id	sid	eid	entity	type
ap-3438	1	1	acta polytechnica doi:10.14311	PERSON
ap-3438	1	2	56(1):67–75	CARDINAL
ap-3438	1	3	2016	DATE
ap-3438	1	4	czech technical university	ORG
ap-3438	1	5	prague	GPE
ap-3438	1	6	2016	CARDINAL
ap-3438	1	7	http://ojs.cvut.cz/ojs/index.php/ap	ORG
ap-3438	1	8	amanda prorok∗	PERSON
ap-3438	1	9	m. ani hsieh	PERSON
ap-3438	1	10	vijay kumar	ORG
ap-3438	1	11	university of pennsylvania	ORG
ap-3438	1	12	philadelphia	GPE
ap-3438	1	13	usa ∗	ORG
ap-3438	10	1	1	CARDINAL
ap-3438	13	1	1	CARDINAL
ap-3438	13	2	2	CARDINAL
ap-3438	14	1	one	CARDINAL
ap-3438	22	1	the mt-mr-ta	ORG
ap-3438	23	1	6	CARDINAL
ap-3438	34	1	11	CARDINAL
ap-3438	34	2	12	CARDINAL
ap-3438	35	1	67	CARDINAL
ap-3438	35	2	http://ojs.cvut.cz/ojs/index.php/ap a. prorok	PERSON
ap-3438	35	3	m. ani hsieh	PERSON
ap-3438	35	4	vijay	NORP
ap-3438	35	5	kumar acta polytechnica	PERSON
ap-3438	38	1	8	CARDINAL
ap-3438	39	1	13	CARDINAL
ap-3438	42	1	first	ORDINAL
ap-3438	42	2	8	CARDINAL
ap-3438	43	1	2	CARDINAL
ap-3438	44	1	14	CARDINAL
ap-3438	44	2	15	CARDINAL
ap-3438	48	1	one	CARDINAL
ap-3438	51	1	2.1	CARDINAL
ap-3438	53	1	q(s	PERSON
ap-3438	54	1	q(s	GPE
ap-3438	54	2	1	DATE
ap-3438	54	3	2	CARDINAL
ap-3438	55	1	q(s	GPE
ap-3438	55	2	0	CARDINAL
ap-3438	55	3	1	CARDINAL
ap-3438	57	1	1	CARDINAL
ap-3438	62	1	0	CARDINAL
ap-3438	62	2	k(s	PERSON
ap-3438	62	3	one	CARDINAL
ap-3438	62	4	j. here k(s	PERSON
ap-3438	66	1	k(s	PERSON
ap-3438	66	2	max	PERSON
ap-3438	71	1	x(s) 1	ORG
ap-3438	71	2	x(s	PERSON
ap-3438	73	1	x(s	PERSON
ap-3438	73	2	x(t	PERSON
ap-3438	73	3	q(s	PERSON
ap-3438	74	1	y(t	GPE
ap-3438	75	1	x(t	PERSON
ap-3438	75	2	1	CARDINAL
ap-3438	75	3	section 2.3	LAW
ap-3438	75	4	x(t	PERSON
ap-3438	76	1	2.2	CARDINAL
ap-3438	77	1	x(0	PERSON
ap-3438	77	2	y(0	PERSON
ap-3438	80	1	j)∈e kijx(s	PERSON
ap-3438	82	1	2	CARDINAL
ap-3438	83	1	k(s)x(s	ORG
ap-3438	83	2	∈ 1	LAW
ap-3438	84	1	3	CARDINAL
ap-3438	84	2	0	CARDINAL
ap-3438	85	1	5	CARDINAL
ap-3438	85	2	68	CARDINAL
ap-3438	86	1	56	CARDINAL
ap-3438	87	1	1/2016	CARDINAL
ap-3438	87	2	two	CARDINAL
ap-3438	87	3	k(s	PERSON
ap-3438	89	1	0	DATE
ap-3438	91	1	j.	PERSON
ap-3438	92	1	3	CARDINAL
ap-3438	92	2	1	CARDINAL
ap-3438	94	1	2	CARDINAL
ap-3438	97	1	6	CARDINAL
ap-3438	97	2	ȳ	ORG
ap-3438	97	3	q.	PERSON
ap-3438	97	4	7	CARDINAL
ap-3438	97	5	x(0	PERSON
ap-3438	97	6	ȳ	ORG
ap-3438	98	1	1	CARDINAL
ap-3438	98	2	6.	CARDINAL
ap-3438	98	3	2.3	CARDINAL
ap-3438	99	1	ȳ	ORG
ap-3438	100	1	7	CARDINAL
ap-3438	100	2	6	CARDINAL
ap-3438	100	3	1	CARDINAL
ap-3438	102	1	7	CARDINAL
ap-3438	102	2	at least one	CARDINAL
ap-3438	103	1	2	CARDINAL
ap-3438	104	1	only one	CARDINAL
ap-3438	105	1	7	CARDINAL
ap-3438	106	1	1	CARDINAL
ap-3438	106	2	2	CARDINAL
ap-3438	107	1	3	CARDINAL
ap-3438	108	1	berman et al	PERSON
ap-3438	109	1	8	CARDINAL
ap-3438	110	1	two	CARDINAL
ap-3438	112	1	8	CARDINAL
ap-3438	112	2	ȳ	ORG
ap-3438	112	3	x(0	PERSON
ap-3438	112	4	x̄.	ORG
ap-3438	112	5	8	CARDINAL
ap-3438	115	1	k(s	GPE
ap-3438	115	2	8	CARDINAL
ap-3438	115	3	k(s	PERSON
ap-3438	116	1	3.1	CARDINAL
ap-3438	116	2	3	CARDINAL
ap-3438	116	3	s=1 ek(s)fτx(s	ORG
ap-3438	116	4	0	CARDINAL
ap-3438	116	5	q(s	PERSON
ap-3438	118	1	x(0	PERSON
ap-3438	118	2	j (1	PRODUCT
ap-3438	120	1	q(s	PERSON
ap-3438	120	2	9	CARDINAL
ap-3438	120	3	k(s	PERSON
ap-3438	121	1	max	PERSON
ap-3438	121	2	max	PERSON
ap-3438	124	1	9	CARDINAL
ap-3438	124	2	j (1	LAW
ap-3438	126	1	∂j	CARDINAL
ap-3438	126	2	1	CARDINAL
ap-3438	127	1	1	CARDINAL
ap-3438	129	1	10	CARDINAL
ap-3438	129	2	first	ORDINAL
ap-3438	130	1	∂j (	CARDINAL
ap-3438	130	2	2	CARDINAL
ap-3438	131	1	0	CARDINAL
ap-3438	134	1	q(s	PERSON
ap-3438	135	1	11	CARDINAL
ap-3438	135	2	69	CARDINAL
ap-3438	135	3	a. prorok	PERSON
ap-3438	135	4	m. ani hsieh	PERSON
ap-3438	135	5	vijay	NORP
ap-3438	135	6	kumar acta polytechnica	PERSON
ap-3438	135	7	2nd	ORDINAL
ap-3438	135	8	eq.10	DATE
ap-3438	137	1	16	CARDINAL
ap-3438	138	1	w(τ	PERSON
ap-3438	139	1	12	CARDINAL
ap-3438	139	2	k(s	PERSON
ap-3438	141	1	jth	PRODUCT
ap-3438	141	2	di	ORG
ap-3438	143	1	dm	GPE
ap-3438	144	1	1 w(t	PERSON
ap-3438	145	1	− edjt)/(dit− djt	ORG
ap-3438	145	2	j. 3.2	PERSON
ap-3438	146	1	9	CARDINAL
ap-3438	149	1	j (2	LAW
ap-3438	149	2	1	CARDINAL
ap-3438	149	3	13	CARDINAL
ap-3438	149	4	k(s	PERSON
ap-3438	149	5	max	PERSON
ap-3438	149	6	0	CARDINAL
ap-3438	150	1	∂j	CARDINAL
ap-3438	150	2	2	CARDINAL
ap-3438	151	1	1	CARDINAL
ap-3438	152	1	14	CARDINAL
ap-3438	153	1	k(s	PERSON
ap-3438	153	2	12	CARDINAL
ap-3438	154	1	∂j	CARDINAL
ap-3438	154	2	2	CARDINAL
ap-3438	154	3	1	CARDINAL
ap-3438	155	1	+ 2ατ	DATE
ap-3438	155	2	15	CARDINAL
ap-3438	155	3	∂j	CARDINAL
ap-3438	155	4	1	CARDINAL
ap-3438	155	5	1	CARDINAL
ap-3438	155	6	16	CARDINAL
ap-3438	155	7	w(τ	PERSON
ap-3438	156	1	17	CARDINAL
ap-3438	156	2	13	CARDINAL
ap-3438	156	3	k(s	GPE
ap-3438	157	1	1here	CARDINAL
ap-3438	157	2	k(s	PERSON
ap-3438	158	1	k(s	GPE
ap-3438	158	2	jordan	GPE
ap-3438	158	3	16	CARDINAL
ap-3438	161	1	13	CARDINAL
ap-3438	162	1	j (3	PRODUCT
ap-3438	162	2	2	CARDINAL
ap-3438	162	3	0	CARDINAL
ap-3438	163	1	18	CARDINAL
ap-3438	163	2	0	CARDINAL
ap-3438	164	1	2	CARDINAL
ap-3438	165	1	max	PERSON
ap-3438	165	2	0	CARDINAL
ap-3438	165	3	0	CARDINAL
ap-3438	167	1	3	CARDINAL
ap-3438	168	1	9	CARDINAL
ap-3438	170	1	section 4	LAW
ap-3438	172	1	0	CARDINAL
ap-3438	173	1	0	CARDINAL
ap-3438	173	2	third	ORDINAL
ap-3438	173	3	j (3	LAW
ap-3438	173	4	second	ORDINAL
ap-3438	173	5	18	CARDINAL
ap-3438	174	1	3	CARDINAL
ap-3438	175	1	2	CARDINAL
ap-3438	176	1	+ ∂j	QUANTITY
ap-3438	176	2	3,3	CARDINAL
ap-3438	177	1	19	CARDINAL
ap-3438	177	2	3,3	CARDINAL
ap-3438	178	1	3,3	CARDINAL
ap-3438	178	2	20	CARDINAL
ap-3438	179	1	3,3	CARDINAL
ap-3438	183	1	3,3	CARDINAL
ap-3438	183	2	3,3	CARDINAL
ap-3438	183	3	21	CARDINAL
ap-3438	184	1	2β	CARDINAL
ap-3438	184	2	0	CARDINAL
ap-3438	186	1	12	CARDINAL
ap-3438	186	2	3,3	CARDINAL
ap-3438	188	1	22	CARDINAL
ap-3438	189	1	∂j (3,3) ∂ek(s)τ	ORG
ap-3438	189	2	w(τ	PERSON
ap-3438	189	3	23	CARDINAL
ap-3438	189	4	70	CARDINAL
ap-3438	190	1	56	CARDINAL
ap-3438	191	1	1/2016	CARDINAL
ap-3438	192	1	∂j (3,3	ORG
ap-3438	192	2	w(τ	PERSON
ap-3438	193	1	24	CARDINAL
ap-3438	193	2	1	CARDINAL
ap-3438	193	3	2	DATE
ap-3438	193	4	3	DATE
ap-3438	193	5	− { ∂j	PERSON
ap-3438	194	1	25	CARDINAL
ap-3438	197	1	3	CARDINAL
ap-3438	197	2	26	CARDINAL
ap-3438	197	3	18	CARDINAL
ap-3438	197	4	17	CARDINAL
ap-3438	198	1	18	CARDINAL
ap-3438	199	1	3.3	CARDINAL
ap-3438	200	1	m3 +s ·m2	FAC
ap-3438	201	1	first	ORDINAL
ap-3438	201	2	19]2	CARDINAL
ap-3438	202	1	12	CARDINAL
ap-3438	202	2	k(s	PERSON
ap-3438	204	1	second	ORDINAL
ap-3438	204	2	12	CARDINAL
ap-3438	206	1	section 4	LAW
ap-3438	206	2	8	CARDINAL
ap-3438	206	3	4	CARDINAL
ap-3438	206	4	4	CARDINAL
ap-3438	206	5	around 1.35	CARDINAL
ap-3438	206	6	2.2	CARDINAL
ap-3438	206	7	ν	NORP
ap-3438	207	1	225	CARDINAL
ap-3438	208	1	2	CARDINAL
ap-3438	209	1	3.4	CARDINAL
ap-3438	209	2	3	CARDINAL
ap-3438	211	1	2	CARDINAL
ap-3438	211	2	o(m2.376 log(m	GPE
ap-3438	212	1	20	CARDINAL
ap-3438	215	1	0	CARDINAL
ap-3438	215	2	0	CARDINAL
ap-3438	219	1	k(s),τ j̃ (	ORG
ap-3438	219	2	3)(x(tp	CARDINAL
ap-3438	219	3	27	CARDINAL
ap-3438	219	4	k ∈ n	PERSON
ap-3438	219	5	3)(x	DATE
ap-3438	219	6	s∑	DATE
ap-3438	220	1	q(s	PERSON
ap-3438	221	1	28	CARDINAL
ap-3438	221	2	2	CARDINAL
ap-3438	221	3	j̃	GPE
ap-3438	221	4	j (3	LAW
ap-3438	222	1	kij	PERSON
ap-3438	222	2	max	PERSON
ap-3438	222	3	0	CARDINAL
ap-3438	222	4	k(s	ORG
ap-3438	223	1	0	CARDINAL
ap-3438	223	2	21	CARDINAL
ap-3438	225	1	4	CARDINAL
ap-3438	226	1	22	CARDINAL
ap-3438	227	1	two	CARDINAL
ap-3438	229	1	3	CARDINAL
ap-3438	232	1	71 a. prorok	DATE
ap-3438	232	2	m. ani hsieh	PERSON
ap-3438	232	3	vijay	NORP
ap-3438	232	4	kumar acta polytechnica	PERSON
ap-3438	233	1	5	CARDINAL
ap-3438	233	2	6	CARDINAL
ap-3438	233	3	5	CARDINAL
ap-3438	233	4	6	CARDINAL
ap-3438	233	5	1	CARDINAL
ap-3438	234	1	10	CARDINAL
ap-3438	235	1	4	CARDINAL
ap-3438	237	1	5	CARDINAL
ap-3438	237	2	6	CARDINAL
ap-3438	240	1	one	CARDINAL
ap-3438	242	1	ȳ	ORG
ap-3438	242	2	µ(y	PERSON
ap-3438	243	1	29	CARDINAL
ap-3438	243	2	one	CARDINAL
ap-3438	243	3	µ(y	PERSON
ap-3438	243	4	5%	PERCENT
ap-3438	245	1	three	CARDINAL
ap-3438	245	2	two	CARDINAL
ap-3438	245	3	one	CARDINAL
ap-3438	245	4	8	CARDINAL
ap-3438	245	5	nc	GPE
ap-3438	245	6	26	CARDINAL
ap-3438	245	7	1	CARDINAL
ap-3438	245	8	5	CARDINAL
ap-3438	245	9	2	CARDINAL
ap-3438	247	1	nc	GPE
ap-3438	247	2	27	CARDINAL
ap-3438	247	3	1	CARDINAL
ap-3438	247	4	0	CARDINAL
ap-3438	248	1	8	CARDINAL
ap-3438	249	1	second	ORDINAL
ap-3438	251	1	7	CARDINAL
ap-3438	252	1	k(s	PERSON
ap-3438	252	2	max = 2	PERSON
ap-3438	253	1	s−1	NORP
ap-3438	254	1	4.1	CARDINAL
ap-3438	254	2	3893	CARDINAL
ap-3438	254	3	10	CARDINAL
ap-3438	255	1	x(0	PERSON
ap-3438	256	1	1(a	CARDINAL
ap-3438	257	1	1(b	CARDINAL
ap-3438	258	1	watts	LOC
ap-3438	258	2	23	CARDINAL
ap-3438	258	3	3	CARDINAL
ap-3438	258	4	0.6	CARDINAL
ap-3438	259	1	3	CARDINAL
ap-3438	259	2	4	CARDINAL
ap-3438	259	3	1	CARDINAL
ap-3438	259	4	1	CARDINAL
ap-3438	259	5	1	CARDINAL
ap-3438	259	6	1	CARDINAL
ap-3438	259	7	1	CARDINAL
ap-3438	259	8	1	CARDINAL
ap-3438	259	9	1	CARDINAL
ap-3438	260	1	987	CARDINAL
ap-3438	260	2	1490	CARDINAL
ap-3438	260	3	1416	CARDINAL
ap-3438	260	4	30	CARDINAL
ap-3438	260	5	ȳ	ORG
ap-3438	261	1	1(b	CARDINAL
ap-3438	263	1	2(a	CARDINAL
ap-3438	265	1	2(b)—to	CARDINAL
ap-3438	265	2	two	CARDINAL
ap-3438	265	3	5	CARDINAL
ap-3438	265	4	4th	ORDINAL
ap-3438	266	1	1	CARDINAL
ap-3438	269	1	3	CARDINAL
ap-3438	269	2	µ(y	PERSON
ap-3438	270	1	1	CARDINAL
ap-3438	271	1	20	CARDINAL
ap-3438	271	2	nc	GPE
ap-3438	271	3	72	CARDINAL
ap-3438	272	1	56	CARDINAL
ap-3438	273	1	1/2016	CARDINAL
ap-3438	274	1	6 5	CARDINAL
ap-3438	275	1	6 5	CARDINAL
ap-3438	275	2	2	CARDINAL
ap-3438	277	1	1	CARDINAL
ap-3438	277	2	nodes 5 and 6	DATE
ap-3438	278	1	1	CARDINAL
ap-3438	278	2	1	CARDINAL
ap-3438	278	3	4	CARDINAL
ap-3438	279	1	1	CARDINAL
ap-3438	279	2	5	CARDINAL
ap-3438	282	1	nc	GPE
ap-3438	283	1	mac	PERSON
ap-3438	283	2	nc	GPE
ap-3438	283	3	3	CARDINAL
ap-3438	285	1	1	CARDINAL
ap-3438	285	2	3893	CARDINAL
ap-3438	285	3	7786	DATE
ap-3438	291	1	4.2	CARDINAL
ap-3438	292	1	three	CARDINAL
ap-3438	292	2	nc	GPE
ap-3438	292	3	29	CARDINAL
ap-3438	293	1	40	CARDINAL
ap-3438	293	2	6	CARDINAL
ap-3438	293	3	4	CARDINAL
ap-3438	293	4	4	CARDINAL
ap-3438	293	5	ȳ	ORG
ap-3438	294	1	4	CARDINAL
ap-3438	296	1	5%	PERCENT
ap-3438	298	1	fig	ORG
ap-3438	299	1	3	CARDINAL
ap-3438	300	1	4, i.e.	DATE
ap-3438	301	1	sec	ORG
ap-3438	301	2	2.3	CARDINAL
ap-3438	302	1	73	CARDINAL
ap-3438	302	2	a. prorok	PERSON
ap-3438	302	3	m. ani hsieh	PERSON
ap-3438	302	4	vijay	NORP
ap-3438	302	5	kumar acta polytechnica	PERSON
ap-3438	302	6	t µ	GPE
ap-3438	303	1	4	CARDINAL
ap-3438	304	1	three	CARDINAL
ap-3438	304	2	0.05	CARDINAL
ap-3438	304	3	40	CARDINAL
ap-3438	304	4	6	CARDINAL
ap-3438	304	5	4	CARDINAL
ap-3438	304	6	4	CARDINAL
ap-3438	305	1	4	CARDINAL
ap-3438	306	1	3	CARDINAL
ap-3438	307	1	4	CARDINAL
ap-3438	308	1	the 25th	DATE
ap-3438	308	2	75th	ORDINAL
ap-3438	309	1	nc	GPE
ap-3438	309	2	4 by 16%	PERCENT
ap-3438	309	3	3 by 25%	PERCENT
ap-3438	311	1	7	CARDINAL
ap-3438	311	2	75%	PERCENT
ap-3438	311	3	nc	GPE
ap-3438	312	1	two	CARDINAL
ap-3438	313	1	90th	ORDINAL
ap-3438	313	2	0.108%	PERCENT
ap-3438	313	3	0.572%	PERCENT
ap-3438	313	4	0.812%	PERCENT
ap-3438	315	1	5	CARDINAL
ap-3438	323	1	15	CARDINAL
ap-3438	323	2	14	CARDINAL
ap-3438	323	3	arl	ORG
ap-3438	323	4	2-0004	CARDINAL
ap-3438	323	5	nsf	NORP
ap-3438	323	6	iis-1426840	DATE
ap-3438	323	7	one	CARDINAL
ap-3438	323	8	six	CARDINAL
ap-3438	323	9	marco	PERSON
ap-3438	324	1	74	CARDINAL
ap-3438	325	1	56	CARDINAL
ap-3438	326	1	1/2016	CARDINAL
ap-3438	326	2	1	CARDINAL
ap-3438	326	3	l. e. parker	PERSON
ap-3438	328	1	8:207–383	CARDINAL
ap-3438	328	2	2000	DATE
ap-3438	329	1	2	CARDINAL
ap-3438	329	2	e. g. jones	PERSON
ap-3438	329	3	m. b. dias	PERSON
ap-3438	331	1	2006	DATE
ap-3438	332	1	doi:10.1109	NORP
ap-3438	333	1	3	CARDINAL
ap-3438	335	1	ph.d	ORG
ap-3438	336	1	university of pennsylvania	ORG
ap-3438	336	2	2015	DATE
ap-3438	337	1	4	CARDINAL
ap-3438	337	2	a. m. hsieh	PERSON
ap-3438	337	3	a. cowley	PERSON
ap-3438	337	4	f. j. keller	PERSON
ap-3438	339	1	24:991–1014, 2007	DATE
ap-3438	341	1	5	CARDINAL
ap-3438	341	2	j. vander	PERSON
ap-3438	341	3	d. mulla	PERSON
ap-3438	342	1	uav	ORG
ap-3438	343	1	2013	DATE
ap-3438	344	1	doi:10.1109	NORP
ap-3438	345	1	6	CARDINAL
ap-3438	345	2	m. j. mataric	PERSON
ap-3438	347	1	interntional journal of robotics	ORG
ap-3438	347	2	23(9):939–954	CARDINAL
ap-3438	347	3	2004	DATE
ap-3438	349	1	7	CARDINAL
ap-3438	349	2	j. vygen	PERSON
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ap-3438	407	1	ph.d	ORG
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ap-3438	411	1	1998	DATE
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