id	sid	tid	token	lemma	pos
ap-3490	1	1	acta	acta	PROPN
ap-3490	1	2	polytechnica	polytechnica	PROPN
ap-3490	1	3	doi:10.14311	doi:10.14311	PROPN
ap-3490	1	4	/	/	SYM
ap-3490	1	5	app.2016.56.0047	app.2016.56.0047	PROPN
ap-3490	1	6	acta	acta	PROPN
ap-3490	1	7	polytechnica	polytechnica	NOUN
ap-3490	1	8	56(1):47–56	56(1):47–56	NUM
ap-3490	1	9	,	,	PUNCT
ap-3490	1	10	2016	2016	NUM
ap-3490	1	11	©	©	PROPN
ap-3490	1	12	czech	czech	PROPN
ap-3490	1	13	technical	technical	PROPN
ap-3490	1	14	university	university	PROPN
ap-3490	1	15	in	in	ADP
ap-3490	1	16	prague	prague	PROPN
ap-3490	1	17	,	,	PUNCT
ap-3490	1	18	2016	2016	NUM
ap-3490	1	19	available	available	ADJ
ap-3490	1	20	online	online	ADV
ap-3490	1	21	at	at	ADP
ap-3490	1	22	http://ojs.cvut.cz/ojs/index.php/ap	http://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-3490	1	23	hybrid	hybrid	ADJ
ap-3490	1	24	reasoning	reasoning	NOUN
ap-3490	1	25	for	for	ADP
ap-3490	1	26	multi	multi	ADJ
ap-3490	1	27	-	-	ADJ
ap-3490	1	28	robot	robot	ADJ
ap-3490	1	29	drill	drill	NOUN
ap-3490	1	30	planning	planning	NOUN
ap-3490	1	31	in	in	ADP
ap-3490	1	32	open	open	ADJ
ap-3490	1	33	-	-	PUNCT
ap-3490	1	34	pit	pit	NOUN
ap-3490	1	35	mines	mine	NOUN
ap-3490	1	36	masoumeh	masoumeh	NOUN
ap-3490	1	37	mansouri∗	mansouri∗	NOUN
ap-3490	1	38	,	,	PUNCT
ap-3490	1	39	henrik	henrik	PROPN
ap-3490	1	40	andreasson	andreasson	PROPN
ap-3490	1	41	,	,	PUNCT
ap-3490	1	42	federico	federico	PROPN
ap-3490	1	43	pecora	pecora	PROPN
ap-3490	1	44	centre	centre	PROPN
ap-3490	1	45	for	for	ADP
ap-3490	1	46	applied	apply	VERB
ap-3490	1	47	autonomous	autonomous	ADJ
ap-3490	1	48	sensor	sensor	NOUN
ap-3490	1	49	systems	system	NOUN
ap-3490	1	50	(	(	PUNCT
ap-3490	1	51	aass	aass	ADJ
ap-3490	1	52	)	)	PUNCT
ap-3490	1	53	∗	∗	NOUN
ap-3490	1	54	corresponding	correspond	VERB
ap-3490	1	55	author	author	NOUN
ap-3490	1	56	:	:	PUNCT
ap-3490	1	57	masoumeh.mansouri@oru.se	masoumeh.mansouri@oru.se	VERB
ap-3490	1	58	abstract	abstract	NOUN
ap-3490	1	59	.	.	PUNCT
ap-3490	2	1	fleet	fleet	NOUN
ap-3490	2	2	automation	automation	NOUN
ap-3490	2	3	often	often	ADV
ap-3490	2	4	involves	involve	VERB
ap-3490	2	5	solving	solve	VERB
ap-3490	2	6	several	several	ADJ
ap-3490	2	7	strongly	strongly	ADV
ap-3490	2	8	correlated	correlate	VERB
ap-3490	2	9	sub	sub	NOUN
ap-3490	2	10	-	-	NOUN
ap-3490	2	11	problems	problem	NOUN
ap-3490	2	12	,	,	PUNCT
ap-3490	2	13	including	include	VERB
ap-3490	2	14	task	task	NOUN
ap-3490	2	15	allocation	allocation	NOUN
ap-3490	2	16	,	,	PUNCT
ap-3490	2	17	motion	motion	NOUN
ap-3490	2	18	planning	planning	NOUN
ap-3490	2	19	,	,	PUNCT
ap-3490	2	20	and	and	CCONJ
ap-3490	2	21	coordination	coordination	NOUN
ap-3490	2	22	.	.	PUNCT
ap-3490	3	1	solutions	solution	NOUN
ap-3490	3	2	need	need	VERB
ap-3490	3	3	to	to	PART
ap-3490	3	4	account	account	VERB
ap-3490	3	5	for	for	ADP
ap-3490	3	6	very	very	ADV
ap-3490	3	7	specific	specific	ADJ
ap-3490	3	8	,	,	PUNCT
ap-3490	3	9	domaindependent	domaindependent	ADJ
ap-3490	3	10	constraints	constraint	NOUN
ap-3490	3	11	.	.	PUNCT
ap-3490	4	1	in	in	ADP
ap-3490	4	2	addition	addition	NOUN
ap-3490	4	3	,	,	PUNCT
ap-3490	4	4	several	several	ADJ
ap-3490	4	5	aspects	aspect	NOUN
ap-3490	4	6	of	of	ADP
ap-3490	4	7	the	the	DET
ap-3490	4	8	overall	overall	ADJ
ap-3490	4	9	fleet	fleet	NOUN
ap-3490	4	10	management	management	NOUN
ap-3490	4	11	problem	problem	NOUN
ap-3490	4	12	become	become	AUX
ap-3490	4	13	known	know	VERB
ap-3490	4	14	only	only	ADV
ap-3490	4	15	online	online	ADV
ap-3490	4	16	.	.	PUNCT
ap-3490	5	1	we	we	PRON
ap-3490	5	2	propose	propose	VERB
ap-3490	5	3	a	a	DET
ap-3490	5	4	method	method	NOUN
ap-3490	5	5	for	for	ADP
ap-3490	5	6	solving	solve	VERB
ap-3490	5	7	the	the	DET
ap-3490	5	8	fleet	fleet	NOUN
ap-3490	5	9	-	-	PUNCT
ap-3490	5	10	management	management	NOUN
ap-3490	5	11	problem	problem	NOUN
ap-3490	5	12	grounded	ground	VERB
ap-3490	5	13	on	on	ADP
ap-3490	5	14	a	a	DET
ap-3490	5	15	heuristically	heuristically	ADV
ap-3490	5	16	-	-	PUNCT
ap-3490	5	17	guided	guide	VERB
ap-3490	5	18	search	search	NOUN
ap-3490	5	19	in	in	ADP
ap-3490	5	20	the	the	DET
ap-3490	5	21	space	space	NOUN
ap-3490	5	22	of	of	ADP
ap-3490	5	23	mutually	mutually	ADV
ap-3490	5	24	feasible	feasible	ADJ
ap-3490	5	25	solutions	solution	NOUN
ap-3490	5	26	to	to	ADP
ap-3490	5	27	sub	sub	NOUN
ap-3490	5	28	-	-	NOUN
ap-3490	5	29	problems	problem	NOUN
ap-3490	5	30	.	.	PUNCT
ap-3490	6	1	we	we	PRON
ap-3490	6	2	focus	focus	VERB
ap-3490	6	3	on	on	ADP
ap-3490	6	4	a	a	DET
ap-3490	6	5	mining	mining	NOUN
ap-3490	6	6	application	application	NOUN
ap-3490	6	7	which	which	PRON
ap-3490	6	8	requires	require	VERB
ap-3490	6	9	online	online	ADJ
ap-3490	6	10	contingency	contingency	NOUN
ap-3490	6	11	handling	handling	NOUN
ap-3490	6	12	and	and	CCONJ
ap-3490	6	13	accommodating	accommodate	VERB
ap-3490	6	14	many	many	ADJ
ap-3490	6	15	domainspecific	domainspecific	ADJ
ap-3490	6	16	constraints	constraint	NOUN
ap-3490	6	17	.	.	PUNCT
ap-3490	7	1	as	as	SCONJ
ap-3490	7	2	contingencies	contingency	NOUN
ap-3490	7	3	occur	occur	VERB
ap-3490	7	4	,	,	PUNCT
ap-3490	7	5	efficient	efficient	ADJ
ap-3490	7	6	reasoning	reasoning	NOUN
ap-3490	7	7	is	be	AUX
ap-3490	7	8	performed	perform	VERB
ap-3490	7	9	to	to	PART
ap-3490	7	10	adjust	adjust	VERB
ap-3490	7	11	the	the	DET
ap-3490	7	12	plan	plan	NOUN
ap-3490	7	13	online	online	ADV
ap-3490	7	14	for	for	ADP
ap-3490	7	15	the	the	DET
ap-3490	7	16	entire	entire	ADJ
ap-3490	7	17	fleet	fleet	NOUN
ap-3490	7	18	.	.	PUNCT
ap-3490	8	1	keywords	keyword	NOUN
ap-3490	8	2	:	:	PUNCT
ap-3490	8	3	robot	robot	NOUN
ap-3490	8	4	planning	planning	NOUN
ap-3490	8	5	;	;	PUNCT
ap-3490	8	6	multi	multi	ADJ
ap-3490	8	7	-	-	ADJ
ap-3490	8	8	robot	robot	ADJ
ap-3490	8	9	coordination	coordination	NOUN
ap-3490	8	10	;	;	PUNCT
ap-3490	8	11	on	on	ADP
ap-3490	8	12	-	-	PUNCT
ap-3490	8	13	line	line	NOUN
ap-3490	8	14	reasoning	reasoning	NOUN
ap-3490	8	15	.	.	PUNCT
ap-3490	9	1	1	1	X
ap-3490	9	2	.	.	X
ap-3490	9	3	introduction	introduction	NOUN
ap-3490	9	4	autonomous	autonomous	ADJ
ap-3490	9	5	vehicles	vehicle	NOUN
ap-3490	9	6	are	be	AUX
ap-3490	9	7	becoming	become	VERB
ap-3490	9	8	key	key	ADJ
ap-3490	9	9	components	component	NOUN
ap-3490	9	10	in	in	ADP
ap-3490	9	11	industrial	industrial	ADJ
ap-3490	9	12	automation	automation	NOUN
ap-3490	9	13	.	.	PUNCT
ap-3490	10	1	state	state	NOUN
ap-3490	10	2	-	-	PUNCT
ap-3490	10	3	of	of	ADP
ap-3490	10	4	-	-	PUNCT
ap-3490	10	5	the	the	DET
ap-3490	10	6	-	-	PUNCT
ap-3490	10	7	art	art	NOUN
ap-3490	10	8	methods	method	NOUN
ap-3490	10	9	for	for	ADP
ap-3490	10	10	localization	localization	NOUN
ap-3490	10	11	,	,	PUNCT
ap-3490	10	12	mapping	mapping	NOUN
ap-3490	10	13	,	,	PUNCT
ap-3490	10	14	control	control	NOUN
ap-3490	10	15	and	and	CCONJ
ap-3490	10	16	motion	motion	NOUN
ap-3490	10	17	planning	planning	NOUN
ap-3490	10	18	have	have	AUX
ap-3490	10	19	enabled	enable	VERB
ap-3490	10	20	the	the	DET
ap-3490	10	21	development	development	NOUN
ap-3490	10	22	and	and	CCONJ
ap-3490	10	23	deployment	deployment	NOUN
ap-3490	10	24	of	of	ADP
ap-3490	10	25	autonomous	autonomous	ADJ
ap-3490	10	26	vehicles	vehicle	NOUN
ap-3490	10	27	in	in	ADP
ap-3490	10	28	logistics	logistic	NOUN
ap-3490	10	29	,	,	PUNCT
ap-3490	10	30	material	material	NOUN
ap-3490	10	31	handling	handling	NOUN
ap-3490	10	32	,	,	PUNCT
ap-3490	10	33	and	and	CCONJ
ap-3490	10	34	mining	mining	NOUN
ap-3490	10	35	application	application	NOUN
ap-3490	10	36	.	.	PUNCT
ap-3490	11	1	yet	yet	CCONJ
ap-3490	11	2	important	important	ADJ
ap-3490	11	3	hindrances	hindrance	NOUN
ap-3490	11	4	remain	remain	VERB
ap-3490	11	5	when	when	SCONJ
ap-3490	11	6	it	it	PRON
ap-3490	11	7	comes	come	VERB
ap-3490	11	8	to	to	ADP
ap-3490	11	9	employing	employ	VERB
ap-3490	11	10	fleets	fleet	NOUN
ap-3490	11	11	of	of	ADP
ap-3490	11	12	autonomous	autonomous	ADJ
ap-3490	11	13	vehicles	vehicle	NOUN
ap-3490	11	14	[	[	X
ap-3490	11	15	1	1	NUM
ap-3490	11	16	]	]	PUNCT
ap-3490	11	17	.	.	PUNCT
ap-3490	12	1	this	this	DET
ap-3490	12	2	paper	paper	NOUN
ap-3490	12	3	is	be	AUX
ap-3490	12	4	concerned	concern	VERB
ap-3490	12	5	with	with	ADP
ap-3490	12	6	three	three	NUM
ap-3490	12	7	of	of	ADP
ap-3490	12	8	these	these	DET
ap-3490	12	9	hindrances	hindrance	NOUN
ap-3490	12	10	:	:	PUNCT
ap-3490	12	11	•	•	NUM
ap-3490	12	12	fleet	fleet	NOUN
ap-3490	12	13	automation	automation	NOUN
ap-3490	12	14	often	often	ADV
ap-3490	12	15	involves	involve	VERB
ap-3490	12	16	solving	solve	VERB
ap-3490	12	17	several	several	ADJ
ap-3490	12	18	strongly	strongly	ADV
ap-3490	12	19	correlated	correlate	VERB
ap-3490	12	20	sub	sub	NOUN
ap-3490	12	21	-	-	NOUN
ap-3490	12	22	problems	problem	NOUN
ap-3490	12	23	—	—	PUNCT
ap-3490	12	24	among	among	ADP
ap-3490	12	25	these	these	PRON
ap-3490	12	26	,	,	PUNCT
ap-3490	12	27	allocating	allocate	VERB
ap-3490	12	28	tasks	task	NOUN
ap-3490	12	29	to	to	ADP
ap-3490	12	30	vehicles	vehicle	NOUN
ap-3490	12	31	,	,	PUNCT
ap-3490	12	32	planning	planning	NOUN
ap-3490	12	33	vehicle	vehicle	NOUN
ap-3490	12	34	motions	motion	NOUN
ap-3490	12	35	,	,	PUNCT
ap-3490	12	36	and	and	CCONJ
ap-3490	12	37	vehicle	vehicle	NOUN
ap-3490	12	38	coordination	coordination	NOUN
ap-3490	12	39	.	.	PUNCT
ap-3490	13	1	this	this	PRON
ap-3490	13	2	makes	make	VERB
ap-3490	13	3	solving	solve	VERB
ap-3490	13	4	the	the	DET
ap-3490	13	5	overall	overall	ADJ
ap-3490	13	6	problem	problem	NOUN
ap-3490	13	7	very	very	ADV
ap-3490	13	8	hard	hard	ADV
ap-3490	13	9	,	,	PUNCT
ap-3490	13	10	as	as	SCONJ
ap-3490	13	11	solutions	solution	NOUN
ap-3490	13	12	should	should	AUX
ap-3490	13	13	be	be	AUX
ap-3490	13	14	found	find	VERB
ap-3490	13	15	in	in	ADP
ap-3490	13	16	the	the	DET
ap-3490	13	17	space	space	NOUN
ap-3490	13	18	of	of	ADP
ap-3490	13	19	mutually	mutually	ADV
ap-3490	13	20	-	-	PUNCT
ap-3490	13	21	feasible	feasible	ADJ
ap-3490	13	22	solutions	solution	NOUN
ap-3490	13	23	to	to	ADP
ap-3490	13	24	sub	sub	NOUN
ap-3490	13	25	-	-	NOUN
ap-3490	13	26	problems	problem	NOUN
ap-3490	13	27	.	.	PUNCT
ap-3490	14	1	•	•	NUM
ap-3490	14	2	solutions	solution	NOUN
ap-3490	14	3	often	often	ADV
ap-3490	14	4	need	need	VERB
ap-3490	14	5	to	to	PART
ap-3490	14	6	account	account	VERB
ap-3490	14	7	for	for	ADP
ap-3490	14	8	very	very	ADV
ap-3490	14	9	specific	specific	ADJ
ap-3490	14	10	,	,	PUNCT
ap-3490	14	11	domain	domain	NOUN
ap-3490	14	12	-	-	PUNCT
ap-3490	14	13	dependent	dependent	ADJ
ap-3490	14	14	constraints	constraint	NOUN
ap-3490	14	15	.	.	PUNCT
ap-3490	15	1	thus	thus	ADV
ap-3490	15	2	,	,	PUNCT
ap-3490	15	3	even	even	ADV
ap-3490	15	4	if	if	SCONJ
ap-3490	15	5	methods	method	NOUN
ap-3490	15	6	exist	exist	VERB
ap-3490	15	7	for	for	ADP
ap-3490	15	8	solving	solve	VERB
ap-3490	15	9	individual	individual	ADJ
ap-3490	15	10	sub	sub	NOUN
ap-3490	15	11	-	-	NOUN
ap-3490	15	12	problems	problem	NOUN
ap-3490	15	13	,	,	PUNCT
ap-3490	15	14	these	these	PRON
ap-3490	15	15	often	often	ADV
ap-3490	15	16	need	need	VERB
ap-3490	15	17	to	to	PART
ap-3490	15	18	be	be	AUX
ap-3490	15	19	adapted	adapt	VERB
ap-3490	15	20	to	to	PART
ap-3490	15	21	reflect	reflect	VERB
ap-3490	15	22	the	the	DET
ap-3490	15	23	nuances	nuance	NOUN
ap-3490	15	24	of	of	ADP
ap-3490	15	25	the	the	DET
ap-3490	15	26	particular	particular	ADJ
ap-3490	15	27	domain	domain	NOUN
ap-3490	15	28	.	.	PUNCT
ap-3490	16	1	•	•	NUM
ap-3490	16	2	several	several	ADJ
ap-3490	16	3	aspects	aspect	NOUN
ap-3490	16	4	of	of	ADP
ap-3490	16	5	the	the	DET
ap-3490	16	6	overall	overall	ADJ
ap-3490	16	7	fleet	fleet	NOUN
ap-3490	16	8	management	management	NOUN
ap-3490	16	9	problem	problem	NOUN
ap-3490	16	10	become	become	AUX
ap-3490	16	11	known	know	VERB
ap-3490	16	12	only	only	ADV
ap-3490	16	13	online	online	ADV
ap-3490	16	14	.	.	PUNCT
ap-3490	17	1	this	this	PRON
ap-3490	17	2	makes	make	VERB
ap-3490	17	3	it	it	PRON
ap-3490	17	4	necessary	necessary	ADJ
ap-3490	17	5	to	to	PART
ap-3490	17	6	compute	compute	VERB
ap-3490	17	7	at	at	ADP
ap-3490	17	8	least	least	ADJ
ap-3490	17	9	parts	part	NOUN
ap-3490	17	10	of	of	ADP
ap-3490	17	11	the	the	DET
ap-3490	17	12	solution	solution	NOUN
ap-3490	17	13	to	to	ADP
ap-3490	17	14	the	the	DET
ap-3490	17	15	overall	overall	ADJ
ap-3490	17	16	problem	problem	NOUN
ap-3490	17	17	during	during	ADP
ap-3490	17	18	execution	execution	NOUN
ap-3490	17	19	and/or	and/or	CCONJ
ap-3490	17	20	to	to	PART
ap-3490	17	21	adapt	adapt	VERB
ap-3490	17	22	existing	exist	VERB
ap-3490	17	23	plans	plan	NOUN
ap-3490	17	24	to	to	ADP
ap-3490	17	25	contingencies	contingency	NOUN
ap-3490	17	26	.	.	PUNCT
ap-3490	18	1	in	in	ADP
ap-3490	18	2	this	this	DET
ap-3490	18	3	paper	paper	NOUN
ap-3490	18	4	,	,	PUNCT
ap-3490	18	5	we	we	PRON
ap-3490	18	6	propose	propose	VERB
ap-3490	18	7	a	a	DET
ap-3490	18	8	method	method	NOUN
ap-3490	18	9	for	for	ADP
ap-3490	18	10	dividing	divide	VERB
ap-3490	18	11	the	the	DET
ap-3490	18	12	overall	overall	ADJ
ap-3490	18	13	fleet	fleet	NOUN
ap-3490	18	14	-	-	PUNCT
ap-3490	18	15	management	management	NOUN
ap-3490	18	16	problem	problem	NOUN
ap-3490	18	17	into	into	ADP
ap-3490	18	18	sub	sub	NOUN
ap-3490	18	19	-	-	NOUN
ap-3490	18	20	problems	problem	NOUN
ap-3490	18	21	.	.	PUNCT
ap-3490	19	1	we	we	PRON
ap-3490	19	2	apply	apply	VERB
ap-3490	19	3	a	a	DET
ap-3490	19	4	general	general	ADJ
ap-3490	19	5	method	method	NOUN
ap-3490	19	6	for	for	ADP
ap-3490	19	7	searching	search	VERB
ap-3490	19	8	for	for	ADP
ap-3490	19	9	a	a	DET
ap-3490	19	10	mutually	mutually	ADV
ap-3490	19	11	feasible	feasible	ADJ
ap-3490	19	12	solution	solution	NOUN
ap-3490	19	13	to	to	ADP
ap-3490	19	14	the	the	DET
ap-3490	19	15	sub	sub	NOUN
ap-3490	19	16	-	-	NOUN
ap-3490	19	17	problems	problem	NOUN
ap-3490	19	18	of	of	ADP
ap-3490	19	19	the	the	DET
ap-3490	19	20	overall	overall	ADJ
ap-3490	19	21	problem	problem	NOUN
ap-3490	19	22	.	.	PUNCT
ap-3490	20	1	we	we	PRON
ap-3490	20	2	focus	focus	VERB
ap-3490	20	3	on	on	ADP
ap-3490	20	4	a	a	DET
ap-3490	20	5	mining	mining	NOUN
ap-3490	20	6	application	application	NOUN
ap-3490	20	7	where	where	SCONJ
ap-3490	20	8	fleets	fleet	NOUN
ap-3490	20	9	are	be	AUX
ap-3490	20	10	composed	compose	VERB
ap-3490	20	11	of	of	ADP
ap-3490	20	12	surface	surface	NOUN
ap-3490	20	13	drilling	drilling	NOUN
ap-3490	20	14	machines	machine	NOUN
ap-3490	20	15	.	.	PUNCT
ap-3490	21	1	the	the	DET
ap-3490	21	2	aim	aim	NOUN
ap-3490	21	3	is	be	AUX
ap-3490	21	4	to	to	PART
ap-3490	21	5	plan	plan	VERB
ap-3490	21	6	and	and	CCONJ
ap-3490	21	7	coordinate	coordinate	VERB
ap-3490	21	8	blast	blast	NOUN
ap-3490	21	9	-	-	PUNCT
ap-3490	21	10	hole	hole	NOUN
ap-3490	21	11	pattern	pattern	NOUN
ap-3490	21	12	drilling	drill	VERB
ap-3490	21	13	with	with	ADP
ap-3490	21	14	multiple	multiple	ADJ
ap-3490	21	15	drilling	drilling	NOUN
ap-3490	21	16	machines	machine	NOUN
ap-3490	21	17	.	.	PUNCT
ap-3490	22	1	solutions	solution	NOUN
ap-3490	22	2	figure	figure	VERB
ap-3490	22	3	1	1	NUM
ap-3490	22	4	.	.	X
ap-3490	23	1	two	two	NUM
ap-3490	23	2	atlascopco	atlascopco	NOUN
ap-3490	23	3	drilling	drilling	NOUN
ap-3490	23	4	machines	machine	NOUN
ap-3490	23	5	(	(	PUNCT
ap-3490	23	6	pitviper-351	pitviper-351	NOUN
ap-3490	23	7	)	)	PUNCT
ap-3490	23	8	in	in	ADP
ap-3490	23	9	the	the	DET
ap-3490	23	10	process	process	NOUN
ap-3490	23	11	of	of	ADP
ap-3490	23	12	drilling	drilling	NOUN
ap-3490	23	13	targets	target	NOUN
ap-3490	23	14	in	in	ADP
ap-3490	23	15	a	a	DET
ap-3490	23	16	bench	bench	NOUN
ap-3490	23	17	.	.	PUNCT
ap-3490	24	1	consist	consist	VERB
ap-3490	24	2	of	of	ADP
ap-3490	24	3	an	an	DET
ap-3490	24	4	executable	executable	ADJ
ap-3490	24	5	plan	plan	NOUN
ap-3490	24	6	for	for	ADP
ap-3490	24	7	multiple	multiple	ADJ
ap-3490	24	8	vehicles	vehicle	NOUN
ap-3490	24	9	operating	operate	VERB
ap-3490	24	10	concurrently	concurrently	ADV
ap-3490	24	11	within	within	ADP
ap-3490	24	12	a	a	DET
ap-3490	24	13	common	common	ADJ
ap-3490	24	14	area	area	NOUN
ap-3490	24	15	of	of	ADP
ap-3490	24	16	the	the	DET
ap-3490	24	17	open	open	ADJ
ap-3490	24	18	-	-	PUNCT
ap-3490	24	19	pit	pit	NOUN
ap-3490	24	20	mine	mine	NOUN
ap-3490	24	21	,	,	PUNCT
ap-3490	24	22	called	call	VERB
ap-3490	24	23	a	a	DET
ap-3490	24	24	bench	bench	NOUN
ap-3490	24	25	(	(	PUNCT
ap-3490	24	26	see	see	VERB
ap-3490	24	27	figure	figure	NOUN
ap-3490	24	28	1	1	NUM
ap-3490	24	29	)	)	PUNCT
ap-3490	24	30	.	.	PUNCT
ap-3490	25	1	several	several	ADJ
ap-3490	25	2	aspects	aspect	NOUN
ap-3490	25	3	of	of	ADP
ap-3490	25	4	the	the	DET
ap-3490	25	5	problem	problem	NOUN
ap-3490	25	6	become	become	AUX
ap-3490	25	7	known	know	VERB
ap-3490	25	8	only	only	ADV
ap-3490	25	9	online	online	ADV
ap-3490	25	10	:	:	PUNCT
ap-3490	25	11	the	the	DET
ap-3490	25	12	duration	duration	NOUN
ap-3490	25	13	of	of	ADP
ap-3490	25	14	hole	hole	NOUN
ap-3490	25	15	-	-	PUNCT
ap-3490	25	16	drilling	drilling	NOUN
ap-3490	25	17	actions	action	NOUN
ap-3490	25	18	depends	depend	VERB
ap-3490	25	19	on	on	ADP
ap-3490	25	20	the	the	DET
ap-3490	25	21	hardness	hardness	NOUN
ap-3490	25	22	of	of	ADP
ap-3490	25	23	the	the	DET
ap-3490	25	24	rock	rock	NOUN
ap-3490	25	25	,	,	PUNCT
ap-3490	25	26	which	which	PRON
ap-3490	25	27	is	be	AUX
ap-3490	25	28	unknown	unknown	ADJ
ap-3490	25	29	at	at	ADP
ap-3490	25	30	planning	planning	NOUN
ap-3490	25	31	time	time	NOUN
ap-3490	25	32	;	;	PUNCT
ap-3490	25	33	the	the	DET
ap-3490	25	34	durations	duration	NOUN
ap-3490	25	35	of	of	ADP
ap-3490	25	36	navigation	navigation	NOUN
ap-3490	25	37	actions	action	NOUN
ap-3490	25	38	between	between	ADP
ap-3490	25	39	targets	target	NOUN
ap-3490	25	40	are	be	AUX
ap-3490	25	41	also	also	ADV
ap-3490	25	42	unknown	unknown	ADJ
ap-3490	25	43	at	at	ADP
ap-3490	25	44	planning	planning	NOUN
ap-3490	25	45	time	time	NOUN
ap-3490	25	46	,	,	PUNCT
ap-3490	25	47	as	as	SCONJ
ap-3490	25	48	they	they	PRON
ap-3490	25	49	depend	depend	VERB
ap-3490	25	50	on	on	ADP
ap-3490	25	51	the	the	DET
ap-3490	25	52	actual	actual	ADJ
ap-3490	25	53	state	state	NOUN
ap-3490	25	54	of	of	ADP
ap-3490	25	55	the	the	DET
ap-3490	25	56	terrain	terrain	NOUN
ap-3490	25	57	;	;	PUNCT
ap-3490	25	58	and	and	CCONJ
ap-3490	25	59	unplanned	unplanned	ADJ
ap-3490	25	60	stops	stop	NOUN
ap-3490	25	61	may	may	AUX
ap-3490	25	62	occur	occur	VERB
ap-3490	25	63	due	due	ADP
ap-3490	25	64	to	to	ADP
ap-3490	25	65	the	the	DET
ap-3490	25	66	fact	fact	NOUN
ap-3490	25	67	that	that	SCONJ
ap-3490	25	68	drills	drill	NOUN
ap-3490	25	69	may	may	AUX
ap-3490	25	70	get	get	AUX
ap-3490	25	71	stuck	stick	VERB
ap-3490	25	72	and	and	CCONJ
ap-3490	25	73	need	need	VERB
ap-3490	25	74	to	to	PART
ap-3490	25	75	be	be	AUX
ap-3490	25	76	replaced	replace	VERB
ap-3490	25	77	.	.	PUNCT
ap-3490	26	1	all	all	DET
ap-3490	26	2	three	three	NUM
ap-3490	26	3	forms	form	NOUN
ap-3490	26	4	of	of	ADP
ap-3490	26	5	contingencies	contingency	NOUN
ap-3490	26	6	are	be	AUX
ap-3490	26	7	modeled	model	VERB
ap-3490	26	8	as	as	ADP
ap-3490	26	9	metric	metric	ADJ
ap-3490	26	10	temporal	temporal	ADJ
ap-3490	26	11	constraints	constraint	NOUN
ap-3490	26	12	,	,	PUNCT
ap-3490	26	13	and	and	CCONJ
ap-3490	26	14	are	be	AUX
ap-3490	26	15	posted	post	VERB
ap-3490	26	16	online	online	ADV
ap-3490	26	17	to	to	ADP
ap-3490	26	18	a	a	DET
ap-3490	26	19	common	common	ADJ
ap-3490	26	20	representation	representation	NOUN
ap-3490	26	21	that	that	PRON
ap-3490	26	22	maintains	maintain	VERB
ap-3490	26	23	the	the	DET
ap-3490	26	24	state	state	NOUN
ap-3490	26	25	of	of	ADP
ap-3490	26	26	execution	execution	NOUN
ap-3490	26	27	of	of	ADP
ap-3490	26	28	the	the	DET
ap-3490	26	29	plan	plan	NOUN
ap-3490	26	30	for	for	ADP
ap-3490	26	31	the	the	DET
ap-3490	26	32	entire	entire	ADJ
ap-3490	26	33	fleet	fleet	NOUN
ap-3490	26	34	.	.	PUNCT
ap-3490	27	1	as	as	SCONJ
ap-3490	27	2	temporal	temporal	ADJ
ap-3490	27	3	constraints	constraint	NOUN
ap-3490	27	4	become	become	AUX
ap-3490	27	5	known	know	VERB
ap-3490	27	6	during	during	ADP
ap-3490	27	7	execution	execution	NOUN
ap-3490	27	8	,	,	PUNCT
ap-3490	27	9	efficient	efficient	ADJ
ap-3490	27	10	temporal	temporal	ADJ
ap-3490	27	11	reasoning	reasoning	NOUN
ap-3490	27	12	is	be	AUX
ap-3490	27	13	performed	perform	VERB
ap-3490	27	14	to	to	PART
ap-3490	27	15	adjust	adjust	VERB
ap-3490	27	16	the	the	DET
ap-3490	27	17	plan	plan	NOUN
ap-3490	27	18	and	and	CCONJ
ap-3490	27	19	to	to	PART
ap-3490	27	20	provide	provide	VERB
ap-3490	27	21	an	an	DET
ap-3490	27	22	optimistic	optimistic	ADJ
ap-3490	27	23	time	time	NOUN
ap-3490	27	24	to	to	ADP
ap-3490	27	25	completion	completion	NOUN
ap-3490	27	26	(	(	PUNCT
ap-3490	27	27	ttc	ttc	NOUN
ap-3490	27	28	)	)	PUNCT
ap-3490	27	29	of	of	ADP
ap-3490	27	30	the	the	DET
ap-3490	27	31	overall	overall	ADJ
ap-3490	27	32	plan	plan	NOUN
ap-3490	27	33	for	for	ADP
ap-3490	27	34	the	the	DET
ap-3490	27	35	entire	entire	ADJ
ap-3490	27	36	fleet	fleet	NOUN
ap-3490	27	37	.	.	PUNCT
ap-3490	28	1	47	47	NUM
ap-3490	28	2	http://dx.doi.org/10.14311/app.2016.56.0047	http://dx.doi.org/10.14311/app.2016.56.0047	PROPN
ap-3490	28	3	http://ojs.cvut.cz/ojs/index.php/ap	http://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-3490	28	4	m.	m.	NOUN
ap-3490	28	5	mansouri	mansouri	PROPN
ap-3490	28	6	,	,	PUNCT
ap-3490	28	7	h.	h.	PROPN
ap-3490	28	8	andreasson	andreasson	PROPN
ap-3490	28	9	,	,	PUNCT
ap-3490	28	10	f.	f.	PROPN
ap-3490	28	11	pecora	pecora	PROPN
ap-3490	28	12	acta	acta	PROPN
ap-3490	28	13	polytechnica	polytechnica	PROPN
ap-3490	28	14	figure	figure	NOUN
ap-3490	28	15	2	2	NUM
ap-3490	28	16	.	.	PUNCT
ap-3490	29	1	the	the	DET
ap-3490	29	2	actuated	actuate	VERB
ap-3490	29	3	dust	dust	NOUN
ap-3490	29	4	guard	guard	NOUN
ap-3490	29	5	and	and	CCONJ
ap-3490	29	6	leveling	leveling	NOUN
ap-3490	29	7	jacks	jack	NOUN
ap-3490	29	8	are	be	AUX
ap-3490	29	9	highlighted	highlight	VERB
ap-3490	29	10	on	on	ADP
ap-3490	29	11	an	an	DET
ap-3490	29	12	atlas	atlas	PROPN
ap-3490	29	13	copco	copco	PROPN
ap-3490	29	14	pitviper-271	pitviper-271	NOUN
ap-3490	29	15	.	.	PUNCT
ap-3490	30	1	after	after	ADP
ap-3490	30	2	drilling	drilling	NOUN
ap-3490	30	3	,	,	PUNCT
ap-3490	30	4	piles	pile	NOUN
ap-3490	30	5	of	of	ADP
ap-3490	30	6	excess	excess	ADJ
ap-3490	30	7	material	material	NOUN
ap-3490	30	8	accumulate	accumulate	NOUN
ap-3490	30	9	under	under	ADP
ap-3490	30	10	the	the	DET
ap-3490	30	11	dust	dust	NOUN
ap-3490	30	12	guard	guard	NOUN
ap-3490	30	13	,	,	PUNCT
ap-3490	30	14	which	which	PRON
ap-3490	30	15	requires	require	VERB
ap-3490	30	16	the	the	DET
ap-3490	30	17	machine	machine	NOUN
ap-3490	30	18	to	to	PART
ap-3490	30	19	actuate	actuate	VERB
ap-3490	30	20	the	the	DET
ap-3490	30	21	dust	dust	NOUN
ap-3490	30	22	guard	guard	NOUN
ap-3490	30	23	before	before	ADP
ap-3490	30	24	navigating	navigate	VERB
ap-3490	30	25	away	away	ADV
ap-3490	30	26	from	from	ADP
ap-3490	30	27	the	the	DET
ap-3490	30	28	target	target	NOUN
ap-3490	30	29	.	.	PUNCT
ap-3490	31	1	in	in	ADP
ap-3490	31	2	section	section	NOUN
ap-3490	31	3	2	2	NUM
ap-3490	31	4	we	we	PRON
ap-3490	31	5	define	define	VERB
ap-3490	31	6	the	the	DET
ap-3490	31	7	drill	drill	NOUN
ap-3490	31	8	pattern	pattern	NOUN
ap-3490	31	9	planning	planning	NOUN
ap-3490	31	10	problem	problem	NOUN
ap-3490	31	11	and	and	CCONJ
ap-3490	31	12	state	state	VERB
ap-3490	31	13	the	the	DET
ap-3490	31	14	specific	specific	ADJ
ap-3490	31	15	requirements	requirement	NOUN
ap-3490	31	16	of	of	ADP
ap-3490	31	17	the	the	DET
ap-3490	31	18	application	application	NOUN
ap-3490	31	19	.	.	PUNCT
ap-3490	32	1	section	section	NOUN
ap-3490	32	2	3	3	NUM
ap-3490	32	3	details	detail	NOUN
ap-3490	32	4	how	how	SCONJ
ap-3490	32	5	the	the	DET
ap-3490	32	6	problem	problem	NOUN
ap-3490	32	7	is	be	AUX
ap-3490	32	8	divided	divide	VERB
ap-3490	32	9	into	into	ADP
ap-3490	32	10	sub	sub	NOUN
ap-3490	32	11	-	-	NOUN
ap-3490	32	12	problems	problem	NOUN
ap-3490	32	13	,	,	PUNCT
ap-3490	32	14	and	and	CCONJ
ap-3490	32	15	section	section	NOUN
ap-3490	32	16	4	4	NUM
ap-3490	32	17	describes	describe	VERB
ap-3490	32	18	the	the	DET
ap-3490	32	19	algorithm	algorithm	NOUN
ap-3490	32	20	used	use	VERB
ap-3490	32	21	to	to	PART
ap-3490	32	22	find	find	VERB
ap-3490	32	23	mutually	mutually	ADV
ap-3490	32	24	feasible	feasible	ADJ
ap-3490	32	25	solutions	solution	NOUN
ap-3490	32	26	to	to	ADP
ap-3490	32	27	the	the	DET
ap-3490	32	28	individual	individual	ADJ
ap-3490	32	29	sub	sub	NOUN
ap-3490	32	30	-	-	NOUN
ap-3490	32	31	problems	problem	NOUN
ap-3490	32	32	.	.	PUNCT
ap-3490	33	1	section	section	NOUN
ap-3490	33	2	5	5	NUM
ap-3490	33	3	describes	describe	VERB
ap-3490	33	4	the	the	DET
ap-3490	33	5	domain	domain	NOUN
ap-3490	33	6	-	-	PUNCT
ap-3490	33	7	specific	specific	ADJ
ap-3490	33	8	heuristics	heuristic	NOUN
ap-3490	33	9	that	that	PRON
ap-3490	33	10	capture	capture	VERB
ap-3490	33	11	the	the	DET
ap-3490	33	12	nuances	nuance	NOUN
ap-3490	33	13	of	of	ADP
ap-3490	33	14	this	this	DET
ap-3490	33	15	particular	particular	ADJ
ap-3490	33	16	mining	mining	NOUN
ap-3490	33	17	application	application	NOUN
ap-3490	33	18	and	and	CCONJ
ap-3490	33	19	how	how	SCONJ
ap-3490	33	20	they	they	PRON
ap-3490	33	21	can	can	AUX
ap-3490	33	22	be	be	AUX
ap-3490	33	23	easily	easily	ADV
ap-3490	33	24	plugged	plug	VERB
ap-3490	33	25	into	into	ADP
ap-3490	33	26	the	the	DET
ap-3490	33	27	search	search	NOUN
ap-3490	33	28	for	for	ADP
ap-3490	33	29	a	a	DET
ap-3490	33	30	solution	solution	NOUN
ap-3490	33	31	.	.	PUNCT
ap-3490	34	1	section	section	NOUN
ap-3490	34	2	6	6	NUM
ap-3490	34	3	is	be	AUX
ap-3490	34	4	dedicated	dedicate	VERB
ap-3490	34	5	to	to	ADP
ap-3490	34	6	the	the	DET
ap-3490	34	7	online	online	ADJ
ap-3490	34	8	aspects	aspect	NOUN
ap-3490	34	9	of	of	ADP
ap-3490	34	10	the	the	DET
ap-3490	34	11	approach	approach	NOUN
ap-3490	34	12	.	.	PUNCT
ap-3490	35	1	a	a	DET
ap-3490	35	2	preliminary	preliminary	ADJ
ap-3490	35	3	experimental	experimental	ADJ
ap-3490	35	4	evaluation	evaluation	NOUN
ap-3490	35	5	is	be	AUX
ap-3490	35	6	provided	provide	VERB
ap-3490	35	7	in	in	ADP
ap-3490	35	8	section	section	NOUN
ap-3490	35	9	7	7	NUM
ap-3490	35	10	,	,	PUNCT
ap-3490	35	11	which	which	PRON
ap-3490	35	12	evaluates	evaluate	VERB
ap-3490	35	13	the	the	DET
ap-3490	35	14	feasibility	feasibility	NOUN
ap-3490	35	15	of	of	ADP
ap-3490	35	16	on	on	ADP
ap-3490	35	17	-	-	PUNCT
ap-3490	35	18	line	line	NOUN
ap-3490	35	19	plan	plan	NOUN
ap-3490	35	20	adaptation	adaptation	NOUN
ap-3490	35	21	in	in	ADP
ap-3490	35	22	a	a	DET
ap-3490	35	23	simulated	simulated	ADJ
ap-3490	35	24	environment	environment	NOUN
ap-3490	35	25	.	.	PUNCT
ap-3490	36	1	a	a	DET
ap-3490	36	2	brief	brief	ADJ
ap-3490	36	3	discussion	discussion	NOUN
ap-3490	36	4	on	on	ADP
ap-3490	36	5	related	related	ADJ
ap-3490	36	6	work	work	NOUN
ap-3490	36	7	and	and	CCONJ
ap-3490	36	8	on	on	ADP
ap-3490	36	9	the	the	DET
ap-3490	36	10	outlook	outlook	NOUN
ap-3490	36	11	concludes	conclude	VERB
ap-3490	36	12	the	the	DET
ap-3490	36	13	paper	paper	NOUN
ap-3490	36	14	.	.	PUNCT
ap-3490	37	1	2	2	X
ap-3490	37	2	.	.	X
ap-3490	37	3	problem	problem	NOUN
ap-3490	37	4	definition	definition	NOUN
ap-3490	37	5	and	and	CCONJ
ap-3490	37	6	requirements	requirement	NOUN
ap-3490	37	7	we	we	PRON
ap-3490	37	8	focus	focus	VERB
ap-3490	37	9	on	on	ADP
ap-3490	37	10	a	a	DET
ap-3490	37	11	problem	problem	NOUN
ap-3490	37	12	in	in	ADP
ap-3490	37	13	a	a	DET
ap-3490	37	14	mining	mining	NOUN
ap-3490	37	15	application	application	NOUN
ap-3490	37	16	,	,	PUNCT
ap-3490	37	17	where	where	SCONJ
ap-3490	37	18	a	a	DET
ap-3490	37	19	fleet	fleet	NOUN
ap-3490	37	20	of	of	ADP
ap-3490	37	21	surface	surface	NOUN
ap-3490	37	22	drills	drill	NOUN
ap-3490	37	23	operates	operate	VERB
ap-3490	37	24	on	on	ADP
ap-3490	37	25	a	a	DET
ap-3490	37	26	bench	bench	NOUN
ap-3490	37	27	in	in	ADP
ap-3490	37	28	an	an	DET
ap-3490	37	29	openpit	openpit	NOUN
ap-3490	37	30	mine	mine	NOUN
ap-3490	37	31	.	.	PUNCT
ap-3490	38	1	a	a	DET
ap-3490	38	2	set	set	NOUN
ap-3490	38	3	of	of	ADP
ap-3490	38	4	drill	drill	NOUN
ap-3490	38	5	targets	target	NOUN
ap-3490	38	6	in	in	ADP
ap-3490	38	7	the	the	DET
ap-3490	38	8	bench	bench	NOUN
ap-3490	38	9	is	be	AUX
ap-3490	38	10	given	give	VERB
ap-3490	38	11	;	;	PUNCT
ap-3490	38	12	at	at	ADP
ap-3490	38	13	each	each	DET
ap-3490	38	14	target	target	NOUN
ap-3490	38	15	,	,	PUNCT
ap-3490	38	16	a	a	DET
ap-3490	38	17	blast	blast	NOUN
ap-3490	38	18	hole	hole	NOUN
ap-3490	38	19	is	be	AUX
ap-3490	38	20	to	to	PART
ap-3490	38	21	be	be	AUX
ap-3490	38	22	drilled	drill	VERB
ap-3490	38	23	.	.	PUNCT
ap-3490	39	1	the	the	DET
ap-3490	39	2	blast	blast	NOUN
ap-3490	39	3	holes	hole	NOUN
ap-3490	39	4	are	be	AUX
ap-3490	39	5	then	then	ADV
ap-3490	39	6	filled	fill	VERB
ap-3490	39	7	with	with	ADP
ap-3490	39	8	explosive	explosive	ADJ
ap-3490	39	9	material	material	NOUN
ap-3490	39	10	that	that	PRON
ap-3490	39	11	will	will	AUX
ap-3490	39	12	be	be	AUX
ap-3490	39	13	detonated	detonate	VERB
ap-3490	39	14	after	after	SCONJ
ap-3490	39	15	all	all	DET
ap-3490	39	16	targets	target	NOUN
ap-3490	39	17	have	have	AUX
ap-3490	39	18	been	be	AUX
ap-3490	39	19	drilled	drill	VERB
ap-3490	39	20	.	.	PUNCT
ap-3490	40	1	after	after	ADP
ap-3490	40	2	the	the	DET
ap-3490	40	3	explosion	explosion	NOUN
ap-3490	40	4	,	,	PUNCT
ap-3490	40	5	the	the	DET
ap-3490	40	6	ore	ore	NOUN
ap-3490	40	7	is	be	AUX
ap-3490	40	8	taken	take	VERB
ap-3490	40	9	away	away	ADV
ap-3490	40	10	and	and	CCONJ
ap-3490	40	11	processed	process	VERB
ap-3490	40	12	for	for	ADP
ap-3490	40	13	mineral	mineral	NOUN
ap-3490	40	14	extraction	extraction	NOUN
ap-3490	40	15	.	.	PUNCT
ap-3490	41	1	for	for	ADP
ap-3490	41	2	each	each	DET
ap-3490	41	3	drill	drill	NOUN
ap-3490	41	4	target	target	NOUN
ap-3490	41	5	,	,	PUNCT
ap-3490	41	6	a	a	DET
ap-3490	41	7	machine	machine	NOUN
ap-3490	41	8	can	can	AUX
ap-3490	41	9	autonomously	autonomously	ADV
ap-3490	41	10	carry	carry	VERB
ap-3490	41	11	out	out	ADP
ap-3490	41	12	a	a	DET
ap-3490	41	13	set	set	NOUN
ap-3490	41	14	of	of	ADP
ap-3490	41	15	tasks	task	NOUN
ap-3490	41	16	:	:	PUNCT
ap-3490	41	17	auto	auto	NOUN
ap-3490	41	18	-	-	PUNCT
ap-3490	41	19	tramming	tramming	NOUN
ap-3490	41	20	(	(	PUNCT
ap-3490	41	21	navigating	navigate	VERB
ap-3490	41	22	to	to	ADP
ap-3490	41	23	the	the	DET
ap-3490	41	24	target	target	NOUN
ap-3490	41	25	from	from	ADP
ap-3490	41	26	its	its	PRON
ap-3490	41	27	current	current	ADJ
ap-3490	41	28	position	position	NOUN
ap-3490	41	29	)	)	PUNCT
ap-3490	41	30	,	,	PUNCT
ap-3490	41	31	leveling	leveling	NOUN
ap-3490	41	32	(	(	PUNCT
ap-3490	41	33	deploying	deploy	VERB
ap-3490	41	34	jacks	jack	NOUN
ap-3490	41	35	for	for	ADP
ap-3490	41	36	horizontally	horizontally	ADV
ap-3490	41	37	leveling	level	VERB
ap-3490	41	38	the	the	DET
ap-3490	41	39	machine	machine	NOUN
ap-3490	41	40	)	)	PUNCT
ap-3490	41	41	,	,	PUNCT
ap-3490	41	42	drilling	drilling	NOUN
ap-3490	41	43	,	,	PUNCT
ap-3490	41	44	and	and	CCONJ
ap-3490	41	45	de	de	NOUN
ap-3490	41	46	-	-	NOUN
ap-3490	41	47	leveling	leveling	NOUN
ap-3490	41	48	(	(	PUNCT
ap-3490	41	49	retracting	retract	VERB
ap-3490	41	50	the	the	DET
ap-3490	41	51	jacks	jack	NOUN
ap-3490	41	52	so	so	SCONJ
ap-3490	41	53	the	the	DET
ap-3490	41	54	machine	machine	NOUN
ap-3490	41	55	is	be	AUX
ap-3490	41	56	placed	place	VERB
ap-3490	41	57	back	back	ADV
ap-3490	41	58	on	on	ADP
ap-3490	41	59	its	its	PRON
ap-3490	41	60	tracks	track	NOUN
ap-3490	41	61	)	)	PUNCT
ap-3490	41	62	.	.	PUNCT
ap-3490	42	1	each	each	DET
ap-3490	42	2	drilling	drilling	NOUN
ap-3490	42	3	machine	machine	NOUN
ap-3490	42	4	has	have	VERB
ap-3490	42	5	a	a	DET
ap-3490	42	6	square	square	ADJ
ap-3490	42	7	dust	dust	NOUN
ap-3490	42	8	guard	guard	NOUN
ap-3490	42	9	around	around	ADP
ap-3490	42	10	its	its	PRON
ap-3490	42	11	drill	drill	NOUN
ap-3490	42	12	bit	bit	NOUN
ap-3490	42	13	.	.	PUNCT
ap-3490	43	1	drilling	drilling	NOUN
ap-3490	43	2	produces	produce	VERB
ap-3490	43	3	piles	pile	NOUN
ap-3490	43	4	of	of	ADP
ap-3490	43	5	excess	excess	ADJ
ap-3490	43	6	material	material	NOUN
ap-3490	43	7	around	around	ADP
ap-3490	43	8	the	the	DET
ap-3490	43	9	hole	hole	NOUN
ap-3490	43	10	,	,	PUNCT
ap-3490	43	11	thus	thus	ADV
ap-3490	43	12	one	one	NUM
ap-3490	43	13	side	side	NOUN
ap-3490	43	14	of	of	ADP
ap-3490	43	15	the	the	DET
ap-3490	43	16	dust	dust	NOUN
ap-3490	43	17	guard	guard	NOUN
ap-3490	43	18	must	must	AUX
ap-3490	43	19	be	be	AUX
ap-3490	43	20	lifted	lift	VERB
ap-3490	43	21	after	after	ADP
ap-3490	43	22	drilling	drilling	NOUN
ap-3490	43	23	;	;	PUNCT
ap-3490	43	24	this	this	PRON
ap-3490	43	25	allows	allow	VERB
ap-3490	43	26	the	the	DET
ap-3490	43	27	machine	machine	NOUN
ap-3490	43	28	to	to	PART
ap-3490	43	29	navigate	navigate	VERB
ap-3490	43	30	to	to	ADP
ap-3490	43	31	the	the	DET
ap-3490	43	32	next	next	ADJ
ap-3490	43	33	target	target	NOUN
ap-3490	43	34	without	without	ADP
ap-3490	43	35	colliding	collide	VERB
ap-3490	43	36	with	with	ADP
ap-3490	43	37	the	the	DET
ap-3490	43	38	pile	pile	NOUN
ap-3490	43	39	that	that	PRON
ap-3490	43	40	has	have	AUX
ap-3490	43	41	accumulated	accumulate	VERB
ap-3490	43	42	under	under	ADP
ap-3490	43	43	it	it	PRON
ap-3490	43	44	after	after	ADP
ap-3490	43	45	drilling	drill	VERB
ap-3490	43	46	(	(	PUNCT
ap-3490	43	47	see	see	VERB
ap-3490	43	48	figure	figure	NOUN
ap-3490	43	49	2	2	NUM
ap-3490	43	50	)	)	PUNCT
ap-3490	43	51	.	.	PUNCT
ap-3490	44	1	the	the	DET
ap-3490	44	2	drill	drill	NOUN
ap-3490	44	3	pattern	pattern	NOUN
ap-3490	44	4	planning	planning	NOUN
ap-3490	44	5	problem	problem	NOUN
ap-3490	44	6	(	(	PUNCT
ap-3490	44	7	dp3	dp3	PROPN
ap-3490	44	8	)	)	PUNCT
ap-3490	44	9	consists	consist	VERB
ap-3490	44	10	of	of	ADP
ap-3490	44	11	computing	compute	VERB
ap-3490	44	12	a	a	DET
ap-3490	44	13	plan	plan	NOUN
ap-3490	44	14	that	that	PRON
ap-3490	44	15	involves	involve	VERB
ap-3490	44	16	machines	machine	NOUN
ap-3490	44	17	reaching	reach	VERB
ap-3490	44	18	each	each	DET
ap-3490	44	19	drill	drill	NOUN
ap-3490	44	20	target	target	NOUN
ap-3490	44	21	in	in	ADP
ap-3490	44	22	a	a	DET
ap-3490	44	23	bench	bench	NOUN
ap-3490	44	24	and	and	CCONJ
ap-3490	44	25	performing	perform	VERB
ap-3490	44	26	the	the	DET
ap-3490	44	27	necessary	necessary	ADJ
ap-3490	44	28	operations	operation	NOUN
ap-3490	44	29	to	to	PART
ap-3490	44	30	drill	drill	VERB
ap-3490	44	31	the	the	DET
ap-3490	44	32	blast	blast	NOUN
ap-3490	44	33	hole	hole	NOUN
ap-3490	44	34	.	.	PUNCT
ap-3490	45	1	the	the	DET
ap-3490	45	2	plan	plan	NOUN
ap-3490	45	3	is	be	AUX
ap-3490	45	4	subject	subject	ADJ
ap-3490	45	5	to	to	ADP
ap-3490	45	6	the	the	DET
ap-3490	45	7	following	follow	VERB
ap-3490	45	8	requirements	requirement	NOUN
ap-3490	45	9	:	:	PUNCT
ap-3490	45	10	figure	figure	NOUN
ap-3490	45	11	3	3	NUM
ap-3490	45	12	.	.	PUNCT
ap-3490	46	1	a	a	DET
ap-3490	46	2	bench	bench	NOUN
ap-3490	46	3	with	with	ADP
ap-3490	46	4	drill	drill	NOUN
ap-3490	46	5	targets	target	NOUN
ap-3490	46	6	(	(	PUNCT
ap-3490	46	7	grey	grey	ADJ
ap-3490	46	8	circles	circle	NOUN
ap-3490	46	9	)	)	PUNCT
ap-3490	46	10	and	and	CCONJ
ap-3490	46	11	a	a	DET
ap-3490	46	12	geofence	geofence	NOUN
ap-3490	46	13	(	(	PUNCT
ap-3490	46	14	green	green	ADJ
ap-3490	46	15	polygon	polygon	PROPN
ap-3490	46	16	)	)	PUNCT
ap-3490	46	17	.	.	PUNCT
ap-3490	47	1	•	•	NUM
ap-3490	47	2	machines	machine	NOUN
ap-3490	47	3	should	should	AUX
ap-3490	47	4	not	not	PART
ap-3490	47	5	collide	collide	VERB
ap-3490	47	6	with	with	ADP
ap-3490	47	7	obstacles	obstacle	NOUN
ap-3490	47	8	/	/	SYM
ap-3490	47	9	each	each	DET
ap-3490	47	10	other	other	ADJ
ap-3490	47	11	;	;	PUNCT
ap-3490	47	12	•	•	ADP
ap-3490	47	13	drilling	drill	VERB
ap-3490	47	14	a	a	DET
ap-3490	47	15	target	target	NOUN
ap-3490	47	16	leads	lead	VERB
ap-3490	47	17	to	to	ADP
ap-3490	47	18	the	the	DET
ap-3490	47	19	creation	creation	NOUN
ap-3490	47	20	of	of	ADP
ap-3490	47	21	a	a	DET
ap-3490	47	22	pile	pile	NOUN
ap-3490	47	23	under	under	ADP
ap-3490	47	24	the	the	DET
ap-3490	47	25	dust	dust	NOUN
ap-3490	47	26	guard	guard	NOUN
ap-3490	47	27	of	of	ADP
ap-3490	47	28	the	the	DET
ap-3490	47	29	machine	machine	NOUN
ap-3490	47	30	;	;	PUNCT
ap-3490	47	31	this	this	DET
ap-3490	47	32	pile	pile	NOUN
ap-3490	47	33	constitutes	constitute	VERB
ap-3490	47	34	an	an	DET
ap-3490	47	35	obstacle	obstacle	NOUN
ap-3490	47	36	,	,	PUNCT
ap-3490	47	37	hence	hence	ADV
ap-3490	47	38	no	no	DET
ap-3490	47	39	machine	machine	NOUN
ap-3490	47	40	can	can	AUX
ap-3490	47	41	drive	drive	VERB
ap-3490	47	42	over	over	ADP
ap-3490	47	43	it	it	PRON
ap-3490	47	44	;	;	PUNCT
ap-3490	47	45	•	•	ADP
ap-3490	47	46	once	once	ADV
ap-3490	47	47	drilling	drilling	NOUN
ap-3490	47	48	has	have	AUX
ap-3490	47	49	been	be	AUX
ap-3490	47	50	performed	perform	VERB
ap-3490	47	51	,	,	PUNCT
ap-3490	47	52	the	the	DET
ap-3490	47	53	machine	machine	NOUN
ap-3490	47	54	can	can	AUX
ap-3490	47	55	only	only	ADV
ap-3490	47	56	drive	drive	VERB
ap-3490	47	57	away	away	ADV
ap-3490	47	58	from	from	ADP
ap-3490	47	59	the	the	DET
ap-3490	47	60	target	target	NOUN
ap-3490	47	61	(	(	PUNCT
ap-3490	47	62	backing	back	VERB
ap-3490	47	63	up	up	ADP
ap-3490	47	64	from	from	ADP
ap-3490	47	65	the	the	DET
ap-3490	47	66	target	target	NOUN
ap-3490	47	67	pose	pose	VERB
ap-3490	47	68	)	)	PUNCT
ap-3490	47	69	by	by	ADP
ap-3490	47	70	raising	raise	VERB
ap-3490	47	71	the	the	DET
ap-3490	47	72	forward	forward	ADJ
ap-3490	47	73	dust	dust	NOUN
ap-3490	47	74	guard	guard	NOUN
ap-3490	47	75	(	(	PUNCT
ap-3490	47	76	the	the	DET
ap-3490	47	77	only	only	ADJ
ap-3490	47	78	part	part	NOUN
ap-3490	47	79	of	of	ADP
ap-3490	47	80	the	the	DET
ap-3490	47	81	dust	dust	NOUN
ap-3490	47	82	guard	guard	NOUN
ap-3490	47	83	that	that	PRON
ap-3490	47	84	can	can	AUX
ap-3490	47	85	be	be	AUX
ap-3490	47	86	actuated	actuate	VERB
ap-3490	47	87	)	)	PUNCT
ap-3490	47	88	;	;	PUNCT
ap-3490	47	89	•	•	NUM
ap-3490	47	90	motions	motion	NOUN
ap-3490	47	91	should	should	AUX
ap-3490	47	92	be	be	AUX
ap-3490	47	93	executable	executable	ADJ
ap-3490	47	94	by	by	ADP
ap-3490	47	95	the	the	DET
ap-3490	47	96	machines	machine	NOUN
ap-3490	47	97	i.e.	i.e.	X
ap-3490	47	98	,	,	PUNCT
ap-3490	47	99	motions	motion	NOUN
ap-3490	47	100	should	should	AUX
ap-3490	47	101	be	be	AUX
ap-3490	47	102	kinematically	kinematically	ADV
ap-3490	47	103	feasible	feasible	ADJ
ap-3490	47	104	;	;	PUNCT
ap-3490	47	105	•	•	ADP
ap-3490	47	106	it	it	PRON
ap-3490	47	107	should	should	AUX
ap-3490	47	108	be	be	AUX
ap-3490	47	109	possible	possible	ADJ
ap-3490	47	110	to	to	PART
ap-3490	47	111	modify	modify	VERB
ap-3490	47	112	the	the	DET
ap-3490	47	113	plan	plan	NOUN
ap-3490	47	114	online	online	ADV
ap-3490	47	115	;	;	PUNCT
ap-3490	47	116	•	•	ADP
ap-3490	47	117	the	the	DET
ap-3490	47	118	plan	plan	NOUN
ap-3490	47	119	should	should	AUX
ap-3490	47	120	respect	respect	VERB
ap-3490	47	121	spatial	spatial	ADJ
ap-3490	47	122	constraints	constraint	NOUN
ap-3490	47	123	such	such	ADJ
ap-3490	47	124	as	as	ADP
ap-3490	47	125	a	a	DET
ap-3490	47	126	virtual	virtual	ADJ
ap-3490	47	127	fence	fence	NOUN
ap-3490	47	128	within	within	ADP
ap-3490	47	129	which	which	PRON
ap-3490	47	130	the	the	DET
ap-3490	47	131	vehicles	vehicle	NOUN
ap-3490	47	132	are	be	AUX
ap-3490	47	133	allowed	allow	VERB
ap-3490	47	134	to	to	PART
ap-3490	47	135	operate	operate	VERB
ap-3490	47	136	;	;	PUNCT
ap-3490	47	137	this	this	DET
ap-3490	47	138	area	area	NOUN
ap-3490	47	139	is	be	AUX
ap-3490	47	140	called	call	VERB
ap-3490	47	141	a	a	DET
ap-3490	47	142	geofence	geofence	NOUN
ap-3490	47	143	.	.	PUNCT
ap-3490	48	1	the	the	DET
ap-3490	48	2	locations	location	NOUN
ap-3490	48	3	of	of	ADP
ap-3490	48	4	the	the	DET
ap-3490	48	5	drill	drill	NOUN
ap-3490	48	6	targets	target	NOUN
ap-3490	48	7	and	and	CCONJ
ap-3490	48	8	the	the	DET
ap-3490	48	9	geofence	geofence	NOUN
ap-3490	48	10	are	be	AUX
ap-3490	48	11	given	give	VERB
ap-3490	48	12	.	.	PUNCT
ap-3490	49	1	these	these	PRON
ap-3490	49	2	are	be	AUX
ap-3490	49	3	based	base	VERB
ap-3490	49	4	on	on	ADP
ap-3490	49	5	a	a	DET
ap-3490	49	6	geological	geological	ADJ
ap-3490	49	7	survey	survey	NOUN
ap-3490	49	8	of	of	ADP
ap-3490	49	9	the	the	DET
ap-3490	49	10	area	area	NOUN
ap-3490	49	11	and	and	CCONJ
ap-3490	49	12	on	on	ADP
ap-3490	49	13	the	the	DET
ap-3490	49	14	current	current	ADJ
ap-3490	49	15	production	production	NOUN
ap-3490	49	16	targets	target	NOUN
ap-3490	49	17	of	of	ADP
ap-3490	49	18	the	the	DET
ap-3490	49	19	mine	mine	NOUN
ap-3490	49	20	(	(	PUNCT
ap-3490	49	21	see	see	VERB
ap-3490	49	22	figure	figure	NOUN
ap-3490	49	23	3	3	NUM
ap-3490	49	24	)	)	PUNCT
ap-3490	49	25	.	.	PUNCT
ap-3490	50	1	a	a	DET
ap-3490	50	2	set	set	NOUN
ap-3490	50	3	of	of	ADP
ap-3490	50	4	machines	machine	NOUN
ap-3490	50	5	r	r	NOUN
ap-3490	50	6	is	be	AUX
ap-3490	50	7	also	also	ADV
ap-3490	50	8	given	give	VERB
ap-3490	50	9	,	,	PUNCT
ap-3490	50	10	and	and	CCONJ
ap-3490	50	11	the	the	DET
ap-3490	50	12	size	size	NOUN
ap-3490	50	13	of	of	ADP
ap-3490	50	14	a	a	DET
ap-3490	50	15	fleet	fleet	NOUN
ap-3490	50	16	is	be	AUX
ap-3490	50	17	based	base	VERB
ap-3490	50	18	on	on	ADP
ap-3490	50	19	the	the	DET
ap-3490	50	20	size	size	NOUN
ap-3490	50	21	of	of	ADP
ap-3490	50	22	the	the	DET
ap-3490	50	23	bench	bench	NOUN
ap-3490	50	24	.	.	PUNCT
ap-3490	51	1	also	also	ADV
ap-3490	51	2	given	give	VERB
ap-3490	51	3	are	be	AUX
ap-3490	51	4	initial	initial	ADJ
ap-3490	51	5	poses	pose	NOUN
ap-3490	51	6	of	of	ADP
ap-3490	51	7	all	all	DET
ap-3490	51	8	machines	machine	NOUN
ap-3490	51	9	,	,	PUNCT
ap-3490	51	10	as	as	ADV
ap-3490	51	11	well	well	ADV
ap-3490	51	12	as	as	ADP
ap-3490	51	13	their	their	PRON
ap-3490	51	14	desired	desire	VERB
ap-3490	51	15	final	final	ADJ
ap-3490	51	16	“	"	PUNCT
ap-3490	51	17	parking	parking	NOUN
ap-3490	51	18	”	"	PUNCT
ap-3490	51	19	poses	pose	NOUN
ap-3490	51	20	.	.	PUNCT
ap-3490	52	1	the	the	DET
ap-3490	52	2	requirements	requirement	NOUN
ap-3490	52	3	above	above	ADP
ap-3490	52	4	pose	pose	VERB
ap-3490	52	5	several	several	ADJ
ap-3490	52	6	problems	problem	NOUN
ap-3490	52	7	e.g.	e.g.	ADV
ap-3490	52	8	,	,	PUNCT
ap-3490	52	9	task	task	NOUN
ap-3490	52	10	allocation	allocation	NOUN
ap-3490	52	11	(	(	PUNCT
ap-3490	52	12	of	of	ADP
ap-3490	52	13	machines	machine	NOUN
ap-3490	52	14	to	to	PART
ap-3490	52	15	target	target	VERB
ap-3490	52	16	poses	pose	NOUN
ap-3490	52	17	)	)	PUNCT
ap-3490	52	18	,	,	PUNCT
ap-3490	52	19	motion	motion	NOUN
ap-3490	52	20	planning	planning	NOUN
ap-3490	52	21	,	,	PUNCT
ap-3490	52	22	and	and	CCONJ
ap-3490	52	23	coordination	coordination	NOUN
ap-3490	52	24	.	.	PUNCT
ap-3490	53	1	these	these	DET
ap-3490	53	2	problems	problem	NOUN
ap-3490	53	3	can	can	AUX
ap-3490	53	4	not	not	PART
ap-3490	53	5	be	be	AUX
ap-3490	53	6	treated	treat	VERB
ap-3490	53	7	separately	separately	ADV
ap-3490	53	8	,	,	PUNCT
ap-3490	53	9	as	as	SCONJ
ap-3490	53	10	the	the	DET
ap-3490	53	11	solutions	solution	NOUN
ap-3490	53	12	of	of	ADP
ap-3490	53	13	each	each	DET
ap-3490	53	14	problem	problem	NOUN
ap-3490	53	15	depend	depend	VERB
ap-3490	53	16	on	on	ADP
ap-3490	53	17	each	each	DET
ap-3490	53	18	other	other	ADJ
ap-3490	53	19	.	.	PUNCT
ap-3490	54	1	for	for	ADP
ap-3490	54	2	instance	instance	NOUN
ap-3490	54	3	,	,	PUNCT
ap-3490	54	4	coordination	coordination	NOUN
ap-3490	54	5	must	must	AUX
ap-3490	54	6	lead	lead	VERB
ap-3490	54	7	to	to	ADP
ap-3490	54	8	a	a	DET
ap-3490	54	9	sequence	sequence	NOUN
ap-3490	54	10	of	of	ADP
ap-3490	54	11	target	target	NOUN
ap-3490	54	12	poses	pose	NOUN
ap-3490	54	13	that	that	PRON
ap-3490	54	14	accounts	account	VERB
ap-3490	54	15	for	for	ADP
ap-3490	54	16	the	the	DET
ap-3490	54	17	piles	pile	NOUN
ap-3490	54	18	generated	generate	VERB
ap-3490	54	19	after	after	ADP
ap-3490	54	20	drilling	drill	VERB
ap-3490	54	21	(	(	PUNCT
ap-3490	54	22	which	which	PRON
ap-3490	54	23	become	become	VERB
ap-3490	54	24	obstacles	obstacle	NOUN
ap-3490	54	25	that	that	PRON
ap-3490	54	26	must	must	AUX
ap-3490	54	27	be	be	AUX
ap-3490	54	28	taken	take	VERB
ap-3490	54	29	into	into	ADP
ap-3490	54	30	account	account	NOUN
ap-3490	54	31	in	in	ADP
ap-3490	54	32	motion	motion	NOUN
ap-3490	54	33	planning	planning	NOUN
ap-3490	54	34	)	)	PUNCT
ap-3490	54	35	.	.	PUNCT
ap-3490	55	1	hence	hence	ADV
ap-3490	55	2	,	,	PUNCT
ap-3490	55	3	it	it	PRON
ap-3490	55	4	is	be	AUX
ap-3490	55	5	necessary	necessary	ADJ
ap-3490	55	6	to	to	PART
ap-3490	55	7	subject	subject	VERB
ap-3490	55	8	the	the	DET
ap-3490	55	9	possible	possible	ADJ
ap-3490	55	10	choices	choice	NOUN
ap-3490	55	11	made	make	VERB
ap-3490	55	12	to	to	PART
ap-3490	55	13	solve	solve	VERB
ap-3490	55	14	one	one	NUM
ap-3490	55	15	problem	problem	NOUN
ap-3490	55	16	to	to	ADP
ap-3490	55	17	the	the	DET
ap-3490	55	18	choices	choice	NOUN
ap-3490	55	19	made	make	VERB
ap-3490	55	20	in	in	ADP
ap-3490	55	21	resolving	resolve	VERB
ap-3490	55	22	the	the	DET
ap-3490	55	23	other	other	ADJ
ap-3490	55	24	problems	problem	NOUN
ap-3490	55	25	—	—	PUNCT
ap-3490	55	26	e.g.	e.g.	ADV
ap-3490	55	27	,	,	PUNCT
ap-3490	55	28	verifying	verify	VERB
ap-3490	55	29	through	through	ADP
ap-3490	55	30	motion	motion	NOUN
ap-3490	55	31	planning	planning	NOUN
ap-3490	55	32	that	that	SCONJ
ap-3490	55	33	a	a	DET
ap-3490	55	34	chosen	choose	VERB
ap-3490	55	35	sequence	sequence	NOUN
ap-3490	55	36	of	of	ADP
ap-3490	55	37	targets	target	NOUN
ap-3490	55	38	to	to	PART
ap-3490	55	39	drill	drill	VERB
ap-3490	55	40	will	will	AUX
ap-3490	55	41	be	be	AUX
ap-3490	55	42	kinematically	kinematically	ADV
ap-3490	55	43	feasible	feasible	ADJ
ap-3490	55	44	.	.	PUNCT
ap-3490	56	1	because	because	SCONJ
ap-3490	56	2	of	of	ADP
ap-3490	56	3	these	these	DET
ap-3490	56	4	interdependencies	interdependency	NOUN
ap-3490	56	5	,	,	PUNCT
ap-3490	56	6	we	we	PRON
ap-3490	56	7	face	face	VERB
ap-3490	56	8	a	a	DET
ap-3490	56	9	hybrid	hybrid	ADJ
ap-3490	56	10	reasoning	reasoning	NOUN
ap-3490	56	11	problem	problem	NOUN
ap-3490	56	12	.	.	PUNCT
ap-3490	57	1	we	we	PRON
ap-3490	57	2	propose	propose	VERB
ap-3490	57	3	an	an	DET
ap-3490	57	4	approach	approach	NOUN
ap-3490	57	5	in	in	ADP
ap-3490	57	6	which	which	PRON
ap-3490	57	7	the	the	DET
ap-3490	57	8	overall	overall	ADJ
ap-3490	57	9	problem	problem	NOUN
ap-3490	57	10	is	be	AUX
ap-3490	57	11	divided	divide	VERB
ap-3490	57	12	into	into	ADP
ap-3490	57	13	sub	sub	NOUN
ap-3490	57	14	-	-	NOUN
ap-3490	57	15	problems	problem	NOUN
ap-3490	57	16	,	,	PUNCT
ap-3490	57	17	and	and	CCONJ
ap-3490	57	18	the	the	DET
ap-3490	57	19	solution	solution	NOUN
ap-3490	57	20	to	to	ADP
ap-3490	57	21	the	the	DET
ap-3490	57	22	overall	overall	ADJ
ap-3490	57	23	problem	problem	NOUN
ap-3490	57	24	is	be	AUX
ap-3490	57	25	searched	search	VERB
ap-3490	57	26	for	for	ADP
ap-3490	57	27	in	in	ADP
ap-3490	57	28	the	the	DET
ap-3490	57	29	joint	joint	ADJ
ap-3490	57	30	search	search	NOUN
ap-3490	57	31	space	space	NOUN
ap-3490	57	32	of	of	ADP
ap-3490	57	33	these	these	DET
ap-3490	57	34	sub	sub	NOUN
ap-3490	57	35	-	-	NOUN
ap-3490	57	36	problems	problem	NOUN
ap-3490	57	37	.	.	PUNCT
ap-3490	58	1	in	in	ADP
ap-3490	58	2	the	the	DET
ap-3490	58	3	next	next	ADJ
ap-3490	58	4	section	section	NOUN
ap-3490	58	5	,	,	PUNCT
ap-3490	58	6	we	we	PRON
ap-3490	58	7	define	define	VERB
ap-3490	58	8	each	each	DET
ap-3490	58	9	sub	sub	NOUN
ap-3490	58	10	-	-	NOUN
ap-3490	58	11	problem	problem	NOUN
ap-3490	58	12	in	in	ADP
ap-3490	58	13	detail	detail	NOUN
ap-3490	58	14	,	,	PUNCT
ap-3490	58	15	while	while	SCONJ
ap-3490	58	16	in	in	ADP
ap-3490	58	17	section	section	NOUN
ap-3490	58	18	4	4	NUM
ap-3490	58	19	we	we	PRON
ap-3490	58	20	outline	outline	VERB
ap-3490	58	21	the	the	DET
ap-3490	58	22	algorithm	algorithm	NOUN
ap-3490	58	23	used	use	VERB
ap-3490	58	24	to	to	PART
ap-3490	58	25	search	search	VERB
ap-3490	58	26	for	for	ADP
ap-3490	58	27	plans	plan	NOUN
ap-3490	58	28	that	that	PRON
ap-3490	58	29	are	be	AUX
ap-3490	58	30	mutually	mutually	ADV
ap-3490	58	31	feasible	feasible	ADJ
ap-3490	58	32	with	with	ADP
ap-3490	58	33	respect	respect	NOUN
ap-3490	58	34	to	to	ADP
ap-3490	58	35	all	all	DET
ap-3490	58	36	the	the	DET
ap-3490	58	37	sub	sub	NOUN
ap-3490	58	38	-	-	NOUN
ap-3490	58	39	problems	problem	NOUN
ap-3490	58	40	.	.	PUNCT
ap-3490	59	1	48	48	NUM
ap-3490	59	2	vol	vol	NOUN
ap-3490	59	3	.	.	PUNCT
ap-3490	60	1	56	56	NUM
ap-3490	60	2	no	no	NOUN
ap-3490	60	3	.	.	PUNCT
ap-3490	61	1	1/2016	1/2016	NUM
ap-3490	61	2	hybrid	hybrid	ADJ
ap-3490	61	3	reasoning	reasoning	NOUN
ap-3490	61	4	for	for	ADP
ap-3490	61	5	multi	multi	ADJ
ap-3490	61	6	-	-	ADJ
ap-3490	61	7	robot	robot	ADJ
ap-3490	61	8	drill	drill	NOUN
ap-3490	61	9	planning	planning	NOUN
ap-3490	61	10	in	in	ADP
ap-3490	61	11	open	open	ADJ
ap-3490	61	12	-	-	PUNCT
ap-3490	61	13	pit	pit	NOUN
ap-3490	61	14	mines	mine	NOUN
ap-3490	61	15	3	3	NUM
ap-3490	61	16	.	.	X
ap-3490	61	17	approach	approach	NOUN
ap-3490	61	18	we	we	PRON
ap-3490	61	19	divide	divide	VERB
ap-3490	61	20	dp3	dp3	PROPN
ap-3490	61	21	into	into	ADP
ap-3490	61	22	five	five	NUM
ap-3490	61	23	sub	sub	NOUN
ap-3490	61	24	-	-	NOUN
ap-3490	61	25	problems	problem	NOUN
ap-3490	61	26	.	.	PUNCT
ap-3490	62	1	•	•	NOUN
ap-3490	62	2	the	the	DET
ap-3490	62	3	sequencing	sequence	VERB
ap-3490	62	4	sub	sub	NOUN
ap-3490	62	5	-	-	NOUN
ap-3490	62	6	problem	problem	NOUN
ap-3490	62	7	consists	consist	VERB
ap-3490	62	8	of	of	ADP
ap-3490	62	9	deciding	decide	VERB
ap-3490	62	10	a	a	DET
ap-3490	62	11	total	total	ADJ
ap-3490	62	12	ordering	ordering	NOUN
ap-3490	62	13	of	of	ADP
ap-3490	62	14	targets	target	NOUN
ap-3490	62	15	i.e.	i.e.	ADV
ap-3490	62	16	,	,	PUNCT
ap-3490	62	17	sequencing	sequence	VERB
ap-3490	62	18	every	every	DET
ap-3490	62	19	pair	pair	NOUN
ap-3490	62	20	of	of	ADP
ap-3490	62	21	targets	target	NOUN
ap-3490	62	22	.	.	PUNCT
ap-3490	63	1	•	•	NUM
ap-3490	63	2	the	the	DET
ap-3490	63	3	motion	motion	NOUN
ap-3490	63	4	planning	plan	VERB
ap-3490	63	5	sub	sub	NOUN
ap-3490	63	6	-	-	NOUN
ap-3490	63	7	problem	problem	NOUN
ap-3490	63	8	consists	consist	VERB
ap-3490	63	9	of	of	ADP
ap-3490	63	10	deciding	decide	VERB
ap-3490	63	11	the	the	DET
ap-3490	63	12	pose	pose	NOUN
ap-3490	63	13	of	of	ADP
ap-3490	63	14	the	the	DET
ap-3490	63	15	drilling	drilling	NOUN
ap-3490	63	16	machines	machine	NOUN
ap-3490	63	17	at	at	ADP
ap-3490	63	18	each	each	DET
ap-3490	63	19	target	target	NOUN
ap-3490	63	20	.	.	PUNCT
ap-3490	64	1	constraints	constraint	NOUN
ap-3490	64	2	on	on	ADP
ap-3490	64	3	the	the	DET
ap-3490	64	4	orientation	orientation	NOUN
ap-3490	64	5	of	of	ADP
ap-3490	64	6	the	the	DET
ap-3490	64	7	machine	machine	NOUN
ap-3490	64	8	in	in	ADP
ap-3490	64	9	certain	certain	ADJ
ap-3490	64	10	target	target	NOUN
ap-3490	64	11	poses	pose	NOUN
ap-3490	64	12	may	may	AUX
ap-3490	64	13	be	be	AUX
ap-3490	64	14	given	give	VERB
ap-3490	64	15	(	(	PUNCT
ap-3490	64	16	e.g.	e.g.	ADV
ap-3490	64	17	,	,	PUNCT
ap-3490	64	18	due	due	ADP
ap-3490	64	19	to	to	ADP
ap-3490	64	20	the	the	DET
ap-3490	64	21	presence	presence	NOUN
ap-3490	64	22	of	of	ADP
ap-3490	64	23	the	the	DET
ap-3490	64	24	geofence	geofence	NOUN
ap-3490	64	25	or	or	CCONJ
ap-3490	64	26	other	other	ADJ
ap-3490	64	27	geographical	geographical	ADJ
ap-3490	64	28	constraints	constraint	NOUN
ap-3490	64	29	like	like	ADP
ap-3490	64	30	cliffs	cliff	NOUN
ap-3490	64	31	and	and	CCONJ
ap-3490	64	32	walls	wall	NOUN
ap-3490	64	33	)	)	PUNCT
ap-3490	64	34	.	.	PUNCT
ap-3490	65	1	the	the	DET
ap-3490	65	2	decisions	decision	NOUN
ap-3490	65	3	are	be	AUX
ap-3490	65	4	subject	subject	ADJ
ap-3490	65	5	to	to	ADP
ap-3490	65	6	kinematic	kinematic	ADJ
ap-3490	65	7	constraints	constraint	NOUN
ap-3490	65	8	,	,	PUNCT
ap-3490	65	9	obstacles	obstacle	NOUN
ap-3490	65	10	and	and	CCONJ
ap-3490	65	11	the	the	DET
ap-3490	65	12	geofence	geofence	NOUN
ap-3490	65	13	,	,	PUNCT
ap-3490	65	14	and	and	CCONJ
ap-3490	65	15	must	must	AUX
ap-3490	65	16	account	account	VERB
ap-3490	65	17	for	for	ADP
ap-3490	65	18	piles	pile	NOUN
ap-3490	65	19	resulting	result	VERB
ap-3490	65	20	from	from	ADP
ap-3490	65	21	drilling	drilling	NOUN
ap-3490	65	22	,	,	PUNCT
ap-3490	65	23	as	as	ADV
ap-3490	65	24	well	well	ADV
ap-3490	65	25	as	as	ADP
ap-3490	65	26	the	the	DET
ap-3490	65	27	dust	dust	NOUN
ap-3490	65	28	guard	guard	NOUN
ap-3490	65	29	mechanism	mechanism	NOUN
ap-3490	65	30	.	.	PUNCT
ap-3490	66	1	•	•	NUM
ap-3490	66	2	the	the	DET
ap-3490	66	3	machine	machine	NOUN
ap-3490	66	4	allocation	allocation	NOUN
ap-3490	66	5	sub	sub	NOUN
ap-3490	66	6	-	-	NOUN
ap-3490	66	7	problem	problem	NOUN
ap-3490	66	8	consists	consist	VERB
ap-3490	66	9	of	of	ADP
ap-3490	66	10	allocating	allocate	VERB
ap-3490	66	11	machines	machine	NOUN
ap-3490	66	12	to	to	ADP
ap-3490	66	13	targets	target	NOUN
ap-3490	66	14	given	give	VERB
ap-3490	66	15	the	the	DET
ap-3490	66	16	available	available	ADJ
ap-3490	66	17	machines	machine	NOUN
ap-3490	66	18	and	and	CCONJ
ap-3490	66	19	their	their	PRON
ap-3490	66	20	positions	position	NOUN
ap-3490	66	21	.	.	PUNCT
ap-3490	67	1	machine	machine	NOUN
ap-3490	67	2	allocation	allocation	NOUN
ap-3490	67	3	also	also	ADV
ap-3490	67	4	accounts	account	VERB
ap-3490	67	5	for	for	ADP
ap-3490	67	6	the	the	DET
ap-3490	67	7	need	need	NOUN
ap-3490	67	8	to	to	PART
ap-3490	67	9	reach	reach	VERB
ap-3490	67	10	a	a	DET
ap-3490	67	11	given	give	VERB
ap-3490	67	12	end	end	NOUN
ap-3490	67	13	parking	parking	NOUN
ap-3490	67	14	position	position	NOUN
ap-3490	67	15	.	.	PUNCT
ap-3490	68	1	•	•	NUM
ap-3490	68	2	the	the	DET
ap-3490	68	3	coordination	coordination	NOUN
ap-3490	68	4	sub	sub	NOUN
ap-3490	68	5	-	-	NOUN
ap-3490	68	6	problem	problem	NOUN
ap-3490	68	7	consists	consist	VERB
ap-3490	68	8	of	of	ADP
ap-3490	68	9	scheduling	scheduling	NOUN
ap-3490	68	10	machines	machine	NOUN
ap-3490	68	11	.	.	PUNCT
ap-3490	69	1	solutions	solution	NOUN
ap-3490	69	2	to	to	ADP
ap-3490	69	3	this	this	DET
ap-3490	69	4	sub	sub	ADJ
ap-3490	69	5	-	-	NOUN
ap-3490	69	6	problem	problem	NOUN
ap-3490	69	7	consider	consider	VERB
ap-3490	69	8	the	the	DET
ap-3490	69	9	spatio	spatio	ADJ
ap-3490	69	10	-	-	PUNCT
ap-3490	69	11	temporal	temporal	ADJ
ap-3490	69	12	overlap	overlap	NOUN
ap-3490	69	13	between	between	ADP
ap-3490	69	14	machines	machine	NOUN
ap-3490	69	15	and	and	CCONJ
ap-3490	69	16	between	between	ADP
ap-3490	69	17	machines	machine	NOUN
ap-3490	69	18	and	and	CCONJ
ap-3490	69	19	piles	pile	NOUN
ap-3490	69	20	.	.	PUNCT
ap-3490	70	1	•	•	NUM
ap-3490	70	2	the	the	DET
ap-3490	70	3	temporal	temporal	ADJ
ap-3490	70	4	sub	sub	NOUN
ap-3490	70	5	-	-	NOUN
ap-3490	70	6	problem	problem	NOUN
ap-3490	70	7	consists	consist	VERB
ap-3490	70	8	of	of	ADP
ap-3490	70	9	deciding	decide	VERB
ap-3490	70	10	when	when	SCONJ
ap-3490	70	11	machines	machine	NOUN
ap-3490	70	12	should	should	AUX
ap-3490	70	13	carry	carry	VERB
ap-3490	70	14	out	out	ADP
ap-3490	70	15	motion	motion	NOUN
ap-3490	70	16	,	,	PUNCT
ap-3490	70	17	drilling	drilling	NOUN
ap-3490	70	18	,	,	PUNCT
ap-3490	70	19	leveling	leveling	NOUN
ap-3490	70	20	and	and	CCONJ
ap-3490	70	21	de	de	ADJ
ap-3490	70	22	-	-	ADJ
ap-3490	70	23	leveling	level	VERB
ap-3490	70	24	operations	operation	NOUN
ap-3490	70	25	,	,	PUNCT
ap-3490	70	26	subject	subject	ADJ
ap-3490	70	27	to	to	ADP
ap-3490	70	28	temporal	temporal	ADJ
ap-3490	70	29	constraints	constraint	NOUN
ap-3490	70	30	arising	arise	VERB
ap-3490	70	31	from	from	ADP
ap-3490	70	32	coordination	coordination	NOUN
ap-3490	70	33	,	,	PUNCT
ap-3490	70	34	sequencing	sequence	VERB
ap-3490	70	35	,	,	PUNCT
ap-3490	70	36	maximum	maximum	ADJ
ap-3490	70	37	achievable	achievable	ADJ
ap-3490	70	38	speeds	speed	NOUN
ap-3490	70	39	,	,	PUNCT
ap-3490	70	40	etc	etc	X
ap-3490	70	41	.	.	X
ap-3490	71	1	a	a	DET
ap-3490	71	2	solution	solution	NOUN
ap-3490	71	3	to	to	ADP
ap-3490	71	4	dp3	dp3	PROPN
ap-3490	71	5	is	be	AUX
ap-3490	71	6	obtained	obtain	VERB
ap-3490	71	7	by	by	ADP
ap-3490	71	8	reasoning	reason	VERB
ap-3490	71	9	upon	upon	SCONJ
ap-3490	71	10	these	these	DET
ap-3490	71	11	five	five	NUM
ap-3490	71	12	different	different	ADJ
ap-3490	71	13	sub	sub	NOUN
ap-3490	71	14	-	-	NOUN
ap-3490	71	15	problems	problem	NOUN
ap-3490	71	16	jointly	jointly	ADV
ap-3490	71	17	.	.	PUNCT
ap-3490	72	1	candidate	candidate	NOUN
ap-3490	72	2	solutions	solution	NOUN
ap-3490	72	3	for	for	ADP
ap-3490	72	4	a	a	DET
ap-3490	72	5	sub	sub	NOUN
ap-3490	72	6	-	-	NOUN
ap-3490	72	7	problem	problem	NOUN
ap-3490	72	8	are	be	AUX
ap-3490	72	9	validated	validate	VERB
ap-3490	72	10	by	by	ADP
ap-3490	72	11	dedicated	dedicated	ADJ
ap-3490	72	12	solvers	solver	NOUN
ap-3490	72	13	.	.	PUNCT
ap-3490	73	1	each	each	DET
ap-3490	73	2	solver	solver	NOUN
ap-3490	73	3	focuses	focus	VERB
ap-3490	73	4	on	on	ADP
ap-3490	73	5	a	a	DET
ap-3490	73	6	subset	subset	NOUN
ap-3490	73	7	of	of	ADP
ap-3490	73	8	aspects	aspect	NOUN
ap-3490	73	9	of	of	ADP
ap-3490	73	10	the	the	DET
ap-3490	73	11	overall	overall	ADJ
ap-3490	73	12	problem	problem	NOUN
ap-3490	73	13	,	,	PUNCT
ap-3490	73	14	e.g.	e.g.	ADV
ap-3490	73	15	,	,	PUNCT
ap-3490	73	16	a	a	DET
ap-3490	73	17	motion	motion	NOUN
ap-3490	73	18	planner	planner	NOUN
ap-3490	73	19	verifies	verifie	NOUN
ap-3490	73	20	kinematic	kinematic	VERB
ap-3490	73	21	feasibility	feasibility	NOUN
ap-3490	73	22	and	and	CCONJ
ap-3490	73	23	absence	absence	NOUN
ap-3490	73	24	of	of	ADP
ap-3490	73	25	collisions	collision	NOUN
ap-3490	73	26	,	,	PUNCT
ap-3490	73	27	while	while	SCONJ
ap-3490	73	28	a	a	DET
ap-3490	73	29	temporal	temporal	ADJ
ap-3490	73	30	solver	solver	NOUN
ap-3490	73	31	verifies	verifie	NOUN
ap-3490	73	32	that	that	SCONJ
ap-3490	73	33	coordination	coordination	NOUN
ap-3490	73	34	choices	choice	NOUN
ap-3490	73	35	are	be	AUX
ap-3490	73	36	temporally	temporally	ADV
ap-3490	73	37	feasible	feasible	ADJ
ap-3490	73	38	.	.	PUNCT
ap-3490	74	1	validated	validate	VERB
ap-3490	74	2	solutions	solution	NOUN
ap-3490	74	3	for	for	ADP
ap-3490	74	4	each	each	DET
ap-3490	74	5	sub	sub	NOUN
ap-3490	74	6	-	-	NOUN
ap-3490	74	7	problem	problem	NOUN
ap-3490	74	8	can	can	AUX
ap-3490	74	9	be	be	AUX
ap-3490	74	10	seen	see	VERB
ap-3490	74	11	as	as	ADP
ap-3490	74	12	constraints	constraint	NOUN
ap-3490	74	13	that	that	PRON
ap-3490	74	14	account	account	VERB
ap-3490	74	15	for	for	ADP
ap-3490	74	16	particular	particular	ADJ
ap-3490	74	17	aspects	aspect	NOUN
ap-3490	74	18	of	of	ADP
ap-3490	74	19	the	the	DET
ap-3490	74	20	overall	overall	ADJ
ap-3490	74	21	problem	problem	NOUN
ap-3490	74	22	.	.	PUNCT
ap-3490	75	1	they	they	PRON
ap-3490	75	2	are	be	AUX
ap-3490	75	3	maintained	maintain	VERB
ap-3490	75	4	in	in	ADP
ap-3490	75	5	a	a	DET
ap-3490	75	6	common	common	ADJ
ap-3490	75	7	representation	representation	NOUN
ap-3490	75	8	,	,	PUNCT
ap-3490	75	9	which	which	PRON
ap-3490	75	10	is	be	AUX
ap-3490	75	11	sufficiently	sufficiently	ADV
ap-3490	75	12	expressive	expressive	ADJ
ap-3490	75	13	to	to	PART
ap-3490	75	14	model	model	VERB
ap-3490	75	15	the	the	DET
ap-3490	75	16	search	search	NOUN
ap-3490	75	17	space	space	NOUN
ap-3490	75	18	of	of	ADP
ap-3490	75	19	all	all	DET
ap-3490	75	20	problems	problem	NOUN
ap-3490	75	21	jointly	jointly	ADV
ap-3490	75	22	.	.	PUNCT
ap-3490	76	1	the	the	DET
ap-3490	76	2	common	common	ADJ
ap-3490	76	3	representation	representation	NOUN
ap-3490	76	4	is	be	AUX
ap-3490	76	5	a	a	DET
ap-3490	76	6	constraint	constraint	NOUN
ap-3490	76	7	network	network	NOUN
ap-3490	76	8	where	where	SCONJ
ap-3490	76	9	variables	variable	NOUN
ap-3490	76	10	represent	represent	VERB
ap-3490	76	11	missions	mission	NOUN
ap-3490	76	12	.	.	PUNCT
ap-3490	77	1	a	a	DET
ap-3490	77	2	mission	mission	NOUN
ap-3490	77	3	is	be	AUX
ap-3490	77	4	a	a	DET
ap-3490	77	5	tuple	tuple	NOUN
ap-3490	77	6	m	m	NOUN
ap-3490	77	7	=	=	SYM
ap-3490	77	8	(	(	PUNCT
ap-3490	77	9	gp	gp	NOUN
ap-3490	77	10	,	,	PUNCT
ap-3490	77	11	sp	sp	NOUN
ap-3490	77	12	,	,	PUNCT
ap-3490	77	13	r	r	NOUN
ap-3490	77	14	,	,	PUNCT
ap-3490	77	15	p	p	X
ap-3490	77	16	,	,	PUNCT
ap-3490	77	17	m	m	PROPN
ap-3490	77	18	,	,	PUNCT
ap-3490	77	19	s	s	PROPN
ap-3490	77	20	,	,	PUNCT
ap-3490	77	21	t	t	PROPN
ap-3490	77	22	,	,	PUNCT
ap-3490	77	23	a	a	PRON
ap-3490	77	24	)	)	PUNCT
ap-3490	77	25	,	,	PUNCT
ap-3490	77	26	where	where	SCONJ
ap-3490	77	27	r	r	NOUN
ap-3490	77	28	represents	represent	VERB
ap-3490	77	29	the	the	DET
ap-3490	77	30	robot	robot	NOUN
ap-3490	77	31	which	which	PRON
ap-3490	77	32	should	should	AUX
ap-3490	77	33	perform	perform	VERB
ap-3490	77	34	the	the	DET
ap-3490	77	35	set	set	NOUN
ap-3490	77	36	of	of	ADP
ap-3490	77	37	activities	activity	NOUN
ap-3490	77	38	a	a	PRON
ap-3490	77	39	=	=	X
ap-3490	77	40	{	{	PUNCT
ap-3490	77	41	drilling	drilling	NOUN
ap-3490	77	42	,	,	PUNCT
ap-3490	77	43	leveling	leveling	NOUN
ap-3490	77	44	,	,	PUNCT
ap-3490	77	45	de	de	NOUN
ap-3490	77	46	-	-	NOUN
ap-3490	77	47	leveling	leveling	ADJ
ap-3490	77	48	}	}	PUNCT
ap-3490	77	49	at	at	ADP
ap-3490	77	50	,	,	PUNCT
ap-3490	77	51	respectively	respectively	ADV
ap-3490	77	52	,	,	PUNCT
ap-3490	77	53	starting	starting	AUX
ap-3490	77	54	pose	pose	NOUN
ap-3490	77	55	sp	sp	ADP
ap-3490	77	56	and	and	CCONJ
ap-3490	77	57	goal	goal	NOUN
ap-3490	77	58	pose	pose	VERB
ap-3490	77	59	gp	gp	NOUN
ap-3490	77	60	.	.	PUNCT
ap-3490	78	1	p	p	NOUN
ap-3490	78	2	is	be	AUX
ap-3490	78	3	the	the	DET
ap-3490	78	4	path	path	NOUN
ap-3490	78	5	that	that	PRON
ap-3490	78	6	r	r	NOUN
ap-3490	78	7	traverses	traverse	NOUN
ap-3490	78	8	to	to	PART
ap-3490	78	9	reach	reach	VERB
ap-3490	78	10	gp	gp	NOUN
ap-3490	78	11	from	from	ADP
ap-3490	78	12	sp	sp	NOUN
ap-3490	78	13	,	,	PUNCT
ap-3490	78	14	and	and	CCONJ
ap-3490	78	15	is	be	AUX
ap-3490	78	16	computed	compute	VERB
ap-3490	78	17	based	base	VERB
ap-3490	78	18	on	on	ADP
ap-3490	78	19	a	a	DET
ap-3490	78	20	map	map	NOUN
ap-3490	78	21	m	m	NOUN
ap-3490	78	22	of	of	ADP
ap-3490	78	23	the	the	DET
ap-3490	78	24	environment	environment	NOUN
ap-3490	78	25	.	.	PUNCT
ap-3490	79	1	s	s	PART
ap-3490	79	2	is	be	AUX
ap-3490	79	3	a	a	DET
ap-3490	79	4	set	set	NOUN
ap-3490	79	5	of	of	ADP
ap-3490	79	6	polygons	polygon	NOUN
ap-3490	79	7	representing	represent	VERB
ap-3490	79	8	sweeps	sweep	NOUN
ap-3490	79	9	of	of	ADP
ap-3490	79	10	the	the	DET
ap-3490	79	11	robot	robot	NOUN
ap-3490	79	12	’s	’s	PART
ap-3490	79	13	footprint	footprint	NOUN
ap-3490	79	14	over	over	ADP
ap-3490	79	15	p	p	NOUN
ap-3490	79	16	,	,	PUNCT
ap-3490	79	17	and	and	CCONJ
ap-3490	79	18	t	t	PROPN
ap-3490	79	19	is	be	AUX
ap-3490	79	20	a	a	DET
ap-3490	79	21	set	set	NOUN
ap-3490	79	22	of	of	ADP
ap-3490	79	23	time	time	NOUN
ap-3490	79	24	intervals	interval	NOUN
ap-3490	79	25	representing	represent	VERB
ap-3490	79	26	when	when	SCONJ
ap-3490	79	27	r	r	NOUN
ap-3490	79	28	will	will	AUX
ap-3490	79	29	be	be	AUX
ap-3490	79	30	in	in	ADP
ap-3490	79	31	each	each	DET
ap-3490	79	32	polygon	polygon	NOUN
ap-3490	79	33	contained	contain	VERB
ap-3490	79	34	in	in	ADP
ap-3490	79	35	s.	s.	PROPN
ap-3490	79	36	henceforth	henceforth	ADV
ap-3490	79	37	,	,	PUNCT
ap-3490	79	38	we	we	PRON
ap-3490	79	39	denote	denote	VERB
ap-3490	79	40	with	with	ADP
ap-3490	79	41	m	m	PROPN
ap-3490	79	42	(	(	PUNCT
ap-3490	79	43	·	·	PUNCT
ap-3490	79	44	)	)	PUNCT
ap-3490	79	45	an	an	DET
ap-3490	79	46	element	element	NOUN
ap-3490	79	47	of	of	ADP
ap-3490	79	48	the	the	DET
ap-3490	79	49	mission	mission	NOUN
ap-3490	79	50	tuple	tuple	NOUN
ap-3490	79	51	.	.	PUNCT
ap-3490	80	1	let	let	VERB
ap-3490	80	2	m	m	PRON
ap-3490	80	3	be	be	AUX
ap-3490	80	4	the	the	DET
ap-3490	80	5	set	set	NOUN
ap-3490	80	6	of	of	ADP
ap-3490	80	7	all	all	DET
ap-3490	80	8	missions	mission	NOUN
ap-3490	80	9	in	in	ADP
ap-3490	80	10	dp3	dp3	PROPN
ap-3490	80	11	(	(	PUNCT
ap-3490	80	12	one	one	NUM
ap-3490	80	13	for	for	ADP
ap-3490	80	14	each	each	DET
ap-3490	80	15	drill	drill	NOUN
ap-3490	80	16	target	target	NOUN
ap-3490	80	17	)	)	PUNCT
ap-3490	80	18	.	.	PUNCT
ap-3490	81	1	a	a	DET
ap-3490	81	2	solution	solution	NOUN
ap-3490	81	3	to	to	ADP
ap-3490	81	4	dp3	dp3	PROPN
ap-3490	81	5	is	be	AUX
ap-3490	81	6	such	such	ADJ
ap-3490	81	7	that	that	SCONJ
ap-3490	81	8	a	a	DET
ap-3490	81	9	value	value	NOUN
ap-3490	81	10	is	be	AUX
ap-3490	81	11	decided	decide	VERB
ap-3490	81	12	for	for	ADP
ap-3490	81	13	all	all	DET
ap-3490	81	14	elements	element	NOUN
ap-3490	81	15	of	of	ADP
ap-3490	81	16	a	a	DET
ap-3490	81	17	mission	mission	NOUN
ap-3490	81	18	,	,	PUNCT
ap-3490	81	19	for	for	ADP
ap-3490	81	20	each	each	DET
ap-3490	81	21	mission	mission	NOUN
ap-3490	81	22	in	in	ADP
ap-3490	81	23	m	m	PROPN
ap-3490	81	24	∈	∈	NOUN
ap-3490	81	25	m.	m.	NOUN
ap-3490	81	26	each	each	DET
ap-3490	81	27	element	element	NOUN
ap-3490	81	28	is	be	AUX
ap-3490	81	29	decided	decide	VERB
ap-3490	81	30	by	by	ADP
ap-3490	81	31	solving	solve	VERB
ap-3490	81	32	one	one	NUM
ap-3490	81	33	or	or	CCONJ
ap-3490	81	34	more	more	ADJ
ap-3490	81	35	sub	sub	NOUN
ap-3490	81	36	-	-	NOUN
ap-3490	81	37	problems	problem	NOUN
ap-3490	81	38	.	.	PUNCT
ap-3490	82	1	we	we	PRON
ap-3490	82	2	view	view	VERB
ap-3490	82	3	a	a	DET
ap-3490	82	4	mission	mission	NOUN
ap-3490	82	5	m	m	VERB
ap-3490	82	6	as	as	ADP
ap-3490	82	7	a	a	DET
ap-3490	82	8	variable	variable	NOUN
ap-3490	82	9	in	in	ADP
ap-3490	82	10	a	a	DET
ap-3490	82	11	constraint	constraint	NOUN
ap-3490	82	12	satisfaction	satisfaction	NOUN
ap-3490	82	13	problem	problem	NOUN
ap-3490	82	14	(	(	PUNCT
ap-3490	82	15	csp	csp	PROPN
ap-3490	82	16	,	,	PUNCT
ap-3490	82	17	see	see	VERB
ap-3490	82	18	[	[	X
ap-3490	82	19	2	2	NUM
ap-3490	82	20	]	]	PUNCT
ap-3490	82	21	)	)	PUNCT
ap-3490	82	22	whose	whose	DET
ap-3490	82	23	domain	domain	NOUN
ap-3490	82	24	represents	represent	VERB
ap-3490	82	25	all	all	DET
ap-3490	82	26	possible	possible	ADJ
ap-3490	82	27	combinations	combination	NOUN
ap-3490	82	28	of	of	ADP
ap-3490	82	29	values	value	NOUN
ap-3490	82	30	that	that	PRON
ap-3490	82	31	can	can	AUX
ap-3490	82	32	be	be	AUX
ap-3490	82	33	given	give	VERB
ap-3490	82	34	to	to	ADP
ap-3490	82	35	each	each	DET
ap-3490	82	36	element	element	NOUN
ap-3490	82	37	of	of	ADP
ap-3490	82	38	m	m	PROPN
ap-3490	82	39	.	.	PUNCT
ap-3490	83	1	accordingly	accordingly	ADV
ap-3490	83	2	,	,	PUNCT
ap-3490	83	3	we	we	PRON
ap-3490	83	4	view	view	VERB
ap-3490	83	5	a	a	DET
ap-3490	83	6	subproblem	subproblem	NOUN
ap-3490	83	7	as	as	ADP
ap-3490	83	8	the	the	DET
ap-3490	83	9	problem	problem	NOUN
ap-3490	83	10	of	of	ADP
ap-3490	83	11	constraining	constrain	VERB
ap-3490	83	12	the	the	DET
ap-3490	83	13	domains	domain	NOUN
ap-3490	83	14	of	of	ADP
ap-3490	83	15	missions	mission	NOUN
ap-3490	83	16	so	so	SCONJ
ap-3490	83	17	that	that	SCONJ
ap-3490	83	18	the	the	DET
ap-3490	83	19	requirements	requirement	NOUN
ap-3490	83	20	stated	state	VERB
ap-3490	83	21	above	above	ADV
ap-3490	83	22	are	be	AUX
ap-3490	83	23	met	meet	VERB
ap-3490	83	24	.	.	PUNCT
ap-3490	84	1	hence	hence	ADV
ap-3490	84	2	,	,	PUNCT
ap-3490	84	3	the	the	DET
ap-3490	84	4	solvers	solver	NOUN
ap-3490	84	5	that	that	PRON
ap-3490	84	6	validate	validate	VERB
ap-3490	84	7	solutions	solution	NOUN
ap-3490	84	8	to	to	ADP
ap-3490	84	9	the	the	DET
ap-3490	84	10	sub	sub	NOUN
ap-3490	84	11	-	-	NOUN
ap-3490	84	12	problems	problem	NOUN
ap-3490	84	13	are	be	AUX
ap-3490	84	14	seen	see	VERB
ap-3490	84	15	as	as	ADP
ap-3490	84	16	procedures	procedure	NOUN
ap-3490	84	17	that	that	PRON
ap-3490	84	18	post	post	VERB
ap-3490	84	19	constraints	constraint	NOUN
ap-3490	84	20	to	to	ADP
ap-3490	84	21	the	the	DET
ap-3490	84	22	common	common	ADJ
ap-3490	84	23	constraint	constraint	NOUN
ap-3490	84	24	network	network	NOUN
ap-3490	84	25	.	.	PUNCT
ap-3490	85	1	as	as	SCONJ
ap-3490	85	2	we	we	PRON
ap-3490	85	3	will	will	AUX
ap-3490	85	4	see	see	VERB
ap-3490	85	5	,	,	PUNCT
ap-3490	85	6	adopting	adopt	VERB
ap-3490	85	7	the	the	DET
ap-3490	85	8	csp	csp	PROPN
ap-3490	85	9	metaphor	metaphor	NOUN
ap-3490	85	10	allows	allow	VERB
ap-3490	85	11	us	we	PRON
ap-3490	85	12	to	to	PART
ap-3490	85	13	employ	employ	VERB
ap-3490	85	14	heuristic	heuristic	ADJ
ap-3490	85	15	search	search	NOUN
ap-3490	85	16	strategies	strategy	NOUN
ap-3490	85	17	for	for	ADP
ap-3490	85	18	solving	solve	VERB
ap-3490	85	19	the	the	DET
ap-3490	85	20	overall	overall	ADJ
ap-3490	85	21	dp3	dp3	PROPN
ap-3490	85	22	.	.	PROPN
ap-3490	85	23	3.1	3.1	NUM
ap-3490	85	24	.	.	PUNCT
ap-3490	86	1	sequencing	sequence	VERB
ap-3490	86	2	sub	sub	NOUN
ap-3490	86	3	-	-	NOUN
ap-3490	86	4	problem	problem	NOUN
ap-3490	86	5	the	the	DET
ap-3490	86	6	sequencing	sequence	VERB
ap-3490	86	7	sub	sub	NOUN
ap-3490	86	8	-	-	NOUN
ap-3490	86	9	problem	problem	NOUN
ap-3490	86	10	consists	consist	VERB
ap-3490	86	11	of	of	ADP
ap-3490	86	12	finding	find	VERB
ap-3490	86	13	a	a	DET
ap-3490	86	14	total	total	ADJ
ap-3490	86	15	order	order	NOUN
ap-3490	86	16	of	of	ADP
ap-3490	86	17	missions	mission	NOUN
ap-3490	86	18	.	.	PUNCT
ap-3490	87	1	a	a	DET
ap-3490	87	2	decision	decision	NOUN
ap-3490	87	3	variable	variable	NOUN
ap-3490	87	4	of	of	ADP
ap-3490	87	5	this	this	DET
ap-3490	87	6	sub	sub	NOUN
ap-3490	87	7	-	-	NOUN
ap-3490	87	8	problem	problem	NOUN
ap-3490	87	9	is	be	AUX
ap-3490	87	10	a	a	DET
ap-3490	87	11	mission	mission	NOUN
ap-3490	87	12	mi	mi	PROPN
ap-3490	87	13	∈	∈	PROPN
ap-3490	87	14	m	m	VERB
ap-3490	87	15	that	that	PRON
ap-3490	87	16	does	do	AUX
ap-3490	87	17	not	not	PART
ap-3490	87	18	have	have	VERB
ap-3490	87	19	a	a	DET
ap-3490	87	20	preceding	precede	VERB
ap-3490	87	21	mission	mission	NOUN
ap-3490	87	22	.	.	PUNCT
ap-3490	88	1	a	a	DET
ap-3490	88	2	possible	possible	ADJ
ap-3490	88	3	value	value	NOUN
ap-3490	88	4	that	that	PRON
ap-3490	88	5	can	can	AUX
ap-3490	88	6	be	be	AUX
ap-3490	88	7	assigned	assign	VERB
ap-3490	88	8	to	to	ADP
ap-3490	88	9	this	this	DET
ap-3490	88	10	decision	decision	NOUN
ap-3490	88	11	variable	variable	NOUN
ap-3490	88	12	is	be	AUX
ap-3490	88	13	a	a	DET
ap-3490	88	14	precedence	precedence	NOUN
ap-3490	88	15	constraint	constraint	NOUN
ap-3490	88	16	mj	mj	PROPN
ap-3490	88	17	precedes−−−−−→	precedes−−−−−→	PROPN
ap-3490	88	18	mi	mi	PROPN
ap-3490	88	19	,	,	PUNCT
ap-3490	88	20	asserting	assert	VERB
ap-3490	88	21	that	that	SCONJ
ap-3490	88	22	mission	mission	NOUN
ap-3490	88	23	mj	mj	PROPN
ap-3490	88	24	∈	∈	PROPN
ap-3490	88	25	m	m	VERB
ap-3490	88	26	should	should	AUX
ap-3490	88	27	occur	occur	VERB
ap-3490	88	28	before	before	SCONJ
ap-3490	88	29	mi	mi	PROPN
ap-3490	88	30	.	.	PROPN
ap-3490	88	31	mj	mj	PROPN
ap-3490	88	32	is	be	AUX
ap-3490	88	33	a	a	DET
ap-3490	88	34	mission	mission	NOUN
ap-3490	88	35	for	for	ADP
ap-3490	88	36	which	which	PRON
ap-3490	88	37	it	it	PRON
ap-3490	88	38	has	have	AUX
ap-3490	88	39	not	not	PART
ap-3490	88	40	been	be	AUX
ap-3490	88	41	already	already	ADV
ap-3490	88	42	decided	decide	VERB
ap-3490	88	43	that	that	SCONJ
ap-3490	88	44	it	it	PRON
ap-3490	88	45	precedes	precede	VERB
ap-3490	88	46	another	another	DET
ap-3490	88	47	mission	mission	NOUN
ap-3490	88	48	.	.	PUNCT
ap-3490	89	1	a	a	DET
ap-3490	89	2	sequencing	sequence	VERB
ap-3490	89	3	solver	solver	NOUN
ap-3490	89	4	verifies	verifie	NOUN
ap-3490	89	5	that	that	SCONJ
ap-3490	89	6	missions	mission	NOUN
ap-3490	89	7	are	be	AUX
ap-3490	89	8	totally	totally	ADV
ap-3490	89	9	ordered	order	VERB
ap-3490	89	10	.	.	PUNCT
ap-3490	90	1	figure	figure	NOUN
ap-3490	90	2	4(a	4(a	NUM
ap-3490	90	3	)	)	PUNCT
ap-3490	90	4	shows	show	VERB
ap-3490	90	5	an	an	DET
ap-3490	90	6	example	example	NOUN
ap-3490	90	7	of	of	ADP
ap-3490	90	8	decision	decision	NOUN
ap-3490	90	9	in	in	ADP
ap-3490	90	10	this	this	DET
ap-3490	90	11	sub	sub	NOUN
ap-3490	90	12	-	-	NOUN
ap-3490	90	13	problem	problem	NOUN
ap-3490	90	14	,	,	PUNCT
ap-3490	91	1	namely	namely	ADV
ap-3490	91	2	m166	m166	PROPN
ap-3490	91	3	precedes−−−−−→m137	precedes−−−−−→m137	NOUN
ap-3490	91	4	.	.	PUNCT
ap-3490	91	5	white	white	ADJ
ap-3490	91	6	arrows	arrow	NOUN
ap-3490	91	7	in	in	ADP
ap-3490	91	8	the	the	DET
ap-3490	91	9	figure	figure	NOUN
ap-3490	91	10	represent	represent	VERB
ap-3490	91	11	precedence	precedence	NOUN
ap-3490	91	12	constraints	constraint	NOUN
ap-3490	91	13	.	.	PUNCT
ap-3490	92	1	3.2	3.2	NUM
ap-3490	92	2	.	.	PUNCT
ap-3490	93	1	motion	motion	NOUN
ap-3490	93	2	planning	plan	VERB
ap-3490	93	3	sub	sub	NOUN
ap-3490	93	4	-	-	NOUN
ap-3490	93	5	problem	problem	VERB
ap-3490	93	6	the	the	DET
ap-3490	93	7	motion	motion	NOUN
ap-3490	93	8	planning	plan	VERB
ap-3490	93	9	sub	sub	NOUN
ap-3490	93	10	-	-	NOUN
ap-3490	93	11	problem	problem	NOUN
ap-3490	93	12	consists	consist	VERB
ap-3490	93	13	of	of	ADP
ap-3490	93	14	finding	find	VERB
ap-3490	93	15	a	a	DET
ap-3490	93	16	goal	goal	NOUN
ap-3490	93	17	pose	pose	VERB
ap-3490	93	18	gp	gp	NOUN
ap-3490	93	19	for	for	ADP
ap-3490	93	20	each	each	DET
ap-3490	93	21	missionmi	missionmi	NOUN
ap-3490	93	22	∈m	∈m	NOUN
ap-3490	93	23	.	.	PUNCT
ap-3490	94	1	a	a	DET
ap-3490	94	2	gp	gp	NOUN
ap-3490	94	3	is	be	AUX
ap-3490	94	4	a	a	DET
ap-3490	94	5	tuple	tuple	NOUN
ap-3490	94	6	〈	〈	PROPN
ap-3490	94	7	x	x	PROPN
ap-3490	94	8	,	,	PUNCT
ap-3490	94	9	y	y	PROPN
ap-3490	94	10	,	,	PUNCT
ap-3490	94	11	θ	θ	PROPN
ap-3490	94	12	〉	〉	NOUN
ap-3490	94	13	in	in	ADP
ap-3490	94	14	which	which	PRON
ap-3490	94	15	x	x	SYM
ap-3490	94	16	and	and	CCONJ
ap-3490	94	17	y	y	PROPN
ap-3490	94	18	represent	represent	VERB
ap-3490	94	19	the	the	DET
ap-3490	94	20	position	position	NOUN
ap-3490	94	21	of	of	ADP
ap-3490	94	22	a	a	DET
ap-3490	94	23	drill	drill	NOUN
ap-3490	94	24	target	target	NOUN
ap-3490	94	25	,	,	PUNCT
ap-3490	94	26	and	and	CCONJ
ap-3490	94	27	θ	θ	PROPN
ap-3490	94	28	is	be	AUX
ap-3490	94	29	the	the	DET
ap-3490	94	30	orientation	orientation	NOUN
ap-3490	94	31	of	of	ADP
ap-3490	94	32	the	the	DET
ap-3490	94	33	machine	machine	NOUN
ap-3490	94	34	.	.	PUNCT
ap-3490	95	1	the	the	DET
ap-3490	95	2	decision	decision	NOUN
ap-3490	95	3	variables	variable	NOUN
ap-3490	95	4	of	of	ADP
ap-3490	95	5	the	the	DET
ap-3490	95	6	motion	motion	NOUN
ap-3490	95	7	planning	planning	NOUN
ap-3490	95	8	subproblem	subproblem	NOUN
ap-3490	95	9	are	be	AUX
ap-3490	95	10	missions	mission	NOUN
ap-3490	95	11	mi	mi	PROPN
ap-3490	95	12	such	such	ADJ
ap-3490	95	13	that	that	SCONJ
ap-3490	95	14	(	(	PUNCT
ap-3490	95	15	1	1	NUM
ap-3490	95	16	)	)	PUNCT
ap-3490	95	17	mi(gp	mi(gp	NOUN
ap-3490	95	18	)	)	PUNCT
ap-3490	95	19	does	do	AUX
ap-3490	95	20	not	not	PART
ap-3490	95	21	have	have	VERB
ap-3490	95	22	a	a	DET
ap-3490	95	23	defined	define	VERB
ap-3490	95	24	orientation	orientation	NOUN
ap-3490	95	25	,	,	PUNCT
ap-3490	95	26	i.e.	i.e.	X
ap-3490	95	27	,	,	PUNCT
ap-3490	95	28	θ	θ	PROPN
ap-3490	95	29	is	be	AUX
ap-3490	95	30	not	not	PART
ap-3490	95	31	assigned	assign	VERB
ap-3490	95	32	to	to	ADP
ap-3490	95	33	an	an	DET
ap-3490	95	34	angle	angle	NOUN
ap-3490	95	35	,	,	PUNCT
ap-3490	95	36	(	(	PUNCT
ap-3490	95	37	2	2	X
ap-3490	95	38	)	)	PUNCT
ap-3490	95	39	there	there	PRON
ap-3490	95	40	exists	exist	VERB
ap-3490	95	41	mj	mj	PROPN
ap-3490	95	42	precedes−−−−−→	precedes−−−−−→	PROPN
ap-3490	95	43	mi	mi	PROPN
ap-3490	95	44	in	in	ADP
ap-3490	95	45	the	the	DET
ap-3490	95	46	common	common	ADJ
ap-3490	95	47	constraint	constraint	NOUN
ap-3490	95	48	network	network	NOUN
ap-3490	95	49	,	,	PUNCT
ap-3490	95	50	and	and	CCONJ
ap-3490	95	51	(	(	PUNCT
ap-3490	95	52	3	3	X
ap-3490	95	53	)	)	PUNCT
ap-3490	95	54	mj(gp	mj(gp	NUM
ap-3490	95	55	)	)	PUNCT
ap-3490	95	56	has	have	AUX
ap-3490	95	57	been	be	AUX
ap-3490	95	58	assigned	assign	VERB
ap-3490	95	59	an	an	DET
ap-3490	95	60	orientation	orientation	NOUN
ap-3490	95	61	.	.	PUNCT
ap-3490	96	1	possible	possible	ADJ
ap-3490	96	2	values	value	NOUN
ap-3490	96	3	that	that	PRON
ap-3490	96	4	can	can	AUX
ap-3490	96	5	be	be	AUX
ap-3490	96	6	assigned	assign	VERB
ap-3490	96	7	to	to	ADP
ap-3490	96	8	a	a	DET
ap-3490	96	9	decision	decision	NOUN
ap-3490	96	10	variable	variable	NOUN
ap-3490	96	11	are	be	AUX
ap-3490	96	12	a	a	DET
ap-3490	96	13	set	set	NOUN
ap-3490	96	14	of	of	ADP
ap-3490	96	15	eight	eight	NUM
ap-3490	96	16	angles	angle	NOUN
ap-3490	96	17	{	{	PUNCT
ap-3490	96	18	θ1	θ1	NOUN
ap-3490	96	19	,	,	PUNCT
ap-3490	96	20	.	.	PUNCT
ap-3490	96	21	.	.	PUNCT
ap-3490	97	1	.	.	PUNCT
ap-3490	98	1	,	,	PUNCT
ap-3490	98	2	θ8	θ8	NOUN
ap-3490	98	3	}	}	PUNCT
ap-3490	98	4	∈	∈	PROPN
ap-3490	99	1	[	[	X
ap-3490	99	2	0	0	NUM
ap-3490	99	3	,	,	PUNCT
ap-3490	99	4	2π	2π	NOUN
ap-3490	99	5	)	)	PUNCT
ap-3490	99	6	.	.	PUNCT
ap-3490	100	1	a	a	DET
ap-3490	100	2	particular	particular	ADJ
ap-3490	100	3	choice	choice	NOUN
ap-3490	100	4	of	of	ADP
ap-3490	100	5	approach	approach	NOUN
ap-3490	100	6	angle	angle	NOUN
ap-3490	100	7	for	for	ADP
ap-3490	100	8	a	a	DET
ap-3490	100	9	mission	mission	NOUN
ap-3490	100	10	is	be	AUX
ap-3490	100	11	only	only	ADV
ap-3490	100	12	feasible	feasible	ADJ
ap-3490	100	13	if	if	SCONJ
ap-3490	100	14	the	the	DET
ap-3490	100	15	machine	machine	NOUN
ap-3490	100	16	can	can	AUX
ap-3490	100	17	drive	drive	VERB
ap-3490	100	18	away	away	ADV
ap-3490	100	19	from	from	ADP
ap-3490	100	20	the	the	DET
ap-3490	100	21	previous	previous	ADJ
ap-3490	100	22	target	target	NOUN
ap-3490	100	23	mj(gp	mj(gp	NUM
ap-3490	100	24	)	)	PUNCT
ap-3490	100	25	and	and	CCONJ
ap-3490	100	26	can	can	AUX
ap-3490	100	27	navigate	navigate	VERB
ap-3490	100	28	to	to	ADP
ap-3490	100	29	the	the	DET
ap-3490	100	30	end	end	NOUN
ap-3490	100	31	pose	pose	VERB
ap-3490	100	32	of	of	ADP
ap-3490	100	33	a	a	DET
ap-3490	100	34	mission	mission	NOUN
ap-3490	100	35	mi(gp	mi(gp	PROPN
ap-3490	100	36	)	)	PUNCT
ap-3490	100	37	considering	consider	VERB
ap-3490	100	38	piles	pile	NOUN
ap-3490	100	39	created	create	VERB
ap-3490	100	40	by	by	ADP
ap-3490	100	41	all	all	DET
ap-3490	100	42	the	the	DET
ap-3490	100	43	preceding	precede	VERB
ap-3490	100	44	missions	mission	NOUN
ap-3490	100	45	.	.	PUNCT
ap-3490	101	1	for	for	ADP
ap-3490	101	2	example	example	NOUN
ap-3490	101	3	,	,	PUNCT
ap-3490	101	4	figure	figure	VERB
ap-3490	101	5	4(b	4(b	NUM
ap-3490	101	6	)	)	PUNCT
ap-3490	101	7	shows	show	VERB
ap-3490	101	8	a	a	DET
ap-3490	101	9	selection	selection	NOUN
ap-3490	101	10	of	of	ADP
ap-3490	101	11	one	one	NUM
ap-3490	101	12	feasible	feasible	ADJ
ap-3490	101	13	approach	approach	NOUN
ap-3490	101	14	angle	angle	NOUN
ap-3490	101	15	for	for	ADP
ap-3490	101	16	several	several	ADJ
ap-3490	101	17	missions	mission	NOUN
ap-3490	101	18	with	with	ADP
ap-3490	101	19	respect	respect	NOUN
ap-3490	101	20	to	to	ADP
ap-3490	101	21	existing	exist	VERB
ap-3490	101	22	sequencing	sequence	VERB
ap-3490	101	23	constraints	constraint	NOUN
ap-3490	101	24	.	.	PUNCT
ap-3490	102	1	the	the	DET
ap-3490	102	2	approach	approach	NOUN
ap-3490	102	3	angles	angle	NOUN
ap-3490	102	4	are	be	AUX
ap-3490	102	5	represented	represent	VERB
ap-3490	102	6	by	by	ADP
ap-3490	102	7	pink	pink	ADJ
ap-3490	102	8	arrows	arrow	NOUN
ap-3490	102	9	,	,	PUNCT
ap-3490	102	10	and	and	CCONJ
ap-3490	102	11	the	the	DET
ap-3490	102	12	machines	machine	NOUN
ap-3490	102	13	drive	drive	VERB
ap-3490	102	14	away	away	ADV
ap-3490	102	15	from	from	ADP
ap-3490	102	16	the	the	DET
ap-3490	102	17	targets	target	NOUN
ap-3490	102	18	in	in	ADP
ap-3490	102	19	the	the	DET
ap-3490	102	20	opposite	opposite	ADJ
ap-3490	102	21	direction	direction	NOUN
ap-3490	102	22	of	of	ADP
ap-3490	102	23	the	the	DET
ap-3490	102	24	pink	pink	ADJ
ap-3490	102	25	arrows	arrow	NOUN
ap-3490	102	26	.	.	PUNCT
ap-3490	103	1	the	the	DET
ap-3490	103	2	eight	eight	NUM
ap-3490	103	3	possible	possible	ADJ
ap-3490	103	4	assignments	assignment	NOUN
ap-3490	103	5	to	to	ADP
ap-3490	103	6	the	the	DET
ap-3490	103	7	decision	decision	NOUN
ap-3490	103	8	variable	variable	NOUN
ap-3490	103	9	determine	determine	VERB
ap-3490	103	10	eight	eight	NUM
ap-3490	103	11	different	different	ADJ
ap-3490	103	12	possible	possible	ADJ
ap-3490	103	13	end	end	NOUN
ap-3490	103	14	poses	pose	NOUN
ap-3490	103	15	of	of	ADP
ap-3490	103	16	the	the	DET
ap-3490	103	17	machine	machine	NOUN
ap-3490	103	18	{	{	PUNCT
ap-3490	103	19	mi(gp1	mi(gp1	NUM
ap-3490	103	20	)	)	PUNCT
ap-3490	103	21	,	,	PUNCT
ap-3490	103	22	.	.	PUNCT
ap-3490	103	23	.	.	PUNCT
ap-3490	103	24	.	.	PUNCT
ap-3490	104	1	,	,	PUNCT
ap-3490	104	2	mi(gp8	mi(gp8	NOUN
ap-3490	104	3	)	)	PUNCT
ap-3490	104	4	}	}	PUNCT
ap-3490	104	5	,	,	PUNCT
ap-3490	104	6	which	which	PRON
ap-3490	104	7	differ	differ	VERB
ap-3490	104	8	only	only	ADV
ap-3490	104	9	in	in	ADP
ap-3490	104	10	the	the	DET
ap-3490	104	11	orientation	orientation	NOUN
ap-3490	104	12	of	of	ADP
ap-3490	104	13	the	the	DET
ap-3490	104	14	machine	machine	NOUN
ap-3490	104	15	in	in	ADP
ap-3490	104	16	the	the	DET
ap-3490	104	17	goal	goal	NOUN
ap-3490	104	18	pose	pose	VERB
ap-3490	104	19	.	.	PUNCT
ap-3490	105	1	a	a	DET
ap-3490	105	2	possible	possible	ADJ
ap-3490	105	3	assignment	assignment	NOUN
ap-3490	105	4	θk	θk	NOUN
ap-3490	105	5	is	be	AUX
ap-3490	105	6	validated	validate	VERB
ap-3490	105	7	49	49	NUM
ap-3490	105	8	m.	m.	NOUN
ap-3490	105	9	mansouri	mansouri	PROPN
ap-3490	105	10	,	,	PUNCT
ap-3490	105	11	h.	h.	PROPN
ap-3490	105	12	andreasson	andreasson	PROPN
ap-3490	105	13	,	,	PUNCT
ap-3490	105	14	f.	f.	PROPN
ap-3490	105	15	pecora	pecora	PROPN
ap-3490	105	16	acta	acta	PROPN
ap-3490	105	17	polytechnica	polytechnica	PROPN
ap-3490	105	18	(	(	PUNCT
ap-3490	105	19	a	a	NOUN
ap-3490	105	20	)	)	PUNCT
ap-3490	105	21	(	(	PUNCT
ap-3490	105	22	b	b	X
ap-3490	105	23	)	)	PUNCT
ap-3490	105	24	(	(	PUNCT
ap-3490	105	25	c	c	X
ap-3490	105	26	)	)	PUNCT
ap-3490	105	27	(	(	PUNCT
ap-3490	106	1	d	d	X
ap-3490	106	2	)	)	PUNCT
ap-3490	106	3	168	168	NUM
ap-3490	106	4	167	167	NUM
ap-3490	106	5	137	137	NUM
ap-3490	106	6	139	139	NUM
ap-3490	106	7	140	140	NUM
ap-3490	106	8	141	141	NUM
ap-3490	106	9	142	142	NUM
ap-3490	106	10	166	166	NUM
ap-3490	106	11	165	165	NUM
ap-3490	106	12	figure	figure	NOUN
ap-3490	106	13	4	4	NUM
ap-3490	106	14	.	.	PUNCT
ap-3490	107	1	examples	example	NOUN
ap-3490	107	2	of	of	ADP
ap-3490	107	3	different	different	ADJ
ap-3490	107	4	sub	sub	NOUN
ap-3490	107	5	-	-	NOUN
ap-3490	107	6	problems	problem	NOUN
ap-3490	107	7	with	with	ADP
ap-3490	107	8	their	their	PRON
ap-3490	107	9	decision	decision	NOUN
ap-3490	107	10	variables	variable	NOUN
ap-3490	107	11	and	and	CCONJ
ap-3490	107	12	particular	particular	ADJ
ap-3490	107	13	choices	choice	NOUN
ap-3490	107	14	of	of	ADP
ap-3490	107	15	values	value	NOUN
ap-3490	107	16	.	.	PUNCT
ap-3490	108	1	through	through	ADP
ap-3490	108	2	a	a	DET
ap-3490	108	3	path	path	NOUN
ap-3490	108	4	planner	planner	NOUN
ap-3490	108	5	,	,	PUNCT
ap-3490	108	6	which	which	PRON
ap-3490	108	7	is	be	AUX
ap-3490	108	8	given	give	VERB
ap-3490	108	9	the	the	DET
ap-3490	108	10	triple	triple	ADJ
ap-3490	108	11	(	(	PUNCT
ap-3490	108	12	mi(sp),mi(gpk),mi(m	mi(sp),mi(gpk),mi(m	NOUN
ap-3490	108	13	)	)	PUNCT
ap-3490	108	14	)	)	PUNCT
ap-3490	108	15	,	,	PUNCT
ap-3490	108	16	where	where	SCONJ
ap-3490	108	17	the	the	DET
ap-3490	108	18	start	start	NOUN
ap-3490	108	19	pose	pose	VERB
ap-3490	108	20	is	be	AUX
ap-3490	108	21	the	the	DET
ap-3490	108	22	goal	goal	NOUN
ap-3490	108	23	pose	pose	VERB
ap-3490	108	24	of	of	ADP
ap-3490	108	25	the	the	DET
ap-3490	108	26	preceding	precede	VERB
ap-3490	108	27	mission	mission	NOUN
ap-3490	108	28	(	(	PUNCT
ap-3490	108	29	mi(sp	mi(sp	INTJ
ap-3490	108	30	)	)	PUNCT
ap-3490	108	31	=	=	SYM
ap-3490	108	32	mj(gp	mj(gp	PROPN
ap-3490	108	33	)	)	PUNCT
ap-3490	108	34	)	)	PUNCT
ap-3490	108	35	,	,	PUNCT
ap-3490	108	36	and	and	CCONJ
ap-3490	108	37	mi(m	mi(m	NOUN
ap-3490	108	38	)	)	PUNCT
ap-3490	108	39	is	be	AUX
ap-3490	108	40	a	a	DET
ap-3490	108	41	map	map	NOUN
ap-3490	108	42	of	of	ADP
ap-3490	108	43	the	the	DET
ap-3490	108	44	environment	environment	NOUN
ap-3490	108	45	that	that	PRON
ap-3490	108	46	contains	contain	VERB
ap-3490	108	47	obstacles	obstacle	NOUN
ap-3490	108	48	and	and	CCONJ
ap-3490	108	49	a	a	DET
ap-3490	108	50	geofence	geofence	NOUN
ap-3490	108	51	.	.	PUNCT
ap-3490	109	1	the	the	DET
ap-3490	109	2	obstacles	obstacle	NOUN
ap-3490	109	3	correspond	correspond	VERB
ap-3490	109	4	to	to	ADP
ap-3490	109	5	circular	circular	ADJ
ap-3490	109	6	shapes	shape	NOUN
ap-3490	109	7	centered	center	VERB
ap-3490	109	8	in	in	ADP
ap-3490	109	9	the	the	DET
ap-3490	109	10	goal	goal	NOUN
ap-3490	109	11	poses	pose	NOUN
ap-3490	109	12	of	of	ADP
ap-3490	109	13	the	the	DET
ap-3490	109	14	preceding	precede	VERB
ap-3490	109	15	missions	mission	NOUN
ap-3490	109	16	.	.	PUNCT
ap-3490	110	1	through	through	ADP
ap-3490	110	2	the	the	DET
ap-3490	110	3	map	map	NOUN
ap-3490	110	4	mi(m	mi(m	NOUN
ap-3490	110	5	)	)	PUNCT
ap-3490	110	6	,	,	PUNCT
ap-3490	110	7	the	the	DET
ap-3490	110	8	path	path	NOUN
ap-3490	110	9	planner	planner	NOUN
ap-3490	110	10	accounts	account	VERB
ap-3490	110	11	for	for	ADP
ap-3490	110	12	targets	target	NOUN
ap-3490	110	13	that	that	PRON
ap-3490	110	14	have	have	AUX
ap-3490	110	15	already	already	ADV
ap-3490	110	16	been	be	AUX
ap-3490	110	17	drilled	drill	VERB
ap-3490	110	18	prior	prior	ADV
ap-3490	110	19	to	to	ADP
ap-3490	110	20	mission	mission	PROPN
ap-3490	110	21	mi	mi	PROPN
ap-3490	110	22	.	.	PROPN
ap-3490	110	23	since	since	SCONJ
ap-3490	110	24	the	the	DET
ap-3490	110	25	path	path	NOUN
ap-3490	110	26	planner	planner	NOUN
ap-3490	110	27	is	be	AUX
ap-3490	110	28	potentially	potentially	ADV
ap-3490	110	29	invoked	invoke	VERB
ap-3490	110	30	several	several	ADJ
ap-3490	110	31	times	time	NOUN
ap-3490	110	32	while	while	SCONJ
ap-3490	110	33	solving	solve	VERB
ap-3490	110	34	the	the	DET
ap-3490	110	35	motion	motion	NOUN
ap-3490	110	36	planning	plan	VERB
ap-3490	110	37	sub	sub	NOUN
ap-3490	110	38	-	-	NOUN
ap-3490	110	39	problem	problem	NOUN
ap-3490	110	40	,	,	PUNCT
ap-3490	110	41	computational	computational	ADJ
ap-3490	110	42	efficiency	efficiency	NOUN
ap-3490	110	43	is	be	AUX
ap-3490	110	44	crucial	crucial	ADJ
ap-3490	110	45	.	.	PUNCT
ap-3490	111	1	we	we	PRON
ap-3490	111	2	employ	employ	VERB
ap-3490	111	3	a	a	DET
ap-3490	111	4	path	path	NOUN
ap-3490	111	5	planner	planner	NOUN
ap-3490	111	6	for	for	ADP
ap-3490	111	7	a	a	DET
ap-3490	111	8	car	car	NOUN
ap-3490	111	9	-	-	PUNCT
ap-3490	111	10	like	like	ADJ
ap-3490	111	11	mobile	mobile	NOUN
ap-3490	111	12	robot	robot	NOUN
ap-3490	111	13	based	base	VERB
ap-3490	111	14	on	on	ADP
ap-3490	111	15	cubic	cubic	ADJ
ap-3490	111	16	spirals	spiral	NOUN
ap-3490	111	17	[	[	X
ap-3490	111	18	3	3	NUM
ap-3490	111	19	]	]	PUNCT
ap-3490	111	20	.	.	PUNCT
ap-3490	112	1	this	this	DET
ap-3490	112	2	path	path	NOUN
ap-3490	112	3	planner	planner	NOUN
ap-3490	112	4	computes	compute	VERB
ap-3490	112	5	paths	path	NOUN
ap-3490	112	6	consisting	consist	VERB
ap-3490	112	7	of	of	ADP
ap-3490	112	8	curvature	curvature	NOUN
ap-3490	112	9	-	-	PUNCT
ap-3490	112	10	constrained	constrain	VERB
ap-3490	112	11	curves	curve	NOUN
ap-3490	112	12	constituted	constitute	VERB
ap-3490	112	13	by	by	ADP
ap-3490	112	14	a	a	DET
ap-3490	112	15	few	few	ADJ
ap-3490	112	16	cubic	cubic	ADJ
ap-3490	112	17	spirals	spiral	NOUN
ap-3490	112	18	and	and	CCONJ
ap-3490	112	19	straight	straight	ADJ
ap-3490	112	20	lines	line	NOUN
ap-3490	112	21	.	.	PUNCT
ap-3490	113	1	the	the	DET
ap-3490	113	2	output	output	NOUN
ap-3490	113	3	of	of	ADP
ap-3490	113	4	the	the	DET
ap-3490	113	5	path	path	NOUN
ap-3490	113	6	planner	planner	NOUN
ap-3490	113	7	is	be	AUX
ap-3490	113	8	either	either	CCONJ
ap-3490	113	9	fail	fail	ADJ
ap-3490	113	10	,	,	PUNCT
ap-3490	113	11	which	which	PRON
ap-3490	113	12	indicates	indicate	VERB
ap-3490	113	13	that	that	SCONJ
ap-3490	113	14	a	a	DET
ap-3490	113	15	particular	particular	ADJ
ap-3490	113	16	approach	approach	NOUN
ap-3490	113	17	angle	angle	NOUN
ap-3490	113	18	θk	θk	NOUN
ap-3490	113	19	can	can	AUX
ap-3490	113	20	not	not	PART
ap-3490	113	21	be	be	AUX
ap-3490	113	22	achieved	achieve	VERB
ap-3490	113	23	,	,	PUNCT
ap-3490	113	24	or	or	CCONJ
ap-3490	113	25	the	the	DET
ap-3490	113	26	splinemi(p	splinemi(p	NOUN
ap-3490	113	27	)	)	PUNCT
ap-3490	113	28	,	,	PUNCT
ap-3490	113	29	representing	represent	VERB
ap-3490	113	30	a	a	DET
ap-3490	113	31	kinematically	kinematically	ADV
ap-3490	113	32	-	-	PUNCT
ap-3490	113	33	feasible	feasible	ADJ
ap-3490	113	34	and	and	CCONJ
ap-3490	113	35	obstacle	obstacle	NOUN
ap-3490	113	36	-	-	PUNCT
ap-3490	113	37	free	free	ADJ
ap-3490	113	38	motion	motion	NOUN
ap-3490	113	39	from	from	ADP
ap-3490	113	40	mi(sp	mi(sp	NOUN
ap-3490	113	41	)	)	PUNCT
ap-3490	113	42	to	to	ADP
ap-3490	113	43	mi(gpk	mi(gpk	NOUN
ap-3490	113	44	)	)	PUNCT
ap-3490	113	45	.	.	PUNCT
ap-3490	114	1	3.3	3.3	NUM
ap-3490	114	2	.	.	PUNCT
ap-3490	115	1	machine	machine	NOUN
ap-3490	115	2	allocation	allocation	NOUN
ap-3490	115	3	sub	sub	NOUN
ap-3490	115	4	-	-	NOUN
ap-3490	115	5	problem	problem	NOUN
ap-3490	115	6	in	in	ADP
ap-3490	115	7	this	this	DET
ap-3490	115	8	sub	sub	NOUN
ap-3490	115	9	-	-	NOUN
ap-3490	115	10	problem	problem	NOUN
ap-3490	115	11	,	,	PUNCT
ap-3490	115	12	a	a	DET
ap-3490	115	13	decision	decision	NOUN
ap-3490	115	14	variable	variable	NOUN
ap-3490	115	15	is	be	AUX
ap-3490	115	16	a	a	DET
ap-3490	115	17	setm′	setm′	NOUN
ap-3490	115	18	⊆	⊆	NUM
ap-3490	115	19	m	m	NOUN
ap-3490	115	20	such	such	ADJ
ap-3490	115	21	that	that	SCONJ
ap-3490	115	22	∀m	∀m	PROPN
ap-3490	115	23	∈m′	∈m′	NOUN
ap-3490	115	24	,	,	PUNCT
ap-3490	115	25	m(r	m(r	PROPN
ap-3490	115	26	)	)	PUNCT
ap-3490	115	27	has	have	AUX
ap-3490	115	28	not	not	PART
ap-3490	115	29	been	be	AUX
ap-3490	115	30	decided	decide	VERB
ap-3490	115	31	and	and	CCONJ
ap-3490	115	32	∃mi	∃mi	NOUN
ap-3490	115	33	∈m′	∈m′	NOUN
ap-3490	115	34	:	:	PUNCT
ap-3490	115	35	mi	mi	X
ap-3490	115	36	precedes−−−−−→m	precedes−−−−−→m	X
ap-3490	115	37	∨m	∨m	PROPN
ap-3490	115	38	precedes−−−−−→mi	precedes−−−−−→mi	PROPN
ap-3490	115	39	,	,	PUNCT
ap-3490	115	40	that	that	ADV
ap-3490	115	41	is	is	ADV
ap-3490	115	42	,	,	PUNCT
ap-3490	115	43	a	a	DET
ap-3490	115	44	total	total	ADJ
ap-3490	115	45	order	order	NOUN
ap-3490	115	46	of	of	ADP
ap-3490	115	47	missions	mission	NOUN
ap-3490	115	48	has	have	AUX
ap-3490	115	49	been	be	AUX
ap-3490	115	50	decided	decide	VERB
ap-3490	115	51	,	,	PUNCT
ap-3490	115	52	but	but	CCONJ
ap-3490	115	53	machines	machine	NOUN
ap-3490	115	54	have	have	AUX
ap-3490	115	55	not	not	PART
ap-3490	115	56	been	be	AUX
ap-3490	115	57	allocated	allocate	VERB
ap-3490	115	58	.	.	PUNCT
ap-3490	116	1	the	the	DET
ap-3490	116	2	values	value	NOUN
ap-3490	116	3	are	be	AUX
ap-3490	116	4	complete	complete	ADJ
ap-3490	116	5	assignments	assignment	NOUN
ap-3490	116	6	of	of	ADP
ap-3490	116	7	robots	robot	NOUN
ap-3490	116	8	to	to	ADP
ap-3490	116	9	missions	mission	NOUN
ap-3490	116	10	,	,	PUNCT
ap-3490	116	11	i.e.	i.e.	X
ap-3490	116	12	,	,	PUNCT
ap-3490	116	13	an	an	DET
ap-3490	116	14	assignment	assignment	NOUN
ap-3490	116	15	m(r	m(r	NOUN
ap-3490	116	16	)	)	PUNCT
ap-3490	117	1	=	=	SYM
ap-3490	117	2	r	r	NOUN
ap-3490	117	3	for	for	ADP
ap-3490	117	4	each	each	DET
ap-3490	117	5	mission	mission	NOUN
ap-3490	117	6	inm′.	inm′.	ADV
ap-3490	117	7	clearly	clearly	ADV
ap-3490	117	8	,	,	PUNCT
ap-3490	117	9	the	the	DET
ap-3490	117	10	machine	machine	NOUN
ap-3490	117	11	allocation	allocation	NOUN
ap-3490	117	12	sub	sub	NOUN
ap-3490	117	13	-	-	NOUN
ap-3490	117	14	problem	problem	NOUN
ap-3490	117	15	has	have	VERB
ap-3490	117	16	a	a	DET
ap-3490	117	17	huge	huge	ADJ
ap-3490	117	18	space	space	NOUN
ap-3490	117	19	of	of	ADP
ap-3490	117	20	possible	possible	ADJ
ap-3490	117	21	solutions	solution	NOUN
ap-3490	117	22	.	.	PUNCT
ap-3490	118	1	each	each	DET
ap-3490	118	2	possible	possible	ADJ
ap-3490	118	3	solution	solution	NOUN
ap-3490	118	4	has	have	VERB
ap-3490	118	5	complex	complex	ADJ
ap-3490	118	6	ramifications	ramification	NOUN
ap-3490	118	7	on	on	ADP
ap-3490	118	8	other	other	ADJ
ap-3490	118	9	sub	sub	NOUN
ap-3490	118	10	-	-	NOUN
ap-3490	118	11	problems	problem	NOUN
ap-3490	118	12	:	:	PUNCT
ap-3490	118	13	different	different	ADJ
ap-3490	118	14	allocations	allocation	NOUN
ap-3490	118	15	will	will	AUX
ap-3490	118	16	affect	affect	VERB
ap-3490	118	17	the	the	DET
ap-3490	118	18	amount	amount	NOUN
ap-3490	118	19	of	of	ADP
ap-3490	118	20	coordination	coordination	NOUN
ap-3490	118	21	necessary	necessary	ADJ
ap-3490	118	22	;	;	PUNCT
ap-3490	118	23	allocations	allocation	NOUN
ap-3490	118	24	must	must	AUX
ap-3490	118	25	be	be	AUX
ap-3490	118	26	such	such	ADJ
ap-3490	118	27	that	that	SCONJ
ap-3490	118	28	the	the	DET
ap-3490	118	29	final	final	ADJ
ap-3490	118	30	mission	mission	NOUN
ap-3490	118	31	of	of	ADP
ap-3490	118	32	a	a	DET
ap-3490	118	33	machine	machine	NOUN
ap-3490	118	34	is	be	AUX
ap-3490	118	35	not	not	PART
ap-3490	118	36	surrounded	surround	VERB
ap-3490	118	37	by	by	ADP
ap-3490	118	38	piles	pile	NOUN
ap-3490	118	39	(	(	PUNCT
ap-3490	118	40	drilled	drill	VERB
ap-3490	118	41	by	by	ADP
ap-3490	118	42	other	other	ADJ
ap-3490	118	43	machines	machine	NOUN
ap-3490	118	44	)	)	PUNCT
ap-3490	118	45	,	,	PUNCT
ap-3490	118	46	which	which	PRON
ap-3490	118	47	would	would	AUX
ap-3490	118	48	make	make	VERB
ap-3490	118	49	it	it	PRON
ap-3490	118	50	impossible	impossible	ADJ
ap-3490	118	51	to	to	PART
ap-3490	118	52	navigate	navigate	VERB
ap-3490	118	53	to	to	ADP
ap-3490	118	54	its	its	PRON
ap-3490	118	55	final	final	ADJ
ap-3490	118	56	parking	parking	NOUN
ap-3490	118	57	pose	pose	VERB
ap-3490	118	58	.	.	PUNCT
ap-3490	119	1	as	as	SCONJ
ap-3490	119	2	we	we	PRON
ap-3490	119	3	show	show	VERB
ap-3490	119	4	in	in	ADP
ap-3490	119	5	section	section	NOUN
ap-3490	119	6	5	5	NUM
ap-3490	119	7	,	,	PUNCT
ap-3490	119	8	heuristics	heuristic	NOUN
ap-3490	119	9	with	with	ADP
ap-3490	119	10	high	high	ADJ
ap-3490	119	11	pruning	pruning	NOUN
ap-3490	119	12	power	power	NOUN
ap-3490	119	13	are	be	AUX
ap-3490	119	14	needed	need	VERB
ap-3490	119	15	to	to	PART
ap-3490	119	16	explore	explore	VERB
ap-3490	119	17	the	the	DET
ap-3490	119	18	search	search	NOUN
ap-3490	119	19	space	space	NOUN
ap-3490	119	20	of	of	ADP
ap-3490	119	21	this	this	DET
ap-3490	119	22	sub	sub	NOUN
ap-3490	119	23	-	-	NOUN
ap-3490	119	24	problem	problem	NOUN
ap-3490	119	25	,	,	PUNCT
ap-3490	119	26	and	and	CCONJ
ap-3490	119	27	these	these	DET
ap-3490	119	28	heuristics	heuristic	NOUN
ap-3490	119	29	must	must	AUX
ap-3490	119	30	account	account	VERB
ap-3490	119	31	for	for	ADP
ap-3490	119	32	other	other	ADJ
ap-3490	119	33	sub	sub	NOUN
ap-3490	119	34	-	-	NOUN
ap-3490	119	35	problems	problem	NOUN
ap-3490	119	36	.	.	PUNCT
ap-3490	120	1	solutions	solution	NOUN
ap-3490	120	2	to	to	ADP
ap-3490	120	3	the	the	DET
ap-3490	120	4	machine	machine	NOUN
ap-3490	120	5	allocation	allocation	NOUN
ap-3490	120	6	sub	sub	NOUN
ap-3490	120	7	-	-	NOUN
ap-3490	120	8	problem	problem	NOUN
ap-3490	120	9	are	be	AUX
ap-3490	120	10	indirectly	indirectly	ADV
ap-3490	120	11	validated	validate	VERB
ap-3490	120	12	in	in	ADP
ap-3490	120	13	other	other	ADJ
ap-3490	120	14	problems	problem	NOUN
ap-3490	120	15	,	,	PUNCT
ap-3490	120	16	hence	hence	ADV
ap-3490	120	17	no	no	DET
ap-3490	120	18	particular	particular	ADJ
ap-3490	120	19	solver	solver	NOUN
ap-3490	120	20	is	be	AUX
ap-3490	120	21	used	use	VERB
ap-3490	120	22	for	for	ADP
ap-3490	120	23	direct	direct	ADJ
ap-3490	120	24	validation	validation	NOUN
ap-3490	120	25	of	of	ADP
ap-3490	120	26	possible	possible	ADJ
ap-3490	120	27	values	value	NOUN
ap-3490	120	28	.	.	PUNCT
ap-3490	121	1	3.4	3.4	NUM
ap-3490	121	2	.	.	PUNCT
ap-3490	121	3	temporal	temporal	ADJ
ap-3490	121	4	sub	sub	NOUN
ap-3490	121	5	-	-	NOUN
ap-3490	121	6	problem	problem	NOUN
ap-3490	121	7	a	a	DET
ap-3490	121	8	mission	mission	NOUN
ap-3490	121	9	’s	’s	PART
ap-3490	121	10	path	path	NOUN
ap-3490	121	11	p	p	NOUN
ap-3490	121	12	is	be	AUX
ap-3490	121	13	segmented	segment	VERB
ap-3490	121	14	into	into	ADP
ap-3490	121	15	a	a	DET
ap-3490	121	16	sequence	sequence	NOUN
ap-3490	121	17	of	of	ADP
ap-3490	121	18	sub	sub	NOUN
ap-3490	121	19	-	-	NOUN
ap-3490	121	20	paths	path	NOUN
ap-3490	121	21	based	base	VERB
ap-3490	121	22	on	on	ADP
ap-3490	121	23	its	its	PRON
ap-3490	121	24	curvature	curvature	NOUN
ap-3490	121	25	.	.	PUNCT
ap-3490	122	1	each	each	DET
ap-3490	122	2	segment	segment	NOUN
ap-3490	122	3	is	be	AUX
ap-3490	122	4	associated	associate	VERB
ap-3490	122	5	to	to	ADP
ap-3490	122	6	a	a	DET
ap-3490	122	7	convex	convex	ADJ
ap-3490	122	8	polygon	polygon	NOUN
ap-3490	122	9	sk	sk	VERB
ap-3490	122	10	resulting	result	VERB
ap-3490	122	11	from	from	ADP
ap-3490	122	12	the	the	DET
ap-3490	122	13	sweep	sweep	NOUN
ap-3490	122	14	of	of	ADP
ap-3490	122	15	the	the	DET
ap-3490	122	16	machine	machine	NOUN
ap-3490	122	17	’s	’s	PART
ap-3490	122	18	footprint	footprint	NOUN
ap-3490	122	19	along	along	ADP
ap-3490	122	20	the	the	DET
ap-3490	122	21	sub	sub	NOUN
ap-3490	122	22	-	-	NOUN
ap-3490	122	23	path	path	NOUN
ap-3490	122	24	.	.	PUNCT
ap-3490	123	1	the	the	DET
ap-3490	123	2	resulting	result	VERB
ap-3490	123	3	sequence	sequence	NOUN
ap-3490	123	4	{	{	PUNCT
ap-3490	123	5	s1	s1	NOUN
ap-3490	123	6	,	,	PUNCT
ap-3490	123	7	.	.	PUNCT
ap-3490	123	8	.	.	PUNCT
ap-3490	123	9	.	.	PUNCT
ap-3490	124	1	,	,	PUNCT
ap-3490	124	2	sm	sm	INTJ
ap-3490	124	3	}	}	PUNCT
ap-3490	124	4	of	of	ADP
ap-3490	124	5	convex	convex	ADJ
ap-3490	124	6	polygons	polygon	NOUN
ap-3490	124	7	represents	represent	VERB
ap-3490	124	8	the	the	DET
ap-3490	124	9	areas	area	NOUN
ap-3490	124	10	occupied	occupy	VERB
ap-3490	124	11	by	by	ADP
ap-3490	124	12	a	a	DET
ap-3490	124	13	robot	robot	NOUN
ap-3490	124	14	while	while	SCONJ
ap-3490	124	15	navigating	navigate	VERB
ap-3490	124	16	along	along	ADP
ap-3490	124	17	the	the	DET
ap-3490	124	18	path	path	NOUN
ap-3490	124	19	(	(	PUNCT
ap-3490	124	20	see	see	VERB
ap-3490	124	21	an	an	DET
ap-3490	124	22	example	example	NOUN
ap-3490	124	23	in	in	ADP
ap-3490	124	24	figure	figure	NOUN
ap-3490	124	25	4(c	4(c	NUM
ap-3490	124	26	)	)	PUNCT
ap-3490	124	27	)	)	PUNCT
ap-3490	124	28	.	.	PUNCT
ap-3490	125	1	since	since	SCONJ
ap-3490	125	2	the	the	DET
ap-3490	125	3	path	path	NOUN
ap-3490	125	4	planner	planner	NOUN
ap-3490	125	5	used	use	VERB
ap-3490	125	6	to	to	PART
ap-3490	125	7	obtain	obtain	VERB
ap-3490	125	8	p	p	NOUN
ap-3490	125	9	is	be	AUX
ap-3490	125	10	aware	aware	ADJ
ap-3490	125	11	of	of	ADP
ap-3490	125	12	the	the	DET
ap-3490	125	13	obstacles	obstacle	NOUN
ap-3490	125	14	created	create	VERB
ap-3490	125	15	by	by	ADP
ap-3490	125	16	preceding	precede	VERB
ap-3490	125	17	missions	mission	NOUN
ap-3490	125	18	,	,	PUNCT
ap-3490	125	19	the	the	DET
ap-3490	125	20	convex	convex	NOUN
ap-3490	125	21	polygons	polygon	NOUN
ap-3490	125	22	do	do	AUX
ap-3490	125	23	not	not	PART
ap-3490	125	24	intersect	intersect	VERB
ap-3490	125	25	the	the	DET
ap-3490	125	26	piles	pile	NOUN
ap-3490	125	27	resulting	result	VERB
ap-3490	125	28	from	from	ADP
ap-3490	125	29	drilling	drill	VERB
ap-3490	125	30	(	(	PUNCT
ap-3490	125	31	see	see	VERB
ap-3490	125	32	figure	figure	NOUN
ap-3490	125	33	4(d	4(d	NUM
ap-3490	125	34	)	)	PUNCT
ap-3490	125	35	,	,	PUNCT
ap-3490	125	36	where	where	SCONJ
ap-3490	125	37	red	red	ADJ
ap-3490	125	38	circles	circle	NOUN
ap-3490	125	39	represent	represent	VERB
ap-3490	125	40	piles	pile	NOUN
ap-3490	125	41	,	,	PUNCT
ap-3490	125	42	white	white	ADJ
ap-3490	125	43	polygons	polygon	NOUN
ap-3490	125	44	represents	represent	VERB
ap-3490	125	45	the	the	DET
ap-3490	125	46	motions	motion	NOUN
ap-3490	125	47	of	of	ADP
ap-3490	125	48	the	the	DET
ap-3490	125	49	machine	machine	NOUN
ap-3490	125	50	,	,	PUNCT
ap-3490	125	51	and	and	CCONJ
ap-3490	125	52	the	the	DET
ap-3490	125	53	green	green	ADJ
ap-3490	125	54	line	line	NOUN
ap-3490	125	55	represents	represent	VERB
ap-3490	125	56	the	the	DET
ap-3490	125	57	geofence	geofence	NOUN
ap-3490	125	58	)	)	PUNCT
ap-3490	125	59	.	.	PUNCT
ap-3490	126	1	in	in	ADP
ap-3490	126	2	addition	addition	NOUN
ap-3490	126	3	to	to	ADP
ap-3490	126	4	the	the	DET
ap-3490	126	5	polygons	polygon	NOUN
ap-3490	126	6	representing	represent	VERB
ap-3490	126	7	the	the	DET
ap-3490	126	8	motion	motion	NOUN
ap-3490	126	9	of	of	ADP
ap-3490	126	10	machines	machine	NOUN
ap-3490	126	11	,	,	PUNCT
ap-3490	126	12	the	the	DET
ap-3490	126	13	activities	activity	NOUN
ap-3490	126	14	involved	involve	VERB
ap-3490	126	15	in	in	ADP
ap-3490	126	16	a	a	DET
ap-3490	126	17	mission	mission	NOUN
ap-3490	126	18	m	m	VERB
ap-3490	126	19	(	(	PUNCT
ap-3490	126	20	i.e.	i.e.	X
ap-3490	126	21	,	,	PUNCT
ap-3490	126	22	m(a	m(a	NOUN
ap-3490	126	23	)	)	PUNCT
ap-3490	126	24	=	=	PRON
ap-3490	126	25	{	{	PUNCT
ap-3490	126	26	drilling	drilling	NOUN
ap-3490	126	27	,	,	PUNCT
ap-3490	126	28	leveling	leveling	NOUN
ap-3490	126	29	,	,	PUNCT
ap-3490	126	30	de	de	NOUN
ap-3490	126	31	-	-	NOUN
ap-3490	126	32	leveling	leveling	NOUN
ap-3490	126	33	}	}	PUNCT
ap-3490	126	34	)	)	PUNCT
ap-3490	126	35	have	have	VERB
ap-3490	126	36	polygons	polygon	NOUN
ap-3490	126	37	associated	associate	VERB
ap-3490	126	38	to	to	ADP
ap-3490	126	39	them	they	PRON
ap-3490	126	40	.	.	PUNCT
ap-3490	127	1	since	since	SCONJ
ap-3490	127	2	these	these	DET
ap-3490	127	3	activities	activity	NOUN
ap-3490	127	4	all	all	PRON
ap-3490	127	5	occur	occur	VERB
ap-3490	127	6	while	while	SCONJ
ap-3490	127	7	the	the	DET
ap-3490	127	8	machine	machine	NOUN
ap-3490	127	9	is	be	AUX
ap-3490	127	10	idle	idle	ADJ
ap-3490	127	11	in	in	ADP
ap-3490	127	12	pose	pose	NOUN
ap-3490	127	13	m(gp	m(gp	NOUN
ap-3490	127	14	)	)	PUNCT
ap-3490	127	15	,	,	PUNCT
ap-3490	127	16	their	their	PRON
ap-3490	127	17	polygons	polygon	NOUN
ap-3490	127	18	coincide	coincide	VERB
ap-3490	127	19	with	with	ADP
ap-3490	127	20	the	the	DET
ap-3490	127	21	polygon	polygon	NOUN
ap-3490	127	22	that	that	PRON
ap-3490	127	23	covers	cover	VERB
ap-3490	127	24	the	the	DET
ap-3490	127	25	last	last	ADJ
ap-3490	127	26	sub	sub	NOUN
ap-3490	127	27	-	-	NOUN
ap-3490	127	28	path	path	NOUN
ap-3490	127	29	of	of	ADP
ap-3490	127	30	m(p	m(p	PROPN
ap-3490	127	31	)	)	PUNCT
ap-3490	127	32	.	.	PUNCT
ap-3490	128	1	hence	hence	ADV
ap-3490	128	2	,	,	PUNCT
ap-3490	128	3	the	the	DET
ap-3490	128	4	set	set	NOUN
ap-3490	128	5	of	of	ADP
ap-3490	128	6	all	all	DET
ap-3490	128	7	convex	convex	ADJ
ap-3490	128	8	polygons	polygon	NOUN
ap-3490	128	9	of	of	ADP
ap-3490	128	10	mission	mission	NOUN
ap-3490	128	11	m	m	VERB
ap-3490	128	12	is	be	AUX
ap-3490	128	13	m(s	m(s	PROPN
ap-3490	128	14	)	)	PUNCT
ap-3490	128	15	=	=	PRON
ap-3490	128	16	{	{	PUNCT
ap-3490	128	17	s1	s1	NOUN
ap-3490	128	18	,	,	PUNCT
ap-3490	128	19	.	.	PUNCT
ap-3490	128	20	.	.	PUNCT
ap-3490	129	1	.	.	PUNCT
ap-3490	130	1	,	,	PUNCT
ap-3490	130	2	sm	sm	PROPN
ap-3490	130	3	}	}	PUNCT
ap-3490	130	4	∪	∪	ADJ
ap-3490	130	5	{	{	PUNCT
ap-3490	130	6	sdrilling	sdrilling	ADJ
ap-3490	130	7	,	,	PUNCT
ap-3490	130	8	sleveling	sleveling	NOUN
ap-3490	130	9	,	,	PUNCT
ap-3490	130	10	sde	sde	NOUN
ap-3490	130	11	-	-	PUNCT
ap-3490	130	12	leveling	leveling	NOUN
ap-3490	130	13	}	}	PUNCT
ap-3490	130	14	,	,	PUNCT
ap-3490	130	15	where	where	SCONJ
ap-3490	130	16	sdrilling	sdrille	VERB
ap-3490	130	17	=	=	SYM
ap-3490	130	18	sleveling	slevele	VERB
ap-3490	130	19	=	=	SYM
ap-3490	130	20	sde	sde	NOUN
ap-3490	130	21	-	-	PUNCT
ap-3490	130	22	leveling	level	VERB
ap-3490	130	23	=	=	SYM
ap-3490	130	24	sm	sm	PROPN
ap-3490	130	25	.	.	PUNCT
ap-3490	131	1	each	each	DET
ap-3490	131	2	convex	convex	PROPN
ap-3490	131	3	polygon	polygon	PROPN
ap-3490	131	4	inm(s	inm(s	PROPN
ap-3490	131	5	)	)	PUNCT
ap-3490	131	6	is	be	AUX
ap-3490	131	7	associated	associate	VERB
ap-3490	131	8	to	to	ADP
ap-3490	131	9	a	a	DET
ap-3490	131	10	time	time	NOUN
ap-3490	131	11	interval	interval	NOUN
ap-3490	131	12	in	in	ADP
ap-3490	131	13	the	the	DET
ap-3490	131	14	set	set	NOUN
ap-3490	131	15	m(t	m(t	NOUN
ap-3490	131	16	)	)	PUNCT
ap-3490	132	1	=	=	PRON
ap-3490	132	2	{	{	PUNCT
ap-3490	132	3	i1	i1	PROPN
ap-3490	132	4	,	,	PUNCT
ap-3490	132	5	.	.	PUNCT
ap-3490	132	6	.	.	PUNCT
ap-3490	133	1	.	.	PUNCT
ap-3490	134	1	,	,	PUNCT
ap-3490	134	2	im+3	im+3	X
ap-3490	134	3	}	}	PUNCT
ap-3490	134	4	.	.	PUNCT
ap-3490	135	1	the	the	DET
ap-3490	135	2	interval	interval	NOUN
ap-3490	135	3	ik	ik	PROPN
ap-3490	135	4	=	=	PUNCT
ap-3490	136	1	[	[	X
ap-3490	136	2	is	be	AUX
ap-3490	136	3	,	,	PUNCT
ap-3490	136	4	ie	ie	X
ap-3490	136	5	]	]	PUNCT
ap-3490	136	6	is	be	AUX
ap-3490	136	7	a	a	DET
ap-3490	136	8	flexible	flexible	ADJ
ap-3490	136	9	temporal	temporal	ADJ
ap-3490	136	10	interval	interval	NOUN
ap-3490	136	11	within	within	ADP
ap-3490	136	12	which	which	PRON
ap-3490	136	13	robot	robot	NOUN
ap-3490	136	14	m(r	m(r	PROPN
ap-3490	136	15	)	)	PUNCT
ap-3490	136	16	is	be	AUX
ap-3490	136	17	in	in	ADP
ap-3490	136	18	sk	sk	ADP
ap-3490	136	19	,	,	PUNCT
ap-3490	136	20	where	where	SCONJ
ap-3490	136	21	is	be	AUX
ap-3490	136	22	=	=	PUNCT
ap-3490	137	1	[	[	X
ap-3490	137	2	ls	ls	X
ap-3490	137	3	,	,	PUNCT
ap-3490	137	4	us	we	PRON
ap-3490	137	5	]	]	X
ap-3490	137	6	,	,	PUNCT
ap-3490	137	7	ie	ie	X
ap-3490	137	8	=	=	X
ap-3490	138	1	[	[	X
ap-3490	138	2	le	le	X
ap-3490	138	3	,	,	PUNCT
ap-3490	138	4	ue	ue	PROPN
ap-3490	138	5	]	]	X
ap-3490	138	6	,	,	PUNCT
ap-3490	138	7	ls	ls	PROPN
ap-3490	138	8	/	/	SYM
ap-3490	138	9	e	e	PROPN
ap-3490	138	10	,	,	PUNCT
ap-3490	138	11	us	we	PRON
ap-3490	138	12	/	/	SYM
ap-3490	138	13	e	e	PROPN
ap-3490	138	14	∈	∈	PROPN
ap-3490	138	15	n	n	PRON
ap-3490	138	16	represent	represent	VERB
ap-3490	138	17	,	,	PUNCT
ap-3490	138	18	respectively	respectively	ADV
ap-3490	138	19	,	,	PUNCT
ap-3490	138	20	an	an	DET
ap-3490	138	21	interval	interval	NOUN
ap-3490	138	22	of	of	ADP
ap-3490	138	23	admissibility	admissibility	NOUN
ap-3490	138	24	of	of	ADP
ap-3490	138	25	the	the	DET
ap-3490	138	26	start	start	NOUN
ap-3490	138	27	and	and	CCONJ
ap-3490	138	28	end	end	VERB
ap-3490	138	29	times	time	NOUN
ap-3490	138	30	of	of	ADP
ap-3490	138	31	the	the	DET
ap-3490	138	32	occurrence	occurrence	NOUN
ap-3490	138	33	of	of	ADP
ap-3490	138	34	polygon	polygon	PROPN
ap-3490	138	35	sk	sk	ADP
ap-3490	138	36	∈	∈	PROPN
ap-3490	138	37	s.	s.	PROPN
ap-3490	138	38	the	the	DET
ap-3490	138	39	temporal	temporal	ADJ
ap-3490	138	40	sub	sub	ADJ
ap-3490	138	41	-	-	NOUN
ap-3490	138	42	problem	problem	NOUN
ap-3490	138	43	consists	consist	VERB
ap-3490	138	44	of	of	ADP
ap-3490	138	45	deciding	decide	VERB
ap-3490	138	46	a	a	DET
ap-3490	138	47	start	start	NOUN
ap-3490	138	48	and	and	CCONJ
ap-3490	138	49	end	end	VERB
ap-3490	138	50	time	time	NOUN
ap-3490	138	51	for	for	ADP
ap-3490	138	52	each	each	DET
ap-3490	138	53	interval	interval	NOUN
ap-3490	138	54	ik	ik	PROPN
ap-3490	138	55	.	.	PUNCT
ap-3490	139	1	the	the	DET
ap-3490	139	2	temporal	temporal	ADJ
ap-3490	139	3	sub	sub	NOUN
ap-3490	139	4	-	-	NOUN
ap-3490	139	5	problem	problem	NOUN
ap-3490	139	6	has	have	VERB
ap-3490	139	7	a	a	DET
ap-3490	139	8	decision	decision	NOUN
ap-3490	139	9	variable	variable	NOUN
ap-3490	139	10	for	for	ADP
ap-3490	139	11	every	every	DET
ap-3490	139	12	machine	machine	NOUN
ap-3490	139	13	r	r	PROPN
ap-3490	139	14	∈	∈	PROPN
ap-3490	139	15	r.	r.	NOUN
ap-3490	139	16	each	each	DET
ap-3490	139	17	decision	decision	NOUN
ap-3490	139	18	variable	variable	NOUN
ap-3490	139	19	is	be	AUX
ap-3490	139	20	a	a	DET
ap-3490	139	21	set	set	NOUN
ap-3490	139	22	of	of	ADP
ap-3490	139	23	missions	mission	NOUN
ap-3490	139	24	m′	m′	NOUN
ap-3490	139	25	⊆	⊆	NUM
ap-3490	139	26	m	m	NOUN
ap-3490	139	27	such	such	ADJ
ap-3490	139	28	that	that	SCONJ
ap-3490	139	29	for	for	ADP
ap-3490	139	30	all	all	DET
ap-3490	139	31	mi	mi	PROPN
ap-3490	139	32	∈	∈	PROPN
ap-3490	139	33	m′	m′	NOUN
ap-3490	139	34	,	,	PUNCT
ap-3490	139	35	(	(	PUNCT
ap-3490	139	36	1	1	NUM
ap-3490	139	37	)	)	PUNCT
ap-3490	139	38	mi(p	mi(p	NOUN
ap-3490	139	39	)	)	PUNCT
ap-3490	139	40	has	have	AUX
ap-3490	139	41	been	be	AUX
ap-3490	139	42	decided	decide	VERB
ap-3490	139	43	,	,	PUNCT
ap-3490	139	44	(	(	PUNCT
ap-3490	139	45	2	2	NUM
ap-3490	139	46	)	)	PUNCT
ap-3490	139	47	mi(r	mi(r	NOUN
ap-3490	139	48	)	)	PUNCT
ap-3490	139	49	=	=	SYM
ap-3490	139	50	r	r	NOUN
ap-3490	139	51	,	,	PUNCT
ap-3490	139	52	and	and	CCONJ
ap-3490	139	53	(	(	PUNCT
ap-3490	139	54	3	3	X
ap-3490	139	55	)	)	PUNCT
ap-3490	139	56	the	the	DET
ap-3490	139	57	start	start	NOUN
ap-3490	139	58	and	and	CCONJ
ap-3490	139	59	end	end	VERB
ap-3490	139	60	times	time	NOUN
ap-3490	139	61	of	of	ADP
ap-3490	139	62	mi(t	mi(t	NOUN
ap-3490	139	63	)	)	PUNCT
ap-3490	139	64	have	have	AUX
ap-3490	139	65	not	not	PART
ap-3490	139	66	been	be	AUX
ap-3490	139	67	decided	decide	VERB
ap-3490	139	68	.	.	PUNCT
ap-3490	140	1	we	we	PRON
ap-3490	140	2	reduce	reduce	VERB
ap-3490	140	3	the	the	DET
ap-3490	140	4	problem	problem	NOUN
ap-3490	140	5	of	of	ADP
ap-3490	140	6	deciding	decide	VERB
ap-3490	140	7	valid	valid	ADJ
ap-3490	140	8	start	start	NOUN
ap-3490	140	9	/	/	SYM
ap-3490	140	10	end	end	NOUN
ap-3490	140	11	times	time	NOUN
ap-3490	140	12	of	of	ADP
ap-3490	140	13	the	the	DET
ap-3490	140	14	intervals	interval	NOUN
ap-3490	140	15	to	to	ADP
ap-3490	140	16	a	a	DET
ap-3490	140	17	simple	simple	ADJ
ap-3490	140	18	temporal	temporal	ADJ
ap-3490	140	19	problem	problem	NOUN
ap-3490	140	20	(	(	PUNCT
ap-3490	140	21	stp	stp	X
ap-3490	140	22	,	,	PUNCT
ap-3490	140	23	[	[	X
ap-3490	140	24	4	4	NUM
ap-3490	140	25	]	]	NUM
ap-3490	140	26	)	)	PUNCT
ap-3490	140	27	.	.	PUNCT
ap-3490	141	1	the	the	DET
ap-3490	141	2	stp	stp	PROPN
ap-3490	141	3	is	be	AUX
ap-3490	141	4	formulated	formulate	VERB
ap-3490	141	5	as	as	ADP
ap-3490	141	6	a	a	DET
ap-3490	141	7	collection	collection	NOUN
ap-3490	141	8	of	of	ADP
ap-3490	141	9	temporal	temporal	ADJ
ap-3490	141	10	constraints	constraint	NOUN
ap-3490	141	11	as	as	SCONJ
ap-3490	141	12	follows	follow	VERB
ap-3490	141	13	.	.	PUNCT
ap-3490	142	1	first	first	ADV
ap-3490	142	2	,	,	PUNCT
ap-3490	142	3	for	for	ADP
ap-3490	142	4	each	each	DET
ap-3490	142	5	mi	mi	NOUN
ap-3490	142	6	∈m′	∈m′	NOUN
ap-3490	142	7	with	with	ADP
ap-3490	142	8	intervals	interval	NOUN
ap-3490	142	9	mi(t	mi(t	PUNCT
ap-3490	142	10	)	)	PUNCT
ap-3490	142	11	=	=	SYM
ap-3490	142	12	{	{	PUNCT
ap-3490	142	13	i1	i1	PROPN
ap-3490	142	14	,	,	PUNCT
ap-3490	142	15	.	.	PUNCT
ap-3490	142	16	.	.	PUNCT
ap-3490	142	17	.	.	PUNCT
ap-3490	143	1	,	,	PUNCT
ap-3490	143	2	im+3	im+3	X
ap-3490	143	3	}	}	PUNCT
ap-3490	143	4	,	,	PUNCT
ap-3490	143	5	temporal	temporal	ADJ
ap-3490	143	6	constraints	constraint	NOUN
ap-3490	143	7	that	that	PRON
ap-3490	143	8	reflect	reflect	VERB
ap-3490	143	9	the	the	DET
ap-3490	143	10	order	order	NOUN
ap-3490	143	11	of	of	ADP
ap-3490	143	12	the	the	DET
ap-3490	143	13	convex	convex	NOUN
ap-3490	143	14	polygons	polygon	VERB
ap-3490	143	15	50	50	NUM
ap-3490	143	16	vol	vol	NOUN
ap-3490	143	17	.	.	PUNCT
ap-3490	144	1	56	56	NUM
ap-3490	144	2	no	no	NOUN
ap-3490	144	3	.	.	PUNCT
ap-3490	145	1	1/2016	1/2016	NUM
ap-3490	145	2	hybrid	hybrid	ADJ
ap-3490	145	3	reasoning	reasoning	NOUN
ap-3490	145	4	for	for	ADP
ap-3490	145	5	multi	multi	ADJ
ap-3490	145	6	-	-	ADJ
ap-3490	145	7	robot	robot	ADJ
ap-3490	145	8	drill	drill	NOUN
ap-3490	145	9	planning	planning	NOUN
ap-3490	145	10	in	in	ADP
ap-3490	145	11	open	open	ADJ
ap-3490	145	12	-	-	PUNCT
ap-3490	145	13	pit	pit	NOUN
ap-3490	145	14	mines	mine	NOUN
ap-3490	145	15	figure	figure	VERB
ap-3490	145	16	5	5	NUM
ap-3490	145	17	.	.	PUNCT
ap-3490	145	18	coordinating	coordinate	VERB
ap-3490	145	19	two	two	NUM
ap-3490	145	20	machines	machine	NOUN
ap-3490	145	21	to	to	PART
ap-3490	145	22	avoid	avoid	VERB
ap-3490	145	23	spatiotemporal	spatiotemporal	ADJ
ap-3490	145	24	overlap	overlap	NOUN
ap-3490	145	25	.	.	PUNCT
ap-3490	146	1	along	along	ADP
ap-3490	146	2	the	the	DET
ap-3490	146	3	path	path	NOUN
ap-3490	146	4	mi(p	mi(p	X
ap-3490	146	5	)	)	PUNCT
ap-3490	146	6	are	be	AUX
ap-3490	146	7	imposed	impose	VERB
ap-3490	146	8	:	:	PUNCT
ap-3490	146	9	ik−1	ik−1	PROPN
ap-3490	146	10	before−−−−→	before−−−−→	PROPN
ap-3490	146	11	ik	ik	PROPN
ap-3490	146	12	,	,	PUNCT
ap-3490	146	13	k	k	PROPN
ap-3490	146	14	∈	∈	PROPN
ap-3490	146	15	{	{	PUNCT
ap-3490	146	16	2	2	NUM
ap-3490	146	17	.	.	PUNCT
ap-3490	146	18	.	.	PUNCT
ap-3490	147	1	.m+	.m+	NOUN
ap-3490	148	1	3	3	NUM
ap-3490	148	2	}	}	PUNCT
ap-3490	148	3	.	.	PUNCT
ap-3490	149	1	(	(	PUNCT
ap-3490	149	2	1	1	X
ap-3490	149	3	)	)	PUNCT
ap-3490	149	4	second	second	ADJ
ap-3490	149	5	,	,	PUNCT
ap-3490	149	6	temporal	temporal	ADJ
ap-3490	149	7	constraints	constraint	NOUN
ap-3490	149	8	that	that	PRON
ap-3490	149	9	force	force	VERB
ap-3490	149	10	the	the	DET
ap-3490	149	11	possible	possible	ADJ
ap-3490	149	12	start	start	NOUN
ap-3490	149	13	and	and	CCONJ
ap-3490	149	14	end	end	VERB
ap-3490	149	15	times	time	NOUN
ap-3490	149	16	of	of	ADP
ap-3490	149	17	missions	mission	NOUN
ap-3490	149	18	to	to	PART
ap-3490	149	19	adhere	adhere	VERB
ap-3490	149	20	to	to	ADP
ap-3490	149	21	the	the	DET
ap-3490	149	22	ordering	ordering	NOUN
ap-3490	149	23	decided	decide	VERB
ap-3490	149	24	by	by	ADP
ap-3490	149	25	the	the	DET
ap-3490	149	26	sequencing	sequencing	NOUN
ap-3490	149	27	solver	solver	NOUN
ap-3490	149	28	are	be	AUX
ap-3490	149	29	added	add	VERB
ap-3490	149	30	.	.	PUNCT
ap-3490	150	1	that	that	PRON
ap-3490	150	2	is	be	AUX
ap-3490	150	3	,	,	PUNCT
ap-3490	150	4	for	for	ADP
ap-3490	150	5	each	each	DET
ap-3490	150	6	pair	pair	NOUN
ap-3490	150	7	of	of	ADP
ap-3490	150	8	missions	mission	NOUN
ap-3490	150	9	(	(	PUNCT
ap-3490	150	10	mi	mi	PROPN
ap-3490	150	11	,	,	PUNCT
ap-3490	150	12	mj	mj	PROPN
ap-3490	150	13	)	)	PUNCT
ap-3490	150	14	∈m′×m′	∈m′×m′	X
ap-3490	150	15	that	that	PRON
ap-3490	150	16	are	be	AUX
ap-3490	150	17	subject	subject	ADJ
ap-3490	150	18	to	to	ADP
ap-3490	150	19	a	a	DET
ap-3490	150	20	sequencing	sequence	VERB
ap-3490	150	21	constraintmi	constraintmi	NOUN
ap-3490	150	22	precedes−−−−−→mj	precedes−−−−−→mj	PROPN
ap-3490	150	23	,	,	PUNCT
ap-3490	150	24	the	the	DET
ap-3490	150	25	following	follow	VERB
ap-3490	150	26	temporal	temporal	ADJ
ap-3490	150	27	constraint	constraint	NOUN
ap-3490	150	28	is	be	AUX
ap-3490	150	29	added	add	VERB
ap-3490	150	30	among	among	ADP
ap-3490	150	31	the	the	DET
ap-3490	150	32	intervals	interval	NOUN
ap-3490	150	33	mi(t	mi(t	PUNCT
ap-3490	150	34	)	)	PUNCT
ap-3490	150	35	=	=	PRON
ap-3490	150	36	{	{	PUNCT
ap-3490	150	37	ii	ii	NOUN
ap-3490	150	38	1	1	NUM
ap-3490	150	39	,	,	PUNCT
ap-3490	150	40	.	.	PUNCT
ap-3490	150	41	.	.	PUNCT
ap-3490	151	1	.	.	PUNCT
ap-3490	152	1	,	,	PUNCT
ap-3490	152	2	i	i	PRON
ap-3490	152	3	i	i	PRON
ap-3490	152	4	m+3	m+3	VERB
ap-3490	152	5	}	}	PUNCT
ap-3490	152	6	and	and	CCONJ
ap-3490	152	7	mj(t	mj(t	X
ap-3490	152	8	)	)	PUNCT
ap-3490	153	1	=	=	PUNCT
ap-3490	153	2	{	{	PUNCT
ap-3490	153	3	ij	ij	NOUN
ap-3490	153	4	1	1	NUM
ap-3490	153	5	,	,	PUNCT
ap-3490	153	6	.	.	PUNCT
ap-3490	153	7	.	.	PUNCT
ap-3490	153	8	.	.	PUNCT
ap-3490	154	1	,	,	PUNCT
ap-3490	154	2	i	i	PRON
ap-3490	154	3	j	j	PROPN
ap-3490	154	4	m+3	m+3	X
ap-3490	154	5	}	}	PUNCT
ap-3490	154	6	:	:	PUNCT
ap-3490	154	7	ii	ii	PROPN
ap-3490	154	8	m+3	m+3	PROPN
ap-3490	154	9	before−−−−→	before−−−−→	PROPN
ap-3490	154	10	ij	ij	NOUN
ap-3490	154	11	1	1	NUM
ap-3490	154	12	,	,	PUNCT
ap-3490	154	13	(	(	PUNCT
ap-3490	154	14	2	2	X
ap-3490	154	15	)	)	PUNCT
ap-3490	154	16	reflecting	reflect	VERB
ap-3490	154	17	the	the	DET
ap-3490	154	18	fact	fact	NOUN
ap-3490	154	19	that	that	SCONJ
ap-3490	154	20	the	the	DET
ap-3490	154	21	de	de	ADJ
ap-3490	154	22	-	-	ADJ
ap-3490	154	23	leveling	leveling	ADJ
ap-3490	154	24	polygon	polygon	NOUN
ap-3490	154	25	of	of	ADP
ap-3490	154	26	mission	mission	NOUN
ap-3490	154	27	mi	mi	PROPN
ap-3490	154	28	occurs	occur	VERB
ap-3490	154	29	before	before	ADP
ap-3490	154	30	the	the	DET
ap-3490	154	31	first	first	ADJ
ap-3490	154	32	motion	motion	NOUN
ap-3490	154	33	of	of	ADP
ap-3490	154	34	mission	mission	NOUN
ap-3490	154	35	mj	mj	PROPN
ap-3490	154	36	.	.	PUNCT
ap-3490	155	1	third	third	ADV
ap-3490	155	2	,	,	PUNCT
ap-3490	155	3	we	we	PRON
ap-3490	155	4	impose	impose	VERB
ap-3490	155	5	minimum	minimum	ADJ
ap-3490	155	6	durations	duration	NOUN
ap-3490	155	7	of	of	ADP
ap-3490	155	8	the	the	DET
ap-3490	155	9	motions	motion	NOUN
ap-3490	155	10	and	and	CCONJ
ap-3490	155	11	activities	activity	NOUN
ap-3490	155	12	of	of	ADP
ap-3490	155	13	the	the	DET
ap-3490	155	14	machines	machine	NOUN
ap-3490	155	15	:	:	PUNCT
ap-3490	155	16	duration[α,∞	duration[α,∞	ADJ
ap-3490	155	17	)	)	PUNCT
ap-3490	155	18	:	:	PUNCT
ap-3490	155	19	ik	ik	PROPN
ap-3490	155	20	,	,	PUNCT
ap-3490	155	21	k	k	PROPN
ap-3490	155	22	∈	∈	PROPN
ap-3490	155	23	{	{	PUNCT
ap-3490	155	24	1	1	NUM
ap-3490	155	25	.	.	PUNCT
ap-3490	155	26	.	.	PUNCT
ap-3490	156	1	.m+	.m+	NOUN
ap-3490	157	1	3	3	NUM
ap-3490	157	2	}	}	PUNCT
ap-3490	157	3	.	.	PUNCT
ap-3490	158	1	(	(	PUNCT
ap-3490	158	2	3	3	X
ap-3490	158	3	)	)	PUNCT
ap-3490	158	4	for	for	ADP
ap-3490	158	5	every	every	DET
ap-3490	158	6	motion	motion	NOUN
ap-3490	158	7	polygon	polygon	NOUN
ap-3490	158	8	sk	sk	NOUN
ap-3490	158	9	,	,	PUNCT
ap-3490	158	10	k	k	PROPN
ap-3490	158	11	∈	∈	PROPN
ap-3490	158	12	{	{	PUNCT
ap-3490	158	13	1	1	NUM
ap-3490	158	14	,	,	PUNCT
ap-3490	158	15	.	.	PUNCT
ap-3490	158	16	.	.	PUNCT
ap-3490	158	17	.	.	PUNCT
ap-3490	159	1	,	,	PUNCT
ap-3490	159	2	m	m	PROPN
ap-3490	159	3	}	}	PUNCT
ap-3490	159	4	,	,	PUNCT
ap-3490	159	5	an	an	DET
ap-3490	159	6	initial	initial	ADJ
ap-3490	159	7	value	value	NOUN
ap-3490	159	8	for	for	ADP
ap-3490	159	9	α	α	PROPN
ap-3490	159	10	is	be	AUX
ap-3490	159	11	computed	compute	VERB
ap-3490	159	12	based	base	VERB
ap-3490	159	13	on	on	ADP
ap-3490	159	14	the	the	DET
ap-3490	159	15	maximum	maximum	ADJ
ap-3490	159	16	allowed	allow	VERB
ap-3490	159	17	velocity	velocity	NOUN
ap-3490	159	18	of	of	ADP
ap-3490	159	19	machine	machine	NOUN
ap-3490	159	20	r.	r.	PROPN
ap-3490	159	21	hence	hence	ADV
ap-3490	159	22	,	,	PUNCT
ap-3490	159	23	the	the	DET
ap-3490	159	24	earliest	early	ADJ
ap-3490	159	25	time	time	NOUN
ap-3490	159	26	solution	solution	NOUN
ap-3490	159	27	of	of	ADP
ap-3490	159	28	the	the	DET
ap-3490	159	29	stp	stp	PROPN
ap-3490	159	30	represents	represent	VERB
ap-3490	159	31	the	the	DET
ap-3490	159	32	fastest	fast	ADJ
ap-3490	159	33	possible	possible	ADJ
ap-3490	159	34	execution	execution	NOUN
ap-3490	159	35	of	of	ADP
ap-3490	159	36	all	all	DET
ap-3490	159	37	motions	motion	NOUN
ap-3490	159	38	and	and	CCONJ
ap-3490	159	39	activities	activity	NOUN
ap-3490	159	40	in	in	ADP
ap-3490	159	41	the	the	DET
ap-3490	159	42	plan	plan	NOUN
ap-3490	159	43	,	,	PUNCT
ap-3490	159	44	i.e.	i.e.	X
ap-3490	159	45	,	,	PUNCT
ap-3490	159	46	an	an	DET
ap-3490	159	47	“	"	PUNCT
ap-3490	159	48	optimistic	optimistic	ADJ
ap-3490	159	49	”	"	PUNCT
ap-3490	159	50	estimate	estimate	NOUN
ap-3490	159	51	of	of	ADP
ap-3490	159	52	the	the	DET
ap-3490	159	53	start	start	NOUN
ap-3490	159	54	and	and	CCONJ
ap-3490	159	55	end	end	VERB
ap-3490	159	56	times	time	NOUN
ap-3490	159	57	of	of	ADP
ap-3490	159	58	all	all	DET
ap-3490	159	59	operations	operation	NOUN
ap-3490	159	60	of	of	ADP
ap-3490	159	61	all	all	DET
ap-3490	159	62	machines	machine	NOUN
ap-3490	159	63	.	.	PUNCT
ap-3490	160	1	during	during	ADP
ap-3490	160	2	execution	execution	NOUN
ap-3490	160	3	,	,	PUNCT
ap-3490	160	4	further	further	ADJ
ap-3490	160	5	temporal	temporal	ADJ
ap-3490	160	6	constraints	constraint	NOUN
ap-3490	160	7	can	can	AUX
ap-3490	160	8	be	be	AUX
ap-3490	160	9	added	add	VERB
ap-3490	160	10	to	to	PART
ap-3490	160	11	reflect	reflect	VERB
ap-3490	160	12	contingencies	contingency	NOUN
ap-3490	160	13	such	such	ADJ
ap-3490	160	14	as	as	ADP
ap-3490	160	15	machine	machine	NOUN
ap-3490	160	16	maintenance	maintenance	NOUN
ap-3490	160	17	,	,	PUNCT
ap-3490	160	18	delays	delay	NOUN
ap-3490	160	19	,	,	PUNCT
ap-3490	160	20	and	and	CCONJ
ap-3490	160	21	so	so	ADV
ap-3490	160	22	on	on	ADV
ap-3490	160	23	.	.	PUNCT
ap-3490	161	1	the	the	DET
ap-3490	161	2	association	association	NOUN
ap-3490	161	3	of	of	ADP
ap-3490	161	4	an	an	DET
ap-3490	161	5	interval	interval	NOUN
ap-3490	161	6	per	per	ADP
ap-3490	161	7	polygon	polygon	NOUN
ap-3490	161	8	allows	allow	VERB
ap-3490	161	9	us	we	PRON
ap-3490	161	10	to	to	PART
ap-3490	161	11	predicate	predicate	VERB
ap-3490	161	12	via	via	ADP
ap-3490	161	13	temporal	temporal	ADJ
ap-3490	161	14	constraints	constraint	NOUN
ap-3490	161	15	on	on	ADP
ap-3490	161	16	how	how	SCONJ
ap-3490	161	17	long	long	ADV
ap-3490	161	18	every	every	DET
ap-3490	161	19	movement	movement	NOUN
ap-3490	161	20	or	or	CCONJ
ap-3490	161	21	activity	activity	NOUN
ap-3490	161	22	will	will	AUX
ap-3490	161	23	take	take	VERB
ap-3490	161	24	.	.	PUNCT
ap-3490	162	1	solving	solve	VERB
ap-3490	162	2	the	the	DET
ap-3490	162	3	stp	stp	PROPN
ap-3490	162	4	is	be	AUX
ap-3490	162	5	polynomial	polynomial	ADJ
ap-3490	162	6	in	in	ADP
ap-3490	162	7	the	the	DET
ap-3490	162	8	number	number	NOUN
ap-3490	162	9	of	of	ADP
ap-3490	162	10	intervals	interval	NOUN
ap-3490	162	11	in	in	ADP
ap-3490	162	12	the	the	DET
ap-3490	162	13	temporal	temporal	ADJ
ap-3490	162	14	problem	problem	NOUN
ap-3490	162	15	,	,	PUNCT
ap-3490	162	16	namely	namely	ADV
ap-3490	162	17	∑	∑	PUNCT
ap-3490	162	18	mi∈m′	mi∈m′	PROPN
ap-3490	162	19	|mi(t	|mi(t	PUNCT
ap-3490	162	20	)	)	PUNCT
ap-3490	163	1	|	|	CCONJ
ap-3490	164	1	[	[	X
ap-3490	164	2	4	4	NUM
ap-3490	164	3	]	]	PUNCT
ap-3490	164	4	.	.	PUNCT
ap-3490	165	1	note	note	VERB
ap-3490	165	2	that	that	SCONJ
ap-3490	165	3	there	there	PRON
ap-3490	165	4	are	be	VERB
ap-3490	165	5	no	no	DET
ap-3490	165	6	temporal	temporal	ADJ
ap-3490	165	7	constraints	constraint	NOUN
ap-3490	165	8	among	among	ADP
ap-3490	165	9	intervals	interval	NOUN
ap-3490	165	10	pertaining	pertain	VERB
ap-3490	165	11	to	to	ADP
ap-3490	165	12	different	different	ADJ
ap-3490	165	13	machines	machine	NOUN
ap-3490	165	14	,	,	PUNCT
ap-3490	165	15	hence	hence	ADV
ap-3490	165	16	the	the	DET
ap-3490	165	17	motions	motion	NOUN
ap-3490	165	18	and	and	CCONJ
ap-3490	165	19	activities	activity	NOUN
ap-3490	165	20	of	of	ADP
ap-3490	165	21	different	different	ADJ
ap-3490	165	22	machines	machine	NOUN
ap-3490	165	23	may	may	AUX
ap-3490	165	24	be	be	AUX
ap-3490	165	25	concurrent	concurrent	ADJ
ap-3490	165	26	.	.	PUNCT
ap-3490	166	1	3.5	3.5	NUM
ap-3490	166	2	.	.	PUNCT
ap-3490	166	3	coordination	coordination	NOUN
ap-3490	166	4	sub	sub	NOUN
ap-3490	166	5	-	-	NOUN
ap-3490	166	6	problem	problem	NOUN
ap-3490	166	7	since	since	SCONJ
ap-3490	166	8	several	several	ADJ
ap-3490	166	9	machines	machine	NOUN
ap-3490	166	10	operate	operate	VERB
ap-3490	166	11	in	in	ADP
ap-3490	166	12	the	the	DET
ap-3490	166	13	same	same	ADJ
ap-3490	166	14	environment	environment	NOUN
ap-3490	166	15	,	,	PUNCT
ap-3490	166	16	it	it	PRON
ap-3490	166	17	is	be	AUX
ap-3490	166	18	crucial	crucial	ADJ
ap-3490	166	19	to	to	PART
ap-3490	166	20	address	address	VERB
ap-3490	166	21	collision	collision	NOUN
ap-3490	166	22	/	/	SYM
ap-3490	166	23	deadlock	deadlock	NOUN
ap-3490	166	24	avoidance	avoidance	NOUN
ap-3490	166	25	.	.	PUNCT
ap-3490	167	1	as	as	ADP
ap-3490	167	2	a	a	DET
ap-3490	167	3	consequence	consequence	NOUN
ap-3490	167	4	of	of	ADP
ap-3490	167	5	decisions	decision	NOUN
ap-3490	167	6	made	make	VERB
ap-3490	167	7	in	in	ADP
ap-3490	167	8	all	all	DET
ap-3490	167	9	previous	previous	ADJ
ap-3490	167	10	sub	sub	NOUN
ap-3490	167	11	-	-	NOUN
ap-3490	167	12	problems	problem	NOUN
ap-3490	167	13	,	,	PUNCT
ap-3490	167	14	the	the	DET
ap-3490	167	15	common	common	ADJ
ap-3490	167	16	constraint	constraint	NOUN
ap-3490	167	17	network	network	NOUN
ap-3490	167	18	includes	include	VERB
ap-3490	167	19	polygons	polygon	NOUN
ap-3490	167	20	,	,	PUNCT
ap-3490	167	21	temporal	temporal	ADJ
ap-3490	167	22	intervals	interval	NOUN
ap-3490	167	23	,	,	PUNCT
ap-3490	167	24	and	and	CCONJ
ap-3490	167	25	temporal	temporal	ADJ
ap-3490	167	26	constraints	constraint	NOUN
ap-3490	167	27	(	(	PUNCT
ap-3490	167	28	eqs	eqs	X
ap-3490	167	29	.	.	PUNCT
ap-3490	168	1	(	(	PUNCT
ap-3490	168	2	1	1	X
ap-3490	168	3	)	)	PUNCT
ap-3490	168	4	to	to	ADP
ap-3490	168	5	(	(	PUNCT
ap-3490	168	6	3	3	NUM
ap-3490	168	7	)	)	PUNCT
ap-3490	168	8	)	)	PUNCT
ap-3490	168	9	among	among	ADP
ap-3490	168	10	them	they	PRON
ap-3490	168	11	.	.	PUNCT
ap-3490	169	1	the	the	DET
ap-3490	169	2	stp	stp	PROPN
ap-3490	169	3	solver	solver	NOUN
ap-3490	169	4	computes	compute	NOUN
ap-3490	169	5	start	start	VERB
ap-3490	169	6	and	and	CCONJ
ap-3490	169	7	end	end	VERB
ap-3490	169	8	times	time	NOUN
ap-3490	169	9	for	for	ADP
ap-3490	169	10	each	each	DET
ap-3490	169	11	interval	interval	NOUN
ap-3490	169	12	.	.	PUNCT
ap-3490	170	1	this	this	DET
ap-3490	170	2	determines	determine	VERB
ap-3490	170	3	when	when	SCONJ
ap-3490	170	4	machines	machine	NOUN
ap-3490	170	5	will	will	AUX
ap-3490	170	6	occupy	occupy	VERB
ap-3490	170	7	motion	motion	NOUN
ap-3490	170	8	and	and	CCONJ
ap-3490	170	9	activity	activity	NOUN
ap-3490	170	10	polygons	polygon	NOUN
ap-3490	170	11	in	in	ADP
ap-3490	170	12	the	the	DET
ap-3490	170	13	various	various	ADJ
ap-3490	170	14	missions	mission	NOUN
ap-3490	170	15	.	.	PUNCT
ap-3490	171	1	figure	figure	VERB
ap-3490	171	2	6	6	NUM
ap-3490	171	3	.	.	PUNCT
ap-3490	171	4	scheduling	schedule	VERB
ap-3490	171	5	a	a	DET
ap-3490	171	6	machine	machine	NOUN
ap-3490	171	7	to	to	PART
ap-3490	171	8	avoid	avoid	VERB
ap-3490	171	9	spatiotemporal	spatiotemporal	ADJ
ap-3490	171	10	overlap	overlap	NOUN
ap-3490	171	11	with	with	ADP
ap-3490	171	12	a	a	DET
ap-3490	171	13	pile	pile	NOUN
ap-3490	171	14	.	.	PUNCT
ap-3490	172	1	if	if	SCONJ
ap-3490	172	2	two	two	NUM
ap-3490	172	3	polygons	polygon	NOUN
ap-3490	172	4	pertaining	pertain	VERB
ap-3490	172	5	to	to	ADP
ap-3490	172	6	different	different	ADJ
ap-3490	172	7	vehicles	vehicle	NOUN
ap-3490	172	8	overlap	overlap	VERB
ap-3490	172	9	,	,	PUNCT
ap-3490	172	10	and	and	CCONJ
ap-3490	172	11	their	their	PRON
ap-3490	172	12	corresponding	corresponding	ADJ
ap-3490	172	13	temporal	temporal	ADJ
ap-3490	172	14	intervals	interval	NOUN
ap-3490	172	15	intersect	intersect	VERB
ap-3490	172	16	,	,	PUNCT
ap-3490	172	17	then	then	ADV
ap-3490	172	18	the	the	DET
ap-3490	172	19	two	two	NUM
ap-3490	172	20	vehicles	vehicle	NOUN
ap-3490	172	21	may	may	AUX
ap-3490	172	22	collide	collide	VERB
ap-3490	172	23	.	.	PUNCT
ap-3490	173	1	coordination	coordination	NOUN
ap-3490	173	2	avoids	avoid	VERB
ap-3490	173	3	this	this	PRON
ap-3490	173	4	by	by	ADP
ap-3490	173	5	imposing	impose	VERB
ap-3490	173	6	additional	additional	ADJ
ap-3490	173	7	constraints	constraint	NOUN
ap-3490	173	8	that	that	PRON
ap-3490	173	9	eliminate	eliminate	VERB
ap-3490	173	10	temporal	temporal	ADJ
ap-3490	173	11	intersection	intersection	NOUN
ap-3490	173	12	where	where	SCONJ
ap-3490	173	13	needed	need	VERB
ap-3490	173	14	.	.	PUNCT
ap-3490	174	1	decision	decision	NOUN
ap-3490	174	2	variables	variable	NOUN
ap-3490	174	3	of	of	ADP
ap-3490	174	4	the	the	DET
ap-3490	174	5	coordination	coordination	NOUN
ap-3490	174	6	sub	sub	NOUN
ap-3490	174	7	-	-	NOUN
ap-3490	174	8	problem	problem	NOUN
ap-3490	174	9	are	be	AUX
ap-3490	174	10	pairs	pair	NOUN
ap-3490	174	11	of	of	ADP
ap-3490	174	12	polygons	polygon	NOUN
ap-3490	174	13	and	and	CCONJ
ap-3490	174	14	intervals	interval	NOUN
ap-3490	174	15	represented	represent	VERB
ap-3490	174	16	by	by	ADP
ap-3490	174	17	the	the	DET
ap-3490	174	18	quadruple	quadruple	NOUN
ap-3490	174	19	(	(	PUNCT
ap-3490	174	20	si	si	X
ap-3490	174	21	k	k	X
ap-3490	174	22	,	,	PUNCT
ap-3490	174	23	s	s	PROPN
ap-3490	174	24	j	j	PROPN
ap-3490	174	25	m	m	PROPN
ap-3490	174	26	,	,	PUNCT
ap-3490	174	27	i	i	PRON
ap-3490	174	28	i	i	PRON
ap-3490	175	1	k	k	PROPN
ap-3490	175	2	,	,	PUNCT
ap-3490	175	3	i	i	PRON
ap-3490	175	4	j	j	PROPN
ap-3490	175	5	m	m	PROPN
ap-3490	175	6	)	)	PUNCT
ap-3490	175	7	,	,	PUNCT
ap-3490	175	8	of	of	ADP
ap-3490	175	9	mission	mission	NOUN
ap-3490	175	10	i	i	PROPN
ap-3490	175	11	and	and	CCONJ
ap-3490	175	12	j	j	PROPN
ap-3490	175	13	respectively	respectively	ADV
ap-3490	175	14	,	,	PUNCT
ap-3490	175	15	that	that	PRON
ap-3490	175	16	overlap	overlap	VERB
ap-3490	175	17	both	both	PRON
ap-3490	175	18	spatially	spatially	ADV
ap-3490	175	19	and	and	CCONJ
ap-3490	175	20	temporally	temporally	ADV
ap-3490	175	21	,	,	PUNCT
ap-3490	175	22	i.e.	i.e.	X
ap-3490	175	23	,	,	PUNCT
ap-3490	175	24	si	si	PROPN
ap-3490	175	25	k	k	PROPN
ap-3490	175	26	∩	∩	PROPN
ap-3490	175	27	sj	sj	PROPN
ap-3490	175	28	m	m	PROPN
ap-3490	175	29	6=	6=	NOUN
ap-3490	175	30	∅	∅	NOUN
ap-3490	175	31	∧	∧	PROPN
ap-3490	175	32	ii	ii	PROPN
ap-3490	175	33	k	k	PROPN
ap-3490	175	34	∩	∩	PROPN
ap-3490	175	35	ij	ij	NUM
ap-3490	175	36	m	m	PROPN
ap-3490	175	37	6=	6=	ADP
ap-3490	175	38	∅	∅	NUM
ap-3490	175	39	∧mi(r	∧mi(r	PROPN
ap-3490	175	40	)	)	PUNCT
ap-3490	175	41	6=	6=	ADP
ap-3490	175	42	mj(r	mj(r	NOUN
ap-3490	175	43	)	)	PUNCT
ap-3490	175	44	.	.	PUNCT
ap-3490	176	1	the	the	DET
ap-3490	176	2	value	value	NOUN
ap-3490	176	3	of	of	ADP
ap-3490	176	4	a	a	DET
ap-3490	176	5	decision	decision	NOUN
ap-3490	176	6	variable	variable	NOUN
ap-3490	176	7	is	be	AUX
ap-3490	176	8	one	one	NUM
ap-3490	176	9	of	of	ADP
ap-3490	176	10	two	two	NUM
ap-3490	176	11	possible	possible	ADJ
ap-3490	176	12	constraints	constraint	NOUN
ap-3490	176	13	{	{	PUNCT
ap-3490	176	14	ii	ii	NOUN
ap-3490	176	15	k	k	X
ap-3490	176	16	before−−−−→	before−−−−→	PROPN
ap-3490	176	17	ij	ij	NOUN
ap-3490	176	18	m	m	PROPN
ap-3490	176	19	,	,	PUNCT
ap-3490	176	20	ij	ij	ADP
ap-3490	176	21	m	m	PROPN
ap-3490	176	22	before−−−−→	before−−−−→	PROPN
ap-3490	176	23	ii	ii	PROPN
ap-3490	176	24	k	k	X
ap-3490	176	25	}	}	PUNCT
ap-3490	176	26	,	,	PUNCT
ap-3490	176	27	imposing	impose	VERB
ap-3490	176	28	either	either	PRON
ap-3490	176	29	of	of	ADP
ap-3490	176	30	which	which	PRON
ap-3490	176	31	eliminates	eliminate	VERB
ap-3490	176	32	the	the	DET
ap-3490	176	33	temporal	temporal	ADJ
ap-3490	176	34	overlap	overlap	NOUN
ap-3490	176	35	between	between	ADP
ap-3490	176	36	concurrent	concurrent	ADJ
ap-3490	176	37	polygons	polygon	NOUN
ap-3490	176	38	.	.	PUNCT
ap-3490	177	1	the	the	DET
ap-3490	177	2	stp	stp	PROPN
ap-3490	177	3	solver	solver	NOUN
ap-3490	177	4	will	will	AUX
ap-3490	177	5	validate	validate	VERB
ap-3490	177	6	the	the	DET
ap-3490	177	7	sequencing	sequencing	NOUN
ap-3490	177	8	in	in	ADP
ap-3490	177	9	time	time	NOUN
ap-3490	177	10	of	of	ADP
ap-3490	177	11	these	these	DET
ap-3490	177	12	two	two	NUM
ap-3490	177	13	overlapping	overlap	VERB
ap-3490	177	14	polygons	polygon	NOUN
ap-3490	177	15	accordingly	accordingly	ADV
ap-3490	177	16	.	.	PUNCT
ap-3490	178	1	it	it	PRON
ap-3490	178	2	will	will	AUX
ap-3490	178	3	also	also	ADV
ap-3490	178	4	compute	compute	VERB
ap-3490	178	5	the	the	DET
ap-3490	178	6	consequent	consequent	ADJ
ap-3490	178	7	shift	shift	NOUN
ap-3490	178	8	in	in	ADP
ap-3490	178	9	the	the	DET
ap-3490	178	10	occurrence	occurrence	NOUN
ap-3490	178	11	of	of	ADP
ap-3490	178	12	any	any	DET
ap-3490	178	13	other	other	ADJ
ap-3490	178	14	polygon	polygon	NOUN
ap-3490	178	15	whose	whose	DET
ap-3490	178	16	interval	interval	NOUN
ap-3490	178	17	is	be	AUX
ap-3490	178	18	constrained	constrain	VERB
ap-3490	178	19	with	with	ADP
ap-3490	178	20	ij	ij	NOUN
ap-3490	178	21	m	m	NOUN
ap-3490	178	22	or	or	CCONJ
ap-3490	178	23	ii	ii	PROPN
ap-3490	178	24	k	k	NOUN
ap-3490	178	25	by	by	ADP
ap-3490	178	26	means	mean	NOUN
ap-3490	178	27	of	of	ADP
ap-3490	178	28	temporal	temporal	ADJ
ap-3490	178	29	constraint	constraint	NOUN
ap-3490	178	30	propagation	propagation	NOUN
ap-3490	178	31	within	within	ADP
ap-3490	178	32	the	the	DET
ap-3490	178	33	common	common	ADJ
ap-3490	178	34	constraint	constraint	NOUN
ap-3490	178	35	network	network	NOUN
ap-3490	178	36	.	.	PUNCT
ap-3490	179	1	we	we	PRON
ap-3490	179	2	use	use	VERB
ap-3490	179	3	a	a	DET
ap-3490	179	4	similar	similar	ADJ
ap-3490	179	5	approach	approach	NOUN
ap-3490	179	6	for	for	ADP
ap-3490	179	7	the	the	DET
ap-3490	179	8	coordination	coordination	NOUN
ap-3490	179	9	of	of	ADP
ap-3490	179	10	multiple	multiple	ADJ
ap-3490	179	11	vehicles	vehicle	NOUN
ap-3490	179	12	as	as	SCONJ
ap-3490	179	13	described	describe	VERB
ap-3490	179	14	in	in	ADP
ap-3490	179	15	[	[	X
ap-3490	179	16	1	1	NUM
ap-3490	179	17	]	]	PUNCT
ap-3490	179	18	.	.	PUNCT
ap-3490	180	1	figure	figure	NOUN
ap-3490	180	2	5	5	NUM
ap-3490	180	3	depicts	depict	VERB
ap-3490	180	4	the	the	DET
ap-3490	180	5	situation	situation	NOUN
ap-3490	180	6	where	where	SCONJ
ap-3490	180	7	missions	mission	NOUN
ap-3490	180	8	of	of	ADP
ap-3490	180	9	two	two	NUM
ap-3490	180	10	machines	machine	NOUN
ap-3490	180	11	are	be	AUX
ap-3490	180	12	temporally	temporally	ADV
ap-3490	180	13	and	and	CCONJ
ap-3490	180	14	spatially	spatially	ADV
ap-3490	180	15	overlapping	overlap	VERB
ap-3490	180	16	.	.	PUNCT
ap-3490	181	1	polygons	polygon	NOUN
ap-3490	181	2	with	with	ADP
ap-3490	181	3	the	the	DET
ap-3490	181	4	same	same	ADJ
ap-3490	181	5	color	color	NOUN
ap-3490	181	6	belong	belong	VERB
ap-3490	181	7	to	to	ADP
ap-3490	181	8	one	one	NUM
ap-3490	181	9	machine	machine	NOUN
ap-3490	181	10	and	and	CCONJ
ap-3490	181	11	for	for	ADP
ap-3490	181	12	clarity	clarity	NOUN
ap-3490	181	13	,	,	PUNCT
ap-3490	181	14	we	we	PRON
ap-3490	181	15	omit	omit	VERB
ap-3490	181	16	the	the	DET
ap-3490	181	17	time	time	NOUN
ap-3490	181	18	intervals	interval	NOUN
ap-3490	181	19	of	of	ADP
ap-3490	181	20	polygons	polygon	NOUN
ap-3490	181	21	in	in	ADP
ap-3490	181	22	the	the	DET
ap-3490	181	23	visualization	visualization	NOUN
ap-3490	181	24	.	.	PUNCT
ap-3490	182	1	the	the	DET
ap-3490	182	2	polygons	polygon	NOUN
ap-3490	182	3	involved	involve	VERB
ap-3490	182	4	in	in	ADP
ap-3490	182	5	the	the	DET
ap-3490	182	6	decision	decision	NOUN
ap-3490	182	7	variables	variable	NOUN
ap-3490	182	8	represent	represent	VERB
ap-3490	182	9	two	two	NUM
ap-3490	182	10	types	type	NOUN
ap-3490	182	11	of	of	ADP
ap-3490	182	12	occupancy	occupancy	NOUN
ap-3490	182	13	.	.	PUNCT
ap-3490	183	1	the	the	DET
ap-3490	183	2	first	first	ADJ
ap-3490	183	3	type	type	NOUN
ap-3490	183	4	corresponds	correspond	VERB
ap-3490	183	5	to	to	ADP
ap-3490	183	6	the	the	DET
ap-3490	183	7	motions	motion	NOUN
ap-3490	183	8	of	of	ADP
ap-3490	183	9	machines	machine	NOUN
ap-3490	183	10	as	as	SCONJ
ap-3490	183	11	described	describe	VERB
ap-3490	183	12	in	in	ADP
ap-3490	183	13	3.4	3.4	NUM
ap-3490	183	14	.	.	PUNCT
ap-3490	184	1	the	the	DET
ap-3490	184	2	second	second	ADJ
ap-3490	184	3	corresponds	correspond	VERB
ap-3490	184	4	to	to	ADP
ap-3490	184	5	the	the	DET
ap-3490	184	6	piles	pile	NOUN
ap-3490	184	7	created	create	VERB
ap-3490	184	8	by	by	ADP
ap-3490	184	9	drilling	drill	VERB
ap-3490	184	10	.	.	PUNCT
ap-3490	185	1	by	by	ADP
ap-3490	185	2	modeling	model	VERB
ap-3490	185	3	both	both	DET
ap-3490	185	4	types	type	NOUN
ap-3490	185	5	of	of	ADP
ap-3490	185	6	polygons	polygon	NOUN
ap-3490	185	7	in	in	ADP
ap-3490	185	8	the	the	DET
ap-3490	185	9	common	common	ADJ
ap-3490	185	10	constraint	constraint	NOUN
ap-3490	185	11	network	network	NOUN
ap-3490	185	12	,	,	PUNCT
ap-3490	185	13	collisions	collision	NOUN
ap-3490	185	14	among	among	ADP
ap-3490	185	15	machines	machine	NOUN
ap-3490	185	16	and	and	CCONJ
ap-3490	185	17	with	with	ADP
ap-3490	185	18	piles	pile	NOUN
ap-3490	185	19	are	be	AUX
ap-3490	185	20	found	find	VERB
ap-3490	185	21	and	and	CCONJ
ap-3490	185	22	thus	thus	ADV
ap-3490	185	23	scheduled	schedule	VERB
ap-3490	185	24	.	.	PUNCT
ap-3490	186	1	figure	figure	NOUN
ap-3490	186	2	6	6	NUM
ap-3490	186	3	illustrates	illustrate	VERB
ap-3490	186	4	a	a	DET
ap-3490	186	5	conflicting	conflict	VERB
ap-3490	186	6	situation	situation	NOUN
ap-3490	186	7	between	between	ADP
ap-3490	186	8	the	the	DET
ap-3490	186	9	motions	motion	NOUN
ap-3490	186	10	of	of	ADP
ap-3490	186	11	a	a	DET
ap-3490	186	12	machine	machine	NOUN
ap-3490	186	13	(	(	PUNCT
ap-3490	186	14	depicted	depict	VERB
ap-3490	186	15	as	as	ADP
ap-3490	186	16	yellow	yellow	ADJ
ap-3490	186	17	polygons	polygon	NOUN
ap-3490	186	18	)	)	PUNCT
ap-3490	186	19	and	and	CCONJ
ap-3490	186	20	a	a	DET
ap-3490	186	21	pile	pile	NOUN
ap-3490	186	22	(	(	PUNCT
ap-3490	186	23	depicted	depict	VERB
ap-3490	186	24	as	as	ADP
ap-3490	186	25	a	a	DET
ap-3490	186	26	blue	blue	ADJ
ap-3490	186	27	polygon	polygon	NOUN
ap-3490	186	28	)	)	PUNCT
ap-3490	186	29	.	.	PUNCT
ap-3490	187	1	4	4	X
ap-3490	187	2	.	.	X
ap-3490	187	3	backtracking	backtrack	VERB
ap-3490	187	4	search	search	NOUN
ap-3490	187	5	the	the	DET
ap-3490	187	6	collection	collection	NOUN
ap-3490	187	7	of	of	ADP
ap-3490	187	8	decision	decision	NOUN
ap-3490	187	9	variables	variable	NOUN
ap-3490	187	10	for	for	ADP
ap-3490	187	11	each	each	DET
ap-3490	187	12	subproblem	subproblem	NOUN
ap-3490	187	13	mentioned	mention	VERB
ap-3490	187	14	above	above	ADV
ap-3490	187	15	constitutes	constitute	VERB
ap-3490	187	16	a	a	DET
ap-3490	187	17	high	high	ADJ
ap-3490	187	18	-	-	PUNCT
ap-3490	187	19	level	level	NOUN
ap-3490	187	20	csp	csp	PROPN
ap-3490	187	21	(	(	PUNCT
ap-3490	187	22	henceforth	henceforth	ADV
ap-3490	187	23	called	call	VERB
ap-3490	187	24	a	a	DET
ap-3490	187	25	meta	meta	ADJ
ap-3490	187	26	-	-	PUNCT
ap-3490	187	27	csp	csp	NOUN
ap-3490	187	28	)	)	PUNCT
ap-3490	187	29	.	.	PUNCT
ap-3490	188	1	a	a	DET
ap-3490	188	2	search	search	NOUN
ap-3490	188	3	in	in	ADP
ap-3490	188	4	the	the	DET
ap-3490	188	5	metacsp	metacsp	NOUN
ap-3490	188	6	consists	consist	VERB
ap-3490	188	7	in	in	ADP
ap-3490	188	8	finding	find	VERB
ap-3490	188	9	an	an	DET
ap-3490	188	10	assignment	assignment	NOUN
ap-3490	188	11	of	of	ADP
ap-3490	188	12	values	value	NOUN
ap-3490	188	13	to	to	PART
ap-3490	188	14	decision	decision	VERB
ap-3490	188	15	variables	variable	NOUN
ap-3490	188	16	that	that	PRON
ap-3490	188	17	represent	represent	VERB
ap-3490	188	18	high	high	ADJ
ap-3490	188	19	-	-	PUNCT
ap-3490	188	20	level	level	NOUN
ap-3490	188	21	requirements	requirement	NOUN
ap-3490	188	22	.	.	PUNCT
ap-3490	189	1	each	each	PRON
ap-3490	189	2	of	of	ADP
ap-3490	189	3	these	these	DET
ap-3490	189	4	requirements	requirement	NOUN
ap-3490	189	5	is	be	AUX
ap-3490	189	6	,	,	PUNCT
ap-3490	189	7	in	in	ADP
ap-3490	189	8	our	our	PRON
ap-3490	189	9	case	case	NOUN
ap-3490	189	10	,	,	PUNCT
ap-3490	189	11	a	a	DET
ap-3490	189	12	sub	sub	NOUN
ap-3490	189	13	-	-	NOUN
ap-3490	189	14	problem	problem	NOUN
ap-3490	189	15	.	.	PUNCT
ap-3490	190	1	possible	possible	ADJ
ap-3490	190	2	values	value	NOUN
ap-3490	190	3	among	among	ADP
ap-3490	190	4	which	which	PRON
ap-3490	190	5	these	these	DET
ap-3490	190	6	assignments	assignment	NOUN
ap-3490	190	7	are	be	AUX
ap-3490	190	8	selected	select	VERB
ap-3490	190	9	are	be	AUX
ap-3490	190	10	verified	verify	VERB
ap-3490	190	11	by	by	ADP
ap-3490	190	12	a	a	DET
ap-3490	190	13	specific	specific	ADJ
ap-3490	190	14	solver	solver	NOUN
ap-3490	190	15	for	for	ADP
ap-3490	190	16	each	each	DET
ap-3490	190	17	sub	sub	NOUN
ap-3490	190	18	-	-	NOUN
ap-3490	190	19	problem	problem	NOUN
ap-3490	190	20	.	.	PUNCT
ap-3490	191	1	thanks	thank	NOUN
ap-3490	191	2	to	to	ADP
ap-3490	191	3	the	the	DET
ap-3490	191	4	common	common	ADJ
ap-3490	191	5	representation	representation	NOUN
ap-3490	191	6	of	of	ADP
ap-3490	191	7	the	the	DET
ap-3490	191	8	search	search	NOUN
ap-3490	191	9	space	space	NOUN
ap-3490	191	10	,	,	PUNCT
ap-3490	191	11	each	each	DET
ap-3490	191	12	sub	sub	ADJ
ap-3490	191	13	-	-	ADJ
ap-3490	191	14	problem	problem	ADJ
ap-3490	191	15	solver	solver	NOUN
ap-3490	191	16	accounts	account	NOUN
ap-3490	191	17	for	for	ADP
ap-3490	191	18	the	the	DET
ap-3490	191	19	assignments	assignment	NOUN
ap-3490	191	20	made	make	VERB
ap-3490	191	21	for	for	ADP
ap-3490	191	22	decision	decision	NOUN
ap-3490	191	23	variables	variable	NOUN
ap-3490	191	24	of	of	ADP
ap-3490	191	25	other	other	ADJ
ap-3490	191	26	sub	sub	NOUN
ap-3490	191	27	-	-	NOUN
ap-3490	191	28	problems	problem	NOUN
ap-3490	191	29	.	.	PUNCT
ap-3490	192	1	for	for	ADP
ap-3490	192	2	example	example	NOUN
ap-3490	192	3	,	,	PUNCT
ap-3490	192	4	the	the	DET
ap-3490	192	5	path	path	NOUN
ap-3490	192	6	planner	planner	NOUN
ap-3490	192	7	validates	validate	VERB
ap-3490	192	8	with	with	ADP
ap-3490	192	9	respect	respect	NOUN
ap-3490	192	10	to	to	ADP
ap-3490	192	11	a	a	DET
ap-3490	192	12	map	map	NOUN
ap-3490	192	13	containing	contain	VERB
ap-3490	192	14	51	51	NUM
ap-3490	192	15	m.	m.	NOUN
ap-3490	192	16	mansouri	mansouri	PROPN
ap-3490	192	17	,	,	PUNCT
ap-3490	192	18	h.	h.	PROPN
ap-3490	192	19	andreasson	andreasson	PROPN
ap-3490	192	20	,	,	PUNCT
ap-3490	192	21	f.	f.	PROPN
ap-3490	192	22	pecora	pecora	PROPN
ap-3490	192	23	acta	acta	PROPN
ap-3490	192	24	polytechnica	polytechnica	PROPN
ap-3490	192	25	function	function	PROPN
ap-3490	192	26	dp3	dp3	PROPN
ap-3490	192	27	-	-	PUNCT
ap-3490	192	28	solver(m	solver(m	NOUN
ap-3490	192	29	):	):	PUNCT
ap-3490	192	30	success	success	NOUN
ap-3490	192	31	or	or	CCONJ
ap-3490	192	32	failure	failure	NOUN
ap-3490	192	33	dseq	dseq	NOUN
ap-3490	192	34	∪dalloc	∪dalloc	NOUN
ap-3490	192	35	∪dtime	∪dtime	NOUN
ap-3490	192	36	∪dcoord	∪dcoord	PROPN
ap-3490	192	37	∪dmp	∪dmp	PROPN
ap-3490	192	38	←1	←1	PROPN
ap-3490	192	39	collectdvars(m	collectdvars(m	PROPN
ap-3490	192	40	)	)	PUNCT
ap-3490	192	41	if	if	SCONJ
ap-3490	192	42	∃di	∃di	VERB
ap-3490	192	43	6=	6=	PUNCT
ap-3490	192	44	∅	∅	NOUN
ap-3490	192	45	,	,	PUNCT
ap-3490	192	46	i	i	PRON
ap-3490	192	47	∈	∈	PROPN
ap-3490	192	48	{	{	PUNCT
ap-3490	192	49	seq	seq	NOUN
ap-3490	192	50	,	,	PUNCT
ap-3490	192	51	alloc	alloc	ADJ
ap-3490	192	52	,	,	PUNCT
ap-3490	192	53	time	time	NOUN
ap-3490	192	54	,	,	PUNCT
ap-3490	192	55	coord	coord	NOUN
ap-3490	192	56	,	,	PUNCT
ap-3490	192	57	mp	mp	PROPN
ap-3490	192	58	}	}	PUNCT
ap-3490	192	59	then2	then2	PUNCT
ap-3490	192	60	p←	p←	PROPN
ap-3490	192	61	choose({seq	choose({seq	NOUN
ap-3490	192	62	,	,	PUNCT
ap-3490	192	63	alloc	alloc	ADJ
ap-3490	192	64	,	,	PUNCT
ap-3490	192	65	time	time	NOUN
ap-3490	192	66	,	,	PUNCT
ap-3490	192	67	coord	coord	NOUN
ap-3490	192	68	,	,	PUNCT
ap-3490	192	69	mp},hprob)3	mp},hprob)3	PROPN
ap-3490	192	70	d←	d←	PROPN
ap-3490	192	71	choose(dp	choose(dp	PROPN
ap-3490	192	72	,	,	PUNCT
ap-3490	192	73	hvar	hvar	PROPN
ap-3490	192	74	i	i	PROPN
ap-3490	192	75	)	)	PUNCT
ap-3490	192	76	4	4	NUM
ap-3490	192	77	vd	vd	PROPN
ap-3490	192	78	←	←	PROPN
ap-3490	192	79	collectvalues(d)5	collectvalues(d)5	PROPN
ap-3490	192	80	while	while	SCONJ
ap-3490	192	81	vd	vd	NOUN
ap-3490	192	82	6=	6=	ADP
ap-3490	192	83	∅	∅	NOUN
ap-3490	192	84	do6	do6	PROPN
ap-3490	192	85	v	v	PROPN
ap-3490	192	86	←	←	PROPN
ap-3490	192	87	choose(vd	choose(vd	PROPN
ap-3490	192	88	,	,	PUNCT
ap-3490	192	89	hval	hval	NOUN
ap-3490	192	90	i	i	NOUN
ap-3490	192	91	)	)	PUNCT
ap-3490	192	92	7	7	NUM
ap-3490	193	1	update(m	update(m	ADJ
ap-3490	193	2	,	,	PUNCT
ap-3490	193	3	v)8	v)8	NOUN
ap-3490	193	4	if	if	SCONJ
ap-3490	193	5	solve	solve	NOUN
ap-3490	193	6	-	-	PUNCT
ap-3490	193	7	p(m	p(m	NOUN
ap-3490	193	8	)	)	PUNCT
ap-3490	193	9	then9	then9	PROPN
ap-3490	194	1	return	return	PROPN
ap-3490	194	2	dp3	dp3	PROPN
ap-3490	194	3	-	-	PUNCT
ap-3490	194	4	solver(m)10	solver(m)10	PROPN
ap-3490	194	5	remove(m	remove(m	PROPN
ap-3490	194	6	,	,	PUNCT
ap-3490	194	7	v)11	v)11	NOUN
ap-3490	194	8	vd	vd	X
ap-3490	194	9	←	←	PROPN
ap-3490	194	10	vd	vd	X
ap-3490	194	11	\	\	PROPN
ap-3490	194	12	v12	v12	VERB
ap-3490	194	13	return	return	NOUN
ap-3490	194	14	failure13	failure13	NOUN
ap-3490	194	15	return	return	NOUN
ap-3490	194	16	success14	success14	NOUN
ap-3490	194	17	figure	figure	NOUN
ap-3490	194	18	7	7	NUM
ap-3490	194	19	.	.	PUNCT
ap-3490	195	1	algorithm	algorithm	PROPN
ap-3490	195	2	dp3	dp3	PROPN
ap-3490	195	3	-	-	PUNCT
ap-3490	195	4	solver	solver	NOUN
ap-3490	195	5	.	.	PUNCT
ap-3490	196	1	obstacles	obstacle	NOUN
ap-3490	196	2	resulting	result	VERB
ap-3490	196	3	from	from	ADP
ap-3490	196	4	sequencing	sequence	VERB
ap-3490	196	5	decisions	decision	NOUN
ap-3490	196	6	;	;	PUNCT
ap-3490	196	7	and	and	CCONJ
ap-3490	196	8	the	the	DET
ap-3490	196	9	coordinator	coordinator	NOUN
ap-3490	196	10	’s	’s	PART
ap-3490	196	11	decisions	decision	NOUN
ap-3490	196	12	depend	depend	VERB
ap-3490	196	13	on	on	ADP
ap-3490	196	14	the	the	DET
ap-3490	196	15	machine	machine	NOUN
ap-3490	196	16	allocation	allocation	NOUN
ap-3490	196	17	as	as	ADV
ap-3490	196	18	well	well	ADV
ap-3490	196	19	as	as	ADP
ap-3490	196	20	motion	motion	NOUN
ap-3490	196	21	plans	plan	NOUN
ap-3490	196	22	.	.	PUNCT
ap-3490	197	1	the	the	DET
ap-3490	197	2	choices	choice	NOUN
ap-3490	197	3	of	of	ADP
ap-3490	197	4	values	value	NOUN
ap-3490	197	5	for	for	ADP
ap-3490	197	6	decision	decision	NOUN
ap-3490	197	7	variables	variable	NOUN
ap-3490	197	8	in	in	ADP
ap-3490	197	9	the	the	DET
ap-3490	197	10	various	various	ADJ
ap-3490	197	11	sub	sub	NOUN
ap-3490	197	12	-	-	NOUN
ap-3490	197	13	problems	problem	NOUN
ap-3490	197	14	contribute	contribute	VERB
ap-3490	197	15	parts	part	NOUN
ap-3490	197	16	of	of	ADP
ap-3490	197	17	the	the	DET
ap-3490	197	18	missions	mission	NOUN
ap-3490	197	19	in	in	ADP
ap-3490	197	20	the	the	DET
ap-3490	197	21	common	common	ADJ
ap-3490	197	22	representation	representation	NOUN
ap-3490	197	23	,	,	PUNCT
ap-3490	197	24	and	and	CCONJ
ap-3490	197	25	the	the	DET
ap-3490	197	26	sub	sub	ADJ
ap-3490	197	27	-	-	ADJ
ap-3490	197	28	problem	problem	ADJ
ap-3490	197	29	solvers	solver	NOUN
ap-3490	197	30	propagate	propagate	VERB
ap-3490	197	31	the	the	DET
ap-3490	197	32	consequence	consequence	NOUN
ap-3490	197	33	of	of	ADP
ap-3490	197	34	these	these	DET
ap-3490	197	35	decisions	decision	NOUN
ap-3490	197	36	.	.	PUNCT
ap-3490	198	1	the	the	DET
ap-3490	198	2	sub	sub	ADJ
ap-3490	198	3	-	-	ADJ
ap-3490	198	4	problem	problem	ADJ
ap-3490	198	5	solvers	solver	NOUN
ap-3490	198	6	used	use	VERB
ap-3490	198	7	in	in	ADP
ap-3490	198	8	our	our	PRON
ap-3490	198	9	approach	approach	NOUN
ap-3490	198	10	are	be	AUX
ap-3490	198	11	denoted	denote	VERB
ap-3490	198	12	in	in	ADP
ap-3490	198	13	the	the	DET
ap-3490	198	14	following	following	NOUN
ap-3490	198	15	with	with	ADP
ap-3490	198	16	solve	solve	NOUN
ap-3490	198	17	-	-	PUNCT
ap-3490	198	18	p	p	NOUN
ap-3490	198	19	,	,	PUNCT
ap-3490	198	20	where	where	SCONJ
ap-3490	198	21	p	p	PROPN
ap-3490	198	22	∈	∈	PROPN
ap-3490	198	23	{	{	PUNCT
ap-3490	198	24	seq	seq	NOUN
ap-3490	198	25	,	,	PUNCT
ap-3490	198	26	alloc	alloc	ADJ
ap-3490	198	27	,	,	PUNCT
ap-3490	198	28	time	time	NOUN
ap-3490	198	29	,	,	PUNCT
ap-3490	198	30	coord	coord	NOUN
ap-3490	198	31	,	,	PUNCT
ap-3490	198	32	mp	mp	PROPN
ap-3490	198	33	}	}	PUNCT
ap-3490	198	34	.	.	PUNCT
ap-3490	199	1	as	as	SCONJ
ap-3490	199	2	we	we	PRON
ap-3490	199	3	have	have	AUX
ap-3490	199	4	explained	explain	VERB
ap-3490	199	5	,	,	PUNCT
ap-3490	199	6	solve	solve	NOUN
ap-3490	199	7	-	-	PUNCT
ap-3490	199	8	seq	seq	NOUN
ap-3490	199	9	disallows	disallow	VERB
ap-3490	199	10	sequencing	sequence	VERB
ap-3490	199	11	decisions	decision	NOUN
ap-3490	199	12	that	that	PRON
ap-3490	199	13	are	be	AUX
ap-3490	199	14	not	not	PART
ap-3490	199	15	totally	totally	ADV
ap-3490	199	16	ordered	order	VERB
ap-3490	199	17	;	;	PUNCT
ap-3490	199	18	solve	solve	NOUN
ap-3490	199	19	-	-	PUNCT
ap-3490	199	20	mp	mp	NOUN
ap-3490	199	21	verifies	verifie	NOUN
ap-3490	199	22	by	by	ADP
ap-3490	199	23	means	mean	NOUN
ap-3490	199	24	of	of	ADP
ap-3490	199	25	a	a	DET
ap-3490	199	26	motion	motion	NOUN
ap-3490	199	27	planner	planner	NOUN
ap-3490	199	28	that	that	SCONJ
ap-3490	199	29	motions	motion	NOUN
ap-3490	199	30	are	be	AUX
ap-3490	199	31	kinematically	kinematically	ADV
ap-3490	199	32	feasible	feasible	ADJ
ap-3490	199	33	and	and	CCONJ
ap-3490	199	34	obstacle	obstacle	NOUN
ap-3490	199	35	-	-	PUNCT
ap-3490	199	36	free	free	ADJ
ap-3490	199	37	;	;	PUNCT
ap-3490	199	38	solve	solve	NOUN
ap-3490	199	39	-	-	PUNCT
ap-3490	199	40	alloc	alloc	NOUN
ap-3490	199	41	accepts	accept	VERB
ap-3490	199	42	all	all	DET
ap-3490	199	43	candidate	candidate	NOUN
ap-3490	199	44	allocations	allocation	NOUN
ap-3490	199	45	,	,	PUNCT
ap-3490	199	46	as	as	SCONJ
ap-3490	199	47	the	the	DET
ap-3490	199	48	infeasible	infeasible	ADJ
ap-3490	199	49	ones	one	NOUN
ap-3490	199	50	are	be	AUX
ap-3490	199	51	discovered	discover	VERB
ap-3490	199	52	indirectly	indirectly	ADV
ap-3490	199	53	via	via	ADP
ap-3490	199	54	coordination	coordination	NOUN
ap-3490	199	55	;	;	PUNCT
ap-3490	199	56	solve	solve	NOUN
ap-3490	199	57	-	-	PUNCT
ap-3490	199	58	time	time	NOUN
ap-3490	199	59	is	be	AUX
ap-3490	199	60	an	an	DET
ap-3490	199	61	stp	stp	PROPN
ap-3490	199	62	solver	solver	NOUN
ap-3490	199	63	which	which	PRON
ap-3490	199	64	computes	compute	VERB
ap-3490	199	65	feasible	feasible	ADJ
ap-3490	199	66	start	start	NOUN
ap-3490	199	67	/	/	SYM
ap-3490	199	68	end	end	NOUN
ap-3490	199	69	times	time	NOUN
ap-3490	199	70	of	of	ADP
ap-3490	199	71	mission	mission	NOUN
ap-3490	199	72	intervals	interval	NOUN
ap-3490	199	73	subject	subject	ADJ
ap-3490	199	74	to	to	ADP
ap-3490	199	75	temporal	temporal	ADJ
ap-3490	199	76	constraints	constraint	NOUN
ap-3490	199	77	;	;	PUNCT
ap-3490	199	78	solve	solve	NOUN
ap-3490	199	79	-	-	PUNCT
ap-3490	199	80	coord	coord	NOUN
ap-3490	199	81	is	be	AUX
ap-3490	199	82	also	also	ADV
ap-3490	199	83	provided	provide	VERB
ap-3490	199	84	by	by	ADP
ap-3490	199	85	the	the	DET
ap-3490	199	86	same	same	ADJ
ap-3490	199	87	stp	stp	PROPN
ap-3490	199	88	solver	solver	NOUN
ap-3490	199	89	,	,	PUNCT
ap-3490	199	90	which	which	PRON
ap-3490	199	91	validates	validate	VERB
ap-3490	199	92	and	and	CCONJ
ap-3490	199	93	computes	compute	VERB
ap-3490	199	94	the	the	DET
ap-3490	199	95	consequences	consequence	NOUN
ap-3490	199	96	of	of	ADP
ap-3490	199	97	temporal	temporal	ADJ
ap-3490	199	98	ordering	ordering	NOUN
ap-3490	199	99	decisions	decision	NOUN
ap-3490	199	100	.	.	PUNCT
ap-3490	200	1	we	we	PRON
ap-3490	200	2	use	use	VERB
ap-3490	200	3	a	a	DET
ap-3490	200	4	csp	csp	PROPN
ap-3490	200	5	-	-	PUNCT
ap-3490	200	6	style	style	NOUN
ap-3490	200	7	heuristically	heuristically	ADV
ap-3490	200	8	guided	guide	VERB
ap-3490	200	9	backtracking	backtrack	VERB
ap-3490	200	10	search	search	NOUN
ap-3490	200	11	to	to	PART
ap-3490	200	12	find	find	VERB
ap-3490	200	13	values	value	NOUN
ap-3490	200	14	to	to	PART
ap-3490	200	15	assign	assign	VERB
ap-3490	200	16	to	to	ADP
ap-3490	200	17	the	the	DET
ap-3490	200	18	decision	decision	NOUN
ap-3490	200	19	variables	variable	NOUN
ap-3490	200	20	.	.	PUNCT
ap-3490	201	1	henceforth	henceforth	ADV
ap-3490	201	2	,	,	PUNCT
ap-3490	201	3	let	let	VERB
ap-3490	201	4	the	the	DET
ap-3490	201	5	set	set	NOUN
ap-3490	201	6	of	of	ADP
ap-3490	201	7	sub	sub	NOUN
ap-3490	201	8	-	-	NOUN
ap-3490	201	9	problems	problem	NOUN
ap-3490	201	10	be	be	AUX
ap-3490	201	11	indicated	indicate	VERB
ap-3490	201	12	by	by	ADP
ap-3490	201	13	the	the	DET
ap-3490	201	14	symbols	symbols	PROPN
ap-3490	201	15	{	{	PUNCT
ap-3490	201	16	seq	seq	PROPN
ap-3490	201	17	,	,	PUNCT
ap-3490	201	18	alloc	alloc	ADJ
ap-3490	201	19	,	,	PUNCT
ap-3490	201	20	time	time	NOUN
ap-3490	201	21	,	,	PUNCT
ap-3490	201	22	coord	coord	NOUN
ap-3490	201	23	,	,	PUNCT
ap-3490	201	24	mp	mp	PROPN
ap-3490	201	25	}	}	PUNCT
ap-3490	201	26	.	.	PUNCT
ap-3490	202	1	given	give	VERB
ap-3490	202	2	the	the	DET
ap-3490	202	3	set	set	NOUN
ap-3490	202	4	of	of	ADP
ap-3490	202	5	missionsm	missionsm	NOUN
ap-3490	202	6	,	,	PUNCT
ap-3490	202	7	algorithm	algorithm	PROPN
ap-3490	202	8	dp3	dp3	PROPN
ap-3490	202	9	-	-	PUNCT
ap-3490	202	10	solver	solver	NOUN
ap-3490	202	11	collects	collect	VERB
ap-3490	202	12	all	all	DET
ap-3490	202	13	the	the	DET
ap-3490	202	14	decision	decision	NOUN
ap-3490	202	15	variables	variable	NOUN
ap-3490	202	16	belonging	belong	VERB
ap-3490	202	17	to	to	ADP
ap-3490	202	18	all	all	DET
ap-3490	202	19	the	the	DET
ap-3490	202	20	sub	sub	NOUN
ap-3490	202	21	-	-	NOUN
ap-3490	202	22	problems	problem	NOUN
ap-3490	202	23	(	(	PUNCT
ap-3490	202	24	line	line	NOUN
ap-3490	202	25	1	1	NUM
ap-3490	202	26	)	)	PUNCT
ap-3490	202	27	,	,	PUNCT
ap-3490	202	28	and	and	CCONJ
ap-3490	202	29	terminates	terminate	VERB
ap-3490	202	30	when	when	SCONJ
ap-3490	202	31	no	no	DET
ap-3490	202	32	decision	decision	NOUN
ap-3490	202	33	variables	variable	NOUN
ap-3490	202	34	are	be	AUX
ap-3490	202	35	left	leave	VERB
ap-3490	202	36	(	(	PUNCT
ap-3490	202	37	lines	line	NOUN
ap-3490	202	38	2	2	NUM
ap-3490	202	39	and	and	CCONJ
ap-3490	202	40	14	14	NUM
ap-3490	202	41	)	)	PUNCT
ap-3490	202	42	.	.	PUNCT
ap-3490	203	1	a	a	PRON
ap-3490	203	2	particular	particular	ADJ
ap-3490	203	3	sub	sub	NOUN
ap-3490	203	4	-	-	NOUN
ap-3490	203	5	problem	problem	NOUN
ap-3490	203	6	is	be	AUX
ap-3490	203	7	then	then	ADV
ap-3490	203	8	chosen	choose	VERB
ap-3490	203	9	according	accord	VERB
ap-3490	203	10	to	to	ADP
ap-3490	203	11	a	a	DET
ap-3490	203	12	sub	sub	ADJ
ap-3490	203	13	-	-	ADJ
ap-3490	203	14	problem	problem	ADJ
ap-3490	203	15	ranking	ranking	ADJ
ap-3490	203	16	heuristic	heuristic	ADJ
ap-3490	203	17	hprob	hprob	NOUN
ap-3490	203	18	(	(	PUNCT
ap-3490	203	19	line	line	NOUN
ap-3490	203	20	3	3	NUM
ap-3490	203	21	)	)	PUNCT
ap-3490	203	22	,	,	PUNCT
ap-3490	203	23	e.g.	e.g.	ADV
ap-3490	203	24	,	,	PUNCT
ap-3490	203	25	hprob	hprob	NOUN
ap-3490	203	26	prioritizes	prioritize	VERB
ap-3490	203	27	machine	machine	NOUN
ap-3490	203	28	allocation	allocation	NOUN
ap-3490	203	29	decision	decision	NOUN
ap-3490	203	30	variables	variable	NOUN
ap-3490	203	31	over	over	ADP
ap-3490	203	32	coordination	coordination	NOUN
ap-3490	203	33	decision	decision	NOUN
ap-3490	203	34	variables	variable	NOUN
ap-3490	203	35	,	,	PUNCT
ap-3490	203	36	as	as	SCONJ
ap-3490	203	37	the	the	DET
ap-3490	203	38	latter	latter	ADJ
ap-3490	203	39	problem	problem	NOUN
ap-3490	203	40	requires	require	VERB
ap-3490	203	41	machines	machine	NOUN
ap-3490	203	42	to	to	PART
ap-3490	203	43	be	be	AUX
ap-3490	203	44	assigned	assign	VERB
ap-3490	203	45	to	to	ADP
ap-3490	203	46	missions	mission	NOUN
ap-3490	203	47	(	(	PUNCT
ap-3490	203	48	see	see	VERB
ap-3490	203	49	section	section	NOUN
ap-3490	203	50	3.5	3.5	NUM
ap-3490	203	51	)	)	PUNCT
ap-3490	203	52	.	.	PUNCT
ap-3490	204	1	among	among	ADP
ap-3490	204	2	the	the	DET
ap-3490	204	3	decision	decision	NOUN
ap-3490	204	4	variables	variable	NOUN
ap-3490	204	5	of	of	ADP
ap-3490	204	6	a	a	DET
ap-3490	204	7	sub	sub	NOUN
ap-3490	204	8	-	-	NOUN
ap-3490	204	9	problem	problem	NOUN
ap-3490	204	10	,	,	PUNCT
ap-3490	204	11	one	one	PRON
ap-3490	204	12	is	be	AUX
ap-3490	204	13	chosen	choose	VERB
ap-3490	204	14	according	accord	VERB
ap-3490	204	15	to	to	ADP
ap-3490	204	16	a	a	DET
ap-3490	204	17	variable	variable	ADJ
ap-3490	204	18	ordering	ordering	NOUN
ap-3490	204	19	heuristic	heuristic	ADJ
ap-3490	204	20	hvar	hvar	PROPN
ap-3490	204	21	i	i	PRON
ap-3490	204	22	(	(	PUNCT
ap-3490	204	23	line	line	NOUN
ap-3490	204	24	4	4	NUM
ap-3490	204	25	)	)	PUNCT
ap-3490	204	26	.	.	PUNCT
ap-3490	205	1	for	for	ADP
ap-3490	205	2	example	example	NOUN
ap-3490	205	3	,	,	PUNCT
ap-3490	205	4	which	which	DET
ap-3490	205	5	target	target	NOUN
ap-3490	205	6	should	should	AUX
ap-3490	205	7	be	be	AUX
ap-3490	205	8	selected	select	VERB
ap-3490	205	9	first	first	ADV
ap-3490	205	10	among	among	ADP
ap-3490	205	11	the	the	DET
ap-3490	205	12	decision	decision	NOUN
ap-3490	205	13	variables	variable	VERB
ap-3490	205	14	dmp	dmp	PROPN
ap-3490	205	15	of	of	ADP
ap-3490	205	16	the	the	DET
ap-3490	205	17	motion	motion	NOUN
ap-3490	205	18	planning	plan	VERB
ap-3490	205	19	sub	sub	NOUN
ap-3490	205	20	-	-	NOUN
ap-3490	205	21	problem	problem	NOUN
ap-3490	205	22	.	.	PUNCT
ap-3490	206	1	among	among	ADP
ap-3490	206	2	possible	possible	ADJ
ap-3490	206	3	alternative	alternative	ADJ
ap-3490	206	4	values	value	NOUN
ap-3490	206	5	,	,	PUNCT
ap-3490	206	6	one	one	NUM
ap-3490	206	7	is	be	AUX
ap-3490	206	8	chosen	choose	VERB
ap-3490	206	9	according	accord	VERB
ap-3490	206	10	to	to	ADP
ap-3490	206	11	a	a	DET
ap-3490	206	12	value	value	NOUN
ap-3490	206	13	ordering	order	VERB
ap-3490	206	14	heuristic	heuristic	ADJ
ap-3490	206	15	hval	hval	NOUN
ap-3490	206	16	i	i	PRON
ap-3490	206	17	(	(	PUNCT
ap-3490	206	18	lines	line	NOUN
ap-3490	206	19	5–7	5–7	NUM
ap-3490	206	20	)	)	PUNCT
ap-3490	206	21	.	.	PUNCT
ap-3490	207	1	for	for	ADP
ap-3490	207	2	instance	instance	NOUN
ap-3490	207	3	,	,	PUNCT
ap-3490	207	4	which	which	PRON
ap-3490	207	5	figure	figure	VERB
ap-3490	207	6	8	8	NUM
ap-3490	207	7	.	.	PUNCT
ap-3490	208	1	an	an	DET
ap-3490	208	2	example	example	NOUN
ap-3490	208	3	of	of	ADP
ap-3490	208	4	topology	topology	NOUN
ap-3490	208	5	and	and	CCONJ
ap-3490	208	6	group	group	NOUN
ap-3490	208	7	extraction	extraction	NOUN
ap-3490	208	8	.	.	PUNCT
ap-3490	209	1	approach	approach	NOUN
ap-3490	209	2	angle	angle	NOUN
ap-3490	209	3	has	have	VERB
ap-3490	209	4	to	to	PART
ap-3490	209	5	be	be	AUX
ap-3490	209	6	selected	select	VERB
ap-3490	209	7	for	for	ADP
ap-3490	209	8	a	a	DET
ap-3490	209	9	given	give	VERB
ap-3490	209	10	target	target	NOUN
ap-3490	209	11	in	in	ADP
ap-3490	209	12	the	the	DET
ap-3490	209	13	motion	motion	NOUN
ap-3490	209	14	planning	plan	VERB
ap-3490	209	15	sub	sub	NOUN
ap-3490	209	16	-	-	NOUN
ap-3490	209	17	problem	problem	NOUN
ap-3490	209	18	.	.	PUNCT
ap-3490	210	1	this	this	DET
ap-3490	210	2	value	value	NOUN
ap-3490	210	3	is	be	AUX
ap-3490	210	4	added	add	VERB
ap-3490	210	5	to	to	ADP
ap-3490	210	6	the	the	DET
ap-3490	210	7	common	common	ADJ
ap-3490	210	8	representation	representation	NOUN
ap-3490	210	9	(	(	PUNCT
ap-3490	210	10	line	line	NOUN
ap-3490	210	11	8)	8)	NUM
ap-3490	210	12	.	.	PUNCT
ap-3490	211	1	the	the	DET
ap-3490	211	2	sub	sub	ADJ
ap-3490	211	3	-	-	ADJ
ap-3490	211	4	problem	problem	ADJ
ap-3490	211	5	solver	solver	NOUN
ap-3490	211	6	solve	solve	NOUN
ap-3490	211	7	-	-	PUNCT
ap-3490	211	8	p	p	NOUN
ap-3490	211	9	verifies	verifie	NOUN
ap-3490	211	10	that	that	PRON
ap-3490	211	11	assignment	assignment	NOUN
ap-3490	211	12	v	v	NOUN
ap-3490	211	13	is	be	AUX
ap-3490	211	14	feasible	feasible	ADJ
ap-3490	211	15	.	.	PUNCT
ap-3490	212	1	if	if	SCONJ
ap-3490	212	2	so	so	ADV
ap-3490	212	3	,	,	PUNCT
ap-3490	212	4	dp3	dp3	PROPN
ap-3490	212	5	-	-	PUNCT
ap-3490	212	6	solver	solver	PROPN
ap-3490	212	7	is	be	AUX
ap-3490	212	8	called	call	VERB
ap-3490	212	9	recursively	recursively	ADV
ap-3490	212	10	(	(	PUNCT
ap-3490	212	11	line	line	NOUN
ap-3490	212	12	10	10	NUM
ap-3490	212	13	)	)	PUNCT
ap-3490	212	14	,	,	PUNCT
ap-3490	212	15	which	which	PRON
ap-3490	212	16	results	result	VERB
ap-3490	212	17	in	in	ADP
ap-3490	212	18	selecting	select	VERB
ap-3490	212	19	another	another	DET
ap-3490	212	20	unassigned	unassigned	ADJ
ap-3490	212	21	variable	variable	NOUN
ap-3490	212	22	subject	subject	NOUN
ap-3490	212	23	to	to	ADP
ap-3490	212	24	the	the	DET
ap-3490	212	25	newly	newly	ADV
ap-3490	212	26	updated	update	VERB
ap-3490	212	27	common	common	ADJ
ap-3490	212	28	representation	representation	NOUN
ap-3490	212	29	m.	m.	NOUN
ap-3490	212	30	note	note	VERB
ap-3490	212	31	that	that	SCONJ
ap-3490	212	32	if	if	SCONJ
ap-3490	212	33	all	all	DET
ap-3490	212	34	possible	possible	ADJ
ap-3490	212	35	values	value	NOUN
ap-3490	212	36	are	be	AUX
ap-3490	212	37	attempted	attempt	VERB
ap-3490	212	38	for	for	ADP
ap-3490	212	39	a	a	DET
ap-3490	212	40	decision	decision	NOUN
ap-3490	212	41	variable	variable	NOUN
ap-3490	212	42	d	d	NOUN
ap-3490	212	43	and	and	CCONJ
ap-3490	212	44	all	all	PRON
ap-3490	212	45	are	be	AUX
ap-3490	212	46	rejected	reject	VERB
ap-3490	212	47	by	by	ADP
ap-3490	212	48	solve	solve	NOUN
ap-3490	212	49	-	-	PUNCT
ap-3490	212	50	p	p	NOUN
ap-3490	212	51	,	,	PUNCT
ap-3490	212	52	the	the	DET
ap-3490	212	53	algorithm	algorithm	NOUN
ap-3490	212	54	returns	return	VERB
ap-3490	212	55	a	a	DET
ap-3490	212	56	failure	failure	NOUN
ap-3490	212	57	(	(	PUNCT
ap-3490	212	58	lines	line	NOUN
ap-3490	212	59	6	6	NUM
ap-3490	212	60	,	,	PUNCT
ap-3490	212	61	11–13	11–13	NUM
ap-3490	212	62	)	)	PUNCT
ap-3490	212	63	.	.	PUNCT
ap-3490	213	1	in	in	ADP
ap-3490	213	2	the	the	DET
ap-3490	213	3	next	next	ADJ
ap-3490	213	4	section	section	NOUN
ap-3490	213	5	,	,	PUNCT
ap-3490	213	6	we	we	PRON
ap-3490	213	7	will	will	AUX
ap-3490	213	8	explain	explain	VERB
ap-3490	213	9	the	the	DET
ap-3490	213	10	problem-	problem-	NOUN
ap-3490	213	11	,	,	PUNCT
ap-3490	213	12	variableand	variableand	NOUN
ap-3490	213	13	value	value	NOUN
ap-3490	213	14	-	-	PUNCT
ap-3490	213	15	ordering	order	VERB
ap-3490	213	16	heuristics	heuristic	NOUN
ap-3490	213	17	that	that	PRON
ap-3490	213	18	are	be	AUX
ap-3490	213	19	used	use	VERB
ap-3490	213	20	in	in	ADP
ap-3490	213	21	dp3	dp3	PROPN
ap-3490	213	22	-	-	PUNCT
ap-3490	213	23	solver	solver	NOUN
ap-3490	213	24	.	.	PUNCT
ap-3490	214	1	5	5	X
ap-3490	214	2	.	.	X
ap-3490	214	3	heuristics	heuristics	PROPN
ap-3490	214	4	dp3	dp3	PROPN
ap-3490	214	5	-	-	PUNCT
ap-3490	214	6	solver	solver	PROPN
ap-3490	214	7	must	must	AUX
ap-3490	214	8	select	select	VERB
ap-3490	214	9	a	a	DET
ap-3490	214	10	set	set	NOUN
ap-3490	214	11	of	of	ADP
ap-3490	214	12	decision	decision	NOUN
ap-3490	214	13	variables	variable	NOUN
ap-3490	214	14	pertaining	pertain	VERB
ap-3490	214	15	to	to	ADP
ap-3490	214	16	a	a	DET
ap-3490	214	17	sub	sub	NOUN
ap-3490	214	18	-	-	NOUN
ap-3490	214	19	problem	problem	NOUN
ap-3490	214	20	from	from	ADP
ap-3490	214	21	the	the	DET
ap-3490	214	22	union	union	NOUN
ap-3490	214	23	of	of	ADP
ap-3490	214	24	all	all	DET
ap-3490	214	25	decision	decision	NOUN
ap-3490	214	26	variables	variable	NOUN
ap-3490	214	27	.	.	PUNCT
ap-3490	215	1	this	this	DET
ap-3490	215	2	selection	selection	NOUN
ap-3490	215	3	is	be	AUX
ap-3490	215	4	guided	guide	VERB
ap-3490	215	5	by	by	ADP
ap-3490	215	6	a	a	DET
ap-3490	215	7	heuristic	heuristic	ADJ
ap-3490	215	8	hprob	hprob	NOUN
ap-3490	215	9	.	.	PUNCT
ap-3490	216	1	let	let	VERB
ap-3490	216	2	di	di	NOUN
ap-3490	216	3	≺	≺	NOUN
ap-3490	216	4	dj	dj	NOUN
ap-3490	216	5	indicate	indicate	VERB
ap-3490	216	6	that	that	SCONJ
ap-3490	216	7	the	the	DET
ap-3490	216	8	decision	decision	NOUN
ap-3490	216	9	variables	variable	NOUN
ap-3490	216	10	of	of	ADP
ap-3490	216	11	problem	problem	NOUN
ap-3490	216	12	i	i	PRON
ap-3490	216	13	have	have	VERB
ap-3490	216	14	a	a	DET
ap-3490	216	15	higher	high	ADJ
ap-3490	216	16	priority	priority	NOUN
ap-3490	216	17	than	than	ADP
ap-3490	216	18	those	those	PRON
ap-3490	216	19	of	of	ADP
ap-3490	216	20	problem	problem	NOUN
ap-3490	216	21	j.	j.	PROPN
ap-3490	216	22	the	the	DET
ap-3490	216	23	partial	partial	ADJ
ap-3490	216	24	ordering	ordering	NOUN
ap-3490	216	25	based	base	VERB
ap-3490	216	26	on	on	ADP
ap-3490	216	27	which	which	PRON
ap-3490	216	28	the	the	DET
ap-3490	216	29	hprob	hprob	ADJ
ap-3490	216	30	heuristic	heuristic	NOUN
ap-3490	216	31	operates	operate	VERB
ap-3490	216	32	is	be	AUX
ap-3490	216	33	{	{	PUNCT
ap-3490	216	34	dseq	dseq	NOUN
ap-3490	216	35	≺	≺	NOUN
ap-3490	216	36	daloc	daloc	NOUN
ap-3490	216	37	≺	≺	NOUN
ap-3490	216	38	dtp	dtp	PROPN
ap-3490	216	39	≺	≺	NOUN
ap-3490	216	40	dcoord	dcoord	NOUN
ap-3490	216	41	,	,	PUNCT
ap-3490	216	42	dmp	dmp	PROPN
ap-3490	216	43	≺	≺	NOUN
ap-3490	216	44	daloc	daloc	NOUN
ap-3490	216	45	≺	≺	NOUN
ap-3490	216	46	dtp	dtp	PROPN
ap-3490	216	47	≺	≺	NOUN
ap-3490	216	48	dcoord	dcoord	NOUN
ap-3490	216	49	}	}	PUNCT
ap-3490	216	50	.	.	PUNCT
ap-3490	217	1	decision	decision	NOUN
ap-3490	217	2	variables	variable	NOUN
ap-3490	217	3	to	to	ADP
ap-3490	217	4	branch	branch	VERB
ap-3490	217	5	on	on	ADP
ap-3490	217	6	(	(	PUNCT
ap-3490	217	7	within	within	ADP
ap-3490	217	8	a	a	DET
ap-3490	217	9	chosen	choose	VERB
ap-3490	217	10	di	di	NOUN
ap-3490	217	11	)	)	PUNCT
ap-3490	217	12	are	be	AUX
ap-3490	217	13	ordered	order	VERB
ap-3490	217	14	based	base	VERB
ap-3490	217	15	on	on	ADP
ap-3490	217	16	hvar	hvar	PROPN
ap-3490	217	17	,	,	PUNCT
ap-3490	217	18	and	and	CCONJ
ap-3490	217	19	alternative	alternative	ADJ
ap-3490	217	20	values	value	NOUN
ap-3490	217	21	are	be	AUX
ap-3490	217	22	chosen	choose	VERB
ap-3490	217	23	according	accord	VERB
ap-3490	217	24	to	to	ADP
ap-3490	217	25	hval	hval	NOUN
ap-3490	217	26	.	.	PUNCT
ap-3490	218	1	variable	variable	ADJ
ap-3490	218	2	ordering	ordering	NOUN
ap-3490	218	3	heuristics	heuristic	NOUN
ap-3490	218	4	are	be	AUX
ap-3490	218	5	provided	provide	VERB
ap-3490	218	6	for	for	ADP
ap-3490	218	7	the	the	DET
ap-3490	218	8	sequencing	sequence	VERB
ap-3490	218	9	sub	sub	NOUN
ap-3490	218	10	-	-	NOUN
ap-3490	218	11	problem	problem	NOUN
ap-3490	218	12	and	and	CCONJ
ap-3490	218	13	for	for	ADP
ap-3490	218	14	the	the	DET
ap-3490	218	15	coordination	coordination	NOUN
ap-3490	218	16	subproblem	subproblem	NOUN
ap-3490	218	17	.	.	PUNCT
ap-3490	219	1	the	the	DET
ap-3490	219	2	latter	latter	ADJ
ap-3490	219	3	heuristic	heuristic	NOUN
ap-3490	219	4	is	be	AUX
ap-3490	219	5	based	base	VERB
ap-3490	219	6	on	on	ADP
ap-3490	219	7	temporal	temporal	ADJ
ap-3490	219	8	flexibility	flexibility	NOUN
ap-3490	219	9	,	,	PUNCT
ap-3490	219	10	and	and	CCONJ
ap-3490	219	11	has	have	AUX
ap-3490	219	12	been	be	AUX
ap-3490	219	13	used	use	VERB
ap-3490	219	14	for	for	ADP
ap-3490	219	15	resource	resource	NOUN
ap-3490	219	16	-	-	PUNCT
ap-3490	219	17	constrained	constrain	VERB
ap-3490	219	18	project	project	NOUN
ap-3490	219	19	scheduling	scheduling	NOUN
ap-3490	220	1	[	[	X
ap-3490	220	2	5	5	NUM
ap-3490	220	3	]	]	PUNCT
ap-3490	220	4	.	.	PUNCT
ap-3490	221	1	the	the	DET
ap-3490	221	2	former	former	ADJ
ap-3490	221	3	is	be	AUX
ap-3490	221	4	based	base	VERB
ap-3490	221	5	on	on	ADP
ap-3490	221	6	an	an	DET
ap-3490	221	7	analysis	analysis	NOUN
ap-3490	221	8	of	of	ADP
ap-3490	221	9	the	the	DET
ap-3490	221	10	drill	drill	NOUN
ap-3490	221	11	target	target	NOUN
ap-3490	221	12	placements	placement	NOUN
ap-3490	221	13	,	,	PUNCT
ap-3490	221	14	and	and	CCONJ
ap-3490	221	15	is	be	AUX
ap-3490	221	16	described	describe	VERB
ap-3490	221	17	below	below	ADV
ap-3490	221	18	.	.	PUNCT
ap-3490	222	1	variable	variable	ADJ
ap-3490	222	2	ordering	order	VERB
ap-3490	222	3	for	for	ADP
ap-3490	222	4	sequencing	sequence	VERB
ap-3490	222	5	hvar	hvar	PROPN
ap-3490	222	6	seq	seq	PROPN
ap-3490	222	7	.	.	PUNCT
ap-3490	223	1	the	the	DET
ap-3490	223	2	pattern	pattern	NOUN
ap-3490	223	3	of	of	ADP
ap-3490	223	4	drill	drill	NOUN
ap-3490	223	5	targets	target	NOUN
ap-3490	223	6	is	be	AUX
ap-3490	223	7	analysed	analyse	VERB
ap-3490	223	8	to	to	PART
ap-3490	223	9	reveal	reveal	VERB
ap-3490	223	10	its	its	PRON
ap-3490	223	11	topology	topology	NOUN
ap-3490	223	12	and	and	CCONJ
ap-3490	223	13	the	the	DET
ap-3490	223	14	possible	possible	ADJ
ap-3490	223	15	principal	principal	ADJ
ap-3490	223	16	directions	direction	NOUN
ap-3490	223	17	of	of	ADP
ap-3490	223	18	drill	drill	NOUN
ap-3490	223	19	target	target	NOUN
ap-3490	223	20	sequencing	sequence	VERB
ap-3490	223	21	(	(	PUNCT
ap-3490	223	22	see	see	VERB
ap-3490	223	23	figure	figure	NOUN
ap-3490	223	24	8)	8)	NUM
ap-3490	223	25	.	.	PUNCT
ap-3490	223	26	to	to	PART
ap-3490	223	27	determine	determine	VERB
ap-3490	223	28	the	the	DET
ap-3490	223	29	former	former	ADJ
ap-3490	223	30	,	,	PUNCT
ap-3490	223	31	we	we	PRON
ap-3490	223	32	use	use	VERB
ap-3490	223	33	a	a	DET
ap-3490	223	34	distance	distance	NOUN
ap-3490	223	35	threshold	threshold	NOUN
ap-3490	223	36	;	;	PUNCT
ap-3490	223	37	the	the	DET
ap-3490	223	38	latter	latter	ADJ
ap-3490	223	39	are	be	AUX
ap-3490	223	40	discovered	discover	VERB
ap-3490	223	41	via	via	ADP
ap-3490	223	42	k	k	ADJ
ap-3490	223	43	-	-	PUNCT
ap-3490	223	44	means	means	NOUN
ap-3490	223	45	clustering	clustering	NOUN
ap-3490	223	46	of	of	ADP
ap-3490	223	47	the	the	DET
ap-3490	223	48	set	set	NOUN
ap-3490	223	49	of	of	ADP
ap-3490	223	50	angular	angular	ADJ
ap-3490	223	51	coefficients	coefficient	NOUN
ap-3490	223	52	of	of	ADP
ap-3490	223	53	topologically	topologically	ADV
ap-3490	223	54	neighbouring	neighbouring	NOUN
ap-3490	223	55	drill	drill	NOUN
ap-3490	223	56	targets	target	NOUN
ap-3490	223	57	.	.	PUNCT
ap-3490	224	1	this	this	DET
ap-3490	224	2	yields	yield	VERB
ap-3490	224	3	clusters	cluster	NOUN
ap-3490	224	4	containing	contain	VERB
ap-3490	224	5	similarly	similarly	ADV
ap-3490	224	6	oriented	orient	VERB
ap-3490	224	7	edges	edge	NOUN
ap-3490	224	8	of	of	ADP
ap-3490	224	9	the	the	DET
ap-3490	224	10	topology	topology	NOUN
ap-3490	224	11	.	.	PUNCT
ap-3490	225	1	these	these	PRON
ap-3490	225	2	are	be	AUX
ap-3490	225	3	used	use	VERB
ap-3490	225	4	to	to	ADP
ap-3490	225	5	group	group	NOUN
ap-3490	225	6	drill	drill	NOUN
ap-3490	225	7	targets	target	NOUN
ap-3490	225	8	into	into	ADP
ap-3490	225	9	roughly	roughly	ADV
ap-3490	225	10	-	-	PUNCT
ap-3490	225	11	parallel	parallel	ADJ
ap-3490	225	12	lines	line	NOUN
ap-3490	225	13	(	(	PUNCT
ap-3490	225	14	see	see	VERB
ap-3490	225	15	figure	figure	NOUN
ap-3490	225	16	8)	8)	NUM
ap-3490	225	17	.	.	PUNCT
ap-3490	226	1	the	the	DET
ap-3490	226	2	topology	topology	NOUN
ap-3490	226	3	and	and	CCONJ
ap-3490	226	4	the	the	DET
ap-3490	226	5	groupings	grouping	NOUN
ap-3490	226	6	are	be	AUX
ap-3490	226	7	used	use	VERB
ap-3490	226	8	to	to	PART
ap-3490	226	9	rank	rank	VERB
ap-3490	226	10	drill	drill	NOUN
ap-3490	226	11	targets	target	NOUN
ap-3490	226	12	in	in	ADP
ap-3490	226	13	groups	group	NOUN
ap-3490	226	14	.	.	PUNCT
ap-3490	227	1	variability	variability	NOUN
ap-3490	227	2	in	in	ADP
ap-3490	227	3	these	these	DET
ap-3490	227	4	groups	group	NOUN
ap-3490	227	5	are	be	AUX
ap-3490	227	6	first	first	ADJ
ap-3490	227	7	in	in	ADP
ap-3490	227	8	the	the	DET
ap-3490	227	9	sequencing	sequence	VERB
ap-3490	227	10	sub	sub	NOUN
ap-3490	227	11	-	-	NOUN
ap-3490	227	12	problems	problem	NOUN
ap-3490	227	13	.	.	PUNCT
ap-3490	228	1	52	52	NUM
ap-3490	228	2	vol	vol	NOUN
ap-3490	228	3	.	.	PUNCT
ap-3490	229	1	56	56	NUM
ap-3490	229	2	no	no	NOUN
ap-3490	229	3	.	.	PUNCT
ap-3490	230	1	1/2016	1/2016	NUM
ap-3490	230	2	hybrid	hybrid	ADJ
ap-3490	230	3	reasoning	reasoning	NOUN
ap-3490	230	4	for	for	ADP
ap-3490	230	5	multi	multi	ADJ
ap-3490	230	6	-	-	ADJ
ap-3490	230	7	robot	robot	ADJ
ap-3490	230	8	drill	drill	NOUN
ap-3490	230	9	planning	planning	NOUN
ap-3490	230	10	in	in	ADP
ap-3490	230	11	open	open	ADJ
ap-3490	230	12	-	-	PUNCT
ap-3490	230	13	pit	pit	NOUN
ap-3490	230	14	mines	mine	NOUN
ap-3490	230	15	figure	figure	VERB
ap-3490	230	16	9	9	NUM
ap-3490	230	17	.	.	PUNCT
ap-3490	231	1	an	an	DET
ap-3490	231	2	example	example	NOUN
ap-3490	231	3	of	of	ADP
ap-3490	231	4	a	a	DET
ap-3490	231	5	sequence	sequence	NOUN
ap-3490	231	6	pattern	pattern	NOUN
ap-3490	231	7	given	give	VERB
ap-3490	231	8	by	by	ADP
ap-3490	231	9	an	an	DET
ap-3490	231	10	operator	operator	NOUN
ap-3490	231	11	.	.	PUNCT
ap-3490	232	1	value	value	NOUN
ap-3490	232	2	ordering	ordering	NOUN
ap-3490	232	3	heuristics	heuristic	NOUN
ap-3490	232	4	are	be	AUX
ap-3490	232	5	defined	define	VERB
ap-3490	232	6	for	for	ADP
ap-3490	232	7	the	the	DET
ap-3490	232	8	sequencing	sequencing	NOUN
ap-3490	232	9	,	,	PUNCT
ap-3490	232	10	allocation	allocation	NOUN
ap-3490	232	11	,	,	PUNCT
ap-3490	232	12	motion	motion	NOUN
ap-3490	232	13	planning	planning	NOUN
ap-3490	232	14	,	,	PUNCT
ap-3490	232	15	and	and	CCONJ
ap-3490	232	16	coordination	coordination	NOUN
ap-3490	232	17	sub	sub	NOUN
ap-3490	232	18	-	-	NOUN
ap-3490	232	19	problems	problem	NOUN
ap-3490	232	20	.	.	PUNCT
ap-3490	233	1	as	as	ADP
ap-3490	233	2	for	for	ADP
ap-3490	233	3	variable	variable	ADJ
ap-3490	233	4	ordering	ordering	NOUN
ap-3490	233	5	,	,	PUNCT
ap-3490	233	6	the	the	DET
ap-3490	233	7	decision	decision	NOUN
ap-3490	233	8	variable	variable	NOUN
ap-3490	233	9	in	in	ADP
ap-3490	233	10	the	the	DET
ap-3490	233	11	coordination	coordination	NOUN
ap-3490	233	12	sub	sub	NOUN
ap-3490	233	13	-	-	NOUN
ap-3490	233	14	problem	problem	NOUN
ap-3490	233	15	are	be	AUX
ap-3490	233	16	branched	branch	VERB
ap-3490	233	17	upon	upon	SCONJ
ap-3490	233	18	using	use	VERB
ap-3490	233	19	a	a	DET
ap-3490	233	20	heuristic	heuristic	NOUN
ap-3490	233	21	based	base	VERB
ap-3490	233	22	on	on	ADP
ap-3490	233	23	temporal	temporal	ADJ
ap-3490	233	24	flexibility	flexibility	NOUN
ap-3490	233	25	that	that	PRON
ap-3490	233	26	is	be	AUX
ap-3490	233	27	widely	widely	ADV
ap-3490	233	28	used	use	VERB
ap-3490	233	29	in	in	ADP
ap-3490	233	30	the	the	DET
ap-3490	233	31	scheduling	scheduling	NOUN
ap-3490	233	32	literature	literature	NOUN
ap-3490	234	1	[	[	X
ap-3490	234	2	1	1	NUM
ap-3490	234	3	]	]	PUNCT
ap-3490	234	4	.	.	PUNCT
ap-3490	235	1	the	the	DET
ap-3490	235	2	remaining	remain	VERB
ap-3490	235	3	heuristics	heuristic	NOUN
ap-3490	235	4	hval	hval	PROPN
ap-3490	235	5	seq	seq	NOUN
ap-3490	235	6	,	,	PUNCT
ap-3490	235	7	hval	hval	ADJ
ap-3490	235	8	allocare	allocare	NOUN
ap-3490	235	9	explained	explain	VERB
ap-3490	235	10	below	below	ADV
ap-3490	235	11	.	.	PUNCT
ap-3490	236	1	value	value	NOUN
ap-3490	236	2	ordering	order	VERB
ap-3490	236	3	for	for	ADP
ap-3490	236	4	sequencing	sequence	VERB
ap-3490	236	5	hval	hval	ADJ
ap-3490	236	6	seq	seq	NOUN
ap-3490	236	7	.	.	PUNCT
ap-3490	237	1	a	a	DET
ap-3490	237	2	value	value	NOUN
ap-3490	237	3	for	for	ADP
ap-3490	237	4	a	a	DET
ap-3490	237	5	decision	decision	NOUN
ap-3490	237	6	variable	variable	NOUN
ap-3490	237	7	of	of	ADP
ap-3490	237	8	the	the	DET
ap-3490	237	9	sequencing	sequence	VERB
ap-3490	237	10	sub	sub	NOUN
ap-3490	237	11	-	-	NOUN
ap-3490	237	12	problem	problem	NOUN
ap-3490	237	13	decides	decide	VERB
ap-3490	237	14	which	which	DET
ap-3490	237	15	drill	drill	NOUN
ap-3490	237	16	target	target	NOUN
ap-3490	237	17	precedes	precede	VERB
ap-3490	237	18	a	a	DET
ap-3490	237	19	given	give	VERB
ap-3490	237	20	target	target	NOUN
ap-3490	237	21	.	.	PUNCT
ap-3490	238	1	there	there	PRON
ap-3490	238	2	are	be	VERB
ap-3490	238	3	many	many	ADJ
ap-3490	238	4	alternatives	alternative	NOUN
ap-3490	238	5	for	for	ADP
ap-3490	238	6	this	this	DET
ap-3490	238	7	choice	choice	NOUN
ap-3490	238	8	.	.	PUNCT
ap-3490	239	1	note	note	VERB
ap-3490	239	2	that	that	SCONJ
ap-3490	239	3	the	the	DET
ap-3490	239	4	sequencing	sequence	VERB
ap-3490	239	5	decision	decision	NOUN
ap-3490	239	6	variables	variable	NOUN
ap-3490	239	7	that	that	PRON
ap-3490	239	8	are	be	AUX
ap-3490	239	9	resolved	resolve	VERB
ap-3490	239	10	first	first	ADV
ap-3490	239	11	are	be	AUX
ap-3490	239	12	those	those	PRON
ap-3490	239	13	pertaining	pertain	VERB
ap-3490	239	14	to	to	PART
ap-3490	239	15	drill	drill	VERB
ap-3490	239	16	targets	target	NOUN
ap-3490	239	17	along	along	ADP
ap-3490	239	18	groups	group	NOUN
ap-3490	239	19	—	—	PUNCT
ap-3490	239	20	for	for	ADP
ap-3490	239	21	such	such	ADJ
ap-3490	239	22	decision	decision	NOUN
ap-3490	239	23	variables	variable	NOUN
ap-3490	239	24	,	,	PUNCT
ap-3490	239	25	the	the	DET
ap-3490	239	26	heuristic	heuristic	NOUN
ap-3490	239	27	prioritizes	prioritize	VERB
ap-3490	239	28	one	one	NUM
ap-3490	239	29	of	of	ADP
ap-3490	239	30	two	two	NUM
ap-3490	239	31	possible	possible	ADJ
ap-3490	239	32	predecessors	predecessor	NOUN
ap-3490	239	33	,	,	PUNCT
ap-3490	239	34	namely	namely	ADV
ap-3490	239	35	those	those	PRON
ap-3490	239	36	adjacent	adjacent	ADJ
ap-3490	239	37	to	to	ADP
ap-3490	239	38	the	the	DET
ap-3490	239	39	current	current	ADJ
ap-3490	239	40	decision	decision	NOUN
ap-3490	239	41	variable	variable	NOUN
ap-3490	239	42	in	in	ADP
ap-3490	239	43	the	the	DET
ap-3490	239	44	grouping	grouping	NOUN
ap-3490	239	45	.	.	PUNCT
ap-3490	240	1	for	for	ADP
ap-3490	240	2	example	example	NOUN
ap-3490	240	3	,	,	PUNCT
ap-3490	240	4	the	the	DET
ap-3490	240	5	two	two	NUM
ap-3490	240	6	values	value	NOUN
ap-3490	240	7	with	with	ADP
ap-3490	240	8	the	the	DET
ap-3490	240	9	highest	high	ADJ
ap-3490	240	10	heuristic	heuristic	ADJ
ap-3490	240	11	score	score	NOUN
ap-3490	240	12	for	for	ADP
ap-3490	240	13	decision	decision	NOUN
ap-3490	240	14	variable	variable	NOUN
ap-3490	240	15	m141	m141	PROPN
ap-3490	240	16	in	in	ADP
ap-3490	240	17	figure	figure	NOUN
ap-3490	240	18	4(a	4(a	NUM
ap-3490	240	19	)	)	PUNCT
ap-3490	240	20	are	be	AUX
ap-3490	240	21	m142	m142	PROPN
ap-3490	240	22	precedes−−−−−→m141	precedes−−−−−→m141	NOUN
ap-3490	240	23	and	and	CCONJ
ap-3490	240	24	m140	m140	PROPN
ap-3490	240	25	precedes−−−−−→m141	precedes−−−−−→m141	NOUN
ap-3490	240	26	.	.	PUNCT
ap-3490	241	1	also	also	ADV
ap-3490	241	2	,	,	PUNCT
ap-3490	241	3	this	this	DET
ap-3490	241	4	heuristic	heuristic	NOUN
ap-3490	241	5	contributes	contribute	VERB
ap-3490	241	6	to	to	ADP
ap-3490	241	7	alleviating	alleviate	VERB
ap-3490	241	8	the	the	DET
ap-3490	241	9	computational	computational	ADJ
ap-3490	241	10	burden	burden	NOUN
ap-3490	241	11	of	of	ADP
ap-3490	241	12	finding	find	VERB
ap-3490	241	13	sequences	sequence	NOUN
ap-3490	241	14	in	in	ADP
ap-3490	241	15	regions	region	NOUN
ap-3490	241	16	close	close	ADJ
ap-3490	241	17	to	to	ADP
ap-3490	241	18	the	the	DET
ap-3490	241	19	geofence	geofence	NOUN
ap-3490	241	20	while	while	SCONJ
ap-3490	241	21	transitioning	transition	VERB
ap-3490	241	22	between	between	ADP
ap-3490	241	23	groups	group	NOUN
ap-3490	241	24	.	.	PUNCT
ap-3490	242	1	finding	find	VERB
ap-3490	242	2	a	a	DET
ap-3490	242	3	feasible	feasible	ADJ
ap-3490	242	4	sequence	sequence	NOUN
ap-3490	242	5	in	in	ADP
ap-3490	242	6	these	these	DET
ap-3490	242	7	situations	situation	NOUN
ap-3490	242	8	is	be	AUX
ap-3490	242	9	challenging	challenging	ADJ
ap-3490	242	10	,	,	PUNCT
ap-3490	242	11	because	because	SCONJ
ap-3490	242	12	a	a	DET
ap-3490	242	13	machine	machine	NOUN
ap-3490	242	14	has	have	VERB
ap-3490	242	15	limited	limit	VERB
ap-3490	242	16	space	space	NOUN
ap-3490	242	17	to	to	PART
ap-3490	242	18	manoeuvre	manoeuvre	VERB
ap-3490	242	19	.	.	PUNCT
ap-3490	243	1	these	these	DET
ap-3490	243	2	regions	region	NOUN
ap-3490	243	3	of	of	ADP
ap-3490	243	4	highly	highly	ADV
ap-3490	243	5	-	-	PUNCT
ap-3490	243	6	constrained	constrain	VERB
ap-3490	243	7	motion	motion	NOUN
ap-3490	243	8	typically	typically	ADV
ap-3490	243	9	span	span	VERB
ap-3490	243	10	eight	eight	NUM
ap-3490	243	11	targets	target	NOUN
ap-3490	243	12	for	for	ADP
ap-3490	243	13	every	every	DET
ap-3490	243	14	pair	pair	NOUN
ap-3490	243	15	of	of	ADP
ap-3490	243	16	adjacent	adjacent	ADJ
ap-3490	243	17	groups	group	NOUN
ap-3490	243	18	,	,	PUNCT
ap-3490	243	19	thus	thus	ADV
ap-3490	243	20	in	in	ADP
ap-3490	243	21	the	the	DET
ap-3490	243	22	worst	bad	ADJ
ap-3490	243	23	case	case	NOUN
ap-3490	243	24	sequencing	sequencing	NOUN
ap-3490	243	25	requires	require	VERB
ap-3490	243	26	verifying	verifying	NOUN
ap-3490	243	27	,	,	PUNCT
ap-3490	243	28	through	through	ADP
ap-3490	243	29	motion	motion	NOUN
ap-3490	243	30	planning	planning	NOUN
ap-3490	243	31	,	,	PUNCT
ap-3490	243	32	87	87	NUM
ap-3490	243	33	possible	possible	ADJ
ap-3490	243	34	motions	motion	NOUN
ap-3490	243	35	for	for	ADP
ap-3490	243	36	each	each	DET
ap-3490	243	37	pair	pair	NOUN
ap-3490	243	38	.	.	PUNCT
ap-3490	244	1	for	for	ADP
ap-3490	244	2	this	this	DET
ap-3490	244	3	reason	reason	NOUN
ap-3490	244	4	,	,	PUNCT
ap-3490	244	5	the	the	DET
ap-3490	244	6	heuristic	heuristic	NOUN
ap-3490	244	7	uses	use	VERB
ap-3490	244	8	given	give	VERB
ap-3490	244	9	sequence	sequence	NOUN
ap-3490	244	10	patterns	pattern	NOUN
ap-3490	244	11	that	that	PRON
ap-3490	244	12	reflect	reflect	VERB
ap-3490	244	13	common	common	ADJ
ap-3490	244	14	practice	practice	NOUN
ap-3490	244	15	by	by	ADP
ap-3490	244	16	human	human	ADJ
ap-3490	244	17	operators	operator	NOUN
ap-3490	244	18	.	.	PUNCT
ap-3490	245	1	a	a	DET
ap-3490	245	2	sequence	sequence	NOUN
ap-3490	245	3	pattern	pattern	NOUN
ap-3490	245	4	is	be	AUX
ap-3490	245	5	a	a	DET
ap-3490	245	6	topological	topological	ADJ
ap-3490	245	7	description	description	NOUN
ap-3490	245	8	of	of	ADP
ap-3490	245	9	a	a	DET
ap-3490	245	10	human	human	ADJ
ap-3490	245	11	driving	driving	NOUN
ap-3490	245	12	behavior	behavior	NOUN
ap-3490	245	13	,	,	PUNCT
ap-3490	245	14	augmented	augment	VERB
ap-3490	245	15	with	with	ADP
ap-3490	245	16	metric	metric	ADJ
ap-3490	245	17	information	information	NOUN
ap-3490	245	18	that	that	PRON
ap-3490	245	19	facilitates	facilitate	VERB
ap-3490	245	20	assessing	assess	VERB
ap-3490	245	21	whether	whether	SCONJ
ap-3490	245	22	the	the	DET
ap-3490	245	23	pattern	pattern	NOUN
ap-3490	245	24	is	be	AUX
ap-3490	245	25	applicable	applicable	ADJ
ap-3490	245	26	in	in	ADP
ap-3490	245	27	a	a	DET
ap-3490	245	28	given	give	VERB
ap-3490	245	29	region	region	NOUN
ap-3490	245	30	.	.	PUNCT
ap-3490	246	1	specifically	specifically	ADV
ap-3490	246	2	,	,	PUNCT
ap-3490	246	3	a	a	DET
ap-3490	246	4	sequence	sequence	NOUN
ap-3490	246	5	pattern	pattern	NOUN
ap-3490	246	6	is	be	AUX
ap-3490	246	7	a	a	DET
ap-3490	246	8	graph	graph	NOUN
ap-3490	246	9	(	(	PUNCT
ap-3490	246	10	v	v	NOUN
ap-3490	246	11	,	,	PUNCT
ap-3490	246	12	e	e	NOUN
ap-3490	246	13	)	)	PUNCT
ap-3490	246	14	where	where	SCONJ
ap-3490	246	15	v	v	NOUN
ap-3490	246	16	is	be	AUX
ap-3490	246	17	a	a	DET
ap-3490	246	18	set	set	NOUN
ap-3490	246	19	of	of	ADP
ap-3490	246	20	nodes	node	NOUN
ap-3490	246	21	representing	represent	VERB
ap-3490	246	22	drill	drill	NOUN
ap-3490	246	23	targets	target	NOUN
ap-3490	246	24	,	,	PUNCT
ap-3490	246	25	and	and	CCONJ
ap-3490	246	26	e	e	NOUN
ap-3490	246	27	is	be	AUX
ap-3490	246	28	a	a	DET
ap-3490	246	29	sequence	sequence	NOUN
ap-3490	246	30	of	of	ADP
ap-3490	246	31	precedence	precedence	NOUN
ap-3490	246	32	constraints	constraint	NOUN
ap-3490	246	33	among	among	ADP
ap-3490	246	34	the	the	DET
ap-3490	246	35	nodes	node	NOUN
ap-3490	246	36	.	.	PUNCT
ap-3490	247	1	a	a	DET
ap-3490	247	2	distance	distance	NOUN
ap-3490	247	3	threshold	threshold	NOUN
ap-3490	247	4	dgeofence	dgeofence	NOUN
ap-3490	247	5	is	be	AUX
ap-3490	247	6	also	also	ADV
ap-3490	247	7	given	give	VERB
ap-3490	247	8	,	,	PUNCT
ap-3490	247	9	and	and	CCONJ
ap-3490	247	10	represents	represent	VERB
ap-3490	247	11	the	the	DET
ap-3490	247	12	minimum	minimum	ADJ
ap-3490	247	13	distance	distance	NOUN
ap-3490	247	14	to	to	ADP
ap-3490	247	15	the	the	DET
ap-3490	247	16	geofence	geofence	NOUN
ap-3490	247	17	required	require	VERB
ap-3490	247	18	for	for	ADP
ap-3490	247	19	the	the	DET
ap-3490	247	20	pattern	pattern	NOUN
ap-3490	247	21	to	to	PART
ap-3490	247	22	hold	hold	VERB
ap-3490	247	23	.	.	PUNCT
ap-3490	248	1	also	also	ADV
ap-3490	248	2	,	,	PUNCT
ap-3490	248	3	a	a	DET
ap-3490	248	4	ranking	ranking	NOUN
ap-3490	248	5	<	<	X
ap-3490	248	6	of	of	ADP
ap-3490	248	7	the	the	DET
ap-3490	248	8	nodes	node	NOUN
ap-3490	248	9	in	in	ADP
ap-3490	248	10	terms	term	NOUN
ap-3490	248	11	of	of	ADP
ap-3490	248	12	how	how	SCONJ
ap-3490	248	13	far	far	ADV
ap-3490	248	14	they	they	PRON
ap-3490	248	15	lie	lie	VERB
ap-3490	248	16	from	from	ADP
ap-3490	248	17	the	the	DET
ap-3490	248	18	geofence	geofence	NOUN
ap-3490	248	19	is	be	AUX
ap-3490	248	20	provided	provide	VERB
ap-3490	248	21	.	.	PUNCT
ap-3490	249	1	an	an	DET
ap-3490	249	2	example	example	NOUN
ap-3490	249	3	pattern	pattern	NOUN
ap-3490	249	4	is	be	AUX
ap-3490	249	5	shown	show	VERB
ap-3490	249	6	in	in	ADP
ap-3490	249	7	figure	figure	NOUN
ap-3490	249	8	9	9	NUM
ap-3490	249	9	.	.	PUNCT
ap-3490	250	1	if	if	SCONJ
ap-3490	250	2	the	the	DET
ap-3490	250	3	search	search	NOUN
ap-3490	250	4	is	be	AUX
ap-3490	250	5	considering	consider	VERB
ap-3490	250	6	a	a	DET
ap-3490	250	7	decision	decision	NOUN
ap-3490	250	8	variable	variable	NOUN
ap-3490	250	9	mi	mi	PROPN
ap-3490	250	10	that	that	PRON
ap-3490	250	11	is	be	AUX
ap-3490	250	12	surrounded	surround	VERB
ap-3490	250	13	by	by	ADP
ap-3490	250	14	targets	target	NOUN
ap-3490	250	15	that	that	PRON
ap-3490	250	16	can	can	AUX
ap-3490	250	17	be	be	AUX
ap-3490	250	18	mapped	map	VERB
ap-3490	250	19	to	to	ADP
ap-3490	250	20	the	the	DET
ap-3490	250	21	nodes	node	NOUN
ap-3490	250	22	in	in	ADP
ap-3490	250	23	the	the	DET
ap-3490	250	24	pattern	pattern	NOUN
ap-3490	250	25	,	,	PUNCT
ap-3490	250	26	then	then	ADV
ap-3490	250	27	the	the	DET
ap-3490	250	28	heuristic	heuristic	NOUN
ap-3490	250	29	ranks	rank	VERB
ap-3490	250	30	possible	possible	ADJ
ap-3490	250	31	predecessors	predecessor	NOUN
ap-3490	250	32	of	of	ADP
ap-3490	250	33	mi	mi	PROPN
ap-3490	250	34	according	accord	VERB
ap-3490	250	35	to	to	ADP
ap-3490	250	36	the	the	DET
ap-3490	250	37	edges	edge	NOUN
ap-3490	250	38	in	in	ADP
ap-3490	250	39	e.	e.	PROPN
ap-3490	250	40	value	value	PROPN
ap-3490	250	41	ordering	order	VERB
ap-3490	250	42	for	for	ADP
ap-3490	250	43	motion	motion	NOUN
ap-3490	250	44	planning	plan	VERB
ap-3490	250	45	hval	hval	PROPN
ap-3490	250	46	mp	mp	PROPN
ap-3490	250	47	.	.	PUNCT
ap-3490	251	1	this	this	DET
ap-3490	251	2	heuristic	heuristic	NOUN
ap-3490	251	3	suggests	suggest	VERB
ap-3490	251	4	approach	approach	NOUN
ap-3490	251	5	angles	angle	VERB
ap-3490	251	6	similar	similar	ADJ
ap-3490	251	7	to	to	ADP
ap-3490	251	8	those	those	PRON
ap-3490	251	9	assigned	assign	VERB
ap-3490	251	10	to	to	ADP
ap-3490	251	11	other	other	ADJ
ap-3490	251	12	drill	drill	NOUN
ap-3490	251	13	targets	target	NOUN
ap-3490	251	14	in	in	ADP
ap-3490	251	15	a	a	DET
ap-3490	251	16	same	same	ADJ
ap-3490	251	17	group	group	NOUN
ap-3490	251	18	.	.	PUNCT
ap-3490	252	1	value	value	NOUN
ap-3490	252	2	ordering	order	VERB
ap-3490	252	3	for	for	ADP
ap-3490	252	4	machine	machine	NOUN
ap-3490	252	5	allocation	allocation	NOUN
ap-3490	252	6	hval	hval	NOUN
ap-3490	252	7	alloc	alloc	NOUN
ap-3490	252	8	.	.	PUNCT
ap-3490	253	1	a	a	DET
ap-3490	253	2	solution	solution	NOUN
ap-3490	253	3	to	to	ADP
ap-3490	253	4	the	the	DET
ap-3490	253	5	machine	machine	NOUN
ap-3490	253	6	allocation	allocation	NOUN
ap-3490	253	7	sub	sub	NOUN
ap-3490	253	8	-	-	NOUN
ap-3490	253	9	problem	problem	ADJ
ap-3490	253	10	determines	determine	NOUN
ap-3490	253	11	which	which	DET
ap-3490	253	12	drill	drill	NOUN
ap-3490	253	13	target	target	NOUN
ap-3490	253	14	is	be	AUX
ap-3490	253	15	drilled	drill	VERB
ap-3490	253	16	by	by	ADP
ap-3490	253	17	which	which	DET
ap-3490	253	18	machine	machine	NOUN
ap-3490	253	19	.	.	PUNCT
ap-3490	254	1	among	among	ADP
ap-3490	254	2	all	all	DET
ap-3490	254	3	possible	possible	ADJ
ap-3490	254	4	choices	choice	NOUN
ap-3490	254	5	,	,	PUNCT
ap-3490	254	6	those	those	PRON
ap-3490	254	7	are	be	AUX
ap-3490	254	8	preferred	prefer	VERB
ap-3490	254	9	which	which	PRON
ap-3490	254	10	have	have	VERB
ap-3490	254	11	three	three	NUM
ap-3490	254	12	properties	property	NOUN
ap-3490	254	13	:	:	PUNCT
ap-3490	254	14	(	(	PUNCT
ap-3490	254	15	1	1	X
ap-3490	254	16	)	)	PUNCT
ap-3490	254	17	each	each	DET
ap-3490	254	18	machine	machine	NOUN
ap-3490	254	19	is	be	AUX
ap-3490	254	20	assigned	assign	VERB
ap-3490	254	21	to	to	ADP
ap-3490	254	22	a	a	DET
ap-3490	254	23	contiguous	contiguous	ADJ
ap-3490	254	24	sequence	sequence	NOUN
ap-3490	254	25	;	;	PUNCT
ap-3490	254	26	(	(	PUNCT
ap-3490	254	27	2	2	X
ap-3490	254	28	)	)	PUNCT
ap-3490	254	29	the	the	DET
ap-3490	254	30	start	start	NOUN
ap-3490	254	31	and	and	CCONJ
ap-3490	254	32	end	end	VERB
ap-3490	254	33	missions	mission	NOUN
ap-3490	254	34	of	of	ADP
ap-3490	254	35	a	a	DET
ap-3490	254	36	contiguous	contiguous	ADJ
ap-3490	254	37	sequences	sequence	NOUN
ap-3490	254	38	are	be	AUX
ap-3490	254	39	the	the	DET
ap-3490	254	40	drill	drill	NOUN
ap-3490	254	41	targets	target	NOUN
ap-3490	254	42	close	close	ADV
ap-3490	254	43	to	to	ADP
ap-3490	254	44	an	an	DET
ap-3490	254	45	open	open	ADJ
ap-3490	254	46	area	area	NOUN
ap-3490	254	47	,	,	PUNCT
ap-3490	254	48	i.e.	i.e.	X
ap-3490	254	49	,	,	PUNCT
ap-3490	254	50	not	not	PART
ap-3490	254	51	close	close	ADJ
ap-3490	254	52	to	to	ADP
ap-3490	254	53	a	a	DET
ap-3490	254	54	geofence	geofence	NOUN
ap-3490	254	55	and	and	CCONJ
ap-3490	254	56	not	not	PART
ap-3490	254	57	those	those	PRON
ap-3490	254	58	that	that	PRON
ap-3490	254	59	are	be	AUX
ap-3490	254	60	entirely	entirely	ADV
ap-3490	254	61	surrounded	surround	VERB
ap-3490	254	62	by	by	ADP
ap-3490	254	63	other	other	ADJ
ap-3490	254	64	drill	drill	NOUN
ap-3490	254	65	targets	target	NOUN
ap-3490	254	66	;	;	PUNCT
ap-3490	254	67	and	and	CCONJ
ap-3490	254	68	(	(	PUNCT
ap-3490	254	69	3	3	X
ap-3490	254	70	)	)	PUNCT
ap-3490	254	71	targets	target	NOUN
ap-3490	254	72	are	be	AUX
ap-3490	254	73	evenly	evenly	ADV
ap-3490	254	74	distributed	distribute	VERB
ap-3490	254	75	among	among	ADP
ap-3490	254	76	machines	machine	NOUN
ap-3490	254	77	.	.	PUNCT
ap-3490	255	1	this	this	DET
ap-3490	255	2	heuristic	heuristic	NOUN
ap-3490	255	3	not	not	PART
ap-3490	255	4	only	only	ADV
ap-3490	255	5	contributes	contribute	VERB
ap-3490	255	6	to	to	ADP
ap-3490	255	7	the	the	DET
ap-3490	255	8	plan	plan	NOUN
ap-3490	255	9	quality	quality	NOUN
ap-3490	255	10	in	in	ADP
ap-3490	255	11	terms	term	NOUN
ap-3490	255	12	of	of	ADP
ap-3490	255	13	similarity	similarity	NOUN
ap-3490	255	14	to	to	ADP
ap-3490	255	15	what	what	PRON
ap-3490	255	16	a	a	DET
ap-3490	255	17	human	human	ADJ
ap-3490	255	18	planner	planner	NOUN
ap-3490	255	19	would	would	AUX
ap-3490	255	20	decide	decide	VERB
ap-3490	255	21	,	,	PUNCT
ap-3490	255	22	but	but	CCONJ
ap-3490	255	23	also	also	ADV
ap-3490	255	24	improves	improve	VERB
ap-3490	255	25	the	the	DET
ap-3490	255	26	efficiency	efficiency	NOUN
ap-3490	255	27	in	in	ADP
ap-3490	255	28	planning	planning	NOUN
ap-3490	255	29	time	time	NOUN
ap-3490	255	30	by	by	ADP
ap-3490	255	31	suggesting	suggest	VERB
ap-3490	255	32	a	a	DET
ap-3490	255	33	restriction	restriction	NOUN
ap-3490	255	34	on	on	ADP
ap-3490	255	35	start	start	NOUN
ap-3490	255	36	and	and	CCONJ
ap-3490	255	37	exit	exit	NOUN
ap-3490	255	38	points	point	NOUN
ap-3490	255	39	for	for	ADP
ap-3490	255	40	each	each	DET
ap-3490	255	41	machine	machine	NOUN
ap-3490	255	42	.	.	PUNCT
ap-3490	256	1	6	6	X
ap-3490	256	2	.	.	X
ap-3490	256	3	adapting	adapt	VERB
ap-3490	256	4	solutions	solution	NOUN
ap-3490	256	5	online	online	ADJ
ap-3490	256	6	several	several	ADJ
ap-3490	256	7	aspects	aspect	NOUN
ap-3490	256	8	of	of	ADP
ap-3490	256	9	dp3	dp3	PROPN
ap-3490	256	10	are	be	AUX
ap-3490	256	11	unknown	unknown	ADJ
ap-3490	256	12	at	at	ADP
ap-3490	256	13	planning	planning	NOUN
ap-3490	256	14	time	time	NOUN
ap-3490	256	15	.	.	PUNCT
ap-3490	257	1	for	for	ADP
ap-3490	257	2	example	example	NOUN
ap-3490	257	3	,	,	PUNCT
ap-3490	257	4	the	the	DET
ap-3490	257	5	actual	actual	ADJ
ap-3490	257	6	durations	duration	NOUN
ap-3490	257	7	of	of	ADP
ap-3490	257	8	activities	activity	NOUN
ap-3490	257	9	only	only	ADV
ap-3490	257	10	become	become	VERB
ap-3490	257	11	apparent	apparent	ADJ
ap-3490	257	12	during	during	ADP
ap-3490	257	13	execution	execution	NOUN
ap-3490	257	14	.	.	PUNCT
ap-3490	258	1	in	in	ADP
ap-3490	258	2	a	a	DET
ap-3490	258	3	bench	bench	NOUN
ap-3490	258	4	,	,	PUNCT
ap-3490	258	5	various	various	ADJ
ap-3490	258	6	types	type	NOUN
ap-3490	258	7	of	of	ADP
ap-3490	258	8	contingencies	contingency	NOUN
ap-3490	258	9	may	may	AUX
ap-3490	258	10	occur	occur	VERB
ap-3490	258	11	,	,	PUNCT
ap-3490	258	12	such	such	ADJ
ap-3490	258	13	as	as	ADP
ap-3490	258	14	unexpected	unexpected	ADJ
ap-3490	258	15	maintenance	maintenance	NOUN
ap-3490	258	16	of	of	ADP
ap-3490	258	17	machines	machine	NOUN
ap-3490	258	18	,	,	PUNCT
ap-3490	258	19	or	or	CCONJ
ap-3490	258	20	increased	increase	VERB
ap-3490	258	21	drilling	drilling	NOUN
ap-3490	258	22	time	time	NOUN
ap-3490	258	23	due	due	ADP
ap-3490	258	24	to	to	ADP
ap-3490	258	25	unknown	unknown	ADJ
ap-3490	258	26	geological	geological	ADJ
ap-3490	258	27	characteristics	characteristic	NOUN
ap-3490	258	28	of	of	ADP
ap-3490	258	29	the	the	DET
ap-3490	258	30	terrain	terrain	NOUN
ap-3490	258	31	.	.	PUNCT
ap-3490	259	1	therefore	therefore	ADV
ap-3490	259	2	,	,	PUNCT
ap-3490	259	3	we	we	PRON
ap-3490	259	4	need	need	VERB
ap-3490	259	5	to	to	PART
ap-3490	259	6	monitor	monitor	VERB
ap-3490	259	7	the	the	DET
ap-3490	259	8	execution	execution	NOUN
ap-3490	259	9	and	and	CCONJ
ap-3490	259	10	reflect	reflect	VERB
ap-3490	259	11	the	the	DET
ap-3490	259	12	contingencies	contingency	NOUN
ap-3490	259	13	in	in	ADP
ap-3490	259	14	the	the	DET
ap-3490	259	15	common	common	ADJ
ap-3490	259	16	representation	representation	NOUN
ap-3490	259	17	.	.	PUNCT
ap-3490	260	1	in	in	ADP
ap-3490	260	2	our	our	PRON
ap-3490	260	3	approach	approach	NOUN
ap-3490	260	4	,	,	PUNCT
ap-3490	260	5	the	the	DET
ap-3490	260	6	nominal	nominal	ADJ
ap-3490	260	7	behavior	behavior	NOUN
ap-3490	260	8	of	of	ADP
ap-3490	260	9	the	the	DET
ap-3490	260	10	machines	machine	NOUN
ap-3490	260	11	is	be	AUX
ap-3490	260	12	given	give	VERB
ap-3490	260	13	by	by	ADP
ap-3490	260	14	a	a	DET
ap-3490	260	15	solution	solution	NOUN
ap-3490	260	16	of	of	ADP
ap-3490	260	17	the	the	DET
ap-3490	260	18	dp3	dp3	PROPN
ap-3490	260	19	,	,	PUNCT
ap-3490	260	20	obtained	obtain	VERB
ap-3490	260	21	via	via	ADP
ap-3490	260	22	algorithm	algorithm	PROPN
ap-3490	260	23	dp3	dp3	PROPN
ap-3490	260	24	-	-	PUNCT
ap-3490	260	25	solver	solver	PROPN
ap-3490	260	26	.	.	PUNCT
ap-3490	261	1	the	the	DET
ap-3490	261	2	start	start	NOUN
ap-3490	261	3	and	and	CCONJ
ap-3490	261	4	end	end	NOUN
ap-3490	261	5	times	time	NOUN
ap-3490	261	6	associated	associate	VERB
ap-3490	261	7	to	to	ADP
ap-3490	261	8	the	the	DET
ap-3490	261	9	intervals	interval	NOUN
ap-3490	261	10	m(t	m(t	PROPN
ap-3490	261	11	)	)	PUNCT
ap-3490	261	12	of	of	ADP
ap-3490	261	13	every	every	DET
ap-3490	261	14	mission	mission	NOUN
ap-3490	261	15	m	m	VERB
ap-3490	261	16	are	be	AUX
ap-3490	261	17	computed	compute	VERB
ap-3490	261	18	through	through	ADP
ap-3490	261	19	temporal	temporal	ADJ
ap-3490	261	20	propagation	propagation	NOUN
ap-3490	261	21	.	.	PUNCT
ap-3490	262	1	all	all	DET
ap-3490	262	2	the	the	DET
ap-3490	262	3	lower	low	ADJ
ap-3490	262	4	bounds	bound	NOUN
ap-3490	262	5	represent	represent	VERB
ap-3490	262	6	the	the	DET
ap-3490	262	7	earliest	early	ADJ
ap-3490	262	8	possible	possible	ADJ
ap-3490	262	9	times	time	NOUN
ap-3490	262	10	at	at	ADP
ap-3490	262	11	which	which	PRON
ap-3490	262	12	missions	mission	NOUN
ap-3490	262	13	can	can	AUX
ap-3490	262	14	be	be	AUX
ap-3490	262	15	executed	execute	VERB
ap-3490	262	16	,	,	PUNCT
ap-3490	262	17	and	and	CCONJ
ap-3490	262	18	are	be	AUX
ap-3490	262	19	used	use	VERB
ap-3490	262	20	to	to	PART
ap-3490	262	21	compute	compute	VERB
ap-3490	262	22	the	the	DET
ap-3490	262	23	desired	desire	VERB
ap-3490	262	24	speeds	speed	NOUN
ap-3490	262	25	at	at	ADP
ap-3490	262	26	which	which	PRON
ap-3490	262	27	the	the	DET
ap-3490	262	28	computed	computed	ADJ
ap-3490	262	29	paths	path	NOUN
ap-3490	262	30	should	should	AUX
ap-3490	262	31	be	be	AUX
ap-3490	262	32	driven	drive	VERB
ap-3490	262	33	by	by	ADP
ap-3490	262	34	the	the	DET
ap-3490	262	35	vehicle	vehicle	NOUN
ap-3490	262	36	executives	executive	NOUN
ap-3490	262	37	.	.	PUNCT
ap-3490	263	1	a	a	DET
ap-3490	263	2	machine	machine	NOUN
ap-3490	263	3	executive	executive	NOUN
ap-3490	263	4	realizes	realize	VERB
ap-3490	263	5	the	the	DET
ap-3490	263	6	interface	interface	NOUN
ap-3490	263	7	between	between	ADP
ap-3490	263	8	machine	machine	NOUN
ap-3490	263	9	controllers	controller	NOUN
ap-3490	263	10	and	and	CCONJ
ap-3490	263	11	the	the	DET
ap-3490	263	12	missions	mission	NOUN
ap-3490	263	13	in	in	ADP
ap-3490	263	14	the	the	DET
ap-3490	263	15	plan	plan	NOUN
ap-3490	263	16	by	by	ADP
ap-3490	263	17	instructing	instruct	VERB
ap-3490	263	18	the	the	DET
ap-3490	263	19	machine	machine	NOUN
ap-3490	263	20	controller	controller	NOUN
ap-3490	263	21	to	to	PART
ap-3490	263	22	follow	follow	VERB
ap-3490	263	23	the	the	DET
ap-3490	263	24	given	give	VERB
ap-3490	263	25	trajectories1	trajectories1	NOUN
ap-3490	263	26	.	.	PUNCT
ap-3490	264	1	it	it	PRON
ap-3490	264	2	also	also	ADV
ap-3490	264	3	updates	update	VERB
ap-3490	264	4	the	the	DET
ap-3490	264	5	time	time	NOUN
ap-3490	264	6	intervals	interval	NOUN
ap-3490	264	7	m(t	m(t	PROPN
ap-3490	264	8	)	)	PUNCT
ap-3490	264	9	of	of	ADP
ap-3490	264	10	the	the	DET
ap-3490	264	11	current	current	ADJ
ap-3490	264	12	mission	mission	NOUN
ap-3490	264	13	by	by	ADP
ap-3490	264	14	posting	post	VERB
ap-3490	264	15	into	into	ADP
ap-3490	264	16	the	the	DET
ap-3490	264	17	common	common	ADJ
ap-3490	264	18	representation	representation	NOUN
ap-3490	264	19	constraints	constraint	NOUN
ap-3490	264	20	representing	represent	VERB
ap-3490	264	21	the	the	DET
ap-3490	264	22	current	current	ADJ
ap-3490	264	23	progress	progress	NOUN
ap-3490	264	24	of	of	ADP
ap-3490	264	25	the	the	DET
ap-3490	264	26	machine	machine	NOUN
ap-3490	264	27	.	.	PUNCT
ap-3490	265	1	these	these	DET
ap-3490	265	2	constraints	constraint	NOUN
ap-3490	265	3	are	be	AUX
ap-3490	265	4	used	use	VERB
ap-3490	265	5	by	by	ADP
ap-3490	265	6	the	the	DET
ap-3490	265	7	stp	stp	PROPN
ap-3490	265	8	solver	solver	NOUN
ap-3490	265	9	to	to	PART
ap-3490	265	10	propagate	propagate	VERB
ap-3490	265	11	any	any	DET
ap-3490	265	12	mismatch	mismatch	NOUN
ap-3490	265	13	between	between	ADP
ap-3490	265	14	prescribed	prescribe	VERB
ap-3490	265	15	and	and	CCONJ
ap-3490	265	16	executed	execute	VERB
ap-3490	265	17	missions	mission	NOUN
ap-3490	265	18	of	of	ADP
ap-3490	265	19	all	all	DET
ap-3490	265	20	machines	machine	NOUN
ap-3490	265	21	in	in	ADP
ap-3490	265	22	the	the	DET
ap-3490	265	23	fleet	fleet	NOUN
ap-3490	265	24	.	.	PUNCT
ap-3490	266	1	the	the	DET
ap-3490	266	2	stp	stp	PROPN
ap-3490	266	3	solver	solver	NOUN
ap-3490	266	4	plays	play	VERB
ap-3490	266	5	a	a	DET
ap-3490	266	6	central	central	ADJ
ap-3490	266	7	role	role	NOUN
ap-3490	266	8	in	in	ADP
ap-3490	266	9	execution	execution	NOUN
ap-3490	266	10	monitoring	monitoring	NOUN
ap-3490	266	11	.	.	PUNCT
ap-3490	267	1	machine	machine	NOUN
ap-3490	267	2	executives	executive	NOUN
ap-3490	267	3	update	update	VERB
ap-3490	267	4	the	the	DET
ap-3490	267	5	common	common	ADJ
ap-3490	267	6	representation	representation	NOUN
ap-3490	267	7	at	at	ADP
ap-3490	267	8	a	a	DET
ap-3490	267	9	frequency	frequency	NOUN
ap-3490	267	10	of	of	ADP
ap-3490	267	11	1hz	1hz	NOUN
ap-3490	267	12	to	to	PART
ap-3490	267	13	dispatch	dispatch	NOUN
ap-3490	267	14	or	or	CCONJ
ap-3490	267	15	end	end	VERB
ap-3490	267	16	missions	mission	NOUN
ap-3490	267	17	.	.	PUNCT
ap-3490	268	1	a	a	DET
ap-3490	268	2	mission	mission	NOUN
ap-3490	268	3	is	be	AUX
ap-3490	268	4	ended	end	VERB
ap-3490	268	5	by	by	ADP
ap-3490	268	6	adding	add	VERB
ap-3490	268	7	a	a	DET
ap-3490	268	8	temporal	temporal	ADJ
ap-3490	268	9	constraint	constraint	NOUN
ap-3490	268	10	into	into	ADP
ap-3490	268	11	the	the	DET
ap-3490	268	12	common	common	ADJ
ap-3490	268	13	constraint	constraint	NOUN
ap-3490	268	14	network	network	NOUN
ap-3490	268	15	representing	represent	VERB
ap-3490	268	16	the	the	DET
ap-3490	268	17	finish	finish	NOUN
ap-3490	268	18	time	time	NOUN
ap-3490	268	19	of	of	ADP
ap-3490	268	20	the	the	DET
ap-3490	268	21	mission	mission	NOUN
ap-3490	268	22	as	as	SCONJ
ap-3490	268	23	the	the	DET
ap-3490	268	24	executive	executive	ADJ
ap-3490	268	25	layer	layer	NOUN
ap-3490	268	26	informs	inform	VERB
ap-3490	268	27	.	.	PUNCT
ap-3490	269	1	the	the	DET
ap-3490	269	2	consequences	consequence	NOUN
ap-3490	269	3	of	of	ADP
ap-3490	269	4	such	such	ADJ
ap-3490	269	5	updates	update	NOUN
ap-3490	269	6	can	can	AUX
ap-3490	269	7	be	be	AUX
ap-3490	269	8	easily	easily	ADV
ap-3490	269	9	computed	compute	VERB
ap-3490	269	10	within	within	ADP
ap-3490	269	11	the	the	DET
ap-3490	269	12	period	period	NOUN
ap-3490	269	13	of	of	ADP
ap-3490	269	14	one	one	NUM
ap-3490	269	15	second	second	NOUN
ap-3490	269	16	because	because	SCONJ
ap-3490	269	17	the	the	DET
ap-3490	269	18	stp	stp	PROPN
ap-3490	269	19	solver	solver	NOUN
ap-3490	269	20	performs	perform	VERB
ap-3490	269	21	polynomial	polynomial	ADJ
ap-3490	269	22	inference	inference	NOUN
ap-3490	269	23	.	.	PUNCT
ap-3490	270	1	1	1	NUM
ap-3490	270	2	in	in	ADP
ap-3490	270	3	the	the	DET
ap-3490	270	4	current	current	ADJ
ap-3490	270	5	implementation	implementation	NOUN
ap-3490	270	6	,	,	PUNCT
ap-3490	270	7	we	we	PRON
ap-3490	270	8	employ	employ	VERB
ap-3490	270	9	a	a	DET
ap-3490	270	10	model	model	NOUN
ap-3490	270	11	predictive	predictive	ADJ
ap-3490	270	12	controller	controller	NOUN
ap-3490	270	13	(	(	PUNCT
ap-3490	270	14	mpc	mpc	NOUN
ap-3490	270	15	)	)	PUNCT
ap-3490	271	1	[	[	X
ap-3490	271	2	6	6	NUM
ap-3490	271	3	]	]	PUNCT
ap-3490	271	4	.	.	PUNCT
ap-3490	272	1	53	53	NUM
ap-3490	272	2	m.	m.	NOUN
ap-3490	272	3	mansouri	mansouri	PROPN
ap-3490	272	4	,	,	PUNCT
ap-3490	272	5	h.	h.	PROPN
ap-3490	272	6	andreasson	andreasson	PROPN
ap-3490	272	7	,	,	PUNCT
ap-3490	272	8	f.	f.	PROPN
ap-3490	272	9	pecora	pecora	PROPN
ap-3490	272	10	acta	acta	PROPN
ap-3490	272	11	polytechnica	polytechnica	PROPN
ap-3490	272	12	also	also	ADV
ap-3490	272	13	,	,	PUNCT
ap-3490	272	14	due	due	ADP
ap-3490	272	15	to	to	ADP
ap-3490	272	16	the	the	DET
ap-3490	272	17	fact	fact	NOUN
ap-3490	272	18	that	that	SCONJ
ap-3490	272	19	adding	add	VERB
ap-3490	272	20	constraints	constraint	NOUN
ap-3490	272	21	can	can	AUX
ap-3490	272	22	not	not	PART
ap-3490	272	23	“	"	PUNCT
ap-3490	272	24	undo	undo	VERB
ap-3490	272	25	”	"	PUNCT
ap-3490	272	26	other	other	ADJ
ap-3490	272	27	decisions	decision	NOUN
ap-3490	272	28	,	,	PUNCT
ap-3490	272	29	we	we	PRON
ap-3490	272	30	can	can	AUX
ap-3490	272	31	post	post	VERB
ap-3490	272	32	unforeseen	unforeseen	ADJ
ap-3490	272	33	durations	duration	NOUN
ap-3490	272	34	(	(	PUNCT
ap-3490	272	35	e.g.	e.g.	ADV
ap-3490	272	36	,	,	PUNCT
ap-3490	272	37	encountering	encounter	VERB
ap-3490	272	38	hard	hard	ADJ
ap-3490	272	39	rock	rock	NOUN
ap-3490	272	40	while	while	SCONJ
ap-3490	272	41	drilling	drilling	NOUN
ap-3490	272	42	)	)	PUNCT
ap-3490	272	43	at	at	ADP
ap-3490	272	44	execution	execution	NOUN
ap-3490	272	45	time	time	NOUN
ap-3490	272	46	.	.	PUNCT
ap-3490	273	1	more	more	ADV
ap-3490	273	2	precisely	precisely	ADV
ap-3490	273	3	,	,	PUNCT
ap-3490	273	4	the	the	DET
ap-3490	273	5	prolongation	prolongation	NOUN
ap-3490	273	6	of	of	ADP
ap-3490	273	7	an	an	DET
ap-3490	273	8	activity	activity	NOUN
ap-3490	273	9	represented	represent	VERB
ap-3490	273	10	by	by	ADP
ap-3490	273	11	a	a	DET
ap-3490	273	12	flexible	flexible	ADJ
ap-3490	273	13	time	time	NOUN
ap-3490	273	14	interval	interval	NOUN
ap-3490	273	15	associated	associate	VERB
ap-3490	273	16	to	to	ADP
ap-3490	273	17	a	a	DET
ap-3490	273	18	motion	motion	NOUN
ap-3490	273	19	polygon	polygon	NOUN
ap-3490	273	20	can	can	AUX
ap-3490	273	21	not	not	PART
ap-3490	273	22	affect	affect	VERB
ap-3490	273	23	the	the	DET
ap-3490	273	24	sequencing	sequencing	NOUN
ap-3490	273	25	,	,	PUNCT
ap-3490	273	26	the	the	DET
ap-3490	273	27	approach	approach	NOUN
ap-3490	273	28	angle	angle	NOUN
ap-3490	273	29	,	,	PUNCT
ap-3490	273	30	the	the	DET
ap-3490	273	31	particular	particular	ADJ
ap-3490	273	32	motions	motion	NOUN
ap-3490	273	33	,	,	PUNCT
ap-3490	273	34	nor	nor	CCONJ
ap-3490	273	35	machine	machine	NOUN
ap-3490	273	36	allocations	allocation	NOUN
ap-3490	273	37	.	.	PUNCT
ap-3490	274	1	it	it	PRON
ap-3490	274	2	only	only	ADV
ap-3490	274	3	bears	bear	VERB
ap-3490	274	4	consequences	consequence	NOUN
ap-3490	274	5	on	on	ADP
ap-3490	274	6	the	the	DET
ap-3490	274	7	coordination	coordination	NOUN
ap-3490	274	8	sub	sub	NOUN
ap-3490	274	9	-	-	NOUN
ap-3490	274	10	problem	problem	NOUN
ap-3490	274	11	,	,	PUNCT
ap-3490	274	12	as	as	SCONJ
ap-3490	274	13	delays	delay	NOUN
ap-3490	274	14	may	may	AUX
ap-3490	274	15	need	need	VERB
ap-3490	274	16	to	to	PART
ap-3490	274	17	be	be	AUX
ap-3490	274	18	propagated	propagate	VERB
ap-3490	274	19	to	to	ADP
ap-3490	274	20	other	other	ADJ
ap-3490	274	21	waiting	waiting	NOUN
ap-3490	274	22	machines	machine	NOUN
ap-3490	274	23	.	.	PUNCT
ap-3490	275	1	an	an	DET
ap-3490	275	2	example	example	NOUN
ap-3490	275	3	of	of	ADP
ap-3490	275	4	this	this	DET
ap-3490	275	5	situation	situation	NOUN
ap-3490	275	6	is	be	AUX
ap-3490	275	7	described	describe	VERB
ap-3490	275	8	in	in	ADP
ap-3490	275	9	the	the	DET
ap-3490	275	10	next	next	ADJ
ap-3490	275	11	section	section	NOUN
ap-3490	275	12	.	.	PUNCT
ap-3490	276	1	note	note	VERB
ap-3490	276	2	that	that	SCONJ
ap-3490	276	3	if	if	SCONJ
ap-3490	276	4	we	we	PRON
ap-3490	276	5	want	want	VERB
ap-3490	276	6	to	to	PART
ap-3490	276	7	minimize	minimize	VERB
ap-3490	276	8	the	the	DET
ap-3490	276	9	ttc	ttc	NOUN
ap-3490	276	10	,	,	PUNCT
ap-3490	276	11	then	then	ADV
ap-3490	276	12	,	,	PUNCT
ap-3490	276	13	prolongation	prolongation	NOUN
ap-3490	276	14	of	of	ADP
ap-3490	276	15	an	an	DET
ap-3490	276	16	activity	activity	NOUN
ap-3490	276	17	should	should	AUX
ap-3490	276	18	lead	lead	VERB
ap-3490	276	19	to	to	ADP
ap-3490	276	20	re	re	NOUN
ap-3490	276	21	-	-	NOUN
ap-3490	276	22	allocation	allocation	NOUN
ap-3490	276	23	of	of	ADP
ap-3490	276	24	the	the	DET
ap-3490	276	25	machines	machine	NOUN
ap-3490	276	26	,	,	PUNCT
ap-3490	276	27	which	which	PRON
ap-3490	276	28	in	in	ADP
ap-3490	276	29	turn	turn	NOUN
ap-3490	276	30	would	would	AUX
ap-3490	276	31	result	result	VERB
ap-3490	276	32	in	in	ADP
ap-3490	276	33	updating	update	VERB
ap-3490	276	34	the	the	DET
ap-3490	276	35	decisions	decision	NOUN
ap-3490	276	36	in	in	ADP
ap-3490	276	37	the	the	DET
ap-3490	276	38	sequencing	sequence	VERB
ap-3490	276	39	sub	sub	NOUN
ap-3490	276	40	-	-	NOUN
ap-3490	276	41	problems	problem	NOUN
ap-3490	276	42	.	.	PUNCT
ap-3490	277	1	this	this	PRON
ap-3490	277	2	allows	allow	VERB
ap-3490	277	3	for	for	ADP
ap-3490	277	4	re	re	VERB
ap-3490	277	5	-	-	VERB
ap-3490	277	6	balancing	balance	VERB
ap-3490	277	7	the	the	DET
ap-3490	277	8	workload	workload	NOUN
ap-3490	277	9	among	among	ADP
ap-3490	277	10	the	the	DET
ap-3490	277	11	machines	machine	NOUN
ap-3490	277	12	.	.	PUNCT
ap-3490	278	1	considering	consider	VERB
ap-3490	278	2	the	the	DET
ap-3490	278	3	wide	wide	ADJ
ap-3490	278	4	range	range	NOUN
ap-3490	278	5	of	of	ADP
ap-3490	278	6	re	re	ADJ
ap-3490	278	7	-	-	ADJ
ap-3490	278	8	planning	planning	ADJ
ap-3490	278	9	strategies	strategy	NOUN
ap-3490	278	10	that	that	PRON
ap-3490	278	11	can	can	AUX
ap-3490	278	12	be	be	AUX
ap-3490	278	13	used	use	VERB
ap-3490	278	14	to	to	PART
ap-3490	278	15	minimize	minimize	VERB
ap-3490	278	16	ttc	ttc	NOUN
ap-3490	278	17	is	be	AUX
ap-3490	278	18	a	a	DET
ap-3490	278	19	topic	topic	NOUN
ap-3490	278	20	for	for	ADP
ap-3490	278	21	future	future	ADJ
ap-3490	278	22	work	work	NOUN
ap-3490	278	23	.	.	PUNCT
ap-3490	279	1	on	on	ADP
ap-3490	279	2	-	-	PUNCT
ap-3490	279	3	line	line	NOUN
ap-3490	279	4	temporal	temporal	ADJ
ap-3490	279	5	reasoning	reasoning	NOUN
ap-3490	279	6	also	also	ADV
ap-3490	279	7	caters	cater	VERB
ap-3490	279	8	to	to	ADP
ap-3490	279	9	another	another	DET
ap-3490	279	10	important	important	ADJ
ap-3490	279	11	requirement	requirement	NOUN
ap-3490	279	12	of	of	ADP
ap-3490	279	13	mining	mining	NOUN
ap-3490	279	14	companies	company	NOUN
ap-3490	279	15	,	,	PUNCT
ap-3490	279	16	namely	namely	ADV
ap-3490	279	17	the	the	DET
ap-3490	279	18	need	need	NOUN
ap-3490	279	19	to	to	PART
ap-3490	279	20	know	know	VERB
ap-3490	279	21	an	an	DET
ap-3490	279	22	estimate	estimate	NOUN
ap-3490	279	23	of	of	ADP
ap-3490	279	24	the	the	DET
ap-3490	279	25	total	total	ADJ
ap-3490	279	26	time	time	NOUN
ap-3490	279	27	to	to	ADP
ap-3490	279	28	completion	completion	NOUN
ap-3490	279	29	(	(	PUNCT
ap-3490	279	30	ttc	ttc	NOUN
ap-3490	279	31	)	)	PUNCT
ap-3490	279	32	.	.	PUNCT
ap-3490	280	1	at	at	ADP
ap-3490	280	2	planning	planning	NOUN
ap-3490	280	3	time	time	NOUN
ap-3490	280	4	,	,	PUNCT
ap-3490	280	5	we	we	PRON
ap-3490	280	6	provide	provide	VERB
ap-3490	280	7	an	an	DET
ap-3490	280	8	optimistic	optimistic	ADJ
ap-3490	280	9	ttc	ttc	NOUN
ap-3490	280	10	by	by	ADP
ap-3490	280	11	initializing	initialize	VERB
ap-3490	280	12	the	the	DET
ap-3490	280	13	duration	duration	NOUN
ap-3490	280	14	constraints	constraint	NOUN
ap-3490	280	15	3	3	NUM
ap-3490	280	16	with	with	ADP
ap-3490	280	17	reasonable	reasonable	ADJ
ap-3490	280	18	values	value	NOUN
ap-3490	280	19	:	:	PUNCT
ap-3490	280	20	the	the	DET
ap-3490	280	21	durations	duration	NOUN
ap-3490	280	22	of	of	ADP
ap-3490	280	23	intervals	interval	NOUN
ap-3490	280	24	corresponding	correspond	VERB
ap-3490	280	25	to	to	ADP
ap-3490	280	26	motion	motion	NOUN
ap-3490	280	27	polygons	polygon	NOUN
ap-3490	280	28	are	be	AUX
ap-3490	280	29	computed	compute	VERB
ap-3490	280	30	using	use	VERB
ap-3490	280	31	the	the	DET
ap-3490	280	32	maximum	maximum	ADJ
ap-3490	280	33	allowed	allow	VERB
ap-3490	280	34	speed	speed	NOUN
ap-3490	280	35	of	of	ADP
ap-3490	280	36	the	the	DET
ap-3490	280	37	machines	machine	NOUN
ap-3490	280	38	;	;	PUNCT
ap-3490	280	39	and	and	CCONJ
ap-3490	280	40	the	the	DET
ap-3490	280	41	intervals	interval	NOUN
ap-3490	280	42	corresponding	correspond	VERB
ap-3490	280	43	to	to	ADP
ap-3490	280	44	activity	activity	NOUN
ap-3490	280	45	polygons	polygon	NOUN
ap-3490	280	46	are	be	AUX
ap-3490	280	47	initialized	initialize	VERB
ap-3490	280	48	with	with	ADP
ap-3490	280	49	durations	duration	NOUN
ap-3490	280	50	under	under	ADP
ap-3490	280	51	nominal	nominal	ADJ
ap-3490	280	52	conditions	condition	NOUN
ap-3490	280	53	(	(	PUNCT
ap-3490	280	54	average	average	ADJ
ap-3490	280	55	rock	rock	NOUN
ap-3490	280	56	density	density	NOUN
ap-3490	280	57	,	,	PUNCT
ap-3490	280	58	and	and	CCONJ
ap-3490	280	59	no	no	DET
ap-3490	280	60	maintenance	maintenance	NOUN
ap-3490	280	61	)	)	PUNCT
ap-3490	280	62	.	.	PUNCT
ap-3490	281	1	as	as	ADP
ap-3490	281	2	execution	execution	NOUN
ap-3490	281	3	proceeds	proceed	NOUN
ap-3490	281	4	,	,	PUNCT
ap-3490	281	5	ttc	ttc	PROPN
ap-3490	281	6	is	be	AUX
ap-3490	281	7	updated	update	VERB
ap-3490	281	8	as	as	ADP
ap-3490	281	9	a	a	DET
ap-3490	281	10	result	result	NOUN
ap-3490	281	11	of	of	ADP
ap-3490	281	12	temporal	temporal	ADJ
ap-3490	281	13	reasoning	reasoning	NOUN
ap-3490	281	14	to	to	PART
ap-3490	281	15	reflect	reflect	VERB
ap-3490	281	16	the	the	DET
ap-3490	281	17	actual	actual	ADJ
ap-3490	281	18	situation	situation	NOUN
ap-3490	281	19	.	.	PUNCT
ap-3490	282	1	7	7	X
ap-3490	282	2	.	.	NUM
ap-3490	282	3	experiments	experiment	NOUN
ap-3490	282	4	and	and	CCONJ
ap-3490	282	5	evaluations	evaluation	NOUN
ap-3490	282	6	we	we	PRON
ap-3490	282	7	carried	carry	VERB
ap-3490	282	8	out	out	ADP
ap-3490	282	9	several	several	ADJ
ap-3490	282	10	experiments	experiment	NOUN
ap-3490	282	11	in	in	ADP
ap-3490	282	12	different	different	ADJ
ap-3490	282	13	selections	selection	NOUN
ap-3490	282	14	of	of	ADP
ap-3490	282	15	benches	bench	NOUN
ap-3490	282	16	and	and	CCONJ
ap-3490	282	17	drill	drill	NOUN
ap-3490	282	18	targets	target	NOUN
ap-3490	282	19	.	.	PUNCT
ap-3490	283	1	in	in	ADP
ap-3490	283	2	this	this	DET
ap-3490	283	3	section	section	NOUN
ap-3490	283	4	,	,	PUNCT
ap-3490	283	5	we	we	PRON
ap-3490	283	6	exemplify	exemplify	VERB
ap-3490	283	7	one	one	NUM
ap-3490	283	8	of	of	ADP
ap-3490	283	9	the	the	DET
ap-3490	283	10	most	most	ADV
ap-3490	283	11	challenging	challenging	ADJ
ap-3490	283	12	scenario	scenario	NOUN
ap-3490	283	13	.	.	PUNCT
ap-3490	284	1	the	the	DET
ap-3490	284	2	resulting	result	VERB
ap-3490	284	3	plan	plan	NOUN
ap-3490	284	4	was	be	AUX
ap-3490	284	5	then	then	ADV
ap-3490	284	6	run	run	VERB
ap-3490	284	7	by	by	ADP
ap-3490	284	8	a	a	DET
ap-3490	284	9	gazebosimulated	gazebosimulate	VERB
ap-3490	284	10	fleet	fleet	NOUN
ap-3490	284	11	of	of	ADP
ap-3490	284	12	pitviper-311s	pitviper-311s	PROPN
ap-3490	284	13	,	,	PUNCT
ap-3490	284	14	and	and	CCONJ
ap-3490	284	15	all	all	DET
ap-3490	284	16	interfaces	interface	NOUN
ap-3490	284	17	between	between	ADP
ap-3490	284	18	the	the	DET
ap-3490	284	19	dp3	dp3	PROPN
ap-3490	284	20	-	-	PUNCT
ap-3490	284	21	solver	solver	PROPN
ap-3490	284	22	and	and	CCONJ
ap-3490	284	23	the	the	DET
ap-3490	284	24	platforms	platform	NOUN
ap-3490	284	25	were	be	AUX
ap-3490	284	26	realized	realize	VERB
ap-3490	284	27	as	as	ADP
ap-3490	284	28	ros	ros	PROPN
ap-3490	284	29	[	[	X
ap-3490	284	30	7	7	NUM
ap-3490	284	31	]	]	PUNCT
ap-3490	284	32	nodes	node	NOUN
ap-3490	284	33	.	.	PUNCT
ap-3490	285	1	the	the	DET
ap-3490	285	2	dp3	dp3	PROPN
ap-3490	285	3	-	-	PUNCT
ap-3490	285	4	solver	solver	PROPN
ap-3490	285	5	ran	run	VERB
ap-3490	285	6	on	on	ADP
ap-3490	285	7	a	a	DET
ap-3490	285	8	3.40ghz×4	3.40ghz×4	NUM
ap-3490	285	9	intel	intel	PROPN
ap-3490	285	10	i7	i7	PROPN
ap-3490	285	11	-	-	PUNCT
ap-3490	285	12	3770	3770	NUM
ap-3490	285	13	m	m	NOUN
ap-3490	285	14	cpu	cpu	NOUN
ap-3490	285	15	with	with	ADP
ap-3490	285	16	8	8	NUM
ap-3490	285	17	gb	gb	NOUN
ap-3490	285	18	of	of	ADP
ap-3490	285	19	memory	memory	NOUN
ap-3490	285	20	.	.	PUNCT
ap-3490	286	1	the	the	DET
ap-3490	286	2	difficulty	difficulty	NOUN
ap-3490	286	3	of	of	ADP
ap-3490	286	4	the	the	DET
ap-3490	286	5	example	example	NOUN
ap-3490	286	6	originates	originate	NOUN
ap-3490	286	7	from	from	ADP
ap-3490	286	8	the	the	DET
ap-3490	286	9	closeness	closeness	NOUN
ap-3490	286	10	of	of	ADP
ap-3490	286	11	some	some	DET
ap-3490	286	12	targets	target	NOUN
ap-3490	286	13	to	to	ADP
ap-3490	286	14	the	the	DET
ap-3490	286	15	geofence	geofence	NOUN
ap-3490	286	16	.	.	PUNCT
ap-3490	287	1	it	it	PRON
ap-3490	287	2	is	be	AUX
ap-3490	287	3	also	also	ADV
ap-3490	287	4	affected	affect	VERB
ap-3490	287	5	by	by	ADP
ap-3490	287	6	the	the	DET
ap-3490	287	7	average	average	ADJ
ap-3490	287	8	distance	distance	NOUN
ap-3490	287	9	between	between	ADP
ap-3490	287	10	targets	target	NOUN
ap-3490	287	11	,	,	PUNCT
ap-3490	287	12	which	which	PRON
ap-3490	287	13	is	be	AUX
ap-3490	287	14	16	16	NUM
ap-3490	287	15	meters	meter	NOUN
ap-3490	287	16	(	(	PUNCT
ap-3490	287	17	only	only	ADV
ap-3490	287	18	1.8	1.8	NUM
ap-3490	287	19	meters	meter	NOUN
ap-3490	287	20	greather	greather	NOUN
ap-3490	287	21	than	than	ADP
ap-3490	287	22	the	the	DET
ap-3490	287	23	length	length	NOUN
ap-3490	287	24	of	of	ADP
ap-3490	287	25	the	the	DET
ap-3490	287	26	pitviper-311	pitviper-311	NOUN
ap-3490	287	27	)	)	PUNCT
ap-3490	287	28	.	.	PUNCT
ap-3490	288	1	the	the	DET
ap-3490	288	2	drill	drill	NOUN
ap-3490	288	3	target	target	NOUN
ap-3490	288	4	positions	position	NOUN
ap-3490	288	5	are	be	AUX
ap-3490	288	6	taken	take	VERB
ap-3490	288	7	from	from	ADP
ap-3490	288	8	a	a	DET
ap-3490	288	9	real	real	ADJ
ap-3490	288	10	blast	blast	NOUN
ap-3490	288	11	hole	hole	NOUN
ap-3490	288	12	pattern	pattern	NOUN
ap-3490	288	13	recently	recently	ADV
ap-3490	288	14	drilled	drill	VERB
ap-3490	288	15	in	in	ADP
ap-3490	288	16	an	an	DET
ap-3490	288	17	open	open	ADJ
ap-3490	288	18	-	-	PUNCT
ap-3490	288	19	pit	pit	NOUN
ap-3490	288	20	iron	iron	NOUN
ap-3490	288	21	-	-	PUNCT
ap-3490	288	22	ore	ore	NOUN
ap-3490	288	23	mine	mine	NOUN
ap-3490	288	24	in	in	ADP
ap-3490	288	25	western	western	ADJ
ap-3490	288	26	australia	australia	PROPN
ap-3490	288	27	.	.	PUNCT
ap-3490	289	1	as	as	SCONJ
ap-3490	289	2	noted	note	VERB
ap-3490	289	3	earlier	early	ADV
ap-3490	289	4	,	,	PUNCT
ap-3490	289	5	problems	problem	NOUN
ap-3490	289	6	become	become	VERB
ap-3490	289	7	much	much	ADV
ap-3490	289	8	more	more	ADV
ap-3490	289	9	difficult	difficult	ADJ
ap-3490	289	10	if	if	SCONJ
ap-3490	289	11	they	they	PRON
ap-3490	289	12	contain	contain	VERB
ap-3490	289	13	drill	drill	NOUN
ap-3490	289	14	targets	target	NOUN
ap-3490	289	15	that	that	PRON
ap-3490	289	16	are	be	AUX
ap-3490	289	17	close	close	ADJ
ap-3490	289	18	to	to	ADP
ap-3490	289	19	the	the	DET
ap-3490	289	20	geofence	geofence	NOUN
ap-3490	289	21	.	.	PUNCT
ap-3490	290	1	when	when	SCONJ
ap-3490	290	2	that	that	PRON
ap-3490	290	3	is	be	AUX
ap-3490	290	4	not	not	PART
ap-3490	290	5	the	the	DET
ap-3490	290	6	case	case	NOUN
ap-3490	290	7	the	the	DET
ap-3490	290	8	problems	problem	NOUN
ap-3490	290	9	are	be	AUX
ap-3490	290	10	easier	easy	ADJ
ap-3490	290	11	,	,	PUNCT
ap-3490	290	12	since	since	SCONJ
ap-3490	290	13	machines	machine	NOUN
ap-3490	290	14	have	have	VERB
ap-3490	290	15	enough	enough	ADJ
ap-3490	290	16	space	space	NOUN
ap-3490	290	17	to	to	PART
ap-3490	290	18	manoeuvre	manoeuvre	VERB
ap-3490	290	19	regardless	regardless	ADV
ap-3490	290	20	of	of	ADP
ap-3490	290	21	how	how	SCONJ
ap-3490	290	22	the	the	DET
ap-3490	290	23	approach	approach	NOUN
ap-3490	290	24	angles	angle	NOUN
ap-3490	290	25	are	be	AUX
ap-3490	290	26	chosen	choose	VERB
ap-3490	290	27	.	.	PUNCT
ap-3490	291	1	this	this	DET
ap-3490	291	2	experiment	experiment	NOUN
ap-3490	291	3	contains	contain	VERB
ap-3490	291	4	76	76	NUM
ap-3490	291	5	drill	drill	NOUN
ap-3490	291	6	targets	target	NOUN
ap-3490	291	7	and	and	CCONJ
ap-3490	291	8	3	3	NUM
ap-3490	291	9	available	available	ADJ
ap-3490	291	10	machines	machine	NOUN
ap-3490	291	11	.	.	PUNCT
ap-3490	292	1	figure	figure	VERB
ap-3490	292	2	10	10	NUM
ap-3490	292	3	shows	show	VERB
ap-3490	292	4	the	the	DET
ap-3490	292	5	final	final	ADJ
ap-3490	292	6	solution	solution	NOUN
ap-3490	292	7	to	to	ADP
ap-3490	292	8	the	the	DET
ap-3490	292	9	overall	overall	ADJ
ap-3490	292	10	dp3	dp3	PROPN
ap-3490	292	11	for	for	ADP
ap-3490	292	12	this	this	DET
ap-3490	292	13	specific	specific	ADJ
ap-3490	292	14	bench	bench	NOUN
ap-3490	292	15	.	.	PUNCT
ap-3490	293	1	in	in	ADP
ap-3490	293	2	the	the	DET
ap-3490	293	3	figure	figure	NOUN
ap-3490	293	4	,	,	PUNCT
ap-3490	293	5	robots	robot	NOUN
ap-3490	293	6	and	and	CCONJ
ap-3490	293	7	groups	group	NOUN
ap-3490	293	8	used	use	VERB
ap-3490	293	9	by	by	ADP
ap-3490	293	10	hvar	hvar	PROPN
ap-3490	293	11	seq	seq	PROPN
ap-3490	293	12	and	and	CCONJ
ap-3490	293	13	hval	hval	PROPN
ap-3490	293	14	seq	seq	NOUN
ap-3490	293	15	are	be	AUX
ap-3490	293	16	numbered	number	VERB
ap-3490	293	17	to	to	PART
ap-3490	293	18	facilitate	facilitate	VERB
ap-3490	293	19	the	the	DET
ap-3490	293	20	explanation	explanation	NOUN
ap-3490	293	21	.	.	PUNCT
ap-3490	294	1	as	as	SCONJ
ap-3490	294	2	shown	show	VERB
ap-3490	294	3	,	,	PUNCT
ap-3490	294	4	1	1	NUM
ap-3490	294	5	5	5	NUM
ap-3490	294	6	6	6	NUM
ap-3490	294	7	1	1	NUM
ap-3490	294	8	2	2	NUM
ap-3490	294	9	3	3	NUM
ap-3490	294	10	4	4	NUM
ap-3490	294	11	2	2	NUM
ap-3490	294	12	3	3	NUM
ap-3490	294	13	figure	figure	NOUN
ap-3490	294	14	10	10	NUM
ap-3490	294	15	.	.	PUNCT
ap-3490	295	1	a	a	DET
ap-3490	295	2	solution	solution	NOUN
ap-3490	295	3	to	to	ADP
ap-3490	295	4	the	the	DET
ap-3490	295	5	dp3	dp3	PROPN
ap-3490	295	6	problem	problem	NOUN
ap-3490	295	7	in	in	ADP
ap-3490	295	8	this	this	DET
ap-3490	295	9	bench	bench	NOUN
ap-3490	295	10	which	which	PRON
ap-3490	295	11	is	be	AUX
ap-3490	295	12	visualized	visualize	VERB
ap-3490	295	13	in	in	ADP
ap-3490	295	14	the	the	DET
ap-3490	295	15	ros	ros	PROPN
ap-3490	295	16	visualization	visualization	NOUN
ap-3490	295	17	tool	tool	NOUN
ap-3490	295	18	,	,	PUNCT
ap-3490	295	19	white	white	ADJ
ap-3490	295	20	arrows	arrow	NOUN
ap-3490	295	21	depict	depict	VERB
ap-3490	295	22	sequencing	sequence	VERB
ap-3490	295	23	,	,	PUNCT
ap-3490	295	24	pink	pink	ADJ
ap-3490	295	25	arrows	arrow	NOUN
ap-3490	295	26	represent	represent	VERB
ap-3490	295	27	vehicle	vehicle	NOUN
ap-3490	295	28	poses	pose	NOUN
ap-3490	295	29	at	at	ADP
ap-3490	295	30	each	each	DET
ap-3490	295	31	drill	drill	NOUN
ap-3490	295	32	target	target	NOUN
ap-3490	295	33	,	,	PUNCT
ap-3490	295	34	and	and	CCONJ
ap-3490	295	35	the	the	DET
ap-3490	295	36	green	green	ADJ
ap-3490	295	37	line	line	NOUN
ap-3490	295	38	shows	show	VERB
ap-3490	295	39	a	a	DET
ap-3490	295	40	part	part	NOUN
ap-3490	295	41	of	of	ADP
ap-3490	295	42	the	the	DET
ap-3490	295	43	geofence	geofence	NOUN
ap-3490	295	44	.	.	PUNCT
ap-3490	296	1	machine	machine	NOUN
ap-3490	296	2	1	1	NUM
ap-3490	296	3	starts	start	VERB
ap-3490	296	4	with	with	ADP
ap-3490	296	5	row	row	NOUN
ap-3490	296	6	1	1	NUM
ap-3490	296	7	and	and	CCONJ
ap-3490	296	8	exits	exit	VERB
ap-3490	296	9	the	the	DET
ap-3490	296	10	field	field	NOUN
ap-3490	296	11	from	from	ADP
ap-3490	296	12	row	row	NOUN
ap-3490	296	13	2	2	NUM
ap-3490	296	14	,	,	PUNCT
ap-3490	296	15	machine	machine	NOUN
ap-3490	296	16	2	2	NUM
ap-3490	296	17	starts	start	VERB
ap-3490	296	18	at	at	ADP
ap-3490	296	19	row	row	NOUN
ap-3490	296	20	3	3	NUM
ap-3490	296	21	and	and	CCONJ
ap-3490	296	22	exits	exit	VERB
ap-3490	296	23	at	at	ADP
ap-3490	296	24	row	row	NOUN
ap-3490	296	25	4	4	NUM
ap-3490	296	26	,	,	PUNCT
ap-3490	296	27	and	and	CCONJ
ap-3490	296	28	machine	machine	NOUN
ap-3490	296	29	3	3	NUM
ap-3490	296	30	starts	start	VERB
ap-3490	296	31	its	its	PRON
ap-3490	296	32	missions	mission	NOUN
ap-3490	296	33	from	from	ADP
ap-3490	296	34	row	row	NOUN
ap-3490	296	35	6	6	NUM
ap-3490	296	36	and	and	CCONJ
ap-3490	296	37	exits	exit	VERB
ap-3490	296	38	from	from	ADP
ap-3490	296	39	row	row	NOUN
ap-3490	296	40	5	5	NUM
ap-3490	296	41	.	.	PUNCT
ap-3490	297	1	the	the	DET
ap-3490	297	2	plan	plan	NOUN
ap-3490	297	3	is	be	AUX
ap-3490	297	4	found	find	VERB
ap-3490	297	5	in	in	ADP
ap-3490	297	6	2.14	2.14	NUM
ap-3490	297	7	minutes	minute	NOUN
ap-3490	297	8	.	.	PUNCT
ap-3490	298	1	figure	figure	VERB
ap-3490	298	2	11	11	NUM
ap-3490	298	3	shows	show	VERB
ap-3490	298	4	three	three	NUM
ap-3490	298	5	snapshots	snapshot	NOUN
ap-3490	298	6	of	of	ADP
ap-3490	298	7	a	a	DET
ap-3490	298	8	simulated	simulate	VERB
ap-3490	298	9	run	run	NOUN
ap-3490	298	10	.	.	PUNCT
ap-3490	299	1	each	each	DET
ap-3490	299	2	snapshot	snapshot	NOUN
ap-3490	299	3	shows	show	VERB
ap-3490	299	4	the	the	DET
ap-3490	299	5	motions	motion	NOUN
ap-3490	299	6	of	of	ADP
ap-3490	299	7	each	each	DET
ap-3490	299	8	robot	robot	NOUN
ap-3490	299	9	(	(	PUNCT
ap-3490	299	10	the	the	DET
ap-3490	299	11	collection	collection	NOUN
ap-3490	299	12	of	of	ADP
ap-3490	299	13	all	all	DET
ap-3490	299	14	movement	movement	NOUN
ap-3490	299	15	polygons	polygon	NOUN
ap-3490	299	16	)	)	PUNCT
ap-3490	299	17	.	.	PUNCT
ap-3490	300	1	in	in	ADP
ap-3490	300	2	figure	figure	NOUN
ap-3490	300	3	11(a	11(a	NUM
ap-3490	300	4	)	)	PUNCT
ap-3490	300	5	,	,	PUNCT
ap-3490	300	6	the	the	DET
ap-3490	300	7	motions	motion	NOUN
ap-3490	300	8	of	of	ADP
ap-3490	300	9	robot	robot	NOUN
ap-3490	300	10	1	1	NUM
ap-3490	300	11	partly	partly	ADV
ap-3490	300	12	occupy	occupy	VERB
ap-3490	300	13	rows	row	NOUN
ap-3490	300	14	3	3	NUM
ap-3490	300	15	and	and	CCONJ
ap-3490	300	16	4	4	NUM
ap-3490	300	17	for	for	ADP
ap-3490	300	18	manoeuvring	manoeuvre	VERB
ap-3490	300	19	between	between	ADP
ap-3490	300	20	row	row	NOUN
ap-3490	300	21	1	1	NUM
ap-3490	300	22	and	and	CCONJ
ap-3490	300	23	2	2	NUM
ap-3490	300	24	.	.	PUNCT
ap-3490	301	1	this	this	DET
ap-3490	301	2	results	result	NOUN
ap-3490	301	3	in	in	ADP
ap-3490	301	4	robot	robot	NOUN
ap-3490	301	5	2	2	NUM
ap-3490	301	6	having	have	VERB
ap-3490	301	7	to	to	PART
ap-3490	301	8	wait	wait	VERB
ap-3490	301	9	just	just	ADV
ap-3490	301	10	before	before	ADP
ap-3490	301	11	the	the	DET
ap-3490	301	12	conflicting	conflicting	ADJ
ap-3490	301	13	area	area	NOUN
ap-3490	301	14	,	,	PUNCT
ap-3490	301	15	until	until	SCONJ
ap-3490	301	16	robot	robot	NOUN
ap-3490	301	17	1	1	NUM
ap-3490	301	18	finishes	finish	VERB
ap-3490	301	19	its	its	PRON
ap-3490	301	20	manoeuvre	manoeuvre	NOUN
ap-3490	301	21	.	.	PUNCT
ap-3490	302	1	as	as	SCONJ
ap-3490	302	2	robot	robot	NOUN
ap-3490	302	3	2	2	PROPN
ap-3490	302	4	also	also	ADV
ap-3490	302	5	occupies	occupy	VERB
ap-3490	302	6	some	some	DET
ap-3490	302	7	part	part	NOUN
ap-3490	302	8	of	of	ADP
ap-3490	302	9	rows	row	NOUN
ap-3490	302	10	5	5	NUM
ap-3490	302	11	and	and	CCONJ
ap-3490	302	12	6	6	NUM
ap-3490	302	13	(	(	PUNCT
ap-3490	302	14	see	see	VERB
ap-3490	302	15	figure	figure	NOUN
ap-3490	302	16	11(b	11(b	NUM
ap-3490	302	17	)	)	PUNCT
ap-3490	302	18	)	)	PUNCT
ap-3490	302	19	,	,	PUNCT
ap-3490	302	20	robot	robot	NOUN
ap-3490	302	21	3	3	NUM
ap-3490	302	22	has	have	VERB
ap-3490	302	23	to	to	PART
ap-3490	302	24	wait	wait	VERB
ap-3490	302	25	until	until	SCONJ
ap-3490	302	26	robots	robot	NOUN
ap-3490	302	27	1	1	NUM
ap-3490	302	28	and	and	CCONJ
ap-3490	302	29	2	2	NUM
ap-3490	302	30	are	be	AUX
ap-3490	302	31	finished	finish	VERB
ap-3490	302	32	switching	switch	VERB
ap-3490	302	33	rows	row	NOUN
ap-3490	302	34	.	.	PUNCT
ap-3490	303	1	the	the	DET
ap-3490	303	2	fact	fact	NOUN
ap-3490	303	3	that	that	SCONJ
ap-3490	303	4	the	the	DET
ap-3490	303	5	motions	motion	NOUN
ap-3490	303	6	of	of	ADP
ap-3490	303	7	machine	machine	NOUN
ap-3490	303	8	2	2	NUM
ap-3490	303	9	do	do	AUX
ap-3490	303	10	not	not	PART
ap-3490	303	11	conflict	conflict	VERB
ap-3490	303	12	with	with	ADP
ap-3490	303	13	rows	row	NOUN
ap-3490	303	14	1	1	NUM
ap-3490	303	15	and	and	CCONJ
ap-3490	303	16	2	2	NUM
ap-3490	303	17	is	be	AUX
ap-3490	303	18	handled	handle	VERB
ap-3490	303	19	by	by	ADP
ap-3490	303	20	the	the	DET
ap-3490	303	21	motion	motion	NOUN
ap-3490	303	22	planner	planner	NOUN
ap-3490	303	23	;	;	PUNCT
ap-3490	303	24	the	the	DET
ap-3490	303	25	same	same	ADJ
ap-3490	303	26	holds	hold	VERB
ap-3490	303	27	for	for	ADP
ap-3490	303	28	machine	machine	NOUN
ap-3490	303	29	3	3	NUM
ap-3490	303	30	and	and	CCONJ
ap-3490	303	31	rows	row	NOUN
ap-3490	303	32	3	3	NUM
ap-3490	303	33	and	and	CCONJ
ap-3490	303	34	4	4	NUM
ap-3490	303	35	(	(	PUNCT
ap-3490	303	36	see	see	VERB
ap-3490	303	37	figure	figure	NOUN
ap-3490	303	38	11(c	11(c	NUM
ap-3490	303	39	)	)	PUNCT
ap-3490	303	40	)	)	PUNCT
ap-3490	303	41	.	.	PUNCT
ap-3490	304	1	as	as	SCONJ
ap-3490	304	2	the	the	DET
ap-3490	304	3	machines	machine	NOUN
ap-3490	304	4	start	start	VERB
ap-3490	304	5	their	their	PRON
ap-3490	304	6	execution	execution	NOUN
ap-3490	304	7	concurrently	concurrently	ADV
ap-3490	304	8	,	,	PUNCT
ap-3490	304	9	their	their	PRON
ap-3490	304	10	motions	motion	NOUN
ap-3490	304	11	would	would	AUX
ap-3490	304	12	lead	lead	VERB
ap-3490	304	13	to	to	ADP
ap-3490	304	14	collisions	collision	NOUN
ap-3490	304	15	,	,	PUNCT
ap-3490	304	16	were	be	AUX
ap-3490	304	17	it	it	PRON
ap-3490	304	18	not	not	PART
ap-3490	304	19	for	for	ADP
ap-3490	304	20	the	the	DET
ap-3490	304	21	fact	fact	NOUN
ap-3490	304	22	that	that	SCONJ
ap-3490	304	23	the	the	DET
ap-3490	304	24	coordination	coordination	NOUN
ap-3490	304	25	sub	sub	NOUN
ap-3490	304	26	-	-	NOUN
ap-3490	304	27	problem	problem	NOUN
ap-3490	304	28	was	be	AUX
ap-3490	304	29	solved	solve	VERB
ap-3490	304	30	as	as	ADV
ap-3490	304	31	well	well	ADV
ap-3490	304	32	.	.	PUNCT
ap-3490	305	1	the	the	DET
ap-3490	305	2	temporal	temporal	ADJ
ap-3490	305	3	constraints	constraint	NOUN
ap-3490	305	4	that	that	PRON
ap-3490	305	5	were	be	AUX
ap-3490	305	6	selected	select	VERB
ap-3490	305	7	by	by	ADP
ap-3490	305	8	the	the	DET
ap-3490	305	9	algorithm	algorithm	NOUN
ap-3490	305	10	resolve	resolve	VERB
ap-3490	305	11	these	these	DET
ap-3490	305	12	conflicts	conflict	NOUN
ap-3490	305	13	by	by	ADP
ap-3490	305	14	forcing	force	VERB
ap-3490	305	15	machines	machine	NOUN
ap-3490	305	16	2	2	NUM
ap-3490	305	17	and	and	CCONJ
ap-3490	305	18	3	3	NUM
ap-3490	305	19	to	to	PART
ap-3490	305	20	yield	yield	VERB
ap-3490	305	21	to	to	ADP
ap-3490	305	22	machine	machine	NOUN
ap-3490	305	23	1	1	NUM
ap-3490	305	24	.	.	PUNCT
ap-3490	306	1	the	the	DET
ap-3490	306	2	plan	plan	NOUN
ap-3490	306	3	obtained	obtain	VERB
ap-3490	306	4	with	with	ADP
ap-3490	306	5	algorithm	algorithm	PROPN
ap-3490	306	6	dp3	dp3	PROPN
ap-3490	306	7	-	-	PUNCT
ap-3490	306	8	solver	solver	PROPN
ap-3490	306	9	was	be	AUX
ap-3490	306	10	run	run	VERB
ap-3490	306	11	in	in	ADP
ap-3490	306	12	simulation	simulation	NOUN
ap-3490	306	13	three	three	NUM
ap-3490	306	14	more	more	ADJ
ap-3490	306	15	times	time	NOUN
ap-3490	306	16	.	.	PUNCT
ap-3490	307	1	during	during	ADP
ap-3490	307	2	the	the	DET
ap-3490	307	3	first	first	ADJ
ap-3490	307	4	run	run	NOUN
ap-3490	307	5	,	,	PUNCT
ap-3490	307	6	we	we	PRON
ap-3490	307	7	artificially	artificially	ADV
ap-3490	307	8	injected	inject	VERB
ap-3490	307	9	delays	delay	NOUN
ap-3490	307	10	in	in	ADP
ap-3490	307	11	the	the	DET
ap-3490	307	12	drilling	drilling	NOUN
ap-3490	307	13	activities	activity	NOUN
ap-3490	307	14	of	of	ADP
ap-3490	307	15	robot	robot	NOUN
ap-3490	307	16	1	1	NUM
ap-3490	307	17	for	for	ADP
ap-3490	307	18	a	a	DET
ap-3490	307	19	drill	drill	NOUN
ap-3490	307	20	target	target	NOUN
ap-3490	307	21	in	in	ADP
ap-3490	307	22	row	row	NOUN
ap-3490	307	23	1	1	NUM
ap-3490	307	24	.	.	PUNCT
ap-3490	308	1	through	through	ADP
ap-3490	308	2	temporal	temporal	ADJ
ap-3490	308	3	reasoning	reasoning	NOUN
ap-3490	308	4	,	,	PUNCT
ap-3490	308	5	the	the	DET
ap-3490	308	6	delay	delay	NOUN
ap-3490	308	7	was	be	AUX
ap-3490	308	8	propagated	propagate	VERB
ap-3490	308	9	on	on	ADP
ap-3490	308	10	the	the	DET
ap-3490	308	11	start	start	NOUN
ap-3490	308	12	times	time	NOUN
ap-3490	308	13	of	of	ADP
ap-3490	308	14	future	future	ADJ
ap-3490	308	15	missions	mission	NOUN
ap-3490	308	16	of	of	ADP
ap-3490	308	17	machines	machine	NOUN
ap-3490	308	18	2	2	NUM
ap-3490	308	19	and	and	CCONJ
ap-3490	308	20	3	3	NUM
ap-3490	308	21	.	.	PUNCT
ap-3490	309	1	the	the	DET
ap-3490	309	2	ttc	ttc	NOUN
ap-3490	309	3	increased	increase	VERB
ap-3490	309	4	drastically	drastically	ADV
ap-3490	309	5	as	as	ADP
ap-3490	309	6	a	a	DET
ap-3490	309	7	result	result	NOUN
ap-3490	309	8	,	,	PUNCT
ap-3490	309	9	as	as	SCONJ
ap-3490	309	10	robot	robot	NOUN
ap-3490	309	11	2	2	NUM
ap-3490	309	12	(	(	PUNCT
ap-3490	309	13	and	and	CCONJ
ap-3490	309	14	consequently	consequently	ADV
ap-3490	309	15	robot	robot	NOUN
ap-3490	309	16	3	3	NUM
ap-3490	309	17	)	)	PUNCT
ap-3490	309	18	were	be	AUX
ap-3490	309	19	forced	force	VERB
ap-3490	309	20	to	to	PART
ap-3490	309	21	wait	wait	VERB
ap-3490	309	22	until	until	SCONJ
ap-3490	309	23	robot	robot	NOUN
ap-3490	309	24	1	1	NUM
ap-3490	309	25	finished	finish	VERB
ap-3490	309	26	manoeuvring	manoeuvre	VERB
ap-3490	309	27	between	between	ADP
ap-3490	309	28	rows	row	NOUN
ap-3490	309	29	1	1	NUM
ap-3490	309	30	and	and	CCONJ
ap-3490	309	31	2	2	NUM
ap-3490	309	32	.	.	X
ap-3490	310	1	in	in	ADP
ap-3490	310	2	the	the	DET
ap-3490	310	3	second	second	ADJ
ap-3490	310	4	run	run	NOUN
ap-3490	310	5	,	,	PUNCT
ap-3490	310	6	we	we	PRON
ap-3490	310	7	artificially	artificially	ADV
ap-3490	310	8	delayed	delay	VERB
ap-3490	310	9	robot	robot	NOUN
ap-3490	310	10	1	1	NUM
ap-3490	310	11	while	while	SCONJ
ap-3490	310	12	drilling	drill	VERB
ap-3490	310	13	a	a	DET
ap-3490	310	14	target	target	NOUN
ap-3490	310	15	in	in	ADP
ap-3490	310	16	the	the	DET
ap-3490	310	17	second	second	ADJ
ap-3490	310	18	row	row	NOUN
ap-3490	310	19	.	.	PUNCT
ap-3490	311	1	in	in	ADP
ap-3490	311	2	this	this	DET
ap-3490	311	3	case	case	NOUN
ap-3490	311	4	,	,	PUNCT
ap-3490	311	5	ttc	ttc	PROPN
ap-3490	311	6	only	only	ADV
ap-3490	311	7	increased	increase	VERB
ap-3490	311	8	by	by	ADP
ap-3490	311	9	the	the	DET
ap-3490	311	10	amount	amount	NOUN
ap-3490	311	11	of	of	ADP
ap-3490	311	12	the	the	DET
ap-3490	311	13	delay	delay	NOUN
ap-3490	311	14	,	,	PUNCT
ap-3490	311	15	since	since	SCONJ
ap-3490	311	16	the	the	DET
ap-3490	311	17	delay	delay	NOUN
ap-3490	311	18	does	do	AUX
ap-3490	311	19	not	not	PART
ap-3490	311	20	affect	affect	VERB
ap-3490	311	21	robot	robot	NOUN
ap-3490	311	22	2	2	NUM
ap-3490	311	23	and	and	CCONJ
ap-3490	311	24	robot	robot	NOUN
ap-3490	311	25	3	3	NUM
ap-3490	311	26	.	.	PUNCT
ap-3490	312	1	finally	finally	ADV
ap-3490	312	2	,	,	PUNCT
ap-3490	312	3	in	in	ADP
ap-3490	312	4	the	the	DET
ap-3490	312	5	third	third	ADJ
ap-3490	312	6	run	run	NOUN
ap-3490	312	7	,	,	PUNCT
ap-3490	312	8	we	we	PRON
ap-3490	312	9	injected	inject	VERB
ap-3490	312	10	a	a	DET
ap-3490	312	11	delay	delay	NOUN
ap-3490	312	12	in	in	ADP
ap-3490	312	13	one	one	NUM
ap-3490	312	14	of	of	ADP
ap-3490	312	15	the	the	DET
ap-3490	312	16	initial	initial	ADJ
ap-3490	312	17	drill	drill	NOUN
ap-3490	312	18	targets	target	NOUN
ap-3490	312	19	of	of	ADP
ap-3490	312	20	robots	robot	NOUN
ap-3490	312	21	2	2	NUM
ap-3490	312	22	and	and	CCONJ
ap-3490	312	23	3	3	NUM
ap-3490	312	24	.	.	PUNCT
ap-3490	312	25	since	since	SCONJ
ap-3490	312	26	these	these	DET
ap-3490	312	27	robots	robot	NOUN
ap-3490	312	28	were	be	AUX
ap-3490	312	29	scheduled	schedule	VERB
ap-3490	312	30	to	to	PART
ap-3490	312	31	yield	yield	VERB
ap-3490	312	32	to	to	ADP
ap-3490	312	33	robot	robot	NOUN
ap-3490	312	34	1	1	NUM
ap-3490	312	35	later	later	ADV
ap-3490	312	36	on	on	ADV
ap-3490	312	37	during	during	ADP
ap-3490	312	38	execution	execution	NOUN
ap-3490	312	39	,	,	PUNCT
ap-3490	312	40	the	the	DET
ap-3490	312	41	delay	delay	NOUN
ap-3490	312	42	did	do	AUX
ap-3490	312	43	not	not	PART
ap-3490	312	44	increase	increase	VERB
ap-3490	312	45	the	the	DET
ap-3490	312	46	ttc	ttc	NOUN
ap-3490	312	47	.	.	PUNCT
ap-3490	313	1	in	in	ADP
ap-3490	313	2	all	all	DET
ap-3490	313	3	three	three	NUM
ap-3490	313	4	runs	run	NOUN
ap-3490	313	5	,	,	PUNCT
ap-3490	313	6	the	the	DET
ap-3490	313	7	contingencies	contingency	NOUN
ap-3490	313	8	were	be	AUX
ap-3490	313	9	accounted	account	VERB
ap-3490	313	10	for	for	ADP
ap-3490	313	11	by	by	ADP
ap-3490	313	12	54	54	NUM
ap-3490	313	13	vol	vol	NOUN
ap-3490	313	14	.	.	PUNCT
ap-3490	314	1	56	56	NUM
ap-3490	314	2	no	no	NOUN
ap-3490	314	3	.	.	PUNCT
ap-3490	315	1	1/2016	1/2016	NUM
ap-3490	315	2	hybrid	hybrid	ADJ
ap-3490	315	3	reasoning	reasoning	NOUN
ap-3490	315	4	for	for	ADP
ap-3490	315	5	multi	multi	ADJ
ap-3490	315	6	-	-	ADJ
ap-3490	315	7	robot	robot	ADJ
ap-3490	315	8	drill	drill	NOUN
ap-3490	315	9	planning	planning	NOUN
ap-3490	315	10	in	in	ADP
ap-3490	315	11	open	open	ADJ
ap-3490	315	12	-	-	PUNCT
ap-3490	315	13	pit	pit	NOUN
ap-3490	315	14	mines	mine	NOUN
ap-3490	315	15	(	(	PUNCT
ap-3490	315	16	a	a	NOUN
ap-3490	315	17	)	)	PUNCT
ap-3490	315	18	(	(	PUNCT
ap-3490	315	19	b	b	X
ap-3490	315	20	)	)	PUNCT
ap-3490	315	21	(	(	PUNCT
ap-3490	315	22	c	c	X
ap-3490	315	23	)	)	PUNCT
ap-3490	315	24	figure	figure	NOUN
ap-3490	315	25	11	11	NUM
ap-3490	315	26	.	.	PUNCT
ap-3490	316	1	motions	motion	NOUN
ap-3490	316	2	of	of	ADP
ap-3490	316	3	different	different	ADJ
ap-3490	316	4	robots	robot	NOUN
ap-3490	316	5	represented	represent	VERB
ap-3490	316	6	on	on	ADP
ap-3490	316	7	a	a	DET
ap-3490	316	8	separate	separate	ADJ
ap-3490	316	9	figure	figure	NOUN
ap-3490	316	10	as	as	ADP
ap-3490	316	11	white	white	ADJ
ap-3490	316	12	convex	convex	NOUN
ap-3490	316	13	polygons	polygon	NOUN
ap-3490	316	14	.	.	PUNCT
ap-3490	317	1	27	27	NUM
ap-3490	317	2	53	53	NUM
ap-3490	317	3	76	76	NUM
ap-3490	317	4	hval	hval	NOUN
ap-3490	317	5	seq	seq	NOUN
ap-3490	317	6	w/o	w/o	ADP
ap-3490	317	7	sp	sp	ADP
ap-3490	317	8	8.68min	8.68min	NUM
ap-3490	317	9	timeout	timeout	NOUN
ap-3490	317	10	timeout	timeout	NOUN
ap-3490	317	11	hval	hval	ADJ
ap-3490	317	12	seq	seq	NOUN
ap-3490	317	13	w	w	NOUN
ap-3490	317	14	sp	sp	ADP
ap-3490	317	15	0.21min	0.21min	ADJ
ap-3490	317	16	0.6min	0.6min	NUM
ap-3490	317	17	2.14min	2.14min	NUM
ap-3490	317	18	table	table	NOUN
ap-3490	317	19	1	1	NUM
ap-3490	317	20	.	.	PUNCT
ap-3490	318	1	a	a	DET
ap-3490	318	2	small	small	ADJ
ap-3490	318	3	quantitative	quantitative	ADJ
ap-3490	318	4	evaluation	evaluation	NOUN
ap-3490	318	5	hval	hval	PROPN
ap-3490	318	6	seq	seq	NOUN
ap-3490	318	7	.	.	PUNCT
ap-3490	318	8	temporal	temporal	ADJ
ap-3490	318	9	reasoning	reasoning	NOUN
ap-3490	318	10	and	and	CCONJ
ap-3490	318	11	the	the	DET
ap-3490	318	12	resulting	result	VERB
ap-3490	318	13	adjusted	adjust	VERB
ap-3490	318	14	plan	plan	NOUN
ap-3490	318	15	was	be	AUX
ap-3490	318	16	dispatched	dispatch	VERB
ap-3490	318	17	to	to	ADP
ap-3490	318	18	the	the	DET
ap-3490	318	19	machines	machine	NOUN
ap-3490	318	20	within	within	ADP
ap-3490	318	21	the	the	DET
ap-3490	318	22	1	1	NUM
ap-3490	318	23	second	second	ADJ
ap-3490	318	24	sampling	sampling	NOUN
ap-3490	318	25	period	period	NOUN
ap-3490	318	26	.	.	PUNCT
ap-3490	319	1	we	we	PRON
ap-3490	319	2	also	also	ADV
ap-3490	319	3	evaluated	evaluate	VERB
ap-3490	319	4	the	the	DET
ap-3490	319	5	effectiveness	effectiveness	NOUN
ap-3490	319	6	of	of	ADP
ap-3490	319	7	the	the	DET
ap-3490	319	8	sequence	sequence	NOUN
ap-3490	319	9	pattern	pattern	NOUN
ap-3490	319	10	(	(	PUNCT
ap-3490	319	11	sp	sp	NOUN
ap-3490	319	12	,	,	PUNCT
ap-3490	319	13	see	see	VERB
ap-3490	319	14	section	section	NOUN
ap-3490	319	15	5	5	NUM
ap-3490	319	16	)	)	PUNCT
ap-3490	319	17	used	use	VERB
ap-3490	319	18	by	by	ADP
ap-3490	319	19	hval	hval	ADJ
ap-3490	319	20	seq	seq	NOUN
ap-3490	319	21	on	on	ADP
ap-3490	319	22	problems	problem	NOUN
ap-3490	319	23	defined	define	VERB
ap-3490	319	24	over	over	ADP
ap-3490	319	25	the	the	DET
ap-3490	319	26	same	same	ADJ
ap-3490	319	27	drill	drill	NOUN
ap-3490	319	28	pattern	pattern	NOUN
ap-3490	319	29	as	as	SCONJ
ap-3490	319	30	was	be	AUX
ap-3490	319	31	used	use	VERB
ap-3490	319	32	in	in	ADP
ap-3490	319	33	the	the	DET
ap-3490	319	34	previous	previous	ADJ
ap-3490	319	35	experiments	experiment	NOUN
ap-3490	319	36	.	.	PUNCT
ap-3490	320	1	we	we	PRON
ap-3490	320	2	considered	consider	VERB
ap-3490	320	3	three	three	NUM
ap-3490	320	4	cases	case	NOUN
ap-3490	320	5	with	with	ADP
ap-3490	320	6	a	a	DET
ap-3490	320	7	different	different	ADJ
ap-3490	320	8	number	number	NOUN
ap-3490	320	9	of	of	ADP
ap-3490	320	10	drill	drill	NOUN
ap-3490	320	11	targets	target	NOUN
ap-3490	320	12	(	(	PUNCT
ap-3490	320	13	27	27	NUM
ap-3490	320	14	,	,	PUNCT
ap-3490	320	15	53	53	NUM
ap-3490	320	16	and	and	CCONJ
ap-3490	320	17	76	76	NUM
ap-3490	320	18	)	)	PUNCT
ap-3490	320	19	.	.	PUNCT
ap-3490	321	1	each	each	DET
ap-3490	321	2	case	case	NOUN
ap-3490	321	3	was	be	AUX
ap-3490	321	4	run	run	VERB
ap-3490	321	5	twice	twice	ADV
ap-3490	321	6	,	,	PUNCT
ap-3490	321	7	once	once	ADV
ap-3490	321	8	with	with	ADP
ap-3490	321	9	and	and	CCONJ
ap-3490	321	10	once	once	ADV
ap-3490	321	11	without	without	ADP
ap-3490	321	12	the	the	DET
ap-3490	321	13	sp	sp	NOUN
ap-3490	321	14	heuristic	heuristic	NOUN
ap-3490	321	15	.	.	PUNCT
ap-3490	322	1	the	the	DET
ap-3490	322	2	search	search	NOUN
ap-3490	322	3	process	process	NOUN
ap-3490	322	4	was	be	AUX
ap-3490	322	5	aborted	abort	VERB
ap-3490	322	6	after	after	ADP
ap-3490	322	7	a	a	DET
ap-3490	322	8	60	60	NUM
ap-3490	322	9	minute	minute	NOUN
ap-3490	322	10	timeout	timeout	NOUN
ap-3490	322	11	.	.	PUNCT
ap-3490	323	1	table	table	NOUN
ap-3490	323	2	1	1	NUM
ap-3490	323	3	shows	show	VERB
ap-3490	323	4	the	the	DET
ap-3490	323	5	strong	strong	ADJ
ap-3490	323	6	pruning	pruning	NOUN
ap-3490	323	7	power	power	NOUN
ap-3490	323	8	of	of	ADP
ap-3490	323	9	this	this	DET
ap-3490	323	10	heuristic	heuristic	NOUN
ap-3490	323	11	.	.	PUNCT
ap-3490	324	1	in	in	ADP
ap-3490	324	2	the	the	DET
ap-3490	324	3	next	next	ADJ
ap-3490	324	4	experiment	experiment	NOUN
ap-3490	324	5	,	,	PUNCT
ap-3490	324	6	the	the	DET
ap-3490	324	7	focus	focus	NOUN
ap-3490	324	8	was	be	AUX
ap-3490	324	9	on	on	ADP
ap-3490	324	10	evaluating	evaluate	VERB
ap-3490	324	11	the	the	DET
ap-3490	324	12	ttc	ttc	NOUN
ap-3490	324	13	in	in	ADP
ap-3490	324	14	a	a	DET
ap-3490	324	15	slightly	slightly	ADV
ap-3490	324	16	bigger	big	ADJ
ap-3490	324	17	setup	setup	NOUN
ap-3490	324	18	with	with	ADP
ap-3490	324	19	91	91	NUM
ap-3490	324	20	drill	drill	NOUN
ap-3490	324	21	targets	target	NOUN
ap-3490	324	22	(	(	PUNCT
ap-3490	324	23	see	see	VERB
ap-3490	324	24	figure	figure	NOUN
ap-3490	324	25	12	12	NUM
ap-3490	324	26	)	)	PUNCT
ap-3490	324	27	.	.	PUNCT
ap-3490	325	1	the	the	DET
ap-3490	325	2	ttc	ttc	NOUN
ap-3490	325	3	of	of	ADP
ap-3490	325	4	the	the	DET
ap-3490	325	5	solution	solution	NOUN
ap-3490	325	6	,	,	PUNCT
ap-3490	325	7	where	where	SCONJ
ap-3490	325	8	machine	machine	NOUN
ap-3490	325	9	1	1	NUM
ap-3490	325	10	starts	start	VERB
ap-3490	325	11	at	at	ADP
ap-3490	325	12	row	row	NOUN
ap-3490	325	13	1	1	NUM
ap-3490	325	14	and	and	CCONJ
ap-3490	325	15	exits	exit	VERB
ap-3490	325	16	at	at	ADP
ap-3490	325	17	row	row	NOUN
ap-3490	325	18	4	4	NUM
ap-3490	325	19	and	and	CCONJ
ap-3490	325	20	machine	machine	NOUN
ap-3490	325	21	2	2	NUM
ap-3490	325	22	starts	start	NOUN
ap-3490	325	23	at	at	ADP
ap-3490	325	24	row	row	NOUN
ap-3490	325	25	5	5	NUM
ap-3490	325	26	and	and	CCONJ
ap-3490	325	27	exits	exit	VERB
ap-3490	325	28	at	at	ADP
ap-3490	325	29	row	row	NOUN
ap-3490	325	30	8	8	NUM
ap-3490	325	31	,	,	PUNCT
ap-3490	325	32	is	be	AUX
ap-3490	325	33	101	101	NUM
ap-3490	325	34	minutes	minute	NOUN
ap-3490	325	35	,	,	PUNCT
ap-3490	325	36	whereas	whereas	SCONJ
ap-3490	325	37	the	the	DET
ap-3490	325	38	ttc	ttc	NOUN
ap-3490	325	39	is	be	AUX
ap-3490	325	40	61	61	NUM
ap-3490	325	41	min	min	NOUN
ap-3490	325	42	in	in	ADP
ap-3490	325	43	the	the	DET
ap-3490	325	44	case	case	NOUN
ap-3490	325	45	that	that	SCONJ
ap-3490	325	46	machine	machine	NOUN
ap-3490	325	47	1	1	NUM
ap-3490	325	48	starts	start	VERB
ap-3490	325	49	at	at	ADP
ap-3490	325	50	row	row	NOUN
ap-3490	325	51	4	4	NUM
ap-3490	325	52	and	and	CCONJ
ap-3490	325	53	exits	exit	VERB
ap-3490	325	54	at	at	ADP
ap-3490	325	55	row	row	NOUN
ap-3490	325	56	1	1	NUM
ap-3490	325	57	and	and	CCONJ
ap-3490	325	58	machine	machine	NOUN
ap-3490	325	59	2	2	NUM
ap-3490	325	60	starts	start	NOUN
ap-3490	325	61	at	at	ADP
ap-3490	325	62	row	row	NOUN
ap-3490	325	63	5	5	NUM
ap-3490	325	64	and	and	CCONJ
ap-3490	325	65	exits	exit	VERB
ap-3490	325	66	at	at	ADP
ap-3490	325	67	row	row	NOUN
ap-3490	325	68	8	8	NUM
ap-3490	325	69	.	.	PUNCT
ap-3490	326	1	in	in	ADP
ap-3490	326	2	the	the	DET
ap-3490	326	3	latter	latter	ADJ
ap-3490	326	4	case	case	NOUN
ap-3490	326	5	,	,	PUNCT
ap-3490	326	6	the	the	DET
ap-3490	326	7	machines	machine	NOUN
ap-3490	326	8	do	do	AUX
ap-3490	326	9	not	not	PART
ap-3490	326	10	need	need	VERB
ap-3490	326	11	to	to	PART
ap-3490	326	12	wait	wait	VERB
ap-3490	326	13	for	for	ADP
ap-3490	326	14	each	each	DET
ap-3490	326	15	other	other	ADJ
ap-3490	326	16	and	and	CCONJ
ap-3490	326	17	all	all	DET
ap-3490	326	18	the	the	DET
ap-3490	326	19	operations	operation	NOUN
ap-3490	326	20	can	can	AUX
ap-3490	326	21	be	be	AUX
ap-3490	326	22	done	do	VERB
ap-3490	326	23	in	in	ADP
ap-3490	326	24	parallel	parallel	NOUN
ap-3490	326	25	.	.	PUNCT
ap-3490	327	1	in	in	ADP
ap-3490	327	2	order	order	NOUN
ap-3490	327	3	to	to	PART
ap-3490	327	4	extract	extract	VERB
ap-3490	327	5	the	the	DET
ap-3490	327	6	latter	latter	ADJ
ap-3490	327	7	solution	solution	NOUN
ap-3490	327	8	from	from	ADP
ap-3490	327	9	the	the	DET
ap-3490	327	10	search	search	NOUN
ap-3490	327	11	space	space	NOUN
ap-3490	327	12	,	,	PUNCT
ap-3490	327	13	an	an	DET
ap-3490	327	14	ad	ad	NOUN
ap-3490	327	15	-	-	PUNCT
ap-3490	327	16	hoc	hoc	X
ap-3490	327	17	sequencing	sequence	VERB
ap-3490	327	18	heuristic	heuristic	NOUN
ap-3490	327	19	built	build	VERB
ap-3490	327	20	for	for	ADP
ap-3490	327	21	this	this	DET
ap-3490	327	22	particular	particular	ADJ
ap-3490	327	23	set	set	NOUN
ap-3490	327	24	of	of	ADP
ap-3490	327	25	drill	drill	NOUN
ap-3490	327	26	targets	target	NOUN
ap-3490	327	27	was	be	AUX
ap-3490	327	28	employed	employ	VERB
ap-3490	327	29	.	.	PUNCT
ap-3490	328	1	this	this	PRON
ap-3490	328	2	proves	prove	VERB
ap-3490	328	3	that	that	SCONJ
ap-3490	328	4	this	this	DET
ap-3490	328	5	solution	solution	NOUN
ap-3490	328	6	is	be	AUX
ap-3490	328	7	in	in	ADP
ap-3490	328	8	the	the	DET
ap-3490	328	9	search	search	NOUN
ap-3490	328	10	space	space	NOUN
ap-3490	328	11	.	.	PUNCT
ap-3490	329	1	as	as	SCONJ
ap-3490	329	2	has	have	AUX
ap-3490	329	3	been	be	AUX
ap-3490	329	4	mentioned	mention	VERB
ap-3490	329	5	,	,	PUNCT
ap-3490	329	6	devising	devise	VERB
ap-3490	329	7	a	a	DET
ap-3490	329	8	general	general	ADJ
ap-3490	329	9	heuristic	heuristic	NOUN
ap-3490	329	10	that	that	PRON
ap-3490	329	11	biases	bias	VERB
ap-3490	329	12	the	the	DET
ap-3490	329	13	sequencing	sequence	VERB
ap-3490	329	14	choices	choice	NOUN
ap-3490	329	15	to	to	PART
ap-3490	329	16	minimize	minimize	VERB
ap-3490	329	17	ttc	ttc	NOUN
ap-3490	329	18	is	be	AUX
ap-3490	329	19	a	a	DET
ap-3490	329	20	topic	topic	NOUN
ap-3490	329	21	for	for	ADP
ap-3490	329	22	future	future	ADJ
ap-3490	329	23	work	work	NOUN
ap-3490	329	24	.	.	PUNCT
ap-3490	330	1	7.1	7.1	NUM
ap-3490	330	2	.	.	PUNCT
ap-3490	331	1	comparison	comparison	NOUN
ap-3490	331	2	with	with	ADP
ap-3490	331	3	a∗	a∗	PROPN
ap-3490	331	4	our	our	PRON
ap-3490	331	5	approach	approach	NOUN
ap-3490	331	6	consists	consist	VERB
ap-3490	331	7	in	in	ADP
ap-3490	331	8	exploring	explore	VERB
ap-3490	331	9	the	the	DET
ap-3490	331	10	joint	joint	ADJ
ap-3490	331	11	search	search	NOUN
ap-3490	331	12	space	space	NOUN
ap-3490	331	13	of	of	ADP
ap-3490	331	14	different	different	ADJ
ap-3490	331	15	sub	sub	NOUN
ap-3490	331	16	-	-	NOUN
ap-3490	331	17	problems	problem	NOUN
ap-3490	331	18	via	via	ADP
ap-3490	331	19	a	a	DET
ap-3490	331	20	heuristically	heuristically	ADV
ap-3490	331	21	informed	inform	VERB
ap-3490	331	22	csp	csp	PROPN
ap-3490	331	23	-	-	PUNCT
ap-3490	331	24	style	style	NOUN
ap-3490	331	25	backtracking	backtracking	NOUN
ap-3490	331	26	search	search	NOUN
ap-3490	331	27	.	.	PUNCT
ap-3490	332	1	the	the	DET
ap-3490	332	2	intelligence	intelligence	NOUN
ap-3490	332	3	in	in	ADP
ap-3490	332	4	our	our	PRON
ap-3490	332	5	approach	approach	NOUN
ap-3490	332	6	is	be	AUX
ap-3490	332	7	distributed	distribute	VERB
ap-3490	332	8	among	among	ADP
ap-3490	332	9	several	several	ADJ
ap-3490	332	10	heuristics	heuristic	NOUN
ap-3490	332	11	,	,	PUNCT
ap-3490	332	12	each	each	PRON
ap-3490	332	13	guiding	guide	VERB
ap-3490	332	14	the	the	DET
ap-3490	332	15	resolution	resolution	NOUN
ap-3490	332	16	of	of	ADP
ap-3490	332	17	specific	specific	ADJ
ap-3490	332	18	subproblems	subproblem	NOUN
ap-3490	332	19	.	.	PUNCT
ap-3490	333	1	an	an	DET
ap-3490	333	2	obvious	obvious	ADJ
ap-3490	333	3	alternative	alternative	ADJ
ap-3490	333	4	approach	approach	NOUN
ap-3490	333	5	is	be	AUX
ap-3490	333	6	to	to	PART
ap-3490	333	7	define	define	VERB
ap-3490	333	8	the	the	DET
ap-3490	333	9	state	state	NOUN
ap-3490	333	10	of	of	ADP
ap-3490	333	11	dp3	dp3	PROPN
ap-3490	333	12	as	as	ADP
ap-3490	333	13	node	node	NOUN
ap-3490	333	14	in	in	ADP
ap-3490	333	15	a	a	DET
ap-3490	333	16	traditional	traditional	ADJ
ap-3490	333	17	heuristic	heuristic	ADJ
ap-3490	333	18	search	search	NOUN
ap-3490	333	19	,	,	PUNCT
ap-3490	333	20	and	and	CCONJ
ap-3490	333	21	to	to	PART
ap-3490	333	22	employ	employ	VERB
ap-3490	333	23	a	a	PRON
ap-3490	333	24	*	*	X
ap-3490	333	25	(	(	PUNCT
ap-3490	333	26	or	or	CCONJ
ap-3490	333	27	some	some	DET
ap-3490	333	28	other	other	ADJ
ap-3490	333	29	heuristic	heuristic	ADJ
ap-3490	333	30	search	search	NOUN
ap-3490	333	31	algorithm	algorithm	NOUN
ap-3490	333	32	)	)	PUNCT
ap-3490	333	33	in	in	ADP
ap-3490	333	34	conjunction	conjunction	NOUN
ap-3490	333	35	with	with	ADP
ap-3490	333	36	a	a	DET
ap-3490	333	37	heuristic	heuristic	NOUN
ap-3490	333	38	that	that	SCONJ
ap-3490	333	39	1	1	NUM
ap-3490	333	40	2	2	NUM
ap-3490	333	41	3	3	NUM
ap-3490	333	42	4	4	NUM
ap-3490	333	43	5	5	NUM
ap-3490	333	44	6	6	NUM
ap-3490	333	45	7	7	NUM
ap-3490	333	46	8	8	NUM
ap-3490	333	47	2	2	NUM
ap-3490	333	48	1	1	NUM
ap-3490	333	49	figure	figure	NOUN
ap-3490	333	50	12	12	NUM
ap-3490	333	51	.	.	PUNCT
ap-3490	334	1	a	a	DET
ap-3490	334	2	high	high	ADJ
ap-3490	334	3	quality	quality	NOUN
ap-3490	334	4	solution	solution	NOUN
ap-3490	334	5	with	with	ADP
ap-3490	334	6	respect	respect	NOUN
ap-3490	334	7	to	to	ADP
ap-3490	334	8	the	the	DET
ap-3490	334	9	ttc	ttc	NOUN
ap-3490	334	10	for	for	ADP
ap-3490	334	11	a	a	DET
ap-3490	334	12	bench	bench	NOUN
ap-3490	334	13	with	with	ADP
ap-3490	334	14	91	91	NUM
ap-3490	334	15	drill	drill	NOUN
ap-3490	334	16	targets	target	NOUN
ap-3490	334	17	.	.	PUNCT
ap-3490	335	1	accounts	account	NOUN
ap-3490	335	2	for	for	ADP
ap-3490	335	3	all	all	DET
ap-3490	335	4	aspects	aspect	NOUN
ap-3490	335	5	of	of	ADP
ap-3490	335	6	the	the	DET
ap-3490	335	7	dp3	dp3	PROPN
ap-3490	335	8	.	.	PUNCT
ap-3490	336	1	we	we	PRON
ap-3490	336	2	would	would	AUX
ap-3490	336	3	,	,	PUNCT
ap-3490	336	4	however	however	ADV
ap-3490	336	5	,	,	PUNCT
ap-3490	336	6	have	have	VERB
ap-3490	336	7	to	to	PART
ap-3490	336	8	build	build	VERB
ap-3490	336	9	all	all	DET
ap-3490	336	10	aspects	aspect	NOUN
ap-3490	336	11	of	of	ADP
ap-3490	336	12	the	the	DET
ap-3490	336	13	problem	problem	NOUN
ap-3490	336	14	into	into	ADP
ap-3490	336	15	this	this	DET
ap-3490	336	16	single	single	ADJ
ap-3490	336	17	heuristic	heuristic	NOUN
ap-3490	336	18	—	—	PUNCT
ap-3490	336	19	that	that	ADV
ap-3490	336	20	is	is	ADV
ap-3490	336	21	,	,	PUNCT
ap-3490	336	22	we	we	PRON
ap-3490	336	23	would	would	AUX
ap-3490	336	24	have	have	VERB
ap-3490	336	25	to	to	PART
ap-3490	336	26	make	make	VERB
ap-3490	336	27	the	the	DET
ap-3490	336	28	heuristic	heuristic	ADJ
ap-3490	336	29	capable	capable	ADJ
ap-3490	336	30	of	of	ADP
ap-3490	336	31	informing	inform	VERB
ap-3490	336	32	which	which	PRON
ap-3490	336	33	are	be	AUX
ap-3490	336	34	the	the	DET
ap-3490	336	35	best	good	ADJ
ap-3490	336	36	allocations	allocation	NOUN
ap-3490	336	37	of	of	ADP
ap-3490	336	38	vehicles	vehicle	NOUN
ap-3490	336	39	to	to	ADP
ap-3490	336	40	targets	target	NOUN
ap-3490	336	41	,	,	PUNCT
ap-3490	336	42	the	the	DET
ap-3490	336	43	best	well	ADV
ap-3490	336	44	sequencing	sequencing	NOUN
ap-3490	336	45	,	,	PUNCT
ap-3490	336	46	grouping	grouping	NOUN
ap-3490	336	47	and	and	CCONJ
ap-3490	336	48	scheduling	scheduling	NOUN
ap-3490	336	49	decisions	decision	NOUN
ap-3490	336	50	,	,	PUNCT
ap-3490	336	51	etc	etc	X
ap-3490	336	52	.	.	X
ap-3490	336	53	more	more	ADV
ap-3490	336	54	importantly	importantly	ADV
ap-3490	336	55	,	,	PUNCT
ap-3490	336	56	it	it	PRON
ap-3490	336	57	would	would	AUX
ap-3490	336	58	be	be	AUX
ap-3490	336	59	difficult	difficult	ADJ
ap-3490	336	60	to	to	PART
ap-3490	336	61	exploit	exploit	VERB
ap-3490	336	62	the	the	DET
ap-3490	336	63	structure	structure	NOUN
ap-3490	336	64	of	of	ADP
ap-3490	336	65	the	the	DET
ap-3490	336	66	different	different	ADJ
ap-3490	336	67	sub	sub	NOUN
ap-3490	336	68	-	-	NOUN
ap-3490	336	69	problems	problem	NOUN
ap-3490	336	70	to	to	PART
ap-3490	336	71	enhance	enhance	VERB
ap-3490	336	72	performance	performance	NOUN
ap-3490	336	73	.	.	PUNCT
ap-3490	337	1	in	in	ADP
ap-3490	337	2	our	our	PRON
ap-3490	337	3	approach	approach	NOUN
ap-3490	337	4	,	,	PUNCT
ap-3490	337	5	scalability	scalability	NOUN
ap-3490	337	6	can	can	AUX
ap-3490	337	7	be	be	AUX
ap-3490	337	8	improved	improve	VERB
ap-3490	337	9	by	by	ADP
ap-3490	337	10	identifying	identify	VERB
ap-3490	337	11	heuristics	heuristic	NOUN
ap-3490	337	12	for	for	ADP
ap-3490	337	13	specific	specific	ADJ
ap-3490	337	14	sub	sub	NOUN
ap-3490	337	15	-	-	NOUN
ap-3490	337	16	problems	problem	NOUN
ap-3490	337	17	and/or	and/or	CCONJ
ap-3490	337	18	heuristics	heuristic	NOUN
ap-3490	337	19	that	that	PRON
ap-3490	337	20	exploit	exploit	VERB
ap-3490	337	21	the	the	DET
ap-3490	337	22	hybrid	hybrid	ADJ
ap-3490	337	23	nature	nature	NOUN
ap-3490	337	24	of	of	ADP
ap-3490	337	25	the	the	DET
ap-3490	337	26	underlying	underlie	VERB
ap-3490	337	27	representation	representation	NOUN
ap-3490	337	28	.	.	PUNCT
ap-3490	338	1	another	another	DET
ap-3490	338	2	important	important	ADJ
ap-3490	338	3	factor	factor	NOUN
ap-3490	338	4	in	in	ADP
ap-3490	338	5	industrial	industrial	ADJ
ap-3490	338	6	domains	domain	NOUN
ap-3490	338	7	is	be	AUX
ap-3490	338	8	the	the	DET
ap-3490	338	9	ability	ability	NOUN
ap-3490	338	10	to	to	PART
ap-3490	338	11	specify	specify	VERB
ap-3490	338	12	domain	domain	NOUN
ap-3490	338	13	-	-	PUNCT
ap-3490	338	14	dependent	dependent	ADJ
ap-3490	338	15	requirements	requirement	NOUN
ap-3490	338	16	,	,	PUNCT
ap-3490	338	17	e.g.	e.g.	ADV
ap-3490	338	18	,	,	PUNCT
ap-3490	338	19	in	in	ADP
ap-3490	338	20	this	this	DET
ap-3490	338	21	specific	specific	ADJ
ap-3490	338	22	bench	bench	NOUN
ap-3490	338	23	,	,	PUNCT
ap-3490	338	24	that	that	PRON
ap-3490	338	25	drill	drill	NOUN
ap-3490	338	26	targets	target	VERB
ap-3490	338	27	122	122	NUM
ap-3490	338	28	and	and	CCONJ
ap-3490	338	29	344	344	NUM
ap-3490	338	30	must	must	AUX
ap-3490	338	31	be	be	AUX
ap-3490	338	32	drilled	drill	VERB
ap-3490	338	33	at	at	ADP
ap-3490	338	34	the	the	DET
ap-3490	338	35	end	end	NOUN
ap-3490	338	36	,	,	PUNCT
ap-3490	338	37	or	or	CCONJ
ap-3490	338	38	that	that	DET
ap-3490	338	39	machine	machine	NOUN
ap-3490	338	40	3	3	NUM
ap-3490	338	41	should	should	AUX
ap-3490	338	42	not	not	PART
ap-3490	338	43	drill	drill	VERB
ap-3490	338	44	a	a	DET
ap-3490	338	45	set	set	NOUN
ap-3490	338	46	of	of	ADP
ap-3490	338	47	drill	drill	NOUN
ap-3490	338	48	targets	target	NOUN
ap-3490	338	49	.	.	PUNCT
ap-3490	339	1	the	the	DET
ap-3490	339	2	modularity	modularity	NOUN
ap-3490	339	3	of	of	ADP
ap-3490	339	4	our	our	PRON
ap-3490	339	5	approach	approach	NOUN
ap-3490	339	6	facilitates	facilitate	VERB
ap-3490	339	7	programming	program	VERB
ap-3490	339	8	these	these	DET
ap-3490	339	9	types	type	NOUN
ap-3490	339	10	of	of	ADP
ap-3490	339	11	requirements	requirement	NOUN
ap-3490	339	12	in	in	ADP
ap-3490	339	13	the	the	DET
ap-3490	339	14	relevant	relevant	ADJ
ap-3490	339	15	decision	decision	NOUN
ap-3490	339	16	variables	variable	NOUN
ap-3490	339	17	of	of	ADP
ap-3490	339	18	specific	specific	ADJ
ap-3490	339	19	sub	sub	NOUN
ap-3490	339	20	-	-	NOUN
ap-3490	339	21	problems	problem	NOUN
ap-3490	339	22	.	.	PUNCT
ap-3490	340	1	8	8	X
ap-3490	340	2	.	.	NUM
ap-3490	340	3	related	relate	VERB
ap-3490	340	4	work	work	NOUN
ap-3490	340	5	and	and	CCONJ
ap-3490	340	6	outlook	outlook	NOUN
ap-3490	340	7	we	we	PRON
ap-3490	340	8	have	have	AUX
ap-3490	340	9	divided	divide	VERB
ap-3490	340	10	dp3	dp3	PROPN
ap-3490	340	11	into	into	ADP
ap-3490	340	12	several	several	ADJ
ap-3490	340	13	sub	sub	NOUN
ap-3490	340	14	-	-	NOUN
ap-3490	340	15	problems	problem	NOUN
ap-3490	340	16	and	and	CCONJ
ap-3490	340	17	the	the	DET
ap-3490	340	18	dp3	dp3	PROPN
ap-3490	340	19	-	-	PUNCT
ap-3490	340	20	solver	solver	NOUN
ap-3490	340	21	finds	find	VERB
ap-3490	340	22	mutually	mutually	ADV
ap-3490	340	23	feasible	feasible	ADJ
ap-3490	340	24	solutions	solution	NOUN
ap-3490	340	25	to	to	ADP
ap-3490	340	26	the	the	DET
ap-3490	340	27	individual	individual	ADJ
ap-3490	340	28	sub	sub	NOUN
ap-3490	340	29	-	-	NOUN
ap-3490	340	30	problems	problem	NOUN
ap-3490	340	31	.	.	PUNCT
ap-3490	341	1	the	the	DET
ap-3490	341	2	idea	idea	NOUN
ap-3490	341	3	of	of	ADP
ap-3490	341	4	problem	problem	NOUN
ap-3490	341	5	decomposition	decomposition	NOUN
ap-3490	341	6	and	and	CCONJ
ap-3490	341	7	solution	solution	NOUN
ap-3490	341	8	synthesis	synthesis	NOUN
ap-3490	341	9	is	be	AUX
ap-3490	341	10	not	not	PART
ap-3490	341	11	new	new	ADJ
ap-3490	341	12	in	in	ADP
ap-3490	341	13	ai	ai	PROPN
ap-3490	341	14	.	.	PUNCT
ap-3490	342	1	there	there	PRON
ap-3490	342	2	have	have	AUX
ap-3490	342	3	been	be	AUX
ap-3490	342	4	many	many	ADJ
ap-3490	342	5	studies	study	NOUN
ap-3490	342	6	in	in	ADP
ap-3490	342	7	multi	multi	ADJ
ap-3490	342	8	agent	agent	NOUN
ap-3490	342	9	systems	system	NOUN
ap-3490	342	10	(	(	PUNCT
ap-3490	342	11	mas	mas	PROPN
ap-3490	342	12	)	)	PUNCT
ap-3490	342	13	regarding	regard	VERB
ap-3490	342	14	cooperative	cooperative	ADJ
ap-3490	342	15	problem	problem	NOUN
ap-3490	342	16	solving	solve	VERB
ap-3490	342	17	[	[	X
ap-3490	342	18	8	8	NUM
ap-3490	342	19	]	]	PUNCT
ap-3490	342	20	.	.	PUNCT
ap-3490	343	1	although	although	SCONJ
ap-3490	343	2	our	our	PRON
ap-3490	343	3	work	work	NOUN
ap-3490	343	4	has	have	AUX
ap-3490	343	5	not	not	PART
ap-3490	343	6	been	be	AUX
ap-3490	343	7	done	do	VERB
ap-3490	343	8	in	in	ADP
ap-3490	343	9	the	the	DET
ap-3490	343	10	context	context	NOUN
ap-3490	343	11	of	of	ADP
ap-3490	343	12	mas	mas	PROPN
ap-3490	343	13	,	,	PUNCT
ap-3490	343	14	we	we	PRON
ap-3490	343	15	reify	reify	VERB
ap-3490	343	16	this	this	DET
ap-3490	343	17	idea	idea	NOUN
ap-3490	343	18	into	into	ADP
ap-3490	343	19	a	a	DET
ap-3490	343	20	challenging	challenging	ADJ
ap-3490	343	21	robotic	robotic	ADJ
ap-3490	343	22	domain	domain	NOUN
ap-3490	343	23	.	.	PUNCT
ap-3490	344	1	the	the	DET
ap-3490	344	2	dp3	dp3	PROPN
ap-3490	344	3	-	-	PUNCT
ap-3490	344	4	solver	solver	NOUN
ap-3490	344	5	combines	combine	VERB
ap-3490	344	6	solutions	solution	NOUN
ap-3490	344	7	from	from	ADP
ap-3490	344	8	different	different	ADJ
ap-3490	344	9	sub	sub	NOUN
ap-3490	344	10	-	-	NOUN
ap-3490	344	11	problems	problem	NOUN
ap-3490	344	12	,	,	PUNCT
ap-3490	344	13	each	each	PRON
ap-3490	344	14	of	of	ADP
ap-3490	344	15	which	which	PRON
ap-3490	344	16	can	can	AUX
ap-3490	344	17	be	be	AUX
ap-3490	344	18	seen	see	VERB
ap-3490	344	19	as	as	ADP
ap-3490	344	20	a	a	DET
ap-3490	344	21	“	"	PUNCT
ap-3490	344	22	classical	classical	ADJ
ap-3490	344	23	”	"	PUNCT
ap-3490	344	24	ai	ai	NOUN
ap-3490	344	25	or	or	CCONJ
ap-3490	344	26	robotics	robotic	NOUN
ap-3490	344	27	problem	problem	NOUN
ap-3490	344	28	.	.	PUNCT
ap-3490	345	1	the	the	DET
ap-3490	345	2	sequencing	sequence	VERB
ap-3490	345	3	sub	sub	NOUN
ap-3490	345	4	-	-	NOUN
ap-3490	345	5	problem	problem	NOUN
ap-3490	345	6	can	can	AUX
ap-3490	345	7	be	be	AUX
ap-3490	345	8	seen	see	VERB
ap-3490	345	9	as	as	ADP
ap-3490	345	10	a	a	DET
ap-3490	345	11	vehicle	vehicle	NOUN
ap-3490	345	12	routing	routing	NOUN
ap-3490	345	13	problem	problem	NOUN
ap-3490	345	14	with	with	ADP
ap-3490	345	15	multiple	multiple	ADJ
ap-3490	345	16	depots	depot	NOUN
ap-3490	345	17	(	(	PUNCT
ap-3490	345	18	mdvrp	mdvrp	PROPN
ap-3490	345	19	)	)	PUNCT
ap-3490	345	20	where	where	SCONJ
ap-3490	345	21	the	the	DET
ap-3490	345	22	drill	drill	NOUN
ap-3490	345	23	targets	target	NOUN
ap-3490	345	24	are	be	AUX
ap-3490	345	25	the	the	DET
ap-3490	345	26	customers	customer	NOUN
ap-3490	345	27	.	.	PUNCT
ap-3490	346	1	mdvrp	mdvrp	PROPN
ap-3490	346	2	is	be	AUX
ap-3490	346	3	a	a	DET
ap-3490	346	4	combinatorial	combinatorial	ADJ
ap-3490	346	5	optimization	optimization	NOUN
ap-3490	346	6	which	which	PRON
ap-3490	346	7	has	have	AUX
ap-3490	346	8	been	be	AUX
ap-3490	346	9	largely	largely	ADV
ap-3490	346	10	studied	study	VERB
ap-3490	346	11	.	.	PUNCT
ap-3490	347	1	however	however	ADV
ap-3490	347	2	,	,	PUNCT
ap-3490	347	3	solutions	solution	NOUN
ap-3490	347	4	to	to	ADP
ap-3490	347	5	mdvrps	mdvrp	NOUN
ap-3490	347	6	often	often	ADV
ap-3490	347	7	do	do	AUX
ap-3490	347	8	not	not	PART
ap-3490	347	9	consider	consider	VERB
ap-3490	347	10	spatial	spatial	ADJ
ap-3490	347	11	,	,	PUNCT
ap-3490	347	12	temporal	temporal	ADJ
ap-3490	347	13	and	and	CCONJ
ap-3490	347	14	kinematic	kinematic	ADJ
ap-3490	347	15	constraints	constraint	NOUN
ap-3490	347	16	,	,	PUNCT
ap-3490	347	17	nor	nor	CCONJ
ap-3490	347	18	dynamic	dynamic	ADJ
ap-3490	347	19	maps	map	NOUN
ap-3490	347	20	.	.	PUNCT
ap-3490	348	1	the	the	DET
ap-3490	348	2	need	need	NOUN
ap-3490	348	3	to	to	PART
ap-3490	348	4	consider	consider	VERB
ap-3490	348	5	these	these	DET
ap-3490	348	6	problems	problem	NOUN
ap-3490	348	7	destroys	destroy	VERB
ap-3490	348	8	the	the	DET
ap-3490	348	9	assumptions	assumption	NOUN
ap-3490	348	10	based	base	VERB
ap-3490	348	11	on	on	ADP
ap-3490	348	12	which	which	PRON
ap-3490	348	13	existing	exist	VERB
ap-3490	348	14	ai	ai	NOUN
ap-3490	348	15	solutions	solution	NOUN
ap-3490	348	16	are	be	AUX
ap-3490	348	17	built	build	VERB
ap-3490	348	18	.	.	PUNCT
ap-3490	349	1	a	a	DET
ap-3490	349	2	comprehensive	comprehensive	ADJ
ap-3490	349	3	survey	survey	NOUN
ap-3490	349	4	[	[	X
ap-3490	349	5	9	9	NUM
ap-3490	349	6	]	]	PUNCT
ap-3490	349	7	has	have	AUX
ap-3490	349	8	shown	show	VERB
ap-3490	349	9	,	,	PUNCT
ap-3490	349	10	that	that	SCONJ
ap-3490	349	11	there	there	PRON
ap-3490	349	12	are	be	VERB
ap-3490	349	13	various	various	ADJ
ap-3490	349	14	ways	way	NOUN
ap-3490	349	15	of	of	ADP
ap-3490	349	16	modeling	modeling	NOUN
ap-3490	349	17	for	for	ADP
ap-3490	349	18	mdvrp	mdvrp	NOUN
ap-3490	349	19	including	include	VERB
ap-3490	349	20	time	time	NOUN
ap-3490	349	21	55	55	NUM
ap-3490	349	22	m.	m.	NOUN
ap-3490	349	23	mansouri	mansouri	PROPN
ap-3490	349	24	,	,	PUNCT
ap-3490	349	25	h.	h.	PROPN
ap-3490	349	26	andreasson	andreasson	PROPN
ap-3490	349	27	,	,	PUNCT
ap-3490	349	28	f.	f.	PROPN
ap-3490	349	29	pecora	pecora	PROPN
ap-3490	349	30	acta	acta	PROPN
ap-3490	349	31	polytechnica	polytechnica	PROPN
ap-3490	349	32	windows	window	NOUN
ap-3490	349	33	,	,	PUNCT
ap-3490	349	34	split	split	ADJ
ap-3490	349	35	delivery	delivery	NOUN
ap-3490	349	36	,	,	PUNCT
ap-3490	349	37	heterogeneous	heterogeneous	ADJ
ap-3490	349	38	fleet	fleet	NOUN
ap-3490	349	39	according	accord	VERB
ap-3490	349	40	to	to	ADP
ap-3490	349	41	the	the	DET
ap-3490	349	42	single	single	ADJ
ap-3490	349	43	and	and	CCONJ
ap-3490	349	44	multiple	multiple	ADJ
ap-3490	349	45	objectives	objective	NOUN
ap-3490	349	46	.	.	PUNCT
ap-3490	350	1	for	for	ADP
ap-3490	350	2	future	future	ADJ
ap-3490	350	3	work	work	NOUN
ap-3490	350	4	,	,	PUNCT
ap-3490	350	5	our	our	PRON
ap-3490	350	6	main	main	ADJ
ap-3490	350	7	focus	focus	NOUN
ap-3490	350	8	is	be	AUX
ap-3490	350	9	to	to	PART
ap-3490	350	10	optimize	optimize	VERB
ap-3490	350	11	the	the	DET
ap-3490	350	12	ttc	ttc	NOUN
ap-3490	350	13	while	while	SCONJ
ap-3490	350	14	all	all	DET
ap-3490	350	15	the	the	DET
ap-3490	350	16	requirements	requirement	NOUN
ap-3490	350	17	are	be	AUX
ap-3490	350	18	upheld	uphold	VERB
ap-3490	350	19	,	,	PUNCT
ap-3490	350	20	therefore	therefore	ADV
ap-3490	350	21	,	,	PUNCT
ap-3490	350	22	casting	cast	VERB
ap-3490	350	23	the	the	DET
ap-3490	350	24	sequencing	sequence	VERB
ap-3490	350	25	sub	sub	NOUN
ap-3490	350	26	-	-	NOUN
ap-3490	350	27	problem	problem	NOUN
ap-3490	350	28	to	to	ADP
ap-3490	350	29	mdvrp	mdvrp	PROPN
ap-3490	350	30	is	be	AUX
ap-3490	350	31	therefore	therefore	ADV
ap-3490	350	32	an	an	DET
ap-3490	350	33	option	option	NOUN
ap-3490	350	34	for	for	ADP
ap-3490	350	35	further	further	ADJ
ap-3490	350	36	investigation	investigation	NOUN
ap-3490	350	37	.	.	PUNCT
ap-3490	351	1	combined	combine	VERB
ap-3490	351	2	route	route	NOUN
ap-3490	351	3	and	and	CCONJ
ap-3490	351	4	motion	motion	NOUN
ap-3490	351	5	planning	planning	NOUN
ap-3490	351	6	in	in	ADP
ap-3490	351	7	the	the	DET
ap-3490	351	8	presence	presence	NOUN
ap-3490	351	9	of	of	ADP
ap-3490	351	10	strong	strong	ADJ
ap-3490	351	11	spatial	spatial	ADJ
ap-3490	351	12	and	and	CCONJ
ap-3490	351	13	temporal	temporal	ADJ
ap-3490	351	14	constraints	constraint	NOUN
ap-3490	351	15	has	have	AUX
ap-3490	351	16	been	be	AUX
ap-3490	351	17	studied	study	VERB
ap-3490	351	18	[	[	PUNCT
ap-3490	351	19	10	10	NUM
ap-3490	351	20	]	]	PUNCT
ap-3490	351	21	.	.	PUNCT
ap-3490	352	1	although	although	SCONJ
ap-3490	352	2	the	the	DET
ap-3490	352	3	application	application	NOUN
ap-3490	352	4	differs	differ	VERB
ap-3490	352	5	,	,	PUNCT
ap-3490	352	6	the	the	DET
ap-3490	352	7	proposed	propose	VERB
ap-3490	352	8	approach	approach	NOUN
ap-3490	352	9	is	be	AUX
ap-3490	352	10	similar	similar	ADJ
ap-3490	352	11	to	to	ADP
ap-3490	352	12	ours	ours	PRON
ap-3490	352	13	in	in	SCONJ
ap-3490	352	14	that	that	SCONJ
ap-3490	352	15	it	it	PRON
ap-3490	352	16	combines	combine	VERB
ap-3490	352	17	solutions	solution	NOUN
ap-3490	352	18	from	from	ADP
ap-3490	352	19	different	different	ADJ
ap-3490	352	20	sub	sub	NOUN
ap-3490	352	21	-	-	NOUN
ap-3490	352	22	problems	problem	NOUN
ap-3490	352	23	such	such	ADJ
ap-3490	352	24	as	as	ADP
ap-3490	352	25	non	non	ADJ
ap-3490	352	26	-	-	ADJ
ap-3490	352	27	trivial	trivial	ADJ
ap-3490	352	28	motion	motion	NOUN
ap-3490	352	29	planning	planning	NOUN
ap-3490	352	30	and	and	CCONJ
ap-3490	352	31	route	route	NOUN
ap-3490	352	32	planning	planning	NOUN
ap-3490	352	33	.	.	PUNCT
ap-3490	353	1	however	however	ADV
ap-3490	353	2	,	,	PUNCT
ap-3490	353	3	the	the	DET
ap-3490	353	4	solution	solution	NOUN
ap-3490	353	5	assumes	assume	VERB
ap-3490	353	6	that	that	SCONJ
ap-3490	353	7	sequencing	sequence	VERB
ap-3490	353	8	of	of	ADP
ap-3490	353	9	goal	goal	NOUN
ap-3490	353	10	poses	pose	NOUN
ap-3490	353	11	is	be	AUX
ap-3490	353	12	given	give	VERB
ap-3490	353	13	,	,	PUNCT
ap-3490	353	14	and	and	CCONJ
ap-3490	353	15	it	it	PRON
ap-3490	353	16	does	do	AUX
ap-3490	353	17	not	not	PART
ap-3490	353	18	handle	handle	VERB
ap-3490	353	19	on	on	ADP
ap-3490	353	20	-	-	PUNCT
ap-3490	353	21	line	line	NOUN
ap-3490	353	22	contingencies	contingency	NOUN
ap-3490	353	23	.	.	PUNCT
ap-3490	354	1	the	the	DET
ap-3490	354	2	coordination	coordination	NOUN
ap-3490	354	3	problem	problem	NOUN
ap-3490	354	4	has	have	VERB
ap-3490	354	5	to	to	PART
ap-3490	354	6	be	be	AUX
ap-3490	354	7	addressed	address	VERB
ap-3490	354	8	when	when	SCONJ
ap-3490	354	9	we	we	PRON
ap-3490	354	10	have	have	VERB
ap-3490	354	11	a	a	DET
ap-3490	354	12	fleet	fleet	NOUN
ap-3490	354	13	of	of	ADP
ap-3490	354	14	autonomous	autonomous	ADJ
ap-3490	354	15	vehicles	vehicle	NOUN
ap-3490	354	16	.	.	PUNCT
ap-3490	355	1	many	many	ADJ
ap-3490	355	2	approaches	approach	NOUN
ap-3490	355	3	to	to	ADP
ap-3490	355	4	this	this	DET
ap-3490	355	5	problem	problem	NOUN
ap-3490	355	6	largely	largely	ADV
ap-3490	355	7	rely	rely	VERB
ap-3490	355	8	on	on	ADP
ap-3490	355	9	fixed	fix	VERB
ap-3490	355	10	trajectories	trajectory	NOUN
ap-3490	355	11	(	(	PUNCT
ap-3490	355	12	e.g.	e.g.	ADV
ap-3490	355	13	,	,	PUNCT
ap-3490	355	14	[	[	X
ap-3490	355	15	11	11	NUM
ap-3490	355	16	]	]	PUNCT
ap-3490	355	17	and	and	CCONJ
ap-3490	355	18	the	the	DET
ap-3490	355	19	kiva	kiva	NOUN
ap-3490	355	20	system	system	NOUN
ap-3490	355	21	[	[	X
ap-3490	355	22	12	12	NUM
ap-3490	355	23	,	,	PUNCT
ap-3490	355	24	13	13	NUM
ap-3490	355	25	]	]	PUNCT
ap-3490	355	26	)	)	PUNCT
ap-3490	355	27	.	.	PUNCT
ap-3490	356	1	this	this	PRON
ap-3490	356	2	makes	make	VERB
ap-3490	356	3	the	the	DET
ap-3490	356	4	coordination	coordination	NOUN
ap-3490	356	5	problem	problem	NOUN
ap-3490	356	6	much	much	ADV
ap-3490	356	7	easier	easy	ADJ
ap-3490	356	8	than	than	ADP
ap-3490	356	9	in	in	ADP
ap-3490	356	10	our	our	PRON
ap-3490	356	11	case	case	NOUN
ap-3490	356	12	,	,	PUNCT
ap-3490	356	13	where	where	SCONJ
ap-3490	356	14	vehicle	vehicle	NOUN
ap-3490	356	15	paths	path	NOUN
ap-3490	356	16	are	be	AUX
ap-3490	356	17	not	not	PART
ap-3490	356	18	known	know	VERB
ap-3490	356	19	a	a	DET
ap-3490	356	20	priori	priori	ADV
ap-3490	356	21	.	.	PUNCT
ap-3490	357	1	the	the	DET
ap-3490	357	2	coordination	coordination	NOUN
ap-3490	357	3	sub	sub	NOUN
ap-3490	357	4	-	-	NOUN
ap-3490	357	5	problem	problem	NOUN
ap-3490	357	6	could	could	AUX
ap-3490	357	7	be	be	AUX
ap-3490	357	8	addressed	address	VERB
ap-3490	357	9	by	by	ADP
ap-3490	357	10	using	use	VERB
ap-3490	357	11	multi	multi	ADJ
ap-3490	357	12	-	-	ADJ
ap-3490	357	13	robot	robot	ADJ
ap-3490	357	14	motion	motion	NOUN
ap-3490	357	15	planners	planner	NOUN
ap-3490	357	16	,	,	PUNCT
ap-3490	357	17	using	use	VERB
ap-3490	357	18	a	a	DET
ap-3490	357	19	distributed	distribute	VERB
ap-3490	357	20	approach	approach	NOUN
ap-3490	357	21	[	[	X
ap-3490	357	22	14	14	NUM
ap-3490	357	23	]	]	PUNCT
ap-3490	357	24	or	or	CCONJ
ap-3490	357	25	solving	solve	VERB
ap-3490	357	26	the	the	DET
ap-3490	357	27	problem	problem	NOUN
ap-3490	357	28	in	in	ADP
ap-3490	357	29	a	a	DET
ap-3490	357	30	centralized	centralized	ADJ
ap-3490	357	31	fashion	fashion	NOUN
ap-3490	357	32	[	[	X
ap-3490	357	33	15	15	NUM
ap-3490	357	34	]	]	PUNCT
ap-3490	357	35	.	.	PUNCT
ap-3490	358	1	the	the	DET
ap-3490	358	2	latter	latter	ADJ
ap-3490	358	3	is	be	AUX
ap-3490	358	4	similar	similar	ADJ
ap-3490	358	5	to	to	ADP
ap-3490	358	6	our	our	PRON
ap-3490	358	7	work	work	NOUN
ap-3490	358	8	in	in	ADP
ap-3490	358	9	terms	term	NOUN
ap-3490	358	10	of	of	ADP
ap-3490	358	11	using	use	VERB
ap-3490	358	12	a	a	DET
ap-3490	358	13	centralized	centralized	ADJ
ap-3490	358	14	approach	approach	NOUN
ap-3490	358	15	.	.	PUNCT
ap-3490	359	1	however	however	ADV
ap-3490	359	2	,	,	PUNCT
ap-3490	359	3	multi	multi	ADJ
ap-3490	359	4	-	-	ADJ
ap-3490	359	5	robot	robot	ADJ
ap-3490	359	6	motion	motion	NOUN
ap-3490	359	7	planners	planner	NOUN
ap-3490	359	8	are	be	AUX
ap-3490	359	9	not	not	PART
ap-3490	359	10	efficient	efficient	ADJ
ap-3490	359	11	enough	enough	ADV
ap-3490	359	12	for	for	ADP
ap-3490	359	13	use	use	NOUN
ap-3490	359	14	within	within	ADP
ap-3490	359	15	another	another	DET
ap-3490	359	16	search	search	NOUN
ap-3490	359	17	,	,	PUNCT
ap-3490	359	18	and	and	CCONJ
ap-3490	359	19	are	be	AUX
ap-3490	359	20	unable	unable	ADJ
ap-3490	359	21	to	to	PART
ap-3490	359	22	handle	handle	VERB
ap-3490	359	23	temporal	temporal	ADJ
ap-3490	359	24	contingencies	contingency	NOUN
ap-3490	359	25	that	that	PRON
ap-3490	359	26	may	may	AUX
ap-3490	359	27	occurr	occurr	VERB
ap-3490	359	28	on	on	ADP
ap-3490	359	29	-	-	PUNCT
ap-3490	359	30	line	line	NOUN
ap-3490	359	31	.	.	PUNCT
ap-3490	360	1	in	in	ADP
ap-3490	360	2	this	this	DET
ap-3490	360	3	work	work	NOUN
ap-3490	360	4	,	,	PUNCT
ap-3490	360	5	we	we	PRON
ap-3490	360	6	have	have	AUX
ap-3490	360	7	broken	break	VERB
ap-3490	360	8	down	down	ADP
ap-3490	360	9	a	a	DET
ap-3490	360	10	given	give	VERB
ap-3490	360	11	hybrid	hybrid	ADJ
ap-3490	360	12	problem	problem	NOUN
ap-3490	360	13	and	and	CCONJ
ap-3490	360	14	have	have	AUX
ap-3490	360	15	identified	identify	VERB
ap-3490	360	16	interdependency	interdependency	NOUN
ap-3490	360	17	among	among	ADP
ap-3490	360	18	the	the	DET
ap-3490	360	19	sub	sub	NOUN
ap-3490	360	20	-	-	NOUN
ap-3490	360	21	problems	problem	NOUN
ap-3490	360	22	,	,	PUNCT
ap-3490	360	23	and	and	CCONJ
ap-3490	360	24	we	we	PRON
ap-3490	360	25	interleave	interleave	VERB
ap-3490	360	26	reasoning	reasoning	NOUN
ap-3490	360	27	within	within	ADP
ap-3490	360	28	each	each	DET
ap-3490	360	29	sub	sub	NOUN
ap-3490	360	30	-	-	NOUN
ap-3490	360	31	problem	problem	NOUN
ap-3490	360	32	.	.	PUNCT
ap-3490	361	1	a	a	DET
ap-3490	361	2	heuristically	heuristically	ADV
ap-3490	361	3	guided	guide	VERB
ap-3490	361	4	backtracking	backtrack	VERB
ap-3490	361	5	search	search	NOUN
ap-3490	361	6	finds	find	VERB
ap-3490	361	7	a	a	DET
ap-3490	361	8	solution	solution	NOUN
ap-3490	361	9	to	to	ADP
ap-3490	361	10	the	the	DET
ap-3490	361	11	overall	overall	ADJ
ap-3490	361	12	problem	problem	NOUN
ap-3490	361	13	in	in	ADP
ap-3490	361	14	the	the	DET
ap-3490	361	15	joint	joint	ADJ
ap-3490	361	16	search	search	NOUN
ap-3490	361	17	spaces	space	NOUN
ap-3490	361	18	of	of	ADP
ap-3490	361	19	these	these	DET
ap-3490	361	20	sub	sub	NOUN
ap-3490	361	21	-	-	NOUN
ap-3490	361	22	problems	problem	NOUN
ap-3490	361	23	.	.	PUNCT
ap-3490	362	1	this	this	DET
ap-3490	362	2	approach	approach	NOUN
ap-3490	362	3	is	be	AUX
ap-3490	362	4	general	general	ADJ
ap-3490	362	5	and	and	CCONJ
ap-3490	362	6	can	can	AUX
ap-3490	362	7	be	be	AUX
ap-3490	362	8	used	use	VERB
ap-3490	362	9	in	in	ADP
ap-3490	362	10	other	other	ADJ
ap-3490	362	11	domains	domain	NOUN
ap-3490	362	12	,	,	PUNCT
ap-3490	362	13	such	such	ADJ
ap-3490	362	14	as	as	ADP
ap-3490	362	15	task	task	NOUN
ap-3490	362	16	planning	planning	NOUN
ap-3490	362	17	for	for	ADP
ap-3490	362	18	mobile	mobile	ADJ
ap-3490	362	19	service	service	NOUN
ap-3490	362	20	robots	robot	NOUN
ap-3490	362	21	[	[	X
ap-3490	362	22	16	16	NUM
ap-3490	362	23	]	]	PUNCT
ap-3490	362	24	or	or	CCONJ
ap-3490	362	25	warehouse	warehouse	NOUN
ap-3490	362	26	management	management	NOUN
ap-3490	363	1	[	[	X
ap-3490	363	2	17	17	NUM
ap-3490	363	3	]	]	PUNCT
ap-3490	363	4	.	.	PUNCT
ap-3490	364	1	in	in	ADP
ap-3490	364	2	addition	addition	NOUN
ap-3490	364	3	to	to	ADP
ap-3490	364	4	focusing	focus	VERB
ap-3490	364	5	on	on	ADP
ap-3490	364	6	the	the	DET
ap-3490	364	7	optimization	optimization	NOUN
ap-3490	364	8	issue	issue	NOUN
ap-3490	364	9	,	,	PUNCT
ap-3490	364	10	our	our	PRON
ap-3490	364	11	ongoing	ongoing	ADJ
ap-3490	364	12	work	work	NOUN
ap-3490	364	13	will	will	AUX
ap-3490	364	14	broaden	broaden	VERB
ap-3490	364	15	the	the	DET
ap-3490	364	16	range	range	NOUN
ap-3490	364	17	of	of	ADP
ap-3490	364	18	possible	possible	ADJ
ap-3490	364	19	online	online	ADJ
ap-3490	364	20	contingencies	contingency	NOUN
ap-3490	364	21	(	(	PUNCT
ap-3490	364	22	e.g.	e.g.	ADV
ap-3490	364	23	,	,	PUNCT
ap-3490	364	24	machine	machine	NOUN
ap-3490	364	25	breakdowns	breakdown	NOUN
ap-3490	364	26	which	which	PRON
ap-3490	364	27	require	require	VERB
ap-3490	364	28	removing	remove	VERB
ap-3490	364	29	a	a	DET
ap-3490	364	30	machine	machine	NOUN
ap-3490	364	31	)	)	PUNCT
ap-3490	364	32	that	that	PRON
ap-3490	364	33	can	can	AUX
ap-3490	364	34	be	be	AUX
ap-3490	364	35	dealt	deal	VERB
ap-3490	364	36	with	with	ADP
ap-3490	364	37	by	by	ADP
ap-3490	364	38	our	our	PRON
ap-3490	364	39	dp3	dp3	PROPN
ap-3490	364	40	-	-	PUNCT
ap-3490	364	41	solver	solver	NOUN
ap-3490	364	42	.	.	PUNCT
ap-3490	365	1	acknowledgements	acknowledgement	NOUN
ap-3490	365	2	this	this	DET
ap-3490	365	3	work	work	NOUN
ap-3490	365	4	has	have	AUX
ap-3490	365	5	been	be	AUX
ap-3490	365	6	supported	support	VERB
ap-3490	365	7	by	by	ADP
ap-3490	365	8	the	the	DET
ap-3490	365	9	swedish	swedish	PROPN
ap-3490	365	10	knowledge	knowledge	PROPN
ap-3490	365	11	foundation	foundation	PROPN
ap-3490	365	12	(	(	PUNCT
ap-3490	365	13	kks	kks	PROPN
ap-3490	365	14	)	)	PUNCT
ap-3490	365	15	project	project	NOUN
ap-3490	365	16	“	"	PUNCT
ap-3490	365	17	semantic	semantic	ADJ
ap-3490	365	18	robots	robot	NOUN
ap-3490	365	19	”	"	PUNCT
ap-3490	365	20	and	and	CCONJ
ap-3490	365	21	by	by	ADP
ap-3490	365	22	atlas	atlas	PROPN
ap-3490	365	23	copco	copco	PROPN
ap-3490	365	24	.	.	PUNCT
ap-3490	366	1	we	we	PRON
ap-3490	366	2	are	be	AUX
ap-3490	366	3	grateful	grateful	ADJ
ap-3490	366	4	to	to	ADP
ap-3490	366	5	pontus	pontus	PROPN
ap-3490	366	6	bergsten	bergsten	PROPN
ap-3490	366	7	,	,	PUNCT
ap-3490	366	8	lars	lars	PROPN
ap-3490	366	9	eriksson	eriksson	PROPN
ap-3490	366	10	,	,	PUNCT
ap-3490	366	11	stephen	stephen	PROPN
ap-3490	366	12	joyce	joyce	PROPN
ap-3490	366	13	,	,	PUNCT
ap-3490	366	14	robert	robert	PROPN
ap-3490	366	15	lundh	lundh	PROPN
ap-3490	366	16	,	,	PUNCT
ap-3490	366	17	and	and	CCONJ
ap-3490	366	18	ola	ola	PROPN
ap-3490	366	19	pettersson	pettersson	PROPN
ap-3490	366	20	for	for	ADP
ap-3490	366	21	their	their	PRON
ap-3490	366	22	support	support	NOUN
ap-3490	366	23	.	.	PUNCT
ap-3490	367	1	we	we	PRON
ap-3490	367	2	also	also	ADV
ap-3490	367	3	wish	wish	VERB
ap-3490	367	4	to	to	PART
ap-3490	367	5	thank	thank	VERB
ap-3490	367	6	nils	nils	PROPN
ap-3490	367	7	johansson	johansson	PROPN
ap-3490	367	8	and	and	CCONJ
ap-3490	367	9	the	the	DET
ap-3490	367	10	workers	worker	NOUN
ap-3490	367	11	of	of	ADP
ap-3490	367	12	the	the	DET
ap-3490	367	13	new	new	ADJ
ap-3490	367	14	boliden	boliden	ADJ
ap-3490	367	15	mine	mine	NOUN
ap-3490	367	16	in	in	ADP
ap-3490	367	17	gällivare	gällivare	NOUN
ap-3490	367	18	for	for	ADP
ap-3490	367	19	their	their	PRON
ap-3490	367	20	precious	precious	ADJ
ap-3490	367	21	insights	insight	NOUN
ap-3490	367	22	into	into	ADP
ap-3490	367	23	the	the	DET
ap-3490	367	24	mining	mining	NOUN
ap-3490	367	25	process	process	NOUN
ap-3490	367	26	.	.	PUNCT
ap-3490	368	1	references	reference	NOUN
ap-3490	368	2	[	[	X
ap-3490	368	3	1	1	NUM
ap-3490	368	4	]	]	PUNCT
ap-3490	368	5	h.	h.	PROPN
ap-3490	368	6	andreasson	andreasson	PROPN
ap-3490	368	7	,	,	PUNCT
ap-3490	368	8	a.	a.	NOUN
ap-3490	368	9	bouguerra	bouguerra	PROPN
ap-3490	368	10	,	,	PUNCT
ap-3490	368	11	m.	m.	NOUN
ap-3490	368	12	cirillo	cirillo	PROPN
ap-3490	368	13	,	,	PUNCT
ap-3490	368	14	et	et	PROPN
ap-3490	368	15	al	al	PROPN
ap-3490	368	16	.	.	PROPN
ap-3490	368	17	autonomous	autonomous	ADJ
ap-3490	368	18	transport	transport	NOUN
ap-3490	368	19	vehicles	vehicle	NOUN
ap-3490	368	20	:	:	PUNCT
ap-3490	368	21	where	where	SCONJ
ap-3490	368	22	we	we	PRON
ap-3490	368	23	are	be	AUX
ap-3490	368	24	and	and	CCONJ
ap-3490	368	25	what	what	PRON
ap-3490	368	26	is	be	AUX
ap-3490	368	27	missing	miss	VERB
ap-3490	368	28	.	.	PUNCT
ap-3490	369	1	robotics	robotic	NOUN
ap-3490	369	2	&	&	CCONJ
ap-3490	369	3	automation	automation	PROPN
ap-3490	369	4	magazine	magazine	PROPN
ap-3490	369	5	,	,	PUNCT
ap-3490	369	6	ieee	ieee	NOUN
ap-3490	369	7	22(1):64–75	22(1):64–75	NUM
ap-3490	369	8	,	,	PUNCT
ap-3490	369	9	2015	2015	NUM
ap-3490	369	10	.	.	PUNCT
ap-3490	370	1	doi:10.1109	doi:10.1109	VERB
ap-3490	370	2	/	/	SYM
ap-3490	370	3	mra.2014.2381357	mra.2014.2381357	NUM
ap-3490	370	4	.	.	PUNCT
ap-3490	371	1	[	[	X
ap-3490	371	2	2	2	X
ap-3490	371	3	]	]	X
ap-3490	371	4	e.	e.	PROPN
ap-3490	371	5	tsang	tsang	PROPN
ap-3490	371	6	.	.	PUNCT
ap-3490	372	1	foundations	foundation	NOUN
ap-3490	372	2	of	of	ADP
ap-3490	372	3	constraint	constraint	NOUN
ap-3490	372	4	satisfaction	satisfaction	NOUN
ap-3490	372	5	.	.	PUNCT
ap-3490	373	1	computation	computation	NOUN
ap-3490	373	2	in	in	ADP
ap-3490	373	3	cognitive	cognitive	ADJ
ap-3490	373	4	science	science	NOUN
ap-3490	373	5	.	.	PUNCT
ap-3490	374	1	academic	academic	ADJ
ap-3490	374	2	press	press	NOUN
ap-3490	374	3	,	,	PUNCT
ap-3490	374	4	1993	1993	NUM
ap-3490	374	5	.	.	PUNCT
ap-3490	375	1	[	[	X
ap-3490	375	2	3	3	NUM
ap-3490	375	3	]	]	PUNCT
ap-3490	375	4	t.-c	t.-c	PROPN
ap-3490	375	5	.	.	PUNCT
ap-3490	376	1	liang	liang	PROPN
ap-3490	376	2	,	,	PUNCT
ap-3490	376	3	j.-s	j.-s	PROPN
ap-3490	376	4	.	.	PUNCT
ap-3490	377	1	liu	liu	PROPN
ap-3490	377	2	,	,	PUNCT
ap-3490	377	3	g.-t	g.-t	PROPN
ap-3490	377	4	.	.	PUNCT
ap-3490	378	1	hung	hung	PROPN
ap-3490	378	2	,	,	PUNCT
ap-3490	378	3	y.-z	y.-z	PROPN
ap-3490	378	4	.	.	PUNCT
ap-3490	379	1	chang	chang	PROPN
ap-3490	379	2	.	.	PROPN
ap-3490	380	1	practical	practical	ADJ
ap-3490	380	2	and	and	CCONJ
ap-3490	380	3	flexible	flexible	ADJ
ap-3490	380	4	path	path	NOUN
ap-3490	380	5	planning	planning	NOUN
ap-3490	380	6	for	for	ADP
ap-3490	380	7	car	car	NOUN
ap-3490	380	8	-	-	PUNCT
ap-3490	380	9	like	like	ADJ
ap-3490	380	10	mobile	mobile	NOUN
ap-3490	380	11	robot	robot	NOUN
ap-3490	380	12	using	use	VERB
ap-3490	380	13	maximal	maximal	ADJ
ap-3490	380	14	-	-	PUNCT
ap-3490	380	15	curvature	curvature	NOUN
ap-3490	380	16	cubic	cubic	ADJ
ap-3490	380	17	spiral	spiral	NOUN
ap-3490	380	18	.	.	PUNCT
ap-3490	381	1	robotics	robotic	NOUN
ap-3490	381	2	and	and	CCONJ
ap-3490	381	3	autonomous	autonomous	ADJ
ap-3490	381	4	systems	system	NOUN
ap-3490	381	5	52(4):312–335	52(4):312–335	NUM
ap-3490	381	6	,	,	PUNCT
ap-3490	381	7	2005	2005	NUM
ap-3490	381	8	.	.	PUNCT
ap-3490	382	1	doi:10.1016	doi:10.1016	PROPN
ap-3490	382	2	/	/	SYM
ap-3490	382	3	j.robot.2005.05.001	j.robot.2005.05.001	PROPN
ap-3490	382	4	.	.	PUNCT
ap-3490	383	1	[	[	X
ap-3490	383	2	4	4	X
ap-3490	383	3	]	]	X
ap-3490	383	4	r.	r.	PROPN
ap-3490	383	5	dechter	dechter	PROPN
ap-3490	383	6	,	,	PUNCT
ap-3490	383	7	i.	i.	PROPN
ap-3490	383	8	meiri	meiri	PROPN
ap-3490	383	9	,	,	PUNCT
ap-3490	383	10	j.	j.	PROPN
ap-3490	383	11	pearl	pearl	PROPN
ap-3490	383	12	.	.	PUNCT
ap-3490	384	1	temporal	temporal	ADJ
ap-3490	384	2	constraint	constraint	NOUN
ap-3490	384	3	networks	network	NOUN
ap-3490	384	4	.	.	PUNCT
ap-3490	385	1	artificial	artificial	ADJ
ap-3490	385	2	intelligence	intelligence	NOUN
ap-3490	385	3	49(1	49(1	NOUN
ap-3490	385	4	-	-	PUNCT
ap-3490	385	5	3):61–95	3):61–95	NUM
ap-3490	385	6	,	,	PUNCT
ap-3490	385	7	1991	1991	NUM
ap-3490	385	8	.	.	PUNCT
ap-3490	386	1	doi:10.1016/0004	doi:10.1016/0004	VERB
ap-3490	386	2	-	-	PUNCT
ap-3490	386	3	3702(91)90006	3702(91)90006	NUM
ap-3490	386	4	-	-	SYM
ap-3490	386	5	6	6	NUM
ap-3490	386	6	.	.	PUNCT
ap-3490	387	1	[	[	X
ap-3490	387	2	5	5	NUM
ap-3490	387	3	]	]	PUNCT
ap-3490	387	4	a.	a.	NOUN
ap-3490	387	5	cesta	cesta	PROPN
ap-3490	387	6	,	,	PUNCT
ap-3490	387	7	a.	a.	NOUN
ap-3490	387	8	oddi	oddi	PROPN
ap-3490	387	9	,	,	PUNCT
ap-3490	387	10	s.	s.	PROPN
ap-3490	387	11	f.	f.	PROPN
ap-3490	387	12	smith	smith	PROPN
ap-3490	387	13	.	.	PUNCT
ap-3490	388	1	a	a	DET
ap-3490	388	2	constraint	constraint	NOUN
ap-3490	388	3	-	-	PUNCT
ap-3490	388	4	based	base	VERB
ap-3490	388	5	method	method	NOUN
ap-3490	388	6	for	for	ADP
ap-3490	388	7	project	project	NOUN
ap-3490	388	8	scheduling	scheduling	NOUN
ap-3490	388	9	with	with	ADP
ap-3490	388	10	time	time	NOUN
ap-3490	388	11	windows	window	NOUN
ap-3490	388	12	.	.	PUNCT
ap-3490	389	1	journal	journal	PROPN
ap-3490	389	2	of	of	ADP
ap-3490	389	3	heuristics	heuristic	NOUN
ap-3490	389	4	8(1):109–136	8(1):109–136	NUM
ap-3490	389	5	,	,	PUNCT
ap-3490	389	6	2002	2002	NUM
ap-3490	389	7	.	.	PUNCT
ap-3490	390	1	doi:10.1023	doi:10.1023	NOUN
ap-3490	390	2	/	/	SYM
ap-3490	390	3	a:1013617802515	a:1013617802515	NOUN
ap-3490	390	4	.	.	PUNCT
ap-3490	391	1	[	[	X
ap-3490	391	2	6	6	NUM
ap-3490	391	3	]	]	PUNCT
ap-3490	391	4	s.	s.	PROPN
ap-3490	391	5	qin	qin	PROPN
ap-3490	391	6	,	,	PUNCT
ap-3490	391	7	t.	t.	PROPN
ap-3490	391	8	badgwell	badgwell	PROPN
ap-3490	391	9	.	.	PUNCT
ap-3490	392	1	a	a	DET
ap-3490	392	2	survey	survey	NOUN
ap-3490	392	3	of	of	ADP
ap-3490	392	4	industrial	industrial	ADJ
ap-3490	392	5	model	model	NOUN
ap-3490	392	6	predictive	predictive	PROPN
ap-3490	392	7	control	control	PROPN
ap-3490	392	8	technology	technology	PROPN
ap-3490	392	9	.	.	PUNCT
ap-3490	393	1	control	control	NOUN
ap-3490	393	2	engineering	engineering	NOUN
ap-3490	393	3	practice	practice	NOUN
ap-3490	393	4	11:733–764	11:733–764	NUM
ap-3490	393	5	,	,	PUNCT
ap-3490	393	6	2003	2003	NUM
ap-3490	393	7	.	.	PUNCT
ap-3490	394	1	doi:10.1016	doi:10.1016	PROPN
ap-3490	394	2	/	/	SYM
ap-3490	394	3	s0967	s0967	ADJ
ap-3490	394	4	-	-	PUNCT
ap-3490	394	5	0661(02)00186	0661(02)00186	NOUN
ap-3490	394	6	-	-	PUNCT
ap-3490	394	7	7	7	NUM
ap-3490	394	8	.	.	PUNCT
ap-3490	395	1	[	[	X
ap-3490	395	2	7	7	X
ap-3490	395	3	]	]	PUNCT
ap-3490	395	4	m.	m.	NOUN
ap-3490	395	5	quigley	quigley	PROPN
ap-3490	395	6	,	,	PUNCT
ap-3490	395	7	k.	k.	PROPN
ap-3490	395	8	conley	conley	PROPN
ap-3490	395	9	,	,	PUNCT
ap-3490	395	10	b.	b.	PROPN
ap-3490	395	11	gerkey	gerkey	PROPN
ap-3490	395	12	,	,	PUNCT
ap-3490	395	13	et	et	PROPN
ap-3490	395	14	al	al	PROPN
ap-3490	395	15	.	.	PUNCT
ap-3490	396	1	ros	ros	PROPN
ap-3490	396	2	:	:	PUNCT
ap-3490	396	3	an	an	DET
ap-3490	396	4	open	open	ADJ
ap-3490	396	5	-	-	PUNCT
ap-3490	396	6	source	source	NOUN
ap-3490	396	7	robot	robot	NOUN
ap-3490	396	8	operating	operating	NOUN
ap-3490	396	9	system	system	NOUN
ap-3490	396	10	.	.	PUNCT
ap-3490	397	1	in	in	ADP
ap-3490	397	2	icra	icra	PROPN
ap-3490	397	3	workshop	workshop	NOUN
ap-3490	397	4	on	on	ADP
ap-3490	397	5	open	open	ADJ
ap-3490	397	6	source	source	NOUN
ap-3490	397	7	software	software	NOUN
ap-3490	397	8	.	.	PUNCT
ap-3490	398	1	2009	2009	NUM
ap-3490	398	2	.	.	PUNCT
ap-3490	399	1	[	[	X
ap-3490	399	2	8	8	NUM
ap-3490	399	3	]	]	PUNCT
ap-3490	399	4	m.	m.	NOUN
ap-3490	399	5	woolridge	woolridge	NOUN
ap-3490	399	6	.	.	PUNCT
ap-3490	400	1	introduction	introduction	NOUN
ap-3490	400	2	to	to	ADP
ap-3490	400	3	multiagent	multiagent	NOUN
ap-3490	400	4	systems	system	NOUN
ap-3490	400	5	.	.	PUNCT
ap-3490	401	1	john	john	PROPN
ap-3490	401	2	wiley	wiley	PROPN
ap-3490	401	3	&	&	CCONJ
ap-3490	401	4	sons	sons	PROPN
ap-3490	401	5	,	,	PUNCT
ap-3490	401	6	inc	inc	PROPN
ap-3490	401	7	.	.	PROPN
ap-3490	401	8	,	,	PUNCT
ap-3490	401	9	new	new	PROPN
ap-3490	401	10	york	york	PROPN
ap-3490	401	11	,	,	PUNCT
ap-3490	401	12	ny	ny	PROPN
ap-3490	401	13	,	,	PUNCT
ap-3490	401	14	usa	usa	PROPN
ap-3490	401	15	,	,	PUNCT
ap-3490	401	16	2001	2001	NUM
ap-3490	401	17	.	.	PUNCT
ap-3490	402	1	[	[	X
ap-3490	402	2	9	9	NUM
ap-3490	402	3	]	]	PUNCT
ap-3490	402	4	j.	j.	PROPN
ap-3490	402	5	r.	r.	PROPN
ap-3490	402	6	montoya	montoya	PROPN
ap-3490	402	7	-	-	PUNCT
ap-3490	402	8	torres	torres	PROPN
ap-3490	402	9	,	,	PUNCT
ap-3490	402	10	j.	j.	PROPN
ap-3490	402	11	l.	l.	PROPN
ap-3490	402	12	franco	franco	PROPN
ap-3490	402	13	,	,	PUNCT
ap-3490	402	14	n.	n.	PROPN
ap-3490	402	15	i.	i.	PROPN
ap-3490	402	16	santiago	santiago	PROPN
ap-3490	402	17	,	,	PUNCT
ap-3490	402	18	et	et	PROPN
ap-3490	402	19	al	al	PROPN
ap-3490	402	20	.	.	PROPN
ap-3490	402	21	survey	survey	NOUN
ap-3490	402	22	.	.	PUNCT
ap-3490	403	1	computers	computer	NOUN
ap-3490	403	2	&	&	CCONJ
ap-3490	403	3	industrial	industrial	ADJ
ap-3490	403	4	engineering	engineering	PROPN
ap-3490	403	5	79(complete):115–129	79(complete):115–129	NUM
ap-3490	403	6	,	,	PUNCT
ap-3490	403	7	2015	2015	NUM
ap-3490	403	8	.	.	PUNCT
ap-3490	404	1	doi:10.1016	doi:10.1016	PROPN
ap-3490	404	2	/	/	SYM
ap-3490	404	3	j.cie.2014.10.029	j.cie.2014.10.029	PROPN
ap-3490	404	4	.	.	PUNCT
ap-3490	405	1	[	[	X
ap-3490	405	2	10	10	NUM
ap-3490	405	3	]	]	X
ap-3490	405	4	s.	s.	PROPN
ap-3490	405	5	scheuren	scheuren	PROPN
ap-3490	405	6	,	,	PUNCT
ap-3490	405	7	s.	s.	PROPN
ap-3490	405	8	stiene	stiene	PROPN
ap-3490	405	9	,	,	PUNCT
ap-3490	405	10	r.	r.	PROPN
ap-3490	405	11	hartanto	hartanto	PROPN
ap-3490	405	12	,	,	PUNCT
ap-3490	405	13	et	et	PROPN
ap-3490	405	14	al	al	PROPN
ap-3490	405	15	.	.	PROPN
ap-3490	405	16	spatio	spatio	PROPN
ap-3490	405	17	-	-	PUNCT
ap-3490	405	18	temporally	temporally	ADV
ap-3490	405	19	constrained	constrain	VERB
ap-3490	405	20	planning	planning	NOUN
ap-3490	405	21	for	for	ADP
ap-3490	405	22	cooperative	cooperative	ADJ
ap-3490	405	23	vehicles	vehicle	NOUN
ap-3490	405	24	in	in	ADP
ap-3490	405	25	a	a	DET
ap-3490	405	26	harvesting	harvesting	NOUN
ap-3490	405	27	scenario	scenario	NOUN
ap-3490	405	28	.	.	PUNCT
ap-3490	406	1	ki	ki	PROPN
ap-3490	407	1	pp	pp	INTJ
ap-3490	407	2	.	.	PUNCT
ap-3490	408	1	341–346	341–346	NUM
ap-3490	408	2	,	,	PUNCT
ap-3490	408	3	2013	2013	NUM
ap-3490	408	4	.	.	PUNCT
ap-3490	409	1	doi:10.1007	doi:10.1007	VERB
ap-3490	409	2	/	/	SYM
ap-3490	409	3	s13218	s13218	NOUN
ap-3490	409	4	-	-	PUNCT
ap-3490	409	5	013	013	NUM
ap-3490	409	6	-	-	PUNCT
ap-3490	409	7	0267	0267	NUM
ap-3490	409	8	-	-	PUNCT
ap-3490	409	9	y.	y.	NOUN
ap-3490	410	1	[	[	X
ap-3490	410	2	11	11	NUM
ap-3490	410	3	]	]	PUNCT
ap-3490	410	4	j.	j.	PROPN
ap-3490	410	5	marshall	marshall	PROPN
ap-3490	410	6	,	,	PUNCT
ap-3490	410	7	t.	t.	PROPN
ap-3490	410	8	barfoot	barfoot	PROPN
ap-3490	410	9	,	,	PUNCT
ap-3490	410	10	j.	j.	PROPN
ap-3490	410	11	larsson	larsson	PROPN
ap-3490	410	12	.	.	PUNCT
ap-3490	411	1	autonomous	autonomous	ADJ
ap-3490	411	2	underground	underground	ADJ
ap-3490	411	3	tramming	tramming	NOUN
ap-3490	411	4	for	for	ADP
ap-3490	411	5	center	center	NOUN
ap-3490	411	6	-	-	PUNCT
ap-3490	411	7	articulated	articulated	ADJ
ap-3490	411	8	vehicles	vehicle	NOUN
ap-3490	411	9	.	.	PUNCT
ap-3490	412	1	journal	journal	NOUN
ap-3490	412	2	of	of	ADP
ap-3490	412	3	field	field	NOUN
ap-3490	412	4	robotics	robotic	NOUN
ap-3490	412	5	25(6	25(6	NOUN
ap-3490	412	6	-	-	PUNCT
ap-3490	412	7	7):400–421	7):400–421	NUM
ap-3490	412	8	,	,	PUNCT
ap-3490	412	9	2008	2008	NUM
ap-3490	412	10	.	.	PUNCT
ap-3490	413	1	doi:10.1002	doi:10.1002	NOUN
ap-3490	413	2	/	/	SYM
ap-3490	413	3	rob.20242	rob.20242	ADP
ap-3490	413	4	.	.	PUNCT
ap-3490	414	1	[	[	X
ap-3490	414	2	12	12	NUM
ap-3490	414	3	]	]	PUNCT
ap-3490	414	4	amazon	amazon	NOUN
ap-3490	414	5	robotics	robotic	NOUN
ap-3490	414	6	.	.	PUNCT
ap-3490	415	1	http://www.amazonrobotics.com	http://www.amazonrobotics.com	X
ap-3490	415	2	.	.	PUNCT
ap-3490	416	1	accessed	access	VERB
ap-3490	416	2	:	:	PUNCT
ap-3490	416	3	2015	2015	NUM
ap-3490	416	4	-	-	SYM
ap-3490	416	5	09	09	NUM
ap-3490	416	6	-	-	PUNCT
ap-3490	416	7	01	01	NUM
ap-3490	416	8	.	.	PUNCT
ap-3490	417	1	[	[	X
ap-3490	417	2	13	13	NUM
ap-3490	417	3	]	]	X
ap-3490	417	4	e.	e.	PROPN
ap-3490	417	5	guizzo	guizzo	PROPN
ap-3490	417	6	.	.	PUNCT
ap-3490	418	1	three	three	NUM
ap-3490	418	2	engineers	engineer	NOUN
ap-3490	418	3	,	,	PUNCT
ap-3490	418	4	hundreds	hundred	NOUN
ap-3490	418	5	of	of	ADP
ap-3490	418	6	robots	robot	NOUN
ap-3490	418	7	,	,	PUNCT
ap-3490	418	8	one	one	NUM
ap-3490	418	9	warehouse	warehouse	NOUN
ap-3490	418	10	.	.	PUNCT
ap-3490	419	1	ieee	ieee	PROPN
ap-3490	419	2	spectrum	spectrum	PROPN
ap-3490	419	3	45(7):26–34	45(7):26–34	NUM
ap-3490	419	4	,	,	PUNCT
ap-3490	419	5	2008	2008	NUM
ap-3490	419	6	.	.	PUNCT
ap-3490	420	1	[	[	X
ap-3490	420	2	14	14	NUM
ap-3490	420	3	]	]	PUNCT
ap-3490	420	4	k.	k.	PROPN
ap-3490	420	5	e.	e.	PROPN
ap-3490	420	6	bekris	bekris	PROPN
ap-3490	420	7	,	,	PUNCT
ap-3490	420	8	d.	d.	PROPN
ap-3490	420	9	k.	k.	PROPN
ap-3490	420	10	grady	grady	PROPN
ap-3490	420	11	,	,	PUNCT
ap-3490	420	12	m.	m.	PROPN
ap-3490	420	13	moll	moll	PROPN
ap-3490	420	14	,	,	PUNCT
ap-3490	420	15	l.	l.	PROPN
ap-3490	420	16	e.	e.	PROPN
ap-3490	420	17	kavraki	kavraki	PROPN
ap-3490	420	18	.	.	PUNCT
ap-3490	421	1	safe	safe	ADJ
ap-3490	421	2	distributed	distribute	VERB
ap-3490	421	3	motion	motion	NOUN
ap-3490	421	4	coordination	coordination	NOUN
ap-3490	421	5	for	for	ADP
ap-3490	421	6	second	second	ADJ
ap-3490	421	7	-	-	PUNCT
ap-3490	421	8	order	order	NOUN
ap-3490	421	9	systems	system	NOUN
ap-3490	421	10	with	with	ADP
ap-3490	421	11	different	different	ADJ
ap-3490	421	12	planning	planning	NOUN
ap-3490	421	13	cycles	cycle	NOUN
ap-3490	421	14	.	.	PUNCT
ap-3490	422	1	int	int	PROPN
ap-3490	422	2	journal	journal	PROPN
ap-3490	422	3	of	of	ADP
ap-3490	422	4	robotics	robotic	NOUN
ap-3490	422	5	research	research	NOUN
ap-3490	422	6	(	(	PUNCT
ap-3490	422	7	ijrr	ijrr	NOUN
ap-3490	422	8	)	)	PUNCT
ap-3490	422	9	31(2	31(2	PROPN
ap-3490	422	10	)	)	PUNCT
ap-3490	422	11	,	,	PUNCT
ap-3490	422	12	2012	2012	NUM
ap-3490	422	13	.	.	PUNCT
ap-3490	423	1	doi:10.1177/0278364911430420	doi:10.1177/0278364911430420	PROPN
ap-3490	423	2	.	.	PUNCT
ap-3490	424	1	[	[	X
ap-3490	424	2	15	15	NUM
ap-3490	424	3	]	]	X
ap-3490	424	4	m.	m.	NOUN
ap-3490	424	5	cirillo	cirillo	PROPN
ap-3490	424	6	,	,	PUNCT
ap-3490	424	7	t.	t.	PROPN
ap-3490	424	8	uras	uras	PROPN
ap-3490	424	9	,	,	PUNCT
ap-3490	424	10	s.	s.	PROPN
ap-3490	424	11	koenig	koenig	PROPN
ap-3490	424	12	.	.	PUNCT
ap-3490	425	1	a	a	DET
ap-3490	425	2	lattice	lattice	NOUN
ap-3490	425	3	-	-	PUNCT
ap-3490	425	4	based	base	VERB
ap-3490	425	5	approach	approach	NOUN
ap-3490	425	6	to	to	ADP
ap-3490	425	7	multi	multi	ADJ
ap-3490	425	8	-	-	ADJ
ap-3490	425	9	robot	robot	ADJ
ap-3490	425	10	motion	motion	NOUN
ap-3490	425	11	planning	planning	NOUN
ap-3490	425	12	for	for	ADP
ap-3490	425	13	non	non	ADJ
ap-3490	425	14	-	-	ADJ
ap-3490	425	15	holonomic	holonomic	ADJ
ap-3490	425	16	vehicles	vehicle	NOUN
ap-3490	425	17	.	.	PUNCT
ap-3490	426	1	in	in	ADP
ap-3490	426	2	ieee	ieee	NOUN
ap-3490	426	3	/	/	SYM
ap-3490	426	4	rsj	rsj	NOUN
ap-3490	426	5	int	int	NOUN
ap-3490	426	6	.	.	PUNCT
ap-3490	427	1	conf	conf	PROPN
ap-3490	427	2	.	.	PUNCT
ap-3490	428	1	on	on	ADP
ap-3490	428	2	intelligent	intelligent	ADJ
ap-3490	428	3	robots	robot	NOUN
ap-3490	428	4	and	and	CCONJ
ap-3490	428	5	systems	system	NOUN
ap-3490	428	6	(	(	PUNCT
ap-3490	428	7	iros	iro	NOUN
ap-3490	428	8	)	)	PUNCT
ap-3490	428	9	.	.	PUNCT
ap-3490	429	1	2014	2014	NUM
ap-3490	429	2	.	.	PUNCT
ap-3490	430	1	doi:10.1109	doi:10.1109	VERB
ap-3490	430	2	/	/	SYM
ap-3490	430	3	iros.2014.6942566	iros.2014.6942566	PROPN
ap-3490	430	4	.	.	PUNCT
ap-3490	431	1	[	[	X
ap-3490	431	2	16	16	NUM
ap-3490	431	3	]	]	X
ap-3490	431	4	s.	s.	PROPN
ap-3490	431	5	stock	stock	PROPN
ap-3490	431	6	,	,	PUNCT
ap-3490	431	7	m.	m.	NOUN
ap-3490	431	8	mansouri	mansouri	PROPN
ap-3490	431	9	,	,	PUNCT
ap-3490	431	10	f.	f.	PROPN
ap-3490	431	11	pecora	pecora	PROPN
ap-3490	431	12	,	,	PUNCT
ap-3490	431	13	j.	j.	PROPN
ap-3490	431	14	hertzberg	hertzberg	PROPN
ap-3490	431	15	.	.	PUNCT
ap-3490	432	1	online	online	PROPN
ap-3490	432	2	task	task	PROPN
ap-3490	432	3	merging	merge	VERB
ap-3490	432	4	with	with	ADP
ap-3490	432	5	a	a	DET
ap-3490	432	6	hierarchical	hierarchical	ADJ
ap-3490	432	7	hybrid	hybrid	ADJ
ap-3490	432	8	task	task	NOUN
ap-3490	432	9	planner	planner	NOUN
ap-3490	432	10	for	for	ADP
ap-3490	432	11	mobile	mobile	ADJ
ap-3490	432	12	service	service	NOUN
ap-3490	432	13	robots	robot	NOUN
ap-3490	432	14	.	.	PUNCT
ap-3490	433	1	in	in	ADP
ap-3490	433	2	ieee	ieee	NOUN
ap-3490	433	3	/	/	SYM
ap-3490	433	4	rsj	rsj	NOUN
ap-3490	433	5	international	international	ADJ
ap-3490	433	6	conference	conference	NOUN
ap-3490	433	7	on	on	ADP
ap-3490	433	8	intelligent	intelligent	ADJ
ap-3490	433	9	robots	robot	NOUN
ap-3490	433	10	and	and	CCONJ
ap-3490	433	11	systems	system	NOUN
ap-3490	433	12	(	(	PUNCT
ap-3490	433	13	iros	iro	NOUN
ap-3490	433	14	)	)	PUNCT
ap-3490	433	15	.	.	PUNCT
ap-3490	434	1	2015	2015	NUM
ap-3490	434	2	.	.	PUNCT
ap-3490	435	1	[	[	X
ap-3490	435	2	17	17	NUM
ap-3490	435	3	]	]	X
ap-3490	435	4	m.	m.	NOUN
ap-3490	435	5	mansouri	mansouri	PROPN
ap-3490	435	6	,	,	PUNCT
ap-3490	435	7	h.	h.	PROPN
ap-3490	435	8	andreasson	andreasson	PROPN
ap-3490	435	9	,	,	PUNCT
ap-3490	435	10	f.	f.	PROPN
ap-3490	435	11	pecora	pecora	PROPN
ap-3490	435	12	.	.	PUNCT
ap-3490	435	13	towards	towards	ADP
ap-3490	435	14	hybrid	hybrid	ADJ
ap-3490	435	15	reasoning	reasoning	NOUN
ap-3490	435	16	for	for	ADP
ap-3490	435	17	automated	automate	VERB
ap-3490	435	18	industrial	industrial	ADJ
ap-3490	435	19	fleet	fleet	NOUN
ap-3490	435	20	management	management	NOUN
ap-3490	435	21	.	.	PUNCT
ap-3490	436	1	in	in	ADP
ap-3490	436	2	proc	proc	PROPN
ap-3490	436	3	.	.	PUNCT
ap-3490	437	1	of	of	ADP
ap-3490	437	2	the	the	DET
ap-3490	437	3	ijcai	ijcai	NOUN
ap-3490	437	4	workshop	workshop	NOUN
ap-3490	437	5	on	on	ADP
ap-3490	437	6	hybrid	hybrid	ADJ
ap-3490	437	7	reasoning	reasoning	NOUN
ap-3490	437	8	.	.	PUNCT
ap-3490	438	1	2015	2015	NUM
ap-3490	438	2	.	.	PUNCT
ap-3490	439	1	56	56	NUM
ap-3490	439	2	http://dx.doi.org/10.1109/mra.2014.2381357	http://dx.doi.org/10.1109/mra.2014.2381357	PROPN
ap-3490	439	3	http://dx.doi.org/10.1016/j.robot.2005.05.001	http://dx.doi.org/10.1016/j.robot.2005.05.001	PROPN
ap-3490	439	4	http://dx.doi.org/10.1016/0004-3702(91)90006-6	http://dx.doi.org/10.1016/0004-3702(91)90006-6	PROPN
ap-3490	439	5	http://dx.doi.org/10.1023/a:1013617802515	http://dx.doi.org/10.1023/a:1013617802515	NOUN
ap-3490	439	6	http://dx.doi.org/10.1016/s0967-0661(02)00186-7	http://dx.doi.org/10.1016/s0967-0661(02)00186-7	PROPN
ap-3490	439	7	http://dx.doi.org/10.1016/j.cie.2014.10.029	http://dx.doi.org/10.1016/j.cie.2014.10.029	NOUN
ap-3490	439	8	http://dx.doi.org/10.1007/s13218-013-0267-y	http://dx.doi.org/10.1007/s13218-013-0267-y	NOUN
ap-3490	439	9	http://dx.doi.org/10.1002/rob.20242	http://dx.doi.org/10.1002/rob.20242	PROPN
ap-3490	439	10	http://www.amazonrobotics.com	http://www.amazonrobotics.com	X
ap-3490	439	11	http://dx.doi.org/10.1177/0278364911430420	http://dx.doi.org/10.1177/0278364911430420	PROPN
ap-3490	439	12	http://dx.doi.org/10.1109/iros.2014.6942566	http://dx.doi.org/10.1109/iros.2014.6942566	PROPN
ap-3490	439	13	acta	acta	PROPN
ap-3490	439	14	polytechnica	polytechnica	PROPN
ap-3490	439	15	56(1):47–56	56(1):47–56	NUM
ap-3490	439	16	,	,	PUNCT
ap-3490	439	17	2016	2016	NUM
ap-3490	439	18	1	1	NUM
ap-3490	439	19	introduction	introduction	NOUN
ap-3490	439	20	2	2	NUM
ap-3490	439	21	problem	problem	NOUN
ap-3490	439	22	definition	definition	NOUN
ap-3490	439	23	and	and	CCONJ
ap-3490	439	24	requirements	requirement	NOUN
ap-3490	439	25	3	3	NUM
ap-3490	439	26	approach	approach	NOUN
ap-3490	439	27	3.1	3.1	NUM
ap-3490	439	28	sequencing	sequence	VERB
ap-3490	439	29	sub	sub	NOUN
ap-3490	439	30	-	-	NOUN
ap-3490	439	31	problem	problem	ADJ
ap-3490	439	32	3.2	3.2	NUM
ap-3490	439	33	motion	motion	NOUN
ap-3490	439	34	planning	plan	VERB
ap-3490	439	35	sub	sub	NOUN
ap-3490	439	36	-	-	NOUN
ap-3490	439	37	problem	problem	ADJ
ap-3490	439	38	3.3	3.3	NUM
ap-3490	439	39	machine	machine	NOUN
ap-3490	439	40	allocation	allocation	NOUN
ap-3490	439	41	sub	sub	NOUN
ap-3490	439	42	-	-	NOUN
ap-3490	439	43	problem	problem	NOUN
ap-3490	439	44	3.4	3.4	NUM
ap-3490	439	45	temporal	temporal	ADJ
ap-3490	439	46	sub	sub	NOUN
ap-3490	439	47	-	-	NOUN
ap-3490	439	48	problem	problem	ADJ
ap-3490	439	49	3.5	3.5	NUM
ap-3490	439	50	coordination	coordination	NOUN
ap-3490	439	51	sub	sub	NOUN
ap-3490	439	52	-	-	NOUN
ap-3490	439	53	problem	problem	ADJ
ap-3490	439	54	4	4	NUM
ap-3490	439	55	backtracking	backtrack	VERB
ap-3490	439	56	search	search	NOUN
ap-3490	439	57	5	5	NUM
ap-3490	439	58	heuristics	heuristic	NOUN
ap-3490	439	59	6	6	NUM
ap-3490	439	60	adapting	adapt	VERB
ap-3490	439	61	solutions	solution	NOUN
ap-3490	439	62	online	online	ADV
ap-3490	439	63	7	7	NUM
ap-3490	439	64	experiments	experiment	NOUN
ap-3490	439	65	and	and	CCONJ
ap-3490	439	66	evaluations	evaluation	NOUN
ap-3490	439	67	7.1	7.1	NUM
ap-3490	439	68	comparison	comparison	NOUN
ap-3490	439	69	with	with	ADP
ap-3490	439	70	a	a	DET
ap-3490	439	71	*	*	SYM
ap-3490	439	72	8	8	NUM
ap-3490	439	73	related	related	ADJ
ap-3490	439	74	work	work	NOUN
ap-3490	439	75	and	and	CCONJ
ap-3490	439	76	outlook	outlook	NOUN
ap-3490	439	77	acknowledgements	acknowledgement	NOUN
ap-3490	439	78	references	reference	NOUN