id	sid	eid	entity	type
app01-3400	1	1	acta polytechnica ctu proceedings doi:10.14311	PERSON
app01-3400	1	2	2:34–39	CARDINAL
app01-3400	1	3	czech technical university	ORG
app01-3400	1	4	prague	GPE
app01-3400	1	5	2015	CARDINAL
app01-3400	1	6	jakub mrva∗	PERSON
app01-3400	1	7	martin stejskal	PERSON
app01-3400	1	8	jan faigl	GPE
app01-3400	2	1	czech technical university	ORG
app01-3400	2	2	prague	GPE
app01-3400	2	3	2	CARDINAL
app01-3400	2	4	166 27	CARDINAL
app01-3400	2	5	prague	GPE
app01-3400	2	6	czech	NORP
app01-3400	2	7	∗	CARDINAL
app01-3400	2	8	jakub.mrva@fel.cvut.cz	GPE
app01-3400	9	1	1.	CARDINAL
app01-3400	9	2	1	CARDINAL
app01-3400	21	1	section 2	DATE
app01-3400	22	1	first	ORDINAL
app01-3400	24	1	section 3	LAW
app01-3400	24	2	section 4.	DATE
app01-3400	25	1	section 5	DATE
app01-3400	25	2	2	CARDINAL
app01-3400	26	1	2	CARDINAL
app01-3400	26	2	2004	DATE
app01-3400	26	3	2008	DATE
app01-3400	28	1	two	CARDINAL
app01-3400	28	2	1	CARDINAL
app01-3400	28	3	2	CARDINAL
app01-3400	29	1	2.1	CARDINAL
app01-3400	32	1	6	CARDINAL
app01-3400	34	1	3	CARDINAL
app01-3400	34	2	4	DATE
app01-3400	34	3	34	CARDINAL
app01-3400	35	1	2/2015	CARDINAL
app01-3400	37	1	2.2	CARDINAL
app01-3400	41	1	3	CARDINAL
app01-3400	41	2	4	DATE
app01-3400	41	3	8	CARDINAL
app01-3400	44	1	9	CARDINAL
app01-3400	44	2	10	CARDINAL
app01-3400	45	1	11	CARDINAL
app01-3400	45	2	12	CARDINAL
app01-3400	46	1	krotkov	PERSON
app01-3400	46	2	1990	DATE
app01-3400	47	1	13	CARDINAL
app01-3400	47	2	ambler	ORG
app01-3400	48	1	ambler	ORG
app01-3400	48	2	14	CARDINAL
app01-3400	49	1	15	CARDINAL
app01-3400	52	1	hoffmann et al	PERSON
app01-3400	54	1	16	CARDINAL
app01-3400	55	1	17	CARDINAL
app01-3400	56	1	3	CARDINAL
app01-3400	60	1	18	CARDINAL
app01-3400	60	2	19	CARDINAL
app01-3400	63	1	1	CARDINAL
app01-3400	63	2	f(s	GPE
app01-3400	63	3	1	CARDINAL
app01-3400	71	1	35	CARDINAL
app01-3400	71	2	j. mrva	PERSON
app01-3400	71	3	m. stejskal	PERSON
app01-3400	71	4	j. faigl acta polytechnica ctu	PERSON
app01-3400	72	1	1	CARDINAL
app01-3400	74	1	3.1	CARDINAL
app01-3400	77	1	•	CARDINAL
app01-3400	77	2	3d	CARDINAL
app01-3400	78	1	•	CARDINAL
app01-3400	79	1	•	CARDINAL
app01-3400	81	1	•	CARDINAL
app01-3400	83	1	•	CARDINAL
app01-3400	85	1	•	CARDINAL
app01-3400	88	1	20	CARDINAL
app01-3400	90	1	1	CARDINAL
app01-3400	96	1	3.2	CARDINAL
app01-3400	98	1	5	CARDINAL
app01-3400	101	1	•	CARDINAL
app01-3400	103	1	•	CARDINAL
app01-3400	104	1	21	CARDINAL
app01-3400	105	1	•	CARDINAL
app01-3400	106	1	•	CARDINAL
app01-3400	107	1	•	CARDINAL
app01-3400	108	1	•	CARDINAL
app01-3400	109	1	36	CARDINAL
app01-3400	110	1	2/2015	CARDINAL
app01-3400	114	1	4	CARDINAL
app01-3400	118	1	section 4.4	LAW
app01-3400	119	1	4.1	CARDINAL
app01-3400	119	2	mark ii	PERSON
app01-3400	120	1	22	CARDINAL
app01-3400	123	1	4.2	CARDINAL
app01-3400	123	2	section 3.2	LAW
app01-3400	126	1	firstly	ORDINAL
app01-3400	127	1	secondly	ORDINAL
app01-3400	128	1	thirdly	ORDINAL
app01-3400	128	2	τ ∝ e	ORG
app01-3400	129	1	18∑	DATE
app01-3400	129	2	i=1 |ei|	GPE
app01-3400	130	1	1	CARDINAL
app01-3400	131	1	2	CARDINAL
app01-3400	131	2	4.3	CARDINAL
app01-3400	132	1	three	CARDINAL
app01-3400	133	1	2	CARDINAL
app01-3400	133	2	about 5 cm	QUANTITY
app01-3400	133	3	7 cm	QUANTITY
app01-3400	134	1	13 cm	QUANTITY
app01-3400	135	1	third	ORDINAL
app01-3400	135	2	2 cm	QUANTITY
app01-3400	137	1	22	CARDINAL
app01-3400	137	2	3	CARDINAL
app01-3400	138	1	2	CARDINAL
app01-3400	138	2	4.4	CARDINAL
app01-3400	139	1	1	CARDINAL
app01-3400	140	1	three	CARDINAL
app01-3400	142	1	5/4/3	CARDINAL
app01-3400	142	2	9/15/22	CARDINAL
app01-3400	143	1	45/28/19 52/32/23	DATE
app01-3400	144	1	39/42/43	CARDINAL
app01-3400	144	2	42/43/48	CARDINAL
app01-3400	144	3	max	ORG
app01-3400	144	4	53/48/65 62/60/66	CARDINAL
app01-3400	144	5	1	CARDINAL
app01-3400	145	1	three	CARDINAL
app01-3400	146	1	37	CARDINAL
app01-3400	146	2	j. mrva	PERSON
app01-3400	146	3	m. stejskal	PERSON
app01-3400	146	4	j. faigl acta polytechnica ctu	PERSON
app01-3400	147	1	about 10%	PERCENT
app01-3400	155	1	5	CARDINAL
app01-3400	163	1	the czech science foundation	ORG
app01-3400	163	2	1509600y	DATE
app01-3400	164	1	jakub mrva	PERSON
app01-3400	164	2	the czech technical university	ORG
app01-3400	164	3	prague	GPE
app01-3400	165	1	1	CARDINAL
app01-3400	167	1	26(4):1373–1385, 2013	DATE
app01-3400	168	1	doi:10.1016	GPE
app01-3400	169	1	2	CARDINAL
app01-3400	169	2	l. d. jackel	PERSON
app01-3400	169	3	e. krotkov	PERSON
app01-3400	169	4	m. perschbacher	PERSON
app01-3400	171	1	23(11	CARDINAL
app01-3400	171	2	2006	DATE
app01-3400	173	1	3	CARDINAL
app01-3400	173	2	m. bajracharya	PERSON
app01-3400	173	3	a. howard	PERSON
app01-3400	173	4	l. h. matthies	ORG
app01-3400	175	1	26(1):3–25	CARDINAL
app01-3400	175	2	2009	DATE
app01-3400	177	1	4	CARDINAL
app01-3400	177	2	m. shneier	PERSON
app01-3400	177	3	t. chang	PERSON
app01-3400	177	4	t. hong	GPE
app01-3400	179	1	24(1):69–86, 2008	DATE
app01-3400	180	1	007-9063-6	DATE
app01-3400	181	1	5	CARDINAL
app01-3400	181	2	d. kim	PERSON
app01-3400	181	3	j. sun	PERSON
app01-3400	181	4	s. m.	PERSON
app01-3400	185	1	518–525	CARDINAL
app01-3400	185	2	2006	DATE
app01-3400	186	1	doi:10.1109	NORP
app01-3400	187	1	6	CARDINAL
app01-3400	187	2	d.	NORP
app01-3400	189	1	28(4):497–528, 2011	DATE
app01-3400	191	1	7	CARDINAL
app01-3400	191	2	d.	NORP
app01-3400	191	3	p. łabęcki	PERSON
app01-3400	194	1	2013	DATE
app01-3400	195	1	doi:10.1109	NORP
app01-3400	196	1	8	CARDINAL
app01-3400	196	2	a. howard	PERSON
app01-3400	196	3	m. turmon	PERSON
app01-3400	196	4	l. matthies	PERSON
app01-3400	198	1	23(11-12):1005–1017, 2006	DATE
app01-3400	200	1	9	CARDINAL
app01-3400	200	2	c. moore	PERSON
app01-3400	200	3	e. collins	PERSON
app01-3400	201	1	10th	ORDINAL
app01-3400	202	1	2004	DATE
app01-3400	203	1	10	CARDINAL
app01-3400	203	2	j. kim	PERSON
app01-3400	203	3	j. lee	PERSON
app01-3400	204	1	41:846–853	CARDINAL
app01-3400	204	2	2012	DATE
app01-3400	205	1	doi:10.1016	GPE
app01-3400	206	1	11	CARDINAL
app01-3400	206	2	moghadam	GPE
app01-3400	206	3	n. kottege	PERSON
app01-3400	206	4	l. kleeman	PERSON
app01-3400	209	1	2013	DATE
app01-3400	210	1	12	CARDINAL
app01-3400	210	2	j. mrva	PERSON
app01-3400	210	3	j. faigl	PERSON
app01-3400	212	1	15th	ORDINAL
app01-3400	213	1	2015	CARDINAL
app01-3400	214	1	13	CARDINAL
app01-3400	214	2	e. krotkov	PERSON
app01-3400	216	1	5th	ORDINAL
app01-3400	217	1	227–232	CARDINAL
app01-3400	217	2	1990	DATE
app01-3400	218	1	38	CARDINAL
app01-3400	219	1	2/2015	CARDINAL
app01-3400	220	1	14	CARDINAL
app01-3400	220	2	e. krotkov	PERSON
app01-3400	220	3	r. simmons	PERSON
app01-3400	222	1	the international journal of robotics research	ORG
app01-3400	222	2	15(2):155–180, 1996	DATE
app01-3400	223	1	doi:10.1177/027836499601500204	PERSON
app01-3400	224	1	15	CARDINAL
app01-3400	224	2	m. görner	PERSON
app01-3400	224	3	a. chilian	PERSON
app01-3400	224	4	h. hirschmüller	PERSON
app01-3400	226	1	10th	ORDINAL
app01-3400	227	1	2010	DATE
app01-3400	228	1	16	CARDINAL
app01-3400	228	2	m. hoffmann	PERSON
app01-3400	228	3	k. štěpánová	PERSON
app01-3400	228	4	m. reinstein	PERSON
app01-3400	230	1	62(12):1790–1798, 2014	DATE
app01-3400	231	1	doi:10.1016	GPE
app01-3400	232	1	17	CARDINAL
app01-3400	232	2	m. hoffmann	PERSON
app01-3400	232	3	n. m. schmidt	PERSON
app01-3400	232	4	r. pfeifer	PERSON
app01-3400	233	1	t. ziemke	GPE
app01-3400	233	2	j. hallam	PERSON
app01-3400	233	3	12	CARDINAL
app01-3400	233	4	12th	ORDINAL
app01-3400	233	5	7426	DATE
app01-3400	234	1	54–64	CARDINAL
app01-3400	234	2	2012	DATE
app01-3400	235	1	18	CARDINAL
app01-3400	235	2	n. nilsson	PERSON
app01-3400	235	3	b. raphael	PERSON
app01-3400	237	1	4(2):100–107	CARDINAL
app01-3400	237	2	1968	DATE
app01-3400	238	1	doi:10.1109	NORP
app01-3400	239	1	19	CARDINAL
app01-3400	239	2	a. stentz	PERSON
app01-3400	241	1	cmu-ri-tr-93-20	ORG
app01-3400	241	2	carnegie mellon robotics	ORG
app01-3400	241	3	1993	DATE
app01-3400	242	1	20	CARDINAL
app01-3400	242	2	i. nesnas	PERSON
app01-3400	242	3	w. whittaker	PERSON
app01-3400	244	1	3947–3952	CARDINAL
app01-3400	244	2	2015	DATE
app01-3400	245	1	doi:10.1109	NORP
app01-3400	246	1	21	CARDINAL
app01-3400	246	2	n. kottege	PERSON
app01-3400	246	3	c. parkinson	PERSON
app01-3400	246	4	moghadam	GPE
app01-3400	249	1	2015	DATE
app01-3400	250	1	doi:10.1109	NORP
app01-3400	251	1	22	CARDINAL
app01-3400	251	2	j. mrva	PERSON
app01-3400	251	3	j. faigl	PERSON
app01-3400	253	1	10th	ORDINAL
app01-3400	254	1	240–245	CARDINAL
app01-3400	254	2	2015	DATE
app01-3400	255	1	doi:10.1109	NORP
app01-3400	256	1	39	DATE
app01-3400	256	2	acta polytechnica ctu	PERSON
app01-3400	256	3	2:34–39	CARDINAL
app01-3400	256	4	2015 1	DATE
app01-3400	256	5	2	CARDINAL
app01-3400	256	6	2.1	CARDINAL
app01-3400	256	7	2.2	CARDINAL
app01-3400	256	8	3	CARDINAL
app01-3400	256	9	3.1	CARDINAL
app01-3400	256	10	3.2	CARDINAL
app01-3400	256	11	4	CARDINAL
app01-3400	256	12	4.1	CARDINAL
app01-3400	256	13	4.2	CARDINAL
app01-3400	256	14	4.3	CARDINAL
app01-3400	256	15	4.4	CARDINAL
app01-3400	256	16	5	CARDINAL