id	sid	eid	entity	type
app01-3395	1	1	acta polytechnica ctu proceedings	PERSON
app01-3395	1	2	acta polytechnica ctu	PERSON
app01-3395	1	3	2:15–21	CARDINAL
app01-3395	1	4	2015	DATE
app01-3395	1	5	czech technical university	ORG
app01-3395	1	6	prague	GPE
app01-3395	1	7	2015	CARDINAL
app01-3395	1	8	vlastimil kriza	PERSON
app01-3395	1	9	central european institute of technology	ORG
app01-3395	1	10	brno university of technology	ORG
app01-3395	1	11	3082/12	CARDINAL
app01-3395	1	12	616 00	QUANTITY
app01-3395	1	13	brno	GPE
app01-3395	1	14	czech	NORP
app01-3395	1	15	brno university of technology	ORG
app01-3395	1	16	3082/12	CARDINAL
app01-3395	1	17	616 00	QUANTITY
app01-3395	1	18	brno	GPE
app01-3395	1	19	czech	NORP
app01-3395	1	20	∗	CARDINAL
app01-3395	2	1	uav	ORG
app01-3395	4	1	first	ORDINAL
app01-3395	7	1	uav	ORG
app01-3395	7	2	multirotor	ORG
app01-3395	8	1	1	CARDINAL
app01-3395	8	2	1	CARDINAL
app01-3395	15	1	first	ORDINAL
app01-3395	20	1	2	CARDINAL
app01-3395	23	1	1	CARDINAL
app01-3395	24	1	uav	ORG
app01-3395	28	1	2	CARDINAL
app01-3395	28	2	uav	ORG
app01-3395	28	3	two	CARDINAL
app01-3395	29	1	first	ORDINAL
app01-3395	30	1	second	ORDINAL
app01-3395	31	1	first	ORDINAL
app01-3395	33	1	2	CARDINAL
app01-3395	33	2	4	CARDINAL
app01-3395	33	3	15	CARDINAL
app01-3395	34	1	l. zalud acta polytechnica ctu	PERSON
app01-3395	34	2	1	CARDINAL
app01-3395	34	3	3	CARDINAL
app01-3395	34	4	u4 force	ORG
app01-3395	34	5	z	ORG
app01-3395	35	1	n2	ORG
app01-3395	35	2	1	CARDINAL
app01-3395	36	1	2	CARDINAL
app01-3395	36	2	kt	PERSON
app01-3395	37	1	first	ORDINAL
app01-3395	37	2	−n2 2 +	LAW
app01-3395	37	3	−n2 1 + n2 2	LAW
app01-3395	37	4	3 + n2	QUANTITY
app01-3395	37	5	3 + n2 4)kt	QUANTITY
app01-3395	37	6	3	CARDINAL
app01-3395	38	1	second	ORDINAL
app01-3395	38	2	four	CARDINAL
app01-3395	38	3	linear movement	ORG
app01-3395	39	1	2	CARDINAL
app01-3395	40	1	uav	ORG
app01-3395	41	1	north-east	LOC
app01-3395	42	1	ω̇x	DATE
app01-3395	42	2	4	CARDINAL
app01-3395	43	1	v̇x	NORP
app01-3395	43	2	v̇y =	ORG
app01-3395	44	1	v̇z =	PERSON
app01-3395	45	1	5	CARDINAL
app01-3395	45	2	gx	GPE
app01-3395	46	1	cos θ	ORG
app01-3395	47	1	cos θ cosφ	ORG
app01-3395	47	2	6	CARDINAL
app01-3395	48	1	3	CARDINAL
app01-3395	54	1	−vy(cosφ	PRODUCT
app01-3395	58	1	sinφ−	NORP
app01-3395	60	1	7	CARDINAL
app01-3395	60	2	kt	GPE
app01-3395	61	1	1.05 kg l	QUANTITY
app01-3395	62	1	0.35 m kt	QUANTITY
app01-3395	62	2	0.14	CARDINAL
app01-3395	62	3	4.6	CARDINAL
app01-3395	62	4	10−9	CARDINAL
app01-3395	62	5	8.6	CARDINAL
app01-3395	62	6	10−3 kg	QUANTITY
app01-3395	62	7	8.6	CARDINAL
app01-3395	62	8	10−3 kg	QUANTITY
app01-3395	62	9	12.0	CARDINAL
app01-3395	62	10	10−3 kg	QUANTITY
app01-3395	62	11	8) 3	DATE
app01-3395	62	12	uav	ORG
app01-3395	64	1	2	CARDINAL
app01-3395	64	2	2	CARDINAL
app01-3395	65	1	first	ORDINAL
app01-3395	66	1	3	CARDINAL
app01-3395	67	1	16	CARDINAL
app01-3395	68	1	2/2015	CARDINAL
app01-3395	68	2	9	CARDINAL
app01-3395	69	1	2kmu2	CARDINAL
app01-3395	70	1	4kmkt l	FAC
app01-3395	71	1	4kmkt l	FAC
app01-3395	72	1	4kmkt l	FAC
app01-3395	74	1	4kmkt l (9	MONEY
app01-3395	74	2	first	ORDINAL
app01-3395	77	1	2	CARDINAL
app01-3395	78	1	first	ORDINAL
app01-3395	79	1	z.	PERSON
app01-3395	80	1	zero	CARDINAL
app01-3395	82	1	6	CARDINAL
app01-3395	82	2	7	CARDINAL
app01-3395	83	1	0	CARDINAL
app01-3395	84	1	10	CARDINAL
app01-3395	86	1	11	CARDINAL
app01-3395	86	2	4	CARDINAL
app01-3395	86	3	5	CARDINAL
app01-3395	86	4	6	CARDINAL
app01-3395	86	5	7	CARDINAL
app01-3395	87	1	zero	CARDINAL
app01-3395	91	1	1.05	CARDINAL
app01-3395	91	2	0.29	CARDINAL
app01-3395	91	3	2.66	CARDINAL
app01-3395	91	4	0.12	CARDINAL
app01-3395	91	5	1.05	CARDINAL
app01-3395	92	1	2.66	CARDINAL
app01-3395	93	1	0	CARDINAL
app01-3395	93	2	0	CARDINAL
app01-3395	93	3	0.66	CARDINAL
app01-3395	93	4	0.44	CARDINAL
app01-3395	93	5	0	CARDINAL
app01-3395	95	1	0	CARDINAL
app01-3395	99	1	first	ORDINAL
app01-3395	101	1	3	CARDINAL
app01-3395	101	2	4	CARDINAL
app01-3395	102	1	4	CARDINAL
app01-3395	102	2	4.1	CARDINAL
app01-3395	103	1	uav	ORG
app01-3395	103	2	four	CARDINAL
app01-3395	104	1	two	CARDINAL
app01-3395	106	1	2212/34	CARDINAL
app01-3395	108	1	uav	ORG
app01-3395	108	2	701x701x188 mm	QUANTITY
app01-3395	108	3	1.05 kg	QUANTITY
app01-3395	109	1	150	CARDINAL
app01-3395	111	1	4.2	CARDINAL
app01-3395	111	2	uav	ORG
app01-3395	113	1	bldc controllers	ORG
app01-3395	115	1	fig.	DATE
app01-3395	116	1	5	CARDINAL
app01-3395	116	2	uav	ORG
app01-3395	116	3	li-pol	ORG
app01-3395	117	1	3	CARDINAL
app01-3395	117	2	11.1	CARDINAL
app01-3395	117	3	2200	CARDINAL
app01-3395	118	1	3.3	CARDINAL
app01-3395	118	2	5	CARDINAL
app01-3395	120	1	32	CARDINAL
app01-3395	120	2	m3	CARDINAL
app01-3395	120	3	up to	CARDINAL
app01-3395	121	1	17	CARDINAL
app01-3395	121	2	l. zalud acta polytechnica ctu	PERSON
app01-3395	121	3	2	CARDINAL
app01-3395	124	1	sec	ORG
app01-3395	125	1	3	CARDINAL
app01-3395	128	1	sec	ORG
app01-3395	129	1	4	CARDINAL
app01-3395	131	1	4	CARDINAL
app01-3395	132	1	xsens mti-g	PERSON
app01-3395	133	1	firstly	ORDINAL
app01-3395	135	1	uav	ORG
app01-3395	135	2	5	CARDINAL
app01-3395	135	3	6	CARDINAL
app01-3395	136	1	one	CARDINAL
app01-3395	137	1	1 deg	QUANTITY
app01-3395	137	2	2 deg	QUANTITY
app01-3395	137	3	2.5 meters	QUANTITY
app01-3395	138	1	the control board	ORG
app01-3395	138	2	bmp085	NORP
app01-3395	141	1	bl-ctrl	ORG
app01-3395	141	2	35	CARDINAL
app01-3395	144	1	4.3	CARDINAL
app01-3395	146	1	100 ns	QUANTITY
app01-3395	147	1	mcu	PRODUCT
app01-3395	148	1	10	CARDINAL
app01-3395	150	1	25	CARDINAL
app01-3395	151	1	uav	ORG
app01-3395	152	1	uav	ORG
app01-3395	152	2	uav	ORG
app01-3395	153	1	18	CARDINAL
app01-3395	154	1	2/2015	CARDINAL
app01-3395	154	2	uav	ORG
app01-3395	154	3	m3	CARDINAL
app01-3395	154	4	3	CARDINAL
app01-3395	155	1	3	CARDINAL
app01-3395	155	2	3	CARDINAL
app01-3395	155	3	4x	CARDINAL
app01-3395	155	4	4x	CARDINAL
app01-3395	155	5	uav	ORG
app01-3395	155	6	uart1 uart2	FAC
app01-3395	156	1	2	CARDINAL
app01-3395	157	1	2	CARDINAL
app01-3395	157	2	5	CARDINAL
app01-3395	159	1	6	CARDINAL
app01-3395	160	1	uav control board	ORG
app01-3395	161	1	4.4	CARDINAL
app01-3395	163	1	two	CARDINAL
app01-3395	163	2	xbee	ORG
app01-3395	163	3	2.4	CARDINAL
app01-3395	164	1	2	CARDINAL
app01-3395	165	1	one	CARDINAL
app01-3395	166	1	57.6	CARDINAL
app01-3395	170	1	1	CARDINAL
app01-3395	170	2	6	CARDINAL
app01-3395	170	3	sqn	ORG
app01-3395	172	1	0xfd	CARDINAL
app01-3395	174	1	sqn	ORG
app01-3395	174	2	2	CARDINAL
app01-3395	174	3	sqn	ORG
app01-3395	176	1	sqn	ORG
app01-3395	178	1	24	CARDINAL
app01-3395	182	1	4.3	CARDINAL
app01-3395	184	1	sqn	ORG
app01-3395	186	1	10	CARDINAL
app01-3395	186	2	second	ORDINAL
app01-3395	187	1	approximately every 100	CARDINAL
app01-3395	193	1	zero	CARDINAL
app01-3395	194	1	4.5	CARDINAL
app01-3395	196	1	several 19	CARDINAL
app01-3395	196	2	l. zalud acta polytechnica ctu proceedings	PERSON
app01-3395	198	1	1b	CARDINAL
app01-3395	198	2	1b	CARDINAL
app01-3395	198	3	1b	CARDINAL
app01-3395	198	4	1	CARDINAL
app01-3395	199	1	years	DATE
app01-3395	201	1	#	CARDINAL
app01-3395	202	1	joypad	ORG
app01-3395	204	1	uav	ORG
app01-3395	205	1	section 4.4	LAW
app01-3395	207	1	first	ORDINAL
app01-3395	208	1	joypad	ORG
app01-3395	209	1	joypad	ORG
app01-3395	210	1	fig.	DATE
app01-3395	211	1	8	CARDINAL
app01-3395	218	1	5	CARDINAL
app01-3395	218	2	uav	ORG
app01-3395	219	1	2	CARDINAL
app01-3395	219	2	one	CARDINAL
app01-3395	220	1	7	CARDINAL
app01-3395	220	2	uav	ORG
app01-3395	221	1	8	CARDINAL
app01-3395	223	1	uav	ORG
app01-3395	229	1	uav	ORG
app01-3395	230	1	about 1 meter	QUANTITY
app01-3395	235	1	uav	ORG
app01-3395	239	1	joypad	ORG
app01-3395	239	2	20	CARDINAL
app01-3395	240	1	2/2015	CARDINAL
app01-3395	241	1	6	CARDINAL
app01-3395	246	1	uav	ORG
app01-3395	247	1	uav	ORG
app01-3395	251	1	[kg m2] km	PERSON
app01-3395	259	1	central european institute of technology	ORG
app01-3395	259	2	european regional development fund	ORG
app01-3395	260	1	1	CARDINAL
app01-3395	260	2	l. kopecny	PERSON
app01-3395	260	3	f. burian	PERSON
app01-3395	260	4	t. florian	PERSON
app01-3395	261	1	cassandra heterogeneous	PERSON
app01-3395	262	1	2011	DATE
app01-3395	263	1	1275–1280. 2011	DATE
app01-3395	264	1	doi:10.1109	NORP
app01-3395	265	1	2	CARDINAL
app01-3395	265	2	s. bouabdallah	PERSON
app01-3395	267	1	ph.d	ORG
app01-3395	268	1	ãľcole	CARDINAL
app01-3395	268	2	2007	DATE
app01-3395	270	1	3	CARDINAL
app01-3395	270	2	f. solc	PERSON
app01-3395	272	1	5(2):29–38	CARDINAL
app01-3395	272	2	2010	DATE
app01-3395	273	1	4	CARDINAL
app01-3395	273	2	h. lim	PERSON
app01-3395	273	3	j. park	GPE
app01-3395	273	4	d. lee	PERSON
app01-3395	273	5	h. kim	PERSON
app01-3395	274	1	ieee robotics automation magazine 19(3):33–45,	ORG
app01-3395	274	2	2012	DATE
app01-3395	275	1	doi:10.1109	NORP
app01-3395	276	1	5	CARDINAL
app01-3395	276	2	s. grzonka	PERSON
app01-3395	276	3	g. grisetti	PERSON
app01-3395	276	4	w. burgard	PERSON
app01-3395	278	1	28(1):90–100	CARDINAL
app01-3395	278	2	2012	DATE
app01-3395	279	1	doi:10.1109	NORP
app01-3395	280	1	6	CARDINAL
app01-3395	280	2	k. alexis	PERSON
app01-3395	280	3	g. nikolakopoulos	GPE
app01-3395	280	4	a. tzes	PERSON
app01-3395	282	1	2011 19th	DATE
app01-3395	282	2	1247–1252.	DATE
app01-3395	283	1	2011	DATE
app01-3395	284	1	doi:10.1109	NORP
app01-3395	284	2	21 http://dx.doi.org/10.1109/sii.2011.6147632	TIME
app01-3395	284	3	http://dx.doi.org/10.1109/med.2011.5983144 acta polytechnica ctu	PERSON
app01-3395	284	4	2:15–21	CARDINAL
app01-3395	284	5	2015 1	DATE
app01-3395	284	6	2	CARDINAL
app01-3395	284	7	3	CARDINAL
app01-3395	284	8	4	CARDINAL
app01-3395	284	9	4.1	CARDINAL
app01-3395	284	10	4.2	CARDINAL
app01-3395	284	11	4.3	CARDINAL
app01-3395	284	12	4.4	CARDINAL
app01-3395	284	13	4.5	CARDINAL
app01-3395	284	14	5	CARDINAL
app01-3395	284	15	6	CARDINAL