id	sid	tid	token	lemma	pos
app01-3398	1	1	acta	acta	PROPN
app01-3398	1	2	polytechnica	polytechnica	PROPN
app01-3398	1	3	ctu	ctu	PROPN
app01-3398	1	4	proceedings	proceeding	NOUN
app01-3398	1	5	doi:10.14311	doi:10.14311	NOUN
app01-3398	1	6	/	/	SYM
app01-3398	1	7	app.2015.1.0029	app.2015.1.0029	PROPN
app01-3398	1	8	acta	acta	PROPN
app01-3398	1	9	polytechnica	polytechnica	PROPN
app01-3398	1	10	ctu	ctu	NOUN
app01-3398	1	11	proceedings	proceeding	NOUN
app01-3398	1	12	2:29–33	2:29–33	NUM
app01-3398	1	13	,	,	PUNCT
app01-3398	1	14	2015	2015	NUM
app01-3398	1	15	©	©	PROPN
app01-3398	1	16	czech	czech	PROPN
app01-3398	1	17	technical	technical	PROPN
app01-3398	1	18	university	university	PROPN
app01-3398	1	19	in	in	ADP
app01-3398	1	20	prague	prague	PROPN
app01-3398	1	21	,	,	PUNCT
app01-3398	1	22	2015	2015	NUM
app01-3398	1	23	available	available	ADJ
app01-3398	1	24	online	online	ADV
app01-3398	1	25	at	at	ADP
app01-3398	1	26	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3398	1	27	x	x	PROPN
app01-3398	1	28	-	-	ADJ
app01-3398	1	29	copter	copter	PROPN
app01-3398	1	30	studio	studio	NOUN
app01-3398	1	31	michal	michal	PROPN
app01-3398	1	32	koutný∗	koutný∗	PROPN
app01-3398	1	33	,	,	PUNCT
app01-3398	1	34	ondřej	ondřej	NOUN
app01-3398	1	35	pilát	pilát	NOUN
app01-3398	1	36	,	,	PUNCT
app01-3398	1	37	patrik	patrik	PROPN
app01-3398	1	38	černý	černý	NOUN
app01-3398	1	39	,	,	PUNCT
app01-3398	1	40	maroš	maroš	PROPN
app01-3398	1	41	kasinec	kasinec	PROPN
app01-3398	1	42	charles	charles	PROPN
app01-3398	1	43	university	university	PROPN
app01-3398	1	44	in	in	ADP
app01-3398	1	45	prague	prague	PROPN
app01-3398	1	46	,	,	PUNCT
app01-3398	1	47	faculty	faculty	NOUN
app01-3398	1	48	of	of	ADP
app01-3398	1	49	mathematics	mathematic	NOUN
app01-3398	1	50	and	and	CCONJ
app01-3398	1	51	physics	physics	PROPN
app01-3398	1	52	,	,	PUNCT
app01-3398	1	53	ke	ke	PROPN
app01-3398	1	54	karlovu	karlovu	PROPN
app01-3398	1	55	3	3	NUM
app01-3398	1	56	,	,	PUNCT
app01-3398	1	57	prague	prague	NOUN
app01-3398	1	58	,	,	PUNCT
app01-3398	1	59	czech	czech	PROPN
app01-3398	1	60	republic	republic	NOUN
app01-3398	1	61	∗	∗	NOUN
app01-3398	1	62	corresponding	correspond	VERB
app01-3398	1	63	author	author	NOUN
app01-3398	1	64	:	:	PUNCT
app01-3398	1	65	xm.koutny+pair@gmail.com	xm.koutny+pair@gmail.com	X
app01-3398	1	66	abstract	abstract	PROPN
app01-3398	1	67	.	.	PUNCT
app01-3398	2	1	we	we	PRON
app01-3398	2	2	present	present	VERB
app01-3398	2	3	a	a	DET
app01-3398	2	4	project	project	NOUN
app01-3398	2	5	that	that	PRON
app01-3398	2	6	aggregates	aggregate	VERB
app01-3398	2	7	various	various	ADJ
app01-3398	2	8	existing	exist	VERB
app01-3398	2	9	robotic	robotic	ADJ
app01-3398	2	10	software	software	NOUN
app01-3398	2	11	and	and	CCONJ
app01-3398	2	12	serves	serve	VERB
app01-3398	2	13	as	as	ADP
app01-3398	2	14	a	a	DET
app01-3398	2	15	platform	platform	NOUN
app01-3398	2	16	to	to	PART
app01-3398	2	17	conveniently	conveniently	ADV
app01-3398	2	18	control	control	VERB
app01-3398	2	19	a	a	DET
app01-3398	2	20	quadrocopter	quadrocopter	NOUN
app01-3398	2	21	,	,	PUNCT
app01-3398	2	22	mainly	mainly	ADV
app01-3398	2	23	for	for	ADP
app01-3398	2	24	research	research	NOUN
app01-3398	2	25	or	or	CCONJ
app01-3398	2	26	educational	educational	ADJ
app01-3398	2	27	purposes	purpose	NOUN
app01-3398	2	28	.	.	PUNCT
app01-3398	3	1	user	user	NOUN
app01-3398	3	2	interface	interface	NOUN
app01-3398	3	3	runs	run	VERB
app01-3398	3	4	in	in	ADP
app01-3398	3	5	a	a	DET
app01-3398	3	6	browser	browser	NOUN
app01-3398	3	7	and	and	CCONJ
app01-3398	3	8	other	other	ADJ
app01-3398	3	9	components	component	NOUN
app01-3398	3	10	are	be	AUX
app01-3398	3	11	also	also	ADV
app01-3398	3	12	made	make	VERB
app01-3398	3	13	with	with	ADP
app01-3398	3	14	portability	portability	NOUN
app01-3398	3	15	in	in	ADP
app01-3398	3	16	mind	mind	NOUN
app01-3398	3	17	.	.	PUNCT
app01-3398	4	1	we	we	PRON
app01-3398	4	2	provide	provide	VERB
app01-3398	4	3	a	a	DET
app01-3398	4	4	common	common	ADJ
app01-3398	4	5	interface	interface	NOUN
app01-3398	4	6	that	that	PRON
app01-3398	4	7	unifies	unify	VERB
app01-3398	4	8	different	different	ADJ
app01-3398	4	9	quadrocopter	quadrocopter	NOUN
app01-3398	4	10	models	model	NOUN
app01-3398	4	11	and	and	CCONJ
app01-3398	4	12	we	we	PRON
app01-3398	4	13	implemented	implement	VERB
app01-3398	4	14	it	it	PRON
app01-3398	4	15	for	for	ADP
app01-3398	4	16	the	the	DET
app01-3398	4	17	parrot	parrot	NOUN
app01-3398	4	18	ar.drone	ar.drone	VERB
app01-3398	4	19	2.0	2.0	NUM
app01-3398	4	20	.	.	PUNCT
app01-3398	5	1	the	the	DET
app01-3398	5	2	platform	platform	NOUN
app01-3398	5	3	is	be	AUX
app01-3398	5	4	data	datum	NOUN
app01-3398	5	5	oriented	orient	VERB
app01-3398	5	6	,	,	PUNCT
app01-3398	5	7	i.e.	i.e.	X
app01-3398	5	8	,	,	PUNCT
app01-3398	5	9	it	it	PRON
app01-3398	5	10	is	be	AUX
app01-3398	5	11	based	base	VERB
app01-3398	5	12	on	on	ADP
app01-3398	5	13	dataflow	dataflow	ADJ
app01-3398	5	14	between	between	ADP
app01-3398	5	15	user	user	NOUN
app01-3398	5	16	objects	object	NOUN
app01-3398	5	17	.	.	PUNCT
app01-3398	6	1	we	we	PRON
app01-3398	6	2	implemented	implement	VERB
app01-3398	6	3	several	several	ADJ
app01-3398	6	4	such	such	ADJ
app01-3398	6	5	objects	object	NOUN
app01-3398	6	6	for	for	ADP
app01-3398	6	7	:	:	PUNCT
app01-3398	6	8	data	datum	NOUN
app01-3398	6	9	recording	recording	NOUN
app01-3398	6	10	and	and	CCONJ
app01-3398	6	11	replaying	replaying	ADJ
app01-3398	6	12	,	,	PUNCT
app01-3398	6	13	inertial	inertial	ADJ
app01-3398	6	14	and	and	CCONJ
app01-3398	6	15	visual	visual	ADJ
app01-3398	6	16	localization	localization	NOUN
app01-3398	6	17	and	and	CCONJ
app01-3398	6	18	following	follow	VERB
app01-3398	6	19	a	a	DET
app01-3398	6	20	given	give	VERB
app01-3398	6	21	path	path	NOUN
app01-3398	6	22	.	.	PUNCT
app01-3398	7	1	keywords	keyword	NOUN
app01-3398	7	2	:	:	PUNCT
app01-3398	7	3	robotics	robotic	NOUN
app01-3398	7	4	,	,	PUNCT
app01-3398	7	5	quadcopter	quadcopter	NOUN
app01-3398	7	6	,	,	PUNCT
app01-3398	7	7	ide	ide	NOUN
app01-3398	7	8	.	.	NOUN
app01-3398	7	9	1	1	NUM
app01-3398	7	10	.	.	X
app01-3398	7	11	motivation	motivation	NOUN
app01-3398	7	12	despite	despite	SCONJ
app01-3398	7	13	the	the	DET
app01-3398	7	14	fact	fact	NOUN
app01-3398	7	15	that	that	SCONJ
app01-3398	7	16	cheap	cheap	ADJ
app01-3398	7	17	hardware	hardware	NOUN
app01-3398	7	18	(	(	PUNCT
app01-3398	7	19	such	such	ADJ
app01-3398	7	20	as	as	ADP
app01-3398	7	21	parrot	parrot	NOUN
app01-3398	7	22	ar.drone	ar.drone	NOUN
app01-3398	7	23	2.0	2.0	NUM
app01-3398	8	1	[	[	X
app01-3398	8	2	1	1	NUM
app01-3398	8	3	]	]	PUNCT
app01-3398	8	4	or	or	CCONJ
app01-3398	8	5	ready	ready	ADJ
app01-3398	8	6	kits	kit	NOUN
app01-3398	9	1	[	[	X
app01-3398	9	2	2	2	NUM
app01-3398	9	3	]	]	PUNCT
app01-3398	9	4	)	)	PUNCT
app01-3398	9	5	is	be	AUX
app01-3398	9	6	available	available	ADJ
app01-3398	9	7	,	,	PUNCT
app01-3398	9	8	there	there	PRON
app01-3398	9	9	are	be	VERB
app01-3398	9	10	not	not	PART
app01-3398	9	11	many	many	ADJ
app01-3398	9	12	possibilities	possibility	NOUN
app01-3398	9	13	for	for	ADP
app01-3398	9	14	application	application	NOUN
app01-3398	9	15	programmers	programmer	NOUN
app01-3398	9	16	to	to	PART
app01-3398	9	17	develop	develop	VERB
app01-3398	9	18	software	software	NOUN
app01-3398	9	19	for	for	ADP
app01-3398	9	20	these	these	DET
app01-3398	9	21	robots	robot	NOUN
app01-3398	9	22	without	without	ADP
app01-3398	9	23	need	need	NOUN
app01-3398	9	24	to	to	PART
app01-3398	9	25	distinguish	distinguish	VERB
app01-3398	9	26	between	between	ADP
app01-3398	9	27	individual	individual	ADJ
app01-3398	9	28	models	model	NOUN
app01-3398	9	29	.	.	PUNCT
app01-3398	10	1	our	our	PRON
app01-3398	10	2	aim	aim	NOUN
app01-3398	10	3	is	be	AUX
app01-3398	10	4	to	to	PART
app01-3398	10	5	provide	provide	VERB
app01-3398	10	6	a	a	DET
app01-3398	10	7	platform	platform	NOUN
app01-3398	10	8	for	for	ADP
app01-3398	10	9	development	development	NOUN
app01-3398	10	10	of	of	ADP
app01-3398	10	11	software	software	NOUN
app01-3398	10	12	for	for	ADP
app01-3398	10	13	quadrocopters	quadrocopter	NOUN
app01-3398	10	14	.	.	PUNCT
app01-3398	11	1	the	the	DET
app01-3398	11	2	target	target	NOUN
app01-3398	11	3	users	user	NOUN
app01-3398	11	4	are	be	AUX
app01-3398	11	5	ai	ai	VERB
app01-3398	11	6	programmers	programmer	NOUN
app01-3398	11	7	or	or	CCONJ
app01-3398	11	8	students	student	NOUN
app01-3398	11	9	and	and	CCONJ
app01-3398	11	10	expected	expect	VERB
app01-3398	11	11	tasks	task	NOUN
app01-3398	11	12	are	be	AUX
app01-3398	11	13	general	general	ADJ
app01-3398	11	14	algorithms	algorithm	NOUN
app01-3398	11	15	(	(	PUNCT
app01-3398	11	16	basic	basic	ADJ
app01-3398	11	17	example	example	NOUN
app01-3398	11	18	in	in	ADP
app01-3398	11	19	figure	figure	NOUN
app01-3398	11	20	1	1	NUM
app01-3398	11	21	)	)	PUNCT
app01-3398	11	22	for	for	ADP
app01-3398	11	23	quadrocopters	quadrocopter	NOUN
app01-3398	11	24	.	.	PUNCT
app01-3398	12	1	the	the	DET
app01-3398	12	2	result	result	NOUN
app01-3398	12	3	should	should	AUX
app01-3398	12	4	work	work	VERB
app01-3398	12	5	with	with	ADP
app01-3398	12	6	any	any	DET
app01-3398	12	7	robot	robot	NOUN
app01-3398	12	8	compatible	compatible	ADJ
app01-3398	12	9	with	with	ADP
app01-3398	12	10	our	our	PRON
app01-3398	12	11	software	software	NOUN
app01-3398	12	12	(	(	PUNCT
app01-3398	12	13	section	section	NOUN
app01-3398	12	14	4.3	4.3	NUM
app01-3398	12	15	)	)	PUNCT
app01-3398	12	16	.	.	PUNCT
app01-3398	13	1	the	the	DET
app01-3398	13	2	testing	testing	NOUN
app01-3398	13	3	should	should	AUX
app01-3398	13	4	be	be	AUX
app01-3398	13	5	further	far	ADV
app01-3398	13	6	simplified	simplify	VERB
app01-3398	13	7	by	by	ADP
app01-3398	13	8	running	run	VERB
app01-3398	13	9	the	the	DET
app01-3398	13	10	application	application	NOUN
app01-3398	13	11	without	without	ADP
app01-3398	13	12	physical	physical	ADJ
app01-3398	13	13	access	access	NOUN
app01-3398	13	14	to	to	ADP
app01-3398	13	15	a	a	DET
app01-3398	13	16	quadrocopter	quadrocopter	NOUN
app01-3398	13	17	either	either	CCONJ
app01-3398	13	18	by	by	ADP
app01-3398	13	19	using	use	VERB
app01-3398	13	20	a	a	DET
app01-3398	13	21	simulator	simulator	NOUN
app01-3398	13	22	or	or	CCONJ
app01-3398	13	23	data	datum	NOUN
app01-3398	13	24	previously	previously	ADV
app01-3398	13	25	captured	capture	VERB
app01-3398	13	26	during	during	ADP
app01-3398	13	27	live	live	ADJ
app01-3398	13	28	flights	flight	NOUN
app01-3398	13	29	.	.	PUNCT
app01-3398	14	1	at(xcheckpoint.reachedcheckpoint	at(xcheckpoint.reachedcheckpoint	NOUN
app01-3398	14	2	)	)	PUNCT
app01-3398	14	3	{	{	PUNCT
app01-3398	15	1	xcheckpoint.checkpoint	xcheckpoint.checkpoint	NOUN
app01-3398	15	2	=	=	SYM
app01-3398	15	3	nextcheckpoint	nextcheckpoint	NOUN
app01-3398	15	4	(	(	PUNCT
app01-3398	15	5	)	)	PUNCT
app01-3398	15	6	;	;	PUNCT
app01-3398	15	7	}	}	PUNCT
app01-3398	15	8	,	,	PUNCT
app01-3398	15	9	;	;	PUNCT
app01-3398	15	10	//	//	NOUN
app01-3398	15	11	x	x	X
app01-3398	15	12	=	=	SYM
app01-3398	15	13	3	3	NUM
app01-3398	15	14	m	m	NOUN
app01-3398	15	15	,	,	PUNCT
app01-3398	15	16	y	y	PROPN
app01-3398	15	17	=	=	SYM
app01-3398	15	18	1	1	NUM
app01-3398	15	19	m	m	NOUN
app01-3398	15	20	,	,	PUNCT
app01-3398	15	21	z	z	NOUN
app01-3398	15	22	=	=	SYM
app01-3398	15	23	1.5	1.5	NUM
app01-3398	15	24	m	m	NOUN
app01-3398	15	25	var	var	NOUN
app01-3398	15	26	cp0	cp0	NOUN
app01-3398	15	27	=	=	SYM
app01-3398	15	28	checkpoint.new(3	checkpoint.new(3	NOUN
app01-3398	15	29	,	,	PUNCT
app01-3398	15	30	1	1	NUM
app01-3398	15	31	,	,	PUNCT
app01-3398	15	32	1.5	1.5	NUM
app01-3398	15	33	)	)	PUNCT
app01-3398	15	34	;	;	PUNCT
app01-3398	16	1	xcheckpoint.checkpoint	xcheckpoint.checkpoint	X
app01-3398	16	2	=	=	PUNCT
app01-3398	17	1	cp0	cp0	PROPN
app01-3398	17	2	;	;	PUNCT
app01-3398	17	3	figure	figure	NOUN
app01-3398	17	4	1	1	NUM
app01-3398	17	5	.	.	PUNCT
app01-3398	17	6	sample	sample	NOUN
app01-3398	17	7	script	script	NOUN
app01-3398	17	8	that	that	PRON
app01-3398	17	9	flies	fly	VERB
app01-3398	17	10	through	through	ADP
app01-3398	17	11	computed	computed	ADJ
app01-3398	17	12	checkpoints	checkpoint	NOUN
app01-3398	17	13	.	.	PUNCT
app01-3398	18	1	it	it	PRON
app01-3398	18	2	assumes	assume	VERB
app01-3398	18	3	there	there	PRON
app01-3398	18	4	is	be	VERB
app01-3398	18	5	created	create	VERB
app01-3398	18	6	a	a	DET
app01-3398	18	7	dataflow	dataflow	ADJ
app01-3398	18	8	graph	graph	NOUN
app01-3398	18	9	with	with	ADP
app01-3398	18	10	the	the	DET
app01-3398	18	11	node	node	ADJ
app01-3398	18	12	xcheckpoint	xcheckpoint	NOUN
app01-3398	18	13	in	in	ADP
app01-3398	18	14	it	it	PRON
app01-3398	18	15	.	.	PUNCT
app01-3398	19	1	2	2	X
app01-3398	19	2	.	.	X
app01-3398	19	3	related	relate	VERB
app01-3398	19	4	work	work	NOUN
app01-3398	19	5	2.1	2.1	NUM
app01-3398	19	6	.	.	PUNCT
app01-3398	20	1	middleware	middleware	NOUN
app01-3398	20	2	for	for	ADP
app01-3398	20	3	robotics	robotic	NOUN
app01-3398	20	4	probably	probably	ADV
app01-3398	20	5	most	most	ADV
app01-3398	20	6	popular	popular	ADJ
app01-3398	20	7	middleware	middleware	NOUN
app01-3398	20	8	for	for	ADP
app01-3398	20	9	robotics	robotic	NOUN
app01-3398	20	10	is	be	AUX
app01-3398	20	11	the	the	DET
app01-3398	20	12	robot	robot	NOUN
app01-3398	20	13	operating	operating	NOUN
app01-3398	20	14	system	system	NOUN
app01-3398	20	15	(	(	PUNCT
app01-3398	20	16	ros	ros	PROPN
app01-3398	20	17	)	)	PUNCT
app01-3398	21	1	[	[	X
app01-3398	21	2	3	3	NUM
app01-3398	21	3	]	]	PUNCT
app01-3398	21	4	.	.	PUNCT
app01-3398	22	1	it	it	PRON
app01-3398	22	2	supports	support	VERB
app01-3398	22	3	communication	communication	NOUN
app01-3398	22	4	between	between	ADP
app01-3398	22	5	objects	object	NOUN
app01-3398	22	6	using	use	VERB
app01-3398	22	7	publish	publish	NOUN
app01-3398	22	8	–	–	PUNCT
app01-3398	22	9	subscribe	subscribe	NOUN
app01-3398	22	10	mechanism	mechanism	NOUN
app01-3398	22	11	.	.	PUNCT
app01-3398	23	1	it	it	PRON
app01-3398	23	2	is	be	AUX
app01-3398	23	3	open	open	ADJ
app01-3398	23	4	source	source	NOUN
app01-3398	23	5	,	,	PUNCT
app01-3398	23	6	mainly	mainly	ADV
app01-3398	23	7	targeted	target	VERB
app01-3398	23	8	on	on	ADP
app01-3398	23	9	linux	linux	PROPN
app01-3398	23	10	platforms	platform	NOUN
app01-3398	23	11	.	.	PUNCT
app01-3398	24	1	similar	similar	ADJ
app01-3398	24	2	project	project	NOUN
app01-3398	24	3	is	be	AUX
app01-3398	24	4	urbi	urbi	PROPN
app01-3398	24	5	sdk	sdk	NOUN
app01-3398	24	6	,	,	PUNCT
app01-3398	24	7	developed	develop	VERB
app01-3398	24	8	by	by	ADP
app01-3398	24	9	former	former	ADJ
app01-3398	24	10	private	private	ADJ
app01-3398	24	11	company	company	NOUN
app01-3398	24	12	gostai	gostai	VERB
app01-3398	24	13	[	[	X
app01-3398	24	14	4	4	NUM
app01-3398	24	15	]	]	PUNCT
app01-3398	24	16	.	.	PUNCT
app01-3398	25	1	the	the	DET
app01-3398	25	2	current	current	ADJ
app01-3398	25	3	maintainer	maintainer	NOUN
app01-3398	25	4	is	be	AUX
app01-3398	25	5	aldebaran	aldebaran	PROPN
app01-3398	25	6	robotics	robotic	NOUN
app01-3398	25	7	[	[	X
app01-3398	25	8	5	5	NUM
app01-3398	25	9	]	]	PUNCT
app01-3398	25	10	,	,	PUNCT
app01-3398	25	11	unfortunately	unfortunately	ADV
app01-3398	25	12	the	the	DET
app01-3398	25	13	community	community	NOUN
app01-3398	25	14	around	around	ADP
app01-3398	25	15	urbi	urbi	PROPN
app01-3398	25	16	sdk	sdk	NOUN
app01-3398	25	17	is	be	AUX
app01-3398	25	18	much	much	ADV
app01-3398	25	19	smaller	small	ADJ
app01-3398	25	20	and	and	CCONJ
app01-3398	25	21	much	much	ADV
app01-3398	25	22	less	less	ADV
app01-3398	25	23	active	active	ADJ
app01-3398	25	24	in	in	ADP
app01-3398	25	25	comparison	comparison	NOUN
app01-3398	25	26	with	with	ADP
app01-3398	25	27	ros	ros	PROPN
app01-3398	25	28	.	.	PUNCT
app01-3398	25	29	reasons	reason	NOUN
app01-3398	25	30	why	why	SCONJ
app01-3398	25	31	we	we	PRON
app01-3398	25	32	chose	choose	VERB
app01-3398	25	33	urbi	urbi	ADJ
app01-3398	25	34	sdk	sdk	NOUN
app01-3398	25	35	despite	despite	SCONJ
app01-3398	25	36	this	this	DET
app01-3398	25	37	fact	fact	NOUN
app01-3398	25	38	are	be	AUX
app01-3398	25	39	in	in	ADP
app01-3398	25	40	the	the	DET
app01-3398	25	41	section	section	NOUN
app01-3398	25	42	3.2	3.2	NUM
app01-3398	25	43	.	.	PUNCT
app01-3398	26	1	2.2	2.2	NUM
app01-3398	26	2	.	.	PUNCT
app01-3398	27	1	parrot	parrot	NOUN
app01-3398	27	2	ar.drone	ar.drone	NOUN
app01-3398	27	3	2	2	NUM
app01-3398	27	4	api	api	NOUN
app01-3398	27	5	part	part	NOUN
app01-3398	27	6	of	of	ADP
app01-3398	27	7	our	our	PRON
app01-3398	27	8	project	project	NOUN
app01-3398	27	9	is	be	AUX
app01-3398	27	10	an	an	DET
app01-3398	27	11	api	api	NOUN
app01-3398	27	12	for	for	ADP
app01-3398	27	13	parrot	parrot	NOUN
app01-3398	27	14	ar.drone	ar.drone	NOUN
app01-3398	27	15	2	2	NUM
app01-3398	27	16	.	.	PUNCT
app01-3398	27	17	various	various	ADJ
app01-3398	27	18	other	other	ADJ
app01-3398	27	19	projects	project	NOUN
app01-3398	27	20	are	be	AUX
app01-3398	27	21	dealing	deal	VERB
app01-3398	27	22	with	with	ADP
app01-3398	27	23	this	this	PRON
app01-3398	27	24	.	.	PUNCT
app01-3398	28	1	there	there	PRON
app01-3398	28	2	is	be	VERB
app01-3398	28	3	the	the	DET
app01-3398	28	4	official	official	ADJ
app01-3398	28	5	sdk	sdk	NOUN
app01-3398	29	1	[	[	X
app01-3398	29	2	6	6	NUM
app01-3398	29	3	]	]	PUNCT
app01-3398	29	4	with	with	ADP
app01-3398	29	5	c++	c++	NOUN
app01-3398	29	6	api	api	NOUN
app01-3398	29	7	,	,	PUNCT
app01-3398	29	8	controltower	controltower	NOUN
app01-3398	30	1	[	[	X
app01-3398	30	2	7	7	X
app01-3398	30	3	]	]	PUNCT
app01-3398	30	4	that	that	PRON
app01-3398	30	5	provide	provide	VERB
app01-3398	30	6	java	java	PROPN
app01-3398	30	7	interface	interface	NOUN
app01-3398	30	8	,	,	PUNCT
app01-3398	30	9	a	a	DET
app01-3398	30	10	ros	ros	PROPN
app01-3398	30	11	package	package	NOUN
app01-3398	31	1	ardrone_autonomy	ardrone_autonomy	NOUN
app01-3398	32	1	[	[	X
app01-3398	32	2	8	8	NUM
app01-3398	32	3	]	]	PUNCT
app01-3398	32	4	,	,	PUNCT
app01-3398	32	5	uobject	uobject	NOUN
app01-3398	32	6	for	for	ADP
app01-3398	32	7	urbi	urbi	PROPN
app01-3398	32	8	sdk	sdk	NOUN
app01-3398	32	9	[	[	X
app01-3398	32	10	9	9	NUM
app01-3398	32	11	]	]	PUNCT
app01-3398	32	12	or	or	CCONJ
app01-3398	32	13	implementation	implementation	NOUN
app01-3398	32	14	of	of	ADP
app01-3398	32	15	czech	czech	PROPN
app01-3398	32	16	technical	technical	PROPN
app01-3398	32	17	university	university	PROPN
app01-3398	33	1	[	[	X
app01-3398	33	2	10	10	NUM
app01-3398	33	3	]	]	PUNCT
app01-3398	33	4	.	.	PUNCT
app01-3398	34	1	because	because	SCONJ
app01-3398	34	2	none	none	NOUN
app01-3398	34	3	of	of	ADP
app01-3398	34	4	the	the	DET
app01-3398	34	5	aforementioned	aforementioned	ADJ
app01-3398	34	6	fit	fit	NOUN
app01-3398	34	7	to	to	ADP
app01-3398	34	8	our	our	PRON
app01-3398	34	9	requirements	requirement	NOUN
app01-3398	34	10	for	for	ADP
app01-3398	34	11	os	os	NOUN
app01-3398	34	12	portability	portability	NOUN
app01-3398	34	13	,	,	PUNCT
app01-3398	34	14	stability	stability	NOUN
app01-3398	34	15	,	,	PUNCT
app01-3398	34	16	functionality	functionality	NOUN
app01-3398	34	17	or	or	CCONJ
app01-3398	34	18	documentation	documentation	NOUN
app01-3398	34	19	,	,	PUNCT
app01-3398	34	20	we	we	PRON
app01-3398	34	21	implemented	implement	VERB
app01-3398	34	22	our	our	PRON
app01-3398	34	23	own	own	ADJ
app01-3398	34	24	(	(	PUNCT
app01-3398	34	25	see	see	VERB
app01-3398	34	26	the	the	DET
app01-3398	34	27	section	section	NOUN
app01-3398	34	28	4.3	4.3	NUM
app01-3398	34	29	)	)	PUNCT
app01-3398	34	30	.	.	PUNCT
app01-3398	35	1	2.3	2.3	NUM
app01-3398	35	2	.	.	PUNCT
app01-3398	35	3	ground	ground	NOUN
app01-3398	35	4	control	control	NOUN
app01-3398	35	5	system	system	NOUN
app01-3398	35	6	there	there	PRON
app01-3398	35	7	is	be	VERB
app01-3398	35	8	official	official	ADJ
app01-3398	35	9	application	application	NOUN
app01-3398	35	10	for	for	ADP
app01-3398	35	11	parrot	parrot	NOUN
app01-3398	35	12	ar.drone	ar.drone	PUNCT
app01-3398	36	1	[	[	X
app01-3398	36	2	11	11	NUM
app01-3398	36	3	]	]	PUNCT
app01-3398	36	4	intended	intend	VERB
app01-3398	36	5	for	for	ADP
app01-3398	36	6	mobile	mobile	ADJ
app01-3398	36	7	phone	phone	NOUN
app01-3398	36	8	users	user	NOUN
app01-3398	36	9	allowing	allow	VERB
app01-3398	36	10	manual	manual	ADJ
app01-3398	36	11	control	control	NOUN
app01-3398	36	12	and	and	CCONJ
app01-3398	36	13	displaying	display	VERB
app01-3398	36	14	only	only	ADV
app01-3398	36	15	limited	limited	ADJ
app01-3398	36	16	data	datum	NOUN
app01-3398	36	17	from	from	ADP
app01-3398	36	18	sensors	sensor	NOUN
app01-3398	36	19	.	.	PUNCT
app01-3398	37	1	the	the	DET
app01-3398	37	2	pc	pc	NOUN
app01-3398	37	3	application	application	NOUN
app01-3398	37	4	controltower	controltower	NOUN
app01-3398	37	5	[	[	X
app01-3398	37	6	7	7	X
app01-3398	37	7	]	]	PUNCT
app01-3398	37	8	allows	allow	VERB
app01-3398	37	9	controlling	control	VERB
app01-3398	37	10	quadrocopter	quadrocopter	NOUN
app01-3398	37	11	with	with	ADP
app01-3398	37	12	specialized	specialized	ADJ
app01-3398	37	13	computer	computer	NOUN
app01-3398	37	14	peripheries	periphery	NOUN
app01-3398	37	15	and	and	CCONJ
app01-3398	37	16	has	have	VERB
app01-3398	37	17	airplane	airplane	NOUN
app01-3398	37	18	-	-	PUNCT
app01-3398	37	19	like	like	ADJ
app01-3398	37	20	gui	gui	NOUN
app01-3398	37	21	.	.	PUNCT
app01-3398	38	1	more	more	ADJ
app01-3398	38	2	complex	complex	ADJ
app01-3398	38	3	application	application	NOUN
app01-3398	38	4	is	be	AUX
app01-3398	38	5	qgroundcontrol	qgroundcontrol	NOUN
app01-3398	38	6	[	[	X
app01-3398	38	7	12	12	NUM
app01-3398	38	8	]	]	PUNCT
app01-3398	38	9	that	that	PRON
app01-3398	38	10	cooperates	cooperate	VERB
app01-3398	38	11	with	with	ADP
app01-3398	38	12	pixhawk	pixhawk	NOUN
app01-3398	38	13	project	project	NOUN
app01-3398	38	14	[	[	X
app01-3398	38	15	13	13	NUM
app01-3398	38	16	]	]	PUNCT
app01-3398	38	17	that	that	PRON
app01-3398	38	18	encompasses	encompass	VERB
app01-3398	38	19	own	own	ADJ
app01-3398	38	20	hardware	hardware	NOUN
app01-3398	38	21	and	and	CCONJ
app01-3398	38	22	uses	use	VERB
app01-3398	38	23	visual	visual	ADJ
app01-3398	38	24	localization	localization	NOUN
app01-3398	38	25	.	.	PUNCT
app01-3398	39	1	3	3	X
app01-3398	39	2	.	.	X
app01-3398	39	3	used	use	VERB
app01-3398	39	4	technology	technology	NOUN
app01-3398	39	5	3.1	3.1	NUM
app01-3398	39	6	.	.	PUNCT
app01-3398	40	1	architecture	architecture	VERB
app01-3398	40	2	our	our	PRON
app01-3398	40	3	system	system	NOUN
app01-3398	40	4	is	be	AUX
app01-3398	40	5	divided	divide	VERB
app01-3398	40	6	into	into	ADP
app01-3398	40	7	three	three	NUM
app01-3398	40	8	components	component	NOUN
app01-3398	40	9	.	.	PUNCT
app01-3398	41	1	first	first	ADV
app01-3398	41	2	interacts	interact	VERB
app01-3398	41	3	directly	directly	ADV
app01-3398	41	4	with	with	ADP
app01-3398	41	5	a	a	DET
app01-3398	41	6	user	user	NOUN
app01-3398	41	7	,	,	PUNCT
app01-3398	41	8	second	second	ADJ
app01-3398	41	9	controls	control	VERB
app01-3398	41	10	the	the	DET
app01-3398	41	11	robot	robot	NOUN
app01-3398	41	12	and	and	CCONJ
app01-3398	41	13	the	the	DET
app01-3398	41	14	last	last	ADJ
app01-3398	41	15	one	one	NOUN
app01-3398	41	16	connects	connect	VERB
app01-3398	41	17	the	the	DET
app01-3398	41	18	former	former	ADJ
app01-3398	41	19	two	two	NUM
app01-3398	41	20	.	.	PUNCT
app01-3398	42	1	the	the	DET
app01-3398	42	2	components	component	NOUN
app01-3398	42	3	are	be	AUX
app01-3398	42	4	separate	separate	ADJ
app01-3398	42	5	processes	process	NOUN
app01-3398	42	6	that	that	PRON
app01-3398	42	7	communicate	communicate	VERB
app01-3398	42	8	with	with	ADP
app01-3398	42	9	each	each	DET
app01-3398	42	10	other	other	ADJ
app01-3398	42	11	over	over	ADP
app01-3398	42	12	network	network	NOUN
app01-3398	42	13	,	,	PUNCT
app01-3398	42	14	with	with	ADP
app01-3398	42	15	intention	intention	NOUN
app01-3398	42	16	to	to	PART
app01-3398	42	17	run	run	VERB
app01-3398	42	18	components	component	NOUN
app01-3398	42	19	on	on	ADP
app01-3398	42	20	different	different	ADJ
app01-3398	42	21	machines	machine	NOUN
app01-3398	42	22	.	.	PUNCT
app01-3398	43	1	29	29	NUM
app01-3398	43	2	http://dx.doi.org/10.14311/app.2015.1.0029	http://dx.doi.org/10.14311/app.2015.1.0029	NOUN
app01-3398	43	3	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3398	43	4	m.	m.	NOUN
app01-3398	43	5	koutný	koutný	PROPN
app01-3398	43	6	,	,	PUNCT
app01-3398	43	7	o.	o.	NOUN
app01-3398	43	8	pilát	pilát	PROPN
app01-3398	43	9	,	,	PUNCT
app01-3398	43	10	p.	p.	NOUN
app01-3398	43	11	černý	černý	PROPN
app01-3398	43	12	,	,	PUNCT
app01-3398	43	13	m.	m.	NOUN
app01-3398	43	14	kasinec	kasinec	PROPN
app01-3398	43	15	acta	acta	PROPN
app01-3398	43	16	polytechnica	polytechnica	PROPN
app01-3398	43	17	ctu	ctu	NOUN
app01-3398	43	18	proceedings	proceeding	NOUN
app01-3398	43	19	3.1.1	3.1.1	NUM
app01-3398	43	20	.	.	PUNCT
app01-3398	44	1	client	client	NOUN
app01-3398	44	2	client	client	NOUN
app01-3398	44	3	software	software	NOUN
app01-3398	44	4	is	be	AUX
app01-3398	44	5	used	use	VERB
app01-3398	44	6	to	to	PART
app01-3398	44	7	create	create	VERB
app01-3398	44	8	and	and	CCONJ
app01-3398	44	9	launch	launch	VERB
app01-3398	44	10	user	user	NOUN
app01-3398	44	11	scripts	script	NOUN
app01-3398	44	12	,	,	PUNCT
app01-3398	44	13	edit	edit	VERB
app01-3398	44	14	them	they	PRON
app01-3398	44	15	,	,	PUNCT
app01-3398	44	16	manually	manually	ADV
app01-3398	44	17	control	control	VERB
app01-3398	44	18	the	the	DET
app01-3398	44	19	robot	robot	NOUN
app01-3398	44	20	and	and	CCONJ
app01-3398	44	21	visualize	visualize	VERB
app01-3398	44	22	data	datum	NOUN
app01-3398	44	23	(	(	PUNCT
app01-3398	44	24	e.g.	e.g.	ADV
app01-3398	44	25	,	,	PUNCT
app01-3398	44	26	directly	directly	ADV
app01-3398	44	27	from	from	ADP
app01-3398	44	28	quadrocopter	quadrocopter	NOUN
app01-3398	44	29	’s	’s	PART
app01-3398	44	30	sensors	sensor	NOUN
app01-3398	44	31	)	)	PUNCT
app01-3398	44	32	.	.	PUNCT
app01-3398	45	1	despite	despite	SCONJ
app01-3398	45	2	the	the	DET
app01-3398	45	3	technology	technology	NOUN
app01-3398	45	4	challenges	challenge	VERB
app01-3398	45	5	the	the	DET
app01-3398	45	6	client	client	NOUN
app01-3398	45	7	is	be	AUX
app01-3398	45	8	thin	thin	ADJ
app01-3398	45	9	–	–	PUNCT
app01-3398	45	10	running	run	VERB
app01-3398	45	11	in	in	ADP
app01-3398	45	12	a	a	DET
app01-3398	45	13	web	web	NOUN
app01-3398	45	14	browser.1	browser.1	NOUN
app01-3398	45	15	3.1.2	3.1.2	NOUN
app01-3398	45	16	.	.	PUNCT
app01-3398	45	17	server	server	VERB
app01-3398	45	18	the	the	DET
app01-3398	45	19	server	server	NOUN
app01-3398	45	20	component	component	NOUN
app01-3398	45	21	conveys	convey	VERB
app01-3398	45	22	communication	communication	NOUN
app01-3398	45	23	between	between	ADP
app01-3398	45	24	the	the	DET
app01-3398	45	25	client	client	NOUN
app01-3398	45	26	and	and	CCONJ
app01-3398	45	27	the	the	DET
app01-3398	45	28	actual	actual	ADJ
app01-3398	45	29	control	control	NOUN
app01-3398	45	30	machine	machine	NOUN
app01-3398	45	31	(	(	PUNCT
app01-3398	45	32	further	far	ADV
app01-3398	45	33	onboard	onboard	ADV
app01-3398	45	34	)	)	PUNCT
app01-3398	45	35	.	.	PUNCT
app01-3398	46	1	its	its	PRON
app01-3398	46	2	task	task	NOUN
app01-3398	46	3	is	be	AUX
app01-3398	46	4	to	to	PART
app01-3398	46	5	control	control	VERB
app01-3398	46	6	the	the	DET
app01-3398	46	7	access	access	NOUN
app01-3398	46	8	to	to	ADP
app01-3398	46	9	the	the	DET
app01-3398	46	10	onboard	onboard	NOUN
app01-3398	46	11	and	and	CCONJ
app01-3398	46	12	monitor	monitor	VERB
app01-3398	46	13	quality	quality	NOUN
app01-3398	46	14	of	of	ADP
app01-3398	46	15	the	the	DET
app01-3398	46	16	connection	connection	NOUN
app01-3398	46	17	between	between	ADP
app01-3398	46	18	the	the	DET
app01-3398	46	19	client	client	NOUN
app01-3398	46	20	and	and	CCONJ
app01-3398	46	21	the	the	DET
app01-3398	46	22	onboard	onboard	NOUN
app01-3398	46	23	.	.	PUNCT
app01-3398	47	1	in	in	ADP
app01-3398	47	2	the	the	DET
app01-3398	47	3	case	case	NOUN
app01-3398	47	4	the	the	DET
app01-3398	47	5	overall	overall	ADJ
app01-3398	47	6	connection	connection	NOUN
app01-3398	47	7	latency	latency	NOUN
app01-3398	47	8	(	(	PUNCT
app01-3398	47	9	client	client	NOUN
app01-3398	47	10	–	–	PUNCT
app01-3398	47	11	server	server	NOUN
app01-3398	47	12	and	and	CCONJ
app01-3398	47	13	server	server	NOUN
app01-3398	47	14	–	–	PUNCT
app01-3398	47	15	onboard	onboard	ADJ
app01-3398	47	16	)	)	PUNCT
app01-3398	47	17	exceeds	exceed	VERB
app01-3398	47	18	preset	preset	ADJ
app01-3398	47	19	limits	limit	NOUN
app01-3398	47	20	,	,	PUNCT
app01-3398	47	21	a	a	DET
app01-3398	47	22	warning	warning	NOUN
app01-3398	47	23	message	message	NOUN
app01-3398	47	24	is	be	AUX
app01-3398	47	25	shown	show	VERB
app01-3398	47	26	to	to	ADP
app01-3398	47	27	the	the	DET
app01-3398	47	28	user	user	NOUN
app01-3398	47	29	.	.	PUNCT
app01-3398	48	1	if	if	SCONJ
app01-3398	48	2	the	the	DET
app01-3398	48	3	connection	connection	NOUN
app01-3398	48	4	is	be	AUX
app01-3398	48	5	lost	lose	VERB
app01-3398	48	6	,	,	PUNCT
app01-3398	48	7	onboard	onboard	ADP
app01-3398	48	8	execution	execution	NOUN
app01-3398	48	9	is	be	AUX
app01-3398	48	10	correctly	correctly	ADV
app01-3398	48	11	terminated	terminate	VERB
app01-3398	48	12	and	and	CCONJ
app01-3398	48	13	user	user	NOUN
app01-3398	48	14	is	be	AUX
app01-3398	48	15	notified	notify	VERB
app01-3398	48	16	too	too	ADV
app01-3398	48	17	.	.	PUNCT
app01-3398	49	1	3.1.3	3.1.3	X
app01-3398	49	2	.	.	NOUN
app01-3398	49	3	onboard	onboard	ADP
app01-3398	49	4	the	the	DET
app01-3398	49	5	onboard	onboard	NOUN
app01-3398	49	6	is	be	AUX
app01-3398	49	7	the	the	DET
app01-3398	49	8	main	main	ADJ
app01-3398	49	9	executive	executive	ADJ
app01-3398	49	10	component	component	NOUN
app01-3398	49	11	.	.	PUNCT
app01-3398	50	1	the	the	DET
app01-3398	50	2	robot	robot	NOUN
app01-3398	50	3	control	control	NOUN
app01-3398	50	4	and	and	CCONJ
app01-3398	50	5	data	datum	NOUN
app01-3398	50	6	processing	processing	NOUN
app01-3398	50	7	run	run	NOUN
app01-3398	50	8	here	here	ADV
app01-3398	50	9	because	because	SCONJ
app01-3398	50	10	it	it	PRON
app01-3398	50	11	is	be	AUX
app01-3398	50	12	closest	close	ADJ
app01-3398	50	13	to	to	ADP
app01-3398	50	14	the	the	DET
app01-3398	50	15	robot	robot	NOUN
app01-3398	50	16	.	.	PUNCT
app01-3398	51	1	the	the	DET
app01-3398	51	2	onboard	onboard	NOUN
app01-3398	51	3	is	be	AUX
app01-3398	51	4	executing	execute	VERB
app01-3398	51	5	commands	command	NOUN
app01-3398	51	6	obtained	obtain	VERB
app01-3398	51	7	from	from	ADP
app01-3398	51	8	the	the	DET
app01-3398	51	9	client	client	NOUN
app01-3398	51	10	and	and	CCONJ
app01-3398	51	11	sends	send	VERB
app01-3398	51	12	back	back	ADV
app01-3398	51	13	various	various	ADJ
app01-3398	51	14	data	datum	NOUN
app01-3398	51	15	selected	select	VERB
app01-3398	51	16	by	by	ADP
app01-3398	51	17	user	user	NOUN
app01-3398	51	18	.	.	PUNCT
app01-3398	52	1	the	the	DET
app01-3398	52	2	onboard	onboard	ADJ
app01-3398	52	3	component	component	NOUN
app01-3398	52	4	is	be	AUX
app01-3398	52	5	supposed	suppose	VERB
app01-3398	52	6	to	to	PART
app01-3398	52	7	run	run	VERB
app01-3398	52	8	under	under	ADP
app01-3398	52	9	normal	normal	ADJ
app01-3398	52	10	operating	operate	VERB
app01-3398	52	11	system.2	system.2	NOUN
app01-3398	52	12	our	our	PRON
app01-3398	52	13	implementation	implementation	NOUN
app01-3398	52	14	exploits	exploit	VERB
app01-3398	52	15	a	a	DET
app01-3398	52	16	pc	pc	NOUN
app01-3398	52	17	that	that	PRON
app01-3398	52	18	communicates	communicate	VERB
app01-3398	52	19	with	with	ADP
app01-3398	52	20	quadrocopter	quadrocopter	NOUN
app01-3398	52	21	via	via	ADP
app01-3398	52	22	wi	wi	PROPN
app01-3398	52	23	-	-	PUNCT
app01-3398	52	24	fi	fi	NOUN
app01-3398	52	25	.	.	PUNCT
app01-3398	53	1	we	we	PRON
app01-3398	53	2	did	do	AUX
app01-3398	53	3	not	not	PART
app01-3398	53	4	test	test	VERB
app01-3398	53	5	the	the	DET
app01-3398	53	6	onboard	onboard	ADJ
app01-3398	53	7	component	component	NOUN
app01-3398	53	8	directly	directly	ADV
app01-3398	53	9	on	on	ADP
app01-3398	53	10	a	a	DET
app01-3398	53	11	robot.3	robot.3	PROPN
app01-3398	53	12	3.2	3.2	NUM
app01-3398	53	13	.	.	PUNCT
app01-3398	54	1	urbi	urbi	PROPN
app01-3398	54	2	sdk	sdk	PROPN
app01-3398	54	3	urbi	urbi	PROPN
app01-3398	54	4	sdk	sdk	PROPN
app01-3398	54	5	is	be	AUX
app01-3398	54	6	a	a	DET
app01-3398	54	7	c++	c++	NOUN
app01-3398	54	8	middleware	middleware	NOUN
app01-3398	54	9	for	for	ADP
app01-3398	54	10	robotics	robotic	NOUN
app01-3398	54	11	,	,	PUNCT
app01-3398	54	12	which	which	PRON
app01-3398	54	13	we	we	PRON
app01-3398	54	14	based	base	VERB
app01-3398	54	15	the	the	DET
app01-3398	54	16	onboard	onboard	ADJ
app01-3398	54	17	component	component	NOUN
app01-3398	54	18	on	on	ADP
app01-3398	54	19	.	.	PUNCT
app01-3398	55	1	basically	basically	ADV
app01-3398	55	2	it	it	PRON
app01-3398	55	3	provides	provide	VERB
app01-3398	55	4	support	support	NOUN
app01-3398	55	5	for	for	ADP
app01-3398	55	6	communication	communication	NOUN
app01-3398	55	7	between	between	ADP
app01-3398	55	8	user	user	NOUN
app01-3398	55	9	objects	object	NOUN
app01-3398	55	10	(	(	PUNCT
app01-3398	55	11	uobjects	uobject	NOUN
app01-3398	55	12	)	)	PUNCT
app01-3398	55	13	and	and	CCONJ
app01-3398	55	14	schedules	schedule	NOUN
app01-3398	55	15	user	user	NOUN
app01-3398	55	16	jobs	job	NOUN
app01-3398	55	17	.	.	PUNCT
app01-3398	56	1	communication	communication	NOUN
app01-3398	56	2	is	be	AUX
app01-3398	56	3	possible	possible	ADJ
app01-3398	56	4	via	via	ADP
app01-3398	56	5	so	so	ADV
app01-3398	56	6	called	call	VERB
app01-3398	56	7	uvars	uvar	NOUN
app01-3398	56	8	,	,	PUNCT
app01-3398	56	9	which	which	PRON
app01-3398	56	10	are	be	AUX
app01-3398	56	11	slots	slot	NOUN
app01-3398	56	12	of	of	ADP
app01-3398	56	13	uobjects	uobject	NOUN
app01-3398	56	14	.	.	PUNCT
app01-3398	57	1	sender	sender	NOUN
app01-3398	57	2	just	just	ADV
app01-3398	57	3	writes	write	VERB
app01-3398	57	4	to	to	ADP
app01-3398	57	5	these	these	DET
app01-3398	57	6	slots	slot	NOUN
app01-3398	57	7	and	and	CCONJ
app01-3398	57	8	a	a	DET
app01-3398	57	9	receiver	receiver	NOUN
app01-3398	57	10	’s	’s	PART
app01-3398	57	11	callback	callback	NOUN
app01-3398	57	12	handles	handle	VERB
app01-3398	57	13	the	the	DET
app01-3398	57	14	change	change	NOUN
app01-3398	57	15	of	of	ADP
app01-3398	57	16	uvar	uvar	NOUN
app01-3398	57	17	’s	’s	PART
app01-3398	57	18	value	value	NOUN
app01-3398	57	19	.	.	PUNCT
app01-3398	58	1	this	this	PRON
app01-3398	58	2	allows	allow	VERB
app01-3398	58	3	both	both	DET
app01-3398	58	4	apparently	apparently	ADV
app01-3398	58	5	asynchronous	asynchronous	ADJ
app01-3398	58	6	communication	communication	NOUN
app01-3398	58	7	and	and	CCONJ
app01-3398	58	8	really	really	ADV
app01-3398	58	9	asynchronous	asynchronous	ADJ
app01-3398	58	10	when	when	SCONJ
app01-3398	58	11	a	a	DET
app01-3398	58	12	thread	thread	NOUN
app01-3398	58	13	pool	pool	NOUN
app01-3398	58	14	is	be	AUX
app01-3398	58	15	used	use	VERB
app01-3398	58	16	to	to	PART
app01-3398	58	17	run	run	VERB
app01-3398	58	18	the	the	DET
app01-3398	58	19	callbacks	callback	NOUN
app01-3398	58	20	.	.	PUNCT
app01-3398	59	1	further	far	ADV
app01-3398	59	2	,	,	PUNCT
app01-3398	59	3	uobjects	uobject	NOUN
app01-3398	59	4	can	can	AUX
app01-3398	59	5	run	run	VERB
app01-3398	59	6	in	in	ADP
app01-3398	59	7	different	different	ADJ
app01-3398	59	8	processes	process	NOUN
app01-3398	59	9	and	and	CCONJ
app01-3398	59	10	urbi	urbi	PROPN
app01-3398	59	11	sdk	sdk	NOUN
app01-3398	59	12	ensures	ensure	VERB
app01-3398	59	13	transparent	transparent	ADJ
app01-3398	59	14	messaging	messaging	NOUN
app01-3398	59	15	via	via	ADP
app01-3398	59	16	tcp	tcp	PROPN
app01-3398	59	17	or	or	CCONJ
app01-3398	59	18	udp	udp	NOUN
app01-3398	59	19	sockets	socket	NOUN
app01-3398	59	20	.	.	PUNCT
app01-3398	60	1	orchestration	orchestration	NOUN
app01-3398	60	2	user	user	NOUN
app01-3398	60	3	scripts	script	NOUN
app01-3398	60	4	(	(	PUNCT
app01-3398	60	5	written	write	VERB
app01-3398	60	6	in	in	ADP
app01-3398	60	7	urbiscript	urbiscript	NOUN
app01-3398	60	8	)	)	PUNCT
app01-3398	60	9	can	can	AUX
app01-3398	60	10	be	be	AUX
app01-3398	60	11	executed	execute	VERB
app01-3398	60	12	by	by	ADP
app01-3398	60	13	the	the	DET
app01-3398	60	14	urbi	urbi	ADJ
app01-3398	60	15	runtime	runtime	NOUN
app01-3398	60	16	.	.	PUNCT
app01-3398	61	1	urbiscript	urbiscript	NOUN
app01-3398	61	2	is	be	AUX
app01-3398	61	3	a	a	DET
app01-3398	61	4	prototype	prototype	NOUN
app01-3398	61	5	-	-	PUNCT
app01-3398	61	6	based	base	VERB
app01-3398	61	7	object	object	NOUN
app01-3398	61	8	-	-	PUNCT
app01-3398	61	9	oriented	orient	VERB
app01-3398	61	10	language	language	NOUN
app01-3398	61	11	conceptually	conceptually	ADV
app01-3398	61	12	similar	similar	ADJ
app01-3398	61	13	to	to	ADP
app01-3398	61	14	javascript	javascript	NOUN
app01-3398	61	15	.	.	PUNCT
app01-3398	62	1	it	it	PRON
app01-3398	62	2	is	be	AUX
app01-3398	62	3	possible	possible	ADJ
app01-3398	62	4	to	to	PART
app01-3398	62	5	implement	implement	VERB
app01-3398	62	6	uobject	uobject	NOUN
app01-3398	62	7	functionality	functionality	NOUN
app01-3398	62	8	exclusively	exclusively	ADV
app01-3398	62	9	in	in	ADP
app01-3398	62	10	the	the	DET
app01-3398	62	11	urbiscript	urbiscript	NOUN
app01-3398	62	12	.	.	PUNCT
app01-3398	63	1	we	we	PRON
app01-3398	63	2	chose	choose	VERB
app01-3398	63	3	urbi	urbi	PROPN
app01-3398	63	4	sdk	sdk	PROPN
app01-3398	63	5	because	because	SCONJ
app01-3398	63	6	of	of	ADP
app01-3398	63	7	its	its	PRON
app01-3398	63	8	portability	portability	NOUN
app01-3398	63	9	(	(	PUNCT
app01-3398	63	10	linux	linux	PROPN
app01-3398	63	11	and	and	CCONJ
app01-3398	63	12	windows	window	NOUN
app01-3398	63	13	systems	system	NOUN
app01-3398	63	14	are	be	AUX
app01-3398	63	15	supported	support	VERB
app01-3398	63	16	)	)	PUNCT
app01-3398	63	17	and	and	CCONJ
app01-3398	63	18	the	the	DET
app01-3398	63	19	own	own	ADJ
app01-3398	63	20	1google	1google	NUM
app01-3398	63	21	chrome	chrome	NOUN
app01-3398	63	22	is	be	AUX
app01-3398	63	23	strongly	strongly	ADV
app01-3398	63	24	recommended	recommend	VERB
app01-3398	63	25	,	,	PUNCT
app01-3398	63	26	though	though	SCONJ
app01-3398	63	27	mozilla	mozilla	NOUN
app01-3398	63	28	firefox	firefox	PROPN
app01-3398	63	29	will	will	AUX
app01-3398	63	30	also	also	ADV
app01-3398	63	31	get	get	VERB
app01-3398	63	32	by	by	ADP
app01-3398	63	33	(	(	PUNCT
app01-3398	63	34	without	without	ADP
app01-3398	63	35	visualization	visualization	NOUN
app01-3398	63	36	of	of	ADP
app01-3398	63	37	video	video	NOUN
app01-3398	63	38	data	datum	NOUN
app01-3398	63	39	)	)	PUNCT
app01-3398	63	40	.	.	PUNCT
app01-3398	64	1	2we	2we	NOUN
app01-3398	64	2	support	support	NOUN
app01-3398	64	3	windows	window	NOUN
app01-3398	64	4	7/8	7/8	NUM
app01-3398	64	5	and	and	CCONJ
app01-3398	64	6	ubuntu	ubuntu	ADJ
app01-3398	64	7	14.04	14.04	NUM
app01-3398	64	8	systems	system	NOUN
app01-3398	64	9	.	.	PUNCT
app01-3398	65	1	3the	3the	DET
app01-3398	65	2	hardware	hardware	NOUN
app01-3398	65	3	of	of	ADP
app01-3398	65	4	parrot	parrot	NOUN
app01-3398	65	5	ar	ar	NOUN
app01-3398	65	6	drone	drone	NOUN
app01-3398	65	7	2.0	2.0	NUM
app01-3398	65	8	theoretically	theoretically	ADV
app01-3398	65	9	should	should	AUX
app01-3398	65	10	be	be	AUX
app01-3398	65	11	able	able	ADJ
app01-3398	65	12	to	to	PART
app01-3398	65	13	run	run	VERB
app01-3398	65	14	our	our	PRON
app01-3398	65	15	onboard	onboard	NOUN
app01-3398	65	16	with	with	ADP
app01-3398	65	17	limited	limited	ADJ
app01-3398	65	18	performance	performance	NOUN
app01-3398	65	19	.	.	PUNCT
app01-3398	66	1	scripting	scripting	NOUN
app01-3398	66	2	language	language	NOUN
app01-3398	66	3	and	and	CCONJ
app01-3398	66	4	runtime	runtime	NOUN
app01-3398	66	5	.	.	PUNCT
app01-3398	67	1	considered	consider	VERB
app01-3398	67	2	alternative	alternative	NOUN
app01-3398	67	3	was	be	AUX
app01-3398	67	4	robot	robot	NOUN
app01-3398	67	5	operating	operating	NOUN
app01-3398	67	6	system	system	NOUN
app01-3398	67	7	.	.	PUNCT
app01-3398	68	1	3.3	3.3	NUM
app01-3398	68	2	.	.	PUNCT
app01-3398	69	1	nodejs	nodejs	NOUN
app01-3398	69	2	nodejs	nodejs	PROPN
app01-3398	69	3	is	be	AUX
app01-3398	69	4	a	a	DET
app01-3398	69	5	server	server	NOUN
app01-3398	69	6	-	-	PUNCT
app01-3398	69	7	side	side	NOUN
app01-3398	69	8	javascript	javascript	NOUN
app01-3398	69	9	engine	engine	NOUN
app01-3398	69	10	.	.	PUNCT
app01-3398	70	1	recently	recently	ADV
app01-3398	70	2	,	,	PUNCT
app01-3398	70	3	it	it	PRON
app01-3398	70	4	became	become	VERB
app01-3398	70	5	quite	quite	ADV
app01-3398	70	6	popular	popular	ADJ
app01-3398	70	7	among	among	ADP
app01-3398	70	8	developers	developer	NOUN
app01-3398	70	9	of	of	ADP
app01-3398	70	10	interactive	interactive	ADJ
app01-3398	70	11	web	web	NOUN
app01-3398	70	12	applications	application	NOUN
app01-3398	70	13	and	and	CCONJ
app01-3398	70	14	various	various	ADJ
app01-3398	70	15	modules	module	NOUN
app01-3398	70	16	[	[	X
app01-3398	70	17	14	14	NUM
app01-3398	70	18	]	]	PUNCT
app01-3398	70	19	exist	exist	VERB
app01-3398	70	20	that	that	PRON
app01-3398	70	21	extend	extend	VERB
app01-3398	70	22	core	core	NOUN
app01-3398	70	23	functionality	functionality	NOUN
app01-3398	70	24	.	.	PUNCT
app01-3398	71	1	it	it	PRON
app01-3398	71	2	suited	suit	VERB
app01-3398	71	3	our	our	PRON
app01-3398	71	4	needs	need	NOUN
app01-3398	71	5	for	for	ADP
app01-3398	71	6	the	the	DET
app01-3398	71	7	server	server	NOUN
app01-3398	71	8	component	component	NOUN
app01-3398	71	9	.	.	PUNCT
app01-3398	72	1	3.4	3.4	NUM
app01-3398	72	2	.	.	PUNCT
app01-3398	73	1	html5	html5	PROPN
app01-3398	73	2	thanks	thank	NOUN
app01-3398	73	3	to	to	ADP
app01-3398	73	4	the	the	DET
app01-3398	73	5	standardization	standardization	NOUN
app01-3398	73	6	efforts	effort	NOUN
app01-3398	73	7	many	many	ADJ
app01-3398	73	8	features	feature	VERB
app01-3398	73	9	that	that	PRON
app01-3398	73	10	were	be	AUX
app01-3398	73	11	earlier	early	ADV
app01-3398	73	12	common	common	ADJ
app01-3398	73	13	only	only	ADV
app01-3398	73	14	for	for	ADP
app01-3398	73	15	desktop	desktop	NOUN
app01-3398	73	16	applications	application	NOUN
app01-3398	73	17	or	or	CCONJ
app01-3398	73	18	via	via	ADP
app01-3398	73	19	third	third	ADJ
app01-3398	73	20	party	party	NOUN
app01-3398	73	21	plug	plug	NOUN
app01-3398	73	22	-	-	PUNCT
app01-3398	73	23	ins	in	NOUN
app01-3398	73	24	(	(	PUNCT
app01-3398	73	25	flash	flash	NOUN
app01-3398	73	26	,	,	PUNCT
app01-3398	73	27	java	java	NOUN
app01-3398	73	28	applets	applet	NOUN
app01-3398	73	29	,	,	PUNCT
app01-3398	73	30	native	native	ADJ
app01-3398	73	31	plug	plug	NOUN
app01-3398	73	32	-	-	PUNCT
app01-3398	73	33	ins	in	NOUN
app01-3398	73	34	)	)	PUNCT
app01-3398	73	35	are	be	AUX
app01-3398	73	36	now	now	ADV
app01-3398	73	37	implemented	implement	VERB
app01-3398	73	38	directly	directly	ADV
app01-3398	73	39	in	in	ADP
app01-3398	73	40	the	the	DET
app01-3398	73	41	browser	browser	NOUN
app01-3398	73	42	,	,	PUNCT
app01-3398	73	43	generally	generally	ADV
app01-3398	73	44	referred	refer	VERB
app01-3398	73	45	to	to	ADP
app01-3398	73	46	as	as	ADP
app01-3398	73	47	html5	html5	PROPN
app01-3398	73	48	.	.	PUNCT
app01-3398	74	1	to	to	PART
app01-3398	74	2	make	make	VERB
app01-3398	74	3	client	client	NOUN
app01-3398	74	4	as	as	ADP
app01-3398	74	5	multi	multi	ADJ
app01-3398	74	6	-	-	NOUN
app01-3398	74	7	platform	platform	NOUN
app01-3398	74	8	as	as	ADP
app01-3398	74	9	possible	possible	ADJ
app01-3398	74	10	,	,	PUNCT
app01-3398	74	11	we	we	PRON
app01-3398	74	12	decided	decide	VERB
app01-3398	74	13	to	to	PART
app01-3398	74	14	implement	implement	VERB
app01-3398	74	15	the	the	DET
app01-3398	74	16	client	client	NOUN
app01-3398	74	17	for	for	ADP
app01-3398	74	18	the	the	DET
app01-3398	74	19	browser	browser	NOUN
app01-3398	74	20	using	use	VERB
app01-3398	74	21	aforementioned	aforementioned	ADJ
app01-3398	74	22	html5	html5	PROPN
app01-3398	74	23	technologies	technology	NOUN
app01-3398	74	24	.	.	PUNCT
app01-3398	75	1	most	most	ADV
app01-3398	75	2	importantly	importantly	ADV
app01-3398	75	3	,	,	PUNCT
app01-3398	75	4	we	we	PRON
app01-3398	75	5	use	use	VERB
app01-3398	75	6	the	the	DET
app01-3398	75	7	web	web	NOUN
app01-3398	75	8	socket	socket	NOUN
app01-3398	75	9	api	api	NOUN
app01-3398	76	1	[	[	X
app01-3398	76	2	15	15	NUM
app01-3398	76	3	]	]	PUNCT
app01-3398	76	4	for	for	ADP
app01-3398	76	5	sending	send	VERB
app01-3398	76	6	data	datum	NOUN
app01-3398	76	7	back	back	ADV
app01-3398	76	8	to	to	ADP
app01-3398	76	9	the	the	DET
app01-3398	76	10	client	client	NOUN
app01-3398	76	11	and	and	CCONJ
app01-3398	76	12	<	<	X
app01-3398	76	13	video	video	NOUN
app01-3398	76	14	>	>	X
app01-3398	76	15	tag	tag	NOUN
app01-3398	76	16	to	to	PART
app01-3398	76	17	display	display	VERB
app01-3398	76	18	streamed	stream	VERB
app01-3398	76	19	video	video	NOUN
app01-3398	76	20	.	.	PUNCT
app01-3398	77	1	3.5	3.5	NUM
app01-3398	77	2	.	.	PUNCT
app01-3398	77	3	c++	c++	AUX
app01-3398	77	4	the	the	DET
app01-3398	77	5	executive	executive	ADJ
app01-3398	77	6	parts	part	NOUN
app01-3398	77	7	of	of	ADP
app01-3398	77	8	the	the	DET
app01-3398	77	9	onboard	onboard	NOUN
app01-3398	77	10	component	component	NOUN
app01-3398	77	11	are	be	AUX
app01-3398	77	12	written	write	VERB
app01-3398	77	13	in	in	ADP
app01-3398	77	14	c++	c++	NOUN
app01-3398	77	15	(	(	PUNCT
app01-3398	77	16	which	which	PRON
app01-3398	77	17	is	be	AUX
app01-3398	77	18	consequence	consequence	NOUN
app01-3398	77	19	of	of	ADP
app01-3398	77	20	using	use	VERB
app01-3398	77	21	urbi	urbi	PROPN
app01-3398	77	22	sdk	sdk	PROPN
app01-3398	77	23	)	)	PUNCT
app01-3398	77	24	.	.	PUNCT
app01-3398	78	1	we	we	PRON
app01-3398	78	2	utilize	utilize	VERB
app01-3398	78	3	features	feature	NOUN
app01-3398	78	4	of	of	ADP
app01-3398	78	5	the	the	DET
app01-3398	78	6	c++11	c++11	NOUN
app01-3398	78	7	standard	standard	NOUN
app01-3398	78	8	,	,	PUNCT
app01-3398	78	9	mainly	mainly	ADV
app01-3398	78	10	for	for	ADP
app01-3398	78	11	threading	threading	NOUN
app01-3398	78	12	and	and	CCONJ
app01-3398	78	13	memory	memory	NOUN
app01-3398	78	14	management	management	NOUN
app01-3398	78	15	.	.	PUNCT
app01-3398	79	1	4	4	X
app01-3398	79	2	.	.	X
app01-3398	79	3	features	feature	VERB
app01-3398	79	4	4.1	4.1	NUM
app01-3398	79	5	.	.	PUNCT
app01-3398	79	6	dataflow	dataflow	ADJ
app01-3398	79	7	graph	graph	NOUN
app01-3398	79	8	we	we	PRON
app01-3398	79	9	chose	choose	VERB
app01-3398	79	10	dataflow	dataflow	ADJ
app01-3398	79	11	driven	drive	VERB
app01-3398	79	12	approach	approach	NOUN
app01-3398	79	13	to	to	PART
app01-3398	79	14	describe	describe	VERB
app01-3398	79	15	the	the	DET
app01-3398	79	16	user	user	NOUN
app01-3398	79	17	’s	’s	PART
app01-3398	79	18	program	program	NOUN
app01-3398	79	19	.	.	PUNCT
app01-3398	80	1	it	it	PRON
app01-3398	80	2	consists	consist	VERB
app01-3398	80	3	of	of	ADP
app01-3398	80	4	units	unit	NOUN
app01-3398	80	5	of	of	ADP
app01-3398	80	6	operation	operation	NOUN
app01-3398	80	7	which	which	PRON
app01-3398	80	8	we	we	PRON
app01-3398	80	9	call	call	VERB
app01-3398	80	10	nodes	nod	VERB
app01-3398	80	11	.	.	PUNCT
app01-3398	81	1	each	each	DET
app01-3398	81	2	node	node	NOUN
app01-3398	81	3	has	have	VERB
app01-3398	81	4	at	at	ADV
app01-3398	81	5	least	least	ADV
app01-3398	81	6	one	one	NUM
app01-3398	81	7	input	input	NOUN
app01-3398	81	8	or	or	CCONJ
app01-3398	81	9	at	at	ADP
app01-3398	81	10	least	least	ADJ
app01-3398	81	11	one	one	NUM
app01-3398	81	12	output	output	NOUN
app01-3398	81	13	.	.	PUNCT
app01-3398	82	1	any	any	DET
app01-3398	82	2	operations	operation	NOUN
app01-3398	82	3	are	be	AUX
app01-3398	82	4	either	either	CCONJ
app01-3398	82	5	results	result	NOUN
app01-3398	82	6	of	of	ADP
app01-3398	82	7	changes	change	NOUN
app01-3398	82	8	on	on	ADP
app01-3398	82	9	the	the	DET
app01-3398	82	10	node	node	NOUN
app01-3398	82	11	inputs	input	NOUN
app01-3398	82	12	or	or	CCONJ
app01-3398	82	13	are	be	AUX
app01-3398	82	14	launched	launch	VERB
app01-3398	82	15	by	by	ADP
app01-3398	82	16	an	an	DET
app01-3398	82	17	external	external	ADJ
app01-3398	82	18	event	event	NOUN
app01-3398	82	19	hidden	hide	VERB
app01-3398	82	20	in	in	ADP
app01-3398	82	21	a	a	DET
app01-3398	82	22	node	node	NOUN
app01-3398	82	23	(	(	PUNCT
app01-3398	82	24	e.g.	e.g.	ADV
app01-3398	82	25	,	,	PUNCT
app01-3398	82	26	timer	timer	NOUN
app01-3398	82	27	expiration	expiration	NOUN
app01-3398	82	28	,	,	PUNCT
app01-3398	82	29	a	a	DET
app01-3398	82	30	socket	socket	NOUN
app01-3398	82	31	received	receive	VERB
app01-3398	82	32	data	datum	NOUN
app01-3398	82	33	)	)	PUNCT
app01-3398	82	34	.	.	PUNCT
app01-3398	83	1	urbi	urbi	PROPN
app01-3398	83	2	sdk	sdk	PROPN
app01-3398	83	3	itself	itself	PRON
app01-3398	83	4	encourages	encourage	VERB
app01-3398	83	5	dataflow	dataflow	ADJ
app01-3398	83	6	control	control	NOUN
app01-3398	83	7	by	by	ADP
app01-3398	83	8	its	its	PRON
app01-3398	83	9	communication	communication	NOUN
app01-3398	83	10	paradigm	paradigm	NOUN
app01-3398	83	11	.	.	PUNCT
app01-3398	84	1	we	we	PRON
app01-3398	84	2	extended	extend	VERB
app01-3398	84	3	the	the	DET
app01-3398	84	4	original	original	ADJ
app01-3398	84	5	mechanism	mechanism	NOUN
app01-3398	84	6	to	to	PART
app01-3398	84	7	ensure	ensure	VERB
app01-3398	84	8	syntactic	syntactic	ADJ
app01-3398	84	9	and	and	CCONJ
app01-3398	84	10	semantic	semantic	ADJ
app01-3398	84	11	compatibility	compatibility	NOUN
app01-3398	84	12	between	between	ADP
app01-3398	84	13	nodes	node	NOUN
app01-3398	84	14	.	.	PUNCT
app01-3398	85	1	dataflow	dataflow	ADJ
app01-3398	85	2	bears	bear	NOUN
app01-3398	85	3	following	follow	VERB
app01-3398	85	4	advantages	advantage	NOUN
app01-3398	85	5	for	for	ADP
app01-3398	85	6	the	the	DET
app01-3398	85	7	end	end	NOUN
app01-3398	85	8	user	user	NOUN
app01-3398	85	9	.	.	PUNCT
app01-3398	86	1	4.1.1	4.1.1	X
app01-3398	86	2	.	.	PUNCT
app01-3398	87	1	implicit	implicit	ADJ
app01-3398	87	2	parallelism	parallelism	NOUN
app01-3398	87	3	nodes	node	NOUN
app01-3398	87	4	are	be	AUX
app01-3398	87	5	implicit	implicit	ADJ
app01-3398	87	6	synchronized	synchronize	VERB
app01-3398	87	7	on	on	ADP
app01-3398	87	8	outputs	output	NOUN
app01-3398	87	9	-	-	PUNCT
app01-3398	87	10	inputs	input	NOUN
app01-3398	87	11	connections	connection	NOUN
app01-3398	87	12	,	,	PUNCT
app01-3398	87	13	thus	thus	ADV
app01-3398	87	14	avoiding	avoid	VERB
app01-3398	87	15	excessive	excessive	ADJ
app01-3398	87	16	user	user	NOUN
app01-3398	87	17	effort	effort	NOUN
app01-3398	87	18	.	.	PUNCT
app01-3398	88	1	this	this	PRON
app01-3398	88	2	also	also	ADV
app01-3398	88	3	ensures	ensure	VERB
app01-3398	88	4	certain	certain	ADJ
app01-3398	88	5	level	level	NOUN
app01-3398	88	6	of	of	ADP
app01-3398	88	7	scalability	scalability	NOUN
app01-3398	88	8	on	on	ADP
app01-3398	88	9	multiple	multiple	ADJ
app01-3398	88	10	cpus	cpus	NOUN
app01-3398	88	11	machines	machine	NOUN
app01-3398	88	12	.	.	PUNCT
app01-3398	89	1	4.1.2	4.1.2	X
app01-3398	89	2	.	.	PUNCT
app01-3398	89	3	separating	separate	VERB
app01-3398	89	4	abstraction	abstraction	NOUN
app01-3398	89	5	levels	level	NOUN
app01-3398	89	6	user	user	NOUN
app01-3398	89	7	can	can	AUX
app01-3398	89	8	concentrate	concentrate	VERB
app01-3398	89	9	on	on	ADP
app01-3398	89	10	high	high	ADJ
app01-3398	89	11	level	level	NOUN
app01-3398	89	12	objectives	objective	NOUN
app01-3398	89	13	only	only	ADV
app01-3398	89	14	,	,	PUNCT
app01-3398	89	15	implementation	implementation	NOUN
app01-3398	89	16	details	detail	NOUN
app01-3398	89	17	are	be	AUX
app01-3398	89	18	hidden	hide	VERB
app01-3398	89	19	in	in	ADP
app01-3398	89	20	particular	particular	ADJ
app01-3398	89	21	nodes	node	NOUN
app01-3398	89	22	.	.	PUNCT
app01-3398	90	1	on	on	ADP
app01-3398	90	2	the	the	DET
app01-3398	90	3	other	other	ADJ
app01-3398	90	4	hand	hand	NOUN
app01-3398	90	5	,	,	PUNCT
app01-3398	90	6	a	a	DET
app01-3398	90	7	creator	creator	NOUN
app01-3398	90	8	of	of	ADP
app01-3398	90	9	a	a	DET
app01-3398	90	10	node	node	NOUN
app01-3398	90	11	is	be	AUX
app01-3398	90	12	limited	limit	VERB
app01-3398	90	13	by	by	ADP
app01-3398	90	14	a	a	DET
app01-3398	90	15	particular	particular	ADJ
app01-3398	90	16	node	node	NOUN
app01-3398	90	17	interface	interface	NOUN
app01-3398	90	18	.	.	PUNCT
app01-3398	91	1	30	30	NUM
app01-3398	91	2	vol	vol	NOUN
app01-3398	91	3	.	.	PUNCT
app01-3398	92	1	2/2015	2/2015	NUM
app01-3398	92	2	x	x	SYM
app01-3398	92	3	-	-	PROPN
app01-3398	92	4	copter	copter	PROPN
app01-3398	92	5	studio	studio	NOUN
app01-3398	92	6	4.1.3	4.1.3	NUM
app01-3398	92	7	.	.	PUNCT
app01-3398	92	8	visual	visual	ADJ
app01-3398	92	9	development	development	NOUN
app01-3398	92	10	each	each	DET
app01-3398	92	11	node	node	NOUN
app01-3398	92	12	defines	define	VERB
app01-3398	92	13	an	an	DET
app01-3398	92	14	interface	interface	NOUN
app01-3398	92	15	,	,	PUNCT
app01-3398	92	16	which	which	PRON
app01-3398	92	17	makes	make	VERB
app01-3398	92	18	it	it	PRON
app01-3398	92	19	possible	possible	ADJ
app01-3398	92	20	to	to	PART
app01-3398	92	21	check	check	VERB
app01-3398	92	22	what	what	DET
app01-3398	92	23	connections	connection	NOUN
app01-3398	92	24	are	be	AUX
app01-3398	92	25	possible	possible	ADJ
app01-3398	92	26	(	(	PUNCT
app01-3398	92	27	not	not	PART
app01-3398	92	28	only	only	ADV
app01-3398	92	29	syntactically	syntactically	ADV
app01-3398	92	30	but	but	CCONJ
app01-3398	92	31	also	also	ADV
app01-3398	92	32	semantically	semantically	ADV
app01-3398	92	33	with	with	ADP
app01-3398	92	34	flat	flat	ADJ
app01-3398	92	35	system	system	NOUN
app01-3398	92	36	of	of	ADP
app01-3398	92	37	semantic	semantic	ADJ
app01-3398	92	38	types	type	NOUN
app01-3398	92	39	)	)	PUNCT
app01-3398	92	40	.	.	PUNCT
app01-3398	93	1	in	in	ADP
app01-3398	93	2	the	the	DET
app01-3398	93	3	end	end	NOUN
app01-3398	93	4	,	,	PUNCT
app01-3398	93	5	user	user	NOUN
app01-3398	93	6	can	can	AUX
app01-3398	93	7	assemble	assemble	VERB
app01-3398	93	8	various	various	ADJ
app01-3398	93	9	dataflow	dataflow	ADJ
app01-3398	93	10	graphs	graph	NOUN
app01-3398	93	11	interactively	interactively	ADV
app01-3398	93	12	(	(	PUNCT
app01-3398	93	13	figure	figure	NOUN
app01-3398	93	14	2	2	NUM
app01-3398	93	15	)	)	PUNCT
app01-3398	93	16	.	.	PUNCT
app01-3398	94	1	4.1.4	4.1.4	X
app01-3398	94	2	.	.	PUNCT
app01-3398	95	1	in	in	ADP
app01-3398	95	2	-	-	PUNCT
app01-3398	95	3	time	time	NOUN
app01-3398	95	4	data	datum	NOUN
app01-3398	95	5	inspection	inspection	NOUN
app01-3398	95	6	selected	select	VERB
app01-3398	95	7	outputs	output	NOUN
app01-3398	95	8	of	of	ADP
app01-3398	95	9	the	the	DET
app01-3398	95	10	nodes	node	NOUN
app01-3398	95	11	can	can	AUX
app01-3398	95	12	be	be	AUX
app01-3398	95	13	connected	connect	VERB
app01-3398	95	14	with	with	ADP
app01-3398	95	15	a	a	DET
app01-3398	95	16	special	special	ADJ
app01-3398	95	17	node	node	NOUN
app01-3398	95	18	that	that	PRON
app01-3398	95	19	resends	resend	VERB
app01-3398	95	20	the	the	DET
app01-3398	95	21	data	datum	NOUN
app01-3398	95	22	to	to	ADP
app01-3398	95	23	the	the	DET
app01-3398	95	24	gui	gui	NOUN
app01-3398	95	25	where	where	SCONJ
app01-3398	95	26	the	the	DET
app01-3398	95	27	data	datum	NOUN
app01-3398	95	28	are	be	AUX
app01-3398	95	29	visualized	visualize	VERB
app01-3398	95	30	on	on	ADP
app01-3398	95	31	the	the	DET
app01-3398	95	32	fly	fly	NOUN
app01-3398	95	33	(	(	PUNCT
app01-3398	95	34	figure	figure	NOUN
app01-3398	95	35	2	2	NUM
app01-3398	95	36	)	)	PUNCT
app01-3398	95	37	.	.	PUNCT
app01-3398	96	1	4.2	4.2	NUM
app01-3398	96	2	.	.	PUNCT
app01-3398	96	3	scripting	script	VERB
app01-3398	96	4	only	only	ADV
app01-3398	96	5	the	the	DET
app01-3398	96	6	dataflow	dataflow	ADJ
app01-3398	96	7	graph	graph	NOUN
app01-3398	96	8	of	of	ADP
app01-3398	96	9	nodes	node	NOUN
app01-3398	96	10	is	be	AUX
app01-3398	96	11	not	not	PART
app01-3398	96	12	enough	enough	ADJ
app01-3398	96	13	for	for	ADP
app01-3398	96	14	controlling	control	VERB
app01-3398	96	15	the	the	DET
app01-3398	96	16	quadrocopter	quadrocopter	NOUN
app01-3398	96	17	.	.	PUNCT
app01-3398	97	1	thus	thus	ADV
app01-3398	97	2	,	,	PUNCT
app01-3398	97	3	a	a	DET
app01-3398	97	4	user	user	NOUN
app01-3398	97	5	can	can	AUX
app01-3398	97	6	write	write	VERB
app01-3398	97	7	scripts	script	NOUN
app01-3398	97	8	that	that	PRON
app01-3398	97	9	are	be	AUX
app01-3398	97	10	sent	send	VERB
app01-3398	97	11	and	and	CCONJ
app01-3398	97	12	executed	execute	VERB
app01-3398	97	13	on	on	ADP
app01-3398	97	14	onboard	onboard	NOUN
app01-3398	97	15	.	.	PUNCT
app01-3398	98	1	in	in	ADP
app01-3398	98	2	such	such	ADJ
app01-3398	98	3	scripts	script	NOUN
app01-3398	98	4	it	it	PRON
app01-3398	98	5	’s	’	VERB
app01-3398	98	6	possible	possible	ADJ
app01-3398	98	7	to	to	PART
app01-3398	98	8	handle	handle	VERB
app01-3398	98	9	events	event	NOUN
app01-3398	98	10	occurring	occur	VERB
app01-3398	98	11	within	within	ADP
app01-3398	98	12	the	the	DET
app01-3398	98	13	dataflow	dataflow	ADJ
app01-3398	98	14	graph	graph	NOUN
app01-3398	98	15	or	or	CCONJ
app01-3398	98	16	manually	manually	ADV
app01-3398	98	17	affect	affect	VERB
app01-3398	98	18	the	the	DET
app01-3398	98	19	dataflow	dataflow	NOUN
app01-3398	98	20	.	.	PUNCT
app01-3398	99	1	the	the	DET
app01-3398	99	2	script	script	NOUN
app01-3398	99	3	execution	execution	NOUN
app01-3398	99	4	can	can	AUX
app01-3398	99	5	be	be	AUX
app01-3398	99	6	paused	pause	VERB
app01-3398	99	7	and	and	CCONJ
app01-3398	99	8	resumed	resume	VERB
app01-3398	99	9	(	(	PUNCT
app01-3398	99	10	that	that	PRON
app01-3398	99	11	is	be	AUX
app01-3398	99	12	a	a	DET
app01-3398	99	13	feature	feature	NOUN
app01-3398	99	14	of	of	ADP
app01-3398	99	15	urbiscript	urbiscript	NOUN
app01-3398	99	16	,	,	PUNCT
app01-3398	99	17	for	for	ADP
app01-3398	99	18	instance	instance	NOUN
app01-3398	99	19	useful	useful	ADJ
app01-3398	99	20	for	for	ADP
app01-3398	99	21	intentionally	intentionally	ADV
app01-3398	99	22	infinite	infinite	ADJ
app01-3398	99	23	loops	loop	NOUN
app01-3398	99	24	,	,	PUNCT
app01-3398	99	25	see	see	VERB
app01-3398	99	26	figure	figure	NOUN
app01-3398	99	27	3	3	NUM
app01-3398	99	28	for	for	ADP
app01-3398	99	29	urbiscript	urbiscript	ADJ
app01-3398	99	30	console	console	NOUN
app01-3398	99	31	)	)	PUNCT
app01-3398	99	32	.	.	PUNCT
app01-3398	100	1	4.3	4.3	NUM
app01-3398	100	2	.	.	PUNCT
app01-3398	100	3	quadrocopters	quadrocopters	PROPN
app01-3398	100	4	unified	unified	ADJ
app01-3398	100	5	api	api	NOUN
app01-3398	100	6	the	the	DET
app01-3398	100	7	x	x	PROPN
app01-3398	100	8	-	-	ADJ
app01-3398	100	9	copter	copter	NOUN
app01-3398	100	10	studio	studio	NOUN
app01-3398	100	11	supplies	supply	VERB
app01-3398	100	12	a	a	DET
app01-3398	100	13	unified	unified	ADJ
app01-3398	100	14	application	application	NOUN
app01-3398	100	15	programming	programming	NOUN
app01-3398	100	16	interface	interface	NOUN
app01-3398	100	17	(	(	PUNCT
app01-3398	100	18	denoted	denote	VERB
app01-3398	100	19	as	as	ADP
app01-3398	100	20	xci	xci	PROPN
app01-3398	100	21	)	)	PUNCT
app01-3398	100	22	for	for	ADP
app01-3398	100	23	data	data	NOUN
app01-3398	100	24	acquisition	acquisition	NOUN
app01-3398	100	25	and	and	CCONJ
app01-3398	100	26	control	control	NOUN
app01-3398	100	27	of	of	ADP
app01-3398	100	28	quadrocopters	quadrocopter	NOUN
app01-3398	100	29	.	.	PUNCT
app01-3398	101	1	it	it	PRON
app01-3398	101	2	is	be	AUX
app01-3398	101	3	ready	ready	ADJ
app01-3398	101	4	for	for	ADP
app01-3398	101	5	common	common	ADJ
app01-3398	101	6	sensors	sensor	NOUN
app01-3398	101	7	on	on	ADP
app01-3398	101	8	quadrocopters	quadrocopter	NOUN
app01-3398	101	9	and	and	CCONJ
app01-3398	101	10	it	it	PRON
app01-3398	101	11	can	can	AUX
app01-3398	101	12	be	be	AUX
app01-3398	101	13	easily	easily	ADV
app01-3398	101	14	extended	extend	VERB
app01-3398	101	15	.	.	PUNCT
app01-3398	102	1	we	we	PRON
app01-3398	102	2	implemented	implement	VERB
app01-3398	102	3	the	the	DET
app01-3398	102	4	xci	xci	PROPN
app01-3398	102	5	for	for	ADP
app01-3398	102	6	one	one	NUM
app01-3398	102	7	of	of	ADP
app01-3398	102	8	the	the	DET
app01-3398	102	9	most	most	ADV
app01-3398	102	10	popular	popular	ADJ
app01-3398	102	11	quadrocopters	quadrocopter	NOUN
app01-3398	102	12	–	–	PUNCT
app01-3398	102	13	parrot	parrot	NOUN
app01-3398	102	14	ar.drone	ar.drone	NOUN
app01-3398	102	15	2.0	2.0	NUM
app01-3398	102	16	and	and	CCONJ
app01-3398	102	17	also	also	ADV
app01-3398	102	18	a	a	DET
app01-3398	102	19	simulated	simulated	ADJ
app01-3398	102	20	quadrocopter	quadrocopter	NOUN
app01-3398	102	21	in	in	ADP
app01-3398	102	22	the	the	DET
app01-3398	102	23	v	v	NOUN
app01-3398	102	24	-	-	PUNCT
app01-3398	102	25	rep	rep	NOUN
app01-3398	102	26	simulator	simulator	NOUN
app01-3398	102	27	[	[	X
app01-3398	102	28	16	16	NUM
app01-3398	102	29	]	]	PUNCT
app01-3398	102	30	.	.	PUNCT
app01-3398	103	1	our	our	PRON
app01-3398	103	2	parrot	parrot	NOUN
app01-3398	103	3	implementation	implementation	NOUN
app01-3398	103	4	exploits	exploit	VERB
app01-3398	103	5	asynchronous	asynchronous	ADJ
app01-3398	103	6	socket	socket	NOUN
app01-3398	103	7	events	event	NOUN
app01-3398	103	8	handling	handling	NOUN
app01-3398	103	9	,	,	PUNCT
app01-3398	103	10	which	which	PRON
app01-3398	103	11	allows	allow	VERB
app01-3398	103	12	us	we	PRON
app01-3398	103	13	to	to	PART
app01-3398	103	14	detect	detect	VERB
app01-3398	103	15	connection	connection	NOUN
app01-3398	103	16	failures	failure	NOUN
app01-3398	103	17	and	and	CCONJ
app01-3398	103	18	attempt	attempt	VERB
app01-3398	103	19	to	to	PART
app01-3398	103	20	restore	restore	VERB
app01-3398	103	21	the	the	DET
app01-3398	103	22	connection	connection	NOUN
app01-3398	103	23	with	with	ADP
app01-3398	103	24	the	the	DET
app01-3398	103	25	quadrocopter	quadrocopter	NOUN
app01-3398	103	26	.	.	PUNCT
app01-3398	104	1	the	the	DET
app01-3398	104	2	implementation	implementation	NOUN
app01-3398	104	3	further	far	ADV
app01-3398	104	4	supports	support	VERB
app01-3398	104	5	full	full	ADJ
app01-3398	104	6	configuration	configuration	NOUN
app01-3398	104	7	of	of	ADP
app01-3398	104	8	the	the	DET
app01-3398	104	9	parrot	parrot	NOUN
app01-3398	104	10	ar.drone	ar.drone	NOUN
app01-3398	104	11	2.0	2.0	NUM
app01-3398	104	12	and	and	CCONJ
app01-3398	104	13	reading	read	VERB
app01-3398	104	14	data	datum	NOUN
app01-3398	104	15	from	from	ADP
app01-3398	104	16	all	all	DET
app01-3398	104	17	available	available	ADJ
app01-3398	104	18	sensors	sensor	NOUN
app01-3398	104	19	.	.	PUNCT
app01-3398	105	1	we	we	PRON
app01-3398	105	2	use	use	VERB
app01-3398	105	3	parrot	parrot	NOUN
app01-3398	105	4	for	for	ADP
app01-3398	105	5	its	its	PRON
app01-3398	105	6	price	price	NOUN
app01-3398	105	7	,	,	PUNCT
app01-3398	105	8	robustness	robustness	NOUN
app01-3398	105	9	and	and	CCONJ
app01-3398	105	10	popularity	popularity	NOUN
app01-3398	105	11	among	among	ADP
app01-3398	105	12	research	research	NOUN
app01-3398	105	13	groups	group	NOUN
app01-3398	105	14	.	.	PUNCT
app01-3398	106	1	the	the	DET
app01-3398	106	2	cost	cost	NOUN
app01-3398	106	3	for	for	ADP
app01-3398	106	4	this	this	PRON
app01-3398	106	5	is	be	AUX
app01-3398	106	6	extensibility	extensibility	NOUN
app01-3398	106	7	–	–	PUNCT
app01-3398	106	8	neither	neither	CCONJ
app01-3398	106	9	the	the	DET
app01-3398	106	10	hardware	hardware	NOUN
app01-3398	106	11	nor	nor	CCONJ
app01-3398	106	12	the	the	DET
app01-3398	106	13	software	software	NOUN
app01-3398	106	14	on	on	ADP
app01-3398	106	15	parrot	parrot	NOUN
app01-3398	106	16	can	can	AUX
app01-3398	106	17	be	be	AUX
app01-3398	106	18	expanded	expand	VERB
app01-3398	106	19	.	.	PUNCT
app01-3398	107	1	we	we	PRON
app01-3398	107	2	have	have	VERB
app01-3398	107	3	to	to	PART
app01-3398	107	4	deal	deal	VERB
app01-3398	107	5	with	with	ADP
app01-3398	107	6	unreliable	unreliable	ADJ
app01-3398	107	7	communication	communication	NOUN
app01-3398	107	8	over	over	ADP
app01-3398	107	9	wi	wi	PROPN
app01-3398	107	10	-	-	PUNCT
app01-3398	107	11	fi	fi	NOUN
app01-3398	107	12	and	and	CCONJ
app01-3398	107	13	connection	connection	NOUN
app01-3398	107	14	failures	failure	NOUN
app01-3398	107	15	.	.	PUNCT
app01-3398	108	1	physical	physical	ADJ
app01-3398	108	2	dimensions	dimension	NOUN
app01-3398	108	3	of	of	ADP
app01-3398	108	4	the	the	DET
app01-3398	108	5	ar.drone	ar.drone	NOUN
app01-3398	108	6	2	2	NUM
app01-3398	108	7	with	with	ADP
app01-3398	108	8	the	the	DET
app01-3398	108	9	hull	hull	NOUN
app01-3398	108	10	are	be	AUX
app01-3398	108	11	53	53	NUM
app01-3398	108	12	cm	cm	NUM
app01-3398	108	13	×	×	NOUN
app01-3398	108	14	52	52	NUM
app01-3398	108	15	cm	cm	NOUN
app01-3398	108	16	and	and	CCONJ
app01-3398	108	17	it	it	PRON
app01-3398	108	18	weights	weight	VERB
app01-3398	108	19	420	420	NUM
app01-3398	108	20	g	g	NOUN
app01-3398	108	21	including	include	VERB
app01-3398	108	22	battery	battery	NOUN
app01-3398	108	23	.	.	PUNCT
app01-3398	109	1	it	it	PRON
app01-3398	109	2	can	can	AUX
app01-3398	109	3	fly	fly	VERB
app01-3398	109	4	for	for	ADP
app01-3398	109	5	about	about	ADV
app01-3398	109	6	15	15	NUM
app01-3398	109	7	minutes	minute	NOUN
app01-3398	109	8	with	with	ADP
app01-3398	109	9	the	the	DET
app01-3398	109	10	more	more	ADV
app01-3398	109	11	powerful	powerful	ADJ
app01-3398	109	12	battery	battery	NOUN
app01-3398	109	13	version	version	NOUN
app01-3398	109	14	(	(	PUNCT
app01-3398	109	15	1500mah	1500mah	NUM
app01-3398	109	16	)	)	PUNCT
app01-3398	109	17	.	.	PUNCT
app01-3398	110	1	the	the	DET
app01-3398	110	2	ar.drone	ar.drone	NOUN
app01-3398	110	3	2	2	NUM
app01-3398	110	4	provides	provide	VERB
app01-3398	110	5	a	a	DET
app01-3398	110	6	video	video	NOUN
app01-3398	110	7	stream	stream	NOUN
app01-3398	110	8	in	in	ADP
app01-3398	110	9	high	high	ADJ
app01-3398	110	10	definition	definition	NOUN
app01-3398	110	11	(	(	PUNCT
app01-3398	110	12	720p	720p	NOUN
app01-3398	110	13	)	)	PUNCT
app01-3398	110	14	with	with	ADP
app01-3398	110	15	30fps	30fps	NUM
app01-3398	110	16	from	from	ADP
app01-3398	110	17	front	front	ADJ
app01-3398	110	18	camera	camera	NOUN
app01-3398	110	19	aimed	aim	VERB
app01-3398	110	20	forward	forward	ADV
app01-3398	110	21	or	or	CCONJ
app01-3398	110	22	qvga	qvga	PROPN
app01-3398	110	23	stream	stream	NOUN
app01-3398	110	24	with	with	ADP
app01-3398	110	25	60fps	60fps	NOUN
app01-3398	110	26	from	from	ADP
app01-3398	110	27	bottom	bottom	ADJ
app01-3398	110	28	camera	camera	NOUN
app01-3398	110	29	aimed	aim	VERB
app01-3398	110	30	to	to	ADP
app01-3398	110	31	the	the	DET
app01-3398	110	32	ground	ground	NOUN
app01-3398	110	33	,	,	PUNCT
app01-3398	110	34	three	three	NUM
app01-3398	110	35	-	-	PUNCT
app01-3398	110	36	axes	axis	NOUN
app01-3398	110	37	gyroscope	gyroscope	NOUN
app01-3398	110	38	,	,	PUNCT
app01-3398	110	39	three	three	NUM
app01-3398	110	40	-	-	PUNCT
app01-3398	110	41	axes	axis	NOUN
app01-3398	110	42	accelerometer	accelerometer	NOUN
app01-3398	110	43	,	,	PUNCT
app01-3398	110	44	three	three	NUM
app01-3398	110	45	-	-	PUNCT
app01-3398	110	46	axes	axis	NOUN
app01-3398	110	47	magnetometer	magnetometer	NOUN
app01-3398	110	48	,	,	PUNCT
app01-3398	110	49	pressure	pressure	NOUN
app01-3398	110	50	sensor	sensor	NOUN
app01-3398	110	51	and	and	CCONJ
app01-3398	110	52	ultrasound	ultrasound	NOUN
app01-3398	110	53	altimeter	altimeter	NOUN
app01-3398	110	54	.	.	PUNCT
app01-3398	111	1	the	the	DET
app01-3398	111	2	quadrocopter	quadrocopter	NOUN
app01-3398	111	3	sends	send	VERB
app01-3398	111	4	raw	raw	ADJ
app01-3398	111	5	and	and	CCONJ
app01-3398	111	6	adjusted	adjust	VERB
app01-3398	111	7	measurement	measurement	NOUN
app01-3398	111	8	from	from	ADP
app01-3398	111	9	gyroscope	gyroscope	PROPN
app01-3398	111	10	,	,	PUNCT
app01-3398	111	11	accelerometer	accelerometer	NOUN
app01-3398	111	12	,	,	PUNCT
app01-3398	111	13	ultrasound	ultrasound	NOUN
app01-3398	111	14	sensor	sensor	NOUN
app01-3398	111	15	and	and	CCONJ
app01-3398	111	16	pressure	pressure	NOUN
app01-3398	111	17	sensor	sensor	NOUN
app01-3398	111	18	with	with	ADP
app01-3398	111	19	frequency	frequency	NOUN
app01-3398	111	20	of	of	ADP
app01-3398	111	21	200hz	200hz	PROPN
app01-3398	111	22	.	.	PUNCT
app01-3398	112	1	all	all	DET
app01-3398	112	2	data	datum	NOUN
app01-3398	112	3	from	from	ADP
app01-3398	112	4	these	these	DET
app01-3398	112	5	sensors	sensor	NOUN
app01-3398	112	6	are	be	AUX
app01-3398	112	7	accessible	accessible	ADJ
app01-3398	112	8	for	for	ADP
app01-3398	112	9	user	user	NOUN
app01-3398	112	10	in	in	ADP
app01-3398	112	11	the	the	DET
app01-3398	112	12	dataflow	dataflow	NOUN
app01-3398	112	13	.	.	PUNCT
app01-3398	113	1	quadrocopter	quadrocopter	NOUN
app01-3398	113	2	firmware	firmware	PROPN
app01-3398	113	3	uses	use	VERB
app01-3398	113	4	aforementioned	aforementione	VERB
app01-3398	113	5	sensors	sensor	NOUN
app01-3398	113	6	to	to	PART
app01-3398	113	7	maintain	maintain	VERB
app01-3398	113	8	tilt	tilt	NOUN
app01-3398	113	9	,	,	PUNCT
app01-3398	113	10	rotation	rotation	NOUN
app01-3398	113	11	and	and	CCONJ
app01-3398	113	12	vertical	vertical	ADJ
app01-3398	113	13	velocity	velocity	NOUN
app01-3398	113	14	of	of	ADP
app01-3398	113	15	the	the	DET
app01-3398	113	16	quadrocopter	quadrocopter	NOUN
app01-3398	113	17	according	accord	VERB
app01-3398	113	18	to	to	ADP
app01-3398	113	19	an	an	DET
app01-3398	113	20	external	external	ADJ
app01-3398	113	21	fly	fly	NOUN
app01-3398	113	22	control	control	NOUN
app01-3398	113	23	command	command	NOUN
app01-3398	113	24	.	.	PUNCT
app01-3398	114	1	this	this	DET
app01-3398	114	2	control	control	PROPN
app01-3398	114	3	command	command	NOUN
app01-3398	114	4	u	u	NOUN
app01-3398	114	5	=	=	SYM
app01-3398	114	6	(	(	PUNCT
app01-3398	114	7	φ	φ	PROPN
app01-3398	114	8	,	,	PUNCT
app01-3398	114	9	θ	θ	PROPN
app01-3398	114	10	,	,	PUNCT
app01-3398	114	11	ψ	ψ	SYM
app01-3398	114	12	,	,	PUNCT
app01-3398	114	13	ż	ż	NOUN
app01-3398	114	14	)	)	PUNCT
app01-3398	114	15	∈	∈	PROPN
app01-3398	115	1	[	[	X
app01-3398	115	2	−1	−1	NOUN
app01-3398	115	3	,	,	PUNCT
app01-3398	115	4	1]4	1]4	PROPN
app01-3398	115	5	consists	consist	VERB
app01-3398	115	6	of	of	ADP
app01-3398	115	7	quadrocopter	quadrocopter	NOUN
app01-3398	115	8	’s	’s	PART
app01-3398	115	9	roll	roll	NOUN
app01-3398	115	10	φ	φ	PROPN
app01-3398	115	11	,	,	PUNCT
app01-3398	115	12	pitch	pitch	PROPN
app01-3398	115	13	θ	θ	PROPN
app01-3398	115	14	,	,	PUNCT
app01-3398	115	15	yaw	yaw	NOUN
app01-3398	115	16	rotation	rotation	NOUN
app01-3398	115	17	speed	speed	NOUN
app01-3398	115	18	ψ	ψ	NOUN
app01-3398	115	19	and	and	CCONJ
app01-3398	115	20	vertical	vertical	ADJ
app01-3398	115	21	velocity	velocity	NOUN
app01-3398	115	22	ż.	ż.	NUM
app01-3398	115	23	it	it	PRON
app01-3398	115	24	should	should	AUX
app01-3398	115	25	be	be	AUX
app01-3398	115	26	sent	send	VERB
app01-3398	115	27	every	every	DET
app01-3398	115	28	30ms	30ms	NOUN
app01-3398	115	29	for	for	ADP
app01-3398	115	30	smooth	smooth	ADJ
app01-3398	115	31	movements	movement	NOUN
app01-3398	115	32	.	.	PUNCT
app01-3398	116	1	4.4	4.4	NUM
app01-3398	116	2	.	.	PUNCT
app01-3398	117	1	data	datum	NOUN
app01-3398	117	2	recording	recording	NOUN
app01-3398	117	3	and	and	CCONJ
app01-3398	117	4	replaying	replay	VERB
app01-3398	117	5	thanks	thank	NOUN
app01-3398	117	6	to	to	ADP
app01-3398	117	7	the	the	DET
app01-3398	117	8	structured	structured	ADJ
app01-3398	117	9	dataflow	dataflow	ADJ
app01-3398	117	10	architecture	architecture	NOUN
app01-3398	117	11	,	,	PUNCT
app01-3398	117	12	any	any	DET
app01-3398	117	13	potentially	potentially	ADV
app01-3398	117	14	interesting	interesting	ADJ
app01-3398	117	15	data	datum	NOUN
app01-3398	117	16	can	can	AUX
app01-3398	117	17	be	be	AUX
app01-3398	117	18	captured	capture	VERB
app01-3398	117	19	and	and	CCONJ
app01-3398	117	20	stored	store	VERB
app01-3398	117	21	in	in	ADP
app01-3398	117	22	a	a	DET
app01-3398	117	23	file	file	NOUN
app01-3398	117	24	.	.	PUNCT
app01-3398	118	1	we	we	PRON
app01-3398	118	2	use	use	VERB
app01-3398	118	3	text	text	NOUN
app01-3398	118	4	format	format	NOUN
app01-3398	118	5	which	which	PRON
app01-3398	118	6	is	be	AUX
app01-3398	118	7	portable	portable	ADJ
app01-3398	118	8	and	and	CCONJ
app01-3398	118	9	allows	allow	VERB
app01-3398	118	10	convenient	convenient	ADJ
app01-3398	118	11	processing	processing	NOUN
app01-3398	118	12	with	with	ADP
app01-3398	118	13	data	datum	NOUN
app01-3398	118	14	processing	processing	NOUN
app01-3398	118	15	tools	tool	NOUN
app01-3398	118	16	.	.	PUNCT
app01-3398	119	1	data	datum	NOUN
app01-3398	119	2	that	that	PRON
app01-3398	119	3	are	be	AUX
app01-3398	119	4	inherently	inherently	ADV
app01-3398	119	5	binary	binary	ADJ
app01-3398	119	6	are	be	AUX
app01-3398	119	7	n’t	not	PART
app01-3398	119	8	supported	support	VERB
app01-3398	119	9	,	,	PUNCT
app01-3398	119	10	however	however	ADV
app01-3398	119	11	,	,	PUNCT
app01-3398	119	12	special	special	ADJ
app01-3398	119	13	case	case	NOUN
app01-3398	119	14	–	–	PUNCT
app01-3398	119	15	image	image	NOUN
app01-3398	119	16	data	datum	NOUN
app01-3398	119	17	are	be	AUX
app01-3398	119	18	stored	store	VERB
app01-3398	119	19	with	with	ADP
app01-3398	119	20	compression	compression	NOUN
app01-3398	119	21	to	to	ADP
app01-3398	119	22	a	a	DET
app01-3398	119	23	separate	separate	ADJ
app01-3398	119	24	video	video	NOUN
app01-3398	119	25	file	file	NOUN
app01-3398	119	26	.	.	PUNCT
app01-3398	120	1	recorded	record	VERB
app01-3398	120	2	data	datum	NOUN
app01-3398	120	3	are	be	AUX
app01-3398	120	4	stored	store	VERB
app01-3398	120	5	together	together	ADV
app01-3398	120	6	with	with	ADP
app01-3398	120	7	timestamps	timestamp	NOUN
app01-3398	120	8	,	,	PUNCT
app01-3398	120	9	so	so	SCONJ
app01-3398	120	10	it	it	PRON
app01-3398	120	11	’s	’	VERB
app01-3398	120	12	possible	possible	ADJ
app01-3398	120	13	to	to	AUX
app01-3398	120	14	“	"	PUNCT
app01-3398	120	15	replay	replay	VERB
app01-3398	120	16	”	"	PUNCT
app01-3398	120	17	them	they	PRON
app01-3398	120	18	and	and	CCONJ
app01-3398	120	19	test	test	NOUN
app01-3398	120	20	or	or	CCONJ
app01-3398	120	21	debug	debug	NOUN
app01-3398	120	22	system	system	NOUN
app01-3398	120	23	’s	’s	PART
app01-3398	120	24	response	response	NOUN
app01-3398	120	25	with	with	ADP
app01-3398	120	26	real	real	ADJ
app01-3398	120	27	timing	timing	NOUN
app01-3398	120	28	.	.	PUNCT
app01-3398	121	1	4.5	4.5	NUM
app01-3398	121	2	.	.	PUNCT
app01-3398	122	1	localization	localization	NOUN
app01-3398	122	2	in	in	ADP
app01-3398	122	3	unknown	unknown	ADJ
app01-3398	122	4	environment	environment	NOUN
app01-3398	122	5	we	we	PRON
app01-3398	122	6	use	use	VERB
app01-3398	122	7	quadrocopter	quadrocopter	NOUN
app01-3398	122	8	’s	’s	PART
app01-3398	122	9	onboard	onboard	ADP
app01-3398	122	10	sensors	sensor	NOUN
app01-3398	122	11	to	to	PART
app01-3398	122	12	give	give	VERB
app01-3398	122	13	the	the	DET
app01-3398	122	14	end	end	NOUN
app01-3398	122	15	user	user	NOUN
app01-3398	122	16	information	information	NOUN
app01-3398	122	17	about	about	ADP
app01-3398	122	18	the	the	DET
app01-3398	122	19	absolute	absolute	ADJ
app01-3398	122	20	position	position	NOUN
app01-3398	122	21	of	of	ADP
app01-3398	122	22	the	the	DET
app01-3398	122	23	aircraft	aircraft	NOUN
app01-3398	122	24	.	.	PUNCT
app01-3398	123	1	the	the	DET
app01-3398	123	2	localization	localization	NOUN
app01-3398	123	3	is	be	AUX
app01-3398	123	4	a	a	DET
app01-3398	123	5	node	node	NOUN
app01-3398	123	6	within	within	ADP
app01-3398	123	7	the	the	DET
app01-3398	123	8	dataflow	dataflow	ADJ
app01-3398	123	9	graph	graph	NOUN
app01-3398	123	10	,	,	PUNCT
app01-3398	123	11	thus	thus	ADV
app01-3398	123	12	it	it	PRON
app01-3398	123	13	runs	run	VERB
app01-3398	123	14	exclusively	exclusively	ADV
app01-3398	123	15	on	on	ADP
app01-3398	123	16	the	the	DET
app01-3398	123	17	onboard	onboard	ADJ
app01-3398	123	18	component	component	NOUN
app01-3398	123	19	.	.	PUNCT
app01-3398	124	1	4.5.1	4.5.1	X
app01-3398	124	2	.	.	PUNCT
app01-3398	124	3	inertial	inertial	ADJ
app01-3398	124	4	localization	localization	NOUN
app01-3398	124	5	our	our	PRON
app01-3398	124	6	implementation	implementation	NOUN
app01-3398	124	7	expects	expect	VERB
app01-3398	124	8	accelerometers	accelerometer	NOUN
app01-3398	124	9	with	with	ADP
app01-3398	124	10	aggregated	aggregate	VERB
app01-3398	124	11	outputs	output	NOUN
app01-3398	124	12	in	in	ADP
app01-3398	124	13	a	a	DET
app01-3398	124	14	form	form	NOUN
app01-3398	124	15	of	of	ADP
app01-3398	124	16	horizontal	horizontal	ADJ
app01-3398	124	17	velocity	velocity	NOUN
app01-3398	124	18	,	,	PUNCT
app01-3398	124	19	altimeter	altimeter	NOUN
app01-3398	124	20	and	and	CCONJ
app01-3398	124	21	drone	drone	NOUN
app01-3398	124	22	pose	pose	VERB
app01-3398	124	23	sensors	sensor	NOUN
app01-3398	124	24	(	(	PUNCT
app01-3398	124	25	i.e.	i.e.	X
app01-3398	124	26	,	,	PUNCT
app01-3398	124	27	accelerometers	accelerometer	NOUN
app01-3398	124	28	for	for	ADP
app01-3398	124	29	roll	roll	NOUN
app01-3398	124	30	and	and	CCONJ
app01-3398	124	31	pitch	pitch	NOUN
app01-3398	124	32	angles	angle	NOUN
app01-3398	124	33	and	and	CCONJ
app01-3398	124	34	gyroscope	gyroscope	NOUN
app01-3398	124	35	and/or	and/or	CCONJ
app01-3398	124	36	magnetometer	magnetometer	NOUN
app01-3398	124	37	for	for	ADP
app01-3398	124	38	yaw	yaw	PROPN
app01-3398	124	39	angle	angle	PROPN
app01-3398	124	40	)	)	PUNCT
app01-3398	124	41	.	.	PUNCT
app01-3398	125	1	sensor	sensor	NOUN
app01-3398	125	2	data	datum	NOUN
app01-3398	125	3	are	be	AUX
app01-3398	125	4	filtered	filter	VERB
app01-3398	125	5	with	with	ADP
app01-3398	125	6	extended	extended	ADJ
app01-3398	125	7	kalman	kalman	NOUN
app01-3398	125	8	filter	filter	NOUN
app01-3398	125	9	(	(	PUNCT
app01-3398	125	10	ekf	ekf	PROPN
app01-3398	125	11	)	)	PUNCT
app01-3398	125	12	where	where	SCONJ
app01-3398	125	13	we	we	PRON
app01-3398	125	14	engage	engage	VERB
app01-3398	125	15	physical	physical	ADJ
app01-3398	125	16	model	model	NOUN
app01-3398	125	17	based	base	VERB
app01-3398	125	18	on	on	ADP
app01-3398	125	19	a	a	DET
app01-3398	125	20	similar	similar	ADJ
app01-3398	125	21	project	project	NOUN
app01-3398	125	22	[	[	X
app01-3398	125	23	17	17	NUM
app01-3398	125	24	]	]	PUNCT
app01-3398	125	25	.	.	PUNCT
app01-3398	126	1	4.5.2	4.5.2	NUM
app01-3398	126	2	.	.	PUNCT
app01-3398	126	3	visual	visual	ADJ
app01-3398	126	4	localization	localization	NOUN
app01-3398	126	5	to	to	PART
app01-3398	126	6	enhance	enhance	VERB
app01-3398	126	7	absolute	absolute	ADJ
app01-3398	126	8	position	position	NOUN
app01-3398	126	9	estimate	estimate	NOUN
app01-3398	126	10	,	,	PUNCT
app01-3398	126	11	we	we	PRON
app01-3398	126	12	are	be	AUX
app01-3398	126	13	processing	process	VERB
app01-3398	126	14	the	the	DET
app01-3398	126	15	video	video	NOUN
app01-3398	126	16	stream	stream	NOUN
app01-3398	126	17	from	from	ADP
app01-3398	126	18	the	the	DET
app01-3398	126	19	onboard	onboard	ADJ
app01-3398	126	20	camera	camera	NOUN
app01-3398	126	21	.	.	PUNCT
app01-3398	127	1	we	we	PRON
app01-3398	127	2	use	use	VERB
app01-3398	127	3	monocular	monocular	ADJ
app01-3398	127	4	slam	slam	NOUN
app01-3398	127	5	framework	framework	NOUN
app01-3398	127	6	ptam	ptam	NOUN
app01-3398	128	1	[	[	X
app01-3398	128	2	18	18	NUM
app01-3398	128	3	]	]	PUNCT
app01-3398	128	4	that	that	PRON
app01-3398	128	5	estimates	estimate	VERB
app01-3398	128	6	camera	camera	NOUN
app01-3398	128	7	pose	pose	VERB
app01-3398	128	8	and	and	CCONJ
app01-3398	128	9	position	position	NOUN
app01-3398	128	10	for	for	ADP
app01-3398	128	11	each	each	DET
app01-3398	128	12	frame	frame	NOUN
app01-3398	128	13	and	and	CCONJ
app01-3398	128	14	also	also	ADV
app01-3398	128	15	builds	build	VERB
app01-3398	128	16	a	a	DET
app01-3398	128	17	map	map	NOUN
app01-3398	128	18	of	of	ADP
app01-3398	128	19	observed	observe	VERB
app01-3398	128	20	feature	feature	NOUN
app01-3398	128	21	points	point	NOUN
app01-3398	128	22	.	.	PUNCT
app01-3398	129	1	first	first	ADV
app01-3398	129	2	,	,	PUNCT
app01-3398	129	3	the	the	DET
app01-3398	129	4	map	map	NOUN
app01-3398	129	5	is	be	AUX
app01-3398	129	6	initialized	initialize	VERB
app01-3398	129	7	from	from	ADP
app01-3398	129	8	a	a	DET
app01-3398	129	9	pair	pair	NOUN
app01-3398	129	10	of	of	ADP
app01-3398	129	11	images	image	NOUN
app01-3398	129	12	where	where	SCONJ
app01-3398	129	13	point	point	NOUN
app01-3398	129	14	correspondence	correspondence	NOUN
app01-3398	129	15	is	be	AUX
app01-3398	129	16	based	base	VERB
app01-3398	129	17	on	on	ADP
app01-3398	129	18	optical	optical	ADJ
app01-3398	129	19	flow	flow	NOUN
app01-3398	129	20	and	and	CCONJ
app01-3398	129	21	the	the	DET
app01-3398	129	22	initial	initial	ADJ
app01-3398	129	23	scale	scale	NOUN
app01-3398	129	24	is	be	AUX
app01-3398	129	25	estimated	estimate	VERB
app01-3398	129	26	thanks	thank	NOUN
app01-3398	129	27	to	to	ADP
app01-3398	129	28	inertial	inertial	ADJ
app01-3398	129	29	localization	localization	NOUN
app01-3398	129	30	.	.	PUNCT
app01-3398	130	1	after	after	ADP
app01-3398	130	2	the	the	DET
app01-3398	130	3	initialization	initialization	NOUN
app01-3398	130	4	,	,	PUNCT
app01-3398	130	5	the	the	DET
app01-3398	130	6	scale	scale	NOUN
app01-3398	130	7	estimate	estimate	NOUN
app01-3398	130	8	is	be	AUX
app01-3398	130	9	continuously	continuously	ADV
app01-3398	130	10	refined	refine	VERB
app01-3398	130	11	using	use	VERB
app01-3398	130	12	method	method	NOUN
app01-3398	130	13	described	describe	VERB
app01-3398	130	14	in	in	ADP
app01-3398	130	15	[	[	X
app01-3398	130	16	17	17	NUM
app01-3398	130	17	]	]	PUNCT
app01-3398	130	18	.	.	PUNCT
app01-3398	131	1	data	datum	NOUN
app01-3398	131	2	both	both	CCONJ
app01-3398	131	3	from	from	ADP
app01-3398	131	4	inertial	inertial	ADJ
app01-3398	131	5	and	and	CCONJ
app01-3398	131	6	visual	visual	ADJ
app01-3398	131	7	localization	localization	NOUN
app01-3398	131	8	are	be	AUX
app01-3398	131	9	merged	merge	VERB
app01-3398	131	10	together	together	ADV
app01-3398	131	11	in	in	ADP
app01-3398	131	12	the	the	DET
app01-3398	131	13	extended	extended	ADJ
app01-3398	131	14	kalman	kalman	NOUN
app01-3398	131	15	filter	filter	NOUN
app01-3398	131	16	(	(	PUNCT
app01-3398	131	17	see	see	VERB
app01-3398	131	18	figure	figure	NOUN
app01-3398	131	19	4	4	NUM
app01-3398	131	20	)	)	PUNCT
app01-3398	131	21	in	in	ADP
app01-3398	131	22	separate	separate	ADJ
app01-3398	131	23	update	update	NOUN
app01-3398	131	24	steps	step	NOUN
app01-3398	131	25	.	.	PUNCT
app01-3398	132	1	the	the	DET
app01-3398	132	2	result	result	NOUN
app01-3398	132	3	from	from	ADP
app01-3398	132	4	ptam	ptam	NOUN
app01-3398	132	5	(	(	PUNCT
app01-3398	132	6	absolute	absolute	ADJ
app01-3398	132	7	position	position	NOUN
app01-3398	132	8	and	and	CCONJ
app01-3398	132	9	quadrocopter	quadrocopter	NOUN
app01-3398	132	10	’s	’s	PART
app01-3398	132	11	pose	pose	NOUN
app01-3398	132	12	)	)	PUNCT
app01-3398	132	13	is	be	AUX
app01-3398	132	14	used	use	VERB
app01-3398	132	15	to	to	PART
app01-3398	132	16	update	update	VERB
app01-3398	132	17	the	the	DET
app01-3398	132	18	ekf	ekf	PROPN
app01-3398	132	19	,	,	PUNCT
app01-3398	132	20	taking	take	VERB
app01-3398	132	21	into	into	ADP
app01-3398	132	22	account	account	NOUN
app01-3398	132	23	a	a	DET
app01-3398	132	24	delay	delay	NOUN
app01-3398	132	25	of	of	ADP
app01-3398	132	26	visual	visual	ADJ
app01-3398	132	27	localization	localization	NOUN
app01-3398	132	28	and	and	CCONJ
app01-3398	132	29	then	then	ADV
app01-3398	132	30	recalculating	recalculate	VERB
app01-3398	132	31	prediction	prediction	NOUN
app01-3398	132	32	of	of	ADP
app01-3398	132	33	the	the	DET
app01-3398	132	34	current	current	ADJ
app01-3398	132	35	state	state	NOUN
app01-3398	132	36	.	.	PUNCT
app01-3398	133	1	31	31	NUM
app01-3398	133	2	m.	m.	NOUN
app01-3398	133	3	koutný	koutný	PROPN
app01-3398	133	4	,	,	PUNCT
app01-3398	133	5	o.	o.	NOUN
app01-3398	133	6	pilát	pilát	PROPN
app01-3398	133	7	,	,	PUNCT
app01-3398	133	8	p.	p.	NOUN
app01-3398	133	9	černý	černý	PROPN
app01-3398	133	10	,	,	PUNCT
app01-3398	133	11	m.	m.	NOUN
app01-3398	133	12	kasinec	kasinec	PROPN
app01-3398	133	13	acta	acta	PROPN
app01-3398	133	14	polytechnica	polytechnica	PROPN
app01-3398	133	15	ctu	ctu	PROPN
app01-3398	133	16	proceedings	proceeding	NOUN
app01-3398	133	17	figure	figure	VERB
app01-3398	133	18	2	2	NUM
app01-3398	133	19	.	.	PUNCT
app01-3398	134	1	x	x	X
app01-3398	134	2	-	-	PUNCT
app01-3398	134	3	copter	copter	PROPN
app01-3398	134	4	studio	studio	PROPN
app01-3398	134	5	gui	gui	PROPN
app01-3398	134	6	.	.	PROPN
app01-3398	135	1	top	top	ADJ
app01-3398	135	2	navbar	navbar	NOUN
app01-3398	135	3	indicated	indicate	VERB
app01-3398	135	4	connection	connection	NOUN
app01-3398	135	5	quality	quality	NOUN
app01-3398	135	6	,	,	PUNCT
app01-3398	135	7	upper	upper	ADJ
app01-3398	135	8	half	half	NOUN
app01-3398	135	9	is	be	AUX
app01-3398	135	10	filled	fill	VERB
app01-3398	135	11	with	with	ADP
app01-3398	135	12	widgets	widget	NOUN
app01-3398	135	13	that	that	PRON
app01-3398	135	14	display	display	VERB
app01-3398	135	15	data	datum	NOUN
app01-3398	135	16	from	from	ADP
app01-3398	135	17	the	the	DET
app01-3398	135	18	onboard	onboard	NOUN
app01-3398	135	19	,	,	PUNCT
app01-3398	135	20	lower	low	ADJ
app01-3398	135	21	half	half	NOUN
app01-3398	135	22	accommodates	accommodate	VERB
app01-3398	135	23	the	the	DET
app01-3398	135	24	editor	editor	NOUN
app01-3398	135	25	with	with	ADP
app01-3398	135	26	repository	repository	NOUN
app01-3398	135	27	of	of	ADP
app01-3398	135	28	nodes	node	NOUN
app01-3398	135	29	on	on	ADP
app01-3398	135	30	the	the	DET
app01-3398	135	31	left	left	NOUN
app01-3398	135	32	,	,	PUNCT
app01-3398	135	33	and	and	CCONJ
app01-3398	135	34	connected	connected	ADJ
app01-3398	135	35	nodes	node	NOUN
app01-3398	135	36	on	on	ADP
app01-3398	135	37	the	the	DET
app01-3398	135	38	right	right	NOUN
app01-3398	135	39	.	.	PUNCT
app01-3398	136	1	at	at	ADP
app01-3398	136	2	the	the	DET
app01-3398	136	3	bottom	bottom	NOUN
app01-3398	136	4	there	there	PRON
app01-3398	136	5	are	be	VERB
app01-3398	136	6	(	(	PUNCT
app01-3398	136	7	left	leave	VERB
app01-3398	136	8	to	to	ADP
app01-3398	136	9	right	right	ADJ
app01-3398	136	10	):	):	PUNCT
app01-3398	136	11	dataflow	dataflow	ADJ
app01-3398	136	12	control	control	NOUN
app01-3398	136	13	buttons	button	NOUN
app01-3398	136	14	,	,	PUNCT
app01-3398	136	15	scripting	scripting	NOUN
app01-3398	136	16	console	console	NOUN
app01-3398	136	17	control	control	NOUN
app01-3398	136	18	buttons	button	NOUN
app01-3398	136	19	and	and	CCONJ
app01-3398	136	20	manual	manual	ADJ
app01-3398	136	21	flight	flight	NOUN
app01-3398	136	22	control	control	NOUN
app01-3398	136	23	buttons	button	NOUN
app01-3398	136	24	.	.	PUNCT
app01-3398	137	1	the	the	DET
app01-3398	137	2	scripting	scripting	NOUN
app01-3398	137	3	console	console	NOUN
app01-3398	137	4	is	be	AUX
app01-3398	137	5	hidden	hide	VERB
app01-3398	137	6	.	.	PUNCT
app01-3398	138	1	figure	figure	NOUN
app01-3398	138	2	3	3	NUM
app01-3398	138	3	.	.	PUNCT
app01-3398	138	4	urbiscript	urbiscript	ADJ
app01-3398	138	5	console	console	NOUN
app01-3398	138	6	.	.	PUNCT
app01-3398	139	1	on	on	ADP
app01-3398	139	2	the	the	DET
app01-3398	139	3	top	top	ADJ
app01-3398	139	4	–	–	PUNCT
app01-3398	139	5	script	script	NOUN
app01-3398	139	6	editor	editor	NOUN
app01-3398	139	7	,	,	PUNCT
app01-3398	139	8	middle	middle	ADJ
app01-3398	139	9	–	–	PUNCT
app01-3398	139	10	output	output	NOUN
app01-3398	139	11	of	of	ADP
app01-3398	139	12	executed	execute	VERB
app01-3398	139	13	script	script	NOUN
app01-3398	139	14	,	,	PUNCT
app01-3398	139	15	bottom	bottom	NOUN
app01-3398	139	16	left	left	ADJ
app01-3398	139	17	–	–	PUNCT
app01-3398	139	18	script	script	NOUN
app01-3398	139	19	execution	execution	NOUN
app01-3398	139	20	control	control	NOUN
app01-3398	139	21	(	(	PUNCT
app01-3398	139	22	surrounded	surround	VERB
app01-3398	139	23	with	with	ADP
app01-3398	139	24	other	other	ADJ
app01-3398	139	25	controls	control	NOUN
app01-3398	139	26	of	of	ADP
app01-3398	139	27	x	x	ADJ
app01-3398	139	28	-	-	ADJ
app01-3398	139	29	copter	copter	NOUN
app01-3398	139	30	studio	studio	NOUN
app01-3398	139	31	)	)	PUNCT
app01-3398	139	32	.	.	PUNCT
app01-3398	140	1	4.6	4.6	NUM
app01-3398	140	2	.	.	PUNCT
app01-3398	141	1	following	follow	VERB
app01-3398	141	2	given	give	VERB
app01-3398	141	3	path	path	NOUN
app01-3398	141	4	path	path	NOUN
app01-3398	141	5	is	be	AUX
app01-3398	141	6	represented	represent	VERB
app01-3398	141	7	as	as	ADP
app01-3398	141	8	a	a	DET
app01-3398	141	9	list	list	NOUN
app01-3398	141	10	of	of	ADP
app01-3398	141	11	checkpoints	checkpoint	NOUN
app01-3398	141	12	that	that	PRON
app01-3398	141	13	drone	drone	NOUN
app01-3398	141	14	strictly	strictly	ADV
app01-3398	141	15	follows	follow	VERB
app01-3398	141	16	.	.	PUNCT
app01-3398	142	1	a	a	DET
app01-3398	142	2	checkpoint	checkpoint	NOUN
app01-3398	142	3	is	be	AUX
app01-3398	142	4	a	a	DET
app01-3398	142	5	composite	composite	NOUN
app01-3398	142	6	of	of	ADP
app01-3398	142	7	world	world	NOUN
app01-3398	142	8	coordinates	coordinate	NOUN
app01-3398	142	9	and	and	CCONJ
app01-3398	142	10	a	a	DET
app01-3398	142	11	tangential	tangential	ADJ
app01-3398	142	12	vector.4	vector.4	NOUN
app01-3398	142	13	4this	4this	NUM
app01-3398	142	14	vector	vector	NOUN
app01-3398	142	15	specifies	specifie	NOUN
app01-3398	142	16	direction	direction	NOUN
app01-3398	142	17	of	of	ADP
app01-3398	142	18	quadrocopter	quadrocopter	NOUN
app01-3398	142	19	’s	’s	PART
app01-3398	142	20	heading	head	VERB
app01-3398	142	21	at	at	ADP
app01-3398	142	22	the	the	DET
app01-3398	142	23	given	give	VERB
app01-3398	142	24	checkpoint	checkpoint	NOUN
app01-3398	142	25	.	.	PUNCT
app01-3398	143	1	this	this	PRON
app01-3398	143	2	is	be	AUX
app01-3398	143	3	intended	intend	VERB
app01-3398	143	4	to	to	PART
app01-3398	143	5	be	be	AUX
app01-3398	143	6	used	use	VERB
app01-3398	143	7	when	when	SCONJ
app01-3398	143	8	checkpoints	checkpoint	NOUN
app01-3398	143	9	should	should	AUX
app01-3398	143	10	be	be	AUX
app01-3398	143	11	followed	follow	VERB
app01-3398	143	12	as	as	ADP
app01-3398	143	13	a	a	DET
app01-3398	143	14	spline	spline	NOUN
app01-3398	143	15	curve	curve	NOUN
app01-3398	143	16	.	.	PUNCT
app01-3398	144	1	checkpoint	checkpoint	NOUN
app01-3398	144	2	attainment	attainment	ADJ
app01-3398	144	3	quadrocopter	quadrocopter	NOUN
app01-3398	144	4	achieves	achieve	VERB
app01-3398	144	5	a	a	DET
app01-3398	144	6	checkpoint	checkpoint	NOUN
app01-3398	144	7	when	when	SCONJ
app01-3398	144	8	it	it	PRON
app01-3398	144	9	is	be	AUX
app01-3398	144	10	in	in	ADP
app01-3398	144	11	a	a	DET
app01-3398	144	12	sphere	sphere	NOUN
app01-3398	144	13	around	around	ADP
app01-3398	144	14	the	the	DET
app01-3398	144	15	checkpoint	checkpoint	NOUN
app01-3398	144	16	with	with	ADP
app01-3398	144	17	10	10	NUM
app01-3398	144	18	cm	cm	NOUN
app01-3398	144	19	diameter	diameter	NOUN
app01-3398	144	20	(	(	PUNCT
app01-3398	144	21	according	accord	VERB
app01-3398	144	22	to	to	ADP
app01-3398	144	23	the	the	DET
app01-3398	144	24	localization	localization	NOUN
app01-3398	144	25	)	)	PUNCT
app01-3398	144	26	and	and	CCONJ
app01-3398	144	27	immediately	immediately	ADV
app01-3398	144	28	continues	continue	VERB
app01-3398	144	29	to	to	ADP
app01-3398	144	30	the	the	DET
app01-3398	144	31	next	next	ADJ
app01-3398	144	32	checkpoint	checkpoint	NOUN
app01-3398	144	33	in	in	ADP
app01-3398	144	34	the	the	DET
app01-3398	144	35	queue	queue	NOUN
app01-3398	144	36	.	.	PUNCT
app01-3398	145	1	flight	flight	NOUN
app01-3398	145	2	to	to	ADP
app01-3398	145	3	the	the	DET
app01-3398	145	4	checkpoint	checkpoint	NOUN
app01-3398	145	5	is	be	AUX
app01-3398	145	6	controlled	control	VERB
app01-3398	145	7	by	by	ADP
app01-3398	145	8	200hz	200hz	ADJ
app01-3398	145	9	pid	pid	PROPN
app01-3398	145	10	regulator.5	regulator.5	PROPN
app01-3398	145	11	regulator	regulator	NOUN
app01-3398	145	12	uses	use	VERB
app01-3398	145	13	data	datum	NOUN
app01-3398	145	14	from	from	ADP
app01-3398	145	15	the	the	DET
app01-3398	145	16	extended	extend	VERB
app01-3398	145	17	kalman	kalman	NOUN
app01-3398	145	18	filter	filter	NOUN
app01-3398	145	19	in	in	ADP
app01-3398	145	20	order	order	NOUN
app01-3398	145	21	to	to	PART
app01-3398	145	22	eliminate	eliminate	VERB
app01-3398	145	23	data	datum	NOUN
app01-3398	145	24	delay	delay	NOUN
app01-3398	145	25	and	and	CCONJ
app01-3398	145	26	predict	predict	VERB
app01-3398	145	27	quadrocopter	quadrocopter	NOUN
app01-3398	145	28	’s	’s	PART
app01-3398	145	29	current	current	ADJ
app01-3398	145	30	position	position	NOUN
app01-3398	145	31	in	in	ADP
app01-3398	145	32	the	the	DET
app01-3398	145	33	world	world	NOUN
app01-3398	145	34	.	.	PUNCT
app01-3398	146	1	output	output	NOUN
app01-3398	146	2	from	from	ADP
app01-3398	146	3	the	the	DET
app01-3398	146	4	regulator	regulator	NOUN
app01-3398	146	5	is	be	AUX
app01-3398	146	6	sent	send	VERB
app01-3398	146	7	directly	directly	ADV
app01-3398	146	8	to	to	ADP
app01-3398	146	9	the	the	DET
app01-3398	146	10	quadrocopter	quadrocopter	NOUN
app01-3398	146	11	.	.	PUNCT
app01-3398	147	1	4.7	4.7	NUM
app01-3398	147	2	.	.	PUNCT
app01-3398	147	3	runtime	runtime	NOUN
app01-3398	147	4	configuration	configuration	NOUN
app01-3398	147	5	any	any	DET
app01-3398	147	6	configuration	configuration	NOUN
app01-3398	147	7	(	(	PUNCT
app01-3398	147	8	parameters	parameter	NOUN
app01-3398	147	9	,	,	PUNCT
app01-3398	147	10	calibration	calibration	NOUN
app01-3398	147	11	constants	constant	NOUN
app01-3398	147	12	,	,	PUNCT
app01-3398	147	13	settings	setting	NOUN
app01-3398	147	14	,	,	PUNCT
app01-3398	147	15	etc	etc	X
app01-3398	147	16	.	.	X
app01-3398	147	17	)	)	PUNCT
app01-3398	147	18	is	be	AUX
app01-3398	147	19	stored	store	VERB
app01-3398	147	20	in	in	ADP
app01-3398	147	21	human	human	ADJ
app01-3398	147	22	readable	readable	ADJ
app01-3398	147	23	and	and	CCONJ
app01-3398	147	24	editable	editable	ADJ
app01-3398	147	25	text	text	NOUN
app01-3398	147	26	files	file	NOUN
app01-3398	147	27	and	and	CCONJ
app01-3398	147	28	loaded	load	VERB
app01-3398	147	29	during	during	ADP
app01-3398	147	30	runtime	runtime	NOUN
app01-3398	147	31	,	,	PUNCT
app01-3398	147	32	thus	thus	ADV
app01-3398	147	33	avoiding	avoid	VERB
app01-3398	147	34	necessity	necessity	NOUN
app01-3398	147	35	of	of	ADP
app01-3398	147	36	recompilation	recompilation	NOUN
app01-3398	147	37	to	to	PART
app01-3398	147	38	apply	apply	VERB
app01-3398	147	39	changes	change	NOUN
app01-3398	147	40	.	.	PUNCT
app01-3398	148	1	the	the	DET
app01-3398	148	2	same	same	ADJ
app01-3398	148	3	configuration	configuration	NOUN
app01-3398	148	4	can	can	AUX
app01-3398	148	5	be	be	AUX
app01-3398	148	6	accessed	access	VERB
app01-3398	148	7	both	both	CCONJ
app01-3398	148	8	from	from	ADP
app01-3398	148	9	c++	c++	NOUN
app01-3398	148	10	and	and	CCONJ
app01-3398	148	11	urbiscript	urbiscript	ADJ
app01-3398	148	12	api	api	NOUN
app01-3398	148	13	.	.	PUNCT
app01-3398	149	1	5	5	X
app01-3398	149	2	.	.	X
app01-3398	149	3	conclusion	conclusion	NOUN
app01-3398	149	4	we	we	PRON
app01-3398	149	5	hope	hope	VERB
app01-3398	149	6	the	the	DET
app01-3398	149	7	x	x	PROPN
app01-3398	149	8	-	-	ADJ
app01-3398	149	9	copter	copter	NOUN
app01-3398	149	10	studio	studio	NOUN
app01-3398	149	11	will	will	AUX
app01-3398	149	12	become	become	VERB
app01-3398	149	13	used	used	ADJ
app01-3398	149	14	(	(	PUNCT
app01-3398	149	15	at	at	ADP
app01-3398	149	16	least	least	ADJ
app01-3398	149	17	)	)	PUNCT
app01-3398	149	18	for	for	ADP
app01-3398	149	19	educational	educational	ADJ
app01-3398	149	20	purposes	purpose	NOUN
app01-3398	149	21	since	since	SCONJ
app01-3398	149	22	it	it	PRON
app01-3398	149	23	provides	provide	VERB
app01-3398	149	24	sufficiently	sufficiently	ADV
app01-3398	149	25	high	high	ADJ
app01-3398	149	26	-	-	PUNCT
app01-3398	149	27	level	level	NOUN
app01-3398	149	28	interface	interface	NOUN
app01-3398	149	29	,	,	PUNCT
app01-3398	149	30	for	for	ADP
app01-3398	149	31	instance	instance	NOUN
app01-3398	149	32	to	to	PART
app01-3398	149	33	prototype	prototype	VERB
app01-3398	149	34	planning	planning	NOUN
app01-3398	149	35	algorithms	algorithm	NOUN
app01-3398	149	36	.	.	PUNCT
app01-3398	150	1	5the	5the	DET
app01-3398	150	2	frequency	frequency	NOUN
app01-3398	150	3	is	be	AUX
app01-3398	150	4	induced	induce	VERB
app01-3398	150	5	by	by	ADP
app01-3398	150	6	the	the	DET
app01-3398	150	7	dataflow	dataflow	NOUN
app01-3398	150	8	,	,	PUNCT
app01-3398	150	9	in	in	ADP
app01-3398	150	10	this	this	DET
app01-3398	150	11	case	case	NOUN
app01-3398	150	12	it	it	PRON
app01-3398	150	13	is	be	AUX
app01-3398	150	14	refreshed	refresh	VERB
app01-3398	150	15	frequency	frequency	NOUN
app01-3398	150	16	of	of	ADP
app01-3398	150	17	data	datum	NOUN
app01-3398	150	18	from	from	ADP
app01-3398	150	19	quadrocopter	quadrocopter	NOUN
app01-3398	150	20	.	.	PUNCT
app01-3398	151	1	32	32	NUM
app01-3398	151	2	vol	vol	NOUN
app01-3398	151	3	.	.	PUNCT
app01-3398	152	1	2/2015	2/2015	NUM
app01-3398	152	2	x	x	SYM
app01-3398	152	3	-	-	PROPN
app01-3398	152	4	copter	copter	PROPN
app01-3398	152	5	studio	studio	NOUN
app01-3398	152	6	-0.5	-0.5	X
app01-3398	152	7	0	0	NUM
app01-3398	152	8	0.5	0.5	NUM
app01-3398	152	9	1	1	NUM
app01-3398	152	10	1.5	1.5	NUM
app01-3398	152	11	2	2	NUM
app01-3398	152	12	2.5	2.5	NUM
app01-3398	152	13	3	3	NUM
app01-3398	152	14	-1	-1	SYM
app01-3398	152	15	-0.5	-0.5	X
app01-3398	152	16	0	0	NUM
app01-3398	152	17	0.5	0.5	NUM
app01-3398	152	18	1	1	NUM
app01-3398	152	19	1.5	1.5	NUM
app01-3398	152	20	2	2	NUM
app01-3398	152	21	2.5	2.5	NUM
app01-3398	152	22	3	3	NUM
app01-3398	152	23	x	x	PUNCT
app01-3398	153	1	[	[	X
app01-3398	153	2	m	m	X
app01-3398	153	3	]	]	X
app01-3398	153	4	-0.5	-0.5	X
app01-3398	153	5	0	0	NUM
app01-3398	153	6	0.5	0.5	NUM
app01-3398	153	7	1	1	NUM
app01-3398	153	8	1.5	1.5	NUM
app01-3398	153	9	2	2	NUM
app01-3398	153	10	2.5	2.5	NUM
app01-3398	153	11	3	3	NUM
app01-3398	153	12	-1.5	-1.5	NUM
app01-3398	153	13	-1	-1	PUNCT
app01-3398	153	14	-0.5	-0.5	X
app01-3398	153	15	0	0	NUM
app01-3398	153	16	0.5	0.5	NUM
app01-3398	153	17	1	1	NUM
app01-3398	153	18	1.5	1.5	NUM
app01-3398	153	19	2	2	NUM
app01-3398	153	20	2.5	2.5	NUM
app01-3398	153	21	x	x	PUNCT
app01-3398	154	1	[	[	X
app01-3398	154	2	m	m	X
app01-3398	154	3	]	]	X
app01-3398	154	4	y	y	PROPN
app01-3398	155	1	[	[	X
app01-3398	155	2	m	m	AUX
app01-3398	155	3	]	]	X
app01-3398	155	4	heading	head	VERB
app01-3398	155	5	path	path	NOUN
app01-3398	155	6	heading	head	VERB
app01-3398	155	7	path	path	NOUN
app01-3398	155	8	figure	figure	NOUN
app01-3398	155	9	4	4	NUM
app01-3398	155	10	.	.	NOUN
app01-3398	155	11	example	example	NOUN
app01-3398	155	12	of	of	ADP
app01-3398	155	13	a	a	DET
app01-3398	155	14	path	path	NOUN
app01-3398	155	15	tracked	track	VERB
app01-3398	155	16	by	by	ADP
app01-3398	155	17	the	the	DET
app01-3398	155	18	ekf	ekf	PROPN
app01-3398	155	19	.	.	PUNCT
app01-3398	156	1	a	a	DET
app01-3398	156	2	square	square	ADJ
app01-3398	156	3	2	2	NUM
app01-3398	156	4	m	m	NOUN
app01-3398	156	5	×	×	NOUN
app01-3398	156	6	2	2	NUM
app01-3398	156	7	m	m	NOUN
app01-3398	156	8	was	be	AUX
app01-3398	156	9	set	set	VERB
app01-3398	156	10	up	up	ADP
app01-3398	156	11	and	and	CCONJ
app01-3398	156	12	quadrocopter	quadrocopter	NOUN
app01-3398	156	13	was	be	AUX
app01-3398	156	14	navigated	navigate	VERB
app01-3398	156	15	(	(	PUNCT
app01-3398	156	16	with	with	ADP
app01-3398	156	17	pid	pid	NOUN
app01-3398	156	18	controller	controller	NOUN
app01-3398	156	19	)	)	PUNCT
app01-3398	156	20	to	to	ADP
app01-3398	156	21	its	its	PRON
app01-3398	156	22	vertices	vertex	NOUN
app01-3398	156	23	using	use	VERB
app01-3398	156	24	inertial	inertial	ADJ
app01-3398	156	25	localization	localization	NOUN
app01-3398	156	26	only	only	ADV
app01-3398	156	27	.	.	PUNCT
app01-3398	157	1	supposed	suppose	VERB
app01-3398	157	2	position	position	NOUN
app01-3398	157	3	is	be	AUX
app01-3398	157	4	shown	show	VERB
app01-3398	157	5	on	on	ADP
app01-3398	157	6	the	the	DET
app01-3398	157	7	left	left	ADJ
app01-3398	157	8	plot	plot	NOUN
app01-3398	157	9	.	.	PUNCT
app01-3398	158	1	as	as	SCONJ
app01-3398	158	2	you	you	PRON
app01-3398	158	3	can	can	AUX
app01-3398	158	4	see	see	VERB
app01-3398	158	5	,	,	PUNCT
app01-3398	158	6	plot	plot	NOUN
app01-3398	158	7	on	on	ADP
app01-3398	158	8	the	the	DET
app01-3398	158	9	right	right	NOUN
app01-3398	158	10	shows	show	VERB
app01-3398	158	11	more	more	ADV
app01-3398	158	12	realistic	realistic	ADJ
app01-3398	158	13	pose	pose	NOUN
app01-3398	158	14	and	and	CCONJ
app01-3398	158	15	position	position	NOUN
app01-3398	158	16	thanks	thank	NOUN
app01-3398	158	17	to	to	ADP
app01-3398	158	18	visual	visual	ADJ
app01-3398	158	19	localization	localization	NOUN
app01-3398	158	20	(	(	PUNCT
app01-3398	158	21	applied	apply	VERB
app01-3398	158	22	to	to	ADP
app01-3398	158	23	the	the	DET
app01-3398	158	24	original	original	ADJ
app01-3398	158	25	data	datum	NOUN
app01-3398	158	26	)	)	PUNCT
app01-3398	158	27	.	.	PUNCT
app01-3398	159	1	alas	alas	INTJ
app01-3398	159	2	,	,	PUNCT
app01-3398	159	3	we	we	PRON
app01-3398	159	4	do	do	AUX
app01-3398	159	5	n’t	not	PART
app01-3398	159	6	have	have	VERB
app01-3398	159	7	any	any	DET
app01-3398	159	8	reference	reference	NOUN
app01-3398	159	9	data	datum	NOUN
app01-3398	159	10	for	for	ADP
app01-3398	159	11	absolute	absolute	ADJ
app01-3398	159	12	comparison	comparison	NOUN
app01-3398	159	13	.	.	PUNCT
app01-3398	160	1	if	if	SCONJ
app01-3398	160	2	it	it	PRON
app01-3398	160	3	is	be	AUX
app01-3398	160	4	proved	prove	VERB
app01-3398	160	5	as	as	ADP
app01-3398	160	6	useful	useful	ADJ
app01-3398	160	7	and	and	CCONJ
app01-3398	160	8	practical	practical	ADJ
app01-3398	160	9	,	,	PUNCT
app01-3398	160	10	it	it	PRON
app01-3398	160	11	is	be	AUX
app01-3398	160	12	possible	possible	ADJ
app01-3398	160	13	to	to	PART
app01-3398	160	14	extend	extend	VERB
app01-3398	160	15	the	the	DET
app01-3398	160	16	software	software	NOUN
app01-3398	160	17	for	for	ADP
app01-3398	160	18	other	other	ADJ
app01-3398	160	19	types	type	NOUN
app01-3398	160	20	of	of	ADP
app01-3398	160	21	robots	robot	NOUN
app01-3398	160	22	,	,	PUNCT
app01-3398	160	23	not	not	PART
app01-3398	160	24	only	only	ADV
app01-3398	160	25	quadrocopters	quadrocopter	NOUN
app01-3398	160	26	.	.	PUNCT
app01-3398	161	1	references	reference	NOUN
app01-3398	161	2	[	[	X
app01-3398	161	3	1	1	NUM
app01-3398	161	4	]	]	PUNCT
app01-3398	161	5	parrot	parrot	NOUN
app01-3398	161	6	.	.	PUNCT
app01-3398	162	1	ar.drone	ar.drone	NOUN
app01-3398	162	2	2.0	2.0	NUM
app01-3398	162	3	.	.	PUNCT
app01-3398	163	1	parrot	parrot	VERB
app01-3398	163	2	new	new	ADJ
app01-3398	163	3	wi	wi	PROPN
app01-3398	163	4	-	-	PUNCT
app01-3398	163	5	fi	fi	NOUN
app01-3398	163	6	quadricopter	quadricopter	NOUN
app01-3398	163	7	.	.	PUNCT
app01-3398	164	1	[	[	X
app01-3398	164	2	2015	2015	NUM
app01-3398	164	3	-	-	SYM
app01-3398	164	4	02	02	NUM
app01-3398	164	5	-	-	NUM
app01-3398	164	6	08	08	NUM
app01-3398	164	7	]	]	PUNCT
app01-3398	164	8	,	,	PUNCT
app01-3398	164	9	http://ardrone2.parrot.com/.	http://ardrone2.parrot.com/.	PROPN
app01-3398	165	1	[	[	X
app01-3398	165	2	2	2	NUM
app01-3398	165	3	]	]	PUNCT
app01-3398	165	4	bitcraze	bitcraze	NOUN
app01-3398	165	5	.	.	PUNCT
app01-3398	166	1	the	the	DET
app01-3398	166	2	crazyflie	crazyflie	NOUN
app01-3398	166	3	nano	nano	PROPN
app01-3398	166	4	quadcopter	quadcopter	NOUN
app01-3398	166	5	.	.	PUNCT
app01-3398	167	1	[	[	X
app01-3398	167	2	2015	2015	NUM
app01-3398	167	3	-	-	SYM
app01-3398	167	4	02	02	NUM
app01-3398	167	5	-	-	NUM
app01-3398	167	6	08	08	NUM
app01-3398	167	7	]	]	PUNCT
app01-3398	167	8	,	,	PUNCT
app01-3398	167	9	http://www.bitcraze.se/crazyflie/.	http://www.bitcraze.se/crazyflie/.	PROPN
app01-3398	167	10	[	[	X
app01-3398	167	11	3	3	X
app01-3398	167	12	]	]	X
app01-3398	167	13	open	open	ADJ
app01-3398	167	14	source	source	NOUN
app01-3398	167	15	robotics	robotic	NOUN
app01-3398	167	16	foundation	foundation	NOUN
app01-3398	167	17	.	.	PUNCT
app01-3398	168	1	ros.org	ros.org	ADJ
app01-3398	168	2	.	.	PUNCT
app01-3398	169	1	[	[	X
app01-3398	169	2	2015	2015	NUM
app01-3398	169	3	-	-	SYM
app01-3398	169	4	02	02	NUM
app01-3398	169	5	-	-	NUM
app01-3398	169	6	08	08	NUM
app01-3398	169	7	]	]	PUNCT
app01-3398	169	8	,	,	PUNCT
app01-3398	169	9	http://www.ros.org/.	http://www.ros.org/.	PUNCT
app01-3398	170	1	[	[	X
app01-3398	170	2	4	4	NUM
app01-3398	170	3	]	]	X
app01-3398	170	4	gostai	gostai	NOUN
app01-3398	170	5	.	.	PUNCT
app01-3398	171	1	urbi	urbi	PROPN
app01-3398	171	2	.	.	PUNCT
app01-3398	172	1	[	[	X
app01-3398	172	2	2015	2015	NUM
app01-3398	172	3	-	-	SYM
app01-3398	172	4	02	02	NUM
app01-3398	172	5	-	-	NUM
app01-3398	172	6	08	08	NUM
app01-3398	172	7	]	]	PUNCT
app01-3398	172	8	,	,	PUNCT
app01-3398	172	9	http	http	PROPN
app01-3398	172	10	:	:	PUNCT
app01-3398	172	11	//www.gostai.com	//www.gostai.com	PUNCT
app01-3398	172	12	/	/	SYM
app01-3398	172	13	products	product	NOUN
app01-3398	172	14	/	/	SYM
app01-3398	172	15	jazz	jazz	NOUN
app01-3398	172	16	/	/	SYM
app01-3398	172	17	urbi	urbi	PROPN
app01-3398	172	18	/	/	SYM
app01-3398	172	19	index.html	index.html	NOUN
app01-3398	172	20	.	.	PUNCT
app01-3398	173	1	[	[	X
app01-3398	173	2	5	5	NUM
app01-3398	173	3	]	]	PUNCT
app01-3398	173	4	aldebaran	aldebaran	PROPN
app01-3398	173	5	.	.	PUNCT
app01-3398	173	6	aldebaran	aldebaran	PROPN
app01-3398	173	7	/	/	SYM
app01-3398	173	8	urbi	urbi	PROPN
app01-3398	173	9	.	.	PUNCT
app01-3398	174	1	[	[	X
app01-3398	174	2	2015	2015	NUM
app01-3398	174	3	-	-	SYM
app01-3398	174	4	02	02	NUM
app01-3398	174	5	-	-	NUM
app01-3398	174	6	08	08	NUM
app01-3398	174	7	]	]	PUNCT
app01-3398	174	8	,	,	PUNCT
app01-3398	174	9	https://github.com/aldebaran/urbi	https://github.com/aldebaran/urbi	X
app01-3398	174	10	.	.	PUNCT
app01-3398	175	1	[	[	X
app01-3398	175	2	6	6	NUM
app01-3398	175	3	]	]	PUNCT
app01-3398	175	4	ardrone	ardrone	NOUN
app01-3398	175	5	open	open	ADJ
app01-3398	175	6	api	api	NOUN
app01-3398	175	7	platform	platform	NOUN
app01-3398	175	8	.	.	PUNCT
app01-3398	176	1	[	[	X
app01-3398	176	2	2015	2015	NUM
app01-3398	176	3	-	-	SYM
app01-3398	176	4	02	02	NUM
app01-3398	176	5	-	-	NUM
app01-3398	176	6	08	08	NUM
app01-3398	176	7	]	]	X
app01-3398	176	8	,	,	PUNCT
app01-3398	176	9	https://projects.ardrone.org/.	https://projects.ardrone.org/.	X
app01-3398	176	10	[	[	X
app01-3398	176	11	7	7	X
app01-3398	176	12	]	]	X
app01-3398	176	13	javadrone	javadrone	NOUN
app01-3398	176	14	–	–	PUNCT
app01-3398	176	15	ar.drone	ar.drone	X
app01-3398	176	16	java	java	PROPN
app01-3398	176	17	api	api	PROPN
app01-3398	176	18	–	–	PUNCT
app01-3398	176	19	google	google	NOUN
app01-3398	176	20	project	project	NOUN
app01-3398	176	21	hosting	host	VERB
app01-3398	176	22	.	.	PUNCT
app01-3398	177	1	[	[	X
app01-3398	177	2	2015	2015	NUM
app01-3398	177	3	-	-	SYM
app01-3398	177	4	02	02	NUM
app01-3398	177	5	-	-	NUM
app01-3398	177	6	08	08	NUM
app01-3398	177	7	]	]	PUNCT
app01-3398	177	8	,	,	PUNCT
app01-3398	177	9	https://code.google.com/p/javadrone/.	https://code.google.com/p/javadrone/.	PROPN
app01-3398	177	10	[	[	X
app01-3398	177	11	8	8	NUM
app01-3398	177	12	]	]	PUNCT
app01-3398	177	13	m.	m.	NOUN
app01-3398	177	14	monajjemi	monajjemi	NOUN
app01-3398	177	15	.	.	PUNCT
app01-3398	178	1	ardrone_autonomy	ardrone_autonomy	NOUN
app01-3398	178	2	–	–	PUNCT
app01-3398	178	3	ros	ros	PROPN
app01-3398	178	4	wiki	wiki	NOUN
app01-3398	178	5	.	.	PUNCT
app01-3398	179	1	[	[	X
app01-3398	179	2	201502	201502	NUM
app01-3398	179	3	-	-	SYM
app01-3398	179	4	08	08	NUM
app01-3398	179	5	]	]	PUNCT
app01-3398	179	6	,	,	PUNCT
app01-3398	179	7	http://wiki.ros.org/ardrone_autonomy	http://wiki.ros.org/ardrone_autonomy	NOUN
app01-3398	179	8	.	.	PUNCT
app01-3398	180	1	[	[	X
app01-3398	180	2	9	9	NUM
app01-3398	180	3	]	]	PUNCT
app01-3398	180	4	urbiforge	urbiforge	NOUN
app01-3398	180	5	projects	project	NOUN
app01-3398	180	6	/	/	SYM
app01-3398	180	7	urbi	urbi	PROPN
app01-3398	180	8	4	4	NUM
app01-3398	180	9	ar	ar	NOUN
app01-3398	180	10	drone	drone	NOUN
app01-3398	180	11	.	.	PUNCT
app01-3398	181	1	[	[	X
app01-3398	181	2	2014	2014	NUM
app01-3398	181	3	-	-	SYM
app01-3398	181	4	08	08	NUM
app01-3398	181	5	-	-	SYM
app01-3398	181	6	28	28	NUM
app01-3398	181	7	]	]	PUNCT
app01-3398	181	8	,	,	PUNCT
app01-3398	181	9	http://www.urbiforge.org/index.php/projects/	http://www.urbiforge.org/index.php/projects/	PROPN
app01-3398	181	10	urbi4ardrone	urbi4ardrone	NOUN
app01-3398	181	11	.	.	PUNCT
app01-3398	182	1	[	[	X
app01-3398	182	2	10	10	NUM
app01-3398	182	3	]	]	PUNCT
app01-3398	182	4	t.	t.	PROPN
app01-3398	182	5	krajník	krajník	PROPN
app01-3398	182	6	,	,	PUNCT
app01-3398	182	7	v.	v.	ADP
app01-3398	182	8	vonásek	vonásek	PROPN
app01-3398	182	9	,	,	PUNCT
app01-3398	182	10	d.	d.	PROPN
app01-3398	182	11	fišer	fišer	PROPN
app01-3398	182	12	,	,	PUNCT
app01-3398	182	13	j.	j.	PROPN
app01-3398	182	14	faigl	faigl	PROPN
app01-3398	182	15	.	.	PUNCT
app01-3398	183	1	ar	ar	NOUN
app01-3398	183	2	-	-	NOUN
app01-3398	183	3	drone	drone	NOUN
app01-3398	183	4	as	as	ADP
app01-3398	183	5	a	a	DET
app01-3398	183	6	platform	platform	NOUN
app01-3398	183	7	for	for	ADP
app01-3398	183	8	robotic	robotic	ADJ
app01-3398	183	9	research	research	NOUN
app01-3398	183	10	and	and	CCONJ
app01-3398	183	11	education	education	NOUN
app01-3398	183	12	.	.	PUNCT
app01-3398	184	1	in	in	ADP
app01-3398	184	2	research	research	NOUN
app01-3398	184	3	and	and	CCONJ
app01-3398	184	4	education	education	NOUN
app01-3398	184	5	in	in	ADP
app01-3398	184	6	robotics	robotic	NOUN
app01-3398	184	7	eurobot	eurobot	NOUN
app01-3398	184	8	2011	2011	NUM
app01-3398	184	9	,	,	PUNCT
app01-3398	184	10	pp	pp	ADV
app01-3398	184	11	.	.	PUNCT
app01-3398	185	1	172–186	172–186	NUM
app01-3398	185	2	.	.	PUNCT
app01-3398	185	3	springer	springer	NOUN
app01-3398	185	4	science	science	NOUN
app01-3398	185	5	+	+	CCONJ
app01-3398	185	6	business	business	NOUN
app01-3398	185	7	media	medium	NOUN
app01-3398	185	8	,	,	PUNCT
app01-3398	185	9	2011	2011	NUM
app01-3398	185	10	.	.	PUNCT
app01-3398	186	1	doi:10.1007/978	doi:10.1007/978	ADJ
app01-3398	186	2	-	-	PUNCT
app01-3398	186	3	3	3	NUM
app01-3398	186	4	-	-	PUNCT
app01-3398	186	5	642	642	NUM
app01-3398	186	6	-	-	PUNCT
app01-3398	186	7	21975	21975	NUM
app01-3398	186	8	-	-	SYM
app01-3398	186	9	7_16	7_16	NUM
app01-3398	186	10	.	.	PUNCT
app01-3398	187	1	[	[	X
app01-3398	187	2	11	11	NUM
app01-3398	187	3	]	]	PUNCT
app01-3398	187	4	ar.freeflight	ar.freeflight	NUM
app01-3398	187	5	.	.	PUNCT
app01-3398	188	1	[	[	X
app01-3398	188	2	2015	2015	NUM
app01-3398	188	3	-	-	SYM
app01-3398	188	4	02	02	NUM
app01-3398	188	5	-	-	NUM
app01-3398	188	6	08	08	NUM
app01-3398	188	7	]	]	PUNCT
app01-3398	188	8	,	,	PUNCT
app01-3398	188	9	http://ardrone2.parrot.com/#freeflight	http://ardrone2.parrot.com/#freeflight	NOUN
app01-3398	188	10	.	.	PUNCT
app01-3398	189	1	[	[	X
app01-3398	189	2	12	12	NUM
app01-3398	189	3	]	]	PUNCT
app01-3398	189	4	l.	l.	PROPN
app01-3398	189	5	meier	meier	PROPN
app01-3398	189	6	.	.	PUNCT
app01-3398	190	1	qgroundcontrol	qgroundcontrol	PROPN
app01-3398	190	2	gcs	gcs	PROPN
app01-3398	190	3	.	.	PUNCT
app01-3398	191	1	[	[	X
app01-3398	191	2	2015	2015	NUM
app01-3398	191	3	-	-	SYM
app01-3398	191	4	02	02	NUM
app01-3398	191	5	-	-	NUM
app01-3398	191	6	08	08	NUM
app01-3398	191	7	]	]	PUNCT
app01-3398	191	8	,	,	PUNCT
app01-3398	191	9	http://www.qgroundcontrol.org/.	http://www.qgroundcontrol.org/.	PROPN
app01-3398	191	10	[	[	X
app01-3398	191	11	13	13	NUM
app01-3398	191	12	]	]	PUNCT
app01-3398	191	13	l.	l.	PROPN
app01-3398	191	14	meier	meier	PROPN
app01-3398	191	15	,	,	PUNCT
app01-3398	191	16	p.	p.	PROPN
app01-3398	191	17	tanskanen	tanskanen	PROPN
app01-3398	191	18	,	,	PUNCT
app01-3398	191	19	l.	l.	PROPN
app01-3398	191	20	heng	heng	PROPN
app01-3398	191	21	,	,	PUNCT
app01-3398	191	22	et	et	PROPN
app01-3398	191	23	al	al	PROPN
app01-3398	191	24	.	.	PROPN
app01-3398	191	25	pixhawk	pixhawk	PROPN
app01-3398	191	26	:	:	PUNCT
app01-3398	191	27	a	a	DET
app01-3398	191	28	micro	micro	ADJ
app01-3398	191	29	aerial	aerial	ADJ
app01-3398	191	30	vehicle	vehicle	NOUN
app01-3398	191	31	design	design	NOUN
app01-3398	191	32	for	for	ADP
app01-3398	191	33	autonomous	autonomous	ADJ
app01-3398	191	34	flight	flight	NOUN
app01-3398	191	35	using	use	VERB
app01-3398	191	36	onboard	onboard	ADP
app01-3398	191	37	computer	computer	NOUN
app01-3398	191	38	vision	vision	NOUN
app01-3398	191	39	.	.	PUNCT
app01-3398	192	1	auton	auton	PROPN
app01-3398	192	2	robot	robot	PROPN
app01-3398	192	3	33(1	33(1	PROPN
app01-3398	192	4	-	-	PUNCT
app01-3398	192	5	2):21–39	2):21–39	NUM
app01-3398	192	6	,	,	PUNCT
app01-3398	192	7	2012	2012	NUM
app01-3398	192	8	.	.	PUNCT
app01-3398	193	1	doi:10.1007	doi:10.1007	VERB
app01-3398	193	2	/	/	SYM
app01-3398	193	3	s10514	s10514	NOUN
app01-3398	193	4	-	-	PUNCT
app01-3398	193	5	012	012	NUM
app01-3398	193	6	-	-	PUNCT
app01-3398	193	7	9281	9281	NUM
app01-3398	193	8	-	-	SYM
app01-3398	193	9	4	4	NUM
app01-3398	193	10	.	.	PUNCT
app01-3398	194	1	[	[	X
app01-3398	194	2	14	14	NUM
app01-3398	194	3	]	]	X
app01-3398	194	4	node	node	NOUN
app01-3398	194	5	packaged	package	VERB
app01-3398	194	6	modules	module	NOUN
app01-3398	194	7	.	.	PUNCT
app01-3398	195	1	[	[	X
app01-3398	195	2	2015	2015	NUM
app01-3398	195	3	-	-	SYM
app01-3398	195	4	02	02	NUM
app01-3398	195	5	-	-	NUM
app01-3398	195	6	08	08	NUM
app01-3398	195	7	]	]	PUNCT
app01-3398	195	8	,	,	PUNCT
app01-3398	195	9	https://www.npmjs.org/.	https://www.npmjs.org/.	NOUN
app01-3398	195	10	[	[	X
app01-3398	195	11	15	15	NUM
app01-3398	195	12	]	]	X
app01-3398	195	13	a.	a.	NOUN
app01-3398	195	14	m.	m.	PROPN
app01-3398	195	15	i.	i.	PROPN
app01-3398	195	16	fette	fette	PROPN
app01-3398	195	17	.	.	PUNCT
app01-3398	196	1	rfc	rfc	NOUN
app01-3398	196	2	6455	6455	NUM
app01-3398	196	3	–	–	PUNCT
app01-3398	196	4	the	the	DET
app01-3398	196	5	websocket	websocket	NOUN
app01-3398	196	6	protocol	protocol	NOUN
app01-3398	196	7	.	.	PUNCT
app01-3398	197	1	[	[	X
app01-3398	197	2	2015	2015	NUM
app01-3398	197	3	-	-	SYM
app01-3398	197	4	02	02	NUM
app01-3398	197	5	-	-	NUM
app01-3398	197	6	08	08	NUM
app01-3398	197	7	]	]	PUNCT
app01-3398	197	8	,	,	PUNCT
app01-3398	197	9	http://tools.ietf.org/html/rfc6455/.	http://tools.ietf.org/html/rfc6455/.	PROPN
app01-3398	197	10	[	[	X
app01-3398	197	11	16	16	NUM
app01-3398	197	12	]	]	X
app01-3398	197	13	c.	c.	PROPN
app01-3398	197	14	r.	r.	PROPN
app01-3398	197	15	gmbh	gmbh	PROPN
app01-3398	197	16	.	.	PUNCT
app01-3398	198	1	coppelia	coppelia	PROPN
app01-3398	198	2	robotics	robotics	PROPN
app01-3398	198	3	v	v	PROPN
app01-3398	198	4	-	-	PUNCT
app01-3398	198	5	rep	rep	NOUN
app01-3398	198	6	:	:	PUNCT
app01-3398	198	7	create	create	VERB
app01-3398	198	8	.	.	PUNCT
app01-3398	199	1	compose	compose	VERB
app01-3398	199	2	.	.	PUNCT
app01-3398	200	1	simulate	simulate	VERB
app01-3398	200	2	.	.	PUNCT
app01-3398	201	1	any	any	DET
app01-3398	201	2	robot	robot	NOUN
app01-3398	201	3	.	.	PUNCT
app01-3398	202	1	[	[	X
app01-3398	202	2	2015	2015	NUM
app01-3398	202	3	-	-	SYM
app01-3398	202	4	02	02	NUM
app01-3398	202	5	-	-	NUM
app01-3398	202	6	08	08	NUM
app01-3398	202	7	]	]	PUNCT
app01-3398	202	8	,	,	PUNCT
app01-3398	202	9	http://www.coppeliarobotics.com/.	http://www.coppeliarobotics.com/.	X
app01-3398	202	10	[	[	X
app01-3398	202	11	17	17	NUM
app01-3398	202	12	]	]	X
app01-3398	202	13	j.	j.	PROPN
app01-3398	202	14	engel	engel	PROPN
app01-3398	202	15	,	,	PUNCT
app01-3398	202	16	j.	j.	PROPN
app01-3398	202	17	sturm	sturm	PROPN
app01-3398	202	18	,	,	PUNCT
app01-3398	202	19	d.	d.	PROPN
app01-3398	202	20	cremers	cremers	PROPN
app01-3398	202	21	.	.	PUNCT
app01-3398	203	1	camera	camera	NOUN
app01-3398	203	2	-	-	PUNCT
app01-3398	203	3	based	base	VERB
app01-3398	203	4	navigation	navigation	NOUN
app01-3398	203	5	of	of	ADP
app01-3398	203	6	a	a	DET
app01-3398	203	7	low	low	ADJ
app01-3398	203	8	-	-	PUNCT
app01-3398	203	9	cost	cost	NOUN
app01-3398	203	10	quadrocopter	quadrocopter	NOUN
app01-3398	203	11	.	.	PUNCT
app01-3398	204	1	in	in	ADP
app01-3398	204	2	2012	2012	NUM
app01-3398	204	3	ieee	ieee	NOUN
app01-3398	204	4	/	/	SYM
app01-3398	204	5	rsj	rsj	NOUN
app01-3398	204	6	international	international	ADJ
app01-3398	204	7	conference	conference	NOUN
app01-3398	204	8	on	on	ADP
app01-3398	204	9	intelligent	intelligent	ADJ
app01-3398	204	10	robots	robot	NOUN
app01-3398	204	11	and	and	CCONJ
app01-3398	204	12	systems	system	NOUN
app01-3398	204	13	.	.	PUNCT
app01-3398	205	1	ieee	ieee	PROPN
app01-3398	205	2	,	,	PUNCT
app01-3398	205	3	2012	2012	NUM
app01-3398	205	4	.	.	PUNCT
app01-3398	206	1	doi:10.1109	doi:10.1109	VERB
app01-3398	206	2	/	/	SYM
app01-3398	206	3	iros.2012.6385458	iros.2012.6385458	ADJ
app01-3398	206	4	.	.	PUNCT
app01-3398	207	1	[	[	X
app01-3398	207	2	18	18	NUM
app01-3398	207	3	]	]	X
app01-3398	207	4	g.	g.	PROPN
app01-3398	207	5	klein	klein	PROPN
app01-3398	207	6	,	,	PUNCT
app01-3398	207	7	d.	d.	PROPN
app01-3398	207	8	murray	murray	PROPN
app01-3398	207	9	.	.	PUNCT
app01-3398	208	1	parallel	parallel	ADJ
app01-3398	208	2	tracking	tracking	NOUN
app01-3398	208	3	and	and	CCONJ
app01-3398	208	4	mapping	mapping	NOUN
app01-3398	208	5	for	for	ADP
app01-3398	208	6	small	small	ADJ
app01-3398	208	7	ar	ar	NOUN
app01-3398	208	8	workspaces	workspace	NOUN
app01-3398	208	9	.	.	PUNCT
app01-3398	209	1	in	in	ADP
app01-3398	209	2	2007	2007	NUM
app01-3398	209	3	6th	6th	ADJ
app01-3398	209	4	ieee	ieee	NOUN
app01-3398	209	5	and	and	CCONJ
app01-3398	209	6	acm	acm	PROPN
app01-3398	209	7	international	international	ADJ
app01-3398	209	8	symposium	symposium	NOUN
app01-3398	209	9	on	on	ADP
app01-3398	209	10	mixed	mixed	ADJ
app01-3398	209	11	and	and	CCONJ
app01-3398	209	12	augmented	augment	VERB
app01-3398	209	13	reality	reality	NOUN
app01-3398	209	14	.	.	PUNCT
app01-3398	210	1	ieee	ieee	NOUN
app01-3398	210	2	,	,	PUNCT
app01-3398	210	3	2007	2007	NUM
app01-3398	210	4	.	.	PUNCT
app01-3398	211	1	doi:10.1109	doi:10.1109	VERB
app01-3398	211	2	/	/	SYM
app01-3398	211	3	ismar.2007.4538852	ismar.2007.4538852	NOUN
app01-3398	211	4	.	.	PUNCT
app01-3398	212	1	33	33	NUM
app01-3398	212	2	http://ardrone2.parrot.com/	http://ardrone2.parrot.com/	PROPN
app01-3398	212	3	http://www.bitcraze.se/crazyflie/	http://www.bitcraze.se/crazyflie/	PROPN
app01-3398	212	4	http://www.ros.org/	http://www.ros.org/	NOUN
app01-3398	212	5	http://www.gostai.com/products/jazz/urbi/index.html	http://www.gostai.com/products/jazz/urbi/index.html	PUNCT
app01-3398	212	6	http://www.gostai.com/products/jazz/urbi/index.html	http://www.gostai.com/products/jazz/urbi/index.html	X
app01-3398	212	7	https://github.com/aldebaran/urbi	https://github.com/aldebaran/urbi	PROPN
app01-3398	213	1	https://projects.ardrone.org/	https://projects.ardrone.org/	PROPN
app01-3398	213	2	https://code.google.com/p/javadrone/	https://code.google.com/p/javadrone/	PROPN
app01-3398	213	3	http://wiki.ros.org/ardrone_autonomy	http://wiki.ros.org/ardrone_autonomy	PROPN
app01-3398	213	4	http://www.urbiforge.org/index.php/projects/urbi4ardrone	http://www.urbiforge.org/index.php/projects/urbi4ardrone	PROPN
app01-3398	213	5	http://www.urbiforge.org/index.php/projects/urbi4ardrone	http://www.urbiforge.org/index.php/projects/urbi4ardrone	PROPN
app01-3398	213	6	http://dx.doi.org/10.1007/978-3-642-21975-7_16	http://dx.doi.org/10.1007/978-3-642-21975-7_16	PROPN
app01-3398	213	7	http://ardrone2.parrot.com/#freeflight	http://ardrone2.parrot.com/#freeflight	ADP
app01-3398	213	8	http://www.qgroundcontrol.org/	http://www.qgroundcontrol.org/	NOUN
app01-3398	213	9	http://dx.doi.org/10.1007/s10514-012-9281-4	http://dx.doi.org/10.1007/s10514-012-9281-4	PUNCT
app01-3398	213	10	https://www.npmjs.org/	https://www.npmjs.org/	PROPN
app01-3398	213	11	http://tools.ietf.org/html/rfc6455/	http://tools.ietf.org/html/rfc6455/	PROPN
app01-3398	213	12	http://www.coppeliarobotics.com/	http://www.coppeliarobotics.com/	NOUN
app01-3398	213	13	http://dx.doi.org/10.1109/iros.2012.6385458	http://dx.doi.org/10.1109/iros.2012.6385458	ADJ
app01-3398	213	14	http://dx.doi.org/10.1109/ismar.2007.4538852	http://dx.doi.org/10.1109/ismar.2007.4538852	NOUN
app01-3398	213	15	acta	acta	PROPN
app01-3398	213	16	polytechnica	polytechnica	PROPN
app01-3398	213	17	ctu	ctu	NOUN
app01-3398	213	18	proceedings	proceeding	NOUN
app01-3398	213	19	2:29–33	2:29–33	NUM
app01-3398	213	20	,	,	PUNCT
app01-3398	213	21	2015	2015	NUM
app01-3398	213	22	1	1	NUM
app01-3398	213	23	motivation	motivation	NOUN
app01-3398	213	24	2	2	NUM
app01-3398	213	25	related	relate	VERB
app01-3398	213	26	work	work	NOUN
app01-3398	213	27	2.1	2.1	NUM
app01-3398	213	28	middleware	middleware	NOUN
app01-3398	213	29	for	for	ADP
app01-3398	213	30	robotics	robotic	NOUN
app01-3398	213	31	2.2	2.2	NUM
app01-3398	213	32	parrot	parrot	NOUN
app01-3398	213	33	ar.drone	ar.drone	NOUN
app01-3398	213	34	2	2	NUM
app01-3398	213	35	api	api	NOUN
app01-3398	213	36	2.3	2.3	NUM
app01-3398	213	37	ground	ground	NOUN
app01-3398	213	38	control	control	NOUN
app01-3398	213	39	system	system	NOUN
app01-3398	213	40	3	3	NUM
app01-3398	213	41	used	use	VERB
app01-3398	213	42	technology	technology	NOUN
app01-3398	213	43	3.1	3.1	NUM
app01-3398	213	44	architecture	architecture	NOUN
app01-3398	213	45	3.1.1	3.1.1	NUM
app01-3398	213	46	client	client	NOUN
app01-3398	213	47	3.1.2	3.1.2	NUM
app01-3398	213	48	server	server	NOUN
app01-3398	213	49	3.1.3	3.1.3	PROPN
app01-3398	213	50	onboard	onboard	ADP
app01-3398	213	51	3.2	3.2	NUM
app01-3398	213	52	urbi	urbi	PROPN
app01-3398	213	53	sdk	sdk	PROPN
app01-3398	213	54	3.3	3.3	NUM
app01-3398	213	55	nodejs	nodejs	NOUN
app01-3398	213	56	3.4	3.4	NUM
app01-3398	213	57	html5	html5	NOUN
app01-3398	213	58	3.5	3.5	NUM
app01-3398	213	59	c++	c++	NOUN
app01-3398	213	60	4	4	NUM
app01-3398	213	61	features	feature	VERB
app01-3398	213	62	4.1	4.1	NUM
app01-3398	213	63	dataflow	dataflow	ADJ
app01-3398	213	64	graph	graph	NOUN
app01-3398	213	65	4.1.1	4.1.1	NUM
app01-3398	213	66	implicit	implicit	ADJ
app01-3398	213	67	parallelism	parallelism	NOUN
app01-3398	213	68	4.1.2	4.1.2	NUM
app01-3398	213	69	separating	separate	VERB
app01-3398	213	70	abstraction	abstraction	NOUN
app01-3398	213	71	levels	level	NOUN
app01-3398	213	72	4.1.3	4.1.3	NUM
app01-3398	213	73	visual	visual	ADJ
app01-3398	213	74	development	development	NOUN
app01-3398	213	75	4.1.4	4.1.4	PRON
app01-3398	213	76	in	in	ADP
app01-3398	213	77	-	-	PUNCT
app01-3398	213	78	time	time	NOUN
app01-3398	213	79	data	datum	NOUN
app01-3398	213	80	inspection	inspection	NOUN
app01-3398	213	81	4.2	4.2	NUM
app01-3398	213	82	scripting	script	VERB
app01-3398	213	83	4.3	4.3	NUM
app01-3398	213	84	quadrocopters	quadrocopter	NOUN
app01-3398	213	85	unified	unified	ADJ
app01-3398	213	86	api	api	NOUN
app01-3398	213	87	4.4	4.4	NUM
app01-3398	213	88	data	datum	NOUN
app01-3398	213	89	recording	recording	NOUN
app01-3398	213	90	and	and	CCONJ
app01-3398	213	91	replaying	replay	VERB
app01-3398	213	92	4.5	4.5	NUM
app01-3398	213	93	localization	localization	NOUN
app01-3398	213	94	in	in	ADP
app01-3398	213	95	unknown	unknown	ADJ
app01-3398	213	96	environment	environment	NOUN
app01-3398	213	97	4.5.1	4.5.1	NUM
app01-3398	213	98	inertial	inertial	ADJ
app01-3398	213	99	localization	localization	NOUN
app01-3398	213	100	4.5.2	4.5.2	NUM
app01-3398	213	101	visual	visual	ADJ
app01-3398	213	102	localization	localization	NOUN
app01-3398	213	103	4.6	4.6	NUM
app01-3398	213	104	following	follow	VERB
app01-3398	213	105	given	give	VERB
app01-3398	213	106	path	path	NOUN
app01-3398	213	107	4.7	4.7	NUM
app01-3398	213	108	runtime	runtime	NOUN
app01-3398	213	109	configuration	configuration	NOUN
app01-3398	213	110	5	5	NUM
app01-3398	213	111	conclusion	conclusion	NOUN
app01-3398	213	112	references	reference	NOUN