id	sid	tid	token	lemma	pos
ap-3441	1	1	acta	acta	PROPN
ap-3441	1	2	polytechnica	polytechnica	PROPN
ap-3441	1	3	doi:10.14311	doi:10.14311	PROPN
ap-3441	1	4	/	/	SYM
ap-3441	1	5	app.2016.56.0018	app.2016.56.0018	PROPN
ap-3441	1	6	acta	acta	PROPN
ap-3441	1	7	polytechnica	polytechnica	PROPN
ap-3441	1	8	56(1):18–26	56(1):18–26	NUM
ap-3441	1	9	,	,	PUNCT
ap-3441	1	10	2016	2016	NUM
ap-3441	1	11	©	©	PROPN
ap-3441	1	12	czech	czech	PROPN
ap-3441	1	13	technical	technical	PROPN
ap-3441	1	14	university	university	PROPN
ap-3441	1	15	in	in	ADP
ap-3441	1	16	prague	prague	PROPN
ap-3441	1	17	,	,	PUNCT
ap-3441	1	18	2016	2016	NUM
ap-3441	1	19	available	available	ADJ
ap-3441	1	20	online	online	ADV
ap-3441	1	21	at	at	ADP
ap-3441	1	22	http://ojs.cvut.cz/ojs/index.php/ap	http://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-3441	1	23	ad	ad	X
ap-3441	1	24	hoc	hoc	X
ap-3441	1	25	teamwork	teamwork	NOUN
ap-3441	1	26	behaviors	behavior	NOUN
ap-3441	1	27	for	for	ADP
ap-3441	1	28	influencing	influence	VERB
ap-3441	1	29	a	a	DET
ap-3441	1	30	flock	flock	NOUN
ap-3441	1	31	katie	katie	PROPN
ap-3441	1	32	genter∗	genter∗	PROPN
ap-3441	1	33	,	,	PUNCT
ap-3441	1	34	peter	peter	PROPN
ap-3441	1	35	stone	stone	PROPN
ap-3441	1	36	department	department	PROPN
ap-3441	1	37	of	of	ADP
ap-3441	1	38	computer	computer	NOUN
ap-3441	1	39	science	science	NOUN
ap-3441	1	40	,	,	PUNCT
ap-3441	1	41	the	the	DET
ap-3441	1	42	university	university	NOUN
ap-3441	1	43	of	of	ADP
ap-3441	1	44	texas	texas	PROPN
ap-3441	1	45	at	at	ADP
ap-3441	1	46	austin	austin	PROPN
ap-3441	1	47	,	,	PUNCT
ap-3441	1	48	austin	austin	PROPN
ap-3441	1	49	,	,	PUNCT
ap-3441	1	50	tx	tx	PROPN
ap-3441	1	51	,	,	PUNCT
ap-3441	1	52	usa	usa	PROPN
ap-3441	1	53	78712	78712	NUM
ap-3441	1	54	∗	∗	NOUN
ap-3441	1	55	corresponding	correspond	VERB
ap-3441	1	56	author	author	NOUN
ap-3441	1	57	:	:	PUNCT
ap-3441	1	58	katie@cs.utexas.edu	katie@cs.utexas.edu	PROPN
ap-3441	1	59	abstract	abstract	NOUN
ap-3441	1	60	.	.	PUNCT
ap-3441	2	1	ad	ad	NOUN
ap-3441	2	2	hoc	hoc	X
ap-3441	2	3	teamwork	teamwork	NOUN
ap-3441	2	4	refers	refer	VERB
ap-3441	2	5	to	to	ADP
ap-3441	2	6	the	the	DET
ap-3441	2	7	challenge	challenge	NOUN
ap-3441	2	8	of	of	ADP
ap-3441	2	9	designing	design	VERB
ap-3441	2	10	agents	agent	NOUN
ap-3441	2	11	that	that	PRON
ap-3441	2	12	can	can	AUX
ap-3441	2	13	influence	influence	VERB
ap-3441	2	14	the	the	DET
ap-3441	2	15	behavior	behavior	NOUN
ap-3441	2	16	of	of	ADP
ap-3441	2	17	a	a	DET
ap-3441	2	18	team	team	NOUN
ap-3441	2	19	,	,	PUNCT
ap-3441	2	20	without	without	ADP
ap-3441	2	21	prior	prior	ADJ
ap-3441	2	22	coordination	coordination	NOUN
ap-3441	2	23	with	with	ADP
ap-3441	2	24	its	its	PRON
ap-3441	2	25	teammates	teammate	NOUN
ap-3441	2	26	.	.	PUNCT
ap-3441	3	1	this	this	DET
ap-3441	3	2	paper	paper	NOUN
ap-3441	3	3	considers	consider	VERB
ap-3441	3	4	influencing	influence	VERB
ap-3441	3	5	a	a	DET
ap-3441	3	6	flock	flock	NOUN
ap-3441	3	7	of	of	ADP
ap-3441	3	8	simple	simple	ADJ
ap-3441	3	9	robotic	robotic	ADJ
ap-3441	3	10	agents	agent	NOUN
ap-3441	3	11	to	to	PART
ap-3441	3	12	adopt	adopt	VERB
ap-3441	3	13	a	a	DET
ap-3441	3	14	desired	desire	VERB
ap-3441	3	15	behavior	behavior	NOUN
ap-3441	3	16	within	within	ADP
ap-3441	3	17	the	the	DET
ap-3441	3	18	context	context	NOUN
ap-3441	3	19	of	of	ADP
ap-3441	3	20	ad	ad	X
ap-3441	3	21	hoc	hoc	X
ap-3441	3	22	teamwork	teamwork	NOUN
ap-3441	3	23	.	.	PUNCT
ap-3441	4	1	specifically	specifically	ADV
ap-3441	4	2	,	,	PUNCT
ap-3441	4	3	we	we	PRON
ap-3441	4	4	examine	examine	VERB
ap-3441	4	5	how	how	SCONJ
ap-3441	4	6	the	the	DET
ap-3441	4	7	ad	ad	NOUN
ap-3441	4	8	hoc	hoc	X
ap-3441	4	9	agents	agent	NOUN
ap-3441	4	10	should	should	AUX
ap-3441	4	11	behave	behave	VERB
ap-3441	4	12	in	in	ADP
ap-3441	4	13	order	order	NOUN
ap-3441	4	14	to	to	PART
ap-3441	4	15	orient	orient	VERB
ap-3441	4	16	a	a	DET
ap-3441	4	17	flock	flock	NOUN
ap-3441	4	18	towards	towards	ADP
ap-3441	4	19	a	a	DET
ap-3441	4	20	target	target	NOUN
ap-3441	4	21	heading	head	VERB
ap-3441	4	22	as	as	ADV
ap-3441	4	23	quickly	quickly	ADV
ap-3441	4	24	as	as	ADP
ap-3441	4	25	possible	possible	ADJ
ap-3441	4	26	when	when	SCONJ
ap-3441	4	27	given	give	VERB
ap-3441	4	28	knowledge	knowledge	NOUN
ap-3441	4	29	of	of	ADP
ap-3441	4	30	,	,	PUNCT
ap-3441	4	31	but	but	CCONJ
ap-3441	4	32	no	no	DET
ap-3441	4	33	direct	direct	ADJ
ap-3441	4	34	control	control	NOUN
ap-3441	4	35	over	over	ADP
ap-3441	4	36	,	,	PUNCT
ap-3441	4	37	the	the	DET
ap-3441	4	38	behavior	behavior	NOUN
ap-3441	4	39	of	of	ADP
ap-3441	4	40	the	the	DET
ap-3441	4	41	flock	flock	NOUN
ap-3441	4	42	.	.	PUNCT
ap-3441	5	1	we	we	PRON
ap-3441	5	2	introduce	introduce	VERB
ap-3441	5	3	three	three	NUM
ap-3441	5	4	algorithms	algorithm	NOUN
ap-3441	5	5	which	which	PRON
ap-3441	5	6	the	the	DET
ap-3441	5	7	ad	ad	X
ap-3441	5	8	hoc	hoc	X
ap-3441	5	9	agents	agent	NOUN
ap-3441	5	10	can	can	AUX
ap-3441	5	11	use	use	VERB
ap-3441	5	12	to	to	PART
ap-3441	5	13	influence	influence	VERB
ap-3441	5	14	the	the	DET
ap-3441	5	15	flock	flock	NOUN
ap-3441	5	16	,	,	PUNCT
ap-3441	5	17	and	and	CCONJ
ap-3441	5	18	we	we	PRON
ap-3441	5	19	examine	examine	VERB
ap-3441	5	20	the	the	DET
ap-3441	5	21	relative	relative	ADJ
ap-3441	5	22	importance	importance	NOUN
ap-3441	5	23	of	of	ADP
ap-3441	5	24	coordinating	coordinate	VERB
ap-3441	5	25	the	the	DET
ap-3441	5	26	ad	ad	NOUN
ap-3441	5	27	hoc	hoc	X
ap-3441	5	28	agents	agent	NOUN
ap-3441	5	29	versus	versus	ADP
ap-3441	5	30	planning	plan	VERB
ap-3441	5	31	farther	far	ADV
ap-3441	5	32	ahead	ahead	ADV
ap-3441	5	33	when	when	SCONJ
ap-3441	5	34	given	give	VERB
ap-3441	5	35	fixed	fix	VERB
ap-3441	5	36	computational	computational	ADJ
ap-3441	5	37	resources	resource	NOUN
ap-3441	5	38	.	.	PUNCT
ap-3441	6	1	we	we	PRON
ap-3441	6	2	present	present	VERB
ap-3441	6	3	detailed	detailed	ADJ
ap-3441	6	4	experimental	experimental	ADJ
ap-3441	6	5	results	result	NOUN
ap-3441	6	6	for	for	ADP
ap-3441	6	7	each	each	PRON
ap-3441	6	8	of	of	ADP
ap-3441	6	9	these	these	DET
ap-3441	6	10	algorithms	algorithm	NOUN
ap-3441	6	11	,	,	PUNCT
ap-3441	6	12	concluding	conclude	VERB
ap-3441	6	13	that	that	SCONJ
ap-3441	6	14	in	in	ADP
ap-3441	6	15	this	this	DET
ap-3441	6	16	setting	setting	NOUN
ap-3441	6	17	,	,	PUNCT
ap-3441	6	18	inter	inter	ADJ
ap-3441	6	19	-	-	ADJ
ap-3441	6	20	agent	agent	ADJ
ap-3441	6	21	coordination	coordination	NOUN
ap-3441	6	22	and	and	CCONJ
ap-3441	6	23	deeper	deep	ADJ
ap-3441	6	24	lookahead	lookahead	NOUN
ap-3441	6	25	planning	planning	NOUN
ap-3441	6	26	are	be	AUX
ap-3441	6	27	no	no	ADV
ap-3441	6	28	more	more	ADV
ap-3441	6	29	beneficial	beneficial	ADJ
ap-3441	6	30	than	than	ADP
ap-3441	6	31	short	short	ADJ
ap-3441	6	32	-	-	PUNCT
ap-3441	6	33	term	term	NOUN
ap-3441	6	34	lookahead	lookahead	NOUN
ap-3441	6	35	planning	planning	NOUN
ap-3441	6	36	.	.	PUNCT
ap-3441	7	1	keywords	keyword	NOUN
ap-3441	7	2	:	:	PUNCT
ap-3441	7	3	ad	ad	X
ap-3441	7	4	hoc	hoc	X
ap-3441	7	5	teamwork	teamwork	NOUN
ap-3441	7	6	;	;	PUNCT
ap-3441	7	7	agent	agent	NOUN
ap-3441	7	8	cooperation	cooperation	NOUN
ap-3441	7	9	;	;	PUNCT
ap-3441	7	10	coordination	coordination	NOUN
ap-3441	7	11	;	;	PUNCT
ap-3441	7	12	flocking	flock	VERB
ap-3441	7	13	.	.	PUNCT
ap-3441	8	1	1	1	X
ap-3441	8	2	.	.	X
ap-3441	8	3	introduction	introduction	NOUN
ap-3441	8	4	consider	consider	VERB
ap-3441	8	5	a	a	DET
ap-3441	8	6	flock	flock	NOUN
ap-3441	8	7	of	of	ADP
ap-3441	8	8	migrating	migrating	NOUN
ap-3441	8	9	birds	bird	NOUN
ap-3441	8	10	that	that	PRON
ap-3441	8	11	is	be	AUX
ap-3441	8	12	flying	fly	VERB
ap-3441	8	13	directly	directly	ADV
ap-3441	8	14	towards	towards	ADP
ap-3441	8	15	a	a	DET
ap-3441	8	16	dangerous	dangerous	ADJ
ap-3441	8	17	area	area	NOUN
ap-3441	8	18	,	,	PUNCT
ap-3441	8	19	such	such	ADJ
ap-3441	8	20	as	as	ADP
ap-3441	8	21	an	an	DET
ap-3441	8	22	airport	airport	NOUN
ap-3441	8	23	or	or	CCONJ
ap-3441	8	24	a	a	DET
ap-3441	8	25	wind	wind	NOUN
ap-3441	8	26	farm	farm	NOUN
ap-3441	8	27	.	.	PUNCT
ap-3441	9	1	it	it	PRON
ap-3441	9	2	will	will	AUX
ap-3441	9	3	be	be	AUX
ap-3441	9	4	better	well	ADJ
ap-3441	9	5	for	for	ADP
ap-3441	9	6	both	both	CCONJ
ap-3441	9	7	the	the	DET
ap-3441	9	8	flock	flock	NOUN
ap-3441	9	9	and	and	CCONJ
ap-3441	9	10	the	the	DET
ap-3441	9	11	humans	human	NOUN
ap-3441	9	12	if	if	SCONJ
ap-3441	9	13	the	the	DET
ap-3441	9	14	path	path	NOUN
ap-3441	9	15	of	of	ADP
ap-3441	9	16	the	the	DET
ap-3441	9	17	migratory	migratory	ADJ
ap-3441	9	18	birds	bird	NOUN
ap-3441	9	19	is	be	AUX
ap-3441	9	20	altered	alter	VERB
ap-3441	9	21	slightly	slightly	ADV
ap-3441	9	22	such	such	ADJ
ap-3441	9	23	that	that	SCONJ
ap-3441	9	24	the	the	DET
ap-3441	9	25	flock	flock	NOUN
ap-3441	9	26	can	can	AUX
ap-3441	9	27	avoid	avoid	VERB
ap-3441	9	28	the	the	DET
ap-3441	9	29	dangerous	dangerous	ADJ
ap-3441	9	30	area	area	NOUN
ap-3441	9	31	but	but	CCONJ
ap-3441	9	32	still	still	ADV
ap-3441	9	33	reach	reach	VERB
ap-3441	9	34	its	its	PRON
ap-3441	9	35	migratory	migratory	ADJ
ap-3441	9	36	point	point	NOUN
ap-3441	9	37	at	at	ADP
ap-3441	9	38	approximately	approximately	ADV
ap-3441	9	39	the	the	DET
ap-3441	9	40	same	same	ADJ
ap-3441	9	41	time	time	NOUN
ap-3441	9	42	.	.	PUNCT
ap-3441	10	1	the	the	DET
ap-3441	10	2	above	above	ADJ
ap-3441	10	3	scenario	scenario	NOUN
ap-3441	10	4	is	be	AUX
ap-3441	10	5	a	a	DET
ap-3441	10	6	motivating	motivating	NOUN
ap-3441	10	7	example	example	NOUN
ap-3441	10	8	for	for	ADP
ap-3441	10	9	our	our	PRON
ap-3441	10	10	work	work	NOUN
ap-3441	10	11	in	in	ADP
ap-3441	10	12	orienting	orient	VERB
ap-3441	10	13	a	a	DET
ap-3441	10	14	flock	flock	NOUN
ap-3441	10	15	using	use	VERB
ap-3441	10	16	ad	ad	NOUN
ap-3441	10	17	hoc	hoc	X
ap-3441	10	18	teamwork	teamwork	NOUN
ap-3441	10	19	.	.	PUNCT
ap-3441	11	1	we	we	PRON
ap-3441	11	2	assume	assume	VERB
ap-3441	11	3	that	that	SCONJ
ap-3441	11	4	each	each	DET
ap-3441	11	5	bird	bird	NOUN
ap-3441	11	6	in	in	ADP
ap-3441	11	7	the	the	DET
ap-3441	11	8	flock	flock	NOUN
ap-3441	11	9	dynamically	dynamically	ADV
ap-3441	11	10	adjusts	adjust	VERB
ap-3441	11	11	its	its	PRON
ap-3441	11	12	heading	heading	NOUN
ap-3441	11	13	based	base	VERB
ap-3441	11	14	on	on	ADP
ap-3441	11	15	that	that	PRON
ap-3441	11	16	of	of	ADP
ap-3441	11	17	its	its	PRON
ap-3441	11	18	immediate	immediate	ADJ
ap-3441	11	19	neighbors	neighbor	NOUN
ap-3441	11	20	.	.	PUNCT
ap-3441	12	1	we	we	PRON
ap-3441	12	2	assume	assume	VERB
ap-3441	12	3	further	far	ADV
ap-3441	12	4	that	that	SCONJ
ap-3441	12	5	we	we	PRON
ap-3441	12	6	control	control	VERB
ap-3441	12	7	one	one	NUM
ap-3441	12	8	or	or	CCONJ
ap-3441	12	9	more	more	ADJ
ap-3441	12	10	ad	ad	NOUN
ap-3441	12	11	hoc	hoc	X
ap-3441	12	12	agents	agent	NOUN
ap-3441	12	13	—	—	PUNCT
ap-3441	12	14	perhaps	perhaps	ADV
ap-3441	12	15	in	in	ADP
ap-3441	12	16	the	the	DET
ap-3441	12	17	form	form	NOUN
ap-3441	12	18	of	of	ADP
ap-3441	12	19	robotic	robotic	ADJ
ap-3441	12	20	birds	bird	NOUN
ap-3441	12	21	or	or	CCONJ
ap-3441	12	22	ultralight	ultralight	ADJ
ap-3441	12	23	aircraft1	aircraft1	NOUN
ap-3441	12	24	—	—	PUNCT
ap-3441	12	25	that	that	PRON
ap-3441	12	26	are	be	AUX
ap-3441	12	27	perceived	perceive	VERB
ap-3441	12	28	by	by	ADP
ap-3441	12	29	the	the	DET
ap-3441	12	30	rest	rest	NOUN
ap-3441	12	31	of	of	ADP
ap-3441	12	32	the	the	DET
ap-3441	12	33	flock	flock	NOUN
ap-3441	12	34	as	as	ADP
ap-3441	12	35	one	one	NUM
ap-3441	12	36	of	of	ADP
ap-3441	12	37	their	their	PRON
ap-3441	12	38	own	own	ADJ
ap-3441	12	39	.	.	PUNCT
ap-3441	13	1	flocking	flocking	NOUN
ap-3441	13	2	is	be	AUX
ap-3441	13	3	an	an	DET
ap-3441	13	4	emergent	emergent	ADJ
ap-3441	13	5	behavior	behavior	NOUN
ap-3441	13	6	found	find	VERB
ap-3441	13	7	in	in	ADP
ap-3441	13	8	different	different	ADJ
ap-3441	13	9	species	specie	NOUN
ap-3441	13	10	in	in	ADP
ap-3441	13	11	nature	nature	NOUN
ap-3441	13	12	including	include	VERB
ap-3441	13	13	flocks	flock	NOUN
ap-3441	13	14	of	of	ADP
ap-3441	13	15	birds	bird	NOUN
ap-3441	13	16	,	,	PUNCT
ap-3441	13	17	schools	school	NOUN
ap-3441	13	18	of	of	ADP
ap-3441	13	19	fish	fish	NOUN
ap-3441	13	20	,	,	PUNCT
ap-3441	13	21	and	and	CCONJ
ap-3441	13	22	swarms	swarm	NOUN
ap-3441	13	23	of	of	ADP
ap-3441	13	24	insects	insect	NOUN
ap-3441	13	25	.	.	PUNCT
ap-3441	14	1	in	in	ADP
ap-3441	14	2	each	each	PRON
ap-3441	14	3	of	of	ADP
ap-3441	14	4	these	these	DET
ap-3441	14	5	cases	case	NOUN
ap-3441	14	6	,	,	PUNCT
ap-3441	14	7	the	the	DET
ap-3441	14	8	animals	animal	NOUN
ap-3441	14	9	follow	follow	VERB
ap-3441	14	10	a	a	DET
ap-3441	14	11	simple	simple	ADJ
ap-3441	14	12	local	local	ADJ
ap-3441	14	13	behavior	behavior	NOUN
ap-3441	14	14	rule	rule	NOUN
ap-3441	14	15	that	that	PRON
ap-3441	14	16	results	result	VERB
ap-3441	14	17	in	in	ADP
ap-3441	14	18	a	a	DET
ap-3441	14	19	group	group	NOUN
ap-3441	14	20	behavior	behavior	NOUN
ap-3441	14	21	that	that	PRON
ap-3441	14	22	appears	appear	VERB
ap-3441	14	23	well	well	ADV
ap-3441	14	24	organized	organized	ADJ
ap-3441	14	25	and	and	CCONJ
ap-3441	14	26	stable	stable	ADJ
ap-3441	14	27	.	.	PUNCT
ap-3441	15	1	research	research	NOUN
ap-3441	15	2	on	on	ADP
ap-3441	15	3	flocking	flock	VERB
ap-3441	15	4	behavior	behavior	NOUN
ap-3441	15	5	has	have	AUX
ap-3441	15	6	appeared	appear	VERB
ap-3441	15	7	in	in	ADP
ap-3441	15	8	various	various	ADJ
ap-3441	15	9	disciplines	discipline	NOUN
ap-3441	15	10	such	such	ADJ
ap-3441	15	11	as	as	ADP
ap-3441	15	12	physics	physics	NOUN
ap-3441	15	13	[	[	X
ap-3441	15	14	1	1	NUM
ap-3441	15	15	]	]	PUNCT
ap-3441	15	16	,	,	PUNCT
ap-3441	15	17	graphics	graphic	NOUN
ap-3441	16	1	[	[	X
ap-3441	16	2	2	2	NUM
ap-3441	16	3	]	]	PUNCT
ap-3441	16	4	,	,	PUNCT
ap-3441	16	5	biology	biology	NOUN
ap-3441	16	6	[	[	X
ap-3441	16	7	3	3	NUM
ap-3441	16	8	,	,	PUNCT
ap-3441	16	9	4	4	NUM
ap-3441	16	10	]	]	PUNCT
ap-3441	16	11	,	,	PUNCT
ap-3441	16	12	and	and	CCONJ
ap-3441	16	13	distributed	distribute	VERB
ap-3441	16	14	control	control	NOUN
ap-3441	16	15	theory	theory	NOUN
ap-3441	16	16	[	[	X
ap-3441	16	17	5–7	5–7	NOUN
ap-3441	16	18	]	]	PUNCT
ap-3441	16	19	.	.	PUNCT
ap-3441	17	1	in	in	ADP
ap-3441	17	2	each	each	PRON
ap-3441	17	3	of	of	ADP
ap-3441	17	4	these	these	DET
ap-3441	17	5	disciplines	discipline	NOUN
ap-3441	17	6	,	,	PUNCT
ap-3441	17	7	the	the	DET
ap-3441	17	8	research	research	NOUN
ap-3441	17	9	has	have	AUX
ap-3441	17	10	focused	focus	VERB
ap-3441	17	11	mainly	mainly	ADV
ap-3441	17	12	on	on	ADP
ap-3441	17	13	characterizing	characterize	VERB
ap-3441	17	14	the	the	DET
ap-3441	17	15	emergent	emergent	ADJ
ap-3441	17	16	behavior	behavior	NOUN
ap-3441	17	17	.	.	PUNCT
ap-3441	18	1	in	in	ADP
ap-3441	18	2	this	this	DET
ap-3441	18	3	paper	paper	NOUN
ap-3441	18	4	,	,	PUNCT
ap-3441	18	5	we	we	PRON
ap-3441	18	6	consider	consider	VERB
ap-3441	18	7	the	the	DET
ap-3441	18	8	problem	problem	NOUN
ap-3441	18	9	of	of	ADP
ap-3441	18	10	leading	lead	VERB
ap-3441	18	11	a	a	DET
ap-3441	18	12	team	team	NOUN
ap-3441	18	13	of	of	ADP
ap-3441	18	14	flocking	flock	VERB
ap-3441	18	15	agents	agent	NOUN
ap-3441	18	16	in	in	ADP
ap-3441	18	17	an	an	DET
ap-3441	18	18	ad	ad	X
ap-3441	18	19	hoc	hoc	X
ap-3441	18	20	teamwork	teamwork	NOUN
ap-3441	18	21	setting	setting	NOUN
ap-3441	18	22	.	.	PUNCT
ap-3441	19	1	an	an	DET
ap-3441	19	2	ad	ad	NOUN
ap-3441	19	3	hoc	hoc	X
ap-3441	19	4	teamwork	teamwork	NOUN
ap-3441	19	5	setting	set	VERB
ap-3441	19	6	is	be	AUX
ap-3441	19	7	one	one	NUM
ap-3441	19	8	in	in	ADP
ap-3441	19	9	which	which	PRON
ap-3441	19	10	a	a	DET
ap-3441	19	11	teammate	teammate	NOUN
ap-3441	19	12	—	—	PUNCT
ap-3441	19	13	which	which	PRON
ap-3441	19	14	we	we	PRON
ap-3441	19	15	call	call	VERB
ap-3441	19	16	an	an	DET
ap-3441	19	17	influencing	influence	VERB
ap-3441	19	18	agent	agent	NOUN
ap-3441	19	19	—	—	PUNCT
ap-3441	19	20	must	must	AUX
ap-3441	19	21	determine	determine	VERB
ap-3441	19	22	how	how	SCONJ
ap-3441	19	23	to	to	PART
ap-3441	19	24	best	well	ADV
ap-3441	19	25	achieve	achieve	VERB
ap-3441	19	26	a	a	DET
ap-3441	19	27	team	team	NOUN
ap-3441	19	28	goal	goal	NOUN
ap-3441	19	29	given	give	VERB
ap-3441	19	30	a	a	DET
ap-3441	19	31	set	set	NOUN
ap-3441	19	32	of	of	ADP
ap-3441	19	33	possibly	possibly	ADV
ap-3441	19	34	suboptimal	suboptimal	ADJ
ap-3441	19	35	teammates	teammate	NOUN
ap-3441	19	36	.	.	PUNCT
ap-3441	20	1	in	in	ADP
ap-3441	20	2	this	this	DET
ap-3441	20	3	work	work	NOUN
ap-3441	20	4	,	,	PUNCT
ap-3441	20	5	we	we	PRON
ap-3441	20	6	are	be	AUX
ap-3441	20	7	given	give	VERB
ap-3441	20	8	a	a	DET
ap-3441	20	9	team	team	NOUN
ap-3441	20	10	of	of	ADP
ap-3441	20	11	flocking	flock	VERB
ap-3441	20	12	agents	agent	NOUN
ap-3441	20	13	following	follow	VERB
ap-3441	20	14	a	a	DET
ap-3441	20	15	known	know	VERB
ap-3441	20	16	,	,	PUNCT
ap-3441	20	17	well	well	ADV
ap-3441	20	18	-	-	PUNCT
ap-3441	20	19	defined	define	VERB
ap-3441	20	20	rule	rule	NOUN
ap-3441	20	21	characterizing	characterize	VERB
ap-3441	20	22	their	their	PRON
ap-3441	20	23	flocking	flock	VERB
ap-3441	20	24	1www.operationmigration.org	1www.operationmigration.org	NUM
ap-3441	20	25	behavior	behavior	NOUN
ap-3441	20	26	,	,	PUNCT
ap-3441	20	27	and	and	CCONJ
ap-3441	20	28	we	we	PRON
ap-3441	20	29	wish	wish	VERB
ap-3441	20	30	to	to	PART
ap-3441	20	31	examine	examine	VERB
ap-3441	20	32	how	how	SCONJ
ap-3441	20	33	the	the	DET
ap-3441	20	34	influencing	influence	VERB
ap-3441	20	35	agents	agent	NOUN
ap-3441	20	36	should	should	AUX
ap-3441	20	37	behave	behave	VERB
ap-3441	20	38	.	.	PUNCT
ap-3441	21	1	specifically	specifically	ADV
ap-3441	21	2	,	,	PUNCT
ap-3441	21	3	the	the	DET
ap-3441	21	4	main	main	ADJ
ap-3441	21	5	question	question	NOUN
ap-3441	21	6	addressed	address	VERB
ap-3441	21	7	in	in	ADP
ap-3441	21	8	this	this	DET
ap-3441	21	9	paper	paper	NOUN
ap-3441	21	10	is	be	AUX
ap-3441	21	11	:	:	PUNCT
ap-3441	21	12	how	how	SCONJ
ap-3441	21	13	should	should	AUX
ap-3441	21	14	influencing	influence	VERB
ap-3441	21	15	agents	agent	NOUN
ap-3441	21	16	behave	behave	VERB
ap-3441	21	17	so	so	SCONJ
ap-3441	21	18	as	as	SCONJ
ap-3441	21	19	to	to	PART
ap-3441	21	20	orient	orient	VERB
ap-3441	21	21	the	the	DET
ap-3441	21	22	rest	rest	NOUN
ap-3441	21	23	of	of	ADP
ap-3441	21	24	the	the	DET
ap-3441	21	25	flock	flock	NOUN
ap-3441	21	26	towards	towards	ADP
ap-3441	21	27	a	a	DET
ap-3441	21	28	target	target	NOUN
ap-3441	21	29	heading	head	VERB
ap-3441	21	30	as	as	ADV
ap-3441	21	31	quickly	quickly	ADV
ap-3441	21	32	as	as	ADP
ap-3441	21	33	possible	possible	ADJ
ap-3441	21	34	?	?	PUNCT
ap-3441	22	1	the	the	DET
ap-3441	22	2	remainder	remainder	NOUN
ap-3441	22	3	of	of	ADP
ap-3441	22	4	this	this	DET
ap-3441	22	5	paper	paper	NOUN
ap-3441	22	6	is	be	AUX
ap-3441	22	7	organized	organize	VERB
ap-3441	22	8	as	as	SCONJ
ap-3441	22	9	follows	follow	VERB
ap-3441	22	10	.	.	PUNCT
ap-3441	23	1	section	section	NOUN
ap-3441	23	2	2	2	NUM
ap-3441	23	3	introduces	introduce	NOUN
ap-3441	23	4	our	our	PRON
ap-3441	23	5	problem	problem	NOUN
ap-3441	23	6	and	and	CCONJ
ap-3441	23	7	necessary	necessary	ADJ
ap-3441	23	8	terminology	terminology	NOUN
ap-3441	23	9	for	for	ADP
ap-3441	23	10	this	this	DET
ap-3441	23	11	paper	paper	NOUN
ap-3441	23	12	.	.	PUNCT
ap-3441	24	1	the	the	DET
ap-3441	24	2	main	main	ADJ
ap-3441	24	3	contribution	contribution	NOUN
ap-3441	24	4	of	of	ADP
ap-3441	24	5	this	this	DET
ap-3441	24	6	paper	paper	NOUN
ap-3441	24	7	is	be	AUX
ap-3441	24	8	the	the	DET
ap-3441	24	9	1	1	NUM
ap-3441	24	10	-	-	PUNCT
ap-3441	24	11	step	step	NOUN
ap-3441	24	12	lookahead	lookahead	NOUN
ap-3441	24	13	algorithm	algorithm	NOUN
ap-3441	24	14	for	for	ADP
ap-3441	24	15	orienting	orient	VERB
ap-3441	24	16	a	a	DET
ap-3441	24	17	flock	flock	NOUN
ap-3441	24	18	to	to	PART
ap-3441	24	19	travel	travel	VERB
ap-3441	24	20	in	in	ADP
ap-3441	24	21	a	a	DET
ap-3441	24	22	particular	particular	ADJ
ap-3441	24	23	direction	direction	NOUN
ap-3441	24	24	.	.	PUNCT
ap-3441	25	1	this	this	DET
ap-3441	25	2	algorithm	algorithm	NOUN
ap-3441	25	3	is	be	AUX
ap-3441	25	4	presented	present	VERB
ap-3441	25	5	in	in	ADP
ap-3441	25	6	section	section	NOUN
ap-3441	25	7	3	3	NUM
ap-3441	25	8	,	,	PUNCT
ap-3441	25	9	while	while	SCONJ
ap-3441	25	10	variations	variation	NOUN
ap-3441	25	11	of	of	ADP
ap-3441	25	12	this	this	DET
ap-3441	25	13	algorithm	algorithm	NOUN
ap-3441	25	14	are	be	AUX
ap-3441	25	15	presented	present	VERB
ap-3441	25	16	in	in	ADP
ap-3441	25	17	sections	section	NOUN
ap-3441	25	18	4	4	NUM
ap-3441	25	19	and	and	CCONJ
ap-3441	25	20	5	5	NUM
ap-3441	25	21	.	.	X
ap-3441	26	1	we	we	PRON
ap-3441	26	2	present	present	VERB
ap-3441	26	3	the	the	DET
ap-3441	26	4	results	result	NOUN
ap-3441	26	5	of	of	ADP
ap-3441	26	6	running	run	VERB
ap-3441	26	7	experiments	experiment	NOUN
ap-3441	26	8	using	use	VERB
ap-3441	26	9	these	these	DET
ap-3441	26	10	algorithms	algorithm	NOUN
ap-3441	26	11	in	in	ADP
ap-3441	26	12	the	the	DET
ap-3441	26	13	mason	mason	PROPN
ap-3441	26	14	simulator	simulator	NOUN
ap-3441	27	1	[	[	X
ap-3441	27	2	8	8	NUM
ap-3441	27	3	]	]	PUNCT
ap-3441	27	4	in	in	ADP
ap-3441	27	5	section	section	NOUN
ap-3441	27	6	6	6	NUM
ap-3441	27	7	.	.	PUNCT
ap-3441	27	8	section	section	NOUN
ap-3441	27	9	7	7	NUM
ap-3441	27	10	situates	situate	VERB
ap-3441	27	11	this	this	DET
ap-3441	27	12	research	research	NOUN
ap-3441	27	13	in	in	ADP
ap-3441	27	14	the	the	DET
ap-3441	27	15	literature	literature	NOUN
ap-3441	27	16	,	,	PUNCT
ap-3441	27	17	and	and	CCONJ
ap-3441	27	18	section	section	NOUN
ap-3441	27	19	8	8	NUM
ap-3441	27	20	concludes	conclude	VERB
ap-3441	27	21	.	.	PUNCT
ap-3441	28	1	2	2	X
ap-3441	28	2	.	.	X
ap-3441	28	3	problem	problem	NOUN
ap-3441	28	4	definition	definition	NOUN
ap-3441	28	5	in	in	ADP
ap-3441	28	6	this	this	DET
ap-3441	28	7	work	work	NOUN
ap-3441	28	8	we	we	PRON
ap-3441	28	9	use	use	VERB
ap-3441	28	10	a	a	DET
ap-3441	28	11	simplified	simplified	ADJ
ap-3441	28	12	version	version	NOUN
ap-3441	28	13	of	of	ADP
ap-3441	28	14	the	the	DET
ap-3441	28	15	reynolds	reynold	NOUN
ap-3441	28	16	’	'	PUNCT
ap-3441	28	17	boid	boid	NOUN
ap-3441	28	18	algorithm	algorithm	NOUN
ap-3441	28	19	for	for	ADP
ap-3441	28	20	flocking	flock	VERB
ap-3441	28	21	[	[	PUNCT
ap-3441	28	22	2	2	NUM
ap-3441	28	23	]	]	PUNCT
ap-3441	28	24	.	.	PUNCT
ap-3441	29	1	we	we	PRON
ap-3441	29	2	assume	assume	VERB
ap-3441	29	3	that	that	SCONJ
ap-3441	29	4	each	each	DET
ap-3441	29	5	agent	agent	NOUN
ap-3441	29	6	calculates	calculate	VERB
ap-3441	29	7	its	its	PRON
ap-3441	29	8	orientation	orientation	NOUN
ap-3441	29	9	for	for	ADP
ap-3441	29	10	the	the	DET
ap-3441	29	11	next	next	ADJ
ap-3441	29	12	time	time	NOUN
ap-3441	29	13	step	step	NOUN
ap-3441	29	14	to	to	PART
ap-3441	29	15	be	be	AUX
ap-3441	29	16	the	the	DET
ap-3441	29	17	average	average	ADJ
ap-3441	29	18	heading	heading	NOUN
ap-3441	29	19	of	of	ADP
ap-3441	29	20	its	its	PRON
ap-3441	29	21	neighbors	neighbor	NOUN
ap-3441	29	22	.	.	PUNCT
ap-3441	30	1	throughout	throughout	ADP
ap-3441	30	2	this	this	DET
ap-3441	30	3	paper	paper	NOUN
ap-3441	30	4	,	,	PUNCT
ap-3441	30	5	an	an	DET
ap-3441	30	6	agent	agent	NOUN
ap-3441	30	7	’s	’s	PART
ap-3441	30	8	neighbors	neighbor	NOUN
ap-3441	30	9	are	be	AUX
ap-3441	30	10	the	the	DET
ap-3441	30	11	agents	agent	NOUN
ap-3441	30	12	located	locate	VERB
ap-3441	30	13	within	within	ADP
ap-3441	30	14	some	some	DET
ap-3441	30	15	set	set	ADJ
ap-3441	30	16	radius	radius	NOUN
ap-3441	30	17	of	of	ADP
ap-3441	30	18	the	the	DET
ap-3441	30	19	agent	agent	NOUN
ap-3441	30	20	.	.	PUNCT
ap-3441	31	1	in	in	ADP
ap-3441	31	2	order	order	NOUN
ap-3441	31	3	to	to	PART
ap-3441	31	4	calculate	calculate	VERB
ap-3441	31	5	its	its	PRON
ap-3441	31	6	orientation	orientation	NOUN
ap-3441	31	7	for	for	ADP
ap-3441	31	8	the	the	DET
ap-3441	31	9	next	next	ADJ
ap-3441	31	10	time	time	NOUN
ap-3441	31	11	step	step	NOUN
ap-3441	31	12	,	,	PUNCT
ap-3441	31	13	each	each	DET
ap-3441	31	14	agent	agent	NOUN
ap-3441	31	15	computes	compute	VERB
ap-3441	31	16	the	the	DET
ap-3441	31	17	vector	vector	NOUN
ap-3441	31	18	sum	sum	NOUN
ap-3441	31	19	of	of	ADP
ap-3441	31	20	the	the	DET
ap-3441	31	21	velocity	velocity	NOUN
ap-3441	31	22	vectors	vector	NOUN
ap-3441	31	23	of	of	ADP
ap-3441	31	24	each	each	PRON
ap-3441	31	25	of	of	ADP
ap-3441	31	26	its	its	PRON
ap-3441	31	27	neighbors	neighbor	NOUN
ap-3441	31	28	and	and	CCONJ
ap-3441	31	29	adopts	adopt	VERB
ap-3441	31	30	a	a	DET
ap-3441	31	31	scaled	scale	VERB
ap-3441	31	32	version	version	NOUN
ap-3441	31	33	of	of	ADP
ap-3441	31	34	the	the	DET
ap-3441	31	35	resulting	result	VERB
ap-3441	31	36	vector	vector	NOUN
ap-3441	31	37	as	as	ADP
ap-3441	31	38	its	its	PRON
ap-3441	31	39	new	new	ADJ
ap-3441	31	40	orientation	orientation	NOUN
ap-3441	31	41	.	.	PUNCT
ap-3441	32	1	an	an	DET
ap-3441	32	2	agent	agent	NOUN
ap-3441	32	3	is	be	AUX
ap-3441	32	4	not	not	PART
ap-3441	32	5	considered	consider	VERB
ap-3441	32	6	to	to	PART
ap-3441	32	7	be	be	AUX
ap-3441	32	8	a	a	DET
ap-3441	32	9	neighbor	neighbor	NOUN
ap-3441	32	10	of	of	ADP
ap-3441	32	11	itself	itself	PRON
ap-3441	32	12	,	,	PUNCT
ap-3441	32	13	so	so	CCONJ
ap-3441	32	14	an	an	DET
ap-3441	32	15	agent	agent	NOUN
ap-3441	32	16	’s	’s	PART
ap-3441	32	17	current	current	ADJ
ap-3441	32	18	heading	heading	NOUN
ap-3441	32	19	is	be	AUX
ap-3441	32	20	not	not	PART
ap-3441	32	21	considered	consider	VERB
ap-3441	32	22	when	when	SCONJ
ap-3441	32	23	calculating	calculate	VERB
ap-3441	32	24	its	its	PRON
ap-3441	32	25	orientation	orientation	NOUN
ap-3441	32	26	for	for	ADP
ap-3441	32	27	the	the	DET
ap-3441	32	28	next	next	ADJ
ap-3441	32	29	time	time	NOUN
ap-3441	32	30	step	step	NOUN
ap-3441	32	31	.	.	PUNCT
ap-3441	33	1	figure	figure	NOUN
ap-3441	33	2	1	1	NUM
ap-3441	33	3	shows	show	VERB
ap-3441	33	4	an	an	DET
ap-3441	33	5	example	example	NOUN
ap-3441	33	6	of	of	ADP
ap-3441	33	7	how	how	SCONJ
ap-3441	33	8	an	an	DET
ap-3441	33	9	agent	agent	NOUN
ap-3441	33	10	’s	’s	PART
ap-3441	33	11	new	new	ADJ
ap-3441	33	12	velocity	velocity	NOUN
ap-3441	33	13	vector	vector	NOUN
ap-3441	33	14	is	be	AUX
ap-3441	33	15	calculated	calculate	VERB
ap-3441	33	16	.	.	PUNCT
ap-3441	34	1	at	at	ADP
ap-3441	34	2	each	each	DET
ap-3441	34	3	time	time	NOUN
ap-3441	34	4	step	step	NOUN
ap-3441	34	5	,	,	PUNCT
ap-3441	34	6	each	each	DET
ap-3441	34	7	agent	agent	NOUN
ap-3441	34	8	moves	move	VERB
ap-3441	34	9	one	one	NUM
ap-3441	34	10	step	step	NOUN
ap-3441	34	11	in	in	ADP
ap-3441	34	12	the	the	DET
ap-3441	34	13	direction	direction	NOUN
ap-3441	34	14	of	of	ADP
ap-3441	34	15	its	its	PRON
ap-3441	34	16	current	current	ADJ
ap-3441	34	17	vector	vector	NOUN
ap-3441	34	18	and	and	CCONJ
ap-3441	34	19	then	then	ADV
ap-3441	34	20	calculates	calculate	VERB
ap-3441	34	21	its	its	PRON
ap-3441	34	22	new	new	ADJ
ap-3441	34	23	heading	heading	NOUN
ap-3441	34	24	based	base	VERB
ap-3441	34	25	on	on	ADP
ap-3441	34	26	those	those	PRON
ap-3441	34	27	of	of	ADP
ap-3441	34	28	its	its	PRON
ap-3441	34	29	neighbors	neighbor	NOUN
ap-3441	34	30	,	,	PUNCT
ap-3441	34	31	keeping	keep	VERB
ap-3441	34	32	a	a	DET
ap-3441	34	33	constant	constant	ADJ
ap-3441	34	34	speed	speed	NOUN
ap-3441	34	35	.	.	PUNCT
ap-3441	35	1	18	18	NUM
ap-3441	35	2	http://dx.doi.org/10.14311/app.2016.56.0018	http://dx.doi.org/10.14311/app.2016.56.0018	NOUN
ap-3441	35	3	http://ojs.cvut.cz/ojs/index.php/ap	http://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-3441	35	4	www.operationmigration.org	www.operationmigration.org	ADJ
ap-3441	35	5	vol	vol	NOUN
ap-3441	35	6	.	.	PUNCT
ap-3441	36	1	56	56	NUM
ap-3441	36	2	no	no	NOUN
ap-3441	36	3	.	.	PUNCT
ap-3441	37	1	1/2016	1/2016	NUM
ap-3441	37	2	ad	ad	NOUN
ap-3441	37	3	hoc	hoc	X
ap-3441	37	4	teamwork	teamwork	NOUN
ap-3441	37	5	behaviors	behavior	NOUN
ap-3441	37	6	for	for	ADP
ap-3441	37	7	influencing	influence	VERB
ap-3441	37	8	a	a	DET
ap-3441	37	9	flock	flock	NOUN
ap-3441	37	10	=	=	NOUN
ap-3441	37	11	+	+	PROPN
ap-3441	37	12	+	+	ADJ
ap-3441	37	13	≈	≈	ADJ
ap-3441	37	14	figure	figure	NOUN
ap-3441	37	15	1	1	NUM
ap-3441	37	16	.	.	PUNCT
ap-3441	38	1	an	an	DET
ap-3441	38	2	example	example	NOUN
ap-3441	38	3	of	of	ADP
ap-3441	38	4	how	how	SCONJ
ap-3441	38	5	an	an	DET
ap-3441	38	6	agent	agent	NOUN
ap-3441	38	7	’s	’s	PART
ap-3441	38	8	new	new	ADJ
ap-3441	38	9	velocity	velocity	NOUN
ap-3441	38	10	vector	vector	NOUN
ap-3441	38	11	would	would	AUX
ap-3441	38	12	be	be	AUX
ap-3441	38	13	calculated	calculate	VERB
ap-3441	38	14	.	.	PUNCT
ap-3441	39	1	in	in	ADP
ap-3441	39	2	this	this	DET
ap-3441	39	3	example	example	NOUN
ap-3441	39	4	,	,	PUNCT
ap-3441	39	5	the	the	DET
ap-3441	39	6	black	black	ADJ
ap-3441	39	7	dot	dot	NOUN
ap-3441	39	8	represents	represent	VERB
ap-3441	39	9	the	the	DET
ap-3441	39	10	agent	agent	NOUN
ap-3441	39	11	in	in	ADP
ap-3441	39	12	question	question	NOUN
ap-3441	39	13	,	,	PUNCT
ap-3441	39	14	the	the	DET
ap-3441	39	15	solid	solid	ADJ
ap-3441	39	16	arrows	arrow	NOUN
ap-3441	39	17	represent	represent	VERB
ap-3441	39	18	the	the	DET
ap-3441	39	19	velocity	velocity	NOUN
ap-3441	39	20	vectors	vector	NOUN
ap-3441	39	21	of	of	ADP
ap-3441	39	22	the	the	DET
ap-3441	39	23	agent	agent	NOUN
ap-3441	39	24	’s	’s	PART
ap-3441	39	25	neighbors	neighbor	NOUN
ap-3441	39	26	,	,	PUNCT
ap-3441	39	27	and	and	CCONJ
ap-3441	39	28	the	the	DET
ap-3441	39	29	dotted	dotted	ADJ
ap-3441	39	30	circle	circle	NOUN
ap-3441	39	31	represents	represent	VERB
ap-3441	39	32	the	the	DET
ap-3441	39	33	area	area	NOUN
ap-3441	39	34	of	of	ADP
ap-3441	39	35	the	the	DET
ap-3441	39	36	agent	agent	NOUN
ap-3441	39	37	’s	’s	PART
ap-3441	39	38	neighborhood	neighborhood	NOUN
ap-3441	39	39	.	.	PUNCT
ap-3441	40	1	the	the	DET
ap-3441	40	2	agent	agent	NOUN
ap-3441	40	3	’s	’s	PART
ap-3441	40	4	new	new	ADJ
ap-3441	40	5	velocity	velocity	NOUN
ap-3441	40	6	vector	vector	NOUN
ap-3441	40	7	is	be	AUX
ap-3441	40	8	calculated	calculate	VERB
ap-3441	40	9	as	as	SCONJ
ap-3441	40	10	shown	show	VERB
ap-3441	40	11	at	at	ADP
ap-3441	40	12	the	the	DET
ap-3441	40	13	bottom	bottom	NOUN
ap-3441	40	14	of	of	ADP
ap-3441	40	15	the	the	DET
ap-3441	40	16	figure	figure	NOUN
ap-3441	40	17	—	—	PUNCT
ap-3441	40	18	in	in	ADP
ap-3441	40	19	this	this	DET
ap-3441	40	20	calculation	calculation	NOUN
ap-3441	40	21	,	,	PUNCT
ap-3441	40	22	the	the	DET
ap-3441	40	23	three	three	NUM
ap-3441	40	24	vectors	vector	NOUN
ap-3441	40	25	are	be	AUX
ap-3441	40	26	first	first	ADV
ap-3441	40	27	summed	sum	VERB
ap-3441	40	28	and	and	CCONJ
ap-3441	40	29	then	then	ADV
ap-3441	40	30	scaled	scale	VERB
ap-3441	40	31	to	to	PART
ap-3441	40	32	maintain	maintain	VERB
ap-3441	40	33	constant	constant	ADJ
ap-3441	40	34	speed	speed	NOUN
ap-3441	40	35	.	.	PUNCT
ap-3441	41	1	over	over	ADP
ap-3441	41	2	time	time	NOUN
ap-3441	41	3	,	,	PUNCT
ap-3441	41	4	agents	agent	NOUN
ap-3441	41	5	behaving	behave	VERB
ap-3441	41	6	as	as	SCONJ
ap-3441	41	7	described	describe	VERB
ap-3441	41	8	above	above	ADV
ap-3441	41	9	will	will	AUX
ap-3441	41	10	gather	gather	VERB
ap-3441	41	11	into	into	ADP
ap-3441	41	12	one	one	NUM
ap-3441	41	13	or	or	CCONJ
ap-3441	41	14	more	more	ADJ
ap-3441	41	15	groups	group	NOUN
ap-3441	41	16	,	,	PUNCT
ap-3441	41	17	and	and	CCONJ
ap-3441	41	18	these	these	DET
ap-3441	41	19	groups	group	NOUN
ap-3441	41	20	will	will	AUX
ap-3441	41	21	each	each	PRON
ap-3441	41	22	travel	travel	VERB
ap-3441	41	23	in	in	ADP
ap-3441	41	24	some	some	DET
ap-3441	41	25	direction	direction	NOUN
ap-3441	41	26	.	.	PUNCT
ap-3441	42	1	however	however	ADV
ap-3441	42	2	,	,	PUNCT
ap-3441	42	3	in	in	ADP
ap-3441	42	4	this	this	DET
ap-3441	42	5	work	work	NOUN
ap-3441	42	6	we	we	PRON
ap-3441	42	7	add	add	VERB
ap-3441	42	8	a	a	DET
ap-3441	42	9	small	small	ADJ
ap-3441	42	10	number	number	NOUN
ap-3441	42	11	of	of	ADP
ap-3441	42	12	influencing	influence	VERB
ap-3441	42	13	agents	agent	NOUN
ap-3441	42	14	to	to	ADP
ap-3441	42	15	the	the	DET
ap-3441	42	16	flock	flock	NOUN
ap-3441	42	17	.	.	PUNCT
ap-3441	43	1	these	these	DET
ap-3441	43	2	influencing	influence	VERB
ap-3441	43	3	agents	agent	NOUN
ap-3441	43	4	attempt	attempt	VERB
ap-3441	43	5	to	to	PART
ap-3441	43	6	influence	influence	VERB
ap-3441	43	7	the	the	DET
ap-3441	43	8	flock	flock	NOUN
ap-3441	43	9	to	to	PART
ap-3441	43	10	travel	travel	VERB
ap-3441	43	11	in	in	ADP
ap-3441	43	12	a	a	DET
ap-3441	43	13	pre	pre	ADJ
ap-3441	43	14	-	-	ADJ
ap-3441	43	15	defined	define	VERB
ap-3441	43	16	direction	direction	NOUN
ap-3441	43	17	—	—	PUNCT
ap-3441	43	18	throughout	throughout	ADP
ap-3441	43	19	this	this	DET
ap-3441	43	20	paper	paper	NOUN
ap-3441	43	21	we	we	PRON
ap-3441	43	22	refer	refer	VERB
ap-3441	43	23	to	to	ADP
ap-3441	43	24	this	this	DET
ap-3441	43	25	desired	desire	VERB
ap-3441	43	26	direction	direction	NOUN
ap-3441	43	27	as	as	SCONJ
ap-3441	43	28	θ∗.	θ∗.	NOUN
ap-3441	43	29	note	note	VERB
ap-3441	43	30	that	that	SCONJ
ap-3441	43	31	the	the	DET
ap-3441	43	32	challenge	challenge	NOUN
ap-3441	43	33	of	of	ADP
ap-3441	43	34	designing	design	VERB
ap-3441	43	35	influencing	influence	VERB
ap-3441	43	36	agent	agent	NOUN
ap-3441	43	37	behaviors	behavior	NOUN
ap-3441	43	38	in	in	ADP
ap-3441	43	39	a	a	DET
ap-3441	43	40	dynamic	dynamic	ADJ
ap-3441	43	41	flocking	flocking	NOUN
ap-3441	43	42	system	system	NOUN
ap-3441	43	43	is	be	AUX
ap-3441	43	44	difficult	difficult	ADJ
ap-3441	43	45	because	because	SCONJ
ap-3441	43	46	the	the	DET
ap-3441	43	47	action	action	NOUN
ap-3441	43	48	space	space	NOUN
ap-3441	43	49	is	be	AUX
ap-3441	43	50	continuous	continuous	ADJ
ap-3441	43	51	.	.	PUNCT
ap-3441	44	1	hence	hence	ADV
ap-3441	44	2	,	,	PUNCT
ap-3441	44	3	in	in	ADP
ap-3441	44	4	our	our	PRON
ap-3441	44	5	work	work	NOUN
ap-3441	44	6	we	we	PRON
ap-3441	44	7	make	make	VERB
ap-3441	44	8	the	the	DET
ap-3441	44	9	simplifying	simplifying	NOUN
ap-3441	44	10	assumption	assumption	NOUN
ap-3441	44	11	of	of	ADP
ap-3441	44	12	only	only	ADV
ap-3441	44	13	considering	consider	VERB
ap-3441	44	14	a	a	DET
ap-3441	44	15	limited	limited	ADJ
ap-3441	44	16	number	number	NOUN
ap-3441	44	17	(	(	PUNCT
ap-3441	44	18	numangles	numangle	NOUN
ap-3441	44	19	)	)	PUNCT
ap-3441	44	20	of	of	ADP
ap-3441	44	21	discrete	discrete	ADJ
ap-3441	44	22	angle	angle	NOUN
ap-3441	44	23	choices	choice	NOUN
ap-3441	44	24	for	for	ADP
ap-3441	44	25	each	each	DET
ap-3441	44	26	influencing	influence	VERB
ap-3441	44	27	agent	agent	NOUN
ap-3441	44	28	.	.	PUNCT
ap-3441	45	1	2.1	2.1	NUM
ap-3441	45	2	.	.	PUNCT
ap-3441	45	3	simulation	simulation	NOUN
ap-3441	45	4	environment	environment	NOUN
ap-3441	45	5	we	we	PRON
ap-3441	45	6	situate	situate	VERB
ap-3441	45	7	our	our	PRON
ap-3441	45	8	research	research	NOUN
ap-3441	45	9	on	on	ADP
ap-3441	45	10	flocking	flock	VERB
ap-3441	45	11	using	use	VERB
ap-3441	45	12	ad	ad	NOUN
ap-3441	45	13	hoc	hoc	X
ap-3441	45	14	teamwork	teamwork	NOUN
ap-3441	45	15	within	within	ADP
ap-3441	45	16	the	the	DET
ap-3441	45	17	mason	mason	PROPN
ap-3441	45	18	simulator	simulator	NOUN
ap-3441	45	19	,	,	PUNCT
ap-3441	45	20	a	a	DET
ap-3441	45	21	concrete	concrete	ADJ
ap-3441	45	22	simulation	simulation	NOUN
ap-3441	45	23	environment	environment	NOUN
ap-3441	46	1	[	[	X
ap-3441	46	2	8	8	NUM
ap-3441	46	3	]	]	PUNCT
ap-3441	46	4	.	.	PUNCT
ap-3441	47	1	a	a	DET
ap-3441	47	2	picture	picture	NOUN
ap-3441	47	3	of	of	ADP
ap-3441	47	4	the	the	DET
ap-3441	47	5	flockers	flocker	NOUN
ap-3441	47	6	domain	domain	NOUN
ap-3441	47	7	is	be	AUX
ap-3441	47	8	shown	show	VERB
ap-3441	47	9	in	in	ADP
ap-3441	47	10	figure	figure	NOUN
ap-3441	47	11	2	2	NUM
ap-3441	47	12	.	.	PUNCT
ap-3441	48	1	each	each	DET
ap-3441	48	2	agent	agent	NOUN
ap-3441	48	3	points	point	NOUN
ap-3441	48	4	and	and	CCONJ
ap-3441	48	5	moves	move	NOUN
ap-3441	48	6	in	in	ADP
ap-3441	48	7	the	the	DET
ap-3441	48	8	direction	direction	NOUN
ap-3441	48	9	of	of	ADP
ap-3441	48	10	its	its	PRON
ap-3441	48	11	current	current	ADJ
ap-3441	48	12	velocity	velocity	NOUN
ap-3441	48	13	vector	vector	NOUN
ap-3441	48	14	.	.	PUNCT
ap-3441	49	1	the	the	DET
ap-3441	49	2	mason	mason	PROPN
ap-3441	49	3	flockers	flockers	PROPN
ap-3441	49	4	domain	domain	PROPN
ap-3441	49	5	is	be	AUX
ap-3441	49	6	toroidal	toroidal	ADJ
ap-3441	49	7	,	,	PUNCT
ap-3441	49	8	so	so	SCONJ
ap-3441	49	9	agents	agent	NOUN
ap-3441	49	10	that	that	PRON
ap-3441	49	11	move	move	VERB
ap-3441	49	12	off	off	ADP
ap-3441	49	13	one	one	NUM
ap-3441	49	14	edge	edge	NOUN
ap-3441	49	15	of	of	ADP
ap-3441	49	16	our	our	PRON
ap-3441	49	17	domain	domain	NOUN
ap-3441	49	18	reappear	reappear	NOUN
ap-3441	49	19	on	on	ADP
ap-3441	49	20	the	the	DET
ap-3441	49	21	opposite	opposite	ADJ
ap-3441	49	22	edge	edge	NOUN
ap-3441	49	23	,	,	PUNCT
ap-3441	49	24	moving	move	VERB
ap-3441	49	25	in	in	ADP
ap-3441	49	26	the	the	DET
ap-3441	49	27	same	same	ADJ
ap-3441	49	28	direction	direction	NOUN
ap-3441	49	29	.	.	PUNCT
ap-3441	50	1	we	we	PRON
ap-3441	50	2	conclude	conclude	VERB
ap-3441	50	3	that	that	SCONJ
ap-3441	50	4	the	the	DET
ap-3441	50	5	flock	flock	NOUN
ap-3441	50	6	has	have	AUX
ap-3441	50	7	converged	converge	VERB
ap-3441	50	8	to	to	PART
ap-3441	50	9	θ∗	θ∗	VERB
ap-3441	50	10	when	when	SCONJ
ap-3441	50	11	every	every	DET
ap-3441	50	12	agent	agent	NOUN
ap-3441	50	13	(	(	PUNCT
ap-3441	50	14	that	that	PRON
ap-3441	50	15	is	be	AUX
ap-3441	50	16	not	not	PART
ap-3441	50	17	an	an	DET
ap-3441	50	18	influencing	influence	VERB
ap-3441	50	19	agent	agent	NOUN
ap-3441	50	20	)	)	PUNCT
ap-3441	50	21	is	be	AUX
ap-3441	50	22	facing	face	VERB
ap-3441	50	23	within	within	ADP
ap-3441	50	24	0.1	0.1	NUM
ap-3441	50	25	radians	radian	NOUN
ap-3441	50	26	of	of	ADP
ap-3441	50	27	θ∗.	θ∗.	NOUN
ap-3441	50	28	other	other	ADJ
ap-3441	50	29	stopping	stopping	NOUN
ap-3441	50	30	criteria	criterion	NOUN
ap-3441	50	31	,	,	PUNCT
ap-3441	50	32	such	such	ADJ
ap-3441	50	33	as	as	ADP
ap-3441	50	34	when	when	SCONJ
ap-3441	50	35	90	90	NUM
ap-3441	50	36	%	%	NOUN
ap-3441	50	37	of	of	ADP
ap-3441	50	38	the	the	DET
ap-3441	50	39	agents	agent	NOUN
ap-3441	50	40	are	be	AUX
ap-3441	50	41	facing	face	VERB
ap-3441	50	42	within	within	ADP
ap-3441	50	43	0.1	0.1	NUM
ap-3441	50	44	radians	radian	NOUN
ap-3441	50	45	of	of	ADP
ap-3441	50	46	θ∗	θ∗	NOUN
ap-3441	50	47	,	,	PUNCT
ap-3441	50	48	could	could	AUX
ap-3441	50	49	also	also	ADV
ap-3441	50	50	have	have	AUX
ap-3441	50	51	been	be	AUX
ap-3441	50	52	utilized	utilize	VERB
ap-3441	50	53	.	.	PUNCT
ap-3441	51	1	(	(	PUNCT
ap-3441	51	2	a	a	X
ap-3441	51	3	)	)	PUNCT
ap-3441	51	4	start	start	NOUN
ap-3441	51	5	(	(	PUNCT
ap-3441	51	6	b	b	NOUN
ap-3441	51	7	)	)	PUNCT
ap-3441	51	8	finish	finish	NOUN
ap-3441	51	9	figure	figure	NOUN
ap-3441	51	10	2	2	NUM
ap-3441	51	11	.	.	PUNCT
ap-3441	51	12	pictures	picture	NOUN
ap-3441	51	13	of	of	ADP
ap-3441	51	14	(	(	PUNCT
ap-3441	51	15	a	a	X
ap-3441	51	16	)	)	PUNCT
ap-3441	51	17	the	the	DET
ap-3441	51	18	start	start	NOUN
ap-3441	51	19	of	of	ADP
ap-3441	51	20	a	a	DET
ap-3441	51	21	trial	trial	NOUN
ap-3441	51	22	and	and	CCONJ
ap-3441	51	23	(	(	PUNCT
ap-3441	51	24	b	b	X
ap-3441	51	25	)	)	PUNCT
ap-3441	51	26	the	the	DET
ap-3441	51	27	end	end	NOUN
ap-3441	51	28	of	of	ADP
ap-3441	51	29	a	a	DET
ap-3441	51	30	trial	trial	NOUN
ap-3441	51	31	in	in	ADP
ap-3441	51	32	the	the	DET
ap-3441	51	33	mason	mason	PROPN
ap-3441	51	34	flockers	flockers	PROPN
ap-3441	51	35	simulation	simulation	PROPN
ap-3441	51	36	environment	environment	PROPN
ap-3441	51	37	.	.	PUNCT
ap-3441	52	1	the	the	DET
ap-3441	52	2	grey	grey	PROPN
ap-3441	52	3	agents	agent	NOUN
ap-3441	52	4	are	be	AUX
ap-3441	52	5	influencing	influence	VERB
ap-3441	52	6	agents	agent	NOUN
ap-3441	52	7	,	,	PUNCT
ap-3441	52	8	while	while	SCONJ
ap-3441	52	9	the	the	DET
ap-3441	52	10	black	black	ADJ
ap-3441	52	11	agents	agent	NOUN
ap-3441	52	12	are	be	AUX
ap-3441	52	13	other	other	ADJ
ap-3441	52	14	members	member	NOUN
ap-3441	52	15	of	of	ADP
ap-3441	52	16	the	the	DET
ap-3441	52	17	flock	flock	NOUN
ap-3441	52	18	.	.	PUNCT
ap-3441	53	1	variable	variable	ADJ
ap-3441	53	2	definition	definition	NOUN
ap-3441	53	3	bestdiff	bestdiff	VERB
ap-3441	53	4	the	the	DET
ap-3441	53	5	smallest	small	ADJ
ap-3441	53	6	difference	difference	NOUN
ap-3441	53	7	found	find	VERB
ap-3441	53	8	so	so	ADV
ap-3441	53	9	far	far	ADV
ap-3441	53	10	between	between	ADP
ap-3441	53	11	the	the	DET
ap-3441	53	12	average	average	ADJ
ap-3441	53	13	orientation	orientation	NOUN
ap-3441	53	14	vectors	vector	NOUN
ap-3441	53	15	of	of	ADP
ap-3441	53	16	neighofia	neighofia	NOUN
ap-3441	53	17	and	and	CCONJ
ap-3441	53	18	θ∗	θ∗	NOUN
ap-3441	53	19	bestorient	bestorient	NOUN
ap-3441	53	20	the	the	DET
ap-3441	53	21	vector	vector	NOUN
ap-3441	53	22	representing	represent	VERB
ap-3441	53	23	the	the	DET
ap-3441	53	24	orientation	orientation	NOUN
ap-3441	53	25	adopted	adopt	VERB
ap-3441	53	26	by	by	ADP
ap-3441	53	27	the	the	DET
ap-3441	53	28	influencing	influence	VERB
ap-3441	53	29	agent	agent	NOUN
ap-3441	53	30	to	to	PART
ap-3441	53	31	obtain	obtain	VERB
ap-3441	53	32	bestdiff	bestdiff	NOUN
ap-3441	53	33	neighofia	neighofia	NOUN
ap-3441	53	34	the	the	DET
ap-3441	53	35	neighbors	neighbor	NOUN
ap-3441	53	36	of	of	ADP
ap-3441	53	37	the	the	DET
ap-3441	53	38	influencing	influence	VERB
ap-3441	53	39	agent	agent	NOUN
ap-3441	53	40	norient	norient	NOUN
ap-3441	53	41	the	the	DET
ap-3441	53	42	predicted	predict	VERB
ap-3441	53	43	next	next	ADJ
ap-3441	53	44	step	step	NOUN
ap-3441	53	45	orientation	orientation	NOUN
ap-3441	53	46	vector	vector	NOUN
ap-3441	53	47	of	of	ADP
ap-3441	53	48	neighbor	neighbor	NOUN
ap-3441	53	49	n	n	PROPN
ap-3441	53	50	of	of	ADP
ap-3441	53	51	the	the	DET
ap-3441	53	52	influencing	influence	VERB
ap-3441	53	53	agent	agent	NOUN
ap-3441	53	54	if	if	SCONJ
ap-3441	53	55	the	the	DET
ap-3441	53	56	influencing	influence	VERB
ap-3441	53	57	agent	agent	NOUN
ap-3441	53	58	adopts	adopt	VERB
ap-3441	53	59	iaorient	iaorient	NOUN
ap-3441	53	60	norients	norient	NOUN
ap-3441	53	61	a	a	DET
ap-3441	53	62	set	set	NOUN
ap-3441	53	63	of	of	ADP
ap-3441	53	64	the	the	DET
ap-3441	53	65	predicted	predict	VERB
ap-3441	53	66	next	next	ADJ
ap-3441	53	67	step	step	NOUN
ap-3441	53	68	orientation	orientation	NOUN
ap-3441	53	69	vectors	vector	NOUN
ap-3441	53	70	of	of	ADP
ap-3441	53	71	all	all	PRON
ap-3441	53	72	of	of	ADP
ap-3441	53	73	the	the	DET
ap-3441	53	74	neighbors	neighbor	NOUN
ap-3441	53	75	of	of	ADP
ap-3441	53	76	the	the	DET
ap-3441	53	77	influencing	influence	VERB
ap-3441	53	78	agent	agent	NOUN
ap-3441	53	79	,	,	PUNCT
ap-3441	53	80	assuming	assume	VERB
ap-3441	53	81	the	the	DET
ap-3441	53	82	influencing	influence	VERB
ap-3441	53	83	agent	agent	NOUN
ap-3441	53	84	adopts	adopt	VERB
ap-3441	53	85	iaorient	iaorient	NOUN
ap-3441	53	86	table	table	NOUN
ap-3441	53	87	1	1	NUM
ap-3441	53	88	.	.	PUNCT
ap-3441	54	1	variables	variable	NOUN
ap-3441	54	2	used	use	VERB
ap-3441	54	3	in	in	ADP
ap-3441	54	4	algorithm	algorithm	NOUN
ap-3441	54	5	1	1	NUM
ap-3441	54	6	.	.	NOUN
ap-3441	54	7	3	3	NUM
ap-3441	54	8	.	.	NOUN
ap-3441	54	9	1	1	NUM
ap-3441	54	10	-	-	PUNCT
ap-3441	54	11	step	step	NOUN
ap-3441	54	12	lookahead	lookahead	NOUN
ap-3441	54	13	behavior	behavior	NOUN
ap-3441	54	14	in	in	ADP
ap-3441	54	15	this	this	DET
ap-3441	54	16	section	section	NOUN
ap-3441	54	17	we	we	PRON
ap-3441	54	18	present	present	VERB
ap-3441	54	19	algorithm	algorithm	NOUN
ap-3441	54	20	1	1	NUM
ap-3441	54	21	,	,	PUNCT
ap-3441	54	22	a	a	DET
ap-3441	54	23	1	1	NUM
ap-3441	54	24	-	-	PUNCT
ap-3441	54	25	step	step	NOUN
ap-3441	54	26	lookahead	lookahead	NOUN
ap-3441	54	27	algorithm	algorithm	NOUN
ap-3441	54	28	for	for	ADP
ap-3441	54	29	determining	determine	VERB
ap-3441	54	30	the	the	DET
ap-3441	54	31	individual	individual	ADJ
ap-3441	54	32	behavior	behavior	NOUN
ap-3441	54	33	of	of	ADP
ap-3441	54	34	each	each	DET
ap-3441	54	35	influencing	influence	VERB
ap-3441	54	36	agent	agent	NOUN
ap-3441	54	37	.	.	PUNCT
ap-3441	55	1	this	this	DET
ap-3441	55	2	algorithm	algorithm	NOUN
ap-3441	55	3	considers	consider	VERB
ap-3441	55	4	all	all	PRON
ap-3441	55	5	of	of	ADP
ap-3441	55	6	the	the	DET
ap-3441	55	7	influences	influence	NOUN
ap-3441	55	8	on	on	ADP
ap-3441	55	9	neighbors	neighbor	NOUN
ap-3441	55	10	of	of	ADP
ap-3441	55	11	the	the	DET
ap-3441	55	12	influencing	influence	VERB
ap-3441	55	13	agent	agent	NOUN
ap-3441	55	14	at	at	ADP
ap-3441	55	15	a	a	DET
ap-3441	55	16	particular	particular	ADJ
ap-3441	55	17	point	point	NOUN
ap-3441	55	18	in	in	ADP
ap-3441	55	19	time	time	NOUN
ap-3441	55	20	,	,	PUNCT
ap-3441	55	21	such	such	ADJ
ap-3441	55	22	that	that	SCONJ
ap-3441	55	23	the	the	DET
ap-3441	55	24	influencing	influence	VERB
ap-3441	55	25	agent	agent	NOUN
ap-3441	55	26	can	can	AUX
ap-3441	55	27	determine	determine	VERB
ap-3441	55	28	the	the	DET
ap-3441	55	29	best	good	ADJ
ap-3441	55	30	orientation	orientation	NOUN
ap-3441	55	31	to	to	PART
ap-3441	55	32	adopt	adopt	VERB
ap-3441	55	33	based	base	VERB
ap-3441	55	34	on	on	ADP
ap-3441	55	35	this	this	DET
ap-3441	55	36	information	information	NOUN
ap-3441	55	37	.	.	PUNCT
ap-3441	56	1	the	the	DET
ap-3441	56	2	1	1	NUM
ap-3441	56	3	-	-	PUNCT
ap-3441	56	4	step	step	NOUN
ap-3441	56	5	lookahead	lookahead	NOUN
ap-3441	56	6	algorithm	algorithm	NOUN
ap-3441	56	7	is	be	AUX
ap-3441	56	8	a	a	DET
ap-3441	56	9	greedy	greedy	ADJ
ap-3441	56	10	,	,	PUNCT
ap-3441	56	11	myopic	myopic	ADJ
ap-3441	56	12	approach	approach	NOUN
ap-3441	56	13	for	for	ADP
ap-3441	56	14	determining	determine	VERB
ap-3441	56	15	the	the	DET
ap-3441	56	16	best	good	ADJ
ap-3441	56	17	individual	individual	ADJ
ap-3441	56	18	behavior	behavior	NOUN
ap-3441	56	19	for	for	ADP
ap-3441	56	20	each	each	DET
ap-3441	56	21	influencing	influence	VERB
ap-3441	56	22	agent	agent	NOUN
ap-3441	56	23	,	,	PUNCT
ap-3441	56	24	where	where	SCONJ
ap-3441	56	25	‘	'	PUNCT
ap-3441	56	26	best	good	ADJ
ap-3441	56	27	’	'	PUNCT
ap-3441	56	28	is	be	AUX
ap-3441	56	29	defined	define	VERB
ap-3441	56	30	as	as	ADP
ap-3441	56	31	the	the	DET
ap-3441	56	32	behavior	behavior	NOUN
ap-3441	56	33	that	that	PRON
ap-3441	56	34	will	will	AUX
ap-3441	56	35	exert	exert	VERB
ap-3441	56	36	the	the	DET
ap-3441	56	37	most	most	ADJ
ap-3441	56	38	influence	influence	NOUN
ap-3441	56	39	on	on	ADP
ap-3441	56	40	the	the	DET
ap-3441	56	41	next	next	ADJ
ap-3441	56	42	time	time	NOUN
ap-3441	56	43	step	step	NOUN
ap-3441	56	44	.	.	PUNCT
ap-3441	57	1	note	note	VERB
ap-3441	57	2	that	that	SCONJ
ap-3441	57	3	if	if	SCONJ
ap-3441	57	4	the	the	DET
ap-3441	57	5	algorithm	algorithm	NOUN
ap-3441	57	6	only	only	ADV
ap-3441	57	7	considered	consider	VERB
ap-3441	57	8	the	the	DET
ap-3441	57	9	current	current	ADJ
ap-3441	57	10	orientations	orientation	NOUN
ap-3441	57	11	of	of	ADP
ap-3441	57	12	the	the	DET
ap-3441	57	13	neighbors	neighbor	NOUN
ap-3441	57	14	(	(	PUNCT
ap-3441	57	15	instead	instead	ADV
ap-3441	57	16	of	of	ADP
ap-3441	57	17	the	the	DET
ap-3441	57	18	influences	influence	NOUN
ap-3441	57	19	on	on	ADP
ap-3441	57	20	these	these	DET
ap-3441	57	21	neighbors	neighbor	NOUN
ap-3441	57	22	)	)	PUNCT
ap-3441	57	23	when	when	SCONJ
ap-3441	57	24	determining	determine	VERB
ap-3441	57	25	the	the	DET
ap-3441	57	26	next	next	ADJ
ap-3441	57	27	orientation	orientation	NOUN
ap-3441	57	28	for	for	SCONJ
ap-3441	57	29	the	the	DET
ap-3441	57	30	influencing	influence	VERB
ap-3441	57	31	agent	agent	NOUN
ap-3441	57	32	to	to	PART
ap-3441	57	33	adopt	adopt	VERB
ap-3441	57	34	,	,	PUNCT
ap-3441	57	35	it	it	PRON
ap-3441	57	36	would	would	AUX
ap-3441	57	37	only	only	ADV
ap-3441	57	38	be	be	AUX
ap-3441	57	39	estimating	estimate	VERB
ap-3441	57	40	the	the	DET
ap-3441	57	41	state	state	NOUN
ap-3441	57	42	of	of	ADP
ap-3441	57	43	each	each	DET
ap-3441	57	44	neighbor	neighbor	NOUN
ap-3441	57	45	and	and	CCONJ
ap-3441	57	46	hence	hence	ADV
ap-3441	57	47	the	the	DET
ap-3441	57	48	resulting	result	VERB
ap-3441	57	49	orientation	orientation	NOUN
ap-3441	57	50	adopted	adopt	VERB
ap-3441	57	51	by	by	ADP
ap-3441	57	52	the	the	DET
ap-3441	57	53	influencing	influence	VERB
ap-3441	57	54	agent	agent	NOUN
ap-3441	57	55	would	would	AUX
ap-3441	57	56	not	not	PART
ap-3441	57	57	be	be	AUX
ap-3441	57	58	‘	'	PUNCT
ap-3441	57	59	best	good	ADJ
ap-3441	57	60	’	'	PUNCT
ap-3441	57	61	.	.	PUNCT
ap-3441	58	1	the	the	DET
ap-3441	58	2	variables	variable	NOUN
ap-3441	58	3	used	use	VERB
ap-3441	58	4	throughout	throughout	ADP
ap-3441	58	5	algorithm	algorithm	NOUN
ap-3441	58	6	1	1	NUM
ap-3441	58	7	are	be	AUX
ap-3441	58	8	19	19	NUM
ap-3441	58	9	katie	katie	PROPN
ap-3441	58	10	genter	genter	PROPN
ap-3441	58	11	,	,	PUNCT
ap-3441	58	12	peter	peter	PROPN
ap-3441	58	13	stone	stone	PROPN
ap-3441	58	14	acta	acta	PROPN
ap-3441	58	15	polytechnica	polytechnica	PROPN
ap-3441	58	16	algorithm	algorithm	PROPN
ap-3441	58	17	1	1	NUM
ap-3441	58	18	bestorient	bestorient	NOUN
ap-3441	58	19	=	=	NOUN
ap-3441	58	20	1steplookahead(neighofia	1steplookahead(neighofia	NUM
ap-3441	58	21	)	)	PUNCT
ap-3441	58	22	1	1	NUM
ap-3441	58	23	:	:	PUNCT
ap-3441	58	24	bestorient←	bestorient←	PROPN
ap-3441	58	25	(	(	PUNCT
ap-3441	58	26	0	0	NUM
ap-3441	58	27	,	,	PUNCT
ap-3441	58	28	0	0	NUM
ap-3441	58	29	)	)	PUNCT
ap-3441	58	30	2	2	NUM
ap-3441	58	31	:	:	PUNCT
ap-3441	58	32	bestdiff←∞	bestdiff←∞	NOUN
ap-3441	58	33	3	3	NUM
ap-3441	58	34	:	:	PUNCT
ap-3441	58	35	for	for	ADP
ap-3441	58	36	each	each	DET
ap-3441	58	37	influencing	influence	VERB
ap-3441	58	38	agent	agent	NOUN
ap-3441	58	39	orient	orient	PROPN
ap-3441	58	40	vector	vector	PROPN
ap-3441	58	41	iaorient	iaorient	NOUN
ap-3441	58	42	do	do	VERB
ap-3441	58	43	4	4	NUM
ap-3441	58	44	:	:	PUNCT
ap-3441	58	45	norients←	norients←	NOUN
ap-3441	58	46	∅	∅	NOUN
ap-3441	58	47	5	5	NUM
ap-3441	58	48	:	:	PUNCT
ap-3441	58	49	for	for	ADP
ap-3441	58	50	n	n	DET
ap-3441	58	51	∈	∈	PROPN
ap-3441	58	52	neighofia	neighofia	NOUN
ap-3441	58	53	do	do	VERB
ap-3441	58	54	6	6	NUM
ap-3441	58	55	:	:	PUNCT
ap-3441	59	1	norient←	norient←	PROPN
ap-3441	59	2	(	(	PUNCT
ap-3441	59	3	0	0	NUM
ap-3441	59	4	,	,	PUNCT
ap-3441	59	5	0	0	NUM
ap-3441	59	6	)	)	PUNCT
ap-3441	59	7	7	7	NUM
ap-3441	59	8	:	:	PUNCT
ap-3441	59	9	for	for	ADP
ap-3441	59	10	n	n	CCONJ
ap-3441	59	11	’	'	PUNCT
ap-3441	59	12	∈	∈	NOUN
ap-3441	59	13	n.neighbors	n.neighbor	NOUN
ap-3441	59	14	do	do	VERB
ap-3441	59	15	8	8	NUM
ap-3441	59	16	:	:	PUNCT
ap-3441	59	17	if	if	SCONJ
ap-3441	59	18	n	n	CCONJ
ap-3441	59	19	’	'	PUNCT
ap-3441	59	20	is	be	AUX
ap-3441	59	21	an	an	DET
ap-3441	59	22	influencing	influence	VERB
ap-3441	59	23	agent	agent	NOUN
ap-3441	59	24	then	then	ADV
ap-3441	59	25	9	9	NUM
ap-3441	59	26	:	:	PUNCT
ap-3441	59	27	norient←	norient←	NOUN
ap-3441	59	28	norient	norient	NOUN
ap-3441	59	29	+	+	CCONJ
ap-3441	59	30	iaorient	iaorient	PROPN
ap-3441	59	31	10	10	NUM
ap-3441	59	32	:	:	PUNCT
ap-3441	59	33	else	else	ADV
ap-3441	59	34	11	11	NUM
ap-3441	59	35	:	:	PUNCT
ap-3441	59	36	norient←	norient←	VERB
ap-3441	59	37	norient	norient	NOUN
ap-3441	59	38	+	+	CCONJ
ap-3441	59	39	n’.vel	n’.vel	ADJ
ap-3441	59	40	12	12	NUM
ap-3441	59	41	:	:	PUNCT
ap-3441	59	42	norient←	norient←	PROPN
ap-3441	59	43	norient	norient	NOUN
ap-3441	59	44	|n.neighbors|	|n.neighbors|	PROPN
ap-3441	59	45	13	13	NUM
ap-3441	59	46	:	:	PUNCT
ap-3441	60	1	norients←	norients←	NOUN
ap-3441	60	2	{	{	PUNCT
ap-3441	60	3	norient	norient	NOUN
ap-3441	60	4	}	}	PUNCT
ap-3441	60	5	∪	∪	VERB
ap-3441	60	6	norients	norient	NOUN
ap-3441	60	7	14	14	NUM
ap-3441	60	8	:	:	PUNCT
ap-3441	61	1	diff←	diff←	NOUN
ap-3441	61	2	avg	avg	NOUN
ap-3441	61	3	diff	diff	NOUN
ap-3441	61	4	between	between	ADP
ap-3441	61	5	vects	vect	NOUN
ap-3441	61	6	norients	norient	NOUN
ap-3441	61	7	and	and	CCONJ
ap-3441	61	8	θ∗	θ∗	VERB
ap-3441	61	9	15	15	NUM
ap-3441	61	10	:	:	PUNCT
ap-3441	61	11	if	if	SCONJ
ap-3441	61	12	diff	diff	PROPN
ap-3441	61	13	<	<	X
ap-3441	61	14	bestdiff	bestdiff	NOUN
ap-3441	61	15	then	then	ADV
ap-3441	61	16	16	16	NUM
ap-3441	61	17	:	:	PUNCT
ap-3441	61	18	bestdiff←	bestdiff←	NOUN
ap-3441	61	19	diff	diff	NOUN
ap-3441	61	20	17	17	NUM
ap-3441	61	21	:	:	PUNCT
ap-3441	61	22	bestorient←	bestorient←	PROPN
ap-3441	61	23	iaorient	iaorient	NOUN
ap-3441	61	24	18	18	NUM
ap-3441	61	25	:	:	PUNCT
ap-3441	61	26	return	return	NOUN
ap-3441	61	27	bestorient	bestorient	NOUN
ap-3441	61	28	defined	define	VERB
ap-3441	61	29	in	in	ADP
ap-3441	61	30	table	table	NOUN
ap-3441	61	31	1	1	NUM
ap-3441	61	32	.	.	PUNCT
ap-3441	61	33	two	two	NUM
ap-3441	61	34	functions	function	NOUN
ap-3441	61	35	are	be	AUX
ap-3441	61	36	used	use	VERB
ap-3441	61	37	in	in	ADP
ap-3441	61	38	algorithm	algorithm	NOUN
ap-3441	61	39	1	1	NUM
ap-3441	61	40	:	:	PUNCT
ap-3441	61	41	neighbor.vel	neighbor.vel	NOUN
ap-3441	61	42	returns	return	VERB
ap-3441	61	43	the	the	DET
ap-3441	61	44	velocity	velocity	NOUN
ap-3441	61	45	vector	vector	NOUN
ap-3441	61	46	of	of	ADP
ap-3441	61	47	neighbor	neighbor	NOUN
ap-3441	61	48	and	and	CCONJ
ap-3441	61	49	neighbor.neighbors	neighbor.neighbor	NOUN
ap-3441	61	50	returns	return	VERB
ap-3441	61	51	a	a	DET
ap-3441	61	52	set	set	NOUN
ap-3441	61	53	containing	contain	VERB
ap-3441	61	54	the	the	DET
ap-3441	61	55	neighbors	neighbor	NOUN
ap-3441	61	56	of	of	ADP
ap-3441	61	57	neighbor	neighbor	NOUN
ap-3441	61	58	.	.	PUNCT
ap-3441	62	1	note	note	VERB
ap-3441	62	2	that	that	SCONJ
ap-3441	62	3	algorithm	algorithm	NOUN
ap-3441	62	4	1	1	NUM
ap-3441	62	5	is	be	AUX
ap-3441	62	6	called	call	VERB
ap-3441	62	7	on	on	ADP
ap-3441	62	8	each	each	DET
ap-3441	62	9	influencing	influence	VERB
ap-3441	62	10	agent	agent	NOUN
ap-3441	62	11	at	at	ADP
ap-3441	62	12	each	each	DET
ap-3441	62	13	time	time	NOUN
ap-3441	62	14	step	step	NOUN
ap-3441	62	15	,	,	PUNCT
ap-3441	62	16	and	and	CCONJ
ap-3441	62	17	that	that	SCONJ
ap-3441	62	18	the	the	DET
ap-3441	62	19	neighbors	neighbor	NOUN
ap-3441	62	20	of	of	ADP
ap-3441	62	21	the	the	DET
ap-3441	62	22	influencing	influence	VERB
ap-3441	62	23	agent	agent	NOUN
ap-3441	62	24	at	at	ADP
ap-3441	62	25	that	that	DET
ap-3441	62	26	time	time	NOUN
ap-3441	62	27	step	step	NOUN
ap-3441	62	28	are	be	AUX
ap-3441	62	29	provided	provide	VERB
ap-3441	62	30	as	as	ADP
ap-3441	62	31	a	a	DET
ap-3441	62	32	parameter	parameter	NOUN
ap-3441	62	33	to	to	ADP
ap-3441	62	34	the	the	DET
ap-3441	62	35	algorithm	algorithm	NOUN
ap-3441	62	36	.	.	PUNCT
ap-3441	63	1	the	the	DET
ap-3441	63	2	output	output	NOUN
ap-3441	63	3	from	from	ADP
ap-3441	63	4	the	the	DET
ap-3441	63	5	algorithm	algorithm	NOUN
ap-3441	63	6	is	be	AUX
ap-3441	63	7	the	the	DET
ap-3441	63	8	orientation	orientation	NOUN
ap-3441	63	9	that	that	PRON
ap-3441	63	10	,	,	PUNCT
ap-3441	63	11	if	if	SCONJ
ap-3441	63	12	adopted	adopt	VERB
ap-3441	63	13	by	by	ADP
ap-3441	63	14	this	this	DET
ap-3441	63	15	influencing	influence	VERB
ap-3441	63	16	agent	agent	NOUN
ap-3441	63	17	,	,	PUNCT
ap-3441	63	18	is	be	AUX
ap-3441	63	19	predicted	predict	VERB
ap-3441	63	20	to	to	PART
ap-3441	63	21	influence	influence	VERB
ap-3441	63	22	its	its	PRON
ap-3441	63	23	neighbors	neighbor	NOUN
ap-3441	63	24	to	to	PART
ap-3441	63	25	face	face	VERB
ap-3441	63	26	closer	close	ADV
ap-3441	63	27	to	to	AUX
ap-3441	63	28	θ∗	θ∗	VERB
ap-3441	63	29	than	than	ADP
ap-3441	63	30	any	any	PRON
ap-3441	63	31	of	of	ADP
ap-3441	63	32	the	the	DET
ap-3441	63	33	other	other	ADJ
ap-3441	63	34	numangles	numangle	NOUN
ap-3441	63	35	discrete	discrete	ADJ
ap-3441	63	36	influencing	influence	VERB
ap-3441	63	37	orientations	orientation	NOUN
ap-3441	63	38	considered	consider	VERB
ap-3441	63	39	.	.	PUNCT
ap-3441	64	1	conceptually	conceptually	ADV
ap-3441	64	2	,	,	PUNCT
ap-3441	64	3	algorithm	algorithm	PROPN
ap-3441	64	4	1	1	NUM
ap-3441	64	5	is	be	AUX
ap-3441	64	6	concerned	concern	VERB
ap-3441	64	7	with	with	ADP
ap-3441	64	8	how	how	SCONJ
ap-3441	64	9	the	the	DET
ap-3441	64	10	neighbors	neighbor	NOUN
ap-3441	64	11	of	of	ADP
ap-3441	64	12	the	the	DET
ap-3441	64	13	influencing	influence	VERB
ap-3441	64	14	agent	agent	NOUN
ap-3441	64	15	are	be	AUX
ap-3441	64	16	influenced	influence	VERB
ap-3441	64	17	if	if	SCONJ
ap-3441	64	18	the	the	DET
ap-3441	64	19	influencing	influence	VERB
ap-3441	64	20	agent	agent	NOUN
ap-3441	64	21	adopts	adopt	VERB
ap-3441	64	22	a	a	DET
ap-3441	64	23	particular	particular	ADJ
ap-3441	64	24	orientation	orientation	NOUN
ap-3441	64	25	at	at	ADP
ap-3441	64	26	this	this	DET
ap-3441	64	27	time	time	NOUN
ap-3441	64	28	step	step	NOUN
ap-3441	64	29	.	.	PUNCT
ap-3441	65	1	algorithm	algorithm	NOUN
ap-3441	65	2	1	1	NUM
ap-3441	65	3	considers	consider	VERB
ap-3441	65	4	each	each	PRON
ap-3441	65	5	of	of	ADP
ap-3441	65	6	the	the	DET
ap-3441	65	7	numangles	numangle	NOUN
ap-3441	65	8	discrete	discrete	ADJ
ap-3441	65	9	influencing	influence	VERB
ap-3441	65	10	agent	agent	NOUN
ap-3441	65	11	orientation	orientation	NOUN
ap-3441	65	12	vectors	vector	NOUN
ap-3441	65	13	.	.	PUNCT
ap-3441	66	1	for	for	ADP
ap-3441	66	2	each	each	DET
ap-3441	66	3	orientation	orientation	NOUN
ap-3441	66	4	vector	vector	NOUN
ap-3441	66	5	,	,	PUNCT
ap-3441	66	6	the	the	DET
ap-3441	66	7	algorithm	algorithm	NOUN
ap-3441	66	8	considers	consider	VERB
ap-3441	66	9	how	how	SCONJ
ap-3441	66	10	each	each	PRON
ap-3441	66	11	of	of	ADP
ap-3441	66	12	the	the	DET
ap-3441	66	13	neighbors	neighbor	NOUN
ap-3441	66	14	of	of	ADP
ap-3441	66	15	the	the	DET
ap-3441	66	16	influencing	influence	VERB
ap-3441	66	17	agent	agent	NOUN
ap-3441	66	18	will	will	AUX
ap-3441	66	19	be	be	AUX
ap-3441	66	20	influenced	influence	VERB
ap-3441	66	21	if	if	SCONJ
ap-3441	66	22	the	the	DET
ap-3441	66	23	influencing	influence	VERB
ap-3441	66	24	agent	agent	NOUN
ap-3441	66	25	adopts	adopt	VERB
ap-3441	66	26	that	that	SCONJ
ap-3441	66	27	orientation	orientation	NOUN
ap-3441	66	28	vector	vector	NOUN
ap-3441	66	29	(	(	PUNCT
ap-3441	66	30	lines	line	NOUN
ap-3441	66	31	3–13	3–13	NUM
ap-3441	66	32	)	)	PUNCT
ap-3441	66	33	.	.	PUNCT
ap-3441	67	1	hence	hence	ADV
ap-3441	67	2	,	,	PUNCT
ap-3441	67	3	algorithm	algorithm	PROPN
ap-3441	67	4	1	1	NUM
ap-3441	67	5	considers	consider	VERB
ap-3441	67	6	all	all	PRON
ap-3441	67	7	of	of	ADP
ap-3441	67	8	the	the	DET
ap-3441	67	9	neighbors	neighbor	NOUN
ap-3441	67	10	of	of	ADP
ap-3441	67	11	each	each	DET
ap-3441	67	12	neighbor	neighbor	NOUN
ap-3441	67	13	of	of	ADP
ap-3441	67	14	the	the	DET
ap-3441	67	15	influencing	influence	VERB
ap-3441	67	16	agent	agent	NOUN
ap-3441	67	17	(	(	PUNCT
ap-3441	67	18	lines	line	NOUN
ap-3441	67	19	7–11	7–11	PROPN
ap-3441	67	20	)	)	PUNCT
ap-3441	67	21	—	—	PUNCT
ap-3441	67	22	if	if	SCONJ
ap-3441	67	23	the	the	DET
ap-3441	67	24	neighbor	neighbor	NOUN
ap-3441	67	25	of	of	ADP
ap-3441	67	26	the	the	DET
ap-3441	67	27	neighbor	neighbor	NOUN
ap-3441	67	28	of	of	ADP
ap-3441	67	29	the	the	DET
ap-3441	67	30	influencing	influence	VERB
ap-3441	67	31	agent	agent	NOUN
ap-3441	67	32	is	be	AUX
ap-3441	67	33	an	an	DET
ap-3441	67	34	influencing	influence	VERB
ap-3441	67	35	agent	agent	NOUN
ap-3441	67	36	,	,	PUNCT
ap-3441	67	37	the	the	DET
ap-3441	67	38	algorithm	algorithm	NOUN
ap-3441	67	39	assumes	assume	VERB
ap-3441	67	40	that	that	SCONJ
ap-3441	67	41	it	it	PRON
ap-3441	67	42	has	have	VERB
ap-3441	67	43	the	the	DET
ap-3441	67	44	same	same	ADJ
ap-3441	67	45	orientation	orientation	NOUN
ap-3441	67	46	as	as	ADP
ap-3441	67	47	the	the	DET
ap-3441	67	48	influencing	influence	VERB
ap-3441	67	49	agent	agent	NOUN
ap-3441	67	50	(	(	PUNCT
ap-3441	67	51	even	even	ADV
ap-3441	67	52	though	though	ADV
ap-3441	67	53	,	,	PUNCT
ap-3441	67	54	in	in	ADP
ap-3441	67	55	fact	fact	NOUN
ap-3441	67	56	,	,	PUNCT
ap-3441	67	57	each	each	DET
ap-3441	67	58	influencing	influence	VERB
ap-3441	67	59	agent	agent	NOUN
ap-3441	67	60	orients	orient	VERB
ap-3441	67	61	itself	itself	PRON
ap-3441	67	62	based	base	VERB
ap-3441	67	63	on	on	ADP
ap-3441	67	64	a	a	DET
ap-3441	67	65	different	different	ADJ
ap-3441	67	66	set	set	NOUN
ap-3441	67	67	of	of	ADP
ap-3441	67	68	neighbors	neighbor	NOUN
ap-3441	67	69	,	,	PUNCT
ap-3441	67	70	line	line	NOUN
ap-3441	67	71	9	9	NUM
ap-3441	67	72	)	)	PUNCT
ap-3441	67	73	.	.	PUNCT
ap-3441	68	1	on	on	ADP
ap-3441	68	2	the	the	DET
ap-3441	68	3	other	other	ADJ
ap-3441	68	4	hand	hand	NOUN
ap-3441	68	5	,	,	PUNCT
ap-3441	68	6	if	if	SCONJ
ap-3441	68	7	it	it	PRON
ap-3441	68	8	is	be	AUX
ap-3441	68	9	not	not	PART
ap-3441	68	10	an	an	DET
ap-3441	68	11	influencing	influence	VERB
ap-3441	68	12	agent	agent	NOUN
ap-3441	68	13	,	,	PUNCT
ap-3441	68	14	the	the	DET
ap-3441	68	15	algorithm	algorithm	NOUN
ap-3441	68	16	calculates	calculate	VERB
ap-3441	68	17	its	its	PRON
ap-3441	68	18	orientation	orientation	NOUN
ap-3441	68	19	vector	vector	NOUN
ap-3441	68	20	based	base	VERB
ap-3441	68	21	on	on	ADP
ap-3441	68	22	its	its	PRON
ap-3441	68	23	current	current	ADJ
ap-3441	68	24	velocity	velocity	NOUN
ap-3441	68	25	(	(	PUNCT
ap-3441	68	26	line	line	NOUN
ap-3441	68	27	11	11	NUM
ap-3441	68	28	)	)	PUNCT
ap-3441	68	29	.	.	PUNCT
ap-3441	69	1	using	use	VERB
ap-3441	69	2	this	this	DET
ap-3441	69	3	information	information	NOUN
ap-3441	69	4	,	,	PUNCT
ap-3441	69	5	the	the	DET
ap-3441	69	6	algorithm	algorithm	NOUN
ap-3441	69	7	calculates	calculate	VERB
ap-3441	69	8	how	how	SCONJ
ap-3441	69	9	each	each	DET
ap-3441	69	10	neighbor	neighbor	NOUN
ap-3441	69	11	of	of	ADP
ap-3441	69	12	the	the	DET
ap-3441	69	13	influencing	influence	VERB
ap-3441	69	14	agent	agent	NOUN
ap-3441	69	15	will	will	AUX
ap-3441	69	16	be	be	AUX
ap-3441	69	17	influenced	influence	VERB
ap-3441	69	18	by	by	ADP
ap-3441	69	19	averaging	average	VERB
ap-3441	69	20	the	the	DET
ap-3441	69	21	orientation	orientation	NOUN
ap-3441	69	22	vectors	vector	NOUN
ap-3441	69	23	of	of	ADP
ap-3441	69	24	the	the	DET
ap-3441	69	25	each	each	DET
ap-3441	69	26	neighbor	neighbor	NOUN
ap-3441	69	27	’s	’s	PART
ap-3441	69	28	neighbors	neighbor	NOUN
ap-3441	69	29	(	(	PUNCT
ap-3441	69	30	lines	line	NOUN
ap-3441	69	31	12–13	12–13	NUM
ap-3441	69	32	)	)	PUNCT
ap-3441	69	33	.	.	PUNCT
ap-3441	70	1	the	the	DET
ap-3441	70	2	algorithm	algorithm	NOUN
ap-3441	70	3	then	then	ADV
ap-3441	70	4	picks	pick	VERB
ap-3441	70	5	the	the	DET
ap-3441	70	6	influencing	influence	VERB
ap-3441	70	7	agent	agent	NOUN
ap-3441	70	8	orientation	orientation	NOUN
ap-3441	70	9	vector	vector	NOUN
ap-3441	70	10	that	that	PRON
ap-3441	70	11	results	result	VERB
ap-3441	70	12	in	in	ADP
ap-3441	70	13	the	the	DET
ap-3441	70	14	variable	variable	ADJ
ap-3441	70	15	definition	definition	NOUN
ap-3441	70	16	n’orient	n’orient	NOUN
ap-3441	70	17	the	the	DET
ap-3441	70	18	predicted	predict	VERB
ap-3441	70	19	next	next	ADJ
ap-3441	70	20	step	step	NOUN
ap-3441	70	21	orientation	orientation	NOUN
ap-3441	70	22	vector	vector	NOUN
ap-3441	70	23	of	of	ADP
ap-3441	70	24	a	a	DET
ap-3441	70	25	neighbor	neighbor	NOUN
ap-3441	70	26	n	n	CCONJ
ap-3441	70	27	’	'	PUNCT
ap-3441	70	28	of	of	ADP
ap-3441	70	29	a	a	DET
ap-3441	70	30	neighbor	neighbor	NOUN
ap-3441	70	31	of	of	ADP
ap-3441	70	32	the	the	DET
ap-3441	70	33	influencing	influence	VERB
ap-3441	70	34	agent	agent	NOUN
ap-3441	70	35	if	if	SCONJ
ap-3441	70	36	the	the	DET
ap-3441	70	37	influencing	influence	VERB
ap-3441	70	38	agent	agent	NOUN
ap-3441	70	39	adopts	adopt	VERB
ap-3441	70	40	iaorient	iaorient	NOUN
ap-3441	70	41	norient2	norient2	VERB
ap-3441	70	42	the	the	DET
ap-3441	70	43	predicted	predict	VERB
ap-3441	70	44	‘	'	PUNCT
ap-3441	70	45	2	2	NUM
ap-3441	70	46	steps	step	NOUN
ap-3441	70	47	in	in	ADP
ap-3441	70	48	the	the	DET
ap-3441	70	49	future	future	NOUN
ap-3441	70	50	’	'	PUNCT
ap-3441	70	51	orientation	orientation	NOUN
ap-3441	70	52	vector	vector	NOUN
ap-3441	70	53	of	of	ADP
ap-3441	70	54	neighbor	neighbor	NOUN
ap-3441	70	55	n	n	PROPN
ap-3441	70	56	of	of	ADP
ap-3441	70	57	the	the	DET
ap-3441	70	58	influencing	influence	VERB
ap-3441	70	59	agent	agent	NOUN
ap-3441	70	60	if	if	SCONJ
ap-3441	70	61	the	the	DET
ap-3441	70	62	influencing	influence	VERB
ap-3441	70	63	agent	agent	NOUN
ap-3441	70	64	adopts	adopt	VERB
ap-3441	70	65	iaorient	iaorient	NOUN
ap-3441	70	66	on	on	ADP
ap-3441	70	67	the	the	DET
ap-3441	70	68	first	first	ADJ
ap-3441	70	69	time	time	NOUN
ap-3441	70	70	step	step	NOUN
ap-3441	70	71	and	and	CCONJ
ap-3441	70	72	iaorient2	iaorient2	VERB
ap-3441	70	73	on	on	ADP
ap-3441	70	74	the	the	DET
ap-3441	70	75	second	second	ADJ
ap-3441	70	76	time	time	NOUN
ap-3441	70	77	step	step	NOUN
ap-3441	70	78	norients2	norients2	NOUN
ap-3441	70	79	a	a	DET
ap-3441	70	80	set	set	NOUN
ap-3441	70	81	containing	contain	VERB
ap-3441	70	82	the	the	DET
ap-3441	70	83	predicted	predict	VERB
ap-3441	70	84	‘	'	PUNCT
ap-3441	70	85	2	2	NUM
ap-3441	70	86	steps	step	NOUN
ap-3441	70	87	in	in	ADP
ap-3441	70	88	the	the	DET
ap-3441	70	89	future	future	ADJ
ap-3441	70	90	’	'	PUNCT
ap-3441	70	91	orientation	orientation	NOUN
ap-3441	70	92	vectors	vector	NOUN
ap-3441	70	93	of	of	ADP
ap-3441	70	94	all	all	PRON
ap-3441	70	95	of	of	ADP
ap-3441	70	96	the	the	DET
ap-3441	70	97	neighbors	neighbor	NOUN
ap-3441	70	98	of	of	ADP
ap-3441	70	99	the	the	DET
ap-3441	70	100	influencing	influence	VERB
ap-3441	70	101	agent	agent	NOUN
ap-3441	70	102	,	,	PUNCT
ap-3441	70	103	assuming	assume	VERB
ap-3441	70	104	the	the	DET
ap-3441	70	105	influencing	influence	VERB
ap-3441	70	106	agent	agent	NOUN
ap-3441	70	107	adopts	adopt	VERB
ap-3441	70	108	iaorient	iaorient	NOUN
ap-3441	70	109	on	on	ADP
ap-3441	70	110	the	the	DET
ap-3441	70	111	first	first	ADJ
ap-3441	70	112	time	time	NOUN
ap-3441	70	113	step	step	NOUN
ap-3441	70	114	and	and	CCONJ
ap-3441	70	115	iaorient2	iaorient2	VERB
ap-3441	70	116	on	on	ADP
ap-3441	70	117	the	the	DET
ap-3441	70	118	second	second	ADJ
ap-3441	70	119	time	time	NOUN
ap-3441	70	120	step	step	NOUN
ap-3441	70	121	table	table	NOUN
ap-3441	70	122	2	2	NUM
ap-3441	70	123	.	.	PUNCT
ap-3441	71	1	variables	variable	NOUN
ap-3441	71	2	used	use	VERB
ap-3441	71	3	in	in	ADP
ap-3441	71	4	algorithm	algorithm	NOUN
ap-3441	71	5	2	2	NUM
ap-3441	71	6	that	that	PRON
ap-3441	71	7	were	be	AUX
ap-3441	71	8	not	not	PART
ap-3441	71	9	used	use	VERB
ap-3441	71	10	in	in	ADP
ap-3441	71	11	algorithm	algorithm	NOUN
ap-3441	71	12	1	1	NUM
ap-3441	71	13	.	.	PUNCT
ap-3441	71	14	least	least	ADJ
ap-3441	71	15	difference	difference	NOUN
ap-3441	71	16	between	between	ADP
ap-3441	71	17	θ∗	θ∗	NOUN
ap-3441	71	18	and	and	CCONJ
ap-3441	71	19	the	the	DET
ap-3441	71	20	neighbors	neighbor	NOUN
ap-3441	71	21	’	’	PART
ap-3441	71	22	current	current	ADJ
ap-3441	71	23	orientation	orientation	NOUN
ap-3441	71	24	vectors	vector	NOUN
ap-3441	71	25	(	(	PUNCT
ap-3441	71	26	lines	line	NOUN
ap-3441	71	27	14–18	14–18	NUM
ap-3441	71	28	)	)	PUNCT
ap-3441	71	29	.	.	PUNCT
ap-3441	72	1	if	if	SCONJ
ap-3441	72	2	there	there	PRON
ap-3441	72	3	are	be	VERB
ap-3441	72	4	numagents	numagent	NOUN
ap-3441	72	5	agents	agent	NOUN
ap-3441	72	6	in	in	ADP
ap-3441	72	7	the	the	DET
ap-3441	72	8	flock	flock	NOUN
ap-3441	72	9	,	,	PUNCT
ap-3441	72	10	the	the	DET
ap-3441	72	11	worstcase	worstcase	NOUN
ap-3441	72	12	complexity	complexity	NOUN
ap-3441	72	13	of	of	ADP
ap-3441	72	14	algorithm	algorithm	NOUN
ap-3441	72	15	1	1	NUM
ap-3441	72	16	is	be	AUX
ap-3441	72	17	calculated	calculate	VERB
ap-3441	72	18	as	as	ADP
ap-3441	72	19	follows	follow	VERB
ap-3441	72	20	.	.	PUNCT
ap-3441	73	1	line	line	NOUN
ap-3441	73	2	3	3	NUM
ap-3441	73	3	executes	execute	VERB
ap-3441	73	4	numangles	numangle	NOUN
ap-3441	73	5	times	time	NOUN
ap-3441	73	6	,	,	PUNCT
ap-3441	73	7	line	line	NOUN
ap-3441	73	8	5	5	NUM
ap-3441	73	9	executes	execute	NOUN
ap-3441	73	10	at	at	ADP
ap-3441	73	11	most	most	ADJ
ap-3441	73	12	numagents	numagent	NOUN
ap-3441	73	13	times	time	NOUN
ap-3441	73	14	,	,	PUNCT
ap-3441	73	15	and	and	CCONJ
ap-3441	73	16	line	line	NOUN
ap-3441	73	17	7	7	NUM
ap-3441	73	18	executes	execute	NOUN
ap-3441	73	19	at	at	ADP
ap-3441	73	20	most	most	ADJ
ap-3441	73	21	numagents	numagent	NOUN
ap-3441	73	22	.	.	PUNCT
ap-3441	74	1	hence	hence	ADV
ap-3441	74	2	,	,	PUNCT
ap-3441	74	3	the	the	DET
ap-3441	74	4	complexity	complexity	NOUN
ap-3441	74	5	for	for	ADP
ap-3441	74	6	algorithm	algorithm	NOUN
ap-3441	74	7	1	1	NUM
ap-3441	74	8	is	be	AUX
ap-3441	74	9	o(numangles	o(numangle	NOUN
ap-3441	74	10	∗	∗	NOUN
ap-3441	74	11	numagents2	numagents2	NOUN
ap-3441	74	12	)	)	PUNCT
ap-3441	74	13	.	.	PUNCT
ap-3441	75	1	results	result	NOUN
ap-3441	75	2	regarding	regard	VERB
ap-3441	75	3	how	how	SCONJ
ap-3441	75	4	algorithm	algorithm	NOUN
ap-3441	75	5	1	1	NUM
ap-3441	75	6	performs	perform	VERB
ap-3441	75	7	in	in	ADP
ap-3441	75	8	terms	term	NOUN
ap-3441	75	9	of	of	ADP
ap-3441	75	10	the	the	DET
ap-3441	75	11	number	number	NOUN
ap-3441	75	12	of	of	ADP
ap-3441	75	13	time	time	NOUN
ap-3441	75	14	steps	step	NOUN
ap-3441	75	15	needed	need	VERB
ap-3441	75	16	for	for	SCONJ
ap-3441	75	17	the	the	DET
ap-3441	75	18	flock	flock	NOUN
ap-3441	75	19	to	to	PART
ap-3441	75	20	converge	converge	VERB
ap-3441	75	21	to	to	ADP
ap-3441	75	22	θ∗	θ∗	NOUN
ap-3441	75	23	can	can	AUX
ap-3441	75	24	be	be	AUX
ap-3441	75	25	found	find	VERB
ap-3441	75	26	in	in	ADP
ap-3441	75	27	section	section	NOUN
ap-3441	75	28	6	6	NUM
ap-3441	75	29	.	.	NOUN
ap-3441	75	30	4	4	NUM
ap-3441	75	31	.	.	NOUN
ap-3441	75	32	2	2	NUM
ap-3441	75	33	-	-	PUNCT
ap-3441	75	34	step	step	NOUN
ap-3441	75	35	lookahead	lookahead	NOUN
ap-3441	75	36	behavior	behavior	NOUN
ap-3441	75	37	whereas	whereas	SCONJ
ap-3441	75	38	the	the	DET
ap-3441	75	39	1	1	NUM
ap-3441	75	40	-	-	PUNCT
ap-3441	75	41	step	step	NOUN
ap-3441	75	42	lookahead	lookahead	NOUN
ap-3441	75	43	behavior	behavior	NOUN
ap-3441	75	44	presented	present	VERB
ap-3441	75	45	in	in	ADP
ap-3441	75	46	the	the	DET
ap-3441	75	47	previous	previous	ADJ
ap-3441	75	48	section	section	NOUN
ap-3441	75	49	optimizes	optimize	VERB
ap-3441	75	50	each	each	DET
ap-3441	75	51	influencing	influence	VERB
ap-3441	75	52	agent	agent	NOUN
ap-3441	75	53	’s	’s	PART
ap-3441	75	54	orientation	orientation	NOUN
ap-3441	75	55	to	to	PART
ap-3441	75	56	best	well	ADV
ap-3441	75	57	influence	influence	VERB
ap-3441	75	58	its	its	PRON
ap-3441	75	59	neighbors	neighbor	NOUN
ap-3441	75	60	on	on	ADP
ap-3441	75	61	the	the	DET
ap-3441	75	62	next	next	ADJ
ap-3441	75	63	step	step	NOUN
ap-3441	75	64	,	,	PUNCT
ap-3441	75	65	it	it	PRON
ap-3441	75	66	fails	fail	VERB
ap-3441	75	67	to	to	PART
ap-3441	75	68	consider	consider	VERB
ap-3441	75	69	more	more	ADJ
ap-3441	75	70	long	long	ADJ
ap-3441	75	71	-	-	PUNCT
ap-3441	75	72	term	term	NOUN
ap-3441	75	73	effects	effect	NOUN
ap-3441	75	74	.	.	PUNCT
ap-3441	76	1	hence	hence	ADV
ap-3441	76	2	,	,	PUNCT
ap-3441	76	3	in	in	ADP
ap-3441	76	4	this	this	DET
ap-3441	76	5	section	section	NOUN
ap-3441	76	6	we	we	PRON
ap-3441	76	7	present	present	VERB
ap-3441	76	8	a	a	DET
ap-3441	76	9	2	2	NUM
ap-3441	76	10	-	-	PUNCT
ap-3441	76	11	step	step	NOUN
ap-3441	76	12	lookahead	lookahead	NOUN
ap-3441	76	13	behavior	behavior	NOUN
ap-3441	76	14	in	in	ADP
ap-3441	76	15	algorithm	algorithm	NOUN
ap-3441	76	16	2	2	NUM
ap-3441	76	17	.	.	PUNCT
ap-3441	77	1	this	this	DET
ap-3441	77	2	2	2	NUM
ap-3441	77	3	-	-	PUNCT
ap-3441	77	4	step	step	NOUN
ap-3441	77	5	lookahead	lookahead	NOUN
ap-3441	77	6	behavior	behavior	NOUN
ap-3441	77	7	considers	consider	VERB
ap-3441	77	8	influences	influence	NOUN
ap-3441	77	9	on	on	ADP
ap-3441	77	10	the	the	DET
ap-3441	77	11	neighbors	neighbor	NOUN
ap-3441	77	12	of	of	ADP
ap-3441	77	13	the	the	DET
ap-3441	77	14	neighbors	neighbor	NOUN
ap-3441	77	15	of	of	ADP
ap-3441	77	16	the	the	DET
ap-3441	77	17	influencing	influence	VERB
ap-3441	77	18	agent	agent	NOUN
ap-3441	77	19	,	,	PUNCT
ap-3441	77	20	such	such	ADJ
ap-3441	77	21	that	that	SCONJ
ap-3441	77	22	the	the	DET
ap-3441	77	23	influencing	influence	VERB
ap-3441	77	24	agent	agent	NOUN
ap-3441	77	25	can	can	AUX
ap-3441	77	26	make	make	VERB
ap-3441	77	27	a	a	DET
ap-3441	77	28	more	more	ADV
ap-3441	77	29	informed	informed	ADJ
ap-3441	77	30	decision	decision	NOUN
ap-3441	77	31	when	when	SCONJ
ap-3441	77	32	determining	determine	VERB
ap-3441	77	33	the	the	DET
ap-3441	77	34	best	good	ADJ
ap-3441	77	35	orientation	orientation	NOUN
ap-3441	77	36	to	to	PART
ap-3441	77	37	adopt	adopt	VERB
ap-3441	77	38	.	.	PUNCT
ap-3441	78	1	the	the	DET
ap-3441	78	2	variables	variable	NOUN
ap-3441	78	3	used	use	VERB
ap-3441	78	4	in	in	ADP
ap-3441	78	5	algorithm	algorithm	NOUN
ap-3441	78	6	2	2	NUM
ap-3441	78	7	that	that	PRON
ap-3441	78	8	were	be	AUX
ap-3441	78	9	not	not	PART
ap-3441	78	10	used	use	VERB
ap-3441	78	11	in	in	ADP
ap-3441	78	12	algorithm	algorithm	NOUN
ap-3441	78	13	1	1	NUM
ap-3441	78	14	are	be	AUX
ap-3441	78	15	defined	define	VERB
ap-3441	78	16	in	in	ADP
ap-3441	78	17	table	table	NOUN
ap-3441	78	18	2	2	NUM
ap-3441	78	19	.	.	PUNCT
ap-3441	79	1	like	like	ADP
ap-3441	79	2	algorithm	algorithm	NOUN
ap-3441	79	3	1	1	NUM
ap-3441	79	4	,	,	PUNCT
ap-3441	79	5	algorithm	algorithm	NOUN
ap-3441	79	6	2	2	NUM
ap-3441	79	7	is	be	AUX
ap-3441	79	8	called	call	VERB
ap-3441	79	9	on	on	ADP
ap-3441	79	10	each	each	DET
ap-3441	79	11	influencing	influence	VERB
ap-3441	79	12	agent	agent	NOUN
ap-3441	79	13	at	at	ADP
ap-3441	79	14	each	each	DET
ap-3441	79	15	time	time	NOUN
ap-3441	79	16	step	step	NOUN
ap-3441	79	17	,	,	PUNCT
ap-3441	79	18	takes	take	VERB
ap-3441	79	19	in	in	ADP
ap-3441	79	20	the	the	DET
ap-3441	79	21	neighbors	neighbor	NOUN
ap-3441	79	22	of	of	ADP
ap-3441	79	23	the	the	DET
ap-3441	79	24	influencing	influence	VERB
ap-3441	79	25	agent	agent	NOUN
ap-3441	79	26	at	at	ADP
ap-3441	79	27	each	each	DET
ap-3441	79	28	time	time	NOUN
ap-3441	79	29	step	step	NOUN
ap-3441	79	30	,	,	PUNCT
ap-3441	79	31	and	and	CCONJ
ap-3441	79	32	returns	return	VERB
ap-3441	79	33	the	the	DET
ap-3441	79	34	orientation	orientation	NOUN
ap-3441	79	35	that	that	PRON
ap-3441	79	36	,	,	PUNCT
ap-3441	79	37	if	if	SCONJ
ap-3441	79	38	adopted	adopt	VERB
ap-3441	79	39	by	by	ADP
ap-3441	79	40	this	this	DET
ap-3441	79	41	influencing	influence	VERB
ap-3441	79	42	agent	agent	NOUN
ap-3441	79	43	,	,	PUNCT
ap-3441	79	44	will	will	AUX
ap-3441	79	45	influence	influence	VERB
ap-3441	79	46	the	the	DET
ap-3441	79	47	flock	flock	NOUN
ap-3441	79	48	to	to	PART
ap-3441	79	49	face	face	VERB
ap-3441	79	50	closer	close	ADV
ap-3441	79	51	to	to	AUX
ap-3441	79	52	θ∗	θ∗	VERB
ap-3441	79	53	than	than	ADP
ap-3441	79	54	any	any	PRON
ap-3441	79	55	of	of	ADP
ap-3441	79	56	the	the	DET
ap-3441	79	57	other	other	ADJ
ap-3441	79	58	numangles	numangle	NOUN
ap-3441	79	59	influencing	influence	VERB
ap-3441	79	60	orientations	orientation	NOUN
ap-3441	79	61	considered	consider	VERB
ap-3441	79	62	.	.	PUNCT
ap-3441	80	1	conceptually	conceptually	ADV
ap-3441	80	2	,	,	PUNCT
ap-3441	80	3	algorithm	algorithm	NOUN
ap-3441	80	4	2	2	NUM
ap-3441	80	5	is	be	AUX
ap-3441	80	6	concerned	concern	VERB
ap-3441	80	7	with	with	ADP
ap-3441	80	8	(	(	PUNCT
ap-3441	80	9	1	1	X
ap-3441	80	10	)	)	PUNCT
ap-3441	80	11	how	how	SCONJ
ap-3441	80	12	the	the	DET
ap-3441	80	13	neighbors	neighbor	NOUN
ap-3441	80	14	of	of	ADP
ap-3441	80	15	each	each	DET
ap-3441	80	16	neighbor	neighbor	NOUN
ap-3441	80	17	of	of	ADP
ap-3441	80	18	the	the	DET
ap-3441	80	19	influencing	influence	VERB
ap-3441	80	20	agent	agent	NOUN
ap-3441	80	21	are	be	AUX
ap-3441	80	22	influenced	influence	VERB
ap-3441	80	23	if	if	SCONJ
ap-3441	80	24	the	the	DET
ap-3441	80	25	influencing	influence	VERB
ap-3441	80	26	agent	agent	NOUN
ap-3441	80	27	adopts	adopt	VERB
ap-3441	80	28	a	a	DET
ap-3441	80	29	particular	particular	ADJ
ap-3441	80	30	orientation	orientation	NOUN
ap-3441	80	31	at	at	ADP
ap-3441	80	32	this	this	DET
ap-3441	80	33	time	time	NOUN
ap-3441	80	34	step	step	NOUN
ap-3441	80	35	(	(	PUNCT
ap-3441	80	36	lines	line	NOUN
ap-3441	80	37	5–13	5–13	VERB
ap-3441	80	38	in	in	ADP
ap-3441	80	39	algorithm	algorithm	NOUN
ap-3441	80	40	2	2	NUM
ap-3441	80	41	)	)	PUNCT
ap-3441	80	42	and	and	CCONJ
ap-3441	80	43	(	(	PUNCT
ap-3441	80	44	2	2	X
ap-3441	80	45	)	)	PUNCT
ap-3441	80	46	how	how	SCONJ
ap-3441	80	47	the	the	DET
ap-3441	80	48	neighbors	neighbor	NOUN
ap-3441	80	49	of	of	ADP
ap-3441	80	50	the	the	DET
ap-3441	80	51	20	20	NUM
ap-3441	80	52	vol	vol	NOUN
ap-3441	80	53	.	.	PUNCT
ap-3441	81	1	56	56	NUM
ap-3441	81	2	no	no	NOUN
ap-3441	81	3	.	.	PUNCT
ap-3441	82	1	1/2016	1/2016	NUM
ap-3441	82	2	ad	ad	NOUN
ap-3441	82	3	hoc	hoc	X
ap-3441	82	4	teamwork	teamwork	NOUN
ap-3441	82	5	behaviors	behavior	NOUN
ap-3441	82	6	for	for	ADP
ap-3441	82	7	influencing	influence	VERB
ap-3441	82	8	a	a	DET
ap-3441	82	9	flock	flock	NOUN
ap-3441	82	10	algorithm	algorithm	NOUN
ap-3441	82	11	2	2	NUM
ap-3441	82	12	bestorient	bestorient	NOUN
ap-3441	82	13	=	=	NOUN
ap-3441	82	14	2steplookahead(neighofia	2steplookahead(neighofia	NUM
ap-3441	82	15	)	)	PUNCT
ap-3441	82	16	1	1	NUM
ap-3441	82	17	:	:	PUNCT
ap-3441	82	18	bestorient←	bestorient←	PROPN
ap-3441	82	19	(	(	PUNCT
ap-3441	82	20	0	0	NUM
ap-3441	82	21	,	,	PUNCT
ap-3441	82	22	0	0	NUM
ap-3441	82	23	)	)	PUNCT
ap-3441	82	24	2	2	NUM
ap-3441	82	25	:	:	PUNCT
ap-3441	82	26	bestdiff←∞	bestdiff←∞	NOUN
ap-3441	82	27	3	3	NUM
ap-3441	82	28	:	:	PUNCT
ap-3441	82	29	for	for	SCONJ
ap-3441	82	30	each	each	DET
ap-3441	82	31	influencing	influence	VERB
ap-3441	82	32	agent	agent	NOUN
ap-3441	82	33	orientation	orientation	NOUN
ap-3441	82	34	iaorient	iaorient	NOUN
ap-3441	82	35	do	do	VERB
ap-3441	82	36	4	4	NUM
ap-3441	82	37	:	:	PUNCT
ap-3441	83	1	norients←	norients←	NOUN
ap-3441	83	2	∅	∅	NOUN
ap-3441	83	3	5	5	NUM
ap-3441	83	4	:	:	PUNCT
ap-3441	83	5	for	for	ADP
ap-3441	83	6	n	n	DET
ap-3441	83	7	∈	∈	PROPN
ap-3441	83	8	neighofia	neighofia	NOUN
ap-3441	83	9	do	do	VERB
ap-3441	83	10	6	6	NUM
ap-3441	83	11	:	:	PUNCT
ap-3441	83	12	norient←	norient←	PROPN
ap-3441	83	13	(	(	PUNCT
ap-3441	83	14	0	0	NUM
ap-3441	83	15	,	,	PUNCT
ap-3441	83	16	0	0	NUM
ap-3441	83	17	)	)	PUNCT
ap-3441	83	18	7	7	NUM
ap-3441	83	19	:	:	PUNCT
ap-3441	83	20	for	for	ADP
ap-3441	83	21	n	n	CCONJ
ap-3441	83	22	’	'	PUNCT
ap-3441	83	23	∈	∈	NOUN
ap-3441	83	24	n.neighbors	n.neighbor	NOUN
ap-3441	83	25	do	do	VERB
ap-3441	83	26	8	8	NUM
ap-3441	83	27	:	:	PUNCT
ap-3441	83	28	if	if	SCONJ
ap-3441	83	29	n	n	CCONJ
ap-3441	83	30	’	'	PUNCT
ap-3441	83	31	is	be	AUX
ap-3441	83	32	an	an	DET
ap-3441	83	33	influencing	influence	VERB
ap-3441	83	34	agent	agent	NOUN
ap-3441	83	35	then	then	ADV
ap-3441	83	36	9	9	NUM
ap-3441	83	37	:	:	PUNCT
ap-3441	83	38	norient←	norient←	NOUN
ap-3441	83	39	norient	norient	NOUN
ap-3441	83	40	+	+	CCONJ
ap-3441	83	41	iaorient	iaorient	PROPN
ap-3441	83	42	10	10	NUM
ap-3441	83	43	:	:	PUNCT
ap-3441	83	44	else	else	ADV
ap-3441	83	45	11	11	NUM
ap-3441	83	46	:	:	PUNCT
ap-3441	84	1	norient←	norient←	VERB
ap-3441	84	2	norient	norient	NOUN
ap-3441	84	3	+	+	CCONJ
ap-3441	84	4	n’.vel	n’.vel	ADJ
ap-3441	84	5	12	12	NUM
ap-3441	84	6	:	:	PUNCT
ap-3441	84	7	norient←	norient←	PROPN
ap-3441	84	8	norient	norient	NOUN
ap-3441	84	9	|n.neighbors|	|n.neighbors|	PROPN
ap-3441	84	10	13	13	NUM
ap-3441	84	11	:	:	PUNCT
ap-3441	85	1	norients←	norients←	NOUN
ap-3441	85	2	{	{	PUNCT
ap-3441	85	3	norient	norient	NOUN
ap-3441	85	4	}	}	PUNCT
ap-3441	85	5	∪	∪	VERB
ap-3441	85	6	norients	norient	NOUN
ap-3441	85	7	14	14	NUM
ap-3441	85	8	:	:	PUNCT
ap-3441	85	9	for	for	SCONJ
ap-3441	85	10	each	each	DET
ap-3441	85	11	influencing	influence	VERB
ap-3441	85	12	agent	agent	NOUN
ap-3441	85	13	orientation	orientation	NOUN
ap-3441	85	14	iaorient2	iaorient2	VERB
ap-3441	85	15	do	do	VERB
ap-3441	85	16	15	15	NUM
ap-3441	85	17	:	:	PUNCT
ap-3441	85	18	norients2←	norients2←	NOUN
ap-3441	85	19	∅	∅	NOUN
ap-3441	85	20	16	16	NUM
ap-3441	85	21	:	:	PUNCT
ap-3441	85	22	for	for	ADP
ap-3441	85	23	n	n	DET
ap-3441	85	24	∈	∈	PROPN
ap-3441	85	25	neighofia	neighofia	NOUN
ap-3441	85	26	do	do	AUX
ap-3441	85	27	17	17	NUM
ap-3441	85	28	:	:	PUNCT
ap-3441	85	29	norient2←	norient2←	PROPN
ap-3441	85	30	(	(	PUNCT
ap-3441	85	31	0	0	NUM
ap-3441	85	32	,	,	PUNCT
ap-3441	85	33	0	0	NUM
ap-3441	85	34	)	)	PUNCT
ap-3441	85	35	18	18	NUM
ap-3441	85	36	:	:	PUNCT
ap-3441	85	37	for	for	ADP
ap-3441	85	38	n	n	CCONJ
ap-3441	85	39	’	'	PUNCT
ap-3441	85	40	∈	∈	NOUN
ap-3441	85	41	n.neighbors	n.neighbor	NOUN
ap-3441	85	42	do	do	VERB
ap-3441	85	43	19	19	NUM
ap-3441	85	44	:	:	PUNCT
ap-3441	85	45	n’orient←	n’orient←	NOUN
ap-3441	85	46	(	(	PUNCT
ap-3441	85	47	0	0	NUM
ap-3441	85	48	,	,	PUNCT
ap-3441	85	49	0	0	NUM
ap-3441	85	50	)	)	PUNCT
ap-3441	85	51	20	20	NUM
ap-3441	85	52	:	:	PUNCT
ap-3441	85	53	for	for	ADP
ap-3441	85	54	n	n	CCONJ
ap-3441	85	55	”	"	PUNCT
ap-3441	85	56	∈	∈	PROPN
ap-3441	85	57	n’.neighbors	n’.neighbor	NOUN
ap-3441	85	58	do	do	VERB
ap-3441	85	59	21	21	NUM
ap-3441	85	60	:	:	PUNCT
ap-3441	85	61	if	if	SCONJ
ap-3441	85	62	n	n	CCONJ
ap-3441	85	63	”	"	PUNCT
ap-3441	85	64	is	be	AUX
ap-3441	85	65	an	an	DET
ap-3441	85	66	influencing	influence	VERB
ap-3441	85	67	agent	agent	NOUN
ap-3441	85	68	then	then	ADV
ap-3441	85	69	22	22	NUM
ap-3441	85	70	:	:	PUNCT
ap-3441	85	71	n’orient←	n’orient←	X
ap-3441	85	72	n’orient	n’orient	VERB
ap-3441	85	73	+	+	CCONJ
ap-3441	85	74	iaorient	iaorient	PROPN
ap-3441	85	75	23	23	NUM
ap-3441	85	76	:	:	PUNCT
ap-3441	85	77	else	else	ADV
ap-3441	85	78	24	24	NUM
ap-3441	85	79	:	:	PUNCT
ap-3441	85	80	n’orient←	n’orient←	NOUN
ap-3441	85	81	n’orient	n’orient	VERB
ap-3441	85	82	+	+	CCONJ
ap-3441	85	83	n”.vel	n”.vel	PROPN
ap-3441	85	84	25	25	NUM
ap-3441	85	85	:	:	PUNCT
ap-3441	85	86	n’orient←	n’orient←	X
ap-3441	85	87	n’orient	n’orient	VERB
ap-3441	85	88	|n’.neighbors|	|n’.neighbors|	NOUN
ap-3441	85	89	26	26	NUM
ap-3441	85	90	:	:	PUNCT
ap-3441	85	91	if	if	SCONJ
ap-3441	85	92	n	n	CCONJ
ap-3441	85	93	’	'	PUNCT
ap-3441	85	94	is	be	AUX
ap-3441	85	95	an	an	DET
ap-3441	85	96	influencing	influence	VERB
ap-3441	85	97	agent	agent	NOUN
ap-3441	85	98	then	then	ADV
ap-3441	85	99	27	27	NUM
ap-3441	85	100	:	:	PUNCT
ap-3441	86	1	norient2←	norient2←	PRON
ap-3441	86	2	norient2	norient2	VERB
ap-3441	86	3	+	+	CCONJ
ap-3441	86	4	iaorient2	iaorient2	VERB
ap-3441	86	5	28	28	NUM
ap-3441	86	6	:	:	PUNCT
ap-3441	86	7	else	else	ADV
ap-3441	86	8	29	29	NUM
ap-3441	86	9	:	:	PUNCT
ap-3441	86	10	norient2←	norient2←	PRON
ap-3441	86	11	norient2	norient2	VERB
ap-3441	86	12	+	+	CCONJ
ap-3441	86	13	n’orient	n’orient	NOUN
ap-3441	86	14	30	30	NUM
ap-3441	86	15	:	:	PUNCT
ap-3441	86	16	norient2←	norient2←	PRON
ap-3441	86	17	norient2	norient2	VERB
ap-3441	86	18	|n.neighbors|	|n.neighbors|	PROPN
ap-3441	86	19	31	31	NUM
ap-3441	86	20	:	:	PUNCT
ap-3441	86	21	norients2←	norients2←	NOUN
ap-3441	86	22	{	{	PUNCT
ap-3441	86	23	norient2	norient2	NOUN
ap-3441	86	24	}	}	PUNCT
ap-3441	86	25	∪	∪	ADP
ap-3441	86	26	norients2	norients2	NOUN
ap-3441	86	27	32	32	NUM
ap-3441	86	28	:	:	PUNCT
ap-3441	87	1	diff←	diff←	VERB
ap-3441	87	2	the	the	DET
ap-3441	87	3	avg	avg	PROPN
ap-3441	87	4	diff	diff	NOUN
ap-3441	87	5	between	between	ADP
ap-3441	87	6	vects	vect	NOUN
ap-3441	87	7	norients	norient	NOUN
ap-3441	87	8	and	and	CCONJ
ap-3441	87	9	θ∗	θ∗	NOUN
ap-3441	87	10	and	and	CCONJ
ap-3441	87	11	between	between	ADP
ap-3441	87	12	vects	vect	NOUN
ap-3441	87	13	norients2	norients2	ADV
ap-3441	87	14	and	and	CCONJ
ap-3441	87	15	θ∗	θ∗	VERB
ap-3441	87	16	33	33	NUM
ap-3441	87	17	:	:	PUNCT
ap-3441	87	18	if	if	SCONJ
ap-3441	87	19	diff	diff	PROPN
ap-3441	87	20	<	<	X
ap-3441	87	21	bestdiff	bestdiff	NOUN
ap-3441	87	22	then	then	ADV
ap-3441	87	23	34	34	NUM
ap-3441	87	24	:	:	PUNCT
ap-3441	87	25	bestdiff←	bestdiff←	NOUN
ap-3441	87	26	diff	diff	NOUN
ap-3441	87	27	35	35	NUM
ap-3441	87	28	:	:	PUNCT
ap-3441	87	29	bestorient←	bestorient←	PROPN
ap-3441	87	30	iaorient	iaorient	VERB
ap-3441	87	31	36	36	NUM
ap-3441	87	32	:	:	PUNCT
ap-3441	87	33	return	return	VERB
ap-3441	87	34	bestorient	bestorient	ADJ
ap-3441	87	35	neighbors	neighbor	NOUN
ap-3441	87	36	of	of	ADP
ap-3441	87	37	each	each	DET
ap-3441	87	38	neighbor	neighbor	NOUN
ap-3441	87	39	of	of	ADP
ap-3441	87	40	the	the	DET
ap-3441	87	41	influencing	influence	VERB
ap-3441	87	42	agent	agent	NOUN
ap-3441	87	43	are	be	AUX
ap-3441	87	44	influenced	influence	VERB
ap-3441	87	45	if	if	SCONJ
ap-3441	87	46	the	the	DET
ap-3441	87	47	influencing	influence	VERB
ap-3441	87	48	agent	agent	NOUN
ap-3441	87	49	adopts	adopt	VERB
ap-3441	87	50	a	a	DET
ap-3441	87	51	particular	particular	ADJ
ap-3441	87	52	orientation	orientation	NOUN
ap-3441	87	53	at	at	ADP
ap-3441	87	54	this	this	DET
ap-3441	87	55	time	time	NOUN
ap-3441	87	56	step	step	NOUN
ap-3441	87	57	(	(	PUNCT
ap-3441	87	58	lines	line	NOUN
ap-3441	87	59	19–25	19–25	NUM
ap-3441	87	60	in	in	ADP
ap-3441	87	61	algorithm	algorithm	NOUN
ap-3441	87	62	2	2	NUM
ap-3441	87	63	)	)	PUNCT
ap-3441	87	64	,	,	PUNCT
ap-3441	87	65	since	since	SCONJ
ap-3441	87	66	they	they	PRON
ap-3441	87	67	will	will	AUX
ap-3441	87	68	influence	influence	VERB
ap-3441	87	69	the	the	DET
ap-3441	87	70	neighbors	neighbor	NOUN
ap-3441	87	71	of	of	ADP
ap-3441	87	72	each	each	DET
ap-3441	87	73	neighbor	neighbor	NOUN
ap-3441	87	74	of	of	ADP
ap-3441	87	75	the	the	DET
ap-3441	87	76	influencing	influence	VERB
ap-3441	87	77	agent	agent	NOUN
ap-3441	87	78	on	on	ADP
ap-3441	87	79	the	the	DET
ap-3441	87	80	next	next	ADJ
ap-3441	87	81	time	time	NOUN
ap-3441	87	82	step	step	NOUN
ap-3441	87	83	(	(	PUNCT
ap-3441	87	84	lines	line	NOUN
ap-3441	87	85	16–31	16–31	NUM
ap-3441	87	86	in	in	ADP
ap-3441	87	87	algorithm	algorithm	NOUN
ap-3441	87	88	2	2	NUM
ap-3441	87	89	)	)	PUNCT
ap-3441	87	90	.	.	PUNCT
ap-3441	88	1	algorithm	algorithm	NOUN
ap-3441	88	2	2	2	NUM
ap-3441	88	3	starts	start	VERB
ap-3441	88	4	by	by	ADP
ap-3441	88	5	considering	consider	VERB
ap-3441	88	6	each	each	PRON
ap-3441	88	7	of	of	ADP
ap-3441	88	8	the	the	DET
ap-3441	88	9	numangles	numangle	NOUN
ap-3441	88	10	discrete	discrete	ADJ
ap-3441	88	11	influencing	influence	VERB
ap-3441	88	12	agent	agent	NOUN
ap-3441	88	13	orientation	orientation	NOUN
ap-3441	88	14	vectors	vector	NOUN
ap-3441	88	15	,	,	PUNCT
ap-3441	88	16	and	and	CCONJ
ap-3441	88	17	by	by	ADP
ap-3441	88	18	considering	consider	VERB
ap-3441	88	19	how	how	SCONJ
ap-3441	88	20	each	each	PRON
ap-3441	88	21	of	of	ADP
ap-3441	88	22	the	the	DET
ap-3441	88	23	neighbors	neighbor	NOUN
ap-3441	88	24	of	of	ADP
ap-3441	88	25	the	the	DET
ap-3441	88	26	influencing	influence	VERB
ap-3441	88	27	agent	agent	NOUN
ap-3441	88	28	will	will	AUX
ap-3441	88	29	be	be	AUX
ap-3441	88	30	influenced	influence	VERB
ap-3441	88	31	if	if	SCONJ
ap-3441	88	32	the	the	DET
ap-3441	88	33	influencing	influence	VERB
ap-3441	88	34	agent	agent	NOUN
ap-3441	88	35	adopts	adopt	VERB
ap-3441	88	36	that	that	SCONJ
ap-3441	88	37	particular	particular	ADJ
ap-3441	88	38	orientation	orientation	NOUN
ap-3441	88	39	vector	vector	NOUN
ap-3441	88	40	.	.	PUNCT
ap-3441	89	1	for	for	ADP
ap-3441	89	2	each	each	DET
ap-3441	89	3	neighbor	neighbor	NOUN
ap-3441	89	4	of	of	ADP
ap-3441	89	5	the	the	DET
ap-3441	89	6	influencing	influence	VERB
ap-3441	89	7	agent	agent	NOUN
ap-3441	89	8	,	,	PUNCT
ap-3441	89	9	this	this	PRON
ap-3441	89	10	requires	require	VERB
ap-3441	89	11	considering	consider	VERB
ap-3441	89	12	all	all	PRON
ap-3441	89	13	of	of	ADP
ap-3441	89	14	its	its	PRON
ap-3441	89	15	neighbors	neighbor	NOUN
ap-3441	89	16	and	and	CCONJ
ap-3441	89	17	calculating	calculate	VERB
ap-3441	89	18	how	how	SCONJ
ap-3441	89	19	each	each	DET
ap-3441	89	20	neighbor	neighbor	NOUN
ap-3441	89	21	of	of	ADP
ap-3441	89	22	the	the	DET
ap-3441	89	23	influencing	influence	VERB
ap-3441	89	24	agent	agent	NOUN
ap-3441	89	25	will	will	AUX
ap-3441	89	26	be	be	AUX
ap-3441	89	27	influenced	influence	VERB
ap-3441	89	28	on	on	ADP
ap-3441	89	29	the	the	DET
ap-3441	89	30	first	first	ADJ
ap-3441	89	31	time	time	NOUN
ap-3441	89	32	step	step	NOUN
ap-3441	89	33	(	(	PUNCT
ap-3441	89	34	lines	line	NOUN
ap-3441	89	35	5–13	5–13	PROPN
ap-3441	89	36	)	)	PUNCT
ap-3441	89	37	.	.	PUNCT
ap-3441	90	1	next	next	ADV
ap-3441	90	2	,	,	PUNCT
ap-3441	90	3	algorithm	algorithm	NOUN
ap-3441	90	4	2	2	NUM
ap-3441	90	5	considers	consider	VERB
ap-3441	90	6	the	the	DET
ap-3441	90	7	effect	effect	NOUN
ap-3441	90	8	of	of	ADP
ap-3441	90	9	the	the	DET
ap-3441	90	10	influencing	influence	VERB
ap-3441	90	11	agent	agent	NOUN
ap-3441	90	12	adopting	adopt	VERB
ap-3441	90	13	each	each	PRON
ap-3441	90	14	of	of	ADP
ap-3441	90	15	the	the	DET
ap-3441	90	16	numangles	numangle	NOUN
ap-3441	90	17	influencing	influence	VERB
ap-3441	90	18	agent	agent	NOUN
ap-3441	90	19	orientation	orientation	NOUN
ap-3441	90	20	vectors	vector	NOUN
ap-3441	90	21	on	on	ADP
ap-3441	90	22	a	a	DET
ap-3441	90	23	second	second	ADJ
ap-3441	90	24	time	time	NOUN
ap-3441	90	25	step	step	NOUN
ap-3441	90	26	(	(	PUNCT
ap-3441	90	27	lines	line	NOUN
ap-3441	90	28	14–31	14–31	NUM
ap-3441	90	29	)	)	PUNCT
ap-3441	90	30	.	.	PUNCT
ap-3441	91	1	as	as	ADP
ap-3441	91	2	before	before	ADV
ap-3441	91	3	,	,	PUNCT
ap-3441	91	4	this	this	PRON
ap-3441	91	5	requires	require	VERB
ap-3441	91	6	considering	consider	VERB
ap-3441	91	7	all	all	PRON
ap-3441	91	8	of	of	ADP
ap-3441	91	9	the	the	DET
ap-3441	91	10	neighbors	neighbor	NOUN
ap-3441	91	11	of	of	ADP
ap-3441	91	12	each	each	DET
ap-3441	91	13	neighbor	neighbor	NOUN
ap-3441	91	14	of	of	ADP
ap-3441	91	15	the	the	DET
ap-3441	91	16	influencing	influence	VERB
ap-3441	91	17	agent	agent	NOUN
ap-3441	91	18	,	,	PUNCT
ap-3441	91	19	and	and	CCONJ
ap-3441	91	20	calculating	calculate	VERB
ap-3441	91	21	how	how	SCONJ
ap-3441	91	22	each	each	DET
ap-3441	91	23	neighbor	neighbor	NOUN
ap-3441	91	24	of	of	ADP
ap-3441	91	25	the	the	DET
ap-3441	91	26	influencing	influence	VERB
ap-3441	91	27	agent	agent	NOUN
ap-3441	91	28	will	will	AUX
ap-3441	91	29	be	be	AUX
ap-3441	91	30	influenced	influence	VERB
ap-3441	91	31	(	(	PUNCT
ap-3441	91	32	lines	line	NOUN
ap-3441	91	33	18–31	18–31	NUM
ap-3441	91	34	)	)	PUNCT
ap-3441	91	35	.	.	PUNCT
ap-3441	92	1	however	however	ADV
ap-3441	92	2	,	,	PUNCT
ap-3441	92	3	in	in	ADP
ap-3441	92	4	order	order	NOUN
ap-3441	92	5	to	to	PART
ap-3441	92	6	do	do	AUX
ap-3441	92	7	this	this	PRON
ap-3441	92	8	the	the	DET
ap-3441	92	9	algorithm	algorithm	NOUN
ap-3441	92	10	must	must	AUX
ap-3441	92	11	first	first	ADV
ap-3441	92	12	consider	consider	VERB
ap-3441	92	13	how	how	SCONJ
ap-3441	92	14	the	the	DET
ap-3441	92	15	neighbors	neighbor	NOUN
ap-3441	92	16	of	of	ADP
ap-3441	92	17	the	the	DET
ap-3441	92	18	neighbors	neighbor	NOUN
ap-3441	92	19	of	of	ADP
ap-3441	92	20	the	the	DET
ap-3441	92	21	influencing	influence	VERB
ap-3441	92	22	agent	agent	NOUN
ap-3441	92	23	were	be	AUX
ap-3441	92	24	influenced	influence	VERB
ap-3441	92	25	by	by	ADP
ap-3441	92	26	their	their	PRON
ap-3441	92	27	neighbors	neighbor	NOUN
ap-3441	92	28	on	on	ADP
ap-3441	92	29	the	the	DET
ap-3441	92	30	first	first	ADJ
ap-3441	92	31	time	time	NOUN
ap-3441	92	32	step	step	NOUN
ap-3441	92	33	(	(	PUNCT
ap-3441	92	34	lines	line	NOUN
ap-3441	92	35	20–25	20–25	NUM
ap-3441	92	36	)	)	PUNCT
ap-3441	92	37	.	.	PUNCT
ap-3441	93	1	finally	finally	ADV
ap-3441	93	2	,	,	PUNCT
ap-3441	93	3	algorithm	algorithm	NOUN
ap-3441	93	4	2	2	NUM
ap-3441	93	5	selects	select	NOUN
ap-3441	93	6	the	the	DET
ap-3441	93	7	first	first	ADJ
ap-3441	93	8	step	step	NOUN
ap-3441	93	9	influencing	influence	VERB
ap-3441	93	10	agent	agent	NOUN
ap-3441	93	11	orientation	orientation	NOUN
ap-3441	93	12	vector	vector	NOUN
ap-3441	93	13	that	that	PRON
ap-3441	93	14	results	result	VERB
ap-3441	93	15	in	in	ADP
ap-3441	93	16	the	the	DET
ap-3441	93	17	least	least	ADJ
ap-3441	93	18	difference	difference	NOUN
ap-3441	93	19	between	between	ADP
ap-3441	93	20	θ∗	θ∗	NOUN
ap-3441	93	21	and	and	CCONJ
ap-3441	93	22	the	the	DET
ap-3441	93	23	neighbors	neighbor	NOUN
ap-3441	93	24	’	’	PART
ap-3441	93	25	orientation	orientation	NOUN
ap-3441	93	26	vectors	vector	NOUN
ap-3441	93	27	after	after	ADP
ap-3441	93	28	both	both	CCONJ
ap-3441	93	29	the	the	DET
ap-3441	93	30	first	first	ADJ
ap-3441	93	31	and	and	CCONJ
ap-3441	93	32	second	second	ADJ
ap-3441	93	33	time	time	NOUN
ap-3441	93	34	steps	step	NOUN
ap-3441	93	35	(	(	PUNCT
ap-3441	93	36	lines	line	NOUN
ap-3441	93	37	32–36	32–36	NUM
ap-3441	93	38	)	)	PUNCT
ap-3441	93	39	.	.	PUNCT
ap-3441	94	1	in	in	ADP
ap-3441	94	2	algorithm	algorithm	NOUN
ap-3441	94	3	2	2	NUM
ap-3441	94	4	we	we	PRON
ap-3441	94	5	make	make	VERB
ap-3441	94	6	the	the	DET
ap-3441	94	7	simplifying	simplifying	NOUN
ap-3441	94	8	assumption	assumption	NOUN
ap-3441	94	9	that	that	SCONJ
ap-3441	94	10	agents	agent	NOUN
ap-3441	94	11	do	do	AUX
ap-3441	94	12	not	not	PART
ap-3441	94	13	change	change	VERB
ap-3441	94	14	neighborhoods	neighborhood	NOUN
ap-3441	94	15	within	within	ADP
ap-3441	94	16	the	the	DET
ap-3441	94	17	horizon	horizon	NOUN
ap-3441	94	18	of	of	ADP
ap-3441	94	19	our	our	PRON
ap-3441	94	20	planning	planning	NOUN
ap-3441	94	21	.	.	PUNCT
ap-3441	95	1	due	due	ADP
ap-3441	95	2	to	to	ADP
ap-3441	95	3	the	the	DET
ap-3441	95	4	fact	fact	NOUN
ap-3441	95	5	that	that	SCONJ
ap-3441	95	6	movements	movement	NOUN
ap-3441	95	7	are	be	AUX
ap-3441	95	8	relatively	relatively	ADV
ap-3441	95	9	small	small	ADJ
ap-3441	95	10	with	with	ADP
ap-3441	95	11	respect	respect	NOUN
ap-3441	95	12	to	to	ADP
ap-3441	95	13	each	each	DET
ap-3441	95	14	agent	agent	NOUN
ap-3441	95	15	’s	’s	PART
ap-3441	95	16	neighborhood	neighborhood	NOUN
ap-3441	95	17	size	size	NOUN
ap-3441	95	18	,	,	PUNCT
ap-3441	95	19	the	the	DET
ap-3441	95	20	effects	effect	NOUN
ap-3441	95	21	of	of	ADP
ap-3441	95	22	this	this	DET
ap-3441	95	23	simplification	simplification	NOUN
ap-3441	95	24	are	be	AUX
ap-3441	95	25	negligible	negligible	ADJ
ap-3441	95	26	for	for	ADP
ap-3441	95	27	the	the	DET
ap-3441	95	28	relatively	relatively	ADV
ap-3441	95	29	small	small	ADJ
ap-3441	95	30	number	number	NOUN
ap-3441	95	31	of	of	ADP
ap-3441	95	32	future	future	ADJ
ap-3441	95	33	steps	step	NOUN
ap-3441	95	34	that	that	PRON
ap-3441	95	35	the	the	DET
ap-3441	95	36	2	2	NUM
ap-3441	95	37	-	-	PUNCT
ap-3441	95	38	step	step	NOUN
ap-3441	95	39	lookahead	lookahead	NOUN
ap-3441	95	40	behavior	behavior	NOUN
ap-3441	95	41	considers	consider	VERB
ap-3441	95	42	.	.	PUNCT
ap-3441	96	1	the	the	DET
ap-3441	96	2	complexity	complexity	NOUN
ap-3441	96	3	of	of	ADP
ap-3441	96	4	algorithm	algorithm	NOUN
ap-3441	96	5	2	2	NUM
ap-3441	96	6	can	can	AUX
ap-3441	96	7	be	be	AUX
ap-3441	96	8	calculated	calculate	VERB
ap-3441	96	9	21	21	NUM
ap-3441	96	10	katie	katie	PROPN
ap-3441	96	11	genter	genter	PROPN
ap-3441	96	12	,	,	PUNCT
ap-3441	96	13	peter	peter	PROPN
ap-3441	96	14	stone	stone	PROPN
ap-3441	96	15	acta	acta	PROPN
ap-3441	96	16	polytechnica	polytechnica	PROPN
ap-3441	96	17	as	as	SCONJ
ap-3441	96	18	follows	follow	VERB
ap-3441	96	19	.	.	PUNCT
ap-3441	97	1	line	line	NOUN
ap-3441	97	2	3	3	NUM
ap-3441	97	3	executes	execute	VERB
ap-3441	97	4	numangles	numangle	NOUN
ap-3441	97	5	times	time	NOUN
ap-3441	97	6	,	,	PUNCT
ap-3441	97	7	line	line	NOUN
ap-3441	97	8	14	14	NUM
ap-3441	97	9	executes	execute	NOUN
ap-3441	97	10	at	at	ADP
ap-3441	97	11	most	most	ADJ
ap-3441	97	12	numangles	numangle	NOUN
ap-3441	97	13	times	time	NOUN
ap-3441	97	14	,	,	PUNCT
ap-3441	97	15	line	line	NOUN
ap-3441	97	16	16	16	NUM
ap-3441	97	17	executes	execute	NOUN
ap-3441	97	18	at	at	ADP
ap-3441	97	19	most	most	ADJ
ap-3441	97	20	numagents	numagent	NOUN
ap-3441	97	21	times	time	NOUN
ap-3441	97	22	,	,	PUNCT
ap-3441	97	23	line	line	NOUN
ap-3441	97	24	18	18	NUM
ap-3441	97	25	executes	execute	NOUN
ap-3441	97	26	at	at	ADP
ap-3441	97	27	most	most	ADJ
ap-3441	97	28	numagents	numagent	NOUN
ap-3441	97	29	times	time	NOUN
ap-3441	97	30	,	,	PUNCT
ap-3441	97	31	and	and	CCONJ
ap-3441	97	32	line	line	NOUN
ap-3441	97	33	20	20	NUM
ap-3441	97	34	executes	execute	NOUN
ap-3441	97	35	at	at	ADP
ap-3441	97	36	most	most	ADJ
ap-3441	97	37	numagents	numagent	NOUN
ap-3441	97	38	times	time	NOUN
ap-3441	97	39	.	.	PUNCT
ap-3441	98	1	hence	hence	ADV
ap-3441	98	2	,	,	PUNCT
ap-3441	98	3	the	the	DET
ap-3441	98	4	complexity	complexity	NOUN
ap-3441	98	5	for	for	ADP
ap-3441	98	6	algorithm	algorithm	NOUN
ap-3441	98	7	2	2	NUM
ap-3441	98	8	is	be	AUX
ap-3441	98	9	o(numangles2	o(numangles2	NOUN
ap-3441	98	10	∗	∗	NOUN
ap-3441	98	11	numagents3	numagents3	NOUN
ap-3441	98	12	)	)	PUNCT
ap-3441	98	13	.	.	PUNCT
ap-3441	99	1	5	5	X
ap-3441	99	2	.	.	NUM
ap-3441	99	3	coordinated	coordinate	VERB
ap-3441	99	4	behavior	behavior	NOUN
ap-3441	99	5	the	the	DET
ap-3441	99	6	influencing	influence	VERB
ap-3441	99	7	agent	agent	NOUN
ap-3441	99	8	behaviors	behavior	NOUN
ap-3441	99	9	presented	present	VERB
ap-3441	99	10	in	in	ADP
ap-3441	99	11	sections	section	NOUN
ap-3441	99	12	3	3	NUM
ap-3441	99	13	and	and	CCONJ
ap-3441	99	14	4	4	NUM
ap-3441	99	15	were	be	AUX
ap-3441	99	16	for	for	ADP
ap-3441	99	17	individual	individual	ADJ
ap-3441	99	18	influencing	influence	VERB
ap-3441	99	19	agents	agent	NOUN
ap-3441	99	20	,	,	PUNCT
ap-3441	99	21	where	where	SCONJ
ap-3441	99	22	each	each	DET
ap-3441	99	23	influencing	influence	VERB
ap-3441	99	24	agent	agent	NOUN
ap-3441	99	25	calculated	calculate	VERB
ap-3441	99	26	its	its	PRON
ap-3441	99	27	behavior	behavior	NOUN
ap-3441	99	28	independent	independent	ADJ
ap-3441	99	29	of	of	ADP
ap-3441	99	30	any	any	DET
ap-3441	99	31	other	other	ADJ
ap-3441	99	32	influencing	influence	VERB
ap-3441	99	33	agents	agent	NOUN
ap-3441	99	34	.	.	PUNCT
ap-3441	100	1	in	in	ADP
ap-3441	100	2	this	this	DET
ap-3441	100	3	section	section	NOUN
ap-3441	100	4	,	,	PUNCT
ap-3441	100	5	we	we	PRON
ap-3441	100	6	consider	consider	VERB
ap-3441	100	7	whether	whether	SCONJ
ap-3441	100	8	influencing	influence	VERB
ap-3441	100	9	agents	agent	NOUN
ap-3441	100	10	can	can	AUX
ap-3441	100	11	exert	exert	VERB
ap-3441	100	12	more	more	ADJ
ap-3441	100	13	influence	influence	NOUN
ap-3441	100	14	on	on	ADP
ap-3441	100	15	the	the	DET
ap-3441	100	16	flock	flock	NOUN
ap-3441	100	17	by	by	ADP
ap-3441	100	18	working	work	VERB
ap-3441	100	19	in	in	ADP
ap-3441	100	20	a	a	DET
ap-3441	100	21	coordinated	coordinated	ADJ
ap-3441	100	22	fashion	fashion	NOUN
ap-3441	100	23	.	.	PUNCT
ap-3441	101	1	in	in	ADP
ap-3441	101	2	particular	particular	ADJ
ap-3441	101	3	,	,	PUNCT
ap-3441	101	4	coordination	coordination	NOUN
ap-3441	101	5	is	be	AUX
ap-3441	101	6	potentially	potentially	ADV
ap-3441	101	7	useful	useful	ADJ
ap-3441	101	8	in	in	ADP
ap-3441	101	9	cases	case	NOUN
ap-3441	101	10	where	where	SCONJ
ap-3441	101	11	a	a	DET
ap-3441	101	12	flocking	flocking	ADJ
ap-3441	101	13	agent	agent	NOUN
ap-3441	101	14	is	be	AUX
ap-3441	101	15	in	in	ADP
ap-3441	101	16	the	the	DET
ap-3441	101	17	neighborhoods	neighborhood	NOUN
ap-3441	101	18	of	of	ADP
ap-3441	101	19	multiple	multiple	ADJ
ap-3441	101	20	influencing	influence	VERB
ap-3441	101	21	agents	agent	NOUN
ap-3441	101	22	.	.	PUNCT
ap-3441	102	1	ideally	ideally	ADV
ap-3441	102	2	,	,	PUNCT
ap-3441	102	3	all	all	PRON
ap-3441	102	4	of	of	ADP
ap-3441	102	5	the	the	DET
ap-3441	102	6	influencing	influence	VERB
ap-3441	102	7	agents	agent	NOUN
ap-3441	102	8	would	would	AUX
ap-3441	102	9	coordinate	coordinate	VERB
ap-3441	102	10	their	their	PRON
ap-3441	102	11	behaviors	behavior	NOUN
ap-3441	102	12	to	to	PART
ap-3441	102	13	influence	influence	VERB
ap-3441	102	14	the	the	DET
ap-3441	102	15	flock	flock	NOUN
ap-3441	102	16	to	to	PART
ap-3441	102	17	reach	reach	VERB
ap-3441	102	18	θ∗	θ∗	NOUN
ap-3441	102	19	as	as	ADV
ap-3441	102	20	quickly	quickly	ADV
ap-3441	102	21	as	as	ADP
ap-3441	102	22	possible	possible	ADJ
ap-3441	102	23	.	.	PUNCT
ap-3441	103	1	however	however	ADV
ap-3441	103	2	,	,	PUNCT
ap-3441	103	3	due	due	ADP
ap-3441	103	4	to	to	ADP
ap-3441	103	5	computational	computational	ADJ
ap-3441	103	6	considerations	consideration	NOUN
ap-3441	103	7	,	,	PUNCT
ap-3441	103	8	in	in	ADP
ap-3441	103	9	this	this	DET
ap-3441	103	10	work	work	NOUN
ap-3441	103	11	this	this	PRON
ap-3441	103	12	is	be	AUX
ap-3441	103	13	infeasible	infeasible	ADJ
ap-3441	103	14	due	due	ADP
ap-3441	103	15	to	to	ADP
ap-3441	103	16	the	the	DET
ap-3441	103	17	complexity	complexity	NOUN
ap-3441	103	18	of	of	ADP
ap-3441	103	19	such	such	DET
ap-3441	103	20	a	a	DET
ap-3441	103	21	calculation	calculation	NOUN
ap-3441	103	22	.	.	PUNCT
ap-3441	104	1	instead	instead	ADV
ap-3441	104	2	,	,	PUNCT
ap-3441	104	3	we	we	PRON
ap-3441	104	4	pair	pair	VERB
ap-3441	104	5	influencing	influence	VERB
ap-3441	104	6	agents	agent	NOUN
ap-3441	104	7	that	that	PRON
ap-3441	104	8	share	share	VERB
ap-3441	104	9	some	some	DET
ap-3441	104	10	neighbors	neighbor	NOUN
ap-3441	104	11	.	.	PUNCT
ap-3441	105	1	these	these	DET
ap-3441	105	2	pairs	pair	NOUN
ap-3441	105	3	then	then	ADV
ap-3441	105	4	work	work	VERB
ap-3441	105	5	in	in	ADP
ap-3441	105	6	a	a	DET
ap-3441	105	7	coordinated	coordinated	ADJ
ap-3441	105	8	fashion	fashion	NOUN
ap-3441	105	9	to	to	PART
ap-3441	105	10	influence	influence	VERB
ap-3441	105	11	their	their	PRON
ap-3441	105	12	neighbors	neighbor	NOUN
ap-3441	105	13	to	to	ADP
ap-3441	105	14	orient	orient	NOUN
ap-3441	105	15	towards	towards	ADP
ap-3441	105	16	θ∗.	θ∗.	PROPN
ap-3441	105	17	we	we	PRON
ap-3441	105	18	opted	opt	VERB
ap-3441	105	19	to	to	PART
ap-3441	105	20	use	use	VERB
ap-3441	105	21	pairs	pair	NOUN
ap-3441	105	22	for	for	ADP
ap-3441	105	23	simplicity	simplicity	NOUN
ap-3441	105	24	and	and	CCONJ
ap-3441	105	25	for	for	ADP
ap-3441	105	26	computational	computational	ADJ
ap-3441	105	27	considerations	consideration	NOUN
ap-3441	105	28	,	,	PUNCT
ap-3441	105	29	but	but	CCONJ
ap-3441	105	30	our	our	PRON
ap-3441	105	31	approach	approach	NOUN
ap-3441	105	32	could	could	AUX
ap-3441	105	33	also	also	ADV
ap-3441	105	34	be	be	AUX
ap-3441	105	35	applied	apply	VERB
ap-3441	105	36	to	to	ADP
ap-3441	105	37	larger	large	ADJ
ap-3441	105	38	groups	group	NOUN
ap-3441	105	39	of	of	ADP
ap-3441	105	40	influencing	influence	VERB
ap-3441	105	41	agents	agent	NOUN
ap-3441	105	42	that	that	PRON
ap-3441	105	43	share	share	VERB
ap-3441	105	44	neighbors	neighbor	NOUN
ap-3441	105	45	.	.	PUNCT
ap-3441	106	1	we	we	PRON
ap-3441	106	2	select	select	VERB
ap-3441	106	3	the	the	DET
ap-3441	106	4	influencing	influence	VERB
ap-3441	106	5	agents	agent	NOUN
ap-3441	106	6	to	to	PART
ap-3441	106	7	pair	pair	VERB
ap-3441	106	8	by	by	ADP
ap-3441	106	9	first	first	ADV
ap-3441	106	10	finding	find	VERB
ap-3441	106	11	all	all	DET
ap-3441	106	12	pairs	pair	NOUN
ap-3441	106	13	of	of	ADP
ap-3441	106	14	influencing	influence	VERB
ap-3441	106	15	agents	agent	NOUN
ap-3441	106	16	with	with	ADP
ap-3441	106	17	one	one	NUM
ap-3441	106	18	or	or	CCONJ
ap-3441	106	19	more	more	ADJ
ap-3441	106	20	neighbors	neighbor	NOUN
ap-3441	106	21	in	in	ADP
ap-3441	106	22	common	common	ADJ
ap-3441	106	23	.	.	PUNCT
ap-3441	107	1	then	then	ADV
ap-3441	107	2	we	we	PRON
ap-3441	107	3	do	do	VERB
ap-3441	107	4	a	a	DET
ap-3441	107	5	brute	brute	ADJ
ap-3441	107	6	-	-	PUNCT
ap-3441	107	7	force	force	NOUN
ap-3441	107	8	search	search	NOUN
ap-3441	107	9	and	and	CCONJ
ap-3441	107	10	find	find	VERB
ap-3441	107	11	every	every	DET
ap-3441	107	12	possible	possible	ADJ
ap-3441	107	13	disjoint	disjoint	NOUN
ap-3441	107	14	combination	combination	NOUN
ap-3441	107	15	of	of	ADP
ap-3441	107	16	these	these	DET
ap-3441	107	17	pairs	pair	NOUN
ap-3441	107	18	.	.	PUNCT
ap-3441	108	1	for	for	ADP
ap-3441	108	2	each	each	DET
ap-3441	108	3	such	such	ADJ
ap-3441	108	4	combination	combination	NOUN
ap-3441	108	5	,	,	PUNCT
ap-3441	108	6	we	we	PRON
ap-3441	108	7	calculate	calculate	VERB
ap-3441	108	8	the	the	DET
ap-3441	108	9	sum	sum	NOUN
ap-3441	108	10	of	of	ADP
ap-3441	108	11	the	the	DET
ap-3441	108	12	number	number	NOUN
ap-3441	108	13	of	of	ADP
ap-3441	108	14	shared	share	VERB
ap-3441	108	15	neighbors	neighbor	NOUN
ap-3441	108	16	across	across	ADP
ap-3441	108	17	all	all	DET
ap-3441	108	18	the	the	DET
ap-3441	108	19	pairs	pair	NOUN
ap-3441	108	20	and	and	CCONJ
ap-3441	108	21	select	select	VERB
ap-3441	108	22	the	the	DET
ap-3441	108	23	combination	combination	NOUN
ap-3441	108	24	with	with	ADP
ap-3441	108	25	the	the	DET
ap-3441	108	26	greatest	great	ADJ
ap-3441	108	27	sum	sum	NOUN
ap-3441	108	28	of	of	ADP
ap-3441	108	29	shared	share	VERB
ap-3441	108	30	neighbors	neighbor	NOUN
ap-3441	108	31	.	.	PUNCT
ap-3441	109	1	this	this	DET
ap-3441	109	2	combination	combination	NOUN
ap-3441	109	3	of	of	ADP
ap-3441	109	4	chosen	choose	VERB
ap-3441	109	5	pairs	pair	NOUN
ap-3441	109	6	is	be	AUX
ap-3441	109	7	called	call	VERB
ap-3441	109	8	the	the	DET
ap-3441	109	9	selectedpairs	selectedpair	NOUN
ap-3441	109	10	.	.	PUNCT
ap-3441	110	1	note	note	VERB
ap-3441	110	2	that	that	SCONJ
ap-3441	110	3	selectedpairs	selectedpair	NOUN
ap-3441	110	4	is	be	AUX
ap-3441	110	5	recalculated	recalculate	VERB
ap-3441	110	6	at	at	ADP
ap-3441	110	7	each	each	DET
ap-3441	110	8	time	time	NOUN
ap-3441	110	9	step	step	NOUN
ap-3441	110	10	.	.	PUNCT
ap-3441	111	1	the	the	DET
ap-3441	111	2	behavior	behavior	NOUN
ap-3441	111	3	of	of	ADP
ap-3441	111	4	each	each	DET
ap-3441	111	5	influencing	influence	VERB
ap-3441	111	6	agent	agent	NOUN
ap-3441	111	7	depends	depend	VERB
ap-3441	111	8	on	on	ADP
ap-3441	111	9	whether	whether	SCONJ
ap-3441	111	10	it	it	PRON
ap-3441	111	11	is	be	AUX
ap-3441	111	12	part	part	NOUN
ap-3441	111	13	of	of	ADP
ap-3441	111	14	a	a	DET
ap-3441	111	15	pair	pair	NOUN
ap-3441	111	16	in	in	ADP
ap-3441	111	17	selectedpairs	selectedpair	NOUN
ap-3441	111	18	or	or	CCONJ
ap-3441	111	19	not	not	PART
ap-3441	111	20	.	.	PUNCT
ap-3441	112	1	if	if	SCONJ
ap-3441	112	2	it	it	PRON
ap-3441	112	3	is	be	AUX
ap-3441	112	4	part	part	NOUN
ap-3441	112	5	of	of	ADP
ap-3441	112	6	a	a	DET
ap-3441	112	7	pair	pair	NOUN
ap-3441	112	8	,	,	PUNCT
ap-3441	112	9	it	it	PRON
ap-3441	112	10	follows	follow	VERB
ap-3441	112	11	algorithm	algorithm	NOUN
ap-3441	112	12	3	3	NUM
ap-3441	112	13	and	and	CCONJ
ap-3441	112	14	coordinates	coordinate	NOUN
ap-3441	112	15	with	with	ADP
ap-3441	112	16	a	a	DET
ap-3441	112	17	partner	partner	NOUN
ap-3441	112	18	influencing	influence	VERB
ap-3441	112	19	agent	agent	NOUN
ap-3441	112	20	.	.	PUNCT
ap-3441	113	1	if	if	SCONJ
ap-3441	113	2	it	it	PRON
ap-3441	113	3	is	be	AUX
ap-3441	113	4	not	not	PART
ap-3441	113	5	part	part	NOUN
ap-3441	113	6	of	of	ADP
ap-3441	113	7	a	a	DET
ap-3441	113	8	pair	pair	NOUN
ap-3441	113	9	,	,	PUNCT
ap-3441	113	10	it	it	PRON
ap-3441	113	11	follows	follow	VERB
ap-3441	113	12	algorithm	algorithm	NOUN
ap-3441	113	13	1	1	NUM
ap-3441	113	14	and	and	CCONJ
ap-3441	113	15	performs	perform	VERB
ap-3441	113	16	a	a	DET
ap-3441	113	17	1	1	NUM
ap-3441	113	18	-	-	PUNCT
ap-3441	113	19	step	step	NOUN
ap-3441	113	20	lookahead	lookahead	NOUN
ap-3441	113	21	search	search	NOUN
ap-3441	113	22	for	for	ADP
ap-3441	113	23	the	the	DET
ap-3441	113	24	best	good	ADJ
ap-3441	113	25	individual	individual	ADJ
ap-3441	113	26	behavior	behavior	NOUN
ap-3441	113	27	.	.	PUNCT
ap-3441	114	1	only	only	ADV
ap-3441	114	2	one	one	NUM
ap-3441	114	3	new	new	ADJ
ap-3441	114	4	variable	variable	NOUN
ap-3441	114	5	and	and	CCONJ
ap-3441	114	6	one	one	NUM
ap-3441	114	7	new	new	ADJ
ap-3441	114	8	function	function	NOUN
ap-3441	114	9	are	be	AUX
ap-3441	114	10	used	use	VERB
ap-3441	114	11	in	in	ADP
ap-3441	114	12	algorithm	algorithm	NOUN
ap-3441	114	13	3	3	NUM
ap-3441	114	14	that	that	PRON
ap-3441	114	15	are	be	AUX
ap-3441	114	16	not	not	PART
ap-3441	114	17	used	use	VERB
ap-3441	114	18	in	in	ADP
ap-3441	114	19	algorithm	algorithm	NOUN
ap-3441	114	20	1	1	NUM
ap-3441	114	21	or	or	CCONJ
ap-3441	114	22	algorithm	algorithm	NOUN
ap-3441	114	23	2	2	NUM
ap-3441	114	24	.	.	PUNCT
ap-3441	115	1	the	the	DET
ap-3441	115	2	variable	variable	NOUN
ap-3441	115	3	is	be	AUX
ap-3441	115	4	“	"	PUNCT
ap-3441	115	5	norientsp	norientsp	NOUN
ap-3441	115	6	”	"	PUNCT
ap-3441	115	7	,	,	PUNCT
ap-3441	115	8	which	which	PRON
ap-3441	115	9	is	be	AUX
ap-3441	115	10	a	a	DET
ap-3441	115	11	set	set	NOUN
ap-3441	115	12	used	use	VERB
ap-3441	115	13	to	to	PART
ap-3441	115	14	hold	hold	VERB
ap-3441	115	15	the	the	DET
ap-3441	115	16	predicted	predict	VERB
ap-3441	115	17	next	next	ADJ
ap-3441	115	18	step	step	NOUN
ap-3441	115	19	orientation	orientation	NOUN
ap-3441	115	20	vectors	vector	NOUN
ap-3441	115	21	of	of	ADP
ap-3441	115	22	all	all	DET
ap-3441	115	23	the	the	DET
ap-3441	115	24	neighbors	neighbor	NOUN
ap-3441	115	25	of	of	ADP
ap-3441	115	26	the	the	DET
ap-3441	115	27	influencing	influence	VERB
ap-3441	115	28	agent	agent	NOUN
ap-3441	115	29	’s	’s	PART
ap-3441	115	30	partner	partner	NOUN
ap-3441	115	31	,	,	PUNCT
ap-3441	115	32	assuming	assume	VERB
ap-3441	115	33	the	the	DET
ap-3441	115	34	influencing	influence	VERB
ap-3441	115	35	agent	agent	NOUN
ap-3441	115	36	adopts	adopt	VERB
ap-3441	115	37	iaorient	iaorient	NOUN
ap-3441	115	38	and	and	CCONJ
ap-3441	115	39	the	the	DET
ap-3441	115	40	influencing	influence	VERB
ap-3441	115	41	agent	agent	NOUN
ap-3441	115	42	’s	’s	PART
ap-3441	115	43	partner	partner	NOUN
ap-3441	115	44	adopts	adopt	VERB
ap-3441	115	45	iaorientp	iaorientp	NOUN
ap-3441	115	46	.	.	PUNCT
ap-3441	116	1	the	the	DET
ap-3441	116	2	function	function	NOUN
ap-3441	116	3	is	be	AUX
ap-3441	116	4	neighbors.get(x	neighbors.get(x	NOUN
ap-3441	116	5	)	)	PUNCT
ap-3441	116	6	,	,	PUNCT
ap-3441	116	7	which	which	PRON
ap-3441	116	8	returns	return	VERB
ap-3441	116	9	the	the	DET
ap-3441	116	10	xth	xth	PROPN
ap-3441	116	11	element	element	NOUN
ap-3441	116	12	in	in	ADP
ap-3441	116	13	the	the	DET
ap-3441	116	14	set	set	NOUN
ap-3441	116	15	neighbors	neighbor	NOUN
ap-3441	116	16	.	.	PUNCT
ap-3441	117	1	algorithm	algorithm	NOUN
ap-3441	117	2	3	3	NUM
ap-3441	117	3	is	be	AUX
ap-3441	117	4	called	call	VERB
ap-3441	117	5	on	on	ADP
ap-3441	117	6	influencing	influence	VERB
ap-3441	117	7	agents	agent	NOUN
ap-3441	117	8	that	that	PRON
ap-3441	117	9	are	be	AUX
ap-3441	117	10	part	part	NOUN
ap-3441	117	11	of	of	ADP
ap-3441	117	12	a	a	DET
ap-3441	117	13	pair	pair	NOUN
ap-3441	117	14	in	in	ADP
ap-3441	117	15	selectedpairs	selectedpair	NOUN
ap-3441	117	16	at	at	ADP
ap-3441	117	17	each	each	DET
ap-3441	117	18	time	time	NOUN
ap-3441	117	19	step	step	NOUN
ap-3441	117	20	.	.	PUNCT
ap-3441	118	1	algorithm	algorithm	NOUN
ap-3441	118	2	3	3	NUM
ap-3441	118	3	takes	take	VERB
ap-3441	118	4	in	in	ADP
ap-3441	118	5	the	the	DET
ap-3441	118	6	neighbors	neighbor	NOUN
ap-3441	118	7	of	of	ADP
ap-3441	118	8	the	the	DET
ap-3441	118	9	influencing	influence	VERB
ap-3441	118	10	agent	agent	NOUN
ap-3441	118	11	and	and	CCONJ
ap-3441	118	12	the	the	DET
ap-3441	118	13	neighbors	neighbor	NOUN
ap-3441	118	14	of	of	ADP
ap-3441	118	15	the	the	DET
ap-3441	118	16	partner	partner	NOUN
ap-3441	118	17	of	of	ADP
ap-3441	118	18	the	the	DET
ap-3441	118	19	influencing	influence	VERB
ap-3441	118	20	agent	agent	NOUN
ap-3441	118	21	,	,	PUNCT
ap-3441	118	22	and	and	CCONJ
ap-3441	118	23	returns	return	VERB
ap-3441	118	24	the	the	DET
ap-3441	118	25	orientation	orientation	NOUN
ap-3441	118	26	that	that	PRON
ap-3441	118	27	,	,	PUNCT
ap-3441	118	28	if	if	SCONJ
ap-3441	118	29	adopted	adopt	VERB
ap-3441	118	30	by	by	ADP
ap-3441	118	31	the	the	DET
ap-3441	118	32	influencing	influence	VERB
ap-3441	118	33	agent	agent	NOUN
ap-3441	118	34	,	,	PUNCT
ap-3441	118	35	is	be	AUX
ap-3441	118	36	guaranteed	guarantee	VERB
ap-3441	118	37	to	to	PART
ap-3441	118	38	influence	influence	VERB
ap-3441	118	39	the	the	DET
ap-3441	118	40	flock	flock	NOUN
ap-3441	118	41	to	to	PART
ap-3441	118	42	face	face	VERB
ap-3441	118	43	closer	close	ADV
ap-3441	118	44	to	to	AUX
ap-3441	118	45	θ∗	θ∗	VERB
ap-3441	118	46	than	than	ADP
ap-3441	118	47	any	any	PRON
ap-3441	118	48	of	of	ADP
ap-3441	118	49	the	the	DET
ap-3441	118	50	other	other	ADJ
ap-3441	118	51	numangles	numangle	NOUN
ap-3441	118	52	influencing	influence	VERB
ap-3441	118	53	agent	agent	NOUN
ap-3441	118	54	orientations	orientation	NOUN
ap-3441	118	55	considered	consider	VERB
ap-3441	118	56	for	for	ADP
ap-3441	118	57	both	both	CCONJ
ap-3441	118	58	the	the	DET
ap-3441	118	59	influencing	influence	VERB
ap-3441	118	60	agent	agent	NOUN
ap-3441	118	61	and	and	CCONJ
ap-3441	118	62	its	its	PRON
ap-3441	118	63	partner	partner	NOUN
ap-3441	118	64	.	.	PUNCT
ap-3441	119	1	conceptually	conceptually	ADV
ap-3441	119	2	,	,	PUNCT
ap-3441	119	3	algorithm	algorithm	NOUN
ap-3441	119	4	3	3	NUM
ap-3441	119	5	considers	consider	VERB
ap-3441	119	6	each	each	PRON
ap-3441	119	7	of	of	ADP
ap-3441	119	8	the	the	DET
ap-3441	119	9	numangles	numangle	NOUN
ap-3441	119	10	influencing	influence	VERB
ap-3441	119	11	agent	agent	NOUN
ap-3441	119	12	orientations	orientation	NOUN
ap-3441	119	13	for	for	ADP
ap-3441	119	14	the	the	DET
ap-3441	119	15	influencing	influence	VERB
ap-3441	119	16	agent	agent	NOUN
ap-3441	119	17	and	and	CCONJ
ap-3441	119	18	for	for	ADP
ap-3441	119	19	the	the	DET
ap-3441	119	20	influencing	influence	VERB
ap-3441	119	21	agent	agent	NOUN
ap-3441	119	22	’s	’s	PART
ap-3441	119	23	partner	partner	NOUN
ap-3441	119	24	and	and	CCONJ
ap-3441	119	25	performs	perform	VERB
ap-3441	119	26	two	two	NUM
ap-3441	119	27	1	1	NUM
ap-3441	119	28	-	-	PUNCT
ap-3441	119	29	step	step	NOUN
ap-3441	119	30	lookahead	lookahead	NOUN
ap-3441	119	31	searches	search	NOUN
ap-3441	119	32	.	.	PUNCT
ap-3441	120	1	the	the	DET
ap-3441	120	2	main	main	ADJ
ap-3441	120	3	difference	difference	NOUN
ap-3441	120	4	between	between	ADP
ap-3441	120	5	algorithm	algorithm	NOUN
ap-3441	120	6	1	1	NUM
ap-3441	120	7	and	and	CCONJ
ap-3441	120	8	algorithm	algorithm	PROPN
ap-3441	120	9	3	3	NUM
ap-3441	120	10	is	be	AUX
ap-3441	120	11	that	that	SCONJ
ap-3441	120	12	the	the	DET
ap-3441	120	13	coordinated	coordinate	VERB
ap-3441	120	14	algorithm	algorithm	NOUN
ap-3441	120	15	takes	take	VERB
ap-3441	120	16	into	into	ADP
ap-3441	120	17	account	account	NOUN
ap-3441	120	18	that	that	SCONJ
ap-3441	120	19	another	another	DET
ap-3441	120	20	influencing	influence	VERB
ap-3441	120	21	agent	agent	NOUN
ap-3441	120	22	is	be	AUX
ap-3441	120	23	also	also	ADV
ap-3441	120	24	influencing	influence	VERB
ap-3441	120	25	all	all	PRON
ap-3441	120	26	of	of	ADP
ap-3441	120	27	the	the	DET
ap-3441	120	28	agents	agent	NOUN
ap-3441	120	29	that	that	PRON
ap-3441	120	30	are	be	AUX
ap-3441	120	31	both	both	PRON
ap-3441	120	32	in	in	ADP
ap-3441	120	33	the	the	DET
ap-3441	120	34	influencing	influence	VERB
ap-3441	120	35	agent	agent	NOUN
ap-3441	120	36	’s	’s	PART
ap-3441	120	37	neighborhood	neighborhood	NOUN
ap-3441	120	38	and	and	CCONJ
ap-3441	120	39	in	in	ADP
ap-3441	120	40	the	the	DET
ap-3441	120	41	influencing	influence	VERB
ap-3441	120	42	agent	agent	NOUN
ap-3441	120	43	’s	’s	PART
ap-3441	120	44	partner	partner	NOUN
ap-3441	120	45	’s	’s	PART
ap-3441	120	46	neighborhood	neighborhood	NOUN
ap-3441	120	47	.	.	PUNCT
ap-3441	121	1	hence	hence	ADV
ap-3441	121	2	,	,	PUNCT
ap-3441	121	3	the	the	DET
ap-3441	121	4	influencing	influence	VERB
ap-3441	121	5	agent	agent	NOUN
ap-3441	121	6	may	may	AUX
ap-3441	121	7	choose	choose	VERB
ap-3441	121	8	to	to	PART
ap-3441	121	9	behave	behave	VERB
ap-3441	121	10	in	in	ADP
ap-3441	121	11	a	a	DET
ap-3441	121	12	way	way	NOUN
ap-3441	121	13	that	that	PRON
ap-3441	121	14	influences	influence	VERB
ap-3441	121	15	the	the	DET
ap-3441	121	16	other	other	ADJ
ap-3441	121	17	agents	agent	NOUN
ap-3441	121	18	in	in	ADP
ap-3441	121	19	its	its	PRON
ap-3441	121	20	neighborhood	neighborhood	NOUN
ap-3441	121	21	closer	close	ADV
ap-3441	121	22	to	to	PART
ap-3441	121	23	θ∗	θ∗	VERB
ap-3441	121	24	while	while	SCONJ
ap-3441	121	25	relying	rely	VERB
ap-3441	121	26	on	on	ADP
ap-3441	121	27	its	its	PRON
ap-3441	121	28	partner	partner	NOUN
ap-3441	121	29	to	to	PART
ap-3441	121	30	more	more	ADV
ap-3441	121	31	strongly	strongly	ADV
ap-3441	121	32	influence	influence	VERB
ap-3441	121	33	the	the	DET
ap-3441	121	34	agents	agent	NOUN
ap-3441	121	35	that	that	PRON
ap-3441	121	36	exist	exist	VERB
ap-3441	121	37	in	in	ADP
ap-3441	121	38	both	both	PRON
ap-3441	121	39	of	of	ADP
ap-3441	121	40	the	the	DET
ap-3441	121	41	paired	pair	VERB
ap-3441	121	42	influencing	influence	VERB
ap-3441	121	43	agents	agent	NOUN
ap-3441	121	44	’	’	PART
ap-3441	121	45	neighborhoods	neighborhood	NOUN
ap-3441	121	46	towards	towards	ADP
ap-3441	121	47	θ∗.	θ∗.	NOUN
ap-3441	121	48	specifically	specifically	ADV
ap-3441	121	49	,	,	PUNCT
ap-3441	121	50	algorithm	algorithm	NOUN
ap-3441	121	51	3	3	NUM
ap-3441	121	52	executes	execute	NOUN
ap-3441	121	53	as	as	SCONJ
ap-3441	121	54	follows	follow	VERB
ap-3441	121	55	.	.	PUNCT
ap-3441	122	1	for	for	ADP
ap-3441	122	2	each	each	DET
ap-3441	122	3	potential	potential	ADJ
ap-3441	122	4	influencing	influence	VERB
ap-3441	122	5	agent	agent	NOUN
ap-3441	122	6	orientation	orientation	NOUN
ap-3441	122	7	,	,	PUNCT
ap-3441	122	8	the	the	DET
ap-3441	122	9	algorithm	algorithm	NOUN
ap-3441	122	10	considers	consider	VERB
ap-3441	122	11	how	how	SCONJ
ap-3441	122	12	each	each	PRON
ap-3441	122	13	of	of	ADP
ap-3441	122	14	the	the	DET
ap-3441	122	15	neighbors	neighbor	NOUN
ap-3441	122	16	of	of	ADP
ap-3441	122	17	the	the	DET
ap-3441	122	18	influencing	influence	VERB
ap-3441	122	19	agent	agent	NOUN
ap-3441	122	20	will	will	AUX
ap-3441	122	21	be	be	AUX
ap-3441	122	22	influenced	influence	VERB
ap-3441	122	23	if	if	SCONJ
ap-3441	122	24	the	the	DET
ap-3441	122	25	influencing	influence	VERB
ap-3441	122	26	agent	agent	NOUN
ap-3441	122	27	adopts	adopt	VERB
ap-3441	122	28	that	that	SCONJ
ap-3441	122	29	orientation	orientation	NOUN
ap-3441	122	30	(	(	PUNCT
ap-3441	122	31	lines	line	NOUN
ap-3441	122	32	6–16	6–16	PROPN
ap-3441	122	33	)	)	PUNCT
ap-3441	122	34	.	.	PUNCT
ap-3441	123	1	then	then	ADV
ap-3441	123	2	algorithm	algorithm	PROPN
ap-3441	123	3	3	3	NUM
ap-3441	123	4	considers	consider	VERB
ap-3441	123	5	how	how	SCONJ
ap-3441	123	6	each	each	PRON
ap-3441	123	7	of	of	ADP
ap-3441	123	8	the	the	DET
ap-3441	123	9	neighbors	neighbor	NOUN
ap-3441	123	10	of	of	ADP
ap-3441	123	11	the	the	DET
ap-3441	123	12	influencing	influence	VERB
ap-3441	123	13	agent	agent	NOUN
ap-3441	123	14	’s	’s	PART
ap-3441	123	15	partner	partner	NOUN
ap-3441	123	16	will	will	AUX
ap-3441	123	17	be	be	AUX
ap-3441	123	18	influenced	influence	VERB
ap-3441	123	19	if	if	SCONJ
ap-3441	123	20	the	the	DET
ap-3441	123	21	influencing	influence	VERB
ap-3441	123	22	agent	agent	NOUN
ap-3441	123	23	’s	’s	PART
ap-3441	123	24	partner	partner	NOUN
ap-3441	123	25	adopts	adopt	VERB
ap-3441	123	26	each	each	DET
ap-3441	123	27	potential	potential	ADJ
ap-3441	123	28	influencing	influence	VERB
ap-3441	123	29	agent	agent	NOUN
ap-3441	123	30	partner	partner	NOUN
ap-3441	123	31	orientation	orientation	NOUN
ap-3441	123	32	(	(	PUNCT
ap-3441	123	33	lines	line	NOUN
ap-3441	123	34	18–29	18–29	NUM
ap-3441	123	35	)	)	PUNCT
ap-3441	123	36	.	.	PUNCT
ap-3441	124	1	finally	finally	ADV
ap-3441	124	2	,	,	PUNCT
ap-3441	124	3	the	the	DET
ap-3441	124	4	algorithm	algorithm	NOUN
ap-3441	124	5	selects	select	VERB
ap-3441	124	6	the	the	DET
ap-3441	124	7	influencing	influence	VERB
ap-3441	124	8	agent	agent	NOUN
ap-3441	124	9	orientation	orientation	NOUN
ap-3441	124	10	that	that	PRON
ap-3441	124	11	results	result	VERB
ap-3441	124	12	in	in	ADP
ap-3441	124	13	the	the	DET
ap-3441	124	14	least	least	ADJ
ap-3441	124	15	difference	difference	NOUN
ap-3441	124	16	between	between	ADP
ap-3441	124	17	θ∗	θ∗	NOUN
ap-3441	124	18	and	and	CCONJ
ap-3441	124	19	the	the	DET
ap-3441	124	20	current	current	ADJ
ap-3441	124	21	orientations	orientation	NOUN
ap-3441	124	22	of	of	ADP
ap-3441	124	23	the	the	DET
ap-3441	124	24	neighbors	neighbor	NOUN
ap-3441	124	25	of	of	ADP
ap-3441	124	26	both	both	CCONJ
ap-3441	124	27	the	the	DET
ap-3441	124	28	influencing	influence	VERB
ap-3441	124	29	agent	agent	NOUN
ap-3441	124	30	and	and	CCONJ
ap-3441	124	31	the	the	DET
ap-3441	124	32	influencing	influence	VERB
ap-3441	124	33	agent	agent	NOUN
ap-3441	124	34	’s	’s	PART
ap-3441	124	35	partner	partner	NOUN
ap-3441	124	36	(	(	PUNCT
ap-3441	124	37	lines	line	NOUN
ap-3441	124	38	30–34	30–34	NUM
ap-3441	124	39	)	)	PUNCT
ap-3441	124	40	.	.	PUNCT
ap-3441	125	1	note	note	VERB
ap-3441	125	2	that	that	SCONJ
ap-3441	125	3	agents	agent	NOUN
ap-3441	125	4	that	that	PRON
ap-3441	125	5	are	be	AUX
ap-3441	125	6	neighbors	neighbor	NOUN
ap-3441	125	7	of	of	ADP
ap-3441	125	8	both	both	CCONJ
ap-3441	125	9	the	the	DET
ap-3441	125	10	influencing	influence	VERB
ap-3441	125	11	agent	agent	NOUN
ap-3441	125	12	and	and	CCONJ
ap-3441	125	13	its	its	PRON
ap-3441	125	14	partner	partner	NOUN
ap-3441	125	15	are	be	AUX
ap-3441	125	16	only	only	ADV
ap-3441	125	17	counted	count	VERB
ap-3441	125	18	once	once	ADV
ap-3441	125	19	(	(	PUNCT
ap-3441	125	20	lines	line	NOUN
ap-3441	125	21	28–29	28–29	NUM
ap-3441	125	22	)	)	PUNCT
ap-3441	125	23	.	.	PUNCT
ap-3441	126	1	the	the	DET
ap-3441	126	2	complexity	complexity	NOUN
ap-3441	126	3	of	of	ADP
ap-3441	126	4	algorithm	algorithm	NOUN
ap-3441	126	5	3	3	NUM
ap-3441	126	6	can	can	AUX
ap-3441	126	7	be	be	AUX
ap-3441	126	8	calculated	calculate	VERB
ap-3441	126	9	as	as	ADP
ap-3441	126	10	follows	follow	NOUN
ap-3441	126	11	.	.	PUNCT
ap-3441	127	1	line	line	NOUN
ap-3441	127	2	3	3	NUM
ap-3441	127	3	executes	execute	VERB
ap-3441	127	4	numangles	numangle	NOUN
ap-3441	127	5	times	time	NOUN
ap-3441	127	6	,	,	PUNCT
ap-3441	127	7	line	line	NOUN
ap-3441	127	8	4	4	NUM
ap-3441	127	9	executes	execute	VERB
ap-3441	127	10	numangles	numangle	NOUN
ap-3441	127	11	times	time	NOUN
ap-3441	127	12	,	,	PUNCT
ap-3441	127	13	line	line	NOUN
ap-3441	127	14	6	6	NUM
ap-3441	127	15	executes	execute	NOUN
ap-3441	127	16	at	at	ADP
ap-3441	127	17	most	most	ADJ
ap-3441	127	18	numagents	numagent	NOUN
ap-3441	127	19	times	time	NOUN
ap-3441	127	20	,	,	PUNCT
ap-3441	127	21	line	line	NOUN
ap-3441	127	22	8	8	NUM
ap-3441	127	23	executes	execute	NOUN
ap-3441	127	24	at	at	ADP
ap-3441	127	25	most	most	ADJ
ap-3441	127	26	numagents	numagent	NOUN
ap-3441	127	27	,	,	PUNCT
ap-3441	127	28	line	line	NOUN
ap-3441	127	29	18	18	NUM
ap-3441	127	30	executes	execute	NOUN
ap-3441	127	31	at	at	ADP
ap-3441	127	32	most	most	ADJ
ap-3441	127	33	numagents	numagent	NOUN
ap-3441	127	34	times	time	NOUN
ap-3441	127	35	,	,	PUNCT
ap-3441	127	36	and	and	CCONJ
ap-3441	127	37	line	line	NOUN
ap-3441	127	38	20	20	NUM
ap-3441	127	39	executes	execute	NOUN
ap-3441	127	40	at	at	ADP
ap-3441	127	41	most	most	ADJ
ap-3441	127	42	numagents	numagent	NOUN
ap-3441	127	43	.	.	PUNCT
ap-3441	128	1	hence	hence	ADV
ap-3441	128	2	,	,	PUNCT
ap-3441	128	3	the	the	DET
ap-3441	128	4	complexity	complexity	NOUN
ap-3441	128	5	for	for	ADP
ap-3441	128	6	algorithm	algorithm	NOUN
ap-3441	128	7	3	3	NUM
ap-3441	128	8	is	be	AUX
ap-3441	128	9	o(numangles2	o(numangles2	NOUN
ap-3441	128	10	∗	∗	NOUN
ap-3441	128	11	numagents2	numagents2	NOUN
ap-3441	128	12	)	)	PUNCT
ap-3441	128	13	.	.	PUNCT
ap-3441	129	1	results	result	NOUN
ap-3441	129	2	for	for	ADP
ap-3441	129	3	how	how	SCONJ
ap-3441	129	4	algorithm	algorithm	NOUN
ap-3441	129	5	3	3	NUM
ap-3441	129	6	,	,	PUNCT
ap-3441	129	7	as	as	ADV
ap-3441	129	8	well	well	ADV
ap-3441	129	9	as	as	ADP
ap-3441	129	10	algorithms	algorithm	NOUN
ap-3441	129	11	1	1	NUM
ap-3441	129	12	and	and	CCONJ
ap-3441	129	13	2	2	NUM
ap-3441	129	14	,	,	PUNCT
ap-3441	129	15	performed	perform	VERB
ap-3441	129	16	in	in	ADP
ap-3441	129	17	our	our	PRON
ap-3441	129	18	experiments	experiment	NOUN
ap-3441	129	19	can	can	AUX
ap-3441	129	20	be	be	AUX
ap-3441	129	21	found	find	VERB
ap-3441	129	22	in	in	ADP
ap-3441	129	23	the	the	DET
ap-3441	129	24	next	next	ADJ
ap-3441	129	25	section	section	NOUN
ap-3441	129	26	.	.	PUNCT
ap-3441	130	1	6	6	X
ap-3441	130	2	.	.	X
ap-3441	130	3	experiments	experiment	NOUN
ap-3441	130	4	in	in	ADP
ap-3441	130	5	this	this	DET
ap-3441	130	6	section	section	NOUN
ap-3441	130	7	we	we	PRON
ap-3441	130	8	describe	describe	VERB
ap-3441	130	9	our	our	PRON
ap-3441	130	10	experiments	experiment	NOUN
ap-3441	130	11	testing	test	VERB
ap-3441	130	12	the	the	DET
ap-3441	130	13	three	three	NUM
ap-3441	130	14	influencing	influence	VERB
ap-3441	130	15	agent	agent	NOUN
ap-3441	130	16	behaviors	behavior	NOUN
ap-3441	130	17	presented	present	VERB
ap-3441	130	18	in	in	ADP
ap-3441	130	19	sections	section	NOUN
ap-3441	130	20	3	3	NUM
ap-3441	130	21	,	,	PUNCT
ap-3441	130	22	4	4	NUM
ap-3441	130	23	,	,	PUNCT
ap-3441	130	24	and	and	CCONJ
ap-3441	130	25	5	5	NUM
ap-3441	130	26	against	against	ADP
ap-3441	130	27	some	some	DET
ap-3441	130	28	baseline	baseline	ADJ
ap-3441	130	29	methods	method	NOUN
ap-3441	130	30	described	describe	VERB
ap-3441	130	31	in	in	ADP
ap-3441	130	32	this	this	DET
ap-3441	130	33	section	section	NOUN
ap-3441	130	34	.	.	PUNCT
ap-3441	131	1	our	our	PRON
ap-3441	131	2	original	original	ADJ
ap-3441	131	3	hypothesis	hypothesis	NOUN
ap-3441	131	4	was	be	AUX
ap-3441	131	5	that	that	DET
ap-3441	131	6	algorithms	algorithms	NOUN
ap-3441	131	7	1	1	NUM
ap-3441	131	8	,	,	PUNCT
ap-3441	131	9	2	2	NUM
ap-3441	131	10	,	,	PUNCT
ap-3441	131	11	and	and	CCONJ
ap-3441	131	12	3	3	NUM
ap-3441	131	13	would	would	AUX
ap-3441	131	14	all	all	ADV
ap-3441	131	15	perform	perform	VERB
ap-3441	131	16	significantly	significantly	ADV
ap-3441	131	17	better	well	ADJ
ap-3441	131	18	than	than	ADP
ap-3441	131	19	the	the	DET
ap-3441	131	20	baseline	baseline	NOUN
ap-3441	131	21	methods	method	NOUN
ap-3441	131	22	.	.	PUNCT
ap-3441	132	1	we	we	PRON
ap-3441	132	2	also	also	ADV
ap-3441	132	3	believed	believe	VERB
ap-3441	132	4	that	that	SCONJ
ap-3441	132	5	algorithms	algorithm	NOUN
ap-3441	132	6	2	2	NUM
ap-3441	132	7	and	and	CCONJ
ap-3441	132	8	3	3	NUM
ap-3441	132	9	would	would	AUX
ap-3441	132	10	perform	perform	VERB
ap-3441	132	11	better	well	ADV
ap-3441	132	12	than	than	ADP
ap-3441	132	13	algorithm	algorithm	NOUN
ap-3441	132	14	1	1	NUM
ap-3441	132	15	.	.	X
ap-3441	132	16	6.1	6.1	NUM
ap-3441	132	17	.	.	PUNCT
ap-3441	132	18	baseline	baseline	PROPN
ap-3441	132	19	ad	ad	X
ap-3441	132	20	hoc	hoc	X
ap-3441	132	21	agent	agent	NOUN
ap-3441	132	22	behaviors	behavior	NOUN
ap-3441	132	23	in	in	ADP
ap-3441	132	24	this	this	DET
ap-3441	132	25	subsection	subsection	NOUN
ap-3441	132	26	we	we	PRON
ap-3441	132	27	describe	describe	VERB
ap-3441	132	28	two	two	NUM
ap-3441	132	29	behaviors	behavior	NOUN
ap-3441	132	30	which	which	PRON
ap-3441	132	31	we	we	PRON
ap-3441	132	32	use	use	VERB
ap-3441	132	33	as	as	ADP
ap-3441	132	34	comparison	comparison	NOUN
ap-3441	132	35	baselines	baseline	NOUN
ap-3441	132	36	for	for	ADP
ap-3441	132	37	the	the	DET
ap-3441	132	38	lookahead	lookahead	NOUN
ap-3441	132	39	and	and	CCONJ
ap-3441	132	40	22	22	NUM
ap-3441	132	41	vol	vol	NOUN
ap-3441	132	42	.	.	PUNCT
ap-3441	133	1	56	56	NUM
ap-3441	133	2	no	no	NOUN
ap-3441	133	3	.	.	PUNCT
ap-3441	134	1	1/2016	1/2016	NUM
ap-3441	134	2	ad	ad	NOUN
ap-3441	134	3	hoc	hoc	X
ap-3441	134	4	teamwork	teamwork	NOUN
ap-3441	134	5	behaviors	behavior	NOUN
ap-3441	134	6	for	for	ADP
ap-3441	134	7	influencing	influence	VERB
ap-3441	134	8	a	a	DET
ap-3441	134	9	flock	flock	NOUN
ap-3441	134	10	algorithm	algorithm	NOUN
ap-3441	134	11	3	3	NUM
ap-3441	134	12	bestorient	bestorient	NOUN
ap-3441	134	13	=	=	SYM
ap-3441	134	14	1stepcoordinated(neighofia	1stepcoordinated(neighofia	NUM
ap-3441	134	15	,	,	PUNCT
ap-3441	134	16	neighofp	neighofp	NOUN
ap-3441	134	17	)	)	PUNCT
ap-3441	134	18	1	1	NUM
ap-3441	134	19	:	:	PUNCT
ap-3441	134	20	bestorient←	bestorient←	PROPN
ap-3441	134	21	(	(	PUNCT
ap-3441	134	22	0	0	NUM
ap-3441	134	23	,	,	PUNCT
ap-3441	134	24	0	0	NUM
ap-3441	134	25	)	)	PUNCT
ap-3441	134	26	2	2	NUM
ap-3441	134	27	:	:	PUNCT
ap-3441	134	28	bestdiff←∞	bestdiff←∞	NOUN
ap-3441	134	29	3	3	NUM
ap-3441	134	30	:	:	PUNCT
ap-3441	134	31	for	for	SCONJ
ap-3441	134	32	each	each	DET
ap-3441	134	33	influencing	influence	VERB
ap-3441	134	34	agent	agent	NOUN
ap-3441	134	35	orient	orient	PROPN
ap-3441	134	36	iaorient	iaorient	PROPN
ap-3441	134	37	do	do	VERB
ap-3441	134	38	4	4	NUM
ap-3441	134	39	:	:	PUNCT
ap-3441	134	40	for	for	SCONJ
ap-3441	134	41	each	each	DET
ap-3441	134	42	influencing	influence	VERB
ap-3441	134	43	agent	agent	NOUN
ap-3441	134	44	orient	orient	PROPN
ap-3441	134	45	iaorientp	iaorientp	PROPN
ap-3441	134	46	do	do	VERB
ap-3441	134	47	5	5	NUM
ap-3441	134	48	:	:	PUNCT
ap-3441	134	49	norients←	norients←	NOUN
ap-3441	134	50	∅	∅	NOUN
ap-3441	134	51	6	6	NUM
ap-3441	134	52	:	:	PUNCT
ap-3441	134	53	for	for	ADP
ap-3441	134	54	n	n	DET
ap-3441	134	55	∈	∈	PROPN
ap-3441	134	56	neighofia	neighofia	NOUN
ap-3441	134	57	do	do	VERB
ap-3441	134	58	7	7	NUM
ap-3441	134	59	:	:	PUNCT
ap-3441	135	1	norient←	norient←	PROPN
ap-3441	135	2	(	(	PUNCT
ap-3441	135	3	0	0	NUM
ap-3441	135	4	,	,	PUNCT
ap-3441	135	5	0	0	NUM
ap-3441	135	6	)	)	PUNCT
ap-3441	135	7	8	8	NUM
ap-3441	135	8	:	:	PUNCT
ap-3441	135	9	for	for	ADP
ap-3441	135	10	n	n	CCONJ
ap-3441	135	11	’	'	PUNCT
ap-3441	135	12	∈	∈	NOUN
ap-3441	135	13	n.neighbors	n.neighbor	NOUN
ap-3441	135	14	do	do	VERB
ap-3441	135	15	9	9	NUM
ap-3441	135	16	:	:	PUNCT
ap-3441	135	17	if	if	SCONJ
ap-3441	135	18	n	n	CCONJ
ap-3441	135	19	’	'	PUNCT
ap-3441	135	20	is	be	AUX
ap-3441	135	21	the	the	DET
ap-3441	135	22	influencing	influence	VERB
ap-3441	135	23	agent	agent	NOUN
ap-3441	135	24	then	then	ADV
ap-3441	135	25	10	10	NUM
ap-3441	135	26	:	:	PUNCT
ap-3441	135	27	norient←	norient←	VERB
ap-3441	135	28	norient	norient	NOUN
ap-3441	135	29	+	+	CCONJ
ap-3441	135	30	iaorient	iaorient	PROPN
ap-3441	135	31	11	11	NUM
ap-3441	135	32	:	:	PUNCT
ap-3441	135	33	else	else	ADV
ap-3441	135	34	if	if	SCONJ
ap-3441	135	35	n	n	CCONJ
ap-3441	135	36	’	'	PUNCT
ap-3441	135	37	is	be	AUX
ap-3441	135	38	the	the	DET
ap-3441	135	39	influencing	influence	VERB
ap-3441	135	40	agent	agent	NOUN
ap-3441	135	41	’s	’s	PART
ap-3441	135	42	partner	partner	NOUN
ap-3441	135	43	then	then	ADV
ap-3441	135	44	12	12	NUM
ap-3441	135	45	:	:	PUNCT
ap-3441	136	1	norient←	norient←	VERB
ap-3441	136	2	norient	norient	NOUN
ap-3441	136	3	+	+	CCONJ
ap-3441	136	4	iaorientp	iaorientp	ADJ
ap-3441	136	5	13	13	NUM
ap-3441	136	6	:	:	PUNCT
ap-3441	136	7	else	else	ADV
ap-3441	136	8	14	14	NUM
ap-3441	136	9	:	:	PUNCT
ap-3441	136	10	norient←	norient←	VERB
ap-3441	136	11	norient	norient	NOUN
ap-3441	136	12	+	+	CCONJ
ap-3441	136	13	n’.vel	n’.vel	VERB
ap-3441	136	14	15	15	NUM
ap-3441	136	15	:	:	PUNCT
ap-3441	136	16	norient←	norient←	PROPN
ap-3441	136	17	norient	norient	NOUN
ap-3441	136	18	|n.neighbors|	|n.neighbors|	PROPN
ap-3441	136	19	16	16	NUM
ap-3441	136	20	:	:	PUNCT
ap-3441	137	1	norients←	norients←	NOUN
ap-3441	137	2	{	{	PUNCT
ap-3441	137	3	norient	norient	NOUN
ap-3441	137	4	}	}	PUNCT
ap-3441	137	5	∪	∪	VERB
ap-3441	137	6	norients	norient	NOUN
ap-3441	137	7	17	17	NUM
ap-3441	137	8	:	:	PUNCT
ap-3441	137	9	norientsp←	norientsp←	NOUN
ap-3441	137	10	∅	∅	VERB
ap-3441	137	11	18	18	NUM
ap-3441	137	12	:	:	PUNCT
ap-3441	137	13	for	for	ADP
ap-3441	137	14	n	n	DET
ap-3441	137	15	∈	∈	PROPN
ap-3441	137	16	neighofp	neighofp	NOUN
ap-3441	137	17	do	do	VERB
ap-3441	137	18	19	19	NUM
ap-3441	137	19	:	:	PUNCT
ap-3441	137	20	norient←	norient←	PROPN
ap-3441	137	21	(	(	PUNCT
ap-3441	137	22	0	0	NUM
ap-3441	137	23	,	,	PUNCT
ap-3441	137	24	0	0	NUM
ap-3441	137	25	)	)	PUNCT
ap-3441	137	26	20	20	NUM
ap-3441	137	27	:	:	PUNCT
ap-3441	137	28	for	for	ADP
ap-3441	137	29	n	n	CCONJ
ap-3441	137	30	’	'	PUNCT
ap-3441	137	31	∈	∈	NOUN
ap-3441	137	32	n.neighbors	n.neighbor	NOUN
ap-3441	137	33	do	do	VERB
ap-3441	137	34	21	21	NUM
ap-3441	137	35	:	:	PUNCT
ap-3441	137	36	if	if	SCONJ
ap-3441	137	37	n	n	CCONJ
ap-3441	137	38	’	'	PUNCT
ap-3441	137	39	is	be	AUX
ap-3441	137	40	the	the	DET
ap-3441	137	41	influencing	influence	VERB
ap-3441	137	42	agent	agent	NOUN
ap-3441	137	43	then	then	ADV
ap-3441	137	44	22	22	NUM
ap-3441	137	45	:	:	PUNCT
ap-3441	138	1	norient←	norient←	VERB
ap-3441	138	2	norient	norient	NOUN
ap-3441	138	3	+	+	CCONJ
ap-3441	138	4	iaorient	iaorient	PROPN
ap-3441	138	5	23	23	NUM
ap-3441	138	6	:	:	PUNCT
ap-3441	138	7	else	else	ADV
ap-3441	138	8	if	if	SCONJ
ap-3441	138	9	n.neighbors.get(n	n.neighbors.get(n	PRON
ap-3441	138	10	’	'	PUNCT
ap-3441	138	11	)	)	PUNCT
ap-3441	138	12	is	be	AUX
ap-3441	138	13	influencing	influence	VERB
ap-3441	138	14	agent	agent	NOUN
ap-3441	138	15	’s	’s	PART
ap-3441	138	16	partner	partner	NOUN
ap-3441	138	17	then	then	ADV
ap-3441	138	18	24	24	NUM
ap-3441	138	19	:	:	PUNCT
ap-3441	138	20	norient←	norient←	NOUN
ap-3441	138	21	norient	norient	NOUN
ap-3441	138	22	+	+	CCONJ
ap-3441	138	23	iaorientp	iaorientp	PROPN
ap-3441	138	24	25	25	NUM
ap-3441	138	25	:	:	PUNCT
ap-3441	138	26	else	else	ADV
ap-3441	138	27	26	26	NUM
ap-3441	138	28	:	:	PUNCT
ap-3441	138	29	norient←	norient←	VERB
ap-3441	138	30	norient	norient	NOUN
ap-3441	138	31	+	+	CCONJ
ap-3441	138	32	n’.vel	n’.vel	VERB
ap-3441	138	33	27	27	NUM
ap-3441	138	34	:	:	PUNCT
ap-3441	138	35	norient←	norient←	PROPN
ap-3441	138	36	norient	norient	NOUN
ap-3441	138	37	|n.neighbors|	|n.neighbors|	PROPN
ap-3441	138	38	28	28	NUM
ap-3441	138	39	:	:	PUNCT
ap-3441	138	40	if	if	SCONJ
ap-3441	138	41	n	n	PROPN
ap-3441	138	42	6∈	6∈	NOUN
ap-3441	138	43	neighofia	neighofia	NOUN
ap-3441	138	44	then	then	ADV
ap-3441	138	45	29	29	NUM
ap-3441	138	46	:	:	PUNCT
ap-3441	138	47	norientsp←	norientsp←	NOUN
ap-3441	138	48	{	{	PUNCT
ap-3441	138	49	norient	norient	NOUN
ap-3441	138	50	}	}	PUNCT
ap-3441	138	51	∪	∪	X
ap-3441	138	52	norientsp	norientsp	NOUN
ap-3441	138	53	30	30	NUM
ap-3441	138	54	:	:	PUNCT
ap-3441	139	1	diff←	diff←	VERB
ap-3441	139	2	the	the	DET
ap-3441	139	3	avg	avg	PROPN
ap-3441	139	4	diff	diff	NOUN
ap-3441	139	5	between	between	ADP
ap-3441	139	6	vectors	vector	NOUN
ap-3441	139	7	norients	norient	NOUN
ap-3441	139	8	and	and	CCONJ
ap-3441	139	9	θ∗	θ∗	NOUN
ap-3441	139	10	and	and	CCONJ
ap-3441	139	11	between	between	ADP
ap-3441	139	12	vectors	vector	NOUN
ap-3441	139	13	norientsp	norientsp	NOUN
ap-3441	139	14	and	and	CCONJ
ap-3441	139	15	θ∗	θ∗	NOUN
ap-3441	139	16	31	31	NUM
ap-3441	139	17	:	:	PUNCT
ap-3441	139	18	if	if	SCONJ
ap-3441	139	19	diff	diff	PROPN
ap-3441	139	20	<	<	X
ap-3441	139	21	bestdiff	bestdiff	NOUN
ap-3441	139	22	then	then	ADV
ap-3441	139	23	32	32	NUM
ap-3441	139	24	:	:	PUNCT
ap-3441	139	25	bestdiff←	bestdiff←	NOUN
ap-3441	139	26	diff	diff	NOUN
ap-3441	139	27	33	33	NUM
ap-3441	139	28	:	:	PUNCT
ap-3441	139	29	bestorient←	bestorient←	PROPN
ap-3441	139	30	iaorient	iaorient	VERB
ap-3441	139	31	34	34	NUM
ap-3441	139	32	:	:	PUNCT
ap-3441	139	33	return	return	VERB
ap-3441	139	34	bestorient	bestorient	NOUN
ap-3441	139	35	coordinated	coordinated	ADJ
ap-3441	139	36	influencing	influence	VERB
ap-3441	139	37	agent	agent	NOUN
ap-3441	139	38	behaviors	behavior	NOUN
ap-3441	139	39	presented	present	VERB
ap-3441	139	40	in	in	ADP
ap-3441	139	41	sections	section	NOUN
ap-3441	139	42	3	3	NUM
ap-3441	139	43	,	,	PUNCT
ap-3441	139	44	4	4	NUM
ap-3441	139	45	and	and	CCONJ
ap-3441	139	46	5	5	NUM
ap-3441	139	47	.	.	X
ap-3441	139	48	6.1.1	6.1.1	NUM
ap-3441	139	49	.	.	X
ap-3441	139	50	face	face	NOUN
ap-3441	139	51	desired	desire	VERB
ap-3441	139	52	orientation	orientation	NOUN
ap-3441	139	53	behavior	behavior	NOUN
ap-3441	139	54	when	when	SCONJ
ap-3441	139	55	following	follow	VERB
ap-3441	139	56	this	this	DET
ap-3441	139	57	behavior	behavior	NOUN
ap-3441	139	58	,	,	PUNCT
ap-3441	139	59	the	the	DET
ap-3441	139	60	influencing	influence	VERB
ap-3441	139	61	agents	agent	NOUN
ap-3441	139	62	always	always	ADV
ap-3441	139	63	orient	orient	VERB
ap-3441	139	64	towards	towards	ADP
ap-3441	139	65	θ∗.	θ∗.	PROPN
ap-3441	139	66	note	note	VERB
ap-3441	139	67	that	that	SCONJ
ap-3441	139	68	under	under	ADP
ap-3441	139	69	this	this	DET
ap-3441	139	70	behavior	behavior	NOUN
ap-3441	139	71	the	the	DET
ap-3441	139	72	influencing	influence	VERB
ap-3441	139	73	agents	agent	NOUN
ap-3441	139	74	do	do	AUX
ap-3441	139	75	not	not	PART
ap-3441	139	76	consider	consider	VERB
ap-3441	139	77	their	their	PRON
ap-3441	139	78	neighbors	neighbor	NOUN
ap-3441	139	79	or	or	CCONJ
ap-3441	139	80	anything	anything	PRON
ap-3441	139	81	about	about	ADP
ap-3441	139	82	their	their	PRON
ap-3441	139	83	environment	environment	NOUN
ap-3441	139	84	when	when	SCONJ
ap-3441	139	85	determining	determine	VERB
ap-3441	139	86	how	how	SCONJ
ap-3441	139	87	to	to	PART
ap-3441	139	88	behave	behave	VERB
ap-3441	139	89	.	.	PUNCT
ap-3441	140	1	this	this	DET
ap-3441	140	2	behavior	behavior	NOUN
ap-3441	140	3	is	be	AUX
ap-3441	140	4	modeled	model	VERB
ap-3441	140	5	after	after	ADP
ap-3441	140	6	work	work	NOUN
ap-3441	140	7	by	by	ADP
ap-3441	140	8	jadbabaie	jadbabaie	PROPN
ap-3441	140	9	,	,	PUNCT
ap-3441	140	10	lin	lin	PROPN
ap-3441	140	11	,	,	PUNCT
ap-3441	140	12	and	and	CCONJ
ap-3441	140	13	morse	morse	VERB
ap-3441	141	1	[	[	X
ap-3441	141	2	6	6	NUM
ap-3441	141	3	]	]	PUNCT
ap-3441	141	4	.	.	PUNCT
ap-3441	142	1	they	they	PRON
ap-3441	142	2	show	show	VERB
ap-3441	142	3	that	that	SCONJ
ap-3441	142	4	a	a	DET
ap-3441	142	5	flock	flock	NOUN
ap-3441	142	6	with	with	ADP
ap-3441	142	7	a	a	DET
ap-3441	142	8	controllable	controllable	ADJ
ap-3441	142	9	agent	agent	NOUN
ap-3441	142	10	will	will	AUX
ap-3441	142	11	eventually	eventually	ADV
ap-3441	142	12	converge	converge	VERB
ap-3441	142	13	to	to	ADP
ap-3441	142	14	the	the	DET
ap-3441	142	15	controllable	controllable	ADJ
ap-3441	142	16	agent	agent	NOUN
ap-3441	142	17	’s	’s	PART
ap-3441	142	18	heading	heading	NOUN
ap-3441	142	19	.	.	PUNCT
ap-3441	143	1	hence	hence	ADV
ap-3441	143	2	,	,	PUNCT
ap-3441	143	3	the	the	DET
ap-3441	143	4	face	face	NOUN
ap-3441	143	5	desired	desire	VERB
ap-3441	143	6	orientation	orientation	NOUN
ap-3441	143	7	influencing	influence	VERB
ap-3441	143	8	agent	agent	NOUN
ap-3441	143	9	behavior	behavior	NOUN
ap-3441	143	10	is	be	AUX
ap-3441	143	11	essentially	essentially	ADV
ap-3441	143	12	the	the	DET
ap-3441	143	13	behavior	behavior	NOUN
ap-3441	143	14	described	describe	VERB
ap-3441	143	15	in	in	ADP
ap-3441	143	16	their	their	PRON
ap-3441	143	17	work	work	NOUN
ap-3441	143	18	,	,	PUNCT
ap-3441	143	19	except	except	SCONJ
ap-3441	143	20	that	that	SCONJ
ap-3441	143	21	in	in	ADP
ap-3441	143	22	our	our	PRON
ap-3441	143	23	experiments	experiment	NOUN
ap-3441	143	24	we	we	PRON
ap-3441	143	25	include	include	VERB
ap-3441	143	26	multiple	multiple	ADJ
ap-3441	143	27	controllable	controllable	ADJ
ap-3441	143	28	agents	agent	NOUN
ap-3441	143	29	facing	face	VERB
ap-3441	143	30	θ∗.	θ∗.	PROPN
ap-3441	143	31	6.1.2	6.1.2	PROPN
ap-3441	143	32	.	.	PUNCT
ap-3441	143	33	offset	offset	VERB
ap-3441	143	34	momentum	momentum	NOUN
ap-3441	143	35	behavior	behavior	NOUN
ap-3441	143	36	under	under	ADP
ap-3441	143	37	this	this	DET
ap-3441	143	38	behavior	behavior	NOUN
ap-3441	143	39	,	,	PUNCT
ap-3441	143	40	each	each	DET
ap-3441	143	41	influencing	influence	VERB
ap-3441	143	42	agent	agent	NOUN
ap-3441	143	43	calculates	calculate	VERB
ap-3441	143	44	the	the	DET
ap-3441	143	45	vector	vector	NOUN
ap-3441	143	46	sum	sum	NOUN
ap-3441	143	47	v	v	NOUN
ap-3441	143	48	of	of	ADP
ap-3441	143	49	the	the	DET
ap-3441	143	50	velocity	velocity	NOUN
ap-3441	143	51	vectors	vector	NOUN
ap-3441	143	52	of	of	ADP
ap-3441	143	53	its	its	PRON
ap-3441	143	54	neighbors	neighbor	NOUN
ap-3441	143	55	and	and	CCONJ
ap-3441	143	56	then	then	ADV
ap-3441	143	57	adopts	adopt	VERB
ap-3441	143	58	an	an	DET
ap-3441	143	59	orientation	orientation	NOUN
ap-3441	143	60	along	along	ADP
ap-3441	143	61	the	the	DET
ap-3441	143	62	vector	vector	NOUN
ap-3441	143	63	v	v	NOUN
ap-3441	143	64	′	′	NUM
ap-3441	143	65	such	such	ADJ
ap-3441	143	66	that	that	SCONJ
ap-3441	143	67	the	the	DET
ap-3441	143	68	vector	vector	NOUN
ap-3441	143	69	sum	sum	NOUN
ap-3441	143	70	of	of	ADP
ap-3441	143	71	v	v	NOUN
ap-3441	143	72	and	and	CCONJ
ap-3441	143	73	v	v	NOUN
ap-3441	143	74	′	′	NUM
ap-3441	143	75	points	point	NOUN
ap-3441	143	76	towards	towards	ADP
ap-3441	143	77	θ∗.	θ∗.	PROPN
ap-3441	143	78	see	see	VERB
ap-3441	143	79	figure	figure	NOUN
ap-3441	143	80	3	3	NUM
ap-3441	143	81	for	for	ADP
ap-3441	143	82	an	an	DET
ap-3441	143	83	example	example	NOUN
ap-3441	143	84	calculation	calculation	NOUN
ap-3441	143	85	.	.	PUNCT
ap-3441	144	1	in	in	ADP
ap-3441	144	2	figure	figure	NOUN
ap-3441	144	3	3	3	NUM
ap-3441	144	4	,	,	PUNCT
ap-3441	144	5	the	the	DET
ap-3441	144	6	velocity	velocity	NOUN
ap-3441	144	7	vectors	vector	NOUN
ap-3441	144	8	of	of	ADP
ap-3441	144	9	each	each	DET
ap-3441	144	10	neighbor	neighbor	NOUN
ap-3441	144	11	are	be	AUX
ap-3441	144	12	summed	sum	VERB
ap-3441	144	13	in	in	ADP
ap-3441	144	14	the	the	DET
ap-3441	144	15	first	first	ADJ
ap-3441	144	16	line	line	NOUN
ap-3441	144	17	of	of	ADP
ap-3441	144	18	calculations	calculation	NOUN
ap-3441	144	19	.	.	PUNCT
ap-3441	145	1	in	in	ADP
ap-3441	145	2	the	the	DET
ap-3441	145	3	second	second	ADJ
ap-3441	145	4	line	line	NOUN
ap-3441	145	5	of	of	ADP
ap-3441	145	6	calculations	calculation	NOUN
ap-3441	145	7	,	,	PUNCT
ap-3441	145	8	the	the	DET
ap-3441	145	9	vector	vector	NOUN
ap-3441	145	10	sum	sum	NOUN
ap-3441	145	11	of	of	ADP
ap-3441	145	12	the	the	DET
ap-3441	145	13	influencing	influence	VERB
ap-3441	145	14	agent	agent	NOUN
ap-3441	145	15	’s	’s	PART
ap-3441	145	16	orientation	orientation	NOUN
ap-3441	145	17	and	and	CCONJ
ap-3441	145	18	the	the	DET
ap-3441	145	19	results	result	NOUN
ap-3441	145	20	of	of	ADP
ap-3441	145	21	the	the	DET
ap-3441	145	22	first	first	ADJ
ap-3441	145	23	line	line	NOUN
ap-3441	145	24	must	must	AUX
ap-3441	145	25	equal	equal	VERB
ap-3441	145	26	θ∗	θ∗	NOUN
ap-3441	145	27	,	,	PUNCT
ap-3441	145	28	which	which	PRON
ap-3441	145	29	in	in	ADP
ap-3441	145	30	this	this	DET
ap-3441	145	31	example	example	NOUN
ap-3441	145	32	is	be	AUX
ap-3441	145	33	pointing	point	VERB
ap-3441	145	34	directly	directly	ADV
ap-3441	145	35	south	south	ADV
ap-3441	145	36	.	.	PUNCT
ap-3441	146	1	from	from	ADP
ap-3441	146	2	the	the	DET
ap-3441	146	3	equation	equation	NOUN
ap-3441	146	4	on	on	ADP
ap-3441	146	5	the	the	DET
ap-3441	146	6	second	second	ADJ
ap-3441	146	7	line	line	NOUN
ap-3441	146	8	of	of	ADP
ap-3441	146	9	calculations	calculation	NOUN
ap-3441	146	10	,	,	PUNCT
ap-3441	146	11	the	the	DET
ap-3441	146	12	new	new	ADJ
ap-3441	146	13	influencing	influence	VERB
ap-3441	146	14	agent	agent	NOUN
ap-3441	146	15	orientation	orientation	NOUN
ap-3441	146	16	vector	vector	NOUN
ap-3441	146	17	can	can	AUX
ap-3441	146	18	be	be	AUX
ap-3441	146	19	found	find	VERB
ap-3441	146	20	by	by	ADP
ap-3441	146	21	vector	vector	NOUN
ap-3441	146	22	subtraction	subtraction	NOUN
ap-3441	146	23	.	.	PUNCT
ap-3441	147	1	this	this	DET
ap-3441	147	2	vector	vector	NOUN
ap-3441	147	3	is	be	AUX
ap-3441	147	4	displayed	display	VERB
ap-3441	147	5	and	and	CCONJ
ap-3441	147	6	then	then	ADV
ap-3441	147	7	scaled	scale	VERB
ap-3441	147	8	to	to	PART
ap-3441	147	9	maintain	maintain	VERB
ap-3441	147	10	constant	constant	ADJ
ap-3441	147	11	velocity	velocity	NOUN
ap-3441	147	12	on	on	ADP
ap-3441	147	13	the	the	DET
ap-3441	147	14	third	third	ADJ
ap-3441	147	15	line	line	NOUN
ap-3441	147	16	of	of	ADP
ap-3441	147	17	calculations	calculation	NOUN
ap-3441	147	18	.	.	PUNCT
ap-3441	148	1	this	this	DET
ap-3441	148	2	influencing	influence	VERB
ap-3441	148	3	agent	agent	NOUN
ap-3441	148	4	behavior	behavior	NOUN
ap-3441	148	5	was	be	AUX
ap-3441	148	6	inspired	inspire	VERB
ap-3441	148	7	by	by	ADP
ap-3441	148	8	our	our	PRON
ap-3441	148	9	previous	previous	ADJ
ap-3441	148	10	work	work	NOUN
ap-3441	148	11	[	[	X
ap-3441	148	12	9	9	NUM
ap-3441	148	13	]	]	PUNCT
ap-3441	148	14	.	.	PUNCT
ap-3441	149	1	in	in	ADP
ap-3441	149	2	this	this	DET
ap-3441	149	3	work	work	NOUN
ap-3441	149	4	,	,	PUNCT
ap-3441	149	5	we	we	PRON
ap-3441	149	6	showed	show	VERB
ap-3441	149	7	how	how	SCONJ
ap-3441	149	8	to	to	PART
ap-3441	149	9	optimally	optimally	ADV
ap-3441	149	10	orient	orient	VERB
ap-3441	149	11	a	a	DET
ap-3441	149	12	stationary	stationary	ADJ
ap-3441	149	13	agent	agent	NOUN
ap-3441	149	14	to	to	ADP
ap-3441	149	15	a	a	DET
ap-3441	149	16	desired	desire	VERB
ap-3441	149	17	orientation	orientation	NOUN
ap-3441	149	18	using	use	VERB
ap-3441	149	19	a	a	DET
ap-3441	149	20	set	set	NOUN
ap-3441	149	21	of	of	ADP
ap-3441	149	22	stationary	stationary	ADJ
ap-3441	149	23	influencing	influence	VERB
ap-3441	149	24	agents	agent	NOUN
ap-3441	149	25	.	.	PUNCT
ap-3441	150	1	in	in	ADP
ap-3441	150	2	particular	particular	ADJ
ap-3441	150	3	,	,	PUNCT
ap-3441	150	4	we	we	PRON
ap-3441	150	5	presented	present	VERB
ap-3441	150	6	an	an	DET
ap-3441	150	7	algorithm	algorithm	NOUN
ap-3441	150	8	which	which	PRON
ap-3441	150	9	the	the	DET
ap-3441	150	10	influencing	influence	VERB
ap-3441	150	11	agents	agent	NOUN
ap-3441	150	12	could	could	AUX
ap-3441	150	13	utilize	utilize	VERB
ap-3441	150	14	to	to	PART
ap-3441	150	15	orient	orient	VERB
ap-3441	150	16	the	the	DET
ap-3441	150	17	agent	agent	NOUN
ap-3441	150	18	to	to	ADP
ap-3441	150	19	the	the	DET
ap-3441	150	20	desired	desire	VERB
ap-3441	150	21	orientation	orientation	NOUN
ap-3441	150	22	in	in	ADP
ap-3441	150	23	the	the	DET
ap-3441	150	24	least	least	ADJ
ap-3441	150	25	number	number	NOUN
ap-3441	150	26	of	of	ADP
ap-3441	150	27	steps	step	NOUN
ap-3441	150	28	possible	possible	ADJ
ap-3441	150	29	.	.	PUNCT
ap-3441	151	1	our	our	PRON
ap-3441	151	2	offset	offset	ADJ
ap-3441	151	3	momentum	momentum	NOUN
ap-3441	151	4	influencing	influence	VERB
ap-3441	151	5	agent	agent	NOUN
ap-3441	151	6	behavior	behavior	NOUN
ap-3441	151	7	implements	implement	VERB
ap-3441	151	8	this	this	DET
ap-3441	151	9	algorithm	algorithm	NOUN
ap-3441	151	10	.	.	PUNCT
ap-3441	152	1	however	however	ADV
ap-3441	152	2	,	,	PUNCT
ap-3441	152	3	this	this	DET
ap-3441	152	4	algorithm	algorithm	NOUN
ap-3441	152	5	assumes	assume	VERB
ap-3441	152	6	that	that	SCONJ
ap-3441	152	7	the	the	DET
ap-3441	152	8	agent	agent	NOUN
ap-3441	152	9	is	be	AUX
ap-3441	152	10	only	only	ADV
ap-3441	152	11	influenced	influence	VERB
ap-3441	152	12	23	23	NUM
ap-3441	152	13	katie	katie	PROPN
ap-3441	152	14	genter	genter	PROPN
ap-3441	152	15	,	,	PUNCT
ap-3441	152	16	peter	peter	PROPN
ap-3441	152	17	stone	stone	PROPN
ap-3441	152	18	acta	acta	PROPN
ap-3441	152	19	polytechnica	polytechnica	PROPN
ap-3441	152	20	orientation	orientation	NOUN
ap-3441	152	21	ad	ad	NOUN
ap-3441	152	22	hoc	hoc	X
ap-3441	152	23	orientation	orientation	NOUN
ap-3441	152	24	ad	ad	NOUN
ap-3441	152	25	hoc	hoc	X
ap-3441	152	26	=	=	SYM
ap-3441	152	27	+	+	SYM
ap-3441	152	28	=	=	ADJ
ap-3441	152	29	+	+	SYM
ap-3441	152	30	=	=	SYM
ap-3441	152	31	+	+	CCONJ
ap-3441	152	32	≈	≈	PROPN
ap-3441	152	33	figure	figure	NOUN
ap-3441	152	34	3	3	NUM
ap-3441	152	35	.	.	PUNCT
ap-3441	152	36	an	an	DET
ap-3441	152	37	example	example	NOUN
ap-3441	152	38	of	of	ADP
ap-3441	152	39	how	how	SCONJ
ap-3441	152	40	the	the	DET
ap-3441	152	41	offset	offset	NOUN
ap-3441	152	42	momentum	momentum	NOUN
ap-3441	152	43	influencing	influence	VERB
ap-3441	152	44	agent	agent	NOUN
ap-3441	152	45	behavior	behavior	NOUN
ap-3441	152	46	works	work	VERB
ap-3441	152	47	.	.	PUNCT
ap-3441	153	1	the	the	DET
ap-3441	153	2	influencing	influence	VERB
ap-3441	153	3	agent	agent	NOUN
ap-3441	153	4	is	be	AUX
ap-3441	153	5	the	the	DET
ap-3441	153	6	black	black	ADJ
ap-3441	153	7	dot	dot	NOUN
ap-3441	153	8	,	,	PUNCT
ap-3441	153	9	the	the	DET
ap-3441	153	10	circle	circle	NOUN
ap-3441	153	11	represents	represent	VERB
ap-3441	153	12	the	the	DET
ap-3441	153	13	influencing	influence	VERB
ap-3441	153	14	agent	agent	NOUN
ap-3441	153	15	’s	’s	PART
ap-3441	153	16	neighborhood	neighborhood	NOUN
ap-3441	153	17	,	,	PUNCT
ap-3441	153	18	and	and	CCONJ
ap-3441	153	19	the	the	DET
ap-3441	153	20	three	three	NUM
ap-3441	153	21	arrows	arrow	NOUN
ap-3441	153	22	inside	inside	ADP
ap-3441	153	23	the	the	DET
ap-3441	153	24	circle	circle	NOUN
ap-3441	153	25	represent	represent	VERB
ap-3441	153	26	the	the	DET
ap-3441	153	27	influencing	influence	VERB
ap-3441	153	28	agent	agent	NOUN
ap-3441	153	29	’s	’s	PART
ap-3441	153	30	neighbors	neighbor	NOUN
ap-3441	153	31	.	.	PUNCT
ap-3441	154	1	by	by	ADP
ap-3441	154	2	influencing	influence	VERB
ap-3441	154	3	agents	agent	NOUN
ap-3441	154	4	within	within	ADP
ap-3441	154	5	its	its	PRON
ap-3441	154	6	neighborhood	neighborhood	NOUN
ap-3441	154	7	.	.	PUNCT
ap-3441	155	1	hence	hence	ADV
ap-3441	155	2	,	,	PUNCT
ap-3441	155	3	it	it	PRON
ap-3441	155	4	is	be	AUX
ap-3441	155	5	not	not	PART
ap-3441	155	6	optimal	optimal	ADJ
ap-3441	155	7	in	in	ADP
ap-3441	155	8	our	our	PRON
ap-3441	155	9	experimental	experimental	ADJ
ap-3441	155	10	setting	setting	NOUN
ap-3441	155	11	because	because	SCONJ
ap-3441	155	12	each	each	DET
ap-3441	155	13	agent	agent	NOUN
ap-3441	155	14	being	be	AUX
ap-3441	155	15	influenced	influence	VERB
ap-3441	155	16	by	by	ADP
ap-3441	155	17	an	an	DET
ap-3441	155	18	influencing	influence	VERB
ap-3441	155	19	agent	agent	NOUN
ap-3441	155	20	is	be	AUX
ap-3441	155	21	usually	usually	ADV
ap-3441	155	22	also	also	ADV
ap-3441	155	23	being	be	AUX
ap-3441	155	24	influenced	influence	VERB
ap-3441	155	25	by	by	ADP
ap-3441	155	26	other	other	ADJ
ap-3441	155	27	agents	agent	NOUN
ap-3441	155	28	.	.	PUNCT
ap-3441	156	1	6.2	6.2	NUM
ap-3441	156	2	.	.	PUNCT
ap-3441	157	1	experimental	experimental	ADJ
ap-3441	157	2	setup	setup	NOUN
ap-3441	157	3	we	we	PRON
ap-3441	157	4	utilize	utilize	VERB
ap-3441	157	5	the	the	DET
ap-3441	157	6	mason	mason	PROPN
ap-3441	157	7	simulator	simulator	NOUN
ap-3441	158	1	[	[	X
ap-3441	158	2	8	8	NUM
ap-3441	158	3	]	]	PUNCT
ap-3441	158	4	for	for	ADP
ap-3441	158	5	our	our	PRON
ap-3441	158	6	experiments	experiment	NOUN
ap-3441	158	7	in	in	ADP
ap-3441	158	8	this	this	DET
ap-3441	158	9	paper	paper	NOUN
ap-3441	158	10	.	.	PUNCT
ap-3441	159	1	the	the	DET
ap-3441	159	2	mason	mason	PROPN
ap-3441	159	3	simulator	simulator	PROPN
ap-3441	159	4	was	be	AUX
ap-3441	159	5	introduced	introduce	VERB
ap-3441	159	6	in	in	ADP
ap-3441	159	7	section	section	NOUN
ap-3441	159	8	2.1	2.1	NUM
ap-3441	159	9	,	,	PUNCT
ap-3441	159	10	but	but	CCONJ
ap-3441	159	11	in	in	ADP
ap-3441	159	12	this	this	DET
ap-3441	159	13	section	section	NOUN
ap-3441	159	14	we	we	PRON
ap-3441	159	15	present	present	VERB
ap-3441	159	16	the	the	DET
ap-3441	159	17	details	detail	NOUN
ap-3441	159	18	of	of	ADP
ap-3441	159	19	the	the	DET
ap-3441	159	20	environment	environment	NOUN
ap-3441	159	21	that	that	PRON
ap-3441	159	22	are	be	AUX
ap-3441	159	23	important	important	ADJ
ap-3441	159	24	for	for	ADP
ap-3441	159	25	completely	completely	ADV
ap-3441	159	26	understanding	understand	VERB
ap-3441	159	27	our	our	PRON
ap-3441	159	28	experimental	experimental	ADJ
ap-3441	159	29	setup	setup	NOUN
ap-3441	159	30	.	.	PUNCT
ap-3441	160	1	we	we	PRON
ap-3441	160	2	use	use	VERB
ap-3441	160	3	the	the	DET
ap-3441	160	4	default	default	NOUN
ap-3441	160	5	simulator	simulator	NOUN
ap-3441	160	6	setting	setting	NOUN
ap-3441	160	7	of	of	ADP
ap-3441	160	8	150	150	NUM
ap-3441	160	9	units	unit	NOUN
ap-3441	160	10	for	for	ADP
ap-3441	160	11	the	the	DET
ap-3441	160	12	height	height	NOUN
ap-3441	160	13	and	and	CCONJ
ap-3441	160	14	width	width	NOUN
ap-3441	160	15	of	of	ADP
ap-3441	160	16	our	our	PRON
ap-3441	160	17	experimental	experimental	ADJ
ap-3441	160	18	domain	domain	NOUN
ap-3441	160	19	.	.	PUNCT
ap-3441	161	1	likewise	likewise	ADV
ap-3441	161	2	,	,	PUNCT
ap-3441	161	3	we	we	PRON
ap-3441	161	4	use	use	VERB
ap-3441	161	5	the	the	DET
ap-3441	161	6	default	default	NOUN
ap-3441	161	7	setting	setting	NOUN
ap-3441	161	8	in	in	ADP
ap-3441	161	9	which	which	PRON
ap-3441	161	10	each	each	DET
ap-3441	161	11	agent	agent	NOUN
ap-3441	161	12	moves	move	VERB
ap-3441	161	13	0.7	0.7	NUM
ap-3441	161	14	units	unit	NOUN
ap-3441	161	15	during	during	ADP
ap-3441	161	16	each	each	DET
ap-3441	161	17	time	time	NOUN
ap-3441	161	18	step	step	NOUN
ap-3441	161	19	.	.	PUNCT
ap-3441	162	1	the	the	DET
ap-3441	162	2	number	number	NOUN
ap-3441	162	3	of	of	ADP
ap-3441	162	4	agents	agent	NOUN
ap-3441	162	5	in	in	ADP
ap-3441	162	6	our	our	PRON
ap-3441	162	7	simulation	simulation	NOUN
ap-3441	162	8	(	(	PUNCT
ap-3441	162	9	numagents	numagent	NOUN
ap-3441	162	10	)	)	PUNCT
ap-3441	162	11	is	be	AUX
ap-3441	162	12	200	200	NUM
ap-3441	162	13	,	,	PUNCT
ap-3441	162	14	meaning	mean	VERB
ap-3441	162	15	that	that	SCONJ
ap-3441	162	16	there	there	PRON
ap-3441	162	17	are	be	VERB
ap-3441	162	18	200	200	NUM
ap-3441	162	19	agents	agent	NOUN
ap-3441	162	20	in	in	ADP
ap-3441	162	21	our	our	PRON
ap-3441	162	22	flock	flock	NOUN
ap-3441	162	23	.	.	PUNCT
ap-3441	163	1	10	10	NUM
ap-3441	163	2	%	%	NOUN
ap-3441	163	3	of	of	ADP
ap-3441	163	4	the	the	DET
ap-3441	163	5	flock	flock	NOUN
ap-3441	163	6	,	,	PUNCT
ap-3441	163	7	or	or	CCONJ
ap-3441	163	8	20	20	NUM
ap-3441	163	9	agents	agent	NOUN
ap-3441	163	10	,	,	PUNCT
ap-3441	163	11	are	be	AUX
ap-3441	163	12	influencing	influence	VERB
ap-3441	163	13	agents	agent	NOUN
ap-3441	163	14	.	.	PUNCT
ap-3441	164	1	the	the	DET
ap-3441	164	2	neighborhood	neighborhood	NOUN
ap-3441	164	3	for	for	ADP
ap-3441	164	4	each	each	DET
ap-3441	164	5	agent	agent	NOUN
ap-3441	164	6	is	be	AUX
ap-3441	164	7	20	20	NUM
ap-3441	164	8	units	unit	NOUN
ap-3441	164	9	in	in	ADP
ap-3441	164	10	diameter	diameter	NOUN
ap-3441	164	11	.	.	PUNCT
ap-3441	165	1	numagents	numagent	NOUN
ap-3441	165	2	and	and	CCONJ
ap-3441	165	3	the	the	DET
ap-3441	165	4	neighborhood	neighborhood	NOUN
ap-3441	165	5	size	size	NOUN
ap-3441	165	6	were	be	AUX
ap-3441	165	7	both	both	PRON
ap-3441	165	8	default	default	NOUN
ap-3441	165	9	values	value	NOUN
ap-3441	165	10	for	for	ADP
ap-3441	165	11	mason	mason	PROPN
ap-3441	165	12	.	.	PUNCT
ap-3441	166	1	we	we	PRON
ap-3441	166	2	chose	choose	VERB
ap-3441	166	3	for	for	ADP
ap-3441	166	4	10	10	NUM
ap-3441	166	5	%	%	NOUN
ap-3441	166	6	of	of	ADP
ap-3441	166	7	the	the	DET
ap-3441	166	8	flock	flock	NOUN
ap-3441	166	9	to	to	PART
ap-3441	166	10	be	be	AUX
ap-3441	166	11	influencing	influence	VERB
ap-3441	166	12	agents	agent	NOUN
ap-3441	166	13	as	as	ADP
ap-3441	166	14	a	a	DET
ap-3441	166	15	tradeoff	tradeoff	NOUN
ap-3441	166	16	between	between	ADP
ap-3441	166	17	providing	provide	VERB
ap-3441	166	18	enough	enough	ADJ
ap-3441	166	19	influencing	influence	VERB
ap-3441	166	20	agents	agent	NOUN
ap-3441	166	21	to	to	PART
ap-3441	166	22	influence	influence	VERB
ap-3441	166	23	the	the	DET
ap-3441	166	24	flock	flock	NOUN
ap-3441	166	25	and	and	CCONJ
ap-3441	166	26	keeping	keep	VERB
ap-3441	166	27	the	the	DET
ap-3441	166	28	influencing	influence	VERB
ap-3441	166	29	agents	agent	NOUN
ap-3441	166	30	few	few	ADJ
ap-3441	166	31	enough	enough	ADV
ap-3441	166	32	to	to	PART
ap-3441	166	33	require	require	VERB
ap-3441	166	34	intelligent	intelligent	ADJ
ap-3441	166	35	behavior	behavior	NOUN
ap-3441	166	36	in	in	ADP
ap-3441	166	37	order	order	NOUN
ap-3441	166	38	to	to	PART
ap-3441	166	39	influence	influence	VERB
ap-3441	166	40	the	the	DET
ap-3441	166	41	flock	flock	NOUN
ap-3441	166	42	effectively	effectively	ADV
ap-3441	166	43	.	.	PUNCT
ap-3441	167	1	we	we	PRON
ap-3441	167	2	only	only	ADV
ap-3441	167	3	consider	consider	VERB
ap-3441	167	4	numangles	numangle	NOUN
ap-3441	167	5	discrete	discrete	ADJ
ap-3441	167	6	angle	angle	NOUN
ap-3441	167	7	choices	choice	NOUN
ap-3441	167	8	for	for	ADP
ap-3441	167	9	each	each	DET
ap-3441	167	10	influencing	influence	VERB
ap-3441	167	11	agent	agent	NOUN
ap-3441	167	12	.	.	PUNCT
ap-3441	168	1	in	in	ADP
ap-3441	168	2	all	all	PRON
ap-3441	168	3	of	of	ADP
ap-3441	168	4	our	our	PRON
ap-3441	168	5	experiments	experiment	NOUN
ap-3441	168	6	,	,	PUNCT
ap-3441	168	7	numangles	numangle	NOUN
ap-3441	168	8	is	be	AUX
ap-3441	168	9	50	50	NUM
ap-3441	168	10	,	,	PUNCT
ap-3441	168	11	meaning	mean	VERB
ap-3441	168	12	that	that	SCONJ
ap-3441	168	13	the	the	DET
ap-3441	168	14	unit	unit	NOUN
ap-3441	168	15	circle	circle	NOUN
ap-3441	168	16	is	be	AUX
ap-3441	168	17	equally	equally	ADV
ap-3441	168	18	divided	divide	VERB
ap-3441	168	19	into	into	ADP
ap-3441	168	20	50	50	NUM
ap-3441	168	21	segments	segment	NOUN
ap-3441	168	22	beginning	begin	VERB
ap-3441	168	23	at	at	ADP
ap-3441	168	24	0	0	NUM
ap-3441	168	25	radians	radian	NOUN
ap-3441	168	26	and	and	CCONJ
ap-3441	168	27	each	each	PRON
ap-3441	168	28	of	of	ADP
ap-3441	168	29	these	these	DET
ap-3441	168	30	orientations	orientation	NOUN
ap-3441	168	31	is	be	AUX
ap-3441	168	32	considered	consider	VERB
ap-3441	168	33	as	as	ADP
ap-3441	168	34	a	a	DET
ap-3441	168	35	possible	possible	ADJ
ap-3441	168	36	orientation	orientation	NOUN
ap-3441	168	37	for	for	ADP
ap-3441	168	38	each	each	DET
ap-3441	168	39	influencing	influence	VERB
ap-3441	168	40	agent	agent	NOUN
ap-3441	168	41	.	.	PUNCT
ap-3441	169	1	numangles=50	numangles=50	PROPN
ap-3441	169	2	was	be	AUX
ap-3441	169	3	chosen	choose	VERB
ap-3441	169	4	after	after	ADP
ap-3441	169	5	some	some	DET
ap-3441	169	6	experimentation	experimentation	NOUN
ap-3441	169	7	using	use	VERB
ap-3441	169	8	the	the	DET
ap-3441	169	9	1step	1step	NUM
ap-3441	169	10	lookahead	lookahead	NOUN
ap-3441	169	11	algorithm	algorithm	NOUN
ap-3441	169	12	,	,	PUNCT
ap-3441	169	13	in	in	ADP
ap-3441	169	14	which	which	PRON
ap-3441	169	15	numangles=20	numangles=20	NOUN
ap-3441	169	16	resulted	result	VERB
ap-3441	169	17	in	in	ADP
ap-3441	169	18	a	a	DET
ap-3441	169	19	higher	high	ADJ
ap-3441	169	20	average	average	ADJ
ap-3441	169	21	number	number	NOUN
ap-3441	169	22	of	of	ADP
ap-3441	169	23	steps	step	NOUN
ap-3441	169	24	for	for	ADP
ap-3441	169	25	the	the	DET
ap-3441	169	26	algorithm	algorithm	NOUN
ap-3441	169	27	time	time	NOUN
ap-3441	169	28	steps	step	NOUN
ap-3441	169	29	face	face	VERB
ap-3441	169	30	desired	desire	VERB
ap-3441	169	31	orientation	orientation	NOUN
ap-3441	169	32	34.82±	34.82±	NUM
ap-3441	169	33	3.85	3.85	NUM
ap-3441	169	34	offset	offset	NOUN
ap-3441	169	35	momentum	momentum	NOUN
ap-3441	169	36	36.70±	36.70±	NUM
ap-3441	169	37	4.63	4.63	NUM
ap-3441	169	38	1	1	NUM
ap-3441	169	39	-	-	PUNCT
ap-3441	169	40	step	step	NOUN
ap-3441	169	41	lookahead	lookahead	NOUN
ap-3441	169	42	26.02±	26.02±	NUM
ap-3441	169	43	3.10	3.10	NUM
ap-3441	169	44	2	2	NUM
ap-3441	169	45	-	-	PUNCT
ap-3441	169	46	step	step	NOUN
ap-3441	169	47	lookahead	lookahead	NOUN
ap-3441	169	48	25.94±	25.94±	NUM
ap-3441	169	49	3.16	3.16	NUM
ap-3441	169	50	coordinated	coordinate	VERB
ap-3441	169	51	25.76±	25.76±	NUM
ap-3441	169	52	3.15	3.15	NUM
ap-3441	169	53	table	table	NOUN
ap-3441	169	54	3	3	NUM
ap-3441	169	55	.	.	PUNCT
ap-3441	170	1	the	the	DET
ap-3441	170	2	number	number	NOUN
ap-3441	170	3	of	of	ADP
ap-3441	170	4	time	time	NOUN
ap-3441	170	5	steps	step	NOUN
ap-3441	170	6	required	require	VERB
ap-3441	170	7	for	for	SCONJ
ap-3441	170	8	the	the	DET
ap-3441	170	9	flock	flock	NOUN
ap-3441	170	10	to	to	PART
ap-3441	170	11	converge	converge	VERB
ap-3441	170	12	to	to	ADP
ap-3441	170	13	θ∗	θ∗	NOUN
ap-3441	170	14	using	use	VERB
ap-3441	170	15	the	the	DET
ap-3441	170	16	experimental	experimental	ADJ
ap-3441	170	17	setup	setup	NOUN
ap-3441	170	18	described	describe	VERB
ap-3441	170	19	in	in	ADP
ap-3441	170	20	section	section	NOUN
ap-3441	170	21	2.1	2.1	NUM
ap-3441	170	22	.	.	PUNCT
ap-3441	171	1	we	we	PRON
ap-3441	171	2	show	show	VERB
ap-3441	171	3	the	the	DET
ap-3441	171	4	95	95	NUM
ap-3441	171	5	%	%	NOUN
ap-3441	171	6	confidence	confidence	NOUN
ap-3441	171	7	intervals	interval	NOUN
ap-3441	171	8	.	.	PUNCT
ap-3441	172	1	flock	flock	NOUN
ap-3441	172	2	to	to	PART
ap-3441	172	3	converge	converge	VERB
ap-3441	172	4	to	to	ADP
ap-3441	172	5	θ∗	θ∗	NOUN
ap-3441	172	6	and	and	CCONJ
ap-3441	172	7	numangles=100	numangles=100	PROPN
ap-3441	172	8	and	and	CCONJ
ap-3441	172	9	numangles=150	numangles=150	NOUN
ap-3441	172	10	did	do	AUX
ap-3441	172	11	not	not	PART
ap-3441	172	12	require	require	VERB
ap-3441	172	13	significantly	significantly	ADV
ap-3441	172	14	fewer	few	ADJ
ap-3441	172	15	steps	step	NOUN
ap-3441	172	16	for	for	ADP
ap-3441	172	17	convergence	convergence	NOUN
ap-3441	172	18	than	than	ADP
ap-3441	172	19	numangles=50	numangles=50	ADJ
ap-3441	172	20	.	.	PUNCT
ap-3441	173	1	in	in	ADP
ap-3441	173	2	all	all	PRON
ap-3441	173	3	of	of	ADP
ap-3441	173	4	our	our	PRON
ap-3441	173	5	experiments	experiment	NOUN
ap-3441	173	6	,	,	PUNCT
ap-3441	173	7	we	we	PRON
ap-3441	173	8	run	run	VERB
ap-3441	173	9	50	50	NUM
ap-3441	173	10	trials	trial	NOUN
ap-3441	173	11	for	for	ADP
ap-3441	173	12	each	each	DET
ap-3441	173	13	experimental	experimental	ADJ
ap-3441	173	14	setting	setting	NOUN
ap-3441	173	15	.	.	PUNCT
ap-3441	174	1	we	we	PRON
ap-3441	174	2	use	use	VERB
ap-3441	174	3	the	the	DET
ap-3441	174	4	same	same	ADJ
ap-3441	174	5	50	50	NUM
ap-3441	174	6	random	random	ADJ
ap-3441	174	7	seeds	seed	NOUN
ap-3441	174	8	to	to	PART
ap-3441	174	9	determine	determine	VERB
ap-3441	174	10	the	the	DET
ap-3441	174	11	starting	starting	NOUN
ap-3441	174	12	positions	position	NOUN
ap-3441	174	13	and	and	CCONJ
ap-3441	174	14	orientations	orientation	NOUN
ap-3441	174	15	of	of	ADP
ap-3441	174	16	both	both	CCONJ
ap-3441	174	17	the	the	DET
ap-3441	174	18	flocking	flocking	ADJ
ap-3441	174	19	agents	agent	NOUN
ap-3441	174	20	and	and	CCONJ
ap-3441	174	21	the	the	DET
ap-3441	174	22	influencing	influence	VERB
ap-3441	174	23	agents	agent	NOUN
ap-3441	174	24	for	for	ADP
ap-3441	174	25	each	each	DET
ap-3441	174	26	set	set	NOUN
ap-3441	174	27	of	of	ADP
ap-3441	174	28	experiments	experiment	NOUN
ap-3441	174	29	for	for	ADP
ap-3441	174	30	the	the	DET
ap-3441	174	31	purpose	purpose	NOUN
ap-3441	174	32	of	of	ADP
ap-3441	174	33	variance	variance	NOUN
ap-3441	174	34	reduction	reduction	NOUN
ap-3441	174	35	.	.	PUNCT
ap-3441	175	1	6.3	6.3	NUM
ap-3441	175	2	.	.	PUNCT
ap-3441	176	1	experimental	experimental	ADJ
ap-3441	176	2	results	result	NOUN
ap-3441	176	3	table	table	NOUN
ap-3441	176	4	3	3	NUM
ap-3441	176	5	shows	show	VERB
ap-3441	176	6	the	the	DET
ap-3441	176	7	number	number	NOUN
ap-3441	176	8	of	of	ADP
ap-3441	176	9	time	time	NOUN
ap-3441	176	10	steps	step	NOUN
ap-3441	176	11	needed	need	VERB
ap-3441	176	12	for	for	SCONJ
ap-3441	176	13	the	the	DET
ap-3441	176	14	flock	flock	NOUN
ap-3441	176	15	to	to	PART
ap-3441	176	16	converge	converge	VERB
ap-3441	176	17	to	to	AUX
ap-3441	176	18	θ∗	θ∗	VERB
ap-3441	176	19	for	for	ADP
ap-3441	176	20	the	the	DET
ap-3441	176	21	two	two	NUM
ap-3441	176	22	baseline	baseline	ADJ
ap-3441	176	23	algorithms	algorithm	NOUN
ap-3441	176	24	,	,	PUNCT
ap-3441	176	25	the	the	DET
ap-3441	176	26	1	1	NUM
ap-3441	176	27	-	-	PUNCT
ap-3441	176	28	step	step	NOUN
ap-3441	176	29	lookahead	lookahead	NOUN
ap-3441	176	30	algorithm	algorithm	NOUN
ap-3441	176	31	presented	present	VERB
ap-3441	176	32	in	in	ADP
ap-3441	176	33	algorithm	algorithm	NOUN
ap-3441	176	34	1	1	NUM
ap-3441	176	35	,	,	PUNCT
ap-3441	176	36	the	the	DET
ap-3441	176	37	2	2	NUM
ap-3441	176	38	-	-	PUNCT
ap-3441	176	39	step	step	NOUN
ap-3441	176	40	lookahead	lookahead	NOUN
ap-3441	176	41	algorithm	algorithm	NOUN
ap-3441	176	42	presented	present	VERB
ap-3441	176	43	in	in	ADP
ap-3441	176	44	algorithm	algorithm	NOUN
ap-3441	176	45	2	2	NUM
ap-3441	176	46	,	,	PUNCT
ap-3441	176	47	and	and	CCONJ
ap-3441	176	48	the	the	DET
ap-3441	176	49	coordinated	coordinated	ADJ
ap-3441	176	50	algorithm	algorithm	NOUN
ap-3441	176	51	presented	present	VERB
ap-3441	176	52	in	in	ADP
ap-3441	176	53	algorithm	algorithm	NOUN
ap-3441	176	54	3	3	NUM
ap-3441	176	55	using	use	VERB
ap-3441	176	56	the	the	DET
ap-3441	176	57	experimental	experimental	ADJ
ap-3441	176	58	setup	setup	NOUN
ap-3441	176	59	described	describe	VERB
ap-3441	176	60	in	in	ADP
ap-3441	176	61	section	section	NOUN
ap-3441	176	62	2.1	2.1	NUM
ap-3441	176	63	.	.	PUNCT
ap-3441	177	1	the	the	DET
ap-3441	177	2	results	result	NOUN
ap-3441	177	3	shown	show	VERB
ap-3441	177	4	in	in	ADP
ap-3441	177	5	table	table	NOUN
ap-3441	177	6	3	3	NUM
ap-3441	177	7	clearly	clearly	ADV
ap-3441	177	8	show	show	VERB
ap-3441	177	9	that	that	SCONJ
ap-3441	177	10	the	the	DET
ap-3441	177	11	1	1	NUM
ap-3441	177	12	-	-	PUNCT
ap-3441	177	13	step	step	NOUN
ap-3441	177	14	lookahead	lookahead	NOUN
ap-3441	177	15	behavior	behavior	NOUN
ap-3441	177	16	,	,	PUNCT
ap-3441	177	17	the	the	DET
ap-3441	177	18	2	2	NUM
ap-3441	177	19	-	-	PUNCT
ap-3441	177	20	step	step	NOUN
ap-3441	177	21	lookahead	lookahead	NOUN
ap-3441	177	22	behavior	behavior	NOUN
ap-3441	177	23	,	,	PUNCT
ap-3441	177	24	and	and	CCONJ
ap-3441	177	25	the	the	DET
ap-3441	177	26	coordinated	coordinated	ADJ
ap-3441	177	27	behavior	behavior	NOUN
ap-3441	177	28	all	all	PRON
ap-3441	177	29	perform	perform	VERB
ap-3441	177	30	significantly	significantly	ADV
ap-3441	177	31	better	well	ADJ
ap-3441	177	32	than	than	ADP
ap-3441	177	33	the	the	DET
ap-3441	177	34	two	two	NUM
ap-3441	177	35	baseline	baseline	ADJ
ap-3441	177	36	methods	method	NOUN
ap-3441	177	37	.	.	PUNCT
ap-3441	178	1	however	however	ADV
ap-3441	178	2	,	,	PUNCT
ap-3441	178	3	these	these	DET
ap-3441	178	4	results	result	NOUN
ap-3441	178	5	did	do	AUX
ap-3441	178	6	not	not	PART
ap-3441	178	7	show	show	VERB
ap-3441	178	8	the	the	DET
ap-3441	178	9	2	2	NUM
ap-3441	178	10	-	-	PUNCT
ap-3441	178	11	step	step	NOUN
ap-3441	178	12	lookahead	lookahead	NOUN
ap-3441	178	13	behavior	behavior	NOUN
ap-3441	178	14	and	and	CCONJ
ap-3441	178	15	the	the	DET
ap-3441	178	16	coordinated	coordinated	ADJ
ap-3441	178	17	behavior	behavior	NOUN
ap-3441	178	18	performing	perform	VERB
ap-3441	178	19	significantly	significantly	ADV
ap-3441	178	20	better	well	ADJ
ap-3441	178	21	than	than	ADP
ap-3441	178	22	the	the	DET
ap-3441	178	23	1	1	NUM
ap-3441	178	24	-	-	PUNCT
ap-3441	178	25	step	step	NOUN
ap-3441	178	26	lookahead	lookahead	NOUN
ap-3441	178	27	behavior	behavior	NOUN
ap-3441	178	28	as	as	SCONJ
ap-3441	178	29	we	we	PRON
ap-3441	178	30	had	have	AUX
ap-3441	178	31	expected	expect	VERB
ap-3441	178	32	.	.	PUNCT
ap-3441	179	1	hence	hence	ADV
ap-3441	179	2	,	,	PUNCT
ap-3441	179	3	we	we	PRON
ap-3441	179	4	present	present	VERB
ap-3441	179	5	additional	additional	ADJ
ap-3441	179	6	experimental	experimental	ADJ
ap-3441	179	7	results	result	NOUN
ap-3441	179	8	below	below	ADV
ap-3441	179	9	in	in	ADP
ap-3441	179	10	which	which	PRON
ap-3441	179	11	we	we	PRON
ap-3441	179	12	alter	alter	VERB
ap-3441	179	13	the	the	DET
ap-3441	179	14	percentage	percentage	NOUN
ap-3441	179	15	of	of	ADP
ap-3441	179	16	the	the	DET
ap-3441	179	17	flock	flock	NOUN
ap-3441	179	18	that	that	PRON
ap-3441	179	19	are	be	AUX
ap-3441	179	20	influencing	influence	VERB
ap-3441	179	21	agents	agent	NOUN
ap-3441	179	22	and	and	CCONJ
ap-3441	179	23	the	the	DET
ap-3441	179	24	number	number	NOUN
ap-3441	179	25	of	of	ADP
ap-3441	179	26	agents	agent	NOUN
ap-3441	179	27	in	in	ADP
ap-3441	179	28	the	the	DET
ap-3441	179	29	flock	flock	NOUN
ap-3441	179	30	(	(	PUNCT
ap-3441	179	31	numagents	numagent	NOUN
ap-3441	179	32	)	)	PUNCT
ap-3441	179	33	one	one	NUM
ap-3441	179	34	by	by	ADP
ap-3441	179	35	one	one	NUM
ap-3441	179	36	to	to	PART
ap-3441	179	37	further	far	ADV
ap-3441	179	38	investigate	investigate	VERB
ap-3441	179	39	the	the	DET
ap-3441	179	40	dynamics	dynamic	NOUN
ap-3441	179	41	of	of	ADP
ap-3441	179	42	this	this	DET
ap-3441	179	43	domain	domain	NOUN
ap-3441	179	44	.	.	PUNCT
ap-3441	180	1	6.3.1	6.3.1	NUM
ap-3441	180	2	.	.	PUNCT
ap-3441	181	1	altering	alter	VERB
ap-3441	181	2	the	the	DET
ap-3441	181	3	composition	composition	NOUN
ap-3441	181	4	of	of	ADP
ap-3441	181	5	the	the	DET
ap-3441	181	6	flock	flock	NOUN
ap-3441	181	7	now	now	ADV
ap-3441	181	8	we	we	PRON
ap-3441	181	9	consider	consider	VERB
ap-3441	181	10	the	the	DET
ap-3441	181	11	effect	effect	NOUN
ap-3441	181	12	of	of	ADP
ap-3441	181	13	decreasing	decrease	VERB
ap-3441	181	14	the	the	DET
ap-3441	181	15	percentage	percentage	NOUN
ap-3441	181	16	of	of	ADP
ap-3441	181	17	influencing	influence	VERB
ap-3441	181	18	agents	agent	NOUN
ap-3441	181	19	in	in	ADP
ap-3441	181	20	the	the	DET
ap-3441	181	21	flock	flock	NOUN
ap-3441	181	22	to	to	ADP
ap-3441	181	23	5	5	NUM
ap-3441	181	24	%	%	NOUN
ap-3441	181	25	as	as	ADV
ap-3441	181	26	well	well	ADV
ap-3441	181	27	as	as	ADP
ap-3441	181	28	increasing	increase	VERB
ap-3441	181	29	the	the	DET
ap-3441	181	30	percentage	percentage	NOUN
ap-3441	181	31	of	of	ADP
ap-3441	181	32	influencing	influence	VERB
ap-3441	181	33	agents	agent	NOUN
ap-3441	181	34	in	in	ADP
ap-3441	181	35	the	the	DET
ap-3441	181	36	flock	flock	NOUN
ap-3441	181	37	to	to	ADP
ap-3441	181	38	20	20	NUM
ap-3441	181	39	%	%	NOUN
ap-3441	181	40	.	.	PUNCT
ap-3441	182	1	in	in	ADP
ap-3441	182	2	both	both	DET
ap-3441	182	3	cases	case	NOUN
ap-3441	182	4	,	,	PUNCT
ap-3441	182	5	the	the	DET
ap-3441	182	6	remainder	remainder	NOUN
ap-3441	182	7	of	of	ADP
ap-3441	182	8	the	the	DET
ap-3441	182	9	experimental	experimental	ADJ
ap-3441	182	10	setup	setup	NOUN
ap-3441	182	11	is	be	AUX
ap-3441	182	12	as	as	SCONJ
ap-3441	182	13	described	describe	VERB
ap-3441	182	14	in	in	ADP
ap-3441	182	15	section	section	NOUN
ap-3441	182	16	2.1	2.1	NUM
ap-3441	182	17	.	.	PUNCT
ap-3441	183	1	altering	alter	VERB
ap-3441	183	2	the	the	DET
ap-3441	183	3	percentage	percentage	NOUN
ap-3441	183	4	of	of	ADP
ap-3441	183	5	influencing	influence	VERB
ap-3441	183	6	agents	agent	NOUN
ap-3441	183	7	in	in	ADP
ap-3441	183	8	the	the	DET
ap-3441	183	9	flock	flock	NOUN
ap-3441	183	10	clearly	clearly	ADV
ap-3441	183	11	alters	alter	VERB
ap-3441	183	12	the	the	DET
ap-3441	183	13	amount	amount	NOUN
ap-3441	183	14	of	of	ADP
ap-3441	183	15	agents	agent	NOUN
ap-3441	183	16	we	we	PRON
ap-3441	183	17	can	can	AUX
ap-3441	183	18	control	control	VERB
ap-3441	183	19	,	,	PUNCT
ap-3441	183	20	which	which	PRON
ap-3441	183	21	affects	affect	VERB
ap-3441	183	22	the	the	DET
ap-3441	183	23	amount	amount	NOUN
ap-3441	183	24	of	of	ADP
ap-3441	183	25	influence	influence	NOUN
ap-3441	183	26	we	we	PRON
ap-3441	183	27	can	can	AUX
ap-3441	183	28	exert	exert	VERB
ap-3441	183	29	over	over	ADP
ap-3441	183	30	the	the	DET
ap-3441	183	31	flock	flock	NOUN
ap-3441	183	32	.	.	PUNCT
ap-3441	184	1	hence	hence	ADV
ap-3441	184	2	,	,	PUNCT
ap-3441	184	3	as	as	SCONJ
ap-3441	184	4	can	can	AUX
ap-3441	184	5	be	be	AUX
ap-3441	184	6	seen	see	VERB
ap-3441	184	7	in	in	ADP
ap-3441	184	8	figure	figure	NOUN
ap-3441	184	9	4	4	NUM
ap-3441	184	10	,	,	PUNCT
ap-3441	184	11	flocks	flock	NOUN
ap-3441	184	12	with	with	ADP
ap-3441	184	13	higher	high	ADJ
ap-3441	184	14	percentages	percentage	NOUN
ap-3441	184	15	of	of	ADP
ap-3441	184	16	influencing	influence	VERB
ap-3441	184	17	agents	agent	NOUN
ap-3441	184	18	will	will	AUX
ap-3441	184	19	,	,	PUNCT
ap-3441	184	20	on	on	ADP
ap-3441	184	21	average	average	ADJ
ap-3441	184	22	,	,	PUNCT
ap-3441	184	23	converge	converge	VERB
ap-3441	184	24	to	to	PART
ap-3441	184	25	θ∗	θ∗	VERB
ap-3441	184	26	in	in	ADP
ap-3441	184	27	a	a	DET
ap-3441	184	28	smaller	small	ADJ
ap-3441	184	29	number	number	NOUN
ap-3441	184	30	of	of	ADP
ap-3441	184	31	time	time	NOUN
ap-3441	184	32	steps	step	NOUN
ap-3441	184	33	than	than	ADP
ap-3441	184	34	flocks	flock	NOUN
ap-3441	184	35	with	with	ADP
ap-3441	184	36	lower	low	ADJ
ap-3441	184	37	percentages	percentage	NOUN
ap-3441	184	38	of	of	ADP
ap-3441	184	39	influencing	influence	VERB
ap-3441	184	40	agents	agent	NOUN
ap-3441	184	41	.	.	PUNCT
ap-3441	185	1	24	24	NUM
ap-3441	185	2	vol	vol	NOUN
ap-3441	185	3	.	.	PUNCT
ap-3441	186	1	56	56	NUM
ap-3441	186	2	no	no	NOUN
ap-3441	186	3	.	.	PUNCT
ap-3441	187	1	1/2016	1/2016	NUM
ap-3441	187	2	ad	ad	NOUN
ap-3441	187	3	hoc	hoc	X
ap-3441	187	4	teamwork	teamwork	NOUN
ap-3441	187	5	behaviors	behavior	NOUN
ap-3441	187	6	for	for	ADP
ap-3441	187	7	influencing	influence	VERB
ap-3441	187	8	a	a	DET
ap-3441	187	9	flock	flock	NOUN
ap-3441	187	10	figure	figure	NOUN
ap-3441	187	11	4	4	NUM
ap-3441	187	12	.	.	PUNCT
ap-3441	187	13	results	result	NOUN
ap-3441	187	14	from	from	ADP
ap-3441	187	15	experiments	experiment	NOUN
ap-3441	187	16	using	use	VERB
ap-3441	187	17	the	the	DET
ap-3441	187	18	experimental	experimental	ADJ
ap-3441	187	19	setup	setup	NOUN
ap-3441	187	20	described	describe	VERB
ap-3441	187	21	in	in	ADP
ap-3441	187	22	section	section	NOUN
ap-3441	187	23	2.1	2.1	NUM
ap-3441	187	24	,	,	PUNCT
ap-3441	187	25	except	except	SCONJ
ap-3441	187	26	that	that	SCONJ
ap-3441	187	27	we	we	PRON
ap-3441	187	28	varied	vary	VERB
ap-3441	187	29	the	the	DET
ap-3441	187	30	percentage	percentage	NOUN
ap-3441	187	31	of	of	ADP
ap-3441	187	32	influencing	influence	VERB
ap-3441	187	33	agents	agent	NOUN
ap-3441	187	34	in	in	ADP
ap-3441	187	35	the	the	DET
ap-3441	187	36	flock	flock	NOUN
ap-3441	187	37	.	.	PUNCT
ap-3441	188	1	the	the	DET
ap-3441	188	2	values	value	NOUN
ap-3441	188	3	in	in	ADP
ap-3441	188	4	the	the	DET
ap-3441	188	5	table	table	NOUN
ap-3441	188	6	are	be	AUX
ap-3441	188	7	averaged	average	VERB
ap-3441	188	8	over	over	ADP
ap-3441	188	9	50	50	NUM
ap-3441	188	10	trials	trial	NOUN
ap-3441	188	11	and	and	CCONJ
ap-3441	188	12	the	the	DET
ap-3441	188	13	error	error	NOUN
ap-3441	188	14	bars	bar	NOUN
ap-3441	188	15	represent	represent	VERB
ap-3441	188	16	the	the	DET
ap-3441	188	17	95	95	NUM
ap-3441	188	18	%	%	NOUN
ap-3441	188	19	confidence	confidence	NOUN
ap-3441	188	20	interval	interval	NOUN
ap-3441	188	21	.	.	PUNCT
ap-3441	189	1	6.3.2	6.3.2	X
ap-3441	189	2	.	.	PUNCT
ap-3441	190	1	altering	alter	VERB
ap-3441	190	2	the	the	DET
ap-3441	190	3	size	size	NOUN
ap-3441	190	4	of	of	ADP
ap-3441	190	5	the	the	DET
ap-3441	190	6	flock	flock	NOUN
ap-3441	190	7	in	in	ADP
ap-3441	190	8	this	this	DET
ap-3441	190	9	section	section	NOUN
ap-3441	190	10	we	we	PRON
ap-3441	190	11	evaluate	evaluate	VERB
ap-3441	190	12	the	the	DET
ap-3441	190	13	effect	effect	NOUN
ap-3441	190	14	of	of	ADP
ap-3441	190	15	changing	change	VERB
ap-3441	190	16	the	the	DET
ap-3441	190	17	size	size	NOUN
ap-3441	190	18	of	of	ADP
ap-3441	190	19	the	the	DET
ap-3441	190	20	flock	flock	NOUN
ap-3441	190	21	while	while	SCONJ
ap-3441	190	22	keeping	keep	VERB
ap-3441	190	23	the	the	DET
ap-3441	190	24	rest	rest	NOUN
ap-3441	190	25	of	of	ADP
ap-3441	190	26	the	the	DET
ap-3441	190	27	experimental	experimental	ADJ
ap-3441	190	28	setup	setup	NOUN
ap-3441	190	29	as	as	SCONJ
ap-3441	190	30	presented	present	VERB
ap-3441	190	31	in	in	ADP
ap-3441	190	32	section	section	NOUN
ap-3441	190	33	2.1	2.1	NUM
ap-3441	190	34	.	.	PUNCT
ap-3441	191	1	changing	change	VERB
ap-3441	191	2	the	the	DET
ap-3441	191	3	flock	flock	NOUN
ap-3441	191	4	size	size	NOUN
ap-3441	191	5	will	will	AUX
ap-3441	191	6	alter	alter	VERB
ap-3441	191	7	the	the	DET
ap-3441	191	8	number	number	NOUN
ap-3441	191	9	of	of	ADP
ap-3441	191	10	influencing	influence	VERB
ap-3441	191	11	agents	agent	NOUN
ap-3441	191	12	,	,	PUNCT
ap-3441	191	13	but	but	CCONJ
ap-3441	191	14	not	not	PART
ap-3441	191	15	the	the	DET
ap-3441	191	16	ratio	ratio	NOUN
ap-3441	191	17	of	of	ADP
ap-3441	191	18	influencing	influence	VERB
ap-3441	191	19	agents	agent	NOUN
ap-3441	191	20	to	to	ADP
ap-3441	191	21	non	non	AUX
ap-3441	191	22	influencing	influence	VERB
ap-3441	191	23	agents	agent	NOUN
ap-3441	191	24	.	.	PUNCT
ap-3441	192	1	we	we	PRON
ap-3441	192	2	expected	expect	VERB
ap-3441	192	3	that	that	SCONJ
ap-3441	192	4	increasing	increase	VERB
ap-3441	192	5	the	the	DET
ap-3441	192	6	flock	flock	NOUN
ap-3441	192	7	size	size	NOUN
ap-3441	192	8	would	would	AUX
ap-3441	192	9	lead	lead	VERB
ap-3441	192	10	to	to	ADP
ap-3441	192	11	the	the	DET
ap-3441	192	12	coordinated	coordinated	ADJ
ap-3441	192	13	behavior	behavior	NOUN
ap-3441	192	14	performing	perform	VERB
ap-3441	192	15	better	well	ADV
ap-3441	192	16	comparatively	comparatively	ADV
ap-3441	192	17	,	,	PUNCT
ap-3441	192	18	as	as	ADP
ap-3441	192	19	,	,	PUNCT
ap-3441	192	20	with	with	ADP
ap-3441	192	21	a	a	DET
ap-3441	192	22	larger	large	ADJ
ap-3441	192	23	flock	flock	NOUN
ap-3441	192	24	,	,	PUNCT
ap-3441	192	25	more	more	ADJ
ap-3441	192	26	agents	agent	NOUN
ap-3441	192	27	are	be	AUX
ap-3441	192	28	likely	likely	ADJ
ap-3441	192	29	to	to	PART
ap-3441	192	30	be	be	AUX
ap-3441	192	31	in	in	ADP
ap-3441	192	32	multiple	multiple	ADJ
ap-3441	192	33	influencing	influence	VERB
ap-3441	192	34	agents	agent	NOUN
ap-3441	192	35	’	'	PUNCT
ap-3441	192	36	neighborhoods	neighborhood	NOUN
ap-3441	192	37	at	at	ADP
ap-3441	192	38	any	any	DET
ap-3441	192	39	given	give	VERB
ap-3441	192	40	time	time	NOUN
ap-3441	192	41	.	.	PUNCT
ap-3441	193	1	however	however	ADV
ap-3441	193	2	,	,	PUNCT
ap-3441	193	3	the	the	DET
ap-3441	193	4	coordinated	coordinate	VERB
ap-3441	193	5	behavior	behavior	NOUN
ap-3441	193	6	did	do	AUX
ap-3441	193	7	not	not	PART
ap-3441	193	8	perform	perform	VERB
ap-3441	193	9	significantly	significantly	ADV
ap-3441	193	10	differently	differently	ADV
ap-3441	193	11	than	than	ADP
ap-3441	193	12	the	the	DET
ap-3441	193	13	lookahead	lookahead	NOUN
ap-3441	193	14	behaviors	behavior	NOUN
ap-3441	193	15	,	,	PUNCT
ap-3441	193	16	and	and	CCONJ
ap-3441	193	17	actually	actually	ADV
ap-3441	193	18	performed	perform	VERB
ap-3441	193	19	slightly	slightly	ADV
ap-3441	193	20	worse	bad	ADJ
ap-3441	193	21	in	in	ADP
ap-3441	193	22	the	the	DET
ap-3441	193	23	experiment	experiment	NOUN
ap-3441	193	24	with	with	ADP
ap-3441	193	25	a	a	DET
ap-3441	193	26	larger	large	ADJ
ap-3441	193	27	flock	flock	NOUN
ap-3441	193	28	size	size	NOUN
ap-3441	193	29	.	.	PUNCT
ap-3441	194	1	the	the	DET
ap-3441	194	2	results	result	NOUN
ap-3441	194	3	of	of	ADP
ap-3441	194	4	our	our	PRON
ap-3441	194	5	experiments	experiment	NOUN
ap-3441	194	6	in	in	ADP
ap-3441	194	7	altering	alter	VERB
ap-3441	194	8	the	the	DET
ap-3441	194	9	flock	flock	NOUN
ap-3441	194	10	size	size	NOUN
ap-3441	194	11	can	can	AUX
ap-3441	194	12	be	be	AUX
ap-3441	194	13	seen	see	VERB
ap-3441	194	14	in	in	ADP
ap-3441	194	15	figure	figure	NOUN
ap-3441	194	16	5	5	NUM
ap-3441	194	17	.	.	PUNCT
ap-3441	195	1	the	the	DET
ap-3441	195	2	difference	difference	NOUN
ap-3441	195	3	between	between	ADP
ap-3441	195	4	the	the	DET
ap-3441	195	5	1	1	NUM
ap-3441	195	6	-	-	PUNCT
ap-3441	195	7	step	step	NOUN
ap-3441	195	8	lookahead	lookahead	NOUN
ap-3441	195	9	behavior	behavior	NOUN
ap-3441	195	10	,	,	PUNCT
ap-3441	195	11	the	the	DET
ap-3441	195	12	2	2	NUM
ap-3441	195	13	-	-	PUNCT
ap-3441	195	14	step	step	NOUN
ap-3441	195	15	lookahead	lookahead	NOUN
ap-3441	195	16	behavior	behavior	NOUN
ap-3441	195	17	,	,	PUNCT
ap-3441	195	18	and	and	CCONJ
ap-3441	195	19	the	the	DET
ap-3441	195	20	coordinated	coordinated	ADJ
ap-3441	195	21	behavior	behavior	NOUN
ap-3441	195	22	versus	versus	ADP
ap-3441	195	23	the	the	DET
ap-3441	195	24	baseline	baseline	NOUN
ap-3441	195	25	behaviors	behavior	NOUN
ap-3441	195	26	was	be	AUX
ap-3441	195	27	not	not	PART
ap-3441	195	28	significant	significant	ADJ
ap-3441	195	29	in	in	ADP
ap-3441	195	30	the	the	DET
ap-3441	195	31	experiment	experiment	NOUN
ap-3441	195	32	utilizing	utilize	VERB
ap-3441	195	33	a	a	DET
ap-3441	195	34	smaller	small	ADJ
ap-3441	195	35	flock	flock	NOUN
ap-3441	195	36	.	.	PUNCT
ap-3441	196	1	this	this	PRON
ap-3441	196	2	may	may	AUX
ap-3441	196	3	have	have	AUX
ap-3441	196	4	been	be	AUX
ap-3441	196	5	caused	cause	VERB
ap-3441	196	6	by	by	ADP
ap-3441	196	7	the	the	DET
ap-3441	196	8	agents	agent	NOUN
ap-3441	196	9	being	be	AUX
ap-3441	196	10	more	more	ADV
ap-3441	196	11	sparse	sparse	ADJ
ap-3441	196	12	in	in	ADP
ap-3441	196	13	the	the	DET
ap-3441	196	14	environment	environment	NOUN
ap-3441	196	15	,	,	PUNCT
ap-3441	196	16	and	and	CCONJ
ap-3441	196	17	hence	hence	ADV
ap-3441	196	18	having	have	VERB
ap-3441	196	19	less	less	ADJ
ap-3441	196	20	of	of	ADP
ap-3441	196	21	an	an	DET
ap-3441	196	22	effect	effect	NOUN
ap-3441	196	23	on	on	ADP
ap-3441	196	24	each	each	DET
ap-3441	196	25	other	other	ADJ
ap-3441	196	26	.	.	PUNCT
ap-3441	197	1	6.4	6.4	NUM
ap-3441	197	2	.	.	PUNCT
ap-3441	197	3	discussion	discussion	NOUN
ap-3441	197	4	our	our	PRON
ap-3441	197	5	hypothesis	hypothesis	NOUN
ap-3441	197	6	was	be	AUX
ap-3441	197	7	that	that	DET
ap-3441	197	8	algorithms	algorithms	NOUN
ap-3441	197	9	1	1	NUM
ap-3441	197	10	,	,	PUNCT
ap-3441	197	11	2	2	NUM
ap-3441	197	12	,	,	PUNCT
ap-3441	197	13	and	and	CCONJ
ap-3441	197	14	3	3	NUM
ap-3441	197	15	would	would	AUX
ap-3441	197	16	all	all	ADV
ap-3441	197	17	perform	perform	VERB
ap-3441	197	18	significantly	significantly	ADV
ap-3441	197	19	better	well	ADJ
ap-3441	197	20	than	than	ADP
ap-3441	197	21	the	the	DET
ap-3441	197	22	baseline	baseline	NOUN
ap-3441	197	23	methods	method	NOUN
ap-3441	197	24	.	.	PUNCT
ap-3441	198	1	this	this	PRON
ap-3441	198	2	was	be	AUX
ap-3441	198	3	indeed	indeed	ADV
ap-3441	198	4	the	the	DET
ap-3441	198	5	case	case	NOUN
ap-3441	198	6	in	in	ADP
ap-3441	198	7	all	all	PRON
ap-3441	198	8	of	of	ADP
ap-3441	198	9	our	our	PRON
ap-3441	198	10	experiments	experiment	NOUN
ap-3441	198	11	except	except	SCONJ
ap-3441	198	12	when	when	SCONJ
ap-3441	198	13	the	the	DET
ap-3441	198	14	flock	flock	NOUN
ap-3441	198	15	size	size	NOUN
ap-3441	198	16	was	be	AUX
ap-3441	198	17	decreased	decrease	VERB
ap-3441	198	18	from	from	ADP
ap-3441	198	19	200	200	NUM
ap-3441	198	20	agents	agent	NOUN
ap-3441	198	21	to	to	ADP
ap-3441	198	22	100	100	NUM
ap-3441	198	23	agents	agent	NOUN
ap-3441	198	24	.	.	PUNCT
ap-3441	199	1	apparently	apparently	ADV
ap-3441	199	2	having	have	VERB
ap-3441	199	3	100	100	NUM
ap-3441	199	4	agents	agent	NOUN
ap-3441	199	5	in	in	ADP
ap-3441	199	6	a	a	DET
ap-3441	199	7	150	150	NUM
ap-3441	199	8	by	by	ADP
ap-3441	199	9	150	150	NUM
ap-3441	199	10	unit	unit	NOUN
ap-3441	199	11	environment	environment	NOUN
ap-3441	199	12	resulted	result	VERB
ap-3441	199	13	in	in	ADP
ap-3441	199	14	the	the	DET
ap-3441	199	15	agents	agent	NOUN
ap-3441	199	16	being	be	AUX
ap-3441	199	17	too	too	ADV
ap-3441	199	18	distributed	distribute	VERB
ap-3441	199	19	for	for	SCONJ
ap-3441	199	20	our	our	PRON
ap-3441	199	21	lookahead	lookahead	NOUN
ap-3441	199	22	and	and	CCONJ
ap-3441	199	23	coordinated	coordinated	ADJ
ap-3441	199	24	behaviors	behavior	NOUN
ap-3441	199	25	to	to	PART
ap-3441	199	26	be	be	AUX
ap-3441	199	27	effective	effective	ADJ
ap-3441	199	28	.	.	PUNCT
ap-3441	200	1	our	our	PRON
ap-3441	200	2	original	original	ADJ
ap-3441	200	3	research	research	NOUN
ap-3441	200	4	question	question	NOUN
ap-3441	200	5	,	,	PUNCT
ap-3441	200	6	which	which	PRON
ap-3441	200	7	was	be	AUX
ap-3441	200	8	to	to	PART
ap-3441	200	9	determine	determine	VERB
ap-3441	200	10	how	how	SCONJ
ap-3441	200	11	influencing	influence	VERB
ap-3441	200	12	agents	agent	NOUN
ap-3441	200	13	should	should	AUX
ap-3441	200	14	behave	behave	VERB
ap-3441	200	15	so	so	SCONJ
ap-3441	200	16	as	as	SCONJ
ap-3441	200	17	to	to	PART
ap-3441	200	18	orient	orient	VERB
ap-3441	200	19	the	the	DET
ap-3441	200	20	rest	rest	NOUN
ap-3441	200	21	of	of	ADP
ap-3441	200	22	the	the	DET
ap-3441	200	23	flock	flock	NOUN
ap-3441	200	24	towards	towards	ADP
ap-3441	200	25	a	a	DET
ap-3441	200	26	target	target	NOUN
ap-3441	200	27	heading	head	VERB
ap-3441	200	28	as	as	ADV
ap-3441	200	29	quickly	quickly	ADV
ap-3441	200	30	as	as	ADP
ap-3441	200	31	possible	possible	ADJ
ap-3441	200	32	,	,	PUNCT
ap-3441	200	33	was	be	AUX
ap-3441	200	34	partially	partially	ADV
ap-3441	200	35	answered	answer	VERB
ap-3441	200	36	by	by	ADP
ap-3441	200	37	this	this	DET
ap-3441	200	38	work	work	NOUN
ap-3441	200	39	.	.	PUNCT
ap-3441	201	1	although	although	SCONJ
ap-3441	201	2	it	it	PRON
ap-3441	201	3	is	be	AUX
ap-3441	201	4	possible	possible	ADJ
ap-3441	201	5	that	that	SCONJ
ap-3441	201	6	better	well	ADJ
ap-3441	201	7	algorithms	algorithm	NOUN
ap-3441	201	8	could	could	AUX
ap-3441	201	9	be	be	AUX
ap-3441	201	10	designed	design	VERB
ap-3441	201	11	,	,	PUNCT
ap-3441	201	12	given	give	VERB
ap-3441	201	13	the	the	DET
ap-3441	201	14	algorithms	algorithm	NOUN
ap-3441	201	15	and	and	CCONJ
ap-3441	201	16	the	the	DET
ap-3441	201	17	experimental	experimental	ADJ
ap-3441	201	18	setting	setting	NOUN
ap-3441	201	19	presented	present	VERB
ap-3441	201	20	in	in	ADP
ap-3441	201	21	this	this	DET
ap-3441	201	22	paper	paper	NOUN
ap-3441	201	23	,	,	PUNCT
ap-3441	201	24	we	we	PRON
ap-3441	201	25	found	find	VERB
ap-3441	201	26	that	that	SCONJ
ap-3441	201	27	it	it	PRON
ap-3441	201	28	is	be	AUX
ap-3441	201	29	best	good	ADJ
ap-3441	201	30	for	for	ADP
ap-3441	201	31	influencing	influence	VERB
ap-3441	201	32	agents	agent	NOUN
ap-3441	201	33	to	to	PART
ap-3441	201	34	perform	perform	VERB
ap-3441	201	35	the	the	DET
ap-3441	201	36	figure	figure	NOUN
ap-3441	201	37	5	5	NUM
ap-3441	201	38	.	.	PUNCT
ap-3441	201	39	results	result	NOUN
ap-3441	201	40	from	from	ADP
ap-3441	201	41	experiments	experiment	NOUN
ap-3441	201	42	using	use	VERB
ap-3441	201	43	the	the	DET
ap-3441	201	44	experimental	experimental	ADJ
ap-3441	201	45	setup	setup	NOUN
ap-3441	201	46	described	describe	VERB
ap-3441	201	47	in	in	ADP
ap-3441	201	48	section	section	NOUN
ap-3441	201	49	2.1	2.1	NUM
ap-3441	201	50	,	,	PUNCT
ap-3441	201	51	except	except	SCONJ
ap-3441	201	52	that	that	SCONJ
ap-3441	201	53	we	we	PRON
ap-3441	201	54	varied	vary	VERB
ap-3441	201	55	the	the	DET
ap-3441	201	56	number	number	NOUN
ap-3441	201	57	of	of	ADP
ap-3441	201	58	agents	agent	NOUN
ap-3441	201	59	in	in	ADP
ap-3441	201	60	the	the	DET
ap-3441	201	61	flock	flock	NOUN
ap-3441	201	62	.	.	PUNCT
ap-3441	202	1	the	the	DET
ap-3441	202	2	values	value	NOUN
ap-3441	202	3	in	in	ADP
ap-3441	202	4	the	the	DET
ap-3441	202	5	table	table	NOUN
ap-3441	202	6	are	be	AUX
ap-3441	202	7	averaged	average	VERB
ap-3441	202	8	over	over	ADP
ap-3441	202	9	50	50	NUM
ap-3441	202	10	trials	trial	NOUN
ap-3441	202	11	and	and	CCONJ
ap-3441	202	12	the	the	DET
ap-3441	202	13	error	error	NOUN
ap-3441	202	14	bars	bar	NOUN
ap-3441	202	15	represent	represent	VERB
ap-3441	202	16	the	the	DET
ap-3441	202	17	95	95	NUM
ap-3441	202	18	%	%	NOUN
ap-3441	202	19	confidence	confidence	NOUN
ap-3441	202	20	interval	interval	NOUN
ap-3441	202	21	.	.	PUNCT
ap-3441	203	1	1	1	NUM
ap-3441	203	2	-	-	PUNCT
ap-3441	203	3	step	step	NOUN
ap-3441	203	4	lookahead	lookahead	NOUN
ap-3441	203	5	behavior	behavior	NOUN
ap-3441	203	6	presented	present	VERB
ap-3441	203	7	in	in	ADP
ap-3441	203	8	algorithm	algorithm	NOUN
ap-3441	203	9	1	1	NUM
ap-3441	203	10	.	.	PUNCT
ap-3441	204	1	this	this	DET
ap-3441	204	2	behavior	behavior	NOUN
ap-3441	204	3	is	be	AUX
ap-3441	204	4	more	more	ADV
ap-3441	204	5	computationally	computationally	ADV
ap-3441	204	6	efficient	efficient	ADJ
ap-3441	204	7	than	than	ADP
ap-3441	204	8	the	the	DET
ap-3441	204	9	other	other	ADJ
ap-3441	204	10	two	two	NUM
ap-3441	204	11	algorithms	algorithm	NOUN
ap-3441	204	12	presented	present	VERB
ap-3441	204	13	,	,	PUNCT
ap-3441	204	14	and	and	CCONJ
ap-3441	204	15	performed	perform	VERB
ap-3441	204	16	significantly	significantly	ADV
ap-3441	204	17	better	well	ADJ
ap-3441	204	18	than	than	ADP
ap-3441	204	19	the	the	DET
ap-3441	204	20	baseline	baseline	NOUN
ap-3441	204	21	methods	method	NOUN
ap-3441	204	22	in	in	ADP
ap-3441	204	23	most	most	ADJ
ap-3441	204	24	cases	case	NOUN
ap-3441	204	25	.	.	PUNCT
ap-3441	205	1	in	in	ADP
ap-3441	205	2	many	many	ADJ
ap-3441	205	3	cases	case	NOUN
ap-3441	205	4	,	,	PUNCT
ap-3441	205	5	the	the	DET
ap-3441	205	6	coordinated	coordinated	ADJ
ap-3441	205	7	behavior	behavior	NOUN
ap-3441	205	8	and	and	CCONJ
ap-3441	205	9	the	the	DET
ap-3441	205	10	1	1	NUM
ap-3441	205	11	-	-	PUNCT
ap-3441	205	12	step	step	NOUN
ap-3441	205	13	lookahead	lookahead	NOUN
ap-3441	205	14	behavior	behavior	NOUN
ap-3441	205	15	led	lead	VERB
ap-3441	205	16	the	the	DET
ap-3441	205	17	flock	flock	NOUN
ap-3441	205	18	to	to	PART
ap-3441	205	19	converge	converge	VERB
ap-3441	205	20	to	to	AUX
ap-3441	205	21	θ∗	θ∗	VERB
ap-3441	205	22	in	in	ADP
ap-3441	205	23	the	the	DET
ap-3441	205	24	same	same	ADJ
ap-3441	205	25	number	number	NOUN
ap-3441	205	26	of	of	ADP
ap-3441	205	27	time	time	NOUN
ap-3441	205	28	steps	step	NOUN
ap-3441	205	29	.	.	PUNCT
ap-3441	206	1	this	this	PRON
ap-3441	206	2	is	be	AUX
ap-3441	206	3	because	because	SCONJ
ap-3441	206	4	the	the	DET
ap-3441	206	5	behaviors	behavior	NOUN
ap-3441	206	6	were	be	AUX
ap-3441	206	7	identical	identical	ADJ
ap-3441	206	8	when	when	SCONJ
ap-3441	206	9	no	no	DET
ap-3441	206	10	agents	agent	NOUN
ap-3441	206	11	were	be	AUX
ap-3441	206	12	in	in	ADP
ap-3441	206	13	the	the	DET
ap-3441	206	14	neighborhoods	neighborhood	NOUN
ap-3441	206	15	of	of	ADP
ap-3441	206	16	two	two	NUM
ap-3441	206	17	paired	pair	VERB
ap-3441	206	18	influencing	influence	VERB
ap-3441	206	19	agents	agent	NOUN
ap-3441	206	20	at	at	ADP
ap-3441	206	21	the	the	DET
ap-3441	206	22	same	same	ADJ
ap-3441	206	23	time	time	NOUN
ap-3441	206	24	.	.	PUNCT
ap-3441	207	1	additionally	additionally	ADV
ap-3441	207	2	,	,	PUNCT
ap-3441	207	3	even	even	ADV
ap-3441	207	4	when	when	SCONJ
ap-3441	207	5	a	a	DET
ap-3441	207	6	pair	pair	NOUN
ap-3441	207	7	of	of	ADP
ap-3441	207	8	influencing	influence	VERB
ap-3441	207	9	agents	agent	NOUN
ap-3441	207	10	shared	share	VERB
ap-3441	207	11	one	one	NUM
ap-3441	207	12	or	or	CCONJ
ap-3441	207	13	more	more	ADJ
ap-3441	207	14	neighbors	neighbor	NOUN
ap-3441	207	15	,	,	PUNCT
ap-3441	207	16	these	these	DET
ap-3441	207	17	influencing	influence	VERB
ap-3441	207	18	agents	agent	NOUN
ap-3441	207	19	often	often	ADV
ap-3441	207	20	behaved	behave	VERB
ap-3441	207	21	similarly	similarly	ADV
ap-3441	207	22	,	,	PUNCT
ap-3441	207	23	and	and	CCONJ
ap-3441	207	24	hence	hence	ADV
ap-3441	207	25	did	do	AUX
ap-3441	207	26	not	not	PART
ap-3441	207	27	exert	exert	VERB
ap-3441	207	28	significantly	significantly	ADV
ap-3441	207	29	different	different	ADJ
ap-3441	207	30	types	type	NOUN
ap-3441	207	31	of	of	ADP
ap-3441	207	32	influence	influence	NOUN
ap-3441	207	33	.	.	PUNCT
ap-3441	208	1	there	there	PRON
ap-3441	208	2	are	be	VERB
ap-3441	208	3	,	,	PUNCT
ap-3441	208	4	of	of	ADP
ap-3441	208	5	course	course	NOUN
ap-3441	208	6	,	,	PUNCT
ap-3441	208	7	cases	case	NOUN
ap-3441	208	8	in	in	ADP
ap-3441	208	9	which	which	PRON
ap-3441	208	10	each	each	PRON
ap-3441	208	11	of	of	ADP
ap-3441	208	12	the	the	DET
ap-3441	208	13	lookahead	lookahead	NOUN
ap-3441	208	14	and	and	CCONJ
ap-3441	208	15	coordinated	coordinated	ADJ
ap-3441	208	16	behaviors	behavior	NOUN
ap-3441	208	17	performs	perform	VERB
ap-3441	208	18	noticeably	noticeably	ADV
ap-3441	208	19	better	well	ADJ
ap-3441	208	20	than	than	ADP
ap-3441	208	21	the	the	DET
ap-3441	208	22	others	other	NOUN
ap-3441	208	23	.	.	PUNCT
ap-3441	209	1	for	for	ADP
ap-3441	209	2	example	example	NOUN
ap-3441	209	3	,	,	PUNCT
ap-3441	209	4	when	when	SCONJ
ap-3441	209	5	the	the	DET
ap-3441	209	6	flock	flock	NOUN
ap-3441	209	7	size	size	NOUN
ap-3441	209	8	is	be	AUX
ap-3441	209	9	decreased	decrease	VERB
ap-3441	209	10	to	to	ADP
ap-3441	209	11	100	100	NUM
ap-3441	209	12	,	,	PUNCT
ap-3441	209	13	the	the	DET
ap-3441	209	14	2	2	NUM
ap-3441	209	15	-	-	PUNCT
ap-3441	209	16	step	step	NOUN
ap-3441	209	17	lookahead	lookahead	NOUN
ap-3441	209	18	only	only	ADV
ap-3441	209	19	takes	take	VERB
ap-3441	209	20	44	44	NUM
ap-3441	209	21	time	time	NOUN
ap-3441	209	22	steps	step	NOUN
ap-3441	209	23	to	to	PART
ap-3441	209	24	converge	converge	VERB
ap-3441	209	25	to	to	ADP
ap-3441	209	26	θ∗	θ∗	VERB
ap-3441	209	27	when	when	SCONJ
ap-3441	209	28	a	a	DET
ap-3441	209	29	particular	particular	ADJ
ap-3441	209	30	random	random	ADJ
ap-3441	209	31	seed	seed	NOUN
ap-3441	209	32	(	(	PUNCT
ap-3441	209	33	93	93	NUM
ap-3441	209	34	)	)	PUNCT
ap-3441	209	35	is	be	AUX
ap-3441	209	36	used	use	VERB
ap-3441	209	37	in	in	ADP
ap-3441	209	38	the	the	DET
ap-3441	209	39	simulator	simulator	NOUN
ap-3441	209	40	,	,	PUNCT
ap-3441	209	41	but	but	CCONJ
ap-3441	209	42	the	the	DET
ap-3441	209	43	1	1	NUM
ap-3441	209	44	-	-	PUNCT
ap-3441	209	45	step	step	NOUN
ap-3441	209	46	lookahead	lookahead	NOUN
ap-3441	209	47	takes	take	VERB
ap-3441	209	48	67	67	NUM
ap-3441	209	49	steps	step	NOUN
ap-3441	209	50	and	and	CCONJ
ap-3441	209	51	the	the	DET
ap-3441	209	52	coordinated	coordinated	ADJ
ap-3441	209	53	approach	approach	NOUN
ap-3441	209	54	takes	take	VERB
ap-3441	209	55	61	61	NUM
ap-3441	209	56	steps	step	NOUN
ap-3441	209	57	.	.	PUNCT
ap-3441	210	1	7	7	X
ap-3441	210	2	.	.	NUM
ap-3441	210	3	related	relate	VERB
ap-3441	210	4	work	work	NOUN
ap-3441	210	5	although	although	SCONJ
ap-3441	210	6	there	there	PRON
ap-3441	210	7	has	have	AUX
ap-3441	210	8	been	be	AUX
ap-3441	210	9	a	a	DET
ap-3441	210	10	significant	significant	ADJ
ap-3441	210	11	amount	amount	NOUN
ap-3441	210	12	of	of	ADP
ap-3441	210	13	work	work	NOUN
ap-3441	210	14	in	in	ADP
ap-3441	210	15	the	the	DET
ap-3441	210	16	field	field	NOUN
ap-3441	210	17	of	of	ADP
ap-3441	210	18	multiagent	multiagent	NOUN
ap-3441	210	19	teamwork	teamwork	NOUN
ap-3441	210	20	,	,	PUNCT
ap-3441	210	21	there	there	PRON
ap-3441	210	22	has	have	AUX
ap-3441	210	23	been	be	AUX
ap-3441	210	24	relatively	relatively	ADV
ap-3441	210	25	little	little	ADJ
ap-3441	210	26	work	work	NOUN
ap-3441	210	27	towards	towards	ADP
ap-3441	210	28	getting	get	VERB
ap-3441	210	29	agents	agent	NOUN
ap-3441	210	30	to	to	PART
ap-3441	210	31	collaborate	collaborate	VERB
ap-3441	210	32	with	with	ADP
ap-3441	210	33	teammates	teammate	NOUN
ap-3441	210	34	that	that	PRON
ap-3441	210	35	can	can	AUX
ap-3441	210	36	not	not	PART
ap-3441	210	37	be	be	AUX
ap-3441	210	38	explicitly	explicitly	ADV
ap-3441	210	39	controlled	control	VERB
ap-3441	210	40	.	.	PUNCT
ap-3441	211	1	most	most	ADJ
ap-3441	211	2	prior	prior	ADJ
ap-3441	211	3	multiagent	multiagent	PROPN
ap-3441	211	4	teamwork	teamwork	NOUN
ap-3441	211	5	research	research	NOUN
ap-3441	211	6	requires	require	VERB
ap-3441	211	7	explicit	explicit	ADJ
ap-3441	211	8	coordination	coordination	NOUN
ap-3441	211	9	protocols	protocol	NOUN
ap-3441	211	10	or	or	CCONJ
ap-3441	211	11	communication	communication	NOUN
ap-3441	211	12	protocols	protocol	NOUN
ap-3441	211	13	(	(	PUNCT
ap-3441	211	14	e.g.	e.g.	ADV
ap-3441	211	15	sharedplans	sharedplan	NOUN
ap-3441	211	16	,	,	PUNCT
ap-3441	211	17	steam	steam	NOUN
ap-3441	211	18	,	,	PUNCT
ap-3441	211	19	and	and	CCONJ
ap-3441	211	20	gpgp	gpgp	NOUN
ap-3441	211	21	)	)	PUNCT
ap-3441	212	1	[	[	X
ap-3441	212	2	10–12	10–12	NUM
ap-3441	212	3	]	]	PUNCT
ap-3441	212	4	.	.	PUNCT
ap-3441	213	1	however	however	ADV
ap-3441	213	2	,	,	PUNCT
ap-3441	213	3	in	in	ADP
ap-3441	213	4	our	our	PRON
ap-3441	213	5	work	work	NOUN
ap-3441	213	6	we	we	PRON
ap-3441	213	7	do	do	AUX
ap-3441	213	8	not	not	PART
ap-3441	213	9	assume	assume	VERB
ap-3441	213	10	that	that	SCONJ
ap-3441	213	11	any	any	DET
ap-3441	213	12	protocol	protocol	NOUN
ap-3441	213	13	is	be	AUX
ap-3441	213	14	known	know	VERB
ap-3441	213	15	by	by	ADP
ap-3441	213	16	all	all	DET
ap-3441	213	17	agents	agent	NOUN
ap-3441	213	18	.	.	PUNCT
ap-3441	214	1	han	han	PROPN
ap-3441	214	2	,	,	PUNCT
ap-3441	214	3	li	li	PROPN
ap-3441	214	4	and	and	CCONJ
ap-3441	214	5	guo	guo	PROPN
ap-3441	214	6	studied	study	VERB
ap-3441	214	7	how	how	SCONJ
ap-3441	214	8	one	one	NUM
ap-3441	214	9	agent	agent	NOUN
ap-3441	214	10	can	can	AUX
ap-3441	214	11	influence	influence	VERB
ap-3441	214	12	the	the	DET
ap-3441	214	13	direction	direction	NOUN
ap-3441	214	14	in	in	ADP
ap-3441	214	15	which	which	PRON
ap-3441	214	16	an	an	DET
ap-3441	214	17	entire	entire	ADJ
ap-3441	214	18	flock	flock	NOUN
ap-3441	214	19	of	of	ADP
ap-3441	214	20	agents	agent	NOUN
ap-3441	214	21	is	be	AUX
ap-3441	214	22	moving	move	VERB
ap-3441	214	23	[	[	PUNCT
ap-3441	214	24	5	5	NUM
ap-3441	214	25	]	]	PUNCT
ap-3441	214	26	.	.	PUNCT
ap-3441	215	1	similarly	similarly	ADV
ap-3441	215	2	to	to	ADP
ap-3441	215	3	our	our	PRON
ap-3441	215	4	work	work	NOUN
ap-3441	215	5	,	,	PUNCT
ap-3441	215	6	in	in	ADP
ap-3441	215	7	their	their	PRON
ap-3441	215	8	work	work	NOUN
ap-3441	215	9	each	each	DET
ap-3441	215	10	agent	agent	NOUN
ap-3441	215	11	follows	follow	VERB
ap-3441	215	12	a	a	DET
ap-3441	215	13	simple	simple	ADJ
ap-3441	215	14	control	control	NOUN
ap-3441	215	15	rule	rule	NOUN
ap-3441	215	16	based	base	VERB
ap-3441	215	17	on	on	ADP
ap-3441	215	18	its	its	PRON
ap-3441	215	19	neighbors	neighbor	NOUN
ap-3441	215	20	.	.	PUNCT
ap-3441	216	1	however	however	ADV
ap-3441	216	2	,	,	PUNCT
ap-3441	216	3	unlike	unlike	ADP
ap-3441	216	4	our	our	PRON
ap-3441	216	5	work	work	NOUN
ap-3441	216	6	,	,	PUNCT
ap-3441	216	7	they	they	PRON
ap-3441	216	8	only	only	ADV
ap-3441	216	9	consider	consider	VERB
ap-3441	216	10	one	one	NUM
ap-3441	216	11	influencing	influence	VERB
ap-3441	216	12	agent	agent	NOUN
ap-3441	216	13	with	with	ADP
ap-3441	216	14	unlimited	unlimited	ADJ
ap-3441	216	15	,	,	PUNCT
ap-3441	216	16	non	non	ADJ
ap-3441	216	17	-	-	ADJ
ap-3441	216	18	constant	constant	ADJ
ap-3441	216	19	velocity	velocity	NOUN
ap-3441	216	20	.	.	PUNCT
ap-3441	217	1	this	this	PRON
ap-3441	217	2	allows	allow	VERB
ap-3441	217	3	their	their	PRON
ap-3441	217	4	influencing	influence	VERB
ap-3441	217	5	agent	agent	NOUN
ap-3441	217	6	to	to	PART
ap-3441	217	7	move	move	VERB
ap-3441	217	8	to	to	ADP
ap-3441	217	9	any	any	DET
ap-3441	217	10	position	position	NOUN
ap-3441	217	11	in	in	ADP
ap-3441	217	12	the	the	DET
ap-3441	217	13	environment	environment	NOUN
ap-3441	217	14	within	within	ADP
ap-3441	217	15	one	one	NUM
ap-3441	217	16	time	time	NOUN
ap-3441	217	17	step	step	NOUN
ap-3441	217	18	,	,	PUNCT
ap-3441	217	19	which	which	PRON
ap-3441	217	20	we	we	PRON
ap-3441	217	21	believe	believe	VERB
ap-3441	217	22	is	be	AUX
ap-3441	217	23	unrealistic	unrealistic	ADJ
ap-3441	217	24	.	.	PUNCT
ap-3441	218	1	25	25	NUM
ap-3441	218	2	katie	katie	PROPN
ap-3441	218	3	genter	genter	PROPN
ap-3441	218	4	,	,	PUNCT
ap-3441	218	5	peter	peter	PROPN
ap-3441	218	6	stone	stone	PROPN
ap-3441	218	7	acta	acta	PROPN
ap-3441	218	8	polytechnica	polytechnica	PROPN
ap-3441	218	9	as	as	SCONJ
ap-3441	218	10	we	we	PRON
ap-3441	218	11	mention	mention	VERB
ap-3441	218	12	in	in	ADP
ap-3441	218	13	section	section	NOUN
ap-3441	218	14	2	2	NUM
ap-3441	218	15	,	,	PUNCT
ap-3441	218	16	reynolds	reynold	NOUN
ap-3441	218	17	introduced	introduce	VERB
ap-3441	218	18	the	the	DET
ap-3441	218	19	original	original	ADJ
ap-3441	218	20	flocking	flocking	NOUN
ap-3441	218	21	model	model	NOUN
ap-3441	218	22	[	[	X
ap-3441	218	23	2	2	NUM
ap-3441	218	24	]	]	PUNCT
ap-3441	218	25	.	.	PUNCT
ap-3441	219	1	however	however	ADV
ap-3441	219	2	,	,	PUNCT
ap-3441	219	3	his	his	PRON
ap-3441	219	4	work	work	NOUN
ap-3441	219	5	focused	focus	VERB
ap-3441	219	6	on	on	ADP
ap-3441	219	7	creating	create	VERB
ap-3441	219	8	graphical	graphical	ADJ
ap-3441	219	9	models	model	NOUN
ap-3441	219	10	that	that	PRON
ap-3441	219	11	looked	look	VERB
ap-3441	219	12	and	and	CCONJ
ap-3441	219	13	behaved	behave	VERB
ap-3441	219	14	like	like	ADP
ap-3441	219	15	real	real	ADJ
ap-3441	219	16	flocks	flock	NOUN
ap-3441	219	17	,	,	PUNCT
ap-3441	219	18	and	and	CCONJ
ap-3441	219	19	hence	hence	ADV
ap-3441	219	20	he	he	PRON
ap-3441	219	21	did	do	AUX
ap-3441	219	22	not	not	PART
ap-3441	219	23	address	address	VERB
ap-3441	219	24	adding	add	VERB
ap-3441	219	25	controllable	controllable	ADJ
ap-3441	219	26	agents	agent	NOUN
ap-3441	219	27	to	to	ADP
ap-3441	219	28	the	the	DET
ap-3441	219	29	flock	flock	NOUN
ap-3441	219	30	,	,	PUNCT
ap-3441	219	31	as	as	SCONJ
ap-3441	219	32	we	we	PRON
ap-3441	219	33	do	do	VERB
ap-3441	219	34	.	.	PUNCT
ap-3441	220	1	vicsek	vicsek	PROPN
ap-3441	220	2	et	et	PROPN
ap-3441	220	3	al	al	PROPN
ap-3441	220	4	.	.	PROPN
ap-3441	220	5	considered	consider	VERB
ap-3441	220	6	just	just	ADV
ap-3441	220	7	the	the	DET
ap-3441	220	8	alignment	alignment	ADJ
ap-3441	220	9	aspect	aspect	NOUN
ap-3441	220	10	(	(	PUNCT
ap-3441	220	11	also	also	ADV
ap-3441	220	12	called	call	VERB
ap-3441	220	13	flock	flock	NOUN
ap-3441	220	14	centering	centering	NOUN
ap-3441	220	15	)	)	PUNCT
ap-3441	220	16	of	of	ADP
ap-3441	220	17	reynolds	reynolds	PROPN
ap-3441	220	18	’	'	PUNCT
ap-3441	220	19	model	model	NOUN
ap-3441	221	1	[	[	X
ap-3441	221	2	1	1	NUM
ap-3441	221	3	]	]	PUNCT
ap-3441	221	4	.	.	PUNCT
ap-3441	222	1	hence	hence	ADV
ap-3441	222	2	,	,	PUNCT
ap-3441	222	3	like	like	ADP
ap-3441	222	4	in	in	ADP
ap-3441	222	5	our	our	PRON
ap-3441	222	6	work	work	NOUN
ap-3441	222	7	,	,	PUNCT
ap-3441	222	8	they	they	PRON
ap-3441	222	9	use	use	VERB
ap-3441	222	10	a	a	DET
ap-3441	222	11	model	model	NOUN
ap-3441	222	12	where	where	SCONJ
ap-3441	222	13	all	all	PRON
ap-3441	222	14	of	of	ADP
ap-3441	222	15	the	the	DET
ap-3441	222	16	particles	particle	NOUN
ap-3441	222	17	move	move	VERB
ap-3441	222	18	at	at	ADP
ap-3441	222	19	a	a	DET
ap-3441	222	20	constant	constant	ADJ
ap-3441	222	21	velocity	velocity	NOUN
ap-3441	222	22	and	and	CCONJ
ap-3441	222	23	adopt	adopt	VERB
ap-3441	222	24	the	the	DET
ap-3441	222	25	average	average	ADJ
ap-3441	222	26	direction	direction	NOUN
ap-3441	222	27	of	of	ADP
ap-3441	222	28	the	the	DET
ap-3441	222	29	particles	particle	NOUN
ap-3441	222	30	in	in	ADP
ap-3441	222	31	their	their	PRON
ap-3441	222	32	neighborhood	neighborhood	NOUN
ap-3441	222	33	.	.	PUNCT
ap-3441	223	1	however	however	ADV
ap-3441	223	2	,	,	PUNCT
ap-3441	223	3	like	like	ADP
ap-3441	223	4	reynolds	reynold	NOUN
ap-3441	223	5	’	'	PUNCT
ap-3441	223	6	work	work	NOUN
ap-3441	223	7	,	,	PUNCT
ap-3441	223	8	they	they	PRON
ap-3441	223	9	were	be	AUX
ap-3441	223	10	only	only	ADV
ap-3441	223	11	concerned	concerned	ADJ
ap-3441	223	12	with	with	ADP
ap-3441	223	13	simulating	simulate	VERB
ap-3441	223	14	flock	flock	NOUN
ap-3441	223	15	behavior	behavior	NOUN
ap-3441	223	16	and	and	CCONJ
ap-3441	223	17	not	not	PART
ap-3441	223	18	with	with	ADP
ap-3441	223	19	adding	add	VERB
ap-3441	223	20	controllable	controllable	ADJ
ap-3441	223	21	agents	agent	NOUN
ap-3441	223	22	to	to	ADP
ap-3441	223	23	the	the	DET
ap-3441	223	24	flock	flock	NOUN
ap-3441	223	25	.	.	PUNCT
ap-3441	224	1	jadbabaie	jadbabaie	PROPN
ap-3441	224	2	,	,	PUNCT
ap-3441	224	3	lin	lin	PROPN
ap-3441	224	4	,	,	PUNCT
ap-3441	224	5	and	and	CCONJ
ap-3441	224	6	morse	morse	PROPN
ap-3441	224	7	build	build	VERB
ap-3441	224	8	on	on	ADP
ap-3441	224	9	vicsek	vicsek	PROPN
ap-3441	224	10	et	et	PROPN
ap-3441	225	1	al	al	PROPN
ap-3441	225	2	.	.	PROPN
ap-3441	225	3	’s	’s	PART
ap-3441	225	4	work	work	NOUN
ap-3441	226	1	[	[	X
ap-3441	226	2	6	6	NUM
ap-3441	226	3	]	]	PUNCT
ap-3441	226	4	.	.	PUNCT
ap-3441	227	1	they	they	PRON
ap-3441	227	2	use	use	VERB
ap-3441	227	3	a	a	DET
ap-3441	227	4	simpler	simple	ADJ
ap-3441	227	5	direction	direction	NOUN
ap-3441	227	6	update	update	NOUN
ap-3441	227	7	than	than	ADP
ap-3441	227	8	vicsek	vicsek	PROPN
ap-3441	227	9	et	et	PROPN
ap-3441	227	10	al	al	PROPN
ap-3441	227	11	.	.	PROPN
ap-3441	228	1	and	and	CCONJ
ap-3441	228	2	they	they	PRON
ap-3441	228	3	show	show	VERB
ap-3441	228	4	that	that	SCONJ
ap-3441	228	5	a	a	DET
ap-3441	228	6	flock	flock	NOUN
ap-3441	228	7	with	with	ADP
ap-3441	228	8	a	a	DET
ap-3441	228	9	controllable	controllable	ADJ
ap-3441	228	10	agent	agent	NOUN
ap-3441	228	11	will	will	AUX
ap-3441	228	12	eventually	eventually	ADV
ap-3441	228	13	converge	converge	VERB
ap-3441	228	14	to	to	ADP
ap-3441	228	15	the	the	DET
ap-3441	228	16	controllable	controllable	ADJ
ap-3441	228	17	agent	agent	NOUN
ap-3441	228	18	’s	’s	PART
ap-3441	228	19	heading	heading	NOUN
ap-3441	228	20	.	.	PUNCT
ap-3441	229	1	like	like	ADP
ap-3441	229	2	us	we	PRON
ap-3441	229	3	,	,	PUNCT
ap-3441	229	4	they	they	PRON
ap-3441	229	5	show	show	VERB
ap-3441	229	6	that	that	SCONJ
ap-3441	229	7	a	a	DET
ap-3441	229	8	controllable	controllable	ADJ
ap-3441	229	9	agent	agent	NOUN
ap-3441	229	10	can	can	AUX
ap-3441	229	11	be	be	AUX
ap-3441	229	12	used	use	VERB
ap-3441	229	13	to	to	PART
ap-3441	229	14	influence	influence	VERB
ap-3441	229	15	the	the	DET
ap-3441	229	16	behavior	behavior	NOUN
ap-3441	229	17	of	of	ADP
ap-3441	229	18	the	the	DET
ap-3441	229	19	other	other	ADJ
ap-3441	229	20	agents	agent	NOUN
ap-3441	229	21	in	in	ADP
ap-3441	229	22	a	a	DET
ap-3441	229	23	flock	flock	NOUN
ap-3441	229	24	.	.	PUNCT
ap-3441	230	1	however	however	ADV
ap-3441	230	2	,	,	PUNCT
ap-3441	230	3	they	they	PRON
ap-3441	230	4	are	be	AUX
ap-3441	230	5	only	only	ADV
ap-3441	230	6	concerned	concerned	ADJ
ap-3441	230	7	with	with	ADP
ap-3441	230	8	getting	get	VERB
ap-3441	230	9	the	the	DET
ap-3441	230	10	flock	flock	NOUN
ap-3441	230	11	to	to	PART
ap-3441	230	12	converge	converge	VERB
ap-3441	230	13	eventually	eventually	ADV
ap-3441	230	14	,	,	PUNCT
ap-3441	230	15	whereas	whereas	SCONJ
ap-3441	230	16	we	we	PRON
ap-3441	230	17	attempt	attempt	VERB
ap-3441	230	18	to	to	PART
ap-3441	230	19	do	do	VERB
ap-3441	230	20	so	so	ADV
ap-3441	230	21	as	as	ADV
ap-3441	230	22	quickly	quickly	ADV
ap-3441	230	23	as	as	ADP
ap-3441	230	24	possible	possible	ADJ
ap-3441	230	25	.	.	PUNCT
ap-3441	231	1	su	su	PROPN
ap-3441	231	2	,	,	PUNCT
ap-3441	231	3	wang	wang	PROPN
ap-3441	231	4	,	,	PUNCT
ap-3441	231	5	and	and	CCONJ
ap-3441	231	6	lin	lin	PROPN
ap-3441	231	7	also	also	ADV
ap-3441	231	8	present	present	VERB
ap-3441	231	9	work	work	NOUN
ap-3441	231	10	that	that	PRON
ap-3441	231	11	is	be	AUX
ap-3441	231	12	concerned	concern	VERB
ap-3441	231	13	with	with	ADP
ap-3441	231	14	using	use	VERB
ap-3441	231	15	a	a	DET
ap-3441	231	16	controllable	controllable	ADJ
ap-3441	231	17	agent	agent	NOUN
ap-3441	231	18	to	to	PART
ap-3441	231	19	make	make	VERB
ap-3441	231	20	the	the	DET
ap-3441	231	21	flock	flock	NOUN
ap-3441	231	22	converge	converge	VERB
ap-3441	231	23	eventually	eventually	ADV
ap-3441	231	24	[	[	X
ap-3441	231	25	7	7	NUM
ap-3441	231	26	]	]	SYM
ap-3441	231	27	.	.	PUNCT
ap-3441	232	1	8	8	X
ap-3441	232	2	.	.	X
ap-3441	232	3	conclusion	conclusion	NOUN
ap-3441	232	4	in	in	ADP
ap-3441	232	5	this	this	DET
ap-3441	232	6	work	work	NOUN
ap-3441	232	7	,	,	PUNCT
ap-3441	232	8	we	we	PRON
ap-3441	232	9	have	have	AUX
ap-3441	232	10	set	set	VERB
ap-3441	232	11	out	out	ADP
ap-3441	232	12	to	to	PART
ap-3441	232	13	determine	determine	VERB
ap-3441	232	14	how	how	SCONJ
ap-3441	232	15	influencing	influence	VERB
ap-3441	232	16	agents	agent	NOUN
ap-3441	232	17	should	should	AUX
ap-3441	232	18	behave	behave	VERB
ap-3441	232	19	in	in	ADP
ap-3441	232	20	order	order	NOUN
ap-3441	232	21	to	to	PART
ap-3441	232	22	orient	orient	VERB
ap-3441	232	23	a	a	DET
ap-3441	232	24	flock	flock	NOUN
ap-3441	232	25	towards	towards	ADP
ap-3441	232	26	a	a	DET
ap-3441	232	27	target	target	NOUN
ap-3441	232	28	heading	head	VERB
ap-3441	232	29	as	as	ADV
ap-3441	232	30	quickly	quickly	ADV
ap-3441	232	31	as	as	ADP
ap-3441	232	32	possible	possible	ADJ
ap-3441	232	33	.	.	PUNCT
ap-3441	233	1	our	our	PRON
ap-3441	233	2	work	work	NOUN
ap-3441	233	3	is	be	AUX
ap-3441	233	4	situated	situate	VERB
ap-3441	233	5	in	in	ADP
ap-3441	233	6	a	a	DET
ap-3441	233	7	limited	limited	ADJ
ap-3441	233	8	ad	ad	NOUN
ap-3441	233	9	hoc	hoc	X
ap-3441	233	10	teamwork	teamwork	NOUN
ap-3441	233	11	domain	domain	NOUN
ap-3441	233	12	,	,	PUNCT
ap-3441	233	13	so	so	SCONJ
ap-3441	233	14	although	although	SCONJ
ap-3441	233	15	we	we	PRON
ap-3441	233	16	have	have	VERB
ap-3441	233	17	knowledge	knowledge	NOUN
ap-3441	233	18	of	of	ADP
ap-3441	233	19	the	the	DET
ap-3441	233	20	behavior	behavior	NOUN
ap-3441	233	21	of	of	ADP
ap-3441	233	22	the	the	DET
ap-3441	233	23	flock	flock	NOUN
ap-3441	233	24	,	,	PUNCT
ap-3441	233	25	we	we	PRON
ap-3441	233	26	are	be	AUX
ap-3441	233	27	only	only	ADV
ap-3441	233	28	able	able	ADJ
ap-3441	233	29	to	to	PART
ap-3441	233	30	influence	influence	VERB
ap-3441	233	31	them	they	PRON
ap-3441	233	32	indirectly	indirectly	ADV
ap-3441	233	33	via	via	ADP
ap-3441	233	34	the	the	DET
ap-3441	233	35	behavior	behavior	NOUN
ap-3441	233	36	of	of	ADP
ap-3441	233	37	the	the	DET
ap-3441	233	38	influencing	influence	VERB
ap-3441	233	39	agents	agent	NOUN
ap-3441	233	40	within	within	ADP
ap-3441	233	41	the	the	DET
ap-3441	233	42	flock	flock	NOUN
ap-3441	233	43	.	.	PUNCT
ap-3441	234	1	this	this	DET
ap-3441	234	2	paper	paper	NOUN
ap-3441	234	3	introduces	introduce	VERB
ap-3441	234	4	three	three	NUM
ap-3441	234	5	algorithms	algorithm	NOUN
ap-3441	234	6	that	that	PRON
ap-3441	234	7	the	the	DET
ap-3441	234	8	influencing	influence	VERB
ap-3441	234	9	agents	agent	NOUN
ap-3441	234	10	can	can	AUX
ap-3441	234	11	use	use	VERB
ap-3441	234	12	to	to	PART
ap-3441	234	13	influence	influence	VERB
ap-3441	234	14	the	the	DET
ap-3441	234	15	flock	flock	NOUN
ap-3441	234	16	—	—	PUNCT
ap-3441	234	17	a	a	DET
ap-3441	234	18	greedy	greedy	ADJ
ap-3441	234	19	lookahead	lookahead	NOUN
ap-3441	234	20	behavior	behavior	NOUN
ap-3441	234	21	,	,	PUNCT
ap-3441	234	22	a	a	DET
ap-3441	234	23	deeper	deep	ADJ
ap-3441	234	24	lookahead	lookahead	NOUN
ap-3441	234	25	behavior	behavior	NOUN
ap-3441	234	26	,	,	PUNCT
ap-3441	234	27	and	and	CCONJ
ap-3441	234	28	a	a	DET
ap-3441	234	29	coordinated	coordinated	ADJ
ap-3441	234	30	behavior	behavior	NOUN
ap-3441	234	31	.	.	PUNCT
ap-3441	235	1	we	we	PRON
ap-3441	235	2	ran	run	VERB
ap-3441	235	3	extensive	extensive	ADJ
ap-3441	235	4	experiments	experiment	NOUN
ap-3441	235	5	using	use	VERB
ap-3441	235	6	these	these	DET
ap-3441	235	7	algorithms	algorithm	NOUN
ap-3441	235	8	in	in	ADP
ap-3441	235	9	a	a	DET
ap-3441	235	10	simulated	simulate	VERB
ap-3441	235	11	flocking	flocking	NOUN
ap-3441	235	12	domain	domain	NOUN
ap-3441	235	13	,	,	PUNCT
ap-3441	235	14	where	where	SCONJ
ap-3441	235	15	we	we	PRON
ap-3441	235	16	observed	observe	VERB
ap-3441	235	17	that	that	SCONJ
ap-3441	235	18	in	in	ADP
ap-3441	235	19	such	such	DET
ap-3441	235	20	a	a	DET
ap-3441	235	21	setting	setting	NOUN
ap-3441	235	22	,	,	PUNCT
ap-3441	235	23	a	a	DET
ap-3441	235	24	greedy	greedy	ADJ
ap-3441	235	25	lookahead	lookahead	NOUN
ap-3441	235	26	behavior	behavior	NOUN
ap-3441	235	27	is	be	AUX
ap-3441	235	28	an	an	DET
ap-3441	235	29	effective	effective	ADJ
ap-3441	235	30	behavior	behavior	NOUN
ap-3441	235	31	for	for	SCONJ
ap-3441	235	32	the	the	DET
ap-3441	235	33	influencing	influence	VERB
ap-3441	235	34	agents	agent	NOUN
ap-3441	235	35	to	to	PART
ap-3441	235	36	adopt	adopt	VERB
ap-3441	235	37	.	.	PUNCT
ap-3441	236	1	although	although	SCONJ
ap-3441	236	2	we	we	PRON
ap-3441	236	3	have	have	AUX
ap-3441	236	4	begun	begin	VERB
ap-3441	236	5	to	to	PART
ap-3441	236	6	consider	consider	VERB
ap-3441	236	7	coordinated	coordinated	ADJ
ap-3441	236	8	algorithms	algorithm	NOUN
ap-3441	236	9	in	in	ADP
ap-3441	236	10	this	this	DET
ap-3441	236	11	work	work	NOUN
ap-3441	236	12	,	,	PUNCT
ap-3441	236	13	there	there	PRON
ap-3441	236	14	is	be	VERB
ap-3441	236	15	room	room	NOUN
ap-3441	236	16	for	for	ADP
ap-3441	236	17	more	more	ADV
ap-3441	236	18	extensive	extensive	ADJ
ap-3441	236	19	coordination	coordination	NOUN
ap-3441	236	20	as	as	ADV
ap-3441	236	21	well	well	ADV
ap-3441	236	22	as	as	ADP
ap-3441	236	23	different	different	ADJ
ap-3441	236	24	types	type	NOUN
ap-3441	236	25	of	of	ADP
ap-3441	236	26	coordination	coordination	NOUN
ap-3441	236	27	.	.	PUNCT
ap-3441	237	1	additionally	additionally	ADV
ap-3441	237	2	,	,	PUNCT
ap-3441	237	3	as	as	SCONJ
ap-3441	237	4	this	this	DET
ap-3441	237	5	work	work	NOUN
ap-3441	237	6	focused	focus	VERB
ap-3441	237	7	on	on	ADP
ap-3441	237	8	a	a	DET
ap-3441	237	9	limited	limited	ADJ
ap-3441	237	10	version	version	NOUN
ap-3441	237	11	of	of	ADP
ap-3441	237	12	reynolds	reynold	NOUN
ap-3441	237	13	’	'	PUNCT
ap-3441	237	14	flocking	flocking	NOUN
ap-3441	237	15	model	model	NOUN
ap-3441	237	16	,	,	PUNCT
ap-3441	237	17	a	a	DET
ap-3441	237	18	promising	promising	ADJ
ap-3441	237	19	direction	direction	NOUN
ap-3441	237	20	for	for	ADP
ap-3441	237	21	future	future	ADJ
ap-3441	237	22	work	work	NOUN
ap-3441	237	23	is	be	AUX
ap-3441	237	24	to	to	PART
ap-3441	237	25	extend	extend	VERB
ap-3441	237	26	the	the	DET
ap-3441	237	27	algorithms	algorithm	NOUN
ap-3441	237	28	presented	present	VERB
ap-3441	237	29	in	in	ADP
ap-3441	237	30	this	this	DET
ap-3441	237	31	work	work	NOUN
ap-3441	237	32	to	to	ADP
ap-3441	237	33	reynolds	reynold	NOUN
ap-3441	237	34	’	'	PUNCT
ap-3441	237	35	complete	complete	ADJ
ap-3441	237	36	flocking	flocking	NOUN
ap-3441	237	37	model	model	NOUN
ap-3441	237	38	.	.	PUNCT
ap-3441	238	1	finally	finally	ADV
ap-3441	238	2	,	,	PUNCT
ap-3441	238	3	it	it	PRON
ap-3441	238	4	would	would	AUX
ap-3441	238	5	be	be	AUX
ap-3441	238	6	interesting	interesting	ADJ
ap-3441	238	7	to	to	PART
ap-3441	238	8	empirically	empirically	ADV
ap-3441	238	9	consider	consider	VERB
ap-3441	238	10	the	the	DET
ap-3441	238	11	effect	effect	NOUN
ap-3441	238	12	of	of	ADP
ap-3441	238	13	influencing	influence	VERB
ap-3441	238	14	agent	agent	NOUN
ap-3441	238	15	placement	placement	NOUN
ap-3441	238	16	.	.	PUNCT
ap-3441	239	1	acknowledgements	acknowledgement	NOUN
ap-3441	239	2	this	this	DET
ap-3441	239	3	work	work	NOUN
ap-3441	239	4	has	have	AUX
ap-3441	239	5	been	be	AUX
ap-3441	239	6	carried	carry	VERB
ap-3441	239	7	out	out	ADP
ap-3441	239	8	in	in	ADP
ap-3441	239	9	the	the	DET
ap-3441	239	10	learning	learn	VERB
ap-3441	239	11	agents	agent	NOUN
ap-3441	239	12	research	research	NOUN
ap-3441	239	13	group	group	NOUN
ap-3441	239	14	(	(	PUNCT
ap-3441	239	15	larg	larg	NOUN
ap-3441	239	16	)	)	PUNCT
ap-3441	239	17	at	at	ADP
ap-3441	239	18	the	the	DET
ap-3441	239	19	artificial	artificial	ADJ
ap-3441	239	20	intelligence	intelligence	NOUN
ap-3441	239	21	laboratory	laboratory	NOUN
ap-3441	239	22	,	,	PUNCT
ap-3441	239	23	the	the	DET
ap-3441	239	24	university	university	PROPN
ap-3441	239	25	of	of	ADP
ap-3441	239	26	texas	texas	PROPN
ap-3441	239	27	at	at	ADP
ap-3441	239	28	austin	austin	PROPN
ap-3441	239	29	.	.	PUNCT
ap-3441	240	1	larg	larg	PROPN
ap-3441	240	2	research	research	NOUN
ap-3441	240	3	is	be	AUX
ap-3441	240	4	supported	support	VERB
ap-3441	240	5	in	in	ADP
ap-3441	240	6	part	part	NOUN
ap-3441	240	7	by	by	ADP
ap-3441	240	8	grants	grant	NOUN
ap-3441	240	9	from	from	ADP
ap-3441	240	10	the	the	DET
ap-3441	240	11	national	national	PROPN
ap-3441	240	12	science	science	PROPN
ap-3441	240	13	foundation	foundation	PROPN
ap-3441	240	14	(	(	PUNCT
ap-3441	240	15	cns-1330072	cns-1330072	NOUN
ap-3441	240	16	,	,	PUNCT
ap-3441	240	17	cns-1305287	cns-1305287	ADJ
ap-3441	240	18	)	)	PUNCT
ap-3441	240	19	,	,	PUNCT
ap-3441	240	20	onr	onr	PROPN
ap-3441	240	21	(	(	PUNCT
ap-3441	240	22	21c184	21c184	PROPN
ap-3441	240	23	-	-	PUNCT
ap-3441	240	24	01	01	NUM
ap-3441	240	25	)	)	PUNCT
ap-3441	240	26	,	,	PUNCT
ap-3441	240	27	afrl	afrl	PROPN
ap-3441	240	28	(	(	PUNCT
ap-3441	240	29	fa8750	fa8750	PROPN
ap-3441	240	30	-	-	PUNCT
ap-3441	240	31	14	14	NUM
ap-3441	240	32	-	-	PUNCT
ap-3441	240	33	1	1	NUM
ap-3441	240	34	-	-	PUNCT
ap-3441	240	35	0070	0070	NUM
ap-3441	240	36	)	)	PUNCT
ap-3441	240	37	,	,	PUNCT
ap-3441	240	38	afosr	afosr	NOUN
ap-3441	240	39	(	(	PUNCT
ap-3441	240	40	fa955014	fa955014	NOUN
ap-3441	240	41	-	-	PUNCT
ap-3441	240	42	1	1	NUM
ap-3441	240	43	-	-	PUNCT
ap-3441	240	44	0087	0087	NUM
ap-3441	240	45	)	)	PUNCT
ap-3441	240	46	,	,	PUNCT
ap-3441	240	47	and	and	CCONJ
ap-3441	240	48	from	from	ADP
ap-3441	240	49	yujin	yujin	NOUN
ap-3441	240	50	robot	robot	NOUN
ap-3441	240	51	.	.	PUNCT
ap-3441	241	1	references	reference	NOUN
ap-3441	241	2	[	[	X
ap-3441	241	3	1	1	X
ap-3441	241	4	]	]	PUNCT
ap-3441	241	5	t.	t.	NOUN
ap-3441	241	6	vicsek	vicsek	PROPN
ap-3441	241	7	,	,	PUNCT
ap-3441	241	8	a.	a.	NOUN
ap-3441	241	9	czirok	czirok	PROPN
ap-3441	241	10	,	,	PUNCT
ap-3441	241	11	e.	e.	PROPN
ap-3441	241	12	ben	ben	PROPN
ap-3441	241	13	-	-	PROPN
ap-3441	241	14	jacob	jacob	PROPN
ap-3441	241	15	,	,	PUNCT
ap-3441	241	16	et	et	PROPN
ap-3441	241	17	al	al	PROPN
ap-3441	241	18	.	.	PROPN
ap-3441	241	19	novel	novel	ADJ
ap-3441	241	20	type	type	NOUN
ap-3441	241	21	of	of	ADP
ap-3441	241	22	phase	phase	NOUN
ap-3441	241	23	transition	transition	NOUN
ap-3441	241	24	in	in	ADP
ap-3441	241	25	a	a	DET
ap-3441	241	26	system	system	NOUN
ap-3441	241	27	of	of	ADP
ap-3441	241	28	self	self	NOUN
ap-3441	241	29	-	-	PUNCT
ap-3441	241	30	driven	drive	VERB
ap-3441	241	31	particles	particle	NOUN
ap-3441	241	32	.	.	PUNCT
ap-3441	242	1	physical	physical	ADJ
ap-3441	242	2	review	review	NOUN
ap-3441	242	3	letters	letter	NOUN
ap-3441	242	4	75(6	75(6	NUM
ap-3441	242	5	)	)	PUNCT
ap-3441	242	6	,	,	PUNCT
ap-3441	242	7	1995	1995	NUM
ap-3441	242	8	.	.	PUNCT
ap-3441	243	1	doi:10.1103	doi:10.1103	NOUN
ap-3441	243	2	/	/	SYM
ap-3441	243	3	physrevlett.75.1226	physrevlett.75.1226	NOUN
ap-3441	243	4	.	.	PUNCT
ap-3441	244	1	[	[	X
ap-3441	244	2	2	2	X
ap-3441	244	3	]	]	PUNCT
ap-3441	244	4	c.	c.	PROPN
ap-3441	244	5	w.	w.	PROPN
ap-3441	244	6	reynolds	reynolds	PROPN
ap-3441	244	7	.	.	PUNCT
ap-3441	245	1	flocks	flock	NOUN
ap-3441	245	2	,	,	PUNCT
ap-3441	245	3	herds	herd	NOUN
ap-3441	245	4	and	and	CCONJ
ap-3441	245	5	schools	school	NOUN
ap-3441	245	6	:	:	PUNCT
ap-3441	245	7	a	a	DET
ap-3441	245	8	distributed	distribute	VERB
ap-3441	245	9	behavioral	behavioral	ADJ
ap-3441	245	10	model	model	NOUN
ap-3441	245	11	.	.	PUNCT
ap-3441	246	1	siggraph	siggraph	PROPN
ap-3441	246	2	21:25–34	21:25–34	NUM
ap-3441	246	3	,	,	PUNCT
ap-3441	246	4	1987	1987	NUM
ap-3441	246	5	.	.	PUNCT
ap-3441	246	6	doi:10.1145/37401.37406	doi:10.1145/37401.37406	PROPN
ap-3441	246	7	.	.	PUNCT
ap-3441	247	1	[	[	X
ap-3441	247	2	3	3	X
ap-3441	247	3	]	]	X
ap-3441	247	4	w.	w.	NOUN
ap-3441	247	5	bialeka	bialeka	PROPN
ap-3441	247	6	,	,	PUNCT
ap-3441	247	7	a.	a.	PROPN
ap-3441	247	8	cavagnab	cavagnab	PROPN
ap-3441	247	9	,	,	PUNCT
ap-3441	247	10	i.	i.	PROPN
ap-3441	247	11	giardinab	giardinab	PROPN
ap-3441	247	12	,	,	PUNCT
ap-3441	247	13	et	et	PROPN
ap-3441	247	14	al	al	PROPN
ap-3441	247	15	.	.	PUNCT
ap-3441	247	16	statistical	statistical	ADJ
ap-3441	247	17	mechanics	mechanic	NOUN
ap-3441	247	18	for	for	ADP
ap-3441	247	19	natural	natural	ADJ
ap-3441	247	20	flocks	flock	NOUN
ap-3441	247	21	of	of	ADP
ap-3441	247	22	birds	bird	NOUN
ap-3441	247	23	.	.	PUNCT
ap-3441	248	1	proceedings	proceeding	NOUN
ap-3441	248	2	of	of	ADP
ap-3441	248	3	the	the	DET
ap-3441	248	4	national	national	PROPN
ap-3441	248	5	academy	academy	PROPN
ap-3441	248	6	of	of	ADP
ap-3441	248	7	sciences	science	NOUN
ap-3441	248	8	109(11	109(11	NUM
ap-3441	248	9	)	)	PUNCT
ap-3441	248	10	,	,	PUNCT
ap-3441	248	11	2012	2012	NUM
ap-3441	248	12	.	.	PUNCT
ap-3441	249	1	doi:10.1073	doi:10.1073	NOUN
ap-3441	249	2	/	/	SYM
ap-3441	249	3	pnas.1118633109	pnas.1118633109	PROPN
ap-3441	249	4	.	.	PUNCT
ap-3441	250	1	[	[	X
ap-3441	250	2	4	4	X
ap-3441	250	3	]	]	PUNCT
ap-3441	250	4	h.	h.	PROPN
ap-3441	250	5	h.	h.	PROPN
ap-3441	250	6	charlotte	charlotte	PROPN
ap-3441	250	7	k.	k.	PROPN
ap-3441	250	8	hemelrijk	hemelrijk	PROPN
ap-3441	250	9	.	.	PUNCT
ap-3441	251	1	some	some	DET
ap-3441	251	2	causes	cause	NOUN
ap-3441	251	3	of	of	ADP
ap-3441	251	4	the	the	DET
ap-3441	251	5	variable	variable	ADJ
ap-3441	251	6	shape	shape	NOUN
ap-3441	251	7	of	of	ADP
ap-3441	251	8	flocks	flock	NOUN
ap-3441	251	9	of	of	ADP
ap-3441	251	10	birds	bird	NOUN
ap-3441	251	11	.	.	PUNCT
ap-3441	252	1	plos	plos	PROPN
ap-3441	252	2	one	one	NUM
ap-3441	252	3	6(8	6(8	NUM
ap-3441	252	4	)	)	PUNCT
ap-3441	252	5	,	,	PUNCT
ap-3441	252	6	2011	2011	NUM
ap-3441	252	7	.	.	PUNCT
ap-3441	253	1	doi:10.1371	doi:10.1371	PROPN
ap-3441	253	2	/	/	SYM
ap-3441	254	1	journal.pone.0022479	journal.pone.0022479	PROPN
ap-3441	254	2	.	.	PUNCT
ap-3441	255	1	[	[	X
ap-3441	255	2	5	5	X
ap-3441	255	3	]	]	PUNCT
ap-3441	255	4	j.	j.	PROPN
ap-3441	255	5	han	han	PROPN
ap-3441	255	6	,	,	PUNCT
ap-3441	255	7	m.	m.	PROPN
ap-3441	255	8	li	li	PROPN
ap-3441	255	9	,	,	PUNCT
ap-3441	255	10	l.	l.	PROPN
ap-3441	255	11	guo	guo	PROPN
ap-3441	255	12	.	.	PUNCT
ap-3441	255	13	soft	soft	ADJ
ap-3441	255	14	control	control	NOUN
ap-3441	255	15	on	on	ADP
ap-3441	255	16	collective	collective	ADJ
ap-3441	255	17	behavior	behavior	NOUN
ap-3441	255	18	of	of	ADP
ap-3441	255	19	a	a	DET
ap-3441	255	20	group	group	NOUN
ap-3441	255	21	of	of	ADP
ap-3441	255	22	autonomous	autonomous	ADJ
ap-3441	255	23	agents	agent	NOUN
ap-3441	255	24	by	by	ADP
ap-3441	255	25	a	a	DET
ap-3441	255	26	shill	shill	ADJ
ap-3441	255	27	agent	agent	NOUN
ap-3441	255	28	.	.	PUNCT
ap-3441	256	1	journal	journal	PROPN
ap-3441	256	2	of	of	ADP
ap-3441	256	3	systems	system	NOUN
ap-3441	256	4	science	science	NOUN
ap-3441	256	5	and	and	CCONJ
ap-3441	256	6	complexity	complexity	NOUN
ap-3441	256	7	19(1):54–62	19(1):54–62	NUM
ap-3441	256	8	,	,	PUNCT
ap-3441	256	9	2006	2006	NUM
ap-3441	256	10	.	.	PUNCT
ap-3441	257	1	doi:10.1007	doi:10.1007	VERB
ap-3441	257	2	/	/	SYM
ap-3441	257	3	s11424	s11424	VERB
ap-3441	257	4	-	-	PUNCT
ap-3441	257	5	006	006	NUM
ap-3441	257	6	-	-	PUNCT
ap-3441	257	7	0054	0054	NUM
ap-3441	257	8	-	-	PUNCT
ap-3441	257	9	z.	z.	NOUN
ap-3441	258	1	[	[	X
ap-3441	258	2	6	6	NUM
ap-3441	258	3	]	]	PUNCT
ap-3441	258	4	a.	a.	NOUN
ap-3441	258	5	jadbabaie	jadbabaie	PROPN
ap-3441	258	6	,	,	PUNCT
ap-3441	258	7	j.	j.	PROPN
ap-3441	258	8	lin	lin	PROPN
ap-3441	258	9	,	,	PUNCT
ap-3441	258	10	a.	a.	NOUN
ap-3441	258	11	morse	morse	PROPN
ap-3441	258	12	.	.	PUNCT
ap-3441	259	1	coordination	coordination	NOUN
ap-3441	259	2	of	of	ADP
ap-3441	259	3	groups	group	NOUN
ap-3441	259	4	of	of	ADP
ap-3441	259	5	mobile	mobile	ADJ
ap-3441	259	6	autonomous	autonomous	ADJ
ap-3441	259	7	agents	agent	NOUN
ap-3441	259	8	using	use	VERB
ap-3441	259	9	nearest	near	ADJ
ap-3441	259	10	neighbor	neighbor	NOUN
ap-3441	259	11	rules	rule	NOUN
ap-3441	259	12	.	.	PUNCT
ap-3441	260	1	ieee	ieee	NOUN
ap-3441	260	2	transactions	transaction	NOUN
ap-3441	260	3	on	on	ADP
ap-3441	260	4	automatic	automatic	ADJ
ap-3441	260	5	control	control	NOUN
ap-3441	260	6	48(6):988–1001	48(6):988–1001	PROPN
ap-3441	260	7	,	,	PUNCT
ap-3441	260	8	2003	2003	NUM
ap-3441	260	9	.	.	PUNCT
ap-3441	261	1	doi:10.1109	doi:10.1109	VERB
ap-3441	261	2	/	/	SYM
ap-3441	261	3	tac.2003.812781	tac.2003.812781	PROPN
ap-3441	261	4	.	.	PUNCT
ap-3441	262	1	[	[	X
ap-3441	262	2	7	7	X
ap-3441	262	3	]	]	X
ap-3441	262	4	h.	h.	PROPN
ap-3441	262	5	su	su	PROPN
ap-3441	262	6	,	,	PUNCT
ap-3441	262	7	x.	x.	PROPN
ap-3441	262	8	wang	wang	PROPN
ap-3441	262	9	,	,	PUNCT
ap-3441	262	10	z.	z.	PROPN
ap-3441	262	11	lin	lin	PROPN
ap-3441	262	12	.	.	PUNCT
ap-3441	263	1	flocking	flocking	NOUN
ap-3441	263	2	of	of	ADP
ap-3441	263	3	multi	multi	ADJ
ap-3441	263	4	-	-	NOUN
ap-3441	263	5	agents	agent	NOUN
ap-3441	263	6	with	with	ADP
ap-3441	263	7	a	a	DET
ap-3441	263	8	virtual	virtual	ADJ
ap-3441	263	9	leader	leader	NOUN
ap-3441	263	10	.	.	PUNCT
ap-3441	264	1	ieee	ieee	NOUN
ap-3441	264	2	transactions	transaction	NOUN
ap-3441	264	3	on	on	ADP
ap-3441	264	4	automatic	automatic	ADJ
ap-3441	264	5	control	control	NOUN
ap-3441	264	6	54(2):293–307	54(2):293–307	NUM
ap-3441	264	7	,	,	PUNCT
ap-3441	264	8	2009	2009	NUM
ap-3441	264	9	.	.	PUNCT
ap-3441	265	1	doi:10.1109	doi:10.1109	VERB
ap-3441	265	2	/	/	SYM
ap-3441	265	3	tac.2008.2010897	tac.2008.2010897	PROPN
ap-3441	265	4	.	.	PUNCT
ap-3441	266	1	[	[	X
ap-3441	266	2	8	8	NUM
ap-3441	266	3	]	]	PUNCT
ap-3441	266	4	s.	s.	PROPN
ap-3441	266	5	luke	luke	PROPN
ap-3441	266	6	,	,	PUNCT
ap-3441	266	7	c.	c.	PROPN
ap-3441	266	8	cioffi	cioffi	PROPN
ap-3441	266	9	-	-	PUNCT
ap-3441	266	10	revilla	revilla	PROPN
ap-3441	266	11	,	,	PUNCT
ap-3441	266	12	l.	l.	PROPN
ap-3441	266	13	panait	panait	PROPN
ap-3441	266	14	,	,	PUNCT
ap-3441	267	1	et	et	PROPN
ap-3441	267	2	al	al	PROPN
ap-3441	267	3	.	.	PUNCT
ap-3441	267	4	mason	mason	PROPN
ap-3441	267	5	:	:	PUNCT
ap-3441	267	6	a	a	DET
ap-3441	267	7	multi	multi	ADJ
ap-3441	267	8	-	-	ADJ
ap-3441	267	9	agent	agent	ADJ
ap-3441	267	10	simulation	simulation	NOUN
ap-3441	267	11	environment	environment	PROPN
ap-3441	267	12	.	.	PUNCT
ap-3441	268	1	simulation	simulation	NOUN
ap-3441	268	2	:	:	PUNCT
ap-3441	268	3	transactions	transaction	NOUN
ap-3441	268	4	of	of	ADP
ap-3441	268	5	the	the	DET
ap-3441	268	6	society	society	NOUN
ap-3441	268	7	for	for	ADP
ap-3441	268	8	modeling	modeling	NOUN
ap-3441	268	9	and	and	CCONJ
ap-3441	268	10	simulation	simulation	NOUN
ap-3441	268	11	international	international	PROPN
ap-3441	268	12	81(7):517–527	81(7):517–527	PROPN
ap-3441	268	13	,	,	PUNCT
ap-3441	268	14	2005	2005	NUM
ap-3441	268	15	.	.	PUNCT
ap-3441	269	1	doi:10.1177/0037549705058073	doi:10.1177/0037549705058073	NOUN
ap-3441	269	2	.	.	PUNCT
ap-3441	270	1	[	[	X
ap-3441	270	2	9	9	NUM
ap-3441	270	3	]	]	PUNCT
ap-3441	270	4	k.	k.	NOUN
ap-3441	270	5	genter	genter	PROPN
ap-3441	270	6	,	,	PUNCT
ap-3441	270	7	n.	n.	PROPN
ap-3441	270	8	agmon	agmon	PROPN
ap-3441	270	9	,	,	PUNCT
ap-3441	270	10	p.	p.	NOUN
ap-3441	270	11	stone	stone	NOUN
ap-3441	270	12	.	.	PUNCT
ap-3441	271	1	ad	ad	NOUN
ap-3441	271	2	hoc	hoc	X
ap-3441	271	3	teamwork	teamwork	NOUN
ap-3441	271	4	for	for	ADP
ap-3441	271	5	leading	lead	VERB
ap-3441	271	6	a	a	DET
ap-3441	271	7	flock	flock	NOUN
ap-3441	271	8	.	.	PUNCT
ap-3441	272	1	in	in	ADP
ap-3441	272	2	proceedings	proceeding	NOUN
ap-3441	272	3	of	of	ADP
ap-3441	272	4	the	the	DET
ap-3441	272	5	12th	12th	ADJ
ap-3441	272	6	international	international	ADJ
ap-3441	272	7	conference	conference	NOUN
ap-3441	272	8	on	on	ADP
ap-3441	272	9	autonomous	autonomous	ADJ
ap-3441	272	10	agents	agent	NOUN
ap-3441	272	11	and	and	CCONJ
ap-3441	272	12	multiagent	multiagent	NOUN
ap-3441	272	13	systems	system	NOUN
ap-3441	272	14	(	(	PUNCT
ap-3441	272	15	aamas	aamas	PROPN
ap-3441	272	16	2013	2013	NUM
ap-3441	272	17	)	)	PUNCT
ap-3441	272	18	.	.	PUNCT
ap-3441	273	1	2013	2013	NUM
ap-3441	273	2	.	.	PUNCT
ap-3441	274	1	[	[	X
ap-3441	274	2	10	10	NUM
ap-3441	274	3	]	]	X
ap-3441	274	4	b.	b.	PROPN
ap-3441	274	5	j.	j.	PROPN
ap-3441	274	6	grosz	grosz	PROPN
ap-3441	274	7	,	,	PUNCT
ap-3441	274	8	s.	s.	PROPN
ap-3441	274	9	kraus	kraus	PROPN
ap-3441	274	10	.	.	PUNCT
ap-3441	275	1	collaborative	collaborative	ADJ
ap-3441	275	2	plans	plan	NOUN
ap-3441	275	3	for	for	ADP
ap-3441	275	4	complex	complex	ADJ
ap-3441	275	5	group	group	NOUN
ap-3441	275	6	action	action	NOUN
ap-3441	275	7	.	.	PUNCT
ap-3441	276	1	artifical	artifical	ADJ
ap-3441	276	2	intelligence	intelligence	PROPN
ap-3441	276	3	journal	journal	PROPN
ap-3441	276	4	86(2):269	86(2):269	NUM
ap-3441	276	5	–	–	PUNCT
ap-3441	276	6	357	357	NUM
ap-3441	276	7	,	,	PUNCT
ap-3441	276	8	1996	1996	NUM
ap-3441	276	9	.	.	PUNCT
ap-3441	277	1	doi:10.1016/0004	doi:10.1016/0004	VERB
ap-3441	277	2	-	-	PUNCT
ap-3441	277	3	3702(95)00103	3702(95)00103	NUM
ap-3441	277	4	-	-	SYM
ap-3441	277	5	4	4	NUM
ap-3441	277	6	.	.	PUNCT
ap-3441	278	1	[	[	X
ap-3441	278	2	11	11	NUM
ap-3441	278	3	]	]	PUNCT
ap-3441	278	4	m.	m.	NOUN
ap-3441	278	5	tambe	tambe	NOUN
ap-3441	278	6	.	.	PUNCT
ap-3441	279	1	towards	towards	ADP
ap-3441	279	2	flexible	flexible	ADJ
ap-3441	279	3	teamwork	teamwork	NOUN
ap-3441	279	4	.	.	PUNCT
ap-3441	280	1	journal	journal	NOUN
ap-3441	280	2	of	of	ADP
ap-3441	280	3	artificial	artificial	ADJ
ap-3441	280	4	intelligence	intelligence	NOUN
ap-3441	280	5	research	research	NOUN
ap-3441	280	6	7:83–124	7:83–124	NUM
ap-3441	280	7	,	,	PUNCT
ap-3441	280	8	1997	1997	NUM
ap-3441	280	9	.	.	PUNCT
ap-3441	281	1	[	[	X
ap-3441	281	2	12	12	NUM
ap-3441	281	3	]	]	PUNCT
ap-3441	281	4	k.	k.	PROPN
ap-3441	281	5	s.	s.	PROPN
ap-3441	281	6	decker	decker	PROPN
ap-3441	281	7	,	,	PUNCT
ap-3441	281	8	v.	v.	PROPN
ap-3441	281	9	r.	r.	PROPN
ap-3441	281	10	lesser	lesser	PROPN
ap-3441	281	11	.	.	PUNCT
ap-3441	282	1	readings	reading	NOUN
ap-3441	282	2	in	in	ADP
ap-3441	282	3	agents	agent	NOUN
ap-3441	282	4	.	.	PUNCT
ap-3441	283	1	chap	chap	PROPN
ap-3441	283	2	.	.	PUNCT
ap-3441	284	1	designing	design	VERB
ap-3441	284	2	a	a	DET
ap-3441	284	3	family	family	NOUN
ap-3441	284	4	of	of	ADP
ap-3441	284	5	coordination	coordination	NOUN
ap-3441	284	6	algorithms	algorithm	NOUN
ap-3441	284	7	,	,	PUNCT
ap-3441	284	8	pp	pp	ADJ
ap-3441	284	9	.	.	PUNCT
ap-3441	285	1	450–457	450–457	NUM
ap-3441	285	2	.	.	PUNCT
ap-3441	286	1	morgan	morgan	PROPN
ap-3441	286	2	kaufmann	kaufmann	PROPN
ap-3441	286	3	publishers	publishers	PROPN
ap-3441	286	4	inc	inc	PROPN
ap-3441	286	5	.	.	PROPN
ap-3441	286	6	,	,	PUNCT
ap-3441	286	7	san	san	PROPN
ap-3441	286	8	francisco	francisco	PROPN
ap-3441	286	9	,	,	PUNCT
ap-3441	286	10	ca	ca	PROPN
ap-3441	286	11	,	,	PUNCT
ap-3441	286	12	usa	usa	PROPN
ap-3441	286	13	,	,	PUNCT
ap-3441	286	14	1998	1998	NUM
ap-3441	286	15	.	.	PUNCT
ap-3441	287	1	26	26	NUM
ap-3441	287	2	http://dx.doi.org/10.1103/physrevlett.75.1226	http://dx.doi.org/10.1103/physrevlett.75.1226	NOUN
ap-3441	287	3	http://dx.doi.org/10.1145/37401.37406	http://dx.doi.org/10.1145/37401.37406	VERB
ap-3441	287	4	http://dx.doi.org/10.1073/pnas.1118633109	http://dx.doi.org/10.1073/pnas.1118633109	VERB
ap-3441	287	5	http://dx.doi.org/10.1371/journal.pone.0022479	http://dx.doi.org/10.1371/journal.pone.0022479	PROPN
ap-3441	288	1	http://dx.doi.org/10.1007/s11424-006-0054-z	http://dx.doi.org/10.1007/s11424-006-0054-z	NOUN
ap-3441	289	1	http://dx.doi.org/10.1109/tac.2003.812781	http://dx.doi.org/10.1109/tac.2003.812781	CCONJ
ap-3441	289	2	http://dx.doi.org/10.1109/tac.2008.2010897	http://dx.doi.org/10.1109/tac.2008.2010897	PROPN
ap-3441	289	3	http://dx.doi.org/10.1177/0037549705058073	http://dx.doi.org/10.1177/0037549705058073	PROPN
ap-3441	289	4	http://dx.doi.org/10.1016/0004-3702(95)00103-4	http://dx.doi.org/10.1016/0004-3702(95)00103-4	PROPN
ap-3441	289	5	acta	acta	PROPN
ap-3441	289	6	polytechnica	polytechnica	PROPN
ap-3441	289	7	56(1):18–26	56(1):18–26	NUM
ap-3441	289	8	,	,	PUNCT
ap-3441	289	9	2016	2016	NUM
ap-3441	289	10	1	1	NUM
ap-3441	289	11	introduction	introduction	NOUN
ap-3441	289	12	2	2	NUM
ap-3441	289	13	problem	problem	NOUN
ap-3441	289	14	definition	definition	NOUN
ap-3441	289	15	2.1	2.1	NUM
ap-3441	289	16	simulation	simulation	NOUN
ap-3441	289	17	environment	environment	NOUN
ap-3441	289	18	3	3	NUM
ap-3441	289	19	1	1	NUM
ap-3441	289	20	-	-	PUNCT
ap-3441	289	21	step	step	NOUN
ap-3441	289	22	lookahead	lookahead	NOUN
ap-3441	289	23	behavior	behavior	NOUN
ap-3441	289	24	4	4	NUM
ap-3441	289	25	2	2	NUM
ap-3441	289	26	-	-	PUNCT
ap-3441	289	27	step	step	NOUN
ap-3441	289	28	lookahead	lookahead	NOUN
ap-3441	289	29	behavior	behavior	NOUN
ap-3441	289	30	5	5	NUM
ap-3441	289	31	coordinated	coordinate	VERB
ap-3441	289	32	behavior	behavior	NOUN
ap-3441	289	33	6	6	NUM
ap-3441	289	34	experiments	experiment	NOUN
ap-3441	289	35	6.1	6.1	NUM
ap-3441	289	36	baseline	baseline	NOUN
ap-3441	289	37	ad	ad	X
ap-3441	289	38	hoc	hoc	X
ap-3441	289	39	agent	agent	NOUN
ap-3441	289	40	behaviors	behavior	NOUN
ap-3441	289	41	6.1.1	6.1.1	NUM
ap-3441	289	42	face	face	NOUN
ap-3441	289	43	desired	desire	VERB
ap-3441	289	44	orientation	orientation	NOUN
ap-3441	289	45	behavior	behavior	NOUN
ap-3441	289	46	6.1.2	6.1.2	NUM
ap-3441	289	47	offset	offset	VERB
ap-3441	289	48	momentum	momentum	NOUN
ap-3441	289	49	behavior	behavior	NOUN
ap-3441	289	50	6.2	6.2	NUM
ap-3441	289	51	experimental	experimental	ADJ
ap-3441	289	52	setup	setup	NOUN
ap-3441	289	53	6.3	6.3	NUM
ap-3441	289	54	experimental	experimental	ADJ
ap-3441	289	55	results	result	NOUN
ap-3441	289	56	6.3.1	6.3.1	NUM
ap-3441	289	57	altering	alter	VERB
ap-3441	289	58	the	the	DET
ap-3441	289	59	composition	composition	NOUN
ap-3441	289	60	of	of	ADP
ap-3441	289	61	the	the	DET
ap-3441	289	62	flock	flock	NOUN
ap-3441	289	63	6.3.2	6.3.2	NUM
ap-3441	289	64	altering	alter	VERB
ap-3441	289	65	the	the	DET
ap-3441	289	66	size	size	NOUN
ap-3441	289	67	of	of	ADP
ap-3441	289	68	the	the	DET
ap-3441	289	69	flock	flock	NOUN
ap-3441	289	70	6.4	6.4	NUM
ap-3441	289	71	discussion	discussion	NOUN
ap-3441	289	72	7	7	NUM
ap-3441	289	73	related	relate	VERB
ap-3441	289	74	work	work	NOUN
ap-3441	289	75	8	8	NUM
ap-3441	289	76	conclusion	conclusion	NOUN
ap-3441	289	77	acknowledgements	acknowledgement	NOUN
ap-3441	289	78	references	reference	NOUN