id	sid	tid	token	lemma	pos
ap-3040	1	1	acta	acta	PROPN
ap-3040	1	2	polytechnica	polytechnica	PROPN
ap-3040	1	3	doi:10.14311	doi:10.14311	PROPN
ap-3040	1	4	/	/	SYM
ap-3040	1	5	ap.2015.55.0169	ap.2015.55.0169	PROPN
ap-3040	1	6	acta	acta	PROPN
ap-3040	1	7	polytechnica	polytechnica	PROPN
ap-3040	1	8	55(3):169–176	55(3):169–176	PROPN
ap-3040	1	9	,	,	PUNCT
ap-3040	1	10	2015	2015	NUM
ap-3040	1	11	©	©	PROPN
ap-3040	1	12	czech	czech	PROPN
ap-3040	1	13	technical	technical	PROPN
ap-3040	1	14	university	university	PROPN
ap-3040	1	15	in	in	ADP
ap-3040	1	16	prague	prague	PROPN
ap-3040	1	17	,	,	PUNCT
ap-3040	1	18	2015	2015	NUM
ap-3040	1	19	available	available	ADJ
ap-3040	1	20	online	online	ADV
ap-3040	1	21	at	at	ADP
ap-3040	1	22	http://ojs.cvut.cz/ojs/index.php/ap	http://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-3040	1	23	decentralized	decentralize	VERB
ap-3040	1	24	multi	multi	ADJ
ap-3040	1	25	-	-	ADJ
ap-3040	1	26	robot	robot	ADJ
ap-3040	1	27	planning	planning	NOUN
ap-3040	1	28	to	to	PART
ap-3040	1	29	explore	explore	VERB
ap-3040	1	30	and	and	CCONJ
ap-3040	1	31	perceive	perceive	ADJ
ap-3040	1	32	laetitia	laetitia	PROPN
ap-3040	1	33	matignona,∗	matignona,∗	PROPN
ap-3040	1	34	,	,	PUNCT
ap-3040	1	35	laurent	laurent	PROPN
ap-3040	1	36	jeanpierreb	jeanpierreb	PROPN
ap-3040	1	37	,	,	PUNCT
ap-3040	1	38	abdel	abdel	PROPN
ap-3040	1	39	-	-	PUNCT
ap-3040	1	40	illah	illah	PROPN
ap-3040	1	41	mouaddibb	mouaddibb	VERB
ap-3040	1	42	a	a	DET
ap-3040	1	43	université	université	PROPN
ap-3040	1	44	lyon	lyon	PROPN
ap-3040	1	45	1	1	NUM
ap-3040	1	46	,	,	PUNCT
ap-3040	1	47	liris	liris	PROPN
ap-3040	1	48	umr5205	umr5205	PROPN
ap-3040	1	49	,	,	PUNCT
ap-3040	2	1	f-69622	f-69622	PROPN
ap-3040	2	2	,	,	PUNCT
ap-3040	2	3	france	france	PROPN
ap-3040	2	4	b	b	PROPN
ap-3040	2	5	université	université	PROPN
ap-3040	2	6	caen	caen	PROPN
ap-3040	2	7	basse	basse	PROPN
ap-3040	2	8	-	-	PUNCT
ap-3040	2	9	normandie	normandie	PROPN
ap-3040	2	10	,	,	PUNCT
ap-3040	2	11	greyc	greyc	ADJ
ap-3040	2	12	umr6072	umr6072	NOUN
ap-3040	2	13	,	,	PUNCT
ap-3040	2	14	f-14032	f-14032	PROPN
ap-3040	2	15	,	,	PUNCT
ap-3040	2	16	france	france	PROPN
ap-3040	2	17	∗	∗	NOUN
ap-3040	2	18	corresponding	correspond	VERB
ap-3040	2	19	author	author	NOUN
ap-3040	2	20	:	:	PUNCT
ap-3040	2	21	laetitia.matignon@univ-lyon1.fr	laetitia.matignon@univ-lyon1.fr	VERB
ap-3040	2	22	abstract	abstract	ADJ
ap-3040	2	23	.	.	PUNCT
ap-3040	3	1	in	in	ADP
ap-3040	3	2	a	a	DET
ap-3040	3	3	recent	recent	ADJ
ap-3040	3	4	french	french	ADJ
ap-3040	3	5	robotic	robotic	ADJ
ap-3040	3	6	contest	contest	NOUN
ap-3040	3	7	,	,	PUNCT
ap-3040	3	8	the	the	DET
ap-3040	3	9	objective	objective	NOUN
ap-3040	3	10	was	be	AUX
ap-3040	3	11	to	to	PART
ap-3040	3	12	develop	develop	VERB
ap-3040	3	13	a	a	DET
ap-3040	3	14	multi	multi	ADJ
ap-3040	3	15	-	-	ADJ
ap-3040	3	16	robot	robot	ADJ
ap-3040	3	17	system	system	NOUN
ap-3040	3	18	able	able	ADJ
ap-3040	3	19	to	to	PART
ap-3040	3	20	autonomously	autonomously	ADV
ap-3040	3	21	map	map	VERB
ap-3040	3	22	and	and	CCONJ
ap-3040	3	23	explore	explore	VERB
ap-3040	3	24	an	an	DET
ap-3040	3	25	unknown	unknown	ADJ
ap-3040	3	26	area	area	NOUN
ap-3040	3	27	while	while	SCONJ
ap-3040	3	28	also	also	ADV
ap-3040	3	29	detecting	detect	VERB
ap-3040	3	30	and	and	CCONJ
ap-3040	3	31	localizing	localize	VERB
ap-3040	3	32	objects	object	NOUN
ap-3040	3	33	.	.	PUNCT
ap-3040	4	1	as	as	ADP
ap-3040	4	2	a	a	DET
ap-3040	4	3	participant	participant	NOUN
ap-3040	4	4	in	in	ADP
ap-3040	4	5	this	this	DET
ap-3040	4	6	challenge	challenge	NOUN
ap-3040	4	7	,	,	PUNCT
ap-3040	4	8	we	we	PRON
ap-3040	4	9	proposed	propose	VERB
ap-3040	4	10	a	a	DET
ap-3040	4	11	new	new	ADJ
ap-3040	4	12	decentralized	decentralize	VERB
ap-3040	4	13	markov	markov	NOUN
ap-3040	4	14	decision	decision	NOUN
ap-3040	4	15	process	process	NOUN
ap-3040	4	16	(	(	PUNCT
ap-3040	4	17	dec	dec	PROPN
ap-3040	4	18	-	-	PUNCT
ap-3040	4	19	mdp	mdp	PROPN
ap-3040	4	20	)	)	PUNCT
ap-3040	4	21	resolution	resolution	NOUN
ap-3040	4	22	based	base	VERB
ap-3040	4	23	on	on	ADP
ap-3040	4	24	distributed	distribute	VERB
ap-3040	4	25	value	value	NOUN
ap-3040	4	26	functions	function	NOUN
ap-3040	4	27	(	(	PUNCT
ap-3040	4	28	dvf	dvf	PROPN
ap-3040	4	29	)	)	PUNCT
ap-3040	4	30	to	to	PART
ap-3040	4	31	compute	compute	VERB
ap-3040	4	32	multi	multi	ADJ
ap-3040	4	33	-	-	ADJ
ap-3040	4	34	robot	robot	ADJ
ap-3040	4	35	exploration	exploration	NOUN
ap-3040	4	36	strategies	strategy	NOUN
ap-3040	4	37	.	.	PUNCT
ap-3040	5	1	the	the	DET
ap-3040	5	2	idea	idea	NOUN
ap-3040	5	3	is	be	AUX
ap-3040	5	4	to	to	PART
ap-3040	5	5	take	take	VERB
ap-3040	5	6	advantage	advantage	NOUN
ap-3040	5	7	of	of	ADP
ap-3040	5	8	sparse	sparse	ADJ
ap-3040	5	9	interactions	interaction	NOUN
ap-3040	5	10	by	by	ADP
ap-3040	5	11	allowing	allow	VERB
ap-3040	5	12	each	each	DET
ap-3040	5	13	robot	robot	NOUN
ap-3040	5	14	to	to	PART
ap-3040	5	15	calculate	calculate	VERB
ap-3040	5	16	locally	locally	ADV
ap-3040	5	17	a	a	DET
ap-3040	5	18	strategy	strategy	NOUN
ap-3040	5	19	that	that	PRON
ap-3040	5	20	maximizes	maximize	VERB
ap-3040	5	21	the	the	DET
ap-3040	5	22	explored	explore	VERB
ap-3040	5	23	space	space	NOUN
ap-3040	5	24	while	while	SCONJ
ap-3040	5	25	minimizing	minimize	VERB
ap-3040	5	26	robots	robot	NOUN
ap-3040	5	27	interactions	interaction	NOUN
ap-3040	5	28	.	.	PUNCT
ap-3040	6	1	in	in	ADP
ap-3040	6	2	this	this	DET
ap-3040	6	3	paper	paper	NOUN
ap-3040	6	4	,	,	PUNCT
ap-3040	6	5	we	we	PRON
ap-3040	6	6	propose	propose	VERB
ap-3040	6	7	an	an	DET
ap-3040	6	8	adaptation	adaptation	NOUN
ap-3040	6	9	of	of	ADP
ap-3040	6	10	this	this	DET
ap-3040	6	11	method	method	NOUN
ap-3040	6	12	to	to	PART
ap-3040	6	13	improve	improve	VERB
ap-3040	6	14	also	also	ADV
ap-3040	6	15	object	object	VERB
ap-3040	6	16	recognition	recognition	NOUN
ap-3040	6	17	by	by	ADP
ap-3040	6	18	integrating	integrate	VERB
ap-3040	6	19	into	into	ADP
ap-3040	6	20	the	the	DET
ap-3040	6	21	dvf	dvf	PROPN
ap-3040	6	22	the	the	DET
ap-3040	6	23	interest	interest	NOUN
ap-3040	6	24	in	in	ADP
ap-3040	6	25	covering	cover	VERB
ap-3040	6	26	explored	explore	VERB
ap-3040	6	27	areas	area	NOUN
ap-3040	6	28	with	with	ADP
ap-3040	6	29	photos	photo	NOUN
ap-3040	6	30	.	.	PUNCT
ap-3040	7	1	the	the	DET
ap-3040	7	2	robots	robot	NOUN
ap-3040	7	3	will	will	AUX
ap-3040	7	4	then	then	ADV
ap-3040	7	5	act	act	VERB
ap-3040	7	6	to	to	PART
ap-3040	7	7	maximize	maximize	VERB
ap-3040	7	8	the	the	DET
ap-3040	7	9	explored	explore	VERB
ap-3040	7	10	space	space	NOUN
ap-3040	7	11	and	and	CCONJ
ap-3040	7	12	the	the	DET
ap-3040	7	13	photo	photo	NOUN
ap-3040	7	14	coverage	coverage	NOUN
ap-3040	7	15	,	,	PUNCT
ap-3040	7	16	ensuring	ensure	VERB
ap-3040	7	17	better	well	ADJ
ap-3040	7	18	perception	perception	NOUN
ap-3040	7	19	and	and	CCONJ
ap-3040	7	20	object	object	NOUN
ap-3040	7	21	recognition	recognition	NOUN
ap-3040	7	22	.	.	PUNCT
ap-3040	8	1	keywords	keyword	NOUN
ap-3040	8	2	:	:	PUNCT
ap-3040	8	3	cooperative	cooperative	ADJ
ap-3040	8	4	multi	multi	ADJ
ap-3040	8	5	-	-	ADJ
ap-3040	8	6	robot	robot	ADJ
ap-3040	8	7	systems	system	NOUN
ap-3040	8	8	,	,	PUNCT
ap-3040	8	9	robot	robot	NOUN
ap-3040	8	10	coordination	coordination	NOUN
ap-3040	8	11	,	,	PUNCT
ap-3040	8	12	robot	robot	NOUN
ap-3040	8	13	planning	planning	NOUN
ap-3040	8	14	,	,	PUNCT
ap-3040	8	15	multi	multi	ADJ
ap-3040	8	16	-	-	ADJ
ap-3040	8	17	robot	robot	ADJ
ap-3040	8	18	exploration	exploration	NOUN
ap-3040	8	19	,	,	PUNCT
ap-3040	8	20	active	active	ADJ
ap-3040	8	21	perception	perception	NOUN
ap-3040	8	22	.	.	PUNCT
ap-3040	9	1	1	1	X
ap-3040	9	2	.	.	X
ap-3040	9	3	introduction	introduction	NOUN
ap-3040	9	4	some	some	DET
ap-3040	9	5	key	key	ADJ
ap-3040	9	6	challenges	challenge	NOUN
ap-3040	9	7	of	of	ADP
ap-3040	9	8	robotics	robotic	NOUN
ap-3040	9	9	reported	report	VERB
ap-3040	9	10	in	in	ADP
ap-3040	9	11	the	the	DET
ap-3040	9	12	recent	recent	ADJ
ap-3040	9	13	roadmap	roadmap	NOUN
ap-3040	9	14	for	for	ADP
ap-3040	9	15	u.s	u.s	PROPN
ap-3040	9	16	.	.	PROPN
ap-3040	9	17	robotics	robotic	NOUN
ap-3040	10	1	[	[	X
ap-3040	10	2	1	1	NUM
ap-3040	10	3	]	]	PUNCT
ap-3040	10	4	,	,	PUNCT
ap-3040	10	5	e.g.	e.g.	ADV
ap-3040	10	6	,	,	PUNCT
ap-3040	10	7	planetary	planetary	ADJ
ap-3040	10	8	missions	mission	NOUN
ap-3040	10	9	and	and	CCONJ
ap-3040	10	10	service	service	NOUN
ap-3040	10	11	robotics	robotic	NOUN
ap-3040	10	12	,	,	PUNCT
ap-3040	10	13	require	require	VERB
ap-3040	10	14	mobile	mobile	ADJ
ap-3040	10	15	robots	robot	NOUN
ap-3040	10	16	to	to	PART
ap-3040	10	17	travel	travel	VERB
ap-3040	10	18	autonomously	autonomously	ADV
ap-3040	10	19	around	around	ADP
ap-3040	10	20	unknown	unknown	ADJ
ap-3040	10	21	environments	environment	NOUN
ap-3040	10	22	and	and	CCONJ
ap-3040	10	23	to	to	PART
ap-3040	10	24	augment	augment	VERB
ap-3040	10	25	metric	metric	ADJ
ap-3040	10	26	maps	map	NOUN
ap-3040	10	27	with	with	ADP
ap-3040	10	28	higher	high	ADJ
ap-3040	10	29	-	-	PUNCT
ap-3040	10	30	order	order	NOUN
ap-3040	10	31	semantic	semantic	ADJ
ap-3040	10	32	information	information	NOUN
ap-3040	10	33	such	such	ADJ
ap-3040	10	34	as	as	ADP
ap-3040	10	35	the	the	DET
ap-3040	10	36	location	location	NOUN
ap-3040	10	37	and	and	CCONJ
ap-3040	10	38	the	the	DET
ap-3040	10	39	identity	identity	NOUN
ap-3040	10	40	of	of	ADP
ap-3040	10	41	objects	object	NOUN
ap-3040	10	42	in	in	ADP
ap-3040	10	43	the	the	DET
ap-3040	10	44	environment	environment	NOUN
ap-3040	10	45	.	.	PUNCT
ap-3040	11	1	the	the	DET
ap-3040	11	2	ability	ability	NOUN
ap-3040	11	3	of	of	ADP
ap-3040	11	4	the	the	DET
ap-3040	11	5	mobile	mobile	ADJ
ap-3040	11	6	robots	robot	NOUN
ap-3040	11	7	that	that	PRON
ap-3040	11	8	gather	gather	VERB
ap-3040	11	9	the	the	DET
ap-3040	11	10	necessary	necessary	ADJ
ap-3040	11	11	information	information	NOUN
ap-3040	11	12	to	to	PART
ap-3040	11	13	obtain	obtain	VERB
ap-3040	11	14	a	a	DET
ap-3040	11	15	useful	useful	ADJ
ap-3040	11	16	map	map	NOUN
ap-3040	11	17	for	for	ADP
ap-3040	11	18	navigation	navigation	NOUN
ap-3040	11	19	is	be	AUX
ap-3040	11	20	called	call	VERB
ap-3040	11	21	autonomous	autonomous	ADJ
ap-3040	11	22	exploration	exploration	NOUN
ap-3040	11	23	.	.	PUNCT
ap-3040	12	1	this	this	PRON
ap-3040	12	2	was	be	AUX
ap-3040	12	3	the	the	DET
ap-3040	12	4	central	central	ADJ
ap-3040	12	5	topic	topic	NOUN
ap-3040	12	6	of	of	ADP
ap-3040	12	7	a	a	DET
ap-3040	12	8	dga1	dga1	NOUN
ap-3040	12	9	/	/	SYM
ap-3040	12	10	nra2	nra2	NOUN
ap-3040	12	11	robotic	robotic	ADJ
ap-3040	12	12	challenge	challenge	NOUN
ap-3040	12	13	,	,	PUNCT
ap-3040	12	14	in	in	ADP
ap-3040	12	15	which	which	PRON
ap-3040	12	16	multiple	multiple	ADJ
ap-3040	12	17	robots	robot	NOUN
ap-3040	12	18	have	have	VERB
ap-3040	12	19	to	to	PART
ap-3040	12	20	explore	explore	VERB
ap-3040	12	21	and	and	CCONJ
ap-3040	12	22	map	map	VERB
ap-3040	12	23	some	some	DET
ap-3040	12	24	unknown	unknown	ADJ
ap-3040	12	25	indoor	indoor	ADJ
ap-3040	12	26	area	area	NOUN
ap-3040	12	27	while	while	SCONJ
ap-3040	12	28	recognizing	recognize	VERB
ap-3040	12	29	and	and	CCONJ
ap-3040	12	30	localizing	localize	VERB
ap-3040	12	31	objects	object	NOUN
ap-3040	12	32	in	in	ADP
ap-3040	12	33	this	this	DET
ap-3040	12	34	area	area	NOUN
ap-3040	12	35	.	.	PUNCT
ap-3040	13	1	the	the	DET
ap-3040	13	2	scientific	scientific	ADJ
ap-3040	13	3	issues	issue	NOUN
ap-3040	13	4	of	of	ADP
ap-3040	13	5	this	this	DET
ap-3040	13	6	project	project	NOUN
ap-3040	13	7	involve	involve	VERB
ap-3040	13	8	slam3	slam3	NOUN
ap-3040	13	9	,	,	PUNCT
ap-3040	13	10	object	object	VERB
ap-3040	13	11	recognition	recognition	NOUN
ap-3040	13	12	and	and	CCONJ
ap-3040	13	13	multi	multi	ADJ
ap-3040	13	14	-	-	ADJ
ap-3040	13	15	robot	robot	ADJ
ap-3040	13	16	collaboration	collaboration	NOUN
ap-3040	13	17	for	for	ADP
ap-3040	13	18	exploration	exploration	NOUN
ap-3040	13	19	.	.	PUNCT
ap-3040	14	1	as	as	ADP
ap-3040	14	2	a	a	DET
ap-3040	14	3	participant	participant	NOUN
ap-3040	14	4	in	in	ADP
ap-3040	14	5	this	this	DET
ap-3040	14	6	challenge	challenge	NOUN
ap-3040	14	7	,	,	PUNCT
ap-3040	14	8	we	we	PRON
ap-3040	14	9	mainly	mainly	ADV
ap-3040	14	10	focused	focus	VERB
ap-3040	14	11	on	on	ADP
ap-3040	14	12	multi	multi	ADJ
ap-3040	14	13	-	-	ADJ
ap-3040	14	14	robot	robot	ADJ
ap-3040	14	15	collaboration	collaboration	NOUN
ap-3040	14	16	for	for	ADP
ap-3040	14	17	exploration	exploration	NOUN
ap-3040	14	18	.	.	PUNCT
ap-3040	15	1	we	we	PRON
ap-3040	15	2	were	be	AUX
ap-3040	15	3	particularly	particularly	ADV
ap-3040	15	4	interested	interested	ADJ
ap-3040	15	5	in	in	ADP
ap-3040	15	6	multi	multi	ADJ
ap-3040	15	7	-	-	ADJ
ap-3040	15	8	robot	robot	ADJ
ap-3040	15	9	exploration	exploration	NOUN
ap-3040	15	10	strategies	strategy	NOUN
ap-3040	15	11	.	.	PUNCT
ap-3040	16	1	we	we	PRON
ap-3040	16	2	proposed	propose	VERB
ap-3040	16	3	a	a	DET
ap-3040	16	4	new	new	ADJ
ap-3040	16	5	dec	dec	PROPN
ap-3040	16	6	-	-	PUNCT
ap-3040	16	7	mdp	mdp	PROPN
ap-3040	16	8	(	(	PUNCT
ap-3040	16	9	decentralized	decentralize	VERB
ap-3040	16	10	markov	markov	NOUN
ap-3040	16	11	decision	decision	NOUN
ap-3040	16	12	process	process	NOUN
ap-3040	16	13	)	)	PUNCT
ap-3040	16	14	resolution	resolution	NOUN
ap-3040	16	15	technique	technique	NOUN
ap-3040	16	16	based	base	VERB
ap-3040	16	17	on	on	ADP
ap-3040	16	18	the	the	DET
ap-3040	16	19	distributed	distribute	VERB
ap-3040	16	20	value	value	NOUN
ap-3040	16	21	function	function	NOUN
ap-3040	16	22	(	(	PUNCT
ap-3040	16	23	dvf	dvf	PROPN
ap-3040	16	24	)	)	PUNCT
ap-3040	16	25	to	to	PART
ap-3040	16	26	consider	consider	VERB
ap-3040	16	27	sparse	sparse	ADJ
ap-3040	16	28	interactions	interaction	NOUN
ap-3040	16	29	.	.	PUNCT
ap-3040	17	1	our	our	PRON
ap-3040	17	2	dec	dec	PROPN
ap-3040	17	3	-	-	PUNCT
ap-3040	17	4	mdp	mdp	PROPN
ap-3040	17	5	model	model	NOUN
ap-3040	17	6	for	for	ADP
ap-3040	17	7	exploration	exploration	NOUN
ap-3040	17	8	and	and	CCONJ
ap-3040	17	9	its	its	PRON
ap-3040	17	10	resolution	resolution	NOUN
ap-3040	17	11	based	base	VERB
ap-3040	17	12	on	on	ADP
ap-3040	17	13	dvf	dvf	PROPN
ap-3040	17	14	were	be	AUX
ap-3040	17	15	applied	apply	VERB
ap-3040	17	16	for	for	ADP
ap-3040	17	17	the	the	DET
ap-3040	17	18	contest	contest	NOUN
ap-3040	17	19	.	.	PUNCT
ap-3040	18	1	it	it	PRON
ap-3040	18	2	allowed	allow	VERB
ap-3040	18	3	robots	robot	NOUN
ap-3040	18	4	to	to	PART
ap-3040	18	5	explore	explore	VERB
ap-3040	18	6	an	an	DET
ap-3040	18	7	unknown	unknown	ADJ
ap-3040	18	8	area	area	NOUN
ap-3040	18	9	cooperatively	cooperatively	ADV
ap-3040	18	10	by	by	ADP
ap-3040	18	11	reducing	reduce	VERB
ap-3040	18	12	the	the	DET
ap-3040	18	13	overlap	overlap	NOUN
ap-3040	18	14	between	between	ADP
ap-3040	18	15	the	the	DET
ap-3040	18	16	explored	explore	VERB
ap-3040	18	17	areas	area	NOUN
ap-3040	18	18	of	of	ADP
ap-3040	18	19	each	each	DET
ap-3040	18	20	robot	robot	NOUN
ap-3040	18	21	.	.	PUNCT
ap-3040	19	1	in	in	ADP
ap-3040	19	2	a	a	DET
ap-3040	19	3	second	second	ADJ
ap-3040	19	4	phase	phase	NOUN
ap-3040	19	5	,	,	PUNCT
ap-3040	19	6	we	we	PRON
ap-3040	19	7	focused	focus	VERB
ap-3040	19	8	on	on	ADP
ap-3040	19	9	improving	improve	VERB
ap-3040	19	10	object	object	NOUN
ap-3040	19	11	recognition	recognition	NOUN
ap-3040	19	12	by	by	ADP
ap-3040	19	13	integrating	integrate	VERB
ap-3040	19	14	into	into	ADP
ap-3040	19	15	the	the	DET
ap-3040	19	16	planning	planning	NOUN
ap-3040	19	17	stage	stage	NOUN
ap-3040	19	18	the	the	DET
ap-3040	19	19	interest	interest	NOUN
ap-3040	19	20	in	in	ADP
ap-3040	19	21	covering	cover	VERB
ap-3040	19	22	explored	explore	VERB
ap-3040	19	23	areas	area	NOUN
ap-3040	19	24	with	with	ADP
ap-3040	19	25	photos	photo	NOUN
ap-3040	19	26	.	.	PUNCT
ap-3040	20	1	thus	thus	ADV
ap-3040	20	2	each	each	DET
ap-3040	20	3	robot	robot	NOUN
ap-3040	20	4	will	will	AUX
ap-3040	20	5	act	act	VERB
ap-3040	20	6	to	to	PART
ap-3040	20	7	explore	explore	VERB
ap-3040	20	8	and	and	CCONJ
ap-3040	20	9	1defense	1defense	NUM
ap-3040	20	10	procurement	procurement	NOUN
ap-3040	20	11	agency	agency	NOUN
ap-3040	20	12	.	.	PUNCT
ap-3040	21	1	2french	2french	NUM
ap-3040	21	2	national	national	ADJ
ap-3040	21	3	research	research	NOUN
ap-3040	21	4	agency	agency	NOUN
ap-3040	21	5	.	.	PUNCT
ap-3040	22	1	3simultaneous	3simultaneous	ADJ
ap-3040	22	2	localization	localization	NOUN
ap-3040	22	3	and	and	CCONJ
ap-3040	22	4	mapping	mapping	NOUN
ap-3040	22	5	.	.	PUNCT
ap-3040	23	1	to	to	PART
ap-3040	23	2	perceive	perceive	VERB
ap-3040	23	3	.	.	PUNCT
ap-3040	24	1	the	the	DET
ap-3040	24	2	objective	objective	NOUN
ap-3040	24	3	of	of	ADP
ap-3040	24	4	this	this	DET
ap-3040	24	5	paper	paper	NOUN
ap-3040	24	6	is	be	AUX
ap-3040	24	7	to	to	PART
ap-3040	24	8	present	present	VERB
ap-3040	24	9	our	our	PRON
ap-3040	24	10	interaction	interaction	NOUN
ap-3040	24	11	-	-	PUNCT
ap-3040	24	12	sparse	sparse	ADJ
ap-3040	24	13	dec	dec	PROPN
ap-3040	24	14	-	-	PUNCT
ap-3040	24	15	mdp	mdp	PROPN
ap-3040	24	16	resolution	resolution	NOUN
ap-3040	24	17	adapted	adapt	VERB
ap-3040	24	18	to	to	PART
ap-3040	24	19	achieve	achieve	VERB
ap-3040	24	20	improved	improved	ADJ
ap-3040	24	21	perception	perception	NOUN
ap-3040	24	22	.	.	PUNCT
ap-3040	25	1	in	in	ADP
ap-3040	25	2	the	the	DET
ap-3040	25	3	following	following	NOUN
ap-3040	25	4	,	,	PUNCT
ap-3040	25	5	we	we	PRON
ap-3040	25	6	first	first	ADV
ap-3040	25	7	present	present	VERB
ap-3040	25	8	the	the	DET
ap-3040	25	9	context	context	NOUN
ap-3040	25	10	of	of	ADP
ap-3040	25	11	this	this	DET
ap-3040	25	12	work	work	NOUN
ap-3040	25	13	,	,	PUNCT
ap-3040	25	14	with	with	ADP
ap-3040	25	15	details	detail	NOUN
ap-3040	25	16	concerning	concern	VERB
ap-3040	25	17	the	the	DET
ap-3040	25	18	robotic	robotic	ADJ
ap-3040	25	19	challenge	challenge	NOUN
ap-3040	25	20	and	and	CCONJ
ap-3040	25	21	the	the	DET
ap-3040	25	22	system	system	NOUN
ap-3040	25	23	that	that	PRON
ap-3040	25	24	we	we	PRON
ap-3040	25	25	developed	develop	VERB
ap-3040	25	26	to	to	PART
ap-3040	25	27	participate	participate	VERB
ap-3040	25	28	in	in	ADP
ap-3040	25	29	the	the	DET
ap-3040	25	30	competition	competition	NOUN
ap-3040	25	31	.	.	PUNCT
ap-3040	26	1	second	second	ADJ
ap-3040	26	2	,	,	PUNCT
ap-3040	26	3	related	related	ADJ
ap-3040	26	4	works	work	NOUN
ap-3040	26	5	on	on	ADP
ap-3040	26	6	multi	multi	ADJ
ap-3040	26	7	-	-	ADJ
ap-3040	26	8	robot	robot	ADJ
ap-3040	26	9	exploration	exploration	NOUN
ap-3040	26	10	,	,	PUNCT
ap-3040	26	11	active	active	ADJ
ap-3040	26	12	perception	perception	NOUN
ap-3040	26	13	and	and	CCONJ
ap-3040	26	14	interaction	interaction	NOUN
ap-3040	26	15	-	-	PUNCT
ap-3040	26	16	oriented	orient	VERB
ap-3040	26	17	models	model	NOUN
ap-3040	26	18	are	be	AUX
ap-3040	26	19	introduced	introduce	VERB
ap-3040	26	20	.	.	PUNCT
ap-3040	27	1	then	then	ADV
ap-3040	27	2	we	we	PRON
ap-3040	27	3	present	present	VERB
ap-3040	27	4	our	our	PRON
ap-3040	27	5	decmdp	decmdp	ADJ
ap-3040	27	6	resolution	resolution	NOUN
ap-3040	27	7	,	,	PUNCT
ap-3040	27	8	based	base	VERB
ap-3040	27	9	on	on	ADP
ap-3040	27	10	dvf	dvf	PROPN
ap-3040	27	11	,	,	PUNCT
ap-3040	27	12	and	and	CCONJ
ap-3040	27	13	its	its	PRON
ap-3040	27	14	application	application	NOUN
ap-3040	27	15	to	to	ADP
ap-3040	27	16	multi	multi	ADJ
ap-3040	27	17	-	-	ADJ
ap-3040	27	18	robot	robot	ADJ
ap-3040	27	19	exploration	exploration	NOUN
ap-3040	27	20	.	.	PUNCT
ap-3040	28	1	finally	finally	ADV
ap-3040	28	2	,	,	PUNCT
ap-3040	28	3	we	we	PRON
ap-3040	28	4	introduce	introduce	VERB
ap-3040	28	5	and	and	CCONJ
ap-3040	28	6	show	show	VERB
ap-3040	28	7	experiments	experiment	NOUN
ap-3040	28	8	aimed	aim	VERB
ap-3040	28	9	at	at	ADP
ap-3040	28	10	extending	extend	VERB
ap-3040	28	11	dvf	dvf	PROPN
ap-3040	28	12	to	to	PART
ap-3040	28	13	improve	improve	VERB
ap-3040	28	14	photo	photo	NOUN
ap-3040	28	15	coverage	coverage	NOUN
ap-3040	28	16	of	of	ADP
ap-3040	28	17	the	the	DET
ap-3040	28	18	space	space	NOUN
ap-3040	28	19	.	.	PUNCT
ap-3040	29	1	finally	finally	ADV
ap-3040	29	2	,	,	PUNCT
ap-3040	29	3	some	some	DET
ap-3040	29	4	concluding	conclude	VERB
ap-3040	29	5	remarks	remark	NOUN
ap-3040	29	6	are	be	AUX
ap-3040	29	7	made	make	VERB
ap-3040	29	8	.	.	PUNCT
ap-3040	30	1	2	2	X
ap-3040	30	2	.	.	X
ap-3040	30	3	context	context	NOUN
ap-3040	30	4	2.1	2.1	NUM
ap-3040	30	5	.	.	PUNCT
ap-3040	31	1	the	the	DET
ap-3040	31	2	carotte	carotte	NOUN
ap-3040	31	3	challenge	challenge	NOUN
ap-3040	31	4	this	this	DET
ap-3040	31	5	work	work	NOUN
ap-3040	31	6	was	be	AUX
ap-3040	31	7	carried	carry	VERB
ap-3040	31	8	out	out	ADP
ap-3040	31	9	within	within	ADP
ap-3040	31	10	the	the	DET
ap-3040	31	11	framework	framework	NOUN
ap-3040	31	12	of	of	ADP
ap-3040	31	13	a	a	DET
ap-3040	31	14	french	french	ADJ
ap-3040	31	15	robotic	robotic	ADJ
ap-3040	31	16	contest	contest	NOUN
ap-3040	31	17	called	call	VERB
ap-3040	31	18	defi	defi	PROPN
ap-3040	31	19	carotte4	carotte4	PROPN
ap-3040	31	20	(	(	PUNCT
ap-3040	31	21	cartography	cartography	NOUN
ap-3040	31	22	by	by	ADP
ap-3040	31	23	a	a	DET
ap-3040	31	24	robot	robot	NOUN
ap-3040	31	25	of	of	ADP
ap-3040	31	26	a	a	DET
ap-3040	31	27	territory	territory	NOUN
ap-3040	31	28	)	)	PUNCT
ap-3040	31	29	,	,	PUNCT
ap-3040	31	30	which	which	PRON
ap-3040	31	31	involved	involve	VERB
ap-3040	31	32	exploring	explore	VERB
ap-3040	31	33	and	and	CCONJ
ap-3040	31	34	mapping	map	VERB
ap-3040	31	35	an	an	DET
ap-3040	31	36	unknown	unknown	ADJ
ap-3040	31	37	indoor	indoor	ADJ
ap-3040	31	38	area	area	NOUN
ap-3040	31	39	(	(	PUNCT
ap-3040	31	40	an	an	DET
ap-3040	31	41	enclosed	enclose	VERB
ap-3040	31	42	arena	arena	NOUN
ap-3040	31	43	made	make	VERB
ap-3040	31	44	up	up	ADP
ap-3040	31	45	of	of	ADP
ap-3040	31	46	a	a	DET
ap-3040	31	47	set	set	NOUN
ap-3040	31	48	of	of	ADP
ap-3040	31	49	rooms	room	NOUN
ap-3040	31	50	)	)	PUNCT
ap-3040	31	51	with	with	ADP
ap-3040	31	52	one	one	NUM
ap-3040	31	53	or	or	CCONJ
ap-3040	31	54	several	several	ADJ
ap-3040	31	55	autonomous	autonomous	ADJ
ap-3040	31	56	robots	robot	NOUN
ap-3040	31	57	.	.	PUNCT
ap-3040	32	1	the	the	DET
ap-3040	32	2	competition	competition	NOUN
ap-3040	32	3	took	take	VERB
ap-3040	32	4	place	place	NOUN
ap-3040	32	5	in	in	ADP
ap-3040	32	6	an	an	DET
ap-3040	32	7	arena	arena	NOUN
ap-3040	32	8	of	of	ADP
ap-3040	32	9	approximately	approximately	ADV
ap-3040	32	10	120m2	120m2	NUM
ap-3040	32	11	,	,	PUNCT
ap-3040	32	12	in	in	ADP
ap-3040	32	13	which	which	PRON
ap-3040	32	14	objects	object	NOUN
ap-3040	32	15	had	have	AUX
ap-3040	32	16	been	be	AUX
ap-3040	32	17	laid	lay	VERB
ap-3040	32	18	out	out	ADP
ap-3040	32	19	.	.	PUNCT
ap-3040	33	1	the	the	DET
ap-3040	33	2	arena	arena	NOUN
ap-3040	33	3	contained	contain	VERB
ap-3040	33	4	several	several	ADJ
ap-3040	33	5	rooms	room	NOUN
ap-3040	33	6	,	,	PUNCT
ap-3040	33	7	typically	typically	ADV
ap-3040	33	8	10	10	NUM
ap-3040	33	9	or	or	CCONJ
ap-3040	33	10	more	more	ADJ
ap-3040	33	11	,	,	PUNCT
ap-3040	33	12	with	with	ADP
ap-3040	33	13	variable	variable	ADJ
ap-3040	33	14	grounds	ground	NOUN
ap-3040	33	15	and	and	CCONJ
ap-3040	33	16	various	various	ADJ
ap-3040	33	17	difficulties	difficulty	NOUN
ap-3040	33	18	to	to	PART
ap-3040	33	19	be	be	AUX
ap-3040	33	20	dealt	deal	VERB
ap-3040	33	21	with	with	ADP
ap-3040	33	22	(	(	PUNCT
ap-3040	33	23	fitted	fit	VERB
ap-3040	33	24	carpet	carpet	NOUN
ap-3040	33	25	,	,	PUNCT
ap-3040	33	26	grid	grid	NOUN
ap-3040	33	27	,	,	PUNCT
ap-3040	33	28	sand	sand	NOUN
ap-3040	33	29	,	,	PUNCT
ap-3040	33	30	etc	etc	X
ap-3040	33	31	.	.	X
ap-3040	33	32	)	)	PUNCT
ap-3040	33	33	.	.	PUNCT
ap-3040	34	1	several	several	ADJ
ap-3040	34	2	kinds	kind	NOUN
ap-3040	34	3	of	of	ADP
ap-3040	34	4	objects	object	NOUN
ap-3040	34	5	were	be	AUX
ap-3040	34	6	present	present	ADJ
ap-3040	34	7	,	,	PUNCT
ap-3040	34	8	isolated	isolated	ADJ
ap-3040	34	9	or	or	CCONJ
ap-3040	34	10	gathered	gather	VERB
ap-3040	34	11	together	together	ADV
ap-3040	34	12	,	,	PUNCT
ap-3040	34	13	e.g.	e.g.	ADV
ap-3040	34	14	,	,	PUNCT
ap-3040	34	15	chairs	chair	NOUN
ap-3040	34	16	,	,	PUNCT
ap-3040	34	17	books	book	NOUN
ap-3040	34	18	,	,	PUNCT
ap-3040	34	19	fans	fan	NOUN
ap-3040	34	20	,	,	PUNCT
ap-3040	34	21	furniture	furniture	NOUN
ap-3040	34	22	,	,	PUNCT
ap-3040	34	23	etc	etc	X
ap-3040	34	24	.	.	X
ap-3040	35	1	the	the	DET
ap-3040	35	2	carotte	carotte	NOUN
ap-3040	35	3	challenge	challenge	NOUN
ap-3040	35	4	proceeded	proceed	VERB
ap-3040	35	5	over	over	ADP
ap-3040	35	6	a	a	DET
ap-3040	35	7	period	period	NOUN
ap-3040	35	8	of	of	ADP
ap-3040	35	9	three	three	NUM
ap-3040	35	10	years	year	NOUN
ap-3040	35	11	,	,	PUNCT
ap-3040	35	12	with	with	ADP
ap-3040	35	13	an	an	DET
ap-3040	35	14	increase	increase	NOUN
ap-3040	35	15	in	in	ADP
ap-3040	35	16	the	the	DET
ap-3040	35	17	level	level	NOUN
ap-3040	35	18	of	of	ADP
ap-3040	35	19	difficulty	difficulty	NOUN
ap-3040	35	20	over	over	ADP
ap-3040	35	21	the	the	DET
ap-3040	35	22	years	year	NOUN
ap-3040	35	23	.	.	PUNCT
ap-3040	36	1	the	the	DET
ap-3040	36	2	required	require	VERB
ap-3040	36	3	outcome	outcome	NOUN
ap-3040	36	4	was	be	AUX
ap-3040	36	5	to	to	PART
ap-3040	36	6	produce	produce	VERB
ap-3040	36	7	4http://www.defi-carotte.fr/	4http://www.defi-carotte.fr/	NUM
ap-3040	36	8	169	169	NUM
ap-3040	36	9	http://dx.doi.org/10.14311/ap.2015.55.0169	http://dx.doi.org/10.14311/ap.2015.55.0169	ADP
ap-3040	36	10	http://ojs.cvut.cz/ojs/index.php/ap	http://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-3040	36	11	l.	l.	NOUN
ap-3040	36	12	matignon	matignon	PROPN
ap-3040	36	13	,	,	PUNCT
ap-3040	36	14	l.	l.	PROPN
ap-3040	36	15	jeanpierre	jeanpierre	PROPN
ap-3040	36	16	,	,	PUNCT
ap-3040	36	17	a.-i	a.-i	PROPN
ap-3040	36	18	.	.	PUNCT
ap-3040	37	1	mouaddib	mouaddib	PROPN
ap-3040	37	2	acta	acta	PROPN
ap-3040	37	3	polytechnica	polytechnica	PROPN
ap-3040	37	4	2d	2d	PROPN
ap-3040	37	5	,	,	PUNCT
ap-3040	37	6	3d	3d	NUM
ap-3040	37	7	and	and	CCONJ
ap-3040	37	8	topological	topological	ADJ
ap-3040	37	9	maps	map	NOUN
ap-3040	37	10	of	of	ADP
ap-3040	37	11	the	the	DET
ap-3040	37	12	arena	arena	NOUN
ap-3040	37	13	and	and	CCONJ
ap-3040	37	14	to	to	PART
ap-3040	37	15	detect	detect	VERB
ap-3040	37	16	,	,	PUNCT
ap-3040	37	17	localize	localize	VERB
ap-3040	37	18	and	and	CCONJ
ap-3040	37	19	classify	classify	VERB
ap-3040	37	20	objects	object	NOUN
ap-3040	37	21	present	present	ADJ
ap-3040	37	22	in	in	ADP
ap-3040	37	23	the	the	DET
ap-3040	37	24	arena	arena	NOUN
ap-3040	37	25	.	.	PUNCT
ap-3040	38	1	the	the	DET
ap-3040	38	2	trials	trial	NOUN
ap-3040	38	3	within	within	ADP
ap-3040	38	4	the	the	DET
ap-3040	38	5	framework	framework	NOUN
ap-3040	38	6	of	of	ADP
ap-3040	38	7	the	the	DET
ap-3040	38	8	competition	competition	NOUN
ap-3040	38	9	consisted	consist	VERB
ap-3040	38	10	of	of	ADP
ap-3040	38	11	several	several	ADJ
ap-3040	38	12	missions	mission	NOUN
ap-3040	38	13	with	with	ADP
ap-3040	38	14	a	a	DET
ap-3040	38	15	time	time	NOUN
ap-3040	38	16	limit	limit	NOUN
ap-3040	38	17	.	.	PUNCT
ap-3040	39	1	during	during	ADP
ap-3040	39	2	each	each	DET
ap-3040	39	3	mission	mission	NOUN
ap-3040	39	4	,	,	PUNCT
ap-3040	39	5	robots	robot	NOUN
ap-3040	39	6	navigated	navigate	VERB
ap-3040	39	7	autonomously	autonomously	ADV
ap-3040	39	8	to	to	PART
ap-3040	39	9	map	map	VERB
ap-3040	39	10	,	,	PUNCT
ap-3040	39	11	detect	detect	VERB
ap-3040	39	12	and	and	CCONJ
ap-3040	39	13	recognize	recognize	VERB
ap-3040	39	14	objects	object	NOUN
ap-3040	39	15	.	.	PUNCT
ap-3040	40	1	the	the	DET
ap-3040	40	2	robots	robot	NOUN
ap-3040	40	3	were	be	AUX
ap-3040	40	4	required	require	VERB
ap-3040	40	5	to	to	PART
ap-3040	40	6	return	return	VERB
ap-3040	40	7	to	to	ADP
ap-3040	40	8	their	their	PRON
ap-3040	40	9	starting	starting	NOUN
ap-3040	40	10	position	position	NOUN
ap-3040	40	11	before	before	ADP
ap-3040	40	12	the	the	DET
ap-3040	40	13	end	end	NOUN
ap-3040	40	14	of	of	ADP
ap-3040	40	15	the	the	DET
ap-3040	40	16	mission	mission	NOUN
ap-3040	40	17	.	.	PUNCT
ap-3040	41	1	five	five	NUM
ap-3040	41	2	teams	team	NOUN
ap-3040	41	3	entered	enter	VERB
ap-3040	41	4	for	for	ADP
ap-3040	41	5	this	this	DET
ap-3040	41	6	challenge	challenge	NOUN
ap-3040	41	7	[	[	X
ap-3040	41	8	2	2	NUM
ap-3040	41	9	,	,	PUNCT
ap-3040	41	10	3	3	NUM
ap-3040	41	11	]	]	PUNCT
ap-3040	41	12	,	,	PUNCT
ap-3040	41	13	in	in	ADP
ap-3040	41	14	which	which	PRON
ap-3040	41	15	the	the	DET
ap-3040	41	16	goal	goal	NOUN
ap-3040	41	17	was	be	AUX
ap-3040	41	18	to	to	PART
ap-3040	41	19	maximize	maximize	VERB
ap-3040	41	20	the	the	DET
ap-3040	41	21	explored	explore	VERB
ap-3040	41	22	space	space	NOUN
ap-3040	41	23	,	,	PUNCT
ap-3040	41	24	the	the	DET
ap-3040	41	25	precision	precision	NOUN
ap-3040	41	26	of	of	ADP
ap-3040	41	27	the	the	DET
ap-3040	41	28	map	map	NOUN
ap-3040	41	29	and	and	CCONJ
ap-3040	41	30	the	the	DET
ap-3040	41	31	quality	quality	NOUN
ap-3040	41	32	of	of	ADP
ap-3040	41	33	object	object	NOUN
ap-3040	41	34	detection	detection	NOUN
ap-3040	41	35	.	.	PUNCT
ap-3040	42	1	2.2	2.2	NUM
ap-3040	42	2	.	.	PUNCT
ap-3040	43	1	the	the	DET
ap-3040	43	2	robots_malins	robots_malin	NOUN
ap-3040	43	3	system	system	NOUN
ap-3040	43	4	we	we	PRON
ap-3040	43	5	developed	develop	VERB
ap-3040	43	6	the	the	DET
ap-3040	43	7	robots_malins5	robots_malins5	PROPN
ap-3040	43	8	(	(	PUNCT
ap-3040	43	9	robots	robot	NOUN
ap-3040	43	10	for	for	ADP
ap-3040	43	11	mapping	mapping	NOUN
ap-3040	43	12	and	and	CCONJ
ap-3040	43	13	localization	localization	NOUN
ap-3040	43	14	,	,	PUNCT
ap-3040	43	15	using	use	VERB
ap-3040	43	16	intelligent	intelligent	ADJ
ap-3040	43	17	navigation	navigation	NOUN
ap-3040	43	18	and	and	CCONJ
ap-3040	43	19	search	search	NOUN
ap-3040	43	20	)	)	PUNCT
ap-3040	43	21	system	system	NOUN
ap-3040	43	22	for	for	ADP
ap-3040	43	23	the	the	DET
ap-3040	43	24	carotte	carotte	NOUN
ap-3040	43	25	challenge	challenge	NOUN
ap-3040	43	26	.	.	PUNCT
ap-3040	44	1	our	our	PRON
ap-3040	44	2	system	system	NOUN
ap-3040	44	3	uses	use	VERB
ap-3040	44	4	wifibot6	wifibot6	PROPN
ap-3040	44	5	µ-trooper	µ-trooper	PROPN
ap-3040	44	6	m	m	PROPN
ap-3040	44	7	robots	robot	NOUN
ap-3040	44	8	.	.	PUNCT
ap-3040	45	1	these	these	PRON
ap-3040	45	2	are	be	AUX
ap-3040	45	3	six	six	NUM
ap-3040	45	4	-	-	PUNCT
ap-3040	45	5	wheel	wheel	NOUN
ap-3040	45	6	robots	robot	NOUN
ap-3040	45	7	characterized	characterize	VERB
ap-3040	45	8	by	by	ADP
ap-3040	45	9	great	great	ADJ
ap-3040	45	10	flexibility	flexibility	NOUN
ap-3040	45	11	,	,	PUNCT
ap-3040	45	12	which	which	PRON
ap-3040	45	13	allows	allow	VERB
ap-3040	45	14	the	the	DET
ap-3040	45	15	robots	robot	NOUN
ap-3040	45	16	to	to	PART
ap-3040	45	17	cover	cover	VERB
ap-3040	45	18	rough	rough	ADJ
ap-3040	45	19	terrain	terrain	NOUN
ap-3040	45	20	.	.	PUNCT
ap-3040	46	1	each	each	DET
ap-3040	46	2	µ-trooper	µ-trooper	NOUN
ap-3040	46	3	embeds	embed	VERB
ap-3040	46	4	an	an	DET
ap-3040	46	5	intel	intel	PROPN
ap-3040	46	6	core	core	NOUN
ap-3040	46	7	2	2	NUM
ap-3040	46	8	duo	duo	NOUN
ap-3040	46	9	processor	processor	NOUN
ap-3040	46	10	,	,	PUNCT
ap-3040	46	11	a	a	DET
ap-3040	46	12	2	2	NUM
ap-3040	46	13	gb	gb	NOUN
ap-3040	46	14	ram	ram	NOUN
ap-3040	46	15	and	and	CCONJ
ap-3040	46	16	a	a	DET
ap-3040	46	17	4	4	NUM
ap-3040	46	18	gb	gb	NOUN
ap-3040	46	19	flash	flash	NOUN
ap-3040	46	20	and	and	CCONJ
ap-3040	46	21	is	be	AUX
ap-3040	46	22	equipped	equip	VERB
ap-3040	46	23	with	with	ADP
ap-3040	46	24	a	a	DET
ap-3040	46	25	hokuyo	hokuyo	NOUN
ap-3040	46	26	lidar	lidar	NOUN
ap-3040	46	27	30	30	NUM
ap-3040	46	28	m	m	NOUN
ap-3040	46	29	7	7	NUM
ap-3040	46	30	laser	laser	NOUN
ap-3040	46	31	range	range	NOUN
ap-3040	46	32	scanner	scanner	NOUN
ap-3040	46	33	for	for	ADP
ap-3040	46	34	localization	localization	NOUN
ap-3040	46	35	and	and	CCONJ
ap-3040	46	36	mapping	mapping	NOUN
ap-3040	46	37	and	and	CCONJ
ap-3040	46	38	a	a	DET
ap-3040	46	39	hokuyo	hokuyo	NOUN
ap-3040	46	40	lidar	lidar	NOUN
ap-3040	46	41	4	4	NUM
ap-3040	46	42	m	m	AUX
ap-3040	46	43	tilted	tilt	VERB
ap-3040	46	44	toward	toward	ADP
ap-3040	46	45	the	the	DET
ap-3040	46	46	ground	ground	NOUN
ap-3040	46	47	,	,	PUNCT
ap-3040	46	48	plus	plus	CCONJ
ap-3040	46	49	an	an	DET
ap-3040	46	50	ultrasonic	ultrasonic	ADJ
ap-3040	46	51	rangefinder	rangefinder	NOUN
ap-3040	46	52	for	for	ADP
ap-3040	46	53	detecting	detect	VERB
ap-3040	46	54	nearby	nearby	ADJ
ap-3040	46	55	obstacles	obstacle	NOUN
ap-3040	46	56	and	and	CCONJ
ap-3040	46	57	glass	glass	NOUN
ap-3040	46	58	walls	wall	NOUN
ap-3040	46	59	.	.	PUNCT
ap-3040	47	1	an	an	DET
ap-3040	47	2	avt	avt	PROPN
ap-3040	47	3	marlin	marlin	PROPN
ap-3040	47	4	firewire	firewire	NOUN
ap-3040	47	5	camera	camera	NOUN
ap-3040	47	6	is	be	AUX
ap-3040	47	7	used	use	VERB
ap-3040	47	8	for	for	ADP
ap-3040	47	9	object	object	NOUN
ap-3040	47	10	detection	detection	NOUN
ap-3040	47	11	.	.	PUNCT
ap-3040	48	1	the	the	DET
ap-3040	48	2	software	software	NOUN
ap-3040	48	3	running	run	VERB
ap-3040	48	4	on	on	ADP
ap-3040	48	5	-	-	PUNCT
ap-3040	48	6	board	board	NOUN
ap-3040	48	7	these	these	DET
ap-3040	48	8	robots	robot	NOUN
ap-3040	48	9	is	be	AUX
ap-3040	48	10	based	base	VERB
ap-3040	48	11	on	on	ADP
ap-3040	48	12	a	a	DET
ap-3040	48	13	data	data	NOUN
ap-3040	48	14	distribution	distribution	NOUN
ap-3040	48	15	system	system	NOUN
ap-3040	48	16	(	(	PUNCT
ap-3040	48	17	dds	dds	PROPN
ap-3040	48	18	)	)	PUNCT
ap-3040	48	19	implementation	implementation	NOUN
ap-3040	48	20	from	from	ADP
ap-3040	48	21	opensplice8	opensplice8	PROPN
ap-3040	48	22	.	.	PUNCT
ap-3040	49	1	this	this	DET
ap-3040	49	2	middle	middle	ADJ
ap-3040	49	3	-	-	PUNCT
ap-3040	49	4	ware	ware	NOUN
ap-3040	49	5	allows	allow	VERB
ap-3040	49	6	several	several	ADJ
ap-3040	49	7	programs	program	NOUN
ap-3040	49	8	to	to	PART
ap-3040	49	9	run	run	VERB
ap-3040	49	10	concurrently	concurrently	ADV
ap-3040	49	11	,	,	PUNCT
ap-3040	49	12	even	even	ADV
ap-3040	49	13	on	on	ADP
ap-3040	49	14	different	different	ADJ
ap-3040	49	15	computers	computer	NOUN
ap-3040	49	16	.	.	PUNCT
ap-3040	50	1	in	in	ADP
ap-3040	50	2	our	our	PRON
ap-3040	50	3	architecture	architecture	NOUN
ap-3040	50	4	,	,	PUNCT
ap-3040	50	5	this	this	PRON
ap-3040	50	6	implies	imply	VERB
ap-3040	50	7	that	that	SCONJ
ap-3040	50	8	various	various	ADJ
ap-3040	50	9	modules	module	NOUN
ap-3040	50	10	can	can	AUX
ap-3040	50	11	run	run	VERB
ap-3040	50	12	asynchronously	asynchronously	ADV
ap-3040	50	13	:	:	PUNCT
ap-3040	50	14	laser	laser	NOUN
ap-3040	50	15	acquisition	acquisition	NOUN
ap-3040	50	16	,	,	PUNCT
ap-3040	50	17	slam	slam	NOUN
ap-3040	50	18	,	,	PUNCT
ap-3040	50	19	decision	decision	NOUN
ap-3040	50	20	,	,	PUNCT
ap-3040	50	21	mobility	mobility	NOUN
ap-3040	50	22	and	and	CCONJ
ap-3040	50	23	object	object	VERB
ap-3040	50	24	recognition	recognition	NOUN
ap-3040	50	25	.	.	PUNCT
ap-3040	51	1	the	the	DET
ap-3040	51	2	architecture	architecture	NOUN
ap-3040	51	3	allows	allow	VERB
ap-3040	51	4	the	the	DET
ap-3040	51	5	robots	robot	NOUN
ap-3040	51	6	to	to	PART
ap-3040	51	7	exchange	exchange	VERB
ap-3040	51	8	their	their	PRON
ap-3040	51	9	laser	laser	NOUN
ap-3040	51	10	scans	scan	NOUN
ap-3040	51	11	and	and	CCONJ
ap-3040	51	12	their	their	PRON
ap-3040	51	13	poses	pose	NOUN
ap-3040	51	14	.	.	PUNCT
ap-3040	52	1	thus	thus	ADV
ap-3040	52	2	each	each	DET
ap-3040	52	3	robot	robot	NOUN
ap-3040	52	4	knows	know	VERB
ap-3040	52	5	the	the	DET
ap-3040	52	6	areas	area	NOUN
ap-3040	52	7	explored	explore	VERB
ap-3040	52	8	by	by	ADP
ap-3040	52	9	the	the	DET
ap-3040	52	10	others	other	NOUN
ap-3040	52	11	,	,	PUNCT
ap-3040	52	12	and	and	CCONJ
ap-3040	52	13	updates	update	VERB
ap-3040	52	14	its	its	PRON
ap-3040	52	15	local	local	ADJ
ap-3040	52	16	map	map	NOUN
ap-3040	52	17	with	with	ADP
ap-3040	52	18	local	local	ADJ
ap-3040	52	19	and	and	CCONJ
ap-3040	52	20	distant	distant	ADJ
ap-3040	52	21	scans	scan	NOUN
ap-3040	52	22	.	.	PUNCT
ap-3040	53	1	in	in	ADP
ap-3040	53	2	particular	particular	ADJ
ap-3040	53	3	,	,	PUNCT
ap-3040	53	4	the	the	DET
ap-3040	53	5	slam	slam	NOUN
ap-3040	53	6	module	module	NOUN
ap-3040	53	7	,	,	PUNCT
ap-3040	53	8	based	base	VERB
ap-3040	53	9	on	on	ADP
ap-3040	53	10	[	[	X
ap-3040	53	11	4	4	NUM
ap-3040	53	12	]	]	PUNCT
ap-3040	53	13	,	,	PUNCT
ap-3040	53	14	receives	receive	VERB
ap-3040	53	15	laser	laser	NOUN
ap-3040	53	16	readings	reading	NOUN
ap-3040	53	17	and	and	CCONJ
ap-3040	53	18	provides	provide	VERB
ap-3040	53	19	the	the	DET
ap-3040	53	20	other	other	ADJ
ap-3040	53	21	modules	module	NOUN
ap-3040	53	22	and	and	CCONJ
ap-3040	53	23	the	the	DET
ap-3040	53	24	other	other	ADJ
ap-3040	53	25	robots	robot	NOUN
ap-3040	53	26	with	with	ADP
ap-3040	53	27	the	the	DET
ap-3040	53	28	robot	robot	NOUN
ap-3040	53	29	pose	pose	VERB
ap-3040	53	30	(	(	PUNCT
ap-3040	53	31	location	location	NOUN
ap-3040	53	32	and	and	CCONJ
ap-3040	53	33	heading	heading	NOUN
ap-3040	53	34	)	)	PUNCT
ap-3040	53	35	.	.	PUNCT
ap-3040	54	1	so	so	ADV
ap-3040	54	2	each	each	DET
ap-3040	54	3	robot	robot	NOUN
ap-3040	54	4	knows	know	VERB
ap-3040	54	5	the	the	DET
ap-3040	54	6	relative	relative	ADJ
ap-3040	54	7	positions	position	NOUN
ap-3040	54	8	of	of	ADP
ap-3040	54	9	all	all	DET
ap-3040	54	10	the	the	DET
ap-3040	54	11	robots	robot	NOUN
ap-3040	54	12	and	and	CCONJ
ap-3040	54	13	the	the	DET
ap-3040	54	14	map	map	NOUN
ap-3040	54	15	of	of	ADP
ap-3040	54	16	the	the	DET
ap-3040	54	17	zones	zone	NOUN
ap-3040	54	18	explored	explore	VERB
ap-3040	54	19	by	by	ADP
ap-3040	54	20	the	the	DET
ap-3040	54	21	team	team	NOUN
ap-3040	54	22	.	.	PUNCT
ap-3040	55	1	the	the	DET
ap-3040	55	2	mobility	mobility	NOUN
ap-3040	55	3	module	module	NOUN
ap-3040	55	4	implements	implement	VERB
ap-3040	55	5	an	an	DET
ap-3040	55	6	advanced	advanced	ADJ
ap-3040	55	7	point	point	NOUN
ap-3040	55	8	and	and	CCONJ
ap-3040	55	9	shoot	shoot	VERB
ap-3040	55	10	algorithm	algorithm	NOUN
ap-3040	55	11	,	,	PUNCT
ap-3040	55	12	along	along	ADP
ap-3040	55	13	with	with	ADP
ap-3040	55	14	a	a	DET
ap-3040	55	15	backtrack	backtrack	NOUN
ap-3040	55	16	feature	feature	NOUN
ap-3040	55	17	that	that	PRON
ap-3040	55	18	prevents	prevent	VERB
ap-3040	55	19	the	the	DET
ap-3040	55	20	robot	robot	NOUN
ap-3040	55	21	from	from	ADP
ap-3040	55	22	being	be	AUX
ap-3040	55	23	stuck	stick	VERB
ap-3040	55	24	,	,	PUNCT
ap-3040	55	25	reverting	revert	VERB
ap-3040	55	26	back	back	ADV
ap-3040	55	27	on	on	ADP
ap-3040	55	28	its	its	PRON
ap-3040	55	29	own	own	ADJ
ap-3040	55	30	trajectory	trajectory	NOUN
ap-3040	55	31	.	.	PUNCT
ap-3040	56	1	the	the	DET
ap-3040	56	2	point	point	NOUN
ap-3040	56	3	and	and	CCONJ
ap-3040	56	4	shoot	shoot	VERB
ap-3040	56	5	algorithm	algorithm	NOUN
ap-3040	56	6	consists	consist	VERB
ap-3040	56	7	of	of	ADP
ap-3040	56	8	turning	turn	VERB
ap-3040	56	9	to	to	ADP
ap-3040	56	10	the	the	DET
ap-3040	56	11	desired	desire	VERB
ap-3040	56	12	heading	heading	NOUN
ap-3040	56	13	and	and	CCONJ
ap-3040	56	14	then	then	ADV
ap-3040	56	15	going	go	VERB
ap-3040	56	16	forward	forward	ADV
ap-3040	56	17	for	for	ADP
ap-3040	56	18	a	a	DET
ap-3040	56	19	specified	specified	ADJ
ap-3040	56	20	distance	distance	NOUN
ap-3040	56	21	,	,	PUNCT
ap-3040	56	22	while	while	SCONJ
ap-3040	56	23	correcting	correct	VERB
ap-3040	56	24	the	the	DET
ap-3040	56	25	heading	heading	ADJ
ap-3040	56	26	drift	drift	NOUN
ap-3040	56	27	.	.	PUNCT
ap-3040	57	1	the	the	DET
ap-3040	57	2	object	object	NOUN
ap-3040	57	3	recognition	recognition	NOUN
ap-3040	57	4	module	module	NOUN
ap-3040	57	5	uses	use	VERB
ap-3040	57	6	the	the	DET
ap-3040	57	7	different	different	ADJ
ap-3040	57	8	pictures	picture	NOUN
ap-3040	57	9	taken	take	VERB
ap-3040	57	10	by	by	ADP
ap-3040	57	11	the	the	DET
ap-3040	57	12	camera	camera	NOUN
ap-3040	57	13	to	to	PART
ap-3040	57	14	recognize	recognize	VERB
ap-3040	57	15	predefined	predefine	VERB
ap-3040	57	16	classes	class	NOUN
ap-3040	57	17	of	of	ADP
ap-3040	57	18	objects	object	NOUN
ap-3040	57	19	.	.	PUNCT
ap-3040	58	1	pictures	picture	NOUN
ap-3040	58	2	are	be	AUX
ap-3040	58	3	taken	take	VERB
ap-3040	58	4	every	every	DET
ap-3040	58	5	4	4	NUM
ap-3040	58	6	seconds	second	NOUN
ap-3040	58	7	.	.	PUNCT
ap-3040	59	1	objects	object	NOUN
ap-3040	59	2	to	to	PART
ap-3040	59	3	be	be	AUX
ap-3040	59	4	detected	detect	VERB
ap-3040	59	5	are	be	AUX
ap-3040	59	6	known	know	VERB
ap-3040	59	7	in	in	ADP
ap-3040	59	8	advance	advance	NOUN
ap-3040	59	9	and	and	CCONJ
ap-3040	59	10	a	a	DET
ap-3040	59	11	database	database	NOUN
ap-3040	59	12	has	have	AUX
ap-3040	59	13	been	be	AUX
ap-3040	59	14	built	build	VERB
ap-3040	59	15	containing	contain	VERB
ap-3040	59	16	each	each	DET
ap-3040	59	17	object	object	NOUN
ap-3040	59	18	over	over	ADP
ap-3040	59	19	different	different	ADJ
ap-3040	59	20	5https://robots_malins4carotte.greyc.fr/	5https://robots_malins4carotte.greyc.fr/	NOUN
ap-3040	60	1	6www.wifibot.com	6www.wifibot.com	NUM
ap-3040	60	2	7www.hokuyo-aut.jp	7www.hokuyo-aut.jp	NUM
ap-3040	60	3	8http://www.opensplice.com	8http://www.opensplice.com	NUM
ap-3040	60	4	points	point	NOUN
ap-3040	60	5	of	of	ADP
ap-3040	60	6	view	view	NOUN
ap-3040	60	7	.	.	PUNCT
ap-3040	61	1	object	object	NOUN
ap-3040	61	2	detection	detection	NOUN
ap-3040	61	3	was	be	AUX
ap-3040	61	4	performed	perform	VERB
ap-3040	61	5	using	use	VERB
ap-3040	61	6	a	a	DET
ap-3040	61	7	shape	shape	NOUN
ap-3040	61	8	/	/	SYM
ap-3040	61	9	template	template	NOUN
ap-3040	61	10	matching	matching	NOUN
ap-3040	61	11	technique	technique	NOUN
ap-3040	61	12	based	base	VERB
ap-3040	61	13	on	on	ADP
ap-3040	61	14	dominant	dominant	ADJ
ap-3040	61	15	orientation	orientation	NOUN
ap-3040	61	16	template	template	NOUN
ap-3040	61	17	models	model	NOUN
ap-3040	61	18	[	[	X
ap-3040	61	19	5	5	NUM
ap-3040	61	20	]	]	PUNCT
ap-3040	61	21	.	.	PUNCT
ap-3040	62	1	the	the	DET
ap-3040	62	2	decision	decision	NOUN
ap-3040	62	3	module	module	NOUN
ap-3040	62	4	runs	run	VERB
ap-3040	62	5	asynchronously	asynchronously	ADV
ap-3040	62	6	,	,	PUNCT
ap-3040	62	7	computing	compute	VERB
ap-3040	62	8	a	a	DET
ap-3040	62	9	new	new	ADJ
ap-3040	62	10	strategy	strategy	NOUN
ap-3040	62	11	every	every	DET
ap-3040	62	12	second	second	ADJ
ap-3040	62	13	on	on	ADP
ap-3040	62	14	an	an	DET
ap-3040	62	15	average	average	NOUN
ap-3040	62	16	.	.	PUNCT
ap-3040	63	1	in	in	ADP
ap-3040	63	2	this	this	DET
ap-3040	63	3	paper	paper	NOUN
ap-3040	63	4	,	,	PUNCT
ap-3040	63	5	we	we	PRON
ap-3040	63	6	focus	focus	VERB
ap-3040	63	7	on	on	ADP
ap-3040	63	8	the	the	DET
ap-3040	63	9	decision	decision	NOUN
ap-3040	63	10	module	module	NOUN
ap-3040	63	11	.	.	PUNCT
ap-3040	64	1	details	detail	NOUN
ap-3040	64	2	on	on	ADP
ap-3040	64	3	the	the	DET
ap-3040	64	4	algorithm	algorithm	NOUN
ap-3040	64	5	used	use	VERB
ap-3040	64	6	to	to	PART
ap-3040	64	7	compute	compute	VERB
ap-3040	64	8	a	a	DET
ap-3040	64	9	joint	joint	ADJ
ap-3040	64	10	policy	policy	NOUN
ap-3040	64	11	of	of	ADP
ap-3040	64	12	the	the	DET
ap-3040	64	13	robots	robot	NOUN
ap-3040	64	14	to	to	PART
ap-3040	64	15	efficiently	efficiently	ADV
ap-3040	64	16	explore	explore	VERB
ap-3040	64	17	the	the	DET
ap-3040	64	18	arena	arena	NOUN
ap-3040	64	19	and	and	CCONJ
ap-3040	64	20	cover	cover	VERB
ap-3040	64	21	it	it	PRON
ap-3040	64	22	with	with	ADP
ap-3040	64	23	pictures	picture	NOUN
ap-3040	64	24	are	be	AUX
ap-3040	64	25	given	give	VERB
ap-3040	64	26	in	in	ADP
ap-3040	64	27	sections	section	NOUN
ap-3040	64	28	5	5	NUM
ap-3040	64	29	and	and	CCONJ
ap-3040	64	30	6	6	NUM
ap-3040	64	31	.	.	NOUN
ap-3040	64	32	3	3	NUM
ap-3040	64	33	.	.	X
ap-3040	64	34	state	state	NOUN
ap-3040	64	35	of	of	ADP
ap-3040	64	36	the	the	DET
ap-3040	64	37	art	art	NOUN
ap-3040	64	38	3.1	3.1	NUM
ap-3040	64	39	.	.	PUNCT
ap-3040	65	1	multi	multi	ADJ
ap-3040	65	2	-	-	ADJ
ap-3040	65	3	robot	robot	ADJ
ap-3040	65	4	exploration	exploration	NOUN
ap-3040	65	5	multi	multi	ADJ
ap-3040	65	6	-	-	ADJ
ap-3040	65	7	robot	robot	ADJ
ap-3040	65	8	exploration	exploration	NOUN
ap-3040	65	9	has	have	AUX
ap-3040	65	10	received	receive	VERB
ap-3040	65	11	considerable	considerable	ADJ
ap-3040	65	12	attention	attention	NOUN
ap-3040	65	13	in	in	ADP
ap-3040	65	14	recent	recent	ADJ
ap-3040	65	15	years	year	NOUN
ap-3040	65	16	due	due	ADP
ap-3040	65	17	to	to	ADP
ap-3040	65	18	its	its	PRON
ap-3040	65	19	obvious	obvious	ADJ
ap-3040	65	20	advantages	advantage	NOUN
ap-3040	65	21	over	over	ADP
ap-3040	65	22	single	single	ADJ
ap-3040	65	23	-	-	PUNCT
ap-3040	65	24	robot	robot	NOUN
ap-3040	65	25	systems	system	NOUN
ap-3040	65	26	:	:	PUNCT
ap-3040	65	27	it	it	PRON
ap-3040	65	28	is	be	AUX
ap-3040	65	29	faster	fast	ADJ
ap-3040	65	30	,	,	PUNCT
ap-3040	65	31	robust	robust	ADJ
ap-3040	65	32	,	,	PUNCT
ap-3040	65	33	faulttolerant	faulttolerant	ADJ
ap-3040	65	34	,	,	PUNCT
ap-3040	65	35	etc	etc	X
ap-3040	65	36	.	.	X
ap-3040	66	1	most	most	ADJ
ap-3040	66	2	multi	multi	ADJ
ap-3040	66	3	-	-	ADJ
ap-3040	66	4	robot	robot	ADJ
ap-3040	66	5	approaches	approach	NOUN
ap-3040	66	6	assume	assume	VERB
ap-3040	66	7	that	that	SCONJ
ap-3040	66	8	robots	robot	NOUN
ap-3040	66	9	share	share	VERB
ap-3040	66	10	the	the	DET
ap-3040	66	11	information	information	NOUN
ap-3040	66	12	that	that	PRON
ap-3040	66	13	they	they	PRON
ap-3040	66	14	have	have	AUX
ap-3040	66	15	gathered	gather	VERB
ap-3040	66	16	to	to	PART
ap-3040	66	17	build	build	VERB
ap-3040	66	18	a	a	DET
ap-3040	66	19	shared	share	VERB
ap-3040	66	20	map	map	NOUN
ap-3040	66	21	and	and	CCONJ
ap-3040	66	22	know	know	VERB
ap-3040	66	23	their	their	PRON
ap-3040	66	24	locations	location	NOUN
ap-3040	66	25	in	in	ADP
ap-3040	66	26	this	this	DET
ap-3040	66	27	map	map	NOUN
ap-3040	66	28	.	.	PUNCT
ap-3040	67	1	the	the	DET
ap-3040	67	2	robots	robot	NOUN
ap-3040	67	3	cooperate	cooperate	VERB
ap-3040	67	4	through	through	ADP
ap-3040	67	5	the	the	DET
ap-3040	67	6	shared	share	VERB
ap-3040	67	7	map	map	NOUN
ap-3040	67	8	,	,	PUNCT
ap-3040	67	9	but	but	CCONJ
ap-3040	67	10	coordination	coordination	NOUN
ap-3040	67	11	techniques	technique	NOUN
ap-3040	67	12	are	be	AUX
ap-3040	67	13	required	require	VERB
ap-3040	67	14	to	to	PART
ap-3040	67	15	exploit	exploit	VERB
ap-3040	67	16	the	the	DET
ap-3040	67	17	parallelism	parallelism	NOUN
ap-3040	67	18	inherent	inherent	ADJ
ap-3040	67	19	to	to	ADP
ap-3040	67	20	the	the	DET
ap-3040	67	21	team	team	NOUN
ap-3040	67	22	.	.	PUNCT
ap-3040	68	1	in	in	ADP
ap-3040	68	2	[	[	X
ap-3040	68	3	6	6	NUM
ap-3040	68	4	]	]	PUNCT
ap-3040	68	5	,	,	PUNCT
ap-3040	68	6	each	each	DET
ap-3040	68	7	robot	robot	NOUN
ap-3040	68	8	uses	use	VERB
ap-3040	68	9	the	the	DET
ap-3040	68	10	greedy	greedy	ADJ
ap-3040	68	11	approach	approach	NOUN
ap-3040	68	12	in	in	ADP
ap-3040	68	13	the	the	DET
ap-3040	68	14	shared	share	VERB
ap-3040	68	15	map	map	NOUN
ap-3040	68	16	,	,	PUNCT
ap-3040	68	17	i.e.	i.e.	X
ap-3040	68	18	,	,	PUNCT
ap-3040	68	19	each	each	DET
ap-3040	68	20	robot	robot	NOUN
ap-3040	68	21	chooses	choose	VERB
ap-3040	68	22	the	the	DET
ap-3040	68	23	nearest	near	ADJ
ap-3040	68	24	exploration	exploration	NOUN
ap-3040	68	25	frontiers	frontier	NOUN
ap-3040	68	26	,	,	PUNCT
ap-3040	68	27	defined	define	VERB
ap-3040	68	28	as	as	ADP
ap-3040	68	29	regions	region	NOUN
ap-3040	68	30	on	on	ADP
ap-3040	68	31	the	the	DET
ap-3040	68	32	boundary	boundary	NOUN
ap-3040	68	33	between	between	ADP
ap-3040	68	34	open	open	ADJ
ap-3040	68	35	space	space	NOUN
ap-3040	68	36	and	and	CCONJ
ap-3040	68	37	unexplored	unexplored	ADJ
ap-3040	68	38	space	space	NOUN
ap-3040	68	39	.	.	PUNCT
ap-3040	69	1	therefore	therefore	ADV
ap-3040	69	2	,	,	PUNCT
ap-3040	69	3	there	there	PRON
ap-3040	69	4	is	be	VERB
ap-3040	69	5	no	no	DET
ap-3040	69	6	coordination	coordination	NOUN
ap-3040	69	7	and	and	CCONJ
ap-3040	69	8	multiple	multiple	ADJ
ap-3040	69	9	robots	robot	NOUN
ap-3040	69	10	can	can	AUX
ap-3040	69	11	be	be	AUX
ap-3040	69	12	assigned	assign	VERB
ap-3040	69	13	to	to	ADP
ap-3040	69	14	the	the	DET
ap-3040	69	15	same	same	ADJ
ap-3040	69	16	frontier	frontier	NOUN
ap-3040	69	17	.	.	PUNCT
ap-3040	70	1	in	in	ADP
ap-3040	70	2	[	[	X
ap-3040	70	3	7–9	7–9	NOUN
ap-3040	70	4	]	]	X
ap-3040	70	5	,	,	PUNCT
ap-3040	70	6	the	the	DET
ap-3040	70	7	coordination	coordination	NOUN
ap-3040	70	8	is	be	AUX
ap-3040	70	9	centralized	centralize	VERB
ap-3040	70	10	.	.	PUNCT
ap-3040	71	1	a	a	DET
ap-3040	71	2	cost	cost	NOUN
ap-3040	71	3	-	-	PUNCT
ap-3040	71	4	utility	utility	NOUN
ap-3040	71	5	model	model	NOUN
ap-3040	71	6	is	be	AUX
ap-3040	71	7	used	use	VERB
ap-3040	71	8	,	,	PUNCT
ap-3040	71	9	where	where	SCONJ
ap-3040	71	10	the	the	DET
ap-3040	71	11	gain	gain	NOUN
ap-3040	71	12	expected	expect	VERB
ap-3040	71	13	at	at	ADP
ap-3040	71	14	a	a	DET
ap-3040	71	15	target	target	NOUN
ap-3040	71	16	is	be	AUX
ap-3040	71	17	the	the	DET
ap-3040	71	18	expected	expect	VERB
ap-3040	71	19	area	area	NOUN
ap-3040	71	20	discovered	discover	VERB
ap-3040	71	21	when	when	SCONJ
ap-3040	71	22	the	the	DET
ap-3040	71	23	target	target	NOUN
ap-3040	71	24	is	be	AUX
ap-3040	71	25	reached	reach	VERB
ap-3040	71	26	,	,	PUNCT
ap-3040	71	27	taking	take	VERB
ap-3040	71	28	into	into	ADP
ap-3040	71	29	account	account	NOUN
ap-3040	71	30	the	the	DET
ap-3040	71	31	possible	possible	ADJ
ap-3040	71	32	overlap	overlap	NOUN
ap-3040	71	33	between	between	ADP
ap-3040	71	34	robot	robot	NOUN
ap-3040	71	35	sensors	sensor	NOUN
ap-3040	71	36	.	.	PUNCT
ap-3040	72	1	coordination	coordination	NOUN
ap-3040	72	2	is	be	AUX
ap-3040	72	3	accomplished	accomplish	VERB
ap-3040	72	4	by	by	ADP
ap-3040	72	5	assigning	assign	VERB
ap-3040	72	6	different	different	ADJ
ap-3040	72	7	targets	target	NOUN
ap-3040	72	8	to	to	ADP
ap-3040	72	9	the	the	DET
ap-3040	72	10	robots	robot	NOUN
ap-3040	72	11	,	,	PUNCT
ap-3040	72	12	thus	thus	ADV
ap-3040	72	13	maximizing	maximize	VERB
ap-3040	72	14	the	the	DET
ap-3040	72	15	coverage	coverage	NOUN
ap-3040	72	16	and	and	CCONJ
ap-3040	72	17	reducing	reduce	VERB
ap-3040	72	18	the	the	DET
ap-3040	72	19	overlap	overlap	NOUN
ap-3040	72	20	between	between	ADP
ap-3040	72	21	the	the	DET
ap-3040	72	22	explored	explore	VERB
ap-3040	72	23	areas	area	NOUN
ap-3040	72	24	of	of	ADP
ap-3040	72	25	each	each	DET
ap-3040	72	26	robot	robot	NOUN
ap-3040	72	27	.	.	PUNCT
ap-3040	73	1	coordination	coordination	NOUN
ap-3040	73	2	can	can	AUX
ap-3040	73	3	also	also	ADV
ap-3040	73	4	be	be	AUX
ap-3040	73	5	decentralized	decentralize	VERB
ap-3040	73	6	.	.	PUNCT
ap-3040	74	1	in	in	ADP
ap-3040	74	2	[	[	X
ap-3040	74	3	10	10	NUM
ap-3040	74	4	]	]	X
ap-3040	74	5	robots	robot	NOUN
ap-3040	74	6	bid	bid	VERB
ap-3040	74	7	on	on	ADP
ap-3040	74	8	targets	target	NOUN
ap-3040	74	9	to	to	PART
ap-3040	74	10	negotiate	negotiate	VERB
ap-3040	74	11	their	their	PRON
ap-3040	74	12	assignments	assignment	NOUN
ap-3040	74	13	.	.	PUNCT
ap-3040	75	1	classically	classically	ADV
ap-3040	75	2	,	,	PUNCT
ap-3040	75	3	frontiers	frontier	NOUN
ap-3040	75	4	are	be	AUX
ap-3040	75	5	rated	rate	VERB
ap-3040	75	6	using	use	VERB
ap-3040	75	7	the	the	DET
ap-3040	75	8	distance	distance	NOUN
ap-3040	75	9	to	to	ADP
ap-3040	75	10	the	the	DET
ap-3040	75	11	robot	robot	NOUN
ap-3040	75	12	,	,	PUNCT
ap-3040	75	13	but	but	CCONJ
ap-3040	75	14	bautin	bautin	PROPN
ap-3040	75	15	et	et	PROPN
ap-3040	75	16	al	al	PROPN
ap-3040	75	17	.	.	PUNCT
ap-3040	76	1	[	[	X
ap-3040	76	2	11	11	NUM
ap-3040	76	3	]	]	PUNCT
ap-3040	76	4	chose	choose	VERB
ap-3040	76	5	to	to	PART
ap-3040	76	6	favor	favor	VERB
ap-3040	76	7	a	a	DET
ap-3040	76	8	well	well	ADV
ap-3040	76	9	-	-	PUNCT
ap-3040	76	10	balanced	balance	VERB
ap-3040	76	11	spatial	spatial	ADJ
ap-3040	76	12	distribution	distribution	NOUN
ap-3040	76	13	of	of	ADP
ap-3040	76	14	robots	robot	NOUN
ap-3040	76	15	in	in	ADP
ap-3040	76	16	the	the	DET
ap-3040	76	17	environment	environment	NOUN
ap-3040	76	18	:	:	PUNCT
ap-3040	76	19	for	for	ADP
ap-3040	76	20	each	each	DET
ap-3040	76	21	robot	robot	NOUN
ap-3040	76	22	-	-	PUNCT
ap-3040	76	23	frontier	frontier	NOUN
ap-3040	76	24	pair	pair	NOUN
ap-3040	76	25	,	,	PUNCT
ap-3040	76	26	the	the	DET
ap-3040	76	27	cost	cost	NOUN
ap-3040	76	28	function	function	NOUN
ap-3040	76	29	is	be	AUX
ap-3040	76	30	the	the	DET
ap-3040	76	31	number	number	NOUN
ap-3040	76	32	of	of	ADP
ap-3040	76	33	robots	robot	NOUN
ap-3040	76	34	closer	close	ADJ
ap-3040	76	35	than	than	ADP
ap-3040	76	36	it	it	PRON
ap-3040	76	37	to	to	ADP
ap-3040	76	38	the	the	DET
ap-3040	76	39	considered	consider	VERB
ap-3040	76	40	frontier	frontier	NOUN
ap-3040	76	41	.	.	PUNCT
ap-3040	77	1	accordingly	accordingly	ADV
ap-3040	77	2	,	,	PUNCT
ap-3040	77	3	each	each	DET
ap-3040	77	4	robot	robot	NOUN
ap-3040	77	5	is	be	AUX
ap-3040	77	6	allocated	allocate	VERB
ap-3040	77	7	to	to	ADP
ap-3040	77	8	the	the	DET
ap-3040	77	9	frontier	frontier	NOUN
ap-3040	77	10	for	for	ADP
ap-3040	77	11	which	which	PRON
ap-3040	77	12	it	it	PRON
ap-3040	77	13	has	have	VERB
ap-3040	77	14	the	the	DET
ap-3040	77	15	lowest	low	ADJ
ap-3040	77	16	rank	rank	NOUN
ap-3040	77	17	.	.	PUNCT
ap-3040	78	1	all	all	DET
ap-3040	78	2	these	these	DET
ap-3040	78	3	strategies	strategy	NOUN
ap-3040	78	4	have	have	AUX
ap-3040	78	5	been	be	AUX
ap-3040	78	6	devised	devise	VERB
ap-3040	78	7	,	,	PUNCT
ap-3040	78	8	but	but	CCONJ
ap-3040	78	9	few	few	ADJ
ap-3040	78	10	efforts	effort	NOUN
ap-3040	78	11	have	have	AUX
ap-3040	78	12	been	be	AUX
ap-3040	78	13	made	make	VERB
ap-3040	78	14	to	to	PART
ap-3040	78	15	compare	compare	VERB
ap-3040	78	16	them	they	PRON
ap-3040	78	17	.	.	PUNCT
ap-3040	79	1	an	an	DET
ap-3040	79	2	exception	exception	NOUN
ap-3040	79	3	is	be	AUX
ap-3040	79	4	a	a	DET
ap-3040	79	5	recent	recent	ADJ
ap-3040	79	6	article	article	NOUN
ap-3040	79	7	[	[	X
ap-3040	79	8	12	12	NUM
ap-3040	79	9	]	]	PUNCT
ap-3040	79	10	that	that	PRON
ap-3040	79	11	compares	compare	VERB
ap-3040	79	12	some	some	DET
ap-3040	79	13	methods	method	NOUN
ap-3040	79	14	for	for	ADP
ap-3040	79	15	autonomous	autonomous	ADJ
ap-3040	79	16	exploration	exploration	NOUN
ap-3040	79	17	and	and	CCONJ
ap-3040	79	18	mapping	mapping	NOUN
ap-3040	79	19	using	use	VERB
ap-3040	79	20	various	various	ADJ
ap-3040	79	21	criteria	criterion	NOUN
ap-3040	79	22	,	,	PUNCT
ap-3040	79	23	e.g.	e.g.	ADV
ap-3040	79	24	,	,	PUNCT
ap-3040	79	25	exploration	exploration	NOUN
ap-3040	79	26	time	time	NOUN
ap-3040	79	27	and	and	CCONJ
ap-3040	79	28	map	map	VERB
ap-3040	79	29	quality	quality	NOUN
ap-3040	79	30	.	.	PUNCT
ap-3040	80	1	3.2	3.2	NUM
ap-3040	80	2	.	.	PUNCT
ap-3040	81	1	active	active	ADJ
ap-3040	81	2	perception	perception	NOUN
ap-3040	81	3	combined	combine	VERB
ap-3040	81	4	with	with	ADP
ap-3040	81	5	exploration	exploration	NOUN
ap-3040	81	6	early	early	ADJ
ap-3040	81	7	works	work	NOUN
ap-3040	81	8	on	on	ADP
ap-3040	81	9	object	object	NOUN
ap-3040	81	10	recognition	recognition	NOUN
ap-3040	81	11	were	be	AUX
ap-3040	81	12	based	base	VERB
ap-3040	81	13	on	on	ADP
ap-3040	81	14	passive	passive	ADJ
ap-3040	81	15	approaches	approach	NOUN
ap-3040	81	16	.	.	PUNCT
ap-3040	82	1	during	during	ADP
ap-3040	82	2	the	the	DET
ap-3040	82	3	last	last	ADJ
ap-3040	82	4	decade	decade	NOUN
ap-3040	82	5	,	,	PUNCT
ap-3040	82	6	some	some	DET
ap-3040	82	7	approaches	approach	NOUN
ap-3040	82	8	have	have	AUX
ap-3040	82	9	investigated	investigate	VERB
ap-3040	82	10	the	the	DET
ap-3040	82	11	field	field	NOUN
ap-3040	82	12	of	of	ADP
ap-3040	82	13	active	active	ADJ
ap-3040	82	14	object	object	NOUN
ap-3040	82	15	recognition	recognition	NOUN
ap-3040	82	16	:	:	PUNCT
ap-3040	82	17	the	the	DET
ap-3040	82	18	viewpoint	viewpoint	NOUN
ap-3040	82	19	of	of	ADP
ap-3040	82	20	the	the	DET
ap-3040	82	21	camera	camera	NOUN
ap-3040	82	22	can	can	AUX
ap-3040	82	23	be	be	AUX
ap-3040	82	24	controlled	control	VERB
ap-3040	82	25	to	to	PART
ap-3040	82	26	improve	improve	VERB
ap-3040	82	27	the	the	DET
ap-3040	82	28	recognition	recognition	NOUN
ap-3040	82	29	rate	rate	NOUN
ap-3040	82	30	.	.	PUNCT
ap-3040	83	1	for	for	ADP
ap-3040	83	2	example	example	NOUN
ap-3040	83	3	,	,	PUNCT
ap-3040	83	4	looking	look	VERB
ap-3040	83	5	at	at	ADP
ap-3040	83	6	an	an	DET
ap-3040	83	7	object	object	NOUN
ap-3040	83	8	from	from	ADP
ap-3040	83	9	different	different	ADJ
ap-3040	83	10	poses	pose	NOUN
ap-3040	83	11	decreases	decrease	VERB
ap-3040	83	12	ambiguities	ambiguity	NOUN
ap-3040	83	13	in	in	ADP
ap-3040	83	14	object	object	NOUN
ap-3040	83	15	recognition	recognition	NOUN
ap-3040	83	16	,	,	PUNCT
ap-3040	83	17	thanks	thank	NOUN
ap-3040	83	18	to	to	ADP
ap-3040	83	19	the	the	DET
ap-3040	83	20	choice	choice	NOUN
ap-3040	83	21	of	of	ADP
ap-3040	83	22	170	170	NUM
ap-3040	83	23	vol	vol	NOUN
ap-3040	83	24	.	.	PUNCT
ap-3040	84	1	55	55	NUM
ap-3040	84	2	no	no	NOUN
ap-3040	84	3	.	.	PUNCT
ap-3040	85	1	3/2015	3/2015	NUM
ap-3040	85	2	decentralized	decentralize	VERB
ap-3040	85	3	multi	multi	ADJ
ap-3040	85	4	-	-	ADJ
ap-3040	85	5	robot	robot	ADJ
ap-3040	85	6	planning	planning	NOUN
ap-3040	85	7	to	to	PART
ap-3040	85	8	explore	explore	VERB
ap-3040	85	9	and	and	CCONJ
ap-3040	85	10	perceive	perceive	VERB
ap-3040	85	11	different	different	ADJ
ap-3040	85	12	viewpoints	viewpoint	NOUN
ap-3040	85	13	.	.	PUNCT
ap-3040	86	1	several	several	ADJ
ap-3040	86	2	active	active	ADJ
ap-3040	86	3	approaches	approach	NOUN
ap-3040	86	4	have	have	AUX
ap-3040	86	5	been	be	AUX
ap-3040	86	6	proposed	propose	VERB
ap-3040	86	7	for	for	ADP
ap-3040	86	8	planning	plan	VERB
ap-3040	86	9	optimal	optimal	ADJ
ap-3040	86	10	sequences	sequence	NOUN
ap-3040	86	11	of	of	ADP
ap-3040	86	12	views	view	NOUN
ap-3040	86	13	for	for	ADP
ap-3040	86	14	a	a	DET
ap-3040	86	15	camera	camera	NOUN
ap-3040	86	16	.	.	PUNCT
ap-3040	87	1	an	an	DET
ap-3040	87	2	approach	approach	NOUN
ap-3040	87	3	for	for	ADP
ap-3040	87	4	viewpoint	viewpoint	NOUN
ap-3040	87	5	selection	selection	NOUN
ap-3040	87	6	based	base	VERB
ap-3040	87	7	on	on	ADP
ap-3040	87	8	reinforcement	reinforcement	NOUN
ap-3040	87	9	learning	learning	NOUN
ap-3040	87	10	is	be	AUX
ap-3040	87	11	proposed	propose	VERB
ap-3040	87	12	in	in	ADP
ap-3040	87	13	[	[	X
ap-3040	87	14	13	13	NUM
ap-3040	87	15	]	]	PUNCT
ap-3040	87	16	.	.	PUNCT
ap-3040	88	1	in	in	ADP
ap-3040	88	2	[	[	X
ap-3040	88	3	14	14	NUM
ap-3040	88	4	]	]	PUNCT
ap-3040	88	5	,	,	PUNCT
ap-3040	88	6	the	the	DET
ap-3040	88	7	objective	objective	NOUN
ap-3040	88	8	is	be	AUX
ap-3040	88	9	to	to	PART
ap-3040	88	10	plan	plan	VERB
ap-3040	88	11	the	the	DET
ap-3040	88	12	minimum	minimum	ADJ
ap-3040	88	13	number	number	NOUN
ap-3040	88	14	of	of	ADP
ap-3040	88	15	actions	action	NOUN
ap-3040	88	16	and	and	CCONJ
ap-3040	88	17	observations	observation	NOUN
ap-3040	88	18	required	require	VERB
ap-3040	88	19	to	to	PART
ap-3040	88	20	achieve	achieve	VERB
ap-3040	88	21	recognition	recognition	NOUN
ap-3040	88	22	.	.	PUNCT
ap-3040	89	1	active	active	ADJ
ap-3040	89	2	perception	perception	NOUN
ap-3040	89	3	planning	planning	NOUN
ap-3040	89	4	is	be	AUX
ap-3040	89	5	formulated	formulate	VERB
ap-3040	89	6	as	as	ADP
ap-3040	89	7	pomdp	pomdp	NOUN
ap-3040	89	8	.	.	PUNCT
ap-3040	90	1	however	however	ADV
ap-3040	90	2	,	,	PUNCT
ap-3040	90	3	the	the	DET
ap-3040	90	4	issue	issue	NOUN
ap-3040	90	5	of	of	ADP
ap-3040	90	6	active	active	ADJ
ap-3040	90	7	planning	planning	NOUN
ap-3040	90	8	combined	combine	VERB
ap-3040	90	9	with	with	ADP
ap-3040	90	10	exploration	exploration	NOUN
ap-3040	90	11	is	be	AUX
ap-3040	90	12	not	not	PART
ap-3040	90	13	addressed	address	VERB
ap-3040	90	14	in	in	ADP
ap-3040	90	15	most	most	ADJ
ap-3040	90	16	of	of	ADP
ap-3040	90	17	these	these	DET
ap-3040	90	18	works	work	NOUN
ap-3040	90	19	,	,	PUNCT
ap-3040	90	20	as	as	SCONJ
ap-3040	90	21	the	the	DET
ap-3040	90	22	location	location	NOUN
ap-3040	90	23	of	of	ADP
ap-3040	90	24	the	the	DET
ap-3040	90	25	object	object	NOUN
ap-3040	90	26	to	to	PART
ap-3040	90	27	be	be	AUX
ap-3040	90	28	recognized	recognize	VERB
ap-3040	90	29	is	be	AUX
ap-3040	90	30	known	know	VERB
ap-3040	90	31	.	.	PUNCT
ap-3040	91	1	other	other	ADJ
ap-3040	91	2	works	work	NOUN
ap-3040	91	3	are	be	AUX
ap-3040	91	4	interested	interested	ADJ
ap-3040	91	5	in	in	ADP
ap-3040	91	6	adding	add	VERB
ap-3040	91	7	in	in	ADP
ap-3040	91	8	the	the	DET
ap-3040	91	9	trajectories	trajectory	NOUN
ap-3040	91	10	planned	plan	VERB
ap-3040	91	11	for	for	ADP
ap-3040	91	12	the	the	DET
ap-3040	91	13	exploration	exploration	NOUN
ap-3040	91	14	other	other	ADJ
ap-3040	91	15	objectives	objective	NOUN
ap-3040	91	16	.	.	PUNCT
ap-3040	92	1	for	for	ADP
ap-3040	92	2	example	example	NOUN
ap-3040	92	3	,	,	PUNCT
ap-3040	92	4	integrated	integrated	ADJ
ap-3040	92	5	exploration	exploration	NOUN
ap-3040	92	6	[	[	X
ap-3040	92	7	15	15	NUM
ap-3040	92	8	,	,	PUNCT
ap-3040	92	9	16	16	NUM
ap-3040	92	10	]	]	PUNCT
ap-3040	92	11	involves	involve	VERB
ap-3040	92	12	integrating	integrate	VERB
ap-3040	92	13	the	the	DET
ap-3040	92	14	path	path	NOUN
ap-3040	92	15	planned	plan	VERB
ap-3040	92	16	for	for	ADP
ap-3040	92	17	exploration	exploration	NOUN
ap-3040	92	18	with	with	ADP
ap-3040	92	19	slam	slam	NOUN
ap-3040	92	20	in	in	ADP
ap-3040	92	21	order	order	NOUN
ap-3040	92	22	to	to	PART
ap-3040	92	23	plan	plan	VERB
ap-3040	92	24	trajectories	trajectory	NOUN
ap-3040	92	25	that	that	PRON
ap-3040	92	26	favour	favour	VERB
ap-3040	92	27	the	the	DET
ap-3040	92	28	creation	creation	NOUN
ap-3040	92	29	of	of	ADP
ap-3040	92	30	a	a	DET
ap-3040	92	31	high	high	ADJ
ap-3040	92	32	-	-	PUNCT
ap-3040	92	33	quality	quality	NOUN
ap-3040	92	34	map	map	NOUN
ap-3040	92	35	.	.	PUNCT
ap-3040	93	1	some	some	DET
ap-3040	93	2	actions	action	NOUN
ap-3040	93	3	,	,	PUNCT
ap-3040	93	4	e.g.	e.g.	ADV
ap-3040	93	5	,	,	PUNCT
ap-3040	93	6	closing	close	VERB
ap-3040	93	7	a	a	DET
ap-3040	93	8	loop	loop	NOUN
ap-3040	93	9	or	or	CCONJ
ap-3040	93	10	returning	return	VERB
ap-3040	93	11	to	to	ADP
ap-3040	93	12	precedent	precedent	NOUN
ap-3040	93	13	positions	position	NOUN
ap-3040	93	14	,	,	PUNCT
ap-3040	93	15	may	may	AUX
ap-3040	93	16	reduce	reduce	VERB
ap-3040	93	17	the	the	DET
ap-3040	93	18	uncertainty	uncertainty	NOUN
ap-3040	93	19	of	of	ADP
ap-3040	93	20	the	the	DET
ap-3040	93	21	robot	robot	NOUN
ap-3040	93	22	pose	pose	VERB
ap-3040	93	23	and	and	CCONJ
ap-3040	93	24	the	the	DET
ap-3040	93	25	uncertainty	uncertainty	NOUN
ap-3040	93	26	of	of	ADP
ap-3040	93	27	the	the	DET
ap-3040	93	28	map	map	NOUN
ap-3040	93	29	.	.	PUNCT
ap-3040	94	1	a	a	DET
ap-3040	94	2	utility	utility	NOUN
ap-3040	94	3	function	function	NOUN
ap-3040	94	4	is	be	AUX
ap-3040	94	5	used	use	VERB
ap-3040	94	6	which	which	PRON
ap-3040	94	7	trades	trade	VERB
ap-3040	94	8	off	off	ADP
ap-3040	94	9	the	the	DET
ap-3040	94	10	cost	cost	NOUN
ap-3040	94	11	of	of	ADP
ap-3040	94	12	exploring	explore	VERB
ap-3040	94	13	new	new	ADJ
ap-3040	94	14	terrain	terrain	NOUN
ap-3040	94	15	against	against	ADP
ap-3040	94	16	the	the	DET
ap-3040	94	17	potential	potential	ADJ
ap-3040	94	18	reduction	reduction	NOUN
ap-3040	94	19	of	of	ADP
ap-3040	94	20	uncertainty	uncertainty	NOUN
ap-3040	94	21	by	by	ADP
ap-3040	94	22	making	make	VERB
ap-3040	94	23	measurements	measurement	NOUN
ap-3040	94	24	at	at	ADP
ap-3040	94	25	selected	select	VERB
ap-3040	94	26	positions	position	NOUN
ap-3040	94	27	.	.	PUNCT
ap-3040	95	1	in	in	ADP
ap-3040	95	2	these	these	DET
ap-3040	95	3	works	work	NOUN
ap-3040	95	4	,	,	PUNCT
ap-3040	95	5	there	there	PRON
ap-3040	95	6	is	be	VERB
ap-3040	95	7	no	no	DET
ap-3040	95	8	verification	verification	NOUN
ap-3040	95	9	of	of	ADP
ap-3040	95	10	the	the	DET
ap-3040	95	11	assumption	assumption	NOUN
ap-3040	95	12	of	of	ADP
ap-3040	95	13	having	have	VERB
ap-3040	95	14	an	an	DET
ap-3040	95	15	accurate	accurate	ADJ
ap-3040	95	16	position	position	NOUN
ap-3040	95	17	estimate	estimate	NOUN
ap-3040	95	18	during	during	ADP
ap-3040	95	19	exploration	exploration	NOUN
ap-3040	95	20	.	.	PUNCT
ap-3040	96	1	integrated	integrate	VERB
ap-3040	96	2	exploration	exploration	NOUN
ap-3040	96	3	considers	consider	VERB
ap-3040	96	4	the	the	DET
ap-3040	96	5	problem	problem	NOUN
ap-3040	96	6	of	of	ADP
ap-3040	96	7	acting	act	VERB
ap-3040	96	8	for	for	ADP
ap-3040	96	9	better	well	ADJ
ap-3040	96	10	localization	localization	NOUN
ap-3040	96	11	,	,	PUNCT
ap-3040	96	12	but	but	CCONJ
ap-3040	96	13	not	not	PART
ap-3040	96	14	for	for	ADP
ap-3040	96	15	better	well	ADJ
ap-3040	96	16	recognition	recognition	NOUN
ap-3040	96	17	.	.	PUNCT
ap-3040	97	1	4	4	X
ap-3040	97	2	.	.	X
ap-3040	97	3	interaction	interaction	NOUN
ap-3040	97	4	-	-	PUNCT
ap-3040	97	5	oriented	orient	VERB
ap-3040	97	6	models	model	NOUN
ap-3040	97	7	decision	decision	NOUN
ap-3040	97	8	-	-	PUNCT
ap-3040	97	9	theoretic	theoretic	NOUN
ap-3040	97	10	models	model	NOUN
ap-3040	97	11	based	base	VERB
ap-3040	97	12	on	on	ADP
ap-3040	97	13	dec	dec	PROPN
ap-3040	97	14	-	-	PROPN
ap-3040	97	15	mdps	mdps	PROPN
ap-3040	97	16	provide	provide	VERB
ap-3040	97	17	an	an	DET
ap-3040	97	18	expressive	expressive	ADJ
ap-3040	97	19	means	mean	NOUN
ap-3040	97	20	for	for	ADP
ap-3040	97	21	modeling	model	VERB
ap-3040	97	22	cooperative	cooperative	ADJ
ap-3040	97	23	teams	team	NOUN
ap-3040	97	24	of	of	ADP
ap-3040	97	25	decision	decision	NOUN
ap-3040	97	26	makers	maker	NOUN
ap-3040	97	27	.	.	PUNCT
ap-3040	98	1	in	in	ADP
ap-3040	98	2	this	this	DET
ap-3040	98	3	section	section	NOUN
ap-3040	98	4	,	,	PUNCT
ap-3040	98	5	we	we	PRON
ap-3040	98	6	present	present	VERB
ap-3040	98	7	this	this	DET
ap-3040	98	8	formalism	formalism	NOUN
ap-3040	98	9	and	and	CCONJ
ap-3040	98	10	recent	recent	ADJ
ap-3040	98	11	advances	advance	NOUN
ap-3040	98	12	in	in	ADP
ap-3040	98	13	resolving	resolve	VERB
ap-3040	98	14	it	it	PRON
ap-3040	98	15	.	.	PUNCT
ap-3040	99	1	4.1	4.1	NUM
ap-3040	99	2	.	.	PUNCT
ap-3040	99	3	background	background	NOUN
ap-3040	99	4	on	on	ADP
ap-3040	99	5	dec	dec	PROPN
ap-3040	99	6	-	-	PUNCT
ap-3040	99	7	mdp	mdp	PROPN
ap-3040	99	8	dec	dec	PROPN
ap-3040	99	9	-	-	PUNCT
ap-3040	99	10	mdp	mdp	PROPN
ap-3040	99	11	[	[	X
ap-3040	99	12	17	17	NUM
ap-3040	99	13	]	]	PUNCT
ap-3040	99	14	is	be	AUX
ap-3040	99	15	an	an	DET
ap-3040	99	16	extension	extension	NOUN
ap-3040	99	17	of	of	ADP
ap-3040	99	18	mdp	mdp	PROPN
ap-3040	99	19	[	[	X
ap-3040	99	20	18	18	NUM
ap-3040	99	21	]	]	PUNCT
ap-3040	99	22	for	for	ADP
ap-3040	99	23	decentralized	decentralized	ADJ
ap-3040	99	24	control	control	NOUN
ap-3040	99	25	domains	domain	NOUN
ap-3040	99	26	.	.	PUNCT
ap-3040	100	1	a	a	DET
ap-3040	100	2	dec	dec	PROPN
ap-3040	100	3	-	-	PUNCT
ap-3040	100	4	mdp	mdp	PROPN
ap-3040	100	5	is	be	AUX
ap-3040	100	6	defined	define	VERB
ap-3040	100	7	with	with	ADP
ap-3040	100	8	a	a	DET
ap-3040	100	9	tuple	tuple	NOUN
ap-3040	100	10	〈	〈	PROPN
ap-3040	100	11	i	i	PROPN
ap-3040	100	12	,	,	PUNCT
ap-3040	100	13	s	s	PROPN
ap-3040	100	14	,	,	PUNCT
ap-3040	100	15	a	a	PRON
ap-3040	100	16	,	,	PUNCT
ap-3040	100	17	t	t	PROPN
ap-3040	100	18	,	,	PUNCT
ap-3040	100	19	r	r	PROPN
ap-3040	100	20	,	,	PUNCT
ap-3040	100	21	ω	ω	PROPN
ap-3040	100	22	,	,	PUNCT
ap-3040	100	23	o	o	NOUN
ap-3040	100	24	〉	〉	NUM
ap-3040	100	25	.	.	PUNCT
ap-3040	101	1	i	i	PRON
ap-3040	101	2	is	be	AUX
ap-3040	101	3	the	the	DET
ap-3040	101	4	number	number	NOUN
ap-3040	101	5	of	of	ADP
ap-3040	101	6	agents	agent	NOUN
ap-3040	101	7	,	,	PUNCT
ap-3040	101	8	s	s	VERB
ap-3040	101	9	is	be	AUX
ap-3040	101	10	the	the	DET
ap-3040	101	11	set	set	NOUN
ap-3040	101	12	of	of	ADP
ap-3040	101	13	joint	joint	ADJ
ap-3040	101	14	states	state	NOUN
ap-3040	101	15	and	and	CCONJ
ap-3040	101	16	a	a	DET
ap-3040	101	17	=	=	X
ap-3040	101	18	{	{	PUNCT
ap-3040	101	19	ai	ai	NOUN
ap-3040	101	20	}	}	PUNCT
ap-3040	101	21	is	be	AUX
ap-3040	101	22	the	the	DET
ap-3040	101	23	set	set	NOUN
ap-3040	101	24	of	of	ADP
ap-3040	101	25	joint	joint	ADJ
ap-3040	101	26	actions9	actions9	NOUN
ap-3040	101	27	.	.	PUNCT
ap-3040	102	1	t	t	PROPN
ap-3040	102	2	:	:	PUNCT
ap-3040	102	3	s	s	VERB
ap-3040	102	4	×	×	PROPN
ap-3040	102	5	a×	a×	PROPN
ap-3040	102	6	s	s	PART
ap-3040	102	7	→	→	SYM
ap-3040	102	8	[	[	X
ap-3040	102	9	0	0	NUM
ap-3040	102	10	;	;	PUNCT
ap-3040	102	11	1	1	NUM
ap-3040	102	12	]	]	PUNCT
ap-3040	102	13	is	be	AUX
ap-3040	102	14	a	a	DET
ap-3040	102	15	transition	transition	NOUN
ap-3040	102	16	function	function	NOUN
ap-3040	102	17	and	and	CCONJ
ap-3040	102	18	t	t	PROPN
ap-3040	102	19	(	(	PUNCT
ap-3040	102	20	s	s	PROPN
ap-3040	102	21	,	,	PUNCT
ap-3040	102	22	a	a	PRON
ap-3040	102	23	,	,	PUNCT
ap-3040	102	24	s′	s′	NUM
ap-3040	102	25	)	)	PUNCT
ap-3040	102	26	is	be	AUX
ap-3040	102	27	the	the	DET
ap-3040	102	28	probability	probability	NOUN
ap-3040	102	29	of	of	ADP
ap-3040	102	30	the	the	DET
ap-3040	102	31	i	i	PROPN
ap-3040	102	32	robots	robot	NOUN
ap-3040	102	33	transitioning	transition	VERB
ap-3040	102	34	from	from	ADP
ap-3040	102	35	joint	joint	ADJ
ap-3040	102	36	state	state	NOUN
ap-3040	102	37	s	s	NOUN
ap-3040	102	38	to	to	ADP
ap-3040	102	39	s′	s′	NOUN
ap-3040	102	40	after	after	ADP
ap-3040	102	41	performing	perform	VERB
ap-3040	102	42	joint	joint	ADJ
ap-3040	102	43	action	action	NOUN
ap-3040	102	44	a.	a.	NOUN
ap-3040	102	45	r	r	NOUN
ap-3040	102	46	:	:	PUNCT
ap-3040	102	47	s	s	X
ap-3040	102	48	→	→	SYM
ap-3040	102	49	<	<	X
ap-3040	102	50	is	be	AUX
ap-3040	102	51	a	a	DET
ap-3040	102	52	reward	reward	NOUN
ap-3040	102	53	function	function	NOUN
ap-3040	102	54	that	that	PRON
ap-3040	102	55	represents	represent	VERB
ap-3040	102	56	the	the	DET
ap-3040	102	57	global	global	ADJ
ap-3040	102	58	immediate	immediate	ADJ
ap-3040	102	59	reward	reward	NOUN
ap-3040	102	60	for	for	ADP
ap-3040	102	61	the	the	DET
ap-3040	102	62	robots	robot	NOUN
ap-3040	102	63	being	be	AUX
ap-3040	102	64	in	in	ADP
ap-3040	102	65	s.	s.	PROPN
ap-3040	102	66	ω	ω	PROPN
ap-3040	102	67	is	be	AUX
ap-3040	102	68	a	a	DET
ap-3040	102	69	set	set	NOUN
ap-3040	102	70	of	of	ADP
ap-3040	102	71	joint	joint	ADJ
ap-3040	102	72	observations	observation	NOUN
ap-3040	102	73	that	that	PRON
ap-3040	102	74	agents	agent	NOUN
ap-3040	102	75	can	can	AUX
ap-3040	102	76	receive	receive	VERB
ap-3040	102	77	about	about	ADP
ap-3040	102	78	the	the	DET
ap-3040	102	79	environment	environment	NOUN
ap-3040	102	80	and	and	CCONJ
ap-3040	102	81	o	o	X
ap-3040	102	82	:	:	PUNCT
ap-3040	102	83	s×a×s×ω→	s×a×s×ω→	PUNCT
ap-3040	103	1	[	[	X
ap-3040	103	2	0	0	NUM
ap-3040	103	3	;	;	PUNCT
ap-3040	103	4	1	1	NUM
ap-3040	103	5	]	]	PUNCT
ap-3040	103	6	is	be	AUX
ap-3040	103	7	an	an	DET
ap-3040	103	8	observation	observation	NOUN
ap-3040	103	9	function	function	NOUN
ap-3040	103	10	giving	give	VERB
ap-3040	103	11	the	the	DET
ap-3040	103	12	probability	probability	NOUN
ap-3040	103	13	of	of	ADP
ap-3040	103	14	receiving	receive	VERB
ap-3040	103	15	o	o	NOUN
ap-3040	103	16	∈	∈	PROPN
ap-3040	103	17	ω	ω	NOUN
ap-3040	103	18	after	after	ADP
ap-3040	103	19	performing	perform	VERB
ap-3040	103	20	joint	joint	ADJ
ap-3040	103	21	action	action	NOUN
ap-3040	103	22	a	a	PRON
ap-3040	103	23	and	and	CCONJ
ap-3040	103	24	transitioning	transition	VERB
ap-3040	103	25	from	from	ADP
ap-3040	103	26	s	s	PRON
ap-3040	103	27	to	to	ADP
ap-3040	103	28	s′.	s′.	PROPN
ap-3040	103	29	if	if	SCONJ
ap-3040	103	30	the	the	DET
ap-3040	103	31	global	global	ADJ
ap-3040	103	32	state	state	NOUN
ap-3040	103	33	of	of	ADP
ap-3040	103	34	the	the	DET
ap-3040	103	35	system	system	NOUN
ap-3040	103	36	is	be	AUX
ap-3040	103	37	collectively	collectively	ADV
ap-3040	103	38	totally	totally	ADV
ap-3040	103	39	observable	observable	ADJ
ap-3040	103	40	,	,	PUNCT
ap-3040	103	41	the	the	DET
ap-3040	103	42	dec	dec	PROPN
ap-3040	103	43	-	-	PUNCT
ap-3040	103	44	pomdp	pomdp	NOUN
ap-3040	103	45	is	be	AUX
ap-3040	103	46	reduced	reduce	VERB
ap-3040	103	47	to	to	ADP
ap-3040	103	48	a	a	DET
ap-3040	103	49	dec	dec	PROPN
ap-3040	103	50	-	-	PUNCT
ap-3040	103	51	mdp	mdp	PROPN
ap-3040	103	52	.	.	PUNCT
ap-3040	104	1	we	we	PRON
ap-3040	104	2	can	can	AUX
ap-3040	104	3	see	see	VERB
ap-3040	104	4	an	an	DET
ap-3040	104	5	mdp	mdp	NOUN
ap-3040	104	6	as	as	ADP
ap-3040	104	7	a	a	DET
ap-3040	104	8	dec	dec	PROPN
ap-3040	104	9	-	-	PUNCT
ap-3040	104	10	mdp	mdp	PROPN
ap-3040	104	11	where	where	SCONJ
ap-3040	104	12	i	i	PRON
ap-3040	104	13	=	=	NOUN
ap-3040	104	14	1	1	X
ap-3040	104	15	.	.	PUNCT
ap-3040	105	1	it	it	PRON
ap-3040	105	2	is	be	AUX
ap-3040	105	3	defined	define	VERB
ap-3040	105	4	with	with	ADP
ap-3040	105	5	a	a	DET
ap-3040	105	6	tuple	tuple	NOUN
ap-3040	105	7	〈	〈	PROPN
ap-3040	105	8	s	s	PROPN
ap-3040	105	9	,	,	PUNCT
ap-3040	105	10	a	a	PRON
ap-3040	105	11	,	,	PUNCT
ap-3040	105	12	t	t	PROPN
ap-3040	105	13	,	,	PUNCT
ap-3040	105	14	r	r	PROPN
ap-3040	105	15	〉	〉	PROPN
ap-3040	105	16	.	.	PUNCT
ap-3040	106	1	the	the	DET
ap-3040	106	2	goal	goal	NOUN
ap-3040	106	3	of	of	ADP
ap-3040	106	4	mdp	mdp	PROPN
ap-3040	106	5	planning	planning	NOUN
ap-3040	106	6	is	be	AUX
ap-3040	106	7	to	to	PART
ap-3040	106	8	find	find	VERB
ap-3040	106	9	a	a	DET
ap-3040	106	10	sequence	sequence	NOUN
ap-3040	106	11	of	of	ADP
ap-3040	106	12	actions	action	NOUN
ap-3040	106	13	maximizing	maximize	VERB
ap-3040	106	14	the	the	DET
ap-3040	106	15	long	long	ADJ
ap-3040	106	16	-	-	PUNCT
ap-3040	106	17	term	term	NOUN
ap-3040	106	18	expected	expect	VERB
ap-3040	106	19	reward	reward	NOUN
ap-3040	106	20	.	.	PUNCT
ap-3040	107	1	such	such	DET
ap-3040	107	2	a	a	DET
ap-3040	107	3	plan	plan	NOUN
ap-3040	107	4	is	be	AUX
ap-3040	107	5	called	call	VERB
ap-3040	107	6	9a	9a	NOUN
ap-3040	107	7	state	state	NOUN
ap-3040	107	8	of	of	ADP
ap-3040	107	9	the	the	DET
ap-3040	107	10	problem	problem	NOUN
ap-3040	107	11	can	can	AUX
ap-3040	107	12	be	be	AUX
ap-3040	107	13	written	write	VERB
ap-3040	107	14	with	with	ADP
ap-3040	107	15	a	a	DET
ap-3040	107	16	tuple	tuple	NOUN
ap-3040	107	17	s	s	PART
ap-3040	107	18	=	=	PUNCT
ap-3040	107	19	(	(	PUNCT
ap-3040	107	20	s1	s1	PROPN
ap-3040	107	21	,	,	PUNCT
ap-3040	107	22	...	...	PUNCT
ap-3040	107	23	,	,	PUNCT
ap-3040	107	24	si	si	X
ap-3040	107	25	)	)	PUNCT
ap-3040	107	26	such	such	ADJ
ap-3040	107	27	that	that	SCONJ
ap-3040	107	28	sj	sj	PROPN
ap-3040	107	29	is	be	AUX
ap-3040	107	30	the	the	DET
ap-3040	107	31	state	state	NOUN
ap-3040	107	32	of	of	ADP
ap-3040	107	33	robot	robot	NOUN
ap-3040	107	34	j.	j.	PROPN
ap-3040	107	35	aj	aj	PROPN
ap-3040	107	36	defines	define	VERB
ap-3040	107	37	the	the	DET
ap-3040	107	38	set	set	NOUN
ap-3040	107	39	of	of	ADP
ap-3040	107	40	actions	action	NOUN
ap-3040	107	41	aj	aj	PROPN
ap-3040	107	42	of	of	ADP
ap-3040	107	43	robot	robot	PROPN
ap-3040	107	44	j.	j.	PROPN
ap-3040	108	1	a	a	DET
ap-3040	108	2	policy	policy	NOUN
ap-3040	108	3	π	π	X
ap-3040	108	4	:	:	PUNCT
ap-3040	108	5	s	s	X
ap-3040	108	6	→	→	SYM
ap-3040	108	7	a.	a.	NOUN
ap-3040	108	8	an	an	DET
ap-3040	108	9	optimal	optimal	ADJ
ap-3040	108	10	policy	policy	NOUN
ap-3040	108	11	π∗	π∗	NOUN
ap-3040	108	12	specifies	specifie	NOUN
ap-3040	108	13	for	for	ADP
ap-3040	108	14	each	each	DET
ap-3040	108	15	state	state	NOUN
ap-3040	108	16	s	s	VERB
ap-3040	108	17	the	the	DET
ap-3040	108	18	optimal	optimal	ADJ
ap-3040	108	19	action	action	NOUN
ap-3040	108	20	to	to	PART
ap-3040	108	21	execute	execute	VERB
ap-3040	108	22	in	in	ADP
ap-3040	108	23	the	the	DET
ap-3040	108	24	current	current	ADJ
ap-3040	108	25	step	step	NOUN
ap-3040	108	26	,	,	PUNCT
ap-3040	108	27	assuming	assume	VERB
ap-3040	108	28	that	that	SCONJ
ap-3040	108	29	the	the	DET
ap-3040	108	30	agent	agent	NOUN
ap-3040	108	31	will	will	AUX
ap-3040	108	32	also	also	ADV
ap-3040	108	33	act	act	VERB
ap-3040	108	34	optimally	optimally	ADV
ap-3040	108	35	in	in	ADP
ap-3040	108	36	future	future	ADJ
ap-3040	108	37	time	time	NOUN
ap-3040	108	38	steps	step	NOUN
ap-3040	108	39	.	.	PUNCT
ap-3040	109	1	the	the	DET
ap-3040	109	2	value	value	NOUN
ap-3040	109	3	of	of	ADP
ap-3040	109	4	π∗	π∗	PROPN
ap-3040	109	5	is	be	AUX
ap-3040	109	6	defined	define	VERB
ap-3040	109	7	by	by	ADP
ap-3040	109	8	the	the	DET
ap-3040	109	9	optimal	optimal	ADJ
ap-3040	109	10	value	value	NOUN
ap-3040	109	11	function	function	NOUN
ap-3040	109	12	v	v	ADP
ap-3040	109	13	∗	∗	NOUN
ap-3040	109	14	that	that	PRON
ap-3040	109	15	satisfies	satisfy	VERB
ap-3040	109	16	the	the	DET
ap-3040	109	17	bellman	bellman	NOUN
ap-3040	109	18	optimality	optimality	NOUN
ap-3040	109	19	equation	equation	NOUN
ap-3040	109	20	:	:	PUNCT
ap-3040	109	21	v	v	ADP
ap-3040	109	22	∗(s	∗(s	NOUN
ap-3040	109	23	)	)	PUNCT
ap-3040	109	24	=	=	SYM
ap-3040	110	1	r(s	r(s	X
ap-3040	110	2	)	)	PUNCT
ap-3040	110	3	+	+	CCONJ
ap-3040	110	4	γmax	γmax	PROPN
ap-3040	110	5	a∈a	a∈a	ADJ
ap-3040	110	6	∑	∑	PUNCT
ap-3040	110	7	s′∈s	s′∈s	PROPN
ap-3040	110	8	t	t	PROPN
ap-3040	110	9	(	(	PUNCT
ap-3040	110	10	s	s	PROPN
ap-3040	110	11	,	,	PUNCT
ap-3040	110	12	a	a	PRON
ap-3040	110	13	,	,	PUNCT
ap-3040	110	14	s′)v	s′)v	PRON
ap-3040	110	15	∗(s′	∗(s′	NUM
ap-3040	110	16	)	)	PUNCT
ap-3040	110	17	,	,	PUNCT
ap-3040	110	18	(	(	PUNCT
ap-3040	110	19	1	1	X
ap-3040	110	20	)	)	PUNCT
ap-3040	110	21	where	where	SCONJ
ap-3040	110	22	γ	γ	PROPN
ap-3040	110	23	is	be	AUX
ap-3040	110	24	the	the	DET
ap-3040	110	25	discount	discount	NOUN
ap-3040	110	26	factor	factor	NOUN
ap-3040	110	27	.	.	PUNCT
ap-3040	111	1	an	an	DET
ap-3040	111	2	mdp	mdp	NOUN
ap-3040	111	3	is	be	AUX
ap-3040	111	4	solved	solve	VERB
ap-3040	111	5	using	use	VERB
ap-3040	111	6	dynamic	dynamic	ADJ
ap-3040	111	7	programming	programming	NOUN
ap-3040	111	8	,	,	PUNCT
ap-3040	111	9	with	with	ADP
ap-3040	111	10	polynomial	polynomial	ADJ
ap-3040	111	11	time	time	NOUN
ap-3040	111	12	complexity	complexity	NOUN
ap-3040	111	13	.	.	PUNCT
ap-3040	112	1	a	a	DET
ap-3040	112	2	dec	dec	PROPN
ap-3040	112	3	-	-	PUNCT
ap-3040	112	4	pomdp	pomdp	NOUN
ap-3040	112	5	is	be	AUX
ap-3040	112	6	solved	solve	VERB
ap-3040	112	7	similarly	similarly	ADV
ap-3040	112	8	by	by	ADP
ap-3040	112	9	computing	compute	VERB
ap-3040	112	10	the	the	DET
ap-3040	112	11	optimal	optimal	ADJ
ap-3040	112	12	joint	joint	ADJ
ap-3040	112	13	policy	policy	NOUN
ap-3040	112	14	.	.	PUNCT
ap-3040	113	1	however	however	ADV
ap-3040	113	2	its	its	PRON
ap-3040	113	3	time	time	NOUN
ap-3040	113	4	complexity	complexity	NOUN
ap-3040	113	5	is	be	AUX
ap-3040	113	6	nexp	nexp	ADJ
ap-3040	113	7	-	-	PUNCT
ap-3040	113	8	complete	complete	ADJ
ap-3040	113	9	[	[	X
ap-3040	113	10	17	17	NUM
ap-3040	113	11	]	]	PUNCT
ap-3040	113	12	,	,	PUNCT
ap-3040	113	13	which	which	PRON
ap-3040	113	14	is	be	AUX
ap-3040	113	15	extremely	extremely	ADV
ap-3040	113	16	hard	hard	ADJ
ap-3040	113	17	.	.	PUNCT
ap-3040	114	1	4.2	4.2	NUM
ap-3040	114	2	.	.	PUNCT
ap-3040	114	3	interaction	interaction	NOUN
ap-3040	114	4	-	-	PUNCT
ap-3040	114	5	oriented	orient	VERB
ap-3040	114	6	models	model	NOUN
ap-3040	114	7	when	when	SCONJ
ap-3040	114	8	faced	face	VERB
ap-3040	114	9	with	with	ADP
ap-3040	114	10	real	real	ADJ
ap-3040	114	11	-	-	PUNCT
ap-3040	114	12	world	world	NOUN
ap-3040	114	13	applications	application	NOUN
ap-3040	114	14	such	such	ADJ
ap-3040	114	15	as	as	ADP
ap-3040	114	16	multirobot	multirobot	NOUN
ap-3040	114	17	systems	system	NOUN
ap-3040	114	18	,	,	PUNCT
ap-3040	114	19	dec-(po)mdp	dec-(po)mdp	NOUN
ap-3040	114	20	models	model	NOUN
ap-3040	114	21	are	be	AUX
ap-3040	114	22	very	very	ADV
ap-3040	114	23	difficult	difficult	ADJ
ap-3040	114	24	to	to	PART
ap-3040	114	25	apply	apply	VERB
ap-3040	114	26	,	,	PUNCT
ap-3040	114	27	due	due	ADP
ap-3040	114	28	to	to	ADP
ap-3040	114	29	their	their	PRON
ap-3040	114	30	high	high	ADJ
ap-3040	114	31	complexity	complexity	NOUN
ap-3040	114	32	.	.	PUNCT
ap-3040	115	1	recent	recent	ADJ
ap-3040	115	2	advances	advance	NOUN
ap-3040	115	3	in	in	ADP
ap-3040	115	4	dec-(po)mdp	dec-(po)mdp	NOUN
ap-3040	115	5	resolution	resolution	NOUN
ap-3040	115	6	have	have	AUX
ap-3040	115	7	allowed	allow	VERB
ap-3040	115	8	a	a	DET
ap-3040	115	9	notable	notable	ADJ
ap-3040	115	10	increase	increase	NOUN
ap-3040	115	11	in	in	ADP
ap-3040	115	12	the	the	DET
ap-3040	115	13	size	size	NOUN
ap-3040	115	14	of	of	ADP
ap-3040	115	15	the	the	DET
ap-3040	115	16	problems	problem	NOUN
ap-3040	115	17	that	that	PRON
ap-3040	115	18	can	can	AUX
ap-3040	115	19	be	be	AUX
ap-3040	115	20	solved	solve	VERB
ap-3040	115	21	.	.	PUNCT
ap-3040	116	1	an	an	DET
ap-3040	116	2	interesting	interesting	ADJ
ap-3040	116	3	direction	direction	NOUN
ap-3040	116	4	that	that	PRON
ap-3040	116	5	has	have	AUX
ap-3040	116	6	emerged	emerge	VERB
ap-3040	116	7	recently	recently	ADV
ap-3040	116	8	involves	involve	VERB
ap-3040	116	9	taking	take	VERB
ap-3040	116	10	advantage	advantage	NOUN
ap-3040	116	11	of	of	ADP
ap-3040	116	12	local	local	ADJ
ap-3040	116	13	or	or	CCONJ
ap-3040	116	14	sparse	sparse	ADJ
ap-3040	116	15	interactions	interaction	NOUN
ap-3040	116	16	between	between	ADP
ap-3040	116	17	agents	agent	NOUN
ap-3040	116	18	.	.	PUNCT
ap-3040	117	1	these	these	DET
ap-3040	117	2	methods	method	NOUN
ap-3040	117	3	relax	relax	VERB
ap-3040	117	4	the	the	DET
ap-3040	117	5	most	most	ADV
ap-3040	117	6	restrictive	restrictive	ADJ
ap-3040	117	7	and	and	CCONJ
ap-3040	117	8	complex	complex	ADJ
ap-3040	117	9	assumption	assumption	NOUN
ap-3040	117	10	which	which	PRON
ap-3040	117	11	considers	consider	VERB
ap-3040	117	12	that	that	SCONJ
ap-3040	117	13	the	the	DET
ap-3040	117	14	agents	agent	NOUN
ap-3040	117	15	interact	interact	VERB
ap-3040	117	16	permanently	permanently	ADV
ap-3040	117	17	with	with	ADP
ap-3040	117	18	all	all	DET
ap-3040	117	19	the	the	DET
ap-3040	117	20	others	other	NOUN
ap-3040	117	21	.	.	PUNCT
ap-3040	118	1	the	the	DET
ap-3040	118	2	complexity	complexity	NOUN
ap-3040	118	3	of	of	ADP
ap-3040	118	4	solving	solve	VERB
ap-3040	118	5	dec-(po)mdps	dec-(po)mdps	NOUN
ap-3040	118	6	is	be	AUX
ap-3040	118	7	then	then	ADV
ap-3040	118	8	reduced	reduce	VERB
ap-3040	118	9	by	by	ADP
ap-3040	118	10	solving	solve	VERB
ap-3040	118	11	a	a	DET
ap-3040	118	12	set	set	NOUN
ap-3040	118	13	of	of	ADP
ap-3040	118	14	interactive	interactive	ADJ
ap-3040	118	15	individual	individual	ADJ
ap-3040	118	16	decision	decision	NOUN
ap-3040	118	17	making	make	VERB
ap-3040	118	18	problems	problem	NOUN
ap-3040	118	19	.	.	PUNCT
ap-3040	119	1	the	the	DET
ap-3040	119	2	nd	nd	NOUN
ap-3040	119	3	-	-	PUNCT
ap-3040	119	4	pomdp	pomdp	NOUN
ap-3040	119	5	model	model	NOUN
ap-3040	119	6	[	[	X
ap-3040	119	7	19	19	NUM
ap-3040	119	8	]	]	PUNCT
ap-3040	119	9	is	be	AUX
ap-3040	119	10	a	a	DET
ap-3040	119	11	static	static	ADJ
ap-3040	119	12	interaction	interaction	NOUN
ap-3040	119	13	approach	approach	NOUN
ap-3040	119	14	,	,	PUNCT
ap-3040	119	15	i.e.	i.e.	X
ap-3040	119	16	,	,	PUNCT
ap-3040	119	17	an	an	DET
ap-3040	119	18	agent	agent	NOUN
ap-3040	119	19	always	always	ADV
ap-3040	119	20	interacts	interact	VERB
ap-3040	119	21	with	with	ADP
ap-3040	119	22	the	the	DET
ap-3040	119	23	same	same	ADJ
ap-3040	119	24	subset	subset	NOUN
ap-3040	119	25	of	of	ADP
ap-3040	119	26	neighbors	neighbor	NOUN
ap-3040	119	27	.	.	PUNCT
ap-3040	120	1	however	however	ADV
ap-3040	120	2	this	this	DET
ap-3040	120	3	assumption	assumption	NOUN
ap-3040	120	4	is	be	AUX
ap-3040	120	5	not	not	PART
ap-3040	120	6	realistic	realistic	ADJ
ap-3040	120	7	.	.	PUNCT
ap-3040	121	1	models	model	NOUN
ap-3040	121	2	have	have	AUX
ap-3040	121	3	therefore	therefore	ADV
ap-3040	121	4	been	be	AUX
ap-3040	121	5	proposed	propose	VERB
ap-3040	121	6	that	that	SCONJ
ap-3040	121	7	use	use	VERB
ap-3040	121	8	dynamic	dynamic	ADJ
ap-3040	121	9	interactions	interaction	NOUN
ap-3040	121	10	so	so	SCONJ
ap-3040	121	11	that	that	SCONJ
ap-3040	121	12	each	each	DET
ap-3040	121	13	agent	agent	NOUN
ap-3040	121	14	interacts	interact	VERB
ap-3040	121	15	with	with	ADP
ap-3040	121	16	an	an	DET
ap-3040	121	17	evolving	evolve	VERB
ap-3040	121	18	set	set	NOUN
ap-3040	121	19	of	of	ADP
ap-3040	121	20	agents	agent	NOUN
ap-3040	121	21	.	.	PUNCT
ap-3040	122	1	the	the	DET
ap-3040	122	2	dec	dec	PROPN
ap-3040	122	3	-	-	PUNCT
ap-3040	122	4	simdp	simdp	NOUN
ap-3040	122	5	model	model	NOUN
ap-3040	122	6	assumes	assume	VERB
ap-3040	122	7	full	full	ADJ
ap-3040	122	8	local	local	ADJ
ap-3040	122	9	observability	observability	NOUN
ap-3040	122	10	,	,	PUNCT
ap-3040	122	11	and	and	CCONJ
ap-3040	122	12	unlimited	unlimited	ADJ
ap-3040	122	13	,	,	PUNCT
ap-3040	122	14	free	free	ADJ
ap-3040	122	15	communication	communication	NOUN
ap-3040	122	16	between	between	ADP
ap-3040	122	17	agents	agent	NOUN
ap-3040	122	18	interacting	interact	VERB
ap-3040	122	19	together	together	ADV
ap-3040	122	20	in	in	ADP
ap-3040	122	21	some	some	DET
ap-3040	122	22	specific	specific	ADJ
ap-3040	122	23	states	state	NOUN
ap-3040	122	24	[	[	X
ap-3040	122	25	20	20	NUM
ap-3040	122	26	]	]	PUNCT
ap-3040	122	27	.	.	PUNCT
ap-3040	123	1	dylim	dylim	PROPN
ap-3040	123	2	is	be	AUX
ap-3040	123	3	similar	similar	ADJ
ap-3040	123	4	but	but	CCONJ
ap-3040	123	5	applies	apply	VERB
ap-3040	123	6	to	to	ADP
ap-3040	123	7	partial	partial	ADJ
ap-3040	123	8	observation	observation	NOUN
ap-3040	123	9	and	and	CCONJ
ap-3040	123	10	no	no	DET
ap-3040	123	11	communications	communication	NOUN
ap-3040	123	12	[	[	X
ap-3040	123	13	21	21	NUM
ap-3040	123	14	]	]	PUNCT
ap-3040	123	15	.	.	PUNCT
ap-3040	124	1	it	it	PRON
ap-3040	124	2	considers	consider	VERB
ap-3040	124	3	dec	dec	PROPN
ap-3040	124	4	-	-	PUNCT
ap-3040	124	5	pomdps	pomdps	PROPN
ap-3040	124	6	as	as	ADP
ap-3040	124	7	a	a	DET
ap-3040	124	8	set	set	NOUN
ap-3040	124	9	of	of	ADP
ap-3040	124	10	pomdps	pomdps	NOUN
ap-3040	124	11	,	,	PUNCT
ap-3040	124	12	and	and	CCONJ
ap-3040	124	13	interactive	interactive	ADJ
ap-3040	124	14	situations	situation	NOUN
ap-3040	124	15	are	be	AUX
ap-3040	124	16	solved	solve	VERB
ap-3040	124	17	separately	separately	ADV
ap-3040	124	18	by	by	ADP
ap-3040	124	19	deriving	derive	VERB
ap-3040	124	20	joint	joint	ADJ
ap-3040	124	21	policies	policy	NOUN
ap-3040	124	22	.	.	PUNCT
ap-3040	125	1	for	for	ADP
ap-3040	125	2	non	non	ADJ
ap-3040	125	3	-	-	ADJ
ap-3040	125	4	interactive	interactive	ADJ
ap-3040	125	5	situations	situation	NOUN
ap-3040	125	6	,	,	PUNCT
ap-3040	125	7	each	each	DET
ap-3040	125	8	agent	agent	NOUN
ap-3040	125	9	has	have	VERB
ap-3040	125	10	its	its	PRON
ap-3040	125	11	local	local	ADJ
ap-3040	125	12	policy	policy	NOUN
ap-3040	125	13	to	to	PART
ap-3040	125	14	behave	behave	VERB
ap-3040	125	15	solely	solely	ADV
ap-3040	125	16	.	.	PUNCT
ap-3040	126	1	these	these	PRON
ap-3040	126	2	are	be	AUX
ap-3040	126	3	promising	promise	VERB
ap-3040	126	4	approaches	approach	NOUN
ap-3040	126	5	for	for	ADP
ap-3040	126	6	real	real	ADJ
ap-3040	126	7	-	-	PUNCT
ap-3040	126	8	world	world	NOUN
ap-3040	126	9	applications	application	NOUN
ap-3040	126	10	of	of	ADP
ap-3040	126	11	decentralized	decentralized	ADJ
ap-3040	126	12	decision	decision	NOUN
ap-3040	126	13	makers	maker	NOUN
ap-3040	126	14	.	.	PUNCT
ap-3040	127	1	5	5	X
ap-3040	127	2	.	.	X
ap-3040	127	3	dvf	dvf	PROPN
ap-3040	127	4	for	for	ADP
ap-3040	127	5	multi	multi	ADJ
ap-3040	127	6	-	-	ADJ
ap-3040	127	7	robot	robot	ADJ
ap-3040	127	8	exploration	exploration	NOUN
ap-3040	127	9	during	during	ADP
ap-3040	127	10	the	the	DET
ap-3040	127	11	robotic	robotic	ADJ
ap-3040	127	12	contest	contest	NOUN
ap-3040	127	13	,	,	PUNCT
ap-3040	127	14	we	we	PRON
ap-3040	127	15	were	be	AUX
ap-3040	127	16	particularly	particularly	ADV
ap-3040	127	17	interested	interested	ADJ
ap-3040	127	18	in	in	ADP
ap-3040	127	19	multi	multi	ADJ
ap-3040	127	20	-	-	ADJ
ap-3040	127	21	robot	robot	ADJ
ap-3040	127	22	exploration	exploration	NOUN
ap-3040	127	23	strategies	strategy	NOUN
ap-3040	127	24	.	.	PUNCT
ap-3040	128	1	in	in	ADP
ap-3040	128	2	this	this	DET
ap-3040	128	3	section	section	NOUN
ap-3040	128	4	,	,	PUNCT
ap-3040	128	5	we	we	PRON
ap-3040	128	6	present	present	VERB
ap-3040	128	7	our	our	PRON
ap-3040	128	8	fully	fully	ADV
ap-3040	128	9	decentralized	decentralize	VERB
ap-3040	128	10	approach	approach	NOUN
ap-3040	128	11	based	base	VERB
ap-3040	128	12	on	on	ADP
ap-3040	128	13	dvf	dvf	PROPN
ap-3040	128	14	and	and	CCONJ
ap-3040	128	15	its	its	PRON
ap-3040	128	16	application	application	NOUN
ap-3040	128	17	to	to	ADP
ap-3040	128	18	multi	multi	ADJ
ap-3040	128	19	-	-	ADJ
ap-3040	128	20	robot	robot	ADJ
ap-3040	128	21	exploration	exploration	NOUN
ap-3040	128	22	.	.	PUNCT
ap-3040	129	1	5.1	5.1	NUM
ap-3040	129	2	.	.	PUNCT
ap-3040	129	3	interaction	interaction	NOUN
ap-3040	129	4	sparse	sparse	ADJ
ap-3040	129	5	dec	dec	PROPN
ap-3040	129	6	-	-	PUNCT
ap-3040	129	7	mdp	mdp	PROPN
ap-3040	129	8	with	with	ADP
ap-3040	129	9	dvf	dvf	PROPN
ap-3040	129	10	to	to	PART
ap-3040	129	11	improve	improve	VERB
ap-3040	129	12	the	the	DET
ap-3040	129	13	complexity	complexity	NOUN
ap-3040	129	14	for	for	ADP
ap-3040	129	15	solving	solve	VERB
ap-3040	129	16	dec	dec	PROPN
ap-3040	129	17	-	-	PUNCT
ap-3040	129	18	mdps	mdps	PROPN
ap-3040	129	19	,	,	PUNCT
ap-3040	129	20	we	we	PRON
ap-3040	129	21	proposed	propose	VERB
ap-3040	129	22	an	an	DET
ap-3040	129	23	interaction	interaction	NOUN
ap-3040	129	24	-	-	PUNCT
ap-3040	129	25	oriented	orient	VERB
ap-3040	129	26	resolution	resolution	NOUN
ap-3040	129	27	based	base	VERB
ap-3040	129	28	171	171	NUM
ap-3040	129	29	l.	l.	PROPN
ap-3040	129	30	matignon	matignon	PROPN
ap-3040	129	31	,	,	PUNCT
ap-3040	129	32	l.	l.	PROPN
ap-3040	129	33	jeanpierre	jeanpierre	PROPN
ap-3040	129	34	,	,	PUNCT
ap-3040	129	35	a.-i	a.-i	PROPN
ap-3040	129	36	.	.	PUNCT
ap-3040	130	1	mouaddib	mouaddib	PROPN
ap-3040	130	2	acta	acta	PROPN
ap-3040	130	3	polytechnica	polytechnica	PROPN
ap-3040	130	4	on	on	ADP
ap-3040	130	5	distributed	distribute	VERB
ap-3040	130	6	value	value	NOUN
ap-3040	130	7	functions	function	NOUN
ap-3040	130	8	(	(	PUNCT
ap-3040	130	9	dvf	dvf	PROPN
ap-3040	130	10	)	)	PUNCT
ap-3040	130	11	.	.	PUNCT
ap-3040	131	1	dvfs	dvfs	PROPN
ap-3040	131	2	were	be	AUX
ap-3040	131	3	introduced	introduce	VERB
ap-3040	131	4	by	by	ADP
ap-3040	131	5	[	[	X
ap-3040	131	6	22	22	NUM
ap-3040	131	7	]	]	PUNCT
ap-3040	131	8	as	as	ADP
ap-3040	131	9	a	a	DET
ap-3040	131	10	way	way	NOUN
ap-3040	131	11	to	to	PART
ap-3040	131	12	distribute	distribute	VERB
ap-3040	131	13	reinforcement	reinforcement	NOUN
ap-3040	131	14	learning	learning	NOUN
ap-3040	131	15	knowledge	knowledge	NOUN
ap-3040	131	16	through	through	ADP
ap-3040	131	17	different	different	ADJ
ap-3040	131	18	agents	agent	NOUN
ap-3040	131	19	.	.	PUNCT
ap-3040	132	1	our	our	PRON
ap-3040	132	2	approach	approach	NOUN
ap-3040	132	3	decouples	decouple	VERB
ap-3040	132	4	the	the	DET
ap-3040	132	5	multi	multi	ADJ
ap-3040	132	6	-	-	ADJ
ap-3040	132	7	agent	agent	ADJ
ap-3040	132	8	problem	problem	NOUN
ap-3040	132	9	into	into	ADP
ap-3040	132	10	a	a	DET
ap-3040	132	11	set	set	NOUN
ap-3040	132	12	of	of	ADP
ap-3040	132	13	individual	individual	ADJ
ap-3040	132	14	agent	agent	NOUN
ap-3040	132	15	problems	problem	NOUN
ap-3040	132	16	,	,	PUNCT
ap-3040	132	17	and	and	CCONJ
ap-3040	132	18	considers	consider	VERB
ap-3040	132	19	possible	possible	ADJ
ap-3040	132	20	interactions	interaction	NOUN
ap-3040	132	21	among	among	ADP
ap-3040	132	22	a	a	DET
ap-3040	132	23	team	team	NOUN
ap-3040	132	24	as	as	ADP
ap-3040	132	25	a	a	DET
ap-3040	132	26	separate	separate	ADJ
ap-3040	132	27	layer	layer	NOUN
ap-3040	132	28	.	.	PUNCT
ap-3040	133	1	this	this	PRON
ap-3040	133	2	currently	currently	ADV
ap-3040	133	3	seems	seem	VERB
ap-3040	133	4	one	one	NUM
ap-3040	133	5	of	of	ADP
ap-3040	133	6	the	the	DET
ap-3040	133	7	main	main	ADJ
ap-3040	133	8	tracks	track	NOUN
ap-3040	133	9	for	for	ADP
ap-3040	133	10	tackling	tackle	VERB
ap-3040	133	11	scalability	scalability	NOUN
ap-3040	133	12	in	in	ADP
ap-3040	133	13	dec-(po)mdps	dec-(po)mdps	PROPN
ap-3040	133	14	(	(	PUNCT
ap-3040	133	15	cf	cf	NOUN
ap-3040	133	16	.	.	PUNCT
ap-3040	134	1	section	section	NOUN
ap-3040	134	2	4.2	4.2	NUM
ap-3040	134	3	)	)	PUNCT
ap-3040	134	4	.	.	PUNCT
ap-3040	135	1	we	we	PRON
ap-3040	135	2	represent	represent	VERB
ap-3040	135	3	a	a	DET
ap-3040	135	4	dec	dec	PROPN
ap-3040	135	5	-	-	PUNCT
ap-3040	135	6	mdp	mdp	PROPN
ap-3040	135	7	with	with	ADP
ap-3040	135	8	two	two	NUM
ap-3040	135	9	classes	class	NOUN
ap-3040	135	10	:	:	PUNCT
ap-3040	135	11	•	•	ADP
ap-3040	135	12	the	the	DET
ap-3040	135	13	global	global	ADJ
ap-3040	135	14	interaction	interaction	NOUN
ap-3040	135	15	class	class	NOUN
ap-3040	135	16	,	,	PUNCT
ap-3040	135	17	defined	define	VERB
ap-3040	135	18	as	as	ADP
ap-3040	135	19	a	a	DET
ap-3040	135	20	collection	collection	NOUN
ap-3040	135	21	of	of	ADP
ap-3040	135	22	augmented	augment	VERB
ap-3040	135	23	mdps	mdps	NOUN
ap-3040	135	24	{	{	PUNCT
ap-3040	135	25	mdpaug	mdpaug	NOUN
ap-3040	135	26	1	1	NUM
ap-3040	135	27	,	,	PUNCT
ap-3040	135	28	...	...	PUNCT
ap-3040	135	29	,	,	PUNCT
ap-3040	135	30	mdpaug	mdpaug	VERB
ap-3040	135	31	i	i	PRON
ap-3040	135	32	}	}	PUNCT
ap-3040	135	33	.	.	PUNCT
ap-3040	136	1	there	there	PRON
ap-3040	136	2	is	be	VERB
ap-3040	136	3	one	one	NUM
ap-3040	136	4	augmented	augment	VERB
ap-3040	136	5	mdp	mdp	NOUN
ap-3040	136	6	per	per	ADP
ap-3040	136	7	agent	agent	NOUN
ap-3040	136	8	,	,	PUNCT
ap-3040	136	9	which	which	PRON
ap-3040	136	10	is	be	AUX
ap-3040	136	11	defined	define	VERB
ap-3040	136	12	by	by	ADP
ap-3040	136	13	mdpaug	mdpaug	NOUN
ap-3040	136	14	i	i	PRON
ap-3040	136	15	=	=	SYM
ap-3040	136	16	〈	〈	PROPN
ap-3040	136	17	si	si	X
ap-3040	136	18	,	,	PUNCT
ap-3040	136	19	ai	ai	VERB
ap-3040	136	20	,	,	PUNCT
ap-3040	136	21	ti	ti	NOUN
ap-3040	136	22	,	,	PUNCT
ap-3040	136	23	ri	ri	PROPN
ap-3040	136	24	,	,	PUNCT
ap-3040	136	25	γi	γi	ADJ
ap-3040	136	26	〉	〉	NUM
ap-3040	136	27	where	where	SCONJ
ap-3040	136	28	〈	〈	PROPN
ap-3040	136	29	si	si	X
ap-3040	136	30	,	,	PUNCT
ap-3040	136	31	ai	ai	VERB
ap-3040	136	32	,	,	PUNCT
ap-3040	136	33	ti	ti	NOUN
ap-3040	136	34	,	,	PUNCT
ap-3040	136	35	ri	ri	PROPN
ap-3040	136	36	〉	〉	PROPN
ap-3040	136	37	individually	individually	ADV
ap-3040	136	38	models	model	VERB
ap-3040	136	39	agent	agent	NOUN
ap-3040	136	40	i	i	PRON
ap-3040	136	41	in	in	ADP
ap-3040	136	42	the	the	DET
ap-3040	136	43	absence	absence	NOUN
ap-3040	136	44	of	of	ADP
ap-3040	136	45	other	other	ADJ
ap-3040	136	46	agents	agent	NOUN
ap-3040	136	47	and	and	CCONJ
ap-3040	136	48	γi	γi	X
ap-3040	136	49	is	be	AUX
ap-3040	136	50	some	some	DET
ap-3040	136	51	additional	additional	ADJ
ap-3040	136	52	information	information	NOUN
ap-3040	136	53	.	.	PUNCT
ap-3040	137	1	γi	γi	X
ap-3040	137	2	can	can	AUX
ap-3040	137	3	be	be	AUX
ap-3040	137	4	communicated	communicate	VERB
ap-3040	137	5	by	by	ADP
ap-3040	137	6	other	other	ADJ
ap-3040	137	7	agents	agent	NOUN
ap-3040	137	8	or	or	CCONJ
ap-3040	137	9	can	can	AUX
ap-3040	137	10	be	be	AUX
ap-3040	137	11	inferred	infer	VERB
ap-3040	137	12	locally	locally	ADV
ap-3040	137	13	.	.	PUNCT
ap-3040	138	1	it	it	PRON
ap-3040	138	2	provides	provide	VERB
ap-3040	138	3	the	the	DET
ap-3040	138	4	agent	agent	NOUN
ap-3040	138	5	with	with	ADP
ap-3040	138	6	global	global	ADJ
ap-3040	138	7	information	information	NOUN
ap-3040	138	8	,	,	PUNCT
ap-3040	138	9	enabling	enable	VERB
ap-3040	138	10	interaction	interaction	NOUN
ap-3040	138	11	between	between	ADP
ap-3040	138	12	mdps	mdps	NOUN
ap-3040	138	13	of	of	ADP
ap-3040	138	14	the	the	DET
ap-3040	138	15	global	global	ADJ
ap-3040	138	16	interaction	interaction	NOUN
ap-3040	138	17	class	class	NOUN
ap-3040	138	18	.	.	PUNCT
ap-3040	139	1	then	then	ADV
ap-3040	139	2	,	,	PUNCT
ap-3040	139	3	each	each	DET
ap-3040	139	4	agent	agent	NOUN
ap-3040	139	5	resolves	resolve	VERB
ap-3040	139	6	solely	solely	ADV
ap-3040	139	7	its	its	PRON
ap-3040	139	8	augmented	augment	VERB
ap-3040	139	9	mdp	mdp	NOUN
ap-3040	139	10	so	so	SCONJ
ap-3040	139	11	that	that	SCONJ
ap-3040	139	12	interactions	interaction	NOUN
ap-3040	139	13	are	be	AUX
ap-3040	139	14	minimized	minimize	VERB
ap-3040	139	15	.	.	PUNCT
ap-3040	140	1	the	the	DET
ap-3040	140	2	global	global	PROPN
ap-3040	140	3	decmdp	decmdp	NOUN
ap-3040	140	4	is	be	AUX
ap-3040	140	5	solved	solve	VERB
ap-3040	140	6	as	as	ADP
ap-3040	140	7	a	a	DET
ap-3040	140	8	set	set	NOUN
ap-3040	140	9	of	of	ADP
ap-3040	140	10	local	local	ADJ
ap-3040	140	11	mdps	mdps	NOUN
ap-3040	140	12	augmented	augment	VERB
ap-3040	140	13	by	by	ADP
ap-3040	140	14	information	information	NOUN
ap-3040	140	15	from	from	ADP
ap-3040	140	16	the	the	DET
ap-3040	140	17	other	other	ADJ
ap-3040	140	18	agents	agent	NOUN
ap-3040	140	19	.	.	PUNCT
ap-3040	141	1	this	this	PRON
ap-3040	141	2	significantly	significantly	ADV
ap-3040	141	3	reduces	reduce	VERB
ap-3040	141	4	the	the	DET
ap-3040	141	5	computational	computational	ADJ
ap-3040	141	6	complexity	complexity	NOUN
ap-3040	141	7	:	:	PUNCT
ap-3040	141	8	the	the	DET
ap-3040	141	9	nexp	nexp	ADJ
ap-3040	141	10	complexity	complexity	NOUN
ap-3040	141	11	of	of	ADP
ap-3040	141	12	solving	solve	VERB
ap-3040	141	13	a	a	DET
ap-3040	141	14	dec	dec	PROPN
ap-3040	141	15	-	-	PUNCT
ap-3040	141	16	mdp	mdp	PROPN
ap-3040	141	17	is	be	AUX
ap-3040	141	18	reduced	reduce	VERB
ap-3040	141	19	to	to	ADP
ap-3040	141	20	the	the	DET
ap-3040	141	21	complexity	complexity	NOUN
ap-3040	141	22	of	of	ADP
ap-3040	141	23	solving	solve	VERB
ap-3040	141	24	one	one	NUM
ap-3040	141	25	mdp	mdp	NOUN
ap-3040	141	26	(	(	PUNCT
ap-3040	141	27	polynomial	polynomial	ADJ
ap-3040	141	28	)	)	PUNCT
ap-3040	141	29	per	per	ADP
ap-3040	141	30	agent	agent	NOUN
ap-3040	141	31	.	.	PUNCT
ap-3040	142	1	•	•	NUM
ap-3040	142	2	the	the	DET
ap-3040	142	3	local	local	ADJ
ap-3040	142	4	interaction	interaction	NOUN
ap-3040	142	5	class	class	NOUN
ap-3040	142	6	is	be	AUX
ap-3040	142	7	for	for	ADP
ap-3040	142	8	close	close	ADJ
ap-3040	142	9	interactions	interaction	NOUN
ap-3040	142	10	.	.	PUNCT
ap-3040	143	1	indeed	indeed	ADV
ap-3040	143	2	,	,	PUNCT
ap-3040	143	3	each	each	DET
ap-3040	143	4	agent	agent	NOUN
ap-3040	143	5	computes	compute	VERB
ap-3040	143	6	strategies	strategy	NOUN
ap-3040	143	7	with	with	ADP
ap-3040	143	8	dvf	dvf	PROPN
ap-3040	143	9	in	in	ADP
ap-3040	143	10	its	its	PRON
ap-3040	143	11	augmented	augment	VERB
ap-3040	143	12	mdp	mdp	NOUN
ap-3040	143	13	to	to	PART
ap-3040	143	14	minimize	minimize	VERB
ap-3040	143	15	the	the	DET
ap-3040	143	16	interactions	interaction	NOUN
ap-3040	143	17	.	.	PUNCT
ap-3040	144	1	however	however	ADV
ap-3040	144	2	,	,	PUNCT
ap-3040	144	3	when	when	SCONJ
ap-3040	144	4	situations	situation	NOUN
ap-3040	144	5	of	of	ADP
ap-3040	144	6	interaction	interaction	NOUN
ap-3040	144	7	occur	occur	VERB
ap-3040	144	8	,	,	PUNCT
ap-3040	144	9	dvf	dvf	PROPN
ap-3040	144	10	does	do	AUX
ap-3040	144	11	not	not	PART
ap-3040	144	12	handle	handle	VERB
ap-3040	144	13	these	these	DET
ap-3040	144	14	situations	situation	NOUN
ap-3040	144	15	and	and	CCONJ
ap-3040	144	16	the	the	DET
ap-3040	144	17	local	local	ADJ
ap-3040	144	18	coordination	coordination	NOUN
ap-3040	144	19	must	must	AUX
ap-3040	144	20	be	be	AUX
ap-3040	144	21	resolved	resolve	VERB
ap-3040	144	22	separately	separately	ADV
ap-3040	144	23	with	with	ADP
ap-3040	144	24	another	another	DET
ap-3040	144	25	technique	technique	NOUN
ap-3040	144	26	.	.	PUNCT
ap-3040	145	1	for	for	ADP
ap-3040	145	2	example	example	NOUN
ap-3040	145	3	,	,	PUNCT
ap-3040	145	4	joint	joint	ADJ
ap-3040	145	5	policies	policy	NOUN
ap-3040	145	6	can	can	AUX
ap-3040	145	7	be	be	AUX
ap-3040	145	8	computed	compute	VERB
ap-3040	145	9	off	off	ADP
ap-3040	145	10	-	-	PUNCT
ap-3040	145	11	line	line	NOUN
ap-3040	145	12	for	for	ADP
ap-3040	145	13	the	the	DET
ap-3040	145	14	specific	specific	ADJ
ap-3040	145	15	joint	joint	ADJ
ap-3040	145	16	states	state	NOUN
ap-3040	145	17	of	of	ADP
ap-3040	145	18	close	close	ADJ
ap-3040	145	19	interactions	interaction	NOUN
ap-3040	145	20	,	,	PUNCT
ap-3040	145	21	including	include	VERB
ap-3040	145	22	only	only	ADJ
ap-3040	145	23	interacting	interact	VERB
ap-3040	145	24	agents	agent	NOUN
ap-3040	145	25	.	.	PUNCT
ap-3040	146	1	in	in	ADP
ap-3040	146	2	the	the	DET
ap-3040	146	3	exploration	exploration	NOUN
ap-3040	146	4	context	context	NOUN
ap-3040	146	5	,	,	PUNCT
ap-3040	146	6	the	the	DET
ap-3040	146	7	additional	additional	ADJ
ap-3040	146	8	information	information	NOUN
ap-3040	146	9	of	of	ADP
ap-3040	146	10	the	the	DET
ap-3040	146	11	augmented	augment	VERB
ap-3040	146	12	mdp	mdp	PROPN
ap-3040	146	13	is	be	AUX
ap-3040	146	14	limited	limit	VERB
ap-3040	146	15	to	to	ADP
ap-3040	146	16	the	the	DET
ap-3040	146	17	last	last	ADJ
ap-3040	146	18	known	know	VERB
ap-3040	146	19	state	state	NOUN
ap-3040	146	20	of	of	ADP
ap-3040	146	21	other	other	ADJ
ap-3040	146	22	agents	agent	NOUN
ap-3040	146	23	:	:	PUNCT
ap-3040	146	24	agent	agent	NOUN
ap-3040	146	25	i	i	PRON
ap-3040	146	26	knows	know	VERB
ap-3040	146	27	at	at	ADP
ap-3040	146	28	each	each	DET
ap-3040	146	29	step	step	NOUN
ap-3040	146	30	the	the	DET
ap-3040	146	31	state	state	NOUN
ap-3040	146	32	sij	sij	PROPN
ap-3040	146	33	∈	∈	PROPN
ap-3040	146	34	si	si	X
ap-3040	146	35	of	of	ADP
ap-3040	146	36	the	the	DET
ap-3040	146	37	other	other	ADJ
ap-3040	146	38	agents	agent	NOUN
ap-3040	147	1	j.	j.	PROPN
ap-3040	147	2	then	then	ADV
ap-3040	147	3	it	it	PRON
ap-3040	147	4	computes	compute	VERB
ap-3040	147	5	its	its	PRON
ap-3040	147	6	distributed	distribute	VERB
ap-3040	147	7	value	value	NOUN
ap-3040	147	8	function	function	NOUN
ap-3040	147	9	dvfi	dvfi	NOUN
ap-3040	147	10	according	accord	VERB
ap-3040	147	11	to	to	ADP
ap-3040	147	12	dvfi(si	dvfi(si	PROPN
ap-3040	147	13	)	)	PUNCT
ap-3040	147	14	=	=	SYM
ap-3040	147	15	ri(si	ri(si	PROPN
ap-3040	147	16	)	)	PUNCT
ap-3040	147	17	+	+	CCONJ
ap-3040	147	18	γ	γ	PROPN
ap-3040	147	19	max	max	X
ap-3040	147	20	ai∈ai	ai∈ai	PUNCT
ap-3040	147	21	(	(	PUNCT
ap-3040	147	22	∑	∑	PROPN
ap-3040	147	23	s′∈si	s′∈si	PROPN
ap-3040	147	24	ti(si	ti(si	PROPN
ap-3040	147	25	,	,	PUNCT
ap-3040	147	26	ai	ai	VERB
ap-3040	147	27	,	,	PUNCT
ap-3040	147	28	s	s	NOUN
ap-3040	147	29	′	′	NOUN
ap-3040	147	30	)	)	PUNCT
ap-3040	147	31	(	(	PUNCT
ap-3040	147	32	dvfi(s′)−	dvfi(s′)−	PROPN
ap-3040	147	33	∑	∑	PUNCT
ap-3040	147	34	j	j	PROPN
ap-3040	147	35	6	6	NUM
ap-3040	147	36	=	=	NOUN
ap-3040	147	37	i	i	PRON
ap-3040	147	38	fijpr(s′|sij)vj(s′	fijpr(s′|sij)vj(s′	ADJ
ap-3040	147	39	)	)	PUNCT
ap-3040	147	40	)	)	PUNCT
ap-3040	147	41	)	)	PUNCT
ap-3040	148	1	(	(	PUNCT
ap-3040	148	2	2	2	X
ap-3040	148	3	)	)	PUNCT
ap-3040	148	4	for	for	ADP
ap-3040	148	5	all	all	DET
ap-3040	148	6	si	si	PROPN
ap-3040	148	7	∈	∈	ADJ
ap-3040	148	8	si	si	NOUN
ap-3040	148	9	,	,	PUNCT
ap-3040	148	10	where	where	SCONJ
ap-3040	148	11	pr(s′|sij	pr(s′|sij	NOUN
ap-3040	148	12	)	)	PUNCT
ap-3040	148	13	is	be	AUX
ap-3040	148	14	the	the	DET
ap-3040	148	15	probability	probability	NOUN
ap-3040	148	16	of	of	ADP
ap-3040	148	17	agent	agent	NOUN
ap-3040	148	18	j	j	PROPN
ap-3040	148	19	transitioning	transition	VERB
ap-3040	148	20	from	from	ADP
ap-3040	148	21	state	state	PROPN
ap-3040	148	22	sij	sij	PROPN
ap-3040	148	23	to	to	ADP
ap-3040	148	24	state	state	PROPN
ap-3040	148	25	s′	s′	NOUN
ap-3040	148	26	;	;	PUNCT
ap-3040	148	27	vj(s′	vj(s′	NUM
ap-3040	148	28	)	)	PUNCT
ap-3040	148	29	is	be	AUX
ap-3040	148	30	the	the	DET
ap-3040	148	31	value	value	NOUN
ap-3040	148	32	function	function	NOUN
ap-3040	148	33	of	of	ADP
ap-3040	148	34	agent	agent	PROPN
ap-3040	148	35	j	j	PROPN
ap-3040	148	36	,	,	PUNCT
ap-3040	148	37	computed	compute	VERB
ap-3040	148	38	locally	locally	ADV
ap-3040	148	39	by	by	ADP
ap-3040	148	40	agent	agent	NOUN
ap-3040	148	41	i	i	PRON
ap-3040	148	42	;	;	PUNCT
ap-3040	148	43	fij	fij	PROPN
ap-3040	148	44	is	be	AUX
ap-3040	148	45	a	a	DET
ap-3040	148	46	weighting	weighting	NOUN
ap-3040	148	47	factor	factor	NOUN
ap-3040	148	48	that	that	PRON
ap-3040	148	49	determines	determine	VERB
ap-3040	148	50	how	how	SCONJ
ap-3040	148	51	strongly	strongly	ADV
ap-3040	148	52	the	the	DET
ap-3040	148	53	value	value	NOUN
ap-3040	148	54	function	function	NOUN
ap-3040	148	55	of	of	ADP
ap-3040	148	56	agent	agent	NOUN
ap-3040	148	57	j	j	PROPN
ap-3040	148	58	reduces	reduce	VERB
ap-3040	148	59	the	the	DET
ap-3040	148	60	value	value	NOUN
ap-3040	148	61	function	function	NOUN
ap-3040	148	62	of	of	ADP
ap-3040	148	63	agent	agent	NOUN
ap-3040	148	64	i.	i.	PROPN
ap-3040	148	65	the	the	DET
ap-3040	148	66	dvf	dvf	PROPN
ap-3040	148	67	technique	technique	NOUN
ap-3040	148	68	allows	allow	VERB
ap-3040	148	69	each	each	DET
ap-3040	148	70	agent	agent	NOUN
ap-3040	148	71	to	to	PART
ap-3040	148	72	choose	choose	VERB
ap-3040	148	73	a	a	DET
ap-3040	148	74	goal	goal	NOUN
ap-3040	148	75	which	which	PRON
ap-3040	148	76	should	should	AUX
ap-3040	148	77	not	not	PART
ap-3040	148	78	be	be	AUX
ap-3040	148	79	considered	consider	VERB
ap-3040	148	80	by	by	ADP
ap-3040	148	81	the	the	DET
ap-3040	148	82	others	other	NOUN
ap-3040	148	83	,	,	PUNCT
ap-3040	148	84	and	and	CCONJ
ap-3040	148	85	in	in	ADP
ap-3040	148	86	this	this	DET
ap-3040	148	87	way	way	NOUN
ap-3040	148	88	the	the	DET
ap-3040	148	89	interactions	interaction	NOUN
ap-3040	148	90	are	be	AUX
ap-3040	148	91	minimized	minimize	VERB
ap-3040	148	92	.	.	PUNCT
ap-3040	149	1	the	the	DET
ap-3040	149	2	value	value	NOUN
ap-3040	149	3	of	of	ADP
ap-3040	149	4	a	a	DET
ap-3040	149	5	goal	goal	NOUN
ap-3040	149	6	depends	depend	VERB
ap-3040	149	7	on	on	ADP
ap-3040	149	8	the	the	DET
ap-3040	149	9	expected	expect	VERB
ap-3040	149	10	rewards	reward	NOUN
ap-3040	149	11	at	at	ADP
ap-3040	149	12	figure	figure	NOUN
ap-3040	149	13	1	1	NUM
ap-3040	149	14	.	.	PUNCT
ap-3040	150	1	reward	reward	VERB
ap-3040	150	2	propagation	propagation	NOUN
ap-3040	150	3	mechanisms	mechanism	NOUN
ap-3040	150	4	with	with	ADP
ap-3040	150	5	stars	star	NOUN
ap-3040	150	6	as	as	ADP
ap-3040	150	7	resulting	result	VERB
ap-3040	150	8	rewards	reward	NOUN
ap-3040	150	9	.	.	PUNCT
ap-3040	151	1	a	a	X
ap-3040	151	2	)	)	PUNCT
ap-3040	151	3	from	from	ADP
ap-3040	151	4	frontier	frontier	NOUN
ap-3040	151	5	hexagons	hexagon	NOUN
ap-3040	151	6	at	at	ADP
ap-3040	151	7	the	the	DET
ap-3040	151	8	top	top	NOUN
ap-3040	151	9	.	.	PUNCT
ap-3040	152	1	an	an	DET
ap-3040	152	2	unknown	unknown	ADJ
ap-3040	152	3	hexagon	hexagon	NOUN
ap-3040	152	4	(	(	PUNCT
ap-3040	152	5	grey	grey	PROPN
ap-3040	152	6	)	)	PUNCT
ap-3040	152	7	propagates	propagate	VERB
ap-3040	152	8	its	its	PRON
ap-3040	152	9	reward	reward	NOUN
ap-3040	152	10	over	over	ADP
ap-3040	152	11	a	a	DET
ap-3040	152	12	radius	radius	NOUN
ap-3040	152	13	(	(	PUNCT
ap-3040	152	14	dotted	dotted	ADJ
ap-3040	152	15	circle	circle	NOUN
ap-3040	152	16	)	)	PUNCT
ap-3040	152	17	on	on	ADP
ap-3040	152	18	free	free	ADJ
ap-3040	152	19	neighborhood	neighborhood	NOUN
ap-3040	152	20	hexagons	hexagon	NOUN
ap-3040	152	21	(	(	PUNCT
ap-3040	152	22	white	white	ADJ
ap-3040	152	23	)	)	PUNCT
ap-3040	152	24	.	.	PUNCT
ap-3040	153	1	propagation	propagation	NOUN
ap-3040	153	2	is	be	AUX
ap-3040	153	3	stopped	stop	VERB
ap-3040	153	4	if	if	SCONJ
ap-3040	153	5	occupied	occupy	VERB
ap-3040	153	6	(	(	PUNCT
ap-3040	153	7	black	black	ADJ
ap-3040	153	8	)	)	PUNCT
ap-3040	153	9	or	or	CCONJ
ap-3040	153	10	unknown	unknown	ADJ
ap-3040	153	11	hexagons	hexagon	NOUN
ap-3040	153	12	are	be	AUX
ap-3040	153	13	encountered	encounter	VERB
ap-3040	153	14	.	.	PUNCT
ap-3040	154	1	white	white	ADJ
ap-3040	154	2	arrows	arrow	NOUN
ap-3040	154	3	show	show	VERB
ap-3040	154	4	impossible	impossible	ADJ
ap-3040	154	5	propagations	propagation	NOUN
ap-3040	154	6	,	,	PUNCT
ap-3040	154	7	and	and	CCONJ
ap-3040	154	8	black	black	ADJ
ap-3040	154	9	arrows	arrow	NOUN
ap-3040	154	10	represent	represent	VERB
ap-3040	154	11	active	active	ADJ
ap-3040	154	12	propagations	propagation	NOUN
ap-3040	154	13	.	.	PUNCT
ap-3040	155	1	b	b	X
ap-3040	155	2	)	)	PUNCT
ap-3040	155	3	from	from	ADP
ap-3040	155	4	free	free	ADJ
ap-3040	155	5	and	and	CCONJ
ap-3040	155	6	non	non	ADJ
ap-3040	155	7	-	-	ADJ
ap-3040	155	8	covered	covered	ADJ
ap-3040	155	9	hexagons	hexagon	NOUN
ap-3040	155	10	at	at	ADP
ap-3040	155	11	the	the	DET
ap-3040	155	12	bottom	bottom	NOUN
ap-3040	155	13	.	.	PUNCT
ap-3040	156	1	a	a	DET
ap-3040	156	2	free	free	ADJ
ap-3040	156	3	and	and	CCONJ
ap-3040	156	4	non	non	ADJ
ap-3040	156	5	-	-	ADJ
ap-3040	156	6	covered	covered	ADJ
ap-3040	156	7	hexagon	hexagon	NOUN
ap-3040	156	8	(	(	PUNCT
ap-3040	156	9	yellow	yellow	ADJ
ap-3040	156	10	)	)	PUNCT
ap-3040	156	11	propagates	propagate	VERB
ap-3040	156	12	varying	vary	VERB
ap-3040	156	13	rewards	reward	NOUN
ap-3040	156	14	at	at	ADP
ap-3040	156	15	a	a	DET
ap-3040	156	16	best	good	ADJ
ap-3040	156	17	view	view	NOUN
ap-3040	156	18	point	point	NOUN
ap-3040	156	19	distance	distance	NOUN
ap-3040	156	20	(	(	PUNCT
ap-3040	156	21	solid	solid	ADJ
ap-3040	156	22	circle	circle	NOUN
ap-3040	156	23	)	)	PUNCT
ap-3040	156	24	.	.	PUNCT
ap-3040	157	1	this	this	DET
ap-3040	157	2	goal	goal	NOUN
ap-3040	157	3	and	and	CCONJ
ap-3040	157	4	on	on	ADP
ap-3040	157	5	the	the	DET
ap-3040	157	6	fact	fact	NOUN
ap-3040	157	7	that	that	SCONJ
ap-3040	157	8	it	it	PRON
ap-3040	157	9	is	be	AUX
ap-3040	157	10	unlikely	unlikely	ADJ
ap-3040	157	11	to	to	PART
ap-3040	157	12	be	be	AUX
ap-3040	157	13	selected	select	VERB
ap-3040	157	14	by	by	ADP
ap-3040	157	15	other	other	ADJ
ap-3040	157	16	agents	agent	NOUN
ap-3040	157	17	.	.	PUNCT
ap-3040	158	1	more	more	ADJ
ap-3040	158	2	details	detail	NOUN
ap-3040	158	3	about	about	ADP
ap-3040	158	4	dvf	dvf	PROPN
ap-3040	158	5	and	and	CCONJ
ap-3040	158	6	its	its	PRON
ap-3040	158	7	extension	extension	NOUN
ap-3040	158	8	under	under	ADP
ap-3040	158	9	communication	communication	NOUN
ap-3040	158	10	constraints	constraint	NOUN
ap-3040	158	11	can	can	AUX
ap-3040	158	12	be	be	AUX
ap-3040	158	13	found	find	VERB
ap-3040	158	14	in	in	ADP
ap-3040	158	15	[	[	X
ap-3040	158	16	23	23	NUM
ap-3040	158	17	]	]	PUNCT
ap-3040	158	18	.	.	PUNCT
ap-3040	159	1	5.2	5.2	NUM
ap-3040	159	2	.	.	PUNCT
ap-3040	160	1	dvf	dvf	PROPN
ap-3040	160	2	applied	apply	VERB
ap-3040	160	3	to	to	ADP
ap-3040	160	4	multi	multi	ADJ
ap-3040	160	5	-	-	ADJ
ap-3040	160	6	robot	robot	ADJ
ap-3040	160	7	exploration	exploration	NOUN
ap-3040	160	8	in	in	ADP
ap-3040	160	9	the	the	DET
ap-3040	160	10	second	second	ADJ
ap-3040	160	11	year	year	NOUN
ap-3040	160	12	of	of	ADP
ap-3040	160	13	the	the	DET
ap-3040	160	14	contest	contest	NOUN
ap-3040	160	15	,	,	PUNCT
ap-3040	160	16	dvf	dvf	PROPN
ap-3040	160	17	was	be	AUX
ap-3040	160	18	used	use	VERB
ap-3040	160	19	in	in	ADP
ap-3040	160	20	our	our	PRON
ap-3040	160	21	decision	decision	NOUN
ap-3040	160	22	module	module	NOUN
ap-3040	160	23	to	to	PART
ap-3040	160	24	compute	compute	VERB
ap-3040	160	25	multi	multi	ADJ
ap-3040	160	26	-	-	ADJ
ap-3040	160	27	robot	robot	ADJ
ap-3040	160	28	exploration	exploration	NOUN
ap-3040	160	29	strategies	strategy	NOUN
ap-3040	160	30	in	in	ADP
ap-3040	160	31	a	a	DET
ap-3040	160	32	decentralized	decentralized	ADJ
ap-3040	160	33	way	way	NOUN
ap-3040	160	34	.	.	PUNCT
ap-3040	161	1	thanks	thank	NOUN
ap-3040	161	2	to	to	ADP
ap-3040	161	3	the	the	DET
ap-3040	161	4	slam	slam	NOUN
ap-3040	161	5	module	module	NOUN
ap-3040	161	6	(	(	PUNCT
ap-3040	161	7	cf	cf	NOUN
ap-3040	161	8	.	.	PUNCT
ap-3040	161	9	section	section	NOUN
ap-3040	161	10	2.2	2.2	NUM
ap-3040	161	11	)	)	PUNCT
ap-3040	161	12	,	,	PUNCT
ap-3040	161	13	each	each	DET
ap-3040	161	14	robot	robot	NOUN
ap-3040	161	15	has	have	VERB
ap-3040	161	16	access	access	NOUN
ap-3040	161	17	to	to	ADP
ap-3040	161	18	a	a	DET
ap-3040	161	19	map	map	NOUN
ap-3040	161	20	updated	update	VERB
ap-3040	161	21	with	with	ADP
ap-3040	161	22	all	all	DET
ap-3040	161	23	explored	explore	VERB
ap-3040	161	24	areas	area	NOUN
ap-3040	161	25	and	and	CCONJ
ap-3040	161	26	to	to	ADP
ap-3040	161	27	the	the	DET
ap-3040	161	28	position	position	NOUN
ap-3040	161	29	of	of	ADP
ap-3040	161	30	all	all	DET
ap-3040	161	31	the	the	DET
ap-3040	161	32	robots	robot	NOUN
ap-3040	161	33	.	.	PUNCT
ap-3040	162	1	we	we	PRON
ap-3040	162	2	can	can	AUX
ap-3040	162	3	then	then	ADV
ap-3040	162	4	assume	assume	VERB
ap-3040	162	5	that	that	SCONJ
ap-3040	162	6	the	the	DET
ap-3040	162	7	location	location	NOUN
ap-3040	162	8	of	of	ADP
ap-3040	162	9	the	the	DET
ap-3040	162	10	robot	robot	NOUN
ap-3040	162	11	and	and	CCONJ
ap-3040	162	12	of	of	ADP
ap-3040	162	13	the	the	DET
ap-3040	162	14	other	other	ADJ
ap-3040	162	15	robots	robot	NOUN
ap-3040	162	16	is	be	AUX
ap-3040	162	17	known	know	VERB
ap-3040	162	18	at	at	ADP
ap-3040	162	19	decision	decision	NOUN
ap-3040	162	20	time	time	NOUN
ap-3040	162	21	.	.	PUNCT
ap-3040	163	1	5.2.1	5.2.1	X
ap-3040	163	2	.	.	X
ap-3040	163	3	mdp	mdp	PROPN
ap-3040	163	4	model	model	NOUN
ap-3040	163	5	each	each	DET
ap-3040	163	6	robot	robot	NOUN
ap-3040	163	7	generates	generate	VERB
ap-3040	163	8	its	its	PRON
ap-3040	163	9	local	local	ADJ
ap-3040	163	10	augmented	augment	VERB
ap-3040	163	11	mdp	mdp	NOUN
ap-3040	163	12	from	from	ADP
ap-3040	163	13	a	a	DET
ap-3040	163	14	four	four	NUM
ap-3040	163	15	-	-	PUNCT
ap-3040	163	16	layer	layer	NOUN
ap-3040	163	17	grid	grid	NOUN
ap-3040	163	18	.	.	PUNCT
ap-3040	164	1	the	the	DET
ap-3040	164	2	first	first	ADJ
ap-3040	164	3	layer	layer	NOUN
ap-3040	164	4	is	be	AUX
ap-3040	164	5	the	the	DET
ap-3040	164	6	real	real	ADJ
ap-3040	164	7	world	world	NOUN
ap-3040	164	8	layer	layer	NOUN
ap-3040	164	9	where	where	SCONJ
ap-3040	164	10	the	the	DET
ap-3040	164	11	robots	robot	NOUN
ap-3040	164	12	move	move	VERB
ap-3040	164	13	.	.	PUNCT
ap-3040	165	1	the	the	DET
ap-3040	165	2	pixel	pixel	PROPN
ap-3040	165	3	layer	layer	NOUN
ap-3040	165	4	is	be	AUX
ap-3040	165	5	an	an	DET
ap-3040	165	6	occupancy	occupancy	NOUN
ap-3040	165	7	grid	grid	NOUN
ap-3040	165	8	of	of	ADP
ap-3040	165	9	pixels	pixel	NOUN
ap-3040	165	10	,	,	PUNCT
ap-3040	165	11	where	where	SCONJ
ap-3040	165	12	each	each	DET
ap-3040	165	13	pixel	pixel	NOUN
ap-3040	165	14	is	be	AUX
ap-3040	165	15	initialized	initialize	VERB
ap-3040	165	16	as	as	ADP
ap-3040	165	17	unknown	unknown	ADJ
ap-3040	165	18	and	and	CCONJ
ap-3040	165	19	updated	update	VERB
ap-3040	165	20	as	as	ADP
ap-3040	165	21	free	free	ADJ
ap-3040	165	22	(	(	PUNCT
ap-3040	165	23	no	no	DET
ap-3040	165	24	obstacle	obstacle	NOUN
ap-3040	165	25	)	)	PUNCT
ap-3040	165	26	or	or	CCONJ
ap-3040	165	27	occupied	occupy	VERB
ap-3040	165	28	(	(	PUNCT
ap-3040	165	29	something	something	PRON
ap-3040	165	30	there	there	ADV
ap-3040	165	31	)	)	PUNCT
ap-3040	165	32	by	by	ADP
ap-3040	165	33	the	the	DET
ap-3040	165	34	data	data	NOUN
ap-3040	165	35	acquisition	acquisition	NOUN
ap-3040	165	36	process	process	NOUN
ap-3040	165	37	.	.	PUNCT
ap-3040	166	1	the	the	DET
ap-3040	166	2	hexagon	hexagon	NOUN
ap-3040	166	3	layer	layer	NOUN
ap-3040	166	4	is	be	AUX
ap-3040	166	5	an	an	DET
ap-3040	166	6	occupancy	occupancy	NOUN
ap-3040	166	7	grid	grid	NOUN
ap-3040	166	8	of	of	ADP
ap-3040	166	9	hexagons10	hexagons10	PROPN
ap-3040	166	10	.	.	PUNCT
ap-3040	167	1	hexagons	hexagon	NOUN
ap-3040	167	2	and	and	CCONJ
ap-3040	167	3	voronoi	voronoi	ADJ
ap-3040	167	4	layers	layer	NOUN
ap-3040	167	5	are	be	AUX
ap-3040	167	6	each	each	PRON
ap-3040	167	7	computed	compute	VERB
ap-3040	167	8	from	from	ADP
ap-3040	167	9	the	the	DET
ap-3040	167	10	pixel	pixel	PROPN
ap-3040	167	11	layer	layer	NOUN
ap-3040	167	12	,	,	PUNCT
ap-3040	167	13	and	and	CCONJ
ap-3040	167	14	are	be	AUX
ap-3040	167	15	used	use	VERB
ap-3040	167	16	to	to	PART
ap-3040	167	17	generate	generate	VERB
ap-3040	167	18	the	the	DET
ap-3040	167	19	data	data	NOUN
ap-3040	167	20	structures	structure	NOUN
ap-3040	167	21	of	of	ADP
ap-3040	167	22	the	the	DET
ap-3040	167	23	local	local	ADJ
ap-3040	167	24	augmented	augment	VERB
ap-3040	167	25	mdp	mdp	PROPN
ap-3040	167	26	.	.	PUNCT
ap-3040	168	1	states	state	NOUN
ap-3040	168	2	and	and	CCONJ
ap-3040	168	3	rewards	reward	NOUN
ap-3040	168	4	are	be	AUX
ap-3040	168	5	based	base	VERB
ap-3040	168	6	on	on	ADP
ap-3040	168	7	the	the	DET
ap-3040	168	8	hexagonal	hexagonal	ADJ
ap-3040	168	9	layer	layer	NOUN
ap-3040	168	10	,	,	PUNCT
ap-3040	168	11	while	while	SCONJ
ap-3040	168	12	actions	action	NOUN
ap-3040	168	13	and	and	CCONJ
ap-3040	168	14	transitions	transition	NOUN
ap-3040	168	15	are	be	AUX
ap-3040	168	16	based	base	VERB
ap-3040	168	17	on	on	ADP
ap-3040	168	18	the	the	DET
ap-3040	168	19	hexagonal	hexagonal	ADJ
ap-3040	168	20	and	and	CCONJ
ap-3040	168	21	voronoi	voronoi	NOUN
ap-3040	169	1	10each	10each	DET
ap-3040	169	2	hexagon	hexagon	NOUN
ap-3040	169	3	is	be	AUX
ap-3040	169	4	composed	compose	VERB
ap-3040	169	5	of	of	ADP
ap-3040	169	6	a	a	DET
ap-3040	169	7	set	set	NOUN
ap-3040	169	8	of	of	ADP
ap-3040	169	9	pixels	pixel	NOUN
ap-3040	169	10	and	and	CCONJ
ap-3040	169	11	is	be	AUX
ap-3040	169	12	considered	consider	VERB
ap-3040	169	13	as	as	ADP
ap-3040	169	14	unknown	unknown	ADJ
ap-3040	169	15	,	,	PUNCT
ap-3040	169	16	free	free	ADJ
ap-3040	169	17	or	or	CCONJ
ap-3040	169	18	occupied	occupy	VERB
ap-3040	169	19	according	accord	VERB
ap-3040	169	20	to	to	ADP
ap-3040	169	21	the	the	DET
ap-3040	169	22	value	value	NOUN
ap-3040	169	23	of	of	ADP
ap-3040	169	24	its	its	PRON
ap-3040	169	25	pixels	pixel	NOUN
ap-3040	169	26	.	.	PUNCT
ap-3040	170	1	172	172	NUM
ap-3040	170	2	vol	vol	NOUN
ap-3040	170	3	.	.	PUNCT
ap-3040	171	1	55	55	NUM
ap-3040	171	2	no	no	NOUN
ap-3040	171	3	.	.	PUNCT
ap-3040	172	1	3/2015	3/2015	NUM
ap-3040	172	2	decentralized	decentralize	VERB
ap-3040	172	3	multi	multi	ADJ
ap-3040	172	4	-	-	ADJ
ap-3040	172	5	robot	robot	ADJ
ap-3040	172	6	planning	planning	NOUN
ap-3040	172	7	to	to	PART
ap-3040	172	8	explore	explore	VERB
ap-3040	172	9	and	and	CCONJ
ap-3040	172	10	perceive	perceive	ADJ
ap-3040	172	11	(	(	PUNCT
ap-3040	172	12	a	a	X
ap-3040	172	13	)	)	PUNCT
ap-3040	172	14	simulation	simulation	NOUN
ap-3040	172	15	environment	environment	NOUN
ap-3040	172	16	.	.	PUNCT
ap-3040	173	1	(	(	PUNCT
ap-3040	173	2	b	b	X
ap-3040	173	3	)	)	PUNCT
ap-3040	173	4	simulation	simulation	NOUN
ap-3040	173	5	screenshots	screenshot	NOUN
ap-3040	173	6	.	.	PUNCT
ap-3040	174	1	figure	figure	NOUN
ap-3040	174	2	2	2	NUM
ap-3040	174	3	.	.	PUNCT
ap-3040	174	4	in	in	ADP
ap-3040	174	5	b	b	NOUN
ap-3040	174	6	)	)	PUNCT
ap-3040	174	7	,	,	PUNCT
ap-3040	174	8	areas	area	NOUN
ap-3040	174	9	that	that	PRON
ap-3040	174	10	have	have	AUX
ap-3040	174	11	been	be	AUX
ap-3040	174	12	explored	explore	VERB
ap-3040	174	13	but	but	CCONJ
ap-3040	174	14	not	not	PART
ap-3040	174	15	yet	yet	ADV
ap-3040	174	16	covered	cover	VERB
ap-3040	174	17	with	with	ADP
ap-3040	174	18	photos	photo	NOUN
ap-3040	174	19	are	be	AUX
ap-3040	174	20	in	in	ADP
ap-3040	174	21	yellow	yellow	ADJ
ap-3040	174	22	;	;	PUNCT
ap-3040	174	23	explored	explore	VERB
ap-3040	174	24	areas	area	NOUN
ap-3040	174	25	covered	cover	VERB
ap-3040	174	26	with	with	ADP
ap-3040	174	27	photos	photo	NOUN
ap-3040	174	28	are	be	AUX
ap-3040	174	29	in	in	ADP
ap-3040	174	30	white	white	ADJ
ap-3040	174	31	;	;	PUNCT
ap-3040	174	32	non	non	X
ap-3040	174	33	explored	explore	VERB
ap-3040	174	34	areas	area	NOUN
ap-3040	174	35	are	be	AUX
ap-3040	174	36	in	in	ADP
ap-3040	174	37	grey	grey	PROPN
ap-3040	174	38	.	.	PUNCT
ap-3040	175	1	layers	layer	NOUN
ap-3040	175	2	.	.	PUNCT
ap-3040	176	1	the	the	DET
ap-3040	176	2	exploration	exploration	NOUN
ap-3040	176	3	reward	reward	NOUN
ap-3040	176	4	function	function	NOUN
ap-3040	176	5	is	be	AUX
ap-3040	176	6	computed	compute	VERB
ap-3040	176	7	with	with	ADP
ap-3040	176	8	a	a	DET
ap-3040	176	9	reward	reward	NOUN
ap-3040	176	10	propagation	propagation	NOUN
ap-3040	176	11	mechanism	mechanism	NOUN
ap-3040	176	12	based	base	VERB
ap-3040	176	13	on	on	ADP
ap-3040	176	14	the	the	DET
ap-3040	176	15	expected	expect	VERB
ap-3040	176	16	information	information	NOUN
ap-3040	176	17	gain	gain	NOUN
ap-3040	176	18	in	in	ADP
ap-3040	176	19	each	each	DET
ap-3040	176	20	state	state	NOUN
ap-3040	176	21	as	as	ADP
ap-3040	176	22	in	in	ADP
ap-3040	176	23	[	[	X
ap-3040	176	24	24	24	NUM
ap-3040	176	25	]	]	PUNCT
ap-3040	176	26	.	.	PUNCT
ap-3040	177	1	we	we	PRON
ap-3040	177	2	propagate	propagate	VERB
ap-3040	177	3	rewards	reward	NOUN
ap-3040	177	4	in	in	ADP
ap-3040	177	5	some	some	DET
ap-3040	177	6	radius	radius	NOUN
ap-3040	177	7	around	around	ADP
ap-3040	177	8	the	the	DET
ap-3040	177	9	frontier	frontier	NOUN
ap-3040	177	10	hexagons	hexagon	NOUN
ap-3040	177	11	,	,	PUNCT
ap-3040	177	12	taking	take	VERB
ap-3040	177	13	into	into	ADP
ap-3040	177	14	account	account	NOUN
ap-3040	177	15	line	line	NOUN
ap-3040	177	16	-	-	PUNCT
ap-3040	177	17	of	of	ADP
ap-3040	177	18	-	-	PUNCT
ap-3040	177	19	sight	sight	NOUN
ap-3040	177	20	constraints	constraint	NOUN
ap-3040	177	21	(	(	PUNCT
ap-3040	177	22	see	see	VERB
ap-3040	177	23	fig	fig	NOUN
ap-3040	177	24	.	.	PUNCT
ap-3040	178	1	1a	1a	NOUN
ap-3040	178	2	)	)	PUNCT
ap-3040	178	3	.	.	PUNCT
ap-3040	179	1	further	further	ADJ
ap-3040	179	2	details	detail	NOUN
ap-3040	179	3	about	about	ADP
ap-3040	179	4	our	our	PRON
ap-3040	179	5	model	model	NOUN
ap-3040	179	6	are	be	AUX
ap-3040	179	7	given	give	VERB
ap-3040	179	8	in	in	ADP
ap-3040	179	9	[	[	X
ap-3040	179	10	25	25	NUM
ap-3040	179	11	]	]	PUNCT
ap-3040	179	12	.	.	PUNCT
ap-3040	180	1	5.2.2	5.2.2	NUM
ap-3040	180	2	.	.	PUNCT
ap-3040	181	1	dvf	dvf	PROPN
ap-3040	181	2	to	to	PART
ap-3040	181	3	apply	apply	VERB
ap-3040	181	4	dvf	dvf	PROPN
ap-3040	181	5	(	(	PUNCT
ap-3040	181	6	2	2	NUM
ap-3040	181	7	)	)	PUNCT
ap-3040	181	8	,	,	PUNCT
ap-3040	181	9	we	we	PRON
ap-3040	181	10	consider	consider	VERB
ap-3040	181	11	that	that	SCONJ
ap-3040	181	12	the	the	DET
ap-3040	181	13	robots	robot	NOUN
ap-3040	181	14	are	be	AUX
ap-3040	181	15	homogeneous	homogeneous	ADJ
ap-3040	181	16	.	.	PUNCT
ap-3040	182	1	the	the	DET
ap-3040	182	2	value	value	NOUN
ap-3040	182	3	functions	function	NOUN
ap-3040	182	4	vj	vj	INTJ
ap-3040	182	5	of	of	ADP
ap-3040	182	6	the	the	DET
ap-3040	182	7	other	other	ADJ
ap-3040	182	8	robots	robot	NOUN
ap-3040	182	9	j	j	PROPN
ap-3040	182	10	can	can	AUX
ap-3040	182	11	therefore	therefore	ADV
ap-3040	182	12	be	be	AUX
ap-3040	182	13	computed	compute	VERB
ap-3040	182	14	only	only	ADV
ap-3040	182	15	once	once	ADV
ap-3040	182	16	by	by	ADP
ap-3040	182	17	robot	robot	NOUN
ap-3040	182	18	i	i	NOUN
ap-3040	182	19	11	11	NUM
ap-3040	182	20	.	.	PUNCT
ap-3040	183	1	robot	robot	NOUN
ap-3040	183	2	i	i	PRON
ap-3040	183	3	computes	compute	VERB
ap-3040	183	4	an	an	DET
ap-3040	183	5	empathic	empathic	ADJ
ap-3040	183	6	value	value	NOUN
ap-3040	183	7	function	function	NOUN
ap-3040	183	8	with	with	ADP
ap-3040	183	9	the	the	DET
ap-3040	183	10	standard	standard	ADJ
ap-3040	183	11	value	value	NOUN
ap-3040	183	12	iteration	iteration	NOUN
ap-3040	183	13	algorithm	algorithm	NOUN
ap-3040	184	1	[	[	X
ap-3040	184	2	26	26	NUM
ap-3040	184	3	]	]	PUNCT
ap-3040	184	4	in	in	ADP
ap-3040	184	5	its	its	PRON
ap-3040	184	6	local	local	ADJ
ap-3040	184	7	augmented	augmented	ADJ
ap-3040	184	8	mdp	mdp	PROPN
ap-3040	184	9	.	.	PUNCT
ap-3040	185	1	to	to	PART
ap-3040	185	2	evaluate	evaluate	VERB
ap-3040	185	3	the	the	DET
ap-3040	185	4	transition	transition	NOUN
ap-3040	185	5	probability	probability	NOUN
ap-3040	185	6	of	of	ADP
ap-3040	185	7	other	other	ADJ
ap-3040	185	8	robot	robot	PROPN
ap-3040	185	9	j	j	PROPN
ap-3040	185	10	,	,	PUNCT
ap-3040	185	11	i	i	PRON
ap-3040	185	12	applies	apply	VERB
ap-3040	185	13	a	a	DET
ap-3040	185	14	wavefront	wavefront	ADJ
ap-3040	185	15	propagation	propagation	NOUN
ap-3040	185	16	algorithm	algorithm	NOUN
ap-3040	185	17	from	from	ADP
ap-3040	185	18	the	the	DET
ap-3040	185	19	last	last	ADJ
ap-3040	185	20	known	know	VERB
ap-3040	185	21	state	state	NOUN
ap-3040	185	22	sj	sj	PROPN
ap-3040	185	23	of	of	ADP
ap-3040	185	24	robot	robot	NOUN
ap-3040	185	25	j.	j.	PROPN
ap-3040	185	26	5.2.3	5.2.3	NUM
ap-3040	185	27	.	.	PUNCT
ap-3040	186	1	decision	decision	NOUN
ap-3040	186	2	step	step	VERB
ap-3040	186	3	a	a	DET
ap-3040	186	4	decision	decision	NOUN
ap-3040	186	5	step	step	NOUN
ap-3040	186	6	involves	involve	VERB
ap-3040	186	7	building	build	VERB
ap-3040	186	8	the	the	DET
ap-3040	186	9	model	model	NOUN
ap-3040	186	10	,	,	PUNCT
ap-3040	186	11	computing	compute	VERB
ap-3040	186	12	the	the	DET
ap-3040	186	13	policy	policy	NOUN
ap-3040	186	14	from	from	ADP
ap-3040	186	15	dvf	dvf	PROPN
ap-3040	186	16	,	,	PUNCT
ap-3040	186	17	and	and	CCONJ
ap-3040	186	18	producing	produce	VERB
ap-3040	186	19	a	a	DET
ap-3040	186	20	smoothed	smoothed	ADJ
ap-3040	186	21	trajectory	trajectory	NOUN
ap-3040	186	22	.	.	PUNCT
ap-3040	187	1	the	the	DET
ap-3040	187	2	agent	agent	NOUN
ap-3040	187	3	plans	plan	VERB
ap-3040	187	4	continuously	continuously	ADV
ap-3040	187	5	,	,	PUNCT
ap-3040	187	6	executing	execute	VERB
ap-3040	187	7	a	a	DET
ap-3040	187	8	decision	decision	NOUN
ap-3040	187	9	step	step	NOUN
ap-3040	187	10	as	as	SCONJ
ap-3040	187	11	it	it	PRON
ap-3040	187	12	perceives	perceive	VERB
ap-3040	187	13	changes	change	NOUN
ap-3040	187	14	in	in	ADP
ap-3040	187	15	its	its	PRON
ap-3040	187	16	environment	environment	NOUN
ap-3040	187	17	.	.	PUNCT
ap-3040	188	1	we	we	PRON
ap-3040	188	2	can	can	AUX
ap-3040	188	3	observe	observe	VERB
ap-3040	188	4	that	that	SCONJ
ap-3040	188	5	exploration	exploration	NOUN
ap-3040	188	6	rewards	reward	NOUN
ap-3040	188	7	will	will	AUX
ap-3040	188	8	never	never	ADV
ap-3040	188	9	be	be	AUX
ap-3040	188	10	gained	gain	VERB
ap-3040	188	11	by	by	ADP
ap-3040	188	12	the	the	DET
ap-3040	188	13	robot	robot	NOUN
ap-3040	188	14	.	.	PUNCT
ap-3040	189	1	indeed	indeed	ADV
ap-3040	189	2	,	,	PUNCT
ap-3040	189	3	as	as	SCONJ
ap-3040	189	4	the	the	DET
ap-3040	189	5	robot	robot	NOUN
ap-3040	189	6	comes	come	VERB
ap-3040	189	7	close	close	ADJ
ap-3040	189	8	enough	enough	ADV
ap-3040	189	9	to	to	ADP
ap-3040	189	10	the	the	DET
ap-3040	189	11	frontier	frontier	NOUN
ap-3040	189	12	,	,	PUNCT
ap-3040	189	13	it	it	PRON
ap-3040	189	14	will	will	AUX
ap-3040	189	15	gather	gather	VERB
ap-3040	189	16	new	new	ADJ
ap-3040	189	17	information	information	NOUN
ap-3040	189	18	with	with	ADP
ap-3040	189	19	its	its	PRON
ap-3040	189	20	sensors	sensor	NOUN
ap-3040	189	21	and	and	CCONJ
ap-3040	189	22	unknown	unknown	ADJ
ap-3040	189	23	cells	cell	NOUN
ap-3040	189	24	will	will	AUX
ap-3040	189	25	become	become	AUX
ap-3040	189	26	known	know	VERB
ap-3040	189	27	before	before	SCONJ
ap-3040	189	28	they	they	PRON
ap-3040	189	29	are	be	AUX
ap-3040	189	30	reached	reach	VERB
ap-3040	189	31	.	.	PUNCT
ap-3040	190	1	therefore	therefore	ADV
ap-3040	190	2	,	,	PUNCT
ap-3040	190	3	the	the	DET
ap-3040	190	4	exploration	exploration	NOUN
ap-3040	190	5	rewards	reward	NOUN
ap-3040	190	6	will	will	AUX
ap-3040	190	7	disappear	disappear	VERB
ap-3040	190	8	before	before	SCONJ
ap-3040	190	9	the	the	DET
ap-3040	190	10	robot	robot	NOUN
ap-3040	190	11	can	can	AUX
ap-3040	190	12	claim	claim	VERB
ap-3040	190	13	them	they	PRON
ap-3040	190	14	and	and	CCONJ
ap-3040	190	15	the	the	DET
ap-3040	190	16	frontier	frontier	NOUN
ap-3040	190	17	between	between	ADP
ap-3040	190	18	known	known	ADJ
ap-3040	190	19	and	and	CCONJ
ap-3040	190	20	unknown	unknown	ADJ
ap-3040	190	21	areas	area	NOUN
ap-3040	190	22	,	,	PUNCT
ap-3040	190	23	which	which	PRON
ap-3040	190	24	is	be	AUX
ap-3040	190	25	the	the	DET
ap-3040	190	26	source	source	NOUN
ap-3040	190	27	of	of	ADP
ap-3040	190	28	the	the	DET
ap-3040	190	29	rewards	reward	NOUN
ap-3040	190	30	,	,	PUNCT
ap-3040	190	31	retreats	retreat	NOUN
ap-3040	190	32	as	as	SCONJ
ap-3040	190	33	the	the	DET
ap-3040	190	34	robot	robot	NOUN
ap-3040	190	35	approaches	approach	VERB
ap-3040	190	36	it	it	PRON
ap-3040	190	37	.	.	PUNCT
ap-3040	191	1	the	the	DET
ap-3040	191	2	action	action	NOUN
ap-3040	191	3	plan	plan	NOUN
ap-3040	191	4	must	must	AUX
ap-3040	191	5	then	then	ADV
ap-3040	191	6	be	be	AUX
ap-3040	191	7	updated	update	VERB
ap-3040	191	8	quickly	quickly	ADV
ap-3040	191	9	to	to	PART
ap-3040	191	10	react	react	VERB
ap-3040	191	11	as	as	ADV
ap-3040	191	12	soon	soon	ADV
ap-3040	191	13	as	as	ADP
ap-3040	191	14	possible	possible	ADJ
ap-3040	191	15	to	to	ADP
ap-3040	191	16	this	this	DET
ap-3040	191	17	kind	kind	NOUN
ap-3040	191	18	of	of	ADP
ap-3040	191	19	information	information	NOUN
ap-3040	191	20	gained	gain	VERB
ap-3040	191	21	en	en	ADP
ap-3040	191	22	route	route	NOUN
ap-3040	191	23	.	.	PUNCT
ap-3040	192	1	however	however	ADV
ap-3040	192	2	,	,	PUNCT
ap-3040	192	3	this	this	PRON
ap-3040	192	4	requires	require	VERB
ap-3040	192	5	the	the	DET
ap-3040	192	6	decision	decision	NOUN
ap-3040	192	7	step	step	NOUN
ap-3040	192	8	to	to	PART
ap-3040	192	9	be	be	AUX
ap-3040	192	10	quick	quick	ADJ
ap-3040	192	11	enough	enough	ADV
ap-3040	192	12	for	for	ADP
ap-3040	192	13	on	on	ADP
ap-3040	192	14	-	-	PUNCT
ap-3040	192	15	line	line	NOUN
ap-3040	192	16	use	use	NOUN
ap-3040	192	17	.	.	PUNCT
ap-3040	193	1	given	give	VERB
ap-3040	193	2	that	that	SCONJ
ap-3040	193	3	the	the	DET
ap-3040	193	4	model	model	NOUN
ap-3040	193	5	will	will	AUX
ap-3040	193	6	be	be	AUX
ap-3040	193	7	updated	update	VERB
ap-3040	193	8	at	at	ADP
ap-3040	193	9	each	each	DET
ap-3040	193	10	decision	decision	NOUN
ap-3040	193	11	step	step	NOUN
ap-3040	193	12	,	,	PUNCT
ap-3040	193	13	we	we	PRON
ap-3040	193	14	use	use	VERB
ap-3040	193	15	the	the	DET
ap-3040	193	16	greedy	greedy	ADJ
ap-3040	193	17	approach	approach	NOUN
ap-3040	193	18	,	,	PUNCT
ap-3040	193	19	which	which	PRON
ap-3040	193	20	plans	plan	VERB
ap-3040	193	21	on	on	ADP
ap-3040	193	22	a	a	DET
ap-3040	193	23	short	short	ADJ
ap-3040	193	24	-	-	PUNCT
ap-3040	193	25	term	term	NOUN
ap-3040	193	26	horizon	horizon	NOUN
ap-3040	193	27	.	.	PUNCT
ap-3040	194	1	5.2.4	5.2.4	NUM
ap-3040	194	2	.	.	PUNCT
ap-3040	195	1	experiments	experiment	NOUN
ap-3040	195	2	experimental	experimental	ADJ
ap-3040	195	3	results	result	NOUN
ap-3040	195	4	from	from	ADP
ap-3040	195	5	simulation	simulation	NOUN
ap-3040	195	6	and	and	CCONJ
ap-3040	195	7	real	real	ADJ
ap-3040	195	8	-	-	PUNCT
ap-3040	195	9	world	world	NOUN
ap-3040	195	10	scenarios	scenario	NOUN
ap-3040	195	11	can	can	AUX
ap-3040	195	12	be	be	AUX
ap-3040	195	13	found	find	VERB
ap-3040	195	14	in	in	ADP
ap-3040	195	15	[	[	X
ap-3040	195	16	23	23	NUM
ap-3040	195	17	,	,	PUNCT
ap-3040	195	18	25	25	NUM
ap-3040	195	19	]	]	PUNCT
ap-3040	195	20	.	.	PUNCT
ap-3040	196	1	videos12	videos12	PROPN
ap-3040	196	2	present	present	ADJ
ap-3040	196	3	11if	11if	NOUN
ap-3040	196	4	the	the	DET
ap-3040	196	5	robots	robot	NOUN
ap-3040	196	6	are	be	AUX
ap-3040	196	7	not	not	PART
ap-3040	196	8	homogeneous	homogeneous	ADJ
ap-3040	196	9	we	we	PRON
ap-3040	196	10	just	just	ADV
ap-3040	196	11	need	need	VERB
ap-3040	196	12	to	to	PART
ap-3040	196	13	compute	compute	VERB
ap-3040	196	14	one	one	NUM
ap-3040	196	15	value	value	NOUN
ap-3040	196	16	function	function	NOUN
ap-3040	196	17	for	for	ADP
ap-3040	196	18	each	each	DET
ap-3040	196	19	type	type	NOUN
ap-3040	196	20	of	of	ADP
ap-3040	196	21	robot	robot	NOUN
ap-3040	196	22	12available	12available	NUM
ap-3040	196	23	at	at	ADP
ap-3040	196	24	http://liris.cnrs.fr/laetitia.matignon/	http://liris.cnrs.fr/laetitia.matignon/	PROPN
ap-3040	196	25	research.html	research.html	X
ap-3040	196	26	various	various	ADJ
ap-3040	196	27	exploration	exploration	NOUN
ap-3040	196	28	tasks	task	NOUN
ap-3040	196	29	with	with	ADP
ap-3040	196	30	real	real	ADJ
ap-3040	196	31	robots	robot	NOUN
ap-3040	196	32	,	,	PUNCT
ap-3040	196	33	and	and	CCONJ
ap-3040	196	34	some	some	DET
ap-3040	196	35	interesting	interesting	ADJ
ap-3040	196	36	situations	situation	NOUN
ap-3040	196	37	are	be	AUX
ap-3040	196	38	underlined	underline	VERB
ap-3040	196	39	as	as	ADP
ap-3040	196	40	global	global	ADJ
ap-3040	196	41	task	task	PROPN
ap-3040	196	42	repartition	repartition	PROPN
ap-3040	196	43	or	or	CCONJ
ap-3040	196	44	local	local	ADJ
ap-3040	196	45	coordination	coordination	NOUN
ap-3040	196	46	.	.	PUNCT
ap-3040	197	1	the	the	DET
ap-3040	197	2	experiments	experiment	NOUN
ap-3040	197	3	show	show	VERB
ap-3040	197	4	that	that	SCONJ
ap-3040	197	5	this	this	DET
ap-3040	197	6	method	method	NOUN
ap-3040	197	7	is	be	AUX
ap-3040	197	8	able	able	ADJ
ap-3040	197	9	to	to	PART
ap-3040	197	10	coordinate	coordinate	VERB
ap-3040	197	11	a	a	DET
ap-3040	197	12	team	team	NOUN
ap-3040	197	13	of	of	ADP
ap-3040	197	14	robots	robot	NOUN
ap-3040	197	15	effectively	effectively	ADV
ap-3040	197	16	during	during	ADP
ap-3040	197	17	exploration	exploration	NOUN
ap-3040	197	18	.	.	PUNCT
ap-3040	198	1	the	the	DET
ap-3040	198	2	global	global	ADJ
ap-3040	198	3	interaction	interaction	NOUN
ap-3040	198	4	class	class	NOUN
ap-3040	198	5	addresses	address	VERB
ap-3040	198	6	the	the	DET
ap-3040	198	7	allocation	allocation	NOUN
ap-3040	198	8	of	of	ADP
ap-3040	198	9	exploration	exploration	NOUN
ap-3040	198	10	goals	goal	NOUN
ap-3040	198	11	,	,	PUNCT
ap-3040	198	12	and	and	CCONJ
ap-3040	198	13	also	also	ADV
ap-3040	198	14	minimizes	minimize	VERB
ap-3040	198	15	close	close	ADJ
ap-3040	198	16	interactions	interaction	NOUN
ap-3040	198	17	between	between	ADP
ap-3040	198	18	robots	robot	NOUN
ap-3040	198	19	.	.	PUNCT
ap-3040	199	1	each	each	DET
ap-3040	199	2	robot	robot	NOUN
ap-3040	199	3	locally	locally	ADV
ap-3040	199	4	computes	compute	VERB
ap-3040	199	5	a	a	DET
ap-3040	199	6	strategy	strategy	NOUN
ap-3040	199	7	that	that	PRON
ap-3040	199	8	minimizes	minimize	VERB
ap-3040	199	9	the	the	DET
ap-3040	199	10	interactions	interaction	NOUN
ap-3040	199	11	between	between	ADP
ap-3040	199	12	the	the	DET
ap-3040	199	13	robots	robot	NOUN
ap-3040	199	14	and	and	CCONJ
ap-3040	199	15	maximizes	maximize	VERB
ap-3040	199	16	the	the	DET
ap-3040	199	17	explored	explore	VERB
ap-3040	199	18	space	space	NOUN
ap-3040	199	19	.	.	PUNCT
ap-3040	200	1	6	6	X
ap-3040	200	2	.	.	X
ap-3040	200	3	planning	plan	VERB
ap-3040	200	4	to	to	PART
ap-3040	200	5	explore	explore	VERB
ap-3040	200	6	and	and	CCONJ
ap-3040	200	7	perceive	perceive	VERB
ap-3040	200	8	in	in	ADP
ap-3040	200	9	the	the	DET
ap-3040	200	10	first	first	ADJ
ap-3040	200	11	two	two	NUM
ap-3040	200	12	years	year	NOUN
ap-3040	200	13	of	of	ADP
ap-3040	200	14	the	the	DET
ap-3040	200	15	contest	contest	NOUN
ap-3040	200	16	,	,	PUNCT
ap-3040	200	17	pictures	picture	NOUN
ap-3040	200	18	were	be	AUX
ap-3040	200	19	taken	take	VERB
ap-3040	200	20	to	to	PART
ap-3040	200	21	locate	locate	VERB
ap-3040	200	22	and	and	CCONJ
ap-3040	200	23	recognize	recognize	VERB
ap-3040	200	24	objects	object	NOUN
ap-3040	200	25	.	.	PUNCT
ap-3040	201	1	this	this	PRON
ap-3040	201	2	was	be	AUX
ap-3040	201	3	done	do	VERB
ap-3040	201	4	separately	separately	ADV
ap-3040	201	5	from	from	ADP
ap-3040	201	6	the	the	DET
ap-3040	201	7	decision	decision	NOUN
ap-3040	201	8	module	module	NOUN
ap-3040	201	9	.	.	PUNCT
ap-3040	202	1	pictures	picture	NOUN
ap-3040	202	2	taken	take	VERB
ap-3040	202	3	by	by	ADP
ap-3040	202	4	the	the	DET
ap-3040	202	5	camera	camera	NOUN
ap-3040	202	6	and	and	CCONJ
ap-3040	202	7	analyzed	analyze	VERB
ap-3040	202	8	by	by	ADP
ap-3040	202	9	the	the	DET
ap-3040	202	10	object	object	NOUN
ap-3040	202	11	recognition	recognition	NOUN
ap-3040	202	12	module	module	NOUN
ap-3040	202	13	were	be	AUX
ap-3040	202	14	gathered	gather	VERB
ap-3040	202	15	along	along	ADP
ap-3040	202	16	the	the	DET
ap-3040	202	17	way	way	NOUN
ap-3040	202	18	,	,	PUNCT
ap-3040	202	19	i.e.	i.e.	X
ap-3040	202	20	,	,	PUNCT
ap-3040	202	21	the	the	DET
ap-3040	202	22	camera	camera	NOUN
ap-3040	202	23	took	take	VERB
ap-3040	202	24	pictures	picture	NOUN
ap-3040	202	25	at	at	ADP
ap-3040	202	26	a	a	DET
ap-3040	202	27	specified	specified	ADJ
ap-3040	202	28	rate	rate	NOUN
ap-3040	202	29	along	along	ADP
ap-3040	202	30	the	the	DET
ap-3040	202	31	trajectory	trajectory	NOUN
ap-3040	202	32	planned	plan	VERB
ap-3040	202	33	for	for	ADP
ap-3040	202	34	the	the	DET
ap-3040	202	35	exploration	exploration	NOUN
ap-3040	202	36	.	.	PUNCT
ap-3040	203	1	however	however	ADV
ap-3040	203	2	,	,	PUNCT
ap-3040	203	3	this	this	PRON
ap-3040	203	4	led	lead	VERB
ap-3040	203	5	to	to	ADP
ap-3040	203	6	poor	poor	ADJ
ap-3040	203	7	performance	performance	NOUN
ap-3040	203	8	in	in	ADP
ap-3040	203	9	terms	term	NOUN
ap-3040	203	10	of	of	ADP
ap-3040	203	11	object	object	NOUN
ap-3040	203	12	recognition	recognition	NOUN
ap-3040	203	13	results	result	NOUN
ap-3040	203	14	,	,	PUNCT
ap-3040	203	15	primarily	primarily	ADV
ap-3040	203	16	because	because	SCONJ
ap-3040	203	17	some	some	DET
ap-3040	203	18	objects	object	NOUN
ap-3040	203	19	in	in	ADP
ap-3040	203	20	the	the	DET
ap-3040	203	21	arena	arena	NOUN
ap-3040	203	22	were	be	AUX
ap-3040	203	23	not	not	PART
ap-3040	203	24	photographed	photograph	VERB
ap-3040	203	25	.	.	PUNCT
ap-3040	204	1	indeed	indeed	ADV
ap-3040	204	2	,	,	PUNCT
ap-3040	204	3	the	the	DET
ap-3040	204	4	pictures	picture	NOUN
ap-3040	204	5	that	that	PRON
ap-3040	204	6	are	be	AUX
ap-3040	204	7	taken	take	VERB
ap-3040	204	8	depend	depend	NOUN
ap-3040	204	9	on	on	ADP
ap-3040	204	10	the	the	DET
ap-3040	204	11	trajectory	trajectory	NOUN
ap-3040	204	12	computed	compute	VERB
ap-3040	204	13	for	for	ADP
ap-3040	204	14	the	the	DET
ap-3040	204	15	exploration	exploration	NOUN
ap-3040	204	16	,	,	PUNCT
ap-3040	204	17	so	so	SCONJ
ap-3040	204	18	some	some	DET
ap-3040	204	19	objects	object	NOUN
ap-3040	204	20	were	be	AUX
ap-3040	204	21	not	not	PART
ap-3040	204	22	covered	cover	VERB
ap-3040	204	23	by	by	ADP
ap-3040	204	24	photos	photo	NOUN
ap-3040	204	25	,	,	PUNCT
ap-3040	204	26	while	while	SCONJ
ap-3040	204	27	some	some	DET
ap-3040	204	28	areas	area	NOUN
ap-3040	204	29	without	without	ADP
ap-3040	204	30	objects	object	NOUN
ap-3040	204	31	were	be	AUX
ap-3040	204	32	photographed	photograph	VERB
ap-3040	204	33	several	several	ADJ
ap-3040	204	34	times	time	NOUN
ap-3040	204	35	.	.	PUNCT
ap-3040	205	1	to	to	PART
ap-3040	205	2	improve	improve	VERB
ap-3040	205	3	the	the	DET
ap-3040	205	4	coverage	coverage	NOUN
ap-3040	205	5	of	of	ADP
ap-3040	205	6	the	the	DET
ap-3040	205	7	objects	object	NOUN
ap-3040	205	8	with	with	ADP
ap-3040	205	9	pictures	picture	NOUN
ap-3040	205	10	,	,	PUNCT
ap-3040	205	11	we	we	PRON
ap-3040	205	12	extended	extend	VERB
ap-3040	205	13	the	the	DET
ap-3040	205	14	decision	decision	NOUN
ap-3040	205	15	module	module	NOUN
ap-3040	205	16	so	so	SCONJ
ap-3040	205	17	that	that	SCONJ
ap-3040	205	18	it	it	PRON
ap-3040	205	19	does	do	AUX
ap-3040	205	20	not	not	PART
ap-3040	205	21	only	only	ADV
ap-3040	205	22	explore	explore	VERB
ap-3040	205	23	the	the	DET
ap-3040	205	24	arena	arena	NOUN
ap-3040	205	25	but	but	CCONJ
ap-3040	205	26	must	must	AUX
ap-3040	205	27	also	also	ADV
ap-3040	205	28	ensure	ensure	VERB
ap-3040	205	29	that	that	SCONJ
ap-3040	205	30	the	the	DET
ap-3040	205	31	explored	explore	VERB
ap-3040	205	32	areas	area	NOUN
ap-3040	205	33	are	be	AUX
ap-3040	205	34	covered	cover	VERB
ap-3040	205	35	by	by	ADP
ap-3040	205	36	photos	photo	NOUN
ap-3040	205	37	.	.	PUNCT
ap-3040	206	1	indeed	indeed	ADV
ap-3040	206	2	,	,	PUNCT
ap-3040	206	3	if	if	SCONJ
ap-3040	206	4	all	all	DET
ap-3040	206	5	the	the	DET
ap-3040	206	6	explored	explore	VERB
ap-3040	206	7	space	space	NOUN
ap-3040	206	8	has	have	AUX
ap-3040	206	9	been	be	AUX
ap-3040	206	10	photographed	photograph	VERB
ap-3040	206	11	,	,	PUNCT
ap-3040	206	12	each	each	DET
ap-3040	206	13	object	object	NOUN
ap-3040	206	14	must	must	AUX
ap-3040	206	15	be	be	AUX
ap-3040	206	16	in	in	ADP
ap-3040	206	17	at	at	ADV
ap-3040	206	18	least	least	ADV
ap-3040	206	19	one	one	NUM
ap-3040	206	20	picture	picture	NOUN
ap-3040	206	21	and	and	CCONJ
ap-3040	206	22	the	the	DET
ap-3040	206	23	recognition	recognition	NOUN
ap-3040	206	24	module	module	NOUN
ap-3040	206	25	will	will	AUX
ap-3040	206	26	handle	handle	VERB
ap-3040	206	27	it	it	PRON
ap-3040	206	28	.	.	PUNCT
ap-3040	207	1	in	in	ADP
ap-3040	207	2	this	this	DET
ap-3040	207	3	section	section	NOUN
ap-3040	207	4	,	,	PUNCT
ap-3040	207	5	we	we	PRON
ap-3040	207	6	introduce	introduce	VERB
ap-3040	207	7	a	a	DET
ap-3040	207	8	dvf	dvf	PROPN
ap-3040	207	9	extension	extension	NOUN
ap-3040	207	10	to	to	PART
ap-3040	207	11	improve	improve	VERB
ap-3040	207	12	the	the	DET
ap-3040	207	13	photo	photo	NOUN
ap-3040	207	14	coverage	coverage	NOUN
ap-3040	207	15	of	of	ADP
ap-3040	207	16	the	the	DET
ap-3040	207	17	space	space	NOUN
ap-3040	207	18	,	,	PUNCT
ap-3040	207	19	and	and	CCONJ
ap-3040	207	20	we	we	PRON
ap-3040	207	21	also	also	ADV
ap-3040	207	22	present	present	VERB
ap-3040	207	23	some	some	DET
ap-3040	207	24	experiments	experiment	NOUN
ap-3040	207	25	.	.	PUNCT
ap-3040	208	1	6.1	6.1	NUM
ap-3040	208	2	.	.	PUNCT
ap-3040	209	1	dvf	dvf	PROPN
ap-3040	209	2	extension	extension	NOUN
ap-3040	209	3	to	to	PART
ap-3040	209	4	improve	improve	VERB
ap-3040	209	5	photo	photo	NOUN
ap-3040	209	6	coverage	coverage	NOUN
ap-3040	209	7	of	of	ADP
ap-3040	209	8	the	the	DET
ap-3040	209	9	space	space	NOUN
ap-3040	209	10	the	the	DET
ap-3040	209	11	decision	decision	NOUN
ap-3040	209	12	module	module	NOUN
ap-3040	209	13	must	must	AUX
ap-3040	209	14	simultaneously	simultaneously	ADV
ap-3040	209	15	combine	combine	VERB
ap-3040	209	16	the	the	DET
ap-3040	209	17	interest	interest	NOUN
ap-3040	209	18	in	in	ADP
ap-3040	209	19	exploring	explore	VERB
ap-3040	209	20	an	an	DET
ap-3040	209	21	area	area	NOUN
ap-3040	209	22	with	with	ADP
ap-3040	209	23	the	the	DET
ap-3040	209	24	interest	interest	NOUN
ap-3040	209	25	in	in	ADP
ap-3040	209	26	covering	cover	VERB
ap-3040	209	27	it	it	PRON
ap-3040	209	28	with	with	ADP
ap-3040	209	29	pictures	picture	NOUN
ap-3040	209	30	.	.	PUNCT
ap-3040	210	1	to	to	PART
ap-3040	210	2	take	take	VERB
ap-3040	210	3	into	into	ADP
ap-3040	210	4	account	account	NOUN
ap-3040	210	5	both	both	DET
ap-3040	210	6	the	the	DET
ap-3040	210	7	exploration	exploration	NOUN
ap-3040	210	8	criterion	criterion	NOUN
ap-3040	210	9	and	and	CCONJ
ap-3040	210	10	the	the	DET
ap-3040	210	11	picture	picture	NOUN
ap-3040	210	12	coverage	coverage	NOUN
ap-3040	210	13	criterion	criterion	NOUN
ap-3040	210	14	,	,	PUNCT
ap-3040	210	15	we	we	PRON
ap-3040	210	16	modified	modify	VERB
ap-3040	210	17	the	the	DET
ap-3040	210	18	reward	reward	NOUN
ap-3040	210	19	function	function	NOUN
ap-3040	210	20	ri	ri	PROPN
ap-3040	210	21	of	of	ADP
ap-3040	210	22	the	the	DET
ap-3040	210	23	augmented	augment	VERB
ap-3040	210	24	mdp	mdp	PROPN
ap-3040	210	25	.	.	PUNCT
ap-3040	211	1	we	we	PRON
ap-3040	211	2	introduced	introduce	VERB
ap-3040	211	3	a	a	DET
ap-3040	211	4	specific	specific	ADJ
ap-3040	211	5	reward	reward	NOUN
ap-3040	211	6	for	for	ADP
ap-3040	211	7	173	173	NUM
ap-3040	211	8	l.	l.	PROPN
ap-3040	211	9	matignon	matignon	PROPN
ap-3040	211	10	,	,	PUNCT
ap-3040	211	11	l.	l.	PROPN
ap-3040	211	12	jeanpierre	jeanpierre	PROPN
ap-3040	211	13	,	,	PUNCT
ap-3040	211	14	a.-i	a.-i	PROPN
ap-3040	211	15	.	.	PUNCT
ap-3040	212	1	mouaddib	mouaddib	PROPN
ap-3040	212	2	acta	acta	PROPN
ap-3040	212	3	polytechnica	polytechnica	PROPN
ap-3040	212	4	figure	figure	NOUN
ap-3040	212	5	3	3	NUM
ap-3040	212	6	.	.	NOUN
ap-3040	212	7	number	number	NOUN
ap-3040	212	8	of	of	ADP
ap-3040	212	9	objects	object	NOUN
ap-3040	212	10	detected	detect	VERB
ap-3040	212	11	and	and	CCONJ
ap-3040	212	12	mission	mission	NOUN
ap-3040	212	13	time	time	NOUN
ap-3040	212	14	(	(	PUNCT
ap-3040	212	15	in	in	ADP
ap-3040	212	16	seconds	second	NOUN
ap-3040	212	17	)	)	PUNCT
ap-3040	212	18	versus	versus	ADP
ap-3040	212	19	coverage	coverage	NOUN
ap-3040	212	20	rate	rate	NOUN
ap-3040	212	21	(	(	PUNCT
ap-3040	212	22	produced	produce	VERB
ap-3040	212	23	from	from	ADP
ap-3040	212	24	340	340	NUM
ap-3040	212	25	simulations	simulation	NOUN
ap-3040	212	26	)	)	PUNCT
ap-3040	212	27	.	.	PUNCT
ap-3040	213	1	areas	area	NOUN
ap-3040	213	2	explored	explore	VERB
ap-3040	213	3	and	and	CCONJ
ap-3040	213	4	covered	cover	VERB
ap-3040	213	5	with	with	ADP
ap-3040	213	6	photos	photo	NOUN
ap-3040	213	7	in	in	ADP
ap-3040	213	8	addition	addition	NOUN
ap-3040	213	9	to	to	ADP
ap-3040	213	10	the	the	DET
ap-3040	213	11	exploration	exploration	NOUN
ap-3040	213	12	reward	reward	NOUN
ap-3040	213	13	.	.	PUNCT
ap-3040	214	1	mdps	mdps	PROPN
ap-3040	214	2	allow	allow	VERB
ap-3040	214	3	planning	planning	NOUN
ap-3040	214	4	while	while	SCONJ
ap-3040	214	5	optimizing	optimize	VERB
ap-3040	214	6	several	several	ADJ
ap-3040	214	7	criteria	criterion	NOUN
ap-3040	214	8	at	at	ADP
ap-3040	214	9	once	once	ADV
ap-3040	214	10	:	:	PUNCT
ap-3040	214	11	in	in	ADP
ap-3040	214	12	our	our	PRON
ap-3040	214	13	case	case	NOUN
ap-3040	214	14	,	,	PUNCT
ap-3040	214	15	the	the	DET
ap-3040	214	16	expected	expect	VERB
ap-3040	214	17	information	information	NOUN
ap-3040	214	18	gain	gain	NOUN
ap-3040	214	19	,	,	PUNCT
ap-3040	214	20	the	the	DET
ap-3040	214	21	picture	picture	NOUN
ap-3040	214	22	-	-	PUNCT
ap-3040	214	23	taking	taking	NOUN
ap-3040	214	24	and	and	CCONJ
ap-3040	214	25	the	the	DET
ap-3040	214	26	cost	cost	NOUN
ap-3040	214	27	to	to	PART
ap-3040	214	28	reach	reach	VERB
ap-3040	214	29	the	the	DET
ap-3040	214	30	chosen	choose	VERB
ap-3040	214	31	location	location	NOUN
ap-3040	214	32	.	.	PUNCT
ap-3040	215	1	during	during	ADP
ap-3040	215	2	the	the	DET
ap-3040	215	3	challenge	challenge	NOUN
ap-3040	215	4	,	,	PUNCT
ap-3040	215	5	we	we	PRON
ap-3040	215	6	also	also	ADV
ap-3040	215	7	optimized	optimize	VERB
ap-3040	215	8	the	the	DET
ap-3040	215	9	return	return	VERB
ap-3040	215	10	-	-	PUNCT
ap-3040	215	11	to	to	ADP
ap-3040	215	12	-	-	PUNCT
ap-3040	215	13	base	base	NOUN
ap-3040	215	14	criterion	criterion	NOUN
ap-3040	215	15	at	at	ADP
ap-3040	215	16	the	the	DET
ap-3040	215	17	end	end	NOUN
ap-3040	215	18	of	of	ADP
ap-3040	215	19	the	the	DET
ap-3040	215	20	mission	mission	NOUN
ap-3040	215	21	and	and	CCONJ
ap-3040	215	22	the	the	DET
ap-3040	215	23	ball	ball	NOUN
ap-3040	215	24	-	-	PUNCT
ap-3040	215	25	pushing	push	VERB
ap-3040	215	26	feature	feature	NOUN
ap-3040	215	27	when	when	SCONJ
ap-3040	215	28	the	the	DET
ap-3040	215	29	ball	ball	NOUN
ap-3040	215	30	was	be	AUX
ap-3040	215	31	detected	detect	VERB
ap-3040	215	32	.	.	PUNCT
ap-3040	216	1	these	these	DET
ap-3040	216	2	two	two	NUM
ap-3040	216	3	criteria	criterion	NOUN
ap-3040	216	4	are	be	AUX
ap-3040	216	5	not	not	PART
ap-3040	216	6	considered	consider	VERB
ap-3040	216	7	in	in	ADP
ap-3040	216	8	this	this	DET
ap-3040	216	9	paper	paper	NOUN
ap-3040	216	10	.	.	PUNCT
ap-3040	217	1	the	the	DET
ap-3040	217	2	dvf	dvf	PROPN
ap-3040	217	3	equation	equation	NOUN
ap-3040	217	4	is	be	AUX
ap-3040	217	5	then	then	ADV
ap-3040	217	6	adapted	adapt	VERB
ap-3040	217	7	to	to	ADP
ap-3040	217	8	:	:	PUNCT
ap-3040	217	9	∀si	∀si	PROPN
ap-3040	217	10	∈	∈	PROPN
ap-3040	217	11	si	si	X
ap-3040	217	12	dvfi(si	dvfi(si	PROPN
ap-3040	217	13	)	)	PUNCT
ap-3040	217	14	=	=	PUNCT
ap-3040	217	15	(	(	PUNCT
ap-3040	217	16	1−	1−	NUM
ap-3040	217	17	α)ri	α)ri	PROPN
ap-3040	217	18	,	,	PUNCT
ap-3040	217	19	exp(si	exp(si	NUM
ap-3040	217	20	)	)	PUNCT
ap-3040	218	1	+	+	CCONJ
ap-3040	218	2	αri	αri	PROPN
ap-3040	218	3	,	,	PUNCT
ap-3040	218	4	cov(si	cov(si	PROPN
ap-3040	218	5	)	)	PUNCT
ap-3040	219	1	+	+	CCONJ
ap-3040	219	2	γ	γ	PROPN
ap-3040	219	3	max	max	X
ap-3040	219	4	ai∈ai	ai∈ai	PUNCT
ap-3040	219	5	(	(	PUNCT
ap-3040	219	6	∑	∑	INTJ
ap-3040	219	7	s′∈si	s′∈si	PROPN
ap-3040	219	8	t	t	PROPN
ap-3040	219	9	(	(	PUNCT
ap-3040	219	10	si	si	X
ap-3040	219	11	,	,	PUNCT
ap-3040	219	12	ai	ai	VERB
ap-3040	219	13	,	,	PUNCT
ap-3040	219	14	s	s	NOUN
ap-3040	219	15	′	′	NOUN
ap-3040	219	16	)	)	PUNCT
ap-3040	219	17	(	(	PUNCT
ap-3040	219	18	dvfi(s′	dvfi(s′	NOUN
ap-3040	219	19	)	)	PUNCT
ap-3040	219	20	−	−	PROPN
ap-3040	220	1	∑	∑	PROPN
ap-3040	220	2	j	j	PROPN
ap-3040	220	3	6	6	NUM
ap-3040	220	4	=	=	NOUN
ap-3040	220	5	i	i	PRON
ap-3040	220	6	fijpr(s′|sij)vj(s′	fijpr(s′|sij)vj(s′	ADJ
ap-3040	220	7	)	)	PUNCT
ap-3040	220	8	)	)	PUNCT
ap-3040	220	9	)	)	PUNCT
ap-3040	221	1	(	(	PUNCT
ap-3040	221	2	3	3	X
ap-3040	221	3	)	)	PUNCT
ap-3040	221	4	where	where	SCONJ
ap-3040	221	5	ri	ri	NOUN
ap-3040	221	6	,	,	PUNCT
ap-3040	221	7	exp(si	exp(si	PROPN
ap-3040	221	8	)	)	PUNCT
ap-3040	221	9	is	be	AUX
ap-3040	221	10	the	the	DET
ap-3040	221	11	reward	reward	NOUN
ap-3040	221	12	function	function	NOUN
ap-3040	221	13	for	for	ADP
ap-3040	221	14	exploring	explore	VERB
ap-3040	221	15	a	a	DET
ap-3040	221	16	state	state	NOUN
ap-3040	221	17	si	si	NOUN
ap-3040	221	18	and	and	CCONJ
ap-3040	221	19	ri	ri	PROPN
ap-3040	221	20	,	,	PUNCT
ap-3040	221	21	cov(si	cov(si	PROPN
ap-3040	221	22	)	)	PUNCT
ap-3040	221	23	is	be	AUX
ap-3040	221	24	the	the	DET
ap-3040	221	25	reward	reward	NOUN
ap-3040	221	26	function	function	NOUN
ap-3040	221	27	for	for	ADP
ap-3040	221	28	taking	take	VERB
ap-3040	221	29	a	a	DET
ap-3040	221	30	photo	photo	NOUN
ap-3040	221	31	of	of	ADP
ap-3040	221	32	si	si	PROPN
ap-3040	221	33	.	.	PUNCT
ap-3040	222	1	α	α	PROPN
ap-3040	222	2	∈	∈	PROPN
ap-3040	223	1	[	[	X
ap-3040	223	2	0	0	NUM
ap-3040	223	3	,	,	PUNCT
ap-3040	223	4	1	1	NUM
ap-3040	223	5	]	]	PUNCT
ap-3040	223	6	is	be	AUX
ap-3040	223	7	the	the	DET
ap-3040	223	8	picture	picture	NOUN
ap-3040	223	9	coverage	coverage	NOUN
ap-3040	223	10	rate	rate	NOUN
ap-3040	223	11	for	for	ADP
ap-3040	223	12	balancing	balance	VERB
ap-3040	223	13	the	the	DET
ap-3040	223	14	exploration	exploration	NOUN
ap-3040	223	15	and	and	CCONJ
ap-3040	223	16	picture	picture	NOUN
ap-3040	223	17	coverage	coverage	NOUN
ap-3040	223	18	behaviors	behavior	NOUN
ap-3040	223	19	of	of	ADP
ap-3040	223	20	the	the	DET
ap-3040	223	21	robots	robot	NOUN
ap-3040	223	22	.	.	PUNCT
ap-3040	224	1	with	with	ADP
ap-3040	224	2	α	α	PROPN
ap-3040	224	3	=	=	SYM
ap-3040	224	4	0	0	PROPN
ap-3040	224	5	,	,	PUNCT
ap-3040	224	6	the	the	DET
ap-3040	224	7	robots	robot	NOUN
ap-3040	224	8	will	will	AUX
ap-3040	224	9	only	only	ADV
ap-3040	224	10	optimize	optimize	VERB
ap-3040	224	11	the	the	DET
ap-3040	224	12	exploration	exploration	NOUN
ap-3040	224	13	without	without	ADP
ap-3040	224	14	covering	cover	VERB
ap-3040	224	15	the	the	DET
ap-3040	224	16	space	space	NOUN
ap-3040	224	17	with	with	ADP
ap-3040	224	18	photos	photo	NOUN
ap-3040	224	19	.	.	PUNCT
ap-3040	225	1	with	with	ADP
ap-3040	225	2	α	α	NOUN
ap-3040	225	3	=	=	SYM
ap-3040	225	4	1	1	NUM
ap-3040	225	5	,	,	PUNCT
ap-3040	225	6	the	the	DET
ap-3040	225	7	robots	robot	NOUN
ap-3040	225	8	will	will	AUX
ap-3040	225	9	only	only	ADV
ap-3040	225	10	optimize	optimize	VERB
ap-3040	225	11	photo	photo	NOUN
ap-3040	225	12	coverage	coverage	NOUN
ap-3040	225	13	.	.	PUNCT
ap-3040	226	1	exploration	exploration	NOUN
ap-3040	226	2	then	then	ADV
ap-3040	226	3	occurs	occur	VERB
ap-3040	226	4	only	only	ADV
ap-3040	226	5	as	as	ADP
ap-3040	226	6	a	a	DET
ap-3040	226	7	side	side	NOUN
ap-3040	226	8	-	-	PUNCT
ap-3040	226	9	effect	effect	NOUN
ap-3040	226	10	.	.	PUNCT
ap-3040	227	1	to	to	PART
ap-3040	227	2	compute	compute	VERB
ap-3040	227	3	the	the	DET
ap-3040	227	4	cover	cover	NOUN
ap-3040	227	5	reward	reward	NOUN
ap-3040	227	6	function	function	PROPN
ap-3040	227	7	ri	ri	PROPN
ap-3040	227	8	,	,	PUNCT
ap-3040	227	9	cov	cov	PROPN
ap-3040	227	10	,	,	PUNCT
ap-3040	227	11	a	a	DET
ap-3040	227	12	cover	cover	NOUN
ap-3040	227	13	grid	grid	NOUN
ap-3040	227	14	of	of	ADP
ap-3040	227	15	pixels	pixel	NOUN
ap-3040	227	16	counts	count	VERB
ap-3040	227	17	the	the	DET
ap-3040	227	18	number	number	NOUN
ap-3040	227	19	of	of	ADP
ap-3040	227	20	times	time	NOUN
ap-3040	227	21	that	that	SCONJ
ap-3040	227	22	each	each	DET
ap-3040	227	23	pixel	pixel	NOUN
ap-3040	227	24	has	have	AUX
ap-3040	227	25	been	be	AUX
ap-3040	227	26	photographed	photograph	VERB
ap-3040	227	27	.	.	PUNCT
ap-3040	228	1	each	each	DET
ap-3040	228	2	time	time	NOUN
ap-3040	228	3	the	the	DET
ap-3040	228	4	robot	robot	NOUN
ap-3040	228	5	takes	take	VERB
ap-3040	228	6	a	a	DET
ap-3040	228	7	picture	picture	NOUN
ap-3040	228	8	,	,	PUNCT
ap-3040	228	9	the	the	DET
ap-3040	228	10	cover	cover	NOUN
ap-3040	228	11	grid	grid	NOUN
ap-3040	228	12	is	be	AUX
ap-3040	228	13	updated	update	VERB
ap-3040	228	14	by	by	ADP
ap-3040	228	15	tracing	trace	VERB
ap-3040	228	16	a	a	DET
ap-3040	228	17	set	set	NOUN
ap-3040	228	18	of	of	ADP
ap-3040	228	19	rays	ray	NOUN
ap-3040	228	20	covering	cover	VERB
ap-3040	228	21	the	the	DET
ap-3040	228	22	optimal	optimal	ADJ
ap-3040	228	23	recognition	recognition	NOUN
ap-3040	228	24	area	area	NOUN
ap-3040	228	25	of	of	ADP
ap-3040	228	26	the	the	DET
ap-3040	228	27	camera	camera	NOUN
ap-3040	228	28	.	.	PUNCT
ap-3040	229	1	the	the	DET
ap-3040	229	2	pixels	pixel	NOUN
ap-3040	229	3	are	be	AUX
ap-3040	229	4	updated	update	VERB
ap-3040	229	5	with	with	ADP
ap-3040	229	6	bresenham	bresenham	PROPN
ap-3040	229	7	’s	’s	PART
ap-3040	229	8	algorithm	algorithm	NOUN
ap-3040	229	9	[	[	X
ap-3040	229	10	27	27	NUM
ap-3040	229	11	]	]	PUNCT
ap-3040	229	12	.	.	PUNCT
ap-3040	230	1	the	the	DET
ap-3040	230	2	cover	cover	NOUN
ap-3040	230	3	reward	reward	NOUN
ap-3040	230	4	is	be	AUX
ap-3040	230	5	then	then	ADV
ap-3040	230	6	computed	compute	VERB
ap-3040	230	7	with	with	ADP
ap-3040	230	8	a	a	DET
ap-3040	230	9	hexagonal	hexagonal	ADJ
ap-3040	230	10	reward	reward	NOUN
ap-3040	230	11	propagation	propagation	NOUN
ap-3040	230	12	mechanism	mechanism	NOUN
ap-3040	230	13	similar	similar	ADJ
ap-3040	230	14	to	to	ADP
ap-3040	230	15	the	the	DET
ap-3040	230	16	exploration	exploration	NOUN
ap-3040	230	17	rewards	reward	NOUN
ap-3040	230	18	,	,	PUNCT
ap-3040	230	19	multiplied	multiply	VERB
ap-3040	230	20	by	by	ADP
ap-3040	230	21	a	a	DET
ap-3040	230	22	bell	bell	NOUN
ap-3040	230	23	-	-	PUNCT
ap-3040	230	24	shaped	shape	VERB
ap-3040	230	25	factor	factor	NOUN
ap-3040	230	26	to	to	PART
ap-3040	230	27	boost	boost	VERB
ap-3040	230	28	the	the	DET
ap-3040	230	29	rewards	reward	NOUN
ap-3040	230	30	at	at	ADP
ap-3040	230	31	the	the	DET
ap-3040	230	32	optimal	optimal	ADJ
ap-3040	230	33	recognition	recognition	NOUN
ap-3040	230	34	distance	distance	NOUN
ap-3040	230	35	(	(	PUNCT
ap-3040	230	36	see	see	VERB
ap-3040	230	37	fig	fig	NOUN
ap-3040	230	38	.	.	PUNCT
ap-3040	231	1	1b	1b	NUM
ap-3040	231	2	)	)	PUNCT
ap-3040	231	3	.	.	PUNCT
ap-3040	232	1	this	this	PRON
ap-3040	232	2	allows	allow	VERB
ap-3040	232	3	the	the	DET
ap-3040	232	4	mdp	mdp	NOUN
ap-3040	232	5	to	to	PART
ap-3040	232	6	select	select	VERB
ap-3040	232	7	the	the	DET
ap-3040	232	8	best	good	ADJ
ap-3040	232	9	viewpoint	viewpoint	NOUN
ap-3040	232	10	for	for	ADP
ap-3040	232	11	the	the	DET
ap-3040	232	12	next	next	ADJ
ap-3040	232	13	picture	picture	NOUN
ap-3040	232	14	.	.	PUNCT
ap-3040	233	1	regarding	regard	VERB
ap-3040	233	2	communications	communication	NOUN
ap-3040	233	3	,	,	PUNCT
ap-3040	233	4	this	this	DET
ap-3040	233	5	new	new	ADJ
ap-3040	233	6	reward	reward	NOUN
ap-3040	233	7	implies	imply	VERB
ap-3040	233	8	that	that	SCONJ
ap-3040	233	9	new	new	ADJ
ap-3040	233	10	data	datum	NOUN
ap-3040	233	11	is	be	AUX
ap-3040	233	12	sent	send	VERB
ap-3040	233	13	:	:	PUNCT
ap-3040	233	14	each	each	DET
ap-3040	233	15	robot	robot	NOUN
ap-3040	233	16	needs	need	VERB
ap-3040	233	17	to	to	PART
ap-3040	233	18	know	know	VERB
ap-3040	233	19	where	where	SCONJ
ap-3040	233	20	a	a	DET
ap-3040	233	21	picture	picture	NOUN
ap-3040	233	22	has	have	AUX
ap-3040	233	23	been	be	AUX
ap-3040	233	24	taken	take	VERB
ap-3040	233	25	.	.	PUNCT
ap-3040	234	1	thus	thus	ADV
ap-3040	234	2	,	,	PUNCT
ap-3040	234	3	each	each	DET
ap-3040	234	4	robot	robot	NOUN
ap-3040	234	5	sends	send	VERB
ap-3040	234	6	the	the	DET
ap-3040	234	7	location	location	NOUN
ap-3040	234	8	of	of	ADP
ap-3040	234	9	its	its	PRON
ap-3040	234	10	photos	photo	NOUN
ap-3040	234	11	to	to	ADP
ap-3040	234	12	all	all	DET
ap-3040	234	13	the	the	DET
ap-3040	234	14	other	other	ADJ
ap-3040	234	15	robots	robot	NOUN
ap-3040	234	16	.	.	PUNCT
ap-3040	235	1	then	then	ADV
ap-3040	235	2	they	they	PRON
ap-3040	235	3	can	can	AUX
ap-3040	235	4	update	update	VERB
ap-3040	235	5	their	their	PRON
ap-3040	235	6	coverage	coverage	NOUN
ap-3040	235	7	grid	grid	NOUN
ap-3040	235	8	and	and	CCONJ
ap-3040	235	9	maintain	maintain	VERB
ap-3040	235	10	an	an	DET
ap-3040	235	11	accurate	accurate	ADJ
ap-3040	235	12	reward	reward	NOUN
ap-3040	235	13	function	function	NOUN
ap-3040	235	14	.	.	PUNCT
ap-3040	236	1	in	in	ADP
ap-3040	236	2	order	order	NOUN
ap-3040	236	3	to	to	PART
ap-3040	236	4	keep	keep	VERB
ap-3040	236	5	the	the	DET
ap-3040	236	6	computing	computing	NOUN
ap-3040	236	7	complexity	complexity	NOUN
ap-3040	236	8	low	low	ADV
ap-3040	236	9	,	,	PUNCT
ap-3040	236	10	we	we	PRON
ap-3040	236	11	chose	choose	VERB
ap-3040	236	12	not	not	PART
ap-3040	236	13	to	to	PART
ap-3040	236	14	add	add	VERB
ap-3040	236	15	an	an	DET
ap-3040	236	16	action	action	NOUN
ap-3040	236	17	for	for	ADP
ap-3040	236	18	taking	take	VERB
ap-3040	236	19	a	a	DET
ap-3040	236	20	picture	picture	NOUN
ap-3040	236	21	.	.	PUNCT
ap-3040	237	1	when	when	SCONJ
ap-3040	237	2	the	the	DET
ap-3040	237	3	policy	policy	NOUN
ap-3040	237	4	brings	bring	VERB
ap-3040	237	5	the	the	DET
ap-3040	237	6	robot	robot	NOUN
ap-3040	237	7	to	to	ADP
ap-3040	237	8	a	a	DET
ap-3040	237	9	location	location	NOUN
ap-3040	237	10	where	where	SCONJ
ap-3040	237	11	a	a	DET
ap-3040	237	12	picture	picture	NOUN
ap-3040	237	13	must	must	AUX
ap-3040	237	14	be	be	AUX
ap-3040	237	15	taken	take	VERB
ap-3040	237	16	,	,	PUNCT
ap-3040	237	17	the	the	DET
ap-3040	237	18	robot	robot	NOUN
ap-3040	237	19	will	will	AUX
ap-3040	237	20	stop	stop	VERB
ap-3040	237	21	there	there	ADV
ap-3040	237	22	and	and	CCONJ
ap-3040	237	23	face	face	VERB
ap-3040	237	24	the	the	DET
ap-3040	237	25	reward	reward	NOUN
ap-3040	237	26	.	.	PUNCT
ap-3040	238	1	when	when	SCONJ
ap-3040	238	2	a	a	DET
ap-3040	238	3	picture	picture	NOUN
ap-3040	238	4	is	be	AUX
ap-3040	238	5	taken	take	VERB
ap-3040	238	6	,	,	PUNCT
ap-3040	238	7	the	the	DET
ap-3040	238	8	reward	reward	NOUN
ap-3040	238	9	disappears	disappear	VERB
ap-3040	238	10	and	and	CCONJ
ap-3040	238	11	the	the	DET
ap-3040	238	12	new	new	ADJ
ap-3040	238	13	policy	policy	NOUN
ap-3040	238	14	drives	drive	VERB
ap-3040	238	15	the	the	DET
ap-3040	238	16	robot	robot	NOUN
ap-3040	238	17	farther	far	ADV
ap-3040	238	18	.	.	PUNCT
ap-3040	239	1	in	in	ADP
ap-3040	239	2	order	order	NOUN
ap-3040	239	3	to	to	PART
ap-3040	239	4	avoid	avoid	VERB
ap-3040	239	5	having	have	VERB
ap-3040	239	6	blurred	blur	VERB
ap-3040	239	7	pictures	picture	NOUN
ap-3040	239	8	where	where	SCONJ
ap-3040	239	9	the	the	DET
ap-3040	239	10	recognition	recognition	NOUN
ap-3040	239	11	process	process	NOUN
ap-3040	239	12	will	will	AUX
ap-3040	239	13	fail	fail	VERB
ap-3040	239	14	,	,	PUNCT
ap-3040	239	15	we	we	PRON
ap-3040	239	16	specify	specify	VERB
ap-3040	239	17	that	that	SCONJ
ap-3040	239	18	photos	photo	NOUN
ap-3040	239	19	must	must	AUX
ap-3040	239	20	be	be	AUX
ap-3040	239	21	taken	take	VERB
ap-3040	239	22	only	only	ADV
ap-3040	239	23	when	when	SCONJ
ap-3040	239	24	the	the	DET
ap-3040	239	25	robot	robot	NOUN
ap-3040	239	26	velocity	velocity	NOUN
ap-3040	239	27	is	be	AUX
ap-3040	239	28	low	low	ADJ
ap-3040	239	29	.	.	PUNCT
ap-3040	240	1	6.2	6.2	NUM
ap-3040	240	2	.	.	PUNCT
ap-3040	240	3	experiments	experiment	NOUN
ap-3040	240	4	6.2.1	6.2.1	VERB
ap-3040	240	5	.	.	PUNCT
ap-3040	241	1	simulated	simulate	VERB
ap-3040	241	2	robots	robot	NOUN
ap-3040	241	3	stage13	stage13	PROPN
ap-3040	241	4	simulator	simulator	NOUN
ap-3040	241	5	was	be	AUX
ap-3040	241	6	used	use	VERB
ap-3040	241	7	with	with	ADP
ap-3040	241	8	an	an	DET
ap-3040	241	9	architecture	architecture	NOUN
ap-3040	241	10	that	that	PRON
ap-3040	241	11	mimics	mimic	VERB
ap-3040	241	12	the	the	DET
ap-3040	241	13	real	real	ADJ
ap-3040	241	14	robots	robot	NOUN
ap-3040	241	15	.	.	PUNCT
ap-3040	242	1	dds	dds	PROPN
ap-3040	242	2	is	be	AUX
ap-3040	242	3	replaced	replace	VERB
ap-3040	242	4	by	by	ADP
ap-3040	242	5	an	an	DET
ap-3040	242	6	inter	inter	ADJ
ap-3040	242	7	process	process	NOUN
ap-3040	242	8	communication	communication	NOUN
ap-3040	242	9	shared	share	VERB
ap-3040	242	10	memory	memory	NOUN
ap-3040	242	11	segment	segment	NOUN
ap-3040	242	12	.	.	PUNCT
ap-3040	243	1	laser	laser	NOUN
ap-3040	243	2	acquisition	acquisition	NOUN
ap-3040	243	3	is	be	AUX
ap-3040	243	4	simulated	simulate	VERB
ap-3040	243	5	by	by	ADP
ap-3040	243	6	a	a	DET
ap-3040	243	7	“	"	PUNCT
ap-3040	243	8	ranger	ranger	NOUN
ap-3040	243	9	”	"	PUNCT
ap-3040	243	10	virtual	virtual	ADJ
ap-3040	243	11	sensor	sensor	NOUN
ap-3040	243	12	.	.	PUNCT
ap-3040	244	1	a	a	DET
ap-3040	244	2	“	"	PUNCT
ap-3040	244	3	position	position	NOUN
ap-3040	244	4	”	"	PUNCT
ap-3040	244	5	virtual	virtual	ADJ
ap-3040	244	6	device	device	NOUN
ap-3040	244	7	simulates	simulate	VERB
ap-3040	244	8	both	both	CCONJ
ap-3040	244	9	the	the	DET
ap-3040	244	10	slam	slam	NOUN
ap-3040	244	11	module	module	NOUN
ap-3040	244	12	by	by	ADP
ap-3040	244	13	providing	provide	VERB
ap-3040	244	14	odometric	odometric	ADJ
ap-3040	244	15	data	datum	NOUN
ap-3040	244	16	and	and	CCONJ
ap-3040	244	17	the	the	DET
ap-3040	244	18	mobility	mobility	NOUN
ap-3040	244	19	module	module	NOUN
ap-3040	244	20	by	by	ADP
ap-3040	244	21	executing	execute	VERB
ap-3040	244	22	the	the	DET
ap-3040	244	23	point	point	NOUN
ap-3040	244	24	and	and	CCONJ
ap-3040	244	25	shoot	shoot	VERB
ap-3040	244	26	algorithm	algorithm	NOUN
ap-3040	244	27	.	.	PUNCT
ap-3040	245	1	the	the	DET
ap-3040	245	2	stage	stage	NOUN
ap-3040	245	3	blobfinder	blobfinder	NOUN
ap-3040	245	4	model	model	NOUN
ap-3040	245	5	is	be	AUX
ap-3040	245	6	used	use	VERB
ap-3040	245	7	to	to	PART
ap-3040	245	8	simulate	simulate	VERB
ap-3040	245	9	(	(	PUNCT
ap-3040	245	10	poorly	poorly	ADV
ap-3040	245	11	)	)	PUNCT
ap-3040	245	12	the	the	DET
ap-3040	245	13	camera	camera	NOUN
ap-3040	245	14	and	and	CCONJ
ap-3040	245	15	object	object	VERB
ap-3040	245	16	detection	detection	NOUN
ap-3040	245	17	,	,	PUNCT
ap-3040	245	18	as	as	SCONJ
ap-3040	245	19	it	it	PRON
ap-3040	245	20	can	can	AUX
ap-3040	245	21	track	track	VERB
ap-3040	245	22	areas	area	NOUN
ap-3040	245	23	of	of	ADP
ap-3040	245	24	color	color	NOUN
ap-3040	245	25	in	in	ADP
ap-3040	245	26	a	a	DET
ap-3040	245	27	simulated	simulate	VERB
ap-3040	245	28	2d	2d	NUM
ap-3040	245	29	image	image	NOUN
ap-3040	245	30	,	,	PUNCT
ap-3040	245	31	giving	give	VERB
ap-3040	245	32	the	the	DET
ap-3040	245	33	location	location	NOUN
ap-3040	245	34	and	and	CCONJ
ap-3040	245	35	the	the	DET
ap-3040	245	36	size	size	NOUN
ap-3040	245	37	of	of	ADP
ap-3040	245	38	the	the	DET
ap-3040	245	39	color	color	NOUN
ap-3040	245	40	blobs	blob	NOUN
ap-3040	245	41	.	.	PUNCT
ap-3040	246	1	thanks	thank	NOUN
ap-3040	246	2	to	to	ADP
ap-3040	246	3	this	this	DET
ap-3040	246	4	architecture	architecture	NOUN
ap-3040	246	5	,	,	PUNCT
ap-3040	246	6	the	the	DET
ap-3040	246	7	decision	decision	NOUN
ap-3040	246	8	module	module	NOUN
ap-3040	246	9	of	of	ADP
ap-3040	246	10	the	the	DET
ap-3040	246	11	real	real	ADJ
ap-3040	246	12	robots	robot	NOUN
ap-3040	246	13	can	can	AUX
ap-3040	246	14	be	be	AUX
ap-3040	246	15	used	use	VERB
ap-3040	246	16	with	with	ADP
ap-3040	246	17	the	the	DET
ap-3040	246	18	simulator	simulator	NOUN
ap-3040	246	19	without	without	ADP
ap-3040	246	20	modification	modification	NOUN
ap-3040	246	21	.	.	PUNCT
ap-3040	247	1	6.2.2	6.2.2	X
ap-3040	247	2	.	.	PUNCT
ap-3040	248	1	results	result	NOUN
ap-3040	248	2	we	we	PRON
ap-3040	248	3	conducted	conduct	VERB
ap-3040	248	4	a	a	DET
ap-3040	248	5	set	set	NOUN
ap-3040	248	6	of	of	ADP
ap-3040	248	7	experiments	experiment	NOUN
ap-3040	248	8	in	in	ADP
ap-3040	248	9	the	the	DET
ap-3040	248	10	autolab	autolab	NOUN
ap-3040	248	11	environment	environment	NOUN
ap-3040	248	12	(	(	PUNCT
ap-3040	248	13	see	see	VERB
ap-3040	248	14	fig	fig	NOUN
ap-3040	248	15	.	.	PUNCT
ap-3040	249	1	2a	2a	NUM
ap-3040	249	2	)	)	PUNCT
ap-3040	249	3	.	.	PUNCT
ap-3040	250	1	figure	figure	NOUN
ap-3040	250	2	2b	2b	NOUN
ap-3040	250	3	shows	show	VERB
ap-3040	250	4	successive	successive	ADJ
ap-3040	250	5	screenshots	screenshot	NOUN
ap-3040	250	6	of	of	ADP
ap-3040	250	7	one	one	NUM
ap-3040	250	8	simulation	simulation	NOUN
ap-3040	250	9	.	.	PUNCT
ap-3040	251	1	the	the	DET
ap-3040	251	2	robots	robot	NOUN
ap-3040	251	3	are	be	AUX
ap-3040	251	4	initially	initially	ADV
ap-3040	251	5	in	in	ADP
ap-3040	251	6	the	the	DET
ap-3040	251	7	starting	starting	NOUN
ap-3040	251	8	zone	zone	NOUN
ap-3040	251	9	and	and	CCONJ
ap-3040	251	10	objects	object	NOUN
ap-3040	251	11	are	be	AUX
ap-3040	251	12	regularly	regularly	ADV
ap-3040	251	13	positioned	position	VERB
ap-3040	251	14	in	in	ADP
ap-3040	251	15	the	the	DET
ap-3040	251	16	environment	environment	NOUN
ap-3040	251	17	.	.	PUNCT
ap-3040	252	1	for	for	ADP
ap-3040	252	2	each	each	DET
ap-3040	252	3	coverage	coverage	NOUN
ap-3040	252	4	rate	rate	NOUN
ap-3040	252	5	,	,	PUNCT
ap-3040	252	6	we	we	PRON
ap-3040	252	7	compute	compute	VERB
ap-3040	252	8	the	the	DET
ap-3040	252	9	number	number	NOUN
ap-3040	252	10	of	of	ADP
ap-3040	252	11	objects	object	NOUN
ap-3040	252	12	detected	detect	VERB
ap-3040	252	13	and	and	CCONJ
ap-3040	252	14	the	the	DET
ap-3040	252	15	mission	mission	NOUN
ap-3040	252	16	time	time	NOUN
ap-3040	252	17	(	(	PUNCT
ap-3040	252	18	see	see	VERB
ap-3040	252	19	fig	fig	NOUN
ap-3040	252	20	.	.	PUNCT
ap-3040	253	1	3	3	NUM
ap-3040	253	2	)	)	PUNCT
ap-3040	253	3	.	.	PUNCT
ap-3040	254	1	with	with	ADP
ap-3040	254	2	α	α	PROPN
ap-3040	254	3	=	=	SYM
ap-3040	254	4	0	0	PROPN
ap-3040	254	5	,	,	PUNCT
ap-3040	254	6	the	the	DET
ap-3040	254	7	mission	mission	NOUN
ap-3040	254	8	is	be	AUX
ap-3040	254	9	fastest	fast	ADJ
ap-3040	254	10	,	,	PUNCT
ap-3040	254	11	given	give	VERB
ap-3040	254	12	that	that	SCONJ
ap-3040	254	13	the	the	DET
ap-3040	254	14	robot	robot	NOUN
ap-3040	254	15	does	do	AUX
ap-3040	254	16	not	not	PART
ap-3040	254	17	care	care	VERB
ap-3040	254	18	about	about	ADP
ap-3040	254	19	taking	take	VERB
ap-3040	254	20	pictures	picture	NOUN
ap-3040	254	21	.	.	PUNCT
ap-3040	255	1	the	the	DET
ap-3040	255	2	only	only	ADJ
ap-3040	255	3	goal	goal	NOUN
ap-3040	255	4	of	of	ADP
ap-3040	255	5	the	the	DET
ap-3040	255	6	robot	robot	NOUN
ap-3040	255	7	is	be	AUX
ap-3040	255	8	to	to	PART
ap-3040	255	9	map	map	VERB
ap-3040	255	10	the	the	DET
ap-3040	255	11	entire	entire	ADJ
ap-3040	255	12	arena	arena	NOUN
ap-3040	255	13	,	,	PUNCT
ap-3040	255	14	and	and	CCONJ
ap-3040	255	15	it	it	PRON
ap-3040	255	16	only	only	ADV
ap-3040	255	17	takes	take	VERB
ap-3040	255	18	few	few	ADJ
ap-3040	255	19	pictures	picture	NOUN
ap-3040	255	20	when	when	SCONJ
ap-3040	255	21	it	it	PRON
ap-3040	255	22	stops	stop	VERB
ap-3040	255	23	between	between	ADP
ap-3040	255	24	two	two	NUM
ap-3040	255	25	actions	action	NOUN
ap-3040	255	26	.	.	PUNCT
ap-3040	256	1	few	few	ADJ
ap-3040	256	2	objects	object	NOUN
ap-3040	256	3	are	be	AUX
ap-3040	256	4	therefore	therefore	ADV
ap-3040	256	5	detected	detect	VERB
ap-3040	256	6	.	.	PUNCT
ap-3040	257	1	with	with	ADP
ap-3040	257	2	α	α	PROPN
ap-3040	257	3	>	>	X
ap-3040	257	4	0	0	NUM
ap-3040	257	5	,	,	PUNCT
ap-3040	257	6	all	all	DET
ap-3040	257	7	objects	object	NOUN
ap-3040	257	8	are	be	AUX
ap-3040	257	9	detected	detect	VERB
ap-3040	257	10	but	but	CCONJ
ap-3040	257	11	the	the	DET
ap-3040	257	12	mission	mission	NOUN
ap-3040	257	13	time	time	NOUN
ap-3040	257	14	varies	vary	VERB
ap-3040	257	15	over	over	ADP
ap-3040	257	16	α	α	NOUN
ap-3040	257	17	.	.	PUNCT
ap-3040	258	1	indeed	indeed	ADV
ap-3040	258	2	α	α	PRON
ap-3040	258	3	modifies	modify	VERB
ap-3040	258	4	the	the	DET
ap-3040	258	5	priority	priority	NOUN
ap-3040	258	6	of	of	ADP
ap-3040	258	7	the	the	DET
ap-3040	258	8	two	two	NUM
ap-3040	258	9	tasks	task	NOUN
ap-3040	258	10	.	.	PUNCT
ap-3040	259	1	when	when	SCONJ
ap-3040	259	2	α	α	NOUN
ap-3040	259	3	is	be	AUX
ap-3040	259	4	low	low	ADJ
ap-3040	259	5	,	,	PUNCT
ap-3040	259	6	pictures	picture	NOUN
ap-3040	259	7	are	be	AUX
ap-3040	259	8	taken	take	VERB
ap-3040	259	9	at	at	ADP
ap-3040	259	10	the	the	DET
ap-3040	259	11	end	end	NOUN
ap-3040	259	12	of	of	ADP
ap-3040	259	13	the	the	DET
ap-3040	259	14	mission	mission	NOUN
ap-3040	259	15	,	,	PUNCT
ap-3040	259	16	if	if	SCONJ
ap-3040	259	17	there	there	PRON
ap-3040	259	18	is	be	VERB
ap-3040	259	19	sufficient	sufficient	ADJ
ap-3040	259	20	time	time	NOUN
ap-3040	259	21	remaining	remain	VERB
ap-3040	259	22	time	time	NOUN
ap-3040	259	23	.	.	PUNCT
ap-3040	260	1	this	this	PRON
ap-3040	260	2	is	be	AUX
ap-3040	260	3	illustrated	illustrate	VERB
ap-3040	260	4	13http://playerstage.sourceforge.net/	13http://playerstage.sourceforge.net/	NUM
ap-3040	260	5	174	174	NUM
ap-3040	260	6	vol	vol	NOUN
ap-3040	260	7	.	.	PUNCT
ap-3040	261	1	55	55	NUM
ap-3040	261	2	no	no	NOUN
ap-3040	261	3	.	.	PUNCT
ap-3040	262	1	3/2015	3/2015	NUM
ap-3040	262	2	decentralized	decentralize	VERB
ap-3040	262	3	multi	multi	ADJ
ap-3040	262	4	-	-	ADJ
ap-3040	262	5	robot	robot	ADJ
ap-3040	262	6	planning	planning	NOUN
ap-3040	262	7	to	to	PART
ap-3040	262	8	explore	explore	VERB
ap-3040	262	9	and	and	CCONJ
ap-3040	262	10	perceive	perceive	ADJ
ap-3040	262	11	e	e	NOUN
ap-3040	262	12	n	n	NOUN
ap-3040	262	13	v	v	INTJ
ap-3040	262	14	ir	ir	INTJ
ap-3040	262	15	o	o	NOUN
ap-3040	262	16	n	n	CCONJ
ap-3040	262	17	m	m	PROPN
ap-3040	262	18	e	e	NOUN
ap-3040	262	19	n	n	ADP
ap-3040	262	20	t	t	X
ap-3040	262	21	co	co	VERB
ap-3040	262	22	v	v	PROPN
ap-3040	262	23	e	e	X
ap-3040	262	24	ra	ra	NOUN
ap-3040	262	25	g	g	PROPN
ap-3040	262	26	e	e	PROPN
ap-3040	262	27	b	b	PROPN
ap-3040	262	28	y	y	PROPN
ap-3040	262	29	p	p	X
ap-3040	262	30	ic	ic	PROPN
ap-3040	262	31	tu	tu	PROPN
ap-3040	262	32	re	re	X
ap-3040	262	33	s	s	NOUN
ap-3040	262	34	fo	fo	ADP
ap-3040	262	35	r	r	NOUN
ap-3040	262	36	th	th	X
ap-3040	262	37	e	e	NOUN
ap-3040	262	38	o	o	X
ap-3040	262	39	b	b	X
ap-3040	262	40	je	je	X
ap-3040	262	41	ct	ct	PROPN
ap-3040	262	42	r	r	NOUN
ap-3040	262	43	e	e	X
ap-3040	262	44	co	co	NOUN
ap-3040	262	45	g	g	PROPN
ap-3040	263	1	n	n	PROPN
ap-3040	263	2	it	it	PRON
ap-3040	263	3	io	io	PROPN
ap-3040	263	4	n	n	PRON
ap-3040	263	5	environment	environment	NOUN
ap-3040	263	6	coverage	coverage	NOUN
ap-3040	263	7	by	by	ADP
ap-3040	263	8	laser	laser	NOUN
ap-3040	263	9	for	for	ADP
ap-3040	263	10	the	the	DET
ap-3040	263	11	exploration	exploration	NOUN
ap-3040	263	12	/	/	SYM
ap-3040	263	13	mapping	mapping	NOUN
ap-3040	263	14	coverage	coverage	NOUN
ap-3040	263	15	rate	rate	NOUN
ap-3040	263	16	figure	figure	NOUN
ap-3040	263	17	4	4	NUM
ap-3040	263	18	.	.	PUNCT
ap-3040	263	19	percentage	percentage	NOUN
ap-3040	263	20	of	of	ADP
ap-3040	263	21	objects	object	NOUN
ap-3040	263	22	detected	detect	VERB
ap-3040	263	23	versus	versus	ADP
ap-3040	263	24	percentage	percentage	NOUN
ap-3040	263	25	of	of	ADP
ap-3040	263	26	exploration	exploration	NOUN
ap-3040	263	27	.	.	PUNCT
ap-3040	264	1	in	in	ADP
ap-3040	264	2	fig	fig	NOUN
ap-3040	264	3	.	.	PUNCT
ap-3040	265	1	4	4	NUM
ap-3040	265	2	,	,	PUNCT
ap-3040	265	3	with	with	ADP
ap-3040	265	4	α	α	NOUN
ap-3040	265	5	=	=	SYM
ap-3040	265	6	0.0001	0.0001	NUM
ap-3040	265	7	,	,	PUNCT
ap-3040	265	8	where	where	SCONJ
ap-3040	265	9	the	the	DET
ap-3040	265	10	number	number	NOUN
ap-3040	265	11	of	of	ADP
ap-3040	265	12	detected	detect	VERB
ap-3040	265	13	objects	object	NOUN
ap-3040	265	14	increases	increase	NOUN
ap-3040	265	15	and	and	CCONJ
ap-3040	265	16	100	100	NUM
ap-3040	265	17	%	%	NOUN
ap-3040	265	18	of	of	ADP
ap-3040	265	19	the	the	DET
ap-3040	265	20	arena	arena	NOUN
ap-3040	265	21	has	have	AUX
ap-3040	265	22	been	be	AUX
ap-3040	265	23	explored	explore	VERB
ap-3040	265	24	.	.	PUNCT
ap-3040	266	1	with	with	ADP
ap-3040	266	2	such	such	DET
ap-3040	266	3	a	a	DET
ap-3040	266	4	low	low	ADJ
ap-3040	266	5	α	α	NOUN
ap-3040	266	6	,	,	PUNCT
ap-3040	266	7	the	the	DET
ap-3040	266	8	robot	robot	NOUN
ap-3040	266	9	takes	take	VERB
ap-3040	266	10	pictures	picture	NOUN
ap-3040	266	11	once	once	SCONJ
ap-3040	266	12	the	the	DET
ap-3040	266	13	exploration	exploration	NOUN
ap-3040	266	14	has	have	AUX
ap-3040	266	15	been	be	AUX
ap-3040	266	16	finished	finish	VERB
ap-3040	266	17	,	,	PUNCT
ap-3040	266	18	so	so	SCONJ
ap-3040	266	19	it	it	PRON
ap-3040	266	20	travels	travel	VERB
ap-3040	266	21	the	the	DET
ap-3040	266	22	arena	arena	NOUN
ap-3040	266	23	twice	twice	ADV
ap-3040	266	24	and	and	CCONJ
ap-3040	266	25	the	the	DET
ap-3040	266	26	mission	mission	NOUN
ap-3040	266	27	time	time	NOUN
ap-3040	266	28	is	be	AUX
ap-3040	266	29	high	high	ADJ
ap-3040	266	30	.	.	PUNCT
ap-3040	267	1	when	when	SCONJ
ap-3040	267	2	α	α	NOUN
ap-3040	267	3	is	be	AUX
ap-3040	267	4	high	high	ADJ
ap-3040	267	5	,	,	PUNCT
ap-3040	267	6	pictures	picture	NOUN
ap-3040	267	7	are	be	AUX
ap-3040	267	8	taken	take	VERB
ap-3040	267	9	throughout	throughout	ADP
ap-3040	267	10	the	the	DET
ap-3040	267	11	mission	mission	NOUN
ap-3040	267	12	,	,	PUNCT
ap-3040	267	13	and	and	CCONJ
ap-3040	267	14	the	the	DET
ap-3040	267	15	robot	robot	NOUN
ap-3040	267	16	deals	deal	VERB
ap-3040	267	17	with	with	ADP
ap-3040	267	18	both	both	DET
ap-3040	267	19	tasks	task	NOUN
ap-3040	267	20	at	at	ADP
ap-3040	267	21	the	the	DET
ap-3040	267	22	same	same	ADJ
ap-3040	267	23	time	time	NOUN
ap-3040	267	24	.	.	PUNCT
ap-3040	268	1	with	with	ADP
ap-3040	268	2	α	α	NOUN
ap-3040	268	3	=	=	SYM
ap-3040	268	4	1	1	NUM
ap-3040	268	5	,	,	PUNCT
ap-3040	268	6	we	we	PRON
ap-3040	268	7	obtain	obtain	VERB
ap-3040	268	8	the	the	DET
ap-3040	268	9	second	second	ADV
ap-3040	268	10	fastest	fast	ADJ
ap-3040	268	11	mission	mission	NOUN
ap-3040	268	12	time	time	NOUN
ap-3040	268	13	and	and	CCONJ
ap-3040	268	14	all	all	DET
ap-3040	268	15	the	the	DET
ap-3040	268	16	objects	object	NOUN
ap-3040	268	17	are	be	AUX
ap-3040	268	18	detected	detect	VERB
ap-3040	268	19	.	.	PUNCT
ap-3040	269	1	so	so	ADV
ap-3040	269	2	this	this	DET
ap-3040	269	3	new	new	ADJ
ap-3040	269	4	approach	approach	NOUN
ap-3040	269	5	,	,	PUNCT
ap-3040	269	6	based	base	VERB
ap-3040	269	7	on	on	ADP
ap-3040	269	8	exploration	exploration	NOUN
ap-3040	269	9	and	and	CCONJ
ap-3040	269	10	photo	photo	NOUN
ap-3040	269	11	coverage	coverage	NOUN
ap-3040	269	12	of	of	ADP
ap-3040	269	13	the	the	DET
ap-3040	269	14	space	space	NOUN
ap-3040	269	15	,	,	PUNCT
ap-3040	269	16	allows	allow	VERB
ap-3040	269	17	tall	tall	ADJ
ap-3040	269	18	of	of	ADP
ap-3040	269	19	the	the	DET
ap-3040	269	20	objects	object	NOUN
ap-3040	269	21	to	to	PART
ap-3040	269	22	be	be	AUX
ap-3040	269	23	photographed	photograph	VERB
ap-3040	269	24	.	.	PUNCT
ap-3040	270	1	the	the	DET
ap-3040	270	2	α	α	PROPN
ap-3040	270	3	factor	factor	NOUN
ap-3040	270	4	must	must	AUX
ap-3040	270	5	be	be	AUX
ap-3040	270	6	chosen	choose	VERB
ap-3040	270	7	to	to	PART
ap-3040	270	8	balance	balance	VERB
ap-3040	270	9	priority	priority	NOUN
ap-3040	270	10	of	of	ADP
ap-3040	270	11	exploration	exploration	NOUN
ap-3040	270	12	versus	versus	ADP
ap-3040	270	13	object	object	NOUN
ap-3040	270	14	detection	detection	NOUN
ap-3040	270	15	.	.	PUNCT
ap-3040	271	1	for	for	ADP
ap-3040	271	2	example	example	NOUN
ap-3040	271	3	,	,	PUNCT
ap-3040	271	4	if	if	SCONJ
ap-3040	271	5	the	the	DET
ap-3040	271	6	time	time	NOUN
ap-3040	271	7	is	be	AUX
ap-3040	271	8	limited	limit	VERB
ap-3040	271	9	and	and	CCONJ
ap-3040	271	10	α	α	NOUN
ap-3040	271	11	is	be	AUX
ap-3040	271	12	high	high	ADJ
ap-3040	271	13	,	,	PUNCT
ap-3040	271	14	the	the	DET
ap-3040	271	15	robot	robot	NOUN
ap-3040	271	16	may	may	AUX
ap-3040	271	17	not	not	PART
ap-3040	271	18	explore	explore	VERB
ap-3040	271	19	the	the	DET
ap-3040	271	20	whole	whole	ADJ
ap-3040	271	21	map	map	NOUN
ap-3040	271	22	,	,	PUNCT
ap-3040	271	23	since	since	SCONJ
ap-3040	271	24	taking	take	VERB
ap-3040	271	25	pictures	picture	NOUN
ap-3040	271	26	is	be	AUX
ap-3040	271	27	time	time	NOUN
ap-3040	271	28	consuming	consume	VERB
ap-3040	271	29	,	,	PUNCT
ap-3040	271	30	but	but	CCONJ
ap-3040	271	31	it	it	PRON
ap-3040	271	32	will	will	AUX
ap-3040	271	33	photograph	photograph	VERB
ap-3040	271	34	all	all	DET
ap-3040	271	35	objects	object	NOUN
ap-3040	271	36	in	in	ADP
ap-3040	271	37	the	the	DET
ap-3040	271	38	explored	explore	VERB
ap-3040	271	39	area	area	NOUN
ap-3040	271	40	.	.	PUNCT
ap-3040	272	1	7	7	X
ap-3040	272	2	.	.	X
ap-3040	272	3	conclusion	conclusion	NOUN
ap-3040	272	4	and	and	CCONJ
ap-3040	272	5	perspectives	perspective	NOUN
ap-3040	272	6	we	we	PRON
ap-3040	272	7	have	have	AUX
ap-3040	272	8	shown	show	VERB
ap-3040	272	9	a	a	DET
ap-3040	272	10	new	new	ADJ
ap-3040	272	11	algorithm	algorithm	NOUN
ap-3040	272	12	for	for	ADP
ap-3040	272	13	coordinating	coordinate	VERB
ap-3040	272	14	multiple	multiple	ADJ
ap-3040	272	15	robots	robot	NOUN
ap-3040	272	16	that	that	PRON
ap-3040	272	17	explore	explore	VERB
ap-3040	272	18	some	some	DET
ap-3040	272	19	unknown	unknown	ADJ
ap-3040	272	20	area	area	NOUN
ap-3040	272	21	.	.	PUNCT
ap-3040	273	1	dvf	dvf	PROPN
ap-3040	273	2	enables	enable	VERB
ap-3040	273	3	the	the	DET
ap-3040	273	4	expensive	expensive	ADJ
ap-3040	273	5	dec	dec	PROPN
ap-3040	273	6	-	-	PUNCT
ap-3040	273	7	mdp	mdp	PROPN
ap-3040	273	8	to	to	PART
ap-3040	273	9	be	be	AUX
ap-3040	273	10	solved	solve	VERB
ap-3040	273	11	as	as	ADP
ap-3040	273	12	a	a	DET
ap-3040	273	13	set	set	NOUN
ap-3040	273	14	of	of	ADP
ap-3040	273	15	augmented	augment	VERB
ap-3040	273	16	mdps	mdps	NOUN
ap-3040	273	17	in	in	ADP
ap-3040	273	18	a	a	DET
ap-3040	273	19	distributed	distribute	VERB
ap-3040	273	20	way	way	NOUN
ap-3040	273	21	.	.	PUNCT
ap-3040	274	1	the	the	DET
ap-3040	274	2	versatile	versatile	ADJ
ap-3040	274	3	reward	reward	NOUN
ap-3040	274	4	function	function	NOUN
ap-3040	274	5	can	can	AUX
ap-3040	274	6	be	be	AUX
ap-3040	274	7	adapted	adapt	VERB
ap-3040	274	8	so	so	SCONJ
ap-3040	274	9	that	that	SCONJ
ap-3040	274	10	the	the	DET
ap-3040	274	11	robots	robot	NOUN
ap-3040	274	12	explore	explore	VERB
ap-3040	274	13	the	the	DET
ap-3040	274	14	whole	whole	ADJ
ap-3040	274	15	area	area	NOUN
ap-3040	274	16	,	,	PUNCT
ap-3040	274	17	but	but	CCONJ
ap-3040	274	18	also	also	ADV
ap-3040	274	19	so	so	SCONJ
ap-3040	274	20	that	that	SCONJ
ap-3040	274	21	they	they	PRON
ap-3040	274	22	choose	choose	VERB
ap-3040	274	23	the	the	DET
ap-3040	274	24	right	right	ADJ
ap-3040	274	25	positions	position	NOUN
ap-3040	274	26	to	to	PART
ap-3040	274	27	take	take	VERB
ap-3040	274	28	meaningful	meaningful	ADJ
ap-3040	274	29	pictures	picture	NOUN
ap-3040	274	30	.	.	PUNCT
ap-3040	275	1	as	as	ADP
ap-3040	275	2	a	a	DET
ap-3040	275	3	result	result	NOUN
ap-3040	275	4	,	,	PUNCT
ap-3040	275	5	we	we	PRON
ap-3040	275	6	can	can	AUX
ap-3040	275	7	observe	observe	VERB
ap-3040	275	8	that	that	SCONJ
ap-3040	275	9	the	the	DET
ap-3040	275	10	robots	robot	NOUN
ap-3040	275	11	take	take	VERB
ap-3040	275	12	longer	long	ADV
ap-3040	275	13	to	to	PART
ap-3040	275	14	explore	explore	VERB
ap-3040	275	15	,	,	PUNCT
ap-3040	275	16	but	but	CCONJ
ap-3040	275	17	that	that	SCONJ
ap-3040	275	18	they	they	PRON
ap-3040	275	19	also	also	ADV
ap-3040	275	20	take	take	VERB
ap-3040	275	21	many	many	ADJ
ap-3040	275	22	more	more	ADJ
ap-3040	275	23	pictures	picture	NOUN
ap-3040	275	24	,	,	PUNCT
ap-3040	275	25	efficiently	efficiently	ADV
ap-3040	275	26	covering	cover	VERB
ap-3040	275	27	the	the	DET
ap-3040	275	28	whole	whole	ADJ
ap-3040	275	29	space	space	NOUN
ap-3040	275	30	.	.	PUNCT
ap-3040	276	1	we	we	PRON
ap-3040	276	2	can	can	AUX
ap-3040	276	3	then	then	ADV
ap-3040	276	4	expect	expect	VERB
ap-3040	276	5	a	a	DET
ap-3040	276	6	better	well	ADJ
ap-3040	276	7	detection	detection	NOUN
ap-3040	276	8	rate	rate	NOUN
ap-3040	276	9	,	,	PUNCT
ap-3040	276	10	as	as	SCONJ
ap-3040	276	11	any	any	DET
ap-3040	276	12	object	object	NOUN
ap-3040	276	13	should	should	AUX
ap-3040	276	14	be	be	AUX
ap-3040	276	15	in	in	ADP
ap-3040	276	16	at	at	ADV
ap-3040	276	17	least	least	ADV
ap-3040	276	18	one	one	NUM
ap-3040	276	19	picture	picture	NOUN
ap-3040	276	20	.	.	PUNCT
ap-3040	277	1	an	an	DET
ap-3040	277	2	immediate	immediate	ADJ
ap-3040	277	3	perspective	perspective	NOUN
ap-3040	277	4	is	be	AUX
ap-3040	277	5	therefore	therefore	ADV
ap-3040	277	6	to	to	PART
ap-3040	277	7	compare	compare	VERB
ap-3040	277	8	object	object	NOUN
ap-3040	277	9	recognition	recognition	NOUN
ap-3040	277	10	results	result	NOUN
ap-3040	277	11	with	with	ADP
ap-3040	277	12	different	different	ADJ
ap-3040	277	13	parameters	parameter	NOUN
ap-3040	277	14	on	on	ADP
ap-3040	277	15	real	real	ADJ
ap-3040	277	16	robots	robot	NOUN
ap-3040	277	17	to	to	PART
ap-3040	277	18	confirm	confirm	VERB
ap-3040	277	19	through	through	ADP
ap-3040	277	20	a	a	DET
ap-3040	277	21	real	real	ADJ
ap-3040	277	22	experiment	experiment	NOUN
ap-3040	277	23	that	that	PRON
ap-3040	277	24	our	our	PRON
ap-3040	277	25	method	method	NOUN
ap-3040	277	26	provides	provide	VERB
ap-3040	277	27	improved	improved	ADJ
ap-3040	277	28	perception	perception	NOUN
ap-3040	277	29	.	.	PUNCT
ap-3040	278	1	another	another	DET
ap-3040	278	2	perspective	perspective	NOUN
ap-3040	278	3	of	of	ADP
ap-3040	278	4	our	our	PRON
ap-3040	278	5	work	work	NOUN
ap-3040	278	6	is	be	AUX
ap-3040	278	7	to	to	PART
ap-3040	278	8	plan	plan	VERB
ap-3040	278	9	to	to	PART
ap-3040	278	10	perceive	perceive	VERB
ap-3040	278	11	by	by	ADP
ap-3040	278	12	interlacing	interlace	VERB
ap-3040	278	13	detection	detection	NOUN
ap-3040	278	14	and	and	CCONJ
ap-3040	278	15	decision	decision	NOUN
ap-3040	278	16	modules	module	NOUN
ap-3040	278	17	to	to	PART
ap-3040	278	18	achieve	achieve	VERB
ap-3040	278	19	more	more	ADV
ap-3040	278	20	robust	robust	ADJ
ap-3040	278	21	object	object	NOUN
ap-3040	278	22	recognition	recognition	NOUN
ap-3040	278	23	.	.	PUNCT
ap-3040	279	1	the	the	DET
ap-3040	279	2	idea	idea	NOUN
ap-3040	279	3	is	be	AUX
ap-3040	279	4	not	not	PART
ap-3040	279	5	to	to	PART
ap-3040	279	6	take	take	VERB
ap-3040	279	7	more	more	ADJ
ap-3040	279	8	pictures	picture	NOUN
ap-3040	279	9	,	,	PUNCT
ap-3040	279	10	but	but	CCONJ
ap-3040	279	11	to	to	PART
ap-3040	279	12	take	take	VERB
ap-3040	279	13	better	well	ADJ
ap-3040	279	14	pictures	picture	NOUN
ap-3040	279	15	.	.	PUNCT
ap-3040	280	1	the	the	DET
ap-3040	280	2	objective	objective	NOUN
ap-3040	280	3	would	would	AUX
ap-3040	280	4	be	be	AUX
ap-3040	280	5	to	to	PART
ap-3040	280	6	plan	plan	VERB
ap-3040	280	7	viewpoints	viewpoint	NOUN
ap-3040	280	8	where	where	SCONJ
ap-3040	280	9	the	the	DET
ap-3040	280	10	recognition	recognition	NOUN
ap-3040	280	11	process	process	NOUN
ap-3040	280	12	would	would	AUX
ap-3040	280	13	be	be	AUX
ap-3040	280	14	more	more	ADV
ap-3040	280	15	reliable	reliable	ADJ
ap-3040	280	16	.	.	PUNCT
ap-3040	281	1	to	to	PART
ap-3040	281	2	achieve	achieve	VERB
ap-3040	281	3	this	this	DET
ap-3040	281	4	kind	kind	NOUN
ap-3040	281	5	of	of	ADP
ap-3040	281	6	active	active	ADJ
ap-3040	281	7	perception	perception	NOUN
ap-3040	281	8	planning	planning	NOUN
ap-3040	281	9	,	,	PUNCT
ap-3040	281	10	the	the	DET
ap-3040	281	11	decision	decision	NOUN
ap-3040	281	12	module	module	NOUN
ap-3040	281	13	should	should	AUX
ap-3040	281	14	use	use	VERB
ap-3040	281	15	information	information	NOUN
ap-3040	281	16	from	from	ADP
ap-3040	281	17	the	the	DET
ap-3040	281	18	recognition	recognition	NOUN
ap-3040	281	19	module	module	NOUN
ap-3040	281	20	.	.	PUNCT
ap-3040	282	1	in	in	ADP
ap-3040	282	2	our	our	PRON
ap-3040	282	3	work	work	NOUN
ap-3040	282	4	,	,	PUNCT
ap-3040	282	5	the	the	DET
ap-3040	282	6	recognition	recognition	NOUN
ap-3040	282	7	module	module	NOUN
ap-3040	282	8	is	be	AUX
ap-3040	282	9	based	base	VERB
ap-3040	282	10	on	on	ADP
ap-3040	282	11	the	the	DET
ap-3040	282	12	dominant	dominant	ADJ
ap-3040	282	13	orientation	orientation	NOUN
ap-3040	282	14	template	template	NOUN
ap-3040	282	15	method	method	NOUN
ap-3040	282	16	[	[	X
ap-3040	282	17	5	5	NUM
ap-3040	282	18	]	]	PUNCT
ap-3040	282	19	.	.	PUNCT
ap-3040	283	1	for	for	ADP
ap-3040	283	2	each	each	DET
ap-3040	283	3	object	object	NOUN
ap-3040	283	4	,	,	PUNCT
ap-3040	283	5	a	a	DET
ap-3040	283	6	set	set	NOUN
ap-3040	283	7	of	of	ADP
ap-3040	283	8	views	view	NOUN
ap-3040	283	9	is	be	AUX
ap-3040	283	10	defined	define	VERB
ap-3040	283	11	,	,	PUNCT
ap-3040	283	12	and	and	CCONJ
ap-3040	283	13	the	the	DET
ap-3040	283	14	method	method	NOUN
ap-3040	283	15	gives	give	VERB
ap-3040	283	16	a	a	DET
ap-3040	283	17	weighting	weighting	NOUN
ap-3040	283	18	for	for	ADP
ap-3040	283	19	each	each	DET
ap-3040	283	20	view	view	NOUN
ap-3040	283	21	that	that	PRON
ap-3040	283	22	is	be	AUX
ap-3040	283	23	equivalent	equivalent	ADJ
ap-3040	283	24	to	to	ADP
ap-3040	283	25	its	its	PRON
ap-3040	283	26	precision14	precision14	NOUN
ap-3040	283	27	.	.	PUNCT
ap-3040	284	1	a	a	DET
ap-3040	284	2	positive	positive	ADJ
ap-3040	284	3	detection	detection	NOUN
ap-3040	284	4	is	be	AUX
ap-3040	284	5	reliable	reliable	ADJ
ap-3040	284	6	when	when	SCONJ
ap-3040	284	7	the	the	DET
ap-3040	284	8	point	point	NOUN
ap-3040	284	9	of	of	ADP
ap-3040	284	10	view	view	NOUN
ap-3040	284	11	has	have	VERB
ap-3040	284	12	a	a	DET
ap-3040	284	13	high	high	ADJ
ap-3040	284	14	weighting	weighting	NOUN
ap-3040	284	15	.	.	PUNCT
ap-3040	285	1	for	for	SCONJ
ap-3040	285	2	each	each	DET
ap-3040	285	3	object	object	NOUN
ap-3040	285	4	detected	detect	VERB
ap-3040	285	5	,	,	PUNCT
ap-3040	285	6	the	the	DET
ap-3040	285	7	module	module	NOUN
ap-3040	285	8	also	also	ADV
ap-3040	285	9	gives	give	VERB
ap-3040	285	10	the	the	DET
ap-3040	285	11	location	location	NOUN
ap-3040	285	12	of	of	ADP
ap-3040	285	13	the	the	DET
ap-3040	285	14	object	object	NOUN
ap-3040	285	15	and	and	CCONJ
ap-3040	285	16	scores	score	NOUN
ap-3040	285	17	(	(	PUNCT
ap-3040	285	18	matching	matching	NOUN
ap-3040	285	19	results	result	NOUN
ap-3040	285	20	)	)	PUNCT
ap-3040	285	21	for	for	ADP
ap-3040	285	22	each	each	DET
ap-3040	285	23	view	view	NOUN
ap-3040	285	24	.	.	PUNCT
ap-3040	286	1	thus	thus	ADV
ap-3040	286	2	the	the	DET
ap-3040	286	3	decision	decision	NOUN
ap-3040	286	4	module	module	NOUN
ap-3040	286	5	could	could	AUX
ap-3040	286	6	manage	manage	VERB
ap-3040	286	7	a	a	DET
ap-3040	286	8	set	set	NOUN
ap-3040	286	9	of	of	ADP
ap-3040	286	10	hypotheses	hypothesis	NOUN
ap-3040	286	11	about	about	ADP
ap-3040	286	12	the	the	DET
ap-3040	286	13	probability	probability	NOUN
ap-3040	286	14	of	of	ADP
ap-3040	286	15	the	the	DET
ap-3040	286	16	presence	presence	NOUN
ap-3040	286	17	of	of	ADP
ap-3040	286	18	each	each	DET
ap-3040	286	19	object	object	NOUN
ap-3040	286	20	.	.	PUNCT
ap-3040	287	1	these	these	DET
ap-3040	287	2	hypotheses	hypothesis	NOUN
ap-3040	287	3	could	could	AUX
ap-3040	287	4	then	then	ADV
ap-3040	287	5	be	be	AUX
ap-3040	287	6	confirmed	confirm	VERB
ap-3040	287	7	or	or	CCONJ
ap-3040	287	8	discarded	discard	VERB
ap-3040	287	9	by	by	ADP
ap-3040	287	10	taking	take	VERB
ap-3040	287	11	pictures	picture	NOUN
ap-3040	287	12	of	of	ADP
ap-3040	287	13	the	the	DET
ap-3040	287	14	object	object	NOUN
ap-3040	287	15	from	from	ADP
ap-3040	287	16	viewpoints	viewpoint	NOUN
ap-3040	287	17	that	that	PRON
ap-3040	287	18	maximize	maximize	VERB
ap-3040	287	19	the	the	DET
ap-3040	287	20	precision	precision	NOUN
ap-3040	287	21	.	.	PUNCT
ap-3040	288	1	this	this	PRON
ap-3040	288	2	could	could	AUX
ap-3040	288	3	be	be	AUX
ap-3040	288	4	done	do	VERB
ap-3040	288	5	easily	easily	ADV
ap-3040	288	6	by	by	ADP
ap-3040	288	7	generating	generate	VERB
ap-3040	288	8	specific	specific	ADJ
ap-3040	288	9	high	high	ADJ
ap-3040	288	10	rewards	reward	NOUN
ap-3040	288	11	at	at	ADP
ap-3040	288	12	these	these	DET
ap-3040	288	13	viewpoints	viewpoint	NOUN
ap-3040	288	14	,	,	PUNCT
ap-3040	288	15	so	so	SCONJ
ap-3040	288	16	that	that	SCONJ
ap-3040	288	17	the	the	DET
ap-3040	288	18	decision	decision	NOUN
ap-3040	288	19	module	module	NOUN
ap-3040	288	20	will	will	AUX
ap-3040	288	21	adapt	adapt	VERB
ap-3040	288	22	the	the	DET
ap-3040	288	23	planned	plan	VERB
ap-3040	288	24	trajectory	trajectory	NOUN
ap-3040	288	25	to	to	PART
ap-3040	288	26	ensure	ensure	VERB
ap-3040	288	27	that	that	SCONJ
ap-3040	288	28	the	the	DET
ap-3040	288	29	robots	robot	NOUN
ap-3040	288	30	take	take	VERB
ap-3040	288	31	pictures	picture	NOUN
ap-3040	288	32	from	from	ADP
ap-3040	288	33	there	there	ADV
ap-3040	288	34	.	.	PUNCT
ap-3040	289	1	acknowledgements	acknowledgement	NOUN
ap-3040	289	2	this	this	DET
ap-3040	289	3	work	work	NOUN
ap-3040	289	4	has	have	AUX
ap-3040	289	5	been	be	AUX
ap-3040	289	6	supported	support	VERB
ap-3040	289	7	by	by	ADP
ap-3040	289	8	nra	nra	NOUN
ap-3040	289	9	and	and	CCONJ
ap-3040	289	10	dga	dga	PROPN
ap-3040	289	11	(	(	PUNCT
ap-3040	289	12	anr-09cord-103	anr-09cord-103	PROPN
ap-3040	289	13	)	)	PUNCT
ap-3040	289	14	and	and	CCONJ
ap-3040	289	15	was	be	AUX
ap-3040	289	16	developed	develop	VERB
ap-3040	289	17	jointly	jointly	ADV
ap-3040	289	18	with	with	SCONJ
ap-3040	289	19	the	the	DET
ap-3040	289	20	members	member	NOUN
ap-3040	289	21	of	of	ADP
ap-3040	289	22	the	the	DET
ap-3040	289	23	robots	robot	NOUN
ap-3040	289	24	malins	malin	VERB
ap-3040	289	25	consortium	consortium	NOUN
ap-3040	289	26	.	.	PUNCT
ap-3040	290	1	it	it	PRON
ap-3040	290	2	has	have	AUX
ap-3040	290	3	also	also	ADV
ap-3040	290	4	received	receive	VERB
ap-3040	290	5	support	support	NOUN
ap-3040	290	6	from	from	ADP
ap-3040	290	7	the	the	DET
ap-3040	290	8	insa	insa	PROPN
ap-3040	290	9	foundation	foundation	PROPN
ap-3040	290	10	crome	crome	PROPN
ap-3040	290	11	project	project	NOUN
ap-3040	290	12	.	.	PUNCT
ap-3040	291	1	references	reference	NOUN
ap-3040	291	2	[	[	X
ap-3040	291	3	1	1	NUM
ap-3040	291	4	]	]	PUNCT
ap-3040	291	5	from	from	ADP
ap-3040	291	6	internet	internet	NOUN
ap-3040	291	7	to	to	ADP
ap-3040	291	8	robotics	robotic	NOUN
ap-3040	291	9	:	:	PUNCT
ap-3040	291	10	a	a	DET
ap-3040	291	11	roadmap	roadmap	NOUN
ap-3040	291	12	for	for	ADP
ap-3040	291	13	u.s	u.s	PROPN
ap-3040	291	14	.	.	PROPN
ap-3040	291	15	robotics	robotic	NOUN
ap-3040	291	16	.	.	PUNCT
ap-3040	292	1	2013	2013	NUM
ap-3040	292	2	.	.	PUNCT
ap-3040	293	1	[	[	X
ap-3040	293	2	2	2	NUM
ap-3040	293	3	]	]	PUNCT
ap-3040	293	4	a.	a.	NOUN
ap-3040	293	5	bautin	bautin	PROPN
ap-3040	293	6	,	,	PUNCT
ap-3040	293	7	p.	p.	PROPN
ap-3040	293	8	lucidarme	lucidarme	PROPN
ap-3040	293	9	,	,	PUNCT
ap-3040	293	10	r.	r.	PROPN
ap-3040	293	11	guyonneau	guyonneau	PROPN
ap-3040	293	12	,	,	PUNCT
ap-3040	293	13	et	et	PROPN
ap-3040	293	14	al	al	PROPN
ap-3040	293	15	.	.	PUNCT
ap-3040	294	1	cart	cart	NOUN
ap-3040	294	2	-	-	PUNCT
ap-3040	294	3	o	o	NOUN
ap-3040	294	4	-	-	ADJ
ap-3040	294	5	matic	matic	ADJ
ap-3040	294	6	project	project	NOUN
ap-3040	294	7	:	:	PUNCT
ap-3040	294	8	autonomous	autonomous	ADJ
ap-3040	294	9	and	and	CCONJ
ap-3040	294	10	collaborative	collaborative	ADJ
ap-3040	294	11	multi	multi	ADJ
ap-3040	294	12	-	-	ADJ
ap-3040	294	13	robot	robot	ADJ
ap-3040	294	14	localization	localization	NOUN
ap-3040	294	15	,	,	PUNCT
ap-3040	294	16	exploration	exploration	NOUN
ap-3040	294	17	and	and	CCONJ
ap-3040	294	18	mapping	mapping	NOUN
ap-3040	294	19	.	.	PUNCT
ap-3040	295	1	in	in	ADP
ap-3040	295	2	proc	proc	PROPN
ap-3040	295	3	.	.	PUNCT
ap-3040	296	1	of	of	ADP
ap-3040	296	2	5th	5th	ADJ
ap-3040	296	3	workshop	workshop	NOUN
ap-3040	296	4	on	on	ADP
ap-3040	296	5	planning	planning	NOUN
ap-3040	296	6	,	,	PUNCT
ap-3040	296	7	perception	perception	NOUN
ap-3040	296	8	and	and	CCONJ
ap-3040	296	9	navigation	navigation	NOUN
ap-3040	296	10	for	for	ADP
ap-3040	296	11	intelligent	intelligent	ADJ
ap-3040	296	12	vehicles	vehicle	NOUN
ap-3040	296	13	,	,	PUNCT
ap-3040	296	14	pp	pp	ADV
ap-3040	296	15	.	.	PUNCT
ap-3040	297	1	210–215	210–215	NUM
ap-3040	297	2	.	.	NOUN
ap-3040	297	3	2013	2013	NUM
ap-3040	297	4	.	.	PUNCT
ap-3040	298	1	[	[	X
ap-3040	298	2	3	3	X
ap-3040	298	3	]	]	X
ap-3040	298	4	d.	d.	PROPN
ap-3040	298	5	filliat	filliat	PROPN
ap-3040	298	6	,	,	PUNCT
ap-3040	298	7	e.	e.	PROPN
ap-3040	298	8	battesti	battesti	PROPN
ap-3040	298	9	,	,	PUNCT
ap-3040	298	10	s.	s.	PROPN
ap-3040	298	11	bazeille	bazeille	PROPN
ap-3040	298	12	,	,	PUNCT
ap-3040	298	13	et	et	PROPN
ap-3040	298	14	al	al	PROPN
ap-3040	298	15	.	.	PROPN
ap-3040	298	16	rgbd	rgbd	PROPN
ap-3040	298	17	object	object	NOUN
ap-3040	298	18	recognition	recognition	NOUN
ap-3040	298	19	and	and	CCONJ
ap-3040	298	20	visual	visual	ADJ
ap-3040	298	21	texture	texture	NOUN
ap-3040	298	22	classification	classification	NOUN
ap-3040	298	23	for	for	ADP
ap-3040	298	24	indoor	indoor	ADJ
ap-3040	298	25	semantic	semantic	ADJ
ap-3040	298	26	mapping	mapping	NOUN
ap-3040	298	27	.	.	PUNCT
ap-3040	299	1	in	in	ADP
ap-3040	299	2	proc	proc	PROPN
ap-3040	299	3	.	.	PUNCT
ap-3040	300	1	of	of	ADP
ap-3040	300	2	tepra	tepra	NUM
ap-3040	300	3	.	.	PUNCT
ap-3040	300	4	2012	2012	NUM
ap-3040	300	5	.	.	PUNCT
ap-3040	301	1	doi:10.1109	doi:10.1109	ADJ
ap-3040	301	2	/	/	SYM
ap-3040	301	3	tepra.2012.6215666	tepra.2012.6215666	NOUN
ap-3040	301	4	.	.	PUNCT
ap-3040	302	1	[	[	X
ap-3040	302	2	4	4	X
ap-3040	302	3	]	]	PUNCT
ap-3040	302	4	j.	j.	PROPN
ap-3040	302	5	xie	xie	PROPN
ap-3040	302	6	,	,	PUNCT
ap-3040	302	7	f.	f.	PROPN
ap-3040	302	8	nashashibi	nashashibi	PROPN
ap-3040	302	9	,	,	PUNCT
ap-3040	302	10	n.	n.	PROPN
ap-3040	302	11	m.	m.	NOUN
ap-3040	302	12	parent	parent	NOUN
ap-3040	302	13	,	,	PUNCT
ap-3040	302	14	o.	o.	PROPN
ap-3040	302	15	garcia	garcia	PROPN
ap-3040	302	16	-	-	PUNCT
ap-3040	302	17	favrot	favrot	PROPN
ap-3040	302	18	.	.	PUNCT
ap-3040	303	1	a	a	DET
ap-3040	303	2	real	real	ADJ
ap-3040	303	3	-	-	PUNCT
ap-3040	303	4	time	time	NOUN
ap-3040	303	5	robust	robust	ADJ
ap-3040	303	6	slam	slam	NOUN
ap-3040	303	7	for	for	ADP
ap-3040	303	8	large	large	ADJ
ap-3040	303	9	-	-	PUNCT
ap-3040	303	10	scale	scale	NOUN
ap-3040	303	11	outdoor	outdoor	ADJ
ap-3040	303	12	environments	environment	NOUN
ap-3040	303	13	.	.	PUNCT
ap-3040	304	1	in	in	ADP
ap-3040	304	2	17th	17th	ADJ
ap-3040	304	3	its	its	PRON
ap-3040	304	4	world	world	NOUN
ap-3040	304	5	congress	congress	PROPN
ap-3040	304	6	.	.	PUNCT
ap-3040	305	1	2010	2010	NUM
ap-3040	305	2	.	.	PUNCT
ap-3040	306	1	doi:10.1028	doi:10.1028	NOUN
ap-3040	306	2	/	/	SYM
ap-3040	306	3	its.slam.nashashibi	its.slam.nashashibi	NOUN
ap-3040	306	4	.	.	PUNCT
ap-3040	307	1	[	[	X
ap-3040	307	2	5	5	X
ap-3040	307	3	]	]	PUNCT
ap-3040	307	4	s.	s.	PROPN
ap-3040	307	5	hinterstoisser	hinterstoisser	PROPN
ap-3040	307	6	,	,	PUNCT
ap-3040	307	7	v.	v.	PROPN
ap-3040	307	8	lepetit	lepetit	PROPN
ap-3040	307	9	,	,	PUNCT
ap-3040	307	10	s.	s.	PROPN
ap-3040	307	11	ilic	ilic	PROPN
ap-3040	307	12	,	,	PUNCT
ap-3040	307	13	et	et	PROPN
ap-3040	307	14	al	al	PROPN
ap-3040	307	15	.	.	PROPN
ap-3040	307	16	dominant	dominant	PROPN
ap-3040	307	17	orientation	orientation	NOUN
ap-3040	307	18	templates	template	NOUN
ap-3040	307	19	for	for	ADP
ap-3040	307	20	real	real	ADJ
ap-3040	307	21	-	-	PUNCT
ap-3040	307	22	time	time	NOUN
ap-3040	307	23	detection	detection	NOUN
ap-3040	307	24	of	of	ADP
ap-3040	307	25	texture	texture	NOUN
ap-3040	307	26	-	-	PUNCT
ap-3040	307	27	less	less	ADJ
ap-3040	307	28	objects	object	NOUN
ap-3040	307	29	.	.	PUNCT
ap-3040	308	1	in	in	ADP
ap-3040	308	2	cvpr	cvpr	NOUN
ap-3040	308	3	,	,	PUNCT
ap-3040	308	4	pp	pp	ADJ
ap-3040	308	5	.	.	PUNCT
ap-3040	308	6	2257–2264	2257–2264	NUM
ap-3040	308	7	.	.	PUNCT
ap-3040	308	8	2010	2010	NUM
ap-3040	308	9	.	.	PUNCT
ap-3040	309	1	[	[	X
ap-3040	309	2	6	6	NUM
ap-3040	309	3	]	]	PUNCT
ap-3040	309	4	b.	b.	PROPN
ap-3040	309	5	yamauchi	yamauchi	PROPN
ap-3040	309	6	.	.	PUNCT
ap-3040	309	7	frontier	frontier	NOUN
ap-3040	309	8	-	-	PUNCT
ap-3040	309	9	based	base	VERB
ap-3040	309	10	exploration	exploration	NOUN
ap-3040	309	11	using	use	VERB
ap-3040	309	12	multiple	multiple	ADJ
ap-3040	309	13	robots	robot	NOUN
ap-3040	309	14	.	.	PUNCT
ap-3040	310	1	in	in	ADP
ap-3040	310	2	proceedings	proceeding	NOUN
ap-3040	310	3	of	of	ADP
ap-3040	310	4	the	the	DET
ap-3040	310	5	second	second	ADJ
ap-3040	310	6	international	international	ADJ
ap-3040	310	7	conference	conference	NOUN
ap-3040	310	8	on	on	ADP
ap-3040	310	9	autonomous	autonomous	ADJ
ap-3040	310	10	agents	agent	NOUN
ap-3040	310	11	,	,	PUNCT
ap-3040	310	12	agents	agent	NOUN
ap-3040	310	13	’	'	PUNCT
ap-3040	310	14	98	98	NUM
ap-3040	310	15	,	,	PUNCT
ap-3040	310	16	pp	pp	ADJ
ap-3040	310	17	.	.	PUNCT
ap-3040	311	1	47–53	47–53	NUM
ap-3040	311	2	.	.	PUNCT
ap-3040	312	1	1998	1998	NUM
ap-3040	312	2	.	.	PUNCT
ap-3040	313	1	14or	14or	ADJ
ap-3040	313	2	positive	positive	ADJ
ap-3040	313	3	predictive	predictive	ADJ
ap-3040	313	4	value	value	NOUN
ap-3040	313	5	175	175	NUM
ap-3040	313	6	http://dx.doi.org/10.1109/tepra.2012.6215666	http://dx.doi.org/10.1109/tepra.2012.6215666	PROPN
ap-3040	313	7	http://dx.doi.org/10.1028/its.slam.nashashibi	http://dx.doi.org/10.1028/its.slam.nashashibi	PROPN
ap-3040	313	8	l.	l.	PROPN
ap-3040	313	9	matignon	matignon	PROPN
ap-3040	313	10	,	,	PUNCT
ap-3040	313	11	l.	l.	PROPN
ap-3040	313	12	jeanpierre	jeanpierre	PROPN
ap-3040	313	13	,	,	PUNCT
ap-3040	313	14	a.-i	a.-i	PROPN
ap-3040	313	15	.	.	PUNCT
ap-3040	314	1	mouaddib	mouaddib	PROPN
ap-3040	314	2	acta	acta	PROPN
ap-3040	314	3	polytechnica	polytechnica	PROPN
ap-3040	315	1	[	[	X
ap-3040	315	2	7	7	NUM
ap-3040	315	3	]	]	X
ap-3040	315	4	r.	r.	PROPN
ap-3040	315	5	simmons	simmons	PROPN
ap-3040	315	6	,	,	PUNCT
ap-3040	315	7	d.	d.	PROPN
ap-3040	315	8	apfelbaum	apfelbaum	PROPN
ap-3040	315	9	,	,	PUNCT
ap-3040	315	10	w.	w.	PROPN
ap-3040	315	11	burgard	burgard	PROPN
ap-3040	315	12	,	,	PUNCT
ap-3040	315	13	et	et	PROPN
ap-3040	315	14	al	al	PROPN
ap-3040	315	15	.	.	PUNCT
ap-3040	315	16	coordination	coordination	NOUN
ap-3040	315	17	for	for	ADP
ap-3040	315	18	multi	multi	ADJ
ap-3040	315	19	-	-	ADJ
ap-3040	315	20	robot	robot	ADJ
ap-3040	315	21	exploration	exploration	NOUN
ap-3040	315	22	and	and	CCONJ
ap-3040	315	23	mapping	mapping	NOUN
ap-3040	315	24	.	.	PUNCT
ap-3040	316	1	in	in	ADP
ap-3040	316	2	proc	proc	PROPN
ap-3040	316	3	.	.	PUNCT
ap-3040	317	1	of	of	ADP
ap-3040	317	2	the	the	DET
ap-3040	317	3	aaai	aaai	PROPN
ap-3040	317	4	national	national	ADJ
ap-3040	317	5	conf	conf	NOUN
ap-3040	317	6	.	.	PUNCT
ap-3040	318	1	on	on	ADP
ap-3040	318	2	artificial	artificial	ADJ
ap-3040	318	3	intelligence	intelligence	NOUN
ap-3040	318	4	.	.	PUNCT
ap-3040	319	1	2000	2000	NUM
ap-3040	319	2	.	.	PUNCT
ap-3040	320	1	[	[	X
ap-3040	320	2	8	8	NUM
ap-3040	320	3	]	]	X
ap-3040	320	4	w.	w.	PROPN
ap-3040	320	5	burgard	burgard	PROPN
ap-3040	320	6	,	,	PUNCT
ap-3040	320	7	m.	m.	NOUN
ap-3040	320	8	moors	moor	NOUN
ap-3040	320	9	,	,	PUNCT
ap-3040	320	10	c.	c.	NOUN
ap-3040	320	11	stachniss	stachniss	NOUN
ap-3040	320	12	,	,	PUNCT
ap-3040	320	13	f.	f.	PROPN
ap-3040	320	14	schneider	schneider	PROPN
ap-3040	320	15	.	.	PUNCT
ap-3040	321	1	coordinated	coordinate	VERB
ap-3040	321	2	multi	multi	ADJ
ap-3040	321	3	-	-	ADJ
ap-3040	321	4	robot	robot	ADJ
ap-3040	321	5	exploration	exploration	NOUN
ap-3040	321	6	.	.	PUNCT
ap-3040	322	1	ieee	ieee	NOUN
ap-3040	322	2	transactions	transaction	NOUN
ap-3040	322	3	on	on	ADP
ap-3040	322	4	robotics	robotic	NOUN
ap-3040	322	5	21:376–386	21:376–386	NUM
ap-3040	322	6	,	,	PUNCT
ap-3040	322	7	2005	2005	NUM
ap-3040	322	8	.	.	PUNCT
ap-3040	323	1	doi:10.1109	doi:10.1109	VERB
ap-3040	323	2	/	/	SYM
ap-3040	323	3	tro.2004.839232	tro.2004.839232	NOUN
ap-3040	323	4	.	.	PUNCT
ap-3040	324	1	[	[	X
ap-3040	324	2	9	9	NUM
ap-3040	324	3	]	]	PUNCT
ap-3040	324	4	k.	k.	PROPN
ap-3040	324	5	m.	m.	PROPN
ap-3040	324	6	wurm	wurm	PROPN
ap-3040	324	7	,	,	PUNCT
ap-3040	324	8	c.	c.	PROPN
ap-3040	324	9	stachniss	stachniss	PROPN
ap-3040	324	10	,	,	PUNCT
ap-3040	324	11	w.	w.	PROPN
ap-3040	324	12	burgard	burgard	PROPN
ap-3040	324	13	.	.	PUNCT
ap-3040	325	1	coordinated	coordinate	VERB
ap-3040	325	2	multi	multi	ADJ
ap-3040	325	3	-	-	ADJ
ap-3040	325	4	robot	robot	ADJ
ap-3040	325	5	exploration	exploration	NOUN
ap-3040	325	6	using	use	VERB
ap-3040	325	7	a	a	DET
ap-3040	325	8	segmentation	segmentation	NOUN
ap-3040	325	9	of	of	ADP
ap-3040	325	10	the	the	DET
ap-3040	325	11	environment	environment	NOUN
ap-3040	325	12	.	.	PUNCT
ap-3040	326	1	in	in	ADP
ap-3040	326	2	proc	proc	PROPN
ap-3040	326	3	.	.	PUNCT
ap-3040	327	1	of	of	ADP
ap-3040	327	2	iros	iro	NOUN
ap-3040	327	3	,	,	PUNCT
ap-3040	327	4	pp	pp	X
ap-3040	327	5	.	.	PUNCT
ap-3040	327	6	1160–1165	1160–1165	NUM
ap-3040	327	7	.	.	PUNCT
ap-3040	327	8	2008	2008	NUM
ap-3040	327	9	.	.	PUNCT
ap-3040	328	1	doi:10.1109	doi:10.1109	VERB
ap-3040	328	2	/	/	SYM
ap-3040	328	3	iros.2008.4650734	iros.2008.4650734	PROPN
ap-3040	328	4	.	.	PUNCT
ap-3040	329	1	[	[	X
ap-3040	329	2	10	10	NUM
ap-3040	329	3	]	]	X
ap-3040	329	4	r.	r.	PROPN
ap-3040	329	5	zlot	zlot	PROPN
ap-3040	329	6	,	,	PUNCT
ap-3040	329	7	a.	a.	NOUN
ap-3040	329	8	stentz	stentz	PROPN
ap-3040	329	9	,	,	PUNCT
ap-3040	329	10	m.	m.	NOUN
ap-3040	329	11	dias	dias	PROPN
ap-3040	329	12	,	,	PUNCT
ap-3040	329	13	s.	s.	PROPN
ap-3040	329	14	thayer	thayer	PROPN
ap-3040	329	15	.	.	PUNCT
ap-3040	330	1	multi	multi	ADJ
ap-3040	330	2	-	-	ADJ
ap-3040	330	3	robot	robot	ADJ
ap-3040	330	4	exploration	exploration	NOUN
ap-3040	330	5	controlled	control	VERB
ap-3040	330	6	by	by	ADP
ap-3040	330	7	a	a	DET
ap-3040	330	8	market	market	NOUN
ap-3040	330	9	economy	economy	NOUN
ap-3040	330	10	.	.	PUNCT
ap-3040	331	1	in	in	ADP
ap-3040	331	2	proc	proc	PROPN
ap-3040	331	3	.	.	PUNCT
ap-3040	332	1	of	of	ADP
ap-3040	332	2	icra	icra	PROPN
ap-3040	332	3	,	,	PUNCT
ap-3040	332	4	vol	vol	NOUN
ap-3040	332	5	.	.	PROPN
ap-3040	333	1	3	3	NUM
ap-3040	333	2	,	,	PUNCT
ap-3040	333	3	pp	pp	ADJ
ap-3040	333	4	.	.	PUNCT
ap-3040	334	1	3016–3023	3016–3023	NUM
ap-3040	334	2	.	.	PUNCT
ap-3040	335	1	2002	2002	NUM
ap-3040	335	2	.	.	PUNCT
ap-3040	336	1	doi:10.1109	doi:10.1109	VERB
ap-3040	336	2	/	/	SYM
ap-3040	336	3	robot.2002.1013690	robot.2002.1013690	ADJ
ap-3040	336	4	.	.	PUNCT
ap-3040	337	1	[	[	X
ap-3040	337	2	11	11	NUM
ap-3040	337	3	]	]	PUNCT
ap-3040	337	4	a.	a.	NOUN
ap-3040	337	5	bautin	bautin	PROPN
ap-3040	337	6	,	,	PUNCT
ap-3040	337	7	o.	o.	PROPN
ap-3040	337	8	simonin	simonin	PROPN
ap-3040	337	9	,	,	PUNCT
ap-3040	337	10	f.	f.	PROPN
ap-3040	337	11	charpillet	charpillet	PROPN
ap-3040	337	12	.	.	PUNCT
ap-3040	338	1	minpos	minpos	NOUN
ap-3040	338	2	:	:	PUNCT
ap-3040	338	3	a	a	DET
ap-3040	338	4	novel	novel	ADJ
ap-3040	338	5	frontier	frontier	NOUN
ap-3040	338	6	allocation	allocation	NOUN
ap-3040	338	7	algorithm	algorithm	NOUN
ap-3040	338	8	for	for	ADP
ap-3040	338	9	multi	multi	ADJ
ap-3040	338	10	-	-	ADJ
ap-3040	338	11	robot	robot	ADJ
ap-3040	338	12	exploration	exploration	NOUN
ap-3040	338	13	.	.	PUNCT
ap-3040	339	1	in	in	ADP
ap-3040	339	2	icira	icira	PROPN
ap-3040	339	3	,	,	PUNCT
ap-3040	339	4	vol	vol	NOUN
ap-3040	339	5	.	.	PUNCT
ap-3040	339	6	7507	7507	NUM
ap-3040	339	7	of	of	ADP
ap-3040	339	8	lecture	lecture	NOUN
ap-3040	339	9	notes	note	NOUN
ap-3040	339	10	in	in	ADP
ap-3040	339	11	computer	computer	NOUN
ap-3040	339	12	science	science	NOUN
ap-3040	339	13	,	,	PUNCT
ap-3040	339	14	pp	pp	X
ap-3040	339	15	.	.	PUNCT
ap-3040	340	1	496–508	496–508	NUM
ap-3040	340	2	.	.	PUNCT
ap-3040	340	3	2012	2012	NUM
ap-3040	340	4	.	.	PUNCT
ap-3040	341	1	[	[	X
ap-3040	341	2	12	12	NUM
ap-3040	341	3	]	]	PUNCT
ap-3040	341	4	m.	m.	NOUN
ap-3040	341	5	julia	julia	PROPN
ap-3040	341	6	,	,	PUNCT
ap-3040	341	7	a.	a.	PROPN
ap-3040	341	8	gil	gil	PROPN
ap-3040	341	9	,	,	PUNCT
ap-3040	341	10	ó	ó	PROPN
ap-3040	341	11	.	.	NOUN
ap-3040	341	12	reinoso	reinoso	NOUN
ap-3040	341	13	.	.	PUNCT
ap-3040	342	1	a	a	DET
ap-3040	342	2	comparison	comparison	NOUN
ap-3040	342	3	of	of	ADP
ap-3040	342	4	path	path	NOUN
ap-3040	342	5	planning	planning	NOUN
ap-3040	342	6	strategies	strategy	NOUN
ap-3040	342	7	for	for	ADP
ap-3040	342	8	autonomous	autonomous	ADJ
ap-3040	342	9	exploration	exploration	NOUN
ap-3040	342	10	and	and	CCONJ
ap-3040	342	11	mapping	mapping	NOUN
ap-3040	342	12	of	of	ADP
ap-3040	342	13	unknown	unknown	ADJ
ap-3040	342	14	environments	environment	NOUN
ap-3040	342	15	.	.	PUNCT
ap-3040	343	1	autonomous	autonomous	ADJ
ap-3040	343	2	robots	robot	NOUN
ap-3040	343	3	33(4):427–444	33(4):427–444	NUM
ap-3040	343	4	,	,	PUNCT
ap-3040	343	5	2012	2012	NUM
ap-3040	343	6	.	.	PUNCT
ap-3040	344	1	doi:10.1007	doi:10.1007	VERB
ap-3040	344	2	/	/	SYM
ap-3040	344	3	s10514	s10514	NOUN
ap-3040	344	4	-	-	PUNCT
ap-3040	344	5	012	012	NUM
ap-3040	344	6	-	-	PUNCT
ap-3040	344	7	9298	9298	NUM
ap-3040	344	8	-	-	SYM
ap-3040	344	9	8	8	NUM
ap-3040	344	10	.	.	PUNCT
ap-3040	345	1	[	[	X
ap-3040	345	2	13	13	NUM
ap-3040	345	3	]	]	X
ap-3040	345	4	f.	f.	PROPN
ap-3040	345	5	deinzer	deinzer	PROPN
ap-3040	345	6	,	,	PUNCT
ap-3040	345	7	c.	c.	PROPN
ap-3040	345	8	derichs	derichs	PROPN
ap-3040	345	9	,	,	PUNCT
ap-3040	345	10	h.	h.	PROPN
ap-3040	345	11	niemann	niemann	PROPN
ap-3040	345	12	,	,	PUNCT
ap-3040	345	13	j.	j.	PROPN
ap-3040	345	14	denzler	denzler	PROPN
ap-3040	345	15	.	.	PUNCT
ap-3040	346	1	a	a	DET
ap-3040	346	2	framework	framework	NOUN
ap-3040	346	3	for	for	ADP
ap-3040	346	4	actively	actively	ADV
ap-3040	346	5	selecting	select	VERB
ap-3040	346	6	viewpoints	viewpoint	NOUN
ap-3040	346	7	in	in	ADP
ap-3040	346	8	object	object	NOUN
ap-3040	346	9	recognition	recognition	NOUN
ap-3040	346	10	.	.	PUNCT
ap-3040	347	1	ijprai	ijprai	NOUN
ap-3040	347	2	23(4):765–799	23(4):765–799	NUM
ap-3040	347	3	,	,	PUNCT
ap-3040	347	4	2009	2009	NUM
ap-3040	347	5	.	.	PUNCT
ap-3040	348	1	[	[	X
ap-3040	348	2	14	14	NUM
ap-3040	348	3	]	]	X
ap-3040	348	4	s.	s.	PROPN
ap-3040	348	5	brandao	brandao	PROPN
ap-3040	348	6	,	,	PUNCT
ap-3040	348	7	m.	m.	NOUN
ap-3040	348	8	veloso	veloso	PROPN
ap-3040	348	9	,	,	PUNCT
ap-3040	348	10	j.	j.	PROPN
ap-3040	348	11	p.	p.	PROPN
ap-3040	348	12	costeira	costeira	PROPN
ap-3040	348	13	.	.	PUNCT
ap-3040	349	1	active	active	ADJ
ap-3040	349	2	object	object	NOUN
ap-3040	349	3	recognition	recognition	NOUN
ap-3040	349	4	by	by	ADP
ap-3040	349	5	offline	offline	ADJ
ap-3040	349	6	solving	solving	NOUN
ap-3040	349	7	of	of	ADP
ap-3040	349	8	pomdps	pomdps	NOUN
ap-3040	349	9	.	.	PUNCT
ap-3040	350	1	in	in	ADP
ap-3040	350	2	proc	proc	PROPN
ap-3040	350	3	.	.	PUNCT
ap-3040	351	1	of	of	ADP
ap-3040	351	2	the	the	DET
ap-3040	351	3	international	international	ADJ
ap-3040	351	4	conference	conference	NOUN
ap-3040	351	5	on	on	ADP
ap-3040	351	6	mobile	mobile	ADJ
ap-3040	351	7	robots	robot	NOUN
ap-3040	351	8	and	and	CCONJ
ap-3040	351	9	competitions	competition	NOUN
ap-3040	351	10	,	,	PUNCT
ap-3040	351	11	pp	pp	ADP
ap-3040	351	12	.	.	PUNCT
ap-3040	352	1	33–38	33–38	NUM
ap-3040	352	2	.	.	PUNCT
ap-3040	353	1	2011	2011	NUM
ap-3040	353	2	.	.	PUNCT
ap-3040	354	1	[	[	X
ap-3040	354	2	15	15	NUM
ap-3040	354	3	]	]	X
ap-3040	354	4	a.	a.	NOUN
ap-3040	354	5	a.	a.	PROPN
ap-3040	354	6	makarenko	makarenko	PROPN
ap-3040	354	7	,	,	PUNCT
ap-3040	354	8	s.	s.	PROPN
ap-3040	354	9	b.	b.	PROPN
ap-3040	354	10	williams	williams	PROPN
ap-3040	354	11	,	,	PUNCT
ap-3040	354	12	f.	f.	PROPN
ap-3040	354	13	bourgault	bourgault	PROPN
ap-3040	354	14	,	,	PUNCT
ap-3040	354	15	h.	h.	PROPN
ap-3040	354	16	f.	f.	PROPN
ap-3040	354	17	durrant	durrant	PROPN
ap-3040	354	18	-	-	PUNCT
ap-3040	354	19	whyte	whyte	PROPN
ap-3040	354	20	.	.	PUNCT
ap-3040	355	1	an	an	DET
ap-3040	355	2	experiment	experiment	NOUN
ap-3040	355	3	in	in	ADP
ap-3040	355	4	integrated	integrate	VERB
ap-3040	355	5	exploration	exploration	NOUN
ap-3040	355	6	.	.	PUNCT
ap-3040	356	1	in	in	ADP
ap-3040	356	2	proceedings	proceeding	NOUN
ap-3040	356	3	of	of	ADP
ap-3040	356	4	iros	iro	NOUN
ap-3040	356	5	,	,	PUNCT
ap-3040	356	6	pp	pp	ADJ
ap-3040	356	7	.	.	PUNCT
ap-3040	357	1	534–539	534–539	NUM
ap-3040	357	2	.	.	PUNCT
ap-3040	357	3	2002	2002	NUM
ap-3040	357	4	.	.	PUNCT
ap-3040	358	1	doi:10.1109	doi:10.1109	VERB
ap-3040	358	2	/	/	SYM
ap-3040	358	3	irds.2002.1041445	irds.2002.1041445	NOUN
ap-3040	358	4	.	.	PUNCT
ap-3040	359	1	[	[	X
ap-3040	359	2	16	16	NUM
ap-3040	359	3	]	]	X
ap-3040	359	4	c.	c.	NOUN
ap-3040	359	5	stachniss	stachniss	PROPN
ap-3040	359	6	,	,	PUNCT
ap-3040	359	7	g.	g.	PROPN
ap-3040	359	8	grisetti	grisetti	PROPN
ap-3040	359	9	,	,	PUNCT
ap-3040	359	10	w.	w.	PROPN
ap-3040	359	11	burgard	burgard	PROPN
ap-3040	359	12	.	.	PUNCT
ap-3040	360	1	information	information	NOUN
ap-3040	360	2	gain	gain	NOUN
ap-3040	360	3	-	-	PUNCT
ap-3040	360	4	based	base	VERB
ap-3040	360	5	exploration	exploration	NOUN
ap-3040	360	6	using	use	VERB
ap-3040	360	7	rao	rao	NOUN
ap-3040	360	8	-	-	PUNCT
ap-3040	360	9	blackwellized	blackwellize	VERB
ap-3040	360	10	particle	particle	NOUN
ap-3040	360	11	filters	filter	NOUN
ap-3040	360	12	.	.	PUNCT
ap-3040	361	1	in	in	ADP
ap-3040	361	2	proc	proc	PROPN
ap-3040	361	3	.	.	PUNCT
ap-3040	362	1	of	of	ADP
ap-3040	362	2	robotics	robotic	NOUN
ap-3040	362	3	:	:	PUNCT
ap-3040	362	4	science	science	NOUN
ap-3040	362	5	and	and	CCONJ
ap-3040	362	6	systems	system	NOUN
ap-3040	362	7	(	(	PUNCT
ap-3040	362	8	rss	rss	PROPN
ap-3040	362	9	)	)	PUNCT
ap-3040	362	10	.	.	PUNCT
ap-3040	363	1	cambridge	cambridge	PROPN
ap-3040	363	2	,	,	PUNCT
ap-3040	363	3	ma	ma	PROPN
ap-3040	363	4	,	,	PUNCT
ap-3040	363	5	usa	usa	PROPN
ap-3040	363	6	,	,	PUNCT
ap-3040	363	7	2005	2005	NUM
ap-3040	363	8	.	.	PUNCT
ap-3040	364	1	[	[	X
ap-3040	364	2	17	17	NUM
ap-3040	364	3	]	]	X
ap-3040	364	4	d.	d.	PROPN
ap-3040	364	5	s.	s.	PROPN
ap-3040	364	6	bernstein	bernstein	PROPN
ap-3040	364	7	,	,	PUNCT
ap-3040	364	8	r.	r.	PROPN
ap-3040	364	9	givan	givan	PROPN
ap-3040	364	10	,	,	PUNCT
ap-3040	364	11	n.	n.	PROPN
ap-3040	364	12	immerman	immerman	NOUN
ap-3040	364	13	,	,	PUNCT
ap-3040	364	14	s.	s.	PROPN
ap-3040	364	15	zilberstein	zilberstein	PROPN
ap-3040	364	16	.	.	PUNCT
ap-3040	365	1	the	the	DET
ap-3040	365	2	complexity	complexity	NOUN
ap-3040	365	3	of	of	ADP
ap-3040	365	4	decentralized	decentralized	ADJ
ap-3040	365	5	control	control	NOUN
ap-3040	365	6	of	of	ADP
ap-3040	365	7	markov	markov	NOUN
ap-3040	365	8	decision	decision	NOUN
ap-3040	365	9	processes	process	NOUN
ap-3040	365	10	.	.	PUNCT
ap-3040	366	1	math	math	NOUN
ap-3040	366	2	oper	oper	NOUN
ap-3040	366	3	res	re	NOUN
ap-3040	366	4	27:819–840	27:819–840	PROPN
ap-3040	366	5	,	,	PUNCT
ap-3040	366	6	2002	2002	NUM
ap-3040	366	7	.	.	PUNCT
ap-3040	367	1	[	[	X
ap-3040	367	2	18	18	NUM
ap-3040	367	3	]	]	PUNCT
ap-3040	367	4	m.	m.	NOUN
ap-3040	367	5	l.	l.	PROPN
ap-3040	367	6	puterman	puterman	PROPN
ap-3040	367	7	.	.	PUNCT
ap-3040	368	1	markov	markov	NOUN
ap-3040	368	2	decision	decision	NOUN
ap-3040	368	3	processes	process	NOUN
ap-3040	368	4	.	.	PUNCT
ap-3040	368	5	1994	1994	NUM
ap-3040	368	6	.	.	PUNCT
ap-3040	369	1	[	[	X
ap-3040	369	2	19	19	NUM
ap-3040	369	3	]	]	X
ap-3040	369	4	r.	r.	PROPN
ap-3040	369	5	nair	nair	PROPN
ap-3040	369	6	,	,	PUNCT
ap-3040	369	7	p.	p.	NOUN
ap-3040	369	8	varakantham	varakantham	PROPN
ap-3040	369	9	,	,	PUNCT
ap-3040	369	10	m.	m.	NOUN
ap-3040	369	11	tambe	tambe	NOUN
ap-3040	369	12	,	,	PUNCT
ap-3040	369	13	m.	m.	NOUN
ap-3040	369	14	yokoo	yokoo	PROPN
ap-3040	369	15	.	.	PUNCT
ap-3040	370	1	networked	network	VERB
ap-3040	370	2	distributed	distribute	VERB
ap-3040	370	3	pomdps	pomdps	PROPN
ap-3040	370	4	:	:	PUNCT
ap-3040	370	5	a	a	DET
ap-3040	370	6	synthesis	synthesis	NOUN
ap-3040	370	7	of	of	ADP
ap-3040	370	8	distributed	distribute	VERB
ap-3040	370	9	constraint	constraint	NOUN
ap-3040	370	10	optimization	optimization	NOUN
ap-3040	370	11	and	and	CCONJ
ap-3040	370	12	pomdps	pomdps	NOUN
ap-3040	370	13	.	.	PUNCT
ap-3040	371	1	in	in	ADP
ap-3040	371	2	proc	proc	PROPN
ap-3040	371	3	.	.	PUNCT
ap-3040	372	1	of	of	ADP
ap-3040	372	2	aaai	aaai	PROPN
ap-3040	372	3	,	,	PUNCT
ap-3040	372	4	pp	pp	ADJ
ap-3040	372	5	.	.	PUNCT
ap-3040	373	1	133–139	133–139	NUM
ap-3040	373	2	.	.	PUNCT
ap-3040	373	3	2005	2005	NUM
ap-3040	373	4	.	.	PUNCT
ap-3040	374	1	[	[	X
ap-3040	374	2	20	20	NUM
ap-3040	374	3	]	]	PUNCT
ap-3040	374	4	f.	f.	PROPN
ap-3040	374	5	s.	s.	PROPN
ap-3040	374	6	melo	melo	PROPN
ap-3040	374	7	,	,	PUNCT
ap-3040	374	8	m.	m.	NOUN
ap-3040	374	9	m.	m.	PROPN
ap-3040	374	10	veloso	veloso	PROPN
ap-3040	374	11	.	.	PUNCT
ap-3040	375	1	decentralized	decentralize	VERB
ap-3040	375	2	mdps	mdps	NOUN
ap-3040	375	3	with	with	ADP
ap-3040	375	4	sparse	sparse	ADJ
ap-3040	375	5	interactions	interaction	NOUN
ap-3040	375	6	.	.	PUNCT
ap-3040	376	1	artificial	artificial	ADJ
ap-3040	376	2	intelligence	intelligence	NOUN
ap-3040	376	3	175(11):1757	175(11):1757	NOUN
ap-3040	376	4	–	–	PUNCT
ap-3040	376	5	1789	1789	NUM
ap-3040	376	6	,	,	PUNCT
ap-3040	376	7	2011	2011	NUM
ap-3040	376	8	.	.	PUNCT
ap-3040	377	1	doi:10.1016	doi:10.1016	PROPN
ap-3040	377	2	/	/	SYM
ap-3040	377	3	j.artint.2011.05.001	j.artint.2011.05.001	PROPN
ap-3040	377	4	.	.	PUNCT
ap-3040	378	1	[	[	X
ap-3040	378	2	21	21	NUM
ap-3040	378	3	]	]	PUNCT
ap-3040	378	4	a.	a.	NOUN
ap-3040	378	5	canu	canu	PROPN
ap-3040	378	6	,	,	PUNCT
ap-3040	378	7	a.-i	a.-i	PROPN
ap-3040	378	8	.	.	PUNCT
ap-3040	379	1	mouaddib	mouaddib	PROPN
ap-3040	379	2	.	.	PUNCT
ap-3040	380	1	collective	collective	ADJ
ap-3040	380	2	decisiontheoretic	decisiontheoretic	ADJ
ap-3040	380	3	planning	planning	NOUN
ap-3040	380	4	for	for	ADP
ap-3040	380	5	planet	planet	NOUN
ap-3040	380	6	exploration	exploration	NOUN
ap-3040	380	7	.	.	PUNCT
ap-3040	381	1	in	in	ADP
ap-3040	381	2	proc	proc	PROPN
ap-3040	381	3	.	.	PUNCT
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ap-3040	382	2	ictai	ictai	PROPN
ap-3040	382	3	.	.	PUNCT
ap-3040	383	1	2011	2011	NUM
ap-3040	383	2	.	.	PUNCT
ap-3040	384	1	[	[	X
ap-3040	384	2	22	22	NUM
ap-3040	384	3	]	]	PUNCT
ap-3040	384	4	j.	j.	PROPN
ap-3040	384	5	schneider	schneider	PROPN
ap-3040	384	6	,	,	PUNCT
ap-3040	384	7	w.-k	w.-k	PROPN
ap-3040	384	8	.	.	PUNCT
ap-3040	385	1	wong	wong	PROPN
ap-3040	385	2	,	,	PUNCT
ap-3040	385	3	a.	a.	PROPN
ap-3040	385	4	moore	moore	PROPN
ap-3040	385	5	,	,	PUNCT
ap-3040	385	6	m.	m.	NOUN
ap-3040	385	7	riedmiller	riedmiller	NOUN
ap-3040	385	8	.	.	PUNCT
ap-3040	386	1	distributed	distribute	VERB
ap-3040	386	2	value	value	NOUN
ap-3040	386	3	functions	function	NOUN
ap-3040	386	4	.	.	PUNCT
ap-3040	387	1	in	in	ADP
ap-3040	387	2	proc	proc	PROPN
ap-3040	387	3	.	.	PUNCT
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ap-3040	388	2	icml	icml	NOUN
ap-3040	388	3	,	,	PUNCT
ap-3040	388	4	pp	pp	ADJ
ap-3040	388	5	.	.	PUNCT
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ap-3040	389	2	.	.	NOUN
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ap-3040	389	4	.	.	PUNCT
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ap-3040	390	2	23	23	NUM
ap-3040	390	3	]	]	X
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ap-3040	390	6	,	,	PUNCT
ap-3040	390	7	l.	l.	PROPN
ap-3040	390	8	jeanpierre	jeanpierre	PROPN
ap-3040	390	9	,	,	PUNCT
ap-3040	390	10	a.-i	a.-i	PROPN
ap-3040	390	11	.	.	PUNCT
ap-3040	391	1	mouaddib	mouaddib	PROPN
ap-3040	391	2	.	.	PUNCT
ap-3040	392	1	coordinated	coordinate	VERB
ap-3040	392	2	multi	multi	ADJ
ap-3040	392	3	-	-	ADJ
ap-3040	392	4	robot	robot	ADJ
ap-3040	392	5	exploration	exploration	NOUN
ap-3040	392	6	under	under	ADP
ap-3040	392	7	communication	communication	NOUN
ap-3040	392	8	constraints	constraint	NOUN
ap-3040	392	9	using	use	VERB
ap-3040	392	10	decentralized	decentralized	ADJ
ap-3040	392	11	markov	markov	NOUN
ap-3040	392	12	decision	decision	NOUN
ap-3040	392	13	processes	process	NOUN
ap-3040	392	14	.	.	PUNCT
ap-3040	393	1	in	in	ADP
ap-3040	393	2	proc	proc	PROPN
ap-3040	393	3	.	.	PUNCT
ap-3040	394	1	of	of	ADP
ap-3040	394	2	aaai	aaai	PROPN
ap-3040	394	3	.	.	PROPN
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ap-3040	394	5	.	.	PUNCT
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ap-3040	395	2	24	24	NUM
ap-3040	395	3	]	]	X
ap-3040	395	4	s.	s.	PROPN
ap-3040	395	5	le	le	PROPN
ap-3040	395	6	gloannec	gloannec	PROPN
ap-3040	395	7	,	,	PUNCT
ap-3040	395	8	l.	l.	PROPN
ap-3040	395	9	jeanpierre	jeanpierre	PROPN
ap-3040	395	10	,	,	PUNCT
ap-3040	395	11	a.-i	a.-i	PROPN
ap-3040	395	12	.	.	PUNCT
ap-3040	396	1	mouaddib	mouaddib	PROPN
ap-3040	396	2	.	.	PUNCT
ap-3040	397	1	unknown	unknown	ADJ
ap-3040	397	2	area	area	NOUN
ap-3040	397	3	exploration	exploration	NOUN
ap-3040	397	4	with	with	ADP
ap-3040	397	5	an	an	DET
ap-3040	397	6	autonomous	autonomous	ADJ
ap-3040	397	7	robot	robot	NOUN
ap-3040	397	8	using	use	VERB
ap-3040	397	9	markov	markov	NOUN
ap-3040	397	10	decision	decision	NOUN
ap-3040	397	11	processes	process	NOUN
ap-3040	397	12	.	.	PUNCT
ap-3040	398	1	in	in	ADP
ap-3040	398	2	proc	proc	PROPN
ap-3040	398	3	.	.	PUNCT
ap-3040	399	1	of	of	ADP
ap-3040	399	2	taros	taro	NOUN
ap-3040	399	3	,	,	PUNCT
ap-3040	399	4	pp	pp	ADP
ap-3040	399	5	.	.	PUNCT
ap-3040	400	1	119–125	119–125	NUM
ap-3040	400	2	.	.	PUNCT
ap-3040	401	1	2010	2010	NUM
ap-3040	401	2	.	.	PUNCT
ap-3040	402	1	[	[	X
ap-3040	402	2	25	25	NUM
ap-3040	402	3	]	]	X
ap-3040	402	4	l.	l.	PROPN
ap-3040	402	5	matignon	matignon	PROPN
ap-3040	402	6	,	,	PUNCT
ap-3040	402	7	l.	l.	PROPN
ap-3040	402	8	jeanpierre	jeanpierre	PROPN
ap-3040	402	9	,	,	PUNCT
ap-3040	402	10	a.-i	a.-i	PROPN
ap-3040	402	11	.	.	PUNCT
ap-3040	403	1	mouaddib	mouaddib	PROPN
ap-3040	403	2	.	.	PUNCT
ap-3040	404	1	distributed	distribute	VERB
ap-3040	404	2	value	value	NOUN
ap-3040	404	3	functions	function	NOUN
ap-3040	404	4	for	for	ADP
ap-3040	404	5	multi	multi	ADJ
ap-3040	404	6	-	-	ADJ
ap-3040	404	7	robot	robot	ADJ
ap-3040	404	8	exploration	exploration	NOUN
ap-3040	404	9	.	.	PUNCT
ap-3040	405	1	in	in	ADP
ap-3040	405	2	proc	proc	PROPN
ap-3040	405	3	.	.	PUNCT
ap-3040	405	4	of	of	ADP
ap-3040	405	5	icra	icra	PROPN
ap-3040	405	6	.	.	PROPN
ap-3040	405	7	2012	2012	NUM
ap-3040	405	8	.	.	PUNCT
ap-3040	406	1	doi:10.1109	doi:10.1109	VERB
ap-3040	406	2	/	/	SYM
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ap-3040	406	4	.	.	PUNCT
ap-3040	407	1	[	[	X
ap-3040	407	2	26	26	NUM
ap-3040	407	3	]	]	PUNCT
ap-3040	407	4	r.	r.	PROPN
ap-3040	407	5	bellman	bellman	PROPN
ap-3040	407	6	.	.	PUNCT
ap-3040	408	1	dynamic	dynamic	ADJ
ap-3040	408	2	programming	programming	NOUN
ap-3040	408	3	:	:	PUNCT
ap-3040	408	4	markov	markov	NOUN
ap-3040	408	5	decision	decision	NOUN
ap-3040	408	6	process	process	NOUN
ap-3040	408	7	.	.	PUNCT
ap-3040	409	1	1957	1957	NUM
ap-3040	409	2	.	.	PUNCT
ap-3040	410	1	[	[	X
ap-3040	410	2	27	27	NUM
ap-3040	410	3	]	]	PUNCT
ap-3040	410	4	j.	j.	PROPN
ap-3040	410	5	e.	e.	PROPN
ap-3040	410	6	bresenham	bresenham	PROPN
ap-3040	410	7	.	.	PUNCT
ap-3040	411	1	algorithm	algorithm	PROPN
ap-3040	411	2	for	for	ADP
ap-3040	411	3	computer	computer	NOUN
ap-3040	411	4	control	control	NOUN
ap-3040	411	5	of	of	ADP
ap-3040	411	6	a	a	DET
ap-3040	411	7	digital	digital	ADJ
ap-3040	411	8	plotter	plotter	NOUN
ap-3040	411	9	.	.	PUNCT
ap-3040	412	1	ibm	ibm	PROPN
ap-3040	412	2	systems	systems	PROPN
ap-3040	412	3	journal	journal	PROPN
ap-3040	412	4	4(1):25–30	4(1):25–30	NUM
ap-3040	412	5	,	,	PUNCT
ap-3040	412	6	1965	1965	NUM
ap-3040	412	7	.	.	PUNCT
ap-3040	413	1	176	176	NUM
ap-3040	413	2	http://dx.doi.org/10.1109/tro.2004.839232	http://dx.doi.org/10.1109/tro.2004.839232	NOUN
ap-3040	413	3	http://dx.doi.org/10.1109/iros.2008.4650734	http://dx.doi.org/10.1109/iros.2008.4650734	PROPN
ap-3040	413	4	http://dx.doi.org/10.1109/robot.2002.1013690	http://dx.doi.org/10.1109/robot.2002.1013690	VERB
ap-3040	413	5	http://dx.doi.org/10.1007/s10514-012-9298-8	http://dx.doi.org/10.1007/s10514-012-9298-8	PROPN
ap-3040	413	6	http://dx.doi.org/10.1109/irds.2002.1041445	http://dx.doi.org/10.1109/irds.2002.1041445	PROPN
ap-3040	413	7	http://dx.doi.org/10.1016/j.artint.2011.05.001	http://dx.doi.org/10.1016/j.artint.2011.05.001	PROPN
ap-3040	413	8	http://dx.doi.org/10.1109/icra.2012.6224937	http://dx.doi.org/10.1109/icra.2012.6224937	PROPN
ap-3040	413	9	acta	acta	PROPN
ap-3040	413	10	polytechnica	polytechnica	PROPN
ap-3040	413	11	55(3):169–176	55(3):169–176	PROPN
ap-3040	413	12	,	,	PUNCT
ap-3040	413	13	2015	2015	NUM
ap-3040	413	14	1	1	NUM
ap-3040	413	15	introduction	introduction	NOUN
ap-3040	413	16	2	2	NUM
ap-3040	413	17	context	context	NOUN
ap-3040	413	18	2.1	2.1	NUM
ap-3040	413	19	the	the	DET
ap-3040	413	20	carotte	carotte	NOUN
ap-3040	413	21	challenge	challenge	NOUN
ap-3040	413	22	2.2	2.2	NUM
ap-3040	413	23	the	the	DET
ap-3040	413	24	robots_malins	robots_malin	NOUN
ap-3040	413	25	system	system	NOUN
ap-3040	413	26	3	3	NUM
ap-3040	413	27	state	state	NOUN
ap-3040	413	28	of	of	ADP
ap-3040	413	29	the	the	DET
ap-3040	413	30	art	art	NOUN
ap-3040	413	31	3.1	3.1	NUM
ap-3040	413	32	multi	multi	ADJ
ap-3040	413	33	-	-	ADJ
ap-3040	413	34	robot	robot	ADJ
ap-3040	413	35	exploration	exploration	NOUN
ap-3040	413	36	3.2	3.2	NUM
ap-3040	413	37	active	active	ADJ
ap-3040	413	38	perception	perception	NOUN
ap-3040	413	39	combined	combine	VERB
ap-3040	413	40	with	with	ADP
ap-3040	413	41	exploration	exploration	NOUN
ap-3040	413	42	4	4	NUM
ap-3040	413	43	interaction	interaction	NOUN
ap-3040	413	44	-	-	PUNCT
ap-3040	413	45	oriented	orient	VERB
ap-3040	413	46	models	model	NOUN
ap-3040	413	47	4.1	4.1	NUM
ap-3040	413	48	background	background	NOUN
ap-3040	413	49	on	on	ADP
ap-3040	413	50	dec	dec	PROPN
ap-3040	413	51	-	-	PUNCT
ap-3040	413	52	mdp	mdp	PROPN
ap-3040	413	53	4.2	4.2	NUM
ap-3040	413	54	interaction	interaction	NOUN
ap-3040	413	55	-	-	PUNCT
ap-3040	413	56	oriented	orient	VERB
ap-3040	413	57	models	model	NOUN
ap-3040	413	58	5	5	NUM
ap-3040	413	59	dvf	dvf	NOUN
ap-3040	413	60	for	for	ADP
ap-3040	413	61	multi	multi	ADJ
ap-3040	413	62	-	-	ADJ
ap-3040	413	63	robot	robot	ADJ
ap-3040	413	64	exploration	exploration	NOUN
ap-3040	413	65	5.1	5.1	NUM
ap-3040	413	66	interaction	interaction	NOUN
ap-3040	413	67	sparse	sparse	ADJ
ap-3040	413	68	dec	dec	PROPN
ap-3040	413	69	-	-	PUNCT
ap-3040	413	70	mdp	mdp	PROPN
ap-3040	413	71	with	with	ADP
ap-3040	413	72	dvf	dvf	PROPN
ap-3040	413	73	5.2	5.2	NUM
ap-3040	413	74	dvf	dvf	PROPN
ap-3040	413	75	applied	apply	VERB
ap-3040	413	76	to	to	ADP
ap-3040	413	77	multi	multi	ADJ
ap-3040	413	78	-	-	ADJ
ap-3040	413	79	robot	robot	ADJ
ap-3040	413	80	exploration	exploration	NOUN
ap-3040	413	81	5.2.1	5.2.1	NUM
ap-3040	413	82	mdp	mdp	NOUN
ap-3040	413	83	model	model	NOUN
ap-3040	413	84	5.2.2	5.2.2	NUM
ap-3040	413	85	dvf	dvf	NOUN
ap-3040	413	86	5.2.3	5.2.3	NUM
ap-3040	413	87	decision	decision	NOUN
ap-3040	413	88	step	step	NOUN
ap-3040	413	89	5.2.4	5.2.4	NUM
ap-3040	413	90	experiments	experiment	NOUN
ap-3040	413	91	6	6	NUM
ap-3040	413	92	planning	planning	NOUN
ap-3040	413	93	to	to	PART
ap-3040	413	94	explore	explore	VERB
ap-3040	413	95	and	and	CCONJ
ap-3040	413	96	perceive	perceive	VERB
ap-3040	413	97	6.1	6.1	NUM
ap-3040	413	98	dvf	dvf	NOUN
ap-3040	413	99	extension	extension	NOUN
ap-3040	413	100	to	to	PART
ap-3040	413	101	improve	improve	VERB
ap-3040	413	102	photo	photo	NOUN
ap-3040	413	103	coverage	coverage	NOUN
ap-3040	413	104	of	of	ADP
ap-3040	413	105	the	the	DET
ap-3040	413	106	space	space	NOUN
ap-3040	413	107	6.2	6.2	NUM
ap-3040	413	108	experiments	experiment	NOUN
ap-3040	413	109	6.2.1	6.2.1	NUM
ap-3040	413	110	simulated	simulate	VERB
ap-3040	413	111	robots	robot	NOUN
ap-3040	413	112	6.2.2	6.2.2	PRON
ap-3040	413	113	results	result	VERB
ap-3040	413	114	7	7	NUM
ap-3040	413	115	conclusion	conclusion	NOUN
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ap-3040	413	117	perspectives	perspective	NOUN
ap-3040	413	118	acknowledgements	acknowledgement	NOUN
ap-3040	413	119	references	reference	NOUN