id	sid	tid	token	lemma	pos
ap-1650	1	1	acta	acta	PROPN
ap-1650	1	2	polytechnica	polytechnica	PROPN
ap-1650	1	3	vol	vol	NOUN
ap-1650	1	4	.	.	PROPN
ap-1650	2	1	52	52	NUM
ap-1650	2	2	no	no	NOUN
ap-1650	2	3	.	.	PUNCT
ap-1650	3	1	5/2012	5/2012	NUM
ap-1650	3	2	integration	integration	NOUN
ap-1650	3	3	of	of	ADP
ap-1650	3	4	autonomous	autonomous	ADJ
ap-1650	3	5	uavs	uavs	NOUN
ap-1650	3	6	into	into	ADP
ap-1650	3	7	multi	multi	ADJ
ap-1650	3	8	-	-	ADJ
ap-1650	3	9	agent	agent	ADJ
ap-1650	3	10	simulation	simulation	NOUN
ap-1650	3	11	martin	martin	PROPN
ap-1650	3	12	selecký1	selecký1	PROPN
ap-1650	3	13	,	,	PUNCT
ap-1650	3	14	tomáš	tomáš	NOUN
ap-1650	3	15	meiser2	meiser2	VERB
ap-1650	3	16	1dept	1dept	X
ap-1650	3	17	.	.	NOUN
ap-1650	3	18	of	of	ADP
ap-1650	3	19	cybernetics	cybernetic	NOUN
ap-1650	3	20	,	,	PUNCT
ap-1650	3	21	faculty	faculty	NOUN
ap-1650	3	22	of	of	ADP
ap-1650	3	23	electrical	electrical	ADJ
ap-1650	3	24	engineering	engineering	NOUN
ap-1650	3	25	,	,	PUNCT
ap-1650	3	26	czech	czech	PROPN
ap-1650	3	27	technical	technical	PROPN
ap-1650	3	28	university	university	PROPN
ap-1650	3	29	,	,	PUNCT
ap-1650	3	30	technická	technická	NOUN
ap-1650	3	31	2	2	NUM
ap-1650	3	32	,	,	PUNCT
ap-1650	3	33	166	166	NUM
ap-1650	3	34	27	27	NUM
ap-1650	3	35	prague	prague	NOUN
ap-1650	3	36	,	,	PUNCT
ap-1650	3	37	czech	czech	PROPN
ap-1650	3	38	republic	republic	NOUN
ap-1650	3	39	2dept	2dept	NUM
ap-1650	3	40	.	.	PUNCT
ap-1650	3	41	of	of	ADP
ap-1650	3	42	computer	computer	NOUN
ap-1650	3	43	science	science	NOUN
ap-1650	3	44	,	,	PUNCT
ap-1650	3	45	faculty	faculty	NOUN
ap-1650	3	46	of	of	ADP
ap-1650	3	47	electrical	electrical	ADJ
ap-1650	3	48	engineering	engineering	NOUN
ap-1650	3	49	,	,	PUNCT
ap-1650	3	50	czech	czech	PROPN
ap-1650	3	51	technical	technical	PROPN
ap-1650	3	52	university	university	PROPN
ap-1650	3	53	,	,	PUNCT
ap-1650	3	54	technická	technická	NOUN
ap-1650	3	55	2	2	NUM
ap-1650	3	56	,	,	PUNCT
ap-1650	3	57	166	166	NUM
ap-1650	3	58	27	27	NUM
ap-1650	3	59	prague	prague	NOUN
ap-1650	3	60	,	,	PUNCT
ap-1650	3	61	czech	czech	PROPN
ap-1650	3	62	republic	republic	PROPN
ap-1650	3	63	corresponding	correspond	VERB
ap-1650	3	64	author	author	NOUN
ap-1650	3	65	:	:	PUNCT
ap-1650	3	66	martin.selecky@agents.fel.cvut.cz	martin.selecky@agents.fel.cvut.cz	NOUN
ap-1650	3	67	abstract	abstract	ADJ
ap-1650	3	68	in	in	ADP
ap-1650	3	69	recent	recent	ADJ
ap-1650	3	70	years	year	NOUN
ap-1650	3	71	,	,	PUNCT
ap-1650	3	72	unmanned	unmanned	ADJ
ap-1650	3	73	aerial	aerial	ADJ
ap-1650	3	74	vehicles	vehicle	NOUN
ap-1650	3	75	(	(	PUNCT
ap-1650	3	76	uavs	uavs	NOUN
ap-1650	3	77	)	)	PUNCT
ap-1650	3	78	have	have	AUX
ap-1650	3	79	attracted	attract	VERB
ap-1650	3	80	much	much	ADJ
ap-1650	3	81	attention	attention	NOUN
ap-1650	3	82	both	both	PRON
ap-1650	3	83	in	in	ADP
ap-1650	3	84	the	the	DET
ap-1650	3	85	research	research	NOUN
ap-1650	3	86	field	field	NOUN
ap-1650	3	87	and	and	CCONJ
ap-1650	3	88	in	in	ADP
ap-1650	3	89	the	the	DET
ap-1650	3	90	field	field	NOUN
ap-1650	3	91	of	of	ADP
ap-1650	3	92	commercial	commercial	ADJ
ap-1650	3	93	deployment	deployment	NOUN
ap-1650	3	94	.	.	PUNCT
ap-1650	4	1	researchers	researcher	NOUN
ap-1650	4	2	recently	recently	ADV
ap-1650	4	3	started	start	VERB
ap-1650	4	4	to	to	PART
ap-1650	4	5	study	study	VERB
ap-1650	4	6	problems	problem	NOUN
ap-1650	4	7	and	and	CCONJ
ap-1650	4	8	opportunities	opportunity	NOUN
ap-1650	4	9	connected	connect	VERB
ap-1650	4	10	with	with	ADP
ap-1650	4	11	the	the	DET
ap-1650	4	12	usage	usage	NOUN
ap-1650	4	13	,	,	PUNCT
ap-1650	4	14	deployment	deployment	NOUN
ap-1650	4	15	and	and	CCONJ
ap-1650	4	16	operation	operation	NOUN
ap-1650	4	17	of	of	ADP
ap-1650	4	18	teams	team	NOUN
ap-1650	4	19	of	of	ADP
ap-1650	4	20	multiple	multiple	ADJ
ap-1650	4	21	autonomous	autonomous	ADJ
ap-1650	4	22	uavs	uavs	NOUN
ap-1650	4	23	.	.	PUNCT
ap-1650	5	1	these	these	DET
ap-1650	5	2	multi	multi	ADJ
ap-1650	5	3	-	-	ADJ
ap-1650	5	4	uav	uav	ADJ
ap-1650	5	5	scenarios	scenario	NOUN
ap-1650	5	6	are	be	AUX
ap-1650	5	7	by	by	ADP
ap-1650	5	8	their	their	PRON
ap-1650	5	9	nature	nature	NOUN
ap-1650	5	10	well	well	ADV
ap-1650	5	11	suited	suited	ADJ
ap-1650	5	12	to	to	PART
ap-1650	5	13	be	be	AUX
ap-1650	5	14	modelled	model	VERB
ap-1650	5	15	and	and	CCONJ
ap-1650	5	16	simulated	simulate	VERB
ap-1650	5	17	as	as	ADP
ap-1650	5	18	multi	multi	ADJ
ap-1650	5	19	-	-	ADJ
ap-1650	5	20	agent	agent	ADJ
ap-1650	5	21	systems	system	NOUN
ap-1650	5	22	.	.	PUNCT
ap-1650	6	1	in	in	ADP
ap-1650	6	2	this	this	DET
ap-1650	6	3	paper	paper	NOUN
ap-1650	6	4	we	we	PRON
ap-1650	6	5	present	present	VERB
ap-1650	6	6	solutions	solution	NOUN
ap-1650	6	7	to	to	ADP
ap-1650	6	8	the	the	DET
ap-1650	6	9	problems	problem	NOUN
ap-1650	6	10	that	that	PRON
ap-1650	6	11	we	we	PRON
ap-1650	6	12	had	have	VERB
ap-1650	6	13	to	to	PART
ap-1650	6	14	deal	deal	VERB
ap-1650	6	15	with	with	ADP
ap-1650	6	16	in	in	ADP
ap-1650	6	17	the	the	DET
ap-1650	6	18	process	process	NOUN
ap-1650	6	19	of	of	ADP
ap-1650	6	20	integrating	integrate	VERB
ap-1650	6	21	two	two	NUM
ap-1650	6	22	hardware	hardware	NOUN
ap-1650	6	23	uavs	uavs	NOUN
ap-1650	6	24	into	into	ADP
ap-1650	6	25	an	an	DET
ap-1650	6	26	existing	exist	VERB
ap-1650	6	27	multi	multi	ADJ
ap-1650	6	28	-	-	ADJ
ap-1650	6	29	agent	agent	ADJ
ap-1650	6	30	simulation	simulation	NOUN
ap-1650	6	31	system	system	NOUN
ap-1650	6	32	with	with	ADP
ap-1650	6	33	additional	additional	ADJ
ap-1650	6	34	virtual	virtual	ADJ
ap-1650	6	35	uavs	uavs	NOUN
ap-1650	6	36	,	,	PUNCT
ap-1650	6	37	resulting	result	VERB
ap-1650	6	38	in	in	ADP
ap-1650	6	39	a	a	DET
ap-1650	6	40	mixed	mixed	ADJ
ap-1650	6	41	reality	reality	NOUN
ap-1650	6	42	system	system	NOUN
ap-1650	6	43	where	where	SCONJ
ap-1650	6	44	hardware	hardware	NOUN
ap-1650	6	45	uavs	uavs	NOUN
ap-1650	6	46	and	and	CCONJ
ap-1650	6	47	virtual	virtual	ADJ
ap-1650	6	48	uavs	uavs	NOUN
ap-1650	6	49	can	can	AUX
ap-1650	6	50	co	co	VERB
ap-1650	6	51	-	-	VERB
ap-1650	6	52	exist	exist	VERB
ap-1650	6	53	,	,	PUNCT
ap-1650	6	54	coordinate	coordinate	VERB
ap-1650	6	55	their	their	PRON
ap-1650	6	56	flight	flight	NOUN
ap-1650	6	57	and	and	CCONJ
ap-1650	6	58	cooperate	cooperate	VERB
ap-1650	6	59	on	on	ADP
ap-1650	6	60	common	common	ADJ
ap-1650	6	61	tasks	task	NOUN
ap-1650	6	62	.	.	PUNCT
ap-1650	7	1	hardware	hardware	NOUN
ap-1650	7	2	uavs	uavs	PROPN
ap-1650	7	3	are	be	AUX
ap-1650	7	4	capable	capable	ADJ
ap-1650	7	5	of	of	ADP
ap-1650	7	6	on	on	ADP
ap-1650	7	7	-	-	PUNCT
ap-1650	7	8	board	board	NOUN
ap-1650	7	9	planning	planning	NOUN
ap-1650	7	10	and	and	CCONJ
ap-1650	7	11	reasoning	reasoning	NOUN
ap-1650	7	12	,	,	PUNCT
ap-1650	7	13	and	and	CCONJ
ap-1650	7	14	can	can	AUX
ap-1650	7	15	cooperate	cooperate	VERB
ap-1650	7	16	and	and	CCONJ
ap-1650	7	17	coordinate	coordinate	VERB
ap-1650	7	18	their	their	PRON
ap-1650	7	19	movement	movement	NOUN
ap-1650	7	20	with	with	ADP
ap-1650	7	21	one	one	NUM
ap-1650	7	22	another	another	DET
ap-1650	7	23	,	,	PUNCT
ap-1650	7	24	and	and	CCONJ
ap-1650	7	25	also	also	ADV
ap-1650	7	26	with	with	ADP
ap-1650	7	27	virtual	virtual	ADJ
ap-1650	7	28	uavs	uavs	NOUN
ap-1650	7	29	.	.	PUNCT
ap-1650	8	1	keywords	keyword	NOUN
ap-1650	8	2	:	:	PUNCT
ap-1650	8	3	unmanned	unmanned	ADJ
ap-1650	8	4	autonomous	autonomous	ADJ
ap-1650	8	5	vehicles	vehicle	NOUN
ap-1650	8	6	,	,	PUNCT
ap-1650	8	7	multi	multi	ADJ
ap-1650	8	8	-	-	ADJ
ap-1650	8	9	agent	agent	ADJ
ap-1650	8	10	systems	system	NOUN
ap-1650	8	11	,	,	PUNCT
ap-1650	8	12	deployment	deployment	NOUN
ap-1650	8	13	.	.	PUNCT
ap-1650	9	1	1	1	NUM
ap-1650	9	2	introduction	introduction	NOUN
ap-1650	9	3	the	the	DET
ap-1650	9	4	use	use	NOUN
ap-1650	9	5	of	of	ADP
ap-1650	9	6	uavs	uavs	NOUN
ap-1650	9	7	is	be	AUX
ap-1650	9	8	growing	grow	VERB
ap-1650	9	9	nowadays	nowadays	ADV
ap-1650	9	10	thanks	thank	NOUN
ap-1650	9	11	to	to	ADP
ap-1650	9	12	the	the	DET
ap-1650	9	13	low	low	ADJ
ap-1650	9	14	cost	cost	NOUN
ap-1650	9	15	of	of	ADP
ap-1650	9	16	their	their	PRON
ap-1650	9	17	deploying	deploying	NOUN
ap-1650	9	18	and	and	CCONJ
ap-1650	9	19	maintaining	maintain	VERB
ap-1650	9	20	them	they	PRON
ap-1650	9	21	,	,	PUNCT
ap-1650	9	22	and	and	CCONJ
ap-1650	9	23	the	the	DET
ap-1650	9	24	possibility	possibility	NOUN
ap-1650	9	25	to	to	ADP
ap-1650	9	26	operating	operate	VERB
ap-1650	9	27	them	they	PRON
ap-1650	9	28	in	in	ADP
ap-1650	9	29	areas	area	NOUN
ap-1650	9	30	inaccessible	inaccessible	ADJ
ap-1650	9	31	or	or	CCONJ
ap-1650	9	32	dangerous	dangerous	ADJ
ap-1650	9	33	for	for	ADP
ap-1650	9	34	human	human	ADJ
ap-1650	9	35	pilots	pilot	NOUN
ap-1650	9	36	.	.	PUNCT
ap-1650	10	1	to	to	PART
ap-1650	10	2	manage	manage	VERB
ap-1650	10	3	more	more	ADV
ap-1650	10	4	sophisticated	sophisticated	ADJ
ap-1650	10	5	tasks	task	NOUN
ap-1650	10	6	such	such	ADJ
ap-1650	10	7	as	as	ADP
ap-1650	10	8	area	area	NOUN
ap-1650	10	9	surveillance	surveillance	NOUN
ap-1650	10	10	and	and	CCONJ
ap-1650	10	11	monitoring	monitoring	NOUN
ap-1650	10	12	or	or	CCONJ
ap-1650	10	13	multiple	multiple	ADJ
ap-1650	10	14	target	target	NOUN
ap-1650	10	15	tracking	tracking	NOUN
ap-1650	10	16	,	,	PUNCT
ap-1650	10	17	teams	team	NOUN
ap-1650	10	18	of	of	ADP
ap-1650	10	19	multiple	multiple	ADJ
ap-1650	10	20	uavs	uavs	NOUN
ap-1650	10	21	should	should	AUX
ap-1650	10	22	be	be	AUX
ap-1650	10	23	deployed	deploy	VERB
ap-1650	10	24	.	.	PUNCT
ap-1650	11	1	this	this	PRON
ap-1650	11	2	requires	require	VERB
ap-1650	11	3	more	more	ADJ
ap-1650	11	4	complex	complex	ADJ
ap-1650	11	5	control	control	NOUN
ap-1650	11	6	,	,	PUNCT
ap-1650	11	7	coordination	coordination	NOUN
ap-1650	11	8	and	and	CCONJ
ap-1650	11	9	cooperation	cooperation	NOUN
ap-1650	11	10	mechanisms	mechanism	NOUN
ap-1650	11	11	.	.	PUNCT
ap-1650	12	1	these	these	DET
ap-1650	12	2	mechanisms	mechanism	NOUN
ap-1650	12	3	have	have	AUX
ap-1650	12	4	already	already	ADV
ap-1650	12	5	been	be	AUX
ap-1650	12	6	studied	study	VERB
ap-1650	12	7	and	and	CCONJ
ap-1650	12	8	developed	develop	VERB
ap-1650	12	9	for	for	ADP
ap-1650	12	10	virtual	virtual	ADJ
ap-1650	12	11	uavs	uavs	NOUN
ap-1650	12	12	as	as	ADP
ap-1650	12	13	a	a	DET
ap-1650	12	14	part	part	NOUN
ap-1650	12	15	of	of	ADP
ap-1650	12	16	multi	multi	ADJ
ap-1650	12	17	-	-	ADJ
ap-1650	12	18	agent	agent	ADJ
ap-1650	12	19	systems	system	NOUN
ap-1650	12	20	,	,	PUNCT
ap-1650	12	21	e.g.	e.g.	ADV
ap-1650	12	22	in	in	ADP
ap-1650	12	23	the	the	DET
ap-1650	12	24	agentfly	agentfly	ADJ
ap-1650	12	25	system	system	NOUN
ap-1650	12	26	[	[	X
ap-1650	12	27	8	8	NUM
ap-1650	12	28	]	]	PUNCT
ap-1650	12	29	or	or	CCONJ
ap-1650	12	30	mas	mas	PROPN
ap-1650	12	31	,	,	PUNCT
ap-1650	12	32	proposed	propose	VERB
ap-1650	12	33	by	by	ADP
ap-1650	12	34	baxter	baxter	PROPN
ap-1650	12	35	and	and	CCONJ
ap-1650	12	36	horn	horn	VERB
ap-1650	12	37	in	in	ADP
ap-1650	12	38	[	[	X
ap-1650	12	39	1	1	NUM
ap-1650	12	40	]	]	PUNCT
ap-1650	12	41	which	which	PRON
ap-1650	12	42	would	would	AUX
ap-1650	12	43	be	be	AUX
ap-1650	12	44	very	very	ADV
ap-1650	12	45	well	well	ADV
ap-1650	12	46	suited	suited	ADJ
ap-1650	12	47	for	for	ADP
ap-1650	12	48	application	application	NOUN
ap-1650	12	49	in	in	ADP
ap-1650	12	50	real	real	ADJ
ap-1650	12	51	hardware	hardware	NOUN
ap-1650	12	52	uavs	uavs	NOUN
ap-1650	12	53	.	.	PUNCT
ap-1650	13	1	a	a	DET
ap-1650	13	2	further	further	ADJ
ap-1650	13	3	significant	significant	ADJ
ap-1650	13	4	challenge	challenge	NOUN
ap-1650	13	5	in	in	ADP
ap-1650	13	6	working	work	VERB
ap-1650	13	7	with	with	ADP
ap-1650	13	8	hardware	hardware	NOUN
ap-1650	13	9	air	air	NOUN
ap-1650	13	10	vehicles	vehicle	NOUN
ap-1650	13	11	is	be	AUX
ap-1650	13	12	that	that	SCONJ
ap-1650	13	13	the	the	DET
ap-1650	13	14	design	design	NOUN
ap-1650	13	15	/	/	SYM
ap-1650	13	16	test	test	NOUN
ap-1650	13	17	cycle	cycle	NOUN
ap-1650	13	18	is	be	AUX
ap-1650	13	19	considerably	considerably	ADV
ap-1650	13	20	longer	long	ADJ
ap-1650	13	21	than	than	ADP
ap-1650	13	22	for	for	ADP
ap-1650	13	23	ground	ground	NOUN
ap-1650	13	24	robots	robot	NOUN
ap-1650	13	25	or	or	CCONJ
ap-1650	13	26	virtual	virtual	ADJ
ap-1650	13	27	entities	entity	NOUN
ap-1650	13	28	.	.	PUNCT
ap-1650	14	1	flight	flight	NOUN
ap-1650	14	2	experiments	experiment	NOUN
ap-1650	14	3	involve	involve	VERB
ap-1650	14	4	a	a	DET
ap-1650	14	5	greater	great	ADJ
ap-1650	14	6	level	level	NOUN
ap-1650	14	7	of	of	ADP
ap-1650	14	8	risk	risk	NOUN
ap-1650	14	9	,	,	PUNCT
ap-1650	14	10	since	since	SCONJ
ap-1650	14	11	even	even	ADV
ap-1650	14	12	minor	minor	ADJ
ap-1650	14	13	errors	error	NOUN
ap-1650	14	14	can	can	AUX
ap-1650	14	15	lead	lead	VERB
ap-1650	14	16	to	to	ADP
ap-1650	14	17	serious	serious	ADJ
ap-1650	14	18	crashes	crash	NOUN
ap-1650	14	19	.	.	PUNCT
ap-1650	15	1	for	for	ADP
ap-1650	15	2	this	this	DET
ap-1650	15	3	reason	reason	NOUN
ap-1650	15	4	mixed	mix	VERB
ap-1650	15	5	reality	reality	NOUN
ap-1650	15	6	simulations	simulation	NOUN
ap-1650	15	7	,	,	PUNCT
ap-1650	15	8	which	which	PRON
ap-1650	15	9	allow	allow	VERB
ap-1650	15	10	integration	integration	NOUN
ap-1650	15	11	of	of	ADP
ap-1650	15	12	real	real	ADJ
ap-1650	15	13	hardware	hardware	NOUN
ap-1650	15	14	uavs	uavs	NOUN
ap-1650	15	15	and	and	CCONJ
ap-1650	15	16	simulated	simulate	VERB
ap-1650	15	17	virtual	virtual	ADJ
ap-1650	15	18	uavs	uavs	NOUN
ap-1650	15	19	to	to	AUX
ap-1650	15	20	co	co	VERB
ap-1650	15	21	-	-	VERB
ap-1650	15	22	exist	exist	VERB
ap-1650	15	23	in	in	ADP
ap-1650	15	24	one	one	NUM
ap-1650	15	25	environment	environment	NOUN
ap-1650	15	26	,	,	PUNCT
ap-1650	15	27	are	be	AUX
ap-1650	15	28	helpful	helpful	ADJ
ap-1650	15	29	and	and	CCONJ
ap-1650	15	30	necessary	necessary	ADJ
ap-1650	15	31	in	in	ADP
ap-1650	15	32	the	the	DET
ap-1650	15	33	development	development	NOUN
ap-1650	15	34	process	process	NOUN
ap-1650	15	35	.	.	PUNCT
ap-1650	16	1	the	the	DET
ap-1650	16	2	principles	principle	NOUN
ap-1650	16	3	of	of	ADP
ap-1650	16	4	multi	multi	ADJ
ap-1650	16	5	-	-	ADJ
ap-1650	16	6	agent	agent	ADJ
ap-1650	16	7	systems	system	NOUN
ap-1650	16	8	have	have	AUX
ap-1650	16	9	been	be	AUX
ap-1650	16	10	used	use	VERB
ap-1650	16	11	in	in	ADP
ap-1650	16	12	[	[	X
ap-1650	16	13	2	2	NUM
ap-1650	16	14	]	]	PUNCT
ap-1650	16	15	,	,	PUNCT
ap-1650	16	16	[	[	X
ap-1650	16	17	3	3	NUM
ap-1650	16	18	]	]	PUNCT
ap-1650	16	19	and	and	CCONJ
ap-1650	17	1	[	[	X
ap-1650	17	2	6	6	NUM
ap-1650	17	3	]	]	PUNCT
ap-1650	17	4	to	to	PART
ap-1650	17	5	issue	issue	VERB
ap-1650	17	6	commands	command	NOUN
ap-1650	17	7	to	to	ADP
ap-1650	17	8	hardware	hardware	NOUN
ap-1650	17	9	uavs	uavs	PROPN
ap-1650	17	10	.	.	PUNCT
ap-1650	18	1	in	in	ADP
ap-1650	18	2	these	these	DET
ap-1650	18	3	works	work	NOUN
ap-1650	18	4	,	,	PUNCT
ap-1650	18	5	however	however	ADV
ap-1650	18	6	,	,	PUNCT
ap-1650	18	7	central	central	ADJ
ap-1650	18	8	planning	planning	NOUN
ap-1650	18	9	mechanisms	mechanism	NOUN
ap-1650	18	10	are	be	AUX
ap-1650	18	11	used	use	VERB
ap-1650	18	12	,	,	PUNCT
ap-1650	18	13	and	and	CCONJ
ap-1650	18	14	the	the	DET
ap-1650	18	15	uavs	uavs	NOUN
ap-1650	18	16	only	only	ADV
ap-1650	18	17	follow	follow	VERB
ap-1650	18	18	precomputed	precompute	VERB
ap-1650	18	19	plans	plan	NOUN
ap-1650	18	20	.	.	PUNCT
ap-1650	19	1	figure	figure	VERB
ap-1650	19	2	1	1	NUM
ap-1650	19	3	:	:	PUNCT
ap-1650	19	4	agentfly	agentfly	ADV
ap-1650	19	5	multi	multi	ADJ
ap-1650	19	6	-	-	ADJ
ap-1650	19	7	agent	agent	ADJ
ap-1650	19	8	system	system	NOUN
ap-1650	19	9	.	.	PUNCT
ap-1650	20	1	bürkle	bürkle	NOUN
ap-1650	20	2	et	et	PROPN
ap-1650	20	3	al	al	PROPN
ap-1650	20	4	.	.	PUNCT
ap-1650	21	1	[	[	X
ap-1650	21	2	4	4	X
ap-1650	21	3	]	]	PUNCT
ap-1650	21	4	presented	present	VERB
ap-1650	21	5	the	the	DET
ap-1650	21	6	deployment	deployment	NOUN
ap-1650	21	7	of	of	ADP
ap-1650	21	8	control	control	NOUN
ap-1650	21	9	mechanisms	mechanism	NOUN
ap-1650	21	10	for	for	ADP
ap-1650	21	11	teams	team	NOUN
ap-1650	21	12	of	of	ADP
ap-1650	21	13	hardware	hardware	NOUN
ap-1650	21	14	vtol	vtol	PROPN
ap-1650	21	15	micro	micro	PROPN
ap-1650	21	16	uavs	uavs	PROPN
ap-1650	21	17	.	.	PUNCT
ap-1650	22	1	these	these	DET
ap-1650	22	2	uav	uav	PROPN
ap-1650	22	3	teams	team	NOUN
ap-1650	22	4	are	be	AUX
ap-1650	22	5	capable	capable	ADJ
ap-1650	22	6	of	of	ADP
ap-1650	22	7	on	on	ADP
ap-1650	22	8	-	-	PUNCT
ap-1650	22	9	board	board	NOUN
ap-1650	22	10	planning	planning	NOUN
ap-1650	22	11	and	and	CCONJ
ap-1650	22	12	some	some	DET
ap-1650	22	13	cooperation	cooperation	NOUN
ap-1650	22	14	on	on	ADP
ap-1650	22	15	mutual	mutual	ADJ
ap-1650	22	16	tasks	task	NOUN
ap-1650	22	17	,	,	PUNCT
ap-1650	22	18	but	but	CCONJ
ap-1650	22	19	they	they	PRON
ap-1650	22	20	do	do	AUX
ap-1650	22	21	not	not	PART
ap-1650	22	22	coordinate	coordinate	VERB
ap-1650	22	23	their	their	PRON
ap-1650	22	24	flight	flight	NOUN
ap-1650	22	25	in	in	ADP
ap-1650	22	26	terms	term	NOUN
ap-1650	22	27	of	of	ADP
ap-1650	22	28	collision	collision	NOUN
ap-1650	22	29	avoidance	avoidance	NOUN
ap-1650	22	30	.	.	PUNCT
ap-1650	23	1	the	the	DET
ap-1650	23	2	system	system	NOUN
ap-1650	23	3	also	also	ADV
ap-1650	23	4	does	do	AUX
ap-1650	23	5	not	not	PART
ap-1650	23	6	allow	allow	VERB
ap-1650	23	7	the	the	DET
ap-1650	23	8	coexistence	coexistence	NOUN
ap-1650	23	9	of	of	ADP
ap-1650	23	10	hardware	hardware	NOUN
ap-1650	23	11	uavs	uavs	PROPN
ap-1650	23	12	together	together	ADV
ap-1650	23	13	with	with	ADP
ap-1650	23	14	simulated	simulated	ADJ
ap-1650	23	15	uavs	uavs	NOUN
ap-1650	23	16	.	.	PUNCT
ap-1650	24	1	we	we	PRON
ap-1650	24	2	integrated	integrate	VERB
ap-1650	24	3	two	two	NUM
ap-1650	24	4	hardware	hardware	NOUN
ap-1650	24	5	fixed	fix	VERB
ap-1650	24	6	wing	wing	NOUN
ap-1650	24	7	uavs	uavs	NOUN
ap-1650	24	8	into	into	ADP
ap-1650	24	9	the	the	DET
ap-1650	24	10	agentfly	agentfly	ADV
ap-1650	24	11	multi	multi	ADJ
ap-1650	24	12	-	-	ADJ
ap-1650	24	13	agent	agent	ADJ
ap-1650	24	14	system	system	NOUN
ap-1650	24	15	[	[	X
ap-1650	24	16	8	8	NUM
ap-1650	24	17	]	]	PUNCT
ap-1650	24	18	,	,	PUNCT
ap-1650	24	19	which	which	PRON
ap-1650	24	20	is	be	AUX
ap-1650	24	21	used	use	VERB
ap-1650	24	22	for	for	ADP
ap-1650	24	23	simulating	simulate	VERB
ap-1650	24	24	uavs	uavs	NOUN
ap-1650	24	25	and	and	CCONJ
ap-1650	24	26	air	air	NOUN
ap-1650	24	27	traffic	traffic	NOUN
ap-1650	24	28	,	,	PUNCT
ap-1650	24	29	allows	allow	VERB
ap-1650	24	30	complex	complex	ADJ
ap-1650	24	31	coordination	coordination	NOUN
ap-1650	24	32	and	and	CCONJ
ap-1650	24	33	cooperation	cooperation	NOUN
ap-1650	24	34	of	of	ADP
ap-1650	24	35	agents	agent	NOUN
ap-1650	24	36	,	,	PUNCT
ap-1650	24	37	and	and	CCONJ
ap-1650	24	38	provides	provide	VERB
ap-1650	24	39	collision	collision	NOUN
ap-1650	24	40	avoidance	avoidance	NOUN
ap-1650	24	41	mechanisms	mechanism	NOUN
ap-1650	24	42	.	.	PUNCT
ap-1650	25	1	we	we	PRON
ap-1650	25	2	modified	modify	VERB
ap-1650	25	3	the	the	DET
ap-1650	25	4	sys93	sys93	PROPN
ap-1650	25	5	acta	acta	PROPN
ap-1650	25	6	polytechnica	polytechnica	PROPN
ap-1650	25	7	vol	vol	NOUN
ap-1650	25	8	.	.	PROPN
ap-1650	26	1	52	52	NUM
ap-1650	26	2	no	no	NOUN
ap-1650	26	3	.	.	PUNCT
ap-1650	27	1	5/2012	5/2012	NUM
ap-1650	27	2	acl	acl	PROPN
ap-1650	27	3	clock	clock	PROPN
ap-1650	27	4	radar	radar	NOUN
ap-1650	27	5	configuration	configuration	NOUN
ap-1650	27	6	plane	plane	NOUN
ap-1650	27	7	control	control	NOUN
ap-1650	27	8	collision	collision	NOUN
ap-1650	27	9	avoidance	avoidance	NOUN
ap-1650	27	10	framework	framework	NOUN
ap-1650	27	11	flight	flight	NOUN
ap-1650	27	12	planning	planning	NOUN
ap-1650	27	13	no	no	DET
ap-1650	27	14	flight	flight	NOUN
ap-1650	27	15	zones	zone	NOUN
ap-1650	27	16	pilot	pilot	NOUN
ap-1650	27	17	agent	agent	NOUN
ap-1650	27	18	plane	plane	NOUN
ap-1650	27	19	agent	agent	NOUN
ap-1650	27	20	simulated	simulate	VERB
ap-1650	27	21	uav	uav	PROPN
ap-1650	27	22	entity	entity	NOUN
ap-1650	27	23	simulator	simulator	NOUN
ap-1650	27	24	simulation	simulation	NOUN
ap-1650	27	25	framework	framework	NOUN
ap-1650	27	26	...	...	PUNCT
ap-1650	28	1	cooperative	cooperative	ADJ
ap-1650	28	2	negotiation	negotiation	NOUN
ap-1650	28	3	1	1	NUM
ap-1650	28	4	.	.	PUNCT
ap-1650	29	1	.n	.n	ADJ
ap-1650	29	2	figure	figure	NOUN
ap-1650	29	3	2	2	NUM
ap-1650	29	4	:	:	PUNCT
ap-1650	29	5	design	design	NOUN
ap-1650	29	6	of	of	ADP
ap-1650	29	7	a	a	DET
ap-1650	29	8	simulated	simulate	VERB
ap-1650	29	9	virtual	virtual	ADJ
ap-1650	29	10	uav	uav	PROPN
ap-1650	29	11	.	.	PUNCT
ap-1650	30	1	tem	tem	PROPN
ap-1650	30	2	to	to	PART
ap-1650	30	3	allow	allow	VERB
ap-1650	30	4	both	both	DET
ap-1650	30	5	hardware	hardware	NOUN
ap-1650	30	6	and	and	CCONJ
ap-1650	30	7	virtual	virtual	ADJ
ap-1650	30	8	uavs	uavs	NOUN
ap-1650	30	9	to	to	PART
ap-1650	30	10	act	act	VERB
ap-1650	30	11	and	and	CCONJ
ap-1650	30	12	interfere	interfere	VERB
ap-1650	30	13	in	in	ADP
ap-1650	30	14	a	a	DET
ap-1650	30	15	common	common	ADJ
ap-1650	30	16	mixed	mixed	ADJ
ap-1650	30	17	reality	reality	NOUN
ap-1650	30	18	environment	environment	NOUN
ap-1650	30	19	,	,	PUNCT
ap-1650	30	20	and	and	CCONJ
ap-1650	30	21	we	we	PRON
ap-1650	30	22	equipped	equip	VERB
ap-1650	30	23	the	the	DET
ap-1650	30	24	hardware	hardware	NOUN
ap-1650	30	25	uavs	uavs	NOUN
ap-1650	30	26	with	with	ADP
ap-1650	30	27	a	a	DET
ap-1650	30	28	gumstix	gumstix	ADJ
ap-1650	30	29	computer	computer	NOUN
ap-1650	30	30	to	to	PART
ap-1650	30	31	enable	enable	VERB
ap-1650	30	32	on	on	ADP
ap-1650	30	33	-	-	PUNCT
ap-1650	30	34	board	board	NOUN
ap-1650	30	35	planning	planning	NOUN
ap-1650	30	36	,	,	PUNCT
ap-1650	30	37	reasoning	reasoning	NOUN
ap-1650	30	38	and	and	CCONJ
ap-1650	30	39	communication	communication	NOUN
ap-1650	30	40	with	with	ADP
ap-1650	30	41	other	other	ADJ
ap-1650	30	42	hardware	hardware	NOUN
ap-1650	30	43	or	or	CCONJ
ap-1650	30	44	software	software	NOUN
ap-1650	30	45	uavs	uavs	NOUN
ap-1650	30	46	.	.	PUNCT
ap-1650	31	1	this	this	DET
ap-1650	31	2	paper	paper	NOUN
ap-1650	31	3	is	be	AUX
ap-1650	31	4	organized	organize	VERB
ap-1650	31	5	as	as	SCONJ
ap-1650	31	6	follows	follow	VERB
ap-1650	31	7	.	.	PUNCT
ap-1650	32	1	first	first	ADV
ap-1650	32	2	,	,	PUNCT
ap-1650	32	3	we	we	PRON
ap-1650	32	4	will	will	AUX
ap-1650	32	5	briefly	briefly	ADV
ap-1650	32	6	describe	describe	VERB
ap-1650	32	7	the	the	DET
ap-1650	32	8	agentfly	agentfly	ADJ
ap-1650	32	9	system	system	NOUN
ap-1650	32	10	in	in	ADP
ap-1650	32	11	section	section	NOUN
ap-1650	32	12	2	2	NUM
ap-1650	32	13	and	and	CCONJ
ap-1650	32	14	uavs	uavs	NOUN
ap-1650	32	15	and	and	CCONJ
ap-1650	32	16	their	their	PRON
ap-1650	32	17	computational	computational	ADJ
ap-1650	32	18	and	and	CCONJ
ap-1650	32	19	communication	communication	NOUN
ap-1650	32	20	equipment	equipment	NOUN
ap-1650	32	21	in	in	ADP
ap-1650	32	22	section	section	NOUN
ap-1650	32	23	3	3	NUM
ap-1650	32	24	.	.	PUNCT
ap-1650	32	25	section	section	NOUN
ap-1650	32	26	4	4	NUM
ap-1650	32	27	shows	show	VERB
ap-1650	32	28	the	the	DET
ap-1650	32	29	modifications	modification	NOUN
ap-1650	32	30	done	do	VERB
ap-1650	32	31	to	to	ADP
ap-1650	32	32	the	the	DET
ap-1650	32	33	agentfly	agentfly	ADJ
ap-1650	32	34	system	system	NOUN
ap-1650	32	35	and	and	CCONJ
ap-1650	32	36	hardware	hardware	NOUN
ap-1650	32	37	equipment	equipment	NOUN
ap-1650	32	38	for	for	ADP
ap-1650	32	39	deploying	deploy	VERB
ap-1650	32	40	the	the	DET
ap-1650	32	41	uavs	uavs	NOUN
ap-1650	32	42	,	,	PUNCT
ap-1650	32	43	and	and	CCONJ
ap-1650	32	44	in	in	ADP
ap-1650	32	45	section	section	NOUN
ap-1650	32	46	5	5	NUM
ap-1650	32	47	we	we	PRON
ap-1650	32	48	describe	describe	VERB
ap-1650	32	49	the	the	DET
ap-1650	32	50	results	result	NOUN
ap-1650	32	51	of	of	ADP
ap-1650	32	52	field	field	NOUN
ap-1650	32	53	experiments	experiment	NOUN
ap-1650	32	54	.	.	PUNCT
ap-1650	33	1	section	section	NOUN
ap-1650	33	2	6	6	NUM
ap-1650	33	3	concludes	conclude	VERB
ap-1650	33	4	the	the	DET
ap-1650	33	5	paper	paper	NOUN
ap-1650	33	6	.	.	PUNCT
ap-1650	34	1	2	2	NUM
ap-1650	34	2	agentfly	agentfly	ADV
ap-1650	34	3	multi	multi	ADJ
ap-1650	34	4	-	-	ADJ
ap-1650	34	5	agent	agent	ADJ
ap-1650	34	6	system	system	NOUN
ap-1650	34	7	agentfly	agentfly	ADV
ap-1650	34	8	is	be	AUX
ap-1650	34	9	a	a	DET
ap-1650	34	10	java	java	NOUN
ap-1650	34	11	-	-	PUNCT
ap-1650	34	12	based	base	VERB
ap-1650	34	13	multi	multi	ADJ
ap-1650	34	14	-	-	ADJ
ap-1650	34	15	agent	agent	ADJ
ap-1650	34	16	system	system	NOUN
ap-1650	34	17	designed	design	VERB
ap-1650	34	18	for	for	ADP
ap-1650	34	19	simulation	simulation	NOUN
ap-1650	34	20	of	of	ADP
ap-1650	34	21	air	air	NOUN
ap-1650	34	22	traffic	traffic	NOUN
ap-1650	34	23	and	and	CCONJ
ap-1650	34	24	uav	uav	PROPN
ap-1650	34	25	missions	mission	NOUN
ap-1650	34	26	(	(	PUNCT
ap-1650	34	27	see	see	VERB
ap-1650	34	28	figure	figure	NOUN
ap-1650	34	29	1	1	NUM
ap-1650	34	30	)	)	PUNCT
ap-1650	34	31	.	.	PUNCT
ap-1650	35	1	it	it	PRON
ap-1650	35	2	is	be	AUX
ap-1650	35	3	built	build	VERB
ap-1650	35	4	on	on	ADP
ap-1650	35	5	top	top	NOUN
ap-1650	35	6	of	of	ADP
ap-1650	35	7	the	the	DET
ap-1650	35	8	a	a	DET
ap-1650	35	9	-	-	PUNCT
ap-1650	35	10	globe	globe	NOUN
ap-1650	35	11	multi	multi	ADJ
ap-1650	35	12	-	-	ADJ
ap-1650	35	13	agent	agent	ADJ
ap-1650	35	14	platform	platform	NOUN
ap-1650	35	15	[	[	X
ap-1650	35	16	7	7	NUM
ap-1650	35	17	]	]	PUNCT
ap-1650	35	18	,	,	PUNCT
ap-1650	35	19	and	and	CCONJ
ap-1650	35	20	it	it	PRON
ap-1650	35	21	provides	provide	VERB
ap-1650	35	22	the	the	DET
ap-1650	35	23	simulated	simulate	VERB
ap-1650	35	24	entities	entity	NOUN
ap-1650	35	25	with	with	ADP
ap-1650	35	26	a	a	DET
ap-1650	35	27	communication	communication	NOUN
ap-1650	35	28	framework	framework	NOUN
ap-1650	35	29	,	,	PUNCT
ap-1650	35	30	trajectory	trajectory	NOUN
ap-1650	35	31	planning	planning	NOUN
ap-1650	35	32	,	,	PUNCT
ap-1650	35	33	and	and	CCONJ
ap-1650	35	34	collision	collision	NOUN
ap-1650	35	35	avoidance	avoidance	NOUN
ap-1650	35	36	and	and	CCONJ
ap-1650	35	37	cooperation	cooperation	NOUN
ap-1650	35	38	mechanisms	mechanism	NOUN
ap-1650	35	39	.	.	PUNCT
ap-1650	36	1	each	each	DET
ap-1650	36	2	simulated	simulate	VERB
ap-1650	36	3	aircraft	aircraft	NOUN
ap-1650	36	4	in	in	ADP
ap-1650	36	5	the	the	DET
ap-1650	36	6	agentfly	agentfly	ADJ
ap-1650	36	7	system	system	NOUN
ap-1650	36	8	is	be	AUX
ap-1650	36	9	composed	compose	VERB
ap-1650	36	10	of	of	ADP
ap-1650	36	11	two	two	NUM
ap-1650	36	12	software	software	NOUN
ap-1650	36	13	agents	agent	NOUN
ap-1650	36	14	—	—	PUNCT
ap-1650	36	15	the	the	DET
ap-1650	36	16	pilot	pilot	NOUN
ap-1650	36	17	agent	agent	NOUN
ap-1650	36	18	and	and	CCONJ
ap-1650	36	19	the	the	DET
ap-1650	36	20	plane	plane	NOUN
ap-1650	36	21	agent	agent	NOUN
ap-1650	36	22	.	.	PUNCT
ap-1650	37	1	pilot	pilot	NOUN
ap-1650	37	2	agent	agent	NOUN
ap-1650	37	3	is	be	AUX
ap-1650	37	4	responsible	responsible	ADJ
ap-1650	37	5	for	for	ADP
ap-1650	37	6	the	the	DET
ap-1650	37	7	uav	uav	PROPN
ap-1650	37	8	’s	’s	PART
ap-1650	37	9	reasoning	reasoning	NOUN
ap-1650	37	10	—	—	PUNCT
ap-1650	37	11	it	it	PRON
ap-1650	37	12	calls	call	VERB
ap-1650	37	13	the	the	DET
ap-1650	37	14	trajectory	trajectory	NOUN
ap-1650	37	15	planner	planner	NOUN
ap-1650	37	16	and	and	CCONJ
ap-1650	37	17	handles	handle	VERB
ap-1650	37	18	the	the	DET
ap-1650	37	19	communication	communication	NOUN
ap-1650	37	20	with	with	ADP
ap-1650	37	21	other	other	ADJ
ap-1650	37	22	uavs	uavs	NOUN
ap-1650	37	23	for	for	ADP
ap-1650	37	24	the	the	DET
ap-1650	37	25	purposes	purpose	NOUN
ap-1650	37	26	of	of	ADP
ap-1650	37	27	cooperation	cooperation	NOUN
ap-1650	37	28	and	and	CCONJ
ap-1650	37	29	collision	collision	NOUN
ap-1650	37	30	prevention	prevention	NOUN
ap-1650	37	31	.	.	PUNCT
ap-1650	38	1	plane	plane	NOUN
ap-1650	38	2	agent	agent	NOUN
ap-1650	38	3	provides	provide	VERB
ap-1650	38	4	pilot	pilot	NOUN
ap-1650	38	5	agent	agent	NOUN
ap-1650	38	6	with	with	ADP
ap-1650	38	7	an	an	DET
ap-1650	38	8	interface	interface	NOUN
ap-1650	38	9	for	for	ADP
ap-1650	38	10	high	high	ADJ
ap-1650	38	11	-	-	PUNCT
ap-1650	38	12	level	level	NOUN
ap-1650	38	13	plane	plane	NOUN
ap-1650	38	14	control	control	NOUN
ap-1650	38	15	,	,	PUNCT
ap-1650	38	16	and	and	CCONJ
ap-1650	38	17	executes	execute	VERB
ap-1650	38	18	the	the	DET
ap-1650	38	19	flight	flight	NOUN
ap-1650	38	20	plans	plan	NOUN
ap-1650	38	21	.	.	PUNCT
ap-1650	39	1	it	it	PRON
ap-1650	39	2	also	also	ADV
ap-1650	39	3	simulates	simulate	VERB
ap-1650	39	4	the	the	DET
ap-1650	39	5	aircraft	aircraft	NOUN
ap-1650	39	6	’s	’s	PART
ap-1650	39	7	on	on	ADP
ap-1650	39	8	-	-	PUNCT
ap-1650	39	9	board	board	NOUN
ap-1650	39	10	instruments	instrument	NOUN
ap-1650	39	11	,	,	PUNCT
ap-1650	39	12	e.g.	e.g.	ADV
ap-1650	39	13	radar	radar	NOUN
ap-1650	39	14	,	,	PUNCT
ap-1650	39	15	gps	gps	NOUN
ap-1650	39	16	and	and	CCONJ
ap-1650	39	17	clock	clock	NOUN
ap-1650	39	18	.	.	PUNCT
ap-1650	40	1	the	the	DET
ap-1650	40	2	system	system	NOUN
ap-1650	40	3	provides	provide	VERB
ap-1650	40	4	simulated	simulated	ADJ
ap-1650	40	5	aircraft	aircraft	NOUN
ap-1650	40	6	with	with	ADP
ap-1650	40	7	mechanisms	mechanism	NOUN
ap-1650	40	8	for	for	ADP
ap-1650	40	9	peer	peer	NOUN
ap-1650	40	10	-	-	PUNCT
ap-1650	40	11	to	to	ADP
ap-1650	40	12	-	-	PUNCT
ap-1650	40	13	peer	peer	NOUN
ap-1650	40	14	collision	collision	NOUN
ap-1650	40	15	avoidance	avoidance	NOUN
ap-1650	40	16	—	—	PUNCT
ap-1650	40	17	either	either	CCONJ
ap-1650	40	18	cooperative	cooperative	ADJ
ap-1650	40	19	mechanism	mechanism	NOUN
ap-1650	40	20	,	,	PUNCT
ap-1650	40	21	where	where	SCONJ
ap-1650	40	22	the	the	DET
ap-1650	40	23	uavs	uavs	PROPN
ap-1650	40	24	exchange	exchange	PROPN
ap-1650	40	25	figure	figure	NOUN
ap-1650	40	26	3	3	NUM
ap-1650	40	27	:	:	PUNCT
ap-1650	40	28	unicorn	unicorn	PROPN
ap-1650	40	29	uav	uav	PROPN
ap-1650	40	30	by	by	ADP
ap-1650	40	31	procerus	procerus	NOUN
ap-1650	40	32	technologies	technology	NOUN
ap-1650	40	33	.	.	PUNCT
ap-1650	41	1	figure	figure	VERB
ap-1650	41	2	4	4	NUM
ap-1650	41	3	:	:	PUNCT
ap-1650	41	4	gumstix	gumstix	ADJ
ap-1650	41	5	overo	overo	NOUN
ap-1650	41	6	fire	fire	NOUN
ap-1650	41	7	on	on	ADP
ap-1650	41	8	-	-	PUNCT
ap-1650	41	9	board	board	NOUN
ap-1650	41	10	computer	computer	NOUN
ap-1650	41	11	.	.	PUNCT
ap-1650	42	1	their	their	PRON
ap-1650	42	2	flight	flight	NOUN
ap-1650	42	3	plans	plan	NOUN
ap-1650	42	4	and	and	CCONJ
ap-1650	42	5	negotiate	negotiate	VERB
ap-1650	42	6	about	about	ADP
ap-1650	42	7	avoidance	avoidance	NOUN
ap-1650	42	8	manoeuvres	manoeuvre	NOUN
ap-1650	42	9	,	,	PUNCT
ap-1650	42	10	or	or	CCONJ
ap-1650	42	11	non	non	ADJ
ap-1650	42	12	-	-	ADJ
ap-1650	42	13	cooperative	cooperative	ADJ
ap-1650	42	14	mechanism	mechanism	NOUN
ap-1650	42	15	,	,	PUNCT
ap-1650	42	16	where	where	SCONJ
ap-1650	42	17	the	the	DET
ap-1650	42	18	uavs	uavs	NOUN
ap-1650	42	19	can	can	AUX
ap-1650	42	20	not	not	PART
ap-1650	42	21	exchange	exchange	VERB
ap-1650	42	22	(	(	PUNCT
ap-1650	42	23	e.g.	e.g.	ADV
ap-1650	42	24	because	because	SCONJ
ap-1650	42	25	of	of	ADP
ap-1650	42	26	incompatible	incompatible	ADJ
ap-1650	42	27	protocols	protocol	NOUN
ap-1650	42	28	)	)	PUNCT
ap-1650	42	29	or	or	CCONJ
ap-1650	42	30	do	do	AUX
ap-1650	42	31	not	not	PART
ap-1650	42	32	want	want	VERB
ap-1650	42	33	to	to	PART
ap-1650	42	34	exchange	exchange	VERB
ap-1650	42	35	their	their	PRON
ap-1650	42	36	plans	plan	NOUN
ap-1650	42	37	(	(	PUNCT
ap-1650	42	38	for	for	ADP
ap-1650	42	39	example	example	NOUN
ap-1650	42	40	hostile	hostile	ADJ
ap-1650	42	41	airplanes	airplane	NOUN
ap-1650	42	42	)	)	PUNCT
ap-1650	42	43	and	and	CCONJ
ap-1650	42	44	the	the	DET
ap-1650	42	45	collision	collision	NOUN
ap-1650	42	46	situation	situation	NOUN
ap-1650	42	47	is	be	AUX
ap-1650	42	48	solved	solve	VERB
ap-1650	42	49	by	by	ADP
ap-1650	42	50	flight	flight	NOUN
ap-1650	42	51	trajectory	trajectory	NOUN
ap-1650	42	52	prediction	prediction	NOUN
ap-1650	42	53	.	.	PUNCT
ap-1650	43	1	the	the	DET
ap-1650	43	2	flight	flight	NOUN
ap-1650	43	3	plans	plan	NOUN
ap-1650	43	4	consist	consist	VERB
ap-1650	43	5	of	of	ADP
ap-1650	43	6	a	a	DET
ap-1650	43	7	sequence	sequence	NOUN
ap-1650	43	8	of	of	ADP
ap-1650	43	9	flight	flight	NOUN
ap-1650	43	10	manoeuvres	manoeuvre	NOUN
ap-1650	43	11	—	—	PUNCT
ap-1650	43	12	straight	straight	ADJ
ap-1650	43	13	flight	flight	NOUN
ap-1650	43	14	,	,	PUNCT
ap-1650	43	15	left	leave	VERB
ap-1650	43	16	/	/	SYM
ap-1650	43	17	right	right	ADJ
ap-1650	43	18	turn	turn	NOUN
ap-1650	43	19	,	,	PUNCT
ap-1650	43	20	up	up	ADV
ap-1650	43	21	/	/	SYM
ap-1650	43	22	down	down	ADP
ap-1650	43	23	turn	turn	NOUN
ap-1650	43	24	.	.	PUNCT
ap-1650	44	1	they	they	PRON
ap-1650	44	2	represent	represent	VERB
ap-1650	44	3	so	so	ADV
ap-1650	44	4	called	call	VERB
ap-1650	44	5	dubins	dubin	NOUN
ap-1650	44	6	curves	curve	NOUN
ap-1650	45	1	[	[	X
ap-1650	45	2	5	5	NUM
ap-1650	45	3	]	]	PUNCT
ap-1650	45	4	,	,	PUNCT
ap-1650	45	5	which	which	PRON
ap-1650	45	6	are	be	AUX
ap-1650	45	7	based	base	VERB
ap-1650	45	8	on	on	ADP
ap-1650	45	9	the	the	DET
ap-1650	45	10	fact	fact	NOUN
ap-1650	45	11	that	that	SCONJ
ap-1650	45	12	any	any	DET
ap-1650	45	13	two	two	NUM
ap-1650	45	14	positions	position	NOUN
ap-1650	45	15	(	(	PUNCT
ap-1650	45	16	points	point	NOUN
ap-1650	45	17	with	with	ADP
ap-1650	45	18	directions	direction	NOUN
ap-1650	45	19	)	)	PUNCT
ap-1650	45	20	in	in	ADP
ap-1650	45	21	space	space	NOUN
ap-1650	45	22	can	can	AUX
ap-1650	45	23	be	be	AUX
ap-1650	45	24	connected	connect	VERB
ap-1650	45	25	by	by	ADP
ap-1650	45	26	a	a	DET
ap-1650	45	27	sequence	sequence	NOUN
ap-1650	45	28	of	of	ADP
ap-1650	45	29	a	a	DET
ap-1650	45	30	turn	turn	NOUN
ap-1650	45	31	of	of	ADP
ap-1650	45	32	a	a	DET
ap-1650	45	33	given	give	VERB
ap-1650	45	34	radius	radius	NOUN
ap-1650	45	35	,	,	PUNCT
ap-1650	45	36	a	a	DET
ap-1650	45	37	straight	straight	ADJ
ap-1650	45	38	segment	segment	NOUN
ap-1650	45	39	and	and	CCONJ
ap-1650	45	40	another	another	DET
ap-1650	45	41	turn	turn	NOUN
ap-1650	45	42	.	.	PUNCT
ap-1650	46	1	each	each	DET
ap-1650	46	2	manoeuvre	manoeuvre	NOUN
ap-1650	46	3	is	be	AUX
ap-1650	46	4	represented	represent	VERB
ap-1650	46	5	by	by	ADP
ap-1650	46	6	the	the	DET
ap-1650	46	7	starting	starting	NOUN
ap-1650	46	8	point	point	NOUN
ap-1650	46	9	,	,	PUNCT
ap-1650	46	10	turn	turn	VERB
ap-1650	46	11	angle	angle	NOUN
ap-1650	46	12	or	or	CCONJ
ap-1650	46	13	acceleration	acceleration	NOUN
ap-1650	46	14	,	,	PUNCT
ap-1650	46	15	speed	speed	NOUN
ap-1650	46	16	and	and	CCONJ
ap-1650	46	17	duration	duration	NOUN
ap-1650	46	18	.	.	PUNCT
ap-1650	47	1	during	during	ADP
ap-1650	47	2	the	the	DET
ap-1650	47	3	transition	transition	NOUN
ap-1650	47	4	process	process	NOUN
ap-1650	47	5	from	from	ADP
ap-1650	47	6	software	software	NOUN
ap-1650	47	7	simulation	simulation	NOUN
ap-1650	47	8	to	to	ADP
ap-1650	47	9	mixed	mix	VERB
ap-1650	47	10	-	-	PUNCT
ap-1650	47	11	reality	reality	NOUN
ap-1650	47	12	we	we	PRON
ap-1650	47	13	replaced	replace	VERB
ap-1650	47	14	two	two	NUM
ap-1650	47	15	of	of	ADP
ap-1650	47	16	these	these	DET
ap-1650	47	17	virtual	virtual	ADJ
ap-1650	47	18	aircraft	aircraft	NOUN
ap-1650	47	19	with	with	ADP
ap-1650	47	20	hardware	hardware	NOUN
ap-1650	47	21	commercial	commercial	ADJ
ap-1650	47	22	off	off	ADP
ap-1650	47	23	-	-	PUNCT
ap-1650	47	24	the	the	DET
ap-1650	47	25	-	-	PUNCT
ap-1650	47	26	shelf	shelf	NOUN
ap-1650	47	27	fixed	fix	VERB
ap-1650	47	28	wing	wing	NOUN
ap-1650	47	29	uavs	uavs	NOUN
ap-1650	47	30	by	by	ADP
ap-1650	47	31	procerus	procerus	NOUN
ap-1650	47	32	technologies	technology	NOUN
ap-1650	47	33	.	.	PUNCT
ap-1650	48	1	3	3	NUM
ap-1650	48	2	hardware	hardware	NOUN
ap-1650	48	3	uav	uav	PROPN
ap-1650	48	4	platform	platform	NOUN
ap-1650	48	5	we	we	PRON
ap-1650	48	6	selected	select	VERB
ap-1650	48	7	the	the	DET
ap-1650	48	8	procerus	procerus	PROPN
ap-1650	48	9	uav	uav	PROPN
ap-1650	48	10	(	(	PUNCT
ap-1650	48	11	figure	figure	NOUN
ap-1650	48	12	3	3	NUM
ap-1650	48	13	)	)	PUNCT
ap-1650	48	14	because	because	SCONJ
ap-1650	48	15	of	of	ADP
ap-1650	48	16	its	its	PRON
ap-1650	48	17	relatively	relatively	ADV
ap-1650	48	18	low	low	ADJ
ap-1650	48	19	cost	cost	NOUN
ap-1650	48	20	,	,	PUNCT
ap-1650	48	21	built	build	VERB
ap-1650	48	22	-	-	PUNCT
ap-1650	48	23	in	in	ADP
ap-1650	48	24	cameras	camera	NOUN
ap-1650	48	25	and	and	CCONJ
ap-1650	48	26	sensors	sensor	NOUN
ap-1650	48	27	,	,	PUNCT
ap-1650	48	28	ease	ease	NOUN
ap-1650	48	29	of	of	ADP
ap-1650	48	30	hardware	hardware	NOUN
ap-1650	48	31	integration	integration	NOUN
ap-1650	48	32	and	and	CCONJ
ap-1650	48	33	easy	easy	ADJ
ap-1650	48	34	repairs	repair	NOUN
ap-1650	48	35	,	,	PUNCT
ap-1650	48	36	and	and	CCONJ
ap-1650	48	37	the	the	DET
ap-1650	48	38	included	include	VERB
ap-1650	48	39	kestrel	kestrel	PROPN
ap-1650	48	40	autopilot	autopilot	NOUN
ap-1650	48	41	.	.	PUNCT
ap-1650	49	1	the	the	DET
ap-1650	49	2	kestrel	kestrel	PROPN
ap-1650	49	3	autopilot	autopilot	NOUN
ap-1650	49	4	is	be	AUX
ap-1650	49	5	capable	capable	ADJ
ap-1650	49	6	of	of	ADP
ap-1650	49	7	waypoint	waypoint	NOUN
ap-1650	49	8	navigation	navigation	NOUN
ap-1650	49	9	,	,	PUNCT
ap-1650	49	10	thus	thus	ADV
ap-1650	49	11	removing	remove	VERB
ap-1650	49	12	the	the	DET
ap-1650	49	13	94	94	NUM
ap-1650	49	14	acta	acta	PROPN
ap-1650	49	15	polytechnica	polytechnica	PROPN
ap-1650	49	16	vol	vol	NOUN
ap-1650	49	17	.	.	PUNCT
ap-1650	50	1	52	52	NUM
ap-1650	50	2	no	no	NOUN
ap-1650	50	3	.	.	PUNCT
ap-1650	51	1	5/2012	5/2012	NUM
ap-1650	51	2	figure	figure	NOUN
ap-1650	51	3	5	5	NUM
ap-1650	51	4	:	:	PUNCT
ap-1650	51	5	scheme	scheme	NOUN
ap-1650	51	6	of	of	ADP
ap-1650	51	7	hardware	hardware	NOUN
ap-1650	51	8	uav	uav	PROPN
ap-1650	51	9	design	design	PROPN
ap-1650	51	10	.	.	PUNCT
ap-1650	52	1	necessity	necessity	NOUN
ap-1650	52	2	for	for	ADP
ap-1650	52	3	low	low	ADJ
ap-1650	52	4	level	level	NOUN
ap-1650	52	5	uav	uav	PROPN
ap-1650	52	6	control	control	NOUN
ap-1650	52	7	,	,	PUNCT
ap-1650	52	8	and	and	CCONJ
ap-1650	52	9	it	it	PRON
ap-1650	52	10	provides	provide	VERB
ap-1650	52	11	telemetry	telemetry	NOUN
ap-1650	52	12	and	and	CCONJ
ap-1650	52	13	gps	gps	NOUN
ap-1650	52	14	info	info	NOUN
ap-1650	52	15	about	about	ADP
ap-1650	52	16	the	the	DET
ap-1650	52	17	aircraft	aircraft	NOUN
ap-1650	52	18	via	via	ADP
ap-1650	52	19	an	an	DET
ap-1650	52	20	rf	rf	ADJ
ap-1650	52	21	modem	modem	NOUN
ap-1650	52	22	.	.	PUNCT
ap-1650	53	1	to	to	PART
ap-1650	53	2	provide	provide	VERB
ap-1650	53	3	computational	computational	ADJ
ap-1650	53	4	capacity	capacity	NOUN
ap-1650	53	5	for	for	ADP
ap-1650	53	6	on	on	ADP
ap-1650	53	7	-	-	PUNCT
ap-1650	53	8	board	board	NOUN
ap-1650	53	9	planning	planning	NOUN
ap-1650	53	10	and	and	CCONJ
ap-1650	53	11	communication	communication	NOUN
ap-1650	53	12	,	,	PUNCT
ap-1650	53	13	we	we	PRON
ap-1650	53	14	equipped	equip	VERB
ap-1650	53	15	the	the	DET
ap-1650	53	16	uav	uav	PROPN
ap-1650	53	17	with	with	ADP
ap-1650	53	18	a	a	DET
ap-1650	53	19	gumstix	gumstix	ADJ
ap-1650	53	20	overo	overo	NOUN
ap-1650	53	21	fire	fire	NOUN
ap-1650	53	22	computer	computer	NOUN
ap-1650	53	23	on	on	ADP
ap-1650	53	24	module	module	NOUN
ap-1650	53	25	(	(	PUNCT
ap-1650	53	26	com	com	NOUN
ap-1650	53	27	)	)	PUNCT
ap-1650	53	28	(	(	PUNCT
ap-1650	53	29	figure	figure	NOUN
ap-1650	53	30	4	4	NUM
ap-1650	53	31	)	)	PUNCT
ap-1650	53	32	.	.	PUNCT
ap-1650	54	1	this	this	DET
ap-1650	54	2	computer	computer	NOUN
ap-1650	54	3	is	be	AUX
ap-1650	54	4	based	base	VERB
ap-1650	54	5	on	on	ADP
ap-1650	54	6	arm	arm	NOUN
ap-1650	54	7	cortex	cortex	NOUN
ap-1650	54	8	-	-	PUNCT
ap-1650	54	9	a8	a8	ADJ
ap-1650	54	10	architecture	architecture	NOUN
ap-1650	54	11	with	with	ADP
ap-1650	54	12	512	512	NUM
ap-1650	54	13	mb	mb	ADP
ap-1650	54	14	ram	ram	NOUN
ap-1650	54	15	running	run	VERB
ap-1650	54	16	at	at	ADP
ap-1650	54	17	720mhz	720mhz	NUM
ap-1650	54	18	with	with	SCONJ
ap-1650	54	19	linux	linux	PROPN
ap-1650	54	20	os	os	PROPN
ap-1650	54	21	and	and	CCONJ
ap-1650	54	22	java	java	PROPN
ap-1650	54	23	embedded	embed	VERB
ap-1650	54	24	to	to	PART
ap-1650	54	25	enable	enable	VERB
ap-1650	54	26	running	running	NOUN
ap-1650	54	27	of	of	ADP
ap-1650	54	28	the	the	DET
ap-1650	54	29	modified	modify	VERB
ap-1650	54	30	agentfly	agentfly	ADV
ap-1650	54	31	multi	multi	ADJ
ap-1650	54	32	-	-	ADJ
ap-1650	54	33	agent	agent	ADJ
ap-1650	54	34	system	system	NOUN
ap-1650	54	35	.	.	PUNCT
ap-1650	55	1	figure	figure	NOUN
ap-1650	55	2	5	5	NUM
ap-1650	55	3	shows	show	VERB
ap-1650	55	4	the	the	DET
ap-1650	55	5	block	block	NOUN
ap-1650	55	6	design	design	NOUN
ap-1650	55	7	of	of	ADP
ap-1650	55	8	the	the	DET
ap-1650	55	9	deployed	deploy	VERB
ap-1650	55	10	hardware	hardware	PROPN
ap-1650	55	11	uav	uav	PROPN
ap-1650	55	12	.	.	PUNCT
ap-1650	56	1	the	the	DET
ap-1650	56	2	kestrel	kestrel	PROPN
ap-1650	56	3	autopilot	autopilot	NOUN
ap-1650	56	4	is	be	AUX
ap-1650	56	5	connected	connect	VERB
ap-1650	56	6	to	to	ADP
ap-1650	56	7	the	the	DET
ap-1650	56	8	sensors	sensor	NOUN
ap-1650	56	9	and	and	CCONJ
ap-1650	56	10	actuators	actuator	NOUN
ap-1650	56	11	to	to	PART
ap-1650	56	12	provide	provide	VERB
ap-1650	56	13	low	low	ADJ
ap-1650	56	14	level	level	NOUN
ap-1650	56	15	uav	uav	PROPN
ap-1650	56	16	control	control	NOUN
ap-1650	56	17	.	.	PUNCT
ap-1650	57	1	by	by	ADP
ap-1650	57	2	the	the	DET
ap-1650	57	3	connected	connected	ADJ
ap-1650	57	4	869mhz	869mhz	NUM
ap-1650	57	5	microhard	microhard	NOUN
ap-1650	57	6	modem	modem	NOUN
ap-1650	57	7	,	,	PUNCT
ap-1650	57	8	the	the	DET
ap-1650	57	9	autopilot	autopilot	NOUN
ap-1650	57	10	distributes	distribute	VERB
ap-1650	57	11	telemetry	telemetry	NOUN
ap-1650	57	12	and	and	CCONJ
ap-1650	57	13	gps	gps	VERB
ap-1650	57	14	info	info	NOUN
ap-1650	57	15	to	to	ADP
ap-1650	57	16	the	the	DET
ap-1650	57	17	ground	ground	NOUN
ap-1650	57	18	station	station	NOUN
ap-1650	57	19	and	and	CCONJ
ap-1650	57	20	receives	receive	VERB
ap-1650	57	21	control	control	NOUN
ap-1650	57	22	commands	command	NOUN
ap-1650	57	23	in	in	ADP
ap-1650	57	24	cases	case	NOUN
ap-1650	57	25	when	when	SCONJ
ap-1650	57	26	manual	manual	ADJ
ap-1650	57	27	control	control	NOUN
ap-1650	57	28	is	be	AUX
ap-1650	57	29	required	require	VERB
ap-1650	57	30	or	or	CCONJ
ap-1650	57	31	when	when	SCONJ
ap-1650	57	32	the	the	DET
ap-1650	57	33	autonomous	autonomous	ADJ
ap-1650	57	34	on	on	ADP
ap-1650	57	35	-	-	PUNCT
ap-1650	57	36	board	board	NOUN
ap-1650	57	37	planning	planning	NOUN
ap-1650	57	38	and	and	CCONJ
ap-1650	57	39	control	control	NOUN
ap-1650	57	40	algorithms	algorithm	NOUN
ap-1650	57	41	fail	fail	VERB
ap-1650	57	42	.	.	PUNCT
ap-1650	58	1	the	the	DET
ap-1650	58	2	autopilot	autopilot	NOUN
ap-1650	58	3	is	be	AUX
ap-1650	58	4	also	also	ADV
ap-1650	58	5	connected	connect	VERB
ap-1650	58	6	to	to	ADP
ap-1650	58	7	the	the	DET
ap-1650	58	8	gumstix	gumstix	ADJ
ap-1650	58	9	overo	overo	NOUN
ap-1650	58	10	com	com	NOUN
ap-1650	58	11	by	by	ADP
ap-1650	58	12	rs-232	rs-232	PROPN
ap-1650	58	13	line	line	NOUN
ap-1650	58	14	.	.	PUNCT
ap-1650	59	1	by	by	ADP
ap-1650	59	2	this	this	DET
ap-1650	59	3	line	line	NOUN
ap-1650	59	4	it	it	PRON
ap-1650	59	5	distributes	distribute	VERB
ap-1650	59	6	the	the	DET
ap-1650	59	7	telemetry	telemetry	NOUN
ap-1650	59	8	and	and	CCONJ
ap-1650	59	9	gps	gps	PROPN
ap-1650	59	10	data	datum	NOUN
ap-1650	59	11	to	to	ADP
ap-1650	59	12	the	the	DET
ap-1650	59	13	on	on	ADP
ap-1650	59	14	-	-	PUNCT
ap-1650	59	15	board	board	NOUN
ap-1650	59	16	planner	planner	NOUN
ap-1650	59	17	and	and	CCONJ
ap-1650	59	18	receives	receive	VERB
ap-1650	59	19	standard	standard	ADJ
ap-1650	59	20	control	control	NOUN
ap-1650	59	21	commands	command	NOUN
ap-1650	59	22	—	—	PUNCT
ap-1650	59	23	mainly	mainly	ADV
ap-1650	59	24	a	a	DET
ap-1650	59	25	sequence	sequence	NOUN
ap-1650	59	26	of	of	ADP
ap-1650	59	27	waypoints	waypoint	NOUN
ap-1650	59	28	in	in	ADP
ap-1650	59	29	return	return	NOUN
ap-1650	59	30	.	.	PUNCT
ap-1650	60	1	communication	communication	NOUN
ap-1650	60	2	with	with	ADP
ap-1650	60	3	other	other	ADJ
ap-1650	60	4	hardware	hardware	NOUN
ap-1650	60	5	or	or	CCONJ
ap-1650	60	6	virtual	virtual	ADJ
ap-1650	60	7	aircraft	aircraft	NOUN
ap-1650	60	8	is	be	AUX
ap-1650	60	9	carried	carry	VERB
ap-1650	60	10	out	out	ADP
ap-1650	60	11	by	by	ADP
ap-1650	60	12	an	an	DET
ap-1650	60	13	additional	additional	ADJ
ap-1650	60	14	2.4ghz	2.4ghz	NUM
ap-1650	60	15	xbee	xbee	PROPN
ap-1650	60	16	modem	modem	PROPN
ap-1650	60	17	.	.	PUNCT
ap-1650	61	1	the	the	DET
ap-1650	61	2	two	two	NUM
ap-1650	61	3	modems	modem	NOUN
ap-1650	61	4	have	have	VERB
ap-1650	61	5	their	their	PRON
ap-1650	61	6	counterparts	counterpart	NOUN
ap-1650	61	7	on	on	ADP
ap-1650	61	8	the	the	DET
ap-1650	61	9	ground	ground	NOUN
ap-1650	61	10	station	station	NOUN
ap-1650	61	11	pc	pc	NOUN
ap-1650	61	12	to	to	PART
ap-1650	61	13	pass	pass	VERB
ap-1650	61	14	the	the	DET
ap-1650	61	15	telemetry	telemetry	NOUN
ap-1650	61	16	and	and	CCONJ
ap-1650	61	17	communication	communication	NOUN
ap-1650	61	18	to	to	ADP
ap-1650	61	19	the	the	DET
ap-1650	61	20	simulation	simulation	NOUN
ap-1650	61	21	,	,	PUNCT
ap-1650	61	22	and	and	CCONJ
ap-1650	61	23	vice	vice	ADV
ap-1650	61	24	versa	versa	ADV
ap-1650	61	25	.	.	PUNCT
ap-1650	62	1	4	4	NUM
ap-1650	62	2	modifications	modification	NOUN
ap-1650	62	3	made	make	VERB
ap-1650	62	4	to	to	ADP
ap-1650	62	5	the	the	DET
ap-1650	62	6	multi	multi	ADJ
ap-1650	62	7	-	-	ADJ
ap-1650	62	8	agent	agent	ADJ
ap-1650	62	9	system	system	NOUN
ap-1650	62	10	the	the	DET
ap-1650	62	11	software	software	NOUN
ap-1650	62	12	integration	integration	NOUN
ap-1650	62	13	of	of	ADP
ap-1650	62	14	the	the	DET
ap-1650	62	15	hardware	hardware	NOUN
ap-1650	62	16	uavs	uavs	NOUN
ap-1650	62	17	into	into	ADP
ap-1650	62	18	the	the	DET
ap-1650	62	19	multi	multi	ADJ
ap-1650	62	20	-	-	ADJ
ap-1650	62	21	agent	agent	ADJ
ap-1650	62	22	system	system	NOUN
ap-1650	62	23	is	be	AUX
ap-1650	62	24	depicted	depict	VERB
ap-1650	62	25	in	in	ADP
ap-1650	62	26	figure	figure	NOUN
ap-1650	62	27	6	6	NUM
ap-1650	62	28	.	.	PUNCT
ap-1650	63	1	it	it	PRON
ap-1650	63	2	can	can	AUX
ap-1650	63	3	be	be	AUX
ap-1650	63	4	seen	see	VERB
ap-1650	63	5	that	that	SCONJ
ap-1650	63	6	the	the	DET
ap-1650	63	7	hardware	hardware	NOUN
ap-1650	63	8	uav	uav	PROPN
ap-1650	63	9	entity	entity	NOUN
ap-1650	63	10	consists	consist	VERB
ap-1650	63	11	of	of	ADP
ap-1650	63	12	an	an	DET
ap-1650	63	13	on	on	ADP
ap-1650	63	14	-	-	PUNCT
ap-1650	63	15	board	board	NOUN
ap-1650	63	16	part	part	NOUN
ap-1650	63	17	responsible	responsible	ADJ
ap-1650	63	18	for	for	ADP
ap-1650	63	19	planning	planning	NOUN
ap-1650	63	20	,	,	PUNCT
ap-1650	63	21	flight	flight	NOUN
ap-1650	63	22	execution	execution	NOUN
ap-1650	63	23	and	and	CCONJ
ap-1650	63	24	other	other	ADJ
ap-1650	63	25	reasoning	reasoning	NOUN
ap-1650	63	26	,	,	PUNCT
ap-1650	63	27	and	and	CCONJ
ap-1650	63	28	a	a	DET
ap-1650	63	29	part	part	NOUN
ap-1650	63	30	located	locate	VERB
ap-1650	63	31	on	on	ADP
ap-1650	63	32	the	the	DET
ap-1650	63	33	ground	ground	NOUN
ap-1650	63	34	station	station	NOUN
ap-1650	63	35	pc	pc	NOUN
ap-1650	63	36	responsible	responsible	ADJ
ap-1650	63	37	for	for	ADP
ap-1650	63	38	visualization	visualization	NOUN
ap-1650	63	39	and	and	CCONJ
ap-1650	63	40	exchange	exchange	NOUN
ap-1650	63	41	of	of	ADP
ap-1650	63	42	position	position	NOUN
ap-1650	63	43	and	and	CCONJ
ap-1650	63	44	telemetry	telemetry	NOUN
ap-1650	63	45	information	information	NOUN
ap-1650	63	46	(	(	PUNCT
ap-1650	63	47	block	block	NOUN
ap-1650	63	48	in	in	ADP
ap-1650	63	49	the	the	DET
ap-1650	63	50	figure	figure	NOUN
ap-1650	63	51	denoted	denote	VERB
ap-1650	63	52	as	as	ADP
ap-1650	63	53	‘	'	PUNCT
ap-1650	63	54	radar	radar	NOUN
ap-1650	63	55	’	'	PUNCT
ap-1650	63	56	)	)	PUNCT
ap-1650	63	57	between	between	ADP
ap-1650	63	58	the	the	DET
ap-1650	63	59	real	real	ADJ
ap-1650	63	60	and	and	CCONJ
ap-1650	63	61	virtual	virtual	ADJ
ap-1650	63	62	entities	entity	NOUN
ap-1650	63	63	.	.	PUNCT
ap-1650	64	1	radar	radar	NOUN
ap-1650	64	2	visualisation	visualisation	NOUN
ap-1650	64	3	control	control	PROPN
ap-1650	64	4	uav	uav	PROPN
ap-1650	64	5	-	-	PUNCT
ap-1650	64	6	ground	ground	PROPN
ap-1650	64	7	agent	agent	NOUN
ap-1650	64	8	uav	uav	PROPN
ap-1650	64	9	-	-	PUNCT
ap-1650	64	10	ground	ground	NOUN
ap-1650	64	11	entity	entity	NOUN
ap-1650	64	12	simulator	simulator	NOUN
ap-1650	64	13	simulation	simulation	NOUN
ap-1650	64	14	framework	framework	NOUN
ap-1650	64	15	...	...	PUNCT
ap-1650	65	1	acl	acl	PROPN
ap-1650	65	2	clock	clock	PROPN
ap-1650	65	3	radar	radar	NOUN
ap-1650	65	4	configuration	configuration	PROPN
ap-1650	65	5	uav	uav	PROPN
ap-1650	65	6	control	control	PROPN
ap-1650	65	7	pilot	pilot	PROPN
ap-1650	65	8	agent	agent	PROPN
ap-1650	65	9	uav	uav	PROPN
ap-1650	65	10	-	-	PUNCT
ap-1650	65	11	air	air	PROPN
ap-1650	65	12	agent	agent	NOUN
ap-1650	65	13	cooperative	cooperative	ADJ
ap-1650	65	14	negotiation	negotiation	NOUN
ap-1650	65	15	ground	ground	NOUN
ap-1650	65	16	pc	pc	NOUN
ap-1650	65	17	on	on	ADP
ap-1650	65	18	-	-	PUNCT
ap-1650	65	19	board	board	NOUN
ap-1650	65	20	computer	computer	NOUN
ap-1650	65	21	virtual	virtual	ADJ
ap-1650	65	22	entity	entity	NOUN
ap-1650	65	23	positions	position	NOUN
ap-1650	65	24	uav	uav	PROPN
ap-1650	65	25	position	position	PROPN
ap-1650	65	26	acl	acl	PROPN
ap-1650	65	27	pilot	pilot	PROPN
ap-1650	65	28	agent	agent	NOUN
ap-1650	65	29	plane	plane	NOUN
ap-1650	65	30	agent	agent	NOUN
ap-1650	65	31	simulated	simulate	VERB
ap-1650	65	32	uav	uav	PROPN
ap-1650	65	33	cooperative	cooperative	PROPN
ap-1650	65	34	negotiation	negotiation	NOUN
ap-1650	65	35	uav	uav	PROPN
ap-1650	65	36	-	-	PUNCT
ap-1650	65	37	air	air	PROPN
ap-1650	65	38	1	1	NUM
ap-1650	65	39	.	.	PUNCT
ap-1650	66	1	.n	.n	PROPN
ap-1650	67	1	1	1	X
ap-1650	67	2	.	.	PUNCT
ap-1650	67	3	.m	.m	PROPN
ap-1650	68	1	1	1	X
ap-1650	68	2	.	.	X
ap-1650	68	3	.m	.m	PROPN
ap-1650	68	4	figure	figure	NOUN
ap-1650	68	5	6	6	NUM
ap-1650	68	6	:	:	PUNCT
ap-1650	68	7	design	design	NOUN
ap-1650	68	8	of	of	ADP
ap-1650	68	9	modificated	modificated	ADJ
ap-1650	68	10	mas	mas	PROPN
ap-1650	68	11	for	for	ADP
ap-1650	68	12	mixed	mixed	ADJ
ap-1650	68	13	hardware	hardware	NOUN
ap-1650	68	14	and	and	CCONJ
ap-1650	68	15	virtual	virtual	ADJ
ap-1650	68	16	uav	uav	PROPN
ap-1650	68	17	simulations	simulation	NOUN
ap-1650	68	18	.	.	PUNCT
ap-1650	69	1	in	in	ADP
ap-1650	69	2	order	order	NOUN
ap-1650	69	3	to	to	PART
ap-1650	69	4	integrate	integrate	VERB
ap-1650	69	5	of	of	ADP
ap-1650	69	6	the	the	DET
ap-1650	69	7	hardware	hardware	NOUN
ap-1650	69	8	uav	uav	PROPN
ap-1650	69	9	,	,	PUNCT
ap-1650	69	10	some	some	DET
ap-1650	69	11	parts	part	NOUN
ap-1650	69	12	of	of	ADP
ap-1650	69	13	the	the	DET
ap-1650	69	14	simulation	simulation	NOUN
ap-1650	69	15	and	and	CCONJ
ap-1650	69	16	planning	planning	NOUN
ap-1650	69	17	software	software	NOUN
ap-1650	69	18	had	have	VERB
ap-1650	69	19	to	to	PART
ap-1650	69	20	be	be	AUX
ap-1650	69	21	modified	modify	VERB
ap-1650	69	22	:	:	PUNCT
ap-1650	69	23	waypoint	waypoint	NOUN
ap-1650	69	24	navigation	navigation	NOUN
ap-1650	69	25	of	of	ADP
ap-1650	69	26	the	the	DET
ap-1650	69	27	kestrel	kestrel	NOUN
ap-1650	69	28	autopilot	autopilot	NOUN
ap-1650	69	29	was	be	AUX
ap-1650	69	30	not	not	PART
ap-1650	69	31	compatible	compatible	ADJ
ap-1650	69	32	with	with	ADP
ap-1650	69	33	the	the	DET
ap-1650	69	34	agentfly	agentfly	NOUN
ap-1650	69	35	’s	’s	NOUN
ap-1650	69	36	manoeuvrelike	manoeuvrelike	ADJ
ap-1650	69	37	flight	flight	NOUN
ap-1650	69	38	plan	plan	NOUN
ap-1650	69	39	structure	structure	NOUN
ap-1650	69	40	.	.	PUNCT
ap-1650	70	1	wind	wind	NOUN
ap-1650	70	2	in	in	ADP
ap-1650	70	3	the	the	DET
ap-1650	70	4	real	real	ADJ
ap-1650	70	5	environment	environment	NOUN
ap-1650	70	6	significantly	significantly	ADV
ap-1650	70	7	influenced	influence	VERB
ap-1650	70	8	the	the	DET
ap-1650	70	9	precision	precision	NOUN
ap-1650	70	10	of	of	ADP
ap-1650	70	11	plan	plan	NOUN
ap-1650	70	12	execution	execution	NOUN
ap-1650	70	13	.	.	PUNCT
ap-1650	71	1	position	position	NOUN
ap-1650	71	2	uncertainty	uncertainty	NOUN
ap-1650	71	3	caused	cause	VERB
ap-1650	71	4	by	by	ADP
ap-1650	71	5	errors	error	NOUN
ap-1650	71	6	of	of	ADP
ap-1650	71	7	sensors	sensor	NOUN
ap-1650	71	8	and	and	CCONJ
ap-1650	71	9	actuators	actuator	NOUN
ap-1650	71	10	or	or	CCONJ
ap-1650	71	11	environmental	environmental	ADJ
ap-1650	71	12	effects	effect	NOUN
ap-1650	71	13	.	.	PUNCT
ap-1650	72	1	unreliable	unreliable	ADJ
ap-1650	72	2	communication	communication	NOUN
ap-1650	72	3	and	and	CCONJ
ap-1650	72	4	low	low	ADJ
ap-1650	72	5	bandwidths	bandwidth	NOUN
ap-1650	72	6	of	of	ADP
ap-1650	72	7	the	the	DET
ap-1650	72	8	rf	rf	NOUN
ap-1650	72	9	modems	modem	NOUN
ap-1650	72	10	caused	cause	VERB
ap-1650	72	11	problems	problem	NOUN
ap-1650	72	12	in	in	ADP
ap-1650	72	13	the	the	DET
ap-1650	72	14	collision	collision	NOUN
ap-1650	72	15	avoidance	avoidance	NOUN
ap-1650	72	16	and	and	CCONJ
ap-1650	72	17	cooperative	cooperative	ADJ
ap-1650	72	18	mechanisms	mechanism	NOUN
ap-1650	72	19	.	.	PUNCT
ap-1650	73	1	the	the	DET
ap-1650	73	2	simulation	simulation	NOUN
ap-1650	73	3	time	time	NOUN
ap-1650	73	4	needed	need	VERB
ap-1650	73	5	to	to	PART
ap-1650	73	6	be	be	AUX
ap-1650	73	7	synchronized	synchronize	VERB
ap-1650	73	8	,	,	PUNCT
ap-1650	73	9	otherwise	otherwise	ADV
ap-1650	73	10	it	it	PRON
ap-1650	73	11	caused	cause	VERB
ap-1650	73	12	problems	problem	NOUN
ap-1650	73	13	in	in	ADP
ap-1650	73	14	cooperative	cooperative	ADJ
ap-1650	73	15	collision	collision	NOUN
ap-1650	73	16	avoidance	avoidance	NOUN
ap-1650	73	17	negotiations	negotiation	NOUN
ap-1650	73	18	.	.	PUNCT
ap-1650	74	1	we	we	PRON
ap-1650	74	2	will	will	AUX
ap-1650	74	3	now	now	ADV
ap-1650	74	4	describe	describe	VERB
ap-1650	74	5	the	the	DET
ap-1650	74	6	necessary	necessary	ADJ
ap-1650	74	7	changes	change	NOUN
ap-1650	74	8	that	that	PRON
ap-1650	74	9	had	have	VERB
ap-1650	74	10	to	to	PART
ap-1650	74	11	be	be	AUX
ap-1650	74	12	applied	apply	VERB
ap-1650	74	13	to	to	PART
ap-1650	74	14	deal	deal	VERB
ap-1650	74	15	with	with	ADP
ap-1650	74	16	these	these	DET
ap-1650	74	17	problems	problem	NOUN
ap-1650	74	18	.	.	PUNCT
ap-1650	75	1	4.1	4.1	NUM
ap-1650	75	2	waypoint	waypoint	NOUN
ap-1650	75	3	navigation	navigation	NOUN
ap-1650	75	4	as	as	SCONJ
ap-1650	75	5	was	be	AUX
ap-1650	75	6	stated	state	VERB
ap-1650	75	7	above	above	ADV
ap-1650	75	8	,	,	PUNCT
ap-1650	75	9	the	the	DET
ap-1650	75	10	kestrel	kestrel	NOUN
ap-1650	75	11	autopilot	autopilot	NOUN
ap-1650	75	12	provides	provide	VERB
ap-1650	75	13	the	the	DET
ap-1650	75	14	operator	operator	NOUN
ap-1650	75	15	with	with	ADP
ap-1650	75	16	waypoint	waypoint	NOUN
ap-1650	75	17	navigation	navigation	NOUN
ap-1650	75	18	capability	capability	NOUN
ap-1650	75	19	.	.	PUNCT
ap-1650	76	1	the	the	DET
ap-1650	76	2	waypoints	waypoint	NOUN
ap-1650	76	3	are	be	AUX
ap-1650	76	4	uploaded	upload	VERB
ap-1650	76	5	as	as	ADP
ap-1650	76	6	gps	gps	NOUN
ap-1650	76	7	coordinates	coordinate	NOUN
ap-1650	76	8	,	,	PUNCT
ap-1650	76	9	so	so	SCONJ
ap-1650	76	10	we	we	PRON
ap-1650	76	11	had	have	VERB
ap-1650	76	12	to	to	PART
ap-1650	76	13	sample	sample	VERB
ap-1650	76	14	the	the	DET
ap-1650	76	15	uav	uav	PROPN
ap-1650	76	16	’s	’s	PART
ap-1650	76	17	plan	plan	NOUN
ap-1650	76	18	,	,	PUNCT
ap-1650	76	19	which	which	PRON
ap-1650	76	20	is	be	AUX
ap-1650	76	21	represented	represent	VERB
ap-1650	76	22	as	as	ADP
ap-1650	76	23	a	a	DET
ap-1650	76	24	list	list	NOUN
ap-1650	76	25	of	of	ADP
ap-1650	76	26	flight	flight	NOUN
ap-1650	76	27	manoeuvres	manoeuvre	NOUN
ap-1650	76	28	.	.	PUNCT
ap-1650	77	1	the	the	DET
ap-1650	77	2	manoeuvres	manoeuvre	NOUN
ap-1650	77	3	are	be	AUX
ap-1650	77	4	sampled	sample	VERB
ap-1650	77	5	according	accord	VERB
ap-1650	77	6	to	to	ADP
ap-1650	77	7	the	the	DET
ap-1650	77	8	acceleration	acceleration	NOUN
ap-1650	77	9	or	or	CCONJ
ap-1650	77	10	turn	turn	VERB
ap-1650	77	11	angle	angle	NOUN
ap-1650	77	12	—	—	PUNCT
ap-1650	77	13	the	the	PRON
ap-1650	77	14	more	more	ADV
ap-1650	77	15	rapid	rapid	ADJ
ap-1650	77	16	the	the	DET
ap-1650	77	17	change	change	NOUN
ap-1650	77	18	in	in	ADP
ap-1650	77	19	speed	speed	NOUN
ap-1650	77	20	or	or	CCONJ
ap-1650	77	21	angle	angle	NOUN
ap-1650	77	22	,	,	PUNCT
ap-1650	77	23	the	the	DET
ap-1650	77	24	more	more	ADV
ap-1650	77	25	dense	dense	ADJ
ap-1650	77	26	is	be	AUX
ap-1650	77	27	the	the	DET
ap-1650	77	28	sampling	sample	VERB
ap-1650	77	29	(	(	PUNCT
ap-1650	77	30	see	see	VERB
ap-1650	77	31	figure	figure	NOUN
ap-1650	77	32	7	7	NUM
ap-1650	77	33	)	)	PUNCT
ap-1650	77	34	.	.	PUNCT
ap-1650	78	1	95	95	NUM
ap-1650	78	2	acta	acta	PROPN
ap-1650	78	3	polytechnica	polytechnica	PROPN
ap-1650	78	4	vol	vol	NOUN
ap-1650	78	5	.	.	PUNCT
ap-1650	79	1	52	52	NUM
ap-1650	79	2	no	no	NOUN
ap-1650	79	3	.	.	PUNCT
ap-1650	80	1	5/2012	5/2012	NUM
ap-1650	80	2	figure	figure	NOUN
ap-1650	80	3	7	7	NUM
ap-1650	80	4	:	:	PUNCT
ap-1650	80	5	flight	flight	NOUN
ap-1650	80	6	manoeuvre	manoeuvre	NOUN
ap-1650	80	7	sampling	sample	VERB
ap-1650	80	8	.	.	PUNCT
ap-1650	81	1	the	the	PRON
ap-1650	81	2	larger	large	ADJ
ap-1650	81	3	the	the	DET
ap-1650	81	4	turn	turn	NOUN
ap-1650	81	5	angle	angle	NOUN
ap-1650	81	6	,	,	PUNCT
ap-1650	81	7	more	more	ADV
ap-1650	81	8	dense	dense	ADJ
ap-1650	81	9	the	the	DET
ap-1650	81	10	sampling	sampling	NOUN
ap-1650	81	11	is	be	AUX
ap-1650	81	12	.	.	PUNCT
ap-1650	82	1	another	another	DET
ap-1650	82	2	problem	problem	NOUN
ap-1650	82	3	is	be	AUX
ap-1650	82	4	that	that	SCONJ
ap-1650	82	5	the	the	DET
ap-1650	82	6	planner	planner	NOUN
ap-1650	82	7	works	work	VERB
ap-1650	82	8	with	with	ADP
ap-1650	82	9	cartesian	cartesian	ADJ
ap-1650	82	10	coordinates	coordinate	NOUN
ap-1650	82	11	.	.	PUNCT
ap-1650	83	1	the	the	DET
ap-1650	83	2	sample	sample	NOUN
ap-1650	83	3	waypoints	waypoint	NOUN
ap-1650	83	4	therefore	therefore	ADV
ap-1650	83	5	have	have	VERB
ap-1650	83	6	to	to	PART
ap-1650	83	7	be	be	AUX
ap-1650	83	8	transformed	transform	VERB
ap-1650	83	9	to	to	ADP
ap-1650	83	10	gps	gps	PROPN
ap-1650	83	11	coordinates	coordinate	NOUN
ap-1650	83	12	using	use	VERB
ap-1650	83	13	linearisation	linearisation	NOUN
ap-1650	83	14	of	of	ADP
ap-1650	83	15	the	the	DET
ap-1650	83	16	world	world	NOUN
ap-1650	83	17	at	at	ADP
ap-1650	83	18	the	the	DET
ap-1650	83	19	point	point	NOUN
ap-1650	83	20	specified	specify	VERB
ap-1650	83	21	by	by	ADP
ap-1650	83	22	the	the	DET
ap-1650	83	23	position	position	NOUN
ap-1650	83	24	of	of	ADP
ap-1650	83	25	the	the	DET
ap-1650	83	26	ground	ground	NOUN
ap-1650	83	27	station	station	NOUN
ap-1650	83	28	.	.	PUNCT
ap-1650	84	1	this	this	DET
ap-1650	84	2	position	position	NOUN
ap-1650	84	3	represents	represent	VERB
ap-1650	84	4	the	the	DET
ap-1650	84	5	origin	origin	NOUN
ap-1650	84	6	of	of	ADP
ap-1650	84	7	a	a	DET
ap-1650	84	8	cartesian	cartesian	ADJ
ap-1650	84	9	coordinate	coordinate	NOUN
ap-1650	84	10	system	system	NOUN
ap-1650	84	11	with	with	ADP
ap-1650	84	12	the	the	DET
ap-1650	84	13	x	x	ADJ
ap-1650	84	14	-	-	ADJ
ap-1650	84	15	axis	axis	ADJ
ap-1650	84	16	pointing	pointing	NOUN
ap-1650	84	17	to	to	ADP
ap-1650	84	18	the	the	DET
ap-1650	84	19	east	east	NOUN
ap-1650	84	20	,	,	PUNCT
ap-1650	84	21	the	the	DET
ap-1650	84	22	y	y	NOUN
ap-1650	84	23	-	-	PUNCT
ap-1650	84	24	axis	axis	NOUN
ap-1650	84	25	to	to	ADP
ap-1650	84	26	the	the	DET
ap-1650	84	27	north	north	NOUN
ap-1650	84	28	and	and	CCONJ
ap-1650	84	29	the	the	DET
ap-1650	84	30	z	z	NOUN
ap-1650	84	31	-	-	PUNCT
ap-1650	84	32	axis	axis	NOUN
ap-1650	84	33	upward	upward	ADV
ap-1650	84	34	(	(	PUNCT
ap-1650	84	35	see	see	VERB
ap-1650	84	36	figure	figure	NOUN
ap-1650	84	37	8)	8)	NUM
ap-1650	84	38	.	.	PUNCT
ap-1650	85	1	this	this	DET
ap-1650	85	2	linearisation	linearisation	NOUN
ap-1650	85	3	causes	cause	VERB
ap-1650	85	4	errors	error	NOUN
ap-1650	85	5	that	that	PRON
ap-1650	85	6	are	be	AUX
ap-1650	85	7	less	less	ADJ
ap-1650	85	8	than	than	ADP
ap-1650	85	9	10	10	NUM
ap-1650	85	10	cm	cm	NOUN
ap-1650	85	11	in	in	ADP
ap-1650	85	12	measurements	measurement	NOUN
ap-1650	85	13	of	of	ADP
ap-1650	85	14	distances	distance	NOUN
ap-1650	85	15	,	,	PUNCT
ap-1650	85	16	and	and	CCONJ
ap-1650	85	17	less	less	ADJ
ap-1650	85	18	than	than	ADP
ap-1650	85	19	8	8	NUM
ap-1650	85	20	m	m	NOUN
ap-1650	85	21	in	in	ADP
ap-1650	85	22	measurements	measurement	NOUN
ap-1650	85	23	of	of	ADP
ap-1650	85	24	altitudes	altitude	NOUN
ap-1650	85	25	at	at	ADP
ap-1650	85	26	a	a	DET
ap-1650	85	27	distance	distance	NOUN
ap-1650	85	28	of	of	ADP
ap-1650	85	29	10	10	NUM
ap-1650	85	30	km	km	NOUN
ap-1650	85	31	from	from	ADP
ap-1650	85	32	the	the	DET
ap-1650	85	33	origin	origin	NOUN
ap-1650	85	34	and	and	CCONJ
ap-1650	85	35	500	500	NUM
ap-1650	85	36	m	m	NOUN
ap-1650	85	37	higher	high	ADJ
ap-1650	85	38	.	.	PUNCT
ap-1650	86	1	4.2	4.2	NUM
ap-1650	86	2	planning	planning	NOUN
ap-1650	86	3	in	in	ADP
ap-1650	86	4	wind	wind	NOUN
ap-1650	86	5	wind	wind	NOUN
ap-1650	86	6	has	have	VERB
ap-1650	86	7	a	a	DET
ap-1650	86	8	significant	significant	ADJ
ap-1650	86	9	effect	effect	NOUN
ap-1650	86	10	on	on	ADP
ap-1650	86	11	the	the	DET
ap-1650	86	12	precision	precision	NOUN
ap-1650	86	13	of	of	ADP
ap-1650	86	14	uav	uav	PROPN
ap-1650	86	15	plan	plan	NOUN
ap-1650	86	16	execution	execution	NOUN
ap-1650	86	17	.	.	PUNCT
ap-1650	87	1	apart	apart	ADV
ap-1650	87	2	from	from	ADP
ap-1650	87	3	gusts	gust	NOUN
ap-1650	87	4	of	of	ADP
ap-1650	87	5	wind	wind	NOUN
ap-1650	87	6	that	that	PRON
ap-1650	87	7	drift	drift	VERB
ap-1650	87	8	the	the	DET
ap-1650	87	9	aircraft	aircraft	NOUN
ap-1650	87	10	and	and	CCONJ
ap-1650	87	11	cause	cause	VERB
ap-1650	87	12	position	position	NOUN
ap-1650	87	13	uncertainty	uncertainty	NOUN
ap-1650	87	14	,	,	PUNCT
ap-1650	87	15	see	see	VERB
ap-1650	87	16	the	the	DET
ap-1650	87	17	next	next	ADJ
ap-1650	87	18	section	section	NOUN
ap-1650	87	19	,	,	PUNCT
ap-1650	87	20	stable	stable	ADJ
ap-1650	87	21	winds	wind	NOUN
ap-1650	87	22	especially	especially	ADV
ap-1650	87	23	influence	influence	VERB
ap-1650	87	24	the	the	DET
ap-1650	87	25	minimal	minimal	ADJ
ap-1650	87	26	turn	turn	NOUN
ap-1650	87	27	radius	radius	NOUN
ap-1650	87	28	of	of	ADP
ap-1650	87	29	the	the	DET
ap-1650	87	30	uav	uav	PROPN
ap-1650	87	31	—	—	PUNCT
ap-1650	87	32	one	one	NUM
ap-1650	87	33	of	of	ADP
ap-1650	87	34	the	the	DET
ap-1650	87	35	main	main	ADJ
ap-1650	87	36	parameters	parameter	NOUN
ap-1650	87	37	of	of	ADP
ap-1650	87	38	the	the	DET
ap-1650	87	39	trajectory	trajectory	NOUN
ap-1650	87	40	planner	planner	NOUN
ap-1650	87	41	.	.	PUNCT
ap-1650	88	1	an	an	DET
ap-1650	88	2	aircraft	aircraft	NOUN
ap-1650	88	3	flying	fly	VERB
ap-1650	88	4	against	against	ADP
ap-1650	88	5	the	the	DET
ap-1650	88	6	wind	wind	NOUN
ap-1650	88	7	is	be	AUX
ap-1650	88	8	capable	capable	ADJ
ap-1650	88	9	of	of	ADP
ap-1650	88	10	turning	turn	VERB
ap-1650	88	11	with	with	ADP
ap-1650	88	12	a	a	DET
ap-1650	88	13	much	much	ADV
ap-1650	88	14	smaller	small	ADJ
ap-1650	88	15	turn	turn	NOUN
ap-1650	88	16	radius	radius	NOUN
ap-1650	88	17	than	than	ADP
ap-1650	88	18	an	an	DET
ap-1650	88	19	aircraft	aircraft	NOUN
ap-1650	88	20	flying	fly	VERB
ap-1650	88	21	with	with	ADP
ap-1650	88	22	the	the	DET
ap-1650	88	23	wind	wind	NOUN
ap-1650	88	24	.	.	PUNCT
ap-1650	89	1	in	in	ADP
ap-1650	89	2	these	these	DET
ap-1650	89	3	conditions	condition	NOUN
ap-1650	89	4	,	,	PUNCT
ap-1650	89	5	the	the	DET
ap-1650	89	6	original	original	ADJ
ap-1650	89	7	planner	planner	NOUN
ap-1650	89	8	that	that	PRON
ap-1650	89	9	was	be	AUX
ap-1650	89	10	based	base	VERB
ap-1650	89	11	on	on	ADP
ap-1650	89	12	planning	plan	VERB
ap-1650	89	13	with	with	ADP
ap-1650	89	14	dubins	dubin	NOUN
ap-1650	89	15	curves	curve	NOUN
ap-1650	89	16	(	(	PUNCT
ap-1650	89	17	i.e.	i.e.	X
ap-1650	89	18	straight	straight	ADJ
ap-1650	89	19	segments	segment	NOUN
ap-1650	89	20	and	and	CCONJ
ap-1650	89	21	turns	turn	VERB
ap-1650	89	22	with	with	ADP
ap-1650	89	23	constant	constant	ADJ
ap-1650	89	24	a	a	DET
ap-1650	89	25	radius	radius	NOUN
ap-1650	89	26	)	)	PUNCT
ap-1650	89	27	created	create	VERB
ap-1650	89	28	trajectories	trajectory	NOUN
ap-1650	89	29	could	could	AUX
ap-1650	89	30	not	not	PART
ap-1650	89	31	be	be	AUX
ap-1650	89	32	followed	follow	VERB
ap-1650	89	33	in	in	ADP
ap-1650	89	34	presence	presence	NOUN
ap-1650	89	35	of	of	ADP
ap-1650	89	36	wind	wind	NOUN
ap-1650	89	37	.	.	PUNCT
ap-1650	90	1	we	we	PRON
ap-1650	90	2	modified	modify	VERB
ap-1650	90	3	the	the	DET
ap-1650	90	4	planner	planner	NOUN
ap-1650	90	5	to	to	PART
ap-1650	90	6	use	use	VERB
ap-1650	90	7	trochoidal	trochoidal	ADJ
ap-1650	90	8	curves	curve	NOUN
ap-1650	90	9	.	.	PUNCT
ap-1650	91	1	the	the	DET
ap-1650	91	2	trajectories	trajectory	NOUN
ap-1650	91	3	can	can	AUX
ap-1650	91	4	then	then	ADV
ap-1650	91	5	be	be	AUX
ap-1650	91	6	constructed	construct	VERB
ap-1650	91	7	as	as	ADP
ap-1650	91	8	dubins	dubin	NOUN
ap-1650	91	9	curves	curve	NOUN
ap-1650	91	10	in	in	ADP
ap-1650	91	11	a	a	DET
ap-1650	91	12	coordinate	coordinate	NOUN
ap-1650	91	13	system	system	NOUN
ap-1650	91	14	that	that	PRON
ap-1650	91	15	moves	move	VERB
ap-1650	91	16	in	in	ADP
ap-1650	91	17	the	the	DET
ap-1650	91	18	same	same	ADJ
ap-1650	91	19	direction	direction	NOUN
ap-1650	91	20	and	and	CCONJ
ap-1650	91	21	at	at	ADP
ap-1650	91	22	the	the	DET
ap-1650	91	23	same	same	ADJ
ap-1650	91	24	speed	speed	NOUN
ap-1650	91	25	as	as	ADP
ap-1650	91	26	the	the	DET
ap-1650	91	27	wind	wind	NOUN
ap-1650	91	28	(	(	PUNCT
ap-1650	91	29	see	see	VERB
ap-1650	91	30	figure	figure	NOUN
ap-1650	91	31	9	9	NUM
ap-1650	91	32	)	)	PUNCT
ap-1650	91	33	,	,	PUNCT
ap-1650	91	34	and	and	CCONJ
ap-1650	91	35	can	can	AUX
ap-1650	91	36	be	be	AUX
ap-1650	91	37	followed	follow	VERB
ap-1650	91	38	much	much	ADV
ap-1650	91	39	more	more	ADV
ap-1650	91	40	precisely	precisely	ADV
ap-1650	91	41	,	,	PUNCT
ap-1650	91	42	even	even	ADV
ap-1650	91	43	in	in	ADP
ap-1650	91	44	strong	strong	ADJ
ap-1650	91	45	wind	wind	NOUN
ap-1650	91	46	.	.	PUNCT
ap-1650	92	1	4.3	4.3	NUM
ap-1650	92	2	position	position	NOUN
ap-1650	92	3	uncertainty	uncertainty	NOUN
ap-1650	92	4	because	because	SCONJ
ap-1650	92	5	of	of	ADP
ap-1650	92	6	errors	error	NOUN
ap-1650	92	7	of	of	ADP
ap-1650	92	8	the	the	DET
ap-1650	92	9	sensors	sensor	NOUN
ap-1650	92	10	and	and	CCONJ
ap-1650	92	11	actuators	actuator	NOUN
ap-1650	92	12	and	and	CCONJ
ap-1650	92	13	effects	effect	NOUN
ap-1650	92	14	of	of	ADP
ap-1650	92	15	the	the	DET
ap-1650	92	16	environment	environment	NOUN
ap-1650	92	17	,	,	PUNCT
ap-1650	92	18	e.g.	e.g.	ADV
ap-1650	92	19	gusts	gust	NOUN
ap-1650	92	20	of	of	ADP
ap-1650	92	21	wind	wind	NOUN
ap-1650	92	22	,	,	PUNCT
ap-1650	92	23	the	the	DET
ap-1650	92	24	aircraft	aircraft	NOUN
ap-1650	92	25	’s	’s	PART
ap-1650	92	26	position	position	NOUN
ap-1650	92	27	estimation	estimation	NOUN
ap-1650	92	28	is	be	AUX
ap-1650	92	29	not	not	PART
ap-1650	92	30	and	and	CCONJ
ap-1650	92	31	can	can	AUX
ap-1650	92	32	not	not	PART
ap-1650	92	33	be	be	AUX
ap-1650	92	34	precise	precise	ADJ
ap-1650	92	35	.	.	PUNCT
ap-1650	93	1	for	for	ADP
ap-1650	93	2	effective	effective	ADJ
ap-1650	93	3	coordination	coordination	NOUN
ap-1650	93	4	and	and	CCONJ
ap-1650	93	5	control	control	NOUN
ap-1650	93	6	of	of	ADP
ap-1650	93	7	uavs	uavs	NOUN
ap-1650	93	8	,	,	PUNCT
ap-1650	93	9	this	this	DET
ap-1650	93	10	uncertainty	uncertainty	NOUN
ap-1650	93	11	must	must	AUX
ap-1650	93	12	be	be	AUX
ap-1650	93	13	modelled	model	VERB
ap-1650	93	14	and	and	CCONJ
ap-1650	93	15	the	the	DET
ap-1650	93	16	o	o	X
ap-1650	93	17	x	x	X
ap-1650	93	18	zy	zy	INTJ
ap-1650	93	19	x	x	SYM
ap-1650	93	20	z	z	VERB
ap-1650	93	21	y	y	PROPN
ap-1650	93	22	ogs	ogs	PROPN
ap-1650	93	23	oe	oe	PROPN
ap-1650	93	24	lon	lon	PROPN
ap-1650	93	25	lat	lat	PROPN
ap-1650	93	26	figure	figure	NOUN
ap-1650	93	27	8	8	NUM
ap-1650	93	28	:	:	PUNCT
ap-1650	93	29	linearisation	linearisation	NOUN
ap-1650	93	30	of	of	ADP
ap-1650	93	31	the	the	DET
ap-1650	93	32	coordinate	coordinate	NOUN
ap-1650	93	33	system	system	NOUN
ap-1650	93	34	.	.	PUNCT
ap-1650	94	1	wind	wind	NOUN
ap-1650	94	2	(	(	PUNCT
ap-1650	94	3	a	a	X
ap-1650	94	4	)	)	PUNCT
ap-1650	94	5	|wind|	|wind|	NUM
ap-1650	94	6	|velocity|	|velocity|	NOUN
ap-1650	94	7	=	=	SYM
ap-1650	94	8	0.1	0.1	NUM
ap-1650	94	9	wind	wind	NOUN
ap-1650	94	10	(	(	PUNCT
ap-1650	94	11	b	b	NOUN
ap-1650	94	12	)	)	PUNCT
ap-1650	94	13	|wind|	|wind|	NUM
ap-1650	94	14	|velocity|	|velocity|	NOUN
ap-1650	94	15	=	=	SYM
ap-1650	94	16	0.3	0.3	NUM
ap-1650	94	17	figure	figure	NOUN
ap-1650	94	18	9	9	NUM
ap-1650	94	19	:	:	PUNCT
ap-1650	94	20	effect	effect	NOUN
ap-1650	94	21	of	of	ADP
ap-1650	94	22	wind	wind	NOUN
ap-1650	94	23	on	on	ADP
ap-1650	94	24	the	the	DET
ap-1650	94	25	flight	flight	NOUN
ap-1650	94	26	trajectory	trajectory	NOUN
ap-1650	94	27	.	.	PUNCT
ap-1650	95	1	planning	planning	NOUN
ap-1650	95	2	algorithms	algorithm	NOUN
ap-1650	95	3	must	must	AUX
ap-1650	95	4	take	take	VERB
ap-1650	95	5	the	the	DET
ap-1650	95	6	uncertainty	uncertainty	NOUN
ap-1650	95	7	into	into	ADP
ap-1650	95	8	account	account	NOUN
ap-1650	95	9	.	.	PUNCT
ap-1650	96	1	we	we	PRON
ap-1650	96	2	distinguish	distinguish	VERB
ap-1650	96	3	two	two	NUM
ap-1650	96	4	types	type	NOUN
ap-1650	96	5	of	of	ADP
ap-1650	96	6	errors	error	NOUN
ap-1650	96	7	—	—	PUNCT
ap-1650	96	8	∆t	∆t	VERB
ap-1650	96	9	for	for	ADP
ap-1650	96	10	timerelated	timerelate	VERB
ap-1650	96	11	errors	error	NOUN
ap-1650	96	12	and	and	CCONJ
ap-1650	96	13	∆d	∆d	PROPN
ap-1650	96	14	for	for	ADP
ap-1650	96	15	distance	distance	NOUN
ap-1650	96	16	-	-	PUNCT
ap-1650	96	17	related	relate	VERB
ap-1650	96	18	errors	error	NOUN
ap-1650	96	19	(	(	PUNCT
ap-1650	96	20	see	see	VERB
ap-1650	96	21	figure	figure	NOUN
ap-1650	96	22	10	10	NUM
ap-1650	96	23	)	)	PUNCT
ap-1650	96	24	.	.	PUNCT
ap-1650	97	1	the	the	DET
ap-1650	97	2	distance	distance	NOUN
ap-1650	97	3	-	-	PUNCT
ap-1650	97	4	related	relate	VERB
ap-1650	97	5	error	error	NOUN
ap-1650	97	6	is	be	AUX
ap-1650	97	7	the	the	DET
ap-1650	97	8	deviation	deviation	NOUN
ap-1650	97	9	of	of	ADP
ap-1650	97	10	the	the	DET
ap-1650	97	11	uav	uav	PROPN
ap-1650	97	12	from	from	ADP
ap-1650	97	13	the	the	DET
ap-1650	97	14	planned	plan	VERB
ap-1650	97	15	spatial	spatial	ADJ
ap-1650	97	16	trajectory	trajectory	NOUN
ap-1650	97	17	.	.	PUNCT
ap-1650	98	1	it	it	PRON
ap-1650	98	2	can	can	AUX
ap-1650	98	3	be	be	AUX
ap-1650	98	4	caused	cause	VERB
ap-1650	98	5	by	by	ADP
ap-1650	98	6	sudden	sudden	ADJ
ap-1650	98	7	wind	wind	NOUN
ap-1650	98	8	gusts	gust	NOUN
ap-1650	98	9	,	,	PUNCT
ap-1650	98	10	wind	wind	NOUN
ap-1650	98	11	changes	change	NOUN
ap-1650	98	12	,	,	PUNCT
ap-1650	98	13	high	high	ADJ
ap-1650	98	14	airspeeds	airspeed	NOUN
ap-1650	98	15	or	or	CCONJ
ap-1650	98	16	imprecise	imprecise	ADJ
ap-1650	98	17	autopilot	autopilot	NOUN
ap-1650	98	18	control	control	NOUN
ap-1650	98	19	when	when	SCONJ
ap-1650	98	20	the	the	DET
ap-1650	98	21	aircraft	aircraft	NOUN
ap-1650	98	22	is	be	AUX
ap-1650	98	23	unable	unable	ADJ
ap-1650	98	24	to	to	PART
ap-1650	98	25	follow	follow	VERB
ap-1650	98	26	the	the	DET
ap-1650	98	27	trajectory	trajectory	NOUN
ap-1650	98	28	correctly	correctly	ADV
ap-1650	98	29	.	.	PUNCT
ap-1650	99	1	the	the	DET
ap-1650	99	2	time	time	NOUN
ap-1650	99	3	-	-	PUNCT
ap-1650	99	4	related	relate	VERB
ap-1650	99	5	error	error	NOUN
ap-1650	99	6	is	be	AUX
ap-1650	99	7	then	then	ADV
ap-1650	99	8	the	the	DET
ap-1650	99	9	deviation	deviation	NOUN
ap-1650	99	10	of	of	ADP
ap-1650	99	11	the	the	DET
ap-1650	99	12	uav	uav	PROPN
ap-1650	99	13	from	from	ADP
ap-1650	99	14	the	the	DET
ap-1650	99	15	time	time	NOUN
ap-1650	99	16	plan	plan	NOUN
ap-1650	99	17	.	.	PUNCT
ap-1650	100	1	this	this	PRON
ap-1650	100	2	is	be	AUX
ap-1650	100	3	caused	cause	VERB
ap-1650	100	4	by	by	ADP
ap-1650	100	5	imprecise	imprecise	ADJ
ap-1650	100	6	autopilot	autopilot	NOUN
ap-1650	100	7	velocity	velocity	NOUN
ap-1650	100	8	control	control	NOUN
ap-1650	100	9	,	,	PUNCT
ap-1650	100	10	by	by	ADP
ap-1650	100	11	accumulated	accumulate	VERB
ap-1650	100	12	small	small	ADJ
ap-1650	100	13	delays	delay	NOUN
ap-1650	100	14	that	that	PRON
ap-1650	100	15	emerge	emerge	VERB
ap-1650	100	16	when	when	SCONJ
ap-1650	100	17	the	the	DET
ap-1650	100	18	autopilot	autopilot	NOUN
ap-1650	100	19	repairs	repair	VERB
ap-1650	100	20	small	small	ADJ
ap-1650	100	21	spatial	spatial	ADJ
ap-1650	100	22	deviations	deviation	NOUN
ap-1650	100	23	from	from	ADP
ap-1650	100	24	the	the	DET
ap-1650	100	25	plan	plan	NOUN
ap-1650	100	26	,	,	PUNCT
ap-1650	100	27	or	or	CCONJ
ap-1650	100	28	by	by	ADP
ap-1650	100	29	high	high	ADJ
ap-1650	100	30	wind	wind	NOUN
ap-1650	100	31	speeds	speed	NOUN
ap-1650	100	32	when	when	SCONJ
ap-1650	100	33	it	it	PRON
ap-1650	100	34	is	be	AUX
ap-1650	100	35	difficult	difficult	ADJ
ap-1650	100	36	to	to	PART
ap-1650	100	37	keep	keep	VERB
ap-1650	100	38	the	the	DET
ap-1650	100	39	desired	desire	VERB
ap-1650	100	40	velocity	velocity	NOUN
ap-1650	100	41	of	of	ADP
ap-1650	100	42	the	the	DET
ap-1650	100	43	aircraft	aircraft	NOUN
ap-1650	100	44	.	.	PUNCT
ap-1650	101	1	to	to	PART
ap-1650	101	2	handle	handle	VERB
ap-1650	101	3	these	these	DET
ap-1650	101	4	uncertainties	uncertainty	NOUN
ap-1650	101	5	,	,	PUNCT
ap-1650	101	6	we	we	PRON
ap-1650	101	7	use	use	VERB
ap-1650	101	8	the	the	DET
ap-1650	101	9	so	so	ADV
ap-1650	101	10	-	-	PUNCT
ap-1650	101	11	called	call	VERB
ap-1650	101	12	safety	safety	NOUN
ap-1650	101	13	zone	zone	NOUN
ap-1650	101	14	around	around	ADP
ap-1650	101	15	the	the	DET
ap-1650	101	16	uav	uav	PROPN
ap-1650	101	17	.	.	PUNCT
ap-1650	102	1	generally	generally	ADV
ap-1650	102	2	,	,	PUNCT
ap-1650	102	3	the	the	PRON
ap-1650	102	4	worse	bad	ADJ
ap-1650	102	5	the	the	DET
ap-1650	102	6	flight	flight	NOUN
ap-1650	102	7	plan	plan	NOUN
ap-1650	102	8	execution	execution	NOUN
ap-1650	102	9	performance	performance	NOUN
ap-1650	102	10	,	,	PUNCT
ap-1650	102	11	the	the	PRON
ap-1650	102	12	bigger	big	ADJ
ap-1650	102	13	the	the	DET
ap-1650	102	14	safety	safety	NOUN
ap-1650	102	15	zone	zone	NOUN
ap-1650	102	16	needs	need	VERB
ap-1650	102	17	to	to	PART
ap-1650	102	18	be	be	AUX
ap-1650	102	19	in	in	ADP
ap-1650	102	20	order	order	NOUN
ap-1650	102	21	to	to	PART
ap-1650	102	22	keep	keep	VERB
ap-1650	102	23	the	the	DET
ap-1650	102	24	plane	plane	NOUN
ap-1650	102	25	far	far	ADV
ap-1650	102	26	apart	apart	ADV
ap-1650	102	27	from	from	ADP
ap-1650	102	28	obstacles	obstacle	NOUN
ap-1650	102	29	or	or	CCONJ
ap-1650	102	30	other	other	ADJ
ap-1650	102	31	planes	plane	NOUN
ap-1650	102	32	.	.	PUNCT
ap-1650	103	1	when	when	SCONJ
ap-1650	103	2	specifying	specify	VERB
ap-1650	103	3	the	the	DET
ap-1650	103	4	dimensions	dimension	NOUN
ap-1650	103	5	of	of	ADP
ap-1650	103	6	the	the	DET
ap-1650	103	7	safety	safety	NOUN
ap-1650	103	8	zone	zone	NOUN
ap-1650	103	9	we	we	PRON
ap-1650	103	10	distinguish	distinguish	VERB
ap-1650	103	11	two	two	NUM
ap-1650	103	12	different	different	ADJ
ap-1650	103	13	safety	safety	NOUN
ap-1650	103	14	ranges	range	NOUN
ap-1650	103	15	—	—	PUNCT
ap-1650	103	16	safety	safety	NOUN
ap-1650	103	17	time	time	NOUN
ap-1650	103	18	range	range	PROPN
ap-1650	103	19	st	st	PROPN
ap-1650	103	20	,	,	PUNCT
ap-1650	103	21	and	and	CCONJ
ap-1650	103	22	safety	safety	NOUN
ap-1650	103	23	distance	distance	NOUN
ap-1650	103	24	range	range	NOUN
ap-1650	103	25	sd	sd	ADP
ap-1650	103	26	(	(	PUNCT
ap-1650	103	27	see	see	VERB
ap-1650	103	28	figure	figure	NOUN
ap-1650	103	29	11	11	NUM
ap-1650	103	30	)	)	PUNCT
ap-1650	103	31	.	.	PUNCT
ap-1650	104	1	the	the	DET
ap-1650	104	2	safety	safety	NOUN
ap-1650	104	3	time	time	NOUN
ap-1650	104	4	range	range	NOUN
ap-1650	104	5	is	be	AUX
ap-1650	104	6	given	give	VERB
ap-1650	104	7	by	by	ADP
ap-1650	104	8	the	the	DET
ap-1650	104	9	maximum	maximum	ADJ
ap-1650	104	10	allowed	allow	VERB
ap-1650	104	11	time	time	NOUN
ap-1650	104	12	-	-	PUNCT
ap-1650	104	13	related	relate	VERB
ap-1650	104	14	error	error	NOUN
ap-1650	104	15	∆t	∆t	NOUN
ap-1650	104	16	,	,	PUNCT
ap-1650	104	17	and	and	CCONJ
ap-1650	104	18	the	the	DET
ap-1650	104	19	safety	safety	NOUN
ap-1650	104	20	distance	distance	NOUN
ap-1650	104	21	range	range	NOUN
ap-1650	104	22	is	be	AUX
ap-1650	104	23	given	give	VERB
ap-1650	104	24	by	by	ADP
ap-1650	104	25	the	the	DET
ap-1650	104	26	maximum	maximum	ADJ
ap-1650	104	27	allowed	allow	VERB
ap-1650	104	28	distance	distance	NOUN
ap-1650	104	29	-	-	PUNCT
ap-1650	104	30	related	relate	VERB
ap-1650	104	31	error	error	NOUN
ap-1650	104	32	∆d	∆d	NOUN
ap-1650	104	33	.	.	PUNCT
ap-1650	105	1	when	when	SCONJ
ap-1650	105	2	the	the	DET
ap-1650	105	3	uav	uav	PROPN
ap-1650	105	4	gets	get	VERB
ap-1650	105	5	outside	outside	ADP
ap-1650	105	6	any	any	PRON
ap-1650	105	7	of	of	ADP
ap-1650	105	8	these	these	DET
ap-1650	105	9	ranges	range	NOUN
ap-1650	105	10	,	,	PUNCT
ap-1650	105	11	trajectory	trajectory	NOUN
ap-1650	105	12	replanning	replanning	NOUN
ap-1650	105	13	is	be	AUX
ap-1650	105	14	96	96	NUM
ap-1650	105	15	acta	acta	PROPN
ap-1650	105	16	polytechnica	polytechnica	PROPN
ap-1650	105	17	vol	vol	NOUN
ap-1650	105	18	.	.	PUNCT
ap-1650	106	1	52	52	NUM
ap-1650	106	2	no	no	NOUN
ap-1650	106	3	.	.	PUNCT
ap-1650	107	1	5/2012	5/2012	NUM
ap-1650	107	2	figure	figure	NOUN
ap-1650	107	3	10	10	NUM
ap-1650	107	4	:	:	PUNCT
ap-1650	107	5	two	two	NUM
ap-1650	107	6	possible	possible	ADJ
ap-1650	107	7	error	error	NOUN
ap-1650	107	8	types	type	NOUN
ap-1650	107	9	in	in	ADP
ap-1650	107	10	plan	plan	NOUN
ap-1650	107	11	following∆t	following∆t	PROPN
ap-1650	107	12	for	for	ADP
ap-1650	107	13	time	time	NOUN
ap-1650	107	14	-	-	PUNCT
ap-1650	107	15	related	relate	VERB
ap-1650	107	16	error	error	NOUN
ap-1650	107	17	,	,	PUNCT
ap-1650	107	18	and	and	CCONJ
ap-1650	107	19	∆d	∆d	PROPN
ap-1650	107	20	for	for	ADP
ap-1650	107	21	distance	distance	NOUN
ap-1650	107	22	-	-	PUNCT
ap-1650	107	23	related	relate	VERB
ap-1650	107	24	error	error	NOUN
ap-1650	107	25	.	.	PUNCT
ap-1650	108	1	figure	figure	NOUN
ap-1650	108	2	11	11	NUM
ap-1650	108	3	:	:	PUNCT
ap-1650	108	4	two	two	NUM
ap-1650	108	5	different	different	ADJ
ap-1650	108	6	safety	safety	NOUN
ap-1650	108	7	ranges	range	NOUN
ap-1650	108	8	—	—	PUNCT
ap-1650	108	9	safety	safety	NOUN
ap-1650	108	10	time	time	NOUN
ap-1650	108	11	range	range	PROPN
ap-1650	108	12	st	st	PROPN
ap-1650	108	13	,	,	PUNCT
ap-1650	108	14	and	and	CCONJ
ap-1650	108	15	safety	safety	NOUN
ap-1650	108	16	distance	distance	NOUN
ap-1650	108	17	range	range	NOUN
ap-1650	108	18	sd	sd	NOUN
ap-1650	108	19	.	.	PUNCT
ap-1650	109	1	scheduled	schedule	VERB
ap-1650	109	2	.	.	PUNCT
ap-1650	110	1	the	the	DET
ap-1650	110	2	safety	safety	NOUN
ap-1650	110	3	time	time	NOUN
ap-1650	110	4	range	range	NOUN
ap-1650	110	5	is	be	AUX
ap-1650	110	6	bigger	big	ADJ
ap-1650	110	7	than	than	ADP
ap-1650	110	8	the	the	DET
ap-1650	110	9	safety	safety	NOUN
ap-1650	110	10	distance	distance	NOUN
ap-1650	110	11	range	range	NOUN
ap-1650	110	12	,	,	PUNCT
ap-1650	110	13	because	because	SCONJ
ap-1650	110	14	it	it	PRON
ap-1650	110	15	is	be	AUX
ap-1650	110	16	generally	generally	ADV
ap-1650	110	17	more	more	ADV
ap-1650	110	18	difficult	difficult	ADJ
ap-1650	110	19	for	for	SCONJ
ap-1650	110	20	the	the	DET
ap-1650	110	21	aircraft	aircraft	NOUN
ap-1650	110	22	to	to	PART
ap-1650	110	23	keep	keep	VERB
ap-1650	110	24	up	up	ADP
ap-1650	110	25	with	with	ADP
ap-1650	110	26	the	the	DET
ap-1650	110	27	plan	plan	NOUN
ap-1650	110	28	in	in	ADP
ap-1650	110	29	the	the	DET
ap-1650	110	30	time	time	NOUN
ap-1650	110	31	domain	domain	NOUN
ap-1650	110	32	.	.	PUNCT
ap-1650	111	1	the	the	DET
ap-1650	111	2	safety	safety	NOUN
ap-1650	111	3	zone	zone	NOUN
ap-1650	111	4	is	be	AUX
ap-1650	111	5	used	use	VERB
ap-1650	111	6	during	during	ADP
ap-1650	111	7	the	the	DET
ap-1650	111	8	planning	planning	NOUN
ap-1650	111	9	procedure	procedure	NOUN
ap-1650	111	10	so	so	SCONJ
ap-1650	111	11	that	that	SCONJ
ap-1650	111	12	it	it	PRON
ap-1650	111	13	is	be	AUX
ap-1650	111	14	wrapped	wrap	VERB
ap-1650	111	15	along	along	ADP
ap-1650	111	16	the	the	DET
ap-1650	111	17	planned	plan	VERB
ap-1650	111	18	trajectory	trajectory	NOUN
ap-1650	111	19	and	and	CCONJ
ap-1650	111	20	it	it	PRON
ap-1650	111	21	can	can	AUX
ap-1650	111	22	not	not	PART
ap-1650	111	23	cross	cross	VERB
ap-1650	111	24	any	any	DET
ap-1650	111	25	obstacle	obstacle	NOUN
ap-1650	111	26	,	,	PUNCT
ap-1650	111	27	no	no	DET
ap-1650	111	28	-	-	PUNCT
ap-1650	111	29	flight	flight	NOUN
ap-1650	111	30	zone	zone	NOUN
ap-1650	111	31	or	or	CCONJ
ap-1650	111	32	other	other	ADJ
ap-1650	111	33	planned	plan	VERB
ap-1650	111	34	trajectory	trajectory	NOUN
ap-1650	111	35	in	in	ADP
ap-1650	111	36	time	time	NOUN
ap-1650	111	37	and	and	CCONJ
ap-1650	111	38	space	space	NOUN
ap-1650	111	39	.	.	PUNCT
ap-1650	112	1	4.4	4.4	NUM
ap-1650	112	2	unreliable	unreliable	ADJ
ap-1650	112	3	communication	communication	NOUN
ap-1650	112	4	communication	communication	NOUN
ap-1650	112	5	is	be	AUX
ap-1650	112	6	one	one	NUM
ap-1650	112	7	of	of	ADP
ap-1650	112	8	the	the	DET
ap-1650	112	9	most	most	ADV
ap-1650	112	10	crucial	crucial	ADJ
ap-1650	112	11	features	feature	NOUN
ap-1650	112	12	of	of	ADP
ap-1650	112	13	any	any	DET
ap-1650	112	14	multi	multi	ADJ
ap-1650	112	15	-	-	ADJ
ap-1650	112	16	agent	agent	ADJ
ap-1650	112	17	system	system	NOUN
ap-1650	112	18	.	.	PUNCT
ap-1650	113	1	in	in	ADP
ap-1650	113	2	the	the	DET
ap-1650	113	3	agentfly	agentfly	ADJ
ap-1650	113	4	system	system	NOUN
ap-1650	113	5	,	,	PUNCT
ap-1650	113	6	all	all	DET
ap-1650	113	7	collision	collision	NOUN
ap-1650	113	8	avoidance	avoidance	NOUN
ap-1650	113	9	and	and	CCONJ
ap-1650	113	10	cooperative	cooperative	ADJ
ap-1650	113	11	negotiations	negotiation	NOUN
ap-1650	113	12	,	,	PUNCT
ap-1650	113	13	e.g.	e.g.	ADV
ap-1650	113	14	plan	plan	NOUN
ap-1650	113	15	and	and	CCONJ
ap-1650	113	16	position	position	NOUN
ap-1650	113	17	exchange	exchange	NOUN
ap-1650	113	18	and	and	CCONJ
ap-1650	113	19	coordination	coordination	NOUN
ap-1650	113	20	commands	command	NOUN
ap-1650	113	21	,	,	PUNCT
ap-1650	113	22	are	be	AUX
ap-1650	113	23	conducted	conduct	VERB
ap-1650	113	24	by	by	ADP
ap-1650	113	25	message	message	NOUN
ap-1650	113	26	exchange	exchange	NOUN
ap-1650	113	27	.	.	PUNCT
ap-1650	114	1	in	in	ADP
ap-1650	114	2	a	a	DET
ap-1650	114	3	simulation	simulation	NOUN
ap-1650	114	4	the	the	DET
ap-1650	114	5	messages	message	NOUN
ap-1650	114	6	are	be	AUX
ap-1650	114	7	transferred	transfer	VERB
ap-1650	114	8	by	by	ADP
ap-1650	114	9	the	the	DET
ap-1650	114	10	reliable	reliable	ADJ
ap-1650	114	11	tcp	tcp	PROPN
ap-1650	114	12	/	/	SYM
ap-1650	114	13	ip	ip	NOUN
ap-1650	114	14	protocol	protocol	NOUN
ap-1650	114	15	,	,	PUNCT
ap-1650	114	16	but	but	CCONJ
ap-1650	114	17	in	in	ADP
ap-1650	114	18	a	a	DET
ap-1650	114	19	real	real	ADJ
ap-1650	114	20	environment	environment	NOUN
ap-1650	114	21	uavs	uavs	NOUN
ap-1650	114	22	use	use	VERB
ap-1650	114	23	rf	rf	NOUN
ap-1650	114	24	modems	modem	NOUN
ap-1650	114	25	with	with	ADP
ap-1650	114	26	limited	limited	ADJ
ap-1650	114	27	bandwidth	bandwidth	NOUN
ap-1650	114	28	,	,	PUNCT
ap-1650	114	29	with	with	ADP
ap-1650	114	30	possible	possible	ADJ
ap-1650	114	31	interference	interference	NOUN
ap-1650	114	32	to	to	ADP
ap-1650	114	33	their	their	PRON
ap-1650	114	34	signal	signal	NOUN
ap-1650	114	35	from	from	ADP
ap-1650	114	36	other	other	ADJ
ap-1650	114	37	rf	rf	ADJ
ap-1650	114	38	devices	device	NOUN
ap-1650	114	39	,	,	PUNCT
ap-1650	114	40	and	and	CCONJ
ap-1650	114	41	with	with	ADP
ap-1650	114	42	significant	significant	ADJ
ap-1650	114	43	signal	signal	NOUN
ap-1650	114	44	attenuation	attenuation	NOUN
ap-1650	114	45	with	with	ADP
ap-1650	114	46	distance	distance	NOUN
ap-1650	114	47	.	.	PUNCT
ap-1650	115	1	the	the	DET
ap-1650	115	2	largest	large	ADJ
ap-1650	115	3	portion	portion	NOUN
ap-1650	115	4	of	of	ADP
ap-1650	115	5	the	the	DET
ap-1650	115	6	communication	communication	NOUN
ap-1650	115	7	bandwidth	bandwidth	NOUN
ap-1650	115	8	is	be	AUX
ap-1650	115	9	used	use	VERB
ap-1650	115	10	by	by	ADP
ap-1650	115	11	plans	plan	NOUN
ap-1650	115	12	exchange	exchange	NOUN
ap-1650	115	13	during	during	ADP
ap-1650	115	14	cooperative	cooperative	ADJ
ap-1650	115	15	collision	collision	NOUN
ap-1650	115	16	avoidance	avoidance	NOUN
ap-1650	115	17	.	.	PUNCT
ap-1650	116	1	figure	figure	NOUN
ap-1650	116	2	13	13	NUM
ap-1650	116	3	shows	show	VERB
ap-1650	116	4	the	the	DET
ap-1650	116	5	required	require	VERB
ap-1650	116	6	bandwidth	bandwidth	NOUN
ap-1650	116	7	for	for	ADP
ap-1650	116	8	worst	bad	ADJ
ap-1650	116	9	case	case	NOUN
ap-1650	116	10	collision	collision	NOUN
ap-1650	116	11	avoidance	avoidance	NOUN
ap-1650	116	12	negotiation	negotiation	NOUN
ap-1650	116	13	in	in	ADP
ap-1650	116	14	superconflict	superconflict	ADJ
ap-1650	116	15	scenarios	scenario	NOUN
ap-1650	116	16	,	,	PUNCT
ap-1650	116	17	where	where	SCONJ
ap-1650	116	18	all	all	DET
ap-1650	116	19	the	the	DET
ap-1650	116	20	uavs	uavs	NOUN
ap-1650	116	21	are	be	AUX
ap-1650	116	22	flying	fly	VERB
ap-1650	116	23	against	against	ADP
ap-1650	116	24	each	each	DET
ap-1650	116	25	other	other	ADJ
ap-1650	116	26	with	with	ADP
ap-1650	116	27	one	one	NUM
ap-1650	116	28	collision	collision	NOUN
ap-1650	116	29	point	point	NOUN
ap-1650	116	30	in	in	ADP
ap-1650	116	31	the	the	DET
ap-1650	116	32	middle	middle	NOUN
ap-1650	116	33	of	of	ADP
ap-1650	116	34	them	they	PRON
ap-1650	116	35	(	(	PUNCT
ap-1650	116	36	see	see	VERB
ap-1650	116	37	figure	figure	NOUN
ap-1650	116	38	12	12	NUM
ap-1650	116	39	)	)	PUNCT
ap-1650	116	40	.	.	PUNCT
ap-1650	117	1	we	we	PRON
ap-1650	117	2	presume	presume	VERB
ap-1650	117	3	the	the	DET
ap-1650	117	4	initial	initial	ADJ
ap-1650	117	5	distance	distance	NOUN
ap-1650	117	6	of	of	ADP
ap-1650	117	7	the	the	DET
ap-1650	117	8	uavs	uavs	NOUN
ap-1650	117	9	to	to	PART
ap-1650	117	10	be	be	AUX
ap-1650	117	11	1.5	1.5	NUM
ap-1650	117	12	km	km	NOUN
ap-1650	117	13	,	,	PUNCT
ap-1650	117	14	with	with	ADP
ap-1650	117	15	figure	figure	NOUN
ap-1650	117	16	12	12	NUM
ap-1650	117	17	:	:	PUNCT
ap-1650	117	18	superconflict	superconflict	NOUN
ap-1650	117	19	collision	collision	NOUN
ap-1650	117	20	avoidance	avoidance	NOUN
ap-1650	117	21	scenario	scenario	NOUN
ap-1650	117	22	.	.	PUNCT
ap-1650	118	1	figure	figure	VERB
ap-1650	118	2	13	13	NUM
ap-1650	118	3	:	:	PUNCT
ap-1650	118	4	required	require	VERB
ap-1650	118	5	bandwidth	bandwidth	NOUN
ap-1650	118	6	for	for	ADP
ap-1650	118	7	collision	collision	NOUN
ap-1650	118	8	avoidance	avoidance	NOUN
ap-1650	118	9	negotiation	negotiation	NOUN
ap-1650	118	10	in	in	ADP
ap-1650	118	11	superconflict	superconflict	NOUN
ap-1650	118	12	.	.	PUNCT
ap-1650	119	1	the	the	DET
ap-1650	119	2	requirement	requirement	NOUN
ap-1650	119	3	that	that	SCONJ
ap-1650	119	4	the	the	DET
ap-1650	119	5	conflict	conflict	NOUN
ap-1650	119	6	is	be	AUX
ap-1650	119	7	to	to	PART
ap-1650	119	8	be	be	AUX
ap-1650	119	9	resolved	resolve	VERB
ap-1650	119	10	10	10	NUM
ap-1650	119	11	s	s	NOUN
ap-1650	119	12	before	before	ADP
ap-1650	119	13	the	the	DET
ap-1650	119	14	collision	collision	NOUN
ap-1650	119	15	point	point	NOUN
ap-1650	119	16	.	.	PUNCT
ap-1650	120	1	apart	apart	ADV
ap-1650	120	2	from	from	ADP
ap-1650	120	3	plan	plan	NOUN
ap-1650	120	4	exchange	exchange	NOUN
ap-1650	120	5	,	,	PUNCT
ap-1650	120	6	additional	additional	ADJ
ap-1650	120	7	bandwidth	bandwidth	NOUN
ap-1650	120	8	required	require	VERB
ap-1650	120	9	is	be	AUX
ap-1650	120	10	for	for	ADP
ap-1650	120	11	manual	manual	ADJ
ap-1650	120	12	safety	safety	NOUN
ap-1650	120	13	control	control	NOUN
ap-1650	120	14	,	,	PUNCT
ap-1650	120	15	telemetry	telemetry	NOUN
ap-1650	120	16	broadcasts	broadcast	NOUN
ap-1650	120	17	and	and	CCONJ
ap-1650	120	18	communication	communication	NOUN
ap-1650	120	19	management	management	NOUN
ap-1650	120	20	control	control	NOUN
ap-1650	120	21	.	.	PUNCT
ap-1650	121	1	this	this	PRON
ap-1650	121	2	needs	need	VERB
ap-1650	121	3	10–30	10–30	NUM
ap-1650	121	4	kbps	kbps	NOUN
ap-1650	121	5	of	of	ADP
ap-1650	121	6	additional	additional	ADJ
ap-1650	121	7	bandwidth	bandwidth	NOUN
ap-1650	121	8	.	.	PUNCT
ap-1650	122	1	commercial	commercial	ADJ
ap-1650	122	2	modems	modem	NOUN
ap-1650	122	3	that	that	PRON
ap-1650	122	4	are	be	AUX
ap-1650	122	5	capable	capable	ADJ
ap-1650	122	6	of	of	ADP
ap-1650	122	7	communication	communication	NOUN
ap-1650	122	8	at	at	ADP
ap-1650	122	9	a	a	DET
ap-1650	122	10	distance	distance	NOUN
ap-1650	122	11	of	of	ADP
ap-1650	122	12	at	at	ADV
ap-1650	122	13	least	least	ADV
ap-1650	122	14	1.5	1.5	NUM
ap-1650	122	15	km	km	NOUN
ap-1650	122	16	have	have	VERB
ap-1650	122	17	maximum	maximum	ADJ
ap-1650	122	18	rf	rf	ADJ
ap-1650	122	19	bandwidth	bandwidth	NOUN
ap-1650	122	20	around	around	ADP
ap-1650	122	21	115	115	NUM
ap-1650	122	22	kbps	kbps	NOUN
ap-1650	122	23	,	,	PUNCT
ap-1650	122	24	which	which	PRON
ap-1650	122	25	with	with	ADP
ap-1650	122	26	the	the	DET
ap-1650	122	27	additional	additional	ADJ
ap-1650	122	28	and	and	CCONJ
ap-1650	122	29	safety	safety	NOUN
ap-1650	122	30	bandwidth	bandwidth	NOUN
ap-1650	122	31	is	be	AUX
ap-1650	122	32	not	not	PART
ap-1650	122	33	enough	enough	ADJ
ap-1650	122	34	to	to	PART
ap-1650	122	35	handle	handle	VERB
ap-1650	122	36	even	even	ADV
ap-1650	122	37	4	4	NUM
ap-1650	122	38	uav	uav	PROPN
ap-1650	122	39	superconflict	superconflict	NOUN
ap-1650	122	40	scenarios	scenario	NOUN
ap-1650	122	41	.	.	PUNCT
ap-1650	123	1	moreover	moreover	ADV
ap-1650	123	2	,	,	PUNCT
ap-1650	123	3	operating	operate	VERB
ap-1650	123	4	the	the	DET
ap-1650	123	5	modems	modem	NOUN
ap-1650	123	6	at	at	ADP
ap-1650	123	7	full	full	ADJ
ap-1650	123	8	speed	speed	NOUN
ap-1650	123	9	requires	require	VERB
ap-1650	123	10	a	a	DET
ap-1650	123	11	significant	significant	ADJ
ap-1650	123	12	portion	portion	NOUN
ap-1650	123	13	of	of	ADP
ap-1650	123	14	cpu	cpu	NOUN
ap-1650	123	15	time	time	NOUN
ap-1650	123	16	.	.	PUNCT
ap-1650	124	1	for	for	ADP
ap-1650	124	2	that	that	DET
ap-1650	124	3	reason	reason	NOUN
ap-1650	124	4	we	we	PRON
ap-1650	124	5	decided	decide	VERB
ap-1650	124	6	to	to	PART
ap-1650	124	7	use	use	VERB
ap-1650	124	8	two	two	NUM
ap-1650	124	9	independent	independent	ADJ
ap-1650	124	10	rf	rf	NOUN
ap-1650	124	11	modems	modem	NOUN
ap-1650	124	12	operated	operate	VERB
ap-1650	124	13	by	by	ADP
ap-1650	124	14	kesterl	kesterl	PROPN
ap-1650	124	15	autopilot	autopilot	NOUN
ap-1650	124	16	and	and	CCONJ
ap-1650	124	17	gumstix	gumstix	NOUN
ap-1650	124	18	com	com	NOUN
ap-1650	124	19	on	on	ADP
ap-1650	124	20	-	-	PUNCT
ap-1650	124	21	board	board	NOUN
ap-1650	124	22	cpu	cpu	NOUN
ap-1650	124	23	units	unit	NOUN
ap-1650	124	24	,	,	PUNCT
ap-1650	124	25	as	as	SCONJ
ap-1650	124	26	shown	show	VERB
ap-1650	124	27	in	in	ADP
ap-1650	124	28	figure	figure	NOUN
ap-1650	124	29	5	5	NUM
ap-1650	124	30	.	.	SYM
ap-1650	124	31	4.5	4.5	NUM
ap-1650	124	32	simulation	simulation	NOUN
ap-1650	124	33	time	time	NOUN
ap-1650	124	34	collision	collision	NOUN
ap-1650	124	35	avoidance	avoidance	NOUN
ap-1650	124	36	algorithms	algorithm	NOUN
ap-1650	124	37	and	and	CCONJ
ap-1650	124	38	other	other	ADJ
ap-1650	124	39	cooperation	cooperation	NOUN
ap-1650	124	40	and	and	CCONJ
ap-1650	124	41	coordination	coordination	NOUN
ap-1650	124	42	mechanisms	mechanism	NOUN
ap-1650	124	43	need	need	VERB
ap-1650	124	44	to	to	PART
ap-1650	124	45	have	have	VERB
ap-1650	124	46	synchro97	synchro97	NOUN
ap-1650	124	47	acta	acta	PROPN
ap-1650	124	48	polytechnica	polytechnica	PROPN
ap-1650	124	49	vol	vol	NOUN
ap-1650	124	50	.	.	PROPN
ap-1650	125	1	52	52	NUM
ap-1650	125	2	no	no	NOUN
ap-1650	125	3	.	.	PUNCT
ap-1650	126	1	5/2012	5/2012	NUM
ap-1650	126	2	(	(	PUNCT
ap-1650	126	3	a	a	NOUN
ap-1650	126	4	)	)	PUNCT
ap-1650	126	5	(	(	PUNCT
ap-1650	126	6	b	b	X
ap-1650	126	7	)	)	PUNCT
ap-1650	126	8	figure	figure	NOUN
ap-1650	126	9	14	14	NUM
ap-1650	126	10	:	:	PUNCT
ap-1650	126	11	the	the	DET
ap-1650	126	12	effects	effect	NOUN
ap-1650	126	13	of	of	ADP
ap-1650	126	14	planning	plan	VERB
ap-1650	126	15	with	with	ADP
ap-1650	126	16	(	(	PUNCT
ap-1650	126	17	a	a	PRON
ap-1650	126	18	)	)	PUNCT
ap-1650	126	19	dubins	dubin	NOUN
ap-1650	126	20	curves	curve	NOUN
ap-1650	126	21	and	and	CCONJ
ap-1650	126	22	(	(	PUNCT
ap-1650	126	23	b	b	NOUN
ap-1650	126	24	)	)	PUNCT
ap-1650	126	25	trochoidal	trochoidal	ADJ
ap-1650	126	26	curves	curve	NOUN
ap-1650	126	27	.	.	PUNCT
ap-1650	127	1	nized	nize	VERB
ap-1650	127	2	time	time	NOUN
ap-1650	127	3	to	to	PART
ap-1650	127	4	work	work	VERB
ap-1650	127	5	properly	properly	ADV
ap-1650	127	6	.	.	PUNCT
ap-1650	128	1	there	there	PRON
ap-1650	128	2	are	be	VERB
ap-1650	128	3	two	two	NUM
ap-1650	128	4	ways	way	NOUN
ap-1650	128	5	to	to	PART
ap-1650	128	6	synchronize	synchronize	VERB
ap-1650	128	7	simulation	simulation	NOUN
ap-1650	128	8	times	time	NOUN
ap-1650	128	9	.	.	PUNCT
ap-1650	129	1	because	because	SCONJ
ap-1650	129	2	all	all	DET
ap-1650	129	3	autopilot	autopilot	NOUN
ap-1650	129	4	modules	module	NOUN
ap-1650	129	5	and	and	CCONJ
ap-1650	129	6	also	also	ADV
ap-1650	129	7	the	the	DET
ap-1650	129	8	ground	ground	NOUN
ap-1650	129	9	station	station	NOUN
ap-1650	129	10	pc	pc	NOUN
ap-1650	129	11	are	be	AUX
ap-1650	129	12	connected	connect	VERB
ap-1650	129	13	to	to	PART
ap-1650	129	14	gps	gps	VERB
ap-1650	129	15	modules	module	NOUN
ap-1650	129	16	,	,	PUNCT
ap-1650	129	17	we	we	PRON
ap-1650	129	18	can	can	AUX
ap-1650	129	19	synchronize	synchronize	VERB
ap-1650	129	20	the	the	DET
ap-1650	129	21	clocks	clock	NOUN
ap-1650	129	22	from	from	ADP
ap-1650	129	23	the	the	DET
ap-1650	129	24	time	time	NOUN
ap-1650	129	25	information	information	NOUN
ap-1650	129	26	contained	contain	VERB
ap-1650	129	27	in	in	ADP
ap-1650	129	28	gps	gps	NOUN
ap-1650	129	29	updates	update	NOUN
ap-1650	129	30	.	.	PUNCT
ap-1650	130	1	this	this	DET
ap-1650	130	2	method	method	NOUN
ap-1650	130	3	can	can	AUX
ap-1650	130	4	give	give	VERB
ap-1650	130	5	very	very	ADV
ap-1650	130	6	precise	precise	ADJ
ap-1650	130	7	time	time	NOUN
ap-1650	130	8	information	information	NOUN
ap-1650	130	9	,	,	PUNCT
ap-1650	130	10	but	but	CCONJ
ap-1650	130	11	we	we	PRON
ap-1650	130	12	have	have	AUX
ap-1650	130	13	found	find	VERB
ap-1650	130	14	out	out	ADP
ap-1650	130	15	that	that	SCONJ
ap-1650	130	16	kestrel	kestrel	PROPN
ap-1650	130	17	autopilot	autopilot	NOUN
ap-1650	130	18	sometimes	sometimes	ADV
ap-1650	130	19	provides	provide	VERB
ap-1650	130	20	wrong	wrong	ADJ
ap-1650	130	21	time	time	NOUN
ap-1650	130	22	information	information	NOUN
ap-1650	130	23	in	in	ADP
ap-1650	130	24	gps	gps	PROPN
ap-1650	130	25	updates	update	NOUN
ap-1650	130	26	that	that	PRON
ap-1650	130	27	need	need	VERB
ap-1650	130	28	to	to	PART
ap-1650	130	29	be	be	AUX
ap-1650	130	30	recognized	recognize	VERB
ap-1650	130	31	and	and	CCONJ
ap-1650	130	32	taken	take	VERB
ap-1650	130	33	out	out	ADP
ap-1650	130	34	from	from	ADP
ap-1650	130	35	the	the	DET
ap-1650	130	36	measurements	measurement	NOUN
ap-1650	130	37	.	.	PUNCT
ap-1650	131	1	the	the	DET
ap-1650	131	2	second	second	ADJ
ap-1650	131	3	way	way	NOUN
ap-1650	131	4	is	be	AUX
ap-1650	131	5	to	to	PART
ap-1650	131	6	pass	pass	VERB
ap-1650	131	7	the	the	DET
ap-1650	131	8	ground	ground	NOUN
ap-1650	131	9	station	station	NOUN
ap-1650	131	10	’s	’s	PART
ap-1650	131	11	simulation	simulation	NOUN
ap-1650	131	12	time	time	NOUN
ap-1650	131	13	during	during	ADP
ap-1650	131	14	a	a	DET
ap-1650	131	15	registration	registration	NOUN
ap-1650	131	16	process	process	NOUN
ap-1650	131	17	of	of	ADP
ap-1650	131	18	the	the	DET
ap-1650	131	19	hardware	hardware	NOUN
ap-1650	131	20	uavs	uavs	NOUN
ap-1650	131	21	to	to	ADP
ap-1650	131	22	the	the	DET
ap-1650	131	23	system	system	NOUN
ap-1650	131	24	and	and	CCONJ
ap-1650	131	25	then	then	ADV
ap-1650	131	26	start	start	VERB
ap-1650	131	27	to	to	PART
ap-1650	131	28	measure	measure	VERB
ap-1650	131	29	time	time	NOUN
ap-1650	131	30	from	from	ADP
ap-1650	131	31	that	that	DET
ap-1650	131	32	moment	moment	NOUN
ap-1650	131	33	.	.	PUNCT
ap-1650	132	1	in	in	ADP
ap-1650	132	2	this	this	DET
ap-1650	132	3	method	method	NOUN
ap-1650	132	4	there	there	PRON
ap-1650	132	5	is	be	VERB
ap-1650	132	6	a	a	DET
ap-1650	132	7	problem	problem	NOUN
ap-1650	132	8	in	in	ADP
ap-1650	132	9	the	the	DET
ap-1650	132	10	information	information	NOUN
ap-1650	132	11	transfer	transfer	NOUN
ap-1650	132	12	time	time	NOUN
ap-1650	132	13	—	—	PUNCT
ap-1650	132	14	it	it	PRON
ap-1650	132	15	can	can	AUX
ap-1650	132	16	take	take	VERB
ap-1650	132	17	up	up	ADP
ap-1650	132	18	to	to	ADP
ap-1650	132	19	one	one	NUM
ap-1650	132	20	second	second	NOUN
ap-1650	132	21	to	to	PART
ap-1650	132	22	transfer	transfer	VERB
ap-1650	132	23	the	the	DET
ap-1650	132	24	registration	registration	NOUN
ap-1650	132	25	data	datum	NOUN
ap-1650	132	26	along	along	ADP
ap-1650	132	27	with	with	ADP
ap-1650	132	28	the	the	DET
ap-1650	132	29	simulation	simulation	NOUN
ap-1650	132	30	time	time	NOUN
ap-1650	132	31	,	,	PUNCT
ap-1650	132	32	and	and	CCONJ
ap-1650	132	33	this	this	PRON
ap-1650	132	34	can	can	AUX
ap-1650	132	35	have	have	VERB
ap-1650	132	36	a	a	DET
ap-1650	132	37	significant	significant	ADJ
ap-1650	132	38	effect	effect	NOUN
ap-1650	132	39	on	on	ADP
ap-1650	132	40	time	time	NOUN
ap-1650	132	41	synchronization	synchronization	NOUN
ap-1650	132	42	.	.	PUNCT
ap-1650	133	1	however	however	ADV
ap-1650	133	2	we	we	PRON
ap-1650	133	3	decided	decide	VERB
ap-1650	133	4	to	to	PART
ap-1650	133	5	use	use	VERB
ap-1650	133	6	this	this	DET
ap-1650	133	7	approach	approach	NOUN
ap-1650	133	8	because	because	SCONJ
ap-1650	133	9	the	the	DET
ap-1650	133	10	synchronization	synchronization	NOUN
ap-1650	133	11	error	error	NOUN
ap-1650	133	12	is	be	AUX
ap-1650	133	13	smaller	small	ADJ
ap-1650	133	14	than	than	ADP
ap-1650	133	15	the	the	DET
ap-1650	133	16	time	time	NOUN
ap-1650	133	17	errors	error	NOUN
ap-1650	133	18	from	from	ADP
ap-1650	133	19	the	the	DET
ap-1650	133	20	gps	gps	PROPN
ap-1650	133	21	updates	update	VERB
ap-1650	133	22	.	.	PUNCT
ap-1650	134	1	5	5	NUM
ap-1650	134	2	experiments	experiment	NOUN
ap-1650	134	3	we	we	PRON
ap-1650	134	4	performed	perform	VERB
ap-1650	134	5	several	several	ADJ
ap-1650	134	6	field	field	NOUN
ap-1650	134	7	tests	test	NOUN
ap-1650	134	8	to	to	PART
ap-1650	134	9	check	check	VERB
ap-1650	134	10	and	and	CCONJ
ap-1650	134	11	verify	verify	VERB
ap-1650	134	12	the	the	DET
ap-1650	134	13	modifications	modification	NOUN
ap-1650	134	14	described	describe	VERB
ap-1650	134	15	above	above	ADV
ap-1650	134	16	.	.	PUNCT
ap-1650	135	1	first	first	ADV
ap-1650	135	2	,	,	PUNCT
ap-1650	135	3	we	we	PRON
ap-1650	135	4	compared	compare	VERB
ap-1650	135	5	the	the	DET
ap-1650	135	6	plan	plan	NOUN
ap-1650	135	7	execution	execution	NOUN
ap-1650	135	8	precision	precision	NOUN
ap-1650	135	9	in	in	ADP
ap-1650	135	10	cases	case	NOUN
ap-1650	135	11	with	with	ADP
ap-1650	135	12	plans	plan	NOUN
ap-1650	135	13	found	find	VERB
ap-1650	135	14	by	by	ADP
ap-1650	135	15	the	the	DET
ap-1650	135	16	original	original	ADJ
ap-1650	135	17	planning	planning	NOUN
ap-1650	135	18	algorithm	algorithm	NOUN
ap-1650	135	19	and	and	CCONJ
ap-1650	135	20	with	with	ADP
ap-1650	135	21	plans	plan	NOUN
ap-1650	135	22	found	find	VERB
ap-1650	135	23	by	by	ADP
ap-1650	135	24	our	our	PRON
ap-1650	135	25	modified	modified	ADJ
ap-1650	135	26	algorithm	algorithm	NOUN
ap-1650	135	27	for	for	ADP
ap-1650	135	28	planning	plan	VERB
ap-1650	135	29	in	in	ADP
ap-1650	135	30	wind	wind	NOUN
ap-1650	135	31	.	.	PUNCT
ap-1650	136	1	the	the	DET
ap-1650	136	2	tests	test	NOUN
ap-1650	136	3	were	be	AUX
ap-1650	136	4	conducted	conduct	VERB
ap-1650	136	5	with	with	ADP
ap-1650	136	6	approximately	approximately	ADV
ap-1650	136	7	5	5	NUM
ap-1650	136	8	m/s	m/s	PROPN
ap-1650	136	9	wind	wind	NOUN
ap-1650	136	10	,	,	PUNCT
ap-1650	136	11	the	the	DET
ap-1650	136	12	uav	uav	PROPN
ap-1650	136	13	’s	’s	PART
ap-1650	136	14	airspeed	airspeed	NOUN
ap-1650	136	15	was	be	AUX
ap-1650	136	16	15	15	NUM
ap-1650	136	17	m/s	m/s	NOUN
ap-1650	136	18	,	,	PUNCT
ap-1650	136	19	and	and	CCONJ
ap-1650	136	20	the	the	DET
ap-1650	136	21	scenario	scenario	NOUN
ap-1650	136	22	consisted	consist	VERB
ap-1650	136	23	of	of	ADP
ap-1650	136	24	three	three	NUM
ap-1650	136	25	waypoints	waypoint	NOUN
ap-1650	136	26	placed	place	VERB
ap-1650	136	27	as	as	SCONJ
ap-1650	136	28	shown	show	VERB
ap-1650	136	29	in	in	ADP
ap-1650	136	30	figure	figure	NOUN
ap-1650	136	31	14	14	NUM
ap-1650	136	32	.	.	PUNCT
ap-1650	137	1	the	the	DET
ap-1650	137	2	blue	blue	ADJ
ap-1650	137	3	line	line	NOUN
ap-1650	137	4	in	in	ADP
ap-1650	137	5	figure	figure	NOUN
ap-1650	137	6	14	14	NUM
ap-1650	137	7	is	be	AUX
ap-1650	137	8	the	the	DET
ap-1650	137	9	ideal	ideal	ADJ
ap-1650	137	10	planned	plan	VERB
ap-1650	137	11	trajectory	trajectory	NOUN
ap-1650	137	12	that	that	PRON
ap-1650	137	13	starts	start	VERB
ap-1650	137	14	at	at	ADP
ap-1650	137	15	the	the	DET
ap-1650	137	16	first	first	ADJ
ap-1650	137	17	waypoint	waypoint	NOUN
ap-1650	137	18	(	(	PUNCT
ap-1650	137	19	wp1	wp1	NOUN
ap-1650	137	20	)	)	PUNCT
ap-1650	137	21	,	,	PUNCT
ap-1650	137	22	then	then	ADV
ap-1650	137	23	proceeds	proceed	VERB
ap-1650	137	24	via	via	ADP
ap-1650	137	25	wp2	wp2	PROPN
ap-1650	137	26	and	and	CCONJ
ap-1650	137	27	wp3	wp3	PROPN
ap-1650	137	28	and	and	CCONJ
ap-1650	137	29	ends	end	VERB
ap-1650	137	30	again	again	ADV
ap-1650	137	31	at	at	ADP
ap-1650	137	32	wp1	wp1	PROPN
ap-1650	137	33	.	.	PUNCT
ap-1650	138	1	the	the	DET
ap-1650	138	2	green	green	ADJ
ap-1650	138	3	line	line	NOUN
ap-1650	138	4	is	be	AUX
ap-1650	138	5	the	the	DET
ap-1650	138	6	real	real	ADJ
ap-1650	138	7	recorded	record	VERB
ap-1650	138	8	trajectory	trajectory	NOUN
ap-1650	138	9	of	of	ADP
ap-1650	138	10	the	the	DET
ap-1650	138	11	uav	uav	PROPN
ap-1650	138	12	,	,	PUNCT
ap-1650	138	13	and	and	CCONJ
ap-1650	138	14	the	the	DET
ap-1650	138	15	black	black	ADJ
ap-1650	138	16	arrows	arrow	NOUN
ap-1650	138	17	emphasize	emphasize	VERB
ap-1650	138	18	the	the	DET
ap-1650	138	19	different	different	ADJ
ap-1650	138	20	turn	turn	NOUN
ap-1650	138	21	radii	radii	VERB
ap-1650	138	22	in	in	ADP
ap-1650	138	23	individual	individual	ADJ
ap-1650	138	24	cases	case	NOUN
ap-1650	138	25	.	.	PUNCT
ap-1650	139	1	it	it	PRON
ap-1650	139	2	can	can	AUX
ap-1650	139	3	be	be	AUX
ap-1650	139	4	seen	see	VERB
ap-1650	139	5	that	that	SCONJ
ap-1650	139	6	the	the	DET
ap-1650	139	7	trajectories	trajectory	NOUN
ap-1650	139	8	created	create	VERB
ap-1650	139	9	with	with	ADP
ap-1650	139	10	dubins	dubin	NOUN
ap-1650	139	11	curves	curve	NOUN
ap-1650	139	12	with	with	ADP
ap-1650	139	13	a	a	DET
ap-1650	139	14	constant	constant	ADJ
ap-1650	139	15	minimal	minimal	ADJ
ap-1650	139	16	turn	turn	NOUN
ap-1650	139	17	radius	radius	NOUN
ap-1650	139	18	could	could	AUX
ap-1650	139	19	not	not	PART
ap-1650	139	20	be	be	AUX
ap-1650	139	21	followed	follow	VERB
ap-1650	139	22	at	at	ADP
ap-1650	139	23	some	some	DET
ap-1650	139	24	points	point	NOUN
ap-1650	139	25	.	.	PUNCT
ap-1650	140	1	on	on	ADP
ap-1650	140	2	the	the	DET
ap-1650	140	3	other	other	ADJ
ap-1650	140	4	hand	hand	NOUN
ap-1650	140	5	,	,	PUNCT
ap-1650	140	6	the	the	DET
ap-1650	140	7	trajectories	trajectory	NOUN
ap-1650	140	8	created	create	VERB
ap-1650	140	9	with	with	ADP
ap-1650	140	10	trochoidal	trochoidal	ADJ
ap-1650	140	11	curves	curve	NOUN
ap-1650	140	12	that	that	PRON
ap-1650	140	13	were	be	AUX
ap-1650	140	14	adapted	adapt	VERB
ap-1650	140	15	to	to	ADP
ap-1650	140	16	the	the	DET
ap-1650	140	17	wind	wind	NOUN
ap-1650	140	18	strength	strength	NOUN
ap-1650	140	19	and	and	CCONJ
ap-1650	140	20	direction	direction	NOUN
ap-1650	140	21	were	be	AUX
ap-1650	140	22	followed	follow	VERB
ap-1650	140	23	much	much	ADV
ap-1650	140	24	more	more	ADV
ap-1650	140	25	precisely	precisely	ADV
ap-1650	140	26	.	.	PUNCT
ap-1650	141	1	another	another	DET
ap-1650	141	2	experiment	experiment	NOUN
ap-1650	141	3	that	that	PRON
ap-1650	141	4	we	we	PRON
ap-1650	141	5	performed	perform	VERB
ap-1650	141	6	was	be	AUX
ap-1650	141	7	a	a	DET
ap-1650	141	8	mixed	mixed	ADJ
ap-1650	141	9	reality	reality	NOUN
ap-1650	141	10	collision	collision	NOUN
ap-1650	141	11	avoidance	avoidance	NOUN
ap-1650	141	12	test	test	NOUN
ap-1650	141	13	.	.	PUNCT
ap-1650	142	1	we	we	PRON
ap-1650	142	2	prepared	prepare	VERB
ap-1650	142	3	a	a	DET
ap-1650	142	4	scenario	scenario	NOUN
ap-1650	142	5	with	with	ADP
ap-1650	142	6	one	one	NUM
ap-1650	142	7	hardware	hardware	NOUN
ap-1650	142	8	uav	uav	PROPN
ap-1650	142	9	and	and	CCONJ
ap-1650	142	10	one	one	NUM
ap-1650	142	11	virtual	virtual	ADJ
ap-1650	142	12	uav	uav	PROPN
ap-1650	142	13	flying	fly	VERB
ap-1650	142	14	against	against	ADP
ap-1650	142	15	each	each	DET
ap-1650	142	16	other	other	ADJ
ap-1650	142	17	.	.	PUNCT
ap-1650	143	1	the	the	DET
ap-1650	143	2	purpose	purpose	NOUN
ap-1650	143	3	of	of	ADP
ap-1650	143	4	this	this	DET
ap-1650	143	5	experiment	experiment	NOUN
ap-1650	143	6	was	be	AUX
ap-1650	143	7	to	to	PART
ap-1650	143	8	test	test	VERB
ap-1650	143	9	the	the	DET
ap-1650	143	10	functionality	functionality	NOUN
ap-1650	143	11	of	of	ADP
ap-1650	143	12	the	the	DET
ap-1650	143	13	collision	collision	NOUN
ap-1650	143	14	avoidance	avoidance	NOUN
ap-1650	143	15	mechanism	mechanism	NOUN
ap-1650	143	16	between	between	ADP
ap-1650	143	17	the	the	DET
ap-1650	143	18	real	real	ADJ
ap-1650	143	19	and	and	CCONJ
ap-1650	143	20	virtual	virtual	ADJ
ap-1650	143	21	aircraft	aircraft	NOUN
ap-1650	143	22	,	,	PUNCT
ap-1650	143	23	and	and	CCONJ
ap-1650	143	24	also	also	ADV
ap-1650	143	25	to	to	PART
ap-1650	143	26	test	test	VERB
ap-1650	143	27	the	the	DET
ap-1650	143	28	sufficiency	sufficiency	NOUN
ap-1650	143	29	of	of	ADP
ap-1650	143	30	the	the	DET
ap-1650	143	31	rf	rf	ADJ
ap-1650	143	32	bandwidth	bandwidth	NOUN
ap-1650	143	33	required	require	VERB
ap-1650	143	34	for	for	ADP
ap-1650	143	35	the	the	DET
ap-1650	143	36	communication	communication	NOUN
ap-1650	143	37	.	.	PUNCT
ap-1650	144	1	the	the	DET
ap-1650	144	2	experiment	experiment	NOUN
ap-1650	144	3	was	be	AUX
ap-1650	144	4	successful	successful	ADJ
ap-1650	144	5	:	:	PUNCT
ap-1650	144	6	the	the	DET
ap-1650	144	7	uavs	uavs	NOUN
ap-1650	144	8	needed	need	VERB
ap-1650	144	9	less	less	ADJ
ap-1650	144	10	than	than	ADP
ap-1650	144	11	10	10	NUM
ap-1650	144	12	s	s	NOUN
ap-1650	144	13	to	to	PART
ap-1650	144	14	solve	solve	VERB
ap-1650	144	15	the	the	DET
ap-1650	144	16	collision	collision	NOUN
ap-1650	144	17	situation	situation	NOUN
ap-1650	144	18	,	,	PUNCT
ap-1650	144	19	which	which	PRON
ap-1650	144	20	with	with	ADP
ap-1650	144	21	airspeeds	airspeed	NOUN
ap-1650	144	22	of	of	ADP
ap-1650	144	23	15	15	NUM
ap-1650	144	24	m/s	m/s	PROPN
ap-1650	144	25	corresponds	correspond	NOUN
ap-1650	144	26	to	to	ADP
ap-1650	144	27	300	300	NUM
ap-1650	144	28	m	m	NOUN
ap-1650	144	29	distance	distance	NOUN
ap-1650	144	30	flown	fly	VERB
ap-1650	144	31	from	from	ADP
ap-1650	144	32	the	the	DET
ap-1650	144	33	beginning	beginning	NOUN
ap-1650	144	34	of	of	ADP
ap-1650	144	35	the	the	DET
ap-1650	144	36	negotiation	negotiation	NOUN
ap-1650	144	37	.	.	PUNCT
ap-1650	145	1	in	in	ADP
ap-1650	145	2	future	future	NOUN
ap-1650	145	3	we	we	PRON
ap-1650	145	4	would	would	AUX
ap-1650	145	5	like	like	VERB
ap-1650	145	6	to	to	PART
ap-1650	145	7	perform	perform	VERB
ap-1650	145	8	experiments	experiment	NOUN
ap-1650	145	9	with	with	ADP
ap-1650	145	10	two	two	NUM
ap-1650	145	11	hardware	hardware	NOUN
ap-1650	145	12	uavs	uavs	NOUN
ap-1650	145	13	,	,	PUNCT
ap-1650	145	14	later	later	ADV
ap-1650	145	15	adding	add	VERB
ap-1650	145	16	one	one	NUM
ap-1650	145	17	and	and	CCONJ
ap-1650	145	18	more	more	ADV
ap-1650	145	19	virtual	virtual	ADJ
ap-1650	145	20	uavs	uavs	NOUN
ap-1650	145	21	in	in	ADP
ap-1650	145	22	order	order	NOUN
ap-1650	145	23	to	to	PART
ap-1650	145	24	study	study	VERB
ap-1650	145	25	the	the	DET
ap-1650	145	26	scalability	scalability	NOUN
ap-1650	145	27	of	of	ADP
ap-1650	145	28	the	the	DET
ap-1650	145	29	problem	problem	NOUN
ap-1650	145	30	.	.	PUNCT
ap-1650	146	1	6	6	NUM
ap-1650	146	2	conclusion	conclusion	NOUN
ap-1650	146	3	in	in	ADP
ap-1650	146	4	this	this	DET
ap-1650	146	5	paper	paper	NOUN
ap-1650	146	6	we	we	PRON
ap-1650	146	7	have	have	AUX
ap-1650	146	8	presented	present	VERB
ap-1650	146	9	problems	problem	NOUN
ap-1650	146	10	and	and	CCONJ
ap-1650	146	11	solutions	solution	NOUN
ap-1650	146	12	connected	connect	VERB
ap-1650	146	13	with	with	ADP
ap-1650	146	14	integrating	integrate	VERB
ap-1650	146	15	hardware	hardware	NOUN
ap-1650	146	16	fixed	fix	VERB
ap-1650	146	17	wing	wing	NOUN
ap-1650	146	18	uavs	uavs	NOUN
ap-1650	146	19	into	into	ADP
ap-1650	146	20	an	an	DET
ap-1650	146	21	existing	exist	VERB
ap-1650	146	22	multi	multi	ADJ
ap-1650	146	23	-	-	ADJ
ap-1650	146	24	agent	agent	ADJ
ap-1650	146	25	system	system	NOUN
ap-1650	146	26	for	for	ADP
ap-1650	146	27	uav	uav	PROPN
ap-1650	146	28	simulation	simulation	PROPN
ap-1650	146	29	.	.	PUNCT
ap-1650	147	1	we	we	PRON
ap-1650	147	2	are	be	AUX
ap-1650	147	3	now	now	ADV
ap-1650	147	4	able	able	ADJ
ap-1650	147	5	to	to	PART
ap-1650	147	6	verify	verify	VERB
ap-1650	147	7	the	the	DET
ap-1650	147	8	functionality	functionality	NOUN
ap-1650	147	9	of	of	ADP
ap-1650	147	10	the	the	DET
ap-1650	147	11	collision	collision	NOUN
ap-1650	147	12	avoidance	avoidance	NOUN
ap-1650	147	13	and	and	CCONJ
ap-1650	147	14	cooperative	cooperative	ADJ
ap-1650	147	15	mechanisms	mechanism	NOUN
ap-1650	147	16	in	in	ADP
ap-1650	147	17	a	a	DET
ap-1650	147	18	real	real	ADJ
ap-1650	147	19	environment	environment	NOUN
ap-1650	147	20	,	,	PUNCT
ap-1650	147	21	and	and	CCONJ
ap-1650	147	22	also	also	ADV
ap-1650	147	23	to	to	PART
ap-1650	147	24	find	find	VERB
ap-1650	147	25	possible	possible	ADJ
ap-1650	147	26	bottlenecks	bottleneck	NOUN
ap-1650	147	27	and	and	CCONJ
ap-1650	147	28	limitations	limitation	NOUN
ap-1650	147	29	,	,	PUNCT
ap-1650	147	30	e.g.	e.g.	ADV
ap-1650	147	31	the	the	DET
ap-1650	147	32	maximum	maximum	ADJ
ap-1650	147	33	available	available	ADJ
ap-1650	147	34	rf	rf	ADJ
ap-1650	147	35	bandwidths	bandwidth	NOUN
ap-1650	147	36	for	for	ADP
ap-1650	147	37	communication	communication	NOUN
ap-1650	147	38	,	,	PUNCT
ap-1650	147	39	and	and	CCONJ
ap-1650	147	40	the	the	DET
ap-1650	147	41	limited	limited	ADJ
ap-1650	147	42	computational	computational	ADJ
ap-1650	147	43	capacity	capacity	NOUN
ap-1650	147	44	of	of	ADP
ap-1650	147	45	the	the	DET
ap-1650	147	46	on	on	ADP
ap-1650	147	47	-	-	PUNCT
ap-1650	147	48	board	board	NOUN
ap-1650	147	49	computers	computer	NOUN
ap-1650	147	50	.	.	PUNCT
ap-1650	148	1	our	our	PRON
ap-1650	148	2	work	work	NOUN
ap-1650	148	3	is	be	AUX
ap-1650	148	4	a	a	DET
ap-1650	148	5	first	first	ADJ
ap-1650	148	6	step	step	NOUN
ap-1650	148	7	toward	toward	ADP
ap-1650	148	8	full	full	ADJ
ap-1650	148	9	deployment	deployment	NOUN
ap-1650	148	10	of	of	ADP
ap-1650	148	11	the	the	DET
ap-1650	148	12	agentfly	agentfly	ADJ
ap-1650	148	13	system	system	NOUN
ap-1650	148	14	on	on	ADP
ap-1650	148	15	real	real	ADJ
ap-1650	148	16	hardware	hardware	NOUN
ap-1650	148	17	uavs	uavs	NOUN
ap-1650	148	18	that	that	PRON
ap-1650	148	19	could	could	AUX
ap-1650	148	20	operate	operate	VERB
ap-1650	148	21	independently	independently	ADV
ap-1650	148	22	in	in	ADP
ap-1650	148	23	coordinated	coordinated	ADJ
ap-1650	148	24	teams	team	NOUN
ap-1650	148	25	during	during	ADP
ap-1650	148	26	tactical	tactical	ADJ
ap-1650	148	27	missions	mission	NOUN
ap-1650	148	28	.	.	PUNCT
ap-1650	149	1	in	in	ADP
ap-1650	149	2	our	our	PRON
ap-1650	149	3	future	future	ADJ
ap-1650	149	4	work	work	NOUN
ap-1650	149	5	,	,	PUNCT
ap-1650	149	6	we	we	PRON
ap-1650	149	7	would	would	AUX
ap-1650	149	8	like	like	VERB
ap-1650	149	9	to	to	PART
ap-1650	149	10	extend	extend	VERB
ap-1650	149	11	the	the	DET
ap-1650	149	12	tactical	tactical	ADJ
ap-1650	149	13	cooperation	cooperation	NOUN
ap-1650	149	14	possibilities	possibility	NOUN
ap-1650	149	15	of	of	ADP
ap-1650	149	16	uavs	uavs	NOUN
ap-1650	149	17	and	and	CCONJ
ap-1650	149	18	also	also	ADV
ap-1650	149	19	to	to	PART
ap-1650	149	20	deploy	deploy	VERB
ap-1650	149	21	autonomous	autonomous	ADJ
ap-1650	149	22	vtol	vtol	NOUN
ap-1650	149	23	quadcopters	quadcopter	NOUN
ap-1650	149	24	next	next	ADV
ap-1650	149	25	to	to	ADP
ap-1650	149	26	the	the	DET
ap-1650	149	27	fixed	fix	VERB
ap-1650	149	28	wings	wing	NOUN
ap-1650	149	29	and	and	CCONJ
ap-1650	149	30	provide	provide	VERB
ap-1650	149	31	them	they	PRON
ap-1650	149	32	with	with	ADP
ap-1650	149	33	mechanisms	mechanism	NOUN
ap-1650	149	34	for	for	ADP
ap-1650	149	35	mutual	mutual	ADJ
ap-1650	149	36	flight	flight	NOUN
ap-1650	149	37	coordination	coordination	NOUN
ap-1650	149	38	and	and	CCONJ
ap-1650	149	39	cooperation	cooperation	NOUN
ap-1650	149	40	.	.	PUNCT
ap-1650	150	1	acknowledgements	acknowledgement	NOUN
ap-1650	150	2	the	the	DET
ap-1650	150	3	project	project	NOUN
ap-1650	150	4	described	describe	VERB
ap-1650	150	5	in	in	ADP
ap-1650	150	6	this	this	DET
ap-1650	150	7	paper	paper	NOUN
ap-1650	150	8	was	be	AUX
ap-1650	150	9	supervised	supervise	VERB
ap-1650	150	10	by	by	ADP
ap-1650	150	11	ing	ing	PROPN
ap-1650	150	12	.	.	PUNCT
ap-1650	151	1	m.	m.	PROPN
ap-1650	151	2	rollo	rollo	PROPN
ap-1650	151	3	,	,	PUNCT
ap-1650	151	4	phd	phd	PROPN
ap-1650	151	5	.	.	PROPN
ap-1650	151	6	,	,	PUNCT
ap-1650	151	7	fee	fee	NOUN
ap-1650	151	8	ctu	ctu	NOUN
ap-1650	151	9	in	in	ADP
ap-1650	151	10	prague	prague	NOUN
ap-1650	151	11	,	,	PUNCT
ap-1650	151	12	and	and	CCONJ
ap-1650	151	13	was	be	AUX
ap-1650	151	14	supported	support	VERB
ap-1650	151	15	by	by	ADP
ap-1650	151	16	czech	czech	PROPN
ap-1650	151	17	ministry	ministry	PROPN
ap-1650	151	18	of	of	ADP
ap-1650	151	19	defence	defence	PROPN
ap-1650	151	20	grant	grant	PROPN
ap-1650	151	21	ovcvut2010001	ovcvut2010001	PROPN
ap-1650	151	22	.	.	PROPN
ap-1650	151	23	98	98	NUM
ap-1650	151	24	acta	acta	PROPN
ap-1650	151	25	polytechnica	polytechnica	PROPN
ap-1650	151	26	vol	vol	NOUN
ap-1650	151	27	.	.	PUNCT
ap-1650	152	1	52	52	NUM
ap-1650	152	2	no	no	NOUN
ap-1650	152	3	.	.	PUNCT
ap-1650	153	1	5/2012	5/2012	NUM
ap-1650	153	2	references	reference	NOUN
ap-1650	153	3	[	[	X
ap-1650	153	4	1	1	NUM
ap-1650	153	5	]	]	PUNCT
ap-1650	153	6	j.	j.	PROPN
ap-1650	153	7	w.	w.	PROPN
ap-1650	153	8	baxter	baxter	PROPN
ap-1650	153	9	,	,	PUNCT
ap-1650	153	10	g.	g.	PROPN
ap-1650	153	11	s.	s.	PROPN
ap-1650	153	12	horn	horn	PROPN
ap-1650	153	13	.	.	PUNCT
ap-1650	154	1	controlling	control	VERB
ap-1650	154	2	teams	team	NOUN
ap-1650	154	3	of	of	ADP
ap-1650	154	4	uninhabited	uninhabited	ADJ
ap-1650	154	5	air	air	NOUN
ap-1650	154	6	vehicles	vehicle	NOUN
ap-1650	154	7	.	.	PUNCT
ap-1650	155	1	in	in	ADP
ap-1650	155	2	proceedings	proceeding	NOUN
ap-1650	155	3	of	of	ADP
ap-1650	155	4	the	the	DET
ap-1650	155	5	fourth	fourth	ADJ
ap-1650	155	6	international	international	ADJ
ap-1650	155	7	joint	joint	ADJ
ap-1650	155	8	conference	conference	NOUN
ap-1650	155	9	on	on	ADP
ap-1650	155	10	autonomous	autonomous	ADJ
ap-1650	155	11	agents	agent	NOUN
ap-1650	155	12	and	and	CCONJ
ap-1650	155	13	multiagent	multiagent	NOUN
ap-1650	155	14	systems	system	NOUN
ap-1650	155	15	,	,	PUNCT
ap-1650	155	16	acm	acm	PROPN
ap-1650	155	17	,	,	PUNCT
ap-1650	155	18	2005	2005	NUM
ap-1650	155	19	,	,	PUNCT
ap-1650	155	20	pp	pp	ADV
ap-1650	155	21	.	.	PUNCT
ap-1650	156	1	27–33	27–33	X
ap-1650	156	2	.	.	PUNCT
ap-1650	157	1	[	[	X
ap-1650	157	2	2	2	X
ap-1650	157	3	]	]	PUNCT
ap-1650	157	4	j.	j.	PROPN
ap-1650	157	5	w.	w.	PROPN
ap-1650	157	6	baxter	baxter	PROPN
ap-1650	157	7	,	,	PUNCT
ap-1650	157	8	g.	g.	PROPN
ap-1650	157	9	s.	s.	PROPN
ap-1650	157	10	horn	horn	PROPN
ap-1650	157	11	,	,	PUNCT
ap-1650	157	12	d.	d.	PROPN
ap-1650	157	13	p.	p.	NOUN
ap-1650	157	14	leivers	leiver	NOUN
ap-1650	157	15	.	.	PUNCT
ap-1650	158	1	flyby	flyby	NOUN
ap-1650	158	2	-	-	PUNCT
ap-1650	158	3	agent	agent	NOUN
ap-1650	158	4	:	:	PUNCT
ap-1650	158	5	controlling	control	VERB
ap-1650	158	6	a	a	DET
ap-1650	158	7	pool	pool	NOUN
ap-1650	158	8	of	of	ADP
ap-1650	158	9	uavs	uavs	NOUN
ap-1650	158	10	via	via	ADP
ap-1650	158	11	a	a	DET
ap-1650	158	12	multi	multi	ADJ
ap-1650	158	13	-	-	ADJ
ap-1650	158	14	agent	agent	ADJ
ap-1650	158	15	system	system	NOUN
ap-1650	158	16	.	.	PUNCT
ap-1650	159	1	knowledge	knowledge	NOUN
ap-1650	159	2	-	-	PUNCT
ap-1650	159	3	based	base	VERB
ap-1650	159	4	systems	system	NOUN
ap-1650	159	5	21(3):232–237	21(3):232–237	PROPN
ap-1650	159	6	,	,	PUNCT
ap-1650	159	7	2008	2008	NUM
ap-1650	159	8	.	.	PUNCT
ap-1650	160	1	[	[	X
ap-1650	160	2	3	3	X
ap-1650	160	3	]	]	X
ap-1650	160	4	r.	r.	PROPN
ap-1650	160	5	w.	w.	PROPN
ap-1650	160	6	beard	beard	PROPN
ap-1650	160	7	,	,	PUNCT
ap-1650	160	8	t.	t.	PROPN
ap-1650	160	9	w.	w.	PROPN
ap-1650	160	10	mclain	mclain	PROPN
ap-1650	160	11	,	,	PUNCT
ap-1650	161	1	d.	d.	PROPN
ap-1650	161	2	b.	b.	PROPN
ap-1650	161	3	nelson	nelson	PROPN
ap-1650	161	4	et	et	PROPN
ap-1650	161	5	al	al	PROPN
ap-1650	161	6	..	..	PROPN
ap-1650	161	7	decentralized	decentralize	VERB
ap-1650	161	8	cooperative	cooperative	ADJ
ap-1650	161	9	aerial	aerial	ADJ
ap-1650	161	10	surveillance	surveillance	NOUN
ap-1650	161	11	using	use	VERB
ap-1650	161	12	fixed	fix	VERB
ap-1650	161	13	-	-	PUNCT
ap-1650	161	14	wing	wing	NOUN
ap-1650	161	15	miniature	miniature	ADJ
ap-1650	161	16	uavs	uavs	NOUN
ap-1650	161	17	.	.	PUNCT
ap-1650	162	1	proceedings	proceeding	NOUN
ap-1650	162	2	of	of	ADP
ap-1650	162	3	the	the	DET
ap-1650	162	4	ieee	ieee	NOUN
ap-1650	162	5	94(7):1306–1324	94(7):1306–1324	PROPN
ap-1650	162	6	,	,	PUNCT
ap-1650	162	7	2006	2006	NUM
ap-1650	162	8	.	.	PUNCT
ap-1650	163	1	[	[	X
ap-1650	163	2	4	4	NUM
ap-1650	163	3	]	]	PUNCT
ap-1650	163	4	a.	a.	NOUN
ap-1650	163	5	bürkle	bürkle	NOUN
ap-1650	163	6	,	,	PUNCT
ap-1650	163	7	f.	f.	PROPN
ap-1650	163	8	segon	segon	PROPN
ap-1650	163	9	,	,	PUNCT
ap-1650	163	10	m.	m.	NOUN
ap-1650	163	11	kollmann	kollmann	PROPN
ap-1650	163	12	.	.	PROPN
ap-1650	164	1	towards	towards	ADP
ap-1650	164	2	autonomous	autonomous	PROPN
ap-1650	164	3	micro	micro	PROPN
ap-1650	164	4	uav	uav	PROPN
ap-1650	164	5	swarms	swarm	NOUN
ap-1650	164	6	.	.	PUNCT
ap-1650	165	1	in	in	ADP
ap-1650	165	2	journal	journal	NOUN
ap-1650	165	3	of	of	ADP
ap-1650	165	4	intelligent	intelligent	ADJ
ap-1650	165	5	&	&	CCONJ
ap-1650	165	6	robotic	robotic	ADJ
ap-1650	165	7	systems	system	NOUN
ap-1650	165	8	,	,	PUNCT
ap-1650	165	9	springer	springer	NOUN
ap-1650	165	10	,	,	PUNCT
ap-1650	165	11	2011	2011	NUM
ap-1650	165	12	,	,	PUNCT
ap-1650	165	13	pp	pp	ADJ
ap-1650	165	14	.	.	PUNCT
ap-1650	165	15	1–15	1–15	NUM
ap-1650	165	16	.	.	PUNCT
ap-1650	166	1	[	[	X
ap-1650	166	2	5	5	X
ap-1650	166	3	]	]	PUNCT
ap-1650	166	4	l.	l.	PROPN
ap-1650	166	5	e.	e.	PROPN
ap-1650	166	6	dubins	dubins	PROPN
ap-1650	166	7	.	.	PUNCT
ap-1650	167	1	on	on	ADP
ap-1650	167	2	curves	curve	NOUN
ap-1650	167	3	of	of	ADP
ap-1650	167	4	minimal	minimal	ADJ
ap-1650	167	5	length	length	NOUN
ap-1650	167	6	with	with	ADP
ap-1650	167	7	a	a	DET
ap-1650	167	8	constraint	constraint	NOUN
ap-1650	167	9	on	on	ADP
ap-1650	167	10	average	average	ADJ
ap-1650	167	11	curvature	curvature	NOUN
ap-1650	167	12	,	,	PUNCT
ap-1650	167	13	and	and	CCONJ
ap-1650	167	14	with	with	ADP
ap-1650	167	15	prescribed	prescribed	ADJ
ap-1650	167	16	initial	initial	ADJ
ap-1650	167	17	and	and	CCONJ
ap-1650	167	18	terminal	terminal	ADJ
ap-1650	167	19	positions	position	NOUN
ap-1650	167	20	and	and	CCONJ
ap-1650	167	21	tangents	tangent	NOUN
ap-1650	167	22	.	.	PUNCT
ap-1650	167	23	american	american	ADJ
ap-1650	167	24	journal	journal	PROPN
ap-1650	167	25	of	of	ADP
ap-1650	167	26	mathematics	mathematics	PROPN
ap-1650	167	27	79(3):497–516	79(3):497–516	PROPN
ap-1650	167	28	,	,	PUNCT
ap-1650	167	29	1957	1957	NUM
ap-1650	167	30	.	.	PUNCT
ap-1650	168	1	[	[	X
ap-1650	168	2	6	6	NUM
ap-1650	168	3	]	]	PUNCT
ap-1650	168	4	p.	p.	NOUN
ap-1650	168	5	scerri	scerri	NOUN
ap-1650	168	6	,	,	PUNCT
ap-1650	168	7	t.	t.	PROPN
ap-1650	168	8	von	von	PROPN
ap-1650	168	9	gonten	gonten	PROPN
ap-1650	168	10	,	,	PUNCT
ap-1650	168	11	g.	g.	PROPN
ap-1650	168	12	fudge	fudge	PROPN
ap-1650	168	13	et	et	PROPN
ap-1650	168	14	al	al	PROPN
ap-1650	168	15	.	.	PUNCT
ap-1650	168	16	transitioning	transition	VERB
ap-1650	168	17	multiagent	multiagent	PROPN
ap-1650	168	18	technology	technology	NOUN
ap-1650	168	19	to	to	ADP
ap-1650	168	20	uav	uav	PROPN
ap-1650	168	21	applications	application	NOUN
ap-1650	168	22	.	.	PUNCT
ap-1650	169	1	in	in	ADP
ap-1650	169	2	proceedings	proceeding	NOUN
ap-1650	169	3	of	of	ADP
ap-1650	169	4	the	the	DET
ap-1650	169	5	7th	7th	ADJ
ap-1650	169	6	international	international	ADJ
ap-1650	169	7	joint	joint	ADJ
ap-1650	169	8	conference	conference	NOUN
ap-1650	169	9	on	on	ADP
ap-1650	169	10	autonomous	autonomous	ADJ
ap-1650	169	11	agents	agent	NOUN
ap-1650	169	12	and	and	CCONJ
ap-1650	169	13	multiagent	multiagent	NOUN
ap-1650	169	14	systems	system	NOUN
ap-1650	169	15	:	:	PUNCT
ap-1650	169	16	industrial	industrial	ADJ
ap-1650	169	17	track	track	NOUN
ap-1650	169	18	,	,	PUNCT
ap-1650	169	19	international	international	ADJ
ap-1650	169	20	foundation	foundation	NOUN
ap-1650	169	21	for	for	ADP
ap-1650	169	22	autonomous	autonomous	ADJ
ap-1650	169	23	agents	agent	NOUN
ap-1650	169	24	and	and	CCONJ
ap-1650	169	25	multiagent	multiagent	NOUN
ap-1650	169	26	systems	system	NOUN
ap-1650	169	27	,	,	PUNCT
ap-1650	169	28	2008	2008	NUM
ap-1650	169	29	,	,	PUNCT
ap-1650	169	30	pp	pp	ADJ
ap-1650	169	31	.	.	PUNCT
ap-1650	170	1	89–96	89–96	NUM
ap-1650	170	2	.	.	PUNCT
ap-1650	171	1	[	[	X
ap-1650	171	2	7	7	X
ap-1650	171	3	]	]	X
ap-1650	171	4	d.	d.	NOUN
ap-1650	171	5	šišlák	šišlák	PROPN
ap-1650	171	6	,	,	PUNCT
ap-1650	171	7	m.	m.	PROPN
ap-1650	171	8	rehák	rehák	PROPN
ap-1650	171	9	,	,	PUNCT
ap-1650	171	10	m.	m.	NOUN
ap-1650	171	11	pechouček	pechouček	PROPN
ap-1650	171	12	.	.	PUNCT
ap-1650	172	1	a	a	DET
ap-1650	172	2	-	-	PUNCT
ap-1650	172	3	globe	globe	NOUN
ap-1650	172	4	:	:	PUNCT
ap-1650	172	5	multi	multi	ADJ
ap-1650	172	6	-	-	ADJ
ap-1650	172	7	agent	agent	ADJ
ap-1650	172	8	platform	platform	NOUN
ap-1650	172	9	with	with	ADP
ap-1650	172	10	advanced	advanced	ADJ
ap-1650	172	11	simulation	simulation	NOUN
ap-1650	172	12	and	and	CCONJ
ap-1650	172	13	visualization	visualization	NOUN
ap-1650	172	14	support	support	NOUN
ap-1650	172	15	.	.	PUNCT
ap-1650	173	1	in	in	ADP
ap-1650	173	2	web	web	NOUN
ap-1650	173	3	intelligence	intelligence	NOUN
ap-1650	173	4	,	,	PUNCT
ap-1650	173	5	ieee	ieee	NOUN
ap-1650	173	6	computer	computer	NOUN
ap-1650	173	7	society	society	NOUN
ap-1650	173	8	,	,	PUNCT
ap-1650	173	9	2005	2005	NUM
ap-1650	173	10	,	,	PUNCT
ap-1650	173	11	pp	pp	ADJ
ap-1650	173	12	.	.	PUNCT
ap-1650	173	13	805–806	805–806	NUM
ap-1650	173	14	.	.	PUNCT
ap-1650	174	1	[	[	X
ap-1650	174	2	8	8	NUM
ap-1650	174	3	]	]	X
ap-1650	174	4	d.	d.	NOUN
ap-1650	174	5	šišlák	šišlák	PROPN
ap-1650	174	6	,	,	PUNCT
ap-1650	174	7	p.	p.	NOUN
ap-1650	174	8	volf	volf	NOUN
ap-1650	174	9	,	,	PUNCT
ap-1650	174	10	š	š	PROPN
ap-1650	174	11	.	.	PUNCT
ap-1650	174	12	kopřiva	kopřiva	PROPN
ap-1650	174	13	et	et	PROPN
ap-1650	174	14	al	al	PROPN
ap-1650	174	15	.	.	PROPN
ap-1650	175	1	agentfly	agentfly	PROPN
ap-1650	175	2	:	:	PUNCT
ap-1650	175	3	a	a	DET
ap-1650	175	4	multi	multi	ADJ
ap-1650	175	5	-	-	ADJ
ap-1650	175	6	agent	agent	ADJ
ap-1650	175	7	airspace	airspace	NOUN
ap-1650	175	8	test	test	NOUN
ap-1650	175	9	-	-	PUNCT
ap-1650	175	10	bed	bed	NOUN
ap-1650	175	11	.	.	PUNCT
ap-1650	176	1	in	in	ADP
ap-1650	176	2	proceedings	proceeding	NOUN
ap-1650	176	3	of	of	ADP
ap-1650	176	4	7th	7th	ADJ
ap-1650	176	5	international	international	ADJ
ap-1650	176	6	conference	conference	NOUN
ap-1650	176	7	on	on	ADP
ap-1650	176	8	autonomous	autonomous	ADJ
ap-1650	176	9	agents	agent	NOUN
ap-1650	176	10	and	and	CCONJ
ap-1650	176	11	multi	multi	ADJ
ap-1650	176	12	-	-	ADJ
ap-1650	176	13	agent	agent	ADJ
ap-1650	176	14	systems	system	NOUN
ap-1650	176	15	(	(	PUNCT
ap-1650	176	16	aamas	aamas	PROPN
ap-1650	176	17	2008	2008	NUM
ap-1650	176	18	)	)	PUNCT
ap-1650	176	19	,	,	PUNCT
ap-1650	176	20	may	may	AUX
ap-1650	176	21	2008	2008	NUM
ap-1650	176	22	.	.	PUNCT
ap-1650	177	1	99	99	NUM