id	sid	tid	token	lemma	pos
app01-3927	1	1	acta	acta	PROPN
app01-3927	1	2	polytechnica	polytechnica	PROPN
app01-3927	1	3	ctu	ctu	PROPN
app01-3927	1	4	proceedings	proceeding	NOUN
app01-3927	1	5	doi:10.14311	doi:10.14311	NOUN
app01-3927	1	6	/	/	SYM
app01-3927	1	7	app.2016.6.0011	app.2016.6.0011	PROPN
app01-3927	1	8	acta	acta	PROPN
app01-3927	1	9	polytechnica	polytechnica	PROPN
app01-3927	1	10	ctu	ctu	NOUN
app01-3927	1	11	proceedings	proceeding	NOUN
app01-3927	1	12	6:11–17	6:11–17	NUM
app01-3927	1	13	,	,	PUNCT
app01-3927	1	14	2016	2016	NUM
app01-3927	1	15	©	©	PROPN
app01-3927	1	16	czech	czech	PROPN
app01-3927	1	17	technical	technical	PROPN
app01-3927	1	18	university	university	PROPN
app01-3927	1	19	in	in	ADP
app01-3927	1	20	prague	prague	PROPN
app01-3927	1	21	,	,	PUNCT
app01-3927	1	22	2016	2016	NUM
app01-3927	1	23	available	available	ADJ
app01-3927	1	24	online	online	ADV
app01-3927	1	25	at	at	ADP
app01-3927	1	26	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3927	1	27	using	use	VERB
app01-3927	1	28	robot	robot	NOUN
app01-3927	1	29	operating	operating	NOUN
app01-3927	1	30	system	system	NOUN
app01-3927	1	31	for	for	ADP
app01-3927	1	32	autonomous	autonomous	ADJ
app01-3927	1	33	control	control	NOUN
app01-3927	1	34	of	of	ADP
app01-3927	1	35	robots	robot	NOUN
app01-3927	1	36	in	in	ADP
app01-3927	1	37	eurobot	eurobot	PROPN
app01-3927	1	38	,	,	PUNCT
app01-3927	1	39	erc	erc	PROPN
app01-3927	1	40	and	and	CCONJ
app01-3927	1	41	robotour	robotour	ADJ
app01-3927	1	42	competitions	competition	NOUN
app01-3927	1	43	grzegorz	grzegorz	PROPN
app01-3927	1	44	granosik∗	granosik∗	PROPN
app01-3927	1	45	,	,	PUNCT
app01-3927	1	46	kacper	kacper	PROPN
app01-3927	1	47	andrzejczak	andrzejczak	PROPN
app01-3927	1	48	,	,	PUNCT
app01-3927	1	49	mateusz	mateusz	PROPN
app01-3927	1	50	kujawinski	kujawinski	PROPN
app01-3927	1	51	,	,	PUNCT
app01-3927	1	52	rafal	rafal	PROPN
app01-3927	1	53	bonecki	bonecki	PROPN
app01-3927	1	54	,	,	PUNCT
app01-3927	1	55	lukasz	lukasz	PROPN
app01-3927	1	56	chlebowicz	chlebowicz	PROPN
app01-3927	1	57	,	,	PUNCT
app01-3927	1	58	błażej	błażej	PROPN
app01-3927	1	59	krysztofiak	krysztofiak	PROPN
app01-3927	1	60	,	,	PUNCT
app01-3927	1	61	konrad	konrad	PROPN
app01-3927	1	62	mirecki	mirecki	PROPN
app01-3927	1	63	,	,	PUNCT
app01-3927	1	64	marek	marek	PROPN
app01-3927	1	65	gawryszewski	gawryszewski	PROPN
app01-3927	1	66	lodz	lodz	PROPN
app01-3927	1	67	university	university	PROPN
app01-3927	1	68	of	of	ADP
app01-3927	1	69	technology	technology	NOUN
app01-3927	1	70	,	,	PUNCT
app01-3927	1	71	stefanowskiego	stefanowskiego	NOUN
app01-3927	1	72	18/22	18/22	NUM
app01-3927	1	73	,	,	PUNCT
app01-3927	1	74	lodz	lodz	PROPN
app01-3927	1	75	,	,	PUNCT
app01-3927	1	76	poland	poland	PROPN
app01-3927	1	77	∗	∗	NOUN
app01-3927	1	78	corresponding	correspond	VERB
app01-3927	1	79	author	author	NOUN
app01-3927	1	80	:	:	PUNCT
app01-3927	1	81	granosik@p.lodz.pl	granosik@p.lodz.pl	PROPN
app01-3927	1	82	abstract	abstract	ADJ
app01-3927	1	83	.	.	PUNCT
app01-3927	2	1	this	this	DET
app01-3927	2	2	paper	paper	NOUN
app01-3927	2	3	presents	present	VERB
app01-3927	2	4	application	application	NOUN
app01-3927	2	5	of	of	ADP
app01-3927	2	6	the	the	DET
app01-3927	2	7	navigation	navigation	NOUN
app01-3927	2	8	stack	stack	NOUN
app01-3927	2	9	available	available	ADJ
app01-3927	2	10	in	in	ADP
app01-3927	2	11	robot	robot	NOUN
app01-3927	2	12	operating	operating	NOUN
app01-3927	2	13	system	system	NOUN
app01-3927	2	14	as	as	ADP
app01-3927	2	15	a	a	DET
app01-3927	2	16	basis	basis	NOUN
app01-3927	2	17	for	for	ADP
app01-3927	2	18	the	the	DET
app01-3927	2	19	autonomous	autonomous	ADJ
app01-3927	2	20	control	control	NOUN
app01-3927	2	21	of	of	ADP
app01-3927	2	22	the	the	DET
app01-3927	2	23	mobile	mobile	ADJ
app01-3927	2	24	robots	robot	NOUN
app01-3927	2	25	developed	develop	VERB
app01-3927	2	26	for	for	ADP
app01-3927	2	27	a	a	DET
app01-3927	2	28	few	few	ADJ
app01-3927	2	29	different	different	ADJ
app01-3927	2	30	robot	robot	NOUN
app01-3927	2	31	competitions	competition	NOUN
app01-3927	2	32	.	.	PUNCT
app01-3927	3	1	we	we	PRON
app01-3927	3	2	present	present	VERB
app01-3927	3	3	three	three	NUM
app01-3927	3	4	case	case	NOUN
app01-3927	3	5	studies	study	NOUN
app01-3927	3	6	.	.	PUNCT
app01-3927	4	1	keywords	keyword	NOUN
app01-3927	4	2	:	:	PUNCT
app01-3927	4	3	ros	ros	PROPN
app01-3927	4	4	,	,	PUNCT
app01-3927	4	5	navigation	navigation	NOUN
app01-3927	4	6	,	,	PUNCT
app01-3927	4	7	robot	robot	NOUN
app01-3927	4	8	,	,	PUNCT
app01-3927	4	9	erc	erc	PROPN
app01-3927	4	10	,	,	PUNCT
app01-3927	4	11	eurobot	eurobot	PROPN
app01-3927	4	12	.	.	PUNCT
app01-3927	5	1	1	1	X
app01-3927	5	2	.	.	X
app01-3927	5	3	introduction	introduction	NOUN
app01-3927	5	4	students	student	NOUN
app01-3927	5	5	from	from	ADP
app01-3927	5	6	the	the	DET
app01-3927	5	7	scientific	scientific	ADJ
app01-3927	5	8	association	association	NOUN
app01-3927	5	9	for	for	ADP
app01-3927	5	10	robotic	robotic	ADJ
app01-3927	5	11	research	research	NOUN
app01-3927	5	12	skaner	skaner	NOUN
app01-3927	5	13	[	[	X
app01-3927	5	14	1	1	X
app01-3927	5	15	]	]	PUNCT
app01-3927	5	16	at	at	ADP
app01-3927	5	17	the	the	DET
app01-3927	5	18	lodz	lodz	PROPN
app01-3927	5	19	university	university	PROPN
app01-3927	5	20	of	of	ADP
app01-3927	5	21	technology	technology	NOUN
app01-3927	5	22	(	(	PUNCT
app01-3927	5	23	tul	tul	NOUN
app01-3927	5	24	)	)	PUNCT
app01-3927	5	25	have	have	AUX
app01-3927	5	26	been	be	AUX
app01-3927	5	27	competing	compete	VERB
app01-3927	5	28	in	in	ADP
app01-3927	5	29	various	various	ADJ
app01-3927	5	30	international	international	ADJ
app01-3927	5	31	robotic	robotic	ADJ
app01-3927	5	32	contests	contest	NOUN
app01-3927	5	33	(	(	PUNCT
app01-3927	5	34	e.g.	e.g.	ADV
app01-3927	5	35	eurobot	eurobot	PROPN
app01-3927	5	36	,	,	PUNCT
app01-3927	5	37	robot	robot	NOUN
app01-3927	5	38	challenge	challenge	NOUN
app01-3927	5	39	,	,	PUNCT
app01-3927	5	40	robotour	robotour	ADJ
app01-3927	5	41	,	,	PUNCT
app01-3927	5	42	sumo	sumo	NOUN
app01-3927	5	43	challenge	challenge	NOUN
app01-3927	5	44	,	,	PUNCT
app01-3927	5	45	european	european	ADJ
app01-3927	5	46	rover	rover	NOUN
app01-3927	5	47	challenge	challenge	NOUN
app01-3927	5	48	)	)	PUNCT
app01-3927	5	49	for	for	ADP
app01-3927	5	50	several	several	ADJ
app01-3927	5	51	years	year	NOUN
app01-3927	5	52	.	.	PUNCT
app01-3927	6	1	they	they	PRON
app01-3927	6	2	have	have	AUX
app01-3927	6	3	been	be	AUX
app01-3927	6	4	working	work	VERB
app01-3927	6	5	in	in	ADP
app01-3927	6	6	separate	separate	ADJ
app01-3927	6	7	teams	team	NOUN
app01-3927	6	8	focused	focus	VERB
app01-3927	6	9	on	on	ADP
app01-3927	6	10	robot	robot	NOUN
app01-3927	6	11	construction	construction	NOUN
app01-3927	6	12	,	,	PUNCT
app01-3927	6	13	electronics	electronic	NOUN
app01-3927	6	14	and	and	CCONJ
app01-3927	6	15	control	control	NOUN
app01-3927	6	16	specific	specific	ADJ
app01-3927	6	17	for	for	ADP
app01-3927	6	18	the	the	DET
app01-3927	6	19	contest	contest	NOUN
app01-3927	6	20	.	.	PUNCT
app01-3927	7	1	this	this	DET
app01-3927	7	2	year	year	NOUN
app01-3927	7	3	we	we	PRON
app01-3927	7	4	have	have	AUX
app01-3927	7	5	decided	decide	VERB
app01-3927	7	6	to	to	PART
app01-3927	7	7	join	join	VERB
app01-3927	7	8	forces	force	NOUN
app01-3927	7	9	and	and	CCONJ
app01-3927	7	10	use	use	VERB
app01-3927	7	11	robot	robot	NOUN
app01-3927	7	12	operating	operating	NOUN
app01-3927	7	13	system	system	NOUN
app01-3927	7	14	(	(	PUNCT
app01-3927	7	15	ros	ros	PROPN
app01-3927	7	16	)	)	PUNCT
app01-3927	7	17	as	as	ADP
app01-3927	7	18	a	a	DET
app01-3927	7	19	common	common	ADJ
app01-3927	7	20	software	software	NOUN
app01-3927	7	21	platform	platform	NOUN
app01-3927	7	22	to	to	PART
app01-3927	7	23	build	build	VERB
app01-3927	7	24	autonomous	autonomous	ADJ
app01-3927	7	25	mobile	mobile	ADJ
app01-3927	7	26	robots	robot	NOUN
app01-3927	7	27	for	for	ADP
app01-3927	7	28	various	various	ADJ
app01-3927	7	29	competitions	competition	NOUN
app01-3927	7	30	.	.	PUNCT
app01-3927	8	1	ros	ros	PROPN
app01-3927	8	2	has	have	AUX
app01-3927	8	3	been	be	AUX
app01-3927	8	4	introduced	introduce	VERB
app01-3927	8	5	in	in	ADP
app01-3927	8	6	automatic	automatic	ADJ
app01-3927	8	7	control	control	NOUN
app01-3927	8	8	and	and	CCONJ
app01-3927	8	9	robotics	robotic	NOUN
app01-3927	8	10	curricula	curricula	NOUN
app01-3927	8	11	at	at	ADP
app01-3927	8	12	tul	tul	PROPN
app01-3927	8	13	a	a	DET
app01-3927	8	14	few	few	ADJ
app01-3927	8	15	years	year	NOUN
app01-3927	8	16	ago	ago	ADV
app01-3927	8	17	in	in	ADP
app01-3927	8	18	a	a	DET
app01-3927	8	19	very	very	ADV
app01-3927	8	20	smooth	smooth	ADJ
app01-3927	8	21	way	way	NOUN
app01-3927	9	1	[	[	X
app01-3927	9	2	2	2	NUM
app01-3927	9	3	]	]	NUM
app01-3927	9	4	:	:	PUNCT
app01-3927	9	5	(	(	PUNCT
app01-3927	9	6	1	1	X
app01-3927	9	7	)	)	PUNCT
app01-3927	9	8	by	by	ADP
app01-3927	9	9	modeling	model	VERB
app01-3927	9	10	various	various	ADJ
app01-3927	9	11	robots	robot	NOUN
app01-3927	9	12	in	in	ADP
app01-3927	9	13	our	our	PRON
app01-3927	9	14	web	web	NOUN
app01-3927	9	15	-	-	PUNCT
app01-3927	9	16	based	base	VERB
app01-3927	9	17	application	application	NOUN
app01-3927	9	18	mymodelrobot	mymodelrobot	NOUN
app01-3927	9	19	in	in	ADP
app01-3927	9	20	order	order	NOUN
app01-3927	9	21	to	to	PART
app01-3927	9	22	learn	learn	VERB
app01-3927	9	23	xml	xml	NOUN
app01-3927	9	24	syntax	syntax	NOUN
app01-3927	9	25	and	and	CCONJ
app01-3927	9	26	robot	robot	NOUN
app01-3927	9	27	structure	structure	NOUN
app01-3927	9	28	used	use	VERB
app01-3927	9	29	in	in	ADP
app01-3927	9	30	gazebo	gazebo	PROPN
app01-3927	9	31	and	and	CCONJ
app01-3927	9	32	ros	ros	PROPN
app01-3927	9	33	,	,	PUNCT
app01-3927	9	34	and	and	CCONJ
app01-3927	9	35	(	(	PUNCT
app01-3927	9	36	2	2	NUM
app01-3927	9	37	)	)	PUNCT
app01-3927	9	38	by	by	ADP
app01-3927	9	39	utilizing	utilize	VERB
app01-3927	9	40	rosserial	rosserial	ADJ
app01-3927	9	41	and	and	CCONJ
app01-3927	9	42	rosserial_arduino	rosserial_arduino	NOUN
app01-3927	9	43	to	to	PART
app01-3927	9	44	gather	gather	VERB
app01-3927	9	45	sensory	sensory	ADJ
app01-3927	9	46	data	datum	NOUN
app01-3927	9	47	and	and	CCONJ
app01-3927	9	48	control	control	VERB
app01-3927	9	49	small	small	ADJ
app01-3927	9	50	mobile	mobile	ADJ
app01-3927	9	51	robots	robot	NOUN
app01-3927	9	52	.	.	PUNCT
app01-3927	10	1	that	that	DET
app01-3927	10	2	way	way	NOUN
app01-3927	10	3	the	the	DET
app01-3927	10	4	interest	interest	NOUN
app01-3927	10	5	in	in	ADP
app01-3927	10	6	ros	ros	PROPN
app01-3927	10	7	started	start	VERB
app01-3927	10	8	to	to	PART
app01-3927	10	9	grow	grow	VERB
app01-3927	10	10	and	and	CCONJ
app01-3927	10	11	we	we	PRON
app01-3927	10	12	have	have	AUX
app01-3927	10	13	learned	learn	VERB
app01-3927	10	14	how	how	SCONJ
app01-3927	10	15	to	to	PART
app01-3927	10	16	use	use	VERB
app01-3927	10	17	all	all	DET
app01-3927	10	18	advantages	advantage	NOUN
app01-3927	10	19	of	of	ADP
app01-3927	10	20	this	this	DET
app01-3927	10	21	system	system	NOUN
app01-3927	10	22	effectively	effectively	ADV
app01-3927	10	23	,	,	PUNCT
app01-3927	10	24	and	and	CCONJ
app01-3927	10	25	specifically	specifically	ADV
app01-3927	10	26	:	:	PUNCT
app01-3927	10	27	•	•	ADP
app01-3927	10	28	a	a	DET
app01-3927	10	29	multitude	multitude	NOUN
app01-3927	10	30	of	of	ADP
app01-3927	10	31	tools	tool	NOUN
app01-3927	10	32	and	and	CCONJ
app01-3927	10	33	libraries	library	NOUN
app01-3927	10	34	that	that	PRON
app01-3927	10	35	were	be	AUX
app01-3927	10	36	created	create	VERB
app01-3927	10	37	around	around	ADP
app01-3927	10	38	ros	ros	PROPN
app01-3927	10	39	to	to	PART
app01-3927	10	40	rapidly	rapidly	ADV
app01-3927	10	41	prototype	prototype	VERB
app01-3927	10	42	the	the	DET
app01-3927	10	43	high	high	ADJ
app01-3927	10	44	and	and	CCONJ
app01-3927	10	45	middle	middle	ADJ
app01-3927	10	46	level	level	NOUN
app01-3927	10	47	of	of	ADP
app01-3927	10	48	control	control	NOUN
app01-3927	10	49	system	system	NOUN
app01-3927	10	50	for	for	ADP
app01-3927	10	51	mobile	mobile	ADJ
app01-3927	10	52	robots	robot	NOUN
app01-3927	10	53	.	.	PUNCT
app01-3927	11	1	•	•	NUM
app01-3927	11	2	its	its	PRON
app01-3927	11	3	modern	modern	ADJ
app01-3927	11	4	software	software	NOUN
app01-3927	11	5	architecture	architecture	NOUN
app01-3927	11	6	to	to	PART
app01-3927	11	7	easily	easily	ADV
app01-3927	11	8	connect	connect	VERB
app01-3927	11	9	different	different	ADJ
app01-3927	11	10	applications	application	NOUN
app01-3927	11	11	and	and	CCONJ
app01-3927	11	12	devices	device	NOUN
app01-3927	11	13	.	.	PUNCT
app01-3927	12	1	we	we	PRON
app01-3927	12	2	could	could	AUX
app01-3927	12	3	build	build	VERB
app01-3927	12	4	systems	system	NOUN
app01-3927	12	5	where	where	SCONJ
app01-3927	12	6	most	most	ADJ
app01-3927	12	7	of	of	ADP
app01-3927	12	8	processes	process	NOUN
app01-3927	12	9	work	work	VERB
app01-3927	12	10	in	in	ADP
app01-3927	12	11	parallel	parallel	NOUN
app01-3927	12	12	and	and	CCONJ
app01-3927	12	13	on	on	ADP
app01-3927	12	14	different	different	ADJ
app01-3927	12	15	machines	machine	NOUN
app01-3927	12	16	without	without	ADP
app01-3927	12	17	building	build	VERB
app01-3927	12	18	multithreading	multithreade	VERB
app01-3927	12	19	or	or	CCONJ
app01-3927	12	20	networking	network	VERB
app01-3927	12	21	procedures	procedure	NOUN
app01-3927	12	22	by	by	ADP
app01-3927	12	23	ourselves	ourselves	PRON
app01-3927	12	24	.	.	PUNCT
app01-3927	13	1	•	•	NUM
app01-3927	13	2	its	its	PRON
app01-3927	13	3	“	"	PUNCT
app01-3927	13	4	thin	thin	ADJ
app01-3927	13	5	“	"	PUNCT
app01-3927	13	6	ideology	ideology	NOUN
app01-3927	13	7	—	—	PUNCT
app01-3927	13	8	in	in	ADP
app01-3927	13	9	some	some	DET
app01-3927	13	10	cases	case	NOUN
app01-3927	13	11	programs	program	NOUN
app01-3927	13	12	did	do	AUX
app01-3927	13	13	not	not	PART
app01-3927	13	14	need	need	VERB
app01-3927	13	15	to	to	PART
app01-3927	13	16	be	be	AUX
app01-3927	13	17	highly	highly	ADV
app01-3927	13	18	integrated	integrate	VERB
app01-3927	13	19	with	with	ADP
app01-3927	13	20	ros	ros	PROPN
app01-3927	13	21	.	.	PROPN
app01-3927	14	1	•	•	NUM
app01-3927	14	2	we	we	PRON
app01-3927	14	3	could	could	AUX
app01-3927	14	4	reuse	reuse	VERB
app01-3927	14	5	many	many	ADJ
app01-3927	14	6	tools	tool	NOUN
app01-3927	14	7	created	create	VERB
app01-3927	14	8	outside	outside	ADP
app01-3927	14	9	this	this	DET
app01-3927	14	10	system	system	NOUN
app01-3927	14	11	by	by	ADP
app01-3927	14	12	adding	add	VERB
app01-3927	14	13	only	only	ADJ
app01-3927	14	14	small	small	ADJ
app01-3927	14	15	parts	part	NOUN
app01-3927	14	16	bridging	bridge	VERB
app01-3927	14	17	them	they	PRON
app01-3927	14	18	to	to	ADP
app01-3927	14	19	the	the	DET
app01-3927	14	20	ros	ros	PROPN
app01-3927	14	21	.	.	PUNCT
app01-3927	14	22	documentation	documentation	NOUN
app01-3927	14	23	and	and	CCONJ
app01-3927	14	24	support	support	NOUN
app01-3927	14	25	provided	provide	VERB
app01-3927	14	26	by	by	ADP
app01-3927	14	27	books	book	NOUN
app01-3927	14	28	[	[	X
app01-3927	14	29	3	3	NUM
app01-3927	14	30	]	]	PUNCT
app01-3927	14	31	,	,	PUNCT
app01-3927	14	32	[	[	X
app01-3927	14	33	4	4	NUM
app01-3927	14	34	]	]	PUNCT
app01-3927	14	35	,	,	PUNCT
app01-3927	14	36	tutorials	tutorial	NOUN
app01-3927	14	37	online	online	ADV
app01-3927	14	38	,	,	PUNCT
app01-3927	14	39	and	and	CCONJ
app01-3927	14	40	ros	ros	PROPN
app01-3927	14	41	forum	forum	PROPN
app01-3927	14	42	[	[	X
app01-3927	14	43	5	5	NUM
app01-3927	14	44	]	]	PUNCT
app01-3927	14	45	.	.	PUNCT
app01-3927	15	1	•	•	NUM
app01-3927	15	2	ease	ease	NOUN
app01-3927	15	3	of	of	ADP
app01-3927	15	4	debugging	debugging	NOUN
app01-3927	15	5	,	,	PUNCT
app01-3927	15	6	visualization	visualization	NOUN
app01-3927	15	7	and	and	CCONJ
app01-3927	15	8	logging	log	VERB
app01-3927	15	9	by	by	ADP
app01-3927	15	10	using	use	VERB
app01-3927	15	11	several	several	ADJ
app01-3927	15	12	tools	tool	NOUN
app01-3927	15	13	:	:	PUNCT
app01-3927	15	14	rxgraph	rxgraph	VERB
app01-3927	15	15	to	to	PART
app01-3927	15	16	see	see	VERB
app01-3927	15	17	system‘s	system‘s	NOUN
app01-3927	15	18	state	state	NOUN
app01-3927	15	19	graph	graph	NOUN
app01-3927	15	20	,	,	PUNCT
app01-3927	15	21	rxplot	rxplot	NOUN
app01-3927	15	22	to	to	PART
app01-3927	15	23	plot	plot	VERB
app01-3927	15	24	different	different	ADJ
app01-3927	15	25	variables	variable	NOUN
app01-3927	15	26	online	online	ADV
app01-3927	15	27	,	,	PUNCT
app01-3927	15	28	rviz	rviz	VERB
app01-3927	15	29	to	to	PART
app01-3927	15	30	visualize	visualize	VERB
app01-3927	15	31	the	the	DET
app01-3927	15	32	whole	whole	ADJ
app01-3927	15	33	robot	robot	NOUN
app01-3927	15	34	and	and	CCONJ
app01-3927	15	35	its	its	PRON
app01-3927	15	36	sensors	sensor	NOUN
app01-3927	15	37	readings	reading	NOUN
app01-3927	15	38	,	,	PUNCT
app01-3927	15	39	or	or	CCONJ
app01-3927	15	40	to	to	ADP
app01-3927	15	41	archive	archive	NOUN
app01-3927	15	42	and	and	CCONJ
app01-3927	15	43	replay	replay	VERB
app01-3927	15	44	all	all	DET
app01-3927	15	45	data	datum	NOUN
app01-3927	15	46	.	.	PUNCT
app01-3927	16	1	•	•	NUM
app01-3927	16	2	free	free	ADJ
app01-3927	16	3	and	and	CCONJ
app01-3927	16	4	open	open	ADJ
app01-3927	16	5	access	access	NOUN
app01-3927	16	6	based	base	VERB
app01-3927	16	7	on	on	ADP
app01-3927	16	8	straightforward	straightforward	ADJ
app01-3927	16	9	licenses	license	NOUN
app01-3927	16	10	[	[	X
app01-3927	16	11	6	6	NUM
app01-3927	16	12	]	]	PUNCT
app01-3927	16	13	.	.	PUNCT
app01-3927	17	1	we	we	PRON
app01-3927	17	2	could	could	AUX
app01-3927	17	3	use	use	VERB
app01-3927	17	4	many	many	ADJ
app01-3927	17	5	libraries	library	NOUN
app01-3927	17	6	,	,	PUNCT
app01-3927	17	7	adapt	adapt	VERB
app01-3927	17	8	them	they	PRON
app01-3927	17	9	to	to	ADP
app01-3927	17	10	our	our	PRON
app01-3927	17	11	needs	need	NOUN
app01-3927	17	12	and	and	CCONJ
app01-3927	17	13	compile	compile	NOUN
app01-3927	17	14	by	by	ADP
app01-3927	17	15	ourselves	ourselves	PRON
app01-3927	17	16	.	.	PUNCT
app01-3927	18	1	the	the	DET
app01-3927	18	2	most	most	ADV
app01-3927	18	3	complex	complex	ADJ
app01-3927	18	4	problem	problem	NOUN
app01-3927	18	5	all	all	DET
app01-3927	18	6	skaner	skaner	NOUN
app01-3927	18	7	teams	team	NOUN
app01-3927	18	8	have	have	AUX
app01-3927	18	9	been	be	AUX
app01-3927	18	10	facing	face	VERB
app01-3927	18	11	is	be	AUX
app01-3927	18	12	an	an	DET
app01-3927	18	13	autonomous	autonomous	ADJ
app01-3927	18	14	navigation	navigation	NOUN
app01-3927	18	15	of	of	ADP
app01-3927	18	16	a	a	DET
app01-3927	18	17	robot	robot	NOUN
app01-3927	18	18	.	.	PUNCT
app01-3927	19	1	in	in	ADP
app01-3927	19	2	the	the	DET
app01-3927	19	3	further	further	ADJ
app01-3927	19	4	part	part	NOUN
app01-3927	19	5	of	of	ADP
app01-3927	19	6	this	this	DET
app01-3927	19	7	paper	paper	NOUN
app01-3927	19	8	we	we	PRON
app01-3927	19	9	will	will	AUX
app01-3927	19	10	present	present	VERB
app01-3927	19	11	our	our	PRON
app01-3927	19	12	approach	approach	NOUN
app01-3927	19	13	to	to	PART
app01-3927	19	14	use	use	VERB
app01-3927	19	15	ros	ros	PROPN
app01-3927	19	16	to	to	PART
app01-3927	19	17	solve	solve	VERB
app01-3927	19	18	this	this	DET
app01-3927	19	19	problem	problem	NOUN
app01-3927	19	20	in	in	ADP
app01-3927	19	21	the	the	DET
app01-3927	19	22	case	case	NOUN
app01-3927	19	23	of	of	ADP
app01-3927	19	24	three	three	NUM
app01-3927	19	25	robots	robot	NOUN
app01-3927	19	26	built	build	VERB
app01-3927	19	27	for	for	ADP
app01-3927	19	28	different	different	ADJ
app01-3927	19	29	contests	contest	NOUN
app01-3927	19	30	:	:	PUNCT
app01-3927	19	31	eurobot	eurobot	PROPN
app01-3927	19	32	(	(	PUNCT
app01-3927	19	33	robot	robot	NOUN
app01-3927	19	34	husarz	husarz	PROPN
app01-3927	19	35	)	)	PUNCT
app01-3927	19	36	,	,	PUNCT
app01-3927	19	37	european	european	ADJ
app01-3927	19	38	rover	rover	NOUN
app01-3927	19	39	challenge	challenge	NOUN
app01-3927	19	40	(	(	PUNCT
app01-3927	19	41	raptors	raptor	NOUN
app01-3927	19	42	rover	rover	NOUN
app01-3927	19	43	)	)	PUNCT
app01-3927	19	44	and	and	CCONJ
app01-3927	19	45	robotour	robotour	NOUN
app01-3927	19	46	(	(	PUNCT
app01-3927	19	47	quadron	quadron	NOUN
app01-3927	19	48	and	and	CCONJ
app01-3927	19	49	raptors	raptor	NOUN
app01-3927	19	50	rover	rover	NOUN
app01-3927	19	51	)	)	PUNCT
app01-3927	19	52	.	.	PUNCT
app01-3927	20	1	these	these	DET
app01-3927	20	2	robots	robot	NOUN
app01-3927	20	3	have	have	VERB
app01-3927	20	4	different	different	ADJ
app01-3927	20	5	constructions	construction	NOUN
app01-3927	20	6	,	,	PUNCT
app01-3927	20	7	different	different	ADJ
app01-3927	20	8	kinematics	kinematic	NOUN
app01-3927	20	9	and	and	CCONJ
app01-3927	20	10	control	control	NOUN
app01-3927	20	11	systems	system	NOUN
app01-3927	20	12	.	.	PUNCT
app01-3927	21	1	further	further	ADJ
app01-3927	21	2	description	description	NOUN
app01-3927	21	3	starts	start	VERB
app01-3927	21	4	with	with	ADP
app01-3927	21	5	application	application	NOUN
app01-3927	21	6	of	of	ADP
app01-3927	21	7	navigation	navigation	NOUN
app01-3927	21	8	stack	stack	NOUN
app01-3927	21	9	at	at	ADP
app01-3927	21	10	the	the	DET
app01-3927	21	11	husarz	husarz	PROPN
app01-3927	21	12	robot	robot	NOUN
app01-3927	21	13	then	then	ADV
app01-3927	21	14	the	the	DET
app01-3927	21	15	specific	specific	ADJ
app01-3927	21	16	adaptations	adaptation	NOUN
app01-3927	21	17	to	to	ADP
app01-3927	21	18	other	other	ADJ
app01-3927	21	19	robots	robot	NOUN
app01-3927	21	20	are	be	AUX
app01-3927	21	21	presented	present	VERB
app01-3927	21	22	.	.	PUNCT
app01-3927	22	1	2	2	X
app01-3927	22	2	.	.	X
app01-3927	22	3	ros	ros	PROPN
app01-3927	22	4	navigation	navigation	NOUN
app01-3927	22	5	stack	stack	VERB
app01-3927	22	6	the	the	DET
app01-3927	22	7	husarz	husarz	PROPN
app01-3927	22	8	system	system	NOUN
app01-3927	22	9	(	(	PUNCT
app01-3927	22	10	composed	compose	VERB
app01-3927	22	11	of	of	ADP
app01-3927	22	12	two	two	NUM
app01-3927	22	13	robots	robot	NOUN
app01-3927	22	14	,	,	PUNCT
app01-3927	22	15	shown	show	VERB
app01-3927	22	16	in	in	ADP
app01-3927	22	17	figure	figure	NOUN
app01-3927	22	18	1	1	NUM
app01-3927	22	19	)	)	PUNCT
app01-3927	22	20	was	be	AUX
app01-3927	22	21	developed	develop	VERB
app01-3927	22	22	by	by	ADP
app01-3927	22	23	our	our	PRON
app01-3927	22	24	skaner	skaner	NOUN
app01-3927	22	25	team	team	NOUN
app01-3927	22	26	for	for	ADP
app01-3927	22	27	eurobot	eurobot	PROPN
app01-3927	22	28	competitions	competition	NOUN
app01-3927	22	29	.	.	PUNCT
app01-3927	23	1	each	each	DET
app01-3927	23	2	edition	edition	NOUN
app01-3927	23	3	of	of	ADP
app01-3927	23	4	eurobot	eurobot	PROPN
app01-3927	23	5	.	.	PUNCT
app01-3927	24	1	has	have	VERB
app01-3927	24	2	different	different	ADJ
app01-3927	24	3	main	main	ADJ
app01-3927	24	4	topic	topic	NOUN
app01-3927	24	5	,	,	PUNCT
app01-3927	24	6	in	in	ADP
app01-3927	24	7	year	year	NOUN
app01-3927	24	8	2016	2016	NUM
app01-3927	24	9	it	it	PRON
app01-3927	24	10	was	be	AUX
app01-3927	24	11	beachbot	beachbot	NOUN
app01-3927	24	12	and	and	CCONJ
app01-3927	24	13	the	the	DET
app01-3927	24	14	tasks	task	NOUN
app01-3927	24	15	symbolized	symbolize	VERB
app01-3927	24	16	enjoying	enjoy	VERB
app01-3927	24	17	time	time	NOUN
app01-3927	24	18	on	on	ADP
app01-3927	24	19	the	the	DET
app01-3927	24	20	beach	beach	NOUN
app01-3927	24	21	.	.	PUNCT
app01-3927	25	1	•	•	NUM
app01-3927	25	2	the	the	DET
app01-3927	25	3	flags	flag	NOUN
app01-3927	25	4	—	—	PUNCT
app01-3927	25	5	robots	robot	NOUN
app01-3927	25	6	must	must	AUX
app01-3927	25	7	close	close	VERB
app01-3927	25	8	doors	door	NOUN
app01-3927	25	9	of	of	ADP
app01-3927	25	10	a	a	DET
app01-3927	25	11	shed	shed	NOUN
app01-3927	25	12	to	to	PART
app01-3927	25	13	rise	rise	VERB
app01-3927	25	14	the	the	DET
app01-3927	25	15	flag	flag	NOUN
app01-3927	25	16	.	.	PUNCT
app01-3927	26	1	•	•	NUM
app01-3927	26	2	the	the	DET
app01-3927	26	3	sea	sea	NOUN
app01-3927	26	4	fishing	fishing	NOUN
app01-3927	26	5	—	—	PUNCT
app01-3927	26	6	robots	robot	NOUN
app01-3927	26	7	must	must	AUX
app01-3927	26	8	catch	catch	VERB
app01-3927	26	9	plastic	plastic	NOUN
app01-3927	26	10	fishes	fish	NOUN
app01-3927	26	11	from	from	ADP
app01-3927	26	12	a	a	DET
app01-3927	26	13	aquarium	aquarium	NOUN
app01-3927	26	14	with	with	ADP
app01-3927	26	15	water	water	NOUN
app01-3927	26	16	and	and	CCONJ
app01-3927	26	17	put	put	VERB
app01-3927	26	18	them	they	PRON
app01-3927	26	19	in	in	ADP
app01-3927	26	20	a	a	DET
app01-3927	26	21	net	net	NOUN
app01-3927	26	22	.	.	PUNCT
app01-3927	27	1	•	•	NUM
app01-3927	27	2	the	the	DET
app01-3927	27	3	sand	sand	NOUN
app01-3927	27	4	castle	castle	NOUN
app01-3927	27	5	—	—	PUNCT
app01-3927	27	6	robots	robot	NOUN
app01-3927	27	7	must	must	AUX
app01-3927	27	8	build	build	VERB
app01-3927	27	9	a	a	DET
app01-3927	27	10	sand	sand	NOUN
app01-3927	27	11	castle	castle	NOUN
app01-3927	27	12	from	from	ADP
app01-3927	27	13	several	several	ADJ
app01-3927	27	14	elements	element	NOUN
app01-3927	27	15	(	(	PUNCT
app01-3927	27	16	cubes	cube	NOUN
app01-3927	27	17	,	,	PUNCT
app01-3927	27	18	cylinders	cylinder	NOUN
app01-3927	27	19	,	,	PUNCT
app01-3927	27	20	cones	cone	NOUN
app01-3927	27	21	)	)	PUNCT
app01-3927	27	22	.	.	PUNCT
app01-3927	28	1	•	•	NUM
app01-3927	28	2	the	the	DET
app01-3927	28	3	sea	sea	NOUN
app01-3927	28	4	shell	shell	NOUN
app01-3927	28	5	—	—	PUNCT
app01-3927	28	6	shells	shell	NOUN
app01-3927	28	7	are	be	AUX
app01-3927	28	8	symbolized	symbolize	VERB
app01-3927	28	9	by	by	ADP
app01-3927	28	10	round	round	NOUN
app01-3927	28	11	discs	disc	NOUN
app01-3927	28	12	,	,	PUNCT
app01-3927	28	13	and	and	CCONJ
app01-3927	28	14	they	they	PRON
app01-3927	28	15	are	be	AUX
app01-3927	28	16	in	in	ADP
app01-3927	28	17	five	five	NUM
app01-3927	28	18	configurations	configuration	NOUN
app01-3927	28	19	on	on	ADP
app01-3927	28	20	the	the	DET
app01-3927	28	21	playing	playing	NOUN
app01-3927	28	22	area	area	NOUN
app01-3927	28	23	.	.	PUNCT
app01-3927	29	1	robot	robot	NOUN
app01-3927	29	2	must	must	AUX
app01-3927	29	3	take	take	VERB
app01-3927	29	4	shells	shell	NOUN
app01-3927	29	5	to	to	ADP
app01-3927	29	6	the	the	DET
app01-3927	29	7	starting	starting	NOUN
app01-3927	29	8	place	place	NOUN
app01-3927	29	9	.	.	PUNCT
app01-3927	30	1	11	11	NUM
app01-3927	30	2	http://dx.doi.org/10.14311/app.2016.6.0011	http://dx.doi.org/10.14311/app.2016.6.0011	NOUN
app01-3927	30	3	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3927	30	4	g.	g.	PROPN
app01-3927	30	5	granosik	granosik	PROPN
app01-3927	30	6	,	,	PUNCT
app01-3927	30	7	k.	k.	PROPN
app01-3927	30	8	andrzejczak	andrzejczak	PROPN
app01-3927	30	9	,	,	PUNCT
app01-3927	30	10	m.	m.	PROPN
app01-3927	30	11	kujawinski	kujawinski	PROPN
app01-3927	30	12	et	et	PROPN
app01-3927	30	13	al	al	PROPN
app01-3927	30	14	.	.	PROPN
app01-3927	30	15	acta	acta	PROPN
app01-3927	30	16	polytechnica	polytechnica	PROPN
app01-3927	30	17	ctu	ctu	PROPN
app01-3927	30	18	proceedings	proceeding	NOUN
app01-3927	30	19	figure	figure	VERB
app01-3927	30	20	1	1	NUM
app01-3927	30	21	.	.	PUNCT
app01-3927	31	1	husarz	husarz	PROPN
app01-3927	31	2	robots	robot	NOUN
app01-3927	31	3	at	at	ADP
app01-3927	31	4	the	the	DET
app01-3927	31	5	eurobot	eurobot	PROPN
app01-3927	31	6	competitions	competition	NOUN
app01-3927	31	7	•	•	ADP
app01-3927	31	8	hide	hide	VERB
app01-3927	31	9	in	in	ADP
app01-3927	31	10	the	the	DET
app01-3927	31	11	shade	shade	NOUN
app01-3927	31	12	—	—	PUNCT
app01-3927	31	13	this	this	PRON
app01-3927	31	14	is	be	AUX
app01-3927	31	15	the	the	DET
app01-3927	31	16	funny	funny	ADJ
app01-3927	31	17	action	action	NOUN
app01-3927	31	18	,	,	PUNCT
app01-3927	31	19	after	after	ADP
app01-3927	31	20	90	90	NUM
app01-3927	31	21	seconds	second	NOUN
app01-3927	31	22	(	(	PUNCT
app01-3927	31	23	the	the	DET
app01-3927	31	24	end	end	NOUN
app01-3927	31	25	of	of	ADP
app01-3927	31	26	a	a	DET
app01-3927	31	27	match	match	NOUN
app01-3927	31	28	)	)	PUNCT
app01-3927	31	29	robot	robot	NOUN
app01-3927	31	30	must	must	AUX
app01-3927	31	31	rise	rise	VERB
app01-3927	31	32	a	a	DET
app01-3927	31	33	beach	beach	NOUN
app01-3927	31	34	umbrella	umbrella	NOUN
app01-3927	31	35	to	to	PART
app01-3927	31	36	get	get	VERB
app01-3927	31	37	extra	extra	ADJ
app01-3927	31	38	points	point	NOUN
app01-3927	31	39	.	.	PUNCT
app01-3927	32	1	each	each	DET
app01-3927	32	2	team	team	NOUN
app01-3927	32	3	is	be	AUX
app01-3927	32	4	allowed	allow	VERB
app01-3927	32	5	to	to	PART
app01-3927	32	6	have	have	VERB
app01-3927	32	7	up	up	ADP
app01-3927	32	8	to	to	PART
app01-3927	32	9	two	two	NUM
app01-3927	32	10	robots	robot	NOUN
app01-3927	32	11	on	on	ADP
app01-3927	32	12	the	the	DET
app01-3927	32	13	playing	playing	NOUN
app01-3927	32	14	area	area	NOUN
app01-3927	32	15	.	.	PUNCT
app01-3927	33	1	robots	robot	NOUN
app01-3927	33	2	must	must	AUX
app01-3927	33	3	be	be	AUX
app01-3927	33	4	fully	fully	ADV
app01-3927	33	5	autonomous	autonomous	ADJ
app01-3927	33	6	during	during	ADP
app01-3927	33	7	a	a	DET
app01-3927	33	8	match	match	NOUN
app01-3927	33	9	(	(	PUNCT
app01-3927	33	10	no	no	DET
app01-3927	33	11	interference	interference	NOUN
app01-3927	33	12	with	with	ADP
app01-3927	33	13	human	human	ADJ
app01-3927	33	14	operator	operator	NOUN
app01-3927	33	15	)	)	PUNCT
app01-3927	33	16	and	and	CCONJ
app01-3927	33	17	avoid	avoid	VERB
app01-3927	33	18	crashes	crash	NOUN
app01-3927	33	19	with	with	ADP
app01-3927	33	20	opponents	opponent	NOUN
app01-3927	33	21	(	(	PUNCT
app01-3927	33	22	referee	referee	NOUN
app01-3927	33	23	could	could	AUX
app01-3927	33	24	give	give	VERB
app01-3927	33	25	negative	negative	ADJ
app01-3927	33	26	points	point	NOUN
app01-3927	33	27	for	for	ADP
app01-3927	33	28	a	a	DET
app01-3927	33	29	crash	crash	NOUN
app01-3927	33	30	)	)	PUNCT
app01-3927	33	31	.	.	PUNCT
app01-3927	34	1	we	we	PRON
app01-3927	34	2	have	have	AUX
app01-3927	34	3	built	build	VERB
app01-3927	34	4	two	two	NUM
app01-3927	34	5	differential	differential	ADJ
app01-3927	34	6	drive	drive	NOUN
app01-3927	34	7	robots	robot	NOUN
app01-3927	34	8	,	,	PUNCT
app01-3927	34	9	the	the	DET
app01-3927	34	10	bigger	big	ADJ
app01-3927	34	11	one	one	NOUN
app01-3927	34	12	has	have	VERB
app01-3927	34	13	wheels	wheel	NOUN
app01-3927	34	14	while	while	SCONJ
app01-3927	34	15	the	the	DET
app01-3927	34	16	smaller	small	ADJ
app01-3927	34	17	uses	use	VERB
app01-3927	34	18	tracks	track	NOUN
app01-3927	34	19	.	.	PUNCT
app01-3927	35	1	they	they	PRON
app01-3927	35	2	share	share	VERB
app01-3927	35	3	the	the	DET
app01-3927	35	4	control	control	NOUN
app01-3927	35	5	system	system	NOUN
app01-3927	35	6	schematically	schematically	NOUN
app01-3927	35	7	shown	show	VERB
app01-3927	35	8	in	in	ADP
app01-3927	35	9	figure	figure	NOUN
app01-3927	35	10	2	2	NUM
app01-3927	35	11	.	.	PUNCT
app01-3927	36	1	we	we	PRON
app01-3927	36	2	can	can	AUX
app01-3927	36	3	clearly	clearly	ADV
app01-3927	36	4	see	see	VERB
app01-3927	36	5	that	that	SCONJ
app01-3927	36	6	this	this	DET
app01-3927	36	7	control	control	NOUN
app01-3927	36	8	system	system	NOUN
app01-3927	36	9	is	be	AUX
app01-3927	36	10	organized	organize	VERB
app01-3927	36	11	according	accord	VERB
app01-3927	36	12	to	to	ADP
app01-3927	36	13	the	the	DET
app01-3927	36	14	ros	ros	PROPN
app01-3927	36	15	navigation	navigation	NOUN
app01-3927	36	16	stack	stack	NOUN
app01-3927	36	17	presented	present	VERB
app01-3927	36	18	in	in	ADP
app01-3927	36	19	figure	figure	NOUN
app01-3927	36	20	3	3	NUM
app01-3927	36	21	and	and	CCONJ
app01-3927	36	22	in	in	ADP
app01-3927	36	23	[	[	X
app01-3927	36	24	7	7	NUM
app01-3927	36	25	]	]	PUNCT
app01-3927	36	26	.	.	PUNCT
app01-3927	37	1	we	we	PRON
app01-3927	37	2	used	use	VERB
app01-3927	37	3	this	this	DET
app01-3927	37	4	approach	approach	NOUN
app01-3927	37	5	to	to	PART
app01-3927	37	6	take	take	VERB
app01-3927	37	7	advantage	advantage	NOUN
app01-3927	37	8	of	of	ADP
app01-3927	37	9	the	the	DET
app01-3927	37	10	provided	provide	VERB
app01-3927	37	11	programs	program	NOUN
app01-3927	37	12	(	(	PUNCT
app01-3927	37	13	or	or	CCONJ
app01-3927	37	14	nodes	node	NOUN
app01-3927	37	15	in	in	ADP
app01-3927	37	16	ros	ros	PROPN
app01-3927	37	17	nomenclature	nomenclature	NOUN
app01-3927	37	18	,	,	PUNCT
app01-3927	37	19	see	see	VERB
app01-3927	37	20	figure	figure	NOUN
app01-3927	37	21	3	3	NUM
app01-3927	37	22	):	):	PUNCT
app01-3927	37	23	planner	planner	NOUN
app01-3927	37	24	/	/	SYM
app01-3927	37	25	navigator	navigator	NOUN
app01-3927	37	26	(	(	PUNCT
app01-3927	37	27	move_base	move_base	PROPN
app01-3927	37	28	)	)	PUNCT
app01-3927	37	29	and	and	CCONJ
app01-3927	37	30	the	the	DET
app01-3927	37	31	adaptive	adaptive	ADJ
app01-3927	37	32	monte	monte	PROPN
app01-3927	37	33	carlo	carlo	PROPN
app01-3927	37	34	localization	localization	PROPN
app01-3927	37	35	(	(	PUNCT
app01-3927	37	36	amcl	amcl	NOUN
app01-3927	37	37	)	)	PUNCT
app01-3927	37	38	.	.	PUNCT
app01-3927	38	1	on	on	ADP
app01-3927	38	2	the	the	DET
app01-3927	38	3	other	other	ADJ
app01-3927	38	4	hand	hand	NOUN
app01-3927	38	5	we	we	PRON
app01-3927	38	6	had	have	VERB
app01-3927	38	7	to	to	PART
app01-3927	38	8	provide	provide	VERB
app01-3927	38	9	exact	exact	ADJ
app01-3927	38	10	structure	structure	NOUN
app01-3927	38	11	of	of	ADP
app01-3927	38	12	the	the	DET
app01-3927	38	13	control	control	NOUN
app01-3927	38	14	system	system	NOUN
app01-3927	38	15	and	and	CCONJ
app01-3927	38	16	format	format	NOUN
app01-3927	38	17	of	of	ADP
app01-3927	38	18	all	all	DET
app01-3927	38	19	topics	topic	NOUN
app01-3927	38	20	(	(	PUNCT
app01-3927	38	21	messages	message	NOUN
app01-3927	38	22	being	be	AUX
app01-3927	38	23	sent	send	VERB
app01-3927	38	24	between	between	ADP
app01-3927	38	25	nodes	node	NOUN
app01-3927	38	26	)	)	PUNCT
app01-3927	38	27	.	.	PUNCT
app01-3927	39	1	the	the	DET
app01-3927	39	2	high	high	ADJ
app01-3927	39	3	-	-	PUNCT
app01-3927	39	4	level	level	NOUN
app01-3927	39	5	controller	controller	NOUN
app01-3927	39	6	knows	know	VERB
app01-3927	39	7	all	all	DET
app01-3927	39	8	tasks	task	NOUN
app01-3927	39	9	(	(	PUNCT
app01-3927	39	10	required	require	VERB
app01-3927	39	11	by	by	ADP
app01-3927	39	12	competitions	competition	NOUN
app01-3927	39	13	)	)	PUNCT
app01-3927	39	14	and	and	CCONJ
app01-3927	39	15	can	can	AUX
app01-3927	39	16	choose	choose	VERB
app01-3927	39	17	which	which	DET
app01-3927	39	18	robot	robot	NOUN
app01-3927	39	19	will	will	AUX
app01-3927	39	20	perform	perform	VERB
app01-3927	39	21	the	the	DET
app01-3927	39	22	specific	specific	ADJ
app01-3927	39	23	one	one	NOUN
app01-3927	39	24	.	.	PUNCT
app01-3927	40	1	these	these	DET
app01-3927	40	2	tasks	task	NOUN
app01-3927	40	3	are	be	AUX
app01-3927	40	4	provided	provide	VERB
app01-3927	40	5	in	in	ADP
app01-3927	40	6	the	the	DET
app01-3927	40	7	script	script	NOUN
app01-3927	40	8	(	(	PUNCT
app01-3927	40	9	in	in	ADP
app01-3927	40	10	the	the	DET
app01-3927	40	11	form	form	NOUN
app01-3927	40	12	of	of	ADP
app01-3927	40	13	sentences	sentence	NOUN
app01-3927	40	14	)	)	PUNCT
app01-3927	40	15	.	.	PUNCT
app01-3927	41	1	every	every	DET
app01-3927	41	2	sentence	sentence	NOUN
app01-3927	41	3	is	be	AUX
app01-3927	41	4	composed	compose	VERB
app01-3927	41	5	of	of	ADP
app01-3927	41	6	several	several	ADJ
app01-3927	41	7	stages	stage	NOUN
app01-3927	41	8	.	.	PUNCT
app01-3927	42	1	the	the	DET
app01-3927	42	2	first	first	ADJ
app01-3927	42	3	one	one	NOUN
app01-3927	42	4	always	always	ADV
app01-3927	42	5	uses	use	VERB
app01-3927	42	6	the	the	DET
app01-3927	42	7	move_base	move_base	NOUN
app01-3927	42	8	node	node	ADJ
app01-3927	42	9	to	to	PART
app01-3927	42	10	set	set	VERB
app01-3927	42	11	the	the	DET
app01-3927	42	12	robot	robot	NOUN
app01-3927	42	13	in	in	ADP
app01-3927	42	14	an	an	DET
app01-3927	42	15	appropriate	appropriate	ADJ
app01-3927	42	16	position	position	NOUN
app01-3927	42	17	to	to	PART
app01-3927	42	18	run	run	VERB
app01-3927	42	19	the	the	DET
app01-3927	42	20	task	task	NOUN
app01-3927	42	21	.	.	PUNCT
app01-3927	43	1	next	next	ADJ
app01-3927	43	2	steps	step	NOUN
app01-3927	43	3	depend	depend	VERB
app01-3927	43	4	on	on	ADP
app01-3927	43	5	the	the	DET
app01-3927	43	6	type	type	NOUN
app01-3927	43	7	of	of	ADP
app01-3927	43	8	the	the	DET
app01-3927	43	9	task	task	NOUN
app01-3927	43	10	(	(	PUNCT
app01-3927	43	11	for	for	ADP
app01-3927	43	12	example	example	NOUN
app01-3927	43	13	:	:	PUNCT
app01-3927	43	14	sending	send	VERB
app01-3927	43	15	order	order	NOUN
app01-3927	43	16	with	with	ADP
app01-3927	43	17	a	a	DET
app01-3927	43	18	linear	linear	ADJ
app01-3927	43	19	velocity	velocity	NOUN
app01-3927	43	20	directly	directly	ADV
app01-3927	43	21	to	to	ADP
app01-3927	43	22	the	the	DET
app01-3927	43	23	robot	robot	NOUN
app01-3927	43	24	to	to	PART
app01-3927	43	25	move	move	VERB
app01-3927	43	26	something	something	PRON
app01-3927	43	27	on	on	ADP
app01-3927	43	28	the	the	DET
app01-3927	43	29	playing	playing	NOUN
app01-3927	43	30	area	area	NOUN
app01-3927	43	31	,	,	PUNCT
app01-3927	43	32	or	or	CCONJ
app01-3927	43	33	sending	send	VERB
app01-3927	43	34	order	order	NOUN
app01-3927	43	35	to	to	ADP
app01-3927	43	36	the	the	DET
app01-3927	43	37	manipulators	manipulator	NOUN
app01-3927	43	38	to	to	PART
app01-3927	43	39	pick	pick	VERB
app01-3927	43	40	up	up	ADP
app01-3927	43	41	something	something	PRON
app01-3927	43	42	,	,	PUNCT
app01-3927	43	43	or	or	CCONJ
app01-3927	43	44	some	some	DET
app01-3927	43	45	combination	combination	NOUN
app01-3927	43	46	of	of	ADP
app01-3927	43	47	such	such	ADJ
app01-3927	43	48	orders	order	NOUN
app01-3927	43	49	)	)	PUNCT
app01-3927	43	50	.	.	PUNCT
app01-3927	44	1	in	in	ADP
app01-3927	44	2	the	the	DET
app01-3927	44	3	application	application	NOUN
app01-3927	44	4	prepared	prepare	VERB
app01-3927	44	5	for	for	ADP
app01-3927	44	6	eurobot	eurobot	PROPN
app01-3927	44	7	2016	2016	NUM
app01-3927	44	8	contest	contest	NOUN
app01-3927	44	9	we	we	PRON
app01-3927	44	10	have	have	AUX
app01-3927	44	11	specified	specify	VERB
app01-3927	44	12	four	four	NUM
app01-3927	44	13	global	global	ADJ
app01-3927	44	14	tasks	task	NOUN
app01-3927	44	15	:	:	PUNCT
app01-3927	44	16	move	move	NOUN
app01-3927	44	17	pads	pad	NOUN
app01-3927	44	18	(	(	PUNCT
app01-3927	44	19	1	1	NUM
app01-3927	44	20	)	)	PUNCT
app01-3927	44	21	,	,	PUNCT
app01-3927	44	22	close	close	ADJ
app01-3927	44	23	doors	door	NOUN
app01-3927	44	24	(	(	PUNCT
app01-3927	44	25	2	2	NUM
app01-3927	44	26	)	)	PUNCT
app01-3927	44	27	,	,	PUNCT
app01-3927	44	28	pick	pick	VERB
app01-3927	44	29	up	up	ADP
app01-3927	44	30	and	and	CCONJ
app01-3927	44	31	bring	bring	VERB
app01-3927	44	32	the	the	DET
app01-3927	44	33	sand	sand	NOUN
app01-3927	44	34	castle	castle	NOUN
app01-3927	44	35	to	to	PART
app01-3927	44	36	point	point	VERB
app01-3927	44	37	area	area	NOUN
app01-3927	44	38	(	(	PUNCT
app01-3927	44	39	3	3	NUM
app01-3927	44	40	)	)	PUNCT
app01-3927	44	41	and	and	CCONJ
app01-3927	44	42	catch	catch	VERB
app01-3927	44	43	the	the	DET
app01-3927	44	44	fish	fish	NOUN
app01-3927	44	45	(	(	PUNCT
app01-3927	44	46	4	4	NUM
app01-3927	44	47	)	)	PUNCT
app01-3927	44	48	.	.	PUNCT
app01-3927	45	1	tasks	task	NOUN
app01-3927	45	2	1	1	NUM
app01-3927	45	3	and	and	CCONJ
app01-3927	45	4	2	2	NUM
app01-3927	45	5	could	could	AUX
app01-3927	45	6	be	be	AUX
app01-3927	45	7	performed	perform	VERB
app01-3927	45	8	by	by	ADP
app01-3927	45	9	either	either	DET
app01-3927	45	10	robot	robot	NOUN
app01-3927	45	11	,	,	PUNCT
app01-3927	45	12	while	while	SCONJ
app01-3927	45	13	3	3	NUM
app01-3927	45	14	and	and	CCONJ
app01-3927	45	15	4	4	NUM
app01-3927	45	16	could	could	AUX
app01-3927	45	17	be	be	AUX
app01-3927	45	18	made	make	VERB
app01-3927	45	19	only	only	ADV
app01-3927	45	20	by	by	ADP
app01-3927	45	21	the	the	DET
app01-3927	45	22	bigger	big	ADJ
app01-3927	45	23	one	one	NOUN
app01-3927	45	24	.	.	PUNCT
app01-3927	46	1	at	at	ADP
app01-3927	46	2	the	the	DET
app01-3927	46	3	beginning	beginning	NOUN
app01-3927	46	4	of	of	ADP
app01-3927	46	5	a	a	DET
app01-3927	46	6	match	match	NOUN
app01-3927	46	7	,	,	PUNCT
app01-3927	46	8	the	the	DET
app01-3927	46	9	big	big	ADJ
app01-3927	46	10	robot	robot	NOUN
app01-3927	46	11	has	have	AUX
app01-3927	46	12	got	get	VERB
app01-3927	46	13	three	three	NUM
app01-3927	46	14	tasks	task	NOUN
app01-3927	46	15	to	to	PART
app01-3927	46	16	do	do	VERB
app01-3927	46	17	,	,	PUNCT
app01-3927	46	18	the	the	DET
app01-3927	46	19	small	small	ADJ
app01-3927	46	20	one	one	NOUN
app01-3927	46	21	has	have	VERB
app01-3927	46	22	one	one	NUM
app01-3927	46	23	regular	regular	ADJ
app01-3927	46	24	task	task	NOUN
app01-3927	46	25	and	and	CCONJ
app01-3927	46	26	an	an	DET
app01-3927	46	27	extra	extra	ADJ
app01-3927	46	28	task	task	NOUN
app01-3927	46	29	to	to	PART
app01-3927	46	30	be	be	AUX
app01-3927	46	31	performed	perform	VERB
app01-3927	46	32	after	after	ADP
app01-3927	46	33	the	the	DET
app01-3927	46	34	end	end	NOUN
app01-3927	46	35	of	of	ADP
app01-3927	46	36	the	the	DET
app01-3927	46	37	match	match	NOUN
app01-3927	46	38	(	(	PUNCT
app01-3927	46	39	opening	open	VERB
app01-3927	46	40	an	an	DET
app01-3927	46	41	umbrella	umbrella	NOUN
app01-3927	46	42	after	after	ADP
app01-3927	46	43	90	90	NUM
app01-3927	46	44	seconds	second	NOUN
app01-3927	46	45	)	)	PUNCT
app01-3927	46	46	.	.	PUNCT
app01-3927	47	1	figure	figure	NOUN
app01-3927	47	2	2	2	NUM
app01-3927	47	3	.	.	PUNCT
app01-3927	47	4	control	control	NOUN
app01-3927	47	5	sytem	sytem	NOUN
app01-3927	47	6	of	of	ADP
app01-3927	47	7	the	the	DET
app01-3927	47	8	husarz	husarz	PROPN
app01-3927	47	9	robot	robot	NOUN
app01-3927	48	1	let‘s	let‘s	NOUN
app01-3927	48	2	look	look	VERB
app01-3927	48	3	closer	close	ADV
app01-3927	48	4	on	on	ADP
app01-3927	48	5	the	the	DET
app01-3927	48	6	sea	sea	NOUN
app01-3927	48	7	fishing	fishing	NOUN
app01-3927	48	8	task	task	NOUN
app01-3927	48	9	.	.	PUNCT
app01-3927	49	1	always	always	ADV
app01-3927	49	2	in	in	ADP
app01-3927	49	3	a	a	DET
app01-3927	49	4	first	first	ADJ
app01-3927	49	5	step	step	NOUN
app01-3927	49	6	robot	robot	NOUN
app01-3927	49	7	uses	use	VERB
app01-3927	49	8	move_base	move_base	NOUN
app01-3927	49	9	planner	planner	NOUN
app01-3927	49	10	to	to	PART
app01-3927	49	11	get	get	VERB
app01-3927	49	12	to	to	ADP
app01-3927	49	13	the	the	DET
app01-3927	49	14	point	point	NOUN
app01-3927	49	15	nearby	nearby	ADP
app01-3927	49	16	the	the	DET
app01-3927	49	17	task	task	NOUN
app01-3927	49	18	execution	execution	NOUN
app01-3927	49	19	(	(	PUNCT
app01-3927	49	20	close	close	ADJ
app01-3927	49	21	to	to	ADP
app01-3927	49	22	the	the	DET
app01-3927	49	23	aquarium	aquarium	NOUN
app01-3927	49	24	in	in	ADP
app01-3927	49	25	this	this	DET
app01-3927	49	26	case	case	NOUN
app01-3927	49	27	)	)	PUNCT
app01-3927	49	28	.	.	PUNCT
app01-3927	50	1	after	after	SCONJ
app01-3927	50	2	the	the	DET
app01-3927	50	3	robot	robot	NOUN
app01-3927	50	4	gets	get	VERB
app01-3927	50	5	to	to	ADP
app01-3927	50	6	the	the	DET
app01-3927	50	7	right	right	ADJ
app01-3927	50	8	place	place	NOUN
app01-3927	50	9	(	(	PUNCT
app01-3927	50	10	with	with	ADP
app01-3927	50	11	the	the	DET
app01-3927	50	12	right	right	ADJ
app01-3927	50	13	orientation	orientation	NOUN
app01-3927	50	14	)	)	PUNCT
app01-3927	50	15	the	the	DET
app01-3927	50	16	main	main	ADJ
app01-3927	50	17	controller	controller	NOUN
app01-3927	50	18	sends	send	VERB
app01-3927	50	19	order	order	NOUN
app01-3927	50	20	to	to	ADP
app01-3927	50	21	the	the	DET
app01-3927	50	22	low	low	ADJ
app01-3927	50	23	-	-	PUNCT
app01-3927	50	24	level	level	NOUN
app01-3927	50	25	controller	controller	NOUN
app01-3927	50	26	to	to	PART
app01-3927	50	27	deploy	deploy	VERB
app01-3927	50	28	a	a	DET
app01-3927	50	29	manipulator	manipulator	NOUN
app01-3927	50	30	(	(	PUNCT
app01-3927	50	31	fishing	fishing	NOUN
app01-3927	50	32	boom	boom	NOUN
app01-3927	50	33	)	)	PUNCT
app01-3927	50	34	.	.	PUNCT
app01-3927	51	1	in	in	ADP
app01-3927	51	2	the	the	DET
app01-3927	51	3	next	next	ADJ
app01-3927	51	4	step	step	NOUN
app01-3927	51	5	the	the	DET
app01-3927	51	6	main	main	ADJ
app01-3927	51	7	controller	controller	NOUN
app01-3927	51	8	sends	send	VERB
app01-3927	51	9	the	the	DET
app01-3927	51	10	value	value	NOUN
app01-3927	51	11	of	of	ADP
app01-3927	51	12	linear	linear	ADJ
app01-3927	51	13	velocity	velocity	NOUN
app01-3927	51	14	directly	directly	ADV
app01-3927	51	15	to	to	ADP
app01-3927	51	16	the	the	DET
app01-3927	51	17	low	low	ADJ
app01-3927	51	18	-	-	PUNCT
app01-3927	51	19	level	level	NOUN
app01-3927	51	20	controller	controller	NOUN
app01-3927	51	21	(	(	PUNCT
app01-3927	51	22	which	which	PRON
app01-3927	51	23	control	control	VERB
app01-3927	51	24	drivers	driver	NOUN
app01-3927	51	25	)	)	PUNCT
app01-3927	51	26	.	.	PUNCT
app01-3927	52	1	the	the	DET
app01-3927	52	2	main	main	ADJ
app01-3927	52	3	controller	controller	NOUN
app01-3927	52	4	continuously	continuously	ADV
app01-3927	52	5	analyzes	analyze	VERB
app01-3927	52	6	position	position	NOUN
app01-3927	52	7	read	read	VERB
app01-3927	52	8	from	from	ADP
app01-3927	52	9	/odom	/odom	PUNCT
app01-3927	52	10	topic	topic	NOUN
app01-3927	52	11	.	.	PUNCT
app01-3927	53	1	when	when	SCONJ
app01-3927	53	2	the	the	DET
app01-3927	53	3	robot	robot	NOUN
app01-3927	53	4	reaches	reach	VERB
app01-3927	53	5	the	the	DET
app01-3927	53	6	other	other	ADJ
app01-3927	53	7	end	end	NOUN
app01-3927	53	8	of	of	ADP
app01-3927	53	9	aquarium	aquarium	NOUN
app01-3927	53	10	the	the	DET
app01-3927	53	11	main	main	ADJ
app01-3927	53	12	controller	controller	NOUN
app01-3927	53	13	sends	send	VERB
app01-3927	53	14	order	order	NOUN
app01-3927	53	15	to	to	PART
app01-3927	53	16	stop	stop	VERB
app01-3927	53	17	,	,	PUNCT
app01-3927	53	18	then	then	ADV
app01-3927	53	19	to	to	PART
app01-3927	53	20	return	return	VERB
app01-3927	53	21	(	(	PUNCT
app01-3927	53	22	sends	send	VERB
app01-3927	53	23	negative	negative	ADJ
app01-3927	53	24	value	value	NOUN
app01-3927	53	25	of	of	ADP
app01-3927	53	26	linear	linear	ADJ
app01-3927	53	27	velocity	velocity	NOUN
app01-3927	53	28	)	)	PUNCT
app01-3927	53	29	.	.	PUNCT
app01-3927	54	1	after	after	ADP
app01-3927	54	2	that	that	PRON
app01-3927	54	3	,	,	PUNCT
app01-3927	54	4	the	the	DET
app01-3927	54	5	controller	controller	NOUN
app01-3927	54	6	repeats	repeat	VERB
app01-3927	54	7	the	the	DET
app01-3927	54	8	above	above	ADJ
app01-3927	54	9	operation	operation	NOUN
app01-3927	54	10	one	one	NUM
app01-3927	54	11	more	more	ADJ
app01-3927	54	12	to	to	PART
app01-3927	54	13	go	go	VERB
app01-3927	54	14	along	along	ADP
app01-3927	54	15	the	the	DET
app01-3927	54	16	wall	wall	NOUN
app01-3927	54	17	.	.	PUNCT
app01-3927	55	1	on	on	ADP
app01-3927	55	2	the	the	DET
app01-3927	55	3	next	next	ADJ
app01-3927	55	4	run	run	NOUN
app01-3927	55	5	robot	robot	NOUN
app01-3927	55	6	goes	go	VERB
app01-3927	55	7	further	far	ADV
app01-3927	55	8	to	to	PART
app01-3927	55	9	reach	reach	VERB
app01-3927	55	10	a	a	DET
app01-3927	55	11	net	net	NOUN
app01-3927	55	12	and	and	CCONJ
app01-3927	55	13	leave	leave	VERB
app01-3927	55	14	fishes	fish	NOUN
app01-3927	55	15	(	(	PUNCT
app01-3927	55	16	appropriate	appropriate	ADJ
app01-3927	55	17	order	order	NOUN
app01-3927	55	18	sent	send	VERB
app01-3927	55	19	to	to	ADP
app01-3927	55	20	the	the	DET
app01-3927	55	21	manipulator	manipulator	NOUN
app01-3927	55	22	)	)	PUNCT
app01-3927	55	23	to	to	PART
app01-3927	55	24	score	score	VERB
app01-3927	55	25	points	point	NOUN
app01-3927	55	26	.	.	PUNCT
app01-3927	56	1	each	each	DET
app01-3927	56	2	step	step	NOUN
app01-3927	56	3	has	have	AUX
app01-3927	56	4	got	get	VERB
app01-3927	56	5	a	a	DET
app01-3927	56	6	time	time	NOUN
app01-3927	56	7	limit	limit	NOUN
app01-3927	56	8	.	.	PUNCT
app01-3927	57	1	after	after	ADP
app01-3927	57	2	reaching	reach	VERB
app01-3927	57	3	a	a	DET
app01-3927	57	4	time	time	NOUN
app01-3927	57	5	limit	limit	NOUN
app01-3927	57	6	before	before	ADP
app01-3927	57	7	completing	complete	VERB
app01-3927	57	8	a	a	DET
app01-3927	57	9	step	step	NOUN
app01-3927	57	10	,	,	PUNCT
app01-3927	57	11	the	the	DET
app01-3927	57	12	program	program	NOUN
app01-3927	57	13	has	have	VERB
app01-3927	57	14	to	to	PART
app01-3927	57	15	choose	choose	VERB
app01-3927	57	16	either	either	CCONJ
app01-3927	57	17	to	to	PART
app01-3927	57	18	repeat	repeat	VERB
app01-3927	57	19	the	the	DET
app01-3927	57	20	step	step	NOUN
app01-3927	57	21	one	one	NUM
app01-3927	57	22	more	more	ADJ
app01-3927	57	23	time	time	NOUN
app01-3927	57	24	or	or	CCONJ
app01-3927	57	25	tag	tag	NOUN
app01-3927	57	26	this	this	DET
app01-3927	57	27	task	task	NOUN
app01-3927	57	28	failed	fail	VERB
app01-3927	57	29	and	and	CCONJ
app01-3927	57	30	proceed	proceed	VERB
app01-3927	57	31	to	to	ADP
app01-3927	57	32	the	the	DET
app01-3927	57	33	next	next	ADJ
app01-3927	57	34	task	task	NOUN
app01-3927	57	35	.	.	PUNCT
app01-3927	58	1	the	the	DET
app01-3927	58	2	main	main	ADJ
app01-3927	58	3	controller	controller	NOUN
app01-3927	58	4	counts	count	VERB
app01-3927	58	5	how	how	SCONJ
app01-3927	58	6	many	many	ADJ
app01-3927	58	7	times	time	NOUN
app01-3927	58	8	it	it	PRON
app01-3927	58	9	sent	send	VERB
app01-3927	58	10	specific	specific	ADJ
app01-3927	58	11	orders	order	NOUN
app01-3927	58	12	.	.	PUNCT
app01-3927	59	1	if	if	SCONJ
app01-3927	59	2	this	this	DET
app01-3927	59	3	value	value	NOUN
app01-3927	59	4	reaches	reach	VERB
app01-3927	59	5	the	the	DET
app01-3927	59	6	limit	limit	NOUN
app01-3927	59	7	,	,	PUNCT
app01-3927	59	8	the	the	DET
app01-3927	59	9	program	program	NOUN
app01-3927	59	10	will	will	AUX
app01-3927	59	11	move	move	VERB
app01-3927	59	12	to	to	ADP
app01-3927	59	13	another	another	DET
app01-3927	59	14	task	task	NOUN
app01-3927	59	15	.	.	PUNCT
app01-3927	60	1	the	the	DET
app01-3927	60	2	high	high	ADJ
app01-3927	60	3	-	-	PUNCT
app01-3927	60	4	level	level	NOUN
app01-3927	60	5	controller	controller	NOUN
app01-3927	60	6	node	node	NOUN
app01-3927	60	7	publishes	publish	VERB
app01-3927	60	8	the	the	DET
app01-3927	60	9	/move_base_simple	/move_base_simple	NOUN
app01-3927	60	10	/	/	SYM
app01-3927	60	11	goal	goal	NOUN
app01-3927	60	12	topic	topic	NOUN
app01-3927	60	13	containing	contain	VERB
app01-3927	60	14	information	information	NOUN
app01-3927	60	15	about	about	ADP
app01-3927	60	16	position	position	NOUN
app01-3927	60	17	and	and	CCONJ
app01-3927	60	18	orientation	orientation	NOUN
app01-3927	60	19	of	of	ADP
app01-3927	60	20	the	the	DET
app01-3927	60	21	target	target	NOUN
app01-3927	60	22	point	point	NOUN
app01-3927	60	23	in	in	ADP
app01-3927	60	24	the	the	DET
app01-3927	60	25	standard	standard	ADJ
app01-3927	60	26	format	format	NOUN
app01-3927	60	27	of	of	ADP
app01-3927	60	28	geometry_msgs	geometry_msgs	PROPN
app01-3927	60	29	/	/	SYM
app01-3927	60	30	posestamped	posestampe	VERB
app01-3927	60	31	message	message	NOUN
app01-3927	60	32	.	.	PUNCT
app01-3927	61	1	this	this	PRON
app01-3927	61	2	is	be	AUX
app01-3927	61	3	one	one	NUM
app01-3927	61	4	of	of	ADP
app01-3927	61	5	the	the	DET
app01-3927	61	6	inputs	input	NOUN
app01-3927	61	7	of	of	ADP
app01-3927	61	8	the	the	DET
app01-3927	61	9	planner	planner	NOUN
app01-3927	61	10	—	—	PUNCT
app01-3927	61	11	which	which	PRON
app01-3927	61	12	do	do	VERB
app01-3927	61	13	all	all	DET
app01-3927	61	14	hard	hard	ADJ
app01-3927	61	15	work	work	NOUN
app01-3927	61	16	of	of	ADP
app01-3927	61	17	finding	find	VERB
app01-3927	61	18	safe	safe	ADJ
app01-3927	61	19	path	path	NOUN
app01-3927	61	20	on	on	ADP
app01-3927	61	21	the	the	DET
app01-3927	61	22	playing	playing	NOUN
app01-3927	61	23	area	area	NOUN
app01-3927	61	24	and	and	CCONJ
app01-3927	61	25	avoiding	avoid	VERB
app01-3927	61	26	obstacles	obstacle	NOUN
app01-3927	61	27	—	—	PUNCT
app01-3927	61	28	and	and	CCONJ
app01-3927	61	29	further	far	ADV
app01-3927	61	30	publishes	publishe	NOUN
app01-3927	61	31	/cmd_vel	/cmd_vel	PUNCT
app01-3927	61	32	topic	topic	NOUN
app01-3927	61	33	containing	contain	VERB
app01-3927	61	34	reference	reference	NOUN
app01-3927	61	35	linear	linear	ADJ
app01-3927	61	36	and	and	CCONJ
app01-3927	61	37	angular	angular	ADJ
app01-3927	61	38	velocities	velocity	NOUN
app01-3927	61	39	for	for	ADP
app01-3927	61	40	the	the	DET
app01-3927	61	41	mobile	mobile	ADJ
app01-3927	61	42	robot	robot	NOUN
app01-3927	61	43	in	in	ADP
app01-3927	61	44	the	the	DET
app01-3927	61	45	format	format	NOUN
app01-3927	61	46	:	:	PUNCT
app01-3927	61	47	geometry_msgs	geometry_msgs	PROPN
app01-3927	61	48	/	/	SYM
app01-3927	61	49	twist	twist	NOUN
app01-3927	61	50	.	.	PUNCT
app01-3927	62	1	this	this	DET
app01-3927	62	2	topic	topic	NOUN
app01-3927	62	3	is	be	AUX
app01-3927	62	4	subscribed	subscribe	VERB
app01-3927	62	5	by	by	ADP
app01-3927	62	6	the	the	DET
app01-3927	62	7	node	node	NOUN
app01-3927	62	8	which	which	PRON
app01-3927	62	9	realizes	realize	VERB
app01-3927	62	10	the	the	DET
app01-3927	62	11	low	low	ADJ
app01-3927	62	12	level	level	NOUN
app01-3927	62	13	controller	controller	NOUN
app01-3927	62	14	and	and	CCONJ
app01-3927	62	15	which	which	PRON
app01-3927	62	16	is	be	AUX
app01-3927	62	17	located	locate	VERB
app01-3927	62	18	on	on	ADP
app01-3927	62	19	the	the	DET
app01-3927	62	20	arduino	arduino	NOUN
app01-3927	62	21	board	board	NOUN
app01-3927	62	22	controlling	control	VERB
app01-3927	62	23	motor	motor	NOUN
app01-3927	62	24	drivers	driver	NOUN
app01-3927	62	25	.	.	PUNCT
app01-3927	63	1	the	the	DET
app01-3927	63	2	low	low	ADJ
app01-3927	63	3	-	-	PUNCT
app01-3927	63	4	level	level	NOUN
app01-3927	63	5	controller	controller	NOUN
app01-3927	63	6	also	also	ADV
app01-3927	63	7	publishes	publish	VERB
app01-3927	63	8	an	an	DET
app01-3927	63	9	odometry	odometry	NOUN
app01-3927	63	10	information	information	NOUN
app01-3927	63	11	.	.	PUNCT
app01-3927	64	1	planer	planer	NOUN
app01-3927	64	2	and	and	CCONJ
app01-3927	64	3	navigator	navigator	NOUN
app01-3927	64	4	hidden	hide	VERB
app01-3927	64	5	in	in	ADP
app01-3927	64	6	the	the	DET
app01-3927	64	7	move_base	move_base	NOUN
app01-3927	64	8	node	node	NOUN
app01-3927	64	9	has	have	VERB
app01-3927	64	10	to	to	PART
app01-3927	64	11	be	be	AUX
app01-3927	64	12	configured	configure	VERB
app01-3927	64	13	before	before	ADP
app01-3927	64	14	use	use	NOUN
app01-3927	64	15	,	,	PUNCT
app01-3927	64	16	we	we	PRON
app01-3927	64	17	have	have	VERB
app01-3927	64	18	to	to	PART
app01-3927	64	19	set	set	VERB
app01-3927	64	20	robot‘s	robot‘s	NOUN
app01-3927	64	21	size	size	NOUN
app01-3927	64	22	,	,	PUNCT
app01-3927	64	23	maximum	maximum	ADJ
app01-3927	64	24	and	and	CCONJ
app01-3927	64	25	minimum	minimum	ADJ
app01-3927	64	26	angular	angular	ADJ
app01-3927	64	27	and	and	CCONJ
app01-3927	64	28	linear	linear	ADJ
app01-3927	64	29	velocities	velocity	NOUN
app01-3927	64	30	,	,	PUNCT
app01-3927	64	31	and	and	CCONJ
app01-3927	64	32	accelerations	acceleration	NOUN
app01-3927	64	33	,	,	PUNCT
app01-3927	64	34	planner‘s	planner‘s	NOUN
app01-3927	64	35	frequency	frequency	NOUN
app01-3927	64	36	,	,	PUNCT
app01-3927	64	37	map	map	VERB
app01-3927	64	38	12	12	NUM
app01-3927	64	39	vol	vol	NOUN
app01-3927	64	40	.	.	PUNCT
app01-3927	65	1	6/2016	6/2016	NUM
app01-3927	65	2	using	use	VERB
app01-3927	65	3	robot	robot	NOUN
app01-3927	65	4	operating	operating	NOUN
app01-3927	65	5	system	system	NOUN
app01-3927	65	6	for	for	ADP
app01-3927	65	7	autonomous	autonomous	ADJ
app01-3927	65	8	control	control	NOUN
app01-3927	65	9	of	of	ADP
app01-3927	65	10	robots	robot	NOUN
app01-3927	65	11	figure	figure	VERB
app01-3927	65	12	3	3	NUM
app01-3927	65	13	.	.	NOUN
app01-3927	65	14	standard	standard	ADJ
app01-3927	65	15	ros	ros	PROPN
app01-3927	65	16	navigation	navigation	NOUN
app01-3927	65	17	stack	stack	NOUN
app01-3927	66	1	[	[	X
app01-3927	66	2	7	7	NUM
app01-3927	66	3	]	]	PUNCT
app01-3927	66	4	.	.	PUNCT
app01-3927	67	1	figure	figure	NOUN
app01-3927	67	2	4	4	NUM
app01-3927	67	3	.	.	PUNCT
app01-3927	68	1	building	build	VERB
app01-3927	68	2	the	the	DET
app01-3927	68	3	navigation	navigation	NOUN
app01-3927	68	4	map	map	NOUN
app01-3927	68	5	(	(	PUNCT
app01-3927	68	6	middle	middle	NOUN
app01-3927	68	7	)	)	PUNCT
app01-3927	68	8	based	base	VERB
app01-3927	68	9	on	on	ADP
app01-3927	68	10	the	the	DET
app01-3927	68	11	geometry	geometry	NOUN
app01-3927	68	12	of	of	ADP
app01-3927	68	13	playing	play	VERB
app01-3927	68	14	board	board	NOUN
app01-3927	68	15	(	(	PUNCT
app01-3927	68	16	up	up	ADP
app01-3927	68	17	)	)	PUNCT
app01-3927	68	18	of	of	ADP
app01-3927	68	19	eurobot	eurobot	PROPN
app01-3927	68	20	competitions	competition	NOUN
app01-3927	68	21	,	,	PUNCT
app01-3927	68	22	or	or	CCONJ
app01-3927	68	23	based	base	VERB
app01-3927	68	24	on	on	ADP
app01-3927	68	25	several	several	ADJ
app01-3927	68	26	scans	scan	NOUN
app01-3927	68	27	taken	take	VERB
app01-3927	68	28	on	on	ADP
app01-3927	68	29	the	the	DET
app01-3927	68	30	real	real	ADJ
app01-3927	68	31	board	board	NOUN
app01-3927	68	32	(	(	PUNCT
app01-3927	68	33	down	down	ADJ
app01-3927	68	34	)	)	PUNCT
app01-3927	68	35	parameters	parameter	NOUN
app01-3927	68	36	etc	etc	X
app01-3927	68	37	.	.	X
app01-3927	69	1	if	if	SCONJ
app01-3927	69	2	the	the	DET
app01-3927	69	3	robot	robot	NOUN
app01-3927	69	4	has	have	VERB
app01-3927	69	5	different	different	ADJ
app01-3927	69	6	kinematics	kinematic	NOUN
app01-3927	69	7	one	one	PRON
app01-3927	69	8	can	can	AUX
app01-3927	69	9	use	use	VERB
app01-3927	69	10	another	another	DET
app01-3927	69	11	ros	ros	PROPN
app01-3927	69	12	planer	planer	NOUN
app01-3927	69	13	leaving	leave	VERB
app01-3927	69	14	the	the	DET
app01-3927	69	15	operating	operate	VERB
app01-3927	69	16	principles	principle	NOUN
app01-3927	69	17	of	of	ADP
app01-3927	69	18	the	the	DET
app01-3927	69	19	navigation	navigation	NOUN
app01-3927	69	20	stack	stack	NOUN
app01-3927	69	21	unchanged	unchanged	ADJ
app01-3927	69	22	.	.	PUNCT
app01-3927	70	1	the	the	DET
app01-3927	70	2	most	most	ADV
app01-3927	70	3	important	important	ADJ
app01-3927	70	4	parameters	parameter	NOUN
app01-3927	70	5	in	in	ADP
app01-3927	70	6	case	case	NOUN
app01-3927	70	7	of	of	ADP
app01-3927	70	8	eurobot	eurobot	PROPN
app01-3927	70	9	contest	contest	NOUN
app01-3927	70	10	were	be	AUX
app01-3927	70	11	pdist/_scale	pdist/_scale	NOUN
app01-3927	70	12	and	and	CCONJ
app01-3927	70	13	gdist_scale	gdist_scale	NOUN
app01-3927	70	14	:	:	PUNCT
app01-3927	70	15	pdist_scale	pdist_scale	NOUN
app01-3927	70	16	—	—	PUNCT
app01-3927	70	17	the	the	DET
app01-3927	70	18	relative	relative	ADJ
app01-3927	70	19	importance	importance	NOUN
app01-3927	70	20	of	of	ADP
app01-3927	70	21	sticking	stick	VERB
app01-3927	70	22	to	to	ADP
app01-3927	70	23	the	the	DET
app01-3927	70	24	global	global	ADJ
app01-3927	70	25	path	path	NOUN
app01-3927	70	26	as	as	SCONJ
app01-3927	70	27	opposed	oppose	VERB
app01-3927	70	28	to	to	ADP
app01-3927	70	29	getting	get	VERB
app01-3927	70	30	to	to	ADP
app01-3927	70	31	the	the	DET
app01-3927	70	32	goal	goal	NOUN
app01-3927	70	33	.	.	PUNCT
app01-3927	71	1	gdist_scale	gdist_scale	NOUN
app01-3927	71	2	—	—	PUNCT
app01-3927	71	3	the	the	DET
app01-3927	71	4	relative	relative	ADJ
app01-3927	71	5	importance	importance	NOUN
app01-3927	71	6	of	of	ADP
app01-3927	71	7	getting	get	VERB
app01-3927	71	8	to	to	ADP
app01-3927	71	9	the	the	DET
app01-3927	71	10	goal	goal	NOUN
app01-3927	71	11	rather	rather	ADV
app01-3927	71	12	than	than	ADP
app01-3927	71	13	sticking	stick	VERB
app01-3927	71	14	to	to	ADP
app01-3927	71	15	the	the	DET
app01-3927	71	16	global	global	ADJ
app01-3927	71	17	path	path	NOUN
app01-3927	71	18	.	.	PUNCT
app01-3927	72	1	by	by	ADP
app01-3927	72	2	trying	try	VERB
app01-3927	72	3	different	different	ADJ
app01-3927	72	4	values	value	NOUN
app01-3927	72	5	we	we	PRON
app01-3927	72	6	have	have	AUX
app01-3927	72	7	tuned	tune	VERB
app01-3927	72	8	these	these	DET
app01-3927	72	9	values	value	NOUN
app01-3927	72	10	pdist_scale	pdist_scale	NOUN
app01-3927	72	11	=	=	NOUN
app01-3927	72	12	0.75	0.75	NUM
app01-3927	72	13	,	,	PUNCT
app01-3927	72	14	and	and	CCONJ
app01-3927	72	15	gdist_scale	gdist_scale	NOUN
app01-3927	72	16	=	=	SYM
app01-3927	72	17	1	1	X
app01-3927	72	18	.	.	PUNCT
app01-3927	73	1	our	our	PRON
app01-3927	73	2	robot	robot	NOUN
app01-3927	73	3	do	do	AUX
app01-3927	73	4	not	not	PART
app01-3927	73	5	stick	stick	VERB
app01-3927	73	6	to	to	ADP
app01-3927	73	7	global	global	ADJ
app01-3927	73	8	path	path	NOUN
app01-3927	73	9	but	but	CCONJ
app01-3927	73	10	tries	try	VERB
app01-3927	73	11	to	to	PART
app01-3927	73	12	get	get	VERB
app01-3927	73	13	to	to	ADP
app01-3927	73	14	goals	goal	NOUN
app01-3927	73	15	in	in	ADP
app01-3927	73	16	a	a	DET
app01-3927	73	17	smooth	smooth	ADJ
app01-3927	73	18	way	way	NOUN
app01-3927	73	19	.	.	PUNCT
app01-3927	74	1	when	when	SCONJ
app01-3927	74	2	pdist_scale	pdist_scale	NOUN
app01-3927	74	3	is	be	AUX
app01-3927	74	4	larger	large	ADJ
app01-3927	74	5	than	than	ADP
app01-3927	74	6	gdist_scale	gdist_scale	VERB
app01-3927	74	7	the	the	DET
app01-3927	74	8	robot	robot	NOUN
app01-3927	74	9	drives	drive	VERB
app01-3927	74	10	only	only	ADV
app01-3927	74	11	trough	trough	ADJ
app01-3927	74	12	global	global	ADJ
app01-3927	74	13	path	path	NOUN
app01-3927	74	14	(	(	PUNCT
app01-3927	74	15	often	often	ADV
app01-3927	74	16	stops	stop	VERB
app01-3927	74	17	and	and	CCONJ
app01-3927	74	18	sets	set	VERB
app01-3927	74	19	up	up	ADP
app01-3927	74	20	orientation	orientation	NOUN
app01-3927	74	21	)	)	PUNCT
app01-3927	74	22	and	and	CCONJ
app01-3927	74	23	wastes	waste	VERB
app01-3927	74	24	more	more	ADJ
app01-3927	74	25	time	time	NOUN
app01-3927	74	26	(	(	PUNCT
app01-3927	74	27	match	match	NOUN
app01-3927	74	28	lasts	last	VERB
app01-3927	74	29	only	only	ADV
app01-3927	74	30	90	90	NUM
app01-3927	74	31	seconds	second	NOUN
app01-3927	74	32	)	)	PUNCT
app01-3927	74	33	.	.	PUNCT
app01-3927	75	1	the	the	DET
app01-3927	75	2	other	other	ADJ
app01-3927	75	3	important	important	ADJ
app01-3927	75	4	information	information	NOUN
app01-3927	75	5	is	be	AUX
app01-3927	75	6	the	the	DET
app01-3927	75	7	map	map	NOUN
app01-3927	75	8	which	which	PRON
app01-3927	75	9	can	can	AUX
app01-3927	75	10	be	be	AUX
app01-3927	75	11	created	create	VERB
app01-3927	75	12	directly	directly	ADV
app01-3927	75	13	using	use	VERB
app01-3927	75	14	external	external	ADJ
app01-3927	75	15	sensors	sensor	NOUN
app01-3927	75	16	(	(	PUNCT
app01-3927	75	17	e.g.	e.g.	ADV
app01-3927	75	18	laser	laser	NOUN
app01-3927	75	19	scanner	scanner	NOUN
app01-3927	75	20	)	)	PUNCT
app01-3927	75	21	or	or	CCONJ
app01-3927	75	22	prepared	prepare	VERB
app01-3927	75	23	in	in	ADP
app01-3927	75	24	any	any	DET
app01-3927	75	25	graphics	graphic	NOUN
app01-3927	75	26	software	software	NOUN
app01-3927	75	27	.	.	PUNCT
app01-3927	76	1	the	the	DET
app01-3927	76	2	format	format	NOUN
app01-3927	76	3	of	of	ADP
app01-3927	76	4	/map	/map	NOUN
app01-3927	76	5	topic	topic	NOUN
app01-3927	76	6	is	be	AUX
app01-3927	76	7	also	also	ADV
app01-3927	76	8	standardized	standardize	VERB
app01-3927	76	9	by	by	ADP
app01-3927	76	10	map.pgm	map.pgm	PROPN
app01-3927	76	11	(	(	PUNCT
app01-3927	76	12	portable	portable	ADJ
app01-3927	76	13	greymap	greymap	NOUN
app01-3927	76	14	)	)	PUNCT
app01-3927	76	15	file	file	NOUN
app01-3927	76	16	.	.	PUNCT
app01-3927	77	1	in	in	ADP
app01-3927	77	2	case	case	NOUN
app01-3927	77	3	of	of	ADP
app01-3927	77	4	the	the	DET
app01-3927	77	5	eurobot	eurobot	PROPN
app01-3927	77	6	competitions	competition	NOUN
app01-3927	77	7	we	we	PRON
app01-3927	77	8	had	have	VERB
app01-3927	77	9	to	to	PART
app01-3927	77	10	prepare	prepare	VERB
app01-3927	77	11	the	the	DET
app01-3927	77	12	map	map	NOUN
app01-3927	77	13	based	base	VERB
app01-3927	77	14	on	on	ADP
app01-3927	77	15	geometric	geometric	ADJ
app01-3927	77	16	data	datum	NOUN
app01-3927	77	17	describing	describe	VERB
app01-3927	77	18	playing	playing	NOUN
app01-3927	77	19	area	area	NOUN
app01-3927	77	20	and	and	CCONJ
app01-3927	77	21	a	a	DET
app01-3927	77	22	few	few	ADJ
app01-3927	77	23	criterions	criterion	NOUN
app01-3927	77	24	.	.	PUNCT
app01-3927	78	1	the	the	DET
app01-3927	78	2	elements	element	NOUN
app01-3927	78	3	on	on	ADP
app01-3927	78	4	the	the	DET
app01-3927	78	5	playing	play	VERB
app01-3927	78	6	board	board	NOUN
app01-3927	78	7	are	be	AUX
app01-3927	78	8	divided	divide	VERB
app01-3927	78	9	into	into	ADP
app01-3927	78	10	three	three	NUM
app01-3927	78	11	groups	group	NOUN
app01-3927	78	12	:	:	PUNCT
app01-3927	78	13	•	•	NUM
app01-3927	78	14	fixed	fix	VERB
app01-3927	78	15	(	(	PUNCT
app01-3927	78	16	walls	wall	NOUN
app01-3927	78	17	)	)	PUNCT
app01-3927	78	18	,	,	PUNCT
app01-3927	78	19	•	•	NUM
app01-3927	78	20	movable	movable	ADJ
app01-3927	78	21	untouchable	untouchable	ADJ
app01-3927	78	22	(	(	PUNCT
app01-3927	78	23	opponent	opponent	NOUN
app01-3927	78	24	robots	robot	NOUN
app01-3927	78	25	)	)	PUNCT
app01-3927	78	26	,	,	PUNCT
app01-3927	78	27	•	•	NUM
app01-3927	78	28	movable	movable	ADJ
app01-3927	78	29	touchable	touchable	ADJ
app01-3927	78	30	(	(	PUNCT
app01-3927	78	31	playing	play	VERB
app01-3927	78	32	elements	element	NOUN
app01-3927	78	33	)	)	PUNCT
app01-3927	78	34	.	.	PUNCT
app01-3927	79	1	only	only	ADV
app01-3927	79	2	fixed	fix	VERB
app01-3927	79	3	elements	element	NOUN
app01-3927	79	4	are	be	AUX
app01-3927	79	5	included	include	VERB
app01-3927	79	6	in	in	ADP
app01-3927	79	7	the	the	DET
app01-3927	79	8	initial	initial	ADJ
app01-3927	79	9	map	map	NOUN
app01-3927	79	10	,	,	PUNCT
app01-3927	79	11	as	as	SCONJ
app01-3927	79	12	shown	show	VERB
app01-3927	79	13	in	in	ADP
app01-3927	79	14	figure	figure	NOUN
app01-3927	79	15	4	4	NUM
app01-3927	79	16	(	(	PUNCT
app01-3927	79	17	middle	middle	NOUN
app01-3927	79	18	)	)	PUNCT
app01-3927	79	19	.	.	PUNCT
app01-3927	80	1	this	this	DET
app01-3927	80	2	map	map	NOUN
app01-3927	80	3	is	be	AUX
app01-3927	80	4	further	far	ADV
app01-3927	80	5	used	use	VERB
app01-3927	80	6	by	by	ADP
app01-3927	80	7	simultaneous	simultaneous	ADJ
app01-3927	80	8	localization	localization	NOUN
app01-3927	80	9	and	and	CCONJ
app01-3927	80	10	mapping	mapping	NOUN
app01-3927	80	11	(	(	PUNCT
app01-3927	80	12	slam	slam	NOUN
app01-3927	80	13	)	)	PUNCT
app01-3927	80	14	method	method	NOUN
app01-3927	80	15	.	.	PUNCT
app01-3927	81	1	robot	robot	NOUN
app01-3927	81	2	localizes	localize	VERB
app01-3927	81	3	itself	itself	PRON
app01-3927	81	4	and	and	CCONJ
app01-3927	81	5	creates	create	VERB
app01-3927	81	6	cost	cost	NOUN
app01-3927	81	7	maps	map	NOUN
app01-3927	81	8	in	in	ADP
app01-3927	81	9	every	every	DET
app01-3927	81	10	step	step	NOUN
app01-3927	81	11	of	of	ADP
app01-3927	81	12	the	the	DET
app01-3927	81	13	control	control	NOUN
app01-3927	81	14	.	.	PUNCT
app01-3927	82	1	necessary	necessary	ADJ
app01-3927	82	2	sensor	sensor	NOUN
app01-3927	82	3	data	datum	NOUN
app01-3927	82	4	are	be	AUX
app01-3927	82	5	delivered	deliver	VERB
app01-3927	82	6	by	by	ADP
app01-3927	82	7	hokuyo	hokuyo	NOUN
app01-3927	82	8	laser	laser	NOUN
app01-3927	82	9	scanner	scanner	NOUN
app01-3927	82	10	in	in	ADP
app01-3927	82	11	message	message	NOUN
app01-3927	82	12	sensor_msgs	sensor_msg	NOUN
app01-3927	82	13	/	/	SYM
app01-3927	82	14	laserscan	laserscan	NOUN
app01-3927	82	15	—	—	PUNCT
app01-3927	82	16	visible	visible	ADJ
app01-3927	82	17	as	as	ADP
app01-3927	82	18	white	white	ADJ
app01-3927	82	19	dots	dot	NOUN
app01-3927	82	20	in	in	ADP
app01-3927	82	21	figure	figure	NOUN
app01-3927	82	22	4	4	NUM
app01-3927	82	23	(	(	PUNCT
app01-3927	82	24	down	down	ADV
app01-3927	82	25	)	)	PUNCT
app01-3927	82	26	.	.	PUNCT
app01-3927	83	1	these	these	DET
app01-3927	83	2	scans	scan	NOUN
app01-3927	83	3	together	together	ADV
app01-3927	83	4	with	with	ADP
app01-3927	83	5	a	a	DET
app01-3927	83	6	laser	laser	NOUN
app01-3927	83	7	-	-	PUNCT
app01-3927	83	8	based	base	VERB
app01-3927	83	9	map	map	NOUN
app01-3927	83	10	and	and	CCONJ
app01-3927	83	11	transform	transform	VERB
app01-3927	83	12	messages	message	NOUN
app01-3927	83	13	are	be	AUX
app01-3927	83	14	used	use	VERB
app01-3927	83	15	by	by	ADP
app01-3927	83	16	amcl	amcl	NOUN
app01-3927	83	17	node	node	NOUN
app01-3927	83	18	to	to	PART
app01-3927	83	19	produce	produce	VERB
app01-3927	83	20	pose	pose	NOUN
app01-3927	83	21	estimates	estimate	NOUN
app01-3927	83	22	alternative	alternative	ADJ
app01-3927	83	23	to	to	ADP
app01-3927	83	24	dead	dead	ADJ
app01-3927	83	25	reckoning	reckoning	NOUN
app01-3927	83	26	.	.	PUNCT
app01-3927	84	1	laser	laser	NOUN
app01-3927	84	2	scans	scan	NOUN
app01-3927	84	3	are	be	AUX
app01-3927	84	4	also	also	ADV
app01-3927	84	5	used	use	VERB
app01-3927	84	6	for	for	ADP
app01-3927	84	7	obstacle	obstacle	NOUN
app01-3927	84	8	avoidance	avoidance	NOUN
app01-3927	84	9	in	in	ADP
app01-3927	84	10	the	the	DET
app01-3927	84	11	navigator	navigator	NOUN
app01-3927	84	12	—	—	PUNCT
app01-3927	85	1	/local_costmap	/local_costmap	NOUN
app01-3927	85	2	.	.	PUNCT
app01-3927	86	1	based	base	VERB
app01-3927	86	2	on	on	ADP
app01-3927	86	3	the	the	DET
app01-3927	86	4	map	map	NOUN
app01-3927	86	5	,	,	PUNCT
app01-3927	86	6	current	current	ADJ
app01-3927	86	7	scans	scan	NOUN
app01-3927	86	8	and	and	CCONJ
app01-3927	86	9	the	the	DET
app01-3927	86	10	next	next	ADJ
app01-3927	86	11	target	target	NOUN
app01-3927	86	12	point	point	NOUN
app01-3927	86	13	(	(	PUNCT
app01-3927	86	14	provided	provide	VERB
app01-3927	86	15	by	by	ADP
app01-3927	86	16	the	the	DET
app01-3927	86	17	high	high	ADJ
app01-3927	86	18	-	-	PUNCT
app01-3927	86	19	level	level	NOUN
app01-3927	86	20	controller	controller	NOUN
app01-3927	86	21	)	)	PUNCT
app01-3927	86	22	,	,	PUNCT
app01-3927	86	23	the	the	DET
app01-3927	86	24	planner	planner	NOUN
app01-3927	86	25	is	be	AUX
app01-3927	86	26	generating	generate	VERB
app01-3927	86	27	reference	reference	NOUN
app01-3927	86	28	path	path	NOUN
app01-3927	86	29	for	for	ADP
app01-3927	86	30	the	the	DET
app01-3927	86	31	robot	robot	NOUN
app01-3927	86	32	,	,	PUNCT
app01-3927	86	33	as	as	SCONJ
app01-3927	86	34	shown	show	VERB
app01-3927	86	35	in	in	ADP
app01-3927	86	36	figure	figure	NOUN
app01-3927	86	37	5	5	NUM
app01-3927	86	38	.	.	PUNCT
app01-3927	87	1	the	the	DET
app01-3927	87	2	high	high	ADJ
app01-3927	87	3	-	-	PUNCT
app01-3927	87	4	level	level	NOUN
app01-3927	87	5	controller	controller	NOUN
app01-3927	87	6	takes	take	VERB
app01-3927	87	7	care	care	NOUN
app01-3927	87	8	of	of	ADP
app01-3927	87	9	the	the	DET
app01-3927	87	10	husarz	husarz	PROPN
app01-3927	87	11	behavior	behavior	NOUN
app01-3927	87	12	,	,	PUNCT
app01-3927	87	13	it	it	PRON
app01-3927	87	14	tracks	track	VERB
app01-3927	87	15	the	the	DET
app01-3927	87	16	time	time	NOUN
app01-3927	87	17	of	of	ADP
app01-3927	87	18	match	match	NOUN
app01-3927	87	19	,	,	PUNCT
app01-3927	87	20	monitors	monitor	VERB
app01-3927	87	21	communication	communication	NOUN
app01-3927	87	22	between	between	ADP
app01-3927	87	23	nodes	node	NOUN
app01-3927	87	24	and	and	CCONJ
app01-3927	87	25	the	the	DET
app01-3927	87	26	status	status	NOUN
app01-3927	87	27	of	of	ADP
app01-3927	87	28	the	the	DET
app01-3927	87	29	task	task	NOUN
app01-3927	87	30	.	.	PROPN
app01-3927	88	1	13	13	NUM
app01-3927	88	2	g.	g.	PROPN
app01-3927	88	3	granosik	granosik	PROPN
app01-3927	88	4	,	,	PUNCT
app01-3927	88	5	k.	k.	PROPN
app01-3927	88	6	andrzejczak	andrzejczak	PROPN
app01-3927	88	7	,	,	PUNCT
app01-3927	88	8	m.	m.	PROPN
app01-3927	88	9	kujawinski	kujawinski	PROPN
app01-3927	88	10	et	et	PROPN
app01-3927	88	11	al	al	PROPN
app01-3927	88	12	.	.	PROPN
app01-3927	88	13	acta	acta	PROPN
app01-3927	88	14	polytechnica	polytechnica	PROPN
app01-3927	88	15	ctu	ctu	PROPN
app01-3927	88	16	proceedings	proceeding	NOUN
app01-3927	88	17	figure	figure	VERB
app01-3927	88	18	5	5	NUM
app01-3927	88	19	.	.	PUNCT
app01-3927	89	1	rviz	rviz	NOUN
app01-3927	89	2	screens	screen	NOUN
app01-3927	89	3	presenting	present	VERB
app01-3927	89	4	two	two	NUM
app01-3927	89	5	consecutive	consecutive	ADJ
app01-3927	89	6	steps	step	NOUN
app01-3927	89	7	of	of	ADP
app01-3927	89	8	planning	plan	VERB
app01-3927	89	9	robot‘s	robot‘s	NOUN
app01-3927	89	10	movements	movement	NOUN
app01-3927	89	11	(	(	PUNCT
app01-3927	89	12	red	red	ADJ
app01-3927	89	13	line	line	NOUN
app01-3927	89	14	)	)	PUNCT
app01-3927	89	15	,	,	PUNCT
app01-3927	89	16	red	red	ADJ
app01-3927	89	17	arrow	arrow	NOUN
app01-3927	89	18	shows	show	VERB
app01-3927	89	19	orientation	orientation	NOUN
app01-3927	89	20	of	of	ADP
app01-3927	89	21	the	the	DET
app01-3927	89	22	robot	robot	NOUN
app01-3927	89	23	required	require	VERB
app01-3927	89	24	in	in	ADP
app01-3927	89	25	the	the	DET
app01-3927	89	26	step	step	NOUN
app01-3927	89	27	we	we	PRON
app01-3927	89	28	have	have	AUX
app01-3927	89	29	assumed	assume	VERB
app01-3927	89	30	that	that	SCONJ
app01-3927	89	31	robot	robot	NOUN
app01-3927	89	32	can	can	AUX
app01-3927	89	33	have	have	VERB
app01-3927	89	34	four	four	NUM
app01-3927	89	35	attempts	attempt	NOUN
app01-3927	89	36	to	to	PART
app01-3927	89	37	fulfil	fulfil	VERB
app01-3927	89	38	each	each	DET
app01-3927	89	39	task	task	NOUN
app01-3927	89	40	.	.	PUNCT
app01-3927	90	1	these	these	DET
app01-3927	90	2	attempts	attempt	NOUN
app01-3927	90	3	are	be	AUX
app01-3927	90	4	limited	limit	VERB
app01-3927	90	5	in	in	ADP
app01-3927	90	6	time	time	NOUN
app01-3927	90	7	,	,	PUNCT
app01-3927	90	8	because	because	SCONJ
app01-3927	90	9	the	the	DET
app01-3927	90	10	match	match	NOUN
app01-3927	90	11	lasts	last	VERB
app01-3927	90	12	only	only	ADV
app01-3927	90	13	90	90	NUM
app01-3927	90	14	seconds	second	NOUN
app01-3927	90	15	.	.	PUNCT
app01-3927	91	1	after	after	SCONJ
app01-3927	91	2	4	4	NUM
app01-3927	91	3	unsuccessful	unsuccessful	ADJ
app01-3927	91	4	tries	try	VERB
app01-3927	91	5	the	the	DET
app01-3927	91	6	status	status	NOUN
app01-3927	91	7	of	of	ADP
app01-3927	91	8	the	the	DET
app01-3927	91	9	task	task	NOUN
app01-3927	91	10	is	be	AUX
app01-3927	91	11	switched	switch	VERB
app01-3927	91	12	to	to	PART
app01-3927	91	13	“	"	PUNCT
app01-3927	91	14	fail	fail	VERB
app01-3927	91	15	“	"	PUNCT
app01-3927	91	16	and	and	CCONJ
app01-3927	91	17	the	the	DET
app01-3927	91	18	robot	robot	NOUN
app01-3927	91	19	moves	move	VERB
app01-3927	91	20	to	to	ADP
app01-3927	91	21	the	the	DET
app01-3927	91	22	next	next	ADJ
app01-3927	91	23	task	task	NOUN
app01-3927	91	24	.	.	PUNCT
app01-3927	92	1	program	program	NOUN
app01-3927	92	2	selects	select	VERB
app01-3927	92	3	the	the	DET
app01-3927	92	4	next	next	ADJ
app01-3927	92	5	task	task	NOUN
app01-3927	92	6	on	on	ADP
app01-3927	92	7	the	the	DET
app01-3927	92	8	basis	basis	NOUN
app01-3927	92	9	of	of	ADP
app01-3927	92	10	distance	distance	NOUN
app01-3927	92	11	to	to	PART
app01-3927	92	12	move	move	VERB
app01-3927	92	13	and	and	CCONJ
app01-3927	92	14	the	the	DET
app01-3927	92	15	remaining	remain	VERB
app01-3927	92	16	time	time	NOUN
app01-3927	92	17	.	.	PUNCT
app01-3927	93	1	if	if	SCONJ
app01-3927	93	2	one	one	NUM
app01-3927	93	3	of	of	ADP
app01-3927	93	4	the	the	DET
app01-3927	93	5	robots	robot	NOUN
app01-3927	93	6	can	can	AUX
app01-3927	93	7	not	not	PART
app01-3927	93	8	finish	finish	VERB
app01-3927	93	9	the	the	DET
app01-3927	93	10	task	task	NOUN
app01-3927	93	11	it	it	PRON
app01-3927	93	12	can	can	AUX
app01-3927	93	13	be	be	AUX
app01-3927	93	14	sent	send	VERB
app01-3927	93	15	to	to	ADP
app01-3927	93	16	the	the	DET
app01-3927	93	17	other	other	ADJ
app01-3927	93	18	robot	robot	NOUN
app01-3927	93	19	if	if	SCONJ
app01-3927	93	20	that	that	DET
app01-3927	93	21	robot	robot	NOUN
app01-3927	93	22	would	would	AUX
app01-3927	93	23	be	be	AUX
app01-3927	93	24	able	able	ADJ
app01-3927	93	25	to	to	PART
app01-3927	93	26	run	run	VERB
app01-3927	93	27	the	the	DET
app01-3927	93	28	task	task	NOUN
app01-3927	93	29	.	.	PUNCT
app01-3927	94	1	in	in	ADP
app01-3927	94	2	case	case	NOUN
app01-3927	94	3	of	of	ADP
app01-3927	94	4	problems	problem	NOUN
app01-3927	94	5	with	with	ADP
app01-3927	94	6	communication	communication	NOUN
app01-3927	94	7	the	the	DET
app01-3927	94	8	controller	controller	NOUN
app01-3927	94	9	will	will	AUX
app01-3927	94	10	wait	wait	VERB
app01-3927	94	11	until	until	SCONJ
app01-3927	94	12	communication	communication	NOUN
app01-3927	94	13	is	be	AUX
app01-3927	94	14	reestablished	reestablish	VERB
app01-3927	94	15	.	.	PUNCT
app01-3927	95	1	the	the	DET
app01-3927	95	2	main	main	ADJ
app01-3927	95	3	controller	controller	NOUN
app01-3927	95	4	monitors	monitor	VERB
app01-3927	95	5	condition	condition	NOUN
app01-3927	95	6	of	of	ADP
app01-3927	95	7	connections	connection	NOUN
app01-3927	95	8	between	between	ADP
app01-3927	95	9	ros	ros	PROPN
app01-3927	95	10	and	and	CCONJ
app01-3927	95	11	robots	robot	NOUN
app01-3927	95	12	.	.	PUNCT
app01-3927	96	1	we	we	PRON
app01-3927	96	2	are	be	AUX
app01-3927	96	3	using	use	VERB
app01-3927	96	4	a	a	DET
app01-3927	96	5	part	part	NOUN
app01-3927	96	6	of	of	ADP
app01-3927	96	7	standard	standard	ADJ
app01-3927	96	8	ros	ros	PROPN
app01-3927	96	9	messages	message	NOUN
app01-3927	96	10	called	call	VERB
app01-3927	96	11	header	header	NOUN
app01-3927	96	12	.	.	PUNCT
app01-3927	97	1	header	header	NOUN
app01-3927	97	2	includes	include	VERB
app01-3927	97	3	sequence	sequence	NOUN
app01-3927	97	4	i	i	PROPN
app01-3927	97	5	d	d	PROPN
app01-3927	97	6	(	(	PUNCT
app01-3927	97	7	uint32	uint32	PROPN
app01-3927	97	8	format	format	NOUN
app01-3927	97	9	)	)	PUNCT
app01-3927	97	10	,	,	PUNCT
app01-3927	97	11	time	time	NOUN
app01-3927	97	12	stamp	stamp	PROPN
app01-3927	97	13	(	(	PUNCT
app01-3927	97	14	time	time	NOUN
app01-3927	97	15	format	format	NOUN
app01-3927	97	16	)	)	PUNCT
app01-3927	97	17	and	and	CCONJ
app01-3927	97	18	frame_id	frame_id	PROPN
app01-3927	97	19	(	(	PUNCT
app01-3927	97	20	string	string	NOUN
app01-3927	97	21	format	format	NOUN
app01-3927	97	22	)	)	PUNCT
app01-3927	97	23	.	.	PUNCT
app01-3927	98	1	for	for	ADP
app01-3927	98	2	connection	connection	NOUN
app01-3927	98	3	monitoring	monitor	VERB
app01-3927	98	4	the	the	DET
app01-3927	98	5	most	most	ADV
app01-3927	98	6	important	important	ADJ
app01-3927	98	7	is	be	AUX
app01-3927	98	8	time	time	NOUN
app01-3927	98	9	stamp	stamp	NOUN
app01-3927	98	10	indicating	indicate	VERB
app01-3927	98	11	ros	ros	PROPN
app01-3927	98	12	time	time	NOUN
app01-3927	98	13	at	at	ADP
app01-3927	98	14	the	the	DET
app01-3927	98	15	moment	moment	NOUN
app01-3927	98	16	when	when	SCONJ
app01-3927	98	17	the	the	DET
app01-3927	98	18	message	message	NOUN
app01-3927	98	19	was	be	AUX
app01-3927	98	20	sent	send	VERB
app01-3927	98	21	.	.	PUNCT
app01-3927	99	1	the	the	DET
app01-3927	99	2	monitor	monitor	NOUN
app01-3927	99	3	compares	compare	VERB
app01-3927	99	4	time	time	NOUN
app01-3927	99	5	stamps	stamp	NOUN
app01-3927	99	6	of	of	ADP
app01-3927	99	7	incoming	incoming	ADJ
app01-3927	99	8	messages	message	NOUN
app01-3927	99	9	.	.	PUNCT
app01-3927	100	1	when	when	SCONJ
app01-3927	100	2	the	the	DET
app01-3927	100	3	time	time	NOUN
app01-3927	100	4	stamp	stamp	NOUN
app01-3927	100	5	does	do	AUX
app01-3927	100	6	not	not	PART
app01-3927	100	7	increase	increase	VERB
app01-3927	100	8	with	with	ADP
app01-3927	100	9	real	real	ADJ
app01-3927	100	10	time	time	NOUN
app01-3927	100	11	the	the	DET
app01-3927	100	12	main	main	ADJ
app01-3927	100	13	controller	controller	NOUN
app01-3927	100	14	knows	know	VERB
app01-3927	100	15	that	that	SCONJ
app01-3927	100	16	the	the	DET
app01-3927	100	17	connection	connection	NOUN
app01-3927	100	18	with	with	ADP
app01-3927	100	19	robot	robot	NOUN
app01-3927	100	20	it	it	PRON
app01-3927	100	21	lost	lose	VERB
app01-3927	100	22	.	.	PUNCT
app01-3927	101	1	in	in	ADP
app01-3927	101	2	this	this	DET
app01-3927	101	3	case	case	NOUN
app01-3927	101	4	main	main	ADJ
app01-3927	101	5	controller	controller	NOUN
app01-3927	101	6	goes	go	VERB
app01-3927	101	7	to	to	PART
app01-3927	101	8	stop	stop	VERB
app01-3927	101	9	mode	mode	NOUN
app01-3927	101	10	.	.	PUNCT
app01-3927	102	1	while	while	SCONJ
app01-3927	102	2	the	the	DET
app01-3927	102	3	controller	controller	NOUN
app01-3927	102	4	is	be	AUX
app01-3927	102	5	in	in	ADP
app01-3927	102	6	the	the	DET
app01-3927	102	7	stop	stop	NOUN
app01-3927	102	8	mode	mode	NOUN
app01-3927	102	9	it	it	PRON
app01-3927	102	10	will	will	AUX
app01-3927	102	11	not	not	PART
app01-3927	102	12	send	send	VERB
app01-3927	102	13	messages	message	NOUN
app01-3927	102	14	to	to	ADP
app01-3927	102	15	lower	low	ADJ
app01-3927	102	16	level	level	NOUN
app01-3927	102	17	to	to	PART
app01-3927	102	18	avoid	avoid	VERB
app01-3927	102	19	situation	situation	NOUN
app01-3927	102	20	when	when	SCONJ
app01-3927	102	21	the	the	DET
app01-3927	102	22	robot	robot	NOUN
app01-3927	102	23	loses	lose	VERB
app01-3927	102	24	some	some	DET
app01-3927	102	25	orders	order	NOUN
app01-3927	102	26	.	.	PUNCT
app01-3927	103	1	in	in	ADP
app01-3927	103	2	the	the	DET
app01-3927	103	3	stop	stop	NOUN
app01-3927	103	4	mode	mode	VERB
app01-3927	103	5	the	the	DET
app01-3927	103	6	controller	controller	NOUN
app01-3927	103	7	continue	continue	VERB
app01-3927	103	8	to	to	PART
app01-3927	103	9	check	check	VERB
app01-3927	103	10	time	time	NOUN
app01-3927	103	11	stamps	stamp	NOUN
app01-3927	103	12	of	of	ADP
app01-3927	103	13	incoming	incoming	ADJ
app01-3927	103	14	messages	message	NOUN
app01-3927	103	15	in	in	ADP
app01-3927	103	16	order	order	NOUN
app01-3927	103	17	to	to	PART
app01-3927	103	18	detect	detect	VERB
app01-3927	103	19	recovery	recovery	NOUN
app01-3927	103	20	of	of	ADP
app01-3927	103	21	communication	communication	NOUN
app01-3927	103	22	.	.	PUNCT
app01-3927	104	1	2.1	2.1	NUM
app01-3927	104	2	.	.	PUNCT
app01-3927	105	1	bridging	bridge	VERB
app01-3927	105	2	ros	ros	PROPN
app01-3927	105	3	with	with	ADP
app01-3927	105	4	labview	labview	NOUN
app01-3927	105	5	another	another	DET
app01-3927	105	6	mobile	mobile	ADJ
app01-3927	105	7	robot	robot	NOUN
app01-3927	105	8	requiring	require	VERB
app01-3927	105	9	mobility	mobility	NOUN
app01-3927	105	10	planning	planning	NOUN
app01-3927	105	11	and	and	CCONJ
app01-3927	105	12	autonomous	autonomous	ADJ
app01-3927	105	13	control	control	NOUN
app01-3927	105	14	is	be	AUX
app01-3927	105	15	raptors	raptor	NOUN
app01-3927	105	16	rover	rover	NOUN
app01-3927	105	17	(	(	PUNCT
app01-3927	105	18	see	see	VERB
app01-3927	105	19	figure	figure	NOUN
app01-3927	105	20	6	6	NUM
app01-3927	105	21	)	)	PUNCT
app01-3927	105	22	figure	figure	NOUN
app01-3927	105	23	6	6	NUM
app01-3927	105	24	.	.	PUNCT
app01-3927	106	1	the	the	DET
app01-3927	106	2	raptors	raptor	NOUN
app01-3927	106	3	rover	rover	NOUN
app01-3927	106	4	and	and	CCONJ
app01-3927	106	5	its	its	PRON
app01-3927	106	6	control	control	NOUN
app01-3927	106	7	system	system	NOUN
app01-3927	106	8	being	be	AUX
app01-3927	106	9	prepared	prepare	VERB
app01-3927	106	10	for	for	ADP
app01-3927	106	11	european	european	ADJ
app01-3927	106	12	rover	rover	NOUN
app01-3927	106	13	challenge	challenge	NOUN
app01-3927	106	14	(	(	PUNCT
app01-3927	106	15	erc	erc	PROPN
app01-3927	106	16	)	)	PUNCT
app01-3927	106	17	.	.	PUNCT
app01-3927	107	1	one	one	NUM
app01-3927	107	2	of	of	ADP
app01-3927	107	3	the	the	DET
app01-3927	107	4	tasks	task	NOUN
app01-3927	107	5	in	in	ADP
app01-3927	107	6	this	this	DET
app01-3927	107	7	contest	contest	NOUN
app01-3927	107	8	is	be	AUX
app01-3927	107	9	navigation	navigation	NOUN
app01-3927	107	10	—	—	PUNCT
app01-3927	107	11	intended	intend	VERB
app01-3927	107	12	to	to	PART
app01-3927	107	13	demonstrate	demonstrate	VERB
app01-3927	107	14	rovers	rover	NOUN
app01-3927	107	15	and	and	CCONJ
app01-3927	107	16	teams	team	NOUN
app01-3927	107	17	ability	ability	NOUN
app01-3927	107	18	of	of	ADP
app01-3927	107	19	approaching	approach	VERB
app01-3927	107	20	locations	location	NOUN
app01-3927	107	21	on	on	ADP
app01-3927	107	22	the	the	DET
app01-3927	107	23	field	field	NOUN
app01-3927	107	24	with	with	ADP
app01-3927	107	25	limited	limited	ADJ
app01-3927	107	26	or	or	CCONJ
app01-3927	107	27	without	without	ADP
app01-3927	107	28	supervision	supervision	NOUN
app01-3927	107	29	.	.	PUNCT
app01-3927	108	1	we	we	PRON
app01-3927	108	2	have	have	VERB
app01-3927	108	3	to	to	PART
app01-3927	108	4	develop	develop	VERB
app01-3927	108	5	a	a	DET
app01-3927	108	6	system	system	NOUN
app01-3927	108	7	which	which	PRON
app01-3927	108	8	will	will	AUX
app01-3927	108	9	allow	allow	VERB
app01-3927	108	10	operator	operator	NOUN
app01-3927	108	11	to	to	PART
app01-3927	108	12	navigate	navigate	VERB
app01-3927	108	13	rover	rover	NOUN
app01-3927	108	14	without	without	ADP
app01-3927	108	15	access	access	NOUN
app01-3927	108	16	to	to	ADP
app01-3927	108	17	visual	visual	ADJ
app01-3927	108	18	data	datum	NOUN
app01-3927	108	19	such	such	ADJ
app01-3927	108	20	as	as	ADP
app01-3927	108	21	video	video	NOUN
app01-3927	108	22	streaming	streaming	NOUN
app01-3927	108	23	,	,	PUNCT
app01-3927	108	24	photos	photo	NOUN
app01-3927	108	25	and	and	CCONJ
app01-3927	108	26	other	other	ADJ
app01-3927	108	27	sensor	sensor	NOUN
app01-3927	108	28	sources	source	NOUN
app01-3927	108	29	placed	place	VERB
app01-3927	108	30	on	on	ADP
app01-3927	108	31	the	the	DET
app01-3927	108	32	rover	rover	NOUN
app01-3927	108	33	that	that	PRON
app01-3927	108	34	are	be	AUX
app01-3927	108	35	presenting	present	VERB
app01-3927	108	36	visual	visual	ADJ
app01-3927	108	37	information	information	NOUN
app01-3927	108	38	.	.	PUNCT
app01-3927	109	1	the	the	DET
app01-3927	109	2	raptors	raptor	NOUN
app01-3927	109	3	rover	rover	NOUN
app01-3927	109	4	was	be	AUX
app01-3927	109	5	built	build	VERB
app01-3927	109	6	entirely	entirely	ADV
app01-3927	109	7	in	in	ADP
app01-3927	109	8	house	house	NOUN
app01-3927	109	9	—	—	PUNCT
app01-3927	109	10	it	it	PRON
app01-3927	109	11	is	be	AUX
app01-3927	109	12	a	a	DET
app01-3927	109	13	six	six	NUM
app01-3927	109	14	wheels	wheel	NOUN
app01-3927	109	15	platform	platform	NOUN
app01-3927	109	16	with	with	ADP
app01-3927	109	17	well	well	ADV
app01-3927	109	18	-	-	PUNCT
app01-3927	109	19	known	know	VERB
app01-3927	109	20	rockerbogie	rockerbogie	NOUN
app01-3927	109	21	suspension	suspension	NOUN
app01-3927	109	22	system	system	NOUN
app01-3927	109	23	,	,	PUNCT
app01-3927	109	24	wireless	wireless	ADJ
app01-3927	109	25	communication	communication	NOUN
app01-3927	109	26	and	and	CCONJ
app01-3927	109	27	several	several	ADJ
app01-3927	109	28	cameras	camera	NOUN
app01-3927	109	29	.	.	PUNCT
app01-3927	110	1	the	the	DET
app01-3927	110	2	robot	robot	NOUN
app01-3927	110	3	is	be	AUX
app01-3927	110	4	also	also	ADV
app01-3927	110	5	equipped	equip	VERB
app01-3927	110	6	with	with	ADP
app01-3927	110	7	exchangeable	exchangeable	ADJ
app01-3927	110	8	tools	tool	NOUN
app01-3927	110	9	:	:	PUNCT
app01-3927	110	10	5dof	5dof	NUM
app01-3927	110	11	manipulator	manipulator	NOUN
app01-3927	110	12	with	with	ADP
app01-3927	110	13	gripper	gripper	NOUN
app01-3927	110	14	and	and	CCONJ
app01-3927	110	15	drilling	drilling	NOUN
app01-3927	110	16	sampler	sampler	NOUN
app01-3927	110	17	.	.	PUNCT
app01-3927	111	1	the	the	DET
app01-3927	111	2	control	control	NOUN
app01-3927	111	3	system	system	NOUN
app01-3927	111	4	is	be	AUX
app01-3927	111	5	organized	organize	VERB
app01-3927	111	6	into	into	ADP
app01-3927	111	7	4	4	NUM
app01-3927	111	8	levels	level	NOUN
app01-3927	111	9	(	(	PUNCT
app01-3927	111	10	see	see	VERB
app01-3927	111	11	figure	figure	NOUN
app01-3927	111	12	6	6	NUM
app01-3927	111	13	):	):	PUNCT
app01-3927	111	14	the	the	DET
app01-3927	111	15	operator‘s	operator‘s	PROPN
app01-3927	111	16	console	console	NOUN
app01-3927	111	17	working	work	VERB
app01-3927	111	18	on	on	ADP
app01-3927	111	19	a	a	DET
app01-3927	111	20	pc	pc	NOUN
app01-3927	111	21	computer	computer	NOUN
app01-3927	111	22	and	and	CCONJ
app01-3927	111	23	developed	develop	VERB
app01-3927	111	24	in	in	ADP
app01-3927	111	25	labview	labview	NOUN
app01-3927	111	26	,	,	PUNCT
app01-3927	111	27	the	the	DET
app01-3927	111	28	onboard	onboard	ADJ
app01-3927	111	29	main	main	ADJ
app01-3927	111	30	controller	controller	NOUN
app01-3927	111	31	based	base	VERB
app01-3927	111	32	on	on	ADP
app01-3927	111	33	sbrio	sbrio	NOUN
app01-3927	111	34	embedded	embed	VERB
app01-3927	111	35	system	system	NOUN
app01-3927	111	36	and	and	CCONJ
app01-3927	111	37	developed	develop	VERB
app01-3927	111	38	also	also	ADV
app01-3927	111	39	in	in	ADP
app01-3927	111	40	labview	labview	NOUN
app01-3927	111	41	,	,	PUNCT
app01-3927	111	42	low	low	ADJ
app01-3927	111	43	-	-	PUNCT
app01-3927	111	44	level	level	NOUN
app01-3927	111	45	controllers	controller	NOUN
app01-3927	111	46	based	base	VERB
app01-3927	111	47	on	on	ADP
app01-3927	111	48	arm	arm	NOUN
app01-3927	111	49	processors	processor	NOUN
app01-3927	111	50	with	with	ADP
app01-3927	111	51	our	our	PRON
app01-3927	111	52	own	own	ADJ
app01-3927	111	53	software	software	NOUN
app01-3927	111	54	written	write	VERB
app01-3927	111	55	in	in	ADP
app01-3927	111	56	c++	c++	NOUN
app01-3927	111	57	,	,	PUNCT
app01-3927	111	58	and	and	CCONJ
app01-3927	111	59	motor	motor	NOUN
app01-3927	111	60	drivers	driver	NOUN
app01-3927	111	61	.	.	PUNCT
app01-3927	112	1	the	the	DET
app01-3927	112	2	communication	communication	NOUN
app01-3927	112	3	system	system	NOUN
app01-3927	112	4	employs	employ	VERB
app01-3927	112	5	mainly	mainly	ADV
app01-3927	112	6	wifi	wifi	NOUN
app01-3927	112	7	and	and	CCONJ
app01-3927	112	8	can	can	AUX
app01-3927	112	9	networks	network	NOUN
app01-3927	112	10	with	with	ADP
app01-3927	112	11	local	local	ADJ
app01-3927	112	12	connections	connection	NOUN
app01-3927	112	13	based	base	VERB
app01-3927	112	14	on	on	ADP
app01-3927	112	15	rs232	rs232	PROPN
app01-3927	112	16	and	and	CCONJ
app01-3927	112	17	spi	spi	PROPN
app01-3927	112	18	.	.	PROPN
app01-3927	112	19	application	application	NOUN
app01-3927	112	20	of	of	ADP
app01-3927	112	21	the	the	DET
app01-3927	112	22	navigation	navigation	NOUN
app01-3927	112	23	stack	stack	NOUN
app01-3927	112	24	in	in	ADP
app01-3927	112	25	this	this	DET
app01-3927	112	26	case	case	NOUN
app01-3927	112	27	requires	require	VERB
app01-3927	112	28	the	the	DET
app01-3927	112	29	following	follow	VERB
app01-3927	112	30	modifications	modification	NOUN
app01-3927	112	31	the	the	DET
app01-3927	112	32	original	original	ADJ
app01-3927	112	33	control	control	NOUN
app01-3927	112	34	system	system	NOUN
app01-3927	112	35	:	:	PUNCT
app01-3927	112	36	•	•	NUM
app01-3927	112	37	providing	provide	VERB
app01-3927	112	38	coordinates	coordinate	NOUN
app01-3927	112	39	of	of	ADP
app01-3927	112	40	goal	goal	NOUN
app01-3927	112	41	points	point	NOUN
app01-3927	112	42	based	base	VERB
app01-3927	112	43	on	on	ADP
app01-3927	112	44	the	the	DET
app01-3927	112	45	14	14	NUM
app01-3927	112	46	vol	vol	NOUN
app01-3927	112	47	.	.	PUNCT
app01-3927	113	1	6/2016	6/2016	NUM
app01-3927	113	2	using	use	VERB
app01-3927	113	3	robot	robot	NOUN
app01-3927	113	4	operating	operating	NOUN
app01-3927	113	5	system	system	NOUN
app01-3927	113	6	for	for	ADP
app01-3927	113	7	autonomous	autonomous	ADJ
app01-3927	113	8	control	control	NOUN
app01-3927	113	9	of	of	ADP
app01-3927	113	10	robots	robot	NOUN
app01-3927	113	11	figure	figure	VERB
app01-3927	113	12	7	7	NUM
app01-3927	113	13	.	.	PUNCT
app01-3927	114	1	raptors	raptor	NOUN
app01-3927	114	2	rover	rover	NOUN
app01-3927	114	3	navigation	navigation	NOUN
app01-3927	114	4	system	system	NOUN
app01-3927	114	5	(	(	PUNCT
app01-3927	114	6	up	up	ADP
app01-3927	114	7	)	)	PUNCT
app01-3927	114	8	nodes	node	NOUN
app01-3927	114	9	and	and	CCONJ
app01-3927	114	10	topics	topic	NOUN
app01-3927	114	11	of	of	ADP
app01-3927	114	12	the	the	DET
app01-3927	114	13	ros	ros	PROPN
app01-3927	114	14	structure	structure	NOUN
app01-3927	114	15	(	(	PUNCT
app01-3927	114	16	down	down	ADV
app01-3927	114	17	)	)	PUNCT
app01-3927	114	18	topological	topological	ADJ
app01-3927	114	19	3d	3d	PROPN
app01-3927	114	20	map	map	NOUN
app01-3927	114	21	of	of	ADP
app01-3927	114	22	erc	erc	PROPN
app01-3927	114	23	field	field	NOUN
app01-3927	114	24	,	,	PUNCT
app01-3927	114	25	•	•	ADV
app01-3927	114	26	extending	extend	VERB
app01-3927	114	27	slam	slam	NOUN
app01-3927	114	28	to	to	ADP
app01-3927	114	29	3d	3d	NUM
app01-3927	114	30	or	or	CCONJ
app01-3927	114	31	providing	provide	VERB
app01-3927	114	32	alternative	alternative	ADJ
app01-3927	114	33	source	source	NOUN
app01-3927	114	34	of	of	ADP
app01-3927	114	35	pose	pose	NOUN
app01-3927	114	36	estimation	estimation	NOUN
app01-3927	114	37	insensitive	insensitive	ADJ
app01-3927	114	38	to	to	ADP
app01-3927	114	39	traveling	travel	VERB
app01-3927	114	40	on	on	ADP
app01-3927	114	41	the	the	DET
app01-3927	114	42	rough	rough	ADJ
app01-3927	114	43	terrain	terrain	NOUN
app01-3927	114	44	,	,	PUNCT
app01-3927	114	45	•	•	ADV
app01-3927	114	46	connecting	connect	VERB
app01-3927	114	47	ros	ros	PROPN
app01-3927	114	48	nodes	node	NOUN
app01-3927	114	49	to	to	PART
app01-3927	114	50	labview	labview	VERB
app01-3927	114	51	based	base	VERB
app01-3927	114	52	control	control	NOUN
app01-3927	114	53	system	system	NOUN
app01-3927	114	54	to	to	PART
app01-3927	114	55	seamlessly	seamlessly	ADV
app01-3927	114	56	exchange	exchange	VERB
app01-3927	114	57	control	control	NOUN
app01-3927	114	58	and	and	CCONJ
app01-3927	114	59	feedback	feedback	NOUN
app01-3927	114	60	data	datum	NOUN
app01-3927	114	61	.	.	PUNCT
app01-3927	115	1	the	the	DET
app01-3927	115	2	first	first	ADJ
app01-3927	115	3	requirement	requirement	NOUN
app01-3927	115	4	can	can	AUX
app01-3927	115	5	be	be	AUX
app01-3927	115	6	fulfilled	fulfil	VERB
app01-3927	115	7	by	by	ADP
app01-3927	115	8	changing	change	VERB
app01-3927	115	9	script	script	NOUN
app01-3927	115	10	inside	inside	ADP
app01-3927	115	11	the	the	DET
app01-3927	115	12	high	high	ADJ
app01-3927	115	13	-	-	PUNCT
app01-3927	115	14	level	level	NOUN
app01-3927	115	15	controller	controller	NOUN
app01-3927	115	16	described	describe	VERB
app01-3927	115	17	in	in	ADP
app01-3927	115	18	the	the	DET
app01-3927	115	19	previous	previous	ADJ
app01-3927	115	20	chapter	chapter	NOUN
app01-3927	115	21	.	.	PUNCT
app01-3927	116	1	to	to	PART
app01-3927	116	2	address	address	VERB
app01-3927	116	3	the	the	DET
app01-3927	116	4	second	second	ADJ
app01-3927	116	5	requirement	requirement	NOUN
app01-3927	116	6	we	we	PRON
app01-3927	116	7	have	have	AUX
app01-3927	116	8	built	build	VERB
app01-3927	116	9	an	an	DET
app01-3927	116	10	independent	independent	ADJ
app01-3927	116	11	navigation	navigation	NOUN
app01-3927	116	12	system	system	NOUN
app01-3927	116	13	based	base	VERB
app01-3927	116	14	on	on	ADP
app01-3927	116	15	ros	ros	PROPN
app01-3927	116	16	,	,	PUNCT
app01-3927	116	17	as	as	SCONJ
app01-3927	116	18	shown	show	VERB
app01-3927	116	19	in	in	ADP
app01-3927	116	20	figure	figure	NOUN
app01-3927	116	21	7	7	NUM
app01-3927	116	22	.	.	PUNCT
app01-3927	117	1	our	our	PRON
app01-3927	117	2	system	system	NOUN
app01-3927	117	3	runs	run	VERB
app01-3927	117	4	on	on	ADP
app01-3927	117	5	multiple	multiple	ADJ
app01-3927	117	6	machines	machine	NOUN
app01-3927	117	7	with	with	ADP
app01-3927	117	8	different	different	ADJ
app01-3927	117	9	hardware	hardware	NOUN
app01-3927	117	10	architectures	architecture	NOUN
app01-3927	117	11	,	,	PUNCT
app01-3927	117	12	file	file	NOUN
app01-3927	117	13	systems	system	NOUN
app01-3927	117	14	and	and	CCONJ
app01-3927	117	15	oss	oss	NOUN
app01-3927	117	16	but	but	CCONJ
app01-3927	117	17	it	it	PRON
app01-3927	117	18	is	be	AUX
app01-3927	117	19	not	not	PART
app01-3927	117	20	a	a	DET
app01-3927	117	21	problem	problem	NOUN
app01-3927	117	22	for	for	ADP
app01-3927	117	23	ros	ros	PROPN
app01-3927	117	24	.	.	PUNCT
app01-3927	118	1	inertial	inertial	ADJ
app01-3927	118	2	data	datum	NOUN
app01-3927	118	3	is	be	AUX
app01-3927	118	4	provided	provide	VERB
app01-3927	118	5	by	by	ADP
app01-3927	118	6	high	high	ADJ
app01-3927	118	7	quality	quality	NOUN
app01-3927	118	8	imu	imu	NOUN
app01-3927	118	9	with	with	ADP
app01-3927	118	10	six	six	NUM
app01-3927	118	11	degrees	degree	NOUN
app01-3927	118	12	of	of	ADP
app01-3927	118	13	freedom	freedom	NOUN
app01-3927	118	14	,	,	PUNCT
app01-3927	118	15	containing	contain	VERB
app01-3927	118	16	gyroscope	gyroscope	NOUN
app01-3927	118	17	and	and	CCONJ
app01-3927	118	18	accelerometer	accelerometer	NOUN
app01-3927	118	19	.	.	PUNCT
app01-3927	119	1	the	the	DET
app01-3927	119	2	sensor‘s	sensor‘s	PROPN
app01-3927	119	3	output	output	NOUN
app01-3927	119	4	is	be	AUX
app01-3927	119	5	three	three	NUM
app01-3927	119	6	axis	axis	ADJ
app01-3927	119	7	angular	angular	ADJ
app01-3927	119	8	velocity	velocity	NOUN
app01-3927	119	9	and	and	CCONJ
app01-3927	119	10	linear	linear	ADJ
app01-3927	119	11	acceleration	acceleration	NOUN
app01-3927	119	12	.	.	PUNCT
app01-3927	120	1	using	use	VERB
app01-3927	120	2	specialized	specialized	ADJ
app01-3927	120	3	filters	filter	NOUN
app01-3927	120	4	system	system	NOUN
app01-3927	120	5	computes	compute	VERB
app01-3927	120	6	very	very	ADV
app01-3927	120	7	accurate	accurate	ADJ
app01-3927	120	8	orientation	orientation	NOUN
app01-3927	120	9	.	.	PUNCT
app01-3927	121	1	gps	gps	PROPN
app01-3927	121	2	module	module	NOUN
app01-3927	121	3	outputs	output	NOUN
app01-3927	121	4	position	position	NOUN
app01-3927	121	5	data	datum	NOUN
app01-3927	121	6	with	with	ADP
app01-3927	121	7	one	one	NUM
app01-3927	121	8	meter	meter	NOUN
app01-3927	121	9	accuracy	accuracy	NOUN
app01-3927	121	10	.	.	PUNCT
app01-3927	122	1	these	these	DET
app01-3927	122	2	data	datum	NOUN
app01-3927	122	3	pass	pass	VERB
app01-3927	122	4	through	through	ADP
app01-3927	122	5	the	the	DET
app01-3927	122	6	raspberry	raspberry	NOUN
app01-3927	122	7	pi3	pi3	NOUN
app01-3927	122	8	(	(	PUNCT
app01-3927	122	9	rpi3	rpi3	NOUN
app01-3927	122	10	)	)	PUNCT
app01-3927	122	11	microcontroller	microcontroller	NOUN
app01-3927	122	12	and	and	CCONJ
app01-3927	122	13	ethernet	ethernet	NOUN
app01-3927	122	14	to	to	ADP
app01-3927	122	15	the	the	DET
app01-3927	122	16	computer	computer	NOUN
app01-3927	122	17	in	in	ADP
app01-3927	122	18	base	base	NOUN
app01-3927	122	19	station	station	NOUN
app01-3927	122	20	that	that	PRON
app01-3927	122	21	is	be	AUX
app01-3927	122	22	ros	ros	PROPN
app01-3927	122	23	master	master	NOUN
app01-3927	122	24	and	and	CCONJ
app01-3927	122	25	process	process	VERB
app01-3927	122	26	the	the	DET
app01-3927	122	27	most	most	ADV
app01-3927	122	28	demanding	demanding	ADJ
app01-3927	122	29	calculations	calculation	NOUN
app01-3927	122	30	(	(	PUNCT
app01-3927	122	31	this	this	DET
app01-3927	122	32	computer	computer	NOUN
app01-3927	122	33	can	can	AUX
app01-3927	122	34	be	be	AUX
app01-3927	122	35	finally	finally	ADV
app01-3927	122	36	placed	place	VERB
app01-3927	122	37	on	on	ADP
app01-3927	122	38	the	the	DET
app01-3927	122	39	robot	robot	NOUN
app01-3927	122	40	for	for	ADP
app01-3927	122	41	full	full	ADJ
app01-3927	122	42	autonomy	autonomy	NOUN
app01-3927	122	43	)	)	PUNCT
app01-3927	122	44	.	.	PUNCT
app01-3927	123	1	wheel	wheel	NOUN
app01-3927	123	2	odometry	odometry	NOUN
app01-3927	123	3	is	be	AUX
app01-3927	123	4	read	read	VERB
app01-3927	123	5	from	from	ADP
app01-3927	123	6	the	the	DET
app01-3927	123	7	sbrio	sbrio	PROPN
app01-3927	123	8	board	board	PROPN
app01-3927	123	9	via	via	ADP
app01-3927	123	10	wifi	wifi	NOUN
app01-3927	123	11	connection	connection	NOUN
app01-3927	123	12	.	.	PUNCT
app01-3927	124	1	to	to	PART
app01-3927	124	2	address	address	VERB
app01-3927	124	3	the	the	DET
app01-3927	124	4	third	third	ADJ
app01-3927	124	5	modification	modification	NOUN
app01-3927	124	6	correctly	correctly	ADV
app01-3927	124	7	we	we	PRON
app01-3927	124	8	need	need	VERB
app01-3927	124	9	to	to	PART
app01-3927	124	10	understand	understand	VERB
app01-3927	124	11	that	that	SCONJ
app01-3927	124	12	ros	ros	PROPN
app01-3927	124	13	requires	require	VERB
app01-3927	124	14	all	all	DET
app01-3927	124	15	nodes	node	NOUN
app01-3927	124	16	to	to	PART
app01-3927	124	17	be	be	AUX
app01-3927	124	18	created	create	VERB
app01-3927	124	19	in	in	ADP
app01-3927	124	20	certain	certain	ADJ
app01-3927	124	21	way	way	NOUN
app01-3927	124	22	and	and	CCONJ
app01-3927	124	23	in	in	ADP
app01-3927	124	24	specific	specific	ADJ
app01-3927	124	25	programming	programming	NOUN
app01-3927	124	26	language	language	NOUN
app01-3927	124	27	(	(	PUNCT
app01-3927	124	28	usually	usually	ADV
app01-3927	124	29	python	python	NOUN
app01-3927	124	30	or	or	CCONJ
app01-3927	124	31	c++	c++	NOUN
app01-3927	124	32	)	)	PUNCT
app01-3927	124	33	.	.	PUNCT
app01-3927	125	1	however	however	ADV
app01-3927	125	2	,	,	PUNCT
app01-3927	125	3	there	there	PRON
app01-3927	125	4	are	be	VERB
app01-3927	125	5	appliances	appliance	NOUN
app01-3927	125	6	which	which	PRON
app01-3927	125	7	requires	require	VERB
app01-3927	125	8	specific	specific	ADJ
app01-3927	125	9	programming	programming	NOUN
app01-3927	125	10	language	language	NOUN
app01-3927	125	11	or	or	CCONJ
app01-3927	125	12	hardware	hardware	NOUN
app01-3927	125	13	platform	platform	NOUN
app01-3927	125	14	,	,	PUNCT
app01-3927	125	15	and	and	CCONJ
app01-3927	125	16	this	this	PRON
app01-3927	125	17	leads	lead	VERB
app01-3927	125	18	to	to	ADP
app01-3927	125	19	problem	problem	NOUN
app01-3927	125	20	with	with	ADP
app01-3927	125	21	incompatibility	incompatibility	NOUN
app01-3927	125	22	of	of	ADP
app01-3927	125	23	such	such	ADJ
app01-3927	125	24	ros	ros	PROPN
app01-3927	125	25	and	and	CCONJ
app01-3927	125	26	non	non	ADJ
app01-3927	125	27	—	—	PUNCT
app01-3927	125	28	ros	ros	PROPN
app01-3927	125	29	system	system	NOUN
app01-3927	125	30	.	.	PUNCT
app01-3927	126	1	this	this	DET
app01-3927	126	2	problem	problem	NOUN
app01-3927	126	3	is	be	AUX
app01-3927	126	4	common	common	ADJ
app01-3927	126	5	for	for	ADP
app01-3927	126	6	various	various	ADJ
app01-3927	126	7	robotics	robotic	NOUN
app01-3927	126	8	projects	project	NOUN
app01-3927	126	9	,	,	PUNCT
app01-3927	126	10	and	and	CCONJ
app01-3927	126	11	two	two	NUM
app01-3927	126	12	bridging	bridging	NOUN
app01-3927	126	13	methods	method	NOUN
app01-3927	126	14	between	between	ADP
app01-3927	126	15	ros	ros	PROPN
app01-3927	126	16	and	and	CCONJ
app01-3927	126	17	external	external	ADJ
app01-3927	126	18	applications	application	NOUN
app01-3927	126	19	were	be	AUX
app01-3927	126	20	proposed	propose	VERB
app01-3927	126	21	:	:	PUNCT
app01-3927	126	22	•	•	ADP
app01-3927	126	23	rosserial	rosserial	ADJ
app01-3927	126	24	—	—	PUNCT
app01-3927	126	25	simple	simple	ADJ
app01-3927	126	26	wrapper	wrapper	NOUN
app01-3927	126	27	for	for	ADP
app01-3927	126	28	ros	ros	PROPN
app01-3927	126	29	messages	message	NOUN
app01-3927	126	30	,	,	PUNCT
app01-3927	126	31	defigure	defigure	VERB
app01-3927	126	32	8	8	NUM
app01-3927	126	33	.	.	PUNCT
app01-3927	127	1	ros	ros	PROPN
app01-3927	127	2	bridge	bridge	PROPN
app01-3927	127	3	functionality	functionality	NOUN
app01-3927	127	4	signed	sign	VERB
app01-3927	127	5	to	to	PART
app01-3927	127	6	allow	allow	VERB
app01-3927	127	7	communication	communication	NOUN
app01-3927	127	8	between	between	ADP
app01-3927	127	9	microcontrollers	microcontroller	NOUN
app01-3927	127	10	and	and	CCONJ
app01-3927	127	11	ros	ros	PROPN
app01-3927	127	12	nodes	node	NOUN
app01-3927	127	13	,	,	PUNCT
app01-3927	127	14	•	•	NUM
app01-3927	127	15	ros_bridge	ros_bridge	NOUN
app01-3927	127	16	—	—	PUNCT
app01-3927	127	17	dedicated	dedicated	ADJ
app01-3927	127	18	node	node	NOUN
app01-3927	127	19	,	,	PUNCT
app01-3927	127	20	which	which	PRON
app01-3927	127	21	translate	translate	VERB
app01-3927	127	22	ros	ros	PROPN
app01-3927	127	23	messages	message	NOUN
app01-3927	127	24	into	into	ADP
app01-3927	127	25	standard	standard	ADJ
app01-3927	127	26	json	json	NOUN
app01-3927	127	27	format	format	NOUN
app01-3927	127	28	,	,	PUNCT
app01-3927	127	29	and	and	CCONJ
app01-3927	127	30	route	route	VERB
app01-3927	127	31	them	they	PRON
app01-3927	127	32	to	to	ADP
app01-3927	127	33	the	the	DET
app01-3927	127	34	right	right	ADJ
app01-3927	127	35	node	node	NOUN
app01-3927	127	36	.	.	PUNCT
app01-3927	128	1	non	non	ADJ
app01-3927	128	2	-	-	ADJ
app01-3927	128	3	ros	ros	ADJ
app01-3927	128	4	application	application	NOUN
app01-3927	128	5	is	be	AUX
app01-3927	128	6	required	require	VERB
app01-3927	128	7	to	to	PART
app01-3927	128	8	provide	provide	VERB
app01-3927	128	9	support	support	NOUN
app01-3927	128	10	for	for	ADP
app01-3927	128	11	websockets	websocket	NOUN
app01-3927	128	12	and	and	CCONJ
app01-3927	128	13	serialization	serialization	NOUN
app01-3927	128	14	of	of	ADP
app01-3927	128	15	json	json	NOUN
app01-3927	128	16	messages	message	NOUN
app01-3927	128	17	,	,	PUNCT
app01-3927	128	18	as	as	SCONJ
app01-3927	128	19	shown	show	VERB
app01-3927	128	20	in	in	ADP
app01-3927	128	21	figure	figure	NOUN
app01-3927	128	22	7	7	NUM
app01-3927	128	23	.	.	PUNCT
app01-3927	129	1	in	in	ADP
app01-3927	129	2	our	our	PRON
app01-3927	129	3	application	application	NOUN
app01-3927	129	4	,	,	PUNCT
app01-3927	129	5	sbrio	sbrio	PROPN
app01-3927	129	6	board	board	NOUN
app01-3927	129	7	runs	run	VERB
app01-3927	129	8	the	the	DET
app01-3927	129	9	labview	labview	NOUN
app01-3927	129	10	application	application	NOUN
app01-3927	129	11	,	,	PUNCT
app01-3927	129	12	which	which	PRON
app01-3927	129	13	is	be	AUX
app01-3927	129	14	not	not	PART
app01-3927	129	15	able	able	ADJ
app01-3927	129	16	to	to	PART
app01-3927	129	17	talk	talk	VERB
app01-3927	129	18	with	with	ADP
app01-3927	129	19	ros	ros	PROPN
app01-3927	129	20	nodes	node	NOUN
app01-3927	129	21	.	.	PUNCT
app01-3927	130	1	however	however	ADV
app01-3927	130	2	,	,	PUNCT
app01-3927	130	3	labview	labview	NOUN
app01-3927	130	4	includes	include	VERB
app01-3927	130	5	functions	function	NOUN
app01-3927	130	6	allowing	allow	VERB
app01-3927	130	7	serialization	serialization	NOUN
app01-3927	130	8	and	and	CCONJ
app01-3927	130	9	deserialization	deserialization	NOUN
app01-3927	130	10	of	of	ADP
app01-3927	130	11	messages	message	NOUN
app01-3927	130	12	in	in	ADP
app01-3927	130	13	json	json	NOUN
app01-3927	130	14	format	format	NOUN
app01-3927	130	15	and	and	CCONJ
app01-3927	130	16	is	be	AUX
app01-3927	130	17	capable	capable	ADJ
app01-3927	130	18	to	to	PART
app01-3927	130	19	communicate	communicate	VERB
app01-3927	130	20	over	over	ADP
app01-3927	130	21	the	the	DET
app01-3927	130	22	network	network	NOUN
app01-3927	130	23	.	.	PUNCT
app01-3927	131	1	ros_bridge	ros_bridge	NOUN
app01-3927	131	2	package	package	NOUN
app01-3927	131	3	was	be	AUX
app01-3927	131	4	chosen	choose	VERB
app01-3927	131	5	as	as	ADP
app01-3927	131	6	a	a	DET
app01-3927	131	7	method	method	NOUN
app01-3927	131	8	of	of	ADP
app01-3927	131	9	communication	communication	NOUN
app01-3927	131	10	,	,	PUNCT
app01-3927	131	11	because	because	SCONJ
app01-3927	131	12	of	of	ADP
app01-3927	131	13	its	its	PRON
app01-3927	131	14	flexibility	flexibility	NOUN
app01-3927	131	15	and	and	CCONJ
app01-3927	131	16	full	full	ADJ
app01-3927	131	17	support	support	NOUN
app01-3927	131	18	of	of	ADP
app01-3927	131	19	ros	ros	PROPN
app01-3927	131	20	message	message	NOUN
app01-3927	131	21	format	format	NOUN
app01-3927	131	22	.	.	PUNCT
app01-3927	132	1	additionally	additionally	ADV
app01-3927	132	2	,	,	PUNCT
app01-3927	132	3	format	format	NOUN
app01-3927	132	4	of	of	ADP
app01-3927	132	5	the	the	DET
app01-3927	132	6	control	control	NOUN
app01-3927	132	7	data	datum	NOUN
app01-3927	132	8	in	in	ADP
app01-3927	132	9	the	the	DET
app01-3927	132	10	raptors	raptor	NOUN
app01-3927	132	11	rover	rover	NOUN
app01-3927	132	12	is	be	AUX
app01-3927	132	13	different	different	ADJ
app01-3927	132	14	than	than	ADP
app01-3927	132	15	required	require	VERB
app01-3927	132	16	by	by	ADP
app01-3927	132	17	navigation	navigation	NOUN
app01-3927	132	18	stack	stack	NOUN
app01-3927	132	19	.	.	PUNCT
app01-3927	133	1	robot	robot	NOUN
app01-3927	133	2	has	have	VERB
app01-3927	133	3	6	6	NUM
app01-3927	133	4	independently	independently	ADV
app01-3927	133	5	driven	drive	VERB
app01-3927	133	6	wheels	wheel	NOUN
app01-3927	133	7	,	,	PUNCT
app01-3927	133	8	the	the	DET
app01-3927	133	9	steer	steer	NOUN
app01-3927	133	10	maneuver	maneuver	NOUN
app01-3927	133	11	is	be	AUX
app01-3927	133	12	obtained	obtain	VERB
app01-3927	133	13	by	by	ADP
app01-3927	133	14	differential	differential	ADJ
app01-3927	133	15	control	control	NOUN
app01-3927	133	16	of	of	ADP
app01-3927	133	17	the	the	DET
app01-3927	133	18	wheel	wheel	NOUN
app01-3927	133	19	speeds	speed	NOUN
app01-3927	133	20	of	of	ADP
app01-3927	133	21	the	the	DET
app01-3927	133	22	left	left	ADJ
app01-3927	133	23	and	and	CCONJ
app01-3927	133	24	right	right	ADJ
app01-3927	133	25	side	side	NOUN
app01-3927	133	26	of	of	ADP
app01-3927	133	27	the	the	DET
app01-3927	133	28	robot	robot	NOUN
app01-3927	133	29	and	and	CCONJ
app01-3927	133	30	these	these	DET
app01-3927	133	31	speeds	speed	NOUN
app01-3927	133	32	are	be	AUX
app01-3927	133	33	scaled	scale	VERB
app01-3927	133	34	in	in	ADP
app01-3927	133	35	per	per	ADP
app01-3927	133	36	cents	cent	NOUN
app01-3927	133	37	.	.	PUNCT
app01-3927	134	1	linear	linear	ADJ
app01-3927	134	2	velocity	velocity	NOUN
app01-3927	134	3	is	be	AUX
app01-3927	134	4	in	in	ADP
app01-3927	134	5	the	the	DET
app01-3927	134	6	range	range	NOUN
app01-3927	134	7	0	0	NUM
app01-3927	134	8	-	-	SYM
app01-3927	134	9	255	255	NUM
app01-3927	134	10	(	(	PUNCT
app01-3927	134	11	0	0	NUM
app01-3927	134	12	-	-	SYM
app01-3927	134	13	100	100	NUM
app01-3927	134	14	%	%	NOUN
app01-3927	134	15	)	)	PUNCT
app01-3927	134	16	,	,	PUNCT
app01-3927	134	17	the	the	DET
app01-3927	134	18	angular	angular	ADJ
app01-3927	134	19	velocity	velocity	NOUN
app01-3927	134	20	is	be	AUX
app01-3927	134	21	also	also	ADV
app01-3927	134	22	0	0	NUM
app01-3927	134	23	-	-	SYM
app01-3927	134	24	255	255	NUM
app01-3927	134	25	(	(	PUNCT
app01-3927	134	26	0	0	NUM
app01-3927	134	27	-	-	SYM
app01-3927	134	28	100	100	NUM
app01-3927	134	29	%	%	NOUN
app01-3927	134	30	)	)	PUNCT
app01-3927	134	31	,	,	PUNCT
app01-3927	134	32	but	but	CCONJ
app01-3927	134	33	we	we	PRON
app01-3927	134	34	do	do	AUX
app01-3927	134	35	not	not	PART
app01-3927	134	36	steer	steer	VERB
app01-3927	134	37	directly	directly	ADV
app01-3927	134	38	the	the	DET
app01-3927	134	39	angle	angle	NOUN
app01-3927	134	40	,	,	PUNCT
app01-3927	134	41	instead	instead	ADV
app01-3927	134	42	we	we	PRON
app01-3927	134	43	use	use	VERB
app01-3927	134	44	a	a	DET
app01-3927	134	45	difference	difference	NOUN
app01-3927	134	46	of	of	ADP
app01-3927	134	47	control	control	NOUN
app01-3927	134	48	between	between	ADP
app01-3927	134	49	the	the	DET
app01-3927	134	50	left	left	ADJ
app01-3927	134	51	and	and	CCONJ
app01-3927	134	52	right	right	ADJ
app01-3927	134	53	side	side	NOUN
app01-3927	134	54	drives	drive	NOUN
app01-3927	134	55	of	of	ADP
app01-3927	134	56	the	the	DET
app01-3927	134	57	robot	robot	NOUN
app01-3927	134	58	.	.	PUNCT
app01-3927	135	1	due	due	ADP
app01-3927	135	2	to	to	ADP
app01-3927	135	3	the	the	DET
app01-3927	135	4	further	further	ADJ
app01-3927	135	5	coding	coding	NOUN
app01-3927	135	6	of	of	ADP
app01-3927	135	7	these	these	DET
app01-3927	135	8	control	control	NOUN
app01-3927	135	9	signals	signal	NOUN
app01-3927	135	10	on	on	ADP
app01-3927	135	11	the	the	DET
app01-3927	135	12	can	can	AUX
app01-3927	135	13	bus	bus	NOUN
app01-3927	135	14	(	(	PUNCT
app01-3927	135	15	in	in	ADP
app01-3927	135	16	order	order	NOUN
app01-3927	135	17	to	to	PART
app01-3927	135	18	send	send	VERB
app01-3927	135	19	them	they	PRON
app01-3927	135	20	to	to	ADP
app01-3927	135	21	stm	stm	PROPN
app01-3927	135	22	modules	module	NOUN
app01-3927	135	23	)	)	PUNCT
app01-3927	135	24	,	,	PUNCT
app01-3927	135	25	we	we	PRON
app01-3927	135	26	have	have	AUX
app01-3927	135	27	used	use	VERB
app01-3927	135	28	the	the	DET
app01-3927	135	29	following	follow	VERB
app01-3927	135	30	ranges	range	NOUN
app01-3927	135	31	of	of	ADP
app01-3927	135	32	values	value	NOUN
app01-3927	135	33	of	of	ADP
app01-3927	135	34	a	a	DET
app01-3927	135	35	linear	linear	ADJ
app01-3927	135	36	speed	speed	NOUN
app01-3927	135	37	:	:	PUNCT
app01-3927	135	38	127	127	NUM
app01-3927	135	39	-	-	SYM
app01-3927	135	40	128	128	NUM
app01-3927	135	41	(	(	PUNCT
app01-3927	135	42	50	50	NUM
app01-3927	135	43	%	%	NOUN
app01-3927	135	44	)	)	PUNCT
app01-3927	135	45	means	mean	VERB
app01-3927	135	46	stop	stop	NOUN
app01-3927	135	47	,	,	PUNCT
app01-3927	135	48	0	0	NUM
app01-3927	135	49	-	-	SYM
app01-3927	135	50	127	127	NUM
app01-3927	135	51	is	be	AUX
app01-3927	135	52	reverse	reverse	ADJ
app01-3927	135	53	,	,	PUNCT
app01-3927	135	54	and	and	CCONJ
app01-3927	135	55	128	128	NUM
app01-3927	135	56	-	-	SYM
app01-3927	135	57	255	255	NUM
app01-3927	135	58	is	be	AUX
app01-3927	135	59	forward	forward	ADV
app01-3927	135	60	.	.	PUNCT
app01-3927	136	1	similarly	similarly	ADV
app01-3927	136	2	,	,	PUNCT
app01-3927	136	3	the	the	DET
app01-3927	136	4	angular	angular	ADJ
app01-3927	136	5	velocity	velocity	NOUN
app01-3927	136	6	of	of	ADP
app01-3927	136	7	the	the	DET
app01-3927	136	8	robot	robot	NOUN
app01-3927	136	9	or	or	CCONJ
app01-3927	136	10	the	the	DET
app01-3927	136	11	difference	difference	NOUN
app01-3927	136	12	between	between	ADP
app01-3927	136	13	the	the	DET
app01-3927	136	14	left	left	NOUN
app01-3927	136	15	and	and	CCONJ
app01-3927	136	16	the	the	DET
app01-3927	136	17	right	right	ADJ
app01-3927	136	18	side	side	NOUN
app01-3927	136	19	is	be	AUX
app01-3927	136	20	zero	zero	NUM
app01-3927	136	21	for	for	ADP
app01-3927	136	22	values	value	NOUN
app01-3927	136	23	of	of	ADP
app01-3927	136	24	127	127	NUM
app01-3927	136	25	-	-	SYM
app01-3927	136	26	128	128	NUM
app01-3927	136	27	(	(	PUNCT
app01-3927	136	28	50	50	NUM
app01-3927	136	29	%	%	NOUN
app01-3927	136	30	)	)	PUNCT
app01-3927	136	31	,	,	PUNCT
app01-3927	136	32	the	the	DET
app01-3927	136	33	range	range	NOUN
app01-3927	136	34	0	0	NUM
app01-3927	136	35	-	-	SYM
app01-3927	136	36	127	127	NUM
app01-3927	136	37	means	mean	VERB
app01-3927	136	38	turning	turn	VERB
app01-3927	136	39	left	left	ADJ
app01-3927	136	40	,	,	PUNCT
app01-3927	136	41	and	and	CCONJ
app01-3927	136	42	128	128	NUM
app01-3927	136	43	-	-	SYM
app01-3927	136	44	255	255	NUM
app01-3927	136	45	means	mean	VERB
app01-3927	136	46	turning	turn	VERB
app01-3927	136	47	right	right	ADJ
app01-3927	136	48	.	.	PUNCT
app01-3927	137	1	to	to	PART
app01-3927	137	2	obtain	obtain	VERB
app01-3927	137	3	a	a	DET
app01-3927	137	4	uniform	uniform	ADJ
app01-3927	137	5	data	data	NOUN
app01-3927	137	6	format	format	NOUN
app01-3927	137	7	for	for	ADP
app01-3927	137	8	input	input	NOUN
app01-3927	137	9	to	to	ADP
app01-3927	137	10	the	the	DET
app01-3927	137	11	ros	ros	PROPN
app01-3927	137	12	module	module	NOUN
app01-3927	137	13	,	,	PUNCT
app01-3927	137	14	before	before	ADP
app01-3927	137	15	sending	send	VERB
app01-3927	137	16	data	datum	NOUN
app01-3927	137	17	through	through	ADP
app01-3927	137	18	the	the	DET
app01-3927	137	19	ros	ros	PROPN
app01-3927	137	20	bridge	bridge	NOUN
app01-3927	137	21	we	we	PRON
app01-3927	137	22	have	have	VERB
app01-3927	137	23	to	to	PART
app01-3927	137	24	scale	scale	VERB
app01-3927	137	25	it	it	PRON
app01-3927	137	26	in	in	ADP
app01-3927	137	27	an	an	DET
app01-3927	137	28	additional	additional	ADJ
app01-3927	137	29	vi	vi	NOUN
app01-3927	137	30	(	(	PUNCT
app01-3927	137	31	section	section	NOUN
app01-3927	137	32	of	of	ADP
app01-3927	137	33	main	main	ADJ
app01-3927	137	34	program	program	NOUN
app01-3927	137	35	in	in	ADP
app01-3927	137	36	labview	labview	NOUN
app01-3927	137	37	)	)	PUNCT
app01-3927	137	38	which	which	PRON
app01-3927	137	39	produces	produce	VERB
app01-3927	137	40	a	a	DET
app01-3927	137	41	reference	reference	NOUN
app01-3927	137	42	linear	linear	NOUN
app01-3927	137	43	velocity	velocity	NOUN
app01-3927	137	44	and	and	CCONJ
app01-3927	137	45	angular	angular	ADJ
app01-3927	137	46	velocity	velocity	NOUN
app01-3927	137	47	—	—	PUNCT
app01-3927	137	48	see	see	VERB
app01-3927	137	49	figure	figure	NOUN
app01-3927	137	50	8	8	NUM
app01-3927	137	51	during	during	ADP
app01-3927	137	52	tests	test	NOUN
app01-3927	137	53	we	we	PRON
app01-3927	137	54	were	be	AUX
app01-3927	137	55	using	use	VERB
app01-3927	137	56	crossbow	crossbow	NOUN
app01-3927	137	57	imu800ca	imu800ca	NUM
app01-3927	137	58	which	which	PRON
app01-3927	137	59	was	be	AUX
app01-3927	137	60	directly	directly	ADV
app01-3927	137	61	publishing	publish	VERB
app01-3927	137	62	raw	raw	ADJ
app01-3927	137	63	data	datum	NOUN
app01-3927	137	64	over	over	ADP
app01-3927	137	65	rs232	rs232	PROPN
app01-3927	137	66	.	.	PUNCT
app01-3927	138	1	in	in	ADP
app01-3927	138	2	this	this	DET
app01-3927	138	3	case	case	NOUN
app01-3927	138	4	we	we	PRON
app01-3927	138	5	were	be	AUX
app01-3927	138	6	forced	force	VERB
app01-3927	138	7	to	to	PART
app01-3927	138	8	use	use	VERB
app01-3927	138	9	a	a	DET
app01-3927	138	10	specialized	specialized	ADJ
app01-3927	138	11	filter	filter	NOUN
app01-3927	138	12	,	,	PUNCT
app01-3927	138	13	15	15	NUM
app01-3927	138	14	g.	g.	NOUN
app01-3927	138	15	granosik	granosik	PROPN
app01-3927	138	16	,	,	PUNCT
app01-3927	138	17	k.	k.	PROPN
app01-3927	138	18	andrzejczak	andrzejczak	PROPN
app01-3927	138	19	,	,	PUNCT
app01-3927	138	20	m.	m.	PROPN
app01-3927	138	21	kujawinski	kujawinski	PROPN
app01-3927	138	22	et	et	PROPN
app01-3927	138	23	al	al	PROPN
app01-3927	138	24	.	.	PROPN
app01-3927	138	25	acta	acta	PROPN
app01-3927	138	26	polytechnica	polytechnica	PROPN
app01-3927	138	27	ctu	ctu	NOUN
app01-3927	138	28	proceedings	proceeding	NOUN
app01-3927	138	29	as	as	SCONJ
app01-3927	138	30	mentioned	mention	VERB
app01-3927	138	31	,	,	PUNCT
app01-3927	138	32	to	to	PART
app01-3927	138	33	parse	parse	VERB
app01-3927	138	34	the	the	DET
app01-3927	138	35	data	datum	NOUN
app01-3927	138	36	from	from	ADP
app01-3927	138	37	the	the	DET
app01-3927	138	38	raw	raw	ADJ
app01-3927	138	39	digital	digital	ADJ
app01-3927	138	40	sensor	sensor	NOUN
app01-3927	138	41	outputs	output	NOUN
app01-3927	138	42	to	to	ADP
app01-3927	138	43	proper	proper	ADJ
app01-3927	138	44	quaternion	quaternion	NOUN
app01-3927	138	45	based	base	VERB
app01-3927	138	46	format	format	NOUN
app01-3927	138	47	.	.	PUNCT
app01-3927	139	1	we	we	PRON
app01-3927	139	2	have	have	AUX
app01-3927	139	3	tried	try	VERB
app01-3927	139	4	two	two	NUM
app01-3927	139	5	filters	filter	NOUN
app01-3927	139	6	from	from	ADP
app01-3927	139	7	the	the	DET
app01-3927	139	8	navigation	navigation	NOUN
app01-3927	139	9	stack	stack	NOUN
app01-3927	139	10	:	:	PUNCT
app01-3927	139	11	madgwick‘s	madgwick‘s	PUNCT
app01-3927	139	12	algorithm	algorithm	NOUN
app01-3927	139	13	and	and	CCONJ
app01-3927	139	14	complementary	complementary	ADJ
app01-3927	139	15	filter	filter	NOUN
app01-3927	139	16	.	.	PUNCT
app01-3927	140	1	they	they	PRON
app01-3927	140	2	can	can	AUX
app01-3927	140	3	be	be	AUX
app01-3927	140	4	found	find	VERB
app01-3927	140	5	in	in	ADP
app01-3927	140	6	imu_tools	imu_tools	ADP
app01-3927	140	7	package	package	NOUN
app01-3927	140	8	.	.	PUNCT
app01-3927	141	1	these	these	DET
app01-3927	141	2	filters	filter	NOUN
app01-3927	141	3	are	be	AUX
app01-3927	141	4	responsible	responsible	ADJ
app01-3927	141	5	for	for	ADP
app01-3927	141	6	inertial	inertial	ADJ
app01-3927	141	7	data	datum	NOUN
app01-3927	141	8	fusion	fusion	NOUN
app01-3927	141	9	and	and	CCONJ
app01-3927	141	10	noise	noise	NOUN
app01-3927	141	11	reduction	reduction	NOUN
app01-3927	141	12	.	.	PUNCT
app01-3927	142	1	we	we	PRON
app01-3927	142	2	have	have	AUX
app01-3927	142	3	also	also	ADV
app01-3927	142	4	tested	test	VERB
app01-3927	142	5	the	the	DET
app01-3927	142	6	new	new	ADJ
app01-3927	142	7	imu	imu	NOUN
app01-3927	142	8	unit	unit	NOUN
app01-3927	142	9	that	that	PRON
app01-3927	142	10	is	be	AUX
app01-3927	142	11	xsens	xsens	PROPN
app01-3927	142	12	mti	mti	NOUN
app01-3927	142	13	1	1	NUM
app01-3927	142	14	.	.	PUNCT
app01-3927	143	1	it	it	PRON
app01-3927	143	2	has	have	VERB
app01-3927	143	3	both	both	CCONJ
app01-3927	143	4	accelerometer	accelerometer	NOUN
app01-3927	143	5	and	and	CCONJ
app01-3927	143	6	gyroscope	gyroscope	NOUN
app01-3927	143	7	and	and	CCONJ
app01-3927	143	8	additional	additional	ADJ
app01-3927	143	9	magnetometer	magnetometer	NOUN
app01-3927	143	10	on	on	ADP
app01-3927	143	11	board	board	NOUN
app01-3927	143	12	.	.	PUNCT
app01-3927	144	1	usually	usually	ADV
app01-3927	144	2	we	we	PRON
app01-3927	144	3	would	would	AUX
app01-3927	144	4	have	have	AUX
app01-3927	144	5	used	use	VERB
app01-3927	144	6	our	our	PRON
app01-3927	144	7	node	node	NOUN
app01-3927	144	8	that	that	PRON
app01-3927	144	9	reads	read	VERB
app01-3927	144	10	data	datum	NOUN
app01-3927	144	11	from	from	ADP
app01-3927	144	12	serial	serial	ADJ
app01-3927	144	13	port	port	NOUN
app01-3927	144	14	but	but	CCONJ
app01-3927	144	15	more	more	ADV
app01-3927	144	16	often	often	ADV
app01-3927	144	17	ros	ros	PROPN
app01-3927	144	18	comes	come	VERB
app01-3927	144	19	with	with	ADP
app01-3927	144	20	packages	package	NOUN
app01-3927	144	21	supporting	support	VERB
app01-3927	144	22	particular	particular	ADJ
app01-3927	144	23	hardware	hardware	NOUN
app01-3927	144	24	eq	eq	ADJ
app01-3927	144	25	.	.	PUNCT
app01-3927	145	1	xsens	xsens	PROPN
app01-3927	145	2	.	.	PUNCT
app01-3927	146	1	the	the	DET
app01-3927	146	2	package	package	NOUN
app01-3927	146	3	we	we	PRON
app01-3927	146	4	use	use	VERB
app01-3927	146	5	is	be	AUX
app01-3927	146	6	called	call	VERB
app01-3927	146	7	xsens_driver	xsens_driver	PROPN
app01-3927	146	8	and	and	CCONJ
app01-3927	146	9	contains	contain	VERB
app01-3927	146	10	nodes	node	NOUN
app01-3927	146	11	for	for	ADP
app01-3927	146	12	gathering	gather	VERB
app01-3927	146	13	data	datum	NOUN
app01-3927	146	14	and	and	CCONJ
app01-3927	146	15	launch	launch	NOUN
app01-3927	146	16	file	file	NOUN
app01-3927	146	17	that	that	PRON
app01-3927	146	18	even	even	ADV
app01-3927	146	19	automatically	automatically	ADV
app01-3927	146	20	searches	search	VERB
app01-3927	146	21	for	for	ADP
app01-3927	146	22	a	a	DET
app01-3927	146	23	right	right	ADJ
app01-3927	146	24	serial	serial	ADJ
app01-3927	146	25	port	port	NOUN
app01-3927	146	26	and	and	CCONJ
app01-3927	146	27	baudrate	baudrate	NOUN
app01-3927	146	28	.	.	PUNCT
app01-3927	147	1	for	for	ADP
app01-3927	147	2	getting	get	VERB
app01-3927	147	3	gps	gps	PROPN
app01-3927	147	4	data	datum	NOUN
app01-3927	147	5	from	from	ADP
app01-3927	147	6	our	our	PRON
app01-3927	147	7	omnistar	omnistar	NOUN
app01-3927	147	8	3200lr12	3200lr12	NUM
app01-3927	147	9	we	we	PRON
app01-3927	147	10	use	use	VERB
app01-3927	147	11	the	the	DET
app01-3927	147	12	excellent	excellent	NOUN
app01-3927	147	13	nmea_navsat_driver	nmea_navsat_driver	ADP
app01-3927	147	14	that	that	SCONJ
app01-3927	147	15	plugs	plug	NOUN
app01-3927	147	16	to	to	ADP
app01-3927	147	17	the	the	DET
app01-3927	147	18	serial	serial	ADJ
app01-3927	147	19	port	port	NOUN
app01-3927	147	20	directly	directly	ADV
app01-3927	147	21	and	and	CCONJ
app01-3927	147	22	parses	parse	VERB
app01-3927	147	23	nmea	nmea	PROPN
app01-3927	147	24	sentences	sentence	NOUN
app01-3927	147	25	from	from	ADP
app01-3927	147	26	gps	gps	PROPN
app01-3927	147	27	unit	unit	NOUN
app01-3927	147	28	into	into	ADP
app01-3927	147	29	gps	gps	PROPN
app01-3927	147	30	location	location	NOUN
app01-3927	147	31	form	form	NOUN
app01-3927	147	32	on	on	ADP
app01-3927	147	33	-	-	PUNCT
app01-3927	147	34	the	the	DET
app01-3927	147	35	-	-	PUNCT
app01-3927	147	36	fly	fly	NOUN
app01-3927	147	37	.	.	PUNCT
app01-3927	148	1	the	the	DET
app01-3927	148	2	final	final	ADJ
app01-3927	148	3	data	datum	NOUN
app01-3927	148	4	in	in	ADP
app01-3927	148	5	a	a	DET
app01-3927	148	6	form	form	NOUN
app01-3927	148	7	of	of	ADP
app01-3927	148	8	digital	digital	ADJ
app01-3927	148	9	latitude	latitude	NOUN
app01-3927	148	10	and	and	CCONJ
app01-3927	148	11	longtitude	longtitude	NOUN
app01-3927	148	12	is	be	AUX
app01-3927	148	13	being	be	AUX
app01-3927	148	14	sent	send	VERB
app01-3927	148	15	in	in	ADP
app01-3927	148	16	sensor_msgs/	sensor_msgs/	PROPN
app01-3927	148	17	navsatfix	navsatfix	NOUN
app01-3927	148	18	via	via	ADP
app01-3927	148	19	/fix	/fix	NOUN
app01-3927	148	20	topic	topic	NOUN
app01-3927	148	21	.	.	PUNCT
app01-3927	149	1	the	the	DET
app01-3927	149	2	only	only	ADJ
app01-3927	149	3	thing	thing	NOUN
app01-3927	149	4	we	we	PRON
app01-3927	149	5	had	have	VERB
app01-3927	149	6	to	to	PART
app01-3927	149	7	do	do	VERB
app01-3927	149	8	here	here	ADV
app01-3927	149	9	was	be	AUX
app01-3927	149	10	to	to	PART
app01-3927	149	11	create	create	VERB
app01-3927	149	12	the	the	DET
app01-3927	149	13	launch	launch	NOUN
app01-3927	149	14	file	file	NOUN
app01-3927	149	15	that	that	PRON
app01-3927	149	16	indicates	indicate	VERB
app01-3927	149	17	which	which	DET
app01-3927	149	18	sub	sub	NOUN
app01-3927	149	19	-	-	NOUN
app01-3927	149	20	nodes	node	NOUN
app01-3927	149	21	to	to	PART
app01-3927	149	22	launch	launch	VERB
app01-3927	149	23	and	and	CCONJ
app01-3927	149	24	which	which	DET
app01-3927	149	25	serial	serial	ADJ
app01-3927	149	26	port	port	NOUN
app01-3927	149	27	and	and	CCONJ
app01-3927	149	28	baudrate	baudrate	NOUN
app01-3927	149	29	to	to	PART
app01-3927	149	30	choose	choose	VERB
app01-3927	149	31	.	.	PUNCT
app01-3927	150	1	wheel	wheel	PROPN
app01-3927	150	2	odometry	odometry	NOUN
app01-3927	150	3	data	datum	NOUN
app01-3927	150	4	has	have	VERB
app01-3927	150	5	longer	long	ADJ
app01-3927	150	6	way	way	NOUN
app01-3927	150	7	to	to	PART
app01-3927	150	8	go	go	VERB
app01-3927	150	9	.	.	PUNCT
app01-3927	151	1	it	it	PRON
app01-3927	151	2	is	be	AUX
app01-3927	151	3	published	publish	VERB
app01-3927	151	4	from	from	ADP
app01-3927	151	5	wheel	wheel	NOUN
app01-3927	151	6	encoders	encoder	NOUN
app01-3927	151	7	via	via	ADP
app01-3927	151	8	can	can	AUX
app01-3927	151	9	bus	bus	VERB
app01-3927	151	10	to	to	ADP
app01-3927	151	11	the	the	DET
app01-3927	151	12	sbrio	sbrio	NOUN
app01-3927	151	13	computer	computer	NOUN
app01-3927	151	14	and	and	CCONJ
app01-3927	151	15	then	then	ADV
app01-3927	151	16	using	use	VERB
app01-3927	151	17	rosbridge	rosbridge	NOUN
app01-3927	151	18	and	and	CCONJ
app01-3927	151	19	json	json	NOUN
app01-3927	151	20	format	format	NOUN
app01-3927	151	21	to	to	ADP
app01-3927	151	22	ros	ros	PROPN
app01-3927	151	23	.	.	PUNCT
app01-3927	152	1	in	in	ADP
app01-3927	152	2	a	a	DET
app01-3927	152	3	specialized	specialized	ADJ
app01-3927	152	4	node	node	NOUN
app01-3927	152	5	it	it	PRON
app01-3927	152	6	is	be	AUX
app01-3927	152	7	used	use	VERB
app01-3927	152	8	to	to	PART
app01-3927	152	9	calculate	calculate	VERB
app01-3927	152	10	position	position	NOUN
app01-3927	152	11	in	in	ADP
app01-3927	152	12	respect	respect	NOUN
app01-3927	152	13	of	of	ADP
app01-3927	152	14	rover‘s	rover‘s	PROPN
app01-3927	152	15	kinematics	kinematic	NOUN
app01-3927	152	16	.	.	PUNCT
app01-3927	153	1	having	have	VERB
app01-3927	153	2	these	these	DET
app01-3927	153	3	three	three	NUM
app01-3927	153	4	data	datum	NOUN
app01-3927	153	5	lines	line	NOUN
app01-3927	153	6	,	,	PUNCT
app01-3927	153	7	we	we	PRON
app01-3927	153	8	could	could	AUX
app01-3927	153	9	use	use	VERB
app01-3927	153	10	it	it	PRON
app01-3927	153	11	all	all	PRON
app01-3927	153	12	over	over	ADP
app01-3927	153	13	the	the	DET
app01-3927	153	14	distributed	distribute	VERB
app01-3927	153	15	ros	ros	PROPN
app01-3927	153	16	system	system	NOUN
app01-3927	153	17	eq	eq	NOUN
app01-3927	153	18	.	.	PROPN
app01-3927	153	19	plug	plug	VERB
app01-3927	153	20	it	it	PRON
app01-3927	153	21	to	to	ADP
app01-3927	153	22	a	a	DET
app01-3927	153	23	kalman	kalman	NOUN
app01-3927	153	24	filter	filter	NOUN
app01-3927	153	25	available	available	ADJ
app01-3927	153	26	in	in	ADP
app01-3927	153	27	robot_localization	robot_localization	NOUN
app01-3927	153	28	node	node	NOUN
app01-3927	153	29	and	and	CCONJ
app01-3927	153	30	connect	connect	VERB
app01-3927	153	31	the	the	DET
app01-3927	153	32	output	output	NOUN
app01-3927	153	33	topic	topic	NOUN
app01-3927	153	34	of	of	ADP
app01-3927	153	35	estimated	estimate	VERB
app01-3927	153	36	odometry	odometry	NOUN
app01-3927	153	37	to	to	ADP
app01-3927	153	38	planning	planning	NOUN
app01-3927	153	39	structure	structure	NOUN
app01-3927	153	40	made	make	VERB
app01-3927	153	41	by	by	ADP
app01-3927	153	42	our	our	PRON
app01-3927	153	43	colleagues	colleague	NOUN
app01-3927	153	44	from	from	ADP
app01-3927	153	45	eurobot	eurobot	PROPN
app01-3927	153	46	team	team	NOUN
app01-3927	153	47	.	.	PUNCT
app01-3927	154	1	2.2	2.2	NUM
app01-3927	154	2	.	.	PUNCT
app01-3927	154	3	quadron	quadron	PROPN
app01-3927	154	4	robot	robot	NOUN
app01-3927	154	5	we	we	PRON
app01-3927	154	6	have	have	AUX
app01-3927	154	7	built	build	VERB
app01-3927	154	8	quadron	quadron	NOUN
app01-3927	154	9	robot	robot	NOUN
app01-3927	154	10	(	(	PUNCT
app01-3927	154	11	shown	show	VERB
app01-3927	154	12	in	in	ADP
app01-3927	154	13	figure	figure	NOUN
app01-3927	154	14	9	9	NUM
app01-3927	154	15	)	)	PUNCT
app01-3927	154	16	to	to	PART
app01-3927	154	17	compete	compete	VERB
app01-3927	154	18	in	in	ADP
app01-3927	154	19	robotour	robotour	ADJ
app01-3927	154	20	contest	contest	NOUN
app01-3927	154	21	.	.	PUNCT
app01-3927	155	1	it	it	PRON
app01-3927	155	2	has	have	VERB
app01-3927	155	3	a	a	DET
app01-3927	155	4	carlike	carlike	ADJ
app01-3927	155	5	kinematic	kinematic	ADJ
app01-3927	155	6	configuration	configuration	NOUN
app01-3927	155	7	,	,	PUNCT
app01-3927	155	8	the	the	DET
app01-3927	155	9	base	base	NOUN
app01-3927	155	10	of	of	ADP
app01-3927	155	11	this	this	DET
app01-3927	155	12	vehicle	vehicle	NOUN
app01-3927	155	13	is	be	AUX
app01-3927	155	14	an	an	DET
app01-3927	155	15	electric	electric	ADJ
app01-3927	155	16	quad	quad	NOUN
app01-3927	155	17	.	.	PUNCT
app01-3927	156	1	we	we	PRON
app01-3927	156	2	have	have	AUX
app01-3927	156	3	introduced	introduce	VERB
app01-3927	156	4	a	a	DET
app01-3927	156	5	number	number	NOUN
app01-3927	156	6	of	of	ADP
app01-3927	156	7	electrical	electrical	ADJ
app01-3927	156	8	and	and	CCONJ
app01-3927	156	9	mechanical	mechanical	ADJ
app01-3927	156	10	modifications	modification	NOUN
app01-3927	156	11	,	,	PUNCT
app01-3927	156	12	especially	especially	ADV
app01-3927	156	13	in	in	ADP
app01-3927	156	14	the	the	DET
app01-3927	156	15	supporting	support	VERB
app01-3927	156	16	frame	frame	NOUN
app01-3927	156	17	,	,	PUNCT
app01-3927	156	18	the	the	DET
app01-3927	156	19	drive	drive	ADJ
app01-3927	156	20	systems	system	NOUN
app01-3927	156	21	and	and	CCONJ
app01-3927	156	22	steering	steering	NOUN
app01-3927	156	23	mechanisms	mechanism	NOUN
app01-3927	156	24	,	,	PUNCT
app01-3927	156	25	that	that	PRON
app01-3927	156	26	now	now	ADV
app01-3927	156	27	can	can	AUX
app01-3927	156	28	be	be	AUX
app01-3927	156	29	done	do	VERB
app01-3927	156	30	with	with	ADP
app01-3927	156	31	electric	electric	ADJ
app01-3927	156	32	motors	motor	NOUN
app01-3927	156	33	.	.	PUNCT
app01-3927	157	1	for	for	ADP
app01-3927	157	2	the	the	DET
app01-3927	157	3	main	main	ADJ
app01-3927	157	4	drive	drive	NOUN
app01-3927	157	5	we	we	PRON
app01-3927	157	6	have	have	AUX
app01-3927	157	7	used	use	VERB
app01-3927	157	8	500w	500w	NUM
app01-3927	157	9	dc	dc	PROPN
app01-3927	157	10	motor	motor	NOUN
app01-3927	157	11	,	,	PUNCT
app01-3927	157	12	while	while	SCONJ
app01-3927	157	13	for	for	ADP
app01-3927	157	14	the	the	DET
app01-3927	157	15	steering	steering	NOUN
app01-3927	157	16	the	the	DET
app01-3927	157	17	smaller	small	ADJ
app01-3927	157	18	dc	dc	PROPN
app01-3927	157	19	gear	gear	NOUN
app01-3927	157	20	motor	motor	NOUN
app01-3927	157	21	and	and	CCONJ
app01-3927	157	22	a	a	DET
app01-3927	157	23	coupler	coupler	NOUN
app01-3927	157	24	system	system	NOUN
app01-3927	157	25	developed	develop	VERB
app01-3927	157	26	in	in	ADP
app01-3927	157	27	house	house	NOUN
app01-3927	157	28	.	.	PUNCT
app01-3927	158	1	each	each	DET
app01-3927	158	2	engine	engine	NOUN
app01-3927	158	3	is	be	AUX
app01-3927	158	4	equipped	equip	VERB
app01-3927	158	5	with	with	ADP
app01-3927	158	6	a	a	DET
app01-3927	158	7	driver	driver	NOUN
app01-3927	158	8	,	,	PUNCT
app01-3927	158	9	encoders	encoder	NOUN
app01-3927	158	10	and	and	CCONJ
app01-3927	158	11	security	security	NOUN
app01-3927	158	12	features	feature	VERB
app01-3927	158	13	the	the	DET
app01-3927	158	14	same	same	ADJ
app01-3927	158	15	as	as	SCONJ
app01-3927	158	16	used	use	VERB
app01-3927	158	17	in	in	ADP
app01-3927	158	18	raptors	raptor	NOUN
app01-3927	158	19	rover	rover	NOUN
app01-3927	158	20	.	.	PUNCT
app01-3927	159	1	the	the	DET
app01-3927	159	2	robot	robot	NOUN
app01-3927	159	3	is	be	AUX
app01-3927	159	4	further	far	ADV
app01-3927	159	5	equipped	equip	VERB
app01-3927	159	6	with	with	ADP
app01-3927	159	7	a	a	DET
app01-3927	159	8	number	number	NOUN
app01-3927	159	9	of	of	ADP
app01-3927	159	10	sensors	sensor	NOUN
app01-3927	159	11	and	and	CCONJ
app01-3927	159	12	modules	module	NOUN
app01-3927	159	13	responsible	responsible	ADJ
app01-3927	159	14	for	for	ADP
app01-3927	159	15	security	security	NOUN
app01-3927	159	16	,	,	PUNCT
app01-3927	159	17	localization	localization	NOUN
app01-3927	159	18	and	and	CCONJ
app01-3927	159	19	navigation	navigation	NOUN
app01-3927	159	20	in	in	ADP
app01-3927	159	21	the	the	DET
app01-3927	159	22	field	field	NOUN
app01-3927	159	23	:	:	PUNCT
app01-3927	159	24	navigation	navigation	NOUN
app01-3927	159	25	module	module	NOUN
app01-3927	159	26	with	with	ADP
app01-3927	159	27	gps	gps	PROPN
app01-3927	159	28	and	and	CCONJ
app01-3927	159	29	imu	imu	NOUN
app01-3927	159	30	(	(	PUNCT
app01-3927	159	31	described	describe	VERB
app01-3927	159	32	earlier	early	ADV
app01-3927	159	33	)	)	PUNCT
app01-3927	159	34	,	,	PUNCT
app01-3927	159	35	sick	sick	ADJ
app01-3927	159	36	lms291	lms291	PROPN
app01-3927	159	37	lidar	lidar	NOUN
app01-3927	159	38	and	and	CCONJ
app01-3927	159	39	ultrasonic	ultrasonic	ADJ
app01-3927	159	40	sensors	sensor	NOUN
app01-3927	159	41	facing	face	VERB
app01-3927	159	42	forward	forward	ADV
app01-3927	159	43	.	.	PUNCT
app01-3927	160	1	the	the	DET
app01-3927	160	2	concept	concept	NOUN
app01-3927	160	3	of	of	ADP
app01-3927	160	4	a	a	DET
app01-3927	160	5	multilayer	multilayer	ADJ
app01-3927	160	6	control	control	NOUN
app01-3927	160	7	required	require	VERB
app01-3927	160	8	the	the	DET
app01-3927	160	9	use	use	NOUN
app01-3927	160	10	of	of	ADP
app01-3927	160	11	computers	computer	NOUN
app01-3927	160	12	at	at	ADP
app01-3927	160	13	different	different	ADJ
app01-3927	160	14	levels	level	NOUN
app01-3927	160	15	:	:	PUNCT
app01-3927	160	16	arm	arm	NOUN
app01-3927	160	17	microcontroller	microcontroller	NOUN
app01-3927	160	18	(	(	PUNCT
app01-3927	160	19	stm32	stm32	PROPN
app01-3927	160	20	nucleo	nucleo	PROPN
app01-3927	160	21	)	)	PUNCT
app01-3927	160	22	at	at	ADP
app01-3927	160	23	the	the	DET
app01-3927	160	24	lower	low	ADJ
app01-3927	160	25	,	,	PUNCT
app01-3927	160	26	and	and	CCONJ
app01-3927	160	27	mini	mini	ADJ
app01-3927	160	28	size	size	NOUN
app01-3927	160	29	pc	pc	NOUN
app01-3927	160	30	at	at	ADP
app01-3927	160	31	the	the	DET
app01-3927	160	32	higher	high	ADJ
app01-3927	160	33	layer	layer	NOUN
app01-3927	160	34	,	,	PUNCT
app01-3927	160	35	as	as	SCONJ
app01-3927	160	36	shown	show	VERB
app01-3927	160	37	schematically	schematically	NOUN
app01-3927	160	38	in	in	ADP
app01-3927	160	39	figure	figure	NOUN
app01-3927	160	40	10	10	NUM
app01-3927	160	41	.	.	PUNCT
app01-3927	161	1	entire	entire	ADJ
app01-3927	161	2	system	system	NOUN
app01-3927	161	3	is	be	AUX
app01-3927	161	4	based	base	VERB
app01-3927	161	5	on	on	ADP
app01-3927	161	6	ros	ros	PROPN
app01-3927	161	7	.	.	PUNCT
app01-3927	162	1	the	the	DET
app01-3927	162	2	low	low	ADJ
app01-3927	162	3	level	level	NOUN
app01-3927	162	4	node	node	NOUN
app01-3927	162	5	with	with	ADP
app01-3927	162	6	the	the	DET
app01-3927	162	7	software	software	NOUN
app01-3927	162	8	written	write	VERB
app01-3927	162	9	in	in	ADP
app01-3927	162	10	c++	c++	NOUN
app01-3927	162	11	is	be	AUX
app01-3927	162	12	interfacing	interface	VERB
app01-3927	162	13	motors	motor	NOUN
app01-3927	162	14	,	,	PUNCT
app01-3927	162	15	figure	figure	VERB
app01-3927	162	16	9	9	NUM
app01-3927	162	17	.	.	PUNCT
app01-3927	162	18	quadron	quadron	PROPN
app01-3927	162	19	robot	robot	NOUN
app01-3927	162	20	for	for	ADP
app01-3927	162	21	robotour	robotour	ADJ
app01-3927	162	22	contest	contest	NOUN
app01-3927	162	23	encoders	encoder	NOUN
app01-3927	162	24	,	,	PUNCT
app01-3927	162	25	sensors	sensor	NOUN
app01-3927	162	26	and	and	CCONJ
app01-3927	162	27	gamepad	gamepad	PROPN
app01-3927	162	28	.	.	PUNCT
app01-3927	163	1	it	it	PRON
app01-3927	163	2	also	also	ADV
app01-3927	163	3	receives	receive	VERB
app01-3927	163	4	a	a	DET
app01-3927	163	5	higher	high	ADJ
app01-3927	163	6	level	level	NOUN
app01-3927	163	7	commands	command	NOUN
app01-3927	163	8	from	from	ADP
app01-3927	163	9	the	the	DET
app01-3927	163	10	pc	pc	NOUN
app01-3927	163	11	,	,	PUNCT
app01-3927	163	12	sends	send	VERB
app01-3927	163	13	appropriate	appropriate	ADJ
app01-3927	163	14	signals	signal	NOUN
app01-3927	163	15	to	to	ADP
app01-3927	163	16	the	the	DET
app01-3927	163	17	motors	motor	NOUN
app01-3927	163	18	and	and	CCONJ
app01-3927	163	19	data	datum	NOUN
app01-3927	163	20	from	from	ADP
app01-3927	163	21	sensors	sensor	NOUN
app01-3927	163	22	to	to	ADP
app01-3927	163	23	pc	pc	VERB
app01-3927	163	24	.	.	PUNCT
app01-3927	164	1	the	the	DET
app01-3927	164	2	board	board	NOUN
app01-3927	164	3	and	and	CCONJ
app01-3927	164	4	the	the	DET
app01-3927	164	5	pc	pc	NOUN
app01-3927	164	6	communicate	communicate	VERB
app01-3927	164	7	using	use	VERB
app01-3927	164	8	rosserial	rosserial	ADJ
app01-3927	164	9	.	.	PUNCT
app01-3927	165	1	basically	basically	ADV
app01-3927	165	2	,	,	PUNCT
app01-3927	165	3	nucleo	nucleo	X
app01-3927	165	4	is	be	AUX
app01-3927	165	5	connected	connect	VERB
app01-3927	165	6	to	to	ADP
app01-3927	165	7	the	the	DET
app01-3927	165	8	computer	computer	NOUN
app01-3927	165	9	using	use	VERB
app01-3927	165	10	a	a	DET
app01-3927	165	11	serial	serial	ADJ
app01-3927	165	12	connection	connection	NOUN
app01-3927	165	13	and	and	CCONJ
app01-3927	165	14	data	datum	NOUN
app01-3927	165	15	is	be	AUX
app01-3927	165	16	transmitted	transmit	VERB
app01-3927	165	17	using	use	VERB
app01-3927	165	18	usb	usb	NOUN
app01-3927	165	19	port	port	NOUN
app01-3927	165	20	.	.	PUNCT
app01-3927	166	1	the	the	DET
app01-3927	166	2	rosserial	rosserial	ADJ
app01-3927	166	3	protocol	protocol	NOUN
app01-3927	166	4	can	can	AUX
app01-3927	166	5	convert	convert	VERB
app01-3927	166	6	the	the	DET
app01-3927	166	7	standard	standard	ADJ
app01-3927	166	8	ros	ros	PROPN
app01-3927	166	9	messages	message	NOUN
app01-3927	166	10	to	to	ADP
app01-3927	166	11	embedded	embed	VERB
app01-3927	166	12	device	device	NOUN
app01-3927	166	13	equivalent	equivalent	ADJ
app01-3927	166	14	data	datum	NOUN
app01-3927	166	15	types	type	NOUN
app01-3927	166	16	,	,	PUNCT
app01-3927	166	17	it	it	PRON
app01-3927	166	18	also	also	ADV
app01-3927	166	19	implements	implement	VERB
app01-3927	166	20	multi	multi	ADJ
app01-3927	166	21	-	-	ADJ
app01-3927	166	22	topic	topic	ADJ
app01-3927	166	23	support	support	NOUN
app01-3927	166	24	.	.	PUNCT
app01-3927	167	1	a	a	DET
app01-3927	167	2	package	package	NOUN
app01-3927	167	3	which	which	PRON
app01-3927	167	4	enables	enable	VERB
app01-3927	167	5	us	we	PRON
app01-3927	167	6	to	to	PART
app01-3927	167	7	run	run	VERB
app01-3927	167	8	a	a	DET
app01-3927	167	9	ros	ros	PROPN
app01-3927	167	10	node	node	NOUN
app01-3927	167	11	at	at	ADP
app01-3927	167	12	the	the	DET
app01-3927	167	13	embedded	embed	VERB
app01-3927	167	14	devices	device	NOUN
app01-3927	167	15	such	such	ADJ
app01-3927	167	16	as	as	ADP
app01-3927	167	17	nucleo	nucleo	X
app01-3927	167	18	is	be	AUX
app01-3927	167	19	called	call	VERB
app01-3927	167	20	the	the	DET
app01-3927	167	21	rosserial_client	rosserial_client	NOUN
app01-3927	167	22	.	.	PUNCT
app01-3927	168	1	on	on	ADP
app01-3927	168	2	the	the	DET
app01-3927	168	3	pc	pc	NOUN
app01-3927	168	4	side	side	NOUN
app01-3927	168	5	,	,	PUNCT
app01-3927	168	6	we	we	PRON
app01-3927	168	7	need	need	VERB
app01-3927	168	8	some	some	DET
app01-3927	168	9	other	other	ADJ
app01-3927	168	10	packages	package	NOUN
app01-3927	168	11	to	to	PART
app01-3927	168	12	decode	decode	VERB
app01-3927	168	13	the	the	DET
app01-3927	168	14	serial	serial	ADJ
app01-3927	168	15	message	message	NOUN
app01-3927	168	16	and	and	CCONJ
app01-3927	168	17	convert	convert	NOUN
app01-3927	168	18	to	to	PART
app01-3927	168	19	exact	exact	VERB
app01-3927	168	20	topics	topic	NOUN
app01-3927	168	21	from	from	ADP
app01-3927	168	22	the	the	DET
app01-3927	168	23	rosserial_client	rosserial_client	ADJ
app01-3927	168	24	libraries	library	NOUN
app01-3927	168	25	.	.	PUNCT
app01-3927	169	1	the	the	DET
app01-3927	169	2	recommended	recommend	VERB
app01-3927	169	3	pc	pc	NOUN
app01-3927	169	4	side	side	NOUN
app01-3927	169	5	node	node	NOUN
app01-3927	169	6	for	for	ADP
app01-3927	169	7	handling	handle	VERB
app01-3927	169	8	serial	serial	ADJ
app01-3927	169	9	data	datum	NOUN
app01-3927	169	10	from	from	ADP
app01-3927	169	11	a	a	DET
app01-3927	169	12	device	device	NOUN
app01-3927	169	13	is	be	AUX
app01-3927	169	14	rosserial_python	rosserial_python	ADJ
app01-3927	169	15	.	.	PUNCT
app01-3927	170	1	for	for	ADP
app01-3927	170	2	high	high	ADJ
app01-3927	170	3	-	-	PUNCT
app01-3927	170	4	level	level	NOUN
app01-3927	170	5	layer	layer	NOUN
app01-3927	170	6	is	be	AUX
app01-3927	170	7	realized	realize	VERB
app01-3927	170	8	by	by	ADP
app01-3927	170	9	mini	mini	ADJ
app01-3927	170	10	pc	pc	NOUN
app01-3927	170	11	located	locate	VERB
app01-3927	170	12	on	on	ADP
app01-3927	170	13	the	the	DET
app01-3927	170	14	robot	robot	NOUN
app01-3927	170	15	.	.	PUNCT
app01-3927	171	1	it	it	PRON
app01-3927	171	2	is	be	AUX
app01-3927	171	3	connected	connect	VERB
app01-3927	171	4	to	to	ADP
app01-3927	171	5	nucleo	nucleo	NOUN
app01-3927	171	6	,	,	PUNCT
app01-3927	171	7	laser	laser	NOUN
app01-3927	171	8	scaner	scaner	NOUN
app01-3927	171	9	,	,	PUNCT
app01-3927	171	10	imu	imu	NOUN
app01-3927	171	11	and	and	CCONJ
app01-3927	171	12	gps	gps	PROPN
app01-3927	171	13	to	to	PART
app01-3927	171	14	receive	receive	VERB
app01-3927	171	15	sensor	sensor	NOUN
app01-3927	171	16	values	value	NOUN
app01-3927	171	17	which	which	PRON
app01-3927	171	18	are	be	AUX
app01-3927	171	19	essential	essential	ADJ
app01-3927	171	20	for	for	ADP
app01-3927	171	21	map	map	NOUN
app01-3927	171	22	building	building	NOUN
app01-3927	171	23	process	process	NOUN
app01-3927	171	24	using	use	VERB
app01-3927	171	25	slam	slam	NOUN
app01-3927	171	26	,	,	PUNCT
app01-3927	171	27	obstacle	obstacle	NOUN
app01-3927	171	28	avoidance	avoidance	NOUN
app01-3927	171	29	and	and	CCONJ
app01-3927	171	30	also	also	ADV
app01-3927	171	31	the	the	DET
app01-3927	171	32	odometry	odometry	NOUN
app01-3927	171	33	as	as	ADP
app01-3927	171	34	mandatory	mandatory	ADJ
app01-3927	171	35	input	input	NOUN
app01-3927	171	36	to	to	ADP
app01-3927	171	37	the	the	DET
app01-3927	171	38	navigational	navigational	ADJ
app01-3927	171	39	stack	stack	NOUN
app01-3927	171	40	.	.	PUNCT
app01-3927	172	1	we	we	PRON
app01-3927	172	2	use	use	VERB
app01-3927	172	3	standard	standard	ADJ
app01-3927	172	4	ros	ros	PROPN
app01-3927	172	5	messages	message	NOUN
app01-3927	172	6	inside	inside	ADP
app01-3927	172	7	i.e.	i.e.	X
app01-3927	172	8	sensor_msgs	sensor_msg	NOUN
app01-3927	172	9	/	/	SYM
app01-3927	172	10	laserscan	laserscan	PROPN
app01-3927	172	11	,	,	PUNCT
app01-3927	172	12	sensor_msgs	sensor_msg	NOUN
app01-3927	172	13	/	/	SYM
app01-3927	172	14	range	range	NOUN
app01-3927	172	15	,	,	PUNCT
app01-3927	172	16	nav_msgs	nav_msgs	NOUN
app01-3927	172	17	/	/	SYM
app01-3927	172	18	odometry	odometry	NOUN
app01-3927	172	19	.	.	PUNCT
app01-3927	173	1	we	we	PRON
app01-3927	173	2	have	have	AUX
app01-3927	173	3	applied	apply	VERB
app01-3927	173	4	the	the	DET
app01-3927	173	5	same	same	ADJ
app01-3927	173	6	navigation	navigation	NOUN
app01-3927	173	7	stack	stack	NOUN
app01-3927	173	8	(	(	PUNCT
app01-3927	173	9	as	as	ADP
app01-3927	173	10	in	in	ADP
app01-3927	173	11	husarz	husarz	PROPN
app01-3927	173	12	robot	robot	NOUN
app01-3927	173	13	)	)	PUNCT
app01-3927	173	14	and	and	CCONJ
app01-3927	173	15	used	use	VERB
app01-3927	173	16	teb_local_planner	teb_local_planner	PROPN
app01-3927	173	17	node	node	PROPN
app01-3927	173	18	.	.	PUNCT
app01-3927	174	1	it	it	PRON
app01-3927	174	2	supports	support	VERB
app01-3927	174	3	car	car	NOUN
app01-3927	174	4	-	-	PUNCT
app01-3927	174	5	like	like	ADJ
app01-3927	174	6	kinematics	kinematic	NOUN
app01-3927	174	7	,	,	PUNCT
app01-3927	174	8	minimizes	minimize	VERB
app01-3927	174	9	the	the	DET
app01-3927	174	10	trajectory	trajectory	NOUN
app01-3927	174	11	execution	execution	NOUN
app01-3927	174	12	time	time	NOUN
app01-3927	174	13	(	(	PUNCT
app01-3927	174	14	time	time	NOUN
app01-3927	174	15	-	-	PUNCT
app01-3927	174	16	optimal	optimal	ADJ
app01-3927	174	17	objective	objective	NOUN
app01-3927	174	18	)	)	PUNCT
app01-3927	174	19	,	,	PUNCT
app01-3927	174	20	provides	provide	VERB
app01-3927	174	21	separation	separation	NOUN
app01-3927	174	22	from	from	ADP
app01-3927	174	23	obstacles	obstacle	NOUN
app01-3927	174	24	and	and	CCONJ
app01-3927	174	25	compliance	compliance	NOUN
app01-3927	174	26	with	with	ADP
app01-3927	174	27	kinodynamic	kinodynamic	ADJ
app01-3927	174	28	constraints	constraint	NOUN
app01-3927	174	29	(	(	PUNCT
app01-3927	174	30	i.e.	i.e.	X
app01-3927	174	31	maximum	maximum	ADJ
app01-3927	174	32	velocities	velocity	NOUN
app01-3927	174	33	and	and	CCONJ
app01-3927	174	34	accelerations	acceleration	NOUN
app01-3927	174	35	)	)	PUNCT
app01-3927	174	36	.	.	PUNCT
app01-3927	175	1	the	the	DET
app01-3927	175	2	base	base	NOUN
app01-3927	175	3	control	control	NOUN
app01-3927	175	4	system	system	NOUN
app01-3927	175	5	of	of	ADP
app01-3927	175	6	quadron	quadron	NOUN
app01-3927	175	7	robot	robot	NOUN
app01-3927	175	8	is	be	AUX
app01-3927	175	9	very	very	ADV
app01-3927	175	10	similar	similar	ADJ
app01-3927	175	11	to	to	ADP
app01-3927	175	12	husarz	husarz	PROPN
app01-3927	175	13	,	,	PUNCT
app01-3927	175	14	and	and	CCONJ
app01-3927	175	15	is	be	AUX
app01-3927	175	16	shown	show	VERB
app01-3927	175	17	in	in	ADP
app01-3927	175	18	figure	figure	NOUN
app01-3927	175	19	11	11	NUM
app01-3927	175	20	.	.	PUNCT
app01-3927	176	1	most	most	ADJ
app01-3927	176	2	of	of	ADP
app01-3927	176	3	the	the	DET
app01-3927	176	4	components	component	NOUN
app01-3927	176	5	are	be	AUX
app01-3927	176	6	the	the	DET
app01-3927	176	7	same	same	ADJ
app01-3927	176	8	,	,	PUNCT
app01-3927	176	9	the	the	DET
app01-3927	176	10	main	main	ADJ
app01-3927	176	11	differences	difference	NOUN
app01-3927	176	12	are	be	AUX
app01-3927	176	13	described	describe	VERB
app01-3927	176	14	below	below	ADV
app01-3927	176	15	.	.	PUNCT
app01-3927	177	1	we	we	PRON
app01-3927	177	2	have	have	AUX
app01-3927	177	3	added	add	VERB
app01-3927	177	4	a	a	DET
app01-3927	177	5	node	node	NOUN
app01-3927	177	6	called	call	VERB
app01-3927	177	7	base_controller	base_controller	NOUN
app01-3927	177	8	which	which	PRON
app01-3927	177	9	communicates	communicate	VERB
app01-3927	177	10	directly	directly	ADV
app01-3927	177	11	with	with	ADP
app01-3927	177	12	the	the	DET
app01-3927	177	13	electronics	electronic	NOUN
app01-3927	177	14	of	of	ADP
app01-3927	177	15	the	the	DET
app01-3927	177	16	robot	robot	NOUN
app01-3927	177	17	.	.	PUNCT
app01-3927	178	1	this	this	DET
app01-3927	178	2	node	node	NOUN
app01-3927	178	3	finally	finally	ADV
app01-3927	178	4	generates	generate	VERB
app01-3927	178	5	the	the	DET
app01-3927	178	6	motor	motor	NOUN
app01-3927	178	7	speed	speed	NOUN
app01-3927	178	8	16	16	NUM
app01-3927	178	9	vol	vol	NOUN
app01-3927	178	10	.	.	PUNCT
app01-3927	179	1	6/2016	6/2016	NUM
app01-3927	179	2	using	use	VERB
app01-3927	179	3	robot	robot	NOUN
app01-3927	179	4	operating	operating	NOUN
app01-3927	179	5	system	system	NOUN
app01-3927	179	6	for	for	ADP
app01-3927	179	7	autonomous	autonomous	ADJ
app01-3927	179	8	control	control	NOUN
app01-3927	179	9	of	of	ADP
app01-3927	179	10	robots	robot	NOUN
app01-3927	179	11	figure	figure	VERB
app01-3927	179	12	10	10	NUM
app01-3927	179	13	.	.	PUNCT
app01-3927	180	1	controller	controller	NOUN
app01-3927	180	2	of	of	ADP
app01-3927	180	3	the	the	DET
app01-3927	180	4	quadron	quadron	PROPN
app01-3927	180	5	robot	robot	NOUN
app01-3927	180	6	commands	command	VERB
app01-3927	180	7	for	for	ADP
app01-3927	180	8	each	each	DET
app01-3927	180	9	motor	motor	NOUN
app01-3927	180	10	(	(	PUNCT
app01-3927	180	11	pwm	pwm	NOUN
app01-3927	180	12	)	)	PUNCT
app01-3927	180	13	.	.	PUNCT
app01-3927	181	1	base_controller	base_controller	PROPN
app01-3927	181	2	node	node	VERB
app01-3927	181	3	subscribes	subscribe	NOUN
app01-3927	181	4	to	to	ADP
app01-3927	181	5	a	a	DET
app01-3927	181	6	topic	topic	NOUN
app01-3927	181	7	cmd_vel	cmd_vel	NOUN
app01-3927	181	8	,	,	PUNCT
app01-3927	181	9	which	which	PRON
app01-3927	181	10	is	be	AUX
app01-3927	181	11	being	be	AUX
app01-3927	181	12	published	publish	VERB
app01-3927	181	13	by	by	ADP
app01-3927	181	14	the	the	DET
app01-3927	181	15	local	local	ADJ
app01-3927	181	16	planner	planner	NOUN
app01-3927	181	17	and	and	CCONJ
app01-3927	181	18	it	it	PRON
app01-3927	181	19	converts	convert	VERB
app01-3927	181	20	standard	standard	ADJ
app01-3927	181	21	message	message	NOUN
app01-3927	181	22	type	type	NOUN
app01-3927	181	23	geometry_msgs	geometry_msgs	PROPN
app01-3927	181	24	/	/	SYM
app01-3927	181	25	twist	twist	NOUN
app01-3927	181	26	(	(	PUNCT
app01-3927	181	27	which	which	PRON
app01-3927	181	28	publishes	publish	VERB
app01-3927	181	29	linear	linear	ADJ
app01-3927	181	30	v	v	NOUN
app01-3927	181	31	and	and	CCONJ
app01-3927	181	32	angular	angular	ADJ
app01-3927	181	33	omega	omega	NOUN
app01-3927	181	34	velocities	velocity	NOUN
app01-3927	181	35	)	)	PUNCT
app01-3927	181	36	to	to	ADP
app01-3927	181	37	the	the	DET
app01-3927	181	38	other	other	ADJ
app01-3927	181	39	type	type	NOUN
app01-3927	181	40	called	call	VERB
app01-3927	181	41	ackermann_msgs	ackermann_msgs	PROPN
app01-3927	181	42	/	/	SYM
app01-3927	181	43	ackermanndrive	ackermanndrive	PROPN
app01-3927	181	44	according	accord	VERB
app01-3927	181	45	to	to	ADP
app01-3927	181	46	the	the	DET
app01-3927	181	47	kinematic	kinematic	ADJ
app01-3927	181	48	structure	structure	NOUN
app01-3927	181	49	of	of	ADP
app01-3927	181	50	the	the	DET
app01-3927	181	51	robot	robot	NOUN
app01-3927	181	52	(	(	PUNCT
app01-3927	181	53	see	see	VERB
app01-3927	181	54	figure	figure	NOUN
app01-3927	181	55	12	12	NUM
app01-3927	181	56	)	)	PUNCT
app01-3927	181	57	and	and	CCONJ
app01-3927	181	58	using	use	VERB
app01-3927	181	59	classic	classic	ADJ
app01-3927	181	60	equations	equation	NOUN
app01-3927	181	61	for	for	ADP
app01-3927	181	62	ackerman	ackerman	PROPN
app01-3927	181	63	steering	steering	NOUN
app01-3927	181	64	robots	robot	NOUN
app01-3927	181	65	.	.	PUNCT
app01-3927	182	1	the	the	DET
app01-3927	182	2	base_controller	base_controller	PROPN
app01-3927	182	3	node	node	PROPN
app01-3927	182	4	incudes	incus	NOUN
app01-3927	182	5	also	also	ADV
app01-3927	182	6	an	an	DET
app01-3927	182	7	implementation	implementation	NOUN
app01-3927	182	8	of	of	ADP
app01-3927	182	9	pid	pid	NOUN
app01-3927	182	10	controller	controller	NOUN
app01-3927	182	11	,	,	PUNCT
app01-3927	182	12	that	that	PRON
app01-3927	182	13	is	be	AUX
app01-3927	182	14	why	why	SCONJ
app01-3927	182	15	it	it	PRON
app01-3927	182	16	subscribes	subscribe	VERB
app01-3927	182	17	odomerty	odomerty	PRON
app01-3927	182	18	.	.	PUNCT
app01-3927	183	1	what	what	PRON
app01-3927	183	2	is	be	AUX
app01-3927	183	3	more	more	ADJ
app01-3927	183	4	,	,	PUNCT
app01-3927	183	5	in	in	ADP
app01-3927	183	6	the	the	DET
app01-3927	183	7	quadron	quadron	NOUN
app01-3927	183	8	robot	robot	NOUN
app01-3927	183	9	we	we	PRON
app01-3927	183	10	used	use	VERB
app01-3927	183	11	additional	additional	ADJ
app01-3927	183	12	odometry	odometry	NOUN
app01-3927	183	13	sources	source	NOUN
app01-3927	183	14	i.e.	i.e.	X
app01-3927	183	15	imu	imu	NOUN
app01-3927	183	16	and	and	CCONJ
app01-3927	183	17	gps	gps	VERB
app01-3927	183	18	to	to	PART
app01-3927	183	19	obtain	obtain	VERB
app01-3927	183	20	precise	precise	ADJ
app01-3927	183	21	localization	localization	NOUN
app01-3927	183	22	,	,	PUNCT
app01-3927	183	23	and	and	CCONJ
app01-3927	183	24	ultrasonic	ultrasonic	ADJ
app01-3927	183	25	sensors	sensor	NOUN
app01-3927	183	26	in	in	ADP
app01-3927	183	27	order	order	NOUN
app01-3927	183	28	to	to	PART
app01-3927	183	29	improve	improve	VERB
app01-3927	183	30	obstacle	obstacle	NOUN
app01-3927	183	31	avoidance	avoidance	NOUN
app01-3927	183	32	.	.	PUNCT
app01-3927	184	1	in	in	ADP
app01-3927	184	2	case	case	NOUN
app01-3927	184	3	of	of	ADP
app01-3927	184	4	any	any	DET
app01-3927	184	5	problems	problem	NOUN
app01-3927	184	6	with	with	ADP
app01-3927	184	7	high	high	ADJ
app01-3927	184	8	-	-	PUNCT
app01-3927	184	9	level	level	NOUN
app01-3927	184	10	controller	controller	NOUN
app01-3927	184	11	we	we	PRON
app01-3927	184	12	are	be	AUX
app01-3927	184	13	still	still	ADV
app01-3927	184	14	able	able	ADJ
app01-3927	184	15	to	to	PART
app01-3927	184	16	control	control	VERB
app01-3927	184	17	robot	robot	NOUN
app01-3927	184	18	manually	manually	ADV
app01-3927	184	19	through	through	ADP
app01-3927	184	20	gamepad	gamepad	PROPN
app01-3927	184	21	which	which	PRON
app01-3927	184	22	is	be	AUX
app01-3927	184	23	connected	connect	VERB
app01-3927	184	24	directly	directly	ADV
app01-3927	184	25	to	to	ADP
app01-3927	184	26	nucleo	nucleo	PROPN
app01-3927	184	27	board	board	PROPN
app01-3927	184	28	over	over	ADP
app01-3927	184	29	spi	spi	PROPN
app01-3927	184	30	interface	interface	NOUN
app01-3927	184	31	.	.	PUNCT
app01-3927	185	1	3	3	X
app01-3927	185	2	.	.	X
app01-3927	185	3	conclusions	conclusion	NOUN
app01-3927	185	4	the	the	DET
app01-3927	185	5	great	great	ADJ
app01-3927	185	6	advantage	advantage	NOUN
app01-3927	185	7	of	of	ADP
app01-3927	185	8	ros	ros	PROPN
app01-3927	185	9	is	be	AUX
app01-3927	185	10	that	that	SCONJ
app01-3927	185	11	we	we	PRON
app01-3927	185	12	can	can	AUX
app01-3927	185	13	supervise	supervise	VERB
app01-3927	185	14	and	and	CCONJ
app01-3927	185	15	visualize	visualize	VERB
app01-3927	185	16	our	our	PRON
app01-3927	185	17	data	datum	NOUN
app01-3927	185	18	in	in	ADP
app01-3927	185	19	real	real	ADJ
app01-3927	185	20	time	time	NOUN
app01-3927	185	21	.	.	PUNCT
app01-3927	186	1	however	however	ADV
app01-3927	186	2	,	,	PUNCT
app01-3927	186	3	plotting	plot	VERB
app01-3927	186	4	is	be	AUX
app01-3927	186	5	available	available	ADJ
app01-3927	186	6	only	only	ADV
app01-3927	186	7	on	on	ADP
app01-3927	186	8	x86	x86	NOUN
app01-3927	186	9	or	or	CCONJ
app01-3927	186	10	x64	x64	NOUN
app01-3927	186	11	architecture	architecture	NOUN
app01-3927	186	12	because	because	SCONJ
app01-3927	186	13	arm	arm	NOUN
app01-3927	186	14	processors	processor	NOUN
app01-3927	186	15	(	(	PUNCT
app01-3927	186	16	raspberry	raspberry	NOUN
app01-3927	186	17	pi	pi	NOUN
app01-3927	186	18	3	3	NUM
app01-3927	186	19	)	)	PUNCT
app01-3927	186	20	do	do	AUX
app01-3927	186	21	not	not	PART
app01-3927	186	22	support	support	VERB
app01-3927	186	23	ros	ros	PROPN
app01-3927	186	24	graphic	graphic	ADJ
app01-3927	186	25	libraries	library	NOUN
app01-3927	186	26	.	.	PUNCT
app01-3927	187	1	in	in	ADP
app01-3927	187	2	our	our	PRON
app01-3927	187	3	system	system	NOUN
app01-3927	187	4	the	the	DET
app01-3927	187	5	external	external	ADJ
app01-3927	187	6	computer	computer	NOUN
app01-3927	187	7	is	be	AUX
app01-3927	187	8	just	just	ADV
app01-3927	187	9	a	a	DET
app01-3927	187	10	client	client	NOUN
app01-3927	187	11	that	that	PRON
app01-3927	187	12	has	have	VERB
app01-3927	187	13	an	an	DET
app01-3927	187	14	access	access	NOUN
app01-3927	187	15	to	to	ADP
app01-3927	187	16	topics	topic	NOUN
app01-3927	187	17	and	and	CCONJ
app01-3927	187	18	can	can	AUX
app01-3927	187	19	run	run	VERB
app01-3927	187	20	its	its	PRON
app01-3927	187	21	own	own	ADJ
app01-3927	187	22	nodes	node	NOUN
app01-3927	187	23	.	.	PUNCT
app01-3927	188	1	the	the	DET
app01-3927	188	2	only	only	ADJ
app01-3927	188	3	requirement	requirement	NOUN
app01-3927	188	4	is	be	AUX
app01-3927	188	5	to	to	PART
app01-3927	188	6	share	share	VERB
app01-3927	188	7	the	the	DET
app01-3927	188	8	same	same	ADJ
app01-3927	188	9	network	network	NOUN
app01-3927	188	10	and	and	CCONJ
app01-3927	188	11	configure	configure	NOUN
app01-3927	188	12	the	the	DET
app01-3927	188	13	/.bashrc	/.bashrc	PUNCT
app01-3927	188	14	file	file	NOUN
app01-3927	188	15	to	to	PART
app01-3927	188	16	define	define	VERB
app01-3927	188	17	the	the	DET
app01-3927	188	18	master‘s	master‘s	PROPN
app01-3927	188	19	and	and	CCONJ
app01-3927	188	20	client‘s	client‘s	NOUN
app01-3927	188	21	ip	ip	NOUN
app01-3927	188	22	addresses	address	NOUN
app01-3927	188	23	.	.	PUNCT
app01-3927	189	1	basically	basically	ADV
app01-3927	189	2	,	,	PUNCT
app01-3927	189	3	it	it	PRON
app01-3927	189	4	is	be	AUX
app01-3927	189	5	the	the	DET
app01-3927	189	6	vital	vital	ADJ
app01-3927	189	7	that	that	PRON
app01-3927	189	8	we	we	PRON
app01-3927	189	9	use	use	VERB
app01-3927	189	10	appropriate	appropriate	ADJ
app01-3927	189	11	forms	form	NOUN
app01-3927	189	12	of	of	ADP
app01-3927	189	13	messages	message	NOUN
app01-3927	189	14	—	—	PUNCT
app01-3927	189	15	specific	specific	ADJ
app01-3927	189	16	message	message	NOUN
app01-3927	189	17	types	type	NOUN
app01-3927	189	18	and	and	CCONJ
app01-3927	189	19	topic	topic	NOUN
app01-3927	189	20	names	name	NOUN
app01-3927	189	21	to	to	PART
app01-3927	189	22	meet	meet	VERB
app01-3927	189	23	the	the	DET
app01-3927	189	24	nodes	node	NOUN
app01-3927	189	25	requirements	requirement	NOUN
app01-3927	189	26	.	.	PUNCT
app01-3927	190	1	it	it	PRON
app01-3927	190	2	is	be	AUX
app01-3927	190	3	possible	possible	ADJ
app01-3927	190	4	to	to	PART
app01-3927	190	5	remap	remap	VERB
app01-3927	190	6	topic	topic	NOUN
app01-3927	190	7	names	name	NOUN
app01-3927	190	8	in	in	ADP
app01-3927	190	9	launch	launch	NOUN
app01-3927	190	10	files	file	NOUN
app01-3927	190	11	but	but	CCONJ
app01-3927	190	12	it	it	PRON
app01-3927	190	13	is	be	AUX
app01-3927	190	14	somehow	somehow	ADV
app01-3927	190	15	against	against	ADP
app01-3927	190	16	ros‘s	ros‘s	NOUN
app01-3927	190	17	philosophy	philosophy	NOUN
app01-3927	190	18	that	that	PRON
app01-3927	190	19	assumes	assume	VERB
app01-3927	190	20	focusing	focus	VERB
app01-3927	190	21	on	on	ADP
app01-3927	190	22	preestablished	preestablished	ADJ
app01-3927	190	23	design	design	NOUN
app01-3927	190	24	rules	rule	NOUN
app01-3927	190	25	.	.	PUNCT
app01-3927	191	1	this	this	DET
app01-3927	191	2	design	design	NOUN
app01-3927	191	3	concept	concept	NOUN
app01-3927	191	4	makes	make	VERB
app01-3927	191	5	ros	ros	PROPN
app01-3927	191	6	systems	system	NOUN
app01-3927	191	7	extremely	extremely	ADV
app01-3927	191	8	extendable	extendable	ADJ
app01-3927	191	9	.	.	PUNCT
app01-3927	192	1	easy	easy	ADJ
app01-3927	192	2	and	and	CCONJ
app01-3927	192	3	logical	logical	ADJ
app01-3927	192	4	file	file	NOUN
app01-3927	192	5	figure	figure	NOUN
app01-3927	192	6	11	11	NUM
app01-3927	192	7	.	.	PUNCT
app01-3927	193	1	navigation	navigation	NOUN
app01-3927	193	2	structure	structure	NOUN
app01-3927	193	3	of	of	ADP
app01-3927	193	4	the	the	DET
app01-3927	193	5	quadron	quadron	PROPN
app01-3927	193	6	robot	robot	NOUN
app01-3927	193	7	figure	figure	NOUN
app01-3927	193	8	12	12	NUM
app01-3927	193	9	.	.	PUNCT
app01-3927	194	1	kinematics	kinematic	NOUN
app01-3927	194	2	of	of	ADP
app01-3927	194	3	the	the	DET
app01-3927	194	4	quadron	quadron	PROPN
app01-3927	194	5	robot	robot	NOUN
app01-3927	194	6	structure	structure	NOUN
app01-3927	194	7	gives	give	VERB
app01-3927	194	8	the	the	DET
app01-3927	194	9	opportunity	opportunity	NOUN
app01-3927	194	10	to	to	PART
app01-3927	194	11	modify	modify	VERB
app01-3927	194	12	source	source	NOUN
app01-3927	194	13	code	code	NOUN
app01-3927	194	14	and	and	CCONJ
app01-3927	194	15	add	add	VERB
app01-3927	194	16	new	new	ADJ
app01-3927	194	17	nodes	node	NOUN
app01-3927	194	18	quickly	quickly	ADV
app01-3927	194	19	.	.	PUNCT
app01-3927	195	1	the	the	DET
app01-3927	195	2	growing	grow	VERB
app01-3927	195	3	ros	ros	PROPN
app01-3927	195	4	society	society	NOUN
app01-3927	195	5	is	be	AUX
app01-3927	195	6	still	still	ADV
app01-3927	195	7	supplying	supply	VERB
app01-3927	195	8	the	the	DET
app01-3927	195	9	repositories	repository	NOUN
app01-3927	195	10	with	with	ADP
app01-3927	195	11	a	a	DET
app01-3927	195	12	new	new	ADJ
app01-3927	195	13	software	software	NOUN
app01-3927	195	14	that	that	PRON
app01-3927	195	15	can	can	AUX
app01-3927	195	16	be	be	AUX
app01-3927	195	17	used	use	VERB
app01-3927	195	18	immediately	immediately	ADV
app01-3927	195	19	after	after	ADP
app01-3927	195	20	committing	commit	VERB
app01-3927	195	21	it	it	PRON
app01-3927	195	22	to	to	ADP
app01-3927	195	23	github	github	PROPN
app01-3927	195	24	.	.	PUNCT
app01-3927	196	1	acknowledgements	acknowledgement	NOUN
app01-3927	196	2	research	research	NOUN
app01-3927	196	3	and	and	CCONJ
app01-3927	196	4	participation	participation	NOUN
app01-3927	196	5	in	in	ADP
app01-3927	196	6	robotic	robotic	ADJ
app01-3927	196	7	contests	contest	NOUN
app01-3927	196	8	supported	support	VERB
app01-3927	196	9	by	by	ADP
app01-3927	196	10	the	the	DET
app01-3927	196	11	polish	polish	PROPN
app01-3927	196	12	ministry	ministry	PROPN
app01-3927	196	13	of	of	ADP
app01-3927	196	14	science	science	PROPN
app01-3927	196	15	and	and	CCONJ
app01-3927	196	16	higher	high	ADJ
app01-3927	196	17	education	education	NOUN
app01-3927	196	18	under	under	ADP
app01-3927	196	19	grant	grant	NOUN
app01-3927	196	20	no	no	NOUN
app01-3927	196	21	.	.	PUNCT
app01-3927	197	1	mnisw/2016	mnisw/2016	PROPN
app01-3927	197	2	/	/	SYM
app01-3927	197	3	dir/199	dir/199	PROPN
app01-3927	197	4	/	/	SYM
app01-3927	197	5	nn	nn	NOUN
app01-3927	197	6	references	reference	NOUN
app01-3927	197	7	[	[	X
app01-3927	197	8	1	1	X
app01-3927	197	9	]	]	PUNCT
app01-3927	197	10	an	an	DET
app01-3927	197	11	official	official	ADJ
app01-3927	197	12	webpage	webpage	NOUN
app01-3927	197	13	of	of	ADP
app01-3927	197	14	skaner	skaner	NOUN
app01-3927	197	15	.	.	PUNCT
app01-3927	198	1	http://skaner.p.lodz.pl	http://skaner.p.lodz.pl	PROPN
app01-3927	198	2	.	.	PUNCT
app01-3927	199	1	[	[	X
app01-3927	199	2	2	2	NUM
app01-3927	199	3	]	]	X
app01-3927	199	4	i.	i.	PROPN
app01-3927	199	5	zubrycki	zubrycki	PROPN
app01-3927	199	6	,	,	PUNCT
app01-3927	199	7	g.	g.	PROPN
app01-3927	199	8	granosik	granosik	PROPN
app01-3927	199	9	.	.	PUNCT
app01-3927	200	1	introducing	introduce	VERB
app01-3927	200	2	modern	modern	ADJ
app01-3927	200	3	robotics	robotic	NOUN
app01-3927	200	4	with	with	ADP
app01-3927	200	5	ros	ros	PROPN
app01-3927	200	6	and	and	CCONJ
app01-3927	200	7	arduino	arduino	NOUN
app01-3927	200	8	,	,	PUNCT
app01-3927	200	9	including	include	VERB
app01-3927	200	10	case	case	NOUN
app01-3927	200	11	studies	study	NOUN
app01-3927	200	12	.	.	PUNCT
app01-3927	201	1	journal	journal	PROPN
app01-3927	201	2	of	of	ADP
app01-3927	201	3	automation	automation	NOUN
app01-3927	201	4	,	,	PUNCT
app01-3927	201	5	mobile	mobile	ADJ
app01-3927	201	6	robotics	robotic	NOUN
app01-3927	201	7	&	&	CCONJ
app01-3927	201	8	intelligent	intelligent	ADJ
app01-3927	201	9	systems	system	NOUN
app01-3927	201	10	jamris	jamris	PROPN
app01-3927	201	11	8(1):69–75	8(1):69–75	NUM
app01-3927	201	12	,	,	PUNCT
app01-3927	201	13	2014	2014	NUM
app01-3927	201	14	.	.	PUNCT
app01-3927	202	1	doi:10.14313	doi:10.14313	PROPN
app01-3927	202	2	/	/	SYM
app01-3927	202	3	jamris_1	jamris_1	PROPN
app01-3927	202	4	-	-	PUNCT
app01-3927	202	5	2014/9	2014/9	NUM
app01-3927	202	6	.	.	PUNCT
app01-3927	203	1	[	[	X
app01-3927	203	2	3	3	X
app01-3927	203	3	]	]	X
app01-3927	203	4	p.	p.	NOUN
app01-3927	203	5	goebel	goebel	NOUN
app01-3927	203	6	.	.	PUNCT
app01-3927	204	1	ros	ros	PROPN
app01-3927	204	2	by	by	ADP
app01-3927	204	3	example	example	NOUN
app01-3927	204	4	.	.	PUNCT
app01-3927	205	1	lulu	lulu	PROPN
app01-3927	205	2	,	,	PUNCT
app01-3927	205	3	2013	2013	NUM
app01-3927	205	4	.	.	PUNCT
app01-3927	206	1	[	[	X
app01-3927	206	2	4	4	X
app01-3927	206	3	]	]	PUNCT
app01-3927	206	4	a.	a.	NOUN
app01-3927	206	5	martinez	martinez	PROPN
app01-3927	206	6	,	,	PUNCT
app01-3927	206	7	e.	e.	PROPN
app01-3927	206	8	fernaandez	fernaandez	PROPN
app01-3927	206	9	.	.	PUNCT
app01-3927	207	1	learning	learn	VERB
app01-3927	207	2	ros	ros	PROPN
app01-3927	207	3	for	for	ADP
app01-3927	207	4	robotics	robotic	NOUN
app01-3927	207	5	programming	programming	NOUN
app01-3927	207	6	.	.	PUNCT
app01-3927	208	1	packt	packt	PROPN
app01-3927	208	2	publishing	publishing	NOUN
app01-3927	208	3	,	,	PUNCT
app01-3927	208	4	2013	2013	NUM
app01-3927	208	5	.	.	PUNCT
app01-3927	209	1	[	[	X
app01-3927	209	2	5	5	X
app01-3927	209	3	]	]	PUNCT
app01-3927	209	4	ros	ros	PROPN
app01-3927	209	5	answers	answer	VERB
app01-3927	209	6	forum	forum	PROPN
app01-3927	209	7	.	.	PUNCT
app01-3927	210	1	http://answers.ros.org	http://answers.ros.org	NOUN
app01-3927	210	2	.	.	PUNCT
app01-3927	211	1	[	[	X
app01-3927	211	2	6	6	NUM
app01-3927	211	3	]	]	PUNCT
app01-3927	211	4	ros	ros	PROPN
app01-3927	211	5	developers	developer	NOUN
app01-3927	211	6	guide	guide	VERB
app01-3927	211	7	.	.	PUNCT
app01-3927	212	1	http://wiki.ros.org/developersguide	http://wiki.ros.org/developersguide	X
app01-3927	212	2	.	.	PUNCT
app01-3927	213	1	[	[	X
app01-3927	213	2	7	7	X
app01-3927	213	3	]	]	ADJ
app01-3927	213	4	setup	setup	NOUN
app01-3927	213	5	and	and	CCONJ
app01-3927	213	6	configuration	configuration	NOUN
app01-3927	213	7	of	of	ADP
app01-3927	213	8	the	the	DET
app01-3927	213	9	navigation	navigation	NOUN
app01-3927	213	10	stack	stack	NOUN
app01-3927	213	11	on	on	ADP
app01-3927	213	12	a	a	DET
app01-3927	213	13	robot	robot	NOUN
app01-3927	213	14	.	.	PUNCT
app01-3927	214	1	http	http	ADJ
app01-3927	214	2	:	:	PUNCT
app01-3927	214	3	//wiki.ros.org	//wiki.ros.org	ADJ
app01-3927	214	4	/	/	SYM
app01-3927	214	5	navigation	navigation	NOUN
app01-3927	214	6	/	/	SYM
app01-3927	214	7	tutorials	tutorial	NOUN
app01-3927	214	8	/	/	SYM
app01-3927	214	9	robotsetup	robotsetup	ADJ
app01-3927	214	10	.	.	PUNCT
app01-3927	215	1	17	17	NUM
app01-3927	215	2	http://skaner.p.lodz.pl	http://skaner.p.lodz.pl	NOUN
app01-3927	215	3	http://dx.doi.org/10.14313/jamris_1-2014/9	http://dx.doi.org/10.14313/jamris_1-2014/9	PROPN
app01-3927	215	4	http://answers.ros.org	http://answers.ros.org	PROPN
app01-3927	215	5	http://wiki.ros.org/developersguide	http://wiki.ros.org/developersguide	PROPN
app01-3927	215	6	http://wiki.ros.org/navigation/tutorials/robotsetup	http://wiki.ros.org/navigation/tutorials/robotsetup	NUM
app01-3927	215	7	http://wiki.ros.org/navigation/tutorials/robotsetup	http://wiki.ros.org/navigation/tutorials/robotsetup	NUM
app01-3927	215	8	acta	acta	PROPN
app01-3927	215	9	polytechnica	polytechnica	PROPN
app01-3927	215	10	ctu	ctu	NOUN
app01-3927	215	11	proceedings	proceeding	NOUN
app01-3927	215	12	6:11–17	6:11–17	NUM
app01-3927	215	13	,	,	PUNCT
app01-3927	215	14	2016	2016	NUM
app01-3927	215	15	1	1	NUM
app01-3927	215	16	introduction	introduction	NOUN
app01-3927	215	17	2	2	NUM
app01-3927	215	18	ros	ros	PROPN
app01-3927	215	19	navigation	navigation	NOUN
app01-3927	215	20	stack	stack	VERB
app01-3927	215	21	2.1	2.1	NUM
app01-3927	215	22	bridging	bridging	NOUN
app01-3927	215	23	ros	ro	NOUN
app01-3927	215	24	with	with	ADP
app01-3927	215	25	labview	labview	NOUN
app01-3927	215	26	2.2	2.2	NUM
app01-3927	215	27	quadron	quadron	NOUN
app01-3927	215	28	robot	robot	NOUN
app01-3927	215	29	3	3	NUM
app01-3927	215	30	conclusions	conclusion	NOUN
app01-3927	215	31	acknowledgements	acknowledgement	NOUN
app01-3927	215	32	references	reference	NOUN