id	sid	eid	entity	type
ap-3490	1	1	acta polytechnica doi:10.14311/app.2016.56.0047 acta polytechnica	PERSON
ap-3490	1	2	56(1):47–56	CARDINAL
ap-3490	1	3	2016	CARDINAL
ap-3490	1	4	czech technical university	ORG
ap-3490	1	5	prague	GPE
ap-3490	1	6	2016	CARDINAL
ap-3490	1	7	http://ojs.cvut.cz/ojs/index.php/ap	PRODUCT
ap-3490	1	8	henrik andreasson	PERSON
ap-3490	1	9	federico pecora centre	PERSON
ap-3490	9	1	1	CARDINAL
ap-3490	11	1	1	CARDINAL
ap-3490	12	1	three	CARDINAL
ap-3490	12	2	•	CARDINAL
ap-3490	16	1	•	CARDINAL
ap-3490	22	1	1	CARDINAL
ap-3490	23	1	two	CARDINAL
ap-3490	24	1	1	CARDINAL
ap-3490	26	1	three	CARDINAL
ap-3490	28	1	47	CARDINAL
ap-3490	28	2	http://dx.doi.org/10.14311/app.2016.56.0047 http://ojs.cvut.cz/ojs/index.php/ap m. mansouri	PERSON
ap-3490	28	3	h. andreasson	PERSON
ap-3490	28	4	f. pecora acta	PERSON
ap-3490	28	5	2	CARDINAL
ap-3490	29	1	atlas copco pitviper-271	PERSON
ap-3490	31	1	section 2	LAW
ap-3490	32	1	section 3	LAW
ap-3490	32	2	section 4	LAW
ap-3490	33	1	section 5	LAW
ap-3490	34	1	section 6	LAW
ap-3490	35	1	section 7	LAW
ap-3490	37	1	2	CARDINAL
ap-3490	43	1	one	CARDINAL
ap-3490	43	2	2	CARDINAL
ap-3490	44	1	dp3	ORG
ap-3490	45	1	3	CARDINAL
ap-3490	47	1	•	CARDINAL
ap-3490	47	2	•	CARDINAL
ap-3490	47	3	•	CARDINAL
ap-3490	47	4	•	CARDINAL
ap-3490	47	5	•	CARDINAL
ap-3490	47	6	•	CARDINAL
ap-3490	49	1	3	CARDINAL
ap-3490	55	1	one	CARDINAL
ap-3490	58	1	section 4	LAW
ap-3490	59	1	48	CARDINAL
ap-3490	60	1	56	CARDINAL
ap-3490	61	1	1/2016	CARDINAL
ap-3490	61	2	3	CARDINAL
ap-3490	61	3	dp3	PERSON
ap-3490	61	4	five	CARDINAL
ap-3490	63	1	•	CARDINAL
ap-3490	66	1	•	CARDINAL
ap-3490	68	1	•	CARDINAL
ap-3490	71	1	dp3	ORG
ap-3490	71	2	five	CARDINAL
ap-3490	79	1	polygon	ORG
ap-3490	80	1	dp3	PERSON
ap-3490	81	1	dp3	PERSON
ap-3490	81	2	∈	ORG
ap-3490	81	3	one	CARDINAL
ap-3490	82	1	2	CARDINAL
ap-3490	85	1	dp3	PERSON
ap-3490	85	2	3.1	CARDINAL
ap-3490	87	1	∈	ORG
ap-3490	88	1	∈	ORG
ap-3490	88	2	mj	PERSON
ap-3490	90	1	4(a	CARDINAL
ap-3490	92	1	3.2	CARDINAL
ap-3490	94	1	〉	CARDINAL
ap-3490	95	1	2	CARDINAL
ap-3490	96	1	eight	CARDINAL
ap-3490	99	1	0	CARDINAL
ap-3490	99	2	2π	CARDINAL
ap-3490	101	1	4(b	CARDINAL
ap-3490	101	2	one	CARDINAL
ap-3490	103	1	eight	CARDINAL
ap-3490	103	2	eight	CARDINAL
ap-3490	105	1	49	CARDINAL
ap-3490	105	2	m. mansouri	PERSON
ap-3490	105	3	h. andreasson	PERSON
ap-3490	105	4	f. pecora acta	PERSON
ap-3490	106	1	168	CARDINAL
ap-3490	106	2	137	CARDINAL
ap-3490	106	3	140	CARDINAL
ap-3490	106	4	165	CARDINAL
ap-3490	106	5	4	CARDINAL
ap-3490	108	1	mi(sp),mi(gpk),mi(m	ORG
ap-3490	111	1	3	CARDINAL
ap-3490	114	1	3.3	CARDINAL
ap-3490	115	1	⊆	CARDINAL
ap-3490	115	2	m(r	PRODUCT
ap-3490	116	1	m(r	PRODUCT
ap-3490	119	1	section 5	LAW
ap-3490	121	1	3.4	CARDINAL
ap-3490	122	1	polygon	ORG
ap-3490	125	1	4(d	DATE
ap-3490	126	1	m(a	PERSON
ap-3490	127	1	polygon	ORG
ap-3490	127	2	m(p	PERSON
ap-3490	130	1	sde	PERSON
ap-3490	131	1	polygon inm(s	ORG
ap-3490	131	2	m(t	PERSON
ap-3490	136	1	m(r	PRODUCT
ap-3490	138	1	polygon	ORG
ap-3490	138	2	∈	ORG
ap-3490	139	1	∈	ORG
ap-3490	139	2	⊆	CARDINAL
ap-3490	139	3	∈	ORG
ap-3490	139	4	1	CARDINAL
ap-3490	139	5	2	CARDINAL
ap-3490	139	6	3	CARDINAL
ap-3490	140	1	stp	ORG
ap-3490	140	2	4	CARDINAL
ap-3490	141	1	stp	ORG
ap-3490	142	1	first	ORDINAL
ap-3490	143	1	50	CARDINAL
ap-3490	144	1	56	CARDINAL
ap-3490	145	1	1/2016	CARDINAL
ap-3490	145	2	5	CARDINAL
ap-3490	145	3	two	CARDINAL
ap-3490	146	1	ik−1	ORG
ap-3490	146	2	ik, k ∈	ORG
ap-3490	146	3	2	CARDINAL
ap-3490	148	1	3	CARDINAL
ap-3490	149	1	1) second	TIME
ap-3490	150	1	1	CARDINAL
ap-3490	153	1	1	CARDINAL
ap-3490	154	1	m+3	DATE
ap-3490	154	2	1	CARDINAL
ap-3490	154	3	2	CARDINAL
ap-3490	154	4	first	ORDINAL
ap-3490	155	1	third	ORDINAL
ap-3490	155	2	ik, k ∈	ORG
ap-3490	155	3	1	CARDINAL
ap-3490	157	1	3	CARDINAL
ap-3490	158	1	3	CARDINAL
ap-3490	158	2	polygon	ORG
ap-3490	158	3	k ∈	PERSON
ap-3490	158	4	1	CARDINAL
ap-3490	159	1	r. hence	PERSON
ap-3490	159	2	stp	ORG
ap-3490	161	1	polygon	ORG
ap-3490	162	1	stp	ORG
ap-3490	162	2	∑ mi∈m′ |mi(t	PERSON
ap-3490	164	1	4	CARDINAL
ap-3490	166	1	3.5	CARDINAL
ap-3490	167	1	eqs	ORG
ap-3490	168	1	1	CARDINAL
ap-3490	168	2	3	CARDINAL
ap-3490	169	1	stp	ORG
ap-3490	171	1	6	CARDINAL
ap-3490	172	1	two	CARDINAL
ap-3490	172	2	two	CARDINAL
ap-3490	174	1	si k	PERSON
ap-3490	175	1	si k ∩ sj m	PERSON
ap-3490	175	2	6=	CARDINAL
ap-3490	175	3	∅ ∧ ii k ∩ ij m 6= ∅ ∧mi(r	LAW
ap-3490	175	4	6=	CARDINAL
ap-3490	176	1	one	CARDINAL
ap-3490	176	2	two	CARDINAL
ap-3490	176	3	ii k}	PERSON
ap-3490	177	1	stp	ORG
ap-3490	177	2	two	CARDINAL
ap-3490	178	1	polygon	ORG
ap-3490	179	1	1	CARDINAL
ap-3490	180	1	5	CARDINAL
ap-3490	180	2	two	CARDINAL
ap-3490	181	1	one	CARDINAL
ap-3490	182	1	two	CARDINAL
ap-3490	183	1	first	ORDINAL
ap-3490	183	2	3.4	CARDINAL
ap-3490	184	1	second	ORDINAL
ap-3490	186	1	6	CARDINAL
ap-3490	187	1	4	CARDINAL
ap-3490	192	1	51 m. mansouri	QUANTITY
ap-3490	192	2	h. andreasson	PERSON
ap-3490	192	3	f. pecora acta polytechnica	PERSON
ap-3490	192	4	∪dalloc ∪dtime ∪dcoord ∪dmp	ORG
ap-3490	192	5	6=	CARDINAL
ap-3490	192	6	∈	ORG
ap-3490	192	7	alloc	ORG
ap-3490	192	8	choose(dp	PERSON
ap-3490	192	9	4	CARDINAL
ap-3490	192	10	6=	CARDINAL
ap-3490	192	11	7	CARDINAL
ap-3490	193	1	v)8	ORG
ap-3490	194	1	dp3-solver(m)10	ORG
ap-3490	194	2	7	CARDINAL
ap-3490	199	1	stp	ORG
ap-3490	202	1	dp3	ORG
ap-3490	202	2	1	CARDINAL
ap-3490	202	3	2	CARDINAL
ap-3490	202	4	14	CARDINAL
ap-3490	203	1	3	CARDINAL
ap-3490	203	2	section 3.5	LAW
ap-3490	204	1	one	CARDINAL
ap-3490	204	2	4	CARDINAL
ap-3490	205	1	first	ORDINAL
ap-3490	206	1	one	CARDINAL
ap-3490	207	1	8	CARDINAL
ap-3490	210	1	8)	CARDINAL
ap-3490	212	1	dp3	ORG
ap-3490	212	2	10	CARDINAL
ap-3490	212	3	6	CARDINAL
ap-3490	213	1	dp3	ORG
ap-3490	214	1	5	CARDINAL
ap-3490	214	2	dp3	PERSON
ap-3490	216	1	dtp ≺ dcoord	ORG
ap-3490	216	2	dmp ≺ daloc ≺	ORG
ap-3490	216	3	dtp ≺ dcoord	ORG
ap-3490	220	1	5	CARDINAL
ap-3490	223	1	8)	CARDINAL
ap-3490	223	2	topologically	ORG
ap-3490	225	1	8)	CARDINAL
ap-3490	227	1	first	ORDINAL
ap-3490	228	1	52	CARDINAL
ap-3490	229	1	56	CARDINAL
ap-3490	230	1	1/2016	CARDINAL
ap-3490	230	2	9	CARDINAL
ap-3490	234	1	1	CARDINAL
ap-3490	239	1	first	ORDINAL
ap-3490	239	2	one	CARDINAL
ap-3490	239	3	two	CARDINAL
ap-3490	240	1	two	CARDINAL
ap-3490	240	2	4(a	CARDINAL
ap-3490	240	3	m140 precedes−−−−−→m141.	ORG
ap-3490	243	1	eight	CARDINAL
ap-3490	243	2	87	CARDINAL
ap-3490	249	1	9	CARDINAL
ap-3490	254	1	three	CARDINAL
ap-3490	254	2	1	CARDINAL
ap-3490	254	3	2	CARDINAL
ap-3490	254	4	3	CARDINAL
ap-3490	256	1	6	CARDINAL
ap-3490	256	2	dp3	ORG
ap-3490	260	1	dp3	ORG
ap-3490	260	2	dp3	ORG
ap-3490	261	1	m(t	PERSON
ap-3490	263	1	trajectories1	LANGUAGE
ap-3490	264	1	m(t	PERSON
ap-3490	265	1	stp	ORG
ap-3490	266	1	stp	ORG
ap-3490	267	1	1hz	CARDINAL
ap-3490	269	1	one second	TIME
ap-3490	269	2	stp	ORG
ap-3490	270	1	1	CARDINAL
ap-3490	271	1	6	CARDINAL
ap-3490	272	1	53	CARDINAL
ap-3490	272	2	m. mansouri	PERSON
ap-3490	272	3	h. andreasson	PERSON
ap-3490	272	4	f. pecora acta polytechnica	PERSON
ap-3490	273	1	polygon	ORG
ap-3490	280	1	3	CARDINAL
ap-3490	282	1	7	CARDINAL
ap-3490	284	1	dp3	ORG
ap-3490	284	2	7	CARDINAL
ap-3490	285	1	dp3	PERSON
ap-3490	285	2	3.40ghz×4	CARDINAL
ap-3490	285	3	8	CARDINAL
ap-3490	287	1	16 meters	QUANTITY
ap-3490	287	2	only 1.8 meters	QUANTITY
ap-3490	288	1	western australia	LOC
ap-3490	291	1	76	CARDINAL
ap-3490	291	2	3	CARDINAL
ap-3490	292	1	10	CARDINAL
ap-3490	292	2	dp3	PERSON
ap-3490	294	1	1 5	CARDINAL
ap-3490	294	2	10	CARDINAL
ap-3490	295	1	dp3	ORG
ap-3490	296	1	1	CARDINAL
ap-3490	296	2	1	CARDINAL
ap-3490	296	3	2	CARDINAL
ap-3490	296	4	2	CARDINAL
ap-3490	296	5	3	CARDINAL
ap-3490	296	6	4	CARDINAL
ap-3490	296	7	3	CARDINAL
ap-3490	296	8	6	CARDINAL
ap-3490	296	9	row 5	DATE
ap-3490	297	1	2.14 minutes	TIME
ap-3490	298	1	11	CARDINAL
ap-3490	298	2	three	CARDINAL
ap-3490	300	1	11(a	DATE
ap-3490	300	2	1	CARDINAL
ap-3490	300	3	3	CARDINAL
ap-3490	300	4	4	CARDINAL
ap-3490	301	1	2	CARDINAL
ap-3490	301	2	1	CARDINAL
ap-3490	302	1	2	CARDINAL
ap-3490	302	2	5	CARDINAL
ap-3490	302	3	11(b	CARDINAL
ap-3490	302	4	3	CARDINAL
ap-3490	302	5	1	CARDINAL
ap-3490	302	6	2	CARDINAL
ap-3490	303	1	2	CARDINAL
ap-3490	303	2	1	CARDINAL
ap-3490	303	3	2	CARDINAL
ap-3490	303	4	3	CARDINAL
ap-3490	303	5	3 and	PERCENT
ap-3490	303	6	11(c	DATE
ap-3490	305	1	2	CARDINAL
ap-3490	305	2	3	CARDINAL
ap-3490	305	3	1	CARDINAL
ap-3490	306	1	three	CARDINAL
ap-3490	307	1	first	ORDINAL
ap-3490	307	2	1	CARDINAL
ap-3490	307	3	row 1	DATE
ap-3490	308	1	2	CARDINAL
ap-3490	308	2	3	CARDINAL
ap-3490	309	1	2	CARDINAL
ap-3490	309	2	3	CARDINAL
ap-3490	309	3	1	CARDINAL
ap-3490	309	4	1	CARDINAL
ap-3490	309	5	2	CARDINAL
ap-3490	310	1	second	ORDINAL
ap-3490	310	2	1	CARDINAL
ap-3490	310	3	the second row	DATE
ap-3490	311	1	2	CARDINAL
ap-3490	311	2	3	CARDINAL
ap-3490	312	1	third	ORDINAL
ap-3490	312	2	one	CARDINAL
ap-3490	312	3	2	CARDINAL
ap-3490	312	4	3	CARDINAL
ap-3490	312	5	1 later	DATE
ap-3490	313	1	three	CARDINAL
ap-3490	313	2	54	CARDINAL
ap-3490	314	1	56	CARDINAL
ap-3490	315	1	1/2016	CARDINAL
ap-3490	315	2	11	CARDINAL
ap-3490	317	1	27	CARDINAL
ap-3490	317	2	76	CARDINAL
ap-3490	317	3	8.68min	CARDINAL
ap-3490	317	4	0.6min 2.14min	CARDINAL
ap-3490	317	5	1	CARDINAL
ap-3490	318	1	1 second	TIME
ap-3490	319	1	section 5	LAW
ap-3490	320	1	three	CARDINAL
ap-3490	320	2	27	CARDINAL
ap-3490	320	3	53	DATE
ap-3490	320	4	76	DATE
ap-3490	322	1	60 minute	TIME
ap-3490	323	1	1	CARDINAL
ap-3490	324	1	91	CARDINAL
ap-3490	324	2	12	CARDINAL
ap-3490	325	1	1	CARDINAL
ap-3490	325	2	4	CARDINAL
ap-3490	325	3	2	CARDINAL
ap-3490	325	4	101 minutes	TIME
ap-3490	325	5	61 min	QUANTITY
ap-3490	325	6	1	CARDINAL
ap-3490	325	7	1	CARDINAL
ap-3490	325	8	2	CARDINAL
ap-3490	325	9	row 8	DATE
ap-3490	330	1	7.1	CARDINAL
ap-3490	333	1	dp3	ORG
ap-3490	333	2	1 2	CARDINAL
ap-3490	333	3	12	CARDINAL
ap-3490	334	1	91	CARDINAL
ap-3490	335	1	dp3	ORG
ap-3490	338	1	122	CARDINAL
ap-3490	338	2	344	CARDINAL
ap-3490	338	3	3	CARDINAL
ap-3490	340	1	8	CARDINAL
ap-3490	340	2	dp3	ORG
ap-3490	340	3	dp3	ORG
ap-3490	342	1	8	CARDINAL
ap-3490	343	1	mas	ORG
ap-3490	344	1	dp3	ORG
ap-3490	345	1	mdvrp	ORG
ap-3490	346	1	mdvrp	ORG
ap-3490	347	1	mdvrps	PERSON
ap-3490	349	1	9	CARDINAL
ap-3490	349	2	mdvrp	ORG
ap-3490	349	3	55	CARDINAL
ap-3490	349	4	m. mansouri	PERSON
ap-3490	349	5	h. andreasson	PERSON
ap-3490	349	6	f. pecora acta polytechnica	PERSON
ap-3490	350	1	mdvrp	ORG
ap-3490	351	1	10	CARDINAL
ap-3490	355	1	11	CARDINAL
ap-3490	355	2	12	CARDINAL
ap-3490	355	3	13	CARDINAL
ap-3490	357	1	14	CARDINAL
ap-3490	357	2	15	CARDINAL
ap-3490	362	1	16	CARDINAL
ap-3490	363	1	17	CARDINAL
ap-3490	364	1	dp3	ORG
ap-3490	365	1	the swedish knowledge foundation	ORG
ap-3490	365	2	kks	ORG
ap-3490	365	3	atlas copco	PERSON
ap-3490	366	1	lars eriksson	PERSON
ap-3490	366	2	stephen joyce	PERSON
ap-3490	366	3	robert lundh	PERSON
ap-3490	366	4	ola pettersson	PERSON
ap-3490	367	1	nils johansson	PERSON
ap-3490	368	1	1	CARDINAL
ap-3490	368	2	h. andreasson	PERSON
ap-3490	368	3	a. bouguerra	PERSON
ap-3490	368	4	m. cirillo	PERSON
ap-3490	369	1	robotics & automation magazine	ORG
ap-3490	369	2	22(1):64–75	CARDINAL
ap-3490	369	3	2015	DATE
ap-3490	370	1	doi:10.1109	NORP
ap-3490	371	1	2	CARDINAL
ap-3490	371	2	e. tsang	PERSON
ap-3490	374	1	1993	DATE
ap-3490	375	1	3	CARDINAL
ap-3490	376	1	liang	PERSON
ap-3490	377	1	liu	PERSON
ap-3490	379	1	chang	PERSON
ap-3490	381	1	52(4):312–335, 2005	DATE
ap-3490	382	1	doi:10.1016	GPE
ap-3490	383	1	4	CARDINAL
ap-3490	383	2	i. meiri	PERSON
ap-3490	383	3	j. pearl	PERSON
ap-3490	385	1	49(1-3):61–95	CARDINAL
ap-3490	385	2	1991	DATE
ap-3490	387	1	5	CARDINAL
ap-3490	387	2	a. cesta	PERSON
ap-3490	387	3	a. oddi	PERSON
ap-3490	387	4	s. f. smith	PERSON
ap-3490	389	1	8(1):109–136, 2002	DATE
ap-3490	390	1	doi:10.1023	GPE
ap-3490	391	1	6	CARDINAL
ap-3490	391	2	s. qin	PERSON
ap-3490	391	3	t. badgwell	PERSON
ap-3490	393	1	control engineering practice	ORG
ap-3490	393	2	11:733–764	CARDINAL
ap-3490	393	3	2003	DATE
ap-3490	394	1	doi:10.1016	PERSON
ap-3490	394	2	0661(02)00186	CARDINAL
ap-3490	395	1	7	CARDINAL
ap-3490	395	2	m. quigley	PERSON
ap-3490	395	3	k. conley	PERSON
ap-3490	398	1	2009	DATE
ap-3490	399	1	8	CARDINAL
ap-3490	399	2	m. woolridge	PERSON
ap-3490	401	1	john wiley & sons, inc.	ORG
ap-3490	401	2	new york	GPE
ap-3490	401	3	ny, usa, 2001	ORG
ap-3490	402	1	9	CARDINAL
ap-3490	402	2	j. r. montoya-torres	PERSON
ap-3490	402	3	j. l. franco	PERSON
ap-3490	402	4	n. i. santiago	PERSON
ap-3490	403	1	computers & industrial engineering	ORG
ap-3490	403	2	2015	DATE
ap-3490	404	1	doi:10.1016	GPE
ap-3490	405	1	10	CARDINAL
ap-3490	405	2	s. scheuren	PERSON
ap-3490	405	3	s. stiene	PERSON
ap-3490	405	4	r. hartanto	PERSON
ap-3490	408	1	341–346, 2013	DATE
ap-3490	410	1	11	CARDINAL
ap-3490	410	2	j. marshall	PERSON
ap-3490	410	3	t. barfoot	PERSON
ap-3490	410	4	j. larsson	PERSON
ap-3490	412	1	25(6-7):400–421	CARDINAL
ap-3490	412	2	2008	DATE
ap-3490	414	1	12	CARDINAL
ap-3490	416	1	2015-09-01	DATE
ap-3490	417	1	13	CARDINAL
ap-3490	417	2	e. guizzo	PERSON
ap-3490	418	1	three	CARDINAL
ap-3490	418	2	hundreds	CARDINAL
ap-3490	418	3	one	CARDINAL
ap-3490	419	1	45(7):26–34, 2008	DATE
ap-3490	420	1	14	CARDINAL
ap-3490	420	2	k. e. bekris	PERSON
ap-3490	420	3	d. k. grady	PERSON
ap-3490	420	4	m. moll	PERSON
ap-3490	420	5	l. e. kavraki	PERSON
ap-3490	421	1	second	ORDINAL
ap-3490	422	1	31(2	CARDINAL
ap-3490	422	2	2012	DATE
ap-3490	424	1	15	CARDINAL
ap-3490	424	2	t. uras	ORG
ap-3490	424	3	s. koenig	PERSON
ap-3490	429	1	2014	DATE
ap-3490	430	1	doi:10.1109	NORP
ap-3490	431	1	16	CARDINAL
ap-3490	431	2	m. mansouri	PERSON
ap-3490	431	3	f. pecora	PERSON
ap-3490	431	4	j. hertzberg	PERSON
ap-3490	434	1	2015	CARDINAL
ap-3490	435	1	17	CARDINAL
ap-3490	435	2	m. mansouri	PERSON
ap-3490	435	3	h. andreasson	PERSON
ap-3490	435	4	f. pecora	PERSON
ap-3490	438	1	2015	CARDINAL
ap-3490	439	1	56	CARDINAL
ap-3490	439	2	polytechnica 56(1):47–56	GPE
ap-3490	439	3	2016 1	DATE
ap-3490	439	4	2	CARDINAL
ap-3490	439	5	3	CARDINAL
ap-3490	439	6	3.1	CARDINAL
ap-3490	439	7	3.2	CARDINAL
ap-3490	439	8	3.3	CARDINAL
ap-3490	439	9	3.4	CARDINAL
ap-3490	439	10	3.5	CARDINAL
ap-3490	439	11	4	CARDINAL
ap-3490	439	12	5	CARDINAL
ap-3490	439	13	6	CARDINAL
ap-3490	439	14	7	CARDINAL
ap-3490	439	15	7.1	CARDINAL