id	keyword
ap-3490	sub
ap-3490	problem
ap-3490	machine
ap-3490	drill
ap-3490	planning
ap-3490	targets
ap-3490	decision
ap-3490	figure
ap-3490	motion
ap-3490	constraints
ap-3490	robot
ap-3490	sequencing
ap-3490	solver
ap-3490	mission