id	sid	eid	entity	type
ap-1650	1	1	acta polytechnica vol	PERSON
ap-1650	2	1	52	CARDINAL
ap-1650	3	1	martin selecký1	PERSON
ap-1650	3	2	meiser2 1dept	GPE
ap-1650	3	3	czech technical university	ORG
ap-1650	3	4	2	CARDINAL
ap-1650	3	5	166 27	CARDINAL
ap-1650	3	6	prague	GPE
ap-1650	3	7	czech	NORP
ap-1650	3	8	2dept	GPE
ap-1650	3	9	czech technical university	ORG
ap-1650	3	10	2	CARDINAL
ap-1650	3	11	166 27	CARDINAL
ap-1650	3	12	prague	GPE
ap-1650	3	13	czech	NORP
ap-1650	3	14	recent years	DATE
ap-1650	5	1	multi-uav	ORG
ap-1650	6	1	two	CARDINAL
ap-1650	9	1	1	CARDINAL
ap-1650	12	1	8	CARDINAL
ap-1650	12	2	baxter	PERSON
ap-1650	12	3	1	CARDINAL
ap-1650	15	1	one	CARDINAL
ap-1650	16	1	2	CARDINAL
ap-1650	16	2	3	CARDINAL
ap-1650	17	1	6	CARDINAL
ap-1650	19	1	1	CARDINAL
ap-1650	19	2	agentfly	PERSON
ap-1650	20	1	bürkle et al	PERSON
ap-1650	21	1	4	CARDINAL
ap-1650	21	2	vtol micro	ORG
ap-1650	22	1	uav	ORG
ap-1650	24	1	two	CARDINAL
ap-1650	24	2	8	CARDINAL
ap-1650	25	1	acta polytechnica vol	PERSON
ap-1650	26	1	52	CARDINAL
ap-1650	27	1	5/2012	CARDINAL
ap-1650	27	2	uav	ORG
ap-1650	28	1	1	CARDINAL
ap-1650	29	1	2	CARDINAL
ap-1650	29	2	uav	ORG
ap-1650	30	1	tem	ORG
ap-1650	32	1	first	ORDINAL
ap-1650	32	2	section 2	LAW
ap-1650	32	3	section 3	DATE
ap-1650	32	4	section 4	LAW
ap-1650	32	5	section 5	LAW
ap-1650	33	1	section 6	LAW
ap-1650	34	1	2	CARDINAL
ap-1650	34	2	uav	ORG
ap-1650	34	3	1	CARDINAL
ap-1650	36	1	two	CARDINAL
ap-1650	37	1	uav	ORG
ap-1650	40	1	3	CARDINAL
ap-1650	40	2	uav	ORG
ap-1650	41	1	4	CARDINAL
ap-1650	45	1	5	CARDINAL
ap-1650	45	2	two	CARDINAL
ap-1650	47	1	two	CARDINAL
ap-1650	48	1	3	CARDINAL
ap-1650	48	2	uav	PERSON
ap-1650	48	3	3	CARDINAL
ap-1650	49	1	94	CARDINAL
ap-1650	50	1	52	CARDINAL
ap-1650	51	1	5/2012	CARDINAL
ap-1650	51	2	5	CARDINAL
ap-1650	51	3	uav	ORG
ap-1650	52	1	uav	ORG
ap-1650	53	1	uav	ORG
ap-1650	53	2	4	CARDINAL
ap-1650	54	1	512	CARDINAL
ap-1650	54	2	720mhz	CARDINAL
ap-1650	55	1	5	CARDINAL
ap-1650	55	2	uav	ORG
ap-1650	56	1	uav	ORG
ap-1650	57	1	869mhz	CARDINAL
ap-1650	58	1	autopilot	ORG
ap-1650	58	2	rs-232	ORG
ap-1650	60	1	an additional	CARDINAL
ap-1650	60	2	2.4ghz	CARDINAL
ap-1650	61	1	two	CARDINAL
ap-1650	62	1	4	CARDINAL
ap-1650	62	2	6	CARDINAL
ap-1650	64	1	uav	ORG
ap-1650	64	2	uav	ORG
ap-1650	65	1	uav	ORG
ap-1650	65	2	uav	ORG
ap-1650	65	3	uav	ORG
ap-1650	65	4	acl	ORG
ap-1650	65	5	uav	ORG
ap-1650	65	6	uav-air 1	ORG
ap-1650	67	1	1	CARDINAL
ap-1650	68	1	1	CARDINAL
ap-1650	68	2	6	CARDINAL
ap-1650	68	3	uav	ORG
ap-1650	75	1	4.1 waypoint navigation	QUANTITY
ap-1650	76	1	uav	ORG
ap-1650	77	1	7	CARDINAL
ap-1650	78	1	95	CARDINAL
ap-1650	78	2	acta polytechnica vol.	PERSON
ap-1650	79	1	52	CARDINAL
ap-1650	80	1	5/2012	CARDINAL
ap-1650	80	2	7	CARDINAL
ap-1650	82	1	cartesian	NORP
ap-1650	84	1	cartesian	NORP
ap-1650	84	2	8)	CARDINAL
ap-1650	85	1	less than 10 cm	QUANTITY
ap-1650	85	2	less than	CARDINAL
ap-1650	85	3	10 km	QUANTITY
ap-1650	85	4	500	CARDINAL
ap-1650	86	1	4.2	CARDINAL
ap-1650	86	2	uav	ORG
ap-1650	87	1	uav	ORG
ap-1650	87	2	one	CARDINAL
ap-1650	91	1	9	CARDINAL
ap-1650	92	1	4.3	CARDINAL
ap-1650	93	1	uavs	ORG
ap-1650	93	2	y ogs oe lon lat	PERSON
ap-1650	93	3	8	CARDINAL
ap-1650	94	1	0.1	CARDINAL
ap-1650	94	2	0.3	CARDINAL
ap-1650	94	3	9	CARDINAL
ap-1650	96	1	two	CARDINAL
ap-1650	96	2	10	CARDINAL
ap-1650	97	1	uav	ORG
ap-1650	99	1	uav	ORG
ap-1650	101	1	uav	ORG
ap-1650	103	1	two	CARDINAL
ap-1650	103	2	11	CARDINAL
ap-1650	105	1	uav	ORG
ap-1650	105	2	96	CARDINAL
ap-1650	106	1	52	CARDINAL
ap-1650	107	1	5/2012	CARDINAL
ap-1650	107	2	10	CARDINAL
ap-1650	107	3	two	CARDINAL
ap-1650	108	1	11	CARDINAL
ap-1650	108	2	two	CARDINAL
ap-1650	112	1	4.4	CARDINAL
ap-1650	116	1	13	CARDINAL
ap-1650	116	2	one	CARDINAL
ap-1650	116	3	12	CARDINAL
ap-1650	117	1	1.5km	QUANTITY
ap-1650	117	2	12	CARDINAL
ap-1650	118	1	13	CARDINAL
ap-1650	119	1	10	CARDINAL
ap-1650	121	1	10–30	CARDINAL
ap-1650	122	1	at least 1.5 km	QUANTITY
ap-1650	122	2	115	CARDINAL
ap-1650	122	3	4	CARDINAL
ap-1650	122	4	uav	ORG
ap-1650	124	1	two	CARDINAL
ap-1650	124	2	5	CARDINAL
ap-1650	124	3	4.5	CARDINAL
ap-1650	125	1	52	CARDINAL
ap-1650	126	1	5/2012	CARDINAL
ap-1650	126	2	14	CARDINAL
ap-1650	128	1	two	CARDINAL
ap-1650	131	1	second	ORDINAL
ap-1650	132	1	up to	DATE
ap-1650	132	2	second	ORDINAL
ap-1650	134	1	5	CARDINAL
ap-1650	135	1	first	ORDINAL
ap-1650	136	1	approximately 5m/s	QUANTITY
ap-1650	136	2	uav	ORG
ap-1650	136	3	15m/s	QUANTITY
ap-1650	136	4	three	CARDINAL
ap-1650	136	5	14	CARDINAL
ap-1650	137	1	14	CARDINAL
ap-1650	137	2	first	ORDINAL
ap-1650	138	1	uav	ORG
ap-1650	142	1	one	CARDINAL
ap-1650	142	2	uav	ORG
ap-1650	142	3	one	CARDINAL
ap-1650	144	1	less than	CARDINAL
ap-1650	144	2	15m/s	QUANTITY
ap-1650	144	3	300	CARDINAL
ap-1650	145	1	two	CARDINAL
ap-1650	146	1	6	CARDINAL
ap-1650	146	2	uav	ORG
ap-1650	148	1	first	ORDINAL
ap-1650	151	1	m. rollo	PERSON
ap-1650	151	2	phd.	PERSON
ap-1650	151	3	prague	GPE
ap-1650	151	4	czech ministry of defence	ORG
ap-1650	151	5	ovcvut2010001	PERSON
ap-1650	151	6	98	CARDINAL
ap-1650	151	7	acta polytechnica vol	PERSON
ap-1650	152	1	52	CARDINAL
ap-1650	153	1	5/2012	CARDINAL
ap-1650	153	2	1	CARDINAL
ap-1650	153	3	j. w. baxter	PERSON
ap-1650	153	4	g. s. horn	PERSON
ap-1650	155	1	fourth	ORDINAL
ap-1650	155	2	acm	ORG
ap-1650	155	3	2005	DATE
ap-1650	156	1	27–33	CARDINAL
ap-1650	157	1	2	CARDINAL
ap-1650	157	2	j. w. baxter	PERSON
ap-1650	157	3	g. s. horn	PERSON
ap-1650	157	4	d.	NORP
ap-1650	159	1	21(3):232–237, 2008	DATE
ap-1650	160	1	3	CARDINAL
ap-1650	160	2	r. w. beard	PERSON
ap-1650	160	3	w. mclain	PERSON
ap-1650	161	1	d. b. nelson	PERSON
ap-1650	162	1	94(7):1306–1324, 2006	DATE
ap-1650	163	1	4	CARDINAL
ap-1650	163	2	a. bürkle	PERSON
ap-1650	163	3	f. segon	PERSON
ap-1650	163	4	m. kollmann	PERSON
ap-1650	164	1	uav	ORG
ap-1650	165	1	journal of intelligent & robotic systems	ORG
ap-1650	165	2	2011	DATE
ap-1650	165	3	1–15	ORDINAL
ap-1650	166	1	5	CARDINAL
ap-1650	166	2	l. e. dubins	PERSON
ap-1650	167	1	american journal	ORG
ap-1650	167	2	79(3):497–516, 1957	DATE
ap-1650	168	1	6	CARDINAL
ap-1650	168	2	t. von gonten	PERSON
ap-1650	168	3	uav applications	ORG
ap-1650	169	1	7th	ORDINAL
ap-1650	169	2	2008	DATE
ap-1650	170	1	89–96	CARDINAL
ap-1650	171	1	7	CARDINAL
ap-1650	171	2	m. rehák	PERSON
ap-1650	171	3	m. pechouček	PERSON
ap-1650	173	1	2005	DATE
ap-1650	174	1	8	CARDINAL
ap-1650	174	2	kopřiva	ORG
ap-1650	175	1	agentfly	PERSON
ap-1650	176	1	7th	ORDINAL
ap-1650	176	2	2008	DATE
ap-1650	176	3	may 2008	DATE
ap-1650	177	1	99	CARDINAL