id	sid	tid	token	lemma	pos
ap-3039	1	1	acta	acta	PROPN
ap-3039	1	2	polytechnica	polytechnica	PROPN
ap-3039	1	3	doi:10.14311	doi:10.14311	PROPN
ap-3039	1	4	/	/	SYM
ap-3039	1	5	ap.2015.55.0162	ap.2015.55.0162	PROPN
ap-3039	1	6	acta	acta	PROPN
ap-3039	1	7	polytechnica	polytechnica	PROPN
ap-3039	1	8	55(3):162–168	55(3):162–168	PROPN
ap-3039	1	9	,	,	PUNCT
ap-3039	1	10	2015	2015	NUM
ap-3039	1	11	©	©	PROPN
ap-3039	1	12	czech	czech	PROPN
ap-3039	1	13	technical	technical	PROPN
ap-3039	1	14	university	university	PROPN
ap-3039	1	15	in	in	ADP
ap-3039	1	16	prague	prague	PROPN
ap-3039	1	17	,	,	PUNCT
ap-3039	1	18	2015	2015	NUM
ap-3039	1	19	available	available	ADJ
ap-3039	1	20	online	online	ADV
ap-3039	1	21	at	at	ADP
ap-3039	1	22	http://ojs.cvut.cz/ojs/index.php/ap	http://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-3039	1	23	comparison	comparison	NOUN
ap-3039	1	24	of	of	ADP
ap-3039	1	25	exploration	exploration	NOUN
ap-3039	1	26	strategies	strategy	NOUN
ap-3039	1	27	for	for	ADP
ap-3039	1	28	multi	multi	ADJ
ap-3039	1	29	-	-	ADJ
ap-3039	1	30	robot	robot	ADJ
ap-3039	1	31	search	search	NOUN
ap-3039	1	32	miroslav	miroslav	ADJ
ap-3039	1	33	kulich∗	kulich∗	NOUN
ap-3039	1	34	,	,	PUNCT
ap-3039	1	35	tomáš	tomáš	NOUN
ap-3039	1	36	juchelka	juchelka	PROPN
ap-3039	1	37	,	,	PUNCT
ap-3039	1	38	libor	libor	PROPN
ap-3039	1	39	přeučil	přeučil	PROPN
ap-3039	1	40	department	department	PROPN
ap-3039	1	41	of	of	ADP
ap-3039	1	42	cybernetics	cybernetic	NOUN
ap-3039	1	43	,	,	PUNCT
ap-3039	1	44	faculty	faculty	NOUN
ap-3039	1	45	of	of	ADP
ap-3039	1	46	electrical	electrical	ADJ
ap-3039	1	47	engineering	engineering	NOUN
ap-3039	1	48	,	,	PUNCT
ap-3039	1	49	czech	czech	PROPN
ap-3039	1	50	technical	technical	PROPN
ap-3039	1	51	university	university	PROPN
ap-3039	1	52	in	in	ADP
ap-3039	1	53	prague	prague	PROPN
ap-3039	1	54	,	,	PUNCT
ap-3039	1	55	technicka	technicka	NOUN
ap-3039	1	56	2	2	NUM
ap-3039	1	57	,	,	PUNCT
ap-3039	1	58	166	166	NUM
ap-3039	1	59	27	27	NUM
ap-3039	1	60	prague	prague	NOUN
ap-3039	1	61	,	,	PUNCT
ap-3039	1	62	czech	czech	PROPN
ap-3039	1	63	republic	republic	NOUN
ap-3039	1	64	∗	∗	NOUN
ap-3039	1	65	corresponding	correspond	VERB
ap-3039	1	66	author	author	NOUN
ap-3039	1	67	:	:	PUNCT
ap-3039	1	68	kulich@labe.felk.cvut.cz	kulich@labe.felk.cvut.cz	VERB
ap-3039	1	69	abstract	abstract	ADJ
ap-3039	1	70	.	.	PUNCT
ap-3039	2	1	searching	search	VERB
ap-3039	2	2	for	for	ADP
ap-3039	2	3	a	a	DET
ap-3039	2	4	stationary	stationary	ADJ
ap-3039	2	5	object	object	NOUN
ap-3039	2	6	in	in	ADP
ap-3039	2	7	an	an	DET
ap-3039	2	8	unknown	unknown	ADJ
ap-3039	2	9	environment	environment	NOUN
ap-3039	2	10	can	can	AUX
ap-3039	2	11	be	be	AUX
ap-3039	2	12	formulated	formulate	VERB
ap-3039	2	13	as	as	ADP
ap-3039	2	14	an	an	DET
ap-3039	2	15	iterative	iterative	NOUN
ap-3039	2	16	procedure	procedure	NOUN
ap-3039	2	17	consisting	consist	VERB
ap-3039	2	18	of	of	ADP
ap-3039	2	19	map	map	NOUN
ap-3039	2	20	updating	updating	NOUN
ap-3039	2	21	,	,	PUNCT
ap-3039	2	22	selection	selection	NOUN
ap-3039	2	23	of	of	ADP
ap-3039	2	24	a	a	DET
ap-3039	2	25	next	next	ADJ
ap-3039	2	26	goal	goal	NOUN
ap-3039	2	27	and	and	CCONJ
ap-3039	2	28	navigation	navigation	NOUN
ap-3039	2	29	to	to	ADP
ap-3039	2	30	this	this	DET
ap-3039	2	31	goal	goal	NOUN
ap-3039	2	32	.	.	PUNCT
ap-3039	3	1	it	it	PRON
ap-3039	3	2	finishes	finish	VERB
ap-3039	3	3	when	when	SCONJ
ap-3039	3	4	the	the	DET
ap-3039	3	5	object	object	NOUN
ap-3039	3	6	of	of	ADP
ap-3039	3	7	interest	interest	NOUN
ap-3039	3	8	is	be	AUX
ap-3039	3	9	found	find	VERB
ap-3039	3	10	.	.	PUNCT
ap-3039	4	1	this	this	DET
ap-3039	4	2	formulation	formulation	NOUN
ap-3039	4	3	and	and	CCONJ
ap-3039	4	4	a	a	DET
ap-3039	4	5	general	general	ADJ
ap-3039	4	6	search	search	NOUN
ap-3039	4	7	structure	structure	NOUN
ap-3039	4	8	is	be	AUX
ap-3039	4	9	similar	similar	ADJ
ap-3039	4	10	to	to	ADP
ap-3039	4	11	the	the	DET
ap-3039	4	12	related	relate	VERB
ap-3039	4	13	exploration	exploration	NOUN
ap-3039	4	14	problem	problem	NOUN
ap-3039	4	15	.	.	PUNCT
ap-3039	5	1	the	the	DET
ap-3039	5	2	only	only	ADJ
ap-3039	5	3	difference	difference	NOUN
ap-3039	5	4	is	be	AUX
ap-3039	5	5	in	in	ADP
ap-3039	5	6	goal	goal	NOUN
ap-3039	5	7	-	-	PUNCT
ap-3039	5	8	selection	selection	NOUN
ap-3039	5	9	,	,	PUNCT
ap-3039	5	10	as	as	SCONJ
ap-3039	5	11	search	search	NOUN
ap-3039	5	12	and	and	CCONJ
ap-3039	5	13	exploration	exploration	NOUN
ap-3039	5	14	objectives	objective	NOUN
ap-3039	5	15	are	be	AUX
ap-3039	5	16	not	not	PART
ap-3039	5	17	the	the	DET
ap-3039	5	18	same	same	ADJ
ap-3039	5	19	.	.	PUNCT
ap-3039	6	1	although	although	SCONJ
ap-3039	6	2	search	search	NOUN
ap-3039	6	3	is	be	AUX
ap-3039	6	4	a	a	DET
ap-3039	6	5	key	key	ADJ
ap-3039	6	6	task	task	NOUN
ap-3039	6	7	in	in	ADP
ap-3039	6	8	many	many	ADJ
ap-3039	6	9	search	search	NOUN
ap-3039	6	10	and	and	CCONJ
ap-3039	6	11	rescue	rescue	NOUN
ap-3039	6	12	scenarios	scenario	NOUN
ap-3039	6	13	,	,	PUNCT
ap-3039	6	14	the	the	DET
ap-3039	6	15	robotics	robotic	NOUN
ap-3039	6	16	community	community	NOUN
ap-3039	6	17	has	have	AUX
ap-3039	6	18	paid	pay	VERB
ap-3039	6	19	little	little	ADJ
ap-3039	6	20	attention	attention	NOUN
ap-3039	6	21	to	to	ADP
ap-3039	6	22	the	the	DET
ap-3039	6	23	problem	problem	NOUN
ap-3039	6	24	.	.	PUNCT
ap-3039	7	1	there	there	PRON
ap-3039	7	2	is	be	VERB
ap-3039	7	3	no	no	DET
ap-3039	7	4	goal	goal	NOUN
ap-3039	7	5	-	-	PUNCT
ap-3039	7	6	selection	selection	NOUN
ap-3039	7	7	strategy	strategy	NOUN
ap-3039	7	8	that	that	PRON
ap-3039	7	9	has	have	AUX
ap-3039	7	10	been	be	AUX
ap-3039	7	11	designed	design	VERB
ap-3039	7	12	specifically	specifically	ADV
ap-3039	7	13	for	for	ADP
ap-3039	7	14	search	search	NOUN
ap-3039	7	15	.	.	PUNCT
ap-3039	8	1	in	in	ADP
ap-3039	8	2	this	this	DET
ap-3039	8	3	paper	paper	NOUN
ap-3039	8	4	,	,	PUNCT
ap-3039	8	5	we	we	PRON
ap-3039	8	6	study	study	VERB
ap-3039	8	7	four	four	NUM
ap-3039	8	8	state	state	NOUN
ap-3039	8	9	-	-	PUNCT
ap-3039	8	10	of	of	ADP
ap-3039	8	11	-	-	PUNCT
ap-3039	8	12	the	the	DET
ap-3039	8	13	-	-	PUNCT
ap-3039	8	14	art	art	NOUN
ap-3039	8	15	strategies	strategy	NOUN
ap-3039	8	16	for	for	ADP
ap-3039	8	17	multi	multi	ADJ
ap-3039	8	18	-	-	ADJ
ap-3039	8	19	robot	robot	ADJ
ap-3039	8	20	exploration	exploration	NOUN
ap-3039	8	21	,	,	PUNCT
ap-3039	8	22	and	and	CCONJ
ap-3039	8	23	we	we	PRON
ap-3039	8	24	evaluate	evaluate	VERB
ap-3039	8	25	their	their	PRON
ap-3039	8	26	performance	performance	NOUN
ap-3039	8	27	in	in	ADP
ap-3039	8	28	various	various	ADJ
ap-3039	8	29	environments	environment	NOUN
ap-3039	8	30	with	with	ADP
ap-3039	8	31	respect	respect	NOUN
ap-3039	8	32	to	to	ADP
ap-3039	8	33	the	the	DET
ap-3039	8	34	expected	expect	VERB
ap-3039	8	35	time	time	NOUN
ap-3039	8	36	needed	need	VERB
ap-3039	8	37	to	to	PART
ap-3039	8	38	find	find	VERB
ap-3039	8	39	an	an	DET
ap-3039	8	40	object	object	NOUN
ap-3039	8	41	,	,	PUNCT
ap-3039	8	42	i.e.	i.e.	X
ap-3039	8	43	to	to	PART
ap-3039	8	44	achieve	achieve	VERB
ap-3039	8	45	the	the	DET
ap-3039	8	46	objective	objective	NOUN
ap-3039	8	47	of	of	ADP
ap-3039	8	48	the	the	DET
ap-3039	8	49	search	search	NOUN
ap-3039	8	50	.	.	PUNCT
ap-3039	9	1	keywords	keyword	NOUN
ap-3039	9	2	:	:	PUNCT
ap-3039	9	3	mobile	mobile	ADJ
ap-3039	9	4	robots	robot	NOUN
ap-3039	9	5	,	,	PUNCT
ap-3039	9	6	multi	multi	ADJ
ap-3039	9	7	-	-	ADJ
ap-3039	9	8	robot	robot	ADJ
ap-3039	9	9	systems	system	NOUN
ap-3039	9	10	,	,	PUNCT
ap-3039	9	11	planning	planning	NOUN
ap-3039	9	12	,	,	PUNCT
ap-3039	9	13	search	search	NOUN
ap-3039	9	14	,	,	PUNCT
ap-3039	9	15	exploration	exploration	NOUN
ap-3039	9	16	.	.	PUNCT
ap-3039	10	1	1	1	X
ap-3039	10	2	.	.	X
ap-3039	10	3	introduction	introduction	NOUN
ap-3039	10	4	searching	search	VERB
ap-3039	10	5	for	for	ADP
ap-3039	10	6	a	a	DET
ap-3039	10	7	stationary	stationary	ADJ
ap-3039	10	8	object	object	NOUN
ap-3039	10	9	of	of	ADP
ap-3039	10	10	interest	interest	NOUN
ap-3039	10	11	in	in	ADP
ap-3039	10	12	a	a	DET
ap-3039	10	13	known	know	VERB
ap-3039	10	14	or	or	CCONJ
ap-3039	10	15	unknown	unknown	ADJ
ap-3039	10	16	environment	environment	NOUN
ap-3039	10	17	is	be	AUX
ap-3039	10	18	a	a	DET
ap-3039	10	19	practical	practical	ADJ
ap-3039	10	20	task	task	NOUN
ap-3039	10	21	in	in	ADP
ap-3039	10	22	everyday	everyday	ADJ
ap-3039	10	23	life	life	NOUN
ap-3039	10	24	.	.	PUNCT
ap-3039	11	1	almost	almost	ADV
ap-3039	11	2	everyone	everyone	PRON
ap-3039	11	3	,	,	PUNCT
ap-3039	11	4	for	for	ADP
ap-3039	11	5	example	example	NOUN
ap-3039	11	6	,	,	PUNCT
ap-3039	11	7	has	have	AUX
ap-3039	11	8	lost	lose	VERB
ap-3039	11	9	keys	key	NOUN
ap-3039	11	10	or	or	CCONJ
ap-3039	11	11	has	have	AUX
ap-3039	11	12	forgotten	forget	VERB
ap-3039	11	13	where	where	SCONJ
ap-3039	11	14	he	he	PRON
ap-3039	11	15	/	/	PUNCT
ap-3039	11	16	she	she	PRON
ap-3039	11	17	put	put	VERB
ap-3039	11	18	his	his	PRON
ap-3039	11	19	/	/	SYM
ap-3039	11	20	her	her	PRON
ap-3039	11	21	glasses	glass	NOUN
ap-3039	11	22	,	,	PUNCT
ap-3039	11	23	cellular	cellular	ADJ
ap-3039	11	24	phone	phone	NOUN
ap-3039	11	25	or	or	CCONJ
ap-3039	11	26	wallet	wallet	NOUN
ap-3039	11	27	,	,	PUNCT
ap-3039	11	28	and	and	CCONJ
ap-3039	11	29	has	have	AUX
ap-3039	11	30	tried	try	VERB
ap-3039	11	31	to	to	PART
ap-3039	11	32	find	find	VERB
ap-3039	11	33	them	they	PRON
ap-3039	11	34	.	.	PUNCT
ap-3039	12	1	an	an	DET
ap-3039	12	2	important	important	ADJ
ap-3039	12	3	task	task	NOUN
ap-3039	12	4	in	in	ADP
ap-3039	12	5	the	the	DET
ap-3039	12	6	search	search	NOUN
ap-3039	12	7	and	and	CCONJ
ap-3039	12	8	rescue	rescue	NOUN
ap-3039	12	9	scenario	scenario	NOUN
ap-3039	12	10	is	be	AUX
ap-3039	12	11	to	to	PART
ap-3039	12	12	find	find	VERB
ap-3039	12	13	a	a	DET
ap-3039	12	14	black	black	ADJ
ap-3039	12	15	box	box	NOUN
ap-3039	12	16	flight	flight	NOUN
ap-3039	12	17	recorder	recorder	NOUN
ap-3039	12	18	or	or	CCONJ
ap-3039	12	19	debris	debris	NOUN
ap-3039	12	20	after	after	ADP
ap-3039	12	21	a	a	DET
ap-3039	12	22	plane	plane	NOUN
ap-3039	12	23	crash	crash	NOUN
ap-3039	12	24	,	,	PUNCT
ap-3039	12	25	or	or	CCONJ
ap-3039	12	26	victims	victim	NOUN
ap-3039	12	27	/	/	SYM
ap-3039	12	28	survivors	survivor	NOUN
ap-3039	12	29	after	after	ADP
ap-3039	12	30	an	an	DET
ap-3039	12	31	accident	accident	NOUN
ap-3039	12	32	or	or	CCONJ
ap-3039	12	33	a	a	DET
ap-3039	12	34	catastrophe	catastrophe	NOUN
ap-3039	12	35	.	.	PUNCT
ap-3039	13	1	although	although	SCONJ
ap-3039	13	2	these	these	DET
ap-3039	13	3	practical	practical	ADJ
ap-3039	13	4	applications	application	NOUN
ap-3039	13	5	and	and	CCONJ
ap-3039	13	6	many	many	ADJ
ap-3039	13	7	others	other	NOUN
ap-3039	13	8	exist	exist	VERB
ap-3039	13	9	,	,	PUNCT
ap-3039	13	10	the	the	DET
ap-3039	13	11	search	search	NOUN
ap-3039	13	12	problem	problem	NOUN
ap-3039	13	13	has	have	AUX
ap-3039	13	14	been	be	AUX
ap-3039	13	15	addressed	address	VERB
ap-3039	13	16	only	only	ADV
ap-3039	13	17	marginally	marginally	ADV
ap-3039	13	18	by	by	ADP
ap-3039	13	19	the	the	DET
ap-3039	13	20	robotics	robotic	NOUN
ap-3039	13	21	community	community	NOUN
ap-3039	13	22	.	.	PUNCT
ap-3039	14	1	some	some	DET
ap-3039	14	2	effort	effort	NOUN
ap-3039	14	3	has	have	AUX
ap-3039	14	4	been	be	AUX
ap-3039	14	5	devoted	devote	VERB
ap-3039	14	6	to	to	ADP
ap-3039	14	7	the	the	DET
ap-3039	14	8	single	single	ADJ
ap-3039	14	9	and	and	CCONJ
ap-3039	14	10	multi	multi	ADJ
ap-3039	14	11	-	-	ADJ
ap-3039	14	12	robot	robot	ADJ
ap-3039	14	13	search	search	NOUN
ap-3039	14	14	problem	problem	NOUN
ap-3039	14	15	for	for	ADP
ap-3039	14	16	environments	environment	NOUN
ap-3039	14	17	known	know	VERB
ap-3039	14	18	a	a	DET
ap-3039	14	19	priori	priori	ADV
ap-3039	14	20	.	.	PUNCT
ap-3039	15	1	sarmiento	sarmiento	PROPN
ap-3039	15	2	et	et	PROPN
ap-3039	15	3	al	al	PROPN
ap-3039	15	4	.	.	PUNCT
ap-3039	16	1	[	[	X
ap-3039	16	2	1	1	X
ap-3039	16	3	]	]	PUNCT
ap-3039	16	4	formulate	formulate	VERB
ap-3039	16	5	the	the	DET
ap-3039	16	6	problem	problem	NOUN
ap-3039	16	7	in	in	ADP
ap-3039	16	8	such	such	DET
ap-3039	16	9	a	a	DET
ap-3039	16	10	way	way	NOUN
ap-3039	16	11	that	that	PRON
ap-3039	16	12	the	the	DET
ap-3039	16	13	time	time	NOUN
ap-3039	16	14	required	require	VERB
ap-3039	16	15	to	to	PART
ap-3039	16	16	find	find	VERB
ap-3039	16	17	an	an	DET
ap-3039	16	18	object	object	NOUN
ap-3039	16	19	is	be	AUX
ap-3039	16	20	a	a	DET
ap-3039	16	21	random	random	ADJ
ap-3039	16	22	variable	variable	NOUN
ap-3039	16	23	induced	induce	VERB
ap-3039	16	24	by	by	ADP
ap-3039	16	25	the	the	DET
ap-3039	16	26	choice	choice	NOUN
ap-3039	16	27	of	of	ADP
ap-3039	16	28	a	a	DET
ap-3039	16	29	search	search	NOUN
ap-3039	16	30	path	path	NOUN
ap-3039	16	31	and	and	CCONJ
ap-3039	16	32	a	a	DET
ap-3039	16	33	uniform	uniform	ADJ
ap-3039	16	34	probability	probability	NOUN
ap-3039	16	35	density	density	NOUN
ap-3039	16	36	function	function	NOUN
ap-3039	16	37	for	for	ADP
ap-3039	16	38	the	the	DET
ap-3039	16	39	location	location	NOUN
ap-3039	16	40	of	of	ADP
ap-3039	16	41	the	the	DET
ap-3039	16	42	object	object	NOUN
ap-3039	16	43	.	.	PUNCT
ap-3039	17	1	they	they	PRON
ap-3039	17	2	propose	propose	VERB
ap-3039	17	3	a	a	DET
ap-3039	17	4	two	two	NUM
ap-3039	17	5	-	-	PUNCT
ap-3039	17	6	stage	stage	NOUN
ap-3039	17	7	process	process	NOUN
ap-3039	17	8	to	to	PART
ap-3039	17	9	solve	solve	VERB
ap-3039	17	10	the	the	DET
ap-3039	17	11	problem	problem	NOUN
ap-3039	17	12	.	.	PUNCT
ap-3039	18	1	first	first	ADV
ap-3039	18	2	,	,	PUNCT
ap-3039	18	3	a	a	DET
ap-3039	18	4	set	set	NOUN
ap-3039	18	5	of	of	ADP
ap-3039	18	6	locations	location	NOUN
ap-3039	18	7	to	to	PART
ap-3039	18	8	be	be	AUX
ap-3039	18	9	visited	visit	VERB
ap-3039	18	10	(	(	PUNCT
ap-3039	18	11	known	know	VERB
ap-3039	18	12	as	as	ADP
ap-3039	18	13	guards	guard	NOUN
ap-3039	18	14	,	,	PUNCT
ap-3039	18	15	from	from	ADP
ap-3039	18	16	the	the	DET
ap-3039	18	17	art	art	NOUN
ap-3039	18	18	gallery	gallery	NOUN
ap-3039	18	19	problem	problem	NOUN
ap-3039	19	1	[	[	X
ap-3039	19	2	2	2	NUM
ap-3039	19	3	]	]	PUNCT
ap-3039	19	4	)	)	PUNCT
ap-3039	19	5	is	be	AUX
ap-3039	19	6	determined	determine	VERB
ap-3039	19	7	.	.	PUNCT
ap-3039	20	1	an	an	DET
ap-3039	20	2	order	order	NOUN
ap-3039	20	3	for	for	ADP
ap-3039	20	4	visiting	visit	VERB
ap-3039	20	5	these	these	DET
ap-3039	20	6	locations	location	NOUN
ap-3039	20	7	while	while	SCONJ
ap-3039	20	8	minimizing	minimize	VERB
ap-3039	20	9	the	the	DET
ap-3039	20	10	expected	expect	VERB
ap-3039	20	11	time	time	NOUN
ap-3039	20	12	to	to	PART
ap-3039	20	13	find	find	VERB
ap-3039	20	14	an	an	DET
ap-3039	20	15	object	object	NOUN
ap-3039	20	16	is	be	AUX
ap-3039	20	17	then	then	ADV
ap-3039	20	18	sought	seek	VERB
ap-3039	20	19	.	.	PUNCT
ap-3039	21	1	the	the	DET
ap-3039	21	2	optimal	optimal	ADJ
ap-3039	21	3	order	order	NOUN
ap-3039	21	4	is	be	AUX
ap-3039	21	5	determined	determine	VERB
ap-3039	21	6	by	by	ADP
ap-3039	21	7	a	a	DET
ap-3039	21	8	greedy	greedy	ADJ
ap-3039	21	9	algorithm	algorithm	NOUN
ap-3039	21	10	in	in	ADP
ap-3039	21	11	a	a	DET
ap-3039	21	12	reduced	reduce	VERB
ap-3039	21	13	search	search	NOUN
ap-3039	21	14	space	space	NOUN
ap-3039	21	15	,	,	PUNCT
ap-3039	21	16	which	which	PRON
ap-3039	21	17	computes	compute	VERB
ap-3039	21	18	a	a	DET
ap-3039	21	19	utility	utility	NOUN
ap-3039	21	20	function	function	NOUN
ap-3039	21	21	for	for	ADP
ap-3039	21	22	several	several	ADJ
ap-3039	21	23	steps	step	NOUN
ap-3039	21	24	ahead	ahead	ADV
ap-3039	21	25	.	.	PUNCT
ap-3039	22	1	this	this	DET
ap-3039	22	2	approach	approach	NOUN
ap-3039	22	3	is	be	AUX
ap-3039	22	4	then	then	ADV
ap-3039	22	5	used	use	VERB
ap-3039	22	6	in	in	ADP
ap-3039	22	7	[	[	X
ap-3039	22	8	3	3	NUM
ap-3039	22	9	]	]	PUNCT
ap-3039	22	10	,	,	PUNCT
ap-3039	22	11	where	where	SCONJ
ap-3039	22	12	robot	robot	NOUN
ap-3039	22	13	control	control	NOUN
ap-3039	22	14	is	be	AUX
ap-3039	22	15	assumed	assume	VERB
ap-3039	22	16	in	in	ADP
ap-3039	22	17	order	order	NOUN
ap-3039	22	18	to	to	PART
ap-3039	22	19	generate	generate	VERB
ap-3039	22	20	smooth	smooth	ADJ
ap-3039	22	21	and	and	CCONJ
ap-3039	22	22	locally	locally	ADV
ap-3039	22	23	optimal	optimal	ADJ
ap-3039	22	24	trajectories	trajectory	NOUN
ap-3039	22	25	.	.	PUNCT
ap-3039	23	1	hollinger	hollinger	PROPN
ap-3039	23	2	et	et	PROPN
ap-3039	23	3	al	al	PROPN
ap-3039	23	4	.	.	PUNCT
ap-3039	24	1	[	[	X
ap-3039	24	2	4	4	X
ap-3039	24	3	]	]	PUNCT
ap-3039	24	4	utilize	utilize	VERB
ap-3039	24	5	a	a	DET
ap-3039	24	6	bayesian	bayesian	NOUN
ap-3039	24	7	network	network	NOUN
ap-3039	24	8	to	to	PART
ap-3039	24	9	estimate	estimate	VERB
ap-3039	24	10	the	the	DET
ap-3039	24	11	posterior	posterior	ADJ
ap-3039	24	12	distribution	distribution	NOUN
ap-3039	24	13	of	of	ADP
ap-3039	24	14	the	the	DET
ap-3039	24	15	position	position	NOUN
ap-3039	24	16	of	of	ADP
ap-3039	24	17	the	the	DET
ap-3039	24	18	target	target	NOUN
ap-3039	24	19	and	and	CCONJ
ap-3039	24	20	present	present	VERB
ap-3039	24	21	a	a	DET
ap-3039	24	22	graph	graph	NOUN
ap-3039	24	23	search	search	NOUN
ap-3039	24	24	to	to	PART
ap-3039	24	25	minimize	minimize	VERB
ap-3039	24	26	the	the	DET
ap-3039	24	27	expected	expect	VERB
ap-3039	24	28	time	time	NOUN
ap-3039	24	29	needed	need	VERB
ap-3039	24	30	to	to	PART
ap-3039	24	31	capture	capture	VERB
ap-3039	24	32	a	a	DET
ap-3039	24	33	non	non	ADJ
ap-3039	24	34	-	-	ADJ
ap-3039	24	35	adversarial	adversarial	ADJ
ap-3039	24	36	object	object	NOUN
ap-3039	24	37	.	.	PUNCT
ap-3039	25	1	a	a	DET
ap-3039	25	2	single	single	ADJ
ap-3039	25	3	-	-	PUNCT
ap-3039	25	4	robot	robot	NOUN
ap-3039	25	5	search	search	NOUN
ap-3039	25	6	in	in	ADP
ap-3039	25	7	known	known	ADJ
ap-3039	25	8	environments	environment	NOUN
ap-3039	25	9	can	can	AUX
ap-3039	25	10	also	also	ADV
ap-3039	25	11	be	be	AUX
ap-3039	25	12	formulated	formulate	VERB
ap-3039	25	13	as	as	ADP
ap-3039	25	14	the	the	DET
ap-3039	25	15	traveling	travel	VERB
ap-3039	25	16	deliveryman	deliveryman	NOUN
ap-3039	25	17	problem	problem	NOUN
ap-3039	25	18	(	(	PUNCT
ap-3039	25	19	tdp	tdp	NOUN
ap-3039	25	20	,	,	PUNCT
ap-3039	25	21	also	also	ADV
ap-3039	25	22	known	know	VERB
ap-3039	25	23	as	as	ADP
ap-3039	25	24	the	the	DET
ap-3039	25	25	traveling	travel	VERB
ap-3039	25	26	repairman	repairman	PROPN
ap-3039	25	27	problem	problem	NOUN
ap-3039	25	28	or	or	CCONJ
ap-3039	25	29	the	the	DET
ap-3039	25	30	minimal	minimal	ADJ
ap-3039	25	31	latency	latency	NOUN
ap-3039	25	32	problem	problem	NOUN
ap-3039	25	33	)	)	PUNCT
ap-3039	25	34	.	.	PUNCT
ap-3039	26	1	this	this	DET
ap-3039	26	2	problem	problem	NOUN
ap-3039	26	3	is	be	AUX
ap-3039	26	4	studied	study	VERB
ap-3039	26	5	by	by	ADP
ap-3039	26	6	the	the	DET
ap-3039	26	7	operational	operational	ADJ
ap-3039	26	8	research	research	NOUN
ap-3039	26	9	community	community	NOUN
ap-3039	26	10	,	,	PUNCT
ap-3039	26	11	and	and	CCONJ
ap-3039	26	12	is	be	AUX
ap-3039	26	13	known	know	VERB
ap-3039	26	14	to	to	PART
ap-3039	26	15	be	be	AUX
ap-3039	26	16	np	np	NOUN
ap-3039	26	17	-	-	PUNCT
ap-3039	26	18	hard	hard	ADJ
ap-3039	26	19	,	,	PUNCT
ap-3039	26	20	even	even	ADV
ap-3039	26	21	for	for	ADP
ap-3039	26	22	a	a	DET
ap-3039	26	23	single	single	ADJ
ap-3039	26	24	robot	robot	NOUN
ap-3039	27	1	[	[	X
ap-3039	27	2	5	5	NUM
ap-3039	27	3	]	]	PUNCT
ap-3039	27	4	.	.	PUNCT
ap-3039	28	1	recently	recently	ADV
ap-3039	28	2	,	,	PUNCT
ap-3039	28	3	several	several	ADJ
ap-3039	28	4	approximation	approximation	NOUN
ap-3039	28	5	algorithms	algorithm	NOUN
ap-3039	28	6	have	have	AUX
ap-3039	28	7	been	be	AUX
ap-3039	28	8	presented	present	VERB
ap-3039	28	9	.	.	PUNCT
ap-3039	29	1	salehipour	salehipour	ADJ
ap-3039	29	2	et	et	PROPN
ap-3039	29	3	al	al	PROPN
ap-3039	29	4	.	.	PUNCT
ap-3039	30	1	[	[	X
ap-3039	30	2	6	6	NUM
ap-3039	30	3	]	]	PUNCT
ap-3039	30	4	have	have	AUX
ap-3039	30	5	presented	present	VERB
ap-3039	30	6	a	a	DET
ap-3039	30	7	metaheuristics	metaheuristic	NOUN
ap-3039	30	8	combining	combine	VERB
ap-3039	30	9	grasp	grasp	NOUN
ap-3039	30	10	(	(	PUNCT
ap-3039	30	11	general	general	ADJ
ap-3039	30	12	randomized	randomize	VERB
ap-3039	30	13	adaptive	adaptive	ADJ
ap-3039	30	14	search	search	NOUN
ap-3039	30	15	)	)	PUNCT
ap-3039	30	16	with	with	ADP
ap-3039	30	17	vnd	vnd	PROPN
ap-3039	30	18	(	(	PUNCT
ap-3039	30	19	variable	variable	ADJ
ap-3039	30	20	neighborhood	neighborhood	NOUN
ap-3039	30	21	descent	descent	NOUN
ap-3039	30	22	)	)	PUNCT
ap-3039	30	23	.	.	PUNCT
ap-3039	31	1	another	another	DET
ap-3039	31	2	metaheuristics	metaheuristic	NOUN
ap-3039	31	3	,	,	PUNCT
ap-3039	31	4	called	call	VERB
ap-3039	31	5	vns	vns	PROPN
ap-3039	31	6	(	(	PUNCT
ap-3039	31	7	variable	variable	ADJ
ap-3039	31	8	neighborhood	neighborhood	NOUN
ap-3039	31	9	search	search	NOUN
ap-3039	31	10	)	)	PUNCT
ap-3039	31	11	,	,	PUNCT
ap-3039	31	12	is	be	AUX
ap-3039	31	13	introduced	introduce	VERB
ap-3039	31	14	in	in	ADP
ap-3039	31	15	[	[	X
ap-3039	31	16	7	7	NUM
ap-3039	31	17	]	]	PUNCT
ap-3039	31	18	,	,	PUNCT
ap-3039	31	19	while	while	SCONJ
ap-3039	31	20	linear	linear	ADJ
ap-3039	31	21	programming	programming	NOUN
ap-3039	31	22	is	be	AUX
ap-3039	31	23	used	use	VERB
ap-3039	31	24	in	in	ADP
ap-3039	31	25	[	[	X
ap-3039	31	26	8	8	NUM
ap-3039	31	27	]	]	PUNCT
ap-3039	31	28	.	.	PUNCT
ap-3039	32	1	to	to	ADP
ap-3039	32	2	the	the	DET
ap-3039	32	3	best	good	ADJ
ap-3039	32	4	of	of	ADP
ap-3039	32	5	the	the	DET
ap-3039	32	6	authors	author	NOUN
ap-3039	32	7	’	’	PART
ap-3039	32	8	knowledge	knowledge	NOUN
ap-3039	32	9	,	,	PUNCT
ap-3039	32	10	the	the	DET
ap-3039	32	11	problem	problem	NOUN
ap-3039	32	12	of	of	ADP
ap-3039	32	13	a	a	DET
ap-3039	32	14	multi	multi	ADJ
ap-3039	32	15	-	-	ADJ
ap-3039	32	16	robot	robot	ADJ
ap-3039	32	17	search	search	NOUN
ap-3039	32	18	in	in	ADP
ap-3039	32	19	an	an	DET
ap-3039	32	20	unknown	unknown	ADJ
ap-3039	32	21	environment	environment	NOUN
ap-3039	32	22	has	have	AUX
ap-3039	32	23	not	not	PART
ap-3039	32	24	been	be	AUX
ap-3039	32	25	studied	study	VERB
ap-3039	32	26	yet	yet	ADV
ap-3039	32	27	.	.	PUNCT
ap-3039	33	1	however	however	ADV
ap-3039	33	2	,	,	PUNCT
ap-3039	33	3	methods	method	NOUN
ap-3039	33	4	developed	develop	VERB
ap-3039	33	5	for	for	ADP
ap-3039	33	6	multi	multi	ADJ
ap-3039	33	7	-	-	ADJ
ap-3039	33	8	robot	robot	ADJ
ap-3039	33	9	exploration	exploration	NOUN
ap-3039	33	10	can	can	AUX
ap-3039	33	11	be	be	AUX
ap-3039	33	12	adopted	adopt	VERB
ap-3039	33	13	for	for	ADP
ap-3039	33	14	the	the	DET
ap-3039	33	15	search	search	NOUN
ap-3039	33	16	problem	problem	NOUN
ap-3039	33	17	,	,	PUNCT
ap-3039	33	18	as	as	SCONJ
ap-3039	33	19	these	these	DET
ap-3039	33	20	two	two	NUM
ap-3039	33	21	problems	problem	NOUN
ap-3039	33	22	are	be	AUX
ap-3039	33	23	similar	similar	ADJ
ap-3039	33	24	in	in	ADP
ap-3039	33	25	a	a	DET
ap-3039	33	26	general	general	ADJ
ap-3039	33	27	structure	structure	NOUN
ap-3039	33	28	and	and	CCONJ
ap-3039	33	29	problem	problem	NOUN
ap-3039	33	30	formulation	formulation	NOUN
ap-3039	33	31	.	.	PUNCT
ap-3039	34	1	a	a	DET
ap-3039	34	2	popular	popular	ADJ
ap-3039	34	3	method	method	NOUN
ap-3039	34	4	for	for	ADP
ap-3039	34	5	both	both	DET
ap-3039	34	6	single	single	ADJ
ap-3039	34	7	-	-	PUNCT
ap-3039	34	8	robot	robot	NOUN
ap-3039	34	9	and	and	CCONJ
ap-3039	34	10	multi	multi	ADJ
ap-3039	34	11	-	-	ADJ
ap-3039	34	12	robot	robot	ADJ
ap-3039	34	13	exploration	exploration	NOUN
ap-3039	34	14	is	be	AUX
ap-3039	34	15	frontier	frontier	NOUN
ap-3039	34	16	-	-	PUNCT
ap-3039	34	17	based	base	VERB
ap-3039	34	18	exploration	exploration	NOUN
ap-3039	34	19	,	,	PUNCT
ap-3039	34	20	introduced	introduce	VERB
ap-3039	34	21	by	by	ADP
ap-3039	34	22	yamauchi	yamauchi	PROPN
ap-3039	34	23	[	[	X
ap-3039	34	24	9	9	NUM
ap-3039	34	25	]	]	PUNCT
ap-3039	34	26	,	,	PUNCT
ap-3039	34	27	which	which	PRON
ap-3039	34	28	has	have	AUX
ap-3039	34	29	been	be	AUX
ap-3039	34	30	further	far	ADV
ap-3039	34	31	extended	extend	VERB
ap-3039	34	32	by	by	ADP
ap-3039	34	33	many	many	ADJ
ap-3039	34	34	researchers	researcher	NOUN
ap-3039	34	35	,	,	PUNCT
ap-3039	34	36	see	see	VERB
ap-3039	34	37	for	for	ADP
ap-3039	34	38	example	example	NOUN
ap-3039	34	39	[	[	X
ap-3039	34	40	10	10	NUM
ap-3039	34	41	,	,	PUNCT
ap-3039	34	42	11	11	NUM
ap-3039	34	43	]	]	PUNCT
ap-3039	34	44	for	for	ADP
ap-3039	34	45	an	an	DET
ap-3039	34	46	experimental	experimental	ADJ
ap-3039	34	47	evaluation	evaluation	NOUN
ap-3039	34	48	of	of	ADP
ap-3039	34	49	several	several	ADJ
ap-3039	34	50	single	single	ADJ
ap-3039	34	51	-	-	PUNCT
ap-3039	34	52	robot	robot	NOUN
ap-3039	34	53	strategies	strategy	NOUN
ap-3039	34	54	.	.	PUNCT
ap-3039	35	1	for	for	ADP
ap-3039	35	2	the	the	DET
ap-3039	35	3	multi	multi	ADJ
ap-3039	35	4	-	-	ADJ
ap-3039	35	5	robot	robot	ADJ
ap-3039	35	6	case	case	NOUN
ap-3039	35	7	,	,	PUNCT
ap-3039	35	8	wurm	wurm	NOUN
ap-3039	35	9	et	et	PROPN
ap-3039	35	10	al	al	PROPN
ap-3039	35	11	.	.	PUNCT
ap-3039	36	1	[	[	X
ap-3039	36	2	12	12	NUM
ap-3039	36	3	]	]	X
ap-3039	36	4	present	present	ADJ
ap-3039	36	5	goal	goal	NOUN
ap-3039	36	6	assignment	assignment	NOUN
ap-3039	36	7	,	,	PUNCT
ap-3039	36	8	based	base	VERB
ap-3039	36	9	on	on	ADP
ap-3039	36	10	the	the	DET
ap-3039	36	11	hungarian	hungarian	ADJ
ap-3039	36	12	method	method	NOUN
ap-3039	36	13	[	[	X
ap-3039	36	14	13	13	NUM
ap-3039	36	15	]	]	PUNCT
ap-3039	36	16	.	.	PUNCT
ap-3039	37	1	burgard	burgard	PROPN
ap-3039	37	2	et	et	PROPN
ap-3039	37	3	al	al	PROPN
ap-3039	37	4	.	.	PUNCT
ap-3039	38	1	[	[	X
ap-3039	38	2	14	14	NUM
ap-3039	38	3	]	]	PUNCT
ap-3039	38	4	use	use	VERB
ap-3039	38	5	a	a	DET
ap-3039	38	6	decision	decision	NOUN
ap-3039	38	7	theory	theory	NOUN
ap-3039	38	8	to	to	PART
ap-3039	38	9	coordinate	coordinate	VERB
ap-3039	38	10	the	the	DET
ap-3039	38	11	exploration	exploration	NOUN
ap-3039	38	12	:	:	PUNCT
ap-3039	38	13	they	they	PRON
ap-3039	38	14	estimate	estimate	VERB
ap-3039	38	15	the	the	DET
ap-3039	38	16	expected	expect	VERB
ap-3039	38	17	information	information	NOUN
ap-3039	38	18	gain	gain	NOUN
ap-3039	38	19	of	of	ADP
ap-3039	38	20	a	a	DET
ap-3039	38	21	goal	goal	NOUN
ap-3039	38	22	and	and	CCONJ
ap-3039	38	23	combine	combine	VERB
ap-3039	38	24	it	it	PRON
ap-3039	38	25	with	with	ADP
ap-3039	38	26	a	a	DET
ap-3039	38	27	path	path	NOUN
ap-3039	38	28	cost	cost	NOUN
ap-3039	38	29	.	.	PUNCT
ap-3039	39	1	the	the	DET
ap-3039	39	2	method	method	NOUN
ap-3039	39	3	presented	present	VERB
ap-3039	39	4	in	in	ADP
ap-3039	39	5	stachniss	stachniss	NOUN
ap-3039	39	6	et	et	PROPN
ap-3039	39	7	al	al	PROPN
ap-3039	39	8	.	.	PUNCT
ap-3039	40	1	[	[	X
ap-3039	40	2	15	15	NUM
ap-3039	40	3	]	]	PUNCT
ap-3039	40	4	takes	take	VERB
ap-3039	40	5	the	the	DET
ap-3039	40	6	structure	structure	NOUN
ap-3039	40	7	of	of	ADP
ap-3039	40	8	the	the	DET
ap-3039	40	9	environment	environment	NOUN
ap-3039	40	10	into	into	ADP
ap-3039	40	11	account	account	NOUN
ap-3039	40	12	by	by	ADP
ap-3039	40	13	detecting	detect	VERB
ap-3039	40	14	rooms	room	NOUN
ap-3039	40	15	and	and	CCONJ
ap-3039	40	16	corridors	corridor	NOUN
ap-3039	40	17	and	and	CCONJ
ap-3039	40	18	trying	try	VERB
ap-3039	40	19	to	to	PART
ap-3039	40	20	assign	assign	VERB
ap-3039	40	21	robots	robot	NOUN
ap-3039	40	22	to	to	PART
ap-3039	40	23	separated	separate	VERB
ap-3039	40	24	rooms	room	NOUN
ap-3039	40	25	.	.	PUNCT
ap-3039	41	1	in	in	ADP
ap-3039	41	2	addition	addition	NOUN
ap-3039	41	3	,	,	PUNCT
ap-3039	41	4	approaches	approach	NOUN
ap-3039	41	5	based	base	VERB
ap-3039	41	6	on	on	ADP
ap-3039	41	7	k	k	PROPN
ap-3039	41	8	-	-	PUNCT
ap-3039	41	9	means	mean	VERB
ap-3039	41	10	clustering	cluster	VERB
ap-3039	41	11	and	and	CCONJ
ap-3039	41	12	assigning	assign	VERB
ap-3039	41	13	the	the	DET
ap-3039	41	14	clusters	cluster	NOUN
ap-3039	41	15	to	to	ADP
ap-3039	41	16	particular	particular	ADJ
ap-3039	41	17	robots	robot	NOUN
ap-3039	41	18	are	be	AUX
ap-3039	41	19	presented	present	VERB
ap-3039	41	20	in	in	ADP
ap-3039	41	21	[	[	X
ap-3039	41	22	16	16	NUM
ap-3039	41	23	,	,	PUNCT
ap-3039	41	24	17	17	NUM
ap-3039	41	25	]	]	PUNCT
ap-3039	41	26	intuitively	intuitively	ADV
ap-3039	41	27	,	,	PUNCT
ap-3039	41	28	multi	multi	ADJ
ap-3039	41	29	-	-	ADJ
ap-3039	41	30	robot	robot	ADJ
ap-3039	41	31	search	search	NOUN
ap-3039	41	32	is	be	AUX
ap-3039	41	33	a	a	DET
ap-3039	41	34	process	process	NOUN
ap-3039	41	35	of	of	ADP
ap-3039	41	36	autonomous	autonomous	ADJ
ap-3039	41	37	navigation	navigation	NOUN
ap-3039	41	38	of	of	ADP
ap-3039	41	39	a	a	DET
ap-3039	41	40	team	team	NOUN
ap-3039	41	41	of	of	ADP
ap-3039	41	42	mobile	mobile	ADJ
ap-3039	41	43	robots	robot	NOUN
ap-3039	41	44	in	in	ADP
ap-3039	41	45	an	an	DET
ap-3039	41	46	a	a	PRON
ap-3039	41	47	-	-	PUNCT
ap-3039	41	48	priori	priori	ADJ
ap-3039	41	49	unknown	unknown	ADJ
ap-3039	41	50	environment	environment	NOUN
ap-3039	41	51	in	in	ADP
ap-3039	41	52	order	order	NOUN
ap-3039	41	53	to	to	PART
ap-3039	41	54	find	find	VERB
ap-3039	41	55	an	an	DET
ap-3039	41	56	ob162	ob162	NOUN
ap-3039	41	57	http://dx.doi.org/10.14311/ap.2015.55.0162	http://dx.doi.org/10.14311/ap.2015.55.0162	X
ap-3039	41	58	http://ojs.cvut.cz/ojs/index.php/ap	http://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-3039	41	59	vol	vol	NOUN
ap-3039	41	60	.	.	PUNCT
ap-3039	42	1	55	55	NUM
ap-3039	42	2	no	no	NOUN
ap-3039	42	3	.	.	PUNCT
ap-3039	43	1	3/2015	3/2015	NUM
ap-3039	43	2	comparison	comparison	NOUN
ap-3039	43	3	of	of	ADP
ap-3039	43	4	exploration	exploration	NOUN
ap-3039	43	5	strategies	strategy	NOUN
ap-3039	43	6	for	for	ADP
ap-3039	43	7	multi	multi	ADJ
ap-3039	43	8	-	-	ADJ
ap-3039	43	9	robot	robot	ADJ
ap-3039	43	10	search	search	NOUN
ap-3039	43	11	ject	ject	PROPN
ap-3039	43	12	of	of	ADP
ap-3039	43	13	interest	interest	NOUN
ap-3039	43	14	.	.	PUNCT
ap-3039	44	1	a	a	DET
ap-3039	44	2	natural	natural	ADJ
ap-3039	44	3	condition	condition	NOUN
ap-3039	44	4	is	be	AUX
ap-3039	44	5	to	to	PART
ap-3039	44	6	perform	perform	VERB
ap-3039	44	7	this	this	DET
ap-3039	44	8	process	process	NOUN
ap-3039	44	9	with	with	ADP
ap-3039	44	10	minimal	minimal	ADJ
ap-3039	44	11	usage	usage	NOUN
ap-3039	44	12	of	of	ADP
ap-3039	44	13	resources	resource	NOUN
ap-3039	44	14	,	,	PUNCT
ap-3039	44	15	e.g.	e.g.	ADV
ap-3039	44	16	,	,	PUNCT
ap-3039	44	17	time	time	NOUN
ap-3039	44	18	of	of	ADP
ap-3039	44	19	search	search	NOUN
ap-3039	44	20	,	,	PUNCT
ap-3039	44	21	trajectory	trajectory	NOUN
ap-3039	44	22	length	length	NOUN
ap-3039	44	23	,	,	PUNCT
ap-3039	44	24	or	or	CCONJ
ap-3039	44	25	energy	energy	NOUN
ap-3039	44	26	/	/	SYM
ap-3039	44	27	fuel	fuel	NOUN
ap-3039	44	28	consumption	consumption	NOUN
ap-3039	44	29	.	.	PUNCT
ap-3039	45	1	following	follow	VERB
ap-3039	45	2	yamauchi	yamauchi	PROPN
ap-3039	45	3	[	[	X
ap-3039	45	4	9	9	NUM
ap-3039	45	5	]	]	PUNCT
ap-3039	45	6	,	,	PUNCT
ap-3039	45	7	the	the	DET
ap-3039	45	8	search	search	NOUN
ap-3039	45	9	algorithm	algorithm	NOUN
ap-3039	45	10	can	can	AUX
ap-3039	45	11	be	be	AUX
ap-3039	45	12	defined	define	VERB
ap-3039	45	13	(	(	PUNCT
ap-3039	45	14	similarly	similarly	ADV
ap-3039	45	15	to	to	ADP
ap-3039	45	16	exploration	exploration	NOUN
ap-3039	45	17	)	)	PUNCT
ap-3039	45	18	as	as	ADP
ap-3039	45	19	an	an	DET
ap-3039	45	20	iterative	iterative	NOUN
ap-3039	45	21	procedure	procedure	NOUN
ap-3039	45	22	consisting	consist	VERB
ap-3039	45	23	of	of	ADP
ap-3039	45	24	model	model	NOUN
ap-3039	45	25	updating	update	VERB
ap-3039	45	26	with	with	ADP
ap-3039	45	27	current	current	ADJ
ap-3039	45	28	sensory	sensory	ADJ
ap-3039	45	29	data	datum	NOUN
ap-3039	45	30	,	,	PUNCT
ap-3039	45	31	selection	selection	NOUN
ap-3039	45	32	of	of	ADP
ap-3039	45	33	a	a	DET
ap-3039	45	34	new	new	ADJ
ap-3039	45	35	goal	goal	NOUN
ap-3039	45	36	for	for	ADP
ap-3039	45	37	each	each	DET
ap-3039	45	38	robot	robot	NOUN
ap-3039	45	39	based	base	VERB
ap-3039	45	40	on	on	ADP
ap-3039	45	41	current	current	ADJ
ap-3039	45	42	knowledge	knowledge	NOUN
ap-3039	45	43	of	of	ADP
ap-3039	45	44	the	the	DET
ap-3039	45	45	environment	environment	NOUN
ap-3039	45	46	,	,	PUNCT
ap-3039	45	47	and	and	CCONJ
ap-3039	45	48	subsequent	subsequent	ADJ
ap-3039	45	49	navigation	navigation	NOUN
ap-3039	45	50	to	to	ADP
ap-3039	45	51	this	this	DET
ap-3039	45	52	goal	goal	NOUN
ap-3039	45	53	.	.	PUNCT
ap-3039	46	1	as	as	SCONJ
ap-3039	46	2	we	we	PRON
ap-3039	46	3	discussed	discuss	VERB
ap-3039	46	4	in	in	ADP
ap-3039	46	5	our	our	PRON
ap-3039	46	6	previous	previous	ADJ
ap-3039	46	7	paper	paper	NOUN
ap-3039	46	8	[	[	X
ap-3039	46	9	18	18	NUM
ap-3039	46	10	]	]	PUNCT
ap-3039	46	11	,	,	PUNCT
ap-3039	46	12	focused	focus	VERB
ap-3039	46	13	on	on	ADP
ap-3039	46	14	a	a	DET
ap-3039	46	15	single	single	ADJ
ap-3039	46	16	-	-	PUNCT
ap-3039	46	17	robot	robot	NOUN
ap-3039	46	18	case	case	NOUN
ap-3039	46	19	,	,	PUNCT
ap-3039	46	20	the	the	DET
ap-3039	46	21	key	key	ADJ
ap-3039	46	22	difference	difference	NOUN
ap-3039	46	23	between	between	ADP
ap-3039	46	24	search	search	NOUN
ap-3039	46	25	and	and	CCONJ
ap-3039	46	26	exploration	exploration	NOUN
ap-3039	46	27	lies	lie	NOUN
ap-3039	46	28	in	in	ADP
ap-3039	46	29	the	the	DET
ap-3039	46	30	way	way	NOUN
ap-3039	46	31	in	in	ADP
ap-3039	46	32	which	which	PRON
ap-3039	46	33	the	the	DET
ap-3039	46	34	next	next	ADJ
ap-3039	46	35	goals	goal	NOUN
ap-3039	46	36	to	to	PART
ap-3039	46	37	be	be	AUX
ap-3039	46	38	visited	visit	VERB
ap-3039	46	39	are	be	AUX
ap-3039	46	40	chosen	choose	VERB
ap-3039	46	41	at	at	ADP
ap-3039	46	42	each	each	DET
ap-3039	46	43	iteration	iteration	NOUN
ap-3039	46	44	.	.	PUNCT
ap-3039	47	1	we	we	PRON
ap-3039	47	2	showed	show	VERB
ap-3039	47	3	that	that	SCONJ
ap-3039	47	4	the	the	DET
ap-3039	47	5	objectives	objective	NOUN
ap-3039	47	6	of	of	ADP
ap-3039	47	7	the	the	DET
ap-3039	47	8	two	two	NUM
ap-3039	47	9	problems	problem	NOUN
ap-3039	47	10	differ	differ	VERB
ap-3039	47	11	,	,	PUNCT
ap-3039	47	12	so	so	SCONJ
ap-3039	47	13	that	that	SCONJ
ap-3039	47	14	trajectories	trajectorie	VERB
ap-3039	47	15	optimal	optimal	ADJ
ap-3039	47	16	for	for	ADP
ap-3039	47	17	exploration	exploration	NOUN
ap-3039	47	18	are	be	AUX
ap-3039	47	19	not	not	PART
ap-3039	47	20	optimal	optimal	ADJ
ap-3039	47	21	for	for	ADP
ap-3039	47	22	search	search	NOUN
ap-3039	47	23	in	in	ADP
ap-3039	47	24	general	general	ADJ
ap-3039	47	25	.	.	PUNCT
ap-3039	48	1	nevertheless	nevertheless	ADV
ap-3039	48	2	,	,	PUNCT
ap-3039	48	3	exploration	exploration	NOUN
ap-3039	48	4	goal	goal	NOUN
ap-3039	48	5	-	-	PUNCT
ap-3039	48	6	selection	selection	NOUN
ap-3039	48	7	strategies	strategy	NOUN
ap-3039	48	8	may	may	AUX
ap-3039	48	9	be	be	AUX
ap-3039	48	10	used	use	VERB
ap-3039	48	11	for	for	ADP
ap-3039	48	12	search	search	NOUN
ap-3039	48	13	.	.	PUNCT
ap-3039	49	1	the	the	DET
ap-3039	49	2	aim	aim	NOUN
ap-3039	49	3	of	of	ADP
ap-3039	49	4	this	this	DET
ap-3039	49	5	paper	paper	NOUN
ap-3039	49	6	is	be	AUX
ap-3039	49	7	to	to	PART
ap-3039	49	8	study	study	VERB
ap-3039	49	9	the	the	DET
ap-3039	49	10	behavior	behavior	NOUN
ap-3039	49	11	of	of	ADP
ap-3039	49	12	several	several	ADJ
ap-3039	49	13	state	state	NOUN
ap-3039	49	14	-	-	PUNCT
ap-3039	49	15	of	of	ADP
ap-3039	49	16	-	-	PUNCT
ap-3039	49	17	the	the	DET
ap-3039	49	18	-	-	PUNCT
ap-3039	49	19	art	art	NOUN
ap-3039	49	20	exploration	exploration	NOUN
ap-3039	49	21	strategies	strategy	NOUN
ap-3039	49	22	and	and	CCONJ
ap-3039	49	23	to	to	PART
ap-3039	49	24	evaluate	evaluate	VERB
ap-3039	49	25	their	their	PRON
ap-3039	49	26	performance	performance	NOUN
ap-3039	49	27	in	in	ADP
ap-3039	49	28	the	the	DET
ap-3039	49	29	search	search	NOUN
ap-3039	49	30	task	task	NOUN
ap-3039	49	31	.	.	PUNCT
ap-3039	50	1	the	the	DET
ap-3039	50	2	rest	rest	NOUN
ap-3039	50	3	of	of	ADP
ap-3039	50	4	the	the	DET
ap-3039	50	5	paper	paper	NOUN
ap-3039	50	6	is	be	AUX
ap-3039	50	7	organized	organize	VERB
ap-3039	50	8	as	as	SCONJ
ap-3039	50	9	follows	follow	VERB
ap-3039	50	10	.	.	PUNCT
ap-3039	51	1	a	a	DET
ap-3039	51	2	definition	definition	NOUN
ap-3039	51	3	of	of	ADP
ap-3039	51	4	the	the	DET
ap-3039	51	5	problem	problem	NOUN
ap-3039	51	6	is	be	AUX
ap-3039	51	7	presented	present	VERB
ap-3039	51	8	in	in	ADP
ap-3039	51	9	section	section	NOUN
ap-3039	51	10	2	2	NUM
ap-3039	51	11	,	,	PUNCT
ap-3039	51	12	while	while	SCONJ
ap-3039	51	13	the	the	DET
ap-3039	51	14	frontier	frontier	NOUN
ap-3039	51	15	-	-	PUNCT
ap-3039	51	16	based	base	VERB
ap-3039	51	17	framework	framework	NOUN
ap-3039	51	18	for	for	ADP
ap-3039	51	19	search	search	NOUN
ap-3039	51	20	is	be	AUX
ap-3039	51	21	introduced	introduce	VERB
ap-3039	51	22	in	in	ADP
ap-3039	51	23	section	section	NOUN
ap-3039	51	24	3	3	NUM
ap-3039	51	25	,	,	PUNCT
ap-3039	51	26	and	and	CCONJ
ap-3039	51	27	strategies	strategy	NOUN
ap-3039	51	28	are	be	AUX
ap-3039	51	29	described	describe	VERB
ap-3039	51	30	in	in	ADP
ap-3039	51	31	section	section	NOUN
ap-3039	51	32	4	4	NUM
ap-3039	51	33	.	.	PUNCT
ap-3039	52	1	an	an	DET
ap-3039	52	2	evaluation	evaluation	NOUN
ap-3039	52	3	of	of	ADP
ap-3039	52	4	the	the	DET
ap-3039	52	5	results	result	NOUN
ap-3039	52	6	and	and	CCONJ
ap-3039	52	7	a	a	DET
ap-3039	52	8	discussion	discussion	NOUN
ap-3039	52	9	are	be	AUX
ap-3039	52	10	presented	present	VERB
ap-3039	52	11	in	in	ADP
ap-3039	52	12	section	section	NOUN
ap-3039	52	13	5	5	NUM
ap-3039	52	14	.	.	PUNCT
ap-3039	53	1	finally	finally	ADV
ap-3039	53	2	,	,	PUNCT
ap-3039	53	3	section	section	NOUN
ap-3039	53	4	6	6	NUM
ap-3039	53	5	is	be	AUX
ap-3039	53	6	dedicated	dedicate	VERB
ap-3039	53	7	to	to	ADP
ap-3039	53	8	concluding	conclude	VERB
ap-3039	53	9	remarks	remark	NOUN
ap-3039	53	10	.	.	PUNCT
ap-3039	54	1	2	2	X
ap-3039	54	2	.	.	X
ap-3039	54	3	problem	problem	NOUN
ap-3039	54	4	formulation	formulation	VERB
ap-3039	54	5	the	the	DET
ap-3039	54	6	formulation	formulation	NOUN
ap-3039	54	7	of	of	ADP
ap-3039	54	8	a	a	DET
ap-3039	54	9	multi	multi	ADJ
ap-3039	54	10	-	-	ADJ
ap-3039	54	11	robot	robot	ADJ
ap-3039	54	12	search	search	NOUN
ap-3039	54	13	is	be	AUX
ap-3039	54	14	a	a	DET
ap-3039	54	15	direct	direct	ADJ
ap-3039	54	16	extension	extension	NOUN
ap-3039	54	17	of	of	ADP
ap-3039	54	18	the	the	DET
ap-3039	54	19	single	single	ADJ
ap-3039	54	20	-	-	PUNCT
ap-3039	54	21	robot	robot	NOUN
ap-3039	54	22	case	case	NOUN
ap-3039	54	23	,	,	PUNCT
ap-3039	54	24	introduced	introduce	VERB
ap-3039	54	25	in	in	ADP
ap-3039	54	26	[	[	X
ap-3039	54	27	18	18	NUM
ap-3039	54	28	]	]	PUNCT
ap-3039	54	29	.	.	PUNCT
ap-3039	55	1	we	we	PRON
ap-3039	55	2	assume	assume	VERB
ap-3039	55	3	a	a	DET
ap-3039	55	4	team	team	NOUN
ap-3039	55	5	of	of	ADP
ap-3039	55	6	n	n	PRON
ap-3039	55	7	mobile	mobile	NOUN
ap-3039	55	8	robots	robot	NOUN
ap-3039	55	9	equipped	equip	VERB
ap-3039	55	10	with	with	ADP
ap-3039	55	11	a	a	DET
ap-3039	55	12	ranging	range	VERB
ap-3039	55	13	sensor	sensor	NOUN
ap-3039	55	14	with	with	ADP
ap-3039	55	15	a	a	DET
ap-3039	55	16	fixed	fix	VERB
ap-3039	55	17	,	,	PUNCT
ap-3039	55	18	limited	limited	ADJ
ap-3039	55	19	range	range	NOUN
ap-3039	55	20	(	(	PUNCT
ap-3039	55	21	e.g.	e.g.	ADV
ap-3039	55	22	,	,	PUNCT
ap-3039	55	23	a	a	DET
ap-3039	55	24	laser	laser	NOUN
ap-3039	55	25	range	range	NOUN
ap-3039	55	26	-	-	PUNCT
ap-3039	55	27	finder	finder	NOUN
ap-3039	55	28	)	)	PUNCT
ap-3039	55	29	operating	operate	VERB
ap-3039	55	30	in	in	ADP
ap-3039	55	31	an	an	DET
ap-3039	55	32	unknown	unknown	ADJ
ap-3039	55	33	environment	environment	NOUN
ap-3039	55	34	.	.	PUNCT
ap-3039	56	1	the	the	DET
ap-3039	56	2	search	search	NOUN
ap-3039	56	3	problem	problem	NOUN
ap-3039	56	4	is	be	AUX
ap-3039	56	5	defined	define	VERB
ap-3039	56	6	as	as	ADP
ap-3039	56	7	navigation	navigation	NOUN
ap-3039	56	8	of	of	ADP
ap-3039	56	9	particular	particular	ADJ
ap-3039	56	10	robots	robot	NOUN
ap-3039	56	11	through	through	ADP
ap-3039	56	12	this	this	DET
ap-3039	56	13	environment	environment	NOUN
ap-3039	56	14	in	in	ADP
ap-3039	56	15	order	order	NOUN
ap-3039	56	16	to	to	PART
ap-3039	56	17	find	find	VERB
ap-3039	56	18	a	a	DET
ap-3039	56	19	stationary	stationary	ADJ
ap-3039	56	20	object	object	NOUN
ap-3039	56	21	placed	place	VERB
ap-3039	56	22	randomly	randomly	ADV
ap-3039	56	23	in	in	ADP
ap-3039	56	24	the	the	DET
ap-3039	56	25	environment	environment	NOUN
ap-3039	56	26	.	.	PUNCT
ap-3039	57	1	the	the	DET
ap-3039	57	2	search	search	NOUN
ap-3039	57	3	is	be	AUX
ap-3039	57	4	completed	complete	VERB
ap-3039	57	5	when	when	SCONJ
ap-3039	57	6	the	the	DET
ap-3039	57	7	object	object	NOUN
ap-3039	57	8	is	be	AUX
ap-3039	57	9	first	first	ADV
ap-3039	57	10	detected	detect	VERB
ap-3039	57	11	by	by	ADP
ap-3039	57	12	robot	robot	NOUN
ap-3039	57	13	sensors1	sensors1	NOUN
ap-3039	57	14	,	,	PUNCT
ap-3039	57	15	and	and	CCONJ
ap-3039	57	16	the	the	DET
ap-3039	57	17	natural	natural	ADJ
ap-3039	57	18	goal	goal	NOUN
ap-3039	57	19	is	be	AUX
ap-3039	57	20	to	to	PART
ap-3039	57	21	minimize	minimize	VERB
ap-3039	57	22	the	the	DET
ap-3039	57	23	time	time	NOUN
ap-3039	57	24	for	for	ADP
ap-3039	57	25	this	this	DET
ap-3039	57	26	detection	detection	NOUN
ap-3039	57	27	.	.	PUNCT
ap-3039	58	1	the	the	DET
ap-3039	58	2	objective	objective	NOUN
ap-3039	58	3	is	be	AUX
ap-3039	58	4	to	to	PART
ap-3039	58	5	find	find	VERB
ap-3039	58	6	a	a	DET
ap-3039	58	7	tuple	tuple	NOUN
ap-3039	58	8	of	of	ADP
ap-3039	58	9	trajectories	trajectories	PROPN
ap-3039	58	10	ropt	ropt	VERB
ap-3039	58	11	=	=	SYM
ap-3039	58	12	〈	〈	NOUN
ap-3039	58	13	ropt	ropt	NOUN
ap-3039	58	14	i	i	PRON
ap-3039	58	15	|i	|i	VERB
ap-3039	58	16	=	=	NOUN
ap-3039	58	17	1	1	NUM
ap-3039	58	18	.	.	PUNCT
ap-3039	58	19	.	.	PUNCT
ap-3039	58	20	.	.	PUNCT
ap-3039	59	1	n	n	X
ap-3039	59	2	〉	〉	NOUN
ap-3039	59	3	among	among	ADP
ap-3039	59	4	all	all	DET
ap-3039	59	5	possible	possible	ADJ
ap-3039	59	6	tuples	tuple	NOUN
ap-3039	59	7	of	of	ADP
ap-3039	59	8	trajectories	trajectory	NOUN
ap-3039	59	9	r	r	NOUN
ap-3039	59	10	=	=	SYM
ap-3039	59	11	〈	〈	PROPN
ap-3039	59	12	ri|i	ri|i	NOUN
ap-3039	59	13	=	=	SYM
ap-3039	59	14	1	1	NUM
ap-3039	59	15	.	.	PUNCT
ap-3039	59	16	.	.	PUNCT
ap-3039	59	17	.	.	PUNCT
ap-3039	60	1	n	n	CCONJ
ap-3039	60	2	〉	〉	NOUN
ap-3039	60	3	minimizing	minimize	VERB
ap-3039	60	4	the	the	DET
ap-3039	60	5	expected	expect	VERB
ap-3039	60	6	(	(	PUNCT
ap-3039	60	7	mean	mean	ADJ
ap-3039	60	8	)	)	PUNCT
ap-3039	60	9	time	time	NOUN
ap-3039	60	10	for	for	ADP
ap-3039	60	11	detecting	detect	VERB
ap-3039	60	12	the	the	DET
ap-3039	60	13	object	object	NOUN
ap-3039	60	14	:	:	PUNCT
ap-3039	60	15	ropt	ropt	NOUN
ap-3039	60	16	=	=	PUNCT
ap-3039	60	17	arg	arg	NOUN
ap-3039	60	18	min	min	NOUN
ap-3039	60	19	r	r	NOUN
ap-3039	60	20	e(t	e(t	PROPN
ap-3039	60	21	|r	|r	PROPN
ap-3039	60	22	)	)	PUNCT
ap-3039	60	23	,	,	PUNCT
ap-3039	60	24	(	(	PUNCT
ap-3039	60	25	1	1	X
ap-3039	60	26	)	)	PUNCT
ap-3039	60	27	where	where	SCONJ
ap-3039	60	28	ri	ri	NOUN
ap-3039	60	29	and	and	CCONJ
ap-3039	60	30	ropt	ropt	VERB
ap-3039	60	31	i	i	PRON
ap-3039	60	32	are	be	AUX
ap-3039	60	33	trajectories	trajectory	NOUN
ap-3039	60	34	of	of	ADP
ap-3039	60	35	the	the	DET
ap-3039	60	36	i	i	PROPN
ap-3039	60	37	-	-	PUNCT
ap-3039	60	38	th	th	PROPN
ap-3039	60	39	robot	robot	NOUN
ap-3039	60	40	,	,	PUNCT
ap-3039	60	41	t	t	PROPN
ap-3039	60	42	is	be	AUX
ap-3039	60	43	the	the	DET
ap-3039	60	44	time	time	NOUN
ap-3039	60	45	needed	need	VERB
ap-3039	60	46	to	to	PART
ap-3039	60	47	traverse	traverse	VERB
ap-3039	60	48	r	r	NOUN
ap-3039	60	49	and	and	CCONJ
ap-3039	60	50	tf	tf	NOUN
ap-3039	60	51	=	=	PUNCT
ap-3039	60	52	e(t	e(t	PROPN
ap-3039	60	53	|r	|r	PROPN
ap-3039	60	54	)	)	PUNCT
ap-3039	61	1	=	=	PUNCT
ap-3039	62	1	∞∑	∞∑	NUM
ap-3039	62	2	t=0	t=0	NUM
ap-3039	62	3	tp(t	tp(t	NUM
ap-3039	62	4	)	)	PUNCT
ap-3039	62	5	.	.	PUNCT
ap-3039	63	1	(	(	PUNCT
ap-3039	63	2	2	2	X
ap-3039	63	3	)	)	PUNCT
ap-3039	63	4	p(t	p(t	NOUN
ap-3039	63	5	)	)	PUNCT
ap-3039	63	6	can	can	AUX
ap-3039	63	7	be	be	AUX
ap-3039	63	8	generally	generally	ADV
ap-3039	63	9	an	an	DET
ap-3039	63	10	arbitrary	arbitrary	ADJ
ap-3039	63	11	probability	probability	NOUN
ap-3039	63	12	density	density	NOUN
ap-3039	63	13	function	function	NOUN
ap-3039	63	14	,	,	PUNCT
ap-3039	63	15	if	if	SCONJ
ap-3039	63	16	priory	priory	NOUN
ap-3039	63	17	information	information	NOUN
ap-3039	63	18	about	about	ADP
ap-3039	63	19	the	the	DET
ap-3039	63	20	position	position	NOUN
ap-3039	63	21	of	of	ADP
ap-3039	63	22	the	the	DET
ap-3039	63	23	object	object	NOUN
ap-3039	63	24	is	be	AUX
ap-3039	63	25	available	available	ADJ
ap-3039	63	26	.	.	PUNCT
ap-3039	64	1	nevertheless	nevertheless	ADV
ap-3039	64	2	,	,	PUNCT
ap-3039	64	3	we	we	PRON
ap-3039	64	4	consider	consider	VERB
ap-3039	64	5	that	that	DET
ap-3039	64	6	1we	1we	NOUN
ap-3039	64	7	do	do	AUX
ap-3039	64	8	not	not	PART
ap-3039	64	9	address	address	VERB
ap-3039	64	10	in	in	ADP
ap-3039	64	11	this	this	DET
ap-3039	64	12	paper	paper	NOUN
ap-3039	64	13	the	the	DET
ap-3039	64	14	problem	problem	NOUN
ap-3039	64	15	of	of	ADP
ap-3039	64	16	how	how	SCONJ
ap-3039	64	17	to	to	PART
ap-3039	64	18	recognize	recognize	VERB
ap-3039	64	19	the	the	DET
ap-3039	64	20	object	object	NOUN
ap-3039	64	21	to	to	PART
ap-3039	64	22	be	be	AUX
ap-3039	64	23	detected	detect	VERB
ap-3039	64	24	.	.	PUNCT
ap-3039	65	1	instead	instead	ADV
ap-3039	65	2	,	,	PUNCT
ap-3039	65	3	we	we	PRON
ap-3039	65	4	consider	consider	VERB
ap-3039	65	5	that	that	SCONJ
ap-3039	65	6	this	this	DET
ap-3039	65	7	functionality	functionality	NOUN
ap-3039	65	8	is	be	AUX
ap-3039	65	9	available	available	ADJ
ap-3039	65	10	.	.	PUNCT
ap-3039	66	1	this	this	DET
ap-3039	66	2	information	information	NOUN
ap-3039	66	3	is	be	AUX
ap-3039	66	4	not	not	PART
ap-3039	66	5	provided	provide	VERB
ap-3039	66	6	,	,	PUNCT
ap-3039	66	7	so	so	ADV
ap-3039	66	8	we	we	PRON
ap-3039	66	9	define	define	VERB
ap-3039	66	10	the	the	DET
ap-3039	66	11	probability	probability	NOUN
ap-3039	66	12	p(t	p(t	NOUN
ap-3039	66	13	)	)	PUNCT
ap-3039	66	14	as	as	ADP
ap-3039	66	15	the	the	DET
ap-3039	66	16	ratio	ratio	NOUN
ap-3039	66	17	of	of	ADP
ap-3039	66	18	the	the	DET
ap-3039	66	19	area	area	NOUN
ap-3039	66	20	ar	ar	PROPN
ap-3039	66	21	t	t	PROPN
ap-3039	66	22	newly	newly	ADV
ap-3039	66	23	sensed	sense	VERB
ap-3039	66	24	at	at	ADP
ap-3039	66	25	time	time	NOUN
ap-3039	66	26	t	t	PROPN
ap-3039	66	27	when	when	SCONJ
ap-3039	66	28	the	the	DET
ap-3039	66	29	robots	robot	NOUN
ap-3039	66	30	follow	follow	VERB
ap-3039	66	31	trajectories	trajectory	NOUN
ap-3039	66	32	r	r	NOUN
ap-3039	66	33	and	and	CCONJ
ap-3039	66	34	atotal	atotal	NOUN
ap-3039	66	35	,	,	PUNCT
ap-3039	66	36	the	the	DET
ap-3039	66	37	area	area	NOUN
ap-3039	66	38	of	of	ADP
ap-3039	66	39	the	the	DET
ap-3039	66	40	whole	whole	ADJ
ap-3039	66	41	environment	environment	NOUN
ap-3039	66	42	in	in	ADP
ap-3039	66	43	which	which	PRON
ap-3039	66	44	the	the	DET
ap-3039	66	45	robots	robot	NOUN
ap-3039	66	46	operate	operate	VERB
ap-3039	66	47	:	:	PUNCT
ap-3039	66	48	p(t	p(t	NOUN
ap-3039	66	49	)	)	PUNCT
ap-3039	66	50	=	=	SYM
ap-3039	66	51	ar	ar	PROPN
ap-3039	66	52	t	t	PROPN
ap-3039	66	53	atotal	atotal	NOUN
ap-3039	66	54	.	.	PUNCT
ap-3039	67	1	we	we	PRON
ap-3039	67	2	can	can	AUX
ap-3039	67	3	therefore	therefore	ADV
ap-3039	67	4	rewrite	rewrite	VERB
ap-3039	67	5	(	(	PUNCT
ap-3039	67	6	1	1	NUM
ap-3039	67	7	)	)	PUNCT
ap-3039	67	8	as	as	ADP
ap-3039	67	9	ropt	ropt	VERB
ap-3039	67	10	=	=	PUNCT
ap-3039	67	11	arg	arg	NOUN
ap-3039	67	12	min	min	NOUN
ap-3039	67	13	r	r	NOUN
ap-3039	67	14	e(t	e(t	PROPN
ap-3039	67	15	|r	|r	PROPN
ap-3039	67	16	)	)	PUNCT
ap-3039	68	1	=	=	PUNCT
ap-3039	68	2	arg	arg	NOUN
ap-3039	68	3	min	min	PROPN
ap-3039	68	4	r	r	NOUN
ap-3039	68	5	∞∑	∞∑	NUM
ap-3039	68	6	t=0	t=0	PROPN
ap-3039	68	7	tar	tar	NOUN
ap-3039	68	8	t	t	NOUN
ap-3039	68	9	,	,	PUNCT
ap-3039	68	10	(	(	PUNCT
ap-3039	68	11	3	3	X
ap-3039	68	12	)	)	SYM
ap-3039	68	13	3	3	NUM
ap-3039	68	14	.	.	X
ap-3039	68	15	framework	framework	VERB
ap-3039	68	16	the	the	DET
ap-3039	68	17	framework	framework	NOUN
ap-3039	68	18	for	for	ADP
ap-3039	68	19	multi	multi	ADJ
ap-3039	68	20	-	-	ADJ
ap-3039	68	21	robot	robot	ADJ
ap-3039	68	22	search	search	NOUN
ap-3039	68	23	is	be	AUX
ap-3039	68	24	based	base	VERB
ap-3039	68	25	on	on	ADP
ap-3039	68	26	yamauchi	yamauchi	PROPN
ap-3039	68	27	’s	’s	PART
ap-3039	68	28	frontier	frontier	NOUN
ap-3039	68	29	-	-	PUNCT
ap-3039	68	30	based	base	VERB
ap-3039	68	31	approach	approach	NOUN
ap-3039	68	32	[	[	X
ap-3039	68	33	9	9	NUM
ap-3039	68	34	]	]	PUNCT
ap-3039	68	35	,	,	PUNCT
ap-3039	68	36	successfully	successfully	ADV
ap-3039	68	37	used	use	VERB
ap-3039	68	38	for	for	ADP
ap-3039	68	39	exploration	exploration	NOUN
ap-3039	68	40	,	,	PUNCT
ap-3039	68	41	which	which	PRON
ap-3039	68	42	uses	use	VERB
ap-3039	68	43	an	an	DET
ap-3039	68	44	occupancy	occupancy	NOUN
ap-3039	68	45	grid	grid	NOUN
ap-3039	68	46	as	as	ADP
ap-3039	68	47	the	the	DET
ap-3039	68	48	environment	environment	NOUN
ap-3039	68	49	representation	representation	NOUN
ap-3039	68	50	.	.	PUNCT
ap-3039	69	1	this	this	DET
ap-3039	69	2	approach	approach	NOUN
ap-3039	69	3	is	be	AUX
ap-3039	69	4	centralized	centralize	VERB
ap-3039	69	5	,	,	PUNCT
ap-3039	69	6	which	which	PRON
ap-3039	69	7	means	mean	VERB
ap-3039	69	8	that	that	SCONJ
ap-3039	69	9	the	the	DET
ap-3039	69	10	occupancy	occupancy	NOUN
ap-3039	69	11	grid	grid	NOUN
ap-3039	69	12	is	be	AUX
ap-3039	69	13	global	global	ADJ
ap-3039	69	14	and	and	CCONJ
ap-3039	69	15	it	it	PRON
ap-3039	69	16	is	be	AUX
ap-3039	69	17	built	build	VERB
ap-3039	69	18	by	by	ADP
ap-3039	69	19	a	a	DET
ap-3039	69	20	central	central	ADJ
ap-3039	69	21	unit	unit	NOUN
ap-3039	69	22	by	by	ADP
ap-3039	69	23	integrating	integrate	VERB
ap-3039	69	24	raw	raw	ADJ
ap-3039	69	25	sensor	sensor	NOUN
ap-3039	69	26	measurements	measurement	NOUN
ap-3039	69	27	from	from	ADP
ap-3039	69	28	all	all	DET
ap-3039	69	29	robots	robot	NOUN
ap-3039	69	30	.	.	PUNCT
ap-3039	70	1	also	also	ADV
ap-3039	70	2	,	,	PUNCT
ap-3039	70	3	all	all	DET
ap-3039	70	4	decisions	decision	NOUN
ap-3039	70	5	are	be	AUX
ap-3039	70	6	made	make	VERB
ap-3039	70	7	centrally	centrally	ADV
ap-3039	70	8	and	and	CCONJ
ap-3039	70	9	then	then	ADV
ap-3039	70	10	distributed	distribute	VERB
ap-3039	70	11	to	to	ADP
ap-3039	70	12	the	the	DET
ap-3039	70	13	particular	particular	ADJ
ap-3039	70	14	robots	robot	NOUN
ap-3039	70	15	.	.	PUNCT
ap-3039	71	1	the	the	DET
ap-3039	71	2	key	key	ADJ
ap-3039	71	3	idea	idea	NOUN
ap-3039	71	4	of	of	ADP
ap-3039	71	5	the	the	DET
ap-3039	71	6	approach	approach	NOUN
ap-3039	71	7	is	be	AUX
ap-3039	71	8	to	to	PART
ap-3039	71	9	detect	detect	VERB
ap-3039	71	10	frontier	frontier	NOUN
ap-3039	71	11	cells	cell	NOUN
ap-3039	71	12	,	,	PUNCT
ap-3039	71	13	i.e.	i.e.	X
ap-3039	71	14	,	,	PUNCT
ap-3039	71	15	reachable	reachable	ADJ
ap-3039	71	16	grid	grid	NOUN
ap-3039	71	17	cells	cell	NOUN
ap-3039	71	18	representing	represent	VERB
ap-3039	71	19	free	free	ADJ
ap-3039	71	20	regions	region	NOUN
ap-3039	71	21	adjacent	adjacent	ADJ
ap-3039	71	22	to	to	ADP
ap-3039	71	23	at	at	ADV
ap-3039	71	24	least	least	ADV
ap-3039	71	25	one	one	NUM
ap-3039	71	26	as	as	ADP
ap-3039	71	27	yet	yet	ADV
ap-3039	71	28	unexplored	unexplored	ADJ
ap-3039	71	29	cell	cell	NOUN
ap-3039	71	30	.	.	PUNCT
ap-3039	72	1	the	the	DET
ap-3039	72	2	frontier	frontier	NOUN
ap-3039	72	3	is	be	AUX
ap-3039	72	4	a	a	DET
ap-3039	72	5	continuous	continuous	ADJ
ap-3039	72	6	set	set	NOUN
ap-3039	72	7	of	of	ADP
ap-3039	72	8	frontier	frontier	NOUN
ap-3039	72	9	cells	cell	NOUN
ap-3039	72	10	such	such	ADJ
ap-3039	72	11	that	that	SCONJ
ap-3039	72	12	each	each	DET
ap-3039	72	13	frontier	frontier	NOUN
ap-3039	72	14	cell	cell	NOUN
ap-3039	72	15	is	be	AUX
ap-3039	72	16	a	a	DET
ap-3039	72	17	member	member	NOUN
ap-3039	72	18	of	of	ADP
ap-3039	72	19	exactly	exactly	ADV
ap-3039	72	20	one	one	NUM
ap-3039	72	21	frontier	frontier	NOUN
ap-3039	72	22	.	.	PUNCT
ap-3039	73	1	the	the	DET
ap-3039	73	2	search	search	NOUN
ap-3039	73	3	algorithm	algorithm	NOUN
ap-3039	73	4	consists	consist	VERB
ap-3039	73	5	of	of	ADP
ap-3039	73	6	several	several	ADJ
ap-3039	73	7	steps	step	NOUN
ap-3039	73	8	that	that	PRON
ap-3039	73	9	are	be	AUX
ap-3039	73	10	repeated	repeat	VERB
ap-3039	73	11	as	as	ADV
ap-3039	73	12	long	long	ADV
ap-3039	73	13	as	as	SCONJ
ap-3039	73	14	some	some	DET
ap-3039	73	15	unexplored	unexplored	ADJ
ap-3039	73	16	area	area	NOUN
ap-3039	73	17	remains	remain	VERB
ap-3039	73	18	.	.	PUNCT
ap-3039	74	1	the	the	DET
ap-3039	74	2	process	process	NOUN
ap-3039	74	3	starts	start	VERB
ap-3039	74	4	with	with	ADP
ap-3039	74	5	individual	individual	ADJ
ap-3039	74	6	robots	robot	NOUN
ap-3039	74	7	reading	read	VERB
ap-3039	74	8	actual	actual	ADJ
ap-3039	74	9	sensor	sensor	NOUN
ap-3039	74	10	information	information	NOUN
ap-3039	74	11	.	.	PUNCT
ap-3039	75	1	after	after	ADP
ap-3039	75	2	some	some	DET
ap-3039	75	3	data	datum	NOUN
ap-3039	75	4	processing	processing	NOUN
ap-3039	75	5	,	,	PUNCT
ap-3039	75	6	the	the	DET
ap-3039	75	7	existing	exist	VERB
ap-3039	75	8	map	map	NOUN
ap-3039	75	9	is	be	AUX
ap-3039	75	10	updated	update	VERB
ap-3039	75	11	with	with	ADP
ap-3039	75	12	this	this	DET
ap-3039	75	13	information	information	NOUN
ap-3039	75	14	.	.	PUNCT
ap-3039	76	1	new	new	ADJ
ap-3039	76	2	goal	goal	NOUN
ap-3039	76	3	candidates	candidate	NOUN
ap-3039	76	4	are	be	AUX
ap-3039	76	5	then	then	ADV
ap-3039	76	6	determined	determined	ADJ
ap-3039	76	7	and	and	CCONJ
ap-3039	76	8	goals	goal	NOUN
ap-3039	76	9	for	for	ADP
ap-3039	76	10	particular	particular	ADJ
ap-3039	76	11	robots	robot	NOUN
ap-3039	76	12	are	be	AUX
ap-3039	76	13	assigned	assign	VERB
ap-3039	76	14	using	use	VERB
ap-3039	76	15	a	a	DET
ap-3039	76	16	defined	define	VERB
ap-3039	76	17	cost	cost	NOUN
ap-3039	76	18	function	function	NOUN
ap-3039	76	19	.	.	PUNCT
ap-3039	77	1	having	having	AUX
ap-3039	77	2	assigned	assign	VERB
ap-3039	77	3	the	the	DET
ap-3039	77	4	goals	goal	NOUN
ap-3039	77	5	to	to	ADP
ap-3039	77	6	the	the	DET
ap-3039	77	7	robots	robot	NOUN
ap-3039	77	8	,	,	PUNCT
ap-3039	77	9	the	the	DET
ap-3039	77	10	shortest	short	ADJ
ap-3039	77	11	path	path	NOUN
ap-3039	77	12	from	from	ADP
ap-3039	77	13	the	the	DET
ap-3039	77	14	robots	robot	NOUN
ap-3039	77	15	to	to	ADP
ap-3039	77	16	the	the	DET
ap-3039	77	17	goals	goal	NOUN
ap-3039	77	18	are	be	AUX
ap-3039	77	19	found	find	VERB
ap-3039	77	20	.	.	PUNCT
ap-3039	78	1	finally	finally	ADV
ap-3039	78	2	,	,	PUNCT
ap-3039	78	3	the	the	DET
ap-3039	78	4	robots	robot	NOUN
ap-3039	78	5	are	be	AUX
ap-3039	78	6	navigated	navigate	VERB
ap-3039	78	7	along	along	ADP
ap-3039	78	8	the	the	DET
ap-3039	78	9	paths	path	NOUN
ap-3039	78	10	.	.	PUNCT
ap-3039	79	1	the	the	DET
ap-3039	79	2	whole	whole	ADJ
ap-3039	79	3	process	process	NOUN
ap-3039	79	4	is	be	AUX
ap-3039	79	5	summarized	summarize	VERB
ap-3039	79	6	in	in	ADP
ap-3039	79	7	algorithm	algorithm	NOUN
ap-3039	79	8	1	1	NUM
ap-3039	79	9	.	.	PUNCT
ap-3039	80	1	algorithm	algorithm	NOUN
ap-3039	80	2	1	1	NUM
ap-3039	80	3	:	:	PUNCT
ap-3039	80	4	frontier	frontier	NOUN
ap-3039	80	5	-	-	PUNCT
ap-3039	80	6	based	base	VERB
ap-3039	80	7	search	search	NOUN
ap-3039	80	8	algorithm	algorithm	NOUN
ap-3039	80	9	while	while	SCONJ
ap-3039	80	10	unexplored	unexplored	ADJ
ap-3039	80	11	areas	area	NOUN
ap-3039	80	12	exist	exist	VERB
ap-3039	80	13	do	do	AUX
ap-3039	80	14	read	read	VERB
ap-3039	80	15	current	current	ADJ
ap-3039	80	16	sensor	sensor	NOUN
ap-3039	80	17	information	information	NOUN
ap-3039	80	18	;	;	PUNCT
ap-3039	80	19	update	update	VERB
ap-3039	80	20	the	the	DET
ap-3039	80	21	map	map	NOUN
ap-3039	80	22	with	with	ADP
ap-3039	80	23	the	the	DET
ap-3039	80	24	obtained	obtain	VERB
ap-3039	80	25	data	datum	NOUN
ap-3039	80	26	;	;	PUNCT
ap-3039	80	27	determine	determine	VERB
ap-3039	80	28	new	new	ADJ
ap-3039	80	29	goal	goal	NOUN
ap-3039	80	30	candidates	candidate	NOUN
ap-3039	80	31	;	;	PUNCT
ap-3039	80	32	assign	assign	VERB
ap-3039	80	33	the	the	DET
ap-3039	80	34	goals	goal	NOUN
ap-3039	80	35	to	to	ADP
ap-3039	80	36	the	the	DET
ap-3039	80	37	robots	robot	NOUN
ap-3039	80	38	;	;	PUNCT
ap-3039	80	39	plan	plan	NOUN
ap-3039	80	40	paths	path	NOUN
ap-3039	80	41	for	for	ADP
ap-3039	80	42	the	the	DET
ap-3039	80	43	robots	robot	NOUN
ap-3039	80	44	;	;	PUNCT
ap-3039	80	45	move	move	VERB
ap-3039	80	46	the	the	DET
ap-3039	80	47	robots	robot	NOUN
ap-3039	80	48	towards	towards	ADP
ap-3039	80	49	the	the	DET
ap-3039	80	50	goals	goal	NOUN
ap-3039	80	51	;	;	PUNCT
ap-3039	80	52	4	4	X
ap-3039	80	53	.	.	X
ap-3039	80	54	exploration	exploration	NOUN
ap-3039	80	55	strategies	strategy	NOUN
ap-3039	80	56	many	many	ADJ
ap-3039	80	57	exploration	exploration	NOUN
ap-3039	80	58	strategies	strategy	NOUN
ap-3039	80	59	exist	exist	VERB
ap-3039	80	60	,	,	PUNCT
ap-3039	80	61	see	see	VERB
ap-3039	80	62	for	for	ADP
ap-3039	80	63	example	example	NOUN
ap-3039	80	64	[	[	X
ap-3039	80	65	19	19	NUM
ap-3039	80	66	]	]	PUNCT
ap-3039	80	67	.	.	PUNCT
ap-3039	81	1	within	within	ADP
ap-3039	81	2	the	the	DET
ap-3039	81	3	exploration	exploration	NOUN
ap-3039	81	4	framework	framework	NOUN
ap-3039	81	5	presented	present	VERB
ap-3039	81	6	here	here	ADV
ap-3039	81	7	,	,	PUNCT
ap-3039	81	8	we	we	PRON
ap-3039	81	9	chose	choose	VERB
ap-3039	81	10	and	and	CCONJ
ap-3039	81	11	implemented	implement	VERB
ap-3039	81	12	four	four	NUM
ap-3039	81	13	methods	method	NOUN
ap-3039	81	14	,	,	PUNCT
ap-3039	81	15	which	which	PRON
ap-3039	81	16	are	be	AUX
ap-3039	81	17	centralized	centralize	VERB
ap-3039	81	18	,	,	PUNCT
ap-3039	81	19	do	do	AUX
ap-3039	81	20	not	not	PART
ap-3039	81	21	use	use	VERB
ap-3039	81	22	a	a	DET
ap-3039	81	23	distance	distance	NOUN
ap-3039	81	24	-	-	PUNCT
ap-3039	81	25	based	base	VERB
ap-3039	81	26	cost	cost	NOUN
ap-3039	81	27	for	for	ADP
ap-3039	81	28	goal	goal	NOUN
ap-3039	81	29	evaluation	evaluation	NOUN
ap-3039	81	30	,	,	PUNCT
ap-3039	81	31	and	and	CCONJ
ap-3039	81	32	are	be	AUX
ap-3039	81	33	easy	easy	ADJ
ap-3039	81	34	to	to	PART
ap-3039	81	35	implement	implement	VERB
ap-3039	81	36	.	.	PUNCT
ap-3039	82	1	the	the	DET
ap-3039	82	2	following	follow	VERB
ap-3039	82	3	paragraphs	paragraph	NOUN
ap-3039	82	4	give	give	VERB
ap-3039	82	5	an	an	DET
ap-3039	82	6	overview	overview	NOUN
ap-3039	82	7	of	of	ADP
ap-3039	82	8	these	these	DET
ap-3039	82	9	methods	method	NOUN
ap-3039	82	10	.	.	PUNCT
ap-3039	83	1	163	163	NUM
ap-3039	83	2	m.	m.	NOUN
ap-3039	83	3	kulich	kulich	NOUN
ap-3039	83	4	,	,	PUNCT
ap-3039	83	5	t.	t.	PROPN
ap-3039	83	6	juchelka	juchelka	PROPN
ap-3039	83	7	,	,	PUNCT
ap-3039	83	8	l.	l.	PROPN
ap-3039	83	9	přeučil	přeučil	PROPN
ap-3039	83	10	acta	acta	PROPN
ap-3039	83	11	polytechnica	polytechnica	PROPN
ap-3039	83	12	(	(	PUNCT
ap-3039	83	13	a	a	NOUN
ap-3039	83	14	)	)	PUNCT
ap-3039	83	15	(	(	PUNCT
ap-3039	83	16	b	b	X
ap-3039	83	17	)	)	PUNCT
ap-3039	83	18	figure	figure	NOUN
ap-3039	83	19	1	1	NUM
ap-3039	83	20	.	.	PUNCT
ap-3039	83	21	greedy	greedy	ADJ
ap-3039	83	22	assignment	assignment	NOUN
ap-3039	83	23	,	,	PUNCT
ap-3039	83	24	(	(	PUNCT
ap-3039	83	25	a	a	X
ap-3039	83	26	)	)	PUNCT
ap-3039	83	27	two	two	NUM
ap-3039	83	28	robots	robot	NOUN
ap-3039	83	29	exploring	explore	VERB
ap-3039	83	30	the	the	DET
ap-3039	83	31	same	same	ADJ
ap-3039	83	32	goal	goal	NOUN
ap-3039	83	33	,	,	PUNCT
ap-3039	83	34	(	(	PUNCT
ap-3039	83	35	b	b	X
ap-3039	83	36	)	)	PUNCT
ap-3039	83	37	an	an	DET
ap-3039	83	38	inefficient	inefficient	ADJ
ap-3039	83	39	assignment	assignment	NOUN
ap-3039	83	40	of	of	ADP
ap-3039	83	41	goals	goal	NOUN
ap-3039	83	42	.	.	PUNCT
ap-3039	84	1	4.1	4.1	NUM
ap-3039	84	2	.	.	PUNCT
ap-3039	84	3	greedy	greedy	ADJ
ap-3039	84	4	approach	approach	NOUN
ap-3039	84	5	a	a	DET
ap-3039	84	6	simply	simply	ADV
ap-3039	84	7	and	and	CCONJ
ap-3039	84	8	easily	easily	ADV
ap-3039	84	9	implementable	implementable	ADJ
ap-3039	84	10	strategy	strategy	NOUN
ap-3039	84	11	is	be	AUX
ap-3039	84	12	described	describe	VERB
ap-3039	84	13	in	in	ADP
ap-3039	84	14	[	[	X
ap-3039	84	15	9	9	NUM
ap-3039	84	16	]	]	PUNCT
ap-3039	84	17	–	–	PUNCT
ap-3039	84	18	each	each	DET
ap-3039	84	19	robot	robot	NOUN
ap-3039	84	20	greedily	greedily	ADV
ap-3039	84	21	heads	head	NOUN
ap-3039	84	22	towards	towards	ADP
ap-3039	84	23	the	the	DET
ap-3039	84	24	best	good	ADJ
ap-3039	84	25	goal	goal	NOUN
ap-3039	84	26	(	(	PUNCT
ap-3039	84	27	according	accord	VERB
ap-3039	84	28	to	to	ADP
ap-3039	84	29	a	a	DET
ap-3039	84	30	cost	cost	NOUN
ap-3039	84	31	function	function	NOUN
ap-3039	84	32	)	)	PUNCT
ap-3039	84	33	without	without	ADP
ap-3039	84	34	any	any	DET
ap-3039	84	35	coordination	coordination	NOUN
ap-3039	84	36	between	between	ADP
ap-3039	84	37	robots	robot	NOUN
ap-3039	84	38	.	.	PUNCT
ap-3039	85	1	the	the	DET
ap-3039	85	2	strategy	strategy	NOUN
ap-3039	85	3	lacks	lack	VERB
ap-3039	85	4	optimality2	optimality2	VERB
ap-3039	85	5	,	,	PUNCT
ap-3039	85	6	since	since	SCONJ
ap-3039	85	7	one	one	NUM
ap-3039	85	8	goal	goal	NOUN
ap-3039	85	9	can	can	AUX
ap-3039	85	10	be	be	AUX
ap-3039	85	11	selected	select	VERB
ap-3039	85	12	and	and	CCONJ
ap-3039	85	13	explored	explore	VERB
ap-3039	85	14	by	by	ADP
ap-3039	85	15	many	many	ADJ
ap-3039	85	16	robots	robot	NOUN
ap-3039	85	17	as	as	SCONJ
ap-3039	85	18	depicted	depict	VERB
ap-3039	85	19	in	in	ADP
ap-3039	85	20	fig	fig	NOUN
ap-3039	85	21	.	.	PUNCT
ap-3039	86	1	1(a	1(a	NUM
ap-3039	86	2	)	)	PUNCT
ap-3039	86	3	.	.	PUNCT
ap-3039	87	1	to	to	PART
ap-3039	87	2	avoid	avoid	VERB
ap-3039	87	3	this	this	DET
ap-3039	87	4	inefficiency	inefficiency	NOUN
ap-3039	87	5	already	already	ADV
ap-3039	87	6	selected	select	VERB
ap-3039	87	7	goals	goal	NOUN
ap-3039	87	8	can	can	AUX
ap-3039	87	9	be	be	AUX
ap-3039	87	10	discarded	discard	VERB
ap-3039	87	11	from	from	ADP
ap-3039	87	12	further	further	ADJ
ap-3039	87	13	selection	selection	NOUN
ap-3039	87	14	.	.	PUNCT
ap-3039	88	1	this	this	PRON
ap-3039	88	2	is	be	AUX
ap-3039	88	3	used	use	VERB
ap-3039	88	4	in	in	ADP
ap-3039	88	5	the	the	DET
ap-3039	88	6	broadcast	broadcast	NOUN
ap-3039	88	7	of	of	ADP
ap-3039	88	8	local	local	ADJ
ap-3039	88	9	eligibility	eligibility	NOUN
ap-3039	88	10	(	(	PUNCT
ap-3039	88	11	ble	ble	ADJ
ap-3039	88	12	)	)	PUNCT
ap-3039	88	13	assignment	assignment	NOUN
ap-3039	88	14	algorithm	algorithm	NOUN
ap-3039	88	15	,	,	PUNCT
ap-3039	88	16	developed	develop	VERB
ap-3039	88	17	by	by	ADP
ap-3039	88	18	werger	werger	NOUN
ap-3039	88	19	&	&	CCONJ
ap-3039	88	20	mataric	mataric	ADJ
ap-3039	88	21	[	[	X
ap-3039	88	22	20	20	NUM
ap-3039	88	23	]	]	PUNCT
ap-3039	88	24	,	,	PUNCT
ap-3039	88	25	see	see	VERB
ap-3039	88	26	algorithm	algorithm	NOUN
ap-3039	88	27	2	2	NUM
ap-3039	88	28	.	.	PUNCT
ap-3039	88	29	algorithm	algorithm	NOUN
ap-3039	88	30	2	2	NUM
ap-3039	88	31	:	:	PUNCT
ap-3039	88	32	ble	ble	ADJ
ap-3039	88	33	assignment	assignment	NOUN
ap-3039	88	34	algorithm	algorithm	NOUN
ap-3039	88	35	.	.	PUNCT
ap-3039	89	1	while	while	SCONJ
ap-3039	89	2	any	any	DET
ap-3039	89	3	robot	robot	NOUN
ap-3039	89	4	remains	remain	VERB
ap-3039	89	5	unassigned	unassigned	ADJ
ap-3039	89	6	do	do	AUX
ap-3039	89	7	find	find	VERB
ap-3039	89	8	the	the	DET
ap-3039	89	9	robot	robot	NOUN
ap-3039	89	10	-	-	PUNCT
ap-3039	89	11	goal	goal	NOUN
ap-3039	89	12	pair	pair	NOUN
ap-3039	89	13	(	(	PUNCT
ap-3039	89	14	i	i	PROPN
ap-3039	89	15	,	,	PUNCT
ap-3039	89	16	j	j	PROPN
ap-3039	89	17	)	)	PUNCT
ap-3039	89	18	with	with	ADP
ap-3039	89	19	the	the	DET
ap-3039	89	20	highest	high	ADJ
ap-3039	89	21	utility	utility	NOUN
ap-3039	89	22	;	;	PUNCT
ap-3039	89	23	assign	assign	VERB
ap-3039	89	24	the	the	DET
ap-3039	89	25	goal	goal	NOUN
ap-3039	89	26	j	j	PROPN
ap-3039	89	27	to	to	ADP
ap-3039	89	28	the	the	DET
ap-3039	89	29	robot	robot	NOUN
ap-3039	89	30	i	i	PRON
ap-3039	89	31	and	and	CCONJ
ap-3039	89	32	remove	remove	VERB
ap-3039	89	33	them	they	PRON
ap-3039	89	34	from	from	ADP
ap-3039	89	35	the	the	DET
ap-3039	89	36	consideration	consideration	NOUN
ap-3039	89	37	;	;	PUNCT
ap-3039	89	38	however	however	ADV
ap-3039	89	39	,	,	PUNCT
ap-3039	89	40	this	this	PRON
ap-3039	89	41	remains	remain	VERB
ap-3039	89	42	a	a	DET
ap-3039	89	43	greedy	greedy	ADJ
ap-3039	89	44	algorithm	algorithm	NOUN
ap-3039	89	45	,	,	PUNCT
ap-3039	89	46	and	and	CCONJ
ap-3039	89	47	does	do	AUX
ap-3039	89	48	not	not	PART
ap-3039	89	49	necessarily	necessarily	ADV
ap-3039	89	50	produce	produce	VERB
ap-3039	89	51	the	the	DET
ap-3039	89	52	optimal	optimal	ADJ
ap-3039	89	53	solution	solution	NOUN
ap-3039	89	54	.	.	PUNCT
ap-3039	90	1	the	the	DET
ap-3039	90	2	solution	solution	NOUN
ap-3039	90	3	depends	depend	VERB
ap-3039	90	4	on	on	ADP
ap-3039	90	5	the	the	DET
ap-3039	90	6	order	order	NOUN
ap-3039	90	7	of	of	ADP
ap-3039	90	8	the	the	DET
ap-3039	90	9	robot	robot	NOUN
ap-3039	90	10	-	-	PUNCT
ap-3039	90	11	goal	goal	NOUN
ap-3039	90	12	assignments	assignment	NOUN
ap-3039	90	13	.	.	PUNCT
ap-3039	91	1	fig	fig	NOUN
ap-3039	91	2	.	.	PUNCT
ap-3039	92	1	1(b	1(b	NUM
ap-3039	92	2	)	)	PUNCT
ap-3039	92	3	depicts	depict	VERB
ap-3039	92	4	an	an	DET
ap-3039	92	5	example	example	NOUN
ap-3039	92	6	of	of	ADP
ap-3039	92	7	an	an	DET
ap-3039	92	8	inefficient	inefficient	ADJ
ap-3039	92	9	assignment	assignment	NOUN
ap-3039	92	10	.	.	PUNCT
ap-3039	93	1	4.2	4.2	NUM
ap-3039	93	2	.	.	PUNCT
ap-3039	94	1	the	the	DET
ap-3039	94	2	hungarian	hungarian	ADJ
ap-3039	94	3	method	method	NOUN
ap-3039	94	4	the	the	DET
ap-3039	94	5	hungarian	hungarian	ADJ
ap-3039	94	6	method	method	NOUN
ap-3039	94	7	,	,	PUNCT
ap-3039	94	8	first	first	ADV
ap-3039	94	9	introduced	introduce	VERB
ap-3039	94	10	in	in	ADP
ap-3039	94	11	[	[	X
ap-3039	94	12	13	13	NUM
ap-3039	94	13	]	]	PUNCT
ap-3039	94	14	,	,	PUNCT
ap-3039	94	15	is	be	AUX
ap-3039	94	16	more	more	ADV
ap-3039	94	17	sophisticated	sophisticated	ADJ
ap-3039	94	18	.	.	PUNCT
ap-3039	95	1	it	it	PRON
ap-3039	95	2	is	be	AUX
ap-3039	95	3	an	an	DET
ap-3039	95	4	optimization	optimization	NOUN
ap-3039	95	5	algorithm	algorithm	NOUN
ap-3039	95	6	which	which	PRON
ap-3039	95	7	solves	solve	VERB
ap-3039	95	8	the	the	DET
ap-3039	95	9	worker	worker	NOUN
ap-3039	95	10	-	-	PUNCT
ap-3039	95	11	task	task	NOUN
ap-3039	95	12	assignment	assignment	NOUN
ap-3039	95	13	.	.	PUNCT
ap-3039	96	1	the	the	DET
ap-3039	96	2	assignment	assignment	NOUN
ap-3039	96	3	can	can	AUX
ap-3039	96	4	be	be	AUX
ap-3039	96	5	written	write	VERB
ap-3039	96	6	in	in	ADP
ap-3039	96	7	the	the	DET
ap-3039	96	8	form	form	NOUN
ap-3039	96	9	of	of	ADP
ap-3039	96	10	the	the	DET
ap-3039	96	11	n×	n×	PROPN
ap-3039	96	12	n	n	NOUN
ap-3039	96	13	matrix	matrix	NOUN
ap-3039	96	14	c	c	NOUN
ap-3039	96	15	,	,	PUNCT
ap-3039	96	16	where	where	SCONJ
ap-3039	96	17	element	element	NOUN
ap-3039	96	18	ci	ci	PROPN
ap-3039	96	19	,	,	PUNCT
ap-3039	96	20	j	j	PROPN
ap-3039	96	21	represents	represent	VERB
ap-3039	96	22	the	the	DET
ap-3039	96	23	cost	cost	NOUN
ap-3039	96	24	that	that	PRON
ap-3039	96	25	the	the	DET
ap-3039	96	26	j	j	PROPN
ap-3039	96	27	-	-	PUNCT
ap-3039	96	28	th	th	VERB
ap-3039	96	29	task	task	NOUN
ap-3039	96	30	has	have	AUX
ap-3039	96	31	been	be	AUX
ap-3039	96	32	assigned	assign	VERB
ap-3039	96	33	to	to	ADP
ap-3039	96	34	the	the	DET
ap-3039	96	35	i	i	PROPN
ap-3039	96	36	-	-	PUNCT
ap-3039	96	37	th	th	X
ap-3039	96	38	worker	worker	NOUN
ap-3039	96	39	.	.	PUNCT
ap-3039	97	1	in	in	ADP
ap-3039	97	2	our	our	PRON
ap-3039	97	3	case	case	NOUN
ap-3039	97	4	,	,	PUNCT
ap-3039	97	5	we	we	PRON
ap-3039	97	6	define	define	VERB
ap-3039	97	7	the	the	DET
ap-3039	97	8	cost	cost	NOUN
ap-3039	97	9	as	as	ADP
ap-3039	97	10	the	the	DET
ap-3039	97	11	length	length	NOUN
ap-3039	97	12	of	of	ADP
ap-3039	97	13	the	the	DET
ap-3039	97	14	path	path	NOUN
ap-3039	97	15	from	from	ADP
ap-3039	97	16	the	the	DET
ap-3039	97	17	current	current	ADJ
ap-3039	97	18	position	position	NOUN
ap-3039	97	19	of	of	ADP
ap-3039	97	20	the	the	DET
ap-3039	97	21	robot	robot	NOUN
ap-3039	97	22	to	to	ADP
ap-3039	97	23	the	the	DET
ap-3039	97	24	goal	goal	NOUN
ap-3039	97	25	.	.	PUNCT
ap-3039	98	1	the	the	DET
ap-3039	98	2	hungarian	hungarian	ADJ
ap-3039	98	3	method	method	NOUN
ap-3039	98	4	finds	find	VERB
ap-3039	98	5	the	the	DET
ap-3039	98	6	optimal	optimal	ADJ
ap-3039	98	7	assignment	assignment	NOUN
ap-3039	98	8	for	for	ADP
ap-3039	98	9	the	the	DET
ap-3039	98	10	given	give	VERB
ap-3039	98	11	cost	cost	NOUN
ap-3039	98	12	matrix	matrix	NOUN
ap-3039	98	13	c	c	NOUN
ap-3039	98	14	in	in	ADP
ap-3039	98	15	o(n3	o(n3	NOUN
ap-3039	98	16	)	)	PUNCT
ap-3039	98	17	.	.	PUNCT
ap-3039	99	1	2note	2note	NUM
ap-3039	99	2	that	that	PRON
ap-3039	99	3	we	we	PRON
ap-3039	99	4	make	make	VERB
ap-3039	99	5	the	the	DET
ap-3039	99	6	decision	decision	NOUN
ap-3039	99	7	on	on	ADP
ap-3039	99	8	the	the	DET
ap-3039	99	9	basis	basis	NOUN
ap-3039	99	10	of	of	ADP
ap-3039	99	11	only	only	ADJ
ap-3039	99	12	current	current	ADJ
ap-3039	99	13	knowledge	knowledge	NOUN
ap-3039	99	14	of	of	ADP
ap-3039	99	15	the	the	DET
ap-3039	99	16	map	map	NOUN
ap-3039	99	17	.	.	PUNCT
ap-3039	100	1	from	from	ADP
ap-3039	100	2	this	this	DET
ap-3039	100	3	perspective	perspective	NOUN
ap-3039	100	4	,	,	PUNCT
ap-3039	100	5	the	the	DET
ap-3039	100	6	approach	approach	NOUN
ap-3039	100	7	from	from	ADP
ap-3039	100	8	fig	fig	NOUN
ap-3039	100	9	.	.	PUNCT
ap-3039	101	1	1(b	1(b	NUM
ap-3039	101	2	)	)	PUNCT
ap-3039	101	3	seems	seem	VERB
ap-3039	101	4	to	to	PART
ap-3039	101	5	be	be	AUX
ap-3039	101	6	better	well	ADJ
ap-3039	101	7	than	than	ADP
ap-3039	101	8	the	the	DET
ap-3039	101	9	approach	approach	NOUN
ap-3039	101	10	in	in	ADP
ap-3039	101	11	fig	fig	NOUN
ap-3039	101	12	.	.	PUNCT
ap-3039	102	1	1(b	1(b	NUM
ap-3039	102	2	)	)	PUNCT
ap-3039	102	3	.	.	PUNCT
ap-3039	103	1	nevertheless	nevertheless	ADV
ap-3039	103	2	,	,	PUNCT
ap-3039	103	3	it	it	PRON
ap-3039	103	4	might	might	AUX
ap-3039	103	5	be	be	AUX
ap-3039	103	6	globally	globally	ADV
ap-3039	103	7	more	more	ADV
ap-3039	103	8	efficient	efficient	ADJ
ap-3039	103	9	to	to	PART
ap-3039	103	10	leave	leave	VERB
ap-3039	103	11	two	two	NUM
ap-3039	103	12	robots	robot	NOUN
ap-3039	103	13	to	to	PART
ap-3039	103	14	explore	explore	VERB
ap-3039	103	15	the	the	DET
ap-3039	103	16	same	same	ADJ
ap-3039	103	17	goal	goal	NOUN
ap-3039	103	18	in	in	ADP
ap-3039	103	19	some	some	DET
ap-3039	103	20	steps	step	NOUN
ap-3039	103	21	of	of	ADP
ap-3039	103	22	the	the	DET
ap-3039	103	23	exploration	exploration	NOUN
ap-3039	103	24	process	process	NOUN
ap-3039	103	25	.	.	PUNCT
ap-3039	104	1	the	the	DET
ap-3039	104	2	algorithm	algorithm	NOUN
ap-3039	104	3	requires	require	VERB
ap-3039	104	4	the	the	DET
ap-3039	104	5	number	number	NOUN
ap-3039	104	6	of	of	ADP
ap-3039	104	7	robots	robot	NOUN
ap-3039	104	8	to	to	PART
ap-3039	104	9	be	be	AUX
ap-3039	104	10	the	the	DET
ap-3039	104	11	same	same	ADJ
ap-3039	104	12	as	as	ADP
ap-3039	104	13	the	the	DET
ap-3039	104	14	number	number	NOUN
ap-3039	104	15	of	of	ADP
ap-3039	104	16	goals	goal	NOUN
ap-3039	104	17	,	,	PUNCT
ap-3039	104	18	which	which	PRON
ap-3039	104	19	can	can	AUX
ap-3039	104	20	not	not	PART
ap-3039	104	21	be	be	AUX
ap-3039	104	22	guaranteed	guarantee	VERB
ap-3039	104	23	throughout	throughout	ADP
ap-3039	104	24	the	the	DET
ap-3039	104	25	exploration	exploration	NOUN
ap-3039	104	26	.	.	PUNCT
ap-3039	105	1	if	if	SCONJ
ap-3039	105	2	the	the	DET
ap-3039	105	3	number	number	NOUN
ap-3039	105	4	of	of	ADP
ap-3039	105	5	robots	robot	NOUN
ap-3039	105	6	or	or	CCONJ
ap-3039	105	7	goals	goal	NOUN
ap-3039	105	8	is	be	AUX
ap-3039	105	9	lower	low	ADJ
ap-3039	105	10	,	,	PUNCT
ap-3039	105	11	imaginary	imaginary	ADJ
ap-3039	105	12	robots	robot	NOUN
ap-3039	105	13	or	or	CCONJ
ap-3039	105	14	goals	goal	NOUN
ap-3039	105	15	can	can	AUX
ap-3039	105	16	be	be	AUX
ap-3039	105	17	added	add	VERB
ap-3039	105	18	to	to	PART
ap-3039	105	19	satisfy	satisfy	VERB
ap-3039	105	20	the	the	DET
ap-3039	105	21	assumption	assumption	NOUN
ap-3039	105	22	.	.	PUNCT
ap-3039	106	1	they	they	PRON
ap-3039	106	2	have	have	VERB
ap-3039	106	3	a	a	DET
ap-3039	106	4	fixed	fix	VERB
ap-3039	106	5	cost	cost	NOUN
ap-3039	106	6	assigned	assign	VERB
ap-3039	106	7	to	to	ADP
ap-3039	106	8	them	they	PRON
ap-3039	106	9	,	,	PUNCT
ap-3039	106	10	so	so	ADV
ap-3039	106	11	they	they	PRON
ap-3039	106	12	do	do	AUX
ap-3039	106	13	not	not	PART
ap-3039	106	14	affect	affect	VERB
ap-3039	106	15	the	the	DET
ap-3039	106	16	real	real	ADJ
ap-3039	106	17	robots	robot	NOUN
ap-3039	106	18	/	/	SYM
ap-3039	106	19	goals	goal	NOUN
ap-3039	106	20	.	.	PUNCT
ap-3039	107	1	in	in	ADP
ap-3039	107	2	the	the	DET
ap-3039	107	3	selection	selection	NOUN
ap-3039	107	4	,	,	PUNCT
ap-3039	107	5	the	the	DET
ap-3039	107	6	imaginary	imaginary	ADJ
ap-3039	107	7	robots	robot	NOUN
ap-3039	107	8	,	,	PUNCT
ap-3039	107	9	and	and	CCONJ
ap-3039	107	10	targets	target	NOUN
ap-3039	107	11	are	be	AUX
ap-3039	107	12	skipped	skip	VERB
ap-3039	107	13	.	.	PUNCT
ap-3039	108	1	this	this	DET
ap-3039	108	2	strategy	strategy	NOUN
ap-3039	108	3	does	do	AUX
ap-3039	108	4	not	not	PART
ap-3039	108	5	assign	assign	VERB
ap-3039	108	6	the	the	DET
ap-3039	108	7	same	same	ADJ
ap-3039	108	8	goal	goal	NOUN
ap-3039	108	9	to	to	ADP
ap-3039	108	10	different	different	ADJ
ap-3039	108	11	robots	robot	NOUN
ap-3039	108	12	and	and	CCONJ
ap-3039	108	13	it	it	PRON
ap-3039	108	14	does	do	AUX
ap-3039	108	15	not	not	PART
ap-3039	108	16	depend	depend	VERB
ap-3039	108	17	on	on	ADP
ap-3039	108	18	the	the	DET
ap-3039	108	19	order	order	NOUN
ap-3039	108	20	of	of	ADP
ap-3039	108	21	selection	selection	NOUN
ap-3039	108	22	.	.	PUNCT
ap-3039	109	1	4.3	4.3	NUM
ap-3039	109	2	.	.	PUNCT
ap-3039	110	1	k	k	X
ap-3039	110	2	-	-	PUNCT
ap-3039	110	3	means	mean	VERB
ap-3039	110	4	clustering	cluster	VERB
ap-3039	110	5	in	in	ADP
ap-3039	110	6	the	the	DET
ap-3039	110	7	majority	majority	NOUN
ap-3039	110	8	of	of	ADP
ap-3039	110	9	multi	multi	ADJ
ap-3039	110	10	-	-	ADJ
ap-3039	110	11	robot	robot	ADJ
ap-3039	110	12	tasks	task	NOUN
ap-3039	110	13	,	,	PUNCT
ap-3039	110	14	the	the	DET
ap-3039	110	15	robots	robot	NOUN
ap-3039	110	16	start	start	VERB
ap-3039	110	17	from	from	ADP
ap-3039	110	18	the	the	DET
ap-3039	110	19	same	same	ADJ
ap-3039	110	20	area	area	NOUN
ap-3039	110	21	,	,	PUNCT
ap-3039	110	22	e.g.	e.g.	ADV
ap-3039	110	23	,	,	PUNCT
ap-3039	110	24	from	from	ADP
ap-3039	110	25	the	the	DET
ap-3039	110	26	entrance	entrance	NOUN
ap-3039	110	27	to	to	ADP
ap-3039	110	28	a	a	DET
ap-3039	110	29	building	building	NOUN
ap-3039	110	30	.	.	PUNCT
ap-3039	111	1	this	this	PRON
ap-3039	111	2	leads	lead	VERB
ap-3039	111	3	to	to	ADP
ap-3039	111	4	exhaustive	exhaustive	ADJ
ap-3039	111	5	exploration	exploration	NOUN
ap-3039	111	6	of	of	ADP
ap-3039	111	7	the	the	DET
ap-3039	111	8	starting	starting	NOUN
ap-3039	111	9	area	area	NOUN
ap-3039	111	10	during	during	ADP
ap-3039	111	11	the	the	DET
ap-3039	111	12	first	first	ADJ
ap-3039	111	13	phase	phase	NOUN
ap-3039	111	14	of	of	ADP
ap-3039	111	15	exploration	exploration	NOUN
ap-3039	111	16	.	.	PUNCT
ap-3039	112	1	[	[	X
ap-3039	112	2	16	16	NUM
ap-3039	112	3	]	]	PUNCT
ap-3039	112	4	present	present	ADJ
ap-3039	112	5	a	a	DET
ap-3039	112	6	strategy	strategy	NOUN
ap-3039	112	7	that	that	PRON
ap-3039	112	8	attempts	attempt	VERB
ap-3039	112	9	to	to	PART
ap-3039	112	10	spread	spread	VERB
ap-3039	112	11	the	the	DET
ap-3039	112	12	robots	robot	NOUN
ap-3039	112	13	quickly	quickly	ADV
ap-3039	112	14	in	in	ADP
ap-3039	112	15	the	the	DET
ap-3039	112	16	environment	environment	NOUN
ap-3039	112	17	,	,	PUNCT
ap-3039	112	18	so	so	SCONJ
ap-3039	112	19	that	that	SCONJ
ap-3039	112	20	each	each	DET
ap-3039	112	21	robot	robot	NOUN
ap-3039	112	22	focuses	focus	VERB
ap-3039	112	23	on	on	ADP
ap-3039	112	24	an	an	DET
ap-3039	112	25	individual	individual	ADJ
ap-3039	112	26	part	part	NOUN
ap-3039	112	27	of	of	ADP
ap-3039	112	28	the	the	DET
ap-3039	112	29	environment	environment	NOUN
ap-3039	112	30	,	,	PUNCT
ap-3039	112	31	for	for	ADP
ap-3039	112	32	which	which	PRON
ap-3039	112	33	it	it	PRON
ap-3039	112	34	will	will	AUX
ap-3039	112	35	remain	remain	VERB
ap-3039	112	36	responsible	responsible	ADJ
ap-3039	112	37	.	.	PUNCT
ap-3039	113	1	this	this	PRON
ap-3039	113	2	is	be	AUX
ap-3039	113	3	done	do	VERB
ap-3039	113	4	by	by	ADP
ap-3039	113	5	using	use	VERB
ap-3039	113	6	k	k	ADJ
ap-3039	113	7	-	-	PUNCT
ap-3039	113	8	means	means	NOUN
ap-3039	113	9	clustering	clustering	NOUN
ap-3039	113	10	,	,	PUNCT
ap-3039	113	11	which	which	PRON
ap-3039	113	12	divides	divide	VERB
ap-3039	113	13	the	the	DET
ap-3039	113	14	remaining	remain	VERB
ap-3039	113	15	unknown	unknown	ADJ
ap-3039	113	16	space	space	NOUN
ap-3039	113	17	into	into	ADP
ap-3039	113	18	the	the	DET
ap-3039	113	19	same	same	ADJ
ap-3039	113	20	number	number	NOUN
ap-3039	113	21	of	of	ADP
ap-3039	113	22	regions	region	NOUN
ap-3039	113	23	as	as	ADP
ap-3039	113	24	the	the	DET
ap-3039	113	25	number	number	NOUN
ap-3039	113	26	of	of	ADP
ap-3039	113	27	robots	robot	NOUN
ap-3039	113	28	.	.	PUNCT
ap-3039	114	1	each	each	DET
ap-3039	114	2	particular	particular	ADJ
ap-3039	114	3	region	region	NOUN
ap-3039	114	4	is	be	AUX
ap-3039	114	5	then	then	ADV
ap-3039	114	6	assigned	assign	VERB
ap-3039	114	7	to	to	ADP
ap-3039	114	8	the	the	DET
ap-3039	114	9	closest	close	ADJ
ap-3039	114	10	robot	robot	NOUN
ap-3039	114	11	.	.	PUNCT
ap-3039	115	1	after	after	ADP
ap-3039	115	2	the	the	DET
ap-3039	115	3	assignment	assignment	NOUN
ap-3039	115	4	,	,	PUNCT
ap-3039	115	5	each	each	DET
ap-3039	115	6	robot	robot	NOUN
ap-3039	115	7	chooses	choose	VERB
ap-3039	115	8	a	a	DET
ap-3039	115	9	frontier	frontier	NOUN
ap-3039	115	10	according	accord	VERB
ap-3039	115	11	to	to	ADP
ap-3039	115	12	a	a	DET
ap-3039	115	13	predefined	predefine	VERB
ap-3039	115	14	cost	cost	NOUN
ap-3039	115	15	function	function	NOUN
ap-3039	115	16	.	.	PUNCT
ap-3039	116	1	the	the	DET
ap-3039	116	2	cost	cost	NOUN
ap-3039	116	3	of	of	ADP
ap-3039	116	4	frontier	frontier	NOUN
ap-3039	116	5	fj	fj	PROPN
ap-3039	116	6	for	for	ADP
ap-3039	116	7	robot	robot	NOUN
ap-3039	116	8	ri	ri	PROPN
ap-3039	116	9	assigned	assign	VERB
ap-3039	116	10	to	to	ADP
ap-3039	116	11	region	region	NOUN
ap-3039	116	12	ζi	ζi	NOUN
ap-3039	116	13	is	be	AUX
ap-3039	116	14	defined	define	VERB
ap-3039	116	15	as	as	ADP
ap-3039	116	16	:	:	PUNCT
ap-3039	116	17	ci	ci	PROPN
ap-3039	116	18	,	,	PUNCT
ap-3039	116	19	j	j	PROPN
ap-3039	117	1	=	=	PRON
ap-3039	117	2	{	{	PUNCT
ap-3039	117	3	∆	∆	X
ap-3039	117	4	+	+	CCONJ
ap-3039	117	5	e(fj	e(fj	ADV
ap-3039	117	6	,	,	PUNCT
ap-3039	117	7	ci	ci	NOUN
ap-3039	117	8	)	)	PUNCT
ap-3039	117	9	+	+	CCONJ
ap-3039	117	10	oi	oi	PROPN
ap-3039	117	11	,	,	PUNCT
ap-3039	117	12	j	j	PROPN
ap-3039	117	13	fj	fj	PROPN
ap-3039	117	14	/∈	/∈	PUNCT
ap-3039	118	1	ζi	ζi	PROPN
ap-3039	118	2	,	,	PUNCT
ap-3039	118	3	d(fj	d(fj	PROPN
ap-3039	118	4	,	,	PUNCT
ap-3039	118	5	ri	ri	PROPN
ap-3039	118	6	)	)	PUNCT
ap-3039	118	7	+	+	CCONJ
ap-3039	118	8	oi	oi	PROPN
ap-3039	118	9	,	,	PUNCT
ap-3039	118	10	j	j	PROPN
ap-3039	118	11	fj	fj	PROPN
ap-3039	118	12	∈	∈	PROPN
ap-3039	118	13	ζi	ζi	PROPN
ap-3039	118	14	,	,	PUNCT
ap-3039	118	15	where	where	SCONJ
ap-3039	118	16	∆	∆	PROPN
ap-3039	118	17	is	be	AUX
ap-3039	118	18	a	a	DET
ap-3039	118	19	constant	constant	ADJ
ap-3039	118	20	penalization	penalization	NOUN
ap-3039	118	21	representing	represent	VERB
ap-3039	118	22	the	the	DET
ap-3039	118	23	diagonal	diagonal	ADJ
ap-3039	118	24	length	length	NOUN
ap-3039	118	25	of	of	ADP
ap-3039	118	26	the	the	DET
ap-3039	118	27	map	map	NOUN
ap-3039	118	28	,	,	PUNCT
ap-3039	118	29	e	e	X
ap-3039	118	30	is	be	AUX
ap-3039	118	31	the	the	DET
ap-3039	118	32	euclidean	euclidean	ADJ
ap-3039	118	33	distance	distance	NOUN
ap-3039	118	34	,	,	PUNCT
ap-3039	118	35	ci	ci	PROPN
ap-3039	118	36	is	be	AUX
ap-3039	118	37	the	the	DET
ap-3039	118	38	centroid	centroid	NOUN
ap-3039	118	39	of	of	ADP
ap-3039	118	40	the	the	DET
ap-3039	118	41	region	region	NOUN
ap-3039	118	42	,	,	PUNCT
ap-3039	118	43	d	d	X
ap-3039	118	44	is	be	AUX
ap-3039	118	45	the	the	DET
ap-3039	118	46	real	real	ADJ
ap-3039	118	47	path	path	NOUN
ap-3039	118	48	cost	cost	NOUN
ap-3039	118	49	defined	define	VERB
ap-3039	118	50	by	by	ADP
ap-3039	118	51	any	any	DET
ap-3039	118	52	path	path	NOUN
ap-3039	118	53	planning	planning	NOUN
ap-3039	118	54	algorithm	algorithm	NOUN
ap-3039	118	55	,	,	PUNCT
ap-3039	118	56	and	and	CCONJ
ap-3039	118	57	oi	oi	INTJ
ap-3039	118	58	,	,	PUNCT
ap-3039	118	59	j	j	PROPN
ap-3039	118	60	is	be	AUX
ap-3039	118	61	the	the	DET
ap-3039	118	62	accumulated	accumulate	VERB
ap-3039	118	63	penalization	penalization	NOUN
ap-3039	118	64	increasing	increase	VERB
ap-3039	118	65	the	the	DET
ap-3039	118	66	cost	cost	NOUN
ap-3039	118	67	when	when	SCONJ
ap-3039	118	68	the	the	DET
ap-3039	118	69	frontier	frontier	NOUN
ap-3039	118	70	has	have	AUX
ap-3039	118	71	already	already	ADV
ap-3039	118	72	been	be	AUX
ap-3039	118	73	selected	select	VERB
ap-3039	118	74	.	.	PUNCT
ap-3039	119	1	the	the	DET
ap-3039	119	2	frontier	frontier	NOUN
ap-3039	119	3	that	that	PRON
ap-3039	119	4	does	do	AUX
ap-3039	119	5	not	not	PART
ap-3039	119	6	belong	belong	VERB
ap-3039	119	7	to	to	ADP
ap-3039	119	8	the	the	DET
ap-3039	119	9	assigned	assign	VERB
ap-3039	119	10	region	region	NOUN
ap-3039	119	11	receives	receive	VERB
ap-3039	119	12	a	a	DET
ap-3039	119	13	high	high	ADJ
ap-3039	119	14	penalization	penalization	NOUN
ap-3039	119	15	∆	∆	NOUN
ap-3039	119	16	,	,	PUNCT
ap-3039	119	17	so	so	SCONJ
ap-3039	119	18	it	it	PRON
ap-3039	119	19	can	can	AUX
ap-3039	119	20	happen	happen	VERB
ap-3039	119	21	that	that	SCONJ
ap-3039	119	22	there	there	PRON
ap-3039	119	23	is	be	VERB
ap-3039	119	24	no	no	DET
ap-3039	119	25	frontier	frontier	NOUN
ap-3039	119	26	in	in	ADP
ap-3039	119	27	the	the	DET
ap-3039	119	28	assigned	assign	VERB
ap-3039	119	29	region	region	NOUN
ap-3039	119	30	,	,	PUNCT
ap-3039	119	31	in	in	ADP
ap-3039	119	32	which	which	DET
ap-3039	119	33	case	case	NOUN
ap-3039	119	34	,	,	PUNCT
ap-3039	119	35	the	the	DET
ap-3039	119	36	robot	robot	NOUN
ap-3039	119	37	selects	select	VERB
ap-3039	119	38	the	the	DET
ap-3039	119	39	closest	close	ADJ
ap-3039	119	40	frontier	frontier	NOUN
ap-3039	119	41	to	to	ADP
ap-3039	119	42	its	its	PRON
ap-3039	119	43	region	region	NOUN
ap-3039	119	44	.	.	PUNCT
ap-3039	120	1	as	as	ADP
ap-3039	120	2	a	a	DET
ap-3039	120	3	result	result	NOUN
ap-3039	120	4	,	,	PUNCT
ap-3039	120	5	robots	robot	NOUN
ap-3039	120	6	tend	tend	VERB
ap-3039	120	7	to	to	PART
ap-3039	120	8	work	work	VERB
ap-3039	120	9	separately	separately	ADV
ap-3039	120	10	in	in	ADP
ap-3039	120	11	their	their	PRON
ap-3039	120	12	assigned	assign	VERB
ap-3039	120	13	regions	region	NOUN
ap-3039	120	14	.	.	PUNCT
ap-3039	121	1	if	if	SCONJ
ap-3039	121	2	the	the	DET
ap-3039	121	3	assigned	assign	VERB
ap-3039	121	4	region	region	NOUN
ap-3039	121	5	is	be	AUX
ap-3039	121	6	not	not	PART
ap-3039	121	7	directly	directly	ADV
ap-3039	121	8	accessible	accessible	ADJ
ap-3039	121	9	,	,	PUNCT
ap-3039	121	10	other	other	ADJ
ap-3039	121	11	regions	region	NOUN
ap-3039	121	12	are	be	AUX
ap-3039	121	13	explored	explore	VERB
ap-3039	121	14	on	on	ADP
ap-3039	121	15	the	the	DET
ap-3039	121	16	way	way	NOUN
ap-3039	121	17	to	to	ADP
ap-3039	121	18	the	the	DET
ap-3039	121	19	assigned	assign	VERB
ap-3039	121	20	region	region	NOUN
ap-3039	121	21	.	.	PUNCT
ap-3039	122	1	the	the	DET
ap-3039	122	2	robots	robot	NOUN
ap-3039	122	3	explore	explore	VERB
ap-3039	122	4	all	all	DET
ap-3039	122	5	these	these	DET
ap-3039	122	6	separate	separate	ADJ
ap-3039	122	7	regions	region	NOUN
ap-3039	122	8	simultaneously	simultaneously	ADV
ap-3039	122	9	,	,	PUNCT
ap-3039	122	10	because	because	SCONJ
ap-3039	122	11	each	each	DET
ap-3039	122	12	robot	robot	NOUN
ap-3039	122	13	heads	head	VERB
ap-3039	122	14	to	to	ADP
ap-3039	122	15	its	its	PRON
ap-3039	122	16	own	own	ADJ
ap-3039	122	17	region	region	NOUN
ap-3039	122	18	.	.	PUNCT
ap-3039	123	1	this	this	PRON
ap-3039	123	2	disperses	disperse	VERB
ap-3039	123	3	the	the	DET
ap-3039	123	4	robots	robot	NOUN
ap-3039	123	5	in	in	ADP
ap-3039	123	6	the	the	DET
ap-3039	123	7	environment	environment	NOUN
ap-3039	123	8	,	,	PUNCT
ap-3039	123	9	and	and	CCONJ
ap-3039	123	10	different	different	ADJ
ap-3039	123	11	parts	part	NOUN
ap-3039	123	12	of	of	ADP
ap-3039	123	13	the	the	DET
ap-3039	123	14	environment	environment	NOUN
ap-3039	123	15	are	be	AUX
ap-3039	123	16	explored	explore	VERB
ap-3039	123	17	at	at	ADP
ap-3039	123	18	similar	similar	ADJ
ap-3039	123	19	speeds	speed	NOUN
ap-3039	123	20	.	.	PUNCT
ap-3039	124	1	in	in	ADP
ap-3039	124	2	general	general	ADJ
ap-3039	124	3	,	,	PUNCT
ap-3039	124	4	the	the	DET
ap-3039	124	5	k	k	NOUN
ap-3039	124	6	-	-	PUNCT
ap-3039	124	7	means	means	NOUN
ap-3039	124	8	algorithm	algorithm	NOUN
ap-3039	124	9	consists	consist	VERB
ap-3039	124	10	of	of	ADP
ap-3039	124	11	the	the	DET
ap-3039	124	12	following	follow	VERB
ap-3039	124	13	steps	step	NOUN
ap-3039	124	14	.	.	PUNCT
ap-3039	125	1	(	(	PUNCT
ap-3039	125	2	1	1	NUM
ap-3039	125	3	.	.	PUNCT
ap-3039	125	4	)	)	PUNCT
ap-3039	125	5	randomly	randomly	ADV
ap-3039	125	6	choose	choose	VERB
ap-3039	125	7	k	k	PROPN
ap-3039	125	8	centroids	centroids	PROPN
ap-3039	125	9	ci	ci	PROPN
ap-3039	126	1	where	where	SCONJ
ap-3039	126	2	1	1	NUM
ap-3039	126	3	≤	≤	NUM
ap-3039	126	4	i	i	NOUN
ap-3039	126	5	≤	≤	PROPN
ap-3039	126	6	k.	k.	NOUN
ap-3039	126	7	(	(	PUNCT
ap-3039	126	8	2	2	NUM
ap-3039	126	9	.	.	PUNCT
ap-3039	126	10	)	)	PUNCT
ap-3039	126	11	classify	classify	VERB
ap-3039	126	12	each	each	PRON
ap-3039	126	13	not	not	PART
ap-3039	126	14	yet	yet	ADV
ap-3039	126	15	explored	explore	VERB
ap-3039	126	16	cell	cell	NOUN
ap-3039	126	17	in	in	ADP
ap-3039	126	18	the	the	DET
ap-3039	126	19	environment	environment	NOUN
ap-3039	126	20	to	to	ADP
ap-3039	126	21	the	the	DET
ap-3039	126	22	class	class	NOUN
ap-3039	126	23	ζi	ζi	PROPN
ap-3039	126	24	of	of	ADP
ap-3039	126	25	its	its	PRON
ap-3039	126	26	closest	close	ADJ
ap-3039	126	27	centroid	centroid	NOUN
ap-3039	126	28	ci	ci	PROPN
ap-3039	126	29	.	.	PUNCT
ap-3039	127	1	(	(	PUNCT
ap-3039	127	2	3	3	NUM
ap-3039	127	3	.	.	PUNCT
ap-3039	127	4	)	)	PUNCT
ap-3039	127	5	determine	determine	VERB
ap-3039	127	6	a	a	DET
ap-3039	127	7	new	new	ADJ
ap-3039	127	8	centroid	centroid	NOUN
ap-3039	127	9	for	for	ADP
ap-3039	127	10	each	each	DET
ap-3039	127	11	class	class	NOUN
ap-3039	127	12	.	.	PUNCT
ap-3039	128	1	(	(	PUNCT
ap-3039	128	2	4	4	NUM
ap-3039	128	3	.	.	PUNCT
ap-3039	128	4	)	)	PUNCT
ap-3039	129	1	if	if	SCONJ
ap-3039	129	2	all	all	DET
ap-3039	129	3	the	the	DET
ap-3039	129	4	centroids	centroid	NOUN
ap-3039	129	5	did	do	AUX
ap-3039	129	6	not	not	PART
ap-3039	129	7	change	change	VERB
ap-3039	129	8	,	,	PUNCT
ap-3039	129	9	finish	finish	NOUN
ap-3039	129	10	.	.	PUNCT
ap-3039	130	1	otherwise	otherwise	ADV
ap-3039	130	2	,	,	PUNCT
ap-3039	130	3	continue	continue	VERB
ap-3039	130	4	with	with	ADP
ap-3039	130	5	the	the	DET
ap-3039	130	6	step	step	NOUN
ap-3039	130	7	2	2	NUM
ap-3039	130	8	.	.	NOUN
ap-3039	130	9	164	164	NUM
ap-3039	130	10	vol	vol	NOUN
ap-3039	130	11	.	.	PUNCT
ap-3039	131	1	55	55	NUM
ap-3039	131	2	no	no	NOUN
ap-3039	131	3	.	.	PUNCT
ap-3039	132	1	3/2015	3/2015	NUM
ap-3039	132	2	comparison	comparison	NOUN
ap-3039	132	3	of	of	ADP
ap-3039	132	4	exploration	exploration	NOUN
ap-3039	132	5	strategies	strategy	NOUN
ap-3039	132	6	for	for	ADP
ap-3039	132	7	multi	multi	ADJ
ap-3039	132	8	-	-	ADJ
ap-3039	132	9	robot	robot	ADJ
ap-3039	132	10	search	search	NOUN
ap-3039	132	11	(	(	PUNCT
ap-3039	132	12	a	a	NOUN
ap-3039	132	13	)	)	PUNCT
ap-3039	132	14	(	(	PUNCT
ap-3039	132	15	b	b	X
ap-3039	132	16	)	)	PUNCT
ap-3039	132	17	(	(	PUNCT
ap-3039	132	18	c	c	X
ap-3039	132	19	)	)	PUNCT
ap-3039	132	20	(	(	PUNCT
ap-3039	132	21	d	d	X
ap-3039	132	22	)	)	PUNCT
ap-3039	132	23	figure	figure	NOUN
ap-3039	132	24	2	2	NUM
ap-3039	132	25	.	.	PUNCT
ap-3039	133	1	maps	map	NOUN
ap-3039	133	2	used	use	VERB
ap-3039	133	3	in	in	ADP
ap-3039	133	4	the	the	DET
ap-3039	133	5	experiments	experiment	NOUN
ap-3039	133	6	.	.	PUNCT
ap-3039	134	1	the	the	DET
ap-3039	134	2	starting	starting	NOUN
ap-3039	134	3	positions	position	NOUN
ap-3039	134	4	are	be	AUX
ap-3039	134	5	marked	mark	VERB
ap-3039	134	6	with	with	ADP
ap-3039	134	7	the	the	DET
ap-3039	134	8	green	green	ADJ
ap-3039	134	9	circles	circle	NOUN
ap-3039	134	10	:	:	PUNCT
ap-3039	134	11	(	(	PUNCT
ap-3039	134	12	a	a	X
ap-3039	134	13	)	)	PUNCT
ap-3039	134	14	empty	empty	ADJ
ap-3039	134	15	map	map	NOUN
ap-3039	134	16	with	with	ADP
ap-3039	134	17	dimensions	dimension	NOUN
ap-3039	134	18	50	50	NUM
ap-3039	134	19	×	×	NOUN
ap-3039	134	20	50	50	NUM
ap-3039	134	21	m	m	NOUN
ap-3039	134	22	;	;	PUNCT
ap-3039	134	23	(	(	PUNCT
ap-3039	134	24	b	b	X
ap-3039	134	25	)	)	PUNCT
ap-3039	134	26	arena	arena	NOUN
ap-3039	134	27	map	map	NOUN
ap-3039	134	28	with	with	ADP
ap-3039	134	29	dimensions	dimension	NOUN
ap-3039	134	30	50	50	NUM
ap-3039	134	31	×	×	NOUN
ap-3039	134	32	50	50	NUM
ap-3039	134	33	m	m	NOUN
ap-3039	134	34	;	;	PUNCT
ap-3039	134	35	(	(	PUNCT
ap-3039	134	36	c	c	X
ap-3039	134	37	)	)	PUNCT
ap-3039	134	38	jh	jh	PROPN
ap-3039	134	39	map	map	NOUN
ap-3039	134	40	with	with	ADP
ap-3039	134	41	dimensions	dimension	NOUN
ap-3039	134	42	52.5	52.5	NUM
ap-3039	134	43	×	×	NOUN
ap-3039	134	44	60	60	NUM
ap-3039	134	45	m	m	NOUN
ap-3039	134	46	;	;	PUNCT
ap-3039	134	47	(	(	PUNCT
ap-3039	134	48	d	d	X
ap-3039	134	49	)	)	PUNCT
ap-3039	134	50	hospital	hospital	NOUN
ap-3039	134	51	map	map	NOUN
ap-3039	134	52	with	with	ADP
ap-3039	134	53	dimensions	dimension	NOUN
ap-3039	134	54	138	138	NUM
ap-3039	134	55	×	×	NOUN
ap-3039	134	56	110.75	110.75	NUM
ap-3039	134	57	m.	m.	NOUN
ap-3039	134	58	0	0	NUM
ap-3039	134	59	10	10	NUM
ap-3039	134	60	20	20	NUM
ap-3039	134	61	30	30	NUM
ap-3039	134	62	40	40	NUM
ap-3039	134	63	50	50	NUM
ap-3039	134	64	60	60	NUM
ap-3039	134	65	70	70	NUM
ap-3039	134	66	80	80	NUM
ap-3039	134	67	90	90	NUM
ap-3039	134	68	100	100	NUM
ap-3039	134	69	0	0	NUM
ap-3039	134	70	100	100	NUM
ap-3039	134	71	200	200	NUM
ap-3039	134	72	300	300	NUM
ap-3039	134	73	400	400	NUM
ap-3039	134	74	500	500	NUM
ap-3039	134	75	600	600	NUM
ap-3039	134	76	700	700	NUM
ap-3039	134	77	800	800	NUM
ap-3039	134	78	900	900	NUM
ap-3039	134	79	1000	1000	NUM
ap-3039	134	80	m	m	NOUN
ap-3039	134	81	ap	ap	NOUN
ap-3039	135	1	e	e	PROPN
ap-3039	135	2	xp	xp	INTJ
ap-3039	135	3	lo	lo	PROPN
ap-3039	135	4	re	re	PROPN
ap-3039	135	5	d	d	PROPN
ap-3039	136	1	[	[	X
ap-3039	136	2	%	%	X
ap-3039	136	3	]	]	X
ap-3039	136	4	step	step	NOUN
ap-3039	136	5	greedy	greedy	ADJ
ap-3039	136	6	ble	ble	ADJ
ap-3039	136	7	hungarian	hungarian	ADJ
ap-3039	136	8	k	k	NOUN
ap-3039	136	9	-	-	PUNCT
ap-3039	136	10	means	means	NOUN
ap-3039	136	11	0	0	NUM
ap-3039	136	12	10	10	NUM
ap-3039	136	13	20	20	NUM
ap-3039	136	14	30	30	NUM
ap-3039	136	15	40	40	NUM
ap-3039	136	16	50	50	NUM
ap-3039	136	17	60	60	NUM
ap-3039	136	18	70	70	NUM
ap-3039	136	19	80	80	NUM
ap-3039	136	20	90	90	NUM
ap-3039	136	21	100	100	NUM
ap-3039	136	22	0	0	NUM
ap-3039	136	23	100	100	NUM
ap-3039	136	24	200	200	NUM
ap-3039	136	25	300	300	NUM
ap-3039	136	26	400	400	NUM
ap-3039	136	27	500	500	NUM
ap-3039	136	28	600	600	NUM
ap-3039	136	29	700	700	NUM
ap-3039	136	30	800	800	NUM
ap-3039	136	31	m	m	NOUN
ap-3039	136	32	ap	ap	NOUN
ap-3039	137	1	e	e	PROPN
ap-3039	137	2	xp	xp	INTJ
ap-3039	137	3	lo	lo	PROPN
ap-3039	137	4	re	re	PROPN
ap-3039	137	5	d	d	PROPN
ap-3039	138	1	[	[	X
ap-3039	138	2	%	%	X
ap-3039	138	3	]	]	X
ap-3039	138	4	step	step	NOUN
ap-3039	138	5	greedy	greedy	ADJ
ap-3039	138	6	ble	ble	ADJ
ap-3039	138	7	hungarian	hungarian	ADJ
ap-3039	138	8	k	k	NOUN
ap-3039	138	9	-	-	PUNCT
ap-3039	138	10	means	means	NOUN
ap-3039	138	11	0	0	NUM
ap-3039	138	12	10	10	NUM
ap-3039	138	13	20	20	NUM
ap-3039	138	14	30	30	NUM
ap-3039	138	15	40	40	NUM
ap-3039	138	16	50	50	NUM
ap-3039	138	17	60	60	NUM
ap-3039	138	18	70	70	NUM
ap-3039	138	19	80	80	NUM
ap-3039	138	20	90	90	NUM
ap-3039	138	21	100	100	NUM
ap-3039	138	22	0	0	NUM
ap-3039	138	23	100	100	NUM
ap-3039	138	24	200	200	NUM
ap-3039	138	25	300	300	NUM
ap-3039	138	26	400	400	NUM
ap-3039	138	27	500	500	NUM
ap-3039	138	28	600	600	NUM
ap-3039	138	29	700	700	NUM
ap-3039	138	30	m	m	NOUN
ap-3039	138	31	ap	ap	NOUN
ap-3039	139	1	e	e	PROPN
ap-3039	139	2	xp	xp	INTJ
ap-3039	139	3	lo	lo	PROPN
ap-3039	139	4	re	re	PROPN
ap-3039	139	5	d	d	PROPN
ap-3039	140	1	[	[	X
ap-3039	140	2	%	%	X
ap-3039	140	3	]	]	X
ap-3039	140	4	step	step	NOUN
ap-3039	140	5	greedy	greedy	ADJ
ap-3039	140	6	ble	ble	ADJ
ap-3039	140	7	hungarian	hungarian	ADJ
ap-3039	140	8	k	k	PROPN
ap-3039	140	9	-	-	PUNCT
ap-3039	140	10	means	means	NOUN
ap-3039	140	11	figure	figure	NOUN
ap-3039	140	12	3	3	NUM
ap-3039	140	13	.	.	PUNCT
ap-3039	140	14	empty	empty	ADJ
ap-3039	140	15	map	map	NOUN
ap-3039	140	16	size	size	NOUN
ap-3039	140	17	progress	progress	NOUN
ap-3039	140	18	:	:	PUNCT
ap-3039	140	19	for	for	ADP
ap-3039	140	20	4	4	NUM
ap-3039	140	21	robots	robot	NOUN
ap-3039	140	22	(	(	PUNCT
ap-3039	140	23	left	leave	VERB
ap-3039	140	24	)	)	PUNCT
ap-3039	140	25	,	,	PUNCT
ap-3039	140	26	for	for	ADP
ap-3039	140	27	6	6	NUM
ap-3039	140	28	robots	robot	NOUN
ap-3039	140	29	(	(	PUNCT
ap-3039	140	30	center	center	NOUN
ap-3039	140	31	)	)	PUNCT
ap-3039	140	32	,	,	PUNCT
ap-3039	140	33	for	for	ADP
ap-3039	140	34	8	8	NUM
ap-3039	140	35	robots	robot	NOUN
ap-3039	140	36	(	(	PUNCT
ap-3039	140	37	right	right	ADJ
ap-3039	140	38	)	)	PUNCT
ap-3039	140	39	.	.	PUNCT
ap-3039	141	1	5	5	X
ap-3039	141	2	.	.	X
ap-3039	141	3	results	result	VERB
ap-3039	141	4	the	the	DET
ap-3039	141	5	strategies	strategy	NOUN
ap-3039	141	6	mentioned	mention	VERB
ap-3039	141	7	above	above	ADV
ap-3039	141	8	(	(	PUNCT
ap-3039	141	9	greedy	greedy	ADJ
ap-3039	141	10	,	,	PUNCT
ap-3039	141	11	ble	ble	ADJ
ap-3039	141	12	,	,	PUNCT
ap-3039	141	13	the	the	DET
ap-3039	141	14	hungarian	hungarian	ADJ
ap-3039	141	15	method	method	NOUN
ap-3039	141	16	,	,	PUNCT
ap-3039	141	17	and	and	CCONJ
ap-3039	141	18	k	k	X
ap-3039	141	19	-	-	PUNCT
ap-3039	141	20	means	means	NOUN
ap-3039	141	21	clustering	clustering	NOUN
ap-3039	141	22	)	)	PUNCT
ap-3039	141	23	were	be	AUX
ap-3039	141	24	implemented	implement	VERB
ap-3039	141	25	in	in	ADP
ap-3039	141	26	a	a	DET
ap-3039	141	27	framework	framework	NOUN
ap-3039	141	28	for	for	ADP
ap-3039	141	29	search	search	NOUN
ap-3039	141	30	/	/	SYM
ap-3039	141	31	exploration	exploration	NOUN
ap-3039	141	32	in	in	ADP
ap-3039	141	33	a	a	DET
ap-3039	141	34	polygonal	polygonal	ADJ
ap-3039	141	35	domain	domain	NOUN
ap-3039	141	36	[	[	X
ap-3039	141	37	21	21	NUM
ap-3039	141	38	]	]	PUNCT
ap-3039	141	39	.	.	PUNCT
ap-3039	142	1	the	the	DET
ap-3039	142	2	framework	framework	NOUN
ap-3039	142	3	uses	use	VERB
ap-3039	142	4	ros	ros	PROPN
ap-3039	143	1	[	[	X
ap-3039	143	2	22	22	NUM
ap-3039	143	3	]	]	PUNCT
ap-3039	143	4	as	as	ADP
ap-3039	143	5	a	a	DET
ap-3039	143	6	communication	communication	NOUN
ap-3039	143	7	middleware	middleware	NOUN
ap-3039	143	8	.	.	PUNCT
ap-3039	144	1	sensor	sensor	NOUN
ap-3039	144	2	measurements	measurement	NOUN
ap-3039	144	3	are	be	AUX
ap-3039	144	4	represented	represent	VERB
ap-3039	144	5	by	by	ADP
ap-3039	144	6	polygons	polygon	NOUN
ap-3039	144	7	and	and	CCONJ
ap-3039	144	8	combined	combine	VERB
ap-3039	144	9	together	together	ADV
ap-3039	144	10	by	by	ADP
ap-3039	144	11	polygon	polygon	NOUN
ap-3039	144	12	operations	operation	NOUN
ap-3039	144	13	.	.	PUNCT
ap-3039	145	1	this	this	DET
ap-3039	145	2	way	way	NOUN
ap-3039	145	3	,	,	PUNCT
ap-3039	145	4	a	a	DET
ap-3039	145	5	polygonal	polygonal	ADJ
ap-3039	145	6	representation	representation	NOUN
ap-3039	145	7	of	of	ADP
ap-3039	145	8	the	the	DET
ap-3039	145	9	environment	environment	NOUN
ap-3039	145	10	is	be	AUX
ap-3039	145	11	built	build	VERB
ap-3039	145	12	.	.	PUNCT
ap-3039	146	1	the	the	DET
ap-3039	146	2	framework	framework	NOUN
ap-3039	146	3	therefore	therefore	ADV
ap-3039	146	4	enables	enable	VERB
ap-3039	146	5	search	search	NOUN
ap-3039	146	6	/	/	SYM
ap-3039	146	7	exploration	exploration	NOUN
ap-3039	146	8	to	to	PART
ap-3039	146	9	be	be	AUX
ap-3039	146	10	performed	perform	VERB
ap-3039	146	11	with	with	ADP
ap-3039	146	12	a	a	DET
ap-3039	146	13	larger	large	ADJ
ap-3039	146	14	number	number	NOUN
ap-3039	146	15	of	of	ADP
ap-3039	146	16	robots	robot	NOUN
ap-3039	146	17	,	,	PUNCT
ap-3039	146	18	in	in	ADP
ap-3039	146	19	larger	large	ADJ
ap-3039	146	20	experiments	experiment	NOUN
ap-3039	146	21	,	,	PUNCT
ap-3039	146	22	and	and	CCONJ
ap-3039	146	23	re	re	VERB
ap-3039	146	24	-	-	NOUN
ap-3039	146	25	planning	planning	NOUN
ap-3039	146	26	can	can	AUX
ap-3039	146	27	be	be	AUX
ap-3039	146	28	carried	carry	VERB
ap-3039	146	29	out	out	ADP
ap-3039	146	30	faster	fast	ADV
ap-3039	146	31	than	than	SCONJ
ap-3039	146	32	is	be	AUX
ap-3039	146	33	possible	possible	ADJ
ap-3039	146	34	in	in	ADP
ap-3039	146	35	a	a	DET
ap-3039	146	36	grid	grid	NOUN
ap-3039	146	37	-	-	PUNCT
ap-3039	146	38	based	base	VERB
ap-3039	146	39	approach	approach	NOUN
ap-3039	146	40	.	.	PUNCT
ap-3039	147	1	experiments	experiment	NOUN
ap-3039	147	2	to	to	PART
ap-3039	147	3	compare	compare	VERB
ap-3039	147	4	the	the	DET
ap-3039	147	5	strategies	strategy	NOUN
ap-3039	147	6	were	be	AUX
ap-3039	147	7	performed	perform	VERB
ap-3039	147	8	in	in	ADP
ap-3039	147	9	simulation	simulation	NOUN
ap-3039	147	10	,	,	PUNCT
ap-3039	147	11	using	use	VERB
ap-3039	147	12	maps	map	NOUN
ap-3039	147	13	with	with	ADP
ap-3039	147	14	various	various	ADJ
ap-3039	147	15	sizes	size	NOUN
ap-3039	147	16	and	and	CCONJ
ap-3039	147	17	structures	structure	NOUN
ap-3039	147	18	,	,	PUNCT
ap-3039	147	19	see	see	VERB
ap-3039	147	20	figure	figure	NOUN
ap-3039	147	21	2	2	NUM
ap-3039	147	22	.	.	PUNCT
ap-3039	148	1	the	the	DET
ap-3039	148	2	empty	empty	ADJ
ap-3039	148	3	map	map	NOUN
ap-3039	148	4	2(a	2(a	NOUN
ap-3039	148	5	)	)	PUNCT
ap-3039	148	6	was	be	AUX
ap-3039	148	7	created	create	VERB
ap-3039	148	8	to	to	PART
ap-3039	148	9	simulate	simulate	VERB
ap-3039	148	10	the	the	DET
ap-3039	148	11	trivial	trivial	ADJ
ap-3039	148	12	case	case	NOUN
ap-3039	148	13	of	of	ADP
ap-3039	148	14	a	a	DET
ap-3039	148	15	big	big	ADJ
ap-3039	148	16	room	room	NOUN
ap-3039	148	17	without	without	ADP
ap-3039	148	18	obstacles	obstacle	NOUN
ap-3039	148	19	.	.	PUNCT
ap-3039	149	1	the	the	DET
ap-3039	149	2	arena	arena	NOUN
ap-3039	149	3	map	map	NOUN
ap-3039	149	4	2(b	2(b	NUM
ap-3039	149	5	)	)	PUNCT
ap-3039	149	6	represents	represent	VERB
ap-3039	149	7	a	a	DET
ap-3039	149	8	slightly	slightly	ADV
ap-3039	149	9	structured	structured	ADJ
ap-3039	149	10	environment	environment	NOUN
ap-3039	149	11	with	with	ADP
ap-3039	149	12	large	large	ADJ
ap-3039	149	13	corridors	corridor	NOUN
ap-3039	149	14	and	and	CCONJ
ap-3039	149	15	rooms	room	NOUN
ap-3039	149	16	.	.	PUNCT
ap-3039	150	1	the	the	DET
ap-3039	150	2	jh	jh	PROPN
ap-3039	150	3	map	map	VERB
ap-3039	150	4	2(c	2(c	NUM
ap-3039	150	5	)	)	PUNCT
ap-3039	150	6	represents	represent	VERB
ap-3039	150	7	a	a	DET
ap-3039	150	8	real	real	ADJ
ap-3039	150	9	administrative	administrative	ADJ
ap-3039	150	10	building	building	NOUN
ap-3039	150	11	with	with	ADP
ap-3039	150	12	many	many	ADJ
ap-3039	150	13	separated	separated	ADJ
ap-3039	150	14	rooms	room	NOUN
ap-3039	150	15	.	.	PUNCT
ap-3039	151	1	the	the	DET
ap-3039	151	2	hospital	hospital	NOUN
ap-3039	151	3	map	map	NOUN
ap-3039	151	4	2(d	2(d	NUM
ap-3039	151	5	)	)	PUNCT
ap-3039	151	6	is	be	AUX
ap-3039	151	7	a	a	DET
ap-3039	151	8	part	part	NOUN
ap-3039	151	9	of	of	ADP
ap-3039	151	10	the	the	DET
ap-3039	151	11	hospital	hospital	NOUN
ap-3039	151	12	-	-	PUNCT
ap-3039	151	13	section	section	NOUN
ap-3039	151	14	map	map	NOUN
ap-3039	151	15	from	from	ADP
ap-3039	151	16	the	the	DET
ap-3039	151	17	stage	stage	NOUN
ap-3039	151	18	simulator	simulator	NOUN
ap-3039	151	19	representing	represent	VERB
ap-3039	151	20	another	another	DET
ap-3039	151	21	building	building	NOUN
ap-3039	151	22	.	.	PUNCT
ap-3039	152	1	all	all	DET
ap-3039	152	2	the	the	DET
ap-3039	152	3	simulations	simulation	NOUN
ap-3039	152	4	were	be	AUX
ap-3039	152	5	examined	examine	VERB
ap-3039	152	6	on	on	ADP
ap-3039	152	7	the	the	DET
ap-3039	152	8	same	same	ADJ
ap-3039	152	9	hardware	hardware	NOUN
ap-3039	152	10	with	with	ADP
ap-3039	152	11	a	a	DET
ap-3039	152	12	quad	quad	ADJ
ap-3039	152	13	-	-	PUNCT
ap-3039	152	14	core	core	NOUN
ap-3039	152	15	processor	processor	NOUN
ap-3039	152	16	on	on	ADP
ap-3039	152	17	3.30	3.30	NUM
ap-3039	152	18	ghz	ghz	NOUN
ap-3039	152	19	running	run	VERB
ap-3039	152	20	x86_64	x86_64	NOUN
ap-3039	152	21	gnu	gnu	PROPN
ap-3039	152	22	/	/	SYM
ap-3039	152	23	linux	linux	PROPN
ap-3039	152	24	kubuntu	kubuntu	NOUN
ap-3039	152	25	3.0.0	3.0.0	NUM
ap-3039	152	26	-	-	SYM
ap-3039	152	27	20	20	NUM
ap-3039	152	28	,	,	PUNCT
ap-3039	152	29	ros	ros	PROPN
ap-3039	152	30	electric	electric	PROPN
ap-3039	152	31	with	with	ADP
ap-3039	152	32	the	the	DET
ap-3039	152	33	stage	stage	NOUN
ap-3039	152	34	simulator	simulator	NOUN
ap-3039	152	35	and	and	CCONJ
ap-3039	152	36	gcc	gcc	NOUN
ap-3039	152	37	4.6.1	4.6.1	PROPN
ap-3039	152	38	.	.	PUNCT
ap-3039	153	1	the	the	DET
ap-3039	153	2	considered	consider	VERB
ap-3039	153	3	numbers	number	NOUN
ap-3039	153	4	of	of	ADP
ap-3039	153	5	robots	robot	NOUN
ap-3039	153	6	are	be	AUX
ap-3039	153	7	m	m	VERB
ap-3039	153	8	=	=	ADJ
ap-3039	153	9	{	{	PUNCT
ap-3039	153	10	4	4	NUM
ap-3039	153	11	,	,	PUNCT
ap-3039	153	12	6	6	NUM
ap-3039	153	13	,	,	PUNCT
ap-3039	153	14	8	8	NUM
ap-3039	153	15	}	}	PUNCT
ap-3039	153	16	,	,	PUNCT
ap-3039	153	17	while	while	SCONJ
ap-3039	153	18	the	the	DET
ap-3039	153	19	sensor	sensor	NOUN
ap-3039	153	20	range	range	NOUN
ap-3039	153	21	is	be	AUX
ap-3039	153	22	set	set	VERB
ap-3039	153	23	to	to	ADP
ap-3039	153	24	ρ	ρ	PROPN
ap-3039	153	25	=	=	SYM
ap-3039	153	26	5	5	NUM
ap-3039	153	27	meters	meter	NOUN
ap-3039	153	28	with	with	ADP
ap-3039	153	29	a	a	DET
ap-3039	153	30	270	270	NUM
ap-3039	153	31	°	°	PROPN
ap-3039	153	32	field	field	NOUN
ap-3039	153	33	of	of	ADP
ap-3039	153	34	view	view	NOUN
ap-3039	153	35	.	.	PUNCT
ap-3039	154	1	the	the	DET
ap-3039	154	2	robots	robot	NOUN
ap-3039	154	3	are	be	AUX
ap-3039	154	4	controlled	control	VERB
ap-3039	154	5	using	use	VERB
ap-3039	154	6	our	our	PRON
ap-3039	154	7	implementation	implementation	NOUN
ap-3039	154	8	of	of	ADP
ap-3039	154	9	the	the	DET
ap-3039	154	10	snd	snd	PROPN
ap-3039	154	11	algorithm	algorithm	NOUN
ap-3039	155	1	[	[	X
ap-3039	155	2	23	23	NUM
ap-3039	155	3	]	]	PUNCT
ap-3039	155	4	as	as	ADP
ap-3039	155	5	a	a	DET
ap-3039	155	6	ros	ros	PROPN
ap-3039	155	7	node	node	NOUN
ap-3039	155	8	,	,	PUNCT
ap-3039	155	9	and	and	CCONJ
ap-3039	155	10	the	the	DET
ap-3039	155	11	planning	planning	NOUN
ap-3039	155	12	period	period	NOUN
ap-3039	155	13	was	be	AUX
ap-3039	155	14	set	set	VERB
ap-3039	155	15	to	to	ADP
ap-3039	155	16	1	1	NUM
ap-3039	155	17	second	second	ADJ
ap-3039	155	18	.	.	PUNCT
ap-3039	156	1	although	although	SCONJ
ap-3039	156	2	all	all	DET
ap-3039	156	3	the	the	DET
ap-3039	156	4	strategies	strategy	NOUN
ap-3039	156	5	are	be	AUX
ap-3039	156	6	deterministic	deterministic	ADJ
ap-3039	156	7	,	,	PUNCT
ap-3039	156	8	other	other	ADJ
ap-3039	156	9	parts	part	NOUN
ap-3039	156	10	of	of	ADP
ap-3039	156	11	the	the	DET
ap-3039	156	12	exploration	exploration	NOUN
ap-3039	156	13	process	process	NOUN
ap-3039	156	14	(	(	PUNCT
ap-3039	156	15	especially	especially	ADV
ap-3039	156	16	robot	robot	NOUN
ap-3039	156	17	control	control	NOUN
ap-3039	156	18	)	)	PUNCT
ap-3039	156	19	and	and	CCONJ
ap-3039	156	20	thus	thus	ADV
ap-3039	156	21	the	the	DET
ap-3039	156	22	whole	whole	ADJ
ap-3039	156	23	process	process	NOUN
ap-3039	156	24	are	be	AUX
ap-3039	156	25	not	not	PART
ap-3039	156	26	deterministic	deterministic	ADJ
ap-3039	156	27	.	.	PUNCT
ap-3039	157	1	each	each	DET
ap-3039	157	2	experimental	experimental	ADJ
ap-3039	157	3	setup	setup	NOUN
ap-3039	157	4	determined	determine	VERB
ap-3039	157	5	by	by	ADP
ap-3039	157	6	a	a	DET
ap-3039	157	7	tuple	tuple	NOUN
ap-3039	157	8	〈	〈	NOUN
ap-3039	157	9	map	map	NOUN
ap-3039	157	10	,	,	PUNCT
ap-3039	157	11	number	number	NOUN
ap-3039	157	12	of	of	ADP
ap-3039	157	13	robots	robot	NOUN
ap-3039	157	14	,	,	PUNCT
ap-3039	157	15	strategy	strategy	NOUN
ap-3039	157	16	〉	〉	PROPN
ap-3039	157	17	was	be	AUX
ap-3039	157	18	therefore	therefore	ADV
ap-3039	157	19	repeated	repeat	VERB
ap-3039	157	20	several	several	ADJ
ap-3039	157	21	times	time	NOUN
ap-3039	157	22	to	to	PART
ap-3039	157	23	obtain	obtain	VERB
ap-3039	157	24	statistical	statistical	ADJ
ap-3039	157	25	characteristics	characteristic	NOUN
ap-3039	157	26	of	of	ADP
ap-3039	157	27	the	the	DET
ap-3039	157	28	exploration	exploration	NOUN
ap-3039	157	29	.	.	PUNCT
ap-3039	158	1	the	the	DET
ap-3039	158	2	number	number	NOUN
ap-3039	158	3	of	of	ADP
ap-3039	158	4	runs	run	NOUN
ap-3039	158	5	differs	differ	VERB
ap-3039	158	6	for	for	ADP
ap-3039	158	7	different	different	ADJ
ap-3039	158	8	maps	map	NOUN
ap-3039	158	9	,	,	PUNCT
ap-3039	158	10	as	as	SCONJ
ap-3039	158	11	does	do	VERB
ap-3039	158	12	the	the	DET
ap-3039	158	13	time	time	NOUN
ap-3039	158	14	demand	demand	NOUN
ap-3039	158	15	for	for	ADP
ap-3039	158	16	performing	perform	VERB
ap-3039	158	17	a	a	DET
ap-3039	158	18	certain	certain	ADJ
ap-3039	158	19	number	number	NOUN
ap-3039	158	20	of	of	ADP
ap-3039	158	21	experiments	experiment	NOUN
ap-3039	158	22	.	.	PUNCT
ap-3039	159	1	the	the	DET
ap-3039	159	2	number	number	NOUN
ap-3039	159	3	of	of	ADP
ap-3039	159	4	repetitions	repetition	NOUN
ap-3039	159	5	for	for	ADP
ap-3039	159	6	empty	empty	ADJ
ap-3039	159	7	,	,	PUNCT
ap-3039	159	8	which	which	PRON
ap-3039	159	9	is	be	AUX
ap-3039	159	10	the	the	DET
ap-3039	159	11	easiest	easy	ADJ
ap-3039	159	12	map	map	NOUN
ap-3039	159	13	,	,	PUNCT
ap-3039	159	14	was	be	AUX
ap-3039	159	15	30	30	NUM
ap-3039	159	16	.	.	PUNCT
ap-3039	160	1	for	for	ADP
ap-3039	160	2	arena	arena	NOUN
ap-3039	160	3	there	there	PRON
ap-3039	160	4	were	be	VERB
ap-3039	160	5	22	22	NUM
ap-3039	160	6	runs	run	NOUN
ap-3039	160	7	,	,	PUNCT
ap-3039	160	8	while	while	SCONJ
ap-3039	160	9	17	17	NUM
ap-3039	160	10	runs	run	NOUN
ap-3039	160	11	were	be	AUX
ap-3039	160	12	performed	perform	VERB
ap-3039	160	13	for	for	ADP
ap-3039	160	14	each	each	DET
ap-3039	160	15	setup	setup	NOUN
ap-3039	160	16	for	for	ADP
ap-3039	160	17	jh	jh	PROPN
ap-3039	160	18	and	and	CCONJ
ap-3039	160	19	10	10	NUM
ap-3039	160	20	for	for	ADP
ap-3039	160	21	hospital	hospital	NOUN
ap-3039	160	22	.	.	PUNCT
ap-3039	161	1	as	as	SCONJ
ap-3039	161	2	the	the	DET
ap-3039	161	3	computations	computation	NOUN
ap-3039	161	4	are	be	AUX
ap-3039	161	5	not	not	PART
ap-3039	161	6	time	time	NOUN
ap-3039	161	7	-	-	PUNCT
ap-3039	161	8	consuming	consume	VERB
ap-3039	161	9	,	,	PUNCT
ap-3039	161	10	the	the	DET
ap-3039	161	11	experiments	experiment	NOUN
ap-3039	161	12	were	be	AUX
ap-3039	161	13	speeded	speed	VERB
ap-3039	161	14	up	up	ADV
ap-3039	161	15	3	3	NUM
ap-3039	161	16	times	time	NOUN
ap-3039	161	17	in	in	ADP
ap-3039	161	18	the	the	DET
ap-3039	161	19	stage	stage	NOUN
ap-3039	161	20	configuration	configuration	NOUN
ap-3039	161	21	file	file	NOUN
ap-3039	161	22	.	.	PUNCT
ap-3039	162	1	this	this	PRON
ap-3039	162	2	has	have	VERB
ap-3039	162	3	the	the	DET
ap-3039	162	4	same	same	ADJ
ap-3039	162	5	effect	effect	NOUN
ap-3039	162	6	as	as	ADP
ap-3039	162	7	when	when	SCONJ
ap-3039	162	8	the	the	DET
ap-3039	162	9	planning	planning	NOUN
ap-3039	162	10	period	period	NOUN
ap-3039	162	11	is	be	AUX
ap-3039	162	12	set	set	VERB
ap-3039	162	13	to	to	ADP
ap-3039	162	14	3	3	NUM
ap-3039	162	15	seconds	second	NOUN
ap-3039	162	16	and	and	CCONJ
ap-3039	162	17	the	the	DET
ap-3039	162	18	simulation	simulation	NOUN
ap-3039	162	19	speed	speed	NOUN
ap-3039	162	20	is	be	AUX
ap-3039	162	21	normal	normal	ADJ
ap-3039	162	22	.	.	PUNCT
ap-3039	163	1	the	the	DET
ap-3039	163	2	benefit	benefit	NOUN
ap-3039	163	3	is	be	AUX
ap-3039	163	4	that	that	SCONJ
ap-3039	163	5	we	we	PRON
ap-3039	163	6	can	can	AUX
ap-3039	163	7	perform	perform	VERB
ap-3039	163	8	the	the	DET
ap-3039	163	9	experiments	experiment	NOUN
ap-3039	163	10	faster	fast	ADV
ap-3039	163	11	.	.	PUNCT
ap-3039	164	1	this	this	PRON
ap-3039	164	2	is	be	AUX
ap-3039	164	3	crucial	crucial	ADJ
ap-3039	164	4	,	,	PUNCT
ap-3039	164	5	as	as	SCONJ
ap-3039	164	6	we	we	PRON
ap-3039	164	7	performed	perform	VERB
ap-3039	164	8	about	about	ADV
ap-3039	164	9	700	700	NUM
ap-3039	164	10	experiments	experiment	NOUN
ap-3039	164	11	,	,	PUNCT
ap-3039	164	12	each	each	PRON
ap-3039	164	13	taking	take	VERB
ap-3039	164	14	5	5	NUM
ap-3039	164	15	to	to	PART
ap-3039	164	16	15	15	NUM
ap-3039	164	17	minutes	minute	NOUN
ap-3039	164	18	.	.	PUNCT
ap-3039	165	1	a	a	DET
ap-3039	165	2	statistical	statistical	ADJ
ap-3039	165	3	evaluation	evaluation	NOUN
ap-3039	165	4	of	of	ADP
ap-3039	165	5	the	the	DET
ap-3039	165	6	strategies	strategy	NOUN
ap-3039	165	7	is	be	AUX
ap-3039	165	8	shown	show	VERB
ap-3039	165	9	in	in	ADP
ap-3039	165	10	figs	fig	NOUN
ap-3039	165	11	.	.	PUNCT
ap-3039	166	1	3–8	3–8	X
ap-3039	166	2	.	.	PUNCT
ap-3039	167	1	the	the	DET
ap-3039	167	2	first	first	ADJ
ap-3039	167	3	two	two	NUM
ap-3039	167	4	figures	figure	NOUN
ap-3039	167	5	depict	depict	VERB
ap-3039	167	6	the	the	DET
ap-3039	167	7	progress	progress	NOUN
ap-3039	167	8	of	of	ADP
ap-3039	167	9	a	a	DET
ap-3039	167	10	newly	newly	ADV
ap-3039	167	11	explored	explore	VERB
ap-3039	167	12	area	area	NOUN
ap-3039	167	13	averaged	average	VERB
ap-3039	167	14	for	for	ADP
ap-3039	167	15	each	each	DET
ap-3039	167	16	map	map	NOUN
ap-3039	167	17	and	and	CCONJ
ap-3039	167	18	strategy	strategy	NOUN
ap-3039	167	19	over	over	ADP
ap-3039	167	20	all	all	DET
ap-3039	167	21	runs	run	NOUN
ap-3039	167	22	,	,	PUNCT
ap-3039	167	23	while	while	SCONJ
ap-3039	167	24	figs	fig	NOUN
ap-3039	167	25	.	.	PUNCT
ap-3039	167	26	7	7	NUM
ap-3039	167	27	and	and	CCONJ
ap-3039	167	28	8	8	NUM
ap-3039	167	29	display	display	NOUN
ap-3039	167	30	fivenumber	fivenumber	NOUN
ap-3039	167	31	summaries	summary	NOUN
ap-3039	167	32	of	of	ADP
ap-3039	167	33	the	the	DET
ap-3039	167	34	expected	expect	VERB
ap-3039	167	35	time	time	NOUN
ap-3039	167	36	for	for	ADP
ap-3039	167	37	finding	find	VERB
ap-3039	167	38	object	object	NOUN
ap-3039	167	39	—	—	PUNCT
ap-3039	167	40	tf	tf	INTJ
ap-3039	167	41	—	—	PUNCT
ap-3039	167	42	as	as	SCONJ
ap-3039	167	43	defined	define	VERB
ap-3039	167	44	in	in	ADP
ap-3039	167	45	(	(	PUNCT
ap-3039	167	46	2	2	NUM
ap-3039	167	47	)	)	PUNCT
ap-3039	167	48	.	.	PUNCT
ap-3039	168	1	ar	ar	PROPN
ap-3039	168	2	t	t	PROPN
ap-3039	168	3	is	be	AUX
ap-3039	168	4	computed	compute	VERB
ap-3039	168	5	as	as	ADP
ap-3039	168	6	the	the	DET
ap-3039	168	7	difference	difference	NOUN
ap-3039	168	8	of	of	ADP
ap-3039	168	9	the	the	DET
ap-3039	168	10	volumes	volume	NOUN
ap-3039	168	11	of	of	ADP
ap-3039	168	12	the	the	DET
ap-3039	168	13	already	already	ADV
ap-3039	168	14	explored	explore	VERB
ap-3039	168	15	areas	area	NOUN
ap-3039	168	16	at	at	ADP
ap-3039	168	17	times	time	NOUN
ap-3039	168	18	t	t	PROPN
ap-3039	168	19	and	and	CCONJ
ap-3039	168	20	t−	t−	PROPN
ap-3039	168	21	1	1	NUM
ap-3039	168	22	,	,	PUNCT
ap-3039	168	23	while	while	SCONJ
ap-3039	168	24	atotal	atotal	ADJ
ap-3039	168	25	is	be	AUX
ap-3039	168	26	the	the	DET
ap-3039	168	27	volume	volume	NOUN
ap-3039	168	28	of	of	ADP
ap-3039	168	29	the	the	DET
ap-3039	168	30	explored	explore	VERB
ap-3039	168	31	area	area	NOUN
ap-3039	168	32	in	in	ADP
ap-3039	168	33	the	the	DET
ap-3039	168	34	final	final	ADJ
ap-3039	168	35	map	map	NOUN
ap-3039	168	36	.	.	PUNCT
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ap-3039	169	2	the	the	DET
ap-3039	169	3	empty	empty	ADJ
ap-3039	169	4	environment	environment	NOUN
ap-3039	169	5	and	and	CCONJ
ap-3039	169	6	4	4	NUM
ap-3039	169	7	to	to	PART
ap-3039	169	8	6	6	NUM
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ap-3039	169	10	,	,	PUNCT
ap-3039	169	11	all	all	DET
ap-3039	169	12	165	165	NUM
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ap-3039	169	14	kulich	kulich	NOUN
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ap-3039	169	18	,	,	PUNCT
ap-3039	169	19	l.	l.	PROPN
ap-3039	169	20	přeučil	přeučil	PROPN
ap-3039	169	21	acta	acta	PROPN
ap-3039	169	22	polytechnica	polytechnica	PROPN
ap-3039	169	23	0	0	NUM
ap-3039	169	24	10	10	NUM
ap-3039	169	25	20	20	NUM
ap-3039	169	26	30	30	NUM
ap-3039	169	27	40	40	NUM
ap-3039	169	28	50	50	NUM
ap-3039	169	29	60	60	NUM
ap-3039	169	30	70	70	NUM
ap-3039	169	31	80	80	NUM
ap-3039	169	32	90	90	NUM
ap-3039	169	33	100	100	NUM
ap-3039	169	34	0	0	NUM
ap-3039	170	1	200	200	NUM
ap-3039	170	2	400	400	NUM
ap-3039	170	3	600	600	NUM
ap-3039	170	4	800	800	NUM
ap-3039	170	5	1000	1000	NUM
ap-3039	170	6	1200	1200	NUM
ap-3039	170	7	m	m	NOUN
ap-3039	170	8	ap	ap	NOUN
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ap-3039	172	2	%	%	X
ap-3039	172	3	]	]	X
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ap-3039	172	6	ble	ble	ADJ
ap-3039	172	7	hungarian	hungarian	ADJ
ap-3039	172	8	k	k	NOUN
ap-3039	172	9	-	-	PUNCT
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ap-3039	172	12	10	10	NUM
ap-3039	172	13	20	20	NUM
ap-3039	172	14	30	30	NUM
ap-3039	172	15	40	40	NUM
ap-3039	172	16	50	50	NUM
ap-3039	172	17	60	60	NUM
ap-3039	172	18	70	70	NUM
ap-3039	172	19	80	80	NUM
ap-3039	172	20	90	90	NUM
ap-3039	172	21	100	100	NUM
ap-3039	172	22	0	0	NUM
ap-3039	172	23	100	100	NUM
ap-3039	172	24	200	200	NUM
ap-3039	172	25	300	300	NUM
ap-3039	172	26	400	400	NUM
ap-3039	172	27	500	500	NUM
ap-3039	172	28	600	600	NUM
ap-3039	172	29	700	700	NUM
ap-3039	172	30	800	800	NUM
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ap-3039	172	32	1000	1000	NUM
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ap-3039	174	1	[	[	X
ap-3039	174	2	%	%	X
ap-3039	174	3	]	]	X
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ap-3039	174	6	ble	ble	ADJ
ap-3039	174	7	hungarian	hungarian	ADJ
ap-3039	174	8	k	k	NOUN
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ap-3039	174	10	means	means	NOUN
ap-3039	174	11	0	0	NUM
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ap-3039	174	13	20	20	NUM
ap-3039	174	14	30	30	NUM
ap-3039	174	15	40	40	NUM
ap-3039	174	16	50	50	NUM
ap-3039	174	17	60	60	NUM
ap-3039	174	18	70	70	NUM
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ap-3039	174	25	300	300	NUM
ap-3039	174	26	400	400	NUM
ap-3039	174	27	500	500	NUM
ap-3039	174	28	600	600	NUM
ap-3039	174	29	700	700	NUM
ap-3039	174	30	800	800	NUM
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ap-3039	176	1	[	[	X
ap-3039	176	2	%	%	X
ap-3039	176	3	]	]	X
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ap-3039	176	6	ble	ble	ADJ
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ap-3039	176	8	k	k	PROPN
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ap-3039	176	12	4	4	NUM
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ap-3039	176	20	4	4	NUM
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ap-3039	176	34	8	8	NUM
ap-3039	176	35	robots	robot	NOUN
ap-3039	176	36	(	(	PUNCT
ap-3039	176	37	right	right	ADJ
ap-3039	176	38	)	)	PUNCT
ap-3039	176	39	.	.	PUNCT
ap-3039	177	1	0	0	NUM
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ap-3039	178	3	30	30	NUM
ap-3039	178	4	40	40	NUM
ap-3039	178	5	50	50	NUM
ap-3039	178	6	60	60	NUM
ap-3039	178	7	70	70	NUM
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ap-3039	178	10	100	100	NUM
ap-3039	178	11	0	0	NUM
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ap-3039	178	13	200	200	NUM
ap-3039	178	14	300	300	NUM
ap-3039	178	15	400	400	NUM
ap-3039	178	16	500	500	NUM
ap-3039	178	17	600	600	NUM
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ap-3039	180	2	%	%	X
ap-3039	180	3	]	]	X
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ap-3039	180	8	k	k	NOUN
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ap-3039	180	13	20	20	NUM
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ap-3039	180	15	40	40	NUM
ap-3039	180	16	50	50	NUM
ap-3039	180	17	60	60	NUM
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ap-3039	180	20	90	90	NUM
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ap-3039	180	27	250	250	NUM
ap-3039	180	28	300	300	NUM
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ap-3039	180	30	400	400	NUM
ap-3039	180	31	450	450	NUM
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ap-3039	182	1	[	[	X
ap-3039	182	2	%	%	X
ap-3039	182	3	]	]	X
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ap-3039	182	6	ble	ble	ADJ
ap-3039	182	7	hungarian	hungarian	ADJ
ap-3039	182	8	k	k	NOUN
ap-3039	182	9	-	-	PUNCT
ap-3039	182	10	means	means	NOUN
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ap-3039	182	12	10	10	NUM
ap-3039	182	13	20	20	NUM
ap-3039	182	14	30	30	NUM
ap-3039	182	15	40	40	NUM
ap-3039	182	16	50	50	NUM
ap-3039	182	17	60	60	NUM
ap-3039	182	18	70	70	NUM
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ap-3039	182	22	0	0	NUM
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ap-3039	182	25	150	150	NUM
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ap-3039	182	27	250	250	NUM
ap-3039	182	28	300	300	NUM
ap-3039	182	29	350	350	NUM
ap-3039	182	30	400	400	NUM
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ap-3039	184	1	[	[	X
ap-3039	184	2	%	%	X
ap-3039	184	3	]	]	X
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ap-3039	184	6	ble	ble	ADJ
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ap-3039	184	8	k	k	PROPN
ap-3039	184	9	-	-	PUNCT
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ap-3039	184	12	5	5	NUM
ap-3039	184	13	.	.	X
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ap-3039	185	5	:	:	PUNCT
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ap-3039	185	7	4	4	NUM
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ap-3039	185	21	8	8	NUM
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ap-3039	185	23	(	(	PUNCT
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ap-3039	185	25	)	)	PUNCT
ap-3039	185	26	.	.	PUNCT
ap-3039	186	1	0	0	NUM
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ap-3039	187	3	30	30	NUM
ap-3039	187	4	40	40	NUM
ap-3039	187	5	50	50	NUM
ap-3039	187	6	60	60	NUM
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ap-3039	187	8	80	80	NUM
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ap-3039	187	12	100	100	NUM
ap-3039	187	13	200	200	NUM
ap-3039	187	14	300	300	NUM
ap-3039	187	15	400	400	NUM
ap-3039	187	16	500	500	NUM
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ap-3039	189	3	]	]	X
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ap-3039	189	6	ble	ble	ADJ
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ap-3039	189	13	20	20	NUM
ap-3039	189	14	30	30	NUM
ap-3039	189	15	40	40	NUM
ap-3039	189	16	50	50	NUM
ap-3039	189	17	60	60	NUM
ap-3039	189	18	70	70	NUM
ap-3039	189	19	80	80	NUM
ap-3039	189	20	90	90	NUM
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ap-3039	189	24	200	200	NUM
ap-3039	189	25	300	300	NUM
ap-3039	189	26	400	400	NUM
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ap-3039	189	28	600	600	NUM
ap-3039	189	29	700	700	NUM
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ap-3039	191	1	[	[	X
ap-3039	191	2	%	%	X
ap-3039	191	3	]	]	X
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ap-3039	191	6	ble	ble	ADJ
ap-3039	191	7	hungarian	hungarian	ADJ
ap-3039	191	8	k	k	NOUN
ap-3039	191	9	-	-	PUNCT
ap-3039	191	10	means	means	NOUN
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ap-3039	191	14	30	30	NUM
ap-3039	191	15	40	40	NUM
ap-3039	191	16	50	50	NUM
ap-3039	191	17	60	60	NUM
ap-3039	191	18	70	70	NUM
ap-3039	191	19	80	80	NUM
ap-3039	191	20	90	90	NUM
ap-3039	191	21	100	100	NUM
ap-3039	191	22	0	0	NUM
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ap-3039	191	25	300	300	NUM
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ap-3039	191	27	500	500	NUM
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ap-3039	193	1	[	[	X
ap-3039	193	2	%	%	X
ap-3039	193	3	]	]	X
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ap-3039	193	18	:	:	PUNCT
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ap-3039	193	20	4	4	NUM
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ap-3039	193	22	(	(	PUNCT
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ap-3039	193	36	(	(	PUNCT
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ap-3039	193	38	)	)	PUNCT
ap-3039	193	39	.	.	PUNCT
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ap-3039	194	2	methods	method	NOUN
ap-3039	194	3	,	,	PUNCT
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ap-3039	194	5	k	k	X
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ap-3039	194	8	,	,	PUNCT
ap-3039	194	9	report	report	VERB
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ap-3039	194	11	results	result	NOUN
ap-3039	194	12	with	with	ADP
ap-3039	194	13	a	a	DET
ap-3039	194	14	difference	difference	NOUN
ap-3039	194	15	of	of	ADP
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ap-3039	194	18	for	for	ADP
ap-3039	194	19	4	4	NUM
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ap-3039	194	22	1	1	NUM
ap-3039	194	23	%	%	NOUN
ap-3039	194	24	for	for	ADP
ap-3039	194	25	6	6	NUM
ap-3039	194	26	robots	robot	NOUN
ap-3039	194	27	.	.	PUNCT
ap-3039	195	1	the	the	DET
ap-3039	195	2	worse	bad	ADJ
ap-3039	195	3	behavior	behavior	NOUN
ap-3039	195	4	of	of	ADP
ap-3039	195	5	the	the	DET
ap-3039	195	6	k	k	NOUN
ap-3039	195	7	-	-	PUNCT
ap-3039	195	8	means	means	NOUN
ap-3039	195	9	strategy	strategy	NOUN
ap-3039	195	10	(	(	PUNCT
ap-3039	195	11	6	6	NUM
ap-3039	195	12	%	%	NOUN
ap-3039	195	13	worse	bad	ADJ
ap-3039	195	14	than	than	ADP
ap-3039	195	15	the	the	DET
ap-3039	195	16	hungarian	hungarian	ADJ
ap-3039	195	17	method	method	NOUN
ap-3039	195	18	for	for	ADP
ap-3039	195	19	4	4	NUM
ap-3039	195	20	robots	robot	NOUN
ap-3039	195	21	and	and	CCONJ
ap-3039	195	22	8.5	8.5	NUM
ap-3039	195	23	%	%	NOUN
ap-3039	195	24	worse	bad	ADJ
ap-3039	195	25	for	for	ADP
ap-3039	195	26	6	6	NUM
ap-3039	195	27	robots	robot	NOUN
ap-3039	195	28	)	)	PUNCT
ap-3039	195	29	is	be	AUX
ap-3039	195	30	caused	cause	VERB
ap-3039	195	31	by	by	ADP
ap-3039	195	32	a	a	DET
ap-3039	195	33	non	non	ADJ
ap-3039	195	34	appropriate	appropriate	ADJ
ap-3039	195	35	distribution	distribution	NOUN
ap-3039	195	36	of	of	ADP
ap-3039	195	37	robots	robot	NOUN
ap-3039	195	38	in	in	ADP
ap-3039	195	39	the	the	DET
ap-3039	195	40	first	first	ADJ
ap-3039	195	41	stages	stage	NOUN
ap-3039	195	42	of	of	ADP
ap-3039	195	43	the	the	DET
ap-3039	195	44	search	search	NOUN
ap-3039	195	45	,	,	PUNCT
ap-3039	195	46	and	and	CCONJ
ap-3039	195	47	the	the	DET
ap-3039	195	48	need	need	NOUN
ap-3039	195	49	to	to	PART
ap-3039	195	50	redistribute	redistribute	VERB
ap-3039	195	51	them	they	PRON
ap-3039	195	52	later	later	ADV
ap-3039	195	53	.	.	PUNCT
ap-3039	196	1	the	the	DET
ap-3039	196	2	situation	situation	NOUN
ap-3039	196	3	is	be	AUX
ap-3039	196	4	more	more	ADV
ap-3039	196	5	balanced	balanced	ADJ
ap-3039	196	6	for	for	ADP
ap-3039	196	7	8	8	NUM
ap-3039	196	8	robots	robot	NOUN
ap-3039	196	9	,	,	PUNCT
ap-3039	196	10	but	but	CCONJ
ap-3039	196	11	the	the	DET
ap-3039	196	12	greedy	greedy	ADJ
ap-3039	196	13	approach	approach	NOUN
ap-3039	196	14	and	and	CCONJ
ap-3039	196	15	the	the	DET
ap-3039	196	16	hungarian	hungarian	ADJ
ap-3039	196	17	approach	approach	NOUN
ap-3039	196	18	behave	behave	VERB
ap-3039	196	19	slightly	slightly	ADV
ap-3039	196	20	better	well	ADJ
ap-3039	196	21	.	.	PUNCT
ap-3039	197	1	the	the	DET
ap-3039	197	2	performance	performance	NOUN
ap-3039	197	3	of	of	ADP
ap-3039	197	4	the	the	DET
ap-3039	197	5	methods	method	NOUN
ap-3039	197	6	in	in	ADP
ap-3039	197	7	the	the	DET
ap-3039	197	8	other	other	ADJ
ap-3039	197	9	maps	map	NOUN
ap-3039	197	10	shows	show	VERB
ap-3039	197	11	similar	similar	ADJ
ap-3039	197	12	characteristics	characteristic	NOUN
ap-3039	197	13	.	.	PUNCT
ap-3039	198	1	greedy	greedy	ADJ
ap-3039	198	2	performs	perform	VERB
ap-3039	198	3	worst	bad	ADJ
ap-3039	198	4	in	in	ADP
ap-3039	198	5	almost	almost	ADV
ap-3039	198	6	all	all	PRON
ap-3039	198	7	cases	case	NOUN
ap-3039	198	8	,	,	PUNCT
ap-3039	198	9	followed	follow	VERB
ap-3039	198	10	by	by	ADP
ap-3039	198	11	ble	ble	PROPN
ap-3039	198	12	.	.	PUNCT
ap-3039	199	1	in	in	ADP
ap-3039	199	2	general	general	ADJ
ap-3039	199	3	,	,	PUNCT
ap-3039	199	4	the	the	DET
ap-3039	199	5	best	good	ADJ
ap-3039	199	6	results	result	NOUN
ap-3039	199	7	were	be	AUX
ap-3039	199	8	achieved	achieve	VERB
ap-3039	199	9	by	by	ADP
ap-3039	199	10	the	the	DET
ap-3039	199	11	hungarian	hungarian	ADJ
ap-3039	199	12	method	method	NOUN
ap-3039	199	13	,	,	PUNCT
ap-3039	199	14	followed	follow	VERB
ap-3039	199	15	by	by	ADP
ap-3039	199	16	k	k	NOUN
ap-3039	199	17	-	-	PUNCT
ap-3039	199	18	means	means	NOUN
ap-3039	199	19	in	in	ADP
ap-3039	199	20	arena	arena	NOUN
ap-3039	199	21	and	and	CCONJ
ap-3039	199	22	hospital	hospital	NOUN
ap-3039	199	23	.	.	PUNCT
ap-3039	200	1	k	k	X
ap-3039	200	2	-	-	PUNCT
ap-3039	200	3	means	mean	VERB
ap-3039	200	4	even	even	ADV
ap-3039	200	5	outperforms	outperform	VERB
ap-3039	200	6	the	the	DET
ap-3039	200	7	hungarian	hungarian	ADJ
ap-3039	200	8	method	method	NOUN
ap-3039	200	9	in	in	ADP
ap-3039	200	10	some	some	DET
ap-3039	200	11	cases	case	NOUN
ap-3039	200	12	.	.	PUNCT
ap-3039	201	1	note	note	VERB
ap-3039	201	2	the	the	DET
ap-3039	201	3	poor	poor	ADJ
ap-3039	201	4	results	result	NOUN
ap-3039	201	5	of	of	ADP
ap-3039	201	6	k	k	NOUN
ap-3039	201	7	-	-	PUNCT
ap-3039	201	8	means	means	PROPN
ap-3039	201	9	for	for	ADP
ap-3039	201	10	jh	jh	PROPN
ap-3039	201	11	.	.	PUNCT
ap-3039	202	1	this	this	DET
ap-3039	202	2	environment	environment	NOUN
ap-3039	202	3	contains	contain	VERB
ap-3039	202	4	many	many	ADJ
ap-3039	202	5	small	small	ADJ
ap-3039	202	6	rooms	room	NOUN
ap-3039	202	7	,	,	PUNCT
ap-3039	202	8	and	and	CCONJ
ap-3039	202	9	its	its	PRON
ap-3039	202	10	partitioning	partition	VERB
ap-3039	202	11	forces	force	NOUN
ap-3039	202	12	robots	robot	NOUN
ap-3039	202	13	to	to	PART
ap-3039	202	14	explore	explore	VERB
ap-3039	202	15	small	small	ADJ
ap-3039	202	16	regions	region	NOUN
ap-3039	202	17	partially	partially	ADV
ap-3039	202	18	spread	spread	VERB
ap-3039	202	19	over	over	ADP
ap-3039	202	20	two	two	NUM
ap-3039	202	21	or	or	CCONJ
ap-3039	202	22	three	three	NUM
ap-3039	202	23	rooms	room	NOUN
ap-3039	202	24	.	.	PUNCT
ap-3039	203	1	this	this	PRON
ap-3039	203	2	slows	slow	VERB
ap-3039	203	3	down	down	ADP
ap-3039	203	4	the	the	DET
ap-3039	203	5	search	search	NOUN
ap-3039	203	6	as	as	SCONJ
ap-3039	203	7	more	more	ADJ
ap-3039	203	8	than	than	ADP
ap-3039	203	9	one	one	NUM
ap-3039	203	10	robot	robot	NOUN
ap-3039	203	11	visits	visit	VERB
ap-3039	203	12	the	the	DET
ap-3039	203	13	same	same	ADJ
ap-3039	203	14	room	room	NOUN
ap-3039	203	15	,	,	PUNCT
ap-3039	203	16	in	in	ADP
ap-3039	203	17	many	many	ADJ
ap-3039	203	18	cases	case	NOUN
ap-3039	203	19	.	.	PUNCT
ap-3039	204	1	6	6	X
ap-3039	204	2	.	.	X
ap-3039	204	3	conclusion	conclusion	NOUN
ap-3039	204	4	although	although	SCONJ
ap-3039	204	5	search	search	NOUN
ap-3039	204	6	in	in	ADP
ap-3039	204	7	unknown	unknown	ADJ
ap-3039	204	8	environments	environment	NOUN
ap-3039	204	9	has	have	VERB
ap-3039	204	10	many	many	ADJ
ap-3039	204	11	practical	practical	ADJ
ap-3039	204	12	applications	application	NOUN
ap-3039	204	13	,	,	PUNCT
ap-3039	204	14	it	it	PRON
ap-3039	204	15	has	have	AUX
ap-3039	204	16	until	until	ADP
ap-3039	204	17	now	now	ADV
ap-3039	204	18	been	be	AUX
ap-3039	204	19	addressed	address	VERB
ap-3039	204	20	only	only	ADV
ap-3039	204	21	marginally	marginally	ADV
ap-3039	204	22	by	by	ADP
ap-3039	204	23	the	the	DET
ap-3039	204	24	robotics	robotic	NOUN
ap-3039	204	25	community	community	NOUN
ap-3039	204	26	.	.	PUNCT
ap-3039	205	1	in	in	ADP
ap-3039	205	2	this	this	DET
ap-3039	205	3	paper	paper	NOUN
ap-3039	205	4	,	,	PUNCT
ap-3039	205	5	we	we	PRON
ap-3039	205	6	define	define	VERB
ap-3039	205	7	the	the	DET
ap-3039	205	8	problem	problem	NOUN
ap-3039	205	9	for	for	ADP
ap-3039	205	10	a	a	DET
ap-3039	205	11	team	team	NOUN
ap-3039	205	12	of	of	ADP
ap-3039	205	13	robots	robot	NOUN
ap-3039	205	14	,	,	PUNCT
ap-3039	205	15	and	and	CCONJ
ap-3039	205	16	present	present	VERB
ap-3039	205	17	the	the	DET
ap-3039	205	18	results	result	NOUN
ap-3039	205	19	of	of	ADP
ap-3039	205	20	several	several	ADJ
ap-3039	205	21	standard	standard	ADJ
ap-3039	205	22	exploration	exploration	NOUN
ap-3039	205	23	approaches	approach	NOUN
ap-3039	205	24	for	for	ADP
ap-3039	205	25	a	a	DET
ap-3039	205	26	search	search	NOUN
ap-3039	205	27	.	.	PUNCT
ap-3039	206	1	although	although	SCONJ
ap-3039	206	2	the	the	DET
ap-3039	206	3	hungarian	hungarian	ADJ
ap-3039	206	4	method	method	NOUN
ap-3039	206	5	outperforms	outperform	VERB
ap-3039	206	6	the	the	DET
ap-3039	206	7	other	other	ADJ
ap-3039	206	8	approaches	approach	NOUN
ap-3039	206	9	in	in	ADP
ap-3039	206	10	most	most	ADJ
ap-3039	206	11	cases	case	NOUN
ap-3039	206	12	,	,	PUNCT
ap-3039	206	13	the	the	DET
ap-3039	206	14	differences	difference	NOUN
ap-3039	206	15	in	in	ADP
ap-3039	206	16	results	result	NOUN
ap-3039	206	17	appear	appear	VERB
ap-3039	206	18	to	to	PART
ap-3039	206	19	be	be	AUX
ap-3039	206	20	marginal	marginal	ADJ
ap-3039	206	21	,	,	PUNCT
ap-3039	206	22	and	and	CCONJ
ap-3039	206	23	differ	differ	VERB
ap-3039	206	24	for	for	ADP
ap-3039	206	25	different	different	ADJ
ap-3039	206	26	maps	map	NOUN
ap-3039	206	27	and	and	CCONJ
ap-3039	206	28	for	for	ADP
ap-3039	206	29	different	different	ADJ
ap-3039	206	30	numbers	number	NOUN
ap-3039	206	31	of	of	ADP
ap-3039	206	32	robots	robot	NOUN
ap-3039	206	33	.	.	PUNCT
ap-3039	207	1	in	in	ADP
ap-3039	207	2	our	our	PRON
ap-3039	207	3	further	further	ADJ
ap-3039	207	4	research	research	NOUN
ap-3039	207	5	we	we	PRON
ap-3039	207	6	therefore	therefore	ADV
ap-3039	207	7	plan	plan	VERB
ap-3039	207	8	to	to	PART
ap-3039	207	9	study	study	VERB
ap-3039	207	10	the	the	DET
ap-3039	207	11	behaviour	behaviour	NOUN
ap-3039	207	12	of	of	ADP
ap-3039	207	13	the	the	DET
ap-3039	207	14	methods	method	NOUN
ap-3039	207	15	in	in	ADP
ap-3039	207	16	greater	great	ADJ
ap-3039	207	17	detail	detail	NOUN
ap-3039	207	18	in	in	ADP
ap-3039	207	19	order	order	NOUN
ap-3039	207	20	to	to	PART
ap-3039	207	21	clarify	clarify	VERB
ap-3039	207	22	the	the	DET
ap-3039	207	23	reasons	reason	NOUN
ap-3039	207	24	for	for	ADP
ap-3039	207	25	their	their	PRON
ap-3039	207	26	performance	performance	NOUN
ap-3039	207	27	.	.	PUNCT
ap-3039	208	1	although	although	SCONJ
ap-3039	208	2	the	the	DET
ap-3039	208	3	number	number	NOUN
ap-3039	208	4	of	of	ADP
ap-3039	208	5	experiments	experiment	NOUN
ap-3039	208	6	that	that	PRON
ap-3039	208	7	have	have	AUX
ap-3039	208	8	been	be	AUX
ap-3039	208	9	performed	perform	VERB
ap-3039	208	10	is	be	AUX
ap-3039	208	11	not	not	PART
ap-3039	208	12	small	small	ADJ
ap-3039	208	13	,	,	PUNCT
ap-3039	208	14	more	more	ADJ
ap-3039	208	15	experiments	experiment	NOUN
ap-3039	208	16	are	be	AUX
ap-3039	208	17	needed	need	VERB
ap-3039	208	18	in	in	ADP
ap-3039	208	19	order	order	NOUN
ap-3039	208	20	to	to	PART
ap-3039	208	21	draw	draw	VERB
ap-3039	208	22	statistically	statistically	ADV
ap-3039	208	23	reasonable	reasonable	ADJ
ap-3039	208	24	conclusions	conclusion	NOUN
ap-3039	208	25	,	,	PUNCT
ap-3039	208	26	and	and	CCONJ
ap-3039	208	27	especially	especially	ADV
ap-3039	208	28	to	to	PART
ap-3039	208	29	provide	provide	VERB
ap-3039	208	30	a	a	DET
ap-3039	208	31	statistical	statistical	ADJ
ap-3039	208	32	analysis	analysis	NOUN
ap-3039	208	33	of	of	ADP
ap-3039	208	34	variance	variance	NOUN
ap-3039	208	35	.	.	PUNCT
ap-3039	209	1	we	we	PRON
ap-3039	209	2	believe	believe	VERB
ap-3039	209	3	that	that	SCONJ
ap-3039	209	4	this	this	DET
ap-3039	209	5	study	study	NOUN
ap-3039	209	6	will	will	AUX
ap-3039	209	7	help	help	VERB
ap-3039	209	8	in	in	ADP
ap-3039	209	9	the	the	DET
ap-3039	209	10	design	design	NOUN
ap-3039	209	11	of	of	ADP
ap-3039	209	12	novel	novel	ADJ
ap-3039	209	13	methods	method	NOUN
ap-3039	209	14	for	for	ADP
ap-3039	209	15	search	search	NOUN
ap-3039	209	16	in	in	ADP
ap-3039	209	17	future	future	NOUN
ap-3039	209	18	.	.	PUNCT
ap-3039	210	1	166	166	NUM
ap-3039	210	2	vol	vol	NOUN
ap-3039	210	3	.	.	PUNCT
ap-3039	211	1	55	55	NUM
ap-3039	211	2	no	no	NOUN
ap-3039	211	3	.	.	PUNCT
ap-3039	212	1	3/2015	3/2015	NUM
ap-3039	212	2	comparison	comparison	NOUN
ap-3039	212	3	of	of	ADP
ap-3039	212	4	exploration	exploration	NOUN
ap-3039	212	5	strategies	strategy	NOUN
ap-3039	212	6	for	for	ADP
ap-3039	212	7	multi	multi	ADJ
ap-3039	212	8	-	-	ADJ
ap-3039	212	9	robot	robot	ADJ
ap-3039	212	10	search	search	NOUN
ap-3039	212	11	25	25	NUM
ap-3039	212	12	0	0	NUM
ap-3039	212	13	30	30	NUM
ap-3039	212	14	0	0	NUM
ap-3039	212	15	35	35	NUM
ap-3039	212	16	0	0	NUM
ap-3039	212	17	number	number	NOUN
ap-3039	212	18	of	of	ADP
ap-3039	212	19	robots	robot	NOUN
ap-3039	212	20	t	t	PROPN
ap-3039	212	21	f	f	PROPN
ap-3039	212	22	[	[	PUNCT
ap-3039	212	23	s	s	X
ap-3039	212	24	]	]	X
ap-3039	212	25	4	4	NUM
ap-3039	212	26	6	6	NUM
ap-3039	212	27	8	8	NUM
ap-3039	212	28	greedy	greedy	ADJ
ap-3039	212	29	ble	ble	ADJ
ap-3039	212	30	hungarian	hungarian	ADJ
ap-3039	212	31	k−means	k−mean	NOUN
ap-3039	212	32	30	30	NUM
ap-3039	212	33	0	0	NUM
ap-3039	212	34	35	35	NUM
ap-3039	212	35	0	0	NUM
ap-3039	213	1	40	40	NUM
ap-3039	213	2	0	0	NUM
ap-3039	213	3	45	45	NUM
ap-3039	213	4	0	0	NUM
ap-3039	213	5	50	50	NUM
ap-3039	213	6	0	0	NUM
ap-3039	213	7	55	55	NUM
ap-3039	213	8	0	0	NUM
ap-3039	213	9	60	60	NUM
ap-3039	213	10	0	0	NUM
ap-3039	213	11	number	number	NOUN
ap-3039	213	12	of	of	ADP
ap-3039	213	13	robots	robot	NOUN
ap-3039	213	14	t	t	PROPN
ap-3039	214	1	f	f	PROPN
ap-3039	215	1	[	[	PUNCT
ap-3039	215	2	s	s	X
ap-3039	215	3	]	]	X
ap-3039	215	4	4	4	NUM
ap-3039	215	5	6	6	NUM
ap-3039	215	6	8	8	NUM
ap-3039	215	7	greedy	greedy	ADJ
ap-3039	215	8	ble	ble	ADJ
ap-3039	215	9	hungarian	hungarian	ADJ
ap-3039	215	10	k−means	k−means	PROPN
ap-3039	215	11	figure	figure	NOUN
ap-3039	215	12	7	7	NUM
ap-3039	215	13	.	.	NOUN
ap-3039	215	14	comparison	comparison	NOUN
ap-3039	215	15	of	of	ADP
ap-3039	215	16	the	the	DET
ap-3039	215	17	strategies	strategy	NOUN
ap-3039	215	18	,	,	PUNCT
ap-3039	215	19	i.e.	i.e.	X
ap-3039	215	20	the	the	DET
ap-3039	215	21	five	five	NUM
ap-3039	215	22	-	-	PUNCT
ap-3039	215	23	number	number	NOUN
ap-3039	215	24	summaries	summary	NOUN
ap-3039	215	25	of	of	ADP
ap-3039	215	26	tf	tf	NUM
ap-3039	215	27	for	for	ADP
ap-3039	215	28	empty	empty	ADJ
ap-3039	215	29	(	(	PUNCT
ap-3039	215	30	left	left	ADJ
ap-3039	215	31	)	)	PUNCT
ap-3039	215	32	and	and	CCONJ
ap-3039	215	33	for	for	ADP
ap-3039	215	34	arena	arena	NOUN
ap-3039	215	35	(	(	PUNCT
ap-3039	215	36	right	right	ADJ
ap-3039	215	37	)	)	PUNCT
ap-3039	215	38	map	map	NOUN
ap-3039	215	39	.	.	PUNCT
ap-3039	216	1	12	12	NUM
ap-3039	216	2	0	0	NUM
ap-3039	216	3	14	14	NUM
ap-3039	216	4	0	0	NUM
ap-3039	216	5	16	16	NUM
ap-3039	216	6	0	0	NUM
ap-3039	216	7	18	18	NUM
ap-3039	216	8	0	0	NUM
ap-3039	216	9	20	20	NUM
ap-3039	216	10	0	0	NUM
ap-3039	216	11	22	22	NUM
ap-3039	216	12	0	0	NUM
ap-3039	216	13	24	24	NUM
ap-3039	216	14	0	0	NUM
ap-3039	216	15	number	number	NOUN
ap-3039	216	16	of	of	ADP
ap-3039	216	17	robots	robot	NOUN
ap-3039	216	18	t	t	PROPN
ap-3039	217	1	f	f	PROPN
ap-3039	218	1	[	[	PUNCT
ap-3039	218	2	s	s	X
ap-3039	218	3	]	]	X
ap-3039	218	4	4	4	NUM
ap-3039	218	5	6	6	NUM
ap-3039	218	6	8	8	NUM
ap-3039	218	7	greedy	greedy	ADJ
ap-3039	218	8	ble	ble	ADJ
ap-3039	218	9	hungarian	hungarian	ADJ
ap-3039	218	10	k−means	k−mean	NOUN
ap-3039	218	11	25	25	NUM
ap-3039	218	12	0	0	NUM
ap-3039	218	13	30	30	NUM
ap-3039	218	14	0	0	NUM
ap-3039	218	15	35	35	NUM
ap-3039	218	16	0	0	NUM
ap-3039	218	17	number	number	NOUN
ap-3039	218	18	of	of	ADP
ap-3039	218	19	robots	robot	NOUN
ap-3039	218	20	t	t	PROPN
ap-3039	218	21	f	f	PROPN
ap-3039	219	1	[	[	PUNCT
ap-3039	219	2	s	s	X
ap-3039	219	3	]	]	X
ap-3039	219	4	4	4	NUM
ap-3039	219	5	6	6	NUM
ap-3039	219	6	8	8	NUM
ap-3039	219	7	greedy	greedy	ADJ
ap-3039	219	8	ble	ble	ADJ
ap-3039	219	9	hungarian	hungarian	ADJ
ap-3039	219	10	k−means	k−means	PROPN
ap-3039	219	11	figure	figure	NOUN
ap-3039	219	12	8	8	NUM
ap-3039	219	13	.	.	PUNCT
ap-3039	220	1	comparison	comparison	NOUN
ap-3039	220	2	of	of	ADP
ap-3039	220	3	the	the	DET
ap-3039	220	4	strategies	strategy	NOUN
ap-3039	220	5	,	,	PUNCT
ap-3039	220	6	i.e.	i.e.	X
ap-3039	220	7	,	,	PUNCT
ap-3039	220	8	the	the	DET
ap-3039	220	9	five	five	NUM
ap-3039	220	10	-	-	PUNCT
ap-3039	220	11	number	number	NOUN
ap-3039	220	12	summaries	summary	NOUN
ap-3039	220	13	of	of	ADP
ap-3039	220	14	tf	tf	PROPN
ap-3039	220	15	for	for	ADP
ap-3039	220	16	jh	jh	PROPN
ap-3039	220	17	(	(	PUNCT
ap-3039	220	18	left	left	ADJ
ap-3039	220	19	)	)	PUNCT
ap-3039	220	20	and	and	CCONJ
ap-3039	220	21	for	for	ADP
ap-3039	220	22	hospital	hospital	NOUN
ap-3039	220	23	(	(	PUNCT
ap-3039	220	24	right	right	ADJ
ap-3039	220	25	)	)	PUNCT
ap-3039	220	26	map	map	NOUN
ap-3039	220	27	.	.	PUNCT
ap-3039	221	1	acknowledgements	acknowledgement	NOUN
ap-3039	221	2	this	this	DET
ap-3039	221	3	work	work	NOUN
ap-3039	221	4	has	have	AUX
ap-3039	221	5	been	be	AUX
ap-3039	221	6	supported	support	VERB
ap-3039	221	7	by	by	ADP
ap-3039	221	8	the	the	DET
ap-3039	221	9	technology	technology	NOUN
ap-3039	221	10	agency	agency	NOUN
ap-3039	221	11	of	of	ADP
ap-3039	221	12	the	the	DET
ap-3039	221	13	czech	czech	PROPN
ap-3039	221	14	republic	republic	NOUN
ap-3039	221	15	under	under	ADP
ap-3039	221	16	project	project	NOUN
ap-3039	221	17	no	no	INTJ
ap-3039	221	18	.	.	PUNCT
ap-3039	222	1	te01020197	te01020197	NOUN
ap-3039	222	2	.	.	PUNCT
ap-3039	223	1	references	reference	NOUN
ap-3039	223	2	[	[	X
ap-3039	223	3	1	1	NUM
ap-3039	223	4	]	]	PUNCT
ap-3039	223	5	a.	a.	NOUN
ap-3039	223	6	sarmiento	sarmiento	PROPN
ap-3039	223	7	,	,	PUNCT
ap-3039	223	8	r.	r.	PROPN
ap-3039	223	9	murrieta	murrieta	PROPN
ap-3039	223	10	-	-	PUNCT
ap-3039	223	11	cid	cid	PROPN
ap-3039	223	12	,	,	PUNCT
ap-3039	223	13	s.	s.	PROPN
ap-3039	223	14	hutchinson	hutchinson	PROPN
ap-3039	223	15	.	.	PUNCT
ap-3039	224	1	a	a	DET
ap-3039	224	2	multi	multi	ADJ
ap-3039	224	3	-	-	ADJ
ap-3039	224	4	robot	robot	ADJ
ap-3039	224	5	strategy	strategy	NOUN
ap-3039	224	6	for	for	ADP
ap-3039	224	7	rapidly	rapidly	ADV
ap-3039	224	8	searching	search	VERB
ap-3039	224	9	a	a	DET
ap-3039	224	10	polygonal	polygonal	ADJ
ap-3039	224	11	environment	environment	NOUN
ap-3039	224	12	.	.	PUNCT
ap-3039	225	1	in	in	ADP
ap-3039	225	2	c.	c.	PROPN
ap-3039	225	3	lemaître	lemaître	PROPN
ap-3039	225	4	,	,	PUNCT
ap-3039	225	5	c.	c.	PROPN
ap-3039	225	6	a.	a.	PROPN
ap-3039	225	7	reyes	reyes	PROPN
ap-3039	225	8	,	,	PUNCT
ap-3039	225	9	j.	j.	PROPN
ap-3039	225	10	a.	a.	PROPN
ap-3039	225	11	gonzález	gonzález	PROPN
ap-3039	225	12	(	(	PUNCT
ap-3039	225	13	eds	eds	PROPN
ap-3039	225	14	.	.	PUNCT
ap-3039	225	15	)	)	PUNCT
ap-3039	225	16	,	,	PUNCT
ap-3039	225	17	proc	proc	NOUN
ap-3039	225	18	.	.	PUNCT
ap-3039	226	1	9th	9th	ADJ
ap-3039	226	2	ibero	ibero	NOUN
ap-3039	226	3	-	-	PUNCT
ap-3039	226	4	american	american	ADJ
ap-3039	226	5	conf	conf	NOUN
ap-3039	226	6	.	.	PUNCT
ap-3039	227	1	on	on	ADP
ap-3039	227	2	ai	ai	VERB
ap-3039	227	3	on	on	ADP
ap-3039	227	4	advances	advance	NOUN
ap-3039	227	5	in	in	ADP
ap-3039	227	6	artificial	artificial	ADJ
ap-3039	227	7	intelligence	intelligence	NOUN
ap-3039	227	8	,	,	PUNCT
ap-3039	227	9	vol	vol	NOUN
ap-3039	227	10	.	.	PUNCT
ap-3039	227	11	3315	3315	NUM
ap-3039	227	12	of	of	ADP
ap-3039	227	13	lecture	lecture	NOUN
ap-3039	227	14	notes	note	NOUN
ap-3039	227	15	in	in	ADP
ap-3039	227	16	computer	computer	NOUN
ap-3039	227	17	science	science	NOUN
ap-3039	227	18	,	,	PUNCT
ap-3039	227	19	pp	pp	ADJ
ap-3039	227	20	.	.	PUNCT
ap-3039	228	1	484–493	484–493	NUM
ap-3039	228	2	.	.	PUNCT
ap-3039	228	3	springer	springer	NOUN
ap-3039	228	4	,	,	PUNCT
ap-3039	228	5	2004	2004	NUM
ap-3039	228	6	.	.	PUNCT
ap-3039	229	1	doi:10.1007/978	doi:10.1007/978	ADJ
ap-3039	229	2	-	-	PUNCT
ap-3039	229	3	3	3	NUM
ap-3039	229	4	-	-	PUNCT
ap-3039	229	5	540	540	NUM
ap-3039	229	6	-	-	PUNCT
ap-3039	229	7	30498	30498	NUM
ap-3039	229	8	-	-	PUNCT
ap-3039	229	9	2_48	2_48	NUM
ap-3039	229	10	.	.	PUNCT
ap-3039	230	1	[	[	X
ap-3039	230	2	2	2	X
ap-3039	230	3	]	]	PUNCT
ap-3039	230	4	t.	t.	PROPN
ap-3039	230	5	shermer	shermer	PROPN
ap-3039	230	6	.	.	PUNCT
ap-3039	231	1	recent	recent	ADJ
ap-3039	231	2	results	result	NOUN
ap-3039	231	3	in	in	ADP
ap-3039	231	4	art	art	NOUN
ap-3039	231	5	galleries	gallery	NOUN
ap-3039	232	1	[	[	X
ap-3039	232	2	geometry	geometry	NOUN
ap-3039	232	3	]	]	PUNCT
ap-3039	232	4	.	.	PUNCT
ap-3039	233	1	proc	proc	NOUN
ap-3039	233	2	of	of	ADP
ap-3039	233	3	the	the	DET
ap-3039	233	4	ieee	ieee	NOUN
ap-3039	233	5	80(9):1384	80(9):1384	NUM
ap-3039	233	6	–	–	PUNCT
ap-3039	233	7	1399	1399	NUM
ap-3039	233	8	,	,	PUNCT
ap-3039	233	9	1992	1992	NUM
ap-3039	233	10	.	.	PUNCT
ap-3039	234	1	doi:10.1109/5.163407	doi:10.1109/5.163407	PROPN
ap-3039	234	2	.	.	PUNCT
ap-3039	235	1	[	[	X
ap-3039	235	2	3	3	NUM
ap-3039	235	3	]	]	X
ap-3039	235	4	a.	a.	NOUN
ap-3039	235	5	sarmiento	sarmiento	PROPN
ap-3039	235	6	,	,	PUNCT
ap-3039	235	7	r.	r.	PROPN
ap-3039	235	8	murrieta	murrieta	PROPN
ap-3039	235	9	,	,	PUNCT
ap-3039	235	10	s.	s.	PROPN
ap-3039	235	11	hutchinson	hutchinson	PROPN
ap-3039	235	12	.	.	PUNCT
ap-3039	236	1	an	an	DET
ap-3039	236	2	efficient	efficient	ADJ
ap-3039	236	3	motion	motion	NOUN
ap-3039	236	4	strategy	strategy	NOUN
ap-3039	236	5	to	to	PART
ap-3039	236	6	compute	compute	VERB
ap-3039	236	7	expected	expect	VERB
ap-3039	236	8	-	-	PUNCT
ap-3039	236	9	time	time	NOUN
ap-3039	236	10	locally	locally	ADV
ap-3039	236	11	optimal	optimal	ADJ
ap-3039	236	12	continuous	continuous	ADJ
ap-3039	236	13	search	search	NOUN
ap-3039	236	14	paths	path	NOUN
ap-3039	236	15	in	in	ADP
ap-3039	236	16	known	know	VERB
ap-3039	236	17	environments	environment	NOUN
ap-3039	236	18	.	.	PUNCT
ap-3039	237	1	advanced	advanced	ADJ
ap-3039	237	2	robotics	robotic	NOUN
ap-3039	237	3	23(12	23(12	NUM
ap-3039	237	4	-	-	PUNCT
ap-3039	237	5	13):1533–1560	13):1533–1560	PROPN
ap-3039	237	6	,	,	PUNCT
ap-3039	237	7	2009	2009	NUM
ap-3039	237	8	.	.	PUNCT
ap-3039	238	1	doi:10.1163/016918609x12496339799170	doi:10.1163/016918609x12496339799170	PROPN
ap-3039	238	2	.	.	PUNCT
ap-3039	239	1	[	[	X
ap-3039	239	2	4	4	X
ap-3039	239	3	]	]	X
ap-3039	239	4	g.	g.	PROPN
ap-3039	239	5	hollinger	hollinger	PROPN
ap-3039	239	6	,	,	PUNCT
ap-3039	239	7	j.	j.	PROPN
ap-3039	239	8	djugash	djugash	PROPN
ap-3039	239	9	,	,	PUNCT
ap-3039	239	10	s.	s.	PROPN
ap-3039	239	11	singh	singh	PROPN
ap-3039	239	12	.	.	PUNCT
ap-3039	240	1	coordinated	coordinate	VERB
ap-3039	240	2	search	search	NOUN
ap-3039	240	3	in	in	ADP
ap-3039	240	4	cluttered	cluttered	ADJ
ap-3039	240	5	environments	environment	NOUN
ap-3039	240	6	using	use	VERB
ap-3039	240	7	range	range	NOUN
ap-3039	240	8	from	from	ADP
ap-3039	240	9	multiple	multiple	ADJ
ap-3039	240	10	robots	robot	NOUN
ap-3039	240	11	.	.	PUNCT
ap-3039	241	1	in	in	ADP
ap-3039	241	2	c.	c.	PROPN
ap-3039	241	3	laugier	laugier	PROPN
ap-3039	241	4	,	,	PUNCT
ap-3039	241	5	r.	r.	PROPN
ap-3039	241	6	siegwart	siegwart	PROPN
ap-3039	241	7	(	(	PUNCT
ap-3039	241	8	eds	ed	NOUN
ap-3039	241	9	.	.	PUNCT
ap-3039	241	10	)	)	PUNCT
ap-3039	241	11	,	,	PUNCT
ap-3039	241	12	field	field	NOUN
ap-3039	241	13	and	and	CCONJ
ap-3039	241	14	service	service	NOUN
ap-3039	241	15	robotics	robotic	NOUN
ap-3039	241	16	,	,	PUNCT
ap-3039	241	17	vol	vol	NOUN
ap-3039	241	18	.	.	PUNCT
ap-3039	241	19	42	42	NUM
ap-3039	241	20	of	of	ADP
ap-3039	241	21	springer	springer	NOUN
ap-3039	241	22	tracts	tract	NOUN
ap-3039	241	23	in	in	ADP
ap-3039	241	24	advanced	advanced	ADJ
ap-3039	241	25	robotics	robotic	NOUN
ap-3039	241	26	,	,	PUNCT
ap-3039	241	27	pp	pp	ADJ
ap-3039	241	28	.	.	PUNCT
ap-3039	242	1	433–442	433–442	NUM
ap-3039	242	2	.	.	PUNCT
ap-3039	242	3	springer	springer	PROPN
ap-3039	242	4	berlin	berlin	PROPN
ap-3039	242	5	heidelberg	heidelberg	PROPN
ap-3039	242	6	,	,	PUNCT
ap-3039	242	7	2008	2008	NUM
ap-3039	242	8	.	.	PUNCT
ap-3039	243	1	doi:10.1007/978	doi:10.1007/978	ADJ
ap-3039	243	2	-	-	PUNCT
ap-3039	243	3	3	3	NUM
ap-3039	243	4	-	-	PUNCT
ap-3039	243	5	540	540	NUM
ap-3039	243	6	-	-	PUNCT
ap-3039	243	7	75404	75404	NUM
ap-3039	243	8	-	-	PUNCT
ap-3039	243	9	6_41	6_41	NUM
ap-3039	243	10	.	.	PUNCT
ap-3039	244	1	[	[	X
ap-3039	244	2	5	5	X
ap-3039	244	3	]	]	PUNCT
ap-3039	244	4	k.	k.	PROPN
ap-3039	244	5	trummel	trummel	PROPN
ap-3039	244	6	,	,	PUNCT
ap-3039	244	7	j.	j.	PROPN
ap-3039	244	8	weisinger	weisinger	PROPN
ap-3039	244	9	.	.	PUNCT
ap-3039	245	1	the	the	DET
ap-3039	245	2	complexity	complexity	NOUN
ap-3039	245	3	of	of	ADP
ap-3039	245	4	the	the	DET
ap-3039	245	5	optimal	optimal	ADJ
ap-3039	245	6	searcher	searcher	ADJ
ap-3039	245	7	path	path	NOUN
ap-3039	245	8	problem	problem	NOUN
ap-3039	245	9	.	.	PUNCT
ap-3039	246	1	operations	operation	NOUN
ap-3039	246	2	research	research	VERB
ap-3039	246	3	34(2):324	34(2):324	ADJ
ap-3039	246	4	–	–	PUNCT
ap-3039	246	5	327	327	NUM
ap-3039	246	6	,	,	PUNCT
ap-3039	246	7	1986	1986	NUM
ap-3039	246	8	.	.	PUNCT
ap-3039	247	1	doi:10.1287	doi:10.1287	PROPN
ap-3039	247	2	/	/	PUNCT
ap-3039	248	1	opre.34.2.324	opre.34.2.324	ADJ
ap-3039	248	2	.	.	PUNCT
ap-3039	249	1	[	[	X
ap-3039	249	2	6	6	NUM
ap-3039	249	3	]	]	PUNCT
ap-3039	249	4	a.	a.	NOUN
ap-3039	249	5	salehipour	salehipour	PROPN
ap-3039	249	6	,	,	PUNCT
ap-3039	249	7	k.	k.	PROPN
ap-3039	249	8	sörensen	sörensen	PROPN
ap-3039	249	9	,	,	PUNCT
ap-3039	249	10	p.	p.	NOUN
ap-3039	249	11	goos	goos	PROPN
ap-3039	249	12	,	,	PUNCT
ap-3039	249	13	o.	o.	NOUN
ap-3039	249	14	bräysy	bräysy	NOUN
ap-3039	249	15	.	.	PUNCT
ap-3039	250	1	efficient	efficient	ADJ
ap-3039	250	2	grasp+vnd	grasp+vnd	PROPN
ap-3039	250	3	and	and	CCONJ
ap-3039	250	4	grasp+vns	grasp+vns	PROPN
ap-3039	250	5	167	167	NUM
ap-3039	250	6	http://dx.doi.org/10.1007/978-3-540-30498-2_48	http://dx.doi.org/10.1007/978-3-540-30498-2_48	NOUN
ap-3039	250	7	http://dx.doi.org/10.1109/5.163407	http://dx.doi.org/10.1109/5.163407	VERB
ap-3039	250	8	http://dx.doi.org/10.1163/016918609x12496339799170	http://dx.doi.org/10.1163/016918609x12496339799170	PROPN
ap-3039	250	9	http://dx.doi.org/10.1007/978-3-540-75404-6_41	http://dx.doi.org/10.1007/978-3-540-75404-6_41	NUM
ap-3039	250	10	http://dx.doi.org/10.1287/opre.34.2.324	http://dx.doi.org/10.1287/opre.34.2.324	ADJ
ap-3039	250	11	m.	m.	NOUN
ap-3039	250	12	kulich	kulich	NOUN
ap-3039	250	13	,	,	PUNCT
ap-3039	250	14	t.	t.	PROPN
ap-3039	250	15	juchelka	juchelka	PROPN
ap-3039	250	16	,	,	PUNCT
ap-3039	250	17	l.	l.	PROPN
ap-3039	250	18	přeučil	přeučil	PROPN
ap-3039	250	19	acta	acta	PROPN
ap-3039	250	20	polytechnica	polytechnica	PROPN
ap-3039	250	21	metaheuristics	metaheuristic	NOUN
ap-3039	250	22	for	for	ADP
ap-3039	250	23	the	the	DET
ap-3039	250	24	traveling	travel	VERB
ap-3039	250	25	repairman	repairman	PROPN
ap-3039	250	26	problem	problem	NOUN
ap-3039	250	27	.	.	PUNCT
ap-3039	251	1	a	a	DET
ap-3039	251	2	quarterly	quarterly	ADJ
ap-3039	251	3	journal	journal	NOUN
ap-3039	251	4	of	of	ADP
ap-3039	251	5	operations	operation	NOUN
ap-3039	251	6	research	research	NOUN
ap-3039	251	7	(	(	PUNCT
ap-3039	251	8	4or	4or	ADJ
ap-3039	251	9	)	)	PUNCT
ap-3039	251	10	9:189–209	9:189–209	NOUN
ap-3039	251	11	,	,	PUNCT
ap-3039	251	12	2011	2011	NUM
ap-3039	251	13	.	.	PUNCT
ap-3039	252	1	doi:10.1007	doi:10.1007	VERB
ap-3039	252	2	/	/	SYM
ap-3039	252	3	s10288	s10288	VERB
ap-3039	252	4	-	-	PUNCT
ap-3039	252	5	011	011	NUM
ap-3039	252	6	-	-	PUNCT
ap-3039	252	7	0153	0153	NUM
ap-3039	252	8	-	-	PUNCT
ap-3039	252	9	0	0	NUM
ap-3039	252	10	.	.	PUNCT
ap-3039	253	1	[	[	X
ap-3039	253	2	7	7	X
ap-3039	253	3	]	]	X
ap-3039	253	4	n.	n.	NOUN
ap-3039	253	5	mladenović	mladenović	PROPN
ap-3039	253	6	,	,	PUNCT
ap-3039	253	7	d.	d.	PROPN
ap-3039	253	8	urošević	urošević	PROPN
ap-3039	253	9	,	,	PUNCT
ap-3039	253	10	s.	s.	PROPN
ap-3039	253	11	hanafi	hanafi	PROPN
ap-3039	253	12	.	.	PUNCT
ap-3039	254	1	variable	variable	ADJ
ap-3039	254	2	neighborhood	neighborhood	NOUN
ap-3039	254	3	search	search	NOUN
ap-3039	254	4	for	for	ADP
ap-3039	254	5	the	the	DET
ap-3039	254	6	travelling	travel	VERB
ap-3039	254	7	deliveryman	deliveryman	NOUN
ap-3039	254	8	problem	problem	NOUN
ap-3039	254	9	.	.	PUNCT
ap-3039	255	1	a	a	DET
ap-3039	255	2	quarterly	quarterly	ADJ
ap-3039	255	3	journal	journal	NOUN
ap-3039	255	4	of	of	ADP
ap-3039	255	5	operations	operation	NOUN
ap-3039	255	6	research	research	NOUN
ap-3039	255	7	(	(	PUNCT
ap-3039	255	8	4or	4or	NOUN
ap-3039	255	9	)	)	PUNCT
ap-3039	255	10	pp	pp	ADV
ap-3039	255	11	.	.	PUNCT
ap-3039	256	1	1–17	1–17	NOUN
ap-3039	256	2	,	,	PUNCT
ap-3039	256	3	2012	2012	NUM
ap-3039	256	4	.	.	PUNCT
ap-3039	257	1	doi:10.1007	doi:10.1007	VERB
ap-3039	257	2	/	/	SYM
ap-3039	257	3	s10288	s10288	VERB
ap-3039	257	4	-	-	PUNCT
ap-3039	257	5	012	012	NUM
ap-3039	257	6	-	-	PUNCT
ap-3039	257	7	0212	0212	NUM
ap-3039	257	8	-	-	SYM
ap-3039	257	9	1	1	NUM
ap-3039	257	10	.	.	PUNCT
ap-3039	258	1	[	[	X
ap-3039	258	2	8	8	NUM
ap-3039	258	3	]	]	X
ap-3039	258	4	i.	i.	NOUN
ap-3039	258	5	méndez	méndez	PROPN
ap-3039	258	6	-	-	PUNCT
ap-3039	258	7	díaz	díaz	NOUN
ap-3039	258	8	,	,	PUNCT
ap-3039	258	9	p.	p.	NOUN
ap-3039	258	10	zabala	zabala	PROPN
ap-3039	258	11	,	,	PUNCT
ap-3039	258	12	a.	a.	PROPN
ap-3039	258	13	lucena	lucena	PROPN
ap-3039	258	14	.	.	PUNCT
ap-3039	259	1	a	a	DET
ap-3039	259	2	new	new	ADJ
ap-3039	259	3	formulation	formulation	NOUN
ap-3039	259	4	for	for	ADP
ap-3039	259	5	the	the	DET
ap-3039	259	6	traveling	travel	VERB
ap-3039	259	7	deliveryman	deliveryman	NOUN
ap-3039	259	8	problem	problem	NOUN
ap-3039	259	9	.	.	PUNCT
ap-3039	260	1	discrete	discrete	ADJ
ap-3039	260	2	appl	appl	PROPN
ap-3039	260	3	math	math	PROPN
ap-3039	260	4	156(17):3223–3237	156(17):3223–3237	NUM
ap-3039	260	5	,	,	PUNCT
ap-3039	260	6	2008	2008	NUM
ap-3039	260	7	.	.	PUNCT
ap-3039	261	1	doi:10.1016	doi:10.1016	PROPN
ap-3039	261	2	/	/	SYM
ap-3039	261	3	j.dam.2008.05.009	j.dam.2008.05.009	PROPN
ap-3039	261	4	.	.	PUNCT
ap-3039	262	1	[	[	X
ap-3039	262	2	9	9	NUM
ap-3039	262	3	]	]	X
ap-3039	262	4	b.	b.	PROPN
ap-3039	262	5	yamauchi	yamauchi	PROPN
ap-3039	262	6	.	.	PUNCT
ap-3039	262	7	frontier	frontier	NOUN
ap-3039	262	8	-	-	PUNCT
ap-3039	262	9	based	base	VERB
ap-3039	262	10	exploration	exploration	NOUN
ap-3039	262	11	using	use	VERB
ap-3039	262	12	multiple	multiple	ADJ
ap-3039	262	13	robots	robot	NOUN
ap-3039	262	14	.	.	PUNCT
ap-3039	263	1	in	in	ADP
ap-3039	263	2	proceedings	proceeding	NOUN
ap-3039	263	3	of	of	ADP
ap-3039	263	4	the	the	DET
ap-3039	263	5	second	second	ADJ
ap-3039	263	6	international	international	ADJ
ap-3039	263	7	conference	conference	NOUN
ap-3039	263	8	on	on	ADP
ap-3039	263	9	autonomous	autonomous	ADJ
ap-3039	263	10	agents	agent	NOUN
ap-3039	263	11	,	,	PUNCT
ap-3039	263	12	agents	agent	NOUN
ap-3039	263	13	’	'	PUNCT
ap-3039	263	14	98	98	NUM
ap-3039	263	15	,	,	PUNCT
ap-3039	263	16	pp	pp	ADJ
ap-3039	263	17	.	.	PUNCT
ap-3039	264	1	47–53	47–53	NUM
ap-3039	264	2	.	.	PUNCT
ap-3039	265	1	acm	acm	PROPN
ap-3039	265	2	,	,	PUNCT
ap-3039	265	3	new	new	PROPN
ap-3039	265	4	york	york	PROPN
ap-3039	265	5	,	,	PUNCT
ap-3039	265	6	ny	ny	PROPN
ap-3039	265	7	,	,	PUNCT
ap-3039	265	8	usa	usa	PROPN
ap-3039	265	9	,	,	PUNCT
ap-3039	265	10	1998	1998	NUM
ap-3039	265	11	.	.	PUNCT
ap-3039	266	1	doi:10.1145/280765.280773	doi:10.1145/280765.280773	PROPN
ap-3039	266	2	.	.	PUNCT
ap-3039	267	1	[	[	X
ap-3039	267	2	10	10	NUM
ap-3039	267	3	]	]	X
ap-3039	267	4	f.	f.	NOUN
ap-3039	267	5	amigoni	amigoni	PROPN
ap-3039	267	6	.	.	PUNCT
ap-3039	268	1	experimental	experimental	ADJ
ap-3039	268	2	evaluation	evaluation	NOUN
ap-3039	268	3	of	of	ADP
ap-3039	268	4	some	some	DET
ap-3039	268	5	exploration	exploration	NOUN
ap-3039	268	6	strategies	strategy	NOUN
ap-3039	268	7	for	for	ADP
ap-3039	268	8	mobile	mobile	ADJ
ap-3039	268	9	robots	robot	NOUN
ap-3039	268	10	.	.	PUNCT
ap-3039	269	1	in	in	ADP
ap-3039	269	2	robotics	robotic	NOUN
ap-3039	269	3	and	and	CCONJ
ap-3039	269	4	automation	automation	NOUN
ap-3039	269	5	,	,	PUNCT
ap-3039	269	6	2008	2008	NUM
ap-3039	269	7	.	.	PUNCT
ap-3039	270	1	icra	icra	PROPN
ap-3039	270	2	2008	2008	NUM
ap-3039	270	3	.	.	PUNCT
ap-3039	271	1	ieee	ieee	PROPN
ap-3039	271	2	international	international	PROPN
ap-3039	271	3	conference	conference	NOUN
ap-3039	271	4	on	on	ADP
ap-3039	271	5	,	,	PUNCT
ap-3039	271	6	pp	pp	ADJ
ap-3039	271	7	.	.	PUNCT
ap-3039	272	1	2818–2823	2818–2823	NUM
ap-3039	272	2	.	.	X
ap-3039	273	1	2008	2008	NUM
ap-3039	273	2	.	.	PUNCT
ap-3039	274	1	doi:10.1109	doi:10.1109	VERB
ap-3039	274	2	/	/	SYM
ap-3039	274	3	robot.2008.4543637	robot.2008.4543637	NUM
ap-3039	274	4	.	.	PUNCT
ap-3039	275	1	[	[	X
ap-3039	275	2	11	11	NUM
ap-3039	275	3	]	]	X
ap-3039	275	4	d.	d.	PROPN
ap-3039	275	5	holz	holz	PROPN
ap-3039	275	6	,	,	PUNCT
ap-3039	275	7	n.	n.	PROPN
ap-3039	275	8	basilico	basilico	PROPN
ap-3039	275	9	,	,	PUNCT
ap-3039	275	10	f.	f.	PROPN
ap-3039	275	11	amigoni	amigoni	PROPN
ap-3039	275	12	,	,	PUNCT
ap-3039	275	13	s.	s.	PROPN
ap-3039	275	14	behnke	behnke	PROPN
ap-3039	275	15	.	.	PUNCT
ap-3039	276	1	evaluating	evaluate	VERB
ap-3039	276	2	the	the	DET
ap-3039	276	3	efficiency	efficiency	NOUN
ap-3039	276	4	of	of	ADP
ap-3039	276	5	frontier	frontier	NOUN
ap-3039	276	6	-	-	PUNCT
ap-3039	276	7	based	base	VERB
ap-3039	276	8	exploration	exploration	NOUN
ap-3039	276	9	strategies	strategy	NOUN
ap-3039	276	10	.	.	PUNCT
ap-3039	277	1	in	in	ADP
ap-3039	277	2	proc	proc	PROPN
ap-3039	277	3	.	.	PUNCT
ap-3039	278	1	int	int	NOUN
ap-3039	278	2	.	.	PUNCT
ap-3039	279	1	symp	symp	PROPN
ap-3039	279	2	.	.	PUNCT
ap-3039	280	1	on	on	ADP
ap-3039	280	2	robotics	robotic	NOUN
ap-3039	280	3	/	/	SYM
ap-3039	280	4	german	german	ADJ
ap-3039	280	5	conf	conf	NOUN
ap-3039	280	6	.	.	PUNCT
ap-3039	281	1	on	on	ADP
ap-3039	281	2	robotics	robotic	NOUN
ap-3039	281	3	,	,	PUNCT
ap-3039	281	4	pp	pp	ADP
ap-3039	281	5	.	.	PUNCT
ap-3039	282	1	1–8	1–8	X
ap-3039	282	2	.	.	PUNCT
ap-3039	282	3	vde	vde	PROPN
ap-3039	282	4	verlag	verlag	PROPN
ap-3039	282	5	,	,	PUNCT
ap-3039	282	6	2010	2010	NUM
ap-3039	282	7	.	.	PUNCT
ap-3039	283	1	[	[	X
ap-3039	283	2	12	12	NUM
ap-3039	283	3	]	]	PUNCT
ap-3039	283	4	k.	k.	PROPN
ap-3039	283	5	wurm	wurm	PROPN
ap-3039	283	6	,	,	PUNCT
ap-3039	283	7	c.	c.	PROPN
ap-3039	283	8	stachniss	stachniss	PROPN
ap-3039	283	9	,	,	PUNCT
ap-3039	283	10	w.	w.	PROPN
ap-3039	283	11	burgard	burgard	PROPN
ap-3039	283	12	.	.	PUNCT
ap-3039	284	1	coordinated	coordinate	VERB
ap-3039	284	2	multi	multi	ADJ
ap-3039	284	3	-	-	ADJ
ap-3039	284	4	robot	robot	ADJ
ap-3039	284	5	exploration	exploration	NOUN
ap-3039	284	6	using	use	VERB
ap-3039	284	7	a	a	DET
ap-3039	284	8	segmentation	segmentation	NOUN
ap-3039	284	9	of	of	ADP
ap-3039	284	10	the	the	DET
ap-3039	284	11	environment	environment	NOUN
ap-3039	284	12	.	.	PUNCT
ap-3039	285	1	in	in	ADP
ap-3039	285	2	proc	proc	PROPN
ap-3039	285	3	.	.	PUNCT
ap-3039	286	1	ieee	ieee	NOUN
ap-3039	286	2	/	/	SYM
ap-3039	286	3	rsj	rsj	NOUN
ap-3039	286	4	int	int	NOUN
ap-3039	286	5	.	.	PUNCT
ap-3039	286	6	conf	conf	PROPN
ap-3039	286	7	.	.	PUNCT
ap-3039	287	1	on	on	ADP
ap-3039	287	2	intelligent	intelligent	ADJ
ap-3039	287	3	robots	robot	NOUN
ap-3039	287	4	and	and	CCONJ
ap-3039	287	5	systems	system	NOUN
ap-3039	287	6	,	,	PUNCT
ap-3039	287	7	pp	pp	X
ap-3039	287	8	.	.	PUNCT
ap-3039	287	9	1160	1160	NUM
ap-3039	287	10	–	–	PUNCT
ap-3039	287	11	1165	1165	NUM
ap-3039	287	12	.	.	PUNCT
ap-3039	287	13	2008	2008	NUM
ap-3039	287	14	.	.	PUNCT
ap-3039	288	1	doi:10.1109	doi:10.1109	VERB
ap-3039	288	2	/	/	SYM
ap-3039	288	3	iros.2008.4650734	iros.2008.4650734	PROPN
ap-3039	288	4	.	.	PUNCT
ap-3039	289	1	[	[	X
ap-3039	289	2	13	13	NUM
ap-3039	289	3	]	]	X
ap-3039	289	4	h.	h.	PROPN
ap-3039	289	5	w.	w.	PROPN
ap-3039	289	6	kuhn	kuhn	PROPN
ap-3039	289	7	.	.	PUNCT
ap-3039	290	1	the	the	DET
ap-3039	290	2	hungarian	hungarian	ADJ
ap-3039	290	3	method	method	NOUN
ap-3039	290	4	for	for	ADP
ap-3039	290	5	the	the	DET
ap-3039	290	6	assignment	assignment	NOUN
ap-3039	290	7	problem	problem	NOUN
ap-3039	290	8	.	.	PUNCT
ap-3039	291	1	naval	naval	ADJ
ap-3039	291	2	research	research	PROPN
ap-3039	291	3	logistics	logistics	PROPN
ap-3039	291	4	quarterly	quarterly	PROPN
ap-3039	291	5	2:83–97	2:83–97	NUM
ap-3039	291	6	,	,	PUNCT
ap-3039	291	7	1955	1955	NUM
ap-3039	291	8	.	.	PUNCT
ap-3039	292	1	doi:10.1002	doi:10.1002	NOUN
ap-3039	292	2	/	/	SYM
ap-3039	292	3	nav.3800020109	nav.3800020109	VERB
ap-3039	292	4	.	.	PUNCT
ap-3039	293	1	[	[	X
ap-3039	293	2	14	14	NUM
ap-3039	293	3	]	]	X
ap-3039	293	4	w.	w.	PROPN
ap-3039	293	5	burgard	burgard	PROPN
ap-3039	293	6	,	,	PUNCT
ap-3039	293	7	m.	m.	NOUN
ap-3039	293	8	moors	moor	NOUN
ap-3039	293	9	,	,	PUNCT
ap-3039	293	10	c.	c.	NOUN
ap-3039	293	11	stachniss	stachniss	NOUN
ap-3039	293	12	,	,	PUNCT
ap-3039	293	13	f.	f.	PROPN
ap-3039	293	14	schneider	schneider	PROPN
ap-3039	293	15	.	.	PUNCT
ap-3039	294	1	coordinated	coordinate	VERB
ap-3039	294	2	multi	multi	ADJ
ap-3039	294	3	-	-	ADJ
ap-3039	294	4	robot	robot	ADJ
ap-3039	294	5	exploration	exploration	NOUN
ap-3039	294	6	.	.	PUNCT
ap-3039	295	1	robotics	robotic	NOUN
ap-3039	295	2	,	,	PUNCT
ap-3039	295	3	ieee	ieee	NOUN
ap-3039	295	4	transactions	transaction	NOUN
ap-3039	295	5	on	on	ADP
ap-3039	295	6	21(3):376–386	21(3):376–386	NUM
ap-3039	295	7	,	,	PUNCT
ap-3039	295	8	2005	2005	NUM
ap-3039	295	9	.	.	PUNCT
ap-3039	296	1	doi:10.1109	doi:10.1109	VERB
ap-3039	296	2	/	/	SYM
ap-3039	296	3	tro.2004.839232	tro.2004.839232	NOUN
ap-3039	296	4	.	.	PUNCT
ap-3039	297	1	[	[	X
ap-3039	297	2	15	15	NUM
ap-3039	297	3	]	]	X
ap-3039	297	4	c.	c.	NOUN
ap-3039	297	5	stachniss	stachniss	NOUN
ap-3039	297	6	,	,	PUNCT
ap-3039	297	7	o.	o.	PROPN
ap-3039	297	8	m.	m.	NOUN
ap-3039	297	9	mozos	mozos	PROPN
ap-3039	297	10	,	,	PUNCT
ap-3039	297	11	w.	w.	PROPN
ap-3039	297	12	burgard	burgard	PROPN
ap-3039	297	13	.	.	PUNCT
ap-3039	298	1	efficient	efficient	ADJ
ap-3039	298	2	exploration	exploration	NOUN
ap-3039	298	3	of	of	ADP
ap-3039	298	4	unknown	unknown	ADJ
ap-3039	298	5	indoor	indoor	ADJ
ap-3039	298	6	environments	environment	NOUN
ap-3039	298	7	using	use	VERB
ap-3039	298	8	a	a	DET
ap-3039	298	9	team	team	NOUN
ap-3039	298	10	of	of	ADP
ap-3039	298	11	mobile	mobile	ADJ
ap-3039	298	12	robots	robot	NOUN
ap-3039	298	13	.	.	PUNCT
ap-3039	299	1	annals	annal	NOUN
ap-3039	299	2	of	of	ADP
ap-3039	299	3	mathematics	mathematic	NOUN
ap-3039	299	4	and	and	CCONJ
ap-3039	299	5	artificial	artificial	ADJ
ap-3039	299	6	intelligence	intelligence	NOUN
ap-3039	299	7	52(2	52(2	NUM
ap-3039	299	8	-	-	PUNCT
ap-3039	299	9	4):205–227	4):205–227	NUM
ap-3039	299	10	,	,	PUNCT
ap-3039	299	11	2008	2008	NUM
ap-3039	299	12	.	.	PUNCT
ap-3039	300	1	doi:10.1007	doi:10.1007	VERB
ap-3039	300	2	/	/	SYM
ap-3039	300	3	s10472	s10472	PROPN
ap-3039	300	4	-	-	PUNCT
ap-3039	300	5	009	009	NUM
ap-3039	300	6	-	-	PUNCT
ap-3039	300	7	9123	9123	NUM
ap-3039	300	8	-	-	PUNCT
ap-3039	300	9	z.	z.	PROPN
ap-3039	301	1	[	[	X
ap-3039	301	2	16	16	NUM
ap-3039	301	3	]	]	PUNCT
ap-3039	301	4	a.	a.	NOUN
ap-3039	301	5	solanas	solanas	PROPN
ap-3039	301	6	,	,	PUNCT
ap-3039	301	7	m.	m.	NOUN
ap-3039	301	8	a.	a.	NOUN
ap-3039	301	9	garcia	garcia	PROPN
ap-3039	301	10	.	.	PUNCT
ap-3039	302	1	coordinated	coordinate	VERB
ap-3039	302	2	multi	multi	ADJ
ap-3039	302	3	-	-	ADJ
ap-3039	302	4	robot	robot	ADJ
ap-3039	302	5	exploration	exploration	NOUN
ap-3039	302	6	through	through	ADP
ap-3039	302	7	unsupervised	unsupervised	ADJ
ap-3039	302	8	clustering	clustering	NOUN
ap-3039	302	9	of	of	ADP
ap-3039	302	10	unknown	unknown	ADJ
ap-3039	302	11	space	space	NOUN
ap-3039	302	12	.	.	PUNCT
ap-3039	303	1	in	in	ADP
ap-3039	303	2	proc	proc	PROPN
ap-3039	303	3	.	.	PUNCT
ap-3039	304	1	int	int	NOUN
ap-3039	304	2	.	.	PUNCT
ap-3039	304	3	conf	conf	PROPN
ap-3039	304	4	.	.	PUNCT
ap-3039	305	1	on	on	ADP
ap-3039	305	2	intelligent	intelligent	ADJ
ap-3039	305	3	robots	robot	NOUN
ap-3039	305	4	and	and	CCONJ
ap-3039	305	5	systems	system	NOUN
ap-3039	305	6	,	,	PUNCT
ap-3039	305	7	vol	vol	NOUN
ap-3039	305	8	.	.	PROPN
ap-3039	305	9	1	1	NUM
ap-3039	305	10	,	,	PUNCT
ap-3039	305	11	pp	pp	ADJ
ap-3039	305	12	.	.	PUNCT
ap-3039	306	1	717–721	717–721	NUM
ap-3039	306	2	vol.1	vol.1	NUM
ap-3039	306	3	.	.	PUNCT
ap-3039	307	1	2004	2004	NUM
ap-3039	307	2	.	.	PUNCT
ap-3039	308	1	doi:10.1109	doi:10.1109	VERB
ap-3039	308	2	/	/	SYM
ap-3039	308	3	iros.2004.1389437	iros.2004.1389437	ADJ
ap-3039	308	4	.	.	PUNCT
ap-3039	309	1	[	[	X
ap-3039	309	2	17	17	NUM
ap-3039	309	3	]	]	X
ap-3039	309	4	d.	d.	PROPN
ap-3039	309	5	puig	puig	PROPN
ap-3039	309	6	,	,	PUNCT
ap-3039	309	7	m.	m.	NOUN
ap-3039	309	8	garcia	garcia	PROPN
ap-3039	309	9	,	,	PUNCT
ap-3039	309	10	l.	l.	PROPN
ap-3039	309	11	wu	wu	PROPN
ap-3039	309	12	.	.	PUNCT
ap-3039	310	1	a	a	DET
ap-3039	310	2	new	new	ADJ
ap-3039	310	3	global	global	ADJ
ap-3039	310	4	optimization	optimization	NOUN
ap-3039	310	5	strategy	strategy	NOUN
ap-3039	310	6	for	for	ADP
ap-3039	310	7	coordinated	coordinated	ADJ
ap-3039	310	8	multi	multi	ADJ
ap-3039	310	9	-	-	ADJ
ap-3039	310	10	robot	robot	ADJ
ap-3039	310	11	exploration	exploration	NOUN
ap-3039	310	12	:	:	PUNCT
ap-3039	310	13	development	development	NOUN
ap-3039	310	14	and	and	CCONJ
ap-3039	310	15	comparative	comparative	ADJ
ap-3039	310	16	evaluation	evaluation	NOUN
ap-3039	310	17	.	.	PUNCT
ap-3039	311	1	robotics	robotic	NOUN
ap-3039	311	2	and	and	CCONJ
ap-3039	311	3	autonomous	autonomous	ADJ
ap-3039	311	4	systems	system	NOUN
ap-3039	311	5	59(9):635–653	59(9):635–653	PROPN
ap-3039	311	6	,	,	PUNCT
ap-3039	311	7	2011	2011	NUM
ap-3039	311	8	.	.	PUNCT
ap-3039	312	1	doi:10.1016	doi:10.1016	PROPN
ap-3039	312	2	/	/	SYM
ap-3039	312	3	j.robot.2011.05.004	j.robot.2011.05.004	PROPN
ap-3039	312	4	.	.	PUNCT
ap-3039	313	1	[	[	X
ap-3039	313	2	18	18	NUM
ap-3039	313	3	]	]	PUNCT
ap-3039	313	4	m.	m.	NOUN
ap-3039	313	5	kulich	kulich	PROPN
ap-3039	313	6	,	,	PUNCT
ap-3039	313	7	l.	l.	PROPN
ap-3039	313	8	přeucil	přeucil	PROPN
ap-3039	313	9	,	,	PUNCT
ap-3039	313	10	c.	c.	PROPN
ap-3039	313	11	m.	m.	PROPN
ap-3039	313	12	b.	b.	PROPN
ap-3039	313	13	bront	bront	PROPN
ap-3039	313	14	.	.	PUNCT
ap-3039	314	1	single	single	ADJ
ap-3039	314	2	robot	robot	NOUN
ap-3039	314	3	search	search	NOUN
ap-3039	314	4	for	for	ADP
ap-3039	314	5	a	a	DET
ap-3039	314	6	stationary	stationary	ADJ
ap-3039	314	7	object	object	NOUN
ap-3039	314	8	in	in	ADP
ap-3039	314	9	an	an	DET
ap-3039	314	10	unknown	unknown	ADJ
ap-3039	314	11	environment	environment	NOUN
ap-3039	314	12	.	.	PUNCT
ap-3039	315	1	in	in	ADP
ap-3039	315	2	robotics	robotic	NOUN
ap-3039	315	3	and	and	CCONJ
ap-3039	315	4	automation	automation	NOUN
ap-3039	315	5	(	(	PUNCT
ap-3039	315	6	icra	icra	PROPN
ap-3039	315	7	)	)	PUNCT
ap-3039	315	8	,	,	PUNCT
ap-3039	315	9	2014	2014	NUM
ap-3039	315	10	ieee	ieee	PROPN
ap-3039	315	11	international	international	ADJ
ap-3039	315	12	conference	conference	NOUN
ap-3039	315	13	on	on	ADP
ap-3039	315	14	,	,	PUNCT
ap-3039	315	15	pp	pp	ADJ
ap-3039	315	16	.	.	PUNCT
ap-3039	315	17	5830–5835	5830–5835	NUM
ap-3039	315	18	.	.	PUNCT
ap-3039	315	19	2014	2014	NUM
ap-3039	315	20	.	.	PUNCT
ap-3039	316	1	doi:10.1109	doi:10.1109	VERB
ap-3039	316	2	/	/	SYM
ap-3039	316	3	icra.2014.6907716	icra.2014.6907716	NOUN
ap-3039	316	4	.	.	PUNCT
ap-3039	317	1	[	[	X
ap-3039	317	2	19	19	NUM
ap-3039	317	3	]	]	PUNCT
ap-3039	317	4	m.	m.	NOUN
ap-3039	317	5	juliá	juliá	PROPN
ap-3039	317	6	,	,	PUNCT
ap-3039	317	7	a.	a.	PROPN
ap-3039	317	8	gil	gil	PROPN
ap-3039	317	9	,	,	PUNCT
ap-3039	317	10	o.	o.	PROPN
ap-3039	317	11	reinoso	reinoso	NOUN
ap-3039	317	12	.	.	PUNCT
ap-3039	318	1	a	a	DET
ap-3039	318	2	comparison	comparison	NOUN
ap-3039	318	3	of	of	ADP
ap-3039	318	4	path	path	NOUN
ap-3039	318	5	planning	planning	NOUN
ap-3039	318	6	strategies	strategy	NOUN
ap-3039	318	7	for	for	ADP
ap-3039	318	8	autonomous	autonomous	ADJ
ap-3039	318	9	exploration	exploration	NOUN
ap-3039	318	10	and	and	CCONJ
ap-3039	318	11	mapping	mapping	NOUN
ap-3039	318	12	of	of	ADP
ap-3039	318	13	unknown	unknown	ADJ
ap-3039	318	14	environments	environment	NOUN
ap-3039	318	15	.	.	PUNCT
ap-3039	319	1	autonomous	autonomous	ADJ
ap-3039	319	2	robots	robot	NOUN
ap-3039	319	3	33(4):427–444	33(4):427–444	NUM
ap-3039	319	4	,	,	PUNCT
ap-3039	319	5	2012	2012	NUM
ap-3039	319	6	.	.	PUNCT
ap-3039	320	1	doi:10.1007	doi:10.1007	VERB
ap-3039	320	2	/	/	SYM
ap-3039	320	3	s10514	s10514	NOUN
ap-3039	320	4	-	-	PUNCT
ap-3039	320	5	012	012	NUM
ap-3039	320	6	-	-	PUNCT
ap-3039	320	7	9298	9298	NUM
ap-3039	320	8	-	-	SYM
ap-3039	320	9	8	8	NUM
ap-3039	320	10	.	.	PUNCT
ap-3039	321	1	[	[	X
ap-3039	321	2	20	20	NUM
ap-3039	321	3	]	]	PUNCT
ap-3039	321	4	b.	b.	PROPN
ap-3039	321	5	b.	b.	PROPN
ap-3039	321	6	werger	werger	PROPN
ap-3039	321	7	,	,	PUNCT
ap-3039	321	8	m.	m.	NOUN
ap-3039	321	9	j.	j.	PROPN
ap-3039	321	10	mataric	mataric	PROPN
ap-3039	321	11	.	.	PUNCT
ap-3039	322	1	broadcast	broadcast	NOUN
ap-3039	322	2	of	of	ADP
ap-3039	322	3	local	local	ADJ
ap-3039	322	4	eligibility	eligibility	NOUN
ap-3039	322	5	for	for	ADP
ap-3039	322	6	multi	multi	ADJ
ap-3039	322	7	-	-	ADJ
ap-3039	322	8	target	target	ADJ
ap-3039	322	9	observation	observation	NOUN
ap-3039	322	10	.	.	PUNCT
ap-3039	323	1	in	in	ADP
ap-3039	323	2	l.	l.	PROPN
ap-3039	323	3	parker	parker	PROPN
ap-3039	323	4	,	,	PUNCT
ap-3039	323	5	g.	g.	PROPN
ap-3039	323	6	bekey	bekey	PROPN
ap-3039	323	7	,	,	PUNCT
ap-3039	323	8	j.	j.	PROPN
ap-3039	323	9	barhen	barhen	PROPN
ap-3039	323	10	(	(	PUNCT
ap-3039	323	11	eds	ed	NOUN
ap-3039	323	12	.	.	PUNCT
ap-3039	323	13	)	)	PUNCT
ap-3039	323	14	,	,	PUNCT
ap-3039	323	15	distributed	distribute	VERB
ap-3039	323	16	autonomous	autonomous	ADJ
ap-3039	323	17	robotic	robotic	ADJ
ap-3039	323	18	systems	system	NOUN
ap-3039	323	19	4	4	NUM
ap-3039	323	20	,	,	PUNCT
ap-3039	323	21	pp	pp	ADJ
ap-3039	323	22	.	.	PUNCT
ap-3039	324	1	347–356	347–356	NUM
ap-3039	324	2	.	.	PUNCT
ap-3039	324	3	springer	springer	NOUN
ap-3039	324	4	-	-	PUNCT
ap-3039	324	5	verlag	verlag	PROPN
ap-3039	324	6	,	,	PUNCT
ap-3039	324	7	2001	2001	NUM
ap-3039	324	8	.	.	PUNCT
ap-3039	325	1	doi:10.1007/978	doi:10.1007/978	ADJ
ap-3039	325	2	-	-	PUNCT
ap-3039	325	3	4	4	NUM
ap-3039	325	4	-	-	PUNCT
ap-3039	325	5	431	431	NUM
ap-3039	325	6	-	-	PUNCT
ap-3039	325	7	67919	67919	NUM
ap-3039	325	8	-	-	PUNCT
ap-3039	325	9	6_33	6_33	NUM
ap-3039	325	10	.	.	PUNCT
ap-3039	326	1	[	[	X
ap-3039	326	2	21	21	NUM
ap-3039	326	3	]	]	PUNCT
ap-3039	326	4	t.	t.	NOUN
ap-3039	326	5	juchelka	juchelka	PROPN
ap-3039	326	6	,	,	PUNCT
ap-3039	326	7	m.	m.	NOUN
ap-3039	326	8	kulich	kulich	PROPN
ap-3039	326	9	,	,	PUNCT
ap-3039	326	10	l.	l.	PROPN
ap-3039	326	11	preucil	preucil	PROPN
ap-3039	326	12	.	.	PUNCT
ap-3039	327	1	multi	multi	ADJ
ap-3039	327	2	-	-	ADJ
ap-3039	327	3	robot	robot	ADJ
ap-3039	327	4	exploration	exploration	NOUN
ap-3039	327	5	in	in	ADP
ap-3039	327	6	the	the	DET
ap-3039	327	7	polygonal	polygonal	ADJ
ap-3039	327	8	domain	domain	NOUN
ap-3039	327	9	.	.	PUNCT
ap-3039	328	1	in	in	ADP
ap-3039	328	2	int	int	PROPN
ap-3039	328	3	.	.	PUNCT
ap-3039	329	1	conf	conf	PROPN
ap-3039	329	2	.	.	PUNCT
ap-3039	330	1	on	on	ADP
ap-3039	330	2	automated	automate	VERB
ap-3039	330	3	planning	planning	NOUN
ap-3039	330	4	:	:	PUNCT
ap-3039	330	5	workshop	workshop	NOUN
ap-3039	330	6	on	on	ADP
ap-3039	330	7	planning	planning	NOUN
ap-3039	330	8	and	and	CCONJ
ap-3039	330	9	robotics	robotic	NOUN
ap-3039	330	10	.	.	PUNCT
ap-3039	331	1	2013	2013	NUM
ap-3039	331	2	.	.	PUNCT
ap-3039	332	1	[	[	X
ap-3039	332	2	22	22	NUM
ap-3039	332	3	]	]	PUNCT
ap-3039	332	4	m.	m.	NOUN
ap-3039	332	5	quigley	quigley	PROPN
ap-3039	332	6	,	,	PUNCT
ap-3039	332	7	k.	k.	PROPN
ap-3039	332	8	conley	conley	PROPN
ap-3039	332	9	,	,	PUNCT
ap-3039	332	10	b.	b.	PROPN
ap-3039	332	11	p.	p.	PROPN
ap-3039	332	12	gerkey	gerkey	PROPN
ap-3039	332	13	,	,	PUNCT
ap-3039	332	14	et	et	PROPN
ap-3039	332	15	al	al	PROPN
ap-3039	332	16	.	.	PUNCT
ap-3039	333	1	ros	ros	PROPN
ap-3039	333	2	:	:	PUNCT
ap-3039	333	3	an	an	DET
ap-3039	333	4	open	open	ADJ
ap-3039	333	5	-	-	PUNCT
ap-3039	333	6	source	source	NOUN
ap-3039	333	7	robot	robot	NOUN
ap-3039	333	8	operating	operating	NOUN
ap-3039	333	9	system	system	NOUN
ap-3039	333	10	.	.	PUNCT
ap-3039	334	1	in	in	ADP
ap-3039	334	2	proc	proc	PROPN
ap-3039	334	3	.	.	PUNCT
ap-3039	335	1	ieee	ieee	PROPN
ap-3039	335	2	int	int	PROPN
ap-3039	335	3	.	.	PUNCT
ap-3039	335	4	conf	conf	PROPN
ap-3039	335	5	.	.	PUNCT
ap-3039	336	1	on	on	ADP
ap-3039	336	2	robotics	robotic	NOUN
ap-3039	336	3	and	and	CCONJ
ap-3039	336	4	automation	automation	NOUN
ap-3039	336	5	:	:	PUNCT
ap-3039	336	6	workshop	workshop	NOUN
ap-3039	336	7	on	on	ADP
ap-3039	336	8	open	open	ADJ
ap-3039	336	9	source	source	NOUN
ap-3039	336	10	software	software	NOUN
ap-3039	336	11	.	.	PUNCT
ap-3039	337	1	2009	2009	NUM
ap-3039	337	2	.	.	PUNCT
ap-3039	338	1	[	[	X
ap-3039	338	2	23	23	NUM
ap-3039	338	3	]	]	PUNCT
ap-3039	338	4	j.	j.	PROPN
ap-3039	338	5	w.	w.	PROPN
ap-3039	338	6	durham	durham	PROPN
ap-3039	338	7	,	,	PUNCT
ap-3039	338	8	f.	f.	PROPN
ap-3039	338	9	bullo	bullo	PROPN
ap-3039	338	10	.	.	PUNCT
ap-3039	339	1	smooth	smooth	ADJ
ap-3039	339	2	nearness	nearness	NOUN
ap-3039	339	3	-	-	PUNCT
ap-3039	339	4	diagram	diagram	NOUN
ap-3039	339	5	navigation	navigation	NOUN
ap-3039	339	6	.	.	PUNCT
ap-3039	340	1	in	in	ADP
ap-3039	340	2	proc	proc	PROPN
ap-3039	340	3	.	.	PUNCT
ap-3039	341	1	ieee	ieee	NOUN
ap-3039	341	2	/	/	SYM
ap-3039	341	3	rsj	rsj	NOUN
ap-3039	341	4	int	int	NOUN
ap-3039	341	5	.	.	PUNCT
ap-3039	341	6	conf	conf	PROPN
ap-3039	341	7	.	.	PUNCT
ap-3039	342	1	on	on	ADP
ap-3039	342	2	intelligent	intelligent	ADJ
ap-3039	342	3	robots	robot	NOUN
ap-3039	342	4	and	and	CCONJ
ap-3039	342	5	systems	system	NOUN
ap-3039	342	6	,	,	PUNCT
ap-3039	342	7	pp	pp	ADV
ap-3039	342	8	.	.	PUNCT
ap-3039	343	1	690–695	690–695	NUM
ap-3039	343	2	.	.	X
ap-3039	343	3	2008	2008	NUM
ap-3039	343	4	.	.	PUNCT
ap-3039	344	1	doi:10.1109	doi:10.1109	VERB
ap-3039	344	2	/	/	SYM
ap-3039	344	3	iros.2008.4651071	iros.2008.4651071	NOUN
ap-3039	344	4	.	.	PUNCT
ap-3039	345	1	168	168	NUM
ap-3039	345	2	http://dx.doi.org/10.1007/s10288-011-0153-0	http://dx.doi.org/10.1007/s10288-011-0153-0	NOUN
ap-3039	345	3	http://dx.doi.org/10.1007/s10288-012-0212-1	http://dx.doi.org/10.1007/s10288-012-0212-1	PROPN
ap-3039	345	4	http://dx.doi.org/10.1016/j.dam.2008.05.009	http://dx.doi.org/10.1016/j.dam.2008.05.009	PROPN
ap-3039	345	5	http://dx.doi.org/10.1145/280765.280773	http://dx.doi.org/10.1145/280765.280773	PROPN
ap-3039	346	1	http://dx.doi.org/10.1109/robot.2008.4543637	http://dx.doi.org/10.1109/robot.2008.4543637	PROPN
ap-3039	346	2	http://dx.doi.org/10.1109/iros.2008.4650734	http://dx.doi.org/10.1109/iros.2008.4650734	PROPN
ap-3039	346	3	http://dx.doi.org/10.1002/nav.3800020109	http://dx.doi.org/10.1002/nav.3800020109	VERB
ap-3039	346	4	http://dx.doi.org/10.1109/tro.2004.839232	http://dx.doi.org/10.1109/tro.2004.839232	PRON
ap-3039	346	5	http://dx.doi.org/10.1007/s10472-009-9123-z	http://dx.doi.org/10.1007/s10472-009-9123-z	NOUN
ap-3039	346	6	http://dx.doi.org/10.1109/iros.2004.1389437	http://dx.doi.org/10.1109/iros.2004.1389437	X
ap-3039	346	7	http://dx.doi.org/10.1016/j.robot.2011.05.004	http://dx.doi.org/10.1016/j.robot.2011.05.004	PROPN
ap-3039	346	8	http://dx.doi.org/10.1109/icra.2014.6907716	http://dx.doi.org/10.1109/icra.2014.6907716	NOUN
ap-3039	346	9	http://dx.doi.org/10.1007/s10514-012-9298-8	http://dx.doi.org/10.1007/s10514-012-9298-8	X
ap-3039	347	1	http://dx.doi.org/10.1007/978-4-431-67919-6_33	http://dx.doi.org/10.1007/978-4-431-67919-6_33	PROPN
ap-3039	347	2	http://dx.doi.org/10.1109/iros.2008.4651071	http://dx.doi.org/10.1109/iros.2008.4651071	NOUN
ap-3039	347	3	acta	acta	PROPN
ap-3039	347	4	polytechnica	polytechnica	PROPN
ap-3039	347	5	55(3):162–168	55(3):162–168	PROPN
ap-3039	347	6	,	,	PUNCT
ap-3039	347	7	2015	2015	NUM
ap-3039	347	8	1	1	NUM
ap-3039	347	9	introduction	introduction	NOUN
ap-3039	347	10	2	2	NUM
ap-3039	347	11	problem	problem	NOUN
ap-3039	347	12	formulation	formulation	NOUN
ap-3039	347	13	3	3	NUM
ap-3039	347	14	framework	framework	NOUN
ap-3039	347	15	4	4	NUM
ap-3039	347	16	exploration	exploration	NOUN
ap-3039	347	17	strategies	strategy	NOUN
ap-3039	347	18	4.1	4.1	NUM
ap-3039	347	19	greedy	greedy	ADJ
ap-3039	347	20	approach	approach	VERB
ap-3039	347	21	4.2	4.2	NUM
ap-3039	347	22	the	the	DET
ap-3039	347	23	hungarian	hungarian	ADJ
ap-3039	347	24	method	method	NOUN
ap-3039	347	25	4.3	4.3	NUM
ap-3039	347	26	k	k	NOUN
ap-3039	347	27	-	-	PUNCT
ap-3039	347	28	means	means	NOUN
ap-3039	347	29	clustering	cluster	VERB
ap-3039	347	30	5	5	NUM
ap-3039	347	31	results	result	NOUN
ap-3039	347	32	6	6	NUM
ap-3039	347	33	conclusion	conclusion	NOUN
ap-3039	347	34	acknowledgements	acknowledgement	NOUN
ap-3039	347	35	references	reference	NOUN