id	sid	eid	entity	type
ap-3040	1	1	acta polytechnica doi:10.14311	PERSON
ap-3040	1	2	55(3):169–176	DATE
ap-3040	1	3	2015	DATE
ap-3040	1	4	czech technical university	ORG
ap-3040	1	5	prague	GPE
ap-3040	1	6	2015	CARDINAL
ap-3040	1	7	http://ojs.cvut.cz/ojs/index.php/ap	ORG
ap-3040	1	8	abdel-illah mouaddibb	PERSON
ap-3040	1	9	université lyon 1	ORG
ap-3040	2	1	f-69622	ORG
ap-3040	2	2	france	GPE
ap-3040	2	3	greyc	PERSON
ap-3040	2	4	france ∗	ORG
ap-3040	2	5	laetitia.matignon@univ-lyon1.fr	ORG
ap-3040	3	1	french	NORP
ap-3040	9	1	1	CARDINAL
ap-3040	9	2	u.s.	GPE
ap-3040	10	1	1	CARDINAL
ap-3040	12	1	dga1/nra2	ORG
ap-3040	13	1	slam3	PERSON
ap-3040	17	1	dvf	PERSON
ap-3040	19	1	second	ORDINAL
ap-3040	21	1	2french	CARDINAL
ap-3040	22	1	3simultaneous	CARDINAL
ap-3040	24	1	dec-mdp	FAC
ap-3040	25	1	first	ORDINAL
ap-3040	26	1	second	ORDINAL
ap-3040	27	1	decmdp	PERSON
ap-3040	27	2	dvf	PERSON
ap-3040	28	1	dvf	PERSON
ap-3040	30	1	2	CARDINAL
ap-3040	30	2	2.1	CARDINAL
ap-3040	31	1	french	NORP
ap-3040	31	2	carotte4	PERSON
ap-3040	31	3	one	CARDINAL
ap-3040	32	1	approximately 120m2	CARDINAL
ap-3040	33	1	10	CARDINAL
ap-3040	35	1	three years	DATE
ap-3040	35	2	the years	DATE
ap-3040	36	1	http://ojs.cvut.cz/ojs/index.php/ap l. matignon	PERSON
ap-3040	36	2	l. jeanpierre	PERSON
ap-3040	37	1	mouaddib acta polytechnica	PERSON
ap-3040	37	2	2d	DATE
ap-3040	37	3	3d	CARDINAL
ap-3040	41	1	five	CARDINAL
ap-3040	41	2	2	CARDINAL
ap-3040	41	3	3	CARDINAL
ap-3040	42	1	2.2	CARDINAL
ap-3040	44	1	wifibot6	PRODUCT
ap-3040	45	1	six	CARDINAL
ap-3040	46	1	intel	ORG
ap-3040	46	2	2	CARDINAL
ap-3040	46	3	2	CARDINAL
ap-3040	46	4	4	CARDINAL
ap-3040	46	5	30	CARDINAL
ap-3040	46	6	7	CARDINAL
ap-3040	46	7	4	CARDINAL
ap-3040	47	1	avt marlin	FAC
ap-3040	48	1	opensplice8	ORG
ap-3040	53	1	4	CARDINAL
ap-3040	58	1	every 4 seconds	TIME
ap-3040	61	1	5	CARDINAL
ap-3040	62	1	second	ORDINAL
ap-3040	64	1	5	CARDINAL
ap-3040	64	2	3	CARDINAL
ap-3040	64	3	3.1	CARDINAL
ap-3040	65	1	recent years	DATE
ap-3040	68	1	6	CARDINAL
ap-3040	74	1	10	CARDINAL
ap-3040	75	1	bautin et al	PERSON
ap-3040	76	1	11	CARDINAL
ap-3040	79	1	12	CARDINAL
ap-3040	80	1	3.2	CARDINAL
ap-3040	82	1	the last decade	DATE
ap-3040	83	1	170	CARDINAL
ap-3040	84	1	55	CARDINAL
ap-3040	87	1	13	CARDINAL
ap-3040	88	1	14	CARDINAL
ap-3040	92	1	15	CARDINAL
ap-3040	92	2	16	CARDINAL
ap-3040	97	1	4.	CARDINAL
ap-3040	99	1	4.1	CARDINAL
ap-3040	99	2	dec-mdp	DATE
ap-3040	99	3	17	CARDINAL
ap-3040	99	4	mdp	ORG
ap-3040	99	5	18	CARDINAL
ap-3040	100	1	ω	GPE
ap-3040	100	2	〉	CARDINAL
ap-3040	101	1	actions9	PERSON
ap-3040	102	1	0	CARDINAL
ap-3040	102	2	1	CARDINAL
ap-3040	102	3	a. r :	PERSON
ap-3040	102	4	s. ω	ORG
ap-3040	103	1	0	CARDINAL
ap-3040	103	2	1	CARDINAL
ap-3040	103	3	∈ ω	ORG
ap-3040	104	1	1	CARDINAL
ap-3040	105	1	〉	CARDINAL
ap-3040	106	1	mdp planning	ORG
ap-3040	107	1	9a	CARDINAL
ap-3040	107	2	j. aj	PERSON
ap-3040	107	3	aj	PERSON
ap-3040	110	1	∑ s′∈s t (s	ORG
ap-3040	110	2	∗(s′	PERSON
ap-3040	110	3	1	CARDINAL
ap-3040	111	1	mdp	ORG
ap-3040	113	1	17	CARDINAL
ap-3040	114	1	4.2	CARDINAL
ap-3040	118	1	dec-(po)mdps	ORG
ap-3040	119	1	19	CARDINAL
ap-3040	122	1	20	CARDINAL
ap-3040	123	1	21	CARDINAL
ap-3040	127	1	5	CARDINAL
ap-3040	127	2	dvf	PERSON
ap-3040	128	1	dvf	ORG
ap-3040	129	1	5.1	CARDINAL
ap-3040	129	2	dvf	PERSON
ap-3040	129	3	171 l. matignon	QUANTITY
ap-3040	129	4	l. jeanpierre	PERSON
ap-3040	130	1	mouaddib acta polytechnica	PERSON
ap-3040	131	1	dvfs	PERSON
ap-3040	131	2	22	CARDINAL
ap-3040	133	1	one	CARDINAL
ap-3040	133	2	dec-(po)mdps	GPE
ap-3040	134	1	section 4.2	LAW
ap-3040	135	1	two	CARDINAL
ap-3040	135	2	•	CARDINAL
ap-3040	136	1	one	CARDINAL
ap-3040	136	2	mdp	ORG
ap-3040	136	3	ri	GPE
ap-3040	136	4	〉	CARDINAL
ap-3040	136	5	〉	CARDINAL
ap-3040	139	1	mdp	ORG
ap-3040	141	1	one	CARDINAL
ap-3040	141	2	mdp	ORG
ap-3040	143	1	mdp	ORG
ap-3040	144	1	dvf	PERSON
ap-3040	146	1	mdp	ORG
ap-3040	147	1	dvfi(si	ORG
ap-3040	148	1	2	CARDINAL
ap-3040	148	2	vj(s′	PERSON
ap-3040	148	3	fij	ORG
ap-3040	148	4	j reduces	PERSON
ap-3040	148	5	i. the dvf	PERSON
ap-3040	149	1	1	CARDINAL
ap-3040	158	1	dvf	PERSON
ap-3040	158	2	23	CARDINAL
ap-3040	159	1	5.2	CARDINAL
ap-3040	160	1	dvf	PERSON
ap-3040	160	2	the second year	DATE
ap-3040	160	3	dvf	PERSON
ap-3040	161	1	section 2.2	LAW
ap-3040	163	1	5.2.1	CARDINAL
ap-3040	163	2	mdp	ORG
ap-3040	163	3	four	CARDINAL
ap-3040	164	1	first	ORDINAL
ap-3040	167	1	hexagons	PERSON
ap-3040	167	2	mdp	ORG
ap-3040	169	1	hexagon	ORG
ap-3040	170	1	172	CARDINAL
ap-3040	171	1	55	CARDINAL
ap-3040	174	1	2	CARDINAL
ap-3040	176	1	24	CARDINAL
ap-3040	178	1	1a	CARDINAL
ap-3040	179	1	25	CARDINAL
ap-3040	181	1	dvf	PERSON
ap-3040	181	2	dvf	PERSON
ap-3040	181	3	2	CARDINAL
ap-3040	182	1	11	CARDINAL
ap-3040	184	1	26	CARDINAL
ap-3040	184	2	mdp	ORG
ap-3040	185	1	j. 5.2.3	ORG
ap-3040	186	1	dvf	ORG
ap-3040	194	1	5.2.4	CARDINAL
ap-3040	195	1	23	CARDINAL
ap-3040	195	2	25	CARDINAL
ap-3040	196	1	one	CARDINAL
ap-3040	196	2	12available	CARDINAL
ap-3040	200	1	6	CARDINAL
ap-3040	200	2	the first two years	DATE
ap-3040	206	1	at least one	CARDINAL
ap-3040	208	1	6.1	CARDINAL
ap-3040	210	1	mdp	ORG
ap-3040	211	1	173 l. matignon	QUANTITY
ap-3040	211	2	l. jeanpierre	PERSON
ap-3040	212	1	mouaddib acta polytechnica	PERSON
ap-3040	212	2	3	CARDINAL
ap-3040	212	3	seconds	TIME
ap-3040	212	4	340	CARDINAL
ap-3040	216	1	two	CARDINAL
ap-3040	217	1	dvf	PERSON
ap-3040	217	2	1− α)ri	ORG
ap-3040	218	1	+ αri	PERCENT
ap-3040	221	1	3	CARDINAL
ap-3040	221	2	ri	GPE
ap-3040	223	1	0	CARDINAL
ap-3040	223	2	1	CARDINAL
ap-3040	225	1	1	CARDINAL
ap-3040	227	1	ri	GPE
ap-3040	229	1	bresenham	PERSON
ap-3040	229	2	27	CARDINAL
ap-3040	231	1	1b	CARDINAL
ap-3040	232	1	mdp	ORG
ap-3040	240	1	6.2	CARDINAL
ap-3040	240	2	6.2.1	CARDINAL
ap-3040	242	1	dds	PERSON
ap-3040	245	1	2d	CARDINAL
ap-3040	247	1	6.2.2	CARDINAL
ap-3040	249	1	2a	CARDINAL
ap-3040	250	1	2b	CARDINAL
ap-3040	250	2	one	CARDINAL
ap-3040	253	1	3	CARDINAL
ap-3040	255	1	two	CARDINAL
ap-3040	257	1	0	CARDINAL
ap-3040	258	1	two	CARDINAL
ap-3040	260	1	13http://playerstage.sourceforge.net/ 174	CARDINAL
ap-3040	261	1	55	CARDINAL
ap-3040	262	1	je ct r e	PERSON
ap-3040	263	1	io	LOC
ap-3040	263	2	4	CARDINAL
ap-3040	264	1	fig	GPE
ap-3040	265	1	4	CARDINAL
ap-3040	265	2	0.0001	CARDINAL
ap-3040	265	3	100%	PERCENT
ap-3040	268	1	1	CARDINAL
ap-3040	268	2	second	ORDINAL
ap-3040	272	1	7	CARDINAL
ap-3040	276	1	at least one	CARDINAL
ap-3040	282	1	5	CARDINAL
ap-3040	283	1	precision14	GPE
ap-3040	289	1	nra	ORG
ap-3040	289	2	dga	PERSON
ap-3040	291	1	1	CARDINAL
ap-3040	291	2	u.s.	GPE
ap-3040	292	1	2013	DATE
ap-3040	293	1	2	CARDINAL
ap-3040	293	2	a. bautin	PERSON
ap-3040	293	3	p. lucidarme	PERSON
ap-3040	293	4	r. guyonneau	PERSON
ap-3040	296	1	5th	ORDINAL
ap-3040	297	1	210–215	CARDINAL
ap-3040	297	2	2013	DATE
ap-3040	298	1	3	CARDINAL
ap-3040	298	2	e. battesti	PERSON
ap-3040	298	3	s. bazeille	PERSON
ap-3040	300	1	2012	DATE
ap-3040	301	1	doi:10.1109/tepra.2012.6215666	ORG
ap-3040	302	1	4	CARDINAL
ap-3040	302	2	j. xie	PERSON
ap-3040	302	3	f. nashashibi	PERSON
ap-3040	302	4	n. m. parent	PERSON
ap-3040	302	5	o. garcia-favrot	PERSON
ap-3040	304	1	17th	DATE
ap-3040	304	2	world congress	ORG
ap-3040	305	1	2010	DATE
ap-3040	307	1	5	CARDINAL
ap-3040	307	2	s. hinterstoisser	PERSON
ap-3040	307	3	s. ilic	PERSON
ap-3040	308	1	2257–2264	CARDINAL
ap-3040	308	2	2010	DATE
ap-3040	309	1	6	CARDINAL
ap-3040	310	1	second	ORDINAL
ap-3040	310	2	98	CARDINAL
ap-3040	312	1	1998	DATE
ap-3040	313	1	14or	ORDINAL
ap-3040	313	2	175	CARDINAL
ap-3040	313	3	l. matignon	PERSON
ap-3040	313	4	l. jeanpierre	PERSON
ap-3040	314	1	mouaddib acta polytechnica	PERSON
ap-3040	315	1	7	CARDINAL
ap-3040	315	2	r. simmons	PERSON
ap-3040	315	3	d. apfelbaum	PERSON
ap-3040	315	4	w. burgard	PERSON
ap-3040	317	1	the aaai national conf.	ORG
ap-3040	319	1	2000	DATE
ap-3040	320	1	8	CARDINAL
ap-3040	320	2	w. burgard	PERSON
ap-3040	320	3	m. moors	PERSON
ap-3040	320	4	c. stachniss	PERSON
ap-3040	320	5	f. schneider	PERSON
ap-3040	322	1	21:376–386, 2005	DATE
ap-3040	323	1	doi:10.1109	NORP
ap-3040	324	1	9	CARDINAL
ap-3040	324	2	k. m. wurm	PERSON
ap-3040	324	3	c. stachniss	PERSON
ap-3040	324	4	w. burgard	PERSON
ap-3040	327	1	1160–1165. 2008	DATE
ap-3040	328	1	doi:10.1109	NORP
ap-3040	329	1	10	CARDINAL
ap-3040	329	2	r. zlot	PERSON
ap-3040	329	3	a. stentz	PERSON
ap-3040	329	4	m. dias	PERSON
ap-3040	329	5	s. thayer	PERSON
ap-3040	333	1	3	CARDINAL
ap-3040	334	1	3016–3023.	DATE
ap-3040	335	1	2002	DATE
ap-3040	336	1	doi:10.1109	NORP
ap-3040	337	1	11	CARDINAL
ap-3040	337	2	a. bautin	PERSON
ap-3040	337	3	o. simonin	PERSON
ap-3040	337	4	f. charpillet	PERSON
ap-3040	339	1	7507	CARDINAL
ap-3040	340	1	496–508	CARDINAL
ap-3040	340	2	2012	DATE
ap-3040	341	1	12	CARDINAL
ap-3040	341	2	m. julia	PERSON
ap-3040	341	3	a. gil	PERSON
ap-3040	343	1	33(4):427–444	CARDINAL
ap-3040	343	2	2012	DATE
ap-3040	344	1	012-9298	CARDINAL
ap-3040	345	1	13	CARDINAL
ap-3040	345	2	f. deinzer	PERSON
ap-3040	345	3	c. derichs	GPE
ap-3040	345	4	h. niemann	PERSON
ap-3040	345	5	j. denzler	PERSON
ap-3040	347	1	23(4):765–799	ORG
ap-3040	347	2	2009	DATE
ap-3040	348	1	14	CARDINAL
ap-3040	348	2	s. brandao	PERSON
ap-3040	348	3	m. veloso	PERSON
ap-3040	348	4	j. p. costeira	PERSON
ap-3040	352	1	33–38.	DATE
ap-3040	353	1	2011	DATE
ap-3040	354	1	15	CARDINAL
ap-3040	354	2	a. a. makarenko	PERSON
ap-3040	354	3	s. b. williams	PERSON
ap-3040	354	4	f. bourgault	PERSON
ap-3040	354	5	h. f. durrant-whyte	PERSON
ap-3040	357	1	534–539. 2002	DATE
ap-3040	358	1	doi:10.1109/irds.2002.1041445	ORG
ap-3040	359	1	16	CARDINAL
ap-3040	359	2	c. stachniss	PERSON
ap-3040	359	3	g. grisetti	PERSON
ap-3040	359	4	w. burgard	PERSON
ap-3040	363	1	cambridge	GPE
ap-3040	363	2	ma, usa, 2005	ORG
ap-3040	364	1	17	CARDINAL
ap-3040	364	2	d. s. bernstein	PERSON
ap-3040	364	3	r. givan	PERSON
ap-3040	364	4	n. immerman	PERSON
ap-3040	364	5	s. zilberstein	PERSON
ap-3040	366	1	27:819–840	CARDINAL
ap-3040	366	2	2002	DATE
ap-3040	367	1	18	CARDINAL
ap-3040	367	2	m. l. puterman	PERSON
ap-3040	368	1	1994	DATE
ap-3040	369	1	19	CARDINAL
ap-3040	369	2	r. nair	PERSON
ap-3040	369	3	p. varakantham	PERSON
ap-3040	369	4	m. tambe	PERSON
ap-3040	369	5	m. yokoo	PERSON
ap-3040	372	1	aaai	ORG
ap-3040	373	1	133–139. 2005	DATE
ap-3040	374	1	20	CARDINAL
ap-3040	374	2	f. s. melo	PERSON
ap-3040	374	3	m. m. veloso	PERSON
ap-3040	376	1	175(11):1757– 1789, 2011	DATE
ap-3040	377	1	doi:10.1016	GPE
ap-3040	378	1	21	CARDINAL
ap-3040	378	2	a. canu	PERSON
ap-3040	379	1	mouaddib	PERSON
ap-3040	382	1	ictai.	GPE
ap-3040	383	1	2011	DATE
ap-3040	384	1	22	CARDINAL
ap-3040	384	2	j. schneider	PERSON
ap-3040	385	1	wong	PERSON
ap-3040	385	2	a. moore	PERSON
ap-3040	385	3	m. riedmiller	PERSON
ap-3040	389	1	371–378	CARDINAL
ap-3040	389	2	1999	DATE
ap-3040	390	1	23	CARDINAL
ap-3040	390	2	l. matignon	PERSON
ap-3040	390	3	l. jeanpierre	PERSON
ap-3040	391	1	mouaddib	PERSON
ap-3040	394	1	aaai	ORG
ap-3040	394	2	2012	DATE
ap-3040	395	1	24	CARDINAL
ap-3040	395	2	s. le gloannec	PERSON
ap-3040	395	3	l. jeanpierre	PERSON
ap-3040	396	1	mouaddib	PERSON
ap-3040	400	1	119–125.	DATE
ap-3040	401	1	2010	DATE
ap-3040	402	1	25	CARDINAL
ap-3040	402	2	l. matignon	PERSON
ap-3040	402	3	l. jeanpierre	PERSON
ap-3040	403	1	mouaddib	PERSON
ap-3040	405	1	2012	DATE
ap-3040	406	1	doi:10.1109	NORP
ap-3040	407	1	26	CARDINAL
ap-3040	407	2	r. bellman	PERSON
ap-3040	409	1	1957	DATE
ap-3040	410	1	27	CARDINAL
ap-3040	410	2	j. e. bresenham	PERSON
ap-3040	412	1	ibm	ORG
ap-3040	412	2	4(1):25–30, 1965	DATE
ap-3040	413	1	176	CARDINAL
ap-3040	413	2	http://dx.doi.org/10.1016/j.artint.2011.05.001	GPE
ap-3040	413	3	55(3):169–176	DATE
ap-3040	413	4	2015 1	DATE
ap-3040	413	5	2	CARDINAL
ap-3040	413	6	2.1	CARDINAL
ap-3040	413	7	2.2	CARDINAL
ap-3040	413	8	3	CARDINAL
ap-3040	413	9	3.1	CARDINAL
ap-3040	413	10	3.2	CARDINAL
ap-3040	413	11	4	CARDINAL
ap-3040	413	12	4.1	CARDINAL
ap-3040	413	13	dec-mdp 4.2	DATE
ap-3040	413	14	5 dvf	QUANTITY
ap-3040	413	15	5.1	CARDINAL
ap-3040	413	16	dvf 5.2 dvf	ORG
ap-3040	413	17	5.2.1	CARDINAL
ap-3040	413	18	mdp	ORG
ap-3040	413	19	5.2.2	CARDINAL
ap-3040	413	20	dvf 5.2.3	ORG
ap-3040	413	21	5.2.4	CARDINAL
ap-3040	413	22	6	CARDINAL
ap-3040	413	23	6.1	CARDINAL
ap-3040	413	24	6.2	CARDINAL
ap-3040	413	25	6.2.1	CARDINAL
ap-3040	413	26	6.2.2	CARDINAL
ap-3040	413	27	7	CARDINAL