32561	50	37	well	well	ADV
ajst-32561	50	38	-	-	PUNCT
ajst-32561	50	39	balanced	balanced	ADJ
ajst-32561	50	40	.	.	PUNCT
ajst-32561	51	1	pid	pid	NOUN
ajst-32561	51	2	control	control	NOUN
ajst-32561	51	3	is	be	AUX
ajst-32561	51	4	used	use	VERB
ajst-32561	51	5	to	to	PART
ajst-32561	51	6	adjust	adjust	VERB
ajst-32561	51	7	the	the	DET
ajst-32561	51	8	attitude	attitude	NOUN
ajst-32561	51	9	of	of	ADP
ajst-32561	51	10	drones	drone	NOUN
ajst-32561	51	11	like	like	ADP
ajst-32561	51	12	roll	roll	NOUN
ajst-32561	51	13	,	,	PUNCT
ajst-32561	51	14	pitch	pitch	NOUN
ajst-32561	51	15	,	,	PUNCT
ajst-32561	51	16	and	and	CCONJ
ajst-32561	51	17	yaw	yaw	NOUN
ajst-32561	51	18	which	which	PRON
ajst-32561	51	19	enables	enable	VERB
ajst-32561	51	20	the	the	DET
ajst-32561	51	21	drone	drone	NOUN
ajst-32561	51	22	to	to	PART
ajst-32561	51	23	fly	fly	VERB
ajst-32561	51	24	up	up	ADV
ajst-32561	51	25	,	,	PUNCT
ajst-32561	51	26	forward	forward	ADV
ajst-32561	51	27	or	or	CCONJ
ajst-32561	51	28	spin	spin	VERB
ajst-32561	51	29	.	.	PUNCT
ajst-32561	52	1	first	first	ADV
ajst-32561	52	2	of	of	ADP
ajst-32561	52	3	all	all	DET
ajst-32561	52	4	,	,	PUNCT
ajst-32561	52	5	proportional	proportional	ADJ
ajst-32561	52	6	-	-	PUNCT
ajst-32561	52	7	integral	integral	ADJ
ajst-32561	52	8	-	-	PUNCT
ajst-32561	52	9	derivative	derivative	ADJ
ajst-32561	52	10	controller	controller	NOUN
ajst-32561	52	11	(	(	PUNCT
ajst-32561	52	12	pid	pid	NOUN
ajst-32561	52	13	)	)	PUNCT
ajst-32561	52	14	is	be	AUX
ajst-32561	52	15	a	a	DET
ajst-32561	52	16	controller	controller	NOUN
ajst-32561	52	17	which	which	PRON
ajst-32561	52	18	is	be	AUX
ajst-32561	52	19	widely	widely	ADV
ajst-32561	52	20	used	use	VERB
ajst-32561	52	21	in	in	ADP
ajst-32561	52	22	industrial	industrial	ADJ
ajst-32561	52	23	control	control	NOUN
ajst-32561	52	24	systems	system	NOUN
ajst-32561	52	25	.	.	PUNCT
ajst-32561	53	1	it	it	PRON
ajst-32561	53	2	continuously	continuously	ADV
ajst-32561	53	3	calculates	calculate	VERB
ajst-32561	53	4	the	the	DET
ajst-32561	53	5	errors	error	NOUN
ajst-32561	53	6	to	to	PART
ajst-32561	53	7	adjust	adjust	VERB
ajst-32561	53	8	the	the	DET
ajst-32561	53	9	input	input	NOUN
ajst-32561	53	10	signal	signal	NOUN
ajst-32561	53	11	of	of	ADP
ajst-32561	53	12	the	the	DET
ajst-32561	53	13	system	system	NOUN
ajst-32561	53	14	in	in	ADP
ajst-32561	53	15	the	the	DET
ajst-32561	53	16	purpose	purpose	NOUN
ajst-32561	53	17	of	of	ADP
ajst-32561	53	18	minimizing	minimize	VERB
ajst-32561	53	19	the	the	DET
ajst-32561	53	20	error	error	NOUN
ajst-32561	53	21	over	over	ADP
ajst-32561	53	22	time	time	NOUN
ajst-32561	53	23	to	to	PART
ajst-32561	53	24	ensure	ensure	VERB
ajst-32561	53	25	that	that	SCONJ
ajst-32561	53	26	the	the	DET
ajst-32561	53	27	output	output	NOUN
ajst-32561	53	28	of	of	ADP
ajst-32561	53	29	the	the	DET
ajst-32561	53	30	system	system	NOUN
ajst-32561	53	31	is	be	AUX
ajst-32561	53	32	close	close	ADJ
ajst-32561	53	33	to	to	ADP
ajst-32561	53	34	the	the	DET
ajst-32561	53	35	set	set	NOUN
ajst-32561	53	36	value	value	NOUN
ajst-32561	53	37	as	as	ADV
ajst-32561	53	38	precise	precise	ADJ
ajst-32561	53	39	as	as	ADP
ajst-32561	53	40	possible	possible	ADJ
ajst-32561	53	41	[	[	X
ajst-32561	53	42	10	10	NUM
ajst-32561	53	43	]	]	PUNCT
ajst-32561	53	44	.	.	PUNCT
ajst-32561	54	1	letters	letter	NOUN
ajst-32561	54	2	in	in	ADP
ajst-32561	54	3	pid	pid	NOUN
ajst-32561	54	4	each	each	PRON
ajst-32561	54	5	represent	represent	VERB
ajst-32561	54	6	a	a	DET
ajst-32561	54	7	basic	basic	ADJ
ajst-32561	54	8	necessity	necessity	NOUN
ajst-32561	54	9	—	—	PUNCT
ajst-32561	54	10	p	p	NOUN
ajst-32561	54	11	for	for	ADP
ajst-32561	54	12	proportional	proportional	ADJ
ajst-32561	54	13	,	,	PUNCT
ajst-32561	54	14	i	i	PRON
ajst-32561	54	15	for	for	ADP
ajst-32561	54	16	integral	integral	ADJ
ajst-32561	54	17	and	and	CCONJ
ajst-32561	54	18	d	d	NOUN
ajst-32561	54	19	for	for	ADP
ajst-32561	54	20	derivative	derivative	NOUN
ajst-32561	54	21	.	.	PUNCT
ajst-32561	55	1	the	the	DET
ajst-32561	55	2	correction	correction	NOUN
ajst-32561	55	3	applied	apply	VERB
ajst-32561	55	4	by	by	ADP
ajst-32561	55	5	pid	pid	NOUN
ajst-32561	55	6	is	be	AUX
ajst-32561	55	7	based	base	VERB
ajst-32561	55	8	on	on	ADP
ajst-32561	55	9	these	these	DET
ajst-32561	55	10	three	three	NUM
ajst-32561	55	11	.	.	PUNCT
ajst-32561	56	1	in	in	ADP
ajst-32561	56	2	these	these	DET
ajst-32561	56	3	three	three	NUM
ajst-32561	56	4	parts	part	NOUN
ajst-32561	56	5	,	,	PUNCT
ajst-32561	56	6	p	p	PRON
ajst-32561	56	7	is	be	AUX
ajst-32561	56	8	the	the	DET
ajst-32561	56	9	major	major	ADJ
ajst-32561	56	10	one	one	NOUN
ajst-32561	56	11	,	,	PUNCT
ajst-32561	56	12	for	for	SCONJ
ajst-32561	56	13	it	it	PRON
ajst-32561	56	14	is	be	AUX
ajst-32561	56	15	needed	need	VERB
ajst-32561	56	16	in	in	ADP
ajst-32561	56	17	every	every	DET
ajst-32561	56	18	pid	pid	NOUN
ajst-32561	56	19	system	system	NOUN
ajst-32561	56	20	and	and	CCONJ
ajst-32561	56	21	can	can	AUX
ajst-32561	56	22	recognize	recognize	VERB
ajst-32561	56	23	the	the	DET
ajst-32561	56	24	error	error	NOUN
ajst-32561	56	25	immediately	immediately	ADV
ajst-32561	56	26	to	to	PART
ajst-32561	56	27	produce	produce	VERB
ajst-32561	56	28	the	the	DET
ajst-32561	56	29	right	right	ADJ
ajst-32561	56	30	signal	signal	NOUN
ajst-32561	56	31	that	that	PRON
ajst-32561	56	32	let	let	VERB
ajst-32561	56	33	the	the	DET
ajst-32561	56	34	drone	drone	NOUN
ajst-32561	56	35	be	be	AUX
ajst-32561	56	36	stable	stable	ADJ
ajst-32561	56	37	.	.	PUNCT
ajst-32561	57	1	the	the	DET
ajst-32561	57	2	greater	great	ADJ
ajst-32561	57	3	value	value	NOUN
ajst-32561	57	4	of	of	ADP
ajst-32561	57	5	the	the	DET
ajst-32561	57	6	p	p	NOUN
ajst-32561	57	7	is	be	AUX
ajst-32561	57	8	,	,	PUNCT
ajst-32561	57	9	the	the	PRON
ajst-32561	57	10	faster	fast	ADV
ajst-32561	57	11	the	the	DET
ajst-32561	57	12	system	system	NOUN
ajst-32561	57	13	react	react	VERB
ajst-32561	57	14	[	[	X
ajst-32561	57	15	10	10	NUM
ajst-32561	57	16	]	]	PUNCT
ajst-32561	57	17	.	.	PUNCT
ajst-32561	58	1	here	here	ADV
ajst-32561	58	2	is	be	AUX
ajst-32561	58	3	a	a	DET
ajst-32561	58	4	formula	formula	NOUN
ajst-32561	58	5	that	that	PRON
ajst-32561	58	6	represent	represent	VERB
ajst-32561	59	1	p.	p.	NOUN
ajst-32561	59	2	p	p	X
ajst-32561	60	1	𝐾	𝐾	PROPN
ajst-32561	60	2	∙	∙	PROPN
ajst-32561	60	3	𝑒	𝑒	PROPN
ajst-32561	60	4	𝑡	𝑡	PROPN
ajst-32561	60	5	𝐾	𝐾	PROPN
ajst-32561	60	6	:	:	PUNCT
ajst-32561	60	7	proportional	proportional	ADJ
ajst-32561	60	8	gain	gain	NOUN
ajst-32561	60	9	𝑒	𝑒	PROPN
ajst-32561	60	10	𝑡	𝑡	NOUN
ajst-32561	60	11	:	:	PUNCT
ajst-32561	60	12	error	error	NOUN
ajst-32561	60	13	setpoint	setpoint	NOUN
ajst-32561	60	14	measured	measure	VERB
ajst-32561	60	15	value	value	NOUN
ajst-32561	60	16	i	i	PRON
ajst-32561	60	17	is	be	AUX
ajst-32561	60	18	a	a	DET
ajst-32561	60	19	bit	bit	NOUN
ajst-32561	60	20	similar	similar	ADJ
ajst-32561	60	21	to	to	ADP
ajst-32561	60	22	p	p	PRON
ajst-32561	60	23	,	,	PUNCT
ajst-32561	60	24	as	as	SCONJ
ajst-32561	60	25	both	both	PRON
ajst-32561	60	26	are	be	AUX
ajst-32561	60	27	aim	aim	VERB
ajst-32561	60	28	to	to	PART
ajst-32561	60	29	reduce	reduce	VERB
ajst-32561	60	30	and	and	CCONJ
ajst-32561	60	31	remove	remove	VERB
ajst-32561	60	32	the	the	DET
ajst-32561	60	33	errors	error	NOUN
ajst-32561	60	34	[	[	X
ajst-32561	60	35	10	10	NUM
ajst-32561	60	36	]	]	PUNCT
ajst-32561	60	37	,	,	PUNCT
ajst-32561	60	38	but	but	CCONJ
ajst-32561	60	39	i	i	PRON
ajst-32561	60	40	is	be	AUX
ajst-32561	60	41	used	use	VERB
ajst-32561	60	42	to	to	PART
ajst-32561	60	43	eliminate	eliminate	VERB
ajst-32561	60	44	the	the	DET
ajst-32561	60	45	steady	steady	ADJ
ajst-32561	60	46	-	-	PUNCT
ajst-32561	60	47	state	state	NOUN
ajst-32561	60	48	error	error	NOUN
ajst-32561	60	49	which	which	PRON
ajst-32561	60	50	is	be	AUX
ajst-32561	60	51	the	the	DET
ajst-32561	60	52	difference	difference	NOUN
ajst-32561	60	53	between	between	ADP
ajst-32561	60	54	the	the	DET
ajst-32561	60	55	set	set	NOUN
ajst-32561	60	56	-	-	PUNCT
ajst-32561	60	57	point	point	NOUN
ajst-32561	60	58	and	and	CCONJ
ajst-32561	60	59	the	the	DET
ajst-32561	60	60	measured	measure	VERB
ajst-32561	60	61	value	value	NOUN
ajst-32561	60	62	after	after	SCONJ
ajst-32561	60	63	the	the	DET
ajst-32561	60	64	system	system	NOUN
ajst-32561	60	65	has	have	AUX
ajst-32561	60	66	be	be	AUX
ajst-32561	60	67	stable	stable	ADJ
ajst-32561	60	68	.	.	PUNCT
ajst-32561	61	1	integral	integral	ADJ
ajst-32561	61	2	algorithm	algorithm	NOUN
ajst-32561	61	3	eliminates	eliminate	VERB
ajst-32561	61	4	this	this	DET
ajst-32561	61	5	error	error	NOUN
ajst-32561	61	6	by	by	ADP
ajst-32561	61	7	accumulating	accumulate	VERB
ajst-32561	61	8	the	the	DET
ajst-32561	61	9	past	past	ADJ
ajst-32561	61	10	error	error	NOUN
ajst-32561	61	11	and	and	CCONJ
ajst-32561	61	12	gradually	gradually	ADV
ajst-32561	61	13	adjust	adjust	VERB
ajst-32561	61	14	the	the	DET
ajst-32561	61	15	control	control	NOUN
ajst-32561	61	16	output	output	NOUN
ajst-32561	61	17	to	to	PART
ajst-32561	61	18	remove	remove	VERB
ajst-32561	61	19	the	the	DET
ajst-32561	61	20	steady	steady	ADJ
ajst-32561	61	21	-	-	PUNCT
ajst-32561	61	22	state	state	NOUN
ajst-32561	61	23	deviation	deviation	NOUN
ajst-32561	61	24	[	[	X
ajst-32561	61	25	7	7	NUM
ajst-32561	61	26	]	]	PUNCT
ajst-32561	61	27	.	.	PUNCT
ajst-32561	62	1	the	the	DET
ajst-32561	62	2	formulae	formulae	NOUN
ajst-32561	62	3	for	for	ADP
ajst-32561	62	4	i	i	PRON
ajst-32561	62	5	are	be	AUX
ajst-32561	62	6	different	different	ADJ
ajst-32561	62	7	in	in	ADP
ajst-32561	62	8	continuous	continuous	ADJ
ajst-32561	62	9	form	form	NOUN
ajst-32561	62	10	and	and	CCONJ
ajst-32561	62	11	derivative	derivative	ADJ
ajst-32561	62	12	form	form	NOUN
ajst-32561	62	13	.	.	PUNCT
ajst-32561	63	1	continuous	continuous	ADJ
ajst-32561	63	2	form	form	NOUN
ajst-32561	63	3	:	:	PUNCT
ajst-32561	63	4	i	i	PROPN
ajst-32561	63	5	=	=	SYM
ajst-32561	63	6	ki∙	ki∙	PROPN
ajst-32561	63	7	e(t	e(t	PROPN
ajst-32561	63	8	)	)	PUNCT
ajst-32561	63	9	dt	dt	PROPN
ajst-32561	63	10	t	t	NOUN
ajst-32561	63	11	0	0	NUM
ajst-32561	63	12	derivative	derivative	ADJ
ajst-32561	63	13	form	form	NOUN
ajst-32561	63	14	:	:	PUNCT
ajst-32561	63	15	i	i	PRON
ajst-32561	63	16	=	=	AUX
ajst-32561	63	17	ki∙ts	ki∙ts	PROPN
ajst-32561	63	18	∑	∑	PROPN
ajst-32561	63	19	e(i)k	e(i)k	NOUN
ajst-32561	63	20	i=0	i=0	PROPN
ajst-32561	63	21	ki	ki	PROPN
ajst-32561	63	22	:	:	PUNCT
ajst-32561	63	23	integral	integral	ADJ
ajst-32561	63	24	gain	gain	NOUN
ajst-32561	63	25	e(t	e(t	NOUN
ajst-32561	63	26	)	)	PUNCT
ajst-32561	63	27	dt	dt	PROPN
ajst-32561	64	1	t	t	NOUN
ajst-32561	64	2	0	0	NUM
ajst-32561	64	3	:	:	PUNCT
ajst-32561	64	4	integral	integral	ADJ
ajst-32561	64	5	of	of	ADP
ajst-32561	64	6	the	the	DET
ajst-32561	64	7	error	error	NOUN
ajst-32561	64	8	over	over	ADP
ajst-32561	64	9	time	time	NOUN
ajst-32561	64	10	e(t	e(t	PROPN
ajst-32561	64	11	)	)	PUNCT
ajst-32561	64	12	,	,	PUNCT
ajst-32561	64	13	e(i	e(i	PROPN
ajst-32561	64	14	):	):	PUNCT
ajst-32561	64	15	errors	error	NOUN
ajst-32561	64	16	ts	ts	PART
ajst-32561	64	17	:	:	PUNCT
ajst-32561	64	18	sampling	sample	VERB
ajst-32561	64	19	time	time	NOUN
ajst-32561	64	20	d	d	NOUN
ajst-32561	64	21	is	be	AUX
ajst-32561	64	22	derivative	derivative	ADJ
ajst-32561	64	23	which	which	PRON
ajst-32561	64	24	is	be	AUX
ajst-32561	64	25	used	use	VERB
ajst-32561	64	26	to	to	PART
ajst-32561	64	27	predict	predict	VERB
ajst-32561	64	28	the	the	DET
ajst-32561	64	29	trend	trend	NOUN
ajst-32561	64	30	of	of	ADP
ajst-32561	64	31	future	future	ADJ
ajst-32561	64	32	error	error	NOUN
ajst-32561	64	33	and	and	CCONJ
ajst-32561	64	34	adjust	adjust	VERB
ajst-32561	64	35	the	the	DET
ajst-32561	64	36	output	output	NOUN
ajst-32561	64	37	based	base	VERB
ajst-32561	64	38	on	on	ADP
ajst-32561	64	39	the	the	DET
ajst-32561	64	40	rate	rate	NOUN
ajst-32561	64	41	of	of	ADP
ajst-32561	64	42	the	the	DET
ajst-32561	64	43	change	change	NOUN
ajst-32561	64	44	of	of	ADP
ajst-32561	64	45	error	error	NOUN
ajst-32561	64	46	[	[	X
ajst-32561	64	47	10	10	NUM
ajst-32561	64	48	]	]	PUNCT
ajst-32561	64	49	.	.	PUNCT
ajst-32561	65	1	it	it	PRON
ajst-32561	65	2	can	can	AUX
ajst-32561	65	3	make	make	VERB
ajst-32561	65	4	the	the	DET
ajst-32561	65	5	value	value	NOUN
ajst-32561	65	6	of	of	ADP
ajst-32561	65	7	proportion	proportion	NOUN
ajst-32561	65	8	greater	great	ADJ
ajst-32561	65	9	and	and	CCONJ
ajst-32561	65	10	play	play	VERB
ajst-32561	65	11	its	its	PRON
ajst-32561	65	12	role	role	NOUN
ajst-32561	65	13	better	well	ADV
ajst-32561	65	14	[	[	X
ajst-32561	65	15	7	7	NUM
ajst-32561	65	16	]	]	PUNCT
ajst-32561	65	17	,	,	PUNCT
ajst-32561	65	18	even	even	ADV
ajst-32561	65	19	can	can	AUX
ajst-32561	65	20	enhance	enhance	VERB
ajst-32561	65	21	the	the	DET
ajst-32561	65	22	stabilization	stabilization	NOUN
ajst-32561	65	23	and	and	CCONJ
ajst-32561	65	24	reaction	reaction	NOUN
ajst-32561	65	25	speed	speed	NOUN
ajst-32561	65	26	of	of	ADP
ajst-32561	65	27	the	the	DET
ajst-32561	65	28	system	system	NOUN
ajst-32561	65	29	through	through	ADP
ajst-32561	65	30	overcoming	overcome	VERB
ajst-32561	65	31	the	the	DET
ajst-32561	65	32	oscillation	oscillation	NOUN
ajst-32561	65	33	.	.	PUNCT
ajst-32561	66	1	here	here	ADV
ajst-32561	66	2	are	be	AUX
ajst-32561	66	3	formulae	formulae	ADJ
ajst-32561	66	4	for	for	ADP
ajst-32561	66	5	derivative	derivative	NOUN
ajst-32561	66	6	.	.	PUNCT
ajst-32561	67	1	172	172	NUM
ajst-32561	67	2	continuous	continuous	ADJ
ajst-32561	67	3	form	form	NOUN
ajst-32561	67	4	:	:	PUNCT
ajst-32561	67	5	d	d	X
ajst-32561	67	6	k	k	X
ajst-32561	67	7	∙	∙	PROPN
ajst-32561	67	8	de	de	PROPN
ajst-32561	67	9	t	t	PROPN
ajst-32561	67	10	dt	dt	PROPN
ajst-32561	67	11	derivative	derivative	ADJ
ajst-32561	67	12	form	form	NOUN
ajst-32561	67	13	:	:	PUNCT
ajst-32561	67	14	d	d	X
ajst-32561	67	15	k	k	X
ajst-32561	67	16	∙	∙	PROPN
ajst-32561	67	17	e	e	PROPN
ajst-32561	67	18	k	k	PROPN
ajst-32561	67	19	e	e	PROPN
ajst-32561	67	20	k	k	PROPN
ajst-32561	67	21	1	1	NUM
ajst-32561	67	22	t	t	NOUN
ajst-32561	67	23	k	k	NOUN
ajst-32561	67	24	:	:	PUNCT
ajst-32561	67	25	derivative	derivative	ADJ
ajst-32561	67	26	gain	gain	NOUN
ajst-32561	67	27	:	:	PUNCT
ajst-32561	67	28	the	the	DET
ajst-32561	67	29	derivative	derivative	NOUN
ajst-32561	67	30	of	of	ADP
ajst-32561	67	31	the	the	DET
ajst-32561	67	32	error	error	NOUN
ajst-32561	67	33	e	e	X
ajst-32561	67	34	k	k	NOUN
ajst-32561	67	35	e	e	PROPN
ajst-32561	67	36	k	k	PROPN
ajst-32561	67	37	1	1	NUM
ajst-32561	67	38	:	:	PUNCT
ajst-32561	67	39	the	the	DET
ajst-32561	67	40	difference	difference	NOUN
ajst-32561	67	41	in	in	ADP
ajst-32561	67	42	error	error	NOUN
ajst-32561	67	43	t	t	NOUN
ajst-32561	67	44	:	:	PUNCT
ajst-32561	67	45	sampling	sample	VERB
ajst-32561	67	46	time	time	NOUN
ajst-32561	67	47	as	as	SCONJ
ajst-32561	67	48	shown	show	VERB
ajst-32561	67	49	in	in	ADP
ajst-32561	67	50	the	the	DET
ajst-32561	67	51	formulae	formulae	NOUN
ajst-32561	67	52	of	of	ADP
ajst-32561	67	53	integral	integral	ADJ
ajst-32561	67	54	and	and	CCONJ
ajst-32561	67	55	derivative	derivative	ADJ
ajst-32561	67	56	,	,	PUNCT
ajst-32561	67	57	pid	pid	NOUN
ajst-32561	67	58	control	control	NOUN
ajst-32561	67	59	is	be	AUX
ajst-32561	67	60	divided	divide	VERB
ajst-32561	67	61	into	into	ADP
ajst-32561	67	62	continuous	continuous	ADJ
ajst-32561	67	63	form	form	NOUN
ajst-32561	67	64	and	and	CCONJ
ajst-32561	67	65	derivative	derivative	ADJ
ajst-32561	67	66	form	form	NOUN
ajst-32561	67	67	.	.	PUNCT
ajst-32561	68	1	the	the	DET
ajst-32561	68	2	reason	reason	NOUN
ajst-32561	68	3	for	for	ADP
ajst-32561	68	4	this	this	PRON
ajst-32561	68	5	is	be	AUX
ajst-32561	68	6	that	that	SCONJ
ajst-32561	68	7	the	the	DET
ajst-32561	68	8	way	way	NOUN
ajst-32561	68	9	the	the	DET
ajst-32561	68	10	control	control	NOUN
ajst-32561	68	11	system	system	NOUN
ajst-32561	68	12	present	present	ADJ
ajst-32561	68	13	in	in	ADP
ajst-32561	68	14	realistic	realistic	ADJ
ajst-32561	68	15	is	be	AUX
ajst-32561	68	16	different	different	ADJ
ajst-32561	68	17	,	,	PUNCT
ajst-32561	68	18	it	it	PRON
ajst-32561	68	19	needs	need	VERB
ajst-32561	68	20	to	to	PART
ajst-32561	68	21	consider	consider	VERB
ajst-32561	68	22	the	the	DET
ajst-32561	68	23	reality	reality	NOUN
ajst-32561	68	24	condition	condition	NOUN
ajst-32561	68	25	.	.	PUNCT
ajst-32561	69	1	here	here	ADV
ajst-32561	69	2	are	be	AUX
ajst-32561	69	3	the	the	DET
ajst-32561	69	4	formula	formula	NOUN
ajst-32561	69	5	of	of	ADP
ajst-32561	69	6	each	each	DET
ajst-32561	69	7	form	form	NOUN
ajst-32561	69	8	,	,	PUNCT
ajst-32561	69	9	and	and	CCONJ
ajst-32561	69	10	table	table	NOUN
ajst-32561	69	11	1	1	NUM
ajst-32561	69	12	which	which	PRON
ajst-32561	69	13	shows	show	VERB
ajst-32561	69	14	the	the	DET
ajst-32561	69	15	difference	difference	NOUN
ajst-32561	69	16	between	between	ADP
ajst-32561	69	17	the	the	DET
ajst-32561	69	18	forms	form	NOUN
ajst-32561	69	19	.	.	PUNCT
ajst-32561	70	1	continuous	continuous	ADJ
ajst-32561	70	2	form	form	NOUN
ajst-32561	70	3	:	:	PUNCT
ajst-32561	70	4	u	u	NOUN
ajst-32561	70	5	t	t	PROPN
ajst-32561	70	6	𝐾	𝐾	PROPN
ajst-32561	70	7	𝑒	𝑒	PROPN
ajst-32561	70	8	𝑡	𝑡	NOUN
ajst-32561	70	9	𝐾	𝐾	PROPN
ajst-32561	70	10	𝑒	𝑒	PROPN
ajst-32561	70	11	𝑡	𝑡	PROPN
ajst-32561	70	12	𝑑𝑡	𝑑𝑡	ADP
ajst-32561	70	13	k	k	PROPN
ajst-32561	70	14	de	de	PROPN
ajst-32561	70	15	t	t	PROPN
ajst-32561	70	16	dt	dt	X
ajst-32561	70	17	𝑢	𝑢	X
ajst-32561	70	18	𝑡	𝑡	PROPN
ajst-32561	70	19	:	:	PUNCT
ajst-32561	70	20	control	control	NOUN
ajst-32561	70	21	output	output	NOUN
ajst-32561	70	22	derivative	derivative	ADJ
ajst-32561	70	23	form	form	NOUN
ajst-32561	70	24	:	:	PUNCT
ajst-32561	70	25	𝑢	𝑢	PROPN
ajst-32561	70	26	𝐾	𝐾	PROPN
ajst-32561	70	27	𝑒	𝑒	PROPN
ajst-32561	70	28	𝐾	𝐾	PROPN
ajst-32561	70	29	𝑒	𝑒	PROPN
ajst-32561	70	30	∆	∆	X
ajst-32561	70	31	𝑡	𝑡	X
ajst-32561	70	32	k	k	PROPN
ajst-32561	70	33	e	e	PROPN
ajst-32561	70	34	e	e	PROPN
ajst-32561	70	35	t	t	PROPN
ajst-32561	70	36	k	k	NOUN
ajst-32561	70	37	:	:	PUNCT
ajst-32561	70	38	current	current	ADJ
ajst-32561	70	39	time	time	NOUN
ajst-32561	70	40	step	step	NOUN
ajst-32561	70	41	∆𝑡	∆𝑡	PROPN
ajst-32561	70	42	:	:	PUNCT
ajst-32561	70	43	time	time	NOUN
ajst-32561	70	44	interval	interval	NOUN
ajst-32561	70	45	between	between	ADP
ajst-32561	70	46	samples	sample	NOUN
ajst-32561	70	47	table	table	NOUN
ajst-32561	70	48	1	1	NUM
ajst-32561	70	49	.	.	PUNCT
ajst-32561	70	50	comparison	comparison	NOUN
ajst-32561	70	51	of	of	ADP
ajst-32561	70	52	continuous	continuous	ADJ
ajst-32561	70	53	form	form	NOUN
ajst-32561	70	54	and	and	CCONJ
ajst-32561	70	55	derivative	derivative	ADJ
ajst-32561	70	56	form	form	NOUN
ajst-32561	70	57	aspect	aspect	VERB
ajst-32561	70	58	continuous	continuous	ADJ
ajst-32561	70	59	form	form	NOUN
ajst-32561	70	60	derivative	derivative	ADJ
ajst-32561	70	61	form	form	NOUN
ajst-32561	70	62	focus	focus	NOUN
ajst-32561	70	63	represents	represent	VERB
ajst-32561	70	64	the	the	DET
ajst-32561	70	65	entire	entire	ADJ
ajst-32561	70	66	system	system	NOUN
ajst-32561	70	67	focus	focus	VERB
ajst-32561	70	68	on	on	ADP
ajst-32561	70	69	the	the	DET
ajst-32561	70	70	rate	rate	NOUN
ajst-32561	70	71	of	of	ADP
ajst-32561	70	72	change	change	NOUN
ajst-32561	70	73	mathematical	mathematical	ADJ
ajst-32561	70	74	tool	tool	NOUN
ajst-32561	70	75	continuous	continuous	ADJ
ajst-32561	70	76	time	time	NOUN
ajst-32561	70	77	,	,	PUNCT
ajst-32561	70	78	integral	integral	ADJ
ajst-32561	70	79	and	and	CCONJ
ajst-32561	70	80	derivative	derivative	ADJ
ajst-32561	70	81	equations	equation	NOUN
ajst-32561	70	82	discrete	discrete	VERB
ajst-32561	70	83	time	time	NOUN
ajst-32561	70	84	,	,	PUNCT
ajst-32561	70	85	difference	difference	NOUN
ajst-32561	70	86	equations	equation	NOUN
ajst-32561	70	87	application	application	VERB
ajst-32561	70	88	theoretical	theoretical	ADJ
ajst-32561	70	89	analysis	analysis	NOUN
ajst-32561	70	90	,	,	PUNCT
ajst-32561	70	91	modeling	model	VERB
ajst-32561	70	92	local	local	ADJ
ajst-32561	70	93	behavior	behavior	NOUN
ajst-32561	70	94	,	,	PUNCT
ajst-32561	70	95	dynamics	dynamic	NOUN
ajst-32561	70	96	accuracy	accuracy	NOUN
ajst-32561	70	97	precise	precise	ADJ
ajst-32561	70	98	,	,	PUNCT
ajst-32561	70	99	but	but	CCONJ
ajst-32561	70	100	require	require	VERB
ajst-32561	70	101	numerical	numerical	ADJ
ajst-32561	70	102	methods	method	NOUN
ajst-32561	70	103	approximate	approximate	ADJ
ajst-32561	70	104	,	,	PUNCT
ajst-32561	70	105	but	but	CCONJ
ajst-32561	70	106	simple	simple	ADJ
ajst-32561	70	107	to	to	PART
ajst-32561	70	108	calculate	calculate	VERB
ajst-32561	70	109	sensitivity	sensitivity	NOUN
ajst-32561	70	110	to	to	PART
ajst-32561	70	111	noise	noise	VERB
ajst-32561	70	112	sensitive	sensitive	ADJ
ajst-32561	70	113	to	to	ADP
ajst-32561	70	114	high	high	ADJ
ajst-32561	70	115	-	-	PUNCT
ajst-32561	70	116	frequency	frequency	NOUN
ajst-32561	70	117	noise	noise	NOUN
ajst-32561	70	118	can	can	AUX
ajst-32561	70	119	reduce	reduce	VERB
ajst-32561	70	120	the	the	DET
ajst-32561	70	121	impact	impact	NOUN
ajst-32561	70	122	through	through	ADP
ajst-32561	70	123	filtering	filter	VERB
ajst-32561	70	124	3.2	3.2	NUM
ajst-32561	70	125	sensor	sensor	NOUN
ajst-32561	70	126	fusion	fusion	NOUN
ajst-32561	70	127	each	each	DET
ajst-32561	70	128	sensor	sensor	NOUN
ajst-32561	70	129	on	on	ADP
ajst-32561	70	130	a	a	DET
ajst-32561	70	131	drone	drone	NOUN
ajst-32561	70	132	has	have	VERB
ajst-32561	70	133	its	its	PRON
ajst-32561	70	134	own	own	ADJ
ajst-32561	70	135	strengths	strength	NOUN
ajst-32561	70	136	and	and	CCONJ
ajst-32561	70	137	weaknesses	weakness	NOUN
ajst-32561	70	138	[	[	X
ajst-32561	70	139	11	11	NUM
ajst-32561	70	140	]	]	PUNCT
ajst-32561	70	141	.	.	PUNCT
ajst-32561	71	1	for	for	ADP
ajst-32561	71	2	instance	instance	NOUN
ajst-32561	71	3	,	,	PUNCT
ajst-32561	71	4	an	an	DET
ajst-32561	71	5	accelerometer	accelerometer	NOUN
ajst-32561	71	6	measures	measure	NOUN
ajst-32561	71	7	changes	change	NOUN
ajst-32561	71	8	in	in	ADP
ajst-32561	71	9	velocity	velocity	NOUN
ajst-32561	71	10	but	but	CCONJ
ajst-32561	71	11	is	be	AUX
ajst-32561	71	12	sensitive	sensitive	ADJ
ajst-32561	71	13	to	to	ADP
ajst-32561	71	14	vibration	vibration	NOUN
ajst-32561	71	15	.	.	PUNCT
ajst-32561	72	1	a	a	DET
ajst-32561	72	2	gyroscope	gyroscope	NOUN
ajst-32561	72	3	provides	provide	VERB
ajst-32561	72	4	angular	angular	ADJ
ajst-32561	72	5	velocity	velocity	NOUN
ajst-32561	72	6	but	but	CCONJ
ajst-32561	72	7	can	can	AUX
ajst-32561	72	8	drift	drift	VERB
ajst-32561	72	9	over	over	ADP
ajst-32561	72	10	time	time	NOUN
ajst-32561	72	11	without	without	ADP
ajst-32561	72	12	correction	correction	NOUN
ajst-32561	72	13	.	.	PUNCT
ajst-32561	73	1	gps	gps	PROPN
ajst-32561	73	2	gives	give	VERB
ajst-32561	73	3	location	location	NOUN
ajst-32561	73	4	data	datum	NOUN
ajst-32561	73	5	but	but	CCONJ
ajst-32561	73	6	can	can	AUX
ajst-32561	73	7	be	be	AUX
ajst-32561	73	8	unreliable	unreliable	ADJ
ajst-32561	73	9	in	in	ADP
ajst-32561	73	10	areas	area	NOUN
ajst-32561	73	11	with	with	ADP
ajst-32561	73	12	weak	weak	ADJ
ajst-32561	73	13	satellite	satellite	NOUN
ajst-32561	73	14	coverage	coverage	NOUN
ajst-32561	73	15	,	,	PUNCT
ajst-32561	73	16	such	such	ADJ
ajst-32561	73	17	as	as	ADP
ajst-32561	73	18	cities	city	NOUN
ajst-32561	73	19	or	or	CCONJ
ajst-32561	73	20	forests	forest	NOUN
ajst-32561	73	21	.	.	PUNCT
ajst-32561	74	1	barometers	barometer	NOUN
ajst-32561	74	2	help	help	AUX
ajst-32561	74	3	estimate	estimate	VERB
ajst-32561	74	4	altitude	altitude	NOUN
ajst-32561	74	5	but	but	CCONJ
ajst-32561	74	6	can	can	AUX
ajst-32561	74	7	be	be	AUX
ajst-32561	74	8	influenced	influence	VERB
ajst-32561	74	9	by	by	ADP
ajst-32561	74	10	weather	weather	NOUN
ajst-32561	74	11	conditions	condition	NOUN
ajst-32561	74	12	.	.	PUNCT
ajst-32561	75	1	magnetometers	magnetometer	NOUN
ajst-32561	75	2	,	,	PUNCT
ajst-32561	75	3	used	use	VERB
ajst-32561	75	4	to	to	PART
ajst-32561	75	5	determine	determine	VERB
ajst-32561	75	6	direction	direction	NOUN
ajst-32561	75	7	relative	relative	ADJ
ajst-32561	75	8	to	to	ADP
ajst-32561	75	9	earth	earth	NOUN
ajst-32561	75	10	’s	’s	PART
ajst-32561	75	11	magnetic	magnetic	ADJ
ajst-32561	75	12	field	field	NOUN
ajst-32561	75	13	,	,	PUNCT
ajst-32561	75	14	can	can	AUX
ajst-32561	75	15	be	be	AUX
ajst-32561	75	16	distorted	distort	VERB
ajst-32561	75	17	by	by	ADP
ajst-32561	75	18	nearby	nearby	ADJ
ajst-32561	75	19	electronics	electronic	NOUN
ajst-32561	75	20	.	.	PUNCT
ajst-32561	76	1	if	if	SCONJ
ajst-32561	76	2	a	a	DET
ajst-32561	76	3	drone	drone	NOUN
ajst-32561	76	4	relied	rely	VERB
ajst-32561	76	5	on	on	ADP
ajst-32561	76	6	only	only	ADV
ajst-32561	76	7	one	one	NUM
ajst-32561	76	8	of	of	ADP
ajst-32561	76	9	these	these	DET
ajst-32561	76	10	sensors	sensor	NOUN
ajst-32561	76	11	,	,	PUNCT
ajst-32561	76	12	its	its	PRON
ajst-32561	76	13	performance	performance	NOUN
ajst-32561	76	14	would	would	AUX
ajst-32561	76	15	be	be	AUX
ajst-32561	76	16	severely	severely	ADV
ajst-32561	76	17	limited	limit	VERB
ajst-32561	76	18	[	[	PUNCT
ajst-32561	76	19	11	11	NUM
ajst-32561	76	20	]	]	PUNCT
ajst-32561	76	21	.	.	PUNCT
ajst-32561	77	1	that	that	PRON
ajst-32561	77	2	’s	’	VERB
ajst-32561	77	3	where	where	SCONJ
ajst-32561	77	4	sensor	sensor	NOUN
ajst-32561	77	5	fusion	fusion	NOUN
ajst-32561	77	6	comes	come	VERB
ajst-32561	77	7	in	in	ADP
ajst-32561	77	8	.	.	PUNCT
ajst-32561	78	1	sensors	sensor	NOUN
ajst-32561	78	2	like	like	ADP
ajst-32561	78	3	imu	imu	NOUN
ajst-32561	78	4	,	,	PUNCT
ajst-32561	78	5	gps	gps	PROPN
ajst-32561	78	6	,	,	PUNCT
ajst-32561	78	7	lidar	lidar	NOUN
ajst-32561	78	8	,	,	PUNCT
ajst-32561	78	9	infrared	infrared	ADJ
ajst-32561	78	10	sensor	sensor	NOUN
ajst-32561	78	11	,	,	PUNCT
ajst-32561	78	12	barometer	barometer	NOUN
ajst-32561	78	13	can	can	AUX
ajst-32561	78	14	combine	combine	VERB
ajst-32561	78	15	together	together	ADV
ajst-32561	78	16	to	to	PART
ajst-32561	78	17	provide	provide	VERB
ajst-32561	78	18	more	more	ADV
ajst-32561	78	19	precise	precise	ADJ
ajst-32561	78	20	position	position	NOUN
ajst-32561	78	21	and	and	CCONJ
ajst-32561	78	22	attitude	attitude	NOUN
ajst-32561	78	23	information	information	NOUN
ajst-32561	78	24	for	for	ADP
ajst-32561	78	25	drones	drone	NOUN
ajst-32561	78	26	by	by	ADP
ajst-32561	78	27	conforming	conform	VERB
ajst-32561	78	28	and	and	CCONJ
ajst-32561	78	29	processing	process	VERB
ajst-32561	78	30	the	the	DET
ajst-32561	78	31	data	datum	NOUN
ajst-32561	78	32	they	they	PRON
ajst-32561	78	33	173	173	NUM
ajst-32561	78	34	detected	detect	VERB
ajst-32561	78	35	.	.	PUNCT
ajst-32561	79	1	some	some	DET
ajst-32561	79	2	examples	example	NOUN
ajst-32561	79	3	for	for	ADP
ajst-32561	79	4	this	this	DET
ajst-32561	79	5	method	method	NOUN
ajst-32561	79	6	are	be	AUX
ajst-32561	79	7	combination	combination	NOUN
ajst-32561	79	8	of	of	ADP
ajst-32561	79	9	imu	imu	NOUN
ajst-32561	79	10	and	and	CCONJ
ajst-32561	79	11	gps	gps	PROPN
ajst-32561	79	12	,	,	PUNCT
ajst-32561	79	13	infrared	infrared	ADJ
ajst-32561	79	14	and	and	CCONJ
ajst-32561	79	15	visual	visual	ADJ
ajst-32561	79	16	sensor	sensor	NOUN
ajst-32561	79	17	fusion	fusion	NOUN
ajst-32561	79	18	,	,	PUNCT
ajst-32561	79	19	muti	muti	NOUN
ajst-32561	79	20	-	-	PUNCT
ajst-32561	79	21	modal	modal	NOUN
ajst-32561	79	22	sensor	sensor	NOUN
ajst-32561	79	23	fusion	fusion	NOUN
ajst-32561	79	24	.	.	PUNCT
ajst-32561	80	1	3.2.1	3.2.1	NUM
ajst-32561	80	2	combination	combination	NOUN
ajst-32561	80	3	of	of	ADP
ajst-32561	80	4	imu	imu	NOUN
ajst-32561	80	5	and	and	CCONJ
ajst-32561	80	6	gps	gps	VERB
ajst-32561	80	7	this	this	DET
ajst-32561	80	8	method	method	NOUN
ajst-32561	80	9	is	be	AUX
ajst-32561	80	10	widely	widely	ADV
ajst-32561	80	11	used	use	VERB
ajst-32561	80	12	in	in	ADP
ajst-32561	80	13	drones	drone	NOUN
ajst-32561	80	14	and	and	CCONJ
ajst-32561	80	15	auto	auto	NOUN
ajst-32561	80	16	-	-	PUNCT
ajst-32561	80	17	driving	driving	NOUN
ajst-32561	80	18	.	.	PUNCT
ajst-32561	81	1	imu(inertial	imu(inertial	PROPN
ajst-32561	81	2	measurement	measurement	NOUN
ajst-32561	81	3	unit	unit	NOUN
ajst-32561	81	4	)	)	PUNCT
ajst-32561	81	5	is	be	AUX
ajst-32561	81	6	a	a	DET
ajst-32561	81	7	sensor	sensor	NOUN
ajst-32561	81	8	that	that	PRON
ajst-32561	81	9	be	be	AUX
ajst-32561	81	10	used	use	VERB
ajst-32561	81	11	to	to	PART
ajst-32561	81	12	test	test	VERB
ajst-32561	81	13	measure	measure	VERB
ajst-32561	81	14	the	the	DET
ajst-32561	81	15	acceleration	acceleration	NOUN
ajst-32561	81	16	,	,	PUNCT
ajst-32561	81	17	angular	angular	ADJ
ajst-32561	81	18	velocity	velocity	NOUN
ajst-32561	81	19	and	and	CCONJ
ajst-32561	81	20	the	the	DET
ajst-32561	81	21	attitude	attitude	NOUN
ajst-32561	81	22	.	.	PUNCT
ajst-32561	82	1	it	it	PRON
ajst-32561	82	2	is	be	AUX
ajst-32561	82	3	usually	usually	ADV
ajst-32561	82	4	made	make	VERB
ajst-32561	82	5	up	up	ADP
ajst-32561	82	6	by	by	ADP
ajst-32561	82	7	gyroscope	gyroscope	NOUN
ajst-32561	82	8	and	and	CCONJ
ajst-32561	82	9	accelerometer	accelerometer	NOUN
ajst-32561	82	10	.	.	PUNCT
ajst-32561	83	1	gps	gps	PROPN
ajst-32561	83	2	(	(	PUNCT
ajst-32561	83	3	global	global	ADJ
ajst-32561	83	4	positioning	positioning	NOUN
ajst-32561	83	5	system	system	NOUN
ajst-32561	83	6	)	)	PUNCT
ajst-32561	83	7	works	work	VERB
ajst-32561	83	8	by	by	ADP
ajst-32561	83	9	worldwide	worldwide	ADJ
ajst-32561	83	10	positioning	positioning	NOUN
ajst-32561	83	11	,	,	PUNCT
ajst-32561	83	12	navigation	navigation	NOUN
ajst-32561	83	13	and	and	CCONJ
ajst-32561	83	14	timing	timing	NOUN
ajst-32561	83	15	via	via	ADP
ajst-32561	83	16	satellite	satellite	NOUN
ajst-32561	83	17	signals	signal	NOUN
ajst-32561	83	18	.	.	PUNCT
ajst-32561	84	1	generally	generally	ADV
ajst-32561	84	2	,	,	PUNCT
ajst-32561	84	3	imu	imu	ADJ
ajst-32561	84	4	and	and	CCONJ
ajst-32561	84	5	gps	gps	PROPN
ajst-32561	84	6	combined	combine	VERB
ajst-32561	84	7	through	through	ADP
ajst-32561	84	8	kalman	kalman	PROPN
ajst-32561	84	9	filter	filter	PROPN
ajst-32561	84	10	.	.	PUNCT
ajst-32561	85	1	the	the	DET
ajst-32561	85	2	combination	combination	NOUN
ajst-32561	85	3	of	of	ADP
ajst-32561	85	4	these	these	DET
ajst-32561	85	5	two	two	NUM
ajst-32561	85	6	sensor	sensor	NOUN
ajst-32561	85	7	complement	complement	VERB
ajst-32561	85	8	each	each	DET
ajst-32561	85	9	other	other	ADJ
ajst-32561	85	10	to	to	PART
ajst-32561	85	11	achieve	achieve	VERB
ajst-32561	85	12	accurate	accurate	ADJ
ajst-32561	85	13	position	position	NOUN
ajst-32561	85	14	.	.	PUNCT
ajst-32561	86	1	this	this	PRON
ajst-32561	86	2	is	be	AUX
ajst-32561	86	3	because	because	SCONJ
ajst-32561	86	4	the	the	DET
ajst-32561	86	5	low	low	ADJ
ajst-32561	86	6	frequency	frequency	NOUN
ajst-32561	86	7	absolute	absolute	ADJ
ajst-32561	86	8	position	position	NOUN
ajst-32561	86	9	produced	produce	VERB
ajst-32561	86	10	by	by	ADP
ajst-32561	86	11	gps	gps	PROPN
ajst-32561	86	12	can	can	AUX
ajst-32561	86	13	correct	correct	VERB
ajst-32561	86	14	the	the	DET
ajst-32561	86	15	accumulate	accumulate	NOUN
ajst-32561	86	16	errors	error	NOUN
ajst-32561	86	17	in	in	ADP
ajst-32561	86	18	imu	imu	NOUN
ajst-32561	86	19	,	,	PUNCT
ajst-32561	86	20	and	and	CCONJ
ajst-32561	86	21	imu	imu	NOUN
ajst-32561	86	22	can	can	AUX
ajst-32561	86	23	still	still	ADV
ajst-32561	86	24	provide	provide	VERB
ajst-32561	86	25	high	high	ADJ
ajst-32561	86	26	frequency	frequency	NOUN
ajst-32561	86	27	exercise	exercise	NOUN
ajst-32561	86	28	data	datum	NOUN
ajst-32561	86	29	and	and	CCONJ
ajst-32561	86	30	navigation	navigation	NOUN
ajst-32561	86	31	even	even	ADV
ajst-32561	86	32	if	if	SCONJ
ajst-32561	86	33	the	the	DET
ajst-32561	86	34	gps	gps	PROPN
ajst-32561	86	35	lose	lose	VERB
ajst-32561	86	36	its	its	PRON
ajst-32561	86	37	signal	signal	NOUN
ajst-32561	86	38	[	[	X
ajst-32561	86	39	11	11	NUM
ajst-32561	86	40	]	]	PUNCT
ajst-32561	86	41	.	.	PUNCT
ajst-32561	87	1	3.2.2	3.2.2	NUM
ajst-32561	87	2	infrared	infrared	ADJ
ajst-32561	87	3	and	and	CCONJ
ajst-32561	87	4	visual	visual	ADJ
ajst-32561	87	5	sensor	sensor	NOUN
ajst-32561	87	6	fusion	fusion	NOUN
ajst-32561	87	7	infrared	infrared	ADJ
ajst-32561	87	8	and	and	CCONJ
ajst-32561	87	9	visual	visual	ADJ
ajst-32561	87	10	sensor	sensor	NOUN
ajst-32561	87	11	fusion	fusion	NOUN
ajst-32561	87	12	is	be	AUX
ajst-32561	87	13	a	a	DET
ajst-32561	87	14	technology	technology	NOUN
ajst-32561	87	15	that	that	PRON
ajst-32561	87	16	combine	combine	VERB
ajst-32561	87	17	their	their	PRON
ajst-32561	87	18	searched	search	VERB
ajst-32561	87	19	data	datum	NOUN
ajst-32561	87	20	which	which	PRON
ajst-32561	87	21	aim	aim	VERB
ajst-32561	87	22	is	be	AUX
ajst-32561	87	23	to	to	PART
ajst-32561	87	24	enhance	enhance	VERB
ajst-32561	87	25	the	the	DET
ajst-32561	87	26	system	system	NOUN
ajst-32561	87	27	’s	’s	PART
ajst-32561	87	28	environmental	environmental	ADJ
ajst-32561	87	29	awareness	awareness	NOUN
ajst-32561	87	30	and	and	CCONJ
ajst-32561	87	31	decision	decision	NOUN
ajst-32561	87	32	-	-	PUNCT
ajst-32561	87	33	making	make	VERB
ajst-32561	87	34	precision	precision	NOUN
ajst-32561	87	35	[	[	X
ajst-32561	87	36	11	11	NUM
ajst-32561	87	37	]	]	PUNCT
ajst-32561	87	38	.	.	PUNCT
ajst-32561	88	1	infrared	infrared	ADJ
ajst-32561	88	2	sensor	sensor	NOUN
ajst-32561	88	3	works	work	NOUN
ajst-32561	88	4	based	base	VERB
ajst-32561	88	5	on	on	ADP
ajst-32561	88	6	detecting	detect	VERB
ajst-32561	88	7	the	the	DET
ajst-32561	88	8	infrared	infrared	ADJ
ajst-32561	88	9	radiation	radiation	NOUN
ajst-32561	88	10	that	that	SCONJ
ajst-32561	88	11	the	the	DET
ajst-32561	88	12	item	item	NOUN
ajst-32561	88	13	emit	emit	NOUN
ajst-32561	88	14	.	.	PUNCT
ajst-32561	89	1	all	all	DET
ajst-32561	89	2	the	the	DET
ajst-32561	89	3	objects	object	NOUN
ajst-32561	89	4	emit	emit	VERB
ajst-32561	89	5	infrared	infrared	ADJ
ajst-32561	89	6	radiation	radiation	NOUN
ajst-32561	89	7	unless	unless	SCONJ
ajst-32561	89	8	its	its	PRON
ajst-32561	89	9	temperature	temperature	NOUN
ajst-32561	89	10	is	be	AUX
ajst-32561	89	11	lower	low	ADJ
ajst-32561	89	12	than	than	ADP
ajst-32561	89	13	absolute	absolute	ADJ
ajst-32561	89	14	zero(0k/-273	zero(0k/-273	NOUN
ajst-32561	89	15	℃	℃	PROPN
ajst-32561	89	16	)	)	PUNCT
ajst-32561	89	17	,	,	PUNCT
ajst-32561	89	18	but	but	CCONJ
ajst-32561	89	19	this	this	PRON
ajst-32561	89	20	is	be	AUX
ajst-32561	89	21	rare	rare	ADJ
ajst-32561	89	22	[	[	X
ajst-32561	89	23	12	12	NUM
ajst-32561	89	24	]	]	PUNCT
ajst-32561	89	25	.	.	PUNCT
ajst-32561	90	1	therefore	therefore	ADV
ajst-32561	90	2	,	,	PUNCT
ajst-32561	90	3	infrared	infrared	ADJ
ajst-32561	90	4	sensor	sensor	NOUN
ajst-32561	90	5	can	can	AUX
ajst-32561	90	6	detect	detect	VERB
ajst-32561	90	7	almost	almost	ADV
ajst-32561	90	8	all	all	DET
ajst-32561	90	9	the	the	DET
ajst-32561	90	10	items	item	NOUN
ajst-32561	90	11	in	in	ADP
ajst-32561	90	12	this	this	DET
ajst-32561	90	13	world	world	NOUN
ajst-32561	90	14	,	,	PUNCT
ajst-32561	90	15	so	so	SCONJ
ajst-32561	90	16	it	it	PRON
ajst-32561	90	17	is	be	AUX
ajst-32561	90	18	widely	widely	ADV
ajst-32561	90	19	used	use	VERB
ajst-32561	90	20	in	in	ADP
ajst-32561	90	21	many	many	ADJ
ajst-32561	90	22	fields	field	NOUN
ajst-32561	90	23	like	like	ADP
ajst-32561	90	24	drones	drone	NOUN
ajst-32561	90	25	and	and	CCONJ
ajst-32561	90	26	auto	auto	NOUN
ajst-32561	90	27	-	-	PUNCT
ajst-32561	90	28	driving	drive	VERB
ajst-32561	90	29	car	car	NOUN
ajst-32561	90	30	.	.	PUNCT
ajst-32561	91	1	unlike	unlike	ADP
ajst-32561	91	2	infrared	infrared	ADJ
ajst-32561	91	3	sensor	sensor	NOUN
ajst-32561	91	4	which	which	PRON
ajst-32561	91	5	transfer	transfer	VERB
ajst-32561	91	6	radiation	radiation	NOUN
ajst-32561	91	7	to	to	PART
ajst-32561	91	8	signal	signal	VERB
ajst-32561	91	9	,	,	PUNCT
ajst-32561	91	10	visual	visual	ADJ
ajst-32561	91	11	sensor	sensor	NOUN
ajst-32561	91	12	transfer	transfer	VERB
ajst-32561	91	13	the	the	DET
ajst-32561	91	14	visible	visible	ADJ
ajst-32561	91	15	light	light	NOUN
ajst-32561	91	16	they	they	PRON
ajst-32561	91	17	catch	catch	VERB
ajst-32561	91	18	to	to	PART
ajst-32561	91	19	signal	signal	VERB
ajst-32561	91	20	and	and	CCONJ
ajst-32561	91	21	useful	useful	ADJ
ajst-32561	91	22	information	information	NOUN
ajst-32561	91	23	is	be	AUX
ajst-32561	91	24	then	then	ADV
ajst-32561	91	25	extracted	extract	VERB
ajst-32561	91	26	through	through	ADP
ajst-32561	91	27	image	image	NOUN
ajst-32561	91	28	processing	processing	NOUN
ajst-32561	91	29	technology	technology	NOUN
ajst-32561	92	1	[	[	X
ajst-32561	92	2	12	12	NUM
ajst-32561	92	3	]	]	PUNCT
ajst-32561	92	4	.	.	PUNCT
ajst-32561	93	1	because	because	SCONJ
ajst-32561	93	2	of	of	ADP
ajst-32561	93	3	these	these	PRON
ajst-32561	93	4	,	,	PUNCT
ajst-32561	93	5	using	use	VERB
ajst-32561	93	6	infrared	infrared	ADJ
ajst-32561	93	7	and	and	CCONJ
ajst-32561	93	8	visual	visual	ADJ
ajst-32561	93	9	sensor	sensor	NOUN
ajst-32561	93	10	fusion	fusion	NOUN
ajst-32561	93	11	enhance	enhance	VERB
ajst-32561	93	12	the	the	DET
ajst-32561	93	13	environmental	environmental	ADJ
ajst-32561	93	14	awareness	awareness	NOUN
ajst-32561	93	15	as	as	SCONJ
ajst-32561	93	16	infrared	infrared	ADJ
ajst-32561	93	17	sensor	sensor	NOUN
ajst-32561	93	18	can	can	AUX
ajst-32561	93	19	work	work	VERB
ajst-32561	93	20	during	during	ADP
ajst-32561	93	21	the	the	DET
ajst-32561	93	22	night	night	NOUN
ajst-32561	93	23	time	time	NOUN
ajst-32561	93	24	and	and	CCONJ
ajst-32561	93	25	the	the	DET
ajst-32561	93	26	visual	visual	ADJ
ajst-32561	93	27	sensor	sensor	NOUN
ajst-32561	93	28	can	can	AUX
ajst-32561	93	29	provide	provide	VERB
ajst-32561	93	30	high	high	ADJ
ajst-32561	93	31	-	-	PUNCT
ajst-32561	93	32	resolution	resolution	NOUN
ajst-32561	93	33	images	image	NOUN
ajst-32561	93	34	if	if	SCONJ
ajst-32561	93	35	the	the	DET
ajst-32561	93	36	light	light	NOUN
ajst-32561	93	37	is	be	AUX
ajst-32561	93	38	sufficient	sufficient	ADJ
ajst-32561	93	39	[	[	X
ajst-32561	93	40	12	12	NUM
ajst-32561	93	41	]	]	PUNCT
ajst-32561	93	42	.	.	PUNCT
ajst-32561	94	1	the	the	DET
ajst-32561	94	2	fusion	fusion	NOUN
ajst-32561	94	3	of	of	ADP
ajst-32561	94	4	sensor	sensor	NOUN
ajst-32561	94	5	also	also	ADV
ajst-32561	94	6	optimize	optimize	VERB
ajst-32561	94	7	the	the	DET
ajst-32561	94	8	positioning	positioning	NOUN
ajst-32561	94	9	and	and	CCONJ
ajst-32561	94	10	navigation	navigation	NOUN
ajst-32561	94	11	as	as	SCONJ
ajst-32561	94	12	the	the	DET
ajst-32561	94	13	visual	visual	ADJ
ajst-32561	94	14	sensor	sensor	NOUN
ajst-32561	94	15	can	can	AUX
ajst-32561	94	16	provide	provide	VERB
ajst-32561	94	17	visual	visual	ADJ
ajst-32561	94	18	location	location	NOUN
ajst-32561	94	19	to	to	PART
ajst-32561	94	20	supplement	supplement	VERB
ajst-32561	94	21	the	the	DET
ajst-32561	94	22	locating	locating	NOUN
ajst-32561	94	23	ability	ability	NOUN
ajst-32561	94	24	of	of	ADP
ajst-32561	94	25	infrared	infrared	ADJ
ajst-32561	94	26	sensor	sensor	NOUN
ajst-32561	94	27	when	when	SCONJ
ajst-32561	94	28	there	there	PRON
ajst-32561	94	29	is	be	VERB
ajst-32561	94	30	no	no	DET
ajst-32561	94	31	gps	gps	NOUN
ajst-32561	94	32	.	.	PUNCT
ajst-32561	95	1	fusion	fusion	NOUN
ajst-32561	95	2	in	in	ADP
ajst-32561	95	3	data	datum	NOUN
ajst-32561	95	4	helps	help	VERB
ajst-32561	95	5	the	the	DET
ajst-32561	95	6	drone	drone	NOUN
ajst-32561	95	7	fly	fly	VERB
ajst-32561	95	8	in	in	ADP
ajst-32561	95	9	its	its	PRON
ajst-32561	95	10	intended	intended	ADJ
ajst-32561	95	11	path	path	NOUN
ajst-32561	95	12	and	and	CCONJ
ajst-32561	95	13	reduce	reduce	VERB
ajst-32561	95	14	the	the	DET
ajst-32561	95	15	error	error	NOUN
ajst-32561	95	16	,	,	PUNCT
ajst-32561	95	17	improve	improve	VERB
ajst-32561	95	18	the	the	DET
ajst-32561	95	19	stabilization	stabilization	NOUN
ajst-32561	95	20	as	as	ADV
ajst-32561	95	21	well	well	ADV
ajst-32561	95	22	[	[	X
ajst-32561	95	23	11	11	NUM
ajst-32561	95	24	]	]	SYM
ajst-32561	95	25	.	.	PUNCT
ajst-32561	96	1	3.2.3	3.2.3	NUM
ajst-32561	96	2	muti	muti	NOUN
ajst-32561	96	3	-	-	PUNCT
ajst-32561	96	4	modal	modal	NOUN
ajst-32561	96	5	sensor	sensor	NOUN
ajst-32561	96	6	fusion	fusion	NOUN
ajst-32561	96	7	compare	compare	VERB
ajst-32561	96	8	to	to	ADP
ajst-32561	96	9	multi	multi	ADJ
ajst-32561	96	10	-	-	ADJ
ajst-32561	96	11	modal	modal	ADJ
ajst-32561	96	12	sensor	sensor	NOUN
ajst-32561	96	13	,	,	PUNCT
ajst-32561	96	14	single	single	ADJ
ajst-32561	96	15	sensor	sensor	NOUN
ajst-32561	96	16	has	have	VERB
ajst-32561	96	17	a	a	DET
ajst-32561	96	18	lot	lot	NOUN
ajst-32561	96	19	of	of	ADP
ajst-32561	96	20	limitations	limitation	NOUN
ajst-32561	96	21	and	and	CCONJ
ajst-32561	96	22	can	can	AUX
ajst-32561	96	23	be	be	AUX
ajst-32561	96	24	affected	affect	VERB
ajst-32561	96	25	easily	easily	ADV
ajst-32561	96	26	,	,	PUNCT
ajst-32561	96	27	such	such	ADJ
ajst-32561	96	28	as	as	SCONJ
ajst-32561	96	29	visual	visual	ADJ
ajst-32561	96	30	sensors	sensor	NOUN
ajst-32561	96	31	ca	can	AUX
ajst-32561	96	32	n’t	not	PART
ajst-32561	96	33	work	work	VERB
ajst-32561	96	34	without	without	ADP
ajst-32561	96	35	light	light	NOUN
ajst-32561	96	36	and	and	CCONJ
ajst-32561	96	37	infrared	infrared	ADJ
ajst-32561	96	38	sensor	sensor	NOUN
ajst-32561	96	39	ca	can	AUX
ajst-32561	96	40	n’t	not	PART
ajst-32561	96	41	transmit	transmit	VERB
ajst-32561	96	42	photograph	photograph	NOUN
ajst-32561	96	43	[	[	X
ajst-32561	96	44	11	11	NUM
ajst-32561	96	45	]	]	PUNCT
ajst-32561	96	46	.	.	PUNCT
ajst-32561	97	1	therefore	therefore	ADV
ajst-32561	97	2	,	,	PUNCT
ajst-32561	97	3	multi	multi	ADJ
ajst-32561	97	4	-	-	ADJ
ajst-32561	97	5	modal	modal	ADJ
ajst-32561	97	6	sensor	sensor	NOUN
ajst-32561	97	7	fusion	fusion	NOUN
ajst-32561	97	8	makes	make	VERB
ajst-32561	97	9	up	up	ADP
ajst-32561	97	10	for	for	ADP
ajst-32561	97	11	the	the	DET
ajst-32561	97	12	drawback	drawback	NOUN
ajst-32561	97	13	of	of	ADP
ajst-32561	97	14	single	single	ADJ
ajst-32561	97	15	sensor	sensor	NOUN
ajst-32561	97	16	which	which	PRON
ajst-32561	97	17	let	let	VERB
ajst-32561	97	18	the	the	DET
ajst-32561	97	19	sensors	sensor	NOUN
ajst-32561	97	20	exploit	exploit	VERB
ajst-32561	97	21	their	their	PRON
ajst-32561	97	22	advantages	advantage	NOUN
ajst-32561	97	23	to	to	ADP
ajst-32561	97	24	full	full	ADJ
ajst-32561	97	25	.	.	PUNCT
ajst-32561	98	1	some	some	DET
ajst-32561	98	2	drones	drone	NOUN
ajst-32561	98	3	in	in	ADP
ajst-32561	98	4	civil	civil	ADJ
ajst-32561	98	5	and	and	CCONJ
ajst-32561	98	6	industry	industry	NOUN
ajst-32561	98	7	field	field	NOUN
ajst-32561	98	8	can	can	AUX
ajst-32561	98	9	just	just	ADV
ajst-32561	98	10	rely	rely	VERB
ajst-32561	98	11	on	on	SCONJ
ajst-32561	98	12	sensors	sensor	NOUN
ajst-32561	98	13	to	to	PART
ajst-32561	98	14	achieve	achieve	VERB
ajst-32561	98	15	and	and	CCONJ
ajst-32561	98	16	maintain	maintain	VERB
ajst-32561	98	17	stable	stable	ADJ
ajst-32561	98	18	flight	flight	NOUN
ajst-32561	98	19	.	.	PUNCT
ajst-32561	99	1	for	for	ADP
ajst-32561	99	2	instance	instance	NOUN
ajst-32561	99	3	,	,	PUNCT
ajst-32561	99	4	a	a	DET
ajst-32561	99	5	type	type	NOUN
ajst-32561	99	6	of	of	ADP
ajst-32561	99	7	commercial	commercial	ADJ
ajst-32561	99	8	drone	drone	NOUN
ajst-32561	99	9	which	which	PRON
ajst-32561	99	10	is	be	AUX
ajst-32561	99	11	usually	usually	ADV
ajst-32561	99	12	used	use	VERB
ajst-32561	99	13	for	for	ADP
ajst-32561	99	14	photographing	photograph	VERB
ajst-32561	99	15	called	call	VERB
ajst-32561	99	16	the	the	DET
ajst-32561	99	17	dji	dji	NOUN
ajst-32561	99	18	phantom	phantom	ADJ
ajst-32561	99	19	series	series	NOUN
ajst-32561	99	20	was	be	AUX
ajst-32561	99	21	made	make	VERB
ajst-32561	99	22	up	up	ADP
ajst-32561	99	23	of	of	ADP
ajst-32561	99	24	imu	imu	NOUN
ajst-32561	99	25	,	,	PUNCT
ajst-32561	99	26	gps	gps	PROPN
ajst-32561	99	27	,	,	PUNCT
ajst-32561	99	28	barometer	barometer	NOUN
ajst-32561	99	29	and	and	CCONJ
ajst-32561	99	30	visual	visual	ADJ
ajst-32561	99	31	sensor	sensor	NOUN
ajst-32561	99	32	.	.	PUNCT
ajst-32561	100	1	however	however	ADV
ajst-32561	100	2	,	,	PUNCT
ajst-32561	100	3	it	it	PRON
ajst-32561	100	4	is	be	AUX
ajst-32561	100	5	still	still	ADV
ajst-32561	100	6	loved	love	VERB
ajst-32561	100	7	by	by	ADP
ajst-32561	100	8	many	many	ADJ
ajst-32561	100	9	consumers	consumer	NOUN
ajst-32561	100	10	for	for	ADP
ajst-32561	100	11	its	its	PRON
ajst-32561	100	12	high	high	ADJ
ajst-32561	100	13	shooting	shooting	NOUN
ajst-32561	100	14	quality	quality	NOUN
ajst-32561	100	15	,	,	PUNCT
ajst-32561	100	16	ease	ease	NOUN
ajst-32561	100	17	of	of	ADP
ajst-32561	100	18	operation	operation	NOUN
ajst-32561	100	19	and	and	CCONJ
ajst-32561	100	20	stabilization	stabilization	NOUN
ajst-32561	100	21	.	.	PUNCT
ajst-32561	101	1	3.3	3.3	NUM
ajst-32561	101	2	hardware	hardware	NOUN
ajst-32561	101	3	design	design	NOUN
ajst-32561	101	4	update	update	NOUN
ajst-32561	101	5	and	and	CCONJ
ajst-32561	101	6	design	design	NOUN
ajst-32561	101	7	of	of	ADP
ajst-32561	101	8	the	the	DET
ajst-32561	101	9	hardware	hardware	NOUN
ajst-32561	101	10	structure	structure	NOUN
ajst-32561	101	11	is	be	AUX
ajst-32561	101	12	a	a	DET
ajst-32561	101	13	direct	direct	ADJ
ajst-32561	101	14	way	way	NOUN
ajst-32561	101	15	to	to	PART
ajst-32561	101	16	improve	improve	VERB
ajst-32561	101	17	the	the	DET
ajst-32561	101	18	stability	stability	NOUN
ajst-32561	101	19	of	of	ADP
ajst-32561	101	20	drone	drone	NOUN
ajst-32561	101	21	[	[	X
ajst-32561	101	22	13	13	NUM
ajst-32561	101	23	]	]	PUNCT
ajst-32561	101	24	as	as	ADP
ajst-32561	101	25	the	the	DET
ajst-32561	101	26	weight	weight	NOUN
ajst-32561	101	27	and	and	CCONJ
ajst-32561	101	28	the	the	DET
ajst-32561	101	29	density	density	NOUN
ajst-32561	101	30	of	of	ADP
ajst-32561	101	31	the	the	DET
ajst-32561	101	32	structure	structure	NOUN
ajst-32561	101	33	material	material	NOUN
ajst-32561	101	34	,	,	PUNCT
ajst-32561	101	35	the	the	DET
ajst-32561	101	36	location	location	NOUN
ajst-32561	101	37	of	of	ADP
ajst-32561	101	38	the	the	DET
ajst-32561	101	39	components	component	NOUN
ajst-32561	101	40	,	,	PUNCT
ajst-32561	101	41	the	the	DET
ajst-32561	101	42	size	size	NOUN
ajst-32561	101	43	and	and	CCONJ
ajst-32561	101	44	even	even	ADV
ajst-32561	101	45	the	the	DET
ajst-32561	101	46	outlook	outlook	NOUN
ajst-32561	101	47	of	of	ADP
ajst-32561	101	48	drones	drone	NOUN
ajst-32561	101	49	,	,	PUNCT
ajst-32561	101	50	all	all	PRON
ajst-32561	101	51	are	be	AUX
ajst-32561	101	52	the	the	DET
ajst-32561	101	53	factors	factor	NOUN
ajst-32561	101	54	that	that	PRON
ajst-32561	101	55	affect	affect	VERB
ajst-32561	101	56	the	the	DET
ajst-32561	101	57	flying	flying	NOUN
ajst-32561	101	58	of	of	ADP
ajst-32561	101	59	the	the	DET
ajst-32561	101	60	drone	drone	NOUN
ajst-32561	101	61	.	.	PUNCT
ajst-32561	102	1	here	here	ADV
ajst-32561	102	2	are	be	AUX
ajst-32561	102	3	some	some	DET
ajst-32561	102	4	places	place	NOUN
ajst-32561	102	5	that	that	PRON
ajst-32561	102	6	usually	usually	ADV
ajst-32561	102	7	be	be	AUX
ajst-32561	102	8	changed	change	VERB
ajst-32561	102	9	in	in	ADP
ajst-32561	102	10	stabilization	stabilization	NOUN
ajst-32561	102	11	methods	method	NOUN
ajst-32561	102	12	.	.	PUNCT
ajst-32561	103	1	3.3.1	3.3.1	NUM
ajst-32561	103	2	drone	drone	NOUN
ajst-32561	103	3	's	's	PART
ajst-32561	103	4	configuration	configuration	NOUN
ajst-32561	103	5	structure	structure	NOUN
ajst-32561	103	6	is	be	AUX
ajst-32561	103	7	the	the	DET
ajst-32561	103	8	basis	basis	NOUN
ajst-32561	103	9	of	of	ADP
ajst-32561	103	10	the	the	DET
ajst-32561	103	11	drone	drone	NOUN
ajst-32561	103	12	as	as	SCONJ
ajst-32561	103	13	its	its	PRON
ajst-32561	103	14	design	design	NOUN
ajst-32561	103	15	affect	affect	VERB
ajst-32561	103	16	the	the	DET
ajst-32561	103	17	flying	fly	VERB
ajst-32561	103	18	capability	capability	NOUN
ajst-32561	103	19	and	and	CCONJ
ajst-32561	103	20	adaptability	adaptability	NOUN
ajst-32561	103	21	of	of	ADP
ajst-32561	103	22	the	the	DET
ajst-32561	103	23	drone	drone	NOUN
ajst-32561	103	24	directly	directly	ADV
ajst-32561	103	25	[	[	X
ajst-32561	103	26	13	13	NUM
ajst-32561	103	27	]	]	PUNCT
ajst-32561	103	28	.	.	PUNCT
ajst-32561	104	1	better	well	ADJ
ajst-32561	104	2	design	design	NOUN
ajst-32561	104	3	of	of	ADP
ajst-32561	104	4	the	the	DET
ajst-32561	104	5	configuration	configuration	NOUN
ajst-32561	104	6	can	can	AUX
ajst-32561	104	7	lower	lower	VERB
ajst-32561	104	8	the	the	DET
ajst-32561	104	9	vibration	vibration	NOUN
ajst-32561	104	10	and	and	CCONJ
ajst-32561	104	11	noise	noise	NOUN
ajst-32561	104	12	of	of	ADP
ajst-32561	104	13	the	the	DET
ajst-32561	104	14	drone	drone	NOUN
ajst-32561	104	15	and	and	CCONJ
ajst-32561	104	16	improve	improve	VERB
ajst-32561	104	17	the	the	DET
ajst-32561	104	18	stability	stability	NOUN
ajst-32561	104	19	of	of	ADP
ajst-32561	104	20	the	the	DET
ajst-32561	104	21	structure	structure	NOUN
ajst-32561	104	22	.	.	PUNCT
ajst-32561	105	1	for	for	ADP
ajst-32561	105	2	instance	instance	NOUN
ajst-32561	105	3	,	,	PUNCT
ajst-32561	105	4	choose	choose	VERB
ajst-32561	105	5	a	a	DET
ajst-32561	105	6	lighter	light	ADJ
ajst-32561	105	7	and	and	CCONJ
ajst-32561	105	8	higher	high	ADJ
ajst-32561	105	9	intensity	intensity	NOUN
ajst-32561	105	10	material	material	NOUN
ajst-32561	105	11	of	of	ADP
ajst-32561	105	12	the	the	DET
ajst-32561	105	13	configuration	configuration	NOUN
ajst-32561	105	14	[	[	X
ajst-32561	105	15	13	13	NUM
ajst-32561	105	16	]	]	PUNCT
ajst-32561	105	17	can	can	AUX
ajst-32561	105	18	greatly	greatly	ADV
ajst-32561	105	19	reduce	reduce	VERB
ajst-32561	105	20	the	the	DET
ajst-32561	105	21	damage	damage	NOUN
ajst-32561	105	22	if	if	SCONJ
ajst-32561	105	23	collision	collision	NOUN
ajst-32561	105	24	occurs	occur	VERB
ajst-32561	105	25	as	as	SCONJ
ajst-32561	105	26	the	the	DET
ajst-32561	105	27	material	material	NOUN
ajst-32561	105	28	improve	improve	VERB
ajst-32561	105	29	the	the	DET
ajst-32561	105	30	material	material	NOUN
ajst-32561	105	31	strength	strength	NOUN
ajst-32561	105	32	.	.	PUNCT
ajst-32561	106	1	174	174	NUM
ajst-32561	106	2	3.3.2	3.3.2	NUM
ajst-32561	106	3	power	power	NOUN
ajst-32561	106	4	supply	supply	NOUN
ajst-32561	106	5	system	system	NOUN
ajst-32561	106	6	a	a	DET
ajst-32561	106	7	long	long	ADV
ajst-32561	106	8	-	-	PUNCT
ajst-32561	106	9	lasting	last	VERB
ajst-32561	106	10	battery	battery	NOUN
ajst-32561	106	11	is	be	AUX
ajst-32561	106	12	crucial	crucial	ADJ
ajst-32561	106	13	for	for	ADP
ajst-32561	106	14	drones	drone	NOUN
ajst-32561	106	15	as	as	SCONJ
ajst-32561	106	16	it	it	PRON
ajst-32561	106	17	increase	increase	VERB
ajst-32561	106	18	the	the	DET
ajst-32561	106	19	working	working	NOUN
ajst-32561	106	20	time	time	NOUN
ajst-32561	106	21	and	and	CCONJ
ajst-32561	106	22	flying	fly	VERB
ajst-32561	106	23	scope	scope	NOUN
ajst-32561	106	24	of	of	ADP
ajst-32561	106	25	the	the	DET
ajst-32561	106	26	drone	drone	NOUN
ajst-32561	106	27	so	so	SCONJ
ajst-32561	106	28	that	that	SCONJ
ajst-32561	106	29	it	it	PRON
ajst-32561	106	30	reduces	reduce	VERB
ajst-32561	106	31	the	the	DET
ajst-32561	106	32	time	time	NOUN
ajst-32561	106	33	of	of	ADP
ajst-32561	106	34	takeoff	takeoff	NOUN
ajst-32561	106	35	and	and	CCONJ
ajst-32561	106	36	landing	landing	NOUN
ajst-32561	106	37	which	which	PRON
ajst-32561	106	38	also	also	ADV
ajst-32561	106	39	improve	improve	VERB
ajst-32561	106	40	the	the	DET
ajst-32561	106	41	efficiency	efficiency	NOUN
ajst-32561	107	1	[	[	X
ajst-32561	107	2	13	13	NUM
ajst-32561	107	3	]	]	PUNCT
ajst-32561	107	4	.	.	PUNCT
ajst-32561	108	1	safety	safety	NOUN
ajst-32561	108	2	is	be	AUX
ajst-32561	108	3	another	another	DET
ajst-32561	108	4	part	part	NOUN
ajst-32561	108	5	that	that	PRON
ajst-32561	108	6	can	can	AUX
ajst-32561	108	7	be	be	AUX
ajst-32561	108	8	considered	consider	VERB
ajst-32561	108	9	by	by	ADP
ajst-32561	108	10	using	use	VERB
ajst-32561	108	11	the	the	DET
ajst-32561	108	12	long	long	ADV
ajst-32561	108	13	-	-	PUNCT
ajst-32561	108	14	lasting	last	VERB
ajst-32561	108	15	battery	battery	NOUN
ajst-32561	108	16	.	.	PUNCT
ajst-32561	109	1	after	after	ADP
ajst-32561	109	2	improving	improve	VERB
ajst-32561	109	3	the	the	DET
ajst-32561	109	4	battery	battery	NOUN
ajst-32561	109	5	life	life	NOUN
ajst-32561	109	6	,	,	PUNCT
ajst-32561	109	7	the	the	DET
ajst-32561	109	8	drone	drone	NOUN
ajst-32561	109	9	can	can	AUX
ajst-32561	109	10	reserve	reserve	VERB
ajst-32561	109	11	enough	enough	ADJ
ajst-32561	109	12	power	power	NOUN
ajst-32561	109	13	to	to	PART
ajst-32561	109	14	fly	fly	VERB
ajst-32561	109	15	back	back	ADV
ajst-32561	109	16	which	which	PRON
ajst-32561	109	17	lower	low	ADJ
ajst-32561	109	18	the	the	DET
ajst-32561	109	19	risk	risk	NOUN
ajst-32561	109	20	of	of	ADP
ajst-32561	109	21	crash	crash	NOUN
ajst-32561	109	22	and	and	CCONJ
ajst-32561	109	23	damage	damage	NOUN
ajst-32561	109	24	.	.	PUNCT
ajst-32561	110	1	design	design	VERB
ajst-32561	110	2	a	a	DET
ajst-32561	110	3	proper	proper	ADJ
ajst-32561	110	4	and	and	CCONJ
ajst-32561	110	5	highly	highly	ADV
ajst-32561	110	6	efficient	efficient	ADJ
ajst-32561	110	7	circuit	circuit	NOUN
ajst-32561	110	8	is	be	AUX
ajst-32561	110	9	useful	useful	ADJ
ajst-32561	110	10	as	as	ADV
ajst-32561	110	11	well	well	ADV
ajst-32561	110	12	.	.	PUNCT
ajst-32561	111	1	it	it	PRON
ajst-32561	111	2	ensures	ensure	VERB
ajst-32561	111	3	that	that	SCONJ
ajst-32561	111	4	the	the	DET
ajst-32561	111	5	voltage	voltage	NOUN
ajst-32561	111	6	passing	pass	VERB
ajst-32561	111	7	through	through	ADP
ajst-32561	111	8	all	all	DET
ajst-32561	111	9	components	component	NOUN
ajst-32561	111	10	are	be	AUX
ajst-32561	111	11	a	a	DET
ajst-32561	111	12	same	same	ADJ
ajst-32561	111	13	and	and	CCONJ
ajst-32561	111	14	can	can	AUX
ajst-32561	111	15	provide	provide	VERB
ajst-32561	111	16	constantly	constantly	ADV
ajst-32561	111	17	to	to	PART
ajst-32561	111	18	avoid	avoid	VERB
ajst-32561	111	19	the	the	DET
ajst-32561	111	20	errors	error	NOUN
ajst-32561	111	21	produced	produce	VERB
ajst-32561	111	22	by	by	ADP
ajst-32561	111	23	changes	change	NOUN
ajst-32561	111	24	in	in	ADP
ajst-32561	111	25	voltage	voltage	NOUN
ajst-32561	111	26	[	[	X
ajst-32561	111	27	14	14	NUM
ajst-32561	111	28	]	]	PUNCT
ajst-32561	111	29	.	.	PUNCT
ajst-32561	112	1	3.3.3	3.3.3	NUM
ajst-32561	112	2	modular	modular	ADJ
ajst-32561	112	3	design	design	NOUN
ajst-32561	112	4	like	like	ADP
ajst-32561	112	5	our	our	PRON
ajst-32561	112	6	body	body	NOUN
ajst-32561	112	7	is	be	AUX
ajst-32561	112	8	made	make	VERB
ajst-32561	112	9	up	up	ADP
ajst-32561	112	10	of	of	ADP
ajst-32561	112	11	organisms	organism	NOUN
ajst-32561	112	12	which	which	PRON
ajst-32561	112	13	each	each	PRON
ajst-32561	112	14	has	have	VERB
ajst-32561	112	15	their	their	PRON
ajst-32561	112	16	own	own	ADJ
ajst-32561	112	17	ability	ability	NOUN
ajst-32561	112	18	,	,	PUNCT
ajst-32561	112	19	the	the	DET
ajst-32561	112	20	design	design	NOUN
ajst-32561	112	21	of	of	ADP
ajst-32561	112	22	drone	drone	NOUN
ajst-32561	112	23	also	also	ADV
ajst-32561	112	24	needs	need	VERB
ajst-32561	112	25	to	to	PART
ajst-32561	112	26	set	set	VERB
ajst-32561	112	27	the	the	DET
ajst-32561	112	28	components	component	NOUN
ajst-32561	112	29	separately	separately	ADV
ajst-32561	112	30	for	for	ADP
ajst-32561	112	31	better	well	ADJ
ajst-32561	112	32	management	management	NOUN
ajst-32561	112	33	.	.	PUNCT
ajst-32561	113	1	so	so	ADV
ajst-32561	113	2	modular	modular	ADJ
ajst-32561	113	3	design	design	NOUN
ajst-32561	113	4	means	mean	VERB
ajst-32561	113	5	that	that	SCONJ
ajst-32561	113	6	to	to	PART
ajst-32561	113	7	separate	separate	VERB
ajst-32561	113	8	the	the	DET
ajst-32561	113	9	system	system	NOUN
ajst-32561	113	10	into	into	ADP
ajst-32561	113	11	several	several	ADJ
ajst-32561	113	12	modules	module	NOUN
ajst-32561	113	13	with	with	ADP
ajst-32561	113	14	specific	specific	ADJ
ajst-32561	113	15	function	function	NOUN
ajst-32561	113	16	independently	independently	ADV
ajst-32561	113	17	.	.	PUNCT
ajst-32561	114	1	this	this	PRON
ajst-32561	114	2	greatly	greatly	ADV
ajst-32561	114	3	improve	improve	VERB
ajst-32561	114	4	the	the	DET
ajst-32561	114	5	producing	produce	VERB
ajst-32561	114	6	efficiency	efficiency	NOUN
ajst-32561	114	7	as	as	SCONJ
ajst-32561	114	8	the	the	DET
ajst-32561	114	9	components	component	NOUN
ajst-32561	114	10	can	can	AUX
ajst-32561	114	11	be	be	AUX
ajst-32561	114	12	designed	design	VERB
ajst-32561	114	13	,	,	PUNCT
ajst-32561	114	14	produced	produce	VERB
ajst-32561	114	15	,	,	PUNCT
ajst-32561	114	16	tested	test	VERB
ajst-32561	114	17	and	and	CCONJ
ajst-32561	114	18	maintained	maintain	VERB
ajst-32561	114	19	by	by	ADP
ajst-32561	114	20	part	part	NOUN
ajst-32561	114	21	[	[	X
ajst-32561	114	22	14	14	NUM
ajst-32561	114	23	]	]	PUNCT
ajst-32561	114	24	.	.	PUNCT
ajst-32561	115	1	finally	finally	ADV
ajst-32561	115	2	these	these	DET
ajst-32561	115	3	parts	part	NOUN
ajst-32561	115	4	will	will	AUX
ajst-32561	115	5	form	form	VERB
ajst-32561	115	6	a	a	DET
ajst-32561	115	7	complete	complete	ADJ
ajst-32561	115	8	system	system	NOUN
ajst-32561	115	9	via	via	ADP
ajst-32561	115	10	connecting	connect	VERB
ajst-32561	115	11	standardized	standardized	ADJ
ajst-32561	115	12	interfaces	interface	NOUN
ajst-32561	115	13	.	.	PUNCT
ajst-32561	116	1	for	for	ADP
ajst-32561	116	2	drones	drone	NOUN
ajst-32561	116	3	,	,	PUNCT
ajst-32561	116	4	using	use	VERB
ajst-32561	116	5	modular	modular	ADJ
ajst-32561	116	6	design	design	NOUN
ajst-32561	116	7	helps	help	VERB
ajst-32561	116	8	adjusting	adjust	VERB
ajst-32561	116	9	the	the	DET
ajst-32561	116	10	separation	separation	NOUN
ajst-32561	116	11	of	of	ADP
ajst-32561	116	12	components	component	NOUN
ajst-32561	116	13	more	more	ADV
ajst-32561	116	14	flexible	flexible	ADJ
ajst-32561	116	15	so	so	SCONJ
ajst-32561	116	16	that	that	PRON
ajst-32561	116	17	can	can	AUX
ajst-32561	116	18	optimize	optimize	VERB
ajst-32561	116	19	the	the	DET
ajst-32561	116	20	center	center	NOUN
ajst-32561	116	21	of	of	ADP
ajst-32561	116	22	gravity	gravity	NOUN
ajst-32561	116	23	and	and	CCONJ
ajst-32561	116	24	the	the	DET
ajst-32561	116	25	distribution	distribution	NOUN
ajst-32561	116	26	of	of	ADP
ajst-32561	116	27	weight	weight	NOUN
ajst-32561	116	28	to	to	PART
ajst-32561	116	29	improve	improve	VERB
ajst-32561	116	30	the	the	DET
ajst-32561	116	31	stabilization	stabilization	NOUN
ajst-32561	116	32	.	.	PUNCT
ajst-32561	117	1	it	it	PRON
ajst-32561	117	2	also	also	ADV
ajst-32561	117	3	minimize	minimize	VERB
ajst-32561	117	4	the	the	DET
ajst-32561	117	5	cost	cost	NOUN
ajst-32561	117	6	of	of	ADP
ajst-32561	117	7	production	production	NOUN
ajst-32561	117	8	and	and	CCONJ
ajst-32561	117	9	maintenance	maintenance	NOUN
ajst-32561	117	10	of	of	ADP
ajst-32561	117	11	drones	drone	NOUN
ajst-32561	117	12	.	.	PUNCT
ajst-32561	118	1	factories	factory	NOUN
ajst-32561	118	2	can	can	AUX
ajst-32561	118	3	set	set	VERB
ajst-32561	118	4	a	a	DET
ajst-32561	118	5	standard	standard	NOUN
ajst-32561	118	6	of	of	ADP
ajst-32561	118	7	each	each	DET
ajst-32561	118	8	components	component	NOUN
ajst-32561	118	9	to	to	PART
ajst-32561	118	10	produce	produce	VERB
ajst-32561	118	11	which	which	PRON
ajst-32561	118	12	enhance	enhance	VERB
ajst-32561	118	13	the	the	DET
ajst-32561	118	14	reliability	reliability	NOUN
ajst-32561	118	15	and	and	CCONJ
ajst-32561	118	16	efficiency	efficiency	NOUN
ajst-32561	118	17	[	[	X
ajst-32561	118	18	14	14	NUM
ajst-32561	118	19	]	]	PUNCT
ajst-32561	118	20	.	.	PUNCT
ajst-32561	119	1	in	in	ADP
ajst-32561	119	2	the	the	DET
ajst-32561	119	3	other	other	ADJ
ajst-32561	119	4	hand	hand	NOUN
ajst-32561	119	5	,	,	PUNCT
ajst-32561	119	6	when	when	SCONJ
ajst-32561	119	7	the	the	DET
ajst-32561	119	8	drone	drone	NOUN
ajst-32561	119	9	is	be	AUX
ajst-32561	119	10	damaged	damage	VERB
ajst-32561	119	11	or	or	CCONJ
ajst-32561	119	12	broken	break	VERB
ajst-32561	119	13	,	,	PUNCT
ajst-32561	119	14	modular	modular	ADJ
ajst-32561	119	15	design	design	NOUN
ajst-32561	119	16	makes	make	VERB
ajst-32561	119	17	the	the	DET
ajst-32561	119	18	maintenance	maintenance	NOUN
ajst-32561	119	19	faster	fast	ADV
ajst-32561	119	20	and	and	CCONJ
ajst-32561	119	21	more	more	ADV
ajst-32561	119	22	convenient	convenient	ADJ
ajst-32561	119	23	as	as	SCONJ
ajst-32561	119	24	probably	probably	ADV
ajst-32561	119	25	it	it	PRON
ajst-32561	119	26	only	only	ADV
ajst-32561	119	27	need	need	VERB
ajst-32561	119	28	to	to	PART
ajst-32561	119	29	repair	repair	VERB
ajst-32561	119	30	little	little	ADJ
ajst-32561	119	31	part	part	NOUN
ajst-32561	119	32	of	of	ADP
ajst-32561	119	33	the	the	DET
ajst-32561	119	34	drone	drone	NOUN
ajst-32561	119	35	,	,	PUNCT
ajst-32561	119	36	which	which	PRON
ajst-32561	119	37	also	also	ADV
ajst-32561	119	38	save	save	VERB
ajst-32561	119	39	money	money	NOUN
ajst-32561	119	40	.	.	PUNCT
ajst-32561	120	1	4	4	X
ajst-32561	120	2	.	.	X
ajst-32561	120	3	optimization	optimization	NOUN
ajst-32561	120	4	techniques	technique	NOUN
ajst-32561	120	5	4.1	4.1	NUM
ajst-32561	120	6	advanced	advanced	ADJ
ajst-32561	120	7	control	control	NOUN
ajst-32561	120	8	algorithms	algorithms	NOUN
ajst-32561	120	9	optimization	optimization	NOUN
ajst-32561	120	10	in	in	ADP
ajst-32561	120	11	the	the	DET
ajst-32561	120	12	context	context	NOUN
ajst-32561	120	13	of	of	ADP
ajst-32561	120	14	uav	uav	PROPN
ajst-32561	120	15	stabilization	stabilization	NOUN
ajst-32561	120	16	refers	refer	VERB
ajst-32561	120	17	to	to	ADP
ajst-32561	120	18	the	the	DET
ajst-32561	120	19	process	process	NOUN
ajst-32561	120	20	of	of	ADP
ajst-32561	120	21	reforming	reform	VERB
ajst-32561	120	22	control	control	NOUN
ajst-32561	120	23	parameters	parameter	NOUN
ajst-32561	120	24	to	to	PART
ajst-32561	120	25	enhance	enhance	VERB
ajst-32561	120	26	flight	flight	NOUN
ajst-32561	120	27	performance	performance	NOUN
ajst-32561	120	28	,	,	PUNCT
ajst-32561	120	29	robustness	robustness	NOUN
ajst-32561	120	30	,	,	PUNCT
ajst-32561	120	31	and	and	CCONJ
ajst-32561	120	32	energy	energy	NOUN
ajst-32561	120	33	efficiency	efficiency	NOUN
ajst-32561	120	34	.	.	PUNCT
ajst-32561	121	1	from	from	ADP
ajst-32561	121	2	the	the	DET
ajst-32561	121	3	aspect	aspect	NOUN
ajst-32561	121	4	of	of	ADP
ajst-32561	121	5	optimizing	optimize	VERB
ajst-32561	121	6	control	control	NOUN
ajst-32561	121	7	algorithms	algorithm	NOUN
ajst-32561	121	8	,	,	PUNCT
ajst-32561	121	9	it	it	PRON
ajst-32561	121	10	is	be	AUX
ajst-32561	121	11	a	a	DET
ajst-32561	121	12	crucial	crucial	ADJ
ajst-32561	121	13	step	step	NOUN
ajst-32561	121	14	in	in	ADP
ajst-32561	121	15	ensuring	ensure	VERB
ajst-32561	121	16	uavs	uavs	NOUN
ajst-32561	121	17	could	could	AUX
ajst-32561	121	18	respond	respond	VERB
ajst-32561	121	19	precisely	precisely	ADV
ajst-32561	121	20	and	and	CCONJ
ajst-32561	121	21	stably	stably	ADV
ajst-32561	121	22	to	to	ADP
ajst-32561	121	23	dynamic	dynamic	ADJ
ajst-32561	121	24	flight	flight	NOUN
ajst-32561	121	25	conditions	condition	NOUN
ajst-32561	121	26	.	.	PUNCT
ajst-32561	122	1	the	the	DET
ajst-32561	122	2	most	most	ADV
ajst-32561	122	3	widely	widely	ADV
ajst-32561	122	4	used	use	VERB
ajst-32561	122	5	traditional	traditional	ADJ
ajst-32561	122	6	method	method	NOUN
ajst-32561	122	7	is	be	AUX
ajst-32561	122	8	the	the	DET
ajst-32561	122	9	pid	pid	NOUN
ajst-32561	122	10	control	control	NOUN
ajst-32561	122	11	,	,	PUNCT
ajst-32561	122	12	which	which	PRON
ajst-32561	122	13	has	have	AUX
ajst-32561	122	14	been	be	AUX
ajst-32561	122	15	mentioned	mention	VERB
ajst-32561	122	16	in	in	ADP
ajst-32561	122	17	the	the	DET
ajst-32561	122	18	previous	previous	ADJ
ajst-32561	122	19	sections	section	NOUN
ajst-32561	122	20	[	[	X
ajst-32561	122	21	10	10	NUM
ajst-32561	122	22	]	]	PUNCT
ajst-32561	122	23	.	.	PUNCT
ajst-32561	123	1	optimization	optimization	NOUN
ajst-32561	123	2	in	in	ADP
ajst-32561	123	3	pid	pid	NOUN
ajst-32561	123	4	involves	involve	VERB
ajst-32561	123	5	gain	gain	NOUN
ajst-32561	123	6	-	-	PUNCT
ajst-32561	123	7	tuning	tune	VERB
ajst-32561	123	8	three	three	NUM
ajst-32561	123	9	parameters	parameter	NOUN
ajst-32561	123	10	(	(	PUNCT
ajst-32561	123	11	proportional	proportional	ADJ
ajst-32561	123	12	,	,	PUNCT
ajst-32561	123	13	integral	integral	ADJ
ajst-32561	123	14	,	,	PUNCT
ajst-32561	123	15	and	and	CCONJ
ajst-32561	123	16	derivative	derivative	NOUN
ajst-32561	123	17	)	)	PUNCT
ajst-32561	123	18	by	by	ADP
ajst-32561	123	19	adjusting	adjust	VERB
ajst-32561	123	20	the	the	DET
ajst-32561	123	21	algorithm	algorithm	NOUN
ajst-32561	123	22	manually	manually	ADV
ajst-32561	123	23	or	or	CCONJ
ajst-32561	123	24	automatically	automatically	ADV
ajst-32561	123	25	to	to	PART
ajst-32561	123	26	observe	observe	VERB
ajst-32561	123	27	the	the	DET
ajst-32561	123	28	direct	direct	ADJ
ajst-32561	123	29	response	response	NOUN
ajst-32561	123	30	.	.	PUNCT
ajst-32561	124	1	thus	thus	ADV
ajst-32561	124	2	,	,	PUNCT
ajst-32561	124	3	the	the	DET
ajst-32561	124	4	uav	uav	PROPN
ajst-32561	124	5	could	could	AUX
ajst-32561	124	6	correct	correct	VERB
ajst-32561	124	7	its	its	PRON
ajst-32561	124	8	flight	flight	NOUN
ajst-32561	124	9	path	path	NOUN
ajst-32561	124	10	smoothly	smoothly	ADV
ajst-32561	124	11	without	without	ADP
ajst-32561	124	12	any	any	DET
ajst-32561	124	13	delays	delay	NOUN
ajst-32561	124	14	or	or	CCONJ
ajst-32561	124	15	oscillations	oscillation	NOUN
ajst-32561	124	16	[	[	X
ajst-32561	124	17	4	4	NUM
ajst-32561	124	18	]	]	PUNCT
ajst-32561	124	19	.	.	PUNCT
ajst-32561	125	1	for	for	ADP
ajst-32561	125	2	more	more	ADV
ajst-32561	125	3	advanced	advanced	ADJ
ajst-32561	125	4	control	control	NOUN
ajst-32561	125	5	systems	system	NOUN
ajst-32561	125	6	like	like	ADP
ajst-32561	125	7	mpc	mpc	NOUN
ajst-32561	125	8	,	,	PUNCT
ajst-32561	125	9	optimization	optimization	NOUN
ajst-32561	125	10	methods	method	NOUN
ajst-32561	125	11	are	be	AUX
ajst-32561	125	12	embedded	embed	VERB
ajst-32561	125	13	in	in	ADP
ajst-32561	125	14	the	the	DET
ajst-32561	125	15	algorithm	algorithm	NOUN
ajst-32561	125	16	itself	itself	PRON
ajst-32561	125	17	.	.	PUNCT
ajst-32561	126	1	mpc	mpc	PROPN
ajst-32561	126	2	constantly	constantly	ADV
ajst-32561	126	3	solves	solve	VERB
ajst-32561	126	4	an	an	DET
ajst-32561	126	5	internal	internal	ADJ
ajst-32561	126	6	optimization	optimization	NOUN
ajst-32561	126	7	problem	problem	NOUN
ajst-32561	126	8	in	in	ADP
ajst-32561	126	9	real	real	ADJ
ajst-32561	126	10	time	time	NOUN
ajst-32561	126	11	to	to	PART
ajst-32561	126	12	determine	determine	VERB
ajst-32561	126	13	the	the	DET
ajst-32561	126	14	best	good	ADJ
ajst-32561	126	15	control	control	NOUN
ajst-32561	126	16	inputs	input	NOUN
ajst-32561	126	17	over	over	ADP
ajst-32561	126	18	a	a	DET
ajst-32561	126	19	prediction	prediction	NOUN
ajst-32561	126	20	horizon	horizon	NOUN
ajst-32561	126	21	,	,	PUNCT
ajst-32561	126	22	balancing	balance	VERB
ajst-32561	126	23	multiple	multiple	ADJ
ajst-32561	126	24	objectives	objective	NOUN
ajst-32561	126	25	such	such	ADJ
ajst-32561	126	26	as	as	ADP
ajst-32561	126	27	trajectory	trajectory	NOUN
ajst-32561	126	28	accuracy	accuracy	NOUN
ajst-32561	126	29	and	and	CCONJ
ajst-32561	126	30	its	its	PRON
ajst-32561	126	31	stability	stability	NOUN
ajst-32561	126	32	.	.	PUNCT
ajst-32561	127	1	hence	hence	ADV
ajst-32561	127	2	,	,	PUNCT
ajst-32561	127	3	optimization	optimization	NOUN
ajst-32561	127	4	is	be	AUX
ajst-32561	127	5	n’t	not	PART
ajst-32561	127	6	just	just	ADV
ajst-32561	127	7	a	a	DET
ajst-32561	127	8	one	one	NUM
ajst-32561	127	9	-	-	PUNCT
ajst-32561	127	10	time	time	NOUN
ajst-32561	127	11	process	process	NOUN
ajst-32561	127	12	,	,	PUNCT
ajst-32561	127	13	it	it	PRON
ajst-32561	127	14	could	could	AUX
ajst-32561	127	15	be	be	AUX
ajst-32561	127	16	continuous	continuous	ADJ
ajst-32561	127	17	,	,	PUNCT
ajst-32561	127	18	adaptive	adaptive	ADJ
ajst-32561	127	19	,	,	PUNCT
ajst-32561	127	20	and	and	CCONJ
ajst-32561	127	21	dynamic	dynamic	ADJ
ajst-32561	127	22	,	,	PUNCT
ajst-32561	127	23	allowing	allow	VERB
ajst-32561	127	24	the	the	DET
ajst-32561	127	25	uav	uav	PROPN
ajst-32561	127	26	to	to	PART
ajst-32561	127	27	make	make	VERB
ajst-32561	127	28	smarter	smart	ADJ
ajst-32561	127	29	decisions	decision	NOUN
ajst-32561	127	30	during	during	ADP
ajst-32561	127	31	mid	mid	NOUN
ajst-32561	127	32	-	-	NOUN
ajst-32561	127	33	flight	flight	NOUN
ajst-32561	127	34	.	.	PUNCT
ajst-32561	128	1	in	in	ADP
ajst-32561	128	2	essence	essence	NOUN
ajst-32561	128	3	,	,	PUNCT
ajst-32561	128	4	the	the	DET
ajst-32561	128	5	optimization	optimization	NOUN
ajst-32561	128	6	of	of	ADP
ajst-32561	128	7	control	control	NOUN
ajst-32561	128	8	algorithms	algorithm	NOUN
ajst-32561	128	9	ensures	ensure	VERB
ajst-32561	128	10	that	that	SCONJ
ajst-32561	128	11	the	the	DET
ajst-32561	128	12	uavs	uavs	NOUN
ajst-32561	128	13	could	could	AUX
ajst-32561	128	14	perform	perform	VERB
ajst-32561	128	15	complex	complex	ADJ
ajst-32561	128	16	tasks	task	NOUN
ajst-32561	128	17	in	in	ADP
ajst-32561	128	18	different	different	ADJ
ajst-32561	128	19	environments	environment	NOUN
ajst-32561	128	20	,	,	PUNCT
ajst-32561	128	21	while	while	SCONJ
ajst-32561	128	22	maintaining	maintain	VERB
ajst-32561	128	23	smooth	smooth	ADJ
ajst-32561	128	24	,	,	PUNCT
ajst-32561	128	25	reliable	reliable	ADJ
ajst-32561	128	26	and	and	CCONJ
ajst-32561	128	27	energy	energy	NOUN
ajst-32561	128	28	-	-	PUNCT
ajst-32561	128	29	efficient	efficient	ADJ
ajst-32561	128	30	flight	flight	NOUN
ajst-32561	129	1	[	[	X
ajst-32561	129	2	2	2	X
ajst-32561	129	3	]	]	PUNCT
ajst-32561	129	4	all	all	PRON
ajst-32561	129	5	of	of	ADP
ajst-32561	129	6	which	which	PRON
ajst-32561	129	7	are	be	AUX
ajst-32561	129	8	crucial	crucial	ADJ
ajst-32561	129	9	for	for	ADP
ajst-32561	129	10	high	high	ADJ
ajst-32561	129	11	performance	performance	NOUN
ajst-32561	129	12	stabilization	stabilization	NOUN
ajst-32561	129	13	in	in	ADP
ajst-32561	129	14	the	the	DET
ajst-32561	129	15	real	real	ADJ
ajst-32561	129	16	-	-	PUNCT
ajst-32561	129	17	world	world	NOUN
ajst-32561	129	18	operations	operation	NOUN
ajst-32561	129	19	.	.	PUNCT
ajst-32561	130	1	4.2	4.2	NUM
ajst-32561	130	2	ai	ai	NOUN
ajst-32561	130	3	and	and	CCONJ
ajst-32561	130	4	machine	machine	NOUN
ajst-32561	130	5	learning	learn	VERB
ajst-32561	130	6	machine	machine	NOUN
ajst-32561	130	7	learning	learning	NOUN
ajst-32561	130	8	(	(	PUNCT
ajst-32561	130	9	ml	ml	NOUN
ajst-32561	130	10	)	)	PUNCT
ajst-32561	130	11	as	as	ADP
ajst-32561	130	12	a	a	DET
ajst-32561	130	13	branch	branch	NOUN
ajst-32561	130	14	of	of	ADP
ajst-32561	130	15	artificial	artificial	ADJ
ajst-32561	130	16	intelligence	intelligence	NOUN
ajst-32561	130	17	,	,	PUNCT
ajst-32561	130	18	has	have	AUX
ajst-32561	130	19	also	also	ADV
ajst-32561	130	20	played	play	VERB
ajst-32561	130	21	an	an	DET
ajst-32561	130	22	important	important	ADJ
ajst-32561	130	23	role	role	NOUN
ajst-32561	130	24	in	in	ADP
ajst-32561	130	25	advancing	advance	VERB
ajst-32561	130	26	the	the	DET
ajst-32561	130	27	stabilization	stabilization	NOUN
ajst-32561	130	28	and	and	CCONJ
ajst-32561	130	29	control	control	NOUN
ajst-32561	130	30	systems	system	NOUN
ajst-32561	130	31	of	of	ADP
ajst-32561	130	32	uavs	uavs	NOUN
ajst-32561	131	1	[	[	X
ajst-32561	131	2	15	15	NUM
ajst-32561	131	3	]	]	PUNCT
ajst-32561	131	4	.	.	PUNCT
ajst-32561	132	1	one	one	NUM
ajst-32561	132	2	thing	thing	NOUN
ajst-32561	132	3	that	that	PRON
ajst-32561	132	4	makes	make	VERB
ajst-32561	132	5	this	this	DET
ajst-32561	132	6	method	method	NOUN
ajst-32561	132	7	stand	stand	VERB
ajst-32561	132	8	out	out	ADP
ajst-32561	132	9	is	be	AUX
ajst-32561	132	10	its	its	PRON
ajst-32561	132	11	ability	ability	NOUN
ajst-32561	132	12	to	to	PART
ajst-32561	132	13	mimic	mimic	VERB
ajst-32561	132	14	human	human	ADJ
ajst-32561	132	15	intelligence	intelligence	NOUN
ajst-32561	132	16	by	by	ADP
ajst-32561	132	17	learning	learn	VERB
ajst-32561	132	18	and	and	CCONJ
ajst-32561	132	19	adapting	adapt	VERB
ajst-32561	132	20	in	in	ADP
ajst-32561	132	21	real	real	ADJ
ajst-32561	132	22	time	time	NOUN
ajst-32561	132	23	,	,	PUNCT
ajst-32561	132	24	rather	rather	ADV
ajst-32561	132	25	than	than	ADP
ajst-32561	132	26	relying	rely	VERB
ajst-32561	132	27	solely	solely	ADV
ajst-32561	132	28	on	on	ADP
ajst-32561	132	29	fixed	fix	VERB
ajst-32561	132	30	mechanical	mechanical	ADJ
ajst-32561	132	31	operations	operation	NOUN
ajst-32561	132	32	.	.	PUNCT
ajst-32561	133	1	during	during	ADP
ajst-32561	133	2	its	its	PRON
ajst-32561	133	3	training	training	NOUN
ajst-32561	133	4	,	,	PUNCT
ajst-32561	133	5	the	the	DET
ajst-32561	133	6	model	model	NOUN
ajst-32561	133	7	is	be	AUX
ajst-32561	133	8	fed	feed	VERB
ajst-32561	133	9	with	with	ADP
ajst-32561	133	10	a	a	DET
ajst-32561	133	11	large	large	ADJ
ajst-32561	133	12	dataset	dataset	NOUN
ajst-32561	133	13	of	of	ADP
ajst-32561	133	14	flight	flight	NOUN
ajst-32561	133	15	scenarios	scenario	NOUN
ajst-32561	133	16	,	,	PUNCT
ajst-32561	133	17	and	and	CCONJ
ajst-32561	133	18	it	it	PRON
ajst-32561	133	19	learns	learn	VERB
ajst-32561	133	20	the	the	DET
ajst-32561	133	21	correct	correct	ADJ
ajst-32561	133	22	motor	motor	NOUN
ajst-32561	133	23	commands	command	NOUN
ajst-32561	133	24	which	which	PRON
ajst-32561	133	25	result	result	VERB
ajst-32561	133	26	in	in	ADP
ajst-32561	133	27	stable	stable	ADJ
ajst-32561	133	28	flight	flight	NOUN
ajst-32561	133	29	.	.	PUNCT
ajst-32561	134	1	these	these	DET
ajst-32561	134	2	models	model	NOUN
ajst-32561	134	3	are	be	AUX
ajst-32561	134	4	trained	train	VERB
ajst-32561	134	5	to	to	PART
ajst-32561	134	6	predict	predict	VERB
ajst-32561	134	7	the	the	DET
ajst-32561	134	8	future	future	ADJ
ajst-32561	134	9	flight	flight	NOUN
ajst-32561	134	10	path	path	NOUN
ajst-32561	134	11	but	but	CCONJ
ajst-32561	134	12	also	also	ADV
ajst-32561	134	13	minimize	minimize	VERB
ajst-32561	134	14	the	the	DET
ajst-32561	134	15	prediction	prediction	NOUN
ajst-32561	134	16	errors	error	NOUN
ajst-32561	134	17	.	.	PUNCT
ajst-32561	135	1	once	once	ADV
ajst-32561	135	2	trained	train	VERB
ajst-32561	135	3	,	,	PUNCT
ajst-32561	135	4	they	they	PRON
ajst-32561	135	5	can	can	AUX
ajst-32561	135	6	deduct	deduct	VERB
ajst-32561	135	7	the	the	DET
ajst-32561	135	8	appropriate	appropriate	ADJ
ajst-32561	135	9	motor	motor	NOUN
ajst-32561	135	10	speeds	speed	NOUN
ajst-32561	135	11	or	or	CCONJ
ajst-32561	135	12	control	control	VERB
ajst-32561	135	13	surface	surface	NOUN
ajst-32561	135	14	deflection	deflection	NOUN
ajst-32561	135	15	in	in	ADP
ajst-32561	135	16	real	real	ADJ
ajst-32561	135	17	time	time	NOUN
ajst-32561	135	18	.	.	PUNCT
ajst-32561	136	1	as	as	ADP
ajst-32561	136	2	a	a	DET
ajst-32561	136	3	result	result	NOUN
ajst-32561	136	4	,	,	PUNCT
ajst-32561	136	5	this	this	PRON
ajst-32561	136	6	enables	enable	VERB
ajst-32561	136	7	drones	drone	NOUN
ajst-32561	136	8	to	to	PART
ajst-32561	136	9	respond	respond	VERB
ajst-32561	136	10	intelligently	intelligently	ADV
ajst-32561	136	11	to	to	ADP
ajst-32561	136	12	dynamic	dynamic	ADJ
ajst-32561	136	13	and	and	CCONJ
ajst-32561	136	14	uncertain	uncertain	ADJ
ajst-32561	136	15	conditions	condition	NOUN
ajst-32561	136	16	[	[	X
ajst-32561	136	17	16	16	NUM
ajst-32561	136	18	]	]	PUNCT
ajst-32561	136	19	.	.	PUNCT
ajst-32561	137	1	175	175	NUM
ajst-32561	137	2	another	another	DET
ajst-32561	137	3	method	method	NOUN
ajst-32561	137	4	is	be	AUX
ajst-32561	137	5	reinforcement	reinforcement	NOUN
ajst-32561	137	6	learning	learning	NOUN
ajst-32561	137	7	(	(	PUNCT
ajst-32561	137	8	rl	rl	NOUN
ajst-32561	137	9	)	)	PUNCT
ajst-32561	137	10	,	,	PUNCT
ajst-32561	137	11	instead	instead	ADV
ajst-32561	137	12	of	of	ADP
ajst-32561	137	13	feeding	feed	VERB
ajst-32561	137	14	dataset	dataset	NOUN
ajst-32561	137	15	,	,	PUNCT
ajst-32561	137	16	this	this	DET
ajst-32561	137	17	method	method	NOUN
ajst-32561	137	18	allows	allow	VERB
ajst-32561	137	19	the	the	DET
ajst-32561	137	20	uavs	uavs	NOUN
ajst-32561	137	21	to	to	PART
ajst-32561	137	22	learn	learn	VERB
ajst-32561	137	23	through	through	ADP
ajst-32561	137	24	interaction	interaction	NOUN
ajst-32561	137	25	with	with	ADP
ajst-32561	137	26	a	a	DET
ajst-32561	137	27	simulated	simulated	ADJ
ajst-32561	137	28	or	or	CCONJ
ajst-32561	137	29	real	real	ADJ
ajst-32561	137	30	environment	environment	NOUN
ajst-32561	137	31	.	.	PUNCT
ajst-32561	138	1	the	the	DET
ajst-32561	138	2	drones	drone	NOUN
ajst-32561	138	3	start	start	VERB
ajst-32561	138	4	up	up	ADP
ajst-32561	138	5	with	with	ADP
ajst-32561	138	6	zero	zero	NUM
ajst-32561	138	7	prior	prior	ADJ
ajst-32561	138	8	knowledge	knowledge	NOUN
ajst-32561	138	9	.	.	PUNCT
ajst-32561	139	1	they	they	PRON
ajst-32561	139	2	will	will	AUX
ajst-32561	139	3	perform	perform	VERB
ajst-32561	139	4	random	random	ADJ
ajst-32561	139	5	actions	action	NOUN
ajst-32561	139	6	towards	towards	ADP
ajst-32561	139	7	disturbances	disturbance	NOUN
ajst-32561	139	8	and	and	CCONJ
ajst-32561	139	9	receive	receive	VERB
ajst-32561	139	10	feedback	feedback	NOUN
ajst-32561	139	11	from	from	ADP
ajst-32561	139	12	the	the	DET
ajst-32561	139	13	manipulator	manipulator	NOUN
ajst-32561	139	14	in	in	ADP
ajst-32561	139	15	the	the	DET
ajst-32561	139	16	form	form	NOUN
ajst-32561	139	17	of	of	ADP
ajst-32561	139	18	rewards	reward	NOUN
ajst-32561	139	19	or	or	CCONJ
ajst-32561	139	20	penalties	penalty	NOUN
ajst-32561	139	21	based	base	VERB
ajst-32561	139	22	on	on	ADP
ajst-32561	139	23	the	the	DET
ajst-32561	139	24	results	result	NOUN
ajst-32561	139	25	of	of	ADP
ajst-32561	139	26	these	these	DET
ajst-32561	139	27	actions	action	NOUN
ajst-32561	139	28	[	[	X
ajst-32561	139	29	15	15	NUM
ajst-32561	139	30	]	]	PUNCT
ajst-32561	139	31	.	.	PUNCT
ajst-32561	140	1	over	over	ADP
ajst-32561	140	2	time	time	NOUN
ajst-32561	140	3	,	,	PUNCT
ajst-32561	140	4	this	this	DET
ajst-32561	140	5	approach	approach	NOUN
ajst-32561	140	6	enables	enable	VERB
ajst-32561	140	7	the	the	DET
ajst-32561	140	8	uavs	uavs	NOUN
ajst-32561	140	9	to	to	PART
ajst-32561	140	10	adapt	adapt	VERB
ajst-32561	140	11	to	to	ADP
ajst-32561	140	12	new	new	ADJ
ajst-32561	140	13	environments	environment	NOUN
ajst-32561	140	14	or	or	CCONJ
ajst-32561	140	15	unexpected	unexpected	ADJ
ajst-32561	140	16	disturbances	disturbance	NOUN
ajst-32561	140	17	[	[	X
ajst-32561	140	18	16	16	NUM
ajst-32561	140	19	]	]	PUNCT
ajst-32561	140	20	.	.	PUNCT
ajst-32561	141	1	in	in	ADP
ajst-32561	141	2	conclusion	conclusion	NOUN
ajst-32561	141	3	,	,	PUNCT
ajst-32561	141	4	these	these	DET
ajst-32561	141	5	ai	ai	ADJ
ajst-32561	141	6	-	-	PUNCT
ajst-32561	141	7	driven	drive	VERB
ajst-32561	141	8	techniques	technique	NOUN
ajst-32561	141	9	represent	represent	VERB
ajst-32561	141	10	a	a	DET
ajst-32561	141	11	shift	shift	NOUN
ajst-32561	141	12	from	from	ADP
ajst-32561	141	13	the	the	DET
ajst-32561	141	14	fixed	fix	VERB
ajst-32561	141	15	-	-	PUNCT
ajst-32561	141	16	rule	rule	NOUN
ajst-32561	141	17	control	control	NOUN
ajst-32561	141	18	to	to	ADP
ajst-32561	141	19	adaptive	adaptive	ADJ
ajst-32561	141	20	,	,	PUNCT
ajst-32561	141	21	self	self	NOUN
ajst-32561	141	22	-	-	PUNCT
ajst-32561	141	23	improving	improve	VERB
ajst-32561	141	24	systems	system	NOUN
ajst-32561	141	25	that	that	PRON
ajst-32561	141	26	continuously	continuously	ADV
ajst-32561	141	27	optimize	optimize	VERB
ajst-32561	141	28	and	and	CCONJ
ajst-32561	141	29	adapt	adapt	VERB
ajst-32561	141	30	the	the	DET
ajst-32561	141	31	flight	flight	NOUN
ajst-32561	141	32	stability	stability	NOUN
ajst-32561	141	33	under	under	ADP
ajst-32561	141	34	varying	vary	VERB
ajst-32561	141	35	conditions	condition	NOUN
ajst-32561	141	36	.	.	PUNCT
ajst-32561	142	1	4.3	4.3	NUM
ajst-32561	142	2	structure	structure	NOUN
ajst-32561	142	3	design	design	NOUN
ajst-32561	142	4	optimization	optimization	NOUN
ajst-32561	142	5	optimization	optimization	NOUN
ajst-32561	142	6	of	of	ADP
ajst-32561	142	7	the	the	DET
ajst-32561	142	8	mechanical	mechanical	ADJ
ajst-32561	142	9	structure	structure	NOUN
ajst-32561	142	10	in	in	ADP
ajst-32561	142	11	uav	uav	PROPN
ajst-32561	142	12	design	design	NOUN
ajst-32561	142	13	is	be	AUX
ajst-32561	142	14	a	a	DET
ajst-32561	142	15	critical	critical	ADJ
ajst-32561	142	16	engineering	engineering	NOUN
ajst-32561	142	17	process	process	NOUN
ajst-32561	142	18	aimed	aim	VERB
ajst-32561	142	19	to	to	PART
ajst-32561	142	20	achieve	achieve	VERB
ajst-32561	142	21	the	the	DET
ajst-32561	142	22	ideal	ideal	ADJ
ajst-32561	142	23	balance	balance	NOUN
ajst-32561	142	24	between	between	ADP
ajst-32561	142	25	strength	strength	NOUN
ajst-32561	142	26	,	,	PUNCT
ajst-32561	142	27	weight	weight	NOUN
ajst-32561	142	28	,	,	PUNCT
ajst-32561	142	29	aerodynamics	aerodynamic	NOUN
ajst-32561	142	30	,	,	PUNCT
ajst-32561	142	31	and	and	CCONJ
ajst-32561	142	32	modularity	modularity	NOUN
ajst-32561	142	33	.	.	PUNCT
ajst-32561	143	1	as	as	SCONJ
ajst-32561	143	2	mentioned	mention	VERB
ajst-32561	143	3	in	in	ADP
ajst-32561	143	4	the	the	DET
ajst-32561	143	5	previous	previous	ADJ
ajst-32561	143	6	sections	section	NOUN
ajst-32561	143	7	,	,	PUNCT
ajst-32561	143	8	the	the	DET
ajst-32561	143	9	airframe	airframe	NOUN
ajst-32561	143	10	must	must	AUX
ajst-32561	143	11	be	be	AUX
ajst-32561	143	12	rigid	rigid	ADJ
ajst-32561	143	13	but	but	CCONJ
ajst-32561	143	14	also	also	ADV
ajst-32561	143	15	light	light	NOUN
ajst-32561	143	16	weighted	weight	VERB
ajst-32561	143	17	[	[	X
ajst-32561	143	18	17	17	NUM
ajst-32561	143	19	]	]	PUNCT
ajst-32561	143	20	.	.	PUNCT
ajst-32561	144	1	to	to	PART
ajst-32561	144	2	accomplish	accomplish	VERB
ajst-32561	144	3	this	this	PRON
ajst-32561	144	4	,	,	PUNCT
ajst-32561	144	5	structural	structural	ADJ
ajst-32561	144	6	optimization	optimization	NOUN
ajst-32561	144	7	often	often	ADV
ajst-32561	144	8	begins	begin	VERB
ajst-32561	144	9	with	with	ADP
ajst-32561	144	10	the	the	DET
ajst-32561	144	11	finite	finite	ADJ
ajst-32561	144	12	element	element	NOUN
ajst-32561	144	13	analysis	analysis	NOUN
ajst-32561	144	14	(	(	PUNCT
ajst-32561	144	15	fea	fea	NOUN
ajst-32561	144	16	)	)	PUNCT
ajst-32561	144	17	,	,	PUNCT
ajst-32561	144	18	allowing	allow	VERB
ajst-32561	144	19	engineers	engineer	NOUN
ajst-32561	144	20	to	to	PART
ajst-32561	144	21	know	know	VERB
ajst-32561	144	22	the	the	DET
ajst-32561	144	23	mechanical	mechanical	ADJ
ajst-32561	144	24	stress	stress	NOUN
ajst-32561	144	25	distributions	distribution	NOUN
ajst-32561	144	26	across	across	ADP
ajst-32561	144	27	the	the	DET
ajst-32561	144	28	whole	whole	ADJ
ajst-32561	144	29	airframe	airframe	NOUN
ajst-32561	144	30	under	under	ADP
ajst-32561	144	31	different	different	ADJ
ajst-32561	144	32	loading	loading	NOUN
ajst-32561	144	33	conditions	condition	NOUN
ajst-32561	144	34	.	.	PUNCT
ajst-32561	145	1	by	by	ADP
ajst-32561	145	2	using	use	VERB
ajst-32561	145	3	this	this	DET
ajst-32561	145	4	technique	technique	NOUN
ajst-32561	145	5	,	,	PUNCT
ajst-32561	145	6	engineers	engineer	NOUN
ajst-32561	145	7	could	could	AUX
ajst-32561	145	8	identify	identify	VERB
ajst-32561	145	9	areas	area	NOUN
ajst-32561	145	10	of	of	ADP
ajst-32561	145	11	the	the	DET
ajst-32561	145	12	structure	structure	NOUN
ajst-32561	145	13	that	that	PRON
ajst-32561	145	14	experience	experience	VERB
ajst-32561	145	15	high	high	ADJ
ajst-32561	145	16	stress	stress	NOUN
ajst-32561	145	17	while	while	SCONJ
ajst-32561	145	18	simultaneously	simultaneously	ADV
ajst-32561	145	19	removing	remove	VERB
ajst-32561	145	20	unnecessary	unnecessary	ADJ
ajst-32561	145	21	material	material	NOUN
ajst-32561	145	22	from	from	ADP
ajst-32561	145	23	low	low	ADJ
ajst-32561	145	24	-	-	PUNCT
ajst-32561	145	25	stress	stress	NOUN
ajst-32561	145	26	regions	region	NOUN
ajst-32561	145	27	to	to	PART
ajst-32561	145	28	reduce	reduce	VERB
ajst-32561	145	29	overall	overall	ADJ
ajst-32561	145	30	mass	mass	NOUN
ajst-32561	145	31	.	.	PUNCT
ajst-32561	146	1	this	this	DET
ajst-32561	146	2	whole	whole	ADJ
ajst-32561	146	3	process	process	NOUN
ajst-32561	146	4	,	,	PUNCT
ajst-32561	146	5	known	know	VERB
ajst-32561	146	6	as	as	ADP
ajst-32561	146	7	topology	topology	NOUN
ajst-32561	146	8	optimization	optimization	NOUN
ajst-32561	146	9	.	.	PUNCT
ajst-32561	147	1	furthermore	furthermore	ADV
ajst-32561	147	2	,	,	PUNCT
ajst-32561	147	3	the	the	DET
ajst-32561	147	4	weight	weight	NOUN
ajst-32561	147	5	distribution	distribution	NOUN
ajst-32561	147	6	for	for	ADP
ajst-32561	147	7	drones	drone	NOUN
ajst-32561	147	8	is	be	AUX
ajst-32561	147	9	carefully	carefully	ADV
ajst-32561	147	10	managed	manage	VERB
ajst-32561	147	11	where	where	SCONJ
ajst-32561	147	12	its	its	PRON
ajst-32561	147	13	center	center	NOUN
ajst-32561	147	14	of	of	ADP
ajst-32561	147	15	gravity	gravity	NOUN
ajst-32561	147	16	needs	need	VERB
ajst-32561	147	17	to	to	PART
ajst-32561	147	18	be	be	AUX
ajst-32561	147	19	in	in	ADP
ajst-32561	147	20	the	the	DET
ajst-32561	147	21	right	right	ADJ
ajst-32561	147	22	place	place	NOUN
ajst-32561	147	23	to	to	PART
ajst-32561	147	24	hover	hover	VERB
ajst-32561	147	25	in	in	ADP
ajst-32561	147	26	the	the	DET
ajst-32561	147	27	air	air	NOUN
ajst-32561	148	1	[	[	X
ajst-32561	148	2	4	4	NUM
ajst-32561	148	3	]	]	PUNCT
ajst-32561	148	4	.	.	PUNCT
ajst-32561	149	1	otherwise	otherwise	ADV
ajst-32561	149	2	,	,	PUNCT
ajst-32561	149	3	the	the	DET
ajst-32561	149	4	flight	flight	NOUN
ajst-32561	149	5	controller	controller	NOUN
ajst-32561	149	6	must	must	AUX
ajst-32561	149	7	work	work	VERB
ajst-32561	149	8	harder	hard	ADV
ajst-32561	149	9	,	,	PUNCT
ajst-32561	149	10	using	use	VERB
ajst-32561	149	11	more	more	ADJ
ajst-32561	149	12	power	power	NOUN
ajst-32561	149	13	and	and	CCONJ
ajst-32561	149	14	potentially	potentially	ADV
ajst-32561	149	15	reducing	reduce	VERB
ajst-32561	149	16	its	its	PRON
ajst-32561	149	17	performance	performance	NOUN
ajst-32561	149	18	.	.	PUNCT
ajst-32561	150	1	engineers	engineer	NOUN
ajst-32561	150	2	also	also	ADV
ajst-32561	150	3	use	use	VERB
ajst-32561	150	4	the	the	DET
ajst-32561	150	5	computational	computational	ADJ
ajst-32561	150	6	fluid	fluid	ADJ
ajst-32561	150	7	dynamics	dynamic	NOUN
ajst-32561	150	8	(	(	PUNCT
ajst-32561	150	9	cfd	cfd	NOUN
ajst-32561	150	10	)	)	PUNCT
ajst-32561	150	11	to	to	PART
ajst-32561	150	12	design	design	VERB
ajst-32561	150	13	shapes	shape	NOUN
ajst-32561	150	14	that	that	PRON
ajst-32561	150	15	reduce	reduce	VERB
ajst-32561	150	16	air	air	NOUN
ajst-32561	150	17	resistance	resistance	NOUN
ajst-32561	150	18	.	.	PUNCT
ajst-32561	151	1	this	this	PRON
ajst-32561	151	2	means	mean	VERB
ajst-32561	151	3	that	that	SCONJ
ajst-32561	151	4	adjusting	adjust	VERB
ajst-32561	151	5	the	the	DET
ajst-32561	151	6	drone	drone	NOUN
ajst-32561	151	7	's	's	PART
ajst-32561	151	8	arm	arm	NOUN
ajst-32561	151	9	angles	angle	NOUN
ajst-32561	151	10	,	,	PUNCT
ajst-32561	151	11	motor	motor	NOUN
ajst-32561	151	12	placement	placement	NOUN
ajst-32561	151	13	,	,	PUNCT
ajst-32561	151	14	or	or	CCONJ
ajst-32561	151	15	even	even	ADV
ajst-32561	151	16	the	the	DET
ajst-32561	151	17	shape	shape	NOUN
ajst-32561	151	18	of	of	ADP
ajst-32561	151	19	the	the	DET
ajst-32561	151	20	body	body	NOUN
ajst-32561	151	21	to	to	PART
ajst-32561	151	22	help	help	VERB
ajst-32561	151	23	it	it	PRON
ajst-32561	151	24	cut	cut	VERB
ajst-32561	151	25	through	through	ADP
ajst-32561	151	26	the	the	DET
ajst-32561	151	27	air	air	NOUN
ajst-32561	151	28	smoothly	smoothly	ADV
ajst-32561	151	29	,	,	PUNCT
ajst-32561	151	30	meaning	mean	VERB
ajst-32561	151	31	that	that	SCONJ
ajst-32561	151	32	less	less	ADJ
ajst-32561	151	33	drag	drag	NOUN
ajst-32561	151	34	force	force	NOUN
ajst-32561	151	35	is	be	AUX
ajst-32561	151	36	required	require	VERB
ajst-32561	151	37	from	from	ADP
ajst-32561	151	38	the	the	DET
ajst-32561	151	39	motor	motor	NOUN
ajst-32561	151	40	,	,	PUNCT
ajst-32561	151	41	causes	cause	VERB
ajst-32561	151	42	the	the	DET
ajst-32561	151	43	aircraft	aircraft	NOUN
ajst-32561	151	44	to	to	PART
ajst-32561	151	45	fly	fly	VERB
ajst-32561	151	46	longer	long	ADV
ajst-32561	151	47	[	[	X
ajst-32561	151	48	17	17	NUM
ajst-32561	151	49	]	]	PUNCT
ajst-32561	151	50	.	.	PUNCT
ajst-32561	152	1	the	the	DET
ajst-32561	152	2	cleaner	clean	ADJ
ajst-32561	152	3	aerodynamics	aerodynamic	NOUN
ajst-32561	152	4	make	make	VERB
ajst-32561	152	5	the	the	DET
ajst-32561	152	6	uav	uav	PROPN
ajst-32561	152	7	more	more	ADV
ajst-32561	152	8	responsive	responsive	ADJ
ajst-32561	152	9	to	to	PART
ajst-32561	152	10	control	control	VERB
ajst-32561	152	11	inputs	input	NOUN
ajst-32561	152	12	[	[	X
ajst-32561	152	13	4	4	NUM
ajst-32561	152	14	]	]	PUNCT
ajst-32561	152	15	,	,	PUNCT
ajst-32561	152	16	and	and	CCONJ
ajst-32561	152	17	also	also	ADV
ajst-32561	152	18	less	less	ADJ
ajst-32561	152	19	disturbances	disturbance	NOUN
ajst-32561	152	20	mean	mean	VERB
ajst-32561	152	21	less	less	ADJ
ajst-32561	152	22	work	work	NOUN
ajst-32561	152	23	for	for	ADP
ajst-32561	152	24	the	the	DET
ajst-32561	152	25	controller	controller	NOUN
ajst-32561	152	26	in	in	ADP
ajst-32561	152	27	order	order	NOUN
ajst-32561	152	28	to	to	PART
ajst-32561	152	29	achieve	achieve	VERB
ajst-32561	152	30	better	well	ADJ
ajst-32561	152	31	stability	stability	NOUN
ajst-32561	152	32	.	.	PUNCT
ajst-32561	153	1	5	5	X
ajst-32561	153	2	.	.	X
ajst-32561	153	3	comparative	comparative	ADJ
ajst-32561	153	4	evaluations	evaluation	NOUN
ajst-32561	153	5	5.1	5.1	NUM
ajst-32561	153	6	stabilization	stabilization	NOUN
ajst-32561	153	7	methods	method	NOUN
ajst-32561	153	8	as	as	SCONJ
ajst-32561	153	9	mentioned	mention	VERB
ajst-32561	153	10	previously	previously	ADV
ajst-32561	153	11	,	,	PUNCT
ajst-32561	153	12	the	the	DET
ajst-32561	153	13	methods	method	NOUN
ajst-32561	153	14	that	that	PRON
ajst-32561	153	15	be	be	AUX
ajst-32561	153	16	compared	compare	VERB
ajst-32561	153	17	are	be	AUX
ajst-32561	153	18	attitude	attitude	NOUN
ajst-32561	153	19	control	control	NOUN
ajst-32561	153	20	,	,	PUNCT
ajst-32561	153	21	sensor	sensor	NOUN
ajst-32561	153	22	fusion	fusion	NOUN
ajst-32561	153	23	and	and	CCONJ
ajst-32561	153	24	hardware	hardware	NOUN
ajst-32561	153	25	design	design	NOUN
ajst-32561	153	26	.	.	PUNCT
ajst-32561	154	1	table	table	NOUN
ajst-32561	154	2	2	2	NUM
ajst-32561	154	3	clearly	clearly	ADV
ajst-32561	154	4	shows	show	VERB
ajst-32561	154	5	their	their	PRON
ajst-32561	154	6	advantages	advantage	NOUN
ajst-32561	154	7	and	and	CCONJ
ajst-32561	154	8	disadvantages	disadvantage	NOUN
ajst-32561	154	9	.	.	PUNCT
ajst-32561	155	1	table	table	NOUN
ajst-32561	155	2	2	2	NUM
ajst-32561	155	3	.	.	PUNCT
ajst-32561	155	4	comparative	comparative	ADJ
ajst-32561	155	5	analysis	analysis	NOUN
ajst-32561	155	6	for	for	ADP
ajst-32561	155	7	different	different	ADJ
ajst-32561	155	8	methods	method	NOUN
ajst-32561	155	9	advantage	advantage	VERB
ajst-32561	155	10	disadvantage	disadvantage	NOUN
ajst-32561	155	11	attitude	attitude	NOUN
ajst-32561	155	12	control	control	NOUN
ajst-32561	155	13	easy	easy	ADJ
ajst-32561	155	14	to	to	PART
ajst-32561	155	15	implement	implement	VERB
ajst-32561	155	16	high	high	ADJ
ajst-32561	155	17	efficiency	efficiency	NOUN
ajst-32561	155	18	which	which	PRON
ajst-32561	155	19	satisfied	satisfy	VERB
ajst-32561	155	20	the	the	DET
ajst-32561	155	21	real	real	ADJ
ajst-32561	155	22	-	-	PUNCT
ajst-32561	155	23	time	time	NOUN
ajst-32561	155	24	control	control	NOUN
ajst-32561	155	25	reliable	reliable	ADJ
ajst-32561	155	26	/	/	SYM
ajst-32561	155	27	low	low	ADJ
ajst-32561	155	28	cost	cost	NOUN
ajst-32561	155	29	limited	limit	VERB
ajst-32561	155	30	adaptability	adaptability	NOUN
ajst-32561	155	31	hard	hard	ADV
ajst-32561	155	32	to	to	PART
ajst-32561	155	33	optimize	optimize	VERB
ajst-32561	155	34	parameter	parameter	NOUN
ajst-32561	155	35	lack	lack	NOUN
ajst-32561	155	36	of	of	ADP
ajst-32561	155	37	robustness	robustness	NOUN
ajst-32561	155	38	ca	can	AUX
ajst-32561	155	39	n’t	not	PART
ajst-32561	155	40	handle	handle	VERB
ajst-32561	155	41	complex	complex	ADJ
ajst-32561	155	42	systems	system	NOUN
ajst-32561	155	43	sensor	sensor	NOUN
ajst-32561	155	44	fusion	fusion	NOUN
ajst-32561	155	45	good	good	ADJ
ajst-32561	155	46	robustness	robustness	NOUN
ajst-32561	155	47	high	high	ADJ
ajst-32561	155	48	-	-	PUNCT
ajst-32561	155	49	precision	precision	NOUN
ajst-32561	155	50	estimation	estimation	NOUN
ajst-32561	155	51	adapt	adapt	VERB
ajst-32561	155	52	complex	complex	ADJ
ajst-32561	155	53	environment	environment	NOUN
ajst-32561	155	54	can	can	AUX
ajst-32561	155	55	reduce	reduce	VERB
ajst-32561	155	56	error	error	NOUN
ajst-32561	155	57	intricate	intricate	ADJ
ajst-32561	155	58	algorithm	algorithm	NOUN
ajst-32561	155	59	difficult	difficult	ADJ
ajst-32561	155	60	calibration	calibration	NOUN
ajst-32561	155	61	computationally	computationally	ADV
ajst-32561	155	62	intensive	intensive	ADJ
ajst-32561	155	63	rely	rely	NOUN
ajst-32561	155	64	on	on	ADP
ajst-32561	155	65	quality	quality	NOUN
ajst-32561	155	66	hardware	hardware	NOUN
ajst-32561	155	67	design	design	NOUN
ajst-32561	155	68	basis	basis	NOUN
ajst-32561	155	69	of	of	ADP
ajst-32561	155	70	stabilization	stabilization	NOUN
ajst-32561	155	71	boost	boost	NOUN
ajst-32561	155	72	performance	performance	NOUN
ajst-32561	155	73	directly	directly	ADV
ajst-32561	155	74	good	good	ADJ
ajst-32561	155	75	adaptability	adaptability	NOUN
ajst-32561	155	76	reliable	reliable	ADJ
ajst-32561	155	77	costly	costly	ADJ
ajst-32561	155	78	low	low	ADJ
ajst-32561	155	79	flexibility	flexibility	NOUN
ajst-32561	155	80	high	high	ADJ
ajst-32561	155	81	requirements	requirement	NOUN
ajst-32561	155	82	for	for	ADP
ajst-32561	155	83	production	production	NOUN
ajst-32561	155	84	balance	balance	NOUN
ajst-32561	155	85	between	between	ADP
ajst-32561	155	86	capability	capability	NOUN
ajst-32561	155	87	and	and	CCONJ
ajst-32561	155	88	weight	weight	NOUN
ajst-32561	155	89	the	the	DET
ajst-32561	155	90	comparison	comparison	NOUN
ajst-32561	155	91	in	in	ADP
ajst-32561	155	92	table	table	NOUN
ajst-32561	155	93	2	2	NUM
ajst-32561	155	94	shows	show	VERB
ajst-32561	155	95	that	that	SCONJ
ajst-32561	155	96	each	each	DET
ajst-32561	155	97	stabilization	stabilization	NOUN
ajst-32561	155	98	methods	method	NOUN
ajst-32561	155	99	play	play	VERB
ajst-32561	155	100	different	different	ADJ
ajst-32561	155	101	roles	role	NOUN
ajst-32561	155	102	in	in	ADP
ajst-32561	155	103	improving	improve	VERB
ajst-32561	155	104	uav	uav	PROPN
ajst-32561	155	105	performance	performance	NOUN
ajst-32561	155	106	.	.	PUNCT
ajst-32561	156	1	attitude	attitude	NOUN
ajst-32561	156	2	control	control	NOUN
ajst-32561	156	3	is	be	AUX
ajst-32561	156	4	one	one	NUM
ajst-32561	156	5	of	of	ADP
ajst-32561	156	6	the	the	DET
ajst-32561	156	7	most	most	ADV
ajst-32561	156	8	commonly	commonly	ADV
ajst-32561	156	9	used	use	VERB
ajst-32561	156	10	approaches	approach	NOUN
ajst-32561	156	11	because	because	SCONJ
ajst-32561	156	12	it	it	PRON
ajst-32561	156	13	is	be	AUX
ajst-32561	156	14	simple	simple	ADJ
ajst-32561	156	15	to	to	PART
ajst-32561	156	16	apply	apply	VERB
ajst-32561	156	17	,	,	PUNCT
ajst-32561	156	18	inexpensive	inexpensive	ADJ
ajst-32561	156	19	,	,	PUNCT
ajst-32561	156	20	and	and	CCONJ
ajst-32561	156	21	capable	capable	ADJ
ajst-32561	156	22	of	of	ADP
ajst-32561	156	23	handling	handle	VERB
ajst-32561	156	24	real	real	ADJ
ajst-32561	156	25	-	-	PUNCT
ajst-32561	156	26	time	time	NOUN
ajst-32561	156	27	adjustments	adjustment	NOUN
ajst-32561	156	28	.	.	PUNCT
ajst-32561	157	1	however	however	ADV
ajst-32561	157	2	,	,	PUNCT
ajst-32561	157	3	it	it	PRON
ajst-32561	157	4	struggles	struggle	VERB
ajst-32561	157	5	to	to	ADP
ajst-32561	157	6	176	176	NUM
ajst-32561	157	7	adapt	adapt	VERB
ajst-32561	157	8	to	to	ADP
ajst-32561	157	9	changing	change	VERB
ajst-32561	157	10	flight	flight	NOUN
ajst-32561	157	11	conditions	condition	NOUN
ajst-32561	157	12	and	and	CCONJ
ajst-32561	157	13	tends	tend	VERB
ajst-32561	157	14	to	to	PART
ajst-32561	157	15	lose	lose	VERB
ajst-32561	157	16	effectiveness	effectiveness	NOUN
ajst-32561	157	17	in	in	ADP
ajst-32561	157	18	complex	complex	ADJ
ajst-32561	157	19	or	or	CCONJ
ajst-32561	157	20	nonlinear	nonlinear	ADJ
ajst-32561	157	21	systems	system	NOUN
ajst-32561	157	22	.	.	PUNCT
ajst-32561	158	1	moving	move	VERB
ajst-32561	158	2	on	on	ADP
ajst-32561	158	3	to	to	ADP
ajst-32561	158	4	sensor	sensor	NOUN
ajst-32561	158	5	fusion	fusion	NOUN
ajst-32561	158	6	,	,	PUNCT
ajst-32561	158	7	on	on	ADP
ajst-32561	158	8	the	the	DET
ajst-32561	158	9	other	other	ADJ
ajst-32561	158	10	hand	hand	NOUN
ajst-32561	158	11	,	,	PUNCT
ajst-32561	158	12	provides	provide	VERB
ajst-32561	158	13	more	more	ADV
ajst-32561	158	14	accurate	accurate	ADJ
ajst-32561	158	15	and	and	CCONJ
ajst-32561	158	16	stable	stable	ADJ
ajst-32561	158	17	control	control	NOUN
ajst-32561	158	18	by	by	ADP
ajst-32561	158	19	combining	combine	VERB
ajst-32561	158	20	data	datum	NOUN
ajst-32561	158	21	from	from	ADP
ajst-32561	158	22	multiple	multiple	ADJ
ajst-32561	158	23	sensors	sensor	NOUN
ajst-32561	158	24	,	,	PUNCT
ajst-32561	158	25	which	which	PRON
ajst-32561	158	26	helps	help	VERB
ajst-32561	158	27	reduce	reduce	VERB
ajst-32561	158	28	errors	error	NOUN
ajst-32561	158	29	and	and	CCONJ
ajst-32561	158	30	improves	improve	VERB
ajst-32561	158	31	adaptability	adaptability	NOUN
ajst-32561	158	32	in	in	ADP
ajst-32561	158	33	unpredictable	unpredictable	ADJ
ajst-32561	158	34	environments	environment	NOUN
ajst-32561	158	35	.	.	PUNCT
ajst-32561	159	1	still	still	ADV
ajst-32561	159	2	,	,	PUNCT
ajst-32561	159	3	this	this	DET
ajst-32561	159	4	method	method	NOUN
ajst-32561	159	5	often	often	ADV
ajst-32561	159	6	requires	require	VERB
ajst-32561	159	7	precise	precise	ADJ
ajst-32561	159	8	calibration	calibration	NOUN
ajst-32561	159	9	and	and	CCONJ
ajst-32561	159	10	high	high	ADJ
ajst-32561	159	11	computational	computational	ADJ
ajst-32561	159	12	power	power	NOUN
ajst-32561	159	13	,	,	PUNCT
ajst-32561	159	14	which	which	PRON
ajst-32561	159	15	can	can	AUX
ajst-32561	159	16	be	be	AUX
ajst-32561	159	17	difficult	difficult	ADJ
ajst-32561	159	18	for	for	ADP
ajst-32561	159	19	smaller	small	ADJ
ajst-32561	159	20	or	or	CCONJ
ajst-32561	159	21	low	low	ADJ
ajst-32561	159	22	-	-	PUNCT
ajst-32561	159	23	cost	cost	NOUN
ajst-32561	159	24	drones	drone	NOUN
ajst-32561	159	25	.	.	PUNCT
ajst-32561	160	1	hardware	hardware	NOUN
ajst-32561	160	2	design	design	NOUN
ajst-32561	160	3	offers	offer	VERB
ajst-32561	160	4	another	another	DET
ajst-32561	160	5	perspective	perspective	NOUN
ajst-32561	160	6	by	by	ADP
ajst-32561	160	7	improving	improve	VERB
ajst-32561	160	8	the	the	DET
ajst-32561	160	9	physical	physical	ADJ
ajst-32561	160	10	structure	structure	NOUN
ajst-32561	160	11	of	of	ADP
ajst-32561	160	12	the	the	DET
ajst-32561	160	13	uav	uav	PROPN
ajst-32561	160	14	itself	itself	PRON
ajst-32561	160	15	,	,	PUNCT
ajst-32561	160	16	directly	directly	ADV
ajst-32561	160	17	enhancing	enhance	VERB
ajst-32561	160	18	stability	stability	NOUN
ajst-32561	160	19	and	and	CCONJ
ajst-32561	160	20	reliability	reliability	NOUN
ajst-32561	160	21	.	.	PUNCT
ajst-32561	161	1	yet	yet	ADV
ajst-32561	161	2	,	,	PUNCT
ajst-32561	161	3	it	it	PRON
ajst-32561	161	4	usually	usually	ADV
ajst-32561	161	5	increases	increase	VERB
ajst-32561	161	6	production	production	NOUN
ajst-32561	161	7	costs	cost	NOUN
ajst-32561	161	8	and	and	CCONJ
ajst-32561	161	9	limits	limit	VERB
ajst-32561	161	10	flexibility	flexibility	NOUN
ajst-32561	161	11	because	because	SCONJ
ajst-32561	161	12	of	of	ADP
ajst-32561	161	13	the	the	DET
ajst-32561	161	14	need	need	NOUN
ajst-32561	161	15	to	to	PART
ajst-32561	161	16	balance	balance	VERB
ajst-32561	161	17	performance	performance	NOUN
ajst-32561	161	18	,	,	PUNCT
ajst-32561	161	19	weight	weight	NOUN
ajst-32561	161	20	,	,	PUNCT
ajst-32561	161	21	and	and	CCONJ
ajst-32561	161	22	manufacturing	manufacturing	NOUN
ajst-32561	161	23	precision	precision	NOUN
ajst-32561	161	24	.	.	PUNCT
ajst-32561	162	1	in	in	ADP
ajst-32561	162	2	summary	summary	NOUN
ajst-32561	162	3	,	,	PUNCT
ajst-32561	162	4	there	there	PRON
ajst-32561	162	5	is	be	VERB
ajst-32561	162	6	no	no	DET
ajst-32561	162	7	single	single	ADJ
ajst-32561	162	8	method	method	NOUN
ajst-32561	162	9	that	that	PRON
ajst-32561	162	10	works	work	VERB
ajst-32561	162	11	best	well	ADV
ajst-32561	162	12	in	in	ADP
ajst-32561	162	13	all	all	DET
ajst-32561	162	14	situations	situation	NOUN
ajst-32561	162	15	.	.	PUNCT
ajst-32561	163	1	the	the	DET
ajst-32561	163	2	most	most	ADV
ajst-32561	163	3	effective	effective	ADJ
ajst-32561	163	4	approach	approach	NOUN
ajst-32561	163	5	is	be	AUX
ajst-32561	163	6	usually	usually	ADV
ajst-32561	163	7	a	a	DET
ajst-32561	163	8	combination	combination	NOUN
ajst-32561	163	9	of	of	ADP
ajst-32561	163	10	attitude	attitude	NOUN
ajst-32561	163	11	control	control	NOUN
ajst-32561	163	12	and	and	CCONJ
ajst-32561	163	13	sensor	sensor	NOUN
ajst-32561	163	14	fusion	fusion	NOUN
ajst-32561	163	15	,	,	PUNCT
ajst-32561	163	16	supported	support	VERB
ajst-32561	163	17	by	by	ADP
ajst-32561	163	18	a	a	DET
ajst-32561	163	19	well	well	ADV
ajst-32561	163	20	-	-	PUNCT
ajst-32561	163	21	designed	design	VERB
ajst-32561	163	22	hardware	hardware	NOUN
ajst-32561	163	23	system	system	NOUN
ajst-32561	163	24	.	.	PUNCT
ajst-32561	164	1	this	this	DET
ajst-32561	164	2	hybrid	hybrid	ADJ
ajst-32561	164	3	setup	setup	NOUN
ajst-32561	164	4	brings	bring	VERB
ajst-32561	164	5	together	together	ADV
ajst-32561	164	6	the	the	DET
ajst-32561	164	7	fast	fast	ADJ
ajst-32561	164	8	response	response	NOUN
ajst-32561	164	9	of	of	ADP
ajst-32561	164	10	control	control	NOUN
ajst-32561	164	11	systems	system	NOUN
ajst-32561	164	12	,	,	PUNCT
ajst-32561	164	13	the	the	DET
ajst-32561	164	14	accuracy	accuracy	NOUN
ajst-32561	164	15	of	of	ADP
ajst-32561	164	16	data	datum	NOUN
ajst-32561	164	17	fusion	fusion	NOUN
ajst-32561	164	18	,	,	PUNCT
ajst-32561	164	19	and	and	CCONJ
ajst-32561	164	20	the	the	DET
ajst-32561	164	21	reliability	reliability	NOUN
ajst-32561	164	22	of	of	ADP
ajst-32561	164	23	solid	solid	ADJ
ajst-32561	164	24	mechanical	mechanical	ADJ
ajst-32561	164	25	design	design	NOUN
ajst-32561	164	26	,	,	PUNCT
ajst-32561	164	27	allowing	allow	VERB
ajst-32561	164	28	uavs	uavs	NOUN
ajst-32561	164	29	to	to	PART
ajst-32561	164	30	maintain	maintain	VERB
ajst-32561	164	31	stable	stable	ADJ
ajst-32561	164	32	flight	flight	NOUN
ajst-32561	164	33	even	even	ADV
ajst-32561	164	34	in	in	ADP
ajst-32561	164	35	challenging	challenging	ADJ
ajst-32561	164	36	conditions	condition	NOUN
ajst-32561	164	37	.	.	PUNCT
ajst-32561	165	1	5.2	5.2	NUM
ajst-32561	165	2	optimization	optimization	NOUN
ajst-32561	165	3	techniques	technique	NOUN
ajst-32561	165	4	proportional	proportional	ADJ
ajst-32561	165	5	-	-	PUNCT
ajst-32561	165	6	integral	integral	ADJ
ajst-32561	165	7	-	-	PUNCT
ajst-32561	165	8	derivative	derivative	ADJ
ajst-32561	165	9	(	(	PUNCT
ajst-32561	165	10	pid	pid	NOUN
ajst-32561	165	11	)	)	PUNCT
ajst-32561	165	12	algorithms	algorithm	NOUN
ajst-32561	165	13	remain	remain	VERB
ajst-32561	165	14	foundational	foundational	ADJ
ajst-32561	165	15	due	due	ADP
ajst-32561	165	16	to	to	ADP
ajst-32561	165	17	their	their	PRON
ajst-32561	165	18	mathematical	mathematical	ADJ
ajst-32561	165	19	simplicity	simplicity	NOUN
ajst-32561	165	20	and	and	CCONJ
ajst-32561	165	21	low	low	ADJ
ajst-32561	165	22	computational	computational	ADJ
ajst-32561	165	23	costs	cost	NOUN
ajst-32561	165	24	traits	trait	NOUN
ajst-32561	165	25	particularly	particularly	ADV
ajst-32561	165	26	advantageous	advantageous	ADJ
ajst-32561	165	27	for	for	ADP
ajst-32561	165	28	the	the	DET
ajst-32561	165	29	embedded	embed	VERB
ajst-32561	165	30	systems	system	NOUN
ajst-32561	165	31	with	with	ADP
ajst-32561	165	32	constrained	constrained	ADJ
ajst-32561	165	33	resources	resource	NOUN
ajst-32561	165	34	such	such	ADJ
ajst-32561	165	35	as	as	ADP
ajst-32561	165	36	processing	processing	NOUN
ajst-32561	165	37	power	power	NOUN
ajst-32561	165	38	.	.	PUNCT
ajst-32561	166	1	for	for	ADP
ajst-32561	166	2	example	example	NOUN
ajst-32561	166	3	,	,	PUNCT
ajst-32561	166	4	a	a	DET
ajst-32561	166	5	well	well	ADV
ajst-32561	166	6	-	-	PUNCT
ajst-32561	166	7	tuned	tune	VERB
ajst-32561	166	8	pid	pid	NOUN
ajst-32561	166	9	controller	controller	NOUN
ajst-32561	166	10	reduces	reduce	VERB
ajst-32561	166	11	the	the	DET
ajst-32561	166	12	steady	steady	ADJ
ajst-32561	166	13	-	-	PUNCT
ajst-32561	166	14	state	state	NOUN
ajst-32561	166	15	error	error	NOUN
ajst-32561	166	16	by	by	ADP
ajst-32561	166	17	up	up	ADP
ajst-32561	166	18	to	to	PART
ajst-32561	166	19	90	90	NUM
ajst-32561	166	20	%	%	NOUN
ajst-32561	166	21	thus	thus	ADV
ajst-32561	166	22	,	,	PUNCT
ajst-32561	166	23	it	it	PRON
ajst-32561	166	24	stabilizes	stabilize	VERB
ajst-32561	166	25	the	the	DET
ajst-32561	166	26	quadra	quadra	NOUN
ajst-32561	166	27	rotors	rotor	NOUN
ajst-32561	166	28	within	within	ADP
ajst-32561	166	29	only	only	ADV
ajst-32561	166	30	a	a	DET
ajst-32561	166	31	few	few	ADJ
ajst-32561	166	32	milliseconds	millisecond	NOUN
ajst-32561	166	33	,	,	PUNCT
ajst-32561	166	34	which	which	PRON
ajst-32561	166	35	is	be	AUX
ajst-32561	166	36	essential	essential	ADJ
ajst-32561	166	37	for	for	ADP
ajst-32561	166	38	the	the	DET
ajst-32561	166	39	high	high	ADJ
ajst-32561	166	40	-	-	PUNCT
ajst-32561	166	41	frequency	frequency	NOUN
ajst-32561	166	42	attitude	attitude	NOUN
ajst-32561	166	43	correction	correction	NOUN
ajst-32561	166	44	and	and	CCONJ
ajst-32561	166	45	the	the	DET
ajst-32561	166	46	precise	precise	ADJ
ajst-32561	166	47	trajectory	trajectory	NOUN
ajst-32561	166	48	tracking	tracking	NOUN
ajst-32561	166	49	.	.	PUNCT
ajst-32561	167	1	however	however	ADV
ajst-32561	167	2	,	,	PUNCT
ajst-32561	167	3	pid	pid	PROPN
ajst-32561	167	4	’s	’s	PART
ajst-32561	167	5	fixed	fix	VERB
ajst-32561	167	6	parameters	parameter	NOUN
ajst-32561	167	7	(	(	PUNCT
ajst-32561	167	8	kp	kp	PROPN
ajst-32561	167	9	,	,	PUNCT
ajst-32561	167	10	ki	ki	PROPN
ajst-32561	167	11	,	,	PUNCT
ajst-32561	167	12	kd	kd	PROPN
ajst-32561	167	13	)	)	PUNCT
ajst-32561	167	14	do	do	AUX
ajst-32561	167	15	limit	limit	VERB
ajst-32561	167	16	the	the	DET
ajst-32561	167	17	adaptability	adaptability	NOUN
ajst-32561	167	18	to	to	ADP
ajst-32561	167	19	dynamic	dynamic	ADJ
ajst-32561	167	20	flight	flight	NOUN
ajst-32561	167	21	conditions	condition	NOUN
ajst-32561	167	22	,	,	PUNCT
ajst-32561	167	23	such	such	ADJ
ajst-32561	167	24	as	as	ADP
ajst-32561	167	25	varying	vary	VERB
ajst-32561	167	26	payloads	payload	NOUN
ajst-32561	167	27	or	or	CCONJ
ajst-32561	167	28	wind	wind	NOUN
ajst-32561	167	29	gusts	gust	NOUN
ajst-32561	167	30	[	[	X
ajst-32561	167	31	20	20	NUM
ajst-32561	167	32	]	]	PUNCT
ajst-32561	167	33	.	.	PUNCT
ajst-32561	168	1	consequently	consequently	ADV
ajst-32561	168	2	,	,	PUNCT
ajst-32561	168	3	the	the	DET
ajst-32561	168	4	modern	modern	ADJ
ajst-32561	168	5	control	control	NOUN
ajst-32561	168	6	methodologies	methodology	NOUN
ajst-32561	168	7	often	often	ADV
ajst-32561	168	8	integrate	integrate	VERB
ajst-32561	168	9	techniques	technique	NOUN
ajst-32561	168	10	such	such	ADJ
ajst-32561	168	11	as	as	ADP
ajst-32561	168	12	the	the	DET
ajst-32561	168	13	gain	gain	NOUN
ajst-32561	168	14	scheduling	scheduling	NOUN
ajst-32561	168	15	,	,	PUNCT
ajst-32561	168	16	model	model	NOUN
ajst-32561	168	17	predictive	predictive	ADJ
ajst-32561	168	18	control	control	NOUN
ajst-32561	168	19	.	.	PUNCT
ajst-32561	169	1	nonetheless	nonetheless	ADV
ajst-32561	169	2	,	,	PUNCT
ajst-32561	169	3	the	the	DET
ajst-32561	169	4	pid	pid	NOUN
ajst-32561	169	5	remains	remains	AUX
ajst-32561	169	6	widely	widely	ADV
ajst-32561	169	7	used	use	VERB
ajst-32561	169	8	as	as	ADP
ajst-32561	169	9	a	a	DET
ajst-32561	169	10	baseline	baseline	NOUN
ajst-32561	169	11	or	or	CCONJ
ajst-32561	169	12	inner	inner	ADJ
ajst-32561	169	13	-	-	PUNCT
ajst-32561	169	14	loop	loop	NOUN
ajst-32561	169	15	controller	controller	NOUN
ajst-32561	169	16	within	within	ADP
ajst-32561	169	17	the	the	DET
ajst-32561	169	18	hierarchical	hierarchical	ADJ
ajst-32561	169	19	frameworks	framework	NOUN
ajst-32561	169	20	due	due	ADP
ajst-32561	169	21	to	to	ADP
ajst-32561	169	22	its	its	PRON
ajst-32561	169	23	stability	stability	NOUN
ajst-32561	169	24	guarantees	guarantee	NOUN
ajst-32561	169	25	and	and	CCONJ
ajst-32561	169	26	the	the	DET
ajst-32561	169	27	ease	ease	NOUN
ajst-32561	169	28	of	of	ADP
ajst-32561	169	29	integration	integration	NOUN
ajst-32561	169	30	.	.	PUNCT
ajst-32561	170	1	adaptive	adaptive	ADJ
ajst-32561	170	2	control	control	NOUN
ajst-32561	170	3	algorithms	algorithm	NOUN
ajst-32561	170	4	do	do	AUX
ajst-32561	170	5	address	address	VERB
ajst-32561	170	6	this	this	DET
ajst-32561	170	7	limitation	limitation	NOUN
ajst-32561	170	8	by	by	ADP
ajst-32561	170	9	dynamically	dynamically	ADV
ajst-32561	170	10	adjusting	adjust	VERB
ajst-32561	170	11	the	the	DET
ajst-32561	170	12	controller	controller	NOUN
ajst-32561	170	13	parameters	parameter	NOUN
ajst-32561	170	14	from	from	ADP
ajst-32561	170	15	different	different	ADJ
ajst-32561	170	16	perspectives	perspective	NOUN
ajst-32561	170	17	in	in	ADP
ajst-32561	170	18	real	real	ADJ
ajst-32561	170	19	-	-	PUNCT
ajst-32561	170	20	time	time	NOUN
ajst-32561	170	21	based	base	VERB
ajst-32561	170	22	on	on	ADP
ajst-32561	170	23	sensor	sensor	NOUN
ajst-32561	170	24	feedback	feedback	NOUN
ajst-32561	170	25	.	.	PUNCT
ajst-32561	171	1	research	research	NOUN
ajst-32561	171	2	has	have	AUX
ajst-32561	171	3	shown	show	VERB
ajst-32561	171	4	that	that	SCONJ
ajst-32561	171	5	adaptive	adaptive	ADJ
ajst-32561	171	6	controllers	controller	NOUN
ajst-32561	171	7	could	could	AUX
ajst-32561	171	8	improve	improve	VERB
ajst-32561	171	9	the	the	DET
ajst-32561	171	10	disturbance	disturbance	NOUN
ajst-32561	171	11	rejection	rejection	NOUN
ajst-32561	171	12	by	by	ADP
ajst-32561	171	13	30	30	NUM
ajst-32561	171	14	-	-	SYM
ajst-32561	171	15	40	40	NUM
ajst-32561	171	16	%	%	NOUN
ajst-32561	171	17	compared	compare	VERB
ajst-32561	171	18	to	to	ADP
ajst-32561	171	19	the	the	DET
ajst-32561	171	20	pid	pid	NOUN
ajst-32561	171	21	in	in	ADP
ajst-32561	171	22	a	a	DET
ajst-32561	171	23	turbulent	turbulent	ADJ
ajst-32561	171	24	environment	environment	NOUN
ajst-32561	172	1	[	[	X
ajst-32561	172	2	20	20	NUM
ajst-32561	172	3	]	]	PUNCT
ajst-32561	172	4	.	.	PUNCT
ajst-32561	173	1	however	however	ADV
ajst-32561	173	2	,	,	PUNCT
ajst-32561	173	3	these	these	DET
ajst-32561	173	4	programs	program	NOUN
ajst-32561	173	5	are	be	AUX
ajst-32561	173	6	way	way	ADV
ajst-32561	173	7	more	more	ADV
ajst-32561	173	8	mathematically	mathematically	ADV
ajst-32561	173	9	complicated	complicated	ADJ
ajst-32561	173	10	and	and	CCONJ
ajst-32561	173	11	demand	demand	VERB
ajst-32561	173	12	greater	great	ADJ
ajst-32561	173	13	onboard	onboard	NOUN
ajst-32561	173	14	processing	processing	NOUN
ajst-32561	173	15	capabilities	capability	NOUN
ajst-32561	173	16	and	and	CCONJ
ajst-32561	173	17	sophisticated	sophisticated	ADJ
ajst-32561	173	18	sensor	sensor	NOUN
ajst-32561	173	19	fusion	fusion	NOUN
ajst-32561	173	20	techniques	technique	NOUN
ajst-32561	173	21	.	.	PUNCT
ajst-32561	174	1	mpc	mpc	NOUN
ajst-32561	174	2	,	,	PUNCT
ajst-32561	174	3	which	which	PRON
ajst-32561	174	4	has	have	AUX
ajst-32561	174	5	been	be	AUX
ajst-32561	174	6	mentioned	mention	VERB
ajst-32561	174	7	before	before	ADV
ajst-32561	174	8	,	,	PUNCT
ajst-32561	174	9	represents	represent	VERB
ajst-32561	174	10	a	a	DET
ajst-32561	174	11	further	further	ADJ
ajst-32561	174	12	advancement	advancement	NOUN
ajst-32561	174	13	,	,	PUNCT
ajst-32561	174	14	employing	employ	VERB
ajst-32561	174	15	an	an	DET
ajst-32561	174	16	internal	internal	ADJ
ajst-32561	174	17	model	model	NOUN
ajst-32561	174	18	of	of	ADP
ajst-32561	174	19	the	the	DET
ajst-32561	174	20	drone	drone	NOUN
ajst-32561	174	21	to	to	PART
ajst-32561	174	22	predict	predict	VERB
ajst-32561	174	23	the	the	DET
ajst-32561	174	24	future	future	ADJ
ajst-32561	174	25	states	state	NOUN
ajst-32561	174	26	and	and	CCONJ
ajst-32561	174	27	optimize	optimize	VERB
ajst-32561	174	28	control	control	NOUN
ajst-32561	174	29	inputs	input	NOUN
ajst-32561	174	30	over	over	ADP
ajst-32561	174	31	a	a	DET
ajst-32561	174	32	prediction	prediction	NOUN
ajst-32561	174	33	horizon	horizon	NOUN
ajst-32561	174	34	.	.	PUNCT
ajst-32561	175	1	its	its	PRON
ajst-32561	175	2	control	control	NOUN
ajst-32561	175	3	accuracy	accuracy	NOUN
ajst-32561	175	4	is	be	AUX
ajst-32561	175	5	high	high	ADV
ajst-32561	175	6	often	often	ADV
ajst-32561	175	7	achieving	achieve	VERB
ajst-32561	175	8	the	the	DET
ajst-32561	175	9	trajectory	trajectory	NOUN
ajst-32561	175	10	tracking	track	VERB
ajst-32561	175	11	errors	error	NOUN
ajst-32561	175	12	below	below	ADP
ajst-32561	175	13	2	2	NUM
ajst-32561	175	14	cm	cm	NOUN
ajst-32561	175	15	.	.	PUNCT
ajst-32561	176	1	however	however	ADV
ajst-32561	176	2	,	,	PUNCT
ajst-32561	176	3	the	the	DET
ajst-32561	176	4	mpc	mpc	NOUN
ajst-32561	176	5	requires	require	VERB
ajst-32561	176	6	a	a	DET
ajst-32561	176	7	high	high	ADJ
ajst-32561	176	8	computational	computational	ADJ
ajst-32561	176	9	power	power	NOUN
ajst-32561	176	10	,	,	PUNCT
ajst-32561	176	11	which	which	PRON
ajst-32561	176	12	has	have	AUX
ajst-32561	176	13	limited	limit	VERB
ajst-32561	176	14	its	its	PRON
ajst-32561	176	15	deployment	deployment	NOUN
ajst-32561	176	16	to	to	ADP
ajst-32561	176	17	drones	drone	NOUN
ajst-32561	176	18	equipped	equip	VERB
ajst-32561	176	19	with	with	ADP
ajst-32561	176	20	specialized	specialized	ADJ
ajst-32561	176	21	processors	processor	NOUN
ajst-32561	176	22	or	or	CCONJ
ajst-32561	176	23	off	off	ADP
ajst-32561	176	24	-	-	PUNCT
ajst-32561	176	25	board	board	NOUN
ajst-32561	176	26	computation	computation	NOUN
ajst-32561	176	27	.	.	PUNCT
ajst-32561	177	1	moving	move	VERB
ajst-32561	177	2	on	on	ADP
ajst-32561	177	3	to	to	ADP
ajst-32561	177	4	the	the	DET
ajst-32561	177	5	structural	structural	ADJ
ajst-32561	177	6	optimization	optimization	NOUN
ajst-32561	177	7	,	,	PUNCT
ajst-32561	177	8	the	the	DET
ajst-32561	177	9	mechanical	mechanical	ADJ
ajst-32561	177	10	design	design	NOUN
ajst-32561	177	11	of	of	ADP
ajst-32561	177	12	the	the	DET
ajst-32561	177	13	drone	drone	NOUN
ajst-32561	177	14	directly	directly	ADV
ajst-32561	177	15	impacts	impact	VERB
ajst-32561	177	16	the	the	DET
ajst-32561	177	17	stabilization	stabilization	NOUN
ajst-32561	177	18	performances	performance	NOUN
ajst-32561	177	19	.	.	PUNCT
ajst-32561	178	1	studies	study	NOUN
ajst-32561	178	2	indicate	indicate	VERB
ajst-32561	178	3	that	that	SCONJ
ajst-32561	178	4	rigid	rigid	ADJ
ajst-32561	178	5	,	,	PUNCT
ajst-32561	178	6	lightweight	lightweight	ADJ
ajst-32561	178	7	frames	frame	NOUN
ajst-32561	178	8	made	make	VERB
ajst-32561	178	9	from	from	ADP
ajst-32561	178	10	the	the	DET
ajst-32561	178	11	carbon	carbon	NOUN
ajst-32561	178	12	fiber	fiber	NOUN
ajst-32561	178	13	composites	composite	NOUN
ajst-32561	178	14	reduce	reduce	VERB
ajst-32561	178	15	the	the	DET
ajst-32561	178	16	vibration	vibration	NOUN
ajst-32561	178	17	transmission	transmission	NOUN
ajst-32561	178	18	by	by	ADP
ajst-32561	178	19	nearly	nearly	ADV
ajst-32561	178	20	50	50	NUM
ajst-32561	178	21	%	%	NOUN
ajst-32561	178	22	,	,	PUNCT
ajst-32561	178	23	significantly	significantly	ADV
ajst-32561	178	24	improving	improve	VERB
ajst-32561	178	25	the	the	DET
ajst-32561	178	26	sensor	sensor	NOUN
ajst-32561	178	27	accuracy	accuracy	NOUN
ajst-32561	178	28	[	[	X
ajst-32561	178	29	19	19	NUM
ajst-32561	178	30	]	]	PUNCT
ajst-32561	178	31	.	.	PUNCT
ajst-32561	179	1	however	however	ADV
ajst-32561	179	2	,	,	PUNCT
ajst-32561	179	3	it	it	PRON
ajst-32561	179	4	could	could	AUX
ajst-32561	179	5	be	be	AUX
ajst-32561	179	6	argued	argue	VERB
ajst-32561	179	7	that	that	SCONJ
ajst-32561	179	8	after	after	ADP
ajst-32561	179	9	optimizing	optimize	VERB
ajst-32561	179	10	the	the	DET
ajst-32561	179	11	drone	drone	NOUN
ajst-32561	179	12	,	,	PUNCT
ajst-32561	179	13	there	there	PRON
ajst-32561	179	14	is	be	VERB
ajst-32561	179	15	an	an	DET
ajst-32561	179	16	average	average	ADJ
ajst-32561	179	17	increase	increase	NOUN
ajst-32561	179	18	in	in	ADP
ajst-32561	179	19	the	the	DET
ajst-32561	179	20	product	product	NOUN
ajst-32561	179	21	weight	weight	NOUN
ajst-32561	179	22	of	of	ADP
ajst-32561	179	23	18	18	NUM
ajst-32561	179	24	%	%	NOUN
ajst-32561	179	25	,	,	PUNCT
ajst-32561	179	26	with	with	ADP
ajst-32561	179	27	a	a	DET
ajst-32561	179	28	declined	decline	VERB
ajst-32561	179	29	weight	weight	NOUN
ajst-32561	179	30	capacity	capacity	NOUN
ajst-32561	179	31	of	of	ADP
ajst-32561	179	32	-14	-14	NUM
ajst-32561	179	33	%	%	NOUN
ajst-32561	179	34	[	[	X
ajst-32561	179	35	18	18	NUM
ajst-32561	179	36	]	]	PUNCT
ajst-32561	179	37	.	.	PUNCT
ajst-32561	180	1	artificial	artificial	ADJ
ajst-32561	180	2	intelligence	intelligence	NOUN
ajst-32561	180	3	further	far	ADV
ajst-32561	180	4	revolutionizes	revolutionize	VERB
ajst-32561	180	5	drone	drone	NOUN
ajst-32561	180	6	stabilization	stabilization	NOUN
ajst-32561	180	7	through	through	ADP
ajst-32561	180	8	sensor	sensor	NOUN
ajst-32561	180	9	fusion	fusion	NOUN
ajst-32561	180	10	,	,	PUNCT
ajst-32561	180	11	autonomous	autonomous	ADJ
ajst-32561	180	12	navigations	navigation	NOUN
ajst-32561	180	13	and	and	CCONJ
ajst-32561	180	14	control	control	NOUN
ajst-32561	180	15	parameter	parameter	NOUN
ajst-32561	180	16	optimization	optimization	NOUN
ajst-32561	180	17	.	.	PUNCT
ajst-32561	181	1	kalman	kalman	NOUN
ajst-32561	181	2	filters	filter	NOUN
ajst-32561	181	3	enhanced	enhance	VERB
ajst-32561	181	4	with	with	ADP
ajst-32561	181	5	neural	neural	ADJ
ajst-32561	181	6	networks	network	NOUN
ajst-32561	181	7	offer	offer	VERB
ajst-32561	181	8	reliable	reliable	ADJ
ajst-32561	181	9	state	state	NOUN
ajst-32561	181	10	estimation	estimation	NOUN
ajst-32561	181	11	by	by	ADP
ajst-32561	181	12	effectively	effectively	ADV
ajst-32561	181	13	filtering	filter	VERB
ajst-32561	181	14	the	the	DET
ajst-32561	181	15	unnecessary	unnecessary	ADJ
ajst-32561	181	16	data	datum	NOUN
ajst-32561	181	17	from	from	ADP
ajst-32561	181	18	the	the	DET
ajst-32561	181	19	inertial	inertial	ADJ
ajst-32561	181	20	measurement	measurement	NOUN
ajst-32561	181	21	units(imus	units(imus	PROPN
ajst-32561	181	22	)	)	PUNCT
ajst-32561	181	23	and	and	CCONJ
ajst-32561	181	24	gps	gps	PROPN
ajst-32561	181	25	,	,	PUNCT
ajst-32561	181	26	to	to	PART
ajst-32561	181	27	achieve	achieve	VERB
ajst-32561	181	28	the	the	DET
ajst-32561	181	29	outdoor	outdoor	ADJ
ajst-32561	181	30	positioning	positioning	NOUN
ajst-32561	181	31	accuracy	accuracy	NOUN
ajst-32561	181	32	which	which	PRON
ajst-32561	181	33	is	be	AUX
ajst-32561	181	34	10	10	NUM
ajst-32561	181	35	cm	cm	NOUN
ajst-32561	181	36	even	even	ADV
ajst-32561	181	37	in	in	ADP
ajst-32561	181	38	gpddenied	gpddenie	VERB
ajst-32561	181	39	environments	environment	NOUN
ajst-32561	181	40	.	.	PUNCT
ajst-32561	182	1	reinforcement	reinforcement	NOUN
ajst-32561	182	2	learning	learning	NOUN
ajst-32561	182	3	enables	enable	VERB
ajst-32561	182	4	drones	drone	NOUN
ajst-32561	182	5	to	to	PART
ajst-32561	182	6	autonomously	autonomously	ADV
ajst-32561	182	7	develop	develop	VERB
ajst-32561	182	8	specific	specific	ADJ
ajst-32561	182	9	flight	flight	NOUN
ajst-32561	182	10	surgeries	surgery	NOUN
ajst-32561	182	11	in	in	ADP
ajst-32561	182	12	complex	complex	ADJ
ajst-32561	182	13	and	and	CCONJ
ajst-32561	182	14	dynamic	dynamic	ADJ
ajst-32561	182	15	settings	setting	NOUN
ajst-32561	182	16	and	and	CCONJ
ajst-32561	182	17	be	be	AUX
ajst-32561	182	18	able	able	ADJ
ajst-32561	182	19	to	to	PART
ajst-32561	182	20	reduce	reduce	VERB
ajst-32561	182	21	energy	energy	NOUN
ajst-32561	182	22	consumption	consumption	NOUN
ajst-32561	182	23	around	around	ADP
ajst-32561	182	24	15	15	NUM
ajst-32561	182	25	%	%	NOUN
ajst-32561	182	26	.	.	PUNCT
ajst-32561	183	1	however	however	ADV
ajst-32561	183	2	,	,	PUNCT
ajst-32561	183	3	on	on	ADP
ajst-32561	183	4	the	the	DET
ajst-32561	183	5	downside	downside	NOUN
ajst-32561	183	6	,	,	PUNCT
ajst-32561	183	7	the	the	DET
ajst-32561	183	8	drone	drone	NOUN
ajst-32561	183	9	spends	spend	VERB
ajst-32561	183	10	longer	long	ADJ
ajst-32561	183	11	time	time	NOUN
ajst-32561	183	12	on	on	ADP
ajst-32561	183	13	training	training	NOUN
ajst-32561	183	14	and	and	CCONJ
ajst-32561	183	15	learning	learn	VERB
ajst-32561	183	16	with	with	ADP
ajst-32561	183	17	the	the	DET
ajst-32561	183	18	data	datum	NOUN
ajst-32561	183	19	,	,	PUNCT
ajst-32561	183	20	roughly	roughly	ADV
ajst-32561	183	21	310	310	NUM
ajst-32561	183	22	hours	hour	NOUN
ajst-32561	183	23	[	[	X
ajst-32561	183	24	19	19	NUM
ajst-32561	183	25	]	]	PUNCT
ajst-32561	183	26	.	.	PUNCT
ajst-32561	184	1	among	among	ADP
ajst-32561	184	2	the	the	DET
ajst-32561	184	3	compared	compare	VERB
ajst-32561	184	4	methods	method	NOUN
ajst-32561	184	5	,	,	PUNCT
ajst-32561	184	6	evolutionary	evolutionary	ADJ
ajst-32561	184	7	algorithms	algorithm	NOUN
ajst-32561	184	8	are	be	AUX
ajst-32561	184	9	the	the	DET
ajst-32561	184	10	most	most	ADV
ajst-32561	184	11	accessible	accessible	ADJ
ajst-32561	184	12	and	and	CCONJ
ajst-32561	184	13	cost	cost	NOUN
ajst-32561	184	14	-	-	PUNCT
ajst-32561	184	15	effective	effective	ADJ
ajst-32561	184	16	,	,	PUNCT
ajst-32561	184	17	providing	provide	VERB
ajst-32561	184	18	efficient	efficient	ADJ
ajst-32561	184	19	controller	controller	NOUN
ajst-32561	184	20	tuning	tune	VERB
ajst-32561	184	21	with	with	ADP
ajst-32561	184	22	the	the	DET
ajst-32561	184	23	minimal	minimal	ADJ
ajst-32561	184	24	computational	computational	ADJ
ajst-32561	184	25	cost	cost	NOUN
ajst-32561	184	26	.	.	PUNCT
ajst-32561	185	1	by	by	ADP
ajst-32561	185	2	using	use	VERB
ajst-32561	185	3	both	both	DET
ajst-32561	185	4	kalman	kalman	NOUN
ajst-32561	185	5	177	177	NUM
ajst-32561	185	6	filters	filter	NOUN
ajst-32561	185	7	and	and	CCONJ
ajst-32561	185	8	reinforcement	reinforcement	NOUN
ajst-32561	185	9	learning	learning	NOUN
ajst-32561	185	10	to	to	PART
ajst-32561	185	11	offer	offer	VERB
ajst-32561	185	12	a	a	DET
ajst-32561	185	13	high	high	ADJ
ajst-32561	185	14	accuracy	accuracy	NOUN
ajst-32561	185	15	and	and	CCONJ
ajst-32561	185	16	adaptability	adaptability	NOUN
ajst-32561	185	17	which	which	PRON
ajst-32561	185	18	makes	make	VERB
ajst-32561	185	19	it	it	PRON
ajst-32561	185	20	ideal	ideal	ADJ
ajst-32561	185	21	for	for	ADP
ajst-32561	185	22	the	the	DET
ajst-32561	185	23	low	low	ADJ
ajst-32561	185	24	-	-	PUNCT
ajst-32561	185	25	budget	budget	NOUN
ajst-32561	185	26	drone	drone	NOUN
ajst-32561	185	27	optimization	optimization	NOUN
ajst-32561	185	28	projects	project	NOUN
ajst-32561	185	29	.	.	PUNCT
ajst-32561	186	1	6	6	X
ajst-32561	186	2	.	.	X
ajst-32561	186	3	conclusion	conclusion	NOUN
ajst-32561	186	4	this	this	DET
ajst-32561	186	5	study	study	NOUN
ajst-32561	186	6	explored	explore	VERB
ajst-32561	186	7	and	and	CCONJ
ajst-32561	186	8	also	also	ADV
ajst-32561	186	9	compared	compare	VERB
ajst-32561	186	10	different	different	ADJ
ajst-32561	186	11	stabilization	stabilization	NOUN
ajst-32561	186	12	methods	method	NOUN
ajst-32561	186	13	that	that	PRON
ajst-32561	186	14	are	be	AUX
ajst-32561	186	15	used	use	VERB
ajst-32561	186	16	in	in	ADP
ajst-32561	186	17	unmanned	unmanned	ADJ
ajst-32561	186	18	aerial	aerial	ADJ
ajst-32561	186	19	vehicles	vehicle	NOUN
ajst-32561	186	20	(	(	PUNCT
ajst-32561	186	21	uavs	uavs	NOUN
ajst-32561	186	22	)	)	PUNCT
ajst-32561	186	23	,	,	PUNCT
ajst-32561	186	24	aiming	aim	VERB
ajst-32561	186	25	to	to	PART
ajst-32561	186	26	identify	identify	VERB
ajst-32561	186	27	the	the	DET
ajst-32561	186	28	most	most	ADV
ajst-32561	186	29	effective	effective	ADJ
ajst-32561	186	30	and	and	CCONJ
ajst-32561	186	31	accessible	accessible	ADJ
ajst-32561	186	32	techniques	technique	NOUN
ajst-32561	186	33	for	for	ADP
ajst-32561	186	34	optimizing	optimize	VERB
ajst-32561	186	35	flight	flight	NOUN
ajst-32561	186	36	stability	stability	NOUN
ajst-32561	186	37	.	.	PUNCT
ajst-32561	187	1	uav	uav	PROPN
ajst-32561	187	2	stabilization	stabilization	NOUN
ajst-32561	187	3	plays	play	VERB
ajst-32561	187	4	a	a	DET
ajst-32561	187	5	vital	vital	ADJ
ajst-32561	187	6	role	role	NOUN
ajst-32561	187	7	in	in	ADP
ajst-32561	187	8	ensuring	ensure	VERB
ajst-32561	187	9	flight	flight	NOUN
ajst-32561	187	10	safety	safety	NOUN
ajst-32561	187	11	,	,	PUNCT
ajst-32561	187	12	control	control	NOUN
ajst-32561	187	13	accuracy	accuracy	NOUN
ajst-32561	187	14	,	,	PUNCT
ajst-32561	187	15	and	and	CCONJ
ajst-32561	187	16	system	system	NOUN
ajst-32561	187	17	reliability	reliability	NOUN
ajst-32561	187	18	,	,	PUNCT
ajst-32561	187	19	especially	especially	ADV
ajst-32561	187	20	as	as	SCONJ
ajst-32561	187	21	drones	drone	NOUN
ajst-32561	187	22	are	be	AUX
ajst-32561	187	23	increasingly	increasingly	ADV
ajst-32561	187	24	employed	employ	VERB
ajst-32561	187	25	in	in	ADP
ajst-32561	187	26	people	people	NOUN
ajst-32561	187	27	’s	’s	PART
ajst-32561	187	28	daily	daily	ADJ
ajst-32561	187	29	life	life	NOUN
ajst-32561	187	30	and	and	CCONJ
ajst-32561	187	31	even	even	ADV
ajst-32561	187	32	in	in	ADP
ajst-32561	187	33	research	research	NOUN
ajst-32561	187	34	applications	application	NOUN
ajst-32561	187	35	the	the	DET
ajst-32561	187	36	analysis	analysis	NOUN
ajst-32561	187	37	focused	focus	VERB
ajst-32561	187	38	on	on	ADP
ajst-32561	187	39	several	several	ADJ
ajst-32561	187	40	major	major	ADJ
ajst-32561	187	41	control	control	NOUN
ajst-32561	187	42	strategies	strategy	NOUN
ajst-32561	187	43	,	,	PUNCT
ajst-32561	187	44	including	include	VERB
ajst-32561	187	45	pid	pid	NOUN
ajst-32561	187	46	control	control	NOUN
ajst-32561	187	47	,	,	PUNCT
ajst-32561	187	48	sensor	sensor	NOUN
ajst-32561	187	49	fusion	fusion	NOUN
ajst-32561	187	50	,	,	PUNCT
ajst-32561	187	51	hardware	hardware	NOUN
ajst-32561	187	52	-	-	PUNCT
ajst-32561	187	53	based	base	VERB
ajst-32561	187	54	solutions	solution	NOUN
ajst-32561	187	55	such	such	ADJ
ajst-32561	187	56	as	as	ADP
ajst-32561	187	57	differential	differential	ADJ
ajst-32561	187	58	thrust	thrust	VERB
ajst-32561	187	59	mechanisms	mechanism	NOUN
ajst-32561	187	60	,	,	PUNCT
ajst-32561	187	61	and	and	CCONJ
ajst-32561	187	62	also	also	ADV
ajst-32561	187	63	alogrithms	alogrithm	NOUN
ajst-32561	187	64	.	.	PUNCT
ajst-32561	188	1	the	the	DET
ajst-32561	188	2	findings	finding	NOUN
ajst-32561	188	3	showed	show	VERB
ajst-32561	188	4	that	that	SCONJ
ajst-32561	188	5	while	while	SCONJ
ajst-32561	188	6	traditional	traditional	ADJ
ajst-32561	188	7	pid	pid	NOUN
ajst-32561	188	8	control	control	NOUN
ajst-32561	188	9	remains	remains	AUX
ajst-32561	188	10	widely	widely	ADV
ajst-32561	188	11	used	use	VERB
ajst-32561	188	12	due	due	ADP
ajst-32561	188	13	to	to	ADP
ajst-32561	188	14	its	its	PRON
ajst-32561	188	15	simplicity	simplicity	NOUN
ajst-32561	188	16	,	,	PUNCT
ajst-32561	188	17	low	low	ADJ
ajst-32561	188	18	cost	cost	NOUN
ajst-32561	188	19	,	,	PUNCT
ajst-32561	188	20	and	and	CCONJ
ajst-32561	188	21	high	high	ADJ
ajst-32561	188	22	efficiency	efficiency	NOUN
ajst-32561	188	23	in	in	ADP
ajst-32561	188	24	real	real	ADJ
ajst-32561	188	25	-	-	PUNCT
ajst-32561	188	26	time	time	NOUN
ajst-32561	188	27	applications	application	NOUN
ajst-32561	188	28	,	,	PUNCT
ajst-32561	188	29	it	it	PRON
ajst-32561	188	30	lacks	lack	VERB
ajst-32561	188	31	adaptability	adaptability	NOUN
ajst-32561	188	32	in	in	ADP
ajst-32561	188	33	nonlinear	nonlinear	ADJ
ajst-32561	188	34	and	and	CCONJ
ajst-32561	188	35	unpredictable	unpredictable	ADJ
ajst-32561	188	36	environments	environment	NOUN
ajst-32561	188	37	.	.	PUNCT
ajst-32561	189	1	differential	differential	ADJ
ajst-32561	189	2	thrust	thrust	NOUN
ajst-32561	189	3	and	and	CCONJ
ajst-32561	189	4	hardware	hardware	NOUN
ajst-32561	189	5	optimization	optimization	NOUN
ajst-32561	189	6	improved	improve	VERB
ajst-32561	189	7	physical	physical	ADJ
ajst-32561	189	8	stability	stability	NOUN
ajst-32561	189	9	and	and	CCONJ
ajst-32561	189	10	maneuverability	maneuverability	NOUN
ajst-32561	189	11	,	,	PUNCT
ajst-32561	189	12	however	however	ADV
ajst-32561	189	13	,	,	PUNCT
ajst-32561	189	14	they	they	PRON
ajst-32561	189	15	were	be	AUX
ajst-32561	189	16	limited	limit	VERB
ajst-32561	189	17	by	by	ADP
ajst-32561	189	18	cost	cost	NOUN
ajst-32561	189	19	,	,	PUNCT
ajst-32561	189	20	flexibility	flexibility	NOUN
ajst-32561	189	21	,	,	PUNCT
ajst-32561	189	22	and	and	CCONJ
ajst-32561	189	23	design	design	NOUN
ajst-32561	189	24	constraints	constraint	NOUN
ajst-32561	189	25	.	.	PUNCT
ajst-32561	190	1	these	these	DET
ajst-32561	190	2	results	result	NOUN
ajst-32561	190	3	suggest	suggest	VERB
ajst-32561	190	4	that	that	SCONJ
ajst-32561	190	5	algorithm	algorithm	NOUN
ajst-32561	190	6	-	-	PUNCT
ajst-32561	190	7	based	base	VERB
ajst-32561	190	8	stabilization	stabilization	NOUN
ajst-32561	190	9	methods	method	NOUN
ajst-32561	190	10	,	,	PUNCT
ajst-32561	190	11	particularly	particularly	ADV
ajst-32561	190	12	those	those	PRON
ajst-32561	190	13	integrating	integrate	VERB
ajst-32561	190	14	intelligent	intelligent	ADJ
ajst-32561	190	15	optimization	optimization	NOUN
ajst-32561	190	16	with	with	ADP
ajst-32561	190	17	classical	classical	ADJ
ajst-32561	190	18	control	control	NOUN
ajst-32561	190	19	frameworks	framework	NOUN
ajst-32561	190	20	,	,	PUNCT
ajst-32561	190	21	provide	provide	VERB
ajst-32561	190	22	the	the	DET
ajst-32561	190	23	best	good	ADJ
ajst-32561	190	24	balance	balance	NOUN
ajst-32561	190	25	between	between	ADP
ajst-32561	190	26	performance	performance	NOUN
ajst-32561	190	27	,	,	PUNCT
ajst-32561	190	28	reliability	reliability	NOUN
ajst-32561	190	29	,	,	PUNCT
ajst-32561	190	30	and	and	CCONJ
ajst-32561	190	31	adaptability	adaptability	NOUN
ajst-32561	190	32	.	.	PUNCT
ajst-32561	191	1	such	such	ADJ
ajst-32561	191	2	hybrid	hybrid	ADJ
ajst-32561	191	3	approaches	approach	NOUN
ajst-32561	191	4	are	be	AUX
ajst-32561	191	5	well	well	ADV
ajst-32561	191	6	-	-	PUNCT
ajst-32561	191	7	suited	suit	VERB
ajst-32561	191	8	to	to	PART
ajst-32561	191	9	meet	meet	VERB
ajst-32561	191	10	the	the	DET
ajst-32561	191	11	growing	grow	VERB
ajst-32561	191	12	demands	demand	NOUN
ajst-32561	191	13	of	of	ADP
ajst-32561	191	14	modern	modern	ADJ
ajst-32561	191	15	uav	uav	PROPN
ajst-32561	191	16	applications	application	NOUN
ajst-32561	191	17	,	,	PUNCT
ajst-32561	191	18	where	where	SCONJ
ajst-32561	191	19	both	both	DET
ajst-32561	191	20	precision	precision	NOUN
ajst-32561	191	21	and	and	CCONJ
ajst-32561	191	22	environmental	environmental	ADJ
ajst-32561	191	23	adaptability	adaptability	NOUN
ajst-32561	191	24	are	be	AUX
ajst-32561	191	25	essential	essential	ADJ
ajst-32561	191	26	.	.	PUNCT
ajst-32561	192	1	despite	despite	SCONJ
ajst-32561	192	2	the	the	DET
ajst-32561	192	3	progress	progress	NOUN
ajst-32561	192	4	demonstrated	demonstrate	VERB
ajst-32561	192	5	in	in	ADP
ajst-32561	192	6	this	this	DET
ajst-32561	192	7	study	study	NOUN
ajst-32561	192	8	,	,	PUNCT
ajst-32561	192	9	current	current	ADJ
ajst-32561	192	10	stabilization	stabilization	NOUN
ajst-32561	192	11	research	research	NOUN
ajst-32561	192	12	still	still	ADV
ajst-32561	192	13	faces	face	VERB
ajst-32561	192	14	limitations	limitation	NOUN
ajst-32561	192	15	in	in	ADP
ajst-32561	192	16	real	real	ADJ
ajst-32561	192	17	-	-	PUNCT
ajst-32561	192	18	time	time	NOUN
ajst-32561	192	19	adaptability	adaptability	NOUN
ajst-32561	192	20	,	,	PUNCT
ajst-32561	192	21	computational	computational	ADJ
ajst-32561	192	22	efficiency	efficiency	NOUN
ajst-32561	192	23	,	,	PUNCT
ajst-32561	192	24	and	and	CCONJ
ajst-32561	192	25	scalability	scalability	NOUN
ajst-32561	192	26	.	.	PUNCT
ajst-32561	193	1	future	future	ADJ
ajst-32561	193	2	research	research	NOUN
ajst-32561	193	3	should	should	AUX
ajst-32561	193	4	focus	focus	VERB
ajst-32561	193	5	on	on	ADP
ajst-32561	193	6	developing	develop	VERB
ajst-32561	193	7	lightweight	lightweight	NOUN
ajst-32561	193	8	,	,	PUNCT
ajst-32561	193	9	adaptive	adaptive	ADJ
ajst-32561	193	10	algorithms	algorithm	NOUN
ajst-32561	193	11	,	,	PUNCT
ajst-32561	193	12	improving	improve	VERB
ajst-32561	193	13	onboard	onboard	ADP
ajst-32561	193	14	computing	computing	NOUN
ajst-32561	193	15	efficiency	efficiency	NOUN
ajst-32561	193	16	,	,	PUNCT
ajst-32561	193	17	and	and	CCONJ
ajst-32561	193	18	expanding	expand	VERB
ajst-32561	193	19	integration	integration	NOUN
ajst-32561	193	20	between	between	ADP
ajst-32561	193	21	control	control	NOUN
ajst-32561	193	22	systems	system	NOUN
ajst-32561	193	23	and	and	CCONJ
ajst-32561	193	24	hardware	hardware	NOUN
ajst-32561	193	25	design	design	NOUN
ajst-32561	193	26	to	to	PART
ajst-32561	193	27	support	support	VERB
ajst-32561	193	28	more	more	ADV
ajst-32561	193	29	autonomous	autonomous	ADJ
ajst-32561	193	30	and	and	CCONJ
ajst-32561	193	31	resilient	resilient	ADJ
ajst-32561	193	32	uav	uav	PROPN
ajst-32561	193	33	operations	operation	NOUN
ajst-32561	193	34	.	.	PUNCT
ajst-32561	194	1	references	reference	NOUN
ajst-32561	194	2	[	[	X
ajst-32561	194	3	1	1	NUM
ajst-32561	194	4	]	]	X
ajst-32561	194	5	koubaa	koubaa	PROPN
ajst-32561	194	6	,	,	PUNCT
ajst-32561	194	7	a.	a.	PROPN
ajst-32561	194	8	,	,	PUNCT
ajst-32561	194	9	&	&	CCONJ
ajst-32561	194	10	qureshi	qureshi	PROPN
ajst-32561	194	11	,	,	PUNCT
ajst-32561	194	12	b.(2018	b.(2018	PROPN
ajst-32561	194	13	)	)	PUNCT
ajst-32561	194	14	.	.	PUNCT
ajst-32561	195	1	dronetrack	dronetrack	NOUN
ajst-32561	195	2	:	:	PUNCT
ajst-32561	195	3	cloud	cloud	NOUN
ajst-32561	195	4	-	-	PUNCT
ajst-32561	195	5	based	base	VERB
ajst-32561	195	6	real	real	ADJ
ajst-32561	195	7	-	-	PUNCT
ajst-32561	195	8	time	time	NOUN
ajst-32561	195	9	object	object	NOUN
ajst-32561	195	10	tracking	tracking	NOUN
ajst-32561	195	11	using	use	VERB
ajst-32561	195	12	unmanned	unmanned	ADJ
ajst-32561	195	13	aerial	aerial	ADJ
ajst-32561	195	14	vehicles	vehicle	NOUN
ajst-32561	195	15	over	over	ADP
ajst-32561	195	16	the	the	DET
ajst-32561	195	17	internet	internet	NOUN
ajst-32561	195	18	.	.	PUNCT
ajst-32561	196	1	ieee	ieee	NOUN
ajst-32561	196	2	access	access	NOUN
ajst-32561	196	3	,	,	PUNCT
ajst-32561	196	4	6	6	NUM
ajst-32561	196	5	,	,	PUNCT
ajst-32561	196	6	13810	13810	NUM
ajst-32561	196	7	-	-	SYM
ajst-32561	196	8	13824	13824	NUM
ajst-32561	196	9	.	.	PUNCT
ajst-32561	197	1	[	[	X
ajst-32561	197	2	2	2	NUM
ajst-32561	197	3	]	]	X
ajst-32561	197	4	hassanalian	hassanalian	ADJ
ajst-32561	197	5	,	,	PUNCT
ajst-32561	197	6	m.	m.	NOUN
ajst-32561	197	7	,	,	PUNCT
ajst-32561	197	8	&	&	CCONJ
ajst-32561	197	9	abdelkefi	abdelkefi	PROPN
ajst-32561	197	10	,	,	PUNCT
ajst-32561	197	11	a.	a.	NOUN
ajst-32561	197	12	(	(	PUNCT
ajst-32561	197	13	2017	2017	NUM
ajst-32561	197	14	)	)	PUNCT
ajst-32561	197	15	.	.	PUNCT
ajst-32561	198	1	classifications	classification	NOUN
ajst-32561	198	2	,	,	PUNCT
ajst-32561	198	3	applications	application	NOUN
ajst-32561	198	4	,	,	PUNCT
ajst-32561	198	5	and	and	CCONJ
ajst-32561	198	6	design	design	NOUN
ajst-32561	198	7	challenges	challenge	NOUN
ajst-32561	198	8	of	of	ADP
ajst-32561	198	9	drones	drone	NOUN
ajst-32561	198	10	:	:	PUNCT
ajst-32561	198	11	a	a	DET
ajst-32561	198	12	review	review	NOUN
ajst-32561	198	13	.	.	PUNCT
ajst-32561	199	1	progress	progress	NOUN
ajst-32561	199	2	in	in	ADP
ajst-32561	199	3	aerospace	aerospace	NOUN
ajst-32561	199	4	sciences	science	NOUN
ajst-32561	199	5	,	,	PUNCT
ajst-32561	199	6	91	91	NUM
ajst-32561	199	7	,	,	PUNCT
ajst-32561	199	8	99	99	NUM
ajst-32561	199	9	-	-	SYM
ajst-32561	199	10	131	131	NUM
ajst-32561	199	11	.	.	PUNCT
ajst-32561	200	1	[	[	X
ajst-32561	200	2	3	3	NUM
ajst-32561	200	3	]	]	X
ajst-32561	200	4	goodchild	goodchild	NOUN
ajst-32561	200	5	,	,	PUNCT
ajst-32561	200	6	a.	a.	PROPN
ajst-32561	200	7	,	,	PUNCT
ajst-32561	200	8	&	&	CCONJ
ajst-32561	200	9	toy	toy	PROPN
ajst-32561	200	10	,	,	PUNCT
ajst-32561	200	11	j.	j.	PROPN
ajst-32561	200	12	(	(	PUNCT
ajst-32561	200	13	2018	2018	NUM
ajst-32561	200	14	)	)	PUNCT
ajst-32561	200	15	.	.	PUNCT
ajst-32561	201	1	delivery	delivery	NOUN
ajst-32561	201	2	by	by	ADP
ajst-32561	201	3	drone	drone	NOUN
ajst-32561	201	4	:	:	PUNCT
ajst-32561	201	5	an	an	DET
ajst-32561	201	6	evaluation	evaluation	NOUN
ajst-32561	201	7	of	of	ADP
ajst-32561	201	8	unmanned	unmanned	ADJ
ajst-32561	201	9	aerial	aerial	ADJ
ajst-32561	201	10	vehicle	vehicle	NOUN
ajst-32561	201	11	technology	technology	NOUN
ajst-32561	201	12	in	in	ADP
ajst-32561	201	13	reducing	reduce	VERB
ajst-32561	201	14	co2	co2	NOUN
ajst-32561	201	15	emissions	emission	NOUN
ajst-32561	201	16	in	in	ADP
ajst-32561	201	17	the	the	DET
ajst-32561	201	18	delivery	delivery	NOUN
ajst-32561	201	19	service	service	NOUN
ajst-32561	201	20	industry	industry	NOUN
ajst-32561	201	21	.	.	PUNCT
ajst-32561	202	1	transportation	transportation	NOUN
ajst-32561	202	2	research	research	NOUN
ajst-32561	202	3	part	part	NOUN
ajst-32561	202	4	d	d	NOUN
ajst-32561	202	5	:	:	PUNCT
ajst-32561	202	6	transport	transport	NOUN
ajst-32561	202	7	and	and	CCONJ
ajst-32561	202	8	environment	environment	NOUN
ajst-32561	202	9	,	,	PUNCT
ajst-32561	202	10	61	61	NUM
ajst-32561	202	11	,	,	PUNCT
ajst-32561	202	12	58	58	NUM
ajst-32561	202	13	-	-	SYM
ajst-32561	202	14	67	67	NUM
ajst-32561	202	15	.	.	PUNCT
ajst-32561	203	1	[	[	X
ajst-32561	203	2	4	4	NUM
ajst-32561	203	3	]	]	X
ajst-32561	203	4	hoffmann	hoffmann	PROPN
ajst-32561	203	5	,	,	PUNCT
ajst-32561	203	6	g.	g.	PROPN
ajst-32561	203	7	,	,	PUNCT
ajst-32561	203	8	huang	huang	PROPN
ajst-32561	203	9	,	,	PUNCT
ajst-32561	203	10	h.	h.	PROPN
ajst-32561	203	11	,	,	PUNCT
ajst-32561	203	12	waslander	waslander	NOUN
ajst-32561	203	13	,	,	PUNCT
ajst-32561	203	14	s.	s.	PROPN
ajst-32561	203	15	l.	l.	PROPN
ajst-32561	203	16	,	,	PUNCT
ajst-32561	203	17	&	&	CCONJ
ajst-32561	203	18	tomlin	tomlin	PROPN
ajst-32561	203	19	,	,	PUNCT
ajst-32561	203	20	c.	c.	PROPN
ajst-32561	203	21	j.	j.	PROPN
ajst-32561	203	22	(	(	PUNCT
ajst-32561	203	23	2007	2007	NUM
ajst-32561	203	24	)	)	PUNCT
ajst-32561	203	25	.	.	PUNCT
ajst-32561	204	1	quadrotor	quadrotor	NOUN
ajst-32561	204	2	helicopter	helicopter	NOUN
ajst-32561	204	3	flight	flight	NOUN
ajst-32561	204	4	dynamics	dynamic	NOUN
ajst-32561	204	5	and	and	CCONJ
ajst-32561	204	6	control	control	NOUN
ajst-32561	204	7	:	:	PUNCT
ajst-32561	204	8	theory	theory	NOUN
ajst-32561	204	9	and	and	CCONJ
ajst-32561	204	10	experiment	experiment	NOUN
ajst-32561	204	11	.	.	PUNCT
ajst-32561	205	1	in	in	ADP
ajst-32561	205	2	aiaa	aiaa	PROPN
ajst-32561	205	3	guidance	guidance	PROPN
ajst-32561	205	4	,	,	PUNCT
ajst-32561	205	5	navigation	navigation	NOUN
ajst-32561	205	6	and	and	CCONJ
ajst-32561	205	7	control	control	PROPN
ajst-32561	205	8	conference	conference	NOUN
ajst-32561	205	9	and	and	CCONJ
ajst-32561	205	10	exhibit	exhibit	NOUN
ajst-32561	205	11	.	.	PUNCT
ajst-32561	206	1	[	[	X
ajst-32561	206	2	5	5	NUM
ajst-32561	206	3	]	]	PUNCT
ajst-32561	206	4	valavanis	valavani	NOUN
ajst-32561	206	5	,	,	PUNCT
ajst-32561	206	6	k.	k.	PROPN
ajst-32561	206	7	p.	p.	PROPN
ajst-32561	206	8	,	,	PUNCT
ajst-32561	206	9	&	&	CCONJ
ajst-32561	206	10	vachtsevanos	vachtsevanos	PROPN
ajst-32561	206	11	,	,	PUNCT
ajst-32561	206	12	g.	g.	PROPN
ajst-32561	206	13	j.	j.	PROPN
ajst-32561	206	14	(	(	PUNCT
ajst-32561	206	15	2015	2015	NUM
ajst-32561	206	16	)	)	PUNCT
ajst-32561	206	17	.	.	PUNCT
ajst-32561	207	1	handbook	handbook	NOUN
ajst-32561	207	2	of	of	ADP
ajst-32561	207	3	unmanned	unmanned	ADJ
ajst-32561	207	4	aerial	aerial	ADJ
ajst-32561	207	5	vehicles	vehicle	NOUN
ajst-32561	207	6	.	.	PUNCT
ajst-32561	208	1	springer	springer	NOUN
ajst-32561	208	2	.	.	PUNCT
ajst-32561	209	1	[	[	X
ajst-32561	209	2	6	6	NUM
ajst-32561	209	3	]	]	PUNCT
ajst-32561	209	4	leishman	leishman	NOUN
ajst-32561	209	5	,	,	PUNCT
ajst-32561	209	6	j.	j.	PROPN
ajst-32561	209	7	g.	g.	PROPN
ajst-32561	209	8	(	(	PUNCT
ajst-32561	209	9	2006	2006	NUM
ajst-32561	209	10	)	)	PUNCT
ajst-32561	209	11	.	.	PUNCT
ajst-32561	210	1	principles	principle	NOUN
ajst-32561	210	2	of	of	ADP
ajst-32561	210	3	helicopter	helicopter	NOUN
ajst-32561	210	4	aerodynamics	aerodynamic	NOUN
ajst-32561	210	5	.	.	PUNCT
ajst-32561	211	1	cambridge	cambridge	PROPN
ajst-32561	211	2	university	university	PROPN
ajst-32561	211	3	press	press	NOUN
ajst-32561	211	4	.	.	PUNCT
ajst-32561	212	1	[	[	X
ajst-32561	212	2	7	7	X
ajst-32561	212	3	]	]	X
ajst-32561	212	4	floreano	floreano	NOUN
ajst-32561	212	5	,	,	PUNCT
ajst-32561	212	6	d.	d.	PROPN
ajst-32561	212	7	,	,	PUNCT
ajst-32561	212	8	&	&	CCONJ
ajst-32561	212	9	wood	wood	PROPN
ajst-32561	212	10	,	,	PUNCT
ajst-32561	212	11	r.	r.	PROPN
ajst-32561	212	12	j.	j.	PROPN
ajst-32561	212	13	(	(	PUNCT
ajst-32561	212	14	2015	2015	NUM
ajst-32561	212	15	)	)	PUNCT
ajst-32561	212	16	.	.	PUNCT
ajst-32561	213	1	science	science	NOUN
ajst-32561	213	2	,	,	PUNCT
ajst-32561	213	3	systems	system	NOUN
ajst-32561	213	4	,	,	PUNCT
ajst-32561	213	5	and	and	CCONJ
ajst-32561	213	6	applications	application	NOUN
ajst-32561	213	7	for	for	ADP
ajst-32561	213	8	drone	drone	NOUN
ajst-32561	213	9	technology	technology	NOUN
ajst-32561	213	10	.	.	PUNCT
ajst-32561	214	1	nature	nature	NOUN
ajst-32561	214	2	communications	communication	NOUN
ajst-32561	214	3	.	.	PUNCT
ajst-32561	215	1	[	[	X
ajst-32561	215	2	8	8	NUM
ajst-32561	215	3	]	]	X
ajst-32561	215	4	nise	nise	PROPN
ajst-32561	215	5	,	,	PUNCT
ajst-32561	215	6	n.	n.	PROPN
ajst-32561	215	7	s.(2015	s.(2015	PROPN
ajst-32561	215	8	)	)	PUNCT
ajst-32561	215	9	.	.	PUNCT
ajst-32561	216	1	control	control	NOUN
ajst-32561	216	2	systems	systems	PROPN
ajst-32561	216	3	engineering	engineering	PROPN
ajst-32561	216	4	,	,	PUNCT
ajst-32561	216	5	8th	8th	ADJ
ajst-32561	216	6	edition	edition	NOUN
ajst-32561	216	7	.	.	PUNCT
ajst-32561	217	1	wiley	wiley	PROPN
ajst-32561	217	2	.	.	PUNCT
ajst-32561	218	1	[	[	X
ajst-32561	218	2	9	9	NUM
ajst-32561	218	3	]	]	SYM
ajst-32561	218	4	anderson	anderson	PROPN
ajst-32561	218	5	,	,	PUNCT
ajst-32561	218	6	j.	j.	PROPN
ajst-32561	218	7	d.	d.	PROPN
ajst-32561	218	8	(	(	PUNCT
ajst-32561	218	9	2010	2010	NUM
ajst-32561	218	10	)	)	PUNCT
ajst-32561	218	11	.	.	PUNCT
ajst-32561	219	1	fundamentals	fundamental	NOUN
ajst-32561	219	2	of	of	ADP
ajst-32561	219	3	aerodynamics	aerodynamic	NOUN
ajst-32561	219	4	.	.	PUNCT
ajst-32561	220	1	mcgraw	mcgraw	PROPN
ajst-32561	220	2	-	-	PUNCT
ajst-32561	220	3	hill	hill	NOUN
ajst-32561	220	4	education	education	NOUN
ajst-32561	220	5	.	.	PUNCT
ajst-32561	221	1	[	[	X
ajst-32561	221	2	10	10	NUM
ajst-32561	221	3	]	]	X
ajst-32561	221	4	åström	åström	NOUN
ajst-32561	221	5	,	,	PUNCT
ajst-32561	221	6	k.	k.	PROPN
ajst-32561	221	7	j.	j.	PROPN
ajst-32561	221	8	,	,	PUNCT
ajst-32561	221	9	&	&	CCONJ
ajst-32561	221	10	hägglund	hägglund	PROPN
ajst-32561	221	11	,	,	PUNCT
ajst-32561	221	12	t(2006	t(2006	PROPN
ajst-32561	221	13	)	)	PUNCT
ajst-32561	221	14	.	.	PUNCT
ajst-32561	222	1	pid	pid	NOUN
ajst-32561	222	2	controllers	controller	NOUN
ajst-32561	222	3	:	:	PUNCT
ajst-32561	223	1	theory	theory	NOUN
ajst-32561	223	2	,	,	PUNCT
ajst-32561	223	3	design	design	NOUN
ajst-32561	223	4	,	,	PUNCT
ajst-32561	223	5	and	and	CCONJ
ajst-32561	223	6	tuning	tuning	NOUN
ajst-32561	223	7	.	.	PUNCT
ajst-32561	224	1	[	[	X
ajst-32561	224	2	11	11	NUM
ajst-32561	224	3	]	]	PUNCT
ajst-32561	224	4	wendel	wendel	PROPN
ajst-32561	224	5	,	,	PUNCT
ajst-32561	224	6	j.	j.	PROPN
ajst-32561	224	7	,	,	PUNCT
ajst-32561	224	8	&	&	CCONJ
ajst-32561	224	9	trommer	trommer	NOUN
ajst-32561	224	10	,	,	PUNCT
ajst-32561	224	11	g.	g.	PROPN
ajst-32561	224	12	f.	f.	PROPN
ajst-32561	224	13	(	(	PUNCT
ajst-32561	224	14	2004	2004	NUM
ajst-32561	224	15	)	)	PUNCT
ajst-32561	224	16	.	.	PUNCT
ajst-32561	224	17	sensor	sensor	NOUN
ajst-32561	224	18	fusion	fusion	NOUN
ajst-32561	224	19	for	for	ADP
ajst-32561	224	20	uav	uav	PROPN
ajst-32561	224	21	navigation	navigation	NOUN
ajst-32561	224	22	.	.	PUNCT
ajst-32561	225	1	[	[	X
ajst-32561	225	2	12	12	NUM
ajst-32561	225	3	]	]	X
ajst-32561	225	4	zhang	zhang	PROPN
ajst-32561	225	5	,	,	PUNCT
ajst-32561	225	6	x.	x.	PROPN
ajst-32561	225	7	,	,	PUNCT
ajst-32561	225	8	&	&	CCONJ
ajst-32561	225	9	liu	liu	PROPN
ajst-32561	225	10	,	,	PUNCT
ajst-32561	225	11	h.(2015	h.(2015	PROPN
ajst-32561	225	12	)	)	PUNCT
ajst-32561	225	13	.	.	PUNCT
ajst-32561	226	1	infrared	infrared	ADJ
ajst-32561	226	2	and	and	CCONJ
ajst-32561	226	3	visible	visible	ADJ
ajst-32561	226	4	image	image	NOUN
ajst-32561	226	5	fusion	fusion	NOUN
ajst-32561	226	6	for	for	ADP
ajst-32561	226	7	uav	uav	PROPN
ajst-32561	226	8	navigation	navigation	NOUN
ajst-32561	226	9	.	.	PUNCT
ajst-32561	227	1	[	[	X
ajst-32561	227	2	13	13	NUM
ajst-32561	227	3	]	]	X
ajst-32561	227	4	sadraey	sadraey	NOUN
ajst-32561	227	5	,	,	PUNCT
ajst-32561	227	6	m.	m.	NOUN
ajst-32561	227	7	h.(2013	h.(2013	PROPN
ajst-32561	227	8	)	)	PUNCT
ajst-32561	227	9	design	design	NOUN
ajst-32561	227	10	and	and	CCONJ
ajst-32561	227	11	optimization	optimization	NOUN
ajst-32561	227	12	of	of	ADP
ajst-32561	227	13	uav	uav	PROPN
ajst-32561	227	14	structures	structure	NOUN
ajst-32561	227	15	for	for	ADP
ajst-32561	227	16	enhanced	enhanced	ADJ
ajst-32561	227	17	stability	stability	NOUN
ajst-32561	227	18	.	.	PUNCT
ajst-32561	228	1	[	[	X
ajst-32561	228	2	14	14	NUM
ajst-32561	228	3	]	]	X
ajst-32561	228	4	wang	wang	PROPN
ajst-32561	228	5	,	,	PUNCT
ajst-32561	228	6	y.	y.	PROPN
ajst-32561	228	7	,	,	PUNCT
ajst-32561	228	8	&	&	CCONJ
ajst-32561	228	9	chen	chen	PROPN
ajst-32561	228	10	,	,	PUNCT
ajst-32561	228	11	z.(2019	z.(2019	PROPN
ajst-32561	228	12	)	)	PUNCT
ajst-32561	228	13	.	.	PUNCT
ajst-32561	229	1	benefits	benefit	NOUN
ajst-32561	229	2	of	of	ADP
ajst-32561	229	3	modular	modular	ADJ
ajst-32561	229	4	design	design	NOUN
ajst-32561	229	5	in	in	ADP
ajst-32561	229	6	uav	uav	PROPN
ajst-32561	229	7	manufacturing	manufacturing	NOUN
ajst-32561	229	8	.	.	PUNCT
ajst-32561	230	1	178	178	NUM
ajst-32561	231	1	[	[	SYM
ajst-32561	231	2	15	15	NUM
ajst-32561	231	3	]	]	X
ajst-32561	231	4	kober	kober	PROPN
ajst-32561	231	5	,	,	PUNCT
ajst-32561	231	6	j.	j.	PROPN
ajst-32561	231	7	,	,	PUNCT
ajst-32561	231	8	bagnell	bagnell	PROPN
ajst-32561	231	9	,	,	PUNCT
ajst-32561	231	10	j.	j.	PROPN
ajst-32561	231	11	a.	a.	PROPN
ajst-32561	231	12	,	,	PUNCT
ajst-32561	231	13	&	&	CCONJ
ajst-32561	231	14	peters	peters	PROPN
ajst-32561	231	15	,	,	PUNCT
ajst-32561	231	16	j.	j.	PROPN
ajst-32561	231	17	(	(	PUNCT
ajst-32561	231	18	2013	2013	NUM
ajst-32561	231	19	)	)	PUNCT
ajst-32561	231	20	.	.	PUNCT
ajst-32561	232	1	reinforcement	reinforcement	NOUN
ajst-32561	232	2	learning	learning	NOUN
ajst-32561	232	3	in	in	ADP
ajst-32561	232	4	robotics	robotic	NOUN
ajst-32561	232	5	:	:	PUNCT
ajst-32561	232	6	a	a	DET
ajst-32561	232	7	survey	survey	NOUN
ajst-32561	232	8	.	.	PUNCT
ajst-32561	233	1	the	the	DET
ajst-32561	233	2	international	international	ADJ
ajst-32561	233	3	journal	journal	NOUN
ajst-32561	233	4	of	of	ADP
ajst-32561	233	5	robotics	robotic	NOUN
ajst-32561	233	6	research	research	NOUN
ajst-32561	233	7	,	,	PUNCT
ajst-32561	233	8	32(11	32(11	NUM
ajst-32561	233	9	)	)	PUNCT
ajst-32561	233	10	,	,	PUNCT
ajst-32561	233	11	1238	1238	NUM
ajst-32561	233	12	-	-	SYM
ajst-32561	233	13	1274	1274	NUM
ajst-32561	233	14	.	.	PUNCT
ajst-32561	234	1	[	[	X
ajst-32561	234	2	16	16	NUM
ajst-32561	234	3	]	]	X
ajst-32561	234	4	kaufmann	kaufmann	PROPN
ajst-32561	234	5	,	,	PUNCT
ajst-32561	234	6	e.	e.	PROPN
ajst-32561	234	7	,	,	PUNCT
ajst-32561	234	8	loquercio	loquercio	PROPN
ajst-32561	234	9	,	,	PUNCT
ajst-32561	234	10	a.	a.	NOUN
ajst-32561	234	11	,	,	PUNCT
ajst-32561	234	12	ranftl	ranftl	PROPN
ajst-32561	234	13	,	,	PUNCT
ajst-32561	234	14	r.	r.	PROPN
ajst-32561	234	15	,	,	PUNCT
ajst-32561	234	16	dosovitskiy	dosovitskiy	PROPN
ajst-32561	234	17	,	,	PUNCT
ajst-32561	234	18	a.	a.	NOUN
ajst-32561	234	19	,	,	PUNCT
ajst-32561	234	20	koltun	koltun	PROPN
ajst-32561	234	21	,	,	PUNCT
ajst-32561	234	22	v.	v.	PROPN
ajst-32561	234	23	,	,	PUNCT
ajst-32561	234	24	&	&	CCONJ
ajst-32561	234	25	scaramuzza	scaramuzza	PROPN
ajst-32561	234	26	,	,	PUNCT
ajst-32561	234	27	d.	d.	PROPN
ajst-32561	234	28	(	(	PUNCT
ajst-32561	234	29	2020	2020	NUM
ajst-32561	234	30	)	)	PUNCT
ajst-32561	234	31	.	.	PUNCT
ajst-32561	235	1	deep	deep	ADJ
ajst-32561	235	2	drone	drone	NOUN
ajst-32561	235	3	racing	racing	NOUN
ajst-32561	235	4	:	:	PUNCT
ajst-32561	235	5	learning	learn	VERB
ajst-32561	235	6	agile	agile	ADJ
ajst-32561	235	7	flight	flight	NOUN
ajst-32561	235	8	in	in	ADP
ajst-32561	235	9	dynamic	dynamic	ADJ
ajst-32561	235	10	environments	environment	NOUN
ajst-32561	235	11	.	.	PUNCT
ajst-32561	236	1	robotics	robotic	NOUN
ajst-32561	236	2	:	:	PUNCT
ajst-32561	236	3	science	science	NOUN
ajst-32561	236	4	and	and	CCONJ
ajst-32561	236	5	systems	system	NOUN
ajst-32561	236	6	(	(	PUNCT
ajst-32561	236	7	rss	rss	NOUN
ajst-32561	236	8	)	)	PUNCT
ajst-32561	236	9	.	.	PUNCT
ajst-32561	237	1	[	[	X
ajst-32561	237	2	17	17	NUM
ajst-32561	237	3	]	]	X
ajst-32561	237	4	mueller	mueller	PROPN
ajst-32561	237	5	,	,	PUNCT
ajst-32561	237	6	t.	t.	PROPN
ajst-32561	237	7	j.	j.	PROPN
ajst-32561	237	8	,	,	PUNCT
ajst-32561	237	9	&	&	CCONJ
ajst-32561	237	10	delaurier	delaurier	PROPN
ajst-32561	237	11	,	,	PUNCT
ajst-32561	237	12	j.	j.	PROPN
ajst-32561	237	13	d.	d.	PROPN
ajst-32561	237	14	(	(	PUNCT
ajst-32561	237	15	2003	2003	NUM
ajst-32561	237	16	)	)	PUNCT
ajst-32561	237	17	.	.	PUNCT
ajst-32561	238	1	aerodynamics	aerodynamic	NOUN
ajst-32561	238	2	of	of	ADP
ajst-32561	238	3	small	small	ADJ
ajst-32561	238	4	vehicles	vehicle	NOUN
ajst-32561	238	5	.	.	PUNCT
ajst-32561	239	1	annual	annual	ADJ
ajst-32561	239	2	review	review	NOUN
ajst-32561	239	3	of	of	ADP
ajst-32561	239	4	fluid	fluid	ADJ
ajst-32561	239	5	mechanics	mechanic	NOUN
ajst-32561	239	6	,	,	PUNCT
ajst-32561	239	7	35(1	35(1	NUM
ajst-32561	239	8	)	)	PUNCT
ajst-32561	239	9	,	,	PUNCT
ajst-32561	239	10	89	89	NUM
ajst-32561	239	11	-	-	SYM
ajst-32561	239	12	111	111	NUM
ajst-32561	239	13	.	.	PUNCT
ajst-32561	240	1	[	[	X
ajst-32561	240	2	18	18	NUM
ajst-32561	240	3	]	]	PUNCT
ajst-32561	240	4	sheta	sheta	NOUN
ajst-32561	240	5	,	,	PUNCT
ajst-32561	240	6	a.	a.	NOUN
ajst-32561	240	7	,	,	PUNCT
ajst-32561	240	8	&	&	CCONJ
ajst-32561	240	9	moustafa	moustafa	PROPN
ajst-32561	240	10	,	,	PUNCT
ajst-32561	240	11	a.	a.	NOUN
ajst-32561	240	12	(	(	PUNCT
ajst-32561	240	13	2021	2021	NUM
ajst-32561	240	14	)	)	PUNCT
ajst-32561	240	15	.	.	PUNCT
ajst-32561	241	1	optimization	optimization	NOUN
ajst-32561	241	2	of	of	ADP
ajst-32561	241	3	pid	pid	NOUN
ajst-32561	241	4	controller	controller	NOUN
ajst-32561	241	5	to	to	PART
ajst-32561	241	6	stabilize	stabilize	VERB
ajst-32561	241	7	quadcopter	quadcopter	NOUN
ajst-32561	241	8	movements	movement	NOUN
ajst-32561	241	9	using	use	VERB
ajst-32561	241	10	meta	meta	ADJ
ajst-32561	241	11	-	-	PUNCT
ajst-32561	241	12	heuristic	heuristic	ADJ
ajst-32561	241	13	search	search	NOUN
ajst-32561	241	14	algorithms	algorithm	NOUN
ajst-32561	241	15	.	.	PUNCT
ajst-32561	242	1	mdpi	mdpi	ADJ
ajst-32561	242	2	electronics	electronic	NOUN
ajst-32561	242	3	,	,	PUNCT
ajst-32561	242	4	11(14	11(14	NUM
ajst-32561	242	5	)	)	PUNCT
ajst-32561	242	6	,	,	PUNCT
ajst-32561	242	7	6492	6492	NUM
ajst-32561	242	8	.	.	PUNCT
ajst-32561	243	1	[	[	X
ajst-32561	243	2	19	19	NUM
ajst-32561	243	3	]	]	X
ajst-32561	243	4	zhang	zhang	PROPN
ajst-32561	243	5	,	,	PUNCT
ajst-32561	243	6	x.	x.	PROPN
ajst-32561	243	7	,	,	PUNCT
ajst-32561	243	8	&	&	CCONJ
ajst-32561	243	9	wang	wang	PROPN
ajst-32561	243	10	,	,	PUNCT
ajst-32561	243	11	l.	l.	PROPN
ajst-32561	243	12	(	(	PUNCT
ajst-32561	243	13	2025	2025	NUM
ajst-32561	243	14	)	)	PUNCT
ajst-32561	243	15	.	.	PUNCT
ajst-32561	244	1	high	high	ADJ
ajst-32561	244	2	-	-	PUNCT
ajst-32561	244	3	performance	performance	NOUN
ajst-32561	244	4	trajectory	trajectory	NOUN
ajst-32561	244	5	tracking	track	VERB
ajst-32561	244	6	mpc	mpc	NOUN
ajst-32561	244	7	for	for	ADP
ajst-32561	244	8	quadcopter	quadcopter	NOUN
ajst-32561	244	9	systems	system	NOUN
ajst-32561	244	10	.	.	PUNCT
ajst-32561	245	1	arxiv	arxiv	PROPN
ajst-32561	245	2	preprint	preprint	NOUN
ajst-32561	245	3	arxiv:2509.01767	arxiv:2509.01767	NOUN
ajst-32561	245	4	.	.	PUNCT
ajst-32561	246	1	[	[	X
ajst-32561	246	2	20	20	NUM
ajst-32561	246	3	]	]	X
ajst-32561	246	4	rodriguez	rodriguez	NOUN
ajst-32561	246	5	-	-	PUNCT
ajst-32561	246	6	guevara	guevara	PROPN
ajst-32561	246	7	,	,	PUNCT
ajst-32561	246	8	d.	d.	PROPN
ajst-32561	246	9	,	,	PUNCT
ajst-32561	246	10	&	&	CCONJ
ajst-32561	246	11	garcía	garcía	PROPN
ajst-32561	246	12	,	,	PUNCT
ajst-32561	246	13	j.	j.	PROPN
ajst-32561	246	14	(	(	PUNCT
ajst-32561	246	15	2023	2023	NUM
ajst-32561	246	16	)	)	PUNCT
ajst-32561	246	17	.	.	PUNCT
ajst-32561	247	1	a	a	DET
ajst-32561	247	2	qlpv	qlpv	NOUN
ajst-32561	247	3	-	-	PUNCT
ajst-32561	247	4	mpc	mpc	NOUN
ajst-32561	247	5	control	control	NOUN
ajst-32561	247	6	strategy	strategy	NOUN
ajst-32561	247	7	for	for	ADP
ajst-32561	247	8	trajectory	trajectory	NOUN
ajst-32561	247	9	tracking	tracking	NOUN
ajst-32561	247	10	of	of	ADP
ajst-32561	247	11	quadcopter	quadcopter	NOUN
ajst-32561	247	12	drones	drone	NOUN
ajst-32561	247	13	.	.	PUNCT
ajst-32561	248	1	mdpi	mdpi	PROPN
ajst-32561	248	2	applied	apply	VERB
ajst-32561	248	3	sciences	science	NOUN
ajst-32561	248	4	,	,	PUNCT
ajst-32561	248	5	11(7	11(7	NUM
ajst-32561	248	6	)	)	PUNCT
ajst-32561	248	7	,	,	PUNCT
ajst-32561	248	8	755	755	NUM
ajst-32561	248	9	.	.	PUNCT