id	sid	eid	entity	type
app01-3398	1	1	acta polytechnica ctu proceedings	PERSON
app01-3398	1	2	polytechnica ctu	ORG
app01-3398	1	3	2:29–33	CARDINAL
app01-3398	1	4	2015	DATE
app01-3398	1	5	czech technical university	ORG
app01-3398	1	6	prague	GPE
app01-3398	1	7	2015	CARDINAL
app01-3398	1	8	michal koutný∗	PERSON
app01-3398	1	9	patrik černý	PERSON
app01-3398	1	10	maroš kasinec charles university	PERSON
app01-3398	1	11	prague	GPE
app01-3398	1	12	ke karlovu	PERSON
app01-3398	1	13	3	CARDINAL
app01-3398	1	14	prague	GPE
app01-3398	1	15	czech	NORP
app01-3398	1	16	∗	CARDINAL
app01-3398	7	1	quadcopter	ORG
app01-3398	7	2	1	CARDINAL
app01-3398	8	1	1	CARDINAL
app01-3398	9	1	2	CARDINAL
app01-3398	11	1	1	CARDINAL
app01-3398	12	1	section 4.3	LAW
app01-3398	15	1	xcheckpoint.checkpoint	CARDINAL
app01-3398	15	2	nextcheckpoint	PERSON
app01-3398	15	3	3	CARDINAL
app01-3398	15	4	1	CARDINAL
app01-3398	15	5	1.5	CARDINAL
app01-3398	15	6	= checkpoint.new(3	PERSON
app01-3398	15	7	1	CARDINAL
app01-3398	15	8	1.5	CARDINAL
app01-3398	16	1	xcheckpoint.checkpoint =	PERSON
app01-3398	17	1	1	CARDINAL
app01-3398	19	1	2	CARDINAL
app01-3398	19	2	2.1	CARDINAL
app01-3398	21	1	3	CARDINAL
app01-3398	24	1	urbi sdk	ORG
app01-3398	24	2	4	CARDINAL
app01-3398	25	1	aldebaran robotics	ORG
app01-3398	25	2	5	CARDINAL
app01-3398	25	3	urbi sdk	ORG
app01-3398	25	4	ros.	GPE
app01-3398	25	5	urbi sdk	ORG
app01-3398	26	1	2.2	CARDINAL
app01-3398	27	1	2	CARDINAL
app01-3398	27	2	2	CARDINAL
app01-3398	28	1	sdk	ORG
app01-3398	29	1	6	CARDINAL
app01-3398	32	1	8	CARDINAL
app01-3398	32	2	urbi sdk	ORG
app01-3398	32	3	9	CARDINAL
app01-3398	32	4	czech	NORP
app01-3398	33	1	10	CARDINAL
app01-3398	34	1	4.3	CARDINAL
app01-3398	35	1	2.3	CARDINAL
app01-3398	36	1	11	CARDINAL
app01-3398	37	1	7	CARDINAL
app01-3398	38	1	12	CARDINAL
app01-3398	38	2	13	CARDINAL
app01-3398	39	1	3	CARDINAL
app01-3398	39	2	3.1	CARDINAL
app01-3398	40	1	three	CARDINAL
app01-3398	41	1	first	ORDINAL
app01-3398	41	2	second	ORDINAL
app01-3398	41	3	two	CARDINAL
app01-3398	43	1	29	CARDINAL
app01-3398	43	2	m. koutný	PERSON
app01-3398	43	3	o. pilát	GPE
app01-3398	43	4	m. kasinec acta polytechnica ctu	PERSON
app01-3398	43	5	3.1.1	CARDINAL
app01-3398	52	1	wi-fi	ORG
app01-3398	53	1	3.2	CARDINAL
app01-3398	54	1	urbi sdk urbi sdk	ORG
app01-3398	59	1	urbi sdk	ORG
app01-3398	60	1	urbi	ORG
app01-3398	63	1	urbi sdk	ORG
app01-3398	64	1	2we	ORDINAL
app01-3398	64	2	7/8	CARDINAL
app01-3398	64	3	14.04	CARDINAL
app01-3398	65	1	3the	CARDINAL
app01-3398	68	1	3.3	CARDINAL
app01-3398	69	1	nodejs nodejs	ORG
app01-3398	70	1	14	CARDINAL
app01-3398	72	1	3.4	CARDINAL
app01-3398	73	1	third	ORDINAL
app01-3398	73	2	html5	ORG
app01-3398	74	1	html5	ORG
app01-3398	76	1	15	CARDINAL
app01-3398	77	1	3.5	CARDINAL
app01-3398	77	2	urbi sdk	ORG
app01-3398	79	1	4	CARDINAL
app01-3398	79	2	4.1	CARDINAL
app01-3398	81	1	at least one	CARDINAL
app01-3398	81	2	at least one	CARDINAL
app01-3398	83	1	urbi sdk	ORG
app01-3398	86	1	4.1.1	CARDINAL
app01-3398	89	1	4.1.2	CARDINAL
app01-3398	91	1	30	CARDINAL
app01-3398	92	1	2/2015	CARDINAL
app01-3398	92	2	4.1.3	CARDINAL
app01-3398	93	1	2	CARDINAL
app01-3398	95	1	2	CARDINAL
app01-3398	96	1	4.2	CARDINAL
app01-3398	99	1	3	CARDINAL
app01-3398	100	1	4.3	CARDINAL
app01-3398	102	1	16	CARDINAL
app01-3398	108	1	2	CARDINAL
app01-3398	108	2	53 cm	QUANTITY
app01-3398	108	3	52 cm	QUANTITY
app01-3398	108	4	420	CARDINAL
app01-3398	109	1	about 15 minutes	TIME
app01-3398	109	2	1500mah	CARDINAL
app01-3398	110	1	2	CARDINAL
app01-3398	110	2	30fps	CARDINAL
app01-3398	110	3	three	CARDINAL
app01-3398	110	4	three	CARDINAL
app01-3398	110	5	three	CARDINAL
app01-3398	111	1	200hz	ORG
app01-3398	114	1	φ	ORG
app01-3398	115	1	−1	CARDINAL
app01-3398	115	2	1]4	CARDINAL
app01-3398	115	3	quadrocopter	ORG
app01-3398	115	4	φ	ORG
app01-3398	116	1	4.4	CARDINAL
app01-3398	121	1	4.5	CARDINAL
app01-3398	124	1	4.5.1	CARDINAL
app01-3398	125	1	17	CARDINAL
app01-3398	126	1	4.5.2	CARDINAL
app01-3398	128	1	18	CARDINAL
app01-3398	129	1	first	ORDINAL
app01-3398	130	1	17	CARDINAL
app01-3398	131	1	4	CARDINAL
app01-3398	133	1	31	CARDINAL
app01-3398	133	2	m. koutný	PERSON
app01-3398	133	3	o. pilát	GPE
app01-3398	133	4	m. kasinec acta polytechnica ctu	PERSON
app01-3398	133	5	2	CARDINAL
app01-3398	135	1	half	CARDINAL
app01-3398	135	2	half	CARDINAL
app01-3398	138	1	3	CARDINAL
app01-3398	140	1	4.6	CARDINAL
app01-3398	142	1	quadrocopter	ORG
app01-3398	144	1	checkpoint attainment quadrocopter	ORG
app01-3398	144	2	10 cm	QUANTITY
app01-3398	147	1	4.7	CARDINAL
app01-3398	149	1	5	CARDINAL
app01-3398	150	1	5the	CARDINAL
app01-3398	151	1	32	CARDINAL
app01-3398	152	1	2/2015	CARDINAL
app01-3398	152	2	0.5 1 1.5 2	QUANTITY
app01-3398	152	3	-1 -0.5 0	ORG
app01-3398	152	4	0.5 1 1.5 2 2.5 3 x	QUANTITY
app01-3398	153	1	0.5 1 1.5 2	QUANTITY
app01-3398	153	2	0.5 1 1.5 2 2.5	QUANTITY
app01-3398	155	1	4	CARDINAL
app01-3398	156	1	2	CARDINAL
app01-3398	161	1	1	CARDINAL
app01-3398	164	1	2015-02-08	DATE
app01-3398	165	1	2	CARDINAL
app01-3398	167	1	2015-02-08	DATE
app01-3398	167	2	3	CARDINAL
app01-3398	168	1	ros.org	ORG
app01-3398	169	1	2015-02-08	DATE
app01-3398	170	1	4	CARDINAL
app01-3398	172	1	2015-02-08	DATE
app01-3398	173	1	5	CARDINAL
app01-3398	173	2	aldebaran	PERSON
app01-3398	174	1	2015-02-08	DATE
app01-3398	175	1	6	CARDINAL
app01-3398	176	1	2015-02-08	DATE
app01-3398	176	2	7	CARDINAL
app01-3398	177	1	2015-02-08	DATE
app01-3398	177	2	8	CARDINAL
app01-3398	177	3	m. monajjemi	PERSON
app01-3398	178	1	ros wiki	GPE
app01-3398	179	1	201502-08	DATE
app01-3398	180	1	9	CARDINAL
app01-3398	180	2	4	CARDINAL
app01-3398	181	1	2014-08-28	DATE
app01-3398	182	1	10	CARDINAL
app01-3398	182	2	v. vonásek	PERSON
app01-3398	182	3	d.	NORP
app01-3398	182	4	j. faigl	PERSON
app01-3398	184	1	2011	DATE
app01-3398	185	1	172–186	CARDINAL
app01-3398	185	2	2011	DATE
app01-3398	187	1	11	CARDINAL
app01-3398	187	2	ar.freeflight	WORK_OF_ART
app01-3398	188	1	2015-02-08	DATE
app01-3398	189	1	12	CARDINAL
app01-3398	189	2	l. meier	PERSON
app01-3398	190	1	qgroundcontrol gcs	PERSON
app01-3398	191	1	2015-02-08	DATE
app01-3398	191	2	13	CARDINAL
app01-3398	191	3	l. meier	PERSON
app01-3398	191	4	p. tanskanen	PERSON
app01-3398	191	5	l. heng	PERSON
app01-3398	192	1	auton	ORG
app01-3398	192	2	33(1-2):21–39, 2012	DATE
app01-3398	193	1	012-9281	CARDINAL
app01-3398	194	1	14	CARDINAL
app01-3398	195	1	2015-02-08	DATE
app01-3398	195	2	https://www.npmjs.org/.	CARDINAL
app01-3398	195	3	15	CARDINAL
app01-3398	195	4	a. m. i. fette	PERSON
app01-3398	196	1	6455	DATE
app01-3398	197	1	2015-02-08	DATE
app01-3398	197	2	16	CARDINAL
app01-3398	197	3	c. r. gmbh	PERSON
app01-3398	198	1	coppelia robotics v-rep	PERSON
app01-3398	202	1	2015-02-08	DATE
app01-3398	202	2	17	CARDINAL
app01-3398	202	3	j. engel	PERSON
app01-3398	202	4	j. sturm	PERSON
app01-3398	202	5	d. cremers	PERSON
app01-3398	204	1	2012	DATE
app01-3398	205	1	2012	DATE
app01-3398	206	1	doi:10.1109	NORP
app01-3398	207	1	18	CARDINAL
app01-3398	207	2	g. klein	PERSON
app01-3398	207	3	d. murray	PERSON
app01-3398	209	1	2007 6th	DATE
app01-3398	210	1	2007	DATE
app01-3398	211	1	doi:10.1109	NORP
app01-3398	212	1	33	CARDINAL
app01-3398	213	1	polytechnica ctu	ORG
app01-3398	213	2	2:29–33	CARDINAL
app01-3398	213	3	2015 1	DATE
app01-3398	213	4	2	CARDINAL
app01-3398	213	5	2.1	CARDINAL
app01-3398	213	6	2.2	CARDINAL
app01-3398	213	7	2	CARDINAL
app01-3398	213	8	2.3	CARDINAL
app01-3398	213	9	3	CARDINAL
app01-3398	213	10	3.1	CARDINAL
app01-3398	213	11	3.1.1	CARDINAL
app01-3398	213	12	3.1.3	CARDINAL
app01-3398	213	13	3.2	CARDINAL
app01-3398	213	14	urbi	ORG
app01-3398	213	15	sdk	ORG
app01-3398	213	16	3.3	CARDINAL
app01-3398	213	17	3.4	CARDINAL
app01-3398	213	18	html5 3.5	LAW
app01-3398	213	19	4	CARDINAL
app01-3398	213	20	4.1	CARDINAL
app01-3398	213	21	4.1.1	CARDINAL
app01-3398	213	22	4.1.2	CARDINAL
app01-3398	213	23	4.1.3	CARDINAL
app01-3398	213	24	4.1.4	CARDINAL
app01-3398	213	25	4.2	CARDINAL
app01-3398	213	26	4.3 quadrocopters	QUANTITY
app01-3398	213	27	4.4	CARDINAL
app01-3398	213	28	4.5	CARDINAL
app01-3398	213	29	4.5.1	CARDINAL
app01-3398	213	30	4.5.2	CARDINAL
app01-3398	213	31	4.6	CARDINAL
app01-3398	213	32	4.7	CARDINAL
app01-3398	213	33	5	CARDINAL