id	sid	tid	token	lemma	pos
ap-3037	1	1	acta	acta	PROPN
ap-3037	1	2	polytechnica	polytechnica	PROPN
ap-3037	1	3	doi:10.14311	doi:10.14311	PROPN
ap-3037	1	4	/	/	SYM
ap-3037	1	5	ap.2015.55.0154	ap.2015.55.0154	PROPN
ap-3037	1	6	acta	acta	PROPN
ap-3037	1	7	polytechnica	polytechnica	PROPN
ap-3037	1	8	55(3):154–161	55(3):154–161	PROPN
ap-3037	1	9	,	,	PUNCT
ap-3037	1	10	2015	2015	NUM
ap-3037	1	11	©	©	PROPN
ap-3037	1	12	czech	czech	PROPN
ap-3037	1	13	technical	technical	PROPN
ap-3037	1	14	university	university	PROPN
ap-3037	1	15	in	in	ADP
ap-3037	1	16	prague	prague	PROPN
ap-3037	1	17	,	,	PUNCT
ap-3037	1	18	2015	2015	NUM
ap-3037	1	19	available	available	ADJ
ap-3037	1	20	online	online	ADV
ap-3037	1	21	at	at	ADP
ap-3037	1	22	http://ojs.cvut.cz/ojs/index.php/ap	http://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-3037	1	23	comparison	comparison	NOUN
ap-3037	1	24	of	of	ADP
ap-3037	1	25	classical	classical	ADJ
ap-3037	1	26	and	and	CCONJ
ap-3037	1	27	interactive	interactive	ADJ
ap-3037	1	28	multi	multi	ADJ
ap-3037	1	29	-	-	ADJ
ap-3037	1	30	robot	robot	ADJ
ap-3037	1	31	exploration	exploration	NOUN
ap-3037	1	32	strategies	strategy	NOUN
ap-3037	1	33	in	in	ADP
ap-3037	1	34	populated	populated	ADJ
ap-3037	1	35	environments	environment	NOUN
ap-3037	1	36	nassim	nassim	PROPN
ap-3037	1	37	kaldea	kaldea	PROPN
ap-3037	1	38	,	,	PUNCT
ap-3037	1	39	b	b	NOUN
ap-3037	1	40	,	,	PUNCT
ap-3037	1	41	c,∗	c,∗	PROPN
ap-3037	1	42	,	,	PUNCT
ap-3037	1	43	olivier	olivier	PROPN
ap-3037	1	44	simonind	simonind	PROPN
ap-3037	1	45	,	,	PUNCT
ap-3037	1	46	françois	françois	PROPN
ap-3037	1	47	charpilleta	charpilleta	PROPN
ap-3037	1	48	,	,	PUNCT
ap-3037	1	49	b	b	PROPN
ap-3037	1	50	,	,	PUNCT
ap-3037	1	51	c	c	PROPN
ap-3037	1	52	a	a	DET
ap-3037	1	53	inria	inria	NOUN
ap-3037	1	54	,	,	PUNCT
ap-3037	1	55	villers	viller	NOUN
ap-3037	1	56	-	-	PUNCT
ap-3037	1	57	lès	lès	PROPN
ap-3037	1	58	-	-	PUNCT
ap-3037	1	59	nancy	nancy	PROPN
ap-3037	1	60	,	,	PUNCT
ap-3037	1	61	54600	54600	NUM
ap-3037	1	62	,	,	PUNCT
ap-3037	1	63	france	france	PROPN
ap-3037	1	64	b	b	PROPN
ap-3037	1	65	université	université	PROPN
ap-3037	1	66	de	de	PROPN
ap-3037	1	67	lorraine	lorraine	PROPN
ap-3037	1	68	,	,	PUNCT
ap-3037	1	69	loria	loria	PROPN
ap-3037	1	70	,	,	PUNCT
ap-3037	1	71	umr	umr	PROPN
ap-3037	1	72	7503	7503	NUM
ap-3037	1	73	,	,	PUNCT
ap-3037	1	74	vandoeuvre	vandoeuvre	NOUN
ap-3037	1	75	-	-	PUNCT
ap-3037	1	76	lès	lès	NOUN
ap-3037	1	77	-	-	PUNCT
ap-3037	1	78	nancy	nancy	PROPN
ap-3037	1	79	,	,	PUNCT
ap-3037	1	80	54506	54506	NUM
ap-3037	1	81	,	,	PUNCT
ap-3037	1	82	france	france	PROPN
ap-3037	1	83	c	c	PROPN
ap-3037	1	84	cnrs	cnrs	PROPN
ap-3037	1	85	,	,	PUNCT
ap-3037	1	86	loria	loria	PROPN
ap-3037	1	87	,	,	PUNCT
ap-3037	1	88	umr	umr	PROPN
ap-3037	1	89	7503	7503	NUM
ap-3037	1	90	,	,	PUNCT
ap-3037	1	91	vandoeuvre	vandoeuvre	NOUN
ap-3037	1	92	-	-	PUNCT
ap-3037	1	93	lès	lès	NOUN
ap-3037	1	94	-	-	PUNCT
ap-3037	1	95	nancy	nancy	PROPN
ap-3037	1	96	,	,	PUNCT
ap-3037	1	97	54506	54506	NUM
ap-3037	1	98	,	,	PUNCT
ap-3037	1	99	france	france	PROPN
ap-3037	1	100	d	d	PROPN
ap-3037	1	101	citi	citi	PROPN
ap-3037	1	102	-	-	PUNCT
ap-3037	1	103	inria	inria	NOUN
ap-3037	1	104	laboratory	laboratory	NOUN
ap-3037	1	105	,	,	PUNCT
ap-3037	1	106	insa	insa	PROPN
ap-3037	1	107	lyon	lyon	PROPN
ap-3037	1	108	,	,	PUNCT
ap-3037	1	109	69621	69621	NUM
ap-3037	1	110	villeurbanne	villeurbanne	NOUN
ap-3037	1	111	,	,	PUNCT
ap-3037	1	112	france	france	PROPN
ap-3037	1	113	∗	∗	NOUN
ap-3037	1	114	corresponding	correspond	VERB
ap-3037	1	115	author	author	NOUN
ap-3037	1	116	:	:	PUNCT
ap-3037	1	117	nassim.kalde@loria.fr	nassim.kalde@loria.fr	PROPN
ap-3037	1	118	abstract	abstract	NOUN
ap-3037	1	119	.	.	PUNCT
ap-3037	2	1	multi	multi	ADJ
ap-3037	2	2	-	-	ADJ
ap-3037	2	3	robot	robot	ADJ
ap-3037	2	4	exploration	exploration	NOUN
ap-3037	2	5	consists	consist	VERB
ap-3037	2	6	in	in	ADP
ap-3037	2	7	coordinating	coordinate	VERB
ap-3037	2	8	robots	robot	NOUN
ap-3037	2	9	for	for	ADP
ap-3037	2	10	mapping	map	VERB
ap-3037	2	11	an	an	DET
ap-3037	2	12	unknown	unknown	ADJ
ap-3037	2	13	environment	environment	NOUN
ap-3037	2	14	.	.	PUNCT
ap-3037	3	1	it	it	PRON
ap-3037	3	2	raises	raise	VERB
ap-3037	3	3	several	several	ADJ
ap-3037	3	4	issues	issue	NOUN
ap-3037	3	5	concerning	concern	VERB
ap-3037	3	6	task	task	NOUN
ap-3037	3	7	allocation	allocation	NOUN
ap-3037	3	8	,	,	PUNCT
ap-3037	3	9	robot	robot	NOUN
ap-3037	3	10	control	control	NOUN
ap-3037	3	11	,	,	PUNCT
ap-3037	3	12	path	path	NOUN
ap-3037	3	13	planning	planning	NOUN
ap-3037	3	14	and	and	CCONJ
ap-3037	3	15	communication	communication	NOUN
ap-3037	3	16	.	.	PUNCT
ap-3037	4	1	we	we	PRON
ap-3037	4	2	study	study	VERB
ap-3037	4	3	exploration	exploration	NOUN
ap-3037	4	4	in	in	ADP
ap-3037	4	5	populated	populated	ADJ
ap-3037	4	6	environments	environment	NOUN
ap-3037	4	7	,	,	PUNCT
ap-3037	4	8	in	in	ADP
ap-3037	4	9	which	which	PRON
ap-3037	4	10	pedestrian	pedestrian	NOUN
ap-3037	4	11	flows	flow	NOUN
ap-3037	4	12	can	can	AUX
ap-3037	4	13	severely	severely	ADV
ap-3037	4	14	impact	impact	NOUN
ap-3037	4	15	performances	performance	NOUN
ap-3037	4	16	.	.	PUNCT
ap-3037	5	1	however	however	ADV
ap-3037	5	2	,	,	PUNCT
ap-3037	5	3	humans	human	NOUN
ap-3037	5	4	have	have	VERB
ap-3037	5	5	adaptive	adaptive	ADJ
ap-3037	5	6	skills	skill	NOUN
ap-3037	5	7	for	for	ADP
ap-3037	5	8	taking	take	VERB
ap-3037	5	9	advantage	advantage	NOUN
ap-3037	5	10	of	of	ADP
ap-3037	5	11	these	these	DET
ap-3037	5	12	flows	flow	NOUN
ap-3037	5	13	while	while	SCONJ
ap-3037	5	14	moving	move	VERB
ap-3037	5	15	.	.	PUNCT
ap-3037	6	1	therefore	therefore	ADV
ap-3037	6	2	,	,	PUNCT
ap-3037	6	3	in	in	ADP
ap-3037	6	4	order	order	NOUN
ap-3037	6	5	to	to	PART
ap-3037	6	6	exploit	exploit	VERB
ap-3037	6	7	these	these	DET
ap-3037	6	8	human	human	ADJ
ap-3037	6	9	abilities	ability	NOUN
ap-3037	6	10	,	,	PUNCT
ap-3037	6	11	we	we	PRON
ap-3037	6	12	propose	propose	VERB
ap-3037	6	13	a	a	DET
ap-3037	6	14	novel	novel	ADJ
ap-3037	6	15	exploration	exploration	NOUN
ap-3037	6	16	strategy	strategy	NOUN
ap-3037	6	17	that	that	PRON
ap-3037	6	18	explicitly	explicitly	ADV
ap-3037	6	19	allows	allow	VERB
ap-3037	6	20	for	for	ADP
ap-3037	6	21	human	human	ADJ
ap-3037	6	22	-	-	PUNCT
ap-3037	6	23	robot	robot	NOUN
ap-3037	6	24	interactions	interaction	NOUN
ap-3037	6	25	.	.	PUNCT
ap-3037	7	1	our	our	PRON
ap-3037	7	2	model	model	NOUN
ap-3037	7	3	for	for	ADP
ap-3037	7	4	exploration	exploration	NOUN
ap-3037	7	5	in	in	ADP
ap-3037	7	6	populated	populated	ADJ
ap-3037	7	7	environments	environment	NOUN
ap-3037	7	8	combines	combine	VERB
ap-3037	7	9	the	the	DET
ap-3037	7	10	classical	classical	ADJ
ap-3037	7	11	frontier	frontier	NOUN
ap-3037	7	12	-	-	PUNCT
ap-3037	7	13	based	base	VERB
ap-3037	7	14	strategy	strategy	NOUN
ap-3037	7	15	with	with	ADP
ap-3037	7	16	our	our	PRON
ap-3037	7	17	interactive	interactive	ADJ
ap-3037	7	18	approach	approach	NOUN
ap-3037	7	19	.	.	PUNCT
ap-3037	8	1	we	we	PRON
ap-3037	8	2	implement	implement	VERB
ap-3037	8	3	interactions	interaction	NOUN
ap-3037	8	4	where	where	SCONJ
ap-3037	8	5	robots	robot	NOUN
ap-3037	8	6	can	can	AUX
ap-3037	8	7	locally	locally	ADV
ap-3037	8	8	choose	choose	VERB
ap-3037	8	9	a	a	DET
ap-3037	8	10	human	human	ADJ
ap-3037	8	11	guide	guide	NOUN
ap-3037	8	12	to	to	PART
ap-3037	8	13	follow	follow	VERB
ap-3037	8	14	and	and	CCONJ
ap-3037	8	15	define	define	VERB
ap-3037	8	16	a	a	DET
ap-3037	8	17	parametric	parametric	ADJ
ap-3037	8	18	heuristic	heuristic	NOUN
ap-3037	8	19	to	to	PART
ap-3037	8	20	balance	balance	VERB
ap-3037	8	21	interaction	interaction	NOUN
ap-3037	8	22	and	and	CCONJ
ap-3037	8	23	frontier	frontier	NOUN
ap-3037	8	24	assignments	assignment	NOUN
ap-3037	8	25	.	.	PUNCT
ap-3037	9	1	finally	finally	ADV
ap-3037	9	2	,	,	PUNCT
ap-3037	9	3	we	we	PRON
ap-3037	9	4	evaluate	evaluate	VERB
ap-3037	9	5	to	to	PART
ap-3037	9	6	which	which	DET
ap-3037	9	7	extent	extent	NOUN
ap-3037	9	8	human	human	ADJ
ap-3037	9	9	presence	presence	NOUN
ap-3037	9	10	impacts	impact	VERB
ap-3037	9	11	our	our	PRON
ap-3037	9	12	exploration	exploration	NOUN
ap-3037	9	13	model	model	NOUN
ap-3037	9	14	in	in	ADP
ap-3037	9	15	terms	term	NOUN
ap-3037	9	16	of	of	ADP
ap-3037	9	17	coverage	coverage	NOUN
ap-3037	9	18	ratio	ratio	NOUN
ap-3037	9	19	,	,	PUNCT
ap-3037	9	20	travelled	travel	VERB
ap-3037	9	21	distance	distance	NOUN
ap-3037	9	22	and	and	CCONJ
ap-3037	9	23	elapsed	elapse	VERB
ap-3037	9	24	time	time	NOUN
ap-3037	9	25	to	to	ADP
ap-3037	9	26	completion	completion	NOUN
ap-3037	9	27	.	.	PUNCT
ap-3037	10	1	keywords	keyword	NOUN
ap-3037	10	2	:	:	PUNCT
ap-3037	10	3	artificial	artificial	ADJ
ap-3037	10	4	intelligence	intelligence	NOUN
ap-3037	10	5	,	,	PUNCT
ap-3037	10	6	multi	multi	ADJ
ap-3037	10	7	-	-	ADJ
ap-3037	10	8	agent	agent	ADJ
ap-3037	10	9	system	system	NOUN
ap-3037	10	10	,	,	PUNCT
ap-3037	10	11	robotic	robotic	ADJ
ap-3037	10	12	exploration	exploration	NOUN
ap-3037	10	13	,	,	PUNCT
ap-3037	10	14	human	human	ADJ
ap-3037	10	15	-	-	PUNCT
ap-3037	10	16	robot	robot	NOUN
ap-3037	10	17	interaction	interaction	NOUN
ap-3037	10	18	.	.	PUNCT
ap-3037	11	1	1	1	X
ap-3037	11	2	.	.	X
ap-3037	11	3	introduction	introduction	NOUN
ap-3037	11	4	mobile	mobile	NOUN
ap-3037	11	5	robots	robot	NOUN
ap-3037	11	6	intervene	intervene	VERB
ap-3037	11	7	in	in	ADP
ap-3037	11	8	our	our	PRON
ap-3037	11	9	daily	daily	ADJ
ap-3037	11	10	life	life	NOUN
ap-3037	11	11	and	and	CCONJ
ap-3037	11	12	provide	provide	VERB
ap-3037	11	13	services	service	NOUN
ap-3037	11	14	(	(	PUNCT
ap-3037	11	15	e.g.	e.g.	ADJ
ap-3037	11	16	,	,	PUNCT
ap-3037	11	17	guidance	guidance	NOUN
ap-3037	11	18	,	,	PUNCT
ap-3037	11	19	assistance	assistance	NOUN
ap-3037	11	20	[	[	X
ap-3037	11	21	1	1	NUM
ap-3037	11	22	,	,	PUNCT
ap-3037	11	23	2	2	NUM
ap-3037	11	24	]	]	PUNCT
ap-3037	11	25	)	)	PUNCT
ap-3037	11	26	or	or	CCONJ
ap-3037	11	27	even	even	ADV
ap-3037	11	28	leisure	leisure	NOUN
ap-3037	11	29	activities	activity	NOUN
ap-3037	11	30	(	(	PUNCT
ap-3037	11	31	e.g.	e.g.	ADV
ap-3037	11	32	,	,	PUNCT
ap-3037	11	33	providing	provide	VERB
ap-3037	11	34	company	company	NOUN
ap-3037	11	35	,	,	PUNCT
ap-3037	11	36	dancing	dance	VERB
ap-3037	11	37	[	[	X
ap-3037	11	38	3	3	NUM
ap-3037	11	39	,	,	PUNCT
ap-3037	11	40	4	4	NUM
ap-3037	11	41	]	]	NUM
ap-3037	11	42	)	)	PUNCT
ap-3037	11	43	.	.	PUNCT
ap-3037	12	1	this	this	DET
ap-3037	12	2	intrusion	intrusion	NOUN
ap-3037	12	3	of	of	ADP
ap-3037	12	4	mobile	mobile	ADJ
ap-3037	12	5	robots	robot	NOUN
ap-3037	12	6	into	into	ADP
ap-3037	12	7	citizens	citizen	NOUN
ap-3037	12	8	’	’	PART
ap-3037	12	9	day	day	NOUN
ap-3037	12	10	-	-	PUNCT
ap-3037	12	11	to	to	ADP
ap-3037	12	12	-	-	PUNCT
ap-3037	12	13	day	day	NOUN
ap-3037	12	14	lives	life	NOUN
ap-3037	12	15	must	must	AUX
ap-3037	12	16	take	take	VERB
ap-3037	12	17	people	people	NOUN
ap-3037	12	18	into	into	ADP
ap-3037	12	19	account	account	NOUN
ap-3037	12	20	,	,	PUNCT
ap-3037	12	21	whilst	whilst	SCONJ
ap-3037	12	22	seeking	seek	VERB
ap-3037	12	23	social	social	ADJ
ap-3037	12	24	compliance	compliance	NOUN
ap-3037	12	25	.	.	PUNCT
ap-3037	13	1	human	human	ADJ
ap-3037	13	2	activities	activity	NOUN
ap-3037	13	3	and	and	CCONJ
ap-3037	13	4	motion	motion	NOUN
ap-3037	13	5	patterns	pattern	NOUN
ap-3037	13	6	are	be	AUX
ap-3037	13	7	already	already	ADV
ap-3037	13	8	studied	study	VERB
ap-3037	13	9	[	[	PUNCT
ap-3037	13	10	5	5	NUM
ap-3037	13	11	]	]	PUNCT
ap-3037	13	12	,	,	PUNCT
ap-3037	13	13	so	so	SCONJ
ap-3037	13	14	that	that	SCONJ
ap-3037	13	15	a	a	DET
ap-3037	13	16	robot	robot	NOUN
ap-3037	13	17	can	can	AUX
ap-3037	13	18	learn	learn	VERB
ap-3037	13	19	a	a	DET
ap-3037	13	20	model	model	NOUN
ap-3037	13	21	of	of	ADP
ap-3037	13	22	the	the	DET
ap-3037	13	23	human	human	ADJ
ap-3037	13	24	behaviour	behaviour	NOUN
ap-3037	13	25	to	to	PART
ap-3037	13	26	generate	generate	VERB
ap-3037	13	27	a	a	DET
ap-3037	13	28	socially	socially	ADV
ap-3037	13	29	compliant	compliant	ADJ
ap-3037	13	30	control	control	NOUN
ap-3037	13	31	and	and	CCONJ
ap-3037	13	32	apply	apply	VERB
ap-3037	13	33	it	it	PRON
ap-3037	13	34	.	.	PUNCT
ap-3037	14	1	for	for	ADP
ap-3037	14	2	example	example	NOUN
ap-3037	14	3	,	,	PUNCT
ap-3037	14	4	by	by	ADP
ap-3037	14	5	observing	observe	VERB
ap-3037	14	6	pedestrians	pedestrian	NOUN
ap-3037	14	7	walking	walk	VERB
ap-3037	14	8	nearby	nearby	ADV
ap-3037	14	9	,	,	PUNCT
ap-3037	14	10	a	a	DET
ap-3037	14	11	robot	robot	NOUN
ap-3037	14	12	could	could	AUX
ap-3037	14	13	model	model	VERB
ap-3037	14	14	the	the	DET
ap-3037	14	15	pedestrian	pedestrian	NOUN
ap-3037	14	16	dynamics	dynamic	NOUN
ap-3037	14	17	and	and	CCONJ
ap-3037	14	18	generate	generate	VERB
ap-3037	14	19	its	its	PRON
ap-3037	14	20	own	own	ADJ
ap-3037	14	21	navigation	navigation	NOUN
ap-3037	14	22	control	control	NOUN
ap-3037	14	23	for	for	ADP
ap-3037	14	24	efficiently	efficiently	ADV
ap-3037	14	25	navigating	navigate	VERB
ap-3037	14	26	in	in	ADP
ap-3037	14	27	populated	populated	ADJ
ap-3037	14	28	environments	environment	NOUN
ap-3037	14	29	.	.	PUNCT
ap-3037	15	1	multi	multi	ADJ
ap-3037	15	2	-	-	ADJ
ap-3037	15	3	robot	robot	ADJ
ap-3037	15	4	exploration	exploration	NOUN
ap-3037	15	5	(	(	PUNCT
ap-3037	15	6	mre	mre	NOUN
ap-3037	15	7	)	)	PUNCT
ap-3037	15	8	consists	consist	VERB
ap-3037	15	9	in	in	ADP
ap-3037	15	10	reconstructing	reconstruct	VERB
ap-3037	15	11	all	all	DET
ap-3037	15	12	the	the	DET
ap-3037	15	13	reachable	reachable	ADJ
ap-3037	15	14	space	space	NOUN
ap-3037	15	15	of	of	ADP
ap-3037	15	16	an	an	DET
ap-3037	15	17	unknown	unknown	ADJ
ap-3037	15	18	environment	environment	NOUN
ap-3037	15	19	by	by	ADP
ap-3037	15	20	controlling	control	VERB
ap-3037	15	21	mobile	mobile	ADJ
ap-3037	15	22	robots	robot	NOUN
ap-3037	15	23	.	.	PUNCT
ap-3037	16	1	introducing	introduce	VERB
ap-3037	16	2	human	human	ADJ
ap-3037	16	3	presence	presence	NOUN
ap-3037	16	4	awareness	awareness	NOUN
ap-3037	16	5	into	into	ADP
ap-3037	16	6	a	a	DET
ap-3037	16	7	robotic	robotic	ADJ
ap-3037	16	8	exploration	exploration	NOUN
ap-3037	16	9	system	system	NOUN
ap-3037	16	10	for	for	ADP
ap-3037	16	11	populated	populated	ADJ
ap-3037	16	12	environments	environment	NOUN
ap-3037	16	13	can	can	AUX
ap-3037	16	14	constitute	constitute	VERB
ap-3037	16	15	an	an	DET
ap-3037	16	16	interesting	interesting	ADJ
ap-3037	16	17	route	route	NOUN
ap-3037	16	18	for	for	ADP
ap-3037	16	19	study	study	NOUN
ap-3037	16	20	purposes	purpose	NOUN
ap-3037	16	21	.	.	PUNCT
ap-3037	17	1	indeed	indeed	ADV
ap-3037	17	2	,	,	PUNCT
ap-3037	17	3	it	it	PRON
ap-3037	17	4	paves	pave	VERB
ap-3037	17	5	the	the	DET
ap-3037	17	6	way	way	NOUN
ap-3037	17	7	for	for	ADP
ap-3037	17	8	human	human	ADJ
ap-3037	17	9	-	-	PUNCT
ap-3037	17	10	robot	robot	NOUN
ap-3037	17	11	interaction	interaction	NOUN
ap-3037	17	12	(	(	PUNCT
ap-3037	17	13	hri)-based	hri)-base	VERB
ap-3037	17	14	exploration	exploration	NOUN
ap-3037	17	15	approaches	approach	NOUN
ap-3037	17	16	.	.	PUNCT
ap-3037	18	1	in	in	ADP
ap-3037	18	2	populated	populated	ADJ
ap-3037	18	3	environments	environment	NOUN
ap-3037	18	4	,	,	PUNCT
ap-3037	18	5	the	the	DET
ap-3037	18	6	exploration	exploration	NOUN
ap-3037	18	7	task	task	NOUN
ap-3037	18	8	raises	raise	VERB
ap-3037	18	9	new	new	ADJ
ap-3037	18	10	concerns	concern	NOUN
ap-3037	18	11	regarding	regard	VERB
ap-3037	18	12	clean	clean	ADJ
ap-3037	18	13	reconstruction	reconstruction	NOUN
ap-3037	18	14	and	and	CCONJ
ap-3037	18	15	efficient	efficient	ADJ
ap-3037	18	16	robot	robot	NOUN
ap-3037	18	17	coordination	coordination	NOUN
ap-3037	18	18	.	.	PUNCT
ap-3037	19	1	concerning	concern	VERB
ap-3037	19	2	reconstruction	reconstruction	NOUN
ap-3037	19	3	quality	quality	NOUN
ap-3037	19	4	,	,	PUNCT
ap-3037	19	5	it	it	PRON
ap-3037	19	6	is	be	AUX
ap-3037	19	7	particularly	particularly	ADV
ap-3037	19	8	difficult	difficult	ADJ
ap-3037	19	9	to	to	PART
ap-3037	19	10	separate	separate	VERB
ap-3037	19	11	static	static	ADJ
ap-3037	19	12	aspects	aspect	NOUN
ap-3037	19	13	(	(	PUNCT
ap-3037	19	14	background	background	NOUN
ap-3037	19	15	)	)	PUNCT
ap-3037	19	16	from	from	ADP
ap-3037	19	17	dynamic	dynamic	ADJ
ap-3037	19	18	aspects	aspect	NOUN
ap-3037	19	19	(	(	PUNCT
ap-3037	19	20	people	people	NOUN
ap-3037	19	21	,	,	PUNCT
ap-3037	19	22	robots	robot	NOUN
ap-3037	19	23	)	)	PUNCT
ap-3037	19	24	of	of	ADP
ap-3037	19	25	the	the	DET
ap-3037	19	26	scene	scene	NOUN
ap-3037	19	27	[	[	X
ap-3037	19	28	6	6	NUM
ap-3037	19	29	]	]	PUNCT
ap-3037	19	30	.	.	PUNCT
ap-3037	20	1	obviously	obviously	ADV
ap-3037	20	2	,	,	PUNCT
ap-3037	20	3	mobile	mobile	ADJ
ap-3037	20	4	robot	robot	NOUN
ap-3037	20	5	perceptions	perception	NOUN
ap-3037	20	6	are	be	AUX
ap-3037	20	7	biased	bias	VERB
ap-3037	20	8	due	due	ADP
ap-3037	20	9	to	to	ADP
ap-3037	20	10	the	the	DET
ap-3037	20	11	dynamics	dynamic	NOUN
ap-3037	20	12	of	of	ADP
ap-3037	20	13	the	the	DET
ap-3037	20	14	environment	environment	NOUN
ap-3037	20	15	,	,	PUNCT
ap-3037	20	16	thus	thus	ADV
ap-3037	20	17	hindering	hinder	VERB
ap-3037	20	18	localisation	localisation	NOUN
ap-3037	20	19	and	and	CCONJ
ap-3037	20	20	mapping	mapping	NOUN
ap-3037	20	21	.	.	PUNCT
ap-3037	21	1	regarding	regard	VERB
ap-3037	21	2	the	the	DET
ap-3037	21	3	selection	selection	NOUN
ap-3037	21	4	of	of	ADP
ap-3037	21	5	targets	target	NOUN
ap-3037	21	6	to	to	PART
ap-3037	21	7	explore	explore	VERB
ap-3037	21	8	,	,	PUNCT
ap-3037	21	9	pedestrian	pedestrian	NOUN
ap-3037	21	10	movements	movement	NOUN
ap-3037	21	11	create	create	VERB
ap-3037	21	12	spatiotemporal	spatiotemporal	ADJ
ap-3037	21	13	reachability	reachability	NOUN
ap-3037	21	14	of	of	ADP
ap-3037	21	15	known	know	VERB
ap-3037	21	16	/	/	SYM
ap-3037	21	17	unknown	unknown	ADJ
ap-3037	21	18	areas	area	NOUN
ap-3037	21	19	making	make	VERB
ap-3037	21	20	exploration	exploration	NOUN
ap-3037	21	21	tricky	tricky	ADJ
ap-3037	21	22	.	.	PUNCT
ap-3037	22	1	in	in	ADP
ap-3037	22	2	fact	fact	NOUN
ap-3037	22	3	,	,	PUNCT
ap-3037	22	4	the	the	DET
ap-3037	22	5	reachable	reachable	ADJ
ap-3037	22	6	space	space	NOUN
ap-3037	22	7	evolves	evolves	AUX
ap-3037	22	8	dynamically	dynamically	ADV
ap-3037	22	9	according	accord	VERB
ap-3037	22	10	to	to	ADP
ap-3037	22	11	the	the	DET
ap-3037	22	12	density	density	NOUN
ap-3037	22	13	of	of	ADP
ap-3037	22	14	the	the	DET
ap-3037	22	15	human	human	ADJ
ap-3037	22	16	presence	presence	NOUN
ap-3037	22	17	.	.	PUNCT
ap-3037	23	1	nevertheless	nevertheless	ADV
ap-3037	23	2	,	,	PUNCT
ap-3037	23	3	humans	human	NOUN
ap-3037	23	4	can	can	AUX
ap-3037	23	5	understand	understand	VERB
ap-3037	23	6	the	the	DET
ap-3037	23	7	dynamics	dynamic	NOUN
ap-3037	23	8	of	of	ADP
ap-3037	23	9	their	their	PRON
ap-3037	23	10	environment	environment	NOUN
ap-3037	23	11	,	,	PUNCT
ap-3037	23	12	and	and	CCONJ
ap-3037	23	13	can	can	AUX
ap-3037	23	14	sense	sense	VERB
ap-3037	23	15	,	,	PUNCT
ap-3037	23	16	decide	decide	VERB
ap-3037	23	17	and	and	CCONJ
ap-3037	23	18	act	act	VERB
ap-3037	23	19	adequately	adequately	ADV
ap-3037	23	20	.	.	PUNCT
ap-3037	24	1	in	in	ADP
ap-3037	24	2	this	this	DET
ap-3037	24	3	sense	sense	NOUN
ap-3037	24	4	,	,	PUNCT
ap-3037	24	5	we	we	PRON
ap-3037	24	6	can	can	AUX
ap-3037	24	7	assume	assume	VERB
ap-3037	24	8	that	that	SCONJ
ap-3037	24	9	every	every	DET
ap-3037	24	10	person	person	NOUN
ap-3037	24	11	has	have	VERB
ap-3037	24	12	an	an	DET
ap-3037	24	13	adaptive	adaptive	ADJ
ap-3037	24	14	heuristic	heuristic	NOUN
ap-3037	24	15	,	,	PUNCT
ap-3037	24	16	depending	depend	VERB
ap-3037	24	17	on	on	ADP
ap-3037	24	18	the	the	DET
ap-3037	24	19	local	local	ADJ
ap-3037	24	20	environment	environment	NOUN
ap-3037	24	21	,	,	PUNCT
ap-3037	24	22	that	that	PRON
ap-3037	24	23	allows	allow	VERB
ap-3037	24	24	him	he	PRON
ap-3037	24	25	or	or	CCONJ
ap-3037	24	26	her	she	PRON
ap-3037	24	27	to	to	PART
ap-3037	24	28	walk	walk	VERB
ap-3037	24	29	readily	readily	ADV
ap-3037	24	30	through	through	ADP
ap-3037	24	31	dense	dense	ADJ
ap-3037	24	32	areas	area	NOUN
ap-3037	24	33	(	(	PUNCT
ap-3037	24	34	e.g.	e.g.	ADV
ap-3037	24	35	,	,	PUNCT
ap-3037	24	36	crowds	crowd	NOUN
ap-3037	24	37	)	)	PUNCT
ap-3037	24	38	.	.	PUNCT
ap-3037	25	1	we	we	PRON
ap-3037	25	2	are	be	AUX
ap-3037	25	3	interested	interested	ADJ
ap-3037	25	4	in	in	ADP
ap-3037	25	5	exploiting	exploit	VERB
ap-3037	25	6	human	human	ADJ
ap-3037	25	7	skills	skill	NOUN
ap-3037	25	8	as	as	ADP
ap-3037	25	9	possible	possible	ADJ
ap-3037	25	10	heuristics	heuristic	NOUN
ap-3037	25	11	for	for	ADP
ap-3037	25	12	the	the	DET
ap-3037	25	13	exploration	exploration	NOUN
ap-3037	25	14	task	task	NOUN
ap-3037	25	15	.	.	PUNCT
ap-3037	26	1	we	we	PRON
ap-3037	26	2	propose	propose	VERB
ap-3037	26	3	a	a	DET
ap-3037	26	4	weighted	weight	VERB
ap-3037	26	5	heuristic	heuristic	NOUN
ap-3037	26	6	that	that	PRON
ap-3037	26	7	incorporates	incorporate	VERB
ap-3037	26	8	human	human	ADJ
ap-3037	26	9	presence	presence	NOUN
ap-3037	26	10	for	for	ADP
ap-3037	26	11	selecting	select	VERB
ap-3037	26	12	areas	area	NOUN
ap-3037	26	13	to	to	PART
ap-3037	26	14	explore	explore	VERB
ap-3037	26	15	or	or	CCONJ
ap-3037	26	16	for	for	ADP
ap-3037	26	17	initiating	initiate	VERB
ap-3037	26	18	human	human	ADJ
ap-3037	26	19	-	-	PUNCT
ap-3037	26	20	robot	robot	NOUN
ap-3037	26	21	interactions	interaction	NOUN
ap-3037	26	22	.	.	PUNCT
ap-3037	27	1	this	this	PRON
ap-3037	27	2	is	be	AUX
ap-3037	27	3	followed	follow	VERB
ap-3037	27	4	by	by	ADP
ap-3037	27	5	a	a	DET
ap-3037	27	6	brief	brief	ADJ
ap-3037	27	7	state	state	NOUN
ap-3037	27	8	of	of	ADP
ap-3037	27	9	the	the	DET
ap-3037	27	10	art	art	NOUN
ap-3037	27	11	in	in	ADP
ap-3037	27	12	mre	mre	PROPN
ap-3037	27	13	,	,	PUNCT
ap-3037	27	14	and	and	CCONJ
ap-3037	27	15	we	we	PRON
ap-3037	27	16	also	also	ADV
ap-3037	27	17	situate	situate	VERB
ap-3037	27	18	our	our	PRON
ap-3037	27	19	approach	approach	NOUN
ap-3037	27	20	among	among	ADP
ap-3037	27	21	hri	hri	PROPN
ap-3037	27	22	applications	application	NOUN
ap-3037	27	23	in	in	ADP
ap-3037	27	24	mobile	mobile	ADJ
ap-3037	27	25	robotics	robotic	NOUN
ap-3037	27	26	.	.	PUNCT
ap-3037	28	1	in	in	ADP
ap-3037	28	2	the	the	DET
ap-3037	28	3	third	third	ADJ
ap-3037	28	4	section	section	NOUN
ap-3037	28	5	,	,	PUNCT
ap-3037	28	6	we	we	PRON
ap-3037	28	7	formalise	formalise	VERB
ap-3037	28	8	the	the	DET
ap-3037	28	9	multi	multi	ADJ
ap-3037	28	10	-	-	ADJ
ap-3037	28	11	agent	agent	ADJ
ap-3037	28	12	system	system	NOUN
ap-3037	28	13	for	for	ADP
ap-3037	28	14	exploration	exploration	NOUN
ap-3037	28	15	in	in	ADP
ap-3037	28	16	populated	populated	ADJ
ap-3037	28	17	environments	environment	NOUN
ap-3037	28	18	,	,	PUNCT
ap-3037	28	19	and	and	CCONJ
ap-3037	28	20	present	present	VERB
ap-3037	28	21	the	the	DET
ap-3037	28	22	framework	framework	NOUN
ap-3037	28	23	of	of	ADP
ap-3037	28	24	our	our	PRON
ap-3037	28	25	study	study	NOUN
ap-3037	28	26	.	.	PUNCT
ap-3037	29	1	the	the	DET
ap-3037	29	2	fourth	fourth	ADJ
ap-3037	29	3	section	section	NOUN
ap-3037	29	4	defines	define	VERB
ap-3037	29	5	the	the	DET
ap-3037	29	6	mixed	mixed	ADJ
ap-3037	29	7	exploration	exploration	NOUN
ap-3037	29	8	approach	approach	NOUN
ap-3037	29	9	(	(	PUNCT
ap-3037	29	10	robot	robot	NOUN
ap-3037	29	11	-	-	PUNCT
ap-3037	29	12	frontier	frontier	NOUN
ap-3037	29	13	/	/	SYM
ap-3037	29	14	interaction	interaction	NOUN
ap-3037	29	15	)	)	PUNCT
ap-3037	29	16	and	and	CCONJ
ap-3037	29	17	proposes	propose	VERB
ap-3037	29	18	a	a	DET
ap-3037	29	19	human	human	ADJ
ap-3037	29	20	-	-	PUNCT
ap-3037	29	21	aware	aware	ADJ
ap-3037	29	22	exploration	exploration	NOUN
ap-3037	29	23	heuristic	heuristic	NOUN
ap-3037	29	24	for	for	ADP
ap-3037	29	25	establishing	establish	VERB
ap-3037	29	26	human	human	ADJ
ap-3037	29	27	following	follow	VERB
ap-3037	29	28	interactions	interaction	NOUN
ap-3037	29	29	.	.	PUNCT
ap-3037	30	1	we	we	PRON
ap-3037	30	2	then	then	ADV
ap-3037	30	3	perform	perform	VERB
ap-3037	30	4	several	several	ADJ
ap-3037	30	5	experiments	experiment	NOUN
ap-3037	30	6	of	of	ADP
ap-3037	30	7	our	our	PRON
ap-3037	30	8	mixed	mixed	ADJ
ap-3037	30	9	approach	approach	NOUN
ap-3037	30	10	in	in	ADP
ap-3037	30	11	simulation	simulation	NOUN
ap-3037	30	12	,	,	PUNCT
ap-3037	30	13	to	to	PART
ap-3037	30	14	underline	underline	VERB
ap-3037	30	15	the	the	DET
ap-3037	30	16	variability	variability	NOUN
ap-3037	30	17	of	of	ADP
ap-3037	30	18	the	the	DET
ap-3037	30	19	performance	performance	NOUN
ap-3037	30	20	depending	depend	VERB
ap-3037	30	21	on	on	ADP
ap-3037	30	22	the	the	DET
ap-3037	30	23	environment	environment	NOUN
ap-3037	30	24	.	.	PUNCT
ap-3037	31	1	finally	finally	ADV
ap-3037	31	2	,	,	PUNCT
ap-3037	31	3	we	we	PRON
ap-3037	31	4	discuss	discuss	VERB
ap-3037	31	5	our	our	PRON
ap-3037	31	6	results	result	NOUN
ap-3037	31	7	and	and	CCONJ
ap-3037	31	8	perspectives	perspective	NOUN
ap-3037	31	9	regarding	regard	VERB
ap-3037	31	10	machine	machine	NOUN
ap-3037	31	11	learning	learn	VERB
ap-3037	31	12	for	for	ADP
ap-3037	31	13	adaptive	adaptive	ADJ
ap-3037	31	14	heuristic	heuristic	ADJ
ap-3037	31	15	parameterisation	parameterisation	NOUN
ap-3037	31	16	.	.	PUNCT
ap-3037	32	1	154	154	NUM
ap-3037	32	2	http://dx.doi.org/10.14311/ap.2015.55.0154	http://dx.doi.org/10.14311/ap.2015.55.0154	X
ap-3037	32	3	http://ojs.cvut.cz/ojs/index.php/ap	http://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-3037	32	4	vol	vol	NOUN
ap-3037	32	5	.	.	PUNCT
ap-3037	33	1	55	55	NUM
ap-3037	33	2	no	no	NOUN
ap-3037	33	3	.	.	PUNCT
ap-3037	34	1	3/2015	3/2015	NUM
ap-3037	34	2	comparison	comparison	NOUN
ap-3037	34	3	of	of	ADP
ap-3037	34	4	classical	classical	ADJ
ap-3037	34	5	and	and	CCONJ
ap-3037	34	6	interactive	interactive	ADJ
ap-3037	34	7	multi	multi	ADJ
ap-3037	34	8	-	-	ADJ
ap-3037	34	9	robot	robot	ADJ
ap-3037	34	10	exploration	exploration	NOUN
ap-3037	34	11	figure	figure	NOUN
ap-3037	34	12	1	1	NUM
ap-3037	34	13	.	.	PUNCT
ap-3037	35	1	multi	multi	ADJ
ap-3037	35	2	-	-	ADJ
ap-3037	35	3	agent	agent	ADJ
ap-3037	35	4	system	system	NOUN
ap-3037	35	5	simulated	simulate	VERB
ap-3037	35	6	in	in	ADP
ap-3037	35	7	v	v	NOUN
ap-3037	35	8	-	-	PUNCT
ap-3037	35	9	rep	rep	NOUN
ap-3037	35	10	[	[	X
ap-3037	35	11	19	19	NUM
ap-3037	35	12	]	]	PUNCT
ap-3037	35	13	.	.	PUNCT
ap-3037	36	1	2	2	X
ap-3037	36	2	.	.	X
ap-3037	36	3	related	relate	VERB
ap-3037	36	4	work	work	NOUN
ap-3037	36	5	first	first	ADV
ap-3037	36	6	,	,	PUNCT
ap-3037	36	7	this	this	DET
ap-3037	36	8	section	section	NOUN
ap-3037	36	9	presents	present	VERB
ap-3037	36	10	previous	previous	ADJ
ap-3037	36	11	work	work	NOUN
ap-3037	36	12	in	in	ADP
ap-3037	36	13	the	the	DET
ap-3037	36	14	field	field	NOUN
ap-3037	36	15	of	of	ADP
ap-3037	36	16	mre	mre	PROPN
ap-3037	36	17	.	.	PROPN
ap-3037	37	1	then	then	ADV
ap-3037	37	2	,	,	PUNCT
ap-3037	37	3	we	we	PRON
ap-3037	37	4	situate	situate	VERB
ap-3037	37	5	our	our	PRON
ap-3037	37	6	study	study	NOUN
ap-3037	37	7	among	among	ADP
ap-3037	37	8	mobile	mobile	ADJ
ap-3037	37	9	robotic	robotic	ADJ
ap-3037	37	10	applications	application	NOUN
ap-3037	37	11	of	of	ADP
ap-3037	37	12	hri	hri	PROPN
ap-3037	37	13	.	.	PUNCT
ap-3037	38	1	2.1	2.1	NUM
ap-3037	38	2	.	.	PUNCT
ap-3037	39	1	multi	multi	ADJ
ap-3037	39	2	-	-	ADJ
ap-3037	39	3	robot	robot	ADJ
ap-3037	39	4	exploration	exploration	NOUN
ap-3037	39	5	the	the	DET
ap-3037	39	6	mre	mre	PROPN
ap-3037	39	7	problem	problem	NOUN
ap-3037	39	8	consists	consist	VERB
ap-3037	39	9	in	in	ADP
ap-3037	39	10	acquiring	acquire	VERB
ap-3037	39	11	an	an	DET
ap-3037	39	12	accurate	accurate	ADJ
ap-3037	39	13	representation	representation	NOUN
ap-3037	39	14	of	of	ADP
ap-3037	39	15	an	an	DET
ap-3037	39	16	environment	environment	NOUN
ap-3037	39	17	by	by	ADP
ap-3037	39	18	efficiently	efficiently	ADV
ap-3037	39	19	coordinating	coordinate	VERB
ap-3037	39	20	the	the	DET
ap-3037	39	21	actions	action	NOUN
ap-3037	39	22	of	of	ADP
ap-3037	39	23	robots	robot	NOUN
ap-3037	39	24	within	within	ADP
ap-3037	39	25	it	it	PRON
ap-3037	39	26	.	.	PUNCT
ap-3037	40	1	representation	representation	NOUN
ap-3037	40	2	accuracy	accuracy	NOUN
ap-3037	40	3	refers	refer	VERB
ap-3037	40	4	to	to	ADP
ap-3037	40	5	the	the	DET
ap-3037	40	6	degree	degree	NOUN
ap-3037	40	7	of	of	ADP
ap-3037	40	8	closeness	closeness	NOUN
ap-3037	40	9	to	to	ADP
ap-3037	40	10	the	the	DET
ap-3037	40	11	ground	ground	NOUN
ap-3037	40	12	truth	truth	NOUN
ap-3037	40	13	.	.	PUNCT
ap-3037	41	1	coordination	coordination	NOUN
ap-3037	41	2	of	of	ADP
ap-3037	41	3	the	the	DET
ap-3037	41	4	robots	robot	NOUN
ap-3037	41	5	arises	arise	VERB
ap-3037	41	6	from	from	ADP
ap-3037	41	7	the	the	DET
ap-3037	41	8	teamwork	teamwork	NOUN
ap-3037	41	9	involved	involve	VERB
ap-3037	41	10	in	in	ADP
ap-3037	41	11	solving	solve	VERB
ap-3037	41	12	the	the	DET
ap-3037	41	13	task	task	NOUN
ap-3037	41	14	.	.	PUNCT
ap-3037	42	1	coordination	coordination	NOUN
ap-3037	42	2	efficiency	efficiency	NOUN
ap-3037	42	3	can	can	AUX
ap-3037	42	4	be	be	AUX
ap-3037	42	5	evaluated	evaluate	VERB
ap-3037	42	6	at	at	ADP
ap-3037	42	7	several	several	ADJ
ap-3037	42	8	levels	level	NOUN
ap-3037	42	9	,	,	PUNCT
ap-3037	42	10	e.g.	e.g.	ADV
ap-3037	42	11	,	,	PUNCT
ap-3037	42	12	energy	energy	NOUN
ap-3037	42	13	consumption	consumption	NOUN
ap-3037	42	14	,	,	PUNCT
ap-3037	42	15	trajectory	trajectory	NOUN
ap-3037	42	16	overlapping	overlapping	NOUN
ap-3037	42	17	,	,	PUNCT
ap-3037	42	18	etc	etc	X
ap-3037	42	19	.	.	X
ap-3037	42	20	thus	thus	ADV
ap-3037	42	21	,	,	PUNCT
ap-3037	42	22	mre	mre	PROPN
ap-3037	42	23	solutions	solution	NOUN
ap-3037	42	24	design	design	VERB
ap-3037	42	25	efficient	efficient	ADJ
ap-3037	42	26	control	control	NOUN
ap-3037	42	27	of	of	ADP
ap-3037	42	28	robots	robot	NOUN
ap-3037	42	29	for	for	ADP
ap-3037	42	30	accurately	accurately	ADV
ap-3037	42	31	completing	complete	VERB
ap-3037	42	32	a	a	DET
ap-3037	42	33	chosen	choose	VERB
ap-3037	42	34	representation	representation	NOUN
ap-3037	42	35	of	of	ADP
ap-3037	42	36	the	the	DET
ap-3037	42	37	environment	environment	NOUN
ap-3037	42	38	(	(	PUNCT
ap-3037	42	39	e.g.	e.g.	ADV
ap-3037	42	40	,	,	PUNCT
ap-3037	42	41	graph	graph	NOUN
ap-3037	42	42	)	)	PUNCT
ap-3037	42	43	.	.	PUNCT
ap-3037	43	1	the	the	DET
ap-3037	43	2	proposed	propose	VERB
ap-3037	43	3	solutions	solution	NOUN
ap-3037	43	4	can	can	AUX
ap-3037	43	5	be	be	AUX
ap-3037	43	6	roughly	roughly	ADV
ap-3037	43	7	classified	classify	VERB
ap-3037	43	8	into	into	ADP
ap-3037	43	9	reactive	reactive	NOUN
ap-3037	43	10	,	,	PUNCT
ap-3037	43	11	goalbased	goalbase	VERB
ap-3037	43	12	and	and	CCONJ
ap-3037	43	13	utility	utility	NOUN
ap-3037	43	14	-	-	PUNCT
ap-3037	43	15	based	base	VERB
ap-3037	43	16	agent	agent	NOUN
ap-3037	43	17	design	design	NOUN
ap-3037	43	18	.	.	PUNCT
ap-3037	44	1	within	within	ADP
ap-3037	44	2	reactive	reactive	NOUN
ap-3037	44	3	and	and	CCONJ
ap-3037	44	4	bio	bio	ADJ
ap-3037	44	5	-	-	PUNCT
ap-3037	44	6	inspired	inspire	VERB
ap-3037	44	7	approaches	approach	NOUN
ap-3037	44	8	,	,	PUNCT
ap-3037	44	9	the	the	DET
ap-3037	44	10	actions	action	NOUN
ap-3037	44	11	of	of	ADP
ap-3037	44	12	an	an	DET
ap-3037	44	13	agent	agent	NOUN
ap-3037	44	14	are	be	AUX
ap-3037	44	15	hardwired	hardwired	ADJ
ap-3037	44	16	to	to	ADP
ap-3037	44	17	its	its	PRON
ap-3037	44	18	perceptions	perception	NOUN
ap-3037	44	19	,	,	PUNCT
ap-3037	44	20	and	and	CCONJ
ap-3037	44	21	simple	simple	ADJ
ap-3037	44	22	navigation	navigation	NOUN
ap-3037	44	23	rules	rule	NOUN
ap-3037	44	24	can	can	AUX
ap-3037	44	25	be	be	AUX
ap-3037	44	26	created	create	VERB
ap-3037	44	27	,	,	PUNCT
ap-3037	44	28	e.g.	e.g.	ADV
ap-3037	44	29	,	,	PUNCT
ap-3037	44	30	as	as	ADP
ap-3037	44	31	following	follow	VERB
ap-3037	44	32	walls	wall	NOUN
ap-3037	44	33	,	,	PUNCT
ap-3037	44	34	circular	circular	ADJ
ap-3037	44	35	or	or	CCONJ
ap-3037	44	36	boustrophedon	boustrophedon	NOUN
ap-3037	44	37	patterns	pattern	NOUN
ap-3037	45	1	[	[	X
ap-3037	45	2	7–10	7–10	X
ap-3037	45	3	]	]	X
ap-3037	45	4	.	.	PUNCT
ap-3037	46	1	these	these	DET
ap-3037	46	2	approaches	approach	NOUN
ap-3037	46	3	are	be	AUX
ap-3037	46	4	usually	usually	ADV
ap-3037	46	5	only	only	ADV
ap-3037	46	6	concerned	concern	VERB
ap-3037	46	7	with	with	ADP
ap-3037	46	8	coverage	coverage	NOUN
ap-3037	46	9	.	.	PUNCT
ap-3037	47	1	they	they	PRON
ap-3037	47	2	do	do	AUX
ap-3037	47	3	not	not	PART
ap-3037	47	4	always	always	ADV
ap-3037	47	5	consider	consider	VERB
ap-3037	47	6	mapping	mapping	NOUN
ap-3037	47	7	,	,	PUNCT
ap-3037	47	8	as	as	SCONJ
ap-3037	47	9	typical	typical	ADJ
ap-3037	47	10	reactive	reactive	ADJ
ap-3037	47	11	agents	agent	NOUN
ap-3037	47	12	are	be	AUX
ap-3037	47	13	memory	memory	NOUN
ap-3037	47	14	-	-	PUNCT
ap-3037	47	15	less	less	ADJ
ap-3037	47	16	.	.	PUNCT
ap-3037	48	1	for	for	ADP
ap-3037	48	2	goal	goal	NOUN
ap-3037	48	3	-	-	PUNCT
ap-3037	48	4	based	base	VERB
ap-3037	48	5	agents	agent	NOUN
ap-3037	48	6	,	,	PUNCT
ap-3037	48	7	frontier	frontier	NOUN
ap-3037	48	8	-	-	PUNCT
ap-3037	48	9	based	base	VERB
ap-3037	48	10	methods	method	NOUN
ap-3037	48	11	offer	offer	VERB
ap-3037	48	12	a	a	DET
ap-3037	48	13	good	good	ADJ
ap-3037	48	14	computation	computation	NOUN
ap-3037	48	15	/	/	SYM
ap-3037	48	16	performance	performance	NOUN
ap-3037	48	17	tradeoff	tradeoff	NOUN
ap-3037	48	18	,	,	PUNCT
ap-3037	48	19	making	make	VERB
ap-3037	48	20	them	they	PRON
ap-3037	48	21	particularly	particularly	ADV
ap-3037	48	22	suitable	suitable	ADJ
ap-3037	48	23	for	for	ADP
ap-3037	48	24	deployment	deployment	NOUN
ap-3037	48	25	in	in	ADP
ap-3037	48	26	real	real	ADJ
ap-3037	48	27	embedded	embed	VERB
ap-3037	48	28	systems	system	NOUN
ap-3037	48	29	.	.	PUNCT
ap-3037	49	1	the	the	DET
ap-3037	49	2	idea	idea	NOUN
ap-3037	49	3	is	be	AUX
ap-3037	49	4	to	to	PART
ap-3037	49	5	incrementally	incrementally	ADV
ap-3037	49	6	assign	assign	VERB
ap-3037	49	7	robots	robot	NOUN
ap-3037	49	8	to	to	ADP
ap-3037	49	9	frontiers	frontier	NOUN
ap-3037	49	10	(	(	PUNCT
ap-3037	49	11	separating	separate	VERB
ap-3037	49	12	the	the	DET
ap-3037	49	13	known	know	VERB
ap-3037	49	14	and	and	CCONJ
ap-3037	49	15	free	free	ADJ
ap-3037	49	16	space	space	NOUN
ap-3037	49	17	from	from	ADP
ap-3037	49	18	the	the	DET
ap-3037	49	19	unknown	unknown	ADJ
ap-3037	49	20	space	space	NOUN
ap-3037	49	21	)	)	PUNCT
ap-3037	49	22	,	,	PUNCT
ap-3037	49	23	thus	thus	ADV
ap-3037	49	24	serializing	serialize	VERB
ap-3037	49	25	the	the	DET
ap-3037	49	26	exploration	exploration	NOUN
ap-3037	49	27	task	task	NOUN
ap-3037	49	28	into	into	ADP
ap-3037	49	29	subgoals	subgoal	NOUN
ap-3037	49	30	.	.	PUNCT
ap-3037	50	1	various	various	ADJ
ap-3037	50	2	frontiers	frontier	NOUN
ap-3037	50	3	evaluation	evaluation	NOUN
ap-3037	50	4	and	and	CCONJ
ap-3037	50	5	target	target	NOUN
ap-3037	50	6	selection	selection	NOUN
ap-3037	50	7	methods	method	NOUN
ap-3037	50	8	are	be	AUX
ap-3037	50	9	discussed	discuss	VERB
ap-3037	50	10	in	in	ADP
ap-3037	50	11	the	the	DET
ap-3037	50	12	literature	literature	NOUN
ap-3037	50	13	[	[	X
ap-3037	50	14	11–13	11–13	NUM
ap-3037	50	15	]	]	X
ap-3037	50	16	.	.	PUNCT
ap-3037	51	1	in	in	ADP
ap-3037	51	2	utility	utility	NOUN
ap-3037	51	3	-	-	PUNCT
ap-3037	51	4	based	base	VERB
ap-3037	51	5	approaches	approach	NOUN
ap-3037	51	6	,	,	PUNCT
ap-3037	51	7	an	an	DET
ap-3037	51	8	agent	agent	NOUN
ap-3037	51	9	makes	make	VERB
ap-3037	51	10	decisions	decision	NOUN
ap-3037	51	11	according	accord	VERB
ap-3037	51	12	to	to	ADP
ap-3037	51	13	the	the	DET
ap-3037	51	14	value	value	NOUN
ap-3037	51	15	of	of	ADP
ap-3037	51	16	world	world	NOUN
ap-3037	51	17	states	state	NOUN
ap-3037	51	18	.	.	PUNCT
ap-3037	52	1	the	the	DET
ap-3037	52	2	information	information	NOUN
ap-3037	52	3	gain	gain	NOUN
ap-3037	52	4	value	value	NOUN
ap-3037	52	5	is	be	AUX
ap-3037	52	6	proposed	propose	VERB
ap-3037	52	7	in	in	ADP
ap-3037	52	8	[	[	X
ap-3037	52	9	14	14	NUM
ap-3037	52	10	]	]	PUNCT
ap-3037	52	11	,	,	PUNCT
ap-3037	52	12	and	and	CCONJ
ap-3037	52	13	[	[	X
ap-3037	52	14	15	15	NUM
ap-3037	52	15	]	]	PUNCT
ap-3037	52	16	considers	consider	VERB
ap-3037	52	17	curiosity	curiosity	NOUN
ap-3037	52	18	,	,	PUNCT
ap-3037	52	19	surprise	surprise	NOUN
ap-3037	52	20	and	and	CCONJ
ap-3037	52	21	hunger	hunger	NOUN
ap-3037	52	22	as	as	ADP
ap-3037	52	23	motivational	motivational	ADJ
ap-3037	52	24	agents	agent	NOUN
ap-3037	52	25	.	.	PUNCT
ap-3037	53	1	in	in	ADP
ap-3037	53	2	our	our	PRON
ap-3037	53	3	present	present	ADJ
ap-3037	53	4	study	study	NOUN
ap-3037	53	5	,	,	PUNCT
ap-3037	53	6	we	we	PRON
ap-3037	53	7	consider	consider	VERB
ap-3037	53	8	goal	goal	NOUN
ap-3037	53	9	-	-	PUNCT
ap-3037	53	10	based	base	VERB
ap-3037	53	11	agents	agent	NOUN
ap-3037	53	12	with	with	ADP
ap-3037	53	13	frontiers	frontier	NOUN
ap-3037	53	14	to	to	PART
ap-3037	53	15	reach	reach	VERB
ap-3037	53	16	and	and	CCONJ
ap-3037	53	17	humans	human	NOUN
ap-3037	53	18	to	to	PART
ap-3037	53	19	interact	interact	VERB
ap-3037	53	20	with	with	ADP
ap-3037	53	21	as	as	ADP
ap-3037	53	22	subgoals	subgoal	NOUN
ap-3037	53	23	during	during	ADP
ap-3037	53	24	exploration	exploration	NOUN
ap-3037	53	25	.	.	PUNCT
ap-3037	54	1	we	we	PRON
ap-3037	54	2	are	be	AUX
ap-3037	54	3	looking	look	VERB
ap-3037	54	4	for	for	ADP
ap-3037	54	5	a	a	DET
ap-3037	54	6	parametric	parametric	ADJ
ap-3037	54	7	heuristic	heuristic	NOUN
ap-3037	54	8	that	that	PRON
ap-3037	54	9	evaluates	evaluate	VERB
ap-3037	54	10	/	/	SYM
ap-3037	54	11	balances	balance	NOUN
ap-3037	54	12	frontiers	frontier	NOUN
ap-3037	54	13	and	and	CCONJ
ap-3037	54	14	interactions	interaction	NOUN
ap-3037	54	15	for	for	ADP
ap-3037	54	16	exploiting	exploit	VERB
ap-3037	54	17	human	human	ADJ
ap-3037	54	18	adaptive	adaptive	ADJ
ap-3037	54	19	skills	skill	NOUN
ap-3037	54	20	.	.	PUNCT
ap-3037	55	1	2.2	2.2	NUM
ap-3037	55	2	.	.	PUNCT
ap-3037	55	3	human	human	ADJ
ap-3037	55	4	-	-	PUNCT
ap-3037	55	5	robot	robot	NOUN
ap-3037	55	6	interaction	interaction	NOUN
ap-3037	55	7	hri	hri	PROPN
ap-3037	55	8	is	be	AUX
ap-3037	55	9	defined	define	VERB
ap-3037	55	10	as	as	ADP
ap-3037	55	11	the	the	DET
ap-3037	55	12	study	study	NOUN
ap-3037	55	13	of	of	ADP
ap-3037	55	14	humans	human	NOUN
ap-3037	55	15	,	,	PUNCT
ap-3037	55	16	robots	robot	NOUN
ap-3037	55	17	and	and	CCONJ
ap-3037	55	18	their	their	PRON
ap-3037	55	19	mutual	mutual	ADJ
ap-3037	55	20	influences	influence	NOUN
ap-3037	55	21	[	[	X
ap-3037	55	22	16	16	NUM
ap-3037	55	23	]	]	PUNCT
ap-3037	55	24	.	.	PUNCT
ap-3037	56	1	to	to	ADP
ap-3037	56	2	the	the	DET
ap-3037	56	3	best	good	ADJ
ap-3037	56	4	of	of	ADP
ap-3037	56	5	our	our	PRON
ap-3037	56	6	knowledge	knowledge	NOUN
ap-3037	56	7	,	,	PUNCT
ap-3037	56	8	the	the	DET
ap-3037	56	9	office	office	NOUN
ap-3037	56	10	-	-	PUNCT
ap-3037	56	11	conversant	conversant	NOUN
ap-3037	56	12	robot	robot	NOUN
ap-3037	56	13	jijo-2	jijo-2	PROPN
ap-3037	56	14	is	be	AUX
ap-3037	56	15	the	the	DET
ap-3037	56	16	only	only	ADJ
ap-3037	56	17	hri	hri	PROPN
ap-3037	56	18	application	application	NOUN
ap-3037	56	19	of	of	ADP
ap-3037	56	20	mobile	mobile	ADJ
ap-3037	56	21	robotic	robotic	ADJ
ap-3037	56	22	exploration	exploration	NOUN
ap-3037	56	23	.	.	PUNCT
ap-3037	57	1	this	this	DET
ap-3037	57	2	robot	robot	NOUN
ap-3037	57	3	exhibits	exhibit	VERB
ap-3037	57	4	socially	socially	ADV
ap-3037	57	5	embedded	embed	VERB
ap-3037	57	6	learning	learning	NOUN
ap-3037	57	7	mechanisms	mechanism	NOUN
ap-3037	57	8	[	[	X
ap-3037	57	9	17	17	NUM
ap-3037	57	10	]	]	PUNCT
ap-3037	57	11	by	by	ADP
ap-3037	57	12	gathering	gather	VERB
ap-3037	57	13	information	information	NOUN
ap-3037	57	14	while	while	SCONJ
ap-3037	57	15	conversing	converse	VERB
ap-3037	57	16	with	with	ADP
ap-3037	57	17	other	other	ADJ
ap-3037	57	18	people	people	NOUN
ap-3037	57	19	.	.	PUNCT
ap-3037	58	1	thus	thus	ADV
ap-3037	58	2	,	,	PUNCT
ap-3037	58	3	it	it	PRON
ap-3037	58	4	realises	realise	VERB
ap-3037	58	5	semi	semi	ADJ
ap-3037	58	6	-	-	ADJ
ap-3037	58	7	supervised	supervised	ADJ
ap-3037	58	8	learning	learning	NOUN
ap-3037	58	9	by	by	ADP
ap-3037	58	10	incorporating	incorporate	VERB
ap-3037	58	11	local	local	ADJ
ap-3037	58	12	oracle	oracle	NOUN
ap-3037	58	13	heuristics	heuristic	NOUN
ap-3037	58	14	while	while	SCONJ
ap-3037	58	15	exploring	explore	VERB
ap-3037	58	16	.	.	PUNCT
ap-3037	59	1	we	we	PRON
ap-3037	59	2	present	present	VERB
ap-3037	59	3	an	an	DET
ap-3037	59	4	application	application	NOUN
ap-3037	59	5	in	in	ADP
ap-3037	59	6	mobile	mobile	ADJ
ap-3037	59	7	robotics	robotic	NOUN
ap-3037	59	8	considering	consider	VERB
ap-3037	59	9	close	close	ADJ
ap-3037	59	10	interactions	interaction	NOUN
ap-3037	59	11	established	establish	VERB
ap-3037	59	12	by	by	ADP
ap-3037	59	13	proximity	proximity	NOUN
ap-3037	59	14	or	or	CCONJ
ap-3037	59	15	direct	direct	ADJ
ap-3037	59	16	perception	perception	NOUN
ap-3037	59	17	between	between	ADP
ap-3037	59	18	humans	human	NOUN
ap-3037	59	19	and	and	CCONJ
ap-3037	59	20	robots	robot	NOUN
ap-3037	59	21	.	.	PUNCT
ap-3037	60	1	this	this	DET
ap-3037	60	2	type	type	NOUN
ap-3037	60	3	of	of	ADP
ap-3037	60	4	interactions	interaction	NOUN
ap-3037	60	5	belongs	belong	VERB
ap-3037	60	6	to	to	ADP
ap-3037	60	7	the	the	DET
ap-3037	60	8	intimate	intimate	ADJ
ap-3037	60	9	interaction	interaction	NOUN
ap-3037	60	10	class	class	NOUN
ap-3037	60	11	defined	define	VERB
ap-3037	60	12	by	by	ADP
ap-3037	60	13	takeda	takeda	PROPN
ap-3037	60	14	into	into	ADP
ap-3037	60	15	his	his	PRON
ap-3037	60	16	hri	hri	PROPN
ap-3037	60	17	classification	classification	NOUN
ap-3037	60	18	[	[	X
ap-3037	60	19	18	18	NUM
ap-3037	60	20	]	]	PUNCT
ap-3037	60	21	.	.	PUNCT
ap-3037	61	1	our	our	PRON
ap-3037	61	2	study	study	NOUN
ap-3037	61	3	bridges	bridge	NOUN
ap-3037	61	4	together	together	ADV
ap-3037	61	5	intimate	intimate	ADJ
ap-3037	61	6	hri	hri	PROPN
ap-3037	61	7	applications	application	NOUN
ap-3037	61	8	and	and	CCONJ
ap-3037	61	9	mre	mre	PROPN
ap-3037	61	10	goal	goal	NOUN
ap-3037	61	11	-	-	PUNCT
ap-3037	61	12	based	base	VERB
ap-3037	61	13	algorithms	algorithm	NOUN
ap-3037	61	14	.	.	PUNCT
ap-3037	62	1	3	3	X
ap-3037	62	2	.	.	X
ap-3037	62	3	multi	multi	ADJ
ap-3037	62	4	-	-	ADJ
ap-3037	62	5	agent	agent	ADJ
ap-3037	62	6	system	system	NOUN
ap-3037	62	7	formalisation	formalisation	NOUN
ap-3037	62	8	3.1	3.1	NUM
ap-3037	62	9	.	.	PUNCT
ap-3037	63	1	modelling	model	VERB
ap-3037	63	2	the	the	DET
ap-3037	63	3	environment	environment	NOUN
ap-3037	63	4	and	and	CCONJ
ap-3037	63	5	the	the	DET
ap-3037	63	6	agents	agent	NOUN
ap-3037	63	7	we	we	PRON
ap-3037	63	8	propose	propose	VERB
ap-3037	63	9	a	a	DET
ap-3037	63	10	model	model	NOUN
ap-3037	63	11	for	for	ADP
ap-3037	63	12	representing	represent	VERB
ap-3037	63	13	the	the	DET
ap-3037	63	14	multi	multi	ADJ
ap-3037	63	15	-	-	ADJ
ap-3037	63	16	agent	agent	ADJ
ap-3037	63	17	system	system	NOUN
ap-3037	63	18	for	for	ADP
ap-3037	63	19	populated	populated	ADJ
ap-3037	63	20	environments	environment	NOUN
ap-3037	63	21	(	(	PUNCT
ap-3037	63	22	fig	fig	NOUN
ap-3037	63	23	.	.	PUNCT
ap-3037	63	24	1	1	NUM
ap-3037	63	25	)	)	PUNCT
ap-3037	63	26	.	.	PUNCT
ap-3037	64	1	in	in	ADP
ap-3037	64	2	(	(	PUNCT
ap-3037	64	3	1	1	NUM
ap-3037	64	4	)	)	PUNCT
ap-3037	64	5	,	,	PUNCT
ap-3037	64	6	the	the	DET
ap-3037	64	7	environment	environment	NOUN
ap-3037	64	8	to	to	PART
ap-3037	64	9	explore	explore	VERB
ap-3037	64	10	is	be	AUX
ap-3037	64	11	described	describe	VERB
ap-3037	64	12	by	by	ADP
ap-3037	64	13	a	a	DET
ap-3037	64	14	navigation	navigation	NOUN
ap-3037	64	15	map	map	NOUN
ap-3037	64	16	e	e	NOUN
ap-3037	64	17	,	,	PUNCT
ap-3037	64	18	which	which	PRON
ap-3037	64	19	evolves	evolve	VERB
ap-3037	64	20	over	over	ADP
ap-3037	64	21	time	time	NOUN
ap-3037	64	22	.	.	PUNCT
ap-3037	65	1	this	this	DET
ap-3037	65	2	evolution	evolution	NOUN
ap-3037	65	3	results	result	VERB
ap-3037	65	4	from	from	ADP
ap-3037	65	5	the	the	DET
ap-3037	65	6	actions	action	NOUN
ap-3037	65	7	of	of	ADP
ap-3037	65	8	the	the	DET
ap-3037	65	9	agents	agent	NOUN
ap-3037	65	10	(	(	PUNCT
ap-3037	65	11	humans	human	NOUN
ap-3037	65	12	h	h	NOUN
ap-3037	65	13	and	and	CCONJ
ap-3037	65	14	robots	robot	NOUN
ap-3037	65	15	r	r	NOUN
ap-3037	65	16	)	)	PUNCT
ap-3037	65	17	.	.	PUNCT
ap-3037	66	1	at	at	ADP
ap-3037	66	2	each	each	DET
ap-3037	66	3	time	time	NOUN
ap-3037	66	4	t	t	PROPN
ap-3037	66	5	,	,	PUNCT
ap-3037	66	6	a	a	DET
ap-3037	66	7	robot	robot	NOUN
ap-3037	66	8	ri	ri	NOUN
ap-3037	66	9	from	from	ADP
ap-3037	66	10	r	r	NOUN
ap-3037	66	11	has	have	VERB
ap-3037	66	12	a	a	DET
ap-3037	66	13	configuration	configuration	NOUN
ap-3037	66	14	from	from	ADP
ap-3037	66	15	which	which	PRON
ap-3037	66	16	it	it	PRON
ap-3037	66	17	observes	observe	VERB
ap-3037	66	18	the	the	DET
ap-3037	66	19	environment	environment	NOUN
ap-3037	66	20	.	.	PUNCT
ap-3037	67	1	ot	ot	INTJ
ap-3037	67	2	i	i	PRON
ap-3037	67	3	is	be	AUX
ap-3037	67	4	an	an	DET
ap-3037	67	5	observed	observe	VERB
ap-3037	67	6	subset	subset	NOUN
ap-3037	67	7	of	of	ADP
ap-3037	67	8	e	e	NOUN
ap-3037	67	9	,	,	PUNCT
ap-3037	67	10	it	it	PRON
ap-3037	67	11	corresponds	correspond	VERB
ap-3037	67	12	to	to	ADP
ap-3037	67	13	the	the	DET
ap-3037	67	14	robot	robot	NOUN
ap-3037	67	15	’s	’s	PART
ap-3037	67	16	observation	observation	NOUN
ap-3037	67	17	at	at	ADP
ap-3037	67	18	time	time	NOUN
ap-3037	67	19	t.	t.	PROPN
ap-3037	67	20	formally	formally	ADV
ap-3037	67	21	,	,	PUNCT
ap-3037	67	22	let	let	VERB
ap-3037	67	23	:	:	PUNCT
ap-3037	67	24	e	e	X
ap-3037	67	25	be	be	AUX
ap-3037	67	26	a	a	DET
ap-3037	67	27	navigation	navigation	NOUN
ap-3037	67	28	map	map	NOUN
ap-3037	67	29	,	,	PUNCT
ap-3037	67	30	r	r	NOUN
ap-3037	67	31	=	=	SYM
ap-3037	67	32	{	{	PUNCT
ap-3037	67	33	r1	r1	NOUN
ap-3037	67	34	,	,	PUNCT
ap-3037	67	35	.	.	PUNCT
ap-3037	67	36	.	.	PUNCT
ap-3037	68	1	.	.	PUNCT
ap-3037	69	1	,	,	PUNCT
ap-3037	69	2	rn	rn	AUX
ap-3037	69	3	}	}	PUNCT
ap-3037	69	4	be	be	AUX
ap-3037	69	5	a	a	DET
ap-3037	69	6	set	set	NOUN
ap-3037	69	7	of	of	ADP
ap-3037	69	8	robots	robot	NOUN
ap-3037	69	9	,	,	PUNCT
ap-3037	69	10	h	h	NOUN
ap-3037	69	11	=	=	PRON
ap-3037	69	12	{	{	PUNCT
ap-3037	69	13	h1	h1	PROPN
ap-3037	69	14	,	,	PUNCT
ap-3037	69	15	.	.	PUNCT
ap-3037	69	16	.	.	PUNCT
ap-3037	70	1	.	.	PUNCT
ap-3037	71	1	,	,	PUNCT
ap-3037	71	2	hm	hm	INTJ
ap-3037	71	3	}	}	PUNCT
ap-3037	71	4	be	be	AUX
ap-3037	71	5	a	a	DET
ap-3037	71	6	set	set	NOUN
ap-3037	71	7	of	of	ADP
ap-3037	71	8	humans	human	NOUN
ap-3037	71	9	,	,	PUNCT
ap-3037	71	10	oi	oi	PROPN
ap-3037	71	11	⊂	⊂	PROPN
ap-3037	71	12	e	e	X
ap-3037	71	13	be	be	AUX
ap-3037	71	14	the	the	DET
ap-3037	71	15	observation	observation	NOUN
ap-3037	71	16	of	of	ADP
ap-3037	71	17	ri	ri	PROPN
ap-3037	71	18	.	.	PUNCT
ap-3037	72	1	(	(	PUNCT
ap-3037	72	2	1	1	NUM
ap-3037	72	3	)	)	PUNCT
ap-3037	72	4	3.2	3.2	NUM
ap-3037	72	5	.	.	PUNCT
ap-3037	73	1	exploration	exploration	NOUN
ap-3037	73	2	and	and	CCONJ
ap-3037	73	3	completion	completion	NOUN
ap-3037	73	4	for	for	ADP
ap-3037	73	5	the	the	DET
ap-3037	73	6	exploration	exploration	NOUN
ap-3037	73	7	task	task	NOUN
ap-3037	73	8	,	,	PUNCT
ap-3037	73	9	we	we	PRON
ap-3037	73	10	must	must	AUX
ap-3037	73	11	represent	represent	VERB
ap-3037	73	12	the	the	DET
ap-3037	73	13	environment	environment	NOUN
ap-3037	73	14	explored	explore	VERB
ap-3037	73	15	by	by	ADP
ap-3037	73	16	the	the	DET
ap-3037	73	17	robots	robot	NOUN
ap-3037	73	18	over	over	ADP
ap-3037	73	19	time	time	NOUN
ap-3037	73	20	(	(	PUNCT
ap-3037	73	21	2	2	NUM
ap-3037	73	22	)	)	PUNCT
ap-3037	73	23	.	.	PUNCT
ap-3037	74	1	let	let	VERB
ap-3037	74	2	θ0	θ0	PROPN
ap-3037	74	3	:	:	PUNCT
ap-3037	74	4	t	t	NOUN
ap-3037	74	5	i	i	PRON
ap-3037	74	6	be	be	VERB
ap-3037	74	7	the	the	DET
ap-3037	74	8	set	set	NOUN
ap-3037	74	9	of	of	ADP
ap-3037	74	10	observations	observation	NOUN
ap-3037	74	11	,	,	PUNCT
ap-3037	74	12	namely	namely	ADV
ap-3037	74	13	the	the	DET
ap-3037	74	14	local	local	ADJ
ap-3037	74	15	t	t	NOUN
ap-3037	74	16	-	-	PUNCT
ap-3037	74	17	time	time	NOUN
ap-3037	74	18	history	history	NOUN
ap-3037	74	19	,	,	PUNCT
ap-3037	74	20	that	that	DET
ap-3037	74	21	agent	agent	NOUN
ap-3037	74	22	ri	ri	PROPN
ap-3037	74	23	has	have	AUX
ap-3037	74	24	experienced	experience	VERB
ap-3037	74	25	up	up	ADP
ap-3037	74	26	to	to	ADP
ap-3037	74	27	time	time	NOUN
ap-3037	74	28	t.	t.	PROPN
ap-3037	74	29	similarly	similarly	ADV
ap-3037	74	30	,	,	PUNCT
ap-3037	74	31	θ0	θ0	PROPN
ap-3037	74	32	:	:	PUNCT
ap-3037	74	33	t	t	PROPN
ap-3037	74	34	is	be	AUX
ap-3037	74	35	the	the	DET
ap-3037	74	36	global	global	ADJ
ap-3037	74	37	t	t	PROPN
ap-3037	74	38	-	-	PUNCT
ap-3037	74	39	time	time	NOUN
ap-3037	74	40	history	history	NOUN
ap-3037	74	41	,	,	PUNCT
ap-3037	74	42	which	which	PRON
ap-3037	74	43	aggregates	aggregate	VERB
ap-3037	74	44	the	the	DET
ap-3037	74	45	local	local	ADJ
ap-3037	74	46	t	t	NOUN
ap-3037	74	47	-	-	PUNCT
ap-3037	74	48	time	time	NOUN
ap-3037	74	49	histories	history	NOUN
ap-3037	74	50	from	from	ADP
ap-3037	74	51	r.	r.	PROPN
ap-3037	74	52	155	155	NUM
ap-3037	74	53	n.	n.	PROPN
ap-3037	74	54	kalde	kalde	PROPN
ap-3037	74	55	,	,	PUNCT
ap-3037	74	56	o.	o.	PROPN
ap-3037	74	57	simonin	simonin	PROPN
ap-3037	74	58	,	,	PUNCT
ap-3037	74	59	f.	f.	PROPN
ap-3037	74	60	charpillet	charpillet	PROPN
ap-3037	74	61	acta	acta	PROPN
ap-3037	74	62	polytechnica	polytechnica	PROPN
ap-3037	74	63	?	?	PUNCT
ap-3037	74	64	!	!	PUNCT
ap-3037	74	65	?	?	PUNCT
ap-3037	75	1	unknown	unknown	ADJ
ap-3037	75	2	occupied	occupy	VERB
ap-3037	75	3	free	free	ADJ
ap-3037	75	4	!	!	PUNCT
ap-3037	76	1	animated	animate	VERB
ap-3037	76	2	figure	figure	NOUN
ap-3037	76	3	2	2	NUM
ap-3037	76	4	.	.	PUNCT
ap-3037	76	5	cell	cell	NOUN
ap-3037	76	6	states	states	PROPN
ap-3037	76	7	transition	transition	NOUN
ap-3037	76	8	diagram	diagram	NOUN
ap-3037	76	9	.	.	PUNCT
ap-3037	77	1	4	4	NUM
ap-3037	77	2	!	!	SYM
ap-3037	77	3	1	1	NUM
ap-3037	77	4	2	2	NUM
ap-3037	77	5	3	3	NUM
ap-3037	77	6	4	4	NUM
ap-3037	77	7	3	3	NUM
ap-3037	77	8	!	!	SYM
ap-3037	78	1	1	1	NUM
ap-3037	78	2	2	2	NUM
ap-3037	78	3	3	3	NUM
ap-3037	78	4	4	4	NUM
ap-3037	78	5	2	2	NUM
ap-3037	78	6	1	1	NUM
ap-3037	78	7	2	2	NUM
ap-3037	78	8	3	3	NUM
ap-3037	78	9	4	4	NUM
ap-3037	78	10	1	1	NUM
ap-3037	78	11	1	1	NUM
ap-3037	78	12	2	2	NUM
ap-3037	78	13	3	3	NUM
ap-3037	78	14	4	4	NUM
ap-3037	78	15	w	w	NOUN
ap-3037	78	16	l	l	NOUN
ap-3037	78	17	(	(	PUNCT
ap-3037	78	18	a	a	NOUN
ap-3037	78	19	)	)	PUNCT
ap-3037	78	20	e	e	NOUN
ap-3037	78	21	,	,	PUNCT
ap-3037	78	22	r1	r1	PROPN
ap-3037	78	23	,	,	PUNCT
ap-3037	78	24	h1	h1	PROPN
ap-3037	78	25	4	4	NUM
ap-3037	78	26	r1	r1	NOUN
ap-3037	78	27	1	1	NUM
ap-3037	78	28	2	2	NUM
ap-3037	78	29	3	3	NUM
ap-3037	78	30	?	?	SYM
ap-3037	78	31	4	4	NUM
ap-3037	78	32	3	3	NUM
ap-3037	78	33	h1	h1	NOUN
ap-3037	78	34	1	1	NUM
ap-3037	78	35	2	2	NUM
ap-3037	78	36	3	3	NUM
ap-3037	78	37	?	?	SYM
ap-3037	78	38	4	4	NUM
ap-3037	78	39	2	2	NUM
ap-3037	78	40	?	?	SYM
ap-3037	78	41	1	1	NUM
ap-3037	78	42	2	2	NUM
ap-3037	78	43	?	?	SYM
ap-3037	78	44	3	3	NUM
ap-3037	78	45	?	?	SYM
ap-3037	78	46	4	4	NUM
ap-3037	78	47	1	1	NUM
ap-3037	78	48	?	?	SYM
ap-3037	78	49	1	1	NUM
ap-3037	78	50	?	?	SYM
ap-3037	78	51	2	2	NUM
ap-3037	78	52	?	?	SYM
ap-3037	78	53	3	3	NUM
ap-3037	78	54	?	?	SYM
ap-3037	78	55	4	4	NUM
ap-3037	78	56	w	w	NOUN
ap-3037	78	57	l	l	NOUN
ap-3037	78	58	(	(	PUNCT
ap-3037	78	59	b	b	X
ap-3037	78	60	)	)	PUNCT
ap-3037	78	61	θ0:1	θ0:1	PROPN
ap-3037	78	62	1	1	NUM
ap-3037	78	63	=	=	SYM
ap-3037	78	64	o1	o1	NOUN
ap-3037	78	65	1	1	NUM
ap-3037	78	66	figure	figure	NOUN
ap-3037	78	67	3	3	NUM
ap-3037	78	68	.	.	PUNCT
ap-3037	78	69	full	full	ADJ
ap-3037	78	70	grid	grid	NOUN
ap-3037	78	71	and	and	CCONJ
ap-3037	78	72	robot	robot	NOUN
ap-3037	78	73	observation	observation	NOUN
ap-3037	78	74	at	at	ADP
ap-3037	78	75	t	t	PROPN
ap-3037	78	76	=	=	SYM
ap-3037	78	77	1	1	X
ap-3037	78	78	.	.	PUNCT
ap-3037	79	1	thus	thus	ADV
ap-3037	79	2	,	,	PUNCT
ap-3037	79	3	we	we	PRON
ap-3037	79	4	have	have	VERB
ap-3037	79	5	:	:	PUNCT
ap-3037	79	6	θ0	θ0	PROPN
ap-3037	79	7	:	:	PUNCT
ap-3037	80	1	t	t	PROPN
ap-3037	81	1	i	i	NOUN
ap-3037	82	1	=	=	SYM
ap-3037	83	1	θ0	θ0	NOUN
ap-3037	84	1	:	:	PUNCT
ap-3037	85	1	t−1	t−1	PROPN
ap-3037	85	2	i	i	PRON
ap-3037	85	3	∪ot	∪ot	VERB
ap-3037	85	4	i	i	PRON
ap-3037	85	5	,	,	PUNCT
ap-3037	85	6	θ0	θ0	PROPN
ap-3037	85	7	:	:	PUNCT
ap-3037	85	8	t	t	PROPN
ap-3037	85	9	=	=	PUNCT
ap-3037	85	10	n⋃	n⋃	PROPN
ap-3037	85	11	i=1	i=1	PROPN
ap-3037	85	12	θ0	θ0	PROPN
ap-3037	85	13	:	:	PUNCT
ap-3037	85	14	t	t	PROPN
ap-3037	85	15	i	i	PRON
ap-3037	85	16	.	.	PUNCT
ap-3037	86	1	(	(	PUNCT
ap-3037	86	2	2	2	X
ap-3037	86	3	)	)	PUNCT
ap-3037	86	4	it	it	PRON
ap-3037	86	5	is	be	AUX
ap-3037	86	6	of	of	ADP
ap-3037	86	7	fundamental	fundamental	ADJ
ap-3037	86	8	importance	importance	NOUN
ap-3037	86	9	for	for	SCONJ
ap-3037	86	10	the	the	DET
ap-3037	86	11	robots	robot	NOUN
ap-3037	86	12	to	to	PART
ap-3037	86	13	know	know	VERB
ap-3037	86	14	when	when	SCONJ
ap-3037	86	15	the	the	DET
ap-3037	86	16	exploration	exploration	NOUN
ap-3037	86	17	is	be	AUX
ap-3037	86	18	finished	finish	VERB
ap-3037	86	19	.	.	PUNCT
ap-3037	87	1	the	the	DET
ap-3037	87	2	completion	completion	NOUN
ap-3037	87	3	criterion	criterion	NOUN
ap-3037	87	4	determines	determine	VERB
ap-3037	87	5	this	this	DET
ap-3037	87	6	moment	moment	NOUN
ap-3037	87	7	and	and	CCONJ
ap-3037	87	8	can	can	AUX
ap-3037	87	9	be	be	AUX
ap-3037	87	10	defined	define	VERB
ap-3037	87	11	locally	locally	ADV
ap-3037	87	12	on	on	ADP
ap-3037	87	13	each	each	DET
ap-3037	87	14	robot	robot	NOUN
ap-3037	87	15	.	.	PUNCT
ap-3037	88	1	robots	robot	NOUN
ap-3037	88	2	determine	determine	VERB
ap-3037	88	3	exploration	exploration	NOUN
ap-3037	88	4	completion	completion	NOUN
ap-3037	88	5	based	base	VERB
ap-3037	88	6	upon	upon	SCONJ
ap-3037	88	7	already	already	ADV
ap-3037	88	8	explored	explore	VERB
ap-3037	88	9	space	space	NOUN
ap-3037	88	10	θ	θ	PROPN
ap-3037	88	11	.	.	PUNCT
ap-3037	89	1	the	the	DET
ap-3037	89	2	mission	mission	NOUN
ap-3037	89	3	is	be	AUX
ap-3037	89	4	over	over	ADV
ap-3037	89	5	as	as	ADV
ap-3037	89	6	soon	soon	ADV
ap-3037	89	7	as	as	SCONJ
ap-3037	89	8	there	there	PRON
ap-3037	89	9	is	be	VERB
ap-3037	89	10	no	no	DET
ap-3037	89	11	configuration	configuration	NOUN
ap-3037	89	12	in	in	ADP
ap-3037	89	13	the	the	DET
ap-3037	89	14	already	already	ADV
ap-3037	89	15	explored	explore	VERB
ap-3037	89	16	space	space	NOUN
ap-3037	89	17	that	that	PRON
ap-3037	89	18	allows	allow	VERB
ap-3037	89	19	for	for	ADP
ap-3037	89	20	new	new	ADJ
ap-3037	89	21	observations	observation	NOUN
ap-3037	89	22	.	.	PUNCT
ap-3037	90	1	3.3	3.3	NUM
ap-3037	90	2	.	.	PUNCT
ap-3037	91	1	instantiating	instantiate	VERB
ap-3037	91	2	the	the	DET
ap-3037	91	3	multi	multi	ADJ
ap-3037	91	4	-	-	ADJ
ap-3037	91	5	agent	agent	ADJ
ap-3037	91	6	system	system	NOUN
ap-3037	91	7	we	we	PRON
ap-3037	91	8	represent	represent	VERB
ap-3037	91	9	e	e	NOUN
ap-3037	91	10	as	as	ADP
ap-3037	91	11	a	a	DET
ap-3037	91	12	discrete	discrete	ADJ
ap-3037	91	13	occupancy	occupancy	NOUN
ap-3037	91	14	grid	grid	NOUN
ap-3037	91	15	of	of	ADP
ap-3037	91	16	l	l	PROPN
ap-3037	91	17	×	×	PROPN
ap-3037	91	18	w	w	PROPN
ap-3037	91	19	square	square	ADJ
ap-3037	91	20	cells	cell	NOUN
ap-3037	91	21	.	.	PUNCT
ap-3037	92	1	each	each	DET
ap-3037	92	2	cell	cell	NOUN
ap-3037	92	3	has	have	VERB
ap-3037	92	4	4	4	NUM
ap-3037	92	5	possible	possible	ADJ
ap-3037	92	6	states	state	NOUN
ap-3037	92	7	:	:	PUNCT
ap-3037	92	8	the	the	DET
ap-3037	92	9	unknown	unknown	ADJ
ap-3037	92	10	(	(	PUNCT
ap-3037	92	11	not	not	PART
ap-3037	92	12	observed	observe	VERB
ap-3037	92	13	)	)	PUNCT
ap-3037	92	14	,	,	PUNCT
ap-3037	92	15	occupied	occupy	VERB
ap-3037	92	16	(	(	PUNCT
ap-3037	92	17	walls	wall	NOUN
ap-3037	92	18	,	,	PUNCT
ap-3037	92	19	objects	object	NOUN
ap-3037	92	20	)	)	PUNCT
ap-3037	92	21	,	,	PUNCT
ap-3037	92	22	animated	animate	VERB
ap-3037	92	23	(	(	PUNCT
ap-3037	92	24	humans	human	NOUN
ap-3037	92	25	,	,	PUNCT
ap-3037	92	26	robots	robot	NOUN
ap-3037	92	27	)	)	PUNCT
ap-3037	92	28	and	and	CCONJ
ap-3037	92	29	free	free	ADJ
ap-3037	92	30	(	(	PUNCT
ap-3037	92	31	empty	empty	ADJ
ap-3037	92	32	)	)	PUNCT
ap-3037	92	33	states	state	NOUN
ap-3037	92	34	.	.	PUNCT
ap-3037	93	1	states	state	NOUN
ap-3037	93	2	transitions	transition	NOUN
ap-3037	93	3	are	be	AUX
ap-3037	93	4	illustrated	illustrate	VERB
ap-3037	93	5	in	in	ADP
ap-3037	93	6	fig	fig	NOUN
ap-3037	93	7	.	.	PUNCT
ap-3037	94	1	2	2	X
ap-3037	94	2	.	.	X
ap-3037	94	3	in	in	ADP
ap-3037	94	4	this	this	DET
ap-3037	94	5	grid	grid	NOUN
ap-3037	94	6	representation	representation	NOUN
ap-3037	94	7	,	,	PUNCT
ap-3037	94	8	r	r	NOUN
ap-3037	94	9	becomes	become	VERB
ap-3037	94	10	the	the	DET
ap-3037	94	11	set	set	NOUN
ap-3037	94	12	of	of	ADP
ap-3037	94	13	cells	cell	NOUN
ap-3037	94	14	animated	animate	VERB
ap-3037	94	15	by	by	ADP
ap-3037	94	16	the	the	DET
ap-3037	94	17	robots	robot	NOUN
ap-3037	94	18	and	and	CCONJ
ap-3037	94	19	ri	ri	NOUN
ap-3037	94	20	describes	describe	VERB
ap-3037	94	21	the	the	DET
ap-3037	94	22	position	position	NOUN
ap-3037	94	23	of	of	ADP
ap-3037	94	24	one	one	NUM
ap-3037	94	25	robot	robot	NOUN
ap-3037	94	26	on	on	ADP
ap-3037	94	27	the	the	DET
ap-3037	94	28	grid	grid	NOUN
ap-3037	94	29	.	.	PUNCT
ap-3037	95	1	the	the	DET
ap-3037	95	2	observation	observation	NOUN
ap-3037	95	3	area	area	NOUN
ap-3037	95	4	of	of	ADP
ap-3037	95	5	each	each	DET
ap-3037	95	6	robot	robot	NOUN
ap-3037	95	7	is	be	AUX
ap-3037	95	8	within	within	ADP
ap-3037	95	9	a	a	DET
ap-3037	95	10	limited	limited	ADJ
ap-3037	95	11	circle	circle	NOUN
ap-3037	95	12	.	.	PUNCT
ap-3037	96	1	an	an	DET
ap-3037	96	2	environment	environment	NOUN
ap-3037	96	3	,	,	PUNCT
ap-3037	96	4	a	a	DET
ap-3037	96	5	robot	robot	NOUN
ap-3037	96	6	and	and	CCONJ
ap-3037	96	7	a	a	DET
ap-3037	96	8	human	human	NOUN
ap-3037	96	9	are	be	AUX
ap-3037	96	10	represented	represent	VERB
ap-3037	96	11	in	in	ADP
ap-3037	96	12	fig	fig	NOUN
ap-3037	96	13	.	.	PUNCT
ap-3037	97	1	3a	3a	NUM
ap-3037	97	2	.	.	PUNCT
ap-3037	98	1	the	the	DET
ap-3037	98	2	robot	robot	NOUN
ap-3037	98	3	is	be	AUX
ap-3037	98	4	located	locate	VERB
ap-3037	98	5	on	on	ADP
ap-3037	98	6	cell	cell	NOUN
ap-3037	98	7	r1	r1	PROPN
ap-3037	98	8	at	at	ADP
ap-3037	98	9	(	(	PUNCT
ap-3037	98	10	1	1	NUM
ap-3037	98	11	,	,	PUNCT
ap-3037	98	12	1	1	NUM
ap-3037	98	13	)	)	PUNCT
ap-3037	98	14	and	and	CCONJ
ap-3037	98	15	the	the	DET
ap-3037	98	16	human	human	NOUN
ap-3037	98	17	on	on	ADP
ap-3037	98	18	cell	cell	NOUN
ap-3037	98	19	h1	h1	NOUN
ap-3037	98	20	at	at	ADP
ap-3037	98	21	(	(	PUNCT
ap-3037	98	22	1	1	NUM
ap-3037	98	23	,	,	PUNCT
ap-3037	98	24	2	2	NUM
ap-3037	98	25	)	)	PUNCT
ap-3037	98	26	.	.	PUNCT
ap-3037	99	1	the	the	DET
ap-3037	99	2	maximum	maximum	ADJ
ap-3037	99	3	field	field	NOUN
ap-3037	99	4	of	of	ADP
ap-3037	99	5	view	view	NOUN
ap-3037	99	6	of	of	ADP
ap-3037	99	7	r1	r1	PROPN
ap-3037	99	8	is	be	AUX
ap-3037	99	9	within	within	ADP
ap-3037	99	10	the	the	DET
ap-3037	99	11	dashed	dash	VERB
ap-3037	99	12	arc	arc	NOUN
ap-3037	99	13	in	in	ADP
ap-3037	99	14	fig	fig	NOUN
ap-3037	99	15	.	.	PUNCT
ap-3037	100	1	3b	3b	NUM
ap-3037	100	2	.	.	PUNCT
ap-3037	101	1	o1	o1	NOUN
ap-3037	101	2	1	1	NUM
ap-3037	101	3	consists	consist	VERB
ap-3037	101	4	of	of	ADP
ap-3037	101	5	7	7	NUM
ap-3037	101	6	cells	cell	NOUN
ap-3037	101	7	:	:	PUNCT
ap-3037	101	8	3	3	NUM
ap-3037	101	9	are	be	AUX
ap-3037	101	10	free	free	ADJ
ap-3037	101	11	,	,	PUNCT
ap-3037	101	12	2	2	NUM
ap-3037	101	13	are	be	AUX
ap-3037	101	14	occupied	occupy	VERB
ap-3037	101	15	and	and	CCONJ
ap-3037	101	16	2	2	NUM
ap-3037	101	17	are	be	AUX
ap-3037	101	18	animated	animate	VERB
ap-3037	101	19	.	.	PUNCT
ap-3037	102	1	the	the	DET
ap-3037	102	2	explored	explore	VERB
ap-3037	102	3	environment	environment	NOUN
ap-3037	102	4	θ0:1	θ0:1	PROPN
ap-3037	102	5	1	1	NUM
ap-3037	102	6	is	be	AUX
ap-3037	102	7	limited	limit	VERB
ap-3037	102	8	to	to	ADP
ap-3037	102	9	this	this	DET
ap-3037	102	10	first	first	ADJ
ap-3037	102	11	observation	observation	NOUN
ap-3037	102	12	.	.	PUNCT
ap-3037	103	1	we	we	PRON
ap-3037	103	2	have	have	AUX
ap-3037	103	3	provided	provide	VERB
ap-3037	103	4	an	an	DET
ap-3037	103	5	instance	instance	NOUN
ap-3037	103	6	of	of	ADP
ap-3037	103	7	a	a	DET
ap-3037	103	8	multi	multi	ADJ
ap-3037	103	9	-	-	ADJ
ap-3037	103	10	agent	agent	ADJ
ap-3037	103	11	system	system	NOUN
ap-3037	103	12	for	for	ADP
ap-3037	103	13	exploration	exploration	NOUN
ap-3037	103	14	in	in	ADP
ap-3037	103	15	populated	populated	ADJ
ap-3037	103	16	environments	environment	NOUN
ap-3037	103	17	.	.	PUNCT
ap-3037	104	1	the	the	DET
ap-3037	104	2	environment	environment	NOUN
ap-3037	104	3	is	be	AUX
ap-3037	104	4	represented	represent	VERB
ap-3037	104	5	with	with	ADP
ap-3037	104	6	a	a	DET
ap-3037	104	7	discrete	discrete	ADJ
ap-3037	104	8	occupancy	occupancy	NOUN
ap-3037	104	9	grid	grid	NOUN
ap-3037	104	10	,	,	PUNCT
ap-3037	104	11	agents	agent	NOUN
ap-3037	104	12	are	be	AUX
ap-3037	104	13	characterised	characterise	VERB
ap-3037	104	14	by	by	ADP
ap-3037	104	15	their	their	PRON
ap-3037	104	16	identifier	identifier	NOUN
ap-3037	104	17	and	and	CCONJ
ap-3037	104	18	their	their	PRON
ap-3037	104	19	coordinates	coordinate	NOUN
ap-3037	104	20	on	on	ADP
ap-3037	104	21	the	the	DET
ap-3037	104	22	grid	grid	NOUN
ap-3037	104	23	,	,	PUNCT
ap-3037	104	24	and	and	CCONJ
ap-3037	104	25	observations	observation	NOUN
ap-3037	104	26	are	be	AUX
ap-3037	104	27	critj	critj	PROPN
ap-3037	104	28	t	t	NOUN
ap-3037	104	29	r	r	NOUN
ap-3037	104	30	crt	crt	PROPN
ap-3037	104	31	aritj	aritj	PROPN
ap-3037	104	32	t	t	PROPN
ap-3037	104	33	r	r	NOUN
ap-3037	104	34	art	art	NOUN
ap-3037	104	35	opt	opt	NOUN
ap-3037	104	36	.	.	PUNCT
ap-3037	105	1	figure	figure	VERB
ap-3037	105	2	4	4	NUM
ap-3037	105	3	.	.	PUNCT
ap-3037	106	1	multi	multi	ADJ
ap-3037	106	2	-	-	ADJ
ap-3037	106	3	robot	robot	ADJ
ap-3037	106	4	exploration	exploration	NOUN
ap-3037	106	5	as	as	ADP
ap-3037	106	6	a	a	DET
ap-3037	106	7	task	task	NOUN
ap-3037	106	8	allocation	allocation	NOUN
ap-3037	106	9	problem	problem	NOUN
ap-3037	106	10	.	.	PUNCT
ap-3037	107	1	made	make	VERB
ap-3037	107	2	by	by	ADP
ap-3037	107	3	casting	cast	VERB
ap-3037	107	4	rays	ray	NOUN
ap-3037	107	5	within	within	ADP
ap-3037	107	6	the	the	DET
ap-3037	107	7	viewing	view	VERB
ap-3037	107	8	range	range	NOUN
ap-3037	107	9	of	of	ADP
ap-3037	107	10	a	a	DET
ap-3037	107	11	robot	robot	NOUN
ap-3037	107	12	.	.	PUNCT
ap-3037	108	1	our	our	PRON
ap-3037	108	2	study	study	NOUN
ap-3037	108	3	is	be	AUX
ap-3037	108	4	based	base	VERB
ap-3037	108	5	on	on	ADP
ap-3037	108	6	this	this	DET
ap-3037	108	7	representation	representation	NOUN
ap-3037	108	8	of	of	ADP
ap-3037	108	9	a	a	DET
ap-3037	108	10	multi	multi	ADJ
ap-3037	108	11	-	-	ADJ
ap-3037	108	12	agent	agent	ADJ
ap-3037	108	13	system	system	NOUN
ap-3037	108	14	.	.	PUNCT
ap-3037	109	1	in	in	ADP
ap-3037	109	2	the	the	DET
ap-3037	109	3	next	next	ADJ
ap-3037	109	4	section	section	NOUN
ap-3037	109	5	,	,	PUNCT
ap-3037	109	6	we	we	PRON
ap-3037	109	7	present	present	VERB
ap-3037	109	8	the	the	DET
ap-3037	109	9	frontier	frontier	NOUN
ap-3037	109	10	/	/	SYM
ap-3037	109	11	interaction	interaction	NOUN
ap-3037	109	12	exploration	exploration	NOUN
ap-3037	109	13	approach	approach	NOUN
ap-3037	109	14	.	.	PUNCT
ap-3037	110	1	4	4	X
ap-3037	110	2	.	.	NUM
ap-3037	110	3	mixed	mixed	ADJ
ap-3037	110	4	exploration	exploration	NOUN
ap-3037	110	5	approach	approach	NOUN
ap-3037	110	6	by	by	ADP
ap-3037	110	7	frontiers	frontier	NOUN
ap-3037	110	8	and	and	CCONJ
ap-3037	110	9	interactions	interaction	NOUN
ap-3037	110	10	first	first	ADV
ap-3037	110	11	,	,	PUNCT
ap-3037	110	12	let	let	VERB
ap-3037	110	13	us	we	PRON
ap-3037	110	14	consider	consider	VERB
ap-3037	110	15	the	the	DET
ap-3037	110	16	mre	mre	PROPN
ap-3037	110	17	problem	problem	NOUN
ap-3037	110	18	defined	define	VERB
ap-3037	110	19	as	as	ADP
ap-3037	110	20	a	a	DET
ap-3037	110	21	target	target	NOUN
ap-3037	110	22	allocation	allocation	NOUN
ap-3037	110	23	problem	problem	NOUN
ap-3037	110	24	of	of	ADP
ap-3037	110	25	robots	robot	NOUN
ap-3037	110	26	in	in	ADP
ap-3037	110	27	an	an	DET
ap-3037	110	28	unknown	unknown	ADJ
ap-3037	110	29	environment	environment	NOUN
ap-3037	111	1	[	[	X
ap-3037	111	2	12–14	12–14	NUM
ap-3037	111	3	]	]	X
ap-3037	111	4	.	.	PUNCT
ap-3037	112	1	a	a	DET
ap-3037	112	2	solution	solution	NOUN
ap-3037	112	3	to	to	ADP
ap-3037	112	4	the	the	DET
ap-3037	112	5	mre	mre	PROPN
ap-3037	112	6	problem	problem	NOUN
ap-3037	112	7	defines	define	VERB
ap-3037	112	8	a	a	DET
ap-3037	112	9	way	way	NOUN
ap-3037	112	10	to	to	PART
ap-3037	112	11	explore	explore	VERB
ap-3037	112	12	an	an	DET
ap-3037	112	13	unknown	unknown	ADJ
ap-3037	112	14	space	space	NOUN
ap-3037	112	15	,	,	PUNCT
ap-3037	112	16	i.e.	i.e.	X
ap-3037	112	17	,	,	PUNCT
ap-3037	112	18	how	how	SCONJ
ap-3037	112	19	to	to	PART
ap-3037	112	20	assign	assign	VERB
ap-3037	112	21	robots	robot	NOUN
ap-3037	112	22	from	from	ADP
ap-3037	112	23	r	r	NOUN
ap-3037	112	24	to	to	ADP
ap-3037	112	25	tasks	task	NOUN
ap-3037	112	26	/	/	SYM
ap-3037	112	27	targets	target	NOUN
ap-3037	112	28	from	from	ADP
ap-3037	112	29	t.	t.	NOUN
ap-3037	112	30	to	to	PART
ap-3037	112	31	achieve	achieve	VERB
ap-3037	112	32	this	this	PRON
ap-3037	112	33	,	,	PUNCT
ap-3037	112	34	we	we	PRON
ap-3037	112	35	can	can	AUX
ap-3037	112	36	look	look	VERB
ap-3037	112	37	for	for	ADP
ap-3037	112	38	an	an	DET
ap-3037	112	39	assignment	assignment	NOUN
ap-3037	112	40	matrix	matrix	NOUN
ap-3037	112	41	art	art	NOUN
ap-3037	112	42	that	that	PRON
ap-3037	112	43	optimises	optimise	VERB
ap-3037	112	44	the	the	DET
ap-3037	112	45	cost	cost	NOUN
ap-3037	112	46	matrix	matrix	NOUN
ap-3037	112	47	crt	crt	NOUN
ap-3037	112	48	(	(	PUNCT
ap-3037	112	49	cf	cf	NOUN
ap-3037	112	50	.	.	PUNCT
ap-3037	112	51	fig	fig	NOUN
ap-3037	112	52	.	.	PUNCT
ap-3037	113	1	4	4	NUM
ap-3037	113	2	)	)	PUNCT
ap-3037	113	3	.	.	PUNCT
ap-3037	114	1	4.1	4.1	NUM
ap-3037	114	2	.	.	PUNCT
ap-3037	115	1	various	various	ADJ
ap-3037	115	2	approaches	approach	NOUN
ap-3037	115	3	for	for	ADP
ap-3037	115	4	multi	multi	ADJ
ap-3037	115	5	-	-	ADJ
ap-3037	115	6	robot	robot	ADJ
ap-3037	115	7	exploration	exploration	NOUN
ap-3037	115	8	we	we	PRON
ap-3037	115	9	show	show	VERB
ap-3037	115	10	how	how	SCONJ
ap-3037	115	11	different	different	ADJ
ap-3037	115	12	sets	set	NOUN
ap-3037	115	13	of	of	ADP
ap-3037	115	14	targets	target	NOUN
ap-3037	115	15	define	define	VERB
ap-3037	115	16	the	the	DET
ap-3037	115	17	classical	classical	ADJ
ap-3037	115	18	frontier	frontier	NOUN
ap-3037	115	19	-	-	PUNCT
ap-3037	115	20	based	base	VERB
ap-3037	115	21	exploration	exploration	NOUN
ap-3037	115	22	,	,	PUNCT
ap-3037	115	23	our	our	PRON
ap-3037	115	24	new	new	ADJ
ap-3037	115	25	interactive	interactive	ADJ
ap-3037	115	26	approach	approach	NOUN
ap-3037	115	27	and	and	CCONJ
ap-3037	115	28	the	the	DET
ap-3037	115	29	mixed	mixed	ADJ
ap-3037	115	30	approach	approach	NOUN
ap-3037	115	31	(	(	PUNCT
ap-3037	115	32	frontier	frontier	NOUN
ap-3037	115	33	/	/	SYM
ap-3037	115	34	interaction	interaction	NOUN
ap-3037	115	35	)	)	PUNCT
ap-3037	115	36	.	.	PUNCT
ap-3037	116	1	4.1.1	4.1.1	X
ap-3037	116	2	.	.	PUNCT
ap-3037	116	3	frontier	frontier	NOUN
ap-3037	116	4	-	-	PUNCT
ap-3037	116	5	based	base	VERB
ap-3037	116	6	exploration	exploration	NOUN
ap-3037	116	7	a	a	DET
ap-3037	116	8	frontier	frontier	NOUN
ap-3037	116	9	is	be	AUX
ap-3037	116	10	the	the	DET
ap-3037	116	11	observed	observe	VERB
ap-3037	116	12	boundary	boundary	NOUN
ap-3037	116	13	between	between	ADP
ap-3037	116	14	an	an	DET
ap-3037	116	15	explored	explore	VERB
ap-3037	116	16	space	space	NOUN
ap-3037	116	17	and	and	CCONJ
ap-3037	116	18	an	an	DET
ap-3037	116	19	unexplored	unexplored	ADJ
ap-3037	116	20	space	space	NOUN
ap-3037	116	21	[	[	X
ap-3037	116	22	11	11	NUM
ap-3037	116	23	]	]	PUNCT
ap-3037	116	24	.	.	PUNCT
ap-3037	117	1	classical	classical	ADJ
ap-3037	117	2	frontier	frontier	NOUN
ap-3037	117	3	-	-	PUNCT
ap-3037	117	4	based	base	VERB
ap-3037	117	5	exploration	exploration	NOUN
ap-3037	117	6	is	be	AUX
ap-3037	117	7	defined	define	VERB
ap-3037	117	8	by	by	ADP
ap-3037	117	9	choosing	choose	VERB
ap-3037	117	10	the	the	DET
ap-3037	117	11	targets	target	NOUN
ap-3037	117	12	from	from	ADP
ap-3037	117	13	the	the	DET
ap-3037	117	14	set	set	NOUN
ap-3037	117	15	of	of	ADP
ap-3037	117	16	frontiers	frontier	NOUN
ap-3037	117	17	f	f	PROPN
ap-3037	117	18	(	(	PUNCT
ap-3037	117	19	3	3	NUM
ap-3037	117	20	)	)	PUNCT
ap-3037	117	21	.	.	PUNCT
ap-3037	118	1	let	let	VERB
ap-3037	118	2	:	:	PUNCT
ap-3037	118	3	crifj	crifj	NOUN
ap-3037	118	4	be	be	AUX
ap-3037	118	5	the	the	DET
ap-3037	118	6	cost	cost	NOUN
ap-3037	118	7	for	for	SCONJ
ap-3037	118	8	ri	ri	PROPN
ap-3037	118	9	to	to	PART
ap-3037	118	10	reach	reach	VERB
ap-3037	118	11	fj	fj	PROPN
ap-3037	118	12	,	,	PUNCT
ap-3037	118	13	arifj	arifj	NOUN
ap-3037	119	1	=	=	SYM
ap-3037	119	2	{	{	PUNCT
ap-3037	119	3	1	1	NUM
ap-3037	119	4	if	if	SCONJ
ap-3037	119	5	ri	ri	PROPN
ap-3037	119	6	must	must	AUX
ap-3037	119	7	go	go	VERB
ap-3037	119	8	to	to	ADP
ap-3037	119	9	fj	fj	PROPN
ap-3037	119	10	,	,	PUNCT
ap-3037	119	11	0	0	NUM
ap-3037	119	12	otherwise	otherwise	ADV
ap-3037	119	13	.	.	PUNCT
ap-3037	120	1	(	(	PUNCT
ap-3037	120	2	3	3	X
ap-3037	120	3	)	)	PUNCT
ap-3037	120	4	in	in	ADP
ap-3037	120	5	populated	populated	ADJ
ap-3037	120	6	environments	environment	NOUN
ap-3037	120	7	this	this	DET
ap-3037	120	8	approach	approach	NOUN
ap-3037	120	9	can	can	AUX
ap-3037	120	10	fail	fail	VERB
ap-3037	120	11	when	when	SCONJ
ap-3037	120	12	the	the	DET
ap-3037	120	13	path	path	NOUN
ap-3037	120	14	to	to	ADP
ap-3037	120	15	a	a	DET
ap-3037	120	16	chosen	choose	VERB
ap-3037	120	17	frontier	frontier	NOUN
ap-3037	120	18	is	be	AUX
ap-3037	120	19	congested	congest	VERB
ap-3037	120	20	by	by	ADP
ap-3037	120	21	humans	human	NOUN
ap-3037	120	22	.	.	PUNCT
ap-3037	121	1	4.1.2	4.1.2	X
ap-3037	121	2	.	.	NOUN
ap-3037	121	3	interactive	interactive	ADJ
ap-3037	121	4	exploration	exploration	NOUN
ap-3037	121	5	human	human	ADJ
ap-3037	121	6	-	-	PUNCT
ap-3037	121	7	robot	robot	NOUN
ap-3037	121	8	interaction	interaction	NOUN
ap-3037	121	9	is	be	AUX
ap-3037	121	10	defined	define	VERB
ap-3037	121	11	as	as	ADP
ap-3037	121	12	the	the	DET
ap-3037	121	13	reciprocal	reciprocal	ADJ
ap-3037	121	14	influence	influence	NOUN
ap-3037	121	15	between	between	ADP
ap-3037	121	16	a	a	DET
ap-3037	121	17	human	human	NOUN
ap-3037	121	18	and	and	CCONJ
ap-3037	121	19	a	a	DET
ap-3037	121	20	robot	robot	NOUN
ap-3037	121	21	,	,	PUNCT
ap-3037	121	22	followed	follow	VERB
ap-3037	121	23	by	by	ADP
ap-3037	121	24	one	one	NUM
ap-3037	121	25	or	or	CCONJ
ap-3037	121	26	more	more	ADJ
ap-3037	121	27	effects	effect	NOUN
ap-3037	121	28	.	.	PUNCT
ap-3037	122	1	we	we	PRON
ap-3037	122	2	introduce	introduce	VERB
ap-3037	122	3	an	an	DET
ap-3037	122	4	interactive	interactive	ADJ
ap-3037	122	5	approach	approach	NOUN
ap-3037	122	6	that	that	PRON
ap-3037	122	7	takes	take	VERB
ap-3037	122	8	into	into	ADP
ap-3037	122	9	account	account	NOUN
ap-3037	122	10	the	the	DET
ap-3037	122	11	presence	presence	NOUN
ap-3037	122	12	of	of	ADP
ap-3037	122	13	humans	human	NOUN
ap-3037	122	14	for	for	ADP
ap-3037	122	15	establishing	establish	VERB
ap-3037	122	16	human	human	ADJ
ap-3037	122	17	-	-	PUNCT
ap-3037	122	18	robot	robot	NOUN
ap-3037	122	19	interactions	interaction	NOUN
ap-3037	122	20	(	(	PUNCT
ap-3037	122	21	opening	open	VERB
ap-3037	122	22	a	a	DET
ap-3037	122	23	door	door	NOUN
ap-3037	122	24	,	,	PUNCT
ap-3037	122	25	guiding	guide	VERB
ap-3037	122	26	though	though	SCONJ
ap-3037	122	27	a	a	DET
ap-3037	122	28	crowd	crowd	NOUN
ap-3037	122	29	,	,	PUNCT
ap-3037	122	30	etc	etc	X
ap-3037	122	31	.	.	X
ap-3037	122	32	)	)	PUNCT
ap-3037	122	33	.	.	PUNCT
ap-3037	123	1	targets	target	NOUN
ap-3037	123	2	are	be	AUX
ap-3037	123	3	now	now	ADV
ap-3037	123	4	chosen	choose	VERB
ap-3037	123	5	from	from	ADP
ap-3037	123	6	the	the	DET
ap-3037	123	7	set	set	NOUN
ap-3037	123	8	of	of	ADP
ap-3037	123	9	humans	human	NOUN
ap-3037	123	10	h	h	NOUN
ap-3037	123	11	(	(	PUNCT
ap-3037	123	12	4	4	NUM
ap-3037	123	13	)	)	PUNCT
ap-3037	123	14	.	.	PUNCT
ap-3037	124	1	let	let	VERB
ap-3037	124	2	:	:	PUNCT
ap-3037	124	3	crihj	crihj	PROPN
ap-3037	124	4	be	be	AUX
ap-3037	124	5	the	the	DET
ap-3037	124	6	cost	cost	NOUN
ap-3037	124	7	for	for	SCONJ
ap-3037	124	8	ri	ri	PROPN
ap-3037	124	9	to	to	PART
ap-3037	124	10	interact	interact	VERB
ap-3037	124	11	with	with	ADP
ap-3037	124	12	hj	hj	PROPN
ap-3037	124	13	,	,	PUNCT
ap-3037	124	14	arihj	arihj	PROPN
ap-3037	124	15	=	=	PUNCT
ap-3037	124	16	{	{	PUNCT
ap-3037	124	17	1	1	NUM
ap-3037	124	18	if	if	SCONJ
ap-3037	124	19	ri	ri	PROPN
ap-3037	124	20	must	must	AUX
ap-3037	124	21	interact	interact	VERB
ap-3037	124	22	with	with	ADP
ap-3037	124	23	hj	hj	PROPN
ap-3037	124	24	,	,	PUNCT
ap-3037	124	25	0	0	NUM
ap-3037	124	26	otherwise	otherwise	ADV
ap-3037	124	27	.	.	PUNCT
ap-3037	125	1	(	(	PUNCT
ap-3037	125	2	4	4	X
ap-3037	125	3	)	)	PUNCT
ap-3037	125	4	a	a	DET
ap-3037	125	5	purely	purely	ADV
ap-3037	125	6	interactive	interactive	ADJ
ap-3037	125	7	approach	approach	NOUN
ap-3037	125	8	can	can	AUX
ap-3037	125	9	be	be	AUX
ap-3037	125	10	inefficient	inefficient	ADJ
ap-3037	125	11	in	in	ADP
ap-3037	125	12	sparsely	sparsely	ADV
ap-3037	125	13	populated	populated	ADJ
ap-3037	125	14	environments	environment	NOUN
ap-3037	125	15	.	.	PUNCT
ap-3037	126	1	indeed	indeed	ADV
ap-3037	126	2	,	,	PUNCT
ap-3037	126	3	without	without	ADP
ap-3037	126	4	any	any	DET
ap-3037	126	5	perception	perception	NOUN
ap-3037	126	6	of	of	ADP
ap-3037	126	7	human	human	ADJ
ap-3037	126	8	presence	presence	NOUN
ap-3037	126	9	,	,	PUNCT
ap-3037	126	10	the	the	DET
ap-3037	126	11	robots	robot	NOUN
ap-3037	126	12	adopt	adopt	VERB
ap-3037	126	13	a	a	DET
ap-3037	126	14	wait	wait	VERB
ap-3037	126	15	-	-	PUNCT
ap-3037	126	16	and	and	CCONJ
ap-3037	126	17	-	-	PUNCT
ap-3037	126	18	see	see	VERB
ap-3037	126	19	policy	policy	NOUN
ap-3037	126	20	and	and	CCONJ
ap-3037	126	21	pause	pause	VERB
ap-3037	126	22	the	the	DET
ap-3037	126	23	exploration	exploration	NOUN
ap-3037	126	24	.	.	PUNCT
ap-3037	127	1	156	156	NUM
ap-3037	127	2	vol	vol	NOUN
ap-3037	127	3	.	.	PUNCT
ap-3037	128	1	55	55	NUM
ap-3037	128	2	no	no	NOUN
ap-3037	128	3	.	.	PUNCT
ap-3037	129	1	3/2015	3/2015	NUM
ap-3037	129	2	comparison	comparison	NOUN
ap-3037	129	3	of	of	ADP
ap-3037	129	4	classical	classical	ADJ
ap-3037	129	5	and	and	CCONJ
ap-3037	129	6	interactive	interactive	ADJ
ap-3037	129	7	multi	multi	ADJ
ap-3037	129	8	-	-	ADJ
ap-3037	129	9	robot	robot	ADJ
ap-3037	129	10	exploration	exploration	NOUN
ap-3037	129	11	r	r	NOUN
ap-3037	129	12	f	f	NOUN
ap-3037	129	13	h	h	NOUN
ap-3037	130	1	d	d	NOUN
ap-3037	130	2	r	r	NOUN
ap-3037	131	1	i	i	NOUN
ap-3037	131	2	f	f	PROPN
ap-3037	132	1	j	j	PROPN
ap-3037	133	1	d	d	NOUN
ap-3037	133	2	r	r	VERB
ap-3037	134	1	i	i	PRON
ap-3037	134	2	h	h	VERB
ap-3037	135	1	k	k	X
ap-3037	135	2	(	(	PUNCT
ap-3037	135	3	a	a	PRON
ap-3037	135	4	)	)	PUNCT
ap-3037	135	5	distances	distance	NOUN
ap-3037	135	6	.	.	PUNCT
ap-3037	136	1	r	r	NOUN
ap-3037	136	2	f	f	PROPN
ap-3037	136	3	h	h	PROPN
ap-3037	136	4	(	(	PUNCT
ap-3037	136	5	σ	σ	PROPN
ap-3037	136	6	)	)	PUNCT
ap-3037	137	1	p	p	NOUN
ap-3037	137	2	r	r	NOUN
ap-3037	138	1	i	i	PRON
ap-3037	138	2	f	f	PROPN
ap-3037	138	3	j	j	PROPN
ap-3037	138	4	(	(	PUNCT
ap-3037	138	5	1−	1−	NUM
ap-3037	138	6	σ	σ	NOUN
ap-3037	138	7	)	)	PUNCT
ap-3037	139	1	p	p	NOUN
ap-3037	139	2	r	r	NOUN
ap-3037	140	1	i	i	PRON
ap-3037	140	2	h	h	VERB
ap-3037	141	1	k	k	X
ap-3037	141	2	(	(	PUNCT
ap-3037	141	3	b	b	NOUN
ap-3037	141	4	)	)	PUNCT
ap-3037	141	5	penalties	penalty	NOUN
ap-3037	141	6	.	.	PUNCT
ap-3037	142	1	figure	figure	NOUN
ap-3037	142	2	5	5	NUM
ap-3037	142	3	.	.	PUNCT
ap-3037	143	1	distances	distance	NOUN
ap-3037	143	2	and	and	CCONJ
ap-3037	143	3	penalties	penalty	NOUN
ap-3037	143	4	considered	consider	VERB
ap-3037	143	5	in	in	ADP
ap-3037	143	6	the	the	DET
ap-3037	143	7	system	system	NOUN
ap-3037	143	8	.	.	PUNCT
ap-3037	144	1	4.1.3	4.1.3	X
ap-3037	144	2	.	.	PUNCT
ap-3037	144	3	mixed	mixed	ADJ
ap-3037	144	4	exploration	exploration	NOUN
ap-3037	144	5	mixed	mixed	ADJ
ap-3037	144	6	exploration	exploration	NOUN
ap-3037	144	7	enables	enable	NOUN
ap-3037	144	8	to	to	PART
ap-3037	144	9	initiate	initiate	VERB
ap-3037	144	10	interactions	interaction	NOUN
ap-3037	144	11	and	and	CCONJ
ap-3037	144	12	also	also	ADV
ap-3037	144	13	to	to	PART
ap-3037	144	14	reach	reach	VERB
ap-3037	144	15	frontiers	frontier	NOUN
ap-3037	144	16	.	.	PUNCT
ap-3037	145	1	thus	thus	ADV
ap-3037	145	2	,	,	PUNCT
ap-3037	145	3	we	we	PRON
ap-3037	145	4	combine	combine	VERB
ap-3037	145	5	the	the	DET
ap-3037	145	6	two	two	NUM
ap-3037	145	7	target	target	NOUN
ap-3037	145	8	sets	set	NOUN
ap-3037	145	9	(	(	PUNCT
ap-3037	145	10	frontiers	frontier	NOUN
ap-3037	145	11	and	and	CCONJ
ap-3037	145	12	humans	human	NOUN
ap-3037	145	13	)	)	PUNCT
ap-3037	145	14	to	to	PART
ap-3037	145	15	define	define	VERB
ap-3037	145	16	a	a	DET
ap-3037	145	17	new	new	ADJ
ap-3037	145	18	set	set	NOUN
ap-3037	145	19	g	g	NOUN
ap-3037	145	20	(	(	PUNCT
ap-3037	145	21	5	5	NUM
ap-3037	145	22	)	)	PUNCT
ap-3037	145	23	.	.	PUNCT
ap-3037	146	1	let	let	VERB
ap-3037	146	2	:	:	PUNCT
ap-3037	146	3	crigj	crigj	NOUN
ap-3037	146	4	be	be	AUX
ap-3037	146	5	the	the	DET
ap-3037	146	6	mixed	mixed	ADJ
ap-3037	146	7	cost	cost	NOUN
ap-3037	146	8	for	for	SCONJ
ap-3037	146	9	ri	ri	PROPN
ap-3037	146	10	to	to	PART
ap-3037	146	11	gj	gj	PROPN
ap-3037	146	12	,	,	PUNCT
ap-3037	146	13	arigj	arigj	NOUN
ap-3037	146	14	=	=	PUNCT
ap-3037	146	15	{	{	PUNCT
ap-3037	146	16	1	1	NUM
ap-3037	146	17	if	if	SCONJ
ap-3037	146	18	ri	ri	PROPN
ap-3037	146	19	is	be	AUX
ap-3037	146	20	assigned	assign	VERB
ap-3037	146	21	to	to	ADP
ap-3037	146	22	gj	gj	VERB
ap-3037	146	23	,	,	PUNCT
ap-3037	146	24	0	0	NUM
ap-3037	146	25	otherwise	otherwise	ADV
ap-3037	146	26	.	.	PUNCT
ap-3037	147	1	(	(	PUNCT
ap-3037	147	2	5	5	X
ap-3037	147	3	)	)	PUNCT
ap-3037	147	4	this	this	DET
ap-3037	147	5	approach	approach	NOUN
ap-3037	147	6	requires	require	VERB
ap-3037	147	7	to	to	PART
ap-3037	147	8	smartly	smartly	ADV
ap-3037	147	9	adjust	adjust	VERB
ap-3037	147	10	interaction	interaction	NOUN
ap-3037	147	11	and	and	CCONJ
ap-3037	147	12	frontier	frontier	NOUN
ap-3037	147	13	assignments	assignment	NOUN
ap-3037	147	14	to	to	PART
ap-3037	147	15	overcome	overcome	VERB
ap-3037	147	16	the	the	DET
ap-3037	147	17	two	two	NUM
ap-3037	147	18	above	above	ADV
ap-3037	147	19	-	-	PUNCT
ap-3037	147	20	mentioned	mention	VERB
ap-3037	147	21	issues	issue	NOUN
ap-3037	147	22	(	(	PUNCT
ap-3037	147	23	wait	wait	VERB
ap-3037	147	24	-	-	PUNCT
ap-3037	147	25	and	and	CCONJ
ap-3037	147	26	-	-	PUNCT
ap-3037	147	27	see	see	VERB
ap-3037	147	28	policy	policy	NOUN
ap-3037	147	29	and	and	CCONJ
ap-3037	147	30	the	the	DET
ap-3037	147	31	congested	congested	ADJ
ap-3037	147	32	frontier	frontier	NOUN
ap-3037	147	33	)	)	PUNCT
ap-3037	147	34	.	.	PUNCT
ap-3037	148	1	4.2	4.2	NUM
ap-3037	148	2	.	.	PUNCT
ap-3037	148	3	mixed	mix	VERB
ap-3037	148	4	cost	cost	NOUN
ap-3037	148	5	model	model	NOUN
ap-3037	148	6	in	in	ADP
ap-3037	148	7	this	this	DET
ap-3037	148	8	study	study	NOUN
ap-3037	148	9	,	,	PUNCT
ap-3037	148	10	robots	robot	NOUN
ap-3037	148	11	can	can	AUX
ap-3037	148	12	interact	interact	VERB
ap-3037	148	13	only	only	ADV
ap-3037	148	14	by	by	ADP
ap-3037	148	15	following	follow	VERB
ap-3037	148	16	pedestrians	pedestrian	NOUN
ap-3037	148	17	.	.	PUNCT
ap-3037	149	1	the	the	DET
ap-3037	149	2	optimisation	optimisation	NOUN
ap-3037	149	3	criterion	criterion	NOUN
ap-3037	149	4	is	be	AUX
ap-3037	149	5	to	to	PART
ap-3037	149	6	explore	explore	VERB
ap-3037	149	7	a	a	DET
ap-3037	149	8	possibly	possibly	ADV
ap-3037	149	9	populated	populate	VERB
ap-3037	149	10	environment	environment	NOUN
ap-3037	149	11	with	with	ADP
ap-3037	149	12	minimum	minimum	ADJ
ap-3037	149	13	distance	distance	NOUN
ap-3037	149	14	and	and	CCONJ
ap-3037	149	15	time	time	NOUN
ap-3037	149	16	.	.	PUNCT
ap-3037	150	1	thus	thus	ADV
ap-3037	150	2	,	,	PUNCT
ap-3037	150	3	we	we	PRON
ap-3037	150	4	define	define	VERB
ap-3037	150	5	mixed	mixed	ADJ
ap-3037	150	6	costs	cost	NOUN
ap-3037	150	7	using	use	VERB
ap-3037	150	8	distances	distance	NOUN
ap-3037	150	9	and	and	CCONJ
ap-3037	150	10	weighted	weight	VERB
ap-3037	150	11	penalties	penalty	NOUN
ap-3037	150	12	,	,	PUNCT
ap-3037	150	13	see	see	VERB
ap-3037	150	14	fig	fig	NOUN
ap-3037	150	15	.	.	PUNCT
ap-3037	151	1	5	5	X
ap-3037	151	2	.	.	X
ap-3037	151	3	the	the	DET
ap-3037	151	4	weight	weight	NOUN
ap-3037	151	5	σ	σ	PROPN
ap-3037	151	6	balances	balance	NOUN
ap-3037	151	7	interaction	interaction	NOUN
ap-3037	151	8	and	and	CCONJ
ap-3037	151	9	frontier	frontier	NOUN
ap-3037	151	10	penalties	penalty	NOUN
ap-3037	151	11	.	.	PUNCT
ap-3037	152	1	first	first	ADV
ap-3037	152	2	we	we	PRON
ap-3037	152	3	detail	detail	VERB
ap-3037	152	4	distances	distance	NOUN
ap-3037	152	5	,	,	PUNCT
ap-3037	152	6	then	then	ADV
ap-3037	152	7	we	we	PRON
ap-3037	152	8	introduce	introduce	VERB
ap-3037	152	9	penalties	penalty	NOUN
ap-3037	152	10	and	and	CCONJ
ap-3037	152	11	explain	explain	VERB
ap-3037	152	12	the	the	DET
ap-3037	152	13	different	different	ADJ
ap-3037	152	14	weights	weight	NOUN
ap-3037	152	15	used	use	VERB
ap-3037	152	16	in	in	ADP
ap-3037	152	17	the	the	DET
ap-3037	152	18	cost	cost	NOUN
ap-3037	152	19	formula	formula	NOUN
ap-3037	152	20	.	.	PUNCT
ap-3037	153	1	4.2.1	4.2.1	NOUN
ap-3037	153	2	.	.	PUNCT
ap-3037	154	1	distance	distance	NOUN
ap-3037	154	2	first	first	ADV
ap-3037	154	3	,	,	PUNCT
ap-3037	154	4	we	we	PRON
ap-3037	154	5	incorporate	incorporate	VERB
ap-3037	154	6	distances	distance	NOUN
ap-3037	154	7	between	between	ADP
ap-3037	154	8	robots	robot	NOUN
ap-3037	154	9	and	and	CCONJ
ap-3037	154	10	targets	target	NOUN
ap-3037	154	11	as	as	ADP
ap-3037	154	12	immediate	immediate	ADJ
ap-3037	154	13	costs	cost	NOUN
ap-3037	154	14	(	(	PUNCT
ap-3037	154	15	fig	fig	NOUN
ap-3037	154	16	.	.	PUNCT
ap-3037	155	1	5a	5a	NUM
ap-3037	155	2	)	)	PUNCT
ap-3037	155	3	.	.	PUNCT
ap-3037	156	1	thus	thus	ADV
ap-3037	156	2	,	,	PUNCT
ap-3037	156	3	we	we	PRON
ap-3037	156	4	initialise	initialise	VERB
ap-3037	156	5	crg	crg	NOUN
ap-3037	156	6	with	with	ADP
ap-3037	156	7	normalised	normalise	VERB
ap-3037	156	8	robot	robot	NOUN
ap-3037	156	9	-	-	PUNCT
ap-3037	156	10	frontier	frontier	NOUN
ap-3037	156	11	and	and	CCONJ
ap-3037	156	12	robot	robot	NOUN
ap-3037	156	13	-	-	PUNCT
ap-3037	156	14	human	human	ADJ
ap-3037	156	15	distances	distance	NOUN
ap-3037	156	16	(	(	PUNCT
ap-3037	156	17	drf	drf	PROPN
ap-3037	156	18	,	,	PUNCT
ap-3037	156	19	drh	drh	PROPN
ap-3037	156	20	)	)	PUNCT
ap-3037	156	21	in	in	ADP
ap-3037	156	22	(	(	PUNCT
ap-3037	156	23	6	6	NUM
ap-3037	156	24	)	)	PUNCT
ap-3037	156	25	.	.	PUNCT
ap-3037	157	1	drg	drg	PROPN
ap-3037	157	2	=	=	SYM
ap-3037	157	3	(	(	PUNCT
ap-3037	157	4	drf	drf	PROPN
ap-3037	157	5	|	|	PROPN
ap-3037	157	6	drh	drh	PROPN
ap-3037	157	7	)	)	PUNCT
ap-3037	157	8	,	,	PUNCT
ap-3037	157	9	drx	drx	PROPN
ap-3037	157	10	=	=	PROPN
ap-3037	157	11	dr1x1	dr1x1	PROPN
ap-3037	157	12	dr1x|x|	dr1x|x|	X
ap-3037	157	13	drnx1	drnx1	X
ap-3037	157	14	drnx|x|	drnx|x|	X
ap-3037	157	15			PROPN
ap-3037	157	16			NOUN
ap-3037	157	17	.	.	PUNCT
ap-3037	158	1	(	(	PUNCT
ap-3037	158	2	6	6	NUM
ap-3037	158	3	)	)	PUNCT
ap-3037	158	4	distance	distance	NOUN
ap-3037	158	5	costs	cost	NOUN
ap-3037	158	6	have	have	VERB
ap-3037	158	7	multiple	multiple	ADJ
ap-3037	158	8	drawbacks	drawback	NOUN
ap-3037	158	9	.	.	PUNCT
ap-3037	159	1	two	two	NUM
ap-3037	159	2	examples	example	NOUN
ap-3037	159	3	follow	follow	VERB
ap-3037	159	4	:	:	PUNCT
ap-3037	159	5	if	if	SCONJ
ap-3037	159	6	a	a	DET
ap-3037	159	7	robot	robot	NOUN
ap-3037	159	8	travels	travel	VERB
ap-3037	159	9	towards	towards	ADP
ap-3037	159	10	a	a	DET
ap-3037	159	11	frontier	frontier	NOUN
ap-3037	159	12	but	but	CCONJ
ap-3037	159	13	a	a	DET
ap-3037	159	14	crowd	crowd	NOUN
ap-3037	159	15	hinders	hinder	VERB
ap-3037	159	16	its	its	PRON
ap-3037	159	17	navigation	navigation	NOUN
ap-3037	159	18	:	:	PUNCT
ap-3037	159	19	the	the	DET
ap-3037	159	20	robot	robot	NOUN
ap-3037	159	21	can	can	AUX
ap-3037	159	22	not	not	PART
ap-3037	159	23	adapt	adapt	VERB
ap-3037	159	24	the	the	DET
ap-3037	159	25	exploration	exploration	NOUN
ap-3037	159	26	depending	depend	VERB
ap-3037	159	27	on	on	ADP
ap-3037	159	28	navigation	navigation	NOUN
ap-3037	159	29	feasibility	feasibility	NOUN
ap-3037	159	30	.	.	PUNCT
ap-3037	160	1	remote	remote	ADJ
ap-3037	160	2	but	but	CCONJ
ap-3037	160	3	reachable	reachable	ADJ
ap-3037	160	4	frontiers	frontier	NOUN
ap-3037	160	5	are	be	AUX
ap-3037	160	6	not	not	PART
ap-3037	160	7	reevaluated	reevaluate	VERB
ap-3037	160	8	as	as	ADP
ap-3037	160	9	good	good	ADJ
ap-3037	160	10	options	option	NOUN
ap-3037	160	11	.	.	PUNCT
ap-3037	161	1	the	the	DET
ap-3037	161	2	distance	distance	NOUN
ap-3037	161	3	cost	cost	NOUN
ap-3037	161	4	is	be	AUX
ap-3037	161	5	prohibitive	prohibitive	ADJ
ap-3037	161	6	and	and	CCONJ
ap-3037	161	7	the	the	DET
ap-3037	161	8	next	next	ADJ
ap-3037	161	9	target	target	NOUN
ap-3037	161	10	is	be	AUX
ap-3037	161	11	always	always	ADV
ap-3037	161	12	chosen	choose	VERB
ap-3037	161	13	between	between	ADP
ap-3037	161	14	the	the	DET
ap-3037	161	15	last	last	ADJ
ap-3037	161	16	frontier	frontier	NOUN
ap-3037	161	17	and	and	CCONJ
ap-3037	161	18	close	close	ADJ
ap-3037	161	19	humans	human	NOUN
ap-3037	161	20	who	who	PRON
ap-3037	161	21	are	be	AUX
ap-3037	161	22	nearby	nearby	ADJ
ap-3037	161	23	.	.	PUNCT
ap-3037	162	1	a	a	DET
ap-3037	162	2	solution	solution	NOUN
ap-3037	162	3	is	be	AUX
ap-3037	162	4	to	to	AUX
ap-3037	162	5	crg	crg	VERB
ap-3037	162	6	α	α	PRON
ap-3037	162	7	·	·	SYM
ap-3037	162	8	drg	drg	NOUN
ap-3037	162	9	+	+	CCONJ
ap-3037	162	10	(	(	PUNCT
ap-3037	162	11	1−	1−	NUM
ap-3037	162	12	α	α	NOUN
ap-3037	162	13	)	)	PUNCT
ap-3037	162	14	·	·	PUNCT
ap-3037	163	1	(	(	PUNCT
ap-3037	163	2	prf	prf	PROPN
ap-3037	163	3	|	|	ADV
ap-3037	163	4	0	0	NUM
ap-3037	163	5	)	)	PUNCT
ap-3037	163	6	α	α	NOUN
ap-3037	163	7	·	·	PUNCT
ap-3037	163	8	drg	drg	NOUN
ap-3037	163	9	+	+	CCONJ
ap-3037	163	10	(	(	PUNCT
ap-3037	163	11	1−	1−	NUM
ap-3037	163	12	α	α	NOUN
ap-3037	163	13	)	)	PUNCT
ap-3037	163	14	·	·	PUNCT
ap-3037	164	1	(	(	PUNCT
ap-3037	164	2	0	0	NUM
ap-3037	164	3	|	|	ADV
ap-3037	164	4	prh	prh	NOUN
ap-3037	164	5	)	)	PUNCT
ap-3037	165	1	p	p	NOUN
ap-3037	165	2	r	r	NOUN
ap-3037	165	3	g	g	NOUN
ap-3037	165	4	d	d	NOUN
ap-3037	165	5	r	r	NOUN
ap-3037	165	6	g	g	PROPN
ap-3037	165	7	α	α	PROPN
ap-3037	165	8	σ	σ	NOUN
ap-3037	165	9	figure	figure	NOUN
ap-3037	165	10	6	6	NUM
ap-3037	165	11	.	.	PUNCT
ap-3037	166	1	crg	crg	NOUN
ap-3037	166	2	according	accord	VERB
ap-3037	166	3	to	to	ADP
ap-3037	166	4	α	α	PROPN
ap-3037	166	5	and	and	CCONJ
ap-3037	166	6	σ	σ	PROPN
ap-3037	166	7	.	.	PUNCT
ap-3037	166	8	use	use	VERB
ap-3037	166	9	a	a	DET
ap-3037	166	10	planned	plan	VERB
ap-3037	166	11	distance	distance	NOUN
ap-3037	166	12	,	,	PUNCT
ap-3037	166	13	which	which	PRON
ap-3037	166	14	is	be	AUX
ap-3037	166	15	set	set	VERB
ap-3037	166	16	to	to	PART
ap-3037	166	17	infinity	infinity	VERB
ap-3037	166	18	when	when	SCONJ
ap-3037	166	19	a	a	DET
ap-3037	166	20	target	target	NOUN
ap-3037	166	21	is	be	AUX
ap-3037	166	22	momentarily	momentarily	ADV
ap-3037	166	23	unreachable	unreachable	ADJ
ap-3037	166	24	.	.	PUNCT
ap-3037	167	1	if	if	SCONJ
ap-3037	167	2	a	a	DET
ap-3037	167	3	robot	robot	NOUN
ap-3037	167	4	follows	follow	VERB
ap-3037	167	5	a	a	DET
ap-3037	167	6	pedestrian	pedestrian	NOUN
ap-3037	167	7	walking	walk	VERB
ap-3037	167	8	nearby	nearby	ADV
ap-3037	167	9	but	but	CCONJ
ap-3037	167	10	the	the	DET
ap-3037	167	11	person	person	NOUN
ap-3037	167	12	stops	stop	VERB
ap-3037	167	13	to	to	PART
ap-3037	167	14	discuss	discuss	VERB
ap-3037	167	15	with	with	ADP
ap-3037	167	16	other	other	ADJ
ap-3037	167	17	people	people	NOUN
ap-3037	167	18	:	:	PUNCT
ap-3037	167	19	the	the	DET
ap-3037	167	20	robot	robot	NOUN
ap-3037	167	21	can	can	AUX
ap-3037	167	22	not	not	PART
ap-3037	167	23	decide	decide	VERB
ap-3037	167	24	either	either	CCONJ
ap-3037	167	25	to	to	PART
ap-3037	167	26	maintain	maintain	VERB
ap-3037	167	27	or	or	CCONJ
ap-3037	167	28	stop	stop	VERB
ap-3037	167	29	the	the	DET
ap-3037	167	30	current	current	ADJ
ap-3037	167	31	interaction	interaction	NOUN
ap-3037	167	32	depending	depend	VERB
ap-3037	167	33	on	on	ADP
ap-3037	167	34	the	the	DET
ap-3037	167	35	human	human	ADJ
ap-3037	167	36	activity	activity	NOUN
ap-3037	167	37	.	.	PUNCT
ap-3037	168	1	due	due	ADP
ap-3037	168	2	to	to	ADP
ap-3037	168	3	distances	distance	NOUN
ap-3037	168	4	,	,	PUNCT
ap-3037	168	5	the	the	DET
ap-3037	168	6	robot	robot	NOUN
ap-3037	168	7	will	will	AUX
ap-3037	168	8	resume	resume	VERB
ap-3037	168	9	exploration	exploration	NOUN
ap-3037	168	10	only	only	ADV
ap-3037	168	11	if	if	SCONJ
ap-3037	168	12	one	one	NUM
ap-3037	168	13	person	person	NOUN
ap-3037	168	14	moves	move	VERB
ap-3037	168	15	again	again	ADV
ap-3037	168	16	.	.	PUNCT
ap-3037	169	1	this	this	PRON
ap-3037	169	2	also	also	ADV
ap-3037	169	3	causes	cause	VERB
ap-3037	169	4	a	a	DET
ap-3037	169	5	growing	grow	VERB
ap-3037	169	6	unease	unease	NOUN
ap-3037	169	7	for	for	ADP
ap-3037	169	8	the	the	DET
ap-3037	169	9	people	people	NOUN
ap-3037	169	10	.	.	PUNCT
ap-3037	170	1	a	a	DET
ap-3037	170	2	solution	solution	NOUN
ap-3037	170	3	is	be	AUX
ap-3037	170	4	to	to	PART
ap-3037	170	5	make	make	VERB
ap-3037	170	6	an	an	DET
ap-3037	170	7	a	a	DET
ap-3037	170	8	priori	priori	ADJ
ap-3037	170	9	evaluation	evaluation	NOUN
ap-3037	170	10	of	of	ADP
ap-3037	170	11	an	an	DET
ap-3037	170	12	interaction	interaction	NOUN
ap-3037	170	13	and	and	CCONJ
ap-3037	170	14	to	to	PART
ap-3037	170	15	update	update	VERB
ap-3037	170	16	the	the	DET
ap-3037	170	17	evaluation	evaluation	NOUN
ap-3037	170	18	of	of	ADP
ap-3037	170	19	the	the	DET
ap-3037	170	20	interaction	interaction	NOUN
ap-3037	170	21	a	a	DET
ap-3037	170	22	posteriori	posteriori	NOUN
ap-3037	170	23	,	,	PUNCT
ap-3037	170	24	while	while	SCONJ
ap-3037	170	25	it	it	PRON
ap-3037	170	26	is	be	AUX
ap-3037	170	27	taking	take	VERB
ap-3037	170	28	place	place	NOUN
ap-3037	170	29	.	.	PUNCT
ap-3037	171	1	4.2.2	4.2.2	X
ap-3037	171	2	.	.	X
ap-3037	171	3	penalty	penalty	NOUN
ap-3037	171	4	we	we	PRON
ap-3037	171	5	tackle	tackle	VERB
ap-3037	171	6	these	these	DET
ap-3037	171	7	two	two	NUM
ap-3037	171	8	drawbacks	drawback	NOUN
ap-3037	171	9	with	with	ADP
ap-3037	171	10	a	a	DET
ap-3037	171	11	heuristic	heuristic	NOUN
ap-3037	171	12	that	that	PRON
ap-3037	171	13	associates	associate	VERB
ap-3037	171	14	penalties	penalty	NOUN
ap-3037	171	15	to	to	ADP
ap-3037	171	16	each	each	DET
ap-3037	171	17	robot	robot	NOUN
ap-3037	171	18	-	-	PUNCT
ap-3037	171	19	frontier	frontier	NOUN
ap-3037	171	20	/	/	SYM
ap-3037	171	21	human	human	ADJ
ap-3037	171	22	pair	pair	NOUN
ap-3037	171	23	(	(	PUNCT
ap-3037	171	24	fig	fig	NOUN
ap-3037	171	25	.	.	PUNCT
ap-3037	172	1	5b	5b	NUM
ap-3037	172	2	)	)	PUNCT
ap-3037	172	3	.	.	PUNCT
ap-3037	173	1	a	a	DET
ap-3037	173	2	penalty	penalty	NOUN
ap-3037	173	3	prixj	prixj	NOUN
ap-3037	173	4	is	be	AUX
ap-3037	173	5	defined	define	VERB
ap-3037	173	6	as	as	ADP
ap-3037	173	7	the	the	DET
ap-3037	173	8	sum	sum	NOUN
ap-3037	173	9	of	of	ADP
ap-3037	173	10	a	a	DET
ap-3037	173	11	time	time	NOUN
ap-3037	173	12	penalty	penalty	NOUN
ap-3037	173	13	and	and	CCONJ
ap-3037	173	14	an	an	DET
ap-3037	173	15	orientation	orientation	NOUN
ap-3037	173	16	penalty	penalty	NOUN
ap-3037	173	17	.	.	PUNCT
ap-3037	174	1	the	the	DET
ap-3037	174	2	time	time	NOUN
ap-3037	174	3	penalty	penalty	PROPN
ap-3037	174	4	trixj	trixj	PROPN
ap-3037	174	5	is	be	AUX
ap-3037	174	6	the	the	DET
ap-3037	174	7	time	time	NOUN
ap-3037	174	8	elapsed	elapse	VERB
ap-3037	174	9	since	since	SCONJ
ap-3037	174	10	a	a	DET
ap-3037	174	11	frontier	frontier	NOUN
ap-3037	174	12	discovery	discovery	NOUN
ap-3037	174	13	or	or	CCONJ
ap-3037	174	14	a	a	DET
ap-3037	174	15	human	human	NOUN
ap-3037	174	16	remains	remain	NOUN
ap-3037	174	17	idle	idle	ADJ
ap-3037	174	18	.	.	PUNCT
ap-3037	175	1	the	the	DET
ap-3037	175	2	orientation	orientation	NOUN
ap-3037	175	3	penalty	penalty	NOUN
ap-3037	175	4	orixj	orixj	NOUN
ap-3037	175	5	is	be	AUX
ap-3037	175	6	the	the	DET
ap-3037	175	7	smallest	small	ADJ
ap-3037	175	8	unsigned	unsigned	ADJ
ap-3037	175	9	angle	angle	NOUN
ap-3037	175	10	between	between	ADP
ap-3037	175	11	the	the	DET
ap-3037	175	12	orientation	orientation	NOUN
ap-3037	175	13	of	of	ADP
ap-3037	175	14	a	a	DET
ap-3037	175	15	robot	robot	NOUN
ap-3037	175	16	and	and	CCONJ
ap-3037	175	17	the	the	DET
ap-3037	175	18	orientation	orientation	NOUN
ap-3037	175	19	of	of	ADP
ap-3037	175	20	a	a	DET
ap-3037	175	21	frontier	frontier	NOUN
ap-3037	175	22	/	/	SYM
ap-3037	175	23	human	human	NOUN
ap-3037	175	24	(	(	PUNCT
ap-3037	175	25	a	a	DET
ap-3037	175	26	frontier	frontier	NOUN
ap-3037	175	27	is	be	AUX
ap-3037	175	28	oriented	orient	VERB
ap-3037	175	29	towards	towards	ADP
ap-3037	175	30	the	the	DET
ap-3037	175	31	unknown	unknown	ADJ
ap-3037	175	32	)	)	PUNCT
ap-3037	175	33	.	.	PUNCT
ap-3037	176	1	thus	thus	ADV
ap-3037	176	2	,	,	PUNCT
ap-3037	176	3	we	we	PRON
ap-3037	176	4	define	define	VERB
ap-3037	176	5	prg	prg	PROPN
ap-3037	176	6	with	with	ADP
ap-3037	176	7	normalised	normalise	VERB
ap-3037	176	8	robot	robot	NOUN
ap-3037	176	9	-	-	PUNCT
ap-3037	176	10	frontier	frontier	NOUN
ap-3037	176	11	and	and	CCONJ
ap-3037	176	12	robot	robot	NOUN
ap-3037	176	13	-	-	PUNCT
ap-3037	176	14	human	human	ADJ
ap-3037	176	15	penalties	penalty	NOUN
ap-3037	176	16	(	(	PUNCT
ap-3037	176	17	prf	prf	PROPN
ap-3037	176	18	,	,	PUNCT
ap-3037	176	19	prh	prh	NOUN
ap-3037	176	20	)	)	PUNCT
ap-3037	176	21	in	in	ADP
ap-3037	176	22	(	(	PUNCT
ap-3037	176	23	7	7	NUM
ap-3037	176	24	)	)	PUNCT
ap-3037	176	25	.	.	PUNCT
ap-3037	177	1	prg	prg	PROPN
ap-3037	177	2	=	=	PRON
ap-3037	177	3	(	(	PUNCT
ap-3037	177	4	σ	σ	PROPN
ap-3037	177	5	·	·	PUNCT
ap-3037	177	6	prf	prf	X
ap-3037	177	7	∣∣	∣∣	NUM
ap-3037	177	8	(	(	PUNCT
ap-3037	177	9	1−	1−	NUM
ap-3037	177	10	σ	σ	NUM
ap-3037	177	11	)	)	PUNCT
ap-3037	177	12	·	·	PUNCT
ap-3037	177	13	prh	prh	NOUN
ap-3037	177	14	)	)	PUNCT
ap-3037	177	15	,	,	PUNCT
ap-3037	177	16	σ	σ	PROPN
ap-3037	177	17	∈	∈	PROPN
ap-3037	178	1	[	[	X
ap-3037	178	2	0	0	NUM
ap-3037	178	3	,	,	PUNCT
ap-3037	178	4	1	1	NUM
ap-3037	178	5	]	]	PUNCT
ap-3037	178	6	,	,	PUNCT
ap-3037	178	7	prx	prx	PROPN
ap-3037	178	8	=	=	PROPN
ap-3037	178	9	pr1x1	pr1x1	PROPN
ap-3037	178	10	pr1x|x|	pr1x|x|	X
ap-3037	178	11	prnx1	prnx1	X
ap-3037	178	12	prnx|x|	prnx|x|	X
ap-3037	179	1			NUM
ap-3037	179	2			NOUN
ap-3037	179	3	,	,	PUNCT
ap-3037	179	4	prixj	prixj	NOUN
ap-3037	179	5	=	=	SYM
ap-3037	179	6	trixj	trixj	PROPN
ap-3037	179	7	+	+	CCONJ
ap-3037	179	8	orixj	orixj	PROPN
ap-3037	179	9	.	.	PUNCT
ap-3037	180	1	(	(	PUNCT
ap-3037	180	2	7	7	X
ap-3037	180	3	)	)	PUNCT
ap-3037	180	4	parameter	parameter	NOUN
ap-3037	180	5	σ	σ	PROPN
ap-3037	180	6	sets	set	VERB
ap-3037	180	7	more	more	ADJ
ap-3037	180	8	or	or	CCONJ
ap-3037	180	9	less	less	ADJ
ap-3037	180	10	weight	weight	NOUN
ap-3037	180	11	on	on	ADP
ap-3037	180	12	the	the	DET
ap-3037	180	13	frontier	frontier	NOUN
ap-3037	180	14	penalties	penalty	NOUN
ap-3037	180	15	or	or	CCONJ
ap-3037	180	16	on	on	ADP
ap-3037	180	17	the	the	DET
ap-3037	180	18	interaction	interaction	NOUN
ap-3037	180	19	penalties	penalty	NOUN
ap-3037	180	20	.	.	PUNCT
ap-3037	181	1	when	when	SCONJ
ap-3037	181	2	this	this	DET
ap-3037	181	3	parameter	parameter	NOUN
ap-3037	181	4	is	be	AUX
ap-3037	181	5	high	high	ADJ
ap-3037	181	6	,	,	PUNCT
ap-3037	181	7	it	it	PRON
ap-3037	181	8	increases	increase	VERB
ap-3037	181	9	the	the	DET
ap-3037	181	10	frontier	frontier	NOUN
ap-3037	181	11	costs	cost	NOUN
ap-3037	181	12	and	and	CCONJ
ap-3037	181	13	decreases	decrease	VERB
ap-3037	181	14	the	the	DET
ap-3037	181	15	interaction	interaction	NOUN
ap-3037	181	16	costs	cost	NOUN
ap-3037	181	17	.	.	PUNCT
ap-3037	182	1	this	this	DET
ap-3037	182	2	results	result	VERB
ap-3037	182	3	in	in	ADP
ap-3037	182	4	favouring	favour	VERB
ap-3037	182	5	interactions	interaction	NOUN
ap-3037	182	6	over	over	ADP
ap-3037	182	7	frontiers	frontier	NOUN
ap-3037	182	8	.	.	PUNCT
ap-3037	183	1	4.2.3	4.2.3	X
ap-3037	183	2	.	.	PUNCT
ap-3037	184	1	distance	distance	NOUN
ap-3037	184	2	and	and	CCONJ
ap-3037	184	3	penalty	penalty	VERB
ap-3037	184	4	the	the	DET
ap-3037	184	5	mixed	mixed	ADJ
ap-3037	184	6	cost	cost	NOUN
ap-3037	184	7	matrix	matrix	NOUN
ap-3037	184	8	crg	crg	NOUN
ap-3037	184	9	which	which	PRON
ap-3037	184	10	incorporates	incorporate	VERB
ap-3037	184	11	distances	distance	NOUN
ap-3037	184	12	drg	drg	NOUN
ap-3037	184	13	and	and	CCONJ
ap-3037	184	14	penalties	penalty	NOUN
ap-3037	184	15	prg	prg	PROPN
ap-3037	184	16	is	be	AUX
ap-3037	184	17	represented	represent	VERB
ap-3037	184	18	in	in	ADP
ap-3037	184	19	(	(	PUNCT
ap-3037	184	20	8)	8)	NUM
ap-3037	184	21	.	.	PUNCT
ap-3037	185	1	crg	crg	NOUN
ap-3037	185	2	=	=	PUNCT
ap-3037	185	3	α	α	NOUN
ap-3037	185	4	·	·	PUNCT
ap-3037	185	5	drg	drg	NOUN
ap-3037	185	6	+	+	CCONJ
ap-3037	185	7	(	(	PUNCT
ap-3037	185	8	1−	1−	NUM
ap-3037	185	9	α	α	NOUN
ap-3037	185	10	)	)	PUNCT
ap-3037	185	11	·	·	PUNCT
ap-3037	185	12	prg	prg	PROPN
ap-3037	185	13	,	,	PUNCT
ap-3037	185	14	α	α	NOUN
ap-3037	185	15	∈	∈	PROPN
ap-3037	186	1	[	[	X
ap-3037	186	2	0	0	NUM
ap-3037	186	3	,	,	PUNCT
ap-3037	186	4	1	1	NUM
ap-3037	186	5	]	]	PUNCT
ap-3037	186	6	.	.	PUNCT
ap-3037	187	1	(	(	PUNCT
ap-3037	187	2	8)	8)	NUM
ap-3037	187	3	157	157	NUM
ap-3037	187	4	n.	n.	NOUN
ap-3037	187	5	kalde	kalde	PROPN
ap-3037	187	6	,	,	PUNCT
ap-3037	187	7	o.	o.	PROPN
ap-3037	187	8	simonin	simonin	PROPN
ap-3037	187	9	,	,	PUNCT
ap-3037	187	10	f.	f.	PROPN
ap-3037	187	11	charpillet	charpillet	PROPN
ap-3037	187	12	acta	acta	PROPN
ap-3037	187	13	polytechnica	polytechnica	PROPN
ap-3037	187	14	(	(	PUNCT
ap-3037	187	15	a	a	X
ap-3037	187	16	)	)	PUNCT
ap-3037	187	17	empty	empty	ADJ
ap-3037	187	18	(	(	PUNCT
ap-3037	187	19	100m2	100m2	NUM
ap-3037	187	20	)	)	PUNCT
ap-3037	187	21	(	(	PUNCT
ap-3037	187	22	b	b	X
ap-3037	187	23	)	)	PUNCT
ap-3037	187	24	cave	cave	NOUN
ap-3037	187	25	(	(	PUNCT
ap-3037	187	26	144m2	144m2	NUM
ap-3037	187	27	)	)	PUNCT
ap-3037	187	28	(	(	PUNCT
ap-3037	187	29	c	c	NOUN
ap-3037	187	30	)	)	PUNCT
ap-3037	187	31	structured	structured	ADJ
ap-3037	187	32	(	(	PUNCT
ap-3037	187	33	242m2	242m2	NUM
ap-3037	187	34	)	)	PUNCT
ap-3037	187	35	figure	figure	NOUN
ap-3037	187	36	7	7	NUM
ap-3037	187	37	.	.	PUNCT
ap-3037	187	38	environments	environment	NOUN
ap-3037	187	39	.	.	PUNCT
ap-3037	188	1	0.9	0.9	NUM
ap-3037	188	2	1	1	NUM
ap-3037	188	3	1.1	1.1	NUM
ap-3037	188	4	1.2	1.2	NUM
ap-3037	188	5	e	e	NOUN
ap-3037	188	6	m	m	PROPN
ap-3037	188	7	p	p	NOUN
ap-3037	188	8	ty	ty	NUM
ap-3037	188	9	coverage	coverage	NOUN
ap-3037	188	10	(	(	PUNCT
ap-3037	188	11	%	%	NOUN
ap-3037	188	12	)	)	PUNCT
ap-3037	188	13	25	25	NUM
ap-3037	188	14	30	30	NUM
ap-3037	188	15	35	35	NUM
ap-3037	188	16	40	40	NUM
ap-3037	188	17	45	45	NUM
ap-3037	188	18	distance	distance	NOUN
ap-3037	188	19	(	(	PUNCT
ap-3037	188	20	m	m	NOUN
ap-3037	188	21	)	)	PUNCT
ap-3037	188	22	50	50	NUM
ap-3037	188	23	60	60	NUM
ap-3037	188	24	70	70	NUM
ap-3037	188	25	80	80	NUM
ap-3037	188	26	90	90	NUM
ap-3037	188	27	time	time	NOUN
ap-3037	188	28	(	(	PUNCT
ap-3037	188	29	s	s	NOUN
ap-3037	188	30	)	)	PUNCT
ap-3037	188	31	0.82	0.82	NUM
ap-3037	188	32	0.84	0.84	NUM
ap-3037	188	33	0.86	0.86	NUM
ap-3037	188	34	0.88	0.88	NUM
ap-3037	188	35	0.9	0.9	NUM
ap-3037	188	36	0.92	0.92	NUM
ap-3037	188	37	u	u	PROPN
ap-3037	188	38	n	n	PROPN
ap-3037	188	39	st	st	PROPN
ap-3037	189	1	ru	ru	PROPN
ap-3037	189	2	c	c	PROPN
ap-3037	189	3	tu	tu	PROPN
ap-3037	189	4	re	re	PROPN
ap-3037	189	5	d	d	PROPN
ap-3037	189	6	40	40	NUM
ap-3037	189	7	60	60	NUM
ap-3037	189	8	80	80	NUM
ap-3037	189	9	100	100	NUM
ap-3037	189	10	120	120	NUM
ap-3037	189	11	140	140	NUM
ap-3037	189	12	100	100	NUM
ap-3037	189	13	150	150	NUM
ap-3037	189	14	200	200	NUM
ap-3037	189	15	250	250	NUM
ap-3037	189	16	0	0	NUM
ap-3037	189	17	0.25	0.25	NUM
ap-3037	189	18	0.5	0.5	NUM
ap-3037	189	19	0.75	0.75	NUM
ap-3037	189	20	1	1	NUM
ap-3037	189	21	0.6	0.6	NUM
ap-3037	189	22	0.65	0.65	NUM
ap-3037	189	23	0.7	0.7	NUM
ap-3037	189	24	0.75	0.75	NUM
ap-3037	189	25	0.8	0.8	NUM
ap-3037	189	26	α	α	PROPN
ap-3037	189	27	st	st	PROPN
ap-3037	189	28	ru	ru	PROPN
ap-3037	189	29	c	c	PROPN
ap-3037	189	30	tu	tu	PROPN
ap-3037	189	31	re	re	PROPN
ap-3037	189	32	d	d	PROPN
ap-3037	189	33	0	0	NUM
ap-3037	189	34	0.25	0.25	NUM
ap-3037	189	35	0.5	0.5	NUM
ap-3037	189	36	0.75	0.75	NUM
ap-3037	189	37	1	1	NUM
ap-3037	189	38	60	60	NUM
ap-3037	189	39	80	80	NUM
ap-3037	189	40	100	100	NUM
ap-3037	189	41	120	120	NUM
ap-3037	189	42	α	α	NOUN
ap-3037	189	43	0	0	NUM
ap-3037	189	44	0.25	0.25	NUM
ap-3037	189	45	0.5	0.5	NUM
ap-3037	189	46	0.75	0.75	NUM
ap-3037	189	47	1	1	NUM
ap-3037	189	48	100	100	NUM
ap-3037	189	49	150	150	NUM
ap-3037	189	50	200	200	NUM
ap-3037	189	51	α	α	PRON
ap-3037	189	52	figure	figure	NOUN
ap-3037	189	53	8	8	NUM
ap-3037	189	54	.	.	PUNCT
ap-3037	190	1	local	local	ADJ
ap-3037	190	2	greedy	greedy	ADJ
ap-3037	190	3	not	not	PART
ap-3037	190	4	dense	dense	ADJ
ap-3037	190	5	:	:	PUNCT
ap-3037	190	6	empty	empty	ADJ
ap-3037	190	7	(	(	PUNCT
ap-3037	190	8	top	top	NOUN
ap-3037	190	9	)	)	PUNCT
ap-3037	190	10	;	;	PUNCT
ap-3037	191	1	unstructured	unstructured	ADJ
ap-3037	191	2	(	(	PUNCT
ap-3037	191	3	middle	middle	NOUN
ap-3037	191	4	)	)	PUNCT
ap-3037	191	5	;	;	PUNCT
ap-3037	191	6	structured	structure	VERB
ap-3037	191	7	(	(	PUNCT
ap-3037	191	8	bottom	bottom	NOUN
ap-3037	191	9	)	)	PUNCT
ap-3037	191	10	.	.	PUNCT
ap-3037	192	1	parameter	parameter	PROPN
ap-3037	192	2	α	α	PRON
ap-3037	192	3	modulates	modulate	VERB
ap-3037	192	4	the	the	DET
ap-3037	192	5	immediate	immediate	ADJ
ap-3037	192	6	distance	distance	NOUN
ap-3037	192	7	cost	cost	NOUN
ap-3037	192	8	and	and	CCONJ
ap-3037	192	9	the	the	DET
ap-3037	192	10	information	information	NOUN
ap-3037	192	11	coming	come	VERB
ap-3037	192	12	from	from	ADP
ap-3037	192	13	the	the	DET
ap-3037	192	14	penalty	penalty	NOUN
ap-3037	192	15	heuristic	heuristic	NOUN
ap-3037	192	16	.	.	PUNCT
ap-3037	193	1	when	when	SCONJ
ap-3037	193	2	α	α	NOUN
ap-3037	193	3	is	be	AUX
ap-3037	193	4	high	high	ADJ
ap-3037	193	5	(	(	PUNCT
ap-3037	193	6	resp	resp	NOUN
ap-3037	193	7	.	.	PUNCT
ap-3037	194	1	low	low	ADJ
ap-3037	194	2	)	)	PUNCT
ap-3037	194	3	,	,	PUNCT
ap-3037	194	4	the	the	DET
ap-3037	194	5	importance	importance	NOUN
ap-3037	194	6	of	of	ADP
ap-3037	194	7	the	the	DET
ap-3037	194	8	penalties	penalty	NOUN
ap-3037	194	9	is	be	AUX
ap-3037	194	10	reduced	reduce	VERB
ap-3037	194	11	(	(	PUNCT
ap-3037	194	12	resp	resp	NOUN
ap-3037	194	13	.	.	PUNCT
ap-3037	195	1	increased	increase	VERB
ap-3037	195	2	)	)	PUNCT
ap-3037	195	3	.	.	PUNCT
ap-3037	196	1	distances	distance	NOUN
ap-3037	196	2	and	and	CCONJ
ap-3037	196	3	penalties	penalty	NOUN
ap-3037	196	4	are	be	AUX
ap-3037	196	5	counterbalanced	counterbalance	VERB
ap-3037	196	6	with	with	ADP
ap-3037	196	7	α	α	NOUN
ap-3037	196	8	,	,	PUNCT
ap-3037	196	9	while	while	SCONJ
ap-3037	196	10	σ	σ	NOUN
ap-3037	196	11	sets	set	VERB
ap-3037	196	12	more	more	ADV
ap-3037	196	13	or	or	CCONJ
ap-3037	196	14	less	less	ADJ
ap-3037	196	15	focus	focus	NOUN
ap-3037	196	16	on	on	ADP
ap-3037	196	17	frontiers	frontier	NOUN
ap-3037	196	18	or	or	CCONJ
ap-3037	196	19	on	on	ADP
ap-3037	196	20	interactions	interaction	NOUN
ap-3037	196	21	.	.	PUNCT
ap-3037	197	1	we	we	PRON
ap-3037	197	2	present	present	VERB
ap-3037	197	3	the	the	DET
ap-3037	197	4	influence	influence	NOUN
ap-3037	197	5	of	of	ADP
ap-3037	197	6	α	α	PROPN
ap-3037	197	7	and	and	CCONJ
ap-3037	197	8	σ	σ	NOUN
ap-3037	197	9	on	on	ADP
ap-3037	197	10	the	the	DET
ap-3037	197	11	cost	cost	NOUN
ap-3037	197	12	formula	formula	NOUN
ap-3037	197	13	in	in	ADP
ap-3037	197	14	(	(	PUNCT
ap-3037	197	15	fig	fig	NOUN
ap-3037	197	16	.	.	PUNCT
ap-3037	197	17	6	6	NUM
ap-3037	197	18	)	)	PUNCT
ap-3037	197	19	.	.	PUNCT
ap-3037	198	1	the	the	DET
ap-3037	198	2	values	value	NOUN
ap-3037	198	3	range	range	VERB
ap-3037	198	4	from	from	ADP
ap-3037	198	5	0	0	NUM
ap-3037	198	6	to	to	ADP
ap-3037	198	7	1	1	NUM
ap-3037	198	8	for	for	ADP
ap-3037	198	9	each	each	DET
ap-3037	198	10	parameter	parameter	NOUN
ap-3037	198	11	and	and	CCONJ
ap-3037	198	12	the	the	DET
ap-3037	198	13	formula	formula	NOUN
ap-3037	198	14	written	write	VERB
ap-3037	198	15	on	on	ADP
ap-3037	198	16	each	each	DET
ap-3037	198	17	side	side	NOUN
ap-3037	198	18	is	be	AUX
ap-3037	198	19	obtained	obtain	VERB
ap-3037	198	20	when	when	SCONJ
ap-3037	198	21	one	one	NUM
ap-3037	198	22	parameter	parameter	NOUN
ap-3037	198	23	is	be	AUX
ap-3037	198	24	set	set	VERB
ap-3037	198	25	to	to	ADP
ap-3037	198	26	its	its	PRON
ap-3037	198	27	extreme	extreme	ADJ
ap-3037	198	28	value	value	NOUN
ap-3037	198	29	.	.	PUNCT
ap-3037	199	1	we	we	PRON
ap-3037	199	2	have	have	AUX
ap-3037	199	3	adopted	adopt	VERB
ap-3037	199	4	a	a	DET
ap-3037	199	5	mixed	mixed	ADJ
ap-3037	199	6	approach	approach	NOUN
ap-3037	199	7	,	,	PUNCT
ap-3037	199	8	and	and	CCONJ
ap-3037	199	9	have	have	AUX
ap-3037	199	10	defined	define	VERB
ap-3037	199	11	a	a	DET
ap-3037	199	12	parametric	parametric	ADJ
ap-3037	199	13	cost	cost	NOUN
ap-3037	199	14	matrix	matrix	NOUN
ap-3037	199	15	based	base	VERB
ap-3037	199	16	on	on	ADP
ap-3037	199	17	a	a	DET
ap-3037	199	18	penalty	penalty	NOUN
ap-3037	199	19	heuristic	heuristic	NOUN
ap-3037	199	20	.	.	PUNCT
ap-3037	200	1	now	now	ADV
ap-3037	200	2	,	,	PUNCT
ap-3037	200	3	we	we	PRON
ap-3037	200	4	evaluate	evaluate	VERB
ap-3037	200	5	the	the	DET
ap-3037	200	6	exploration	exploration	NOUN
ap-3037	200	7	performance	performance	NOUN
ap-3037	200	8	of	of	ADP
ap-3037	200	9	this	this	DET
ap-3037	200	10	heuristic	heuristic	NOUN
ap-3037	200	11	for	for	ADP
ap-3037	200	12	two	two	NUM
ap-3037	200	13	greedy	greedy	ADJ
ap-3037	200	14	optimisation	optimisation	NOUN
ap-3037	200	15	methods	method	NOUN
ap-3037	200	16	,	,	PUNCT
ap-3037	200	17	assuming	assume	VERB
ap-3037	200	18	different	different	ADJ
ap-3037	200	19	values	value	NOUN
ap-3037	200	20	of	of	ADP
ap-3037	200	21	α	α	PROPN
ap-3037	200	22	and	and	CCONJ
ap-3037	200	23	σ	σ	PROPN
ap-3037	200	24	.	.	PROPN
ap-3037	200	25	5	5	NUM
ap-3037	200	26	.	.	PUNCT
ap-3037	200	27	experimental	experimental	ADJ
ap-3037	200	28	framework	framework	NOUN
ap-3037	200	29	we	we	PRON
ap-3037	200	30	use	use	VERB
ap-3037	200	31	the	the	DET
ap-3037	200	32	v	v	NOUN
ap-3037	200	33	-	-	PUNCT
ap-3037	200	34	rep	rep	NOUN
ap-3037	200	35	robotic	robotic	ADJ
ap-3037	200	36	simulator	simulator	NOUN
ap-3037	200	37	for	for	ADP
ap-3037	200	38	our	our	PRON
ap-3037	200	39	experiments	experiment	NOUN
ap-3037	200	40	[	[	X
ap-3037	200	41	19	19	NUM
ap-3037	200	42	]	]	PUNCT
ap-3037	200	43	.	.	PUNCT
ap-3037	201	1	the	the	DET
ap-3037	201	2	environment	environment	NOUN
ap-3037	201	3	is	be	AUX
ap-3037	201	4	discretised	discretise	VERB
ap-3037	201	5	with	with	ADP
ap-3037	201	6	0.5	0.5	NUM
ap-3037	201	7	m	m	PROPN
ap-3037	201	8	square	square	ADJ
ap-3037	201	9	cells	cell	NOUN
ap-3037	201	10	.	.	PUNCT
ap-3037	202	1	the	the	DET
ap-3037	202	2	robots	robot	NOUN
ap-3037	202	3	share	share	VERB
ap-3037	202	4	their	their	PRON
ap-3037	202	5	exploration	exploration	NOUN
ap-3037	202	6	map	map	NOUN
ap-3037	202	7	,	,	PUNCT
ap-3037	202	8	so	so	SCONJ
ap-3037	202	9	the	the	DET
ap-3037	202	10	frontiers	frontier	NOUN
ap-3037	202	11	that	that	PRON
ap-3037	202	12	are	be	AUX
ap-3037	202	13	discovered	discover	VERB
ap-3037	202	14	are	be	AUX
ap-3037	202	15	known	know	VERB
ap-3037	202	16	by	by	ADP
ap-3037	202	17	every	every	DET
ap-3037	202	18	robot	robot	NOUN
ap-3037	202	19	.	.	PUNCT
ap-3037	203	1	contiguous	contiguous	ADJ
ap-3037	203	2	frontier	frontier	NOUN
ap-3037	203	3	cells	cell	NOUN
ap-3037	203	4	are	be	AUX
ap-3037	203	5	grouped	group	VERB
ap-3037	203	6	together	together	ADV
ap-3037	203	7	into	into	ADP
ap-3037	203	8	a	a	DET
ap-3037	203	9	frontier	frontier	NOUN
ap-3037	203	10	area	area	NOUN
ap-3037	203	11	.	.	PUNCT
ap-3037	204	1	inside	inside	ADP
ap-3037	204	2	a	a	DET
ap-3037	204	3	frontier	frontier	NOUN
ap-3037	204	4	area	area	NOUN
ap-3037	204	5	,	,	PUNCT
ap-3037	204	6	the	the	DET
ap-3037	204	7	targeted	target	VERB
ap-3037	204	8	cell	cell	NOUN
ap-3037	204	9	minimises	minimise	NOUN
ap-3037	204	10	the	the	DET
ap-3037	204	11	sum	sum	NOUN
ap-3037	204	12	of	of	ADP
ap-3037	204	13	distances	distance	NOUN
ap-3037	204	14	to	to	ADP
ap-3037	204	15	the	the	DET
ap-3037	204	16	other	other	ADJ
ap-3037	204	17	cells	cell	NOUN
ap-3037	204	18	.	.	PUNCT
ap-3037	205	1	assignments	assignment	NOUN
ap-3037	205	2	are	be	AUX
ap-3037	205	3	locally	locally	ADV
ap-3037	205	4	computed	compute	VERB
ap-3037	205	5	by	by	ADP
ap-3037	205	6	each	each	DET
ap-3037	205	7	robot	robot	NOUN
ap-3037	205	8	.	.	PUNCT
ap-3037	206	1	to	to	PART
ap-3037	206	2	optimise	optimise	VERB
ap-3037	206	3	its	its	PRON
ap-3037	206	4	assignment	assignment	NOUN
ap-3037	206	5	,	,	PUNCT
ap-3037	206	6	it	it	PRON
ap-3037	206	7	takes	take	VERB
ap-3037	206	8	into	into	ADP
ap-3037	206	9	account	account	NOUN
ap-3037	206	10	the	the	DET
ap-3037	206	11	entire	entire	ADJ
ap-3037	206	12	set	set	NOUN
ap-3037	206	13	of	of	ADP
ap-3037	206	14	frontiers	frontier	NOUN
ap-3037	206	15	known	know	VERB
ap-3037	206	16	until	until	ADP
ap-3037	206	17	now	now	ADV
ap-3037	206	18	,	,	PUNCT
ap-3037	206	19	but	but	CCONJ
ap-3037	206	20	only	only	ADV
ap-3037	206	21	the	the	DET
ap-3037	206	22	robots	robot	NOUN
ap-3037	206	23	and	and	CCONJ
ap-3037	206	24	pedestrians	pedestrian	NOUN
ap-3037	206	25	perceived	perceive	VERB
ap-3037	206	26	locally	locally	ADV
ap-3037	206	27	(	(	PUNCT
ap-3037	206	28	within	within	ADP
ap-3037	206	29	a	a	DET
ap-3037	206	30	2	2	NUM
ap-3037	206	31	m	m	NOUN
ap-3037	206	32	radius	radius	NOUN
ap-3037	206	33	)	)	PUNCT
ap-3037	206	34	.	.	PUNCT
ap-3037	207	1	planning	planning	NOUN
ap-3037	207	2	is	be	AUX
ap-3037	207	3	done	do	VERB
ap-3037	207	4	using	use	VERB
ap-3037	207	5	a	a	DET
ap-3037	207	6	potential	potential	ADJ
ap-3037	207	7	field	field	NOUN
ap-3037	207	8	propagated	propagate	VERB
ap-3037	207	9	on	on	ADP
ap-3037	207	10	the	the	DET
ap-3037	207	11	grid	grid	NOUN
ap-3037	207	12	.	.	PUNCT
ap-3037	208	1	5.1	5.1	NUM
ap-3037	208	2	.	.	PUNCT
ap-3037	209	1	protocol	protocol	VERB
ap-3037	209	2	the	the	DET
ap-3037	209	3	parameters	parameter	NOUN
ap-3037	209	4	are	be	AUX
ap-3037	209	5	as	as	SCONJ
ap-3037	209	6	follows	follow	VERB
ap-3037	209	7	:	:	PUNCT
ap-3037	209	8	•	•	NUM
ap-3037	209	9	map	map	NOUN
ap-3037	209	10	:	:	PUNCT
ap-3037	209	11	three	three	NUM
ap-3037	209	12	environments	environment	NOUN
ap-3037	209	13	are	be	AUX
ap-3037	209	14	considered	consider	VERB
ap-3037	209	15	.	.	PUNCT
ap-3037	210	1	the	the	DET
ap-3037	210	2	first	first	ADJ
ap-3037	210	3	contains	contain	VERB
ap-3037	210	4	no	no	DET
ap-3037	210	5	obstacle	obstacle	NOUN
ap-3037	210	6	(	(	PUNCT
ap-3037	210	7	empty	empty	ADJ
ap-3037	210	8	)	)	PUNCT
ap-3037	210	9	,	,	PUNCT
ap-3037	210	10	the	the	DET
ap-3037	210	11	second	second	NOUN
ap-3037	210	12	has	have	AUX
ap-3037	210	13	unstructured	unstructure	VERB
ap-3037	210	14	obstacles	obstacle	NOUN
ap-3037	210	15	(	(	PUNCT
ap-3037	210	16	unstructured	unstructured	ADJ
ap-3037	210	17	)	)	PUNCT
ap-3037	210	18	and	and	CCONJ
ap-3037	210	19	the	the	DET
ap-3037	210	20	third	third	ADJ
ap-3037	210	21	environment	environment	NOUN
ap-3037	210	22	is	be	AUX
ap-3037	210	23	composed	compose	VERB
ap-3037	210	24	of	of	ADP
ap-3037	210	25	a	a	DET
ap-3037	210	26	corridor	corridor	NOUN
ap-3037	210	27	and	and	CCONJ
ap-3037	210	28	three	three	NUM
ap-3037	210	29	rooms	room	NOUN
ap-3037	210	30	(	(	PUNCT
ap-3037	210	31	structured	structure	VERB
ap-3037	210	32	)	)	PUNCT
ap-3037	210	33	.	.	PUNCT
ap-3037	211	1	maps	map	NOUN
ap-3037	211	2	are	be	AUX
ap-3037	211	3	shown	show	VERB
ap-3037	211	4	in	in	ADP
ap-3037	211	5	(	(	PUNCT
ap-3037	211	6	fig	fig	NOUN
ap-3037	211	7	.	.	PUNCT
ap-3037	212	1	7	7	NUM
ap-3037	212	2	)	)	PUNCT
ap-3037	212	3	.	.	PUNCT
ap-3037	213	1	158	158	NUM
ap-3037	213	2	vol	vol	NOUN
ap-3037	213	3	.	.	PUNCT
ap-3037	214	1	55	55	NUM
ap-3037	214	2	no	no	NOUN
ap-3037	214	3	.	.	PUNCT
ap-3037	215	1	3/2015	3/2015	NUM
ap-3037	215	2	comparison	comparison	NOUN
ap-3037	215	3	of	of	ADP
ap-3037	215	4	classical	classical	ADJ
ap-3037	215	5	and	and	CCONJ
ap-3037	215	6	interactive	interactive	ADJ
ap-3037	215	7	multi	multi	ADJ
ap-3037	215	8	-	-	ADJ
ap-3037	215	9	robot	robot	ADJ
ap-3037	215	10	exploration	exploration	NOUN
ap-3037	215	11	0.9	0.9	NUM
ap-3037	215	12	1	1	NUM
ap-3037	215	13	1.1	1.1	NUM
ap-3037	215	14	1.2	1.2	NUM
ap-3037	215	15	e	e	NOUN
ap-3037	215	16	m	m	PROPN
ap-3037	215	17	p	p	NOUN
ap-3037	215	18	ty	ty	NUM
ap-3037	215	19	coverage	coverage	NOUN
ap-3037	215	20	(	(	PUNCT
ap-3037	215	21	%	%	NOUN
ap-3037	215	22	)	)	PUNCT
ap-3037	215	23	24	24	NUM
ap-3037	215	24	26	26	NUM
ap-3037	215	25	28	28	NUM
ap-3037	215	26	30	30	NUM
ap-3037	215	27	32	32	NUM
ap-3037	215	28	34	34	NUM
ap-3037	215	29	distance	distance	NOUN
ap-3037	215	30	(	(	PUNCT
ap-3037	215	31	m	m	NOUN
ap-3037	215	32	)	)	PUNCT
ap-3037	215	33	50	50	NUM
ap-3037	215	34	55	55	NUM
ap-3037	215	35	60	60	NUM
ap-3037	215	36	65	65	NUM
ap-3037	215	37	70	70	NUM
ap-3037	215	38	time	time	NOUN
ap-3037	215	39	(	(	PUNCT
ap-3037	215	40	s	s	NOUN
ap-3037	215	41	)	)	PUNCT
ap-3037	215	42	0.8	0.8	NUM
ap-3037	215	43	0.9	0.9	NUM
ap-3037	215	44	1	1	NUM
ap-3037	215	45	u	u	PROPN
ap-3037	215	46	n	n	PROPN
ap-3037	215	47	st	st	PROPN
ap-3037	216	1	ru	ru	PROPN
ap-3037	216	2	c	c	PROPN
ap-3037	216	3	tu	tu	PROPN
ap-3037	216	4	re	re	PROPN
ap-3037	216	5	d	d	PROPN
ap-3037	216	6	40	40	NUM
ap-3037	216	7	60	60	NUM
ap-3037	216	8	80	80	NUM
ap-3037	216	9	100	100	NUM
ap-3037	216	10	120	120	NUM
ap-3037	216	11	100	100	NUM
ap-3037	216	12	150	150	NUM
ap-3037	216	13	200	200	NUM
ap-3037	216	14	0	0	NUM
ap-3037	216	15	0.25	0.25	NUM
ap-3037	216	16	0.5	0.5	NUM
ap-3037	216	17	0.75	0.75	NUM
ap-3037	216	18	1	1	NUM
ap-3037	216	19	0.66	0.66	NUM
ap-3037	216	20	0.68	0.68	NUM
ap-3037	216	21	0.7	0.7	NUM
ap-3037	216	22	α	α	PROPN
ap-3037	216	23	st	st	PROPN
ap-3037	216	24	ru	ru	PROPN
ap-3037	216	25	c	c	PROPN
ap-3037	216	26	tu	tu	PROPN
ap-3037	216	27	re	re	PROPN
ap-3037	216	28	d	d	PROPN
ap-3037	216	29	0	0	NUM
ap-3037	216	30	0.25	0.25	NUM
ap-3037	216	31	0.5	0.5	NUM
ap-3037	216	32	0.75	0.75	NUM
ap-3037	216	33	1	1	NUM
ap-3037	216	34	40	40	NUM
ap-3037	216	35	60	60	NUM
ap-3037	216	36	80	80	NUM
ap-3037	216	37	100	100	NUM
ap-3037	216	38	120	120	NUM
ap-3037	216	39	140	140	NUM
ap-3037	216	40	160	160	NUM
ap-3037	216	41	α	α	NOUN
ap-3037	216	42	0	0	NUM
ap-3037	216	43	0.25	0.25	NUM
ap-3037	216	44	0.5	0.5	NUM
ap-3037	216	45	0.75	0.75	NUM
ap-3037	216	46	1	1	NUM
ap-3037	216	47	100	100	NUM
ap-3037	216	48	150	150	NUM
ap-3037	216	49	200	200	NUM
ap-3037	216	50	250	250	NUM
ap-3037	216	51	α	α	PRON
ap-3037	216	52	figure	figure	NOUN
ap-3037	216	53	9	9	NUM
ap-3037	216	54	.	.	PUNCT
ap-3037	216	55	group	group	NOUN
ap-3037	216	56	greedy	greedy	ADJ
ap-3037	216	57	not	not	PART
ap-3037	216	58	dense	dense	ADJ
ap-3037	216	59	:	:	PUNCT
ap-3037	216	60	empty	empty	ADJ
ap-3037	216	61	(	(	PUNCT
ap-3037	216	62	top	top	NOUN
ap-3037	216	63	)	)	PUNCT
ap-3037	216	64	;	;	PUNCT
ap-3037	216	65	unstructured	unstructured	ADJ
ap-3037	216	66	(	(	PUNCT
ap-3037	216	67	middle	middle	NOUN
ap-3037	216	68	)	)	PUNCT
ap-3037	216	69	;	;	PUNCT
ap-3037	216	70	structured	structure	VERB
ap-3037	216	71	(	(	PUNCT
ap-3037	216	72	bottom	bottom	ADJ
ap-3037	216	73	)	)	PUNCT
ap-3037	216	74	.	.	PUNCT
ap-3037	217	1	•	•	NUM
ap-3037	217	2	population	population	NOUN
ap-3037	217	3	density	density	NOUN
ap-3037	217	4	:	:	PUNCT
ap-3037	217	5	environments	environment	NOUN
ap-3037	217	6	are	be	AUX
ap-3037	217	7	human	human	ADJ
ap-3037	217	8	populated	populated	ADJ
ap-3037	217	9	with	with	ADP
ap-3037	217	10	0	0	NUM
ap-3037	217	11	or	or	CCONJ
ap-3037	217	12	30	30	NUM
ap-3037	217	13	%	%	NOUN
ap-3037	217	14	of	of	ADP
ap-3037	217	15	occupation	occupation	NOUN
ap-3037	217	16	.	.	PUNCT
ap-3037	218	1	each	each	DET
ap-3037	218	2	human	human	ADJ
ap-3037	218	3	agent	agent	NOUN
ap-3037	218	4	moves	move	VERB
ap-3037	218	5	in	in	ADP
ap-3037	218	6	a	a	DET
ap-3037	218	7	straight	straight	ADJ
ap-3037	218	8	line	line	NOUN
ap-3037	218	9	and	and	CCONJ
ap-3037	218	10	avoid	avoid	VERB
ap-3037	218	11	obstacles	obstacle	NOUN
ap-3037	218	12	by	by	ADP
ap-3037	218	13	stopping	stop	VERB
ap-3037	218	14	and	and	CCONJ
ap-3037	218	15	rotating	rotating	NOUN
ap-3037	218	16	.	.	PUNCT
ap-3037	219	1	•	•	NUM
ap-3037	219	2	number	number	NOUN
ap-3037	219	3	of	of	ADP
ap-3037	219	4	robots	robot	NOUN
ap-3037	219	5	:	:	PUNCT
ap-3037	219	6	two	two	NUM
ap-3037	219	7	explorers	explorer	NOUN
ap-3037	219	8	are	be	AUX
ap-3037	219	9	used	use	VERB
ap-3037	219	10	for	for	ADP
ap-3037	219	11	each	each	DET
ap-3037	219	12	experiment	experiment	NOUN
ap-3037	219	13	,	,	PUNCT
ap-3037	219	14	they	they	PRON
ap-3037	219	15	are	be	AUX
ap-3037	219	16	represented	represent	VERB
ap-3037	219	17	as	as	ADP
ap-3037	219	18	cylinders	cylinder	NOUN
ap-3037	219	19	.	.	PUNCT
ap-3037	220	1	•	•	NUM
ap-3037	220	2	optimisation	optimisation	NOUN
ap-3037	220	3	method	method	NOUN
ap-3037	220	4	:	:	PUNCT
ap-3037	220	5	we	we	PRON
ap-3037	220	6	use	use	VERB
ap-3037	220	7	two	two	NUM
ap-3037	220	8	different	different	ADJ
ap-3037	220	9	cost	cost	NOUN
ap-3037	220	10	optimisation	optimisation	NOUN
ap-3037	220	11	methods	method	NOUN
ap-3037	220	12	:	:	PUNCT
ap-3037	220	13	the	the	DET
ap-3037	220	14	first	first	ADJ
ap-3037	220	15	one	one	NOUN
ap-3037	220	16	is	be	AUX
ap-3037	220	17	a	a	DET
ap-3037	220	18	local	local	ADJ
ap-3037	220	19	greedy	greedy	ADJ
ap-3037	220	20	method	method	NOUN
ap-3037	220	21	,	,	PUNCT
ap-3037	220	22	where	where	SCONJ
ap-3037	220	23	each	each	DET
ap-3037	220	24	robot	robot	NOUN
ap-3037	220	25	chooses	choose	VERB
ap-3037	220	26	the	the	DET
ap-3037	220	27	minimum	minimum	ADJ
ap-3037	220	28	cost	cost	NOUN
ap-3037	220	29	target	target	NOUN
ap-3037	220	30	among	among	ADP
ap-3037	220	31	only	only	ADV
ap-3037	220	32	its	its	PRON
ap-3037	220	33	own	own	ADJ
ap-3037	220	34	possible	possible	ADJ
ap-3037	220	35	targets	target	NOUN
ap-3037	220	36	as	as	ADP
ap-3037	220	37	in	in	ADP
ap-3037	220	38	[	[	X
ap-3037	220	39	11	11	NUM
ap-3037	220	40	]	]	PUNCT
ap-3037	220	41	for	for	ADP
ap-3037	220	42	distances	distance	NOUN
ap-3037	220	43	.	.	PUNCT
ap-3037	221	1	the	the	DET
ap-3037	221	2	second	second	ADJ
ap-3037	221	3	one	one	NOUN
ap-3037	221	4	is	be	AUX
ap-3037	221	5	a	a	DET
ap-3037	221	6	group	group	NOUN
ap-3037	221	7	greedy	greedy	ADJ
ap-3037	221	8	method	method	NOUN
ap-3037	221	9	,	,	PUNCT
ap-3037	221	10	where	where	SCONJ
ap-3037	221	11	for	for	ADP
ap-3037	221	12	all	all	DET
ap-3037	221	13	locally	locally	ADV
ap-3037	221	14	visible	visible	ADJ
ap-3037	221	15	robots	robot	NOUN
ap-3037	221	16	at	at	ADP
ap-3037	221	17	each	each	DET
ap-3037	221	18	time	time	NOUN
ap-3037	221	19	step	step	NOUN
ap-3037	221	20	,	,	PUNCT
ap-3037	221	21	the	the	DET
ap-3037	221	22	robot	robot	NOUN
ap-3037	221	23	-	-	PUNCT
ap-3037	221	24	target	target	NOUN
ap-3037	221	25	assignment	assignment	NOUN
ap-3037	221	26	with	with	ADP
ap-3037	221	27	minimum	minimum	ADJ
ap-3037	221	28	cost	cost	NOUN
ap-3037	221	29	is	be	AUX
ap-3037	221	30	recursively	recursively	ADV
ap-3037	221	31	discarded	discard	VERB
ap-3037	221	32	until	until	SCONJ
ap-3037	221	33	the	the	DET
ap-3037	221	34	local	local	ADJ
ap-3037	221	35	robot	robot	NOUN
ap-3037	221	36	is	be	AUX
ap-3037	221	37	assigned	assign	VERB
ap-3037	221	38	.	.	PUNCT
ap-3037	222	1	•	•	NUM
ap-3037	222	2	modulators	modulator	NOUN
ap-3037	222	3	:	:	PUNCT
ap-3037	223	1	α	α	NOUN
ap-3037	223	2	and	and	CCONJ
ap-3037	223	3	σ	σ	PROPN
ap-3037	223	4	are	be	AUX
ap-3037	223	5	discretised	discretise	VERB
ap-3037	223	6	from	from	ADP
ap-3037	223	7	0	0	NUM
ap-3037	223	8	to	to	ADP
ap-3037	223	9	1	1	NUM
ap-3037	223	10	with	with	ADP
ap-3037	223	11	a	a	DET
ap-3037	223	12	step	step	NOUN
ap-3037	223	13	of	of	ADP
ap-3037	223	14	0.25	0.25	NUM
ap-3037	223	15	.	.	PUNCT
ap-3037	224	1	5.2	5.2	NUM
ap-3037	224	2	.	.	PUNCT
ap-3037	225	1	metrics	metric	NOUN
ap-3037	225	2	each	each	DET
ap-3037	225	3	scenario	scenario	NOUN
ap-3037	225	4	is	be	AUX
ap-3037	225	5	evaluated	evaluate	VERB
ap-3037	225	6	with	with	ADP
ap-3037	225	7	classical	classical	ADJ
ap-3037	225	8	mre	mre	NOUN
ap-3037	225	9	metrics	metric	NOUN
ap-3037	225	10	:	:	PUNCT
ap-3037	225	11	coverage	coverage	NOUN
ap-3037	225	12	,	,	PUNCT
ap-3037	225	13	distance	distance	NOUN
ap-3037	225	14	and	and	CCONJ
ap-3037	225	15	time	time	NOUN
ap-3037	225	16	.	.	PUNCT
ap-3037	226	1	in	in	ADP
ap-3037	226	2	addition	addition	NOUN
ap-3037	226	3	,	,	PUNCT
ap-3037	226	4	we	we	PRON
ap-3037	226	5	use	use	VERB
ap-3037	226	6	a	a	DET
ap-3037	226	7	common	common	ADJ
ap-3037	226	8	metric	metric	NOUN
ap-3037	226	9	in	in	ADP
ap-3037	226	10	hri	hri	PROPN
ap-3037	226	11	,	,	PUNCT
ap-3037	226	12	called	call	VERB
ap-3037	226	13	the	the	DET
ap-3037	226	14	robotic	robotic	ADJ
ap-3037	226	15	attention	attention	NOUN
ap-3037	226	16	demand	demand	NOUN
ap-3037	226	17	(	(	PUNCT
ap-3037	226	18	rad	rad	PROPN
ap-3037	226	19	)	)	PUNCT
ap-3037	226	20	,	,	PUNCT
ap-3037	226	21	which	which	PRON
ap-3037	226	22	measures	measure	VERB
ap-3037	226	23	the	the	DET
ap-3037	226	24	autonomy	autonomy	NOUN
ap-3037	226	25	of	of	ADP
ap-3037	226	26	a	a	DET
ap-3037	226	27	robot	robot	NOUN
ap-3037	226	28	during	during	ADP
ap-3037	226	29	its	its	PRON
ap-3037	226	30	task	task	NOUN
ap-3037	226	31	[	[	X
ap-3037	226	32	20	20	NUM
ap-3037	226	33	,	,	PUNCT
ap-3037	226	34	21	21	NUM
ap-3037	226	35	]	]	PUNCT
ap-3037	226	36	.	.	PUNCT
ap-3037	227	1	here	here	ADV
ap-3037	227	2	we	we	PRON
ap-3037	227	3	consider	consider	VERB
ap-3037	227	4	the	the	DET
ap-3037	227	5	number	number	NOUN
ap-3037	227	6	of	of	ADP
ap-3037	227	7	interactions	interaction	NOUN
ap-3037	227	8	initiated	initiate	VERB
ap-3037	227	9	during	during	ADP
ap-3037	227	10	exploration	exploration	NOUN
ap-3037	227	11	.	.	PUNCT
ap-3037	228	1	5.3	5.3	NUM
ap-3037	228	2	.	.	PUNCT
ap-3037	228	3	results	result	NOUN
ap-3037	228	4	first	first	ADV
ap-3037	228	5	,	,	PUNCT
ap-3037	228	6	let	let	VERB
ap-3037	228	7	us	we	PRON
ap-3037	228	8	consider	consider	VERB
ap-3037	228	9	environments	environment	NOUN
ap-3037	228	10	without	without	ADP
ap-3037	228	11	humans	human	NOUN
ap-3037	228	12	.	.	PUNCT
ap-3037	229	1	we	we	PRON
ap-3037	229	2	study	study	VERB
ap-3037	229	3	the	the	DET
ap-3037	229	4	influence	influence	NOUN
ap-3037	229	5	of	of	ADP
ap-3037	229	6	α	α	NOUN
ap-3037	229	7	by	by	ADP
ap-3037	229	8	fixing	fix	VERB
ap-3037	229	9	σ	σ	NOUN
ap-3037	229	10	to	to	ADP
ap-3037	229	11	1	1	NUM
ap-3037	229	12	.	.	PUNCT
ap-3037	230	1	this	this	PRON
ap-3037	230	2	allows	allow	VERB
ap-3037	230	3	to	to	PART
ap-3037	230	4	only	only	ADV
ap-3037	230	5	adjust	adjust	VERB
ap-3037	230	6	the	the	DET
ap-3037	230	7	distance	distance	NOUN
ap-3037	230	8	and	and	CCONJ
ap-3037	230	9	frontiers	frontier	NOUN
ap-3037	230	10	penalty	penalty	NOUN
ap-3037	230	11	.	.	PUNCT
ap-3037	231	1	this	this	PRON
ap-3037	231	2	is	be	AUX
ap-3037	231	3	legitimate	legitimate	ADJ
ap-3037	231	4	,	,	PUNCT
ap-3037	231	5	since	since	SCONJ
ap-3037	231	6	no	no	DET
ap-3037	231	7	human	human	NOUN
ap-3037	231	8	implies	imply	VERB
ap-3037	231	9	no	no	DET
ap-3037	231	10	interaction	interaction	NOUN
ap-3037	231	11	penalty	penalty	NOUN
ap-3037	231	12	.	.	PUNCT
ap-3037	232	1	the	the	DET
ap-3037	232	2	performances	performance	NOUN
ap-3037	232	3	averaged	average	VERB
ap-3037	232	4	over	over	ADP
ap-3037	232	5	10	10	NUM
ap-3037	232	6	runs	run	NOUN
ap-3037	232	7	are	be	AUX
ap-3037	232	8	plotted	plot	VERB
ap-3037	232	9	in	in	ADP
ap-3037	232	10	fig	fig	NOUN
ap-3037	232	11	.	.	PUNCT
ap-3037	232	12	8	8	NUM
ap-3037	232	13	for	for	ADP
ap-3037	232	14	local	local	ADJ
ap-3037	232	15	greedy	greedy	ADJ
ap-3037	232	16	,	,	PUNCT
ap-3037	232	17	and	and	CCONJ
ap-3037	232	18	fig	fig	NOUN
ap-3037	232	19	.	.	PUNCT
ap-3037	233	1	9	9	NUM
ap-3037	234	1	for	for	ADP
ap-3037	234	2	group	group	NOUN
ap-3037	234	3	greedy	greedy	ADJ
ap-3037	234	4	.	.	PUNCT
ap-3037	235	1	for	for	ADP
ap-3037	235	2	local	local	ADJ
ap-3037	235	3	greedy	greedy	ADJ
ap-3037	235	4	in	in	ADP
ap-3037	235	5	fig	fig	NOUN
ap-3037	235	6	.	.	PUNCT
ap-3037	235	7	8	8	NUM
ap-3037	235	8	,	,	PUNCT
ap-3037	235	9	regarding	regard	VERB
ap-3037	235	10	the	the	DET
ap-3037	235	11	empty	empty	ADJ
ap-3037	235	12	and	and	CCONJ
ap-3037	235	13	structured	structured	ADJ
ap-3037	235	14	maps	map	NOUN
ap-3037	235	15	,	,	PUNCT
ap-3037	235	16	we	we	PRON
ap-3037	235	17	distinguish	distinguish	VERB
ap-3037	235	18	two	two	NUM
ap-3037	235	19	steps	step	NOUN
ap-3037	235	20	.	.	PUNCT
ap-3037	236	1	in	in	ADP
ap-3037	236	2	the	the	DET
ap-3037	236	3	first	first	ADJ
ap-3037	236	4	step	step	NOUN
ap-3037	236	5	,	,	PUNCT
ap-3037	236	6	distance	distance	NOUN
ap-3037	236	7	and	and	CCONJ
ap-3037	236	8	time	time	NOUN
ap-3037	236	9	increase	increase	NOUN
ap-3037	236	10	,	,	PUNCT
ap-3037	236	11	and	and	CCONJ
ap-3037	236	12	in	in	ADP
ap-3037	236	13	the	the	DET
ap-3037	236	14	second	second	ADJ
ap-3037	236	15	step	step	NOUN
ap-3037	236	16	they	they	PRON
ap-3037	236	17	both	both	PRON
ap-3037	236	18	decrease	decrease	VERB
ap-3037	236	19	until	until	ADP
ap-3037	236	20	α	α	NOUN
ap-3037	236	21	=	=	SYM
ap-3037	236	22	1	1	NUM
ap-3037	236	23	.	.	PUNCT
ap-3037	237	1	the	the	DET
ap-3037	237	2	unstructured	unstructured	ADJ
ap-3037	237	3	map	map	NOUN
ap-3037	237	4	for	for	ADP
ap-3037	237	5	local	local	ADJ
ap-3037	237	6	greedy	greedy	ADJ
ap-3037	237	7	and	and	CCONJ
ap-3037	237	8	all	all	DET
ap-3037	237	9	maps	map	NOUN
ap-3037	237	10	for	for	ADP
ap-3037	237	11	group	group	NOUN
ap-3037	237	12	greedy	greedy	ADJ
ap-3037	237	13	(	(	PUNCT
ap-3037	237	14	fig	fig	NOUN
ap-3037	237	15	.	.	PUNCT
ap-3037	237	16	9	9	NUM
ap-3037	237	17	)	)	PUNCT
ap-3037	237	18	present	present	ADJ
ap-3037	237	19	only	only	ADV
ap-3037	237	20	one	one	NUM
ap-3037	237	21	step	step	NOUN
ap-3037	237	22	where	where	SCONJ
ap-3037	237	23	distance	distance	NOUN
ap-3037	237	24	and	and	CCONJ
ap-3037	237	25	time	time	NOUN
ap-3037	237	26	decrease	decrease	NOUN
ap-3037	237	27	when	when	SCONJ
ap-3037	237	28	increasing	increase	VERB
ap-3037	237	29	α	α	X
ap-3037	237	30	.	.	PUNCT
ap-3037	238	1	in	in	ADP
ap-3037	238	2	these	these	DET
ap-3037	238	3	cases	case	NOUN
ap-3037	238	4	,	,	PUNCT
ap-3037	238	5	when	when	SCONJ
ap-3037	238	6	α	α	PROPN
ap-3037	238	7	is	be	AUX
ap-3037	238	8	high	high	ADJ
ap-3037	238	9	,	,	PUNCT
ap-3037	238	10	penalties	penalty	NOUN
ap-3037	238	11	fade	fade	NOUN
ap-3037	238	12	and	and	CCONJ
ap-3037	238	13	robots	robot	NOUN
ap-3037	238	14	do	do	VERB
ap-3037	238	15	less	less	ADJ
ap-3037	238	16	round	round	ADJ
ap-3037	238	17	trips	trip	NOUN
ap-3037	238	18	between	between	ADP
ap-3037	238	19	remote	remote	ADJ
ap-3037	238	20	frontiers	frontier	NOUN
ap-3037	238	21	in	in	ADP
ap-3037	238	22	the	the	DET
ap-3037	238	23	scene	scene	NOUN
ap-3037	238	24	.	.	PUNCT
ap-3037	239	1	thus	thus	ADV
ap-3037	239	2	,	,	PUNCT
ap-3037	239	3	in	in	ADP
ap-3037	239	4	nonpopulated	nonpopulate	VERB
ap-3037	239	5	environments	environment	NOUN
ap-3037	239	6	,	,	PUNCT
ap-3037	239	7	our	our	PRON
ap-3037	239	8	heuristic	heuristic	NOUN
ap-3037	239	9	does	do	AUX
ap-3037	239	10	not	not	PART
ap-3037	239	11	give	give	VERB
ap-3037	239	12	better	well	ADJ
ap-3037	239	13	performances	performance	NOUN
ap-3037	239	14	.	.	PUNCT
ap-3037	240	1	now	now	ADV
ap-3037	240	2	we	we	PRON
ap-3037	240	3	consider	consider	VERB
ap-3037	240	4	the	the	DET
ap-3037	240	5	presence	presence	NOUN
ap-3037	240	6	of	of	ADP
ap-3037	240	7	pedestrians	pedestrian	NOUN
ap-3037	240	8	.	.	PUNCT
ap-3037	241	1	the	the	DET
ap-3037	241	2	maps	map	NOUN
ap-3037	241	3	are	be	AUX
ap-3037	241	4	populated	populate	VERB
ap-3037	241	5	at	at	ADP
ap-3037	241	6	30	30	NUM
ap-3037	241	7	%	%	NOUN
ap-3037	241	8	up	up	ADP
ap-3037	241	9	to	to	PART
ap-3037	241	10	1	1	NUM
ap-3037	241	11	human	human	NOUN
ap-3037	241	12	/	/	SYM
ap-3037	241	13	m2	m2	PROPN
ap-3037	241	14	,	,	PUNCT
ap-3037	241	15	thus	thus	ADV
ap-3037	241	16	enabling	enable	VERB
ap-3037	241	17	human	human	ADJ
ap-3037	241	18	-	-	PUNCT
ap-3037	241	19	robot	robot	NOUN
ap-3037	241	20	interactions	interaction	NOUN
ap-3037	241	21	.	.	PUNCT
ap-3037	242	1	figs	fig	NOUN
ap-3037	242	2	.	.	PUNCT
ap-3037	243	1	10	10	NUM
ap-3037	243	2	and	and	CCONJ
ap-3037	243	3	11	11	NUM
ap-3037	243	4	give	give	VERB
ap-3037	243	5	the	the	DET
ap-3037	243	6	mean	mean	ADJ
ap-3037	243	7	performances	performance	NOUN
ap-3037	243	8	of	of	ADP
ap-3037	243	9	local	local	ADJ
ap-3037	243	10	greedy	greedy	ADJ
ap-3037	243	11	and	and	CCONJ
ap-3037	243	12	group	group	NOUN
ap-3037	243	13	greedy	greedy	ADJ
ap-3037	243	14	,	,	PUNCT
ap-3037	243	15	respectively	respectively	ADV
ap-3037	243	16	for	for	ADP
ap-3037	243	17	10	10	NUM
ap-3037	243	18	runs	run	NOUN
ap-3037	243	19	of	of	ADP
ap-3037	243	20	each	each	DET
ap-3037	243	21	(	(	PUNCT
ap-3037	243	22	α	α	PROPN
ap-3037	243	23	,	,	PUNCT
ap-3037	243	24	σ	σ	NOUN
ap-3037	243	25	)	)	PUNCT
ap-3037	243	26	combination	combination	NOUN
ap-3037	243	27	.	.	PUNCT
ap-3037	244	1	when	when	SCONJ
ap-3037	244	2	σ	σ	NOUN
ap-3037	244	3	increases	increase	NOUN
ap-3037	244	4	,	,	PUNCT
ap-3037	244	5	the	the	DET
ap-3037	244	6	penalty	penalty	NOUN
ap-3037	244	7	of	of	ADP
ap-3037	244	8	the	the	DET
ap-3037	244	9	interactions	interaction	NOUN
ap-3037	244	10	is	be	AUX
ap-3037	244	11	reduced	reduce	VERB
ap-3037	244	12	,	,	PUNCT
ap-3037	244	13	favouring	favour	VERB
ap-3037	244	14	interactions	interaction	NOUN
ap-3037	244	15	to	to	ADP
ap-3037	244	16	the	the	DET
ap-3037	244	17	detriment	detriment	NOUN
ap-3037	244	18	of	of	ADP
ap-3037	244	19	frontiers	frontier	NOUN
ap-3037	244	20	.	.	PUNCT
ap-3037	245	1	for	for	ADP
ap-3037	245	2	the	the	DET
ap-3037	245	3	empty	empty	ADJ
ap-3037	245	4	case	case	NOUN
ap-3037	245	5	(	(	PUNCT
ap-3037	245	6	fig	fig	NOUN
ap-3037	245	7	.	.	PUNCT
ap-3037	245	8	10	10	NUM
ap-3037	245	9	)	)	PUNCT
ap-3037	245	10	,	,	PUNCT
ap-3037	245	11	full	full	ADJ
ap-3037	245	12	coverage	coverage	NOUN
ap-3037	245	13	with	with	ADP
ap-3037	245	14	the	the	DET
ap-3037	245	15	shortest	short	ADJ
ap-3037	245	16	distance	distance	NOUN
ap-3037	245	17	and	and	CCONJ
ap-3037	245	18	time	time	NOUN
ap-3037	245	19	are	be	AUX
ap-3037	245	20	at	at	ADP
ap-3037	245	21	(	(	PUNCT
ap-3037	245	22	α	α	X
ap-3037	245	23	,	,	PUNCT
ap-3037	245	24	σ	σ	NOUN
ap-3037	245	25	)	)	PUNCT
ap-3037	245	26	=	=	SYM
ap-3037	245	27	(	(	PUNCT
ap-3037	245	28	0	0	NUM
ap-3037	245	29	,	,	PUNCT
ap-3037	245	30	0	0	NUM
ap-3037	245	31	)	)	PUNCT
ap-3037	245	32	.	.	PUNCT
ap-3037	246	1	only	only	ADV
ap-3037	246	2	penalties	penalty	NOUN
ap-3037	246	3	are	be	AUX
ap-3037	246	4	used	use	VERB
ap-3037	246	5	,	,	PUNCT
ap-3037	246	6	and	and	CCONJ
ap-3037	246	7	frontiers	frontier	NOUN
ap-3037	246	8	are	be	AUX
ap-3037	246	9	preferred	prefer	VERB
ap-3037	246	10	over	over	ADP
ap-3037	246	11	interactions	interaction	NOUN
ap-3037	246	12	.	.	PUNCT
ap-3037	247	1	no	no	DET
ap-3037	247	2	interaction	interaction	NOUN
ap-3037	247	3	was	be	AUX
ap-3037	247	4	initiated	initiate	VERB
ap-3037	247	5	(	(	PUNCT
ap-3037	247	6	rad	rad	NOUN
ap-3037	247	7	)	)	PUNCT
ap-3037	247	8	,	,	PUNCT
ap-3037	247	9	but	but	CCONJ
ap-3037	247	10	an	an	DET
ap-3037	247	11	average	average	NOUN
ap-3037	247	12	of	of	ADP
ap-3037	247	13	28	28	NUM
ap-3037	247	14	frontiers	frontier	NOUN
ap-3037	247	15	were	be	AUX
ap-3037	247	16	assigned	assign	VERB
ap-3037	247	17	.	.	PUNCT
ap-3037	248	1	in	in	ADP
ap-3037	248	2	the	the	DET
ap-3037	248	3	unstructured	unstructured	ADJ
ap-3037	248	4	case	case	NOUN
ap-3037	248	5	,	,	PUNCT
ap-3037	248	6	the	the	DET
ap-3037	248	7	best	good	ADJ
ap-3037	248	8	average	average	ADJ
ap-3037	248	9	performance	performance	NOUN
ap-3037	248	10	is	be	AUX
ap-3037	248	11	at	at	ADP
ap-3037	248	12	(	(	PUNCT
ap-3037	248	13	0.75,0	0.75,0	NUM
ap-3037	248	14	)	)	PUNCT
ap-3037	248	15	.	.	PUNCT
ap-3037	249	1	distances	distance	NOUN
ap-3037	249	2	are	be	AUX
ap-3037	249	3	overweighted	overweighte	VERB
ap-3037	249	4	compared	compare	VERB
ap-3037	249	5	to	to	ADP
ap-3037	249	6	penalties	penalty	NOUN
ap-3037	249	7	,	,	PUNCT
ap-3037	249	8	and	and	CCONJ
ap-3037	249	9	interactions	interaction	NOUN
ap-3037	249	10	are	be	AUX
ap-3037	249	11	heavily	heavily	ADV
ap-3037	249	12	penalised	penalise	VERB
ap-3037	249	13	.	.	PUNCT
ap-3037	250	1	nevertheless	nevertheless	ADV
ap-3037	250	2	,	,	PUNCT
ap-3037	250	3	an	an	DET
ap-3037	250	4	average	average	NOUN
ap-3037	250	5	of	of	ADP
ap-3037	250	6	18	18	NUM
ap-3037	250	7	interactions	interaction	NOUN
ap-3037	250	8	(	(	PUNCT
ap-3037	250	9	rad	rad	NOUN
ap-3037	250	10	)	)	PUNCT
ap-3037	250	11	were	be	AUX
ap-3037	250	12	initiated	initiate	VERB
ap-3037	250	13	against	against	ADP
ap-3037	250	14	26	26	NUM
ap-3037	250	15	frontiers	frontier	NOUN
ap-3037	250	16	assignments	assignment	NOUN
ap-3037	250	17	.	.	PUNCT
ap-3037	251	1	in	in	ADP
ap-3037	251	2	the	the	DET
ap-3037	251	3	structured	structured	ADJ
ap-3037	251	4	environment	environment	NOUN
ap-3037	251	5	,	,	PUNCT
ap-3037	251	6	the	the	DET
ap-3037	251	7	best	good	ADJ
ap-3037	251	8	performances	performance	NOUN
ap-3037	251	9	159	159	NUM
ap-3037	251	10	n.	n.	PROPN
ap-3037	251	11	kalde	kalde	PROPN
ap-3037	251	12	,	,	PUNCT
ap-3037	251	13	o.	o.	PROPN
ap-3037	251	14	simonin	simonin	PROPN
ap-3037	251	15	,	,	PUNCT
ap-3037	251	16	f.	f.	PROPN
ap-3037	251	17	charpillet	charpillet	PROPN
ap-3037	251	18	acta	acta	PROPN
ap-3037	251	19	polytechnica	polytechnica	PROPN
ap-3037	251	20	0.96	0.96	NUM
ap-3037	251	21	0.98	0.98	NUM
ap-3037	251	22	1	1	NUM
ap-3037	251	23	e	e	NOUN
ap-3037	251	24	m	m	PROPN
ap-3037	251	25	p	p	NOUN
ap-3037	251	26	ty	ty	NUM
ap-3037	251	27	coverage	coverage	NOUN
ap-3037	251	28	(	(	PUNCT
ap-3037	251	29	%	%	NOUN
ap-3037	251	30	)	)	PUNCT
ap-3037	251	31	50	50	NUM
ap-3037	251	32	100	100	NUM
ap-3037	251	33	distance	distance	NOUN
ap-3037	251	34	(	(	PUNCT
ap-3037	251	35	m	m	NOUN
ap-3037	251	36	)	)	PUNCT
ap-3037	251	37	100	100	NUM
ap-3037	251	38	200	200	NUM
ap-3037	251	39	time	time	NOUN
ap-3037	251	40	(	(	PUNCT
ap-3037	251	41	s	s	NOUN
ap-3037	251	42	)	)	PUNCT
ap-3037	251	43	0.8	0.8	NUM
ap-3037	251	44	0.85	0.85	NUM
ap-3037	251	45	u	u	PROPN
ap-3037	251	46	n	n	PROPN
ap-3037	251	47	st	st	PROPN
ap-3037	252	1	ru	ru	PROPN
ap-3037	252	2	c	c	PROPN
ap-3037	252	3	tu	tu	PROPN
ap-3037	252	4	re	re	PROPN
ap-3037	252	5	d	d	PROPN
ap-3037	252	6	50	50	NUM
ap-3037	252	7	100	100	NUM
ap-3037	252	8	100	100	NUM
ap-3037	252	9	200	200	NUM
ap-3037	252	10	300	300	NUM
ap-3037	252	11	0	0	NUM
ap-3037	252	12	0.25	0.25	NUM
ap-3037	252	13	0.5	0.5	NUM
ap-3037	252	14	0.75	0.75	NUM
ap-3037	252	15	1	1	NUM
ap-3037	252	16	0	0	NUM
ap-3037	252	17	0.25	0.25	NUM
ap-3037	252	18	0.5	0.5	NUM
ap-3037	252	19	0.75	0.75	NUM
ap-3037	252	20	1	1	NUM
ap-3037	252	21	0.5	0.5	NUM
ap-3037	252	22	0.6	0.6	NUM
ap-3037	252	23	0.7	0.7	NUM
ap-3037	252	24	α	α	PROPN
ap-3037	252	25	σ	σ	PROPN
ap-3037	252	26	st	st	PROPN
ap-3037	253	1	ru	ru	PROPN
ap-3037	253	2	c	c	PROPN
ap-3037	253	3	tu	tu	PROPN
ap-3037	253	4	re	re	PROPN
ap-3037	253	5	d	d	PROPN
ap-3037	253	6	0	0	NUM
ap-3037	253	7	0.25	0.25	NUM
ap-3037	253	8	0.5	0.5	NUM
ap-3037	253	9	0.75	0.75	NUM
ap-3037	253	10	1	1	NUM
ap-3037	253	11	0	0	NUM
ap-3037	253	12	0.25	0.25	NUM
ap-3037	253	13	0.5	0.5	NUM
ap-3037	253	14	0.75	0.75	NUM
ap-3037	253	15	1	1	NUM
ap-3037	253	16	100	100	NUM
ap-3037	253	17	α	α	PRON
ap-3037	253	18	σ	σ	NOUN
ap-3037	253	19	0	0	NUM
ap-3037	253	20	0.25	0.25	NUM
ap-3037	253	21	0.5	0.5	NUM
ap-3037	253	22	0.75	0.75	NUM
ap-3037	253	23	1	1	NUM
ap-3037	253	24	0	0	NUM
ap-3037	253	25	0.25	0.25	NUM
ap-3037	253	26	0.5	0.5	NUM
ap-3037	253	27	0.75	0.75	NUM
ap-3037	253	28	1	1	NUM
ap-3037	253	29	200	200	NUM
ap-3037	253	30	300	300	NUM
ap-3037	253	31	α	α	NOUN
ap-3037	253	32	σ	σ	NOUN
ap-3037	253	33	figure	figure	NOUN
ap-3037	253	34	10	10	NUM
ap-3037	253	35	.	.	PUNCT
ap-3037	254	1	local	local	ADJ
ap-3037	254	2	greedy	greedy	ADJ
ap-3037	254	3	dense	dense	ADJ
ap-3037	254	4	:	:	PUNCT
ap-3037	254	5	empty	empty	ADJ
ap-3037	254	6	(	(	PUNCT
ap-3037	254	7	top	top	NOUN
ap-3037	254	8	)	)	PUNCT
ap-3037	254	9	;	;	PUNCT
ap-3037	254	10	unstructured	unstructured	ADJ
ap-3037	254	11	(	(	PUNCT
ap-3037	254	12	middle	middle	NOUN
ap-3037	254	13	)	)	PUNCT
ap-3037	254	14	;	;	PUNCT
ap-3037	254	15	structured	structure	VERB
ap-3037	254	16	(	(	PUNCT
ap-3037	254	17	bottom	bottom	NOUN
ap-3037	254	18	)	)	PUNCT
ap-3037	254	19	.	.	PUNCT
ap-3037	255	1	and	and	CCONJ
ap-3037	255	2	lowest	low	ADJ
ap-3037	255	3	standard	standard	ADJ
ap-3037	255	4	deviations	deviation	NOUN
ap-3037	255	5	are	be	AUX
ap-3037	255	6	at	at	ADP
ap-3037	255	7	(	(	PUNCT
ap-3037	255	8	0.5,0	0.5,0	NOUN
ap-3037	255	9	)	)	PUNCT
ap-3037	255	10	.	.	PUNCT
ap-3037	256	1	distances	distance	NOUN
ap-3037	256	2	and	and	CCONJ
ap-3037	256	3	penalties	penalty	NOUN
ap-3037	256	4	are	be	AUX
ap-3037	256	5	equally	equally	ADV
ap-3037	256	6	weighted	weight	VERB
ap-3037	256	7	,	,	PUNCT
ap-3037	256	8	and	and	CCONJ
ap-3037	256	9	again	again	ADV
ap-3037	256	10	interactions	interaction	NOUN
ap-3037	256	11	are	be	AUX
ap-3037	256	12	penalised	penalise	VERB
ap-3037	256	13	.	.	PUNCT
ap-3037	257	1	an	an	DET
ap-3037	257	2	average	average	NOUN
ap-3037	257	3	of	of	ADP
ap-3037	257	4	31	31	NUM
ap-3037	257	5	frontier	frontier	NOUN
ap-3037	257	6	assignments	assignment	NOUN
ap-3037	257	7	and	and	CCONJ
ap-3037	257	8	18	18	NUM
ap-3037	257	9	interaction	interaction	NOUN
ap-3037	257	10	assignments	assignment	NOUN
ap-3037	257	11	took	take	VERB
ap-3037	257	12	place	place	NOUN
ap-3037	257	13	.	.	PUNCT
ap-3037	258	1	here	here	ADV
ap-3037	258	2	,	,	PUNCT
ap-3037	258	3	interactions	interaction	NOUN
ap-3037	258	4	are	be	AUX
ap-3037	258	5	interesting	interesting	ADJ
ap-3037	258	6	,	,	PUNCT
ap-3037	258	7	because	because	SCONJ
ap-3037	258	8	a	a	DET
ap-3037	258	9	robot	robot	NOUN
ap-3037	258	10	can	can	AUX
ap-3037	258	11	discover	discover	VERB
ap-3037	258	12	the	the	DET
ap-3037	258	13	corridor	corridor	NOUN
ap-3037	258	14	by	by	ADP
ap-3037	258	15	following	follow	VERB
ap-3037	258	16	someone	someone	PRON
ap-3037	258	17	.	.	PUNCT
ap-3037	259	1	for	for	ADP
ap-3037	259	2	group	group	NOUN
ap-3037	259	3	greedy	greedy	ADJ
ap-3037	259	4	(	(	PUNCT
ap-3037	259	5	fig	fig	NOUN
ap-3037	259	6	.	.	PUNCT
ap-3037	259	7	11	11	NUM
ap-3037	259	8	)	)	PUNCT
ap-3037	259	9	,	,	PUNCT
ap-3037	259	10	the	the	DET
ap-3037	259	11	best	good	ADJ
ap-3037	259	12	performance	performance	NOUN
ap-3037	259	13	is	be	AUX
ap-3037	259	14	located	locate	VERB
ap-3037	259	15	at	at	ADP
ap-3037	259	16	(	(	PUNCT
ap-3037	259	17	0.25	0.25	NUM
ap-3037	259	18	,	,	PUNCT
ap-3037	259	19	0	0	NUM
ap-3037	259	20	)	)	PUNCT
ap-3037	259	21	for	for	ADP
ap-3037	259	22	the	the	DET
ap-3037	259	23	empty	empty	ADJ
ap-3037	259	24	scene	scene	NOUN
ap-3037	259	25	.	.	PUNCT
ap-3037	260	1	penalties	penalty	NOUN
ap-3037	260	2	have	have	VERB
ap-3037	260	3	more	more	ADJ
ap-3037	260	4	weight	weight	NOUN
ap-3037	260	5	than	than	ADP
ap-3037	260	6	distances	distance	NOUN
ap-3037	260	7	;	;	PUNCT
ap-3037	260	8	frontiers	frontier	NOUN
ap-3037	260	9	are	be	AUX
ap-3037	260	10	preferred	prefer	VERB
ap-3037	260	11	over	over	ADP
ap-3037	260	12	interactions	interaction	NOUN
ap-3037	260	13	.	.	PUNCT
ap-3037	261	1	an	an	DET
ap-3037	261	2	average	average	NOUN
ap-3037	261	3	of	of	ADP
ap-3037	261	4	16	16	NUM
ap-3037	261	5	frontier	frontier	NOUN
ap-3037	261	6	assignments	assignment	NOUN
ap-3037	261	7	and	and	CCONJ
ap-3037	261	8	7	7	NUM
ap-3037	261	9	interaction	interaction	NOUN
ap-3037	261	10	assignments	assignment	NOUN
ap-3037	261	11	is	be	AUX
ap-3037	261	12	noticed	notice	VERB
ap-3037	261	13	.	.	PUNCT
ap-3037	262	1	the	the	DET
ap-3037	262	2	unstructured	unstructured	ADJ
ap-3037	262	3	environment	environment	NOUN
ap-3037	262	4	has	have	VERB
ap-3037	262	5	maximum	maximum	ADJ
ap-3037	262	6	coverage	coverage	NOUN
ap-3037	262	7	,	,	PUNCT
ap-3037	262	8	with	with	ADP
ap-3037	262	9	minimum	minimum	NOUN
ap-3037	262	10	travelled	travel	VERB
ap-3037	262	11	distance	distance	NOUN
ap-3037	262	12	and	and	CCONJ
ap-3037	262	13	time	time	NOUN
ap-3037	262	14	at	at	ADP
ap-3037	262	15	(	(	PUNCT
ap-3037	262	16	0.5,0	0.5,0	NOUN
ap-3037	262	17	)	)	PUNCT
ap-3037	262	18	.	.	PUNCT
ap-3037	263	1	the	the	DET
ap-3037	263	2	average	average	ADJ
ap-3037	263	3	number	number	NOUN
ap-3037	263	4	of	of	ADP
ap-3037	263	5	frontiers	frontier	NOUN
ap-3037	263	6	assigned	assign	VERB
ap-3037	263	7	is	be	AUX
ap-3037	263	8	8	8	NUM
ap-3037	263	9	times	time	NOUN
ap-3037	263	10	the	the	DET
ap-3037	263	11	number	number	NOUN
ap-3037	263	12	of	of	ADP
ap-3037	263	13	interactions	interaction	NOUN
ap-3037	263	14	(	(	PUNCT
ap-3037	263	15	only	only	ADV
ap-3037	263	16	4	4	NUM
ap-3037	263	17	)	)	PUNCT
ap-3037	263	18	.	.	PUNCT
ap-3037	264	1	for	for	ADP
ap-3037	264	2	the	the	DET
ap-3037	264	3	last	last	ADJ
ap-3037	264	4	map	map	NOUN
ap-3037	264	5	,	,	PUNCT
ap-3037	264	6	the	the	DET
ap-3037	264	7	best	good	ADJ
ap-3037	264	8	average	average	ADJ
ap-3037	264	9	performance	performance	NOUN
ap-3037	264	10	is	be	AUX
ap-3037	264	11	at	at	ADP
ap-3037	264	12	(	(	PUNCT
ap-3037	264	13	0.25,0	0.25,0	ADJ
ap-3037	264	14	)	)	PUNCT
ap-3037	264	15	for	for	ADP
ap-3037	264	16	a	a	DET
ap-3037	264	17	frontier	frontier	NOUN
ap-3037	264	18	/	/	SYM
ap-3037	264	19	interaction	interaction	NOUN
ap-3037	264	20	ratio	ratio	NOUN
ap-3037	264	21	of	of	ADP
ap-3037	264	22	29/4	29/4	NUM
ap-3037	264	23	.	.	PUNCT
ap-3037	265	1	with	with	ADP
ap-3037	265	2	these	these	DET
ap-3037	265	3	new	new	ADJ
ap-3037	265	4	results	result	NOUN
ap-3037	265	5	,	,	PUNCT
ap-3037	265	6	the	the	DET
ap-3037	265	7	distance	distance	NOUN
ap-3037	265	8	does	do	AUX
ap-3037	265	9	not	not	PART
ap-3037	265	10	suffice	suffice	VERB
ap-3037	265	11	for	for	ADP
ap-3037	265	12	choosing	choose	VERB
ap-3037	265	13	the	the	DET
ap-3037	265	14	best	good	ADJ
ap-3037	265	15	targets	target	NOUN
ap-3037	265	16	with	with	ADP
ap-3037	265	17	human	human	ADJ
ap-3037	265	18	presence	presence	NOUN
ap-3037	265	19	.	.	PUNCT
ap-3037	266	1	instead	instead	ADV
ap-3037	266	2	,	,	PUNCT
ap-3037	266	3	a	a	DET
ap-3037	266	4	smart	smart	ADJ
ap-3037	266	5	equilibrium	equilibrium	NOUN
ap-3037	266	6	with	with	ADP
ap-3037	266	7	our	our	PRON
ap-3037	266	8	penalty	penalty	NOUN
ap-3037	266	9	heuristic	heuristic	NOUN
ap-3037	266	10	always	always	ADV
ap-3037	266	11	gives	give	VERB
ap-3037	266	12	the	the	DET
ap-3037	266	13	best	good	ADJ
ap-3037	266	14	performance	performance	NOUN
ap-3037	266	15	(	(	PUNCT
ap-3037	266	16	α	α	X
ap-3037	266	17	6=	6=	NOUN
ap-3037	266	18	1	1	NUM
ap-3037	266	19	)	)	PUNCT
ap-3037	266	20	.	.	PUNCT
ap-3037	267	1	here	here	ADV
ap-3037	267	2	with	with	ADP
ap-3037	267	3	(	(	PUNCT
ap-3037	267	4	σ	σ	NOUN
ap-3037	267	5	=	=	NOUN
ap-3037	267	6	0	0	NUM
ap-3037	267	7	)	)	PUNCT
ap-3037	267	8	,	,	PUNCT
ap-3037	267	9	the	the	DET
ap-3037	267	10	frontiers	frontier	NOUN
ap-3037	267	11	were	be	AUX
ap-3037	267	12	chosen	choose	VERB
ap-3037	267	13	considering	consider	VERB
ap-3037	267	14	only	only	ADJ
ap-3037	267	15	distances	distance	NOUN
ap-3037	267	16	,	,	PUNCT
ap-3037	267	17	but	but	CCONJ
ap-3037	267	18	interactions	interaction	NOUN
ap-3037	267	19	were	be	AUX
ap-3037	267	20	chosen	choose	VERB
ap-3037	267	21	carefully	carefully	ADV
ap-3037	267	22	by	by	ADP
ap-3037	267	23	adding	add	VERB
ap-3037	267	24	heavy	heavy	ADJ
ap-3037	267	25	penalties	penalty	NOUN
ap-3037	267	26	.	.	PUNCT
ap-3037	268	1	thus	thus	ADV
ap-3037	268	2	our	our	PRON
ap-3037	268	3	heuristic	heuristic	NOUN
ap-3037	268	4	is	be	AUX
ap-3037	268	5	already	already	ADV
ap-3037	268	6	sufficient	sufficient	ADJ
ap-3037	268	7	for	for	ADP
ap-3037	268	8	selecting	select	VERB
ap-3037	268	9	interactions	interaction	NOUN
ap-3037	268	10	only	only	ADV
ap-3037	268	11	if	if	SCONJ
ap-3037	268	12	necessary	necessary	ADJ
ap-3037	268	13	,	,	PUNCT
ap-3037	268	14	but	but	CCONJ
ap-3037	268	15	also	also	ADV
ap-3037	268	16	it	it	PRON
ap-3037	268	17	is	be	AUX
ap-3037	268	18	not	not	PART
ap-3037	268	19	yet	yet	ADV
ap-3037	268	20	able	able	ADJ
ap-3037	268	21	to	to	PART
ap-3037	268	22	promote	promote	VERB
ap-3037	268	23	them	they	PRON
ap-3037	268	24	.	.	PUNCT
ap-3037	269	1	6	6	X
ap-3037	269	2	.	.	X
ap-3037	269	3	conclusion	conclusion	NOUN
ap-3037	269	4	in	in	ADP
ap-3037	269	5	this	this	DET
ap-3037	269	6	paper	paper	NOUN
ap-3037	269	7	,	,	PUNCT
ap-3037	269	8	we	we	PRON
ap-3037	269	9	have	have	AUX
ap-3037	269	10	defined	define	VERB
ap-3037	269	11	the	the	DET
ap-3037	269	12	interaction	interaction	NOUN
ap-3037	269	13	-	-	PUNCT
ap-3037	269	14	based	base	VERB
ap-3037	269	15	exploration	exploration	NOUN
ap-3037	269	16	by	by	ADP
ap-3037	269	17	targeting	target	VERB
ap-3037	269	18	the	the	DET
ap-3037	269	19	humans	human	NOUN
ap-3037	269	20	perceived	perceive	VERB
ap-3037	269	21	by	by	ADP
ap-3037	269	22	the	the	DET
ap-3037	269	23	robots	robot	NOUN
ap-3037	269	24	.	.	PUNCT
ap-3037	270	1	interactive	interactive	ADJ
ap-3037	270	2	exploration	exploration	NOUN
ap-3037	270	3	paves	pave	VERB
ap-3037	270	4	the	the	DET
ap-3037	270	5	way	way	NOUN
ap-3037	270	6	for	for	ADP
ap-3037	270	7	exploiting	exploit	VERB
ap-3037	270	8	human	human	ADJ
ap-3037	270	9	natural	natural	ADJ
ap-3037	270	10	heuristics	heuristic	NOUN
ap-3037	270	11	,	,	PUNCT
ap-3037	270	12	for	for	ADP
ap-3037	270	13	a	a	DET
ap-3037	270	14	better	well	ADJ
ap-3037	270	15	understanding	understanding	NOUN
ap-3037	270	16	of	of	ADP
ap-3037	270	17	the	the	DET
ap-3037	270	18	dynamics	dynamic	NOUN
ap-3037	270	19	of	of	ADP
ap-3037	270	20	a	a	DET
ap-3037	270	21	populated	populated	ADJ
ap-3037	270	22	environment	environment	NOUN
ap-3037	270	23	.	.	PUNCT
ap-3037	271	1	the	the	DET
ap-3037	271	2	mixed	mixed	ADJ
ap-3037	271	3	approach	approach	NOUN
ap-3037	271	4	,	,	PUNCT
ap-3037	271	5	based	base	VERB
ap-3037	271	6	upon	upon	SCONJ
ap-3037	271	7	frontier	frontier	NOUN
ap-3037	271	8	and	and	CCONJ
ap-3037	271	9	interactive	interactive	ADJ
ap-3037	271	10	exploration	exploration	NOUN
ap-3037	271	11	,	,	PUNCT
ap-3037	271	12	aims	aim	VERB
ap-3037	271	13	at	at	ADP
ap-3037	271	14	bringing	bring	VERB
ap-3037	271	15	out	out	ADP
ap-3037	271	16	the	the	DET
ap-3037	271	17	best	good	ADJ
ap-3037	271	18	of	of	ADP
ap-3037	271	19	both	both	DET
ap-3037	271	20	approaches	approach	NOUN
ap-3037	271	21	.	.	PUNCT
ap-3037	272	1	for	for	ADP
ap-3037	272	2	this	this	DET
ap-3037	272	3	purpose	purpose	NOUN
ap-3037	272	4	,	,	PUNCT
ap-3037	272	5	we	we	PRON
ap-3037	272	6	designed	design	VERB
ap-3037	272	7	a	a	DET
ap-3037	272	8	parametric	parametric	ADJ
ap-3037	272	9	heuristic	heuristic	NOUN
ap-3037	272	10	to	to	PART
ap-3037	272	11	equilibrate	equilibrate	VERB
ap-3037	272	12	frontiers	frontier	NOUN
ap-3037	272	13	and	and	CCONJ
ap-3037	272	14	interactions	interaction	NOUN
ap-3037	272	15	(	(	PUNCT
ap-3037	272	16	pedestrian	pedestrian	NOUN
ap-3037	272	17	following	following	NOUN
ap-3037	272	18	)	)	PUNCT
ap-3037	272	19	assignments	assignment	NOUN
ap-3037	272	20	.	.	PUNCT
ap-3037	273	1	this	this	DET
ap-3037	273	2	heuristic	heuristic	NOUN
ap-3037	273	3	considers	consider	VERB
ap-3037	273	4	penalties	penalty	NOUN
ap-3037	273	5	for	for	ADP
ap-3037	273	6	the	the	DET
ap-3037	273	7	idle	idle	ADJ
ap-3037	273	8	state	state	NOUN
ap-3037	273	9	of	of	ADP
ap-3037	273	10	the	the	DET
ap-3037	273	11	targets	target	NOUN
ap-3037	273	12	(	(	PUNCT
ap-3037	273	13	frontier	frontier	NOUN
ap-3037	273	14	,	,	PUNCT
ap-3037	273	15	human	human	NOUN
ap-3037	273	16	)	)	PUNCT
ap-3037	273	17	and	and	CCONJ
ap-3037	273	18	their	their	PRON
ap-3037	273	19	orientation	orientation	NOUN
ap-3037	273	20	.	.	PUNCT
ap-3037	274	1	we	we	PRON
ap-3037	274	2	have	have	AUX
ap-3037	274	3	shown	show	VERB
ap-3037	274	4	in	in	ADP
ap-3037	274	5	simulation	simulation	NOUN
ap-3037	274	6	that	that	SCONJ
ap-3037	274	7	,	,	PUNCT
ap-3037	274	8	in	in	ADP
ap-3037	274	9	some	some	DET
ap-3037	274	10	cases	case	NOUN
ap-3037	274	11	,	,	PUNCT
ap-3037	274	12	incorporating	incorporate	VERB
ap-3037	274	13	an	an	DET
ap-3037	274	14	interactive	interactive	ADJ
ap-3037	274	15	aspect	aspect	NOUN
ap-3037	274	16	into	into	ADP
ap-3037	274	17	exploration	exploration	NOUN
ap-3037	274	18	can	can	AUX
ap-3037	274	19	be	be	AUX
ap-3037	274	20	beneficial	beneficial	ADJ
ap-3037	274	21	,	,	PUNCT
ap-3037	274	22	even	even	ADV
ap-3037	274	23	with	with	ADP
ap-3037	274	24	this	this	DET
ap-3037	274	25	simplistic	simplistic	ADJ
ap-3037	274	26	heuristic	heuristic	NOUN
ap-3037	274	27	.	.	PUNCT
ap-3037	275	1	to	to	PART
ap-3037	275	2	enable	enable	VERB
ap-3037	275	3	efficient	efficient	ADJ
ap-3037	275	4	dynamic	dynamic	ADJ
ap-3037	275	5	exploration	exploration	NOUN
ap-3037	275	6	,	,	PUNCT
ap-3037	275	7	it	it	PRON
ap-3037	275	8	is	be	AUX
ap-3037	275	9	therefore	therefore	ADV
ap-3037	275	10	paramount	paramount	ADJ
ap-3037	275	11	to	to	PART
ap-3037	275	12	discover	discover	VERB
ap-3037	275	13	these	these	DET
ap-3037	275	14	particular	particular	ADJ
ap-3037	275	15	cases	case	NOUN
ap-3037	275	16	.	.	PUNCT
ap-3037	276	1	in	in	ADP
ap-3037	276	2	this	this	DET
ap-3037	276	3	sense	sense	NOUN
ap-3037	276	4	,	,	PUNCT
ap-3037	276	5	machine	machine	NOUN
ap-3037	276	6	learning	learning	NOUN
ap-3037	276	7	and	and	CCONJ
ap-3037	276	8	online	online	ADJ
ap-3037	276	9	tuning	tuning	NOUN
ap-3037	276	10	of	of	ADP
ap-3037	276	11	weights	weight	NOUN
ap-3037	276	12	might	might	AUX
ap-3037	276	13	be	be	AUX
ap-3037	276	14	of	of	ADP
ap-3037	276	15	interest	interest	NOUN
ap-3037	276	16	for	for	ADP
ap-3037	276	17	achieving	achieve	VERB
ap-3037	276	18	a	a	DET
ap-3037	276	19	robotic	robotic	ADJ
ap-3037	276	20	heuristic	heuristic	ADJ
ap-3037	276	21	adaptation	adaptation	NOUN
ap-3037	276	22	.	.	PUNCT
ap-3037	277	1	this	this	DET
ap-3037	277	2	work	work	NOUN
ap-3037	277	3	opens	open	VERB
ap-3037	277	4	up	up	ADP
ap-3037	277	5	prospects	prospect	NOUN
ap-3037	277	6	for	for	ADP
ap-3037	277	7	exploiting	exploit	VERB
ap-3037	277	8	human	human	ADJ
ap-3037	277	9	adaptiveness	adaptiveness	NOUN
ap-3037	277	10	in	in	ADP
ap-3037	277	11	robotic	robotic	ADJ
ap-3037	277	12	exploration	exploration	NOUN
ap-3037	277	13	of	of	ADP
ap-3037	277	14	populated	populated	ADJ
ap-3037	277	15	environments	environment	NOUN
ap-3037	277	16	.	.	PUNCT
ap-3037	278	1	references	reference	NOUN
ap-3037	278	2	[	[	X
ap-3037	278	3	1	1	NUM
ap-3037	278	4	]	]	PUNCT
ap-3037	278	5	w.	w.	PROPN
ap-3037	278	6	burgard	burgard	PROPN
ap-3037	278	7	,	,	PUNCT
ap-3037	278	8	a.	a.	PROPN
ap-3037	278	9	b.	b.	PROPN
ap-3037	278	10	cremers	cremers	PROPN
ap-3037	278	11	,	,	PUNCT
ap-3037	278	12	d.	d.	PROPN
ap-3037	278	13	fox	fox	PROPN
ap-3037	278	14	,	,	PUNCT
ap-3037	278	15	et	et	PROPN
ap-3037	278	16	al	al	PROPN
ap-3037	278	17	.	.	PROPN
ap-3037	278	18	experiences	experience	NOUN
ap-3037	278	19	with	with	ADP
ap-3037	278	20	an	an	DET
ap-3037	278	21	interactive	interactive	ADJ
ap-3037	278	22	museum	museum	NOUN
ap-3037	278	23	tour	tour	NOUN
ap-3037	278	24	-	-	PUNCT
ap-3037	278	25	guide	guide	NOUN
ap-3037	278	26	robot	robot	NOUN
ap-3037	278	27	.	.	PUNCT
ap-3037	279	1	artificial	artificial	ADJ
ap-3037	279	2	intelligence	intelligence	NOUN
ap-3037	279	3	114(1):3–55	114(1):3–55	PROPN
ap-3037	279	4	,	,	PUNCT
ap-3037	279	5	1999	1999	NUM
ap-3037	279	6	.	.	PUNCT
ap-3037	280	1	[	[	X
ap-3037	280	2	2	2	NUM
ap-3037	280	3	]	]	PUNCT
ap-3037	280	4	k.	k.	NOUN
ap-3037	280	5	kosuge	kosuge	PROPN
ap-3037	280	6	,	,	PUNCT
ap-3037	280	7	y.	y.	PROPN
ap-3037	280	8	hirata	hirata	PROPN
ap-3037	280	9	.	.	PUNCT
ap-3037	281	1	human	human	ADJ
ap-3037	281	2	-	-	PUNCT
ap-3037	281	3	robot	robot	NOUN
ap-3037	281	4	interaction	interaction	NOUN
ap-3037	281	5	.	.	PUNCT
ap-3037	282	1	in	in	ADP
ap-3037	282	2	proceedings	proceeding	NOUN
ap-3037	282	3	of	of	ADP
ap-3037	282	4	the	the	DET
ap-3037	282	5	ieee	ieee	NOUN
ap-3037	282	6	international	international	PROPN
ap-3037	282	7	conference	conference	NOUN
ap-3037	282	8	on	on	ADP
ap-3037	282	9	robotics	robotic	NOUN
ap-3037	282	10	and	and	CCONJ
ap-3037	282	11	biomimetics	biomimetic	NOUN
ap-3037	282	12	,	,	PUNCT
ap-3037	282	13	pp	pp	ADP
ap-3037	282	14	.	.	PUNCT
ap-3037	283	1	8–11	8–11	NOUN
ap-3037	283	2	.	.	PUNCT
ap-3037	284	1	2004	2004	NUM
ap-3037	284	2	.	.	PUNCT
ap-3037	285	1	[	[	X
ap-3037	285	2	3	3	X
ap-3037	285	3	]	]	X
ap-3037	285	4	r.	r.	PROPN
ap-3037	285	5	c.	c.	PROPN
ap-3037	285	6	arkin	arkin	PROPN
ap-3037	285	7	,	,	PUNCT
ap-3037	285	8	m.	m.	NOUN
ap-3037	285	9	fujita	fujita	PROPN
ap-3037	285	10	,	,	PUNCT
ap-3037	285	11	t.	t.	PROPN
ap-3037	285	12	takagi	takagi	PROPN
ap-3037	285	13	,	,	PUNCT
ap-3037	285	14	r.	r.	PROPN
ap-3037	285	15	hasegawa	hasegawa	PROPN
ap-3037	285	16	.	.	PUNCT
ap-3037	286	1	an	an	DET
ap-3037	286	2	ethological	ethological	ADJ
ap-3037	286	3	and	and	CCONJ
ap-3037	286	4	emotional	emotional	ADJ
ap-3037	286	5	basis	basis	NOUN
ap-3037	286	6	for	for	ADP
ap-3037	286	7	human	human	ADJ
ap-3037	286	8	-	-	PUNCT
ap-3037	286	9	robot	robot	NOUN
ap-3037	286	10	interaction	interaction	NOUN
ap-3037	286	11	.	.	PUNCT
ap-3037	287	1	robotics	robotic	NOUN
ap-3037	287	2	and	and	CCONJ
ap-3037	287	3	autonomous	autonomous	ADJ
ap-3037	287	4	systems	system	NOUN
ap-3037	287	5	42(3):191–201	42(3):191–201	NUM
ap-3037	287	6	,	,	PUNCT
ap-3037	287	7	2003	2003	NUM
ap-3037	287	8	.	.	PUNCT
ap-3037	288	1	[	[	X
ap-3037	288	2	4	4	X
ap-3037	288	3	]	]	PUNCT
ap-3037	288	4	m.	m.	NOUN
ap-3037	288	5	p.	p.	PROPN
ap-3037	288	6	michalowski	michalowski	PROPN
ap-3037	288	7	,	,	PUNCT
ap-3037	288	8	s.	s.	PROPN
ap-3037	288	9	sabanovic	sabanovic	PROPN
ap-3037	288	10	,	,	PUNCT
ap-3037	288	11	h.	h.	PROPN
ap-3037	288	12	kozima	kozima	PROPN
ap-3037	288	13	.	.	PUNCT
ap-3037	289	1	a	a	DET
ap-3037	289	2	dancing	dancing	NOUN
ap-3037	289	3	robot	robot	NOUN
ap-3037	289	4	for	for	ADP
ap-3037	289	5	rhythmic	rhythmic	ADJ
ap-3037	289	6	social	social	ADJ
ap-3037	289	7	interaction	interaction	NOUN
ap-3037	289	8	.	.	PUNCT
ap-3037	290	1	in	in	ADP
ap-3037	290	2	proceedings	proceeding	NOUN
ap-3037	290	3	of	of	ADP
ap-3037	290	4	the	the	DET
ap-3037	290	5	acm	acm	PROPN
ap-3037	290	6	/	/	SYM
ap-3037	290	7	ieee	ieee	PROPN
ap-3037	290	8	international	international	ADJ
ap-3037	290	9	conference	conference	NOUN
ap-3037	290	10	on	on	ADP
ap-3037	290	11	human	human	ADJ
ap-3037	290	12	-	-	PUNCT
ap-3037	290	13	robot	robot	NOUN
ap-3037	290	14	interaction	interaction	NOUN
ap-3037	290	15	.	.	PUNCT
ap-3037	291	1	2007	2007	NUM
ap-3037	291	2	.	.	PUNCT
ap-3037	292	1	160	160	NUM
ap-3037	292	2	vol	vol	NOUN
ap-3037	292	3	.	.	PUNCT
ap-3037	293	1	55	55	NUM
ap-3037	293	2	no	no	NOUN
ap-3037	293	3	.	.	PUNCT
ap-3037	294	1	3/2015	3/2015	NUM
ap-3037	294	2	comparison	comparison	NOUN
ap-3037	294	3	of	of	ADP
ap-3037	294	4	classical	classical	ADJ
ap-3037	294	5	and	and	CCONJ
ap-3037	294	6	interactive	interactive	ADJ
ap-3037	294	7	multi	multi	ADJ
ap-3037	294	8	-	-	ADJ
ap-3037	294	9	robot	robot	ADJ
ap-3037	294	10	exploration	exploration	NOUN
ap-3037	294	11	0.98	0.98	NUM
ap-3037	294	12	0.99	0.99	NUM
ap-3037	294	13	1	1	NUM
ap-3037	294	14	e	e	NOUN
ap-3037	294	15	m	m	PROPN
ap-3037	294	16	p	p	X
ap-3037	294	17	ty	ty	NUM
ap-3037	294	18	coverage	coverage	NOUN
ap-3037	294	19	(	(	PUNCT
ap-3037	294	20	%	%	NOUN
ap-3037	294	21	)	)	PUNCT
ap-3037	294	22	50	50	NUM
ap-3037	294	23	100	100	NUM
ap-3037	294	24	distance	distance	NOUN
ap-3037	294	25	(	(	PUNCT
ap-3037	294	26	m	m	NOUN
ap-3037	294	27	)	)	PUNCT
ap-3037	294	28	100	100	NUM
ap-3037	294	29	200	200	NUM
ap-3037	294	30	time	time	NOUN
ap-3037	294	31	(	(	PUNCT
ap-3037	294	32	s	s	NOUN
ap-3037	294	33	)	)	PUNCT
ap-3037	294	34	0.8	0.8	NUM
ap-3037	294	35	0.85	0.85	NUM
ap-3037	294	36	u	u	PROPN
ap-3037	294	37	n	n	PROPN
ap-3037	294	38	st	st	PROPN
ap-3037	295	1	ru	ru	PROPN
ap-3037	295	2	c	c	PROPN
ap-3037	295	3	tu	tu	PROPN
ap-3037	295	4	re	re	PROPN
ap-3037	295	5	d	d	PROPN
ap-3037	295	6	50	50	NUM
ap-3037	295	7	100	100	NUM
ap-3037	295	8	100	100	NUM
ap-3037	295	9	200	200	NUM
ap-3037	295	10	300	300	NUM
ap-3037	295	11	0	0	NUM
ap-3037	295	12	0.25	0.25	NUM
ap-3037	295	13	0.5	0.5	NUM
ap-3037	295	14	0.75	0.75	NUM
ap-3037	295	15	1	1	NUM
ap-3037	295	16	0	0	NUM
ap-3037	295	17	0.25	0.25	NUM
ap-3037	295	18	0.5	0.5	NUM
ap-3037	295	19	0.75	0.75	NUM
ap-3037	295	20	1	1	NUM
ap-3037	295	21	0.5	0.5	NUM
ap-3037	295	22	0.6	0.6	NUM
ap-3037	295	23	0.7	0.7	NUM
ap-3037	295	24	α	α	PROPN
ap-3037	295	25	σ	σ	PROPN
ap-3037	295	26	st	st	PROPN
ap-3037	296	1	ru	ru	PROPN
ap-3037	296	2	c	c	PROPN
ap-3037	296	3	tu	tu	PROPN
ap-3037	296	4	re	re	PROPN
ap-3037	296	5	d	d	PROPN
ap-3037	296	6	0	0	NUM
ap-3037	296	7	0.25	0.25	NUM
ap-3037	296	8	0.5	0.5	NUM
ap-3037	296	9	0.75	0.75	NUM
ap-3037	296	10	1	1	NUM
ap-3037	296	11	0	0	NUM
ap-3037	296	12	0.25	0.25	NUM
ap-3037	296	13	0.5	0.5	NUM
ap-3037	296	14	0.75	0.75	NUM
ap-3037	296	15	1	1	NUM
ap-3037	296	16	50	50	NUM
ap-3037	296	17	100	100	NUM
ap-3037	296	18	α	α	NOUN
ap-3037	296	19	σ	σ	NOUN
ap-3037	296	20	0	0	NUM
ap-3037	296	21	0.25	0.25	NUM
ap-3037	296	22	0.5	0.5	NUM
ap-3037	296	23	0.75	0.75	NUM
ap-3037	296	24	1	1	NUM
ap-3037	296	25	0	0	NUM
ap-3037	296	26	0.25	0.25	NUM
ap-3037	296	27	0.5	0.5	NUM
ap-3037	296	28	0.75	0.75	NUM
ap-3037	296	29	1	1	NUM
ap-3037	296	30	200	200	NUM
ap-3037	296	31	300	300	NUM
ap-3037	296	32	α	α	NOUN
ap-3037	296	33	σ	σ	NOUN
ap-3037	296	34	figure	figure	NOUN
ap-3037	296	35	11	11	NUM
ap-3037	296	36	.	.	PUNCT
ap-3037	297	1	group	group	NOUN
ap-3037	297	2	greedy	greedy	ADJ
ap-3037	297	3	dense	dense	ADJ
ap-3037	297	4	:	:	PUNCT
ap-3037	297	5	empty	empty	ADJ
ap-3037	297	6	(	(	PUNCT
ap-3037	297	7	top	top	NOUN
ap-3037	297	8	)	)	PUNCT
ap-3037	297	9	;	;	PUNCT
ap-3037	297	10	unstructured	unstructured	ADJ
ap-3037	297	11	(	(	PUNCT
ap-3037	297	12	middle	middle	NOUN
ap-3037	297	13	)	)	PUNCT
ap-3037	297	14	;	;	PUNCT
ap-3037	297	15	structured	structure	VERB
ap-3037	297	16	(	(	PUNCT
ap-3037	297	17	bottom	bottom	NOUN
ap-3037	297	18	)	)	PUNCT
ap-3037	297	19	.	.	PUNCT
ap-3037	298	1	[	[	X
ap-3037	298	2	5	5	X
ap-3037	298	3	]	]	PUNCT
ap-3037	298	4	m.	m.	NOUN
ap-3037	298	5	bennewitz	bennewitz	PROPN
ap-3037	298	6	,	,	PUNCT
ap-3037	298	7	w.	w.	PROPN
ap-3037	298	8	burgard	burgard	PROPN
ap-3037	298	9	,	,	PUNCT
ap-3037	298	10	g.	g.	PROPN
ap-3037	298	11	cielniak	cielniak	PROPN
ap-3037	298	12	,	,	PUNCT
ap-3037	298	13	s.	s.	PROPN
ap-3037	298	14	thrun	thrun	PROPN
ap-3037	298	15	.	.	PUNCT
ap-3037	299	1	learning	learn	VERB
ap-3037	299	2	motion	motion	NOUN
ap-3037	299	3	patterns	pattern	NOUN
ap-3037	299	4	of	of	ADP
ap-3037	299	5	people	people	NOUN
ap-3037	299	6	for	for	ADP
ap-3037	299	7	compliant	compliant	ADJ
ap-3037	299	8	robot	robot	NOUN
ap-3037	299	9	motion	motion	NOUN
ap-3037	299	10	.	.	PUNCT
ap-3037	300	1	the	the	DET
ap-3037	300	2	international	international	ADJ
ap-3037	300	3	journal	journal	NOUN
ap-3037	300	4	of	of	ADP
ap-3037	300	5	robotics	robotic	NOUN
ap-3037	300	6	research	research	NOUN
ap-3037	300	7	24(1):31–48	24(1):31–48	NUM
ap-3037	300	8	,	,	PUNCT
ap-3037	300	9	2005	2005	NUM
ap-3037	300	10	.	.	PUNCT
ap-3037	301	1	[	[	X
ap-3037	301	2	6	6	NUM
ap-3037	301	3	]	]	PUNCT
ap-3037	301	4	a.	a.	NOUN
ap-3037	301	5	dubois	dubois	PROPN
ap-3037	301	6	,	,	PUNCT
ap-3037	301	7	a.	a.	PROPN
ap-3037	301	8	dib	dib	PROPN
ap-3037	301	9	,	,	PUNCT
ap-3037	301	10	f.	f.	PROPN
ap-3037	301	11	charpillet	charpillet	PROPN
ap-3037	301	12	.	.	PUNCT
ap-3037	302	1	using	use	VERB
ap-3037	302	2	hmms	hmms	NOUN
ap-3037	302	3	for	for	ADP
ap-3037	302	4	discriminating	discriminate	VERB
ap-3037	302	5	mobile	mobile	NOUN
ap-3037	302	6	from	from	ADP
ap-3037	302	7	static	static	ADJ
ap-3037	302	8	objects	object	NOUN
ap-3037	302	9	in	in	ADP
ap-3037	302	10	a	a	DET
ap-3037	302	11	3d	3d	NUM
ap-3037	302	12	occupancy	occupancy	NOUN
ap-3037	302	13	grid	grid	NOUN
ap-3037	302	14	.	.	PUNCT
ap-3037	303	1	in	in	ADP
ap-3037	303	2	tools	tool	NOUN
ap-3037	303	3	with	with	ADP
ap-3037	303	4	artificial	artificial	ADJ
ap-3037	303	5	intelligence	intelligence	NOUN
ap-3037	303	6	(	(	PUNCT
ap-3037	303	7	ictai	ictai	PROPN
ap-3037	303	8	)	)	PUNCT
ap-3037	303	9	,	,	PUNCT
ap-3037	303	10	2011	2011	NUM
ap-3037	303	11	23rd	23rd	NOUN
ap-3037	303	12	ieee	ieee	PROPN
ap-3037	303	13	international	international	ADJ
ap-3037	303	14	conference	conference	NOUN
ap-3037	303	15	on	on	ADP
ap-3037	303	16	.	.	PUNCT
ap-3037	303	17	2011	2011	NUM
ap-3037	303	18	.	.	PUNCT
ap-3037	304	1	[	[	X
ap-3037	304	2	7	7	X
ap-3037	304	3	]	]	X
ap-3037	304	4	d.	d.	PROPN
ap-3037	304	5	baronov	baronov	PROPN
ap-3037	304	6	,	,	PUNCT
ap-3037	304	7	j.	j.	PROPN
ap-3037	304	8	baillieul	baillieul	PROPN
ap-3037	304	9	.	.	PROPN
ap-3037	305	1	reactive	reactive	PROPN
ap-3037	305	2	exploration	exploration	NOUN
ap-3037	305	3	through	through	ADP
ap-3037	305	4	following	follow	VERB
ap-3037	305	5	isolines	isoline	NOUN
ap-3037	305	6	in	in	ADP
ap-3037	305	7	a	a	DET
ap-3037	305	8	potential	potential	ADJ
ap-3037	305	9	field	field	NOUN
ap-3037	305	10	.	.	PUNCT
ap-3037	306	1	in	in	ADP
ap-3037	306	2	proceedings	proceeding	NOUN
ap-3037	306	3	of	of	ADP
ap-3037	306	4	the	the	DET
ap-3037	306	5	american	american	PROPN
ap-3037	306	6	control	control	PROPN
ap-3037	306	7	conference	conference	PROPN
ap-3037	306	8	.	.	PUNCT
ap-3037	307	1	2007	2007	NUM
ap-3037	307	2	.	.	PUNCT
ap-3037	308	1	[	[	X
ap-3037	308	2	8	8	NUM
ap-3037	308	3	]	]	X
ap-3037	308	4	r.	r.	PROPN
ap-3037	308	5	morlok	morlok	PROPN
ap-3037	308	6	,	,	PUNCT
ap-3037	308	7	m.	m.	PROPN
ap-3037	308	8	gini	gini	PROPN
ap-3037	308	9	.	.	PUNCT
ap-3037	308	10	dispersing	disperse	VERB
ap-3037	308	11	robots	robot	NOUN
ap-3037	308	12	in	in	ADP
ap-3037	308	13	an	an	DET
ap-3037	308	14	unknown	unknown	ADJ
ap-3037	308	15	environment	environment	NOUN
ap-3037	308	16	.	.	PUNCT
ap-3037	309	1	in	in	ADP
ap-3037	309	2	distributed	distribute	VERB
ap-3037	309	3	autonomous	autonomous	ADJ
ap-3037	309	4	robotic	robotic	ADJ
ap-3037	309	5	systems	system	NOUN
ap-3037	309	6	,	,	PUNCT
ap-3037	309	7	pp	pp	ADP
ap-3037	309	8	.	.	PUNCT
ap-3037	310	1	253–262	253–262	NUM
ap-3037	310	2	.	.	PUNCT
ap-3037	310	3	2007	2007	NUM
ap-3037	310	4	.	.	PUNCT
ap-3037	311	1	[	[	X
ap-3037	311	2	9	9	NUM
ap-3037	311	3	]	]	PUNCT
ap-3037	311	4	m.	m.	NOUN
ap-3037	311	5	andries	andries	PROPN
ap-3037	311	6	,	,	PUNCT
ap-3037	311	7	f.	f.	PROPN
ap-3037	311	8	charpillet	charpillet	PROPN
ap-3037	311	9	.	.	PUNCT
ap-3037	312	1	multi	multi	ADJ
ap-3037	312	2	-	-	ADJ
ap-3037	312	3	robot	robot	ADJ
ap-3037	312	4	exploration	exploration	NOUN
ap-3037	312	5	of	of	ADP
ap-3037	312	6	unknown	unknown	ADJ
ap-3037	312	7	environments	environment	NOUN
ap-3037	312	8	with	with	ADP
ap-3037	312	9	identification	identification	NOUN
ap-3037	312	10	of	of	ADP
ap-3037	312	11	exploration	exploration	NOUN
ap-3037	312	12	completion	completion	NOUN
ap-3037	312	13	and	and	CCONJ
ap-3037	312	14	post	post	ADJ
ap-3037	312	15	-	-	ADJ
ap-3037	312	16	exploration	exploration	ADJ
ap-3037	312	17	rendez	rendez	NOUN
ap-3037	312	18	-	-	PUNCT
ap-3037	312	19	vous	vous	NOUN
ap-3037	312	20	using	use	VERB
ap-3037	312	21	ant	ant	ADJ
ap-3037	312	22	algorithms	algorithm	NOUN
ap-3037	312	23	.	.	PUNCT
ap-3037	313	1	in	in	ADP
ap-3037	313	2	proceedings	proceeding	NOUN
ap-3037	313	3	of	of	ADP
ap-3037	313	4	the	the	DET
ap-3037	313	5	ieee	ieee	NOUN
ap-3037	313	6	/	/	SYM
ap-3037	313	7	rsj	rsj	NOUN
ap-3037	313	8	international	international	ADJ
ap-3037	313	9	conference	conference	NOUN
ap-3037	313	10	on	on	ADP
ap-3037	313	11	intelligent	intelligent	ADJ
ap-3037	313	12	robots	robot	NOUN
ap-3037	313	13	and	and	CCONJ
ap-3037	313	14	systems	system	NOUN
ap-3037	313	15	.	.	PUNCT
ap-3037	314	1	2013	2013	NUM
ap-3037	314	2	.	.	PUNCT
ap-3037	315	1	[	[	X
ap-3037	315	2	10	10	NUM
ap-3037	315	3	]	]	X
ap-3037	315	4	e.	e.	PROPN
ap-3037	315	5	ferranti	ferranti	PROPN
ap-3037	315	6	,	,	PUNCT
ap-3037	315	7	n.	n.	PROPN
ap-3037	315	8	trigoni	trigoni	PROPN
ap-3037	315	9	,	,	PUNCT
ap-3037	315	10	m.	m.	NOUN
ap-3037	315	11	levene	levene	NOUN
ap-3037	315	12	.	.	PUNCT
ap-3037	316	1	brick&mortar	brick&mortar	ADP
ap-3037	316	2	:	:	PUNCT
ap-3037	316	3	an	an	DET
ap-3037	316	4	on	on	ADP
ap-3037	316	5	-	-	PUNCT
ap-3037	316	6	line	line	NOUN
ap-3037	316	7	multi	multi	ADJ
ap-3037	316	8	-	-	ADJ
ap-3037	316	9	agent	agent	ADJ
ap-3037	316	10	exploration	exploration	NOUN
ap-3037	316	11	algorithm	algorithm	NOUN
ap-3037	316	12	.	.	PUNCT
ap-3037	317	1	in	in	ADP
ap-3037	317	2	proceedings	proceeding	NOUN
ap-3037	317	3	of	of	ADP
ap-3037	317	4	the	the	DET
ap-3037	317	5	ieee	ieee	NOUN
ap-3037	317	6	international	international	PROPN
ap-3037	317	7	conference	conference	NOUN
ap-3037	317	8	on	on	ADP
ap-3037	317	9	robotics	robotic	NOUN
ap-3037	317	10	and	and	CCONJ
ap-3037	317	11	automation	automation	NOUN
ap-3037	317	12	.	.	PUNCT
ap-3037	318	1	2007	2007	NUM
ap-3037	318	2	.	.	PUNCT
ap-3037	319	1	[	[	X
ap-3037	319	2	11	11	NUM
ap-3037	319	3	]	]	X
ap-3037	319	4	b.	b.	PROPN
ap-3037	319	5	yamauchi	yamauchi	PROPN
ap-3037	319	6	.	.	PUNCT
ap-3037	320	1	a	a	DET
ap-3037	320	2	frontier	frontier	NOUN
ap-3037	320	3	-	-	PUNCT
ap-3037	320	4	based	base	VERB
ap-3037	320	5	approach	approach	NOUN
ap-3037	320	6	for	for	ADP
ap-3037	320	7	autonomous	autonomous	ADJ
ap-3037	320	8	exploration	exploration	NOUN
ap-3037	320	9	.	.	PUNCT
ap-3037	321	1	in	in	ADP
ap-3037	321	2	proceedings	proceeding	NOUN
ap-3037	321	3	of	of	ADP
ap-3037	321	4	the	the	DET
ap-3037	321	5	ieee	ieee	NOUN
ap-3037	321	6	international	international	ADJ
ap-3037	321	7	symposium	symposium	NOUN
ap-3037	321	8	on	on	ADP
ap-3037	321	9	computational	computational	ADJ
ap-3037	321	10	intelligence	intelligence	NOUN
ap-3037	321	11	in	in	ADP
ap-3037	321	12	robotics	robotic	NOUN
ap-3037	321	13	and	and	CCONJ
ap-3037	321	14	automation	automation	NOUN
ap-3037	321	15	.	.	PUNCT
ap-3037	322	1	1997	1997	NUM
ap-3037	322	2	.	.	PUNCT
ap-3037	323	1	[	[	X
ap-3037	323	2	12	12	NUM
ap-3037	323	3	]	]	PUNCT
ap-3037	323	4	j.	j.	PROPN
ap-3037	323	5	faigl	faigl	PROPN
ap-3037	323	6	,	,	PUNCT
ap-3037	323	7	m.	m.	NOUN
ap-3037	323	8	kulich	kulich	PROPN
ap-3037	323	9	,	,	PUNCT
ap-3037	323	10	l.	l.	PROPN
ap-3037	323	11	preucil	preucil	PROPN
ap-3037	323	12	.	.	PUNCT
ap-3037	324	1	goal	goal	NOUN
ap-3037	324	2	assignment	assignment	NOUN
ap-3037	324	3	using	use	VERB
ap-3037	324	4	distance	distance	NOUN
ap-3037	324	5	cost	cost	NOUN
ap-3037	324	6	in	in	ADP
ap-3037	324	7	multi	multi	ADJ
ap-3037	324	8	-	-	ADJ
ap-3037	324	9	robot	robot	ADJ
ap-3037	324	10	exploration	exploration	NOUN
ap-3037	324	11	.	.	PUNCT
ap-3037	325	1	in	in	ADP
ap-3037	325	2	proceedings	proceeding	NOUN
ap-3037	325	3	of	of	ADP
ap-3037	325	4	the	the	DET
ap-3037	325	5	ieee	ieee	NOUN
ap-3037	325	6	/	/	SYM
ap-3037	325	7	rsj	rsj	NOUN
ap-3037	325	8	international	international	ADJ
ap-3037	325	9	conference	conference	NOUN
ap-3037	325	10	on	on	ADP
ap-3037	325	11	intelligent	intelligent	ADJ
ap-3037	325	12	robots	robot	NOUN
ap-3037	325	13	and	and	CCONJ
ap-3037	325	14	systems	system	NOUN
ap-3037	325	15	.	.	PUNCT
ap-3037	326	1	2012	2012	NUM
ap-3037	326	2	.	.	PUNCT
ap-3037	327	1	[	[	X
ap-3037	327	2	13	13	NUM
ap-3037	327	3	]	]	PUNCT
ap-3037	327	4	a.	a.	NOUN
ap-3037	327	5	bautin	bautin	PROPN
ap-3037	327	6	,	,	PUNCT
ap-3037	327	7	o.	o.	PROPN
ap-3037	327	8	simonin	simonin	PROPN
ap-3037	327	9	,	,	PUNCT
ap-3037	327	10	f.	f.	PROPN
ap-3037	327	11	charpillet	charpillet	PROPN
ap-3037	327	12	.	.	PUNCT
ap-3037	328	1	minpos	minpos	NOUN
ap-3037	328	2	:	:	PUNCT
ap-3037	328	3	a	a	DET
ap-3037	328	4	novel	novel	ADJ
ap-3037	328	5	frontier	frontier	NOUN
ap-3037	328	6	allocation	allocation	NOUN
ap-3037	328	7	algorithm	algorithm	NOUN
ap-3037	328	8	for	for	ADP
ap-3037	328	9	multi	multi	ADJ
ap-3037	328	10	-	-	ADJ
ap-3037	328	11	robot	robot	ADJ
ap-3037	328	12	exploration	exploration	NOUN
ap-3037	328	13	.	.	PUNCT
ap-3037	329	1	in	in	ADP
ap-3037	329	2	proceedings	proceeding	NOUN
ap-3037	329	3	of	of	ADP
ap-3037	329	4	the	the	DET
ap-3037	329	5	5th	5th	ADJ
ap-3037	329	6	international	international	ADJ
ap-3037	329	7	conference	conference	NOUN
ap-3037	329	8	on	on	ADP
ap-3037	329	9	intelligent	intelligent	ADJ
ap-3037	329	10	robotics	robotic	NOUN
ap-3037	329	11	and	and	CCONJ
ap-3037	329	12	applications	application	NOUN
ap-3037	329	13	.	.	PUNCT
ap-3037	330	1	2012	2012	NUM
ap-3037	330	2	.	.	PUNCT
ap-3037	331	1	[	[	X
ap-3037	331	2	14	14	NUM
ap-3037	331	3	]	]	X
ap-3037	331	4	w.	w.	PROPN
ap-3037	331	5	burgard	burgard	PROPN
ap-3037	331	6	,	,	PUNCT
ap-3037	331	7	m.	m.	NOUN
ap-3037	331	8	moors	moor	NOUN
ap-3037	331	9	,	,	PUNCT
ap-3037	331	10	c.	c.	NOUN
ap-3037	331	11	stachniss	stachniss	NOUN
ap-3037	331	12	,	,	PUNCT
ap-3037	331	13	f.	f.	PROPN
ap-3037	331	14	e.	e.	PROPN
ap-3037	331	15	schneider	schneider	PROPN
ap-3037	331	16	.	.	PUNCT
ap-3037	332	1	coordinated	coordinate	VERB
ap-3037	332	2	multi	multi	ADJ
ap-3037	332	3	-	-	ADJ
ap-3037	332	4	robot	robot	ADJ
ap-3037	332	5	exploration	exploration	NOUN
ap-3037	332	6	.	.	PUNCT
ap-3037	333	1	robotics	robotic	NOUN
ap-3037	333	2	,	,	PUNCT
ap-3037	333	3	ieee	ieee	NOUN
ap-3037	333	4	transactions	transaction	NOUN
ap-3037	333	5	on	on	ADP
ap-3037	333	6	21(3):376–386	21(3):376–386	NUM
ap-3037	333	7	,	,	PUNCT
ap-3037	333	8	2005	2005	NUM
ap-3037	333	9	.	.	PUNCT
ap-3037	334	1	[	[	X
ap-3037	334	2	15	15	NUM
ap-3037	334	3	]	]	X
ap-3037	334	4	l.	l.	PROPN
ap-3037	334	5	macedo	macedo	PROPN
ap-3037	334	6	,	,	PUNCT
ap-3037	334	7	a.	a.	NOUN
ap-3037	334	8	cardoso	cardoso	PROPN
ap-3037	334	9	.	.	PUNCT
ap-3037	335	1	exploration	exploration	NOUN
ap-3037	335	2	of	of	ADP
ap-3037	335	3	unknown	unknown	ADJ
ap-3037	335	4	environments	environment	NOUN
ap-3037	335	5	with	with	ADP
ap-3037	335	6	motivational	motivational	ADJ
ap-3037	335	7	agents	agent	NOUN
ap-3037	335	8	.	.	PUNCT
ap-3037	336	1	in	in	ADP
ap-3037	336	2	proceedings	proceeding	NOUN
ap-3037	336	3	of	of	ADP
ap-3037	336	4	the	the	DET
ap-3037	336	5	third	third	ADJ
ap-3037	336	6	international	international	ADJ
ap-3037	336	7	joint	joint	ADJ
ap-3037	336	8	conference	conference	NOUN
ap-3037	336	9	on	on	ADP
ap-3037	336	10	autonomous	autonomous	ADJ
ap-3037	336	11	agents	agent	NOUN
ap-3037	336	12	and	and	CCONJ
ap-3037	336	13	multiagent	multiagent	NOUN
ap-3037	336	14	systems	system	NOUN
ap-3037	336	15	.	.	PUNCT
ap-3037	337	1	2004	2004	NUM
ap-3037	337	2	.	.	PUNCT
ap-3037	338	1	[	[	X
ap-3037	338	2	16	16	NUM
ap-3037	338	3	]	]	PUNCT
ap-3037	338	4	m.	m.	NOUN
ap-3037	338	5	a.	a.	NOUN
ap-3037	338	6	goodrich	goodrich	PROPN
ap-3037	338	7	,	,	PUNCT
ap-3037	338	8	a.	a.	PROPN
ap-3037	338	9	c.	c.	PROPN
ap-3037	338	10	schultz	schultz	PROPN
ap-3037	338	11	.	.	PUNCT
ap-3037	339	1	human	human	ADJ
ap-3037	339	2	-	-	PUNCT
ap-3037	339	3	robot	robot	NOUN
ap-3037	339	4	interaction	interaction	NOUN
ap-3037	339	5	:	:	PUNCT
ap-3037	339	6	a	a	DET
ap-3037	339	7	survey	survey	NOUN
ap-3037	339	8	.	.	PUNCT
ap-3037	340	1	foundations	foundation	NOUN
ap-3037	340	2	and	and	CCONJ
ap-3037	340	3	trends	trend	NOUN
ap-3037	340	4	in	in	ADP
ap-3037	340	5	human	human	ADJ
ap-3037	340	6	-	-	PUNCT
ap-3037	340	7	computer	computer	NOUN
ap-3037	340	8	interaction	interaction	NOUN
ap-3037	340	9	2007	2007	NUM
ap-3037	340	10	.	.	PUNCT
ap-3037	341	1	[	[	X
ap-3037	341	2	17	17	NUM
ap-3037	341	3	]	]	X
ap-3037	341	4	h.	h.	PROPN
ap-3037	341	5	asoh	asoh	PROPN
ap-3037	341	6	,	,	PUNCT
ap-3037	341	7	y.	y.	PROPN
ap-3037	341	8	motomura	motomura	PROPN
ap-3037	341	9	,	,	PUNCT
ap-3037	341	10	f.	f.	PROPN
ap-3037	341	11	asano	asano	PROPN
ap-3037	341	12	,	,	PUNCT
ap-3037	341	13	et	et	PROPN
ap-3037	341	14	al	al	PROPN
ap-3037	341	15	.	.	PROPN
ap-3037	342	1	jijo-2	jijo-2	PROPN
ap-3037	342	2	:	:	PUNCT
ap-3037	342	3	an	an	DET
ap-3037	342	4	office	office	NOUN
ap-3037	342	5	robot	robot	NOUN
ap-3037	342	6	that	that	PRON
ap-3037	342	7	communicates	communicate	VERB
ap-3037	342	8	and	and	CCONJ
ap-3037	342	9	learns	learn	VERB
ap-3037	342	10	.	.	PUNCT
ap-3037	343	1	ieee	ieee	NOUN
ap-3037	343	2	intelligent	intelligent	ADJ
ap-3037	343	3	systems	system	NOUN
ap-3037	343	4	16(5):46–55	16(5):46–55	NUM
ap-3037	343	5	,	,	PUNCT
ap-3037	343	6	2001	2001	NUM
ap-3037	343	7	.	.	PUNCT
ap-3037	344	1	[	[	X
ap-3037	344	2	18	18	NUM
ap-3037	344	3	]	]	X
ap-3037	344	4	h.	h.	PROPN
ap-3037	344	5	takeda	takeda	PROPN
ap-3037	344	6	,	,	PUNCT
ap-3037	344	7	n.	n.	PROPN
ap-3037	344	8	kobayashi	kobayashi	PROPN
ap-3037	344	9	,	,	PUNCT
ap-3037	344	10	y.	y.	PROPN
ap-3037	344	11	matsubara	matsubara	PROPN
ap-3037	344	12	,	,	PUNCT
ap-3037	344	13	t.	t.	PROPN
ap-3037	344	14	nishida	nishida	PROPN
ap-3037	344	15	.	.	PUNCT
ap-3037	345	1	towards	towards	ADP
ap-3037	345	2	ubiquitous	ubiquitous	ADJ
ap-3037	345	3	human	human	ADJ
ap-3037	345	4	-	-	PUNCT
ap-3037	345	5	robot	robot	NOUN
ap-3037	345	6	interaction	interaction	NOUN
ap-3037	345	7	.	.	PUNCT
ap-3037	346	1	in	in	ADP
ap-3037	346	2	proceedings	proceeding	NOUN
ap-3037	346	3	of	of	ADP
ap-3037	346	4	the	the	DET
ap-3037	346	5	working	working	NOUN
ap-3037	346	6	notes	note	NOUN
ap-3037	346	7	for	for	ADP
ap-3037	346	8	ijcai	ijcai	NOUN
ap-3037	346	9	workshop	workshop	NOUN
ap-3037	346	10	on	on	ADP
ap-3037	346	11	intelligent	intelligent	ADJ
ap-3037	346	12	multimodal	multimodal	NOUN
ap-3037	346	13	systems	system	NOUN
ap-3037	346	14	.	.	PUNCT
ap-3037	347	1	1997	1997	NUM
ap-3037	347	2	.	.	PUNCT
ap-3037	348	1	[	[	X
ap-3037	348	2	19	19	NUM
ap-3037	348	3	]	]	X
ap-3037	348	4	e.	e.	PROPN
ap-3037	348	5	rohmer	rohmer	PROPN
ap-3037	348	6	,	,	PUNCT
ap-3037	348	7	s.	s.	PROPN
ap-3037	348	8	p.	p.	PROPN
ap-3037	348	9	singh	singh	PROPN
ap-3037	348	10	,	,	PUNCT
ap-3037	348	11	m.	m.	NOUN
ap-3037	348	12	freese	freese	PROPN
ap-3037	348	13	.	.	PUNCT
ap-3037	349	1	v	v	NOUN
ap-3037	349	2	-	-	PUNCT
ap-3037	349	3	rep	rep	NOUN
ap-3037	349	4	:	:	PUNCT
ap-3037	349	5	a	a	DET
ap-3037	349	6	versatile	versatile	ADJ
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ap-3037	349	8	scalable	scalable	ADJ
ap-3037	349	9	robot	robot	NOUN
ap-3037	349	10	simulation	simulation	NOUN
ap-3037	349	11	framework	framework	NOUN
ap-3037	349	12	.	.	PUNCT
ap-3037	350	1	in	in	ADP
ap-3037	350	2	proceedings	proceeding	NOUN
ap-3037	350	3	of	of	ADP
ap-3037	350	4	the	the	DET
ap-3037	350	5	ieee	ieee	NOUN
ap-3037	350	6	/	/	SYM
ap-3037	350	7	rsj	rsj	NOUN
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ap-3037	350	9	conference	conference	NOUN
ap-3037	350	10	on	on	ADP
ap-3037	350	11	intelligent	intelligent	ADJ
ap-3037	350	12	robots	robot	NOUN
ap-3037	350	13	and	and	CCONJ
ap-3037	350	14	systems	system	NOUN
ap-3037	350	15	.	.	PUNCT
ap-3037	351	1	2013	2013	NUM
ap-3037	351	2	.	.	PUNCT
ap-3037	352	1	[	[	X
ap-3037	352	2	20	20	NUM
ap-3037	352	3	]	]	X
ap-3037	352	4	d.	d.	PROPN
ap-3037	352	5	r.	r.	PROPN
ap-3037	352	6	olsen	olsen	PROPN
ap-3037	352	7	,	,	PUNCT
ap-3037	352	8	m.	m.	NOUN
ap-3037	352	9	a.	a.	NOUN
ap-3037	352	10	goodrich	goodrich	PROPN
ap-3037	352	11	.	.	PUNCT
ap-3037	353	1	metrics	metric	NOUN
ap-3037	353	2	for	for	ADP
ap-3037	353	3	evaluating	evaluate	VERB
ap-3037	353	4	human	human	ADJ
ap-3037	353	5	-	-	PUNCT
ap-3037	353	6	robot	robot	NOUN
ap-3037	353	7	interactions	interaction	NOUN
ap-3037	353	8	.	.	PUNCT
ap-3037	354	1	in	in	ADP
ap-3037	354	2	proceedings	proceeding	NOUN
ap-3037	354	3	of	of	ADP
ap-3037	354	4	permis	permis	PROPN
ap-3037	354	5	.	.	PUNCT
ap-3037	354	6	2003	2003	NUM
ap-3037	354	7	.	.	PUNCT
ap-3037	355	1	[	[	X
ap-3037	355	2	21	21	NUM
ap-3037	355	3	]	]	PUNCT
ap-3037	355	4	a.	a.	NOUN
ap-3037	355	5	steinfeld	steinfeld	PROPN
ap-3037	355	6	,	,	PUNCT
ap-3037	355	7	t.	t.	PROPN
ap-3037	355	8	fong	fong	PROPN
ap-3037	355	9	,	,	PUNCT
ap-3037	355	10	d.	d.	PROPN
ap-3037	355	11	kaber	kaber	PROPN
ap-3037	355	12	,	,	PUNCT
ap-3037	355	13	et	et	PROPN
ap-3037	355	14	al	al	PROPN
ap-3037	355	15	.	.	PUNCT
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ap-3037	356	3	for	for	ADP
ap-3037	356	4	human	human	ADJ
ap-3037	356	5	-	-	PUNCT
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ap-3037	356	8	.	.	PUNCT
ap-3037	357	1	in	in	ADP
ap-3037	357	2	proceedings	proceeding	NOUN
ap-3037	357	3	of	of	ADP
ap-3037	357	4	the	the	DET
ap-3037	357	5	1st	1st	PROPN
ap-3037	357	6	acm	acm	PROPN
ap-3037	357	7	sigchi	sigchi	PROPN
ap-3037	357	8	/	/	SYM
ap-3037	357	9	sigart	sigart	PROPN
ap-3037	357	10	conference	conference	NOUN
ap-3037	357	11	on	on	ADP
ap-3037	357	12	human	human	ADJ
ap-3037	357	13	-	-	PUNCT
ap-3037	357	14	robot	robot	NOUN
ap-3037	357	15	interaction	interaction	NOUN
ap-3037	357	16	.	.	PUNCT
ap-3037	358	1	2006	2006	NUM
ap-3037	358	2	.	.	PUNCT
ap-3037	359	1	161	161	NUM
ap-3037	359	2	acta	acta	PROPN
ap-3037	359	3	polytechnica	polytechnica	PROPN
ap-3037	359	4	55(3):154–161	55(3):154–161	PROPN
ap-3037	359	5	,	,	PUNCT
ap-3037	359	6	2015	2015	NUM
ap-3037	359	7	1	1	NUM
ap-3037	359	8	introduction	introduction	NOUN
ap-3037	359	9	2	2	NUM
ap-3037	359	10	related	relate	VERB
ap-3037	359	11	work	work	NOUN
ap-3037	359	12	2.1	2.1	NUM
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ap-3037	359	14	-	-	ADJ
ap-3037	359	15	robot	robot	ADJ
ap-3037	359	16	exploration	exploration	NOUN
ap-3037	359	17	2.2	2.2	NUM
ap-3037	359	18	human	human	ADJ
ap-3037	359	19	-	-	PUNCT
ap-3037	359	20	robot	robot	NOUN
ap-3037	359	21	interaction	interaction	NOUN
ap-3037	359	22	3	3	NUM
ap-3037	359	23	multi	multi	ADJ
ap-3037	359	24	-	-	ADJ
ap-3037	359	25	agent	agent	ADJ
ap-3037	359	26	system	system	NOUN
ap-3037	359	27	formalisation	formalisation	NOUN
ap-3037	359	28	3.1	3.1	NUM
ap-3037	359	29	modelling	model	VERB
ap-3037	359	30	the	the	DET
ap-3037	359	31	environment	environment	NOUN
ap-3037	359	32	and	and	CCONJ
ap-3037	359	33	the	the	DET
ap-3037	359	34	agents	agent	NOUN
ap-3037	359	35	3.2	3.2	NUM
ap-3037	359	36	exploration	exploration	NOUN
ap-3037	359	37	and	and	CCONJ
ap-3037	359	38	completion	completion	NOUN
ap-3037	359	39	3.3	3.3	NUM
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ap-3037	359	41	the	the	DET
ap-3037	359	42	multi	multi	ADJ
ap-3037	359	43	-	-	ADJ
ap-3037	359	44	agent	agent	ADJ
ap-3037	359	45	system	system	NOUN
ap-3037	359	46	4	4	NUM
ap-3037	359	47	mixed	mix	VERB
ap-3037	359	48	exploration	exploration	NOUN
ap-3037	359	49	approach	approach	NOUN
ap-3037	359	50	by	by	ADP
ap-3037	359	51	frontiers	frontier	NOUN
ap-3037	359	52	and	and	CCONJ
ap-3037	359	53	interactions	interaction	NOUN
ap-3037	359	54	4.1	4.1	NUM
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ap-3037	359	56	approaches	approach	NOUN
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ap-3037	359	58	multi	multi	ADJ
ap-3037	359	59	-	-	ADJ
ap-3037	359	60	robot	robot	ADJ
ap-3037	359	61	exploration	exploration	NOUN
ap-3037	359	62	4.1.1	4.1.1	NUM
ap-3037	359	63	frontier	frontier	NOUN
ap-3037	359	64	-	-	PUNCT
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ap-3037	359	69	exploration	exploration	NOUN
ap-3037	359	70	4.1.3	4.1.3	NUM
ap-3037	359	71	mixed	mixed	ADJ
ap-3037	359	72	exploration	exploration	NOUN
ap-3037	359	73	4.2	4.2	NUM
ap-3037	359	74	mixed	mix	VERB
ap-3037	359	75	cost	cost	NOUN
ap-3037	359	76	model	model	NOUN
ap-3037	359	77	4.2.1	4.2.1	NUM
ap-3037	359	78	distance	distance	NOUN
ap-3037	359	79	4.2.2	4.2.2	NUM
ap-3037	359	80	penalty	penalty	NOUN
ap-3037	359	81	4.2.3	4.2.3	NUM
ap-3037	359	82	distance	distance	NOUN
ap-3037	359	83	and	and	CCONJ
ap-3037	359	84	penalty	penalty	NOUN
ap-3037	359	85	5	5	NUM
ap-3037	359	86	experimental	experimental	ADJ
ap-3037	359	87	framework	framework	NOUN
ap-3037	359	88	5.1	5.1	NUM
ap-3037	359	89	protocol	protocol	NOUN
ap-3037	359	90	5.2	5.2	NUM
ap-3037	359	91	metrics	metric	NOUN
ap-3037	359	92	5.3	5.3	NUM
ap-3037	359	93	results	result	VERB
ap-3037	359	94	6	6	NUM
ap-3037	359	95	conclusion	conclusion	NOUN
ap-3037	359	96	references	reference	NOUN