id	sid	tid	token	lemma	pos
ap-3440	1	1	acta	acta	PROPN
ap-3440	1	2	polytechnica	polytechnica	PROPN
ap-3440	1	3	doi:10.14311	doi:10.14311	PROPN
ap-3440	1	4	/	/	SYM
ap-3440	1	5	app.2016.56.0010	app.2016.56.0010	PROPN
ap-3440	1	6	acta	acta	PROPN
ap-3440	1	7	polytechnica	polytechnica	PROPN
ap-3440	1	8	56(1):10–17	56(1):10–17	NUM
ap-3440	1	9	,	,	PUNCT
ap-3440	1	10	2016	2016	NUM
ap-3440	1	11	©	©	PROPN
ap-3440	1	12	czech	czech	PROPN
ap-3440	1	13	technical	technical	PROPN
ap-3440	1	14	university	university	PROPN
ap-3440	1	15	in	in	ADP
ap-3440	1	16	prague	prague	PROPN
ap-3440	1	17	,	,	PUNCT
ap-3440	1	18	2016	2016	NUM
ap-3440	1	19	available	available	ADJ
ap-3440	1	20	online	online	ADV
ap-3440	1	21	at	at	ADP
ap-3440	1	22	http://ojs.cvut.cz/ojs/index.php/ap	http://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-3440	1	23	multi	multi	ADJ
ap-3440	1	24	-	-	ADJ
ap-3440	1	25	robot	robot	ADJ
ap-3440	1	26	motion	motion	NOUN
ap-3440	1	27	planning	planning	NOUN
ap-3440	1	28	:	:	PUNCT
ap-3440	1	29	a	a	DET
ap-3440	1	30	modified	modified	ADJ
ap-3440	1	31	receding	recede	VERB
ap-3440	1	32	horizon	horizon	NOUN
ap-3440	1	33	approach	approach	NOUN
ap-3440	1	34	for	for	ADP
ap-3440	1	35	reaching	reach	VERB
ap-3440	1	36	goal	goal	NOUN
ap-3440	1	37	states	state	NOUN
ap-3440	1	38	josé	josé	PROPN
ap-3440	1	39	m.	m.	PROPN
ap-3440	1	40	mendes	mende	NOUN
ap-3440	1	41	filhoa	filhoa	NOUN
ap-3440	1	42	,	,	PUNCT
ap-3440	1	43	b	b	NOUN
ap-3440	1	44	,	,	PUNCT
ap-3440	1	45	eric	eric	PROPN
ap-3440	1	46	luceta,∗	luceta,∗	PROPN
ap-3440	1	47	a	a	DET
ap-3440	1	48	cea	cea	PROPN
ap-3440	1	49	,	,	PUNCT
ap-3440	1	50	list	list	NOUN
ap-3440	1	51	,	,	PUNCT
ap-3440	1	52	interactive	interactive	ADJ
ap-3440	1	53	robotics	robotic	NOUN
ap-3440	1	54	laboratory	laboratory	NOUN
ap-3440	1	55	,	,	PUNCT
ap-3440	1	56	gif	gif	PROPN
ap-3440	1	57	-	-	PUNCT
ap-3440	1	58	sur	sur	NOUN
ap-3440	1	59	-	-	PUNCT
ap-3440	1	60	yvette	yvette	NOUN
ap-3440	1	61	,	,	PUNCT
ap-3440	1	62	f-91191	f-91191	PROPN
ap-3440	1	63	,	,	PUNCT
ap-3440	1	64	france	france	PROPN
ap-3440	1	65	b	b	PROPN
ap-3440	1	66	ensta	ensta	PROPN
ap-3440	1	67	paristech	paristech	NOUN
ap-3440	1	68	,	,	PUNCT
ap-3440	1	69	unité	unité	NOUN
ap-3440	1	70	d’informatique	d’informatique	NOUN
ap-3440	1	71	et	et	NOUN
ap-3440	1	72	d’ingénierie	d’ingénierie	PROPN
ap-3440	1	73	des	des	PROPN
ap-3440	1	74	systèmes	système	NOUN
ap-3440	1	75	,	,	PUNCT
ap-3440	1	76	828	828	NUM
ap-3440	1	77	bd	bd	PROPN
ap-3440	1	78	des	des	X
ap-3440	1	79	marechaux	marechaux	PROPN
ap-3440	1	80	,	,	PUNCT
ap-3440	1	81	91762	91762	NUM
ap-3440	1	82	,	,	PUNCT
ap-3440	1	83	france	france	PROPN
ap-3440	1	84	∗	∗	NOUN
ap-3440	1	85	corresponding	correspond	VERB
ap-3440	1	86	author	author	NOUN
ap-3440	1	87	:	:	PUNCT
ap-3440	1	88	eric.lucet@cea.fr	eric.lucet@cea.fr	NOUN
ap-3440	1	89	abstract	abstract	PROPN
ap-3440	1	90	.	.	PUNCT
ap-3440	2	1	this	this	DET
ap-3440	2	2	paper	paper	NOUN
ap-3440	2	3	proposes	propose	VERB
ap-3440	2	4	the	the	DET
ap-3440	2	5	real	real	ADJ
ap-3440	2	6	-	-	PUNCT
ap-3440	2	7	time	time	NOUN
ap-3440	2	8	implementation	implementation	NOUN
ap-3440	2	9	of	of	ADP
ap-3440	2	10	an	an	DET
ap-3440	2	11	algorithm	algorithm	NOUN
ap-3440	2	12	for	for	ADP
ap-3440	2	13	collision	collision	NOUN
ap-3440	2	14	-	-	PUNCT
ap-3440	2	15	free	free	ADJ
ap-3440	2	16	motion	motion	NOUN
ap-3440	2	17	planning	planning	NOUN
ap-3440	2	18	based	base	VERB
ap-3440	2	19	on	on	ADP
ap-3440	2	20	a	a	DET
ap-3440	2	21	receding	recede	VERB
ap-3440	2	22	horizon	horizon	NOUN
ap-3440	2	23	approach	approach	NOUN
ap-3440	2	24	,	,	PUNCT
ap-3440	2	25	for	for	ADP
ap-3440	2	26	the	the	DET
ap-3440	2	27	navigation	navigation	NOUN
ap-3440	2	28	of	of	ADP
ap-3440	2	29	a	a	DET
ap-3440	2	30	team	team	NOUN
ap-3440	2	31	of	of	ADP
ap-3440	2	32	mobile	mobile	ADJ
ap-3440	2	33	robots	robot	NOUN
ap-3440	2	34	in	in	ADP
ap-3440	2	35	the	the	DET
ap-3440	2	36	presence	presence	NOUN
ap-3440	2	37	of	of	ADP
ap-3440	2	38	obstacles	obstacle	NOUN
ap-3440	2	39	of	of	ADP
ap-3440	2	40	different	different	ADJ
ap-3440	2	41	shapes	shape	NOUN
ap-3440	2	42	.	.	PUNCT
ap-3440	3	1	the	the	DET
ap-3440	3	2	method	method	NOUN
ap-3440	3	3	is	be	AUX
ap-3440	3	4	simulated	simulate	VERB
ap-3440	3	5	with	with	ADP
ap-3440	3	6	three	three	NUM
ap-3440	3	7	robots	robot	NOUN
ap-3440	3	8	.	.	PUNCT
ap-3440	4	1	the	the	DET
ap-3440	4	2	impact	impact	NOUN
ap-3440	4	3	of	of	ADP
ap-3440	4	4	the	the	DET
ap-3440	4	5	parameters	parameter	NOUN
ap-3440	4	6	is	be	AUX
ap-3440	4	7	studied	study	VERB
ap-3440	4	8	with	with	ADP
ap-3440	4	9	regard	regard	NOUN
ap-3440	4	10	to	to	ADP
ap-3440	4	11	computation	computation	NOUN
ap-3440	4	12	time	time	NOUN
ap-3440	4	13	,	,	PUNCT
ap-3440	4	14	obstacle	obstacle	NOUN
ap-3440	4	15	avoidance	avoidance	NOUN
ap-3440	4	16	and	and	CCONJ
ap-3440	4	17	travel	travel	NOUN
ap-3440	4	18	time	time	NOUN
ap-3440	4	19	.	.	PUNCT
ap-3440	5	1	keywords	keyword	NOUN
ap-3440	5	2	:	:	PUNCT
ap-3440	5	3	multi	multi	ADJ
ap-3440	5	4	-	-	ADJ
ap-3440	5	5	robot	robot	ADJ
ap-3440	5	6	motion	motion	NOUN
ap-3440	5	7	planning	planning	NOUN
ap-3440	5	8	;	;	PUNCT
ap-3440	5	9	nonholonomic	nonholonomic	ADJ
ap-3440	5	10	mobile	mobile	ADJ
ap-3440	5	11	robot	robot	NOUN
ap-3440	5	12	;	;	PUNCT
ap-3440	5	13	distributed	distribute	VERB
ap-3440	5	14	planning	planning	NOUN
ap-3440	5	15	;	;	PUNCT
ap-3440	5	16	receding	recede	VERB
ap-3440	5	17	horizon	horizon	NOUN
ap-3440	5	18	.	.	PUNCT
ap-3440	6	1	1	1	X
ap-3440	6	2	.	.	X
ap-3440	6	3	introduction	introduction	NOUN
ap-3440	6	4	the	the	DET
ap-3440	6	5	control	control	NOUN
ap-3440	6	6	of	of	ADP
ap-3440	6	7	mobile	mobile	ADJ
ap-3440	6	8	robots	robot	NOUN
ap-3440	6	9	is	be	AUX
ap-3440	6	10	a	a	DET
ap-3440	6	11	long	long	ADV
ap-3440	6	12	-	-	PUNCT
ap-3440	6	13	standing	stand	VERB
ap-3440	6	14	subject	subject	NOUN
ap-3440	6	15	of	of	ADP
ap-3440	6	16	research	research	NOUN
ap-3440	6	17	in	in	ADP
ap-3440	6	18	the	the	DET
ap-3440	6	19	robotics	robotic	NOUN
ap-3440	6	20	domain	domain	NOUN
ap-3440	6	21	.	.	PUNCT
ap-3440	7	1	a	a	DET
ap-3440	7	2	trending	trend	VERB
ap-3440	7	3	application	application	NOUN
ap-3440	7	4	of	of	ADP
ap-3440	7	5	mobile	mobile	ADJ
ap-3440	7	6	robotic	robotic	ADJ
ap-3440	7	7	systems	system	NOUN
ap-3440	7	8	is	be	AUX
ap-3440	7	9	their	their	PRON
ap-3440	7	10	use	use	NOUN
ap-3440	7	11	in	in	ADP
ap-3440	7	12	industrial	industrial	ADJ
ap-3440	7	13	supply	supply	NOUN
ap-3440	7	14	chains	chain	NOUN
ap-3440	7	15	for	for	ADP
ap-3440	7	16	processing	processing	NOUN
ap-3440	7	17	orders	order	NOUN
ap-3440	7	18	and	and	CCONJ
ap-3440	7	19	optimizing	optimize	VERB
ap-3440	7	20	the	the	DET
ap-3440	7	21	storage	storage	NOUN
ap-3440	7	22	and	and	CCONJ
ap-3440	7	23	distribution	distribution	NOUN
ap-3440	7	24	of	of	ADP
ap-3440	7	25	products	product	NOUN
ap-3440	7	26	.	.	PUNCT
ap-3440	8	1	for	for	ADP
ap-3440	8	2	example	example	NOUN
ap-3440	8	3	,	,	PUNCT
ap-3440	8	4	amazon	amazon	NOUN
ap-3440	8	5	employs	employ	VERB
ap-3440	8	6	the	the	DET
ap-3440	8	7	kiva	kiva	PROPN
ap-3440	8	8	mobile	mobile	PROPN
ap-3440	8	9	multi	multi	ADJ
ap-3440	8	10	-	-	ADJ
ap-3440	8	11	robot	robot	ADJ
ap-3440	8	12	system	system	NOUN
ap-3440	8	13	,	,	PUNCT
ap-3440	8	14	and	and	CCONJ
ap-3440	8	15	the	the	DET
ap-3440	8	16	logistic	logistic	ADJ
ap-3440	8	17	provider	provider	NOUN
ap-3440	8	18	idea	idea	NOUN
ap-3440	8	19	group	group	NOUN
ap-3440	8	20	employs	employ	VERB
ap-3440	8	21	the	the	DET
ap-3440	8	22	scallog	scallog	NOUN
ap-3440	8	23	system	system	NOUN
ap-3440	8	24	for	for	ADP
ap-3440	8	25	autonomously	autonomously	ADV
ap-3440	8	26	processing	process	VERB
ap-3440	8	27	client	client	NOUN
ap-3440	8	28	orders	order	NOUN
ap-3440	8	29	[	[	X
ap-3440	8	30	1	1	NUM
ap-3440	8	31	,	,	PUNCT
ap-3440	8	32	2	2	NUM
ap-3440	8	33	]	]	PUNCT
ap-3440	8	34	.	.	PUNCT
ap-3440	9	1	such	such	ADJ
ap-3440	9	2	logistics	logistic	NOUN
ap-3440	9	3	tasks	task	NOUN
ap-3440	9	4	have	have	AUX
ap-3440	9	5	become	become	VERB
ap-3440	9	6	increasingly	increasingly	ADV
ap-3440	9	7	complex	complex	ADJ
ap-3440	9	8	as	as	ADP
ap-3440	9	9	sources	source	NOUN
ap-3440	9	10	of	of	ADP
ap-3440	9	11	uncertainty	uncertainty	NOUN
ap-3440	9	12	,	,	PUNCT
ap-3440	9	13	such	such	ADJ
ap-3440	9	14	as	as	ADP
ap-3440	9	15	human	human	ADJ
ap-3440	9	16	presence	presence	NOUN
ap-3440	9	17	,	,	PUNCT
ap-3440	9	18	are	be	AUX
ap-3440	9	19	admitted	admit	VERB
ap-3440	9	20	in	in	ADP
ap-3440	9	21	the	the	DET
ap-3440	9	22	work	work	NOUN
ap-3440	9	23	environment	environment	NOUN
ap-3440	9	24	.	.	PUNCT
ap-3440	10	1	one	one	NUM
ap-3440	10	2	basic	basic	ADJ
ap-3440	10	3	requirement	requirement	NOUN
ap-3440	10	4	for	for	ADP
ap-3440	10	5	such	such	ADJ
ap-3440	10	6	mobile	mobile	ADJ
ap-3440	10	7	multi	multi	ADJ
ap-3440	10	8	-	-	ADJ
ap-3440	10	9	robot	robot	ADJ
ap-3440	10	10	systems	system	NOUN
ap-3440	10	11	is	be	AUX
ap-3440	10	12	the	the	DET
ap-3440	10	13	capacity	capacity	NOUN
ap-3440	10	14	of	of	ADP
ap-3440	10	15	motion	motion	NOUN
ap-3440	10	16	planning	planning	NOUN
ap-3440	10	17	,	,	PUNCT
ap-3440	10	18	that	that	ADV
ap-3440	10	19	is	is	ADV
ap-3440	10	20	,	,	PUNCT
ap-3440	10	21	generating	generate	VERB
ap-3440	10	22	an	an	DET
ap-3440	10	23	admissible	admissible	ADJ
ap-3440	10	24	configuration	configuration	NOUN
ap-3440	10	25	and	and	CCONJ
ap-3440	10	26	input	input	NOUN
ap-3440	10	27	trajectories	trajectory	NOUN
ap-3440	10	28	connecting	connect	VERB
ap-3440	10	29	two	two	NUM
ap-3440	10	30	arbitrary	arbitrary	ADJ
ap-3440	10	31	states	state	NOUN
ap-3440	10	32	.	.	PUNCT
ap-3440	11	1	to	to	PART
ap-3440	11	2	solve	solve	VERB
ap-3440	11	3	the	the	DET
ap-3440	11	4	motion	motion	NOUN
ap-3440	11	5	planning	planning	NOUN
ap-3440	11	6	problem	problem	NOUN
ap-3440	11	7	,	,	PUNCT
ap-3440	11	8	various	various	ADJ
ap-3440	11	9	constraints	constraint	NOUN
ap-3440	11	10	must	must	AUX
ap-3440	11	11	be	be	AUX
ap-3440	11	12	taken	take	VERB
ap-3440	11	13	into	into	ADP
ap-3440	11	14	account	account	NOUN
ap-3440	11	15	,	,	PUNCT
ap-3440	11	16	in	in	ADP
ap-3440	11	17	particular	particular	ADJ
ap-3440	11	18	,	,	PUNCT
ap-3440	11	19	the	the	DET
ap-3440	11	20	robot	robot	NOUN
ap-3440	11	21	’s	’s	PART
ap-3440	11	22	kinematic	kinematic	ADJ
ap-3440	11	23	and	and	CCONJ
ap-3440	11	24	geometric	geometric	ADJ
ap-3440	11	25	constraints	constraint	NOUN
ap-3440	11	26	.	.	PUNCT
ap-3440	12	1	the	the	DET
ap-3440	12	2	first	first	ADJ
ap-3440	12	3	constraints	constraint	NOUN
ap-3440	12	4	derive	derive	VERB
ap-3440	12	5	directly	directly	ADV
ap-3440	12	6	from	from	ADP
ap-3440	12	7	the	the	DET
ap-3440	12	8	mobile	mobile	ADJ
ap-3440	12	9	robot	robot	NOUN
ap-3440	12	10	architecture	architecture	NOUN
ap-3440	12	11	implying	imply	VERB
ap-3440	12	12	,	,	PUNCT
ap-3440	12	13	in	in	ADP
ap-3440	12	14	particular	particular	ADJ
ap-3440	12	15	,	,	PUNCT
ap-3440	12	16	nonholonomic	nonholonomic	ADJ
ap-3440	12	17	constraints	constraint	NOUN
ap-3440	12	18	.	.	PUNCT
ap-3440	13	1	geometric	geometric	ADJ
ap-3440	13	2	constraints	constraint	NOUN
ap-3440	13	3	result	result	VERB
ap-3440	13	4	from	from	ADP
ap-3440	13	5	the	the	DET
ap-3440	13	6	need	need	NOUN
ap-3440	13	7	to	to	PART
ap-3440	13	8	prevent	prevent	VERB
ap-3440	13	9	the	the	DET
ap-3440	13	10	robot	robot	NOUN
ap-3440	13	11	assuming	assume	VERB
ap-3440	13	12	specific	specific	ADJ
ap-3440	13	13	configurations	configuration	NOUN
ap-3440	13	14	in	in	ADP
ap-3440	13	15	order	order	NOUN
ap-3440	13	16	to	to	PART
ap-3440	13	17	avoid	avoid	VERB
ap-3440	13	18	collisions	collision	NOUN
ap-3440	13	19	,	,	PUNCT
ap-3440	13	20	communication	communication	NOUN
ap-3440	13	21	loss	loss	NOUN
ap-3440	13	22	,	,	PUNCT
ap-3440	13	23	etc	etc	X
ap-3440	13	24	.	.	X
ap-3440	14	1	we	we	PRON
ap-3440	14	2	are	be	AUX
ap-3440	14	3	particularly	particularly	ADV
ap-3440	14	4	interested	interested	ADJ
ap-3440	14	5	in	in	ADP
ap-3440	14	6	solving	solve	VERB
ap-3440	14	7	the	the	DET
ap-3440	14	8	problem	problem	NOUN
ap-3440	14	9	of	of	ADP
ap-3440	14	10	planning	plan	VERB
ap-3440	14	11	a	a	DET
ap-3440	14	12	trajectory	trajectory	NOUN
ap-3440	14	13	for	for	ADP
ap-3440	14	14	a	a	DET
ap-3440	14	15	team	team	NOUN
ap-3440	14	16	of	of	ADP
ap-3440	14	17	nonholonomic	nonholonomic	ADJ
ap-3440	14	18	mobile	mobile	ADJ
ap-3440	14	19	robots	robot	NOUN
ap-3440	14	20	,	,	PUNCT
ap-3440	14	21	in	in	ADP
ap-3440	14	22	a	a	DET
ap-3440	14	23	partially	partially	ADV
ap-3440	14	24	known	know	VERB
ap-3440	14	25	environment	environment	NOUN
ap-3440	14	26	occupied	occupy	VERB
ap-3440	14	27	by	by	ADP
ap-3440	14	28	static	static	ADJ
ap-3440	14	29	obstacles	obstacle	NOUN
ap-3440	14	30	,	,	PUNCT
ap-3440	14	31	being	be	AUX
ap-3440	14	32	efficient	efficient	ADJ
ap-3440	14	33	with	with	ADP
ap-3440	14	34	respect	respect	NOUN
ap-3440	14	35	to	to	ADP
ap-3440	14	36	the	the	DET
ap-3440	14	37	travel	travel	NOUN
ap-3440	14	38	time	time	NOUN
ap-3440	14	39	(	(	PUNCT
ap-3440	14	40	the	the	DET
ap-3440	14	41	amount	amount	NOUN
ap-3440	14	42	of	of	ADP
ap-3440	14	43	time	time	NOUN
ap-3440	14	44	to	to	PART
ap-3440	14	45	go	go	VERB
ap-3440	14	46	from	from	ADP
ap-3440	14	47	the	the	DET
ap-3440	14	48	initial	initial	ADJ
ap-3440	14	49	configuration	configuration	NOUN
ap-3440	14	50	to	to	ADP
ap-3440	14	51	the	the	DET
ap-3440	14	52	goal	goal	NOUN
ap-3440	14	53	)	)	PUNCT
ap-3440	14	54	.	.	PUNCT
ap-3440	15	1	a	a	DET
ap-3440	15	2	great	great	ADJ
ap-3440	15	3	amount	amount	NOUN
ap-3440	15	4	of	of	ADP
ap-3440	15	5	work	work	NOUN
ap-3440	15	6	towards	towards	ADP
ap-3440	15	7	collision	collision	NOUN
ap-3440	15	8	-	-	PUNCT
ap-3440	15	9	free	free	ADJ
ap-3440	15	10	motion	motion	NOUN
ap-3440	15	11	planning	planning	NOUN
ap-3440	15	12	for	for	ADP
ap-3440	15	13	cooperative	cooperative	ADJ
ap-3440	15	14	multi	multi	ADJ
ap-3440	15	15	-	-	ADJ
ap-3440	15	16	robot	robot	ADJ
ap-3440	15	17	systems	system	NOUN
ap-3440	15	18	has	have	AUX
ap-3440	15	19	been	be	AUX
ap-3440	15	20	proposed	propose	VERB
ap-3440	15	21	.	.	PUNCT
ap-3440	16	1	this	this	DET
ap-3440	16	2	work	work	NOUN
ap-3440	16	3	can	can	AUX
ap-3440	16	4	be	be	AUX
ap-3440	16	5	split	split	VERB
ap-3440	16	6	into	into	ADP
ap-3440	16	7	centralized	centralized	ADJ
ap-3440	16	8	and	and	CCONJ
ap-3440	16	9	distributed	distribute	VERB
ap-3440	16	10	approaches	approach	NOUN
ap-3440	16	11	.	.	PUNCT
ap-3440	17	1	centralized	centralized	ADJ
ap-3440	17	2	approaches	approach	NOUN
ap-3440	17	3	are	be	AUX
ap-3440	17	4	usually	usually	ADV
ap-3440	17	5	formulated	formulate	VERB
ap-3440	17	6	as	as	ADP
ap-3440	17	7	an	an	DET
ap-3440	17	8	optimal	optimal	ADJ
ap-3440	17	9	control	control	NOUN
ap-3440	17	10	problem	problem	NOUN
ap-3440	17	11	that	that	PRON
ap-3440	17	12	takes	take	VERB
ap-3440	17	13	all	all	DET
ap-3440	17	14	robots	robot	NOUN
ap-3440	17	15	in	in	ADP
ap-3440	17	16	the	the	DET
ap-3440	17	17	team	team	NOUN
ap-3440	17	18	into	into	ADP
ap-3440	17	19	account	account	NOUN
ap-3440	17	20	at	at	ADP
ap-3440	17	21	once	once	ADV
ap-3440	17	22	.	.	PUNCT
ap-3440	18	1	this	this	PRON
ap-3440	18	2	produces	produce	VERB
ap-3440	18	3	solutions	solution	NOUN
ap-3440	18	4	closer	close	ADV
ap-3440	18	5	to	to	ADP
ap-3440	18	6	the	the	DET
ap-3440	18	7	optimal	optimal	ADJ
ap-3440	18	8	one	one	NOUN
ap-3440	18	9	than	than	ADP
ap-3440	18	10	distributed	distribute	VERB
ap-3440	18	11	approaches	approach	NOUN
ap-3440	18	12	.	.	PUNCT
ap-3440	19	1	however	however	ADV
ap-3440	19	2	,	,	PUNCT
ap-3440	19	3	the	the	DET
ap-3440	19	4	computation	computation	NOUN
ap-3440	19	5	time	time	NOUN
ap-3440	19	6	,	,	PUNCT
ap-3440	19	7	security	security	NOUN
ap-3440	19	8	vulnerability	vulnerability	NOUN
ap-3440	19	9	and	and	CCONJ
ap-3440	19	10	communication	communication	NOUN
ap-3440	19	11	requirements	requirement	NOUN
ap-3440	19	12	can	can	AUX
ap-3440	19	13	make	make	VERB
ap-3440	19	14	it	it	PRON
ap-3440	19	15	impracticable	impracticable	ADJ
ap-3440	19	16	,	,	PUNCT
ap-3440	19	17	specially	specially	ADV
ap-3440	19	18	for	for	ADP
ap-3440	19	19	a	a	DET
ap-3440	19	20	great	great	ADJ
ap-3440	19	21	number	number	NOUN
ap-3440	19	22	of	of	ADP
ap-3440	19	23	robots	robot	NOUN
ap-3440	19	24	[	[	X
ap-3440	19	25	3	3	NUM
ap-3440	19	26	]	]	PUNCT
ap-3440	19	27	.	.	PUNCT
ap-3440	20	1	distributed	distribute	VERB
ap-3440	20	2	methods	method	NOUN
ap-3440	20	3	based	base	VERB
ap-3440	20	4	in	in	ADP
ap-3440	20	5	probabilistic	probabilistic	ADJ
ap-3440	20	6	[	[	X
ap-3440	20	7	4	4	NUM
ap-3440	20	8	]	]	PUNCT
ap-3440	20	9	and	and	CCONJ
ap-3440	20	10	artificial	artificial	ADJ
ap-3440	20	11	potential	potential	ADJ
ap-3440	20	12	fields	field	NOUN
ap-3440	20	13	[	[	X
ap-3440	20	14	5	5	NUM
ap-3440	20	15	]	]	PUNCT
ap-3440	20	16	approaches	approach	NOUN
ap-3440	20	17	,	,	PUNCT
ap-3440	20	18	for	for	ADP
ap-3440	20	19	instance	instance	NOUN
ap-3440	20	20	,	,	PUNCT
ap-3440	20	21	are	be	AUX
ap-3440	20	22	computationally	computationally	ADV
ap-3440	20	23	fast	fast	ADJ
ap-3440	20	24	.	.	PUNCT
ap-3440	21	1	however	however	ADV
ap-3440	21	2	,	,	PUNCT
ap-3440	21	3	they	they	PRON
ap-3440	21	4	deal	deal	VERB
ap-3440	21	5	with	with	ADP
ap-3440	21	6	collision	collision	NOUN
ap-3440	21	7	avoidance	avoidance	NOUN
ap-3440	21	8	as	as	ADP
ap-3440	21	9	a	a	DET
ap-3440	21	10	cost	cost	NOUN
ap-3440	21	11	function	function	NOUN
ap-3440	21	12	to	to	PART
ap-3440	21	13	be	be	AUX
ap-3440	21	14	minimized	minimize	VERB
ap-3440	21	15	.	.	PUNCT
ap-3440	22	1	but	but	CCONJ
ap-3440	22	2	rather	rather	ADV
ap-3440	22	3	than	than	ADP
ap-3440	22	4	having	have	VERB
ap-3440	22	5	a	a	DET
ap-3440	22	6	cost	cost	NOUN
ap-3440	22	7	that	that	PRON
ap-3440	22	8	increases	increase	VERB
ap-3440	22	9	as	as	ADP
ap-3440	22	10	paths	path	NOUN
ap-3440	22	11	leading	lead	VERB
ap-3440	22	12	to	to	ADP
ap-3440	22	13	collision	collision	NOUN
ap-3440	22	14	are	be	AUX
ap-3440	22	15	considered	consider	VERB
ap-3440	22	16	,	,	PUNCT
ap-3440	22	17	collision	collision	NOUN
ap-3440	22	18	avoidance	avoidance	NOUN
ap-3440	22	19	should	should	AUX
ap-3440	22	20	to	to	PART
ap-3440	22	21	be	be	AUX
ap-3440	22	22	considered	consider	VERB
ap-3440	22	23	as	as	ADP
ap-3440	22	24	hard	hard	ADJ
ap-3440	22	25	constraints	constraint	NOUN
ap-3440	22	26	of	of	ADP
ap-3440	22	27	the	the	DET
ap-3440	22	28	problem	problem	NOUN
ap-3440	22	29	.	.	PUNCT
ap-3440	23	1	other	other	ADJ
ap-3440	23	2	distributed	distribute	VERB
ap-3440	23	3	algorithms	algorithm	NOUN
ap-3440	23	4	are	be	AUX
ap-3440	23	5	based	base	VERB
ap-3440	23	6	on	on	ADP
ap-3440	23	7	receding	recede	VERB
ap-3440	23	8	horizon	horizon	NOUN
ap-3440	23	9	approaches	approach	NOUN
ap-3440	23	10	.	.	PUNCT
ap-3440	24	1	in	in	ADP
ap-3440	24	2	[	[	X
ap-3440	24	3	6	6	NUM
ap-3440	24	4	]	]	PUNCT
ap-3440	24	5	,	,	PUNCT
ap-3440	24	6	a	a	DET
ap-3440	24	7	brief	brief	ADJ
ap-3440	24	8	comparison	comparison	NOUN
ap-3440	24	9	of	of	ADP
ap-3440	24	10	the	the	DET
ap-3440	24	11	main	main	ADJ
ap-3440	24	12	distributed	distributed	ADJ
ap-3440	24	13	receding	recede	VERB
ap-3440	24	14	methods	method	NOUN
ap-3440	24	15	is	be	AUX
ap-3440	24	16	made	make	VERB
ap-3440	24	17	,	,	PUNCT
ap-3440	24	18	and	and	CCONJ
ap-3440	24	19	the	the	DET
ap-3440	24	20	base	base	NOUN
ap-3440	24	21	approach	approach	NOUN
ap-3440	24	22	extended	extend	VERB
ap-3440	24	23	in	in	ADP
ap-3440	24	24	our	our	PRON
ap-3440	24	25	work	work	NOUN
ap-3440	24	26	is	be	AUX
ap-3440	24	27	presented	present	VERB
ap-3440	24	28	.	.	PUNCT
ap-3440	25	1	in	in	ADP
ap-3440	25	2	this	this	DET
ap-3440	25	3	approach	approach	NOUN
ap-3440	25	4	each	each	DET
ap-3440	25	5	robot	robot	NOUN
ap-3440	25	6	optimizes	optimize	VERB
ap-3440	25	7	only	only	ADV
ap-3440	25	8	its	its	PRON
ap-3440	25	9	own	own	ADJ
ap-3440	25	10	trajectory	trajectory	NOUN
ap-3440	25	11	at	at	ADP
ap-3440	25	12	each	each	DET
ap-3440	25	13	computation	computation	NOUN
ap-3440	25	14	/	/	SYM
ap-3440	25	15	update	update	NOUN
ap-3440	25	16	horizon	horizon	NOUN
ap-3440	25	17	.	.	PUNCT
ap-3440	26	1	in	in	ADP
ap-3440	26	2	order	order	NOUN
ap-3440	26	3	to	to	PART
ap-3440	26	4	avoid	avoid	VERB
ap-3440	26	5	robot	robot	NOUN
ap-3440	26	6	-	-	PUNCT
ap-3440	26	7	to	to	ADP
ap-3440	26	8	-	-	PUNCT
ap-3440	26	9	robot	robot	NOUN
ap-3440	26	10	collisions	collision	NOUN
ap-3440	26	11	and	and	CCONJ
ap-3440	26	12	loss	loss	NOUN
ap-3440	26	13	of	of	ADP
ap-3440	26	14	communication	communication	NOUN
ap-3440	26	15	,	,	PUNCT
ap-3440	26	16	neighbor	neighbor	NOUN
ap-3440	26	17	robots	robot	NOUN
ap-3440	26	18	exchange	exchange	VERB
ap-3440	26	19	information	information	NOUN
ap-3440	26	20	about	about	ADP
ap-3440	26	21	their	their	PRON
ap-3440	26	22	intended	intend	VERB
ap-3440	26	23	trajectories	trajectory	NOUN
ap-3440	26	24	before	before	ADP
ap-3440	26	25	performing	perform	VERB
ap-3440	26	26	the	the	DET
ap-3440	26	27	update	update	NOUN
ap-3440	26	28	.	.	PUNCT
ap-3440	27	1	intended	intend	VERB
ap-3440	27	2	trajectories	trajectory	NOUN
ap-3440	27	3	are	be	AUX
ap-3440	27	4	computed	compute	VERB
ap-3440	27	5	by	by	ADP
ap-3440	27	6	each	each	DET
ap-3440	27	7	robot	robot	NOUN
ap-3440	27	8	ignoring	ignore	VERB
ap-3440	27	9	constraints	constraint	NOUN
ap-3440	27	10	that	that	PRON
ap-3440	27	11	take	take	VERB
ap-3440	27	12	the	the	DET
ap-3440	27	13	other	other	ADJ
ap-3440	27	14	robots	robot	NOUN
ap-3440	27	15	into	into	ADP
ap-3440	27	16	account	account	NOUN
ap-3440	27	17	.	.	PUNCT
ap-3440	28	1	identified	identify	VERB
ap-3440	28	2	drawbacks	drawback	NOUN
ap-3440	28	3	of	of	ADP
ap-3440	28	4	this	this	DET
ap-3440	28	5	approach	approach	NOUN
ap-3440	28	6	are	be	AUX
ap-3440	28	7	the	the	DET
ap-3440	28	8	dependence	dependence	NOUN
ap-3440	28	9	on	on	ADP
ap-3440	28	10	several	several	ADJ
ap-3440	28	11	parameters	parameter	NOUN
ap-3440	28	12	for	for	ADP
ap-3440	28	13	achieving	achieve	VERB
ap-3440	28	14	realtime	realtime	NOUN
ap-3440	28	15	performance	performance	NOUN
ap-3440	28	16	and	and	CCONJ
ap-3440	28	17	good	good	ADJ
ap-3440	28	18	solution	solution	NOUN
ap-3440	28	19	optimality	optimality	NOUN
ap-3440	28	20	,	,	PUNCT
ap-3440	28	21	the	the	DET
ap-3440	28	22	difficulty	difficulty	NOUN
ap-3440	28	23	to	to	PART
ap-3440	28	24	adapt	adapt	VERB
ap-3440	28	25	it	it	PRON
ap-3440	28	26	for	for	ADP
ap-3440	28	27	handling	handle	VERB
ap-3440	28	28	dynamic	dynamic	ADJ
ap-3440	28	29	obstacles	obstacle	NOUN
ap-3440	28	30	,	,	PUNCT
ap-3440	28	31	the	the	DET
ap-3440	28	32	impossibility	impossibility	NOUN
ap-3440	28	33	of	of	ADP
ap-3440	28	34	bringing	bring	VERB
ap-3440	28	35	the	the	DET
ap-3440	28	36	robots	robot	NOUN
ap-3440	28	37	to	to	ADP
ap-3440	28	38	a	a	DET
ap-3440	28	39	precise	precise	ADJ
ap-3440	28	40	goal	goal	NOUN
ap-3440	28	41	state	state	NOUN
ap-3440	28	42	and	and	CCONJ
ap-3440	28	43	the	the	DET
ap-3440	28	44	limited	limited	ADJ
ap-3440	28	45	geometric	geometric	ADJ
ap-3440	28	46	representation	representation	NOUN
ap-3440	28	47	of	of	ADP
ap-3440	28	48	obstacles	obstacle	NOUN
ap-3440	28	49	.	.	PUNCT
ap-3440	29	1	therefore	therefore	ADV
ap-3440	29	2	,	,	PUNCT
ap-3440	29	3	in	in	ADP
ap-3440	29	4	this	this	DET
ap-3440	29	5	paper	paper	NOUN
ap-3440	29	6	,	,	PUNCT
ap-3440	29	7	we	we	PRON
ap-3440	29	8	propose	propose	VERB
ap-3440	29	9	a	a	DET
ap-3440	29	10	motion	motion	NOUN
ap-3440	29	11	planning	planning	NOUN
ap-3440	29	12	algorithm	algorithm	NOUN
ap-3440	29	13	that	that	PRON
ap-3440	29	14	extends	extend	VERB
ap-3440	29	15	the	the	DET
ap-3440	29	16	approach	approach	NOUN
ap-3440	29	17	presented	present	VERB
ap-3440	29	18	in	in	ADP
ap-3440	29	19	[	[	X
ap-3440	29	20	6	6	NUM
ap-3440	29	21	]	]	PUNCT
ap-3440	29	22	.	.	PUNCT
ap-3440	30	1	in	in	ADP
ap-3440	30	2	this	this	DET
ap-3440	30	3	modified	modify	VERB
ap-3440	30	4	algorithm	algorithm	NOUN
ap-3440	30	5	,	,	PUNCT
ap-3440	30	6	goal	goal	NOUN
ap-3440	30	7	states	state	NOUN
ap-3440	30	8	can	can	AUX
ap-3440	30	9	be	be	AUX
ap-3440	30	10	precisely	precisely	ADV
ap-3440	30	11	reached	reach	VERB
ap-3440	30	12	and	and	CCONJ
ap-3440	30	13	more	more	ADV
ap-3440	30	14	complex	complex	ADJ
ap-3440	30	15	forms	form	NOUN
ap-3440	30	16	of	of	ADP
ap-3440	30	17	obstacles	obstacle	NOUN
ap-3440	30	18	can	can	AUX
ap-3440	30	19	be	be	AUX
ap-3440	30	20	handled	handle	VERB
ap-3440	30	21	.	.	PUNCT
ap-3440	31	1	furthermore	furthermore	ADV
ap-3440	31	2	,	,	PUNCT
ap-3440	31	3	we	we	PRON
ap-3440	31	4	investigate	investigate	VERB
ap-3440	31	5	how	how	SCONJ
ap-3440	31	6	the	the	DET
ap-3440	31	7	method	method	NOUN
ap-3440	31	8	’s	’s	PART
ap-3440	31	9	parameters	parameter	NOUN
ap-3440	31	10	impact	impact	VERB
ap-3440	31	11	a	a	DET
ap-3440	31	12	set	set	NOUN
ap-3440	31	13	of	of	ADP
ap-3440	31	14	performance	performance	NOUN
ap-3440	31	15	criteria	criterion	NOUN
ap-3440	31	16	.	.	PUNCT
ap-3440	32	1	thus	thus	ADV
ap-3440	32	2	,	,	PUNCT
ap-3440	32	3	this	this	DET
ap-3440	32	4	distributed	distribute	VERB
ap-3440	32	5	algorithm	algorithm	NOUN
ap-3440	32	6	is	be	AUX
ap-3440	32	7	able	able	ADJ
ap-3440	32	8	to	to	PART
ap-3440	32	9	find	find	VERB
ap-3440	32	10	collision	collision	NOUN
ap-3440	32	11	-	-	PUNCT
ap-3440	32	12	free	free	ADJ
ap-3440	32	13	trajectories	trajectory	NOUN
ap-3440	32	14	and	and	CCONJ
ap-3440	32	15	10	10	NUM
ap-3440	32	16	http://dx.doi.org/10.14311/app.2016.56.0010	http://dx.doi.org/10.14311/app.2016.56.0010	NOUN
ap-3440	32	17	http://ojs.cvut.cz/ojs/index.php/ap	http://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-3440	32	18	vol	vol	NOUN
ap-3440	32	19	.	.	PUNCT
ap-3440	33	1	56	56	NUM
ap-3440	33	2	no	no	NOUN
ap-3440	33	3	.	.	PUNCT
ap-3440	34	1	1/2016	1/2016	NUM
ap-3440	34	2	trajectory	trajectory	NOUN
ap-3440	34	3	generation	generation	NOUN
ap-3440	34	4	approach	approach	NOUN
ap-3440	34	5	computes	compute	VERB
ap-3440	34	6	the	the	DET
ap-3440	34	7	corresponding	corresponding	ADJ
ap-3440	34	8	angular	angular	ADJ
ap-3440	34	9	and	and	CCONJ
ap-3440	34	10	longitudinal	longitudinal	ADJ
ap-3440	34	11	velocities	velocity	NOUN
ap-3440	34	12	for	for	ADP
ap-3440	34	13	a	a	DET
ap-3440	34	14	multi	multi	ADJ
ap-3440	34	15	-	-	ADJ
ap-3440	34	16	robot	robot	ADJ
ap-3440	34	17	system	system	NOUN
ap-3440	34	18	in	in	ADP
ap-3440	34	19	the	the	DET
ap-3440	34	20	presence	presence	NOUN
ap-3440	34	21	of	of	ADP
ap-3440	34	22	static	static	ADJ
ap-3440	34	23	obstacles	obstacle	NOUN
ap-3440	34	24	perceived	perceive	VERB
ap-3440	34	25	by	by	ADP
ap-3440	34	26	the	the	DET
ap-3440	34	27	robots	robot	NOUN
ap-3440	34	28	as	as	SCONJ
ap-3440	34	29	they	they	PRON
ap-3440	34	30	evolve	evolve	VERB
ap-3440	34	31	in	in	ADP
ap-3440	34	32	their	their	PRON
ap-3440	34	33	environment	environment	NOUN
ap-3440	34	34	.	.	PUNCT
ap-3440	35	1	this	this	DET
ap-3440	35	2	paper	paper	NOUN
ap-3440	35	3	is	be	AUX
ap-3440	35	4	structured	structure	VERB
ap-3440	35	5	as	as	SCONJ
ap-3440	35	6	follows	follow	VERB
ap-3440	35	7	.	.	PUNCT
ap-3440	36	1	the	the	DET
ap-3440	36	2	second	second	ADJ
ap-3440	36	3	section	section	NOUN
ap-3440	36	4	states	state	VERB
ap-3440	36	5	the	the	DET
ap-3440	36	6	problem	problem	NOUN
ap-3440	36	7	to	to	PART
ap-3440	36	8	be	be	AUX
ap-3440	36	9	resolved	resolve	VERB
ap-3440	36	10	,	,	PUNCT
ap-3440	36	11	pointing	point	VERB
ap-3440	36	12	out	out	ADP
ap-3440	36	13	the	the	DET
ap-3440	36	14	cost	cost	NOUN
ap-3440	36	15	function	function	NOUN
ap-3440	36	16	for	for	ADP
ap-3440	36	17	motion	motion	NOUN
ap-3440	36	18	planning	planning	NOUN
ap-3440	36	19	and	and	CCONJ
ap-3440	36	20	all	all	DET
ap-3440	36	21	constraints	constraint	NOUN
ap-3440	36	22	that	that	PRON
ap-3440	36	23	need	need	VERB
ap-3440	36	24	to	to	PART
ap-3440	36	25	be	be	AUX
ap-3440	36	26	respected	respect	VERB
ap-3440	36	27	by	by	ADP
ap-3440	36	28	the	the	DET
ap-3440	36	29	computed	compute	VERB
ap-3440	36	30	solution	solution	NOUN
ap-3440	36	31	.	.	PUNCT
ap-3440	37	1	the	the	DET
ap-3440	37	2	third	third	ADJ
ap-3440	37	3	section	section	NOUN
ap-3440	37	4	explains	explain	VERB
ap-3440	37	5	the	the	DET
ap-3440	37	6	algorithm	algorithm	NOUN
ap-3440	37	7	for	for	ADP
ap-3440	37	8	resolving	resolve	VERB
ap-3440	37	9	the	the	DET
ap-3440	37	10	motion	motion	NOUN
ap-3440	37	11	planning	planning	NOUN
ap-3440	37	12	problem	problem	NOUN
ap-3440	37	13	and	and	CCONJ
ap-3440	37	14	makes	make	VERB
ap-3440	37	15	some	some	DET
ap-3440	37	16	remarks	remark	NOUN
ap-3440	37	17	on	on	ADP
ap-3440	37	18	how	how	SCONJ
ap-3440	37	19	to	to	PART
ap-3440	37	20	resolve	resolve	VERB
ap-3440	37	21	the	the	DET
ap-3440	37	22	constrained	constrain	VERB
ap-3440	37	23	optimization	optimization	NOUN
ap-3440	37	24	problems	problem	NOUN
ap-3440	37	25	associated	associate	VERB
ap-3440	37	26	with	with	ADP
ap-3440	37	27	the	the	DET
ap-3440	37	28	method	method	NOUN
ap-3440	37	29	.	.	PUNCT
ap-3440	38	1	the	the	DET
ap-3440	38	2	fourth	fourth	ADJ
ap-3440	38	3	section	section	NOUN
ap-3440	38	4	is	be	AUX
ap-3440	38	5	dedicated	dedicate	VERB
ap-3440	38	6	to	to	ADP
ap-3440	38	7	the	the	DET
ap-3440	38	8	results	result	NOUN
ap-3440	38	9	found	find	VERB
ap-3440	38	10	using	use	VERB
ap-3440	38	11	this	this	DET
ap-3440	38	12	method	method	NOUN
ap-3440	38	13	and	and	CCONJ
ap-3440	38	14	analyses	analyse	VERB
ap-3440	38	15	the	the	DET
ap-3440	38	16	specific	specific	ADJ
ap-3440	38	17	performance	performance	NOUN
ap-3440	38	18	criteria	criterion	NOUN
ap-3440	38	19	and	and	CCONJ
ap-3440	38	20	how	how	SCONJ
ap-3440	38	21	they	they	PRON
ap-3440	38	22	are	be	AUX
ap-3440	38	23	impacted	impact	VERB
ap-3440	38	24	by	by	ADP
ap-3440	38	25	the	the	DET
ap-3440	38	26	algorithm	algorithm	NOUN
ap-3440	38	27	parameters	parameter	NOUN
ap-3440	38	28	.	.	PUNCT
ap-3440	39	1	finally	finally	ADV
ap-3440	39	2	,	,	PUNCT
ap-3440	39	3	in	in	ADP
ap-3440	39	4	last	last	ADJ
ap-3440	39	5	section	section	NOUN
ap-3440	39	6	we	we	PRON
ap-3440	39	7	present	present	VERB
ap-3440	39	8	our	our	PRON
ap-3440	39	9	conclusions	conclusion	NOUN
ap-3440	39	10	and	and	CCONJ
ap-3440	39	11	perspectives	perspective	NOUN
ap-3440	39	12	.	.	PUNCT
ap-3440	40	1	2	2	X
ap-3440	40	2	.	.	X
ap-3440	40	3	problem	problem	NOUN
ap-3440	40	4	statement	statement	NOUN
ap-3440	40	5	2.1	2.1	NUM
ap-3440	40	6	.	.	PUNCT
ap-3440	41	1	assumptions	assumption	NOUN
ap-3440	41	2	in	in	ADP
ap-3440	41	3	the	the	DET
ap-3440	41	4	development	development	NOUN
ap-3440	41	5	of	of	ADP
ap-3440	41	6	the	the	DET
ap-3440	41	7	approach	approach	NOUN
ap-3440	41	8	presented	present	VERB
ap-3440	41	9	in	in	ADP
ap-3440	41	10	this	this	DET
ap-3440	41	11	paper	paper	NOUN
ap-3440	41	12	,	,	PUNCT
ap-3440	41	13	the	the	DET
ap-3440	41	14	following	follow	VERB
ap-3440	41	15	assumptions	assumption	NOUN
ap-3440	41	16	are	be	AUX
ap-3440	41	17	made	make	VERB
ap-3440	41	18	:	:	PUNCT
ap-3440	41	19	(	(	PUNCT
ap-3440	41	20	1	1	NUM
ap-3440	41	21	.	.	PUNCT
ap-3440	41	22	)	)	PUNCT
ap-3440	42	1	the	the	DET
ap-3440	42	2	motion	motion	NOUN
ap-3440	42	3	of	of	ADP
ap-3440	42	4	the	the	DET
ap-3440	42	5	multi	multi	ADJ
ap-3440	42	6	-	-	ADJ
ap-3440	42	7	robot	robot	ADJ
ap-3440	42	8	system	system	NOUN
ap-3440	42	9	begins	begin	VERB
ap-3440	42	10	at	at	ADP
ap-3440	42	11	the	the	DET
ap-3440	42	12	instant	instant	ADJ
ap-3440	42	13	tinit	tinit	NOUN
ap-3440	42	14	and	and	CCONJ
ap-3440	42	15	goes	go	VERB
ap-3440	42	16	until	until	ADP
ap-3440	42	17	the	the	DET
ap-3440	42	18	instant	instant	ADJ
ap-3440	42	19	tfinal	tfinal	NOUN
ap-3440	42	20	.	.	PUNCT
ap-3440	43	1	(	(	PUNCT
ap-3440	43	2	2	2	NUM
ap-3440	43	3	.	.	PUNCT
ap-3440	43	4	)	)	PUNCT
ap-3440	44	1	the	the	DET
ap-3440	44	2	team	team	NOUN
ap-3440	44	3	of	of	ADP
ap-3440	44	4	robots	robot	NOUN
ap-3440	44	5	consists	consist	VERB
ap-3440	44	6	of	of	ADP
ap-3440	44	7	a	a	DET
ap-3440	44	8	set	set	ADJ
ap-3440	44	9	r	r	NOUN
ap-3440	44	10	of	of	ADP
ap-3440	44	11	b	b	PROPN
ap-3440	44	12	nonholonomic	nonholonomic	ADJ
ap-3440	44	13	mobile	mobile	ADJ
ap-3440	44	14	robots	robot	NOUN
ap-3440	44	15	.	.	PUNCT
ap-3440	45	1	(	(	PUNCT
ap-3440	45	2	3	3	NUM
ap-3440	45	3	.	.	PUNCT
ap-3440	45	4	)	)	PUNCT
ap-3440	46	1	a	a	DET
ap-3440	46	2	robot	robot	NOUN
ap-3440	46	3	(	(	PUNCT
ap-3440	46	4	denoted	denote	VERB
ap-3440	46	5	rb	rb	NOUN
ap-3440	46	6	,	,	PUNCT
ap-3440	46	7	rb	rb	NOUN
ap-3440	46	8	∈	∈	PROPN
ap-3440	46	9	r	r	PROPN
ap-3440	46	10	,	,	PUNCT
ap-3440	46	11	b	b	PROPN
ap-3440	46	12	∈	∈	PROPN
ap-3440	46	13	{	{	PUNCT
ap-3440	46	14	0	0	NUM
ap-3440	46	15	,	,	PUNCT
ap-3440	46	16	.	.	PUNCT
ap-3440	46	17	.	.	PUNCT
ap-3440	46	18	.	.	PUNCT
ap-3440	47	1	,	,	PUNCT
ap-3440	47	2	b−1	b−1	PROPN
ap-3440	47	3	}	}	PUNCT
ap-3440	47	4	)	)	PUNCT
ap-3440	47	5	is	be	AUX
ap-3440	47	6	geometrically	geometrically	ADV
ap-3440	47	7	represented	represent	VERB
ap-3440	47	8	by	by	ADP
ap-3440	47	9	a	a	DET
ap-3440	47	10	circle	circle	NOUN
ap-3440	47	11	of	of	ADP
ap-3440	47	12	radius	radius	NOUN
ap-3440	47	13	ρb	ρb	PROPN
ap-3440	47	14	centered	center	VERB
ap-3440	47	15	at	at	ADP
ap-3440	47	16	(	(	PUNCT
ap-3440	47	17	xb	xb	PROPN
ap-3440	47	18	,	,	PUNCT
ap-3440	47	19	yb	yb	PROPN
ap-3440	47	20	)	)	PUNCT
ap-3440	47	21	.	.	PUNCT
ap-3440	48	1	(	(	PUNCT
ap-3440	48	2	4	4	NUM
ap-3440	48	3	.	.	PUNCT
ap-3440	48	4	)	)	PUNCT
ap-3440	49	1	all	all	DET
ap-3440	49	2	obstacles	obstacle	NOUN
ap-3440	49	3	in	in	ADP
ap-3440	49	4	the	the	DET
ap-3440	49	5	environment	environment	NOUN
ap-3440	49	6	are	be	AUX
ap-3440	49	7	considered	consider	VERB
ap-3440	49	8	static	static	ADJ
ap-3440	49	9	.	.	PUNCT
ap-3440	50	1	they	they	PRON
ap-3440	50	2	can	can	AUX
ap-3440	50	3	be	be	AUX
ap-3440	50	4	represented	represent	VERB
ap-3440	50	5	by	by	ADP
ap-3440	50	6	a	a	DET
ap-3440	50	7	set	set	ADJ
ap-3440	50	8	o	o	NOUN
ap-3440	50	9	of	of	ADP
ap-3440	50	10	m	m	PROPN
ap-3440	50	11	static	static	ADJ
ap-3440	50	12	obstacles	obstacle	NOUN
ap-3440	50	13	.	.	PUNCT
ap-3440	51	1	(	(	PUNCT
ap-3440	51	2	5	5	NUM
ap-3440	51	3	.	.	PUNCT
ap-3440	51	4	)	)	PUNCT
ap-3440	52	1	an	an	DET
ap-3440	52	2	obstacle	obstacle	NOUN
ap-3440	52	3	(	(	PUNCT
ap-3440	52	4	denoted	denote	VERB
ap-3440	52	5	om	om	PROPN
ap-3440	52	6	,	,	PUNCT
ap-3440	52	7	om	om	PROPN
ap-3440	52	8	∈	∈	PROPN
ap-3440	52	9	o	o	NOUN
ap-3440	52	10	,	,	PUNCT
ap-3440	52	11	m	m	PROPN
ap-3440	52	12	∈	∈	NOUN
ap-3440	52	13	{	{	PUNCT
ap-3440	52	14	0	0	NUM
ap-3440	52	15	,	,	PUNCT
ap-3440	52	16	.	.	PUNCT
ap-3440	52	17	.	.	PUNCT
ap-3440	52	18	.	.	PUNCT
ap-3440	53	1	,	,	PUNCT
ap-3440	53	2	m	m	VERB
ap-3440	53	3	−	−	NOUN
ap-3440	53	4	1	1	NUM
ap-3440	53	5	}	}	PUNCT
ap-3440	53	6	)	)	PUNCT
ap-3440	53	7	is	be	AUX
ap-3440	53	8	geometrically	geometrically	ADV
ap-3440	53	9	represented	represent	VERB
ap-3440	53	10	either	either	CCONJ
ap-3440	53	11	as	as	ADP
ap-3440	53	12	a	a	DET
ap-3440	53	13	circle	circle	NOUN
ap-3440	53	14	or	or	CCONJ
ap-3440	53	15	as	as	ADP
ap-3440	53	16	a	a	DET
ap-3440	53	17	convex	convex	ADJ
ap-3440	53	18	polygon	polygon	NOUN
ap-3440	53	19	.	.	PUNCT
ap-3440	54	1	in	in	ADP
ap-3440	54	2	the	the	DET
ap-3440	54	3	case	case	NOUN
ap-3440	54	4	of	of	ADP
ap-3440	54	5	a	a	DET
ap-3440	54	6	circle	circle	NOUN
ap-3440	54	7	its	its	PRON
ap-3440	54	8	radius	radius	NOUN
ap-3440	54	9	is	be	AUX
ap-3440	54	10	denoted	denote	VERB
ap-3440	54	11	rom	rom	NOUN
ap-3440	54	12	centered	center	VERB
ap-3440	54	13	at	at	ADP
ap-3440	54	14	(	(	PUNCT
ap-3440	54	15	xom	xom	PROPN
ap-3440	54	16	,	,	PUNCT
ap-3440	54	17	yom	yom	PROPN
ap-3440	54	18	)	)	PUNCT
ap-3440	54	19	.	.	PUNCT
ap-3440	55	1	(	(	PUNCT
ap-3440	55	2	6	6	NUM
ap-3440	55	3	.	.	PUNCT
ap-3440	55	4	)	)	PUNCT
ap-3440	55	5	for	for	ADP
ap-3440	55	6	a	a	DET
ap-3440	55	7	given	give	VERB
ap-3440	55	8	instant	instant	ADJ
ap-3440	55	9	tk	tk	PROPN
ap-3440	55	10	∈	∈	PROPN
ap-3440	56	1	[	[	X
ap-3440	56	2	tinit	tinit	NOUN
ap-3440	56	3	,	,	PUNCT
ap-3440	56	4	tfinal	tfinal	ADJ
ap-3440	56	5	]	]	X
ap-3440	56	6	,	,	PUNCT
ap-3440	56	7	any	any	DET
ap-3440	56	8	obstacle	obstacle	NOUN
ap-3440	56	9	om	om	PROPN
ap-3440	56	10	is	be	AUX
ap-3440	56	11	considered	consider	VERB
ap-3440	56	12	detected	detect	VERB
ap-3440	56	13	by	by	ADP
ap-3440	56	14	the	the	DET
ap-3440	56	15	robot	robot	NOUN
ap-3440	56	16	rb	rb	NOUN
ap-3440	56	17	whenever	whenever	SCONJ
ap-3440	56	18	the	the	DET
ap-3440	56	19	distance	distance	NOUN
ap-3440	56	20	between	between	ADP
ap-3440	56	21	their	their	PRON
ap-3440	56	22	geometric	geometric	ADJ
ap-3440	56	23	centers	center	NOUN
ap-3440	56	24	is	be	AUX
ap-3440	56	25	less	less	ADJ
ap-3440	56	26	than	than	ADP
ap-3440	56	27	or	or	CCONJ
ap-3440	56	28	equal	equal	ADJ
ap-3440	56	29	to	to	ADP
ap-3440	56	30	the	the	DET
ap-3440	56	31	detection	detection	NOUN
ap-3440	56	32	radius	radius	NOUN
ap-3440	56	33	db	db	PROPN
ap-3440	56	34	,	,	PUNCT
ap-3440	56	35	sen	sen	PROPN
ap-3440	56	36	of	of	ADP
ap-3440	56	37	the	the	DET
ap-3440	56	38	robot	robot	NOUN
ap-3440	56	39	rb	rb	PROPN
ap-3440	56	40	.	.	PUNCT
ap-3440	57	1	therefore	therefore	ADV
ap-3440	57	2	,	,	PUNCT
ap-3440	57	3	this	this	DET
ap-3440	57	4	obstacle	obstacle	NOUN
ap-3440	57	5	om	om	PROPN
ap-3440	57	6	is	be	AUX
ap-3440	57	7	part	part	NOUN
ap-3440	57	8	of	of	ADP
ap-3440	57	9	the	the	DET
ap-3440	57	10	set	set	NOUN
ap-3440	57	11	ob	ob	NOUN
ap-3440	57	12	(	(	PUNCT
ap-3440	57	13	ob	ob	X
ap-3440	57	14	⊂	⊂	PROPN
ap-3440	57	15	o	o	NOUN
ap-3440	57	16	)	)	PUNCT
ap-3440	57	17	of	of	ADP
ap-3440	57	18	detected	detect	VERB
ap-3440	57	19	obstacles	obstacle	NOUN
ap-3440	57	20	.	.	PUNCT
ap-3440	58	1	(	(	PUNCT
ap-3440	58	2	7	7	NUM
ap-3440	58	3	.	.	PUNCT
ap-3440	58	4	)	)	PUNCT
ap-3440	59	1	a	a	DET
ap-3440	59	2	robot	robot	NOUN
ap-3440	59	3	has	have	VERB
ap-3440	59	4	precise	precise	ADJ
ap-3440	59	5	knowledge	knowledge	NOUN
ap-3440	59	6	of	of	ADP
ap-3440	59	7	the	the	DET
ap-3440	59	8	position	position	NOUN
ap-3440	59	9	and	and	CCONJ
ap-3440	59	10	the	the	DET
ap-3440	59	11	geometric	geometric	ADJ
ap-3440	59	12	representation	representation	NOUN
ap-3440	59	13	of	of	ADP
ap-3440	59	14	a	a	DET
ap-3440	59	15	detected	detect	VERB
ap-3440	59	16	obstacle	obstacle	NOUN
ap-3440	59	17	,	,	PUNCT
ap-3440	59	18	i.e.	i.e.	X
ap-3440	59	19	,	,	PUNCT
ap-3440	59	20	obstacle	obstacle	NOUN
ap-3440	59	21	perception	perception	NOUN
ap-3440	59	22	issues	issue	NOUN
ap-3440	59	23	are	be	AUX
ap-3440	59	24	neglected	neglect	VERB
ap-3440	59	25	.	.	PUNCT
ap-3440	60	1	(	(	PUNCT
ap-3440	60	2	8	8	NUM
ap-3440	60	3	.	.	PUNCT
ap-3440	60	4	)	)	PUNCT
ap-3440	61	1	a	a	DET
ap-3440	61	2	robot	robot	NOUN
ap-3440	61	3	can	can	AUX
ap-3440	61	4	access	access	VERB
ap-3440	61	5	information	information	NOUN
ap-3440	61	6	about	about	ADP
ap-3440	61	7	any	any	DET
ap-3440	61	8	robot	robot	NOUN
ap-3440	61	9	in	in	ADP
ap-3440	61	10	the	the	DET
ap-3440	61	11	team	team	NOUN
ap-3440	61	12	by	by	ADP
ap-3440	61	13	using	use	VERB
ap-3440	61	14	a	a	DET
ap-3440	61	15	wireless	wireless	ADJ
ap-3440	61	16	communication	communication	NOUN
ap-3440	61	17	link	link	NOUN
ap-3440	61	18	.	.	PUNCT
ap-3440	62	1	latency	latency	NOUN
ap-3440	62	2	,	,	PUNCT
ap-3440	62	3	communication	communication	NOUN
ap-3440	62	4	outages	outage	NOUN
ap-3440	62	5	and	and	CCONJ
ap-3440	62	6	other	other	ADJ
ap-3440	62	7	problems	problem	NOUN
ap-3440	62	8	associated	associate	VERB
ap-3440	62	9	to	to	ADP
ap-3440	62	10	this	this	DET
ap-3440	62	11	communication	communication	NOUN
ap-3440	62	12	link	link	NOUN
ap-3440	62	13	are	be	AUX
ap-3440	62	14	neglected	neglect	VERB
ap-3440	62	15	.	.	PUNCT
ap-3440	63	1	(	(	PUNCT
ap-3440	63	2	9	9	NUM
ap-3440	63	3	.	.	PUNCT
ap-3440	63	4	)	)	PUNCT
ap-3440	64	1	the	the	DET
ap-3440	64	2	dynamic	dynamic	ADJ
ap-3440	64	3	model	model	NOUN
ap-3440	64	4	of	of	ADP
ap-3440	64	5	the	the	DET
ap-3440	64	6	multi	multi	ADJ
ap-3440	64	7	-	-	ADJ
ap-3440	64	8	robot	robot	ADJ
ap-3440	64	9	systems	system	NOUN
ap-3440	64	10	is	be	AUX
ap-3440	64	11	neglected	neglect	VERB
ap-3440	64	12	.	.	PUNCT
ap-3440	65	1	(	(	PUNCT
ap-3440	65	2	10	10	NUM
ap-3440	65	3	.	.	PUNCT
ap-3440	65	4	)	)	PUNCT
ap-3440	66	1	the	the	DET
ap-3440	66	2	input	input	NOUN
ap-3440	66	3	(	(	PUNCT
ap-3440	66	4	or	or	CCONJ
ap-3440	66	5	control	control	NOUN
ap-3440	66	6	)	)	PUNCT
ap-3440	66	7	vector	vector	NOUN
ap-3440	66	8	of	of	ADP
ap-3440	66	9	a	a	DET
ap-3440	66	10	mobile	mobile	ADJ
ap-3440	66	11	robot	robot	NOUN
ap-3440	66	12	rb	rb	NOUN
ap-3440	66	13	is	be	AUX
ap-3440	66	14	bounded	bound	VERB
ap-3440	66	15	.	.	PUNCT
ap-3440	67	1	2.2	2.2	NUM
ap-3440	67	2	.	.	PUNCT
ap-3440	67	3	constraints	constraint	NOUN
ap-3440	67	4	and	and	CCONJ
ap-3440	67	5	cost	cost	NOUN
ap-3440	67	6	functions	function	NOUN
ap-3440	67	7	after	after	ADP
ap-3440	67	8	giving	give	VERB
ap-3440	67	9	the	the	DET
ap-3440	67	10	assumptions	assumption	NOUN
ap-3440	67	11	in	in	ADP
ap-3440	67	12	the	the	DET
ap-3440	67	13	previous	previous	ADJ
ap-3440	67	14	subsection	subsection	NOUN
ap-3440	67	15	,	,	PUNCT
ap-3440	67	16	we	we	PRON
ap-3440	67	17	can	can	AUX
ap-3440	67	18	define	define	VERB
ap-3440	67	19	the	the	DET
ap-3440	67	20	constraints	constraint	NOUN
ap-3440	67	21	and	and	CCONJ
ap-3440	67	22	the	the	DET
ap-3440	67	23	cost	cost	NOUN
ap-3440	67	24	function	function	NOUN
ap-3440	67	25	for	for	ADP
ap-3440	67	26	multi	multi	ADJ
ap-3440	67	27	-	-	ADJ
ap-3440	67	28	robot	robot	ADJ
ap-3440	67	29	navigation	navigation	NOUN
ap-3440	67	30	.	.	PUNCT
ap-3440	68	1	(	(	PUNCT
ap-3440	68	2	1	1	NUM
ap-3440	68	3	.	.	PUNCT
ap-3440	68	4	)	)	PUNCT
ap-3440	69	1	the	the	DET
ap-3440	69	2	solution	solution	NOUN
ap-3440	69	3	of	of	ADP
ap-3440	69	4	the	the	DET
ap-3440	69	5	motion	motion	NOUN
ap-3440	69	6	planning	planning	NOUN
ap-3440	69	7	problem	problem	NOUN
ap-3440	69	8	for	for	ADP
ap-3440	69	9	robot	robot	NOUN
ap-3440	69	10	rb	rb	NOUN
ap-3440	69	11	represented	represent	VERB
ap-3440	69	12	by	by	ADP
ap-3440	69	13	the	the	DET
ap-3440	69	14	pair	pair	NOUN
ap-3440	69	15	(	(	PUNCT
ap-3440	69	16	q∗	q∗	PROPN
ap-3440	69	17	b	b	PROPN
ap-3440	69	18	(	(	PUNCT
ap-3440	69	19	t	t	PROPN
ap-3440	69	20	)	)	PUNCT
ap-3440	69	21	,	,	PUNCT
ap-3440	69	22	u∗	u∗	ADJ
ap-3440	69	23	b(t	b(t	PROPN
ap-3440	69	24	)	)	PUNCT
ap-3440	69	25	)	)	PUNCT
ap-3440	69	26	;	;	PUNCT
ap-3440	69	27	q∗	q∗	PROPN
ap-3440	69	28	b	b	PROPN
ap-3440	69	29	(	(	PUNCT
ap-3440	69	30	t	t	PROPN
ap-3440	69	31	)	)	PUNCT
ap-3440	69	32	∈	∈	PROPN
ap-3440	69	33	rn	rn	PROPN
ap-3440	69	34	being	be	AUX
ap-3440	69	35	the	the	DET
ap-3440	69	36	solution	solution	NOUN
ap-3440	69	37	trajectory	trajectory	NOUN
ap-3440	69	38	for	for	ADP
ap-3440	69	39	the	the	DET
ap-3440	69	40	robot	robot	NOUN
ap-3440	69	41	’s	’s	PART
ap-3440	69	42	configuration	configuration	NOUN
ap-3440	69	43	and	and	CCONJ
ap-3440	69	44	u∗	u∗	PROPN
ap-3440	69	45	b(t	b(t	PROPN
ap-3440	69	46	)	)	PUNCT
ap-3440	69	47	∈	∈	PROPN
ap-3440	69	48	rp	rp	NOUN
ap-3440	69	49	being	be	AUX
ap-3440	69	50	the	the	DET
ap-3440	69	51	solution	solution	NOUN
ap-3440	69	52	trajectory	trajectory	NOUN
ap-3440	69	53	for	for	ADP
ap-3440	69	54	the	the	DET
ap-3440	69	55	robot	robot	NOUN
ap-3440	69	56	’s	’s	PART
ap-3440	69	57	input	input	NOUN
ap-3440	69	58	–	–	PUNCT
ap-3440	69	59	must	must	AUX
ap-3440	69	60	satisfy	satisfy	VERB
ap-3440	69	61	the	the	DET
ap-3440	69	62	robot	robot	NOUN
ap-3440	69	63	kinematic	kinematic	PROPN
ap-3440	69	64	model	model	NOUN
ap-3440	69	65	equation	equation	NOUN
ap-3440	69	66	:	:	PUNCT
ap-3440	69	67	q̇∗	q̇∗	PROPN
ap-3440	69	68	b	b	PROPN
ap-3440	69	69	(	(	PUNCT
ap-3440	69	70	t	t	PROPN
ap-3440	69	71	)	)	PUNCT
ap-3440	69	72	=	=	PUNCT
ap-3440	69	73	f(q∗	f(q∗	ADP
ap-3440	69	74	b	b	PROPN
ap-3440	69	75	(	(	PUNCT
ap-3440	69	76	t	t	PROPN
ap-3440	69	77	)	)	PUNCT
ap-3440	69	78	,	,	PUNCT
ap-3440	69	79	u∗	u∗	ADJ
ap-3440	69	80	b(t	b(t	PROPN
ap-3440	69	81	)	)	PUNCT
ap-3440	69	82	)	)	PUNCT
ap-3440	69	83	,	,	PUNCT
ap-3440	69	84	∀t	∀t	PROPN
ap-3440	69	85	∈	∈	PROPN
ap-3440	70	1	[	[	X
ap-3440	70	2	tinit	tinit	NOUN
ap-3440	70	3	,	,	PUNCT
ap-3440	70	4	tfinal	tfinal	ADJ
ap-3440	70	5	]	]	X
ap-3440	70	6	.	.	PUNCT
ap-3440	71	1	(	(	PUNCT
ap-3440	71	2	1	1	X
ap-3440	71	3	)	)	PUNCT
ap-3440	71	4	where	where	SCONJ
ap-3440	71	5	f	f	NOUN
ap-3440	71	6	:	:	PUNCT
ap-3440	71	7	rn	rn	PROPN
ap-3440	71	8	×	×	PROPN
ap-3440	71	9	rp	rp	PROPN
ap-3440	71	10	→	→	SYM
ap-3440	71	11	rn	rn	PROPN
ap-3440	71	12	is	be	AUX
ap-3440	71	13	the	the	DET
ap-3440	71	14	vector	vector	NOUN
ap-3440	71	15	-	-	PUNCT
ap-3440	71	16	valued	value	VERB
ap-3440	71	17	function	function	NOUN
ap-3440	71	18	modeling	model	VERB
ap-3440	71	19	the	the	DET
ap-3440	71	20	robot	robot	NOUN
ap-3440	71	21	kinematics	kinematic	NOUN
ap-3440	71	22	.	.	PUNCT
ap-3440	72	1	(	(	PUNCT
ap-3440	72	2	2	2	NUM
ap-3440	72	3	.	.	PUNCT
ap-3440	72	4	)	)	PUNCT
ap-3440	73	1	the	the	DET
ap-3440	73	2	planned	plan	VERB
ap-3440	73	3	initial	initial	ADJ
ap-3440	73	4	configuration	configuration	NOUN
ap-3440	73	5	and	and	CCONJ
ap-3440	73	6	initial	initial	ADJ
ap-3440	73	7	input	input	NOUN
ap-3440	73	8	for	for	ADP
ap-3440	73	9	robot	robot	NOUN
ap-3440	73	10	rb	rb	NOUN
ap-3440	73	11	must	must	AUX
ap-3440	73	12	be	be	AUX
ap-3440	73	13	equal	equal	ADJ
ap-3440	73	14	to	to	ADP
ap-3440	73	15	the	the	DET
ap-3440	73	16	initial	initial	ADJ
ap-3440	73	17	configuration	configuration	NOUN
ap-3440	73	18	and	and	CCONJ
ap-3440	73	19	initial	initial	ADJ
ap-3440	73	20	input	input	NOUN
ap-3440	73	21	of	of	ADP
ap-3440	73	22	rb	rb	NOUN
ap-3440	73	23	:	:	PUNCT
ap-3440	73	24	q∗	q∗	PROPN
ap-3440	73	25	b	b	PROPN
ap-3440	73	26	(	(	PUNCT
ap-3440	73	27	tinit	tinit	NOUN
ap-3440	73	28	)	)	PUNCT
ap-3440	73	29	=	=	SYM
ap-3440	73	30	qb	qb	PROPN
ap-3440	73	31	,	,	PUNCT
ap-3440	73	32	init	init	VERB
ap-3440	73	33	,	,	PUNCT
ap-3440	73	34	(	(	PUNCT
ap-3440	73	35	2	2	X
ap-3440	73	36	)	)	PUNCT
ap-3440	73	37	u∗	u∗	NOUN
ap-3440	73	38	b(tinit	b(tinit	NOUN
ap-3440	73	39	)	)	PUNCT
ap-3440	74	1	=	=	SYM
ap-3440	74	2	ub	ub	PROPN
ap-3440	74	3	,	,	PUNCT
ap-3440	74	4	init	init	NOUN
ap-3440	74	5	.	.	PUNCT
ap-3440	75	1	(	(	PUNCT
ap-3440	75	2	3	3	NUM
ap-3440	75	3	)	)	PUNCT
ap-3440	75	4	(	(	PUNCT
ap-3440	75	5	3	3	NUM
ap-3440	75	6	.	.	PUNCT
ap-3440	75	7	)	)	PUNCT
ap-3440	76	1	the	the	DET
ap-3440	76	2	planned	plan	VERB
ap-3440	76	3	final	final	ADJ
ap-3440	76	4	configuration	configuration	NOUN
ap-3440	76	5	and	and	CCONJ
ap-3440	76	6	the	the	DET
ap-3440	76	7	final	final	ADJ
ap-3440	76	8	input	input	NOUN
ap-3440	76	9	for	for	ADP
ap-3440	76	10	robot	robot	NOUN
ap-3440	76	11	rb	rb	NOUN
ap-3440	76	12	must	must	AUX
ap-3440	76	13	be	be	AUX
ap-3440	76	14	equal	equal	ADJ
ap-3440	76	15	to	to	ADP
ap-3440	76	16	the	the	DET
ap-3440	76	17	goal	goal	NOUN
ap-3440	76	18	configuration	configuration	NOUN
ap-3440	76	19	and	and	CCONJ
ap-3440	76	20	the	the	DET
ap-3440	76	21	goal	goal	NOUN
ap-3440	76	22	input	input	NOUN
ap-3440	76	23	for	for	ADP
ap-3440	76	24	rb	rb	NOUN
ap-3440	76	25	:	:	PUNCT
ap-3440	76	26	q∗	q∗	PROPN
ap-3440	76	27	b	b	PROPN
ap-3440	76	28	(	(	PUNCT
ap-3440	76	29	tfinal	tfinal	ADJ
ap-3440	76	30	)	)	PUNCT
ap-3440	76	31	=	=	SYM
ap-3440	76	32	qb	qb	PROPN
ap-3440	76	33	,	,	PUNCT
ap-3440	76	34	goal	goal	NOUN
ap-3440	76	35	,	,	PUNCT
ap-3440	76	36	(	(	PUNCT
ap-3440	76	37	4	4	X
ap-3440	76	38	)	)	PUNCT
ap-3440	76	39	u∗	u∗	ADV
ap-3440	76	40	b(tfinal	b(tfinal	NOUN
ap-3440	76	41	)	)	PUNCT
ap-3440	77	1	=	=	SYM
ap-3440	77	2	ub	ub	ADJ
ap-3440	77	3	,	,	PUNCT
ap-3440	77	4	goal	goal	NOUN
ap-3440	77	5	.	.	PUNCT
ap-3440	78	1	(	(	PUNCT
ap-3440	78	2	5	5	NUM
ap-3440	78	3	)	)	PUNCT
ap-3440	78	4	(	(	PUNCT
ap-3440	78	5	4	4	NUM
ap-3440	78	6	.	.	PUNCT
ap-3440	78	7	)	)	PUNCT
ap-3440	78	8	practical	practical	ADJ
ap-3440	78	9	limitations	limitation	NOUN
ap-3440	78	10	of	of	ADP
ap-3440	78	11	the	the	DET
ap-3440	78	12	input	input	NOUN
ap-3440	78	13	impose	impose	VERB
ap-3440	78	14	the	the	DET
ap-3440	78	15	following	follow	VERB
ap-3440	78	16	constraint	constraint	NOUN
ap-3440	78	17	:	:	PUNCT
ap-3440	78	18	∀t	∀t	PROPN
ap-3440	78	19	∈	∈	PROPN
ap-3440	79	1	[	[	X
ap-3440	79	2	tinit	tinit	NOUN
ap-3440	79	3	,	,	PUNCT
ap-3440	79	4	tfinal	tfinal	ADJ
ap-3440	79	5	]	]	X
ap-3440	79	6	,	,	PUNCT
ap-3440	79	7	∀i	∀i	X
ap-3440	79	8	∈	∈	NOUN
ap-3440	79	9	[	[	X
ap-3440	79	10	1	1	NUM
ap-3440	79	11	,	,	PUNCT
ap-3440	79	12	2	2	NUM
ap-3440	79	13	,	,	PUNCT
ap-3440	79	14	·	·	PUNCT
ap-3440	79	15	·	·	PUNCT
ap-3440	79	16	·	·	PUNCT
ap-3440	79	17	,	,	PUNCT
ap-3440	79	18	p	p	X
ap-3440	79	19	]	]	X
ap-3440	79	20	,	,	PUNCT
ap-3440	79	21	|u∗	|u∗	PROPN
ap-3440	79	22	b	b	NOUN
ap-3440	79	23	,	,	PUNCT
ap-3440	79	24	i(t)|	i(t)|	VERB
ap-3440	79	25	≤	≤	NOUN
ap-3440	79	26	ub	ub	ADP
ap-3440	79	27	,	,	PUNCT
ap-3440	79	28	i	i	PRON
ap-3440	79	29	,	,	PUNCT
ap-3440	79	30	max	max	PROPN
ap-3440	79	31	.	.	PUNCT
ap-3440	80	1	(	(	PUNCT
ap-3440	80	2	6	6	NUM
ap-3440	80	3	)	)	PUNCT
ap-3440	80	4	(	(	PUNCT
ap-3440	80	5	5	5	NUM
ap-3440	80	6	.	.	PUNCT
ap-3440	80	7	)	)	PUNCT
ap-3440	81	1	the	the	DET
ap-3440	81	2	cost	cost	NOUN
ap-3440	81	3	for	for	ADP
ap-3440	81	4	multi	multi	ADJ
ap-3440	81	5	-	-	ADJ
ap-3440	81	6	robot	robot	ADJ
ap-3440	81	7	system	system	NOUN
ap-3440	81	8	navigation	navigation	NOUN
ap-3440	81	9	is	be	AUX
ap-3440	81	10	defined	define	VERB
ap-3440	81	11	as	as	ADP
ap-3440	81	12	:	:	PUNCT
ap-3440	81	13	l(q(t	l(q(t	PROPN
ap-3440	81	14	)	)	PUNCT
ap-3440	81	15	,	,	PUNCT
ap-3440	81	16	u(t	u(t	NOUN
ap-3440	81	17	)	)	PUNCT
ap-3440	81	18	)	)	PUNCT
ap-3440	82	1	=	=	PRON
ap-3440	82	2	b−1∑	b−1∑	NOUN
ap-3440	82	3	b=0	b=0	PROPN
ap-3440	82	4	lb(qb(t	lb(qb(t	NOUN
ap-3440	82	5	)	)	PUNCT
ap-3440	82	6	,	,	PUNCT
ap-3440	82	7	ub(t	ub(t	NOUN
ap-3440	82	8	)	)	PUNCT
ap-3440	82	9	,	,	PUNCT
ap-3440	82	10	qb	qb	PROPN
ap-3440	82	11	,	,	PUNCT
ap-3440	82	12	goal	goal	NOUN
ap-3440	82	13	,	,	PUNCT
ap-3440	82	14	ub	ub	ADJ
ap-3440	82	15	,	,	PUNCT
ap-3440	82	16	goal	goal	NOUN
ap-3440	82	17	)	)	PUNCT
ap-3440	82	18	(	(	PUNCT
ap-3440	82	19	7	7	X
ap-3440	82	20	)	)	PUNCT
ap-3440	82	21	where	where	SCONJ
ap-3440	82	22	lb(qb(t	lb(qb(t	NOUN
ap-3440	82	23	)	)	PUNCT
ap-3440	82	24	,	,	PUNCT
ap-3440	82	25	ub(t	ub(t	NOUN
ap-3440	82	26	)	)	PUNCT
ap-3440	82	27	,	,	PUNCT
ap-3440	82	28	qb	qb	PROPN
ap-3440	82	29	,	,	PUNCT
ap-3440	82	30	goal	goal	NOUN
ap-3440	82	31	,	,	PUNCT
ap-3440	82	32	ub	ub	ADJ
ap-3440	82	33	,	,	PUNCT
ap-3440	82	34	goal	goal	NOUN
ap-3440	82	35	)	)	PUNCT
ap-3440	82	36	is	be	AUX
ap-3440	82	37	the	the	DET
ap-3440	82	38	integrated	integrate	VERB
ap-3440	82	39	cost	cost	NOUN
ap-3440	82	40	for	for	ADP
ap-3440	82	41	one	one	NUM
ap-3440	82	42	robot	robot	NOUN
ap-3440	82	43	motion	motion	NOUN
ap-3440	82	44	planning	planning	NOUN
ap-3440	82	45	[	[	X
ap-3440	82	46	6	6	NUM
ap-3440	82	47	]	]	PUNCT
ap-3440	82	48	.	.	PUNCT
ap-3440	83	1	(	(	PUNCT
ap-3440	83	2	6	6	NUM
ap-3440	83	3	.	.	PUNCT
ap-3440	83	4	)	)	PUNCT
ap-3440	83	5	to	to	PART
ap-3440	83	6	ensure	ensure	VERB
ap-3440	83	7	avoidance	avoidance	NOUN
ap-3440	83	8	of	of	ADP
ap-3440	83	9	collisions	collision	NOUN
ap-3440	83	10	with	with	ADP
ap-3440	83	11	obstacles	obstacle	NOUN
ap-3440	83	12	,	,	PUNCT
ap-3440	83	13	the	the	DET
ap-3440	83	14	euclidean	euclidean	ADJ
ap-3440	83	15	distance	distance	NOUN
ap-3440	83	16	between	between	ADP
ap-3440	83	17	a	a	DET
ap-3440	83	18	robot	robot	NOUN
ap-3440	83	19	and	and	CCONJ
ap-3440	83	20	an	an	DET
ap-3440	83	21	obstacle	obstacle	NOUN
ap-3440	83	22	(	(	PUNCT
ap-3440	83	23	denoted	denote	VERB
ap-3440	83	24	d(rb	d(rb	NOUN
ap-3440	83	25	,	,	PUNCT
ap-3440	83	26	om	om	PROPN
ap-3440	83	27	)	)	PUNCT
ap-3440	84	1	|	|	ADV
ap-3440	84	2	om	om	PROPN
ap-3440	84	3	∈	∈	PROPN
ap-3440	84	4	ob	ob	NOUN
ap-3440	84	5	,	,	PUNCT
ap-3440	84	6	rb	rb	PROPN
ap-3440	84	7	∈	∈	PROPN
ap-3440	84	8	b	b	X
ap-3440	84	9	)	)	PUNCT
ap-3440	84	10	has	have	VERB
ap-3440	84	11	to	to	PART
ap-3440	84	12	satisfy	satisfy	VERB
ap-3440	84	13	:	:	PUNCT
ap-3440	84	14	d(rb	d(rb	X
ap-3440	84	15	,	,	PUNCT
ap-3440	84	16	om	om	PROPN
ap-3440	84	17	)	)	PUNCT
ap-3440	84	18	≥	≥	NOUN
ap-3440	84	19	0	0	NUM
ap-3440	84	20	.	.	PUNCT
ap-3440	85	1	(	(	PUNCT
ap-3440	85	2	8)	8)	NUM
ap-3440	85	3	for	for	ADP
ap-3440	85	4	the	the	DET
ap-3440	85	5	circle	circle	NOUN
ap-3440	85	6	representation	representation	NOUN
ap-3440	85	7	of	of	ADP
ap-3440	85	8	an	an	DET
ap-3440	85	9	obstacle	obstacle	NOUN
ap-3440	85	10	,	,	PUNCT
ap-3440	85	11	the	the	DET
ap-3440	85	12	distance	distance	NOUN
ap-3440	85	13	d(rb	d(rb	NOUN
ap-3440	85	14	,	,	PUNCT
ap-3440	85	15	om	om	PROPN
ap-3440	85	16	)	)	PUNCT
ap-3440	85	17	is	be	AUX
ap-3440	85	18	defined	define	VERB
ap-3440	85	19	as:√	as:√	PROPN
ap-3440	85	20	(	(	PUNCT
ap-3440	85	21	xb	xb	PROPN
ap-3440	85	22	−	−	PROPN
ap-3440	85	23	xom	xom	PROPN
ap-3440	85	24	)	)	PUNCT
ap-3440	85	25	2	2	NUM
ap-3440	86	1	+	+	CCONJ
ap-3440	86	2	(	(	PUNCT
ap-3440	86	3	yb	yb	PROPN
ap-3440	86	4	−	−	PROPN
ap-3440	86	5	yom	yom	PROPN
ap-3440	86	6	)	)	PUNCT
ap-3440	86	7	2	2	NUM
ap-3440	86	8	−	−	NOUN
ap-3440	86	9	ρb	ρb	NUM
ap-3440	86	10	−	−	PROPN
ap-3440	86	11	rom	rom	NOUN
ap-3440	86	12	.	.	PUNCT
ap-3440	87	1	for	for	ADP
ap-3440	87	2	the	the	DET
ap-3440	87	3	convex	convex	ADJ
ap-3440	87	4	polygon	polygon	NOUN
ap-3440	87	5	representation	representation	NOUN
ap-3440	87	6	,	,	PUNCT
ap-3440	87	7	the	the	DET
ap-3440	87	8	distance	distance	NOUN
ap-3440	87	9	was	be	AUX
ap-3440	87	10	calculated	calculate	VERB
ap-3440	87	11	using	use	VERB
ap-3440	87	12	three	three	NUM
ap-3440	87	13	different	different	ADJ
ap-3440	87	14	definitions	definition	NOUN
ap-3440	87	15	,	,	PUNCT
ap-3440	87	16	according	accord	VERB
ap-3440	87	17	to	to	ADP
ap-3440	87	18	the	the	DET
ap-3440	87	19	voronoi	voronoi	ADJ
ap-3440	87	20	region	region	NOUN
ap-3440	88	1	[	[	X
ap-3440	88	2	7	7	X
ap-3440	88	3	]	]	X
ap-3440	88	4	rb	rb	NOUN
ap-3440	88	5	is	be	AUX
ap-3440	88	6	located	locate	VERB
ap-3440	88	7	.	.	PUNCT
ap-3440	89	1	11	11	NUM
ap-3440	89	2	josé	josé	PROPN
ap-3440	89	3	m.	m.	NOUN
ap-3440	89	4	mendes	mende	NOUN
ap-3440	89	5	filho	filho	PROPN
ap-3440	89	6	,	,	PUNCT
ap-3440	89	7	eric	eric	PROPN
ap-3440	89	8	lucet	lucet	PROPN
ap-3440	89	9	acta	acta	PROPN
ap-3440	89	10	polytechnica	polytechnica	PROPN
ap-3440	89	11	(	(	PUNCT
ap-3440	89	12	7	7	NUM
ap-3440	89	13	.	.	PUNCT
ap-3440	89	14	)	)	PUNCT
ap-3440	90	1	in	in	ADP
ap-3440	90	2	order	order	NOUN
ap-3440	90	3	to	to	PART
ap-3440	90	4	prevent	prevent	VERB
ap-3440	90	5	inter	inter	ADJ
ap-3440	90	6	-	-	ADJ
ap-3440	90	7	robot	robot	ADJ
ap-3440	90	8	collisions	collision	NOUN
ap-3440	90	9	,	,	PUNCT
ap-3440	90	10	the	the	DET
ap-3440	90	11	following	follow	VERB
ap-3440	90	12	constraint	constraint	NOUN
ap-3440	90	13	must	must	AUX
ap-3440	90	14	be	be	AUX
ap-3440	90	15	satisfied	satisfied	ADJ
ap-3440	90	16	:	:	PUNCT
ap-3440	90	17	∀	∀	X
ap-3440	90	18	(	(	PUNCT
ap-3440	90	19	rb	rb	PROPN
ap-3440	90	20	,	,	PUNCT
ap-3440	90	21	rc	rc	PROPN
ap-3440	90	22	)	)	PUNCT
ap-3440	90	23	∈	∈	PROPN
ap-3440	90	24	r×r	r×r	PROPN
ap-3440	90	25	,	,	PUNCT
ap-3440	90	26	b	b	PROPN
ap-3440	91	1	6=	6=	SYM
ap-3440	91	2	c	c	X
ap-3440	91	3	,	,	PUNCT
ap-3440	91	4	c	c	PROPN
ap-3440	91	5	∈	∈	PROPN
ap-3440	91	6	cb	cb	PROPN
ap-3440	91	7	,	,	PUNCT
ap-3440	91	8	d(rb	d(rb	PROPN
ap-3440	91	9	,	,	PUNCT
ap-3440	91	10	rc)−	rc)−	VERB
ap-3440	92	1	ρb	ρb	ADP
ap-3440	92	2	−	−	NOUN
ap-3440	92	3	ρc	ρc	VERB
ap-3440	92	4	≥	≥	NOUN
ap-3440	92	5	0	0	NUM
ap-3440	92	6	(	(	PUNCT
ap-3440	92	7	9	9	NUM
ap-3440	92	8	)	)	PUNCT
ap-3440	93	1	where	where	SCONJ
ap-3440	93	2	d(rb	d(rb	PROPN
ap-3440	93	3	,	,	PUNCT
ap-3440	93	4	rc	rc	PROPN
ap-3440	93	5	)	)	PUNCT
ap-3440	93	6	=	=	SYM
ap-3440	93	7	√	√	PROPN
ap-3440	93	8	(	(	PUNCT
ap-3440	93	9	xb	xb	PROPN
ap-3440	93	10	−	−	PROPN
ap-3440	93	11	xc)2	xc)2	PROPN
ap-3440	93	12	+	+	CCONJ
ap-3440	93	13	(	(	PUNCT
ap-3440	93	14	yb	yb	PROPN
ap-3440	93	15	−	−	PROPN
ap-3440	93	16	yc)2	yc)2	PROPN
ap-3440	93	17	and	and	CCONJ
ap-3440	93	18	cb	cb	PROPN
ap-3440	93	19	is	be	AUX
ap-3440	93	20	the	the	DET
ap-3440	93	21	set	set	NOUN
ap-3440	93	22	of	of	ADP
ap-3440	93	23	robots	robot	NOUN
ap-3440	93	24	that	that	PRON
ap-3440	93	25	present	present	VERB
ap-3440	93	26	a	a	DET
ap-3440	93	27	collision	collision	NOUN
ap-3440	93	28	risk	risk	NOUN
ap-3440	93	29	with	with	ADP
ap-3440	93	30	rb	rb	PROPN
ap-3440	93	31	.	.	PUNCT
ap-3440	94	1	(	(	PUNCT
ap-3440	94	2	8	8	NUM
ap-3440	94	3	.	.	PUNCT
ap-3440	94	4	)	)	PUNCT
ap-3440	95	1	finally	finally	ADV
ap-3440	95	2	,	,	PUNCT
ap-3440	95	3	the	the	DET
ap-3440	95	4	need	need	NOUN
ap-3440	95	5	for	for	ADP
ap-3440	95	6	a	a	DET
ap-3440	95	7	communication	communication	NOUN
ap-3440	95	8	link	link	NOUN
ap-3440	95	9	between	between	ADP
ap-3440	95	10	two	two	NUM
ap-3440	95	11	robots	robot	NOUN
ap-3440	95	12	(	(	PUNCT
ap-3440	95	13	rb	rb	PROPN
ap-3440	95	14	,	,	PUNCT
ap-3440	95	15	rc	rc	PROPN
ap-3440	95	16	)	)	PUNCT
ap-3440	95	17	yields	yield	VERB
ap-3440	95	18	the	the	DET
ap-3440	95	19	following	follow	VERB
ap-3440	95	20	constraint	constraint	NOUN
ap-3440	95	21	:	:	PUNCT
ap-3440	95	22	d(rb	d(rb	X
ap-3440	95	23	,	,	PUNCT
ap-3440	95	24	rc)−min(db	rc)−min(db	ADV
ap-3440	95	25	,	,	PUNCT
ap-3440	95	26	com	com	NOUN
ap-3440	95	27	,	,	PUNCT
ap-3440	95	28	dc	dc	PROPN
ap-3440	95	29	,	,	PUNCT
ap-3440	95	30	com	com	NOUN
ap-3440	95	31	)	)	PUNCT
ap-3440	95	32	≤	≤	NOUN
ap-3440	95	33	0	0	NUM
ap-3440	95	34	(	(	PUNCT
ap-3440	95	35	10	10	NUM
ap-3440	95	36	)	)	PUNCT
ap-3440	95	37	with	with	ADP
ap-3440	95	38	db	db	PROPN
ap-3440	95	39	,	,	PUNCT
ap-3440	95	40	com	com	NOUN
ap-3440	95	41	,	,	PUNCT
ap-3440	95	42	dc	dc	PROPN
ap-3440	95	43	,	,	PUNCT
ap-3440	95	44	com	com	VERB
ap-3440	95	45	the	the	DET
ap-3440	95	46	communication	communication	NOUN
ap-3440	95	47	link	link	NOUN
ap-3440	95	48	reach	reach	NOUN
ap-3440	95	49	of	of	ADP
ap-3440	95	50	each	each	DET
ap-3440	95	51	robot	robot	NOUN
ap-3440	95	52	and	and	CCONJ
ap-3440	95	53	db	db	PROPN
ap-3440	95	54	is	be	AUX
ap-3440	95	55	the	the	DET
ap-3440	95	56	set	set	NOUN
ap-3440	95	57	of	of	ADP
ap-3440	95	58	robots	robot	NOUN
ap-3440	95	59	that	that	PRON
ap-3440	95	60	present	present	VERB
ap-3440	95	61	a	a	DET
ap-3440	95	62	communication	communication	NOUN
ap-3440	95	63	loss	loss	NOUN
ap-3440	95	64	risk	risk	NOUN
ap-3440	95	65	with	with	ADP
ap-3440	95	66	rb	rb	NOUN
ap-3440	95	67	.	.	PUNCT
ap-3440	96	1	3	3	X
ap-3440	96	2	.	.	NUM
ap-3440	96	3	distributed	distribute	VERB
ap-3440	96	4	motion	motion	NOUN
ap-3440	96	5	planning	plan	VERB
ap-3440	96	6	3.1	3.1	NUM
ap-3440	96	7	.	.	PUNCT
ap-3440	97	1	receding	recede	VERB
ap-3440	97	2	horizon	horizon	NOUN
ap-3440	97	3	approach	approach	NOUN
ap-3440	97	4	since	since	SCONJ
ap-3440	97	5	the	the	DET
ap-3440	97	6	environment	environment	NOUN
ap-3440	97	7	is	be	AUX
ap-3440	97	8	perceived	perceive	VERB
ap-3440	97	9	progressively	progressively	ADV
ap-3440	97	10	by	by	ADP
ap-3440	97	11	the	the	DET
ap-3440	97	12	robots	robot	NOUN
ap-3440	97	13	,	,	PUNCT
ap-3440	97	14	and	and	CCONJ
ap-3440	97	15	new	new	ADJ
ap-3440	97	16	obstacles	obstacle	NOUN
ap-3440	97	17	may	may	AUX
ap-3440	97	18	appear	appear	VERB
ap-3440	97	19	as	as	ADP
ap-3440	97	20	time	time	NOUN
ap-3440	97	21	passes	pass	NOUN
ap-3440	97	22	,	,	PUNCT
ap-3440	97	23	planning	plan	VERB
ap-3440	97	24	the	the	DET
ap-3440	97	25	whole	whole	ADJ
ap-3440	97	26	motion	motion	NOUN
ap-3440	97	27	from	from	ADP
ap-3440	97	28	initial	initial	ADJ
ap-3440	97	29	to	to	ADP
ap-3440	97	30	goal	goal	NOUN
ap-3440	97	31	configurations	configuration	NOUN
ap-3440	97	32	before	before	ADP
ap-3440	97	33	the	the	DET
ap-3440	97	34	beginning	beginning	NOUN
ap-3440	97	35	of	of	ADP
ap-3440	97	36	the	the	DET
ap-3440	97	37	motion	motion	NOUN
ap-3440	97	38	is	be	AUX
ap-3440	97	39	not	not	PART
ap-3440	97	40	a	a	DET
ap-3440	97	41	satisfying	satisfying	ADJ
ap-3440	97	42	approach	approach	NOUN
ap-3440	97	43	.	.	PUNCT
ap-3440	98	1	planning	plan	VERB
ap-3440	98	2	locally	locally	ADV
ap-3440	98	3	and	and	CCONJ
ap-3440	98	4	replanning	replanning	NOUN
ap-3440	98	5	is	be	AUX
ap-3440	98	6	more	more	ADV
ap-3440	98	7	suitable	suitable	ADJ
ap-3440	98	8	for	for	ADP
ap-3440	98	9	taking	take	VERB
ap-3440	98	10	new	new	ADJ
ap-3440	98	11	information	information	NOUN
ap-3440	98	12	into	into	ADP
ap-3440	98	13	account	account	NOUN
ap-3440	98	14	as	as	SCONJ
ap-3440	98	15	it	it	PRON
ap-3440	98	16	comes	come	VERB
ap-3440	98	17	.	.	PUNCT
ap-3440	99	1	besides	besides	SCONJ
ap-3440	99	2	,	,	PUNCT
ap-3440	99	3	the	the	DET
ap-3440	99	4	computation	computation	NOUN
ap-3440	99	5	cost	cost	NOUN
ap-3440	99	6	of	of	ADP
ap-3440	99	7	finding	find	VERB
ap-3440	99	8	a	a	DET
ap-3440	99	9	motion	motion	NOUN
ap-3440	99	10	plan	plan	NOUN
ap-3440	99	11	using	use	VERB
ap-3440	99	12	the	the	DET
ap-3440	99	13	first	first	ADJ
ap-3440	99	14	approach	approach	NOUN
ap-3440	99	15	may	may	AUX
ap-3440	99	16	be	be	AUX
ap-3440	99	17	prohibited	prohibit	VERB
ap-3440	99	18	high	high	ADV
ap-3440	99	19	if	if	SCONJ
ap-3440	99	20	the	the	DET
ap-3440	99	21	planning	planning	NOUN
ap-3440	99	22	complexity	complexity	NOUN
ap-3440	99	23	depends	depend	VERB
ap-3440	99	24	on	on	ADP
ap-3440	99	25	the	the	DET
ap-3440	99	26	distance	distance	NOUN
ap-3440	99	27	between	between	ADP
ap-3440	99	28	the	the	DET
ap-3440	99	29	start	start	NOUN
ap-3440	99	30	and	and	CCONJ
ap-3440	99	31	goal	goal	NOUN
ap-3440	99	32	configurations	configuration	NOUN
ap-3440	99	33	.	.	PUNCT
ap-3440	100	1	therefore	therefore	ADV
ap-3440	100	2	,	,	PUNCT
ap-3440	100	3	an	an	DET
ap-3440	100	4	on	on	ADP
ap-3440	100	5	-	-	PUNCT
ap-3440	100	6	line	line	NOUN
ap-3440	100	7	motion	motion	NOUN
ap-3440	100	8	planner	planner	NOUN
ap-3440	100	9	is	be	AUX
ap-3440	100	10	proposed	propose	VERB
ap-3440	100	11	.	.	PUNCT
ap-3440	101	1	in	in	ADP
ap-3440	101	2	order	order	NOUN
ap-3440	101	3	to	to	PART
ap-3440	101	4	implement	implement	VERB
ap-3440	101	5	it	it	PRON
ap-3440	101	6	,	,	PUNCT
ap-3440	101	7	a	a	DET
ap-3440	101	8	receding	recede	VERB
ap-3440	101	9	horizon	horizon	NOUN
ap-3440	101	10	control	control	NOUN
ap-3440	101	11	approach	approach	NOUN
ap-3440	101	12	[	[	X
ap-3440	101	13	8	8	NUM
ap-3440	101	14	]	]	PUNCT
ap-3440	101	15	is	be	AUX
ap-3440	101	16	used	use	VERB
ap-3440	101	17	.	.	PUNCT
ap-3440	102	1	two	two	NUM
ap-3440	102	2	fundamental	fundamental	ADJ
ap-3440	102	3	concepts	concept	NOUN
ap-3440	102	4	of	of	ADP
ap-3440	102	5	this	this	DET
ap-3440	102	6	approach	approach	NOUN
ap-3440	102	7	are	be	AUX
ap-3440	102	8	the	the	DET
ap-3440	102	9	planning	planning	NOUN
ap-3440	102	10	horizon	horizon	NOUN
ap-3440	102	11	tp	tp	NOUN
ap-3440	102	12	and	and	CCONJ
ap-3440	102	13	the	the	DET
ap-3440	102	14	update	update	NOUN
ap-3440	102	15	/	/	SYM
ap-3440	102	16	computation	computation	NOUN
ap-3440	102	17	horizon	horizon	PROPN
ap-3440	102	18	tc	tc	NOUN
ap-3440	102	19	.	.	PUNCT
ap-3440	103	1	tp	tp	NOUN
ap-3440	103	2	is	be	AUX
ap-3440	103	3	the	the	DET
ap-3440	103	4	timespan	timespan	NOUN
ap-3440	103	5	for	for	ADP
ap-3440	103	6	which	which	PRON
ap-3440	103	7	a	a	DET
ap-3440	103	8	solution	solution	NOUN
ap-3440	103	9	will	will	AUX
ap-3440	103	10	be	be	AUX
ap-3440	103	11	computed	compute	VERB
ap-3440	103	12	and	and	CCONJ
ap-3440	103	13	tc	tc	NOUN
ap-3440	103	14	is	be	AUX
ap-3440	103	15	the	the	DET
ap-3440	103	16	time	time	NOUN
ap-3440	103	17	horizon	horizon	NOUN
ap-3440	103	18	during	during	ADP
ap-3440	103	19	which	which	PRON
ap-3440	103	20	a	a	DET
ap-3440	103	21	plan	plan	NOUN
ap-3440	103	22	is	be	AUX
ap-3440	103	23	executed	execute	VERB
ap-3440	103	24	while	while	SCONJ
ap-3440	103	25	the	the	DET
ap-3440	103	26	next	next	ADJ
ap-3440	103	27	plan	plan	NOUN
ap-3440	103	28	,	,	PUNCT
ap-3440	103	29	for	for	ADP
ap-3440	103	30	the	the	DET
ap-3440	103	31	next	next	ADJ
ap-3440	103	32	timespan	timespan	NOUN
ap-3440	103	33	tp	tp	NOUN
ap-3440	103	34	,	,	PUNCT
ap-3440	103	35	is	be	AUX
ap-3440	103	36	being	be	AUX
ap-3440	103	37	computed	compute	VERB
ap-3440	103	38	.	.	PUNCT
ap-3440	104	1	the	the	DET
ap-3440	104	2	problem	problem	NOUN
ap-3440	104	3	of	of	ADP
ap-3440	104	4	producing	produce	VERB
ap-3440	104	5	a	a	DET
ap-3440	104	6	motion	motion	NOUN
ap-3440	104	7	plan	plan	NOUN
ap-3440	104	8	during	during	ADP
ap-3440	104	9	a	a	DET
ap-3440	104	10	tc	tc	NUM
ap-3440	104	11	time	time	NOUN
ap-3440	104	12	interval	interval	NOUN
ap-3440	104	13	is	be	AUX
ap-3440	104	14	called	call	VERB
ap-3440	104	15	here	here	ADV
ap-3440	104	16	a	a	DET
ap-3440	104	17	receding	recede	VERB
ap-3440	104	18	horizon	horizon	NOUN
ap-3440	104	19	planning	planning	NOUN
ap-3440	104	20	problem	problem	NOUN
ap-3440	104	21	.	.	PUNCT
ap-3440	105	1	for	for	ADP
ap-3440	105	2	each	each	DET
ap-3440	105	3	receding	recede	VERB
ap-3440	105	4	horizon	horizon	NOUN
ap-3440	105	5	planning	planning	NOUN
ap-3440	105	6	problem	problem	NOUN
ap-3440	105	7	,	,	PUNCT
ap-3440	105	8	the	the	DET
ap-3440	105	9	following	follow	VERB
ap-3440	105	10	steps	step	NOUN
ap-3440	105	11	are	be	AUX
ap-3440	105	12	performed	perform	VERB
ap-3440	105	13	:	:	PUNCT
ap-3440	105	14	step	step	NOUN
ap-3440	105	15	1	1	NUM
ap-3440	105	16	.	.	PUNCT
ap-3440	106	1	all	all	DET
ap-3440	106	2	robots	robot	NOUN
ap-3440	106	3	in	in	ADP
ap-3440	106	4	the	the	DET
ap-3440	106	5	team	team	NOUN
ap-3440	106	6	compute	compute	VERB
ap-3440	106	7	an	an	DET
ap-3440	106	8	intended	intend	VERB
ap-3440	106	9	solution	solution	NOUN
ap-3440	106	10	trajectory	trajectory	NOUN
ap-3440	106	11	(	(	PUNCT
ap-3440	106	12	denoted	denote	VERB
ap-3440	106	13	(	(	PUNCT
ap-3440	106	14	q̂b(t	q̂b(t	NOUN
ap-3440	106	15	)	)	PUNCT
ap-3440	106	16	,	,	PUNCT
ap-3440	106	17	ûb(t	ûb(t	PROPN
ap-3440	106	18	)	)	PUNCT
ap-3440	106	19	)	)	PUNCT
ap-3440	106	20	)	)	PUNCT
ap-3440	106	21	by	by	ADP
ap-3440	106	22	solving	solve	VERB
ap-3440	106	23	a	a	DET
ap-3440	106	24	constrained	constrain	VERB
ap-3440	106	25	optimization	optimization	NOUN
ap-3440	106	26	problem	problem	NOUN
ap-3440	106	27	.	.	PUNCT
ap-3440	107	1	coupling	couple	VERB
ap-3440	107	2	constraints	constraint	NOUN
ap-3440	107	3	(	(	PUNCT
ap-3440	107	4	9	9	NUM
ap-3440	107	5	)	)	PUNCT
ap-3440	107	6	and	and	CCONJ
ap-3440	107	7	(	(	PUNCT
ap-3440	107	8	10	10	NUM
ap-3440	107	9	)	)	PUNCT
ap-3440	107	10	,	,	PUNCT
ap-3440	107	11	which	which	PRON
ap-3440	107	12	involve	involve	VERB
ap-3440	107	13	other	other	ADJ
ap-3440	107	14	robots	robot	NOUN
ap-3440	107	15	in	in	ADP
ap-3440	107	16	the	the	DET
ap-3440	107	17	team	team	NOUN
ap-3440	107	18	,	,	PUNCT
ap-3440	107	19	are	be	AUX
ap-3440	107	20	ignored	ignore	VERB
ap-3440	107	21	.	.	PUNCT
ap-3440	108	1	step	step	NOUN
ap-3440	108	2	2	2	NUM
ap-3440	108	3	.	.	PUNCT
ap-3440	108	4	robots	robot	NOUN
ap-3440	108	5	involved	involve	VERB
ap-3440	108	6	in	in	ADP
ap-3440	108	7	a	a	DET
ap-3440	108	8	potential	potential	ADJ
ap-3440	108	9	conflict	conflict	NOUN
ap-3440	108	10	(	(	PUNCT
ap-3440	108	11	that	that	PRON
ap-3440	108	12	is	be	AUX
ap-3440	108	13	,	,	PUNCT
ap-3440	108	14	risk	risk	NOUN
ap-3440	108	15	of	of	ADP
ap-3440	108	16	collision	collision	NOUN
ap-3440	108	17	or	or	CCONJ
ap-3440	108	18	loss	loss	NOUN
ap-3440	108	19	of	of	ADP
ap-3440	108	20	communication	communication	NOUN
ap-3440	108	21	)	)	PUNCT
ap-3440	108	22	update	update	VERB
ap-3440	108	23	their	their	PRON
ap-3440	108	24	trajectories	trajectory	NOUN
ap-3440	108	25	computed	compute	VERB
ap-3440	108	26	during	during	ADP
ap-3440	108	27	step	step	NOUN
ap-3440	108	28	1	1	NUM
ap-3440	108	29	by	by	ADP
ap-3440	108	30	solving	solve	VERB
ap-3440	108	31	another	another	DET
ap-3440	108	32	constrained	constrain	VERB
ap-3440	108	33	optimization	optimization	NOUN
ap-3440	108	34	problem	problem	NOUN
ap-3440	108	35	that	that	PRON
ap-3440	108	36	additionally	additionally	ADV
ap-3440	108	37	takes	take	VERB
ap-3440	108	38	into	into	ADP
ap-3440	108	39	account	account	NOUN
ap-3440	108	40	coupling	couple	VERB
ap-3440	108	41	constraints	constraint	NOUN
ap-3440	108	42	(	(	PUNCT
ap-3440	108	43	9	9	NUM
ap-3440	108	44	)	)	PUNCT
ap-3440	108	45	and	and	CCONJ
ap-3440	108	46	(	(	PUNCT
ap-3440	108	47	10	10	NUM
ap-3440	108	48	)	)	PUNCT
ap-3440	108	49	.	.	PUNCT
ap-3440	109	1	this	this	PRON
ap-3440	109	2	is	be	AUX
ap-3440	109	3	done	do	VERB
ap-3440	109	4	by	by	ADP
ap-3440	109	5	using	use	VERB
ap-3440	109	6	the	the	DET
ap-3440	109	7	other	other	ADJ
ap-3440	109	8	robots	robot	NOUN
ap-3440	109	9	’	'	PUNCT
ap-3440	109	10	intended	intend	VERB
ap-3440	109	11	trajectories	trajectory	NOUN
ap-3440	109	12	computed	compute	VERB
ap-3440	109	13	in	in	ADP
ap-3440	109	14	the	the	DET
ap-3440	109	15	previous	previous	ADJ
ap-3440	109	16	step	step	NOUN
ap-3440	109	17	as	as	ADP
ap-3440	109	18	an	an	DET
ap-3440	109	19	estimate	estimate	NOUN
ap-3440	109	20	of	of	ADP
ap-3440	109	21	the	the	DET
ap-3440	109	22	final	final	ADJ
ap-3440	109	23	trajectories	trajectory	NOUN
ap-3440	109	24	of	of	ADP
ap-3440	109	25	those	those	DET
ap-3440	109	26	robots	robot	NOUN
ap-3440	109	27	.	.	PUNCT
ap-3440	110	1	if	if	SCONJ
ap-3440	110	2	a	a	DET
ap-3440	110	3	robot	robot	NOUN
ap-3440	110	4	is	be	AUX
ap-3440	110	5	not	not	PART
ap-3440	110	6	involved	involve	VERB
ap-3440	110	7	in	in	ADP
ap-3440	110	8	any	any	DET
ap-3440	110	9	conflict	conflict	NOUN
ap-3440	110	10	,	,	PUNCT
ap-3440	110	11	step	step	NOUN
ap-3440	110	12	2	2	NUM
ap-3440	110	13	is	be	AUX
ap-3440	110	14	not	not	PART
ap-3440	110	15	executed	execute	VERB
ap-3440	110	16	and	and	CCONJ
ap-3440	110	17	its	its	PRON
ap-3440	110	18	final	final	ADJ
ap-3440	110	19	solution	solution	NOUN
ap-3440	110	20	trajectory	trajectory	NOUN
ap-3440	110	21	is	be	AUX
ap-3440	110	22	identical	identical	ADJ
ap-3440	110	23	to	to	ADP
ap-3440	110	24	the	the	DET
ap-3440	110	25	trajectory	trajectory	NOUN
ap-3440	110	26	estimated	estimate	VERB
ap-3440	110	27	in	in	ADP
ap-3440	110	28	step	step	NOUN
ap-3440	110	29	1	1	NUM
ap-3440	110	30	.	.	PUNCT
ap-3440	111	1	all	all	DET
ap-3440	111	2	robots	robot	NOUN
ap-3440	111	3	in	in	ADP
ap-3440	111	4	the	the	DET
ap-3440	111	5	team	team	NOUN
ap-3440	111	6	use	use	VERB
ap-3440	111	7	the	the	DET
ap-3440	111	8	same	same	ADJ
ap-3440	111	9	tp	tp	NOUN
ap-3440	111	10	and	and	CCONJ
ap-3440	111	11	tc	tc	VERB
ap-3440	111	12	for	for	ADP
ap-3440	111	13	assuring	assure	VERB
ap-3440	111	14	synchronization	synchronization	NOUN
ap-3440	111	15	when	when	SCONJ
ap-3440	111	16	exchanging	exchange	VERB
ap-3440	111	17	information	information	NOUN
ap-3440	111	18	about	about	ADP
ap-3440	111	19	their	their	PRON
ap-3440	111	20	positions	position	NOUN
ap-3440	111	21	and	and	CCONJ
ap-3440	111	22	abouth	abouth	VERB
ap-3440	111	23	their	their	PRON
ap-3440	111	24	intended	intend	VERB
ap-3440	111	25	trajectories	trajectory	NOUN
ap-3440	111	26	.	.	PUNCT
ap-3440	112	1	for	for	ADP
ap-3440	112	2	each	each	PRON
ap-3440	112	3	of	of	ADP
ap-3440	112	4	these	these	DET
ap-3440	112	5	steps	step	NOUN
ap-3440	112	6	and	and	CCONJ
ap-3440	112	7	for	for	ADP
ap-3440	112	8	each	each	DET
ap-3440	112	9	robot	robot	NOUN
ap-3440	112	10	in	in	ADP
ap-3440	112	11	the	the	DET
ap-3440	112	12	team	team	NOUN
ap-3440	112	13	,	,	PUNCT
ap-3440	112	14	one	one	NUM
ap-3440	112	15	constrained	constrain	VERB
ap-3440	112	16	optimization	optimization	NOUN
ap-3440	112	17	problem	problem	NOUN
ap-3440	112	18	is	be	AUX
ap-3440	112	19	resolved	resolve	VERB
ap-3440	112	20	.	.	PUNCT
ap-3440	113	1	the	the	DET
ap-3440	113	2	cost	cost	NOUN
ap-3440	113	3	function	function	NOUN
ap-3440	113	4	to	to	PART
ap-3440	113	5	be	be	AUX
ap-3440	113	6	minimized	minimize	VERB
ap-3440	113	7	in	in	ADP
ap-3440	113	8	these	these	DET
ap-3440	113	9	optimization	optimization	NOUN
ap-3440	113	10	problems	problem	NOUN
ap-3440	113	11	is	be	AUX
ap-3440	113	12	the	the	DET
ap-3440	113	13	geodesic	geodesic	ADJ
ap-3440	113	14	distance	distance	NOUN
ap-3440	113	15	of	of	ADP
ap-3440	113	16	a	a	DET
ap-3440	113	17	robot	robot	NOUN
ap-3440	113	18	’s	’s	PART
ap-3440	113	19	current	current	ADJ
ap-3440	113	20	configuration	configuration	NOUN
ap-3440	113	21	to	to	ADP
ap-3440	113	22	its	its	PRON
ap-3440	113	23	goal	goal	NOUN
ap-3440	113	24	configuration	configuration	NOUN
ap-3440	113	25	.	.	PUNCT
ap-3440	114	1	this	this	PRON
ap-3440	114	2	assures	assure	VERB
ap-3440	114	3	that	that	SCONJ
ap-3440	114	4	the	the	DET
ap-3440	114	5	robots	robot	NOUN
ap-3440	114	6	are	be	AUX
ap-3440	114	7	driven	drive	VERB
ap-3440	114	8	towards	towards	ADP
ap-3440	114	9	their	their	PRON
ap-3440	114	10	goal	goal	NOUN
ap-3440	114	11	.	.	PUNCT
ap-3440	115	1	this	this	DET
ap-3440	115	2	two	two	NUM
ap-3440	115	3	step	step	NOUN
ap-3440	115	4	scheme	scheme	NOUN
ap-3440	115	5	is	be	AUX
ap-3440	115	6	explained	explain	VERB
ap-3440	115	7	in	in	ADP
ap-3440	115	8	detail	detail	NOUN
ap-3440	115	9	in	in	ADP
ap-3440	115	10	[	[	X
ap-3440	115	11	6	6	NUM
ap-3440	115	12	,	,	PUNCT
ap-3440	115	13	9	9	NUM
ap-3440	115	14	]	]	PUNCT
ap-3440	115	15	,	,	PUNCT
ap-3440	115	16	where	where	SCONJ
ap-3440	115	17	constrained	constrain	VERB
ap-3440	115	18	optimization	optimization	NOUN
ap-3440	115	19	problems	problem	NOUN
ap-3440	115	20	associated	associate	VERB
ap-3440	115	21	to	to	ADP
ap-3440	115	22	the	the	DET
ap-3440	115	23	receding	recede	VERB
ap-3440	115	24	horizon	horizon	NOUN
ap-3440	115	25	optimization	optimization	NOUN
ap-3440	115	26	problem	problem	NOUN
ap-3440	115	27	are	be	AUX
ap-3440	115	28	formulated	formulate	VERB
ap-3440	115	29	.	.	PUNCT
ap-3440	116	1	however	however	ADV
ap-3440	116	2	,	,	PUNCT
ap-3440	116	3	constraints	constraint	NOUN
ap-3440	116	4	related	relate	VERB
ap-3440	116	5	to	to	ADP
ap-3440	116	6	the	the	DET
ap-3440	116	7	goal	goal	NOUN
ap-3440	116	8	configuration	configuration	NOUN
ap-3440	116	9	and	and	CCONJ
ap-3440	116	10	the	the	DET
ap-3440	116	11	goal	goal	NOUN
ap-3440	116	12	input	input	NOUN
ap-3440	116	13	of	of	ADP
ap-3440	116	14	the	the	DET
ap-3440	116	15	motion	motion	NOUN
ap-3440	116	16	planning	planning	NOUN
ap-3440	116	17	problem	problem	NOUN
ap-3440	116	18	are	be	AUX
ap-3440	116	19	neglected	neglect	VERB
ap-3440	116	20	in	in	ADP
ap-3440	116	21	their	their	PRON
ap-3440	116	22	method	method	NOUN
ap-3440	116	23	.	.	PUNCT
ap-3440	117	1	constraints	constraint	NOUN
ap-3440	117	2	(	(	PUNCT
ap-3440	117	3	4	4	NUM
ap-3440	117	4	)	)	PUNCT
ap-3440	117	5	and	and	CCONJ
ap-3440	117	6	(	(	PUNCT
ap-3440	117	7	5	5	X
ap-3440	117	8	)	)	PUNCT
ap-3440	117	9	are	be	AUX
ap-3440	117	10	left	leave	VERB
ap-3440	117	11	out	out	ADP
ap-3440	117	12	of	of	ADP
ap-3440	117	13	the	the	DET
ap-3440	117	14	planning	planning	NOUN
ap-3440	117	15	.	.	PUNCT
ap-3440	118	1	to	to	PART
ap-3440	118	2	take	take	VERB
ap-3440	118	3	them	they	PRON
ap-3440	118	4	into	into	ADP
ap-3440	118	5	account	account	NOUN
ap-3440	118	6	,	,	PUNCT
ap-3440	118	7	a	a	DET
ap-3440	118	8	termination	termination	NOUN
ap-3440	118	9	procedure	procedure	NOUN
ap-3440	118	10	is	be	AUX
ap-3440	118	11	proposed	propose	VERB
ap-3440	118	12	in	in	ADP
ap-3440	118	13	the	the	DET
ap-3440	118	14	following	following	NOUN
ap-3440	118	15	that	that	PRON
ap-3440	118	16	enables	enable	VERB
ap-3440	118	17	the	the	DET
ap-3440	118	18	robots	robot	NOUN
ap-3440	118	19	to	to	PART
ap-3440	118	20	reach	reach	VERB
ap-3440	118	21	their	their	PRON
ap-3440	118	22	goal	goal	NOUN
ap-3440	118	23	state	state	NOUN
ap-3440	118	24	.	.	PUNCT
ap-3440	119	1	3.2	3.2	NUM
ap-3440	119	2	.	.	PUNCT
ap-3440	119	3	motion	motion	NOUN
ap-3440	119	4	planning	planning	NOUN
ap-3440	119	5	termination	termination	NOUN
ap-3440	119	6	after	after	ADP
ap-3440	119	7	stopping	stop	VERB
ap-3440	119	8	the	the	DET
ap-3440	119	9	receding	recede	VERB
ap-3440	119	10	horizon	horizon	NOUN
ap-3440	119	11	planning	planning	NOUN
ap-3440	119	12	algorithm	algorithm	NOUN
ap-3440	119	13	,	,	PUNCT
ap-3440	119	14	we	we	PRON
ap-3440	119	15	propose	propose	VERB
ap-3440	119	16	a	a	DET
ap-3440	119	17	termination	termination	NOUN
ap-3440	119	18	planning	planning	NOUN
ap-3440	119	19	that	that	PRON
ap-3440	119	20	considers	consider	VERB
ap-3440	119	21	those	those	DET
ap-3440	119	22	constraints	constraint	NOUN
ap-3440	119	23	related	relate	VERB
ap-3440	119	24	to	to	ADP
ap-3440	119	25	the	the	DET
ap-3440	119	26	goal	goal	NOUN
ap-3440	119	27	state	state	NOUN
ap-3440	119	28	.	.	PUNCT
ap-3440	120	1	this	this	PRON
ap-3440	120	2	enables	enable	VERB
ap-3440	120	3	the	the	DET
ap-3440	120	4	robots	robot	NOUN
ap-3440	120	5	to	to	PART
ap-3440	120	6	reach	reach	VERB
ap-3440	120	7	their	their	PRON
ap-3440	120	8	goal	goal	NOUN
ap-3440	120	9	states	state	NOUN
ap-3440	120	10	.	.	PUNCT
ap-3440	121	1	the	the	DET
ap-3440	121	2	criterion	criterion	NOUN
ap-3440	121	3	used	use	VERB
ap-3440	121	4	to	to	PART
ap-3440	121	5	pass	pass	VERB
ap-3440	121	6	from	from	ADP
ap-3440	121	7	the	the	DET
ap-3440	121	8	receding	recede	VERB
ap-3440	121	9	horizon	horizon	NOUN
ap-3440	121	10	planning	plan	VERB
ap-3440	121	11	to	to	ADP
ap-3440	121	12	the	the	DET
ap-3440	121	13	termination	termination	NOUN
ap-3440	121	14	planning	planning	NOUN
ap-3440	121	15	is	be	AUX
ap-3440	121	16	based	base	VERB
ap-3440	121	17	on	on	ADP
ap-3440	121	18	the	the	DET
ap-3440	121	19	distance	distance	NOUN
ap-3440	121	20	between	between	ADP
ap-3440	121	21	the	the	DET
ap-3440	121	22	goal	goal	NOUN
ap-3440	121	23	and	and	CCONJ
ap-3440	121	24	the	the	DET
ap-3440	121	25	current	current	ADJ
ap-3440	121	26	position	position	NOUN
ap-3440	121	27	of	of	ADP
ap-3440	121	28	the	the	DET
ap-3440	121	29	robots	robot	NOUN
ap-3440	121	30	.	.	PUNCT
ap-3440	122	1	it	it	PRON
ap-3440	122	2	is	be	AUX
ap-3440	122	3	defined	define	VERB
ap-3440	122	4	by	by	ADP
ap-3440	122	5	the	the	DET
ap-3440	122	6	equation	equation	NOUN
ap-3440	122	7	11	11	NUM
ap-3440	122	8	:	:	PUNCT
ap-3440	122	9	drem	drem	PROPN
ap-3440	122	10	≥	≥	NUM
ap-3440	122	11	dmin	dmin	PROPN
ap-3440	122	12	+	+	PROPN
ap-3440	122	13	tc	tc	PROPN
ap-3440	122	14	·	·	PUNCT
ap-3440	122	15	vmax	vmax	X
ap-3440	122	16	(	(	PUNCT
ap-3440	122	17	11	11	NUM
ap-3440	122	18	)	)	PUNCT
ap-3440	122	19	this	this	DET
ap-3440	122	20	condition	condition	NOUN
ap-3440	122	21	ensures	ensure	VERB
ap-3440	122	22	that	that	SCONJ
ap-3440	122	23	the	the	DET
ap-3440	122	24	termination	termination	NOUN
ap-3440	122	25	plan	plan	NOUN
ap-3440	122	26	will	will	AUX
ap-3440	122	27	be	be	AUX
ap-3440	122	28	planned	plan	VERB
ap-3440	122	29	for	for	ADP
ap-3440	122	30	at	at	ADV
ap-3440	122	31	least	least	ADJ
ap-3440	122	32	a	a	DET
ap-3440	122	33	dmin	dmin	NOUN
ap-3440	122	34	distance	distance	NOUN
ap-3440	122	35	from	from	ADP
ap-3440	122	36	the	the	DET
ap-3440	122	37	robot	robot	NOUN
ap-3440	122	38	’s	’s	PART
ap-3440	122	39	goal	goal	NOUN
ap-3440	122	40	position	position	NOUN
ap-3440	122	41	.	.	PUNCT
ap-3440	123	1	this	this	DET
ap-3440	123	2	minimal	minimal	ADJ
ap-3440	123	3	distance	distance	NOUN
ap-3440	123	4	is	be	AUX
ap-3440	123	5	assumed	assume	VERB
ap-3440	123	6	to	to	PART
ap-3440	123	7	be	be	AUX
ap-3440	123	8	sufficient	sufficient	ADJ
ap-3440	123	9	for	for	SCONJ
ap-3440	123	10	the	the	DET
ap-3440	123	11	robot	robot	NOUN
ap-3440	123	12	to	to	PART
ap-3440	123	13	reach	reach	VERB
ap-3440	123	14	the	the	DET
ap-3440	123	15	goal	goal	NOUN
ap-3440	123	16	configuration	configuration	NOUN
ap-3440	123	17	.	.	PUNCT
ap-3440	124	1	before	before	ADP
ap-3440	124	2	solving	solve	VERB
ap-3440	124	3	the	the	DET
ap-3440	124	4	termination	termination	NOUN
ap-3440	124	5	planning	planning	NOUN
ap-3440	124	6	problem	problem	NOUN
ap-3440	124	7	new	new	ADJ
ap-3440	124	8	parameters	parameter	NOUN
ap-3440	124	9	for	for	ADP
ap-3440	124	10	representing	represent	VERB
ap-3440	124	11	and	and	CCONJ
ap-3440	124	12	computing	compute	VERB
ap-3440	124	13	the	the	DET
ap-3440	124	14	solution	solution	NOUN
ap-3440	124	15	are	be	AUX
ap-3440	124	16	calculated	calculate	VERB
ap-3440	124	17	by	by	ADP
ap-3440	124	18	taking	take	VERB
ap-3440	124	19	into	into	ADP
ap-3440	124	20	account	account	NOUN
ap-3440	124	21	the	the	DET
ap-3440	124	22	estimated	estimate	VERB
ap-3440	124	23	remaining	remain	VERB
ap-3440	124	24	distance	distance	NOUN
ap-3440	124	25	and	and	CCONJ
ap-3440	124	26	the	the	DET
ap-3440	124	27	typical	typical	ADJ
ap-3440	124	28	distance	distance	NOUN
ap-3440	124	29	traveled	travel	VERB
ap-3440	124	30	for	for	ADP
ap-3440	124	31	a	a	DET
ap-3440	124	32	tp	tp	ADP
ap-3440	124	33	planning	plan	VERB
ap-3440	124	34	horizon	horizon	NOUN
ap-3440	124	35	.	.	PUNCT
ap-3440	125	1	this	this	PRON
ap-3440	125	2	is	be	AUX
ap-3440	125	3	done	do	VERB
ap-3440	125	4	in	in	ADP
ap-3440	125	5	order	order	NOUN
ap-3440	125	6	to	to	PART
ap-3440	125	7	rescale	rescale	VERB
ap-3440	125	8	the	the	DET
ap-3440	125	9	configuration	configuration	NOUN
ap-3440	125	10	intended	intend	VERB
ap-3440	125	11	for	for	ADP
ap-3440	125	12	a	a	DET
ap-3440	125	13	previous	previous	ADJ
ap-3440	125	14	planning	planning	NOUN
ap-3440	125	15	horizon	horizon	NOUN
ap-3440	125	16	not	not	PART
ap-3440	125	17	necessarily	necessarily	ADV
ap-3440	125	18	equal	equal	ADJ
ap-3440	125	19	to	to	ADP
ap-3440	125	20	the	the	DET
ap-3440	125	21	new	new	ADJ
ap-3440	125	22	one	one	NUM
ap-3440	125	23	.	.	PUNCT
ap-3440	126	1	potentially	potentially	ADV
ap-3440	126	2	,	,	PUNCT
ap-3440	126	3	this	this	DET
ap-3440	126	4	rescaling	rescaling	NOUN
ap-3440	126	5	will	will	AUX
ap-3440	126	6	decrease	decrease	VERB
ap-3440	126	7	the	the	DET
ap-3440	126	8	computation	computation	NOUN
ap-3440	126	9	time	time	NOUN
ap-3440	126	10	for	for	ADP
ap-3440	126	11	the	the	DET
ap-3440	126	12	termination	termination	NOUN
ap-3440	126	13	planning	planning	NOUN
ap-3440	126	14	.	.	PUNCT
ap-3440	127	1	the	the	DET
ap-3440	127	2	following	follow	VERB
ap-3440	127	3	pseudo	pseudo	NOUN
ap-3440	127	4	code	code	NOUN
ap-3440	127	5	1	1	NUM
ap-3440	127	6	summarizes	summarize	VERB
ap-3440	127	7	the	the	DET
ap-3440	127	8	planning	planning	NOUN
ap-3440	127	9	algorithm	algorithm	NOUN
ap-3440	127	10	,	,	PUNCT
ap-3440	127	11	and	and	CCONJ
ap-3440	127	12	figure	figure	VERB
ap-3440	127	13	1	1	NUM
ap-3440	127	14	illustrates	illustrate	VERB
ap-3440	127	15	how	how	SCONJ
ap-3440	127	16	plans	plan	NOUN
ap-3440	127	17	would	would	AUX
ap-3440	127	18	be	be	AUX
ap-3440	127	19	generated	generate	VERB
ap-3440	127	20	through	through	ADP
ap-3440	127	21	time	time	NOUN
ap-3440	127	22	by	by	ADP
ap-3440	127	23	the	the	DET
ap-3440	127	24	algorithm	algorithm	NOUN
ap-3440	127	25	.	.	PUNCT
ap-3440	128	1	in	in	ADP
ap-3440	128	2	the	the	DET
ap-3440	128	3	pseudo	pseudo	NOUN
ap-3440	128	4	code	code	NOUN
ap-3440	128	5	,	,	PUNCT
ap-3440	128	6	we	we	PRON
ap-3440	128	7	see	see	VERB
ap-3440	128	8	the	the	DET
ap-3440	128	9	call	call	NOUN
ap-3440	128	10	of	of	ADP
ap-3440	128	11	a	a	DET
ap-3440	128	12	plansec	plansec	NOUN
ap-3440	128	13	procedure	procedure	NOUN
ap-3440	128	14	.	.	PUNCT
ap-3440	129	1	it	it	PRON
ap-3440	129	2	corresponds	correspond	VERB
ap-3440	129	3	to	to	ADP
ap-3440	129	4	the	the	DET
ap-3440	129	5	resolution	resolution	NOUN
ap-3440	129	6	of	of	ADP
ap-3440	129	7	the	the	DET
ap-3440	129	8	receding	recede	VERB
ap-3440	129	9	horizon	horizon	NOUN
ap-3440	129	10	planning	planning	NOUN
ap-3440	129	11	problem	problem	NOUN
ap-3440	129	12	as	as	SCONJ
ap-3440	129	13	defined	define	VERB
ap-3440	129	14	in	in	ADP
ap-3440	129	15	subsection	subsection	NOUN
ap-3440	129	16	3.1	3.1	NUM
ap-3440	129	17	.	.	NOUN
ap-3440	129	18	12	12	NUM
ap-3440	129	19	vol	vol	NOUN
ap-3440	129	20	.	.	PUNCT
ap-3440	130	1	56	56	NUM
ap-3440	130	2	no	no	NOUN
ap-3440	130	3	.	.	PUNCT
ap-3440	131	1	1/2016	1/2016	NUM
ap-3440	131	2	trajectory	trajectory	NOUN
ap-3440	131	3	generation	generation	NOUN
ap-3440	131	4	approach	approach	NOUN
ap-3440	131	5	planlastsec	planlastsec	NOUN
ap-3440	131	6	is	be	AUX
ap-3440	131	7	the	the	DET
ap-3440	131	8	procedure	procedure	NOUN
ap-3440	131	9	for	for	ADP
ap-3440	131	10	solving	solve	VERB
ap-3440	131	11	the	the	DET
ap-3440	131	12	termination	termination	NOUN
ap-3440	131	13	planning	planning	NOUN
ap-3440	131	14	problem	problem	NOUN
ap-3440	131	15	.	.	PUNCT
ap-3440	132	1	this	this	DET
ap-3440	132	2	problem	problem	NOUN
ap-3440	132	3	is	be	AUX
ap-3440	132	4	similar	similar	ADJ
ap-3440	132	5	to	to	ADP
ap-3440	132	6	the	the	DET
ap-3440	132	7	receding	recede	VERB
ap-3440	132	8	horizon	horizon	NOUN
ap-3440	132	9	planning	planning	NOUN
ap-3440	132	10	problems	problem	NOUN
ap-3440	132	11	.	.	PUNCT
ap-3440	133	1	it	it	PRON
ap-3440	133	2	also	also	ADV
ap-3440	133	3	has	have	VERB
ap-3440	133	4	the	the	DET
ap-3440	133	5	two	two	NUM
ap-3440	133	6	steps	step	NOUN
ap-3440	133	7	already	already	ADV
ap-3440	133	8	presented	present	VERB
ap-3440	133	9	for	for	ADP
ap-3440	133	10	computing	compute	VERB
ap-3440	133	11	an	an	DET
ap-3440	133	12	intended	intend	VERB
ap-3440	133	13	plan	plan	NOUN
ap-3440	133	14	and	and	CCONJ
ap-3440	133	15	for	for	ADP
ap-3440	133	16	updating	update	VERB
ap-3440	133	17	it	it	PRON
ap-3440	133	18	,	,	PUNCT
ap-3440	133	19	if	if	SCONJ
ap-3440	133	20	need	need	NOUN
ap-3440	133	21	be	be	AUX
ap-3440	133	22	,	,	PUNCT
ap-3440	133	23	so	so	SCONJ
ap-3440	133	24	that	that	SCONJ
ap-3440	133	25	conflicts	conflict	NOUN
ap-3440	133	26	are	be	AUX
ap-3440	133	27	avoided	avoid	VERB
ap-3440	133	28	.	.	PUNCT
ap-3440	134	1	the	the	DET
ap-3440	134	2	difference	difference	NOUN
ap-3440	134	3	consists	consist	VERB
ap-3440	134	4	in	in	ADP
ap-3440	134	5	how	how	SCONJ
ap-3440	134	6	the	the	DET
ap-3440	134	7	optimization	optimization	NOUN
ap-3440	134	8	problems	problem	NOUN
ap-3440	134	9	associated	associate	VERB
ap-3440	134	10	to	to	ADP
ap-3440	134	11	it	it	PRON
ap-3440	134	12	are	be	AUX
ap-3440	134	13	defined	define	VERB
ap-3440	134	14	.	.	PUNCT
ap-3440	135	1	the	the	DET
ap-3440	135	2	optimization	optimization	NOUN
ap-3440	135	3	problem	problem	NOUN
ap-3440	135	4	defined	define	VERB
ap-3440	135	5	in	in	ADP
ap-3440	135	6	(	(	PUNCT
ap-3440	135	7	12	12	NUM
ap-3440	135	8	)	)	PUNCT
ap-3440	135	9	and	and	CCONJ
ap-3440	135	10	(	(	PUNCT
ap-3440	135	11	13	13	NUM
ap-3440	135	12	)	)	PUNCT
ap-3440	135	13	is	be	AUX
ap-3440	135	14	the	the	DET
ap-3440	135	15	problem	problem	NOUN
ap-3440	135	16	solved	solve	VERB
ap-3440	135	17	at	at	ADP
ap-3440	135	18	the	the	DET
ap-3440	135	19	first	first	ADJ
ap-3440	135	20	step	step	NOUN
ap-3440	135	21	.	.	PUNCT
ap-3440	136	1	the	the	DET
ap-3440	136	2	optimization	optimization	NOUN
ap-3440	136	3	problem	problem	NOUN
ap-3440	136	4	associated	associate	VERB
ap-3440	136	5	with	with	ADP
ap-3440	136	6	the	the	DET
ap-3440	136	7	second	second	ADJ
ap-3440	136	8	step	step	NOUN
ap-3440	136	9	is	be	AUX
ap-3440	136	10	defined	define	VERB
ap-3440	136	11	(	(	PUNCT
ap-3440	136	12	14	14	NUM
ap-3440	136	13	)	)	PUNCT
ap-3440	136	14	and	and	CCONJ
ap-3440	136	15	(	(	PUNCT
ap-3440	136	16	15	15	NUM
ap-3440	136	17	)	)	PUNCT
ap-3440	136	18	.	.	PUNCT
ap-3440	137	1	besides	besides	SCONJ
ap-3440	137	2	,	,	PUNCT
ap-3440	137	3	in	in	ADP
ap-3440	137	4	both	both	CCONJ
ap-3440	137	5	new	new	ADJ
ap-3440	137	6	constrained	constrain	VERB
ap-3440	137	7	optimal	optimal	ADJ
ap-3440	137	8	problems	problem	NOUN
ap-3440	137	9	,	,	PUNCT
ap-3440	137	10	the	the	DET
ap-3440	137	11	planning	planning	NOUN
ap-3440	137	12	horizon	horizon	NOUN
ap-3440	137	13	is	be	AUX
ap-3440	137	14	not	not	PART
ap-3440	137	15	a	a	DET
ap-3440	137	16	fixed	fix	VERB
ap-3440	137	17	constant	constant	ADJ
ap-3440	137	18	as	as	ADP
ap-3440	137	19	before	before	ADV
ap-3440	137	20	,	,	PUNCT
ap-3440	137	21	instead	instead	ADV
ap-3440	137	22	it	it	PRON
ap-3440	137	23	is	be	AUX
ap-3440	137	24	a	a	DET
ap-3440	137	25	part	part	NOUN
ap-3440	137	26	of	of	ADP
ap-3440	137	27	the	the	DET
ap-3440	137	28	solution	solution	NOUN
ap-3440	137	29	to	to	PART
ap-3440	137	30	be	be	AUX
ap-3440	137	31	found	find	VERB
ap-3440	137	32	.	.	PUNCT
ap-3440	138	1	then	then	ADV
ap-3440	138	2	,	,	PUNCT
ap-3440	138	3	for	for	ADP
ap-3440	138	4	generating	generate	VERB
ap-3440	138	5	the	the	DET
ap-3440	138	6	intended	intend	VERB
ap-3440	138	7	plan	plan	NOUN
ap-3440	138	8	the	the	DET
ap-3440	138	9	following	follow	VERB
ap-3440	138	10	is	be	AUX
ap-3440	138	11	resolved	resolve	VERB
ap-3440	138	12	:	:	PUNCT
ap-3440	138	13	min	min	PROPN
ap-3440	138	14	q̂b(t),ûb(t),tf	q̂b(t),ûb(t),tf	PROPN
ap-3440	138	15	lb	lb	PROPN
ap-3440	138	16	,	,	PUNCT
ap-3440	138	17	f	f	PROPN
ap-3440	138	18	(	(	PUNCT
ap-3440	138	19	q̂b(t	q̂b(t	PROPN
ap-3440	138	20	)	)	PUNCT
ap-3440	138	21	,	,	PUNCT
ap-3440	138	22	ûb(t	ûb(t	PROPN
ap-3440	138	23	)	)	PUNCT
ap-3440	138	24	,	,	PUNCT
ap-3440	138	25	qb	qb	PROPN
ap-3440	138	26	,	,	PUNCT
ap-3440	138	27	goal	goal	NOUN
ap-3440	138	28	,	,	PUNCT
ap-3440	138	29	ub	ub	ADJ
ap-3440	138	30	,	,	PUNCT
ap-3440	138	31	goal	goal	NOUN
ap-3440	138	32	)	)	PUNCT
ap-3440	138	33	(	(	PUNCT
ap-3440	138	34	12	12	NUM
ap-3440	138	35	)	)	PUNCT
ap-3440	138	36	under	under	ADP
ap-3440	138	37	the	the	DET
ap-3440	138	38	following	follow	VERB
ap-3440	138	39	constraints	constraint	NOUN
ap-3440	138	40	for	for	ADP
ap-3440	138	41	τk	τk	DET
ap-3440	138	42	=	=	PUNCT
ap-3440	138	43	ktc	ktc	NOUN
ap-3440	138	44	with	with	ADP
ap-3440	138	45	k	k	PROPN
ap-3440	138	46	the	the	DET
ap-3440	138	47	number	number	NOUN
ap-3440	138	48	of	of	ADP
ap-3440	138	49	receding	recede	VERB
ap-3440	138	50	horizon	horizon	NOUN
ap-3440	138	51	problems	problem	NOUN
ap-3440	138	52	solved	solve	VERB
ap-3440	138	53	before	before	ADP
ap-3440	138	54	the	the	DET
ap-3440	138	55	termination	termination	NOUN
ap-3440	138	56	problem:	problem:	NOUN
ap-3440	138	57	˙̂qb(t	˙̂qb(t	NOUN
ap-3440	138	58	)	)	PUNCT
ap-3440	139	1	=	=	SYM
ap-3440	139	2	f(q̂b(t	f(q̂b(t	NOUN
ap-3440	139	3	)	)	PUNCT
ap-3440	139	4	,	,	PUNCT
ap-3440	139	5	ûb(t	ûb(t	PROPN
ap-3440	139	6	)	)	PUNCT
ap-3440	139	7	)	)	PUNCT
ap-3440	139	8	,	,	PUNCT
ap-3440	139	9	∀t	∀t	PROPN
ap-3440	139	10	∈	∈	PROPN
ap-3440	140	1	[	[	X
ap-3440	140	2	τk	τk	ADP
ap-3440	140	3	,	,	PUNCT
ap-3440	140	4	τk	τk	ADV
ap-3440	140	5	+	+	CCONJ
ap-3440	140	6	tf	tf	X
ap-3440	140	7	]	]	PUNCT
ap-3440	140	8	q̂b(τk	q̂b(τk	X
ap-3440	140	9	)	)	PUNCT
ap-3440	140	10	=	=	SYM
ap-3440	140	11	q∗	q∗	PROPN
ap-3440	140	12	b	b	PROPN
ap-3440	140	13	(	(	PUNCT
ap-3440	140	14	τk−1	τk−1	PROPN
ap-3440	140	15	+	+	CCONJ
ap-3440	140	16	tc	tc	NOUN
ap-3440	140	17	)	)	PUNCT
ap-3440	140	18	ûb(τk	ûb(τk	NOUN
ap-3440	140	19	)	)	PUNCT
ap-3440	140	20	=	=	PUNCT
ap-3440	141	1	u∗	u∗	ADJ
ap-3440	141	2	b(τk−1	b(τk−1	PUNCT
ap-3440	142	1	+	+	NOUN
ap-3440	142	2	tc	tc	X
ap-3440	142	3	)	)	PUNCT
ap-3440	142	4	q̂b(τk	q̂b(τk	NOUN
ap-3440	143	1	+	+	CCONJ
ap-3440	143	2	tf	tf	INTJ
ap-3440	143	3	)	)	PUNCT
ap-3440	143	4	=	=	SYM
ap-3440	143	5	qb	qb	PROPN
ap-3440	143	6	,	,	PUNCT
ap-3440	143	7	goal	goal	NOUN
ap-3440	143	8	ûb(τk	ûb(τk	PROPN
ap-3440	143	9	+	+	CCONJ
ap-3440	143	10	tf	tf	X
ap-3440	143	11	)	)	PUNCT
ap-3440	144	1	=	=	PUNCT
ap-3440	144	2	ub	ub	PROPN
ap-3440	144	3	,	,	PUNCT
ap-3440	144	4	goal	goal	NOUN
ap-3440	144	5	|ûb	|ûb	NOUN
ap-3440	144	6	,	,	PUNCT
ap-3440	144	7	i(t)|	i(t)|	VERB
ap-3440	144	8	≤	≤	NOUN
ap-3440	144	9	ub	ub	ADP
ap-3440	144	10	,	,	PUNCT
ap-3440	144	11	i	i	PRON
ap-3440	144	12	,	,	PUNCT
ap-3440	144	13	max	max	PROPN
ap-3440	144	14	,	,	PUNCT
ap-3440	144	15	∀i	∀i	X
ap-3440	144	16	∈	∈	NOUN
ap-3440	145	1	[	[	X
ap-3440	145	2	1	1	NUM
ap-3440	145	3	,	,	PUNCT
ap-3440	145	4	p],∀t	p],∀t	PROPN
ap-3440	145	5	∈	∈	PROPN
ap-3440	145	6	(	(	PUNCT
ap-3440	145	7	τk	τk	ADP
ap-3440	145	8	,	,	PUNCT
ap-3440	145	9	τk	τk	ADP
ap-3440	145	10	+	+	CCONJ
ap-3440	145	11	tf	tf	X
ap-3440	145	12	)	)	PUNCT
ap-3440	145	13	d(rb	d(rb	PROPN
ap-3440	145	14	,	,	PUNCT
ap-3440	145	15	om	om	PROPN
ap-3440	145	16	)	)	PUNCT
ap-3440	145	17	≥	≥	NOUN
ap-3440	145	18	0	0	NUM
ap-3440	145	19	,	,	PUNCT
ap-3440	145	20	∀om	∀om	PROPN
ap-3440	145	21	∈	∈	PROPN
ap-3440	145	22	ob	ob	PROPN
ap-3440	145	23	,	,	PUNCT
ap-3440	145	24	t	t	PROPN
ap-3440	145	25	∈	∈	PROPN
ap-3440	145	26	(	(	PUNCT
ap-3440	145	27	τk	τk	ADP
ap-3440	145	28	,	,	PUNCT
ap-3440	145	29	τk	τk	ADV
ap-3440	145	30	+	+	CCONJ
ap-3440	145	31	tf	tf	INTJ
ap-3440	145	32	)	)	PUNCT
ap-3440	145	33	(	(	PUNCT
ap-3440	145	34	13	13	NUM
ap-3440	145	35	)	)	PUNCT
ap-3440	145	36	and	and	CCONJ
ap-3440	145	37	for	for	ADP
ap-3440	145	38	generating	generate	VERB
ap-3440	145	39	the	the	DET
ap-3440	145	40	final	final	ADJ
ap-3440	145	41	solution	solution	NOUN
ap-3440	145	42	:	:	PUNCT
ap-3440	145	43	min	min	NOUN
ap-3440	145	44	q∗	q∗	PROPN
ap-3440	145	45	b	b	PROPN
ap-3440	145	46	(	(	PUNCT
ap-3440	145	47	t),u∗	t),u∗	PROPN
ap-3440	145	48	b	b	PROPN
ap-3440	145	49	(	(	PUNCT
ap-3440	145	50	t),tf	t),tf	X
ap-3440	145	51	lb	lb	PROPN
ap-3440	145	52	,	,	PUNCT
ap-3440	145	53	f	f	PROPN
ap-3440	145	54	(	(	PUNCT
ap-3440	145	55	q∗	q∗	PROPN
ap-3440	145	56	b	b	PROPN
ap-3440	145	57	(	(	PUNCT
ap-3440	145	58	t	t	PROPN
ap-3440	145	59	)	)	PUNCT
ap-3440	145	60	,	,	PUNCT
ap-3440	145	61	u∗	u∗	PROPN
ap-3440	145	62	b(t	b(t	PROPN
ap-3440	145	63	)	)	PUNCT
ap-3440	145	64	,	,	PUNCT
ap-3440	145	65	qb	qb	PROPN
ap-3440	145	66	,	,	PUNCT
ap-3440	145	67	goal	goal	NOUN
ap-3440	145	68	,	,	PUNCT
ap-3440	145	69	ub	ub	ADJ
ap-3440	145	70	,	,	PUNCT
ap-3440	145	71	goal	goal	NOUN
ap-3440	145	72	)	)	PUNCT
ap-3440	145	73	(	(	PUNCT
ap-3440	145	74	14	14	NUM
ap-3440	145	75	)	)	PUNCT
ap-3440	145	76	under	under	ADP
ap-3440	145	77	the	the	DET
ap-3440	145	78	following	follow	VERB
ap-3440	145	79	constraints:	constraints:	PROPN
ap-3440	145	80	q̇∗	q̇∗	PROPN
ap-3440	145	81	b(t	b(t	PROPN
ap-3440	145	82	)	)	PUNCT
ap-3440	145	83	=	=	PUNCT
ap-3440	145	84	f(q∗	f(q∗	ADP
ap-3440	145	85	b	b	PROPN
ap-3440	145	86	(	(	PUNCT
ap-3440	145	87	t	t	PROPN
ap-3440	145	88	)	)	PUNCT
ap-3440	145	89	,	,	PUNCT
ap-3440	145	90	u∗	u∗	ADJ
ap-3440	145	91	b(t	b(t	PROPN
ap-3440	145	92	)	)	PUNCT
ap-3440	145	93	)	)	PUNCT
ap-3440	145	94	,	,	PUNCT
ap-3440	145	95	∀t	∀t	PROPN
ap-3440	145	96	∈	∈	PROPN
ap-3440	146	1	[	[	X
ap-3440	146	2	τk	τk	ADP
ap-3440	146	3	,	,	PUNCT
ap-3440	146	4	τk	τk	ADV
ap-3440	146	5	+	+	CCONJ
ap-3440	146	6	tf	tf	X
ap-3440	146	7	]	]	PUNCT
ap-3440	146	8	q∗	q∗	PROPN
ap-3440	146	9	b	b	PROPN
ap-3440	146	10	(	(	PUNCT
ap-3440	146	11	τk	τk	ADP
ap-3440	146	12	)	)	PUNCT
ap-3440	146	13	=	=	SYM
ap-3440	146	14	q∗	q∗	PROPN
ap-3440	146	15	b	b	PROPN
ap-3440	146	16	(	(	PUNCT
ap-3440	146	17	τk−1	τk−1	PROPN
ap-3440	146	18	+	+	CCONJ
ap-3440	146	19	tc	tc	NOUN
ap-3440	146	20	)	)	PUNCT
ap-3440	146	21	u∗	u∗	NOUN
ap-3440	146	22	b(τk	b(τk	NUM
ap-3440	146	23	)	)	PUNCT
ap-3440	146	24	=	=	PUNCT
ap-3440	146	25	u∗	u∗	ADJ
ap-3440	146	26	b(τk−1	b(τk−1	PUNCT
ap-3440	147	1	+	+	CCONJ
ap-3440	147	2	tc	tc	X
ap-3440	147	3	)	)	PUNCT
ap-3440	147	4	q∗	q∗	NOUN
ap-3440	147	5	b	b	NOUN
ap-3440	147	6	(	(	PUNCT
ap-3440	147	7	τk	τk	ADP
ap-3440	147	8	+	+	CCONJ
ap-3440	147	9	tf	tf	INTJ
ap-3440	147	10	)	)	PUNCT
ap-3440	147	11	=	=	SYM
ap-3440	147	12	qb	qb	PROPN
ap-3440	147	13	,	,	PUNCT
ap-3440	147	14	goal	goal	NOUN
ap-3440	147	15	u∗	u∗	VERB
ap-3440	147	16	b(τk	b(τk	NOUN
ap-3440	148	1	+	+	CCONJ
ap-3440	148	2	tf	tf	X
ap-3440	148	3	)	)	PUNCT
ap-3440	148	4	=	=	SYM
ap-3440	148	5	ub	ub	ADJ
ap-3440	148	6	,	,	PUNCT
ap-3440	148	7	goal	goal	NOUN
ap-3440	148	8	|u∗	|u∗	PROPN
ap-3440	148	9	b	b	NOUN
ap-3440	148	10	,	,	PUNCT
ap-3440	148	11	i(t)|	i(t)|	VERB
ap-3440	148	12	≤	≤	NOUN
ap-3440	148	13	ub	ub	ADP
ap-3440	148	14	,	,	PUNCT
ap-3440	148	15	i	i	PRON
ap-3440	148	16	,	,	PUNCT
ap-3440	148	17	max	max	PROPN
ap-3440	148	18	,	,	PUNCT
ap-3440	148	19	∀i	∀i	X
ap-3440	148	20	∈	∈	NOUN
ap-3440	149	1	[	[	X
ap-3440	149	2	1	1	NUM
ap-3440	149	3	,	,	PUNCT
ap-3440	149	4	p],∀t	p],∀t	PROPN
ap-3440	149	5	∈	∈	PROPN
ap-3440	149	6	(	(	PUNCT
ap-3440	149	7	τk	τk	ADP
ap-3440	149	8	,	,	PUNCT
ap-3440	149	9	τk	τk	ADP
ap-3440	149	10	+	+	CCONJ
ap-3440	149	11	tf	tf	X
ap-3440	149	12	)	)	PUNCT
ap-3440	149	13	d(rb	d(rb	PROPN
ap-3440	149	14	,	,	PUNCT
ap-3440	149	15	om	om	PROPN
ap-3440	149	16	)	)	PUNCT
ap-3440	149	17	≥	≥	NOUN
ap-3440	149	18	0	0	NUM
ap-3440	149	19	,	,	PUNCT
ap-3440	149	20	∀om	∀om	PROPN
ap-3440	149	21	∈	∈	PROPN
ap-3440	149	22	ob,∀t	ob,∀t	NOUN
ap-3440	149	23	∈	∈	PROPN
ap-3440	149	24	(	(	PUNCT
ap-3440	149	25	τk	τk	ADP
ap-3440	149	26	,	,	PUNCT
ap-3440	149	27	τk	τk	ADP
ap-3440	149	28	+	+	CCONJ
ap-3440	149	29	tf	tf	X
ap-3440	149	30	)	)	PUNCT
ap-3440	149	31	d(rb	d(rb	PROPN
ap-3440	149	32	,	,	PUNCT
ap-3440	149	33	rc)−	rc)−	VERB
ap-3440	149	34	ρb	ρb	ADP
ap-3440	149	35	−	−	NOUN
ap-3440	149	36	ρc	ρc	VERB
ap-3440	149	37	≥	≥	NOUN
ap-3440	149	38	0	0	NUM
ap-3440	149	39	,	,	PUNCT
ap-3440	149	40	∀rc	∀rc	NOUN
ap-3440	149	41	∈	∈	PROPN
ap-3440	149	42	cb,∀t	cb,∀t	PROPN
ap-3440	149	43	∈	∈	PROPN
ap-3440	149	44	(	(	PUNCT
ap-3440	149	45	τk	τk	ADP
ap-3440	149	46	,	,	PUNCT
ap-3440	149	47	τk	τk	ADP
ap-3440	149	48	+	+	CCONJ
ap-3440	149	49	tf	tf	X
ap-3440	149	50	)	)	PUNCT
ap-3440	149	51	d(rb	d(rb	PROPN
ap-3440	149	52	,	,	PUNCT
ap-3440	149	53	rd)−min(db	rd)−min(db	NOUN
ap-3440	149	54	,	,	PUNCT
ap-3440	149	55	com	com	NOUN
ap-3440	149	56	,	,	PUNCT
ap-3440	149	57	dd	dd	NOUN
ap-3440	149	58	,	,	PUNCT
ap-3440	149	59	com	com	NOUN
ap-3440	149	60	)	)	PUNCT
ap-3440	149	61	≥	≥	NOUN
ap-3440	149	62	0	0	NUM
ap-3440	149	63	,	,	PUNCT
ap-3440	149	64	∀rd	∀rd	PROPN
ap-3440	149	65	∈	∈	PROPN
ap-3440	149	66	db,∀t	db,∀t	PROPN
ap-3440	149	67	∈	∈	PROPN
ap-3440	149	68	(	(	PUNCT
ap-3440	149	69	τk	τk	ADP
ap-3440	149	70	,	,	PUNCT
ap-3440	149	71	τk	τk	ADP
ap-3440	149	72	+	+	CCONJ
ap-3440	149	73	tf	tf	X
ap-3440	149	74	)	)	PUNCT
ap-3440	149	75	d(q∗	d(q∗	PROPN
ap-3440	149	76	b	b	PROPN
ap-3440	149	77	(	(	PUNCT
ap-3440	149	78	t	t	PROPN
ap-3440	149	79	)	)	PUNCT
ap-3440	149	80	,	,	PUNCT
ap-3440	149	81	q̂b(t	q̂b(t	NOUN
ap-3440	149	82	)	)	PUNCT
ap-3440	149	83	)	)	PUNCT
ap-3440	150	1	≤	≤	NUM
ap-3440	150	2	ξ	ξ	X
ap-3440	150	3	,	,	PUNCT
ap-3440	150	4	∀t	∀t	PROPN
ap-3440	150	5	∈	∈	PROPN
ap-3440	150	6	(	(	PUNCT
ap-3440	150	7	τk	τk	ADP
ap-3440	150	8	,	,	PUNCT
ap-3440	150	9	τk	τk	ADV
ap-3440	150	10	+	+	CCONJ
ap-3440	150	11	tf	tf	INTJ
ap-3440	150	12	)	)	PUNCT
ap-3440	150	13	(	(	PUNCT
ap-3440	150	14	15	15	NUM
ap-3440	150	15	)	)	PUNCT
ap-3440	150	16	a	a	DET
ap-3440	150	17	possible	possible	ADJ
ap-3440	150	18	definition	definition	NOUN
ap-3440	150	19	for	for	ADP
ap-3440	150	20	the	the	DET
ap-3440	150	21	lb	lb	NOUN
ap-3440	150	22	,	,	PUNCT
ap-3440	150	23	f	f	PROPN
ap-3440	150	24	cost	cost	NOUN
ap-3440	150	25	function	function	NOUN
ap-3440	150	26	present	present	ADJ
ap-3440	150	27	in	in	ADP
ap-3440	150	28	the	the	DET
ap-3440	150	29	equations	equation	NOUN
ap-3440	150	30	above	above	ADV
ap-3440	150	31	can	can	AUX
ap-3440	150	32	be	be	AUX
ap-3440	150	33	simply	simply	ADV
ap-3440	150	34	tf	tf	INTJ
ap-3440	150	35	.	.	PUNCT
ap-3440	151	1	the	the	DET
ap-3440	151	2	sets	set	NOUN
ap-3440	151	3	ob	ob	PROPN
ap-3440	151	4	,	,	PUNCT
ap-3440	151	5	cb	cb	PROPN
ap-3440	151	6	and	and	CCONJ
ap-3440	151	7	db	db	PROPN
ap-3440	151	8	are	be	AUX
ap-3440	151	9	functions	function	NOUN
ap-3440	151	10	of	of	ADP
ap-3440	151	11	τk	τk	ADP
ap-3440	151	12	.	.	PUNCT
ap-3440	151	13	algorithm	algorithm	PROPN
ap-3440	151	14	1	1	NUM
ap-3440	151	15	motion	motion	NOUN
ap-3440	151	16	planning	planning	NOUN
ap-3440	151	17	algorithm	algorithm	NOUN
ap-3440	151	18	1	1	NUM
ap-3440	151	19	:	:	PUNCT
ap-3440	151	20	procedure	procedure	NOUN
ap-3440	151	21	plan	plan	NOUN
ap-3440	151	22	2	2	NUM
ap-3440	151	23	:	:	PUNCT
ap-3440	151	24	qlatest	qlat	ADJ
ap-3440	151	25	←	←	PROPN
ap-3440	151	26	qinitial	qinitial	PROPN
ap-3440	151	27	3	3	NUM
ap-3440	151	28	:	:	PUNCT
ap-3440	151	29	drem	drem	PROPN
ap-3440	151	30	←	←	PROPN
ap-3440	152	1	|pos(qfinal)−pos(qlatest)|	|pos(qfinal)−pos(qlatest)|	ADV
ap-3440	152	2	4	4	NUM
ap-3440	152	3	:	:	PUNCT
ap-3440	152	4	while	while	SCONJ
ap-3440	152	5	drem	drem	PROPN
ap-3440	152	6	≥	≥	NUM
ap-3440	152	7	dmin	dmin	PROPN
ap-3440	152	8	+	+	CCONJ
ap-3440	152	9	tc	tc	PROPN
ap-3440	152	10	·	·	PUNCT
ap-3440	152	11	vmax	vmax	PROPN
ap-3440	152	12	do	do	VERB
ap-3440	152	13	5	5	NUM
ap-3440	152	14	:	:	PUNCT
ap-3440	152	15	initsolrepresentation	initsolrepresentation	PROPN
ap-3440	152	16	(	(	PUNCT
ap-3440	152	17	·	·	PUNCT
ap-3440	152	18	·	·	PUNCT
ap-3440	152	19	·	·	PUNCT
ap-3440	152	20	)	)	PUNCT
ap-3440	153	1	6	6	NUM
ap-3440	153	2	:	:	PUNCT
ap-3440	153	3	qlatest	qlat	ADJ
ap-3440	153	4	←plansec	←plansec	NUM
ap-3440	153	5	(	(	PUNCT
ap-3440	153	6	·	·	PUNCT
ap-3440	153	7	·	·	PUNCT
ap-3440	153	8	·	·	PUNCT
ap-3440	153	9	)	)	PUNCT
ap-3440	154	1	7	7	NUM
ap-3440	154	2	:	:	PUNCT
ap-3440	154	3	drem	drem	PROPN
ap-3440	154	4	←	←	PROPN
ap-3440	155	1	|pos(qfinal)−pos(qlatest)|	|pos(qfinal)−pos(qlatest)|	ADV
ap-3440	155	2	8	8	NUM
ap-3440	155	3	:	:	PUNCT
ap-3440	155	4	end	end	VERB
ap-3440	155	5	while	while	SCONJ
ap-3440	155	6	9	9	NUM
ap-3440	155	7	:	:	PUNCT
ap-3440	155	8	rescalerepresentation	rescalerepresentation	NOUN
ap-3440	155	9	(	(	PUNCT
ap-3440	155	10	·	·	PUNCT
ap-3440	155	11	·	·	PUNCT
ap-3440	155	12	·	·	PUNCT
ap-3440	155	13	)	)	PUNCT
ap-3440	156	1	10	10	NUM
ap-3440	156	2	:	:	PUNCT
ap-3440	156	3	tf	tf	NUM
ap-3440	156	4	←planlastsec	←planlastsec	NUM
ap-3440	156	5	(	(	PUNCT
ap-3440	156	6	·	·	PUNCT
ap-3440	156	7	·	·	PUNCT
ap-3440	156	8	·	·	PUNCT
ap-3440	156	9	)	)	PUNCT
ap-3440	157	1	11	11	NUM
ap-3440	157	2	:	:	PUNCT
ap-3440	157	3	end	end	NOUN
ap-3440	157	4	procedure	procedure	NOUN
ap-3440	157	5	figure	figure	NOUN
ap-3440	157	6	1	1	NUM
ap-3440	157	7	.	.	PUNCT
ap-3440	157	8	receding	recede	VERB
ap-3440	157	9	horizon	horizon	NOUN
ap-3440	157	10	scheme	scheme	NOUN
ap-3440	157	11	with	with	ADP
ap-3440	157	12	termination	termination	NOUN
ap-3440	157	13	plan	plan	NOUN
ap-3440	157	14	.	.	PUNCT
ap-3440	158	1	the	the	DET
ap-3440	158	2	timespan	timespan	NOUN
ap-3440	158	3	tf	tf	INTJ
ap-3440	158	4	represents	represent	VERB
ap-3440	158	5	the	the	DET
ap-3440	158	6	duration	duration	NOUN
ap-3440	158	7	of	of	ADP
ap-3440	158	8	the	the	DET
ap-3440	158	9	plan	plan	NOUN
ap-3440	158	10	for	for	ADP
ap-3440	158	11	reaching	reach	VERB
ap-3440	158	12	the	the	DET
ap-3440	158	13	goal	goal	NOUN
ap-3440	158	14	configuration	configuration	NOUN
ap-3440	158	15	.	.	PUNCT
ap-3440	159	1	3.3	3.3	NUM
ap-3440	159	2	.	.	PUNCT
ap-3440	159	3	strategies	strategy	NOUN
ap-3440	159	4	for	for	ADP
ap-3440	159	5	solving	solve	VERB
ap-3440	159	6	the	the	DET
ap-3440	159	7	constrained	constrain	VERB
ap-3440	159	8	optimization	optimization	NOUN
ap-3440	159	9	problems	problem	NOUN
ap-3440	159	10	3.3.1	3.3.1	NUM
ap-3440	159	11	.	.	PUNCT
ap-3440	159	12	flatness	flatness	NOUN
ap-3440	159	13	property	property	NOUN
ap-3440	159	14	as	as	SCONJ
ap-3440	159	15	explained	explain	VERB
ap-3440	159	16	in	in	ADP
ap-3440	159	17	[	[	PUNCT
ap-3440	159	18	9	9	NUM
ap-3440	159	19	]	]	PUNCT
ap-3440	159	20	,	,	PUNCT
ap-3440	159	21	all	all	DET
ap-3440	159	22	mobile	mobile	ADJ
ap-3440	159	23	robots	robot	NOUN
ap-3440	159	24	consisting	consist	VERB
ap-3440	159	25	of	of	ADP
ap-3440	159	26	a	a	DET
ap-3440	159	27	solid	solid	ADJ
ap-3440	159	28	block	block	NOUN
ap-3440	159	29	in	in	ADP
ap-3440	159	30	motion	motion	NOUN
ap-3440	159	31	can	can	AUX
ap-3440	159	32	be	be	AUX
ap-3440	159	33	modeled	model	VERB
ap-3440	159	34	as	as	ADP
ap-3440	159	35	a	a	DET
ap-3440	159	36	flat	flat	ADJ
ap-3440	159	37	system	system	NOUN
ap-3440	159	38	.	.	PUNCT
ap-3440	160	1	this	this	PRON
ap-3440	160	2	means	mean	VERB
ap-3440	160	3	that	that	SCONJ
ap-3440	160	4	a	a	DET
ap-3440	160	5	change	change	NOUN
ap-3440	160	6	of	of	ADP
ap-3440	160	7	variables	variable	NOUN
ap-3440	160	8	is	be	AUX
ap-3440	160	9	possible	possible	ADJ
ap-3440	160	10	in	in	ADP
ap-3440	160	11	a	a	DET
ap-3440	160	12	way	way	NOUN
ap-3440	160	13	that	that	PRON
ap-3440	160	14	enables	enable	VERB
ap-3440	160	15	states	state	NOUN
ap-3440	160	16	and	and	CCONJ
ap-3440	160	17	inputs	input	NOUN
ap-3440	160	18	of	of	ADP
ap-3440	160	19	the	the	DET
ap-3440	160	20	kinematic	kinematic	ADJ
ap-3440	160	21	model	model	NOUN
ap-3440	160	22	of	of	ADP
ap-3440	160	23	the	the	DET
ap-3440	160	24	mobile	mobile	ADJ
ap-3440	160	25	robot	robot	NOUN
ap-3440	160	26	to	to	PART
ap-3440	160	27	be	be	AUX
ap-3440	160	28	written	write	VERB
ap-3440	160	29	in	in	ADP
ap-3440	160	30	terms	term	NOUN
ap-3440	160	31	of	of	ADP
ap-3440	160	32	a	a	DET
ap-3440	160	33	new	new	ADJ
ap-3440	160	34	variable	variable	NOUN
ap-3440	160	35	,	,	PUNCT
ap-3440	160	36	called	call	VERB
ap-3440	160	37	the	the	DET
ap-3440	160	38	flat	flat	ADJ
ap-3440	160	39	output	output	NOUN
ap-3440	160	40	(	(	PUNCT
ap-3440	160	41	z	z	NOUN
ap-3440	160	42	)	)	PUNCT
ap-3440	160	43	,	,	PUNCT
ap-3440	160	44	and	and	CCONJ
ap-3440	160	45	its	its	PRON
ap-3440	160	46	lth	lth	NOUN
ap-3440	160	47	first	first	ADJ
ap-3440	160	48	derivatives	derivative	NOUN
ap-3440	160	49	.	.	PUNCT
ap-3440	161	1	the	the	DET
ap-3440	161	2	value	value	NOUN
ap-3440	161	3	of	of	ADP
ap-3440	161	4	l	l	NOUN
ap-3440	161	5	|	|	NOUN
ap-3440	161	6	l	l	NOUN
ap-3440	161	7	≤	≤	NOUN
ap-3440	161	8	n	n	NOUN
ap-3440	161	9	depends	depend	VERB
ap-3440	161	10	on	on	ADP
ap-3440	161	11	the	the	DET
ap-3440	161	12	kinematic	kinematic	ADJ
ap-3440	161	13	model	model	NOUN
ap-3440	161	14	of	of	ADP
ap-3440	161	15	the	the	DET
ap-3440	161	16	mobile	mobile	NOUN
ap-3440	161	17	robot	robot	NOUN
ap-3440	161	18	.	.	PUNCT
ap-3440	162	1	therefore	therefore	ADV
ap-3440	162	2	,	,	PUNCT
ap-3440	162	3	the	the	DET
ap-3440	162	4	flat	flat	ADJ
ap-3440	162	5	output	output	NOUN
ap-3440	162	6	can	can	AUX
ap-3440	162	7	completely	completely	ADV
ap-3440	162	8	determine	determine	VERB
ap-3440	162	9	the	the	DET
ap-3440	162	10	behavior	behavior	NOUN
ap-3440	162	11	of	of	ADP
ap-3440	162	12	the	the	DET
ap-3440	162	13	system	system	NOUN
ap-3440	162	14	.	.	PUNCT
ap-3440	163	1	searching	search	VERB
ap-3440	163	2	for	for	ADP
ap-3440	163	3	a	a	DET
ap-3440	163	4	solution	solution	NOUN
ap-3440	163	5	to	to	ADP
ap-3440	163	6	our	our	PRON
ap-3440	163	7	problem	problem	NOUN
ap-3440	163	8	in	in	ADP
ap-3440	163	9	the	the	DET
ap-3440	163	10	flat	flat	ADJ
ap-3440	163	11	space	space	NOUN
ap-3440	163	12	rather	rather	ADV
ap-3440	163	13	than	than	ADP
ap-3440	163	14	in	in	ADP
ap-3440	163	15	the	the	DET
ap-3440	163	16	actual	actual	ADJ
ap-3440	163	17	configuration	configuration	NOUN
ap-3440	163	18	space	space	NOUN
ap-3440	163	19	of	of	ADP
ap-3440	163	20	the	the	DET
ap-3440	163	21	system	system	NOUN
ap-3440	163	22	presents	present	VERB
ap-3440	163	23	advantages	advantage	NOUN
ap-3440	163	24	.	.	PUNCT
ap-3440	164	1	it	it	PRON
ap-3440	164	2	prevents	prevent	VERB
ap-3440	164	3	the	the	DET
ap-3440	164	4	need	need	NOUN
ap-3440	164	5	for	for	ADP
ap-3440	164	6	integrating	integrate	VERB
ap-3440	164	7	the	the	DET
ap-3440	164	8	differential	differential	ADJ
ap-3440	164	9	equations	equation	NOUN
ap-3440	164	10	of	of	ADP
ap-3440	164	11	the	the	DET
ap-3440	164	12	system	system	NOUN
ap-3440	164	13	(	(	PUNCT
ap-3440	164	14	constraint	constraint	NOUN
ap-3440	164	15	1	1	NUM
ap-3440	164	16	)	)	PUNCT
ap-3440	164	17	and	and	CCONJ
ap-3440	164	18	reduces	reduce	VERB
ap-3440	164	19	the	the	DET
ap-3440	164	20	dimension	dimension	NOUN
ap-3440	164	21	of	of	ADP
ap-3440	164	22	the	the	DET
ap-3440	164	23	problem	problem	NOUN
ap-3440	164	24	of	of	ADP
ap-3440	164	25	finding	find	VERB
ap-3440	164	26	an	an	DET
ap-3440	164	27	optimal	optimal	ADJ
ap-3440	164	28	admissible	admissible	ADJ
ap-3440	164	29	trajectory	trajectory	NOUN
ap-3440	164	30	.	.	PUNCT
ap-3440	165	1	after	after	ADP
ap-3440	165	2	finding	find	VERB
ap-3440	165	3	(	(	PUNCT
ap-3440	165	4	optimal	optimal	ADJ
ap-3440	165	5	)	)	PUNCT
ap-3440	165	6	trajectories	trajectory	NOUN
ap-3440	165	7	in	in	ADP
ap-3440	165	8	the	the	DET
ap-3440	165	9	flat	flat	ADJ
ap-3440	165	10	space	space	NOUN
ap-3440	165	11	,	,	PUNCT
ap-3440	165	12	it	it	PRON
ap-3440	165	13	is	be	AUX
ap-3440	165	14	possible	possible	ADJ
ap-3440	165	15	to	to	PART
ap-3440	165	16	retrieve	retrieve	VERB
ap-3440	165	17	the	the	DET
ap-3440	165	18	original	original	ADJ
ap-3440	165	19	configuration	configuration	NOUN
ap-3440	165	20	and	and	CCONJ
ap-3440	165	21	input	input	NOUN
ap-3440	165	22	trajectories	trajectory	NOUN
ap-3440	165	23	.	.	PUNCT
ap-3440	166	1	3.3.2	3.3.2	X
ap-3440	166	2	.	.	PUNCT
ap-3440	167	1	parametrization	parametrization	NOUN
ap-3440	167	2	of	of	ADP
ap-3440	167	3	the	the	DET
ap-3440	167	4	flat	flat	ADJ
ap-3440	167	5	output	output	NOUN
ap-3440	167	6	by	by	ADP
ap-3440	167	7	b	b	NOUN
ap-3440	167	8	-	-	PUNCT
ap-3440	167	9	splines	spline	VERB
ap-3440	167	10	another	another	DET
ap-3440	167	11	important	important	ADJ
ap-3440	167	12	aspect	aspect	NOUN
ap-3440	167	13	of	of	ADP
ap-3440	167	14	this	this	DET
ap-3440	167	15	approach	approach	NOUN
ap-3440	167	16	is	be	AUX
ap-3440	167	17	the	the	DET
ap-3440	167	18	parametrization	parametrization	NOUN
ap-3440	167	19	of	of	ADP
ap-3440	167	20	the	the	DET
ap-3440	167	21	flat	flat	ADJ
ap-3440	167	22	output	output	NOUN
ap-3440	167	23	trajectory	trajectory	NOUN
ap-3440	167	24	.	.	PUNCT
ap-3440	168	1	as	as	SCONJ
ap-3440	168	2	done	do	VERB
ap-3440	168	3	in	in	ADP
ap-3440	168	4	[	[	X
ap-3440	168	5	10	10	NUM
ap-3440	168	6	]	]	PUNCT
ap-3440	168	7	,	,	PUNCT
ap-3440	168	8	the	the	DET
ap-3440	168	9	use	use	NOUN
ap-3440	168	10	of	of	ADP
ap-3440	168	11	b	b	NOUN
ap-3440	168	12	-	-	PUNCT
ap-3440	168	13	spline	spline	NOUN
ap-3440	168	14	functions	function	NOUN
ap-3440	168	15	presents	present	VERB
ap-3440	168	16	interesting	interesting	ADJ
ap-3440	168	17	properties	property	NOUN
ap-3440	168	18	.	.	PUNCT
ap-3440	169	1	•	•	INTJ
ap-3440	169	2	it	it	PRON
ap-3440	169	3	is	be	AUX
ap-3440	169	4	possible	possible	ADJ
ap-3440	169	5	to	to	PART
ap-3440	169	6	specify	specify	VERB
ap-3440	169	7	a	a	DET
ap-3440	169	8	level	level	NOUN
ap-3440	169	9	of	of	ADP
ap-3440	169	10	continuity	continuity	NOUN
ap-3440	169	11	ck	ck	INTJ
ap-3440	169	12	when	when	SCONJ
ap-3440	169	13	using	use	VERB
ap-3440	169	14	b	b	NOUN
ap-3440	169	15	-	-	PUNCT
ap-3440	169	16	splines	spline	NOUN
ap-3440	169	17	without	without	ADP
ap-3440	169	18	additional	additional	ADJ
ap-3440	169	19	constraints	constraint	NOUN
ap-3440	169	20	.	.	PUNCT
ap-3440	170	1	13	13	NUM
ap-3440	170	2	josé	josé	PROPN
ap-3440	170	3	m.	m.	NOUN
ap-3440	170	4	mendes	mende	NOUN
ap-3440	170	5	filho	filho	PROPN
ap-3440	170	6	,	,	PUNCT
ap-3440	170	7	eric	eric	PROPN
ap-3440	170	8	lucet	lucet	PROPN
ap-3440	170	9	acta	acta	PROPN
ap-3440	170	10	polytechnica	polytechnica	PROPN
ap-3440	170	11	•	•	ADP
ap-3440	170	12	a	a	DET
ap-3440	170	13	b	b	NOUN
ap-3440	170	14	-	-	PUNCT
ap-3440	170	15	spline	spline	NOUN
ap-3440	170	16	presents	present	VERB
ap-3440	170	17	a	a	DET
ap-3440	170	18	local	local	ADJ
ap-3440	170	19	support	support	NOUN
ap-3440	170	20	–	–	PUNCT
ap-3440	170	21	changes	change	NOUN
ap-3440	170	22	in	in	ADP
ap-3440	170	23	the	the	DET
ap-3440	170	24	values	value	NOUN
ap-3440	170	25	of	of	ADP
ap-3440	170	26	the	the	DET
ap-3440	170	27	parameters	parameter	NOUN
ap-3440	170	28	have	have	VERB
ap-3440	170	29	a	a	DET
ap-3440	170	30	local	local	ADJ
ap-3440	170	31	impact	impact	NOUN
ap-3440	170	32	on	on	ADP
ap-3440	170	33	the	the	DET
ap-3440	170	34	resulting	result	VERB
ap-3440	170	35	curve	curve	NOUN
ap-3440	170	36	.	.	PUNCT
ap-3440	171	1	the	the	DET
ap-3440	171	2	first	first	ADJ
ap-3440	171	3	property	property	NOUN
ap-3440	171	4	is	be	AUX
ap-3440	171	5	very	very	ADV
ap-3440	171	6	well	well	ADV
ap-3440	171	7	suited	suited	ADJ
ap-3440	171	8	for	for	ADP
ap-3440	171	9	parametrizing	parametrize	VERB
ap-3440	171	10	the	the	DET
ap-3440	171	11	flat	flat	ADJ
ap-3440	171	12	output	output	NOUN
ap-3440	171	13	,	,	PUNCT
ap-3440	171	14	since	since	SCONJ
ap-3440	171	15	its	its	PRON
ap-3440	171	16	lth	lth	NOUN
ap-3440	171	17	first	first	ADJ
ap-3440	171	18	derivatives	derivative	NOUN
ap-3440	171	19	will	will	AUX
ap-3440	171	20	be	be	AUX
ap-3440	171	21	needed	need	VERB
ap-3440	171	22	when	when	SCONJ
ap-3440	171	23	computing	compute	VERB
ap-3440	171	24	the	the	DET
ap-3440	171	25	actual	actual	ADJ
ap-3440	171	26	state	state	NOUN
ap-3440	171	27	of	of	ADP
ap-3440	171	28	the	the	DET
ap-3440	171	29	system	system	NOUN
ap-3440	171	30	and	and	CCONJ
ap-3440	171	31	the	the	DET
ap-3440	171	32	input	input	NOUN
ap-3440	171	33	trajectories	trajectory	NOUN
ap-3440	171	34	.	.	PUNCT
ap-3440	172	1	the	the	DET
ap-3440	172	2	second	second	ADJ
ap-3440	172	3	property	property	NOUN
ap-3440	172	4	is	be	AUX
ap-3440	172	5	important	important	ADJ
ap-3440	172	6	when	when	SCONJ
ap-3440	172	7	searching	search	VERB
ap-3440	172	8	for	for	ADP
ap-3440	172	9	an	an	DET
ap-3440	172	10	admissible	admissible	ADJ
ap-3440	172	11	solution	solution	NOUN
ap-3440	172	12	in	in	ADP
ap-3440	172	13	the	the	DET
ap-3440	172	14	flat	flat	ADJ
ap-3440	172	15	space	space	NOUN
ap-3440	172	16	;	;	PUNCT
ap-3440	172	17	such	such	ADJ
ap-3440	172	18	parametrization	parametrization	NOUN
ap-3440	172	19	is	be	AUX
ap-3440	172	20	more	more	ADV
ap-3440	172	21	efficient	efficient	ADJ
ap-3440	172	22	and	and	CCONJ
ap-3440	172	23	better	well	ADV
ap-3440	172	24	-	-	PUNCT
ap-3440	172	25	conditioned	condition	VERB
ap-3440	172	26	than	than	ADP
ap-3440	172	27	,	,	PUNCT
ap-3440	172	28	for	for	ADP
ap-3440	172	29	instance	instance	NOUN
ap-3440	172	30	,	,	PUNCT
ap-3440	172	31	a	a	DET
ap-3440	172	32	polynomial	polynomial	ADJ
ap-3440	172	33	parametrization	parametrization	NOUN
ap-3440	172	34	[	[	X
ap-3440	172	35	10	10	NUM
ap-3440	172	36	]	]	PUNCT
ap-3440	172	37	.	.	PUNCT
ap-3440	173	1	this	this	DET
ap-3440	173	2	choice	choice	NOUN
ap-3440	173	3	for	for	ADP
ap-3440	173	4	parameterizing	parameterize	VERB
ap-3440	173	5	the	the	DET
ap-3440	173	6	flat	flat	ADJ
ap-3440	173	7	output	output	NOUN
ap-3440	173	8	introduces	introduce	VERB
ap-3440	173	9	a	a	DET
ap-3440	173	10	new	new	ADJ
ap-3440	173	11	parameter	parameter	NOUN
ap-3440	173	12	to	to	PART
ap-3440	173	13	be	be	AUX
ap-3440	173	14	set	set	VERB
ap-3440	173	15	in	in	ADP
ap-3440	173	16	the	the	DET
ap-3440	173	17	motion	motion	NOUN
ap-3440	173	18	planning	planning	NOUN
ap-3440	173	19	algorithm	algorithm	NOUN
ap-3440	173	20	,	,	PUNCT
ap-3440	173	21	i.e.	i.e.	X
ap-3440	173	22	the	the	DET
ap-3440	173	23	number	number	NOUN
ap-3440	173	24	of	of	ADP
ap-3440	173	25	non	non	ADJ
ap-3440	173	26	-	-	ADJ
ap-3440	173	27	null	null	ADJ
ap-3440	173	28	knots	knot	NOUN
ap-3440	173	29	intervals	interval	NOUN
ap-3440	173	30	(	(	PUNCT
ap-3440	173	31	denoted	denote	VERB
ap-3440	173	32	simply	simply	ADV
ap-3440	173	33	nknots	nknot	NOUN
ap-3440	173	34	)	)	PUNCT
ap-3440	173	35	.	.	PUNCT
ap-3440	174	1	this	this	DET
ap-3440	174	2	parameter	parameter	NOUN
ap-3440	174	3	plus	plus	CCONJ
ap-3440	174	4	the	the	DET
ap-3440	174	5	l	l	NOUN
ap-3440	174	6	value	value	NOUN
ap-3440	174	7	determines	determine	VERB
ap-3440	174	8	how	how	SCONJ
ap-3440	174	9	many	many	ADJ
ap-3440	174	10	control	control	NOUN
ap-3440	174	11	points	point	NOUN
ap-3440	174	12	will	will	AUX
ap-3440	174	13	be	be	AUX
ap-3440	174	14	used	use	VERB
ap-3440	174	15	for	for	ADP
ap-3440	174	16	generating	generate	VERB
ap-3440	174	17	the	the	DET
ap-3440	174	18	b	b	NOUN
ap-3440	174	19	-	-	PUNCT
ap-3440	174	20	splines	spline	NOUN
ap-3440	174	21	.	.	PUNCT
ap-3440	175	1	3.3.3	3.3.3	NUM
ap-3440	175	2	.	.	PUNCT
ap-3440	176	1	optimization	optimization	NOUN
ap-3440	176	2	solver	solver	VERB
ap-3440	176	3	the	the	DET
ap-3440	176	4	optimization	optimization	NOUN
ap-3440	176	5	problems	problem	NOUN
ap-3440	176	6	associated	associate	VERB
ap-3440	176	7	with	with	ADP
ap-3440	176	8	finding	find	VERB
ap-3440	176	9	the	the	DET
ap-3440	176	10	solution	solution	NOUN
ap-3440	176	11	q∗(t	q∗(t	NOUN
ap-3440	176	12	)	)	PUNCT
ap-3440	176	13	,	,	PUNCT
ap-3440	176	14	u∗(t	u∗(t	NOUN
ap-3440	176	15	)	)	PUNCT
ap-3440	176	16	are	be	AUX
ap-3440	176	17	solved	solve	VERB
ap-3440	176	18	using	use	VERB
ap-3440	176	19	a	a	DET
ap-3440	176	20	numerical	numerical	ADJ
ap-3440	176	21	optimization	optimization	NOUN
ap-3440	176	22	solver	solver	NOUN
ap-3440	176	23	.	.	PUNCT
ap-3440	177	1	for	for	ADP
ap-3440	177	2	all	all	DET
ap-3440	177	3	time	time	NOUN
ap-3440	177	4	dependent	dependent	ADJ
ap-3440	177	5	constraints	constraint	NOUN
ap-3440	177	6	,	,	PUNCT
ap-3440	177	7	time	time	NOUN
ap-3440	177	8	sampling	sampling	NOUN
ap-3440	177	9	is	be	AUX
ap-3440	177	10	used	use	VERB
ap-3440	177	11	.	.	PUNCT
ap-3440	178	1	this	this	PRON
ap-3440	178	2	introduces	introduce	VERB
ap-3440	178	3	a	a	DET
ap-3440	178	4	new	new	ADJ
ap-3440	178	5	parameter	parameter	NOUN
ap-3440	178	6	into	into	ADP
ap-3440	178	7	the	the	DET
ap-3440	178	8	algorithm	algorithm	NOUN
ap-3440	178	9	:	:	PUNCT
ap-3440	178	10	time	time	NOUN
ap-3440	178	11	sampling	sample	VERB
ap-3440	178	12	for	for	ADP
ap-3440	178	13	optimization	optimization	NOUN
ap-3440	178	14	ns	ns	NUM
ap-3440	178	15	.	.	PUNCT
ap-3440	179	1	each	each	DET
ap-3440	179	2	constraint	constraint	NOUN
ap-3440	179	3	that	that	PRON
ap-3440	179	4	must	must	AUX
ap-3440	179	5	be	be	AUX
ap-3440	179	6	satisfied	satisfied	ADJ
ap-3440	179	7	∀t	∀t	PROPN
ap-3440	179	8	∈	∈	PROPN
ap-3440	179	9	(	(	PUNCT
ap-3440	179	10	τk	τk	ADP
ap-3440	179	11	,	,	PUNCT
ap-3440	179	12	τk	τk	ADV
ap-3440	179	13	+	+	CCONJ
ap-3440	179	14	tf	tf	INTJ
ap-3440	179	15	)	)	PUNCT
ap-3440	179	16	implies	imply	VERB
ap-3440	179	17	in	in	ADP
ap-3440	179	18	ns	ns	ADJ
ap-3440	179	19	equations	equation	NOUN
ap-3440	179	20	.	.	PUNCT
ap-3440	180	1	the	the	DET
ap-3440	180	2	need	need	NOUN
ap-3440	180	3	for	for	ADP
ap-3440	180	4	a	a	DET
ap-3440	180	5	solver	solver	NOUN
ap-3440	180	6	that	that	PRON
ap-3440	180	7	supports	support	VERB
ap-3440	180	8	nonlinear	nonlinear	ADJ
ap-3440	180	9	equality	equality	NOUN
ap-3440	180	10	and	and	CCONJ
ap-3440	180	11	inequality	inequality	NOUN
ap-3440	180	12	constraint	constraint	NOUN
ap-3440	180	13	restricts	restrict	VERB
ap-3440	180	14	the	the	DET
ap-3440	180	15	number	number	NOUN
ap-3440	180	16	of	of	ADP
ap-3440	180	17	numerical	numerical	ADJ
ap-3440	180	18	optimization	optimization	NOUN
ap-3440	180	19	solvers	solver	NOUN
ap-3440	180	20	to	to	PART
ap-3440	180	21	be	be	AUX
ap-3440	180	22	considered	consider	VERB
ap-3440	180	23	.	.	PUNCT
ap-3440	181	1	for	for	ADP
ap-3440	181	2	our	our	PRON
ap-3440	181	3	initial	initial	ADJ
ap-3440	181	4	implementation	implementation	NOUN
ap-3440	181	5	of	of	ADP
ap-3440	181	6	the	the	DET
ap-3440	181	7	motion	motion	NOUN
ap-3440	181	8	planning	planning	NOUN
ap-3440	181	9	algorithm	algorithm	NOUN
ap-3440	181	10	,	,	PUNCT
ap-3440	181	11	the	the	DET
ap-3440	181	12	slsqp	slsqp	PROPN
ap-3440	181	13	optimizer	optimizer	NOUN
ap-3440	181	14	stood	stand	VERB
ap-3440	181	15	out	out	ADP
ap-3440	181	16	as	as	ADP
ap-3440	181	17	a	a	DET
ap-3440	181	18	good	good	ADJ
ap-3440	181	19	option	option	NOUN
ap-3440	181	20	.	.	PUNCT
ap-3440	182	1	besides	besides	SCONJ
ap-3440	182	2	being	be	AUX
ap-3440	182	3	able	able	ADJ
ap-3440	182	4	to	to	PART
ap-3440	182	5	handle	handle	VERB
ap-3440	182	6	nonlinear	nonlinear	ADJ
ap-3440	182	7	equality	equality	NOUN
ap-3440	182	8	and	and	CCONJ
ap-3440	182	9	inequality	inequality	NOUN
ap-3440	182	10	constraint	constraint	NOUN
ap-3440	182	11	,	,	PUNCT
ap-3440	182	12	its	its	PRON
ap-3440	182	13	availability	availability	NOUN
ap-3440	182	14	in	in	ADP
ap-3440	182	15	the	the	DET
ap-3440	182	16	minimization	minimization	NOUN
ap-3440	182	17	module	module	NOUN
ap-3440	182	18	of	of	ADP
ap-3440	182	19	the	the	DET
ap-3440	182	20	open	open	ADJ
ap-3440	182	21	-	-	PUNCT
ap-3440	182	22	source	source	NOUN
ap-3440	182	23	scientific	scientific	ADJ
ap-3440	182	24	package	package	NOUN
ap-3440	182	25	scipy	scipy	NOUN
ap-3440	183	1	[	[	X
ap-3440	183	2	11	11	NUM
ap-3440	183	3	]	]	PUNCT
ap-3440	183	4	facilitates	facilitate	VERB
ap-3440	183	5	the	the	DET
ap-3440	183	6	motion	motion	NOUN
ap-3440	183	7	planner	planner	NOUN
ap-3440	183	8	implementation	implementation	NOUN
ap-3440	183	9	.	.	PUNCT
ap-3440	184	1	however	however	ADV
ap-3440	184	2	,	,	PUNCT
ap-3440	184	3	an	an	DET
ap-3440	184	4	error	error	NOUN
ap-3440	184	5	was	be	AUX
ap-3440	184	6	experienced	experience	VERB
ap-3440	184	7	using	use	VERB
ap-3440	184	8	this	this	DET
ap-3440	184	9	optimizer	optimizer	NOUN
ap-3440	184	10	,	,	PUNCT
ap-3440	184	11	which	which	PRON
ap-3440	184	12	uses	use	VERB
ap-3440	184	13	the	the	DET
ap-3440	184	14	slsqp	slsqp	PROPN
ap-3440	184	15	optimization	optimization	NOUN
ap-3440	184	16	subroutine	subroutine	NOUN
ap-3440	184	17	originally	originally	ADV
ap-3440	184	18	implemented	implement	VERB
ap-3440	184	19	by	by	ADP
ap-3440	184	20	dieter	dieter	NOUN
ap-3440	184	21	kraft	kraft	NOUN
ap-3440	185	1	[	[	X
ap-3440	185	2	12	12	NUM
ap-3440	185	3	]	]	PUNCT
ap-3440	185	4	.	.	PUNCT
ap-3440	186	1	as	as	SCONJ
ap-3440	186	2	the	the	DET
ap-3440	186	3	cost	cost	NOUN
ap-3440	186	4	function	function	NOUN
ap-3440	186	5	value	value	NOUN
ap-3440	186	6	becomes	become	VERB
ap-3440	186	7	too	too	ADV
ap-3440	186	8	high	high	ADJ
ap-3440	186	9	(	(	PUNCT
ap-3440	186	10	typically	typically	ADV
ap-3440	186	11	for	for	ADP
ap-3440	186	12	values	value	NOUN
ap-3440	186	13	greater	great	ADJ
ap-3440	186	14	than	than	ADP
ap-3440	186	15	103	103	NUM
ap-3440	186	16	)	)	PUNCT
ap-3440	186	17	,	,	PUNCT
ap-3440	186	18	the	the	DET
ap-3440	186	19	optimization	optimization	NOUN
ap-3440	186	20	algorithm	algorithm	NOUN
ap-3440	186	21	finishes	finish	VERB
ap-3440	186	22	with	with	ADP
ap-3440	186	23	the	the	DET
ap-3440	186	24	“	"	PUNCT
ap-3440	186	25	positive	positive	ADJ
ap-3440	186	26	directional	directional	ADJ
ap-3440	186	27	derivative	derivative	NOUN
ap-3440	186	28	for	for	ADP
ap-3440	186	29	linesearch	linesearch	NOUN
ap-3440	186	30	”	"	PUNCT
ap-3440	186	31	error	error	NOUN
ap-3440	186	32	message	message	NOUN
ap-3440	186	33	.	.	PUNCT
ap-3440	187	1	this	this	PRON
ap-3440	187	2	appears	appear	VERB
ap-3440	187	3	to	to	PART
ap-3440	187	4	be	be	AUX
ap-3440	187	5	a	a	DET
ap-3440	187	6	numerical	numerical	ADJ
ap-3440	187	7	stability	stability	NOUN
ap-3440	187	8	problem	problem	NOUN
ap-3440	187	9	also	also	ADV
ap-3440	187	10	experienced	experience	VERB
ap-3440	187	11	by	by	ADP
ap-3440	187	12	other	other	ADJ
ap-3440	187	13	users	user	NOUN
ap-3440	187	14	as	as	SCONJ
ap-3440	187	15	discussed	discuss	VERB
ap-3440	187	16	in	in	ADP
ap-3440	187	17	[	[	X
ap-3440	187	18	13	13	NUM
ap-3440	187	19	]	]	PUNCT
ap-3440	187	20	.	.	PUNCT
ap-3440	188	1	to	to	PART
ap-3440	188	2	work	work	VERB
ap-3440	188	3	around	around	ADP
ap-3440	188	4	this	this	DET
ap-3440	188	5	problem	problem	NOUN
ap-3440	188	6	,	,	PUNCT
ap-3440	188	7	we	we	PRON
ap-3440	188	8	proposed	propose	VERB
ap-3440	188	9	a	a	DET
ap-3440	188	10	change	change	NOUN
ap-3440	188	11	in	in	ADP
ap-3440	188	12	the	the	DET
ap-3440	188	13	objective	objective	ADJ
ap-3440	188	14	functions	function	NOUN
ap-3440	188	15	of	of	ADP
ap-3440	188	16	the	the	DET
ap-3440	188	17	receding	recede	VERB
ap-3440	188	18	horizon	horizon	NOUN
ap-3440	188	19	optimization	optimization	NOUN
ap-3440	188	20	problems	problem	NOUN
ap-3440	188	21	.	.	PUNCT
ap-3440	189	1	this	this	DET
ap-3440	189	2	change	change	NOUN
ap-3440	189	3	aims	aim	VERB
ap-3440	189	4	to	to	PART
ap-3440	189	5	keep	keep	VERB
ap-3440	189	6	the	the	DET
ap-3440	189	7	evaluated	evaluated	ADJ
ap-3440	189	8	cost	cost	NOUN
ap-3440	189	9	of	of	ADP
ap-3440	189	10	the	the	DET
ap-3440	189	11	objective	objective	ADJ
ap-3440	189	12	function	function	NOUN
ap-3440	189	13	around	around	ADP
ap-3440	189	14	a	a	DET
ap-3440	189	15	known	know	VERB
ap-3440	189	16	value	value	NOUN
ap-3440	189	17	when	when	SCONJ
ap-3440	189	18	close	close	ADJ
ap-3440	189	19	to	to	ADP
ap-3440	189	20	the	the	DET
ap-3440	189	21	optimal	optimal	ADJ
ap-3440	189	22	solution	solution	NOUN
ap-3440	189	23	,	,	PUNCT
ap-3440	189	24	instead	instead	ADV
ap-3440	189	25	of	of	ADP
ap-3440	189	26	having	have	VERB
ap-3440	189	27	a	a	DET
ap-3440	189	28	cost	cost	NOUN
ap-3440	189	29	depending	depend	VERB
ap-3440	189	30	on	on	ADP
ap-3440	189	31	the	the	DET
ap-3440	189	32	goal	goal	NOUN
ap-3440	189	33	configuration	configuration	NOUN
ap-3440	189	34	(	(	PUNCT
ap-3440	189	35	which	which	PRON
ap-3440	189	36	can	can	AUX
ap-3440	189	37	be	be	AUX
ap-3440	189	38	arbitrarily	arbitrarily	ADV
ap-3440	189	39	distant	distant	ADJ
ap-3440	189	40	from	from	ADP
ap-3440	189	41	the	the	DET
ap-3440	189	42	current	current	ADJ
ap-3440	189	43	position	position	NOUN
ap-3440	189	44	)	)	PUNCT
ap-3440	189	45	.	.	PUNCT
ap-3440	190	1	we	we	PRON
ap-3440	190	2	simply	simply	ADV
ap-3440	190	3	exchanged	exchange	VERB
ap-3440	190	4	the	the	DET
ap-3440	190	5	goal	goal	NOUN
ap-3440	190	6	position	position	NOUN
ap-3440	190	7	point	point	NOUN
ap-3440	190	8	in	in	ADP
ap-3440	190	9	the	the	DET
ap-3440	190	10	cost	cost	NOUN
ap-3440	190	11	function	function	NOUN
ap-3440	190	12	by	by	ADP
ap-3440	190	13	a	a	DET
ap-3440	190	14	new	new	ADJ
ap-3440	190	15	point	point	NOUN
ap-3440	190	16	computed	compute	VERB
ap-3440	190	17	as	as	SCONJ
ap-3440	190	18	follows	follow	VERB
ap-3440	190	19	:	:	PUNCT
ap-3440	190	20	pb	pb	ADP
ap-3440	190	21	,	,	PUNCT
ap-3440	190	22	new	new	ADJ
ap-3440	190	23	=	=	SYM
ap-3440	190	24	pb	pb	ADJ
ap-3440	190	25	,	,	PUNCT
ap-3440	190	26	goal	goal	NOUN
ap-3440	190	27	−	−	PROPN
ap-3440	190	28	pb(τs−1	pb(τs−1	NOUN
ap-3440	190	29	+	+	CCONJ
ap-3440	190	30	tc	tc	X
ap-3440	190	31	)	)	PUNCT
ap-3440	190	32	norm(pb	norm(pb	NOUN
ap-3440	190	33	,	,	PUNCT
ap-3440	190	34	goal	goal	NOUN
ap-3440	190	35	−	−	PROPN
ap-3440	190	36	pb(τs−1	pb(τs−1	NOUN
ap-3440	190	37	+	+	CCONJ
ap-3440	190	38	tc))αtpvb	tc))αtpvb	ADJ
ap-3440	190	39	,	,	PUNCT
ap-3440	190	40	max	max	PROPN
ap-3440	190	41	,	,	PUNCT
ap-3440	190	42	where	where	SCONJ
ap-3440	190	43	pb	pb	ADP
ap-3440	190	44	,	,	PUNCT
ap-3440	190	45	goal	goal	NOUN
ap-3440	190	46	and	and	CCONJ
ap-3440	190	47	pb(τs−1	pb(τs−1	NOUN
ap-3440	190	48	+	+	CCONJ
ap-3440	190	49	tc	tc	X
ap-3440	190	50	)	)	PUNCT
ap-3440	190	51	are	be	AUX
ap-3440	190	52	the	the	DET
ap-3440	190	53	positions	position	NOUN
ap-3440	190	54	associated	associate	VERB
ap-3440	190	55	with	with	ADP
ap-3440	190	56	configurations	configuration	NOUN
ap-3440	190	57	qb	qb	PROPN
ap-3440	190	58	,	,	PUNCT
ap-3440	190	59	goal	goal	NOUN
ap-3440	190	60	and	and	CCONJ
ap-3440	190	61	qb(τs−1	qb(τs−1	NUM
ap-3440	190	62	+	+	NOUN
ap-3440	190	63	tc	tc	NOUN
ap-3440	190	64	)	)	PUNCT
ap-3440	190	65	respectively	respectively	ADV
ap-3440	190	66	,	,	PUNCT
ap-3440	190	67	α	α	PROPN
ap-3440	190	68	|	|	ADV
ap-3440	190	69	α	α	PRON
ap-3440	190	70	≥	≥	NUM
ap-3440	190	71	1	1	NUM
ap-3440	190	72	,	,	PUNCT
ap-3440	190	73	α	α	PROPN
ap-3440	190	74	∈	∈	NOUN
ap-3440	190	75	r	r	NOUN
ap-3440	190	76	is	be	AUX
ap-3440	190	77	a	a	DET
ap-3440	190	78	constant	constant	ADJ
ap-3440	190	79	for	for	ADP
ap-3440	190	80	controlling	control	VERB
ap-3440	190	81	how	how	SCONJ
ap-3440	190	82	far	far	ADV
ap-3440	190	83	from	from	ADP
ap-3440	190	84	the	the	DET
ap-3440	190	85	current	current	ADJ
ap-3440	190	86	position	position	NOUN
ap-3440	190	87	the	the	DET
ap-3440	190	88	new	new	ADJ
ap-3440	190	89	point	point	NOUN
ap-3440	190	90	is	be	AUX
ap-3440	190	91	placed	place	VERB
ap-3440	190	92	,	,	PUNCT
ap-3440	190	93	the	the	DET
ap-3440	190	94	product	product	NOUN
ap-3440	190	95	tpvb	tpvb	NOUN
ap-3440	190	96	,	,	PUNCT
ap-3440	190	97	max	max	PROPN
ap-3440	190	98	is	be	AUX
ap-3440	190	99	the	the	DET
ap-3440	190	100	maximum	maximum	ADJ
ap-3440	190	101	possible	possible	ADJ
ap-3440	190	102	distance	distance	NOUN
ap-3440	190	103	covered	cover	VERB
ap-3440	190	104	by	by	ADP
ap-3440	190	105	rb	rb	NOUN
ap-3440	190	106	during	during	ADP
ap-3440	190	107	a	a	DET
ap-3440	190	108	planning	planning	NOUN
ap-3440	190	109	horizon	horizon	NOUN
ap-3440	190	110	,	,	PUNCT
ap-3440	190	111	and	and	CCONJ
ap-3440	190	112	s	s	AUX
ap-3440	190	113	|	|	NOUN
ap-3440	190	114	s	s	X
ap-3440	190	115	∈	∈	PROPN
ap-3440	191	1	[	[	X
ap-3440	191	2	0	0	NUM
ap-3440	191	3	,	,	PUNCT
ap-3440	191	4	k	k	NOUN
ap-3440	191	5	)	)	PUNCT
ap-3440	191	6	,	,	PUNCT
ap-3440	191	7	s	s	VERB
ap-3440	191	8	∈	∈	PROPN
ap-3440	191	9	n	n	PRON
ap-3440	191	10	is	be	AUX
ap-3440	191	11	the	the	DET
ap-3440	191	12	current	current	ADJ
ap-3440	191	13	receding	recede	VERB
ap-3440	191	14	horizon	horizon	PROPN
ap-3440	191	15	problem	problem	PROPN
ap-3440	191	16	index	index	NOUN
ap-3440	191	17	.	.	PUNCT
ap-3440	192	1	4	4	X
ap-3440	192	2	.	.	X
ap-3440	192	3	simulation	simulation	NOUN
ap-3440	192	4	results	result	VERB
ap-3440	192	5	the	the	DET
ap-3440	192	6	results	result	NOUN
ap-3440	192	7	and	and	CCONJ
ap-3440	192	8	their	their	PRON
ap-3440	192	9	analysis	analysis	NOUN
ap-3440	192	10	for	for	SCONJ
ap-3440	192	11	the	the	DET
ap-3440	192	12	motion	motion	NOUN
ap-3440	192	13	planner	planner	NOUN
ap-3440	192	14	presented	present	VERB
ap-3440	192	15	in	in	ADP
ap-3440	192	16	the	the	DET
ap-3440	192	17	previous	previous	ADJ
ap-3440	192	18	sections	section	NOUN
ap-3440	192	19	are	be	AUX
ap-3440	192	20	presented	present	VERB
ap-3440	192	21	here	here	ADV
ap-3440	192	22	.	.	PUNCT
ap-3440	193	1	the	the	DET
ap-3440	193	2	trajectory	trajectory	NOUN
ap-3440	193	3	and	and	CCONJ
ap-3440	193	4	the	the	DET
ap-3440	193	5	velocities	velocity	NOUN
ap-3440	193	6	shown	show	VERB
ap-3440	193	7	in	in	ADP
ap-3440	193	8	figures	figure	NOUN
ap-3440	193	9	2	2	NUM
ap-3440	193	10	and	and	CCONJ
ap-3440	193	11	3	3	NUM
ap-3440	193	12	illustrate	illustrate	VERB
ap-3440	193	13	a	a	DET
ap-3440	193	14	motion	motion	NOUN
ap-3440	193	15	planning	planning	NOUN
ap-3440	193	16	solution	solution	NOUN
ap-3440	193	17	found	find	VERB
ap-3440	193	18	for	for	ADP
ap-3440	193	19	a	a	DET
ap-3440	193	20	team	team	NOUN
ap-3440	193	21	of	of	ADP
ap-3440	193	22	three	three	NUM
ap-3440	193	23	robots	robot	NOUN
ap-3440	193	24	.	.	PUNCT
ap-3440	194	1	they	they	PRON
ap-3440	194	2	plan	plan	VERB
ap-3440	194	3	their	their	PRON
ap-3440	194	4	motion	motion	NOUN
ap-3440	194	5	in	in	ADP
ap-3440	194	6	an	an	DET
ap-3440	194	7	environment	environment	NOUN
ap-3440	194	8	where	where	SCONJ
ap-3440	194	9	three	three	NUM
ap-3440	194	10	static	static	ADJ
ap-3440	194	11	obstacles	obstacle	NOUN
ap-3440	194	12	are	be	AUX
ap-3440	194	13	present	present	ADJ
ap-3440	194	14	.	.	PUNCT
ap-3440	195	1	each	each	DET
ap-3440	195	2	point	point	NOUN
ap-3440	195	3	along	along	ADP
ap-3440	195	4	the	the	DET
ap-3440	195	5	trajectory	trajectory	NOUN
ap-3440	195	6	line	line	NOUN
ap-3440	195	7	of	of	ADP
ap-3440	195	8	a	a	DET
ap-3440	195	9	robot	robot	NOUN
ap-3440	195	10	represents	represent	VERB
ap-3440	195	11	the	the	DET
ap-3440	195	12	beginning	beginning	NOUN
ap-3440	195	13	of	of	ADP
ap-3440	195	14	a	a	DET
ap-3440	195	15	tc	tc	NOUN
ap-3440	195	16	update	update	NOUN
ap-3440	195	17	/	/	SYM
ap-3440	195	18	computation	computation	NOUN
ap-3440	195	19	horizon	horizon	NOUN
ap-3440	195	20	.	.	PUNCT
ap-3440	196	1	these	these	DET
ap-3440	196	2	figures	figure	NOUN
ap-3440	196	3	show	show	VERB
ap-3440	196	4	the	the	DET
ap-3440	196	5	planner	planner	NOUN
ap-3440	196	6	generates	generate	VERB
ap-3440	196	7	the	the	DET
ap-3440	196	8	configuration	configuration	NOUN
ap-3440	196	9	and	and	CCONJ
ap-3440	196	10	the	the	DET
ap-3440	196	11	input	input	NOUN
ap-3440	196	12	trajectories	trajectory	NOUN
ap-3440	196	13	satisfying	satisfy	VERB
ap-3440	196	14	the	the	DET
ap-3440	196	15	constraints	constraint	NOUN
ap-3440	196	16	associated	associate	VERB
ap-3440	196	17	with	with	ADP
ap-3440	196	18	the	the	DET
ap-3440	196	19	goal	goal	NOUN
ap-3440	196	20	states	state	NOUN
ap-3440	196	21	.	.	PUNCT
ap-3440	197	1	in	in	ADP
ap-3440	197	2	particular	particular	ADJ
ap-3440	197	3	,	,	PUNCT
ap-3440	197	4	in	in	ADP
ap-3440	197	5	figure	figure	NOUN
ap-3440	197	6	2	2	NUM
ap-3440	197	7	,	,	PUNCT
ap-3440	197	8	the	the	DET
ap-3440	197	9	resulting	result	VERB
ap-3440	197	10	plan	plan	NOUN
ap-3440	197	11	is	be	AUX
ap-3440	197	12	computed	compute	VERB
ap-3440	197	13	ignoring	ignore	VERB
ap-3440	197	14	coupling	couple	VERB
ap-3440	197	15	constraints	constraint	NOUN
ap-3440	197	16	(	(	PUNCT
ap-3440	197	17	step	step	NOUN
ap-3440	197	18	2	2	NUM
ap-3440	197	19	is	be	AUX
ap-3440	197	20	never	never	ADV
ap-3440	197	21	performed	perform	VERB
ap-3440	197	22	)	)	PUNCT
ap-3440	197	23	and	and	CCONJ
ap-3440	197	24	consequently	consequently	ADV
ap-3440	197	25	two	two	NUM
ap-3440	197	26	points	point	NOUN
ap-3440	197	27	of	of	ADP
ap-3440	197	28	collision	collision	NOUN
ap-3440	197	29	occur	occur	VERB
ap-3440	197	30	.	.	PUNCT
ap-3440	198	1	a	a	DET
ap-3440	198	2	collision	collision	NOUN
ap-3440	198	3	-	-	PUNCT
ap-3440	198	4	free	free	ADJ
ap-3440	198	5	solution	solution	NOUN
ap-3440	198	6	is	be	AUX
ap-3440	198	7	presented	present	VERB
ap-3440	198	8	in	in	ADP
ap-3440	198	9	figure	figure	NOUN
ap-3440	198	10	3	3	NUM
ap-3440	198	11	.	.	PUNCT
ap-3440	198	12	specially	specially	ADV
ap-3440	198	13	near	near	ADP
ap-3440	198	14	the	the	DET
ap-3440	198	15	regions	region	NOUN
ap-3440	198	16	where	where	SCONJ
ap-3440	198	17	collisions	collision	NOUN
ap-3440	198	18	occurred	occur	VERB
ap-3440	198	19	,	,	PUNCT
ap-3440	198	20	a	a	DET
ap-3440	198	21	change	change	NOUN
ap-3440	198	22	in	in	ADP
ap-3440	198	23	the	the	DET
ap-3440	198	24	trajectory	trajectory	NOUN
ap-3440	198	25	is	be	AUX
ap-3440	198	26	present	present	ADJ
ap-3440	198	27	from	from	ADP
ap-3440	198	28	figure	figure	NOUN
ap-3440	198	29	2	2	NUM
ap-3440	198	30	to	to	PART
ap-3440	198	31	figure	figure	VERB
ap-3440	198	32	3	3	NUM
ap-3440	198	33	to	to	PART
ap-3440	198	34	avoid	avoid	VERB
ap-3440	198	35	a	a	DET
ap-3440	198	36	collision	collision	NOUN
ap-3440	198	37	.	.	PUNCT
ap-3440	199	1	at	at	ADP
ap-3440	199	2	the	the	DET
ap-3440	199	3	same	same	ADJ
ap-3440	199	4	time	time	NOUN
ap-3440	199	5	,	,	PUNCT
ap-3440	199	6	changes	change	NOUN
ap-3440	199	7	in	in	ADP
ap-3440	199	8	the	the	DET
ap-3440	199	9	(	(	PUNCT
ap-3440	199	10	linear	linear	ADJ
ap-3440	199	11	)	)	PUNCT
ap-3440	199	12	velocities	velocity	NOUN
ap-3440	199	13	of	of	ADP
ap-3440	199	14	the	the	DET
ap-3440	199	15	robots	robot	NOUN
ap-3440	199	16	across	across	ADP
ap-3440	199	17	the	the	DET
ap-3440	199	18	charts	chart	NOUN
ap-3440	199	19	in	in	ADP
ap-3440	199	20	both	both	DET
ap-3440	199	21	figures	figure	NOUN
ap-3440	199	22	can	can	AUX
ap-3440	199	23	be	be	AUX
ap-3440	199	24	observed	observe	VERB
ap-3440	199	25	.	.	PUNCT
ap-3440	200	1	finally	finally	ADV
ap-3440	200	2	,	,	PUNCT
ap-3440	200	3	the	the	DET
ap-3440	200	4	charts	chart	NOUN
ap-3440	200	5	at	at	ADP
ap-3440	200	6	the	the	DET
ap-3440	200	7	bottom	bottom	NOUN
ap-3440	200	8	show	show	NOUN
ap-3440	200	9	that	that	SCONJ
ap-3440	200	10	the	the	DET
ap-3440	200	11	collisions	collision	NOUN
ap-3440	200	12	were	be	AUX
ap-3440	200	13	indeed	indeed	ADV
ap-3440	200	14	avoided	avoid	VERB
ap-3440	200	15	:	:	PUNCT
ap-3440	200	16	the	the	DET
ap-3440	200	17	interrobot	interrobot	ADJ
ap-3440	200	18	distances	distance	NOUN
ap-3440	200	19	in	in	ADP
ap-3440	200	20	figure	figure	NOUN
ap-3440	200	21	3	3	NUM
ap-3440	200	22	are	be	AUX
ap-3440	200	23	greater	great	ADJ
ap-3440	200	24	than	than	ADP
ap-3440	200	25	or	or	CCONJ
ap-3440	200	26	equal	equal	ADJ
ap-3440	200	27	to	to	ADP
ap-3440	200	28	zero	zero	NUM
ap-3440	200	29	all	all	PRON
ap-3440	200	30	along	along	ADP
ap-3440	200	31	the	the	DET
ap-3440	200	32	simulation	simulation	NOUN
ap-3440	200	33	.	.	PUNCT
ap-3440	201	1	to	to	PART
ap-3440	201	2	perform	perform	VERB
ap-3440	201	3	these	these	DET
ap-3440	201	4	two	two	NUM
ap-3440	201	5	previous	previous	ADJ
ap-3440	201	6	simulations	simulation	NOUN
ap-3440	201	7	,	,	PUNCT
ap-3440	201	8	a	a	DET
ap-3440	201	9	reasonable	reasonable	ADJ
ap-3440	201	10	number	number	NOUN
ap-3440	201	11	of	of	ADP
ap-3440	201	12	parameters	parameter	NOUN
ap-3440	201	13	have	have	VERB
ap-3440	201	14	to	to	PART
ap-3440	201	15	be	be	AUX
ap-3440	201	16	set	set	VERB
ap-3440	201	17	.	.	PUNCT
ap-3440	202	1	these	these	DET
ap-3440	202	2	parameters	parameter	NOUN
ap-3440	202	3	can	can	AUX
ap-3440	202	4	be	be	AUX
ap-3440	202	5	categorized	categorize	VERB
ap-3440	202	6	into	into	ADP
ap-3440	202	7	two	two	NUM
ap-3440	202	8	groups	group	NOUN
ap-3440	202	9	:	:	PUNCT
ap-3440	202	10	algorithm	algorithm	NOUN
ap-3440	202	11	related	relate	VERB
ap-3440	202	12	parameters	parameter	NOUN
ap-3440	202	13	and	and	CCONJ
ap-3440	202	14	optimization	optimization	NOUN
ap-3440	202	15	solver	solver	VERB
ap-3440	202	16	related	relate	VERB
ap-3440	202	17	parametrs	parametrs	NOUN
ap-3440	202	18	.	.	PUNCT
ap-3440	203	1	among	among	ADP
ap-3440	203	2	the	the	DET
ap-3440	203	3	algorithm	algorithm	NOUN
ap-3440	203	4	related	relate	VERB
ap-3440	203	5	group	group	NOUN
ap-3440	203	6	,	,	PUNCT
ap-3440	203	7	the	the	DET
ap-3440	203	8	most	most	ADV
ap-3440	203	9	important	important	ADJ
ap-3440	203	10	parametrs	parametrs	NOUN
ap-3440	203	11	are	be	AUX
ap-3440	203	12	:	:	PUNCT
ap-3440	203	13	•	•	ADP
ap-3440	203	14	the	the	DET
ap-3440	203	15	number	number	NOUN
ap-3440	203	16	of	of	ADP
ap-3440	203	17	samples	sample	NOUN
ap-3440	203	18	for	for	ADP
ap-3440	203	19	time	time	NOUN
ap-3440	203	20	discretization	discretization	NOUN
ap-3440	203	21	(	(	PUNCT
ap-3440	203	22	ns	ns	NUM
ap-3440	203	23	)	)	PUNCT
ap-3440	203	24	;	;	PUNCT
ap-3440	203	25	•	•	NOUN
ap-3440	203	26	the	the	DET
ap-3440	203	27	number	number	NOUN
ap-3440	203	28	of	of	ADP
ap-3440	203	29	internal	internal	ADJ
ap-3440	203	30	knots	knot	NOUN
ap-3440	203	31	for	for	ADP
ap-3440	203	32	the	the	DET
ap-3440	203	33	b	b	PROPN
ap-3440	203	34	-	-	PUNCT
ap-3440	203	35	spline	spline	NOUN
ap-3440	203	36	curves	curve	NOUN
ap-3440	203	37	(	(	PUNCT
ap-3440	203	38	nknots	nknot	NOUN
ap-3440	203	39	)	)	PUNCT
ap-3440	203	40	;	;	PUNCT
ap-3440	203	41	•	•	ADP
ap-3440	203	42	the	the	DET
ap-3440	203	43	planning	planning	NOUN
ap-3440	203	44	horizon	horizon	NOUN
ap-3440	203	45	for	for	ADP
ap-3440	203	46	the	the	DET
ap-3440	203	47	sliding	slide	VERB
ap-3440	203	48	window	window	NOUN
ap-3440	203	49	(	(	PUNCT
ap-3440	203	50	tp	tp	NOUN
ap-3440	203	51	)	)	PUNCT
ap-3440	203	52	;	;	PUNCT
ap-3440	203	53	•	•	X
ap-3440	203	54	the	the	DET
ap-3440	203	55	computation	computation	NOUN
ap-3440	203	56	horizon	horizon	NOUN
ap-3440	203	57	(	(	PUNCT
ap-3440	203	58	tc	tc	NOUN
ap-3440	203	59	)	)	PUNCT
ap-3440	203	60	.	.	PUNCT
ap-3440	204	1	•	•	NOUN
ap-3440	204	2	the	the	DET
ap-3440	204	3	detection	detection	NOUN
ap-3440	204	4	radius	radius	NOUN
ap-3440	204	5	of	of	ADP
ap-3440	204	6	the	the	DET
ap-3440	204	7	robot	robot	NOUN
ap-3440	204	8	(	(	PUNCT
ap-3440	204	9	dsen	dsen	ADJ
ap-3440	204	10	)	)	PUNCT
ap-3440	204	11	.	.	PUNCT
ap-3440	205	1	the	the	DET
ap-3440	205	2	optimization	optimization	NOUN
ap-3440	205	3	related	relate	VERB
ap-3440	205	4	parameters	parameter	NOUN
ap-3440	205	5	depend	depend	VERB
ap-3440	205	6	on	on	ADP
ap-3440	205	7	the	the	DET
ap-3440	205	8	numeric	numeric	ADJ
ap-3440	205	9	optimization	optimization	NOUN
ap-3440	205	10	solver	solver	NOUN
ap-3440	205	11	adopted	adopt	VERB
ap-3440	205	12	.	.	PUNCT
ap-3440	206	1	however	however	ADV
ap-3440	206	2	,	,	PUNCT
ap-3440	206	3	since	since	SCONJ
ap-3440	206	4	most	most	ADJ
ap-3440	206	5	of	of	ADP
ap-3440	206	6	them	they	PRON
ap-3440	206	7	are	be	AUX
ap-3440	206	8	iterative	iterative	ADJ
ap-3440	206	9	methods	method	NOUN
ap-3440	206	10	,	,	PUNCT
ap-3440	206	11	it	it	PRON
ap-3440	206	12	is	be	AUX
ap-3440	206	13	common	common	ADJ
ap-3440	206	14	to	to	PART
ap-3440	206	15	have	have	VERB
ap-3440	206	16	at	at	ADV
ap-3440	206	17	least	least	ADJ
ap-3440	206	18	a	a	DET
ap-3440	206	19	maximum	maximum	ADJ
ap-3440	206	20	number	number	NOUN
ap-3440	206	21	of	of	ADP
ap-3440	206	22	iterations	iteration	NOUN
ap-3440	206	23	parameter	parameter	NOUN
ap-3440	206	24	and	and	CCONJ
ap-3440	206	25	a	a	DET
ap-3440	206	26	stop	stop	NOUN
ap-3440	206	27	condition	condition	NOUN
ap-3440	206	28	parameter	parameter	NOUN
ap-3440	206	29	.	.	PUNCT
ap-3440	207	1	this	this	DET
ap-3440	207	2	considerable	considerable	ADJ
ap-3440	207	3	number	number	NOUN
ap-3440	207	4	of	of	ADP
ap-3440	207	5	parameters	parameter	NOUN
ap-3440	207	6	makes	make	VERB
ap-3440	207	7	the	the	DET
ap-3440	207	8	search	search	NOUN
ap-3440	207	9	for	for	ADP
ap-3440	207	10	a	a	DET
ap-3440	207	11	satisfactory	satisfactory	ADJ
ap-3440	207	12	set	set	NOUN
ap-3440	207	13	of	of	ADP
ap-3440	207	14	parameter	parameter	NOUN
ap-3440	207	15	values	value	NOUN
ap-3440	207	16	a	a	DET
ap-3440	207	17	laborious	laborious	ADJ
ap-3440	207	18	task	task	NOUN
ap-3440	207	19	.	.	PUNCT
ap-3440	208	1	14	14	NUM
ap-3440	208	2	vol	vol	NOUN
ap-3440	208	3	.	.	PUNCT
ap-3440	209	1	56	56	NUM
ap-3440	209	2	no	no	NOUN
ap-3440	209	3	.	.	PUNCT
ap-3440	210	1	1/2016	1/2016	NUM
ap-3440	210	2	trajectory	trajectory	NOUN
ap-3440	210	3	generation	generation	NOUN
ap-3440	210	4	approach	approach	NOUN
ap-3440	210	5	1	1	NUM
ap-3440	210	6	2	2	NUM
ap-3440	210	7	3	3	NUM
ap-3440	210	8	4	4	NUM
ap-3440	210	9	5	5	NUM
ap-3440	210	10	6	6	NUM
ap-3440	210	11	7	7	NUM
ap-3440	210	12	8	8	NUM
ap-3440	210	13	x(m	x(m	PROPN
ap-3440	210	14	)	)	PUNCT
ap-3440	210	15	0	0	NUM
ap-3440	210	16	1	1	NUM
ap-3440	210	17	2	2	NUM
ap-3440	210	18	3	3	NUM
ap-3440	210	19	4	4	NUM
ap-3440	210	20	5	5	NUM
ap-3440	210	21	y	y	PROPN
ap-3440	210	22	(	(	PUNCT
ap-3440	210	23	m	m	NOUN
ap-3440	210	24	)	)	PUNCT
ap-3440	210	25	collision	collision	NOUN
ap-3440	210	26	collision	collision	NOUN
ap-3440	210	27	generated	generate	VERB
ap-3440	210	28	trajectory	trajectory	NOUN
ap-3440	210	29	r0	r0	NOUN
ap-3440	210	30	r1	r1	PROPN
ap-3440	210	31	r2	r2	PROPN
ap-3440	210	32	0	0	NUM
ap-3440	210	33	1	1	NUM
ap-3440	210	34	2	2	NUM
ap-3440	210	35	3	3	NUM
ap-3440	210	36	4	4	NUM
ap-3440	210	37	5	5	NUM
ap-3440	210	38	6	6	NUM
ap-3440	210	39	7	7	NUM
ap-3440	210	40	8	8	NUM
ap-3440	210	41	9	9	NUM
ap-3440	210	42	time(s	time(s	NOUN
ap-3440	210	43	)	)	PUNCT
ap-3440	210	44	0.6	0.6	NUM
ap-3440	210	45	0.7	0.7	NUM
ap-3440	210	46	0.8	0.8	NUM
ap-3440	210	47	0.9	0.9	NUM
ap-3440	210	48	1.0	1.0	NUM
ap-3440	210	49	1.1	1.1	NUM
ap-3440	210	50	v	v	NOUN
ap-3440	210	51	(	(	PUNCT
ap-3440	210	52	m	m	PROPN
ap-3440	210	53	/	/	SYM
ap-3440	210	54	s	s	NOUN
ap-3440	210	55	)	)	PUNCT
ap-3440	210	56	linear	linear	ADJ
ap-3440	210	57	speed	speed	NOUN
ap-3440	210	58	r0	r0	NOUN
ap-3440	210	59	r1	r1	NOUN
ap-3440	210	60	r2	r2	PROPN
ap-3440	210	61	0	0	NUM
ap-3440	210	62	1	1	NUM
ap-3440	210	63	2	2	NUM
ap-3440	210	64	3	3	NUM
ap-3440	210	65	4	4	NUM
ap-3440	210	66	5	5	NUM
ap-3440	210	67	6	6	NUM
ap-3440	210	68	7	7	NUM
ap-3440	210	69	8	8	NUM
ap-3440	210	70	time	time	NOUN
ap-3440	210	71	(	(	PUNCT
ap-3440	210	72	s	s	NOUN
ap-3440	210	73	)	)	PUNCT
ap-3440	210	74	1	1	NUM
ap-3440	210	75	0	0	NUM
ap-3440	210	76	1	1	NUM
ap-3440	210	77	2	2	NUM
ap-3440	210	78	3	3	NUM
ap-3440	210	79	4	4	NUM
ap-3440	210	80	5	5	NUM
ap-3440	210	81	in	in	ADP
ap-3440	210	82	te	te	PROPN
ap-3440	210	83	rro	rro	PROPN
ap-3440	210	84	b	b	PROPN
ap-3440	210	85	o	o	X
ap-3440	210	86	t	t	PROPN
ap-3440	210	87	d	d	NOUN
ap-3440	210	88	is	be	AUX
ap-3440	210	89	ta	ta	PROPN
ap-3440	210	90	n	n	ADV
ap-3440	210	91	ce	ce	PROPN
ap-3440	210	92	(	(	PUNCT
ap-3440	210	93	m	m	PROPN
ap-3440	210	94	)	)	PUNCT
ap-3440	210	95	inter	inter	ADJ
ap-3440	210	96	-	-	NOUN
ap-3440	210	97	robot	robot	ADJ
ap-3440	210	98	distances	distance	NOUN
ap-3440	210	99	throughout	throughout	ADP
ap-3440	210	100	simulation	simulation	NOUN
ap-3440	210	101	d(r0	d(r0	NOUN
ap-3440	210	102	,	,	PUNCT
ap-3440	210	103	r1	r1	PROPN
ap-3440	210	104	)	)	PUNCT
ap-3440	210	105	−ρ0−ρ1	−ρ0−ρ1	PROPN
ap-3440	210	106	d(r0	d(r0	NOUN
ap-3440	210	107	,	,	PUNCT
ap-3440	210	108	r2	r2	PROPN
ap-3440	210	109	)	)	PUNCT
ap-3440	210	110	−ρ0−ρ2	−ρ0−ρ2	NOUN
ap-3440	210	111	d(r1	d(r1	NOUN
ap-3440	210	112	,	,	PUNCT
ap-3440	210	113	r2	r2	PROPN
ap-3440	210	114	)	)	PUNCT
ap-3440	211	1	−ρ1−ρ2	−ρ1−ρ2	NOUN
ap-3440	211	2	figure	figure	NOUN
ap-3440	211	3	2	2	NUM
ap-3440	211	4	.	.	NOUN
ap-3440	211	5	motion	motion	NOUN
ap-3440	211	6	planning	planning	NOUN
ap-3440	211	7	solution	solution	NOUN
ap-3440	211	8	without	without	ADP
ap-3440	211	9	collision	collision	NOUN
ap-3440	211	10	handling	handling	NOUN
ap-3440	211	11	.	.	PUNCT
ap-3440	212	1	therefore	therefore	ADV
ap-3440	212	2	,	,	PUNCT
ap-3440	212	3	it	it	PRON
ap-3440	212	4	is	be	AUX
ap-3440	212	5	important	important	ADJ
ap-3440	212	6	to	to	PART
ap-3440	212	7	have	have	VERB
ap-3440	212	8	a	a	DET
ap-3440	212	9	better	well	ADJ
ap-3440	212	10	understanding	understanding	NOUN
ap-3440	212	11	of	of	ADP
ap-3440	212	12	how	how	SCONJ
ap-3440	212	13	some	some	DET
ap-3440	212	14	performance	performance	NOUN
ap-3440	212	15	criteria	criterion	NOUN
ap-3440	212	16	are	be	AUX
ap-3440	212	17	impacted	impact	VERB
ap-3440	212	18	by	by	ADP
ap-3440	212	19	the	the	DET
ap-3440	212	20	changes	change	NOUN
ap-3440	212	21	in	in	ADP
ap-3440	212	22	algorithm	algorithm	NOUN
ap-3440	212	23	parameters	parameter	NOUN
ap-3440	212	24	.	.	PUNCT
ap-3440	213	1	4.1	4.1	NUM
ap-3440	213	2	.	.	PUNCT
ap-3440	213	3	impact	impact	NOUN
ap-3440	213	4	of	of	ADP
ap-3440	213	5	parameters	parameter	NOUN
ap-3440	213	6	three	three	NUM
ap-3440	213	7	criteria	criterion	NOUN
ap-3440	213	8	considered	consider	VERB
ap-3440	213	9	important	important	ADJ
ap-3440	213	10	for	for	ADP
ap-3440	213	11	validating	validate	VERB
ap-3440	213	12	this	this	DET
ap-3440	213	13	method	method	NOUN
ap-3440	213	14	were	be	AUX
ap-3440	213	15	studied	study	VERB
ap-3440	213	16	:	:	PUNCT
ap-3440	213	17	the	the	DET
ap-3440	213	18	maximum	maximum	ADJ
ap-3440	213	19	computation	computation	NOUN
ap-3440	213	20	time	time	NOUN
ap-3440	213	21	during	during	ADP
ap-3440	213	22	the	the	DET
ap-3440	213	23	planning	planning	NOUN
ap-3440	213	24	over	over	ADP
ap-3440	213	25	the	the	DET
ap-3440	213	26	computation	computation	NOUN
ap-3440	213	27	horizon	horizon	NOUN
ap-3440	213	28	(	(	PUNCT
ap-3440	213	29	mct	mct	PROPN
ap-3440	213	30	/	/	SYM
ap-3440	213	31	tc	tc	NOUN
ap-3440	213	32	ratio	ratio	NOUN
ap-3440	213	33	)	)	PUNCT
ap-3440	213	34	;	;	PUNCT
ap-3440	213	35	the	the	DET
ap-3440	213	36	obstacle	obstacle	NOUN
ap-3440	213	37	penetration	penetration	NOUN
ap-3440	213	38	area	area	NOUN
ap-3440	213	39	(	(	PUNCT
ap-3440	213	40	p	p	NOUN
ap-3440	213	41	)	)	PUNCT
ap-3440	213	42	;	;	PUNCT
ap-3440	213	43	the	the	DET
ap-3440	213	44	travel	travel	NOUN
ap-3440	213	45	time	time	NOUN
ap-3440	213	46	(	(	PUNCT
ap-3440	213	47	ttot	ttot	NOUN
ap-3440	213	48	)	)	PUNCT
ap-3440	213	49	.	.	PUNCT
ap-3440	214	1	different	different	ADJ
ap-3440	214	2	parameters	parameter	NOUN
ap-3440	214	3	configuration	configuration	NOUN
ap-3440	214	4	and	and	CCONJ
ap-3440	214	5	scenarios	scenario	NOUN
ap-3440	214	6	where	where	SCONJ
ap-3440	214	7	tested	test	VERB
ap-3440	214	8	in	in	ADP
ap-3440	214	9	order	order	NOUN
ap-3440	214	10	to	to	PART
ap-3440	214	11	highlight	highlight	VERB
ap-3440	214	12	how	how	SCONJ
ap-3440	214	13	they	they	PRON
ap-3440	214	14	influence	influence	VERB
ap-3440	214	15	those	those	DET
ap-3440	214	16	criteria	criterion	NOUN
ap-3440	214	17	.	.	PUNCT
ap-3440	215	1	4.1.1	4.1.1	X
ap-3440	215	2	.	.	PUNCT
ap-3440	216	1	maximum	maximum	ADJ
ap-3440	216	2	computation	computation	NOUN
ap-3440	216	3	time	time	NOUN
ap-3440	216	4	over	over	ADP
ap-3440	216	5	computation	computation	NOUN
ap-3440	216	6	horizon	horizon	PROPN
ap-3440	216	7	mct	mct	PROPN
ap-3440	216	8	/	/	SYM
ap-3440	216	9	tc	tc	VERB
ap-3440	216	10	the	the	DET
ap-3440	216	11	significance	significance	NOUN
ap-3440	216	12	of	of	ADP
ap-3440	216	13	this	this	DET
ap-3440	216	14	criterion	criterion	NOUN
ap-3440	216	15	lies	lie	VERB
ap-3440	216	16	in	in	ADP
ap-3440	216	17	the	the	DET
ap-3440	216	18	need	need	NOUN
ap-3440	216	19	to	to	PART
ap-3440	216	20	assure	assure	VERB
ap-3440	216	21	the	the	DET
ap-3440	216	22	real	real	ADJ
ap-3440	216	23	-	-	PUNCT
ap-3440	216	24	time	time	NOUN
ap-3440	216	25	property	property	NOUN
ap-3440	216	26	of	of	ADP
ap-3440	216	27	this	this	DET
ap-3440	216	28	algorithm	algorithm	NOUN
ap-3440	216	29	.	.	PUNCT
ap-3440	217	1	in	in	ADP
ap-3440	217	2	a	a	DET
ap-3440	217	3	real	real	ADJ
ap-3440	217	4	implementation	implementation	NOUN
ap-3440	217	5	of	of	ADP
ap-3440	217	6	this	this	DET
ap-3440	217	7	approach	approach	NOUN
ap-3440	217	8	the	the	DET
ap-3440	217	9	computation	computation	NOUN
ap-3440	217	10	horizon	horizon	NOUN
ap-3440	217	11	would	would	AUX
ap-3440	217	12	always	always	ADV
ap-3440	217	13	have	have	VERB
ap-3440	217	14	to	to	PART
ap-3440	217	15	be	be	AUX
ap-3440	217	16	superior	superior	ADJ
ap-3440	217	17	to	to	ADP
ap-3440	217	18	the	the	DET
ap-3440	217	19	maximum	maximum	ADJ
ap-3440	217	20	time	time	NOUN
ap-3440	217	21	taken	take	VERB
ap-3440	217	22	to	to	PART
ap-3440	217	23	compute	compute	VERB
ap-3440	217	24	a	a	DET
ap-3440	217	25	plan	plan	NOUN
ap-3440	217	26	.	.	PUNCT
ap-3440	218	1	1	1	NUM
ap-3440	218	2	2	2	NUM
ap-3440	218	3	3	3	NUM
ap-3440	218	4	4	4	NUM
ap-3440	218	5	5	5	NUM
ap-3440	218	6	6	6	NUM
ap-3440	218	7	7	7	NUM
ap-3440	218	8	8	8	NUM
ap-3440	218	9	x(m	x(m	PROPN
ap-3440	218	10	)	)	PUNCT
ap-3440	218	11	0	0	NUM
ap-3440	218	12	1	1	NUM
ap-3440	218	13	2	2	NUM
ap-3440	218	14	3	3	NUM
ap-3440	218	15	4	4	NUM
ap-3440	218	16	5	5	NUM
ap-3440	218	17	y	y	PROPN
ap-3440	218	18	(	(	PUNCT
ap-3440	218	19	m	m	PROPN
ap-3440	218	20	)	)	PUNCT
ap-3440	218	21	generated	generate	VERB
ap-3440	218	22	trajectory	trajectory	NOUN
ap-3440	218	23	r0	r0	NOUN
ap-3440	218	24	r1	r1	PROPN
ap-3440	218	25	r2	r2	PROPN
ap-3440	218	26	0	0	NUM
ap-3440	218	27	1	1	NUM
ap-3440	218	28	2	2	NUM
ap-3440	218	29	3	3	NUM
ap-3440	218	30	4	4	NUM
ap-3440	218	31	5	5	NUM
ap-3440	218	32	6	6	NUM
ap-3440	218	33	7	7	NUM
ap-3440	218	34	8	8	NUM
ap-3440	218	35	9	9	NUM
ap-3440	218	36	time(s	time(s	NOUN
ap-3440	218	37	)	)	PUNCT
ap-3440	218	38	0.6	0.6	NUM
ap-3440	218	39	0.7	0.7	NUM
ap-3440	218	40	0.8	0.8	NUM
ap-3440	218	41	0.9	0.9	NUM
ap-3440	218	42	1.0	1.0	NUM
ap-3440	218	43	1.1	1.1	NUM
ap-3440	218	44	v	v	NOUN
ap-3440	218	45	(	(	PUNCT
ap-3440	218	46	m	m	PROPN
ap-3440	218	47	/s	/s	PUNCT
ap-3440	218	48	)	)	PUNCT
ap-3440	219	1	linear	linear	ADJ
ap-3440	219	2	speed	speed	NOUN
ap-3440	219	3	r0	r0	NOUN
ap-3440	219	4	r1	r1	NOUN
ap-3440	219	5	r2	r2	PROPN
ap-3440	219	6	0	0	NUM
ap-3440	219	7	1	1	NUM
ap-3440	219	8	2	2	NUM
ap-3440	219	9	3	3	NUM
ap-3440	219	10	4	4	NUM
ap-3440	219	11	5	5	NUM
ap-3440	219	12	6	6	NUM
ap-3440	219	13	7	7	NUM
ap-3440	219	14	8	8	NUM
ap-3440	219	15	time	time	NOUN
ap-3440	219	16	(	(	PUNCT
ap-3440	219	17	s	s	NOUN
ap-3440	219	18	)	)	PUNCT
ap-3440	219	19	0.0	0.0	NUM
ap-3440	219	20	0.5	0.5	NUM
ap-3440	219	21	1.0	1.0	NUM
ap-3440	219	22	1.5	1.5	NUM
ap-3440	219	23	2.0	2.0	NUM
ap-3440	219	24	2.5	2.5	NUM
ap-3440	219	25	3.0	3.0	NUM
ap-3440	219	26	3.5	3.5	NUM
ap-3440	219	27	4.0	4.0	NUM
ap-3440	219	28	4.5	4.5	NUM
ap-3440	219	29	in	in	ADP
ap-3440	219	30	te	te	PROPN
ap-3440	219	31	rro	rro	PROPN
ap-3440	219	32	b	b	PROPN
ap-3440	219	33	o	o	X
ap-3440	219	34	t	t	PROPN
ap-3440	219	35	d	d	NOUN
ap-3440	219	36	is	be	AUX
ap-3440	219	37	ta	ta	PROPN
ap-3440	219	38	n	n	ADV
ap-3440	219	39	ce	ce	PROPN
ap-3440	219	40	(	(	PUNCT
ap-3440	219	41	m	m	PROPN
ap-3440	219	42	)	)	PUNCT
ap-3440	219	43	inter	inter	ADJ
ap-3440	219	44	-	-	NOUN
ap-3440	219	45	robot	robot	ADJ
ap-3440	219	46	distances	distance	NOUN
ap-3440	219	47	throughout	throughout	ADP
ap-3440	219	48	simulation	simulation	NOUN
ap-3440	219	49	d(r0	d(r0	NOUN
ap-3440	219	50	,	,	PUNCT
ap-3440	219	51	r1	r1	PROPN
ap-3440	219	52	)	)	PUNCT
ap-3440	219	53	−ρ0−ρ1	−ρ0−ρ1	PROPN
ap-3440	219	54	d(r0	d(r0	NOUN
ap-3440	219	55	,	,	PUNCT
ap-3440	219	56	r2	r2	PROPN
ap-3440	219	57	)	)	PUNCT
ap-3440	219	58	−ρ0−ρ2	−ρ0−ρ2	NOUN
ap-3440	219	59	d(r1	d(r1	NOUN
ap-3440	219	60	,	,	PUNCT
ap-3440	219	61	r2	r2	PROPN
ap-3440	219	62	)	)	PUNCT
ap-3440	219	63	−ρ1−ρ2	−ρ1−ρ2	NOUN
ap-3440	219	64	figure	figure	NOUN
ap-3440	219	65	3	3	NUM
ap-3440	219	66	.	.	PUNCT
ap-3440	219	67	motion	motion	NOUN
ap-3440	219	68	planning	planning	NOUN
ap-3440	219	69	solution	solution	NOUN
ap-3440	219	70	with	with	ADP
ap-3440	219	71	collision	collision	NOUN
ap-3440	219	72	handling	handling	NOUN
ap-3440	219	73	.	.	PUNCT
ap-3440	220	1	table	table	NOUN
ap-3440	220	2	1	1	NUM
ap-3440	220	3	summarizes	summarize	NOUN
ap-3440	220	4	one	one	NUM
ap-3440	220	5	of	of	ADP
ap-3440	220	6	the	the	DET
ap-3440	220	7	scenarios	scenario	NOUN
ap-3440	220	8	studied	study	VERB
ap-3440	220	9	for	for	ADP
ap-3440	220	10	a	a	DET
ap-3440	220	11	single	single	ADJ
ap-3440	220	12	robot	robot	NOUN
ap-3440	220	13	.	.	PUNCT
ap-3440	221	1	the	the	DET
ap-3440	221	2	results	result	NOUN
ap-3440	221	3	obtained	obtain	VERB
ap-3440	221	4	from	from	ADP
ap-3440	221	5	simulations	simulation	NOUN
ap-3440	221	6	in	in	ADP
ap-3440	221	7	this	this	DET
ap-3440	221	8	scenario	scenario	NOUN
ap-3440	221	9	are	be	AUX
ap-3440	221	10	presented	present	VERB
ap-3440	221	11	in	in	ADP
ap-3440	221	12	figure	figure	NOUN
ap-3440	221	13	4	4	NUM
ap-3440	221	14	,	,	PUNCT
ap-3440	221	15	for	for	ADP
ap-3440	221	16	various	various	ADJ
ap-3440	221	17	parameters	parameter	NOUN
ap-3440	221	18	.	.	PUNCT
ap-3440	222	1	each	each	DET
ap-3440	222	2	dot	dot	NOUN
ap-3440	222	3	along	along	ADP
ap-3440	222	4	the	the	DET
ap-3440	222	5	curves	curve	NOUN
ap-3440	222	6	corresponds	correspond	VERB
ap-3440	222	7	to	to	ADP
ap-3440	222	8	the	the	DET
ap-3440	222	9	average	average	NOUN
ap-3440	222	10	of	of	ADP
ap-3440	222	11	mct	mct	PROPN
ap-3440	222	12	/	/	SYM
ap-3440	222	13	tc	tc	PROPN
ap-3440	222	14	along	along	ADP
ap-3440	222	15	different	different	ADJ
ap-3440	222	16	tp	tp	NOUN
ap-3440	222	17	’s	’s	NOUN
ap-3440	222	18	for	for	ADP
ap-3440	222	19	a	a	DET
ap-3440	222	20	given	give	VERB
ap-3440	222	21	value	value	NOUN
ap-3440	222	22	of	of	ADP
ap-3440	222	23	(	(	PUNCT
ap-3440	222	24	tc	tc	NOUN
ap-3440	222	25	/	/	SYM
ap-3440	222	26	tp	tp	NOUN
ap-3440	222	27	,	,	PUNCT
ap-3440	222	28	ns	ns	NUM
ap-3440	222	29	)	)	PUNCT
ap-3440	222	30	.	.	PUNCT
ap-3440	223	1	the	the	DET
ap-3440	223	2	absolute	absolute	ADJ
ap-3440	223	3	values	value	NOUN
ap-3440	223	4	observed	observe	VERB
ap-3440	223	5	in	in	ADP
ap-3440	223	6	the	the	DET
ap-3440	223	7	charts	chart	NOUN
ap-3440	223	8	depend	depend	VERB
ap-3440	223	9	on	on	ADP
ap-3440	223	10	the	the	DET
ap-3440	223	11	processing	processing	NOUN
ap-3440	223	12	speed	speed	NOUN
ap-3440	223	13	of	of	ADP
ap-3440	223	14	the	the	DET
ap-3440	223	15	machine	machine	NOUN
ap-3440	223	16	in	in	ADP
ap-3440	223	17	which	which	PRON
ap-3440	223	18	the	the	DET
ap-3440	223	19	algorithm	algorithm	NOUN
ap-3440	223	20	is	be	AUX
ap-3440	223	21	run	run	VERB
ap-3440	223	22	.	.	PUNCT
ap-3440	224	1	these	these	DET
ap-3440	224	2	simulations	simulation	NOUN
ap-3440	224	3	were	be	AUX
ap-3440	224	4	run	run	VERB
ap-3440	224	5	on	on	ADP
ap-3440	224	6	an	an	DET
ap-3440	224	7	intel	intel	PROPN
ap-3440	224	8	xeon	xeon	PROPN
ap-3440	224	9	cpu	cpu	PROPN
ap-3440	224	10	2.53ghz	2.53ghz	NUM
ap-3440	224	11	processor	processor	NOUN
ap-3440	224	12	.	.	PUNCT
ap-3440	225	1	rather	rather	ADV
ap-3440	225	2	than	than	ADP
ap-3440	225	3	observing	observe	VERB
ap-3440	225	4	the	the	DET
ap-3440	225	5	absolute	absolute	ADJ
ap-3440	225	6	values	value	NOUN
ap-3440	225	7	,	,	PUNCT
ap-3440	225	8	it	it	PRON
ap-3440	225	9	is	be	AUX
ap-3440	225	10	interesting	interesting	ADJ
ap-3440	225	11	to	to	PART
ap-3440	225	12	analyze	analyze	VERB
ap-3440	225	13	the	the	DET
ap-3440	225	14	impact	impact	NOUN
ap-3440	225	15	of	of	ADP
ap-3440	225	16	changes	change	NOUN
ap-3440	225	17	in	in	ADP
ap-3440	225	18	the	the	DET
ap-3440	225	19	values	value	NOUN
ap-3440	225	20	of	of	ADP
ap-3440	225	21	the	the	DET
ap-3440	225	22	parameters	parameter	NOUN
ap-3440	225	23	.	.	PUNCT
ap-3440	226	1	in	in	ADP
ap-3440	226	2	particular	particular	ADJ
ap-3440	226	3	,	,	PUNCT
ap-3440	226	4	an	an	DET
ap-3440	226	5	increasing	increase	VERB
ap-3440	226	6	number	number	NOUN
ap-3440	226	7	of	of	ADP
ap-3440	226	8	ns	ns	NUM
ap-3440	226	9	increases	increase	NOUN
ap-3440	226	10	mct	mct	PROPN
ap-3440	226	11	/	/	SYM
ap-3440	226	12	tc	tc	NOUN
ap-3440	226	13	for	for	ADP
ap-3440	226	14	a	a	DET
ap-3440	226	15	given	give	VERB
ap-3440	226	16	tc	tc	NOUN
ap-3440	226	17	/	/	SYM
ap-3440	226	18	tp	tp	NOUN
ap-3440	226	19	.	.	PUNCT
ap-3440	227	1	similarly	similarly	ADV
ap-3440	227	2	,	,	PUNCT
ap-3440	227	3	an	an	DET
ap-3440	227	4	increase	increase	NOUN
ap-3440	227	5	in	in	ADP
ap-3440	227	6	mct	mct	PROPN
ap-3440	227	7	/	/	SYM
ap-3440	227	8	tc	tc	PROPN
ap-3440	227	9	as	as	SCONJ
ap-3440	227	10	the	the	DET
ap-3440	227	11	number	number	NOUN
ap-3440	227	12	of	of	ADP
ap-3440	227	13	internal	internal	ADJ
ap-3440	227	14	knots	knot	NOUN
ap-3440	227	15	nknots	nknot	NOUN
ap-3440	227	16	increases	increase	VERB
ap-3440	227	17	from	from	ADP
ap-3440	227	18	charts	chart	NOUN
ap-3440	227	19	4a	4a	NOUN
ap-3440	227	20	to	to	ADP
ap-3440	227	21	4c	4c	NOUN
ap-3440	227	22	is	be	AUX
ap-3440	227	23	observed	observe	VERB
ap-3440	227	24	.	.	PUNCT
ap-3440	228	1	further	further	ADJ
ap-3440	228	2	analyses	analysis	NOUN
ap-3440	228	3	of	of	ADP
ap-3440	228	4	the	the	DET
ap-3440	228	5	data	datum	NOUN
ap-3440	228	6	show	show	VERB
ap-3440	228	7	that	that	SCONJ
ap-3440	228	8	finding	find	VERB
ap-3440	228	9	the	the	DET
ap-3440	228	10	solution	solution	NOUN
ap-3440	228	11	using	use	VERB
ap-3440	228	12	the	the	DET
ap-3440	228	13	slspq	slspq	NOUN
ap-3440	228	14	method	method	NOUN
ap-3440	228	15	requires	require	VERB
ap-3440	228	16	o(n3	o(n3	NOUN
ap-3440	228	17	knots	knot	NOUN
ap-3440	228	18	)	)	PUNCT
ap-3440	228	19	and	and	CCONJ
ap-3440	228	20	o(ns	o(ns	NOUN
ap-3440	228	21	)	)	PUNCT
ap-3440	228	22	time	time	NOUN
ap-3440	228	23	.	.	PUNCT
ap-3440	229	1	although	although	SCONJ
ap-3440	229	2	augmenting	augment	VERB
ap-3440	229	3	nknots	nknot	NOUN
ap-3440	229	4	can	can	AUX
ap-3440	229	5	15	15	NUM
ap-3440	229	6	josé	josé	PROPN
ap-3440	229	7	m.	m.	NOUN
ap-3440	229	8	mendes	mende	NOUN
ap-3440	229	9	filho	filho	PROPN
ap-3440	229	10	,	,	PUNCT
ap-3440	229	11	eric	eric	PROPN
ap-3440	229	12	lucet	lucet	PROPN
ap-3440	229	13	acta	acta	PROPN
ap-3440	229	14	polytechnica	polytechnica	PROPN
ap-3440	229	15	0.2	0.2	NUM
ap-3440	229	16	0.3	0.3	NUM
ap-3440	229	17	0.4	0.4	NUM
ap-3440	229	18	0.5	0.5	NUM
ap-3440	229	19	0.6	0.6	NUM
ap-3440	229	20	tc	tc	NUM
ap-3440	229	21	/	/	SYM
ap-3440	229	22	tp	tp	NOUN
ap-3440	229	23	0.2	0.2	NUM
ap-3440	229	24	0.4	0.4	NUM
ap-3440	229	25	0.6	0.6	NUM
ap-3440	229	26	0.8	0.8	NUM
ap-3440	229	27	1.0	1.0	NUM
ap-3440	229	28	1.2	1.2	NUM
ap-3440	229	29	1.4	1.4	NUM
ap-3440	229	30	1.6	1.6	NUM
ap-3440	229	31	1.8	1.8	NUM
ap-3440	229	32	m	m	NOUN
ap-3440	229	33	c	c	PROPN
ap-3440	229	34	t	t	NOUN
ap-3440	229	35	/t	/t	PUNCT
ap-3440	229	36	c	c	NOUN
ap-3440	229	37	computation	computation	NOUN
ap-3440	229	38	cost	cost	NOUN
ap-3440	229	39	behavior	behavior	NOUN
ap-3440	229	40	ns	ns	NUM
ap-3440	229	41	=	=	NOUN
ap-3440	229	42	10	10	NUM
ap-3440	229	43	ns	ns	NUM
ap-3440	229	44	=	=	NOUN
ap-3440	229	45	11	11	NUM
ap-3440	229	46	ns	ns	NUM
ap-3440	229	47	=	=	NOUN
ap-3440	229	48	12	12	NUM
ap-3440	229	49	ns	ns	NUM
ap-3440	229	50	=	=	NOUN
ap-3440	229	51	13	13	NUM
ap-3440	229	52	ns	ns	NUM
ap-3440	229	53	=	=	NOUN
ap-3440	229	54	14	14	NUM
ap-3440	229	55	ns	ns	NUM
ap-3440	229	56	=	=	NOUN
ap-3440	229	57	15	15	NUM
ap-3440	229	58	(	(	PUNCT
ap-3440	229	59	a	a	NOUN
ap-3440	229	60	)	)	PUNCT
ap-3440	229	61	.	.	PUNCT
ap-3440	230	1	four	four	NUM
ap-3440	230	2	internal	internal	ADJ
ap-3440	230	3	knots	knot	NOUN
ap-3440	230	4	0.2	0.2	NUM
ap-3440	230	5	0.3	0.3	NUM
ap-3440	230	6	0.4	0.4	NUM
ap-3440	230	7	0.5	0.5	NUM
ap-3440	230	8	0.6	0.6	NUM
ap-3440	230	9	tc	tc	NUM
ap-3440	230	10	/	/	SYM
ap-3440	230	11	tp	tp	NOUN
ap-3440	230	12	0.2	0.2	NUM
ap-3440	230	13	0.4	0.4	NUM
ap-3440	230	14	0.6	0.6	NUM
ap-3440	230	15	0.8	0.8	NUM
ap-3440	230	16	1.0	1.0	NUM
ap-3440	230	17	1.2	1.2	NUM
ap-3440	230	18	1.4	1.4	NUM
ap-3440	230	19	1.6	1.6	NUM
ap-3440	230	20	1.8	1.8	NUM
ap-3440	230	21	m	m	NOUN
ap-3440	230	22	c	c	PROPN
ap-3440	230	23	t	t	NOUN
ap-3440	230	24	/t	/t	PUNCT
ap-3440	230	25	c	c	NOUN
ap-3440	230	26	computation	computation	NOUN
ap-3440	230	27	cost	cost	NOUN
ap-3440	230	28	behavior	behavior	NOUN
ap-3440	230	29	ns	ns	NUM
ap-3440	230	30	=	=	NOUN
ap-3440	230	31	10	10	NUM
ap-3440	230	32	ns	ns	NUM
ap-3440	230	33	=	=	NOUN
ap-3440	230	34	11	11	NUM
ap-3440	230	35	ns	ns	NUM
ap-3440	230	36	=	=	NOUN
ap-3440	230	37	12	12	NUM
ap-3440	230	38	ns	ns	NUM
ap-3440	230	39	=	=	NOUN
ap-3440	230	40	13	13	NUM
ap-3440	230	41	ns	ns	NUM
ap-3440	230	42	=	=	NOUN
ap-3440	230	43	14	14	NUM
ap-3440	230	44	ns	ns	NUM
ap-3440	230	45	=	=	NOUN
ap-3440	230	46	15	15	NUM
ap-3440	230	47	(	(	PUNCT
ap-3440	230	48	b	b	NOUN
ap-3440	230	49	)	)	PUNCT
ap-3440	230	50	.	.	PUNCT
ap-3440	231	1	five	five	NUM
ap-3440	231	2	internal	internal	ADJ
ap-3440	231	3	knots	knot	NOUN
ap-3440	231	4	0.2	0.2	NUM
ap-3440	231	5	0.3	0.3	NUM
ap-3440	231	6	0.4	0.4	NUM
ap-3440	231	7	0.5	0.5	NUM
ap-3440	231	8	0.6	0.6	NUM
ap-3440	231	9	tc	tc	NUM
ap-3440	231	10	/	/	SYM
ap-3440	231	11	tp	tp	NOUN
ap-3440	231	12	0.2	0.2	NUM
ap-3440	231	13	0.4	0.4	NUM
ap-3440	231	14	0.6	0.6	NUM
ap-3440	231	15	0.8	0.8	NUM
ap-3440	231	16	1.0	1.0	NUM
ap-3440	231	17	1.2	1.2	NUM
ap-3440	231	18	1.4	1.4	NUM
ap-3440	231	19	1.6	1.6	NUM
ap-3440	231	20	1.8	1.8	NUM
ap-3440	231	21	m	m	NOUN
ap-3440	231	22	c	c	PROPN
ap-3440	231	23	t	t	PROPN
ap-3440	231	24	/	/	SYM
ap-3440	231	25	t	t	PROPN
ap-3440	231	26	c	c	PROPN
ap-3440	231	27	computation	computation	NOUN
ap-3440	231	28	cost	cost	NOUN
ap-3440	231	29	behavior	behavior	NOUN
ap-3440	231	30	ns	ns	NUM
ap-3440	231	31	=	=	NOUN
ap-3440	231	32	10	10	NUM
ap-3440	231	33	ns	ns	NUM
ap-3440	231	34	=	=	NOUN
ap-3440	231	35	11	11	NUM
ap-3440	231	36	ns	ns	NUM
ap-3440	231	37	=	=	NOUN
ap-3440	231	38	12	12	NUM
ap-3440	231	39	ns	ns	NUM
ap-3440	231	40	=	=	NOUN
ap-3440	231	41	13	13	NUM
ap-3440	231	42	ns	ns	NUM
ap-3440	231	43	=	=	NOUN
ap-3440	231	44	14	14	NUM
ap-3440	231	45	ns	ns	NUM
ap-3440	231	46	=	=	NOUN
ap-3440	231	47	15	15	NUM
ap-3440	231	48	(	(	PUNCT
ap-3440	231	49	c	c	NOUN
ap-3440	231	50	)	)	PUNCT
ap-3440	231	51	.	.	PUNCT
ap-3440	232	1	six	six	NUM
ap-3440	232	2	internal	internal	ADJ
ap-3440	232	3	knots	knot	NOUN
ap-3440	232	4	figure	figure	NOUN
ap-3440	232	5	4	4	NUM
ap-3440	232	6	.	.	PUNCT
ap-3440	233	1	three	three	NUM
ap-3440	233	2	obstacles	obstacle	NOUN
ap-3440	233	3	scenario	scenario	NOUN
ap-3440	233	4	simulations	simulation	NOUN
ap-3440	233	5	table	table	VERB
ap-3440	233	6	1	1	NUM
ap-3440	233	7	.	.	PUNCT
ap-3440	234	1	values	value	NOUN
ap-3440	234	2	for	for	ADP
ap-3440	234	3	scenario	scenario	NOUN
ap-3440	234	4	definition	definition	NOUN
ap-3440	234	5	vmax	vmax	PROPN
ap-3440	234	6	1.00	1.00	NUM
ap-3440	234	7	m	m	PROPN
ap-3440	234	8	/	/	SYM
ap-3440	234	9	s	s	PART
ap-3440	234	10	ωmax	ωmax	NUM
ap-3440	234	11	5.00	5.00	NUM
ap-3440	234	12	rad	rad	NOUN
ap-3440	234	13	/	/	SYM
ap-3440	234	14	s	s	PART
ap-3440	234	15	qinitial	qinitial	NOUN
ap-3440	235	1	[	[	X
ap-3440	235	2	−0.05	−0.05	NOUN
ap-3440	235	3	0.00	0.00	NUM
ap-3440	235	4	π/2]t	π/2]t	NOUN
ap-3440	235	5	qfinal	qfinal	NOUN
ap-3440	236	1	[	[	X
ap-3440	236	2	0.10	0.10	NUM
ap-3440	236	3	7.00	7.00	NUM
ap-3440	236	4	π/2]t	π/2]t	NOUN
ap-3440	236	5	uinitial	uinitial	ADJ
ap-3440	236	6	[	[	PUNCT
ap-3440	236	7	0.00	0.00	NUM
ap-3440	236	8	0.00]t	0.00]t	NOUN
ap-3440	236	9	ugoal	ugoal	PROPN
ap-3440	236	10	[	[	X
ap-3440	236	11	0.00	0.00	NUM
ap-3440	236	12	0.00]t	0.00]t	NOUN
ap-3440	236	13	o0	o0	NOUN
ap-3440	236	14	[	[	PUNCT
ap-3440	236	15	0.55	0.55	NUM
ap-3440	236	16	1.91	1.91	NUM
ap-3440	236	17	0.31	0.31	NUM
ap-3440	236	18	]	]	PUNCT
ap-3440	236	19	o1	o1	NOUN
ap-3440	237	1	[	[	X
ap-3440	237	2	−0.08	−0.08	PROPN
ap-3440	237	3	3.65	3.65	NUM
ap-3440	237	4	0.32	0.32	NUM
ap-3440	237	5	]	]	PUNCT
ap-3440	237	6	o2	o2	PROPN
ap-3440	237	7	[	[	X
ap-3440	237	8	0.38	0.38	NUM
ap-3440	237	9	4.65	4.65	NUM
ap-3440	237	10	0.16	0.16	NUM
ap-3440	237	11	]	]	PUNCT
ap-3440	237	12	lead	lead	VERB
ap-3440	237	13	to	to	ADP
ap-3440	237	14	an	an	DET
ap-3440	237	15	impractical	impractical	ADJ
ap-3440	237	16	computation	computation	NOUN
ap-3440	237	17	time	time	NOUN
ap-3440	237	18	,	,	PUNCT
ap-3440	237	19	typical	typical	ADJ
ap-3440	237	20	nknots	nknot	NOUN
ap-3440	237	21	values	value	NOUN
ap-3440	237	22	did	do	AUX
ap-3440	237	23	not	not	PART
ap-3440	237	24	need	need	VERB
ap-3440	237	25	to	to	PART
ap-3440	237	26	exceed	exceed	VERB
ap-3440	237	27	10	10	NUM
ap-3440	237	28	in	in	ADP
ap-3440	237	29	our	our	PRON
ap-3440	237	30	simulations	simulation	NOUN
ap-3440	237	31	,	,	PUNCT
ap-3440	237	32	which	which	PRON
ap-3440	237	33	is	be	AUX
ap-3440	237	34	a	a	DET
ap-3440	237	35	sufficiently	sufficiently	ADV
ap-3440	237	36	small	small	ADJ
ap-3440	237	37	value	value	NOUN
ap-3440	237	38	.	.	PUNCT
ap-3440	238	1	another	another	DET
ap-3440	238	2	parameter	parameter	NOUN
ap-3440	238	3	having	have	VERB
ap-3440	238	4	a	a	DET
ap-3440	238	5	direct	direct	ADJ
ap-3440	238	6	impact	impact	NOUN
ap-3440	238	7	on	on	ADP
ap-3440	238	8	the	the	DET
ap-3440	238	9	mct	mct	PROPN
ap-3440	238	10	/	/	SYM
ap-3440	238	11	tc	tc	NOUN
ap-3440	238	12	ratio	ratio	NOUN
ap-3440	238	13	is	be	AUX
ap-3440	238	14	the	the	DET
ap-3440	238	15	detection	detection	NOUN
ap-3440	238	16	radius	radius	NOUN
ap-3440	238	17	of	of	ADP
ap-3440	238	18	the	the	DET
ap-3440	238	19	robot	robot	NOUN
ap-3440	238	20	’s	’s	PART
ap-3440	238	21	sensors	sensor	NOUN
ap-3440	238	22	.	.	PUNCT
ap-3440	239	1	as	as	ADP
ap-3440	239	2	the	the	DET
ap-3440	239	3	detection	detection	NOUN
ap-3440	239	4	radius	radius	NOUN
ap-3440	239	5	of	of	ADP
ap-3440	239	6	the	the	DET
ap-3440	239	7	robot	robot	NOUN
ap-3440	239	8	increases	increase	NOUN
ap-3440	239	9	,	,	PUNCT
ap-3440	239	10	more	more	ADJ
ap-3440	239	11	obstacles	obstacle	NOUN
ap-3440	239	12	are	be	AUX
ap-3440	239	13	seen	see	VERB
ap-3440	239	14	at	at	ADP
ap-3440	239	15	once	once	ADV
ap-3440	239	16	which	which	PRON
ap-3440	239	17	,	,	PUNCT
ap-3440	239	18	in	in	ADP
ap-3440	239	19	turn	turn	NOUN
ap-3440	239	20	,	,	PUNCT
ap-3440	239	21	increases	increase	VERB
ap-3440	239	22	the	the	DET
ap-3440	239	23	number	number	NOUN
ap-3440	239	24	of	of	ADP
ap-3440	239	25	constraints	constraint	NOUN
ap-3440	239	26	in	in	ADP
ap-3440	239	27	the	the	DET
ap-3440	239	28	optimization	optimization	NOUN
ap-3440	239	29	problems	problem	NOUN
ap-3440	239	30	.	.	PUNCT
ap-3440	240	1	the	the	DET
ap-3440	240	2	impact	impact	NOUN
ap-3440	240	3	of	of	ADP
ap-3440	240	4	increasing	increase	VERB
ap-3440	240	5	the	the	DET
ap-3440	240	6	detection	detection	NOUN
ap-3440	240	7	0	0	NUM
ap-3440	240	8	2	2	NUM
ap-3440	240	9	4	4	NUM
ap-3440	240	10	6	6	NUM
ap-3440	240	11	8	8	NUM
ap-3440	240	12	10	10	NUM
ap-3440	240	13	12	12	NUM
ap-3440	240	14	14	14	NUM
ap-3440	240	15	16	16	NUM
ap-3440	240	16	db	db	PROPN
ap-3440	240	17	,	,	PUNCT
ap-3440	240	18	sen(m	sen(m	PROPN
ap-3440	240	19	)	)	PUNCT
ap-3440	240	20	0.5	0.5	NUM
ap-3440	240	21	0.0	0.0	NUM
ap-3440	240	22	0.5	0.5	NUM
ap-3440	240	23	1.0	1.0	NUM
ap-3440	240	24	1.5	1.5	NUM
ap-3440	240	25	2.0	2.0	NUM
ap-3440	240	26	2.5	2.5	NUM
ap-3440	240	27	3.0	3.0	NUM
ap-3440	240	28	3.5	3.5	NUM
ap-3440	240	29	m	m	NOUN
ap-3440	240	30	c	c	PROPN
ap-3440	240	31	t	t	PROPN
ap-3440	240	32	/	/	SYM
ap-3440	240	33	t	t	PROPN
ap-3440	240	34	c	c	X
ap-3440	240	35	mct	mct	PROPN
ap-3440	240	36	/	/	SYM
ap-3440	240	37	tc	tc	PROPN
ap-3440	240	38	and	and	CCONJ
ap-3440	240	39	detection	detection	NOUN
ap-3440	240	40	radius	radius	NOUN
ap-3440	240	41	relationship	relationship	NOUN
ap-3440	240	42	fitted	fit	VERB
ap-3440	240	43	curve	curve	NOUN
ap-3440	240	44	(	(	PUNCT
ap-3440	240	45	−5.29	−5.29	NOUN
ap-3440	240	46	exp(−0.50	exp(−0.50	NOUN
ap-3440	240	47	ρd	ρd	PROPN
ap-3440	240	48	)	)	PUNCT
ap-3440	240	49	+3.23	+3.23	X
ap-3440	240	50	)	)	PUNCT
ap-3440	240	51	original	original	ADJ
ap-3440	240	52	data	datum	NOUN
ap-3440	240	53	figure	figure	NOUN
ap-3440	240	54	5	5	NUM
ap-3440	240	55	.	.	PUNCT
ap-3440	240	56	increasing	increase	VERB
ap-3440	240	57	the	the	DET
ap-3440	240	58	detection	detection	NOUN
ap-3440	240	59	radius	radius	NOUN
ap-3440	240	60	,	,	PUNCT
ap-3440	240	61	and	and	CCONJ
ap-3440	240	62	impact	impact	NOUN
ap-3440	240	63	on	on	ADP
ap-3440	240	64	a	a	DET
ap-3440	240	65	mt	mt	PROPN
ap-3440	240	66	c	c	PROPN
ap-3440	240	67	/	/	SYM
ap-3440	240	68	tc	tc	PROPN
ap-3440	240	69	ratio	ratio	NOUN
ap-3440	240	70	10	10	NUM
ap-3440	240	71	12	12	NUM
ap-3440	240	72	14	14	NUM
ap-3440	240	73	16	16	NUM
ap-3440	240	74	18	18	NUM
ap-3440	240	75	20	20	NUM
ap-3440	240	76	22	22	NUM
ap-3440	240	77	24	24	NUM
ap-3440	240	78	26	26	NUM
ap-3440	240	79	ns	ns	NUM
ap-3440	240	80	0	0	NUM
ap-3440	240	81	10	10	NUM
ap-3440	240	82	20	20	NUM
ap-3440	240	83	30	30	NUM
ap-3440	240	84	40	40	NUM
ap-3440	240	85	50	50	NUM
ap-3440	240	86	60	60	NUM
ap-3440	240	87	70	70	NUM
ap-3440	240	88	80	80	NUM
ap-3440	240	89	90	90	NUM
ap-3440	240	90	p	p	NOUN
ap-3440	240	91	(	(	PUNCT
ap-3440	240	92	c	c	NOUN
ap-3440	240	93	m	m	VERB
ap-3440	240	94	2	2	NUM
ap-3440	240	95	)	)	PUNCT
ap-3440	240	96	time	time	NOUN
ap-3440	240	97	sampling	sampling	NOUN
ap-3440	240	98	and	and	CCONJ
ap-3440	240	99	obstacle	obstacle	NOUN
ap-3440	240	100	penetration	penetration	NOUN
ap-3440	240	101	relationship	relationship	NOUN
ap-3440	240	102	p(n_s	p(n_s	PROPN
ap-3440	240	103	)	)	PUNCT
ap-3440	240	104	fitted	fit	VERB
ap-3440	240	105	curve	curve	NOUN
ap-3440	240	106	(	(	PUNCT
ap-3440	240	107	9395.01	9395.01	NUM
ap-3440	240	108	exp(−0.48	exp(−0.48	ADJ
ap-3440	240	109	ns	ns	NUM
ap-3440	240	110	)	)	PUNCT
ap-3440	240	111	+3.13	+3.13	NUM
ap-3440	240	112	)	)	PUNCT
ap-3440	240	113	figure	figure	NOUN
ap-3440	240	114	6	6	NUM
ap-3440	240	115	.	.	PUNCT
ap-3440	241	1	obstacle	obstacle	NOUN
ap-3440	241	2	penetration	penetration	NOUN
ap-3440	241	3	decreasing	decrease	VERB
ap-3440	241	4	as	as	ADP
ap-3440	241	5	sampling	sample	VERB
ap-3440	241	6	increases	increase	NOUN
ap-3440	241	7	radius	radius	NOUN
ap-3440	241	8	dsen	dsen	NOUN
ap-3440	241	9	in	in	ADP
ap-3440	241	10	the	the	DET
ap-3440	241	11	mct	mct	PROPN
ap-3440	241	12	/	/	SYM
ap-3440	241	13	tc	tc	NOUN
ap-3440	241	14	ratio	ratio	NOUN
ap-3440	241	15	can	can	AUX
ap-3440	241	16	be	be	AUX
ap-3440	241	17	seen	see	VERB
ap-3440	241	18	in	in	ADP
ap-3440	241	19	figure	figure	NOUN
ap-3440	241	20	5	5	NUM
ap-3440	241	21	for	for	ADP
ap-3440	241	22	a	a	DET
ap-3440	241	23	scenario	scenario	NOUN
ap-3440	241	24	with	with	ADP
ap-3440	241	25	seven	seven	NUM
ap-3440	241	26	obstacles	obstacle	NOUN
ap-3440	241	27	.	.	PUNCT
ap-3440	242	1	the	the	DET
ap-3440	242	2	computation	computation	NOUN
ap-3440	242	3	time	time	NOUN
ap-3440	242	4	stops	stop	VERB
ap-3440	242	5	increasing	increase	VERB
ap-3440	242	6	as	as	ADV
ap-3440	242	7	soon	soon	ADV
ap-3440	242	8	as	as	SCONJ
ap-3440	242	9	the	the	DET
ap-3440	242	10	robot	robot	NOUN
ap-3440	242	11	sees	see	VERB
ap-3440	242	12	all	all	DET
ap-3440	242	13	obstacles	obstacle	NOUN
ap-3440	242	14	present	present	ADJ
ap-3440	242	15	in	in	ADP
ap-3440	242	16	the	the	DET
ap-3440	242	17	environment	environment	NOUN
ap-3440	242	18	.	.	PUNCT
ap-3440	243	1	4.1.2	4.1.2	X
ap-3440	243	2	.	.	PUNCT
ap-3440	243	3	obstacle	obstacle	NOUN
ap-3440	243	4	penetration	penetration	NOUN
ap-3440	243	5	p	p	NOUN
ap-3440	243	6	obstacle	obstacle	NOUN
ap-3440	243	7	penetration	penetration	NOUN
ap-3440	243	8	area	area	NOUN
ap-3440	243	9	p	p	PROPN
ap-3440	243	10	gives	give	VERB
ap-3440	243	11	a	a	DET
ap-3440	243	12	metric	metric	NOUN
ap-3440	243	13	for	for	ADP
ap-3440	243	14	obstacle	obstacle	NOUN
ap-3440	243	15	avoidance	avoidance	NOUN
ap-3440	243	16	and	and	CCONJ
ap-3440	243	17	consequently	consequently	ADV
ap-3440	243	18	for	for	ADP
ap-3440	243	19	the	the	DET
ap-3440	243	20	solution	solution	NOUN
ap-3440	243	21	quality	quality	NOUN
ap-3440	243	22	.	.	PUNCT
ap-3440	244	1	a	a	DET
ap-3440	244	2	solution	solution	NOUN
ap-3440	244	3	where	where	SCONJ
ap-3440	244	4	the	the	DET
ap-3440	244	5	planned	plan	VERB
ap-3440	244	6	trajectory	trajectory	NOUN
ap-3440	244	7	does	do	AUX
ap-3440	244	8	not	not	PART
ap-3440	244	9	pass	pass	VERB
ap-3440	244	10	through	through	ADP
ap-3440	244	11	an	an	DET
ap-3440	244	12	object	object	NOUN
ap-3440	244	13	at	at	ADP
ap-3440	244	14	any	any	DET
ap-3440	244	15	instant	instant	NOUN
ap-3440	244	16	of	of	ADP
ap-3440	244	17	time	time	NOUN
ap-3440	244	18	gives	give	VERB
ap-3440	244	19	p	p	NOUN
ap-3440	244	20	=	=	NOUN
ap-3440	244	21	0	0	NUM
ap-3440	244	22	.	.	PUNCT
ap-3440	245	1	the	the	DET
ap-3440	245	2	solution	solution	NOUN
ap-3440	245	3	quality	quality	NOUN
ap-3440	245	4	decreases	decrease	VERB
ap-3440	245	5	with	with	ADP
ap-3440	245	6	increasing	increase	VERB
ap-3440	245	7	p	p	X
ap-3440	245	8	.	.	PUNCT
ap-3440	246	1	however	however	ADV
ap-3440	246	2	,	,	PUNCT
ap-3440	246	3	since	since	SCONJ
ap-3440	246	4	time	time	NOUN
ap-3440	246	5	sampling	sample	VERB
ap-3440	246	6	is	be	AUX
ap-3440	246	7	performed	perform	VERB
ap-3440	246	8	during	during	ADP
ap-3440	246	9	the	the	DET
ap-3440	246	10	optimization	optimization	NOUN
ap-3440	246	11	,	,	PUNCT
ap-3440	246	12	p	p	PRON
ap-3440	246	13	is	be	AUX
ap-3440	246	14	usually	usually	ADV
ap-3440	246	15	greater	great	ADJ
ap-3440	246	16	than	than	ADP
ap-3440	246	17	zero	zero	NUM
ap-3440	246	18	.	.	PUNCT
ap-3440	247	1	a	a	DET
ap-3440	247	2	way	way	NOUN
ap-3440	247	3	of	of	ADP
ap-3440	247	4	assuring	assure	VERB
ap-3440	247	5	p	p	X
ap-3440	247	6	=	=	SYM
ap-3440	247	7	0	0	NUM
ap-3440	247	8	would	would	AUX
ap-3440	247	9	be	be	AUX
ap-3440	247	10	to	to	PART
ap-3440	247	11	increase	increase	VERB
ap-3440	247	12	the	the	DET
ap-3440	247	13	radius	radius	NOUN
ap-3440	247	14	of	of	ADP
ap-3440	247	15	the	the	DET
ap-3440	247	16	obstacles	obstacle	NOUN
ap-3440	247	17	computed	compute	VERB
ap-3440	247	18	by	by	ADP
ap-3440	247	19	the	the	DET
ap-3440	247	20	robot	robot	NOUN
ap-3440	247	21	’s	’s	PART
ap-3440	247	22	perception	perception	NOUN
ap-3440	247	23	system	system	NOUN
ap-3440	247	24	by	by	ADP
ap-3440	247	25	the	the	DET
ap-3440	247	26	maximum	maximum	ADJ
ap-3440	247	27	distance	distance	NOUN
ap-3440	247	28	that	that	SCONJ
ap-3440	247	29	the	the	DET
ap-3440	247	30	robot	robot	NOUN
ap-3440	247	31	can	can	AUX
ap-3440	247	32	run	run	VERB
ap-3440	247	33	within	within	ADP
ap-3440	247	34	the	the	DET
ap-3440	247	35	time	time	NOUN
ap-3440	247	36	span	span	NOUN
ap-3440	247	37	tp	tp	X
ap-3440	247	38	/	/	SYM
ap-3440	247	39	ns	ns	PROPN
ap-3440	247	40	.	.	PUNCT
ap-3440	248	1	however	however	ADV
ap-3440	248	2	simple	simple	ADJ
ap-3440	248	3	,	,	PUNCT
ap-3440	248	4	this	this	DET
ap-3440	248	5	approach	approach	NOUN
ap-3440	248	6	represents	represent	VERB
ap-3440	248	7	a	a	DET
ap-3440	248	8	loss	loss	NOUN
ap-3440	248	9	of	of	ADP
ap-3440	248	10	optimality	optimality	NOUN
ap-3440	248	11	and	and	CCONJ
ap-3440	248	12	is	be	AUX
ap-3440	248	13	not	not	PART
ap-3440	248	14	considered	consider	VERB
ap-3440	248	15	in	in	ADP
ap-3440	248	16	this	this	DET
ap-3440	248	17	work	work	NOUN
ap-3440	248	18	.	.	PUNCT
ap-3440	249	1	it	it	PRON
ap-3440	249	2	is	be	AUX
ap-3440	249	3	relevant	relevant	ADJ
ap-3440	249	4	then	then	ADV
ap-3440	249	5	to	to	PART
ap-3440	249	6	observe	observe	VERB
ap-3440	249	7	the	the	DET
ap-3440	249	8	impact	impact	NOUN
ap-3440	249	9	of	of	ADP
ap-3440	249	10	the	the	DET
ap-3440	249	11	algorithm	algorithm	NOUN
ap-3440	249	12	parameters	parameter	NOUN
ap-3440	249	13	in	in	ADP
ap-3440	249	14	the	the	DET
ap-3440	249	15	obstacle	obstacle	NOUN
ap-3440	249	16	penetration	penetration	NOUN
ap-3440	249	17	area	area	NOUN
ap-3440	249	18	.	.	PUNCT
ap-3440	250	1	tc	tc	X
ap-3440	250	2	/	/	SYM
ap-3440	250	3	tp	tp	NOUN
ap-3440	250	4	ratio	ratio	NOUN
ap-3440	250	5	,	,	PUNCT
ap-3440	250	6	nknots	nknot	NOUN
ap-3440	250	7	and	and	CCONJ
ap-3440	250	8	dsen	dsen	ADJ
ap-3440	250	9	impact	impact	NOUN
ap-3440	250	10	on	on	ADP
ap-3440	250	11	this	this	DET
ap-3440	250	12	criteria	criterion	NOUN
ap-3440	250	13	are	be	AUX
ap-3440	250	14	only	only	ADV
ap-3440	250	15	significant	significant	ADJ
ap-3440	250	16	for	for	ADP
ap-3440	250	17	degraded	degraded	ADJ
ap-3440	250	18	cases	case	NOUN
ap-3440	250	19	,	,	PUNCT
ap-3440	250	20	meaning	mean	VERB
ap-3440	250	21	that	that	SCONJ
ap-3440	250	22	around	around	ADP
ap-3440	250	23	typical	typical	ADJ
ap-3440	250	24	values	value	NOUN
ap-3440	250	25	those	those	DET
ap-3440	250	26	parameters	parameter	NOUN
ap-3440	250	27	do	do	AUX
ap-3440	250	28	not	not	PART
ap-3440	250	29	change	change	VERB
ap-3440	250	30	p	p	NOUN
ap-3440	250	31	significantly	significantly	ADV
ap-3440	250	32	.	.	PUNCT
ap-3440	251	1	however	however	ADV
ap-3440	251	2	,	,	PUNCT
ap-3440	251	3	time	time	NOUN
ap-3440	251	4	sampling	sample	VERB
ap-3440	251	5	ns	ns	NUM
ap-3440	251	6	is	be	AUX
ap-3440	251	7	a	a	DET
ap-3440	251	8	relevant	relevant	ADJ
ap-3440	251	9	parameter	parameter	NOUN
ap-3440	251	10	.	.	PUNCT
ap-3440	252	1	figure	figure	NOUN
ap-3440	252	2	6	6	NUM
ap-3440	252	3	shows	show	VERB
ap-3440	252	4	the	the	DET
ap-3440	252	5	penetration	penetration	NOUN
ap-3440	252	6	area	area	NOUN
ap-3440	252	7	decreasing	decrease	VERB
ap-3440	252	8	as	as	ADP
ap-3440	252	9	the	the	DET
ap-3440	252	10	number	number	NOUN
ap-3440	252	11	of	of	ADP
ap-3440	252	12	samples	sample	NOUN
ap-3440	252	13	increases	increase	NOUN
ap-3440	252	14	.	.	PUNCT
ap-3440	253	1	4.1.3	4.1.3	X
ap-3440	253	2	.	.	X
ap-3440	253	3	travel	travel	NOUN
ap-3440	253	4	time	time	NOUN
ap-3440	253	5	ttot	ttot	VERB
ap-3440	253	6	another	another	DET
ap-3440	253	7	complementary	complementary	ADJ
ap-3440	253	8	metric	metric	NOUN
ap-3440	253	9	for	for	ADP
ap-3440	253	10	characterizing	characterize	VERB
ap-3440	253	11	solution	solution	NOUN
ap-3440	253	12	quality	quality	NOUN
ap-3440	253	13	is	be	AUX
ap-3440	253	14	the	the	DET
ap-3440	253	15	travel	travel	NOUN
ap-3440	253	16	time	time	NOUN
ap-3440	253	17	ttot	ttot	PROPN
ap-3440	253	18	.	.	PUNCT
ap-3440	254	1	analyses	analysis	NOUN
ap-3440	254	2	of	of	ADP
ap-3440	254	3	data	datum	NOUN
ap-3440	254	4	from	from	ADP
ap-3440	254	5	several	several	ADJ
ap-3440	254	6	simulations	simulation	NOUN
ap-3440	254	7	show	show	VERB
ap-3440	254	8	a	a	DET
ap-3440	254	9	tendency	tendency	NOUN
ap-3440	254	10	that	that	SCONJ
ap-3440	254	11	for	for	ADP
ap-3440	254	12	a	a	DET
ap-3440	254	13	given	give	VERB
ap-3440	254	14	value	value	NOUN
ap-3440	254	15	of	of	ADP
ap-3440	254	16	nknots	nknot	NOUN
ap-3440	254	17	,	,	PUNCT
ap-3440	254	18	ns	ns	NUM
ap-3440	254	19	and	and	CCONJ
ap-3440	254	20	tc	tc	ADP
ap-3440	254	21	the	the	DET
ap-3440	254	22	travel	travel	NOUN
ap-3440	254	23	time	time	NOUN
ap-3440	254	24	decreases	decrease	VERB
ap-3440	254	25	as	as	SCONJ
ap-3440	254	26	the	the	DET
ap-3440	254	27	planning	planning	NOUN
ap-3440	254	28	horizon	horizon	NOUN
ap-3440	254	29	tp	tp	NOUN
ap-3440	254	30	decreases	decrease	VERB
ap-3440	254	31	.	.	PUNCT
ap-3440	255	1	this	this	PRON
ap-3440	255	2	can	can	AUX
ap-3440	255	3	be	be	AUX
ap-3440	255	4	explained	explain	VERB
ap-3440	255	5	by	by	ADP
ap-3440	255	6	the	the	DET
ap-3440	255	7	simple	simple	ADJ
ap-3440	255	8	fact	fact	NOUN
ap-3440	255	9	that	that	SCONJ
ap-3440	255	10	for	for	ADP
ap-3440	255	11	a	a	DET
ap-3440	255	12	given	give	VERB
ap-3440	255	13	16	16	NUM
ap-3440	255	14	vol	vol	NOUN
ap-3440	255	15	.	.	PUNCT
ap-3440	256	1	56	56	NUM
ap-3440	256	2	no	no	NOUN
ap-3440	256	3	.	.	PUNCT
ap-3440	257	1	1/2016	1/2016	NUM
ap-3440	257	2	trajectory	trajectory	NOUN
ap-3440	257	3	generation	generation	NOUN
ap-3440	257	4	approach	approach	NOUN
ap-3440	257	5	0	0	NUM
ap-3440	257	6	2	2	NUM
ap-3440	257	7	4	4	NUM
ap-3440	257	8	6	6	NUM
ap-3440	257	9	8	8	NUM
ap-3440	257	10	10	10	NUM
ap-3440	257	11	12	12	NUM
ap-3440	257	12	14	14	NUM
ap-3440	257	13	16	16	NUM
ap-3440	257	14	db	db	PROPN
ap-3440	257	15	,	,	PUNCT
ap-3440	257	16	sen(m	sen(m	PROPN
ap-3440	257	17	)	)	PUNCT
ap-3440	257	18	16.0	16.0	NUM
ap-3440	257	19	16.5	16.5	NUM
ap-3440	257	20	17.0	17.0	NUM
ap-3440	257	21	17.5	17.5	NUM
ap-3440	257	22	18.0	18.0	NUM
ap-3440	257	23	18.5	18.5	NUM
ap-3440	257	24	19.0	19.0	NUM
ap-3440	257	25	t	t	NOUN
ap-3440	257	26	to	to	ADP
ap-3440	257	27	t	t	PROPN
ap-3440	257	28	(	(	PUNCT
ap-3440	257	29	s	s	NOUN
ap-3440	257	30	)	)	PUNCT
ap-3440	257	31	total	total	ADJ
ap-3440	257	32	execution	execution	NOUN
ap-3440	257	33	time	time	NOUN
ap-3440	257	34	and	and	CCONJ
ap-3440	257	35	detection	detection	NOUN
ap-3440	257	36	radius	radius	NOUN
ap-3440	257	37	relationship	relationship	NOUN
ap-3440	257	38	figure	figure	NOUN
ap-3440	257	39	7	7	NUM
ap-3440	257	40	.	.	PUNCT
ap-3440	257	41	increasing	increase	VERB
ap-3440	257	42	the	the	DET
ap-3440	257	43	detection	detection	NOUN
ap-3440	257	44	radius	radius	NOUN
ap-3440	257	45	,	,	PUNCT
ap-3440	257	46	and	and	CCONJ
ap-3440	257	47	its	its	PRON
ap-3440	257	48	impact	impact	NOUN
ap-3440	257	49	on	on	ADP
ap-3440	257	50	ttot	ttot	PROPN
ap-3440	257	51	tc	tc	NOUN
ap-3440	257	52	,	,	PUNCT
ap-3440	257	53	a	a	DET
ap-3440	257	54	better	well	ADJ
ap-3440	257	55	solution	solution	NOUN
ap-3440	257	56	(	(	PUNCT
ap-3440	257	57	in	in	ADP
ap-3440	257	58	terms	term	NOUN
ap-3440	257	59	of	of	ADP
ap-3440	257	60	travel	travel	NOUN
ap-3440	257	61	time	time	NOUN
ap-3440	257	62	)	)	PUNCT
ap-3440	257	63	can	can	AUX
ap-3440	257	64	be	be	AUX
ap-3440	257	65	found	find	VERB
ap-3440	257	66	if	if	SCONJ
ap-3440	257	67	the	the	DET
ap-3440	257	68	planning	planning	NOUN
ap-3440	257	69	horizon	horizon	NOUN
ap-3440	257	70	tp	tp	NOUN
ap-3440	257	71	is	be	AUX
ap-3440	257	72	smaller	small	ADJ
ap-3440	257	73	.	.	PUNCT
ap-3440	258	1	another	another	DET
ap-3440	258	2	relevant	relevant	ADJ
ap-3440	258	3	observation	observation	NOUN
ap-3440	258	4	is	be	AUX
ap-3440	258	5	that	that	SCONJ
ap-3440	258	6	the	the	DET
ap-3440	258	7	overall	overall	ADJ
ap-3440	258	8	travel	travel	NOUN
ap-3440	258	9	time	time	NOUN
ap-3440	258	10	is	be	AUX
ap-3440	258	11	shorter	short	ADJ
ap-3440	258	12	for	for	ADP
ap-3440	258	13	smaller	small	ADJ
ap-3440	258	14	ns	ns	NUM
ap-3440	258	15	’s	’s	NOUN
ap-3440	258	16	.	.	PUNCT
ap-3440	259	1	this	this	DET
ap-3440	259	2	misleading	misleading	ADJ
ap-3440	259	3	improvement	improvement	NOUN
ap-3440	259	4	does	do	AUX
ap-3440	259	5	not	not	PART
ap-3440	259	6	take	take	VERB
ap-3440	259	7	into	into	ADP
ap-3440	259	8	account	account	NOUN
ap-3440	259	9	the	the	DET
ap-3440	259	10	fact	fact	NOUN
ap-3440	259	11	that	that	SCONJ
ap-3440	259	12	the	the	PRON
ap-3440	259	13	fewer	few	ADJ
ap-3440	259	14	the	the	DET
ap-3440	259	15	samples	sample	NOUN
ap-3440	259	16	the	the	PRON
ap-3440	259	17	greater	great	ADJ
ap-3440	259	18	will	will	AUX
ap-3440	259	19	be	be	AUX
ap-3440	259	20	the	the	DET
ap-3440	259	21	obstacle	obstacle	NOUN
ap-3440	259	22	penetration	penetration	NOUN
ap-3440	259	23	area	area	NOUN
ap-3440	259	24	,	,	PUNCT
ap-3440	259	25	as	as	SCONJ
ap-3440	259	26	shown	show	VERB
ap-3440	259	27	previously	previously	ADV
ap-3440	259	28	in	in	ADP
ap-3440	259	29	figure	figure	NOUN
ap-3440	259	30	6	6	NUM
ap-3440	259	31	.	.	PUNCT
ap-3440	260	1	furthermore	furthermore	ADV
ap-3440	260	2	,	,	PUNCT
ap-3440	260	3	figure	figure	VERB
ap-3440	260	4	7	7	NUM
ap-3440	260	5	shows	show	NOUN
ap-3440	260	6	travel	travel	NOUN
ap-3440	260	7	time	time	NOUN
ap-3440	260	8	invariance	invariance	NOUN
ap-3440	260	9	for	for	ADP
ap-3440	260	10	changes	change	NOUN
ap-3440	260	11	in	in	ADP
ap-3440	260	12	the	the	DET
ap-3440	260	13	detection	detection	NOUN
ap-3440	260	14	radius	radius	NOUN
ap-3440	260	15	far	far	ADV
ap-3440	260	16	from	from	ADP
ap-3440	260	17	degraded	degraded	ADJ
ap-3440	260	18	values	value	NOUN
ap-3440	260	19	that	that	PRON
ap-3440	260	20	are	be	AUX
ap-3440	260	21	too	too	ADV
ap-3440	260	22	small	small	ADJ
ap-3440	260	23	.	.	PUNCT
ap-3440	261	1	this	this	PRON
ap-3440	261	2	indicates	indicate	VERB
ap-3440	261	3	that	that	SCONJ
ap-3440	261	4	local	local	ADJ
ap-3440	261	5	knowledge	knowledge	NOUN
ap-3440	261	6	of	of	ADP
ap-3440	261	7	the	the	DET
ap-3440	261	8	environment	environment	NOUN
ap-3440	261	9	provides	provide	VERB
ap-3440	261	10	enough	enough	ADJ
ap-3440	261	11	information	information	NOUN
ap-3440	261	12	for	for	ADP
ap-3440	261	13	finding	find	VERB
ap-3440	261	14	good	good	ADJ
ap-3440	261	15	solutions	solution	NOUN
ap-3440	261	16	.	.	PUNCT
ap-3440	262	1	5	5	X
ap-3440	262	2	.	.	X
ap-3440	262	3	conclusions	conclusion	NOUN
ap-3440	262	4	we	we	PRON
ap-3440	262	5	have	have	AUX
ap-3440	262	6	proposed	propose	VERB
ap-3440	262	7	a	a	DET
ap-3440	262	8	distributed	distribute	VERB
ap-3440	262	9	motion	motion	NOUN
ap-3440	262	10	planner	planner	NOUN
ap-3440	262	11	based	base	VERB
ap-3440	262	12	on	on	ADP
ap-3440	262	13	a	a	DET
ap-3440	262	14	receding	recede	VERB
ap-3440	262	15	horizon	horizon	NOUN
ap-3440	262	16	approach	approach	NOUN
ap-3440	262	17	,	,	PUNCT
ap-3440	262	18	modified	modify	VERB
ap-3440	262	19	to	to	PART
ap-3440	262	20	take	take	VERB
ap-3440	262	21	into	into	ADP
ap-3440	262	22	account	account	NOUN
ap-3440	262	23	termination	termination	NOUN
ap-3440	262	24	constraints	constraint	NOUN
ap-3440	262	25	.	.	PUNCT
ap-3440	263	1	near	near	ADP
ap-3440	263	2	the	the	DET
ap-3440	263	3	goal	goal	NOUN
ap-3440	263	4	configuration	configuration	NOUN
ap-3440	263	5	neighborhood	neighborhood	NOUN
ap-3440	263	6	,	,	PUNCT
ap-3440	263	7	the	the	DET
ap-3440	263	8	receding	recede	VERB
ap-3440	263	9	horizon	horizon	NOUN
ap-3440	263	10	approach	approach	NOUN
ap-3440	263	11	is	be	AUX
ap-3440	263	12	finished	finish	VERB
ap-3440	263	13	and	and	CCONJ
ap-3440	263	14	a	a	DET
ap-3440	263	15	termination	termination	NOUN
ap-3440	263	16	planning	planning	NOUN
ap-3440	263	17	problem	problem	NOUN
ap-3440	263	18	is	be	AUX
ap-3440	263	19	solved	solve	VERB
ap-3440	263	20	for	for	ADP
ap-3440	263	21	bringing	bring	VERB
ap-3440	263	22	the	the	DET
ap-3440	263	23	robots	robot	NOUN
ap-3440	263	24	to	to	ADP
ap-3440	263	25	their	their	PRON
ap-3440	263	26	precise	precise	ADJ
ap-3440	263	27	final	final	ADJ
ap-3440	263	28	state	state	NOUN
ap-3440	263	29	.	.	PUNCT
ap-3440	264	1	the	the	DET
ap-3440	264	2	problem	problem	NOUN
ap-3440	264	3	is	be	AUX
ap-3440	264	4	stated	state	VERB
ap-3440	264	5	as	as	ADP
ap-3440	264	6	a	a	DET
ap-3440	264	7	constrained	constrain	VERB
ap-3440	264	8	optimization	optimization	NOUN
ap-3440	264	9	problem	problem	NOUN
ap-3440	264	10	.	.	PUNCT
ap-3440	265	1	it	it	PRON
ap-3440	265	2	minimizes	minimize	VERB
ap-3440	265	3	the	the	DET
ap-3440	265	4	time	time	NOUN
ap-3440	265	5	for	for	ADP
ap-3440	265	6	reaching	reach	VERB
ap-3440	265	7	a	a	DET
ap-3440	265	8	goal	goal	NOUN
ap-3440	265	9	configuration	configuration	NOUN
ap-3440	265	10	through	through	ADP
ap-3440	265	11	a	a	DET
ap-3440	265	12	collision	collision	NOUN
ap-3440	265	13	-	-	PUNCT
ap-3440	265	14	free	free	ADJ
ap-3440	265	15	trajectory	trajectory	NOUN
ap-3440	265	16	securing	secure	VERB
ap-3440	265	17	communication	communication	NOUN
ap-3440	265	18	between	between	ADP
ap-3440	265	19	robots	robot	NOUN
ap-3440	265	20	.	.	PUNCT
ap-3440	266	1	circle	circle	NOUN
ap-3440	266	2	and	and	CCONJ
ap-3440	266	3	convex	convex	ADJ
ap-3440	266	4	polygon	polygon	NOUN
ap-3440	266	5	representation	representation	NOUN
ap-3440	266	6	of	of	ADP
ap-3440	266	7	obstacles	obstacle	NOUN
ap-3440	266	8	is	be	AUX
ap-3440	266	9	supported	support	VERB
ap-3440	266	10	.	.	PUNCT
ap-3440	267	1	key	key	ADJ
ap-3440	267	2	techniques	technique	NOUN
ap-3440	267	3	for	for	ADP
ap-3440	267	4	implementing	implement	VERB
ap-3440	267	5	the	the	DET
ap-3440	267	6	motion	motion	NOUN
ap-3440	267	7	planner	planner	NOUN
ap-3440	267	8	are	be	AUX
ap-3440	267	9	:	:	PUNCT
ap-3440	267	10	system	system	NOUN
ap-3440	267	11	flatness	flatness	NOUN
ap-3440	267	12	property	property	NOUN
ap-3440	267	13	,	,	PUNCT
ap-3440	267	14	b	b	X
ap-3440	267	15	-	-	PUNCT
ap-3440	267	16	spline	spline	NOUN
ap-3440	267	17	parametrization	parametrization	NOUN
ap-3440	267	18	of	of	ADP
ap-3440	267	19	the	the	DET
ap-3440	267	20	flat	flat	ADJ
ap-3440	267	21	output	output	NOUN
ap-3440	267	22	and	and	CCONJ
ap-3440	267	23	the	the	DET
ap-3440	267	24	slsqp	slsqp	NOUN
ap-3440	267	25	optimizer	optimizer	NOUN
ap-3440	267	26	.	.	PUNCT
ap-3440	268	1	finally	finally	ADV
ap-3440	268	2	,	,	PUNCT
ap-3440	268	3	solutions	solution	NOUN
ap-3440	268	4	using	use	VERB
ap-3440	268	5	this	this	DET
ap-3440	268	6	planner	planner	NOUN
ap-3440	268	7	for	for	ADP
ap-3440	268	8	different	different	ADJ
ap-3440	268	9	scenarios	scenario	NOUN
ap-3440	268	10	were	be	AUX
ap-3440	268	11	generated	generate	VERB
ap-3440	268	12	in	in	ADP
ap-3440	268	13	order	order	NOUN
ap-3440	268	14	to	to	PART
ap-3440	268	15	validate	validate	VERB
ap-3440	268	16	the	the	DET
ap-3440	268	17	method	method	NOUN
ap-3440	268	18	.	.	PUNCT
ap-3440	269	1	the	the	DET
ap-3440	269	2	impact	impact	NOUN
ap-3440	269	3	of	of	ADP
ap-3440	269	4	different	different	ADJ
ap-3440	269	5	parameters	parameter	NOUN
ap-3440	269	6	on	on	ADP
ap-3440	269	7	computation	computation	NOUN
ap-3440	269	8	time	time	NOUN
ap-3440	269	9	and	and	CCONJ
ap-3440	269	10	on	on	ADP
ap-3440	269	11	the	the	DET
ap-3440	269	12	quality	quality	NOUN
ap-3440	269	13	of	of	ADP
ap-3440	269	14	the	the	DET
ap-3440	269	15	solution	solution	NOUN
ap-3440	269	16	was	be	AUX
ap-3440	269	17	analyzed	analyze	VERB
ap-3440	269	18	.	.	PUNCT
ap-3440	270	1	future	future	ADJ
ap-3440	270	2	work	work	NOUN
ap-3440	270	3	will	will	AUX
ap-3440	270	4	be	be	AUX
ap-3440	270	5	performed	perform	VERB
ap-3440	270	6	in	in	ADP
ap-3440	270	7	a	a	DET
ap-3440	270	8	physical	physical	ADJ
ap-3440	270	9	simulation	simulation	NOUN
ap-3440	270	10	environment	environment	NOUN
ap-3440	270	11	,	,	PUNCT
ap-3440	270	12	where	where	SCONJ
ap-3440	270	13	the	the	DET
ap-3440	270	14	dynamics	dynamic	NOUN
ap-3440	270	15	is	be	AUX
ap-3440	270	16	taken	take	VERB
ap-3440	270	17	into	into	ADP
ap-3440	270	18	account	account	NOUN
ap-3440	270	19	as	as	ADV
ap-3440	270	20	well	well	ADV
ap-3440	270	21	as	as	ADP
ap-3440	270	22	models	model	NOUN
ap-3440	270	23	of	of	ADP
ap-3440	270	24	the	the	DET
ap-3440	270	25	sensors	sensor	NOUN
ap-3440	270	26	and	and	CCONJ
ap-3440	270	27	communication	communication	NOUN
ap-3440	270	28	latency	latency	NOUN
ap-3440	270	29	.	.	PUNCT
ap-3440	271	1	references	reference	NOUN
ap-3440	271	2	[	[	X
ap-3440	271	3	1	1	X
ap-3440	271	4	]	]	PUNCT
ap-3440	271	5	s.	s.	PROPN
ap-3440	271	6	robarts	robarts	PROPN
ap-3440	271	7	.	.	PUNCT
ap-3440	272	1	autonomous	autonomous	ADJ
ap-3440	272	2	robots	robot	NOUN
ap-3440	272	3	are	be	AUX
ap-3440	272	4	helping	help	VERB
ap-3440	272	5	to	to	PART
ap-3440	272	6	pack	pack	VERB
ap-3440	272	7	your	your	PRON
ap-3440	272	8	amazon	amazon	NOUN
ap-3440	272	9	orders	order	NOUN
ap-3440	272	10	.	.	PUNCT
ap-3440	273	1	http://www.gizmag.com/	http://www.gizmag.com/	PROPN
ap-3440	273	2	amazon	amazon	PROPN
ap-3440	273	3	-	-	PUNCT
ap-3440	273	4	kiva	kiva	PROPN
ap-3440	273	5	-	-	PUNCT
ap-3440	273	6	fulfillment	fulfillment	NOUN
ap-3440	273	7	-	-	PUNCT
ap-3440	273	8	system/34999/.	system/34999/.	NOUN
ap-3440	273	9	accessed	access	VERB
ap-3440	273	10	:	:	PUNCT
ap-3440	273	11	2015	2015	NUM
ap-3440	273	12	-	-	SYM
ap-3440	273	13	07	07	NUM
ap-3440	273	14	-	-	PUNCT
ap-3440	273	15	22	22	NUM
ap-3440	273	16	.	.	PUNCT
ap-3440	274	1	[	[	X
ap-3440	274	2	2	2	X
ap-3440	274	3	]	]	PUNCT
ap-3440	274	4	idea	idea	NOUN
ap-3440	274	5	groupe	groupe	PROPN
ap-3440	274	6	met	meet	VERB
ap-3440	274	7	en	en	ADP
ap-3440	274	8	place	place	NOUN
ap-3440	274	9	scallog	scallog	PROPN
ap-3440	274	10	pour	pour	PROPN
ap-3440	274	11	sa	sa	PROPN
ap-3440	274	12	préparation	préparation	PROPN
ap-3440	274	13	de	de	PROPN
ap-3440	274	14	commandes	commandes	PROPN
ap-3440	274	15	.	.	PUNCT
ap-3440	275	1	http://supplychainmagazine.fr/nl/2015/2085/.	http://supplychainmagazine.fr/nl/2015/2085/.	PROPN
ap-3440	275	2	accessed	access	VERB
ap-3440	275	3	:	:	PUNCT
ap-3440	275	4	2015	2015	NUM
ap-3440	275	5	-	-	SYM
ap-3440	275	6	07	07	NUM
ap-3440	275	7	-	-	PUNCT
ap-3440	275	8	22	22	NUM
ap-3440	275	9	.	.	PUNCT
ap-3440	276	1	[	[	X
ap-3440	276	2	3	3	X
ap-3440	276	3	]	]	X
ap-3440	276	4	f.	f.	PROPN
ap-3440	276	5	borrelli	borrelli	PROPN
ap-3440	276	6	,	,	PUNCT
ap-3440	276	7	d.	d.	PROPN
ap-3440	276	8	subramanian	subramanian	PROPN
ap-3440	276	9	,	,	PUNCT
ap-3440	276	10	a.u	a.u	PROPN
ap-3440	276	11	.	.	PROPN
ap-3440	276	12	raghunathan	raghunathan	PROPN
ap-3440	276	13	,	,	PUNCT
ap-3440	276	14	l.	l.	PROPN
ap-3440	276	15	biegler	biegler	PROPN
ap-3440	276	16	.	.	PUNCT
ap-3440	277	1	milp	milp	PROPN
ap-3440	277	2	and	and	CCONJ
ap-3440	277	3	nlp	nlp	ADJ
ap-3440	277	4	techniques	technique	NOUN
ap-3440	277	5	for	for	ADP
ap-3440	277	6	centralized	centralized	ADJ
ap-3440	277	7	trajectory	trajectory	NOUN
ap-3440	277	8	planning	planning	NOUN
ap-3440	277	9	of	of	ADP
ap-3440	277	10	multiple	multiple	ADJ
ap-3440	277	11	unmanned	unmanned	ADJ
ap-3440	277	12	air	air	NOUN
ap-3440	277	13	vehicles	vehicle	NOUN
ap-3440	277	14	.	.	PUNCT
ap-3440	278	1	2006	2006	NUM
ap-3440	278	2	american	american	PROPN
ap-3440	278	3	control	control	PROPN
ap-3440	278	4	conference	conference	PROPN
ap-3440	278	5	pp	pp	X
ap-3440	278	6	.	.	PUNCT
ap-3440	279	1	5763–5768	5763–5768	NUM
ap-3440	279	2	,	,	PUNCT
ap-3440	279	3	2006	2006	NUM
ap-3440	279	4	.	.	PUNCT
ap-3440	280	1	doi:10.1109	doi:10.1109	VERB
ap-3440	280	2	/	/	SYM
ap-3440	280	3	acc.2006.1657644	acc.2006.1657644	PROPN
ap-3440	280	4	.	.	PUNCT
ap-3440	281	1	[	[	X
ap-3440	281	2	4	4	X
ap-3440	281	3	]	]	X
ap-3440	281	4	g.	g.	PROPN
ap-3440	281	5	sanchez	sanchez	PROPN
ap-3440	281	6	,	,	PUNCT
ap-3440	281	7	j.-c	j.-c	PROPN
ap-3440	281	8	.	.	PUNCT
ap-3440	281	9	latombe	latombe	NOUN
ap-3440	281	10	.	.	PUNCT
ap-3440	282	1	on	on	ADP
ap-3440	282	2	delaying	delay	VERB
ap-3440	282	3	collision	collision	NOUN
ap-3440	282	4	checking	check	VERB
ap-3440	282	5	in	in	ADP
ap-3440	282	6	prm	prm	PROPN
ap-3440	282	7	planning	planning	NOUN
ap-3440	282	8	:	:	PUNCT
ap-3440	282	9	application	application	NOUN
ap-3440	282	10	to	to	ADP
ap-3440	282	11	multi	multi	ADJ
ap-3440	282	12	-	-	ADJ
ap-3440	282	13	robot	robot	ADJ
ap-3440	282	14	coordination	coordination	NOUN
ap-3440	282	15	.	.	PUNCT
ap-3440	283	1	the	the	DET
ap-3440	283	2	international	international	ADJ
ap-3440	283	3	journal	journal	NOUN
ap-3440	283	4	of	of	ADP
ap-3440	283	5	robotics	robotic	NOUN
ap-3440	283	6	research	research	NOUN
ap-3440	283	7	21(1):5–26	21(1):5–26	NUM
ap-3440	283	8	,	,	PUNCT
ap-3440	283	9	2002	2002	NUM
ap-3440	283	10	.	.	PUNCT
ap-3440	284	1	doi:10.1177/027836402320556458	doi:10.1177/027836402320556458	NOUN
ap-3440	284	2	.	.	PUNCT
ap-3440	285	1	[	[	X
ap-3440	285	2	5	5	NUM
ap-3440	285	3	]	]	X
ap-3440	285	4	o.	o.	PROPN
ap-3440	285	5	khatib	khatib	PROPN
ap-3440	285	6	.	.	PUNCT
ap-3440	286	1	real	real	ADJ
ap-3440	286	2	-	-	PUNCT
ap-3440	286	3	time	time	NOUN
ap-3440	286	4	obstacle	obstacle	NOUN
ap-3440	286	5	avoidance	avoidance	NOUN
ap-3440	286	6	for	for	ADP
ap-3440	286	7	manipulators	manipulator	NOUN
ap-3440	286	8	and	and	CCONJ
ap-3440	286	9	mobile	mobile	NOUN
ap-3440	286	10	robots	robot	NOUN
ap-3440	286	11	.	.	PUNCT
ap-3440	287	1	in	in	ADP
ap-3440	287	2	autonomous	autonomous	ADJ
ap-3440	287	3	robot	robot	NOUN
ap-3440	287	4	vehicles	vehicle	NOUN
ap-3440	287	5	,	,	PUNCT
ap-3440	287	6	pp	pp	ADV
ap-3440	287	7	.	.	PUNCT
ap-3440	288	1	396–404	396–404	NUM
ap-3440	288	2	.	.	PUNCT
ap-3440	288	3	springer	springer	NOUN
ap-3440	288	4	science	science	PROPN
ap-3440	288	5	and	and	CCONJ
ap-3440	288	6	business	business	NOUN
ap-3440	288	7	media	medium	NOUN
ap-3440	288	8	,	,	PUNCT
ap-3440	288	9	1986	1986	NUM
ap-3440	288	10	.	.	PUNCT
ap-3440	289	1	doi:10.1007/978	doi:10.1007/978	ADJ
ap-3440	289	2	-	-	PUNCT
ap-3440	289	3	1	1	NUM
ap-3440	289	4	-	-	PUNCT
ap-3440	289	5	4613	4613	NUM
ap-3440	289	6	-	-	PUNCT
ap-3440	289	7	8997	8997	NUM
ap-3440	289	8	-	-	PUNCT
ap-3440	289	9	2_29	2_29	NUM
ap-3440	289	10	.	.	PUNCT
ap-3440	290	1	[	[	X
ap-3440	290	2	6	6	NUM
ap-3440	290	3	]	]	PUNCT
ap-3440	290	4	m.	m.	NOUN
ap-3440	290	5	defoort	defoort	NOUN
ap-3440	290	6	,	,	PUNCT
ap-3440	290	7	a.	a.	NOUN
ap-3440	290	8	kokosy	kokosy	NOUN
ap-3440	290	9	,	,	PUNCT
ap-3440	290	10	t.	t.	NOUN
ap-3440	290	11	floquet	floquet	PROPN
ap-3440	290	12	,	,	PUNCT
ap-3440	290	13	et	et	PROPN
ap-3440	290	14	al	al	PROPN
ap-3440	290	15	.	.	PROPN
ap-3440	290	16	motion	motion	NOUN
ap-3440	290	17	planning	planning	NOUN
ap-3440	290	18	for	for	ADP
ap-3440	290	19	cooperative	cooperative	ADJ
ap-3440	290	20	unicycle	unicycle	NOUN
ap-3440	290	21	-	-	PUNCT
ap-3440	290	22	type	type	NOUN
ap-3440	290	23	mobile	mobile	ADJ
ap-3440	290	24	robots	robot	NOUN
ap-3440	290	25	with	with	ADP
ap-3440	290	26	limited	limited	ADJ
ap-3440	290	27	sensing	sense	VERB
ap-3440	290	28	ranges	range	NOUN
ap-3440	290	29	:	:	PUNCT
ap-3440	290	30	a	a	DET
ap-3440	290	31	distributed	distribute	VERB
ap-3440	290	32	receding	recede	VERB
ap-3440	290	33	horizon	horizon	NOUN
ap-3440	290	34	approach	approach	NOUN
ap-3440	290	35	.	.	PUNCT
ap-3440	291	1	robotics	robotic	NOUN
ap-3440	291	2	and	and	CCONJ
ap-3440	291	3	autonomous	autonomous	ADJ
ap-3440	291	4	systems	system	NOUN
ap-3440	291	5	57(11):1094–1106	57(11):1094–1106	NUM
ap-3440	291	6	,	,	PUNCT
ap-3440	291	7	2009	2009	NUM
ap-3440	291	8	.	.	PUNCT
ap-3440	292	1	doi:10.1016	doi:10.1016	PROPN
ap-3440	292	2	/	/	SYM
ap-3440	292	3	j.robot.2009.07.004	j.robot.2009.07.004	PROPN
ap-3440	292	4	.	.	PUNCT
ap-3440	293	1	[	[	X
ap-3440	293	2	7	7	X
ap-3440	293	3	]	]	X
ap-3440	293	4	c.	c.	PROPN
ap-3440	293	5	ericson	ericson	PROPN
ap-3440	293	6	.	.	PUNCT
ap-3440	294	1	real	real	ADJ
ap-3440	294	2	-	-	PUNCT
ap-3440	294	3	time	time	NOUN
ap-3440	294	4	collision	collision	NOUN
ap-3440	294	5	detection	detection	NOUN
ap-3440	294	6	.	.	PUNCT
ap-3440	295	1	m038	m038	PROPN
ap-3440	295	2	/	/	SYM
ap-3440	295	3	the	the	DET
ap-3440	295	4	morgan	morgan	PROPN
ap-3440	295	5	kaufmann	kaufmann	PROPN
ap-3440	295	6	ser	ser	PROPN
ap-3440	295	7	.	.	PUNCT
ap-3440	296	1	in	in	ADP
ap-3440	296	2	interactive	interactive	ADJ
ap-3440	296	3	3d	3d	PROPN
ap-3440	296	4	technology	technology	NOUN
ap-3440	296	5	series	series	NOUN
ap-3440	296	6	.	.	PUNCT
ap-3440	297	1	taylor	taylor	PROPN
ap-3440	297	2	&	&	CCONJ
ap-3440	297	3	francis	francis	PROPN
ap-3440	297	4	,	,	PUNCT
ap-3440	297	5	2004	2004	NUM
ap-3440	297	6	.	.	PUNCT
ap-3440	298	1	[	[	X
ap-3440	298	2	8	8	X
ap-3440	298	3	]	]	PUNCT
ap-3440	298	4	t.	t.	PROPN
ap-3440	298	5	keviczky	keviczky	PROPN
ap-3440	298	6	,	,	PUNCT
ap-3440	298	7	f.	f.	PROPN
ap-3440	298	8	borrelli	borrelli	PROPN
ap-3440	298	9	,	,	PUNCT
ap-3440	298	10	g.	g.	PROPN
ap-3440	298	11	j.	j.	PROPN
ap-3440	298	12	balas	balas	PROPN
ap-3440	298	13	.	.	PROPN
ap-3440	298	14	decentralized	decentralize	VERB
ap-3440	298	15	receding	recede	VERB
ap-3440	298	16	horizon	horizon	NOUN
ap-3440	298	17	control	control	NOUN
ap-3440	298	18	for	for	ADP
ap-3440	298	19	large	large	ADJ
ap-3440	298	20	scale	scale	NOUN
ap-3440	298	21	dynamically	dynamically	ADV
ap-3440	298	22	decoupled	decouple	VERB
ap-3440	298	23	systems	system	NOUN
ap-3440	298	24	.	.	PUNCT
ap-3440	299	1	automatica	automatica	PROPN
ap-3440	299	2	42(12):2105–2115	42(12):2105–2115	PROPN
ap-3440	299	3	,	,	PUNCT
ap-3440	299	4	2006	2006	NUM
ap-3440	299	5	.	.	PUNCT
ap-3440	300	1	doi:10.1016	doi:10.1016	PROPN
ap-3440	300	2	/	/	SYM
ap-3440	300	3	j.automatica.2006.07.008	j.automatica.2006.07.008	PROPN
ap-3440	300	4	.	.	PUNCT
ap-3440	301	1	[	[	X
ap-3440	301	2	9	9	NUM
ap-3440	301	3	]	]	PUNCT
ap-3440	301	4	m.	m.	NOUN
ap-3440	301	5	defoort	defoort	NOUN
ap-3440	301	6	.	.	PUNCT
ap-3440	302	1	contributions	contribution	NOUN
ap-3440	302	2	à	à	X
ap-3440	302	3	la	la	X
ap-3440	302	4	planification	planification	PROPN
ap-3440	302	5	et	et	PROPN
ap-3440	302	6	à	à	X
ap-3440	302	7	la	la	X
ap-3440	302	8	commande	commande	PROPN
ap-3440	302	9	pour	pour	PROPN
ap-3440	302	10	les	les	PROPN
ap-3440	302	11	robots	robot	NOUN
ap-3440	302	12	mobiles	mobile	NOUN
ap-3440	302	13	coopératifs	coopératif	NOUN
ap-3440	302	14	.	.	PUNCT
ap-3440	302	15	ecole	ecole	PROPN
ap-3440	302	16	centrale	centrale	X
ap-3440	302	17	de	de	X
ap-3440	302	18	lille	lille	PROPN
ap-3440	302	19	2007	2007	NUM
ap-3440	302	20	.	.	PUNCT
ap-3440	303	1	[	[	X
ap-3440	303	2	10	10	NUM
ap-3440	303	3	]	]	PUNCT
ap-3440	303	4	m.	m.	PROPN
ap-3440	303	5	b.	b.	PROPN
ap-3440	303	6	milam	milam	PROPN
ap-3440	303	7	.	.	PUNCT
ap-3440	304	1	real	real	ADJ
ap-3440	304	2	-	-	PUNCT
ap-3440	304	3	time	time	NOUN
ap-3440	304	4	optimal	optimal	ADJ
ap-3440	304	5	trajectory	trajectory	NOUN
ap-3440	304	6	generation	generation	NOUN
ap-3440	304	7	for	for	ADP
ap-3440	304	8	constrained	constrain	VERB
ap-3440	304	9	dynamical	dynamical	ADJ
ap-3440	304	10	systems	system	NOUN
ap-3440	304	11	.	.	PUNCT
ap-3440	305	1	ph.d	ph.d	PROPN
ap-3440	305	2	.	.	PUNCT
ap-3440	306	1	thesis	thesis	PROPN
ap-3440	306	2	,	,	PUNCT
ap-3440	306	3	california	california	PROPN
ap-3440	306	4	institute	institute	PROPN
ap-3440	306	5	of	of	ADP
ap-3440	306	6	technology	technology	PROPN
ap-3440	306	7	,	,	PUNCT
ap-3440	306	8	2003	2003	NUM
ap-3440	306	9	.	.	PUNCT
ap-3440	307	1	[	[	X
ap-3440	307	2	11	11	NUM
ap-3440	307	3	]	]	PUNCT
ap-3440	307	4	scipy	scipy	X
ap-3440	307	5	scientific	scientific	ADJ
ap-3440	307	6	computing	computing	NOUN
ap-3440	307	7	tools	tool	NOUN
ap-3440	307	8	for	for	ADP
ap-3440	307	9	python	python	NOUN
ap-3440	307	10	.	.	PUNCT
ap-3440	308	1	http://www.scipy.org/.	http://www.scipy.org/.	NOUN
ap-3440	308	2	accessed	access	VERB
ap-3440	308	3	:	:	PUNCT
ap-3440	308	4	2015	2015	NUM
ap-3440	308	5	-	-	SYM
ap-3440	308	6	07	07	NUM
ap-3440	308	7	-	-	PUNCT
ap-3440	308	8	31	31	NUM
ap-3440	308	9	.	.	PUNCT
ap-3440	309	1	[	[	X
ap-3440	309	2	12	12	NUM
ap-3440	309	3	]	]	X
ap-3440	309	4	d.	d.	PROPN
ap-3440	309	5	kraft	kraft	PROPN
ap-3440	309	6	.	.	PUNCT
ap-3440	310	1	a	a	DET
ap-3440	310	2	software	software	NOUN
ap-3440	310	3	package	package	NOUN
ap-3440	310	4	for	for	ADP
ap-3440	310	5	sequential	sequential	ADJ
ap-3440	310	6	quadratic	quadratic	ADJ
ap-3440	310	7	programming	programming	NOUN
ap-3440	310	8	.	.	PUNCT
ap-3440	311	1	dlr	dlr	ADJ
ap-3440	311	2	german	german	ADJ
ap-3440	311	3	aerospace	aerospace	NOUN
ap-3440	311	4	center	center	NOUN
ap-3440	311	5	–	–	PUNCT
ap-3440	311	6	institute	institute	NOUN
ap-3440	311	7	for	for	ADP
ap-3440	311	8	flight	flight	NOUN
ap-3440	311	9	mechanics	mechanic	NOUN
ap-3440	311	10	,	,	PUNCT
ap-3440	311	11	koln	koln	PROPN
ap-3440	311	12	,	,	PUNCT
ap-3440	311	13	germany	germany	PROPN
ap-3440	311	14	,	,	PUNCT
ap-3440	311	15	1988	1988	NUM
ap-3440	311	16	.	.	PUNCT
ap-3440	312	1	[	[	X
ap-3440	312	2	13	13	NUM
ap-3440	312	3	]	]	PUNCT
ap-3440	312	4	runtime	runtime	NOUN
ap-3440	312	5	errors	error	NOUN
ap-3440	312	6	for	for	ADP
ap-3440	312	7	large	large	ADJ
ap-3440	312	8	gradients	gradient	NOUN
ap-3440	312	9	.	.	PUNCT
ap-3440	313	1	http://comments.gmane.org/gmane.science	http://comments.gmane.org/gmane.science	NOUN
ap-3440	313	2	.	.	PUNCT
ap-3440	314	1	analysis.nlopt.general/191	analysis.nlopt.general/191	PROPN
ap-3440	314	2	.	.	PROPN
ap-3440	315	1	accessed	access	VERB
ap-3440	315	2	:	:	PUNCT
ap-3440	315	3	2015	2015	NUM
ap-3440	315	4	-	-	SYM
ap-3440	315	5	07	07	NUM
ap-3440	315	6	-	-	PUNCT
ap-3440	315	7	27	27	NUM
ap-3440	315	8	.	.	PUNCT
ap-3440	316	1	17	17	NUM
ap-3440	316	2	http://www.gizmag.com/amazon-kiva-fulfillment-system/34999/	http://www.gizmag.com/amazon-kiva-fulfillment-system/34999/	NOUN
ap-3440	316	3	http://www.gizmag.com/amazon-kiva-fulfillment-system/34999/	http://www.gizmag.com/amazon-kiva-fulfillment-system/34999/	NOUN
ap-3440	316	4	http://supplychainmagazine.fr/nl/2015/2085/	http://supplychainmagazine.fr/nl/2015/2085/	PART
ap-3440	316	5	http://dx.doi.org/10.1109/acc.2006.1657644	http://dx.doi.org/10.1109/acc.2006.1657644	VERB
ap-3440	316	6	http://dx.doi.org/10.1177/027836402320556458	http://dx.doi.org/10.1177/027836402320556458	PROPN
ap-3440	316	7	http://dx.doi.org/10.1007/978-1-4613-8997-2_29	http://dx.doi.org/10.1007/978-1-4613-8997-2_29	PROPN
ap-3440	316	8	http://dx.doi.org/10.1016/j.robot.2009.07.004	http://dx.doi.org/10.1016/j.robot.2009.07.004	PROPN
ap-3440	316	9	http://dx.doi.org/10.1016/j.automatica.2006.07.008	http://dx.doi.org/10.1016/j.automatica.2006.07.008	NOUN
ap-3440	316	10	http://www.scipy.org/	http://www.scipy.org/	NOUN
ap-3440	316	11	http://comments.gmane.org/gmane.science.analysis.nlopt.general/191	http://comments.gmane.org/gmane.science.analysis.nlopt.general/191	NUM
ap-3440	316	12	http://comments.gmane.org/gmane.science.analysis.nlopt.general/191	http://comments.gmane.org/gmane.science.analysis.nlopt.general/191	INTJ
ap-3440	316	13	acta	acta	PROPN
ap-3440	316	14	polytechnica	polytechnica	PROPN
ap-3440	316	15	56(1):10–17	56(1):10–17	NUM
ap-3440	316	16	,	,	PUNCT
ap-3440	316	17	2016	2016	NUM
ap-3440	316	18	1	1	NUM
ap-3440	316	19	introduction	introduction	NOUN
ap-3440	316	20	2	2	NUM
ap-3440	316	21	problem	problem	NOUN
ap-3440	316	22	statement	statement	NOUN
ap-3440	316	23	2.1	2.1	NUM
ap-3440	316	24	assumptions	assumption	NOUN
ap-3440	316	25	2.2	2.2	NUM
ap-3440	316	26	constraints	constraint	NOUN
ap-3440	316	27	and	and	CCONJ
ap-3440	316	28	cost	cost	NOUN
ap-3440	316	29	functions	function	NOUN
ap-3440	316	30	3	3	NUM
ap-3440	316	31	distributed	distribute	VERB
ap-3440	316	32	motion	motion	NOUN
ap-3440	316	33	planning	plan	VERB
ap-3440	316	34	3.1	3.1	NUM
ap-3440	316	35	receding	recede	VERB
ap-3440	316	36	horizon	horizon	NOUN
ap-3440	316	37	approach	approach	VERB
ap-3440	316	38	3.2	3.2	NUM
ap-3440	316	39	motion	motion	NOUN
ap-3440	316	40	planning	plan	VERB
ap-3440	316	41	termination	termination	NOUN
ap-3440	316	42	3.3	3.3	NUM
ap-3440	316	43	strategies	strategy	NOUN
ap-3440	316	44	for	for	ADP
ap-3440	316	45	solving	solve	VERB
ap-3440	316	46	the	the	DET
ap-3440	316	47	constrained	constrain	VERB
ap-3440	316	48	optimization	optimization	NOUN
ap-3440	316	49	problems	problem	VERB
ap-3440	316	50	3.3.1	3.3.1	NUM
ap-3440	316	51	flatness	flatness	NOUN
ap-3440	316	52	property	property	NOUN
ap-3440	316	53	3.3.2	3.3.2	NUM
ap-3440	316	54	parametrization	parametrization	NOUN
ap-3440	316	55	of	of	ADP
ap-3440	316	56	the	the	DET
ap-3440	316	57	flat	flat	ADJ
ap-3440	316	58	output	output	NOUN
ap-3440	316	59	by	by	ADP
ap-3440	316	60	b	b	NOUN
ap-3440	316	61	-	-	PUNCT
ap-3440	316	62	splines	spline	NOUN
ap-3440	316	63	3.3.3	3.3.3	NUM
ap-3440	316	64	optimization	optimization	NOUN
ap-3440	316	65	solver	solver	VERB
ap-3440	316	66	4	4	NUM
ap-3440	316	67	simulation	simulation	NOUN
ap-3440	316	68	results	result	VERB
ap-3440	316	69	4.1	4.1	NUM
ap-3440	316	70	impact	impact	NOUN
ap-3440	316	71	of	of	ADP
ap-3440	316	72	parameters	parameter	NOUN
ap-3440	316	73	4.1.1	4.1.1	NUM
ap-3440	316	74	maximum	maximum	ADJ
ap-3440	316	75	computation	computation	NOUN
ap-3440	316	76	time	time	NOUN
ap-3440	316	77	over	over	ADP
ap-3440	316	78	computation	computation	NOUN
ap-3440	316	79	horizon	horizon	PROPN
ap-3440	316	80	mct	mct	PROPN
ap-3440	316	81	/	/	SYM
ap-3440	316	82	tc	tc	PROPN
ap-3440	316	83	4.1.2	4.1.2	NUM
ap-3440	316	84	obstacle	obstacle	NOUN
ap-3440	316	85	penetration	penetration	NOUN
ap-3440	316	86	p	p	PROPN
ap-3440	316	87	4.1.3	4.1.3	NUM
ap-3440	316	88	travel	travel	NOUN
ap-3440	316	89	time	time	NOUN
ap-3440	316	90	ttot	ttot	NOUN
ap-3440	316	91	5	5	NUM
ap-3440	316	92	conclusions	conclusion	NOUN
ap-3440	316	93	references	reference	NOUN