id	sid	tid	token	lemma	pos
app01-3407	1	1	acta	acta	PROPN
app01-3407	1	2	polytechnica	polytechnica	PROPN
app01-3407	1	3	ctu	ctu	PROPN
app01-3407	1	4	proceedings	proceeding	NOUN
app01-3407	1	5	doi:10.14311	doi:10.14311	NOUN
app01-3407	1	6	/	/	SYM
app01-3407	1	7	app.2015.1.0057	app.2015.1.0057	PROPN
app01-3407	1	8	acta	acta	PROPN
app01-3407	1	9	polytechnica	polytechnica	PROPN
app01-3407	1	10	ctu	ctu	NOUN
app01-3407	1	11	proceedings	proceeding	NOUN
app01-3407	1	12	2:57–61	2:57–61	NUM
app01-3407	1	13	,	,	PUNCT
app01-3407	1	14	2015	2015	NUM
app01-3407	1	15	©	©	PROPN
app01-3407	1	16	czech	czech	PROPN
app01-3407	1	17	technical	technical	PROPN
app01-3407	1	18	university	university	PROPN
app01-3407	1	19	in	in	ADP
app01-3407	1	20	prague	prague	PROPN
app01-3407	1	21	,	,	PUNCT
app01-3407	1	22	2015	2015	NUM
app01-3407	1	23	available	available	ADJ
app01-3407	1	24	online	online	ADV
app01-3407	1	25	at	at	ADP
app01-3407	1	26	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3407	1	27	on	on	ADP
app01-3407	1	28	sampling	sample	VERB
app01-3407	1	29	based	base	VERB
app01-3407	1	30	methods	method	NOUN
app01-3407	1	31	for	for	ADP
app01-3407	1	32	the	the	DET
app01-3407	1	33	dubins	dubin	NOUN
app01-3407	1	34	traveling	travel	VERB
app01-3407	1	35	salesman	salesman	ADJ
app01-3407	1	36	problem	problem	NOUN
app01-3407	1	37	with	with	ADP
app01-3407	1	38	neighborhoods	neighborhood	NOUN
app01-3407	1	39	petr	petr	PROPN
app01-3407	1	40	váňa∗	váňa∗	PROPN
app01-3407	1	41	,	,	PUNCT
app01-3407	1	42	jan	jan	PROPN
app01-3407	1	43	faigl	faigl	PROPN
app01-3407	1	44	dept	dept	PROPN
app01-3407	1	45	.	.	PROPN
app01-3407	2	1	of	of	ADP
app01-3407	2	2	computer	computer	NOUN
app01-3407	2	3	science	science	NOUN
app01-3407	2	4	,	,	PUNCT
app01-3407	2	5	czech	czech	PROPN
app01-3407	2	6	technical	technical	PROPN
app01-3407	2	7	university	university	PROPN
app01-3407	2	8	in	in	ADP
app01-3407	2	9	prague	prague	PROPN
app01-3407	2	10	,	,	PUNCT
app01-3407	2	11	technická	technická	NOUN
app01-3407	2	12	2	2	NUM
app01-3407	2	13	,	,	PUNCT
app01-3407	2	14	166	166	NUM
app01-3407	2	15	27	27	NUM
app01-3407	2	16	prague	prague	NOUN
app01-3407	2	17	,	,	PUNCT
app01-3407	2	18	czech	czech	PROPN
app01-3407	2	19	republic	republic	NOUN
app01-3407	2	20	∗	∗	NOUN
app01-3407	2	21	corresponding	correspond	VERB
app01-3407	2	22	author	author	NOUN
app01-3407	2	23	:	:	PUNCT
app01-3407	3	1	vanapet1@fel.cvut.cz	vanapet1@fel.cvut.cz	NOUN
app01-3407	3	2	abstract	abstract	ADJ
app01-3407	3	3	.	.	PUNCT
app01-3407	4	1	in	in	ADP
app01-3407	4	2	this	this	DET
app01-3407	4	3	paper	paper	NOUN
app01-3407	4	4	,	,	PUNCT
app01-3407	4	5	we	we	PRON
app01-3407	4	6	address	address	VERB
app01-3407	4	7	the	the	DET
app01-3407	4	8	problem	problem	NOUN
app01-3407	4	9	of	of	ADP
app01-3407	4	10	path	path	NOUN
app01-3407	4	11	planning	planning	NOUN
app01-3407	4	12	to	to	PART
app01-3407	4	13	visit	visit	VERB
app01-3407	4	14	a	a	DET
app01-3407	4	15	set	set	NOUN
app01-3407	4	16	of	of	ADP
app01-3407	4	17	regions	region	NOUN
app01-3407	4	18	by	by	ADP
app01-3407	4	19	dubins	dubin	NOUN
app01-3407	4	20	vehicle	vehicle	NOUN
app01-3407	4	21	,	,	PUNCT
app01-3407	4	22	which	which	PRON
app01-3407	4	23	is	be	AUX
app01-3407	4	24	also	also	ADV
app01-3407	4	25	known	know	VERB
app01-3407	4	26	as	as	ADP
app01-3407	4	27	the	the	DET
app01-3407	4	28	dubins	dubin	NOUN
app01-3407	4	29	traveling	travel	VERB
app01-3407	4	30	salesman	salesman	ADJ
app01-3407	4	31	problem	problem	NOUN
app01-3407	4	32	neighborhoods	neighborhood	NOUN
app01-3407	4	33	(	(	PUNCT
app01-3407	4	34	dtspn	dtspn	NOUN
app01-3407	4	35	)	)	PUNCT
app01-3407	4	36	.	.	PUNCT
app01-3407	5	1	we	we	PRON
app01-3407	5	2	propose	propose	VERB
app01-3407	5	3	a	a	DET
app01-3407	5	4	modification	modification	NOUN
app01-3407	5	5	of	of	ADP
app01-3407	5	6	the	the	DET
app01-3407	5	7	existing	exist	VERB
app01-3407	5	8	sampling	sampling	NOUN
app01-3407	5	9	-	-	PUNCT
app01-3407	5	10	based	base	VERB
app01-3407	5	11	approach	approach	NOUN
app01-3407	5	12	to	to	PART
app01-3407	5	13	determine	determine	VERB
app01-3407	5	14	increasing	increase	VERB
app01-3407	5	15	number	number	NOUN
app01-3407	5	16	of	of	ADP
app01-3407	5	17	samples	sample	NOUN
app01-3407	5	18	per	per	ADP
app01-3407	5	19	goal	goal	NOUN
app01-3407	5	20	region	region	NOUN
app01-3407	5	21	and	and	CCONJ
app01-3407	5	22	thus	thus	ADV
app01-3407	5	23	improve	improve	VERB
app01-3407	5	24	the	the	DET
app01-3407	5	25	solution	solution	NOUN
app01-3407	5	26	quality	quality	NOUN
app01-3407	5	27	if	if	SCONJ
app01-3407	5	28	a	a	DET
app01-3407	5	29	more	more	ADV
app01-3407	5	30	computational	computational	ADJ
app01-3407	5	31	time	time	NOUN
app01-3407	5	32	is	be	AUX
app01-3407	5	33	available	available	ADJ
app01-3407	5	34	.	.	PUNCT
app01-3407	6	1	the	the	DET
app01-3407	6	2	proposed	propose	VERB
app01-3407	6	3	modification	modification	NOUN
app01-3407	6	4	of	of	ADP
app01-3407	6	5	the	the	DET
app01-3407	6	6	sampling	sampling	NOUN
app01-3407	6	7	-	-	PUNCT
app01-3407	6	8	based	base	VERB
app01-3407	6	9	algorithm	algorithm	NOUN
app01-3407	6	10	has	have	AUX
app01-3407	6	11	been	be	AUX
app01-3407	6	12	compared	compare	VERB
app01-3407	6	13	with	with	ADP
app01-3407	6	14	performance	performance	NOUN
app01-3407	6	15	of	of	ADP
app01-3407	6	16	existing	exist	VERB
app01-3407	6	17	approaches	approach	NOUN
app01-3407	6	18	for	for	ADP
app01-3407	6	19	the	the	DET
app01-3407	6	20	dtspn	dtspn	NOUN
app01-3407	6	21	and	and	CCONJ
app01-3407	6	22	results	result	NOUN
app01-3407	6	23	of	of	ADP
app01-3407	6	24	the	the	DET
app01-3407	6	25	quality	quality	NOUN
app01-3407	6	26	of	of	ADP
app01-3407	6	27	the	the	DET
app01-3407	6	28	found	find	VERB
app01-3407	6	29	solutions	solution	NOUN
app01-3407	6	30	and	and	CCONJ
app01-3407	6	31	the	the	DET
app01-3407	6	32	required	required	ADJ
app01-3407	6	33	computational	computational	ADJ
app01-3407	6	34	time	time	NOUN
app01-3407	6	35	are	be	AUX
app01-3407	6	36	presented	present	VERB
app01-3407	6	37	in	in	ADP
app01-3407	6	38	the	the	DET
app01-3407	6	39	paper	paper	NOUN
app01-3407	6	40	.	.	PUNCT
app01-3407	7	1	keywords	keyword	NOUN
app01-3407	7	2	:	:	PUNCT
app01-3407	7	3	dubins	dubin	NOUN
app01-3407	7	4	vehicle	vehicle	NOUN
app01-3407	7	5	,	,	PUNCT
app01-3407	7	6	dubins	dubin	NOUN
app01-3407	7	7	maneuver	maneuver	NOUN
app01-3407	7	8	,	,	PUNCT
app01-3407	7	9	dtsp	dtsp	NOUN
app01-3407	7	10	,	,	PUNCT
app01-3407	7	11	dtspn	dtspn	NOUN
app01-3407	7	12	.	.	PUNCT
app01-3407	8	1	1	1	X
app01-3407	8	2	.	.	X
app01-3407	8	3	introduction	introduction	NOUN
app01-3407	8	4	path	path	NOUN
app01-3407	8	5	planning	planning	NOUN
app01-3407	8	6	for	for	ADP
app01-3407	8	7	a	a	DET
app01-3407	8	8	non	non	ADJ
app01-3407	8	9	-	-	ADJ
app01-3407	8	10	holonomic	holonomic	ADJ
app01-3407	8	11	vehicle	vehicle	NOUN
app01-3407	8	12	is	be	AUX
app01-3407	8	13	a	a	DET
app01-3407	8	14	fundamental	fundamental	ADJ
app01-3407	8	15	problem	problem	NOUN
app01-3407	8	16	of	of	ADP
app01-3407	8	17	surveillance	surveillance	NOUN
app01-3407	8	18	mission	mission	NOUN
app01-3407	8	19	where	where	SCONJ
app01-3407	8	20	an	an	DET
app01-3407	8	21	unmanned	unmanned	ADJ
app01-3407	8	22	aerial	aerial	ADJ
app01-3407	8	23	vehicle	vehicle	NOUN
app01-3407	8	24	(	(	PUNCT
app01-3407	8	25	such	such	ADJ
app01-3407	8	26	as	as	ADP
app01-3407	8	27	a	a	DET
app01-3407	8	28	fixed	fix	VERB
app01-3407	8	29	-	-	PUNCT
app01-3407	8	30	wing	wing	NOUN
app01-3407	8	31	)	)	PUNCT
app01-3407	8	32	is	be	AUX
app01-3407	8	33	requested	request	VERB
app01-3407	8	34	to	to	PART
app01-3407	8	35	visit	visit	VERB
app01-3407	8	36	a	a	DET
app01-3407	8	37	given	give	VERB
app01-3407	8	38	set	set	NOUN
app01-3407	8	39	of	of	ADP
app01-3407	8	40	locations	location	NOUN
app01-3407	8	41	.	.	PUNCT
app01-3407	9	1	the	the	DET
app01-3407	9	2	basic	basic	ADJ
app01-3407	9	3	model	model	NOUN
app01-3407	9	4	of	of	ADP
app01-3407	9	5	such	such	DET
app01-3407	9	6	a	a	DET
app01-3407	9	7	vehicle	vehicle	NOUN
app01-3407	9	8	with	with	ADP
app01-3407	9	9	the	the	DET
app01-3407	9	10	limited	limited	ADJ
app01-3407	9	11	turning	turning	NOUN
app01-3407	9	12	radius	radius	NOUN
app01-3407	9	13	is	be	AUX
app01-3407	9	14	called	call	VERB
app01-3407	9	15	the	the	DET
app01-3407	9	16	dubins	dubin	NOUN
app01-3407	9	17	vehicle	vehicle	NOUN
app01-3407	9	18	[	[	X
app01-3407	9	19	1	1	NUM
app01-3407	9	20	]	]	PUNCT
app01-3407	9	21	for	for	ADP
app01-3407	9	22	which	which	PRON
app01-3407	9	23	the	the	DET
app01-3407	9	24	combinatorial	combinatorial	ADJ
app01-3407	9	25	problem	problem	NOUN
app01-3407	9	26	of	of	ADP
app01-3407	9	27	finding	find	VERB
app01-3407	9	28	optimal	optimal	ADJ
app01-3407	9	29	sequence	sequence	NOUN
app01-3407	9	30	of	of	ADP
app01-3407	9	31	visits	visit	NOUN
app01-3407	9	32	to	to	ADP
app01-3407	9	33	the	the	DET
app01-3407	9	34	locations	location	NOUN
app01-3407	9	35	is	be	AUX
app01-3407	9	36	known	know	VERB
app01-3407	9	37	as	as	ADP
app01-3407	9	38	the	the	DET
app01-3407	9	39	dubins	dubin	NOUN
app01-3407	9	40	traveling	travel	VERB
app01-3407	9	41	salesman	salesman	ADJ
app01-3407	9	42	problem	problem	NOUN
app01-3407	9	43	(	(	PUNCT
app01-3407	9	44	dtsp	dtsp	NOUN
app01-3407	9	45	)	)	PUNCT
app01-3407	10	1	[	[	X
app01-3407	10	2	2	2	NUM
app01-3407	10	3	]	]	PUNCT
app01-3407	10	4	.	.	PUNCT
app01-3407	11	1	in	in	ADP
app01-3407	11	2	this	this	DET
app01-3407	11	3	paper	paper	NOUN
app01-3407	11	4	,	,	PUNCT
app01-3407	11	5	we	we	PRON
app01-3407	11	6	consider	consider	VERB
app01-3407	11	7	a	a	DET
app01-3407	11	8	generalized	generalized	ADJ
app01-3407	11	9	problem	problem	NOUN
app01-3407	11	10	of	of	ADP
app01-3407	11	11	the	the	DET
app01-3407	11	12	dtsp	dtsp	NOUN
app01-3407	11	13	where	where	SCONJ
app01-3407	11	14	the	the	DET
app01-3407	11	15	particular	particular	ADJ
app01-3407	11	16	waypoints	waypoint	NOUN
app01-3407	11	17	to	to	PART
app01-3407	11	18	be	be	AUX
app01-3407	11	19	visited	visit	VERB
app01-3407	11	20	can	can	AUX
app01-3407	11	21	be	be	AUX
app01-3407	11	22	selected	select	VERB
app01-3407	11	23	from	from	ADP
app01-3407	11	24	a	a	DET
app01-3407	11	25	set	set	NOUN
app01-3407	11	26	of	of	ADP
app01-3407	11	27	possible	possible	ADJ
app01-3407	11	28	locations	location	NOUN
app01-3407	11	29	.	.	PUNCT
app01-3407	12	1	due	due	ADP
app01-3407	12	2	to	to	ADP
app01-3407	12	3	the	the	DET
app01-3407	12	4	similarity	similarity	NOUN
app01-3407	12	5	of	of	ADP
app01-3407	12	6	this	this	DET
app01-3407	12	7	problem	problem	NOUN
app01-3407	12	8	with	with	ADP
app01-3407	12	9	the	the	DET
app01-3407	12	10	so	so	ADV
app01-3407	12	11	-	-	PUNCT
app01-3407	12	12	called	call	VERB
app01-3407	12	13	traveling	travel	VERB
app01-3407	12	14	salesman	salesman	ADJ
app01-3407	12	15	problem	problem	NOUN
app01-3407	12	16	with	with	ADP
app01-3407	12	17	neighborhoods	neighborhood	NOUN
app01-3407	12	18	[	[	X
app01-3407	12	19	3	3	NUM
app01-3407	12	20	]	]	PUNCT
app01-3407	12	21	,	,	PUNCT
app01-3407	12	22	the	the	DET
app01-3407	12	23	problem	problem	NOUN
app01-3407	12	24	is	be	AUX
app01-3407	12	25	called	call	VERB
app01-3407	12	26	as	as	ADP
app01-3407	12	27	the	the	DET
app01-3407	12	28	dubins	dubin	NOUN
app01-3407	12	29	traveling	travel	VERB
app01-3407	12	30	salesman	salesman	ADJ
app01-3407	12	31	problem	problem	NOUN
app01-3407	12	32	with	with	ADP
app01-3407	12	33	neighborhoods	neighborhood	NOUN
app01-3407	12	34	(	(	PUNCT
app01-3407	12	35	dtspn	dtspn	NOUN
app01-3407	12	36	)	)	PUNCT
app01-3407	13	1	[	[	X
app01-3407	13	2	4	4	NUM
app01-3407	13	3	]	]	PUNCT
app01-3407	13	4	.	.	PUNCT
app01-3407	14	1	the	the	DET
app01-3407	14	2	dtspn	dtspn	NOUN
app01-3407	14	3	is	be	AUX
app01-3407	14	4	a	a	DET
app01-3407	14	5	suitable	suitable	ADJ
app01-3407	14	6	problem	problem	NOUN
app01-3407	14	7	formulation	formulation	NOUN
app01-3407	14	8	to	to	PART
app01-3407	14	9	address	address	VERB
app01-3407	14	10	surveillance	surveillance	NOUN
app01-3407	14	11	missions	mission	NOUN
app01-3407	14	12	with	with	ADP
app01-3407	14	13	unmanned	unmanned	ADJ
app01-3407	14	14	aerial	aerial	ADJ
app01-3407	14	15	vehicles	vehicle	NOUN
app01-3407	14	16	,	,	PUNCT
app01-3407	14	17	where	where	SCONJ
app01-3407	14	18	it	it	PRON
app01-3407	14	19	is	be	AUX
app01-3407	14	20	required	require	VERB
app01-3407	14	21	to	to	PART
app01-3407	14	22	take	take	VERB
app01-3407	14	23	a	a	DET
app01-3407	14	24	camera	camera	NOUN
app01-3407	14	25	snapshot	snapshot	NOUN
app01-3407	14	26	(	(	PUNCT
app01-3407	14	27	or	or	CCONJ
app01-3407	14	28	other	other	ADJ
app01-3407	14	29	type	type	NOUN
app01-3407	14	30	of	of	ADP
app01-3407	14	31	measurement	measurement	NOUN
app01-3407	14	32	)	)	PUNCT
app01-3407	14	33	of	of	ADP
app01-3407	14	34	each	each	DET
app01-3407	14	35	target	target	NOUN
app01-3407	14	36	location	location	NOUN
app01-3407	14	37	.	.	PUNCT
app01-3407	15	1	such	such	DET
app01-3407	15	2	a	a	DET
app01-3407	15	3	snapshot	snapshot	NOUN
app01-3407	15	4	can	can	AUX
app01-3407	15	5	be	be	AUX
app01-3407	15	6	acquired	acquire	VERB
app01-3407	15	7	from	from	ADP
app01-3407	15	8	some	some	DET
app01-3407	15	9	distance	distance	NOUN
app01-3407	15	10	of	of	ADP
app01-3407	15	11	the	the	DET
app01-3407	15	12	target	target	NOUN
app01-3407	15	13	location	location	NOUN
app01-3407	15	14	and	and	CCONJ
app01-3407	15	15	thus	thus	ADV
app01-3407	15	16	it	it	PRON
app01-3407	15	17	is	be	AUX
app01-3407	15	18	not	not	PART
app01-3407	15	19	necessary	necessary	ADJ
app01-3407	15	20	to	to	PART
app01-3407	15	21	visit	visit	VERB
app01-3407	15	22	the	the	DET
app01-3407	15	23	location	location	NOUN
app01-3407	15	24	exactly	exactly	ADV
app01-3407	15	25	.	.	PUNCT
app01-3407	16	1	it	it	PRON
app01-3407	16	2	is	be	AUX
app01-3407	16	3	rather	rather	ADV
app01-3407	16	4	a	a	DET
app01-3407	16	5	more	more	ADV
app01-3407	16	6	suitable	suitable	ADJ
app01-3407	16	7	to	to	PART
app01-3407	16	8	select	select	VERB
app01-3407	16	9	the	the	DET
app01-3407	16	10	waypoints	waypoint	NOUN
app01-3407	16	11	in	in	ADP
app01-3407	16	12	such	such	DET
app01-3407	16	13	a	a	DET
app01-3407	16	14	way	way	NOUN
app01-3407	16	15	that	that	PRON
app01-3407	16	16	all	all	DET
app01-3407	16	17	locations	location	NOUN
app01-3407	16	18	are	be	AUX
app01-3407	16	19	covered	cover	VERB
app01-3407	16	20	while	while	SCONJ
app01-3407	16	21	the	the	DET
app01-3407	16	22	total	total	ADJ
app01-3407	16	23	cost	cost	NOUN
app01-3407	16	24	of	of	ADP
app01-3407	16	25	the	the	DET
app01-3407	16	26	final	final	ADJ
app01-3407	16	27	path	path	NOUN
app01-3407	16	28	is	be	AUX
app01-3407	16	29	minimal	minimal	ADJ
app01-3407	16	30	.	.	PUNCT
app01-3407	17	1	there	there	PRON
app01-3407	17	2	are	be	VERB
app01-3407	17	3	several	several	ADJ
app01-3407	17	4	approaches	approach	NOUN
app01-3407	17	5	to	to	PART
app01-3407	17	6	address	address	VERB
app01-3407	17	7	the	the	DET
app01-3407	17	8	dtsp	dtsp	NOUN
app01-3407	17	9	and	and	CCONJ
app01-3407	17	10	also	also	ADV
app01-3407	17	11	the	the	DET
app01-3407	17	12	dtspn	dtspn	NOUN
app01-3407	17	13	in	in	ADP
app01-3407	17	14	the	the	DET
app01-3407	17	15	literature	literature	NOUN
app01-3407	17	16	[	[	X
app01-3407	17	17	2	2	NUM
app01-3407	17	18	,	,	PUNCT
app01-3407	17	19	4–6	4–6	NOUN
app01-3407	17	20	]	]	PUNCT
app01-3407	17	21	including	include	VERB
app01-3407	17	22	our	our	PRON
app01-3407	17	23	work	work	NOUN
app01-3407	17	24	[	[	X
app01-3407	17	25	7	7	NUM
app01-3407	17	26	]	]	PUNCT
app01-3407	17	27	.	.	PUNCT
app01-3407	18	1	therefore	therefore	ADV
app01-3407	18	2	,	,	PUNCT
app01-3407	18	3	in	in	ADP
app01-3407	18	4	this	this	DET
app01-3407	18	5	paper	paper	NOUN
app01-3407	18	6	,	,	PUNCT
app01-3407	18	7	we	we	PRON
app01-3407	18	8	provide	provide	VERB
app01-3407	18	9	an	an	DET
app01-3407	18	10	overview	overview	NOUN
app01-3407	18	11	of	of	ADP
app01-3407	18	12	the	the	DET
app01-3407	18	13	existing	exist	VERB
app01-3407	18	14	approaches	approach	NOUN
app01-3407	18	15	to	to	PART
app01-3407	18	16	address	address	VERB
app01-3407	18	17	the	the	DET
app01-3407	18	18	dtspn	dtspn	NOUN
app01-3407	18	19	and	and	CCONJ
app01-3407	18	20	compare	compare	VERB
app01-3407	18	21	their	their	PRON
app01-3407	18	22	performance	performance	NOUN
app01-3407	18	23	according	accord	VERB
app01-3407	18	24	to	to	ADP
app01-3407	18	25	the	the	DET
app01-3407	18	26	trade	trade	NOUN
app01-3407	18	27	-	-	PUNCT
app01-3407	18	28	off	off	NOUN
app01-3407	18	29	between	between	ADP
app01-3407	18	30	the	the	DET
app01-3407	18	31	solution	solution	NOUN
app01-3407	18	32	quality	quality	NOUN
app01-3407	18	33	and	and	CCONJ
app01-3407	18	34	computational	computational	ADJ
app01-3407	18	35	requirements	requirement	NOUN
app01-3407	18	36	.	.	PUNCT
app01-3407	19	1	in	in	ADP
app01-3407	19	2	particular	particular	ADJ
app01-3407	19	3	,	,	PUNCT
app01-3407	19	4	we	we	PRON
app01-3407	19	5	focus	focus	VERB
app01-3407	19	6	on	on	ADP
app01-3407	19	7	the	the	DET
app01-3407	19	8	sampling	sampling	NOUN
app01-3407	19	9	-	-	PUNCT
app01-3407	19	10	based	base	VERB
app01-3407	19	11	algorithm	algorithm	NOUN
app01-3407	19	12	[	[	X
app01-3407	19	13	4	4	X
app01-3407	19	14	]	]	PUNCT
app01-3407	19	15	which	which	PRON
app01-3407	19	16	is	be	AUX
app01-3407	19	17	able	able	ADJ
app01-3407	19	18	to	to	PART
app01-3407	19	19	provide	provide	VERB
app01-3407	19	20	high	high	ADJ
app01-3407	19	21	quality	quality	NOUN
app01-3407	19	22	solutions	solution	NOUN
app01-3407	19	23	for	for	ADP
app01-3407	19	24	very	very	ADV
app01-3407	19	25	high	high	ADJ
app01-3407	19	26	number	number	NOUN
app01-3407	19	27	of	of	ADP
app01-3407	19	28	samples	sample	NOUN
app01-3407	19	29	.	.	PUNCT
app01-3407	20	1	however	however	ADV
app01-3407	20	2	,	,	PUNCT
app01-3407	20	3	more	more	ADJ
app01-3407	20	4	samples	sample	NOUN
app01-3407	20	5	increase	increase	VERB
app01-3407	20	6	the	the	DET
app01-3407	20	7	computational	computational	ADJ
app01-3407	20	8	burden	burden	NOUN
app01-3407	20	9	,	,	PUNCT
app01-3407	20	10	and	and	CCONJ
app01-3407	20	11	therefore	therefore	ADV
app01-3407	20	12	,	,	PUNCT
app01-3407	20	13	the	the	DET
app01-3407	20	14	algorithm	algorithm	NOUN
app01-3407	20	15	is	be	AUX
app01-3407	20	16	not	not	PART
app01-3407	20	17	directly	directly	ADV
app01-3407	20	18	suitable	suitable	ADJ
app01-3407	20	19	for	for	ADP
app01-3407	20	20	real	real	ADJ
app01-3407	20	21	-	-	PUNCT
app01-3407	20	22	time	time	NOUN
app01-3407	20	23	applications	application	NOUN
app01-3407	20	24	.	.	PUNCT
app01-3407	21	1	on	on	ADP
app01-3407	21	2	the	the	DET
app01-3407	21	3	other	other	ADJ
app01-3407	21	4	hand	hand	NOUN
app01-3407	21	5	,	,	PUNCT
app01-3407	21	6	we	we	PRON
app01-3407	21	7	can	can	AUX
app01-3407	21	8	get	get	VERB
app01-3407	21	9	a	a	DET
app01-3407	21	10	quick	quick	ADJ
app01-3407	21	11	estimation	estimation	NOUN
app01-3407	21	12	of	of	ADP
app01-3407	21	13	the	the	DET
app01-3407	21	14	solution	solution	NOUN
app01-3407	21	15	quality	quality	NOUN
app01-3407	21	16	using	use	VERB
app01-3407	21	17	only	only	ADV
app01-3407	21	18	few	few	ADJ
app01-3407	21	19	samples	sample	NOUN
app01-3407	21	20	.	.	PUNCT
app01-3407	22	1	this	this	PRON
app01-3407	22	2	has	have	AUX
app01-3407	22	3	motivated	motivate	VERB
app01-3407	22	4	us	we	PRON
app01-3407	22	5	to	to	PART
app01-3407	22	6	modify	modify	VERB
app01-3407	22	7	the	the	DET
app01-3407	22	8	original	original	ADJ
app01-3407	22	9	algorithm	algorithm	NOUN
app01-3407	22	10	[	[	X
app01-3407	22	11	4	4	X
app01-3407	22	12	]	]	PUNCT
app01-3407	22	13	to	to	PART
app01-3407	22	14	provide	provide	VERB
app01-3407	22	15	a	a	DET
app01-3407	22	16	first	first	ADJ
app01-3407	22	17	solution	solution	NOUN
app01-3407	22	18	quickly	quickly	ADV
app01-3407	22	19	that	that	PRON
app01-3407	22	20	is	be	AUX
app01-3407	22	21	then	then	ADV
app01-3407	22	22	improved	improve	VERB
app01-3407	22	23	if	if	SCONJ
app01-3407	22	24	a	a	DET
app01-3407	22	25	computational	computational	ADJ
app01-3407	22	26	time	time	NOUN
app01-3407	22	27	is	be	AUX
app01-3407	22	28	left	leave	VERB
app01-3407	22	29	.	.	PUNCT
app01-3407	23	1	the	the	DET
app01-3407	23	2	paper	paper	NOUN
app01-3407	23	3	is	be	AUX
app01-3407	23	4	organized	organize	VERB
app01-3407	23	5	as	as	SCONJ
app01-3407	23	6	follows	follow	VERB
app01-3407	23	7	.	.	PUNCT
app01-3407	24	1	a	a	DET
app01-3407	24	2	brief	brief	ADJ
app01-3407	24	3	introduction	introduction	NOUN
app01-3407	24	4	to	to	ADP
app01-3407	24	5	the	the	DET
app01-3407	24	6	problem	problem	NOUN
app01-3407	24	7	background	background	NOUN
app01-3407	24	8	is	be	AUX
app01-3407	24	9	presented	present	VERB
app01-3407	24	10	in	in	ADP
app01-3407	24	11	the	the	DET
app01-3407	24	12	next	next	ADJ
app01-3407	24	13	section	section	NOUN
app01-3407	24	14	.	.	PUNCT
app01-3407	25	1	the	the	DET
app01-3407	25	2	addressed	address	VERB
app01-3407	25	3	problem	problem	NOUN
app01-3407	25	4	is	be	AUX
app01-3407	25	5	formally	formally	ADV
app01-3407	25	6	introduced	introduce	VERB
app01-3407	25	7	in	in	ADP
app01-3407	25	8	section	section	NOUN
app01-3407	25	9	3	3	NUM
app01-3407	25	10	.	.	PUNCT
app01-3407	26	1	a	a	DET
app01-3407	26	2	brief	brief	ADJ
app01-3407	26	3	overview	overview	NOUN
app01-3407	26	4	of	of	ADP
app01-3407	26	5	the	the	DET
app01-3407	26	6	existing	exist	VERB
app01-3407	26	7	approaches	approach	NOUN
app01-3407	26	8	to	to	PART
app01-3407	26	9	solve	solve	VERB
app01-3407	26	10	the	the	DET
app01-3407	26	11	dtspn	dtspn	NOUN
app01-3407	26	12	is	be	AUX
app01-3407	26	13	provided	provide	VERB
app01-3407	26	14	in	in	ADP
app01-3407	26	15	section	section	NOUN
app01-3407	26	16	4	4	NUM
app01-3407	26	17	.	.	PUNCT
app01-3407	27	1	the	the	DET
app01-3407	27	2	proposed	propose	VERB
app01-3407	27	3	modification	modification	NOUN
app01-3407	27	4	of	of	ADP
app01-3407	27	5	the	the	DET
app01-3407	27	6	samplingbased	samplingbased	ADJ
app01-3407	27	7	approach	approach	NOUN
app01-3407	27	8	is	be	AUX
app01-3407	27	9	presented	present	VERB
app01-3407	27	10	in	in	ADP
app01-3407	27	11	section	section	NOUN
app01-3407	27	12	5	5	NUM
app01-3407	27	13	together	together	ADV
app01-3407	27	14	with	with	ADP
app01-3407	27	15	the	the	DET
app01-3407	27	16	analysis	analysis	NOUN
app01-3407	27	17	of	of	ADP
app01-3407	27	18	its	its	PRON
app01-3407	27	19	computational	computational	ADJ
app01-3407	27	20	complexity	complexity	NOUN
app01-3407	27	21	.	.	PUNCT
app01-3407	28	1	evaluation	evaluation	NOUN
app01-3407	28	2	results	result	NOUN
app01-3407	28	3	of	of	ADP
app01-3407	28	4	the	the	DET
app01-3407	28	5	comparison	comparison	NOUN
app01-3407	28	6	of	of	ADP
app01-3407	28	7	the	the	DET
app01-3407	28	8	existing	exist	VERB
app01-3407	28	9	approaches	approach	NOUN
app01-3407	28	10	with	with	ADP
app01-3407	28	11	the	the	DET
app01-3407	28	12	proposed	propose	VERB
app01-3407	28	13	modification	modification	NOUN
app01-3407	28	14	are	be	AUX
app01-3407	28	15	reported	report	VERB
app01-3407	28	16	in	in	ADP
app01-3407	28	17	section	section	NOUN
app01-3407	28	18	6	6	NUM
app01-3407	28	19	.	.	PUNCT
app01-3407	29	1	finally	finally	ADV
app01-3407	29	2	concluding	conclude	VERB
app01-3407	29	3	remarks	remark	NOUN
app01-3407	29	4	are	be	AUX
app01-3407	29	5	denoted	denote	VERB
app01-3407	29	6	to	to	PART
app01-3407	29	7	section	section	NOUN
app01-3407	29	8	7	7	NUM
app01-3407	29	9	.	.	NOUN
app01-3407	29	10	2	2	NUM
app01-3407	29	11	.	.	X
app01-3407	29	12	related	relate	VERB
app01-3407	29	13	work	work	NOUN
app01-3407	29	14	the	the	DET
app01-3407	29	15	problem	problem	NOUN
app01-3407	29	16	of	of	ADP
app01-3407	29	17	curvature	curvature	NOUN
app01-3407	29	18	-	-	PUNCT
app01-3407	29	19	constrained	constrain	VERB
app01-3407	29	20	path	path	NOUN
app01-3407	29	21	planning	planning	NOUN
app01-3407	29	22	has	have	AUX
app01-3407	29	23	been	be	AUX
app01-3407	29	24	studied	study	VERB
app01-3407	29	25	years	year	NOUN
app01-3407	29	26	ago	ago	ADV
app01-3407	29	27	and	and	CCONJ
app01-3407	29	28	the	the	DET
app01-3407	29	29	fundamental	fundamental	ADJ
app01-3407	29	30	work	work	NOUN
app01-3407	29	31	has	have	AUX
app01-3407	29	32	been	be	AUX
app01-3407	29	33	published	publish	VERB
app01-3407	29	34	in	in	ADP
app01-3407	29	35	1957	1957	NUM
app01-3407	29	36	by	by	ADP
app01-3407	29	37	dubins	dubin	NOUN
app01-3407	29	38	.	.	PUNCT
app01-3407	30	1	in	in	ADP
app01-3407	30	2	[	[	X
app01-3407	30	3	1	1	NUM
app01-3407	30	4	]	]	PUNCT
app01-3407	30	5	,	,	PUNCT
app01-3407	30	6	he	he	PRON
app01-3407	30	7	proved	prove	VERB
app01-3407	30	8	that	that	SCONJ
app01-3407	30	9	the	the	DET
app01-3407	30	10	optimal	optimal	ADJ
app01-3407	30	11	path	path	NOUN
app01-3407	30	12	between	between	ADP
app01-3407	30	13	two	two	NUM
app01-3407	30	14	configurations	configuration	NOUN
app01-3407	30	15	q1	q1	NOUN
app01-3407	30	16	,	,	PUNCT
app01-3407	30	17	q2	q2	PROPN
app01-3407	30	18	∈	∈	PROPN
app01-3407	30	19	se(2	se(2	PROPN
app01-3407	30	20	)	)	PUNCT
app01-3407	30	21	consists	consist	VERB
app01-3407	30	22	of	of	ADP
app01-3407	30	23	only	only	ADJ
app01-3407	30	24	straight	straight	ADJ
app01-3407	30	25	line	line	NOUN
app01-3407	30	26	segments	segment	NOUN
app01-3407	30	27	and	and	CCONJ
app01-3407	30	28	segments	segment	NOUN
app01-3407	30	29	with	with	ADP
app01-3407	30	30	the	the	DET
app01-3407	30	31	minimum	minimum	ADJ
app01-3407	30	32	turning	turning	NOUN
app01-3407	30	33	radius	radius	NOUN
app01-3407	30	34	.	.	PUNCT
app01-3407	31	1	he	he	PRON
app01-3407	31	2	also	also	ADV
app01-3407	31	3	showed	show	VERB
app01-3407	31	4	that	that	SCONJ
app01-3407	31	5	only	only	ADV
app01-3407	31	6	6	6	NUM
app01-3407	31	7	maneuvers	maneuver	NOUN
app01-3407	31	8	can	can	AUX
app01-3407	31	9	be	be	AUX
app01-3407	31	10	optimal	optimal	ADJ
app01-3407	31	11	,	,	PUNCT
app01-3407	31	12	which	which	PRON
app01-3407	31	13	can	can	AUX
app01-3407	31	14	be	be	AUX
app01-3407	31	15	further	far	ADV
app01-3407	31	16	divided	divide	VERB
app01-3407	31	17	into	into	ADP
app01-3407	31	18	two	two	NUM
app01-3407	31	19	main	main	ADJ
app01-3407	31	20	types	type	NOUN
app01-3407	31	21	:	:	PUNCT
app01-3407	31	22	•	•	NUM
app01-3407	31	23	ccc	ccc	PROPN
app01-3407	31	24	type	type	NOUN
app01-3407	31	25	:	:	PUNCT
app01-3407	31	26	lrl	lrl	PROPN
app01-3407	31	27	,	,	PUNCT
app01-3407	31	28	rlr	rlr	PROPN
app01-3407	31	29	;	;	PUNCT
app01-3407	31	30	•	•	NUM
app01-3407	31	31	csc	csc	PROPN
app01-3407	31	32	type	type	NOUN
app01-3407	31	33	:	:	PUNCT
app01-3407	31	34	lsl	lsl	PROPN
app01-3407	31	35	,	,	PUNCT
app01-3407	31	36	lsr	lsr	PROPN
app01-3407	31	37	,	,	PUNCT
app01-3407	31	38	rsl	rsl	PROPN
app01-3407	31	39	,	,	PUNCT
app01-3407	31	40	rsr	rsr	NOUN
app01-3407	31	41	;	;	PUNCT
app01-3407	31	42	where	where	SCONJ
app01-3407	31	43	c	c	PROPN
app01-3407	31	44	stands	stand	VERB
app01-3407	31	45	for	for	ADP
app01-3407	31	46	a	a	DET
app01-3407	31	47	circle	circle	NOUN
app01-3407	31	48	turn	turn	NOUN
app01-3407	31	49	(	(	PUNCT
app01-3407	31	50	r	r	NOUN
app01-3407	31	51	–	–	PUNCT
app01-3407	31	52	right	right	ADJ
app01-3407	31	53	,	,	PUNCT
app01-3407	31	54	l	l	NOUN
app01-3407	31	55	–	–	PUNCT
app01-3407	31	56	left	left	ADJ
app01-3407	31	57	)	)	PUNCT
app01-3407	31	58	and	and	CCONJ
app01-3407	31	59	s	s	VERB
app01-3407	31	60	for	for	ADP
app01-3407	31	61	a	a	DET
app01-3407	31	62	straight	straight	ADJ
app01-3407	31	63	segment	segment	NOUN
app01-3407	31	64	.	.	PUNCT
app01-3407	32	1	even	even	ADV
app01-3407	32	2	though	though	SCONJ
app01-3407	32	3	the	the	DET
app01-3407	32	4	optimal	optimal	ADJ
app01-3407	32	5	path	path	NOUN
app01-3407	32	6	for	for	ADP
app01-3407	32	7	dubins	dubin	NOUN
app01-3407	32	8	vehicle	vehicle	NOUN
app01-3407	32	9	between	between	ADP
app01-3407	32	10	two	two	NUM
app01-3407	32	11	configurations	configuration	NOUN
app01-3407	32	12	is	be	AUX
app01-3407	32	13	known	know	VERB
app01-3407	32	14	and	and	CCONJ
app01-3407	32	15	it	it	PRON
app01-3407	32	16	is	be	AUX
app01-3407	32	17	straightforward	straightforward	ADJ
app01-3407	32	18	to	to	PART
app01-3407	32	19	compute	compute	VERB
app01-3407	32	20	,	,	PUNCT
app01-3407	32	21	this	this	PRON
app01-3407	32	22	is	be	AUX
app01-3407	32	23	not	not	PART
app01-3407	32	24	sufficient	sufficient	ADJ
app01-3407	32	25	to	to	PART
app01-3407	32	26	directly	directly	ADV
app01-3407	32	27	solve	solve	VERB
app01-3407	32	28	the	the	DET
app01-3407	32	29	dtsp	dtsp	NOUN
app01-3407	32	30	.	.	PUNCT
app01-3407	33	1	it	it	PRON
app01-3407	33	2	is	be	AUX
app01-3407	33	3	because	because	SCONJ
app01-3407	33	4	the	the	DET
app01-3407	33	5	orientation	orientation	NOUN
app01-3407	33	6	of	of	ADP
app01-3407	33	7	the	the	DET
app01-3407	33	8	vehicle	vehicle	NOUN
app01-3407	33	9	at	at	ADP
app01-3407	33	10	the	the	DET
app01-3407	33	11	waypoints	waypoint	NOUN
app01-3407	33	12	is	be	AUX
app01-3407	33	13	not	not	PART
app01-3407	33	14	known	know	VERB
app01-3407	33	15	and	and	CCONJ
app01-3407	33	16	thus	thus	ADV
app01-3407	33	17	it	it	PRON
app01-3407	33	18	must	must	AUX
app01-3407	33	19	be	be	AUX
app01-3407	33	20	determined	determine	VERB
app01-3407	33	21	together	together	ADV
app01-3407	33	22	with	with	ADP
app01-3407	33	23	the	the	DET
app01-3407	33	24	optimal	optimal	ADJ
app01-3407	33	25	sequence	sequence	NOUN
app01-3407	33	26	of	of	ADP
app01-3407	33	27	57	57	NUM
app01-3407	33	28	http://dx.doi.org/10.14311/app.2015.1.0057	http://dx.doi.org/10.14311/app.2015.1.0057	NOUN
app01-3407	33	29	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3407	33	30	petr	petr	PROPN
app01-3407	33	31	váňa	váňa	PROPN
app01-3407	33	32	,	,	PUNCT
app01-3407	33	33	jan	jan	PROPN
app01-3407	33	34	faigl	faigl	PROPN
app01-3407	33	35	acta	acta	PROPN
app01-3407	33	36	polytechnica	polytechnica	PROPN
app01-3407	33	37	ctu	ctu	PROPN
app01-3407	33	38	proceedings	proceeding	NOUN
app01-3407	33	39	visits	visit	VERB
app01-3407	33	40	to	to	ADP
app01-3407	33	41	the	the	DET
app01-3407	33	42	waypoints	waypoint	NOUN
app01-3407	33	43	.	.	PUNCT
app01-3407	34	1	moreover	moreover	ADV
app01-3407	34	2	,	,	PUNCT
app01-3407	34	3	the	the	DET
app01-3407	34	4	optimal	optimal	ADJ
app01-3407	34	5	orientation	orientation	NOUN
app01-3407	34	6	depends	depend	VERB
app01-3407	34	7	on	on	ADP
app01-3407	34	8	the	the	DET
app01-3407	34	9	sequence	sequence	NOUN
app01-3407	34	10	and	and	CCONJ
app01-3407	34	11	vice	vice	NOUN
app01-3407	34	12	-	-	NOUN
app01-3407	34	13	versa	versa	PROPN
app01-3407	34	14	,	,	PUNCT
app01-3407	34	15	which	which	PRON
app01-3407	34	16	make	make	VERB
app01-3407	34	17	the	the	DET
app01-3407	34	18	problem	problem	NOUN
app01-3407	34	19	difficult	difficult	ADJ
app01-3407	34	20	to	to	PART
app01-3407	34	21	address	address	VERB
app01-3407	34	22	.	.	PUNCT
app01-3407	35	1	probably	probably	ADV
app01-3407	35	2	the	the	DET
app01-3407	35	3	simplest	simple	ADJ
app01-3407	35	4	approach	approach	NOUN
app01-3407	35	5	to	to	PART
app01-3407	35	6	address	address	VERB
app01-3407	35	7	the	the	DET
app01-3407	35	8	dtsp	dtsp	NOUN
app01-3407	35	9	is	be	AUX
app01-3407	35	10	the	the	DET
app01-3407	35	11	alternating	alternate	VERB
app01-3407	35	12	algorithm	algorithm	NOUN
app01-3407	35	13	(	(	PUNCT
app01-3407	35	14	aa	aa	NOUN
app01-3407	35	15	)	)	PUNCT
app01-3407	35	16	proposed	propose	VERB
app01-3407	35	17	in	in	ADP
app01-3407	35	18	[	[	X
app01-3407	35	19	2	2	NUM
app01-3407	35	20	]	]	PUNCT
app01-3407	35	21	.	.	PUNCT
app01-3407	36	1	in	in	ADP
app01-3407	36	2	this	this	DET
app01-3407	36	3	approach	approach	NOUN
app01-3407	36	4	,	,	PUNCT
app01-3407	36	5	headings	heading	NOUN
app01-3407	36	6	are	be	AUX
app01-3407	36	7	established	establish	VERB
app01-3407	36	8	in	in	ADP
app01-3407	36	9	the	the	DET
app01-3407	36	10	way	way	NOUN
app01-3407	36	11	that	that	PRON
app01-3407	36	12	even	even	ADV
app01-3407	36	13	edges	edge	NOUN
app01-3407	36	14	are	be	AUX
app01-3407	36	15	connected	connect	VERB
app01-3407	36	16	by	by	ADP
app01-3407	36	17	straight	straight	ADJ
app01-3407	36	18	line	line	NOUN
app01-3407	36	19	segments	segment	NOUN
app01-3407	36	20	and	and	CCONJ
app01-3407	36	21	odd	odd	ADJ
app01-3407	36	22	edges	edge	NOUN
app01-3407	36	23	are	be	AUX
app01-3407	36	24	connected	connect	VERB
app01-3407	36	25	by	by	ADP
app01-3407	36	26	dubins	dubin	NOUN
app01-3407	36	27	maneuvers	maneuver	NOUN
app01-3407	36	28	.	.	PUNCT
app01-3407	37	1	in	in	ADP
app01-3407	37	2	addition	addition	NOUN
app01-3407	37	3	,	,	PUNCT
app01-3407	37	4	the	the	DET
app01-3407	37	5	authors	author	NOUN
app01-3407	37	6	show	show	VERB
app01-3407	37	7	that	that	SCONJ
app01-3407	37	8	the	the	DET
app01-3407	37	9	length	length	NOUN
app01-3407	37	10	of	of	ADP
app01-3407	37	11	the	the	DET
app01-3407	37	12	optimal	optimal	ADJ
app01-3407	37	13	solution	solution	NOUN
app01-3407	37	14	of	of	ADP
app01-3407	37	15	the	the	DET
app01-3407	37	16	dtsp	dtsp	NOUN
app01-3407	37	17	can	can	AUX
app01-3407	37	18	be	be	AUX
app01-3407	37	19	bounded	bound	VERB
app01-3407	37	20	by	by	ADP
app01-3407	37	21	ltspκdn/2eπρ	ltspκdn/2eπρ	PROPN
app01-3407	37	22	,	,	PUNCT
app01-3407	37	23	where	where	SCONJ
app01-3407	37	24	ρ	ρ	PROPN
app01-3407	37	25	is	be	AUX
app01-3407	37	26	minimum	minimum	ADJ
app01-3407	37	27	turning	turning	NOUN
app01-3407	37	28	radius	radius	NOUN
app01-3407	37	29	,	,	PUNCT
app01-3407	37	30	ltsp	ltsp	NOUN
app01-3407	37	31	is	be	AUX
app01-3407	37	32	the	the	DET
app01-3407	37	33	length	length	NOUN
app01-3407	37	34	of	of	ADP
app01-3407	37	35	the	the	DET
app01-3407	37	36	optimal	optimal	ADJ
app01-3407	37	37	solution	solution	NOUN
app01-3407	37	38	of	of	ADP
app01-3407	37	39	the	the	DET
app01-3407	37	40	euclidean	euclidean	ADJ
app01-3407	37	41	tsp	tsp	NOUN
app01-3407	37	42	,	,	PUNCT
app01-3407	37	43	n	n	X
app01-3407	37	44	is	be	AUX
app01-3407	37	45	the	the	DET
app01-3407	37	46	number	number	NOUN
app01-3407	37	47	of	of	ADP
app01-3407	37	48	the	the	DET
app01-3407	37	49	goals	goal	NOUN
app01-3407	37	50	,	,	PUNCT
app01-3407	37	51	and	and	CCONJ
app01-3407	37	52	κ	κ	X
app01-3407	37	53	<	<	X
app01-3407	37	54	2.658	2.658	NUM
app01-3407	37	55	.	.	PUNCT
app01-3407	38	1	based	base	VERB
app01-3407	38	2	on	on	ADP
app01-3407	38	3	the	the	DET
app01-3407	38	4	similar	similar	ADJ
app01-3407	38	5	idea	idea	NOUN
app01-3407	38	6	,	,	PUNCT
app01-3407	38	7	authors	author	NOUN
app01-3407	38	8	of	of	ADP
app01-3407	38	9	[	[	X
app01-3407	38	10	5	5	NUM
app01-3407	38	11	]	]	PUNCT
app01-3407	38	12	proposed	propose	VERB
app01-3407	38	13	a	a	DET
app01-3407	38	14	receding	recede	VERB
app01-3407	38	15	horizon	horizon	NOUN
app01-3407	38	16	algorithm	algorithm	NOUN
app01-3407	38	17	called	call	VERB
app01-3407	38	18	the	the	DET
app01-3407	38	19	look	look	NOUN
app01-3407	38	20	-	-	PUNCT
app01-3407	38	21	ahead	ahead	NOUN
app01-3407	38	22	(	(	PUNCT
app01-3407	38	23	la	la	ADJ
app01-3407	38	24	)	)	PUNCT
app01-3407	38	25	approach	approach	NOUN
app01-3407	38	26	.	.	PUNCT
app01-3407	39	1	the	the	DET
app01-3407	39	2	heading	heading	NOUN
app01-3407	39	3	is	be	AUX
app01-3407	39	4	determined	determine	VERB
app01-3407	39	5	with	with	ADP
app01-3407	39	6	respect	respect	NOUN
app01-3407	39	7	to	to	ADP
app01-3407	39	8	the	the	DET
app01-3407	39	9	next	next	ADJ
app01-3407	39	10	point	point	NOUN
app01-3407	39	11	in	in	ADP
app01-3407	39	12	the	the	DET
app01-3407	39	13	sequence	sequence	NOUN
app01-3407	39	14	.	.	PUNCT
app01-3407	40	1	this	this	DET
app01-3407	40	2	algorithm	algorithm	NOUN
app01-3407	40	3	investigates	investigate	VERB
app01-3407	40	4	each	each	DET
app01-3407	40	5	point	point	NOUN
app01-3407	40	6	only	only	ADV
app01-3407	40	7	once	once	ADV
app01-3407	40	8	,	,	PUNCT
app01-3407	40	9	and	and	CCONJ
app01-3407	40	10	therefore	therefore	ADV
app01-3407	40	11	,	,	PUNCT
app01-3407	40	12	the	the	DET
app01-3407	40	13	la	la	PROPN
app01-3407	40	14	approach	approach	NOUN
app01-3407	40	15	is	be	AUX
app01-3407	40	16	very	very	ADV
app01-3407	40	17	fast	fast	ADJ
app01-3407	40	18	and	and	CCONJ
app01-3407	40	19	suitable	suitable	ADJ
app01-3407	40	20	for	for	ADP
app01-3407	40	21	real	real	ADJ
app01-3407	40	22	-	-	PUNCT
app01-3407	40	23	time	time	NOUN
app01-3407	40	24	application	application	NOUN
app01-3407	40	25	while	while	SCONJ
app01-3407	40	26	the	the	DET
app01-3407	40	27	authors	author	NOUN
app01-3407	40	28	reported	report	VERB
app01-3407	40	29	better	well	ADJ
app01-3407	40	30	results	result	NOUN
app01-3407	40	31	than	than	ADP
app01-3407	40	32	the	the	DET
app01-3407	40	33	aa	aa	NOUN
app01-3407	40	34	.	.	PUNCT
app01-3407	41	1	the	the	DET
app01-3407	41	2	optimal	optimal	ADJ
app01-3407	41	3	solution	solution	NOUN
app01-3407	41	4	of	of	ADP
app01-3407	41	5	the	the	DET
app01-3407	41	6	dubins	dubin	NOUN
app01-3407	41	7	planning	plan	VERB
app01-3407	41	8	to	to	PART
app01-3407	41	9	visit	visit	VERB
app01-3407	41	10	a	a	DET
app01-3407	41	11	given	give	VERB
app01-3407	41	12	sequence	sequence	NOUN
app01-3407	41	13	of	of	ADP
app01-3407	41	14	waypoints	waypoint	NOUN
app01-3407	41	15	that	that	PRON
app01-3407	41	16	are	be	AUX
app01-3407	41	17	at	at	ADP
app01-3407	41	18	the	the	DET
app01-3407	41	19	distance	distance	NOUN
app01-3407	41	20	longer	long	ADV
app01-3407	41	21	than	than	SCONJ
app01-3407	41	22	4ρ	4ρ	NOUN
app01-3407	41	23	is	be	AUX
app01-3407	41	24	presented	present	VERB
app01-3407	41	25	in	in	ADP
app01-3407	41	26	[	[	X
app01-3407	41	27	8	8	NUM
app01-3407	41	28	]	]	PUNCT
app01-3407	41	29	.	.	PUNCT
app01-3407	42	1	the	the	DET
app01-3407	42	2	approach	approach	NOUN
app01-3407	42	3	is	be	AUX
app01-3407	42	4	based	base	VERB
app01-3407	42	5	on	on	ADP
app01-3407	42	6	the	the	DET
app01-3407	42	7	convex	convex	PROPN
app01-3407	42	8	optimization	optimization	NOUN
app01-3407	42	9	;	;	PUNCT
app01-3407	42	10	however	however	ADV
app01-3407	42	11	,	,	PUNCT
app01-3407	42	12	the	the	DET
app01-3407	42	13	optimization	optimization	NOUN
app01-3407	42	14	needs	need	VERB
app01-3407	42	15	to	to	PART
app01-3407	42	16	be	be	AUX
app01-3407	42	17	solved	solve	VERB
app01-3407	42	18	several	several	ADJ
app01-3407	42	19	times	time	NOUN
app01-3407	42	20	because	because	SCONJ
app01-3407	42	21	of	of	ADP
app01-3407	42	22	possible	possible	ADJ
app01-3407	42	23	alternation	alternation	NOUN
app01-3407	42	24	of	of	ADP
app01-3407	42	25	the	the	DET
app01-3407	42	26	maneuvers	maneuver	NOUN
app01-3407	42	27	directions	direction	NOUN
app01-3407	42	28	.	.	PUNCT
app01-3407	43	1	the	the	DET
app01-3407	43	2	authors	author	NOUN
app01-3407	43	3	bound	bind	VERB
app01-3407	43	4	the	the	DET
app01-3407	43	5	number	number	NOUN
app01-3407	43	6	of	of	ADP
app01-3407	43	7	possible	possible	ADJ
app01-3407	43	8	combinations	combination	NOUN
app01-3407	43	9	to	to	ADP
app01-3407	43	10	2n−2	2n−2	NUM
app01-3407	43	11	for	for	ADP
app01-3407	43	12	n	n	DET
app01-3407	43	13	waypoints	waypoint	NOUN
app01-3407	43	14	.	.	PUNCT
app01-3407	44	1	the	the	DET
app01-3407	44	2	dtspn	dtspn	NOUN
app01-3407	44	3	is	be	AUX
app01-3407	44	4	a	a	DET
app01-3407	44	5	generalization	generalization	NOUN
app01-3407	44	6	of	of	ADP
app01-3407	44	7	the	the	DET
app01-3407	44	8	dtsp	dtsp	NOUN
app01-3407	44	9	,	,	PUNCT
app01-3407	44	10	where	where	SCONJ
app01-3407	44	11	each	each	DET
app01-3407	44	12	goal	goal	NOUN
app01-3407	44	13	is	be	AUX
app01-3407	44	14	extended	extend	VERB
app01-3407	44	15	by	by	ADP
app01-3407	44	16	a	a	DET
app01-3407	44	17	neighborhood	neighborhood	NOUN
app01-3407	44	18	(	(	PUNCT
app01-3407	44	19	goal	goal	NOUN
app01-3407	44	20	region	region	NOUN
app01-3407	44	21	)	)	PUNCT
app01-3407	44	22	.	.	PUNCT
app01-3407	45	1	as	as	SCONJ
app01-3407	45	2	the	the	DET
app01-3407	45	3	dtsp	dtsp	NOUN
app01-3407	45	4	is	be	AUX
app01-3407	45	5	known	know	VERB
app01-3407	45	6	to	to	PART
app01-3407	45	7	be	be	AUX
app01-3407	45	8	np	np	ADV
app01-3407	45	9	-	-	ADJ
app01-3407	45	10	hard	hard	ADJ
app01-3407	45	11	[	[	X
app01-3407	45	12	6	6	NUM
app01-3407	45	13	]	]	PUNCT
app01-3407	45	14	,	,	PUNCT
app01-3407	45	15	also	also	ADV
app01-3407	45	16	its	its	PRON
app01-3407	45	17	generalization	generalization	NOUN
app01-3407	45	18	the	the	DET
app01-3407	45	19	dtspn	dtspn	NOUN
app01-3407	45	20	is	be	AUX
app01-3407	45	21	np	np	INTJ
app01-3407	45	22	-	-	PUNCT
app01-3407	45	23	hard	hard	ADJ
app01-3407	45	24	.	.	PUNCT
app01-3407	46	1	3	3	X
app01-3407	46	2	.	.	X
app01-3407	46	3	problem	problem	NOUN
app01-3407	46	4	definition	definition	NOUN
app01-3407	46	5	the	the	DET
app01-3407	46	6	addressed	address	VERB
app01-3407	46	7	problem	problem	NOUN
app01-3407	46	8	is	be	AUX
app01-3407	46	9	motivated	motivate	VERB
app01-3407	46	10	by	by	ADP
app01-3407	46	11	surveillance	surveillance	NOUN
app01-3407	46	12	missions	mission	NOUN
app01-3407	46	13	with	with	ADP
app01-3407	46	14	fixed	fix	VERB
app01-3407	46	15	-	-	PUNCT
app01-3407	46	16	wing	wing	NOUN
app01-3407	46	17	aerial	aerial	ADJ
app01-3407	46	18	vehicles	vehicle	NOUN
app01-3407	46	19	,	,	PUNCT
app01-3407	46	20	which	which	PRON
app01-3407	46	21	are	be	AUX
app01-3407	46	22	nonholonomic	nonholonomic	ADJ
app01-3407	46	23	vehicles	vehicle	NOUN
app01-3407	46	24	due	due	ADP
app01-3407	46	25	to	to	ADP
app01-3407	46	26	their	their	PRON
app01-3407	46	27	kinodynamic	kinodynamic	ADJ
app01-3407	46	28	constraints	constraint	NOUN
app01-3407	46	29	.	.	PUNCT
app01-3407	47	1	these	these	DET
app01-3407	47	2	vehicles	vehicle	NOUN
app01-3407	47	3	are	be	AUX
app01-3407	47	4	often	often	ADV
app01-3407	47	5	modeled	model	VERB
app01-3407	47	6	as	as	ADP
app01-3407	47	7	the	the	DET
app01-3407	47	8	dubins	dubin	NOUN
app01-3407	47	9	vehicle	vehicle	NOUN
app01-3407	47	10	[	[	X
app01-3407	47	11	1	1	NUM
app01-3407	47	12	]	]	PUNCT
app01-3407	47	13	,	,	PUNCT
app01-3407	47	14	which	which	PRON
app01-3407	47	15	can	can	AUX
app01-3407	47	16	go	go	VERB
app01-3407	47	17	only	only	ADV
app01-3407	47	18	forward	forward	ADV
app01-3407	47	19	at	at	ADP
app01-3407	47	20	a	a	DET
app01-3407	47	21	constant	constant	ADJ
app01-3407	47	22	speed	speed	NOUN
app01-3407	47	23	and	and	CCONJ
app01-3407	47	24	has	have	VERB
app01-3407	47	25	a	a	DET
app01-3407	47	26	minimum	minimum	ADJ
app01-3407	47	27	turning	turning	NOUN
app01-3407	47	28	radius	radius	NOUN
app01-3407	47	29	ρ	ρ	NOUN
app01-3407	47	30	.	.	PUNCT
app01-3407	48	1	the	the	DET
app01-3407	48	2	configuration	configuration	NOUN
app01-3407	48	3	space	space	NOUN
app01-3407	48	4	of	of	ADP
app01-3407	48	5	such	such	DET
app01-3407	48	6	a	a	DET
app01-3407	48	7	vehicle	vehicle	NOUN
app01-3407	48	8	can	can	AUX
app01-3407	48	9	be	be	AUX
app01-3407	48	10	represented	represent	VERB
app01-3407	48	11	as	as	ADP
app01-3407	48	12	se(2	se(2	NOUN
app01-3407	48	13	)	)	PUNCT
app01-3407	48	14	,	,	PUNCT
app01-3407	48	15	where	where	SCONJ
app01-3407	48	16	each	each	DET
app01-3407	48	17	configuration	configuration	NOUN
app01-3407	48	18	q	q	PROPN
app01-3407	48	19	∈	∈	PROPN
app01-3407	48	20	se(2	se(2	NOUN
app01-3407	48	21	)	)	PUNCT
app01-3407	48	22	is	be	AUX
app01-3407	48	23	a	a	DET
app01-3407	48	24	triplet	triplet	NOUN
app01-3407	48	25	(	(	PUNCT
app01-3407	48	26	x	x	NOUN
app01-3407	48	27	,	,	PUNCT
app01-3407	48	28	y	y	PROPN
app01-3407	48	29	,	,	PUNCT
app01-3407	48	30	θ	θ	PROPN
app01-3407	48	31	)	)	PUNCT
app01-3407	48	32	,	,	PUNCT
app01-3407	48	33	where	where	SCONJ
app01-3407	48	34	(	(	PUNCT
app01-3407	48	35	x	x	NOUN
app01-3407	48	36	,	,	PUNCT
app01-3407	48	37	y	y	NOUN
app01-3407	48	38	)	)	PUNCT
app01-3407	48	39	is	be	AUX
app01-3407	48	40	the	the	DET
app01-3407	48	41	vehicle	vehicle	NOUN
app01-3407	48	42	position	position	NOUN
app01-3407	48	43	in	in	ADP
app01-3407	48	44	a	a	DET
app01-3407	48	45	plane	plane	NOUN
app01-3407	48	46	and	and	CCONJ
app01-3407	48	47	θ	θ	PROPN
app01-3407	48	48	∈	∈	PROPN
app01-3407	48	49	s1	s1	NOUN
app01-3407	48	50	is	be	AUX
app01-3407	48	51	the	the	DET
app01-3407	48	52	orientation	orientation	NOUN
app01-3407	48	53	of	of	ADP
app01-3407	48	54	the	the	DET
app01-3407	48	55	vehicle	vehicle	NOUN
app01-3407	48	56	.	.	PUNCT
app01-3407	49	1	the	the	DET
app01-3407	49	2	mathematical	mathematical	ADJ
app01-3407	49	3	model	model	NOUN
app01-3407	49	4	of	of	ADP
app01-3407	49	5	the	the	DET
app01-3407	49	6	dubins	dubin	NOUN
app01-3407	49	7	vehicle	vehicle	NOUN
app01-3407	49	8	can	can	AUX
app01-3407	49	9	be	be	AUX
app01-3407	49	10	formulated	formulate	VERB
app01-3407	49	11	as	as	ADP
app01-3407	49	12	follows:	follows:	ADJ
app01-3407	49	13	ẋ	ẋ	PROPN
app01-3407	50	1	ẏ	ẏ	NOUN
app01-3407	50	2	θ̇	θ̇	ADJ
app01-3407	50	3			NOUN
app01-3407	50	4	=	=	SYM
app01-3407	50	5	v	v	ADP
app01-3407	50	6			NOUN
app01-3407	50	7	cos	cos	SCONJ
app01-3407	50	8	θ	θ	PROPN
app01-3407	50	9	sin	sin	VERB
app01-3407	50	10	θ	θ	PROPN
app01-3407	50	11	u	u	NOUN
app01-3407	50	12	ρ	ρ	NOUN
app01-3407	50	13			NOUN
app01-3407	50	14	,	,	PUNCT
app01-3407	50	15	|u|	|u|	ADV
app01-3407	50	16	≤	≤	ADV
app01-3407	50	17	1	1	NUM
app01-3407	50	18	,	,	PUNCT
app01-3407	50	19	(	(	PUNCT
app01-3407	50	20	1	1	X
app01-3407	50	21	)	)	PUNCT
app01-3407	50	22	where	where	SCONJ
app01-3407	50	23	v	v	NOUN
app01-3407	50	24	is	be	AUX
app01-3407	50	25	the	the	DET
app01-3407	50	26	vehicle	vehicle	NOUN
app01-3407	50	27	forward	forward	ADJ
app01-3407	50	28	velocity	velocity	NOUN
app01-3407	50	29	,	,	PUNCT
app01-3407	50	30	ρ	ρ	PROPN
app01-3407	50	31	is	be	AUX
app01-3407	50	32	the	the	DET
app01-3407	50	33	minimum	minimum	ADJ
app01-3407	50	34	turning	turning	NOUN
app01-3407	50	35	radius	radius	NOUN
app01-3407	50	36	,	,	PUNCT
app01-3407	50	37	and	and	CCONJ
app01-3407	50	38	u	u	NOUN
app01-3407	50	39	is	be	AUX
app01-3407	50	40	the	the	DET
app01-3407	50	41	control	control	NOUN
app01-3407	50	42	input	input	NOUN
app01-3407	50	43	,	,	PUNCT
app01-3407	50	44	u	u	NOUN
app01-3407	50	45	>	>	X
app01-3407	50	46	0	0	NUM
app01-3407	50	47	.	.	PUNCT
app01-3407	51	1	now	now	ADV
app01-3407	51	2	,	,	PUNCT
app01-3407	51	3	we	we	PRON
app01-3407	51	4	can	can	AUX
app01-3407	51	5	introduce	introduce	VERB
app01-3407	51	6	the	the	DET
app01-3407	51	7	dtspn	dtspn	NOUN
app01-3407	51	8	[	[	X
app01-3407	51	9	9	9	NUM
app01-3407	51	10	]	]	PUNCT
app01-3407	51	11	a	a	DET
app01-3407	51	12	more	more	ADV
app01-3407	51	13	formally	formally	ADV
app01-3407	51	14	.	.	PUNCT
app01-3407	52	1	let	let	VERB
app01-3407	52	2	r	r	NOUN
app01-3407	52	3	=	=	SYM
app01-3407	52	4	{	{	PUNCT
app01-3407	52	5	r1	r1	NOUN
app01-3407	52	6	,	,	PUNCT
app01-3407	52	7	.	.	PUNCT
app01-3407	52	8	.	.	PUNCT
app01-3407	52	9	.	.	PUNCT
app01-3407	53	1	rn	rn	X
app01-3407	53	2	}	}	PUNCT
app01-3407	53	3	be	be	AUX
app01-3407	53	4	a	a	DET
app01-3407	53	5	set	set	NOUN
app01-3407	53	6	of	of	ADP
app01-3407	53	7	n	n	PRON
app01-3407	53	8	regions	region	NOUN
app01-3407	53	9	ri	ri	PROPN
app01-3407	53	10	⊂	⊂	PROPN
app01-3407	53	11	r2	r2	PROPN
app01-3407	53	12	that	that	PRON
app01-3407	53	13	are	be	AUX
app01-3407	53	14	requested	request	VERB
app01-3407	53	15	to	to	PART
app01-3407	53	16	be	be	AUX
app01-3407	53	17	visited	visit	VERB
app01-3407	53	18	by	by	ADP
app01-3407	53	19	the	the	DET
app01-3407	53	20	dubins	dubin	NOUN
app01-3407	53	21	vehicle	vehicle	NOUN
app01-3407	53	22	and	and	CCONJ
app01-3407	53	23	let	let	VERB
app01-3407	53	24	σ	σ	NOUN
app01-3407	53	25	=	=	SYM
app01-3407	53	26	(	(	PUNCT
app01-3407	53	27	σ1	σ1	PROPN
app01-3407	53	28	,	,	PUNCT
app01-3407	53	29	.	.	PUNCT
app01-3407	53	30	.	.	PUNCT
app01-3407	54	1	.	.	PUNCT
app01-3407	55	1	,	,	PUNCT
app01-3407	55	2	σn	σn	PROPN
app01-3407	55	3	)	)	PUNCT
app01-3407	55	4	be	be	VERB
app01-3407	55	5	an	an	DET
app01-3407	55	6	ordered	order	VERB
app01-3407	55	7	permutation	permutation	NOUN
app01-3407	55	8	of	of	ADP
app01-3407	55	9	{	{	PUNCT
app01-3407	55	10	1	1	NUM
app01-3407	55	11	,	,	PUNCT
app01-3407	55	12	.	.	PUNCT
app01-3407	55	13	.	.	PUNCT
app01-3407	56	1	.	.	PUNCT
app01-3407	56	2	,	,	PUNCT
app01-3407	56	3	n	n	CCONJ
app01-3407	56	4	}	}	PUNCT
app01-3407	56	5	.	.	PUNCT
app01-3407	57	1	we	we	PRON
app01-3407	57	2	define	define	VERB
app01-3407	57	3	a	a	DET
app01-3407	57	4	projection	projection	NOUN
app01-3407	57	5	from	from	ADP
app01-3407	57	6	se(2	se(2	NOUN
app01-3407	57	7	)	)	PUNCT
app01-3407	57	8	to	to	ADP
app01-3407	57	9	r2	r2	PROPN
app01-3407	57	10	,	,	PUNCT
app01-3407	57	11	i.e.	i.e.	X
app01-3407	57	12	,	,	PUNCT
app01-3407	57	13	p(q	p(q	PROPN
app01-3407	57	14	)	)	PUNCT
app01-3407	57	15	=	=	SYM
app01-3407	57	16	(	(	PUNCT
app01-3407	57	17	x	x	X
app01-3407	57	18	,	,	PUNCT
app01-3407	57	19	y	y	PROPN
app01-3407	57	20	)	)	PUNCT
app01-3407	57	21	,	,	PUNCT
app01-3407	57	22	and	and	CCONJ
app01-3407	57	23	let	let	VERB
app01-3407	57	24	qi	qi	PRON
app01-3407	57	25	be	be	AUX
app01-3407	57	26	an	an	DET
app01-3407	57	27	element	element	NOUN
app01-3407	57	28	of	of	ADP
app01-3407	57	29	se(2	se(2	NOUN
app01-3407	57	30	)	)	PUNCT
app01-3407	57	31	whose	whose	DET
app01-3407	57	32	projection	projection	NOUN
app01-3407	57	33	lies	lie	VERB
app01-3407	57	34	in	in	ADP
app01-3407	57	35	ri	ri	PROPN
app01-3407	57	36	.	.	PUNCT
app01-3407	58	1	the	the	DET
app01-3407	58	2	dtspn	dtspn	NOUN
app01-3407	58	3	is	be	AUX
app01-3407	58	4	path	path	NOUN
app01-3407	58	5	planning	planning	NOUN
app01-3407	58	6	problem	problem	NOUN
app01-3407	58	7	where	where	SCONJ
app01-3407	58	8	the	the	DET
app01-3407	58	9	dubins	dubin	NOUN
app01-3407	58	10	vehicle	vehicle	NOUN
app01-3407	58	11	has	have	VERB
app01-3407	58	12	to	to	PART
app01-3407	58	13	visits	visits	VERB
app01-3407	58	14	each	each	DET
app01-3407	58	15	region	region	NOUN
app01-3407	58	16	ri	ri	NOUN
app01-3407	58	17	while	while	SCONJ
app01-3407	58	18	satisfying	satisfy	VERB
app01-3407	58	19	the	the	DET
app01-3407	58	20	kinodynamic	kinodynamic	ADJ
app01-3407	58	21	constraints	constraint	NOUN
app01-3407	58	22	of	of	ADP
app01-3407	58	23	(	(	PUNCT
app01-3407	58	24	1	1	NUM
app01-3407	58	25	)	)	PUNCT
app01-3407	58	26	.	.	PUNCT
app01-3407	59	1	every	every	DET
app01-3407	59	2	optimal	optimal	ADJ
app01-3407	59	3	path	path	NOUN
app01-3407	59	4	has	have	VERB
app01-3407	59	5	to	to	PART
app01-3407	59	6	intersect	intersect	VERB
app01-3407	59	7	each	each	DET
app01-3407	59	8	goal	goal	NOUN
app01-3407	59	9	region	region	NOUN
app01-3407	59	10	ri	ri	NOUN
app01-3407	59	11	in	in	ADP
app01-3407	59	12	at	at	ADV
app01-3407	59	13	least	least	ADV
app01-3407	59	14	one	one	NUM
app01-3407	59	15	configuration	configuration	NOUN
app01-3407	59	16	qi	qi	NOUN
app01-3407	59	17	.	.	PUNCT
app01-3407	60	1	hence	hence	ADV
app01-3407	60	2	,	,	PUNCT
app01-3407	60	3	we	we	PRON
app01-3407	60	4	can	can	AUX
app01-3407	60	5	treat	treat	VERB
app01-3407	60	6	the	the	DET
app01-3407	60	7	dtspn	dtspn	NOUN
app01-3407	60	8	as	as	ADP
app01-3407	60	9	an	an	DET
app01-3407	60	10	optimization	optimization	NOUN
app01-3407	60	11	problem	problem	NOUN
app01-3407	60	12	over	over	ADP
app01-3407	60	13	all	all	DET
app01-3407	60	14	possible	possible	ADJ
app01-3407	60	15	permutations	permutation	NOUN
app01-3407	60	16	σ	σ	NOUN
app01-3407	60	17	and	and	CCONJ
app01-3407	60	18	configurations	configuration	NOUN
app01-3407	60	19	(	(	PUNCT
app01-3407	60	20	q1	q1	PROPN
app01-3407	60	21	,	,	PUNCT
app01-3407	60	22	.	.	PUNCT
app01-3407	60	23	.	.	PUNCT
app01-3407	60	24	.	.	PUNCT
app01-3407	61	1	,	,	PUNCT
app01-3407	61	2	qn	qn	INTJ
app01-3407	61	3	)	)	PUNCT
app01-3407	61	4	as	as	SCONJ
app01-3407	61	5	follows	follow	VERB
app01-3407	61	6	:	:	PUNCT
app01-3407	61	7	problem	problem	NOUN
app01-3407	61	8	3.1	3.1	NUM
app01-3407	61	9	(	(	PUNCT
app01-3407	61	10	dtspn	dtspn	NOUN
app01-3407	61	11	)	)	PUNCT
app01-3407	61	12	.	.	PUNCT
app01-3407	62	1	minimize	minimize	VERB
app01-3407	62	2	σ	σ	PROPN
app01-3407	62	3	,	,	PUNCT
app01-3407	62	4	q	q	NOUN
app01-3407	62	5	l(qσn	l(qσn	NOUN
app01-3407	62	6	,	,	PUNCT
app01-3407	62	7	qσ1	qσ1	PROPN
app01-3407	62	8	)	)	PUNCT
app01-3407	63	1	+	+	CCONJ
app01-3407	64	1	n−1∑	n−1∑	PROPN
app01-3407	64	2	i=1	i=1	PROPN
app01-3407	64	3	l(qσi	l(qσi	ADV
app01-3407	64	4	,	,	PUNCT
app01-3407	64	5	qσi+1	qσi+1	NOUN
app01-3407	64	6	)	)	PUNCT
app01-3407	64	7	subject	subject	NOUN
app01-3407	64	8	to	to	ADP
app01-3407	64	9	p(qi	p(qi	PROPN
app01-3407	64	10	)	)	PUNCT
app01-3407	64	11	∈	∈	PROPN
app01-3407	64	12	ri	ri	PROPN
app01-3407	64	13	,	,	PUNCT
app01-3407	64	14	i	i	NOUN
app01-3407	64	15	=	=	NOUN
app01-3407	64	16	1	1	NUM
app01-3407	64	17	,	,	PUNCT
app01-3407	64	18	.	.	PUNCT
app01-3407	64	19	.	.	PUNCT
app01-3407	65	1	.	.	PUNCT
app01-3407	66	1	,	,	PUNCT
app01-3407	66	2	n	n	PRON
app01-3407	66	3	where	where	SCONJ
app01-3407	66	4	l(qi	l(qi	PROPN
app01-3407	66	5	,	,	PUNCT
app01-3407	66	6	qj	qj	PROPN
app01-3407	66	7	)	)	PUNCT
app01-3407	66	8	is	be	AUX
app01-3407	66	9	the	the	DET
app01-3407	66	10	dubins	dubin	NOUN
app01-3407	66	11	distance	distance	NOUN
app01-3407	66	12	between	between	ADP
app01-3407	66	13	qi	qi	PROPN
app01-3407	66	14	and	and	CCONJ
app01-3407	66	15	qj	qj	PROPN
app01-3407	66	16	.	.	PUNCT
app01-3407	67	1	in	in	ADP
app01-3407	67	2	this	this	DET
app01-3407	67	3	paper	paper	NOUN
app01-3407	67	4	,	,	PUNCT
app01-3407	67	5	we	we	PRON
app01-3407	67	6	are	be	AUX
app01-3407	67	7	focused	focus	VERB
app01-3407	67	8	on	on	ADP
app01-3407	67	9	the	the	DET
app01-3407	67	10	problem	problem	NOUN
app01-3407	67	11	with	with	ADP
app01-3407	67	12	regions	region	NOUN
app01-3407	68	1	ri	ri	INTJ
app01-3407	68	2	that	that	PRON
app01-3407	68	3	are	be	AUX
app01-3407	68	4	mutually	mutually	ADV
app01-3407	68	5	exclusive	exclusive	ADJ
app01-3407	68	6	.	.	PUNCT
app01-3407	69	1	hence	hence	ADV
app01-3407	69	2	,	,	PUNCT
app01-3407	69	3	we	we	PRON
app01-3407	69	4	can	can	AUX
app01-3407	69	5	define	define	VERB
app01-3407	69	6	the	the	DET
app01-3407	69	7	minimum	minimum	ADJ
app01-3407	69	8	distance	distance	NOUN
app01-3407	69	9	constraint	constraint	NOUN
app01-3407	69	10	dk	dk	INTJ
app01-3407	69	11	such	such	ADJ
app01-3407	69	12	that	that	PRON
app01-3407	69	13	for	for	ADP
app01-3407	69	14	all	all	DET
app01-3407	69	15	i	i	PRON
app01-3407	69	16	,	,	PUNCT
app01-3407	69	17	j	j	PROPN
app01-3407	69	18	∈	∈	PROPN
app01-3407	69	19	{	{	PUNCT
app01-3407	69	20	1	1	NUM
app01-3407	69	21	,	,	PUNCT
app01-3407	69	22	2	2	NUM
app01-3407	69	23	,	,	PUNCT
app01-3407	69	24	.	.	PUNCT
app01-3407	69	25	.	.	PUNCT
app01-3407	70	1	.	.	PUNCT
app01-3407	71	1	,	,	PUNCT
app01-3407	72	1	n	n	CCONJ
app01-3407	72	2	}	}	PUNCT
app01-3407	72	3	,	,	PUNCT
app01-3407	72	4	i	i	PROPN
app01-3407	72	5	6=	6=	NUM
app01-3407	72	6	j,∀pi	j,∀pi	PROPN
app01-3407	72	7	∈	∈	PROPN
app01-3407	72	8	ri,∀pj	ri,∀pj	PROPN
app01-3407	72	9	∈	∈	PROPN
app01-3407	72	10	rj	rj	PROPN
app01-3407	72	11	:	:	PUNCT
app01-3407	72	12	||pi	||pi	PROPN
app01-3407	72	13	−	−	PROPN
app01-3407	73	1	pj	pj	PROPN
app01-3407	73	2	||	||	PROPN
app01-3407	73	3	>	>	X
app01-3407	73	4	kρ	kρ	PROPN
app01-3407	73	5	.	.	PUNCT
app01-3407	74	1	(	(	PUNCT
app01-3407	74	2	2	2	X
app01-3407	74	3	)	)	PUNCT
app01-3407	74	4	in	in	ADP
app01-3407	74	5	particular	particular	ADJ
app01-3407	74	6	,	,	PUNCT
app01-3407	74	7	we	we	PRON
app01-3407	74	8	are	be	AUX
app01-3407	74	9	focused	focus	VERB
app01-3407	74	10	on	on	ADP
app01-3407	74	11	the	the	DET
app01-3407	74	12	problem	problem	NOUN
app01-3407	74	13	for	for	ADP
app01-3407	74	14	which	which	PRON
app01-3407	74	15	the	the	DET
app01-3407	74	16	minimum	minimum	ADJ
app01-3407	74	17	distance	distance	NOUN
app01-3407	74	18	dk	dk	NOUN
app01-3407	74	19	is	be	AUX
app01-3407	74	20	equal	equal	ADJ
app01-3407	74	21	to	to	ADP
app01-3407	74	22	4ρ	4ρ	NUM
app01-3407	74	23	,	,	PUNCT
app01-3407	74	24	which	which	PRON
app01-3407	74	25	is	be	AUX
app01-3407	74	26	denoted	denote	VERB
app01-3407	74	27	as	as	ADP
app01-3407	74	28	the	the	DET
app01-3407	74	29	d4	d4	PROPN
app01-3407	74	30	constraint	constraint	NOUN
app01-3407	74	31	in	in	ADP
app01-3407	74	32	the	the	DET
app01-3407	74	33	rest	rest	NOUN
app01-3407	74	34	of	of	ADP
app01-3407	74	35	this	this	DET
app01-3407	74	36	paper	paper	NOUN
app01-3407	74	37	.	.	PUNCT
app01-3407	75	1	problem	problem	NOUN
app01-3407	75	2	instances	instance	NOUN
app01-3407	75	3	of	of	ADP
app01-3407	75	4	the	the	DET
app01-3407	75	5	dtspn	dtspn	NOUN
app01-3407	75	6	with	with	ADP
app01-3407	75	7	the	the	DET
app01-3407	75	8	d4	d4	PROPN
app01-3407	75	9	constraint	constraint	NOUN
app01-3407	75	10	have	have	VERB
app01-3407	75	11	special	special	ADJ
app01-3407	75	12	properties	property	NOUN
app01-3407	75	13	that	that	PRON
app01-3407	75	14	are	be	AUX
app01-3407	75	15	shown	show	VERB
app01-3407	75	16	and	and	CCONJ
app01-3407	75	17	used	use	VERB
app01-3407	75	18	in	in	ADP
app01-3407	75	19	[	[	X
app01-3407	75	20	7	7	NUM
app01-3407	75	21	]	]	PUNCT
app01-3407	75	22	to	to	PART
app01-3407	75	23	find	find	VERB
app01-3407	75	24	high	high	ADJ
app01-3407	75	25	quality	quality	NOUN
app01-3407	75	26	solutions	solution	NOUN
app01-3407	75	27	.	.	PUNCT
app01-3407	76	1	in	in	ADP
app01-3407	76	2	this	this	DET
app01-3407	76	3	paper	paper	NOUN
app01-3407	76	4	,	,	PUNCT
app01-3407	76	5	we	we	PRON
app01-3407	76	6	also	also	ADV
app01-3407	76	7	consider	consider	VERB
app01-3407	76	8	d4	d4	PROPN
app01-3407	76	9	problems	problem	NOUN
app01-3407	76	10	and	and	CCONJ
app01-3407	76	11	compare	compare	VERB
app01-3407	76	12	the	the	DET
app01-3407	76	13	existing	exist	VERB
app01-3407	76	14	solutions	solution	NOUN
app01-3407	76	15	with	with	ADP
app01-3407	76	16	the	the	DET
app01-3407	76	17	sampling	sampling	NOUN
app01-3407	76	18	based	base	VERB
app01-3407	76	19	methods	method	NOUN
app01-3407	76	20	.	.	PUNCT
app01-3407	77	1	an	an	DET
app01-3407	77	2	overview	overview	NOUN
app01-3407	77	3	of	of	ADP
app01-3407	77	4	the	the	DET
app01-3407	77	5	existing	exist	VERB
app01-3407	77	6	methods	method	NOUN
app01-3407	77	7	is	be	AUX
app01-3407	77	8	provided	provide	VERB
app01-3407	77	9	in	in	ADP
app01-3407	77	10	the	the	DET
app01-3407	77	11	next	next	ADJ
app01-3407	77	12	section	section	NOUN
app01-3407	77	13	.	.	PUNCT
app01-3407	78	1	4	4	X
app01-3407	78	2	.	.	X
app01-3407	78	3	existing	exist	VERB
app01-3407	78	4	methods	method	NOUN
app01-3407	78	5	in	in	ADP
app01-3407	78	6	literature	literature	NOUN
app01-3407	78	7	,	,	PUNCT
app01-3407	78	8	we	we	PRON
app01-3407	78	9	can	can	AUX
app01-3407	78	10	find	find	VERB
app01-3407	78	11	several	several	ADJ
app01-3407	78	12	different	different	ADJ
app01-3407	78	13	approaches	approach	NOUN
app01-3407	78	14	to	to	PART
app01-3407	78	15	address	address	VERB
app01-3407	78	16	the	the	DET
app01-3407	78	17	dtspn	dtspn	NOUN
app01-3407	78	18	.	.	PUNCT
app01-3407	79	1	the	the	DET
app01-3407	79	2	existing	exist	VERB
app01-3407	79	3	approaches	approach	NOUN
app01-3407	79	4	can	can	AUX
app01-3407	79	5	be	be	AUX
app01-3407	79	6	divided	divide	VERB
app01-3407	79	7	into	into	ADP
app01-3407	79	8	three	three	NUM
app01-3407	79	9	main	main	ADJ
app01-3407	79	10	classes	class	NOUN
app01-3407	79	11	:	:	PUNCT
app01-3407	79	12	1	1	X
app01-3407	79	13	)	)	PUNCT
app01-3407	79	14	the	the	DET
app01-3407	79	15	decoupled	decouple	VERB
app01-3407	79	16	methods	method	NOUN
app01-3407	79	17	;	;	PUNCT
app01-3407	79	18	2	2	X
app01-3407	79	19	)	)	PUNCT
app01-3407	79	20	sampling	sampling	NOUN
app01-3407	79	21	-	-	PUNCT
app01-3407	79	22	based	base	VERB
app01-3407	79	23	methods	method	NOUN
app01-3407	79	24	;	;	PUNCT
app01-3407	79	25	3	3	X
app01-3407	79	26	)	)	PUNCT
app01-3407	79	27	and	and	CCONJ
app01-3407	79	28	evolutionary	evolutionary	ADJ
app01-3407	79	29	methods	method	NOUN
app01-3407	79	30	.	.	PUNCT
app01-3407	80	1	representatives	representative	NOUN
app01-3407	80	2	of	of	ADP
app01-3407	80	3	each	each	DET
app01-3407	80	4	particular	particular	ADJ
app01-3407	80	5	class	class	NOUN
app01-3407	80	6	are	be	AUX
app01-3407	80	7	briefly	briefly	ADV
app01-3407	80	8	described	describe	VERB
app01-3407	80	9	in	in	ADP
app01-3407	80	10	the	the	DET
app01-3407	80	11	following	follow	VERB
app01-3407	80	12	subsections	subsection	NOUN
app01-3407	80	13	.	.	PUNCT
app01-3407	81	1	4.1	4.1	NUM
app01-3407	81	2	.	.	PUNCT
app01-3407	81	3	decoupled	decouple	VERB
app01-3407	81	4	methods	method	NOUN
app01-3407	81	5	a	a	DET
app01-3407	81	6	decoupled	decouple	VERB
app01-3407	81	7	method	method	NOUN
app01-3407	81	8	addresses	address	NOUN
app01-3407	81	9	the	the	DET
app01-3407	81	10	dtspn	dtspn	NOUN
app01-3407	81	11	by	by	ADP
app01-3407	81	12	decomposition	decomposition	NOUN
app01-3407	81	13	of	of	ADP
app01-3407	81	14	the	the	DET
app01-3407	81	15	problem	problem	NOUN
app01-3407	81	16	into	into	ADP
app01-3407	81	17	two	two	NUM
app01-3407	81	18	sub	sub	NOUN
app01-3407	81	19	-	-	NOUN
app01-3407	81	20	problems	problem	NOUN
app01-3407	81	21	.	.	PUNCT
app01-3407	82	1	first	first	ADV
app01-3407	82	2	,	,	PUNCT
app01-3407	82	3	the	the	DET
app01-3407	82	4	permutation	permutation	NOUN
app01-3407	82	5	of	of	ADP
app01-3407	82	6	the	the	DET
app01-3407	82	7	visits	visit	NOUN
app01-3407	82	8	to	to	ADP
app01-3407	82	9	the	the	DET
app01-3407	82	10	requested	request	VERB
app01-3407	82	11	areas	area	NOUN
app01-3407	82	12	(	(	PUNCT
app01-3407	82	13	locations	location	NOUN
app01-3407	82	14	)	)	PUNCT
app01-3407	82	15	is	be	AUX
app01-3407	82	16	found	find	VERB
app01-3407	82	17	independently	independently	ADV
app01-3407	82	18	on	on	ADP
app01-3407	82	19	the	the	DET
app01-3407	82	20	dubins	dubin	NOUN
app01-3407	82	21	path	path	NOUN
app01-3407	82	22	planning	planning	NOUN
app01-3407	82	23	.	.	PUNCT
app01-3407	83	1	the	the	DET
app01-3407	83	2	second	second	ADJ
app01-3407	83	3	sub	sub	NOUN
app01-3407	83	4	-	-	NOUN
app01-3407	83	5	problem	problem	NOUN
app01-3407	83	6	is	be	AUX
app01-3407	83	7	to	to	PART
app01-3407	83	8	find	find	VERB
app01-3407	83	9	a	a	DET
app01-3407	83	10	particular	particular	ADJ
app01-3407	83	11	visiting	visit	VERB
app01-3407	83	12	configuration	configuration	NOUN
app01-3407	83	13	of	of	ADP
app01-3407	83	14	each	each	DET
app01-3407	83	15	location	location	NOUN
app01-3407	83	16	.	.	PUNCT
app01-3407	84	1	in	in	ADP
app01-3407	84	2	this	this	DET
app01-3407	84	3	way	way	NOUN
app01-3407	84	4	,	,	PUNCT
app01-3407	84	5	the	the	DET
app01-3407	84	6	original	original	ADJ
app01-3407	84	7	dtspn	dtspn	NOUN
app01-3407	84	8	is	be	AUX
app01-3407	84	9	transformed	transform	VERB
app01-3407	84	10	to	to	ADP
app01-3407	84	11	the	the	DET
app01-3407	84	12	dtsp	dtsp	NOUN
app01-3407	84	13	with	with	ADP
app01-3407	84	14	point	point	NOUN
app01-3407	84	15	locations	location	NOUN
app01-3407	84	16	to	to	PART
app01-3407	84	17	visit	visit	VERB
app01-3407	84	18	.	.	PUNCT
app01-3407	85	1	in	in	ADP
app01-3407	85	2	[	[	X
app01-3407	85	3	10	10	NUM
app01-3407	85	4	]	]	PUNCT
app01-3407	85	5	,	,	PUNCT
app01-3407	85	6	the	the	DET
app01-3407	85	7	authors	author	NOUN
app01-3407	85	8	address	address	VERB
app01-3407	85	9	the	the	DET
app01-3407	85	10	dtspn	dtspn	NOUN
app01-3407	85	11	by	by	ADP
app01-3407	85	12	solving	solve	VERB
app01-3407	85	13	the	the	DET
app01-3407	85	14	euclidean	euclidean	ADJ
app01-3407	85	15	tsp	tsp	NOUN
app01-3407	85	16	where	where	SCONJ
app01-3407	85	17	cities	city	NOUN
app01-3407	85	18	represents	represent	VERB
app01-3407	85	19	centers	center	NOUN
app01-3407	85	20	of	of	ADP
app01-3407	85	21	the	the	DET
app01-3407	85	22	regions	region	NOUN
app01-3407	85	23	to	to	PART
app01-3407	85	24	be	be	AUX
app01-3407	85	25	visited	visit	VERB
app01-3407	85	26	.	.	PUNCT
app01-3407	86	1	once	once	SCONJ
app01-3407	86	2	such	such	DET
app01-3407	86	3	a	a	DET
app01-3407	86	4	permutation	permutation	NOUN
app01-3407	86	5	is	be	AUX
app01-3407	86	6	found	find	VERB
app01-3407	86	7	,	,	PUNCT
app01-3407	86	8	the	the	DET
app01-3407	86	9	final	final	ADJ
app01-3407	86	10	solution	solution	NOUN
app01-3407	86	11	is	be	AUX
app01-3407	86	12	constructed	construct	VERB
app01-3407	86	13	using	use	VERB
app01-3407	86	14	the	the	DET
app01-3407	86	15	aa	aa	NOUN
app01-3407	87	1	[	[	X
app01-3407	87	2	2	2	NUM
app01-3407	87	3	]	]	PUNCT
app01-3407	87	4	.	.	PUNCT
app01-3407	88	1	58	58	NUM
app01-3407	88	2	vol	vol	NOUN
app01-3407	88	3	.	.	PUNCT
app01-3407	89	1	2/2015	2/2015	NUM
app01-3407	89	2	the	the	DET
app01-3407	89	3	dubins	dubin	NOUN
app01-3407	89	4	traveling	travel	VERB
app01-3407	89	5	salesman	salesman	ADJ
app01-3407	89	6	problem	problem	NOUN
app01-3407	89	7	with	with	ADP
app01-3407	89	8	neighborhoods	neighborhood	NOUN
app01-3407	89	9	authors	author	NOUN
app01-3407	89	10	of	of	ADP
app01-3407	89	11	[	[	X
app01-3407	89	12	7	7	NUM
app01-3407	89	13	]	]	PUNCT
app01-3407	89	14	also	also	ADV
app01-3407	89	15	consider	consider	VERB
app01-3407	89	16	a	a	DET
app01-3407	89	17	solution	solution	NOUN
app01-3407	89	18	the	the	DET
app01-3407	89	19	etsp	etsp	NOUN
app01-3407	89	20	to	to	PART
app01-3407	89	21	estimate	estimate	VERB
app01-3407	89	22	the	the	DET
app01-3407	89	23	permutation	permutation	NOUN
app01-3407	89	24	of	of	ADP
app01-3407	89	25	the	the	DET
app01-3407	89	26	visits	visit	NOUN
app01-3407	89	27	.	.	PUNCT
app01-3407	90	1	but	but	CCONJ
app01-3407	90	2	instead	instead	ADV
app01-3407	90	3	of	of	ADP
app01-3407	90	4	simple	simple	ADJ
app01-3407	90	5	aa	aa	NOUN
app01-3407	90	6	,	,	PUNCT
app01-3407	90	7	the	the	DET
app01-3407	90	8	proposed	propose	VERB
app01-3407	90	9	local	local	ADJ
app01-3407	90	10	iterative	iterative	NOUN
app01-3407	90	11	optimization	optimization	NOUN
app01-3407	90	12	(	(	PUNCT
app01-3407	90	13	lio	lio	PROPN
app01-3407	90	14	)	)	PUNCT
app01-3407	90	15	is	be	AUX
app01-3407	90	16	used	use	VERB
app01-3407	90	17	to	to	PART
app01-3407	90	18	find	find	VERB
app01-3407	90	19	a	a	DET
app01-3407	90	20	significantly	significantly	ADV
app01-3407	90	21	better	well	ADJ
app01-3407	90	22	solution	solution	NOUN
app01-3407	90	23	.	.	PUNCT
app01-3407	91	1	4.2	4.2	NUM
app01-3407	91	2	.	.	PUNCT
app01-3407	91	3	sampling	sample	VERB
app01-3407	91	4	-	-	PUNCT
app01-3407	91	5	based	base	VERB
app01-3407	91	6	methods	method	NOUN
app01-3407	91	7	sampling	sample	VERB
app01-3407	91	8	-	-	PUNCT
app01-3407	91	9	based	base	VERB
app01-3407	91	10	methods	method	NOUN
app01-3407	91	11	[	[	X
app01-3407	91	12	4	4	NUM
app01-3407	91	13	,	,	PUNCT
app01-3407	91	14	11	11	NUM
app01-3407	91	15	]	]	PUNCT
app01-3407	91	16	are	be	AUX
app01-3407	91	17	another	another	DET
app01-3407	91	18	class	class	NOUN
app01-3407	91	19	of	of	ADP
app01-3407	91	20	existing	exist	VERB
app01-3407	91	21	approaches	approach	NOUN
app01-3407	91	22	to	to	PART
app01-3407	91	23	address	address	VERB
app01-3407	91	24	the	the	DET
app01-3407	91	25	dtspn	dtspn	NOUN
app01-3407	91	26	.	.	PUNCT
app01-3407	92	1	similarly	similarly	ADV
app01-3407	92	2	to	to	ADP
app01-3407	92	3	the	the	DET
app01-3407	92	4	decoupled	decouple	VERB
app01-3407	92	5	methods	method	NOUN
app01-3407	92	6	,	,	PUNCT
app01-3407	92	7	also	also	ADV
app01-3407	92	8	sampling	sample	VERB
app01-3407	92	9	-	-	PUNCT
app01-3407	92	10	based	base	VERB
app01-3407	92	11	methods	method	NOUN
app01-3407	92	12	are	be	AUX
app01-3407	92	13	based	base	VERB
app01-3407	92	14	on	on	ADP
app01-3407	92	15	existing	exist	VERB
app01-3407	92	16	approaches	approach	NOUN
app01-3407	92	17	for	for	ADP
app01-3407	92	18	the	the	DET
app01-3407	92	19	tsp	tsp	NOUN
app01-3407	92	20	variants	variant	NOUN
app01-3407	92	21	;	;	PUNCT
app01-3407	92	22	however	however	ADV
app01-3407	92	23	,	,	PUNCT
app01-3407	92	24	in	in	ADP
app01-3407	92	25	this	this	DET
app01-3407	92	26	case	case	NOUN
app01-3407	92	27	a	a	DET
app01-3407	92	28	single	single	ADJ
app01-3407	92	29	representative	representative	NOUN
app01-3407	92	30	of	of	ADP
app01-3407	92	31	each	each	DET
app01-3407	92	32	region	region	NOUN
app01-3407	92	33	is	be	AUX
app01-3407	92	34	not	not	PART
app01-3407	92	35	considered	consider	VERB
app01-3407	92	36	as	as	ADP
app01-3407	92	37	in	in	ADP
app01-3407	92	38	[	[	X
app01-3407	92	39	10	10	NUM
app01-3407	92	40	]	]	PUNCT
app01-3407	92	41	but	but	CCONJ
app01-3407	92	42	each	each	DET
app01-3407	92	43	region	region	NOUN
app01-3407	92	44	is	be	AUX
app01-3407	92	45	rather	rather	ADV
app01-3407	92	46	sampled	sample	VERB
app01-3407	92	47	by	by	ADP
app01-3407	92	48	a	a	DET
app01-3407	92	49	particular	particular	ADJ
app01-3407	92	50	number	number	NOUN
app01-3407	92	51	of	of	ADP
app01-3407	92	52	random	random	ADJ
app01-3407	92	53	samples	sample	NOUN
app01-3407	92	54	(	(	PUNCT
app01-3407	92	55	including	include	VERB
app01-3407	92	56	the	the	DET
app01-3407	92	57	orientation	orientation	NOUN
app01-3407	92	58	of	of	ADP
app01-3407	92	59	the	the	DET
app01-3407	92	60	vehicle	vehicle	NOUN
app01-3407	92	61	)	)	PUNCT
app01-3407	92	62	.	.	PUNCT
app01-3407	93	1	the	the	DET
app01-3407	93	2	samples	sample	NOUN
app01-3407	93	3	can	can	AUX
app01-3407	93	4	be	be	AUX
app01-3407	93	5	determined	determine	VERB
app01-3407	93	6	in	in	ADP
app01-3407	93	7	the	the	DET
app01-3407	93	8	whole	whole	ADJ
app01-3407	93	9	region	region	NOUN
app01-3407	93	10	or	or	CCONJ
app01-3407	93	11	only	only	ADV
app01-3407	93	12	on	on	ADP
app01-3407	93	13	its	its	PRON
app01-3407	93	14	boundary	boundary	NOUN
app01-3407	93	15	.	.	PUNCT
app01-3407	94	1	then	then	ADV
app01-3407	94	2	,	,	PUNCT
app01-3407	94	3	the	the	DET
app01-3407	94	4	samples	sample	NOUN
app01-3407	94	5	of	of	ADP
app01-3407	94	6	different	different	ADJ
app01-3407	94	7	regions	region	NOUN
app01-3407	94	8	are	be	AUX
app01-3407	94	9	connected	connect	VERB
app01-3407	94	10	by	by	ADP
app01-3407	94	11	the	the	DET
app01-3407	94	12	dubins	dubin	NOUN
app01-3407	94	13	maneuver	maneuver	NOUN
app01-3407	94	14	to	to	PART
app01-3407	94	15	form	form	VERB
app01-3407	94	16	a	a	DET
app01-3407	94	17	roadmap	roadmap	NOUN
app01-3407	94	18	.	.	PUNCT
app01-3407	95	1	such	such	DET
app01-3407	95	2	a	a	DET
app01-3407	95	3	roadmap	roadmap	NOUN
app01-3407	95	4	is	be	AUX
app01-3407	95	5	considered	consider	VERB
app01-3407	95	6	as	as	ADP
app01-3407	95	7	an	an	DET
app01-3407	95	8	instance	instance	NOUN
app01-3407	95	9	of	of	ADP
app01-3407	95	10	the	the	DET
app01-3407	95	11	generalized	generalized	ADJ
app01-3407	95	12	asymmetric	asymmetric	ADJ
app01-3407	95	13	tsp	tsp	NOUN
app01-3407	95	14	(	(	PUNCT
app01-3407	95	15	gatsp	gatsp	NOUN
app01-3407	95	16	)	)	PUNCT
app01-3407	95	17	.	.	PUNCT
app01-3407	96	1	if	if	SCONJ
app01-3407	96	2	the	the	DET
app01-3407	96	3	gatsp	gatsp	NOUN
app01-3407	96	4	is	be	AUX
app01-3407	96	5	solved	solve	VERB
app01-3407	96	6	to	to	ADP
app01-3407	96	7	the	the	DET
app01-3407	96	8	optimum	optimum	NOUN
app01-3407	96	9	,	,	PUNCT
app01-3407	96	10	the	the	DET
app01-3407	96	11	sampling	sample	VERB
app01-3407	96	12	-	-	PUNCT
app01-3407	96	13	based	base	VERB
app01-3407	96	14	methods	method	NOUN
app01-3407	96	15	are	be	AUX
app01-3407	96	16	resolution	resolution	NOUN
app01-3407	96	17	complete	complete	ADJ
app01-3407	96	18	[	[	X
app01-3407	96	19	11	11	NUM
app01-3407	96	20	]	]	PUNCT
app01-3407	96	21	.	.	PUNCT
app01-3407	97	1	since	since	SCONJ
app01-3407	97	2	the	the	DET
app01-3407	97	3	optimal	optimal	ADJ
app01-3407	97	4	solution	solution	NOUN
app01-3407	97	5	of	of	ADP
app01-3407	97	6	the	the	DET
app01-3407	97	7	gatsp	gatsp	NOUN
app01-3407	97	8	can	can	AUX
app01-3407	97	9	be	be	AUX
app01-3407	97	10	computationally	computationally	ADV
app01-3407	97	11	very	very	ADV
app01-3407	97	12	demanding	demanding	ADJ
app01-3407	97	13	,	,	PUNCT
app01-3407	97	14	existing	exist	VERB
app01-3407	97	15	heuristic	heuristic	NOUN
app01-3407	97	16	for	for	ADP
app01-3407	97	17	the	the	DET
app01-3407	97	18	tsp	tsp	NOUN
app01-3407	97	19	can	can	AUX
app01-3407	97	20	be	be	AUX
app01-3407	97	21	a	a	DET
app01-3407	97	22	more	more	ADV
app01-3407	97	23	suitable	suitable	ADJ
app01-3407	97	24	option	option	NOUN
app01-3407	97	25	.	.	PUNCT
app01-3407	98	1	the	the	DET
app01-3407	98	2	generated	generate	VERB
app01-3407	98	3	gatsp	gatsp	NOUN
app01-3407	98	4	can	can	AUX
app01-3407	98	5	be	be	AUX
app01-3407	98	6	solved	solve	VERB
app01-3407	98	7	by	by	ADP
app01-3407	98	8	its	its	PRON
app01-3407	98	9	transformation	transformation	NOUN
app01-3407	98	10	to	to	ADP
app01-3407	98	11	the	the	DET
app01-3407	98	12	asymmetric	asymmetric	ADJ
app01-3407	98	13	tsp	tsp	NOUN
app01-3407	98	14	(	(	PUNCT
app01-3407	98	15	atsp	atsp	NOUN
app01-3407	98	16	)	)	PUNCT
app01-3407	98	17	using	use	VERB
app01-3407	98	18	the	the	DET
app01-3407	98	19	noon	noon	NOUN
app01-3407	98	20	-	-	PUNCT
app01-3407	98	21	bean	bean	NOUN
app01-3407	98	22	transformation	transformation	NOUN
app01-3407	99	1	[	[	X
app01-3407	99	2	12	12	NUM
app01-3407	99	3	]	]	PUNCT
app01-3407	99	4	.	.	PUNCT
app01-3407	100	1	then	then	ADV
app01-3407	100	2	,	,	PUNCT
app01-3407	100	3	the	the	DET
app01-3407	100	4	transformed	transform	VERB
app01-3407	100	5	atsp	atsp	NOUN
app01-3407	100	6	can	can	AUX
app01-3407	100	7	be	be	AUX
app01-3407	100	8	solved	solve	VERB
app01-3407	100	9	by	by	ADP
app01-3407	100	10	existing	exist	VERB
app01-3407	100	11	algorithms	algorithm	NOUN
app01-3407	100	12	,	,	PUNCT
app01-3407	100	13	e.g.	e.g.	ADV
app01-3407	100	14	,	,	PUNCT
app01-3407	100	15	the	the	DET
app01-3407	100	16	linkernighan	linkernighan	PROPN
app01-3407	100	17	heuristic	heuristic	ADJ
app01-3407	100	18	algorithm	algorithm	NOUN
app01-3407	101	1	[	[	X
app01-3407	101	2	13	13	NUM
app01-3407	101	3	]	]	PUNCT
app01-3407	101	4	.	.	PUNCT
app01-3407	102	1	4.3	4.3	NUM
app01-3407	102	2	.	.	PUNCT
app01-3407	102	3	evolutionary	evolutionary	ADJ
app01-3407	102	4	methods	method	NOUN
app01-3407	102	5	the	the	DET
app01-3407	102	6	last	last	ADJ
app01-3407	102	7	class	class	NOUN
app01-3407	102	8	of	of	ADP
app01-3407	102	9	existing	exist	VERB
app01-3407	102	10	approaches	approach	NOUN
app01-3407	102	11	are	be	AUX
app01-3407	102	12	genetic	genetic	ADJ
app01-3407	102	13	programming	programming	NOUN
app01-3407	102	14	based	base	VERB
app01-3407	102	15	algorithms	algorithm	NOUN
app01-3407	102	16	.	.	PUNCT
app01-3407	103	1	the	the	DET
app01-3407	103	2	general	general	ADJ
app01-3407	103	3	idea	idea	NOUN
app01-3407	103	4	of	of	ADP
app01-3407	103	5	these	these	DET
app01-3407	103	6	methods	method	NOUN
app01-3407	103	7	is	be	AUX
app01-3407	103	8	to	to	PART
app01-3407	103	9	encode	encode	VERB
app01-3407	103	10	a	a	DET
app01-3407	103	11	solution	solution	NOUN
app01-3407	103	12	by	by	ADP
app01-3407	103	13	a	a	DET
app01-3407	103	14	chromosome	chromosome	NOUN
app01-3407	103	15	in	in	ADP
app01-3407	103	16	which	which	PRON
app01-3407	103	17	the	the	DET
app01-3407	103	18	goal	goal	NOUN
app01-3407	103	19	permutation	permutation	NOUN
app01-3407	103	20	and	and	CCONJ
app01-3407	103	21	the	the	DET
app01-3407	103	22	configurations	configuration	NOUN
app01-3407	103	23	of	of	ADP
app01-3407	103	24	the	the	DET
app01-3407	103	25	visits	visit	NOUN
app01-3407	103	26	are	be	AUX
app01-3407	103	27	stored	store	VERB
app01-3407	103	28	.	.	PUNCT
app01-3407	104	1	similarly	similarly	ADV
app01-3407	104	2	to	to	ADP
app01-3407	104	3	another	another	DET
app01-3407	104	4	approaches	approach	NOUN
app01-3407	104	5	,	,	PUNCT
app01-3407	104	6	only	only	ADV
app01-3407	104	7	configurations	configuration	NOUN
app01-3407	104	8	on	on	ADP
app01-3407	104	9	the	the	DET
app01-3407	104	10	boundary	boundary	NOUN
app01-3407	104	11	of	of	ADP
app01-3407	104	12	the	the	DET
app01-3407	104	13	regions	region	NOUN
app01-3407	104	14	are	be	AUX
app01-3407	104	15	considered	consider	VERB
app01-3407	104	16	in	in	ADP
app01-3407	104	17	these	these	DET
app01-3407	104	18	evolutionary	evolutionary	ADJ
app01-3407	104	19	methods	method	NOUN
app01-3407	104	20	.	.	PUNCT
app01-3407	105	1	probably	probably	ADV
app01-3407	105	2	the	the	DET
app01-3407	105	3	first	first	ADJ
app01-3407	105	4	evolutionary	evolutionary	ADJ
app01-3407	105	5	approach	approach	NOUN
app01-3407	105	6	to	to	ADP
app01-3407	105	7	the	the	DET
app01-3407	105	8	dtspn	dtspn	NOUN
app01-3407	105	9	was	be	AUX
app01-3407	105	10	published	publish	VERB
app01-3407	105	11	in	in	ADP
app01-3407	105	12	[	[	X
app01-3407	105	13	14	14	NUM
app01-3407	105	14	]	]	PUNCT
app01-3407	105	15	.	.	PUNCT
app01-3407	106	1	the	the	DET
app01-3407	106	2	authors	author	NOUN
app01-3407	106	3	adapted	adapt	VERB
app01-3407	106	4	the	the	DET
app01-3407	106	5	ordered	order	VERB
app01-3407	106	6	crossover	crossover	NOUN
app01-3407	106	7	operator	operator	NOUN
app01-3407	106	8	(	(	PUNCT
app01-3407	106	9	ox	ox	NOUN
app01-3407	106	10	)	)	PUNCT
app01-3407	106	11	and	and	CCONJ
app01-3407	106	12	added	add	VERB
app01-3407	106	13	two	two	NUM
app01-3407	106	14	new	new	ADJ
app01-3407	106	15	mutation	mutation	NOUN
app01-3407	106	16	operators	operator	NOUN
app01-3407	106	17	(	(	PUNCT
app01-3407	106	18	orientation	orientation	NOUN
app01-3407	106	19	shift	shift	NOUN
app01-3407	106	20	and	and	CCONJ
app01-3407	106	21	position	position	NOUN
app01-3407	106	22	shift	shift	NOUN
app01-3407	106	23	)	)	PUNCT
app01-3407	106	24	to	to	PART
app01-3407	106	25	optimize	optimize	VERB
app01-3407	106	26	visiting	visit	VERB
app01-3407	106	27	configurations	configuration	NOUN
app01-3407	106	28	.	.	PUNCT
app01-3407	107	1	relatively	relatively	ADV
app01-3407	107	2	recently	recently	ADV
app01-3407	107	3	,	,	PUNCT
app01-3407	107	4	the	the	DET
app01-3407	107	5	genetic	genetic	ADJ
app01-3407	107	6	approach	approach	NOUN
app01-3407	107	7	from	from	ADP
app01-3407	107	8	[	[	X
app01-3407	107	9	14	14	NUM
app01-3407	107	10	]	]	PUNCT
app01-3407	107	11	was	be	AUX
app01-3407	107	12	modified	modify	VERB
app01-3407	107	13	into	into	ADP
app01-3407	107	14	a	a	DET
app01-3407	107	15	memetic	memetic	ADJ
app01-3407	107	16	algorithm	algorithm	NOUN
app01-3407	107	17	in	in	ADP
app01-3407	107	18	[	[	X
app01-3407	107	19	15	15	NUM
app01-3407	107	20	]	]	PUNCT
app01-3407	107	21	.	.	PUNCT
app01-3407	108	1	the	the	DET
app01-3407	108	2	authors	author	NOUN
app01-3407	108	3	used	use	VERB
app01-3407	108	4	similar	similar	ADJ
app01-3407	108	5	operators	operator	NOUN
app01-3407	108	6	and	and	CCONJ
app01-3407	108	7	added	add	VERB
app01-3407	108	8	a	a	DET
app01-3407	108	9	local	local	ADJ
app01-3407	108	10	improvement	improvement	NOUN
app01-3407	108	11	of	of	ADP
app01-3407	108	12	individuals	individual	NOUN
app01-3407	108	13	in	in	ADP
app01-3407	108	14	the	the	DET
app01-3407	108	15	population	population	NOUN
app01-3407	108	16	by	by	ADP
app01-3407	108	17	optimizing	optimize	VERB
app01-3407	108	18	the	the	DET
app01-3407	108	19	position	position	NOUN
app01-3407	108	20	of	of	ADP
app01-3407	108	21	visiting	visit	VERB
app01-3407	108	22	points	point	NOUN
app01-3407	108	23	.	.	PUNCT
app01-3407	109	1	the	the	DET
app01-3407	109	2	authors	author	NOUN
app01-3407	109	3	used	use	VERB
app01-3407	109	4	aa	aa	NOUN
app01-3407	109	5	as	as	ADP
app01-3407	109	6	heuristic	heuristic	ADJ
app01-3407	109	7	algorithm	algorithm	NOUN
app01-3407	109	8	to	to	PART
app01-3407	109	9	speed	speed	VERB
app01-3407	109	10	up	up	ADP
app01-3407	109	11	the	the	DET
app01-3407	109	12	algorithm	algorithm	NOUN
app01-3407	109	13	.	.	PUNCT
app01-3407	110	1	5	5	X
app01-3407	110	2	.	.	X
app01-3407	110	3	modification	modification	NOUN
app01-3407	110	4	of	of	ADP
app01-3407	110	5	existing	exist	VERB
app01-3407	110	6	sampling	sampling	NOUN
app01-3407	110	7	-	-	PUNCT
app01-3407	110	8	based	base	VERB
app01-3407	110	9	algorithm	algorithm	NOUN
app01-3407	110	10	the	the	DET
app01-3407	110	11	main	main	ADJ
app01-3407	110	12	issue	issue	NOUN
app01-3407	110	13	of	of	ADP
app01-3407	110	14	sampling	sample	VERB
app01-3407	110	15	based	base	VERB
app01-3407	110	16	algorithms	algorithm	NOUN
app01-3407	110	17	for	for	ADP
app01-3407	110	18	the	the	DET
app01-3407	110	19	dtspn	dtspn	NOUN
app01-3407	110	20	is	be	AUX
app01-3407	110	21	that	that	SCONJ
app01-3407	110	22	they	they	PRON
app01-3407	110	23	require	require	VERB
app01-3407	110	24	a	a	DET
app01-3407	110	25	fixed	fix	VERB
app01-3407	110	26	number	number	NOUN
app01-3407	110	27	of	of	ADP
app01-3407	110	28	samples	sample	NOUN
app01-3407	110	29	,	,	PUNCT
app01-3407	110	30	which	which	PRON
app01-3407	110	31	need	need	VERB
app01-3407	110	32	to	to	PART
app01-3407	110	33	be	be	AUX
app01-3407	110	34	established	establish	VERB
app01-3407	110	35	in	in	ADP
app01-3407	110	36	advance	advance	NOUN
app01-3407	110	37	.	.	PUNCT
app01-3407	111	1	we	we	PRON
app01-3407	111	2	propose	propose	VERB
app01-3407	111	3	an	an	DET
app01-3407	111	4	iterative	iterative	NOUN
app01-3407	111	5	schema	schema	NOUN
app01-3407	111	6	to	to	PART
app01-3407	111	7	avoid	avoid	VERB
app01-3407	111	8	this	this	DET
app01-3407	111	9	issue	issue	NOUN
app01-3407	111	10	and	and	CCONJ
app01-3407	111	11	set	set	VERB
app01-3407	111	12	the	the	DET
app01-3407	111	13	number	number	NOUN
app01-3407	111	14	of	of	ADP
app01-3407	111	15	samples	sample	NOUN
app01-3407	111	16	progressively	progressively	ADV
app01-3407	111	17	,	,	PUNCT
app01-3407	111	18	which	which	PRON
app01-3407	111	19	provides	provide	VERB
app01-3407	111	20	first	first	ADJ
app01-3407	111	21	solutions	solution	NOUN
app01-3407	111	22	very	very	ADV
app01-3407	111	23	quickly	quickly	ADV
app01-3407	111	24	.	.	PUNCT
app01-3407	112	1	moreover	moreover	ADV
app01-3407	112	2	,	,	PUNCT
app01-3407	112	3	if	if	SCONJ
app01-3407	112	4	there	there	PRON
app01-3407	112	5	is	be	VERB
app01-3407	112	6	some	some	DET
app01-3407	112	7	additional	additional	ADJ
app01-3407	112	8	computational	computational	ADJ
app01-3407	112	9	time	time	NOUN
app01-3407	112	10	,	,	PUNCT
app01-3407	112	11	the	the	DET
app01-3407	112	12	algorithm	algorithm	NOUN
app01-3407	112	13	can	can	AUX
app01-3407	112	14	iteratively	iteratively	ADV
app01-3407	112	15	improve	improve	VERB
app01-3407	112	16	the	the	DET
app01-3407	112	17	solution	solution	NOUN
app01-3407	112	18	by	by	ADP
app01-3407	112	19	adding	add	VERB
app01-3407	112	20	more	more	ADJ
app01-3407	112	21	samples	sample	NOUN
app01-3407	112	22	,	,	PUNCT
app01-3407	112	23	which	which	PRON
app01-3407	112	24	results	result	VERB
app01-3407	112	25	to	to	PART
app01-3407	112	26	obtain	obtain	VERB
app01-3407	112	27	a	a	DET
app01-3407	112	28	first	first	ADJ
app01-3407	112	29	solution	solution	NOUN
app01-3407	112	30	quickly	quickly	ADV
app01-3407	112	31	that	that	PRON
app01-3407	112	32	is	be	AUX
app01-3407	112	33	further	far	ADV
app01-3407	112	34	improved	improve	VERB
app01-3407	112	35	.	.	PUNCT
app01-3407	113	1	in	in	ADP
app01-3407	113	2	the	the	DET
app01-3407	113	3	basic	basic	ADJ
app01-3407	113	4	sampling	sampling	NOUN
app01-3407	113	5	-	-	PUNCT
app01-3407	113	6	based	base	VERB
app01-3407	113	7	algorithm	algorithm	NOUN
app01-3407	113	8	,	,	PUNCT
app01-3407	113	9	a	a	DET
app01-3407	113	10	roadmap	roadmap	NOUN
app01-3407	113	11	with	with	ADP
app01-3407	113	12	(	(	PUNCT
app01-3407	113	13	n	n	X
app01-3407	113	14	·	·	PUNCT
app01-3407	113	15	m)2	m)2	ADJ
app01-3407	113	16	edges	edge	NOUN
app01-3407	113	17	is	be	AUX
app01-3407	113	18	created	create	VERB
app01-3407	113	19	where	where	SCONJ
app01-3407	113	20	n	n	PRON
app01-3407	113	21	is	be	AUX
app01-3407	113	22	the	the	DET
app01-3407	113	23	number	number	NOUN
app01-3407	113	24	of	of	ADP
app01-3407	113	25	regions	region	NOUN
app01-3407	113	26	to	to	PART
app01-3407	113	27	be	be	AUX
app01-3407	113	28	visited	visit	VERB
app01-3407	113	29	and	and	CCONJ
app01-3407	113	30	m	m	VERB
app01-3407	113	31	is	be	AUX
app01-3407	113	32	the	the	DET
app01-3407	113	33	number	number	NOUN
app01-3407	113	34	of	of	ADP
app01-3407	113	35	samples	sample	NOUN
app01-3407	113	36	per	per	ADP
app01-3407	113	37	region	region	NOUN
app01-3407	113	38	.	.	PUNCT
app01-3407	114	1	for	for	ADP
app01-3407	114	2	each	each	DET
app01-3407	114	3	edge	edge	NOUN
app01-3407	114	4	one	one	NUM
app01-3407	114	5	dubins	dubin	NOUN
app01-3407	114	6	maneuver	maneuver	NOUN
app01-3407	114	7	is	be	AUX
app01-3407	114	8	constructed	construct	VERB
app01-3407	114	9	.	.	PUNCT
app01-3407	115	1	since	since	SCONJ
app01-3407	115	2	the	the	DET
app01-3407	115	3	noon	noon	NOUN
app01-3407	115	4	-	-	PUNCT
app01-3407	115	5	been	be	AUX
app01-3407	115	6	transformation	transformation	NOUN
app01-3407	115	7	does	do	AUX
app01-3407	115	8	not	not	PART
app01-3407	115	9	change	change	VERB
app01-3407	115	10	the	the	DET
app01-3407	115	11	number	number	NOUN
app01-3407	115	12	of	of	ADP
app01-3407	115	13	vertices	vertex	NOUN
app01-3407	115	14	,	,	PUNCT
app01-3407	115	15	the	the	DET
app01-3407	115	16	overall	overall	ADJ
app01-3407	115	17	time	time	NOUN
app01-3407	115	18	complexity	complexity	NOUN
app01-3407	115	19	of	of	ADP
app01-3407	115	20	generating	generate	VERB
app01-3407	115	21	an	an	DET
app01-3407	115	22	instance	instance	NOUN
app01-3407	115	23	of	of	ADP
app01-3407	115	24	the	the	DET
app01-3407	115	25	atsp	atsp	NOUN
app01-3407	115	26	can	can	AUX
app01-3407	115	27	be	be	AUX
app01-3407	115	28	bounded	bound	VERB
app01-3407	115	29	by	by	ADP
app01-3407	115	30	o((n	o((n	NOUN
app01-3407	115	31	·	·	PUNCT
app01-3407	115	32	m)2	m)2	PROPN
app01-3407	115	33	)	)	PUNCT
app01-3407	115	34	.	.	PUNCT
app01-3407	116	1	a	a	DET
app01-3407	116	2	solution	solution	NOUN
app01-3407	116	3	of	of	ADP
app01-3407	116	4	the	the	DET
app01-3407	116	5	generated	generate	VERB
app01-3407	116	6	atsp	atsp	NOUN
app01-3407	116	7	can	can	AUX
app01-3407	116	8	be	be	AUX
app01-3407	116	9	found	find	VERB
app01-3407	116	10	by	by	ADP
app01-3407	116	11	the	the	DET
app01-3407	116	12	available	available	ADJ
app01-3407	116	13	lkh	lkh	NOUN
app01-3407	116	14	solver	solver	NOUN
app01-3407	116	15	.	.	PUNCT
app01-3407	117	1	according	accord	VERB
app01-3407	117	2	to	to	ADP
app01-3407	117	3	the	the	DET
app01-3407	117	4	author	author	NOUN
app01-3407	117	5	of	of	ADP
app01-3407	117	6	the	the	DET
app01-3407	117	7	lkh	lkh	NOUN
app01-3407	117	8	,	,	PUNCT
app01-3407	117	9	the	the	DET
app01-3407	117	10	time	time	NOUN
app01-3407	117	11	complexity	complexity	NOUN
app01-3407	117	12	of	of	ADP
app01-3407	117	13	the	the	DET
app01-3407	117	14	lkh	lkh	NOUN
app01-3407	117	15	is	be	AUX
app01-3407	117	16	approximately	approximately	ADV
app01-3407	117	17	o(n2.2	o(n2.2	ADJ
app01-3407	117	18	atsp	atsp	NOUN
app01-3407	117	19	)	)	PUNCT
app01-3407	118	1	[	[	X
app01-3407	118	2	16	16	NUM
app01-3407	118	3	]	]	PUNCT
app01-3407	118	4	.	.	PUNCT
app01-3407	119	1	hence	hence	ADV
app01-3407	119	2	,	,	PUNCT
app01-3407	119	3	the	the	DET
app01-3407	119	4	expected	expect	VERB
app01-3407	119	5	total	total	ADJ
app01-3407	119	6	time	time	NOUN
app01-3407	119	7	complexity	complexity	NOUN
app01-3407	119	8	is	be	AUX
app01-3407	119	9	o((n	o((n	NOUN
app01-3407	119	10	·	·	PUNCT
app01-3407	119	11	m)2.2	m)2.2	ADJ
app01-3407	119	12	)	)	PUNCT
app01-3407	119	13	.	.	PUNCT
app01-3407	120	1	the	the	DET
app01-3407	120	2	time	time	NOUN
app01-3407	120	3	complexity	complexity	NOUN
app01-3407	120	4	to	to	PART
app01-3407	120	5	solve	solve	VERB
app01-3407	120	6	the	the	DET
app01-3407	120	7	atsp	atsp	NOUN
app01-3407	120	8	is	be	AUX
app01-3407	120	9	greater	great	ADJ
app01-3407	120	10	than	than	ADP
app01-3407	120	11	a	a	DET
app01-3407	120	12	roadmap	roadmap	NOUN
app01-3407	120	13	generation	generation	NOUN
app01-3407	120	14	,	,	PUNCT
app01-3407	120	15	and	and	CCONJ
app01-3407	120	16	therefore	therefore	ADV
app01-3407	120	17	,	,	PUNCT
app01-3407	120	18	we	we	PRON
app01-3407	120	19	do	do	AUX
app01-3407	120	20	not	not	PART
app01-3407	120	21	need	need	VERB
app01-3407	120	22	to	to	PART
app01-3407	120	23	explicitly	explicitly	ADV
app01-3407	120	24	consider	consider	VERB
app01-3407	120	25	the	the	DET
app01-3407	120	26	construction	construction	NOUN
app01-3407	120	27	of	of	ADP
app01-3407	120	28	the	the	DET
app01-3407	120	29	roadmap	roadmap	NOUN
app01-3407	120	30	in	in	ADP
app01-3407	120	31	the	the	DET
app01-3407	120	32	estimation	estimation	NOUN
app01-3407	120	33	of	of	ADP
app01-3407	120	34	the	the	DET
app01-3407	120	35	required	require	VERB
app01-3407	120	36	computational	computational	ADJ
app01-3407	120	37	time	time	NOUN
app01-3407	120	38	based	base	VERB
app01-3407	120	39	on	on	ADP
app01-3407	120	40	the	the	DET
app01-3407	120	41	number	number	NOUN
app01-3407	120	42	of	of	ADP
app01-3407	120	43	samples	sample	NOUN
app01-3407	120	44	.	.	PUNCT
app01-3407	121	1	based	base	VERB
app01-3407	121	2	on	on	ADP
app01-3407	121	3	the	the	DET
app01-3407	121	4	relation	relation	NOUN
app01-3407	121	5	of	of	ADP
app01-3407	121	6	the	the	DET
app01-3407	121	7	required	require	VERB
app01-3407	121	8	number	number	NOUN
app01-3407	121	9	of	of	ADP
app01-3407	121	10	operations	operation	NOUN
app01-3407	121	11	on	on	ADP
app01-3407	121	12	the	the	DET
app01-3407	121	13	number	number	NOUN
app01-3407	121	14	of	of	ADP
app01-3407	121	15	samples	sample	NOUN
app01-3407	121	16	,	,	PUNCT
app01-3407	121	17	we	we	PRON
app01-3407	121	18	can	can	AUX
app01-3407	121	19	establish	establish	VERB
app01-3407	121	20	a	a	DET
app01-3407	121	21	sequence	sequence	NOUN
app01-3407	121	22	of	of	ADP
app01-3407	121	23	the	the	DET
app01-3407	121	24	increasing	increase	VERB
app01-3407	121	25	numbers	number	NOUN
app01-3407	121	26	of	of	ADP
app01-3407	121	27	the	the	DET
app01-3407	121	28	samples	sample	NOUN
app01-3407	121	29	needed	need	VERB
app01-3407	121	30	to	to	PART
app01-3407	121	31	find	find	VERB
app01-3407	121	32	an	an	DET
app01-3407	121	33	initial	initial	ADJ
app01-3407	121	34	solution	solution	NOUN
app01-3407	121	35	quickly	quickly	ADV
app01-3407	121	36	and	and	CCONJ
app01-3407	121	37	improve	improve	VERB
app01-3407	121	38	its	its	PRON
app01-3407	121	39	quality	quality	NOUN
app01-3407	121	40	later	later	ADV
app01-3407	121	41	.	.	PUNCT
app01-3407	122	1	the	the	DET
app01-3407	122	2	sampling	sample	VERB
app01-3407	122	3	-	-	PUNCT
app01-3407	122	4	based	base	VERB
app01-3407	122	5	algorithm	algorithm	NOUN
app01-3407	122	6	works	work	VERB
app01-3407	122	7	with	with	ADP
app01-3407	122	8	the	the	DET
app01-3407	122	9	constant	constant	ADJ
app01-3407	122	10	number	number	NOUN
app01-3407	122	11	of	of	ADP
app01-3407	122	12	samples	sample	NOUN
app01-3407	122	13	given	give	VERB
app01-3407	122	14	a	a	DET
app01-3407	122	15	priory	priory	NOUN
app01-3407	122	16	,	,	PUNCT
app01-3407	122	17	we	we	PRON
app01-3407	122	18	can	can	AUX
app01-3407	122	19	run	run	VERB
app01-3407	122	20	the	the	DET
app01-3407	122	21	sampling	sampling	NOUN
app01-3407	122	22	based	base	VERB
app01-3407	122	23	algorithm	algorithm	NOUN
app01-3407	122	24	repeatedly	repeatedly	ADV
app01-3407	122	25	with	with	ADP
app01-3407	122	26	an	an	DET
app01-3407	122	27	increasing	increase	VERB
app01-3407	122	28	number	number	NOUN
app01-3407	122	29	of	of	ADP
app01-3407	122	30	samples	sample	NOUN
app01-3407	122	31	.	.	PUNCT
app01-3407	123	1	since	since	SCONJ
app01-3407	123	2	the	the	DET
app01-3407	123	3	time	time	NOUN
app01-3407	123	4	complexity	complexity	NOUN
app01-3407	123	5	of	of	ADP
app01-3407	123	6	the	the	DET
app01-3407	123	7	algorithm	algorithm	NOUN
app01-3407	123	8	is	be	AUX
app01-3407	123	9	nearly	nearly	ADV
app01-3407	123	10	quadratic	quadratic	ADJ
app01-3407	123	11	,	,	PUNCT
app01-3407	123	12	an	an	DET
app01-3407	123	13	inverse	inverse	NOUN
app01-3407	123	14	function	function	NOUN
app01-3407	123	15	for	for	ADP
app01-3407	123	16	the	the	DET
app01-3407	123	17	number	number	NOUN
app01-3407	123	18	of	of	ADP
app01-3407	123	19	samples	sample	NOUN
app01-3407	123	20	mk	mk	NOUN
app01-3407	123	21	according	accord	VERB
app01-3407	123	22	to	to	ADP
app01-3407	123	23	the	the	DET
app01-3407	123	24	number	number	NOUN
app01-3407	123	25	k	k	PROPN
app01-3407	123	26	of	of	ADP
app01-3407	123	27	the	the	DET
app01-3407	123	28	particular	particular	ADJ
app01-3407	123	29	iteration	iteration	NOUN
app01-3407	123	30	can	can	AUX
app01-3407	123	31	be	be	AUX
app01-3407	123	32	defined	define	VERB
app01-3407	123	33	as	as	ADP
app01-3407	123	34	:	:	PUNCT
app01-3407	123	35	mk	mk	PROPN
app01-3407	123	36	≈	≈	NOUN
app01-3407	123	37	√	√	PROPN
app01-3407	123	38	2k	2k	NUM
app01-3407	123	39	.	.	PUNCT
app01-3407	124	1	(	(	PUNCT
app01-3407	124	2	3	3	X
app01-3407	124	3	)	)	PUNCT
app01-3407	124	4	after	after	ADP
app01-3407	124	5	rounding	round	VERB
app01-3407	124	6	the	the	DET
app01-3407	124	7	mk	mk	PROPN
app01-3407	124	8	to	to	ADP
app01-3407	124	9	an	an	DET
app01-3407	124	10	integer	integer	NOUN
app01-3407	124	11	value	value	NOUN
app01-3407	124	12	,	,	PUNCT
app01-3407	124	13	it	it	PRON
app01-3407	124	14	gives	give	VERB
app01-3407	124	15	us	we	PRON
app01-3407	124	16	the	the	DET
app01-3407	124	17	following	follow	VERB
app01-3407	124	18	series	series	NOUN
app01-3407	124	19	of	of	ADP
app01-3407	124	20	the	the	DET
app01-3407	124	21	numbers	number	NOUN
app01-3407	124	22	:	:	PUNCT
app01-3407	124	23	m	m	VERB
app01-3407	124	24	=	=	PUNCT
app01-3407	124	25	{	{	PUNCT
app01-3407	124	26	1	1	NUM
app01-3407	124	27	,	,	PUNCT
app01-3407	124	28	2	2	NUM
app01-3407	124	29	,	,	PUNCT
app01-3407	124	30	3	3	NUM
app01-3407	124	31	,	,	PUNCT
app01-3407	124	32	4	4	NUM
app01-3407	124	33	,	,	PUNCT
app01-3407	124	34	6	6	NUM
app01-3407	124	35	,	,	PUNCT
app01-3407	124	36	8	8	NUM
app01-3407	124	37	,	,	PUNCT
app01-3407	124	38	11	11	NUM
app01-3407	124	39	,	,	PUNCT
app01-3407	124	40	16	16	NUM
app01-3407	124	41	,	,	PUNCT
app01-3407	124	42	23	23	NUM
app01-3407	124	43	,	,	PUNCT
app01-3407	124	44	32	32	NUM
app01-3407	124	45	,	,	PUNCT
app01-3407	124	46	45	45	NUM
app01-3407	124	47	,	,	PUNCT
app01-3407	124	48	64	64	NUM
app01-3407	124	49	,	,	PUNCT
app01-3407	124	50	.	.	PUNCT
app01-3407	124	51	.	.	PUNCT
app01-3407	125	1	.	.	PUNCT
app01-3407	125	2	}	}	PUNCT
app01-3407	125	3	.	.	PUNCT
app01-3407	126	1	(	(	PUNCT
app01-3407	126	2	4	4	X
app01-3407	126	3	)	)	PUNCT
app01-3407	126	4	figure	figure	NOUN
app01-3407	126	5	1	1	NUM
app01-3407	126	6	provides	provide	VERB
app01-3407	126	7	influence	influence	NOUN
app01-3407	126	8	of	of	ADP
app01-3407	126	9	the	the	DET
app01-3407	126	10	required	require	VERB
app01-3407	126	11	computanumber	computanumber	NOUN
app01-3407	126	12	of	of	ADP
app01-3407	126	13	samples	sample	NOUN
app01-3407	126	14	per	per	ADP
app01-3407	126	15	region	region	NOUN
app01-3407	126	16	0	0	NUM
app01-3407	126	17	100	100	NUM
app01-3407	126	18	200	200	NUM
app01-3407	126	19	300	300	NUM
app01-3407	126	20	400	400	NUM
app01-3407	126	21	500	500	NUM
app01-3407	126	22	600	600	NUM
app01-3407	126	23	700	700	NUM
app01-3407	126	24	800	800	NUM
app01-3407	126	25	t	t	NOUN
app01-3407	127	1	i	i	PRON
app01-3407	127	2	m	m	VERB
app01-3407	127	3	e	e	NOUN
app01-3407	128	1	[	[	X
app01-3407	128	2	s	s	X
app01-3407	128	3	]	]	X
app01-3407	128	4	10	10	NUM
app01-3407	128	5	-2	-2	NOUN
app01-3407	128	6	10	10	NUM
app01-3407	128	7	-1	-1	SYM
app01-3407	128	8	10	10	NUM
app01-3407	128	9	0	0	NUM
app01-3407	128	10	10	10	NUM
app01-3407	128	11	1	1	NUM
app01-3407	128	12	10	10	NUM
app01-3407	128	13	2	2	NUM
app01-3407	128	14	10	10	NUM
app01-3407	128	15	3	3	NUM
app01-3407	128	16	etsp	etsp	NOUN
app01-3407	128	17	+	+	CCONJ
app01-3407	128	18	lio	lio	PROPN
app01-3407	128	19	sample	sample	NOUN
app01-3407	128	20	+	+	CCONJ
app01-3407	128	21	atsp	atsp	NOUN
app01-3407	128	22	figure	figure	NOUN
app01-3407	128	23	1	1	NUM
app01-3407	128	24	.	.	PUNCT
app01-3407	129	1	the	the	DET
app01-3407	129	2	average	average	ADJ
app01-3407	129	3	required	require	VERB
app01-3407	129	4	computational	computational	ADJ
app01-3407	129	5	time	time	NOUN
app01-3407	129	6	(	(	PUNCT
app01-3407	129	7	from	from	ADP
app01-3407	129	8	20	20	NUM
app01-3407	129	9	trials	trial	NOUN
app01-3407	129	10	)	)	PUNCT
app01-3407	129	11	for	for	ADP
app01-3407	129	12	the	the	DET
app01-3407	129	13	instance	instance	NOUN
app01-3407	129	14	of	of	ADP
app01-3407	129	15	the	the	DET
app01-3407	129	16	dtspn	dtspn	NOUN
app01-3407	129	17	with	with	ADP
app01-3407	129	18	4	4	NUM
app01-3407	129	19	circle	circle	NOUN
app01-3407	129	20	regions	region	NOUN
app01-3407	129	21	and	and	CCONJ
app01-3407	129	22	d4	d4	PROPN
app01-3407	129	23	constraint	constraint	NOUN
app01-3407	129	24	.	.	PUNCT
app01-3407	130	1	tional	tional	ADJ
app01-3407	130	2	time	time	NOUN
app01-3407	130	3	on	on	ADP
app01-3407	130	4	the	the	DET
app01-3407	130	5	number	number	NOUN
app01-3407	130	6	of	of	ADP
app01-3407	130	7	samples	sample	NOUN
app01-3407	130	8	per	per	ADP
app01-3407	130	9	each	each	DET
app01-3407	130	10	region	region	NOUN
app01-3407	130	11	59	59	NUM
app01-3407	130	12	petr	petr	PROPN
app01-3407	130	13	váňa	váňa	NOUN
app01-3407	130	14	,	,	PUNCT
app01-3407	130	15	jan	jan	PROPN
app01-3407	130	16	faigl	faigl	PROPN
app01-3407	130	17	acta	acta	PROPN
app01-3407	130	18	polytechnica	polytechnica	PROPN
app01-3407	130	19	ctu	ctu	NOUN
app01-3407	130	20	proceedings	proceeding	NOUN
app01-3407	130	21	to	to	PART
app01-3407	130	22	visit	visit	VERB
app01-3407	130	23	.	.	PUNCT
app01-3407	131	1	we	we	PRON
app01-3407	131	2	plot	plot	VERB
app01-3407	131	3	the	the	DET
app01-3407	131	4	required	require	VERB
app01-3407	131	5	computational	computational	ADJ
app01-3407	131	6	time	time	NOUN
app01-3407	131	7	on	on	ADP
app01-3407	131	8	the	the	DET
app01-3407	131	9	number	number	NOUN
app01-3407	131	10	of	of	ADP
app01-3407	131	11	samples	sample	NOUN
app01-3407	131	12	per	per	ADP
app01-3407	131	13	each	each	DET
app01-3407	131	14	region	region	NOUN
app01-3407	131	15	to	to	PART
app01-3407	131	16	visit	visit	VERB
app01-3407	131	17	.	.	PUNCT
app01-3407	132	1	in	in	ADP
app01-3407	132	2	this	this	DET
app01-3407	132	3	case	case	NOUN
app01-3407	132	4	,	,	PUNCT
app01-3407	132	5	a	a	DET
app01-3407	132	6	simple	simple	ADJ
app01-3407	132	7	problem	problem	NOUN
app01-3407	132	8	with	with	ADP
app01-3407	132	9	4	4	NUM
app01-3407	132	10	regions	region	NOUN
app01-3407	132	11	and	and	CCONJ
app01-3407	132	12	d4	d4	PROPN
app01-3407	132	13	constraint	constraint	NOUN
app01-3407	132	14	is	be	AUX
app01-3407	132	15	considered	consider	VERB
app01-3407	132	16	and	and	CCONJ
app01-3407	132	17	the	the	DET
app01-3407	132	18	computational	computational	ADJ
app01-3407	132	19	time	time	NOUN
app01-3407	132	20	is	be	AUX
app01-3407	132	21	compared	compare	VERB
app01-3407	132	22	with	with	ADP
app01-3407	132	23	the	the	DET
app01-3407	132	24	etsp+lio	etsp+lio	PROPN
app01-3407	132	25	algorithm	algorithm	NOUN
app01-3407	132	26	proposed	propose	VERB
app01-3407	132	27	in	in	ADP
app01-3407	132	28	[	[	X
app01-3407	132	29	7	7	NUM
app01-3407	132	30	]	]	SYM
app01-3407	132	31	.	.	PUNCT
app01-3407	133	1	6	6	X
app01-3407	133	2	.	.	X
app01-3407	133	3	results	result	VERB
app01-3407	133	4	the	the	DET
app01-3407	133	5	performance	performance	NOUN
app01-3407	133	6	of	of	ADP
app01-3407	133	7	the	the	DET
app01-3407	133	8	proposed	propose	VERB
app01-3407	133	9	modification	modification	NOUN
app01-3407	133	10	of	of	ADP
app01-3407	133	11	the	the	DET
app01-3407	133	12	sampling	sampling	NOUN
app01-3407	133	13	based	base	VERB
app01-3407	133	14	algorithm	algorithm	NOUN
app01-3407	133	15	has	have	AUX
app01-3407	133	16	been	be	AUX
app01-3407	133	17	evaluated	evaluate	VERB
app01-3407	133	18	in	in	ADP
app01-3407	133	19	a	a	DET
app01-3407	133	20	series	series	NOUN
app01-3407	133	21	of	of	ADP
app01-3407	133	22	scenarios	scenario	NOUN
app01-3407	133	23	.	.	PUNCT
app01-3407	134	1	the	the	DET
app01-3407	134	2	evaluated	evaluate	VERB
app01-3407	134	3	instances	instance	NOUN
app01-3407	134	4	of	of	ADP
app01-3407	134	5	the	the	DET
app01-3407	134	6	dtspn	dtspn	NOUN
app01-3407	134	7	were	be	AUX
app01-3407	134	8	generated	generate	VERB
app01-3407	134	9	randomly	randomly	ADV
app01-3407	134	10	for	for	ADP
app01-3407	134	11	convex	convex	ADJ
app01-3407	134	12	regions	region	NOUN
app01-3407	134	13	satisfying	satisfy	VERB
app01-3407	134	14	the	the	DET
app01-3407	134	15	d4	d4	PROPN
app01-3407	134	16	constraint	constraint	NOUN
app01-3407	134	17	.	.	PUNCT
app01-3407	135	1	several	several	ADJ
app01-3407	135	2	shapes	shape	NOUN
app01-3407	135	3	of	of	ADP
app01-3407	135	4	the	the	DET
app01-3407	135	5	regions	region	NOUN
app01-3407	135	6	have	have	AUX
app01-3407	135	7	been	be	AUX
app01-3407	135	8	considered	consider	VERB
app01-3407	135	9	:	:	PUNCT
app01-3407	135	10	points	point	NOUN
app01-3407	135	11	,	,	PUNCT
app01-3407	135	12	disks	disk	NOUN
app01-3407	135	13	with	with	ADP
app01-3407	135	14	the	the	DET
app01-3407	135	15	radius	radius	NOUN
app01-3407	135	16	equal	equal	ADJ
app01-3407	135	17	to	to	ADP
app01-3407	135	18	ρ	ρ	NUM
app01-3407	135	19	,	,	PUNCT
app01-3407	135	20	ellipses	ellipsis	NOUN
app01-3407	135	21	with	with	ADP
app01-3407	135	22	the	the	DET
app01-3407	135	23	semi	semi	ADJ
app01-3407	135	24	-	-	ADJ
app01-3407	135	25	axis	axis	ADJ
app01-3407	135	26	2ρ	2ρ	NOUN
app01-3407	135	27	and	and	CCONJ
app01-3407	135	28	0.5ρ	0.5ρ	NOUN
app01-3407	135	29	,	,	PUNCT
app01-3407	135	30	and	and	CCONJ
app01-3407	135	31	convex	convex	NOUN
app01-3407	135	32	polygons	polygon	NOUN
app01-3407	135	33	with	with	ADP
app01-3407	135	34	up	up	ADP
app01-3407	135	35	to	to	PART
app01-3407	135	36	6	6	NUM
app01-3407	135	37	vertices	vertex	NOUN
app01-3407	135	38	created	create	VERB
app01-3407	135	39	from	from	ADP
app01-3407	135	40	a	a	DET
app01-3407	135	41	circle	circle	NOUN
app01-3407	135	42	with	with	ADP
app01-3407	135	43	the	the	DET
app01-3407	135	44	radius	radius	PROPN
app01-3407	135	45	ρ	ρ	PROPN
app01-3407	135	46	.	.	PUNCT
app01-3407	136	1	a	a	DET
app01-3407	136	2	relatively	relatively	ADV
app01-3407	136	3	high	high	ADJ
app01-3407	136	4	and	and	CCONJ
app01-3407	136	5	uniform	uniform	ADJ
app01-3407	136	6	density	density	NOUN
app01-3407	136	7	of	of	ADP
app01-3407	136	8	the	the	DET
app01-3407	136	9	regions	region	NOUN
app01-3407	136	10	for	for	ADP
app01-3407	136	11	the	the	DET
app01-3407	136	12	d4	d4	PROPN
app01-3407	136	13	constraint	constraint	NOUN
app01-3407	136	14	has	have	AUX
app01-3407	136	15	been	be	AUX
app01-3407	136	16	considered	consider	VERB
app01-3407	136	17	by	by	ADP
app01-3407	136	18	generating	generate	VERB
app01-3407	136	19	centers	center	NOUN
app01-3407	136	20	of	of	ADP
app01-3407	136	21	the	the	DET
app01-3407	136	22	regions	region	NOUN
app01-3407	136	23	inside	inside	ADP
app01-3407	136	24	a	a	DET
app01-3407	136	25	bounding	bounding	NOUN
app01-3407	136	26	box	box	NOUN
app01-3407	136	27	with	with	ADP
app01-3407	136	28	the	the	DET
app01-3407	136	29	side	side	NOUN
app01-3407	136	30	6	6	NUM
app01-3407	136	31	√	√	NUM
app01-3407	136	32	nρ	nρ	PROPN
app01-3407	136	33	,	,	PUNCT
app01-3407	136	34	where	where	SCONJ
app01-3407	136	35	n	n	X
app01-3407	136	36	is	be	AUX
app01-3407	136	37	the	the	DET
app01-3407	136	38	number	number	NOUN
app01-3407	136	39	of	of	ADP
app01-3407	136	40	the	the	DET
app01-3407	136	41	regions	region	NOUN
app01-3407	136	42	to	to	PART
app01-3407	136	43	be	be	AUX
app01-3407	136	44	visited	visit	VERB
app01-3407	136	45	by	by	ADP
app01-3407	136	46	the	the	DET
app01-3407	136	47	dubins	dubin	NOUN
app01-3407	136	48	vehicles	vehicle	NOUN
app01-3407	136	49	.	.	PUNCT
app01-3407	137	1	an	an	DET
app01-3407	137	2	example	example	NOUN
app01-3407	137	3	of	of	ADP
app01-3407	137	4	the	the	DET
app01-3407	137	5	examined	examine	VERB
app01-3407	137	6	problems	problem	NOUN
app01-3407	137	7	is	be	AUX
app01-3407	137	8	depicted	depict	VERB
app01-3407	137	9	in	in	ADP
app01-3407	137	10	figure	figure	NOUN
app01-3407	137	11	2	2	NUM
app01-3407	137	12	.	.	PUNCT
app01-3407	138	1	(	(	PUNCT
app01-3407	138	2	a	a	NOUN
app01-3407	138	3	)	)	PUNCT
app01-3407	138	4	.	.	PUNCT
app01-3407	139	1	d4	d4	PROPN
app01-3407	139	2	convex	convex	ADJ
app01-3407	139	3	regions	region	NOUN
app01-3407	139	4	(	(	PUNCT
app01-3407	139	5	b	b	NOUN
app01-3407	139	6	)	)	PUNCT
app01-3407	139	7	.	.	PUNCT
app01-3407	140	1	d1	d1	PROPN
app01-3407	140	2	convex	convex	ADJ
app01-3407	140	3	regions	region	NOUN
app01-3407	140	4	figure	figure	VERB
app01-3407	140	5	2	2	NUM
app01-3407	140	6	.	.	PUNCT
app01-3407	141	1	examples	example	NOUN
app01-3407	141	2	of	of	ADP
app01-3407	141	3	the	the	DET
app01-3407	141	4	randomly	randomly	ADV
app01-3407	141	5	generated	generate	VERB
app01-3407	141	6	instances	instance	NOUN
app01-3407	141	7	of	of	ADP
app01-3407	141	8	the	the	DET
app01-3407	141	9	dtspn	dtspn	NOUN
app01-3407	141	10	.	.	PUNCT
app01-3407	142	1	the	the	DET
app01-3407	142	2	examined	examine	VERB
app01-3407	142	3	algorithms	algorithm	NOUN
app01-3407	142	4	are	be	AUX
app01-3407	142	5	denoted	denote	VERB
app01-3407	142	6	as	as	SCONJ
app01-3407	142	7	follows	follow	VERB
app01-3407	142	8	.	.	PUNCT
app01-3407	143	1	the	the	DET
app01-3407	143	2	newly	newly	ADV
app01-3407	143	3	proposed	propose	VERB
app01-3407	143	4	modification	modification	NOUN
app01-3407	143	5	of	of	ADP
app01-3407	143	6	the	the	DET
app01-3407	143	7	samplingbased	samplingbase	VERB
app01-3407	143	8	algorithm	algorithm	NOUN
app01-3407	143	9	is	be	AUX
app01-3407	143	10	denoted	denote	VERB
app01-3407	143	11	sample+atsp	sample+atsp	PROPN
app01-3407	143	12	.	.	PUNCT
app01-3407	144	1	the	the	DET
app01-3407	144	2	algorithm	algorithm	NOUN
app01-3407	144	3	is	be	AUX
app01-3407	144	4	compared	compare	VERB
app01-3407	144	5	it	it	PRON
app01-3407	144	6	with	with	ADP
app01-3407	144	7	the	the	DET
app01-3407	144	8	evolutionary	evolutionary	ADJ
app01-3407	144	9	approaches	approach	NOUN
app01-3407	144	10	[	[	X
app01-3407	144	11	14	14	NUM
app01-3407	144	12	]	]	PUNCT
app01-3407	144	13	and	and	CCONJ
app01-3407	144	14	[	[	X
app01-3407	144	15	15	15	NUM
app01-3407	144	16	]	]	PUNCT
app01-3407	144	17	denoted	denote	VERB
app01-3407	144	18	as	as	ADP
app01-3407	144	19	genetic	genetic	ADJ
app01-3407	144	20	and	and	CCONJ
app01-3407	144	21	memetic	memetic	ADJ
app01-3407	144	22	,	,	PUNCT
app01-3407	144	23	respectively	respectively	ADV
app01-3407	144	24	.	.	PUNCT
app01-3407	145	1	in	in	ADP
app01-3407	145	2	addition	addition	NOUN
app01-3407	145	3	,	,	PUNCT
app01-3407	145	4	we	we	PRON
app01-3407	145	5	implemented	implement	VERB
app01-3407	145	6	three	three	NUM
app01-3407	145	7	variants	variant	NOUN
app01-3407	145	8	of	of	ADP
app01-3407	145	9	the	the	DET
app01-3407	145	10	decoupled	decouple	VERB
app01-3407	145	11	approach	approach	NOUN
app01-3407	145	12	based	base	VERB
app01-3407	145	13	on	on	ADP
app01-3407	145	14	the	the	DET
app01-3407	145	15	solution	solution	NOUN
app01-3407	145	16	of	of	ADP
app01-3407	145	17	the	the	DET
app01-3407	145	18	etsp	etsp	NOUN
app01-3407	145	19	utilized	utilize	VERB
app01-3407	145	20	as	as	ADP
app01-3407	145	21	the	the	DET
app01-3407	145	22	heuristic	heuristic	ADJ
app01-3407	145	23	estimation	estimation	NOUN
app01-3407	145	24	of	of	ADP
app01-3407	145	25	the	the	DET
app01-3407	145	26	permutation	permutation	NOUN
app01-3407	145	27	of	of	ADP
app01-3407	145	28	the	the	DET
app01-3407	145	29	visits	visit	NOUN
app01-3407	145	30	to	to	ADP
app01-3407	145	31	the	the	DET
app01-3407	145	32	regions	region	NOUN
app01-3407	145	33	.	.	PUNCT
app01-3407	146	1	the	the	DET
app01-3407	146	2	first	first	ADJ
app01-3407	146	3	decoupled	decouple	VERB
app01-3407	146	4	approach	approach	NOUN
app01-3407	146	5	is	be	AUX
app01-3407	146	6	denoted	denote	VERB
app01-3407	146	7	as	as	ADP
app01-3407	146	8	etspn+aa	etspn+aa	ADV
app01-3407	146	9	and	and	CCONJ
app01-3407	146	10	it	it	PRON
app01-3407	146	11	is	be	AUX
app01-3407	146	12	based	base	VERB
app01-3407	146	13	on	on	ADP
app01-3407	146	14	the	the	DET
app01-3407	146	15	alternating	alternate	VERB
app01-3407	146	16	algorithm	algorithm	NOUN
app01-3407	146	17	(	(	PUNCT
app01-3407	146	18	aa	aa	NOUN
app01-3407	146	19	)	)	PUNCT
app01-3407	147	1	[	[	X
app01-3407	147	2	2	2	NUM
app01-3407	147	3	]	]	PUNCT
app01-3407	147	4	.	.	PUNCT
app01-3407	148	1	the	the	DET
app01-3407	148	2	second	second	ADJ
app01-3407	148	3	method	method	NOUN
app01-3407	148	4	is	be	AUX
app01-3407	148	5	denoted	denote	VERB
app01-3407	148	6	as	as	ADP
app01-3407	148	7	the	the	DET
app01-3407	148	8	etsp+lio	etsp+lio	PROPN
app01-3407	148	9	[	[	X
app01-3407	148	10	7	7	X
app01-3407	148	11	]	]	PUNCT
app01-3407	148	12	and	and	CCONJ
app01-3407	148	13	is	be	AUX
app01-3407	148	14	based	base	VERB
app01-3407	148	15	on	on	ADP
app01-3407	148	16	local	local	ADJ
app01-3407	148	17	optimization	optimization	NOUN
app01-3407	148	18	of	of	ADP
app01-3407	148	19	position	position	NOUN
app01-3407	148	20	and	and	CCONJ
app01-3407	148	21	heading	heading	NOUN
app01-3407	148	22	of	of	ADP
app01-3407	148	23	the	the	DET
app01-3407	148	24	waypoints	waypoint	NOUN
app01-3407	148	25	.	.	PUNCT
app01-3407	149	1	the	the	DET
app01-3407	149	2	last	last	ADJ
app01-3407	149	3	method	method	NOUN
app01-3407	149	4	is	be	AUX
app01-3407	149	5	derived	derive	VERB
app01-3407	149	6	from	from	ADP
app01-3407	149	7	the	the	DET
app01-3407	149	8	etsp+lio	etsp+lio	PROPN
app01-3407	149	9	,	,	PUNCT
app01-3407	149	10	but	but	CCONJ
app01-3407	149	11	only	only	ADV
app01-3407	149	12	local	local	ADJ
app01-3407	149	13	iterative	iterative	NOUN
app01-3407	149	14	optimization	optimization	NOUN
app01-3407	149	15	of	of	ADP
app01-3407	149	16	the	the	DET
app01-3407	149	17	heading	heading	NOUN
app01-3407	149	18	is	be	AUX
app01-3407	149	19	considered	consider	VERB
app01-3407	149	20	,	,	PUNCT
app01-3407	149	21	this	this	DET
app01-3407	149	22	method	method	NOUN
app01-3407	149	23	is	be	AUX
app01-3407	149	24	denoted	denote	VERB
app01-3407	149	25	as	as	ADP
app01-3407	149	26	the	the	DET
app01-3407	149	27	etspn+holio	etspn+holio	PROPN
app01-3407	149	28	.	.	PUNCT
app01-3407	150	1	the	the	DET
app01-3407	150	2	quality	quality	NOUN
app01-3407	150	3	of	of	ADP
app01-3407	150	4	found	find	VERB
app01-3407	150	5	solutions	solution	NOUN
app01-3407	150	6	has	have	AUX
app01-3407	150	7	been	be	AUX
app01-3407	150	8	evaluated	evaluate	VERB
app01-3407	150	9	regarding	regard	VERB
app01-3407	150	10	a	a	DET
app01-3407	150	11	dedicated	dedicated	ADJ
app01-3407	150	12	computational	computational	ADJ
app01-3407	150	13	time	time	NOUN
app01-3407	150	14	for	for	ADP
app01-3407	150	15	problems	problem	NOUN
app01-3407	150	16	with	with	ADP
app01-3407	150	17	n	n	NOUN
app01-3407	150	18	=	=	SYM
app01-3407	150	19	20	20	NUM
app01-3407	150	20	and	and	CCONJ
app01-3407	150	21	n	n	CCONJ
app01-3407	150	22	=	=	SYM
app01-3407	150	23	40	40	NUM
app01-3407	150	24	regions	region	NOUN
app01-3407	150	25	with	with	ADP
app01-3407	150	26	the	the	DET
app01-3407	150	27	d4	d4	PROPN
app01-3407	150	28	constraint	constraint	NOUN
app01-3407	150	29	.	.	PUNCT
app01-3407	151	1	the	the	DET
app01-3407	151	2	quality	quality	NOUN
app01-3407	151	3	is	be	AUX
app01-3407	151	4	measured	measure	VERB
app01-3407	151	5	as	as	ADP
app01-3407	151	6	the	the	DET
app01-3407	151	7	ratio	ratio	NOUN
app01-3407	151	8	of	of	ADP
app01-3407	151	9	the	the	DET
app01-3407	151	10	path	path	NOUN
app01-3407	151	11	length	length	NOUN
app01-3407	151	12	found	find	VERB
app01-3407	151	13	by	by	ADP
app01-3407	151	14	the	the	DET
app01-3407	151	15	particular	particular	ADJ
app01-3407	151	16	algorithm	algorithm	NOUN
app01-3407	151	17	to	to	ADP
app01-3407	151	18	the	the	DET
app01-3407	151	19	solution	solution	NOUN
app01-3407	151	20	provided	provide	VERB
app01-3407	151	21	by	by	ADP
app01-3407	151	22	the	the	DET
app01-3407	151	23	etsp+lio	etsp+lio	PROPN
app01-3407	151	24	algorithm	algorithm	NOUN
app01-3407	151	25	,	,	PUNCT
app01-3407	151	26	similarly	similarly	ADV
app01-3407	151	27	as	as	ADP
app01-3407	151	28	in	in	ADP
app01-3407	151	29	[	[	X
app01-3407	151	30	7	7	NUM
app01-3407	151	31	]	]	PUNCT
app01-3407	151	32	.	.	PUNCT
app01-3407	152	1	all	all	DET
app01-3407	152	2	instances	instance	NOUN
app01-3407	152	3	were	be	AUX
app01-3407	152	4	generated	generate	VERB
app01-3407	152	5	randomly	randomly	ADV
app01-3407	152	6	,	,	PUNCT
app01-3407	152	7	and	and	CCONJ
app01-3407	152	8	therefore	therefore	ADV
app01-3407	152	9	,	,	PUNCT
app01-3407	152	10	50	50	NUM
app01-3407	152	11	trials	trial	NOUN
app01-3407	152	12	have	have	AUX
app01-3407	152	13	been	be	AUX
app01-3407	152	14	solved	solve	VERB
app01-3407	152	15	for	for	ADP
app01-3407	152	16	each	each	DET
app01-3407	152	17	problem	problem	NOUN
app01-3407	152	18	and	and	CCONJ
app01-3407	152	19	the	the	DET
app01-3407	152	20	algorithm	algorithm	NOUN
app01-3407	152	21	variants	variant	NOUN
app01-3407	152	22	.	.	PUNCT
app01-3407	153	1	the	the	DET
app01-3407	153	2	achieved	achieve	VERB
app01-3407	153	3	results	result	NOUN
app01-3407	153	4	are	be	AUX
app01-3407	153	5	depicted	depict	VERB
app01-3407	153	6	in	in	ADP
app01-3407	153	7	figure	figure	NOUN
app01-3407	153	8	3	3	NUM
app01-3407	153	9	for	for	ADP
app01-3407	153	10	the	the	DET
app01-3407	153	11	20	20	NUM
app01-3407	153	12	regions	region	NOUN
app01-3407	153	13	and	and	CCONJ
app01-3407	153	14	in	in	ADP
app01-3407	153	15	figure	figure	NOUN
app01-3407	153	16	4	4	NUM
app01-3407	153	17	for	for	ADP
app01-3407	153	18	the	the	DET
app01-3407	153	19	40	40	NUM
app01-3407	153	20	goal	goal	NOUN
app01-3407	153	21	regions	region	NOUN
app01-3407	153	22	.	.	PUNCT
app01-3407	154	1	time	time	NOUN
app01-3407	155	1	[	[	X
app01-3407	155	2	s	s	X
app01-3407	155	3	]	]	X
app01-3407	155	4	10	10	NUM
app01-3407	155	5	-2	-2	NOUN
app01-3407	155	6	10	10	NUM
app01-3407	155	7	-1	-1	SYM
app01-3407	155	8	10	10	NUM
app01-3407	155	9	0	0	NUM
app01-3407	155	10	10	10	NUM
app01-3407	155	11	1	1	NUM
app01-3407	155	12	10	10	NUM
app01-3407	155	13	2	2	NUM
app01-3407	155	14	r	r	NOUN
app01-3407	155	15	el	el	PROPN
app01-3407	155	16	at	at	ADP
app01-3407	155	17	iv	iv	NUM
app01-3407	155	18	e	e	PROPN
app01-3407	155	19	le	le	X
app01-3407	155	20	n	n	PROPN
app01-3407	155	21	g	g	PROPN
app01-3407	155	22	th	th	X
app01-3407	155	23	o	o	X
app01-3407	155	24	f	f	X
app01-3407	155	25	th	th	X
app01-3407	155	26	e	e	X
app01-3407	155	27	so	so	ADV
app01-3407	155	28	lu	lu	VERB
app01-3407	155	29	ti	ti	PROPN
app01-3407	155	30	o	o	NOUN
app01-3407	155	31	n	n	CCONJ
app01-3407	155	32	1	1	NUM
app01-3407	155	33	1.1	1.1	NUM
app01-3407	155	34	1.2	1.2	NUM
app01-3407	155	35	1.3	1.3	NUM
app01-3407	155	36	1.4	1.4	NUM
app01-3407	155	37	1.5	1.5	NUM
app01-3407	155	38	etsp	etsp	NOUN
app01-3407	155	39	+	+	CCONJ
app01-3407	155	40	lio	lio	X
app01-3407	155	41	etspn	etspn	NOUN
app01-3407	155	42	+	+	CCONJ
app01-3407	155	43	holio	holio	PROPN
app01-3407	155	44	etspn	etspn	NOUN
app01-3407	155	45	+	+	CCONJ
app01-3407	155	46	aa	aa	PROPN
app01-3407	155	47	memetic	memetic	ADJ
app01-3407	155	48	genetic	genetic	ADJ
app01-3407	155	49	sample	sample	NOUN
app01-3407	155	50	+	+	CCONJ
app01-3407	155	51	atsp	atsp	NOUN
app01-3407	155	52	figure	figure	NOUN
app01-3407	155	53	3	3	NUM
app01-3407	155	54	.	.	PUNCT
app01-3407	155	55	average	average	ADJ
app01-3407	155	56	ratio	ratio	NOUN
app01-3407	155	57	of	of	ADP
app01-3407	155	58	the	the	DET
app01-3407	155	59	tour	tour	NOUN
app01-3407	155	60	length	length	NOUN
app01-3407	155	61	(	(	PUNCT
app01-3407	155	62	from	from	ADP
app01-3407	155	63	50	50	NUM
app01-3407	155	64	trials	trial	NOUN
app01-3407	155	65	)	)	PUNCT
app01-3407	155	66	according	accord	VERB
app01-3407	155	67	to	to	ADP
app01-3407	155	68	the	the	DET
app01-3407	155	69	etsp+lio	etsp+lio	PROPN
app01-3407	155	70	solution	solution	NOUN
app01-3407	155	71	for	for	ADP
app01-3407	155	72	the	the	DET
app01-3407	155	73	dtspn	dtspn	NOUN
app01-3407	155	74	with	with	ADP
app01-3407	155	75	n=20	n=20	NOUN
app01-3407	155	76	convex	convex	NOUN
app01-3407	155	77	regions	region	NOUN
app01-3407	155	78	.	.	PUNCT
app01-3407	156	1	plots	plot	NOUN
app01-3407	156	2	start	start	VERB
app01-3407	156	3	from	from	ADP
app01-3407	156	4	the	the	DET
app01-3407	156	5	time	time	NOUN
app01-3407	156	6	when	when	SCONJ
app01-3407	156	7	the	the	DET
app01-3407	156	8	first	first	ADJ
app01-3407	156	9	solution	solution	NOUN
app01-3407	156	10	is	be	AUX
app01-3407	156	11	available	available	ADJ
app01-3407	156	12	.	.	PUNCT
app01-3407	157	1	time	time	NOUN
app01-3407	158	1	[	[	X
app01-3407	158	2	s	s	X
app01-3407	158	3	]	]	X
app01-3407	158	4	10	10	NUM
app01-3407	158	5	-2	-2	NOUN
app01-3407	158	6	10	10	NUM
app01-3407	158	7	-1	-1	SYM
app01-3407	158	8	10	10	NUM
app01-3407	158	9	0	0	NUM
app01-3407	158	10	10	10	NUM
app01-3407	158	11	1	1	NUM
app01-3407	158	12	10	10	NUM
app01-3407	158	13	2	2	NUM
app01-3407	158	14	r	r	NOUN
app01-3407	158	15	el	el	PROPN
app01-3407	158	16	at	at	ADP
app01-3407	158	17	iv	iv	NUM
app01-3407	158	18	e	e	PROPN
app01-3407	158	19	le	le	X
app01-3407	158	20	n	n	PROPN
app01-3407	158	21	g	g	PROPN
app01-3407	158	22	th	th	X
app01-3407	158	23	o	o	X
app01-3407	158	24	f	f	X
app01-3407	158	25	th	th	X
app01-3407	158	26	e	e	X
app01-3407	158	27	so	so	ADV
app01-3407	158	28	lu	lu	VERB
app01-3407	158	29	ti	ti	PROPN
app01-3407	158	30	o	o	NOUN
app01-3407	158	31	n	n	CCONJ
app01-3407	158	32	1	1	NUM
app01-3407	158	33	1.1	1.1	NUM
app01-3407	158	34	1.2	1.2	NUM
app01-3407	158	35	1.3	1.3	NUM
app01-3407	158	36	1.4	1.4	NUM
app01-3407	158	37	1.5	1.5	NUM
app01-3407	158	38	etsp	etsp	NOUN
app01-3407	158	39	+	+	CCONJ
app01-3407	158	40	lio	lio	X
app01-3407	158	41	etspn	etspn	NOUN
app01-3407	158	42	+	+	CCONJ
app01-3407	158	43	holio	holio	PROPN
app01-3407	158	44	etspn	etspn	NOUN
app01-3407	158	45	+	+	CCONJ
app01-3407	158	46	aa	aa	PROPN
app01-3407	158	47	memetic	memetic	ADJ
app01-3407	158	48	genetic	genetic	ADJ
app01-3407	158	49	sample	sample	NOUN
app01-3407	158	50	+	+	CCONJ
app01-3407	158	51	atsp	atsp	NOUN
app01-3407	158	52	figure	figure	NOUN
app01-3407	158	53	4	4	NUM
app01-3407	158	54	.	.	PUNCT
app01-3407	158	55	average	average	ADJ
app01-3407	158	56	ratio	ratio	NOUN
app01-3407	158	57	of	of	ADP
app01-3407	158	58	the	the	DET
app01-3407	158	59	tour	tour	NOUN
app01-3407	158	60	length	length	NOUN
app01-3407	158	61	(	(	PUNCT
app01-3407	158	62	from	from	ADP
app01-3407	158	63	50	50	NUM
app01-3407	158	64	trials	trial	NOUN
app01-3407	158	65	)	)	PUNCT
app01-3407	158	66	according	accord	VERB
app01-3407	158	67	to	to	ADP
app01-3407	158	68	the	the	DET
app01-3407	158	69	etsp+lio	etsp+lio	PROPN
app01-3407	158	70	solution	solution	NOUN
app01-3407	158	71	for	for	ADP
app01-3407	158	72	the	the	DET
app01-3407	158	73	dtspn	dtspn	NOUN
app01-3407	158	74	with	with	ADP
app01-3407	158	75	n=40	n=40	ADJ
app01-3407	158	76	convex	convex	NOUN
app01-3407	158	77	regions	region	NOUN
app01-3407	158	78	.	.	PUNCT
app01-3407	159	1	plots	plot	NOUN
app01-3407	159	2	start	start	VERB
app01-3407	159	3	from	from	ADP
app01-3407	159	4	the	the	DET
app01-3407	159	5	time	time	NOUN
app01-3407	159	6	when	when	SCONJ
app01-3407	159	7	the	the	DET
app01-3407	159	8	first	first	ADJ
app01-3407	159	9	solution	solution	NOUN
app01-3407	159	10	is	be	AUX
app01-3407	159	11	available	available	ADJ
app01-3407	159	12	.	.	PUNCT
app01-3407	160	1	all	all	DET
app01-3407	160	2	the	the	DET
app01-3407	160	3	algorithms	algorithm	NOUN
app01-3407	160	4	have	have	AUX
app01-3407	160	5	been	be	AUX
app01-3407	160	6	implemented	implement	VERB
app01-3407	160	7	in	in	ADP
app01-3407	160	8	c++	c++	NOUN
app01-3407	160	9	and	and	CCONJ
app01-3407	160	10	tested	test	VERB
app01-3407	160	11	on	on	ADP
app01-3407	160	12	a	a	DET
app01-3407	160	13	single	single	ADJ
app01-3407	160	14	core	core	NOUN
app01-3407	160	15	of	of	ADP
app01-3407	160	16	the	the	DET
app01-3407	160	17	intel	intel	PROPN
app01-3407	160	18	core	core	PROPN
app01-3407	160	19	i5	i5	PROPN
app01-3407	160	20	-	-	PUNCT
app01-3407	160	21	m480	m480	ADJ
app01-3407	160	22	cpu	cpu	NOUN
app01-3407	160	23	running	run	VERB
app01-3407	160	24	at	at	ADP
app01-3407	160	25	2.67	2.67	NUM
app01-3407	160	26	ghz	ghz	NOUN
app01-3407	160	27	.	.	PUNCT
app01-3407	161	1	the	the	DET
app01-3407	161	2	processor	processor	NOUN
app01-3407	161	3	was	be	AUX
app01-3407	161	4	accompanied	accompany	VERB
app01-3407	161	5	with	with	ADP
app01-3407	161	6	4	4	NUM
app01-3407	161	7	gb	gb	NOUN
app01-3407	161	8	ram	ram	NOUN
app01-3407	161	9	.	.	PUNCT
app01-3407	162	1	6.1	6.1	NUM
app01-3407	162	2	.	.	PUNCT
app01-3407	162	3	discussion	discussion	NOUN
app01-3407	162	4	the	the	DET
app01-3407	162	5	presented	present	VERB
app01-3407	162	6	results	result	NOUN
app01-3407	162	7	show	show	VERB
app01-3407	162	8	that	that	SCONJ
app01-3407	162	9	the	the	DET
app01-3407	162	10	proposed	propose	VERB
app01-3407	162	11	modification	modification	NOUN
app01-3407	162	12	of	of	ADP
app01-3407	162	13	the	the	DET
app01-3407	162	14	sampling	sampling	NOUN
app01-3407	162	15	-	-	PUNCT
app01-3407	162	16	based	base	VERB
app01-3407	162	17	algorithm	algorithm	NOUN
app01-3407	162	18	can	can	AUX
app01-3407	162	19	be	be	AUX
app01-3407	162	20	considered	consider	VERB
app01-3407	162	21	as	as	ADP
app01-3407	162	22	a	a	DET
app01-3407	162	23	meaningful	meaningful	ADJ
app01-3407	162	24	alternative	alternative	NOUN
app01-3407	162	25	to	to	ADP
app01-3407	162	26	the	the	DET
app01-3407	162	27	evolutionary	evolutionary	ADJ
app01-3407	162	28	based	base	VERB
app01-3407	162	29	algorithms	algorithm	NOUN
app01-3407	162	30	.	.	PUNCT
app01-3407	163	1	in	in	ADP
app01-3407	163	2	the	the	DET
app01-3407	163	3	case	case	NOUN
app01-3407	163	4	of	of	ADP
app01-3407	163	5	the	the	DET
app01-3407	163	6	high	high	ADJ
app01-3407	163	7	number	number	NOUN
app01-3407	163	8	of	of	ADP
app01-3407	163	9	regions	region	NOUN
app01-3407	163	10	to	to	PART
app01-3407	163	11	visit	visit	VERB
app01-3407	163	12	(	(	PUNCT
app01-3407	163	13	n	n	NOUN
app01-3407	163	14	=	=	NUM
app01-3407	163	15	40	40	NUM
app01-3407	163	16	)	)	PUNCT
app01-3407	163	17	,	,	PUNCT
app01-3407	163	18	the	the	DET
app01-3407	163	19	modified	modify	VERB
app01-3407	163	20	samplingbased	samplingbase	VERB
app01-3407	163	21	algorithm	algorithm	NOUN
app01-3407	163	22	has	have	VERB
app01-3407	163	23	even	even	ADV
app01-3407	163	24	superior	superior	ADJ
app01-3407	163	25	results	result	NOUN
app01-3407	163	26	to	to	ADP
app01-3407	163	27	the	the	DET
app01-3407	163	28	both	both	CCONJ
app01-3407	163	29	genetic	genetic	ADJ
app01-3407	163	30	and	and	CCONJ
app01-3407	163	31	memetic	memetic	ADJ
app01-3407	163	32	algorithms	algorithm	NOUN
app01-3407	163	33	,	,	PUNCT
app01-3407	163	34	while	while	SCONJ
app01-3407	163	35	it	it	PRON
app01-3407	163	36	is	be	AUX
app01-3407	163	37	less	less	ADV
app01-3407	163	38	computationally	computationally	ADV
app01-3407	163	39	demanding	demanding	ADJ
app01-3407	163	40	.	.	PUNCT
app01-3407	164	1	in	in	ADP
app01-3407	164	2	the	the	DET
app01-3407	164	3	results	result	NOUN
app01-3407	164	4	depicted	depict	VERB
app01-3407	164	5	in	in	ADP
app01-3407	164	6	figures	figure	NOUN
app01-3407	164	7	3	3	NUM
app01-3407	164	8	and	and	CCONJ
app01-3407	164	9	4	4	NUM
app01-3407	164	10	,	,	PUNCT
app01-3407	164	11	the	the	DET
app01-3407	164	12	etsp+lio	etsp+lio	PROPN
app01-3407	164	13	algorithm	algorithm	NOUN
app01-3407	164	14	achieved	achieve	VERB
app01-3407	164	15	the	the	DET
app01-3407	164	16	best	good	ADJ
app01-3407	164	17	results	result	NOUN
app01-3407	164	18	among	among	ADP
app01-3407	164	19	60	60	NUM
app01-3407	164	20	vol	vol	NOUN
app01-3407	164	21	.	.	PUNCT
app01-3407	165	1	2/2015	2/2015	NUM
app01-3407	165	2	the	the	DET
app01-3407	165	3	dubins	dubin	NOUN
app01-3407	165	4	traveling	travel	VERB
app01-3407	165	5	salesman	salesman	ADJ
app01-3407	165	6	problem	problem	NOUN
app01-3407	165	7	with	with	ADP
app01-3407	165	8	neighborhoods	neighborhood	NOUN
app01-3407	165	9	the	the	DET
app01-3407	165	10	evaluated	evaluated	ADJ
app01-3407	165	11	algorithms	algorithm	NOUN
app01-3407	165	12	.	.	PUNCT
app01-3407	166	1	this	this	PRON
app01-3407	166	2	is	be	AUX
app01-3407	166	3	caused	cause	VERB
app01-3407	166	4	by	by	ADP
app01-3407	166	5	the	the	DET
app01-3407	166	6	fact	fact	NOUN
app01-3407	166	7	,	,	PUNCT
app01-3407	166	8	that	that	SCONJ
app01-3407	166	9	all	all	DET
app01-3407	166	10	instances	instance	NOUN
app01-3407	166	11	of	of	ADP
app01-3407	166	12	the	the	DET
app01-3407	166	13	dtspn	dtspn	NOUN
app01-3407	166	14	were	be	AUX
app01-3407	166	15	generated	generate	VERB
app01-3407	166	16	with	with	ADP
app01-3407	166	17	non	non	ADJ
app01-3407	166	18	-	-	ADJ
app01-3407	166	19	overlapping	overlapping	ADJ
app01-3407	166	20	regions	region	NOUN
app01-3407	166	21	with	with	ADP
app01-3407	166	22	the	the	DET
app01-3407	166	23	d4	d4	PROPN
app01-3407	166	24	constraint	constraint	NOUN
app01-3407	166	25	and	and	CCONJ
app01-3407	166	26	the	the	DET
app01-3407	166	27	etsp+lio	etsp+lio	PROPN
app01-3407	166	28	has	have	AUX
app01-3407	166	29	been	be	AUX
app01-3407	166	30	designed	design	VERB
app01-3407	166	31	on	on	ADP
app01-3407	166	32	top	top	NOUN
app01-3407	166	33	of	of	ADP
app01-3407	166	34	the	the	DET
app01-3407	166	35	properties	property	NOUN
app01-3407	166	36	of	of	ADP
app01-3407	166	37	the	the	DET
app01-3407	166	38	optimal	optimal	ADJ
app01-3407	166	39	solution	solution	NOUN
app01-3407	166	40	of	of	ADP
app01-3407	166	41	such	such	DET
app01-3407	166	42	a	a	DET
app01-3407	166	43	problem	problem	NOUN
app01-3407	166	44	and	and	CCONJ
app01-3407	166	45	thus	thus	ADV
app01-3407	166	46	it	it	PRON
app01-3407	166	47	directly	directly	ADV
app01-3407	166	48	searches	search	VERB
app01-3407	166	49	for	for	ADP
app01-3407	166	50	good	good	ADJ
app01-3407	166	51	solutions	solution	NOUN
app01-3407	167	1	[	[	X
app01-3407	167	2	7	7	NUM
app01-3407	167	3	]	]	PUNCT
app01-3407	167	4	.	.	PUNCT
app01-3407	168	1	7	7	X
app01-3407	168	2	.	.	X
app01-3407	168	3	conclusions	conclusion	NOUN
app01-3407	168	4	in	in	ADP
app01-3407	168	5	this	this	DET
app01-3407	168	6	paper	paper	NOUN
app01-3407	168	7	,	,	PUNCT
app01-3407	168	8	we	we	PRON
app01-3407	168	9	proposed	propose	VERB
app01-3407	168	10	a	a	DET
app01-3407	168	11	modification	modification	NOUN
app01-3407	168	12	of	of	ADP
app01-3407	168	13	the	the	DET
app01-3407	168	14	sampling	sampling	NOUN
app01-3407	168	15	-	-	PUNCT
app01-3407	168	16	based	base	VERB
app01-3407	168	17	algorithm	algorithm	NOUN
app01-3407	168	18	for	for	ADP
app01-3407	168	19	the	the	DET
app01-3407	168	20	dtspn	dtspn	NOUN
app01-3407	168	21	.	.	PUNCT
app01-3407	169	1	the	the	DET
app01-3407	169	2	proposed	propose	VERB
app01-3407	169	3	algorithm	algorithm	NOUN
app01-3407	169	4	repeatably	repeatably	ADV
app01-3407	169	5	executes	execute	VERB
app01-3407	169	6	the	the	DET
app01-3407	169	7	original	original	ADJ
app01-3407	169	8	sampling	sampling	NOUN
app01-3407	169	9	-	-	PUNCT
app01-3407	169	10	based	base	VERB
app01-3407	169	11	algorithm	algorithm	NOUN
app01-3407	169	12	with	with	ADP
app01-3407	169	13	an	an	DET
app01-3407	169	14	increasing	increase	VERB
app01-3407	169	15	number	number	NOUN
app01-3407	169	16	of	of	ADP
app01-3407	169	17	the	the	DET
app01-3407	169	18	samples	sample	NOUN
app01-3407	169	19	per	per	ADP
app01-3407	169	20	each	each	DET
app01-3407	169	21	region	region	NOUN
app01-3407	169	22	.	.	PUNCT
app01-3407	170	1	by	by	ADP
app01-3407	170	2	this	this	DET
app01-3407	170	3	modification	modification	NOUN
app01-3407	170	4	,	,	PUNCT
app01-3407	170	5	the	the	DET
app01-3407	170	6	newly	newly	ADV
app01-3407	170	7	developed	develop	VERB
app01-3407	170	8	algorithm	algorithm	NOUN
app01-3407	170	9	provides	provide	VERB
app01-3407	170	10	the	the	DET
app01-3407	170	11	first	first	ADJ
app01-3407	170	12	solution	solution	NOUN
app01-3407	170	13	very	very	ADV
app01-3407	170	14	quickly	quickly	ADV
app01-3407	170	15	that	that	PRON
app01-3407	170	16	can	can	AUX
app01-3407	170	17	be	be	AUX
app01-3407	170	18	further	far	ADV
app01-3407	170	19	improve	improve	VERB
app01-3407	170	20	if	if	SCONJ
app01-3407	170	21	more	more	ADJ
app01-3407	170	22	time	time	NOUN
app01-3407	170	23	is	be	AUX
app01-3407	170	24	available	available	ADJ
app01-3407	170	25	.	.	PUNCT
app01-3407	171	1	this	this	PRON
app01-3407	171	2	makes	make	VERB
app01-3407	171	3	the	the	DET
app01-3407	171	4	algorithm	algorithm	NOUN
app01-3407	171	5	suitable	suitable	ADJ
app01-3407	171	6	in	in	ADP
app01-3407	171	7	situations	situation	NOUN
app01-3407	171	8	where	where	SCONJ
app01-3407	171	9	a	a	DET
app01-3407	171	10	solution	solution	NOUN
app01-3407	171	11	has	have	VERB
app01-3407	171	12	to	to	PART
app01-3407	171	13	be	be	AUX
app01-3407	171	14	found	find	VERB
app01-3407	171	15	quickly	quickly	ADV
app01-3407	171	16	and	and	CCONJ
app01-3407	171	17	where	where	SCONJ
app01-3407	171	18	the	the	DET
app01-3407	171	19	maximum	maximum	ADJ
app01-3407	171	20	time	time	NOUN
app01-3407	171	21	that	that	PRON
app01-3407	171	22	can	can	AUX
app01-3407	171	23	be	be	AUX
app01-3407	171	24	dedicated	dedicate	VERB
app01-3407	171	25	for	for	ADP
app01-3407	171	26	the	the	DET
app01-3407	171	27	computation	computation	NOUN
app01-3407	171	28	is	be	AUX
app01-3407	171	29	not	not	PART
app01-3407	171	30	known	know	VERB
app01-3407	171	31	in	in	ADP
app01-3407	171	32	advance	advance	NOUN
app01-3407	171	33	.	.	PUNCT
app01-3407	172	1	we	we	PRON
app01-3407	172	2	also	also	ADV
app01-3407	172	3	compared	compare	VERB
app01-3407	172	4	the	the	DET
app01-3407	172	5	modified	modified	ADJ
app01-3407	172	6	algorithm	algorithm	NOUN
app01-3407	172	7	with	with	ADP
app01-3407	172	8	other	other	ADJ
app01-3407	172	9	existing	exist	VERB
app01-3407	172	10	approaches	approach	NOUN
app01-3407	172	11	on	on	ADP
app01-3407	172	12	the	the	DET
app01-3407	172	13	randomly	randomly	ADV
app01-3407	172	14	generated	generate	VERB
app01-3407	172	15	instances	instance	NOUN
app01-3407	172	16	of	of	ADP
app01-3407	172	17	the	the	DET
app01-3407	172	18	dtspn	dtspn	NOUN
app01-3407	172	19	with	with	ADP
app01-3407	172	20	the	the	DET
app01-3407	172	21	d4	d4	PROPN
app01-3407	172	22	constraint	constraint	NOUN
app01-3407	172	23	.	.	PUNCT
app01-3407	173	1	the	the	DET
app01-3407	173	2	modified	modify	VERB
app01-3407	173	3	algorithm	algorithm	NOUN
app01-3407	173	4	provides	provide	VERB
app01-3407	173	5	better	well	ADJ
app01-3407	173	6	results	result	NOUN
app01-3407	173	7	than	than	ADP
app01-3407	173	8	the	the	DET
app01-3407	173	9	implemented	implement	VERB
app01-3407	173	10	evolutionary	evolutionary	ADJ
app01-3407	173	11	algorithms	algorithm	NOUN
app01-3407	173	12	while	while	SCONJ
app01-3407	173	13	it	it	PRON
app01-3407	173	14	is	be	AUX
app01-3407	173	15	less	less	ADV
app01-3407	173	16	computationally	computationally	ADV
app01-3407	173	17	demanding	demanding	ADJ
app01-3407	173	18	.	.	PUNCT
app01-3407	174	1	a	a	DET
app01-3407	174	2	further	further	ADJ
app01-3407	174	3	comparison	comparison	NOUN
app01-3407	174	4	of	of	ADP
app01-3407	174	5	the	the	DET
app01-3407	174	6	algorithms	algorithm	NOUN
app01-3407	174	7	’	'	PUNCT
app01-3407	174	8	performance	performance	NOUN
app01-3407	174	9	in	in	ADP
app01-3407	174	10	the	the	DET
app01-3407	174	11	instances	instance	NOUN
app01-3407	174	12	of	of	ADP
app01-3407	174	13	the	the	DET
app01-3407	174	14	dtspn	dtspn	NOUN
app01-3407	174	15	where	where	SCONJ
app01-3407	174	16	regions	region	NOUN
app01-3407	174	17	to	to	PART
app01-3407	174	18	visit	visit	VERB
app01-3407	174	19	are	be	AUX
app01-3407	174	20	closer	close	ADJ
app01-3407	174	21	or	or	CCONJ
app01-3407	174	22	overlapping	overlap	VERB
app01-3407	174	23	is	be	AUX
app01-3407	174	24	a	a	DET
app01-3407	174	25	subject	subject	NOUN
app01-3407	174	26	of	of	ADP
app01-3407	174	27	our	our	PRON
app01-3407	174	28	future	future	ADJ
app01-3407	174	29	work	work	NOUN
app01-3407	174	30	.	.	PUNCT
app01-3407	175	1	acknowledgements	acknowledgement	NOUN
app01-3407	175	2	the	the	DET
app01-3407	175	3	presented	present	VERB
app01-3407	175	4	work	work	NOUN
app01-3407	175	5	has	have	AUX
app01-3407	175	6	been	be	AUX
app01-3407	175	7	supported	support	VERB
app01-3407	175	8	by	by	ADP
app01-3407	175	9	the	the	DET
app01-3407	175	10	czech	czech	PROPN
app01-3407	175	11	science	science	PROPN
app01-3407	175	12	foundation	foundation	PROPN
app01-3407	175	13	(	(	PUNCT
app01-3407	175	14	gačr	gačr	NOUN
app01-3407	175	15	)	)	PUNCT
app01-3407	175	16	under	under	ADP
app01-3407	175	17	research	research	NOUN
app01-3407	175	18	project	project	NOUN
app01-3407	175	19	no	no	NOUN
app01-3407	175	20	.	.	PUNCT
app01-3407	176	1	gp13	gp13	PROPN
app01-3407	176	2	-	-	PUNCT
app01-3407	176	3	18316p	18316p	NUM
app01-3407	176	4	.	.	PUNCT
app01-3407	177	1	references	reference	NOUN
app01-3407	177	2	[	[	X
app01-3407	177	3	1	1	NUM
app01-3407	177	4	]	]	PUNCT
app01-3407	177	5	l.	l.	PROPN
app01-3407	177	6	e.	e.	PROPN
app01-3407	177	7	dubins	dubins	PROPN
app01-3407	177	8	.	.	PUNCT
app01-3407	178	1	on	on	ADP
app01-3407	178	2	curves	curve	NOUN
app01-3407	178	3	of	of	ADP
app01-3407	178	4	minimal	minimal	ADJ
app01-3407	178	5	length	length	NOUN
app01-3407	178	6	with	with	ADP
app01-3407	178	7	a	a	DET
app01-3407	178	8	constraint	constraint	NOUN
app01-3407	178	9	on	on	ADP
app01-3407	178	10	average	average	ADJ
app01-3407	178	11	curvature	curvature	NOUN
app01-3407	178	12	,	,	PUNCT
app01-3407	178	13	and	and	CCONJ
app01-3407	178	14	with	with	ADP
app01-3407	178	15	prescribed	prescribed	ADJ
app01-3407	178	16	initial	initial	ADJ
app01-3407	178	17	and	and	CCONJ
app01-3407	178	18	terminal	terminal	ADJ
app01-3407	178	19	positions	position	NOUN
app01-3407	178	20	and	and	CCONJ
app01-3407	178	21	tangents	tangent	NOUN
app01-3407	178	22	.	.	PUNCT
app01-3407	178	23	american	american	ADJ
app01-3407	178	24	journal	journal	PROPN
app01-3407	178	25	of	of	ADP
app01-3407	178	26	mathematics	mathematics	PROPN
app01-3407	178	27	pp	pp	ADV
app01-3407	178	28	.	.	PUNCT
app01-3407	179	1	497–516	497–516	NUM
app01-3407	179	2	,	,	PUNCT
app01-3407	179	3	1957	1957	NUM
app01-3407	179	4	.	.	PUNCT
app01-3407	180	1	doi:10.2307/2372560	doi:10.2307/2372560	ADJ
app01-3407	180	2	.	.	PUNCT
app01-3407	181	1	[	[	X
app01-3407	181	2	2	2	NUM
app01-3407	181	3	]	]	PUNCT
app01-3407	181	4	k.	k.	PROPN
app01-3407	181	5	savla	savla	PROPN
app01-3407	181	6	,	,	PUNCT
app01-3407	181	7	e.	e.	PROPN
app01-3407	181	8	frazzoli	frazzoli	PROPN
app01-3407	181	9	,	,	PUNCT
app01-3407	181	10	f.	f.	PROPN
app01-3407	181	11	bullo	bullo	PROPN
app01-3407	181	12	.	.	PUNCT
app01-3407	182	1	on	on	ADP
app01-3407	182	2	the	the	DET
app01-3407	182	3	point	point	NOUN
app01-3407	182	4	-	-	PUNCT
app01-3407	182	5	to	to	ADP
app01-3407	182	6	-	-	PUNCT
app01-3407	182	7	point	point	NOUN
app01-3407	182	8	and	and	CCONJ
app01-3407	182	9	traveling	travel	VERB
app01-3407	182	10	salesperson	salesperson	NOUN
app01-3407	182	11	problems	problem	NOUN
app01-3407	182	12	for	for	ADP
app01-3407	182	13	dubins	dubin	NOUN
app01-3407	182	14	’	'	PUNCT
app01-3407	182	15	vehicle	vehicle	NOUN
app01-3407	182	16	.	.	PUNCT
app01-3407	183	1	in	in	ADP
app01-3407	183	2	proceedings	proceeding	NOUN
app01-3407	183	3	of	of	ADP
app01-3407	183	4	the	the	DET
app01-3407	183	5	american	american	PROPN
app01-3407	183	6	control	control	PROPN
app01-3407	183	7	conference	conference	PROPN
app01-3407	183	8	,	,	PUNCT
app01-3407	183	9	pp	pp	X
app01-3407	183	10	.	.	PUNCT
app01-3407	184	1	786–791	786–791	NUM
app01-3407	184	2	.	.	X
app01-3407	184	3	ieee	ieee	NOUN
app01-3407	184	4	,	,	PUNCT
app01-3407	184	5	2005	2005	NUM
app01-3407	184	6	.	.	PUNCT
app01-3407	185	1	doi:10.1109	doi:10.1109	VERB
app01-3407	185	2	/	/	SYM
app01-3407	185	3	acc.2005.1470055	acc.2005.1470055	NUM
app01-3407	185	4	.	.	PUNCT
app01-3407	186	1	[	[	X
app01-3407	186	2	3	3	NUM
app01-3407	186	3	]	]	PUNCT
app01-3407	186	4	a.	a.	NOUN
app01-3407	186	5	dumitrescu	dumitrescu	PROPN
app01-3407	186	6	,	,	PUNCT
app01-3407	186	7	j.	j.	PROPN
app01-3407	186	8	mitchell	mitchell	PROPN
app01-3407	186	9	.	.	PUNCT
app01-3407	187	1	approximation	approximation	NOUN
app01-3407	187	2	algorithms	algorithm	NOUN
app01-3407	187	3	for	for	ADP
app01-3407	187	4	tsp	tsp	NOUN
app01-3407	187	5	with	with	ADP
app01-3407	187	6	neighborhoods	neighborhood	NOUN
app01-3407	187	7	in	in	ADP
app01-3407	187	8	the	the	DET
app01-3407	187	9	plane	plane	NOUN
app01-3407	187	10	.	.	PUNCT
app01-3407	188	1	j	j	PROPN
app01-3407	188	2	algorithms	algorithm	VERB
app01-3407	188	3	48(1):135–159	48(1):135–159	PROPN
app01-3407	188	4	,	,	PUNCT
app01-3407	188	5	2003	2003	NUM
app01-3407	188	6	.	.	PUNCT
app01-3407	189	1	[	[	X
app01-3407	189	2	4	4	X
app01-3407	189	3	]	]	PUNCT
app01-3407	189	4	j.	j.	PROPN
app01-3407	189	5	t.	t.	PROPN
app01-3407	189	6	isaacs	isaacs	PROPN
app01-3407	189	7	,	,	PUNCT
app01-3407	189	8	d.	d.	PROPN
app01-3407	189	9	j.	j.	PROPN
app01-3407	189	10	klein	klein	PROPN
app01-3407	189	11	,	,	PUNCT
app01-3407	189	12	j.	j.	PROPN
app01-3407	189	13	p.	p.	PROPN
app01-3407	189	14	hespanha	hespanha	PROPN
app01-3407	189	15	.	.	PUNCT
app01-3407	190	1	algorithms	algorithm	NOUN
app01-3407	190	2	for	for	ADP
app01-3407	190	3	the	the	DET
app01-3407	190	4	traveling	travel	VERB
app01-3407	190	5	salesman	salesman	ADJ
app01-3407	190	6	problem	problem	NOUN
app01-3407	190	7	with	with	ADP
app01-3407	190	8	neighborhoods	neighborhood	NOUN
app01-3407	190	9	involving	involve	VERB
app01-3407	190	10	a	a	DET
app01-3407	190	11	dubins	dubin	NOUN
app01-3407	190	12	vehicle	vehicle	NOUN
app01-3407	190	13	.	.	PUNCT
app01-3407	191	1	in	in	ADP
app01-3407	191	2	american	american	PROPN
app01-3407	191	3	control	control	PROPN
app01-3407	191	4	conference	conference	PROPN
app01-3407	191	5	(	(	PUNCT
app01-3407	191	6	acc	acc	PROPN
app01-3407	191	7	)	)	PUNCT
app01-3407	191	8	,	,	PUNCT
app01-3407	191	9	2011	2011	NUM
app01-3407	191	10	,	,	PUNCT
app01-3407	191	11	pp	pp	ADJ
app01-3407	191	12	.	.	PUNCT
app01-3407	192	1	1704–1709	1704–1709	NUM
app01-3407	192	2	.	.	PUNCT
app01-3407	193	1	ieee	ieee	PROPN
app01-3407	193	2	,	,	PUNCT
app01-3407	193	3	2011	2011	NUM
app01-3407	193	4	.	.	PUNCT
app01-3407	194	1	doi:10.1109	doi:10.1109	VERB
app01-3407	194	2	/	/	SYM
app01-3407	194	3	acc.2011.5991501	acc.2011.5991501	VERB
app01-3407	194	4	.	.	PUNCT
app01-3407	195	1	[	[	X
app01-3407	195	2	5	5	NUM
app01-3407	195	3	]	]	PUNCT
app01-3407	195	4	x.	x.	PROPN
app01-3407	195	5	ma	ma	PROPN
app01-3407	195	6	,	,	PUNCT
app01-3407	195	7	d.	d.	PROPN
app01-3407	195	8	a.	a.	PROPN
app01-3407	195	9	castanon	castanon	PROPN
app01-3407	195	10	.	.	PUNCT
app01-3407	196	1	receding	recede	VERB
app01-3407	196	2	horizon	horizon	NOUN
app01-3407	196	3	planning	plan	VERB
app01-3407	196	4	for	for	ADP
app01-3407	196	5	dubins	dubin	NOUN
app01-3407	196	6	traveling	travel	VERB
app01-3407	196	7	salesman	salesman	NOUN
app01-3407	196	8	problems	problem	NOUN
app01-3407	196	9	.	.	PUNCT
app01-3407	197	1	in	in	ADP
app01-3407	197	2	45th	45th	ADJ
app01-3407	197	3	ieee	ieee	NOUN
app01-3407	197	4	conference	conference	NOUN
app01-3407	197	5	on	on	ADP
app01-3407	197	6	decision	decision	NOUN
app01-3407	197	7	and	and	CCONJ
app01-3407	197	8	control	control	NOUN
app01-3407	197	9	,	,	PUNCT
app01-3407	197	10	pp	pp	X
app01-3407	197	11	.	.	PUNCT
app01-3407	197	12	5453–5458	5453–5458	NUM
app01-3407	197	13	.	.	PUNCT
app01-3407	198	1	2006	2006	NUM
app01-3407	198	2	.	.	PUNCT
app01-3407	199	1	doi:10.1109	doi:10.1109	VERB
app01-3407	199	2	/	/	SYM
app01-3407	199	3	cdc.2006.376928	cdc.2006.376928	PROPN
app01-3407	199	4	.	.	PUNCT
app01-3407	200	1	[	[	X
app01-3407	200	2	6	6	NUM
app01-3407	200	3	]	]	PUNCT
app01-3407	200	4	j.	j.	PROPN
app01-3407	200	5	le	le	PROPN
app01-3407	200	6	ny	ny	PROPN
app01-3407	200	7	,	,	PUNCT
app01-3407	200	8	e.	e.	PROPN
app01-3407	200	9	feron	feron	PROPN
app01-3407	200	10	,	,	PUNCT
app01-3407	200	11	e.	e.	PROPN
app01-3407	200	12	frazzoli	frazzoli	PROPN
app01-3407	200	13	.	.	PUNCT
app01-3407	201	1	on	on	ADP
app01-3407	201	2	the	the	DET
app01-3407	201	3	dubins	dubin	NOUN
app01-3407	201	4	traveling	travel	VERB
app01-3407	201	5	salesman	salesman	ADJ
app01-3407	201	6	problem	problem	NOUN
app01-3407	201	7	.	.	PUNCT
app01-3407	202	1	ieee	ieee	NOUN
app01-3407	202	2	transactions	transaction	NOUN
app01-3407	202	3	on	on	ADP
app01-3407	202	4	automatic	automatic	ADJ
app01-3407	202	5	control	control	NOUN
app01-3407	202	6	57(1):265–270	57(1):265–270	NUM
app01-3407	202	7	,	,	PUNCT
app01-3407	202	8	2012	2012	NUM
app01-3407	202	9	.	.	PUNCT
app01-3407	203	1	doi:10.1109	doi:10.1109	VERB
app01-3407	203	2	/	/	SYM
app01-3407	203	3	tac.2011.2166311	tac.2011.2166311	NUM
app01-3407	203	4	.	.	PUNCT
app01-3407	204	1	[	[	X
app01-3407	204	2	7	7	X
app01-3407	204	3	]	]	PUNCT
app01-3407	204	4	p.	p.	NOUN
app01-3407	204	5	váňa	váňa	NOUN
app01-3407	204	6	,	,	PUNCT
app01-3407	204	7	j.	j.	PROPN
app01-3407	204	8	faigl	faigl	PROPN
app01-3407	204	9	.	.	PUNCT
app01-3407	205	1	on	on	ADP
app01-3407	205	2	the	the	DET
app01-3407	205	3	dubins	dubin	NOUN
app01-3407	205	4	traveling	travel	VERB
app01-3407	205	5	salesman	salesman	ADJ
app01-3407	205	6	problem	problem	NOUN
app01-3407	205	7	with	with	ADP
app01-3407	205	8	neighborhoods	neighborhood	NOUN
app01-3407	205	9	.	.	PUNCT
app01-3407	206	1	international	international	ADJ
app01-3407	206	2	conference	conference	NOUN
app01-3407	206	3	on	on	ADP
app01-3407	206	4	intelligent	intelligent	ADJ
app01-3407	206	5	robots	robot	NOUN
app01-3407	206	6	and	and	CCONJ
app01-3407	206	7	systems	system	NOUN
app01-3407	206	8	(	(	PUNCT
app01-3407	206	9	iros	iro	NOUN
app01-3407	206	10	)	)	PUNCT
app01-3407	206	11	pp	pp	ADV
app01-3407	206	12	.	.	PUNCT
app01-3407	206	13	4029–4034	4029–4034	NUM
app01-3407	206	14	,	,	PUNCT
app01-3407	206	15	2015	2015	NUM
app01-3407	206	16	.	.	PUNCT
app01-3407	207	1	[	[	X
app01-3407	207	2	8	8	NUM
app01-3407	207	3	]	]	PUNCT
app01-3407	207	4	x.	x.	NOUN
app01-3407	207	5	goaoc	goaoc	NOUN
app01-3407	207	6	,	,	PUNCT
app01-3407	207	7	h.-s	h.-s	PROPN
app01-3407	207	8	.	.	PUNCT
app01-3407	208	1	kim	kim	PROPN
app01-3407	208	2	,	,	PUNCT
app01-3407	208	3	s.	s.	PROPN
app01-3407	208	4	lazard	lazard	PROPN
app01-3407	208	5	.	.	PUNCT
app01-3407	209	1	bounded	bound	VERB
app01-3407	209	2	-	-	PUNCT
app01-3407	209	3	curvature	curvature	NOUN
app01-3407	209	4	shortest	short	ADJ
app01-3407	209	5	paths	path	NOUN
app01-3407	209	6	through	through	ADP
app01-3407	209	7	a	a	DET
app01-3407	209	8	sequence	sequence	NOUN
app01-3407	209	9	of	of	ADP
app01-3407	209	10	points	point	NOUN
app01-3407	209	11	using	use	VERB
app01-3407	209	12	convex	convex	PROPN
app01-3407	209	13	optimization	optimization	NOUN
app01-3407	209	14	.	.	PUNCT
app01-3407	210	1	siam	siam	PROPN
app01-3407	210	2	journal	journal	PROPN
app01-3407	210	3	on	on	ADP
app01-3407	210	4	computing	compute	VERB
app01-3407	210	5	42(2):662–684	42(2):662–684	PROPN
app01-3407	210	6	,	,	PUNCT
app01-3407	210	7	2013	2013	NUM
app01-3407	210	8	.	.	PUNCT
app01-3407	211	1	doi:10.1137/100816079	doi:10.1137/100816079	PROPN
app01-3407	211	2	.	.	PUNCT
app01-3407	212	1	[	[	X
app01-3407	212	2	9	9	NUM
app01-3407	212	3	]	]	PUNCT
app01-3407	212	4	j.	j.	PROPN
app01-3407	212	5	t.	t.	PROPN
app01-3407	212	6	isaacs	isaacs	PROPN
app01-3407	212	7	,	,	PUNCT
app01-3407	212	8	j.	j.	PROPN
app01-3407	212	9	p.	p.	PROPN
app01-3407	212	10	hespanha	hespanha	PROPN
app01-3407	212	11	.	.	PUNCT
app01-3407	213	1	dubins	dubin	NOUN
app01-3407	213	2	traveling	travel	VERB
app01-3407	213	3	salesman	salesman	ADJ
app01-3407	213	4	problem	problem	NOUN
app01-3407	213	5	with	with	ADP
app01-3407	213	6	neighborhoods	neighborhood	NOUN
app01-3407	213	7	:	:	PUNCT
app01-3407	213	8	a	a	DET
app01-3407	213	9	graph	graph	NOUN
app01-3407	213	10	-	-	PUNCT
app01-3407	213	11	based	base	VERB
app01-3407	213	12	approach	approach	NOUN
app01-3407	213	13	.	.	PUNCT
app01-3407	214	1	algorithms	algorithms	PROPN
app01-3407	214	2	6(1):84–99	6(1):84–99	NUM
app01-3407	214	3	,	,	PUNCT
app01-3407	214	4	2013	2013	NUM
app01-3407	214	5	.	.	PUNCT
app01-3407	215	1	doi:10.3390	doi:10.3390	NOUN
app01-3407	215	2	/	/	SYM
app01-3407	216	1	a6010084	a6010084	PROPN
app01-3407	216	2	.	.	PUNCT
app01-3407	217	1	[	[	X
app01-3407	217	2	10	10	NUM
app01-3407	217	3	]	]	PUNCT
app01-3407	217	4	x.	x.	PROPN
app01-3407	217	5	yu	yu	PROPN
app01-3407	217	6	,	,	PUNCT
app01-3407	217	7	j.	j.	PROPN
app01-3407	217	8	hung	hung	PROPN
app01-3407	217	9	.	.	PUNCT
app01-3407	218	1	optimal	optimal	ADJ
app01-3407	218	2	path	path	NOUN
app01-3407	218	3	planning	planning	NOUN
app01-3407	218	4	for	for	ADP
app01-3407	218	5	an	an	DET
app01-3407	218	6	autonomous	autonomous	ADJ
app01-3407	218	7	robot	robot	NOUN
app01-3407	218	8	-	-	PUNCT
app01-3407	218	9	trailer	trailer	NOUN
app01-3407	218	10	system	system	NOUN
app01-3407	218	11	.	.	PUNCT
app01-3407	219	1	in	in	ADP
app01-3407	219	2	38th	38th	ADJ
app01-3407	219	3	annual	annual	ADJ
app01-3407	219	4	conference	conference	NOUN
app01-3407	219	5	on	on	ADP
app01-3407	219	6	ieee	ieee	PROPN
app01-3407	219	7	industrial	industrial	PROPN
app01-3407	219	8	electronics	electronics	PROPN
app01-3407	219	9	society	society	NOUN
app01-3407	219	10	(	(	PUNCT
app01-3407	219	11	iecon	iecon	NOUN
app01-3407	219	12	)	)	PUNCT
app01-3407	219	13	,	,	PUNCT
app01-3407	219	14	pp	pp	ADP
app01-3407	219	15	.	.	PUNCT
app01-3407	219	16	2762–2767	2762–2767	NUM
app01-3407	219	17	.	.	X
app01-3407	219	18	2012	2012	NUM
app01-3407	219	19	.	.	PUNCT
app01-3407	220	1	doi:10.1109	doi:10.1109	VERB
app01-3407	220	2	/	/	SYM
app01-3407	220	3	iecon.2012.6389140	iecon.2012.6389140	NUM
app01-3407	220	4	.	.	PUNCT
app01-3407	221	1	[	[	X
app01-3407	221	2	11	11	NUM
app01-3407	221	3	]	]	PUNCT
app01-3407	221	4	k.	k.	PROPN
app01-3407	221	5	j.	j.	PROPN
app01-3407	221	6	obermeyer	obermeyer	PROPN
app01-3407	221	7	,	,	PUNCT
app01-3407	221	8	p.	p.	PROPN
app01-3407	221	9	oberlin	oberlin	PROPN
app01-3407	221	10	,	,	PUNCT
app01-3407	221	11	s.	s.	PROPN
app01-3407	221	12	darbha	darbha	PROPN
app01-3407	221	13	.	.	PUNCT
app01-3407	222	1	samplingbased	samplingbase	VERB
app01-3407	222	2	path	path	NOUN
app01-3407	222	3	planning	planning	NOUN
app01-3407	222	4	for	for	ADP
app01-3407	222	5	a	a	DET
app01-3407	222	6	visual	visual	ADJ
app01-3407	222	7	reconnaissance	reconnaissance	NOUN
app01-3407	222	8	unmanned	unmanned	ADJ
app01-3407	222	9	air	air	NOUN
app01-3407	222	10	vehicle	vehicle	NOUN
app01-3407	222	11	.	.	PUNCT
app01-3407	223	1	journal	journal	PROPN
app01-3407	223	2	of	of	ADP
app01-3407	223	3	guidance	guidance	NOUN
app01-3407	223	4	,	,	PUNCT
app01-3407	223	5	control	control	NOUN
app01-3407	223	6	,	,	PUNCT
app01-3407	223	7	and	and	CCONJ
app01-3407	223	8	dynamics	dynamic	NOUN
app01-3407	223	9	35(2):619–631	35(2):619–631	NUM
app01-3407	223	10	,	,	PUNCT
app01-3407	223	11	2012	2012	NUM
app01-3407	223	12	.	.	PUNCT
app01-3407	224	1	doi:10.2514/1.48949	doi:10.2514/1.48949	PROPN
app01-3407	224	2	.	.	PUNCT
app01-3407	225	1	[	[	X
app01-3407	225	2	12	12	NUM
app01-3407	225	3	]	]	X
app01-3407	225	4	c.	c.	PROPN
app01-3407	225	5	e.	e.	PROPN
app01-3407	225	6	noon	noon	PROPN
app01-3407	225	7	,	,	PUNCT
app01-3407	225	8	j.	j.	PROPN
app01-3407	225	9	c.	c.	PROPN
app01-3407	225	10	bean	bean	PROPN
app01-3407	225	11	.	.	PUNCT
app01-3407	226	1	a	a	DET
app01-3407	226	2	lagrangian	lagrangian	ADJ
app01-3407	226	3	based	base	VERB
app01-3407	226	4	approach	approach	NOUN
app01-3407	226	5	for	for	ADP
app01-3407	226	6	the	the	DET
app01-3407	226	7	asymmetric	asymmetric	ADJ
app01-3407	226	8	generalized	generalized	ADJ
app01-3407	226	9	traveling	travel	VERB
app01-3407	226	10	salesman	salesman	ADJ
app01-3407	226	11	problem	problem	NOUN
app01-3407	226	12	.	.	PUNCT
app01-3407	227	1	operations	operation	NOUN
app01-3407	227	2	research	research	VERB
app01-3407	227	3	39(4):623–632	39(4):623–632	PROPN
app01-3407	227	4	,	,	PUNCT
app01-3407	227	5	1991	1991	NUM
app01-3407	227	6	.	.	PUNCT
app01-3407	228	1	doi:10.1287	doi:10.1287	PROPN
app01-3407	228	2	/	/	SYM
app01-3407	228	3	opre.39.4.623	opre.39.4.623	X
app01-3407	228	4	.	.	PUNCT
app01-3407	229	1	[	[	X
app01-3407	229	2	13	13	NUM
app01-3407	229	3	]	]	PUNCT
app01-3407	229	4	s.	s.	PROPN
app01-3407	229	5	lin	lin	PROPN
app01-3407	229	6	,	,	PUNCT
app01-3407	229	7	b.	b.	PROPN
app01-3407	229	8	w.	w.	PROPN
app01-3407	229	9	kernighan	kernighan	PROPN
app01-3407	229	10	.	.	PUNCT
app01-3407	230	1	an	an	DET
app01-3407	230	2	effective	effective	ADJ
app01-3407	230	3	heuristic	heuristic	ADJ
app01-3407	230	4	algorithm	algorithm	NOUN
app01-3407	230	5	for	for	ADP
app01-3407	230	6	the	the	DET
app01-3407	230	7	traveling	travel	VERB
app01-3407	230	8	-	-	PUNCT
app01-3407	230	9	salesman	salesman	NOUN
app01-3407	230	10	problem	problem	NOUN
app01-3407	230	11	.	.	PUNCT
app01-3407	231	1	operations	operation	NOUN
app01-3407	231	2	research	research	VERB
app01-3407	231	3	21(2):498–516	21(2):498–516	PROPN
app01-3407	231	4	,	,	PUNCT
app01-3407	231	5	1973	1973	NUM
app01-3407	231	6	.	.	PUNCT
app01-3407	232	1	doi:10.1287	doi:10.1287	PROPN
app01-3407	232	2	/	/	SYM
app01-3407	232	3	opre.21.2.498	opre.21.2.498	PROPN
app01-3407	232	4	.	.	PUNCT
app01-3407	233	1	[	[	X
app01-3407	233	2	14	14	NUM
app01-3407	233	3	]	]	PUNCT
app01-3407	233	4	k.	k.	PROPN
app01-3407	233	5	j.	j.	PROPN
app01-3407	233	6	obermeyer	obermeyer	PROPN
app01-3407	233	7	.	.	PUNCT
app01-3407	234	1	path	path	PROPN
app01-3407	234	2	planning	planning	NOUN
app01-3407	234	3	for	for	ADP
app01-3407	234	4	a	a	DET
app01-3407	234	5	uav	uav	PROPN
app01-3407	234	6	performing	perform	VERB
app01-3407	234	7	reconnaissance	reconnaissance	NOUN
app01-3407	234	8	of	of	ADP
app01-3407	234	9	static	static	ADJ
app01-3407	234	10	ground	ground	NOUN
app01-3407	234	11	targets	target	NOUN
app01-3407	234	12	in	in	ADP
app01-3407	234	13	terrain	terrain	NOUN
app01-3407	234	14	.	.	PUNCT
app01-3407	235	1	in	in	ADP
app01-3407	235	2	aiaa	aiaa	PROPN
app01-3407	235	3	guidance	guidance	PROPN
app01-3407	235	4	,	,	PUNCT
app01-3407	235	5	navigation	navigation	NOUN
app01-3407	235	6	,	,	PUNCT
app01-3407	235	7	and	and	CCONJ
app01-3407	235	8	control	control	PROPN
app01-3407	235	9	conference	conference	NOUN
app01-3407	235	10	,	,	PUNCT
app01-3407	235	11	pp	pp	X
app01-3407	235	12	.	.	PUNCT
app01-3407	236	1	10–13	10–13	NUM
app01-3407	236	2	.	.	PUNCT
app01-3407	236	3	2009	2009	NUM
app01-3407	236	4	.	.	PUNCT
app01-3407	237	1	doi:10.2514/6.2009	doi:10.2514/6.2009	PROPN
app01-3407	237	2	-	-	PUNCT
app01-3407	237	3	5888	5888	NUM
app01-3407	237	4	.	.	PUNCT
app01-3407	238	1	[	[	X
app01-3407	238	2	15	15	NUM
app01-3407	238	3	]	]	PUNCT
app01-3407	238	4	x.	x.	PROPN
app01-3407	238	5	zhang	zhang	PROPN
app01-3407	238	6	,	,	PUNCT
app01-3407	238	7	j.	j.	PROPN
app01-3407	238	8	chen	chen	PROPN
app01-3407	238	9	,	,	PUNCT
app01-3407	238	10	b.	b.	PROPN
app01-3407	238	11	xin	xin	PROPN
app01-3407	238	12	,	,	PUNCT
app01-3407	238	13	z.	z.	PROPN
app01-3407	238	14	peng	peng	PROPN
app01-3407	238	15	.	.	PUNCT
app01-3407	239	1	a	a	DET
app01-3407	239	2	memetic	memetic	ADJ
app01-3407	239	3	algorithm	algorithm	NOUN
app01-3407	239	4	for	for	ADP
app01-3407	239	5	path	path	NOUN
app01-3407	239	6	planning	planning	NOUN
app01-3407	239	7	of	of	ADP
app01-3407	239	8	curvature	curvature	NOUN
app01-3407	239	9	-	-	PUNCT
app01-3407	239	10	constrained	constrain	VERB
app01-3407	239	11	uavs	uavs	NOUN
app01-3407	239	12	performing	perform	VERB
app01-3407	239	13	surveillance	surveillance	NOUN
app01-3407	239	14	of	of	ADP
app01-3407	239	15	multiple	multiple	ADJ
app01-3407	239	16	ground	ground	NOUN
app01-3407	239	17	targets	target	NOUN
app01-3407	239	18	.	.	PUNCT
app01-3407	240	1	chinese	chinese	ADJ
app01-3407	240	2	journal	journal	PROPN
app01-3407	240	3	of	of	ADP
app01-3407	240	4	aeronautics	aeronautics	PROPN
app01-3407	240	5	27(3):622–633	27(3):622–633	PROPN
app01-3407	240	6	,	,	PUNCT
app01-3407	240	7	2014	2014	NUM
app01-3407	240	8	.	.	PUNCT
app01-3407	241	1	doi:10.1016	doi:10.1016	PROPN
app01-3407	241	2	/	/	SYM
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app01-3407	241	4	.	.	PUNCT
app01-3407	242	1	[	[	X
app01-3407	242	2	16	16	NUM
app01-3407	242	3	]	]	PUNCT
app01-3407	242	4	k.	k.	PROPN
app01-3407	242	5	helsgaun	helsgaun	PROPN
app01-3407	242	6	.	.	PROPN
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app01-3407	243	2	solver	solver	VERB
app01-3407	243	3	2.0.7	2.0.7	NUM
app01-3407	243	4	.	.	PUNCT
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app01-3407	244	2	.	.	PUNCT
app01-3407	245	1	[	[	X
app01-3407	245	2	cited	cite	VERB
app01-3407	245	3	31	31	NUM
app01-3407	245	4	mar	mar	PROPN
app01-3407	245	5	2015	2015	NUM
app01-3407	245	6	]	]	PUNCT
app01-3407	245	7	.	.	PUNCT
app01-3407	246	1	61	61	NUM
app01-3407	246	2	http://dx.doi.org/10.2307/2372560	http://dx.doi.org/10.2307/2372560	NOUN
app01-3407	246	3	http://dx.doi.org/10.1109/acc.2005.1470055	http://dx.doi.org/10.1109/acc.2005.1470055	NOUN
app01-3407	246	4	http://dx.doi.org/10.1109/acc.2011.5991501	http://dx.doi.org/10.1109/acc.2011.5991501	ADP
app01-3407	246	5	http://dx.doi.org/10.1109/cdc.2006.376928	http://dx.doi.org/10.1109/cdc.2006.376928	X
app01-3407	246	6	http://dx.doi.org/10.1109/tac.2011.2166311	http://dx.doi.org/10.1109/tac.2011.2166311	PRON
app01-3407	246	7	http://dx.doi.org/10.1137/100816079	http://dx.doi.org/10.1137/100816079	NOUN
app01-3407	246	8	http://dx.doi.org/10.3390/a6010084	http://dx.doi.org/10.3390/a6010084	ADV
app01-3407	246	9	http://dx.doi.org/10.1109/iecon.2012.6389140	http://dx.doi.org/10.1109/iecon.2012.6389140	NOUN
app01-3407	246	10	http://dx.doi.org/10.2514/1.48949	http://dx.doi.org/10.2514/1.48949	PROPN
app01-3407	246	11	http://dx.doi.org/10.1287/opre.39.4.623	http://dx.doi.org/10.1287/opre.39.4.623	VERB
app01-3407	247	1	http://dx.doi.org/10.1287/opre.21.2.498	http://dx.doi.org/10.1287/opre.21.2.498	PROPN
app01-3407	247	2	http://dx.doi.org/10.2514/6.2009-5888	http://dx.doi.org/10.2514/6.2009-5888	PROPN
app01-3407	247	3	http://dx.doi.org/10.1016/j.cja.2014.04.024	http://dx.doi.org/10.1016/j.cja.2014.04.024	PROPN
app01-3407	247	4	http://www.akira.ruc.dk/~keld/research/lkh	http://www.akira.ruc.dk/~keld/research/lkh	PROPN
app01-3407	247	5	acta	acta	PROPN
app01-3407	247	6	polytechnica	polytechnica	PROPN
app01-3407	247	7	ctu	ctu	NOUN
app01-3407	247	8	proceedings	proceeding	NOUN
app01-3407	247	9	2:57–61	2:57–61	NUM
app01-3407	247	10	,	,	PUNCT
app01-3407	247	11	2015	2015	NUM
app01-3407	247	12	1	1	NUM
app01-3407	247	13	introduction	introduction	NOUN
app01-3407	247	14	2	2	NUM
app01-3407	247	15	related	relate	VERB
app01-3407	247	16	work	work	NOUN
app01-3407	247	17	3	3	NUM
app01-3407	247	18	problem	problem	NOUN
app01-3407	247	19	definition	definition	NOUN
app01-3407	247	20	4	4	NUM
app01-3407	247	21	existing	exist	VERB
app01-3407	247	22	methods	method	NOUN
app01-3407	247	23	4.1	4.1	NUM
app01-3407	247	24	decoupled	decouple	VERB
app01-3407	247	25	methods	method	NOUN
app01-3407	247	26	4.2	4.2	NUM
app01-3407	247	27	sampling	sampling	NOUN
app01-3407	247	28	-	-	PUNCT
app01-3407	247	29	based	base	VERB
app01-3407	247	30	methods	method	NOUN
app01-3407	247	31	4.3	4.3	NUM
app01-3407	247	32	evolutionary	evolutionary	ADJ
app01-3407	247	33	methods	method	NOUN
app01-3407	247	34	5	5	NUM
app01-3407	247	35	modification	modification	NOUN
app01-3407	247	36	of	of	ADP
app01-3407	247	37	existing	exist	VERB
app01-3407	247	38	sampling	sampling	NOUN
app01-3407	247	39	-	-	PUNCT
app01-3407	247	40	based	base	VERB
app01-3407	247	41	algorithm	algorithm	NOUN
app01-3407	247	42	6	6	NUM
app01-3407	247	43	results	result	VERB
app01-3407	247	44	6.1	6.1	NUM
app01-3407	247	45	discussion	discussion	NOUN
app01-3407	247	46	7	7	NUM
app01-3407	247	47	conclusions	conclusion	NOUN
app01-3407	247	48	acknowledgements	acknowledgement	NOUN
app01-3407	247	49	references	reference	NOUN