id	sid	tid	token	lemma	pos
ap-3438	1	1	acta	acta	PROPN
ap-3438	1	2	polytechnica	polytechnica	PROPN
ap-3438	1	3	doi:10.14311	doi:10.14311	PROPN
ap-3438	1	4	/	/	SYM
ap-3438	1	5	app.2016.56.0067	app.2016.56.0067	PROPN
ap-3438	1	6	acta	acta	PROPN
ap-3438	1	7	polytechnica	polytechnica	PROPN
ap-3438	1	8	56(1):67–75	56(1):67–75	NUM
ap-3438	1	9	,	,	PUNCT
ap-3438	1	10	2016	2016	NUM
ap-3438	1	11	©	©	PROPN
ap-3438	1	12	czech	czech	PROPN
ap-3438	1	13	technical	technical	PROPN
ap-3438	1	14	university	university	PROPN
ap-3438	1	15	in	in	ADP
ap-3438	1	16	prague	prague	PROPN
ap-3438	1	17	,	,	PUNCT
ap-3438	1	18	2016	2016	NUM
ap-3438	1	19	available	available	ADJ
ap-3438	1	20	online	online	ADV
ap-3438	1	21	at	at	ADP
ap-3438	1	22	http://ojs.cvut.cz/ojs/index.php/ap	http://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-3438	1	23	adaptive	adaptive	ADJ
ap-3438	1	24	distribution	distribution	NOUN
ap-3438	1	25	of	of	ADP
ap-3438	1	26	a	a	DET
ap-3438	1	27	swarm	swarm	NOUN
ap-3438	1	28	of	of	ADP
ap-3438	1	29	heterogeneous	heterogeneous	ADJ
ap-3438	1	30	robots	robot	NOUN
ap-3438	1	31	amanda	amanda	NOUN
ap-3438	1	32	prorok∗	prorok∗	NOUN
ap-3438	1	33	,	,	PUNCT
ap-3438	1	34	m.	m.	NOUN
ap-3438	1	35	ani	ani	X
ap-3438	1	36	hsieh	hsieh	PROPN
ap-3438	1	37	,	,	PUNCT
ap-3438	1	38	vijay	vijay	NOUN
ap-3438	1	39	kumar	kumar	PROPN
ap-3438	1	40	general	general	ADJ
ap-3438	1	41	robotics	robotic	NOUN
ap-3438	1	42	,	,	PUNCT
ap-3438	1	43	automation	automation	NOUN
ap-3438	1	44	,	,	PUNCT
ap-3438	1	45	sensing	sensing	NOUN
ap-3438	1	46	&	&	CCONJ
ap-3438	1	47	perception	perception	NOUN
ap-3438	1	48	(	(	PUNCT
ap-3438	1	49	grasp	grasp	NOUN
ap-3438	1	50	)	)	PUNCT
ap-3438	1	51	laboratory	laboratory	NOUN
ap-3438	1	52	,	,	PUNCT
ap-3438	1	53	university	university	PROPN
ap-3438	1	54	of	of	ADP
ap-3438	1	55	pennsylvania	pennsylvania	PROPN
ap-3438	1	56	,	,	PUNCT
ap-3438	1	57	philadelphia	philadelphia	PROPN
ap-3438	1	58	,	,	PUNCT
ap-3438	1	59	usa	usa	PROPN
ap-3438	1	60	∗	∗	NOUN
ap-3438	1	61	corresponding	correspond	VERB
ap-3438	1	62	author	author	NOUN
ap-3438	1	63	:	:	PUNCT
ap-3438	1	64	prorok@seas.upenn.edu	prorok@seas.upenn.edu	NUM
ap-3438	1	65	abstract	abstract	NOUN
ap-3438	1	66	.	.	PUNCT
ap-3438	2	1	we	we	PRON
ap-3438	2	2	present	present	VERB
ap-3438	2	3	a	a	DET
ap-3438	2	4	method	method	NOUN
ap-3438	2	5	that	that	PRON
ap-3438	2	6	distributes	distribute	VERB
ap-3438	2	7	a	a	DET
ap-3438	2	8	swarm	swarm	NOUN
ap-3438	2	9	of	of	ADP
ap-3438	2	10	heterogeneous	heterogeneous	ADJ
ap-3438	2	11	robots	robot	NOUN
ap-3438	2	12	among	among	ADP
ap-3438	2	13	a	a	DET
ap-3438	2	14	set	set	NOUN
ap-3438	2	15	of	of	ADP
ap-3438	2	16	tasks	task	NOUN
ap-3438	2	17	that	that	PRON
ap-3438	2	18	require	require	VERB
ap-3438	2	19	specialized	specialized	ADJ
ap-3438	2	20	capabilities	capability	NOUN
ap-3438	2	21	in	in	ADP
ap-3438	2	22	order	order	NOUN
ap-3438	2	23	to	to	PART
ap-3438	2	24	be	be	AUX
ap-3438	2	25	completed	complete	VERB
ap-3438	2	26	.	.	PUNCT
ap-3438	3	1	we	we	PRON
ap-3438	3	2	model	model	VERB
ap-3438	3	3	the	the	DET
ap-3438	3	4	system	system	NOUN
ap-3438	3	5	of	of	ADP
ap-3438	3	6	heterogeneous	heterogeneous	ADJ
ap-3438	3	7	robots	robot	NOUN
ap-3438	3	8	as	as	ADP
ap-3438	3	9	a	a	DET
ap-3438	3	10	community	community	NOUN
ap-3438	3	11	of	of	ADP
ap-3438	3	12	species	specie	NOUN
ap-3438	3	13	,	,	PUNCT
ap-3438	3	14	where	where	SCONJ
ap-3438	3	15	each	each	DET
ap-3438	3	16	species	specie	NOUN
ap-3438	3	17	(	(	PUNCT
ap-3438	3	18	robot	robot	NOUN
ap-3438	3	19	type	type	NOUN
ap-3438	3	20	)	)	PUNCT
ap-3438	3	21	is	be	AUX
ap-3438	3	22	defined	define	VERB
ap-3438	3	23	by	by	ADP
ap-3438	3	24	the	the	DET
ap-3438	3	25	traits	trait	NOUN
ap-3438	3	26	(	(	PUNCT
ap-3438	3	27	capabilities	capability	NOUN
ap-3438	3	28	)	)	PUNCT
ap-3438	3	29	that	that	SCONJ
ap-3438	3	30	it	it	PRON
ap-3438	3	31	owns	own	VERB
ap-3438	3	32	.	.	PUNCT
ap-3438	4	1	our	our	PRON
ap-3438	4	2	method	method	NOUN
ap-3438	4	3	is	be	AUX
ap-3438	4	4	based	base	VERB
ap-3438	4	5	on	on	ADP
ap-3438	4	6	a	a	DET
ap-3438	4	7	continuous	continuous	ADJ
ap-3438	4	8	abstraction	abstraction	NOUN
ap-3438	4	9	of	of	ADP
ap-3438	4	10	the	the	DET
ap-3438	4	11	swarm	swarm	NOUN
ap-3438	4	12	at	at	ADP
ap-3438	4	13	a	a	DET
ap-3438	4	14	macroscopic	macroscopic	ADJ
ap-3438	4	15	level	level	NOUN
ap-3438	4	16	as	as	SCONJ
ap-3438	4	17	we	we	PRON
ap-3438	4	18	model	model	VERB
ap-3438	4	19	robots	robot	NOUN
ap-3438	4	20	switching	switch	VERB
ap-3438	4	21	between	between	ADP
ap-3438	4	22	tasks	task	NOUN
ap-3438	4	23	.	.	PUNCT
ap-3438	5	1	we	we	PRON
ap-3438	5	2	formulate	formulate	VERB
ap-3438	5	3	an	an	DET
ap-3438	5	4	optimization	optimization	NOUN
ap-3438	5	5	problem	problem	NOUN
ap-3438	5	6	that	that	PRON
ap-3438	5	7	produces	produce	VERB
ap-3438	5	8	an	an	DET
ap-3438	5	9	optimal	optimal	ADJ
ap-3438	5	10	set	set	NOUN
ap-3438	5	11	of	of	ADP
ap-3438	5	12	transition	transition	NOUN
ap-3438	5	13	rates	rate	NOUN
ap-3438	5	14	for	for	ADP
ap-3438	5	15	each	each	DET
ap-3438	5	16	species	specie	NOUN
ap-3438	5	17	,	,	PUNCT
ap-3438	5	18	so	so	SCONJ
ap-3438	5	19	that	that	SCONJ
ap-3438	5	20	the	the	DET
ap-3438	5	21	desired	desire	VERB
ap-3438	5	22	trait	trait	NOUN
ap-3438	5	23	distribution	distribution	NOUN
ap-3438	5	24	is	be	AUX
ap-3438	5	25	reached	reach	VERB
ap-3438	5	26	as	as	ADV
ap-3438	5	27	quickly	quickly	ADV
ap-3438	5	28	as	as	ADP
ap-3438	5	29	possible	possible	ADJ
ap-3438	5	30	.	.	PUNCT
ap-3438	6	1	since	since	SCONJ
ap-3438	6	2	our	our	PRON
ap-3438	6	3	method	method	NOUN
ap-3438	6	4	is	be	AUX
ap-3438	6	5	based	base	VERB
ap-3438	6	6	on	on	ADP
ap-3438	6	7	the	the	DET
ap-3438	6	8	derivation	derivation	NOUN
ap-3438	6	9	of	of	ADP
ap-3438	6	10	an	an	DET
ap-3438	6	11	analytical	analytical	ADJ
ap-3438	6	12	gradient	gradient	NOUN
ap-3438	6	13	,	,	PUNCT
ap-3438	6	14	it	it	PRON
ap-3438	6	15	is	be	AUX
ap-3438	6	16	very	very	ADV
ap-3438	6	17	efficient	efficient	ADJ
ap-3438	6	18	with	with	ADP
ap-3438	6	19	respect	respect	NOUN
ap-3438	6	20	to	to	ADP
ap-3438	6	21	state	state	NOUN
ap-3438	6	22	-	-	PUNCT
ap-3438	6	23	of	of	ADP
ap-3438	6	24	-	-	PUNCT
ap-3438	6	25	the	the	DET
ap-3438	6	26	-	-	PUNCT
ap-3438	6	27	art	art	NOUN
ap-3438	6	28	methods	method	NOUN
ap-3438	6	29	.	.	PUNCT
ap-3438	7	1	building	build	VERB
ap-3438	7	2	on	on	ADP
ap-3438	7	3	this	this	DET
ap-3438	7	4	result	result	NOUN
ap-3438	7	5	,	,	PUNCT
ap-3438	7	6	we	we	PRON
ap-3438	7	7	propose	propose	VERB
ap-3438	7	8	a	a	DET
ap-3438	7	9	real	real	ADJ
ap-3438	7	10	-	-	PUNCT
ap-3438	7	11	time	time	NOUN
ap-3438	7	12	optimization	optimization	NOUN
ap-3438	7	13	method	method	NOUN
ap-3438	7	14	that	that	PRON
ap-3438	7	15	enables	enable	VERB
ap-3438	7	16	an	an	DET
ap-3438	7	17	online	online	ADJ
ap-3438	7	18	adaptation	adaptation	NOUN
ap-3438	7	19	of	of	ADP
ap-3438	7	20	transition	transition	NOUN
ap-3438	7	21	rates	rate	NOUN
ap-3438	7	22	.	.	PUNCT
ap-3438	8	1	our	our	PRON
ap-3438	8	2	approach	approach	NOUN
ap-3438	8	3	is	be	AUX
ap-3438	8	4	well	well	ADV
ap-3438	8	5	-	-	PUNCT
ap-3438	8	6	suited	suit	VERB
ap-3438	8	7	for	for	ADP
ap-3438	8	8	real	real	ADJ
ap-3438	8	9	-	-	PUNCT
ap-3438	8	10	time	time	NOUN
ap-3438	8	11	applications	application	NOUN
ap-3438	8	12	that	that	PRON
ap-3438	8	13	rely	rely	VERB
ap-3438	8	14	on	on	ADP
ap-3438	8	15	online	online	ADJ
ap-3438	8	16	redistribution	redistribution	NOUN
ap-3438	8	17	of	of	ADP
ap-3438	8	18	large	large	ADJ
ap-3438	8	19	-	-	PUNCT
ap-3438	8	20	scale	scale	NOUN
ap-3438	8	21	robotic	robotic	ADJ
ap-3438	8	22	systems	system	NOUN
ap-3438	8	23	.	.	PUNCT
ap-3438	9	1	keywords	keyword	NOUN
ap-3438	9	2	:	:	PUNCT
ap-3438	9	3	heterogeneous	heterogeneous	ADJ
ap-3438	9	4	multi	multi	ADJ
ap-3438	9	5	-	-	ADJ
ap-3438	9	6	robot	robot	ADJ
ap-3438	9	7	systems	system	NOUN
ap-3438	9	8	;	;	PUNCT
ap-3438	9	9	swarm	swarm	NOUN
ap-3438	9	10	robotics	robotic	NOUN
ap-3438	9	11	;	;	PUNCT
ap-3438	9	12	stochastic	stochastic	ADJ
ap-3438	9	13	systems	system	NOUN
ap-3438	9	14	;	;	PUNCT
ap-3438	9	15	task	task	NOUN
ap-3438	9	16	allocation	allocation	NOUN
ap-3438	9	17	.	.	PUNCT
ap-3438	10	1	1	1	X
ap-3438	10	2	.	.	X
ap-3438	10	3	introduction	introduction	NOUN
ap-3438	10	4	technological	technological	ADJ
ap-3438	10	5	advances	advance	NOUN
ap-3438	10	6	in	in	ADP
ap-3438	10	7	embedded	embed	VERB
ap-3438	10	8	systems	system	NOUN
ap-3438	10	9	,	,	PUNCT
ap-3438	10	10	such	such	ADJ
ap-3438	10	11	as	as	ADP
ap-3438	10	12	component	component	NOUN
ap-3438	10	13	miniaturization	miniaturization	NOUN
ap-3438	10	14	and	and	CCONJ
ap-3438	10	15	improved	improved	ADJ
ap-3438	10	16	efficiency	efficiency	NOUN
ap-3438	10	17	of	of	ADP
ap-3438	10	18	sensors	sensor	NOUN
ap-3438	10	19	and	and	CCONJ
ap-3438	10	20	actuators	actuator	NOUN
ap-3438	10	21	,	,	PUNCT
ap-3438	10	22	are	be	AUX
ap-3438	10	23	enabling	enable	VERB
ap-3438	10	24	the	the	DET
ap-3438	10	25	deployment	deployment	NOUN
ap-3438	10	26	of	of	ADP
ap-3438	10	27	very	very	ADV
ap-3438	10	28	large	large	ADJ
ap-3438	10	29	-	-	PUNCT
ap-3438	10	30	scale	scale	NOUN
ap-3438	10	31	robot	robot	NOUN
ap-3438	10	32	systems	system	NOUN
ap-3438	10	33	,	,	PUNCT
ap-3438	10	34	i.e.	i.e.	X
ap-3438	10	35	,	,	PUNCT
ap-3438	10	36	swarms	swarm	NOUN
ap-3438	10	37	of	of	ADP
ap-3438	10	38	robots	robot	NOUN
ap-3438	10	39	.	.	PUNCT
ap-3438	11	1	however	however	ADV
ap-3438	11	2	,	,	PUNCT
ap-3438	11	3	the	the	DET
ap-3438	11	4	smaller	small	ADJ
ap-3438	11	5	we	we	PRON
ap-3438	11	6	design	design	VERB
ap-3438	11	7	our	our	PRON
ap-3438	11	8	platforms	platform	NOUN
ap-3438	11	9	,	,	PUNCT
ap-3438	11	10	the	the	DET
ap-3438	11	11	more	more	ADV
ap-3438	11	12	stringent	stringent	ADJ
ap-3438	11	13	the	the	DET
ap-3438	11	14	tradeoffs	tradeoff	NOUN
ap-3438	11	15	we	we	PRON
ap-3438	11	16	need	need	VERB
ap-3438	11	17	to	to	PART
ap-3438	11	18	make	make	VERB
ap-3438	11	19	with	with	ADP
ap-3438	11	20	respect	respect	NOUN
ap-3438	11	21	to	to	ADP
ap-3438	11	22	endowed	endowed	ADJ
ap-3438	11	23	capabilities	capability	NOUN
ap-3438	11	24	.	.	PUNCT
ap-3438	12	1	as	as	ADP
ap-3438	12	2	a	a	DET
ap-3438	12	3	consequence	consequence	NOUN
ap-3438	12	4	,	,	PUNCT
ap-3438	12	5	investigators	investigator	NOUN
ap-3438	12	6	are	be	AUX
ap-3438	12	7	composing	compose	VERB
ap-3438	12	8	their	their	PRON
ap-3438	12	9	robot	robot	NOUN
ap-3438	12	10	systems	system	NOUN
ap-3438	12	11	with	with	ADP
ap-3438	12	12	multiple	multiple	ADJ
ap-3438	12	13	,	,	PUNCT
ap-3438	12	14	heterogeneous	heterogeneous	ADJ
ap-3438	12	15	types	type	NOUN
ap-3438	12	16	of	of	ADP
ap-3438	12	17	robots	robot	NOUN
ap-3438	12	18	in	in	ADP
ap-3438	12	19	order	order	NOUN
ap-3438	12	20	to	to	PART
ap-3438	12	21	tackle	tackle	VERB
ap-3438	12	22	increasingly	increasingly	ADV
ap-3438	12	23	challenging	challenging	ADJ
ap-3438	12	24	tasks	task	NOUN
ap-3438	13	1	[	[	X
ap-3438	13	2	1	1	NUM
ap-3438	13	3	,	,	PUNCT
ap-3438	13	4	2	2	NUM
ap-3438	13	5	]	]	PUNCT
ap-3438	13	6	.	.	PUNCT
ap-3438	14	1	our	our	PRON
ap-3438	14	2	premise	premise	NOUN
ap-3438	14	3	is	be	AUX
ap-3438	14	4	that	that	SCONJ
ap-3438	14	5	,	,	PUNCT
ap-3438	14	6	in	in	ADP
ap-3438	14	7	a	a	DET
ap-3438	14	8	swarm	swarm	NOUN
ap-3438	14	9	of	of	ADP
ap-3438	14	10	robots	robot	NOUN
ap-3438	14	11	,	,	PUNCT
ap-3438	14	12	one	one	NUM
ap-3438	14	13	single	single	ADJ
ap-3438	14	14	type	type	NOUN
ap-3438	14	15	of	of	ADP
ap-3438	14	16	robot	robot	NOUN
ap-3438	14	17	can	can	AUX
ap-3438	14	18	not	not	PART
ap-3438	14	19	cater	cater	VERB
ap-3438	14	20	to	to	ADP
ap-3438	14	21	all	all	DET
ap-3438	14	22	aspects	aspect	NOUN
ap-3438	14	23	of	of	ADP
ap-3438	14	24	the	the	DET
ap-3438	14	25	task	task	NOUN
ap-3438	14	26	at	at	ADP
ap-3438	14	27	hand	hand	NOUN
ap-3438	14	28	,	,	PUNCT
ap-3438	14	29	because	because	SCONJ
ap-3438	14	30	at	at	ADP
ap-3438	14	31	the	the	DET
ap-3438	14	32	individual	individual	ADJ
ap-3438	14	33	level	level	NOUN
ap-3438	14	34	,	,	PUNCT
ap-3438	14	35	it	it	PRON
ap-3438	14	36	is	be	AUX
ap-3438	14	37	governed	govern	VERB
ap-3438	14	38	by	by	ADP
ap-3438	14	39	design	design	NOUN
ap-3438	14	40	rules	rule	NOUN
ap-3438	14	41	that	that	PRON
ap-3438	14	42	limit	limit	VERB
ap-3438	14	43	the	the	DET
ap-3438	14	44	scope	scope	NOUN
ap-3438	14	45	of	of	ADP
ap-3438	14	46	its	its	PRON
ap-3438	14	47	capabilities	capability	NOUN
ap-3438	14	48	.	.	PUNCT
ap-3438	15	1	in	in	ADP
ap-3438	15	2	this	this	DET
ap-3438	15	3	work	work	NOUN
ap-3438	15	4	,	,	PUNCT
ap-3438	15	5	our	our	PRON
ap-3438	15	6	objective	objective	NOUN
ap-3438	15	7	is	be	AUX
ap-3438	15	8	to	to	PART
ap-3438	15	9	distribute	distribute	VERB
ap-3438	15	10	a	a	DET
ap-3438	15	11	swarm	swarm	NOUN
ap-3438	15	12	of	of	ADP
ap-3438	15	13	heterogeneous	heterogeneous	ADJ
ap-3438	15	14	robots	robot	NOUN
ap-3438	15	15	as	as	ADV
ap-3438	15	16	quickly	quickly	ADV
ap-3438	15	17	and	and	CCONJ
ap-3438	15	18	efficiently	efficiently	ADV
ap-3438	15	19	as	as	ADP
ap-3438	15	20	possible	possible	ADJ
ap-3438	15	21	among	among	ADP
ap-3438	15	22	tasks	task	NOUN
ap-3438	15	23	that	that	PRON
ap-3438	15	24	require	require	VERB
ap-3438	15	25	specialized	specialized	ADJ
ap-3438	15	26	competences	competence	NOUN
ap-3438	15	27	.	.	PUNCT
ap-3438	16	1	this	this	DET
ap-3438	16	2	objective	objective	NOUN
ap-3438	16	3	is	be	AUX
ap-3438	16	4	part	part	NOUN
ap-3438	16	5	of	of	ADP
ap-3438	16	6	a	a	DET
ap-3438	16	7	larger	large	ADJ
ap-3438	16	8	vision	vision	NOUN
ap-3438	16	9	to	to	PART
ap-3438	16	10	develop	develop	VERB
ap-3438	16	11	control	control	NOUN
ap-3438	16	12	and	and	CCONJ
ap-3438	16	13	coordination	coordination	NOUN
ap-3438	16	14	strategies	strategy	NOUN
ap-3438	16	15	for	for	ADP
ap-3438	16	16	teams	team	NOUN
ap-3438	16	17	of	of	ADP
ap-3438	16	18	heterogeneous	heterogeneous	ADJ
ap-3438	16	19	robots	robot	NOUN
ap-3438	16	20	with	with	ADP
ap-3438	16	21	specific	specific	ADJ
ap-3438	16	22	capabilities	capability	NOUN
ap-3438	16	23	.	.	PUNCT
ap-3438	17	1	for	for	ADP
ap-3438	17	2	example	example	NOUN
ap-3438	17	3	,	,	PUNCT
ap-3438	17	4	a	a	DET
ap-3438	17	5	larger	large	ADJ
ap-3438	17	6	robot	robot	NOUN
ap-3438	17	7	may	may	AUX
ap-3438	17	8	be	be	AUX
ap-3438	17	9	able	able	ADJ
ap-3438	17	10	to	to	PART
ap-3438	17	11	carry	carry	VERB
ap-3438	17	12	more	more	ADV
ap-3438	17	13	powerful	powerful	ADJ
ap-3438	17	14	sensors	sensor	NOUN
ap-3438	17	15	,	,	PUNCT
ap-3438	17	16	but	but	CCONJ
ap-3438	17	17	may	may	AUX
ap-3438	17	18	be	be	AUX
ap-3438	17	19	less	less	ADV
ap-3438	17	20	agile	agile	ADJ
ap-3438	17	21	than	than	ADP
ap-3438	17	22	its	its	PRON
ap-3438	17	23	smaller	small	ADJ
ap-3438	17	24	counterpart	counterpart	NOUN
ap-3438	17	25	.	.	PUNCT
ap-3438	18	1	or	or	CCONJ
ap-3438	18	2	,	,	PUNCT
ap-3438	18	3	we	we	PRON
ap-3438	18	4	could	could	AUX
ap-3438	18	5	consider	consider	VERB
ap-3438	18	6	the	the	DET
ap-3438	18	7	limited	limited	ADJ
ap-3438	18	8	payload	payload	NOUN
ap-3438	18	9	of	of	ADP
ap-3438	18	10	aerial	aerial	ADJ
ap-3438	18	11	robots	robot	NOUN
ap-3438	18	12	:	:	PUNCT
ap-3438	18	13	if	if	SCONJ
ap-3438	18	14	a	a	DET
ap-3438	18	15	given	give	VERB
ap-3438	18	16	task	task	NOUN
ap-3438	18	17	requires	require	VERB
ap-3438	18	18	rich	rich	ADJ
ap-3438	18	19	sensory	sensory	ADJ
ap-3438	18	20	feedback	feedback	NOUN
ap-3438	18	21	,	,	PUNCT
ap-3438	18	22	multiple	multiple	ADJ
ap-3438	18	23	heterogeneous	heterogeneous	ADJ
ap-3438	18	24	aerial	aerial	ADJ
ap-3438	18	25	robots	robot	NOUN
ap-3438	18	26	can	can	AUX
ap-3438	18	27	complement	complement	VERB
ap-3438	18	28	each	each	DET
ap-3438	18	29	other	other	ADJ
ap-3438	18	30	by	by	ADP
ap-3438	18	31	carrying	carry	VERB
ap-3438	18	32	distinct	distinct	ADJ
ap-3438	18	33	sensors	sensor	NOUN
ap-3438	18	34	,	,	PUNCT
ap-3438	18	35	altogether	altogether	ADV
ap-3438	18	36	more	more	ADJ
ap-3438	18	37	than	than	SCONJ
ap-3438	18	38	a	a	DET
ap-3438	18	39	single	single	ADJ
ap-3438	18	40	one	one	NOUN
ap-3438	18	41	could	could	AUX
ap-3438	18	42	carry	carry	VERB
ap-3438	18	43	on	on	ADP
ap-3438	18	44	its	its	PRON
ap-3438	18	45	own	own	ADJ
ap-3438	18	46	.	.	PUNCT
ap-3438	19	1	initially	initially	ADV
ap-3438	19	2	,	,	PUNCT
ap-3438	19	3	we	we	PRON
ap-3438	19	4	consider	consider	VERB
ap-3438	19	5	tasks	task	NOUN
ap-3438	19	6	that	that	PRON
ap-3438	19	7	are	be	AUX
ap-3438	19	8	to	to	PART
ap-3438	19	9	be	be	AUX
ap-3438	19	10	performed	perform	VERB
ap-3438	19	11	in	in	ADP
ap-3438	19	12	parallel	parallel	NOUN
ap-3438	19	13	,	,	PUNCT
ap-3438	19	14	continuously	continuously	ADV
ap-3438	19	15	,	,	PUNCT
ap-3438	19	16	and	and	CCONJ
ap-3438	19	17	independently	independently	ADV
ap-3438	19	18	,	,	PUNCT
ap-3438	19	19	yet	yet	CCONJ
ap-3438	19	20	we	we	PRON
ap-3438	19	21	develop	develop	VERB
ap-3438	19	22	a	a	DET
ap-3438	19	23	framework	framework	NOUN
ap-3438	19	24	that	that	PRON
ap-3438	19	25	can	can	AUX
ap-3438	19	26	easily	easily	ADV
ap-3438	19	27	be	be	AUX
ap-3438	19	28	extended	extend	VERB
ap-3438	19	29	to	to	PART
ap-3438	19	30	accommodate	accommodate	VERB
ap-3438	19	31	temporal	temporal	ADJ
ap-3438	19	32	and	and	CCONJ
ap-3438	19	33	precedence	precedence	NOUN
ap-3438	19	34	constraints	constraint	NOUN
ap-3438	19	35	.	.	PUNCT
ap-3438	20	1	instances	instance	NOUN
ap-3438	20	2	of	of	ADP
ap-3438	20	3	information	information	NOUN
ap-3438	20	4	gathering	gathering	NOUN
ap-3438	20	5	lend	lend	VERB
ap-3438	20	6	themselves	themselves	PRON
ap-3438	20	7	naturally	naturally	ADV
ap-3438	20	8	to	to	ADP
ap-3438	20	9	our	our	PRON
ap-3438	20	10	problem	problem	NOUN
ap-3438	20	11	formulation	formulation	NOUN
ap-3438	20	12	,	,	PUNCT
ap-3438	20	13	with	with	ADP
ap-3438	20	14	applications	application	NOUN
ap-3438	20	15	to	to	PART
ap-3438	20	16	surveillance	surveillance	VERB
ap-3438	20	17	,	,	PUNCT
ap-3438	20	18	environmental	environmental	ADJ
ap-3438	20	19	monitoring	monitoring	NOUN
ap-3438	20	20	,	,	PUNCT
ap-3438	20	21	and	and	CCONJ
ap-3438	20	22	situational	situational	ADJ
ap-3438	20	23	awareness	awareness	NOUN
ap-3438	20	24	[	[	X
ap-3438	20	25	3–5	3–5	NOUN
ap-3438	20	26	]	]	PUNCT
ap-3438	20	27	.	.	PUNCT
ap-3438	21	1	given	give	VERB
ap-3438	21	2	a	a	DET
ap-3438	21	3	set	set	NOUN
ap-3438	21	4	of	of	ADP
ap-3438	21	5	tasks	task	NOUN
ap-3438	21	6	,	,	PUNCT
ap-3438	21	7	and	and	CCONJ
ap-3438	21	8	knowledge	knowledge	NOUN
ap-3438	21	9	about	about	ADP
ap-3438	21	10	what	what	PRON
ap-3438	21	11	the	the	DET
ap-3438	21	12	task	task	NOUN
ap-3438	21	13	requirements	requirement	NOUN
ap-3438	21	14	are	be	AUX
ap-3438	21	15	,	,	PUNCT
ap-3438	21	16	our	our	PRON
ap-3438	21	17	problem	problem	NOUN
ap-3438	21	18	considers	consider	VERB
ap-3438	21	19	which	which	PRON
ap-3438	21	20	robots	robot	NOUN
ap-3438	21	21	should	should	AUX
ap-3438	21	22	be	be	AUX
ap-3438	21	23	allocated	allocate	VERB
ap-3438	21	24	to	to	ADP
ap-3438	21	25	which	which	DET
ap-3438	21	26	tasks	task	NOUN
ap-3438	21	27	.	.	PUNCT
ap-3438	22	1	this	this	DET
ap-3438	22	2	problem	problem	NOUN
ap-3438	22	3	is	be	AUX
ap-3438	22	4	an	an	DET
ap-3438	22	5	instance	instance	NOUN
ap-3438	22	6	of	of	ADP
ap-3438	22	7	the	the	DET
ap-3438	22	8	mt	mt	PROPN
ap-3438	22	9	-	-	PUNCT
ap-3438	22	10	mr	mr	PROPN
ap-3438	22	11	-	-	PUNCT
ap-3438	22	12	ta	ta	PROPN
ap-3438	22	13	:	:	PUNCT
ap-3438	22	14	multi	multi	ADJ
ap-3438	22	15	-	-	ADJ
ap-3438	22	16	task	task	ADJ
ap-3438	22	17	robots	robot	NOUN
ap-3438	22	18	,	,	PUNCT
ap-3438	22	19	multi	multi	ADJ
ap-3438	22	20	-	-	ADJ
ap-3438	22	21	robot	robot	ADJ
ap-3438	22	22	tasks	task	NOUN
ap-3438	22	23	problem	problem	NOUN
ap-3438	23	1	[	[	X
ap-3438	23	2	6	6	NUM
ap-3438	23	3	]	]	PUNCT
ap-3438	23	4	,	,	PUNCT
ap-3438	23	5	and	and	CCONJ
ap-3438	23	6	can	can	AUX
ap-3438	23	7	be	be	AUX
ap-3438	23	8	reformulated	reformulate	VERB
ap-3438	23	9	as	as	ADP
ap-3438	23	10	a	a	DET
ap-3438	23	11	set	set	NOUN
ap-3438	23	12	-	-	PUNCT
ap-3438	23	13	covering	cover	VERB
ap-3438	23	14	problem	problem	NOUN
ap-3438	23	15	that	that	PRON
ap-3438	23	16	stems	stem	VERB
ap-3438	23	17	from	from	ADP
ap-3438	23	18	combinatorial	combinatorial	ADJ
ap-3438	23	19	optimization	optimization	NOUN
ap-3438	23	20	.	.	PUNCT
ap-3438	24	1	this	this	DET
ap-3438	24	2	concept	concept	NOUN
ap-3438	24	3	considers	consider	VERB
ap-3438	24	4	subsets	subset	NOUN
ap-3438	24	5	of	of	ADP
ap-3438	24	6	robots	robot	NOUN
ap-3438	24	7	in	in	ADP
ap-3438	24	8	a	a	DET
ap-3438	24	9	multi	multi	ADJ
ap-3438	24	10	-	-	ADJ
ap-3438	24	11	robot	robot	ADJ
ap-3438	24	12	system	system	NOUN
ap-3438	24	13	,	,	PUNCT
ap-3438	24	14	and	and	CCONJ
ap-3438	24	15	pairs	pair	VERB
ap-3438	24	16	them	they	PRON
ap-3438	24	17	optimally	optimally	ADV
ap-3438	24	18	(	(	PUNCT
ap-3438	24	19	given	give	VERB
ap-3438	24	20	a	a	DET
ap-3438	24	21	cost	cost	NOUN
ap-3438	24	22	function	function	NOUN
ap-3438	24	23	)	)	PUNCT
ap-3438	24	24	to	to	ADP
ap-3438	24	25	tasks	task	NOUN
ap-3438	24	26	.	.	PUNCT
ap-3438	25	1	this	this	DET
ap-3438	25	2	problem	problem	NOUN
ap-3438	25	3	is	be	AUX
ap-3438	25	4	strongly	strongly	ADV
ap-3438	25	5	np	np	ADV
ap-3438	25	6	-	-	ADJ
ap-3438	25	7	hard	hard	ADJ
ap-3438	25	8	[	[	X
ap-3438	25	9	7	7	NUM
ap-3438	25	10	]	]	PUNCT
ap-3438	25	11	.	.	PUNCT
ap-3438	26	1	a	a	DET
ap-3438	26	2	number	number	NOUN
ap-3438	26	3	of	of	ADP
ap-3438	26	4	heuristic	heuristic	ADJ
ap-3438	26	5	algorithms	algorithm	NOUN
ap-3438	26	6	have	have	AUX
ap-3438	26	7	been	be	AUX
ap-3438	26	8	proposed	propose	VERB
ap-3438	26	9	.	.	PUNCT
ap-3438	27	1	however	however	ADV
ap-3438	27	2	,	,	PUNCT
ap-3438	27	3	the	the	DET
ap-3438	27	4	running	run	VERB
ap-3438	27	5	times	time	NOUN
ap-3438	27	6	of	of	ADP
ap-3438	27	7	these	these	DET
ap-3438	27	8	algorithms	algorithm	NOUN
ap-3438	27	9	are	be	AUX
ap-3438	27	10	functions	function	NOUN
ap-3438	27	11	of	of	ADP
ap-3438	27	12	the	the	DET
ap-3438	27	13	sizes	size	NOUN
ap-3438	27	14	of	of	ADP
ap-3438	27	15	the	the	DET
ap-3438	27	16	feasible	feasible	ADJ
ap-3438	27	17	subsets	subset	NOUN
ap-3438	27	18	(	(	PUNCT
ap-3438	27	19	of	of	ADP
ap-3438	27	20	robots	robot	NOUN
ap-3438	27	21	paired	pair	VERB
ap-3438	27	22	to	to	ADP
ap-3438	27	23	a	a	DET
ap-3438	27	24	task	task	NOUN
ap-3438	27	25	)	)	PUNCT
ap-3438	27	26	,	,	PUNCT
ap-3438	27	27	and	and	CCONJ
ap-3438	27	28	hence	hence	ADV
ap-3438	27	29	,	,	PUNCT
ap-3438	27	30	become	become	VERB
ap-3438	27	31	very	very	ADV
ap-3438	27	32	expensive	expensive	ADJ
ap-3438	27	33	for	for	ADP
ap-3438	27	34	large	large	ADJ
ap-3438	27	35	robot	robot	NOUN
ap-3438	27	36	teams	team	NOUN
ap-3438	27	37	and	and	CCONJ
ap-3438	27	38	swarms	swarm	NOUN
ap-3438	27	39	.	.	PUNCT
ap-3438	28	1	furthermore	furthermore	ADV
ap-3438	28	2	,	,	PUNCT
ap-3438	28	3	the	the	DET
ap-3438	28	4	algorithms	algorithm	NOUN
ap-3438	28	5	are	be	AUX
ap-3438	28	6	penalized	penalize	VERB
ap-3438	28	7	when	when	SCONJ
ap-3438	28	8	multiple	multiple	ADJ
ap-3438	28	9	robot	robot	NOUN
ap-3438	28	10	-	-	PUNCT
ap-3438	28	11	subset	subset	NOUN
ap-3438	28	12	-	-	PUNCT
ap-3438	28	13	to	to	ADP
ap-3438	28	14	-	-	PUNCT
ap-3438	28	15	task	task	NOUN
ap-3438	28	16	combinations	combination	NOUN
ap-3438	28	17	are	be	AUX
ap-3438	28	18	feasible	feasible	ADJ
ap-3438	28	19	(	(	PUNCT
ap-3438	28	20	this	this	PRON
ap-3438	28	21	is	be	AUX
ap-3438	28	22	the	the	DET
ap-3438	28	23	case	case	NOUN
ap-3438	28	24	,	,	PUNCT
ap-3438	28	25	for	for	ADP
ap-3438	28	26	example	example	NOUN
ap-3438	28	27	,	,	PUNCT
ap-3438	28	28	when	when	SCONJ
ap-3438	28	29	robots	robot	NOUN
ap-3438	28	30	have	have	AUX
ap-3438	28	31	overlapping	overlap	VERB
ap-3438	28	32	capabilities	capability	NOUN
ap-3438	28	33	)	)	PUNCT
ap-3438	28	34	.	.	PUNCT
ap-3438	29	1	these	these	DET
ap-3438	29	2	algorithms	algorithm	NOUN
ap-3438	29	3	are	be	AUX
ap-3438	29	4	not	not	PART
ap-3438	29	5	suitable	suitable	ADJ
ap-3438	29	6	for	for	ADP
ap-3438	29	7	large	large	ADJ
ap-3438	29	8	-	-	PUNCT
ap-3438	29	9	scale	scale	NOUN
ap-3438	29	10	systems	system	NOUN
ap-3438	29	11	,	,	PUNCT
ap-3438	29	12	such	such	ADJ
ap-3438	29	13	as	as	ADP
ap-3438	29	14	robot	robot	NOUN
ap-3438	29	15	swarms	swarm	NOUN
ap-3438	29	16	.	.	PUNCT
ap-3438	30	1	in	in	ADP
ap-3438	30	2	particular	particular	ADJ
ap-3438	30	3	,	,	PUNCT
ap-3438	30	4	for	for	ADP
ap-3438	30	5	systems	system	NOUN
ap-3438	30	6	that	that	PRON
ap-3438	30	7	are	be	AUX
ap-3438	30	8	required	require	VERB
ap-3438	30	9	to	to	PART
ap-3438	30	10	adapt	adapt	VERB
ap-3438	30	11	to	to	ADP
ap-3438	30	12	changing	change	VERB
ap-3438	30	13	task	task	NOUN
ap-3438	30	14	requirements	requirement	NOUN
ap-3438	30	15	online	online	ADV
ap-3438	30	16	,	,	PUNCT
ap-3438	30	17	we	we	PRON
ap-3438	30	18	need	need	VERB
ap-3438	30	19	to	to	PART
ap-3438	30	20	consider	consider	VERB
ap-3438	30	21	algorithms	algorithm	NOUN
ap-3438	30	22	that	that	PRON
ap-3438	30	23	are	be	AUX
ap-3438	30	24	efficient	efficient	ADJ
ap-3438	30	25	and	and	CCONJ
ap-3438	30	26	implementable	implementable	ADJ
ap-3438	30	27	on	on	ADP
ap-3438	30	28	mobile	mobile	ADJ
ap-3438	30	29	platforms	platform	NOUN
ap-3438	30	30	that	that	PRON
ap-3438	30	31	run	run	VERB
ap-3438	30	32	them	they	PRON
ap-3438	30	33	in	in	ADP
ap-3438	30	34	real	real	ADJ
ap-3438	30	35	-	-	PUNCT
ap-3438	30	36	time	time	NOUN
ap-3438	30	37	.	.	PUNCT
ap-3438	31	1	our	our	PRON
ap-3438	31	2	method	method	NOUN
ap-3438	31	3	builds	build	VERB
ap-3438	31	4	on	on	ADP
ap-3438	31	5	previous	previous	ADJ
ap-3438	31	6	work	work	NOUN
ap-3438	31	7	done	do	VERB
ap-3438	31	8	in	in	ADP
ap-3438	31	9	the	the	DET
ap-3438	31	10	domain	domain	NOUN
ap-3438	31	11	of	of	ADP
ap-3438	31	12	dynamic	dynamic	ADJ
ap-3438	31	13	redistribution	redistribution	NOUN
ap-3438	31	14	of	of	ADP
ap-3438	31	15	homogenous	homogenous	ADJ
ap-3438	31	16	robot	robot	NOUN
ap-3438	31	17	swarms	swarm	NOUN
ap-3438	31	18	[	[	X
ap-3438	31	19	8–10	8–10	NOUN
ap-3438	31	20	]	]	PUNCT
ap-3438	31	21	.	.	PUNCT
ap-3438	32	1	we	we	PRON
ap-3438	32	2	consider	consider	VERB
ap-3438	32	3	a	a	DET
ap-3438	32	4	strategy	strategy	NOUN
ap-3438	32	5	that	that	PRON
ap-3438	32	6	is	be	AUX
ap-3438	32	7	scalable	scalable	ADJ
ap-3438	32	8	in	in	ADP
ap-3438	32	9	the	the	DET
ap-3438	32	10	number	number	NOUN
ap-3438	32	11	of	of	ADP
ap-3438	32	12	robots	robot	NOUN
ap-3438	32	13	and	and	CCONJ
ap-3438	32	14	their	their	PRON
ap-3438	32	15	capabilities	capability	NOUN
ap-3438	32	16	,	,	PUNCT
ap-3438	32	17	and	and	CCONJ
ap-3438	32	18	is	be	AUX
ap-3438	32	19	robust	robust	ADJ
ap-3438	32	20	to	to	ADP
ap-3438	32	21	changes	change	NOUN
ap-3438	32	22	in	in	ADP
ap-3438	32	23	the	the	DET
ap-3438	32	24	robot	robot	NOUN
ap-3438	32	25	population	population	NOUN
ap-3438	32	26	.	.	PUNCT
ap-3438	33	1	the	the	DET
ap-3438	33	2	key	key	ADJ
ap-3438	33	3	property	property	NOUN
ap-3438	33	4	of	of	ADP
ap-3438	33	5	this	this	DET
ap-3438	33	6	strategy	strategy	NOUN
ap-3438	33	7	is	be	AUX
ap-3438	33	8	its	its	PRON
ap-3438	33	9	inherently	inherently	ADV
ap-3438	33	10	decentralized	decentralize	VERB
ap-3438	33	11	architecture	architecture	NOUN
ap-3438	33	12	,	,	PUNCT
ap-3438	33	13	with	with	ADP
ap-3438	33	14	robots	robot	NOUN
ap-3438	33	15	switching	switch	VERB
ap-3438	33	16	between	between	ADP
ap-3438	33	17	behaviors	behavior	NOUN
ap-3438	33	18	(	(	PUNCT
ap-3438	33	19	tasks	task	NOUN
ap-3438	33	20	)	)	PUNCT
ap-3438	33	21	stochastically	stochastically	ADV
ap-3438	33	22	.	.	PUNCT
ap-3438	34	1	this	this	DET
ap-3438	34	2	model	model	NOUN
ap-3438	34	3	is	be	AUX
ap-3438	34	4	inspired	inspire	VERB
ap-3438	34	5	by	by	ADP
ap-3438	34	6	previous	previous	ADJ
ap-3438	34	7	work	work	NOUN
ap-3438	34	8	in	in	ADP
ap-3438	34	9	the	the	DET
ap-3438	34	10	swarm	swarm	NOUN
ap-3438	34	11	-	-	PUNCT
ap-3438	34	12	robotic	robotic	ADJ
ap-3438	34	13	domain	domain	NOUN
ap-3438	34	14	that	that	PRON
ap-3438	34	15	explores	explore	VERB
ap-3438	34	16	self	self	NOUN
ap-3438	34	17	-	-	PUNCT
ap-3438	34	18	organized	organize	VERB
ap-3438	34	19	behavior	behavior	NOUN
ap-3438	34	20	of	of	ADP
ap-3438	34	21	natural	natural	ADJ
ap-3438	34	22	systems	system	NOUN
ap-3438	34	23	[	[	X
ap-3438	34	24	11	11	NUM
ap-3438	34	25	,	,	PUNCT
ap-3438	34	26	12	12	NUM
ap-3438	34	27	]	]	PUNCT
ap-3438	34	28	.	.	PUNCT
ap-3438	35	1	67	67	NUM
ap-3438	35	2	http://dx.doi.org/10.14311/app.2016.56.0067	http://dx.doi.org/10.14311/app.2016.56.0067	NOUN
ap-3438	35	3	http://ojs.cvut.cz/ojs/index.php/ap	http://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-3438	35	4	a.	a.	NOUN
ap-3438	35	5	prorok	prorok	NOUN
ap-3438	35	6	,	,	PUNCT
ap-3438	35	7	m.	m.	NOUN
ap-3438	35	8	ani	ani	X
ap-3438	35	9	hsieh	hsieh	PROPN
ap-3438	35	10	,	,	PUNCT
ap-3438	35	11	vijay	vijay	PROPN
ap-3438	35	12	kumar	kumar	PROPN
ap-3438	35	13	acta	acta	PROPN
ap-3438	35	14	polytechnica	polytechnica	PROPN
ap-3438	35	15	the	the	DET
ap-3438	35	16	present	present	ADJ
ap-3438	35	17	work	work	NOUN
ap-3438	35	18	focuses	focus	VERB
ap-3438	35	19	on	on	ADP
ap-3438	35	20	the	the	DET
ap-3438	35	21	optimization	optimization	NOUN
ap-3438	35	22	of	of	ADP
ap-3438	35	23	transition	transition	NOUN
ap-3438	35	24	rates	rate	NOUN
ap-3438	35	25	that	that	PRON
ap-3438	35	26	enables	enable	VERB
ap-3438	35	27	the	the	DET
ap-3438	35	28	robot	robot	NOUN
ap-3438	35	29	swarm	swarm	NOUN
ap-3438	35	30	to	to	PART
ap-3438	35	31	converge	converge	VERB
ap-3438	35	32	quickly	quickly	ADV
ap-3438	35	33	to	to	ADP
ap-3438	35	34	a	a	DET
ap-3438	35	35	configuration	configuration	NOUN
ap-3438	35	36	that	that	PRON
ap-3438	35	37	satisfies	satisfy	VERB
ap-3438	35	38	a	a	DET
ap-3438	35	39	desired	desire	VERB
ap-3438	35	40	trait	trait	NOUN
ap-3438	35	41	distribution	distribution	NOUN
ap-3438	35	42	.	.	PUNCT
ap-3438	36	1	the	the	DET
ap-3438	36	2	key	key	ADJ
ap-3438	36	3	difference	difference	NOUN
ap-3438	36	4	between	between	ADP
ap-3438	36	5	our	our	PRON
ap-3438	36	6	work	work	NOUN
ap-3438	36	7	and	and	CCONJ
ap-3438	36	8	previous	previous	ADJ
ap-3438	36	9	work	work	NOUN
ap-3438	36	10	is	be	AUX
ap-3438	36	11	that	that	SCONJ
ap-3438	36	12	we	we	PRON
ap-3438	36	13	formulate	formulate	VERB
ap-3438	36	14	our	our	PRON
ap-3438	36	15	desired	desire	VERB
ap-3438	36	16	state	state	NOUN
ap-3438	36	17	as	as	ADP
ap-3438	36	18	a	a	DET
ap-3438	36	19	distribution	distribution	NOUN
ap-3438	36	20	of	of	ADP
ap-3438	36	21	traits	trait	NOUN
ap-3438	36	22	among	among	ADP
ap-3438	36	23	sites	site	NOUN
ap-3438	36	24	,	,	PUNCT
ap-3438	36	25	instead	instead	ADV
ap-3438	36	26	of	of	ADP
ap-3438	36	27	specifying	specify	VERB
ap-3438	36	28	the	the	DET
ap-3438	36	29	desired	desire	VERB
ap-3438	36	30	state	state	NOUN
ap-3438	36	31	as	as	ADP
ap-3438	36	32	a	a	DET
ap-3438	36	33	direct	direct	ADJ
ap-3438	36	34	measure	measure	NOUN
ap-3438	36	35	of	of	ADP
ap-3438	36	36	the	the	DET
ap-3438	36	37	robot	robot	NOUN
ap-3438	36	38	distribution	distribution	NOUN
ap-3438	36	39	.	.	PUNCT
ap-3438	37	1	in	in	ADP
ap-3438	37	2	other	other	ADJ
ap-3438	37	3	words	word	NOUN
ap-3438	37	4	,	,	PUNCT
ap-3438	37	5	our	our	PRON
ap-3438	37	6	framework	framework	NOUN
ap-3438	37	7	allows	allow	VERB
ap-3438	37	8	a	a	DET
ap-3438	37	9	user	user	NOUN
ap-3438	37	10	to	to	PART
ap-3438	37	11	specify	specify	VERB
ap-3438	37	12	how	how	SCONJ
ap-3438	37	13	much	much	ADJ
ap-3438	37	14	of	of	ADP
ap-3438	37	15	a	a	DET
ap-3438	37	16	given	give	VERB
ap-3438	37	17	capability	capability	NOUN
ap-3438	37	18	is	be	AUX
ap-3438	37	19	needed	need	VERB
ap-3438	37	20	for	for	ADP
ap-3438	37	21	a	a	DET
ap-3438	37	22	given	give	VERB
ap-3438	37	23	task	task	NOUN
ap-3438	37	24	,	,	PUNCT
ap-3438	37	25	irrespective	irrespective	ADV
ap-3438	37	26	of	of	ADP
ap-3438	37	27	which	which	DET
ap-3438	37	28	robot	robot	NOUN
ap-3438	37	29	type	type	NOUN
ap-3438	37	30	satisfies	satisfie	NOUN
ap-3438	37	31	that	that	PRON
ap-3438	37	32	need	need	VERB
ap-3438	37	33	.	.	PUNCT
ap-3438	38	1	as	as	ADP
ap-3438	38	2	a	a	DET
ap-3438	38	3	consequence	consequence	NOUN
ap-3438	38	4	,	,	PUNCT
ap-3438	38	5	we	we	PRON
ap-3438	38	6	do	do	AUX
ap-3438	38	7	not	not	PART
ap-3438	38	8	employ	employ	VERB
ap-3438	38	9	optimization	optimization	NOUN
ap-3438	38	10	methods	method	NOUN
ap-3438	38	11	that	that	PRON
ap-3438	38	12	utilize	utilize	VERB
ap-3438	38	13	final	final	ADJ
ap-3438	38	14	robot	robot	NOUN
ap-3438	38	15	distributions	distribution	NOUN
ap-3438	38	16	in	in	ADP
ap-3438	38	17	their	their	PRON
ap-3438	38	18	formulations	formulation	NOUN
ap-3438	38	19	(	(	PUNCT
ap-3438	38	20	which	which	PRON
ap-3438	38	21	is	be	AUX
ap-3438	38	22	the	the	DET
ap-3438	38	23	case	case	NOUN
ap-3438	38	24	in	in	ADP
ap-3438	38	25	the	the	DET
ap-3438	38	26	works	work	NOUN
ap-3438	38	27	presented	present	VERB
ap-3438	38	28	by	by	ADP
ap-3438	38	29	[	[	X
ap-3438	38	30	8	8	NUM
ap-3438	38	31	]	]	PUNCT
ap-3438	38	32	and	and	CCONJ
ap-3438	39	1	[	[	X
ap-3438	39	2	13	13	NUM
ap-3438	39	3	]	]	NUM
ap-3438	39	4	)	)	PUNCT
ap-3438	39	5	.	.	PUNCT
ap-3438	40	1	instead	instead	ADV
ap-3438	40	2	,	,	PUNCT
ap-3438	40	3	we	we	PRON
ap-3438	40	4	explicitly	explicitly	ADV
ap-3438	40	5	optimize	optimize	VERB
ap-3438	40	6	the	the	DET
ap-3438	40	7	distribution	distribution	NOUN
ap-3438	40	8	of	of	ADP
ap-3438	40	9	traits	trait	NOUN
ap-3438	40	10	,	,	PUNCT
ap-3438	40	11	and	and	CCONJ
ap-3438	40	12	implicitly	implicitly	ADV
ap-3438	40	13	solve	solve	VERB
ap-3438	40	14	the	the	DET
ap-3438	40	15	combinatorial	combinatorial	ADJ
ap-3438	40	16	problem	problem	NOUN
ap-3438	40	17	of	of	ADP
ap-3438	40	18	distributing	distribute	VERB
ap-3438	40	19	the	the	DET
ap-3438	40	20	right	right	ADJ
ap-3438	40	21	number	number	NOUN
ap-3438	40	22	of	of	ADP
ap-3438	40	23	robots	robot	NOUN
ap-3438	40	24	of	of	ADP
ap-3438	40	25	a	a	DET
ap-3438	40	26	given	give	VERB
ap-3438	40	27	type	type	NOUN
ap-3438	40	28	to	to	ADP
ap-3438	40	29	the	the	DET
ap-3438	40	30	right	right	ADJ
ap-3438	40	31	tasks	task	NOUN
ap-3438	40	32	.	.	PUNCT
ap-3438	41	1	indeed	indeed	ADV
ap-3438	41	2	,	,	PUNCT
ap-3438	41	3	we	we	PRON
ap-3438	41	4	will	will	AUX
ap-3438	41	5	later	later	ADV
ap-3438	41	6	show	show	VERB
ap-3438	41	7	that	that	SCONJ
ap-3438	41	8	there	there	PRON
ap-3438	41	9	are	be	VERB
ap-3438	41	10	cases	case	NOUN
ap-3438	41	11	where	where	SCONJ
ap-3438	41	12	multiple	multiple	ADJ
ap-3438	41	13	final	final	ADJ
ap-3438	41	14	robot	robot	NOUN
ap-3438	41	15	distributions	distribution	NOUN
ap-3438	41	16	satisfy	satisfy	VERB
ap-3438	41	17	the	the	DET
ap-3438	41	18	desired	desire	VERB
ap-3438	41	19	trait	trait	NOUN
ap-3438	41	20	distribution	distribution	NOUN
ap-3438	41	21	.	.	PUNCT
ap-3438	42	1	in	in	ADP
ap-3438	42	2	such	such	ADJ
ap-3438	42	3	cases	case	NOUN
ap-3438	42	4	,	,	PUNCT
ap-3438	42	5	state	state	NOUN
ap-3438	42	6	-	-	PUNCT
ap-3438	42	7	of	of	ADP
ap-3438	42	8	-	-	PUNCT
ap-3438	42	9	the	the	DET
ap-3438	42	10	-	-	PUNCT
ap-3438	42	11	art	art	NOUN
ap-3438	42	12	strategies	strategy	NOUN
ap-3438	42	13	require	require	VERB
ap-3438	42	14	that	that	SCONJ
ap-3438	42	15	we	we	PRON
ap-3438	42	16	first	first	ADV
ap-3438	42	17	determine	determine	VERB
ap-3438	42	18	the	the	DET
ap-3438	42	19	best	good	ADJ
ap-3438	42	20	final	final	ADJ
ap-3438	42	21	robot	robot	NOUN
ap-3438	42	22	distribution	distribution	NOUN
ap-3438	42	23	(	(	PUNCT
ap-3438	42	24	one	one	NOUN
ap-3438	42	25	that	that	PRON
ap-3438	42	26	can	can	AUX
ap-3438	42	27	be	be	AUX
ap-3438	42	28	reached	reach	VERB
ap-3438	42	29	the	the	DET
ap-3438	42	30	fastest	fast	ADJ
ap-3438	42	31	)	)	PUNCT
ap-3438	42	32	,	,	PUNCT
ap-3438	42	33	and	and	CCONJ
ap-3438	42	34	subsequently	subsequently	ADV
ap-3438	42	35	optimize	optimize	VERB
ap-3438	42	36	transition	transition	NOUN
ap-3438	42	37	rates	rate	NOUN
ap-3438	42	38	using	use	VERB
ap-3438	42	39	methods	method	NOUN
ap-3438	42	40	such	such	ADJ
ap-3438	42	41	as	as	ADP
ap-3438	42	42	in	in	ADP
ap-3438	42	43	[	[	NOUN
ap-3438	42	44	8	8	NUM
ap-3438	42	45	]	]	SYM
ap-3438	42	46	.	.	PUNCT
ap-3438	43	1	2	2	X
ap-3438	43	2	.	.	X
ap-3438	43	3	problem	problem	NOUN
ap-3438	43	4	formulation	formulation	NOUN
ap-3438	43	5	heterogeneity	heterogeneity	NOUN
ap-3438	43	6	and	and	CCONJ
ap-3438	43	7	diversity	diversity	NOUN
ap-3438	43	8	are	be	AUX
ap-3438	43	9	core	core	ADJ
ap-3438	43	10	concepts	concept	NOUN
ap-3438	43	11	of	of	ADP
ap-3438	43	12	this	this	DET
ap-3438	43	13	work	work	NOUN
ap-3438	43	14	.	.	PUNCT
ap-3438	44	1	to	to	PART
ap-3438	44	2	develop	develop	VERB
ap-3438	44	3	our	our	PRON
ap-3438	44	4	formalism	formalism	NOUN
ap-3438	44	5	,	,	PUNCT
ap-3438	44	6	we	we	PRON
ap-3438	44	7	will	will	AUX
ap-3438	44	8	borrow	borrow	VERB
ap-3438	44	9	terminology	terminology	NOUN
ap-3438	44	10	from	from	ADP
ap-3438	44	11	biodiversity	biodiversity	NOUN
ap-3438	44	12	literature	literature	NOUN
ap-3438	44	13	[	[	X
ap-3438	44	14	14	14	NUM
ap-3438	44	15	,	,	PUNCT
ap-3438	44	16	15	15	NUM
ap-3438	44	17	]	]	PUNCT
ap-3438	44	18	.	.	PUNCT
ap-3438	45	1	we	we	PRON
ap-3438	45	2	define	define	VERB
ap-3438	45	3	our	our	PRON
ap-3438	45	4	robot	robot	NOUN
ap-3438	45	5	system	system	NOUN
ap-3438	45	6	as	as	ADP
ap-3438	45	7	a	a	DET
ap-3438	45	8	community	community	NOUN
ap-3438	45	9	of	of	ADP
ap-3438	45	10	robots	robot	NOUN
ap-3438	45	11	.	.	PUNCT
ap-3438	46	1	each	each	DET
ap-3438	46	2	robot	robot	NOUN
ap-3438	46	3	belongs	belong	VERB
ap-3438	46	4	to	to	ADP
ap-3438	46	5	a	a	DET
ap-3438	46	6	species	specie	NOUN
ap-3438	46	7	,	,	PUNCT
ap-3438	46	8	defining	define	VERB
ap-3438	46	9	the	the	DET
ap-3438	46	10	unique	unique	ADJ
ap-3438	46	11	set	set	NOUN
ap-3438	46	12	of	of	ADP
ap-3438	46	13	traits	trait	NOUN
ap-3438	46	14	that	that	PRON
ap-3438	46	15	encodes	encode	VERB
ap-3438	46	16	the	the	DET
ap-3438	46	17	robots	robot	NOUN
ap-3438	46	18	’	’	PART
ap-3438	46	19	capabilities	capability	NOUN
ap-3438	46	20	.	.	PUNCT
ap-3438	47	1	in	in	ADP
ap-3438	47	2	this	this	DET
ap-3438	47	3	work	work	NOUN
ap-3438	47	4	,	,	PUNCT
ap-3438	47	5	we	we	PRON
ap-3438	47	6	will	will	AUX
ap-3438	47	7	consider	consider	VERB
ap-3438	47	8	binary	binary	ADJ
ap-3438	47	9	instantiations	instantiation	NOUN
ap-3438	47	10	of	of	ADP
ap-3438	47	11	traits	trait	NOUN
ap-3438	47	12	(	(	PUNCT
ap-3438	47	13	corresponding	correspond	VERB
ap-3438	47	14	to	to	ADP
ap-3438	47	15	the	the	DET
ap-3438	47	16	presence	presence	NOUN
ap-3438	47	17	or	or	CCONJ
ap-3438	47	18	absence	absence	NOUN
ap-3438	47	19	of	of	ADP
ap-3438	47	20	a	a	DET
ap-3438	47	21	given	give	VERB
ap-3438	47	22	trait	trait	NOUN
ap-3438	47	23	in	in	ADP
ap-3438	47	24	a	a	DET
ap-3438	47	25	species	specie	NOUN
ap-3438	47	26	)	)	PUNCT
ap-3438	47	27	.	.	PUNCT
ap-3438	48	1	as	as	ADP
ap-3438	48	2	an	an	DET
ap-3438	48	3	example	example	NOUN
ap-3438	48	4	,	,	PUNCT
ap-3438	48	5	one	one	NUM
ap-3438	48	6	trait	trait	NOUN
ap-3438	48	7	might	might	AUX
ap-3438	48	8	consider	consider	VERB
ap-3438	48	9	the	the	DET
ap-3438	48	10	presence	presence	NOUN
ap-3438	48	11	/	/	SYM
ap-3438	48	12	absence	absence	NOUN
ap-3438	48	13	of	of	ADP
ap-3438	48	14	a	a	DET
ap-3438	48	15	particular	particular	ADJ
ap-3438	48	16	sensor	sensor	NOUN
ap-3438	48	17	,	,	PUNCT
ap-3438	48	18	such	such	ADJ
ap-3438	48	19	as	as	ADP
ap-3438	48	20	a	a	DET
ap-3438	48	21	camera	camera	NOUN
ap-3438	48	22	or	or	CCONJ
ap-3438	48	23	laser	laser	NOUN
ap-3438	48	24	range	range	NOUN
ap-3438	48	25	finder	finder	NOUN
ap-3438	48	26	.	.	PUNCT
ap-3438	49	1	another	another	DET
ap-3438	49	2	trait	trait	NOUN
ap-3438	49	3	might	might	AUX
ap-3438	49	4	consider	consider	VERB
ap-3438	49	5	the	the	DET
ap-3438	49	6	capability	capability	NOUN
ap-3438	49	7	of	of	ADP
ap-3438	49	8	fitting	fit	VERB
ap-3438	49	9	through	through	ADP
ap-3438	49	10	a	a	DET
ap-3438	49	11	passageway	passageway	NOUN
ap-3438	49	12	with	with	ADP
ap-3438	49	13	a	a	DET
ap-3438	49	14	fixed	fix	VERB
ap-3438	49	15	width	width	NOUN
ap-3438	49	16	.	.	PUNCT
ap-3438	50	1	in	in	ADP
ap-3438	50	2	this	this	DET
ap-3438	50	3	work	work	NOUN
ap-3438	50	4	,	,	PUNCT
ap-3438	50	5	we	we	PRON
ap-3438	50	6	assume	assume	VERB
ap-3438	50	7	that	that	SCONJ
ap-3438	50	8	the	the	DET
ap-3438	50	9	tasks	task	NOUN
ap-3438	50	10	have	have	AUX
ap-3438	50	11	been	be	AUX
ap-3438	50	12	encoded	encode	VERB
ap-3438	50	13	through	through	ADP
ap-3438	50	14	binary	binary	ADJ
ap-3438	50	15	characteristics	characteristic	NOUN
ap-3438	50	16	that	that	PRON
ap-3438	50	17	represent	represent	VERB
ap-3438	50	18	the	the	DET
ap-3438	50	19	skill	skill	NOUN
ap-3438	50	20	sets	set	VERB
ap-3438	50	21	critical	critical	ADJ
ap-3438	50	22	to	to	ADP
ap-3438	50	23	task	task	NOUN
ap-3438	50	24	completion	completion	NOUN
ap-3438	50	25	.	.	PUNCT
ap-3438	51	1	2.1	2.1	NUM
ap-3438	51	2	.	.	PUNCT
ap-3438	51	3	notation	notation	NOUN
ap-3438	51	4	we	we	PRON
ap-3438	51	5	consider	consider	VERB
ap-3438	51	6	a	a	DET
ap-3438	51	7	community	community	NOUN
ap-3438	51	8	of	of	ADP
ap-3438	51	9	s	s	NOUN
ap-3438	51	10	robot	robot	NOUN
ap-3438	51	11	species	specie	NOUN
ap-3438	51	12	,	,	PUNCT
ap-3438	51	13	with	with	ADP
ap-3438	51	14	a	a	DET
ap-3438	51	15	total	total	ADJ
ap-3438	51	16	number	number	NOUN
ap-3438	51	17	of	of	ADP
ap-3438	51	18	robots	robot	NOUN
ap-3438	51	19	n	n	CCONJ
ap-3438	51	20	,	,	PUNCT
ap-3438	51	21	and	and	CCONJ
ap-3438	51	22	n	n	CCONJ
ap-3438	51	23	(	(	PUNCT
ap-3438	51	24	s	s	NOUN
ap-3438	51	25	)	)	PUNCT
ap-3438	51	26	robots	robot	NOUN
ap-3438	51	27	per	per	ADP
ap-3438	51	28	species	specie	NOUN
ap-3438	51	29	such	such	ADJ
ap-3438	51	30	that	that	SCONJ
ap-3438	51	31	∑s	∑s	PROPN
ap-3438	51	32	s=1n	s=1n	NOUN
ap-3438	51	33	(	(	PUNCT
ap-3438	51	34	s	s	NOUN
ap-3438	51	35	)	)	PUNCT
ap-3438	51	36	=	=	SYM
ap-3438	51	37	n	n	PROPN
ap-3438	51	38	.	.	PUNCT
ap-3438	52	1	the	the	DET
ap-3438	52	2	community	community	NOUN
ap-3438	52	3	is	be	AUX
ap-3438	52	4	defined	define	VERB
ap-3438	52	5	by	by	ADP
ap-3438	52	6	a	a	DET
ap-3438	52	7	set	set	NOUN
ap-3438	52	8	of	of	ADP
ap-3438	52	9	u	u	NOUN
ap-3438	52	10	traits	trait	NOUN
ap-3438	52	11	,	,	PUNCT
ap-3438	52	12	and	and	CCONJ
ap-3438	52	13	each	each	DET
ap-3438	52	14	robot	robot	NOUN
ap-3438	52	15	species	specie	NOUN
ap-3438	52	16	owns	own	VERB
ap-3438	52	17	a	a	DET
ap-3438	52	18	subset	subset	NOUN
ap-3438	52	19	of	of	ADP
ap-3438	52	20	these	these	DET
ap-3438	52	21	traits	trait	NOUN
ap-3438	52	22	.	.	PUNCT
ap-3438	53	1	a	a	DET
ap-3438	53	2	species	specie	NOUN
ap-3438	53	3	is	be	AUX
ap-3438	53	4	defined	define	VERB
ap-3438	53	5	by	by	ADP
ap-3438	53	6	a	a	DET
ap-3438	53	7	vector	vector	NOUN
ap-3438	53	8	q(s	q(s	NOUN
ap-3438	53	9	)	)	PUNCT
ap-3438	53	10	=	=	PUNCT
ap-3438	54	1	[	[	X
ap-3438	54	2	q(s	q(s	X
ap-3438	54	3	)	)	PUNCT
ap-3438	54	4	1	1	NUM
ap-3438	54	5	,	,	PUNCT
ap-3438	54	6	q	q	X
ap-3438	54	7	(	(	PUNCT
ap-3438	54	8	s	s	NOUN
ap-3438	54	9	)	)	PUNCT
ap-3438	54	10	2	2	NUM
ap-3438	54	11	,	,	PUNCT
ap-3438	54	12	...	...	PUNCT
ap-3438	54	13	,	,	PUNCT
ap-3438	54	14	q	q	X
ap-3438	54	15	(	(	PUNCT
ap-3438	54	16	s	s	NOUN
ap-3438	54	17	)	)	PUNCT
ap-3438	54	18	u	u	NOUN
ap-3438	54	19	]	]	PUNCT
ap-3438	54	20	.	.	PUNCT
ap-3438	55	1	we	we	PRON
ap-3438	55	2	can	can	AUX
ap-3438	55	3	then	then	ADV
ap-3438	55	4	define	define	VERB
ap-3438	55	5	a	a	DET
ap-3438	55	6	s	s	NOUN
ap-3438	55	7	×u	×u	NOUN
ap-3438	55	8	matrix	matrix	NOUN
ap-3438	55	9	q	q	NOUN
ap-3438	55	10	,	,	PUNCT
ap-3438	55	11	with	with	ADP
ap-3438	55	12	rows	row	NOUN
ap-3438	55	13	q(s	q(s	PROPN
ap-3438	55	14	):	):	PUNCT
ap-3438	55	15	qsu	qsu	NOUN
ap-3438	55	16	=	=	SYM
ap-3438	55	17	{	{	PUNCT
ap-3438	55	18	0	0	NUM
ap-3438	55	19	if	if	SCONJ
ap-3438	55	20	species	specie	NOUN
ap-3438	55	21	s	s	VERB
ap-3438	55	22	does	do	AUX
ap-3438	55	23	not	not	PART
ap-3438	55	24	have	have	VERB
ap-3438	55	25	trait	trait	NOUN
ap-3438	55	26	u	u	NOUN
ap-3438	55	27	,	,	PUNCT
ap-3438	55	28	1	1	NUM
ap-3438	55	29	if	if	SCONJ
ap-3438	55	30	species	specie	NOUN
ap-3438	55	31	s	s	VERB
ap-3438	55	32	has	have	VERB
ap-3438	55	33	trait	trait	NOUN
ap-3438	56	1	u.	u.	NOUN
ap-3438	57	1	we	we	PRON
ap-3438	57	2	model	model	VERB
ap-3438	57	3	the	the	DET
ap-3438	57	4	interconnection	interconnection	NOUN
ap-3438	57	5	topology	topology	NOUN
ap-3438	57	6	of	of	ADP
ap-3438	57	7	the	the	DET
ap-3438	57	8	m	m	PROPN
ap-3438	57	9	sites	site	NOUN
ap-3438	57	10	via	via	ADP
ap-3438	57	11	a	a	DET
ap-3438	57	12	directed	direct	VERB
ap-3438	57	13	graph	graph	NOUN
ap-3438	57	14	,	,	PUNCT
ap-3438	57	15	g	g	NOUN
ap-3438	57	16	=	=	SYM
ap-3438	57	17	(	(	PUNCT
ap-3438	57	18	e	e	NOUN
ap-3438	57	19	,	,	PUNCT
ap-3438	57	20	v	v	NOUN
ap-3438	57	21	)	)	PUNCT
ap-3438	57	22	where	where	SCONJ
ap-3438	57	23	the	the	DET
ap-3438	57	24	set	set	NOUN
ap-3438	57	25	of	of	ADP
ap-3438	57	26	vertices	vertex	NOUN
ap-3438	57	27	,	,	PUNCT
ap-3438	57	28	v	v	NOUN
ap-3438	57	29	,	,	PUNCT
ap-3438	57	30	represents	represent	VERB
ap-3438	57	31	task	task	NOUN
ap-3438	57	32	sites	site	NOUN
ap-3438	57	33	{	{	PUNCT
ap-3438	57	34	1	1	NUM
ap-3438	57	35	,	,	PUNCT
ap-3438	57	36	.	.	PUNCT
ap-3438	57	37	.	.	PUNCT
ap-3438	58	1	.	.	PUNCT
ap-3438	59	1	,	,	PUNCT
ap-3438	59	2	m	m	VERB
ap-3438	59	3	}	}	PUNCT
ap-3438	59	4	and	and	CCONJ
ap-3438	59	5	the	the	DET
ap-3438	59	6	set	set	NOUN
ap-3438	59	7	of	of	ADP
ap-3438	59	8	edges	edge	NOUN
ap-3438	59	9	,	,	PUNCT
ap-3438	59	10	e	e	X
ap-3438	59	11	,	,	PUNCT
ap-3438	59	12	represents	represent	VERB
ap-3438	59	13	the	the	DET
ap-3438	59	14	ordered	order	VERB
ap-3438	59	15	pairs	pair	NOUN
ap-3438	59	16	(	(	PUNCT
ap-3438	59	17	i	i	PROPN
ap-3438	59	18	,	,	PUNCT
ap-3438	59	19	j	j	PROPN
ap-3438	59	20	)	)	PUNCT
ap-3438	59	21	,	,	PUNCT
ap-3438	59	22	such	such	ADJ
ap-3438	59	23	that	that	SCONJ
ap-3438	59	24	(	(	PUNCT
ap-3438	59	25	i	i	PROPN
ap-3438	59	26	,	,	PUNCT
ap-3438	59	27	j	j	PROPN
ap-3438	59	28	)	)	PUNCT
ap-3438	59	29	∈	∈	PROPN
ap-3438	59	30	v	v	VERB
ap-3438	59	31	×v	×v	NOUN
ap-3438	59	32	,	,	PUNCT
ap-3438	59	33	and	and	CCONJ
ap-3438	59	34	i	i	PRON
ap-3438	59	35	and	and	CCONJ
ap-3438	59	36	j	j	PROPN
ap-3438	59	37	are	be	AUX
ap-3438	59	38	adjacent	adjacent	ADJ
ap-3438	59	39	.	.	PUNCT
ap-3438	60	1	we	we	PRON
ap-3438	60	2	assume	assume	VERB
ap-3438	60	3	the	the	DET
ap-3438	60	4	graph	graph	NOUN
ap-3438	60	5	g	g	PROPN
ap-3438	60	6	is	be	AUX
ap-3438	60	7	a	a	DET
ap-3438	60	8	strongly	strongly	ADV
ap-3438	60	9	connected	connect	VERB
ap-3438	60	10	graph	graph	NOUN
ap-3438	60	11	,	,	PUNCT
ap-3438	60	12	i.e.	i.e.	X
ap-3438	60	13	,	,	PUNCT
ap-3438	60	14	a	a	DET
ap-3438	60	15	path	path	NOUN
ap-3438	60	16	exists	exist	VERB
ap-3438	60	17	between	between	ADP
ap-3438	60	18	any	any	DET
ap-3438	60	19	pair	pair	NOUN
ap-3438	60	20	of	of	ADP
ap-3438	60	21	vertices	vertex	NOUN
ap-3438	60	22	(	(	PUNCT
ap-3438	60	23	in	in	ADP
ap-3438	60	24	contrast	contrast	NOUN
ap-3438	60	25	to	to	ADP
ap-3438	60	26	a	a	DET
ap-3438	60	27	fully	fully	ADV
ap-3438	60	28	connected	connect	VERB
ap-3438	60	29	graph	graph	NOUN
ap-3438	60	30	,	,	PUNCT
ap-3438	60	31	where	where	SCONJ
ap-3438	60	32	an	an	DET
ap-3438	60	33	edge	edge	NOUN
ap-3438	60	34	exists	exist	VERB
ap-3438	60	35	between	between	ADP
ap-3438	60	36	any	any	DET
ap-3438	60	37	pair	pair	NOUN
ap-3438	60	38	of	of	ADP
ap-3438	60	39	vertices	vertex	NOUN
ap-3438	60	40	)	)	PUNCT
ap-3438	60	41	.	.	PUNCT
ap-3438	61	1	in	in	ADP
ap-3438	61	2	other	other	ADJ
ap-3438	61	3	words	word	NOUN
ap-3438	61	4	,	,	PUNCT
ap-3438	61	5	if	if	SCONJ
ap-3438	61	6	the	the	DET
ap-3438	61	7	nodes	node	NOUN
ap-3438	61	8	in	in	ADP
ap-3438	61	9	our	our	PRON
ap-3438	61	10	graph	graph	NOUN
ap-3438	61	11	are	be	AUX
ap-3438	61	12	physically	physically	ADV
ap-3438	61	13	distributed	distribute	VERB
ap-3438	61	14	sites	site	NOUN
ap-3438	61	15	,	,	PUNCT
ap-3438	61	16	then	then	ADV
ap-3438	61	17	,	,	PUNCT
ap-3438	61	18	via	via	ADP
ap-3438	61	19	some	some	DET
ap-3438	61	20	road	road	NOUN
ap-3438	61	21	,	,	PUNCT
ap-3438	61	22	we	we	PRON
ap-3438	61	23	can	can	AUX
ap-3438	61	24	reach	reach	VERB
ap-3438	61	25	any	any	DET
ap-3438	61	26	other	other	ADJ
ap-3438	61	27	site	site	NOUN
ap-3438	61	28	.	.	PUNCT
ap-3438	62	1	we	we	PRON
ap-3438	62	2	assign	assign	VERB
ap-3438	62	3	every	every	DET
ap-3438	62	4	edge	edge	NOUN
ap-3438	62	5	in	in	ADP
ap-3438	62	6	e	e	PROPN
ap-3438	62	7	a	a	DET
ap-3438	62	8	transition	transition	NOUN
ap-3438	62	9	rate	rate	NOUN
ap-3438	62	10	,	,	PUNCT
ap-3438	62	11	k	k	PROPN
ap-3438	62	12	(	(	PUNCT
ap-3438	62	13	s	s	NOUN
ap-3438	62	14	)	)	PUNCT
ap-3438	62	15	ij	ij	NOUN
ap-3438	62	16	>	>	X
ap-3438	62	17	0	0	PROPN
ap-3438	62	18	,	,	PUNCT
ap-3438	62	19	where	where	SCONJ
ap-3438	62	20	k(s	k(s	PROPN
ap-3438	62	21	)	)	PUNCT
ap-3438	62	22	ij	ij	NOUN
ap-3438	62	23	defines	define	VERB
ap-3438	62	24	the	the	DET
ap-3438	62	25	transition	transition	NOUN
ap-3438	62	26	probability	probability	NOUN
ap-3438	62	27	per	per	ADP
ap-3438	62	28	unit	unit	NOUN
ap-3438	62	29	time	time	NOUN
ap-3438	62	30	for	for	ADP
ap-3438	62	31	one	one	NUM
ap-3438	62	32	robot	robot	NOUN
ap-3438	62	33	of	of	ADP
ap-3438	62	34	species	specie	NOUN
ap-3438	62	35	s	s	VERB
ap-3438	62	36	at	at	ADP
ap-3438	62	37	site	site	NOUN
ap-3438	62	38	i	i	PRON
ap-3438	62	39	to	to	PART
ap-3438	62	40	switch	switch	VERB
ap-3438	62	41	to	to	PART
ap-3438	62	42	site	site	VERB
ap-3438	62	43	j.	j.	PROPN
ap-3438	62	44	here	here	ADV
ap-3438	62	45	k(s	k(s	PROPN
ap-3438	62	46	)	)	PUNCT
ap-3438	62	47	ij	ij	NOUN
ap-3438	62	48	is	be	AUX
ap-3438	62	49	a	a	DET
ap-3438	62	50	stochastic	stochastic	ADJ
ap-3438	62	51	transition	transition	NOUN
ap-3438	62	52	rule	rule	NOUN
ap-3438	62	53	.	.	PUNCT
ap-3438	63	1	we	we	PRON
ap-3438	63	2	assume	assume	VERB
ap-3438	63	3	every	every	DET
ap-3438	63	4	robot	robot	NOUN
ap-3438	63	5	has	have	VERB
ap-3438	63	6	knowledge	knowledge	NOUN
ap-3438	63	7	of	of	ADP
ap-3438	63	8	g	g	PROPN
ap-3438	63	9	as	as	ADV
ap-3438	63	10	well	well	ADV
ap-3438	63	11	as	as	ADP
ap-3438	63	12	all	all	DET
ap-3438	63	13	the	the	DET
ap-3438	63	14	transition	transition	NOUN
ap-3438	63	15	rates	rate	NOUN
ap-3438	63	16	of	of	ADP
ap-3438	63	17	its	its	PRON
ap-3438	63	18	species	specie	NOUN
ap-3438	63	19	k(s	k(s	NOUN
ap-3438	63	20	)	)	PUNCT
ap-3438	64	1	ij	ij	INTJ
ap-3438	64	2	.	.	PUNCT
ap-3438	65	1	we	we	PRON
ap-3438	65	2	note	note	VERB
ap-3438	65	3	that	that	SCONJ
ap-3438	65	4	this	this	DET
ap-3438	65	5	information	information	NOUN
ap-3438	65	6	is	be	AUX
ap-3438	65	7	represented	represent	VERB
ap-3438	65	8	by	by	ADP
ap-3438	65	9	a	a	DET
ap-3438	65	10	small	small	ADJ
ap-3438	65	11	number	number	NOUN
ap-3438	65	12	of	of	ADP
ap-3438	65	13	values	value	NOUN
ap-3438	65	14	(	(	PUNCT
ap-3438	65	15	at	at	ADP
ap-3438	65	16	most	most	ADJ
ap-3438	65	17	m2	m2	PROPN
ap-3438	65	18	·	·	SYM
ap-3438	65	19	s	s	PART
ap-3438	65	20	values	value	NOUN
ap-3438	65	21	,	,	PUNCT
ap-3438	65	22	or	or	CCONJ
ap-3438	65	23	much	much	ADV
ap-3438	65	24	less	less	ADJ
ap-3438	65	25	if	if	SCONJ
ap-3438	65	26	the	the	DET
ap-3438	65	27	graph	graph	NOUN
ap-3438	65	28	is	be	AUX
ap-3438	65	29	sparse	sparse	ADJ
ap-3438	65	30	)	)	PUNCT
ap-3438	65	31	,	,	PUNCT
ap-3438	65	32	and	and	CCONJ
ap-3438	65	33	needs	need	VERB
ap-3438	65	34	to	to	PART
ap-3438	65	35	be	be	AUX
ap-3438	65	36	transmitted	transmit	VERB
ap-3438	65	37	to	to	ADP
ap-3438	65	38	the	the	DET
ap-3438	65	39	robots	robot	NOUN
ap-3438	65	40	only	only	ADV
ap-3438	65	41	once	once	ADV
ap-3438	65	42	,	,	PUNCT
ap-3438	65	43	at	at	ADP
ap-3438	65	44	the	the	DET
ap-3438	65	45	start	start	NOUN
ap-3438	65	46	of	of	ADP
ap-3438	65	47	a	a	DET
ap-3438	65	48	run	run	NOUN
ap-3438	65	49	.	.	PUNCT
ap-3438	66	1	we	we	PRON
ap-3438	66	2	impose	impose	VERB
ap-3438	66	3	a	a	DET
ap-3438	66	4	limitation	limitation	NOUN
ap-3438	66	5	on	on	ADP
ap-3438	66	6	the	the	DET
ap-3438	66	7	maximum	maximum	ADJ
ap-3438	66	8	rate	rate	NOUN
ap-3438	66	9	of	of	ADP
ap-3438	66	10	each	each	DET
ap-3438	66	11	edge	edge	NOUN
ap-3438	66	12	with	with	ADP
ap-3438	66	13	k(s	k(s	PROPN
ap-3438	66	14	)	)	PUNCT
ap-3438	66	15	ij	ij	ADP
ap-3438	66	16	<	<	X
ap-3438	66	17	k	k	X
ap-3438	66	18	(	(	PUNCT
ap-3438	66	19	s	s	NOUN
ap-3438	66	20	)	)	PUNCT
ap-3438	66	21	ij	ij	NOUN
ap-3438	66	22	,	,	PUNCT
ap-3438	66	23	max	max	PROPN
ap-3438	66	24	.	.	PUNCT
ap-3438	67	1	these	these	DET
ap-3438	67	2	values	value	NOUN
ap-3438	67	3	can	can	AUX
ap-3438	67	4	be	be	AUX
ap-3438	67	5	determined	determine	VERB
ap-3438	67	6	by	by	ADP
ap-3438	67	7	applying	apply	VERB
ap-3438	67	8	system	system	NOUN
ap-3438	67	9	identification	identification	NOUN
ap-3438	67	10	methods	method	NOUN
ap-3438	67	11	on	on	ADP
ap-3438	67	12	the	the	DET
ap-3438	67	13	actual	actual	ADJ
ap-3438	67	14	system	system	NOUN
ap-3438	67	15	.	.	PUNCT
ap-3438	68	1	for	for	ADP
ap-3438	68	2	example	example	NOUN
ap-3438	68	3	,	,	PUNCT
ap-3438	68	4	in	in	ADP
ap-3438	68	5	a	a	DET
ap-3438	68	6	system	system	NOUN
ap-3438	68	7	where	where	SCONJ
ap-3438	68	8	nodes	node	NOUN
ap-3438	68	9	represent	represent	VERB
ap-3438	68	10	physically	physically	ADV
ap-3438	68	11	distributed	distribute	VERB
ap-3438	68	12	sites	site	NOUN
ap-3438	68	13	,	,	PUNCT
ap-3438	68	14	the	the	DET
ap-3438	68	15	transition	transition	NOUN
ap-3438	68	16	rate	rate	NOUN
ap-3438	68	17	represents	represent	VERB
ap-3438	68	18	the	the	DET
ap-3438	68	19	rate	rate	NOUN
ap-3438	68	20	with	with	ADP
ap-3438	68	21	which	which	PRON
ap-3438	68	22	a	a	DET
ap-3438	68	23	specific	specific	ADJ
ap-3438	68	24	path	path	NOUN
ap-3438	68	25	is	be	AUX
ap-3438	68	26	chosen	choose	VERB
ap-3438	68	27	.	.	PUNCT
ap-3438	69	1	this	this	DET
ap-3438	69	2	value	value	NOUN
ap-3438	69	3	can	can	AUX
ap-3438	69	4	depend	depend	VERB
ap-3438	69	5	on	on	ADP
ap-3438	69	6	observed	observed	ADJ
ap-3438	69	7	factors	factor	NOUN
ap-3438	69	8	,	,	PUNCT
ap-3438	69	9	such	such	ADJ
ap-3438	69	10	as	as	ADP
ap-3438	69	11	typical	typical	ADJ
ap-3438	69	12	road	road	NOUN
ap-3438	69	13	congestion	congestion	NOUN
ap-3438	69	14	or	or	CCONJ
ap-3438	69	15	the	the	DET
ap-3438	69	16	condition	condition	NOUN
ap-3438	69	17	of	of	ADP
ap-3438	69	18	the	the	DET
ap-3438	69	19	terrain	terrain	NOUN
ap-3438	69	20	.	.	PUNCT
ap-3438	70	1	the	the	DET
ap-3438	70	2	distribution	distribution	NOUN
ap-3438	70	3	of	of	ADP
ap-3438	70	4	the	the	DET
ap-3438	70	5	robots	robot	NOUN
ap-3438	70	6	belonging	belong	VERB
ap-3438	70	7	to	to	ADP
ap-3438	70	8	a	a	DET
ap-3438	70	9	species	species	NOUN
ap-3438	70	10	s	s	VERB
ap-3438	70	11	at	at	ADP
ap-3438	70	12	time	time	NOUN
ap-3438	70	13	t	t	PROPN
ap-3438	70	14	is	be	AUX
ap-3438	70	15	described	describe	VERB
ap-3438	70	16	by	by	ADP
ap-3438	70	17	a	a	DET
ap-3438	70	18	vector	vector	NOUN
ap-3438	70	19	x(s)(t	x(s)(t	NOUN
ap-3438	70	20	)	)	PUNCT
ap-3438	70	21	=	=	PUNCT
ap-3438	71	1	[	[	X
ap-3438	71	2	x(s	x(s	PROPN
ap-3438	71	3	)	)	PUNCT
ap-3438	71	4	1	1	NUM
ap-3438	71	5	(	(	PUNCT
ap-3438	71	6	t	t	NOUN
ap-3438	71	7	)	)	PUNCT
ap-3438	71	8	,	,	PUNCT
ap-3438	71	9	...	...	PUNCT
ap-3438	71	10	,	,	PUNCT
ap-3438	71	11	x(s	x(s	PROPN
ap-3438	71	12	)	)	PUNCT
ap-3438	71	13	m	m	PROPN
ap-3438	71	14	(	(	PUNCT
ap-3438	71	15	t	t	PROPN
ap-3438	71	16	)	)	PUNCT
ap-3438	72	1	]	]	PUNCT
ap-3438	72	2	>	>	PUNCT
ap-3438	72	3	.	.	PUNCT
ap-3438	73	1	then	then	ADV
ap-3438	73	2	,	,	PUNCT
ap-3438	73	3	if	if	SCONJ
ap-3438	73	4	x(s	x(s	PROPN
ap-3438	73	5	)	)	PUNCT
ap-3438	73	6	are	be	AUX
ap-3438	73	7	the	the	DET
ap-3438	73	8	columns	column	NOUN
ap-3438	73	9	of	of	ADP
ap-3438	73	10	x(t	x(t	PROPN
ap-3438	73	11	)	)	PUNCT
ap-3438	73	12	,	,	PUNCT
ap-3438	73	13	and	and	CCONJ
ap-3438	73	14	q(s	q(s	NOUN
ap-3438	73	15	)	)	PUNCT
ap-3438	73	16	are	be	AUX
ap-3438	73	17	the	the	DET
ap-3438	73	18	rows	row	NOUN
ap-3438	73	19	of	of	ADP
ap-3438	73	20	q	q	NOUN
ap-3438	73	21	,	,	PUNCT
ap-3438	73	22	we	we	PRON
ap-3438	73	23	have	have	VERB
ap-3438	73	24	the	the	DET
ap-3438	73	25	m	m	NOUN
ap-3438	73	26	×u	×u	ADP
ap-3438	73	27	matrix	matrix	NOUN
ap-3438	73	28	y	y	NOUN
ap-3438	73	29	that	that	PRON
ap-3438	73	30	describes	describe	VERB
ap-3438	73	31	the	the	DET
ap-3438	73	32	distribution	distribution	NOUN
ap-3438	73	33	of	of	ADP
ap-3438	73	34	traits	trait	NOUN
ap-3438	73	35	on	on	ADP
ap-3438	73	36	sites	site	NOUN
ap-3438	73	37	.	.	PUNCT
ap-3438	74	1	for	for	ADP
ap-3438	74	2	time	time	NOUN
ap-3438	74	3	t	t	NOUN
ap-3438	74	4	this	this	DET
ap-3438	74	5	relationship	relationship	NOUN
ap-3438	74	6	is	be	AUX
ap-3438	74	7	given	give	VERB
ap-3438	74	8	by	by	ADP
ap-3438	74	9	y(t	y(t	PROPN
ap-3438	74	10	)	)	PUNCT
ap-3438	75	1	=	=	SYM
ap-3438	75	2	x(t	x(t	PROPN
ap-3438	75	3	)	)	PUNCT
ap-3438	75	4	·	·	PUNCT
ap-3438	75	5	q	q	X
ap-3438	75	6	(	(	PUNCT
ap-3438	75	7	1	1	NUM
ap-3438	75	8	)	)	PUNCT
ap-3438	75	9	as	as	SCONJ
ap-3438	75	10	we	we	PRON
ap-3438	75	11	will	will	AUX
ap-3438	75	12	see	see	VERB
ap-3438	75	13	in	in	ADP
ap-3438	75	14	section	section	NOUN
ap-3438	75	15	2.3	2.3	NUM
ap-3438	75	16	,	,	PUNCT
ap-3438	75	17	there	there	PRON
ap-3438	75	18	may	may	AUX
ap-3438	75	19	be	be	AUX
ap-3438	75	20	several	several	ADJ
ap-3438	75	21	robot	robot	NOUN
ap-3438	75	22	distributions	distribution	NOUN
ap-3438	75	23	x(t	x(t	PROPN
ap-3438	75	24	)	)	PUNCT
ap-3438	75	25	that	that	PRON
ap-3438	75	26	satisfy	satisfy	VERB
ap-3438	75	27	this	this	DET
ap-3438	75	28	equation	equation	NOUN
ap-3438	75	29	for	for	ADP
ap-3438	75	30	a	a	DET
ap-3438	75	31	given	give	VERB
ap-3438	75	32	y(t	y(t	PROPN
ap-3438	75	33	)	)	PUNCT
ap-3438	75	34	.	.	PUNCT
ap-3438	76	1	2.2	2.2	NUM
ap-3438	76	2	.	.	PUNCT
ap-3438	77	1	problem	problem	NOUN
ap-3438	77	2	statement	statement	NOUN
ap-3438	77	3	the	the	DET
ap-3438	77	4	initial	initial	ADJ
ap-3438	77	5	state	state	NOUN
ap-3438	77	6	of	of	ADP
ap-3438	77	7	the	the	DET
ap-3438	77	8	system	system	NOUN
ap-3438	77	9	is	be	AUX
ap-3438	77	10	described	describe	VERB
ap-3438	77	11	by	by	ADP
ap-3438	77	12	x(0	x(0	PROPN
ap-3438	77	13	)	)	PUNCT
ap-3438	77	14	,	,	PUNCT
ap-3438	77	15	and	and	CCONJ
ap-3438	77	16	hence	hence	ADV
ap-3438	77	17	,	,	PUNCT
ap-3438	77	18	the	the	DET
ap-3438	77	19	initial	initial	ADJ
ap-3438	77	20	configuration	configuration	NOUN
ap-3438	77	21	of	of	ADP
ap-3438	77	22	traits	trait	NOUN
ap-3438	77	23	at	at	ADP
ap-3438	77	24	the	the	DET
ap-3438	77	25	sites	site	NOUN
ap-3438	77	26	is	be	AUX
ap-3438	77	27	described	describe	VERB
ap-3438	77	28	by	by	ADP
ap-3438	77	29	y(0	y(0	PROPN
ap-3438	77	30	)	)	PUNCT
ap-3438	77	31	.	.	PUNCT
ap-3438	78	1	the	the	DET
ap-3438	78	2	time	time	NOUN
ap-3438	78	3	evolution	evolution	NOUN
ap-3438	78	4	of	of	ADP
ap-3438	78	5	the	the	DET
ap-3438	78	6	number	number	NOUN
ap-3438	78	7	of	of	ADP
ap-3438	78	8	robots	robot	NOUN
ap-3438	78	9	of	of	ADP
ap-3438	78	10	species	specie	NOUN
ap-3438	78	11	s	s	VERB
ap-3438	78	12	at	at	ADP
ap-3438	78	13	site	site	NOUN
ap-3438	78	14	i	i	PRON
ap-3438	78	15	is	be	AUX
ap-3438	78	16	given	give	VERB
ap-3438	78	17	by	by	ADP
ap-3438	78	18	a	a	DET
ap-3438	78	19	linear	linear	ADJ
ap-3438	78	20	law	law	NOUN
ap-3438	78	21	dx(s	dx(s	NOUN
ap-3438	78	22	)	)	PUNCT
ap-3438	79	1	i	i	PRON
ap-3438	79	2	dt	dt	X
ap-3438	80	1	=	=	PUNCT
ap-3438	80	2	∑	∑	PUNCT
ap-3438	80	3	∀j|(i	∀j|(i	PROPN
ap-3438	80	4	,	,	PUNCT
ap-3438	80	5	j)∈e	j)∈e	X
ap-3438	80	6	kjix(s	kjix(s	X
ap-3438	80	7	)	)	PUNCT
ap-3438	80	8	i	i	PRON
ap-3438	80	9	(	(	PUNCT
ap-3438	80	10	t)−	t)−	PROPN
ap-3438	80	11	∑	∑	PUNCT
ap-3438	80	12	∀j|(i	∀j|(i	PROPN
ap-3438	80	13	,	,	PUNCT
ap-3438	80	14	j)∈e	j)∈e	X
ap-3438	80	15	kijx(s	kijx(s	PROPN
ap-3438	80	16	)	)	PUNCT
ap-3438	81	1	i	i	PRON
ap-3438	81	2	(	(	PUNCT
ap-3438	81	3	t	t	PROPN
ap-3438	81	4	)	)	PUNCT
ap-3438	81	5	.	.	PUNCT
ap-3438	82	1	(	(	PUNCT
ap-3438	82	2	2	2	X
ap-3438	82	3	)	)	PUNCT
ap-3438	82	4	then	then	ADV
ap-3438	82	5	,	,	PUNCT
ap-3438	82	6	for	for	ADP
ap-3438	82	7	all	all	DET
ap-3438	82	8	species	specie	NOUN
ap-3438	82	9	s	s	PART
ap-3438	82	10	,	,	PUNCT
ap-3438	82	11	our	our	PRON
ap-3438	82	12	base	base	NOUN
ap-3438	82	13	model	model	NOUN
ap-3438	82	14	is	be	AUX
ap-3438	82	15	given	give	VERB
ap-3438	82	16	by	by	ADP
ap-3438	82	17	dx(s	dx(	NOUN
ap-3438	82	18	)	)	PUNCT
ap-3438	82	19	dt	dt	X
ap-3438	83	1	=	=	SYM
ap-3438	83	2	k(s)x(s	k(s)x(s	PROPN
ap-3438	83	3	)	)	PUNCT
ap-3438	83	4	∀s	∀s	PROPN
ap-3438	83	5	∈	∈	PROPN
ap-3438	83	6	1	1	NUM
ap-3438	83	7	,	,	PUNCT
ap-3438	83	8	.	.	PUNCT
ap-3438	83	9	.	.	PUNCT
ap-3438	83	10	.	.	PUNCT
ap-3438	84	1	,	,	PUNCT
ap-3438	84	2	s	s	X
ap-3438	84	3	,	,	PUNCT
ap-3438	84	4	(	(	PUNCT
ap-3438	84	5	3	3	X
ap-3438	84	6	)	)	PUNCT
ap-3438	84	7	where	where	SCONJ
ap-3438	84	8	k(s	k(s	PROPN
ap-3438	84	9	)	)	PUNCT
ap-3438	84	10	∈	∈	PROPN
ap-3438	84	11	rm×m	rm×m	NOUN
ap-3438	84	12	is	be	AUX
ap-3438	84	13	a	a	DET
ap-3438	84	14	rate	rate	NOUN
ap-3438	84	15	matrix	matrix	NOUN
ap-3438	84	16	with	with	ADP
ap-3438	84	17	the	the	DET
ap-3438	84	18	properties	property	NOUN
ap-3438	84	19	k(s)>1	k(s)>1	NOUN
ap-3438	84	20	=	=	SYM
ap-3438	84	21	0	0	NUM
ap-3438	84	22	,	,	PUNCT
ap-3438	84	23	(	(	PUNCT
ap-3438	84	24	4	4	X
ap-3438	84	25	)	)	PUNCT
ap-3438	84	26	k(s	k(s	PROPN
ap-3438	84	27	)	)	PUNCT
ap-3438	84	28	ij	ij	NOUN
ap-3438	84	29	≥	≥	NOUN
ap-3438	84	30	0	0	NUM
ap-3438	84	31	∀(i	∀(i	NUM
ap-3438	84	32	,	,	PUNCT
ap-3438	84	33	j	j	NOUN
ap-3438	84	34	)	)	PUNCT
ap-3438	84	35	∈	∈	PROPN
ap-3438	84	36	e	e	X
ap-3438	84	37	.	.	PUNCT
ap-3438	85	1	(	(	PUNCT
ap-3438	85	2	5	5	NUM
ap-3438	85	3	)	)	PUNCT
ap-3438	85	4	68	68	NUM
ap-3438	85	5	vol	vol	NOUN
ap-3438	85	6	.	.	PUNCT
ap-3438	86	1	56	56	NUM
ap-3438	86	2	no	no	NOUN
ap-3438	86	3	.	.	PUNCT
ap-3438	87	1	1/2016	1/2016	NUM
ap-3438	87	2	adaptive	adaptive	ADJ
ap-3438	87	3	distribution	distribution	NOUN
ap-3438	87	4	of	of	ADP
ap-3438	87	5	a	a	DET
ap-3438	87	6	swarm	swarm	NOUN
ap-3438	87	7	of	of	ADP
ap-3438	87	8	heterogeneous	heterogeneous	ADJ
ap-3438	87	9	robots	robot	NOUN
ap-3438	87	10	these	these	DET
ap-3438	87	11	two	two	NUM
ap-3438	87	12	properties	property	NOUN
ap-3438	87	13	result	result	VERB
ap-3438	87	14	in	in	ADP
ap-3438	87	15	the	the	DET
ap-3438	87	16	following	follow	VERB
ap-3438	87	17	definition	definition	NOUN
ap-3438	87	18	:	:	PUNCT
ap-3438	87	19	k(s	k(s	PRON
ap-3438	87	20	)	)	PUNCT
ap-3438	88	1	ij	ij	NOUN
ap-3438	89	1	=	=	NOUN
ap-3438	89	2			ADJ
ap-3438	89	3	k	k	X
ap-3438	89	4	(	(	PUNCT
ap-3438	89	5	s	s	X
ap-3438	89	6	)	)	PUNCT
ap-3438	89	7	ji	ji	NOUN
ap-3438	89	8	,	,	PUNCT
ap-3438	89	9	if	if	SCONJ
ap-3438	89	10	i	i	PRON
ap-3438	89	11	6=	6=	PROPN
ap-3438	89	12	j	j	PROPN
ap-3438	89	13	,	,	PUNCT
ap-3438	89	14	(	(	PUNCT
ap-3438	89	15	i	i	PROPN
ap-3438	89	16	,	,	PUNCT
ap-3438	89	17	j	j	PROPN
ap-3438	89	18	)	)	PUNCT
ap-3438	89	19	∈	∈	PROPN
ap-3438	89	20	e	e	X
ap-3438	89	21	,	,	PUNCT
ap-3438	89	22	0	0	NUM
ap-3438	89	23	,	,	PUNCT
ap-3438	89	24	if	if	SCONJ
ap-3438	89	25	i	i	PRON
ap-3438	89	26	6=	6=	PROPN
ap-3438	89	27	j	j	PROPN
ap-3438	89	28	,	,	PUNCT
ap-3438	89	29	(	(	PUNCT
ap-3438	89	30	i	i	PROPN
ap-3438	89	31	,	,	PUNCT
ap-3438	89	32	j	j	PROPN
ap-3438	89	33	)	)	PUNCT
ap-3438	89	34	/∈	/∈	PUNCT
ap-3438	90	1	e	e	NOUN
ap-3438	90	2	,	,	PUNCT
ap-3438	90	3	−∑m	−∑m	PROPN
ap-3438	90	4	i=1,(j	i=1,(j	PROPN
ap-3438	90	5	,	,	PUNCT
ap-3438	90	6	i)∈e	i)∈e	PUNCT
ap-3438	90	7	k	k	X
ap-3438	91	1	(	(	PUNCT
ap-3438	91	2	s	s	X
ap-3438	91	3	)	)	PUNCT
ap-3438	91	4	ij	ij	NOUN
ap-3438	91	5	if	if	SCONJ
ap-3438	91	6	i	i	PRON
ap-3438	91	7	=	=	PUNCT
ap-3438	91	8	j.	j.	PROPN
ap-3438	92	1	since	since	SCONJ
ap-3438	92	2	the	the	DET
ap-3438	92	3	total	total	ADJ
ap-3438	92	4	number	number	NOUN
ap-3438	92	5	of	of	ADP
ap-3438	92	6	robots	robot	NOUN
ap-3438	92	7	and	and	CCONJ
ap-3438	92	8	the	the	DET
ap-3438	92	9	number	number	NOUN
ap-3438	92	10	of	of	ADP
ap-3438	92	11	robots	robot	NOUN
ap-3438	92	12	per	per	ADP
ap-3438	92	13	species	specie	NOUN
ap-3438	92	14	is	be	AUX
ap-3438	92	15	conserved	conserve	VERB
ap-3438	92	16	,	,	PUNCT
ap-3438	92	17	the	the	DET
ap-3438	92	18	system	system	NOUN
ap-3438	92	19	in	in	ADP
ap-3438	92	20	eq	eq	NOUN
ap-3438	92	21	.	.	PROPN
ap-3438	92	22	3	3	NUM
ap-3438	92	23	is	be	AUX
ap-3438	92	24	subject	subject	ADJ
ap-3438	92	25	to	to	ADP
ap-3438	92	26	the	the	DET
ap-3438	92	27	constraint	constraint	NOUN
ap-3438	92	28	x	x	X
ap-3438	92	29	>	>	X
ap-3438	92	30	·	·	PUNCT
ap-3438	92	31	1	1	NUM
ap-3438	93	1	=	=	PUNCT
ap-3438	94	1	[	[	X
ap-3438	94	2	n	n	X
ap-3438	94	3	(	(	PUNCT
ap-3438	94	4	1	1	NUM
ap-3438	94	5	)	)	PUNCT
ap-3438	94	6	,	,	PUNCT
ap-3438	94	7	n	n	CCONJ
ap-3438	94	8	(	(	PUNCT
ap-3438	94	9	2	2	NUM
ap-3438	94	10	)	)	PUNCT
ap-3438	94	11	,	,	PUNCT
ap-3438	94	12	.	.	PUNCT
ap-3438	94	13	.	.	PUNCT
ap-3438	95	1	.	.	PUNCT
ap-3438	96	1	,	,	PUNCT
ap-3438	96	2	n	n	X
ap-3438	96	3	(	(	PUNCT
ap-3438	96	4	s	s	NOUN
ap-3438	96	5	)	)	PUNCT
ap-3438	96	6	]	]	PUNCT
ap-3438	96	7	>	>	PUNCT
ap-3438	96	8	.	.	PUNCT
ap-3438	97	1	(	(	PUNCT
ap-3438	97	2	6	6	X
ap-3438	97	3	)	)	PUNCT
ap-3438	97	4	the	the	DET
ap-3438	97	5	goal	goal	NOUN
ap-3438	97	6	is	be	AUX
ap-3438	97	7	to	to	PART
ap-3438	97	8	find	find	VERB
ap-3438	97	9	an	an	DET
ap-3438	97	10	optimal	optimal	ADJ
ap-3438	97	11	rate	rate	NOUN
ap-3438	97	12	matrix	matrix	NOUN
ap-3438	97	13	k(s)f	k(s)f	NOUN
ap-3438	97	14	for	for	ADP
ap-3438	97	15	each	each	DET
ap-3438	97	16	species	specie	NOUN
ap-3438	97	17	s	s	VERB
ap-3438	97	18	so	so	SCONJ
ap-3438	97	19	that	that	SCONJ
ap-3438	97	20	we	we	PRON
ap-3438	97	21	have	have	VERB
ap-3438	97	22	ȳ	ȳ	NOUN
ap-3438	97	23	=	=	SYM
ap-3438	97	24	x̄	x̄	NOUN
ap-3438	97	25	·	·	PUNCT
ap-3438	97	26	q.	q.	PROPN
ap-3438	97	27	(	(	PUNCT
ap-3438	97	28	7	7	NUM
ap-3438	97	29	)	)	PUNCT
ap-3438	97	30	in	in	ADP
ap-3438	97	31	other	other	ADJ
ap-3438	97	32	words	word	NOUN
ap-3438	97	33	,	,	PUNCT
ap-3438	97	34	the	the	DET
ap-3438	97	35	task	task	NOUN
ap-3438	97	36	is	be	AUX
ap-3438	97	37	to	to	PART
ap-3438	97	38	redeploy	redeploy	VERB
ap-3438	97	39	the	the	DET
ap-3438	97	40	robots	robot	NOUN
ap-3438	97	41	of	of	ADP
ap-3438	97	42	each	each	DET
ap-3438	97	43	species	specie	NOUN
ap-3438	97	44	configured	configure	VERB
ap-3438	97	45	according	accord	VERB
ap-3438	97	46	to	to	ADP
ap-3438	97	47	x(0	x(0	PROPN
ap-3438	97	48	)	)	PUNCT
ap-3438	97	49	initially	initially	ADV
ap-3438	97	50	,	,	PUNCT
ap-3438	97	51	so	so	SCONJ
ap-3438	97	52	that	that	SCONJ
ap-3438	97	53	a	a	DET
ap-3438	97	54	desired	desire	VERB
ap-3438	97	55	trait	trait	NOUN
ap-3438	97	56	configuration	configuration	NOUN
ap-3438	97	57	ȳ	ȳ	PROPN
ap-3438	97	58	is	be	AUX
ap-3438	97	59	reached	reach	VERB
ap-3438	97	60	.	.	PUNCT
ap-3438	98	1	in	in	ADP
ap-3438	98	2	doing	do	VERB
ap-3438	98	3	this	this	PRON
ap-3438	98	4	,	,	PUNCT
ap-3438	98	5	we	we	PRON
ap-3438	98	6	reach	reach	VERB
ap-3438	98	7	a	a	DET
ap-3438	98	8	robot	robot	NOUN
ap-3438	98	9	configuration	configuration	NOUN
ap-3438	98	10	x̄	x̄	NOUN
ap-3438	98	11	that	that	PRON
ap-3438	98	12	satisfies	satisfy	VERB
ap-3438	98	13	eq	eq	ADP
ap-3438	98	14	.	.	PROPN
ap-3438	98	15	1	1	NUM
ap-3438	98	16	,	,	PUNCT
ap-3438	98	17	subject	subject	ADJ
ap-3438	98	18	to	to	ADP
ap-3438	98	19	eq	eq	PROPN
ap-3438	98	20	.	.	PROPN
ap-3438	98	21	6	6	NUM
ap-3438	98	22	.	.	NOUN
ap-3438	98	23	2.3	2.3	NUM
ap-3438	98	24	.	.	PUNCT
ap-3438	99	1	system	system	NOUN
ap-3438	99	2	properties	property	NOUN
ap-3438	99	3	since	since	SCONJ
ap-3438	99	4	we	we	PRON
ap-3438	99	5	describe	describe	VERB
ap-3438	99	6	the	the	DET
ap-3438	99	7	desired	desire	VERB
ap-3438	99	8	configuration	configuration	NOUN
ap-3438	99	9	of	of	ADP
ap-3438	99	10	our	our	PRON
ap-3438	99	11	system	system	NOUN
ap-3438	99	12	through	through	ADP
ap-3438	99	13	ȳ	ȳ	PROPN
ap-3438	99	14	,	,	PUNCT
ap-3438	99	15	the	the	DET
ap-3438	99	16	final	final	ADJ
ap-3438	99	17	robot	robot	NOUN
ap-3438	99	18	distribution	distribution	NOUN
ap-3438	99	19	x̄	x̄	PRON
ap-3438	99	20	is	be	AUX
ap-3438	99	21	not	not	PART
ap-3438	99	22	known	know	VERB
ap-3438	99	23	a	a	DET
ap-3438	99	24	priori	priori	ADV
ap-3438	99	25	.	.	PUNCT
ap-3438	100	1	given	give	VERB
ap-3438	100	2	knowledge	knowledge	NOUN
ap-3438	100	3	of	of	ADP
ap-3438	100	4	q	q	NOUN
ap-3438	100	5	we	we	PRON
ap-3438	100	6	can	can	AUX
ap-3438	100	7	infer	infer	VERB
ap-3438	100	8	the	the	DET
ap-3438	100	9	following	follow	VERB
ap-3438	100	10	properties	property	NOUN
ap-3438	100	11	:	:	PUNCT
ap-3438	100	12	if	if	SCONJ
ap-3438	100	13	a	a	DET
ap-3438	100	14	solution	solution	NOUN
ap-3438	100	15	to	to	ADP
ap-3438	100	16	eq	eq	NOUN
ap-3438	100	17	.	.	PROPN
ap-3438	100	18	7	7	NUM
ap-3438	100	19	subject	subject	NOUN
ap-3438	100	20	to	to	ADP
ap-3438	100	21	eq	eq	PROPN
ap-3438	100	22	.	.	PROPN
ap-3438	100	23	6	6	NUM
ap-3438	100	24	exists	exist	VERB
ap-3438	100	25	,	,	PUNCT
ap-3438	100	26	then	then	ADV
ap-3438	100	27	(	(	PUNCT
ap-3438	100	28	1	1	NUM
ap-3438	100	29	.	.	PUNCT
ap-3438	100	30	)	)	PUNCT
ap-3438	101	1	if	if	SCONJ
ap-3438	101	2	rank(q	rank(q	NOUN
ap-3438	101	3	)	)	PUNCT
ap-3438	101	4	<	<	X
ap-3438	101	5	s	s	PROPN
ap-3438	101	6	,	,	PUNCT
ap-3438	101	7	the	the	DET
ap-3438	101	8	system	system	NOUN
ap-3438	101	9	is	be	AUX
ap-3438	101	10	underdetermined	underdetermine	VERB
ap-3438	101	11	,	,	PUNCT
ap-3438	101	12	and	and	CCONJ
ap-3438	101	13	an	an	DET
ap-3438	101	14	infinite	infinite	ADJ
ap-3438	101	15	number	number	NOUN
ap-3438	101	16	of	of	ADP
ap-3438	101	17	solutions	solution	NOUN
ap-3438	101	18	x̄	x̄	PRON
ap-3438	101	19	will	will	AUX
ap-3438	101	20	satisfy	satisfy	VERB
ap-3438	101	21	eq	eq	ADP
ap-3438	101	22	.	.	PROPN
ap-3438	102	1	7	7	X
ap-3438	102	2	.	.	X
ap-3438	102	3	in	in	ADP
ap-3438	102	4	other	other	ADJ
ap-3438	102	5	words	word	NOUN
ap-3438	102	6	,	,	PUNCT
ap-3438	102	7	at	at	ADV
ap-3438	102	8	least	least	ADV
ap-3438	102	9	one	one	NUM
ap-3438	102	10	species	specie	NOUN
ap-3438	102	11	in	in	ADP
ap-3438	102	12	the	the	DET
ap-3438	102	13	system	system	NOUN
ap-3438	102	14	can	can	AUX
ap-3438	102	15	be	be	AUX
ap-3438	102	16	replaced	replace	VERB
ap-3438	102	17	by	by	ADP
ap-3438	102	18	a	a	DET
ap-3438	102	19	combination	combination	NOUN
ap-3438	102	20	of	of	ADP
ap-3438	102	21	the	the	DET
ap-3438	102	22	other	other	ADJ
ap-3438	102	23	species	specie	NOUN
ap-3438	102	24	.	.	PUNCT
ap-3438	103	1	(	(	PUNCT
ap-3438	103	2	2	2	NUM
ap-3438	103	3	.	.	PUNCT
ap-3438	103	4	)	)	PUNCT
ap-3438	104	1	if	if	SCONJ
ap-3438	104	2	rank(q	rank(q	NOUN
ap-3438	104	3	)	)	PUNCT
ap-3438	104	4	=	=	SYM
ap-3438	104	5	s	s	ADJ
ap-3438	104	6	,	,	PUNCT
ap-3438	104	7	only	only	ADV
ap-3438	104	8	one	one	NUM
ap-3438	104	9	solution	solution	NOUN
ap-3438	104	10	x̄	x̄	PRON
ap-3438	104	11	exists	exist	VERB
ap-3438	104	12	that	that	SCONJ
ap-3438	104	13	satisfies	satisfy	VERB
ap-3438	104	14	eq	eq	ADP
ap-3438	104	15	.	.	PROPN
ap-3438	105	1	7	7	X
ap-3438	105	2	.	.	X
ap-3438	105	3	in	in	ADP
ap-3438	105	4	other	other	ADJ
ap-3438	105	5	words	word	NOUN
ap-3438	105	6	,	,	PUNCT
ap-3438	105	7	no	no	DET
ap-3438	105	8	species	specie	NOUN
ap-3438	105	9	in	in	ADP
ap-3438	105	10	the	the	DET
ap-3438	105	11	system	system	NOUN
ap-3438	105	12	can	can	AUX
ap-3438	105	13	be	be	AUX
ap-3438	105	14	expressed	express	VERB
ap-3438	105	15	as	as	ADP
ap-3438	105	16	a	a	DET
ap-3438	105	17	combination	combination	NOUN
ap-3438	105	18	of	of	ADP
ap-3438	105	19	the	the	DET
ap-3438	105	20	other	other	ADJ
ap-3438	105	21	species	specie	NOUN
ap-3438	105	22	.	.	PUNCT
ap-3438	106	1	we	we	PRON
ap-3438	106	2	note	note	VERB
ap-3438	106	3	that	that	SCONJ
ap-3438	106	4	solving	solve	VERB
ap-3438	106	5	case	case	NOUN
ap-3438	106	6	(	(	PUNCT
ap-3438	106	7	1	1	X
ap-3438	106	8	)	)	PUNCT
ap-3438	106	9	is	be	AUX
ap-3438	106	10	relevant	relevant	ADJ
ap-3438	106	11	when	when	SCONJ
ap-3438	106	12	we	we	PRON
ap-3438	106	13	embed	embed	VERB
ap-3438	106	14	redundancy	redundancy	NOUN
ap-3438	106	15	into	into	ADP
ap-3438	106	16	the	the	DET
ap-3438	106	17	robot	robot	NOUN
ap-3438	106	18	system	system	NOUN
ap-3438	106	19	,	,	PUNCT
ap-3438	106	20	and	and	CCONJ
ap-3438	106	21	case	case	NOUN
ap-3438	106	22	(	(	PUNCT
ap-3438	106	23	2	2	X
ap-3438	106	24	)	)	PUNCT
ap-3438	106	25	is	be	AUX
ap-3438	106	26	relevant	relevant	ADJ
ap-3438	106	27	when	when	SCONJ
ap-3438	106	28	we	we	PRON
ap-3438	106	29	consider	consider	VERB
ap-3438	106	30	fully	fully	ADV
ap-3438	106	31	complementary	complementary	ADJ
ap-3438	106	32	robot	robot	NOUN
ap-3438	106	33	species	specie	NOUN
ap-3438	106	34	.	.	PUNCT
ap-3438	107	1	3	3	X
ap-3438	107	2	.	.	X
ap-3438	107	3	methodology	methodology	NOUN
ap-3438	107	4	in	in	ADP
ap-3438	107	5	this	this	DET
ap-3438	107	6	section	section	NOUN
ap-3438	107	7	,	,	PUNCT
ap-3438	107	8	we	we	PRON
ap-3438	107	9	describe	describe	VERB
ap-3438	107	10	our	our	PRON
ap-3438	107	11	methodology	methodology	NOUN
ap-3438	107	12	for	for	ADP
ap-3438	107	13	obtaining	obtain	VERB
ap-3438	107	14	an	an	DET
ap-3438	107	15	optimal	optimal	ADJ
ap-3438	107	16	transition	transition	NOUN
ap-3438	107	17	matrix	matrix	NOUN
ap-3438	107	18	k(s)f	k(s)f	NOUN
ap-3438	107	19	for	for	ADP
ap-3438	107	20	each	each	DET
ap-3438	107	21	species	specie	NOUN
ap-3438	107	22	so	so	SCONJ
ap-3438	107	23	that	that	SCONJ
ap-3438	107	24	the	the	DET
ap-3438	107	25	desired	desire	VERB
ap-3438	107	26	trait	trait	NOUN
ap-3438	107	27	distribution	distribution	NOUN
ap-3438	107	28	is	be	AUX
ap-3438	107	29	reached	reach	VERB
ap-3438	107	30	.	.	PUNCT
ap-3438	108	1	berman	berman	PROPN
ap-3438	108	2	et	et	PROPN
ap-3438	108	3	al	al	PROPN
ap-3438	108	4	.	.	PUNCT
ap-3438	109	1	[	[	X
ap-3438	109	2	8	8	NUM
ap-3438	109	3	]	]	X
ap-3438	109	4	present	present	VERB
ap-3438	109	5	an	an	DET
ap-3438	109	6	exposé	exposé	NOUN
ap-3438	109	7	of	of	ADP
ap-3438	109	8	optimization	optimization	NOUN
ap-3438	109	9	methods	method	NOUN
ap-3438	109	10	that	that	PRON
ap-3438	109	11	can	can	AUX
ap-3438	109	12	be	be	AUX
ap-3438	109	13	used	use	VERB
ap-3438	109	14	to	to	PART
ap-3438	109	15	obtain	obtain	VERB
ap-3438	109	16	optimal	optimal	ADJ
ap-3438	109	17	transition	transition	NOUN
ap-3438	109	18	rates	rate	NOUN
ap-3438	109	19	for	for	ADP
ap-3438	109	20	a	a	DET
ap-3438	109	21	homogenous	homogenous	ADJ
ap-3438	109	22	robot	robot	NOUN
ap-3438	109	23	swarm	swarm	NOUN
ap-3438	109	24	that	that	PRON
ap-3438	109	25	is	be	AUX
ap-3438	109	26	required	require	VERB
ap-3438	109	27	to	to	PART
ap-3438	109	28	converge	converge	VERB
ap-3438	109	29	to	to	ADP
ap-3438	109	30	a	a	DET
ap-3438	109	31	desired	desire	VERB
ap-3438	109	32	distribution	distribution	NOUN
ap-3438	109	33	.	.	PUNCT
ap-3438	110	1	two	two	NUM
ap-3438	110	2	general	general	ADJ
ap-3438	110	3	approaches	approach	NOUN
ap-3438	110	4	are	be	AUX
ap-3438	110	5	considered	consider	VERB
ap-3438	110	6	:	:	PUNCT
ap-3438	110	7	convex	convex	VERB
ap-3438	110	8	optimization	optimization	NOUN
ap-3438	110	9	and	and	CCONJ
ap-3438	110	10	stochastic	stochastic	ADJ
ap-3438	110	11	optimization	optimization	NOUN
ap-3438	110	12	.	.	PUNCT
ap-3438	111	1	the	the	DET
ap-3438	111	2	convex	convex	PROPN
ap-3438	111	3	optimization	optimization	NOUN
ap-3438	111	4	approach	approach	NOUN
ap-3438	111	5	requires	require	VERB
ap-3438	111	6	knowledge	knowledge	NOUN
ap-3438	111	7	of	of	ADP
ap-3438	111	8	the	the	DET
ap-3438	111	9	desired	desire	VERB
ap-3438	111	10	final	final	ADJ
ap-3438	111	11	robot	robot	NOUN
ap-3438	111	12	distribution	distribution	NOUN
ap-3438	111	13	.	.	PUNCT
ap-3438	112	1	indeed	indeed	ADV
ap-3438	112	2	,	,	PUNCT
ap-3438	112	3	our	our	PRON
ap-3438	112	4	problem	problem	NOUN
ap-3438	112	5	formulation	formulation	NOUN
ap-3438	112	6	specifies	specifie	NOUN
ap-3438	112	7	a	a	DET
ap-3438	112	8	desired	desire	VERB
ap-3438	112	9	trait	trait	NOUN
ap-3438	112	10	distribution	distribution	NOUN
ap-3438	112	11	ȳ	ȳ	NOUN
ap-3438	112	12	without	without	ADP
ap-3438	112	13	explicit	explicit	ADJ
ap-3438	112	14	definition	definition	NOUN
ap-3438	112	15	of	of	ADP
ap-3438	112	16	the	the	DET
ap-3438	112	17	final	final	ADJ
ap-3438	112	18	robot	robot	NOUN
ap-3438	112	19	distribution	distribution	NOUN
ap-3438	112	20	x̄.	x̄.	PUNCT
ap-3438	112	21	hence	hence	ADV
ap-3438	112	22	,	,	PUNCT
ap-3438	112	23	convex	convex	VERB
ap-3438	112	24	optimization	optimization	NOUN
ap-3438	112	25	strategies	strategy	NOUN
ap-3438	112	26	as	as	ADP
ap-3438	112	27	in	in	ADP
ap-3438	112	28	[	[	NOUN
ap-3438	112	29	8	8	NUM
ap-3438	112	30	]	]	PUNCT
ap-3438	112	31	are	be	AUX
ap-3438	112	32	not	not	PART
ap-3438	112	33	applicable	applicable	ADJ
ap-3438	112	34	to	to	ADP
ap-3438	112	35	our	our	PRON
ap-3438	112	36	problem	problem	NOUN
ap-3438	112	37	,	,	PUNCT
ap-3438	112	38	unless	unless	SCONJ
ap-3438	112	39	rank(q	rank(q	NOUN
ap-3438	112	40	)	)	PUNCT
ap-3438	112	41	=	=	SYM
ap-3438	112	42	s	s	X
ap-3438	112	43	,	,	PUNCT
ap-3438	112	44	and	and	CCONJ
ap-3438	112	45	we	we	PRON
ap-3438	112	46	can	can	AUX
ap-3438	112	47	infer	infer	VERB
ap-3438	112	48	x̄.	x̄.	PUNCT
ap-3438	112	49	given	give	VERB
ap-3438	112	50	this	this	DET
ap-3438	112	51	rationale	rationale	NOUN
ap-3438	112	52	,	,	PUNCT
ap-3438	112	53	we	we	PRON
ap-3438	112	54	choose	choose	VERB
ap-3438	112	55	an	an	DET
ap-3438	112	56	optimization	optimization	NOUN
ap-3438	112	57	approach	approach	NOUN
ap-3438	112	58	that	that	PRON
ap-3438	112	59	is	be	AUX
ap-3438	112	60	able	able	ADJ
ap-3438	112	61	to	to	PART
ap-3438	112	62	find	find	VERB
ap-3438	112	63	optimal	optimal	ADJ
ap-3438	112	64	transition	transition	NOUN
ap-3438	112	65	rates	rate	NOUN
ap-3438	112	66	with	with	ADP
ap-3438	112	67	knowledge	knowledge	NOUN
ap-3438	112	68	of	of	ADP
ap-3438	112	69	ȳ	ȳ	PROPN
ap-3438	112	70	and	and	CCONJ
ap-3438	112	71	x(0	x(0	PROPN
ap-3438	112	72	)	)	PUNCT
ap-3438	112	73	,	,	PUNCT
ap-3438	112	74	without	without	ADP
ap-3438	112	75	knowledge	knowledge	NOUN
ap-3438	112	76	of	of	ADP
ap-3438	112	77	x̄.	x̄.	PUNCT
ap-3438	112	78	although	although	SCONJ
ap-3438	112	79	fully	fully	ADV
ap-3438	112	80	stochastic	stochastic	ADJ
ap-3438	112	81	schemes	scheme	NOUN
ap-3438	112	82	such	such	ADJ
ap-3438	112	83	as	as	ADP
ap-3438	112	84	metropolis	metropolis	PROPN
ap-3438	112	85	optimization	optimization	NOUN
ap-3438	112	86	have	have	AUX
ap-3438	112	87	been	be	AUX
ap-3438	112	88	shown	show	VERB
ap-3438	112	89	to	to	PART
ap-3438	112	90	produce	produce	VERB
ap-3438	112	91	similar	similar	ADJ
ap-3438	112	92	results	result	NOUN
ap-3438	112	93	[	[	X
ap-3438	112	94	8	8	NUM
ap-3438	112	95	]	]	PUNCT
ap-3438	112	96	,	,	PUNCT
ap-3438	112	97	they	they	PRON
ap-3438	112	98	are	be	AUX
ap-3438	112	99	not	not	PART
ap-3438	112	100	computationally	computationally	ADV
ap-3438	112	101	efficient	efficient	ADJ
ap-3438	112	102	,	,	PUNCT
ap-3438	112	103	and	and	CCONJ
ap-3438	112	104	are	be	AUX
ap-3438	112	105	ill	ill	ADV
ap-3438	112	106	-	-	PUNCT
ap-3438	112	107	suited	suit	VERB
ap-3438	112	108	to	to	ADP
ap-3438	112	109	real	real	ADJ
ap-3438	112	110	-	-	PUNCT
ap-3438	112	111	time	time	NOUN
ap-3438	112	112	applications	application	NOUN
ap-3438	112	113	.	.	PUNCT
ap-3438	113	1	in	in	ADP
ap-3438	113	2	the	the	DET
ap-3438	113	3	following	following	NOUN
ap-3438	113	4	,	,	PUNCT
ap-3438	113	5	we	we	PRON
ap-3438	113	6	present	present	VERB
ap-3438	113	7	a	a	DET
ap-3438	113	8	differentiable	differentiable	ADJ
ap-3438	113	9	objective	objective	ADJ
ap-3438	113	10	function	function	NOUN
ap-3438	113	11	that	that	PRON
ap-3438	113	12	can	can	AUX
ap-3438	113	13	be	be	AUX
ap-3438	113	14	efficiently	efficiently	ADV
ap-3438	113	15	minimized	minimize	VERB
ap-3438	113	16	through	through	ADP
ap-3438	113	17	gradient	gradient	ADJ
ap-3438	113	18	descent	descent	NOUN
ap-3438	113	19	techniques	technique	NOUN
ap-3438	113	20	.	.	PUNCT
ap-3438	114	1	we	we	PRON
ap-3438	114	2	show	show	VERB
ap-3438	114	3	that	that	SCONJ
ap-3438	114	4	our	our	PRON
ap-3438	114	5	method	method	NOUN
ap-3438	114	6	has	have	VERB
ap-3438	114	7	a	a	DET
ap-3438	114	8	computational	computational	ADJ
ap-3438	114	9	complexity	complexity	NOUN
ap-3438	114	10	that	that	PRON
ap-3438	114	11	is	be	AUX
ap-3438	114	12	well	well	ADV
ap-3438	114	13	-	-	PUNCT
ap-3438	114	14	suited	suit	VERB
ap-3438	114	15	to	to	ADP
ap-3438	114	16	real	real	ADJ
ap-3438	114	17	-	-	PUNCT
ap-3438	114	18	time	time	NOUN
ap-3438	114	19	applications	application	NOUN
ap-3438	114	20	.	.	PUNCT
ap-3438	115	1	additionally	additionally	ADV
ap-3438	115	2	,	,	PUNCT
ap-3438	115	3	our	our	PRON
ap-3438	115	4	method	method	NOUN
ap-3438	115	5	explicitly	explicitly	ADV
ap-3438	115	6	minimizes	minimize	VERB
ap-3438	115	7	the	the	DET
ap-3438	115	8	convergence	convergence	NOUN
ap-3438	115	9	time	time	NOUN
ap-3438	115	10	of	of	ADP
ap-3438	115	11	k(s	k(s	PROPN
ap-3438	115	12	)	)	PUNCT
ap-3438	115	13	,	,	PUNCT
ap-3438	115	14	unlike	unlike	ADP
ap-3438	115	15	the	the	DET
ap-3438	115	16	convex	convex	NOUN
ap-3438	115	17	optimization	optimization	NOUN
ap-3438	115	18	methods	method	NOUN
ap-3438	115	19	presented	present	VERB
ap-3438	115	20	in	in	ADP
ap-3438	115	21	[	[	X
ap-3438	115	22	8	8	NUM
ap-3438	115	23	]	]	PUNCT
ap-3438	115	24	which	which	PRON
ap-3438	115	25	approximate	approximate	VERB
ap-3438	115	26	k(s	k(s	PROPN
ap-3438	115	27	)	)	PUNCT
ap-3438	115	28	with	with	ADP
ap-3438	115	29	a	a	DET
ap-3438	115	30	symmetric	symmetric	ADJ
ap-3438	115	31	equivalent	equivalent	NOUN
ap-3438	115	32	(	(	PUNCT
ap-3438	115	33	forcing	force	VERB
ap-3438	115	34	bidirectionally	bidirectionally	ADV
ap-3438	115	35	equal	equal	ADJ
ap-3438	115	36	transition	transition	NOUN
ap-3438	115	37	rates	rate	NOUN
ap-3438	115	38	between	between	ADP
ap-3438	115	39	sites	site	NOUN
ap-3438	115	40	)	)	PUNCT
ap-3438	115	41	.	.	PUNCT
ap-3438	116	1	3.1	3.1	NUM
ap-3438	116	2	.	.	PUNCT
ap-3438	116	3	design	design	NOUN
ap-3438	116	4	of	of	ADP
ap-3438	116	5	optimal	optimal	ADJ
ap-3438	116	6	transition	transition	NOUN
ap-3438	116	7	rates	rate	NOUN
ap-3438	116	8	we	we	PRON
ap-3438	116	9	combine	combine	VERB
ap-3438	116	10	the	the	DET
ap-3438	116	11	solution	solution	NOUN
ap-3438	116	12	of	of	ADP
ap-3438	116	13	the	the	DET
ap-3438	116	14	linear	linear	ADJ
ap-3438	116	15	ordinary	ordinary	ADJ
ap-3438	116	16	differential	differential	ADJ
ap-3438	116	17	equation	equation	NOUN
ap-3438	116	18	,	,	PUNCT
ap-3438	116	19	eq	eq	NOUN
ap-3438	116	20	.	.	PROPN
ap-3438	116	21	3	3	NUM
ap-3438	116	22	,	,	PUNCT
ap-3438	116	23	and	and	CCONJ
ap-3438	116	24	eq	eq	NOUN
ap-3438	116	25	.	.	PROPN
ap-3438	116	26	7	7	NUM
ap-3438	116	27	to	to	PART
ap-3438	116	28	obtain	obtain	VERB
ap-3438	116	29	the	the	DET
ap-3438	116	30	solution	solution	NOUN
ap-3438	116	31	for	for	ADP
ap-3438	116	32	a	a	DET
ap-3438	116	33	desired	desire	VERB
ap-3438	116	34	trait	trait	NOUN
ap-3438	116	35	distribution	distribution	NOUN
ap-3438	116	36	ȳ	ȳ	NOUN
ap-3438	116	37	=	=	SYM
ap-3438	116	38	s∑	s∑	PROPN
ap-3438	116	39	s=1	s=1	X
ap-3438	116	40	ek(s)fτx(s	ek(s)fτx(s	PROPN
ap-3438	116	41	)	)	PUNCT
ap-3438	116	42	0	0	NUM
ap-3438	116	43	·	·	PUNCT
ap-3438	116	44	q(s	q(s	NOUN
ap-3438	116	45	)	)	PUNCT
ap-3438	116	46	,	,	PUNCT
ap-3438	116	47	(	(	PUNCT
ap-3438	116	48	8)	8)	NUM
ap-3438	116	49	where	where	SCONJ
ap-3438	116	50	τ	τ	PROPN
ap-3438	116	51	is	be	AUX
ap-3438	116	52	the	the	DET
ap-3438	116	53	time	time	NOUN
ap-3438	116	54	at	at	ADP
ap-3438	116	55	which	which	PRON
ap-3438	116	56	the	the	DET
ap-3438	116	57	desired	desire	VERB
ap-3438	116	58	state	state	NOUN
ap-3438	116	59	is	be	AUX
ap-3438	116	60	reached	reach	VERB
ap-3438	116	61	.	.	PUNCT
ap-3438	117	1	we	we	PRON
ap-3438	117	2	design	design	VERB
ap-3438	117	3	our	our	PRON
ap-3438	117	4	objective	objective	ADJ
ap-3438	117	5	function	function	NOUN
ap-3438	117	6	as	as	SCONJ
ap-3438	117	7	follows	follow	VERB
ap-3438	117	8	.	.	PUNCT
ap-3438	118	1	to	to	PART
ap-3438	118	2	find	find	VERB
ap-3438	118	3	the	the	DET
ap-3438	118	4	values	value	NOUN
ap-3438	118	5	of	of	ADP
ap-3438	118	6	k(s)f	k(s)f	PROPN
ap-3438	118	7	for	for	ADP
ap-3438	118	8	all	all	DET
ap-3438	118	9	species	specie	NOUN
ap-3438	118	10	for	for	ADP
ap-3438	118	11	the	the	DET
ap-3438	118	12	given	give	VERB
ap-3438	118	13	initial	initial	ADJ
ap-3438	118	14	configuration	configuration	NOUN
ap-3438	118	15	,	,	PUNCT
ap-3438	118	16	x(0	x(0	PROPN
ap-3438	118	17	)	)	PUNCT
ap-3438	118	18	,	,	PUNCT
ap-3438	118	19	we	we	PRON
ap-3438	118	20	consider	consider	VERB
ap-3438	118	21	the	the	DET
ap-3438	118	22	following	follow	VERB
ap-3438	118	23	optimization	optimization	NOUN
ap-3438	118	24	minimize	minimize	VERB
ap-3438	118	25	j	j	PROPN
ap-3438	118	26	(	(	PUNCT
ap-3438	118	27	1	1	NUM
ap-3438	118	28	)	)	PUNCT
ap-3438	118	29	=	=	NOUN
ap-3438	119	1	∥∥∥∥ȳ−	∥∥∥∥ȳ−	NUM
ap-3438	119	2	s∑	s∑	PROPN
ap-3438	119	3	s=1	s=1	X
ap-3438	119	4	ek(s)τx(s	ek(s)τx(s	PROPN
ap-3438	119	5	)	)	PUNCT
ap-3438	119	6	0	0	NUM
ap-3438	120	1	·	·	PUNCT
ap-3438	120	2	q(s	q(s	X
ap-3438	120	3	)	)	PUNCT
ap-3438	120	4	∥∥∥∥2	∥∥∥∥2	PROPN
ap-3438	120	5	f	f	X
ap-3438	120	6	(	(	PUNCT
ap-3438	120	7	9	9	NUM
ap-3438	120	8	)	)	PUNCT
ap-3438	120	9	such	such	ADJ
ap-3438	120	10	that	that	SCONJ
ap-3438	120	11	k(s	k(s	PROPN
ap-3438	120	12	)	)	PUNCT
ap-3438	121	1	ij	ij	ADP
ap-3438	121	2	<	<	X
ap-3438	121	3	k	k	X
ap-3438	121	4	(	(	PUNCT
ap-3438	121	5	s	s	NOUN
ap-3438	121	6	)	)	PUNCT
ap-3438	121	7	ij	ij	NOUN
ap-3438	121	8	,	,	PUNCT
ap-3438	121	9	max	max	PROPN
ap-3438	121	10	,	,	PUNCT
ap-3438	121	11	which	which	PRON
ap-3438	121	12	formulates	formulate	VERB
ap-3438	121	13	that	that	SCONJ
ap-3438	121	14	a	a	DET
ap-3438	121	15	minimum	minimum	ADJ
ap-3438	121	16	cost	cost	NOUN
ap-3438	121	17	is	be	AUX
ap-3438	121	18	found	find	VERB
ap-3438	121	19	when	when	SCONJ
ap-3438	121	20	the	the	DET
ap-3438	121	21	final	final	ADJ
ap-3438	121	22	trait	trait	NOUN
ap-3438	121	23	distribution	distribution	NOUN
ap-3438	121	24	corresponds	correspond	VERB
ap-3438	121	25	to	to	ADP
ap-3438	121	26	the	the	DET
ap-3438	121	27	desired	desire	VERB
ap-3438	121	28	trait	trait	NOUN
ap-3438	121	29	distribution	distribution	NOUN
ap-3438	121	30	,	,	PUNCT
ap-3438	121	31	subject	subject	ADJ
ap-3438	121	32	to	to	ADP
ap-3438	121	33	maximum	maximum	ADJ
ap-3438	121	34	transition	transition	NOUN
ap-3438	121	35	rates	rate	NOUN
ap-3438	121	36	k	k	PROPN
ap-3438	121	37	(	(	PUNCT
ap-3438	121	38	s	s	NOUN
ap-3438	121	39	)	)	PUNCT
ap-3438	121	40	ij	ij	NOUN
ap-3438	121	41	,	,	PUNCT
ap-3438	121	42	max	max	PROPN
ap-3438	121	43	.	.	PUNCT
ap-3438	122	1	the	the	DET
ap-3438	122	2	notation	notation	NOUN
ap-3438	122	3	x(s	x(s	PROPN
ap-3438	122	4	)	)	PUNCT
ap-3438	122	5	0	0	PUNCT
ap-3438	122	6	is	be	AUX
ap-3438	122	7	shorthand	shorthand	NOUN
ap-3438	122	8	for	for	ADP
ap-3438	122	9	x(s)(0	x(s)(0	PROPN
ap-3438	122	10	)	)	PUNCT
ap-3438	122	11	.	.	PUNCT
ap-3438	123	1	the	the	DET
ap-3438	123	2	operator	operator	NOUN
ap-3438	123	3	‖	‖	PROPN
ap-3438	123	4	·	·	PUNCT
ap-3438	123	5	‖f	‖f	PRON
ap-3438	123	6	denotes	denote	VERB
ap-3438	123	7	the	the	DET
ap-3438	123	8	frobenius	frobenius	ADJ
ap-3438	123	9	norm	norm	NOUN
ap-3438	123	10	of	of	ADP
ap-3438	123	11	a	a	DET
ap-3438	123	12	matrix	matrix	NOUN
ap-3438	123	13	.	.	PUNCT
ap-3438	124	1	there	there	PRON
ap-3438	124	2	is	be	VERB
ap-3438	124	3	no	no	DET
ap-3438	124	4	closed	closed	ADJ
ap-3438	124	5	-	-	PUNCT
ap-3438	124	6	form	form	NOUN
ap-3438	124	7	solution	solution	NOUN
ap-3438	124	8	to	to	ADP
ap-3438	124	9	the	the	DET
ap-3438	124	10	optimization	optimization	NOUN
ap-3438	124	11	problem	problem	NOUN
ap-3438	124	12	in	in	ADP
ap-3438	124	13	eq	eq	ADP
ap-3438	124	14	.	.	PROPN
ap-3438	124	15	9	9	NUM
ap-3438	124	16	,	,	PUNCT
ap-3438	124	17	but	but	CCONJ
ap-3438	124	18	we	we	PRON
ap-3438	124	19	can	can	AUX
ap-3438	124	20	use	use	VERB
ap-3438	124	21	the	the	DET
ap-3438	124	22	derivatives	derivative	NOUN
ap-3438	124	23	of	of	ADP
ap-3438	124	24	j	j	PROPN
ap-3438	124	25	(	(	PUNCT
ap-3438	124	26	1	1	NUM
ap-3438	124	27	)	)	PUNCT
ap-3438	124	28	with	with	ADP
ap-3438	124	29	respect	respect	NOUN
ap-3438	124	30	to	to	ADP
ap-3438	124	31	the	the	DET
ap-3438	124	32	parameters	parameter	NOUN
ap-3438	124	33	to	to	PART
ap-3438	124	34	perform	perform	VERB
ap-3438	124	35	gradient	gradient	ADJ
ap-3438	124	36	descent	descent	NOUN
ap-3438	124	37	.	.	PUNCT
ap-3438	125	1	so	so	ADV
ap-3438	125	2	that	that	SCONJ
ap-3438	125	3	the	the	DET
ap-3438	125	4	implementation	implementation	NOUN
ap-3438	125	5	of	of	ADP
ap-3438	125	6	the	the	DET
ap-3438	125	7	optimization	optimization	NOUN
ap-3438	125	8	function	function	NOUN
ap-3438	125	9	is	be	AUX
ap-3438	125	10	efficient	efficient	ADJ
ap-3438	125	11	,	,	PUNCT
ap-3438	125	12	it	it	PRON
ap-3438	125	13	is	be	AUX
ap-3438	125	14	important	important	ADJ
ap-3438	125	15	that	that	SCONJ
ap-3438	125	16	the	the	DET
ap-3438	125	17	function	function	NOUN
ap-3438	125	18	is	be	AUX
ap-3438	125	19	differentiable	differentiable	ADJ
ap-3438	125	20	and	and	CCONJ
ap-3438	125	21	that	that	SCONJ
ap-3438	125	22	an	an	DET
ap-3438	125	23	analytical	analytical	ADJ
ap-3438	125	24	gradient	gradient	NOUN
ap-3438	125	25	can	can	AUX
ap-3438	125	26	be	be	AUX
ap-3438	125	27	computed	compute	VERB
ap-3438	125	28	.	.	PUNCT
ap-3438	126	1	by	by	ADP
ap-3438	126	2	applying	apply	VERB
ap-3438	126	3	the	the	DET
ap-3438	126	4	chain	chain	NOUN
ap-3438	126	5	rule	rule	NOUN
ap-3438	126	6	,	,	PUNCT
ap-3438	126	7	the	the	DET
ap-3438	126	8	derivative	derivative	NOUN
ap-3438	126	9	of	of	ADP
ap-3438	126	10	our	our	PRON
ap-3438	126	11	objective	objective	ADJ
ap-3438	126	12	function	function	NOUN
ap-3438	126	13	with	with	ADP
ap-3438	126	14	respect	respect	NOUN
ap-3438	126	15	to	to	ADP
ap-3438	126	16	the	the	DET
ap-3438	126	17	transition	transition	NOUN
ap-3438	126	18	matrix	matrix	NOUN
ap-3438	126	19	k(s	k(s	PROPN
ap-3438	126	20	)	)	PUNCT
ap-3438	126	21	is	be	AUX
ap-3438	126	22	∂j	∂j	X
ap-3438	126	23	(	(	PUNCT
ap-3438	126	24	1	1	NUM
ap-3438	126	25	)	)	PUNCT
ap-3438	126	26	∂k(s	∂k(s	NOUN
ap-3438	126	27	)	)	PUNCT
ap-3438	126	28	=	=	SYM
ap-3438	127	1	∂j	∂j	NOUN
ap-3438	127	2	(	(	PUNCT
ap-3438	127	3	1	1	NUM
ap-3438	127	4	)	)	PUNCT
ap-3438	127	5	∂ek(s)τ	∂ek(s)τ	NOUN
ap-3438	127	6	·	·	PUNCT
ap-3438	127	7	∂e	∂e	PROPN
ap-3438	127	8	k(s)τ	k(s)τ	NOUN
ap-3438	127	9	∂k(s)τ	∂k(s)τ	PROPN
ap-3438	127	10	·	·	PUNCT
ap-3438	128	1	∂k(s)τ	∂k(s)τ	ADP
ap-3438	128	2	∂k(s	∂k(s	NOUN
ap-3438	128	3	)	)	PUNCT
ap-3438	128	4	.	.	PUNCT
ap-3438	129	1	(	(	PUNCT
ap-3438	129	2	10	10	NUM
ap-3438	129	3	)	)	PUNCT
ap-3438	129	4	we	we	PRON
ap-3438	129	5	first	first	ADV
ap-3438	129	6	compute	compute	VERB
ap-3438	129	7	the	the	DET
ap-3438	129	8	derivative	derivative	NOUN
ap-3438	129	9	of	of	ADP
ap-3438	129	10	the	the	DET
ap-3438	129	11	cost	cost	NOUN
ap-3438	129	12	with	with	ADP
ap-3438	129	13	respect	respect	NOUN
ap-3438	129	14	to	to	ADP
ap-3438	129	15	the	the	DET
ap-3438	129	16	expression	expression	NOUN
ap-3438	129	17	ek(s)τ	ek(s)τ	PROPN
ap-3438	129	18	:	:	PUNCT
ap-3438	130	1	∂j	∂j	X
ap-3438	130	2	(	(	PUNCT
ap-3438	130	3	1	1	X
ap-3438	130	4	)	)	PUNCT
ap-3438	130	5	∂ek(s)τ	∂ek(s)τ	NOUN
ap-3438	130	6	=	=	SYM
ap-3438	130	7	2	2	NUM
ap-3438	131	1	[	[	X
ap-3438	131	2	∑	∑	PROPN
ap-3438	131	3	r∈s	r∈s	NOUN
ap-3438	131	4	ek(r)τx(r	ek(r)τx(r	PROPN
ap-3438	131	5	)	)	PUNCT
ap-3438	131	6	0	0	NUM
ap-3438	131	7	·	·	PUNCT
ap-3438	132	1	q(r	q(r	NUM
ap-3438	132	2	)	)	PUNCT
ap-3438	133	1	−	−	PROPN
ap-3438	133	2	ȳ	ȳ	NOUN
ap-3438	133	3	]	]	PUNCT
ap-3438	133	4	·	·	PUNCT
ap-3438	134	1	[	[	PUNCT
ap-3438	134	2	x(s	x(s	PROPN
ap-3438	134	3	)	)	PUNCT
ap-3438	134	4	0	0	PUNCT
ap-3438	134	5	·	·	PUNCT
ap-3438	134	6	q(s	q(s	NOUN
ap-3438	134	7	)	)	PUNCT
ap-3438	134	8	]	]	PUNCT
ap-3438	134	9	>	>	PUNCT
ap-3438	134	10	.	.	PUNCT
ap-3438	135	1	(	(	PUNCT
ap-3438	135	2	11	11	NUM
ap-3438	135	3	)	)	PUNCT
ap-3438	135	4	69	69	NUM
ap-3438	135	5	a.	a.	NOUN
ap-3438	135	6	prorok	prorok	NOUN
ap-3438	135	7	,	,	PUNCT
ap-3438	135	8	m.	m.	NOUN
ap-3438	135	9	ani	ani	X
ap-3438	135	10	hsieh	hsieh	PROPN
ap-3438	135	11	,	,	PUNCT
ap-3438	135	12	vijay	vijay	PROPN
ap-3438	135	13	kumar	kumar	PROPN
ap-3438	135	14	acta	acta	PROPN
ap-3438	135	15	polytechnica	polytechnica	PROPN
ap-3438	135	16	the	the	DET
ap-3438	135	17	derivation	derivation	NOUN
ap-3438	135	18	of	of	ADP
ap-3438	135	19	the	the	DET
ap-3438	135	20	2nd	2nd	ADJ
ap-3438	135	21	element	element	NOUN
ap-3438	135	22	of	of	ADP
ap-3438	135	23	eq.10	eq.10	NOUN
ap-3438	135	24	requires	require	VERB
ap-3438	135	25	the	the	DET
ap-3438	135	26	derivative	derivative	NOUN
ap-3438	135	27	of	of	ADP
ap-3438	135	28	the	the	DET
ap-3438	135	29	matrix	matrix	NOUN
ap-3438	135	30	exponential	exponential	NOUN
ap-3438	135	31	.	.	PUNCT
ap-3438	136	1	computing	compute	VERB
ap-3438	136	2	the	the	DET
ap-3438	136	3	derivative	derivative	NOUN
ap-3438	136	4	of	of	ADP
ap-3438	136	5	the	the	DET
ap-3438	136	6	matrix	matrix	NOUN
ap-3438	136	7	exponential	exponential	NOUN
ap-3438	136	8	is	be	AUX
ap-3438	136	9	not	not	PART
ap-3438	136	10	trivial	trivial	ADJ
ap-3438	136	11	.	.	PUNCT
ap-3438	137	1	we	we	PRON
ap-3438	137	2	adapt	adapt	VERB
ap-3438	137	3	the	the	DET
ap-3438	137	4	closed	closed	ADJ
ap-3438	137	5	-	-	PUNCT
ap-3438	137	6	form	form	NOUN
ap-3438	137	7	solution	solution	NOUN
ap-3438	137	8	given	give	VERB
ap-3438	137	9	in	in	ADP
ap-3438	137	10	[	[	X
ap-3438	137	11	16	16	NUM
ap-3438	137	12	]	]	PUNCT
ap-3438	137	13	to	to	ADP
ap-3438	137	14	our	our	PRON
ap-3438	137	15	problem	problem	NOUN
ap-3438	137	16	,	,	PUNCT
ap-3438	137	17	and	and	CCONJ
ap-3438	137	18	write	write	VERB
ap-3438	137	19	the	the	DET
ap-3438	137	20	gradient	gradient	NOUN
ap-3438	137	21	of	of	ADP
ap-3438	137	22	our	our	PRON
ap-3438	137	23	cost	cost	NOUN
ap-3438	137	24	function	function	NOUN
ap-3438	137	25	as	as	ADP
ap-3438	137	26	∂j	∂j	PROPN
ap-3438	137	27	(	(	PUNCT
ap-3438	137	28	1	1	NUM
ap-3438	137	29	)	)	PUNCT
ap-3438	137	30	∂k(s	∂k(s	NOUN
ap-3438	137	31	)	)	PUNCT
ap-3438	137	32	=	=	SYM
ap-3438	138	1	v−1	v−1	PROPN
ap-3438	138	2	>	>	X
ap-3438	138	3	[	[	PUNCT
ap-3438	138	4	v	v	NOUN
ap-3438	138	5	>	>	X
ap-3438	138	6	∂j	∂j	PROPN
ap-3438	138	7	(	(	PUNCT
ap-3438	138	8	1	1	NUM
ap-3438	138	9	)	)	PUNCT
ap-3438	138	10	∂ek(s)τ	∂ek(s)τ	NOUN
ap-3438	138	11	v−1	v−1	PROPN
ap-3438	138	12	>	>	X
ap-3438	138	13	�	�	PROPN
ap-3438	138	14	w(τ	w(τ	PROPN
ap-3438	138	15	)	)	PUNCT
ap-3438	138	16	]	]	PUNCT
ap-3438	139	1	v	v	X
ap-3438	139	2	>	>	X
ap-3438	139	3	τ	τ	X
ap-3438	139	4	,	,	PUNCT
ap-3438	139	5	(	(	PUNCT
ap-3438	139	6	12	12	NUM
ap-3438	139	7	)	)	PUNCT
ap-3438	139	8	where	where	SCONJ
ap-3438	139	9	�	�	PROPN
ap-3438	139	10	is	be	AUX
ap-3438	139	11	the	the	DET
ap-3438	139	12	hadamard	hadamard	ADJ
ap-3438	139	13	product	product	NOUN
ap-3438	139	14	,	,	PUNCT
ap-3438	139	15	k(s	k(s	PROPN
ap-3438	139	16	)	)	PUNCT
ap-3438	139	17	=	=	PUNCT
ap-3438	140	1	vdv−1	vdv−1	X
ap-3438	140	2	is	be	AUX
ap-3438	140	3	the	the	DET
ap-3438	140	4	eigendecomposition	eigendecomposition	NOUN
ap-3438	140	5	of	of	ADP
ap-3438	140	6	k(s	k(s	PROPN
ap-3438	140	7	)	)	PUNCT
ap-3438	140	8	.	.	PUNCT
ap-3438	141	1	v	v	NOUN
ap-3438	141	2	is	be	AUX
ap-3438	141	3	the	the	DET
ap-3438	141	4	m	m	PROPN
ap-3438	141	5	×m	×m	NOUN
ap-3438	141	6	matrix	matrix	NOUN
ap-3438	141	7	whose	whose	DET
ap-3438	141	8	jth	jth	PROPN
ap-3438	141	9	column	column	NOUN
ap-3438	141	10	is	be	AUX
ap-3438	141	11	a	a	DET
ap-3438	141	12	right	right	ADJ
ap-3438	141	13	eigenvector	eigenvector	NOUN
ap-3438	141	14	corresponding	correspond	VERB
ap-3438	141	15	to	to	ADP
ap-3438	141	16	eigenvalue	eigenvalue	PROPN
ap-3438	141	17	di	di	NOUN
ap-3438	141	18	,	,	PUNCT
ap-3438	141	19	and	and	CCONJ
ap-3438	141	20	d	d	NOUN
ap-3438	141	21	=	=	PUNCT
ap-3438	141	22	diag(d1	diag(d1	NOUN
ap-3438	141	23	,	,	PUNCT
ap-3438	141	24	.	.	PUNCT
ap-3438	141	25	.	.	PUNCT
ap-3438	142	1	.	.	PUNCT
ap-3438	143	1	,	,	PUNCT
ap-3438	143	2	dm	dm	PROPN
ap-3438	143	3	)	)	PUNCT
ap-3438	143	4	.	.	PUNCT
ap-3438	144	1	the	the	DET
ap-3438	144	2	matrix	matrix	NOUN
ap-3438	144	3	w(t	w(t	PROPN
ap-3438	144	4	)	)	PUNCT
ap-3438	144	5	is	be	AUX
ap-3438	144	6	composed	compose	VERB
ap-3438	144	7	as	as	SCONJ
ap-3438	144	8	follows	follow	VERB
ap-3438	144	9	1	1	NUM
ap-3438	144	10	w(t	w(t	NOUN
ap-3438	144	11	)	)	PUNCT
ap-3438	145	1	=	=	PRON
ap-3438	145	2	{	{	PUNCT
ap-3438	145	3	(	(	PUNCT
ap-3438	145	4	edit	edit	NOUN
ap-3438	145	5	−	−	PROPN
ap-3438	145	6	edjt)/(dit−	edjt)/(dit−	PROPN
ap-3438	145	7	djt	djt	PROPN
ap-3438	145	8	)	)	PUNCT
ap-3438	145	9	if	if	SCONJ
ap-3438	145	10	i	i	PRON
ap-3438	145	11	6=	6=	PROPN
ap-3438	145	12	j	j	PROPN
ap-3438	145	13	,	,	PUNCT
ap-3438	145	14	edit	edit	VERB
ap-3438	145	15	if	if	SCONJ
ap-3438	145	16	i	i	PRON
ap-3438	145	17	=	=	PUNCT
ap-3438	145	18	j.	j.	PROPN
ap-3438	145	19	3.2	3.2	NUM
ap-3438	145	20	.	.	PUNCT
ap-3438	146	1	optimization	optimization	NOUN
ap-3438	146	2	of	of	ADP
ap-3438	146	3	convergence	convergence	NOUN
ap-3438	146	4	time	time	NOUN
ap-3438	146	5	the	the	DET
ap-3438	146	6	cost	cost	NOUN
ap-3438	146	7	function	function	NOUN
ap-3438	146	8	in	in	ADP
ap-3438	146	9	eq	eq	ADP
ap-3438	146	10	.	.	PROPN
ap-3438	146	11	9	9	NUM
ap-3438	146	12	does	do	AUX
ap-3438	146	13	not	not	PART
ap-3438	146	14	consider	consider	VERB
ap-3438	146	15	convergence	convergence	NOUN
ap-3438	146	16	time	time	NOUN
ap-3438	146	17	τ	τ	PROPN
ap-3438	146	18	as	as	ADP
ap-3438	146	19	a	a	DET
ap-3438	146	20	variable	variable	NOUN
ap-3438	146	21	.	.	PUNCT
ap-3438	147	1	by	by	ADP
ap-3438	147	2	adding	add	VERB
ap-3438	147	3	a	a	DET
ap-3438	147	4	term	term	NOUN
ap-3438	147	5	that	that	PRON
ap-3438	147	6	penalizes	penalize	VERB
ap-3438	147	7	high	high	ADJ
ap-3438	147	8	convergence	convergence	NOUN
ap-3438	147	9	time	time	NOUN
ap-3438	147	10	values	value	NOUN
ap-3438	147	11	,	,	PUNCT
ap-3438	147	12	we	we	PRON
ap-3438	147	13	can	can	AUX
ap-3438	147	14	compute	compute	VERB
ap-3438	147	15	transition	transition	NOUN
ap-3438	147	16	rates	rate	NOUN
ap-3438	147	17	that	that	PRON
ap-3438	147	18	explicitly	explicitly	ADV
ap-3438	147	19	optimize	optimize	VERB
ap-3438	147	20	convergence	convergence	NOUN
ap-3438	147	21	time	time	NOUN
ap-3438	147	22	.	.	PUNCT
ap-3438	148	1	the	the	DET
ap-3438	148	2	modified	modify	VERB
ap-3438	148	3	objective	objective	ADJ
ap-3438	148	4	function	function	NOUN
ap-3438	148	5	is	be	AUX
ap-3438	148	6	minimize	minimize	VERB
ap-3438	149	1	j	j	PROPN
ap-3438	149	2	(	(	PUNCT
ap-3438	149	3	2	2	NUM
ap-3438	149	4	)	)	PUNCT
ap-3438	149	5	=	=	SYM
ap-3438	149	6	j	j	PROPN
ap-3438	149	7	(	(	PUNCT
ap-3438	149	8	1	1	NUM
ap-3438	149	9	)	)	PUNCT
ap-3438	149	10	+	+	CCONJ
ap-3438	149	11	ατ2	ατ2	X
ap-3438	149	12	(	(	PUNCT
ap-3438	149	13	13	13	NUM
ap-3438	149	14	)	)	PUNCT
ap-3438	149	15	such	such	ADJ
ap-3438	149	16	that	that	SCONJ
ap-3438	149	17	k(s	k(s	PROPN
ap-3438	149	18	)	)	PUNCT
ap-3438	149	19	ij	ij	ADP
ap-3438	149	20	<	<	X
ap-3438	149	21	k	k	X
ap-3438	149	22	(	(	PUNCT
ap-3438	149	23	s	s	NOUN
ap-3438	149	24	)	)	PUNCT
ap-3438	149	25	ij	ij	NOUN
ap-3438	149	26	,	,	PUNCT
ap-3438	149	27	max	max	PROPN
ap-3438	149	28	and	and	CCONJ
ap-3438	149	29	τ	τ	PROPN
ap-3438	149	30	>	>	X
ap-3438	149	31	0	0	PROPN
ap-3438	149	32	,	,	PUNCT
ap-3438	149	33	and	and	CCONJ
ap-3438	149	34	α	α	X
ap-3438	149	35	>	>	X
ap-3438	149	36	0	0	NUM
ap-3438	149	37	.	.	PUNCT
ap-3438	149	38	by	by	ADP
ap-3438	149	39	increasing	increase	VERB
ap-3438	149	40	α	α	NUM
ap-3438	149	41	,	,	PUNCT
ap-3438	149	42	we	we	PRON
ap-3438	149	43	increase	increase	VERB
ap-3438	149	44	the	the	DET
ap-3438	149	45	importance	importance	NOUN
ap-3438	149	46	of	of	ADP
ap-3438	149	47	the	the	DET
ap-3438	149	48	convergence	convergence	NOUN
ap-3438	149	49	time	time	NOUN
ap-3438	149	50	(	(	PUNCT
ap-3438	149	51	by	by	ADP
ap-3438	149	52	penalizing	penalize	VERB
ap-3438	149	53	high	high	ADJ
ap-3438	149	54	values	value	NOUN
ap-3438	149	55	of	of	ADP
ap-3438	149	56	τ	τ	PROPN
ap-3438	149	57	)	)	PUNCT
ap-3438	149	58	.	.	PUNCT
ap-3438	150	1	the	the	DET
ap-3438	150	2	derivative	derivative	NOUN
ap-3438	150	3	with	with	ADP
ap-3438	150	4	respect	respect	NOUN
ap-3438	150	5	to	to	ADP
ap-3438	150	6	the	the	DET
ap-3438	150	7	transition	transition	NOUN
ap-3438	150	8	rates	rate	NOUN
ap-3438	150	9	is	be	AUX
ap-3438	150	10	∂j	∂j	NOUN
ap-3438	150	11	(	(	PUNCT
ap-3438	150	12	2	2	NUM
ap-3438	150	13	)	)	PUNCT
ap-3438	150	14	∂k(s	∂k(s	NOUN
ap-3438	150	15	)	)	PUNCT
ap-3438	150	16	=	=	SYM
ap-3438	151	1	∂j	∂j	NOUN
ap-3438	151	2	(	(	PUNCT
ap-3438	151	3	1	1	NUM
ap-3438	151	4	)	)	PUNCT
ap-3438	151	5	∂k(s	∂k(s	NOUN
ap-3438	151	6	)	)	PUNCT
ap-3438	151	7	.	.	PUNCT
ap-3438	152	1	(	(	PUNCT
ap-3438	152	2	14	14	NUM
ap-3438	152	3	)	)	PUNCT
ap-3438	152	4	in	in	ADP
ap-3438	152	5	order	order	NOUN
ap-3438	152	6	to	to	PART
ap-3438	152	7	optimize	optimize	VERB
ap-3438	152	8	the	the	DET
ap-3438	152	9	convergence	convergence	NOUN
ap-3438	152	10	time	time	NOUN
ap-3438	152	11	,	,	PUNCT
ap-3438	152	12	we	we	PRON
ap-3438	152	13	need	need	VERB
ap-3438	152	14	the	the	DET
ap-3438	152	15	derivative	derivative	NOUN
ap-3438	152	16	with	with	ADP
ap-3438	152	17	respect	respect	NOUN
ap-3438	152	18	to	to	ADP
ap-3438	152	19	τ	τ	PROPN
ap-3438	152	20	.	.	PUNCT
ap-3438	153	1	this	this	DET
ap-3438	153	2	derivative	derivative	NOUN
ap-3438	153	3	is	be	AUX
ap-3438	153	4	computed	compute	VERB
ap-3438	153	5	analogously	analogously	ADV
ap-3438	153	6	to	to	ADP
ap-3438	153	7	the	the	DET
ap-3438	153	8	derivative	derivative	NOUN
ap-3438	153	9	with	with	ADP
ap-3438	153	10	respect	respect	NOUN
ap-3438	153	11	to	to	ADP
ap-3438	153	12	k(s	k(s	PROPN
ap-3438	153	13	)	)	PUNCT
ap-3438	153	14	(	(	PUNCT
ap-3438	153	15	confer	confer	NOUN
ap-3438	153	16	eq	eq	NOUN
ap-3438	153	17	.	.	PROPN
ap-3438	153	18	12	12	NUM
ap-3438	153	19	)	)	PUNCT
ap-3438	153	20	.	.	PUNCT
ap-3438	154	1	we	we	PRON
ap-3438	154	2	have	have	VERB
ap-3438	154	3	∂j	∂j	NOUN
ap-3438	154	4	(	(	PUNCT
ap-3438	154	5	2	2	X
ap-3438	154	6	)	)	PUNCT
ap-3438	154	7	∂τ	∂τ	PROPN
ap-3438	154	8	=	=	SYM
ap-3438	154	9	∂j	∂j	PROPN
ap-3438	154	10	(	(	PUNCT
ap-3438	154	11	1	1	X
ap-3438	154	12	)	)	PUNCT
ap-3438	154	13	∂τ	∂τ	PROPN
ap-3438	155	1	+	+	CCONJ
ap-3438	155	2	2ατ	2ατ	NOUN
ap-3438	155	3	(	(	PUNCT
ap-3438	155	4	15	15	NUM
ap-3438	155	5	)	)	PUNCT
ap-3438	155	6	with	with	ADP
ap-3438	155	7	∂j	∂j	PROPN
ap-3438	155	8	(	(	PUNCT
ap-3438	155	9	1	1	X
ap-3438	155	10	)	)	PUNCT
ap-3438	155	11	∂τ	∂τ	PROPN
ap-3438	155	12	=	=	PUNCT
ap-3438	155	13	s∑	s∑	PROPN
ap-3438	155	14	s=1	s=1	ADP
ap-3438	155	15	1	1	X
ap-3438	155	16	>	>	SYM
ap-3438	155	17	v−1	v−1	PROPN
ap-3438	155	18	>	>	X
ap-3438	155	19	a1v	a1v	PROPN
ap-3438	155	20	>	>	X
ap-3438	155	21	·	·	PUNCT
ap-3438	155	22	k(s)1	k(s)1	X
ap-3438	155	23	(	(	PUNCT
ap-3438	155	24	16	16	NUM
ap-3438	155	25	)	)	PUNCT
ap-3438	155	26	and	and	CCONJ
ap-3438	155	27	a1	a1	NOUN
ap-3438	155	28	=	=	SYM
ap-3438	155	29	v	v	NOUN
ap-3438	155	30	>	>	X
ap-3438	155	31	∂j	∂j	PROPN
ap-3438	155	32	(	(	PUNCT
ap-3438	155	33	1	1	NUM
ap-3438	155	34	)	)	PUNCT
ap-3438	155	35	∂ek(s)τ	∂ek(s)τ	NOUN
ap-3438	155	36	v−1	v−1	PROPN
ap-3438	155	37	>	>	X
ap-3438	155	38	�	�	PROPN
ap-3438	155	39	w(τ	w(τ	PROPN
ap-3438	155	40	)	)	PUNCT
ap-3438	155	41	.	.	PUNCT
ap-3438	156	1	(	(	PUNCT
ap-3438	156	2	17	17	NUM
ap-3438	156	3	)	)	PUNCT
ap-3438	156	4	the	the	DET
ap-3438	156	5	optimization	optimization	NOUN
ap-3438	156	6	of	of	ADP
ap-3438	156	7	eq	eq	PROPN
ap-3438	156	8	.	.	PROPN
ap-3438	156	9	13	13	NUM
ap-3438	156	10	produces	produce	VERB
ap-3438	156	11	transition	transition	NOUN
ap-3438	156	12	rates	rate	NOUN
ap-3438	156	13	that	that	PRON
ap-3438	156	14	lead	lead	VERB
ap-3438	156	15	to	to	ADP
ap-3438	156	16	the	the	DET
ap-3438	156	17	desired	desire	VERB
ap-3438	156	18	trait	trait	NOUN
ap-3438	156	19	distribution	distribution	NOUN
ap-3438	156	20	quickly	quickly	ADV
ap-3438	156	21	,	,	PUNCT
ap-3438	156	22	but	but	CCONJ
ap-3438	156	23	there	there	PRON
ap-3438	156	24	is	be	VERB
ap-3438	156	25	no	no	DET
ap-3438	156	26	guarantee	guarantee	NOUN
ap-3438	156	27	that	that	SCONJ
ap-3438	156	28	this	this	PRON
ap-3438	156	29	is	be	AUX
ap-3438	156	30	the	the	DET
ap-3438	156	31	steady	steady	ADJ
ap-3438	156	32	state	state	NOUN
ap-3438	156	33	of	of	ADP
ap-3438	156	34	k(s	k(s	PROPN
ap-3438	156	35	)	)	PUNCT
ap-3438	156	36	.	.	PUNCT
ap-3438	157	1	if	if	SCONJ
ap-3438	157	2	we	we	PRON
ap-3438	157	3	compute	compute	VERB
ap-3438	157	4	the	the	DET
ap-3438	157	5	transition	transition	NOUN
ap-3438	157	6	rates	rate	NOUN
ap-3438	157	7	at	at	ADP
ap-3438	157	8	the	the	DET
ap-3438	157	9	outset	outset	NOUN
ap-3438	157	10	1here	1here	NUM
ap-3438	157	11	,	,	PUNCT
ap-3438	157	12	we	we	PRON
ap-3438	157	13	assume	assume	VERB
ap-3438	157	14	that	that	SCONJ
ap-3438	157	15	that	that	SCONJ
ap-3438	157	16	k(s	k(s	PROPN
ap-3438	157	17	)	)	PUNCT
ap-3438	157	18	has	have	VERB
ap-3438	157	19	m	m	PROPN
ap-3438	157	20	distinct	distinct	ADJ
ap-3438	157	21	eigenvalues	eigenvalue	NOUN
ap-3438	157	22	.	.	PUNCT
ap-3438	158	1	if	if	SCONJ
ap-3438	158	2	this	this	PRON
ap-3438	158	3	is	be	AUX
ap-3438	158	4	not	not	PART
ap-3438	158	5	the	the	DET
ap-3438	158	6	case	case	NOUN
ap-3438	158	7	,	,	PUNCT
ap-3438	158	8	an	an	DET
ap-3438	158	9	analogous	analogous	ADJ
ap-3438	158	10	decomposition	decomposition	NOUN
ap-3438	158	11	of	of	ADP
ap-3438	158	12	k(s	k(s	PROPN
ap-3438	158	13	)	)	PUNCT
ap-3438	158	14	to	to	ADP
ap-3438	158	15	jordan	jordan	PROPN
ap-3438	158	16	canonical	canonical	ADJ
ap-3438	158	17	form	form	NOUN
ap-3438	158	18	is	be	AUX
ap-3438	158	19	possible	possible	ADJ
ap-3438	158	20	,	,	PUNCT
ap-3438	158	21	as	as	SCONJ
ap-3438	158	22	elaborated	elaborate	VERB
ap-3438	158	23	in	in	ADP
ap-3438	158	24	[	[	X
ap-3438	158	25	16	16	NUM
ap-3438	158	26	]	]	PUNCT
ap-3438	158	27	.	.	PUNCT
ap-3438	159	1	we	we	PRON
ap-3438	159	2	note	note	VERB
ap-3438	159	3	that	that	SCONJ
ap-3438	159	4	for	for	ADP
ap-3438	159	5	most	most	ADJ
ap-3438	159	6	models	model	NOUN
ap-3438	159	7	of	of	ADP
ap-3438	159	8	interest	interest	NOUN
ap-3438	159	9	,	,	PUNCT
ap-3438	159	10	however	however	ADV
ap-3438	159	11	,	,	PUNCT
ap-3438	159	12	this	this	PRON
ap-3438	159	13	is	be	AUX
ap-3438	159	14	rarely	rarely	ADV
ap-3438	159	15	the	the	DET
ap-3438	159	16	case	case	NOUN
ap-3438	159	17	.	.	PUNCT
ap-3438	160	1	of	of	ADP
ap-3438	160	2	the	the	DET
ap-3438	160	3	experiment	experiment	NOUN
ap-3438	160	4	(	(	PUNCT
ap-3438	160	5	without	without	ADP
ap-3438	160	6	refining	refine	VERB
ap-3438	160	7	them	they	PRON
ap-3438	160	8	online	online	ADV
ap-3438	160	9	)	)	PUNCT
ap-3438	160	10	,	,	PUNCT
ap-3438	160	11	we	we	PRON
ap-3438	160	12	may	may	AUX
ap-3438	160	13	wish	wish	VERB
ap-3438	160	14	to	to	PART
ap-3438	160	15	ensure	ensure	VERB
ap-3438	160	16	that	that	SCONJ
ap-3438	160	17	the	the	DET
ap-3438	160	18	state	state	NOUN
ap-3438	160	19	reached	reach	VERB
ap-3438	160	20	at	at	ADP
ap-3438	160	21	the	the	DET
ap-3438	160	22	optimal	optimal	ADJ
ap-3438	160	23	time	time	NOUN
ap-3438	160	24	tf	tf	PROPN
ap-3438	160	25	remains	remain	VERB
ap-3438	160	26	near	near	ADV
ap-3438	160	27	-	-	PUNCT
ap-3438	160	28	constant	constant	ADJ
ap-3438	160	29	.	.	PUNCT
ap-3438	161	1	hence	hence	ADV
ap-3438	161	2	,	,	PUNCT
ap-3438	161	3	we	we	PRON
ap-3438	161	4	modify	modify	VERB
ap-3438	161	5	our	our	PRON
ap-3438	161	6	cost	cost	NOUN
ap-3438	161	7	function	function	NOUN
ap-3438	161	8	in	in	ADP
ap-3438	161	9	eq	eq	NOUN
ap-3438	161	10	.	.	PROPN
ap-3438	161	11	13	13	NUM
ap-3438	161	12	as	as	SCONJ
ap-3438	161	13	follows	follow	VERB
ap-3438	161	14	.	.	PUNCT
ap-3438	162	1	minimize	minimize	VERB
ap-3438	162	2	j	j	PROPN
ap-3438	162	3	(	(	PUNCT
ap-3438	162	4	3	3	NUM
ap-3438	162	5	)	)	PUNCT
ap-3438	162	6	=	=	SYM
ap-3438	162	7	j	j	PROPN
ap-3438	162	8	(	(	PUNCT
ap-3438	162	9	2	2	NUM
ap-3438	162	10	)	)	PUNCT
ap-3438	162	11	+	+	NUM
ap-3438	162	12	β	β	X
ap-3438	162	13	s∑	s∑	VERB
ap-3438	162	14	s=1	s=1	X
ap-3438	162	15	∥∥ek(s)τx(s	∥∥ek(s)τx(s	PROPN
ap-3438	162	16	)	)	PUNCT
ap-3438	162	17	0	0	NUM
ap-3438	163	1	(	(	PUNCT
ap-3438	163	2	18	18	NUM
ap-3438	163	3	)	)	PUNCT
ap-3438	163	4	−	−	PROPN
ap-3438	163	5	ek(s)(τ+ν)x(s	ek(s)(τ+ν)x(s	PROPN
ap-3438	163	6	)	)	PUNCT
ap-3438	163	7	0	0	NUM
ap-3438	164	1	∥∥2	∥∥2	NOUN
ap-3438	164	2	2	2	NUM
ap-3438	164	3	such	such	ADJ
ap-3438	164	4	that	that	SCONJ
ap-3438	164	5	k(s	k(s	PROPN
ap-3438	164	6	)	)	PUNCT
ap-3438	165	1	ij	ij	ADP
ap-3438	165	2	<	<	X
ap-3438	165	3	k	k	X
ap-3438	165	4	(	(	PUNCT
ap-3438	165	5	s	s	NOUN
ap-3438	165	6	)	)	PUNCT
ap-3438	165	7	ij	ij	NOUN
ap-3438	165	8	,	,	PUNCT
ap-3438	165	9	max	max	PROPN
ap-3438	165	10	and	and	CCONJ
ap-3438	165	11	τ	τ	PROPN
ap-3438	165	12	>	>	X
ap-3438	165	13	0	0	PROPN
ap-3438	165	14	,	,	PUNCT
ap-3438	165	15	and	and	CCONJ
ap-3438	165	16	β	β	X
ap-3438	165	17	>	>	X
ap-3438	165	18	0	0	X
ap-3438	165	19	.	.	PUNCT
ap-3438	166	1	the	the	DET
ap-3438	166	2	additional	additional	ADJ
ap-3438	166	3	term	term	NOUN
ap-3438	166	4	in	in	ADP
ap-3438	166	5	our	our	PRON
ap-3438	166	6	cost	cost	NOUN
ap-3438	166	7	function	function	NOUN
ap-3438	166	8	allows	allow	VERB
ap-3438	166	9	us	we	PRON
ap-3438	166	10	to	to	PART
ap-3438	166	11	ensure	ensure	VERB
ap-3438	166	12	that	that	SCONJ
ap-3438	166	13	the	the	DET
ap-3438	166	14	robot	robot	NOUN
ap-3438	166	15	distribution	distribution	NOUN
ap-3438	166	16	reached	reach	VERB
ap-3438	166	17	by	by	ADP
ap-3438	166	18	employing	employ	VERB
ap-3438	166	19	k(s)f	k(s)f	PROPN
ap-3438	166	20	remains	remain	VERB
ap-3438	166	21	near	near	ADV
ap-3438	166	22	-	-	PUNCT
ap-3438	166	23	constant	constant	ADJ
ap-3438	166	24	for	for	ADP
ap-3438	166	25	arbitrarily	arbitrarily	ADV
ap-3438	166	26	long	long	ADJ
ap-3438	166	27	time	time	NOUN
ap-3438	166	28	intervals	interval	NOUN
ap-3438	166	29	ν	ν	VERB
ap-3438	166	30	.	.	PUNCT
ap-3438	167	1	this	this	PRON
ap-3438	167	2	is	be	AUX
ap-3438	167	3	possible	possible	ADJ
ap-3438	167	4	because	because	SCONJ
ap-3438	167	5	our	our	PRON
ap-3438	167	6	model	model	NOUN
ap-3438	167	7	in	in	ADP
ap-3438	167	8	eq	eq	NOUN
ap-3438	167	9	.	.	PROPN
ap-3438	167	10	3	3	NUM
ap-3438	167	11	is	be	AUX
ap-3438	167	12	stable	stable	ADJ
ap-3438	168	1	[	[	X
ap-3438	168	2	9	9	NUM
ap-3438	168	3	]	]	PUNCT
ap-3438	168	4	,	,	PUNCT
ap-3438	168	5	and	and	CCONJ
ap-3438	168	6	the	the	DET
ap-3438	168	7	difference	difference	NOUN
ap-3438	168	8	between	between	ADP
ap-3438	168	9	the	the	DET
ap-3438	168	10	current	current	ADJ
ap-3438	168	11	robot	robot	NOUN
ap-3438	168	12	distribution	distribution	NOUN
ap-3438	168	13	and	and	CCONJ
ap-3438	168	14	the	the	DET
ap-3438	168	15	one	one	NUM
ap-3438	168	16	at	at	ADP
ap-3438	168	17	steady	steady	ADJ
ap-3438	168	18	state	state	NOUN
ap-3438	168	19	can	can	AUX
ap-3438	168	20	only	only	ADV
ap-3438	168	21	decrease	decrease	VERB
ap-3438	168	22	monotonically	monotonically	ADV
ap-3438	168	23	over	over	ADP
ap-3438	168	24	time	time	NOUN
ap-3438	168	25	.	.	PUNCT
ap-3438	169	1	by	by	ADP
ap-3438	169	2	increasing	increase	VERB
ap-3438	169	3	the	the	DET
ap-3438	169	4	value	value	NOUN
ap-3438	169	5	of	of	ADP
ap-3438	169	6	β	β	X
ap-3438	169	7	,	,	PUNCT
ap-3438	169	8	the	the	DET
ap-3438	169	9	difference	difference	NOUN
ap-3438	169	10	of	of	ADP
ap-3438	169	11	the	the	DET
ap-3438	169	12	robot	robot	NOUN
ap-3438	169	13	distributions	distribution	NOUN
ap-3438	169	14	at	at	ADP
ap-3438	169	15	times	time	NOUN
ap-3438	169	16	τ	τ	PROPN
ap-3438	169	17	and	and	CCONJ
ap-3438	169	18	τ	τ	PROPN
ap-3438	169	19	+	+	CCONJ
ap-3438	169	20	ν	ν	NOUN
ap-3438	169	21	is	be	AUX
ap-3438	169	22	decreased	decrease	VERB
ap-3438	169	23	.	.	PUNCT
ap-3438	170	1	in	in	ADP
ap-3438	170	2	other	other	ADJ
ap-3438	170	3	words	word	NOUN
ap-3438	170	4	,	,	PUNCT
ap-3438	170	5	as	as	SCONJ
ap-3438	170	6	we	we	PRON
ap-3438	170	7	will	will	AUX
ap-3438	170	8	see	see	VERB
ap-3438	170	9	in	in	ADP
ap-3438	170	10	section	section	NOUN
ap-3438	170	11	4	4	NUM
ap-3438	170	12	,	,	PUNCT
ap-3438	170	13	the	the	DET
ap-3438	170	14	trait	trait	NOUN
ap-3438	170	15	distribution	distribution	NOUN
ap-3438	170	16	corresponding	correspond	VERB
ap-3438	170	17	to	to	ADP
ap-3438	170	18	the	the	DET
ap-3438	170	19	steady	steady	ADJ
ap-3438	170	20	state	state	NOUN
ap-3438	170	21	robot	robot	NOUN
ap-3438	170	22	distribution	distribution	NOUN
ap-3438	170	23	of	of	ADP
ap-3438	170	24	k(s	k(s	PROPN
ap-3438	170	25	)	)	PUNCT
ap-3438	170	26	gets	get	VERB
ap-3438	170	27	arbitrarily	arbitrarily	ADV
ap-3438	170	28	close	close	ADJ
ap-3438	170	29	to	to	ADP
ap-3438	170	30	the	the	DET
ap-3438	170	31	desired	desire	VERB
ap-3438	170	32	trait	trait	NOUN
ap-3438	170	33	distribution	distribution	NOUN
ap-3438	170	34	ȳ	ȳ	PROPN
ap-3438	170	35	as	as	ADP
ap-3438	170	36	β	β	X
ap-3438	170	37	increases	increase	NOUN
ap-3438	170	38	(	(	PUNCT
ap-3438	170	39	the	the	DET
ap-3438	170	40	same	same	ADJ
ap-3438	170	41	is	be	AUX
ap-3438	170	42	true	true	ADJ
ap-3438	170	43	when	when	SCONJ
ap-3438	170	44	we	we	PRON
ap-3438	170	45	increase	increase	VERB
ap-3438	170	46	ν	ν	NOUN
ap-3438	170	47	)	)	PUNCT
ap-3438	170	48	.	.	PUNCT
ap-3438	171	1	note	note	VERB
ap-3438	171	2	that	that	SCONJ
ap-3438	171	3	when	when	SCONJ
ap-3438	171	4	α	α	PROPN
ap-3438	171	5	=	=	SYM
ap-3438	171	6	0	0	PROPN
ap-3438	171	7	,	,	PUNCT
ap-3438	171	8	β	β	X
ap-3438	171	9	should	should	AUX
ap-3438	171	10	not	not	PART
ap-3438	171	11	be	be	AUX
ap-3438	171	12	infinitely	infinitely	ADV
ap-3438	171	13	large	large	ADJ
ap-3438	171	14	,	,	PUNCT
ap-3438	171	15	as	as	ADP
ap-3438	171	16	in	in	ADP
ap-3438	171	17	this	this	DET
ap-3438	171	18	case	case	NOUN
ap-3438	171	19	,	,	PUNCT
ap-3438	171	20	k(s)f	k(s)f	PROPN
ap-3438	171	21	=	=	PUNCT
ap-3438	172	1	0	0	X
ap-3438	172	2	.	.	PUNCT
ap-3438	173	1	however	however	ADV
ap-3438	173	2	,	,	PUNCT
ap-3438	173	3	for	for	ADP
ap-3438	173	4	all	all	DET
ap-3438	173	5	practical	practical	ADJ
ap-3438	173	6	purposes	purpose	NOUN
ap-3438	173	7	β	β	X
ap-3438	173	8	is	be	AUX
ap-3438	173	9	bounded	bound	VERB
ap-3438	173	10	and	and	CCONJ
ap-3438	173	11	α	α	X
ap-3438	173	12	>	>	X
ap-3438	173	13	0	0	X
ap-3438	173	14	.	.	PUNCT
ap-3438	173	15	let	let	VERB
ap-3438	173	16	us	we	PRON
ap-3438	173	17	refer	refer	VERB
ap-3438	173	18	to	to	ADP
ap-3438	173	19	this	this	DET
ap-3438	173	20	additional	additional	ADJ
ap-3438	173	21	third	third	ADJ
ap-3438	173	22	term	term	NOUN
ap-3438	173	23	of	of	ADP
ap-3438	173	24	j	j	PROPN
ap-3438	173	25	(	(	PUNCT
ap-3438	173	26	3	3	NUM
ap-3438	173	27	)	)	PUNCT
ap-3438	173	28	(	(	PUNCT
ap-3438	173	29	and	and	CCONJ
ap-3438	173	30	second	second	ADJ
ap-3438	173	31	term	term	NOUN
ap-3438	173	32	of	of	ADP
ap-3438	173	33	eq	eq	NOUN
ap-3438	173	34	.	.	PROPN
ap-3438	173	35	18	18	NUM
ap-3438	173	36	)	)	PUNCT
ap-3438	173	37	as	as	ADP
ap-3438	173	38	j	j	PROPN
ap-3438	173	39	(	(	PUNCT
ap-3438	173	40	3,3	3,3	NUM
ap-3438	173	41	)	)	PUNCT
ap-3438	173	42	.	.	PUNCT
ap-3438	174	1	then	then	ADV
ap-3438	174	2	,	,	PUNCT
ap-3438	174	3	the	the	DET
ap-3438	174	4	derivative	derivative	NOUN
ap-3438	174	5	of	of	ADP
ap-3438	174	6	the	the	DET
ap-3438	174	7	new	new	ADJ
ap-3438	174	8	objective	objective	ADJ
ap-3438	174	9	function	function	NOUN
ap-3438	174	10	with	with	ADP
ap-3438	174	11	respect	respect	NOUN
ap-3438	174	12	to	to	ADP
ap-3438	174	13	the	the	DET
ap-3438	174	14	transition	transition	NOUN
ap-3438	174	15	rates	rate	NOUN
ap-3438	174	16	can	can	AUX
ap-3438	174	17	be	be	AUX
ap-3438	174	18	expressed	express	VERB
ap-3438	174	19	as	as	ADP
ap-3438	174	20	∂j	∂j	PROPN
ap-3438	174	21	(	(	PUNCT
ap-3438	174	22	3	3	NUM
ap-3438	174	23	)	)	PUNCT
ap-3438	174	24	∂k(s	∂k(s	NOUN
ap-3438	174	25	)	)	PUNCT
ap-3438	174	26	=	=	SYM
ap-3438	175	1	∂j	∂j	NOUN
ap-3438	175	2	(	(	PUNCT
ap-3438	175	3	2	2	NUM
ap-3438	175	4	)	)	PUNCT
ap-3438	175	5	∂k(s	∂k(s	NOUN
ap-3438	175	6	)	)	PUNCT
ap-3438	176	1	+	+	CCONJ
ap-3438	176	2	∂j	∂j	X
ap-3438	176	3	(	(	PUNCT
ap-3438	176	4	3,3	3,3	NOUN
ap-3438	176	5	)	)	PUNCT
ap-3438	176	6	∂k(s	∂k(s	NOUN
ap-3438	176	7	)	)	PUNCT
ap-3438	176	8	.	.	PUNCT
ap-3438	177	1	(	(	PUNCT
ap-3438	177	2	19	19	NUM
ap-3438	177	3	)	)	PUNCT
ap-3438	177	4	again	again	ADV
ap-3438	177	5	,	,	PUNCT
ap-3438	177	6	we	we	PRON
ap-3438	177	7	apply	apply	VERB
ap-3438	177	8	the	the	DET
ap-3438	177	9	chain	chain	NOUN
ap-3438	177	10	rule	rule	NOUN
ap-3438	177	11	to	to	PART
ap-3438	177	12	obtain	obtain	VERB
ap-3438	177	13	∂j	∂j	NOUN
ap-3438	177	14	(	(	PUNCT
ap-3438	177	15	3,3	3,3	NOUN
ap-3438	177	16	)	)	PUNCT
ap-3438	177	17	∂k(s	∂k(s	NOUN
ap-3438	177	18	)	)	PUNCT
ap-3438	177	19	=	=	SYM
ap-3438	178	1	∂j	∂j	NOUN
ap-3438	178	2	(	(	PUNCT
ap-3438	178	3	3,3	3,3	NOUN
ap-3438	178	4	)	)	PUNCT
ap-3438	178	5	∂ek(s)τ	∂ek(s)τ	NOUN
ap-3438	178	6	∂ek(s)τ	∂ek(s)τ	NOUN
ap-3438	178	7	∂k(s)τ	∂k(s)τ	ADP
ap-3438	178	8	∂k(s)τ	∂k(s)τ	NUM
ap-3438	178	9	∂k(s	∂k(s	NOUN
ap-3438	178	10	)	)	PUNCT
ap-3438	178	11	(	(	PUNCT
ap-3438	178	12	20	20	NUM
ap-3438	178	13	)	)	PUNCT
ap-3438	178	14	−	−	PROPN
ap-3438	179	1	∂j	∂j	PROPN
ap-3438	179	2	(	(	PUNCT
ap-3438	179	3	3,3	3,3	NOUN
ap-3438	179	4	)	)	PUNCT
ap-3438	179	5	∂ek(s)(τ+ν	∂ek(s)(τ+ν	NOUN
ap-3438	179	6	)	)	PUNCT
ap-3438	179	7	∂ek(s)(τ+ν	∂ek(s)(τ+ν	PROPN
ap-3438	179	8	)	)	PUNCT
ap-3438	180	1	∂k(s)(τ	∂k(s)(τ	PROPN
ap-3438	181	1	+	+	NUM
ap-3438	181	2	ν	ν	X
ap-3438	181	3	)	)	PUNCT
ap-3438	181	4	∂k(s)(τ	∂k(s)(τ	PROPN
ap-3438	182	1	+	+	NUM
ap-3438	182	2	ν	ν	NOUN
ap-3438	182	3	)	)	PUNCT
ap-3438	182	4	∂k(s	∂k(s	NOUN
ap-3438	182	5	)	)	PUNCT
ap-3438	182	6	.	.	PUNCT
ap-3438	183	1	the	the	DET
ap-3438	183	2	outer	outer	ADJ
ap-3438	183	3	derivative	derivative	NOUN
ap-3438	183	4	is	be	AUX
ap-3438	183	5	∂j	∂j	NOUN
ap-3438	183	6	(	(	PUNCT
ap-3438	183	7	3,3	3,3	NUM
ap-3438	183	8	)	)	PUNCT
ap-3438	183	9	∂ek(s)τ	∂ek(s)τ	NOUN
ap-3438	183	10	=	=	SYM
ap-3438	183	11	∂j	∂j	PROPN
ap-3438	183	12	(	(	PUNCT
ap-3438	183	13	3,3	3,3	NOUN
ap-3438	183	14	)	)	PUNCT
ap-3438	183	15	∂ek(s)(τ+ν	∂ek(s)(τ+ν	NOUN
ap-3438	183	16	)	)	PUNCT
ap-3438	183	17	(	(	PUNCT
ap-3438	183	18	21	21	NUM
ap-3438	183	19	)	)	PUNCT
ap-3438	184	1	=	=	SYM
ap-3438	184	2	2β	2β	NOUN
ap-3438	184	3	[	[	PUNCT
ap-3438	184	4	ek(s)τx(s	ek(s)τx(s	NOUN
ap-3438	184	5	)	)	PUNCT
ap-3438	184	6	0	0	NUM
ap-3438	185	1	−	−	PROPN
ap-3438	185	2	ek(s)(τ+ν)x(s	ek(s)(τ+ν)x(s	PROPN
ap-3438	185	3	)	)	PUNCT
ap-3438	185	4	0	0	NUM
ap-3438	185	5	]	]	PUNCT
ap-3438	185	6	·	·	PUNCT
ap-3438	185	7	x(s	x(s	PROPN
ap-3438	185	8	)	)	PUNCT
ap-3438	185	9	0	0	PUNCT
ap-3438	185	10	>	>	PUNCT
ap-3438	185	11	.	.	PUNCT
ap-3438	186	1	we	we	PRON
ap-3438	186	2	apply	apply	VERB
ap-3438	186	3	the	the	DET
ap-3438	186	4	same	same	ADJ
ap-3438	186	5	development	development	NOUN
ap-3438	186	6	as	as	ADP
ap-3438	186	7	in	in	ADP
ap-3438	186	8	eq	eq	NOUN
ap-3438	186	9	.	.	PROPN
ap-3438	186	10	12	12	NUM
ap-3438	186	11	to	to	PART
ap-3438	186	12	obtain	obtain	VERB
ap-3438	186	13	the	the	DET
ap-3438	186	14	equation	equation	NOUN
ap-3438	186	15	∂j	∂j	X
ap-3438	186	16	(	(	PUNCT
ap-3438	186	17	3,3	3,3	NOUN
ap-3438	186	18	)	)	PUNCT
ap-3438	186	19	∂k(s	∂k(s	NOUN
ap-3438	186	20	)	)	PUNCT
ap-3438	186	21	=	=	SYM
ap-3438	187	1	v−1	v−1	PROPN
ap-3438	187	2	>	>	PROPN
ap-3438	187	3	a2v	a2v	PROPN
ap-3438	187	4	>	>	X
ap-3438	187	5	·	·	PUNCT
ap-3438	187	6	τ	τ	X
ap-3438	188	1	−v−1	−v−1	NUM
ap-3438	188	2	>	>	PUNCT
ap-3438	188	3	a3v	a3v	X
ap-3438	188	4	>	>	X
ap-3438	188	5	·	·	PUNCT
ap-3438	188	6	(	(	PUNCT
ap-3438	188	7	τ	τ	X
ap-3438	188	8	+	+	CCONJ
ap-3438	188	9	ν	ν	NOUN
ap-3438	188	10	)	)	PUNCT
ap-3438	188	11	(	(	PUNCT
ap-3438	188	12	22	22	NUM
ap-3438	188	13	)	)	PUNCT
ap-3438	188	14	with	with	ADP
ap-3438	188	15	a2	a2	PROPN
ap-3438	188	16	=	=	SYM
ap-3438	188	17	v	v	PROPN
ap-3438	188	18	>	>	X
ap-3438	188	19	·	·	PUNCT
ap-3438	189	1	∂j	∂j	PROPN
ap-3438	189	2	(	(	PUNCT
ap-3438	189	3	3,3	3,3	NOUN
ap-3438	189	4	)	)	PUNCT
ap-3438	189	5	∂ek(s)τ	∂ek(s)τ	NOUN
ap-3438	189	6	·	·	SYM
ap-3438	189	7	v−1	v−1	PROPN
ap-3438	189	8	>	>	SYM
ap-3438	189	9	�	�	PROPN
ap-3438	189	10	w(τ	w(τ	PROPN
ap-3438	189	11	)	)	PUNCT
ap-3438	189	12	(	(	PUNCT
ap-3438	189	13	23	23	NUM
ap-3438	189	14	)	)	SYM
ap-3438	189	15	70	70	NUM
ap-3438	189	16	vol	vol	NOUN
ap-3438	189	17	.	.	PUNCT
ap-3438	190	1	56	56	NUM
ap-3438	190	2	no	no	NOUN
ap-3438	190	3	.	.	PUNCT
ap-3438	191	1	1/2016	1/2016	NUM
ap-3438	191	2	adaptive	adaptive	ADJ
ap-3438	191	3	distribution	distribution	NOUN
ap-3438	191	4	of	of	ADP
ap-3438	191	5	a	a	DET
ap-3438	191	6	swarm	swarm	NOUN
ap-3438	191	7	of	of	ADP
ap-3438	191	8	heterogeneous	heterogeneous	ADJ
ap-3438	191	9	robots	robot	NOUN
ap-3438	191	10	and	and	CCONJ
ap-3438	191	11	a3	a3	NOUN
ap-3438	191	12	=	=	SYM
ap-3438	191	13	v	v	PROPN
ap-3438	191	14	>	>	X
ap-3438	191	15	·	·	PUNCT
ap-3438	192	1	∂j	∂j	PROPN
ap-3438	192	2	(	(	PUNCT
ap-3438	192	3	3,3	3,3	NUM
ap-3438	192	4	)	)	PUNCT
ap-3438	192	5	∂ek(s)(τ+ν	∂ek(s)(τ+ν	NOUN
ap-3438	192	6	)	)	PUNCT
ap-3438	192	7	·	·	PUNCT
ap-3438	192	8	v	v	ADP
ap-3438	192	9	−1	−1	NOUN
ap-3438	192	10	>	>	X
ap-3438	192	11	�	�	PROPN
ap-3438	192	12	w(τ	w(τ	PROPN
ap-3438	192	13	+	+	CCONJ
ap-3438	192	14	ν	ν	NOUN
ap-3438	192	15	)	)	PUNCT
ap-3438	192	16	.	.	PUNCT
ap-3438	193	1	(	(	PUNCT
ap-3438	193	2	24	24	NUM
ap-3438	193	3	)	)	PUNCT
ap-3438	193	4	for	for	ADP
ap-3438	193	5	all	all	PRON
ap-3438	193	6	above	above	ADP
ap-3438	193	7	cost	cost	NOUN
ap-3438	193	8	functions	function	NOUN
ap-3438	193	9	,	,	PUNCT
ap-3438	193	10	z	z	NOUN
ap-3438	193	11	=	=	SYM
ap-3438	193	12	1	1	NUM
ap-3438	193	13	,	,	PUNCT
ap-3438	193	14	2	2	NUM
ap-3438	193	15	,	,	PUNCT
ap-3438	193	16	3	3	NUM
ap-3438	193	17	,	,	PUNCT
ap-3438	193	18	the	the	DET
ap-3438	193	19	derivative	derivative	NOUN
ap-3438	193	20	with	with	ADP
ap-3438	193	21	respect	respect	NOUN
ap-3438	193	22	to	to	ADP
ap-3438	193	23	the	the	DET
ap-3438	193	24	off	off	ADV
ap-3438	193	25	-	-	PUNCT
ap-3438	193	26	diagonal	diagonal	ADJ
ap-3438	193	27	elements	element	NOUN
ap-3438	193	28	ij	ij	NOUN
ap-3438	193	29	of	of	ADP
ap-3438	193	30	the	the	DET
ap-3438	193	31	matrix	matrix	NOUN
ap-3438	193	32	k(s	k(s	PRON
ap-3438	193	33	)	)	PUNCT
ap-3438	193	34	,	,	PUNCT
ap-3438	193	35	with	with	ADP
ap-3438	193	36	(	(	PUNCT
ap-3438	193	37	i	i	PROPN
ap-3438	193	38	,	,	PUNCT
ap-3438	193	39	j	j	PROPN
ap-3438	193	40	)	)	PUNCT
ap-3438	193	41	∈	∈	PROPN
ap-3438	193	42	e	e	NOUN
ap-3438	193	43	,	,	PUNCT
ap-3438	193	44	is	be	AUX
ap-3438	193	45	∂j	∂j	PROPN
ap-3438	193	46	(	(	PUNCT
ap-3438	193	47	z	z	NOUN
ap-3438	193	48	)	)	PUNCT
ap-3438	193	49	∂k(s	∂k(s	NOUN
ap-3438	193	50	)	)	PUNCT
ap-3438	193	51	ij	ij	NOUN
ap-3438	193	52	=	=	NOUN
ap-3438	193	53	{	{	PUNCT
ap-3438	193	54	∂j	∂j	NOUN
ap-3438	193	55	(	(	PUNCT
ap-3438	193	56	z	z	NOUN
ap-3438	193	57	)	)	PUNCT
ap-3438	193	58	∂k(s	∂k(s	NOUN
ap-3438	193	59	)	)	PUNCT
ap-3438	193	60	}	}	PUNCT
ap-3438	193	61	ij	ij	INTJ
ap-3438	193	62	−	−	PROPN
ap-3438	193	63	{	{	PUNCT
ap-3438	193	64	∂j	∂j	NOUN
ap-3438	193	65	(	(	PUNCT
ap-3438	193	66	z	z	NOUN
ap-3438	193	67	)	)	PUNCT
ap-3438	193	68	∂k(s	∂k(s	NOUN
ap-3438	193	69	)	)	PUNCT
ap-3438	193	70	}	}	PUNCT
ap-3438	194	1	jj	jj	PROPN
ap-3438	194	2	,	,	PUNCT
ap-3438	194	3	(	(	PUNCT
ap-3438	194	4	25	25	NUM
ap-3438	194	5	)	)	PUNCT
ap-3438	194	6	where	where	SCONJ
ap-3438	194	7	{	{	PUNCT
ap-3438	194	8	·	·	PUNCT
ap-3438	194	9	}	}	PUNCT
ap-3438	194	10	ij	ij	NOUN
ap-3438	194	11	denotes	denote	VERB
ap-3438	194	12	the	the	DET
ap-3438	194	13	element	element	NOUN
ap-3438	194	14	on	on	ADP
ap-3438	194	15	row	row	NOUN
ap-3438	195	1	i	i	PRON
ap-3438	195	2	and	and	CCONJ
ap-3438	195	3	column	column	NOUN
ap-3438	195	4	j.	j.	PROPN
ap-3438	195	5	the	the	DET
ap-3438	195	6	derivative	derivative	NOUN
ap-3438	195	7	with	with	ADP
ap-3438	195	8	respect	respect	NOUN
ap-3438	195	9	to	to	ADP
ap-3438	195	10	time	time	NOUN
ap-3438	195	11	τ	τ	PROPN
ap-3438	195	12	is	be	AUX
ap-3438	195	13	analogous	analogous	ADJ
ap-3438	195	14	.	.	PUNCT
ap-3438	196	1	finally	finally	ADV
ap-3438	196	2	,	,	PUNCT
ap-3438	196	3	we	we	PRON
ap-3438	196	4	summarize	summarize	VERB
ap-3438	196	5	our	our	PRON
ap-3438	196	6	optimization	optimization	NOUN
ap-3438	196	7	problem	problem	NOUN
ap-3438	196	8	as	as	SCONJ
ap-3438	196	9	follows	follow	VERB
ap-3438	196	10	:	:	PUNCT
ap-3438	197	1	k(s)f	k(s)f	NOUN
ap-3438	197	2	,	,	PUNCT
ap-3438	197	3	τf	τf	NOUN
ap-3438	197	4	=	=	PUNCT
ap-3438	197	5	argmin	argmin	PROPN
ap-3438	197	6	k(s),τ	k(s),τ	PROPN
ap-3438	197	7	j	j	PROPN
ap-3438	197	8	(	(	PUNCT
ap-3438	197	9	3	3	NUM
ap-3438	197	10	)	)	PUNCT
ap-3438	197	11	,	,	PUNCT
ap-3438	197	12	(	(	PUNCT
ap-3438	197	13	26	26	NUM
ap-3438	197	14	)	)	PUNCT
ap-3438	197	15	under	under	ADP
ap-3438	197	16	the	the	DET
ap-3438	197	17	constraints	constraint	NOUN
ap-3438	197	18	shown	show	VERB
ap-3438	197	19	in	in	ADP
ap-3438	197	20	eq	eq	ADJ
ap-3438	197	21	.	.	PROPN
ap-3438	197	22	18	18	NUM
ap-3438	197	23	.	.	PUNCT
ap-3438	197	24	to	to	PART
ap-3438	197	25	solve	solve	VERB
ap-3438	197	26	the	the	DET
ap-3438	197	27	system	system	NOUN
ap-3438	197	28	,	,	PUNCT
ap-3438	197	29	we	we	PRON
ap-3438	197	30	implement	implement	VERB
ap-3438	197	31	a	a	DET
ap-3438	197	32	basin	basin	NOUN
ap-3438	197	33	-	-	PUNCT
ap-3438	197	34	hopping	hop	VERB
ap-3438	197	35	optimization	optimization	NOUN
ap-3438	197	36	algorithm	algorithm	NOUN
ap-3438	197	37	[	[	X
ap-3438	197	38	17	17	NUM
ap-3438	197	39	]	]	PUNCT
ap-3438	197	40	,	,	PUNCT
ap-3438	197	41	which	which	PRON
ap-3438	197	42	attempts	attempt	VERB
ap-3438	197	43	to	to	PART
ap-3438	197	44	find	find	VERB
ap-3438	197	45	the	the	DET
ap-3438	197	46	global	global	ADJ
ap-3438	197	47	minimum	minimum	NOUN
ap-3438	197	48	of	of	ADP
ap-3438	197	49	a	a	DET
ap-3438	197	50	smooth	smooth	ADJ
ap-3438	197	51	scalar	scalar	ADJ
ap-3438	197	52	function	function	NOUN
ap-3438	197	53	.	.	PUNCT
ap-3438	198	1	locally	locally	ADV
ap-3438	198	2	,	,	PUNCT
ap-3438	198	3	our	our	PRON
ap-3438	198	4	basin	basin	NOUN
ap-3438	198	5	-	-	PUNCT
ap-3438	198	6	hopping	hop	VERB
ap-3438	198	7	algorithm	algorithm	NOUN
ap-3438	198	8	uses	use	VERB
ap-3438	198	9	a	a	DET
ap-3438	198	10	quasi	quasi	NOUN
ap-3438	198	11	-	-	ADJ
ap-3438	198	12	newton	newton	PROPN
ap-3438	198	13	method	method	NOUN
ap-3438	198	14	(	(	PUNCT
ap-3438	198	15	namely	namely	ADV
ap-3438	198	16	,	,	PUNCT
ap-3438	198	17	the	the	DET
ap-3438	198	18	broyden	broyden	ADJ
ap-3438	198	19	-	-	PUNCT
ap-3438	198	20	fletcher	fletcher	NOUN
ap-3438	198	21	-	-	PUNCT
ap-3438	198	22	goldfarb	goldfarb	NOUN
ap-3438	198	23	-	-	PUNCT
ap-3438	198	24	shanno	shanno	NOUN
ap-3438	198	25	algorithm	algorithm	NOUN
ap-3438	198	26	[	[	X
ap-3438	198	27	18	18	NUM
ap-3438	198	28	]	]	PUNCT
ap-3438	198	29	with	with	ADP
ap-3438	198	30	bound	bind	VERB
ap-3438	198	31	constraints	constraint	NOUN
ap-3438	198	32	)	)	PUNCT
ap-3438	198	33	.	.	PUNCT
ap-3438	199	1	3.3	3.3	NUM
ap-3438	199	2	.	.	PUNCT
ap-3438	200	1	computational	computational	ADJ
ap-3438	200	2	complexity	complexity	NOUN
ap-3438	200	3	the	the	DET
ap-3438	200	4	computational	computational	ADJ
ap-3438	200	5	complexity	complexity	NOUN
ap-3438	200	6	of	of	ADP
ap-3438	200	7	computing	compute	VERB
ap-3438	200	8	the	the	DET
ap-3438	200	9	gradient	gradient	NOUN
ap-3438	200	10	of	of	ADP
ap-3438	200	11	our	our	PRON
ap-3438	200	12	objective	objective	ADJ
ap-3438	200	13	function	function	NOUN
ap-3438	200	14	is	be	AUX
ap-3438	200	15	o(s	o(s	PROPN
ap-3438	200	16	·	·	PUNCT
ap-3438	200	17	m3	m3	PROPN
ap-3438	200	18	+	+	PROPN
ap-3438	200	19	s	s	PART
ap-3438	200	20	·	·	PUNCT
ap-3438	200	21	m2	m2	PROPN
ap-3438	200	22	·	·	SYM
ap-3438	200	23	u	u	NOUN
ap-3438	200	24	)	)	PUNCT
ap-3438	200	25	.	.	PUNCT
ap-3438	201	1	the	the	DET
ap-3438	201	2	first	first	ADJ
ap-3438	201	3	part	part	NOUN
ap-3438	201	4	of	of	ADP
ap-3438	201	5	this	this	DET
ap-3438	201	6	complexity	complexity	NOUN
ap-3438	201	7	is	be	AUX
ap-3438	201	8	dictated	dictate	VERB
ap-3438	201	9	by	by	ADP
ap-3438	201	10	the	the	DET
ap-3438	201	11	eigenvalue	eigenvalue	PROPN
ap-3438	201	12	decomposition	decomposition	NOUN
ap-3438	201	13	,	,	PUNCT
ap-3438	201	14	which	which	PRON
ap-3438	201	15	is	be	AUX
ap-3438	201	16	known	know	VERB
ap-3438	201	17	to	to	PART
ap-3438	201	18	be	be	AUX
ap-3438	201	19	o(m3	o(m3	NOUN
ap-3438	201	20	)	)	PUNCT
ap-3438	201	21	for	for	ADP
ap-3438	201	22	non	non	ADJ
ap-3438	201	23	-	-	ADJ
ap-3438	201	24	sparse	sparse	ADJ
ap-3438	201	25	matrices	matrix	NOUN
ap-3438	201	26	[	[	X
ap-3438	201	27	19]2	19]2	NUM
ap-3438	201	28	.	.	PUNCT
ap-3438	202	1	we	we	PRON
ap-3438	202	2	compute	compute	VERB
ap-3438	202	3	this	this	DET
ap-3438	202	4	decomposition	decomposition	NOUN
ap-3438	202	5	only	only	ADV
ap-3438	202	6	once	once	ADV
ap-3438	202	7	per	per	ADP
ap-3438	202	8	optimization	optimization	NOUN
ap-3438	202	9	(	(	PUNCT
ap-3438	202	10	see	see	VERB
ap-3438	202	11	eq	eq	ADP
ap-3438	202	12	.	.	PROPN
ap-3438	202	13	12	12	NUM
ap-3438	202	14	,	,	PUNCT
ap-3438	202	15	where	where	SCONJ
ap-3438	202	16	k(s	k(s	ADV
ap-3438	202	17	)	)	PUNCT
ap-3438	202	18	=	=	PUNCT
ap-3438	203	1	vdv−1	vdv−1	NOUN
ap-3438	203	2	)	)	PUNCT
ap-3438	203	3	,	,	PUNCT
ap-3438	203	4	for	for	ADP
ap-3438	203	5	each	each	DET
ap-3438	203	6	optimization	optimization	NOUN
ap-3438	203	7	of	of	ADP
ap-3438	203	8	k(s	k(s	PROPN
ap-3438	203	9	)	)	PUNCT
ap-3438	203	10	.	.	PUNCT
ap-3438	204	1	the	the	DET
ap-3438	204	2	second	second	ADJ
ap-3438	204	3	part	part	NOUN
ap-3438	204	4	is	be	AUX
ap-3438	204	5	dictated	dictate	VERB
ap-3438	204	6	by	by	ADP
ap-3438	204	7	the	the	DET
ap-3438	204	8	multiplication	multiplication	NOUN
ap-3438	204	9	of	of	ADP
ap-3438	204	10	the	the	DET
ap-3438	204	11	matrices	matrix	NOUN
ap-3438	204	12	in	in	ADP
ap-3438	204	13	eq	eq	ADP
ap-3438	204	14	.	.	PROPN
ap-3438	204	15	12	12	NUM
ap-3438	204	16	,	,	PUNCT
ap-3438	204	17	for	for	ADP
ap-3438	204	18	which	which	PRON
ap-3438	204	19	the	the	DET
ap-3438	204	20	cost	cost	NOUN
ap-3438	204	21	is	be	AUX
ap-3438	204	22	o(m2	o(m2	X
ap-3438	204	23	·	·	PUNCT
ap-3438	204	24	u	u	NOUN
ap-3438	204	25	)	)	PUNCT
ap-3438	204	26	.	.	PUNCT
ap-3438	205	1	globally	globally	ADV
ap-3438	205	2	speaking	speak	VERB
ap-3438	205	3	,	,	PUNCT
ap-3438	205	4	the	the	DET
ap-3438	205	5	computation	computation	NOUN
ap-3438	205	6	grows	grow	VERB
ap-3438	205	7	linearly	linearly	ADV
ap-3438	205	8	with	with	ADP
ap-3438	205	9	the	the	DET
ap-3438	205	10	number	number	NOUN
ap-3438	205	11	of	of	ADP
ap-3438	205	12	species	specie	NOUN
ap-3438	205	13	and	and	CCONJ
ap-3438	205	14	traits	trait	NOUN
ap-3438	205	15	,	,	PUNCT
ap-3438	205	16	and	and	CCONJ
ap-3438	205	17	it	it	PRON
ap-3438	205	18	grows	grow	VERB
ap-3438	205	19	cubically	cubically	ADV
ap-3438	205	20	with	with	ADP
ap-3438	205	21	respect	respect	NOUN
ap-3438	205	22	to	to	ADP
ap-3438	205	23	the	the	DET
ap-3438	205	24	number	number	NOUN
ap-3438	205	25	of	of	ADP
ap-3438	205	26	tasks	task	NOUN
ap-3438	205	27	.	.	PUNCT
ap-3438	206	1	overall	overall	ADJ
ap-3438	206	2	,	,	PUNCT
ap-3438	206	3	for	for	ADP
ap-3438	206	4	the	the	DET
ap-3438	206	5	results	result	NOUN
ap-3438	206	6	shown	show	VERB
ap-3438	206	7	in	in	ADP
ap-3438	206	8	section	section	NOUN
ap-3438	206	9	4	4	NUM
ap-3438	206	10	,	,	PUNCT
ap-3438	206	11	the	the	DET
ap-3438	206	12	average	average	ADJ
ap-3438	206	13	time	time	NOUN
ap-3438	206	14	to	to	PART
ap-3438	206	15	compute	compute	VERB
ap-3438	206	16	the	the	DET
ap-3438	206	17	gradient	gradient	NOUN
ap-3438	206	18	for	for	ADP
ap-3438	206	19	a	a	DET
ap-3438	206	20	system	system	NOUN
ap-3438	206	21	withm	withm	NOUN
ap-3438	206	22	=	=	NOUN
ap-3438	206	23	8	8	NUM
ap-3438	206	24	,	,	PUNCT
ap-3438	206	25	u	u	NOUN
ap-3438	206	26	=	=	NOUN
ap-3438	206	27	4	4	NUM
ap-3438	206	28	,	,	PUNCT
ap-3438	206	29	and	and	CCONJ
ap-3438	206	30	s	s	VERB
ap-3438	206	31	=	=	SYM
ap-3438	206	32	4	4	NUM
ap-3438	206	33	is	be	AUX
ap-3438	206	34	around	around	ADV
ap-3438	206	35	1.35	1.35	NUM
ap-3438	206	36	ms	ms	NOUN
ap-3438	206	37	with	with	ADP
ap-3438	206	38	ν	ν	X
ap-3438	206	39	=	=	SYM
ap-3438	206	40	0	0	NUM
ap-3438	206	41	,	,	PUNCT
ap-3438	206	42	and	and	CCONJ
ap-3438	206	43	2.2	2.2	NUM
ap-3438	206	44	ms	ms	NOUN
ap-3438	206	45	with	with	ADP
ap-3438	206	46	ν	ν	PROPN
ap-3438	206	47	>	>	X
ap-3438	206	48	0	0	PUNCT
ap-3438	207	1	(	(	PUNCT
ap-3438	207	2	the	the	DET
ap-3438	207	3	number	number	NOUN
ap-3438	207	4	of	of	ADP
ap-3438	207	5	parameters	parameter	NOUN
ap-3438	207	6	to	to	PART
ap-3438	207	7	optimize	optimize	VERB
ap-3438	207	8	can	can	AUX
ap-3438	207	9	be	be	AUX
ap-3438	207	10	as	as	ADV
ap-3438	207	11	large	large	ADJ
ap-3438	207	12	as	as	ADP
ap-3438	207	13	225	225	NUM
ap-3438	207	14	in	in	ADP
ap-3438	207	15	this	this	DET
ap-3438	207	16	case	case	NOUN
ap-3438	207	17	,	,	PUNCT
ap-3438	207	18	depending	depend	VERB
ap-3438	207	19	on	on	ADP
ap-3438	207	20	the	the	DET
ap-3438	207	21	graph	graph	NOUN
ap-3438	207	22	’s	’s	PART
ap-3438	207	23	adjacency	adjacency	NOUN
ap-3438	207	24	matrix	matrix	NOUN
ap-3438	207	25	)	)	PUNCT
ap-3438	207	26	.	.	PUNCT
ap-3438	208	1	the	the	DET
ap-3438	208	2	code	code	NOUN
ap-3438	208	3	was	be	AUX
ap-3438	208	4	implemented	implement	VERB
ap-3438	208	5	in	in	ADP
ap-3438	208	6	python	python	NOUN
ap-3438	208	7	using	use	VERB
ap-3438	208	8	the	the	DET
ap-3438	208	9	numpy	numpy	NOUN
ap-3438	208	10	and	and	CCONJ
ap-3438	208	11	scipy	scipy	NOUN
ap-3438	208	12	libraries	library	NOUN
ap-3438	208	13	,	,	PUNCT
ap-3438	208	14	and	and	CCONJ
ap-3438	208	15	tested	test	VERB
ap-3438	208	16	on	on	ADP
ap-3438	208	17	a	a	DET
ap-3438	208	18	2	2	NUM
ap-3438	208	19	ghz	ghz	NOUN
ap-3438	208	20	intel	intel	NOUN
ap-3438	208	21	core	core	NOUN
ap-3438	208	22	i7	i7	NOUN
ap-3438	208	23	using	use	VERB
ap-3438	208	24	a	a	DET
ap-3438	208	25	single	single	ADJ
ap-3438	208	26	cpu	cpu	NOUN
ap-3438	208	27	.	.	PUNCT
ap-3438	209	1	3.4	3.4	NUM
ap-3438	209	2	.	.	PUNCT
ap-3438	209	3	continuous	continuous	ADJ
ap-3438	209	4	optimization	optimization	NOUN
ap-3438	209	5	of	of	ADP
ap-3438	209	6	k(s	k(s	PROPN
ap-3438	209	7	)	)	PUNCT
ap-3438	209	8	as	as	SCONJ
ap-3438	209	9	shown	show	VERB
ap-3438	209	10	above	above	ADV
ap-3438	209	11	,	,	PUNCT
ap-3438	209	12	the	the	DET
ap-3438	209	13	optimization	optimization	NOUN
ap-3438	209	14	of	of	ADP
ap-3438	209	15	the	the	DET
ap-3438	209	16	objective	objective	ADJ
ap-3438	209	17	function	function	NOUN
ap-3438	209	18	j	j	PROPN
ap-3438	209	19	(	(	PUNCT
ap-3438	209	20	3	3	NUM
ap-3438	209	21	)	)	PUNCT
ap-3438	209	22	is	be	AUX
ap-3438	209	23	efficient	efficient	ADJ
ap-3438	209	24	and	and	CCONJ
ap-3438	209	25	can	can	AUX
ap-3438	209	26	be	be	AUX
ap-3438	209	27	performed	perform	VERB
ap-3438	209	28	in	in	ADP
ap-3438	209	29	realtime	realtime	NOUN
ap-3438	209	30	.	.	PUNCT
ap-3438	210	1	building	build	VERB
ap-3438	210	2	on	on	ADP
ap-3438	210	3	this	this	DET
ap-3438	210	4	result	result	NOUN
ap-3438	210	5	,	,	PUNCT
ap-3438	210	6	we	we	PRON
ap-3438	210	7	can	can	AUX
ap-3438	210	8	implement	implement	VERB
ap-3438	210	9	a	a	DET
ap-3438	210	10	continuous	continuous	ADJ
ap-3438	210	11	,	,	PUNCT
ap-3438	210	12	online	online	ADJ
ap-3438	210	13	optimization	optimization	NOUN
ap-3438	210	14	strategy	strategy	NOUN
ap-3438	210	15	that	that	PRON
ap-3438	210	16	allows	allow	VERB
ap-3438	210	17	us	we	PRON
ap-3438	210	18	to	to	PART
ap-3438	210	19	refine	refine	VERB
ap-3438	210	20	the	the	DET
ap-3438	210	21	optimal	optimal	ADJ
ap-3438	210	22	k(s)f	k(s)f	PROPN
ap-3438	210	23	as	as	ADP
ap-3438	210	24	a	a	DET
ap-3438	210	25	function	function	NOUN
ap-3438	210	26	of	of	ADP
ap-3438	210	27	the	the	DET
ap-3438	210	28	current	current	ADJ
ap-3438	210	29	state	state	NOUN
ap-3438	210	30	.	.	PUNCT
ap-3438	211	1	in	in	ADP
ap-3438	211	2	noisy	noisy	ADJ
ap-3438	211	3	systems	system	NOUN
ap-3438	211	4	,	,	PUNCT
ap-3438	211	5	where	where	SCONJ
ap-3438	211	6	the	the	DET
ap-3438	211	7	trajectories	trajectory	NOUN
ap-3438	211	8	of	of	ADP
ap-3438	211	9	individual	individual	ADJ
ap-3438	211	10	agents	agent	NOUN
ap-3438	211	11	exhibit	exhibit	VERB
ap-3438	211	12	deviations	deviation	NOUN
ap-3438	211	13	from	from	ADP
ap-3438	211	14	predicted	predict	VERB
ap-3438	211	15	2	2	NUM
ap-3438	211	16	in	in	ADP
ap-3438	211	17	the	the	DET
ap-3438	211	18	special	special	ADJ
ap-3438	211	19	case	case	NOUN
ap-3438	211	20	where	where	SCONJ
ap-3438	211	21	all	all	DET
ap-3438	211	22	eigenvalues	eigenvalue	NOUN
ap-3438	211	23	are	be	AUX
ap-3438	211	24	distinct	distinct	ADJ
ap-3438	211	25	,	,	PUNCT
ap-3438	211	26	the	the	DET
ap-3438	211	27	eigenvalue	eigenvalue	NOUN
ap-3438	211	28	decomposition	decomposition	NOUN
ap-3438	211	29	can	can	AUX
ap-3438	211	30	be	be	AUX
ap-3438	211	31	reduced	reduce	VERB
ap-3438	211	32	to	to	ADP
ap-3438	211	33	o(m2.376	o(m2.376	PROPN
ap-3438	211	34	log(m	log(m	PROPN
ap-3438	211	35	)	)	PUNCT
ap-3438	211	36	)	)	PUNCT
ap-3438	212	1	[	[	X
ap-3438	212	2	20	20	NUM
ap-3438	212	3	]	]	PUNCT
ap-3438	212	4	.	.	PUNCT
ap-3438	213	1	macroscopic	macroscopic	ADJ
ap-3438	213	2	trajectories	trajectory	NOUN
ap-3438	213	3	,	,	PUNCT
ap-3438	213	4	this	this	DET
ap-3438	213	5	strategy	strategy	NOUN
ap-3438	213	6	inevitably	inevitably	ADV
ap-3438	213	7	leads	lead	VERB
ap-3438	213	8	to	to	ADP
ap-3438	213	9	an	an	DET
ap-3438	213	10	improvement	improvement	NOUN
ap-3438	213	11	of	of	ADP
ap-3438	213	12	the	the	DET
ap-3438	213	13	convergence	convergence	NOUN
ap-3438	213	14	time	time	NOUN
ap-3438	213	15	.	.	PUNCT
ap-3438	214	1	by	by	ADP
ap-3438	214	2	taking	take	VERB
ap-3438	214	3	the	the	DET
ap-3438	214	4	actual	actual	ADJ
ap-3438	214	5	robot	robot	NOUN
ap-3438	214	6	distribution	distribution	NOUN
ap-3438	214	7	into	into	ADP
ap-3438	214	8	account	account	NOUN
ap-3438	214	9	,	,	PUNCT
ap-3438	214	10	it	it	PRON
ap-3438	214	11	can	can	AUX
ap-3438	214	12	recompute	recompute	VERB
ap-3438	214	13	updated	update	VERB
ap-3438	214	14	optimal	optimal	ADJ
ap-3438	214	15	transition	transition	NOUN
ap-3438	214	16	rates	rate	NOUN
ap-3438	214	17	.	.	PUNCT
ap-3438	215	1	practically	practically	ADV
ap-3438	215	2	,	,	PUNCT
ap-3438	215	3	we	we	PRON
ap-3438	215	4	initially	initially	ADV
ap-3438	215	5	compute	compute	VERB
ap-3438	215	6	k(s)f	k(s)f	PROPN
ap-3438	215	7	at	at	ADP
ap-3438	215	8	time	time	NOUN
ap-3438	215	9	t	t	PROPN
ap-3438	215	10	=	=	SYM
ap-3438	215	11	0	0	NUM
ap-3438	215	12	to	to	PART
ap-3438	215	13	control	control	VERB
ap-3438	215	14	the	the	DET
ap-3438	215	15	system	system	NOUN
ap-3438	215	16	over	over	ADP
ap-3438	215	17	a	a	DET
ap-3438	215	18	finite	finite	ADJ
ap-3438	215	19	period	period	NOUN
ap-3438	215	20	δ	δ	PROPN
ap-3438	215	21	from	from	ADP
ap-3438	215	22	t	t	PROPN
ap-3438	215	23	=	=	SYM
ap-3438	215	24	0	0	PROPN
ap-3438	215	25	to	to	ADP
ap-3438	215	26	t	t	PROPN
ap-3438	215	27	=	=	SYM
ap-3438	215	28	δ	δ	PROPN
ap-3438	215	29	.	.	PUNCT
ap-3438	216	1	after	after	ADP
ap-3438	216	2	that	that	DET
ap-3438	216	3	period	period	NOUN
ap-3438	216	4	(	(	PUNCT
ap-3438	216	5	at	at	ADP
ap-3438	216	6	time	time	NOUN
ap-3438	216	7	t	t	PROPN
ap-3438	216	8	=	=	SYM
ap-3438	216	9	δ	δ	PROPN
ap-3438	216	10	)	)	PUNCT
ap-3438	216	11	,	,	PUNCT
ap-3438	216	12	we	we	PRON
ap-3438	216	13	optimize	optimize	VERB
ap-3438	216	14	a	a	DET
ap-3438	216	15	new	new	ADJ
ap-3438	216	16	value	value	NOUN
ap-3438	216	17	of	of	ADP
ap-3438	216	18	k(s)f	k(s)f	PROPN
ap-3438	216	19	that	that	PRON
ap-3438	216	20	controls	control	VERB
ap-3438	216	21	the	the	DET
ap-3438	216	22	system	system	NOUN
ap-3438	216	23	for	for	ADP
ap-3438	216	24	the	the	DET
ap-3438	216	25	next	next	ADJ
ap-3438	216	26	period	period	NOUN
ap-3438	216	27	,	,	PUNCT
ap-3438	216	28	as	as	ADP
ap-3438	216	29	a	a	DET
ap-3438	216	30	function	function	NOUN
ap-3438	216	31	of	of	ADP
ap-3438	216	32	the	the	DET
ap-3438	216	33	actual	actual	ADJ
ap-3438	216	34	robot	robot	NOUN
ap-3438	216	35	distribution	distribution	NOUN
ap-3438	216	36	that	that	PRON
ap-3438	216	37	was	be	AUX
ap-3438	216	38	encountered	encounter	VERB
ap-3438	216	39	at	at	ADP
ap-3438	216	40	time	time	NOUN
ap-3438	216	41	t	t	PROPN
ap-3438	216	42	=	=	SYM
ap-3438	216	43	δ	δ	PROPN
ap-3438	216	44	.	.	PUNCT
ap-3438	217	1	this	this	DET
ap-3438	217	2	process	process	NOUN
ap-3438	217	3	can	can	AUX
ap-3438	217	4	be	be	AUX
ap-3438	217	5	repeated	repeat	VERB
ap-3438	217	6	indefinitely	indefinitely	ADV
ap-3438	217	7	.	.	PUNCT
ap-3438	218	1	the	the	DET
ap-3438	218	2	value	value	NOUN
ap-3438	218	3	δ	δ	PROPN
ap-3438	218	4	is	be	AUX
ap-3438	218	5	called	call	VERB
ap-3438	218	6	the	the	DET
ap-3438	218	7	sampling	sampling	NOUN
ap-3438	218	8	time	time	NOUN
ap-3438	218	9	.	.	PUNCT
ap-3438	219	1	formally	formally	ADV
ap-3438	219	2	,	,	PUNCT
ap-3438	219	3	we	we	PRON
ap-3438	219	4	write	write	VERB
ap-3438	219	5	our	our	PRON
ap-3438	219	6	control	control	NOUN
ap-3438	219	7	policy	policy	NOUN
ap-3438	219	8	as	as	ADP
ap-3438	219	9	k(s)f(t	k(s)f(t	NOUN
ap-3438	219	10	)	)	PUNCT
ap-3438	219	11	,	,	PUNCT
ap-3438	219	12	τf(t	τf(t	NUM
ap-3438	219	13	)	)	PUNCT
ap-3438	219	14	=	=	SYM
ap-3438	219	15	argmin	argmin	NOUN
ap-3438	219	16	k(s),τ	k(s),τ	VERB
ap-3438	219	17	j̃	j̃	PROPN
ap-3438	219	18	(	(	PUNCT
ap-3438	219	19	3)(x(tp	3)(x(tp	NUM
ap-3438	219	20	)	)	PUNCT
ap-3438	219	21	)	)	PUNCT
ap-3438	219	22	(	(	PUNCT
ap-3438	219	23	27	27	NUM
ap-3438	219	24	)	)	PUNCT
ap-3438	219	25	with	with	ADP
ap-3438	219	26	tp	tp	ADP
ap-3438	219	27	≤	≤	NUM
ap-3438	219	28	t	t	NOUN
ap-3438	219	29	<	<	X
ap-3438	219	30	tp	tp	X
ap-3438	219	31	+	+	CCONJ
ap-3438	219	32	δ	δ	PROPN
ap-3438	219	33	tp	tp	ADP
ap-3438	219	34	∈	∈	PROPN
ap-3438	219	35	kδ	kδ	NOUN
ap-3438	219	36	,	,	PUNCT
ap-3438	219	37	k	k	PROPN
ap-3438	219	38	∈	∈	PROPN
ap-3438	219	39	n	n	CCONJ
ap-3438	219	40	,	,	PUNCT
ap-3438	219	41	where	where	SCONJ
ap-3438	219	42	we	we	PRON
ap-3438	219	43	rewrite	rewrite	VERB
ap-3438	219	44	our	our	PRON
ap-3438	219	45	cost	cost	NOUN
ap-3438	219	46	equation	equation	NOUN
ap-3438	219	47	as	as	ADP
ap-3438	219	48	a	a	DET
ap-3438	219	49	function	function	NOUN
ap-3438	219	50	of	of	ADP
ap-3438	219	51	the	the	DET
ap-3438	219	52	robot	robot	NOUN
ap-3438	219	53	distribution	distribution	NOUN
ap-3438	219	54	j̃	j̃	PROPN
ap-3438	219	55	(	(	PUNCT
ap-3438	219	56	3)(x	3)(x	NUM
ap-3438	219	57	)	)	PUNCT
ap-3438	219	58	=	=	NOUN
ap-3438	219	59	∥∥∥ȳ−	∥∥∥ȳ−	NOUN
ap-3438	219	60	s∑	s∑	PROPN
ap-3438	219	61	s=1	s=1	X
ap-3438	219	62	ek(s)τx(s	ek(s)τx(s	PROPN
ap-3438	219	63	)	)	PUNCT
ap-3438	219	64	·	·	PUNCT
ap-3438	220	1	q(s	q(s	X
ap-3438	220	2	)	)	PUNCT
ap-3438	220	3	∥∥∥2	∥∥∥2	NOUN
ap-3438	220	4	f	f	PROPN
ap-3438	221	1	+	+	CCONJ
ap-3438	221	2	ατ2	ατ2	PROPN
ap-3438	221	3	(	(	PUNCT
ap-3438	221	4	28	28	NUM
ap-3438	221	5	)	)	PUNCT
ap-3438	221	6	+	+	CCONJ
ap-3438	221	7	β	β	X
ap-3438	221	8	s∑	s∑	PROPN
ap-3438	221	9	s=1	s=1	X
ap-3438	221	10	∥∥∥ek(s)τx(s	∥∥∥ek(s)τx(s	PROPN
ap-3438	221	11	)	)	PUNCT
ap-3438	221	12	−	−	PROPN
ap-3438	221	13	ek(s)(τ+ν)x(s	ek(s)(τ+ν)x(s	PROPN
ap-3438	221	14	)	)	PUNCT
ap-3438	221	15	∥∥∥2	∥∥∥2	NOUN
ap-3438	221	16	2	2	NUM
ap-3438	221	17	.	.	PUNCT
ap-3438	221	18	note	note	VERB
ap-3438	221	19	that	that	SCONJ
ap-3438	221	20	j̃	j̃	PROPN
ap-3438	221	21	(	(	PUNCT
ap-3438	221	22	3)(x(0	3)(x(0	NUM
ap-3438	221	23	)	)	PUNCT
ap-3438	221	24	)	)	PUNCT
ap-3438	221	25	is	be	AUX
ap-3438	221	26	equal	equal	ADJ
ap-3438	221	27	to	to	ADP
ap-3438	221	28	j	j	PROPN
ap-3438	221	29	(	(	PUNCT
ap-3438	221	30	3	3	NUM
ap-3438	221	31	)	)	PUNCT
ap-3438	221	32	.	.	PUNCT
ap-3438	222	1	in	in	ADP
ap-3438	222	2	practice	practice	NOUN
ap-3438	222	3	,	,	PUNCT
ap-3438	222	4	if	if	SCONJ
ap-3438	222	5	δ	δ	PROPN
ap-3438	222	6	is	be	AUX
ap-3438	222	7	small	small	ADJ
ap-3438	222	8	with	with	ADP
ap-3438	222	9	respect	respect	NOUN
ap-3438	222	10	to	to	ADP
ap-3438	222	11	the	the	DET
ap-3438	222	12	rates	rate	NOUN
ap-3438	222	13	at	at	ADP
ap-3438	222	14	which	which	PRON
ap-3438	222	15	robots	robot	NOUN
ap-3438	222	16	transition	transition	NOUN
ap-3438	222	17	between	between	ADP
ap-3438	222	18	sites	site	NOUN
ap-3438	222	19	(	(	PUNCT
ap-3438	222	20	cf	cf	NOUN
ap-3438	222	21	.	.	PUNCT
ap-3438	222	22	kij	kij	PROPN
ap-3438	222	23	,	,	PUNCT
ap-3438	222	24	max	max	PROPN
ap-3438	222	25	)	)	PUNCT
ap-3438	222	26	,	,	PUNCT
ap-3438	222	27	we	we	PRON
ap-3438	222	28	set	set	VERB
ap-3438	222	29	β	β	X
ap-3438	222	30	=	=	SYM
ap-3438	222	31	0	0	NUM
ap-3438	222	32	,	,	PUNCT
ap-3438	222	33	since	since	SCONJ
ap-3438	222	34	the	the	DET
ap-3438	222	35	continuous	continuous	ADJ
ap-3438	222	36	optimization	optimization	NOUN
ap-3438	222	37	of	of	ADP
ap-3438	222	38	k(s	k(s	PROPN
ap-3438	222	39	)	)	PUNCT
ap-3438	222	40	enforces	enforce	VERB
ap-3438	222	41	a	a	DET
ap-3438	222	42	current	current	ADJ
ap-3438	222	43	state	state	NOUN
ap-3438	222	44	that	that	PRON
ap-3438	222	45	is	be	AUX
ap-3438	222	46	close	close	ADJ
ap-3438	222	47	to	to	ADP
ap-3438	222	48	the	the	DET
ap-3438	222	49	desired	desire	VERB
ap-3438	222	50	state	state	NOUN
ap-3438	222	51	,	,	PUNCT
ap-3438	222	52	irrespective	irrespective	ADV
ap-3438	222	53	of	of	ADP
ap-3438	222	54	the	the	DET
ap-3438	222	55	steady	steady	ADJ
ap-3438	222	56	-	-	PUNCT
ap-3438	222	57	state	state	NOUN
ap-3438	222	58	distribution	distribution	NOUN
ap-3438	222	59	.	.	PUNCT
ap-3438	223	1	for	for	ADP
ap-3438	223	2	cases	case	NOUN
ap-3438	223	3	where	where	SCONJ
ap-3438	223	4	the	the	DET
ap-3438	223	5	optimization	optimization	NOUN
ap-3438	223	6	time	time	NOUN
ap-3438	223	7	becomes	become	VERB
ap-3438	223	8	large	large	ADJ
ap-3438	223	9	(	(	PUNCT
ap-3438	223	10	implying	imply	VERB
ap-3438	223	11	that	that	SCONJ
ap-3438	223	12	δ	δ	PROPN
ap-3438	223	13	also	also	ADV
ap-3438	223	14	becomes	become	VERB
ap-3438	223	15	large	large	ADJ
ap-3438	223	16	)	)	PUNCT
ap-3438	223	17	,	,	PUNCT
ap-3438	223	18	we	we	PRON
ap-3438	223	19	either	either	CCONJ
ap-3438	223	20	need	need	VERB
ap-3438	223	21	to	to	PART
ap-3438	223	22	set	set	VERB
ap-3438	223	23	β	β	PRON
ap-3438	223	24	>	>	X
ap-3438	223	25	0	0	NUM
ap-3438	223	26	,	,	PUNCT
ap-3438	223	27	or	or	CCONJ
ap-3438	223	28	use	use	VERB
ap-3438	223	29	a	a	DET
ap-3438	223	30	strategy	strategy	NOUN
ap-3438	223	31	that	that	PRON
ap-3438	223	32	accounts	account	VERB
ap-3438	223	33	for	for	ADP
ap-3438	223	34	computation	computation	NOUN
ap-3438	223	35	delay	delay	NOUN
ap-3438	223	36	,	,	PUNCT
ap-3438	223	37	such	such	ADJ
ap-3438	223	38	as	as	ADP
ap-3438	223	39	those	those	PRON
ap-3438	223	40	presented	present	VERB
ap-3438	223	41	in	in	ADP
ap-3438	223	42	[	[	X
ap-3438	223	43	21	21	NUM
ap-3438	223	44	]	]	PUNCT
ap-3438	223	45	.	.	PUNCT
ap-3438	224	1	also	also	ADV
ap-3438	224	2	,	,	PUNCT
ap-3438	224	3	we	we	PRON
ap-3438	224	4	note	note	VERB
ap-3438	224	5	that	that	SCONJ
ap-3438	224	6	we	we	PRON
ap-3438	224	7	can	can	AUX
ap-3438	224	8	accelerate	accelerate	VERB
ap-3438	224	9	the	the	DET
ap-3438	224	10	computations	computation	NOUN
ap-3438	224	11	by	by	ADP
ap-3438	224	12	setting	set	VERB
ap-3438	224	13	the	the	DET
ap-3438	224	14	initial	initial	ADJ
ap-3438	224	15	values	value	NOUN
ap-3438	224	16	of	of	ADP
ap-3438	224	17	the	the	DET
ap-3438	224	18	present	present	ADJ
ap-3438	224	19	sampling	sampling	NOUN
ap-3438	224	20	window	window	NOUN
ap-3438	224	21	with	with	ADP
ap-3438	224	22	optimized	optimize	VERB
ap-3438	224	23	values	value	NOUN
ap-3438	224	24	of	of	ADP
ap-3438	224	25	the	the	DET
ap-3438	224	26	preceding	precede	VERB
ap-3438	224	27	sampling	sample	VERB
ap-3438	224	28	window	window	NOUN
ap-3438	224	29	(	(	PUNCT
ap-3438	224	30	i.e.	i.e.	X
ap-3438	224	31	,	,	PUNCT
ap-3438	224	32	warm	warm	ADJ
ap-3438	224	33	start	start	NOUN
ap-3438	224	34	)	)	PUNCT
ap-3438	224	35	.	.	PUNCT
ap-3438	225	1	4	4	X
ap-3438	225	2	.	.	X
ap-3438	225	3	results	result	VERB
ap-3438	225	4	previous	previous	ADJ
ap-3438	225	5	work	work	NOUN
ap-3438	225	6	has	have	AUX
ap-3438	225	7	shown	show	VERB
ap-3438	225	8	the	the	DET
ap-3438	225	9	benefit	benefit	NOUN
ap-3438	225	10	of	of	ADP
ap-3438	225	11	validating	validate	VERB
ap-3438	225	12	methods	method	NOUN
ap-3438	225	13	over	over	ADP
ap-3438	225	14	multiple	multiple	ADJ
ap-3438	225	15	,	,	PUNCT
ap-3438	225	16	complementary	complementary	ADJ
ap-3438	225	17	levels	level	NOUN
ap-3438	225	18	of	of	ADP
ap-3438	225	19	abstraction	abstraction	NOUN
ap-3438	225	20	(	(	PUNCT
ap-3438	225	21	sub	sub	ADJ
ap-3438	225	22	-	-	ADJ
ap-3438	225	23	microscopic	microscopic	ADJ
ap-3438	225	24	,	,	PUNCT
ap-3438	225	25	microscopic	microscopic	ADJ
ap-3438	225	26	,	,	PUNCT
ap-3438	225	27	and	and	CCONJ
ap-3438	225	28	macroscopic	macroscopic	ADJ
ap-3438	225	29	)	)	PUNCT
ap-3438	226	1	[	[	X
ap-3438	226	2	22	22	NUM
ap-3438	226	3	]	]	PUNCT
ap-3438	226	4	.	.	PUNCT
ap-3438	227	1	in	in	ADP
ap-3438	227	2	the	the	DET
ap-3438	227	3	present	present	ADJ
ap-3438	227	4	work	work	NOUN
ap-3438	227	5	,	,	PUNCT
ap-3438	227	6	we	we	PRON
ap-3438	227	7	propose	propose	VERB
ap-3438	227	8	an	an	DET
ap-3438	227	9	evaluation	evaluation	NOUN
ap-3438	227	10	of	of	ADP
ap-3438	227	11	our	our	PRON
ap-3438	227	12	methods	method	NOUN
ap-3438	227	13	on	on	ADP
ap-3438	227	14	two	two	NUM
ap-3438	227	15	levels	level	NOUN
ap-3438	227	16	:	:	PUNCT
ap-3438	227	17	microscopic	microscopic	ADJ
ap-3438	227	18	and	and	CCONJ
ap-3438	227	19	macroscopic	macroscopic	ADJ
ap-3438	227	20	.	.	PUNCT
ap-3438	228	1	indeed	indeed	ADV
ap-3438	228	2	,	,	PUNCT
ap-3438	228	3	the	the	DET
ap-3438	228	4	most	most	ADV
ap-3438	228	5	efficient	efficient	ADJ
ap-3438	228	6	way	way	NOUN
ap-3438	228	7	of	of	ADP
ap-3438	228	8	simulating	simulate	VERB
ap-3438	228	9	the	the	DET
ap-3438	228	10	swarm	swarm	NOUN
ap-3438	228	11	of	of	ADP
ap-3438	228	12	robots	robot	NOUN
ap-3438	228	13	is	be	AUX
ap-3438	228	14	by	by	ADP
ap-3438	228	15	considering	consider	VERB
ap-3438	228	16	a	a	DET
ap-3438	228	17	continuous	continuous	ADJ
ap-3438	228	18	macroscopic	macroscopic	ADJ
ap-3438	228	19	model	model	NOUN
ap-3438	228	20	,	,	PUNCT
ap-3438	228	21	derived	derive	VERB
ap-3438	228	22	directly	directly	ADV
ap-3438	228	23	from	from	ADP
ap-3438	228	24	the	the	DET
ap-3438	228	25	ordinary	ordinary	ADJ
ap-3438	228	26	differential	differential	ADJ
ap-3438	228	27	equation	equation	NOUN
ap-3438	228	28	,	,	PUNCT
ap-3438	228	29	eq	eq	NOUN
ap-3438	228	30	.	.	NOUN
ap-3438	229	1	3	3	X
ap-3438	229	2	.	.	PUNCT
ap-3438	230	1	in	in	ADP
ap-3438	230	2	order	order	NOUN
ap-3438	230	3	to	to	PART
ap-3438	230	4	validate	validate	VERB
ap-3438	230	5	the	the	DET
ap-3438	230	6	control	control	NOUN
ap-3438	230	7	policy	policy	NOUN
ap-3438	230	8	at	at	ADP
ap-3438	230	9	a	a	DET
ap-3438	230	10	lower	low	ADJ
ap-3438	230	11	level	level	NOUN
ap-3438	230	12	of	of	ADP
ap-3438	230	13	abstraction	abstraction	NOUN
ap-3438	230	14	,	,	PUNCT
ap-3438	230	15	we	we	PRON
ap-3438	230	16	also	also	ADV
ap-3438	230	17	implement	implement	VERB
ap-3438	230	18	a	a	DET
ap-3438	230	19	discrete	discrete	ADJ
ap-3438	230	20	microscopic	microscopic	ADJ
ap-3438	230	21	model	model	NOUN
ap-3438	230	22	that	that	PRON
ap-3438	230	23	emulates	emulate	VERB
ap-3438	230	24	the	the	DET
ap-3438	230	25	behavior	behavior	NOUN
ap-3438	230	26	of	of	ADP
ap-3438	230	27	individual	individual	ADJ
ap-3438	230	28	robot	robot	NOUN
ap-3438	230	29	controllers	controller	NOUN
ap-3438	230	30	.	.	PUNCT
ap-3438	231	1	this	this	DET
ap-3438	231	2	agent	agent	NOUN
ap-3438	231	3	-	-	PUNCT
ap-3438	231	4	level	level	NOUN
ap-3438	231	5	control	control	NOUN
ap-3438	231	6	is	be	AUX
ap-3438	231	7	based	base	VERB
ap-3438	231	8	on	on	ADP
ap-3438	231	9	the	the	DET
ap-3438	231	10	transition	transition	NOUN
ap-3438	231	11	rates	rate	NOUN
ap-3438	231	12	k(s	k(s	PRON
ap-3438	231	13	)	)	PUNCT
ap-3438	232	1	ij	ij	NOUN
ap-3438	232	2	encoded	encode	VERB
ap-3438	232	3	by	by	ADP
ap-3438	232	4	the	the	DET
ap-3438	232	5	transition	transition	NOUN
ap-3438	232	6	matrix	matrix	NOUN
ap-3438	232	7	k(s	k(s	PROPN
ap-3438	232	8	):	):	PUNCT
ap-3438	232	9	a	a	DET
ap-3438	232	10	robot	robot	NOUN
ap-3438	232	11	of	of	ADP
ap-3438	232	12	species	specie	NOUN
ap-3438	232	13	s	s	VERB
ap-3438	232	14	at	at	ADP
ap-3438	232	15	site	site	NOUN
ap-3438	232	16	i	i	PRON
ap-3438	232	17	transitions	transition	NOUN
ap-3438	232	18	to	to	PART
ap-3438	232	19	site	site	VERB
ap-3438	232	20	71	71	NUM
ap-3438	232	21	a.	a.	NOUN
ap-3438	232	22	prorok	prorok	NOUN
ap-3438	232	23	,	,	PUNCT
ap-3438	232	24	m.	m.	NOUN
ap-3438	232	25	ani	ani	X
ap-3438	232	26	hsieh	hsieh	PROPN
ap-3438	232	27	,	,	PUNCT
ap-3438	232	28	vijay	vijay	PROPN
ap-3438	232	29	kumar	kumar	PROPN
ap-3438	232	30	acta	acta	PROPN
ap-3438	232	31	polytechnica	polytechnica	PROPN
ap-3438	233	1	©	©	PROPN
ap-3438	233	2	5	5	NUM
ap-3438	233	3	©	©	PROPN
ap-3438	233	4	6	6	NUM
ap-3438	233	5	(	(	PUNCT
ap-3438	233	6	a	a	NOUN
ap-3438	233	7	)	)	PUNCT
ap-3438	233	8	5	5	NUM
ap-3438	233	9	©	©	NOUN
ap-3438	233	10	6	6	NUM
ap-3438	233	11	(	(	PUNCT
ap-3438	233	12	b	b	NOUN
ap-3438	233	13	)	)	PUNCT
ap-3438	233	14	figure	figure	NOUN
ap-3438	233	15	1	1	NUM
ap-3438	233	16	.	.	PUNCT
ap-3438	234	1	a	a	DET
ap-3438	234	2	strongly	strongly	ADV
ap-3438	234	3	connected	connect	VERB
ap-3438	234	4	instance	instance	NOUN
ap-3438	234	5	of	of	ADP
ap-3438	234	6	a	a	DET
ap-3438	234	7	graph	graph	NOUN
ap-3438	234	8	with	with	ADP
ap-3438	234	9	10	10	NUM
ap-3438	234	10	nodes	node	NOUN
ap-3438	234	11	representing	represent	VERB
ap-3438	234	12	spatially	spatially	ADV
ap-3438	234	13	distributed	distribute	VERB
ap-3438	234	14	sites	site	NOUN
ap-3438	234	15	(	(	PUNCT
ap-3438	234	16	nodes	node	NOUN
ap-3438	234	17	)	)	PUNCT
ap-3438	234	18	and	and	CCONJ
ap-3438	234	19	their	their	PRON
ap-3438	234	20	paths	path	NOUN
ap-3438	234	21	(	(	PUNCT
ap-3438	234	22	edges	edge	NOUN
ap-3438	234	23	)	)	PUNCT
ap-3438	234	24	.	.	PUNCT
ap-3438	235	1	the	the	DET
ap-3438	235	2	system	system	NOUN
ap-3438	235	3	includes	include	VERB
ap-3438	235	4	4	4	NUM
ap-3438	235	5	traits	trait	NOUN
ap-3438	235	6	.	.	PUNCT
ap-3438	236	1	the	the	DET
ap-3438	236	2	trait	trait	NOUN
ap-3438	236	3	abundance	abundance	NOUN
ap-3438	236	4	at	at	ADP
ap-3438	236	5	each	each	DET
ap-3438	236	6	node	node	NOUN
ap-3438	236	7	is	be	AUX
ap-3438	236	8	represented	represent	VERB
ap-3438	236	9	by	by	ADP
ap-3438	236	10	a	a	DET
ap-3438	236	11	bar	bar	NOUN
ap-3438	236	12	plot	plot	NOUN
ap-3438	236	13	.	.	PUNCT
ap-3438	237	1	nodes	node	NOUN
ap-3438	237	2	5	5	NUM
ap-3438	237	3	and	and	CCONJ
ap-3438	237	4	6	6	NUM
ap-3438	237	5	are	be	AUX
ap-3438	237	6	highlighted	highlight	VERB
ap-3438	237	7	.	.	PUNCT
ap-3438	238	1	(	(	PUNCT
ap-3438	238	2	a	a	X
ap-3438	238	3	)	)	PUNCT
ap-3438	238	4	initial	initial	ADJ
ap-3438	238	5	configuration	configuration	NOUN
ap-3438	238	6	(	(	PUNCT
ap-3438	238	7	b	b	NOUN
ap-3438	238	8	)	)	PUNCT
ap-3438	238	9	desired	desire	VERB
ap-3438	238	10	final	final	ADJ
ap-3438	238	11	configuration	configuration	NOUN
ap-3438	238	12	.	.	PUNCT
ap-3438	239	1	j	j	PROPN
ap-3438	239	2	according	accord	VERB
ap-3438	239	3	to	to	ADP
ap-3438	239	4	probability	probability	NOUN
ap-3438	239	5	p(s	p(s	NOUN
ap-3438	239	6	)	)	PUNCT
ap-3438	239	7	ij	ij	NOUN
ap-3438	239	8	that	that	PRON
ap-3438	239	9	is	be	AUX
ap-3438	239	10	an	an	DET
ap-3438	239	11	element	element	NOUN
ap-3438	239	12	of	of	ADP
ap-3438	239	13	the	the	DET
ap-3438	239	14	matrix	matrix	NOUN
ap-3438	239	15	p(s	p(s	NOUN
ap-3438	239	16	)	)	PUNCT
ap-3438	240	1	=	=	VERB
ap-3438	240	2	ek(s)∆t	ek(s)∆t	NOUN
ap-3438	240	3	,	,	PUNCT
ap-3438	240	4	where	where	SCONJ
ap-3438	240	5	∆t	∆t	PROPN
ap-3438	240	6	is	be	AUX
ap-3438	240	7	the	the	DET
ap-3438	240	8	duration	duration	NOUN
ap-3438	240	9	of	of	ADP
ap-3438	240	10	one	one	NUM
ap-3438	240	11	time	time	NOUN
ap-3438	240	12	-	-	PUNCT
ap-3438	240	13	step	step	NOUN
ap-3438	240	14	.	.	PUNCT
ap-3438	241	1	running	run	VERB
ap-3438	241	2	multiple	multiple	ADJ
ap-3438	241	3	iterations	iteration	NOUN
ap-3438	241	4	of	of	ADP
ap-3438	241	5	the	the	DET
ap-3438	241	6	microscopic	microscopic	ADJ
ap-3438	241	7	model	model	NOUN
ap-3438	241	8	enables	enable	VERB
ap-3438	241	9	us	we	PRON
ap-3438	241	10	to	to	PART
ap-3438	241	11	capture	capture	VERB
ap-3438	241	12	the	the	DET
ap-3438	241	13	stochasticity	stochasticity	NOUN
ap-3438	241	14	resulting	result	VERB
ap-3438	241	15	from	from	ADP
ap-3438	241	16	our	our	PRON
ap-3438	241	17	control	control	NOUN
ap-3438	241	18	system	system	NOUN
ap-3438	241	19	.	.	PUNCT
ap-3438	242	1	our	our	PRON
ap-3438	242	2	performance	performance	NOUN
ap-3438	242	3	metric	metric	ADV
ap-3438	242	4	considers	consider	VERB
ap-3438	242	5	the	the	DET
ap-3438	242	6	degree	degree	NOUN
ap-3438	242	7	of	of	ADP
ap-3438	242	8	convergence	convergence	NOUN
ap-3438	242	9	to	to	ADP
ap-3438	242	10	ȳ	ȳ	PROPN
ap-3438	242	11	,	,	PUNCT
ap-3438	242	12	expressed	express	VERB
ap-3438	242	13	by	by	ADP
ap-3438	242	14	the	the	DET
ap-3438	242	15	fraction	fraction	NOUN
ap-3438	242	16	of	of	ADP
ap-3438	242	17	misplaced	misplace	VERB
ap-3438	242	18	traits	trait	NOUN
ap-3438	242	19	µ(y	µ(y	NUM
ap-3438	242	20	)	)	PUNCT
ap-3438	242	21	=	=	SYM
ap-3438	242	22	‖(y−	‖(y−	NUM
ap-3438	242	23	ȳ)‖1	ȳ)‖1	NOUN
ap-3438	242	24	‖y‖1	‖y‖1	PROPN
ap-3438	242	25	.	.	PUNCT
ap-3438	243	1	(	(	PUNCT
ap-3438	243	2	29	29	NUM
ap-3438	243	3	)	)	PUNCT
ap-3438	243	4	we	we	PRON
ap-3438	243	5	say	say	VERB
ap-3438	243	6	that	that	SCONJ
ap-3438	243	7	one	one	NUM
ap-3438	243	8	system	system	NOUN
ap-3438	243	9	converges	converge	VERB
ap-3438	243	10	faster	fast	ADV
ap-3438	243	11	than	than	ADP
ap-3438	243	12	another	another	PRON
ap-3438	243	13	if	if	SCONJ
ap-3438	243	14	it	it	PRON
ap-3438	243	15	takes	take	VERB
ap-3438	243	16	less	less	ADJ
ap-3438	243	17	time	time	NOUN
ap-3438	243	18	for	for	ADP
ap-3438	243	19	µ(y	µ(y	PROPN
ap-3438	243	20	)	)	PUNCT
ap-3438	243	21	to	to	PART
ap-3438	243	22	decrease	decrease	VERB
ap-3438	243	23	to	to	ADP
ap-3438	243	24	some	some	DET
ap-3438	243	25	relative	relative	ADJ
ap-3438	243	26	error	error	NOUN
ap-3438	243	27	µthresh	µthresh	NOUN
ap-3438	243	28	,	,	PUNCT
ap-3438	243	29	such	such	ADJ
ap-3438	243	30	as	as	ADP
ap-3438	243	31	µthresh	µthresh	NOUN
ap-3438	243	32	=	=	SYM
ap-3438	243	33	5	5	NUM
ap-3438	243	34	%	%	NOUN
ap-3438	243	35	.	.	PUNCT
ap-3438	244	1	similar	similar	ADJ
ap-3438	244	2	performance	performance	NOUN
ap-3438	244	3	metrics	metric	NOUN
ap-3438	244	4	have	have	AUX
ap-3438	244	5	been	be	AUX
ap-3438	244	6	proposed	propose	VERB
ap-3438	244	7	in	in	ADP
ap-3438	244	8	[	[	X
ap-3438	244	9	8–10	8–10	NOUN
ap-3438	244	10	]	]	PUNCT
ap-3438	244	11	.	.	PUNCT
ap-3438	245	1	we	we	PRON
ap-3438	245	2	will	will	AUX
ap-3438	245	3	consider	consider	VERB
ap-3438	245	4	three	three	NUM
ap-3438	245	5	optimization	optimization	NOUN
ap-3438	245	6	methods	method	NOUN
ap-3438	245	7	,	,	PUNCT
ap-3438	245	8	two	two	NUM
ap-3438	245	9	of	of	ADP
ap-3438	245	10	which	which	PRON
ap-3438	245	11	stem	stem	VERB
ap-3438	245	12	from	from	ADP
ap-3438	245	13	this	this	DET
ap-3438	245	14	paper	paper	NOUN
ap-3438	245	15	,	,	PUNCT
ap-3438	245	16	and	and	CCONJ
ap-3438	245	17	one	one	NUM
ap-3438	245	18	of	of	ADP
ap-3438	245	19	which	which	PRON
ap-3438	245	20	stems	stem	VERB
ap-3438	245	21	from	from	ADP
ap-3438	245	22	[	[	X
ap-3438	245	23	8	8	NUM
ap-3438	245	24	]	]	SYM
ap-3438	245	25	:	:	PUNCT
ap-3438	245	26	fixed	fix	VERB
ap-3438	245	27	-	-	PUNCT
ap-3438	245	28	nc	nc	PROPN
ap-3438	245	29	—	—	PUNCT
ap-3438	245	30	we	we	PRON
ap-3438	245	31	consider	consider	VERB
ap-3438	245	32	the	the	DET
ap-3438	245	33	time	time	NOUN
ap-3438	245	34	-	-	PUNCT
ap-3438	245	35	constant	constant	ADJ
ap-3438	245	36	,	,	PUNCT
ap-3438	245	37	nonconvex	nonconvex	NOUN
ap-3438	245	38	optimization	optimization	NOUN
ap-3438	245	39	problem	problem	NOUN
ap-3438	245	40	posed	pose	VERB
ap-3438	245	41	in	in	ADP
ap-3438	245	42	eq	eq	ADP
ap-3438	245	43	.	.	PROPN
ap-3438	245	44	26	26	NUM
ap-3438	245	45	,	,	PUNCT
ap-3438	245	46	with	with	ADP
ap-3438	245	47	α	α	NOUN
ap-3438	245	48	=	=	SYM
ap-3438	245	49	1	1	NUM
ap-3438	245	50	,	,	PUNCT
ap-3438	245	51	β	β	X
ap-3438	245	52	=	=	SYM
ap-3438	245	53	5	5	NUM
ap-3438	245	54	,	,	PUNCT
ap-3438	245	55	and	and	CCONJ
ap-3438	245	56	ν	ν	X
ap-3438	245	57	=	=	SYM
ap-3438	245	58	2	2	NUM
ap-3438	245	59	,	,	PUNCT
ap-3438	245	60	producing	produce	VERB
ap-3438	245	61	a	a	DET
ap-3438	245	62	fixed	fix	VERB
ap-3438	245	63	k(s)f	k(s)f	NOUN
ap-3438	245	64	for	for	ADP
ap-3438	245	65	each	each	DET
ap-3438	245	66	species	specie	NOUN
ap-3438	245	67	.	.	PUNCT
ap-3438	246	1	these	these	DET
ap-3438	246	2	values	value	NOUN
ap-3438	246	3	were	be	AUX
ap-3438	246	4	not	not	PART
ap-3438	246	5	tuned	tune	VERB
ap-3438	246	6	in	in	ADP
ap-3438	246	7	any	any	DET
ap-3438	246	8	way	way	NOUN
ap-3438	246	9	to	to	PART
ap-3438	246	10	improve	improve	VERB
ap-3438	246	11	performance	performance	NOUN
ap-3438	246	12	.	.	PUNCT
ap-3438	247	1	adaptive	adaptive	PROPN
ap-3438	247	2	-	-	PUNCT
ap-3438	247	3	nc	nc	PROPN
ap-3438	247	4	—	—	PUNCT
ap-3438	247	5	we	we	PRON
ap-3438	247	6	consider	consider	VERB
ap-3438	247	7	the	the	DET
ap-3438	247	8	time	time	NOUN
ap-3438	247	9	-	-	PUNCT
ap-3438	247	10	continuous	continuous	ADJ
ap-3438	247	11	optimization	optimization	NOUN
ap-3438	247	12	problem	problem	NOUN
ap-3438	247	13	in	in	ADP
ap-3438	247	14	eq	eq	ADP
ap-3438	247	15	.	.	PROPN
ap-3438	247	16	27	27	NUM
ap-3438	247	17	,	,	PUNCT
ap-3438	247	18	with	with	ADP
ap-3438	247	19	α	α	NOUN
ap-3438	247	20	=	=	SYM
ap-3438	247	21	1	1	NUM
ap-3438	247	22	,	,	PUNCT
ap-3438	247	23	β	β	X
ap-3438	247	24	=	=	SYM
ap-3438	247	25	0	0	NUM
ap-3438	247	26	,	,	PUNCT
ap-3438	247	27	and	and	CCONJ
ap-3438	247	28	a	a	DET
ap-3438	247	29	sampling	sampling	NOUN
ap-3438	247	30	time	time	NOUN
ap-3438	247	31	δ	δ	X
ap-3438	247	32	=	=	PROPN
ap-3438	247	33	0.08	0.08	NUM
ap-3438	247	34	s	s	NOUN
ap-3438	247	35	,	,	PUNCT
ap-3438	247	36	producing	produce	VERB
ap-3438	247	37	an	an	DET
ap-3438	247	38	adaptive	adaptive	ADJ
ap-3438	247	39	control	control	NOUN
ap-3438	247	40	policy	policy	NOUN
ap-3438	247	41	k(s)f(t	k(s)f(t	NOUN
ap-3438	247	42	)	)	PUNCT
ap-3438	247	43	for	for	ADP
ap-3438	247	44	each	each	DET
ap-3438	247	45	species	specie	NOUN
ap-3438	247	46	.	.	PUNCT
ap-3438	248	1	fixed	fix	VERB
ap-3438	248	2	-	-	PUNCT
ap-3438	248	3	c	c	NOUN
ap-3438	248	4	—	—	PUNCT
ap-3438	248	5	we	we	PRON
ap-3438	248	6	adapt	adapt	VERB
ap-3438	248	7	the	the	DET
ap-3438	248	8	convex	convex	NOUN
ap-3438	248	9	optimization	optimization	NOUN
ap-3438	248	10	method	method	NOUN
ap-3438	248	11	presented	present	VERB
ap-3438	248	12	in	in	ADP
ap-3438	248	13	[	[	X
ap-3438	248	14	8	8	NUM
ap-3438	248	15	]	]	PUNCT
ap-3438	248	16	,	,	PUNCT
ap-3438	248	17	denoted	denote	VERB
ap-3438	248	18	in	in	ADP
ap-3438	248	19	the	the	DET
ap-3438	248	20	latter	latter	ADJ
ap-3438	248	21	work	work	NOUN
ap-3438	248	22	as	as	ADP
ap-3438	248	23	[	[	X
ap-3438	248	24	p1	p1	NOUN
ap-3438	248	25	]	]	PUNCT
ap-3438	248	26	.	.	PUNCT
ap-3438	249	1	this	this	DET
ap-3438	249	2	adapted	adapt	VERB
ap-3438	249	3	method	method	NOUN
ap-3438	249	4	optimizes	optimize	VERB
ap-3438	249	5	the	the	DET
ap-3438	249	6	asymptotic	asymptotic	ADJ
ap-3438	249	7	convergence	convergence	NOUN
ap-3438	249	8	rate	rate	NOUN
ap-3438	249	9	(	(	PUNCT
ap-3438	249	10	of	of	ADP
ap-3438	249	11	a	a	DET
ap-3438	249	12	system	system	NOUN
ap-3438	249	13	of	of	ADP
ap-3438	249	14	homogenous	homogenous	ADJ
ap-3438	249	15	robots	robot	NOUN
ap-3438	249	16	)	)	PUNCT
ap-3438	249	17	by	by	ADP
ap-3438	249	18	minimizing	minimize	VERB
ap-3438	249	19	the	the	DET
ap-3438	249	20	second	second	ADJ
ap-3438	249	21	eigenvalue	eigenvalue	NOUN
ap-3438	249	22	λ2	λ2	NOUN
ap-3438	249	23	of	of	ADP
ap-3438	249	24	a	a	DET
ap-3438	249	25	symmetric	symmetric	ADJ
ap-3438	249	26	matrix	matrix	NOUN
ap-3438	249	27	s(s	s(s	PROPN
ap-3438	249	28	)	)	PUNCT
ap-3438	249	29	,	,	PUNCT
ap-3438	249	30	such	such	ADJ
ap-3438	249	31	that	that	SCONJ
ap-3438	249	32	λ2(s(s	λ2(s(	VERB
ap-3438	249	33	)	)	PUNCT
ap-3438	249	34	)	)	PUNCT
ap-3438	249	35	≥	≥	NOUN
ap-3438	249	36	re(λ2(k(s	re(λ2(k(s	NOUN
ap-3438	249	37	)	)	PUNCT
ap-3438	249	38	)	)	PUNCT
ap-3438	249	39	)	)	PUNCT
ap-3438	249	40	.	.	PUNCT
ap-3438	250	1	since	since	SCONJ
ap-3438	250	2	this	this	DET
ap-3438	250	3	method	method	NOUN
ap-3438	250	4	requires	require	VERB
ap-3438	250	5	the	the	DET
ap-3438	250	6	knowledge	knowledge	NOUN
ap-3438	250	7	of	of	ADP
ap-3438	250	8	the	the	DET
ap-3438	250	9	desired	desire	VERB
ap-3438	250	10	species	species	NOUN
ap-3438	250	11	distribution	distribution	NOUN
ap-3438	250	12	x̄	x̄	NOUN
ap-3438	250	13	,	,	PUNCT
ap-3438	250	14	we	we	PRON
ap-3438	250	15	compute	compute	VERB
ap-3438	250	16	a	a	DET
ap-3438	250	17	random	random	ADJ
ap-3438	250	18	instantiation	instantiation	NOUN
ap-3438	250	19	of	of	ADP
ap-3438	250	20	x̄	x̄	NOUN
ap-3438	250	21	that	that	PRON
ap-3438	250	22	satisfies	satisfy	VERB
ap-3438	250	23	the	the	DET
ap-3438	250	24	desired	desire	VERB
ap-3438	250	25	trait	trait	NOUN
ap-3438	250	26	distribution	distribution	NOUN
ap-3438	250	27	defined	define	VERB
ap-3438	250	28	by	by	ADP
ap-3438	250	29	eq	eq	ADJ
ap-3438	250	30	.	.	PROPN
ap-3438	251	1	7	7	X
ap-3438	251	2	.	.	X
ap-3438	251	3	we	we	PRON
ap-3438	251	4	note	note	VERB
ap-3438	251	5	that	that	SCONJ
ap-3438	251	6	in	in	ADP
ap-3438	251	7	practical	practical	ADJ
ap-3438	251	8	applications	application	NOUN
ap-3438	251	9	,	,	PUNCT
ap-3438	251	10	computing	compute	VERB
ap-3438	251	11	a	a	DET
ap-3438	251	12	good	good	ADJ
ap-3438	251	13	instantiation	instantiation	NOUN
ap-3438	251	14	of	of	ADP
ap-3438	251	15	x̄	x̄	PROPN
ap-3438	251	16	is	be	AUX
ap-3438	251	17	not	not	PART
ap-3438	251	18	trivial	trivial	ADJ
ap-3438	251	19	.	.	PUNCT
ap-3438	252	1	for	for	ADP
ap-3438	252	2	all	all	DET
ap-3438	252	3	optimization	optimization	NOUN
ap-3438	252	4	methods	method	NOUN
ap-3438	252	5	,	,	PUNCT
ap-3438	252	6	we	we	PRON
ap-3438	252	7	set	set	VERB
ap-3438	252	8	k(s	k(s	PRON
ap-3438	252	9	)	)	PUNCT
ap-3438	252	10	ij	ij	NOUN
ap-3438	252	11	,	,	PUNCT
ap-3438	252	12	max	max	PROPN
ap-3438	252	13	=	=	SYM
ap-3438	252	14	2	2	NUM
ap-3438	253	1	[	[	X
ap-3438	253	2	s−1	s−1	PROPN
ap-3438	253	3	]	]	PUNCT
ap-3438	253	4	.	.	PUNCT
ap-3438	254	1	4.1	4.1	NUM
ap-3438	254	2	.	.	PUNCT
ap-3438	254	3	example	example	NOUN
ap-3438	254	4	to	to	PART
ap-3438	254	5	illustrate	illustrate	VERB
ap-3438	254	6	our	our	PRON
ap-3438	254	7	method	method	NOUN
ap-3438	254	8	,	,	PUNCT
ap-3438	254	9	we	we	PRON
ap-3438	254	10	consider	consider	VERB
ap-3438	254	11	an	an	DET
ap-3438	254	12	example	example	NOUN
ap-3438	254	13	of	of	ADP
ap-3438	254	14	n	n	NOUN
ap-3438	254	15	=	=	SYM
ap-3438	254	16	3893	3893	NUM
ap-3438	254	17	robots	robot	NOUN
ap-3438	254	18	moving	move	VERB
ap-3438	254	19	between	between	ADP
ap-3438	254	20	10	10	NUM
ap-3438	254	21	sites	site	NOUN
ap-3438	254	22	.	.	PUNCT
ap-3438	255	1	we	we	PRON
ap-3438	255	2	sample	sample	VERB
ap-3438	255	3	a	a	DET
ap-3438	255	4	random	random	ADJ
ap-3438	255	5	initial	initial	ADJ
ap-3438	255	6	robot	robot	NOUN
ap-3438	255	7	distribution	distribution	NOUN
ap-3438	255	8	x(0	x(0	PROPN
ap-3438	255	9	)	)	PUNCT
ap-3438	255	10	,	,	PUNCT
ap-3438	255	11	and	and	CCONJ
ap-3438	255	12	generate	generate	VERB
ap-3438	255	13	a	a	DET
ap-3438	255	14	random	random	ADJ
ap-3438	255	15	,	,	PUNCT
ap-3438	255	16	feasible	feasible	ADJ
ap-3438	255	17	desired	desire	VERB
ap-3438	255	18	trait	trait	NOUN
ap-3438	255	19	distribution	distribution	NOUN
ap-3438	255	20	ȳ.	ȳ.	NOUN
ap-3438	255	21	the	the	DET
ap-3438	255	22	initial	initial	ADJ
ap-3438	255	23	trait	trait	NOUN
ap-3438	255	24	distribution	distribution	NOUN
ap-3438	255	25	is	be	AUX
ap-3438	255	26	visualized	visualize	VERB
ap-3438	255	27	in	in	ADP
ap-3438	255	28	fig	fig	NOUN
ap-3438	255	29	.	.	PUNCT
ap-3438	256	1	1(a	1(a	NUM
ap-3438	256	2	)	)	PUNCT
ap-3438	256	3	,	,	PUNCT
ap-3438	256	4	and	and	CCONJ
ap-3438	256	5	the	the	DET
ap-3438	256	6	desired	desire	VERB
ap-3438	256	7	trait	trait	NOUN
ap-3438	256	8	distribution	distribution	NOUN
ap-3438	256	9	is	be	AUX
ap-3438	256	10	visualized	visualize	VERB
ap-3438	256	11	in	in	ADP
ap-3438	256	12	fig	fig	NOUN
ap-3438	256	13	.	.	PUNCT
ap-3438	257	1	1(b	1(b	NUM
ap-3438	257	2	)	)	PUNCT
ap-3438	257	3	.	.	PUNCT
ap-3438	258	1	the	the	DET
ap-3438	258	2	graph	graph	NOUN
ap-3438	258	3	is	be	AUX
ap-3438	258	4	generated	generate	VERB
ap-3438	258	5	randomly	randomly	ADV
ap-3438	258	6	according	accord	VERB
ap-3438	258	7	to	to	ADP
ap-3438	258	8	the	the	DET
ap-3438	258	9	watts	watts	PROPN
ap-3438	258	10	-	-	PUNCT
ap-3438	258	11	strogatz	strogatz	ADJ
ap-3438	258	12	model	model	NOUN
ap-3438	258	13	[	[	X
ap-3438	258	14	23	23	NUM
ap-3438	258	15	]	]	PUNCT
ap-3438	258	16	(	(	PUNCT
ap-3438	258	17	with	with	ADP
ap-3438	258	18	a	a	DET
ap-3438	258	19	neighboring	neighbor	VERB
ap-3438	258	20	node	node	NOUN
ap-3438	258	21	degree	degree	NOUN
ap-3438	258	22	of	of	ADP
ap-3438	258	23	k	k	PROPN
ap-3438	258	24	=	=	SYM
ap-3438	258	25	3	3	NUM
ap-3438	258	26	,	,	PUNCT
ap-3438	258	27	and	and	CCONJ
ap-3438	258	28	a	a	DET
ap-3438	258	29	rewiring	rewire	VERB
ap-3438	258	30	probability	probability	NOUN
ap-3438	258	31	of	of	ADP
ap-3438	258	32	γ	γ	X
ap-3438	258	33	=	=	SYM
ap-3438	258	34	0.6	0.6	NUM
ap-3438	258	35	;	;	PUNCT
ap-3438	258	36	the	the	DET
ap-3438	258	37	graph	graph	NOUN
ap-3438	258	38	is	be	AUX
ap-3438	258	39	guaranteed	guarantee	VERB
ap-3438	258	40	to	to	PART
ap-3438	258	41	be	be	AUX
ap-3438	258	42	connected	connect	VERB
ap-3438	258	43	)	)	PUNCT
ap-3438	258	44	.	.	PUNCT
ap-3438	259	1	the	the	DET
ap-3438	259	2	robot	robot	NOUN
ap-3438	259	3	community	community	NOUN
ap-3438	259	4	consists	consist	VERB
ap-3438	259	5	of	of	ADP
ap-3438	259	6	3	3	NUM
ap-3438	259	7	species	specie	NOUN
ap-3438	259	8	and	and	CCONJ
ap-3438	259	9	4	4	NUM
ap-3438	259	10	traits	trait	NOUN
ap-3438	259	11	,	,	PUNCT
ap-3438	259	12	and	and	CCONJ
ap-3438	259	13	is	be	AUX
ap-3438	259	14	defined	define	VERB
ap-3438	259	15	as	as	SCONJ
ap-3438	259	16	follows	follow	VERB
ap-3438	259	17	:	:	PUNCT
ap-3438	259	18	q	q	X
ap-3438	259	19	=	=	PUNCT
ap-3438	259	20			PROPN
ap-3438	259	21	1	1	NUM
ap-3438	259	22	0	0	NUM
ap-3438	259	23	1	1	NUM
ap-3438	259	24	0	0	NUM
ap-3438	259	25	1	1	NUM
ap-3438	259	26	0	0	NUM
ap-3438	259	27	0	0	NUM
ap-3438	259	28	1	1	NUM
ap-3438	259	29	0	0	NUM
ap-3438	259	30	1	1	NUM
ap-3438	259	31	0	0	NUM
ap-3438	259	32	1	1	NUM
ap-3438	259	33			NOUN
ap-3438	259	34	with	with	ADP
ap-3438	259	35	x	x	X
ap-3438	259	36	>	>	X
ap-3438	259	37	·	·	PUNCT
ap-3438	259	38	1	1	NUM
ap-3438	259	39	=	=	PUNCT
ap-3438	260	1	[	[	X
ap-3438	260	2	987	987	NUM
ap-3438	260	3	,	,	PUNCT
ap-3438	260	4	1490	1490	NUM
ap-3438	260	5	,	,	PUNCT
ap-3438	260	6	1416	1416	NUM
ap-3438	260	7	]	]	PUNCT
ap-3438	260	8	>	>	X
ap-3438	260	9	(	(	PUNCT
ap-3438	260	10	30	30	NUM
ap-3438	260	11	)	)	PUNCT
ap-3438	260	12	we	we	PRON
ap-3438	260	13	solve	solve	VERB
ap-3438	260	14	the	the	DET
ap-3438	260	15	system	system	NOUN
ap-3438	260	16	for	for	ADP
ap-3438	260	17	ȳ	ȳ	PROPN
ap-3438	260	18	as	as	SCONJ
ap-3438	260	19	shown	show	VERB
ap-3438	260	20	in	in	ADP
ap-3438	260	21	fig	fig	NOUN
ap-3438	260	22	.	.	PUNCT
ap-3438	261	1	1(b	1(b	NUM
ap-3438	261	2	)	)	PUNCT
ap-3438	261	3	.	.	PUNCT
ap-3438	262	1	we	we	PRON
ap-3438	262	2	show	show	VERB
ap-3438	262	3	the	the	DET
ap-3438	262	4	evolution	evolution	NOUN
ap-3438	262	5	of	of	ADP
ap-3438	262	6	the	the	DET
ap-3438	262	7	robot	robot	NOUN
ap-3438	262	8	distribution	distribution	NOUN
ap-3438	262	9	in	in	ADP
ap-3438	262	10	fig	fig	NOUN
ap-3438	262	11	.	.	PUNCT
ap-3438	263	1	2(a	2(a	NUM
ap-3438	263	2	)	)	PUNCT
ap-3438	264	1	and	and	CCONJ
ap-3438	264	2	trait	trait	NOUN
ap-3438	264	3	distribution	distribution	NOUN
ap-3438	264	4	in	in	ADP
ap-3438	264	5	fig	fig	NOUN
ap-3438	264	6	.	.	PUNCT
ap-3438	265	1	2(b)—to	2(b)—to	NUM
ap-3438	265	2	avoid	avoid	VERB
ap-3438	265	3	clutter	clutter	NOUN
ap-3438	265	4	,	,	PUNCT
ap-3438	265	5	we	we	PRON
ap-3438	265	6	plot	plot	VERB
ap-3438	265	7	two	two	NUM
ap-3438	265	8	selected	select	VERB
ap-3438	265	9	sites	site	NOUN
ap-3438	265	10	(	(	PUNCT
ap-3438	265	11	5	5	NUM
ap-3438	265	12	and	and	CCONJ
ap-3438	265	13	6	6	NUM
ap-3438	265	14	)	)	PUNCT
ap-3438	265	15	and	and	CCONJ
ap-3438	265	16	one	one	NUM
ap-3438	265	17	selected	select	VERB
ap-3438	265	18	trait	trait	NOUN
ap-3438	265	19	(	(	PUNCT
ap-3438	265	20	corresponding	correspond	VERB
ap-3438	265	21	to	to	ADP
ap-3438	265	22	the	the	DET
ap-3438	265	23	4th	4th	ADJ
ap-3438	265	24	trait	trait	NOUN
ap-3438	265	25	,	,	PUNCT
ap-3438	265	26	shown	show	VERB
ap-3438	265	27	as	as	ADP
ap-3438	265	28	the	the	DET
ap-3438	265	29	top	top	ADJ
ap-3438	265	30	bar	bar	NOUN
ap-3438	265	31	in	in	ADP
ap-3438	265	32	cyan	cyan	NOUN
ap-3438	265	33	in	in	ADP
ap-3438	265	34	fig	fig	NOUN
ap-3438	265	35	.	.	PUNCT
ap-3438	266	1	1	1	NUM
ap-3438	266	2	)	)	PUNCT
ap-3438	266	3	.	.	PUNCT
ap-3438	267	1	the	the	DET
ap-3438	267	2	plots	plot	NOUN
ap-3438	267	3	demonstrate	demonstrate	VERB
ap-3438	267	4	a	a	DET
ap-3438	267	5	good	good	ADJ
ap-3438	267	6	agreement	agreement	NOUN
ap-3438	267	7	between	between	ADP
ap-3438	267	8	the	the	DET
ap-3438	267	9	macroscopic	macroscopic	ADJ
ap-3438	267	10	model	model	NOUN
ap-3438	267	11	and	and	CCONJ
ap-3438	267	12	the	the	DET
ap-3438	267	13	discrete	discrete	ADJ
ap-3438	267	14	microscopic	microscopic	ADJ
ap-3438	267	15	model	model	NOUN
ap-3438	267	16	.	.	PUNCT
ap-3438	268	1	fig	fig	NOUN
ap-3438	268	2	.	.	PUNCT
ap-3438	269	1	3	3	NUM
ap-3438	269	2	shows	show	VERB
ap-3438	269	3	the	the	DET
ap-3438	269	4	ratio	ratio	NOUN
ap-3438	269	5	of	of	ADP
ap-3438	269	6	misplaced	misplace	VERB
ap-3438	269	7	traits	trait	NOUN
ap-3438	269	8	µ(y	µ(y	NOUN
ap-3438	269	9	)	)	PUNCT
ap-3438	269	10	over	over	ADP
ap-3438	269	11	time	time	NOUN
ap-3438	269	12	for	for	ADP
ap-3438	269	13	the	the	DET
ap-3438	269	14	initial	initial	ADJ
ap-3438	269	15	and	and	CCONJ
ap-3438	269	16	desired	desire	VERB
ap-3438	269	17	trait	trait	NOUN
ap-3438	269	18	distributions	distribution	NOUN
ap-3438	269	19	depicted	depict	VERB
ap-3438	269	20	in	in	ADP
ap-3438	269	21	fig	fig	NOUN
ap-3438	269	22	.	.	PUNCT
ap-3438	270	1	1	1	X
ap-3438	270	2	.	.	PUNCT
ap-3438	270	3	the	the	DET
ap-3438	270	4	macroscopic	macroscopic	ADJ
ap-3438	270	5	model	model	NOUN
ap-3438	270	6	demonstrates	demonstrate	VERB
ap-3438	270	7	that	that	SCONJ
ap-3438	270	8	the	the	DET
ap-3438	270	9	system	system	NOUN
ap-3438	270	10	successfully	successfully	ADV
ap-3438	270	11	achieves	achieve	VERB
ap-3438	270	12	a	a	DET
ap-3438	270	13	negligible	negligible	ADJ
ap-3438	270	14	error	error	NOUN
ap-3438	270	15	.	.	PUNCT
ap-3438	271	1	we	we	PRON
ap-3438	271	2	run	run	VERB
ap-3438	271	3	20	20	NUM
ap-3438	271	4	iterations	iteration	NOUN
ap-3438	271	5	of	of	ADP
ap-3438	271	6	the	the	DET
ap-3438	271	7	discrete	discrete	ADJ
ap-3438	271	8	microscopic	microscopic	ADJ
ap-3438	271	9	model	model	NOUN
ap-3438	271	10	,	,	PUNCT
ap-3438	271	11	once	once	ADV
ap-3438	271	12	with	with	ADP
ap-3438	271	13	method	method	NOUN
ap-3438	271	14	fixed	fix	VERB
ap-3438	271	15	-	-	PUNCT
ap-3438	271	16	nc	nc	NOUN
ap-3438	271	17	,	,	PUNCT
ap-3438	271	18	and	and	CCONJ
ap-3438	271	19	once	once	ADV
ap-3438	271	20	with	with	ADP
ap-3438	271	21	72	72	NUM
ap-3438	271	22	vol	vol	NOUN
ap-3438	271	23	.	.	PUNCT
ap-3438	272	1	56	56	NUM
ap-3438	272	2	no	no	NOUN
ap-3438	272	3	.	.	PUNCT
ap-3438	273	1	1/2016	1/2016	NUM
ap-3438	273	2	adaptive	adaptive	ADJ
ap-3438	273	3	distribution	distribution	NOUN
ap-3438	273	4	of	of	ADP
ap-3438	273	5	a	a	DET
ap-3438	273	6	swarm	swarm	NOUN
ap-3438	273	7	of	of	ADP
ap-3438	273	8	heterogeneous	heterogeneous	ADJ
ap-3438	273	9	robots	robot	NOUN
ap-3438	273	10	microscopic	microscopic	VERB
ap-3438	273	11	macroscopic	macroscopic	ADJ
ap-3438	273	12	n	n	AUX
ap-3438	273	13	um	um	INTJ
ap-3438	273	14	be	be	AUX
ap-3438	273	15	r	r	NOUN
ap-3438	273	16	of	of	ADP
ap-3438	273	17	ro	ro	INTJ
ap-3438	273	18	bo	bo	PROPN
ap-3438	273	19	ts	ts	ADP
ap-3438	273	20	time	time	NOUN
ap-3438	274	1	[	[	X
ap-3438	274	2	s	s	X
ap-3438	274	3	]	]	X
ap-3438	274	4	6	6	NUM
ap-3438	274	5	5	5	NUM
ap-3438	274	6	(	(	PUNCT
ap-3438	274	7	a	a	DET
ap-3438	274	8	)	)	PUNCT
ap-3438	274	9	microscopic	microscopic	ADJ
ap-3438	274	10	macroscopic	macroscopic	NOUN
ap-3438	274	11	n	n	AUX
ap-3438	274	12	um	um	INTJ
ap-3438	274	13	be	be	AUX
ap-3438	274	14	r	r	NOUN
ap-3438	274	15	of	of	ADP
ap-3438	274	16	tr	tr	NOUN
ap-3438	274	17	ai	ai	VERB
ap-3438	274	18	ts	ts	ADP
ap-3438	274	19	time	time	NOUN
ap-3438	275	1	[	[	X
ap-3438	275	2	s	s	X
ap-3438	275	3	]	]	X
ap-3438	275	4	6	6	NUM
ap-3438	275	5	5	5	NUM
ap-3438	275	6	(	(	PUNCT
ap-3438	275	7	b	b	NOUN
ap-3438	275	8	)	)	PUNCT
ap-3438	275	9	figure	figure	NOUN
ap-3438	275	10	2	2	NUM
ap-3438	275	11	.	.	PUNCT
ap-3438	276	1	the	the	DET
ap-3438	276	2	plot	plot	NOUN
ap-3438	276	3	shows	show	VERB
ap-3438	276	4	the	the	DET
ap-3438	276	5	macroscopic	macroscopic	ADJ
ap-3438	276	6	model	model	NOUN
ap-3438	276	7	as	as	ADV
ap-3438	276	8	well	well	ADV
ap-3438	276	9	as	as	ADP
ap-3438	276	10	the	the	DET
ap-3438	276	11	average	average	ADJ
ap-3438	276	12	over	over	ADP
ap-3438	276	13	20	20	NUM
ap-3438	276	14	iterations	iteration	NOUN
ap-3438	276	15	of	of	ADP
ap-3438	276	16	the	the	DET
ap-3438	276	17	microscopic	microscopic	ADJ
ap-3438	276	18	model	model	NOUN
ap-3438	276	19	,	,	PUNCT
ap-3438	276	20	on	on	ADP
ap-3438	276	21	the	the	DET
ap-3438	276	22	graph	graph	NOUN
ap-3438	276	23	shown	show	VERB
ap-3438	276	24	in	in	ADP
ap-3438	276	25	fig	fig	NOUN
ap-3438	276	26	.	.	PUNCT
ap-3438	277	1	1	1	X
ap-3438	277	2	.	.	X
ap-3438	277	3	we	we	PRON
ap-3438	277	4	plot	plot	VERB
ap-3438	277	5	values	value	NOUN
ap-3438	277	6	for	for	ADP
ap-3438	277	7	nodes	node	NOUN
ap-3438	277	8	5	5	NUM
ap-3438	277	9	and	and	CCONJ
ap-3438	277	10	6	6	NUM
ap-3438	277	11	,	,	PUNCT
ap-3438	277	12	which	which	PRON
ap-3438	277	13	are	be	AUX
ap-3438	277	14	highlighted	highlight	VERB
ap-3438	277	15	in	in	ADP
ap-3438	277	16	the	the	DET
ap-3438	277	17	graph	graph	NOUN
ap-3438	277	18	in	in	ADP
ap-3438	277	19	fig	fig	NOUN
ap-3438	277	20	.	.	PUNCT
ap-3438	278	1	1	1	X
ap-3438	278	2	.	.	X
ap-3438	278	3	(	(	PUNCT
ap-3438	278	4	a	a	X
ap-3438	278	5	)	)	PUNCT
ap-3438	278	6	number	number	NOUN
ap-3438	278	7	of	of	ADP
ap-3438	278	8	robots	robot	NOUN
ap-3438	278	9	of	of	ADP
ap-3438	278	10	species	specie	NOUN
ap-3438	278	11	1	1	NUM
ap-3438	278	12	present	present	ADJ
ap-3438	278	13	at	at	ADP
ap-3438	278	14	nodes	node	NOUN
ap-3438	278	15	5	5	NUM
ap-3438	278	16	and	and	CCONJ
ap-3438	278	17	6	6	NUM
ap-3438	278	18	(	(	PUNCT
ap-3438	278	19	b	b	NOUN
ap-3438	278	20	)	)	PUNCT
ap-3438	278	21	number	number	NOUN
ap-3438	278	22	of	of	ADP
ap-3438	278	23	trait	trait	NOUN
ap-3438	278	24	4	4	NUM
ap-3438	278	25	(	(	PUNCT
ap-3438	278	26	top	top	ADJ
ap-3438	278	27	bar	bar	NOUN
ap-3438	278	28	in	in	ADP
ap-3438	278	29	cyan	cyan	NOUN
ap-3438	278	30	in	in	ADP
ap-3438	278	31	fig	fig	NOUN
ap-3438	278	32	.	.	PUNCT
ap-3438	279	1	1	1	NUM
ap-3438	279	2	)	)	PUNCT
ap-3438	279	3	present	present	ADJ
ap-3438	279	4	at	at	ADP
ap-3438	279	5	nodes	node	NOUN
ap-3438	279	6	5	5	NUM
ap-3438	279	7	and	and	CCONJ
ap-3438	279	8	6	6	NUM
ap-3438	279	9	.	.	X
ap-3438	280	1	µ	µ	X
ap-3438	280	2	(	(	PUNCT
ap-3438	280	3	y	y	PROPN
ap-3438	280	4	)	)	PUNCT
ap-3438	280	5	time	time	NOUN
ap-3438	281	1	[	[	X
ap-3438	281	2	s	s	X
ap-3438	281	3	]	]	X
ap-3438	281	4	mic	mic	ADJ
ap-3438	281	5	.	.	PUNCT
ap-3438	282	1	fixed	fix	VERB
ap-3438	282	2	-	-	PUNCT
ap-3438	282	3	nc	nc	NOUN
ap-3438	282	4	mic	mic	NOUN
ap-3438	282	5	.	.	PUNCT
ap-3438	282	6	adapt.-nc	adapt.-nc	PUNCT
ap-3438	283	1	mac	mac	PROPN
ap-3438	283	2	.	.	PROPN
ap-3438	283	3	fixed	fix	VERB
ap-3438	283	4	-	-	PUNCT
ap-3438	283	5	nc	nc	NOUN
ap-3438	283	6	figure	figure	NOUN
ap-3438	283	7	3	3	NUM
ap-3438	283	8	.	.	PUNCT
ap-3438	284	1	ratio	ratio	NOUN
ap-3438	284	2	of	of	ADP
ap-3438	284	3	misplaced	misplaced	ADJ
ap-3438	284	4	traits	trait	NOUN
ap-3438	284	5	over	over	ADP
ap-3438	284	6	time	time	NOUN
ap-3438	284	7	for	for	ADP
ap-3438	284	8	the	the	DET
ap-3438	284	9	initial	initial	ADJ
ap-3438	284	10	and	and	CCONJ
ap-3438	284	11	desired	desire	VERB
ap-3438	284	12	trait	trait	NOUN
ap-3438	284	13	distributions	distribution	NOUN
ap-3438	284	14	depicted	depict	VERB
ap-3438	284	15	in	in	ADP
ap-3438	284	16	fig	fig	NOUN
ap-3438	284	17	.	.	PUNCT
ap-3438	285	1	1	1	X
ap-3438	285	2	.	.	PUNCT
ap-3438	285	3	the	the	DET
ap-3438	285	4	simulation	simulation	NOUN
ap-3438	285	5	was	be	AUX
ap-3438	285	6	run	run	VERB
ap-3438	285	7	with	with	ADP
ap-3438	285	8	3893	3893	NUM
ap-3438	285	9	robots	robot	NOUN
ap-3438	285	10	and	and	CCONJ
ap-3438	285	11	a	a	DET
ap-3438	285	12	total	total	NOUN
ap-3438	285	13	of	of	ADP
ap-3438	285	14	7786	7786	NUM
ap-3438	285	15	present	present	ADJ
ap-3438	285	16	traits	trait	NOUN
ap-3438	285	17	.	.	PUNCT
ap-3438	286	1	the	the	DET
ap-3438	286	2	plot	plot	NOUN
ap-3438	286	3	shows	show	VERB
ap-3438	286	4	the	the	DET
ap-3438	286	5	macroscopic	macroscopic	ADJ
ap-3438	286	6	model	model	NOUN
ap-3438	286	7	as	as	ADV
ap-3438	286	8	well	well	ADV
ap-3438	286	9	as	as	ADP
ap-3438	286	10	the	the	DET
ap-3438	286	11	average	average	ADJ
ap-3438	286	12	over	over	ADP
ap-3438	286	13	20	20	NUM
ap-3438	286	14	iterations	iteration	NOUN
ap-3438	286	15	of	of	ADP
ap-3438	286	16	the	the	DET
ap-3438	286	17	microscopic	microscopic	ADJ
ap-3438	286	18	model	model	NOUN
ap-3438	286	19	with	with	ADP
ap-3438	286	20	and	and	CCONJ
ap-3438	286	21	without	without	ADP
ap-3438	286	22	continuous	continuous	ADJ
ap-3438	286	23	optimization	optimization	NOUN
ap-3438	286	24	of	of	ADP
ap-3438	286	25	transition	transition	NOUN
ap-3438	286	26	rates	rate	NOUN
ap-3438	286	27	.	.	PUNCT
ap-3438	287	1	the	the	DET
ap-3438	287	2	errorbars	errorbar	NOUN
ap-3438	287	3	show	show	VERB
ap-3438	287	4	the	the	DET
ap-3438	287	5	standard	standard	ADJ
ap-3438	287	6	deviation	deviation	NOUN
ap-3438	287	7	.	.	PUNCT
ap-3438	288	1	method	method	VERB
ap-3438	288	2	adaptive	adaptive	PROPN
ap-3438	288	3	-	-	PUNCT
ap-3438	288	4	nc	nc	PROPN
ap-3438	288	5	.	.	PROPN
ap-3438	289	1	since	since	SCONJ
ap-3438	289	2	the	the	DET
ap-3438	289	3	adaptive	adaptive	ADJ
ap-3438	289	4	optimization	optimization	NOUN
ap-3438	289	5	method	method	NOUN
ap-3438	289	6	takes	take	VERB
ap-3438	289	7	the	the	DET
ap-3438	289	8	current	current	ADJ
ap-3438	289	9	robot	robot	NOUN
ap-3438	289	10	configuration	configuration	NOUN
ap-3438	289	11	into	into	ADP
ap-3438	289	12	account	account	NOUN
ap-3438	289	13	,	,	PUNCT
ap-3438	289	14	it	it	PRON
ap-3438	289	15	produces	produce	VERB
ap-3438	289	16	transition	transition	NOUN
ap-3438	289	17	rates	rate	NOUN
ap-3438	289	18	that	that	PRON
ap-3438	289	19	lead	lead	VERB
ap-3438	289	20	to	to	ADP
ap-3438	289	21	the	the	DET
ap-3438	289	22	desired	desire	VERB
ap-3438	289	23	configuration	configuration	NOUN
ap-3438	289	24	faster	fast	ADV
ap-3438	289	25	.	.	PUNCT
ap-3438	290	1	also	also	ADV
ap-3438	290	2	,	,	PUNCT
ap-3438	290	3	since	since	SCONJ
ap-3438	290	4	it	it	PRON
ap-3438	290	5	continuously	continuously	ADV
ap-3438	290	6	optimizes	optimize	VERB
ap-3438	290	7	toward	toward	ADP
ap-3438	290	8	the	the	DET
ap-3438	290	9	desired	desire	VERB
ap-3438	290	10	final	final	ADJ
ap-3438	290	11	trait	trait	NOUN
ap-3438	290	12	distribution	distribution	NOUN
ap-3438	290	13	,	,	PUNCT
ap-3438	290	14	the	the	DET
ap-3438	290	15	error	error	NOUN
ap-3438	290	16	remains	remain	VERB
ap-3438	290	17	low	low	ADJ
ap-3438	290	18	.	.	PUNCT
ap-3438	291	1	we	we	PRON
ap-3438	291	2	note	note	VERB
ap-3438	291	3	that	that	SCONJ
ap-3438	291	4	,	,	PUNCT
ap-3438	291	5	due	due	ADP
ap-3438	291	6	to	to	ADP
ap-3438	291	7	the	the	DET
ap-3438	291	8	stochasticity	stochasticity	NOUN
ap-3438	291	9	of	of	ADP
ap-3438	291	10	the	the	DET
ap-3438	291	11	microscopic	microscopic	ADJ
ap-3438	291	12	model	model	NOUN
ap-3438	291	13	,	,	PUNCT
ap-3438	291	14	the	the	DET
ap-3438	291	15	error	error	NOUN
ap-3438	291	16	ratio	ratio	NOUN
ap-3438	291	17	(	(	PUNCT
ap-3438	291	18	which	which	PRON
ap-3438	291	19	counts	count	VERB
ap-3438	291	20	absolute	absolute	ADJ
ap-3438	291	21	differences	difference	NOUN
ap-3438	291	22	)	)	PUNCT
ap-3438	291	23	will	will	AUX
ap-3438	291	24	always	always	ADV
ap-3438	291	25	be	be	AUX
ap-3438	291	26	larger	large	ADJ
ap-3438	291	27	than	than	ADP
ap-3438	291	28	0	0	NUM
ap-3438	291	29	.	.	PROPN
ap-3438	291	30	4.2	4.2	NUM
ap-3438	291	31	.	.	PUNCT
ap-3438	292	1	comparison	comparison	NOUN
ap-3438	292	2	of	of	ADP
ap-3438	292	3	methods	method	NOUN
ap-3438	292	4	we	we	PRON
ap-3438	292	5	compare	compare	VERB
ap-3438	292	6	the	the	DET
ap-3438	292	7	three	three	NUM
ap-3438	292	8	optimization	optimization	NOUN
ap-3438	292	9	methods	method	NOUN
ap-3438	292	10	,	,	PUNCT
ap-3438	292	11	fixednc	fixednc	NOUN
ap-3438	292	12	,	,	PUNCT
ap-3438	292	13	adaptive	adaptive	NOUN
ap-3438	292	14	-	-	PUNCT
ap-3438	292	15	nc	nc	PROPN
ap-3438	292	16	,	,	PUNCT
ap-3438	292	17	fixed	fix	VERB
ap-3438	292	18	-	-	PUNCT
ap-3438	292	19	c	c	NOUN
ap-3438	292	20	and	and	CCONJ
ap-3438	292	21	evaluate	evaluate	VERB
ap-3438	292	22	their	their	PRON
ap-3438	292	23	performance	performance	NOUN
ap-3438	292	24	with	with	ADP
ap-3438	292	25	respect	respect	NOUN
ap-3438	292	26	to	to	ADP
ap-3438	292	27	the	the	DET
ap-3438	292	28	metric	metric	NOUN
ap-3438	292	29	in	in	ADP
ap-3438	292	30	eq	eq	ADJ
ap-3438	292	31	.	.	PROPN
ap-3438	292	32	29	29	NUM
ap-3438	292	33	.	.	PUNCT
ap-3438	293	1	we	we	PRON
ap-3438	293	2	instantiate	instantiate	VERB
ap-3438	293	3	40	40	NUM
ap-3438	293	4	random	random	ADJ
ap-3438	293	5	graphs	graph	NOUN
ap-3438	293	6	with	with	ADP
ap-3438	293	7	m	m	PROPN
ap-3438	293	8	=	=	SYM
ap-3438	293	9	6	6	NUM
ap-3438	293	10	nodes	node	NOUN
ap-3438	293	11	,	,	PUNCT
ap-3438	293	12	and	and	CCONJ
ap-3438	293	13	random	random	ADJ
ap-3438	293	14	matrices	matrix	NOUN
ap-3438	293	15	q	q	NOUN
ap-3438	293	16	with	with	ADP
ap-3438	293	17	s	s	NOUN
ap-3438	293	18	=	=	SYM
ap-3438	293	19	4	4	NUM
ap-3438	293	20	species	specie	NOUN
ap-3438	293	21	and	and	CCONJ
ap-3438	293	22	u	u	NOUN
ap-3438	293	23	=	=	NOUN
ap-3438	293	24	4	4	NUM
ap-3438	293	25	traits	trait	NOUN
ap-3438	293	26	,	,	PUNCT
ap-3438	293	27	and	and	CCONJ
ap-3438	293	28	generate	generate	VERB
ap-3438	293	29	random	random	ADJ
ap-3438	293	30	desired	desire	VERB
ap-3438	293	31	trait	trait	NOUN
ap-3438	293	32	distributions	distribution	NOUN
ap-3438	293	33	ȳ	ȳ	INTJ
ap-3438	293	34	for	for	ADP
ap-3438	293	35	each	each	DET
ap-3438	293	36	graph	graph	NOUN
ap-3438	293	37	.	.	PUNCT
ap-3438	294	1	the	the	DET
ap-3438	294	2	microscopic	microscopic	ADJ
ap-3438	294	3	model	model	NOUN
ap-3438	294	4	is	be	AUX
ap-3438	294	5	iterated	iterate	VERB
ap-3438	294	6	4	4	NUM
ap-3438	294	7	times	time	NOUN
ap-3438	294	8	on	on	ADP
ap-3438	294	9	each	each	DET
ap-3438	294	10	graph	graph	NOUN
ap-3438	294	11	instantiation	instantiation	NOUN
ap-3438	294	12	.	.	PUNCT
ap-3438	295	1	for	for	ADP
ap-3438	295	2	the	the	DET
ap-3438	295	3	method	method	NOUN
ap-3438	295	4	fixed	fix	VERB
ap-3438	295	5	-	-	PUNCT
ap-3438	295	6	c	c	NOUN
ap-3438	295	7	,	,	PUNCT
ap-3438	295	8	we	we	PRON
ap-3438	295	9	compute	compute	VERB
ap-3438	295	10	a	a	DET
ap-3438	295	11	random	random	ADJ
ap-3438	295	12	robot	robot	NOUN
ap-3438	295	13	distribution	distribution	NOUN
ap-3438	295	14	x̄	x̄	NOUN
ap-3438	295	15	that	that	PRON
ap-3438	295	16	satisfies	satisfy	VERB
ap-3438	295	17	the	the	DET
ap-3438	295	18	desired	desire	VERB
ap-3438	295	19	trait	trait	NOUN
ap-3438	295	20	distribution	distribution	NOUN
ap-3438	295	21	.	.	PUNCT
ap-3438	296	1	we	we	PRON
ap-3438	296	2	measure	measure	VERB
ap-3438	296	3	the	the	DET
ap-3438	296	4	time	time	NOUN
ap-3438	296	5	tµ,thresh	tµ,thresh	ADP
ap-3438	296	6	at	at	ADP
ap-3438	296	7	which	which	PRON
ap-3438	296	8	the	the	DET
ap-3438	296	9	system	system	NOUN
ap-3438	296	10	converges	converge	VERB
ap-3438	296	11	to	to	ADP
ap-3438	296	12	a	a	DET
ap-3438	296	13	value	value	NOUN
ap-3438	296	14	µthresh	µthresh	NOUN
ap-3438	296	15	=	=	SYM
ap-3438	296	16	5	5	NUM
ap-3438	296	17	%	%	NOUN
ap-3438	296	18	of	of	ADP
ap-3438	296	19	misplaced	misplaced	ADJ
ap-3438	296	20	traits	trait	NOUN
ap-3438	296	21	.	.	PUNCT
ap-3438	297	1	since	since	SCONJ
ap-3438	297	2	we	we	PRON
ap-3438	297	3	sample	sample	VERB
ap-3438	297	4	random	random	ADJ
ap-3438	297	5	matrices	matrix	NOUN
ap-3438	297	6	q	q	NOUN
ap-3438	297	7	,	,	PUNCT
ap-3438	297	8	we	we	PRON
ap-3438	297	9	obtain	obtain	VERB
ap-3438	297	10	different	different	ADJ
ap-3438	297	11	rank	rank	NOUN
ap-3438	297	12	values	value	NOUN
ap-3438	297	13	.	.	PUNCT
ap-3438	298	1	fig	fig	NOUN
ap-3438	298	2	.	.	PUNCT
ap-3438	299	1	4(a	4(a	NUM
ap-3438	299	2	)	)	PUNCT
ap-3438	299	3	shows	show	VERB
ap-3438	299	4	results	result	NOUN
ap-3438	299	5	for	for	ADP
ap-3438	299	6	rank(q	rank(q	NOUN
ap-3438	299	7	)	)	PUNCT
ap-3438	299	8	=	=	SYM
ap-3438	299	9	3	3	NUM
ap-3438	299	10	,	,	PUNCT
ap-3438	299	11	i.e.	i.e.	X
ap-3438	299	12	,	,	PUNCT
ap-3438	299	13	a	a	DET
ap-3438	299	14	system	system	NOUN
ap-3438	299	15	with	with	ADP
ap-3438	299	16	redundant	redundant	ADJ
ap-3438	299	17	species	specie	NOUN
ap-3438	299	18	,	,	PUNCT
ap-3438	299	19	and	and	CCONJ
ap-3438	299	20	fig	fig	NOUN
ap-3438	299	21	.	.	PUNCT
ap-3438	300	1	4(b	4(b	NUM
ap-3438	300	2	)	)	PUNCT
ap-3438	300	3	shows	show	VERB
ap-3438	300	4	results	result	NOUN
ap-3438	300	5	for	for	ADP
ap-3438	300	6	rank(q	rank(q	NOUN
ap-3438	300	7	)	)	PUNCT
ap-3438	300	8	=	=	SYM
ap-3438	300	9	4	4	NUM
ap-3438	300	10	,	,	PUNCT
ap-3438	300	11	i.e.	i.e.	X
ap-3438	300	12	,	,	PUNCT
ap-3438	300	13	a	a	DET
ap-3438	300	14	system	system	NOUN
ap-3438	300	15	with	with	ADP
ap-3438	300	16	complementary	complementary	ADJ
ap-3438	300	17	species	specie	NOUN
ap-3438	300	18	(	(	PUNCT
ap-3438	300	19	cf	cf	NOUN
ap-3438	300	20	.	.	PUNCT
ap-3438	301	1	the	the	DET
ap-3438	301	2	description	description	NOUN
ap-3438	301	3	in	in	ADP
ap-3438	301	4	sec	sec	PROPN
ap-3438	301	5	.	.	PROPN
ap-3438	301	6	2.3	2.3	NUM
ap-3438	301	7	)	)	PUNCT
ap-3438	301	8	.	.	PUNCT
ap-3438	302	1	73	73	NUM
ap-3438	302	2	a.	a.	NOUN
ap-3438	302	3	prorok	prorok	NOUN
ap-3438	302	4	,	,	PUNCT
ap-3438	302	5	m.	m.	NOUN
ap-3438	302	6	ani	ani	X
ap-3438	302	7	hsieh	hsieh	PROPN
ap-3438	302	8	,	,	PUNCT
ap-3438	302	9	vijay	vijay	PROPN
ap-3438	302	10	kumar	kumar	PROPN
ap-3438	302	11	acta	acta	PROPN
ap-3438	302	12	polytechnica	polytechnica	PROPN
ap-3438	302	13	t	t	PROPN
ap-3438	302	14	µ	µ	PROPN
ap-3438	302	15	,	,	PUNCT
ap-3438	302	16	t	t	PROPN
ap-3438	302	17	hr	hr	NOUN
ap-3438	302	18	es	es	X
ap-3438	302	19	h	h	PROPN
ap-3438	303	1	[	[	X
ap-3438	303	2	s	s	X
ap-3438	303	3	]	]	X
ap-3438	303	4	fixed	fix	VERB
ap-3438	303	5	-	-	PUNCT
ap-3438	303	6	c	c	NOUN
ap-3438	303	7	fixed	fix	VERB
ap-3438	303	8	-	-	PUNCT
ap-3438	303	9	nc	nc	NOUN
ap-3438	303	10	adapt.-nc	adapt.-nc	PROPN
ap-3438	303	11	(	(	PUNCT
ap-3438	303	12	a	a	X
ap-3438	303	13	)	)	PUNCT
ap-3438	303	14	fixed	fix	VERB
ap-3438	303	15	-	-	PUNCT
ap-3438	303	16	c	c	NOUN
ap-3438	303	17	fixed	fix	VERB
ap-3438	303	18	-	-	PUNCT
ap-3438	303	19	nc	nc	NOUN
ap-3438	303	20	adapt.-nc	adapt.-nc	PROPN
ap-3438	303	21	(	(	PUNCT
ap-3438	303	22	b	b	X
ap-3438	303	23	)	)	PUNCT
ap-3438	303	24	figure	figure	NOUN
ap-3438	303	25	4	4	NUM
ap-3438	303	26	.	.	PUNCT
ap-3438	304	1	the	the	DET
ap-3438	304	2	plot	plot	NOUN
ap-3438	304	3	shows	show	VERB
ap-3438	304	4	the	the	DET
ap-3438	304	5	convergence	convergence	NOUN
ap-3438	304	6	time	time	NOUN
ap-3438	304	7	of	of	ADP
ap-3438	304	8	three	three	NUM
ap-3438	304	9	optimization	optimization	NOUN
ap-3438	304	10	methods	method	NOUN
ap-3438	304	11	,	,	PUNCT
ap-3438	304	12	evaluated	evaluate	VERB
ap-3438	304	13	on	on	ADP
ap-3438	304	14	the	the	DET
ap-3438	304	15	microscopic	microscopic	ADJ
ap-3438	304	16	model	model	NOUN
ap-3438	304	17	,	,	PUNCT
ap-3438	304	18	with	with	ADP
ap-3438	304	19	tµthresh	tµthresh	NOUN
ap-3438	304	20	for	for	ADP
ap-3438	304	21	µthresh	µthresh	NOUN
ap-3438	304	22	=	=	NOUN
ap-3438	304	23	0.05	0.05	NUM
ap-3438	304	24	,	,	PUNCT
ap-3438	304	25	for	for	ADP
ap-3438	304	26	40	40	NUM
ap-3438	304	27	random	random	ADJ
ap-3438	304	28	graphs	graph	NOUN
ap-3438	304	29	with	with	ADP
ap-3438	304	30	m	m	PROPN
ap-3438	304	31	=	=	SYM
ap-3438	304	32	6	6	NUM
ap-3438	304	33	and	and	CCONJ
ap-3438	304	34	random	random	ADJ
ap-3438	304	35	matrices	matrix	NOUN
ap-3438	304	36	q	q	NOUN
ap-3438	304	37	with	with	ADP
ap-3438	304	38	4	4	NUM
ap-3438	304	39	species	specie	NOUN
ap-3438	304	40	and	and	CCONJ
ap-3438	304	41	4	4	NUM
ap-3438	304	42	traits	trait	NOUN
ap-3438	304	43	.	.	PUNCT
ap-3438	305	1	the	the	DET
ap-3438	305	2	microscopic	microscopic	ADJ
ap-3438	305	3	model	model	NOUN
ap-3438	305	4	was	be	AUX
ap-3438	305	5	iterated	iterate	VERB
ap-3438	305	6	4	4	NUM
ap-3438	305	7	times	time	NOUN
ap-3438	305	8	over	over	ADP
ap-3438	305	9	each	each	DET
ap-3438	305	10	graph	graph	NOUN
ap-3438	305	11	instantiation	instantiation	NOUN
ap-3438	305	12	.	.	PUNCT
ap-3438	306	1	(	(	PUNCT
ap-3438	306	2	a	a	X
ap-3438	306	3	)	)	PUNCT
ap-3438	306	4	rank(q	rank(q	NOUN
ap-3438	306	5	)	)	PUNCT
ap-3438	306	6	=	=	SYM
ap-3438	306	7	3	3	NUM
ap-3438	306	8	(	(	PUNCT
ap-3438	306	9	b	b	NOUN
ap-3438	306	10	)	)	PUNCT
ap-3438	306	11	rank(q	rank(q	NOUN
ap-3438	306	12	)	)	PUNCT
ap-3438	306	13	=	=	SYM
ap-3438	307	1	4	4	X
ap-3438	307	2	.	.	PUNCT
ap-3438	308	1	the	the	DET
ap-3438	308	2	boxplots	boxplot	NOUN
ap-3438	308	3	show	show	VERB
ap-3438	308	4	the	the	DET
ap-3438	308	5	median	median	NOUN
ap-3438	308	6	and	and	CCONJ
ap-3438	308	7	the	the	DET
ap-3438	308	8	25th	25th	ADJ
ap-3438	308	9	and	and	CCONJ
ap-3438	308	10	75th	75th	ADJ
ap-3438	308	11	percentiles	percentile	NOUN
ap-3438	308	12	.	.	PUNCT
ap-3438	309	1	the	the	DET
ap-3438	309	2	plots	plot	NOUN
ap-3438	309	3	show	show	VERB
ap-3438	309	4	that	that	SCONJ
ap-3438	309	5	our	our	PRON
ap-3438	309	6	method	method	NOUN
ap-3438	309	7	fixed	fix	VERB
ap-3438	309	8	-	-	PUNCT
ap-3438	309	9	nc	nc	PROPN
ap-3438	309	10	is	be	AUX
ap-3438	309	11	able	able	ADJ
ap-3438	309	12	to	to	PART
ap-3438	309	13	improve	improve	VERB
ap-3438	309	14	upon	upon	SCONJ
ap-3438	309	15	fixed	fix	VERB
ap-3438	309	16	-	-	PUNCT
ap-3438	309	17	c	c	NOUN
ap-3438	309	18	:	:	PUNCT
ap-3438	309	19	for	for	ADP
ap-3438	309	20	rank(q	rank(q	NOUN
ap-3438	309	21	)	)	PUNCT
ap-3438	309	22	=	=	SYM
ap-3438	309	23	4	4	NUM
ap-3438	309	24	by	by	ADP
ap-3438	309	25	16	16	NUM
ap-3438	309	26	%	%	NOUN
ap-3438	309	27	,	,	PUNCT
ap-3438	309	28	and	and	CCONJ
ap-3438	309	29	for	for	ADP
ap-3438	309	30	rank(q	rank(q	NOUN
ap-3438	309	31	)	)	PUNCT
ap-3438	309	32	=	=	SYM
ap-3438	309	33	3	3	NUM
ap-3438	309	34	by	by	ADP
ap-3438	309	35	25	25	NUM
ap-3438	309	36	%	%	NOUN
ap-3438	309	37	.	.	PUNCT
ap-3438	310	1	the	the	DET
ap-3438	310	2	stronger	strong	ADJ
ap-3438	310	3	improvement	improvement	NOUN
ap-3438	310	4	in	in	ADP
ap-3438	310	5	the	the	DET
ap-3438	310	6	lower	low	ADJ
ap-3438	310	7	-	-	PUNCT
ap-3438	310	8	rank	rank	NOUN
ap-3438	310	9	case	case	NOUN
ap-3438	310	10	points	point	NOUN
ap-3438	310	11	towards	towards	ADP
ap-3438	310	12	the	the	DET
ap-3438	310	13	importance	importance	NOUN
ap-3438	310	14	of	of	ADP
ap-3438	310	15	finding	find	VERB
ap-3438	310	16	a	a	DET
ap-3438	310	17	good	good	ADJ
ap-3438	310	18	final	final	ADJ
ap-3438	310	19	robot	robot	NOUN
ap-3438	310	20	distribution	distribution	NOUN
ap-3438	310	21	x̄	x̄	NOUN
ap-3438	310	22	when	when	SCONJ
ap-3438	310	23	several	several	ADJ
ap-3438	310	24	are	be	AUX
ap-3438	310	25	possible	possible	ADJ
ap-3438	310	26	that	that	SCONJ
ap-3438	310	27	satisfy	satisfy	NOUN
ap-3438	310	28	eq	eq	ADP
ap-3438	310	29	.	.	PROPN
ap-3438	311	1	7	7	X
ap-3438	311	2	.	.	PUNCT
ap-3438	311	3	the	the	DET
ap-3438	311	4	results	result	NOUN
ap-3438	311	5	for	for	ADP
ap-3438	311	6	adaptive	adaptive	ADJ
ap-3438	311	7	-	-	PUNCT
ap-3438	311	8	nc	nc	NOUN
ap-3438	311	9	confirm	confirm	VERB
ap-3438	311	10	the	the	DET
ap-3438	311	11	fast	fast	ADJ
ap-3438	311	12	convergence	convergence	NOUN
ap-3438	311	13	towards	towards	ADP
ap-3438	311	14	desired	desire	VERB
ap-3438	311	15	trait	trait	NOUN
ap-3438	311	16	distributions	distribution	NOUN
ap-3438	311	17	,	,	PUNCT
ap-3438	311	18	with	with	ADP
ap-3438	311	19	a	a	DET
ap-3438	311	20	75	75	NUM
ap-3438	311	21	%	%	NOUN
ap-3438	311	22	improvement	improvement	NOUN
ap-3438	311	23	over	over	ADP
ap-3438	311	24	fixed	fix	VERB
ap-3438	311	25	-	-	PUNCT
ap-3438	311	26	nc	nc	NOUN
ap-3438	311	27	in	in	ADP
ap-3438	311	28	both	both	DET
ap-3438	311	29	cases	case	NOUN
ap-3438	311	30	.	.	PUNCT
ap-3438	312	1	it	it	PRON
ap-3438	312	2	is	be	AUX
ap-3438	312	3	clear	clear	ADJ
ap-3438	312	4	that	that	SCONJ
ap-3438	312	5	this	this	DET
ap-3438	312	6	method	method	NOUN
ap-3438	312	7	outperforms	outperform	VERB
ap-3438	312	8	the	the	DET
ap-3438	312	9	other	other	ADJ
ap-3438	312	10	two	two	NUM
ap-3438	312	11	methods	method	NOUN
ap-3438	312	12	because	because	SCONJ
ap-3438	312	13	of	of	ADP
ap-3438	312	14	its	its	PRON
ap-3438	312	15	ability	ability	NOUN
ap-3438	312	16	to	to	PART
ap-3438	312	17	take	take	VERB
ap-3438	312	18	into	into	ADP
ap-3438	312	19	account	account	NOUN
ap-3438	312	20	the	the	DET
ap-3438	312	21	current	current	ADJ
ap-3438	312	22	state	state	NOUN
ap-3438	312	23	of	of	ADP
ap-3438	312	24	the	the	DET
ap-3438	312	25	robot	robot	NOUN
ap-3438	312	26	distribution	distribution	NOUN
ap-3438	312	27	,	,	PUNCT
ap-3438	312	28	and	and	CCONJ
ap-3438	312	29	to	to	PART
ap-3438	312	30	adapt	adapt	VERB
ap-3438	312	31	the	the	DET
ap-3438	312	32	transition	transition	NOUN
ap-3438	312	33	rates	rate	NOUN
ap-3438	312	34	as	as	ADP
ap-3438	312	35	a	a	DET
ap-3438	312	36	function	function	NOUN
ap-3438	312	37	of	of	ADP
ap-3438	312	38	this	this	PRON
ap-3438	312	39	.	.	PUNCT
ap-3438	313	1	finally	finally	ADV
ap-3438	313	2	,	,	PUNCT
ap-3438	313	3	we	we	PRON
ap-3438	313	4	compute	compute	VERB
ap-3438	313	5	the	the	DET
ap-3438	313	6	error	error	NOUN
ap-3438	313	7	obtained	obtain	VERB
ap-3438	313	8	by	by	ADP
ap-3438	313	9	our	our	PRON
ap-3438	313	10	method	method	NOUN
ap-3438	313	11	fixed	fix	VERB
ap-3438	313	12	-	-	PUNCT
ap-3438	313	13	nc	nc	NOUN
ap-3438	313	14	by	by	ADP
ap-3438	313	15	comparing	compare	VERB
ap-3438	313	16	the	the	DET
ap-3438	313	17	analytical	analytical	ADJ
ap-3438	313	18	steady	steady	ADJ
ap-3438	313	19	-	-	PUNCT
ap-3438	313	20	state	state	NOUN
ap-3438	313	21	distribution	distribution	NOUN
ap-3438	313	22	of	of	ADP
ap-3438	313	23	traits	trait	NOUN
ap-3438	313	24	(	(	PUNCT
ap-3438	313	25	obtained	obtain	VERB
ap-3438	313	26	by	by	ADP
ap-3438	313	27	taking	take	VERB
ap-3438	313	28	the	the	DET
ap-3438	313	29	eigenvectors	eigenvector	NOUN
ap-3438	313	30	that	that	PRON
ap-3438	313	31	correspond	correspond	VERB
ap-3438	313	32	to	to	ADP
ap-3438	313	33	the	the	DET
ap-3438	313	34	zeroeigenvalues	zeroeigenvalue	NOUN
ap-3438	313	35	of	of	ADP
ap-3438	313	36	each	each	DET
ap-3438	313	37	rate	rate	NOUN
ap-3438	313	38	matrix	matrix	NOUN
ap-3438	313	39	k(s	k(s	PRON
ap-3438	313	40	)	)	PUNCT
ap-3438	313	41	and	and	CCONJ
ap-3438	313	42	multiplying	multiply	VERB
ap-3438	313	43	them	they	PRON
ap-3438	313	44	by	by	ADP
ap-3438	313	45	q	q	PROPN
ap-3438	313	46	)	)	PUNCT
ap-3438	313	47	with	with	ADP
ap-3438	313	48	the	the	DET
ap-3438	313	49	desired	desire	VERB
ap-3438	313	50	trait	trait	NOUN
ap-3438	313	51	distribution	distribution	NOUN
ap-3438	313	52	ȳ.	ȳ.	NOUN
ap-3438	313	53	the	the	DET
ap-3438	313	54	median	median	ADJ
ap-3438	313	55	,	,	PUNCT
ap-3438	313	56	90th	90th	ADJ
ap-3438	313	57	percentile	percentile	ADJ
ap-3438	313	58	and	and	CCONJ
ap-3438	313	59	maximum	maximum	ADJ
ap-3438	313	60	error	error	NOUN
ap-3438	313	61	from	from	ADP
ap-3438	313	62	the	the	DET
ap-3438	313	63	steady	steady	ADJ
ap-3438	313	64	-	-	PUNCT
ap-3438	313	65	state	state	NOUN
ap-3438	313	66	to	to	ADP
ap-3438	313	67	the	the	DET
ap-3438	313	68	desired	desire	VERB
ap-3438	313	69	trait	trait	NOUN
ap-3438	313	70	distribution	distribution	NOUN
ap-3438	313	71	are	be	AUX
ap-3438	313	72	0.108	0.108	NUM
ap-3438	313	73	%	%	NOUN
ap-3438	313	74	,	,	PUNCT
ap-3438	313	75	0.572	0.572	NUM
ap-3438	313	76	%	%	NOUN
ap-3438	313	77	and	and	CCONJ
ap-3438	313	78	0.812	0.812	NUM
ap-3438	313	79	%	%	NOUN
ap-3438	313	80	,	,	PUNCT
ap-3438	313	81	respectively	respectively	ADV
ap-3438	313	82	.	.	PUNCT
ap-3438	314	1	these	these	DET
ap-3438	314	2	results	result	NOUN
ap-3438	314	3	demonstrate	demonstrate	VERB
ap-3438	314	4	that	that	SCONJ
ap-3438	314	5	,	,	PUNCT
ap-3438	314	6	despite	despite	SCONJ
ap-3438	314	7	the	the	DET
ap-3438	314	8	fact	fact	NOUN
ap-3438	314	9	that	that	SCONJ
ap-3438	314	10	our	our	PRON
ap-3438	314	11	method	method	NOUN
ap-3438	314	12	is	be	AUX
ap-3438	314	13	not	not	PART
ap-3438	314	14	explicitly	explicitly	ADV
ap-3438	314	15	optimizing	optimize	VERB
ap-3438	314	16	for	for	ADP
ap-3438	314	17	the	the	DET
ap-3438	314	18	steadystate	steadystate	NOUN
ap-3438	314	19	,	,	PUNCT
ap-3438	314	20	it	it	PRON
ap-3438	314	21	reaches	reach	VERB
ap-3438	314	22	a	a	DET
ap-3438	314	23	steady	steady	ADJ
ap-3438	314	24	-	-	PUNCT
ap-3438	314	25	state	state	NOUN
ap-3438	314	26	error	error	NOUN
ap-3438	314	27	smaller	small	ADJ
ap-3438	314	28	than	than	ADP
ap-3438	314	29	system	system	NOUN
ap-3438	314	30	noise	noise	NOUN
ap-3438	314	31	(	(	PUNCT
ap-3438	314	32	at	at	ADP
ap-3438	314	33	steady	steady	ADJ
ap-3438	314	34	-	-	PUNCT
ap-3438	314	35	state	state	NOUN
ap-3438	314	36	)	)	PUNCT
ap-3438	314	37	.	.	PUNCT
ap-3438	315	1	5	5	X
ap-3438	315	2	.	.	X
ap-3438	315	3	conclusion	conclusion	NOUN
ap-3438	315	4	we	we	PRON
ap-3438	315	5	present	present	VERB
ap-3438	315	6	a	a	DET
ap-3438	315	7	method	method	NOUN
ap-3438	315	8	that	that	PRON
ap-3438	315	9	distributes	distribute	VERB
ap-3438	315	10	a	a	DET
ap-3438	315	11	swarm	swarm	NOUN
ap-3438	315	12	of	of	ADP
ap-3438	315	13	heterogeneous	heterogeneous	ADJ
ap-3438	315	14	robots	robot	NOUN
ap-3438	315	15	among	among	ADP
ap-3438	315	16	a	a	DET
ap-3438	315	17	set	set	NOUN
ap-3438	315	18	of	of	ADP
ap-3438	315	19	tasks	task	NOUN
ap-3438	315	20	with	with	ADP
ap-3438	315	21	the	the	DET
ap-3438	315	22	goal	goal	NOUN
ap-3438	315	23	of	of	ADP
ap-3438	315	24	satisfying	satisfy	VERB
ap-3438	315	25	a	a	DET
ap-3438	315	26	desired	desire	VERB
ap-3438	315	27	distribution	distribution	NOUN
ap-3438	315	28	of	of	ADP
ap-3438	315	29	robot	robot	NOUN
ap-3438	315	30	capabilities	capability	NOUN
ap-3438	315	31	among	among	ADP
ap-3438	315	32	those	those	DET
ap-3438	315	33	tasks	task	NOUN
ap-3438	315	34	.	.	PUNCT
ap-3438	316	1	we	we	PRON
ap-3438	316	2	propose	propose	VERB
ap-3438	316	3	a	a	DET
ap-3438	316	4	formulation	formulation	NOUN
ap-3438	316	5	for	for	ADP
ap-3438	316	6	heterogeneous	heterogeneous	ADJ
ap-3438	316	7	robot	robot	NOUN
ap-3438	316	8	systems	system	NOUN
ap-3438	316	9	through	through	ADP
ap-3438	316	10	species	specie	NOUN
ap-3438	316	11	and	and	CCONJ
ap-3438	316	12	traits	trait	NOUN
ap-3438	316	13	,	,	PUNCT
ap-3438	316	14	and	and	CCONJ
ap-3438	316	15	show	show	VERB
ap-3438	316	16	how	how	SCONJ
ap-3438	316	17	this	this	DET
ap-3438	316	18	formulation	formulation	NOUN
ap-3438	316	19	is	be	AUX
ap-3438	316	20	used	use	VERB
ap-3438	316	21	to	to	PART
ap-3438	316	22	achieve	achieve	VERB
ap-3438	316	23	an	an	DET
ap-3438	316	24	optimal	optimal	ADJ
ap-3438	316	25	distribution	distribution	NOUN
ap-3438	316	26	of	of	ADP
ap-3438	316	27	robots	robot	NOUN
ap-3438	316	28	as	as	ADP
ap-3438	316	29	a	a	DET
ap-3438	316	30	function	function	NOUN
ap-3438	316	31	of	of	ADP
ap-3438	316	32	a	a	DET
ap-3438	316	33	desired	desire	VERB
ap-3438	316	34	final	final	ADJ
ap-3438	316	35	trait	trait	NOUN
ap-3438	316	36	configuration	configuration	NOUN
ap-3438	316	37	.	.	PUNCT
ap-3438	317	1	to	to	PART
ap-3438	317	2	find	find	VERB
ap-3438	317	3	the	the	DET
ap-3438	317	4	optimal	optimal	ADJ
ap-3438	317	5	transition	transition	NOUN
ap-3438	317	6	rates	rate	NOUN
ap-3438	317	7	,	,	PUNCT
ap-3438	317	8	we	we	PRON
ap-3438	317	9	pose	pose	VERB
ap-3438	317	10	an	an	DET
ap-3438	317	11	optimization	optimization	NOUN
ap-3438	317	12	problem	problem	NOUN
ap-3438	317	13	,	,	PUNCT
ap-3438	317	14	and	and	CCONJ
ap-3438	317	15	develop	develop	VERB
ap-3438	317	16	a	a	DET
ap-3438	317	17	solution	solution	NOUN
ap-3438	317	18	based	base	VERB
ap-3438	317	19	on	on	ADP
ap-3438	317	20	an	an	DET
ap-3438	317	21	analytical	analytical	ADJ
ap-3438	317	22	gradient	gradient	NOUN
ap-3438	317	23	that	that	PRON
ap-3438	317	24	is	be	AUX
ap-3438	317	25	computationally	computationally	ADV
ap-3438	317	26	efficient	efficient	ADJ
ap-3438	317	27	and	and	CCONJ
ap-3438	317	28	capable	capable	ADJ
ap-3438	317	29	of	of	ADP
ap-3438	317	30	producing	produce	VERB
ap-3438	317	31	fast	fast	ADJ
ap-3438	317	32	convergence	convergence	NOUN
ap-3438	317	33	times	time	NOUN
ap-3438	317	34	.	.	PUNCT
ap-3438	318	1	building	build	VERB
ap-3438	318	2	on	on	ADP
ap-3438	318	3	this	this	DET
ap-3438	318	4	result	result	NOUN
ap-3438	318	5	,	,	PUNCT
ap-3438	318	6	we	we	PRON
ap-3438	318	7	propose	propose	VERB
ap-3438	318	8	a	a	DET
ap-3438	318	9	variant	variant	ADJ
ap-3438	318	10	real	real	ADJ
ap-3438	318	11	-	-	PUNCT
ap-3438	318	12	time	time	NOUN
ap-3438	318	13	optimization	optimization	NOUN
ap-3438	318	14	method	method	NOUN
ap-3438	318	15	that	that	PRON
ap-3438	318	16	enables	enable	VERB
ap-3438	318	17	an	an	DET
ap-3438	318	18	online	online	ADJ
ap-3438	318	19	adaptation	adaptation	NOUN
ap-3438	318	20	of	of	ADP
ap-3438	318	21	transition	transition	NOUN
ap-3438	318	22	rates	rate	NOUN
ap-3438	318	23	as	as	ADP
ap-3438	318	24	a	a	DET
ap-3438	318	25	function	function	NOUN
ap-3438	318	26	of	of	ADP
ap-3438	318	27	the	the	DET
ap-3438	318	28	state	state	NOUN
ap-3438	318	29	of	of	ADP
ap-3438	318	30	the	the	DET
ap-3438	318	31	current	current	ADJ
ap-3438	318	32	robot	robot	NOUN
ap-3438	318	33	distribution	distribution	NOUN
ap-3438	318	34	.	.	PUNCT
ap-3438	319	1	we	we	PRON
ap-3438	319	2	validate	validate	VERB
ap-3438	319	3	our	our	PRON
ap-3438	319	4	approach	approach	NOUN
ap-3438	319	5	on	on	ADP
ap-3438	319	6	random	random	ADJ
ap-3438	319	7	graph	graph	NOUN
ap-3438	319	8	instantiations	instantiation	NOUN
ap-3438	319	9	,	,	PUNCT
ap-3438	319	10	and	and	CCONJ
ap-3438	319	11	show	show	VERB
ap-3438	319	12	that	that	SCONJ
ap-3438	319	13	our	our	PRON
ap-3438	319	14	baseline	baseline	NOUN
ap-3438	319	15	method	method	NOUN
ap-3438	319	16	outperforms	outperform	VERB
ap-3438	319	17	a	a	DET
ap-3438	319	18	classical	classical	ADJ
ap-3438	319	19	alternative	alternative	ADJ
ap-3438	319	20	approach	approach	NOUN
ap-3438	319	21	.	.	PUNCT
ap-3438	320	1	also	also	ADV
ap-3438	320	2	,	,	PUNCT
ap-3438	320	3	we	we	PRON
ap-3438	320	4	show	show	VERB
ap-3438	320	5	how	how	SCONJ
ap-3438	320	6	,	,	PUNCT
ap-3438	320	7	when	when	SCONJ
ap-3438	320	8	using	use	VERB
ap-3438	320	9	the	the	DET
ap-3438	320	10	variant	variant	ADJ
ap-3438	320	11	adaptive	adaptive	ADJ
ap-3438	320	12	optimization	optimization	NOUN
ap-3438	320	13	,	,	PUNCT
ap-3438	320	14	a	a	DET
ap-3438	320	15	significant	significant	ADJ
ap-3438	320	16	gain	gain	NOUN
ap-3438	320	17	in	in	ADP
ap-3438	320	18	convergence	convergence	NOUN
ap-3438	320	19	speed	speed	NOUN
ap-3438	320	20	is	be	AUX
ap-3438	320	21	made	make	VERB
ap-3438	320	22	.	.	PUNCT
ap-3438	321	1	we	we	PRON
ap-3438	321	2	believe	believe	VERB
ap-3438	321	3	that	that	SCONJ
ap-3438	321	4	this	this	DET
ap-3438	321	5	method	method	NOUN
ap-3438	321	6	is	be	AUX
ap-3438	321	7	well	well	ADV
ap-3438	321	8	-	-	PUNCT
ap-3438	321	9	suited	suit	VERB
ap-3438	321	10	to	to	ADP
ap-3438	321	11	applications	application	NOUN
ap-3438	321	12	that	that	PRON
ap-3438	321	13	control	control	VERB
ap-3438	321	14	large	large	ADJ
ap-3438	321	15	-	-	PUNCT
ap-3438	321	16	scale	scale	NOUN
ap-3438	321	17	teams	team	NOUN
ap-3438	321	18	of	of	ADP
ap-3438	321	19	robots	robot	NOUN
ap-3438	321	20	that	that	PRON
ap-3438	321	21	need	need	VERB
ap-3438	321	22	to	to	PART
ap-3438	321	23	converge	converge	VERB
ap-3438	321	24	quickly	quickly	ADV
ap-3438	321	25	to	to	ADP
ap-3438	321	26	desired	desire	VERB
ap-3438	321	27	configurations	configuration	NOUN
ap-3438	321	28	as	as	ADP
ap-3438	321	29	a	a	DET
ap-3438	321	30	function	function	NOUN
ap-3438	321	31	of	of	ADP
ap-3438	321	32	their	their	PRON
ap-3438	321	33	capabilities	capability	NOUN
ap-3438	321	34	,	,	PUNCT
ap-3438	321	35	and	and	CCONJ
ap-3438	321	36	that	that	PRON
ap-3438	321	37	need	need	VERB
ap-3438	321	38	to	to	PART
ap-3438	321	39	adapt	adapt	VERB
ap-3438	321	40	to	to	ADP
ap-3438	321	41	changes	change	NOUN
ap-3438	321	42	in	in	ADP
ap-3438	321	43	real	real	ADJ
ap-3438	321	44	-	-	PUNCT
ap-3438	321	45	time	time	NOUN
ap-3438	321	46	.	.	PUNCT
ap-3438	322	1	future	future	ADJ
ap-3438	322	2	work	work	NOUN
ap-3438	322	3	will	will	AUX
ap-3438	322	4	include	include	VERB
ap-3438	322	5	a	a	DET
ap-3438	322	6	more	more	ADJ
ap-3438	322	7	in	in	ADP
ap-3438	322	8	-	-	PUNCT
ap-3438	322	9	depth	depth	NOUN
ap-3438	322	10	study	study	NOUN
ap-3438	322	11	of	of	ADP
ap-3438	322	12	the	the	DET
ap-3438	322	13	implications	implication	NOUN
ap-3438	322	14	of	of	ADP
ap-3438	322	15	diversity	diversity	NOUN
ap-3438	322	16	in	in	ADP
ap-3438	322	17	swarm	swarm	NOUN
ap-3438	322	18	-	-	PUNCT
ap-3438	322	19	robotic	robotic	ADJ
ap-3438	322	20	systems	system	NOUN
ap-3438	322	21	,	,	PUNCT
ap-3438	322	22	as	as	ADV
ap-3438	322	23	well	well	ADV
ap-3438	322	24	as	as	ADP
ap-3438	322	25	an	an	DET
ap-3438	322	26	implementation	implementation	NOUN
ap-3438	322	27	of	of	ADP
ap-3438	322	28	the	the	DET
ap-3438	322	29	proposed	propose	VERB
ap-3438	322	30	framework	framework	NOUN
ap-3438	322	31	on	on	ADP
ap-3438	322	32	real	real	ADJ
ap-3438	322	33	robots	robot	NOUN
ap-3438	322	34	.	.	PUNCT
ap-3438	323	1	acknowledgements	acknowledgement	NOUN
ap-3438	323	2	we	we	PRON
ap-3438	323	3	gratefully	gratefully	ADV
ap-3438	323	4	acknowledge	acknowledge	VERB
ap-3438	323	5	the	the	DET
ap-3438	323	6	support	support	NOUN
ap-3438	323	7	of	of	ADP
ap-3438	323	8	onr	onr	PROPN
ap-3438	323	9	grants	grant	NOUN
ap-3438	323	10	n00014	n00014	PROPN
ap-3438	323	11	-	-	PUNCT
ap-3438	323	12	15	15	NUM
ap-3438	323	13	-	-	PUNCT
ap-3438	323	14	1	1	NUM
ap-3438	323	15	-	-	PUNCT
ap-3438	323	16	2115	2115	NUM
ap-3438	323	17	and	and	CCONJ
ap-3438	323	18	n00014	n00014	NOUN
ap-3438	323	19	-	-	PUNCT
ap-3438	323	20	14	14	NUM
ap-3438	323	21	-	-	PUNCT
ap-3438	323	22	1	1	NUM
ap-3438	323	23	-	-	PUNCT
ap-3438	323	24	0510	0510	NUM
ap-3438	323	25	,	,	PUNCT
ap-3438	323	26	arl	arl	PROPN
ap-3438	323	27	grant	grant	VERB
ap-3438	323	28	w911nf-08	w911nf-08	PROPN
ap-3438	323	29	-	-	PUNCT
ap-3438	323	30	2	2	NUM
ap-3438	323	31	-	-	PUNCT
ap-3438	323	32	0004	0004	NUM
ap-3438	323	33	,	,	PUNCT
ap-3438	323	34	nsf	nsf	NOUN
ap-3438	323	35	grant	grant	PROPN
ap-3438	323	36	iis-1426840	iis-1426840	NOUN
ap-3438	323	37	,	,	PUNCT
ap-3438	323	38	and	and	CCONJ
ap-3438	323	39	terraswarm	terraswarm	NOUN
ap-3438	323	40	,	,	PUNCT
ap-3438	323	41	one	one	NUM
ap-3438	323	42	of	of	ADP
ap-3438	323	43	six	six	NUM
ap-3438	323	44	centers	center	NOUN
ap-3438	323	45	of	of	ADP
ap-3438	323	46	starnet	starnet	NOUN
ap-3438	323	47	,	,	PUNCT
ap-3438	323	48	a	a	DET
ap-3438	323	49	semiconductor	semiconductor	NOUN
ap-3438	323	50	research	research	NOUN
ap-3438	323	51	corporation	corporation	NOUN
ap-3438	323	52	program	program	NOUN
ap-3438	323	53	sponsored	sponsor	VERB
ap-3438	323	54	by	by	ADP
ap-3438	323	55	marco	marco	PROPN
ap-3438	323	56	and	and	CCONJ
ap-3438	323	57	darpa	darpa	PROPN
ap-3438	323	58	.	.	PUNCT
ap-3438	324	1	74	74	NUM
ap-3438	324	2	vol	vol	NOUN
ap-3438	324	3	.	.	PUNCT
ap-3438	325	1	56	56	NUM
ap-3438	325	2	no	no	NOUN
ap-3438	325	3	.	.	PUNCT
ap-3438	326	1	1/2016	1/2016	NUM
ap-3438	326	2	adaptive	adaptive	ADJ
ap-3438	326	3	distribution	distribution	NOUN
ap-3438	326	4	of	of	ADP
ap-3438	326	5	a	a	DET
ap-3438	326	6	swarm	swarm	NOUN
ap-3438	326	7	of	of	ADP
ap-3438	326	8	heterogeneous	heterogeneous	ADJ
ap-3438	326	9	robots	robot	NOUN
ap-3438	326	10	references	reference	NOUN
ap-3438	326	11	[	[	X
ap-3438	326	12	1	1	NUM
ap-3438	326	13	]	]	PUNCT
ap-3438	326	14	t.	t.	PROPN
ap-3438	326	15	balch	balch	PROPN
ap-3438	326	16	,	,	PUNCT
ap-3438	326	17	l.	l.	PROPN
ap-3438	326	18	e.	e.	PROPN
ap-3438	326	19	parker	parker	PROPN
ap-3438	326	20	.	.	PUNCT
ap-3438	327	1	special	special	ADJ
ap-3438	327	2	issue	issue	NOUN
ap-3438	327	3	on	on	ADP
ap-3438	327	4	heterogeneous	heterogeneous	ADJ
ap-3438	327	5	multi	multi	ADJ
ap-3438	327	6	-	-	ADJ
ap-3438	327	7	robot	robot	ADJ
ap-3438	327	8	systems	system	NOUN
ap-3438	327	9	.	.	PUNCT
ap-3438	328	1	autonomous	autonomous	ADJ
ap-3438	328	2	robots	robots	PROPN
ap-3438	328	3	8:207–383	8:207–383	NUM
ap-3438	328	4	,	,	PUNCT
ap-3438	328	5	2000	2000	NUM
ap-3438	328	6	.	.	PUNCT
ap-3438	329	1	[	[	X
ap-3438	329	2	2	2	X
ap-3438	329	3	]	]	PUNCT
ap-3438	329	4	e.	e.	PROPN
ap-3438	329	5	g.	g.	PROPN
ap-3438	329	6	jones	jones	PROPN
ap-3438	329	7	,	,	PUNCT
ap-3438	329	8	b.	b.	PROPN
ap-3438	329	9	browning	browning	PROPN
ap-3438	329	10	,	,	PUNCT
ap-3438	329	11	m.	m.	PROPN
ap-3438	329	12	b.	b.	PROPN
ap-3438	329	13	dias	dias	PROPN
ap-3438	329	14	,	,	PUNCT
ap-3438	329	15	et	et	PROPN
ap-3438	329	16	al	al	PROPN
ap-3438	329	17	.	.	PROPN
ap-3438	329	18	dynamically	dynamically	ADV
ap-3438	329	19	formed	form	VERB
ap-3438	329	20	heterogeneous	heterogeneous	ADJ
ap-3438	329	21	robot	robot	NOUN
ap-3438	329	22	teams	team	NOUN
ap-3438	329	23	performing	perform	VERB
ap-3438	329	24	tightly	tightly	ADV
ap-3438	329	25	coordinated	coordinate	VERB
ap-3438	329	26	tasks	task	NOUN
ap-3438	329	27	.	.	PUNCT
ap-3438	330	1	international	international	ADJ
ap-3438	330	2	conference	conference	NOUN
ap-3438	330	3	on	on	ADP
ap-3438	330	4	robotics	robotic	NOUN
ap-3438	330	5	and	and	CCONJ
ap-3438	330	6	automation	automation	NOUN
ap-3438	330	7	(	(	PUNCT
ap-3438	330	8	icra	icra	PROPN
ap-3438	330	9	)	)	PUNCT
ap-3438	330	10	pp	pp	ADP
ap-3438	330	11	.	.	PUNCT
ap-3438	331	1	1–8	1–8	NUM
ap-3438	331	2	,	,	PUNCT
ap-3438	331	3	2006	2006	NUM
ap-3438	331	4	.	.	PUNCT
ap-3438	332	1	doi:10.1109	doi:10.1109	VERB
ap-3438	332	2	/	/	SYM
ap-3438	332	3	robot.2006.1641771	robot.2006.1641771	PROPN
ap-3438	332	4	.	.	PUNCT
ap-3438	333	1	[	[	X
ap-3438	333	2	3	3	X
ap-3438	333	3	]	]	X
ap-3438	333	4	b.	b.	PROPN
ap-3438	333	5	charrow	charrow	PROPN
ap-3438	333	6	.	.	PUNCT
ap-3438	334	1	information	information	NOUN
ap-3438	334	2	-	-	PUNCT
ap-3438	334	3	theoretic	theoretic	NOUN
ap-3438	334	4	active	active	ADJ
ap-3438	334	5	perception	perception	NOUN
ap-3438	334	6	for	for	ADP
ap-3438	334	7	multi	multi	ADJ
ap-3438	334	8	-	-	ADJ
ap-3438	334	9	robot	robot	ADJ
ap-3438	334	10	teams	team	NOUN
ap-3438	334	11	.	.	PUNCT
ap-3438	335	1	ph.d	ph.d	PROPN
ap-3438	335	2	.	.	PUNCT
ap-3438	336	1	thesis	thesis	NOUN
ap-3438	336	2	,	,	PUNCT
ap-3438	336	3	university	university	NOUN
ap-3438	336	4	of	of	ADP
ap-3438	336	5	pennsylvania	pennsylvania	PROPN
ap-3438	336	6	,	,	PUNCT
ap-3438	336	7	2015	2015	NUM
ap-3438	336	8	.	.	PUNCT
ap-3438	337	1	[	[	X
ap-3438	337	2	4	4	NUM
ap-3438	337	3	]	]	PUNCT
ap-3438	337	4	a.	a.	NOUN
ap-3438	337	5	m.	m.	PROPN
ap-3438	337	6	hsieh	hsieh	PROPN
ap-3438	337	7	,	,	PUNCT
ap-3438	337	8	a.	a.	PROPN
ap-3438	337	9	cowley	cowley	PROPN
ap-3438	337	10	,	,	PUNCT
ap-3438	337	11	f.	f.	PROPN
ap-3438	337	12	j.	j.	PROPN
ap-3438	337	13	keller	keller	PROPN
ap-3438	337	14	,	,	PUNCT
ap-3438	337	15	et	et	PROPN
ap-3438	337	16	al	al	PROPN
ap-3438	337	17	.	.	PUNCT
ap-3438	338	1	adaptive	adaptive	ADJ
ap-3438	338	2	teams	team	NOUN
ap-3438	338	3	of	of	ADP
ap-3438	338	4	autonomous	autonomous	ADJ
ap-3438	338	5	aerial	aerial	ADJ
ap-3438	338	6	and	and	CCONJ
ap-3438	338	7	ground	ground	NOUN
ap-3438	338	8	robots	robot	NOUN
ap-3438	338	9	for	for	ADP
ap-3438	338	10	situational	situational	ADJ
ap-3438	338	11	awareness	awareness	NOUN
ap-3438	338	12	.	.	PUNCT
ap-3438	339	1	journal	journal	NOUN
ap-3438	339	2	of	of	ADP
ap-3438	339	3	field	field	NOUN
ap-3438	339	4	robotics	robotic	NOUN
ap-3438	339	5	24:991–1014	24:991–1014	NUM
ap-3438	339	6	,	,	PUNCT
ap-3438	339	7	2007	2007	NUM
ap-3438	339	8	.	.	PUNCT
ap-3438	340	1	doi:10.1002	doi:10.1002	NOUN
ap-3438	340	2	/	/	SYM
ap-3438	340	3	rob.20222	rob.20222	PROPN
ap-3438	340	4	.	.	PUNCT
ap-3438	341	1	[	[	X
ap-3438	341	2	5	5	NUM
ap-3438	341	3	]	]	PUNCT
ap-3438	341	4	p.	p.	NOUN
ap-3438	341	5	tokekar	tokekar	PROPN
ap-3438	341	6	,	,	PUNCT
ap-3438	341	7	j.	j.	PROPN
ap-3438	341	8	vander	vander	PROPN
ap-3438	341	9	hook	hook	PROPN
ap-3438	341	10	,	,	PUNCT
ap-3438	341	11	d.	d.	PROPN
ap-3438	341	12	mulla	mulla	PROPN
ap-3438	341	13	,	,	PUNCT
ap-3438	341	14	v.	v.	ADP
ap-3438	341	15	isler	isler	NOUN
ap-3438	341	16	.	.	PUNCT
ap-3438	342	1	sensor	sensor	NOUN
ap-3438	342	2	planning	planning	NOUN
ap-3438	342	3	for	for	ADP
ap-3438	342	4	a	a	DET
ap-3438	342	5	symbiotic	symbiotic	ADJ
ap-3438	342	6	uav	uav	PROPN
ap-3438	342	7	and	and	CCONJ
ap-3438	342	8	ugv	ugv	NOUN
ap-3438	342	9	system	system	NOUN
ap-3438	342	10	for	for	ADP
ap-3438	342	11	precision	precision	NOUN
ap-3438	342	12	agriculture	agriculture	NOUN
ap-3438	342	13	.	.	PUNCT
ap-3438	343	1	ieee	ieee	NOUN
ap-3438	343	2	/	/	SYM
ap-3438	343	3	rsj	rsj	NOUN
ap-3438	343	4	international	international	ADJ
ap-3438	343	5	conference	conference	NOUN
ap-3438	343	6	on	on	ADP
ap-3438	343	7	intelligent	intelligent	ADJ
ap-3438	343	8	robots	robot	NOUN
ap-3438	343	9	and	and	CCONJ
ap-3438	343	10	systems	system	NOUN
ap-3438	343	11	(	(	PUNCT
ap-3438	343	12	iros	iro	NOUN
ap-3438	343	13	)	)	PUNCT
ap-3438	343	14	2013	2013	NUM
ap-3438	343	15	.	.	PUNCT
ap-3438	344	1	doi:10.1109	doi:10.1109	VERB
ap-3438	344	2	/	/	SYM
ap-3438	344	3	iros.2013.6697126	iros.2013.6697126	NOUN
ap-3438	344	4	.	.	PUNCT
ap-3438	345	1	[	[	X
ap-3438	345	2	6	6	NUM
ap-3438	345	3	]	]	PUNCT
ap-3438	345	4	b.	b.	PROPN
ap-3438	345	5	p.	p.	PROPN
ap-3438	345	6	gerkey	gerkey	PROPN
ap-3438	345	7	,	,	PUNCT
ap-3438	345	8	m.	m.	NOUN
ap-3438	345	9	j.	j.	PROPN
ap-3438	345	10	mataric	mataric	PROPN
ap-3438	345	11	.	.	PUNCT
ap-3438	346	1	a	a	DET
ap-3438	346	2	formal	formal	ADJ
ap-3438	346	3	analysis	analysis	NOUN
ap-3438	346	4	and	and	CCONJ
ap-3438	346	5	taxonomy	taxonomy	NOUN
ap-3438	346	6	of	of	ADP
ap-3438	346	7	task	task	NOUN
ap-3438	346	8	allocation	allocation	NOUN
ap-3438	346	9	in	in	ADP
ap-3438	346	10	multi	multi	ADJ
ap-3438	346	11	-	-	ADJ
ap-3438	346	12	robot	robot	ADJ
ap-3438	346	13	systems	system	NOUN
ap-3438	346	14	.	.	PUNCT
ap-3438	347	1	interntional	interntional	ADJ
ap-3438	347	2	journal	journal	PROPN
ap-3438	347	3	of	of	ADP
ap-3438	347	4	robotics	robotic	NOUN
ap-3438	347	5	research	research	VERB
ap-3438	347	6	23(9):939–954	23(9):939–954	PROPN
ap-3438	347	7	,	,	PUNCT
ap-3438	347	8	2004	2004	NUM
ap-3438	347	9	.	.	PUNCT
ap-3438	348	1	doi:10.1177/0278364904045564	doi:10.1177/0278364904045564	VERB
ap-3438	348	2	.	.	PUNCT
ap-3438	349	1	[	[	X
ap-3438	349	2	7	7	X
ap-3438	349	3	]	]	X
ap-3438	349	4	b.	b.	PROPN
ap-3438	349	5	korte	korte	PROPN
ap-3438	349	6	,	,	PUNCT
ap-3438	349	7	j.	j.	PROPN
ap-3438	349	8	vygen	vygen	PROPN
ap-3438	349	9	.	.	PUNCT
ap-3438	350	1	combinatorial	combinatorial	ADJ
ap-3438	350	2	optimization	optimization	NOUN
ap-3438	350	3	:	:	PUNCT
ap-3438	350	4	theory	theory	NOUN
ap-3438	350	5	and	and	CCONJ
ap-3438	350	6	algorithms	algorithm	NOUN
ap-3438	350	7	.	.	PUNCT
ap-3438	351	1	springer	springer	NOUN
ap-3438	351	2	-	-	PUNCT
ap-3438	351	3	verlag	verlag	PROPN
ap-3438	351	4	,	,	PUNCT
ap-3438	351	5	berlin	berlin	PROPN
ap-3438	351	6	.	.	PROPN
ap-3438	351	7	,	,	PUNCT
ap-3438	351	8	2000	2000	NUM
ap-3438	351	9	.	.	PUNCT
ap-3438	352	1	[	[	X
ap-3438	352	2	8	8	NUM
ap-3438	352	3	]	]	PUNCT
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ap-3438	352	6	,	,	PUNCT
ap-3438	352	7	á	á	PROPN
ap-3438	352	8	.	.	PUNCT
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ap-3438	352	10	,	,	PUNCT
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ap-3438	352	12	a.	a.	PROPN
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ap-3438	352	16	kumar	kumar	PROPN
ap-3438	352	17	.	.	PROPN
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ap-3438	352	19	stochastic	stochastic	ADJ
ap-3438	352	20	policies	policy	NOUN
ap-3438	352	21	for	for	ADP
ap-3438	352	22	task	task	NOUN
ap-3438	352	23	allocation	allocation	NOUN
ap-3438	352	24	in	in	ADP
ap-3438	352	25	swarms	swarm	NOUN
ap-3438	352	26	of	of	ADP
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ap-3438	352	28	.	.	PUNCT
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ap-3438	353	2	transactions	transaction	NOUN
ap-3438	353	3	on	on	ADP
ap-3438	353	4	robotics	robotic	NOUN
ap-3438	353	5	25:927–937	25:927–937	NUM
ap-3438	353	6	,	,	PUNCT
ap-3438	353	7	2009	2009	NUM
ap-3438	353	8	.	.	PUNCT
ap-3438	354	1	doi:10.1109	doi:10.1109	VERB
ap-3438	354	2	/	/	SYM
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ap-3438	354	4	.	.	PUNCT
ap-3438	355	1	[	[	X
ap-3438	355	2	9	9	NUM
ap-3438	355	3	]	]	SYM
ap-3438	355	4	á	á	X
ap-3438	355	5	.	.	PUNCT
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ap-3438	355	7	,	,	PUNCT
ap-3438	355	8	m.	m.	NOUN
ap-3438	355	9	a.	a.	PROPN
ap-3438	355	10	hsieh	hsieh	PROPN
ap-3438	355	11	,	,	PUNCT
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ap-3438	355	14	,	,	PUNCT
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ap-3438	355	16	kumar	kumar	PROPN
ap-3438	355	17	.	.	PUNCT
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ap-3438	355	19	redistribution	redistribution	NOUN
ap-3438	355	20	of	of	ADP
ap-3438	355	21	a	a	DET
ap-3438	355	22	swarm	swarm	NOUN
ap-3438	355	23	of	of	ADP
ap-3438	355	24	robots	robot	NOUN
ap-3438	355	25	among	among	ADP
ap-3438	355	26	multiple	multiple	ADJ
ap-3438	355	27	sites	site	NOUN
ap-3438	355	28	.	.	PUNCT
ap-3438	356	1	ieee	ieee	NOUN
ap-3438	356	2	/	/	SYM
ap-3438	356	3	rsj	rsj	NOUN
ap-3438	356	4	international	international	ADJ
ap-3438	356	5	conference	conference	NOUN
ap-3438	356	6	on	on	ADP
ap-3438	356	7	intelligent	intelligent	ADJ
ap-3438	356	8	robots	robot	NOUN
ap-3438	356	9	and	and	CCONJ
ap-3438	356	10	systems	system	NOUN
ap-3438	356	11	(	(	PUNCT
ap-3438	356	12	iros	iro	NOUN
ap-3438	356	13	)	)	PUNCT
ap-3438	356	14	2007	2007	NUM
ap-3438	356	15	.	.	PUNCT
ap-3438	357	1	doi:10.1109	doi:10.1109	VERB
ap-3438	357	2	/	/	SYM
ap-3438	357	3	iros.2007.4399528	iros.2007.4399528	PROPN
ap-3438	357	4	.	.	PUNCT
ap-3438	358	1	[	[	X
ap-3438	358	2	10	10	NUM
ap-3438	358	3	]	]	PUNCT
ap-3438	358	4	m.	m.	NOUN
ap-3438	358	5	a.	a.	PROPN
ap-3438	358	6	hsieh	hsieh	PROPN
ap-3438	358	7	,	,	PUNCT
ap-3438	358	8	á	á	PROPN
ap-3438	358	9	.	.	PUNCT
ap-3438	358	10	halasz	halasz	NOUN
ap-3438	358	11	,	,	PUNCT
ap-3438	358	12	s.	s.	PROPN
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ap-3438	358	14	,	,	PUNCT
ap-3438	358	15	v.	v.	PROPN
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ap-3438	358	17	.	.	PUNCT
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ap-3438	359	4	of	of	ADP
ap-3438	359	5	a	a	DET
ap-3438	359	6	swarm	swarm	NOUN
ap-3438	359	7	of	of	ADP
ap-3438	359	8	robots	robot	NOUN
ap-3438	359	9	among	among	ADP
ap-3438	359	10	multiple	multiple	ADJ
ap-3438	359	11	sites	site	NOUN
ap-3438	359	12	.	.	PUNCT
ap-3438	360	1	swarm	swarm	NOUN
ap-3438	360	2	intelligence	intelligence	NOUN
ap-3438	360	3	2(2	2(2	PROPN
ap-3438	360	4	-	-	SYM
ap-3438	360	5	4):121–141	4):121–141	NUM
ap-3438	360	6	,	,	PUNCT
ap-3438	360	7	2008	2008	NUM
ap-3438	360	8	.	.	PUNCT
ap-3438	361	1	doi:10.1007	doi:10.1007	VERB
ap-3438	361	2	/	/	SYM
ap-3438	361	3	s11721	s11721	PROPN
ap-3438	361	4	-	-	PUNCT
ap-3438	361	5	008	008	NUM
ap-3438	361	6	-	-	PUNCT
ap-3438	361	7	0019	0019	NUM
ap-3438	361	8	-	-	PUNCT
ap-3438	361	9	z.	z.	NOUN
ap-3438	362	1	[	[	X
ap-3438	362	2	11	11	NUM
ap-3438	362	3	]	]	PUNCT
ap-3438	362	4	m.	m.	NOUN
ap-3438	362	5	j.	j.	PROPN
ap-3438	362	6	b.	b.	PROPN
ap-3438	362	7	krieger	krieger	PROPN
ap-3438	362	8	,	,	PUNCT
ap-3438	362	9	j.	j.	PROPN
ap-3438	362	10	b.	b.	PROPN
ap-3438	362	11	billeter	billeter	PROPN
ap-3438	362	12	,	,	PUNCT
ap-3438	362	13	l.	l.	PROPN
ap-3438	362	14	keller	keller	PROPN
ap-3438	362	15	.	.	PUNCT
ap-3438	363	1	ant	ant	ADJ
ap-3438	363	2	-	-	PUNCT
ap-3438	363	3	like	like	ADJ
ap-3438	363	4	task	task	NOUN
ap-3438	363	5	allocation	allocation	NOUN
ap-3438	363	6	and	and	CCONJ
ap-3438	363	7	recruitment	recruitment	NOUN
ap-3438	363	8	in	in	ADP
ap-3438	363	9	cooperative	cooperative	ADJ
ap-3438	363	10	robots	robot	NOUN
ap-3438	363	11	.	.	PUNCT
ap-3438	364	1	nature	nature	NOUN
ap-3438	364	2	406:992–995	406:992–995	NUM
ap-3438	364	3	,	,	PUNCT
ap-3438	364	4	2000	2000	NUM
ap-3438	364	5	.	.	PUNCT
ap-3438	365	1	[	[	X
ap-3438	365	2	12	12	NUM
ap-3438	365	3	]	]	PUNCT
ap-3438	365	4	t.	t.	PROPN
ap-3438	365	5	h.	h.	PROPN
ap-3438	365	6	labella	labella	PROPN
ap-3438	365	7	,	,	PUNCT
ap-3438	365	8	m.	m.	PROPN
ap-3438	365	9	dorigo	dorigo	PROPN
ap-3438	365	10	,	,	PUNCT
ap-3438	365	11	j.-l	j.-l	PROPN
ap-3438	365	12	.	.	PUNCT
ap-3438	366	1	deneubourg	deneubourg	PROPN
ap-3438	366	2	.	.	PUNCT
ap-3438	367	1	division	division	NOUN
ap-3438	367	2	of	of	ADP
ap-3438	367	3	labor	labor	NOUN
ap-3438	367	4	in	in	ADP
ap-3438	367	5	a	a	DET
ap-3438	367	6	group	group	NOUN
ap-3438	367	7	of	of	ADP
ap-3438	367	8	robots	robot	NOUN
ap-3438	367	9	inspired	inspire	VERB
ap-3438	367	10	by	by	ADP
ap-3438	367	11	ants	ant	NOUN
ap-3438	367	12	’	'	PUNCT
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ap-3438	367	14	behavior	behavior	NOUN
ap-3438	367	15	.	.	PUNCT
ap-3438	368	1	acm	acm	PROPN
ap-3438	368	2	transactions	transaction	NOUN
ap-3438	368	3	on	on	ADP
ap-3438	368	4	autonomous	autonomous	ADJ
ap-3438	368	5	adaptive	adaptive	ADJ
ap-3438	368	6	systems	system	NOUN
ap-3438	368	7	1:4–25	1:4–25	NUM
ap-3438	368	8	,	,	PUNCT
ap-3438	368	9	2006	2006	NUM
ap-3438	368	10	.	.	PUNCT
ap-3438	369	1	[	[	X
ap-3438	369	2	13	13	NUM
ap-3438	369	3	]	]	PUNCT
ap-3438	369	4	l.	l.	PROPN
ap-3438	369	5	matthey	matthey	PROPN
ap-3438	369	6	,	,	PUNCT
ap-3438	369	7	s.	s.	PROPN
ap-3438	369	8	berman	berman	PROPN
ap-3438	369	9	,	,	PUNCT
ap-3438	369	10	v.	v.	PROPN
ap-3438	369	11	kumar	kumar	PROPN
ap-3438	369	12	.	.	PUNCT
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ap-3438	370	4	a	a	DET
ap-3438	370	5	swarm	swarm	NOUN
ap-3438	370	6	robotic	robotic	ADJ
ap-3438	370	7	assembly	assembly	NOUN
ap-3438	370	8	system	system	NOUN
ap-3438	370	9	.	.	PUNCT
ap-3438	371	1	in	in	ADP
ap-3438	371	2	ieee	ieee	PROPN
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ap-3438	371	4	conference	conference	NOUN
ap-3438	371	5	on	on	ADP
ap-3438	371	6	robotics	robotic	NOUN
ap-3438	371	7	and	and	CCONJ
ap-3438	371	8	automation	automation	NOUN
ap-3438	371	9	(	(	PUNCT
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ap-3438	371	11	)	)	PUNCT
ap-3438	371	12	,	,	PUNCT
ap-3438	371	13	pp	pp	PROPN
ap-3438	371	14	.	.	PUNCT
ap-3438	372	1	1953–1958	1953–1958	NUM
ap-3438	372	2	.	.	PUNCT
ap-3438	373	1	ieee	ieee	NOUN
ap-3438	373	2	,	,	PUNCT
ap-3438	373	3	2009	2009	NUM
ap-3438	373	4	.	.	PUNCT
ap-3438	374	1	doi:10.1109	doi:10.1109	VERB
ap-3438	374	2	/	/	SYM
ap-3438	374	3	robot.2009.5152457	robot.2009.5152457	PROPN
ap-3438	374	4	.	.	PUNCT
ap-3438	375	1	[	[	X
ap-3438	375	2	14	14	NUM
ap-3438	375	3	]	]	X
ap-3438	375	4	d.	d.	PROPN
ap-3438	375	5	tilman	tilman	PROPN
ap-3438	375	6	.	.	PUNCT
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ap-3438	376	2	diversity	diversity	NOUN
ap-3438	376	3	.	.	PUNCT
ap-3438	377	1	encyclopedia	encyclopedia	NOUN
ap-3438	377	2	of	of	ADP
ap-3438	377	3	biodiversity	biodiversity	NOUN
ap-3438	377	4	3:109–120	3:109–120	NUM
ap-3438	377	5	,	,	PUNCT
ap-3438	377	6	2001	2001	NUM
ap-3438	377	7	.	.	PUNCT
ap-3438	378	1	[	[	X
ap-3438	378	2	15	15	NUM
ap-3438	378	3	]	]	X
ap-3438	378	4	o.	o.	PROPN
ap-3438	378	5	l.	l.	PROPN
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ap-3438	378	7	,	,	PUNCT
ap-3438	378	8	k.	k.	PROPN
ap-3438	378	9	j.	j.	PROPN
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ap-3438	378	11	.	.	PUNCT
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ap-3438	379	2	diversity	diversity	NOUN
ap-3438	379	3	:	:	PUNCT
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ap-3438	380	2	to	to	ADP
ap-3438	380	3	basics	basic	NOUN
ap-3438	380	4	and	and	CCONJ
ap-3438	380	5	looking	look	VERB
ap-3438	380	6	forward	forward	ADV
ap-3438	380	7	.	.	PUNCT
ap-3438	381	1	ecology	ecology	NOUN
ap-3438	381	2	letters	letter	NOUN
ap-3438	381	3	9(6):741	9(6):741	NUM
ap-3438	381	4	–	–	PUNCT
ap-3438	381	5	758	758	NUM
ap-3438	381	6	,	,	PUNCT
ap-3438	381	7	2006	2006	NUM
ap-3438	381	8	.	.	PUNCT
ap-3438	382	1	doi:10.1111	doi:10.1111	ADJ
ap-3438	382	2	/	/	SYM
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ap-3438	382	4	-	-	PUNCT
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ap-3438	382	6	.	.	PUNCT
ap-3438	383	1	[	[	X
ap-3438	383	2	16	16	NUM
ap-3438	383	3	]	]	PUNCT
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ap-3438	383	7	,	,	PUNCT
ap-3438	383	8	j.	j.	PROPN
ap-3438	383	9	f.	f.	PROPN
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ap-3438	383	11	.	.	PUNCT
ap-3438	384	1	the	the	DET
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ap-3438	384	3	of	of	ADP
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ap-3438	384	5	data	datum	NOUN
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ap-3438	384	7	a	a	DET
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ap-3438	384	10	.	.	PUNCT
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ap-3438	385	2	of	of	ADP
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ap-3438	385	7	,	,	PUNCT
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ap-3438	385	9	.	.	PUNCT
ap-3438	386	1	[	[	X
ap-3438	386	2	17	17	NUM
ap-3438	386	3	]	]	X
ap-3438	386	4	d.	d.	PROPN
ap-3438	386	5	j.	j.	PROPN
ap-3438	386	6	wales	wales	PROPN
ap-3438	386	7	,	,	PUNCT
ap-3438	386	8	j.	j.	PROPN
ap-3438	386	9	p.	p.	PROPN
ap-3438	386	10	k.	k.	PROPN
ap-3438	387	1	doye	doye	PROPN
ap-3438	387	2	.	.	PUNCT
ap-3438	388	1	global	global	ADJ
ap-3438	388	2	optimization	optimization	NOUN
ap-3438	388	3	by	by	ADP
ap-3438	388	4	basin	basin	NOUN
ap-3438	388	5	-	-	PUNCT
ap-3438	388	6	hopping	hopping	NOUN
ap-3438	388	7	and	and	CCONJ
ap-3438	388	8	the	the	DET
ap-3438	388	9	lowest	low	ADJ
ap-3438	388	10	energy	energy	NOUN
ap-3438	388	11	structures	structure	NOUN
ap-3438	388	12	of	of	ADP
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ap-3438	388	14	-	-	PUNCT
ap-3438	388	15	jones	jones	PROPN
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ap-3438	388	18	up	up	ADP
ap-3438	388	19	to	to	ADP
ap-3438	388	20	110	110	NUM
ap-3438	388	21	atoms	atom	NOUN
ap-3438	388	22	.	.	PUNCT
ap-3438	389	1	arxivorg	arxivorg	PROPN
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ap-3438	389	3	.	.	PUNCT
ap-3438	390	1	1–8	1–8	NUM
ap-3438	390	2	,	,	PUNCT
ap-3438	390	3	1998	1998	NUM
ap-3438	390	4	.	.	PUNCT
ap-3438	391	1	[	[	X
ap-3438	391	2	18	18	NUM
ap-3438	391	3	]	]	PUNCT
ap-3438	391	4	a.	a.	PROPN
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ap-3438	391	6	.	.	PUNCT
ap-3438	392	1	nonlinear	nonlinear	PROPN
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ap-3438	392	3	:	:	PUNCT
ap-3438	392	4	analysis	analysis	NOUN
ap-3438	392	5	and	and	CCONJ
ap-3438	392	6	methods	method	NOUN
ap-3438	392	7	.	.	PUNCT
ap-3438	393	1	courier	courier	NOUN
ap-3438	393	2	corporation	corporation	NOUN
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ap-3438	393	4	2003	2003	NUM
ap-3438	393	5	.	.	PUNCT
ap-3438	394	1	[	[	X
ap-3438	394	2	19	19	NUM
ap-3438	394	3	]	]	X
ap-3438	394	4	j.	j.	PROPN
ap-3438	394	5	demmel	demmel	PROPN
ap-3438	394	6	,	,	PUNCT
ap-3438	394	7	i.	i.	PROPN
ap-3438	394	8	dumitriu	dumitriu	PROPN
ap-3438	394	9	,	,	PUNCT
ap-3438	394	10	o.	o.	PROPN
ap-3438	394	11	holtz	holtz	PROPN
ap-3438	394	12	.	.	PUNCT
ap-3438	395	1	fast	fast	ADJ
ap-3438	395	2	linear	linear	PROPN
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ap-3438	395	4	is	be	AUX
ap-3438	395	5	stable	stable	ADJ
ap-3438	395	6	.	.	PUNCT
ap-3438	396	1	arxivorg	arxivorg	PROPN
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ap-3438	396	3	.	.	PUNCT
ap-3438	397	1	1–26	1–26	NOUN
ap-3438	397	2	,	,	PUNCT
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ap-3438	397	4	.	.	PUNCT
ap-3438	398	1	[	[	X
ap-3438	398	2	20	20	NUM
ap-3438	398	3	]	]	X
ap-3438	398	4	v.	v.	PROPN
ap-3438	398	5	y.	y.	PROPN
ap-3438	398	6	pan	pan	PROPN
ap-3438	398	7	,	,	PUNCT
ap-3438	398	8	z.	z.	PROPN
ap-3438	398	9	q.	q.	PROPN
ap-3438	398	10	chen	chen	PROPN
ap-3438	398	11	.	.	PUNCT
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ap-3438	399	2	complexity	complexity	NOUN
ap-3438	399	3	of	of	ADP
ap-3438	399	4	the	the	DET
ap-3438	399	5	matrix	matrix	NOUN
ap-3438	399	6	eigenproblem	eigenproblem	NOUN
ap-3438	399	7	.	.	PUNCT
ap-3438	400	1	acm	acm	PROPN
ap-3438	400	2	symposium	symposium	NOUN
ap-3438	400	3	on	on	ADP
ap-3438	400	4	theory	theory	NOUN
ap-3438	400	5	of	of	ADP
ap-3438	400	6	computing	compute	VERB
ap-3438	400	7	pp	pp	X
ap-3438	400	8	.	.	PUNCT
ap-3438	401	1	507–516	507–516	NUM
ap-3438	401	2	,	,	PUNCT
ap-3438	401	3	1999	1999	NUM
ap-3438	401	4	.	.	PUNCT
ap-3438	402	1	[	[	X
ap-3438	402	2	21	21	NUM
ap-3438	402	3	]	]	X
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ap-3438	402	5	milam	milam	PROPN
ap-3438	402	6	,	,	PUNCT
ap-3438	402	7	r.	r.	PROPN
ap-3438	402	8	franz	franz	PROPN
ap-3438	402	9	,	,	PUNCT
ap-3438	402	10	j.	j.	PROPN
ap-3438	402	11	hauser	hauser	PROPN
ap-3438	402	12	,	,	PUNCT
ap-3438	402	13	m.	m.	NOUN
ap-3438	402	14	murray	murray	PROPN
ap-3438	402	15	.	.	PUNCT
ap-3438	403	1	receding	recede	VERB
ap-3438	403	2	horizon	horizon	NOUN
ap-3438	403	3	control	control	NOUN
ap-3438	403	4	of	of	ADP
ap-3438	403	5	vectored	vectore	VERB
ap-3438	403	6	thrust	thrust	ADJ
ap-3438	403	7	flight	flight	NOUN
ap-3438	403	8	experiment	experiment	NOUN
ap-3438	403	9	.	.	PUNCT
ap-3438	404	1	iee	iee	PROPN
ap-3438	404	2	proceedings	proceeding	NOUN
ap-3438	404	3	on	on	ADP
ap-3438	404	4	control	control	NOUN
ap-3438	404	5	theory	theory	NOUN
ap-3438	404	6	and	and	CCONJ
ap-3438	404	7	applications	application	NOUN
ap-3438	404	8	152:340–348	152:340–348	NUM
ap-3438	404	9	,	,	PUNCT
ap-3438	404	10	2015	2015	NUM
ap-3438	404	11	.	.	PUNCT
ap-3438	405	1	[	[	X
ap-3438	405	2	22	22	NUM
ap-3438	405	3	]	]	PUNCT
ap-3438	405	4	a.	a.	NOUN
ap-3438	405	5	martinoli	martinoli	PROPN
ap-3438	405	6	.	.	PUNCT
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ap-3438	406	2	intelligence	intelligence	NOUN
ap-3438	406	3	in	in	ADP
ap-3438	406	4	autonomous	autonomous	ADJ
ap-3438	406	5	collective	collective	ADJ
ap-3438	406	6	robotics	robotic	NOUN
ap-3438	406	7	:	:	PUNCT
ap-3438	406	8	from	from	ADP
ap-3438	406	9	tools	tool	NOUN
ap-3438	406	10	to	to	ADP
ap-3438	406	11	the	the	DET
ap-3438	406	12	analysis	analysis	NOUN
ap-3438	406	13	and	and	CCONJ
ap-3438	406	14	synthesis	synthesis	NOUN
ap-3438	406	15	of	of	ADP
ap-3438	406	16	distributed	distribute	VERB
ap-3438	406	17	collective	collective	ADJ
ap-3438	406	18	strategies	strategy	NOUN
ap-3438	406	19	.	.	PUNCT
ap-3438	407	1	ph.d	ph.d	PROPN
ap-3438	407	2	.	.	PUNCT
ap-3438	408	1	thesis	thesis	PROPN
ap-3438	408	2	,	,	PUNCT
ap-3438	408	3	ecole	ecole	X
ap-3438	408	4	polytechnique	polytechnique	X
ap-3438	408	5	fédérale	fédérale	X
ap-3438	408	6	de	de	X
ap-3438	408	7	lausanne	lausanne	PROPN
ap-3438	408	8	(	(	PUNCT
ap-3438	408	9	epfl	epfl	PROPN
ap-3438	408	10	)	)	PUNCT
ap-3438	408	11	,	,	PUNCT
ap-3438	408	12	1999	1999	NUM
ap-3438	408	13	.	.	PUNCT
ap-3438	409	1	[	[	X
ap-3438	409	2	23	23	NUM
ap-3438	409	3	]	]	X
ap-3438	409	4	d.	d.	PROPN
ap-3438	409	5	j.	j.	PROPN
ap-3438	409	6	watts	watts	PROPN
ap-3438	409	7	,	,	PUNCT
ap-3438	409	8	s.	s.	PROPN
ap-3438	409	9	h.	h.	PROPN
ap-3438	409	10	strogatz	strogatz	PROPN
ap-3438	409	11	.	.	PUNCT
ap-3438	410	1	collective	collective	ADJ
ap-3438	410	2	dynamics	dynamic	NOUN
ap-3438	410	3	of	of	ADP
ap-3438	410	4	‘	'	PUNCT
ap-3438	410	5	small	small	ADJ
ap-3438	410	6	-	-	PUNCT
ap-3438	410	7	world	world	NOUN
ap-3438	410	8	’	'	PUNCT
ap-3438	410	9	networks	network	NOUN
ap-3438	410	10	.	.	PUNCT
ap-3438	411	1	nature	nature	NOUN
ap-3438	411	2	393:440–442	393:440–442	NUM
ap-3438	411	3	,	,	PUNCT
ap-3438	411	4	1998	1998	NUM
ap-3438	411	5	.	.	PUNCT
ap-3438	412	1	75	75	NUM
ap-3438	412	2	http://dx.doi.org/10.1109/robot.2006.1641771	http://dx.doi.org/10.1109/robot.2006.1641771	ADJ
ap-3438	412	3	http://dx.doi.org/10.1002/rob.20222	http://dx.doi.org/10.1002/rob.20222	NOUN
ap-3438	412	4	http://dx.doi.org/10.1109/iros.2013.6697126	http://dx.doi.org/10.1109/iros.2013.6697126	ADV
ap-3438	412	5	http://dx.doi.org/10.1177/0278364904045564	http://dx.doi.org/10.1177/0278364904045564	VERB
ap-3438	412	6	http://dx.doi.org/10.1109/tro.2009.2024997	http://dx.doi.org/10.1109/tro.2009.2024997	PROPN
ap-3438	412	7	http://dx.doi.org/10.1109/iros.2007.4399528	http://dx.doi.org/10.1109/iros.2007.4399528	PROPN
ap-3438	412	8	http://dx.doi.org/10.1007/s11721-008-0019-z	http://dx.doi.org/10.1007/s11721-008-0019-z	X
ap-3438	412	9	http://dx.doi.org/10.1109/robot.2009.5152457	http://dx.doi.org/10.1109/robot.2009.5152457	PROPN
ap-3438	412	10	http://dx.doi.org/10.1111/j.1461-0248.2006.00924.x	http://dx.doi.org/10.1111/j.1461-0248.2006.00924.x	X
ap-3438	412	11	acta	acta	PROPN
ap-3438	412	12	polytechnica	polytechnica	NOUN
ap-3438	412	13	56(1):67–75	56(1):67–75	NUM
ap-3438	412	14	,	,	PUNCT
ap-3438	412	15	2016	2016	NUM
ap-3438	412	16	1	1	NUM
ap-3438	412	17	introduction	introduction	NOUN
ap-3438	412	18	2	2	NUM
ap-3438	412	19	problem	problem	NOUN
ap-3438	412	20	formulation	formulation	NOUN
ap-3438	412	21	2.1	2.1	NUM
ap-3438	412	22	notation	notation	NOUN
ap-3438	412	23	2.2	2.2	NUM
ap-3438	412	24	problem	problem	NOUN
ap-3438	412	25	statement	statement	NOUN
ap-3438	412	26	2.3	2.3	NUM
ap-3438	412	27	system	system	NOUN
ap-3438	412	28	properties	property	NOUN
ap-3438	412	29	3	3	NUM
ap-3438	412	30	methodology	methodology	NOUN
ap-3438	412	31	3.1	3.1	NUM
ap-3438	412	32	design	design	NOUN
ap-3438	412	33	of	of	ADP
ap-3438	412	34	optimal	optimal	ADJ
ap-3438	412	35	transition	transition	NOUN
ap-3438	412	36	rates	rate	NOUN
ap-3438	412	37	3.2	3.2	NUM
ap-3438	412	38	optimization	optimization	NOUN
ap-3438	412	39	of	of	ADP
ap-3438	412	40	convergence	convergence	NOUN
ap-3438	412	41	time	time	NOUN
ap-3438	412	42	3.3	3.3	NUM
ap-3438	412	43	computational	computational	ADJ
ap-3438	412	44	complexity	complexity	NOUN
ap-3438	412	45	3.4	3.4	NUM
ap-3438	412	46	continuous	continuous	ADJ
ap-3438	412	47	optimization	optimization	NOUN
ap-3438	412	48	of	of	ADP
ap-3438	412	49	k(s	k(s	PROPN
ap-3438	412	50	)	)	PUNCT
ap-3438	412	51	4	4	NUM
ap-3438	412	52	results	result	VERB
ap-3438	412	53	4.1	4.1	NUM
ap-3438	412	54	example	example	NOUN
ap-3438	412	55	4.2	4.2	NUM
ap-3438	412	56	comparison	comparison	NOUN
ap-3438	412	57	of	of	ADP
ap-3438	412	58	methods	method	NOUN
ap-3438	412	59	5	5	NUM
ap-3438	412	60	conclusion	conclusion	NOUN
ap-3438	412	61	acknowledgements	acknowledgement	NOUN
ap-3438	412	62	references	reference	NOUN