id	sid	tid	token	lemma	pos
ajst-3907	1	1	academic	academic	ADJ
ajst-3907	1	2	journal	journal	NOUN
ajst-3907	1	3	of	of	ADP
ajst-3907	1	4	science	science	NOUN
ajst-3907	1	5	and	and	CCONJ
ajst-3907	1	6	technology	technology	NOUN
ajst-3907	1	7	issn	issn	NOUN
ajst-3907	1	8	:	:	PUNCT
ajst-3907	1	9	2771	2771	NUM
ajst-3907	1	10	-	-	SYM
ajst-3907	1	11	3032	3032	NUM
ajst-3907	1	12	|	|	NOUN
ajst-3907	1	13	vol	vol	NOUN
ajst-3907	1	14	.	.	PROPN
ajst-3907	2	1	4	4	NUM
ajst-3907	2	2	,	,	PUNCT
ajst-3907	2	3	no	no	INTJ
ajst-3907	2	4	.	.	NOUN
ajst-3907	2	5	2	2	NUM
ajst-3907	2	6	,	,	PUNCT
ajst-3907	2	7	2022	2022	NUM
ajst-3907	2	8	58	58	NUM
ajst-3907	2	9	survey	survey	NOUN
ajst-3907	2	10	of	of	ADP
ajst-3907	2	11	robot	robot	NOUN
ajst-3907	2	12	formation	formation	NOUN
ajst-3907	2	13	control	control	NOUN
ajst-3907	2	14	methods	method	NOUN
ajst-3907	2	15	tao	tao	PROPN
ajst-3907	2	16	xing1	xing1	PROPN
ajst-3907	2	17	,	,	PUNCT
ajst-3907	2	18	yongchun	yongchun	PROPN
ajst-3907	2	19	liu1	liu1	PROPN
ajst-3907	2	20	,	,	PUNCT
ajst-3907	2	21	2	2	NUM
ajst-3907	2	22	,	,	PUNCT
ajst-3907	2	23	lang	lang	PROPN
ajst-3907	2	24	chen1	chen1	PROPN
ajst-3907	3	1	1	1	NUM
ajst-3907	3	2	college	college	NOUN
ajst-3907	3	3	of	of	ADP
ajst-3907	3	4	automation	automation	NOUN
ajst-3907	3	5	&	&	CCONJ
ajst-3907	3	6	information	information	PROPN
ajst-3907	3	7	engineering	engineering	PROPN
ajst-3907	3	8	,	,	PUNCT
ajst-3907	3	9	sichuan	sichuan	PROPN
ajst-3907	3	10	university	university	PROPN
ajst-3907	3	11	of	of	ADP
ajst-3907	3	12	science	science	PROPN
ajst-3907	3	13	&	&	CCONJ
ajst-3907	3	14	engineering	engineering	PROPN
ajst-3907	3	15	,	,	PUNCT
ajst-3907	3	16	yibin	yibin	PROPN
ajst-3907	3	17	sichuan	sichuan	PROPN
ajst-3907	3	18	643002	643002	NUM
ajst-3907	3	19	,	,	PUNCT
ajst-3907	3	20	china	china	PROPN
ajst-3907	3	21	2	2	NUM
ajst-3907	3	22	artificial	artificial	ADJ
ajst-3907	3	23	intelligence	intelligence	NOUN
ajst-3907	3	24	key	key	NOUN
ajst-3907	3	25	laboratory	laboratory	NOUN
ajst-3907	3	26	of	of	ADP
ajst-3907	3	27	sichuan	sichuan	PROPN
ajst-3907	3	28	province	province	PROPN
ajst-3907	3	29	,	,	PUNCT
ajst-3907	3	30	yibin	yibin	PROPN
ajst-3907	3	31	sichuan	sichuan	PROPN
ajst-3907	3	32	643002	643002	NUM
ajst-3907	3	33	,	,	PUNCT
ajst-3907	3	34	china	china	PROPN
ajst-3907	3	35	abstract	abstract	NOUN
ajst-3907	3	36	:	:	PUNCT
ajst-3907	3	37	robot	robot	NOUN
ajst-3907	3	38	formation	formation	NOUN
ajst-3907	3	39	control	control	NOUN
ajst-3907	3	40	technology	technology	NOUN
ajst-3907	3	41	has	have	VERB
ajst-3907	3	42	a	a	DET
ajst-3907	3	43	certain	certain	ADJ
ajst-3907	3	44	practical	practical	ADJ
ajst-3907	3	45	significance	significance	NOUN
ajst-3907	3	46	and	and	CCONJ
ajst-3907	3	47	application	application	NOUN
ajst-3907	3	48	value	value	NOUN
ajst-3907	3	49	.	.	PUNCT
ajst-3907	4	1	efficient	efficient	ADJ
ajst-3907	4	2	and	and	CCONJ
ajst-3907	4	3	stable	stable	ADJ
ajst-3907	4	4	formation	formation	NOUN
ajst-3907	4	5	control	control	NOUN
ajst-3907	4	6	is	be	AUX
ajst-3907	4	7	the	the	DET
ajst-3907	4	8	theoretical	theoretical	ADJ
ajst-3907	4	9	basis	basis	NOUN
ajst-3907	4	10	and	and	CCONJ
ajst-3907	4	11	technical	technical	ADJ
ajst-3907	4	12	key	key	NOUN
ajst-3907	4	13	to	to	PART
ajst-3907	4	14	perform	perform	VERB
ajst-3907	4	15	complex	complex	ADJ
ajst-3907	4	16	tasks	task	NOUN
ajst-3907	4	17	.	.	PUNCT
ajst-3907	5	1	firstly	firstly	ADV
ajst-3907	5	2	,	,	PUNCT
ajst-3907	5	3	the	the	DET
ajst-3907	5	4	basic	basic	ADJ
ajst-3907	5	5	idea	idea	NOUN
ajst-3907	5	6	of	of	ADP
ajst-3907	5	7	formation	formation	NOUN
ajst-3907	5	8	control	control	NOUN
ajst-3907	5	9	is	be	AUX
ajst-3907	5	10	introduced	introduce	VERB
ajst-3907	5	11	,	,	PUNCT
ajst-3907	5	12	and	and	CCONJ
ajst-3907	5	13	then	then	ADV
ajst-3907	5	14	several	several	ADJ
ajst-3907	5	15	formation	formation	NOUN
ajst-3907	5	16	control	control	NOUN
ajst-3907	5	17	methods	method	NOUN
ajst-3907	5	18	such	such	ADJ
ajst-3907	5	19	as	as	ADP
ajst-3907	5	20	following	follow	VERB
ajst-3907	5	21	the	the	DET
ajst-3907	5	22	leader	leader	NOUN
ajst-3907	5	23	method	method	NOUN
ajst-3907	5	24	,	,	PUNCT
ajst-3907	5	25	behavior	behavior	NOUN
ajst-3907	5	26	based	base	VERB
ajst-3907	5	27	method	method	NOUN
ajst-3907	5	28	,	,	PUNCT
ajst-3907	5	29	virtual	virtual	ADJ
ajst-3907	5	30	structure	structure	NOUN
ajst-3907	5	31	method	method	NOUN
ajst-3907	5	32	and	and	CCONJ
ajst-3907	5	33	artificial	artificial	ADJ
ajst-3907	5	34	potential	potential	ADJ
ajst-3907	5	35	field	field	NOUN
ajst-3907	5	36	method	method	NOUN
ajst-3907	5	37	are	be	AUX
ajst-3907	5	38	introduced	introduce	VERB
ajst-3907	5	39	;	;	PUNCT
ajst-3907	5	40	this	this	DET
ajst-3907	5	41	paper	paper	NOUN
ajst-3907	5	42	summarizes	summarize	VERB
ajst-3907	5	43	the	the	DET
ajst-3907	5	44	research	research	NOUN
ajst-3907	5	45	achievements	achievement	NOUN
ajst-3907	5	46	of	of	ADP
ajst-3907	5	47	robot	robot	NOUN
ajst-3907	5	48	formation	formation	NOUN
ajst-3907	5	49	control	control	NOUN
ajst-3907	5	50	in	in	ADP
ajst-3907	5	51	recent	recent	ADJ
ajst-3907	5	52	20	20	NUM
ajst-3907	5	53	years	year	NOUN
ajst-3907	5	54	at	at	ADP
ajst-3907	5	55	home	home	NOUN
ajst-3907	5	56	and	and	CCONJ
ajst-3907	5	57	abroad	abroad	ADV
ajst-3907	5	58	.	.	PUNCT
ajst-3907	6	1	finally	finally	ADV
ajst-3907	6	2	,	,	PUNCT
ajst-3907	6	3	the	the	DET
ajst-3907	6	4	future	future	ADJ
ajst-3907	6	5	research	research	NOUN
ajst-3907	6	6	direction	direction	NOUN
ajst-3907	6	7	of	of	ADP
ajst-3907	6	8	formation	formation	NOUN
ajst-3907	6	9	control	control	NOUN
ajst-3907	6	10	is	be	AUX
ajst-3907	6	11	pointed	point	VERB
ajst-3907	6	12	out	out	ADP
ajst-3907	6	13	.	.	PUNCT
ajst-3907	7	1	keywords	keyword	NOUN
ajst-3907	7	2	:	:	PUNCT
ajst-3907	7	3	robot	robot	NOUN
ajst-3907	7	4	,	,	PUNCT
ajst-3907	7	5	formation	formation	NOUN
ajst-3907	7	6	control	control	NOUN
ajst-3907	7	7	,	,	PUNCT
ajst-3907	7	8	multi	multi	ADJ
ajst-3907	7	9	agent	agent	NOUN
ajst-3907	7	10	technology	technology	NOUN
ajst-3907	7	11	,	,	PUNCT
ajst-3907	7	12	cooperative	cooperative	ADJ
ajst-3907	7	13	control	control	NOUN
ajst-3907	7	14	.	.	PUNCT
ajst-3907	8	1	1	1	X
ajst-3907	8	2	.	.	X
ajst-3907	8	3	introduction	introduction	NOUN
ajst-3907	8	4	the	the	DET
ajst-3907	8	5	emergence	emergence	NOUN
ajst-3907	8	6	of	of	ADP
ajst-3907	8	7	robots	robot	NOUN
ajst-3907	8	8	frees	free	VERB
ajst-3907	8	9	humans	human	NOUN
ajst-3907	8	10	from	from	ADP
ajst-3907	8	11	dangerous	dangerous	ADJ
ajst-3907	8	12	,	,	PUNCT
ajst-3907	8	13	complex	complex	ADJ
ajst-3907	8	14	or	or	CCONJ
ajst-3907	8	15	completely	completely	ADV
ajst-3907	8	16	unknown	unknown	ADJ
ajst-3907	8	17	working	working	NOUN
ajst-3907	8	18	environments	environment	NOUN
ajst-3907	8	19	[	[	X
ajst-3907	8	20	14	14	NUM
ajst-3907	8	21	]	]	PUNCT
ajst-3907	8	22	.	.	PUNCT
ajst-3907	9	1	the	the	DET
ajst-3907	9	2	robot	robot	NOUN
ajst-3907	9	3	system	system	NOUN
ajst-3907	9	4	can	can	AUX
ajst-3907	9	5	perceive	perceive	VERB
ajst-3907	9	6	various	various	ADJ
ajst-3907	9	7	external	external	ADJ
ajst-3907	9	8	environments	environment	NOUN
ajst-3907	9	9	in	in	ADP
ajst-3907	9	10	real	real	ADJ
ajst-3907	9	11	time	time	NOUN
ajst-3907	9	12	.	.	PUNCT
ajst-3907	10	1	it	it	PRON
ajst-3907	10	2	is	be	AUX
ajst-3907	10	3	a	a	DET
ajst-3907	10	4	control	control	NOUN
ajst-3907	10	5	management	management	NOUN
ajst-3907	10	6	system	system	NOUN
ajst-3907	10	7	with	with	ADP
ajst-3907	10	8	multiple	multiple	ADJ
ajst-3907	10	9	functions	function	NOUN
ajst-3907	10	10	such	such	ADJ
ajst-3907	10	11	as	as	ADP
ajst-3907	10	12	visual	visual	ADJ
ajst-3907	10	13	recognition	recognition	NOUN
ajst-3907	10	14	,	,	PUNCT
ajst-3907	10	15	task	task	NOUN
ajst-3907	10	16	management	management	NOUN
ajst-3907	10	17	,	,	PUNCT
ajst-3907	10	18	execution	execution	NOUN
ajst-3907	10	19	and	and	CCONJ
ajst-3907	10	20	allocation	allocation	NOUN
ajst-3907	10	21	,	,	PUNCT
ajst-3907	10	22	and	and	CCONJ
ajst-3907	10	23	behavior	behavior	NOUN
ajst-3907	10	24	decision	decision	NOUN
ajst-3907	10	25	-	-	PUNCT
ajst-3907	10	26	making	making	NOUN
ajst-3907	10	27	.	.	PUNCT
ajst-3907	11	1	it	it	PRON
ajst-3907	11	2	can	can	AUX
ajst-3907	11	3	easily	easily	ADV
ajst-3907	11	4	adapt	adapt	VERB
ajst-3907	11	5	to	to	ADP
ajst-3907	11	6	various	various	ADJ
ajst-3907	11	7	harsh	harsh	ADJ
ajst-3907	11	8	environments	environment	NOUN
ajst-3907	11	9	[	[	X
ajst-3907	11	10	5	5	NUM
ajst-3907	11	11	]	]	PUNCT
ajst-3907	11	12	.	.	PUNCT
ajst-3907	12	1	when	when	SCONJ
ajst-3907	12	2	some	some	PRON
ajst-3907	12	3	of	of	ADP
ajst-3907	12	4	the	the	DET
ajst-3907	12	5	world	world	NOUN
ajst-3907	12	6	's	's	PART
ajst-3907	12	7	top	top	ADJ
ajst-3907	12	8	professional	professional	ADJ
ajst-3907	12	9	chess	chess	NOUN
ajst-3907	12	10	players	player	NOUN
ajst-3907	12	11	are	be	AUX
ajst-3907	12	12	defeated	defeat	VERB
ajst-3907	12	13	by	by	ADP
ajst-3907	12	14	the	the	DET
ajst-3907	12	15	alpha	alpha	ADJ
ajst-3907	12	16	dog	dog	NOUN
ajst-3907	12	17	with	with	ADP
ajst-3907	12	18	the	the	DET
ajst-3907	12	19	powerful	powerful	ADJ
ajst-3907	12	20	deep	deep	ADJ
ajst-3907	12	21	learning	learning	NOUN
ajst-3907	12	22	function	function	NOUN
ajst-3907	12	23	of	of	ADP
ajst-3907	12	24	artificial	artificial	ADJ
ajst-3907	12	25	intelligence	intelligence	NOUN
ajst-3907	12	26	,	,	PUNCT
ajst-3907	12	27	it	it	PRON
ajst-3907	12	28	represents	represent	VERB
ajst-3907	12	29	the	the	DET
ajst-3907	12	30	rapid	rapid	ADJ
ajst-3907	12	31	improvement	improvement	NOUN
ajst-3907	12	32	of	of	ADP
ajst-3907	12	33	robot	robot	NOUN
ajst-3907	12	34	intelligence	intelligence	NOUN
ajst-3907	12	35	.	.	PUNCT
ajst-3907	13	1	however	however	ADV
ajst-3907	13	2	,	,	PUNCT
ajst-3907	13	3	when	when	SCONJ
ajst-3907	13	4	a	a	DET
ajst-3907	13	5	single	single	ADJ
ajst-3907	13	6	robot	robot	NOUN
ajst-3907	13	7	performs	perform	VERB
ajst-3907	13	8	complex	complex	ADJ
ajst-3907	13	9	work	work	NOUN
ajst-3907	13	10	or	or	CCONJ
ajst-3907	13	11	is	be	AUX
ajst-3907	13	12	in	in	ADP
ajst-3907	13	13	a	a	DET
ajst-3907	13	14	complex	complex	ADJ
ajst-3907	13	15	task	task	NOUN
ajst-3907	13	16	environment	environment	NOUN
ajst-3907	13	17	,	,	PUNCT
ajst-3907	13	18	it	it	PRON
ajst-3907	13	19	simply	simply	ADV
ajst-3907	13	20	can	can	AUX
ajst-3907	13	21	not	not	PART
ajst-3907	13	22	directly	directly	ADV
ajst-3907	13	23	meet	meet	VERB
ajst-3907	13	24	the	the	DET
ajst-3907	13	25	needs	need	NOUN
ajst-3907	13	26	of	of	ADP
ajst-3907	13	27	complex	complex	ADJ
ajst-3907	13	28	task	task	NOUN
ajst-3907	13	29	processing	processing	NOUN
ajst-3907	13	30	through	through	ADP
ajst-3907	13	31	its	its	PRON
ajst-3907	13	32	own	own	ADJ
ajst-3907	13	33	behavior	behavior	NOUN
ajst-3907	13	34	.	.	PUNCT
ajst-3907	14	1	therefore	therefore	ADV
ajst-3907	14	2	,	,	PUNCT
ajst-3907	14	3	people	people	NOUN
ajst-3907	14	4	get	get	VERB
ajst-3907	14	5	inspiration	inspiration	NOUN
ajst-3907	14	6	from	from	ADP
ajst-3907	14	7	the	the	DET
ajst-3907	14	8	movement	movement	NOUN
ajst-3907	14	9	of	of	ADP
ajst-3907	14	10	birds	bird	NOUN
ajst-3907	14	11	and	and	CCONJ
ajst-3907	14	12	ants	ant	NOUN
ajst-3907	14	13	flying	fly	VERB
ajst-3907	14	14	in	in	ADP
ajst-3907	14	15	the	the	DET
ajst-3907	14	16	nature	nature	NOUN
ajst-3907	14	17	,	,	PUNCT
ajst-3907	14	18	and	and	CCONJ
ajst-3907	14	19	use	use	VERB
ajst-3907	14	20	this	this	DET
ajst-3907	14	21	kind	kind	NOUN
ajst-3907	14	22	of	of	ADP
ajst-3907	14	23	biological	biological	ADJ
ajst-3907	14	24	cluster	cluster	NOUN
ajst-3907	14	25	formation	formation	NOUN
ajst-3907	14	26	cooperation	cooperation	NOUN
ajst-3907	14	27	to	to	PART
ajst-3907	14	28	integrate	integrate	VERB
ajst-3907	14	29	it	it	PRON
ajst-3907	14	30	into	into	ADP
ajst-3907	14	31	the	the	DET
ajst-3907	14	32	multi	multi	ADJ
ajst-3907	14	33	-	-	ADJ
ajst-3907	14	34	body	body	ADJ
ajst-3907	14	35	robot	robot	NOUN
ajst-3907	14	36	system	system	NOUN
ajst-3907	14	37	,	,	PUNCT
ajst-3907	14	38	thus	thus	ADV
ajst-3907	14	39	completing	complete	VERB
ajst-3907	14	40	complex	complex	ADJ
ajst-3907	14	41	tasks	task	NOUN
ajst-3907	14	42	that	that	PRON
ajst-3907	14	43	are	be	AUX
ajst-3907	14	44	difficult	difficult	ADJ
ajst-3907	14	45	for	for	SCONJ
ajst-3907	14	46	a	a	DET
ajst-3907	14	47	single	single	ADJ
ajst-3907	14	48	robot	robot	NOUN
ajst-3907	14	49	to	to	PART
ajst-3907	14	50	perform	perform	VERB
ajst-3907	14	51	independently	independently	ADV
ajst-3907	14	52	[	[	X
ajst-3907	14	53	6	6	NUM
ajst-3907	14	54	]	]	PUNCT
ajst-3907	14	55	.	.	PUNCT
ajst-3907	15	1	at	at	ADP
ajst-3907	15	2	present	present	ADJ
ajst-3907	15	3	,	,	PUNCT
ajst-3907	15	4	the	the	DET
ajst-3907	15	5	formation	formation	NOUN
ajst-3907	15	6	cooperative	cooperative	ADJ
ajst-3907	15	7	movement	movement	NOUN
ajst-3907	15	8	technology	technology	NOUN
ajst-3907	15	9	has	have	AUX
ajst-3907	15	10	been	be	AUX
ajst-3907	15	11	applied	apply	VERB
ajst-3907	15	12	in	in	ADP
ajst-3907	15	13	many	many	ADJ
ajst-3907	15	14	fields	field	NOUN
ajst-3907	15	15	.	.	PUNCT
ajst-3907	16	1	in	in	ADP
ajst-3907	16	2	industry	industry	NOUN
ajst-3907	16	3	,	,	PUNCT
ajst-3907	16	4	by	by	ADP
ajst-3907	16	5	controlling	control	VERB
ajst-3907	16	6	multiple	multiple	ADJ
ajst-3907	16	7	robots	robot	NOUN
ajst-3907	16	8	,	,	PUNCT
ajst-3907	16	9	various	various	ADJ
ajst-3907	16	10	goods	good	NOUN
ajst-3907	16	11	can	can	AUX
ajst-3907	16	12	be	be	AUX
ajst-3907	16	13	transported	transport	VERB
ajst-3907	16	14	automatically	automatically	ADV
ajst-3907	16	15	in	in	ADP
ajst-3907	16	16	a	a	DET
ajst-3907	16	17	specific	specific	ADJ
ajst-3907	16	18	way	way	NOUN
ajst-3907	16	19	;	;	PUNCT
ajst-3907	16	20	in	in	ADP
ajst-3907	16	21	the	the	DET
ajst-3907	16	22	military	military	ADJ
ajst-3907	16	23	field	field	NOUN
ajst-3907	16	24	,	,	PUNCT
ajst-3907	16	25	multiple	multiple	ADJ
ajst-3907	16	26	autonomous	autonomous	ADJ
ajst-3907	16	27	mobile	mobile	ADJ
ajst-3907	16	28	vehicles	vehicle	NOUN
ajst-3907	16	29	are	be	AUX
ajst-3907	16	30	widely	widely	ADV
ajst-3907	16	31	used	use	VERB
ajst-3907	16	32	in	in	ADP
ajst-3907	16	33	military	military	ADJ
ajst-3907	16	34	border	border	NOUN
ajst-3907	16	35	patrol	patrol	NOUN
ajst-3907	16	36	,	,	PUNCT
ajst-3907	16	37	resource	resource	NOUN
ajst-3907	16	38	geographical	geographical	ADJ
ajst-3907	16	39	survey	survey	NOUN
ajst-3907	16	40	,	,	PUNCT
ajst-3907	16	41	reconnaissance	reconnaissance	NOUN
ajst-3907	16	42	and	and	CCONJ
ajst-3907	16	43	rescue	rescue	NOUN
ajst-3907	16	44	,	,	PUNCT
ajst-3907	16	45	mine	mine	NOUN
ajst-3907	16	46	clearance	clearance	NOUN
ajst-3907	16	47	or	or	CCONJ
ajst-3907	16	48	satellite	satellite	NOUN
ajst-3907	16	49	attitude	attitude	NOUN
ajst-3907	16	50	and	and	CCONJ
ajst-3907	16	51	motion	motion	NOUN
ajst-3907	16	52	coordination	coordination	NOUN
ajst-3907	16	53	and	and	CCONJ
ajst-3907	16	54	space	space	NOUN
ajst-3907	16	55	exploration	exploration	NOUN
ajst-3907	16	56	;	;	PUNCT
ajst-3907	16	57	in	in	ADP
ajst-3907	16	58	the	the	DET
ajst-3907	16	59	field	field	NOUN
ajst-3907	16	60	of	of	ADP
ajst-3907	16	61	police	police	NOUN
ajst-3907	16	62	affairs	affair	NOUN
ajst-3907	16	63	,	,	PUNCT
ajst-3907	16	64	multiple	multiple	ADJ
ajst-3907	16	65	mobile	mobile	ADJ
ajst-3907	16	66	robots	robot	NOUN
ajst-3907	16	67	are	be	AUX
ajst-3907	16	68	formed	form	VERB
ajst-3907	16	69	into	into	ADP
ajst-3907	16	70	an	an	DET
ajst-3907	16	71	arc	arc	NOUN
ajst-3907	16	72	encirclement	encirclement	NOUN
ajst-3907	16	73	net	net	NOUN
ajst-3907	16	74	to	to	PART
ajst-3907	16	75	catch	catch	VERB
ajst-3907	16	76	intruders	intruder	NOUN
ajst-3907	16	77	,	,	PUNCT
ajst-3907	16	78	etc	etc	X
ajst-3907	16	79	.	.	X
ajst-3907	17	1	[	[	X
ajst-3907	17	2	6	6	NUM
ajst-3907	17	3	]	]	PUNCT
ajst-3907	17	4	.	.	PUNCT
ajst-3907	18	1	because	because	SCONJ
ajst-3907	18	2	the	the	DET
ajst-3907	18	3	control	control	NOUN
ajst-3907	18	4	system	system	NOUN
ajst-3907	18	5	of	of	ADP
ajst-3907	18	6	multi	multi	ADJ
ajst-3907	18	7	-	-	ADJ
ajst-3907	18	8	agent	agent	ADJ
ajst-3907	18	9	robot	robot	NOUN
ajst-3907	18	10	is	be	AUX
ajst-3907	18	11	widely	widely	ADV
ajst-3907	18	12	used	use	VERB
ajst-3907	18	13	in	in	ADP
ajst-3907	18	14	many	many	ADJ
ajst-3907	18	15	fields	field	NOUN
ajst-3907	18	16	,	,	PUNCT
ajst-3907	18	17	the	the	DET
ajst-3907	18	18	problem	problem	NOUN
ajst-3907	18	19	of	of	ADP
ajst-3907	18	20	multi	multi	ADJ
ajst-3907	18	21	-	-	ADJ
ajst-3907	18	22	agent	agent	ADJ
ajst-3907	18	23	cooperative	cooperative	ADJ
ajst-3907	18	24	control	control	NOUN
ajst-3907	18	25	has	have	AUX
ajst-3907	18	26	been	be	AUX
ajst-3907	18	27	paid	pay	VERB
ajst-3907	18	28	more	more	ADJ
ajst-3907	18	29	and	and	CCONJ
ajst-3907	18	30	more	more	ADJ
ajst-3907	18	31	attention	attention	NOUN
ajst-3907	18	32	by	by	ADP
ajst-3907	18	33	researchers	researcher	NOUN
ajst-3907	18	34	and	and	CCONJ
ajst-3907	18	35	engineers	engineer	NOUN
ajst-3907	18	36	.	.	PUNCT
ajst-3907	19	1	in	in	ADP
ajst-3907	19	2	recent	recent	ADJ
ajst-3907	19	3	years	year	NOUN
ajst-3907	19	4	,	,	PUNCT
ajst-3907	19	5	a	a	DET
ajst-3907	19	6	large	large	ADJ
ajst-3907	19	7	number	number	NOUN
ajst-3907	19	8	of	of	ADP
ajst-3907	19	9	scientific	scientific	ADJ
ajst-3907	19	10	research	research	NOUN
ajst-3907	19	11	achievements	achievement	NOUN
ajst-3907	19	12	have	have	AUX
ajst-3907	19	13	been	be	AUX
ajst-3907	19	14	made	make	VERB
ajst-3907	19	15	in	in	ADP
ajst-3907	19	16	the	the	DET
ajst-3907	19	17	cooperative	cooperative	ADJ
ajst-3907	19	18	control	control	NOUN
ajst-3907	19	19	of	of	ADP
ajst-3907	19	20	robot	robot	NOUN
ajst-3907	19	21	formation	formation	NOUN
ajst-3907	19	22	,	,	PUNCT
ajst-3907	19	23	and	and	CCONJ
ajst-3907	19	24	a	a	DET
ajst-3907	19	25	variety	variety	NOUN
ajst-3907	19	26	of	of	ADP
ajst-3907	19	27	formation	formation	NOUN
ajst-3907	19	28	control	control	NOUN
ajst-3907	19	29	methods	method	NOUN
ajst-3907	19	30	,	,	PUNCT
ajst-3907	19	31	mainly	mainly	ADV
ajst-3907	19	32	represented	represent	VERB
ajst-3907	19	33	by	by	ADP
ajst-3907	19	34	artificial	artificial	ADJ
ajst-3907	19	35	potential	potential	ADJ
ajst-3907	19	36	field	field	NOUN
ajst-3907	19	37	method	method	NOUN
ajst-3907	19	38	,	,	PUNCT
ajst-3907	19	39	virtual	virtual	ADJ
ajst-3907	19	40	structure	structure	NOUN
ajst-3907	19	41	method	method	NOUN
ajst-3907	19	42	,	,	PUNCT
ajst-3907	19	43	behavior	behavior	NOUN
ajst-3907	19	44	based	base	VERB
ajst-3907	19	45	control	control	NOUN
ajst-3907	19	46	method	method	NOUN
ajst-3907	19	47	,	,	PUNCT
ajst-3907	19	48	and	and	CCONJ
ajst-3907	19	49	following	follow	VERB
ajst-3907	19	50	navigator	navigator	NOUN
ajst-3907	19	51	method	method	NOUN
ajst-3907	19	52	,	,	PUNCT
ajst-3907	19	53	have	have	AUX
ajst-3907	19	54	been	be	AUX
ajst-3907	19	55	gradually	gradually	ADV
ajst-3907	19	56	formed	form	VERB
ajst-3907	19	57	.	.	PUNCT
ajst-3907	20	1	2	2	X
ajst-3907	20	2	.	.	X
ajst-3907	20	3	problem	problem	NOUN
ajst-3907	20	4	description	description	NOUN
ajst-3907	20	5	formation	formation	NOUN
ajst-3907	20	6	control	control	NOUN
ajst-3907	20	7	is	be	AUX
ajst-3907	20	8	mainly	mainly	ADV
ajst-3907	20	9	to	to	PART
ajst-3907	20	10	study	study	VERB
ajst-3907	20	11	the	the	DET
ajst-3907	20	12	control	control	NOUN
ajst-3907	20	13	technology	technology	NOUN
ajst-3907	20	14	of	of	ADP
ajst-3907	20	15	robot	robot	NOUN
ajst-3907	20	16	system	system	NOUN
ajst-3907	20	17	in	in	ADP
ajst-3907	20	18	the	the	DET
ajst-3907	20	19	process	process	NOUN
ajst-3907	20	20	of	of	ADP
ajst-3907	20	21	moving	move	VERB
ajst-3907	20	22	,	,	PUNCT
ajst-3907	20	23	which	which	PRON
ajst-3907	20	24	should	should	AUX
ajst-3907	20	25	not	not	PART
ajst-3907	20	26	only	only	ADV
ajst-3907	20	27	follow	follow	VERB
ajst-3907	20	28	certain	certain	ADJ
ajst-3907	20	29	formation	formation	NOUN
ajst-3907	20	30	constraints	constraint	NOUN
ajst-3907	20	31	,	,	PUNCT
ajst-3907	20	32	but	but	CCONJ
ajst-3907	20	33	also	also	ADV
ajst-3907	20	34	adapt	adapt	VERB
ajst-3907	20	35	to	to	ADP
ajst-3907	20	36	the	the	DET
ajst-3907	20	37	constraints	constraint	NOUN
ajst-3907	20	38	of	of	ADP
ajst-3907	20	39	the	the	DET
ajst-3907	20	40	current	current	ADJ
ajst-3907	20	41	working	working	NOUN
ajst-3907	20	42	environment	environment	NOUN
ajst-3907	20	43	.	.	PUNCT
ajst-3907	21	1	its	its	PRON
ajst-3907	21	2	research	research	NOUN
ajst-3907	21	3	contents	content	NOUN
ajst-3907	21	4	can	can	AUX
ajst-3907	21	5	be	be	AUX
ajst-3907	21	6	divided	divide	VERB
ajst-3907	21	7	into	into	ADP
ajst-3907	21	8	the	the	DET
ajst-3907	21	9	following	follow	VERB
ajst-3907	21	10	three	three	NUM
ajst-3907	21	11	aspects	aspect	NOUN
ajst-3907	21	12	.	.	PUNCT
ajst-3907	22	1	(	(	PUNCT
ajst-3907	22	2	1	1	X
ajst-3907	22	3	)	)	PUNCT
ajst-3907	22	4	the	the	DET
ajst-3907	22	5	fixed	fix	VERB
ajst-3907	22	6	formation	formation	NOUN
ajst-3907	22	7	is	be	AUX
ajst-3907	22	8	completely	completely	ADV
ajst-3907	22	9	suitable	suitable	ADJ
ajst-3907	22	10	for	for	ADP
ajst-3907	22	11	tasks	task	NOUN
ajst-3907	22	12	that	that	PRON
ajst-3907	22	13	have	have	VERB
ajst-3907	22	14	very	very	ADV
ajst-3907	22	15	strict	strict	ADJ
ajst-3907	22	16	requirements	requirement	NOUN
ajst-3907	22	17	on	on	ADP
ajst-3907	22	18	the	the	DET
ajst-3907	22	19	positions	position	NOUN
ajst-3907	22	20	between	between	ADP
ajst-3907	22	21	robots	robot	NOUN
ajst-3907	22	22	.	.	PUNCT
ajst-3907	23	1	at	at	ADP
ajst-3907	23	2	this	this	DET
ajst-3907	23	3	time	time	NOUN
ajst-3907	23	4	,	,	PUNCT
ajst-3907	23	5	the	the	DET
ajst-3907	23	6	relative	relative	ADJ
ajst-3907	23	7	position	position	NOUN
ajst-3907	23	8	relationship	relationship	NOUN
ajst-3907	23	9	between	between	ADP
ajst-3907	23	10	robots	robot	NOUN
ajst-3907	23	11	should	should	AUX
ajst-3907	23	12	be	be	AUX
ajst-3907	23	13	absolutely	absolutely	ADV
ajst-3907	23	14	unchanged	unchanged	ADJ
ajst-3907	23	15	.	.	PUNCT
ajst-3907	24	1	(	(	PUNCT
ajst-3907	24	2	2	2	X
ajst-3907	24	3	)	)	PUNCT
ajst-3907	24	4	the	the	DET
ajst-3907	24	5	task	task	NOUN
ajst-3907	24	6	of	of	ADP
ajst-3907	24	7	incomplete	incomplete	ADJ
ajst-3907	24	8	maintenance	maintenance	NOUN
ajst-3907	24	9	of	of	ADP
ajst-3907	24	10	fixed	fix	VERB
ajst-3907	24	11	formation	formation	NOUN
ajst-3907	24	12	allows	allow	VERB
ajst-3907	24	13	the	the	DET
ajst-3907	24	14	robot	robot	NOUN
ajst-3907	24	15	to	to	PART
ajst-3907	24	16	deviate	deviate	VERB
ajst-3907	24	17	from	from	ADP
ajst-3907	24	18	its	its	PRON
ajst-3907	24	19	ideal	ideal	ADJ
ajst-3907	24	20	formation	formation	NOUN
ajst-3907	24	21	position	position	NOUN
ajst-3907	24	22	due	due	ADP
ajst-3907	24	23	to	to	ADP
ajst-3907	24	24	environmental	environmental	ADJ
ajst-3907	24	25	factors	factor	NOUN
ajst-3907	24	26	during	during	ADP
ajst-3907	24	27	movement	movement	NOUN
ajst-3907	24	28	,	,	PUNCT
ajst-3907	24	29	and	and	CCONJ
ajst-3907	24	30	the	the	DET
ajst-3907	24	31	robot	robot	NOUN
ajst-3907	24	32	system	system	NOUN
ajst-3907	24	33	will	will	AUX
ajst-3907	24	34	try	try	VERB
ajst-3907	24	35	to	to	PART
ajst-3907	24	36	recover	recover	VERB
ajst-3907	24	37	the	the	DET
ajst-3907	24	38	original	original	ADJ
ajst-3907	24	39	formation	formation	NOUN
ajst-3907	24	40	as	as	ADV
ajst-3907	24	41	soon	soon	ADV
ajst-3907	24	42	as	as	ADP
ajst-3907	24	43	possible	possible	ADJ
ajst-3907	24	44	after	after	ADP
ajst-3907	24	45	the	the	DET
ajst-3907	24	46	deviation	deviation	NOUN
ajst-3907	24	47	.	.	PUNCT
ajst-3907	25	1	(	(	PUNCT
ajst-3907	25	2	3	3	X
ajst-3907	25	3	)	)	PUNCT
ajst-3907	25	4	switch	switch	NOUN
ajst-3907	25	5	in	in	ADP
ajst-3907	25	6	variable	variable	ADJ
ajst-3907	25	7	team	team	NOUN
ajst-3907	25	8	formation	formation	NOUN
ajst-3907	25	9	,	,	PUNCT
ajst-3907	25	10	for	for	ADP
ajst-3907	25	11	example	example	NOUN
ajst-3907	25	12	,	,	PUNCT
ajst-3907	25	13	the	the	DET
ajst-3907	25	14	formation	formation	NOUN
ajst-3907	25	15	can	can	AUX
ajst-3907	25	16	be	be	AUX
ajst-3907	25	17	translated	translate	VERB
ajst-3907	25	18	,	,	PUNCT
ajst-3907	25	19	rotated	rotate	VERB
ajst-3907	25	20	,	,	PUNCT
ajst-3907	25	21	expanded	expand	VERB
ajst-3907	25	22	and	and	CCONJ
ajst-3907	25	23	contracted	contract	VERB
ajst-3907	25	24	.	.	PUNCT
ajst-3907	26	1	when	when	SCONJ
ajst-3907	26	2	designing	design	VERB
ajst-3907	26	3	a	a	DET
ajst-3907	26	4	multi	multi	ADJ
ajst-3907	26	5	robot	robot	NOUN
ajst-3907	26	6	formation	formation	NOUN
ajst-3907	26	7	system	system	NOUN
ajst-3907	26	8	,	,	PUNCT
ajst-3907	26	9	the	the	DET
ajst-3907	26	10	following	follow	VERB
ajst-3907	26	11	issues	issue	NOUN
ajst-3907	26	12	need	need	VERB
ajst-3907	26	13	to	to	PART
ajst-3907	26	14	be	be	AUX
ajst-3907	26	15	considered	consider	VERB
ajst-3907	26	16	:	:	PUNCT
ajst-3907	26	17	①	①	ADP
ajst-3907	26	18	the	the	DET
ajst-3907	26	19	ability	ability	NOUN
ajst-3907	26	20	of	of	ADP
ajst-3907	26	21	robots	robot	NOUN
ajst-3907	26	22	to	to	PART
ajst-3907	26	23	avoid	avoid	VERB
ajst-3907	26	24	obstacles	obstacle	NOUN
ajst-3907	26	25	and	and	CCONJ
ajst-3907	26	26	prevent	prevent	VERB
ajst-3907	26	27	collisions	collision	NOUN
ajst-3907	26	28	;	;	PUNCT
ajst-3907	26	29	②	②	NUM
ajst-3907	26	30	accuracy	accuracy	NOUN
ajst-3907	26	31	of	of	ADP
ajst-3907	26	32	target	target	NOUN
ajst-3907	26	33	or	or	CCONJ
ajst-3907	26	34	track	track	NOUN
ajst-3907	26	35	tracking	tracking	NOUN
ajst-3907	26	36	;	;	PUNCT
ajst-3907	26	37	③	③	NUM
ajst-3907	26	38	effectiveness	effectiveness	NOUN
ajst-3907	26	39	of	of	ADP
ajst-3907	26	40	mutual	mutual	ADJ
ajst-3907	26	41	communication	communication	NOUN
ajst-3907	26	42	;	;	PUNCT
ajst-3907	26	43	④	④	NUM
ajst-3907	26	44	stability	stability	NOUN
ajst-3907	26	45	of	of	ADP
ajst-3907	26	46	formation	formation	NOUN
ajst-3907	26	47	maintenance	maintenance	NOUN
ajst-3907	26	48	;	;	PUNCT
ajst-3907	26	49	⑤	⑤	NUM
ajst-3907	26	50	the	the	DET
ajst-3907	26	51	controllability	controllability	NOUN
ajst-3907	26	52	of	of	ADP
ajst-3907	26	53	different	different	ADJ
ajst-3907	26	54	formation	formation	NOUN
ajst-3907	26	55	transformation	transformation	NOUN
ajst-3907	26	56	.	.	PUNCT
ajst-3907	27	1	for	for	ADP
ajst-3907	27	2	formation	formation	NOUN
ajst-3907	27	3	control	control	NOUN
ajst-3907	27	4	,	,	PUNCT
ajst-3907	27	5	it	it	PRON
ajst-3907	27	6	is	be	AUX
ajst-3907	27	7	generally	generally	ADV
ajst-3907	27	8	divided	divide	VERB
ajst-3907	27	9	into	into	ADP
ajst-3907	27	10	two	two	NUM
ajst-3907	27	11	steps	step	NOUN
ajst-3907	27	12	:	:	PUNCT
ajst-3907	27	13	step	step	NOUN
ajst-3907	27	14	1	1	NUM
ajst-3907	27	15	determine	determine	VERB
ajst-3907	27	16	the	the	DET
ajst-3907	27	17	target	target	NOUN
ajst-3907	27	18	position	position	NOUN
ajst-3907	27	19	of	of	ADP
ajst-3907	27	20	each	each	DET
ajst-3907	27	21	robot	robot	NOUN
ajst-3907	27	22	according	accord	VERB
ajst-3907	27	23	to	to	ADP
ajst-3907	27	24	the	the	DET
ajst-3907	27	25	current	current	ADJ
ajst-3907	27	26	environment	environment	NOUN
ajst-3907	27	27	,	,	PUNCT
ajst-3907	27	28	and	and	CCONJ
ajst-3907	27	29	its	its	PRON
ajst-3907	27	30	core	core	NOUN
ajst-3907	27	31	is	be	AUX
ajst-3907	27	32	to	to	PART
ajst-3907	27	33	select	select	VERB
ajst-3907	27	34	a	a	DET
ajst-3907	27	35	reasonable	reasonable	ADJ
ajst-3907	27	36	corresponding	correspond	VERB
ajst-3907	27	37	target	target	NOUN
ajst-3907	27	38	point	point	NOUN
ajst-3907	27	39	for	for	ADP
ajst-3907	27	40	each	each	DET
ajst-3907	27	41	robot	robot	NOUN
ajst-3907	27	42	.	.	PUNCT
ajst-3907	28	1	the	the	DET
ajst-3907	28	2	actual	actual	ADJ
ajst-3907	28	3	robot	robot	NOUN
ajst-3907	28	4	can	can	AUX
ajst-3907	28	5	not	not	PART
ajst-3907	28	6	be	be	AUX
ajst-3907	28	7	regarded	regard	VERB
ajst-3907	28	8	as	as	ADP
ajst-3907	28	9	a	a	DET
ajst-3907	28	10	particle	particle	NOUN
ajst-3907	28	11	moving	move	VERB
ajst-3907	28	12	in	in	ADP
ajst-3907	28	13	any	any	DET
ajst-3907	28	14	direction	direction	NOUN
ajst-3907	28	15	.	.	PUNCT
ajst-3907	29	1	if	if	SCONJ
ajst-3907	29	2	it	it	PRON
ajst-3907	29	3	detours	detour	VERB
ajst-3907	29	4	in	in	ADP
ajst-3907	29	5	the	the	DET
ajst-3907	29	6	target	target	NOUN
ajst-3907	29	7	area	area	NOUN
ajst-3907	29	8	or	or	CCONJ
ajst-3907	29	9	temporarily	temporarily	ADV
ajst-3907	29	10	adjusts	adjust	VERB
ajst-3907	29	11	the	the	DET
ajst-3907	29	12	position	position	NOUN
ajst-3907	29	13	of	of	ADP
ajst-3907	29	14	the	the	DET
ajst-3907	29	15	robot	robot	NOUN
ajst-3907	29	16	,	,	PUNCT
ajst-3907	29	17	it	it	PRON
ajst-3907	29	18	is	be	AUX
ajst-3907	29	19	easy	easy	ADJ
ajst-3907	29	20	to	to	PART
ajst-3907	29	21	block	block	VERB
ajst-3907	29	22	.	.	PUNCT
ajst-3907	30	1	therefore	therefore	ADV
ajst-3907	30	2	,	,	PUNCT
ajst-3907	30	3	the	the	DET
ajst-3907	30	4	corresponding	correspond	VERB
ajst-3907	30	5	target	target	NOUN
ajst-3907	30	6	points	point	NOUN
ajst-3907	30	7	of	of	ADP
ajst-3907	30	8	each	each	DET
ajst-3907	30	9	robot	robot	NOUN
ajst-3907	30	10	should	should	AUX
ajst-3907	30	11	be	be	AUX
ajst-3907	30	12	selected	select	VERB
ajst-3907	30	13	reasonably	reasonably	ADV
ajst-3907	30	14	in	in	ADP
ajst-3907	30	15	advance	advance	NOUN
ajst-3907	30	16	,	,	PUNCT
ajst-3907	30	17	which	which	PRON
ajst-3907	30	18	can	can	AUX
ajst-3907	30	19	not	not	PART
ajst-3907	30	20	only	only	ADV
ajst-3907	30	21	avoid	avoid	VERB
ajst-3907	30	22	the	the	DET
ajst-3907	30	23	robot	robot	NOUN
ajst-3907	30	24	detouring	detour	VERB
ajst-3907	30	25	in	in	ADP
ajst-3907	30	26	the	the	DET
ajst-3907	30	27	target	target	NOUN
ajst-3907	30	28	area	area	NOUN
ajst-3907	30	29	,	,	PUNCT
ajst-3907	30	30	but	but	CCONJ
ajst-3907	30	31	also	also	ADV
ajst-3907	30	32	form	form	VERB
ajst-3907	30	33	a	a	DET
ajst-3907	30	34	target	target	NOUN
ajst-3907	30	35	formation	formation	NOUN
ajst-3907	30	36	as	as	ADV
ajst-3907	30	37	soon	soon	ADV
ajst-3907	30	38	as	as	ADP
ajst-3907	30	39	possible	possible	ADJ
ajst-3907	30	40	.	.	PUNCT
ajst-3907	31	1	step2	step2	PROPN
ajst-3907	31	2	generates	generate	VERB
ajst-3907	31	3	control	control	NOUN
ajst-3907	31	4	commands	command	NOUN
ajst-3907	31	5	according	accord	VERB
ajst-3907	31	6	to	to	ADP
ajst-3907	31	7	certain	certain	ADJ
ajst-3907	31	8	control	control	NOUN
ajst-3907	31	9	strategies	strategy	NOUN
ajst-3907	31	10	to	to	PART
ajst-3907	31	11	drive	drive	VERB
ajst-3907	31	12	the	the	DET
ajst-3907	31	13	robot	robot	NOUN
ajst-3907	31	14	to	to	ADP
ajst-3907	31	15	the	the	DET
ajst-3907	31	16	target	target	NOUN
ajst-3907	31	17	position	position	NOUN
ajst-3907	31	18	in	in	ADP
ajst-3907	31	19	a	a	DET
ajst-3907	31	20	certain	certain	ADJ
ajst-3907	31	21	formation	formation	NOUN
ajst-3907	31	22	.	.	PUNCT
ajst-3907	32	1	this	this	DET
ajst-3907	32	2	step	step	NOUN
ajst-3907	32	3	is	be	AUX
ajst-3907	32	4	the	the	DET
ajst-3907	32	5	main	main	ADJ
ajst-3907	32	6	body	body	NOUN
ajst-3907	32	7	of	of	ADP
ajst-3907	32	8	the	the	DET
ajst-3907	32	9	team	team	NOUN
ajst-3907	32	10	task	task	NOUN
ajst-3907	32	11	.	.	PUNCT
ajst-3907	33	1	in	in	ADP
ajst-3907	33	2	order	order	NOUN
ajst-3907	33	3	to	to	PART
ajst-3907	33	4	further	far	ADV
ajst-3907	33	5	meet	meet	VERB
ajst-3907	33	6	the	the	DET
ajst-3907	33	7	requirements	requirement	NOUN
ajst-3907	33	8	of	of	ADP
ajst-3907	33	9	rapidity	rapidity	NOUN
ajst-3907	33	10	,	,	PUNCT
ajst-3907	33	11	each	each	DET
ajst-3907	33	12	robot	robot	NOUN
ajst-3907	33	13	moves	move	VERB
ajst-3907	33	14	along	along	ADP
ajst-3907	33	15	the	the	DET
ajst-3907	33	16	shortest	short	ADJ
ajst-3907	33	17	path	path	NOUN
ajst-3907	33	18	(	(	PUNCT
ajst-3907	33	19	ideal	ideal	ADJ
ajst-3907	33	20	path	path	NOUN
ajst-3907	33	21	)	)	PUNCT
ajst-3907	33	22	as	as	ADV
ajst-3907	33	23	far	far	ADV
ajst-3907	33	24	as	as	ADP
ajst-3907	33	25	possible	possible	ADJ
ajst-3907	33	26	,	,	PUNCT
ajst-3907	33	27	while	while	SCONJ
ajst-3907	33	28	avoiding	avoid	VERB
ajst-3907	33	29	obstacles	obstacle	NOUN
ajst-3907	33	30	in	in	ADP
ajst-3907	33	31	the	the	DET
ajst-3907	33	32	process	process	NOUN
ajst-3907	33	33	of	of	ADP
ajst-3907	33	34	movement	movement	NOUN
ajst-3907	33	35	.	.	PUNCT
ajst-3907	34	1	in	in	ADP
ajst-3907	34	2	a	a	DET
ajst-3907	34	3	word	word	NOUN
ajst-3907	34	4	,	,	PUNCT
ajst-3907	34	5	multi	multi	ADJ
ajst-3907	34	6	robot	robot	NOUN
ajst-3907	34	7	formation	formation	NOUN
ajst-3907	34	8	control	control	NOUN
ajst-3907	34	9	technology	technology	NOUN
ajst-3907	34	10	takes	take	VERB
ajst-3907	34	11	59	59	NUM
ajst-3907	34	12	the	the	DET
ajst-3907	34	13	queue	queue	NOUN
ajst-3907	34	14	composed	compose	VERB
ajst-3907	34	15	of	of	ADP
ajst-3907	34	16	multiple	multiple	ADJ
ajst-3907	34	17	robots	robot	NOUN
ajst-3907	34	18	as	as	ADP
ajst-3907	34	19	the	the	DET
ajst-3907	34	20	research	research	NOUN
ajst-3907	34	21	object	object	NOUN
ajst-3907	34	22	,	,	PUNCT
ajst-3907	34	23	and	and	CCONJ
ajst-3907	34	24	its	its	PRON
ajst-3907	34	25	essence	essence	NOUN
ajst-3907	34	26	is	be	AUX
ajst-3907	34	27	the	the	DET
ajst-3907	34	28	research	research	NOUN
ajst-3907	34	29	of	of	ADP
ajst-3907	34	30	multi	multi	ADJ
ajst-3907	34	31	robot	robot	NOUN
ajst-3907	34	32	system	system	NOUN
ajst-3907	34	33	.	.	PUNCT
ajst-3907	35	1	the	the	DET
ajst-3907	35	2	purpose	purpose	NOUN
ajst-3907	35	3	of	of	ADP
ajst-3907	35	4	the	the	DET
ajst-3907	35	5	research	research	NOUN
ajst-3907	35	6	is	be	AUX
ajst-3907	35	7	to	to	PART
ajst-3907	35	8	find	find	VERB
ajst-3907	35	9	an	an	DET
ajst-3907	35	10	effective	effective	ADJ
ajst-3907	35	11	method	method	NOUN
ajst-3907	35	12	to	to	PART
ajst-3907	35	13	analyze	analyze	VERB
ajst-3907	35	14	,	,	PUNCT
ajst-3907	35	15	design	design	NOUN
ajst-3907	35	16	and	and	CCONJ
ajst-3907	35	17	control	control	VERB
ajst-3907	35	18	the	the	DET
ajst-3907	35	19	multi	multi	PROPN
ajst-3907	35	20	robot	robot	NOUN
ajst-3907	35	21	system	system	NOUN
ajst-3907	35	22	,	,	PUNCT
ajst-3907	35	23	so	so	SCONJ
ajst-3907	35	24	that	that	SCONJ
ajst-3907	35	25	it	it	PRON
ajst-3907	35	26	can	can	AUX
ajst-3907	35	27	complete	complete	VERB
ajst-3907	35	28	the	the	DET
ajst-3907	35	29	task	task	NOUN
ajst-3907	35	30	effectively	effectively	ADV
ajst-3907	35	31	and	and	CCONJ
ajst-3907	35	32	with	with	ADP
ajst-3907	35	33	high	high	ADJ
ajst-3907	35	34	quality	quality	NOUN
ajst-3907	35	35	.	.	PUNCT
ajst-3907	36	1	3	3	X
ajst-3907	36	2	.	.	X
ajst-3907	36	3	research	research	NOUN
ajst-3907	36	4	methods	method	NOUN
ajst-3907	36	5	there	there	PRON
ajst-3907	36	6	are	be	VERB
ajst-3907	36	7	many	many	ADJ
ajst-3907	36	8	problems	problem	NOUN
ajst-3907	36	9	to	to	PART
ajst-3907	36	10	be	be	AUX
ajst-3907	36	11	considered	consider	VERB
ajst-3907	36	12	when	when	SCONJ
ajst-3907	36	13	studying	study	VERB
ajst-3907	36	14	the	the	DET
ajst-3907	36	15	formation	formation	NOUN
ajst-3907	36	16	control	control	NOUN
ajst-3907	36	17	of	of	ADP
ajst-3907	36	18	distributed	distribute	VERB
ajst-3907	36	19	multi	multi	ADJ
ajst-3907	36	20	robot	robot	NOUN
ajst-3907	36	21	systems	system	NOUN
ajst-3907	36	22	,	,	PUNCT
ajst-3907	36	23	such	such	ADJ
ajst-3907	36	24	as	as	ADP
ajst-3907	36	25	the	the	DET
ajst-3907	36	26	stability	stability	NOUN
ajst-3907	36	27	of	of	ADP
ajst-3907	36	28	formation	formation	NOUN
ajst-3907	36	29	,	,	PUNCT
ajst-3907	36	30	the	the	DET
ajst-3907	36	31	controllability	controllability	NOUN
ajst-3907	36	32	of	of	ADP
ajst-3907	36	33	different	different	ADJ
ajst-3907	36	34	formation	formation	NOUN
ajst-3907	36	35	modes	mode	NOUN
ajst-3907	36	36	,	,	PUNCT
ajst-3907	36	37	and	and	CCONJ
ajst-3907	36	38	the	the	DET
ajst-3907	36	39	uncertainty	uncertainty	NOUN
ajst-3907	36	40	of	of	ADP
ajst-3907	36	41	formation	formation	NOUN
ajst-3907	36	42	.	.	PUNCT
ajst-3907	37	1	many	many	ADJ
ajst-3907	37	2	methods	method	NOUN
ajst-3907	37	3	have	have	AUX
ajst-3907	37	4	been	be	AUX
ajst-3907	37	5	proposed	propose	VERB
ajst-3907	37	6	at	at	ADP
ajst-3907	37	7	home	home	NOUN
ajst-3907	37	8	and	and	CCONJ
ajst-3907	37	9	abroad	abroad	ADV
ajst-3907	37	10	to	to	PART
ajst-3907	37	11	solve	solve	VERB
ajst-3907	37	12	these	these	DET
ajst-3907	37	13	problems	problem	NOUN
ajst-3907	37	14	in	in	ADP
ajst-3907	37	15	formation	formation	NOUN
ajst-3907	37	16	control	control	NOUN
ajst-3907	37	17	[	[	X
ajst-3907	37	18	7,8	7,8	NUM
ajst-3907	37	19	]	]	PUNCT
ajst-3907	37	20	,	,	PUNCT
ajst-3907	37	21	including	include	VERB
ajst-3907	37	22	leader	leader	NOUN
ajst-3907	37	23	follower	follower	NOUN
ajst-3907	37	24	method	method	NOUN
ajst-3907	37	25	,	,	PUNCT
ajst-3907	37	26	behavior	behavior	NOUN
ajst-3907	37	27	based	base	VERB
ajst-3907	37	28	method	method	NOUN
ajst-3907	37	29	,	,	PUNCT
ajst-3907	37	30	virtual	virtual	ADJ
ajst-3907	37	31	structure	structure	NOUN
ajst-3907	37	32	method	method	NOUN
ajst-3907	37	33	,	,	PUNCT
ajst-3907	37	34	artificial	artificial	ADJ
ajst-3907	37	35	potential	potential	ADJ
ajst-3907	37	36	field	field	NOUN
ajst-3907	37	37	method	method	NOUN
ajst-3907	37	38	,	,	PUNCT
ajst-3907	37	39	etc	etc	X
ajst-3907	37	40	.	.	X
ajst-3907	37	41	3.1	3.1	NUM
ajst-3907	37	42	.	.	PUNCT
ajst-3907	38	1	formation	formation	NOUN
ajst-3907	38	2	control	control	NOUN
ajst-3907	38	3	method	method	NOUN
ajst-3907	38	4	based	base	VERB
ajst-3907	38	5	on	on	ADP
ajst-3907	38	6	leader	leader	NOUN
ajst-3907	38	7	follower	follower	NOUN
ajst-3907	38	8	the	the	DET
ajst-3907	38	9	basic	basic	ADJ
ajst-3907	38	10	idea	idea	NOUN
ajst-3907	38	11	of	of	ADP
ajst-3907	38	12	the	the	DET
ajst-3907	38	13	formation	formation	NOUN
ajst-3907	38	14	control	control	NOUN
ajst-3907	38	15	method	method	NOUN
ajst-3907	38	16	based	base	VERB
ajst-3907	38	17	on	on	ADP
ajst-3907	38	18	the	the	DET
ajst-3907	38	19	lead	lead	ADJ
ajst-3907	38	20	follower	follower	NOUN
ajst-3907	38	21	is	be	AUX
ajst-3907	38	22	that	that	SCONJ
ajst-3907	38	23	in	in	ADP
ajst-3907	38	24	a	a	DET
ajst-3907	38	25	group	group	NOUN
ajst-3907	38	26	composed	compose	VERB
ajst-3907	38	27	of	of	ADP
ajst-3907	38	28	multiple	multiple	ADJ
ajst-3907	38	29	robots	robot	NOUN
ajst-3907	38	30	,	,	PUNCT
ajst-3907	38	31	one	one	NUM
ajst-3907	38	32	robot	robot	NOUN
ajst-3907	38	33	is	be	AUX
ajst-3907	38	34	designated	designate	VERB
ajst-3907	38	35	as	as	ADP
ajst-3907	38	36	the	the	DET
ajst-3907	38	37	leader	leader	NOUN
ajst-3907	38	38	,	,	PUNCT
ajst-3907	38	39	and	and	CCONJ
ajst-3907	38	40	the	the	DET
ajst-3907	38	41	rest	rest	NOUN
ajst-3907	38	42	is	be	AUX
ajst-3907	38	43	its	its	PRON
ajst-3907	38	44	follower	follower	NOUN
ajst-3907	38	45	,	,	PUNCT
ajst-3907	38	46	and	and	CCONJ
ajst-3907	38	47	the	the	DET
ajst-3907	38	48	follower	follower	NOUN
ajst-3907	38	49	tracks	track	VERB
ajst-3907	38	50	the	the	DET
ajst-3907	38	51	position	position	NOUN
ajst-3907	38	52	and	and	CCONJ
ajst-3907	38	53	direction	direction	NOUN
ajst-3907	38	54	of	of	ADP
ajst-3907	38	55	the	the	DET
ajst-3907	38	56	pilot	pilot	NOUN
ajst-3907	38	57	robot	robot	NOUN
ajst-3907	38	58	at	at	ADP
ajst-3907	38	59	a	a	DET
ajst-3907	38	60	certain	certain	ADJ
ajst-3907	38	61	distance	distance	NOUN
ajst-3907	38	62	interval	interval	NOUN
ajst-3907	38	63	.	.	PUNCT
ajst-3907	39	1	this	this	DET
ajst-3907	39	2	method	method	NOUN
ajst-3907	39	3	is	be	AUX
ajst-3907	39	4	extended	extend	VERB
ajst-3907	39	5	to	to	PART
ajst-3907	39	6	specify	specify	VERB
ajst-3907	39	7	not	not	PART
ajst-3907	39	8	only	only	ADV
ajst-3907	39	9	one	one	NUM
ajst-3907	39	10	leader	leader	NOUN
ajst-3907	39	11	,	,	PUNCT
ajst-3907	39	12	but	but	CCONJ
ajst-3907	39	13	also	also	ADV
ajst-3907	39	14	several	several	ADJ
ajst-3907	39	15	to	to	PART
ajst-3907	39	16	form	form	VERB
ajst-3907	39	17	a	a	DET
ajst-3907	39	18	tracking	tracking	NOUN
ajst-3907	39	19	chain	chain	NOUN
ajst-3907	39	20	,	,	PUNCT
ajst-3907	39	21	but	but	CCONJ
ajst-3907	39	22	only	only	ADV
ajst-3907	39	23	one	one	NUM
ajst-3907	39	24	leader	leader	NOUN
ajst-3907	39	25	in	in	ADP
ajst-3907	39	26	a	a	DET
ajst-3907	39	27	group	group	NOUN
ajst-3907	39	28	formation	formation	NOUN
ajst-3907	39	29	.	.	PUNCT
ajst-3907	40	1	according	accord	VERB
ajst-3907	40	2	to	to	ADP
ajst-3907	40	3	the	the	DET
ajst-3907	40	4	relative	relative	ADJ
ajst-3907	40	5	position	position	NOUN
ajst-3907	40	6	relationship	relationship	NOUN
ajst-3907	40	7	between	between	ADP
ajst-3907	40	8	the	the	DET
ajst-3907	40	9	navigator	navigator	NOUN
ajst-3907	40	10	and	and	CCONJ
ajst-3907	40	11	the	the	DET
ajst-3907	40	12	following	follow	VERB
ajst-3907	40	13	robot	robot	NOUN
ajst-3907	40	14	,	,	PUNCT
ajst-3907	40	15	different	different	ADJ
ajst-3907	40	16	formations	formation	NOUN
ajst-3907	40	17	can	can	AUX
ajst-3907	40	18	be	be	AUX
ajst-3907	40	19	formed	form	VERB
ajst-3907	40	20	.	.	PUNCT
ajst-3907	41	1	reference	reference	NOUN
ajst-3907	41	2	[	[	X
ajst-3907	41	3	9	9	NUM
ajst-3907	41	4	]	]	PUNCT
ajst-3907	41	5	proposed	propose	VERB
ajst-3907	41	6	two	two	NUM
ajst-3907	41	7	feedback	feedback	NOUN
ajst-3907	41	8	control	control	NOUN
ajst-3907	41	9	methods	method	NOUN
ajst-3907	41	10	to	to	PART
ajst-3907	41	11	maintain	maintain	VERB
ajst-3907	41	12	formation	formation	NOUN
ajst-3907	41	13	,	,	PUNCT
ajst-3907	41	14	namely	namely	ADV
ajst-3907	41	15	l	l	NOUN
ajst-3907	41	16			NOUN
ajst-3907	41	17	method	method	NOUN
ajst-3907	41	18	.	.	PUNCT
ajst-3907	42	1	l	l	NOUN
ajst-3907	42	2			NOUN
ajst-3907	42	3	method	method	NOUN
ajst-3907	42	4	is	be	AUX
ajst-3907	42	5	to	to	PART
ajst-3907	42	6	keep	keep	VERB
ajst-3907	42	7	the	the	DET
ajst-3907	42	8	expected	expect	VERB
ajst-3907	42	9	distance	distance	NOUN
ajst-3907	42	10	and	and	CCONJ
ajst-3907	42	11	relative	relative	ADJ
ajst-3907	42	12	angle	angle	NOUN
ajst-3907	42	13	between	between	ADP
ajst-3907	42	14	the	the	DET
ajst-3907	42	15	leader	leader	NOUN
ajst-3907	42	16	and	and	CCONJ
ajst-3907	42	17	the	the	DET
ajst-3907	42	18	follower	follower	NOUN
ajst-3907	42	19	;	;	PUNCT
ajst-3907	42	20	l	l	NOUN
ajst-3907	42	21			NOUN
ajst-3907	42	22	method	method	NOUN
ajst-3907	42	23	is	be	AUX
ajst-3907	42	24	to	to	PART
ajst-3907	42	25	keep	keep	VERB
ajst-3907	42	26	the	the	DET
ajst-3907	42	27	expected	expect	VERB
ajst-3907	42	28	distance	distance	NOUN
ajst-3907	42	29	between	between	ADP
ajst-3907	42	30	the	the	DET
ajst-3907	42	31	follower	follower	NOUN
ajst-3907	42	32	and	and	CCONJ
ajst-3907	42	33	the	the	DET
ajst-3907	42	34	two	two	NUM
ajst-3907	42	35	pilots	pilot	NOUN
ajst-3907	42	36	.	.	PUNCT
ajst-3907	43	1	at	at	ADP
ajst-3907	43	2	the	the	DET
ajst-3907	43	3	same	same	ADJ
ajst-3907	43	4	time	time	NOUN
ajst-3907	43	5	,	,	PUNCT
ajst-3907	43	6	a	a	DET
ajst-3907	43	7	controller	controller	NOUN
ajst-3907	43	8	design	design	NOUN
ajst-3907	43	9	method	method	NOUN
ajst-3907	43	10	based	base	VERB
ajst-3907	43	11	on	on	ADP
ajst-3907	43	12	input	input	NOUN
ajst-3907	43	13	-	-	PUNCT
ajst-3907	43	14	output	output	NOUN
ajst-3907	43	15	feedback	feedback	NOUN
ajst-3907	43	16	linearization	linearization	NOUN
ajst-3907	43	17	is	be	AUX
ajst-3907	43	18	proposed	propose	VERB
ajst-3907	43	19	.	.	PUNCT
ajst-3907	44	1	literature	literature	NOUN
ajst-3907	45	1	[	[	X
ajst-3907	45	2	10	10	NUM
ajst-3907	45	3	]	]	PUNCT
ajst-3907	45	4	used	use	VERB
ajst-3907	45	5	new	new	ADJ
ajst-3907	45	6	l	l	NOUN
ajst-3907	45	7			NOUN
ajst-3907	45	8	and	and	CCONJ
ajst-3907	45	9	l	l	NOUN
ajst-3907	45	10	l	l	ADJ
ajst-3907	45	11	methods	method	NOUN
ajst-3907	45	12	and	and	CCONJ
ajst-3907	45	13	added	add	VERB
ajst-3907	45	14	virtual	virtual	ADJ
ajst-3907	45	15	repulsive	repulsive	ADJ
ajst-3907	45	16	force	force	NOUN
ajst-3907	45	17	to	to	PART
ajst-3907	45	18	prevent	prevent	VERB
ajst-3907	45	19	collisions	collision	NOUN
ajst-3907	45	20	between	between	ADP
ajst-3907	45	21	machines	machine	NOUN
ajst-3907	45	22	.	.	PUNCT
ajst-3907	46	1	reference	reference	NOUN
ajst-3907	47	1	[	[	X
ajst-3907	47	2	11	11	NUM
ajst-3907	47	3	]	]	PUNCT
ajst-3907	47	4	designed	design	VERB
ajst-3907	47	5	the	the	DET
ajst-3907	47	6	controller	controller	NOUN
ajst-3907	47	7	by	by	ADP
ajst-3907	47	8	introducing	introduce	VERB
ajst-3907	47	9	h	h	NOUN
ajst-3907	47	10	reference	reference	NOUN
ajst-3907	47	11	point	point	NOUN
ajst-3907	47	12	(	(	PUNCT
ajst-3907	47	13	virtual	virtual	ADJ
ajst-3907	47	14	robot	robot	NOUN
ajst-3907	47	15	)	)	PUNCT
ajst-3907	47	16	and	and	CCONJ
ajst-3907	47	17	combining	combine	VERB
ajst-3907	47	18	l	l	NOUN
ajst-3907	47	19			NOUN
ajst-3907	47	20	method	method	NOUN
ajst-3907	47	21	.	.	PUNCT
ajst-3907	48	1	the	the	DET
ajst-3907	48	2	advantage	advantage	NOUN
ajst-3907	48	3	of	of	ADP
ajst-3907	48	4	this	this	DET
ajst-3907	48	5	method	method	NOUN
ajst-3907	48	6	is	be	AUX
ajst-3907	48	7	that	that	SCONJ
ajst-3907	48	8	the	the	DET
ajst-3907	48	9	behavior	behavior	NOUN
ajst-3907	48	10	of	of	ADP
ajst-3907	48	11	the	the	DET
ajst-3907	48	12	entire	entire	ADJ
ajst-3907	48	13	robot	robot	NOUN
ajst-3907	48	14	formation	formation	NOUN
ajst-3907	48	15	can	can	AUX
ajst-3907	48	16	be	be	AUX
ajst-3907	48	17	controlled	control	VERB
ajst-3907	48	18	only	only	ADV
ajst-3907	48	19	by	by	ADP
ajst-3907	48	20	giving	give	VERB
ajst-3907	48	21	the	the	DET
ajst-3907	48	22	behavior	behavior	NOUN
ajst-3907	48	23	and	and	CCONJ
ajst-3907	48	24	trajectory	trajectory	NOUN
ajst-3907	48	25	of	of	ADP
ajst-3907	48	26	the	the	DET
ajst-3907	48	27	leader	leader	NOUN
ajst-3907	48	28	,	,	PUNCT
ajst-3907	48	29	and	and	CCONJ
ajst-3907	48	30	the	the	DET
ajst-3907	48	31	control	control	NOUN
ajst-3907	48	32	is	be	AUX
ajst-3907	48	33	simple	simple	ADJ
ajst-3907	48	34	.	.	PUNCT
ajst-3907	49	1	the	the	DET
ajst-3907	49	2	disadvantage	disadvantage	NOUN
ajst-3907	49	3	is	be	AUX
ajst-3907	49	4	that	that	SCONJ
ajst-3907	49	5	it	it	PRON
ajst-3907	49	6	is	be	AUX
ajst-3907	49	7	not	not	PART
ajst-3907	49	8	easy	easy	ADJ
ajst-3907	49	9	for	for	SCONJ
ajst-3907	49	10	the	the	DET
ajst-3907	49	11	leader	leader	NOUN
ajst-3907	49	12	to	to	PART
ajst-3907	49	13	get	get	VERB
ajst-3907	49	14	the	the	DET
ajst-3907	49	15	tracking	tracking	NOUN
ajst-3907	49	16	error	error	NOUN
ajst-3907	49	17	feedback	feedback	NOUN
ajst-3907	49	18	from	from	ADP
ajst-3907	49	19	the	the	DET
ajst-3907	49	20	follower	follower	NOUN
ajst-3907	49	21	.	.	PUNCT
ajst-3907	50	1	if	if	SCONJ
ajst-3907	50	2	the	the	DET
ajst-3907	50	3	leader	leader	NOUN
ajst-3907	50	4	moves	move	VERB
ajst-3907	50	5	too	too	ADV
ajst-3907	50	6	fast	fast	ADV
ajst-3907	50	7	or	or	CCONJ
ajst-3907	50	8	the	the	DET
ajst-3907	50	9	follower	follower	NOUN
ajst-3907	50	10	is	be	AUX
ajst-3907	50	11	blocked	block	VERB
ajst-3907	50	12	by	by	ADP
ajst-3907	50	13	obstacles	obstacle	NOUN
ajst-3907	50	14	,	,	PUNCT
ajst-3907	50	15	the	the	DET
ajst-3907	50	16	formation	formation	NOUN
ajst-3907	50	17	may	may	AUX
ajst-3907	50	18	be	be	AUX
ajst-3907	50	19	damaged	damage	VERB
ajst-3907	50	20	,	,	PUNCT
ajst-3907	50	21	which	which	PRON
ajst-3907	50	22	will	will	AUX
ajst-3907	50	23	affect	affect	VERB
ajst-3907	50	24	the	the	DET
ajst-3907	50	25	quality	quality	NOUN
ajst-3907	50	26	of	of	ADP
ajst-3907	50	27	task	task	NOUN
ajst-3907	50	28	completion	completion	NOUN
ajst-3907	50	29	in	in	ADP
ajst-3907	50	30	serious	serious	ADJ
ajst-3907	50	31	cases	case	NOUN
ajst-3907	50	32	.	.	PUNCT
ajst-3907	51	1	in	in	ADP
ajst-3907	51	2	the	the	DET
ajst-3907	51	3	case	case	NOUN
ajst-3907	51	4	of	of	ADP
ajst-3907	51	5	leader	leader	NOUN
ajst-3907	51	6	failure	failure	NOUN
ajst-3907	51	7	,	,	PUNCT
ajst-3907	51	8	if	if	SCONJ
ajst-3907	51	9	the	the	DET
ajst-3907	51	10	design	design	NOUN
ajst-3907	51	11	is	be	AUX
ajst-3907	51	12	not	not	PART
ajst-3907	51	13	comprehensive	comprehensive	ADJ
ajst-3907	51	14	and	and	CCONJ
ajst-3907	51	15	only	only	ADV
ajst-3907	51	16	relies	rely	VERB
ajst-3907	51	17	on	on	ADP
ajst-3907	51	18	it	it	PRON
ajst-3907	51	19	,	,	PUNCT
ajst-3907	51	20	the	the	DET
ajst-3907	51	21	consequences	consequence	NOUN
ajst-3907	51	22	will	will	AUX
ajst-3907	51	23	be	be	AUX
ajst-3907	51	24	very	very	ADV
ajst-3907	51	25	serious	serious	ADJ
ajst-3907	51	26	.	.	PUNCT
ajst-3907	52	1	in	in	ADP
ajst-3907	52	2	general	general	ADJ
ajst-3907	52	3	,	,	PUNCT
ajst-3907	52	4	it	it	PRON
ajst-3907	52	5	is	be	AUX
ajst-3907	52	6	necessary	necessary	ADJ
ajst-3907	52	7	to	to	PART
ajst-3907	52	8	adopt	adopt	VERB
ajst-3907	52	9	strategies	strategy	NOUN
ajst-3907	52	10	such	such	ADJ
ajst-3907	52	11	as	as	ADP
ajst-3907	52	12	specifying	specify	VERB
ajst-3907	52	13	alternate	alternate	ADJ
ajst-3907	52	14	leaders	leader	NOUN
ajst-3907	52	15	and	and	CCONJ
ajst-3907	52	16	changing	change	VERB
ajst-3907	52	17	leaders	leader	NOUN
ajst-3907	52	18	according	accord	VERB
ajst-3907	52	19	to	to	ADP
ajst-3907	52	20	the	the	DET
ajst-3907	52	21	situation	situation	NOUN
ajst-3907	52	22	in	in	ADP
ajst-3907	52	23	the	the	DET
ajst-3907	52	24	design	design	NOUN
ajst-3907	52	25	process	process	NOUN
ajst-3907	52	26	to	to	PART
ajst-3907	52	27	improve	improve	VERB
ajst-3907	52	28	the	the	DET
ajst-3907	52	29	system	system	NOUN
ajst-3907	52	30	energy	energy	NOUN
ajst-3907	52	31	.	.	PUNCT
ajst-3907	53	1	3.2	3.2	NUM
ajst-3907	53	2	.	.	PUNCT
ajst-3907	53	3	formation	formation	NOUN
ajst-3907	53	4	control	control	NOUN
ajst-3907	53	5	method	method	NOUN
ajst-3907	53	6	based	base	VERB
ajst-3907	53	7	on	on	ADP
ajst-3907	53	8	virtual	virtual	ADJ
ajst-3907	53	9	structure	structure	NOUN
ajst-3907	53	10	the	the	DET
ajst-3907	53	11	basic	basic	ADJ
ajst-3907	53	12	idea	idea	NOUN
ajst-3907	53	13	of	of	ADP
ajst-3907	53	14	formation	formation	NOUN
ajst-3907	53	15	control	control	NOUN
ajst-3907	53	16	method	method	NOUN
ajst-3907	53	17	based	base	VERB
ajst-3907	53	18	on	on	ADP
ajst-3907	53	19	virtual	virtual	ADJ
ajst-3907	53	20	structure	structure	NOUN
ajst-3907	53	21	is	be	AUX
ajst-3907	53	22	to	to	PART
ajst-3907	53	23	regard	regard	VERB
ajst-3907	53	24	the	the	DET
ajst-3907	53	25	whole	whole	ADJ
ajst-3907	53	26	robot	robot	NOUN
ajst-3907	53	27	formation	formation	NOUN
ajst-3907	53	28	as	as	ADP
ajst-3907	53	29	a	a	DET
ajst-3907	53	30	rigid	rigid	ADJ
ajst-3907	53	31	virtual	virtual	ADJ
ajst-3907	53	32	structure	structure	NOUN
ajst-3907	53	33	.	.	PUNCT
ajst-3907	54	1	when	when	SCONJ
ajst-3907	54	2	the	the	DET
ajst-3907	54	3	robot	robot	NOUN
ajst-3907	54	4	moves	move	VERB
ajst-3907	54	5	,	,	PUNCT
ajst-3907	54	6	it	it	PRON
ajst-3907	54	7	tracks	track	VERB
ajst-3907	54	8	a	a	DET
ajst-3907	54	9	point	point	NOUN
ajst-3907	54	10	on	on	ADP
ajst-3907	54	11	the	the	DET
ajst-3907	54	12	virtual	virtual	ADJ
ajst-3907	54	13	structure	structure	NOUN
ajst-3907	54	14	with	with	ADP
ajst-3907	54	15	a	a	DET
ajst-3907	54	16	fixed	fix	VERB
ajst-3907	54	17	relative	relative	ADJ
ajst-3907	54	18	position	position	NOUN
ajst-3907	54	19	.	.	PUNCT
ajst-3907	55	1	the	the	DET
ajst-3907	55	2	virtual	virtual	ADJ
ajst-3907	55	3	structure	structure	NOUN
ajst-3907	55	4	method	method	NOUN
ajst-3907	55	5	is	be	AUX
ajst-3907	55	6	often	often	ADV
ajst-3907	55	7	applied	apply	VERB
ajst-3907	55	8	to	to	ADP
ajst-3907	55	9	the	the	DET
ajst-3907	55	10	formation	formation	NOUN
ajst-3907	55	11	flight	flight	NOUN
ajst-3907	55	12	control	control	NOUN
ajst-3907	55	13	of	of	ADP
ajst-3907	55	14	spacecraft	spacecraft	NOUN
ajst-3907	55	15	and	and	CCONJ
ajst-3907	55	16	satellites	satellite	NOUN
ajst-3907	55	17	[	[	X
ajst-3907	55	18	12	12	NUM
ajst-3907	55	19	]	]	PUNCT
ajst-3907	55	20	.	.	PUNCT
ajst-3907	56	1	this	this	DET
ajst-3907	56	2	method	method	NOUN
ajst-3907	56	3	can	can	AUX
ajst-3907	56	4	make	make	VERB
ajst-3907	56	5	a	a	DET
ajst-3907	56	6	group	group	NOUN
ajst-3907	56	7	of	of	ADP
ajst-3907	56	8	robots	robot	NOUN
ajst-3907	56	9	achieve	achieve	VERB
ajst-3907	56	10	rigid	rigid	ADJ
ajst-3907	56	11	formation	formation	NOUN
ajst-3907	56	12	.	.	PUNCT
ajst-3907	57	1	the	the	DET
ajst-3907	57	2	controller	controller	NOUN
ajst-3907	57	3	design	design	NOUN
ajst-3907	57	4	of	of	ADP
ajst-3907	57	5	this	this	DET
ajst-3907	57	6	method	method	NOUN
ajst-3907	57	7	consists	consist	VERB
ajst-3907	57	8	of	of	ADP
ajst-3907	57	9	three	three	NUM
ajst-3907	57	10	steps	step	NOUN
ajst-3907	57	11	:	:	PUNCT
ajst-3907	57	12	first	first	ADV
ajst-3907	57	13	,	,	PUNCT
ajst-3907	57	14	define	define	VERB
ajst-3907	57	15	the	the	DET
ajst-3907	57	16	desired	desire	VERB
ajst-3907	57	17	dynamic	dynamic	ADJ
ajst-3907	57	18	model	model	NOUN
ajst-3907	57	19	of	of	ADP
ajst-3907	57	20	the	the	DET
ajst-3907	57	21	virtual	virtual	ADJ
ajst-3907	57	22	structure	structure	NOUN
ajst-3907	57	23	;	;	PUNCT
ajst-3907	57	24	secondly	secondly	ADV
ajst-3907	57	25	,	,	PUNCT
ajst-3907	57	26	the	the	DET
ajst-3907	57	27	expected	expect	VERB
ajst-3907	57	28	movement	movement	NOUN
ajst-3907	57	29	of	of	ADP
ajst-3907	57	30	the	the	DET
ajst-3907	57	31	virtual	virtual	ADJ
ajst-3907	57	32	structure	structure	NOUN
ajst-3907	57	33	is	be	AUX
ajst-3907	57	34	transformed	transform	VERB
ajst-3907	57	35	into	into	ADP
ajst-3907	57	36	the	the	DET
ajst-3907	57	37	movement	movement	NOUN
ajst-3907	57	38	of	of	ADP
ajst-3907	57	39	each	each	DET
ajst-3907	57	40	individual	individual	ADJ
ajst-3907	57	41	robot	robot	NOUN
ajst-3907	57	42	;	;	PUNCT
ajst-3907	57	43	finally	finally	ADV
ajst-3907	57	44	,	,	PUNCT
ajst-3907	57	45	the	the	DET
ajst-3907	57	46	tracking	track	VERB
ajst-3907	57	47	controller	controller	NOUN
ajst-3907	57	48	of	of	ADP
ajst-3907	57	49	each	each	DET
ajst-3907	57	50	robot	robot	NOUN
ajst-3907	57	51	individual	individual	NOUN
ajst-3907	57	52	makes	make	VERB
ajst-3907	57	53	each	each	DET
ajst-3907	57	54	robot	robot	NOUN
ajst-3907	57	55	track	track	VERB
ajst-3907	57	56	the	the	DET
ajst-3907	57	57	corresponding	corresponding	ADJ
ajst-3907	57	58	points	point	NOUN
ajst-3907	57	59	on	on	ADP
ajst-3907	57	60	the	the	DET
ajst-3907	57	61	virtual	virtual	ADJ
ajst-3907	57	62	structure	structure	NOUN
ajst-3907	57	63	.	.	PUNCT
ajst-3907	58	1	the	the	DET
ajst-3907	58	2	virtual	virtual	ADJ
ajst-3907	58	3	structure	structure	NOUN
ajst-3907	58	4	method	method	NOUN
ajst-3907	58	5	,	,	PUNCT
ajst-3907	58	6	leader	leader	NOUN
ajst-3907	58	7	follower	follower	NOUN
ajst-3907	58	8	method	method	NOUN
ajst-3907	58	9	and	and	CCONJ
ajst-3907	58	10	behavior	behavior	NOUN
ajst-3907	58	11	based	base	VERB
ajst-3907	58	12	method	method	NOUN
ajst-3907	58	13	are	be	AUX
ajst-3907	58	14	combined	combine	VERB
ajst-3907	58	15	to	to	PART
ajst-3907	58	16	apply	apply	VERB
ajst-3907	58	17	to	to	ADP
ajst-3907	58	18	the	the	DET
ajst-3907	58	19	formation	formation	NOUN
ajst-3907	58	20	control	control	NOUN
ajst-3907	58	21	of	of	ADP
ajst-3907	58	22	multiple	multiple	ADJ
ajst-3907	58	23	spacecraft	spacecraft	NOUN
ajst-3907	58	24	.	.	PUNCT
ajst-3907	59	1	the	the	DET
ajst-3907	59	2	formation	formation	NOUN
ajst-3907	59	3	control	control	NOUN
ajst-3907	59	4	method	method	NOUN
ajst-3907	59	5	based	base	VERB
ajst-3907	59	6	on	on	ADP
ajst-3907	59	7	virtual	virtual	ADJ
ajst-3907	59	8	structure	structure	NOUN
ajst-3907	59	9	is	be	AUX
ajst-3907	59	10	a	a	DET
ajst-3907	59	11	method	method	NOUN
ajst-3907	59	12	of	of	ADP
ajst-3907	59	13	forming	form	VERB
ajst-3907	59	14	rigid	rigid	ADJ
ajst-3907	59	15	formation	formation	NOUN
ajst-3907	59	16	,	,	PUNCT
ajst-3907	59	17	and	and	CCONJ
ajst-3907	59	18	formation	formation	NOUN
ajst-3907	59	19	feedback	feedback	NOUN
ajst-3907	59	20	can	can	AUX
ajst-3907	59	21	be	be	AUX
ajst-3907	59	22	formed	form	VERB
ajst-3907	59	23	.	.	PUNCT
ajst-3907	60	1	the	the	DET
ajst-3907	60	2	advantage	advantage	NOUN
ajst-3907	60	3	of	of	ADP
ajst-3907	60	4	this	this	DET
ajst-3907	60	5	method	method	NOUN
ajst-3907	60	6	is	be	AUX
ajst-3907	60	7	that	that	SCONJ
ajst-3907	60	8	it	it	PRON
ajst-3907	60	9	is	be	AUX
ajst-3907	60	10	easy	easy	ADJ
ajst-3907	60	11	to	to	PART
ajst-3907	60	12	specify	specify	VERB
ajst-3907	60	13	the	the	DET
ajst-3907	60	14	behavior	behavior	NOUN
ajst-3907	60	15	of	of	ADP
ajst-3907	60	16	the	the	DET
ajst-3907	60	17	robot	robot	NOUN
ajst-3907	60	18	group	group	NOUN
ajst-3907	60	19	(	(	PUNCT
ajst-3907	60	20	virtual	virtual	ADJ
ajst-3907	60	21	structure	structure	NOUN
ajst-3907	60	22	behavior	behavior	NOUN
ajst-3907	60	23	)	)	PUNCT
ajst-3907	60	24	,	,	PUNCT
ajst-3907	60	25	and	and	CCONJ
ajst-3907	60	26	can	can	AUX
ajst-3907	60	27	conduct	conduct	VERB
ajst-3907	60	28	formation	formation	NOUN
ajst-3907	60	29	feedback	feedback	NOUN
ajst-3907	60	30	;	;	PUNCT
ajst-3907	60	31	the	the	DET
ajst-3907	60	32	disadvantage	disadvantage	NOUN
ajst-3907	60	33	is	be	AUX
ajst-3907	60	34	that	that	SCONJ
ajst-3907	60	35	it	it	PRON
ajst-3907	60	36	requires	require	VERB
ajst-3907	60	37	the	the	DET
ajst-3907	60	38	formation	formation	NOUN
ajst-3907	60	39	to	to	PART
ajst-3907	60	40	be	be	AUX
ajst-3907	60	41	a	a	DET
ajst-3907	60	42	virtual	virtual	ADJ
ajst-3907	60	43	structure	structure	NOUN
ajst-3907	60	44	,	,	PUNCT
ajst-3907	60	45	with	with	ADP
ajst-3907	60	46	a	a	DET
ajst-3907	60	47	fixed	fix	VERB
ajst-3907	60	48	relative	relative	ADJ
ajst-3907	60	49	position	position	NOUN
ajst-3907	60	50	,	,	PUNCT
ajst-3907	60	51	rigid	rigid	ADJ
ajst-3907	60	52	,	,	PUNCT
ajst-3907	60	53	and	and	CCONJ
ajst-3907	60	54	unable	unable	ADJ
ajst-3907	60	55	to	to	PART
ajst-3907	60	56	consider	consider	VERB
ajst-3907	60	57	the	the	DET
ajst-3907	60	58	overall	overall	ADJ
ajst-3907	60	59	obstacle	obstacle	NOUN
ajst-3907	60	60	avoidance	avoidance	NOUN
ajst-3907	60	61	problem	problem	NOUN
ajst-3907	60	62	,	,	PUNCT
ajst-3907	60	63	so	so	CCONJ
ajst-3907	60	64	it	it	PRON
ajst-3907	60	65	is	be	AUX
ajst-3907	60	66	generally	generally	ADV
ajst-3907	60	67	used	use	VERB
ajst-3907	60	68	in	in	ADP
ajst-3907	60	69	barrier	barrier	NOUN
ajst-3907	60	70	free	free	ADJ
ajst-3907	60	71	environments	environment	NOUN
ajst-3907	60	72	.	.	PUNCT
ajst-3907	61	1	3.3	3.3	NUM
ajst-3907	61	2	.	.	PUNCT
ajst-3907	62	1	behavior	behavior	NOUN
ajst-3907	62	2	based	base	VERB
ajst-3907	62	3	formation	formation	NOUN
ajst-3907	62	4	control	control	NOUN
ajst-3907	62	5	method	method	NOUN
ajst-3907	62	6	in	in	ADP
ajst-3907	62	7	the	the	DET
ajst-3907	62	8	behavior	behavior	NOUN
ajst-3907	62	9	based	base	VERB
ajst-3907	62	10	coordinated	coordinate	VERB
ajst-3907	62	11	control	control	NOUN
ajst-3907	62	12	method	method	NOUN
ajst-3907	63	1	[	[	X
ajst-3907	63	2	13,14	13,14	NUM
ajst-3907	63	3	]	]	PUNCT
ajst-3907	63	4	,	,	PUNCT
ajst-3907	63	5	each	each	DET
ajst-3907	63	6	robot	robot	NOUN
ajst-3907	63	7	has	have	VERB
ajst-3907	63	8	some	some	DET
ajst-3907	63	9	expected	expect	VERB
ajst-3907	63	10	basic	basic	ADJ
ajst-3907	63	11	behaviors	behavior	NOUN
ajst-3907	63	12	,	,	PUNCT
ajst-3907	63	13	including	include	VERB
ajst-3907	63	14	collision	collision	NOUN
ajst-3907	63	15	avoidance	avoidance	NOUN
ajst-3907	63	16	,	,	PUNCT
ajst-3907	63	17	obstacle	obstacle	NOUN
ajst-3907	63	18	avoidance	avoidance	NOUN
ajst-3907	63	19	,	,	PUNCT
ajst-3907	63	20	driving	drive	VERB
ajst-3907	63	21	to	to	ADP
ajst-3907	63	22	the	the	DET
ajst-3907	63	23	target	target	NOUN
ajst-3907	63	24	,	,	PUNCT
ajst-3907	63	25	formation	formation	NOUN
ajst-3907	63	26	maintenance	maintenance	NOUN
ajst-3907	63	27	,	,	PUNCT
ajst-3907	63	28	etc	etc	X
ajst-3907	63	29	.	.	X
ajst-3907	63	30	when	when	SCONJ
ajst-3907	63	31	the	the	DET
ajst-3907	63	32	robot	robot	NOUN
ajst-3907	63	33	sensor	sensor	NOUN
ajst-3907	63	34	is	be	AUX
ajst-3907	63	35	stimulated	stimulate	VERB
ajst-3907	63	36	by	by	ADP
ajst-3907	63	37	external	external	ADJ
ajst-3907	63	38	input	input	NOUN
ajst-3907	63	39	,	,	PUNCT
ajst-3907	63	40	it	it	PRON
ajst-3907	63	41	reacts	react	VERB
ajst-3907	63	42	according	accord	VERB
ajst-3907	63	43	to	to	ADP
ajst-3907	63	44	the	the	DET
ajst-3907	63	45	input	input	NOUN
ajst-3907	63	46	information	information	NOUN
ajst-3907	63	47	of	of	ADP
ajst-3907	63	48	the	the	DET
ajst-3907	63	49	sensor	sensor	NOUN
ajst-3907	63	50	,	,	PUNCT
ajst-3907	63	51	and	and	CCONJ
ajst-3907	63	52	outputs	output	VERB
ajst-3907	63	53	a	a	DET
ajst-3907	63	54	vector	vector	NOUN
ajst-3907	63	55	to	to	PART
ajst-3907	63	56	represent	represent	VERB
ajst-3907	63	57	the	the	DET
ajst-3907	63	58	desired	desire	VERB
ajst-3907	63	59	behavior	behavior	NOUN
ajst-3907	63	60	of	of	ADP
ajst-3907	63	61	the	the	DET
ajst-3907	63	62	robot	robot	NOUN
ajst-3907	63	63	.	.	PUNCT
ajst-3907	64	1	the	the	DET
ajst-3907	64	2	control	control	NOUN
ajst-3907	64	3	action	action	NOUN
ajst-3907	64	4	of	of	ADP
ajst-3907	64	5	each	each	DET
ajst-3907	64	6	robot	robot	NOUN
ajst-3907	64	7	is	be	AUX
ajst-3907	64	8	the	the	DET
ajst-3907	64	9	weighted	weighted	ADJ
ajst-3907	64	10	average	average	ADJ
ajst-3907	64	11	vector	vector	NOUN
ajst-3907	64	12	of	of	ADP
ajst-3907	64	13	the	the	DET
ajst-3907	64	14	control	control	NOUN
ajst-3907	64	15	action	action	NOUN
ajst-3907	64	16	of	of	ADP
ajst-3907	64	17	each	each	DET
ajst-3907	64	18	basic	basic	ADJ
ajst-3907	64	19	behavior	behavior	NOUN
ajst-3907	64	20	.	.	PUNCT
ajst-3907	65	1	in	in	ADP
ajst-3907	65	2	order	order	NOUN
ajst-3907	65	3	to	to	PART
ajst-3907	65	4	maintain	maintain	VERB
ajst-3907	65	5	formation	formation	NOUN
ajst-3907	65	6	and	and	CCONJ
ajst-3907	65	7	avoid	avoid	VERB
ajst-3907	65	8	obstacles	obstacle	NOUN
ajst-3907	65	9	,	,	PUNCT
ajst-3907	65	10	genetic	genetic	ADJ
ajst-3907	65	11	algorithm	algorithm	NOUN
ajst-3907	65	12	can	can	AUX
ajst-3907	65	13	be	be	AUX
ajst-3907	65	14	used	use	VERB
ajst-3907	65	15	to	to	PART
ajst-3907	65	16	determine	determine	VERB
ajst-3907	65	17	the	the	DET
ajst-3907	65	18	weight	weight	NOUN
ajst-3907	65	19	of	of	ADP
ajst-3907	65	20	control	control	NOUN
ajst-3907	65	21	and	and	CCONJ
ajst-3907	65	22	select	select	VERB
ajst-3907	65	23	appropriate	appropriate	ADJ
ajst-3907	65	24	behavior	behavior	NOUN
ajst-3907	65	25	[	[	X
ajst-3907	65	26	15	15	NUM
ajst-3907	65	27	]	]	PUNCT
ajst-3907	65	28	.	.	PUNCT
ajst-3907	66	1	in	in	ADP
ajst-3907	66	2	[	[	X
ajst-3907	66	3	16	16	NUM
ajst-3907	66	4	]	]	PUNCT
ajst-3907	66	5	,	,	PUNCT
ajst-3907	66	6	the	the	DET
ajst-3907	66	7	behavior	behavior	NOUN
ajst-3907	66	8	of	of	ADP
ajst-3907	66	9	robot	robot	NOUN
ajst-3907	66	10	is	be	AUX
ajst-3907	66	11	based	base	VERB
ajst-3907	66	12	on	on	ADP
ajst-3907	66	13	an	an	DET
ajst-3907	66	14	inclusive	inclusive	ADJ
ajst-3907	66	15	structure	structure	NOUN
ajst-3907	66	16	.	.	PUNCT
ajst-3907	67	1	behavior	behavior	NOUN
ajst-3907	67	2	based	base	VERB
ajst-3907	67	3	formation	formation	NOUN
ajst-3907	67	4	control	control	NOUN
ajst-3907	67	5	can	can	AUX
ajst-3907	67	6	also	also	ADV
ajst-3907	67	7	be	be	AUX
ajst-3907	67	8	modeled	model	VERB
ajst-3907	67	9	with	with	ADP
ajst-3907	67	10	nonlinear	nonlinear	ADJ
ajst-3907	67	11	dynamics	dynamic	NOUN
ajst-3907	67	12	system	system	NOUN
ajst-3907	67	13	,	,	PUNCT
ajst-3907	67	14	and	and	CCONJ
ajst-3907	67	15	applied	apply	VERB
ajst-3907	67	16	to	to	ADP
ajst-3907	67	17	trajectory	trajectory	NOUN
ajst-3907	67	18	generation	generation	NOUN
ajst-3907	67	19	and	and	CCONJ
ajst-3907	67	20	obstacle	obstacle	NOUN
ajst-3907	67	21	avoidance	avoidance	NOUN
ajst-3907	67	22	[	[	X
ajst-3907	67	23	17	17	NUM
ajst-3907	67	24	]	]	PUNCT
ajst-3907	67	25	.	.	PUNCT
ajst-3907	68	1	the	the	DET
ajst-3907	68	2	disadvantage	disadvantage	NOUN
ajst-3907	68	3	of	of	ADP
ajst-3907	68	4	this	this	DET
ajst-3907	68	5	method	method	NOUN
ajst-3907	68	6	is	be	AUX
ajst-3907	68	7	that	that	SCONJ
ajst-3907	68	8	the	the	DET
ajst-3907	68	9	group	group	NOUN
ajst-3907	68	10	behavior	behavior	NOUN
ajst-3907	68	11	is	be	AUX
ajst-3907	68	12	not	not	PART
ajst-3907	68	13	clearly	clearly	ADV
ajst-3907	68	14	defined	define	VERB
ajst-3907	68	15	,	,	PUNCT
ajst-3907	68	16	and	and	CCONJ
ajst-3907	68	17	it	it	PRON
ajst-3907	68	18	is	be	AUX
ajst-3907	68	19	difficult	difficult	ADJ
ajst-3907	68	20	to	to	PART
ajst-3907	68	21	conduct	conduct	VERB
ajst-3907	68	22	mathematical	mathematical	ADJ
ajst-3907	68	23	analysis	analysis	NOUN
ajst-3907	68	24	and	and	CCONJ
ajst-3907	68	25	ensure	ensure	VERB
ajst-3907	68	26	the	the	DET
ajst-3907	68	27	stability	stability	NOUN
ajst-3907	68	28	of	of	ADP
ajst-3907	68	29	the	the	DET
ajst-3907	68	30	formation	formation	NOUN
ajst-3907	68	31	.	.	PUNCT
ajst-3907	69	1	3.4	3.4	NUM
ajst-3907	69	2	.	.	PUNCT
ajst-3907	69	3	formation	formation	NOUN
ajst-3907	69	4	control	control	NOUN
ajst-3907	69	5	method	method	NOUN
ajst-3907	69	6	based	base	VERB
ajst-3907	69	7	on	on	ADP
ajst-3907	69	8	artificial	artificial	ADJ
ajst-3907	69	9	potential	potential	ADJ
ajst-3907	69	10	field	field	NOUN
ajst-3907	69	11	the	the	DET
ajst-3907	69	12	early	early	ADJ
ajst-3907	69	13	research	research	NOUN
ajst-3907	69	14	on	on	ADP
ajst-3907	69	15	artificial	artificial	ADJ
ajst-3907	69	16	potential	potential	ADJ
ajst-3907	69	17	field	field	NOUN
ajst-3907	69	18	is	be	AUX
ajst-3907	69	19	mainly	mainly	ADV
ajst-3907	69	20	used	use	VERB
ajst-3907	69	21	to	to	PART
ajst-3907	69	22	solve	solve	VERB
ajst-3907	69	23	the	the	DET
ajst-3907	69	24	robot	robot	NOUN
ajst-3907	69	25	path	path	PROPN
ajst-3907	69	26	planning	planning	NOUN
ajst-3907	69	27	problem	problem	NOUN
ajst-3907	69	28	in	in	ADP
ajst-3907	69	29	static	static	ADJ
ajst-3907	69	30	environment	environment	NOUN
ajst-3907	69	31	.	.	PUNCT
ajst-3907	70	1	however	however	ADV
ajst-3907	70	2	,	,	PUNCT
ajst-3907	70	3	the	the	DET
ajst-3907	70	4	traditional	traditional	ADJ
ajst-3907	70	5	artificial	artificial	ADJ
ajst-3907	70	6	potential	potential	ADJ
ajst-3907	70	7	field	field	NOUN
ajst-3907	70	8	is	be	AUX
ajst-3907	70	9	difficult	difficult	ADJ
ajst-3907	70	10	for	for	ADP
ajst-3907	70	11	motion	motion	NOUN
ajst-3907	70	12	planning	planning	NOUN
ajst-3907	70	13	in	in	ADP
ajst-3907	70	14	dynamic	dynamic	ADJ
ajst-3907	70	15	environment	environment	NOUN
ajst-3907	70	16	.	.	PUNCT
ajst-3907	71	1	from	from	ADP
ajst-3907	71	2	the	the	DET
ajst-3907	71	3	perspective	perspective	NOUN
ajst-3907	71	4	of	of	ADP
ajst-3907	71	5	control	control	NOUN
ajst-3907	71	6	theory	theory	NOUN
ajst-3907	71	7	,	,	PUNCT
ajst-3907	71	8	traditional	traditional	ADJ
ajst-3907	71	9	path	path	NOUN
ajst-3907	71	10	planning	planning	NOUN
ajst-3907	71	11	using	use	VERB
ajst-3907	71	12	artificial	artificial	ADJ
ajst-3907	71	13	potential	potential	ADJ
ajst-3907	71	14	field	field	NOUN
ajst-3907	71	15	method	method	NOUN
ajst-3907	71	16	only	only	ADV
ajst-3907	71	17	introduces	introduce	VERB
ajst-3907	71	18	relative	relative	ADJ
ajst-3907	71	19	position	position	NOUN
ajst-3907	71	20	as	as	ADP
ajst-3907	71	21	the	the	DET
ajst-3907	71	22	input	input	NOUN
ajst-3907	71	23	of	of	ADP
ajst-3907	71	24	feedback	feedback	NOUN
ajst-3907	71	25	control	control	NOUN
ajst-3907	71	26	,	,	PUNCT
ajst-3907	71	27	ignoring	ignore	VERB
ajst-3907	71	28	many	many	ADJ
ajst-3907	71	29	important	important	ADJ
ajst-3907	71	30	factors	factor	NOUN
ajst-3907	71	31	in	in	ADP
ajst-3907	71	32	dynamic	dynamic	ADJ
ajst-3907	71	33	environment	environment	NOUN
ajst-3907	71	34	.	.	PUNCT
ajst-3907	72	1	since	since	SCONJ
ajst-3907	72	2	then	then	ADV
ajst-3907	72	3	,	,	PUNCT
ajst-3907	72	4	many	many	ADJ
ajst-3907	72	5	literatures	literature	NOUN
ajst-3907	72	6	have	have	AUX
ajst-3907	72	7	cited	cite	VERB
ajst-3907	72	8	the	the	DET
ajst-3907	72	9	concept	concept	NOUN
ajst-3907	72	10	of	of	ADP
ajst-3907	72	11	artificial	artificial	ADJ
ajst-3907	72	12	potential	potential	ADJ
ajst-3907	72	13	field	field	NOUN
ajst-3907	72	14	,	,	PUNCT
ajst-3907	72	15	and	and	CCONJ
ajst-3907	72	16	improved	improve	VERB
ajst-3907	72	17	this	this	DET
ajst-3907	72	18	method	method	NOUN
ajst-3907	72	19	to	to	PART
ajst-3907	72	20	adapt	adapt	VERB
ajst-3907	72	21	to	to	ADP
ajst-3907	72	22	the	the	DET
ajst-3907	72	23	distributed	distribute	VERB
ajst-3907	72	24	formation	formation	NOUN
ajst-3907	72	25	control	control	NOUN
ajst-3907	72	26	of	of	ADP
ajst-3907	72	27	multiple	multiple	ADJ
ajst-3907	72	28	robots	robot	NOUN
ajst-3907	72	29	.	.	PUNCT
ajst-3907	73	1	reference	reference	NOUN
ajst-3907	73	2	[	[	X
ajst-3907	73	3	18	18	NUM
ajst-3907	73	4	]	]	PUNCT
ajst-3907	73	5	proposed	propose	VERB
ajst-3907	73	6	a	a	DET
ajst-3907	73	7	general	general	ADJ
ajst-3907	73	8	potential	potential	ADJ
ajst-3907	73	9	function	function	NOUN
ajst-3907	73	10	to	to	PART
ajst-3907	73	11	generate	generate	VERB
ajst-3907	73	12	an	an	DET
ajst-3907	73	13	effective	effective	ADJ
ajst-3907	73	14	and	and	CCONJ
ajst-3907	73	15	unique	unique	ADJ
ajst-3907	73	16	potential	potential	ADJ
ajst-3907	73	17	function	function	NOUN
ajst-3907	73	18	by	by	ADP
ajst-3907	73	19	conveniently	conveniently	ADV
ajst-3907	73	20	selecting	select	VERB
ajst-3907	73	21	the	the	DET
ajst-3907	73	22	values	value	NOUN
ajst-3907	73	23	of	of	ADP
ajst-3907	73	24	two	two	NUM
ajst-3907	73	25	groups	group	NOUN
ajst-3907	73	26	of	of	ADP
ajst-3907	73	27	parameters	parameter	NOUN
ajst-3907	73	28	.	.	PUNCT
ajst-3907	74	1	the	the	DET
ajst-3907	74	2	application	application	NOUN
ajst-3907	74	3	of	of	ADP
ajst-3907	74	4	the	the	DET
ajst-3907	74	5	general	general	ADJ
ajst-3907	74	6	potential	potential	ADJ
ajst-3907	74	7	function	function	NOUN
ajst-3907	74	8	of	of	ADP
ajst-3907	74	9	formation	formation	NOUN
ajst-3907	74	10	makes	make	VERB
ajst-3907	74	11	it	it	PRON
ajst-3907	74	12	easy	easy	ADJ
ajst-3907	74	13	to	to	PART
ajst-3907	74	14	switch	switch	VERB
ajst-3907	74	15	between	between	ADP
ajst-3907	74	16	different	different	ADJ
ajst-3907	74	17	formations	formation	NOUN
ajst-3907	74	18	,	,	PUNCT
ajst-3907	74	19	so	so	SCONJ
ajst-3907	74	20	it	it	PRON
ajst-3907	74	21	is	be	AUX
ajst-3907	74	22	not	not	PART
ajst-3907	74	23	necessary	necessary	ADJ
ajst-3907	74	24	to	to	PART
ajst-3907	74	25	design	design	VERB
ajst-3907	74	26	different	different	ADJ
ajst-3907	74	27	potential	potential	ADJ
ajst-3907	74	28	functions	function	NOUN
ajst-3907	74	29	for	for	ADP
ajst-3907	74	30	different	different	ADJ
ajst-3907	74	31	formations	formation	NOUN
ajst-3907	74	32	.	.	PUNCT
ajst-3907	75	1	in	in	ADP
ajst-3907	75	2	addition	addition	NOUN
ajst-3907	75	3	,	,	PUNCT
ajst-3907	75	4	obstacle	obstacle	NOUN
ajst-3907	75	5	avoidance	avoidance	NOUN
ajst-3907	75	6	and	and	CCONJ
ajst-3907	75	7	target	target	NOUN
ajst-3907	75	8	tracking	tracking	NOUN
ajst-3907	75	9	can	can	AUX
ajst-3907	75	10	also	also	ADV
ajst-3907	75	11	be	be	AUX
ajst-3907	75	12	integrated	integrate	VERB
ajst-3907	75	13	.	.	PUNCT
ajst-3907	76	1	literature	literature	NOUN
ajst-3907	77	1	[	[	X
ajst-3907	77	2	19	19	NUM
ajst-3907	77	3	]	]	PUNCT
ajst-3907	77	4	proposed	propose	VERB
ajst-3907	77	5	a	a	DET
ajst-3907	77	6	distributed	distribute	VERB
ajst-3907	77	7	cooperative	cooperative	ADJ
ajst-3907	77	8	control	control	NOUN
ajst-3907	77	9	method	method	NOUN
ajst-3907	77	10	for	for	ADP
ajst-3907	77	11	multiple	multiple	ADJ
ajst-3907	77	12	robots	robot	NOUN
ajst-3907	77	13	using	use	VERB
ajst-3907	77	14	artificial	artificial	ADJ
ajst-3907	77	15	potential	potential	ADJ
ajst-3907	77	16	field	field	NOUN
ajst-3907	77	17	and	and	CCONJ
ajst-3907	77	18	virtual	virtual	ADJ
ajst-3907	77	19	leaders	leader	NOUN
ajst-3907	77	20	.	.	PUNCT
ajst-3907	78	1	the	the	DET
ajst-3907	78	2	role	role	NOUN
ajst-3907	78	3	of	of	ADP
ajst-3907	78	4	virtual	virtual	ADJ
ajst-3907	78	5	leaders	leader	NOUN
ajst-3907	78	6	is	be	AUX
ajst-3907	78	7	to	to	PART
ajst-3907	78	8	control	control	VERB
ajst-3907	78	9	the	the	DET
ajst-3907	78	10	geometric	geometric	ADJ
ajst-3907	78	11	shape	shape	NOUN
ajst-3907	78	12	and	and	CCONJ
ajst-3907	78	13	motion	motion	NOUN
ajst-3907	78	14	direction	direction	NOUN
ajst-3907	78	15	of	of	ADP
ajst-3907	78	16	multiple	multiple	ADJ
ajst-3907	78	17	robot	robot	NOUN
ajst-3907	78	18	formation	formation	NOUN
ajst-3907	78	19	.	.	PUNCT
ajst-3907	79	1	through	through	ADP
ajst-3907	79	2	several	several	ADJ
ajst-3907	79	3	examples	example	NOUN
ajst-3907	79	4	,	,	PUNCT
ajst-3907	79	5	this	this	DET
ajst-3907	79	6	paper	paper	NOUN
ajst-3907	79	7	introduces	introduce	VERB
ajst-3907	79	8	the	the	DET
ajst-3907	79	9	60	60	NUM
ajst-3907	79	10	aggregation	aggregation	NOUN
ajst-3907	79	11	and	and	CCONJ
ajst-3907	79	12	formation	formation	NOUN
ajst-3907	79	13	movement	movement	NOUN
ajst-3907	79	14	under	under	ADP
ajst-3907	79	15	the	the	DET
ajst-3907	79	16	action	action	NOUN
ajst-3907	79	17	of	of	ADP
ajst-3907	79	18	virtual	virtual	ADJ
ajst-3907	79	19	leaders	leader	NOUN
ajst-3907	79	20	,	,	PUNCT
ajst-3907	79	21	and	and	CCONJ
ajst-3907	79	22	analyzes	analyze	VERB
ajst-3907	79	23	the	the	DET
ajst-3907	79	24	stability	stability	NOUN
ajst-3907	79	25	.	.	PUNCT
ajst-3907	80	1	this	this	DET
ajst-3907	80	2	method	method	NOUN
ajst-3907	80	3	is	be	AUX
ajst-3907	80	4	also	also	ADV
ajst-3907	80	5	used	use	VERB
ajst-3907	80	6	in	in	ADP
ajst-3907	80	7	literature	literature	NOUN
ajst-3907	80	8	[	[	X
ajst-3907	80	9	20	20	NUM
ajst-3907	80	10	]	]	PUNCT
ajst-3907	80	11	to	to	PART
ajst-3907	80	12	achieve	achieve	VERB
ajst-3907	80	13	formation	formation	NOUN
ajst-3907	80	14	control	control	NOUN
ajst-3907	80	15	of	of	ADP
ajst-3907	80	16	multiple	multiple	ADJ
ajst-3907	80	17	robots	robot	NOUN
ajst-3907	80	18	in	in	ADP
ajst-3907	80	19	an	an	DET
ajst-3907	80	20	obstacle	obstacle	NOUN
ajst-3907	80	21	free	free	ADJ
ajst-3907	80	22	environment	environment	NOUN
ajst-3907	80	23	.	.	PUNCT
ajst-3907	81	1	this	this	DET
ajst-3907	81	2	feedback	feedback	NOUN
ajst-3907	81	3	control	control	NOUN
ajst-3907	81	4	method	method	NOUN
ajst-3907	81	5	allows	allow	VERB
ajst-3907	81	6	a	a	DET
ajst-3907	81	7	single	single	ADJ
ajst-3907	81	8	robot	robot	NOUN
ajst-3907	81	9	to	to	PART
ajst-3907	81	10	cut	cut	VERB
ajst-3907	81	11	off	off	ADP
ajst-3907	81	12	its	its	PRON
ajst-3907	81	13	communication	communication	NOUN
ajst-3907	81	14	with	with	ADP
ajst-3907	81	15	a	a	DET
ajst-3907	81	16	neighboring	neighboring	NOUN
ajst-3907	81	17	robot	robot	NOUN
ajst-3907	81	18	under	under	ADP
ajst-3907	81	19	certain	certain	ADJ
ajst-3907	81	20	circumstances	circumstance	NOUN
ajst-3907	81	21	to	to	PART
ajst-3907	81	22	avoid	avoid	VERB
ajst-3907	81	23	collisions	collision	NOUN
ajst-3907	81	24	between	between	ADP
ajst-3907	81	25	robots	robot	NOUN
ajst-3907	81	26	and	and	CCONJ
ajst-3907	81	27	reduce	reduce	VERB
ajst-3907	81	28	excitation	excitation	NOUN
ajst-3907	81	29	signals	signal	NOUN
ajst-3907	81	30	.	.	PUNCT
ajst-3907	82	1	the	the	DET
ajst-3907	82	2	concept	concept	NOUN
ajst-3907	82	3	that	that	PRON
ajst-3907	82	4	each	each	DET
ajst-3907	82	5	robot	robot	NOUN
ajst-3907	82	6	enters	enter	VERB
ajst-3907	82	7	the	the	DET
ajst-3907	82	8	blind	blind	ADJ
ajst-3907	82	9	area	area	NOUN
ajst-3907	82	10	in	in	ADP
ajst-3907	82	11	this	this	DET
ajst-3907	82	12	paper	paper	NOUN
ajst-3907	82	13	is	be	AUX
ajst-3907	82	14	that	that	SCONJ
ajst-3907	82	15	the	the	DET
ajst-3907	82	16	robot	robot	NOUN
ajst-3907	82	17	in	in	ADP
ajst-3907	82	18	the	the	DET
ajst-3907	82	19	blind	blind	ADJ
ajst-3907	82	20	area	area	NOUN
ajst-3907	82	21	cuts	cut	VERB
ajst-3907	82	22	off	off	ADP
ajst-3907	82	23	the	the	DET
ajst-3907	82	24	communication	communication	NOUN
ajst-3907	82	25	with	with	ADP
ajst-3907	82	26	the	the	DET
ajst-3907	82	27	adjacent	adjacent	ADJ
ajst-3907	82	28	robots	robot	NOUN
ajst-3907	82	29	.	.	PUNCT
ajst-3907	83	1	the	the	DET
ajst-3907	83	2	so	so	ADV
ajst-3907	83	3	-	-	PUNCT
ajst-3907	83	4	called	call	VERB
ajst-3907	83	5	blind	blind	ADJ
ajst-3907	83	6	area	area	NOUN
ajst-3907	83	7	means	mean	VERB
ajst-3907	83	8	that	that	SCONJ
ajst-3907	83	9	each	each	DET
ajst-3907	83	10	robot	robot	NOUN
ajst-3907	83	11	in	in	ADP
ajst-3907	83	12	its	its	PRON
ajst-3907	83	13	own	own	ADJ
ajst-3907	83	14	blind	blind	ADJ
ajst-3907	83	15	area	area	NOUN
ajst-3907	83	16	is	be	AUX
ajst-3907	83	17	only	only	ADV
ajst-3907	83	18	affected	affect	VERB
ajst-3907	83	19	by	by	ADP
ajst-3907	83	20	its	its	PRON
ajst-3907	83	21	own	own	ADJ
ajst-3907	83	22	virtual	virtual	ADJ
ajst-3907	83	23	leaders	leader	NOUN
ajst-3907	83	24	,	,	PUNCT
ajst-3907	83	25	just	just	ADV
ajst-3907	83	26	like	like	ADP
ajst-3907	83	27	the	the	DET
ajst-3907	83	28	blind	blind	ADJ
ajst-3907	83	29	person	person	NOUN
ajst-3907	83	30	who	who	PRON
ajst-3907	83	31	does	do	AUX
ajst-3907	83	32	not	not	PART
ajst-3907	83	33	exist	exist	VERB
ajst-3907	83	34	in	in	ADP
ajst-3907	83	35	other	other	ADJ
ajst-3907	83	36	adjacent	adjacent	ADJ
ajst-3907	83	37	robots	robot	NOUN
ajst-3907	83	38	,	,	PUNCT
ajst-3907	83	39	it	it	PRON
ajst-3907	83	40	will	will	AUX
ajst-3907	83	41	not	not	PART
ajst-3907	83	42	communicate	communicate	VERB
ajst-3907	83	43	with	with	ADP
ajst-3907	83	44	other	other	ADJ
ajst-3907	83	45	robots	robot	NOUN
ajst-3907	83	46	,	,	PUNCT
ajst-3907	83	47	the	the	DET
ajst-3907	83	48	adjacent	adjacent	ADJ
ajst-3907	83	49	robots	robot	NOUN
ajst-3907	83	50	that	that	PRON
ajst-3907	83	51	are	be	AUX
ajst-3907	83	52	not	not	PART
ajst-3907	83	53	in	in	ADP
ajst-3907	83	54	their	their	PRON
ajst-3907	83	55	own	own	ADJ
ajst-3907	83	56	blind	blind	ADJ
ajst-3907	83	57	area	area	NOUN
ajst-3907	83	58	will	will	AUX
ajst-3907	83	59	communicate	communicate	VERB
ajst-3907	83	60	with	with	ADP
ajst-3907	83	61	the	the	DET
ajst-3907	83	62	robots	robot	NOUN
ajst-3907	83	63	in	in	ADP
ajst-3907	83	64	the	the	DET
ajst-3907	83	65	blind	blind	ADJ
ajst-3907	83	66	area	area	NOUN
ajst-3907	83	67	to	to	PART
ajst-3907	83	68	actively	actively	ADV
ajst-3907	83	69	avoid	avoid	VERB
ajst-3907	83	70	collision	collision	NOUN
ajst-3907	83	71	.	.	PUNCT
ajst-3907	84	1	when	when	SCONJ
ajst-3907	84	2	all	all	DET
ajst-3907	84	3	robots	robot	NOUN
ajst-3907	84	4	are	be	AUX
ajst-3907	84	5	in	in	ADP
ajst-3907	84	6	their	their	PRON
ajst-3907	84	7	own	own	ADJ
ajst-3907	84	8	blind	blind	ADJ
ajst-3907	84	9	areas	area	NOUN
ajst-3907	84	10	,	,	PUNCT
ajst-3907	84	11	there	there	PRON
ajst-3907	84	12	is	be	VERB
ajst-3907	84	13	no	no	DET
ajst-3907	84	14	need	need	NOUN
ajst-3907	84	15	to	to	PART
ajst-3907	84	16	communicate	communicate	VERB
ajst-3907	84	17	,	,	PUNCT
ajst-3907	84	18	so	so	SCONJ
ajst-3907	84	19	as	as	SCONJ
ajst-3907	84	20	to	to	PART
ajst-3907	84	21	reduce	reduce	VERB
ajst-3907	84	22	the	the	DET
ajst-3907	84	23	traffic	traffic	NOUN
ajst-3907	84	24	.	.	PUNCT
ajst-3907	85	1	in	in	ADP
ajst-3907	85	2	document	document	NOUN
ajst-3907	85	3	[	[	X
ajst-3907	85	4	21	21	NUM
ajst-3907	85	5	]	]	X
ajst-3907	85	6	,	,	PUNCT
ajst-3907	85	7	a	a	DET
ajst-3907	85	8	distributed	distribute	VERB
ajst-3907	85	9	path	path	NOUN
ajst-3907	85	10	generation	generation	NOUN
ajst-3907	85	11	method	method	NOUN
ajst-3907	85	12	in	in	ADP
ajst-3907	85	13	battlefield	battlefield	NOUN
ajst-3907	85	14	is	be	AUX
ajst-3907	85	15	introduced	introduce	VERB
ajst-3907	85	16	.	.	PUNCT
ajst-3907	86	1	in	in	ADP
ajst-3907	86	2	this	this	DET
ajst-3907	86	3	paper	paper	NOUN
ajst-3907	86	4	,	,	PUNCT
ajst-3907	86	5	the	the	DET
ajst-3907	86	6	source	source	NOUN
ajst-3907	86	7	of	of	ADP
ajst-3907	86	8	potential	potential	ADJ
ajst-3907	86	9	field	field	NOUN
ajst-3907	86	10	is	be	AUX
ajst-3907	86	11	subdivided	subdivide	VERB
ajst-3907	86	12	into	into	ADP
ajst-3907	86	13	the	the	DET
ajst-3907	86	14	potential	potential	ADJ
ajst-3907	86	15	field	field	NOUN
ajst-3907	86	16	generated	generate	VERB
ajst-3907	86	17	by	by	ADP
ajst-3907	86	18	adjacent	adjacent	ADJ
ajst-3907	86	19	robots	robot	NOUN
ajst-3907	86	20	,	,	PUNCT
ajst-3907	86	21	the	the	DET
ajst-3907	86	22	potential	potential	ADJ
ajst-3907	86	23	field	field	NOUN
ajst-3907	86	24	generated	generate	VERB
ajst-3907	86	25	by	by	ADP
ajst-3907	86	26	obstacles	obstacle	NOUN
ajst-3907	86	27	,	,	PUNCT
ajst-3907	86	28	the	the	DET
ajst-3907	86	29	potential	potential	ADJ
ajst-3907	86	30	field	field	NOUN
ajst-3907	86	31	generated	generate	VERB
ajst-3907	86	32	by	by	ADP
ajst-3907	86	33	threats	threat	NOUN
ajst-3907	86	34	,	,	PUNCT
ajst-3907	86	35	and	and	CCONJ
ajst-3907	86	36	the	the	DET
ajst-3907	86	37	potential	potential	ADJ
ajst-3907	86	38	field	field	NOUN
ajst-3907	86	39	generated	generate	VERB
ajst-3907	86	40	by	by	ADP
ajst-3907	86	41	targets	target	NOUN
ajst-3907	86	42	.	.	PUNCT
ajst-3907	87	1	the	the	DET
ajst-3907	87	2	total	total	ADJ
ajst-3907	87	3	potential	potential	ADJ
ajst-3907	87	4	field	field	NOUN
ajst-3907	87	5	is	be	AUX
ajst-3907	87	6	the	the	DET
ajst-3907	87	7	sum	sum	NOUN
ajst-3907	87	8	of	of	ADP
ajst-3907	87	9	these	these	DET
ajst-3907	87	10	potential	potential	ADJ
ajst-3907	87	11	fields	field	NOUN
ajst-3907	87	12	multiplied	multiply	VERB
ajst-3907	87	13	by	by	ADP
ajst-3907	87	14	the	the	DET
ajst-3907	87	15	gain	gain	NOUN
ajst-3907	87	16	factor	factor	NOUN
ajst-3907	87	17	.	.	PUNCT
ajst-3907	88	1	the	the	DET
ajst-3907	88	2	simulation	simulation	NOUN
ajst-3907	88	3	of	of	ADP
ajst-3907	88	4	multi	multi	ADJ
ajst-3907	88	5	robot	robot	NOUN
ajst-3907	88	6	avoiding	avoid	VERB
ajst-3907	88	7	obstacles	obstacle	NOUN
ajst-3907	88	8	and	and	CCONJ
ajst-3907	88	9	covering	cover	VERB
ajst-3907	88	10	the	the	DET
ajst-3907	88	11	target	target	NOUN
ajst-3907	88	12	area	area	NOUN
ajst-3907	88	13	is	be	AUX
ajst-3907	88	14	also	also	ADV
ajst-3907	88	15	carried	carry	VERB
ajst-3907	88	16	out	out	ADP
ajst-3907	88	17	,	,	PUNCT
ajst-3907	88	18	and	and	CCONJ
ajst-3907	88	19	the	the	DET
ajst-3907	88	20	influence	influence	NOUN
ajst-3907	88	21	of	of	ADP
ajst-3907	88	22	the	the	DET
ajst-3907	88	23	change	change	NOUN
ajst-3907	88	24	of	of	ADP
ajst-3907	88	25	gain	gain	NOUN
ajst-3907	88	26	factor	factor	NOUN
ajst-3907	88	27	on	on	ADP
ajst-3907	88	28	the	the	DET
ajst-3907	88	29	results	result	NOUN
ajst-3907	88	30	is	be	AUX
ajst-3907	88	31	given	give	VERB
ajst-3907	88	32	.	.	PUNCT
ajst-3907	89	1	in	in	ADP
ajst-3907	89	2	reference	reference	NOUN
ajst-3907	89	3	[	[	X
ajst-3907	89	4	22	22	NUM
ajst-3907	89	5	]	]	PUNCT
ajst-3907	89	6	,	,	PUNCT
ajst-3907	89	7	a	a	DET
ajst-3907	89	8	controller	controller	NOUN
ajst-3907	89	9	based	base	VERB
ajst-3907	89	10	on	on	ADP
ajst-3907	89	11	artificial	artificial	ADJ
ajst-3907	89	12	potential	potential	ADJ
ajst-3907	89	13	field	field	NOUN
ajst-3907	89	14	is	be	AUX
ajst-3907	89	15	used	use	VERB
ajst-3907	89	16	to	to	PART
ajst-3907	89	17	make	make	VERB
ajst-3907	89	18	the	the	DET
ajst-3907	89	19	robot	robot	NOUN
ajst-3907	89	20	reach	reach	VERB
ajst-3907	89	21	the	the	DET
ajst-3907	89	22	desired	desire	VERB
ajst-3907	89	23	formation	formation	NOUN
ajst-3907	89	24	,	,	PUNCT
ajst-3907	89	25	but	but	CCONJ
ajst-3907	89	26	they	they	PRON
ajst-3907	89	27	will	will	AUX
ajst-3907	89	28	change	change	VERB
ajst-3907	89	29	their	their	PRON
ajst-3907	89	30	motion	motion	NOUN
ajst-3907	89	31	to	to	PART
ajst-3907	89	32	meet	meet	VERB
ajst-3907	89	33	certain	certain	ADJ
ajst-3907	89	34	constraints	constraint	NOUN
ajst-3907	89	35	(	(	PUNCT
ajst-3907	89	36	such	such	ADJ
ajst-3907	89	37	as	as	ADP
ajst-3907	89	38	the	the	DET
ajst-3907	89	39	effective	effective	ADJ
ajst-3907	89	40	distance	distance	NOUN
ajst-3907	89	41	of	of	ADP
ajst-3907	89	42	communication	communication	NOUN
ajst-3907	89	43	or	or	CCONJ
ajst-3907	89	44	camera	camera	NOUN
ajst-3907	89	45	and	and	CCONJ
ajst-3907	89	46	other	other	ADJ
ajst-3907	89	47	sensors	sensor	NOUN
ajst-3907	89	48	)	)	PUNCT
ajst-3907	89	49	,	,	PUNCT
ajst-3907	89	50	which	which	PRON
ajst-3907	89	51	will	will	AUX
ajst-3907	89	52	make	make	VERB
ajst-3907	89	53	the	the	DET
ajst-3907	89	54	system	system	NOUN
ajst-3907	89	55	more	more	ADV
ajst-3907	89	56	robust	robust	ADJ
ajst-3907	89	57	.	.	PUNCT
ajst-3907	90	1	4	4	X
ajst-3907	90	2	.	.	X
ajst-3907	90	3	future	future	ADJ
ajst-3907	90	4	research	research	NOUN
ajst-3907	90	5	direction	direction	NOUN
ajst-3907	90	6	for	for	ADP
ajst-3907	90	7	the	the	DET
ajst-3907	90	8	research	research	NOUN
ajst-3907	90	9	on	on	ADP
ajst-3907	90	10	formation	formation	NOUN
ajst-3907	90	11	control	control	NOUN
ajst-3907	90	12	and	and	CCONJ
ajst-3907	90	13	its	its	PRON
ajst-3907	90	14	application	application	NOUN
ajst-3907	90	15	,	,	PUNCT
ajst-3907	90	16	although	although	SCONJ
ajst-3907	90	17	there	there	PRON
ajst-3907	90	18	have	have	AUX
ajst-3907	90	19	been	be	AUX
ajst-3907	90	20	many	many	ADJ
ajst-3907	90	21	breakthroughs	breakthrough	NOUN
ajst-3907	90	22	in	in	ADP
ajst-3907	90	23	research	research	NOUN
ajst-3907	90	24	over	over	ADP
ajst-3907	90	25	the	the	DET
ajst-3907	90	26	years	year	NOUN
ajst-3907	90	27	,	,	PUNCT
ajst-3907	90	28	there	there	PRON
ajst-3907	90	29	are	be	VERB
ajst-3907	90	30	still	still	ADV
ajst-3907	90	31	many	many	ADJ
ajst-3907	90	32	problems	problem	NOUN
ajst-3907	90	33	to	to	PART
ajst-3907	90	34	be	be	AUX
ajst-3907	90	35	further	far	ADV
ajst-3907	90	36	studied	study	VERB
ajst-3907	90	37	,	,	PUNCT
ajst-3907	90	38	mainly	mainly	ADV
ajst-3907	90	39	in	in	ADP
ajst-3907	90	40	the	the	DET
ajst-3907	90	41	following	follow	VERB
ajst-3907	90	42	aspects	aspect	NOUN
ajst-3907	90	43	:	:	PUNCT
ajst-3907	90	44	(	(	PUNCT
ajst-3907	90	45	1	1	X
ajst-3907	90	46	)	)	PUNCT
ajst-3907	90	47	most	most	ADJ
ajst-3907	90	48	formation	formation	NOUN
ajst-3907	90	49	control	control	NOUN
ajst-3907	90	50	methods	method	NOUN
ajst-3907	90	51	rely	rely	VERB
ajst-3907	90	52	on	on	ADP
ajst-3907	90	53	the	the	DET
ajst-3907	90	54	design	design	NOUN
ajst-3907	90	55	method	method	NOUN
ajst-3907	90	56	of	of	ADP
ajst-3907	90	57	the	the	DET
ajst-3907	90	58	model	model	NOUN
ajst-3907	90	59	,	,	PUNCT
ajst-3907	90	60	but	but	CCONJ
ajst-3907	90	61	there	there	PRON
ajst-3907	90	62	must	must	AUX
ajst-3907	90	63	be	be	AUX
ajst-3907	90	64	more	more	ADV
ajst-3907	90	65	or	or	CCONJ
ajst-3907	90	66	less	less	ADJ
ajst-3907	90	67	gap	gap	NOUN
ajst-3907	90	68	between	between	ADP
ajst-3907	90	69	the	the	DET
ajst-3907	90	70	physical	physical	ADJ
ajst-3907	90	71	model	model	NOUN
ajst-3907	90	72	of	of	ADP
ajst-3907	90	73	the	the	DET
ajst-3907	90	74	robot	robot	NOUN
ajst-3907	90	75	itself	itself	PRON
ajst-3907	90	76	and	and	CCONJ
ajst-3907	90	77	the	the	DET
ajst-3907	90	78	model	model	NOUN
ajst-3907	90	79	built	build	VERB
ajst-3907	90	80	by	by	ADP
ajst-3907	90	81	the	the	DET
ajst-3907	90	82	researchers	researcher	NOUN
ajst-3907	90	83	,	,	PUNCT
ajst-3907	90	84	which	which	PRON
ajst-3907	90	85	may	may	AUX
ajst-3907	90	86	lead	lead	VERB
ajst-3907	90	87	to	to	ADP
ajst-3907	90	88	the	the	DET
ajst-3907	90	89	failure	failure	NOUN
ajst-3907	90	90	of	of	ADP
ajst-3907	90	91	the	the	DET
ajst-3907	90	92	control	control	NOUN
ajst-3907	90	93	method	method	NOUN
ajst-3907	90	94	.	.	PUNCT
ajst-3907	91	1	although	although	SCONJ
ajst-3907	91	2	the	the	DET
ajst-3907	91	3	robustness	robustness	NOUN
ajst-3907	91	4	and	and	CCONJ
ajst-3907	91	5	good	good	ADJ
ajst-3907	91	6	antiinterference	antiinterference	NOUN
ajst-3907	91	7	ability	ability	NOUN
ajst-3907	91	8	of	of	ADP
ajst-3907	91	9	multi	multi	ADJ
ajst-3907	91	10	-	-	ADJ
ajst-3907	91	11	agent	agent	ADJ
ajst-3907	91	12	technology	technology	NOUN
ajst-3907	91	13	allow	allow	VERB
ajst-3907	91	14	some	some	DET
ajst-3907	91	15	errors	error	NOUN
ajst-3907	91	16	in	in	ADP
ajst-3907	91	17	the	the	DET
ajst-3907	91	18	model	model	NOUN
ajst-3907	91	19	,	,	PUNCT
ajst-3907	91	20	in	in	ADP
ajst-3907	91	21	-	-	PUNCT
ajst-3907	91	22	depth	depth	NOUN
ajst-3907	91	23	mathematical	mathematical	ADJ
ajst-3907	91	24	analysis	analysis	NOUN
ajst-3907	91	25	and	and	CCONJ
ajst-3907	91	26	simulation	simulation	NOUN
ajst-3907	91	27	verification	verification	NOUN
ajst-3907	91	28	are	be	AUX
ajst-3907	91	29	still	still	ADV
ajst-3907	91	30	needed	need	VERB
ajst-3907	91	31	.	.	PUNCT
ajst-3907	92	1	whether	whether	SCONJ
ajst-3907	92	2	a	a	DET
ajst-3907	92	3	formation	formation	NOUN
ajst-3907	92	4	control	control	NOUN
ajst-3907	92	5	method	method	NOUN
ajst-3907	92	6	can	can	AUX
ajst-3907	92	7	be	be	AUX
ajst-3907	92	8	developed	develop	VERB
ajst-3907	92	9	systematically	systematically	ADV
ajst-3907	92	10	and	and	CCONJ
ajst-3907	92	11	does	do	AUX
ajst-3907	92	12	not	not	PART
ajst-3907	92	13	depend	depend	VERB
ajst-3907	92	14	on	on	ADP
ajst-3907	92	15	an	an	DET
ajst-3907	92	16	accurate	accurate	ADJ
ajst-3907	92	17	model	model	NOUN
ajst-3907	92	18	is	be	AUX
ajst-3907	92	19	still	still	ADV
ajst-3907	92	20	one	one	NUM
ajst-3907	92	21	of	of	ADP
ajst-3907	92	22	the	the	DET
ajst-3907	92	23	problems	problem	NOUN
ajst-3907	92	24	to	to	PART
ajst-3907	92	25	be	be	AUX
ajst-3907	92	26	solved	solve	VERB
ajst-3907	92	27	.	.	PUNCT
ajst-3907	93	1	(	(	PUNCT
ajst-3907	93	2	2	2	X
ajst-3907	93	3	)	)	PUNCT
ajst-3907	93	4	multi	multi	ADJ
ajst-3907	93	5	-	-	ADJ
ajst-3907	93	6	agent	agent	ADJ
ajst-3907	93	7	theory	theory	NOUN
ajst-3907	93	8	has	have	AUX
ajst-3907	93	9	been	be	AUX
ajst-3907	93	10	very	very	ADV
ajst-3907	93	11	mature	mature	ADJ
ajst-3907	93	12	,	,	PUNCT
ajst-3907	93	13	but	but	CCONJ
ajst-3907	93	14	most	most	ADJ
ajst-3907	93	15	of	of	ADP
ajst-3907	93	16	them	they	PRON
ajst-3907	93	17	are	be	AUX
ajst-3907	93	18	based	base	VERB
ajst-3907	93	19	on	on	ADP
ajst-3907	93	20	linear	linear	ADJ
ajst-3907	93	21	models	model	NOUN
ajst-3907	93	22	.	.	PUNCT
ajst-3907	94	1	because	because	SCONJ
ajst-3907	94	2	robots	robot	NOUN
ajst-3907	94	3	are	be	AUX
ajst-3907	94	4	basically	basically	ADV
ajst-3907	94	5	complex	complex	ADJ
ajst-3907	94	6	nonlinear	nonlinear	ADJ
ajst-3907	94	7	systems	system	NOUN
ajst-3907	94	8	,	,	PUNCT
ajst-3907	94	9	these	these	DET
ajst-3907	94	10	research	research	NOUN
ajst-3907	94	11	results	result	NOUN
ajst-3907	94	12	based	base	VERB
ajst-3907	94	13	on	on	ADP
ajst-3907	94	14	linear	linear	ADJ
ajst-3907	94	15	models	model	NOUN
ajst-3907	94	16	can	can	AUX
ajst-3907	94	17	not	not	PART
ajst-3907	94	18	be	be	AUX
ajst-3907	94	19	directly	directly	ADV
ajst-3907	94	20	applied	apply	VERB
ajst-3907	94	21	to	to	ADP
ajst-3907	94	22	robots	robot	NOUN
ajst-3907	94	23	.	.	PUNCT
ajst-3907	95	1	how	how	SCONJ
ajst-3907	95	2	to	to	PART
ajst-3907	95	3	use	use	VERB
ajst-3907	95	4	existing	exist	VERB
ajst-3907	95	5	research	research	NOUN
ajst-3907	95	6	results	result	NOUN
ajst-3907	95	7	to	to	PART
ajst-3907	95	8	explore	explore	VERB
ajst-3907	95	9	multi	multi	ADJ
ajst-3907	95	10	robot	robot	NOUN
ajst-3907	95	11	formation	formation	NOUN
ajst-3907	95	12	control	control	NOUN
ajst-3907	95	13	is	be	AUX
ajst-3907	95	14	also	also	ADV
ajst-3907	95	15	facing	face	VERB
ajst-3907	95	16	severe	severe	ADJ
ajst-3907	95	17	challenges	challenge	NOUN
ajst-3907	95	18	.	.	PUNCT
ajst-3907	96	1	(	(	PUNCT
ajst-3907	96	2	3	3	X
ajst-3907	96	3	)	)	PUNCT
ajst-3907	96	4	as	as	SCONJ
ajst-3907	96	5	multi	multi	ADJ
ajst-3907	96	6	-	-	ADJ
ajst-3907	96	7	agent	agent	ADJ
ajst-3907	96	8	technology	technology	NOUN
ajst-3907	96	9	is	be	AUX
ajst-3907	96	10	based	base	VERB
ajst-3907	96	11	on	on	ADP
ajst-3907	96	12	the	the	DET
ajst-3907	96	13	interaction	interaction	NOUN
ajst-3907	96	14	between	between	ADP
ajst-3907	96	15	individuals	individual	NOUN
ajst-3907	96	16	to	to	PART
ajst-3907	96	17	achieve	achieve	VERB
ajst-3907	96	18	the	the	DET
ajst-3907	96	19	evolution	evolution	NOUN
ajst-3907	96	20	of	of	ADP
ajst-3907	96	21	formation	formation	NOUN
ajst-3907	96	22	,	,	PUNCT
ajst-3907	96	23	the	the	DET
ajst-3907	96	24	development	development	NOUN
ajst-3907	96	25	of	of	ADP
ajst-3907	96	26	communication	communication	NOUN
ajst-3907	96	27	technology	technology	NOUN
ajst-3907	96	28	is	be	AUX
ajst-3907	96	29	crucial	crucial	ADJ
ajst-3907	96	30	.	.	PUNCT
ajst-3907	97	1	the	the	DET
ajst-3907	97	2	communication	communication	NOUN
ajst-3907	97	3	mode	mode	NOUN
ajst-3907	97	4	,	,	PUNCT
ajst-3907	97	5	bandwidth	bandwidth	NOUN
ajst-3907	97	6	,	,	PUNCT
ajst-3907	97	7	and	and	CCONJ
ajst-3907	97	8	communication	communication	NOUN
ajst-3907	97	9	radius	radius	NOUN
ajst-3907	97	10	may	may	AUX
ajst-3907	97	11	constrain	constrain	VERB
ajst-3907	97	12	the	the	DET
ajst-3907	97	13	design	design	NOUN
ajst-3907	97	14	of	of	ADP
ajst-3907	97	15	the	the	DET
ajst-3907	97	16	control	control	NOUN
ajst-3907	97	17	protocol	protocol	NOUN
ajst-3907	97	18	,	,	PUNCT
ajst-3907	97	19	and	and	CCONJ
ajst-3907	97	20	even	even	ADV
ajst-3907	97	21	affect	affect	VERB
ajst-3907	97	22	the	the	DET
ajst-3907	97	23	effect	effect	NOUN
ajst-3907	97	24	of	of	ADP
ajst-3907	97	25	task	task	NOUN
ajst-3907	97	26	completion	completion	NOUN
ajst-3907	97	27	.	.	PUNCT
ajst-3907	98	1	in	in	ADP
ajst-3907	98	2	particular	particular	ADJ
ajst-3907	98	3	,	,	PUNCT
ajst-3907	98	4	the	the	DET
ajst-3907	98	5	underwater	underwater	ADJ
ajst-3907	98	6	communication	communication	NOUN
ajst-3907	98	7	technology	technology	NOUN
ajst-3907	98	8	has	have	AUX
ajst-3907	98	9	not	not	PART
ajst-3907	98	10	yet	yet	ADV
ajst-3907	98	11	broken	break	VERB
ajst-3907	98	12	through	through	ADP
ajst-3907	98	13	,	,	PUNCT
ajst-3907	98	14	which	which	PRON
ajst-3907	98	15	seriously	seriously	ADV
ajst-3907	98	16	restricts	restrict	VERB
ajst-3907	98	17	the	the	DET
ajst-3907	98	18	development	development	NOUN
ajst-3907	98	19	and	and	CCONJ
ajst-3907	98	20	application	application	NOUN
ajst-3907	98	21	of	of	ADP
ajst-3907	98	22	underwater	underwater	ADJ
ajst-3907	98	23	3d	3d	NUM
ajst-3907	98	24	formation	formation	NOUN
ajst-3907	98	25	cooperative	cooperative	ADJ
ajst-3907	98	26	control	control	NOUN
ajst-3907	98	27	technology	technology	NOUN
ajst-3907	98	28	.	.	PUNCT
ajst-3907	99	1	at	at	ADP
ajst-3907	99	2	present	present	ADJ
ajst-3907	99	3	,	,	PUNCT
ajst-3907	99	4	visual	visual	ADJ
ajst-3907	99	5	information	information	NOUN
ajst-3907	99	6	is	be	AUX
ajst-3907	99	7	one	one	NUM
ajst-3907	99	8	of	of	ADP
ajst-3907	99	9	the	the	DET
ajst-3907	99	10	breakthrough	breakthrough	NOUN
ajst-3907	99	11	points	point	NOUN
ajst-3907	99	12	that	that	PRON
ajst-3907	99	13	scholars	scholar	NOUN
ajst-3907	99	14	try	try	VERB
ajst-3907	99	15	to	to	PART
ajst-3907	99	16	solve	solve	VERB
ajst-3907	99	17	the	the	DET
ajst-3907	99	18	bottleneck	bottleneck	NOUN
ajst-3907	99	19	of	of	ADP
ajst-3907	99	20	communication	communication	NOUN
ajst-3907	99	21	technology	technology	NOUN
ajst-3907	99	22	,	,	PUNCT
ajst-3907	99	23	but	but	CCONJ
ajst-3907	99	24	it	it	PRON
ajst-3907	99	25	is	be	AUX
ajst-3907	99	26	still	still	ADV
ajst-3907	99	27	in	in	ADP
ajst-3907	99	28	the	the	DET
ajst-3907	99	29	exploration	exploration	NOUN
ajst-3907	99	30	stage	stage	NOUN
ajst-3907	99	31	.	.	PUNCT
ajst-3907	100	1	(	(	PUNCT
ajst-3907	100	2	4	4	X
ajst-3907	100	3	)	)	PUNCT
ajst-3907	100	4	even	even	ADV
ajst-3907	100	5	though	though	SCONJ
ajst-3907	100	6	they	they	PRON
ajst-3907	100	7	are	be	AUX
ajst-3907	100	8	all	all	ADV
ajst-3907	100	9	based	base	VERB
ajst-3907	100	10	on	on	ADP
ajst-3907	100	11	multi	multi	ADJ
ajst-3907	100	12	-	-	ADJ
ajst-3907	100	13	agent	agent	ADJ
ajst-3907	100	14	technology	technology	NOUN
ajst-3907	100	15	,	,	PUNCT
ajst-3907	100	16	the	the	DET
ajst-3907	100	17	current	current	ADJ
ajst-3907	100	18	methods	method	NOUN
ajst-3907	100	19	to	to	PART
ajst-3907	100	20	solve	solve	VERB
ajst-3907	100	21	the	the	DET
ajst-3907	100	22	problem	problem	NOUN
ajst-3907	100	23	of	of	ADP
ajst-3907	100	24	multi	multi	ADJ
ajst-3907	100	25	-	-	ADJ
ajst-3907	100	26	agent	agent	ADJ
ajst-3907	100	27	formation	formation	NOUN
ajst-3907	100	28	control	control	NOUN
ajst-3907	100	29	are	be	AUX
ajst-3907	100	30	still	still	ADV
ajst-3907	100	31	diverse	diverse	ADJ
ajst-3907	100	32	and	and	CCONJ
ajst-3907	100	33	have	have	VERB
ajst-3907	100	34	different	different	ADJ
ajst-3907	100	35	concerns	concern	NOUN
ajst-3907	100	36	.	.	PUNCT
ajst-3907	101	1	the	the	DET
ajst-3907	101	2	most	most	ADV
ajst-3907	101	3	important	important	ADJ
ajst-3907	101	4	thing	thing	NOUN
ajst-3907	101	5	is	be	AUX
ajst-3907	101	6	that	that	SCONJ
ajst-3907	101	7	the	the	DET
ajst-3907	101	8	final	final	ADJ
ajst-3907	101	9	control	control	NOUN
ajst-3907	101	10	effect	effect	NOUN
ajst-3907	101	11	still	still	ADV
ajst-3907	101	12	largely	largely	ADV
ajst-3907	101	13	depends	depend	VERB
ajst-3907	101	14	on	on	ADP
ajst-3907	101	15	the	the	DET
ajst-3907	101	16	development	development	NOUN
ajst-3907	101	17	of	of	ADP
ajst-3907	101	18	hardware	hardware	NOUN
ajst-3907	101	19	technology	technology	NOUN
ajst-3907	101	20	.	.	PUNCT
ajst-3907	102	1	although	although	SCONJ
ajst-3907	102	2	some	some	DET
ajst-3907	102	3	scholars	scholar	NOUN
ajst-3907	102	4	have	have	AUX
ajst-3907	102	5	tried	try	VERB
ajst-3907	102	6	to	to	PART
ajst-3907	102	7	avoid	avoid	VERB
ajst-3907	102	8	the	the	DET
ajst-3907	102	9	difference	difference	NOUN
ajst-3907	102	10	of	of	ADP
ajst-3907	102	11	control	control	NOUN
ajst-3907	102	12	effect	effect	NOUN
ajst-3907	102	13	caused	cause	VERB
ajst-3907	102	14	by	by	ADP
ajst-3907	102	15	imperfect	imperfect	ADJ
ajst-3907	102	16	hardware	hardware	NOUN
ajst-3907	102	17	conditions	condition	NOUN
ajst-3907	102	18	by	by	ADP
ajst-3907	102	19	upgrading	upgrade	VERB
ajst-3907	102	20	hardware	hardware	NOUN
ajst-3907	102	21	technology	technology	NOUN
ajst-3907	102	22	and	and	CCONJ
ajst-3907	102	23	applying	apply	VERB
ajst-3907	102	24	various	various	ADJ
ajst-3907	102	25	intelligent	intelligent	ADJ
ajst-3907	102	26	control	control	NOUN
ajst-3907	102	27	algorithms	algorithm	NOUN
ajst-3907	102	28	,	,	PUNCT
ajst-3907	102	29	there	there	PRON
ajst-3907	102	30	is	be	VERB
ajst-3907	102	31	still	still	ADV
ajst-3907	102	32	a	a	DET
ajst-3907	102	33	long	long	ADJ
ajst-3907	102	34	way	way	NOUN
ajst-3907	102	35	to	to	PART
ajst-3907	102	36	go	go	VERB
ajst-3907	102	37	.	.	PUNCT
ajst-3907	103	1	(	(	PUNCT
ajst-3907	103	2	5	5	X
ajst-3907	103	3	)	)	PUNCT
ajst-3907	103	4	the	the	DET
ajst-3907	103	5	pre	pre	ADJ
ajst-3907	103	6	formation	formation	NOUN
ajst-3907	103	7	control	control	NOUN
ajst-3907	103	8	era	era	NOUN
ajst-3907	103	9	is	be	AUX
ajst-3907	103	10	mainly	mainly	ADV
ajst-3907	103	11	for	for	ADP
ajst-3907	103	12	small	small	ADJ
ajst-3907	103	13	-	-	PUNCT
ajst-3907	103	14	scale	scale	NOUN
ajst-3907	103	15	multi	multi	ADJ
ajst-3907	103	16	-	-	ADJ
ajst-3907	103	17	agent	agent	ADJ
ajst-3907	103	18	systems	system	NOUN
ajst-3907	103	19	.	.	PUNCT
ajst-3907	104	1	in	in	ADP
ajst-3907	104	2	the	the	DET
ajst-3907	104	3	post	post	NOUN
ajst-3907	104	4	formation	formation	NOUN
ajst-3907	104	5	control	control	PROPN
ajst-3907	104	6	era	era	NOUN
ajst-3907	104	7	,	,	PUNCT
ajst-3907	104	8	how	how	SCONJ
ajst-3907	104	9	to	to	PART
ajst-3907	104	10	solve	solve	VERB
ajst-3907	104	11	the	the	DET
ajst-3907	104	12	formation	formation	NOUN
ajst-3907	104	13	control	control	NOUN
ajst-3907	104	14	problem	problem	NOUN
ajst-3907	104	15	of	of	ADP
ajst-3907	104	16	large	large	ADJ
ajst-3907	104	17	-	-	PUNCT
ajst-3907	104	18	scale	scale	NOUN
ajst-3907	104	19	systems	system	NOUN
ajst-3907	104	20	becomes	become	VERB
ajst-3907	104	21	the	the	DET
ajst-3907	104	22	first	first	ADJ
ajst-3907	104	23	problem	problem	NOUN
ajst-3907	104	24	to	to	PART
ajst-3907	104	25	be	be	AUX
ajst-3907	104	26	solved	solve	VERB
ajst-3907	104	27	.	.	PUNCT
ajst-3907	105	1	distributed	distribute	VERB
ajst-3907	105	2	control	control	NOUN
ajst-3907	105	3	protocols	protocol	NOUN
ajst-3907	105	4	are	be	AUX
ajst-3907	105	5	very	very	ADV
ajst-3907	105	6	conducive	conducive	ADJ
ajst-3907	105	7	to	to	ADP
ajst-3907	105	8	the	the	DET
ajst-3907	105	9	expansion	expansion	NOUN
ajst-3907	105	10	of	of	ADP
ajst-3907	105	11	multi	multi	ADJ
ajst-3907	105	12	-	-	ADJ
ajst-3907	105	13	agent	agent	ADJ
ajst-3907	105	14	systems	system	NOUN
ajst-3907	105	15	,	,	PUNCT
ajst-3907	105	16	and	and	CCONJ
ajst-3907	105	17	are	be	AUX
ajst-3907	105	18	suitable	suitable	ADJ
ajst-3907	105	19	for	for	ADP
ajst-3907	105	20	solving	solve	VERB
ajst-3907	105	21	the	the	DET
ajst-3907	105	22	coordination	coordination	NOUN
ajst-3907	105	23	problem	problem	NOUN
ajst-3907	105	24	of	of	ADP
ajst-3907	105	25	large	large	ADJ
ajst-3907	105	26	-	-	PUNCT
ajst-3907	105	27	scale	scale	NOUN
ajst-3907	105	28	systems	system	NOUN
ajst-3907	105	29	.	.	PUNCT
ajst-3907	106	1	but	but	CCONJ
ajst-3907	106	2	there	there	PRON
ajst-3907	106	3	are	be	VERB
ajst-3907	106	4	still	still	ADV
ajst-3907	106	5	many	many	ADJ
ajst-3907	106	6	difficulties	difficulty	NOUN
ajst-3907	106	7	.	.	PUNCT
ajst-3907	107	1	for	for	ADP
ajst-3907	107	2	example	example	NOUN
ajst-3907	107	3	,	,	PUNCT
ajst-3907	107	4	the	the	DET
ajst-3907	107	5	distributed	distribute	VERB
ajst-3907	107	6	control	control	NOUN
ajst-3907	107	7	protocol	protocol	NOUN
ajst-3907	107	8	is	be	AUX
ajst-3907	107	9	very	very	ADV
ajst-3907	107	10	effective	effective	ADJ
ajst-3907	107	11	for	for	ADP
ajst-3907	107	12	large	large	ADJ
ajst-3907	107	13	-	-	PUNCT
ajst-3907	107	14	scale	scale	NOUN
ajst-3907	107	15	systems	system	NOUN
ajst-3907	107	16	.	.	PUNCT
ajst-3907	108	1	for	for	ADP
ajst-3907	108	2	the	the	DET
ajst-3907	108	3	formation	formation	NOUN
ajst-3907	108	4	control	control	NOUN
ajst-3907	108	5	problem	problem	NOUN
ajst-3907	108	6	of	of	ADP
ajst-3907	108	7	small	small	ADJ
ajst-3907	108	8	-	-	PUNCT
ajst-3907	108	9	scale	scale	NOUN
ajst-3907	108	10	systems	system	NOUN
ajst-3907	108	11	,	,	PUNCT
ajst-3907	108	12	which	which	PRON
ajst-3907	108	13	is	be	AUX
ajst-3907	108	14	more	more	ADV
ajst-3907	108	15	effective	effective	ADJ
ajst-3907	108	16	,	,	PUNCT
ajst-3907	108	17	distributed	distribute	VERB
ajst-3907	108	18	protocol	protocol	NOUN
ajst-3907	108	19	or	or	CCONJ
ajst-3907	108	20	centralized	centralized	ADJ
ajst-3907	108	21	protocol	protocol	NOUN
ajst-3907	108	22	?	?	PUNCT
ajst-3907	109	1	how	how	SCONJ
ajst-3907	109	2	to	to	PART
ajst-3907	109	3	use	use	VERB
ajst-3907	109	4	radio	radio	NOUN
ajst-3907	109	5	frequency	frequency	NOUN
ajst-3907	109	6	communication	communication	NOUN
ajst-3907	109	7	and	and	CCONJ
ajst-3907	109	8	visual	visual	ADJ
ajst-3907	109	9	communication	communication	NOUN
ajst-3907	109	10	more	more	ADV
ajst-3907	109	11	effectively	effectively	ADV
ajst-3907	109	12	?	?	PUNCT
ajst-3907	110	1	most	most	ADV
ajst-3907	110	2	distributed	distribute	VERB
ajst-3907	110	3	protocols	protocol	NOUN
ajst-3907	110	4	are	be	AUX
ajst-3907	110	5	based	base	VERB
ajst-3907	110	6	on	on	ADP
ajst-3907	110	7	the	the	DET
ajst-3907	110	8	relative	relative	ADJ
ajst-3907	110	9	position	position	NOUN
ajst-3907	110	10	,	,	PUNCT
ajst-3907	110	11	relative	relative	ADJ
ajst-3907	110	12	attitude	attitude	NOUN
ajst-3907	110	13	and	and	CCONJ
ajst-3907	110	14	other	other	ADJ
ajst-3907	110	15	information	information	NOUN
ajst-3907	110	16	between	between	ADP
ajst-3907	110	17	agents	agent	NOUN
ajst-3907	110	18	.	.	PUNCT
ajst-3907	111	1	how	how	SCONJ
ajst-3907	111	2	to	to	PART
ajst-3907	111	3	use	use	VERB
ajst-3907	111	4	limited	limited	ADJ
ajst-3907	111	5	hardware	hardware	NOUN
ajst-3907	111	6	conditions	condition	NOUN
ajst-3907	111	7	to	to	PART
ajst-3907	111	8	obtain	obtain	VERB
ajst-3907	111	9	the	the	DET
ajst-3907	111	10	above	above	ADJ
ajst-3907	111	11	information	information	NOUN
ajst-3907	111	12	as	as	ADV
ajst-3907	111	13	accurately	accurately	ADV
ajst-3907	111	14	as	as	ADP
ajst-3907	111	15	possible	possible	ADJ
ajst-3907	111	16	?	?	PUNCT
ajst-3907	112	1	etc	etc	X
ajst-3907	112	2	.	.	X
ajst-3907	113	1	5	5	X
ajst-3907	113	2	.	.	X
ajst-3907	113	3	conclusion	conclusion	NOUN
ajst-3907	113	4	in	in	ADP
ajst-3907	113	5	this	this	DET
ajst-3907	113	6	paper	paper	NOUN
ajst-3907	113	7	,	,	PUNCT
ajst-3907	113	8	the	the	DET
ajst-3907	113	9	research	research	NOUN
ajst-3907	113	10	progress	progress	NOUN
ajst-3907	113	11	of	of	ADP
ajst-3907	113	12	multi	multi	ADJ
ajst-3907	113	13	-	-	ADJ
ajst-3907	113	14	agent	agent	ADJ
ajst-3907	113	15	formation	formation	NOUN
ajst-3907	113	16	control	control	NOUN
ajst-3907	113	17	and	and	CCONJ
ajst-3907	113	18	its	its	PRON
ajst-3907	113	19	derivatives	derivative	NOUN
ajst-3907	113	20	at	at	ADP
ajst-3907	113	21	home	home	NOUN
ajst-3907	113	22	and	and	CCONJ
ajst-3907	113	23	abroad	abroad	ADV
ajst-3907	113	24	in	in	ADP
ajst-3907	113	25	recent	recent	ADJ
ajst-3907	113	26	years	year	NOUN
ajst-3907	113	27	is	be	AUX
ajst-3907	113	28	reviewed	review	VERB
ajst-3907	113	29	,	,	PUNCT
ajst-3907	113	30	and	and	CCONJ
ajst-3907	113	31	the	the	DET
ajst-3907	113	32	possible	possible	ADJ
ajst-3907	113	33	development	development	NOUN
ajst-3907	113	34	directions	direction	NOUN
ajst-3907	113	35	of	of	ADP
ajst-3907	113	36	some	some	DET
ajst-3907	113	37	problems	problem	NOUN
ajst-3907	113	38	related	relate	VERB
ajst-3907	113	39	to	to	ADP
ajst-3907	113	40	multi	multi	ADJ
ajst-3907	113	41	-	-	ADJ
ajst-3907	113	42	agent	agent	ADJ
ajst-3907	113	43	formation	formation	NOUN
ajst-3907	113	44	control	control	NOUN
ajst-3907	113	45	are	be	AUX
ajst-3907	113	46	listed	list	VERB
ajst-3907	113	47	.	.	PUNCT
ajst-3907	114	1	the	the	DET
ajst-3907	114	2	research	research	NOUN
ajst-3907	114	3	on	on	ADP
ajst-3907	114	4	problems	problem	NOUN
ajst-3907	114	5	related	relate	VERB
ajst-3907	114	6	to	to	ADP
ajst-3907	114	7	multiagent	multiagent	NOUN
ajst-3907	114	8	formation	formation	NOUN
ajst-3907	114	9	control	control	NOUN
ajst-3907	114	10	involves	involve	VERB
ajst-3907	114	11	a	a	DET
ajst-3907	114	12	wide	wide	ADJ
ajst-3907	114	13	range	range	NOUN
ajst-3907	114	14	of	of	ADP
ajst-3907	114	15	contents	content	NOUN
ajst-3907	114	16	.	.	PUNCT
ajst-3907	115	1	it	it	PRON
ajst-3907	115	2	is	be	AUX
ajst-3907	115	3	believed	believe	VERB
ajst-3907	115	4	that	that	SCONJ
ajst-3907	115	5	in	in	ADP
ajst-3907	115	6	the	the	DET
ajst-3907	115	7	next	next	ADJ
ajst-3907	115	8	decade	decade	NOUN
ajst-3907	115	9	,	,	PUNCT
ajst-3907	115	10	many	many	ADJ
ajst-3907	115	11	problems	problem	NOUN
ajst-3907	115	12	related	relate	VERB
ajst-3907	115	13	to	to	ADP
ajst-3907	115	14	formation	formation	NOUN
ajst-3907	115	15	control	control	NOUN
ajst-3907	115	16	will	will	AUX
ajst-3907	115	17	be	be	AUX
ajst-3907	115	18	solved	solve	VERB
ajst-3907	115	19	with	with	ADP
ajst-3907	115	20	the	the	DET
ajst-3907	115	21	development	development	NOUN
ajst-3907	115	22	of	of	ADP
ajst-3907	115	23	other	other	ADJ
ajst-3907	115	24	related	related	ADJ
ajst-3907	115	25	disciplines	discipline	NOUN
ajst-3907	115	26	and	and	CCONJ
ajst-3907	115	27	technologies	technology	NOUN
ajst-3907	115	28	,	,	PUNCT
ajst-3907	115	29	and	and	CCONJ
ajst-3907	115	30	will	will	AUX
ajst-3907	115	31	also	also	ADV
ajst-3907	115	32	be	be	AUX
ajst-3907	115	33	applied	apply	VERB
ajst-3907	115	34	in	in	ADP
ajst-3907	115	35	more	more	ADJ
ajst-3907	115	36	fields	field	NOUN
ajst-3907	115	37	.	.	PUNCT
ajst-3907	116	1	references	reference	NOUN
ajst-3907	116	2	[	[	X
ajst-3907	116	3	1	1	NUM
ajst-3907	116	4	]	]	X
ajst-3907	116	5	jia	jia	PROPN
ajst-3907	116	6	yongnan	yongnan	PROPN
ajst-3907	116	7	,	,	PUNCT
ajst-3907	116	8	li	li	PROPN
ajst-3907	116	9	qing	qing	PROPN
ajst-3907	116	10	.	.	PUNCT
ajst-3907	117	1	research	research	NOUN
ajst-3907	117	2	progress	progress	NOUN
ajst-3907	117	3	in	in	ADP
ajst-3907	117	4	multi	multi	ADJ
ajst-3907	117	5	robot	robot	NOUN
ajst-3907	117	6	formation	formation	NOUN
ajst-3907	117	7	control	control	NOUN
ajst-3907	118	1	[	[	X
ajst-3907	118	2	j	j	X
ajst-3907	118	3	]	]	X
ajst-3907	118	4	.	.	PUNCT
ajst-3907	119	1	journal	journal	PROPN
ajst-3907	119	2	of	of	ADP
ajst-3907	119	3	engineering	engineering	NOUN
ajst-3907	119	4	science	science	NOUN
ajst-3907	119	5	,	,	PUNCT
ajst-3907	119	6	2018	2018	NUM
ajst-3907	119	7	(	(	PUNCT
ajst-3907	119	8	8)	8)	NUM
ajst-3907	119	9	:	:	PUNCT
ajst-3907	119	10	893	893	NUM
ajst-3907	119	11	-	-	SYM
ajst-3907	119	12	900	900	NUM
ajst-3907	119	13	.	.	PUNCT
ajst-3907	120	1	[	[	X
ajst-3907	120	2	2	2	X
ajst-3907	120	3	]	]	X
ajst-3907	120	4	liu	liu	PROPN
ajst-3907	120	5	haiguang	haiguang	PROPN
ajst-3907	120	6	,	,	PUNCT
ajst-3907	120	7	sun	sun	NOUN
ajst-3907	120	8	mingtai	mingtai	NOUN
ajst-3907	120	9	,	,	PUNCT
ajst-3907	120	10	wang	wang	PROPN
ajst-3907	120	11	guiqin	guiqin	PROPN
ajst-3907	120	12	.	.	PUNCT
ajst-3907	121	1	long	long	ADJ
ajst-3907	121	2	range	range	PROPN
ajst-3907	121	3	underwater	underwater	ADJ
ajst-3907	121	4	weapon	weapon	NOUN
ajst-3907	121	5	route	route	NOUN
ajst-3907	121	6	planning	planning	NOUN
ajst-3907	121	7	based	base	VERB
ajst-3907	121	8	on	on	ADP
ajst-3907	121	9	potential	potential	ADJ
ajst-3907	121	10	field	field	NOUN
ajst-3907	121	11	inspired	inspire	VERB
ajst-3907	121	12	ant	ant	ADJ
ajst-3907	121	13	colony	colony	NOUN
ajst-3907	121	14	algorithm	algorithm	NOUN
ajst-3907	122	1	[	[	X
ajst-3907	122	2	j	j	X
ajst-3907	122	3	]	]	X
ajst-3907	122	4	.	.	PUNCT
ajst-3907	123	1	command	command	NOUN
ajst-3907	123	2	control	control	NOUN
ajst-3907	123	3	and	and	CCONJ
ajst-3907	123	4	simulation	simulation	NOUN
ajst-3907	123	5	,	,	PUNCT
ajst-3907	123	6	2016	2016	NUM
ajst-3907	123	7	,	,	PUNCT
ajst-3907	123	8	38	38	NUM
ajst-3907	123	9	(	(	PUNCT
ajst-3907	123	10	6	6	NUM
ajst-3907	123	11	):	):	PUNCT
ajst-3907	123	12	42	42	NUM
ajst-3907	123	13	-	-	SYM
ajst-3907	123	14	45	45	NUM
ajst-3907	123	15	.	.	PUNCT
ajst-3907	124	1	[	[	X
ajst-3907	124	2	3	3	X
ajst-3907	124	3	]	]	X
ajst-3907	124	4	zhang	zhang	PROPN
ajst-3907	124	5	guoxiu	guoxiu	PROPN
ajst-3907	124	6	,	,	PUNCT
ajst-3907	124	7	deng	deng	PROPN
ajst-3907	124	8	hongbin	hongbin	PROPN
ajst-3907	124	9	,	,	PUNCT
ajst-3907	124	10	zhao	zhao	PROPN
ajst-3907	124	11	na	na	PROPN
ajst-3907	124	12	,	,	PUNCT
ajst-3907	124	13	et	et	PROPN
ajst-3907	124	14	al	al	PROPN
ajst-3907	124	15	.	.	PUNCT
ajst-3907	125	1	multi	multi	PROPN
ajst-3907	125	2	robot	robot	NOUN
ajst-3907	125	3	formation	formation	NOUN
ajst-3907	125	4	algorithm	algorithm	NOUN
ajst-3907	125	5	based	base	VERB
ajst-3907	125	6	on	on	ADP
ajst-3907	125	7	fuzzy	fuzzy	ADJ
ajst-3907	125	8	control	control	NOUN
ajst-3907	125	9	in	in	ADP
ajst-3907	125	10	unknown	unknown	ADJ
ajst-3907	125	11	environment	environment	NOUN
ajst-3907	126	1	[	[	X
ajst-3907	126	2	j	j	X
ajst-3907	126	3	]	]	X
ajst-3907	126	4	.	.	PUNCT
ajst-3907	127	1	journal	journal	PROPN
ajst-3907	127	2	of	of	ADP
ajst-3907	127	3	command	command	NOUN
ajst-3907	127	4	and	and	CCONJ
ajst-3907	127	5	control	control	NOUN
ajst-3907	127	6	,	,	PUNCT
ajst-3907	127	7	2016	2016	NUM
ajst-3907	127	8	,	,	PUNCT
ajst-3907	127	9	2	2	NUM
ajst-3907	127	10	(	(	PUNCT
ajst-3907	127	11	3	3	NUM
ajst-3907	127	12	):	):	PUNCT
ajst-3907	127	13	182	182	NUM
ajst-3907	127	14	-	-	SYM
ajst-3907	127	15	187	187	NUM
ajst-3907	127	16	.	.	PUNCT
ajst-3907	128	1	[	[	X
ajst-3907	128	2	4	4	X
ajst-3907	128	3	]	]	X
ajst-3907	128	4	ji	ji	PROPN
ajst-3907	128	5	youzhou	youzhou	PROPN
ajst-3907	128	6	.	.	PUNCT
ajst-3907	129	1	global	global	ADJ
ajst-3907	129	2	path	path	PROPN
ajst-3907	129	3	planning	planning	NOUN
ajst-3907	129	4	of	of	ADP
ajst-3907	129	5	a	a	DET
ajst-3907	129	6	target	target	NOUN
ajst-3907	129	7	potential	potential	ADJ
ajst-3907	129	8	field	field	NOUN
ajst-3907	129	9	heuristic	heuristic	ADJ
ajst-3907	129	10	ant	ant	ADJ
ajst-3907	129	11	colony	colony	NOUN
ajst-3907	129	12	algorithm	algorithm	NOUN
ajst-3907	130	1	[	[	X
ajst-3907	130	2	j	j	X
ajst-3907	130	3	]	]	X
ajst-3907	130	4	.	.	PUNCT
ajst-3907	131	1	information	information	NOUN
ajst-3907	131	2	and	and	CCONJ
ajst-3907	131	3	computer	computer	NOUN
ajst-3907	131	4	,	,	PUNCT
ajst-3907	131	5	2016	2016	NUM
ajst-3907	131	6	(	(	PUNCT
ajst-3907	131	7	24	24	NUM
ajst-3907	131	8	):	):	PUNCT
ajst-3907	131	9	124	124	NUM
ajst-3907	131	10	-	-	SYM
ajst-3907	131	11	125	125	NUM
ajst-3907	131	12	.	.	PUNCT
ajst-3907	132	1	[	[	X
ajst-3907	132	2	5	5	NUM
ajst-3907	132	3	]	]	X
ajst-3907	132	4	cheng	cheng	PROPN
ajst-3907	132	5	huifang	huifang	PROPN
ajst-3907	132	6	,	,	PUNCT
ajst-3907	132	7	ma	ma	PROPN
ajst-3907	132	8	liyan	liyan	PROPN
ajst-3907	132	9	,	,	PUNCT
ajst-3907	132	10	jia	jia	PROPN
ajst-3907	132	11	dongli	dongli	PROPN
ajst-3907	132	12	.	.	PUNCT
ajst-3907	133	1	research	research	NOUN
ajst-3907	133	2	on	on	ADP
ajst-3907	133	3	multi	multi	ADJ
ajst-3907	133	4	robot	robot	NOUN
ajst-3907	133	5	formation	formation	NOUN
ajst-3907	133	6	tracking	track	VERB
ajst-3907	133	7	track	track	NOUN
ajst-3907	133	8	control	control	NOUN
ajst-3907	134	1	[	[	X
ajst-3907	134	2	j	j	X
ajst-3907	134	3	]	]	X
ajst-3907	134	4	.	.	PUNCT
ajst-3907	135	1	computer	computer	NOUN
ajst-3907	135	2	simulation	simulation	NOUN
ajst-3907	135	3	,	,	PUNCT
ajst-3907	135	4	2018	2018	NUM
ajst-3907	135	5	(	(	PUNCT
ajst-3907	135	6	2	2	NUM
ajst-3907	135	7	):	):	PUNCT
ajst-3907	135	8	235	235	NUM
ajst-3907	135	9	-	-	SYM
ajst-3907	135	10	238	238	NUM
ajst-3907	135	11	.	.	PUNCT
ajst-3907	135	12	61	61	NUM
ajst-3907	136	1	[	[	SYM
ajst-3907	136	2	6	6	NUM
ajst-3907	136	3	]	]	X
ajst-3907	136	4	shi	shi	PROPN
ajst-3907	136	5	wuxi	wuxi	PROPN
ajst-3907	136	6	,	,	PUNCT
ajst-3907	136	7	wang	wang	PROPN
ajst-3907	136	8	dongwei	dongwei	PROPN
ajst-3907	136	9	,	,	PUNCT
ajst-3907	136	10	li	li	PROPN
ajst-3907	136	11	baoquan	baoquan	PROPN
ajst-3907	136	12	.	.	PUNCT
ajst-3907	137	1	multi	multi	PROPN
ajst-3907	137	2	robot	robot	PROPN
ajst-3907	137	3	pilot	pilot	NOUN
ajst-3907	137	4	follow	follow	VERB
ajst-3907	137	5	formation	formation	NOUN
ajst-3907	137	6	control	control	NOUN
ajst-3907	138	1	[	[	X
ajst-3907	138	2	j	j	X
ajst-3907	138	3	]	]	X
ajst-3907	138	4	.	.	PUNCT
ajst-3907	139	1	journal	journal	PROPN
ajst-3907	139	2	of	of	ADP
ajst-3907	139	3	tianjin	tianjin	PROPN
ajst-3907	139	4	university	university	PROPN
ajst-3907	139	5	of	of	ADP
ajst-3907	139	6	technology	technology	NOUN
ajst-3907	139	7	,	,	PUNCT
ajst-3907	139	8	2018	2018	NUM
ajst-3907	139	9	(	(	PUNCT
ajst-3907	139	10	2	2	NUM
ajst-3907	139	11	):	):	PUNCT
ajst-3907	139	12	72	72	NUM
ajst-3907	139	13	-	-	SYM
ajst-3907	139	14	78	78	NUM
ajst-3907	139	15	.	.	PUNCT
ajst-3907	140	1	[	[	X
ajst-3907	140	2	7	7	X
ajst-3907	140	3	]	]	X
ajst-3907	140	4	ren	ren	PROPN
ajst-3907	140	5	dehua	dehua	PROPN
ajst-3907	140	6	,	,	PUNCT
ajst-3907	140	7	lu	lu	PROPN
ajst-3907	140	8	guizhang	guizhang	PROPN
ajst-3907	140	9	thinking	think	VERB
ajst-3907	140	10	about	about	ADP
ajst-3907	140	11	formation	formation	NOUN
ajst-3907	140	12	control	control	NOUN
ajst-3907	140	13	control	control	NOUN
ajst-3907	140	14	and	and	CCONJ
ajst-3907	140	15	decision	decision	NOUN
ajst-3907	140	16	-	-	PUNCT
ajst-3907	140	17	making	making	NOUN
ajst-3907	140	18	,	,	PUNCT
ajst-3907	140	19	2005	2005	NUM
ajst-3907	140	20	,	,	PUNCT
ajst-3907	140	21	20	20	NUM
ajst-3907	140	22	(	(	PUNCT
ajst-3907	140	23	6	6	NUM
ajst-3907	140	24	):	):	PUNCT
ajst-3907	140	25	601	601	NUM
ajst-3907	140	26	-	-	NUM
ajst-3907	140	27	606	606	NUM
ajst-3907	140	28	.	.	PUNCT
ajst-3907	141	1	[	[	X
ajst-3907	141	2	8	8	NUM
ajst-3907	141	3	]	]	X
ajst-3907	141	4	chen	chen	PROPN
ajst-3907	141	5	yangquan	yangquan	PROPN
ajst-3907	141	6	,	,	PUNCT
ajst-3907	141	7	wang	wang	PROPN
ajst-3907	141	8	zhongmin	zhongmin	PROPN
ajst-3907	141	9	.	.	PUNCT
ajst-3907	141	10	formation	formation	NOUN
ajst-3907	141	11	control	control	NOUN
ajst-3907	141	12	:	:	PUNCT
ajst-3907	141	13	a	a	DET
ajst-3907	141	14	review	review	NOUN
ajst-3907	141	15	and	and	CCONJ
ajst-3907	141	16	a	a	DET
ajst-3907	141	17	new	new	ADJ
ajst-3907	141	18	consideration	consideration	NOUN
ajst-3907	141	19	.	.	PUNCT
ajst-3907	142	1	in	in	ADP
ajst-3907	142	2	:	:	PUNCT
ajst-3907	142	3	proceedings	proceeding	NOUN
ajst-3907	142	4	of	of	ADP
ajst-3907	142	5	the	the	DET
ajst-3907	142	6	2005	2005	NUM
ajst-3907	142	7	ieee	ieee	NOUN
ajst-3907	142	8	/	/	SYM
ajst-3907	142	9	rsj	rsj	NOUN
ajst-3907	142	10	international	international	ADJ
ajst-3907	142	11	conference	conference	NOUN
ajst-3907	142	12	on	on	ADP
ajst-3907	142	13	intelligent	intelligent	ADJ
ajst-3907	142	14	robots	robot	NOUN
ajst-3907	142	15	and	and	CCONJ
ajst-3907	142	16	systems	system	NOUN
ajst-3907	142	17	.	.	PUNCT
ajst-3907	143	1	edmonton	edmonton	PROPN
ajst-3907	143	2	,	,	PUNCT
ajst-3907	143	3	canada	canada	PROPN
ajst-3907	143	4	,	,	PUNCT
ajst-3907	143	5	2005	2005	NUM
ajst-3907	143	6	.	.	PUNCT
ajst-3907	144	1	3181	3181	NUM
ajst-3907	144	2	-	-	SYM
ajst-3907	144	3	3186	3186	NUM
ajst-3907	144	4	.	.	PUNCT
ajst-3907	145	1	[	[	X
ajst-3907	145	2	9	9	NUM
ajst-3907	145	3	]	]	X
ajst-3907	145	4	desai	desai	PROPN
ajst-3907	145	5	j.	j.	PROPN
ajst-3907	145	6	p	p	PROPN
ajst-3907	145	7	,	,	PUNCT
ajst-3907	145	8	ostrowski	ostrowski	PROPN
ajst-3907	145	9	j	j	PROPN
ajst-3907	145	10	,	,	PUNCT
ajst-3907	145	11	kumar	kumar	PROPN
ajst-3907	145	12	v.	v.	ADP
ajst-3907	145	13	controlling	control	VERB
ajst-3907	145	14	formations	formation	NOUN
ajst-3907	145	15	of	of	ADP
ajst-3907	145	16	multiple	multiple	ADJ
ajst-3907	145	17	mobile	mobile	ADJ
ajst-3907	145	18	robots	robot	NOUN
ajst-3907	145	19	.	.	PUNCT
ajst-3907	146	1	in	in	ADP
ajst-3907	146	2	:	:	PUNCT
ajst-3907	146	3	proceedings	proceeding	NOUN
ajst-3907	146	4	of	of	ADP
ajst-3907	146	5	ieee	ieee	PROPN
ajst-3907	146	6	international	international	ADJ
ajst-3907	146	7	conference	conference	NOUN
ajst-3907	146	8	on	on	ADP
ajst-3907	146	9	robotics	robotic	NOUN
ajst-3907	146	10	and	and	CCONJ
ajst-3907	146	11	automation	automation	NOUN
ajst-3907	146	12	.	.	PUNCT
ajst-3907	147	1	leuven	leuven	PROPN
ajst-3907	147	2	,	,	PUNCT
ajst-3907	147	3	belgium	belgium	NOUN
ajst-3907	147	4	,	,	PUNCT
ajst-3907	147	5	1998	1998	NUM
ajst-3907	147	6	.	.	PUNCT
ajst-3907	148	1	2864	2864	NUM
ajst-3907	148	2	-	-	SYM
ajst-3907	148	3	2869	2869	NUM
ajst-3907	148	4	.	.	PUNCT
ajst-3907	149	1	[	[	X
ajst-3907	149	2	10	10	NUM
ajst-3907	149	3	]	]	X
ajst-3907	149	4	takahashi	takahashi	PROPN
ajst-3907	149	5	h	h	PROPN
ajst-3907	149	6	,	,	PUNCT
ajst-3907	149	7	nishi	nishi	ADJ
ajst-3907	149	8	h	h	NOUN
ajst-3907	149	9	,	,	PUNCT
ajst-3907	149	10	ohnishi	ohnishi	PROPN
ajst-3907	149	11	k.	k.	PROPN
ajst-3907	149	12	autonomous	autonomous	PROPN
ajst-3907	149	13	decentralized	decentralize	VERB
ajst-3907	149	14	control	control	NOUN
ajst-3907	149	15	for	for	ADP
ajst-3907	149	16	formation	formation	NOUN
ajst-3907	149	17	of	of	ADP
ajst-3907	149	18	multiple	multiple	ADJ
ajst-3907	149	19	mobile	mobile	ADJ
ajst-3907	149	20	robots	robot	NOUN
ajst-3907	149	21	considering	consider	VERB
ajst-3907	149	22	ability	ability	NOUN
ajst-3907	149	23	of	of	ADP
ajst-3907	149	24	robot	robot	NOUN
ajst-3907	149	25	.	.	PUNCT
ajst-3907	150	1	ieee	ieee	NOUN
ajst-3907	150	2	transactions	transaction	NOUN
ajst-3907	150	3	on	on	ADP
ajst-3907	150	4	industrial	industrial	ADJ
ajst-3907	150	5	electronics	electronic	NOUN
ajst-3907	150	6	,	,	PUNCT
ajst-3907	150	7	2004	2004	NUM
ajst-3907	150	8	,	,	PUNCT
ajst-3907	150	9	51(6):1272~1279	51(6):1272~1279	NUM
ajst-3907	150	10	.	.	PUNCT
ajst-3907	151	1	[	[	X
ajst-3907	151	2	11	11	NUM
ajst-3907	151	3	]	]	X
ajst-3907	151	4	shao	shao	PROPN
ajst-3907	151	5	jinyan	jinyan	PROPN
ajst-3907	151	6	,	,	PUNCT
ajst-3907	151	7	xie	xie	PROPN
ajst-3907	151	8	guangming	guangming	PROPN
ajst-3907	151	9	,	,	PUNCT
ajst-3907	151	10	yu	yu	PROPN
ajst-3907	151	11	junzhi	junzhi	PROPN
ajst-3907	151	12	,	,	PUNCT
ajst-3907	151	13	et	et	PROPN
ajst-3907	151	14	al	al	PROPN
ajst-3907	151	15	.	.	PUNCT
ajst-3907	152	1	a	a	DET
ajst-3907	152	2	tracking	track	VERB
ajst-3907	152	3	controller	controller	NOUN
ajst-3907	152	4	for	for	ADP
ajst-3907	152	5	motion	motion	NOUN
ajst-3907	152	6	coordination	coordination	NOUN
ajst-3907	152	7	of	of	ADP
ajst-3907	152	8	multiple	multiple	ADJ
ajst-3907	152	9	mobile	mobile	ADJ
ajst-3907	152	10	robots	robot	NOUN
ajst-3907	152	11	.	.	PUNCT
ajst-3907	153	1	in	in	ADP
ajst-3907	153	2	:	:	PUNCT
ajst-3907	153	3	proceedings	proceeding	NOUN
ajst-3907	153	4	of	of	ADP
ajst-3907	153	5	the	the	DET
ajst-3907	153	6	2005	2005	NUM
ajst-3907	153	7	ieee	ieee	NOUN
ajst-3907	153	8	/	/	SYM
ajst-3907	153	9	rsj	rsj	NOUN
ajst-3907	153	10	international	international	ADJ
ajst-3907	153	11	conference	conference	NOUN
ajst-3907	153	12	on	on	ADP
ajst-3907	153	13	intelligent	intelligent	ADJ
ajst-3907	153	14	robots	robot	NOUN
ajst-3907	153	15	and	and	CCONJ
ajst-3907	153	16	systems	system	NOUN
ajst-3907	153	17	.	.	PUNCT
ajst-3907	154	1	edmonton	edmonton	PROPN
ajst-3907	154	2	,	,	PUNCT
ajst-3907	154	3	canada	canada	PROPN
ajst-3907	154	4	,	,	PUNCT
ajst-3907	154	5	2005	2005	NUM
ajst-3907	154	6	.	.	PUNCT
ajst-3907	155	1	783~788	783~788	NOUN
ajst-3907	155	2	.	.	PUNCT
ajst-3907	156	1	[	[	X
ajst-3907	156	2	12	12	NUM
ajst-3907	156	3	]	]	X
ajst-3907	156	4	beard	beard	PROPN
ajst-3907	156	5	r.	r.	PROPN
ajst-3907	156	6	w	w	PROPN
ajst-3907	156	7	,	,	PUNCT
ajst-3907	156	8	lawton	lawton	PROPN
ajst-3907	156	9	j	j	PROPN
ajst-3907	156	10	,	,	PUNCT
ajst-3907	156	11	hadaegh	hadaegh	VERB
ajst-3907	156	12	f.	f.	PROPN
ajst-3907	156	13	y.	y.	PROPN
ajst-3907	156	14	a	a	DET
ajst-3907	156	15	feedback	feedback	NOUN
ajst-3907	156	16	architecture	architecture	NOUN
ajst-3907	156	17	for	for	ADP
ajst-3907	156	18	formation	formation	NOUN
ajst-3907	156	19	control	control	NOUN
ajst-3907	156	20	.	.	PUNCT
ajst-3907	157	1	in	in	ADP
ajst-3907	157	2	:	:	PUNCT
ajst-3907	157	3	proceedings	proceeding	NOUN
ajst-3907	157	4	of	of	ADP
ajst-3907	157	5	the	the	DET
ajst-3907	157	6	american	american	PROPN
ajst-3907	157	7	control	control	PROPN
ajst-3907	157	8	conference	conference	PROPN
ajst-3907	157	9	.	.	PUNCT
ajst-3907	158	1	phoenix	phoenix	PROPN
ajst-3907	158	2	,	,	PUNCT
ajst-3907	158	3	arizona	arizona	PROPN
ajst-3907	158	4	,	,	PUNCT
ajst-3907	158	5	2000	2000	NUM
ajst-3907	158	6	.	.	PUNCT
ajst-3907	159	1	4087~4091	4087~4091	NOUN
ajst-3907	159	2	.	.	PUNCT
ajst-3907	160	1	[	[	X
ajst-3907	160	2	13	13	NUM
ajst-3907	160	3	]	]	PUNCT
ajst-3907	160	4	balch	balch	PROPN
ajst-3907	160	5	t	t	PROPN
ajst-3907	160	6	,	,	PUNCT
ajst-3907	160	7	arkin	arkin	PROPN
ajst-3907	160	8	r.	r.	PROPN
ajst-3907	160	9	c.	c.	PROPN
ajst-3907	160	10	behavior	behavior	PROPN
ajst-3907	160	11	-	-	PUNCT
ajst-3907	160	12	based	base	VERB
ajst-3907	160	13	formation	formation	NOUN
ajst-3907	160	14	control	control	NOUN
ajst-3907	160	15	for	for	ADP
ajst-3907	160	16	multi	multi	ADJ
ajst-3907	160	17	robot	robot	NOUN
ajst-3907	160	18	teams	team	NOUN
ajst-3907	160	19	.	.	PUNCT
ajst-3907	161	1	ieee	ieee	NOUN
ajst-3907	161	2	transactions	transaction	NOUN
ajst-3907	161	3	on	on	ADP
ajst-3907	161	4	robotics	robotic	NOUN
ajst-3907	161	5	and	and	CCONJ
ajst-3907	161	6	automation	automation	NOUN
ajst-3907	161	7	,	,	PUNCT
ajst-3907	161	8	1998	1998	NUM
ajst-3907	161	9	,	,	PUNCT
ajst-3907	161	10	14(6):926	14(6):926	NUM
ajst-3907	161	11	-	-	SYM
ajst-3907	161	12	939	939	NUM
ajst-3907	161	13	.	.	PUNCT
ajst-3907	162	1	[	[	X
ajst-3907	162	2	14	14	NUM
ajst-3907	162	3	]	]	X
ajst-3907	162	4	cao	cao	PROPN
ajst-3907	162	5	zhiqiang	zhiqiang	PROPN
ajst-3907	162	6	,	,	PUNCT
ajst-3907	162	7	xie	xie	PROPN
ajst-3907	162	8	liangjun	liangjun	PROPN
ajst-3907	162	9	,	,	PUNCT
ajst-3907	162	10	zhang	zhang	PROPN
ajst-3907	162	11	bin	bin	PROPN
ajst-3907	162	12	.	.	PUNCT
ajst-3907	163	1	formation	formation	NOUN
ajst-3907	163	2	constrained	constrain	VERB
ajst-3907	163	3	multi	multi	ADJ
ajst-3907	163	4	-	-	ADJ
ajst-3907	163	5	robot	robot	ADJ
ajst-3907	163	6	system	system	NOUN
ajst-3907	163	7	in	in	ADP
ajst-3907	163	8	unknown	unknown	ADJ
ajst-3907	163	9	environments	environment	NOUN
ajst-3907	163	10	.	.	PUNCT
ajst-3907	164	1	in	in	ADP
ajst-3907	164	2	:	:	PUNCT
ajst-3907	164	3	proceedings	proceeding	NOUN
ajst-3907	164	4	of	of	ADP
ajst-3907	164	5	ieee	ieee	PROPN
ajst-3907	164	6	international	international	ADJ
ajst-3907	164	7	conference	conference	NOUN
ajst-3907	164	8	on	on	ADP
ajst-3907	164	9	robotics	robotic	NOUN
ajst-3907	164	10	and	and	CCONJ
ajst-3907	164	11	automation	automation	NOUN
ajst-3907	164	12	.	.	PUNCT
ajst-3907	165	1	taipei	taipei	PROPN
ajst-3907	165	2	,	,	PUNCT
ajst-3907	165	3	2003	2003	NUM
ajst-3907	165	4	.	.	PUNCT
ajst-3907	166	1	735	735	NUM
ajst-3907	166	2	-	-	SYM
ajst-3907	166	3	740	740	NUM
ajst-3907	166	4	.	.	PUNCT
ajst-3907	167	1	[	[	X
ajst-3907	167	2	15	15	NUM
ajst-3907	167	3	]	]	X
ajst-3907	167	4	cao	cao	PROPN
ajst-3907	167	5	zhiqiang	zhiqiang	PROPN
ajst-3907	167	6	,	,	PUNCT
ajst-3907	167	7	tan	tan	PROPN
ajst-3907	167	8	min	min	PROPN
ajst-3907	167	9	,	,	PUNCT
ajst-3907	167	10	wang	wang	PROPN
ajst-3907	167	11	shuo	shuo	PROPN
ajst-3907	167	12	,	,	PUNCT
ajst-3907	167	13	et	et	PROPN
ajst-3907	167	14	al	al	PROPN
ajst-3907	167	15	.	.	PUNCT
ajst-3907	168	1	the	the	DET
ajst-3907	168	2	optimization	optimization	NOUN
ajst-3907	168	3	research	research	NOUN
ajst-3907	168	4	of	of	ADP
ajst-3907	168	5	formation	formation	NOUN
ajst-3907	168	6	control	control	NOUN
ajst-3907	168	7	for	for	ADP
ajst-3907	168	8	multiple	multiple	ADJ
ajst-3907	168	9	mobile	mobile	ADJ
ajst-3907	168	10	robots	robot	NOUN
ajst-3907	168	11	.	.	PUNCT
ajst-3907	169	1	in	in	ADP
ajst-3907	169	2	:	:	PUNCT
ajst-3907	169	3	proceedings	proceeding	NOUN
ajst-3907	169	4	of	of	ADP
ajst-3907	169	5	the	the	DET
ajst-3907	169	6	4th	4th	ADJ
ajst-3907	169	7	world	world	NOUN
ajst-3907	169	8	congress	congress	PROPN
ajst-3907	169	9	on	on	ADP
ajst-3907	169	10	intelligent	intelligent	ADJ
ajst-3907	169	11	control	control	NOUN
ajst-3907	169	12	and	and	CCONJ
ajst-3907	169	13	automation	automation	NOUN
ajst-3907	169	14	.	.	PUNCT
ajst-3907	170	1	shanghai	shanghai	PROPN
ajst-3907	170	2	,	,	PUNCT
ajst-3907	170	3	2002	2002	NUM
ajst-3907	170	4	.	.	PUNCT
ajst-3907	171	1	1270	1270	NUM
ajst-3907	171	2	-	-	SYM
ajst-3907	171	3	1274	1274	NUM
ajst-3907	171	4	.	.	PUNCT
ajst-3907	172	1	[	[	X
ajst-3907	172	2	16	16	NUM
ajst-3907	172	3	]	]	PUNCT
ajst-3907	172	4	dudenhoeffer	dudenhoeffer	NOUN
ajst-3907	172	5	d.	d.	PROPN
ajst-3907	172	6	d	d	PROPN
ajst-3907	172	7	,	,	PUNCT
ajst-3907	173	1	jones	jones	PROPN
ajst-3907	173	2	m.	m.	PROPN
ajst-3907	173	3	p.	p.	PROPN
ajst-3907	173	4	a	a	DET
ajst-3907	173	5	formation	formation	NOUN
ajst-3907	173	6	behavior	behavior	NOUN
ajst-3907	173	7	for	for	ADP
ajst-3907	173	8	large	large	ADJ
ajst-3907	173	9	-	-	PUNCT
ajst-3907	173	10	scale	scale	NOUN
ajst-3907	173	11	micro	micro	NOUN
ajst-3907	173	12	-	-	NOUN
ajst-3907	173	13	robot	robot	ADJ
ajst-3907	173	14	force	force	NOUN
ajst-3907	173	15	deployment	deployment	NOUN
ajst-3907	173	16	.	.	PUNCT
ajst-3907	174	1	in	in	ADP
ajst-3907	174	2	:	:	PUNCT
ajst-3907	174	3	proceedings	proceeding	NOUN
ajst-3907	174	4	of	of	ADP
ajst-3907	174	5	simulation	simulation	NOUN
ajst-3907	174	6	conference	conference	PROPN
ajst-3907	174	7	.	.	PUNCT
ajst-3907	175	1	vancouver	vancouver	PROPN
ajst-3907	175	2	,	,	PUNCT
ajst-3907	175	3	2000	2000	NUM
ajst-3907	175	4	.	.	PUNCT
ajst-3907	176	1	972	972	NUM
ajst-3907	176	2	-	-	SYM
ajst-3907	176	3	982	982	NUM
ajst-3907	176	4	.	.	PUNCT
ajst-3907	177	1	[	[	X
ajst-3907	177	2	17	17	NUM
ajst-3907	177	3	]	]	X
ajst-3907	177	4	monteiro	monteiro	PROPN
ajst-3907	177	5	s	s	PROPN
ajst-3907	177	6	,	,	PUNCT
ajst-3907	177	7	bicho	bicho	PROPN
ajst-3907	177	8	e.	e.	PROPN
ajst-3907	178	1	a	a	DET
ajst-3907	178	2	dynamical	dynamical	ADJ
ajst-3907	178	3	systems	system	NOUN
ajst-3907	178	4	approach	approach	NOUN
ajst-3907	178	5	to	to	ADP
ajst-3907	178	6	behavior	behavior	NOUN
ajst-3907	178	7	-	-	PUNCT
ajst-3907	178	8	based	base	VERB
ajst-3907	178	9	formation	formation	NOUN
ajst-3907	178	10	control	control	NOUN
ajst-3907	178	11	.	.	PUNCT
ajst-3907	179	1	in	in	ADP
ajst-3907	179	2	:	:	PUNCT
ajst-3907	179	3	proceedings	proceeding	NOUN
ajst-3907	179	4	of	of	ADP
ajst-3907	179	5	ieee	ieee	PROPN
ajst-3907	179	6	international	international	ADJ
ajst-3907	179	7	conference	conference	NOUN
ajst-3907	179	8	on	on	ADP
ajst-3907	179	9	robotics	robotic	NOUN
ajst-3907	179	10	and	and	CCONJ
ajst-3907	179	11	automation	automation	NOUN
ajst-3907	179	12	.	.	PUNCT
ajst-3907	180	1	washington	washington	PROPN
ajst-3907	180	2	dc	dc	PROPN
ajst-3907	180	3	,	,	PUNCT
ajst-3907	180	4	2002	2002	NUM
ajst-3907	180	5	.	.	PUNCT
ajst-3907	181	1	2606	2606	NUM
ajst-3907	181	2	-	-	SYM
ajst-3907	181	3	2611	2611	NUM
ajst-3907	181	4	.	.	PUNCT
ajst-3907	182	1	[	[	X
ajst-3907	182	2	18	18	NUM
ajst-3907	182	3	]	]	X
ajst-3907	182	4	ge	ge	PROPN
ajst-3907	182	5	s.	s.	PROPN
ajst-3907	182	6	s	s	PROPN
ajst-3907	182	7	,	,	PUNCT
ajst-3907	182	8	fua	fua	PROPN
ajst-3907	182	9	c.	c.	PROPN
ajst-3907	182	10	h	h	PROPN
ajst-3907	182	11	,	,	PUNCT
ajst-3907	182	12	liew	liew	PROPN
ajst-3907	182	13	w.	w.	PROPN
ajst-3907	182	14	m.	m.	PROPN
ajst-3907	182	15	swarm	swarm	NOUN
ajst-3907	182	16	formations	formation	NOUN
ajst-3907	182	17	using	use	VERB
ajst-3907	182	18	the	the	DET
ajst-3907	182	19	ggeneral	ggeneral	ADJ
ajst-3907	182	20	gormation	gormation	NOUN
ajst-3907	182	21	potential	potential	ADJ
ajst-3907	182	22	function	function	NOUN
ajst-3907	182	23	.	.	PUNCT
ajst-3907	183	1	in	in	ADP
ajst-3907	183	2	:	:	PUNCT
ajst-3907	183	3	proceedings	proceeding	NOUN
ajst-3907	183	4	of	of	ADP
ajst-3907	183	5	the	the	DET
ajst-3907	183	6	2004	2004	NUM
ajst-3907	183	7	ieee	ieee	NOUN
ajst-3907	183	8	conference	conference	NOUN
ajst-3907	183	9	on	on	ADP
ajst-3907	183	10	automation	automation	NOUN
ajst-3907	183	11	and	and	CCONJ
ajst-3907	183	12	mechatronics	mechatronic	NOUN
ajst-3907	183	13	.	.	PUNCT
ajst-3907	183	14	singapore	singapore	PROPN
ajst-3907	183	15	,	,	PUNCT
ajst-3907	183	16	2004	2004	NUM
ajst-3907	183	17	.	.	PUNCT
ajst-3907	184	1	655	655	NUM
ajst-3907	184	2	-	-	SYM
ajst-3907	184	3	660	660	NUM
ajst-3907	184	4	.	.	PUNCT
ajst-3907	185	1	[	[	X
ajst-3907	185	2	19	19	NUM
ajst-3907	185	3	]	]	PUNCT
ajst-3907	185	4	leonard	leonard	PROPN
ajst-3907	185	5	n.	n.	PROPN
ajst-3907	185	6	e	e	PROPN
ajst-3907	185	7	,	,	PUNCT
ajst-3907	185	8	fiorelli	fiorelli	PROPN
ajst-3907	185	9	e.	e.	PROPN
ajst-3907	185	10	virtual	virtual	PROPN
ajst-3907	185	11	leader	leader	NOUN
ajst-3907	185	12	,	,	PUNCT
ajst-3907	185	13	artificial	artificial	ADJ
ajst-3907	185	14	potentials	potential	NOUN
ajst-3907	185	15	and	and	CCONJ
ajst-3907	185	16	coordinated	coordinated	ADJ
ajst-3907	185	17	control	control	NOUN
ajst-3907	185	18	of	of	ADP
ajst-3907	185	19	groups	group	NOUN
ajst-3907	185	20	.	.	PUNCT
ajst-3907	186	1	in	in	ADP
ajst-3907	186	2	:	:	PUNCT
ajst-3907	186	3	proceedings	proceeding	NOUN
ajst-3907	186	4	of	of	ADP
ajst-3907	186	5	the	the	DET
ajst-3907	186	6	40th	40th	ADJ
ajst-3907	186	7	ieee	ieee	NOUN
ajst-3907	186	8	conference	conference	NOUN
ajst-3907	186	9	on	on	ADP
ajst-3907	186	10	decision	decision	NOUN
ajst-3907	186	11	and	and	CCONJ
ajst-3907	186	12	control	control	NOUN
ajst-3907	186	13	.	.	PUNCT
ajst-3907	187	1	orlando	orlando	PROPN
ajst-3907	187	2	,	,	PUNCT
ajst-3907	187	3	florida	florida	PROPN
ajst-3907	187	4	,	,	PUNCT
ajst-3907	187	5	2001	2001	NUM
ajst-3907	187	6	.	.	PUNCT
ajst-3907	188	1	2968	2968	NUM
ajst-3907	188	2	-	-	SYM
ajst-3907	188	3	2973	2973	NUM
ajst-3907	188	4	.	.	PUNCT
ajst-3907	189	1	[	[	X
ajst-3907	189	2	20	20	NUM
ajst-3907	189	3	]	]	PUNCT
ajst-3907	189	4	xi	xi	X
ajst-3907	189	5	xiaorui	xiaorui	PROPN
ajst-3907	189	6	,	,	PUNCT
ajst-3907	189	7	abed	abe	VERB
ajst-3907	189	8	e.	e.	PROPN
ajst-3907	189	9	h.	h.	PROPN
ajst-3907	189	10	formation	formation	PROPN
ajst-3907	189	11	control	control	NOUN
ajst-3907	189	12	with	with	ADP
ajst-3907	189	13	virtual	virtual	ADJ
ajst-3907	189	14	leaders	leader	NOUN
ajst-3907	189	15	and	and	CCONJ
ajst-3907	189	16	reduced	reduced	ADJ
ajst-3907	189	17	communications	communication	NOUN
ajst-3907	189	18	.	.	PUNCT
ajst-3907	190	1	in	in	ADP
ajst-3907	190	2	:	:	PUNCT
ajst-3907	190	3	proceedings	proceeding	NOUN
ajst-3907	190	4	of	of	ADP
ajst-3907	190	5	the	the	DET
ajst-3907	190	6	44th	44th	ADJ
ajst-3907	190	7	ieee	ieee	NOUN
ajst-3907	190	8	conference	conference	NOUN
ajst-3907	190	9	on	on	ADP
ajst-3907	190	10	decision	decision	NOUN
ajst-3907	190	11	and	and	CCONJ
ajst-3907	190	12	control	control	NOUN
ajst-3907	190	13	.	.	PUNCT
ajst-3907	191	1	seville	seville	PROPN
ajst-3907	191	2	,	,	PUNCT
ajst-3907	191	3	spain	spain	PROPN
ajst-3907	191	4	,	,	PUNCT
ajst-3907	191	5	2005	2005	NUM
ajst-3907	191	6	.	.	PUNCT
ajst-3907	192	1	1854	1854	NUM
ajst-3907	192	2	-	-	SYM
ajst-3907	192	3	1860	1860	NUM
ajst-3907	192	4	.	.	PUNCT
ajst-3907	193	1	[	[	X
ajst-3907	193	2	21	21	NUM
ajst-3907	193	3	]	]	X
ajst-3907	193	4	baras	baras	PROPN
ajst-3907	193	5	j.	j.	PROPN
ajst-3907	193	6	s	s	PROPN
ajst-3907	193	7	,	,	PUNCT
ajst-3907	193	8	tan	tan	PROPN
ajst-3907	193	9	xiaobo	xiaobo	PROPN
ajst-3907	193	10	,	,	PUNCT
ajst-3907	193	11	hovareshti	hovareshti	PROPN
ajst-3907	193	12	p.	p.	PROPN
ajst-3907	193	13	decentralized	decentralize	VERB
ajst-3907	193	14	control	control	NOUN
ajst-3907	193	15	of	of	ADP
ajst-3907	193	16	autonomous	autonomous	ADJ
ajst-3907	193	17	vehicles	vehicle	NOUN
ajst-3907	193	18	.	.	PUNCT
ajst-3907	194	1	in	in	ADP
ajst-3907	194	2	:	:	PUNCT
ajst-3907	194	3	proceedings	proceeding	NOUN
ajst-3907	194	4	of	of	ADP
ajst-3907	194	5	the	the	DET
ajst-3907	194	6	42nd	42nd	PROPN
ajst-3907	194	7	ieee	ieee	NOUN
ajst-3907	194	8	conference	conference	NOUN
ajst-3907	194	9	on	on	ADP
ajst-3907	194	10	decision	decision	NOUN
ajst-3907	194	11	and	and	CCONJ
ajst-3907	194	12	control	control	NOUN
ajst-3907	194	13	.	.	PUNCT
ajst-3907	195	1	maui	maui	PROPN
ajst-3907	195	2	,	,	PUNCT
ajst-3907	195	3	hawaii	hawaii	PROPN
ajst-3907	195	4	,	,	PUNCT
ajst-3907	195	5	2003	2003	NUM
ajst-3907	195	6	.	.	PUNCT
ajst-3907	196	1	1532	1532	NUM
ajst-3907	196	2	-	-	SYM
ajst-3907	196	3	1537	1537	NUM
ajst-3907	196	4	.	.	PUNCT
ajst-3907	197	1	[	[	X
ajst-3907	197	2	22	22	NUM
ajst-3907	197	3	]	]	X
ajst-3907	197	4	pereira	pereira	PROPN
ajst-3907	197	5	g.	g.	PROPN
ajst-3907	197	6	a.	a.	PROPN
ajst-3907	197	7	s	s	PROPN
ajst-3907	197	8	,	,	PUNCT
ajst-3907	197	9	das	das	PROPN
ajst-3907	197	10	a.	a.	PROPN
ajst-3907	197	11	k	k	PROPN
ajst-3907	197	12	,	,	PUNCT
ajst-3907	197	13	campos	campos	PROPN
ajst-3907	197	14	m.	m.	PROPN
ajst-3907	197	15	f.	f.	PROPN
ajst-3907	197	16	m.	m.	PROPN
ajst-3907	197	17	formation	formation	NOUN
ajst-3907	197	18	control	control	NOUN
ajst-3907	197	19	with	with	ADP
ajst-3907	197	20	configuration	configuration	NOUN
ajst-3907	197	21	space	space	NOUN
ajst-3907	197	22	constraints	constraint	NOUN
ajst-3907	197	23	.	.	PUNCT
ajst-3907	198	1	in	in	ADP
ajst-3907	198	2	:	:	PUNCT
ajst-3907	198	3	proceedings	proceeding	NOUN
ajst-3907	198	4	of	of	ADP
ajst-3907	198	5	the	the	DET
ajst-3907	198	6	2003	2003	NUM
ajst-3907	198	7	ieee	ieee	NOUN
ajst-3907	198	8	/	/	SYM
ajst-3907	198	9	rsj	rsj	NOUN
ajst-3907	198	10	international	international	ADJ
ajst-3907	198	11	conferenceon	conferenceon	NOUN
ajst-3907	198	12	robots	robot	NOUN
ajst-3907	198	13	and	and	CCONJ
ajst-3907	198	14	intelligent	intelligent	ADJ
ajst-3907	198	15	systems	system	NOUN
ajst-3907	198	16	.	.	PUNCT
ajst-3907	199	1	las	las	PROPN
ajst-3907	199	2	vegas	vegas	PROPN
ajst-3907	199	3	,	,	PUNCT
ajst-3907	199	4	nevada	nevada	PROPN
ajst-3907	199	5	,	,	PUNCT
ajst-3907	199	6	2003	2003	NUM
ajst-3907	199	7	.	.	PUNCT
ajst-3907	200	1	2755	2755	NUM
ajst-3907	200	2	-	-	SYM
ajst-3907	200	3	2760	2760	NUM
ajst-3907	200	4	.	.	PUNCT