id	sid	tid	token	lemma	pos
app01-3405	1	1	acta	acta	PROPN
app01-3405	1	2	polytechnica	polytechnica	PROPN
app01-3405	1	3	ctu	ctu	PROPN
app01-3405	1	4	proceedings	proceeding	NOUN
app01-3405	1	5	doi:10.14311	doi:10.14311	PROPN
app01-3405	1	6	/	/	SYM
app01-3405	1	7	app.2015.1.0051	app.2015.1.0051	PROPN
app01-3405	1	8	acta	acta	PROPN
app01-3405	1	9	polytechnica	polytechnica	PROPN
app01-3405	1	10	ctu	ctu	NOUN
app01-3405	1	11	proceedings	proceeding	NOUN
app01-3405	1	12	2:51–56	2:51–56	NUM
app01-3405	1	13	,	,	PUNCT
app01-3405	1	14	2015	2015	NUM
app01-3405	1	15	©	©	PROPN
app01-3405	1	16	czech	czech	PROPN
app01-3405	1	17	technical	technical	PROPN
app01-3405	1	18	university	university	PROPN
app01-3405	1	19	in	in	ADP
app01-3405	1	20	prague	prague	PROPN
app01-3405	1	21	,	,	PUNCT
app01-3405	1	22	2015	2015	NUM
app01-3405	1	23	available	available	ADJ
app01-3405	1	24	online	online	ADV
app01-3405	1	25	at	at	ADP
app01-3405	1	26	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3405	1	27	a	a	DET
app01-3405	1	28	case	case	NOUN
app01-3405	1	29	for	for	ADP
app01-3405	1	30	domain	domain	NOUN
app01-3405	1	31	-	-	PUNCT
app01-3405	1	32	independent	independent	ADJ
app01-3405	1	33	deterministic	deterministic	ADJ
app01-3405	1	34	multiagent	multiagent	NOUN
app01-3405	1	35	planning	planning	NOUN
app01-3405	1	36	michal	michal	PROPN
app01-3405	1	37	štolba	štolba	PROPN
app01-3405	1	38	department	department	PROPN
app01-3405	1	39	of	of	ADP
app01-3405	1	40	computer	computer	NOUN
app01-3405	1	41	science	science	NOUN
app01-3405	1	42	,	,	PUNCT
app01-3405	1	43	faculty	faculty	NOUN
app01-3405	1	44	of	of	ADP
app01-3405	1	45	electrical	electrical	ADJ
app01-3405	1	46	engineering	engineering	NOUN
app01-3405	1	47	,	,	PUNCT
app01-3405	1	48	czech	czech	PROPN
app01-3405	1	49	technical	technical	PROPN
app01-3405	1	50	university	university	PROPN
app01-3405	1	51	in	in	ADP
app01-3405	1	52	prague	prague	PROPN
app01-3405	1	53	,	,	PUNCT
app01-3405	1	54	karlovo	karlovo	PROPN
app01-3405	1	55	nám	nám	PROPN
app01-3405	1	56	.	.	PROPN
app01-3405	2	1	13	13	NUM
app01-3405	2	2	,	,	PUNCT
app01-3405	2	3	121	121	NUM
app01-3405	2	4	35	35	NUM
app01-3405	2	5	praha	praha	NOUN
app01-3405	2	6	2	2	NUM
app01-3405	2	7	,	,	PUNCT
app01-3405	2	8	czech	czech	PROPN
app01-3405	2	9	republic	republic	NOUN
app01-3405	2	10	correspondence	correspondence	NOUN
app01-3405	2	11	:	:	PUNCT
app01-3405	2	12	stolba@agents.fel.cvut.cz	stolba@agents.fel.cvut.cz	NOUN
app01-3405	2	13	abstract	abstract	NOUN
app01-3405	2	14	.	.	PUNCT
app01-3405	3	1	the	the	DET
app01-3405	3	2	notion	notion	NOUN
app01-3405	3	3	of	of	ADP
app01-3405	3	4	planning	planning	NOUN
app01-3405	3	5	using	use	VERB
app01-3405	3	6	multiple	multiple	ADJ
app01-3405	3	7	agents	agent	NOUN
app01-3405	3	8	has	have	AUX
app01-3405	3	9	been	be	AUX
app01-3405	3	10	around	around	ADV
app01-3405	3	11	since	since	SCONJ
app01-3405	3	12	the	the	DET
app01-3405	3	13	very	very	ADJ
app01-3405	3	14	beginning	beginning	NOUN
app01-3405	3	15	of	of	ADP
app01-3405	3	16	planning	plan	VERB
app01-3405	3	17	itself	itself	PRON
app01-3405	3	18	.	.	PUNCT
app01-3405	4	1	it	it	PRON
app01-3405	4	2	has	have	AUX
app01-3405	4	3	been	be	AUX
app01-3405	4	4	approached	approach	VERB
app01-3405	4	5	from	from	ADP
app01-3405	4	6	various	various	ADJ
app01-3405	4	7	viewpoints	viewpoint	NOUN
app01-3405	4	8	especially	especially	ADV
app01-3405	4	9	in	in	ADP
app01-3405	4	10	the	the	DET
app01-3405	4	11	multiagent	multiagent	NOUN
app01-3405	4	12	systems	system	NOUN
app01-3405	4	13	community	community	NOUN
app01-3405	4	14	.	.	PUNCT
app01-3405	5	1	recently	recently	ADV
app01-3405	5	2	,	,	PUNCT
app01-3405	5	3	domain	domain	NOUN
app01-3405	5	4	-	-	PUNCT
app01-3405	5	5	independent	independent	ADJ
app01-3405	5	6	multiagent	multiagent	NOUN
app01-3405	5	7	planning	planning	NOUN
app01-3405	5	8	has	have	AUX
app01-3405	5	9	gained	gain	VERB
app01-3405	5	10	more	more	ADJ
app01-3405	5	11	attention	attention	NOUN
app01-3405	5	12	also	also	ADV
app01-3405	5	13	in	in	ADP
app01-3405	5	14	the	the	DET
app01-3405	5	15	automated	automate	VERB
app01-3405	5	16	planning	planning	NOUN
app01-3405	5	17	community	community	NOUN
app01-3405	5	18	.	.	PUNCT
app01-3405	6	1	in	in	ADP
app01-3405	6	2	this	this	DET
app01-3405	6	3	paper	paper	NOUN
app01-3405	6	4	,	,	PUNCT
app01-3405	6	5	we	we	PRON
app01-3405	6	6	shortly	shortly	ADV
app01-3405	6	7	present	present	VERB
app01-3405	6	8	the	the	DET
app01-3405	6	9	current	current	ADJ
app01-3405	6	10	state	state	NOUN
app01-3405	6	11	of	of	ADP
app01-3405	6	12	the	the	DET
app01-3405	6	13	art	art	NOUN
app01-3405	6	14	,	,	PUNCT
app01-3405	6	15	question	question	VERB
app01-3405	6	16	some	some	DET
app01-3405	6	17	aspects	aspect	NOUN
app01-3405	6	18	of	of	ADP
app01-3405	6	19	the	the	DET
app01-3405	6	20	research	research	NOUN
app01-3405	6	21	field	field	NOUN
app01-3405	6	22	and	and	CCONJ
app01-3405	6	23	discuss	discuss	VERB
app01-3405	6	24	the	the	DET
app01-3405	6	25	rising	rise	VERB
app01-3405	6	26	challenges	challenge	NOUN
app01-3405	6	27	.	.	PUNCT
app01-3405	7	1	keywords	keyword	NOUN
app01-3405	7	2	:	:	PUNCT
app01-3405	7	3	planning	planning	NOUN
app01-3405	7	4	,	,	PUNCT
app01-3405	7	5	multi	multi	ADJ
app01-3405	7	6	-	-	ADJ
app01-3405	7	7	agent	agent	ADJ
app01-3405	7	8	planning	planning	NOUN
app01-3405	7	9	.	.	PUNCT
app01-3405	8	1	1	1	X
app01-3405	8	2	.	.	X
app01-3405	8	3	introduction	introduction	NOUN
app01-3405	8	4	we	we	PRON
app01-3405	8	5	could	could	AUX
app01-3405	8	6	trace	trace	VERB
app01-3405	8	7	the	the	DET
app01-3405	8	8	first	first	ADJ
app01-3405	8	9	mention	mention	NOUN
app01-3405	8	10	of	of	ADP
app01-3405	8	11	multiagent	multiagent	NOUN
app01-3405	8	12	planning	planning	NOUN
app01-3405	8	13	back	back	ADV
app01-3405	8	14	nearly	nearly	ADV
app01-3405	8	15	as	as	ADV
app01-3405	8	16	far	far	ADV
app01-3405	8	17	as	as	ADP
app01-3405	8	18	strips	strip	NOUN
app01-3405	8	19	itself	itself	PRON
app01-3405	8	20	–	–	PUNCT
app01-3405	8	21	in	in	ADP
app01-3405	8	22	1980	1980	NUM
app01-3405	8	23	nillson	nillson	NOUN
app01-3405	8	24	published	publish	VERB
app01-3405	8	25	together	together	ADV
app01-3405	8	26	with	with	ADP
app01-3405	8	27	konolige	konolige	ADJ
app01-3405	8	28	a	a	DET
app01-3405	8	29	paper	paper	NOUN
app01-3405	8	30	titled	title	VERB
app01-3405	8	31	“	"	PUNCT
app01-3405	8	32	multiple	multiple	ADJ
app01-3405	8	33	-	-	PUNCT
app01-3405	8	34	agent	agent	NOUN
app01-3405	8	35	planning	planning	NOUN
app01-3405	8	36	systems	system	NOUN
app01-3405	8	37	”	"	PUNCT
app01-3405	9	1	[	[	X
app01-3405	9	2	1	1	NUM
app01-3405	9	3	]	]	PUNCT
app01-3405	9	4	,	,	PUNCT
app01-3405	9	5	in	in	ADP
app01-3405	9	6	which	which	PRON
app01-3405	9	7	they	they	PRON
app01-3405	9	8	presented	present	VERB
app01-3405	9	9	a	a	DET
app01-3405	9	10	high	high	ADJ
app01-3405	9	11	-	-	PUNCT
app01-3405	9	12	level	level	NOUN
app01-3405	9	13	extension	extension	NOUN
app01-3405	9	14	of	of	ADP
app01-3405	9	15	strips	strip	NOUN
app01-3405	10	1	[	[	X
app01-3405	10	2	2	2	NUM
app01-3405	10	3	]	]	PUNCT
app01-3405	10	4	towards	towards	ADP
app01-3405	10	5	multiple	multiple	ADJ
app01-3405	10	6	agents	agent	NOUN
app01-3405	10	7	.	.	PUNCT
app01-3405	11	1	since	since	SCONJ
app01-3405	11	2	then	then	ADV
app01-3405	11	3	,	,	PUNCT
app01-3405	11	4	the	the	DET
app01-3405	11	5	topic	topic	NOUN
app01-3405	11	6	has	have	AUX
app01-3405	11	7	been	be	AUX
app01-3405	11	8	active	active	ADJ
app01-3405	11	9	mainly	mainly	ADV
app01-3405	11	10	in	in	ADP
app01-3405	11	11	the	the	DET
app01-3405	11	12	multiagent	multiagent	NOUN
app01-3405	11	13	systems	system	NOUN
app01-3405	11	14	community	community	NOUN
app01-3405	11	15	.	.	PUNCT
app01-3405	12	1	one	one	NUM
app01-3405	12	2	of	of	ADP
app01-3405	12	3	the	the	DET
app01-3405	12	4	most	most	ADV
app01-3405	12	5	cited	cite	VERB
app01-3405	12	6	works	work	NOUN
app01-3405	12	7	on	on	ADP
app01-3405	12	8	distributed	distributed	ADJ
app01-3405	12	9	and	and	CCONJ
app01-3405	12	10	multiagent	multiagent	NOUN
app01-3405	12	11	planning	planning	NOUN
app01-3405	12	12	is	be	AUX
app01-3405	12	13	[	[	X
app01-3405	12	14	3	3	NUM
app01-3405	12	15	]	]	PUNCT
app01-3405	12	16	,	,	PUNCT
app01-3405	12	17	which	which	PRON
app01-3405	12	18	describes	describe	VERB
app01-3405	12	19	basics	basic	NOUN
app01-3405	12	20	of	of	ADP
app01-3405	12	21	possible	possible	ADJ
app01-3405	12	22	coordination	coordination	NOUN
app01-3405	12	23	schemes	scheme	NOUN
app01-3405	12	24	for	for	ADP
app01-3405	12	25	planning	plan	VERB
app01-3405	12	26	agents	agent	NOUN
app01-3405	12	27	.	.	PUNCT
app01-3405	13	1	there	there	PRON
app01-3405	13	2	was	be	VERB
app01-3405	13	3	also	also	ADV
app01-3405	13	4	a	a	DET
app01-3405	13	5	large	large	ADJ
app01-3405	13	6	amount	amount	NOUN
app01-3405	13	7	of	of	ADP
app01-3405	13	8	work	work	NOUN
app01-3405	13	9	dealing	deal	VERB
app01-3405	13	10	with	with	ADP
app01-3405	13	11	another	another	DET
app01-3405	13	12	facets	facet	NOUN
app01-3405	13	13	of	of	ADP
app01-3405	13	14	the	the	DET
app01-3405	13	15	coordination	coordination	NOUN
app01-3405	13	16	area	area	NOUN
app01-3405	13	17	,	,	PUNCT
app01-3405	13	18	but	but	CCONJ
app01-3405	13	19	usually	usually	ADV
app01-3405	13	20	without	without	ADP
app01-3405	13	21	deeper	deep	ADJ
app01-3405	13	22	study	study	NOUN
app01-3405	13	23	of	of	ADP
app01-3405	13	24	the	the	DET
app01-3405	13	25	plan	plan	NOUN
app01-3405	13	26	synthesis	synthesis	NOUN
app01-3405	13	27	part	part	NOUN
app01-3405	13	28	(	(	PUNCT
app01-3405	13	29	e.g.	e.g.	ADV
app01-3405	13	30	,	,	PUNCT
app01-3405	13	31	gpgp	gpgp	NOUN
app01-3405	13	32	[	[	X
app01-3405	13	33	4	4	NUM
app01-3405	13	34	]	]	PUNCT
app01-3405	13	35	)	)	PUNCT
app01-3405	13	36	or	or	CCONJ
app01-3405	13	37	requiring	require	VERB
app01-3405	13	38	additional	additional	ADJ
app01-3405	13	39	domain	domain	NOUN
app01-3405	13	40	-	-	PUNCT
app01-3405	13	41	specific	specific	ADJ
app01-3405	13	42	knowledge	knowledge	NOUN
app01-3405	13	43	(	(	PUNCT
app01-3405	13	44	e.g.	e.g.	ADV
app01-3405	13	45	,	,	PUNCT
app01-3405	13	46	talplanner	talplanner	NOUN
app01-3405	13	47	[	[	X
app01-3405	13	48	5	5	NUM
app01-3405	13	49	]	]	NUM
app01-3405	13	50	)	)	PUNCT
app01-3405	13	51	.	.	PUNCT
app01-3405	14	1	multiagent	multiagent	PROPN
app01-3405	14	2	planning	planning	NOUN
app01-3405	14	3	also	also	ADV
app01-3405	14	4	often	often	ADV
app01-3405	14	5	relates	relate	VERB
app01-3405	14	6	to	to	ADP
app01-3405	14	7	planning	planning	NOUN
app01-3405	14	8	models	model	NOUN
app01-3405	14	9	described	describe	VERB
app01-3405	14	10	by	by	ADP
app01-3405	14	11	decentralized	decentralized	ADJ
app01-3405	14	12	pomdps	pomdps	NOUN
app01-3405	14	13	(	(	PUNCT
app01-3405	14	14	dec	dec	PROPN
app01-3405	14	15	-	-	PUNCT
app01-3405	14	16	pomdps	pomdps	NOUN
app01-3405	14	17	)	)	PUNCT
app01-3405	15	1	[	[	X
app01-3405	15	2	6	6	NUM
app01-3405	15	3	]	]	PUNCT
app01-3405	15	4	,	,	PUNCT
app01-3405	15	5	similarly	similarly	ADV
app01-3405	15	6	as	as	SCONJ
app01-3405	15	7	pomdps	pomdps	NOUN
app01-3405	15	8	are	be	AUX
app01-3405	15	9	used	use	VERB
app01-3405	15	10	in	in	ADP
app01-3405	15	11	single	single	ADJ
app01-3405	15	12	agent	agent	NOUN
app01-3405	15	13	planning	planning	NOUN
app01-3405	15	14	under	under	ADP
app01-3405	15	15	uncertainty	uncertainty	NOUN
app01-3405	15	16	.	.	PUNCT
app01-3405	16	1	the	the	DET
app01-3405	16	2	point	point	NOUN
app01-3405	16	3	of	of	ADP
app01-3405	16	4	view	view	NOUN
app01-3405	16	5	on	on	ADP
app01-3405	16	6	multiagent	multiagent	NOUN
app01-3405	16	7	planning	planning	NOUN
app01-3405	16	8	from	from	ADP
app01-3405	16	9	the	the	DET
app01-3405	16	10	multiagent	multiagent	NOUN
app01-3405	16	11	community	community	NOUN
app01-3405	16	12	is	be	AUX
app01-3405	16	13	extensively	extensively	ADV
app01-3405	16	14	summarized	summarize	VERB
app01-3405	16	15	in	in	ADP
app01-3405	16	16	[	[	X
app01-3405	16	17	7	7	NUM
app01-3405	16	18	,	,	PUNCT
app01-3405	16	19	8	8	NUM
app01-3405	16	20	]	]	PUNCT
app01-3405	16	21	.	.	PUNCT
app01-3405	17	1	in	in	ADP
app01-3405	17	2	the	the	DET
app01-3405	17	3	planning	planning	NOUN
app01-3405	17	4	community	community	NOUN
app01-3405	17	5	,	,	PUNCT
app01-3405	17	6	extensions	extension	NOUN
app01-3405	17	7	of	of	ADP
app01-3405	17	8	the	the	DET
app01-3405	17	9	pddl	pddl	NOUN
app01-3405	17	10	language	language	NOUN
app01-3405	17	11	intended	intend	VERB
app01-3405	17	12	to	to	PART
app01-3405	17	13	support	support	VERB
app01-3405	17	14	multiagent	multiagent	NOUN
app01-3405	17	15	planning	planning	NOUN
app01-3405	17	16	were	be	AUX
app01-3405	17	17	introduced	introduce	VERB
app01-3405	17	18	as	as	ADP
app01-3405	17	19	multiagent	multiagent	NOUN
app01-3405	17	20	planning	planning	NOUN
app01-3405	17	21	language	language	NOUN
app01-3405	17	22	(	(	PUNCT
app01-3405	17	23	mapl	mapl	NOUN
app01-3405	17	24	)	)	PUNCT
app01-3405	17	25	in	in	ADP
app01-3405	17	26	[	[	X
app01-3405	17	27	9	9	NUM
app01-3405	17	28	]	]	PUNCT
app01-3405	17	29	and	and	CCONJ
app01-3405	17	30	as	as	ADP
app01-3405	17	31	multiagent	multiagent	NOUN
app01-3405	17	32	pddl	pddl	NOUN
app01-3405	17	33	(	(	PUNCT
app01-3405	17	34	ma	ma	NOUN
app01-3405	17	35	-	-	PUNCT
app01-3405	17	36	pddl	pddl	NOUN
app01-3405	17	37	)	)	PUNCT
app01-3405	17	38	in	in	ADP
app01-3405	17	39	[	[	X
app01-3405	17	40	10	10	NUM
app01-3405	17	41	]	]	PUNCT
app01-3405	17	42	,	,	PUNCT
app01-3405	17	43	but	but	CCONJ
app01-3405	17	44	none	none	NOUN
app01-3405	17	45	of	of	ADP
app01-3405	17	46	the	the	DET
app01-3405	17	47	extensions	extension	NOUN
app01-3405	17	48	gained	gain	VERB
app01-3405	17	49	wide	wide	ADJ
app01-3405	17	50	popularity	popularity	NOUN
app01-3405	17	51	,	,	PUNCT
app01-3405	17	52	probably	probably	ADV
app01-3405	17	53	because	because	SCONJ
app01-3405	17	54	of	of	ADP
app01-3405	17	55	their	their	PRON
app01-3405	17	56	complexity	complexity	NOUN
app01-3405	17	57	.	.	PUNCT
app01-3405	18	1	in	in	ADP
app01-3405	18	2	2008	2008	NUM
app01-3405	18	3	,	,	PUNCT
app01-3405	18	4	a	a	DET
app01-3405	18	5	well	well	ADV
app01-3405	18	6	accepted	accept	VERB
app01-3405	18	7	paper	paper	NOUN
app01-3405	18	8	on	on	ADP
app01-3405	18	9	multiagent	multiagent	NOUN
app01-3405	18	10	planning	planning	NOUN
app01-3405	18	11	was	be	AUX
app01-3405	18	12	published	publish	VERB
app01-3405	18	13	by	by	ADP
app01-3405	18	14	brafman	brafman	NOUN
app01-3405	18	15	and	and	CCONJ
app01-3405	18	16	domshlak	domshlak	NOUN
app01-3405	18	17	at	at	ADP
app01-3405	18	18	the	the	DET
app01-3405	18	19	icaps	icaps	PROPN
app01-3405	18	20	conference	conference	NOUN
app01-3405	18	21	[	[	X
app01-3405	18	22	11	11	NUM
app01-3405	18	23	]	]	PUNCT
app01-3405	18	24	,	,	PUNCT
app01-3405	18	25	which	which	PRON
app01-3405	18	26	finally	finally	ADV
app01-3405	18	27	ignited	ignite	VERB
app01-3405	18	28	more	more	ADJ
app01-3405	18	29	interest	interest	NOUN
app01-3405	18	30	in	in	ADP
app01-3405	18	31	the	the	DET
app01-3405	18	32	topic	topic	NOUN
app01-3405	18	33	.	.	PUNCT
app01-3405	19	1	the	the	DET
app01-3405	19	2	paper	paper	NOUN
app01-3405	19	3	formally	formally	ADV
app01-3405	19	4	introduced	introduce	VERB
app01-3405	19	5	a	a	DET
app01-3405	19	6	minimalistic	minimalistic	ADJ
app01-3405	19	7	extension	extension	NOUN
app01-3405	19	8	of	of	ADP
app01-3405	19	9	strips	strip	NOUN
app01-3405	19	10	(	(	PUNCT
app01-3405	19	11	thus	thus	ADV
app01-3405	19	12	forming	form	VERB
app01-3405	19	13	ma	ma	NOUN
app01-3405	19	14	-	-	PUNCT
app01-3405	19	15	strips	strip	NOUN
app01-3405	19	16	)	)	PUNCT
app01-3405	19	17	and	and	CCONJ
app01-3405	19	18	have	have	AUX
app01-3405	19	19	shown	show	VERB
app01-3405	19	20	that	that	SCONJ
app01-3405	19	21	the	the	DET
app01-3405	19	22	complexity	complexity	NOUN
app01-3405	19	23	of	of	ADP
app01-3405	19	24	multiagent	multiagent	NOUN
app01-3405	19	25	planning	planning	NOUN
app01-3405	19	26	is	be	AUX
app01-3405	19	27	not	not	PART
app01-3405	19	28	directly	directly	ADV
app01-3405	19	29	exponentially	exponentially	ADV
app01-3405	19	30	dependent	dependent	ADJ
app01-3405	19	31	on	on	ADP
app01-3405	19	32	the	the	DET
app01-3405	19	33	number	number	NOUN
app01-3405	19	34	of	of	ADP
app01-3405	19	35	agents	agent	NOUN
app01-3405	19	36	,	,	PUNCT
app01-3405	19	37	but	but	CCONJ
app01-3405	19	38	rather	rather	ADV
app01-3405	19	39	on	on	ADP
app01-3405	19	40	the	the	DET
app01-3405	19	41	tree	tree	NOUN
app01-3405	19	42	-	-	PUNCT
app01-3405	19	43	width	width	NOUN
app01-3405	19	44	of	of	ADP
app01-3405	19	45	their	their	PRON
app01-3405	19	46	interaction	interaction	NOUN
app01-3405	19	47	graph	graph	NOUN
app01-3405	19	48	and	and	CCONJ
app01-3405	19	49	a	a	DET
app01-3405	19	50	minimal	minimal	ADJ
app01-3405	19	51	number	number	NOUN
app01-3405	19	52	of	of	ADP
app01-3405	19	53	interactions	interaction	NOUN
app01-3405	19	54	needed	need	VERB
app01-3405	19	55	to	to	PART
app01-3405	19	56	solve	solve	VERB
app01-3405	19	57	the	the	DET
app01-3405	19	58	problem	problem	NOUN
app01-3405	19	59	.	.	PUNCT
app01-3405	20	1	such	such	ADJ
app01-3405	20	2	results	result	NOUN
app01-3405	20	3	suggested	suggest	VERB
app01-3405	20	4	that	that	SCONJ
app01-3405	20	5	at	at	ADP
app01-3405	20	6	least	least	ADJ
app01-3405	20	7	for	for	ADP
app01-3405	20	8	loosely	loosely	ADV
app01-3405	20	9	coupled	couple	VERB
app01-3405	20	10	problems	problem	NOUN
app01-3405	20	11	(	(	PUNCT
app01-3405	20	12	where	where	SCONJ
app01-3405	20	13	the	the	DET
app01-3405	20	14	tree	tree	NOUN
app01-3405	20	15	-	-	PUNCT
app01-3405	20	16	width	width	NOUN
app01-3405	20	17	is	be	AUX
app01-3405	20	18	low	low	ADJ
app01-3405	20	19	)	)	PUNCT
app01-3405	20	20	,	,	PUNCT
app01-3405	20	21	the	the	DET
app01-3405	20	22	approach	approach	NOUN
app01-3405	20	23	may	may	AUX
app01-3405	20	24	be	be	AUX
app01-3405	20	25	beneficial	beneficial	ADJ
app01-3405	20	26	.	.	PUNCT
app01-3405	21	1	in	in	ADP
app01-3405	21	2	the	the	DET
app01-3405	21	3	following	following	ADJ
app01-3405	21	4	years	year	NOUN
app01-3405	21	5	,	,	PUNCT
app01-3405	21	6	several	several	ADJ
app01-3405	21	7	multiagent	multiagent	NOUN
app01-3405	21	8	planners	planner	NOUN
app01-3405	21	9	were	be	AUX
app01-3405	21	10	proposed	propose	VERB
app01-3405	21	11	[	[	PUNCT
app01-3405	21	12	12–19	12–19	PROPN
app01-3405	21	13	]	]	PUNCT
app01-3405	21	14	,	,	PUNCT
app01-3405	21	15	either	either	CCONJ
app01-3405	21	16	using	use	VERB
app01-3405	21	17	directly	directly	ADV
app01-3405	21	18	the	the	DET
app01-3405	21	19	ma	ma	ADJ
app01-3405	21	20	-	-	PUNCT
app01-3405	21	21	strips	strip	NOUN
app01-3405	21	22	formalism	formalism	NOUN
app01-3405	21	23	,	,	PUNCT
app01-3405	21	24	or	or	CCONJ
app01-3405	21	25	some	some	DET
app01-3405	21	26	ad	ad	NOUN
app01-3405	21	27	-	-	PUNCT
app01-3405	21	28	hoc	hoc	X
app01-3405	21	29	,	,	PUNCT
app01-3405	21	30	but	but	CCONJ
app01-3405	21	31	very	very	ADV
app01-3405	21	32	similar	similar	ADJ
app01-3405	21	33	one	one	NUM
app01-3405	21	34	.	.	PUNCT
app01-3405	22	1	rather	rather	ADV
app01-3405	22	2	different	different	ADJ
app01-3405	22	3	approach	approach	NOUN
app01-3405	22	4	was	be	AUX
app01-3405	22	5	taken	take	VERB
app01-3405	22	6	by	by	ADP
app01-3405	22	7	crosby	crosby	PROPN
app01-3405	22	8	et	et	PROPN
app01-3405	22	9	al	al	PROPN
app01-3405	22	10	.	.	PUNCT
app01-3405	23	1	in	in	ADP
app01-3405	23	2	[	[	X
app01-3405	23	3	20	20	NUM
app01-3405	23	4	,	,	PUNCT
app01-3405	23	5	21	21	NUM
app01-3405	23	6	]	]	PUNCT
app01-3405	23	7	,	,	PUNCT
app01-3405	23	8	where	where	SCONJ
app01-3405	23	9	the	the	DET
app01-3405	23	10	agent	agent	NOUN
app01-3405	23	11	decomposition	decomposition	NOUN
app01-3405	23	12	was	be	AUX
app01-3405	23	13	based	base	VERB
app01-3405	23	14	not	not	PART
app01-3405	23	15	on	on	ADP
app01-3405	23	16	actions	action	NOUN
app01-3405	23	17	,	,	PUNCT
app01-3405	23	18	but	but	CCONJ
app01-3405	23	19	on	on	ADP
app01-3405	23	20	a	a	DET
app01-3405	23	21	variables	variable	NOUN
app01-3405	23	22	in	in	ADP
app01-3405	23	23	finite	finite	ADJ
app01-3405	23	24	domain	domain	NOUN
app01-3405	23	25	representation	representation	NOUN
app01-3405	23	26	,	,	PUNCT
app01-3405	23	27	and	and	CCONJ
app01-3405	23	28	was	be	AUX
app01-3405	23	29	used	use	VERB
app01-3405	23	30	in	in	ADP
app01-3405	23	31	a	a	DET
app01-3405	23	32	centralized	centralized	ADJ
app01-3405	23	33	planner	planner	NOUN
app01-3405	23	34	,	,	PUNCT
app01-3405	23	35	significantly	significantly	ADV
app01-3405	23	36	improving	improve	VERB
app01-3405	23	37	performance	performance	NOUN
app01-3405	23	38	over	over	ADP
app01-3405	23	39	(	(	PUNCT
app01-3405	23	40	single	single	ADJ
app01-3405	23	41	agent	agent	NOUN
app01-3405	23	42	)	)	PUNCT
app01-3405	23	43	sota	sota	NOUN
app01-3405	23	44	mainly	mainly	ADV
app01-3405	23	45	in	in	ADP
app01-3405	23	46	well	well	ADV
app01-3405	23	47	decomposable	decomposable	ADJ
app01-3405	23	48	domains	domain	NOUN
app01-3405	23	49	.	.	PUNCT
app01-3405	24	1	a	a	DET
app01-3405	24	2	dedicated	dedicated	ADJ
app01-3405	24	3	workshop	workshop	NOUN
app01-3405	24	4	distributed	distribute	VERB
app01-3405	24	5	and	and	CCONJ
app01-3405	24	6	multiagent	multiagent	NOUN
app01-3405	24	7	planning	planning	NOUN
app01-3405	24	8	(	(	PUNCT
app01-3405	24	9	dmap	dmap	NOUN
app01-3405	24	10	)	)	PUNCT
app01-3405	24	11	also	also	ADV
app01-3405	24	12	took	take	VERB
app01-3405	24	13	place	place	NOUN
app01-3405	24	14	at	at	ADP
app01-3405	24	15	the	the	DET
app01-3405	24	16	icaps’13	icaps’13	PROPN
app01-3405	24	17	and	and	CCONJ
app01-3405	24	18	icaps’14	icaps’14	PROPN
app01-3405	24	19	conferences	conference	NOUN
app01-3405	24	20	.	.	PUNCT
app01-3405	25	1	2	2	X
app01-3405	25	2	.	.	X
app01-3405	25	3	ma	ma	NOUN
app01-3405	25	4	-	-	PUNCT
app01-3405	25	5	strips	strip	NOUN
app01-3405	25	6	ma	ma	NOUN
app01-3405	25	7	-	-	PUNCT
app01-3405	25	8	strips	strip	NOUN
app01-3405	25	9	is	be	AUX
app01-3405	25	10	the	the	DET
app01-3405	25	11	most	most	ADV
app01-3405	25	12	commonly	commonly	ADV
app01-3405	25	13	used	use	VERB
app01-3405	25	14	formalism	formalism	NOUN
app01-3405	25	15	for	for	ADP
app01-3405	25	16	domain	domain	NOUN
app01-3405	25	17	-	-	PUNCT
app01-3405	25	18	independent	independent	ADJ
app01-3405	25	19	deterministic	deterministic	ADJ
app01-3405	25	20	cooperative	cooperative	ADJ
app01-3405	25	21	multiagent	multiagent	NOUN
app01-3405	25	22	planning	planning	NOUN
app01-3405	25	23	.	.	PUNCT
app01-3405	26	1	the	the	DET
app01-3405	26	2	domain	domain	NOUN
app01-3405	26	3	independence	independence	NOUN
app01-3405	26	4	means	mean	VERB
app01-3405	26	5	that	that	SCONJ
app01-3405	26	6	the	the	DET
app01-3405	26	7	input	input	NOUN
app01-3405	26	8	of	of	ADP
app01-3405	26	9	the	the	DET
app01-3405	26	10	planner	planner	NOUN
app01-3405	26	11	consists	consist	VERB
app01-3405	26	12	of	of	ADP
app01-3405	26	13	description	description	NOUN
app01-3405	26	14	of	of	ADP
app01-3405	26	15	available	available	ADJ
app01-3405	26	16	operators	operator	NOUN
app01-3405	26	17	,	,	PUNCT
app01-3405	26	18	predicates	predicate	NOUN
app01-3405	26	19	,	,	PUNCT
app01-3405	26	20	functions	function	NOUN
app01-3405	26	21	etc	etc	X
app01-3405	26	22	.	.	PUNCT
app01-3405	26	23	describing	describe	VERB
app01-3405	26	24	the	the	DET
app01-3405	26	25	general	general	ADJ
app01-3405	26	26	mechanics	mechanic	NOUN
app01-3405	26	27	of	of	ADP
app01-3405	26	28	the	the	DET
app01-3405	26	29	world	world	NOUN
app01-3405	26	30	as	as	ADV
app01-3405	26	31	well	well	ADV
app01-3405	26	32	as	as	ADP
app01-3405	26	33	the	the	DET
app01-3405	26	34	particular	particular	ADJ
app01-3405	26	35	instance	instance	NOUN
app01-3405	26	36	of	of	ADP
app01-3405	26	37	the	the	DET
app01-3405	26	38	world	world	NOUN
app01-3405	26	39	represented	represent	VERB
app01-3405	26	40	by	by	ADP
app01-3405	26	41	ground	ground	NOUN
app01-3405	26	42	initial	initial	ADJ
app01-3405	26	43	state	state	NOUN
app01-3405	26	44	and	and	CCONJ
app01-3405	26	45	the	the	DET
app01-3405	26	46	particular	particular	ADJ
app01-3405	26	47	problem	problem	NOUN
app01-3405	26	48	represented	represent	VERB
app01-3405	26	49	by	by	ADP
app01-3405	26	50	the	the	DET
app01-3405	26	51	ground	ground	NOUN
app01-3405	26	52	goal	goal	NOUN
app01-3405	26	53	facts	fact	VERB
app01-3405	26	54	that	that	PRON
app01-3405	26	55	need	need	VERB
app01-3405	26	56	to	to	PART
app01-3405	26	57	be	be	AUX
app01-3405	26	58	achieved	achieve	VERB
app01-3405	26	59	.	.	PUNCT
app01-3405	27	1	most	most	ADV
app01-3405	27	2	commonly	commonly	ADV
app01-3405	27	3	the	the	DET
app01-3405	27	4	input	input	NOUN
app01-3405	27	5	is	be	AUX
app01-3405	27	6	described	describe	VERB
app01-3405	27	7	using	use	VERB
app01-3405	27	8	pddl	pddl	NOUN
app01-3405	27	9	language	language	NOUN
app01-3405	27	10	,	,	PUNCT
app01-3405	27	11	where	where	SCONJ
app01-3405	27	12	the	the	DET
app01-3405	27	13	general	general	ADJ
app01-3405	27	14	part	part	NOUN
app01-3405	27	15	is	be	AUX
app01-3405	27	16	termed	term	VERB
app01-3405	27	17	“	"	PUNCT
app01-3405	27	18	domain	domain	NOUN
app01-3405	27	19	”	"	PUNCT
app01-3405	27	20	and	and	CCONJ
app01-3405	27	21	is	be	AUX
app01-3405	27	22	described	describe	VERB
app01-3405	27	23	in	in	ADP
app01-3405	27	24	a	a	DET
app01-3405	27	25	domain	domain	NOUN
app01-3405	27	26	file	file	NOUN
app01-3405	27	27	and	and	CCONJ
app01-3405	27	28	the	the	DET
app01-3405	27	29	particular	particular	ADJ
app01-3405	27	30	initial	initial	ADJ
app01-3405	27	31	and	and	CCONJ
app01-3405	27	32	goal	goal	NOUN
app01-3405	27	33	configurations	configuration	NOUN
app01-3405	27	34	are	be	AUX
app01-3405	27	35	termed	term	VERB
app01-3405	27	36	“	"	PUNCT
app01-3405	27	37	problem	problem	NOUN
app01-3405	27	38	”	"	PUNCT
app01-3405	27	39	and	and	CCONJ
app01-3405	27	40	are	be	AUX
app01-3405	27	41	described	describe	VERB
app01-3405	27	42	in	in	ADP
app01-3405	27	43	a	a	DET
app01-3405	27	44	problem	problem	NOUN
app01-3405	27	45	file	file	NOUN
app01-3405	27	46	.	.	PUNCT
app01-3405	28	1	in	in	ADP
app01-3405	28	2	the	the	DET
app01-3405	28	3	multiagent	multiagent	NOUN
app01-3405	28	4	setting	setting	NOUN
app01-3405	28	5	,	,	PUNCT
app01-3405	28	6	additional	additional	ADJ
app01-3405	28	7	information	information	NOUN
app01-3405	28	8	is	be	AUX
app01-3405	28	9	typically	typically	ADV
app01-3405	28	10	needed	need	VERB
app01-3405	28	11	to	to	PART
app01-3405	28	12	determine	determine	VERB
app01-3405	28	13	what	what	PRON
app01-3405	28	14	are	be	AUX
app01-3405	28	15	agents	agent	NOUN
app01-3405	28	16	and	and	CCONJ
app01-3405	28	17	which	which	DET
app01-3405	28	18	actions	action	NOUN
app01-3405	28	19	belong	belong	VERB
app01-3405	28	20	to	to	ADP
app01-3405	28	21	which	which	DET
app01-3405	28	22	agent	agent	NOUN
app01-3405	28	23	(	(	PUNCT
app01-3405	28	24	this	this	PRON
app01-3405	28	25	is	be	AUX
app01-3405	28	26	not	not	PART
app01-3405	28	27	part	part	NOUN
app01-3405	28	28	of	of	ADP
app01-3405	28	29	the	the	DET
app01-3405	28	30	ma	ma	ADJ
app01-3405	28	31	-	-	PUNCT
app01-3405	28	32	strips	strip	NOUN
app01-3405	28	33	formalism	formalism	NOUN
app01-3405	28	34	)	)	PUNCT
app01-3405	28	35	.	.	PUNCT
app01-3405	29	1	deterministic	deterministic	ADJ
app01-3405	29	2	in	in	ADP
app01-3405	29	3	this	this	DET
app01-3405	29	4	case	case	NOUN
app01-3405	29	5	relates	relate	VERB
app01-3405	29	6	to	to	ADP
app01-3405	29	7	the	the	DET
app01-3405	29	8	action	action	NOUN
app01-3405	29	9	model	model	NOUN
app01-3405	29	10	,	,	PUNCT
app01-3405	29	11	where	where	SCONJ
app01-3405	29	12	each	each	DET
app01-3405	29	13	action	action	NOUN
app01-3405	29	14	has	have	VERB
app01-3405	29	15	deterministic	deterministic	ADJ
app01-3405	29	16	effects	effect	NOUN
app01-3405	29	17	,	,	PUNCT
app01-3405	29	18	although	although	SCONJ
app01-3405	29	19	the	the	DET
app01-3405	29	20	multiagent	multiagent	NOUN
app01-3405	29	21	planning	planning	NOUN
app01-3405	29	22	algorithm	algorithm	NOUN
app01-3405	29	23	itself	itself	PRON
app01-3405	29	24	may	may	AUX
app01-3405	29	25	be	be	AUX
app01-3405	29	26	non	non	ADJ
app01-3405	29	27	-	-	ADJ
app01-3405	29	28	deterministic	deterministic	ADJ
app01-3405	29	29	in	in	ADP
app01-3405	29	30	the	the	DET
app01-3405	29	31	sense	sense	NOUN
app01-3405	29	32	that	that	SCONJ
app01-3405	29	33	for	for	ADP
app01-3405	29	34	the	the	DET
app01-3405	29	35	same	same	ADJ
app01-3405	29	36	input	input	NOUN
app01-3405	29	37	it	it	PRON
app01-3405	29	38	gives	give	VERB
app01-3405	29	39	different	different	ADJ
app01-3405	29	40	output	output	NOUN
app01-3405	29	41	and	and	CCONJ
app01-3405	29	42	runs	run	VERB
app01-3405	29	43	for	for	ADP
app01-3405	29	44	different	different	ADJ
app01-3405	29	45	time	time	NOUN
app01-3405	29	46	this	this	PRON
app01-3405	29	47	is	be	AUX
app01-3405	29	48	caused	cause	VERB
app01-3405	29	49	by	by	ADP
app01-3405	29	50	the	the	DET
app01-3405	29	51	inherent	inherent	ADJ
app01-3405	29	52	nondeterminism	nondeterminism	NOUN
app01-3405	29	53	of	of	ADP
app01-3405	29	54	communication	communication	NOUN
app01-3405	29	55	and	and	CCONJ
app01-3405	29	56	distributed	distributed	ADJ
app01-3405	29	57	computation	computation	NOUN
app01-3405	29	58	.	.	PUNCT
app01-3405	30	1	51	51	NUM
app01-3405	30	2	http://dx.doi.org/10.14311/app.2015.1.0051	http://dx.doi.org/10.14311/app.2015.1.0051	PROPN
app01-3405	30	3	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3405	30	4	michal	michal	PROPN
app01-3405	30	5	štolba	štolba	PROPN
app01-3405	30	6	acta	acta	PROPN
app01-3405	30	7	polytechnica	polytechnica	PROPN
app01-3405	30	8	ctu	ctu	NOUN
app01-3405	30	9	proceedings	proceeding	NOUN
app01-3405	30	10	by	by	ADP
app01-3405	30	11	cooperative	cooperative	ADJ
app01-3405	30	12	multiagent	multiagent	NOUN
app01-3405	30	13	planning	planning	NOUN
app01-3405	30	14	we	we	PRON
app01-3405	30	15	understand	understand	VERB
app01-3405	30	16	a	a	DET
app01-3405	30	17	setting	setting	NOUN
app01-3405	30	18	where	where	SCONJ
app01-3405	30	19	a	a	DET
app01-3405	30	20	group	group	NOUN
app01-3405	30	21	of	of	ADP
app01-3405	30	22	agents	agent	NOUN
app01-3405	30	23	is	be	AUX
app01-3405	30	24	attempting	attempt	VERB
app01-3405	30	25	to	to	PART
app01-3405	30	26	find	find	VERB
app01-3405	30	27	a	a	DET
app01-3405	30	28	joint	joint	ADJ
app01-3405	30	29	plan	plan	NOUN
app01-3405	30	30	,	,	PUNCT
app01-3405	30	31	where	where	SCONJ
app01-3405	30	32	each	each	DET
app01-3405	30	33	agent	agent	NOUN
app01-3405	30	34	uses	use	VERB
app01-3405	30	35	its	its	PRON
app01-3405	30	36	own	own	ADJ
app01-3405	30	37	actions	action	NOUN
app01-3405	30	38	in	in	ADP
app01-3405	30	39	order	order	NOUN
app01-3405	30	40	to	to	PART
app01-3405	30	41	reach	reach	VERB
app01-3405	30	42	some	some	DET
app01-3405	30	43	joint	joint	NOUN
app01-3405	30	44	(	(	PUNCT
app01-3405	30	45	and	and	CCONJ
app01-3405	30	46	possibly	possibly	ADV
app01-3405	30	47	some	some	DET
app01-3405	30	48	private	private	ADJ
app01-3405	30	49	)	)	PUNCT
app01-3405	30	50	goals	goal	NOUN
app01-3405	30	51	.	.	PUNCT
app01-3405	31	1	the	the	DET
app01-3405	31	2	agents	agent	NOUN
app01-3405	31	3	typically	typically	ADV
app01-3405	31	4	need	need	VERB
app01-3405	31	5	to	to	PART
app01-3405	31	6	coordinate	coordinate	VERB
app01-3405	31	7	their	their	PRON
app01-3405	31	8	actions	action	NOUN
app01-3405	31	9	and	and	CCONJ
app01-3405	31	10	to	to	PART
app01-3405	31	11	cooperate	cooperate	VERB
app01-3405	31	12	in	in	ADP
app01-3405	31	13	order	order	NOUN
app01-3405	31	14	to	to	PART
app01-3405	31	15	do	do	AUX
app01-3405	31	16	so	so	ADV
app01-3405	31	17	,	,	PUNCT
app01-3405	31	18	although	although	SCONJ
app01-3405	31	19	each	each	DET
app01-3405	31	20	agent	agent	NOUN
app01-3405	31	21	is	be	AUX
app01-3405	31	22	planning	plan	VERB
app01-3405	31	23	for	for	ADP
app01-3405	31	24	itself	itself	PRON
app01-3405	31	25	and	and	CCONJ
app01-3405	31	26	the	the	DET
app01-3405	31	27	agents	agent	NOUN
app01-3405	31	28	may	may	AUX
app01-3405	31	29	have	have	VERB
app01-3405	31	30	some	some	DET
app01-3405	31	31	private	private	ADJ
app01-3405	31	32	knowledge	knowledge	NOUN
app01-3405	31	33	which	which	PRON
app01-3405	31	34	they	they	PRON
app01-3405	31	35	do	do	AUX
app01-3405	31	36	not	not	PART
app01-3405	31	37	want	want	VERB
app01-3405	31	38	to	to	PART
app01-3405	31	39	reveal	reveal	VERB
app01-3405	31	40	to	to	ADP
app01-3405	31	41	other	other	ADJ
app01-3405	31	42	agents	agent	NOUN
app01-3405	31	43	.	.	PUNCT
app01-3405	32	1	the	the	DET
app01-3405	32	2	ma	ma	NOUN
app01-3405	32	3	-	-	PUNCT
app01-3405	32	4	strips	strip	NOUN
app01-3405	32	5	formalism	formalism	NOUN
app01-3405	32	6	is	be	AUX
app01-3405	32	7	very	very	ADV
app01-3405	32	8	much	much	ADV
app01-3405	32	9	the	the	DET
app01-3405	32	10	same	same	ADJ
app01-3405	32	11	as	as	ADP
app01-3405	32	12	the	the	DET
app01-3405	32	13	original	original	ADJ
app01-3405	32	14	strips	strip	NOUN
app01-3405	32	15	,	,	PUNCT
app01-3405	32	16	except	except	SCONJ
app01-3405	32	17	that	that	SCONJ
app01-3405	32	18	the	the	DET
app01-3405	32	19	actions	action	NOUN
app01-3405	32	20	are	be	AUX
app01-3405	32	21	disjunctively	disjunctively	ADV
app01-3405	32	22	split	split	VERB
app01-3405	32	23	(	(	PUNCT
app01-3405	32	24	or	or	CCONJ
app01-3405	32	25	factored	factor	VERB
app01-3405	32	26	)	)	PUNCT
app01-3405	32	27	among	among	ADP
app01-3405	32	28	the	the	DET
app01-3405	32	29	agents	agent	NOUN
app01-3405	32	30	,	,	PUNCT
app01-3405	32	31	resulting	result	VERB
app01-3405	32	32	in	in	ADP
app01-3405	32	33	the	the	DET
app01-3405	32	34	following	follow	VERB
app01-3405	32	35	definition	definition	NOUN
app01-3405	32	36	of	of	ADP
app01-3405	32	37	the	the	DET
app01-3405	32	38	multiagent	multiagent	PROPN
app01-3405	32	39	planning	planning	NOUN
app01-3405	32	40	problem	problem	NOUN
app01-3405	32	41	:	:	PUNCT
app01-3405	32	42	definition	definition	NOUN
app01-3405	32	43	1	1	NUM
app01-3405	32	44	.	.	PUNCT
app01-3405	32	45	multiagent	multiagent	PROPN
app01-3405	32	46	planning	planning	NOUN
app01-3405	32	47	problem	problem	NOUN
app01-3405	32	48	is	be	AUX
app01-3405	32	49	a	a	DET
app01-3405	32	50	quadruple	quadruple	NOUN
app01-3405	32	51	π	π	NOUN
app01-3405	32	52	=	=	SYM
app01-3405	32	53	〈	〈	PROPN
app01-3405	32	54	l	l	NOUN
app01-3405	32	55	,	,	PUNCT
app01-3405	32	56	a	a	PRON
app01-3405	32	57	,	,	PUNCT
app01-3405	32	58	s0	s0	PROPN
app01-3405	32	59	,	,	PUNCT
app01-3405	32	60	sg	sg	PROPN
app01-3405	32	61	〉	〉	PROPN
app01-3405	32	62	,	,	PUNCT
app01-3405	32	63	where	where	SCONJ
app01-3405	32	64	l	l	NOUN
app01-3405	32	65	is	be	AUX
app01-3405	32	66	a	a	DET
app01-3405	32	67	set	set	NOUN
app01-3405	32	68	of	of	ADP
app01-3405	32	69	propositions	proposition	NOUN
app01-3405	32	70	,	,	PUNCT
app01-3405	32	71	a	a	PRON
app01-3405	32	72	is	be	AUX
app01-3405	32	73	a	a	DET
app01-3405	32	74	set	set	NOUN
app01-3405	32	75	of	of	ADP
app01-3405	32	76	agents	agent	NOUN
app01-3405	32	77	α1	α1	PROPN
app01-3405	32	78	,	,	PUNCT
app01-3405	32	79	.	.	PUNCT
app01-3405	32	80	.	.	PUNCT
app01-3405	33	1	.	.	PUNCT
app01-3405	34	1	,	,	PUNCT
app01-3405	34	2	α|a|	α|a|	PROPN
app01-3405	34	3	,	,	PUNCT
app01-3405	34	4	s0	s0	PROPN
app01-3405	34	5	is	be	AUX
app01-3405	34	6	an	an	DET
app01-3405	34	7	initial	initial	ADJ
app01-3405	34	8	state	state	NOUN
app01-3405	34	9	and	and	CCONJ
app01-3405	34	10	sg	sg	PROPN
app01-3405	34	11	is	be	AUX
app01-3405	34	12	a	a	DET
app01-3405	34	13	set	set	NOUN
app01-3405	34	14	of	of	ADP
app01-3405	34	15	goal	goal	NOUN
app01-3405	34	16	states	state	NOUN
app01-3405	34	17	.	.	PUNCT
app01-3405	35	1	an	an	DET
app01-3405	35	2	agent	agent	NOUN
app01-3405	35	3	α	α	X
app01-3405	35	4	=	=	SYM
app01-3405	35	5	{	{	PUNCT
app01-3405	35	6	a1	a1	NOUN
app01-3405	35	7	,	,	PUNCT
app01-3405	35	8	.	.	PUNCT
app01-3405	35	9	.	.	PUNCT
app01-3405	35	10	.	.	PUNCT
app01-3405	36	1	,	,	PUNCT
app01-3405	36	2	an	an	PRON
app01-3405	36	3	}	}	PUNCT
app01-3405	36	4	is	be	AUX
app01-3405	36	5	represented	represent	VERB
app01-3405	36	6	by	by	ADP
app01-3405	36	7	a	a	DET
app01-3405	36	8	set	set	NOUN
app01-3405	36	9	of	of	ADP
app01-3405	36	10	actions	action	NOUN
app01-3405	36	11	it	it	PRON
app01-3405	36	12	can	can	AUX
app01-3405	36	13	perform	perform	VERB
app01-3405	36	14	.	.	PUNCT
app01-3405	37	1	a	a	DET
app01-3405	37	2	state	state	NOUN
app01-3405	37	3	s	s	PART
app01-3405	37	4	⊆	⊆	NUM
app01-3405	37	5	l	l	NOUN
app01-3405	37	6	is	be	AUX
app01-3405	37	7	a	a	DET
app01-3405	37	8	set	set	NOUN
app01-3405	37	9	of	of	ADP
app01-3405	37	10	atoms	atom	NOUN
app01-3405	37	11	from	from	ADP
app01-3405	37	12	a	a	DET
app01-3405	37	13	finite	finite	ADJ
app01-3405	37	14	set	set	NOUN
app01-3405	37	15	of	of	ADP
app01-3405	37	16	propositions	proposition	NOUN
app01-3405	37	17	l	l	NOUN
app01-3405	37	18	=	=	SYM
app01-3405	37	19	{	{	PUNCT
app01-3405	37	20	p1	p1	NOUN
app01-3405	37	21	,	,	PUNCT
app01-3405	37	22	.	.	PUNCT
app01-3405	37	23	.	.	PUNCT
app01-3405	38	1	.	.	PUNCT
app01-3405	39	1	,	,	PUNCT
app01-3405	39	2	pm	pm	NOUN
app01-3405	39	3	}	}	PUNCT
app01-3405	39	4	which	which	PRON
app01-3405	39	5	hold	hold	VERB
app01-3405	39	6	in	in	ADP
app01-3405	39	7	s.	s.	PROPN
app01-3405	39	8	an	an	DET
app01-3405	39	9	action	action	NOUN
app01-3405	39	10	is	be	AUX
app01-3405	39	11	a	a	DET
app01-3405	39	12	tuple	tuple	NOUN
app01-3405	39	13	a	a	DET
app01-3405	39	14	=	=	SYM
app01-3405	39	15	〈	〈	NOUN
app01-3405	39	16	pre(a	pre(a	X
app01-3405	39	17	)	)	PUNCT
app01-3405	39	18	,	,	PUNCT
app01-3405	39	19	add(a	add(a	PROPN
app01-3405	39	20	)	)	PUNCT
app01-3405	39	21	,	,	PUNCT
app01-3405	39	22	del(a	del(a	PROPN
app01-3405	39	23	)	)	PUNCT
app01-3405	39	24	〉	〉	PROPN
app01-3405	39	25	,	,	PUNCT
app01-3405	39	26	where	where	SCONJ
app01-3405	39	27	a	a	PRON
app01-3405	39	28	is	be	AUX
app01-3405	39	29	a	a	DET
app01-3405	39	30	unique	unique	ADJ
app01-3405	39	31	action	action	NOUN
app01-3405	39	32	label	label	NOUN
app01-3405	39	33	and	and	CCONJ
app01-3405	39	34	pre(a	pre(a	NOUN
app01-3405	39	35	)	)	PUNCT
app01-3405	39	36	,	,	PUNCT
app01-3405	39	37	add(a	add(a	PROPN
app01-3405	39	38	)	)	PUNCT
app01-3405	39	39	,	,	PUNCT
app01-3405	39	40	del(a	del(a	PROPN
app01-3405	39	41	)	)	PUNCT
app01-3405	39	42	respectively	respectively	ADV
app01-3405	39	43	denote	denote	VERB
app01-3405	39	44	the	the	DET
app01-3405	39	45	sets	set	NOUN
app01-3405	39	46	of	of	ADP
app01-3405	39	47	preconditions	precondition	NOUN
app01-3405	39	48	,	,	PUNCT
app01-3405	39	49	add	add	VERB
app01-3405	39	50	effects	effect	NOUN
app01-3405	39	51	and	and	CCONJ
app01-3405	39	52	delete	delete	ADJ
app01-3405	39	53	effects	effect	NOUN
app01-3405	39	54	of	of	ADP
app01-3405	39	55	a	a	PRON
app01-3405	39	56	from	from	ADP
app01-3405	39	57	l.	l.	PROPN
app01-3405	39	58	in	in	ADP
app01-3405	39	59	the	the	DET
app01-3405	39	60	set	set	NOUN
app01-3405	39	61	of	of	ADP
app01-3405	39	62	propositions	proposition	NOUN
app01-3405	39	63	l	l	X
app01-3405	39	64	can	can	AUX
app01-3405	39	65	further	far	ADV
app01-3405	39	66	be	be	AUX
app01-3405	39	67	identified	identify	VERB
app01-3405	39	68	subsets	subset	NOUN
app01-3405	39	69	of	of	ADP
app01-3405	39	70	public	public	ADJ
app01-3405	39	71	propositions	proposition	NOUN
app01-3405	39	72	known	know	VERB
app01-3405	39	73	to	to	ADP
app01-3405	39	74	all	all	DET
app01-3405	39	75	agents	agent	NOUN
app01-3405	39	76	and	and	CCONJ
app01-3405	40	1	α	α	NOUN
app01-3405	40	2	-	-	ADJ
app01-3405	40	3	internal	internal	ADJ
app01-3405	40	4	(	(	PUNCT
app01-3405	40	5	a.k.a	a.k.a	ADJ
app01-3405	40	6	.	.	PUNCT
app01-3405	40	7	α	α	NOUN
app01-3405	40	8	-	-	ADJ
app01-3405	40	9	private	private	ADJ
app01-3405	40	10	)	)	PUNCT
app01-3405	40	11	propositions	proposition	NOUN
app01-3405	40	12	known	know	VERB
app01-3405	40	13	only	only	ADV
app01-3405	40	14	to	to	ADP
app01-3405	40	15	a	a	DET
app01-3405	40	16	specific	specific	ADJ
app01-3405	40	17	agent	agent	NOUN
app01-3405	40	18	α	α	NOUN
app01-3405	40	19	.	.	PUNCT
app01-3405	41	1	such	such	ADJ
app01-3405	41	2	separation	separation	NOUN
app01-3405	41	3	of	of	ADP
app01-3405	41	4	the	the	DET
app01-3405	41	5	propositions	proposition	NOUN
app01-3405	41	6	can	can	AUX
app01-3405	41	7	be	be	AUX
app01-3405	41	8	derived	derive	VERB
app01-3405	41	9	from	from	ADP
app01-3405	41	10	the	the	DET
app01-3405	41	11	problem	problem	NOUN
app01-3405	41	12	itself	itself	PRON
app01-3405	41	13	(	(	PUNCT
app01-3405	41	14	as	as	SCONJ
app01-3405	41	15	proposed	propose	VERB
app01-3405	41	16	in	in	ADP
app01-3405	41	17	[	[	X
app01-3405	41	18	11	11	NUM
app01-3405	41	19	]	]	NUM
app01-3405	41	20	)	)	PUNCT
app01-3405	41	21	,	,	PUNCT
app01-3405	41	22	where	where	SCONJ
app01-3405	41	23	a	a	DET
app01-3405	41	24	proposition	proposition	NOUN
app01-3405	41	25	is	be	AUX
app01-3405	41	26	public	public	ADJ
app01-3405	41	27	iff	iff	NOUN
app01-3405	41	28	it	it	PRON
app01-3405	41	29	is	be	AUX
app01-3405	41	30	used	use	VERB
app01-3405	41	31	by	by	ADP
app01-3405	41	32	any	any	DET
app01-3405	41	33	two	two	NUM
app01-3405	41	34	actions	action	NOUN
app01-3405	41	35	of	of	ADP
app01-3405	41	36	different	different	ADJ
app01-3405	41	37	agents	agent	NOUN
app01-3405	41	38	and	and	CCONJ
app01-3405	41	39	it	it	PRON
app01-3405	41	40	is	be	AUX
app01-3405	41	41	internal	internal	ADJ
app01-3405	41	42	to	to	ADP
app01-3405	41	43	the	the	DET
app01-3405	41	44	agent	agent	NOUN
app01-3405	42	1	α	α	PROPN
app01-3405	42	2	(	(	PUNCT
app01-3405	42	3	α	α	NOUN
app01-3405	42	4	-	-	ADJ
app01-3405	42	5	internal	internal	ADJ
app01-3405	42	6	)	)	PUNCT
app01-3405	42	7	iff	iff	NOUN
app01-3405	42	8	it	it	PRON
app01-3405	42	9	is	be	AUX
app01-3405	42	10	used	use	VERB
app01-3405	42	11	only	only	ADV
app01-3405	42	12	in	in	ADP
app01-3405	42	13	actions	action	NOUN
app01-3405	42	14	of	of	ADP
app01-3405	42	15	agent	agent	PROPN
app01-3405	42	16	α	α	NOUN
app01-3405	42	17	.	.	PUNCT
app01-3405	43	1	alternatively	alternatively	ADV
app01-3405	43	2	,	,	PUNCT
app01-3405	43	3	what	what	DET
app01-3405	43	4	propositions	proposition	NOUN
app01-3405	43	5	are	be	AUX
app01-3405	43	6	public	public	ADJ
app01-3405	43	7	or	or	CCONJ
app01-3405	43	8	private	private	ADJ
app01-3405	43	9	can	can	AUX
app01-3405	43	10	be	be	AUX
app01-3405	43	11	a	a	DET
app01-3405	43	12	part	part	NOUN
app01-3405	43	13	of	of	ADP
app01-3405	43	14	the	the	DET
app01-3405	43	15	problem	problem	NOUN
app01-3405	43	16	definition	definition	NOUN
app01-3405	43	17	(	(	PUNCT
app01-3405	43	18	used	use	VERB
app01-3405	43	19	in	in	ADP
app01-3405	43	20	[	[	X
app01-3405	43	21	16	16	NUM
app01-3405	43	22	,	,	PUNCT
app01-3405	43	23	17	17	NUM
app01-3405	43	24	]	]	PUNCT
app01-3405	43	25	)	)	PUNCT
app01-3405	43	26	.	.	PUNCT
app01-3405	44	1	how	how	SCONJ
app01-3405	44	2	the	the	DET
app01-3405	44	3	actions	action	NOUN
app01-3405	44	4	are	be	AUX
app01-3405	44	5	partitioned	partition	VERB
app01-3405	44	6	among	among	ADP
app01-3405	44	7	agents	agent	NOUN
app01-3405	44	8	is	be	AUX
app01-3405	44	9	not	not	PART
app01-3405	44	10	a	a	DET
app01-3405	44	11	part	part	NOUN
app01-3405	44	12	of	of	ADP
app01-3405	44	13	the	the	DET
app01-3405	44	14	ma	ma	NOUN
app01-3405	44	15	-	-	PUNCT
app01-3405	44	16	strips	strip	NOUN
app01-3405	44	17	definition	definition	NOUN
app01-3405	44	18	and	and	CCONJ
app01-3405	44	19	is	be	AUX
app01-3405	44	20	implementation	implementation	NOUN
app01-3405	44	21	dependent	dependent	ADJ
app01-3405	44	22	,	,	PUNCT
app01-3405	44	23	in	in	ADP
app01-3405	44	24	most	most	ADJ
app01-3405	44	25	planners	planner	NOUN
app01-3405	44	26	,	,	PUNCT
app01-3405	44	27	the	the	DET
app01-3405	44	28	agents	agent	NOUN
app01-3405	44	29	are	be	AUX
app01-3405	44	30	defined	define	VERB
app01-3405	44	31	as	as	ADP
app01-3405	44	32	objects	object	NOUN
app01-3405	44	33	in	in	ADP
app01-3405	44	34	pddl	pddl	NOUN
app01-3405	44	35	and	and	CCONJ
app01-3405	44	36	an	an	DET
app01-3405	44	37	action	action	NOUN
app01-3405	44	38	is	be	AUX
app01-3405	44	39	assigned	assign	VERB
app01-3405	44	40	to	to	ADP
app01-3405	44	41	an	an	DET
app01-3405	44	42	agent	agent	NOUN
app01-3405	44	43	if	if	SCONJ
app01-3405	44	44	the	the	DET
app01-3405	44	45	agent	agent	NOUN
app01-3405	44	46	object	object	NOUN
app01-3405	44	47	is	be	AUX
app01-3405	44	48	part	part	NOUN
app01-3405	44	49	of	of	ADP
app01-3405	44	50	the	the	DET
app01-3405	44	51	grounded	ground	VERB
app01-3405	44	52	parameters	parameter	NOUN
app01-3405	44	53	of	of	ADP
app01-3405	44	54	the	the	DET
app01-3405	44	55	action	action	NOUN
app01-3405	44	56	.	.	PUNCT
app01-3405	45	1	similarly	similarly	ADV
app01-3405	45	2	to	to	ADP
app01-3405	45	3	the	the	DET
app01-3405	45	4	separation	separation	NOUN
app01-3405	45	5	of	of	ADP
app01-3405	45	6	the	the	DET
app01-3405	45	7	propositions	proposition	NOUN
app01-3405	45	8	,	,	PUNCT
app01-3405	45	9	the	the	DET
app01-3405	45	10	actions	action	NOUN
app01-3405	45	11	of	of	ADP
app01-3405	45	12	a	a	DET
app01-3405	45	13	single	single	ADJ
app01-3405	45	14	agent	agent	NOUN
app01-3405	45	15	can	can	AUX
app01-3405	45	16	be	be	AUX
app01-3405	45	17	seen	see	VERB
app01-3405	45	18	as	as	ADP
app01-3405	45	19	either	either	CCONJ
app01-3405	45	20	public	public	ADJ
app01-3405	45	21	or	or	CCONJ
app01-3405	45	22	internal	internal	ADJ
app01-3405	45	23	.	.	PUNCT
app01-3405	46	1	an	an	DET
app01-3405	46	2	action	action	NOUN
app01-3405	46	3	a	a	DET
app01-3405	46	4	∈	∈	NOUN
app01-3405	46	5	α	α	NOUN
app01-3405	46	6	is	be	AUX
app01-3405	46	7	internal	internal	ADJ
app01-3405	46	8	iff	iff	PROPN
app01-3405	46	9	it	it	PRON
app01-3405	46	10	uses	use	VERB
app01-3405	46	11	only	only	ADV
app01-3405	46	12	α	α	ADJ
app01-3405	46	13	-	-	ADJ
app01-3405	46	14	internal	internal	ADJ
app01-3405	46	15	propositions	proposition	NOUN
app01-3405	46	16	in	in	ADP
app01-3405	46	17	its	its	PRON
app01-3405	46	18	preconditions	precondition	NOUN
app01-3405	46	19	and	and	CCONJ
app01-3405	46	20	effects	effect	NOUN
app01-3405	46	21	.	.	PUNCT
app01-3405	47	1	otherwise	otherwise	ADV
app01-3405	47	2	,	,	PUNCT
app01-3405	47	3	the	the	DET
app01-3405	47	4	action	action	NOUN
app01-3405	47	5	is	be	AUX
app01-3405	47	6	public	public	ADJ
app01-3405	47	7	,	,	PUNCT
app01-3405	47	8	which	which	PRON
app01-3405	47	9	in	in	ADP
app01-3405	47	10	fact	fact	NOUN
app01-3405	47	11	means	mean	VERB
app01-3405	47	12	,	,	PUNCT
app01-3405	47	13	that	that	SCONJ
app01-3405	47	14	the	the	DET
app01-3405	47	15	action	action	NOUN
app01-3405	47	16	interacts	interact	VERB
app01-3405	47	17	with	with	ADP
app01-3405	47	18	some	some	DET
app01-3405	47	19	other	other	ADJ
app01-3405	47	20	agent	agent	NOUN
app01-3405	47	21	,	,	PUNCT
app01-3405	47	22	or	or	CCONJ
app01-3405	47	23	agents	agent	NOUN
app01-3405	47	24	.	.	PUNCT
app01-3405	48	1	following	follow	VERB
app01-3405	48	2	the	the	DET
app01-3405	48	3	strips	strip	NOUN
app01-3405	48	4	formalism	formalism	NOUN
app01-3405	48	5	,	,	PUNCT
app01-3405	48	6	a	a	DET
app01-3405	48	7	solution	solution	NOUN
app01-3405	48	8	for	for	ADP
app01-3405	48	9	the	the	DET
app01-3405	48	10	multiagent	multiagent	NOUN
app01-3405	48	11	planning	planning	NOUN
app01-3405	48	12	problem	problem	NOUN
app01-3405	48	13	is	be	AUX
app01-3405	48	14	a	a	DET
app01-3405	48	15	set	set	NOUN
app01-3405	48	16	of	of	ADP
app01-3405	48	17	sequential	sequential	ADJ
app01-3405	48	18	plans	plan	NOUN
app01-3405	48	19	(	(	PUNCT
app01-3405	48	20	sequence	sequence	NOUN
app01-3405	48	21	of	of	ADP
app01-3405	48	22	actions	action	NOUN
app01-3405	48	23	,	,	PUNCT
app01-3405	48	24	one	one	NUM
app01-3405	48	25	plan	plan	NOUN
app01-3405	48	26	for	for	ADP
app01-3405	48	27	each	each	DET
app01-3405	48	28	agent	agent	NOUN
app01-3405	48	29	)	)	PUNCT
app01-3405	48	30	,	,	PUNCT
app01-3405	48	31	where	where	SCONJ
app01-3405	48	32	some	some	PRON
app01-3405	48	33	of	of	ADP
app01-3405	48	34	the	the	DET
app01-3405	48	35	actions	action	NOUN
app01-3405	48	36	of	of	ADP
app01-3405	48	37	different	different	ADJ
app01-3405	48	38	agents	agent	NOUN
app01-3405	48	39	may	may	AUX
app01-3405	48	40	be	be	AUX
app01-3405	48	41	performed	perform	VERB
app01-3405	48	42	in	in	ADP
app01-3405	48	43	parallel	parallel	NOUN
app01-3405	48	44	,	,	PUNCT
app01-3405	48	45	although	although	SCONJ
app01-3405	48	46	in	in	ADP
app01-3405	48	47	most	most	ADJ
app01-3405	48	48	implementations	implementation	NOUN
app01-3405	48	49	the	the	DET
app01-3405	48	50	resulting	result	VERB
app01-3405	48	51	plan	plan	NOUN
app01-3405	48	52	is	be	AUX
app01-3405	48	53	sequential	sequential	ADJ
app01-3405	48	54	(	(	PUNCT
app01-3405	48	55	i.e.	i.e.	X
app01-3405	48	56	there	there	PRON
app01-3405	48	57	are	be	VERB
app01-3405	48	58	no	no	DET
app01-3405	48	59	parallel	parallel	ADJ
app01-3405	48	60	actions	action	NOUN
app01-3405	48	61	)	)	PUNCT
app01-3405	48	62	.	.	PUNCT
app01-3405	49	1	formally	formally	ADV
app01-3405	49	2	,	,	PUNCT
app01-3405	49	3	the	the	DET
app01-3405	49	4	solution	solution	NOUN
app01-3405	49	5	is	be	AUX
app01-3405	49	6	defined	define	VERB
app01-3405	49	7	as	as	SCONJ
app01-3405	49	8	follows	follow	VERB
app01-3405	49	9	:	:	PUNCT
app01-3405	49	10	definition	definition	NOUN
app01-3405	49	11	2	2	NUM
app01-3405	49	12	.	.	PUNCT
app01-3405	49	13	a	a	DET
app01-3405	49	14	solution	solution	NOUN
app01-3405	49	15	to	to	ADP
app01-3405	49	16	multiagent	multiagent	NOUN
app01-3405	49	17	planning	planning	NOUN
app01-3405	49	18	problem	problem	NOUN
app01-3405	49	19	∏	∏	PROPN
app01-3405	49	20	is	be	AUX
app01-3405	49	21	a	a	DET
app01-3405	49	22	multiagent	multiagent	NOUN
app01-3405	49	23	plan	plan	NOUN
app01-3405	49	24	p	p	NOUN
app01-3405	49	25	=	=	NOUN
app01-3405	49	26	〈	〈	PROPN
app01-3405	49	27	pα1	pα1	NOUN
app01-3405	49	28	,	,	PUNCT
app01-3405	49	29	...	...	PUNCT
app01-3405	49	30	,	,	PUNCT
app01-3405	49	31	pα|a|	pα|a|	ADJ
app01-3405	49	32	〉	〉	NOUN
app01-3405	49	33	,	,	PUNCT
app01-3405	49	34	where	where	SCONJ
app01-3405	49	35	each	each	DET
app01-3405	49	36	pαi	pαi	NOUN
app01-3405	49	37	is	be	AUX
app01-3405	49	38	a	a	DET
app01-3405	49	39	plan	plan	NOUN
app01-3405	49	40	of	of	ADP
app01-3405	49	41	agent	agent	NOUN
app01-3405	49	42	αi	αi	NOUN
app01-3405	49	43	,	,	PUNCT
app01-3405	49	44	i.e.	i.e.	X
app01-3405	49	45	consisting	consist	VERB
app01-3405	49	46	of	of	ADP
app01-3405	49	47	a	a	DET
app01-3405	49	48	sequence	sequence	NOUN
app01-3405	49	49	of	of	ADP
app01-3405	49	50	actions	action	NOUN
app01-3405	49	51	in	in	ADP
app01-3405	49	52	αi	αi	PROPN
app01-3405	49	53	∪	∪	X
app01-3405	49	54	{	{	PUNCT
app01-3405	49	55	noop	noop	NOUN
app01-3405	49	56	}	}	PUNCT
app01-3405	49	57	.	.	PUNCT
app01-3405	50	1	a	a	DET
app01-3405	50	2	multiagent	multiagent	NOUN
app01-3405	50	3	plan	plan	NOUN
app01-3405	50	4	p	p	NOUN
app01-3405	50	5	is	be	AUX
app01-3405	50	6	valid	valid	ADJ
app01-3405	50	7	,	,	PUNCT
app01-3405	50	8	iff	iff	PROPN
app01-3405	50	9	(	(	PUNCT
app01-3405	50	10	1	1	NUM
app01-3405	50	11	.	.	PUNCT
app01-3405	50	12	)	)	PUNCT
app01-3405	50	13	for	for	ADP
app01-3405	50	14	each	each	DET
app01-3405	50	15	α	α	NOUN
app01-3405	50	16	,	,	PUNCT
app01-3405	50	17	β	β	X
app01-3405	50	18	∈	∈	PROPN
app01-3405	50	19	a	a	PRON
app01-3405	50	20	,	,	PUNCT
app01-3405	50	21	|pα|	|pα|	PUNCT
app01-3405	50	22	=	=	SYM
app01-3405	51	1	|pβ	|pβ	X
app01-3405	52	1	|	|	ADV
app01-3405	52	2	.	.	PUNCT
app01-3405	53	1	the	the	DET
app01-3405	53	2	noop	noop	NOUN
app01-3405	53	3	actions	action	NOUN
app01-3405	53	4	mean	mean	VERB
app01-3405	53	5	that	that	SCONJ
app01-3405	53	6	the	the	DET
app01-3405	53	7	agent	agent	NOUN
app01-3405	53	8	is	be	AUX
app01-3405	53	9	idle	idle	ADJ
app01-3405	53	10	in	in	ADP
app01-3405	53	11	the	the	DET
app01-3405	53	12	respective	respective	ADJ
app01-3405	53	13	timestep	timestep	NOUN
app01-3405	53	14	.	.	PUNCT
app01-3405	54	1	(	(	PUNCT
app01-3405	54	2	a	a	X
app01-3405	54	3	)	)	PUNCT
app01-3405	54	4	for	for	ADP
app01-3405	54	5	each	each	DET
app01-3405	54	6	time	time	NOUN
app01-3405	54	7	-	-	PUNCT
app01-3405	54	8	step	step	NOUN
app01-3405	54	9	tk	tk	NOUN
app01-3405	54	10	where	where	SCONJ
app01-3405	54	11	k	k	PROPN
app01-3405	54	12	∈	∈	PROPN
app01-3405	54	13	〈	〈	PROPN
app01-3405	54	14	1	1	NUM
app01-3405	54	15	,	,	PUNCT
app01-3405	54	16	...	...	PUNCT
app01-3405	54	17	,	,	PUNCT
app01-3405	54	18	|pα|	|pα|	PROPN
app01-3405	54	19	〉	〉	NUM
app01-3405	54	20	,	,	PUNCT
app01-3405	54	21	actions	action	NOUN
app01-3405	54	22	ai	ai	VERB
app01-3405	54	23	=	=	ADJ
app01-3405	54	24	pαi	pαi	PROPN
app01-3405	55	1	[	[	X
app01-3405	55	2	tk	tk	X
app01-3405	55	3	]	]	X
app01-3405	55	4	for	for	ADP
app01-3405	55	5	all	all	PRON
app01-3405	55	6	i	i	PRON
app01-3405	55	7	∈	∈	PROPN
app01-3405	55	8	〈	〈	PROPN
app01-3405	55	9	1	1	NUM
app01-3405	55	10	,	,	PUNCT
app01-3405	55	11	...	...	PUNCT
app01-3405	55	12	,	,	PUNCT
app01-3405	55	13	|a|〉are	|a|〉are	VERB
app01-3405	55	14	not	not	PART
app01-3405	55	15	mutually	mutually	ADV
app01-3405	55	16	exclusive	exclusive	ADJ
app01-3405	55	17	.	.	PUNCT
app01-3405	56	1	(	(	PUNCT
app01-3405	56	2	b	b	X
app01-3405	56	3	)	)	PUNCT
app01-3405	56	4	all	all	DET
app01-3405	56	5	actions	action	NOUN
app01-3405	56	6	in	in	ADP
app01-3405	56	7	time	time	NOUN
app01-3405	56	8	-	-	PUNCT
app01-3405	56	9	step	step	NOUN
app01-3405	56	10	t1	t1	NOUN
app01-3405	56	11	are	be	AUX
app01-3405	56	12	applicable	applicable	ADJ
app01-3405	56	13	in	in	ADP
app01-3405	56	14	the	the	DET
app01-3405	56	15	initial	initial	ADJ
app01-3405	56	16	state	state	NOUN
app01-3405	56	17	,	,	PUNCT
app01-3405	56	18	for	for	ADP
app01-3405	56	19	all	all	DET
app01-3405	56	20	time	time	NOUN
app01-3405	56	21	-	-	PUNCT
app01-3405	56	22	steps	step	NOUN
app01-3405	56	23	tk	tk	NOUN
app01-3405	56	24	where	where	SCONJ
app01-3405	56	25	k	k	PROPN
app01-3405	56	26	∈	∈	PROPN
app01-3405	56	27	〈	〈	PROPN
app01-3405	56	28	2	2	NUM
app01-3405	56	29	,	,	PUNCT
app01-3405	56	30	...	...	PUNCT
app01-3405	56	31	,	,	PUNCT
app01-3405	56	32	|pα|	|pα|	PROPN
app01-3405	56	33	〉	〉	NUM
app01-3405	56	34	,	,	PUNCT
app01-3405	56	35	actions	action	NOUN
app01-3405	56	36	in	in	ADP
app01-3405	56	37	tk	tk	PROPN
app01-3405	56	38	are	be	AUX
app01-3405	56	39	applicable	applicable	ADJ
app01-3405	56	40	in	in	ADP
app01-3405	56	41	the	the	DET
app01-3405	56	42	state	state	NOUN
app01-3405	56	43	resulting	result	VERB
app01-3405	56	44	from	from	ADP
app01-3405	56	45	time	time	NOUN
app01-3405	56	46	-	-	PUNCT
app01-3405	56	47	step	step	NOUN
app01-3405	56	48	tk−1	tk−1	ADV
app01-3405	56	49	and	and	CCONJ
app01-3405	56	50	the	the	DET
app01-3405	56	51	state	state	NOUN
app01-3405	56	52	resulting	result	VERB
app01-3405	56	53	from	from	ADP
app01-3405	56	54	time	time	NOUN
app01-3405	56	55	-	-	PUNCT
app01-3405	56	56	step	step	NOUN
app01-3405	56	57	t|pα|	t|pα|	PUNCT
app01-3405	56	58	is	be	AUX
app01-3405	56	59	in	in	ADP
app01-3405	56	60	the	the	DET
app01-3405	56	61	set	set	NOUN
app01-3405	56	62	of	of	ADP
app01-3405	56	63	goal	goal	NOUN
app01-3405	56	64	states	state	VERB
app01-3405	56	65	sg	sg	PROPN
app01-3405	56	66	.	.	PUNCT
app01-3405	57	1	since	since	SCONJ
app01-3405	57	2	all	all	DET
app01-3405	57	3	the	the	DET
app01-3405	57	4	plans	plan	NOUN
app01-3405	57	5	are	be	AUX
app01-3405	57	6	required	require	VERB
app01-3405	57	7	to	to	PART
app01-3405	57	8	have	have	VERB
app01-3405	57	9	the	the	DET
app01-3405	57	10	same	same	ADJ
app01-3405	57	11	length	length	NOUN
app01-3405	57	12	,	,	PUNCT
app01-3405	57	13	the	the	DET
app01-3405	57	14	ma	ma	PROPN
app01-3405	57	15	plan	plan	NOUN
app01-3405	57	16	can	can	AUX
app01-3405	57	17	be	be	AUX
app01-3405	57	18	represented	represent	VERB
app01-3405	57	19	by	by	ADP
app01-3405	57	20	a	a	DET
app01-3405	57	21	matrix	matrix	NOUN
app01-3405	57	22	,	,	PUNCT
app01-3405	57	23	where	where	SCONJ
app01-3405	57	24	each	each	DET
app01-3405	57	25	row	row	NOUN
app01-3405	57	26	consists	consist	VERB
app01-3405	57	27	of	of	ADP
app01-3405	57	28	a	a	DET
app01-3405	57	29	plan	plan	NOUN
app01-3405	57	30	for	for	ADP
app01-3405	57	31	single	single	ADJ
app01-3405	57	32	agent	agent	NOUN
app01-3405	57	33	and	and	CCONJ
app01-3405	57	34	each	each	DET
app01-3405	57	35	column	column	NOUN
app01-3405	57	36	contains	contain	VERB
app01-3405	57	37	all	all	DET
app01-3405	57	38	actions	action	NOUN
app01-3405	57	39	in	in	ADP
app01-3405	57	40	the	the	DET
app01-3405	57	41	respective	respective	ADJ
app01-3405	57	42	time	time	NOUN
app01-3405	57	43	-	-	PUNCT
app01-3405	57	44	step	step	NOUN
app01-3405	57	45	.	.	PUNCT
app01-3405	58	1	it	it	PRON
app01-3405	58	2	is	be	AUX
app01-3405	58	3	clear	clear	ADJ
app01-3405	58	4	that	that	SCONJ
app01-3405	58	5	the	the	DET
app01-3405	58	6	ma	ma	ADJ
app01-3405	58	7	-	-	PUNCT
app01-3405	58	8	strips	strip	NOUN
app01-3405	58	9	formalism	formalism	NOUN
app01-3405	58	10	is	be	AUX
app01-3405	58	11	very	very	ADV
app01-3405	58	12	simplistic	simplistic	ADJ
app01-3405	58	13	and	and	CCONJ
app01-3405	58	14	minimalistic	minimalistic	ADJ
app01-3405	58	15	extension	extension	NOUN
app01-3405	58	16	and	and	CCONJ
app01-3405	58	17	can	can	AUX
app01-3405	58	18	be	be	AUX
app01-3405	58	19	developed	develop	VERB
app01-3405	58	20	further	far	ADV
app01-3405	58	21	to	to	PART
app01-3405	58	22	accommodate	accommodate	VERB
app01-3405	58	23	various	various	ADJ
app01-3405	58	24	aspects	aspect	NOUN
app01-3405	58	25	of	of	ADP
app01-3405	58	26	the	the	DET
app01-3405	58	27	multiagent	multiagent	NOUN
app01-3405	58	28	systems	system	NOUN
app01-3405	58	29	(	(	PUNCT
app01-3405	58	30	i.e.	i.e.	X
app01-3405	58	31	,	,	PUNCT
app01-3405	58	32	finer	fine	ADJ
app01-3405	58	33	separation	separation	NOUN
app01-3405	58	34	of	of	ADP
app01-3405	58	35	public	public	ADJ
app01-3405	58	36	and	and	CCONJ
app01-3405	58	37	internal	internal	ADJ
app01-3405	58	38	actions	action	NOUN
app01-3405	58	39	,	,	PUNCT
app01-3405	58	40	as	as	SCONJ
app01-3405	58	41	discussed	discuss	VERB
app01-3405	58	42	for	for	ADP
app01-3405	58	43	example	example	NOUN
app01-3405	58	44	in	in	ADP
app01-3405	58	45	[	[	X
app01-3405	58	46	22	22	NUM
app01-3405	58	47	]	]	PUNCT
app01-3405	58	48	)	)	PUNCT
app01-3405	58	49	.	.	PUNCT
app01-3405	59	1	the	the	DET
app01-3405	59	2	philosophy	philosophy	NOUN
app01-3405	59	3	of	of	ADP
app01-3405	59	4	the	the	DET
app01-3405	59	5	formalism	formalism	NOUN
app01-3405	59	6	is	be	AUX
app01-3405	59	7	to	to	PART
app01-3405	59	8	provide	provide	VERB
app01-3405	59	9	the	the	DET
app01-3405	59	10	smallest	small	ADJ
app01-3405	59	11	possible	possible	ADJ
app01-3405	59	12	common	common	ADJ
app01-3405	59	13	ground	ground	NOUN
app01-3405	59	14	and	and	CCONJ
app01-3405	59	15	to	to	PART
app01-3405	59	16	enable	enable	VERB
app01-3405	59	17	the	the	DET
app01-3405	59	18	easiest	easy	ADJ
app01-3405	59	19	possible	possible	ADJ
app01-3405	59	20	migration	migration	NOUN
app01-3405	59	21	of	of	ADP
app01-3405	59	22	the	the	DET
app01-3405	59	23	planning	planning	NOUN
app01-3405	59	24	algorithm	algorithm	NOUN
app01-3405	59	25	to	to	ADP
app01-3405	59	26	the	the	DET
app01-3405	59	27	multiagent	multiagent	NOUN
app01-3405	59	28	setting	setting	NOUN
app01-3405	59	29	.	.	PUNCT
app01-3405	60	1	unlike	unlike	ADP
app01-3405	60	2	in	in	ADP
app01-3405	60	3	many	many	ADJ
app01-3405	60	4	multiagent	multiagent	NOUN
app01-3405	60	5	systems	system	NOUN
app01-3405	60	6	,	,	PUNCT
app01-3405	60	7	the	the	DET
app01-3405	60	8	mastrips	mastrips	PROPN
app01-3405	60	9	formalism	formalism	NOUN
app01-3405	60	10	assumes	assume	VERB
app01-3405	60	11	the	the	DET
app01-3405	60	12	agents	agent	NOUN
app01-3405	60	13	to	to	PART
app01-3405	60	14	be	be	AUX
app01-3405	60	15	fully	fully	ADV
app01-3405	60	16	cooperative	cooperative	ADJ
app01-3405	60	17	.	.	PUNCT
app01-3405	61	1	from	from	ADP
app01-3405	61	2	the	the	DET
app01-3405	61	3	multiagent	multiagent	NOUN
app01-3405	61	4	perspective	perspective	NOUN
app01-3405	61	5	,	,	PUNCT
app01-3405	61	6	this	this	PRON
app01-3405	61	7	may	may	AUX
app01-3405	61	8	seem	seem	VERB
app01-3405	61	9	as	as	ADP
app01-3405	61	10	an	an	DET
app01-3405	61	11	oversimplification	oversimplification	NOUN
app01-3405	61	12	,	,	PUNCT
app01-3405	61	13	but	but	CCONJ
app01-3405	61	14	similarly	similarly	ADV
app01-3405	61	15	to	to	ADP
app01-3405	61	16	the	the	DET
app01-3405	61	17	simplicity	simplicity	NOUN
app01-3405	61	18	of	of	ADP
app01-3405	61	19	the	the	DET
app01-3405	61	20	ma	ma	NOUN
app01-3405	61	21	-	-	PUNCT
app01-3405	61	22	strips	strip	NOUN
app01-3405	61	23	,	,	PUNCT
app01-3405	61	24	we	we	PRON
app01-3405	61	25	argue	argue	VERB
app01-3405	61	26	to	to	ADP
app01-3405	61	27	first	first	ADV
app01-3405	61	28	tackle	tackle	VERB
app01-3405	61	29	the	the	DET
app01-3405	61	30	problems	problem	NOUN
app01-3405	61	31	of	of	ADP
app01-3405	61	32	the	the	DET
app01-3405	61	33	simplest	simple	ADJ
app01-3405	61	34	possible	possible	ADJ
app01-3405	61	35	multiagent	multiagent	NOUN
app01-3405	61	36	extension	extension	NOUN
app01-3405	61	37	–	–	PUNCT
app01-3405	61	38	cooperative	cooperative	ADJ
app01-3405	61	39	agents	agent	NOUN
app01-3405	61	40	–	–	PUNCT
app01-3405	61	41	and	and	CCONJ
app01-3405	61	42	then	then	ADV
app01-3405	61	43	gradually	gradually	ADV
app01-3405	61	44	add	add	VERB
app01-3405	61	45	complexities	complexity	NOUN
app01-3405	61	46	of	of	ADP
app01-3405	61	47	the	the	DET
app01-3405	61	48	multiagent	multiagent	NOUN
app01-3405	61	49	nature	nature	NOUN
app01-3405	61	50	,	,	PUNCT
app01-3405	61	51	such	such	ADJ
app01-3405	61	52	as	as	ADP
app01-3405	61	53	selfish	selfish	ADJ
app01-3405	61	54	agents	agent	NOUN
app01-3405	61	55	,	,	PUNCT
app01-3405	61	56	negotiation	negotiation	NOUN
app01-3405	61	57	and	and	CCONJ
app01-3405	61	58	such	such	ADJ
app01-3405	61	59	.	.	PUNCT
app01-3405	62	1	some	some	DET
app01-3405	62	2	attempts	attempt	NOUN
app01-3405	62	3	have	have	AUX
app01-3405	62	4	already	already	ADV
app01-3405	62	5	been	be	AUX
app01-3405	62	6	taken	take	VERB
app01-3405	62	7	,	,	PUNCT
app01-3405	62	8	for	for	ADP
app01-3405	62	9	example	example	NOUN
app01-3405	62	10	in	in	ADP
app01-3405	62	11	[	[	X
app01-3405	62	12	23	23	NUM
app01-3405	62	13	,	,	PUNCT
app01-3405	62	14	24	24	NUM
app01-3405	62	15	]	]	PUNCT
app01-3405	62	16	.	.	PUNCT
app01-3405	63	1	3	3	X
app01-3405	63	2	.	.	X
app01-3405	63	3	is	be	AUX
app01-3405	63	4	it	it	PRON
app01-3405	63	5	any	any	DET
app01-3405	63	6	good	good	ADJ
app01-3405	63	7	?	?	PUNCT
app01-3405	64	1	the	the	DET
app01-3405	64	2	first	first	ADJ
app01-3405	64	3	question	question	NOUN
app01-3405	64	4	that	that	PRON
app01-3405	64	5	is	be	AUX
app01-3405	64	6	asked	ask	VERB
app01-3405	64	7	after	after	ADP
app01-3405	64	8	introduction	introduction	NOUN
app01-3405	64	9	of	of	ADP
app01-3405	64	10	some	some	DET
app01-3405	64	11	new	new	ADJ
app01-3405	64	12	or	or	CCONJ
app01-3405	64	13	nonstandard	nonstandard	ADJ
app01-3405	64	14	paradigm	paradigm	NOUN
app01-3405	64	15	is	be	AUX
app01-3405	64	16	–	–	PUNCT
app01-3405	64	17	what	what	PRON
app01-3405	64	18	is	be	AUX
app01-3405	64	19	it	it	PRON
app01-3405	64	20	good	good	ADJ
app01-3405	64	21	for	for	ADP
app01-3405	64	22	?	?	PUNCT
app01-3405	65	1	how	how	SCONJ
app01-3405	65	2	does	do	AUX
app01-3405	65	3	it	it	PRON
app01-3405	65	4	help	help	VERB
app01-3405	65	5	us	we	PRON
app01-3405	65	6	?	?	PUNCT
app01-3405	66	1	in	in	ADP
app01-3405	66	2	this	this	DET
app01-3405	66	3	paper	paper	NOUN
app01-3405	66	4	,	,	PUNCT
app01-3405	66	5	we	we	PRON
app01-3405	66	6	would	would	AUX
app01-3405	66	7	like	like	VERB
app01-3405	66	8	to	to	PART
app01-3405	66	9	ask	ask	VERB
app01-3405	66	10	such	such	ADJ
app01-3405	66	11	questions	question	NOUN
app01-3405	66	12	and	and	CCONJ
app01-3405	66	13	try	try	VERB
app01-3405	66	14	to	to	PART
app01-3405	66	15	come	come	VERB
app01-3405	66	16	up	up	ADP
app01-3405	66	17	with	with	ADP
app01-3405	66	18	some	some	DET
app01-3405	66	19	answers	answer	NOUN
app01-3405	66	20	.	.	PUNCT
app01-3405	67	1	from	from	ADP
app01-3405	67	2	the	the	DET
app01-3405	67	3	multiagent	multiagent	NOUN
app01-3405	67	4	point	point	NOUN
app01-3405	67	5	of	of	ADP
app01-3405	67	6	view	view	NOUN
app01-3405	67	7	,	,	PUNCT
app01-3405	67	8	we	we	PRON
app01-3405	67	9	can	can	AUX
app01-3405	67	10	see	see	VERB
app01-3405	67	11	significant	significant	ADJ
app01-3405	67	12	benefits	benefit	NOUN
app01-3405	67	13	of	of	ADP
app01-3405	67	14	introducing	introduce	VERB
app01-3405	67	15	domainindependent	domainindependent	ADJ
app01-3405	67	16	planning	planning	NOUN
app01-3405	67	17	into	into	ADP
app01-3405	67	18	multiagent	multiagent	NOUN
app01-3405	67	19	systems	system	NOUN
app01-3405	67	20	,	,	PUNCT
app01-3405	67	21	namely	namely	ADV
app01-3405	67	22	reuse	reuse	NOUN
app01-3405	67	23	of	of	ADP
app01-3405	67	24	the	the	DET
app01-3405	67	25	wide	wide	ADJ
app01-3405	67	26	spectrum	spectrum	NOUN
app01-3405	67	27	of	of	ADP
app01-3405	67	28	planning	planning	NOUN
app01-3405	67	29	systems	system	NOUN
app01-3405	67	30	and	and	CCONJ
app01-3405	67	31	techniques	technique	NOUN
app01-3405	67	32	from	from	ADP
app01-3405	67	33	the	the	DET
app01-3405	67	34	area	area	NOUN
app01-3405	67	35	of	of	ADP
app01-3405	67	36	classical	classical	ADJ
app01-3405	67	37	planning	planning	NOUN
app01-3405	67	38	.	.	PUNCT
app01-3405	68	1	on	on	ADP
app01-3405	68	2	the	the	DET
app01-3405	68	3	other	other	ADJ
app01-3405	68	4	hand	hand	NOUN
app01-3405	68	5	,	,	PUNCT
app01-3405	68	6	the	the	DET
app01-3405	68	7	drawback	drawback	NOUN
app01-3405	68	8	of	of	ADP
app01-3405	68	9	ma	ma	NOUN
app01-3405	68	10	-	-	PUNCT
app01-3405	68	11	strips	strip	NOUN
app01-3405	68	12	for	for	ADP
app01-3405	68	13	the	the	DET
app01-3405	68	14	multiagent	multiagent	NOUN
app01-3405	68	15	setting	setting	NOUN
app01-3405	68	16	is	be	AUX
app01-3405	68	17	that	that	SCONJ
app01-3405	68	18	it	it	PRON
app01-3405	68	19	requires	require	VERB
app01-3405	68	20	cooperation	cooperation	NOUN
app01-3405	68	21	among	among	ADP
app01-3405	68	22	the	the	DET
app01-3405	68	23	agents	agent	NOUN
app01-3405	68	24	.	.	PUNCT
app01-3405	69	1	this	this	PRON
app01-3405	69	2	can	can	AUX
app01-3405	69	3	be	be	AUX
app01-3405	69	4	mitigated	mitigate	VERB
app01-3405	69	5	in	in	ADP
app01-3405	69	6	future	future	NOUN
app01-3405	69	7	by	by	ADP
app01-3405	69	8	means	mean	NOUN
app01-3405	69	9	such	such	ADJ
app01-3405	69	10	as	as	ADP
app01-3405	69	11	mechanism	mechanism	NOUN
app01-3405	69	12	design	design	NOUN
app01-3405	69	13	,	,	PUNCT
app01-3405	69	14	as	as	SCONJ
app01-3405	69	15	shown	show	VERB
app01-3405	69	16	in	in	ADP
app01-3405	69	17	[	[	X
app01-3405	69	18	24	24	NUM
app01-3405	69	19	]	]	PUNCT
app01-3405	69	20	.	.	PUNCT
app01-3405	70	1	52	52	NUM
app01-3405	70	2	vol	vol	NOUN
app01-3405	70	3	.	.	PUNCT
app01-3405	71	1	2/2015	2/2015	NUM
app01-3405	71	2	a	a	DET
app01-3405	71	3	case	case	NOUN
app01-3405	71	4	for	for	ADP
app01-3405	71	5	domain	domain	NOUN
app01-3405	71	6	-	-	PUNCT
app01-3405	71	7	independent	independent	ADJ
app01-3405	71	8	deterministic	deterministic	ADJ
app01-3405	71	9	multiagent	multiagent	NOUN
app01-3405	71	10	planning	planning	NOUN
app01-3405	71	11	in	in	ADP
app01-3405	71	12	the	the	DET
app01-3405	71	13	following	follow	VERB
app01-3405	71	14	section	section	NOUN
app01-3405	71	15	,	,	PUNCT
app01-3405	71	16	we	we	PRON
app01-3405	71	17	will	will	AUX
app01-3405	71	18	present	present	VERB
app01-3405	71	19	some	some	PRON
app01-3405	71	20	of	of	ADP
app01-3405	71	21	the	the	DET
app01-3405	71	22	benefits	benefit	NOUN
app01-3405	71	23	we	we	PRON
app01-3405	71	24	suggest	suggest	VERB
app01-3405	71	25	that	that	SCONJ
app01-3405	71	26	multiagent	multiagent	NOUN
app01-3405	71	27	planning	planning	NOUN
app01-3405	71	28	may	may	AUX
app01-3405	71	29	bring	bring	VERB
app01-3405	71	30	to	to	ADP
app01-3405	71	31	the	the	DET
app01-3405	71	32	area	area	NOUN
app01-3405	71	33	of	of	ADP
app01-3405	71	34	planning	planning	NOUN
app01-3405	71	35	in	in	ADP
app01-3405	71	36	general	general	ADJ
app01-3405	71	37	.	.	PUNCT
app01-3405	72	1	3.1	3.1	NUM
app01-3405	72	2	.	.	X
app01-3405	72	3	improve	improve	VERB
app01-3405	72	4	scalability	scalability	NOUN
app01-3405	72	5	by	by	ADP
app01-3405	72	6	decomposition	decomposition	NOUN
app01-3405	72	7	although	although	SCONJ
app01-3405	72	8	being	be	AUX
app01-3405	72	9	largely	largely	ADV
app01-3405	72	10	improved	improve	VERB
app01-3405	72	11	in	in	ADP
app01-3405	72	12	recent	recent	ADJ
app01-3405	72	13	years	year	NOUN
app01-3405	72	14	,	,	PUNCT
app01-3405	72	15	scalability	scalability	NOUN
app01-3405	72	16	is	be	AUX
app01-3405	72	17	still	still	ADV
app01-3405	72	18	an	an	DET
app01-3405	72	19	issue	issue	NOUN
app01-3405	72	20	for	for	ADP
app01-3405	72	21	domain	domain	NOUN
app01-3405	72	22	-	-	PUNCT
app01-3405	72	23	independent	independent	ADJ
app01-3405	72	24	planning	planning	NOUN
app01-3405	72	25	.	.	PUNCT
app01-3405	73	1	multiagent	multiagent	NOUN
app01-3405	73	2	planning	planning	NOUN
app01-3405	73	3	can	can	AUX
app01-3405	73	4	be	be	AUX
app01-3405	73	5	seen	see	VERB
app01-3405	73	6	as	as	ADP
app01-3405	73	7	a	a	DET
app01-3405	73	8	method	method	NOUN
app01-3405	73	9	of	of	ADP
app01-3405	73	10	factorization	factorization	NOUN
app01-3405	73	11	of	of	ADP
app01-3405	73	12	the	the	DET
app01-3405	73	13	planning	planning	NOUN
app01-3405	73	14	problems	problem	NOUN
app01-3405	73	15	,	,	PUNCT
app01-3405	73	16	which	which	PRON
app01-3405	73	17	has	have	AUX
app01-3405	73	18	been	be	AUX
app01-3405	73	19	studied	study	VERB
app01-3405	73	20	in	in	ADP
app01-3405	73	21	works	work	NOUN
app01-3405	73	22	such	such	ADJ
app01-3405	73	23	as	as	ADP
app01-3405	73	24	[	[	X
app01-3405	73	25	25	25	NUM
app01-3405	73	26	,	,	PUNCT
app01-3405	73	27	26	26	NUM
app01-3405	73	28	]	]	PUNCT
app01-3405	73	29	.	.	PUNCT
app01-3405	74	1	it	it	PRON
app01-3405	74	2	has	have	AUX
app01-3405	74	3	been	be	AUX
app01-3405	74	4	shown	show	VERB
app01-3405	74	5	that	that	DET
app01-3405	74	6	factorization	factorization	NOUN
app01-3405	74	7	of	of	ADP
app01-3405	74	8	the	the	DET
app01-3405	74	9	planning	planning	NOUN
app01-3405	74	10	problem	problem	NOUN
app01-3405	74	11	can	can	AUX
app01-3405	74	12	be	be	AUX
app01-3405	74	13	beneficial	beneficial	ADJ
app01-3405	74	14	,	,	PUNCT
app01-3405	74	15	especially	especially	ADV
app01-3405	74	16	in	in	ADP
app01-3405	74	17	the	the	DET
app01-3405	74	18	problems	problem	NOUN
app01-3405	74	19	,	,	PUNCT
app01-3405	74	20	where	where	SCONJ
app01-3405	74	21	it	it	PRON
app01-3405	74	22	is	be	AUX
app01-3405	74	23	possible	possible	ADJ
app01-3405	74	24	to	to	PART
app01-3405	74	25	find	find	VERB
app01-3405	74	26	large	large	ADJ
app01-3405	74	27	independent	independent	ADJ
app01-3405	74	28	parts	part	NOUN
app01-3405	74	29	–	–	PUNCT
app01-3405	74	30	loosely	loosely	ADV
app01-3405	74	31	coupled	couple	VERB
app01-3405	74	32	problems	problem	NOUN
app01-3405	74	33	.	.	PUNCT
app01-3405	75	1	take	take	VERB
app01-3405	75	2	for	for	ADP
app01-3405	75	3	example	example	NOUN
app01-3405	75	4	the	the	DET
app01-3405	75	5	rovers	rover	NOUN
app01-3405	75	6	domain	domain	VERB
app01-3405	75	7	with	with	ADP
app01-3405	75	8	several	several	ADJ
app01-3405	75	9	rovers	rover	NOUN
app01-3405	75	10	.	.	PUNCT
app01-3405	76	1	the	the	DET
app01-3405	76	2	problem	problem	NOUN
app01-3405	76	3	may	may	AUX
app01-3405	76	4	be	be	AUX
app01-3405	76	5	factored	factor	VERB
app01-3405	76	6	in	in	ADP
app01-3405	76	7	such	such	DET
app01-3405	76	8	a	a	DET
app01-3405	76	9	way	way	NOUN
app01-3405	76	10	that	that	PRON
app01-3405	76	11	the	the	DET
app01-3405	76	12	rovers	rover	NOUN
app01-3405	76	13	do	do	AUX
app01-3405	76	14	not	not	PART
app01-3405	76	15	need	need	VERB
app01-3405	76	16	to	to	PART
app01-3405	76	17	coordinate	coordinate	VERB
app01-3405	76	18	,	,	PUNCT
app01-3405	76	19	except	except	SCONJ
app01-3405	76	20	for	for	ADP
app01-3405	76	21	the	the	DET
app01-3405	76	22	last	last	ADJ
app01-3405	76	23	bit	bit	NOUN
app01-3405	76	24	,	,	PUNCT
app01-3405	76	25	where	where	SCONJ
app01-3405	76	26	they	they	PRON
app01-3405	76	27	use	use	VERB
app01-3405	76	28	shared	shared	ADJ
app01-3405	76	29	communication	communication	NOUN
app01-3405	76	30	channel	channel	NOUN
app01-3405	76	31	to	to	PART
app01-3405	76	32	communicate	communicate	VERB
app01-3405	76	33	the	the	DET
app01-3405	76	34	result	result	NOUN
app01-3405	76	35	.	.	PUNCT
app01-3405	77	1	in	in	ADP
app01-3405	77	2	such	such	DET
app01-3405	77	3	a	a	DET
app01-3405	77	4	case	case	NOUN
app01-3405	77	5	,	,	PUNCT
app01-3405	77	6	most	most	ADJ
app01-3405	77	7	of	of	ADP
app01-3405	77	8	the	the	DET
app01-3405	77	9	planning	planning	NOUN
app01-3405	77	10	can	can	AUX
app01-3405	77	11	be	be	AUX
app01-3405	77	12	done	do	VERB
app01-3405	77	13	independently	independently	ADV
app01-3405	77	14	(	(	PUNCT
app01-3405	77	15	even	even	ADV
app01-3405	77	16	on	on	ADP
app01-3405	77	17	different	different	ADJ
app01-3405	77	18	machines	machine	NOUN
app01-3405	77	19	)	)	PUNCT
app01-3405	77	20	,	,	PUNCT
app01-3405	77	21	however	however	ADV
app01-3405	77	22	some	some	DET
app01-3405	77	23	coordination	coordination	NOUN
app01-3405	77	24	is	be	AUX
app01-3405	77	25	needed	need	VERB
app01-3405	77	26	here	here	ADV
app01-3405	77	27	(	(	PUNCT
app01-3405	77	28	it	it	PRON
app01-3405	77	29	is	be	AUX
app01-3405	77	30	not	not	PART
app01-3405	77	31	possible	possible	ADJ
app01-3405	77	32	to	to	PART
app01-3405	77	33	simply	simply	ADV
app01-3405	77	34	run	run	VERB
app01-3405	77	35	several	several	ADJ
app01-3405	77	36	classical	classical	ADJ
app01-3405	77	37	planners	planner	NOUN
app01-3405	77	38	in	in	ADP
app01-3405	77	39	parallel	parallel	NOUN
app01-3405	77	40	)	)	PUNCT
app01-3405	77	41	.	.	PUNCT
app01-3405	78	1	this	this	PRON
app01-3405	78	2	is	be	AUX
app01-3405	78	3	a	a	DET
app01-3405	78	4	case	case	NOUN
app01-3405	78	5	for	for	ADP
app01-3405	78	6	multiagent	multiagent	NOUN
app01-3405	78	7	planning	planning	NOUN
app01-3405	78	8	.	.	PUNCT
app01-3405	79	1	given	give	VERB
app01-3405	79	2	a	a	DET
app01-3405	79	3	single	single	ADJ
app01-3405	79	4	agent	agent	NOUN
app01-3405	79	5	problem	problem	NOUN
app01-3405	79	6	(	(	PUNCT
app01-3405	79	7	e.g.	e.g.	ADV
app01-3405	79	8	from	from	ADP
app01-3405	79	9	the	the	DET
app01-3405	79	10	ipc	ipc	PROPN
app01-3405	79	11	benchmark	benchmark	PROPN
app01-3405	79	12	set	set	PROPN
app01-3405	79	13	)	)	PUNCT
app01-3405	79	14	,	,	PUNCT
app01-3405	79	15	it	it	PRON
app01-3405	79	16	is	be	AUX
app01-3405	79	17	not	not	PART
app01-3405	79	18	obvious	obvious	ADJ
app01-3405	79	19	what	what	PRON
app01-3405	79	20	entities	entity	NOUN
app01-3405	79	21	should	should	AUX
app01-3405	79	22	be	be	AUX
app01-3405	79	23	considered	consider	VERB
app01-3405	79	24	as	as	ADP
app01-3405	79	25	agents	agent	NOUN
app01-3405	79	26	and	and	CCONJ
app01-3405	79	27	how	how	SCONJ
app01-3405	79	28	the	the	DET
app01-3405	79	29	factorization	factorization	NOUN
app01-3405	79	30	should	should	AUX
app01-3405	79	31	be	be	AUX
app01-3405	79	32	done	do	VERB
app01-3405	79	33	.	.	PUNCT
app01-3405	80	1	in	in	ADP
app01-3405	80	2	ma	ma	PROPN
app01-3405	80	3	-	-	PUNCT
app01-3405	80	4	strips	strip	NOUN
app01-3405	80	5	,	,	PUNCT
app01-3405	80	6	the	the	DET
app01-3405	80	7	first	first	ADJ
app01-3405	80	8	question	question	NOUN
app01-3405	80	9	is	be	AUX
app01-3405	80	10	not	not	PART
app01-3405	80	11	answered	answer	VERB
app01-3405	80	12	,	,	PUNCT
app01-3405	80	13	but	but	CCONJ
app01-3405	80	14	the	the	DET
app01-3405	80	15	second	second	ADJ
app01-3405	80	16	one	one	NOUN
app01-3405	80	17	has	have	VERB
app01-3405	80	18	some	some	DET
app01-3405	80	19	theoretical	theoretical	ADJ
app01-3405	80	20	background	background	NOUN
app01-3405	80	21	.	.	PUNCT
app01-3405	81	1	once	once	SCONJ
app01-3405	81	2	the	the	DET
app01-3405	81	3	actions	action	NOUN
app01-3405	81	4	are	be	AUX
app01-3405	81	5	assigned	assign	VERB
app01-3405	81	6	to	to	ADP
app01-3405	81	7	agents	agent	NOUN
app01-3405	81	8	,	,	PUNCT
app01-3405	81	9	the	the	DET
app01-3405	81	10	factorization	factorization	NOUN
app01-3405	81	11	is	be	AUX
app01-3405	81	12	based	base	VERB
app01-3405	81	13	on	on	ADP
app01-3405	81	14	the	the	DET
app01-3405	81	15	interactions	interaction	NOUN
app01-3405	81	16	among	among	ADP
app01-3405	81	17	the	the	DET
app01-3405	81	18	agents	agent	NOUN
app01-3405	81	19	’	'	PUNCT
app01-3405	81	20	actions	action	NOUN
app01-3405	81	21	,	,	PUNCT
app01-3405	81	22	effectively	effectively	ADV
app01-3405	81	23	meaning	mean	VERB
app01-3405	81	24	that	that	SCONJ
app01-3405	81	25	it	it	PRON
app01-3405	81	26	is	be	AUX
app01-3405	81	27	based	base	VERB
app01-3405	81	28	on	on	ADP
app01-3405	81	29	the	the	DET
app01-3405	81	30	causal	causal	ADJ
app01-3405	81	31	graphs	graph	NOUN
app01-3405	81	32	of	of	ADP
app01-3405	81	33	the	the	DET
app01-3405	81	34	problem	problem	NOUN
app01-3405	81	35	(	(	PUNCT
app01-3405	81	36	as	as	ADP
app01-3405	81	37	in	in	ADP
app01-3405	81	38	[	[	PUNCT
app01-3405	81	39	11	11	NUM
app01-3405	81	40	]	]	NUM
app01-3405	81	41	)	)	PUNCT
app01-3405	81	42	,	,	PUNCT
app01-3405	81	43	the	the	DET
app01-3405	81	44	factoring	factoring	NOUN
app01-3405	81	45	is	be	AUX
app01-3405	81	46	one	one	NUM
app01-3405	81	47	of	of	ADP
app01-3405	81	48	the	the	DET
app01-3405	81	49	best	well	ADV
app01-3405	81	50	known	know	VERB
app01-3405	81	51	to	to	ADP
app01-3405	81	52	date	date	NOUN
app01-3405	81	53	,	,	PUNCT
app01-3405	81	54	as	as	SCONJ
app01-3405	81	55	shown	show	VERB
app01-3405	81	56	in	in	ADP
app01-3405	81	57	[	[	X
app01-3405	81	58	25	25	NUM
app01-3405	81	59	]	]	PUNCT
app01-3405	81	60	.	.	PUNCT
app01-3405	82	1	still	still	ADV
app01-3405	82	2	,	,	PUNCT
app01-3405	82	3	how	how	SCONJ
app01-3405	82	4	to	to	PART
app01-3405	82	5	best	good	ADJ
app01-3405	82	6	assign	assign	VERB
app01-3405	82	7	actions	action	NOUN
app01-3405	82	8	to	to	ADP
app01-3405	82	9	agents	agent	NOUN
app01-3405	82	10	is	be	AUX
app01-3405	82	11	an	an	DET
app01-3405	82	12	open	open	ADJ
app01-3405	82	13	question	question	NOUN
app01-3405	82	14	.	.	PUNCT
app01-3405	83	1	in	in	ADP
app01-3405	83	2	the	the	DET
app01-3405	83	3	fmap	fmap	NOUN
app01-3405	83	4	planner	planner	NOUN
app01-3405	83	5	[	[	X
app01-3405	83	6	17	17	NUM
app01-3405	83	7	,	,	PUNCT
app01-3405	83	8	27	27	NUM
app01-3405	83	9	]	]	PUNCT
app01-3405	83	10	formalism	formalism	NOUN
app01-3405	83	11	,	,	PUNCT
app01-3405	83	12	the	the	DET
app01-3405	83	13	actions	action	NOUN
app01-3405	83	14	are	be	AUX
app01-3405	83	15	assigned	assign	VERB
app01-3405	83	16	to	to	ADP
app01-3405	83	17	agents	agent	NOUN
app01-3405	83	18	by	by	ADP
app01-3405	83	19	the	the	DET
app01-3405	83	20	domain	domain	NOUN
app01-3405	83	21	designer	designer	NOUN
app01-3405	83	22	,	,	PUNCT
app01-3405	83	23	as	as	SCONJ
app01-3405	83	24	is	be	AUX
app01-3405	83	25	the	the	DET
app01-3405	83	26	separation	separation	NOUN
app01-3405	83	27	of	of	ADP
app01-3405	83	28	private	private	ADJ
app01-3405	83	29	and	and	CCONJ
app01-3405	83	30	shared	shared	ADJ
app01-3405	83	31	information	information	NOUN
app01-3405	83	32	.	.	PUNCT
app01-3405	84	1	this	this	PRON
app01-3405	84	2	gives	give	VERB
app01-3405	84	3	the	the	DET
app01-3405	84	4	domain	domain	NOUN
app01-3405	84	5	designer	designer	NOUN
app01-3405	84	6	more	more	ADJ
app01-3405	84	7	freedom	freedom	NOUN
app01-3405	84	8	,	,	PUNCT
app01-3405	84	9	but	but	CCONJ
app01-3405	84	10	also	also	ADV
app01-3405	84	11	more	more	ADJ
app01-3405	84	12	responsibility	responsibility	NOUN
app01-3405	84	13	in	in	ADP
app01-3405	84	14	that	that	PRON
app01-3405	84	15	making	make	VERB
app01-3405	84	16	more	more	ADJ
app01-3405	84	17	information	information	NOUN
app01-3405	84	18	public	public	NOUN
app01-3405	84	19	may	may	AUX
app01-3405	84	20	increase	increase	VERB
app01-3405	84	21	the	the	DET
app01-3405	84	22	problem	problem	NOUN
app01-3405	84	23	complexity	complexity	NOUN
app01-3405	84	24	(	(	PUNCT
app01-3405	84	25	as	as	ADP
app01-3405	84	26	the	the	DET
app01-3405	84	27	tree	tree	NOUN
app01-3405	84	28	width	width	NOUN
app01-3405	84	29	of	of	ADP
app01-3405	84	30	interaction	interaction	NOUN
app01-3405	84	31	graph	graph	NOUN
app01-3405	84	32	rises	rise	NOUN
app01-3405	84	33	)	)	PUNCT
app01-3405	84	34	and	and	CCONJ
app01-3405	84	35	making	make	VERB
app01-3405	84	36	less	less	ADJ
app01-3405	84	37	information	information	NOUN
app01-3405	84	38	public	public	NOUN
app01-3405	84	39	may	may	AUX
app01-3405	84	40	render	render	VERB
app01-3405	84	41	the	the	DET
app01-3405	84	42	problem	problem	NOUN
app01-3405	84	43	unsolvable	unsolvable	ADJ
app01-3405	84	44	(	(	PUNCT
app01-3405	84	45	i.e.	i.e.	X
app01-3405	84	46	global	global	ADJ
app01-3405	84	47	solution	solution	NOUN
app01-3405	84	48	may	may	AUX
app01-3405	84	49	not	not	PART
app01-3405	84	50	exist	exist	VERB
app01-3405	84	51	)	)	PUNCT
app01-3405	84	52	.	.	PUNCT
app01-3405	85	1	completely	completely	ADV
app01-3405	85	2	different	different	ADJ
app01-3405	85	3	approach	approach	NOUN
app01-3405	85	4	to	to	ADP
app01-3405	85	5	factorization	factorization	NOUN
app01-3405	85	6	was	be	AUX
app01-3405	85	7	taken	take	VERB
app01-3405	85	8	by	by	ADP
app01-3405	85	9	crosby	crosby	PROPN
app01-3405	85	10	in	in	ADP
app01-3405	85	11	[	[	X
app01-3405	85	12	20	20	NUM
app01-3405	85	13	,	,	PUNCT
app01-3405	85	14	21	21	NUM
app01-3405	85	15	]	]	PUNCT
app01-3405	85	16	,	,	PUNCT
app01-3405	85	17	where	where	SCONJ
app01-3405	85	18	the	the	DET
app01-3405	85	19	factorization	factorization	NOUN
app01-3405	85	20	is	be	AUX
app01-3405	85	21	automatic	automatic	ADJ
app01-3405	85	22	and	and	CCONJ
app01-3405	85	23	based	base	VERB
app01-3405	85	24	on	on	ADP
app01-3405	85	25	the	the	DET
app01-3405	85	26	variables	variable	NOUN
app01-3405	85	27	of	of	ADP
app01-3405	85	28	a	a	DET
app01-3405	85	29	finite	finite	ADJ
app01-3405	85	30	domain	domain	NOUN
app01-3405	85	31	representation	representation	NOUN
app01-3405	85	32	(	(	PUNCT
app01-3405	85	33	fdr	fdr	PROPN
app01-3405	85	34	)	)	PUNCT
app01-3405	85	35	of	of	ADP
app01-3405	85	36	the	the	DET
app01-3405	85	37	planning	planning	NOUN
app01-3405	85	38	problem	problem	NOUN
app01-3405	85	39	.	.	PUNCT
app01-3405	86	1	the	the	DET
app01-3405	86	2	method	method	NOUN
app01-3405	86	3	is	be	AUX
app01-3405	86	4	,	,	PUNCT
app01-3405	86	5	again	again	ADV
app01-3405	86	6	,	,	PUNCT
app01-3405	86	7	based	base	VERB
app01-3405	86	8	on	on	ADP
app01-3405	86	9	causal	causal	ADJ
app01-3405	86	10	graph	graph	NOUN
app01-3405	86	11	structures	structure	NOUN
app01-3405	86	12	and	and	CCONJ
app01-3405	86	13	tries	try	VERB
app01-3405	86	14	to	to	PART
app01-3405	86	15	identify	identify	VERB
app01-3405	86	16	agents	agent	NOUN
app01-3405	86	17	as	as	ADP
app01-3405	86	18	sets	set	NOUN
app01-3405	86	19	of	of	ADP
app01-3405	86	20	variables	variable	NOUN
app01-3405	86	21	which	which	PRON
app01-3405	86	22	are	be	AUX
app01-3405	86	23	somehow	somehow	ADV
app01-3405	86	24	self	self	NOUN
app01-3405	86	25	-	-	PUNCT
app01-3405	86	26	contained	contain	VERB
app01-3405	86	27	and	and	CCONJ
app01-3405	86	28	represent	represent	VERB
app01-3405	86	29	the	the	DET
app01-3405	86	30	agent	agent	NOUN
app01-3405	86	31	’s	’s	PART
app01-3405	86	32	internal	internal	ADJ
app01-3405	86	33	state	state	NOUN
app01-3405	86	34	.	.	PUNCT
app01-3405	87	1	variables	variable	NOUN
app01-3405	87	2	which	which	PRON
app01-3405	87	3	do	do	AUX
app01-3405	87	4	not	not	PART
app01-3405	87	5	form	form	VERB
app01-3405	87	6	an	an	DET
app01-3405	87	7	internal	internal	ADJ
app01-3405	87	8	state	state	NOUN
app01-3405	87	9	of	of	ADP
app01-3405	87	10	any	any	DET
app01-3405	87	11	agent	agent	NOUN
app01-3405	87	12	are	be	AUX
app01-3405	87	13	understood	understand	VERB
app01-3405	87	14	as	as	ADP
app01-3405	87	15	environment	environment	NOUN
app01-3405	87	16	and	and	CCONJ
app01-3405	87	17	thus	thus	ADV
app01-3405	87	18	public	public	ADJ
app01-3405	87	19	variables	variable	NOUN
app01-3405	87	20	.	.	PUNCT
app01-3405	88	1	classification	classification	NOUN
app01-3405	88	2	of	of	ADP
app01-3405	88	3	actions	action	NOUN
app01-3405	88	4	is	be	AUX
app01-3405	88	5	rather	rather	ADV
app01-3405	88	6	more	more	ADV
app01-3405	88	7	complex	complex	ADJ
app01-3405	88	8	than	than	ADP
app01-3405	88	9	in	in	ADP
app01-3405	88	10	ma	ma	NOUN
app01-3405	88	11	-	-	PUNCT
app01-3405	88	12	strips	strip	NOUN
app01-3405	88	13	,	,	PUNCT
app01-3405	88	14	but	but	CCONJ
app01-3405	88	15	can	can	AUX
app01-3405	88	16	be	be	AUX
app01-3405	88	17	summarized	summarize	VERB
app01-3405	88	18	as	as	ADP
app01-3405	88	19	follows	follow	NOUN
app01-3405	88	20	.	.	PUNCT
app01-3405	89	1	actions	action	NOUN
app01-3405	89	2	,	,	PUNCT
app01-3405	89	3	which	which	PRON
app01-3405	89	4	interact	interact	VERB
app01-3405	89	5	only	only	ADV
app01-3405	89	6	with	with	ADP
app01-3405	89	7	the	the	DET
app01-3405	89	8	agent	agent	NOUN
app01-3405	89	9	variables	variable	NOUN
app01-3405	89	10	are	be	AUX
app01-3405	89	11	assigned	assign	VERB
app01-3405	89	12	to	to	ADP
app01-3405	89	13	the	the	DET
app01-3405	89	14	particular	particular	ADJ
app01-3405	89	15	agent	agent	NOUN
app01-3405	89	16	,	,	PUNCT
app01-3405	89	17	other	other	ADJ
app01-3405	89	18	actions	action	NOUN
app01-3405	89	19	are	be	AUX
app01-3405	89	20	left	leave	VERB
app01-3405	89	21	as	as	ADP
app01-3405	89	22	public	public	ADJ
app01-3405	89	23	,	,	PUNCT
app01-3405	89	24	which	which	PRON
app01-3405	89	25	means	mean	VERB
app01-3405	89	26	that	that	SCONJ
app01-3405	89	27	they	they	PRON
app01-3405	89	28	can	can	AUX
app01-3405	89	29	be	be	AUX
app01-3405	89	30	used	use	VERB
app01-3405	89	31	by	by	ADP
app01-3405	89	32	any	any	DET
app01-3405	89	33	agent	agent	NOUN
app01-3405	89	34	.	.	PUNCT
app01-3405	90	1	this	this	DET
app01-3405	90	2	approach	approach	NOUN
app01-3405	90	3	was	be	AUX
app01-3405	90	4	not	not	PART
app01-3405	90	5	shown	show	VERB
app01-3405	90	6	to	to	PART
app01-3405	90	7	increase	increase	VERB
app01-3405	90	8	scalability	scalability	NOUN
app01-3405	90	9	,	,	PUNCT
app01-3405	90	10	but	but	CCONJ
app01-3405	90	11	was	be	AUX
app01-3405	90	12	shown	show	VERB
app01-3405	90	13	to	to	PART
app01-3405	90	14	increase	increase	VERB
app01-3405	90	15	solution	solution	NOUN
app01-3405	90	16	efficiency	efficiency	NOUN
app01-3405	90	17	,	,	PUNCT
app01-3405	90	18	especially	especially	ADV
app01-3405	90	19	in	in	ADP
app01-3405	90	20	some	some	DET
app01-3405	90	21	domains	domain	NOUN
app01-3405	90	22	.	.	PUNCT
app01-3405	91	1	note	note	NOUN
app01-3405	91	2	,	,	PUNCT
app01-3405	91	3	that	that	SCONJ
app01-3405	91	4	crosby	crosby	PROPN
app01-3405	91	5	’s	’s	PART
app01-3405	91	6	approach	approach	NOUN
app01-3405	91	7	was	be	AUX
app01-3405	91	8	implemented	implement	VERB
app01-3405	91	9	as	as	ADP
app01-3405	91	10	a	a	DET
app01-3405	91	11	centralized	centralized	ADJ
app01-3405	91	12	,	,	PUNCT
app01-3405	91	13	single	single	ADJ
app01-3405	91	14	-	-	PUNCT
app01-3405	91	15	thread	thread	NOUN
app01-3405	91	16	planner	planner	NOUN
app01-3405	91	17	.	.	PUNCT
app01-3405	92	1	various	various	ADJ
app01-3405	92	2	kinds	kind	NOUN
app01-3405	92	3	of	of	ADP
app01-3405	92	4	factoring	factoring	NOUN
app01-3405	92	5	,	,	PUNCT
app01-3405	92	6	and	and	CCONJ
app01-3405	92	7	understanding	understanding	NOUN
app01-3405	92	8	gained	gain	VERB
app01-3405	92	9	from	from	ADP
app01-3405	92	10	the	the	DET
app01-3405	92	11	research	research	NOUN
app01-3405	92	12	of	of	ADP
app01-3405	92	13	it	it	PRON
app01-3405	92	14	,	,	PUNCT
app01-3405	92	15	may	may	AUX
app01-3405	92	16	be	be	AUX
app01-3405	92	17	also	also	ADV
app01-3405	92	18	used	use	VERB
app01-3405	92	19	for	for	ADP
app01-3405	92	20	other	other	ADJ
app01-3405	92	21	aspects	aspect	NOUN
app01-3405	92	22	of	of	ADP
app01-3405	92	23	classical	classical	ADJ
app01-3405	92	24	planning	planning	NOUN
app01-3405	92	25	,	,	PUNCT
app01-3405	92	26	such	such	ADJ
app01-3405	92	27	as	as	ADP
app01-3405	92	28	search	search	NOUN
app01-3405	92	29	state	state	NOUN
app01-3405	92	30	pruning	prune	VERB
app01-3405	92	31	[	[	X
app01-3405	92	32	28	28	NUM
app01-3405	92	33	]	]	PUNCT
app01-3405	92	34	.	.	PUNCT
app01-3405	93	1	3.2	3.2	NUM
app01-3405	93	2	.	.	PUNCT
app01-3405	94	1	multi	multi	ADJ
app01-3405	94	2	-	-	ADJ
app01-3405	94	3	core	core	ADJ
app01-3405	94	4	/	/	SYM
app01-3405	94	5	cluster	cluster	NOUN
app01-3405	94	6	computing	computing	NOUN
app01-3405	94	7	planning	planning	NOUN
app01-3405	94	8	on	on	ADP
app01-3405	94	9	multi	multi	ADJ
app01-3405	94	10	-	-	ADJ
app01-3405	94	11	core	core	ADJ
app01-3405	94	12	machines	machine	NOUN
app01-3405	94	13	gained	gain	VERB
app01-3405	94	14	wide	wide	ADJ
app01-3405	94	15	popularity	popularity	NOUN
app01-3405	94	16	and	and	CCONJ
app01-3405	94	17	had	have	VERB
app01-3405	94	18	a	a	DET
app01-3405	94	19	separate	separate	ADJ
app01-3405	94	20	track	track	NOUN
app01-3405	94	21	at	at	ADP
app01-3405	94	22	the	the	DET
app01-3405	94	23	ipc2011	ipc2011	ADJ
app01-3405	94	24	competition	competition	NOUN
app01-3405	94	25	.	.	PUNCT
app01-3405	95	1	it	it	PRON
app01-3405	95	2	is	be	AUX
app01-3405	95	3	definitely	definitely	ADV
app01-3405	95	4	beneficial	beneficial	ADJ
app01-3405	95	5	to	to	PART
app01-3405	95	6	be	be	AUX
app01-3405	95	7	able	able	ADJ
app01-3405	95	8	to	to	PART
app01-3405	95	9	scale	scale	VERB
app01-3405	95	10	the	the	DET
app01-3405	95	11	computation	computation	NOUN
app01-3405	95	12	using	use	VERB
app01-3405	95	13	multiple	multiple	ADJ
app01-3405	95	14	cores	core	NOUN
app01-3405	95	15	.	.	PUNCT
app01-3405	96	1	but	but	CCONJ
app01-3405	96	2	,	,	PUNCT
app01-3405	96	3	if	if	SCONJ
app01-3405	96	4	we	we	PRON
app01-3405	96	5	want	want	VERB
app01-3405	96	6	to	to	PART
app01-3405	96	7	scale	scale	VERB
app01-3405	96	8	the	the	DET
app01-3405	96	9	computation	computation	NOUN
app01-3405	96	10	even	even	ADV
app01-3405	96	11	further	far	ADV
app01-3405	96	12	and	and	CCONJ
app01-3405	96	13	use	use	VERB
app01-3405	96	14	multiple	multiple	ADJ
app01-3405	96	15	machines	machine	NOUN
app01-3405	96	16	,	,	PUNCT
app01-3405	96	17	we	we	PRON
app01-3405	96	18	are	be	AUX
app01-3405	96	19	no	no	ADV
app01-3405	96	20	longer	long	ADV
app01-3405	96	21	able	able	ADJ
app01-3405	96	22	to	to	PART
app01-3405	96	23	use	use	VERB
app01-3405	96	24	shared	shared	ADJ
app01-3405	96	25	memory	memory	NOUN
app01-3405	96	26	(	(	PUNCT
app01-3405	96	27	as	as	ADP
app01-3405	96	28	in	in	ADP
app01-3405	96	29	parallel	parallel	ADJ
app01-3405	96	30	computation	computation	NOUN
app01-3405	96	31	)	)	PUNCT
app01-3405	96	32	.	.	PUNCT
app01-3405	97	1	in	in	ADP
app01-3405	97	2	such	such	ADJ
app01-3405	97	3	case	case	NOUN
app01-3405	97	4	,	,	PUNCT
app01-3405	97	5	approaches	approach	NOUN
app01-3405	97	6	of	of	ADP
app01-3405	97	7	distributed	distribute	VERB
app01-3405	97	8	computing	computing	NOUN
app01-3405	97	9	utilizing	utilize	VERB
app01-3405	97	10	message	message	NOUN
app01-3405	97	11	passing	pass	VERB
app01-3405	97	12	need	need	NOUN
app01-3405	97	13	to	to	PART
app01-3405	97	14	take	take	VERB
app01-3405	97	15	place	place	NOUN
app01-3405	97	16	,	,	PUNCT
app01-3405	97	17	and	and	CCONJ
app01-3405	97	18	multiagent	multiagent	NOUN
app01-3405	97	19	planning	planning	NOUN
app01-3405	97	20	aspires	aspire	VERB
app01-3405	97	21	to	to	PART
app01-3405	97	22	be	be	AUX
app01-3405	97	23	one	one	NUM
app01-3405	97	24	of	of	ADP
app01-3405	97	25	them	they	PRON
app01-3405	97	26	(	(	PUNCT
app01-3405	97	27	although	although	SCONJ
app01-3405	97	28	obviously	obviously	ADV
app01-3405	97	29	not	not	PART
app01-3405	97	30	the	the	DET
app01-3405	97	31	only	only	ADJ
app01-3405	97	32	one	one	NUM
app01-3405	97	33	)	)	PUNCT
app01-3405	97	34	.	.	PUNCT
app01-3405	98	1	in	in	ADP
app01-3405	98	2	this	this	DET
app01-3405	98	3	scenario	scenario	NOUN
app01-3405	98	4	,	,	PUNCT
app01-3405	98	5	multiagent	multiagent	NOUN
app01-3405	98	6	planning	planning	NOUN
app01-3405	98	7	represented	represent	VERB
app01-3405	98	8	by	by	ADP
app01-3405	98	9	ma	ma	PROPN
app01-3405	98	10	-	-	PUNCT
app01-3405	98	11	strips	strip	NOUN
app01-3405	98	12	can	can	AUX
app01-3405	98	13	be	be	AUX
app01-3405	98	14	seen	see	VERB
app01-3405	98	15	as	as	ADP
app01-3405	98	16	an	an	DET
app01-3405	98	17	equivalent	equivalent	NOUN
app01-3405	98	18	for	for	ADP
app01-3405	98	19	distributed	distribute	VERB
app01-3405	98	20	planning	planning	NOUN
app01-3405	98	21	with	with	ADP
app01-3405	98	22	factorization	factorization	NOUN
app01-3405	98	23	fixed	fix	VERB
app01-3405	98	24	by	by	ADP
app01-3405	98	25	the	the	DET
app01-3405	98	26	partitioning	partitioning	NOUN
app01-3405	98	27	of	of	ADP
app01-3405	98	28	actions	action	NOUN
app01-3405	98	29	to	to	ADP
app01-3405	98	30	particular	particular	ADJ
app01-3405	98	31	agents	agent	NOUN
app01-3405	98	32	.	.	PUNCT
app01-3405	99	1	such	such	ADJ
app01-3405	99	2	approach	approach	NOUN
app01-3405	99	3	has	have	AUX
app01-3405	99	4	been	be	AUX
app01-3405	99	5	successfully	successfully	ADV
app01-3405	99	6	tested	test	VERB
app01-3405	99	7	against	against	ADP
app01-3405	99	8	sota	sota	NOUN
app01-3405	99	9	in	in	ADP
app01-3405	99	10	multi	multi	ADJ
app01-3405	99	11	-	-	ADJ
app01-3405	99	12	core	core	ADJ
app01-3405	99	13	planning	planning	NOUN
app01-3405	99	14	in	in	ADP
app01-3405	99	15	[	[	X
app01-3405	99	16	14	14	NUM
app01-3405	99	17	]	]	PUNCT
app01-3405	99	18	as	as	ADP
app01-3405	99	19	a	a	DET
app01-3405	99	20	parallel	parallel	ADJ
app01-3405	99	21	version	version	NOUN
app01-3405	99	22	of	of	ADP
app01-3405	99	23	mad	mad	ADJ
app01-3405	99	24	-	-	PUNCT
app01-3405	99	25	a	a	NOUN
app01-3405	99	26	*	*	PUNCT
app01-3405	99	27	,	,	PUNCT
app01-3405	99	28	called	call	VERB
app01-3405	99	29	map	map	NOUN
app01-3405	99	30	-	-	PUNCT
app01-3405	99	31	a	a	NOUN
app01-3405	99	32	*	*	NOUN
app01-3405	99	33	.	.	PUNCT
app01-3405	100	1	again	again	ADV
app01-3405	100	2	,	,	PUNCT
app01-3405	100	3	the	the	DET
app01-3405	100	4	question	question	NOUN
app01-3405	100	5	of	of	ADP
app01-3405	100	6	best	good	ADJ
app01-3405	100	7	factorization	factorization	NOUN
app01-3405	100	8	arises	arise	VERB
app01-3405	100	9	here	here	ADV
app01-3405	100	10	,	,	PUNCT
app01-3405	100	11	with	with	ADP
app01-3405	100	12	the	the	DET
app01-3405	100	13	crosby	crosby	PROPN
app01-3405	100	14	’s	’s	PART
app01-3405	100	15	variable	variable	ADJ
app01-3405	100	16	based	base	VERB
app01-3405	100	17	factorization	factorization	NOUN
app01-3405	100	18	being	be	AUX
app01-3405	100	19	another	another	DET
app01-3405	100	20	candidate	candidate	NOUN
app01-3405	100	21	,	,	PUNCT
app01-3405	100	22	however	however	ADV
app01-3405	100	23	never	never	ADV
app01-3405	100	24	tested	test	VERB
app01-3405	100	25	in	in	ADP
app01-3405	100	26	a	a	DET
app01-3405	100	27	distributed	distribute	VERB
app01-3405	100	28	system	system	NOUN
app01-3405	100	29	.	.	PUNCT
app01-3405	101	1	3.3	3.3	NUM
app01-3405	101	2	.	.	PUNCT
app01-3405	102	1	privacy	privacy	NOUN
app01-3405	102	2	in	in	ADP
app01-3405	102	3	multiagent	multiagent	NOUN
app01-3405	102	4	systems	system	NOUN
app01-3405	102	5	,	,	PUNCT
app01-3405	102	6	privacy	privacy	NOUN
app01-3405	102	7	of	of	ADP
app01-3405	102	8	the	the	DET
app01-3405	102	9	data	datum	NOUN
app01-3405	102	10	is	be	AUX
app01-3405	102	11	often	often	ADV
app01-3405	102	12	one	one	NUM
app01-3405	102	13	of	of	ADP
app01-3405	102	14	the	the	DET
app01-3405	102	15	main	main	ADJ
app01-3405	102	16	concerns	concern	NOUN
app01-3405	102	17	.	.	PUNCT
app01-3405	103	1	in	in	ADP
app01-3405	103	2	ma	ma	PROPN
app01-3405	103	3	-	-	PUNCT
app01-3405	103	4	strips	strips	NOUN
app01-3405	103	5	-	-	PUNCT
app01-3405	103	6	based	base	VERB
app01-3405	103	7	multiagent	multiagent	NOUN
app01-3405	103	8	planning	planning	NOUN
app01-3405	103	9	,	,	PUNCT
app01-3405	103	10	this	this	DET
app01-3405	103	11	requirement	requirement	NOUN
app01-3405	103	12	is	be	AUX
app01-3405	103	13	not	not	PART
app01-3405	103	14	one	one	NUM
app01-3405	103	15	of	of	ADP
app01-3405	103	16	the	the	DET
app01-3405	103	17	top	top	ADJ
app01-3405	103	18	priorities	priority	NOUN
app01-3405	103	19	–	–	PUNCT
app01-3405	103	20	the	the	DET
app01-3405	103	21	privacy	privacy	NOUN
app01-3405	103	22	(	(	PUNCT
app01-3405	103	23	or	or	CCONJ
app01-3405	103	24	internality	internality	NOUN
app01-3405	103	25	)	)	PUNCT
app01-3405	103	26	of	of	ADP
app01-3405	103	27	the	the	DET
app01-3405	103	28	propositions	proposition	NOUN
app01-3405	103	29	and	and	CCONJ
app01-3405	103	30	actions	action	NOUN
app01-3405	103	31	is	be	AUX
app01-3405	103	32	understood	understand	VERB
app01-3405	103	33	rather	rather	ADV
app01-3405	103	34	as	as	ADP
app01-3405	103	35	a	a	DET
app01-3405	103	36	way	way	NOUN
app01-3405	103	37	of	of	ADP
app01-3405	103	38	improving	improve	VERB
app01-3405	103	39	effectiveness	effectiveness	NOUN
app01-3405	103	40	of	of	ADP
app01-3405	103	41	the	the	DET
app01-3405	103	42	computation	computation	NOUN
app01-3405	103	43	by	by	ADP
app01-3405	103	44	reducing	reduce	VERB
app01-3405	103	45	the	the	DET
app01-3405	103	46	complexity	complexity	NOUN
app01-3405	103	47	–	–	PUNCT
app01-3405	103	48	but	but	CCONJ
app01-3405	103	49	nonetheless	nonetheless	ADV
app01-3405	103	50	if	if	SCONJ
app01-3405	103	51	required	require	VERB
app01-3405	103	52	by	by	ADP
app01-3405	103	53	the	the	DET
app01-3405	103	54	application	application	NOUN
app01-3405	103	55	,	,	PUNCT
app01-3405	103	56	some	some	DET
app01-3405	103	57	degree	degree	NOUN
app01-3405	103	58	of	of	ADP
app01-3405	103	59	privacy	privacy	NOUN
app01-3405	103	60	of	of	ADP
app01-3405	103	61	the	the	DET
app01-3405	103	62	data	datum	NOUN
app01-3405	103	63	can	can	AUX
app01-3405	103	64	be	be	AUX
app01-3405	103	65	achieved	achieve	VERB
app01-3405	103	66	.	.	PUNCT
app01-3405	104	1	in	in	ADP
app01-3405	104	2	practice	practice	NOUN
app01-3405	104	3	,	,	PUNCT
app01-3405	104	4	it	it	PRON
app01-3405	104	5	may	may	AUX
app01-3405	104	6	be	be	AUX
app01-3405	104	7	somewhat	somewhat	ADV
app01-3405	104	8	harder	hard	ADJ
app01-3405	104	9	not	not	PART
app01-3405	104	10	to	to	PART
app01-3405	104	11	reveal	reveal	VERB
app01-3405	104	12	the	the	DET
app01-3405	104	13	structure	structure	NOUN
app01-3405	104	14	of	of	ADP
app01-3405	104	15	the	the	DET
app01-3405	104	16	private	private	ADJ
app01-3405	104	17	information	information	NOUN
app01-3405	104	18	and	and	CCONJ
app01-3405	104	19	it	it	PRON
app01-3405	104	20	may	may	AUX
app01-3405	104	21	also	also	ADV
app01-3405	104	22	reduce	reduce	VERB
app01-3405	104	23	usability	usability	NOUN
app01-3405	104	24	of	of	ADP
app01-3405	104	25	some	some	DET
app01-3405	104	26	techniques	technique	NOUN
app01-3405	104	27	,	,	PUNCT
app01-3405	104	28	such	such	ADJ
app01-3405	104	29	as	as	ADP
app01-3405	104	30	distributed	distribute	VERB
app01-3405	104	31	heuristics	heuristic	NOUN
app01-3405	104	32	,	,	PUNCT
app01-3405	104	33	but	but	CCONJ
app01-3405	104	34	it	it	PRON
app01-3405	104	35	seems	seem	VERB
app01-3405	104	36	to	to	PART
app01-3405	104	37	be	be	AUX
app01-3405	104	38	possible	possible	ADJ
app01-3405	104	39	.	.	PUNCT
app01-3405	105	1	one	one	NUM
app01-3405	105	2	such	such	ADJ
app01-3405	105	3	approach	approach	NOUN
app01-3405	105	4	was	be	AUX
app01-3405	105	5	described	describe	VERB
app01-3405	105	6	in	in	ADP
app01-3405	105	7	[	[	X
app01-3405	105	8	22	22	NUM
app01-3405	105	9	]	]	PUNCT
app01-3405	105	10	,	,	PUNCT
app01-3405	105	11	but	but	CCONJ
app01-3405	105	12	without	without	ADP
app01-3405	105	13	implementation	implementation	NOUN
app01-3405	105	14	or	or	CCONJ
app01-3405	105	15	experimental	experimental	ADJ
app01-3405	105	16	evaluation	evaluation	NOUN
app01-3405	105	17	.	.	PUNCT
app01-3405	106	1	3.4	3.4	NUM
app01-3405	106	2	.	.	PUNCT
app01-3405	106	3	asynchronous	asynchronous	ADJ
app01-3405	106	4	computation	computation	NOUN
app01-3405	106	5	distributed	distribute	VERB
app01-3405	106	6	computation	computation	NOUN
app01-3405	106	7	(	(	PUNCT
app01-3405	106	8	and	and	CCONJ
app01-3405	106	9	multiagent	multiagent	NOUN
app01-3405	106	10	as	as	ADV
app01-3405	106	11	well	well	ADV
app01-3405	106	12	)	)	PUNCT
app01-3405	106	13	is	be	AUX
app01-3405	106	14	inherently	inherently	ADV
app01-3405	106	15	asynchronous	asynchronous	ADJ
app01-3405	106	16	and	and	CCONJ
app01-3405	106	17	non	non	ADJ
app01-3405	106	18	-	-	ADJ
app01-3405	106	19	deterministic	deterministic	ADJ
app01-3405	106	20	.	.	PUNCT
app01-3405	107	1	this	this	PRON
app01-3405	107	2	brings	bring	VERB
app01-3405	107	3	several	several	ADJ
app01-3405	107	4	challenges	challenge	NOUN
app01-3405	107	5	and	and	CCONJ
app01-3405	107	6	complexities	complexity	NOUN
app01-3405	107	7	that	that	PRON
app01-3405	107	8	need	need	VERB
app01-3405	107	9	to	to	PART
app01-3405	107	10	be	be	AUX
app01-3405	107	11	tackled	tackle	VERB
app01-3405	107	12	,	,	PUNCT
app01-3405	107	13	but	but	CCONJ
app01-3405	107	14	once	once	ADV
app01-3405	107	15	solved	solve	VERB
app01-3405	107	16	,	,	PUNCT
app01-3405	107	17	some	some	PRON
app01-3405	107	18	of	of	ADP
app01-3405	107	19	the	the	DET
app01-3405	107	20	insights	insight	NOUN
app01-3405	107	21	may	may	AUX
app01-3405	107	22	be	be	AUX
app01-3405	107	23	beneficial	beneficial	ADJ
app01-3405	107	24	to	to	ADP
app01-3405	107	25	classical	classical	ADJ
app01-3405	107	26	planning	planning	NOUN
app01-3405	107	27	as	as	ADV
app01-3405	107	28	well	well	ADV
app01-3405	107	29	.	.	PUNCT
app01-3405	108	1	as	as	ADP
app01-3405	108	2	a	a	DET
app01-3405	108	3	representative	representative	ADJ
app01-3405	108	4	example	example	NOUN
app01-3405	108	5	,	,	PUNCT
app01-3405	108	6	we	we	PRON
app01-3405	108	7	can	can	AUX
app01-3405	108	8	take	take	VERB
app01-3405	108	9	the	the	DET
app01-3405	108	10	computation	computation	NOUN
app01-3405	108	11	of	of	ADP
app01-3405	108	12	a	a	DET
app01-3405	108	13	global	global	ADJ
app01-3405	108	14	heuristic	heuristic	NOUN
app01-3405	108	15	.	.	PUNCT
app01-3405	109	1	a	a	DET
app01-3405	109	2	heuristic	heuristic	NOUN
app01-3405	109	3	in	in	ADP
app01-3405	109	4	multiagent	multiagent	NOUN
app01-3405	109	5	planning	planning	NOUN
app01-3405	109	6	can	can	AUX
app01-3405	109	7	be	be	AUX
app01-3405	109	8	computed	compute	VERB
app01-3405	109	9	locally	locally	ADV
app01-3405	109	10	,	,	PUNCT
app01-3405	109	11	using	use	VERB
app01-3405	109	12	only	only	ADV
app01-3405	109	13	a	a	DET
app01-3405	109	14	projection	projection	NOUN
app01-3405	109	15	of	of	ADP
app01-3405	109	16	the	the	DET
app01-3405	109	17	planning	planning	NOUN
app01-3405	109	18	problem	problem	NOUN
app01-3405	109	19	to	to	ADP
app01-3405	109	20	the	the	DET
app01-3405	109	21	propositions	proposition	NOUN
app01-3405	109	22	of	of	ADP
app01-3405	109	23	the	the	DET
app01-3405	109	24	respective	respective	ADJ
app01-3405	109	25	agent	agent	NOUN
app01-3405	109	26	.	.	PUNCT
app01-3405	110	1	a	a	DET
app01-3405	110	2	public	public	ADJ
app01-3405	110	3	53	53	NUM
app01-3405	110	4	michal	michal	PROPN
app01-3405	110	5	štolba	štolba	PROPN
app01-3405	110	6	acta	acta	PROPN
app01-3405	110	7	polytechnica	polytechnica	PROPN
app01-3405	110	8	ctu	ctu	PROPN
app01-3405	110	9	proceedings	proceeding	NOUN
app01-3405	110	10	action	action	NOUN
app01-3405	110	11	a	a	DET
app01-3405	110	12	∈	∈	NOUN
app01-3405	110	13	α	α	NOUN
app01-3405	110	14	can	can	AUX
app01-3405	110	15	be	be	AUX
app01-3405	110	16	projected	project	VERB
app01-3405	110	17	to	to	PART
app01-3405	110	18	agent	agent	VERB
app01-3405	110	19	β	β	X
app01-3405	110	20	by	by	ADP
app01-3405	110	21	removing	remove	VERB
app01-3405	110	22	all	all	DET
app01-3405	110	23	α	α	ADJ
app01-3405	110	24	-	-	ADJ
app01-3405	110	25	internal	internal	ADJ
app01-3405	110	26	propositions	proposition	NOUN
app01-3405	110	27	from	from	ADP
app01-3405	110	28	pre(a	pre(a	PROPN
app01-3405	110	29	)	)	PUNCT
app01-3405	110	30	,	,	PUNCT
app01-3405	110	31	add(a	add(a	PROPN
app01-3405	110	32	)	)	PUNCT
app01-3405	110	33	and	and	CCONJ
app01-3405	110	34	del(a	del(a	PROPN
app01-3405	110	35	)	)	PUNCT
app01-3405	110	36	,	,	PUNCT
app01-3405	110	37	thus	thus	ADV
app01-3405	110	38	retaining	retain	VERB
app01-3405	110	39	only	only	ADJ
app01-3405	110	40	public	public	ADJ
app01-3405	110	41	propositions	proposition	NOUN
app01-3405	110	42	(	(	PUNCT
app01-3405	110	43	and	and	CCONJ
app01-3405	110	44	technically	technically	ADV
app01-3405	110	45	also	also	ADV
app01-3405	110	46	β	β	ADJ
app01-3405	110	47	-	-	ADJ
app01-3405	110	48	internal	internal	ADJ
app01-3405	110	49	propositions	proposition	NOUN
app01-3405	110	50	,	,	PUNCT
app01-3405	110	51	but	but	CCONJ
app01-3405	110	52	actions	action	NOUN
app01-3405	110	53	of	of	ADP
app01-3405	110	54	agent	agent	NOUN
app01-3405	110	55	α	α	PROPN
app01-3405	110	56	contain	contain	VERB
app01-3405	110	57	none	none	NOUN
app01-3405	110	58	)	)	PUNCT
app01-3405	110	59	.	.	PUNCT
app01-3405	111	1	such	such	ADJ
app01-3405	111	2	heuristics	heuristic	NOUN
app01-3405	111	3	were	be	AUX
app01-3405	111	4	used	use	VERB
app01-3405	111	5	for	for	ADP
app01-3405	111	6	example	example	NOUN
app01-3405	111	7	in	in	ADP
app01-3405	111	8	[	[	X
app01-3405	111	9	14	14	NUM
app01-3405	111	10	]	]	PUNCT
app01-3405	111	11	.	.	PUNCT
app01-3405	112	1	a	a	DET
app01-3405	112	2	different	different	ADJ
app01-3405	112	3	approach	approach	NOUN
app01-3405	112	4	is	be	AUX
app01-3405	112	5	to	to	PART
app01-3405	112	6	attempt	attempt	VERB
app01-3405	112	7	to	to	PART
app01-3405	112	8	compute	compute	VERB
app01-3405	112	9	a	a	DET
app01-3405	112	10	global	global	ADJ
app01-3405	112	11	heuristic	heuristic	ADJ
app01-3405	112	12	estimate	estimate	NOUN
app01-3405	112	13	without	without	ADP
app01-3405	112	14	exposing	expose	VERB
app01-3405	112	15	the	the	DET
app01-3405	112	16	internal	internal	ADJ
app01-3405	112	17	information	information	NOUN
app01-3405	112	18	to	to	ADP
app01-3405	112	19	other	other	ADJ
app01-3405	112	20	agents	agent	NOUN
app01-3405	112	21	.	.	PUNCT
app01-3405	113	1	this	this	PRON
app01-3405	113	2	can	can	AUX
app01-3405	113	3	be	be	AUX
app01-3405	113	4	achieved	achieve	VERB
app01-3405	113	5	for	for	ADP
app01-3405	113	6	example	example	NOUN
app01-3405	113	7	by	by	ADP
app01-3405	113	8	requesting	request	VERB
app01-3405	113	9	other	other	ADJ
app01-3405	113	10	agents	agent	NOUN
app01-3405	113	11	for	for	ADP
app01-3405	113	12	their	their	PRON
app01-3405	113	13	estimates	estimate	NOUN
app01-3405	113	14	of	of	ADP
app01-3405	113	15	the	the	DET
app01-3405	113	16	current	current	ADJ
app01-3405	113	17	state	state	NOUN
app01-3405	113	18	and	and	CCONJ
app01-3405	113	19	the	the	DET
app01-3405	113	20	goal	goal	NOUN
app01-3405	113	21	,	,	PUNCT
app01-3405	113	22	or	or	CCONJ
app01-3405	113	23	some	some	DET
app01-3405	113	24	sub	sub	NOUN
app01-3405	113	25	-	-	NOUN
app01-3405	113	26	goals	goal	NOUN
app01-3405	113	27	,	,	PUNCT
app01-3405	113	28	as	as	ADP
app01-3405	113	29	in	in	ADP
app01-3405	113	30	[	[	X
app01-3405	113	31	29	29	NUM
app01-3405	113	32	,	,	PUNCT
app01-3405	113	33	30	30	NUM
app01-3405	113	34	]	]	PUNCT
app01-3405	113	35	.	.	PUNCT
app01-3405	114	1	such	such	ADJ
app01-3405	114	2	global	global	ADJ
app01-3405	114	3	heuristic	heuristic	ADJ
app01-3405	114	4	computation	computation	NOUN
app01-3405	114	5	may	may	AUX
app01-3405	114	6	involve	involve	VERB
app01-3405	114	7	nontrivial	nontrivial	ADJ
app01-3405	114	8	communication	communication	NOUN
app01-3405	114	9	,	,	PUNCT
app01-3405	114	10	resulting	result	VERB
app01-3405	114	11	in	in	ADP
app01-3405	114	12	an	an	DET
app01-3405	114	13	asynchronous	asynchronous	ADJ
app01-3405	114	14	computation	computation	NOUN
app01-3405	114	15	of	of	ADP
app01-3405	114	16	the	the	DET
app01-3405	114	17	heuristic	heuristic	ADJ
app01-3405	114	18	estimate	estimate	NOUN
app01-3405	114	19	.	.	PUNCT
app01-3405	115	1	to	to	ADP
app01-3405	115	2	our	our	PRON
app01-3405	115	3	knowledge	knowledge	NOUN
app01-3405	115	4	,	,	PUNCT
app01-3405	115	5	such	such	DET
app01-3405	115	6	a	a	DET
app01-3405	115	7	phenomenon	phenomenon	NOUN
app01-3405	115	8	has	have	AUX
app01-3405	115	9	not	not	PART
app01-3405	115	10	been	be	AUX
app01-3405	115	11	studied	study	VERB
app01-3405	115	12	yet	yet	ADV
app01-3405	115	13	.	.	PUNCT
app01-3405	116	1	it	it	PRON
app01-3405	116	2	seems	seem	VERB
app01-3405	116	3	to	to	PART
app01-3405	116	4	be	be	AUX
app01-3405	116	5	interesting	interesting	ADJ
app01-3405	116	6	also	also	ADV
app01-3405	116	7	from	from	ADP
app01-3405	116	8	the	the	DET
app01-3405	116	9	point	point	NOUN
app01-3405	116	10	of	of	ADP
app01-3405	116	11	view	view	NOUN
app01-3405	116	12	of	of	ADP
app01-3405	116	13	classical	classical	ADJ
app01-3405	116	14	planning	planning	NOUN
app01-3405	116	15	,	,	PUNCT
app01-3405	116	16	because	because	SCONJ
app01-3405	116	17	if	if	SCONJ
app01-3405	116	18	successfully	successfully	ADV
app01-3405	116	19	utilized	utilize	VERB
app01-3405	116	20	,	,	PUNCT
app01-3405	116	21	asynchronous	asynchronous	ADJ
app01-3405	116	22	computation	computation	NOUN
app01-3405	116	23	of	of	ADP
app01-3405	116	24	heuristics	heuristic	NOUN
app01-3405	116	25	may	may	AUX
app01-3405	116	26	be	be	AUX
app01-3405	116	27	used	use	VERB
app01-3405	116	28	to	to	PART
app01-3405	116	29	evaluate	evaluate	VERB
app01-3405	116	30	computationally	computationally	ADV
app01-3405	116	31	intensive	intensive	ADJ
app01-3405	116	32	heuristics	heuristic	NOUN
app01-3405	116	33	,	,	PUNCT
app01-3405	116	34	to	to	PART
app01-3405	116	35	use	use	VERB
app01-3405	116	36	external	external	ADJ
app01-3405	116	37	solvers	solver	NOUN
app01-3405	116	38	for	for	ADP
app01-3405	116	39	heuristic	heuristic	ADJ
app01-3405	116	40	estimation	estimation	NOUN
app01-3405	116	41	,	,	PUNCT
app01-3405	116	42	sensory	sensory	ADJ
app01-3405	116	43	input	input	NOUN
app01-3405	116	44	(	(	PUNCT
app01-3405	116	45	in	in	ADP
app01-3405	116	46	robotics	robotic	NOUN
app01-3405	116	47	)	)	PUNCT
app01-3405	116	48	,	,	PUNCT
app01-3405	116	49	etc	etc	X
app01-3405	116	50	.	.	X
app01-3405	116	51	also	also	ADV
app01-3405	116	52	it	it	PRON
app01-3405	116	53	is	be	AUX
app01-3405	116	54	interesting	interesting	ADJ
app01-3405	116	55	to	to	PART
app01-3405	116	56	observe	observe	VERB
app01-3405	116	57	that	that	SCONJ
app01-3405	116	58	the	the	DET
app01-3405	116	59	global	global	ADJ
app01-3405	116	60	heuristic	heuristic	NOUN
app01-3405	116	61	is	be	AUX
app01-3405	116	62	always	always	ADV
app01-3405	116	63	equally	equally	ADV
app01-3405	116	64	or	or	CCONJ
app01-3405	116	65	more	more	ADV
app01-3405	116	66	informative	informative	ADJ
app01-3405	116	67	than	than	ADP
app01-3405	116	68	the	the	DET
app01-3405	116	69	projected	project	VERB
app01-3405	116	70	heuristic	heuristic	NOUN
app01-3405	116	71	,	,	PUNCT
app01-3405	116	72	thus	thus	ADV
app01-3405	116	73	we	we	PRON
app01-3405	116	74	have	have	VERB
app01-3405	116	75	two	two	NUM
app01-3405	116	76	heuristics	heuristic	NOUN
app01-3405	116	77	,	,	PUNCT
app01-3405	116	78	the	the	DET
app01-3405	116	79	first	first	ADJ
app01-3405	116	80	one	one	NUM
app01-3405	116	81	is	be	AUX
app01-3405	116	82	less	less	ADV
app01-3405	116	83	informative	informative	ADJ
app01-3405	116	84	,	,	PUNCT
app01-3405	116	85	gives	give	VERB
app01-3405	116	86	lower	low	ADJ
app01-3405	116	87	estimates	estimate	NOUN
app01-3405	116	88	,	,	PUNCT
app01-3405	116	89	but	but	CCONJ
app01-3405	116	90	is	be	AUX
app01-3405	116	91	faster	fast	ADJ
app01-3405	116	92	,	,	PUNCT
app01-3405	116	93	the	the	DET
app01-3405	116	94	second	second	ADJ
app01-3405	116	95	one	one	NOUN
app01-3405	116	96	is	be	AUX
app01-3405	116	97	more	more	ADV
app01-3405	116	98	informative	informative	ADJ
app01-3405	116	99	,	,	PUNCT
app01-3405	116	100	gives	give	VERB
app01-3405	116	101	higher	high	ADJ
app01-3405	116	102	estimates	estimate	NOUN
app01-3405	116	103	,	,	PUNCT
app01-3405	116	104	but	but	CCONJ
app01-3405	116	105	takes	take	VERB
app01-3405	116	106	significantly	significantly	ADV
app01-3405	116	107	longer	long	ADV
app01-3405	116	108	to	to	PART
app01-3405	116	109	compute	compute	VERB
app01-3405	116	110	.	.	PUNCT
app01-3405	117	1	if	if	SCONJ
app01-3405	117	2	generalized	generalize	VERB
app01-3405	117	3	,	,	PUNCT
app01-3405	117	4	a	a	DET
app01-3405	117	5	sequence	sequence	NOUN
app01-3405	117	6	of	of	ADP
app01-3405	117	7	gradually	gradually	ADV
app01-3405	117	8	more	more	ADV
app01-3405	117	9	precise	precise	ADJ
app01-3405	117	10	,	,	PUNCT
app01-3405	117	11	but	but	CCONJ
app01-3405	117	12	costlier	costly	ADJ
app01-3405	117	13	heuristics	heuristic	NOUN
app01-3405	117	14	could	could	AUX
app01-3405	117	15	be	be	AUX
app01-3405	117	16	used	use	VERB
app01-3405	117	17	to	to	PART
app01-3405	117	18	guide	guide	VERB
app01-3405	117	19	search	search	NOUN
app01-3405	117	20	(	(	PUNCT
app01-3405	117	21	including	include	VERB
app01-3405	117	22	blind	blind	ADJ
app01-3405	117	23	search	search	NOUN
app01-3405	117	24	as	as	ADP
app01-3405	117	25	the	the	DET
app01-3405	117	26	fastest	fast	ADJ
app01-3405	117	27	one	one	NUM
app01-3405	117	28	)	)	PUNCT
app01-3405	117	29	,	,	PUNCT
app01-3405	117	30	which	which	PRON
app01-3405	117	31	is	be	AUX
app01-3405	117	32	an	an	DET
app01-3405	117	33	interesting	interesting	ADJ
app01-3405	117	34	research	research	NOUN
app01-3405	117	35	topic	topic	NOUN
app01-3405	117	36	.	.	PUNCT
app01-3405	118	1	also	also	ADV
app01-3405	118	2	,	,	PUNCT
app01-3405	118	3	as	as	SCONJ
app01-3405	118	4	the	the	DET
app01-3405	118	5	costly	costly	ADJ
app01-3405	118	6	distributed	distribute	VERB
app01-3405	118	7	heuristic	heuristic	NOUN
app01-3405	118	8	is	be	AUX
app01-3405	118	9	computed	compute	VERB
app01-3405	118	10	partly	partly	ADV
app01-3405	118	11	by	by	ADP
app01-3405	118	12	other	other	ADJ
app01-3405	118	13	agents	agent	NOUN
app01-3405	118	14	,	,	PUNCT
app01-3405	118	15	the	the	DET
app01-3405	118	16	time	time	NOUN
app01-3405	118	17	while	while	SCONJ
app01-3405	118	18	waiting	wait	VERB
app01-3405	118	19	for	for	ADP
app01-3405	118	20	the	the	DET
app01-3405	118	21	results	result	NOUN
app01-3405	118	22	may	may	AUX
app01-3405	118	23	be	be	AUX
app01-3405	118	24	used	use	VERB
app01-3405	118	25	to	to	PART
app01-3405	118	26	do	do	VERB
app01-3405	118	27	some	some	DET
app01-3405	118	28	more	more	ADJ
app01-3405	118	29	computation	computation	NOUN
app01-3405	118	30	such	such	ADJ
app01-3405	118	31	as	as	ADP
app01-3405	118	32	exploration	exploration	NOUN
app01-3405	118	33	using	use	VERB
app01-3405	118	34	only	only	ADV
app01-3405	118	35	the	the	DET
app01-3405	118	36	local	local	ADJ
app01-3405	118	37	heuristic	heuristic	NOUN
app01-3405	118	38	.	.	PUNCT
app01-3405	119	1	3.5	3.5	NUM
app01-3405	119	2	.	.	PUNCT
app01-3405	119	3	applications	application	NOUN
app01-3405	119	4	ma	ma	PROPN
app01-3405	119	5	-	-	PUNCT
app01-3405	119	6	strips	strip	NOUN
app01-3405	119	7	planning	planning	NOUN
app01-3405	119	8	may	may	AUX
app01-3405	119	9	bring	bring	VERB
app01-3405	119	10	domain	domain	NOUN
app01-3405	119	11	independent	independent	ADJ
app01-3405	119	12	planning	planning	NOUN
app01-3405	119	13	to	to	ADP
app01-3405	119	14	some	some	PRON
app01-3405	119	15	(	(	PUNCT
app01-3405	119	16	more	more	ADJ
app01-3405	119	17	or	or	CCONJ
app01-3405	119	18	less	less	ADJ
app01-3405	119	19	)	)	PUNCT
app01-3405	119	20	new	new	ADJ
app01-3405	119	21	application	application	NOUN
app01-3405	119	22	domains	domain	NOUN
app01-3405	119	23	.	.	PUNCT
app01-3405	120	1	as	as	ADP
app01-3405	120	2	such	such	ADJ
app01-3405	120	3	we	we	PRON
app01-3405	120	4	see	see	VERB
app01-3405	120	5	the	the	DET
app01-3405	120	6	following	follow	VERB
app01-3405	120	7	:	:	PUNCT
app01-3405	120	8	•	•	NUM
app01-3405	120	9	multi	multi	NOUN
app01-3405	120	10	-	-	NOUN
app01-3405	120	11	robotics	robotic	NOUN
app01-3405	120	12	:	:	PUNCT
app01-3405	120	13	slowly	slowly	ADV
app01-3405	120	14	but	but	CCONJ
app01-3405	120	15	steadily	steadily	ADV
app01-3405	120	16	,	,	PUNCT
app01-3405	120	17	domainindependent	domainindependent	ADJ
app01-3405	120	18	planning	planning	NOUN
app01-3405	120	19	is	be	AUX
app01-3405	120	20	penetrating	penetrate	VERB
app01-3405	120	21	the	the	DET
app01-3405	120	22	robotic	robotic	ADJ
app01-3405	120	23	research	research	NOUN
app01-3405	120	24	,	,	PUNCT
app01-3405	120	25	providing	provide	VERB
app01-3405	120	26	the	the	DET
app01-3405	120	27	robots	robot	NOUN
app01-3405	120	28	with	with	ADP
app01-3405	120	29	high	high	ADJ
app01-3405	120	30	-	-	PUNCT
app01-3405	120	31	level	level	NOUN
app01-3405	120	32	reasoning	reasoning	NOUN
app01-3405	120	33	.	.	PUNCT
app01-3405	121	1	on	on	ADP
app01-3405	121	2	the	the	DET
app01-3405	121	3	other	other	ADJ
app01-3405	121	4	hand	hand	NOUN
app01-3405	121	5	,	,	PUNCT
app01-3405	121	6	robotic	robotic	ADJ
app01-3405	121	7	research	research	NOUN
app01-3405	121	8	is	be	AUX
app01-3405	121	9	being	be	AUX
app01-3405	121	10	extended	extend	VERB
app01-3405	121	11	towards	towards	ADP
app01-3405	121	12	multi	multi	ADJ
app01-3405	121	13	-	-	ADJ
app01-3405	121	14	robotic	robotic	ADJ
app01-3405	121	15	teams	team	NOUN
app01-3405	121	16	.	.	PUNCT
app01-3405	122	1	multiagent	multiagent	NOUN
app01-3405	122	2	planning	planning	NOUN
app01-3405	122	3	seems	seem	VERB
app01-3405	122	4	to	to	PART
app01-3405	122	5	bridge	bridge	VERB
app01-3405	122	6	those	those	DET
app01-3405	122	7	two	two	NUM
app01-3405	122	8	advancements	advancement	NOUN
app01-3405	122	9	and	and	CCONJ
app01-3405	122	10	in	in	ADP
app01-3405	122	11	the	the	DET
app01-3405	122	12	future	future	NOUN
app01-3405	122	13	may	may	AUX
app01-3405	122	14	enable	enable	VERB
app01-3405	122	15	multi	multi	ADJ
app01-3405	122	16	-	-	ADJ
app01-3405	122	17	robotic	robotic	ADJ
app01-3405	122	18	teams	team	NOUN
app01-3405	122	19	to	to	PART
app01-3405	122	20	be	be	AUX
app01-3405	122	21	controlled	control	VERB
app01-3405	122	22	by	by	ADP
app01-3405	122	23	a	a	DET
app01-3405	122	24	high	high	ADJ
app01-3405	122	25	-	-	PUNCT
app01-3405	122	26	level	level	NOUN
app01-3405	122	27	distributed	distribute	VERB
app01-3405	122	28	planning	planning	NOUN
app01-3405	122	29	system	system	NOUN
app01-3405	122	30	.	.	PUNCT
app01-3405	123	1	in	in	ADP
app01-3405	123	2	such	such	ADJ
app01-3405	123	3	scenarios	scenario	NOUN
app01-3405	123	4	,	,	PUNCT
app01-3405	123	5	each	each	DET
app01-3405	123	6	robot	robot	NOUN
app01-3405	123	7	would	would	AUX
app01-3405	123	8	have	have	VERB
app01-3405	123	9	its	its	PRON
app01-3405	123	10	own	own	ADJ
app01-3405	123	11	planning	planning	NOUN
app01-3405	123	12	representation	representation	NOUN
app01-3405	123	13	of	of	ADP
app01-3405	123	14	the	the	DET
app01-3405	123	15	world	world	NOUN
app01-3405	123	16	,	,	PUNCT
app01-3405	123	17	thus	thus	ADV
app01-3405	123	18	reducing	reduce	VERB
app01-3405	123	19	the	the	DET
app01-3405	123	20	domain	domain	NOUN
app01-3405	123	21	and	and	CCONJ
app01-3405	123	22	problem	problem	NOUN
app01-3405	123	23	size	size	NOUN
app01-3405	123	24	and	and	CCONJ
app01-3405	123	25	keeping	keep	VERB
app01-3405	123	26	the	the	DET
app01-3405	123	27	local	local	ADJ
app01-3405	123	28	information	information	NOUN
app01-3405	123	29	(	(	PUNCT
app01-3405	123	30	i.e.	i.e.	X
app01-3405	123	31	,	,	PUNCT
app01-3405	123	32	sensory	sensory	ADJ
app01-3405	123	33	data	datum	NOUN
app01-3405	123	34	)	)	PUNCT
app01-3405	123	35	local	local	ADJ
app01-3405	123	36	.	.	PUNCT
app01-3405	124	1	communication	communication	NOUN
app01-3405	124	2	will	will	AUX
app01-3405	124	3	clearly	clearly	ADV
app01-3405	124	4	be	be	AUX
app01-3405	124	5	an	an	DET
app01-3405	124	6	issue	issue	NOUN
app01-3405	124	7	,	,	PUNCT
app01-3405	124	8	which	which	PRON
app01-3405	124	9	may	may	AUX
app01-3405	124	10	encourage	encourage	VERB
app01-3405	124	11	research	research	NOUN
app01-3405	124	12	of	of	ADP
app01-3405	124	13	multiagent	multiagent	NOUN
app01-3405	124	14	planning	planning	NOUN
app01-3405	124	15	techniques	technique	NOUN
app01-3405	124	16	aiming	aim	VERB
app01-3405	124	17	not	not	PART
app01-3405	124	18	primarily	primarily	ADV
app01-3405	124	19	on	on	ADP
app01-3405	124	20	planning	plan	VERB
app01-3405	124	21	speed	speed	NOUN
app01-3405	124	22	,	,	PUNCT
app01-3405	124	23	but	but	CCONJ
app01-3405	124	24	on	on	ADP
app01-3405	124	25	the	the	DET
app01-3405	124	26	communication	communication	NOUN
app01-3405	124	27	requirements	requirement	NOUN
app01-3405	124	28	(	(	PUNCT
app01-3405	124	29	this	this	PRON
app01-3405	124	30	may	may	AUX
app01-3405	124	31	for	for	ADP
app01-3405	124	32	example	example	NOUN
app01-3405	124	33	discourage	discourage	VERB
app01-3405	124	34	the	the	DET
app01-3405	124	35	use	use	NOUN
app01-3405	124	36	of	of	ADP
app01-3405	124	37	global	global	ADJ
app01-3405	124	38	heuristic	heuristic	ADJ
app01-3405	124	39	estimates	estimate	NOUN
app01-3405	124	40	)	)	PUNCT
app01-3405	124	41	.	.	PUNCT
app01-3405	125	1	•	•	NUM
app01-3405	125	2	orchestration	orchestration	NOUN
app01-3405	125	3	of	of	ADP
app01-3405	125	4	internet	internet	NOUN
app01-3405	125	5	services	service	NOUN
app01-3405	125	6	:	:	PUNCT
app01-3405	125	7	since	since	SCONJ
app01-3405	125	8	internet	internet	NOUN
app01-3405	125	9	services	service	NOUN
app01-3405	125	10	are	be	AUX
app01-3405	125	11	computer	computer	NOUN
app01-3405	125	12	programs	program	NOUN
app01-3405	125	13	already	already	ADV
app01-3405	125	14	described	describe	VERB
app01-3405	125	15	in	in	ADP
app01-3405	125	16	(	(	PUNCT
app01-3405	125	17	formal	formal	ADJ
app01-3405	125	18	)	)	PUNCT
app01-3405	125	19	programming	programming	NOUN
app01-3405	125	20	languages	language	NOUN
app01-3405	125	21	their	their	PRON
app01-3405	125	22	coordination	coordination	NOUN
app01-3405	125	23	and	and	CCONJ
app01-3405	125	24	orchestration	orchestration	NOUN
app01-3405	125	25	can	can	AUX
app01-3405	125	26	straightforwardly	straightforwardly	ADV
app01-3405	125	27	profit	profit	VERB
app01-3405	125	28	from	from	ADP
app01-3405	125	29	multiagent	multiagent	NOUN
app01-3405	125	30	planning	planning	NOUN
app01-3405	125	31	techniques	technique	NOUN
app01-3405	125	32	.	.	PUNCT
app01-3405	126	1	moreover	moreover	ADV
app01-3405	126	2	services	service	NOUN
app01-3405	126	3	are	be	AUX
app01-3405	126	4	usually	usually	ADV
app01-3405	126	5	described	describe	VERB
app01-3405	126	6	by	by	ADP
app01-3405	126	7	interfaces	interface	NOUN
app01-3405	126	8	resembling	resemble	VERB
app01-3405	126	9	planning	planning	NOUN
app01-3405	126	10	actions	action	NOUN
app01-3405	126	11	with	with	ADP
app01-3405	126	12	preconditions	precondition	NOUN
app01-3405	126	13	on	on	ADP
app01-3405	126	14	the	the	DET
app01-3405	126	15	input	input	NOUN
app01-3405	126	16	data	datum	NOUN
app01-3405	126	17	and	and	CCONJ
app01-3405	126	18	effect	effect	NOUN
app01-3405	126	19	on	on	ADP
app01-3405	126	20	the	the	DET
app01-3405	126	21	data	datum	NOUN
app01-3405	126	22	.	.	PUNCT
app01-3405	127	1	therefore	therefore	ADV
app01-3405	127	2	if	if	SCONJ
app01-3405	127	3	such	such	ADJ
app01-3405	127	4	actions	action	NOUN
app01-3405	127	5	have	have	VERB
app01-3405	127	6	to	to	PART
app01-3405	127	7	be	be	AUX
app01-3405	127	8	ordered	order	VERB
app01-3405	127	9	in	in	ADP
app01-3405	127	10	a	a	DET
app01-3405	127	11	suitable	suitable	ADJ
app01-3405	127	12	fashion	fashion	NOUN
app01-3405	127	13	,	,	PUNCT
app01-3405	127	14	beginning	begin	VERB
app01-3405	127	15	with	with	ADP
app01-3405	127	16	initial	initial	ADJ
app01-3405	127	17	constraints	constraint	NOUN
app01-3405	127	18	on	on	ADP
app01-3405	127	19	the	the	DET
app01-3405	127	20	data	datum	NOUN
app01-3405	127	21	and	and	CCONJ
app01-3405	127	22	with	with	ADP
app01-3405	127	23	a	a	DET
app01-3405	127	24	goal	goal	NOUN
app01-3405	127	25	form	form	NOUN
app01-3405	127	26	of	of	ADP
app01-3405	127	27	the	the	DET
app01-3405	127	28	data	datum	NOUN
app01-3405	127	29	,	,	PUNCT
app01-3405	127	30	planning	planning	NOUN
app01-3405	127	31	is	be	AUX
app01-3405	127	32	an	an	DET
app01-3405	127	33	appropriate	appropriate	ADJ
app01-3405	127	34	fit	fit	NOUN
app01-3405	127	35	.	.	PUNCT
app01-3405	128	1	additionally	additionally	ADV
app01-3405	128	2	,	,	PUNCT
app01-3405	128	3	the	the	DET
app01-3405	128	4	services	service	NOUN
app01-3405	128	5	can	can	AUX
app01-3405	128	6	be	be	AUX
app01-3405	128	7	distributed	distribute	VERB
app01-3405	128	8	over	over	ADP
app01-3405	128	9	the	the	DET
app01-3405	128	10	internet	internet	NOUN
app01-3405	128	11	and	and	CCONJ
app01-3405	128	12	the	the	DET
app01-3405	128	13	data	data	NOUN
app01-3405	128	14	processing	processing	NOUN
app01-3405	128	15	tasks	task	NOUN
app01-3405	128	16	can	can	AUX
app01-3405	128	17	vary	vary	VERB
app01-3405	128	18	in	in	ADP
app01-3405	128	19	the	the	DET
app01-3405	128	20	sense	sense	NOUN
app01-3405	128	21	of	of	ADP
app01-3405	128	22	particular	particular	ADJ
app01-3405	128	23	areas	area	NOUN
app01-3405	128	24	of	of	ADP
app01-3405	128	25	focus	focus	NOUN
app01-3405	128	26	(	(	PUNCT
app01-3405	128	27	e.g.	e.g.	ADV
app01-3405	128	28	,	,	PUNCT
app01-3405	128	29	financial	financial	ADJ
app01-3405	128	30	processing	processing	NOUN
app01-3405	128	31	,	,	PUNCT
app01-3405	128	32	logistics	logistic	NOUN
app01-3405	128	33	services	service	NOUN
app01-3405	128	34	,	,	PUNCT
app01-3405	128	35	etc	etc	X
app01-3405	128	36	.	.	X
app01-3405	128	37	)	)	PUNCT
app01-3405	128	38	.	.	PUNCT
app01-3405	129	1	both	both	PRON
app01-3405	129	2	of	of	ADP
app01-3405	129	3	these	these	DET
app01-3405	129	4	challenges	challenge	NOUN
app01-3405	129	5	are	be	AUX
app01-3405	129	6	covered	cover	VERB
app01-3405	129	7	by	by	ADP
app01-3405	129	8	the	the	DET
app01-3405	129	9	domain	domain	NOUN
app01-3405	129	10	-	-	PUNCT
app01-3405	129	11	independent	independent	ADJ
app01-3405	129	12	multiagent	multiagent	NOUN
app01-3405	129	13	planning	planning	NOUN
app01-3405	129	14	.	.	PUNCT
app01-3405	130	1	a	a	DET
app01-3405	130	2	single	single	ADJ
app01-3405	130	3	agent	agent	NOUN
app01-3405	130	4	planning	planning	NOUN
app01-3405	130	5	applications	application	NOUN
app01-3405	130	6	of	of	ADP
app01-3405	130	7	this	this	DET
app01-3405	130	8	kind	kind	NOUN
app01-3405	130	9	were	be	AUX
app01-3405	130	10	already	already	ADV
app01-3405	130	11	covered	cover	VERB
app01-3405	130	12	for	for	ADP
app01-3405	130	13	example	example	NOUN
app01-3405	130	14	in	in	ADP
app01-3405	130	15	[	[	X
app01-3405	130	16	31	31	NUM
app01-3405	130	17	]	]	PUNCT
app01-3405	130	18	.	.	PUNCT
app01-3405	131	1	•	•	NUM
app01-3405	131	2	coalition	coalition	NOUN
app01-3405	131	3	planning	planning	NOUN
app01-3405	131	4	:	:	PUNCT
app01-3405	131	5	in	in	ADP
app01-3405	131	6	recent	recent	ADJ
app01-3405	131	7	years	year	NOUN
app01-3405	131	8	,	,	PUNCT
app01-3405	131	9	many	many	ADJ
app01-3405	131	10	military	military	ADJ
app01-3405	131	11	operations	operation	NOUN
app01-3405	131	12	involve	involve	VERB
app01-3405	131	13	coalitions	coalition	NOUN
app01-3405	131	14	.	.	PUNCT
app01-3405	132	1	coalition	coalition	NOUN
app01-3405	132	2	operations	operation	NOUN
app01-3405	132	3	are	be	AUX
app01-3405	132	4	in	in	ADP
app01-3405	132	5	nature	nature	NOUN
app01-3405	132	6	cooperative	cooperative	NOUN
app01-3405	132	7	,	,	PUNCT
app01-3405	132	8	but	but	CCONJ
app01-3405	132	9	some	some	DET
app01-3405	132	10	information	information	NOUN
app01-3405	132	11	can	can	AUX
app01-3405	132	12	not	not	PART
app01-3405	132	13	be	be	AUX
app01-3405	132	14	disclosed	disclose	VERB
app01-3405	132	15	among	among	ADP
app01-3405	132	16	the	the	DET
app01-3405	132	17	coalition	coalition	NOUN
app01-3405	132	18	partners	partner	NOUN
app01-3405	132	19	.	.	PUNCT
app01-3405	133	1	this	this	PRON
app01-3405	133	2	can	can	AUX
app01-3405	133	3	be	be	AUX
app01-3405	133	4	generally	generally	ADV
app01-3405	133	5	modeled	model	VERB
app01-3405	133	6	by	by	ADP
app01-3405	133	7	multiagent	multiagent	NOUN
app01-3405	133	8	systems	system	NOUN
app01-3405	133	9	and	and	CCONJ
app01-3405	133	10	in	in	ADP
app01-3405	133	11	particular	particular	ADJ
app01-3405	133	12	by	by	ADP
app01-3405	133	13	multiagent	multiagent	NOUN
app01-3405	133	14	planning	planning	NOUN
app01-3405	133	15	.	.	PUNCT
app01-3405	134	1	such	such	DET
app01-3405	134	2	a	a	DET
app01-3405	134	3	scenario	scenario	NOUN
app01-3405	134	4	is	be	AUX
app01-3405	134	5	not	not	PART
app01-3405	134	6	applicable	applicable	ADJ
app01-3405	134	7	only	only	ADV
app01-3405	134	8	in	in	ADP
app01-3405	134	9	military	military	NOUN
app01-3405	134	10	,	,	PUNCT
app01-3405	134	11	but	but	CCONJ
app01-3405	134	12	may	may	AUX
app01-3405	134	13	find	find	VERB
app01-3405	134	14	uses	use	NOUN
app01-3405	134	15	also	also	ADV
app01-3405	134	16	in	in	ADP
app01-3405	134	17	business	business	NOUN
app01-3405	134	18	cooperation	cooperation	NOUN
app01-3405	134	19	and	and	CCONJ
app01-3405	134	20	other	other	ADJ
app01-3405	134	21	areas	area	NOUN
app01-3405	134	22	,	,	PUNCT
app01-3405	134	23	although	although	SCONJ
app01-3405	134	24	some	some	DET
app01-3405	134	25	more	more	ADV
app01-3405	134	26	detailed	detailed	ADJ
app01-3405	134	27	privaci	privaci	NOUN
app01-3405	134	28	concerns	concern	NOUN
app01-3405	134	29	may	may	AUX
app01-3405	134	30	be	be	AUX
app01-3405	134	31	necessary	necessary	ADJ
app01-3405	134	32	as	as	SCONJ
app01-3405	134	33	illustrated	illustrate	VERB
app01-3405	134	34	in	in	ADP
app01-3405	134	35	[	[	X
app01-3405	134	36	22	22	NUM
app01-3405	134	37	]	]	PUNCT
app01-3405	134	38	.	.	PUNCT
app01-3405	135	1	4	4	X
app01-3405	135	2	.	.	X
app01-3405	135	3	challenges	challenge	NOUN
app01-3405	135	4	in	in	ADP
app01-3405	135	5	the	the	DET
app01-3405	135	6	following	following	NOUN
app01-3405	135	7	,	,	PUNCT
app01-3405	135	8	we	we	PRON
app01-3405	135	9	will	will	AUX
app01-3405	135	10	present	present	VERB
app01-3405	135	11	some	some	PRON
app01-3405	135	12	of	of	ADP
app01-3405	135	13	the	the	DET
app01-3405	135	14	outstanding	outstanding	ADJ
app01-3405	135	15	challenges	challenge	NOUN
app01-3405	135	16	of	of	ADP
app01-3405	135	17	domain	domain	NOUN
app01-3405	135	18	-	-	PUNCT
app01-3405	135	19	independent	independent	ADJ
app01-3405	135	20	multiagent	multiagent	NOUN
app01-3405	135	21	planning	planning	NOUN
app01-3405	135	22	we	we	PRON
app01-3405	135	23	are	be	AUX
app01-3405	135	24	aware	aware	ADJ
app01-3405	135	25	of	of	ADP
app01-3405	135	26	.	.	PROPN
app01-3405	136	1	4.1	4.1	NUM
app01-3405	136	2	.	.	PUNCT
app01-3405	136	3	comparison	comparison	NOUN
app01-3405	136	4	of	of	ADP
app01-3405	136	5	planners	planner	NOUN
app01-3405	136	6	up	up	ADP
app01-3405	136	7	to	to	ADP
app01-3405	136	8	the	the	DET
app01-3405	136	9	present	present	ADJ
app01-3405	136	10	day	day	NOUN
app01-3405	136	11	,	,	PUNCT
app01-3405	136	12	we	we	PRON
app01-3405	136	13	know	know	VERB
app01-3405	136	14	of	of	ADP
app01-3405	136	15	about	about	ADV
app01-3405	136	16	a	a	DET
app01-3405	136	17	half	half	ADJ
app01-3405	136	18	dozen	dozen	NOUN
app01-3405	136	19	domain	domain	NOUN
app01-3405	136	20	-	-	PUNCT
app01-3405	136	21	independent	independent	ADJ
app01-3405	136	22	multiagent	multiagent	NOUN
app01-3405	136	23	planners	planner	NOUN
app01-3405	137	1	[	[	X
app01-3405	137	2	12–17	12–17	NUM
app01-3405	137	3	]	]	PUNCT
app01-3405	137	4	and	and	CCONJ
app01-3405	137	5	more	more	ADJ
app01-3405	137	6	are	be	AUX
app01-3405	137	7	in	in	ADP
app01-3405	137	8	the	the	DET
app01-3405	137	9	development	development	NOUN
app01-3405	137	10	.	.	PUNCT
app01-3405	138	1	the	the	DET
app01-3405	138	2	biggest	big	ADJ
app01-3405	138	3	issue	issue	NOUN
app01-3405	138	4	in	in	ADP
app01-3405	138	5	order	order	NOUN
app01-3405	138	6	to	to	PART
app01-3405	138	7	compare	compare	VERB
app01-3405	138	8	them	they	PRON
app01-3405	138	9	is	be	AUX
app01-3405	138	10	that	that	SCONJ
app01-3405	138	11	although	although	SCONJ
app01-3405	138	12	the	the	DET
app01-3405	138	13	underlying	underlie	VERB
app01-3405	138	14	formalisms	formalism	NOUN
app01-3405	138	15	are	be	AUX
app01-3405	138	16	mostly	mostly	ADV
app01-3405	138	17	similar	similar	ADJ
app01-3405	138	18	,	,	PUNCT
app01-3405	138	19	the	the	DET
app01-3405	138	20	actual	actual	ADJ
app01-3405	138	21	language	language	NOUN
app01-3405	138	22	used	use	VERB
app01-3405	138	23	as	as	ADP
app01-3405	138	24	input	input	NOUN
app01-3405	138	25	differs	differ	NOUN
app01-3405	138	26	(	(	PUNCT
app01-3405	138	27	it	it	PRON
app01-3405	138	28	is	be	AUX
app01-3405	138	29	pddl	pddl	NOUN
app01-3405	138	30	with	with	ADP
app01-3405	138	31	some	some	DET
app01-3405	138	32	ad	ad	NOUN
app01-3405	138	33	-	-	PUNCT
app01-3405	138	34	hoc	hoc	ADJ
app01-3405	138	35	definition	definition	NOUN
app01-3405	138	36	of	of	ADP
app01-3405	138	37	agents	agent	NOUN
app01-3405	138	38	and/or	and/or	CCONJ
app01-3405	138	39	public	public	ADJ
app01-3405	138	40	propositions	proposition	NOUN
app01-3405	138	41	)	)	PUNCT
app01-3405	138	42	.	.	PUNCT
app01-3405	139	1	some	some	DET
app01-3405	139	2	consensus	consensus	NOUN
app01-3405	139	3	on	on	ADP
app01-3405	139	4	this	this	DET
app01-3405	139	5	matter	matter	NOUN
app01-3405	139	6	needs	need	VERB
app01-3405	139	7	to	to	PART
app01-3405	139	8	be	be	AUX
app01-3405	139	9	settled	settle	VERB
app01-3405	139	10	.	.	PUNCT
app01-3405	140	1	similarly	similarly	ADV
app01-3405	140	2	to	to	ADP
app01-3405	140	3	the	the	DET
app01-3405	140	4	common	common	ADJ
app01-3405	140	5	definition	definition	NOUN
app01-3405	140	6	language	language	NOUN
app01-3405	140	7	,	,	PUNCT
app01-3405	140	8	a	a	DET
app01-3405	140	9	widely	widely	ADV
app01-3405	140	10	accepted	accept	VERB
app01-3405	140	11	set	set	NOUN
app01-3405	140	12	of	of	ADP
app01-3405	140	13	benchmarks	benchmark	NOUN
app01-3405	140	14	is	be	AUX
app01-3405	140	15	needed	need	VERB
app01-3405	140	16	.	.	PUNCT
app01-3405	141	1	in	in	ADP
app01-3405	141	2	the	the	DET
app01-3405	141	3	recent	recent	ADJ
app01-3405	141	4	works	work	NOUN
app01-3405	141	5	,	,	PUNCT
app01-3405	141	6	the	the	DET
app01-3405	141	7	benchmarks	benchmark	NOUN
app01-3405	141	8	were	be	AUX
app01-3405	141	9	typically	typically	ADV
app01-3405	141	10	created	create	VERB
app01-3405	141	11	by	by	ADP
app01-3405	141	12	ad	ad	NOUN
app01-3405	141	13	-	-	PUNCT
app01-3405	141	14	hoc	hoc	X
app01-3405	141	15	converting	convert	VERB
app01-3405	141	16	some	some	DET
app01-3405	141	17	suitable	suitable	ADJ
app01-3405	141	18	ipc	ipc	PROPN
app01-3405	141	19	domains	domain	NOUN
app01-3405	141	20	,	,	PUNCT
app01-3405	141	21	where	where	SCONJ
app01-3405	141	22	the	the	DET
app01-3405	141	23	agent	agent	NOUN
app01-3405	141	24	decomposition	decomposition	NOUN
app01-3405	141	25	is	be	AUX
app01-3405	141	26	natural	natural	ADJ
app01-3405	141	27	,	,	PUNCT
app01-3405	141	28	such	such	ADJ
app01-3405	141	29	as	as	ADP
app01-3405	141	30	logistics	logistic	NOUN
app01-3405	141	31	or	or	CCONJ
app01-3405	141	32	rovers	rover	NOUN
app01-3405	141	33	.	.	PUNCT
app01-3405	142	1	only	only	ADV
app01-3405	142	2	few	few	ADJ
app01-3405	142	3	new	new	ADJ
app01-3405	142	4	–	–	PUNCT
app01-3405	142	5	multiagent	multiagent	NOUN
app01-3405	142	6	specific	specific	ADJ
app01-3405	142	7	–	–	PUNCT
app01-3405	142	8	domains	domain	NOUN
app01-3405	142	9	were	be	AUX
app01-3405	142	10	introduced	introduce	VERB
app01-3405	142	11	,	,	PUNCT
app01-3405	142	12	i.e.	i.e.	X
app01-3405	142	13	,	,	PUNCT
app01-3405	142	14	cooperative	cooperative	ADJ
app01-3405	142	15	pathfinding	pathfinding	NOUN
app01-3405	142	16	.	.	PUNCT
app01-3405	143	1	in	in	ADP
app01-3405	143	2	the	the	DET
app01-3405	143	3	future	future	NOUN
app01-3405	143	4	,	,	PUNCT
app01-3405	143	5	it	it	PRON
app01-3405	143	6	would	would	AUX
app01-3405	143	7	be	be	AUX
app01-3405	143	8	interesting	interesting	ADJ
app01-3405	143	9	to	to	PART
app01-3405	143	10	come	come	VERB
app01-3405	143	11	up	up	ADP
app01-3405	143	12	with	with	ADP
app01-3405	143	13	more	more	ADJ
app01-3405	143	14	such	such	ADJ
app01-3405	143	15	domains	domain	NOUN
app01-3405	143	16	,	,	PUNCT
app01-3405	143	17	drawing	draw	VERB
app01-3405	143	18	from	from	ADP
app01-3405	143	19	real	real	ADJ
app01-3405	143	20	world	world	NOUN
app01-3405	143	21	and	and	CCONJ
app01-3405	143	22	multiagent	multiagent	NOUN
app01-3405	143	23	systems	system	NOUN
app01-3405	143	24	applications	application	NOUN
app01-3405	143	25	and	and	CCONJ
app01-3405	143	26	also	also	ADV
app01-3405	143	27	designed	design	VERB
app01-3405	143	28	to	to	PART
app01-3405	143	29	test	test	VERB
app01-3405	143	30	some	some	DET
app01-3405	143	31	specific	specific	ADJ
app01-3405	143	32	properties	property	NOUN
app01-3405	143	33	and	and	CCONJ
app01-3405	143	34	pitfalls	pitfall	NOUN
app01-3405	143	35	of	of	ADP
app01-3405	143	36	multiagent	multiagent	NOUN
app01-3405	143	37	planning	planning	NOUN
app01-3405	143	38	.	.	PUNCT
app01-3405	144	1	naturally	naturally	ADV
app01-3405	144	2	,	,	PUNCT
app01-3405	144	3	the	the	DET
app01-3405	144	4	best	good	ADJ
app01-3405	144	5	venue	venue	NOUN
app01-3405	144	6	for	for	ADP
app01-3405	144	7	such	such	ADJ
app01-3405	144	8	efforts	effort	NOUN
app01-3405	144	9	would	would	AUX
app01-3405	144	10	be	be	AUX
app01-3405	144	11	a	a	DET
app01-3405	144	12	dedicated	dedicated	ADJ
app01-3405	144	13	ipc	ipc	PROPN
app01-3405	144	14	track	track	NOUN
app01-3405	144	15	.	.	PUNCT
app01-3405	145	1	the	the	DET
app01-3405	145	2	metrics	metric	NOUN
app01-3405	145	3	used	use	VERB
app01-3405	145	4	for	for	ADP
app01-3405	145	5	planner	planner	NOUN
app01-3405	145	6	comparison	comparison	NOUN
app01-3405	145	7	are	be	AUX
app01-3405	145	8	also	also	ADV
app01-3405	145	9	challenging	challenge	VERB
app01-3405	145	10	.	.	PUNCT
app01-3405	146	1	all	all	DET
app01-3405	146	2	metrics	metric	NOUN
app01-3405	146	3	used	use	VERB
app01-3405	146	4	to	to	PART
app01-3405	146	5	compare	compare	VERB
app01-3405	146	6	classical	classical	ADJ
app01-3405	146	7	54	54	NUM
app01-3405	146	8	vol	vol	NOUN
app01-3405	146	9	.	.	PUNCT
app01-3405	147	1	2/2015	2/2015	NUM
app01-3405	147	2	a	a	DET
app01-3405	147	3	case	case	NOUN
app01-3405	147	4	for	for	SCONJ
app01-3405	147	5	domain	domain	NOUN
app01-3405	147	6	-	-	PUNCT
app01-3405	147	7	independent	independent	ADJ
app01-3405	147	8	deterministic	deterministic	ADJ
app01-3405	147	9	multiagent	multiagent	NOUN
app01-3405	147	10	planning	planning	NOUN
app01-3405	147	11	planners	planner	NOUN
app01-3405	147	12	still	still	ADV
app01-3405	147	13	apply	apply	VERB
app01-3405	147	14	,	,	PUNCT
app01-3405	147	15	but	but	CCONJ
app01-3405	147	16	there	there	PRON
app01-3405	147	17	are	be	VERB
app01-3405	147	18	some	some	DET
app01-3405	147	19	additional	additional	ADJ
app01-3405	147	20	ones	one	NOUN
app01-3405	147	21	,	,	PUNCT
app01-3405	147	22	such	such	ADJ
app01-3405	147	23	as	as	ADP
app01-3405	147	24	number	number	NOUN
app01-3405	147	25	of	of	ADP
app01-3405	147	26	exchanged	exchange	VERB
app01-3405	147	27	messages	message	NOUN
app01-3405	147	28	or	or	CCONJ
app01-3405	147	29	the	the	DET
app01-3405	147	30	amount	amount	NOUN
app01-3405	147	31	of	of	ADP
app01-3405	147	32	communicated	communicate	VERB
app01-3405	147	33	data	datum	NOUN
app01-3405	147	34	.	.	PUNCT
app01-3405	148	1	further	further	ADJ
app01-3405	148	2	metrics	metric	NOUN
app01-3405	148	3	can	can	AUX
app01-3405	148	4	be	be	AUX
app01-3405	148	5	adopted	adopt	VERB
app01-3405	148	6	from	from	ADP
app01-3405	148	7	the	the	DET
app01-3405	148	8	research	research	NOUN
app01-3405	148	9	of	of	ADP
app01-3405	148	10	other	other	ADJ
app01-3405	148	11	multiagent	multiagent	NOUN
app01-3405	148	12	algorithms	algorithm	NOUN
app01-3405	148	13	.	.	PUNCT
app01-3405	149	1	moreover	moreover	ADV
app01-3405	149	2	,	,	PUNCT
app01-3405	149	3	the	the	DET
app01-3405	149	4	comparison	comparison	NOUN
app01-3405	149	5	of	of	ADP
app01-3405	149	6	multiagent	multiagent	NOUN
app01-3405	149	7	planners	planner	NOUN
app01-3405	149	8	gains	gain	VERB
app01-3405	149	9	a	a	DET
app01-3405	149	10	new	new	ADJ
app01-3405	149	11	complexity	complexity	NOUN
app01-3405	149	12	in	in	ADP
app01-3405	149	13	that	that	SCONJ
app01-3405	149	14	a	a	DET
app01-3405	149	15	single	single	ADJ
app01-3405	149	16	problem	problem	NOUN
app01-3405	149	17	can	can	AUX
app01-3405	149	18	be	be	AUX
app01-3405	149	19	partitioned	partition	VERB
app01-3405	149	20	in	in	ADP
app01-3405	149	21	multiple	multiple	ADJ
app01-3405	149	22	ways	way	NOUN
app01-3405	149	23	,	,	PUNCT
app01-3405	149	24	and	and	CCONJ
app01-3405	149	25	each	each	DET
app01-3405	149	26	partitioning	partitioning	NOUN
app01-3405	149	27	may	may	AUX
app01-3405	149	28	be	be	AUX
app01-3405	149	29	beneficial	beneficial	ADJ
app01-3405	149	30	for	for	ADP
app01-3405	149	31	different	different	ADJ
app01-3405	149	32	planners	planner	NOUN
app01-3405	149	33	.	.	PUNCT
app01-3405	150	1	similarly	similarly	ADV
app01-3405	150	2	,	,	PUNCT
app01-3405	150	3	the	the	DET
app01-3405	150	4	amount	amount	NOUN
app01-3405	150	5	of	of	ADP
app01-3405	150	6	agent	agent	NOUN
app01-3405	150	7	interaction	interaction	NOUN
app01-3405	150	8	significantly	significantly	ADV
app01-3405	150	9	influences	influence	VERB
app01-3405	150	10	performance	performance	NOUN
app01-3405	150	11	of	of	ADP
app01-3405	150	12	the	the	DET
app01-3405	150	13	planners	planner	NOUN
app01-3405	150	14	some	some	DET
app01-3405	150	15	algorithms	algorithm	NOUN
app01-3405	150	16	may	may	AUX
app01-3405	150	17	be	be	AUX
app01-3405	150	18	better	well	ADV
app01-3405	150	19	suited	suit	VERB
app01-3405	150	20	for	for	ADP
app01-3405	150	21	loosely	loosely	ADV
app01-3405	150	22	coupled	couple	VERB
app01-3405	150	23	problems	problem	NOUN
app01-3405	150	24	while	while	SCONJ
app01-3405	150	25	other	other	ADJ
app01-3405	150	26	for	for	ADP
app01-3405	150	27	tightly	tightly	ADV
app01-3405	150	28	coupled	couple	VERB
app01-3405	150	29	problems	problem	NOUN
app01-3405	150	30	.	.	PUNCT
app01-3405	151	1	this	this	PRON
app01-3405	151	2	should	should	AUX
app01-3405	151	3	be	be	AUX
app01-3405	151	4	also	also	ADV
app01-3405	151	5	reflected	reflect	VERB
app01-3405	151	6	in	in	ADP
app01-3405	151	7	the	the	DET
app01-3405	151	8	potential	potential	ADJ
app01-3405	151	9	analysis	analysis	NOUN
app01-3405	151	10	.	.	PUNCT
app01-3405	152	1	4.2	4.2	NUM
app01-3405	152	2	.	.	X
app01-3405	152	3	which	which	DET
app01-3405	152	4	planning	planning	NOUN
app01-3405	152	5	paradigm	paradigm	NOUN
app01-3405	152	6	is	be	AUX
app01-3405	152	7	the	the	DET
app01-3405	152	8	best	good	ADJ
app01-3405	152	9	?	?	PUNCT
app01-3405	153	1	in	in	ADP
app01-3405	153	2	classical	classical	ADJ
app01-3405	153	3	sequential	sequential	ADJ
app01-3405	153	4	domain	domain	NOUN
app01-3405	153	5	-	-	PUNCT
app01-3405	153	6	independent	independent	ADJ
app01-3405	153	7	planning	planning	NOUN
app01-3405	153	8	,	,	PUNCT
app01-3405	153	9	the	the	DET
app01-3405	153	10	dominating	dominating	NOUN
app01-3405	153	11	planning	planning	NOUN
app01-3405	153	12	paradigm	paradigm	NOUN
app01-3405	153	13	seems	seem	VERB
app01-3405	153	14	to	to	PART
app01-3405	153	15	be	be	AUX
app01-3405	153	16	heuristic	heuristic	ADJ
app01-3405	153	17	forward	forward	ADV
app01-3405	153	18	-	-	PUNCT
app01-3405	153	19	chaining	chain	VERB
app01-3405	153	20	search	search	NOUN
app01-3405	153	21	typically	typically	ADV
app01-3405	153	22	utilizing	utilize	VERB
app01-3405	153	23	one	one	NUM
app01-3405	153	24	or	or	CCONJ
app01-3405	153	25	more	more	ADV
app01-3405	153	26	highly	highly	ADV
app01-3405	153	27	informative	informative	ADJ
app01-3405	153	28	heuristic	heuristic	ADJ
app01-3405	153	29	estimators	estimator	NOUN
app01-3405	153	30	(	(	PUNCT
app01-3405	153	31	used	use	VERB
app01-3405	153	32	by	by	ADP
app01-3405	153	33	planners	planner	NOUN
app01-3405	153	34	as	as	ADP
app01-3405	153	35	fastforward	fastforward	NOUN
app01-3405	153	36	,	,	PUNCT
app01-3405	153	37	fastdownward	fastdownward	NOUN
app01-3405	153	38	,	,	PUNCT
app01-3405	153	39	lama	lama	NOUN
app01-3405	153	40	and	and	CCONJ
app01-3405	153	41	many	many	ADJ
app01-3405	153	42	more	more	ADJ
app01-3405	153	43	)	)	PUNCT
app01-3405	153	44	,	,	PUNCT
app01-3405	153	45	although	although	SCONJ
app01-3405	153	46	some	some	DET
app01-3405	153	47	other	other	ADJ
app01-3405	153	48	approaches	approach	NOUN
app01-3405	153	49	(	(	PUNCT
app01-3405	153	50	such	such	ADJ
app01-3405	153	51	as	as	ADP
app01-3405	153	52	bidirectional	bidirectional	ADJ
app01-3405	153	53	search	search	NOUN
app01-3405	153	54	)	)	PUNCT
app01-3405	153	55	has	have	AUX
app01-3405	153	56	performed	perform	VERB
app01-3405	153	57	well	well	ADV
app01-3405	153	58	in	in	ADP
app01-3405	153	59	the	the	DET
app01-3405	153	60	last	last	ADJ
app01-3405	153	61	ipc	ipc	PROPN
app01-3405	153	62	competition	competition	NOUN
app01-3405	153	63	.	.	PUNCT
app01-3405	154	1	it	it	PRON
app01-3405	154	2	is	be	AUX
app01-3405	154	3	not	not	PART
app01-3405	154	4	clear	clear	ADJ
app01-3405	154	5	,	,	PUNCT
app01-3405	154	6	whether	whether	SCONJ
app01-3405	154	7	the	the	DET
app01-3405	154	8	same	same	ADJ
app01-3405	154	9	holds	hold	VERB
app01-3405	154	10	for	for	ADP
app01-3405	154	11	multiagent	multiagent	NOUN
app01-3405	154	12	planning	planning	NOUN
app01-3405	154	13	(	(	PUNCT
app01-3405	154	14	and	and	CCONJ
app01-3405	154	15	for	for	ADP
app01-3405	154	16	all	all	DET
app01-3405	154	17	metrics	metric	NOUN
app01-3405	154	18	)	)	PUNCT
app01-3405	154	19	.	.	PUNCT
app01-3405	155	1	again	again	ADV
app01-3405	155	2	,	,	PUNCT
app01-3405	155	3	the	the	DET
app01-3405	155	4	only	only	ADJ
app01-3405	155	5	way	way	NOUN
app01-3405	155	6	to	to	PART
app01-3405	155	7	reliably	reliably	ADV
app01-3405	155	8	answer	answer	VERB
app01-3405	155	9	this	this	DET
app01-3405	155	10	question	question	NOUN
app01-3405	155	11	is	be	AUX
app01-3405	155	12	to	to	PART
app01-3405	155	13	perform	perform	VERB
app01-3405	155	14	a	a	DET
app01-3405	155	15	rigorous	rigorous	ADJ
app01-3405	155	16	comparison	comparison	NOUN
app01-3405	155	17	of	of	ADP
app01-3405	155	18	the	the	DET
app01-3405	155	19	planners	planner	NOUN
app01-3405	155	20	,	,	PUNCT
app01-3405	155	21	such	such	ADJ
app01-3405	155	22	as	as	ADP
app01-3405	155	23	in	in	ADP
app01-3405	155	24	the	the	DET
app01-3405	155	25	ipc	ipc	PROPN
app01-3405	155	26	competition	competition	NOUN
app01-3405	155	27	.	.	PUNCT
app01-3405	156	1	currently	currently	ADV
app01-3405	156	2	the	the	DET
app01-3405	156	3	most	most	ADV
app01-3405	156	4	frequent	frequent	ADJ
app01-3405	156	5	approaches	approach	NOUN
app01-3405	156	6	to	to	ADP
app01-3405	156	7	multiagent	multiagent	NOUN
app01-3405	156	8	planning	planning	NOUN
app01-3405	156	9	are	be	AUX
app01-3405	156	10	distributed	distribute	VERB
app01-3405	156	11	heuristic	heuristic	ADJ
app01-3405	156	12	search	search	NOUN
app01-3405	157	1	[	[	X
app01-3405	157	2	14	14	NUM
app01-3405	157	3	,	,	PUNCT
app01-3405	157	4	29	29	NUM
app01-3405	157	5	,	,	PUNCT
app01-3405	157	6	30	30	NUM
app01-3405	157	7	]	]	PUNCT
app01-3405	157	8	,	,	PUNCT
app01-3405	157	9	partial	partial	ADJ
app01-3405	157	10	order	order	NOUN
app01-3405	157	11	planning	plan	VERB
app01-3405	157	12	[	[	X
app01-3405	157	13	16	16	NUM
app01-3405	157	14	,	,	PUNCT
app01-3405	157	15	17	17	NUM
app01-3405	157	16	]	]	PUNCT
app01-3405	157	17	,	,	PUNCT
app01-3405	157	18	and	and	CCONJ
app01-3405	157	19	various	various	ADJ
app01-3405	157	20	other	other	ADJ
app01-3405	157	21	,	,	PUNCT
app01-3405	157	22	such	such	ADJ
app01-3405	157	23	as	as	ADP
app01-3405	157	24	plan	plan	NOUN
app01-3405	157	25	reuse	reuse	NOUN
app01-3405	157	26	[	[	X
app01-3405	157	27	12	12	NUM
app01-3405	157	28	]	]	PUNCT
app01-3405	157	29	or	or	CCONJ
app01-3405	157	30	generate	generate	VERB
app01-3405	157	31	-	-	PUNCT
app01-3405	157	32	and	and	CCONJ
app01-3405	157	33	-	-	PUNCT
app01-3405	157	34	test	test	NOUN
app01-3405	157	35	[	[	X
app01-3405	157	36	18	18	NUM
app01-3405	157	37	,	,	PUNCT
app01-3405	157	38	19	19	NUM
app01-3405	157	39	]	]	PUNCT
app01-3405	157	40	.	.	PUNCT
app01-3405	158	1	4.3	4.3	NUM
app01-3405	158	2	.	.	PUNCT
app01-3405	159	1	heuristics	heuristic	VERB
app01-3405	159	2	one	one	NUM
app01-3405	159	3	interesting	interesting	ADJ
app01-3405	159	4	area	area	NOUN
app01-3405	159	5	of	of	ADP
app01-3405	159	6	research	research	NOUN
app01-3405	159	7	are	be	AUX
app01-3405	159	8	the	the	DET
app01-3405	159	9	heuristic	heuristic	ADJ
app01-3405	159	10	estimator	estimator	NOUN
app01-3405	159	11	for	for	ADP
app01-3405	159	12	multiagent	multiagent	NOUN
app01-3405	159	13	planning	planning	NOUN
app01-3405	159	14	.	.	PUNCT
app01-3405	160	1	as	as	SCONJ
app01-3405	160	2	mentioned	mention	VERB
app01-3405	160	3	in	in	ADP
app01-3405	160	4	the	the	DET
app01-3405	160	5	section	section	NOUN
app01-3405	160	6	about	about	ADP
app01-3405	160	7	asynchronous	asynchronous	ADJ
app01-3405	160	8	computation	computation	NOUN
app01-3405	160	9	,	,	PUNCT
app01-3405	160	10	the	the	DET
app01-3405	160	11	baseline	baseline	NOUN
app01-3405	160	12	solution	solution	NOUN
app01-3405	160	13	for	for	ADP
app01-3405	160	14	heuristic	heuristic	ADJ
app01-3405	160	15	computation	computation	NOUN
app01-3405	160	16	is	be	AUX
app01-3405	160	17	to	to	PART
app01-3405	160	18	use	use	VERB
app01-3405	160	19	a	a	DET
app01-3405	160	20	projection	projection	NOUN
app01-3405	160	21	of	of	ADP
app01-3405	160	22	the	the	DET
app01-3405	160	23	problem	problem	NOUN
app01-3405	160	24	to	to	ADP
app01-3405	160	25	the	the	DET
app01-3405	160	26	particular	particular	ADJ
app01-3405	160	27	agent	agent	NOUN
app01-3405	160	28	’s	’s	PART
app01-3405	160	29	propositions	proposition	NOUN
app01-3405	160	30	.	.	PUNCT
app01-3405	161	1	this	this	DET
app01-3405	161	2	approach	approach	NOUN
app01-3405	161	3	was	be	AUX
app01-3405	161	4	used	use	VERB
app01-3405	161	5	in	in	ADP
app01-3405	161	6	[	[	X
app01-3405	161	7	13	13	NUM
app01-3405	161	8	,	,	PUNCT
app01-3405	161	9	14	14	NUM
app01-3405	161	10	]	]	PUNCT
app01-3405	161	11	.	.	PUNCT
app01-3405	162	1	another	another	DET
app01-3405	162	2	approach	approach	NOUN
app01-3405	162	3	is	be	AUX
app01-3405	162	4	to	to	PART
app01-3405	162	5	attempt	attempt	VERB
app01-3405	162	6	to	to	PART
app01-3405	162	7	compute	compute	VERB
app01-3405	162	8	(	(	PUNCT
app01-3405	162	9	or	or	CCONJ
app01-3405	162	10	at	at	ADP
app01-3405	162	11	least	least	ADJ
app01-3405	162	12	approximate	approximate	ADJ
app01-3405	162	13	)	)	PUNCT
app01-3405	162	14	the	the	DET
app01-3405	162	15	global	global	ADJ
app01-3405	162	16	value	value	NOUN
app01-3405	162	17	as	as	SCONJ
app01-3405	162	18	if	if	SCONJ
app01-3405	162	19	the	the	DET
app01-3405	162	20	problem	problem	NOUN
app01-3405	162	21	was	be	AUX
app01-3405	162	22	not	not	PART
app01-3405	162	23	partitioned	partition	VERB
app01-3405	162	24	in	in	ADP
app01-3405	162	25	order	order	NOUN
app01-3405	162	26	to	to	PART
app01-3405	162	27	obtain	obtain	VERB
app01-3405	162	28	better	well	ADJ
app01-3405	162	29	heuristic	heuristic	ADJ
app01-3405	162	30	guidance	guidance	NOUN
app01-3405	162	31	.	.	PUNCT
app01-3405	163	1	to	to	ADP
app01-3405	163	2	our	our	PRON
app01-3405	163	3	knowledge	knowledge	NOUN
app01-3405	163	4	,	,	PUNCT
app01-3405	163	5	the	the	DET
app01-3405	163	6	only	only	ADJ
app01-3405	163	7	heuristics	heuristic	NOUN
app01-3405	163	8	treated	treat	VERB
app01-3405	163	9	this	this	DET
app01-3405	163	10	way	way	NOUN
app01-3405	163	11	so	so	ADV
app01-3405	163	12	far	far	ADV
app01-3405	163	13	were	be	AUX
app01-3405	163	14	the	the	DET
app01-3405	163	15	ff	ff	ADJ
app01-3405	163	16	heuristic	heuristic	NOUN
app01-3405	163	17	in	in	ADP
app01-3405	163	18	[	[	X
app01-3405	163	19	29	29	NUM
app01-3405	163	20	]	]	PUNCT
app01-3405	163	21	and	and	CCONJ
app01-3405	163	22	[	[	X
app01-3405	163	23	30	30	NUM
app01-3405	163	24	]	]	PUNCT
app01-3405	163	25	and	and	CCONJ
app01-3405	163	26	a	a	DET
app01-3405	163	27	domain	domain	NOUN
app01-3405	163	28	transition	transition	NOUN
app01-3405	163	29	graph	graph	NOUN
app01-3405	163	30	based	base	VERB
app01-3405	163	31	heuristic	heuristic	NOUN
app01-3405	163	32	in	in	ADP
app01-3405	163	33	[	[	X
app01-3405	163	34	17	17	NUM
app01-3405	163	35	]	]	PUNCT
app01-3405	163	36	.	.	PUNCT
app01-3405	164	1	of	of	ADP
app01-3405	164	2	course	course	NOUN
app01-3405	164	3	,	,	PUNCT
app01-3405	164	4	in	in	ADP
app01-3405	164	5	some	some	DET
app01-3405	164	6	cases	case	NOUN
app01-3405	164	7	,	,	PUNCT
app01-3405	164	8	the	the	DET
app01-3405	164	9	communication	communication	NOUN
app01-3405	164	10	needed	need	VERB
app01-3405	164	11	to	to	PART
app01-3405	164	12	compute	compute	VERB
app01-3405	164	13	a	a	DET
app01-3405	164	14	global	global	ADJ
app01-3405	164	15	heuristic	heuristic	NOUN
app01-3405	164	16	may	may	AUX
app01-3405	164	17	be	be	AUX
app01-3405	164	18	prohibitive	prohibitive	ADJ
app01-3405	164	19	,	,	PUNCT
app01-3405	164	20	in	in	ADP
app01-3405	164	21	such	such	DET
app01-3405	164	22	a	a	DET
app01-3405	164	23	situation	situation	NOUN
app01-3405	164	24	,	,	PUNCT
app01-3405	164	25	the	the	DET
app01-3405	164	26	local	local	ADJ
app01-3405	164	27	heuristic	heuristic	NOUN
app01-3405	164	28	would	would	AUX
app01-3405	164	29	have	have	VERB
app01-3405	164	30	to	to	PART
app01-3405	164	31	suffice	suffice	VERB
app01-3405	164	32	,	,	PUNCT
app01-3405	164	33	or	or	CCONJ
app01-3405	164	34	a	a	DET
app01-3405	164	35	clever	clever	ADJ
app01-3405	164	36	combination	combination	NOUN
app01-3405	164	37	of	of	ADP
app01-3405	164	38	both	both	PRON
app01-3405	164	39	would	would	AUX
app01-3405	164	40	need	need	VERB
app01-3405	164	41	to	to	PART
app01-3405	164	42	be	be	AUX
app01-3405	164	43	devised	devise	VERB
app01-3405	164	44	.	.	PUNCT
app01-3405	165	1	different	different	ADJ
app01-3405	165	2	challenge	challenge	NOUN
app01-3405	165	3	is	be	AUX
app01-3405	165	4	to	to	PART
app01-3405	165	5	come	come	VERB
app01-3405	165	6	up	up	ADP
app01-3405	165	7	with	with	ADP
app01-3405	165	8	a	a	DET
app01-3405	165	9	heuristic	heuristic	ADJ
app01-3405	165	10	specific	specific	NOUN
app01-3405	165	11	to	to	ADP
app01-3405	165	12	the	the	DET
app01-3405	165	13	multiagent	multiagent	NOUN
app01-3405	165	14	planning	planning	NOUN
app01-3405	165	15	.	.	PUNCT
app01-3405	166	1	such	such	ADJ
app01-3405	166	2	heuristic	heuristic	NOUN
app01-3405	166	3	may	may	AUX
app01-3405	166	4	not	not	PART
app01-3405	166	5	only	only	ADV
app01-3405	166	6	lead	lead	VERB
app01-3405	166	7	the	the	DET
app01-3405	166	8	search	search	NOUN
app01-3405	166	9	towards	towards	ADP
app01-3405	166	10	the	the	DET
app01-3405	166	11	goal	goal	NOUN
app01-3405	166	12	,	,	PUNCT
app01-3405	166	13	but	but	CCONJ
app01-3405	166	14	may	may	AUX
app01-3405	166	15	also	also	ADV
app01-3405	166	16	lead	lead	VERB
app01-3405	166	17	the	the	DET
app01-3405	166	18	search	search	NOUN
app01-3405	166	19	in	in	ADP
app01-3405	166	20	a	a	DET
app01-3405	166	21	way	way	NOUN
app01-3405	166	22	minimizing	minimize	VERB
app01-3405	166	23	some	some	DET
app01-3405	166	24	multiagent	multiagent	NOUN
app01-3405	166	25	metric	metric	NOUN
app01-3405	166	26	,	,	PUNCT
app01-3405	166	27	such	such	ADJ
app01-3405	166	28	as	as	ADP
app01-3405	166	29	the	the	DET
app01-3405	166	30	communication	communication	NOUN
app01-3405	166	31	load	load	NOUN
app01-3405	166	32	.	.	PUNCT
app01-3405	167	1	4.4	4.4	NUM
app01-3405	167	2	.	.	PUNCT
app01-3405	168	1	privacy	privacy	NOUN
app01-3405	168	2	multiagent	multiagent	NOUN
app01-3405	168	3	planning	planning	NOUN
app01-3405	168	4	can	can	AUX
app01-3405	168	5	be	be	AUX
app01-3405	168	6	seen	see	VERB
app01-3405	168	7	also	also	ADV
app01-3405	168	8	from	from	ADP
app01-3405	168	9	the	the	DET
app01-3405	168	10	perspective	perspective	NOUN
app01-3405	168	11	of	of	ADP
app01-3405	168	12	privacy	privacy	NOUN
app01-3405	168	13	-	-	PUNCT
app01-3405	168	14	preserving	preserve	VERB
app01-3405	168	15	distributed	distribute	VERB
app01-3405	168	16	computing	computing	NOUN
app01-3405	168	17	,	,	PUNCT
app01-3405	168	18	although	although	SCONJ
app01-3405	168	19	it	it	PRON
app01-3405	168	20	is	be	AUX
app01-3405	168	21	not	not	PART
app01-3405	168	22	the	the	DET
app01-3405	168	23	main	main	ADJ
app01-3405	168	24	concern	concern	NOUN
app01-3405	168	25	of	of	ADP
app01-3405	168	26	most	most	ADJ
app01-3405	168	27	of	of	ADP
app01-3405	168	28	the	the	DET
app01-3405	168	29	ma	ma	NOUN
app01-3405	168	30	-	-	PUNCT
app01-3405	168	31	strips	strip	NOUN
app01-3405	168	32	based	base	VERB
app01-3405	168	33	planners	planner	NOUN
app01-3405	168	34	.	.	PUNCT
app01-3405	169	1	this	this	DET
app01-3405	169	2	perspective	perspective	NOUN
app01-3405	169	3	raises	raise	VERB
app01-3405	169	4	many	many	ADJ
app01-3405	169	5	questions	question	NOUN
app01-3405	169	6	,	,	PUNCT
app01-3405	169	7	some	some	PRON
app01-3405	169	8	of	of	ADP
app01-3405	169	9	them	they	PRON
app01-3405	169	10	were	be	AUX
app01-3405	169	11	already	already	ADV
app01-3405	169	12	addressed	address	VERB
app01-3405	169	13	in	in	ADP
app01-3405	169	14	[	[	X
app01-3405	169	15	22	22	NUM
app01-3405	169	16	,	,	PUNCT
app01-3405	169	17	32	32	NUM
app01-3405	169	18	]	]	PUNCT
app01-3405	169	19	,	,	PUNCT
app01-3405	169	20	but	but	CCONJ
app01-3405	169	21	a	a	DET
app01-3405	169	22	comprehensive	comprehensive	ADJ
app01-3405	169	23	analysis	analysis	NOUN
app01-3405	169	24	of	of	ADP
app01-3405	169	25	possible	possible	ADJ
app01-3405	169	26	privacy	privacy	NOUN
app01-3405	169	27	violations	violation	NOUN
app01-3405	169	28	in	in	ADP
app01-3405	169	29	ma	ma	NOUN
app01-3405	169	30	-	-	PUNCT
app01-3405	169	31	strips	strip	NOUN
app01-3405	169	32	and	and	CCONJ
app01-3405	169	33	ma	ma	NOUN
app01-3405	169	34	-	-	PUNCT
app01-3405	169	35	strips	strip	NOUN
app01-3405	169	36	based	base	VERB
app01-3405	169	37	planning	planning	NOUN
app01-3405	169	38	algorithms	algorithm	NOUN
app01-3405	169	39	has	have	AUX
app01-3405	169	40	not	not	PART
app01-3405	169	41	been	be	AUX
app01-3405	169	42	yet	yet	ADV
app01-3405	169	43	presented	present	VERB
app01-3405	169	44	.	.	PUNCT
app01-3405	170	1	even	even	ADV
app01-3405	170	2	the	the	DET
app01-3405	170	3	question	question	NOUN
app01-3405	170	4	if	if	SCONJ
app01-3405	170	5	a	a	DET
app01-3405	170	6	ma	ma	NOUN
app01-3405	170	7	-	-	PUNCT
app01-3405	170	8	strips	strip	NOUN
app01-3405	170	9	based	base	VERB
app01-3405	170	10	multiagent	multiagent	NOUN
app01-3405	170	11	planner	planner	NOUN
app01-3405	170	12	can	can	AUX
app01-3405	170	13	be	be	AUX
app01-3405	170	14	privacy	privacy	NOUN
app01-3405	170	15	preserving	preserve	VERB
app01-3405	170	16	(	(	PUNCT
app01-3405	170	17	and	and	CCONJ
app01-3405	170	18	if	if	SCONJ
app01-3405	170	19	so	so	ADV
app01-3405	170	20	how	how	SCONJ
app01-3405	170	21	strongly	strongly	ADV
app01-3405	170	22	)	)	PUNCT
app01-3405	170	23	is	be	AUX
app01-3405	170	24	yet	yet	ADV
app01-3405	170	25	to	to	PART
app01-3405	170	26	be	be	AUX
app01-3405	170	27	answered	answer	VERB
app01-3405	170	28	.	.	PUNCT
app01-3405	171	1	4.5	4.5	NUM
app01-3405	171	2	.	.	PUNCT
app01-3405	172	1	extending	extend	VERB
app01-3405	172	2	complexity	complexity	NOUN
app01-3405	172	3	analysis	analysis	NOUN
app01-3405	172	4	from	from	ADP
app01-3405	172	5	the	the	DET
app01-3405	172	6	theoretical	theoretical	ADJ
app01-3405	172	7	perspective	perspective	NOUN
app01-3405	172	8	,	,	PUNCT
app01-3405	172	9	the	the	DET
app01-3405	172	10	original	original	ADJ
app01-3405	172	11	[	[	X
app01-3405	172	12	11	11	NUM
app01-3405	172	13	]	]	SYM
app01-3405	172	14	’s	’s	PART
app01-3405	172	15	complexity	complexity	NOUN
app01-3405	172	16	results	result	NOUN
app01-3405	172	17	can	can	AUX
app01-3405	172	18	give	give	VERB
app01-3405	172	19	a	a	DET
app01-3405	172	20	solid	solid	ADJ
app01-3405	172	21	groundwork	groundwork	NOUN
app01-3405	172	22	for	for	ADP
app01-3405	172	23	future	future	ADJ
app01-3405	172	24	and	and	CCONJ
app01-3405	172	25	more	more	ADV
app01-3405	172	26	detailed	detailed	ADJ
app01-3405	172	27	studies	study	NOUN
app01-3405	172	28	of	of	ADP
app01-3405	172	29	complexity	complexity	NOUN
app01-3405	172	30	of	of	ADP
app01-3405	172	31	multiagent	multiagent	NOUN
app01-3405	172	32	planning	planning	NOUN
app01-3405	172	33	.	.	PUNCT
app01-3405	173	1	we	we	PRON
app01-3405	173	2	envision	envision	VERB
app01-3405	173	3	two	two	NUM
app01-3405	173	4	main	main	ADJ
app01-3405	173	5	directions	direction	NOUN
app01-3405	173	6	:	:	PUNCT
app01-3405	173	7	(	(	PUNCT
app01-3405	173	8	i	i	NOUN
app01-3405	173	9	)	)	PUNCT
app01-3405	173	10	problem	problem	NOUN
app01-3405	173	11	-	-	PUNCT
app01-3405	173	12	specific	specific	ADJ
app01-3405	173	13	and	and	CCONJ
app01-3405	173	14	(	(	PUNCT
app01-3405	173	15	ii	ii	NOUN
app01-3405	173	16	)	)	PUNCT
app01-3405	173	17	finer	fine	ADJ
app01-3405	173	18	complexity	complexity	NOUN
app01-3405	173	19	classes	class	NOUN
app01-3405	173	20	.	.	PUNCT
app01-3405	174	1	the	the	DET
app01-3405	174	2	problem	problem	NOUN
app01-3405	174	3	-	-	PUNCT
app01-3405	174	4	specific	specific	ADJ
app01-3405	174	5	study	study	NOUN
app01-3405	174	6	could	could	AUX
app01-3405	174	7	be	be	AUX
app01-3405	174	8	inspired	inspire	VERB
app01-3405	174	9	by	by	ADP
app01-3405	174	10	works	work	NOUN
app01-3405	174	11	as	as	ADP
app01-3405	174	12	[	[	X
app01-3405	174	13	33	33	NUM
app01-3405	174	14	]	]	PUNCT
app01-3405	174	15	,	,	PUNCT
app01-3405	174	16	where	where	SCONJ
app01-3405	174	17	particular	particular	ADJ
app01-3405	174	18	planning	planning	NOUN
app01-3405	174	19	domains	domain	NOUN
app01-3405	174	20	are	be	AUX
app01-3405	174	21	analyzed	analyze	VERB
app01-3405	174	22	from	from	ADP
app01-3405	174	23	perspective	perspective	NOUN
app01-3405	174	24	of	of	ADP
app01-3405	174	25	computational	computational	ADJ
app01-3405	174	26	complexity	complexity	NOUN
app01-3405	174	27	showing	showing	NOUN
app01-3405	174	28	which	which	PRON
app01-3405	174	29	problems	problem	NOUN
app01-3405	174	30	are	be	AUX
app01-3405	174	31	easy	easy	ADJ
app01-3405	174	32	,	,	PUNCT
app01-3405	174	33	even	even	ADV
app01-3405	174	34	if	if	SCONJ
app01-3405	174	35	planning	plan	VERB
app01-3405	174	36	in	in	ADP
app01-3405	174	37	general	general	ADJ
app01-3405	174	38	is	be	AUX
app01-3405	174	39	known	know	VERB
app01-3405	174	40	to	to	PART
app01-3405	174	41	be	be	AUX
app01-3405	174	42	computationally	computationally	ADV
app01-3405	174	43	hard	hard	ADJ
app01-3405	174	44	.	.	PUNCT
app01-3405	175	1	the	the	DET
app01-3405	175	2	idea	idea	NOUN
app01-3405	175	3	of	of	ADP
app01-3405	175	4	study	study	NOUN
app01-3405	175	5	of	of	ADP
app01-3405	175	6	finer	fine	ADJ
app01-3405	175	7	complexity	complexity	NOUN
app01-3405	175	8	classes	class	NOUN
app01-3405	175	9	,	,	PUNCT
app01-3405	175	10	is	be	AUX
app01-3405	175	11	for	for	ADP
app01-3405	175	12	example	example	NOUN
app01-3405	175	13	parametrized	parametrized	ADJ
app01-3405	175	14	analysis	analysis	NOUN
app01-3405	175	15	of	of	ADP
app01-3405	175	16	classical	classical	ADJ
app01-3405	175	17	planning	planning	NOUN
app01-3405	175	18	by	by	ADP
app01-3405	175	19	[	[	X
app01-3405	175	20	34	34	NUM
app01-3405	175	21	]	]	PUNCT
app01-3405	175	22	.	.	PUNCT
app01-3405	176	1	additionally	additionally	ADV
app01-3405	176	2	,	,	PUNCT
app01-3405	176	3	these	these	DET
app01-3405	176	4	studies	study	NOUN
app01-3405	176	5	can	can	AUX
app01-3405	176	6	be	be	AUX
app01-3405	176	7	extended	extend	VERB
app01-3405	176	8	by	by	ADP
app01-3405	176	9	communication	communication	NOUN
app01-3405	176	10	complexity	complexity	NOUN
app01-3405	176	11	showing	show	VERB
app01-3405	176	12	how	how	SCONJ
app01-3405	176	13	much	much	ADJ
app01-3405	176	14	communication	communication	NOUN
app01-3405	176	15	would	would	AUX
app01-3405	176	16	be	be	AUX
app01-3405	176	17	required	require	VERB
app01-3405	176	18	to	to	PART
app01-3405	176	19	solve	solve	VERB
app01-3405	176	20	the	the	DET
app01-3405	176	21	problems	problem	NOUN
app01-3405	176	22	.	.	PUNCT
app01-3405	177	1	5	5	X
app01-3405	177	2	.	.	X
app01-3405	177	3	final	final	ADJ
app01-3405	177	4	remarks	remark	NOUN
app01-3405	177	5	domain	domain	VERB
app01-3405	177	6	independent	independent	ADJ
app01-3405	177	7	planning	planning	NOUN
app01-3405	177	8	is	be	AUX
app01-3405	177	9	a	a	DET
app01-3405	177	10	field	field	NOUN
app01-3405	177	11	of	of	ADP
app01-3405	177	12	research	research	NOUN
app01-3405	177	13	bridging	bridge	VERB
app01-3405	177	14	two	two	NUM
app01-3405	177	15	distinct	distinct	ADJ
app01-3405	177	16	topics	topic	NOUN
app01-3405	177	17	of	of	ADP
app01-3405	177	18	multiagent	multiagent	NOUN
app01-3405	177	19	systems	system	NOUN
app01-3405	177	20	and	and	CCONJ
app01-3405	177	21	domain	domain	VERB
app01-3405	177	22	independent	independent	ADJ
app01-3405	177	23	planning	planning	NOUN
app01-3405	177	24	.	.	PUNCT
app01-3405	178	1	we	we	PRON
app01-3405	178	2	see	see	VERB
app01-3405	178	3	providing	provide	VERB
app01-3405	178	4	a	a	DET
app01-3405	178	5	common	common	ADJ
app01-3405	178	6	problem	problem	NOUN
app01-3405	178	7	definition	definition	NOUN
app01-3405	178	8	language	language	NOUN
app01-3405	178	9	and	and	CCONJ
app01-3405	178	10	set	set	NOUN
app01-3405	178	11	of	of	ADP
app01-3405	178	12	benchmarks	benchmark	NOUN
app01-3405	178	13	in	in	ADP
app01-3405	178	14	order	order	NOUN
app01-3405	178	15	to	to	PART
app01-3405	178	16	be	be	AUX
app01-3405	178	17	able	able	ADJ
app01-3405	178	18	to	to	PART
app01-3405	178	19	determine	determine	VERB
app01-3405	178	20	the	the	DET
app01-3405	178	21	state	state	NOUN
app01-3405	178	22	of	of	ADP
app01-3405	178	23	the	the	DET
app01-3405	178	24	art	art	NOUN
app01-3405	178	25	and	and	CCONJ
app01-3405	178	26	compare	compare	VERB
app01-3405	178	27	it	it	PRON
app01-3405	178	28	with	with	ADP
app01-3405	178	29	newly	newly	ADV
app01-3405	178	30	emerging	emerge	VERB
app01-3405	178	31	techniques	technique	NOUN
app01-3405	178	32	as	as	ADP
app01-3405	178	33	one	one	NUM
app01-3405	178	34	of	of	ADP
app01-3405	178	35	the	the	DET
app01-3405	178	36	important	important	ADJ
app01-3405	178	37	steps	step	NOUN
app01-3405	178	38	to	to	PART
app01-3405	178	39	advance	advance	VERB
app01-3405	178	40	the	the	DET
app01-3405	178	41	field	field	NOUN
app01-3405	178	42	.	.	PUNCT
app01-3405	179	1	we	we	PRON
app01-3405	179	2	see	see	VERB
app01-3405	179	3	such	such	DET
app01-3405	179	4	a	a	DET
app01-3405	179	5	hybrid	hybrid	ADJ
app01-3405	179	6	field	field	NOUN
app01-3405	179	7	to	to	PART
app01-3405	179	8	be	be	AUX
app01-3405	179	9	potentially	potentially	ADV
app01-3405	179	10	beneficial	beneficial	ADJ
app01-3405	179	11	to	to	ADP
app01-3405	179	12	both	both	DET
app01-3405	179	13	research	research	NOUN
app01-3405	179	14	communities	community	NOUN
app01-3405	179	15	.	.	PUNCT
app01-3405	180	1	acknowledgments	acknowledgment	NOUN
app01-3405	180	2	this	this	DET
app01-3405	180	3	research	research	NOUN
app01-3405	180	4	was	be	AUX
app01-3405	180	5	supported	support	VERB
app01-3405	180	6	by	by	ADP
app01-3405	180	7	the	the	DET
app01-3405	180	8	czech	czech	PROPN
app01-3405	180	9	science	science	NOUN
app01-3405	180	10	foundation	foundation	NOUN
app01-3405	180	11	(	(	PUNCT
app01-3405	180	12	13	13	NUM
app01-3405	180	13	-	-	SYM
app01-3405	180	14	22125s	22125s	NUM
app01-3405	180	15	)	)	PUNCT
app01-3405	180	16	.	.	PUNCT
app01-3405	181	1	references	reference	NOUN
app01-3405	181	2	[	[	X
app01-3405	181	3	1	1	NUM
app01-3405	181	4	]	]	PUNCT
app01-3405	181	5	k.	k.	PROPN
app01-3405	181	6	konolige	konolige	PROPN
app01-3405	181	7	,	,	PUNCT
app01-3405	181	8	n.	n.	PROPN
app01-3405	181	9	j.	j.	PROPN
app01-3405	181	10	nilsson	nilsson	PROPN
app01-3405	181	11	.	.	PUNCT
app01-3405	182	1	multiple	multiple	ADJ
app01-3405	182	2	-	-	PUNCT
app01-3405	182	3	agent	agent	NOUN
app01-3405	182	4	planning	planning	NOUN
app01-3405	182	5	systems	system	NOUN
app01-3405	182	6	.	.	PUNCT
app01-3405	183	1	in	in	ADP
app01-3405	183	2	aaai	aaai	PROPN
app01-3405	183	3	,	,	PUNCT
app01-3405	183	4	vol	vol	NOUN
app01-3405	183	5	.	.	PROPN
app01-3405	183	6	80	80	NUM
app01-3405	183	7	,	,	PUNCT
app01-3405	183	8	pp	pp	ADJ
app01-3405	183	9	.	.	PUNCT
app01-3405	184	1	138–142	138–142	NUM
app01-3405	184	2	.	.	PUNCT
app01-3405	184	3	1980	1980	NUM
app01-3405	184	4	.	.	PUNCT
app01-3405	185	1	[	[	X
app01-3405	185	2	2	2	NUM
app01-3405	185	3	]	]	PUNCT
app01-3405	185	4	r.	r.	PROPN
app01-3405	185	5	fikes	fikes	PROPN
app01-3405	185	6	,	,	PUNCT
app01-3405	185	7	n.	n.	PROPN
app01-3405	185	8	nilsson	nilsson	PROPN
app01-3405	185	9	.	.	PUNCT
app01-3405	185	10	strips	strips	PROPN
app01-3405	185	11	:	:	PUNCT
app01-3405	185	12	a	a	DET
app01-3405	185	13	new	new	ADJ
app01-3405	185	14	approach	approach	NOUN
app01-3405	185	15	to	to	ADP
app01-3405	185	16	the	the	DET
app01-3405	185	17	application	application	NOUN
app01-3405	185	18	of	of	ADP
app01-3405	185	19	theorem	theorem	NOUN
app01-3405	185	20	proving	prove	VERB
app01-3405	185	21	to	to	PART
app01-3405	185	22	problem	problem	VERB
app01-3405	185	23	solving	solve	VERB
app01-3405	185	24	.	.	PUNCT
app01-3405	186	1	in	in	ADP
app01-3405	186	2	proc	proc	PROPN
app01-3405	186	3	.	.	PUNCT
app01-3405	187	1	of	of	ADP
app01-3405	187	2	the	the	DET
app01-3405	187	3	2nd	2nd	ADJ
app01-3405	187	4	international	international	ADJ
app01-3405	187	5	joint	joint	ADJ
app01-3405	187	6	conference	conference	NOUN
app01-3405	187	7	on	on	ADP
app01-3405	187	8	artificial	artificial	ADJ
app01-3405	187	9	intelligence	intelligence	NOUN
app01-3405	187	10	,	,	PUNCT
app01-3405	187	11	pp	pp	ADP
app01-3405	187	12	.	.	PUNCT
app01-3405	188	1	608–620	608–620	NUM
app01-3405	188	2	.	.	NOUN
app01-3405	188	3	1971	1971	NUM
app01-3405	188	4	.	.	PUNCT
app01-3405	189	1	[	[	X
app01-3405	189	2	3	3	X
app01-3405	189	3	]	]	X
app01-3405	189	4	e.	e.	PROPN
app01-3405	189	5	h.	h.	PROPN
app01-3405	189	6	durfee	durfee	PROPN
app01-3405	189	7	.	.	PUNCT
app01-3405	190	1	distributed	distribute	VERB
app01-3405	190	2	problem	problem	NOUN
app01-3405	190	3	solving	solving	NOUN
app01-3405	190	4	and	and	CCONJ
app01-3405	190	5	planning	planning	NOUN
app01-3405	190	6	.	.	PUNCT
app01-3405	191	1	in	in	ADP
app01-3405	191	2	g.	g.	PROPN
app01-3405	191	3	weiß	weiß	PROPN
app01-3405	191	4	(	(	PUNCT
app01-3405	191	5	ed	ed	NOUN
app01-3405	191	6	.	.	PUNCT
app01-3405	191	7	)	)	PUNCT
app01-3405	191	8	,	,	PUNCT
app01-3405	191	9	a	a	DET
app01-3405	191	10	modern	modern	ADJ
app01-3405	191	11	approach	approach	NOUN
app01-3405	191	12	to	to	ADP
app01-3405	191	13	distributed	distribute	VERB
app01-3405	191	14	artificial	artificial	ADJ
app01-3405	191	15	intelligence	intelligence	NOUN
app01-3405	191	16	,	,	PUNCT
app01-3405	191	17	chap	chap	NOUN
app01-3405	191	18	.	.	PUNCT
app01-3405	192	1	3	3	X
app01-3405	192	2	.	.	X
app01-3405	192	3	the	the	DET
app01-3405	192	4	mit	mit	PROPN
app01-3405	192	5	press	press	NOUN
app01-3405	192	6	,	,	PUNCT
app01-3405	192	7	san	san	PROPN
app01-3405	192	8	francisco	francisco	PROPN
app01-3405	192	9	,	,	PUNCT
app01-3405	192	10	ca	ca	NOUN
app01-3405	192	11	,	,	PUNCT
app01-3405	192	12	1999	1999	NUM
app01-3405	192	13	.	.	PUNCT
app01-3405	193	1	doi:10.1007/3	doi:10.1007/3	PROPN
app01-3405	193	2	-	-	PUNCT
app01-3405	193	3	540	540	NUM
app01-3405	193	4	-	-	PUNCT
app01-3405	193	5	47745	47745	NUM
app01-3405	193	6	-	-	SYM
app01-3405	193	7	4_6	4_6	NUM
app01-3405	193	8	.	.	PUNCT
app01-3405	194	1	[	[	X
app01-3405	194	2	4	4	NUM
app01-3405	194	3	]	]	PUNCT
app01-3405	194	4	k.	k.	PROPN
app01-3405	194	5	decker	decker	PROPN
app01-3405	194	6	,	,	PUNCT
app01-3405	194	7	v.	v.	ADP
app01-3405	194	8	lesser	less	ADJ
app01-3405	194	9	.	.	PUNCT
app01-3405	195	1	generalizing	generalize	VERB
app01-3405	195	2	the	the	DET
app01-3405	195	3	partial	partial	ADJ
app01-3405	195	4	global	global	ADJ
app01-3405	195	5	planning	planning	NOUN
app01-3405	195	6	algorithm	algorithm	NOUN
app01-3405	195	7	.	.	PUNCT
app01-3405	196	1	international	international	ADJ
app01-3405	196	2	journal	journal	PROPN
app01-3405	196	3	on	on	ADP
app01-3405	196	4	intelligent	intelligent	ADJ
app01-3405	196	5	cooperative	cooperative	ADJ
app01-3405	196	6	information	information	NOUN
app01-3405	196	7	systems	system	NOUN
app01-3405	196	8	1(2):319–346	1(2):319–346	NUM
app01-3405	196	9	,	,	PUNCT
app01-3405	196	10	1992	1992	NUM
app01-3405	196	11	.	.	PUNCT
app01-3405	197	1	doi:10.1142	doi:10.1142	NOUN
app01-3405	197	2	/	/	SYM
app01-3405	197	3	s0218215792000222	s0218215792000222	NOUN
app01-3405	197	4	.	.	PUNCT
app01-3405	198	1	55	55	NUM
app01-3405	198	2	http://dx.doi.org/10.1007/3-540-47745-4_6	http://dx.doi.org/10.1007/3-540-47745-4_6	NOUN
app01-3405	198	3	http://dx.doi.org/10.1142/s0218215792000222	http://dx.doi.org/10.1142/s0218215792000222	PROPN
app01-3405	198	4	michal	michal	PROPN
app01-3405	198	5	štolba	štolba	PROPN
app01-3405	198	6	acta	acta	PROPN
app01-3405	198	7	polytechnica	polytechnica	PROPN
app01-3405	198	8	ctu	ctu	NOUN
app01-3405	198	9	proceedings	proceeding	NOUN
app01-3405	198	10	[	[	X
app01-3405	198	11	5	5	X
app01-3405	198	12	]	]	PUNCT
app01-3405	198	13	p.	p.	NOUN
app01-3405	198	14	doherty	doherty	PROPN
app01-3405	198	15	,	,	PUNCT
app01-3405	198	16	j.	j.	PROPN
app01-3405	198	17	kvarnström	kvarnström	PROPN
app01-3405	198	18	.	.	PUNCT
app01-3405	199	1	talplanner	talplanner	PROPN
app01-3405	199	2	:	:	PUNCT
app01-3405	199	3	a	a	DET
app01-3405	199	4	temporal	temporal	ADJ
app01-3405	199	5	logic	logic	NOUN
app01-3405	199	6	-	-	PUNCT
app01-3405	199	7	based	base	VERB
app01-3405	199	8	planner	planner	NOUN
app01-3405	199	9	.	.	PUNCT
app01-3405	200	1	ai	ai	VERB
app01-3405	200	2	magazine	magazine	NOUN
app01-3405	200	3	22(3):95–102	22(3):95–102	NUM
app01-3405	200	4	,	,	PUNCT
app01-3405	200	5	2001	2001	NUM
app01-3405	200	6	.	.	PUNCT
app01-3405	201	1	doi:10.1609	doi:10.1609	NOUN
app01-3405	201	2	/	/	SYM
app01-3405	201	3	aimag.v22i3.1581	aimag.v22i3.1581	PROPN
app01-3405	201	4	.	.	PUNCT
app01-3405	202	1	[	[	X
app01-3405	202	2	6	6	NUM
app01-3405	202	3	]	]	X
app01-3405	202	4	r.	r.	PROPN
app01-3405	202	5	becker	becker	PROPN
app01-3405	202	6	,	,	PUNCT
app01-3405	202	7	s.	s.	PROPN
app01-3405	202	8	zilberstein	zilberstein	PROPN
app01-3405	202	9	,	,	PUNCT
app01-3405	202	10	v.	v.	ADP
app01-3405	202	11	lesser	less	ADJ
app01-3405	202	12	,	,	PUNCT
app01-3405	202	13	c.	c.	PROPN
app01-3405	202	14	v.	v.	PROPN
app01-3405	202	15	goldman	goldman	PROPN
app01-3405	202	16	.	.	PUNCT
app01-3405	203	1	solving	solve	VERB
app01-3405	203	2	transition	transition	NOUN
app01-3405	203	3	independent	independent	ADJ
app01-3405	203	4	decentralized	decentralize	VERB
app01-3405	203	5	markov	markov	NOUN
app01-3405	203	6	decision	decision	NOUN
app01-3405	203	7	processes	process	NOUN
app01-3405	203	8	.	.	PUNCT
app01-3405	204	1	journal	journal	NOUN
app01-3405	204	2	of	of	ADP
app01-3405	204	3	artificial	artificial	ADJ
app01-3405	204	4	intelligence	intelligence	NOUN
app01-3405	204	5	research	research	NOUN
app01-3405	204	6	22:423–455	22:423–455	NUM
app01-3405	204	7	,	,	PUNCT
app01-3405	204	8	2004	2004	NUM
app01-3405	204	9	.	.	PUNCT
app01-3405	205	1	doi:10.1613	doi:10.1613	PROPN
app01-3405	205	2	/	/	SYM
app01-3405	205	3	jair.1497	jair.1497	PROPN
app01-3405	205	4	.	.	PUNCT
app01-3405	206	1	[	[	X
app01-3405	206	2	7	7	X
app01-3405	206	3	]	]	X
app01-3405	206	4	m.	m.	NOUN
app01-3405	206	5	de	de	X
app01-3405	206	6	weerdt	weerdt	PROPN
app01-3405	206	7	,	,	PUNCT
app01-3405	206	8	a.	a.	NOUN
app01-3405	206	9	ter	ter	NOUN
app01-3405	206	10	mors	mor	NOUN
app01-3405	206	11	,	,	PUNCT
app01-3405	206	12	c.	c.	PROPN
app01-3405	206	13	witteveen	witteveen	PROPN
app01-3405	206	14	.	.	PUNCT
app01-3405	207	1	multi	multi	ADJ
app01-3405	207	2	-	-	ADJ
app01-3405	207	3	agent	agent	ADJ
app01-3405	207	4	planning	planning	NOUN
app01-3405	207	5	:	:	PUNCT
app01-3405	207	6	an	an	DET
app01-3405	207	7	introduction	introduction	NOUN
app01-3405	207	8	to	to	ADP
app01-3405	207	9	planning	planning	NOUN
app01-3405	207	10	and	and	CCONJ
app01-3405	207	11	coordination	coordination	NOUN
app01-3405	207	12	.	.	PUNCT
app01-3405	208	1	in	in	ADP
app01-3405	208	2	handouts	handout	NOUN
app01-3405	208	3	of	of	ADP
app01-3405	208	4	the	the	DET
app01-3405	208	5	european	european	ADJ
app01-3405	208	6	agent	agent	NOUN
app01-3405	208	7	summer	summer	NOUN
app01-3405	208	8	.	.	PUNCT
app01-3405	209	1	2005	2005	NUM
app01-3405	209	2	.	.	PUNCT
app01-3405	210	1	[	[	X
app01-3405	210	2	8	8	NUM
app01-3405	210	3	]	]	X
app01-3405	210	4	m.	m.	NOUN
app01-3405	210	5	de	de	X
app01-3405	210	6	weerdt	weerdt	PROPN
app01-3405	210	7	,	,	PUNCT
app01-3405	210	8	b.	b.	PROPN
app01-3405	210	9	clement	clement	PROPN
app01-3405	210	10	.	.	PUNCT
app01-3405	211	1	introduction	introduction	NOUN
app01-3405	211	2	to	to	ADP
app01-3405	211	3	planning	plan	VERB
app01-3405	211	4	in	in	ADP
app01-3405	211	5	multiagent	multiagent	NOUN
app01-3405	211	6	systems	system	NOUN
app01-3405	211	7	.	.	PUNCT
app01-3405	212	1	multiagent	multiagent	NOUN
app01-3405	212	2	and	and	CCONJ
app01-3405	212	3	grid	grid	NOUN
app01-3405	212	4	systems	system	NOUN
app01-3405	212	5	5(4):345–355	5(4):345–355	NUM
app01-3405	212	6	,	,	PUNCT
app01-3405	212	7	2009	2009	NUM
app01-3405	212	8	.	.	PUNCT
app01-3405	213	1	doi:10.3233	doi:10.3233	NOUN
app01-3405	213	2	/	/	SYM
app01-3405	213	3	mgs-2009	mgs-2009	NOUN
app01-3405	213	4	-	-	PUNCT
app01-3405	213	5	0133	0133	NUM
app01-3405	213	6	.	.	PUNCT
app01-3405	214	1	[	[	X
app01-3405	214	2	9	9	NUM
app01-3405	214	3	]	]	PUNCT
app01-3405	214	4	m.	m.	NOUN
app01-3405	214	5	brenner	brenner	NOUN
app01-3405	214	6	.	.	PUNCT
app01-3405	215	1	a	a	DET
app01-3405	215	2	multiagent	multiagent	NOUN
app01-3405	215	3	planning	planning	NOUN
app01-3405	215	4	language	language	NOUN
app01-3405	215	5	.	.	PUNCT
app01-3405	216	1	workshop	workshop	NOUN
app01-3405	216	2	on	on	ADP
app01-3405	216	3	pddl	pddl	NOUN
app01-3405	216	4	,	,	PUNCT
app01-3405	216	5	icaps’03	icaps’03	NOUN
app01-3405	216	6	,	,	PUNCT
app01-3405	216	7	trento	trento	PROPN
app01-3405	216	8	,	,	PUNCT
app01-3405	216	9	italy	italy	PROPN
app01-3405	216	10	,	,	PUNCT
app01-3405	216	11	2003	2003	NUM
app01-3405	216	12	p.	p.	NOUN
app01-3405	216	13	33	33	NUM
app01-3405	216	14	,	,	PUNCT
app01-3405	216	15	2003	2003	NUM
app01-3405	216	16	.	.	PUNCT
app01-3405	217	1	[	[	X
app01-3405	217	2	10	10	NUM
app01-3405	217	3	]	]	X
app01-3405	217	4	d.	d.	PROPN
app01-3405	217	5	l.	l.	PROPN
app01-3405	217	6	kovacs	kovacs	PROPN
app01-3405	217	7	.	.	PUNCT
app01-3405	218	1	a	a	DET
app01-3405	218	2	multi	multi	ADJ
app01-3405	218	3	-	-	ADJ
app01-3405	218	4	agent	agent	ADJ
app01-3405	218	5	extension	extension	NOUN
app01-3405	218	6	of	of	ADP
app01-3405	218	7	pddl3.1	pddl3.1	PROPN
app01-3405	218	8	.	.	PUNCT
app01-3405	219	1	in	in	ADP
app01-3405	219	2	proc	proc	NOUN
app01-3405	219	3	.	.	PUNCT
app01-3405	220	1	of	of	ADP
app01-3405	220	2	the	the	DET
app01-3405	220	3	3rd	3rd	ADJ
app01-3405	220	4	workshop	workshop	NOUN
app01-3405	220	5	on	on	ADP
app01-3405	220	6	the	the	DET
app01-3405	220	7	international	international	ADJ
app01-3405	220	8	planning	planning	NOUN
app01-3405	220	9	competition	competition	NOUN
app01-3405	220	10	(	(	PUNCT
app01-3405	220	11	ipc	ipc	PROPN
app01-3405	220	12	)	)	PUNCT
app01-3405	220	13	,	,	PUNCT
app01-3405	220	14	pp	pp	PROPN
app01-3405	220	15	.	.	PUNCT
app01-3405	220	16	19–27	19–27	NUM
app01-3405	220	17	.	.	PUNCT
app01-3405	220	18	2012	2012	NUM
app01-3405	220	19	.	.	PUNCT
app01-3405	221	1	[	[	X
app01-3405	221	2	11	11	NUM
app01-3405	221	3	]	]	PUNCT
app01-3405	221	4	r.	r.	PROPN
app01-3405	221	5	i.	i.	PROPN
app01-3405	221	6	brafman	brafman	PROPN
app01-3405	221	7	,	,	PUNCT
app01-3405	221	8	c.	c.	PROPN
app01-3405	221	9	domshlak	domshlak	PROPN
app01-3405	221	10	.	.	PUNCT
app01-3405	222	1	from	from	ADP
app01-3405	222	2	one	one	NUM
app01-3405	222	3	to	to	ADP
app01-3405	222	4	many	many	ADJ
app01-3405	222	5	:	:	PUNCT
app01-3405	222	6	planning	plan	VERB
app01-3405	222	7	for	for	ADP
app01-3405	222	8	loosely	loosely	ADV
app01-3405	222	9	coupled	couple	VERB
app01-3405	222	10	multi	multi	ADJ
app01-3405	222	11	-	-	ADJ
app01-3405	222	12	agent	agent	ADJ
app01-3405	222	13	systems	system	NOUN
app01-3405	222	14	.	.	PUNCT
app01-3405	223	1	in	in	ADP
app01-3405	223	2	icaps	icap	NOUN
app01-3405	223	3	,	,	PUNCT
app01-3405	223	4	pp	pp	ADV
app01-3405	223	5	.	.	PUNCT
app01-3405	224	1	28–35	28–35	NUM
app01-3405	224	2	.	.	PUNCT
app01-3405	224	3	2008	2008	NUM
app01-3405	224	4	.	.	PUNCT
app01-3405	225	1	[	[	X
app01-3405	225	2	12	12	NUM
app01-3405	225	3	]	]	X
app01-3405	225	4	d.	d.	PROPN
app01-3405	225	5	borrajo	borrajo	NOUN
app01-3405	225	6	.	.	PUNCT
app01-3405	226	1	plan	plan	VERB
app01-3405	226	2	sharing	share	VERB
app01-3405	226	3	for	for	ADP
app01-3405	226	4	multi	multi	ADJ
app01-3405	226	5	-	-	ADJ
app01-3405	226	6	agent	agent	ADJ
app01-3405	226	7	planning	planning	NOUN
app01-3405	226	8	.	.	PUNCT
app01-3405	227	1	in	in	ADP
app01-3405	227	2	proc	proc	PROPN
app01-3405	227	3	.	.	PUNCT
app01-3405	228	1	of	of	ADP
app01-3405	228	2	dmap	dmap	NOUN
app01-3405	228	3	workshop	workshop	NOUN
app01-3405	228	4	of	of	ADP
app01-3405	228	5	icaps’13	icaps’13	PROPN
app01-3405	228	6	,	,	PUNCT
app01-3405	228	7	pp	pp	ADJ
app01-3405	228	8	.	.	PUNCT
app01-3405	228	9	57–65	57–65	NUM
app01-3405	228	10	.	.	PUNCT
app01-3405	228	11	2013	2013	NUM
app01-3405	228	12	.	.	PUNCT
app01-3405	229	1	[	[	X
app01-3405	229	2	13	13	NUM
app01-3405	229	3	]	]	PUNCT
app01-3405	229	4	r.	r.	PROPN
app01-3405	229	5	nissim	nissim	PROPN
app01-3405	229	6	,	,	PUNCT
app01-3405	229	7	r.	r.	PROPN
app01-3405	229	8	i.	i.	PROPN
app01-3405	229	9	brafman	brafman	PROPN
app01-3405	229	10	,	,	PUNCT
app01-3405	229	11	c.	c.	PROPN
app01-3405	229	12	domshlak	domshlak	PROPN
app01-3405	229	13	.	.	PUNCT
app01-3405	230	1	a	a	DET
app01-3405	230	2	general	general	ADJ
app01-3405	230	3	,	,	PUNCT
app01-3405	230	4	fully	fully	ADV
app01-3405	230	5	distributed	distribute	VERB
app01-3405	230	6	multi	multi	ADJ
app01-3405	230	7	-	-	ADJ
app01-3405	230	8	agent	agent	ADJ
app01-3405	230	9	planning	planning	NOUN
app01-3405	230	10	algorithm	algorithm	NOUN
app01-3405	230	11	.	.	PUNCT
app01-3405	231	1	in	in	ADP
app01-3405	231	2	proc	proc	PROPN
app01-3405	231	3	.	.	PUNCT
app01-3405	232	1	of	of	ADP
app01-3405	232	2	aamas’10	aamas’10	ADV
app01-3405	232	3	,	,	PUNCT
app01-3405	232	4	pp	pp	ADJ
app01-3405	232	5	.	.	PUNCT
app01-3405	233	1	1323–1330	1323–1330	NUM
app01-3405	233	2	.	.	PUNCT
app01-3405	233	3	2010	2010	NUM
app01-3405	233	4	.	.	PUNCT
app01-3405	234	1	doi:10.1145/1838206.1838379	doi:10.1145/1838206.1838379	PROPN
app01-3405	234	2	.	.	PUNCT
app01-3405	235	1	[	[	X
app01-3405	235	2	14	14	NUM
app01-3405	235	3	]	]	X
app01-3405	235	4	r.	r.	PROPN
app01-3405	235	5	nissim	nissim	PROPN
app01-3405	235	6	,	,	PUNCT
app01-3405	235	7	r.	r.	PROPN
app01-3405	235	8	i.	i.	PROPN
app01-3405	235	9	brafman	brafman	PROPN
app01-3405	235	10	.	.	PUNCT
app01-3405	236	1	multi	multi	ADJ
app01-3405	236	2	-	-	VERB
app01-3405	236	3	agent	agent	ADJ
app01-3405	236	4	a	a	PRON
app01-3405	236	5	*	*	PUNCT
app01-3405	236	6	for	for	ADP
app01-3405	236	7	parallel	parallel	ADJ
app01-3405	236	8	and	and	CCONJ
app01-3405	236	9	distributed	distributed	ADJ
app01-3405	236	10	systems	system	NOUN
app01-3405	236	11	.	.	PUNCT
app01-3405	237	1	in	in	ADP
app01-3405	237	2	proc	proc	PROPN
app01-3405	237	3	.	.	PUNCT
app01-3405	238	1	of	of	ADP
app01-3405	238	2	aamas’12	aamas’12	PROPN
app01-3405	238	3	,	,	PUNCT
app01-3405	238	4	aamas	aamas	PROPN
app01-3405	238	5	’	'	PUNCT
app01-3405	238	6	12	12	NUM
app01-3405	238	7	,	,	PUNCT
app01-3405	238	8	pp	pp	ADJ
app01-3405	238	9	.	.	PUNCT
app01-3405	238	10	1265–1266	1265–1266	X
app01-3405	238	11	.	.	PUNCT
app01-3405	239	1	richland	richland	PROPN
app01-3405	239	2	,	,	PUNCT
app01-3405	239	3	sc	sc	PROPN
app01-3405	239	4	,	,	PUNCT
app01-3405	239	5	2012	2012	NUM
app01-3405	239	6	.	.	PUNCT
app01-3405	240	1	[	[	X
app01-3405	240	2	15	15	NUM
app01-3405	240	3	]	]	X
app01-3405	240	4	d.	d.	PROPN
app01-3405	240	5	pellier	pellier	NOUN
app01-3405	240	6	.	.	PUNCT
app01-3405	241	1	distributed	distribute	VERB
app01-3405	241	2	planning	plan	VERB
app01-3405	241	3	through	through	ADP
app01-3405	241	4	graph	graph	NOUN
app01-3405	241	5	merging	merge	VERB
app01-3405	241	6	.	.	PUNCT
app01-3405	242	1	in	in	ADP
app01-3405	242	2	icaart	icaart	NOUN
app01-3405	242	3	(	(	PUNCT
app01-3405	242	4	2	2	NUM
app01-3405	242	5	)	)	PUNCT
app01-3405	242	6	,	,	PUNCT
app01-3405	242	7	pp	pp	ADJ
app01-3405	242	8	.	.	PUNCT
app01-3405	243	1	128–134	128–134	NUM
app01-3405	243	2	.	.	PUNCT
app01-3405	244	1	2010	2010	NUM
app01-3405	244	2	.	.	PUNCT
app01-3405	245	1	doi:10.5220/0002702601280134	doi:10.5220/0002702601280134	X
app01-3405	245	2	.	.	PUNCT
app01-3405	246	1	[	[	X
app01-3405	246	2	16	16	NUM
app01-3405	246	3	]	]	PUNCT
app01-3405	246	4	a.	a.	NOUN
app01-3405	246	5	torreño	torreño	PROPN
app01-3405	246	6	,	,	PUNCT
app01-3405	246	7	e.	e.	PROPN
app01-3405	246	8	onaindia	onaindia	PROPN
app01-3405	246	9	,	,	PUNCT
app01-3405	246	10	o.	o.	PROPN
app01-3405	246	11	sapena	sapena	PROPN
app01-3405	246	12	.	.	PUNCT
app01-3405	247	1	an	an	DET
app01-3405	247	2	approach	approach	NOUN
app01-3405	247	3	to	to	ADP
app01-3405	247	4	multi	multi	ADJ
app01-3405	247	5	-	-	ADJ
app01-3405	247	6	agent	agent	ADJ
app01-3405	247	7	planning	planning	NOUN
app01-3405	247	8	with	with	ADP
app01-3405	247	9	incomplete	incomplete	ADJ
app01-3405	247	10	information	information	NOUN
app01-3405	247	11	.	.	PUNCT
app01-3405	248	1	in	in	ADP
app01-3405	248	2	proc	proc	PROPN
app01-3405	248	3	.	.	PUNCT
app01-3405	249	1	of	of	ADP
app01-3405	249	2	ecai	ecai	PROPN
app01-3405	249	3	,	,	PUNCT
app01-3405	249	4	pp	pp	X
app01-3405	249	5	.	.	PUNCT
app01-3405	250	1	762–767	762–767	NUM
app01-3405	250	2	.	.	PUNCT
app01-3405	250	3	2012	2012	NUM
app01-3405	250	4	.	.	PUNCT
app01-3405	251	1	doi:10.3233/978	doi:10.3233/978	ADP
app01-3405	251	2	-	-	PUNCT
app01-3405	251	3	1	1	NUM
app01-3405	251	4	-	-	PUNCT
app01-3405	251	5	61499	61499	NUM
app01-3405	251	6	-	-	PUNCT
app01-3405	251	7	098	098	NUM
app01-3405	251	8	-	-	PUNCT
app01-3405	251	9	7	7	NUM
app01-3405	251	10	-	-	NUM
app01-3405	251	11	762	762	NUM
app01-3405	251	12	.	.	PUNCT
app01-3405	252	1	[	[	X
app01-3405	252	2	17	17	NUM
app01-3405	252	3	]	]	PUNCT
app01-3405	252	4	a.	a.	NOUN
app01-3405	252	5	torreño	torreño	PROPN
app01-3405	252	6	,	,	PUNCT
app01-3405	252	7	e.	e.	PROPN
app01-3405	252	8	onaindia	onaindia	PROPN
app01-3405	252	9	,	,	PUNCT
app01-3405	252	10	o.	o.	PROPN
app01-3405	252	11	sapena	sapena	PROPN
app01-3405	252	12	.	.	PUNCT
app01-3405	253	1	fmap	fmap	NOUN
app01-3405	253	2	:	:	PUNCT
app01-3405	253	3	a	a	DET
app01-3405	253	4	heuristic	heuristic	ADJ
app01-3405	253	5	approach	approach	NOUN
app01-3405	253	6	to	to	ADP
app01-3405	253	7	cooperative	cooperative	ADJ
app01-3405	253	8	multi	multi	ADJ
app01-3405	253	9	-	-	ADJ
app01-3405	253	10	agent	agent	ADJ
app01-3405	253	11	planning	planning	NOUN
app01-3405	253	12	.	.	PUNCT
app01-3405	254	1	in	in	ADP
app01-3405	254	2	proc	proc	PROPN
app01-3405	254	3	.	.	PUNCT
app01-3405	255	1	of	of	ADP
app01-3405	255	2	dmap	dmap	NOUN
app01-3405	255	3	workshop	workshop	NOUN
app01-3405	255	4	of	of	ADP
app01-3405	255	5	icaps’13	icaps’13	PROPN
app01-3405	255	6	,	,	PUNCT
app01-3405	255	7	pp	pp	ADJ
app01-3405	255	8	.	.	PUNCT
app01-3405	256	1	84–92	84–92	NOUN
app01-3405	256	2	.	.	PUNCT
app01-3405	257	1	2013	2013	NUM
app01-3405	257	2	.	.	PUNCT
app01-3405	258	1	[	[	X
app01-3405	258	2	18	18	NUM
app01-3405	258	3	]	]	X
app01-3405	258	4	j.	j.	PROPN
app01-3405	258	5	tožička	tožička	PROPN
app01-3405	258	6	,	,	PUNCT
app01-3405	258	7	j.	j.	PROPN
app01-3405	258	8	jakubuv	jakubuv	PROPN
app01-3405	258	9	,	,	PUNCT
app01-3405	258	10	k.	k.	PROPN
app01-3405	258	11	durkota	durkota	PROPN
app01-3405	258	12	,	,	PUNCT
app01-3405	258	13	a.	a.	NOUN
app01-3405	258	14	komenda	komenda	NOUN
app01-3405	258	15	.	.	PUNCT
app01-3405	259	1	multiagent	multiagent	NOUN
app01-3405	259	2	planning	planning	NOUN
app01-3405	259	3	by	by	ADP
app01-3405	259	4	iterative	iterative	NOUN
app01-3405	259	5	negotiation	negotiation	NOUN
app01-3405	259	6	over	over	ADP
app01-3405	259	7	distributed	distribute	VERB
app01-3405	259	8	planning	planning	NOUN
app01-3405	259	9	graphs	graph	NOUN
app01-3405	259	10	.	.	PUNCT
app01-3405	260	1	in	in	ADP
app01-3405	260	2	proc	proc	NOUN
app01-3405	260	3	.	.	PUNCT
app01-3405	261	1	of	of	ADP
app01-3405	261	2	dmap	dmap	NOUN
app01-3405	261	3	workshop	workshop	NOUN
app01-3405	261	4	of	of	ADP
app01-3405	261	5	icaps’14	icaps’14	PROPN
app01-3405	261	6	,	,	PUNCT
app01-3405	261	7	pp	pp	X
app01-3405	261	8	.	.	PUNCT
app01-3405	262	1	7–15	7–15	NOUN
app01-3405	262	2	.	.	PUNCT
app01-3405	263	1	2014	2014	NUM
app01-3405	263	2	.	.	PUNCT
app01-3405	264	1	[	[	X
app01-3405	264	2	19	19	NUM
app01-3405	264	3	]	]	X
app01-3405	264	4	j.	j.	PROPN
app01-3405	264	5	tožička	tožička	PROPN
app01-3405	264	6	,	,	PUNCT
app01-3405	264	7	j.	j.	PROPN
app01-3405	264	8	jakubuv	jakubuv	PROPN
app01-3405	264	9	,	,	PUNCT
app01-3405	264	10	k.	k.	PROPN
app01-3405	264	11	durkota	durkota	PROPN
app01-3405	264	12	,	,	PUNCT
app01-3405	264	13	et	et	PROPN
app01-3405	264	14	al	al	PROPN
app01-3405	264	15	.	.	PUNCT
app01-3405	264	16	multiagent	multiagent	PROPN
app01-3405	264	17	planning	planning	NOUN
app01-3405	264	18	supported	support	VERB
app01-3405	264	19	by	by	ADP
app01-3405	264	20	plan	plan	NOUN
app01-3405	264	21	diversity	diversity	NOUN
app01-3405	264	22	metrics	metric	NOUN
app01-3405	264	23	and	and	CCONJ
app01-3405	264	24	landmark	landmark	NOUN
app01-3405	264	25	actions	action	NOUN
app01-3405	264	26	.	.	PUNCT
app01-3405	265	1	in	in	ADP
app01-3405	265	2	proc	proc	PROPN
app01-3405	265	3	.	.	PUNCT
app01-3405	266	1	of	of	ADP
app01-3405	266	2	icaart’14	icaart’14	PROPN
app01-3405	266	3	.	.	PROPN
app01-3405	266	4	2014	2014	NUM
app01-3405	266	5	.	.	PUNCT
app01-3405	267	1	doi:10.5220/0004918701780189	doi:10.5220/0004918701780189	NOUN
app01-3405	267	2	.	.	PUNCT
app01-3405	268	1	[	[	X
app01-3405	268	2	20	20	NUM
app01-3405	268	3	]	]	PUNCT
app01-3405	268	4	m.	m.	NOUN
app01-3405	268	5	crosby	crosby	PROPN
app01-3405	268	6	,	,	PUNCT
app01-3405	268	7	m.	m.	NOUN
app01-3405	268	8	rovatsos	rovatsos	PROPN
app01-3405	268	9	,	,	PUNCT
app01-3405	268	10	r.	r.	PROPN
app01-3405	268	11	petrick	petrick	PROPN
app01-3405	268	12	.	.	PUNCT
app01-3405	268	13	automated	automate	VERB
app01-3405	268	14	agent	agent	NOUN
app01-3405	268	15	decomposition	decomposition	NOUN
app01-3405	268	16	for	for	ADP
app01-3405	268	17	classical	classical	ADJ
app01-3405	268	18	planning	planning	NOUN
app01-3405	268	19	.	.	PUNCT
app01-3405	269	1	in	in	ADP
app01-3405	269	2	proc	proc	PROPN
app01-3405	269	3	.	.	PUNCT
app01-3405	270	1	of	of	ADP
app01-3405	270	2	icaps’13	icaps’13	PROPN
app01-3405	270	3	.	.	PUNCT
app01-3405	271	1	2013	2013	NUM
app01-3405	271	2	.	.	PUNCT
app01-3405	272	1	[	[	X
app01-3405	272	2	21	21	NUM
app01-3405	272	3	]	]	PUNCT
app01-3405	272	4	m.	m.	NOUN
app01-3405	272	5	crosby	crosby	PROPN
app01-3405	272	6	.	.	PUNCT
app01-3405	272	7	multiagent	multiagent	PROPN
app01-3405	272	8	classical	classical	ADJ
app01-3405	272	9	planning	planning	NOUN
app01-3405	272	10	.	.	PUNCT
app01-3405	273	1	ph.d	ph.d	PROPN
app01-3405	273	2	.	.	PUNCT
app01-3405	274	1	thesis	thesis	NOUN
app01-3405	274	2	,	,	PUNCT
app01-3405	274	3	phd	phd	NOUN
app01-3405	274	4	thesis	thesis	NOUN
app01-3405	274	5	,	,	PUNCT
app01-3405	274	6	university	university	PROPN
app01-3405	274	7	of	of	ADP
app01-3405	274	8	edinburgh	edinburgh	PROPN
app01-3405	274	9	,	,	PUNCT
app01-3405	274	10	2014	2014	NUM
app01-3405	274	11	.	.	PUNCT
app01-3405	275	1	[	[	X
app01-3405	275	2	22	22	NUM
app01-3405	275	3	]	]	PUNCT
app01-3405	275	4	a.	a.	NOUN
app01-3405	275	5	bonisoli	bonisoli	PROPN
app01-3405	275	6	,	,	PUNCT
app01-3405	275	7	a.	a.	NOUN
app01-3405	275	8	gerevini	gerevini	PROPN
app01-3405	275	9	,	,	PUNCT
app01-3405	275	10	a.	a.	NOUN
app01-3405	275	11	saetti	saetti	PROPN
app01-3405	275	12	,	,	PUNCT
app01-3405	275	13	i.	i.	PROPN
app01-3405	275	14	serina	serina	PROPN
app01-3405	275	15	.	.	PUNCT
app01-3405	276	1	a	a	DET
app01-3405	276	2	privacy	privacy	NOUN
app01-3405	276	3	-	-	PUNCT
app01-3405	276	4	preserving	preserve	VERB
app01-3405	276	5	model	model	NOUN
app01-3405	276	6	for	for	ADP
app01-3405	276	7	the	the	DET
app01-3405	276	8	multi	multi	ADJ
app01-3405	276	9	-	-	ADJ
app01-3405	276	10	agent	agent	ADJ
app01-3405	276	11	propositional	propositional	ADJ
app01-3405	276	12	planning	planning	NOUN
app01-3405	276	13	problem	problem	NOUN
app01-3405	276	14	.	.	PUNCT
app01-3405	277	1	in	in	ADP
app01-3405	277	2	proc	proc	PROPN
app01-3405	277	3	.	.	PUNCT
app01-3405	278	1	of	of	ADP
app01-3405	278	2	dmap	dmap	NOUN
app01-3405	278	3	workshop	workshop	NOUN
app01-3405	278	4	of	of	ADP
app01-3405	278	5	icaps’14	icaps’14	PROPN
app01-3405	278	6	,	,	PUNCT
app01-3405	278	7	pp	pp	X
app01-3405	278	8	.	.	PUNCT
app01-3405	279	1	25–29	25–29	NUM
app01-3405	279	2	.	.	PUNCT
app01-3405	280	1	2014	2014	NUM
app01-3405	280	2	.	.	PUNCT
app01-3405	281	1	[	[	X
app01-3405	281	2	23	23	NUM
app01-3405	281	3	]	]	PUNCT
app01-3405	281	4	m.	m.	NOUN
app01-3405	281	5	crosby	crosby	PROPN
app01-3405	281	6	,	,	PUNCT
app01-3405	281	7	m.	m.	NOUN
app01-3405	281	8	rovatsos	rovatsos	PROPN
app01-3405	281	9	.	.	PUNCT
app01-3405	282	1	heuristic	heuristic	ADJ
app01-3405	282	2	multiagent	multiagent	NOUN
app01-3405	282	3	planning	planning	NOUN
app01-3405	282	4	with	with	ADP
app01-3405	282	5	self	self	NOUN
app01-3405	282	6	-	-	PUNCT
app01-3405	282	7	interested	interested	ADJ
app01-3405	282	8	agents	agent	NOUN
app01-3405	282	9	.	.	PUNCT
app01-3405	283	1	in	in	ADP
app01-3405	283	2	the	the	DET
app01-3405	283	3	10th	10th	ADJ
app01-3405	283	4	international	international	ADJ
app01-3405	283	5	conference	conference	NOUN
app01-3405	283	6	on	on	ADP
app01-3405	283	7	autonomous	autonomous	ADJ
app01-3405	283	8	agents	agent	NOUN
app01-3405	283	9	and	and	CCONJ
app01-3405	283	10	multiagent	multiagent	NOUN
app01-3405	283	11	systems	system	NOUN
app01-3405	283	12	-	-	PUNCT
app01-3405	283	13	volume	volume	NOUN
app01-3405	283	14	3	3	NUM
app01-3405	283	15	,	,	PUNCT
app01-3405	283	16	pp	pp	ADJ
app01-3405	283	17	.	.	PUNCT
app01-3405	283	18	1213–1214	1213–1214	NUM
app01-3405	283	19	.	.	PUNCT
app01-3405	283	20	international	international	ADJ
app01-3405	283	21	foundation	foundation	PROPN
app01-3405	283	22	for	for	ADP
app01-3405	283	23	autonomous	autonomous	ADJ
app01-3405	283	24	agents	agent	NOUN
app01-3405	283	25	and	and	CCONJ
app01-3405	283	26	multiagent	multiagent	NOUN
app01-3405	283	27	systems	system	NOUN
app01-3405	283	28	,	,	PUNCT
app01-3405	283	29	2011	2011	NUM
app01-3405	283	30	.	.	PUNCT
app01-3405	284	1	[	[	X
app01-3405	284	2	24	24	NUM
app01-3405	284	3	]	]	X
app01-3405	284	4	r.	r.	PROPN
app01-3405	284	5	nissim	nissim	PROPN
app01-3405	284	6	,	,	PUNCT
app01-3405	284	7	r.	r.	PROPN
app01-3405	284	8	i.	i.	PROPN
app01-3405	284	9	brafman	brafman	PROPN
app01-3405	284	10	.	.	PUNCT
app01-3405	285	1	cost	cost	NOUN
app01-3405	285	2	-	-	PUNCT
app01-3405	285	3	optimal	optimal	ADJ
app01-3405	285	4	planning	planning	NOUN
app01-3405	285	5	by	by	ADP
app01-3405	285	6	self	self	NOUN
app01-3405	285	7	-	-	PUNCT
app01-3405	285	8	interested	interested	ADJ
app01-3405	285	9	agents	agent	NOUN
app01-3405	285	10	.	.	PUNCT
app01-3405	286	1	in	in	ADP
app01-3405	286	2	proc	proc	NOUN
app01-3405	286	3	.	.	PUNCT
app01-3405	287	1	of	of	ADP
app01-3405	287	2	dmap	dmap	NOUN
app01-3405	287	3	workshop	workshop	NOUN
app01-3405	287	4	of	of	ADP
app01-3405	287	5	icaps’13	icaps’13	PROPN
app01-3405	287	6	,	,	PUNCT
app01-3405	287	7	pp	pp	ADJ
app01-3405	287	8	.	.	PUNCT
app01-3405	288	1	1–7	1–7	X
app01-3405	288	2	.	.	NOUN
app01-3405	288	3	2013	2013	NUM
app01-3405	288	4	.	.	PUNCT
app01-3405	289	1	[	[	X
app01-3405	289	2	25	25	NUM
app01-3405	289	3	]	]	PUNCT
app01-3405	289	4	r.	r.	PROPN
app01-3405	289	5	i.	i.	PROPN
app01-3405	289	6	brafman	brafman	PROPN
app01-3405	289	7	.	.	PUNCT
app01-3405	290	1	factored	factored	ADJ
app01-3405	290	2	planning	planning	NOUN
app01-3405	290	3	:	:	PUNCT
app01-3405	291	1	how	how	SCONJ
app01-3405	291	2	,	,	PUNCT
app01-3405	291	3	when	when	SCONJ
app01-3405	291	4	,	,	PUNCT
app01-3405	291	5	and	and	CCONJ
app01-3405	291	6	when	when	SCONJ
app01-3405	291	7	not	not	PART
app01-3405	291	8	.	.	PUNCT
app01-3405	292	1	in	in	ADP
app01-3405	292	2	proceedings	proceeding	NOUN
app01-3405	292	3	of	of	ADP
app01-3405	292	4	the	the	DET
app01-3405	292	5	21st	21st	ADJ
app01-3405	292	6	national	national	ADJ
app01-3405	292	7	conference	conference	NOUN
app01-3405	292	8	on	on	ADP
app01-3405	292	9	artificial	artificial	ADJ
app01-3405	292	10	intelligence	intelligence	NOUN
app01-3405	292	11	(	(	PUNCT
app01-3405	292	12	aaai-2006	aaai-2006	ADJ
app01-3405	292	13	,	,	PUNCT
app01-3405	292	14	pp	pp	ADJ
app01-3405	292	15	.	.	PUNCT
app01-3405	293	1	809–814	809–814	NUM
app01-3405	293	2	.	.	PUNCT
app01-3405	294	1	2006	2006	NUM
app01-3405	294	2	.	.	PUNCT
app01-3405	295	1	[	[	X
app01-3405	295	2	26	26	NUM
app01-3405	295	3	]	]	X
app01-3405	295	4	e.	e.	PROPN
app01-3405	295	5	fabre	fabre	PROPN
app01-3405	295	6	,	,	PUNCT
app01-3405	295	7	l.	l.	PROPN
app01-3405	295	8	jezequel	jezequel	PROPN
app01-3405	295	9	,	,	PUNCT
app01-3405	295	10	p.	p.	NOUN
app01-3405	295	11	haslum	haslum	PROPN
app01-3405	295	12	,	,	PUNCT
app01-3405	295	13	s.	s.	PROPN
app01-3405	295	14	thiébaux	thiébaux	PROPN
app01-3405	295	15	.	.	PUNCT
app01-3405	296	1	cost	cost	NOUN
app01-3405	296	2	-	-	PUNCT
app01-3405	296	3	optimal	optimal	ADJ
app01-3405	296	4	factored	factored	ADJ
app01-3405	296	5	planning	planning	NOUN
app01-3405	296	6	:	:	PUNCT
app01-3405	296	7	promises	promise	NOUN
app01-3405	296	8	and	and	CCONJ
app01-3405	296	9	pitfalls	pitfall	NOUN
app01-3405	296	10	.	.	PUNCT
app01-3405	297	1	in	in	ADP
app01-3405	297	2	icaps	icap	NOUN
app01-3405	297	3	,	,	PUNCT
app01-3405	297	4	pp	pp	ADJ
app01-3405	297	5	.	.	PUNCT
app01-3405	298	1	65–72	65–72	NUM
app01-3405	298	2	.	.	PUNCT
app01-3405	299	1	2010	2010	NUM
app01-3405	299	2	.	.	PUNCT
app01-3405	300	1	[	[	X
app01-3405	300	2	27	27	NUM
app01-3405	300	3	]	]	PUNCT
app01-3405	300	4	a.	a.	NOUN
app01-3405	300	5	torreno	torreno	PROPN
app01-3405	300	6	,	,	PUNCT
app01-3405	300	7	e.	e.	PROPN
app01-3405	300	8	onaindia	onaindia	PROPN
app01-3405	300	9	,	,	PUNCT
app01-3405	300	10	o.	o.	PROPN
app01-3405	300	11	sapena	sapena	PROPN
app01-3405	300	12	.	.	PUNCT
app01-3405	301	1	fmap	fmap	NOUN
app01-3405	301	2	:	:	PUNCT
app01-3405	301	3	distributed	distribute	VERB
app01-3405	301	4	cooperative	cooperative	ADJ
app01-3405	301	5	multi	multi	ADJ
app01-3405	301	6	-	-	ADJ
app01-3405	301	7	agent	agent	ADJ
app01-3405	301	8	planning	planning	NOUN
app01-3405	301	9	.	.	PUNCT
app01-3405	302	1	applied	apply	VERB
app01-3405	302	2	intelligence	intelligence	NOUN
app01-3405	302	3	2014	2014	NUM
app01-3405	302	4	.	.	PUNCT
app01-3405	303	1	doi:10.1007	doi:10.1007	PROPN
app01-3405	303	2	/	/	SYM
app01-3405	303	3	s10489	s10489	NOUN
app01-3405	303	4	-	-	PUNCT
app01-3405	303	5	014	014	NUM
app01-3405	303	6	-	-	PUNCT
app01-3405	303	7	0540	0540	NUM
app01-3405	303	8	-	-	SYM
app01-3405	303	9	2	2	NUM
app01-3405	303	10	.	.	PUNCT
app01-3405	304	1	[	[	X
app01-3405	304	2	28	28	NUM
app01-3405	304	3	]	]	X
app01-3405	304	4	r.	r.	PROPN
app01-3405	304	5	nissim	nissim	PROPN
app01-3405	304	6	,	,	PUNCT
app01-3405	304	7	u.	u.	PROPN
app01-3405	304	8	apsel	apsel	PROPN
app01-3405	304	9	,	,	PUNCT
app01-3405	304	10	r.	r.	PROPN
app01-3405	304	11	i.	i.	PROPN
app01-3405	304	12	brafman	brafman	PROPN
app01-3405	304	13	.	.	PUNCT
app01-3405	305	1	tunneling	tunneling	NOUN
app01-3405	305	2	and	and	CCONJ
app01-3405	305	3	decomposition	decomposition	NOUN
app01-3405	305	4	-	-	PUNCT
app01-3405	305	5	based	base	VERB
app01-3405	305	6	state	state	NOUN
app01-3405	305	7	reduction	reduction	NOUN
app01-3405	305	8	for	for	ADP
app01-3405	305	9	optimal	optimal	ADJ
app01-3405	305	10	planning	planning	NOUN
app01-3405	305	11	.	.	PUNCT
app01-3405	306	1	in	in	ADP
app01-3405	306	2	ecai	ecai	PROPN
app01-3405	306	3	,	,	PUNCT
app01-3405	306	4	pp	pp	X
app01-3405	306	5	.	.	PUNCT
app01-3405	307	1	624–629	624–629	NUM
app01-3405	307	2	.	.	NOUN
app01-3405	307	3	2012	2012	NUM
app01-3405	307	4	.	.	PUNCT
app01-3405	308	1	doi:10.3233/978	doi:10.3233/978	ADP
app01-3405	308	2	-	-	PUNCT
app01-3405	308	3	1	1	NUM
app01-3405	308	4	-	-	PUNCT
app01-3405	308	5	61499	61499	NUM
app01-3405	308	6	-	-	PUNCT
app01-3405	308	7	098	098	NUM
app01-3405	308	8	-	-	PUNCT
app01-3405	308	9	7	7	NUM
app01-3405	308	10	-	-	SYM
app01-3405	308	11	624	624	NUM
app01-3405	308	12	.	.	PUNCT
app01-3405	309	1	[	[	X
app01-3405	309	2	29	29	NUM
app01-3405	309	3	]	]	PUNCT
app01-3405	309	4	m.	m.	NOUN
app01-3405	309	5	štolba	štolba	PROPN
app01-3405	309	6	,	,	PUNCT
app01-3405	309	7	a.	a.	NOUN
app01-3405	309	8	komenda	komenda	PROPN
app01-3405	309	9	.	.	PUNCT
app01-3405	310	1	fast	fast	ADJ
app01-3405	310	2	-	-	PUNCT
app01-3405	310	3	forward	forward	NOUN
app01-3405	310	4	heuristic	heuristic	NOUN
app01-3405	310	5	for	for	ADP
app01-3405	310	6	multiagent	multiagent	NOUN
app01-3405	310	7	planning	planning	NOUN
app01-3405	310	8	.	.	PUNCT
app01-3405	311	1	in	in	ADP
app01-3405	311	2	proc	proc	PROPN
app01-3405	311	3	.	.	PUNCT
app01-3405	312	1	of	of	ADP
app01-3405	312	2	dmap	dmap	NOUN
app01-3405	312	3	workshop	workshop	NOUN
app01-3405	312	4	of	of	ADP
app01-3405	312	5	icaps’13	icaps’13	PROPN
app01-3405	312	6	,	,	PUNCT
app01-3405	312	7	pp	pp	ADJ
app01-3405	312	8	.	.	PUNCT
app01-3405	312	9	75–83	75–83	NUM
app01-3405	312	10	.	.	PUNCT
app01-3405	313	1	2013	2013	NUM
app01-3405	313	2	.	.	PUNCT
app01-3405	314	1	[	[	X
app01-3405	314	2	30	30	NUM
app01-3405	314	3	]	]	PUNCT
app01-3405	314	4	m.	m.	NOUN
app01-3405	314	5	stolba	stolba	PROPN
app01-3405	314	6	,	,	PUNCT
app01-3405	314	7	a.	a.	NOUN
app01-3405	314	8	komenda	komenda	NOUN
app01-3405	314	9	.	.	PUNCT
app01-3405	315	1	relaxation	relaxation	NOUN
app01-3405	315	2	heuristics	heuristic	NOUN
app01-3405	315	3	for	for	ADP
app01-3405	315	4	multiagent	multiagent	NOUN
app01-3405	315	5	planning	planning	NOUN
app01-3405	315	6	.	.	PUNCT
app01-3405	316	1	in	in	ADP
app01-3405	316	2	proc	proc	PROPN
app01-3405	316	3	.	.	PUNCT
app01-3405	317	1	of	of	ADP
app01-3405	317	2	icaps’14	icaps’14	PROPN
app01-3405	317	3	,	,	PUNCT
app01-3405	317	4	pp	pp	X
app01-3405	317	5	.	.	PUNCT
app01-3405	318	1	7–15	7–15	NOUN
app01-3405	318	2	.	.	PUNCT
app01-3405	319	1	2014	2014	NUM
app01-3405	319	2	.	.	PUNCT
app01-3405	320	1	[	[	X
app01-3405	320	2	31	31	NUM
app01-3405	320	3	]	]	PUNCT
app01-3405	320	4	b.	b.	PROPN
app01-3405	320	5	srivastava	srivastava	PROPN
app01-3405	320	6	,	,	PUNCT
app01-3405	320	7	j.	j.	PROPN
app01-3405	320	8	koehler	koehler	PROPN
app01-3405	320	9	.	.	PUNCT
app01-3405	321	1	web	web	NOUN
app01-3405	321	2	service	service	NOUN
app01-3405	321	3	composition	composition	NOUN
app01-3405	321	4	current	current	ADJ
app01-3405	321	5	solutions	solution	NOUN
app01-3405	321	6	and	and	CCONJ
app01-3405	321	7	open	open	ADJ
app01-3405	321	8	problems	problem	NOUN
app01-3405	321	9	.	.	PUNCT
app01-3405	322	1	in	in	ADP
app01-3405	322	2	icaps	icap	NOUN
app01-3405	322	3	2003	2003	NUM
app01-3405	322	4	workshop	workshop	NOUN
app01-3405	322	5	on	on	ADP
app01-3405	322	6	planning	plan	VERB
app01-3405	322	7	for	for	ADP
app01-3405	322	8	web	web	NOUN
app01-3405	322	9	services	service	NOUN
app01-3405	322	10	,	,	PUNCT
app01-3405	322	11	pp	pp	ADV
app01-3405	322	12	.	.	PUNCT
app01-3405	323	1	28–35	28–35	NUM
app01-3405	323	2	.	.	PUNCT
app01-3405	323	3	2003	2003	NUM
app01-3405	323	4	.	.	PUNCT
app01-3405	324	1	[	[	X
app01-3405	324	2	32	32	NUM
app01-3405	324	3	]	]	PUNCT
app01-3405	324	4	r.	r.	PROPN
app01-3405	324	5	nissim	nissim	PROPN
app01-3405	324	6	,	,	PUNCT
app01-3405	324	7	r.	r.	PROPN
app01-3405	324	8	brafman	brafman	PROPN
app01-3405	324	9	.	.	PUNCT
app01-3405	325	1	distributed	distribute	VERB
app01-3405	325	2	heuristic	heuristic	ADJ
app01-3405	325	3	forward	forward	ADJ
app01-3405	325	4	search	search	NOUN
app01-3405	325	5	for	for	ADP
app01-3405	325	6	multi	multi	ADJ
app01-3405	325	7	-	-	ADJ
app01-3405	325	8	agent	agent	ADJ
app01-3405	325	9	systems	system	NOUN
app01-3405	325	10	.	.	PUNCT
app01-3405	326	1	corr	corr	PROPN
app01-3405	326	2	/	/	SYM
app01-3405	326	3	arxiv	arxiv	PROPN
app01-3405	326	4	2013	2013	NUM
app01-3405	326	5	.	.	PUNCT
app01-3405	327	1	[	[	X
app01-3405	327	2	33	33	NUM
app01-3405	327	3	]	]	PUNCT
app01-3405	327	4	m.	m.	NOUN
app01-3405	327	5	helmert	helmert	PROPN
app01-3405	327	6	.	.	PUNCT
app01-3405	328	1	new	new	ADJ
app01-3405	328	2	complexity	complexity	NOUN
app01-3405	328	3	results	result	NOUN
app01-3405	328	4	for	for	ADP
app01-3405	328	5	classical	classical	ADJ
app01-3405	328	6	planning	planning	NOUN
app01-3405	328	7	benchmarks	benchmark	NOUN
app01-3405	328	8	.	.	PUNCT
app01-3405	329	1	in	in	ADP
app01-3405	329	2	icaps	icap	NOUN
app01-3405	329	3	,	,	PUNCT
app01-3405	329	4	pp	pp	ADJ
app01-3405	329	5	.	.	PUNCT
app01-3405	330	1	52–62	52–62	NUM
app01-3405	330	2	.	.	NOUN
app01-3405	330	3	2006	2006	NUM
app01-3405	330	4	.	.	PUNCT
app01-3405	331	1	[	[	X
app01-3405	331	2	34	34	NUM
app01-3405	331	3	]	]	X
app01-3405	331	4	c.	c.	PROPN
app01-3405	331	5	bäckström	bäckström	NOUN
app01-3405	331	6	,	,	PUNCT
app01-3405	331	7	y.	y.	PROPN
app01-3405	331	8	chen	chen	PROPN
app01-3405	331	9	,	,	PUNCT
app01-3405	331	10	p.	p.	PROPN
app01-3405	331	11	jonsson	jonsson	PROPN
app01-3405	331	12	,	,	PUNCT
app01-3405	331	13	et	et	PROPN
app01-3405	331	14	al	al	PROPN
app01-3405	331	15	.	.	PUNCT
app01-3405	332	1	the	the	DET
app01-3405	332	2	complexity	complexity	NOUN
app01-3405	332	3	of	of	ADP
app01-3405	332	4	planning	planning	NOUN
app01-3405	332	5	revisited	revisit	VERB
app01-3405	332	6	a	a	DET
app01-3405	332	7	parameterized	parameterized	ADJ
app01-3405	332	8	analysis	analysis	NOUN
app01-3405	332	9	.	.	PUNCT
app01-3405	333	1	in	in	ADP
app01-3405	333	2	aaai	aaai	PROPN
app01-3405	333	3	.	.	PROPN
app01-3405	333	4	2012	2012	NUM
app01-3405	333	5	.	.	PUNCT
app01-3405	334	1	56	56	NUM
app01-3405	334	2	http://dx.doi.org/10.1609/aimag.v22i3.1581	http://dx.doi.org/10.1609/aimag.v22i3.1581	PROPN
app01-3405	334	3	http://dx.doi.org/10.1613/jair.1497	http://dx.doi.org/10.1613/jair.1497	PROPN
app01-3405	334	4	http://dx.doi.org/10.3233/mgs-2009-0133	http://dx.doi.org/10.3233/mgs-2009-0133	NUM
app01-3405	334	5	http://dx.doi.org/10.1145/1838206.1838379	http://dx.doi.org/10.1145/1838206.1838379	ADJ
app01-3405	334	6	http://dx.doi.org/10.5220/0002702601280134	http://dx.doi.org/10.5220/0002702601280134	PROPN
app01-3405	334	7	http://dx.doi.org/10.3233/978-1-61499-098-7-762	http://dx.doi.org/10.3233/978-1-61499-098-7-762	PROPN
app01-3405	334	8	http://dx.doi.org/10.5220/0004918701780189	http://dx.doi.org/10.5220/0004918701780189	PROPN
app01-3405	334	9	http://dx.doi.org/10.1007/s10489-014-0540-2	http://dx.doi.org/10.1007/s10489-014-0540-2	PROPN
app01-3405	334	10	http://dx.doi.org/10.3233/978-1-61499-098-7-624	http://dx.doi.org/10.3233/978-1-61499-098-7-624	PROPN
app01-3405	334	11	acta	acta	PROPN
app01-3405	334	12	polytechnica	polytechnica	PROPN
app01-3405	334	13	ctu	ctu	NOUN
app01-3405	334	14	proceedings	proceeding	NOUN
app01-3405	334	15	2:51–56	2:51–56	NUM
app01-3405	334	16	,	,	PUNCT
app01-3405	334	17	2015	2015	NUM
app01-3405	334	18	1	1	NUM
app01-3405	334	19	introduction	introduction	NOUN
app01-3405	334	20	2	2	NUM
app01-3405	334	21	ma	ma	NOUN
app01-3405	334	22	-	-	PUNCT
app01-3405	334	23	strips	strip	NOUN
app01-3405	334	24	3	3	NUM
app01-3405	334	25	is	be	AUX
app01-3405	334	26	it	it	PRON
app01-3405	334	27	any	any	DET
app01-3405	334	28	good	good	ADJ
app01-3405	334	29	?	?	PUNCT
app01-3405	335	1	3.1	3.1	NUM
app01-3405	335	2	improve	improve	VERB
app01-3405	335	3	scalability	scalability	NOUN
app01-3405	335	4	by	by	ADP
app01-3405	335	5	decomposition	decomposition	NOUN
app01-3405	335	6	3.2	3.2	NUM
app01-3405	335	7	multi	multi	ADJ
app01-3405	335	8	-	-	ADJ
app01-3405	335	9	core	core	ADJ
app01-3405	335	10	/	/	SYM
app01-3405	335	11	cluster	cluster	NOUN
app01-3405	335	12	computing	compute	VERB
app01-3405	335	13	3.3	3.3	NUM
app01-3405	335	14	privacy	privacy	NOUN
app01-3405	335	15	3.4	3.4	NUM
app01-3405	335	16	asynchronous	asynchronous	ADJ
app01-3405	335	17	computation	computation	NOUN
app01-3405	335	18	3.5	3.5	NUM
app01-3405	335	19	applications	application	NOUN
app01-3405	335	20	4	4	NUM
app01-3405	335	21	challenges	challenge	NOUN
app01-3405	335	22	4.1	4.1	NUM
app01-3405	335	23	comparison	comparison	NOUN
app01-3405	335	24	of	of	ADP
app01-3405	335	25	planners	planner	NOUN
app01-3405	335	26	4.2	4.2	NUM
app01-3405	335	27	which	which	DET
app01-3405	335	28	planning	planning	NOUN
app01-3405	335	29	paradigm	paradigm	NOUN
app01-3405	335	30	is	be	AUX
app01-3405	335	31	the	the	DET
app01-3405	335	32	best	good	ADJ
app01-3405	335	33	?	?	PUNCT
app01-3405	336	1	4.3	4.3	NUM
app01-3405	336	2	heuristics	heuristic	NOUN
app01-3405	336	3	4.4	4.4	NUM
app01-3405	336	4	privacy	privacy	NOUN
app01-3405	336	5	4.5	4.5	NUM
app01-3405	336	6	extending	extend	VERB
app01-3405	336	7	complexity	complexity	NOUN
app01-3405	336	8	analysis	analysis	NOUN
app01-3405	336	9	5	5	NUM
app01-3405	336	10	final	final	ADJ
app01-3405	336	11	remarks	remark	NOUN
app01-3405	336	12	references	reference	NOUN