id	sid	tid	token	lemma	pos
app01-3930	1	1	acta	acta	PROPN
app01-3930	1	2	polytechnica	polytechnica	PROPN
app01-3930	1	3	ctu	ctu	PROPN
app01-3930	1	4	proceedings	proceeding	NOUN
app01-3930	1	5	doi:10.14311	doi:10.14311	NOUN
app01-3930	1	6	/	/	SYM
app01-3930	1	7	app.2016.6.0034	app.2016.6.0034	PROPN
app01-3930	1	8	acta	acta	PROPN
app01-3930	1	9	polytechnica	polytechnica	PROPN
app01-3930	1	10	ctu	ctu	NOUN
app01-3930	1	11	proceedings	proceeding	NOUN
app01-3930	1	12	6:34–39	6:34–39	NUM
app01-3930	1	13	,	,	PUNCT
app01-3930	1	14	2016	2016	NUM
app01-3930	1	15	©	©	PROPN
app01-3930	1	16	czech	czech	PROPN
app01-3930	1	17	technical	technical	PROPN
app01-3930	1	18	university	university	PROPN
app01-3930	1	19	in	in	ADP
app01-3930	1	20	prague	prague	PROPN
app01-3930	1	21	,	,	PUNCT
app01-3930	1	22	2016	2016	NUM
app01-3930	1	23	available	available	ADJ
app01-3930	1	24	online	online	ADV
app01-3930	1	25	at	at	ADP
app01-3930	1	26	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3930	1	27	the	the	DET
app01-3930	1	28	dubins	dubin	NOUN
app01-3930	1	29	traveling	travel	VERB
app01-3930	1	30	salesman	salesman	ADJ
app01-3930	1	31	problem	problem	NOUN
app01-3930	1	32	with	with	ADP
app01-3930	1	33	constrained	constrain	VERB
app01-3930	1	34	collecting	collecting	NOUN
app01-3930	1	35	maneuvers	maneuver	NOUN
app01-3930	1	36	petr	petr	PROPN
app01-3930	1	37	váňa∗	váňa∗	PROPN
app01-3930	1	38	,	,	PUNCT
app01-3930	1	39	jan	jan	PROPN
app01-3930	1	40	faigl	faigl	PROPN
app01-3930	1	41	dept	dept	PROPN
app01-3930	1	42	.	.	PROPN
app01-3930	2	1	of	of	ADP
app01-3930	2	2	computer	computer	NOUN
app01-3930	2	3	science	science	NOUN
app01-3930	2	4	,	,	PUNCT
app01-3930	2	5	czech	czech	PROPN
app01-3930	2	6	technical	technical	PROPN
app01-3930	2	7	university	university	PROPN
app01-3930	2	8	in	in	ADP
app01-3930	2	9	prague	prague	PROPN
app01-3930	2	10	,	,	PUNCT
app01-3930	2	11	technická	technická	NOUN
app01-3930	2	12	2	2	NUM
app01-3930	2	13	,	,	PUNCT
app01-3930	2	14	166	166	NUM
app01-3930	2	15	27	27	NUM
app01-3930	2	16	prague	prague	NOUN
app01-3930	2	17	,	,	PUNCT
app01-3930	2	18	czech	czech	PROPN
app01-3930	2	19	republic	republic	NOUN
app01-3930	2	20	∗	∗	NOUN
app01-3930	2	21	corresponding	correspond	VERB
app01-3930	2	22	author	author	NOUN
app01-3930	2	23	:	:	PUNCT
app01-3930	3	1	vanapet1@fel.cvut.cz	vanapet1@fel.cvut.cz	NOUN
app01-3930	3	2	abstract	abstract	ADJ
app01-3930	3	3	.	.	PUNCT
app01-3930	4	1	in	in	ADP
app01-3930	4	2	this	this	DET
app01-3930	4	3	paper	paper	NOUN
app01-3930	4	4	,	,	PUNCT
app01-3930	4	5	we	we	PRON
app01-3930	4	6	introduce	introduce	VERB
app01-3930	4	7	a	a	DET
app01-3930	4	8	variant	variant	NOUN
app01-3930	4	9	of	of	ADP
app01-3930	4	10	the	the	DET
app01-3930	4	11	dubins	dubin	NOUN
app01-3930	4	12	traveling	travel	VERB
app01-3930	4	13	salesman	salesman	ADJ
app01-3930	4	14	problem	problem	NOUN
app01-3930	4	15	(	(	PUNCT
app01-3930	4	16	dtsp	dtsp	NOUN
app01-3930	4	17	)	)	PUNCT
app01-3930	4	18	that	that	PRON
app01-3930	4	19	is	be	AUX
app01-3930	4	20	called	call	VERB
app01-3930	4	21	the	the	DET
app01-3930	4	22	dubins	dubin	NOUN
app01-3930	4	23	traveling	travel	VERB
app01-3930	4	24	salesman	salesman	ADJ
app01-3930	4	25	problem	problem	NOUN
app01-3930	4	26	with	with	ADP
app01-3930	4	27	constrained	constrain	VERB
app01-3930	4	28	collecting	collecting	NOUN
app01-3930	4	29	maneuvers	maneuver	NOUN
app01-3930	4	30	(	(	PUNCT
app01-3930	4	31	dtsp	dtsp	NOUN
app01-3930	4	32	-	-	PUNCT
app01-3930	4	33	cm	cm	NOUN
app01-3930	4	34	)	)	PUNCT
app01-3930	4	35	.	.	PUNCT
app01-3930	5	1	in	in	ADP
app01-3930	5	2	contrast	contrast	NOUN
app01-3930	5	3	to	to	ADP
app01-3930	5	4	the	the	DET
app01-3930	5	5	ordinary	ordinary	ADJ
app01-3930	5	6	formulation	formulation	NOUN
app01-3930	5	7	of	of	ADP
app01-3930	5	8	the	the	DET
app01-3930	5	9	dtsp	dtsp	NOUN
app01-3930	5	10	,	,	PUNCT
app01-3930	5	11	in	in	ADP
app01-3930	5	12	the	the	DET
app01-3930	5	13	proposed	propose	VERB
app01-3930	5	14	dtsp	dtsp	NOUN
app01-3930	5	15	-	-	PUNCT
app01-3930	5	16	cm	cm	NOUN
app01-3930	5	17	,	,	PUNCT
app01-3930	5	18	the	the	DET
app01-3930	5	19	vehicle	vehicle	NOUN
app01-3930	5	20	is	be	AUX
app01-3930	5	21	requested	request	VERB
app01-3930	5	22	to	to	PART
app01-3930	5	23	visit	visit	VERB
app01-3930	5	24	each	each	DET
app01-3930	5	25	target	target	NOUN
app01-3930	5	26	by	by	ADP
app01-3930	5	27	specified	specify	VERB
app01-3930	5	28	collecting	collecting	NOUN
app01-3930	5	29	maneuver	maneuver	NOUN
app01-3930	5	30	to	to	PART
app01-3930	5	31	accomplish	accomplish	VERB
app01-3930	5	32	the	the	DET
app01-3930	5	33	mission	mission	NOUN
app01-3930	5	34	.	.	PUNCT
app01-3930	6	1	the	the	DET
app01-3930	6	2	proposed	propose	VERB
app01-3930	6	3	problem	problem	NOUN
app01-3930	6	4	formulation	formulation	NOUN
app01-3930	6	5	is	be	AUX
app01-3930	6	6	motivated	motivate	VERB
app01-3930	6	7	by	by	ADP
app01-3930	6	8	scenarios	scenario	NOUN
app01-3930	6	9	with	with	ADP
app01-3930	6	10	unmanned	unmanned	ADJ
app01-3930	6	11	aerial	aerial	ADJ
app01-3930	6	12	vehicles	vehicle	NOUN
app01-3930	6	13	where	where	SCONJ
app01-3930	6	14	particular	particular	ADJ
app01-3930	6	15	maneuvers	maneuver	NOUN
app01-3930	6	16	are	be	AUX
app01-3930	6	17	necessary	necessary	ADJ
app01-3930	6	18	for	for	ADP
app01-3930	6	19	accomplishing	accomplish	VERB
app01-3930	6	20	the	the	DET
app01-3930	6	21	mission	mission	NOUN
app01-3930	6	22	,	,	PUNCT
app01-3930	6	23	such	such	ADJ
app01-3930	6	24	as	as	ADP
app01-3930	6	25	object	object	NOUN
app01-3930	6	26	dropping	dropping	NOUN
app01-3930	6	27	or	or	CCONJ
app01-3930	6	28	data	data	NOUN
app01-3930	6	29	collection	collection	NOUN
app01-3930	6	30	with	with	ADP
app01-3930	6	31	sensor	sensor	NOUN
app01-3930	6	32	sensitive	sensitive	ADJ
app01-3930	6	33	to	to	ADP
app01-3930	6	34	changes	change	NOUN
app01-3930	6	35	in	in	ADP
app01-3930	6	36	vehicle	vehicle	NOUN
app01-3930	6	37	heading	heading	NOUN
app01-3930	6	38	.	.	PUNCT
app01-3930	7	1	we	we	PRON
app01-3930	7	2	consider	consider	VERB
app01-3930	7	3	existing	exist	VERB
app01-3930	7	4	methods	method	NOUN
app01-3930	7	5	for	for	ADP
app01-3930	7	6	the	the	DET
app01-3930	7	7	dtsp	dtsp	NOUN
app01-3930	7	8	and	and	CCONJ
app01-3930	7	9	propose	propose	VERB
app01-3930	7	10	its	its	PRON
app01-3930	7	11	modifications	modification	NOUN
app01-3930	7	12	to	to	PART
app01-3930	7	13	use	use	VERB
app01-3930	7	14	these	these	DET
app01-3930	7	15	methods	method	NOUN
app01-3930	7	16	to	to	PART
app01-3930	7	17	address	address	VERB
app01-3930	7	18	a	a	DET
app01-3930	7	19	variant	variant	NOUN
app01-3930	7	20	of	of	ADP
app01-3930	7	21	the	the	DET
app01-3930	7	22	introduced	introduce	VERB
app01-3930	7	23	dtsp	dtsp	NOUN
app01-3930	7	24	-	-	PUNCT
app01-3930	7	25	cm	cm	NOUN
app01-3930	7	26	,	,	PUNCT
app01-3930	7	27	where	where	SCONJ
app01-3930	7	28	the	the	DET
app01-3930	7	29	collecting	collecting	NOUN
app01-3930	7	30	maneuvers	maneuver	NOUN
app01-3930	7	31	are	be	AUX
app01-3930	7	32	constrained	constrain	VERB
app01-3930	7	33	to	to	ADP
app01-3930	7	34	straight	straight	ADJ
app01-3930	7	35	line	line	NOUN
app01-3930	7	36	segments	segment	NOUN
app01-3930	7	37	.	.	PUNCT
app01-3930	8	1	keywords	keyword	NOUN
app01-3930	8	2	:	:	PUNCT
app01-3930	8	3	dubins	dubin	NOUN
app01-3930	8	4	vehicle	vehicle	NOUN
app01-3930	8	5	,	,	PUNCT
app01-3930	8	6	dtsp	dtsp	NOUN
app01-3930	8	7	,	,	PUNCT
app01-3930	8	8	non	non	ADJ
app01-3930	8	9	-	-	ADJ
app01-3930	8	10	holonomic	holonomic	ADJ
app01-3930	8	11	vehicle	vehicle	NOUN
app01-3930	8	12	,	,	PUNCT
app01-3930	8	13	path	path	NOUN
app01-3930	8	14	planning	planning	NOUN
app01-3930	8	15	,	,	PUNCT
app01-3930	8	16	collecting	collect	VERB
app01-3930	8	17	maneuver	maneuver	NOUN
app01-3930	8	18	.	.	PUNCT
app01-3930	9	1	1	1	X
app01-3930	9	2	.	.	X
app01-3930	9	3	introduction	introduction	NOUN
app01-3930	9	4	the	the	DET
app01-3930	9	5	dubins	dubin	NOUN
app01-3930	9	6	traveling	travel	VERB
app01-3930	9	7	salesman	salesman	ADJ
app01-3930	9	8	problem	problem	NOUN
app01-3930	9	9	(	(	PUNCT
app01-3930	9	10	dtsp	dtsp	NOUN
app01-3930	9	11	)	)	PUNCT
app01-3930	10	1	[	[	X
app01-3930	10	2	1	1	X
app01-3930	10	3	]	]	PUNCT
app01-3930	10	4	has	have	AUX
app01-3930	10	5	been	be	AUX
app01-3930	10	6	subject	subject	ADJ
app01-3930	10	7	of	of	ADP
app01-3930	10	8	studies	study	NOUN
app01-3930	10	9	for	for	ADP
app01-3930	10	10	many	many	ADJ
app01-3930	10	11	years	year	NOUN
app01-3930	10	12	.	.	PUNCT
app01-3930	11	1	the	the	DET
app01-3930	11	2	problem	problem	NOUN
app01-3930	11	3	is	be	AUX
app01-3930	11	4	to	to	PART
app01-3930	11	5	find	find	VERB
app01-3930	11	6	a	a	DET
app01-3930	11	7	shortest	short	ADJ
app01-3930	11	8	tour	tour	NOUN
app01-3930	11	9	visiting	visit	VERB
app01-3930	11	10	a	a	DET
app01-3930	11	11	given	give	VERB
app01-3930	11	12	set	set	NOUN
app01-3930	11	13	of	of	ADP
app01-3930	11	14	target	target	NOUN
app01-3930	11	15	locations	location	NOUN
app01-3930	11	16	by	by	ADP
app01-3930	11	17	the	the	DET
app01-3930	11	18	dubins	dubin	NOUN
app01-3930	11	19	vehicle	vehicle	NOUN
app01-3930	11	20	[	[	X
app01-3930	11	21	2	2	X
app01-3930	11	22	]	]	PUNCT
app01-3930	11	23	that	that	PRON
app01-3930	11	24	models	model	VERB
app01-3930	11	25	a	a	DET
app01-3930	11	26	fix	fix	NOUN
app01-3930	11	27	-	-	PUNCT
app01-3930	11	28	wing	wing	NOUN
app01-3930	11	29	aircraft	aircraft	NOUN
app01-3930	11	30	(	(	PUNCT
app01-3930	11	31	or	or	CCONJ
app01-3930	11	32	car	car	NOUN
app01-3930	11	33	-	-	PUNCT
app01-3930	11	34	like	like	ADJ
app01-3930	11	35	vehicle	vehicle	NOUN
app01-3930	11	36	)	)	PUNCT
app01-3930	11	37	with	with	ADP
app01-3930	11	38	a	a	DET
app01-3930	11	39	limited	limited	ADJ
app01-3930	11	40	minimal	minimal	ADJ
app01-3930	11	41	turning	turning	NOUN
app01-3930	11	42	radius	radius	NOUN
app01-3930	11	43	and	and	CCONJ
app01-3930	11	44	a	a	DET
app01-3930	11	45	constant	constant	ADJ
app01-3930	11	46	forward	forward	ADJ
app01-3930	11	47	velocity	velocity	NOUN
app01-3930	11	48	.	.	PUNCT
app01-3930	12	1	the	the	DET
app01-3930	12	2	herein	herein	NOUN
app01-3930	12	3	studied	study	VERB
app01-3930	12	4	path	path	NOUN
app01-3930	12	5	planning	planning	NOUN
app01-3930	12	6	problem	problem	NOUN
app01-3930	12	7	is	be	AUX
app01-3930	12	8	motivated	motivate	VERB
app01-3930	12	9	by	by	ADP
app01-3930	12	10	surveillance	surveillance	NOUN
app01-3930	12	11	and	and	CCONJ
app01-3930	12	12	rescue	rescue	NOUN
app01-3930	12	13	missions	mission	NOUN
app01-3930	12	14	to	to	PART
app01-3930	12	15	visit	visit	VERB
app01-3930	12	16	a	a	DET
app01-3930	12	17	set	set	NOUN
app01-3930	12	18	of	of	ADP
app01-3930	12	19	target	target	NOUN
app01-3930	12	20	locations	location	NOUN
app01-3930	12	21	by	by	ADP
app01-3930	12	22	a	a	DET
app01-3930	12	23	fix	fix	NOUN
app01-3930	12	24	-	-	PUNCT
app01-3930	12	25	wing	wing	NOUN
app01-3930	12	26	aerial	aerial	ADJ
app01-3930	12	27	vehicle	vehicle	NOUN
app01-3930	12	28	.	.	PUNCT
app01-3930	13	1	such	such	DET
app01-3930	13	2	a	a	DET
app01-3930	13	3	problem	problem	NOUN
app01-3930	13	4	can	can	AUX
app01-3930	13	5	be	be	AUX
app01-3930	13	6	formulated	formulate	VERB
app01-3930	13	7	as	as	ADP
app01-3930	13	8	the	the	DET
app01-3930	13	9	variant	variant	NOUN
app01-3930	13	10	of	of	ADP
app01-3930	13	11	the	the	DET
app01-3930	13	12	combinatorial	combinatorial	ADJ
app01-3930	13	13	optimization	optimization	NOUN
app01-3930	13	14	the	the	DET
app01-3930	13	15	traveling	travel	VERB
app01-3930	13	16	salesman	salesman	ADJ
app01-3930	13	17	problem	problem	NOUN
app01-3930	13	18	(	(	PUNCT
app01-3930	13	19	tsp	tsp	NOUN
app01-3930	13	20	)	)	PUNCT
app01-3930	13	21	where	where	SCONJ
app01-3930	13	22	the	the	DET
app01-3930	13	23	target	target	NOUN
app01-3930	13	24	locations	location	NOUN
app01-3930	13	25	have	have	VERB
app01-3930	13	26	to	to	PART
app01-3930	13	27	be	be	AUX
app01-3930	13	28	connected	connect	VERB
app01-3930	13	29	by	by	ADP
app01-3930	13	30	dubins	dubin	NOUN
app01-3930	13	31	maneuvers	maneuver	NOUN
app01-3930	13	32	.	.	PUNCT
app01-3930	14	1	the	the	DET
app01-3930	14	2	problem	problem	NOUN
app01-3930	14	3	is	be	AUX
app01-3930	14	4	to	to	PART
app01-3930	14	5	determine	determine	VERB
app01-3930	14	6	a	a	DET
app01-3930	14	7	sequence	sequence	NOUN
app01-3930	14	8	of	of	ADP
app01-3930	14	9	visits	visit	NOUN
app01-3930	14	10	to	to	ADP
app01-3930	14	11	the	the	DET
app01-3930	14	12	targets	target	NOUN
app01-3930	14	13	together	together	ADV
app01-3930	14	14	with	with	ADP
app01-3930	14	15	the	the	DET
app01-3930	14	16	most	most	ADV
app01-3930	14	17	suitable	suitable	ADJ
app01-3930	14	18	heading	heading	NOUN
app01-3930	14	19	of	of	ADP
app01-3930	14	20	the	the	DET
app01-3930	14	21	vehicle	vehicle	NOUN
app01-3930	14	22	at	at	ADP
app01-3930	14	23	each	each	DET
app01-3930	14	24	target	target	NOUN
app01-3930	14	25	location	location	NOUN
app01-3930	14	26	such	such	ADJ
app01-3930	14	27	that	that	SCONJ
app01-3930	14	28	the	the	DET
app01-3930	14	29	total	total	ADJ
app01-3930	14	30	tour	tour	NOUN
app01-3930	14	31	length	length	NOUN
app01-3930	14	32	is	be	AUX
app01-3930	14	33	minimized	minimize	VERB
app01-3930	14	34	.	.	PUNCT
app01-3930	15	1	dubins	dubin	NOUN
app01-3930	15	2	proved	prove	VERB
app01-3930	15	3	that	that	SCONJ
app01-3930	15	4	the	the	DET
app01-3930	15	5	optimal	optimal	ADJ
app01-3930	15	6	path	path	NOUN
app01-3930	15	7	between	between	ADP
app01-3930	15	8	two	two	NUM
app01-3930	15	9	configurations	configuration	NOUN
app01-3930	15	10	of	of	ADP
app01-3930	15	11	the	the	DET
app01-3930	15	12	dubins	dubin	NOUN
app01-3930	15	13	vehicle	vehicle	NOUN
app01-3930	15	14	can	can	AUX
app01-3930	15	15	be	be	AUX
app01-3930	15	16	found	find	VERB
app01-3930	15	17	analytically	analytically	ADV
app01-3930	15	18	by	by	ADP
app01-3930	15	19	enumerating	enumerate	VERB
app01-3930	15	20	six	six	NUM
app01-3930	15	21	possible	possible	ADJ
app01-3930	15	22	maneuvers	maneuver	NOUN
app01-3930	15	23	[	[	X
app01-3930	15	24	2	2	NUM
app01-3930	15	25	]	]	PUNCT
app01-3930	15	26	.	.	PUNCT
app01-3930	16	1	however	however	ADV
app01-3930	16	2	,	,	PUNCT
app01-3930	16	3	it	it	PRON
app01-3930	16	4	is	be	AUX
app01-3930	16	5	necessary	necessary	ADJ
app01-3930	16	6	to	to	PART
app01-3930	16	7	determine	determine	VERB
app01-3930	16	8	the	the	DET
app01-3930	16	9	optimal	optimal	ADJ
app01-3930	16	10	headings	heading	NOUN
app01-3930	16	11	to	to	PART
app01-3930	16	12	find	find	VERB
app01-3930	16	13	the	the	DET
app01-3930	16	14	optimal	optimal	ADJ
app01-3930	16	15	maneuver	maneuver	NOUN
app01-3930	16	16	analytically	analytically	ADV
app01-3930	16	17	,	,	PUNCT
app01-3930	16	18	which	which	PRON
app01-3930	16	19	in	in	ADP
app01-3930	16	20	fact	fact	NOUN
app01-3930	16	21	depend	depend	VERB
app01-3930	16	22	on	on	ADP
app01-3930	16	23	the	the	DET
app01-3930	16	24	optimal	optimal	ADJ
app01-3930	16	25	sequence	sequence	NOUN
app01-3930	16	26	of	of	ADP
app01-3930	16	27	visits	visit	NOUN
app01-3930	16	28	to	to	ADP
app01-3930	16	29	the	the	DET
app01-3930	16	30	targets	target	NOUN
app01-3930	16	31	.	.	PUNCT
app01-3930	17	1	therefore	therefore	ADV
app01-3930	17	2	,	,	PUNCT
app01-3930	17	3	this	this	DET
app01-3930	17	4	challenging	challenging	ADJ
app01-3930	17	5	problem	problem	NOUN
app01-3930	17	6	is	be	AUX
app01-3930	17	7	called	call	VERB
app01-3930	17	8	the	the	DET
app01-3930	17	9	dubins	dubin	NOUN
app01-3930	17	10	traveling	travel	VERB
app01-3930	17	11	salesman	salesman	ADJ
app01-3930	17	12	problem	problem	NOUN
app01-3930	17	13	(	(	PUNCT
app01-3930	17	14	dtsp	dtsp	NOUN
app01-3930	17	15	)	)	PUNCT
app01-3930	17	16	rather	rather	ADV
app01-3930	17	17	than	than	ADP
app01-3930	17	18	just	just	ADV
app01-3930	17	19	the	the	DET
app01-3930	17	20	tsp	tsp	NOUN
app01-3930	17	21	to	to	PART
app01-3930	17	22	distinguish	distinguish	VERB
app01-3930	17	23	computational	computational	ADJ
app01-3930	17	24	challenges	challenge	NOUN
app01-3930	17	25	arising	arise	VERB
app01-3930	17	26	from	from	ADP
app01-3930	17	27	the	the	DET
app01-3930	17	28	constrained	constrain	VERB
app01-3930	17	29	turning	turning	NOUN
app01-3930	17	30	radius	radius	NOUN
app01-3930	17	31	.	.	PUNCT
app01-3930	18	1	the	the	DET
app01-3930	18	2	dtsp	dtsp	NOUN
app01-3930	18	3	is	be	AUX
app01-3930	18	4	np	np	INTJ
app01-3930	18	5	-	-	ADJ
app01-3930	18	6	hard	hard	ADJ
app01-3930	18	7	[	[	X
app01-3930	18	8	3	3	NUM
app01-3930	18	9	]	]	PUNCT
app01-3930	18	10	as	as	ADP
app01-3930	18	11	for	for	ADP
app01-3930	18	12	zero	zero	NUM
app01-3930	18	13	minimal	minimal	ADJ
app01-3930	18	14	turning	turning	NOUN
app01-3930	18	15	radius	radius	NOUN
app01-3930	18	16	,	,	PUNCT
app01-3930	18	17	the	the	DET
app01-3930	18	18	problem	problem	NOUN
app01-3930	18	19	becomes	become	VERB
app01-3930	18	20	the	the	DET
app01-3930	18	21	tsp	tsp	NOUN
app01-3930	18	22	.	.	PUNCT
app01-3930	19	1	even	even	ADV
app01-3930	19	2	though	though	SCONJ
app01-3930	19	3	an	an	DET
app01-3930	19	4	ordinary	ordinary	ADJ
app01-3930	19	5	formulation	formulation	NOUN
app01-3930	19	6	of	of	ADP
app01-3930	19	7	the	the	DET
app01-3930	19	8	dtsp	dtsp	NOUN
app01-3930	19	9	provides	provide	VERB
app01-3930	19	10	a	a	DET
app01-3930	19	11	solution	solution	NOUN
app01-3930	19	12	of	of	ADP
app01-3930	19	13	the	the	DET
app01-3930	19	14	problem	problem	NOUN
app01-3930	19	15	to	to	PART
app01-3930	19	16	visit	visit	VERB
app01-3930	19	17	a	a	DET
app01-3930	19	18	set	set	NOUN
app01-3930	19	19	of	of	ADP
app01-3930	19	20	target	target	NOUN
app01-3930	19	21	locations	location	NOUN
app01-3930	19	22	by	by	ADP
app01-3930	19	23	an	an	DET
app01-3930	19	24	aircraft	aircraft	NOUN
app01-3930	19	25	,	,	PUNCT
app01-3930	19	26	the	the	DET
app01-3930	19	27	problem	problem	NOUN
app01-3930	19	28	considered	consider	VERB
app01-3930	19	29	in	in	ADP
app01-3930	19	30	this	this	DET
app01-3930	19	31	paper	paper	NOUN
app01-3930	19	32	requires	require	VERB
app01-3930	19	33	to	to	PART
app01-3930	19	34	perform	perform	VERB
app01-3930	19	35	specific	specific	ADJ
app01-3930	19	36	collecting	collecting	NOUN
app01-3930	19	37	maneuvers	maneuver	NOUN
app01-3930	19	38	to	to	PART
app01-3930	19	39	reliably	reliably	ADV
app01-3930	19	40	accomplish	accomplish	VERB
app01-3930	19	41	the	the	DET
app01-3930	19	42	mission	mission	NOUN
app01-3930	19	43	.	.	PUNCT
app01-3930	20	1	such	such	DET
app01-3930	20	2	a	a	DET
app01-3930	20	3	requirement	requirement	NOUN
app01-3930	20	4	is	be	AUX
app01-3930	20	5	arising	arise	VERB
app01-3930	20	6	from	from	ADP
app01-3930	20	7	the	the	DET
app01-3930	20	8	need	need	NOUN
app01-3930	20	9	to	to	PART
app01-3930	20	10	get	get	VERB
app01-3930	20	11	a	a	DET
app01-3930	20	12	visual	visual	ADJ
app01-3930	20	13	contact	contact	NOUN
app01-3930	20	14	with	with	ADP
app01-3930	20	15	the	the	DET
app01-3930	20	16	drop	drop	VERB
app01-3930	20	17	-	-	PUNCT
app01-3930	20	18	off	off	ADP
app01-3930	20	19	location	location	NOUN
app01-3930	20	20	.	.	PUNCT
app01-3930	21	1	then	then	ADV
app01-3930	21	2	,	,	PUNCT
app01-3930	21	3	the	the	DET
app01-3930	21	4	vehicle	vehicle	NOUN
app01-3930	21	5	figure	figure	NOUN
app01-3930	21	6	1	1	NUM
app01-3930	21	7	.	.	PUNCT
app01-3930	22	1	an	an	DET
app01-3930	22	2	example	example	NOUN
app01-3930	22	3	of	of	ADP
app01-3930	22	4	the	the	DET
app01-3930	22	5	dtsp	dtsp	NOUN
app01-3930	22	6	-	-	PUNCT
app01-3930	22	7	cm	cm	NOUN
app01-3930	22	8	instance	instance	NOUN
app01-3930	22	9	with	with	ADP
app01-3930	22	10	straight	straight	ADJ
app01-3930	22	11	collecting	collecting	NOUN
app01-3930	22	12	maneuvers	maneuver	NOUN
app01-3930	22	13	in	in	ADP
app01-3930	22	14	a	a	DET
app01-3930	22	15	cargo	cargo	NOUN
app01-3930	22	16	airdrop	airdrop	NOUN
app01-3930	22	17	mission	mission	NOUN
app01-3930	22	18	.	.	PUNCT
app01-3930	23	1	target	target	NOUN
app01-3930	23	2	locations	location	NOUN
app01-3930	23	3	are	be	AUX
app01-3930	23	4	depicted	depict	VERB
app01-3930	23	5	as	as	ADP
app01-3930	23	6	small	small	ADJ
app01-3930	23	7	green	green	ADJ
app01-3930	23	8	disks	disk	NOUN
app01-3930	23	9	,	,	PUNCT
app01-3930	23	10	maneuvers	maneuver	NOUN
app01-3930	23	11	are	be	AUX
app01-3930	23	12	the	the	DET
app01-3930	23	13	red	red	ADJ
app01-3930	23	14	straight	straight	ADJ
app01-3930	23	15	line	line	NOUN
app01-3930	23	16	segments	segment	NOUN
app01-3930	23	17	,	,	PUNCT
app01-3930	23	18	and	and	CCONJ
app01-3930	23	19	particular	particular	ADJ
app01-3930	23	20	trajectories	trajectory	NOUN
app01-3930	23	21	for	for	ADP
app01-3930	23	22	a	a	DET
app01-3930	23	23	reliable	reliable	ADJ
app01-3930	23	24	cargo	cargo	NOUN
app01-3930	23	25	drop	drop	NOUN
app01-3930	23	26	-	-	PUNCT
app01-3930	23	27	off	off	NOUN
app01-3930	23	28	are	be	AUX
app01-3930	23	29	in	in	ADP
app01-3930	23	30	green	green	ADJ
app01-3930	23	31	.	.	PUNCT
app01-3930	24	1	the	the	DET
app01-3930	24	2	blue	blue	ADJ
app01-3930	24	3	curves	curve	NOUN
app01-3930	24	4	stand	stand	VERB
app01-3930	24	5	for	for	ADP
app01-3930	24	6	the	the	DET
app01-3930	24	7	dubins	dubin	NOUN
app01-3930	24	8	maneuvers	maneuver	NOUN
app01-3930	24	9	which	which	PRON
app01-3930	24	10	connect	connect	VERB
app01-3930	24	11	the	the	DET
app01-3930	24	12	determined	determined	ADJ
app01-3930	24	13	collecting	collect	VERB
app01-3930	24	14	maneuvers	maneuver	NOUN
app01-3930	24	15	into	into	ADP
app01-3930	24	16	the	the	DET
app01-3930	24	17	closed	closed	ADJ
app01-3930	24	18	tour	tour	NOUN
app01-3930	24	19	.	.	PUNCT
app01-3930	25	1	is	be	AUX
app01-3930	25	2	required	require	VERB
app01-3930	25	3	to	to	PART
app01-3930	25	4	move	move	VERB
app01-3930	25	5	straight	straight	ADV
app01-3930	25	6	ahead	ahead	ADV
app01-3930	25	7	during	during	ADP
app01-3930	25	8	the	the	DET
app01-3930	25	9	dropping	dropping	NOUN
app01-3930	25	10	phase	phase	NOUN
app01-3930	25	11	itself	itself	PRON
app01-3930	25	12	.	.	PUNCT
app01-3930	26	1	an	an	DET
app01-3930	26	2	example	example	NOUN
app01-3930	26	3	solution	solution	NOUN
app01-3930	26	4	of	of	ADP
app01-3930	26	5	such	such	DET
app01-3930	26	6	an	an	DET
app01-3930	26	7	object	object	NOUN
app01-3930	26	8	dropping	dropping	NOUN
app01-3930	26	9	mission	mission	NOUN
app01-3930	26	10	is	be	AUX
app01-3930	26	11	depicted	depict	VERB
app01-3930	26	12	in	in	ADP
app01-3930	26	13	fig	fig	NOUN
app01-3930	26	14	.	.	PUNCT
app01-3930	27	1	1	1	X
app01-3930	27	2	.	.	X
app01-3930	27	3	in	in	ADP
app01-3930	27	4	this	this	DET
app01-3930	27	5	paper	paper	NOUN
app01-3930	27	6	,	,	PUNCT
app01-3930	27	7	we	we	PRON
app01-3930	27	8	propose	propose	VERB
app01-3930	27	9	a	a	DET
app01-3930	27	10	novel	novel	ADJ
app01-3930	27	11	extension	extension	NOUN
app01-3930	27	12	of	of	ADP
app01-3930	27	13	the	the	DET
app01-3930	27	14	ordinary	ordinary	ADJ
app01-3930	27	15	dtsp	dtsp	NOUN
app01-3930	27	16	to	to	PART
app01-3930	27	17	address	address	VERB
app01-3930	27	18	the	the	DET
app01-3930	27	19	requirement	requirement	NOUN
app01-3930	27	20	of	of	ADP
app01-3930	27	21	specific	specific	ADJ
app01-3930	27	22	maneuvers	maneuver	NOUN
app01-3930	27	23	for	for	ADP
app01-3930	27	24	target	target	NOUN
app01-3930	27	25	accomplishment	accomplishment	NOUN
app01-3930	27	26	.	.	PUNCT
app01-3930	28	1	the	the	DET
app01-3930	28	2	introduced	introduce	VERB
app01-3930	28	3	problem	problem	NOUN
app01-3930	28	4	is	be	AUX
app01-3930	28	5	called	call	VERB
app01-3930	28	6	the	the	DET
app01-3930	28	7	dubins	dubin	NOUN
app01-3930	28	8	traveling	travel	VERB
app01-3930	28	9	salesman	salesman	ADJ
app01-3930	28	10	problem	problem	NOUN
app01-3930	28	11	with	with	ADP
app01-3930	28	12	collecting	collect	VERB
app01-3930	28	13	maneuvers	maneuver	NOUN
app01-3930	28	14	(	(	PUNCT
app01-3930	28	15	dtsp	dtsp	NOUN
app01-3930	28	16	-	-	PUNCT
app01-3930	28	17	cm	cm	NOUN
app01-3930	28	18	)	)	PUNCT
app01-3930	28	19	.	.	PUNCT
app01-3930	29	1	further	far	ADV
app01-3930	29	2	,	,	PUNCT
app01-3930	29	3	we	we	PRON
app01-3930	29	4	study	study	VERB
app01-3930	29	5	a	a	DET
app01-3930	29	6	special	special	ADJ
app01-3930	29	7	case	case	NOUN
app01-3930	29	8	of	of	ADP
app01-3930	29	9	the	the	DET
app01-3930	29	10	dtsp	dtsp	NOUN
app01-3930	29	11	-	-	PUNCT
app01-3930	29	12	cm	cm	NOUN
app01-3930	29	13	where	where	SCONJ
app01-3930	29	14	collecting	collect	VERB
app01-3930	29	15	maneuvers	maneuver	NOUN
app01-3930	29	16	are	be	AUX
app01-3930	29	17	straight	straight	ADJ
app01-3930	29	18	line	line	NOUN
app01-3930	29	19	segments	segment	NOUN
app01-3930	29	20	(	(	PUNCT
app01-3930	29	21	denoted	denote	VERB
app01-3930	29	22	as	as	ADP
app01-3930	29	23	the	the	DET
app01-3930	29	24	dtsp	dtsp	NOUN
app01-3930	29	25	-	-	PUNCT
app01-3930	29	26	scm	scm	PROPN
app01-3930	29	27	)	)	PUNCT
app01-3930	29	28	and	and	CCONJ
app01-3930	29	29	we	we	PRON
app01-3930	29	30	propose	propose	VERB
app01-3930	29	31	modifications	modification	NOUN
app01-3930	29	32	of	of	ADP
app01-3930	29	33	the	the	DET
app01-3930	29	34	existing	exist	VERB
app01-3930	29	35	approaches	approach	NOUN
app01-3930	29	36	to	to	ADP
app01-3930	29	37	the	the	DET
app01-3930	29	38	dtsp	dtsp	NOUN
app01-3930	29	39	to	to	PART
app01-3930	29	40	solve	solve	VERB
app01-3930	29	41	this	this	DET
app01-3930	29	42	constrained	constrain	VERB
app01-3930	29	43	variant	variant	NOUN
app01-3930	29	44	of	of	ADP
app01-3930	29	45	the	the	DET
app01-3930	29	46	dtsp	dtsp	NOUN
app01-3930	29	47	-	-	PUNCT
app01-3930	29	48	cm	cm	NOUN
app01-3930	29	49	.	.	PUNCT
app01-3930	30	1	the	the	DET
app01-3930	30	2	paper	paper	NOUN
app01-3930	30	3	is	be	AUX
app01-3930	30	4	organized	organize	VERB
app01-3930	30	5	as	as	SCONJ
app01-3930	30	6	follows	follow	VERB
app01-3930	30	7	.	.	PUNCT
app01-3930	31	1	an	an	DET
app01-3930	31	2	overview	overview	NOUN
app01-3930	31	3	of	of	ADP
app01-3930	31	4	the	the	DET
app01-3930	31	5	related	related	ADJ
app01-3930	31	6	work	work	NOUN
app01-3930	31	7	with	with	ADP
app01-3930	31	8	various	various	ADJ
app01-3930	31	9	dtsp	dtsp	NOUN
app01-3930	31	10	approaches	approach	VERB
app01-3930	31	11	34	34	NUM
app01-3930	31	12	http://dx.doi.org/10.14311/app.2016.6.0034	http://dx.doi.org/10.14311/app.2016.6.0034	ADJ
app01-3930	31	13	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3930	31	14	vol	vol	NOUN
app01-3930	31	15	.	.	PUNCT
app01-3930	32	1	6/2016	6/2016	NUM
app01-3930	32	2	dubins	dubin	NOUN
app01-3930	32	3	traveling	travel	VERB
app01-3930	32	4	salesman	salesman	ADJ
app01-3930	32	5	problem	problem	NOUN
app01-3930	32	6	is	be	AUX
app01-3930	32	7	provided	provide	VERB
app01-3930	32	8	in	in	ADP
app01-3930	32	9	section	section	NOUN
app01-3930	32	10	2	2	NUM
app01-3930	32	11	.	.	PUNCT
app01-3930	33	1	the	the	DET
app01-3930	33	2	proposed	propose	VERB
app01-3930	33	3	problem	problem	NOUN
app01-3930	33	4	is	be	AUX
app01-3930	33	5	formally	formally	ADV
app01-3930	33	6	introduced	introduce	VERB
app01-3930	33	7	in	in	ADP
app01-3930	33	8	section	section	NOUN
app01-3930	33	9	3	3	NUM
app01-3930	33	10	and	and	CCONJ
app01-3930	33	11	modifications	modification	NOUN
app01-3930	33	12	of	of	ADP
app01-3930	33	13	the	the	DET
app01-3930	33	14	existing	exist	VERB
app01-3930	33	15	dtsp	dtsp	NOUN
app01-3930	33	16	approaches	approach	NOUN
app01-3930	33	17	are	be	AUX
app01-3930	33	18	proposed	propose	VERB
app01-3930	33	19	in	in	ADP
app01-3930	33	20	section	section	NOUN
app01-3930	33	21	4	4	NUM
app01-3930	33	22	.	.	PUNCT
app01-3930	34	1	evaluation	evaluation	NOUN
app01-3930	34	2	of	of	ADP
app01-3930	34	3	the	the	DET
app01-3930	34	4	proposed	propose	VERB
app01-3930	34	5	modifications	modification	NOUN
app01-3930	34	6	of	of	ADP
app01-3930	34	7	the	the	DET
app01-3930	34	8	existing	exist	VERB
app01-3930	34	9	approaches	approach	NOUN
app01-3930	34	10	is	be	AUX
app01-3930	34	11	presented	present	VERB
app01-3930	34	12	in	in	ADP
app01-3930	34	13	section	section	NOUN
app01-3930	34	14	5	5	NUM
app01-3930	34	15	.	.	PUNCT
app01-3930	35	1	finally	finally	ADV
app01-3930	35	2	,	,	PUNCT
app01-3930	35	3	conclusion	conclusion	NOUN
app01-3930	35	4	remarks	remark	NOUN
app01-3930	35	5	are	be	AUX
app01-3930	35	6	in	in	ADP
app01-3930	35	7	section	section	NOUN
app01-3930	35	8	6	6	NUM
app01-3930	35	9	.	.	NOUN
app01-3930	36	1	2	2	NUM
app01-3930	36	2	.	.	X
app01-3930	36	3	related	relate	VERB
app01-3930	36	4	work	work	NOUN
app01-3930	36	5	various	various	ADJ
app01-3930	36	6	approaches	approach	NOUN
app01-3930	36	7	have	have	AUX
app01-3930	36	8	been	be	AUX
app01-3930	36	9	proposed	propose	VERB
app01-3930	36	10	to	to	PART
app01-3930	36	11	address	address	VERB
app01-3930	36	12	the	the	DET
app01-3930	36	13	dtsp	dtsp	NOUN
app01-3930	36	14	that	that	PRON
app01-3930	36	15	can	can	AUX
app01-3930	36	16	be	be	AUX
app01-3930	36	17	broadly	broadly	ADV
app01-3930	36	18	divided	divide	VERB
app01-3930	36	19	into	into	ADP
app01-3930	36	20	three	three	NUM
app01-3930	36	21	main	main	ADJ
app01-3930	36	22	classes	class	NOUN
app01-3930	36	23	:	:	PUNCT
app01-3930	36	24	1	1	X
app01-3930	36	25	)	)	PUNCT
app01-3930	36	26	decoupled	decouple	VERB
app01-3930	36	27	approaches	approach	NOUN
app01-3930	36	28	,	,	PUNCT
app01-3930	36	29	2	2	X
app01-3930	36	30	)	)	PUNCT
app01-3930	36	31	sampling	sampling	NOUN
app01-3930	36	32	-	-	PUNCT
app01-3930	36	33	based	base	VERB
app01-3930	36	34	approaches	approach	NOUN
app01-3930	36	35	,	,	PUNCT
app01-3930	36	36	3	3	NUM
app01-3930	36	37	)	)	PUNCT
app01-3930	36	38	and	and	CCONJ
app01-3930	36	39	evolutionary	evolutionary	ADJ
app01-3930	36	40	-	-	PUNCT
app01-3930	36	41	based	base	VERB
app01-3930	36	42	approaches	approach	NOUN
app01-3930	36	43	.	.	PUNCT
app01-3930	37	1	in	in	ADP
app01-3930	37	2	this	this	DET
app01-3930	37	3	section	section	NOUN
app01-3930	37	4	,	,	PUNCT
app01-3930	37	5	a	a	DET
app01-3930	37	6	brief	brief	ADJ
app01-3930	37	7	overview	overview	NOUN
app01-3930	37	8	of	of	ADP
app01-3930	37	9	representative	representative	ADJ
app01-3930	37	10	approaches	approach	NOUN
app01-3930	37	11	of	of	ADP
app01-3930	37	12	each	each	DET
app01-3930	37	13	particular	particular	ADJ
app01-3930	37	14	class	class	NOUN
app01-3930	37	15	is	be	AUX
app01-3930	37	16	provided	provide	VERB
app01-3930	37	17	to	to	PART
app01-3930	37	18	clarify	clarify	VERB
app01-3930	37	19	the	the	DET
app01-3930	37	20	context	context	NOUN
app01-3930	37	21	for	for	ADP
app01-3930	37	22	the	the	DET
app01-3930	37	23	introduced	introduce	VERB
app01-3930	37	24	dtsp	dtsp	NOUN
app01-3930	37	25	-	-	PUNCT
app01-3930	37	26	cm	cm	NOUN
app01-3930	37	27	and	and	CCONJ
app01-3930	37	28	proposed	propose	VERB
app01-3930	37	29	modifications	modification	NOUN
app01-3930	37	30	of	of	ADP
app01-3930	37	31	the	the	DET
app01-3930	37	32	particular	particular	ADJ
app01-3930	37	33	approaches	approach	NOUN
app01-3930	37	34	to	to	PART
app01-3930	37	35	solve	solve	VERB
app01-3930	37	36	the	the	DET
app01-3930	37	37	constrained	constrain	VERB
app01-3930	37	38	variant	variant	NOUN
app01-3930	37	39	of	of	ADP
app01-3930	37	40	the	the	DET
app01-3930	37	41	dtsp	dtsp	NOUN
app01-3930	37	42	-	-	PUNCT
app01-3930	37	43	cm	cm	NOUN
app01-3930	37	44	with	with	ADP
app01-3930	37	45	straight	straight	ADJ
app01-3930	37	46	line	line	NOUN
app01-3930	37	47	collecting	collect	VERB
app01-3930	37	48	maneuvers	maneuver	NOUN
app01-3930	37	49	.	.	PUNCT
app01-3930	38	1	probably	probably	ADV
app01-3930	38	2	the	the	DET
app01-3930	38	3	first	first	ADJ
app01-3930	38	4	approach	approach	NOUN
app01-3930	38	5	to	to	ADP
app01-3930	38	6	the	the	DET
app01-3930	38	7	dtsp	dtsp	NOUN
app01-3930	38	8	is	be	AUX
app01-3930	38	9	the	the	DET
app01-3930	38	10	alternating	alternate	VERB
app01-3930	38	11	algorithm	algorithm	NOUN
app01-3930	38	12	(	(	PUNCT
app01-3930	38	13	aa	aa	NOUN
app01-3930	38	14	)	)	PUNCT
app01-3930	38	15	introduced	introduce	VERB
app01-3930	38	16	in	in	ADP
app01-3930	38	17	[	[	X
app01-3930	38	18	1	1	NUM
app01-3930	38	19	]	]	PUNCT
app01-3930	38	20	which	which	PRON
app01-3930	38	21	can	can	AUX
app01-3930	38	22	be	be	AUX
app01-3930	38	23	categorized	categorize	VERB
app01-3930	38	24	as	as	ADP
app01-3930	38	25	a	a	DET
app01-3930	38	26	decoupled	decoupled	ADJ
app01-3930	38	27	approach	approach	NOUN
app01-3930	38	28	,	,	PUNCT
app01-3930	38	29	since	since	SCONJ
app01-3930	38	30	it	it	PRON
app01-3930	38	31	addresses	address	VERB
app01-3930	38	32	the	the	DET
app01-3930	38	33	dtsp	dtsp	NOUN
app01-3930	38	34	in	in	ADP
app01-3930	38	35	two	two	NUM
app01-3930	38	36	consecutive	consecutive	ADJ
app01-3930	38	37	steps	step	NOUN
app01-3930	38	38	.	.	PUNCT
app01-3930	39	1	first	first	ADV
app01-3930	39	2	,	,	PUNCT
app01-3930	39	3	a	a	DET
app01-3930	39	4	sequence	sequence	NOUN
app01-3930	39	5	of	of	ADP
app01-3930	39	6	visits	visit	NOUN
app01-3930	39	7	to	to	ADP
app01-3930	39	8	the	the	DET
app01-3930	39	9	targets	target	NOUN
app01-3930	39	10	is	be	AUX
app01-3930	39	11	determined	determine	VERB
app01-3930	39	12	,	,	PUNCT
app01-3930	39	13	e.g.	e.g.	ADV
app01-3930	39	14	,	,	PUNCT
app01-3930	39	15	by	by	ADP
app01-3930	39	16	a	a	DET
app01-3930	39	17	solution	solution	NOUN
app01-3930	39	18	of	of	ADP
app01-3930	39	19	the	the	DET
app01-3930	39	20	underlying	underlying	ADJ
app01-3930	39	21	euclidean	euclidean	ADJ
app01-3930	39	22	tsp	tsp	NOUN
app01-3930	39	23	without	without	ADP
app01-3930	39	24	considering	consider	VERB
app01-3930	39	25	the	the	DET
app01-3930	39	26	vehicle	vehicle	NOUN
app01-3930	39	27	motion	motion	NOUN
app01-3930	39	28	constraint	constraint	NOUN
app01-3930	39	29	.	.	PUNCT
app01-3930	40	1	in	in	ADP
app01-3930	40	2	the	the	DET
app01-3930	40	3	second	second	ADJ
app01-3930	40	4	step	step	NOUN
app01-3930	40	5	,	,	PUNCT
app01-3930	40	6	headings	heading	NOUN
app01-3930	40	7	at	at	ADP
app01-3930	40	8	the	the	DET
app01-3930	40	9	target	target	NOUN
app01-3930	40	10	locations	location	NOUN
app01-3930	40	11	are	be	AUX
app01-3930	40	12	established	establish	VERB
app01-3930	40	13	by	by	ADP
app01-3930	40	14	applying	apply	VERB
app01-3930	40	15	straight	straight	ADJ
app01-3930	40	16	line	line	NOUN
app01-3930	40	17	segments	segment	NOUN
app01-3930	40	18	for	for	ADP
app01-3930	40	19	even	even	ADV
app01-3930	40	20	segments	segment	NOUN
app01-3930	40	21	followed	follow	VERB
app01-3930	40	22	by	by	ADP
app01-3930	40	23	closing	close	VERB
app01-3930	40	24	the	the	DET
app01-3930	40	25	tour	tour	NOUN
app01-3930	40	26	with	with	ADP
app01-3930	40	27	dubins	dubin	NOUN
app01-3930	40	28	maneuvers	maneuver	NOUN
app01-3930	40	29	for	for	ADP
app01-3930	40	30	odd	odd	ADJ
app01-3930	40	31	segments	segment	NOUN
app01-3930	40	32	.	.	PUNCT
app01-3930	41	1	a	a	DET
app01-3930	41	2	similar	similar	ADJ
app01-3930	41	3	decoupled	decouple	VERB
app01-3930	41	4	strategy	strategy	NOUN
app01-3930	41	5	has	have	AUX
app01-3930	41	6	been	be	AUX
app01-3930	41	7	utilized	utilize	VERB
app01-3930	41	8	also	also	ADV
app01-3930	41	9	in	in	ADP
app01-3930	41	10	the	the	DET
app01-3930	41	11	receding	recede	VERB
app01-3930	41	12	horizon	horizon	NOUN
app01-3930	41	13	based	base	VERB
app01-3930	41	14	approach	approach	NOUN
app01-3930	41	15	[	[	X
app01-3930	41	16	4	4	X
app01-3930	41	17	]	]	PUNCT
app01-3930	41	18	with	with	ADP
app01-3930	41	19	the	the	DET
app01-3930	41	20	horizont	horizont	NOUN
app01-3930	41	21	of	of	ADP
app01-3930	41	22	two	two	NUM
app01-3930	41	23	or	or	CCONJ
app01-3930	41	24	three	three	NUM
app01-3930	41	25	target	target	NOUN
app01-3930	41	26	locations	location	NOUN
app01-3930	41	27	ahead	ahead	ADV
app01-3930	41	28	which	which	PRON
app01-3930	41	29	significantly	significantly	ADV
app01-3930	41	30	outperforms	outperform	VERB
app01-3930	41	31	the	the	DET
app01-3930	41	32	original	original	ADJ
app01-3930	41	33	aa	aa	NOUN
app01-3930	41	34	in	in	ADP
app01-3930	41	35	terms	term	NOUN
app01-3930	41	36	of	of	ADP
app01-3930	41	37	the	the	DET
app01-3930	41	38	solution	solution	NOUN
app01-3930	41	39	quality	quality	NOUN
app01-3930	41	40	.	.	PUNCT
app01-3930	42	1	sampling	sample	VERB
app01-3930	42	2	-	-	PUNCT
app01-3930	42	3	based	base	VERB
app01-3930	42	4	approaches	approach	NOUN
app01-3930	42	5	[	[	X
app01-3930	42	6	5	5	NUM
app01-3930	42	7	,	,	PUNCT
app01-3930	42	8	6	6	NUM
app01-3930	42	9	]	]	PUNCT
app01-3930	42	10	represent	represent	VERB
app01-3930	42	11	the	the	DET
app01-3930	42	12	second	second	ADJ
app01-3930	42	13	class	class	NOUN
app01-3930	42	14	of	of	ADP
app01-3930	42	15	existing	exist	VERB
app01-3930	42	16	solutions	solution	NOUN
app01-3930	42	17	for	for	ADP
app01-3930	42	18	the	the	DET
app01-3930	42	19	dtsp	dtsp	NOUN
app01-3930	42	20	.	.	PUNCT
app01-3930	43	1	these	these	DET
app01-3930	43	2	approaches	approach	NOUN
app01-3930	43	3	are	be	AUX
app01-3930	43	4	based	base	VERB
app01-3930	43	5	on	on	ADP
app01-3930	43	6	sampling	sample	VERB
app01-3930	43	7	of	of	ADP
app01-3930	43	8	possible	possible	ADJ
app01-3930	43	9	headings	heading	NOUN
app01-3930	43	10	into	into	ADP
app01-3930	43	11	a	a	DET
app01-3930	43	12	finite	finite	ADJ
app01-3930	43	13	discrete	discrete	NOUN
app01-3930	43	14	set	set	NOUN
app01-3930	43	15	and	and	CCONJ
app01-3930	43	16	the	the	DET
app01-3930	43	17	dtsp	dtsp	NOUN
app01-3930	43	18	is	be	AUX
app01-3930	43	19	transformed	transform	VERB
app01-3930	43	20	into	into	ADP
app01-3930	43	21	the	the	DET
app01-3930	43	22	generalized	generalized	ADJ
app01-3930	43	23	asymmetric	asymmetric	ADJ
app01-3930	43	24	tsp	tsp	NOUN
app01-3930	43	25	(	(	PUNCT
app01-3930	43	26	gatsp	gatsp	NOUN
app01-3930	43	27	)	)	PUNCT
app01-3930	43	28	and	and	CCONJ
app01-3930	43	29	further	far	ADV
app01-3930	43	30	into	into	ADP
app01-3930	43	31	the	the	DET
app01-3930	43	32	atsp	atsp	NOUN
app01-3930	43	33	by	by	ADP
app01-3930	43	34	noon	noon	NOUN
app01-3930	43	35	-	-	PUNCT
app01-3930	43	36	bean	bean	NOUN
app01-3930	43	37	transformation	transformation	NOUN
app01-3930	44	1	[	[	X
app01-3930	44	2	7	7	NUM
app01-3930	44	3	]	]	PUNCT
app01-3930	44	4	.	.	PUNCT
app01-3930	45	1	the	the	DET
app01-3930	45	2	resulting	result	VERB
app01-3930	45	3	atsp	atsp	NOUN
app01-3930	45	4	can	can	AUX
app01-3930	45	5	be	be	AUX
app01-3930	45	6	then	then	ADV
app01-3930	45	7	solved	solve	VERB
app01-3930	45	8	by	by	ADP
app01-3930	45	9	existing	exist	VERB
app01-3930	45	10	solvers	solver	NOUN
app01-3930	45	11	such	such	ADJ
app01-3930	45	12	as	as	ADP
app01-3930	45	13	concorde	concorde	PROPN
app01-3930	45	14	[	[	X
app01-3930	45	15	8	8	NUM
app01-3930	45	16	]	]	PUNCT
app01-3930	45	17	or	or	CCONJ
app01-3930	45	18	lkh	lkh	NOUN
app01-3930	46	1	[	[	X
app01-3930	46	2	9	9	NUM
app01-3930	46	3	]	]	PUNCT
app01-3930	46	4	.	.	PUNCT
app01-3930	47	1	the	the	DET
app01-3930	47	2	third	third	ADJ
app01-3930	47	3	class	class	NOUN
app01-3930	47	4	of	of	ADP
app01-3930	47	5	the	the	DET
app01-3930	47	6	dtsp	dtsp	NOUN
app01-3930	47	7	approaches	approach	NOUN
app01-3930	47	8	are	be	AUX
app01-3930	47	9	evolutionary	evolutionary	ADJ
app01-3930	47	10	based	base	VERB
app01-3930	47	11	algorithms	algorithm	NOUN
app01-3930	47	12	[	[	X
app01-3930	47	13	10	10	NUM
app01-3930	47	14	]	]	PUNCT
app01-3930	47	15	.	.	PUNCT
app01-3930	48	1	they	they	PRON
app01-3930	48	2	encoded	encode	VERB
app01-3930	48	3	solutions	solution	NOUN
app01-3930	48	4	into	into	ADP
app01-3930	48	5	individuals	individual	NOUN
app01-3930	48	6	in	in	ADP
app01-3930	48	7	the	the	DET
app01-3930	48	8	population	population	NOUN
app01-3930	48	9	and	and	CCONJ
app01-3930	48	10	used	use	VERB
app01-3930	48	11	similar	similar	ADJ
app01-3930	48	12	crossover	crossover	NOUN
app01-3930	48	13	and	and	CCONJ
app01-3930	48	14	mutation	mutation	NOUN
app01-3930	48	15	operators	operator	NOUN
app01-3930	48	16	like	like	VERB
app01-3930	48	17	for	for	ADP
app01-3930	48	18	the	the	DET
app01-3930	48	19	standard	standard	ADJ
app01-3930	48	20	tsp	tsp	NOUN
app01-3930	48	21	.	.	PUNCT
app01-3930	49	1	although	although	SCONJ
app01-3930	49	2	evolutionary	evolutionary	ADJ
app01-3930	49	3	based	base	VERB
app01-3930	49	4	approaches	approach	NOUN
app01-3930	49	5	can	can	AUX
app01-3930	49	6	be	be	AUX
app01-3930	49	7	computationally	computationally	ADV
app01-3930	49	8	demanding	demanding	ADJ
app01-3930	49	9	,	,	PUNCT
app01-3930	49	10	their	their	PRON
app01-3930	49	11	main	main	ADJ
app01-3930	49	12	advantage	advantage	NOUN
app01-3930	49	13	is	be	AUX
app01-3930	49	14	the	the	DET
app01-3930	49	15	ability	ability	NOUN
app01-3930	49	16	to	to	PART
app01-3930	49	17	search	search	VERB
app01-3930	49	18	for	for	ADP
app01-3930	49	19	a	a	DET
app01-3930	49	20	global	global	ADJ
app01-3930	49	21	optima	optima	NOUN
app01-3930	49	22	.	.	PUNCT
app01-3930	50	1	in	in	ADP
app01-3930	50	2	[	[	X
app01-3930	50	3	11	11	NUM
app01-3930	50	4	]	]	PUNCT
app01-3930	50	5	,	,	PUNCT
app01-3930	50	6	authors	author	NOUN
app01-3930	50	7	proposed	propose	VERB
app01-3930	50	8	a	a	DET
app01-3930	50	9	novel	novel	ADJ
app01-3930	50	10	memetic	memetic	ADJ
app01-3930	50	11	algorithm	algorithm	NOUN
app01-3930	50	12	to	to	PART
app01-3930	50	13	improve	improve	VERB
app01-3930	50	14	performance	performance	NOUN
app01-3930	50	15	of	of	ADP
app01-3930	50	16	the	the	DET
app01-3930	50	17	evolutionary	evolutionary	ADJ
app01-3930	50	18	based	base	VERB
app01-3930	50	19	approach	approach	NOUN
app01-3930	50	20	by	by	ADP
app01-3930	50	21	utilizing	utilize	VERB
app01-3930	50	22	a	a	DET
app01-3930	50	23	local	local	ADJ
app01-3930	50	24	optimization	optimization	NOUN
app01-3930	50	25	method	method	NOUN
app01-3930	50	26	.	.	PUNCT
app01-3930	51	1	recently	recently	ADV
app01-3930	51	2	,	,	PUNCT
app01-3930	51	3	the	the	DET
app01-3930	51	4	evolutionary	evolutionary	ADJ
app01-3930	51	5	multi	multi	ADJ
app01-3930	51	6	-	-	ADJ
app01-3930	51	7	objective	objective	ADJ
app01-3930	51	8	algorithm	algorithm	NOUN
app01-3930	51	9	nsga	nsga	PROPN
app01-3930	51	10	-	-	PUNCT
app01-3930	51	11	ii	ii	NOUN
app01-3930	51	12	[	[	X
app01-3930	51	13	12	12	NUM
app01-3930	51	14	]	]	PUNCT
app01-3930	51	15	has	have	AUX
app01-3930	51	16	been	be	AUX
app01-3930	51	17	deployed	deploy	VERB
app01-3930	51	18	in	in	ADP
app01-3930	51	19	[	[	X
app01-3930	51	20	13	13	NUM
app01-3930	51	21	]	]	PUNCT
app01-3930	51	22	to	to	PART
app01-3930	51	23	address	address	VERB
app01-3930	51	24	path	path	NOUN
app01-3930	51	25	planning	planning	NOUN
app01-3930	51	26	for	for	ADP
app01-3930	51	27	data	data	NOUN
app01-3930	51	28	collection	collection	NOUN
app01-3930	51	29	in	in	ADP
app01-3930	51	30	a	a	DET
app01-3930	51	31	wireless	wireless	ADJ
app01-3930	51	32	sensor	sensor	NOUN
app01-3930	51	33	network	network	NOUN
app01-3930	51	34	that	that	PRON
app01-3930	51	35	is	be	AUX
app01-3930	51	36	formulated	formulate	VERB
app01-3930	51	37	as	as	ADP
app01-3930	51	38	the	the	DET
app01-3930	51	39	dtsp	dtsp	NOUN
app01-3930	51	40	.	.	PUNCT
app01-3930	52	1	the	the	DET
app01-3930	52	2	authors	author	NOUN
app01-3930	52	3	consider	consider	VERB
app01-3930	52	4	a	a	DET
app01-3930	52	5	bi	bi	ADJ
app01-3930	52	6	-	-	ADJ
app01-3930	52	7	objective	objective	ADJ
app01-3930	52	8	optimization	optimization	NOUN
app01-3930	52	9	criterion	criterion	NOUN
app01-3930	52	10	where	where	SCONJ
app01-3930	52	11	the	the	DET
app01-3930	52	12	first	first	ADJ
app01-3930	52	13	objective	objective	NOUN
app01-3930	52	14	is	be	AUX
app01-3930	52	15	to	to	PART
app01-3930	52	16	minimize	minimize	VERB
app01-3930	52	17	the	the	DET
app01-3930	52	18	tour	tour	NOUN
app01-3930	52	19	length	length	NOUN
app01-3930	52	20	and	and	CCONJ
app01-3930	52	21	the	the	DET
app01-3930	52	22	second	second	ADJ
app01-3930	52	23	objective	objective	NOUN
app01-3930	52	24	is	be	AUX
app01-3930	52	25	to	to	PART
app01-3930	52	26	maximize	maximize	VERB
app01-3930	52	27	the	the	DET
app01-3930	52	28	time	time	NOUN
app01-3930	52	29	when	when	SCONJ
app01-3930	52	30	the	the	DET
app01-3930	52	31	vehicle	vehicle	NOUN
app01-3930	52	32	is	be	AUX
app01-3930	52	33	in	in	ADP
app01-3930	52	34	the	the	DET
app01-3930	52	35	vicinity	vicinity	NOUN
app01-3930	52	36	of	of	ADP
app01-3930	52	37	the	the	DET
app01-3930	52	38	sensor	sensor	NOUN
app01-3930	52	39	.	.	PUNCT
app01-3930	53	1	the	the	DET
app01-3930	53	2	problem	problem	NOUN
app01-3930	53	3	formulation	formulation	NOUN
app01-3930	53	4	[	[	X
app01-3930	53	5	13	13	NUM
app01-3930	53	6	]	]	PUNCT
app01-3930	53	7	is	be	AUX
app01-3930	53	8	similar	similar	ADJ
app01-3930	53	9	to	to	ADP
app01-3930	53	10	the	the	DET
app01-3930	53	11	herein	herein	NOUN
app01-3930	53	12	proposed	propose	VERB
app01-3930	53	13	dtsp	dtsp	NOUN
app01-3930	53	14	-	-	PUNCT
app01-3930	53	15	cm	cm	NOUN
app01-3930	53	16	in	in	ADP
app01-3930	53	17	the	the	DET
app01-3930	53	18	considering	consider	VERB
app01-3930	53	19	an	an	DET
app01-3930	53	20	influence	influence	NOUN
app01-3930	53	21	of	of	ADP
app01-3930	53	22	the	the	DET
app01-3930	53	23	executed	execute	VERB
app01-3930	53	24	maneuver	maneuver	NOUN
app01-3930	53	25	type	type	NOUN
app01-3930	53	26	at	at	ADP
app01-3930	53	27	the	the	DET
app01-3930	53	28	target	target	NOUN
app01-3930	53	29	locations	location	NOUN
app01-3930	53	30	;	;	PUNCT
app01-3930	53	31	however	however	ADV
app01-3930	53	32	,	,	PUNCT
app01-3930	53	33	the	the	DET
app01-3930	53	34	authors	author	NOUN
app01-3930	53	35	of	of	ADP
app01-3930	53	36	[	[	X
app01-3930	53	37	13	13	NUM
app01-3930	53	38	]	]	PUNCT
app01-3930	53	39	do	do	AUX
app01-3930	53	40	not	not	PART
app01-3930	53	41	explicitly	explicitly	ADV
app01-3930	53	42	constraint	constraint	VERB
app01-3930	53	43	the	the	DET
app01-3930	53	44	type	type	NOUN
app01-3930	53	45	of	of	ADP
app01-3930	53	46	the	the	DET
app01-3930	53	47	maneuver	maneuver	NOUN
app01-3930	53	48	and	and	CCONJ
app01-3930	53	49	rather	rather	ADV
app01-3930	53	50	optimize	optimize	VERB
app01-3930	53	51	a	a	DET
app01-3930	53	52	bi	bi	ADJ
app01-3930	53	53	-	-	ADJ
app01-3930	53	54	objective	objective	ADJ
app01-3930	53	55	function	function	NOUN
app01-3930	53	56	.	.	PUNCT
app01-3930	54	1	on	on	ADP
app01-3930	54	2	the	the	DET
app01-3930	54	3	other	other	ADJ
app01-3930	54	4	hand	hand	NOUN
app01-3930	54	5	,	,	PUNCT
app01-3930	54	6	the	the	DET
app01-3930	54	7	proposed	propose	VERB
app01-3930	54	8	dtsp	dtsp	NOUN
app01-3930	54	9	-	-	PUNCT
app01-3930	54	10	cm	cm	NOUN
app01-3930	54	11	problem	problem	NOUN
app01-3930	54	12	formulation	formulation	NOUN
app01-3930	54	13	explicitly	explicitly	ADV
app01-3930	54	14	restricts	restrict	VERB
app01-3930	54	15	the	the	DET
app01-3930	54	16	collecting	collecting	NOUN
app01-3930	54	17	maneuver	maneuver	NOUN
app01-3930	54	18	to	to	PART
app01-3930	54	19	be	be	AUX
app01-3930	54	20	one	one	NUM
app01-3930	54	21	of	of	ADP
app01-3930	54	22	the	the	DET
app01-3930	54	23	specified	specified	ADJ
app01-3930	54	24	type	type	NOUN
app01-3930	54	25	with	with	ADP
app01-3930	54	26	the	the	DET
app01-3930	54	27	aim	aim	NOUN
app01-3930	54	28	to	to	PART
app01-3930	54	29	improve	improve	VERB
app01-3930	54	30	robustness	robustness	NOUN
app01-3930	54	31	of	of	ADP
app01-3930	54	32	the	the	DET
app01-3930	54	33	solution	solution	NOUN
app01-3930	54	34	execution	execution	NOUN
app01-3930	54	35	and	and	CCONJ
app01-3930	54	36	the	the	DET
app01-3930	54	37	mission	mission	NOUN
app01-3930	54	38	accomplishment	accomplishment	NOUN
app01-3930	54	39	.	.	PUNCT
app01-3930	55	1	3	3	X
app01-3930	55	2	.	.	X
app01-3930	55	3	problem	problem	NOUN
app01-3930	55	4	statement	statement	NOUN
app01-3930	55	5	the	the	DET
app01-3930	55	6	proposed	propose	VERB
app01-3930	55	7	formulation	formulation	NOUN
app01-3930	55	8	of	of	ADP
app01-3930	55	9	the	the	DET
app01-3930	55	10	dubins	dubin	NOUN
app01-3930	55	11	traveling	travel	VERB
app01-3930	55	12	salesman	salesman	ADJ
app01-3930	55	13	problem	problem	NOUN
app01-3930	55	14	with	with	ADP
app01-3930	55	15	collecting	collect	VERB
app01-3930	55	16	maneuvers	maneuver	NOUN
app01-3930	55	17	(	(	PUNCT
app01-3930	55	18	dtspcm	dtspcm	PROPN
app01-3930	55	19	)	)	PUNCT
app01-3930	55	20	is	be	AUX
app01-3930	55	21	motivated	motivate	VERB
app01-3930	55	22	by	by	ADP
app01-3930	55	23	surveillance	surveillance	NOUN
app01-3930	55	24	missions	mission	NOUN
app01-3930	55	25	with	with	ADP
app01-3930	55	26	fixwing	fixwe	VERB
app01-3930	55	27	aerial	aerial	ADJ
app01-3930	55	28	vehicles	vehicle	NOUN
app01-3930	55	29	where	where	SCONJ
app01-3930	55	30	the	the	DET
app01-3930	55	31	goal	goal	NOUN
app01-3930	55	32	is	be	AUX
app01-3930	55	33	not	not	PART
app01-3930	55	34	only	only	ADV
app01-3930	55	35	to	to	PART
app01-3930	55	36	visit	visit	VERB
app01-3930	55	37	the	the	DET
app01-3930	55	38	target	target	NOUN
app01-3930	55	39	locations	location	NOUN
app01-3930	55	40	but	but	CCONJ
app01-3930	55	41	also	also	ADV
app01-3930	55	42	to	to	PART
app01-3930	55	43	execute	execute	VERB
app01-3930	55	44	a	a	DET
app01-3930	55	45	prescribed	prescribed	ADJ
app01-3930	55	46	maneuver	maneuver	NOUN
app01-3930	55	47	for	for	ADP
app01-3930	55	48	each	each	DET
app01-3930	55	49	target	target	NOUN
app01-3930	55	50	.	.	PUNCT
app01-3930	56	1	similarly	similarly	ADV
app01-3930	56	2	to	to	ADP
app01-3930	56	3	the	the	DET
app01-3930	56	4	dtsp	dtsp	NOUN
app01-3930	56	5	,	,	PUNCT
app01-3930	56	6	also	also	ADV
app01-3930	56	7	in	in	ADP
app01-3930	56	8	the	the	DET
app01-3930	56	9	dtsp	dtsp	NOUN
app01-3930	56	10	-	-	PUNCT
app01-3930	56	11	cm	cm	NOUN
app01-3930	56	12	,	,	PUNCT
app01-3930	56	13	the	the	DET
app01-3930	56	14	dubins	dubin	NOUN
app01-3930	56	15	vehicle	vehicle	NOUN
app01-3930	57	1	[	[	X
app01-3930	57	2	2	2	NUM
app01-3930	57	3	]	]	PUNCT
app01-3930	57	4	is	be	AUX
app01-3930	57	5	constrained	constrain	VERB
app01-3930	57	6	to	to	PART
app01-3930	57	7	move	move	VERB
app01-3930	57	8	only	only	ADV
app01-3930	57	9	forward	forward	ADV
app01-3930	57	10	at	at	ADP
app01-3930	57	11	the	the	DET
app01-3930	57	12	constant	constant	ADJ
app01-3930	57	13	speed	speed	NOUN
app01-3930	57	14	v	v	NOUN
app01-3930	57	15	and	and	CCONJ
app01-3930	57	16	has	have	VERB
app01-3930	57	17	the	the	DET
app01-3930	57	18	minimum	minimum	ADJ
app01-3930	57	19	turning	turn	VERB
app01-3930	57	20	radius	radius	NOUN
app01-3930	57	21	restricted	restrict	VERB
app01-3930	57	22	to	to	ADP
app01-3930	57	23	ρ	ρ	PROPN
app01-3930	57	24	.	.	PUNCT
app01-3930	58	1	the	the	DET
app01-3930	58	2	motion	motion	NOUN
app01-3930	58	3	of	of	ADP
app01-3930	58	4	the	the	DET
app01-3930	58	5	vehicle	vehicle	NOUN
app01-3930	58	6	can	can	AUX
app01-3930	58	7	be	be	AUX
app01-3930	58	8	described	describe	VERB
app01-3930	58	9	as:	as:	ADP
app01-3930	58	10	ẋ	ẋ	PROPN
app01-3930	59	1	ẏ	ẏ	NOUN
app01-3930	59	2	θ̇	θ̇	ADJ
app01-3930	59	3			NOUN
app01-3930	59	4	=	=	SYM
app01-3930	59	5	v	v	ADP
app01-3930	59	6			NOUN
app01-3930	59	7	cos	cos	SCONJ
app01-3930	59	8	θ	θ	PROPN
app01-3930	59	9	sin	sin	VERB
app01-3930	59	10	θ	θ	PROPN
app01-3930	59	11	u	u	NOUN
app01-3930	59	12	ρ	ρ	NOUN
app01-3930	59	13			NOUN
app01-3930	59	14	,	,	PUNCT
app01-3930	59	15	|u|	|u|	ADV
app01-3930	59	16	≤	≤	ADV
app01-3930	59	17	1	1	NUM
app01-3930	59	18	,	,	PUNCT
app01-3930	59	19	(	(	PUNCT
app01-3930	59	20	1	1	X
app01-3930	59	21	)	)	PUNCT
app01-3930	59	22	where	where	SCONJ
app01-3930	59	23	u	u	NOUN
app01-3930	59	24	is	be	AUX
app01-3930	59	25	the	the	DET
app01-3930	59	26	control	control	NOUN
app01-3930	59	27	input	input	NOUN
app01-3930	59	28	.	.	PUNCT
app01-3930	60	1	the	the	DET
app01-3930	60	2	state	state	NOUN
app01-3930	60	3	of	of	ADP
app01-3930	60	4	the	the	DET
app01-3930	60	5	dubins	dubin	NOUN
app01-3930	60	6	vehicle	vehicle	NOUN
app01-3930	60	7	q	q	NOUN
app01-3930	60	8	is	be	AUX
app01-3930	60	9	represented	represent	VERB
app01-3930	60	10	as	as	ADP
app01-3930	60	11	a	a	DET
app01-3930	60	12	triplet	triplet	NOUN
app01-3930	60	13	q	q	NOUN
app01-3930	60	14	=	=	SYM
app01-3930	60	15	(	(	PUNCT
app01-3930	60	16	x	x	X
app01-3930	60	17	,	,	PUNCT
app01-3930	60	18	y	y	PROPN
app01-3930	60	19	,	,	PUNCT
app01-3930	60	20	θ	θ	PROPN
app01-3930	60	21	)	)	PUNCT
app01-3930	60	22	and	and	CCONJ
app01-3930	60	23	q	q	PROPN
app01-3930	60	24	∈	∈	PROPN
app01-3930	60	25	se(2	se(2	PROPN
app01-3930	60	26	)	)	PUNCT
app01-3930	60	27	,	,	PUNCT
app01-3930	60	28	where	where	SCONJ
app01-3930	60	29	(	(	PUNCT
app01-3930	60	30	x	x	NOUN
app01-3930	60	31	,	,	PUNCT
app01-3930	60	32	y	y	NOUN
app01-3930	60	33	)	)	PUNCT
app01-3930	60	34	∈	∈	PROPN
app01-3930	60	35	r2	r2	NOUN
app01-3930	60	36	is	be	AUX
app01-3930	60	37	the	the	DET
app01-3930	60	38	vehicle	vehicle	NOUN
app01-3930	60	39	position	position	NOUN
app01-3930	60	40	in	in	ADP
app01-3930	60	41	a	a	DET
app01-3930	60	42	plane	plane	NOUN
app01-3930	60	43	and	and	CCONJ
app01-3930	60	44	θ	θ	PROPN
app01-3930	60	45	∈	∈	PROPN
app01-3930	60	46	s1	s1	NOUN
app01-3930	60	47	is	be	AUX
app01-3930	60	48	the	the	DET
app01-3930	60	49	vehicle	vehicle	NOUN
app01-3930	60	50	heading	head	VERB
app01-3930	60	51	at	at	ADP
app01-3930	60	52	(	(	PUNCT
app01-3930	60	53	x	x	NOUN
app01-3930	60	54	,	,	PUNCT
app01-3930	60	55	y	y	PROPN
app01-3930	60	56	)	)	PUNCT
app01-3930	60	57	.	.	PUNCT
app01-3930	61	1	the	the	DET
app01-3930	61	2	dtsp	dtsp	NOUN
app01-3930	61	3	-	-	PUNCT
app01-3930	61	4	cm	cm	NOUN
app01-3930	61	5	stands	stand	VERB
app01-3930	61	6	to	to	PART
app01-3930	61	7	determine	determine	VERB
app01-3930	61	8	a	a	DET
app01-3930	61	9	closed	closed	ADJ
app01-3930	61	10	shortest	short	ADJ
app01-3930	61	11	curvature	curvature	NOUN
app01-3930	61	12	-	-	PUNCT
app01-3930	61	13	constrained	constrain	VERB
app01-3930	61	14	tour	tour	NOUN
app01-3930	61	15	for	for	ADP
app01-3930	61	16	which	which	PRON
app01-3930	61	17	all	all	DET
app01-3930	61	18	targets	target	NOUN
app01-3930	61	19	are	be	AUX
app01-3930	61	20	accomplished	accomplish	VERB
app01-3930	61	21	by	by	ADP
app01-3930	61	22	executing	execute	VERB
app01-3930	61	23	a	a	DET
app01-3930	61	24	maneuver	maneuver	NOUN
app01-3930	61	25	from	from	ADP
app01-3930	61	26	a	a	DET
app01-3930	61	27	specified	specified	ADJ
app01-3930	61	28	set	set	NOUN
app01-3930	61	29	of	of	ADP
app01-3930	61	30	acceptable	acceptable	ADJ
app01-3930	61	31	collecting	collecting	NOUN
app01-3930	61	32	maneuvers	maneuver	NOUN
app01-3930	61	33	.	.	PUNCT
app01-3930	62	1	each	each	DET
app01-3930	62	2	target	target	NOUN
app01-3930	62	3	i	i	PRON
app01-3930	62	4	is	be	AUX
app01-3930	62	5	defined	define	VERB
app01-3930	62	6	by	by	ADP
app01-3930	62	7	its	its	PRON
app01-3930	62	8	position	position	NOUN
app01-3930	62	9	pi	pi	NOUN
app01-3930	62	10	in	in	ADP
app01-3930	62	11	the	the	DET
app01-3930	62	12	plane	plane	NOUN
app01-3930	62	13	and	and	CCONJ
app01-3930	62	14	a	a	DET
app01-3930	62	15	set	set	NOUN
app01-3930	62	16	of	of	ADP
app01-3930	62	17	collecting	collect	VERB
app01-3930	62	18	maneuvers	maneuver	NOUN
app01-3930	62	19	ti	ti	NOUN
app01-3930	62	20	.	.	PUNCT
app01-3930	63	1	the	the	DET
app01-3930	63	2	dtsp	dtsp	NOUN
app01-3930	63	3	-	-	PUNCT
app01-3930	63	4	cm	cm	NOUN
app01-3930	63	5	is	be	AUX
app01-3930	63	6	formally	formally	ADV
app01-3930	63	7	defined	define	VERB
app01-3930	63	8	for	for	ADP
app01-3930	63	9	n	n	PRON
app01-3930	63	10	target	target	NOUN
app01-3930	63	11	locations	location	NOUN
app01-3930	63	12	p	p	X
app01-3930	63	13	=	=	SYM
app01-3930	63	14	(	(	PUNCT
app01-3930	63	15	p1	p1	PROPN
app01-3930	63	16	,	,	PUNCT
app01-3930	63	17	.	.	PUNCT
app01-3930	63	18	.	.	PUNCT
app01-3930	64	1	.	.	PUNCT
app01-3930	65	1	,	,	PUNCT
app01-3930	65	2	pn	pn	PROPN
app01-3930	65	3	)	)	PUNCT
app01-3930	65	4	where	where	SCONJ
app01-3930	65	5	pi	pi	NOUN
app01-3930	65	6	∈	∈	PROPN
app01-3930	65	7	r2	r2	PROPN
app01-3930	65	8	,	,	PUNCT
app01-3930	65	9	corresponding	correspond	VERB
app01-3930	65	10	collecting	collecting	NOUN
app01-3930	65	11	maneuvers	maneuver	NOUN
app01-3930	65	12	t	t	NOUN
app01-3930	65	13	=	=	SYM
app01-3930	65	14	{	{	PUNCT
app01-3930	65	15	t1	t1	NOUN
app01-3930	65	16	,	,	PUNCT
app01-3930	65	17	.	.	PUNCT
app01-3930	65	18	.	.	PUNCT
app01-3930	66	1	.	.	PUNCT
app01-3930	67	1	,	,	PUNCT
app01-3930	67	2	tn	tn	NOUN
app01-3930	67	3	}	}	PUNCT
app01-3930	67	4	,	,	PUNCT
app01-3930	67	5	and	and	CCONJ
app01-3930	67	6	the	the	DET
app01-3930	67	7	minimal	minimal	ADJ
app01-3930	67	8	turning	turning	NOUN
app01-3930	67	9	radius	radius	NOUN
app01-3930	67	10	of	of	ADP
app01-3930	67	11	the	the	DET
app01-3930	67	12	vehicle	vehicle	NOUN
app01-3930	67	13	ρ	ρ	NOUN
app01-3930	67	14	.	.	PUNCT
app01-3930	68	1	in	in	ADP
app01-3930	68	2	the	the	DET
app01-3930	68	3	dtsp	dtsp	NOUN
app01-3930	68	4	-	-	PUNCT
app01-3930	68	5	cm	cm	NOUN
app01-3930	68	6	,	,	PUNCT
app01-3930	68	7	the	the	DET
app01-3930	68	8	dubins	dubin	NOUN
app01-3930	68	9	vehicle	vehicle	NOUN
app01-3930	68	10	is	be	AUX
app01-3930	68	11	requested	request	VERB
app01-3930	68	12	to	to	PART
app01-3930	68	13	accomplish	accomplish	VERB
app01-3930	68	14	all	all	DET
app01-3930	68	15	given	give	VERB
app01-3930	68	16	targets	target	NOUN
app01-3930	68	17	by	by	ADP
app01-3930	68	18	the	the	DET
app01-3930	68	19	particular	particular	ADJ
app01-3930	68	20	collecting	collecting	NOUN
app01-3930	68	21	maneuvers	maneuver	NOUN
app01-3930	68	22	joined	join	VERB
app01-3930	68	23	in	in	ADP
app01-3930	68	24	a	a	DET
app01-3930	68	25	single	single	ADJ
app01-3930	68	26	closed	closed	ADJ
app01-3930	68	27	tour	tour	NOUN
app01-3930	68	28	satisfying	satisfy	VERB
app01-3930	68	29	the	the	DET
app01-3930	68	30	vehicle	vehicle	NOUN
app01-3930	68	31	motion	motion	NOUN
app01-3930	68	32	constraints	constraint	NOUN
app01-3930	68	33	(	(	PUNCT
app01-3930	68	34	1	1	NUM
app01-3930	68	35	)	)	PUNCT
app01-3930	68	36	.	.	PUNCT
app01-3930	69	1	therefore	therefore	ADV
app01-3930	69	2	,	,	PUNCT
app01-3930	69	3	it	it	PRON
app01-3930	69	4	is	be	AUX
app01-3930	69	5	necessary	necessary	ADJ
app01-3930	69	6	to	to	PART
app01-3930	69	7	determine	determine	VERB
app01-3930	69	8	both	both	PRON
app01-3930	69	9	the	the	DET
app01-3930	69	10	collecting	collect	VERB
app01-3930	69	11	maneuvers	maneuver	NOUN
app01-3930	69	12	m	m	VERB
app01-3930	69	13	=	=	PUNCT
app01-3930	69	14	{	{	PUNCT
app01-3930	69	15	τi	τi	NOUN
app01-3930	69	16	,	,	PUNCT
app01-3930	69	17	.	.	PUNCT
app01-3930	69	18	.	.	PUNCT
app01-3930	69	19	.	.	PUNCT
app01-3930	70	1	,	,	PUNCT
app01-3930	70	2	τn	τn	NOUN
app01-3930	70	3	}	}	PUNCT
app01-3930	70	4	,	,	PUNCT
app01-3930	70	5	τi	τi	ADP
app01-3930	70	6	∈	∈	PROPN
app01-3930	70	7	ti	ti	NOUN
app01-3930	70	8	,	,	PUNCT
app01-3930	70	9	and	and	CCONJ
app01-3930	70	10	the	the	DET
app01-3930	70	11	sequence	sequence	NOUN
app01-3930	70	12	of	of	ADP
app01-3930	70	13	the	the	DET
app01-3930	70	14	visits	visit	NOUN
app01-3930	70	15	to	to	ADP
app01-3930	70	16	the	the	DET
app01-3930	70	17	targets	target	NOUN
app01-3930	70	18	σ	σ	X
app01-3930	70	19	=	=	SYM
app01-3930	70	20	{	{	PUNCT
app01-3930	70	21	σ1	σ1	PROPN
app01-3930	70	22	,	,	PUNCT
app01-3930	70	23	.	.	PUNCT
app01-3930	70	24	.	.	PUNCT
app01-3930	71	1	.	.	PUNCT
app01-3930	72	1	,	,	PUNCT
app01-3930	72	2	σn	σn	X
app01-3930	72	3	}	}	PUNCT
app01-3930	72	4	.	.	PUNCT
app01-3930	73	1	notice	notice	NOUN
app01-3930	73	2	,	,	PUNCT
app01-3930	73	3	a	a	DET
app01-3930	73	4	set	set	NOUN
app01-3930	73	5	of	of	ADP
app01-3930	73	6	possible	possible	ADJ
app01-3930	73	7	collecting	collecting	NOUN
app01-3930	73	8	maneuvers	maneuver	NOUN
app01-3930	73	9	ti	ti	NOUN
app01-3930	73	10	can	can	AUX
app01-3930	73	11	be	be	AUX
app01-3930	73	12	infinite	infinite	ADJ
app01-3930	73	13	,	,	PUNCT
app01-3930	73	14	e.g.	e.g.	ADV
app01-3930	73	15	,	,	PUNCT
app01-3930	73	16	as	as	ADP
app01-3930	73	17	an	an	DET
app01-3930	73	18	arbitrary	arbitrary	ADJ
app01-3930	73	19	selection	selection	NOUN
app01-3930	73	20	of	of	ADP
app01-3930	73	21	the	the	DET
app01-3930	73	22	heading	head	VERB
app01-3930	73	23	angle	angle	NOUN
app01-3930	73	24	θ	θ	PROPN
app01-3930	73	25	from	from	ADP
app01-3930	73	26	the	the	DET
app01-3930	73	27	set	set	NOUN
app01-3930	73	28	θ	θ	PROPN
app01-3930	73	29	∈	∈	PROPN
app01-3930	73	30	(	(	PUNCT
app01-3930	73	31	0	0	NUM
app01-3930	73	32	,	,	PUNCT
app01-3930	73	33	2π	2π	NOUN
app01-3930	73	34	〉	〉	NUM
app01-3930	73	35	in	in	ADP
app01-3930	73	36	the	the	DET
app01-3930	73	37	ordinary	ordinary	ADJ
app01-3930	73	38	dtsp	dtsp	NOUN
app01-3930	73	39	.	.	PUNCT
app01-3930	74	1	the	the	DET
app01-3930	74	2	final	final	ADJ
app01-3930	74	3	closed	closed	ADJ
app01-3930	74	4	tour	tour	NOUN
app01-3930	74	5	consists	consist	VERB
app01-3930	74	6	of	of	ADP
app01-3930	74	7	the	the	DET
app01-3930	74	8	particular	particular	ADJ
app01-3930	74	9	collecting	collecting	NOUN
app01-3930	74	10	maneuvers	maneuver	NOUN
app01-3930	74	11	that	that	PRON
app01-3930	74	12	are	be	AUX
app01-3930	74	13	connected	connect	VERB
app01-3930	74	14	to	to	ADP
app01-3930	74	15	a	a	DET
app01-3930	74	16	closed	closed	ADJ
app01-3930	74	17	tour	tour	NOUN
app01-3930	74	18	by	by	ADP
app01-3930	74	19	the	the	DET
app01-3930	74	20	shortest	short	ADJ
app01-3930	74	21	possible	possible	ADJ
app01-3930	74	22	paths	path	NOUN
app01-3930	74	23	respecting	respect	VERB
app01-3930	74	24	the	the	DET
app01-3930	74	25	vehicle	vehicle	NOUN
app01-3930	74	26	motion	motion	NOUN
app01-3930	74	27	(	(	PUNCT
app01-3930	74	28	1	1	NUM
app01-3930	74	29	)	)	PUNCT
app01-3930	74	30	,	,	PUNCT
app01-3930	74	31	i.e.	i.e.	X
app01-3930	74	32	,	,	PUNCT
app01-3930	74	33	dubins	dubin	NOUN
app01-3930	74	34	maneuvers	maneuver	NOUN
app01-3930	74	35	.	.	PUNCT
app01-3930	75	1	therefore	therefore	ADV
app01-3930	75	2	the	the	DET
app01-3930	75	3	total	total	ADJ
app01-3930	75	4	tour	tour	NOUN
app01-3930	75	5	35	35	NUM
app01-3930	75	6	petr	petr	NOUN
app01-3930	75	7	váňa	váňa	NOUN
app01-3930	75	8	,	,	PUNCT
app01-3930	75	9	jan	jan	PROPN
app01-3930	75	10	faigl	faigl	PROPN
app01-3930	75	11	acta	acta	PROPN
app01-3930	75	12	polytechnica	polytechnica	PROPN
app01-3930	75	13	ctu	ctu	NOUN
app01-3930	75	14	proceedings	proceeding	NOUN
app01-3930	75	15	(	(	PUNCT
app01-3930	75	16	a	a	X
app01-3930	75	17	)	)	PUNCT
app01-3930	75	18	.	.	PUNCT
app01-3930	76	1	crossing	crossing	NOUN
app01-3930	76	2	maneuver	maneuver	NOUN
app01-3930	76	3	(	(	PUNCT
app01-3930	76	4	b	b	NOUN
app01-3930	76	5	)	)	PUNCT
app01-3930	76	6	.	.	PUNCT
app01-3930	77	1	dropping	drop	VERB
app01-3930	77	2	maneuver	maneuver	NOUN
app01-3930	77	3	figure	figure	NOUN
app01-3930	77	4	2	2	NUM
app01-3930	77	5	.	.	PUNCT
app01-3930	78	1	examples	example	NOUN
app01-3930	78	2	of	of	ADP
app01-3930	78	3	straight	straight	ADJ
app01-3930	78	4	collecting	collecting	NOUN
app01-3930	78	5	maneuvers	maneuver	NOUN
app01-3930	78	6	of	of	ADP
app01-3930	78	7	the	the	DET
app01-3930	78	8	dtsp	dtsp	NOUN
app01-3930	78	9	-	-	PUNCT
app01-3930	78	10	scm	scm	PROPN
app01-3930	78	11	length	length	PROPN
app01-3930	78	12	l	l	PROPN
app01-3930	78	13	givenm	givenm	PROPN
app01-3930	78	14	and	and	CCONJ
app01-3930	78	15	σ	σ	PROPN
app01-3930	78	16	can	can	AUX
app01-3930	78	17	be	be	AUX
app01-3930	78	18	computed	compute	VERB
app01-3930	78	19	as	as	ADP
app01-3930	78	20	:	:	PUNCT
app01-3930	78	21	l(m	l(m	PROPN
app01-3930	78	22	,	,	PUNCT
app01-3930	78	23	σ	σ	PROPN
app01-3930	78	24	)	)	PUNCT
app01-3930	78	25	=	=	PRON
app01-3930	78	26	n−1∑	n−1∑	PROPN
app01-3930	78	27	i=1	i=1	PROPN
app01-3930	78	28	d(g(τσi	d(g(τσi	PROPN
app01-3930	78	29	)	)	PUNCT
app01-3930	78	30	,	,	PUNCT
app01-3930	78	31	f(τσi+1	f(τσi+1	PROPN
app01-3930	78	32	)	)	PUNCT
app01-3930	78	33	)	)	PUNCT
app01-3930	79	1	+	+	VERB
app01-3930	79	2	d(g(τσn	d(g(τσn	NOUN
app01-3930	79	3	)	)	PUNCT
app01-3930	79	4	,	,	PUNCT
app01-3930	79	5	f(τσ1	f(τσ1	ADJ
app01-3930	79	6	)	)	PUNCT
app01-3930	79	7	)	)	PUNCT
app01-3930	80	1	+	+	CCONJ
app01-3930	80	2	n∑	n∑	X
app01-3930	80	3	i=1	i=1	PROPN
app01-3930	80	4	l(τi	l(τi	PROPN
app01-3930	80	5	)	)	PUNCT
app01-3930	80	6	,	,	PUNCT
app01-3930	80	7	(	(	PUNCT
app01-3930	80	8	2	2	X
app01-3930	80	9	)	)	PUNCT
app01-3930	80	10	where	where	SCONJ
app01-3930	80	11	the	the	DET
app01-3930	80	12	function	function	NOUN
app01-3930	80	13	f(τi	f(τi	NOUN
app01-3930	80	14	)	)	PUNCT
app01-3930	80	15	represents	represent	VERB
app01-3930	80	16	the	the	DET
app01-3930	80	17	starting	starting	NOUN
app01-3930	80	18	point	point	NOUN
app01-3930	80	19	of	of	ADP
app01-3930	80	20	the	the	DET
app01-3930	80	21	maneuver	maneuver	NOUN
app01-3930	80	22	τi	τi	NOUN
app01-3930	80	23	,	,	PUNCT
app01-3930	80	24	and	and	CCONJ
app01-3930	80	25	g(τi	g(τi	NOUN
app01-3930	80	26	)	)	PUNCT
app01-3930	80	27	is	be	AUX
app01-3930	80	28	the	the	DET
app01-3930	80	29	end	end	NOUN
app01-3930	80	30	point	point	NOUN
app01-3930	80	31	of	of	ADP
app01-3930	80	32	the	the	DET
app01-3930	80	33	maneuver	maneuver	NOUN
app01-3930	80	34	,	,	PUNCT
app01-3930	80	35	d(g(τi	d(g(τi	NOUN
app01-3930	80	36	)	)	PUNCT
app01-3930	80	37	,	,	PUNCT
app01-3930	80	38	f(τj	f(τj	NOUN
app01-3930	80	39	)	)	PUNCT
app01-3930	80	40	)	)	PUNCT
app01-3930	81	1	stands	stand	VERB
app01-3930	81	2	for	for	ADP
app01-3930	81	3	the	the	DET
app01-3930	81	4	length	length	NOUN
app01-3930	81	5	of	of	ADP
app01-3930	81	6	the	the	DET
app01-3930	81	7	dubins	dubin	NOUN
app01-3930	81	8	maneuver	maneuver	NOUN
app01-3930	81	9	connecting	connect	VERB
app01-3930	81	10	collecting	collect	VERB
app01-3930	81	11	maneuvers	maneuver	NOUN
app01-3930	81	12	τi	τi	VERB
app01-3930	81	13	and	and	CCONJ
app01-3930	81	14	τj	τj	ADP
app01-3930	81	15	,	,	PUNCT
app01-3930	81	16	and	and	CCONJ
app01-3930	81	17	the	the	DET
app01-3930	81	18	symbol	symbol	NOUN
app01-3930	81	19	l(τi	l(τi	PROPN
app01-3930	81	20	)	)	PUNCT
app01-3930	81	21	stands	stand	VERB
app01-3930	81	22	for	for	ADP
app01-3930	81	23	the	the	DET
app01-3930	81	24	length	length	NOUN
app01-3930	81	25	of	of	ADP
app01-3930	81	26	the	the	DET
app01-3930	81	27	τi	τi	PROPN
app01-3930	81	28	maneuver	maneuver	NOUN
app01-3930	81	29	.	.	PUNCT
app01-3930	82	1	the	the	DET
app01-3930	82	2	aim	aim	NOUN
app01-3930	82	3	is	be	AUX
app01-3930	82	4	to	to	PART
app01-3930	82	5	minimize	minimize	VERB
app01-3930	82	6	the	the	DET
app01-3930	82	7	tour	tour	NOUN
app01-3930	82	8	length	length	NOUN
app01-3930	82	9	in	in	ADP
app01-3930	82	10	the	the	DET
app01-3930	82	11	dtsp	dtsp	NOUN
app01-3930	82	12	-	-	PUNCT
app01-3930	82	13	cm	cm	NOUN
app01-3930	82	14	,	,	PUNCT
app01-3930	82	15	and	and	CCONJ
app01-3930	82	16	therefore	therefore	ADV
app01-3930	82	17	,	,	PUNCT
app01-3930	82	18	the	the	DET
app01-3930	82	19	problem	problem	NOUN
app01-3930	82	20	is	be	AUX
app01-3930	82	21	formulated	formulate	VERB
app01-3930	82	22	as	as	ADP
app01-3930	82	23	the	the	DET
app01-3930	82	24	optimization	optimization	NOUN
app01-3930	82	25	problem	problem	NOUN
app01-3930	82	26	formalized	formalize	VERB
app01-3930	82	27	in	in	ADP
app01-3930	82	28	problem	problem	NOUN
app01-3930	82	29	3.1	3.1	NUM
app01-3930	82	30	.	.	PUNCT
app01-3930	83	1	based	base	VERB
app01-3930	83	2	on	on	ADP
app01-3930	83	3	the	the	DET
app01-3930	83	4	set	set	NOUN
app01-3930	83	5	of	of	ADP
app01-3930	83	6	collecting	collect	VERB
app01-3930	83	7	maneuvers	maneuver	NOUN
app01-3930	83	8	,	,	PUNCT
app01-3930	83	9	the	the	DET
app01-3930	83	10	optimization	optimization	NOUN
app01-3930	83	11	problem	problem	NOUN
app01-3930	83	12	can	can	AUX
app01-3930	83	13	be	be	AUX
app01-3930	83	14	both	both	ADV
app01-3930	83	15	discrete	discrete	ADJ
app01-3930	83	16	or	or	CCONJ
app01-3930	83	17	piecewise	piecewise	NOUN
app01-3930	83	18	continuous	continuous	ADJ
app01-3930	83	19	.	.	PUNCT
app01-3930	84	1	the	the	DET
app01-3930	84	2	problem	problem	NOUN
app01-3930	84	3	is	be	AUX
app01-3930	84	4	not	not	PART
app01-3930	84	5	always	always	ADV
app01-3930	84	6	fully	fully	ADV
app01-3930	84	7	continuous	continuous	ADJ
app01-3930	84	8	,	,	PUNCT
app01-3930	84	9	since	since	SCONJ
app01-3930	84	10	the	the	DET
app01-3930	84	11	length	length	NOUN
app01-3930	84	12	of	of	ADP
app01-3930	84	13	the	the	DET
app01-3930	84	14	dubins	dubin	NOUN
app01-3930	84	15	maneuver	maneuver	NOUN
app01-3930	84	16	is	be	AUX
app01-3930	84	17	also	also	ADV
app01-3930	84	18	only	only	ADV
app01-3930	84	19	piecewise	piecewise	VERB
app01-3930	84	20	continuous	continuous	ADJ
app01-3930	84	21	[	[	X
app01-3930	84	22	14	14	NUM
app01-3930	84	23	]	]	PUNCT
app01-3930	84	24	.	.	PUNCT
app01-3930	85	1	problem	problem	NOUN
app01-3930	85	2	3.1	3.1	NUM
app01-3930	85	3	(	(	PUNCT
app01-3930	85	4	dtsp	dtsp	NOUN
app01-3930	85	5	-	-	PUNCT
app01-3930	85	6	cm	cm	NOUN
app01-3930	85	7	)	)	PUNCT
app01-3930	85	8	.	.	PUNCT
app01-3930	86	1	minimizem	minimizem	NOUN
app01-3930	86	2	,	,	PUNCT
app01-3930	86	3	σ	σ	PROPN
app01-3930	86	4	l(m	l(m	PROPN
app01-3930	86	5	,	,	PUNCT
app01-3930	86	6	σ	σ	PROPN
app01-3930	86	7	)	)	PUNCT
app01-3930	86	8	subject	subject	NOUN
app01-3930	86	9	to	to	ADP
app01-3930	86	10	∀i	∀i	NOUN
app01-3930	86	11	:	:	PUNCT
app01-3930	86	12	τi	τi	ADP
app01-3930	86	13	∈	∈	PROPN
app01-3930	86	14	ti	ti	NOUN
app01-3930	86	15	3.1	3.1	NUM
app01-3930	86	16	.	.	PUNCT
app01-3930	87	1	dtsp	dtsp	NOUN
app01-3930	87	2	-	-	PUNCT
app01-3930	87	3	cm	cm	NOUN
app01-3930	87	4	with	with	ADP
app01-3930	87	5	straight	straight	ADJ
app01-3930	87	6	collecting	collecting	NOUN
app01-3930	87	7	maneuvers	maneuver	NOUN
app01-3930	87	8	(	(	PUNCT
app01-3930	87	9	dtsp	dtsp	NOUN
app01-3930	87	10	-	-	PUNCT
app01-3930	87	11	scm	scm	PROPN
app01-3930	87	12	)	)	PUNCT
app01-3930	87	13	based	base	VERB
app01-3930	87	14	on	on	ADP
app01-3930	87	15	the	the	DET
app01-3930	87	16	proposed	propose	VERB
app01-3930	87	17	formulation	formulation	NOUN
app01-3930	87	18	of	of	ADP
app01-3930	87	19	the	the	DET
app01-3930	87	20	dtsp	dtsp	NOUN
app01-3930	87	21	-	-	PUNCT
app01-3930	87	22	cm	cm	NOUN
app01-3930	87	23	we	we	PRON
app01-3930	87	24	further	far	ADV
app01-3930	87	25	investigate	investigate	VERB
app01-3930	87	26	its	its	PRON
app01-3930	87	27	special	special	ADJ
app01-3930	87	28	variant	variant	NOUN
app01-3930	87	29	with	with	ADP
app01-3930	87	30	collecting	collect	VERB
app01-3930	87	31	maneuvers	maneuver	NOUN
app01-3930	87	32	limited	limit	VERB
app01-3930	87	33	to	to	ADP
app01-3930	87	34	straight	straight	ADJ
app01-3930	87	35	line	line	NOUN
app01-3930	87	36	segments	segment	NOUN
app01-3930	87	37	with	with	ADP
app01-3930	87	38	a	a	DET
app01-3930	87	39	prescribed	prescribed	ADJ
app01-3930	87	40	length	length	NOUN
app01-3930	87	41	and	and	CCONJ
app01-3930	87	42	its	its	PRON
app01-3930	87	43	relative	relative	ADJ
app01-3930	87	44	position	position	NOUN
app01-3930	87	45	to	to	ADP
app01-3930	87	46	the	the	DET
app01-3930	87	47	particular	particular	ADJ
app01-3930	87	48	target	target	NOUN
app01-3930	87	49	location	location	NOUN
app01-3930	87	50	.	.	PUNCT
app01-3930	88	1	such	such	ADJ
app01-3930	88	2	limited	limited	ADJ
app01-3930	88	3	maneuvers	maneuver	NOUN
app01-3930	88	4	are	be	AUX
app01-3930	88	5	motivated	motivate	VERB
app01-3930	88	6	by	by	ADP
app01-3930	88	7	real	real	ADJ
app01-3930	88	8	scenarios	scenario	NOUN
app01-3930	88	9	where	where	SCONJ
app01-3930	88	10	the	the	DET
app01-3930	88	11	vehicle	vehicle	NOUN
app01-3930	88	12	needs	need	VERB
app01-3930	88	13	to	to	PART
app01-3930	88	14	stay	stay	VERB
app01-3930	88	15	at	at	ADP
app01-3930	88	16	its	its	PRON
app01-3930	88	17	course	course	NOUN
app01-3930	88	18	while	while	SCONJ
app01-3930	88	19	data	datum	NOUN
app01-3930	88	20	from	from	ADP
app01-3930	88	21	sensors	sensor	NOUN
app01-3930	88	22	are	be	AUX
app01-3930	88	23	measured	measure	VERB
app01-3930	88	24	or	or	CCONJ
app01-3930	88	25	a	a	DET
app01-3930	88	26	cargo	cargo	NOUN
app01-3930	88	27	is	be	AUX
app01-3930	88	28	dropped	drop	VERB
app01-3930	88	29	to	to	ADP
app01-3930	88	30	the	the	DET
app01-3930	88	31	particular	particular	ADJ
app01-3930	88	32	target	target	NOUN
app01-3930	88	33	location	location	NOUN
app01-3930	88	34	.	.	PUNCT
app01-3930	89	1	we	we	PRON
app01-3930	89	2	call	call	VERB
app01-3930	89	3	this	this	DET
app01-3930	89	4	problem	problem	NOUN
app01-3930	89	5	the	the	DET
app01-3930	89	6	dtsp	dtsp	NOUN
app01-3930	89	7	with	with	ADP
app01-3930	89	8	straight	straight	ADJ
app01-3930	89	9	collecting	collecting	NOUN
app01-3930	89	10	maneuvers	maneuver	NOUN
app01-3930	89	11	and	and	CCONJ
app01-3930	89	12	denote	denote	VERB
app01-3930	89	13	it	it	PRON
app01-3930	89	14	as	as	ADP
app01-3930	89	15	the	the	DET
app01-3930	89	16	dtsp	dtsp	NOUN
app01-3930	89	17	-	-	PUNCT
app01-3930	89	18	scm	scm	PROPN
app01-3930	89	19	in	in	ADP
app01-3930	89	20	the	the	DET
app01-3930	89	21	rest	rest	NOUN
app01-3930	89	22	of	of	ADP
app01-3930	89	23	this	this	DET
app01-3930	89	24	paper	paper	NOUN
app01-3930	89	25	.	.	PUNCT
app01-3930	90	1	having	have	VERB
app01-3930	90	2	the	the	DET
app01-3930	90	3	possible	possible	ADJ
app01-3930	90	4	fulfilling	fulfilling	NOUN
app01-3930	90	5	maneuver	maneuver	NOUN
app01-3930	90	6	as	as	ADP
app01-3930	90	7	a	a	DET
app01-3930	90	8	straight	straight	ADJ
app01-3930	90	9	line	line	NOUN
app01-3930	90	10	segment	segment	NOUN
app01-3930	90	11	for	for	ADP
app01-3930	90	12	which	which	PRON
app01-3930	90	13	the	the	DET
app01-3930	90	14	supporting	support	VERB
app01-3930	90	15	line	line	NOUN
app01-3930	90	16	is	be	AUX
app01-3930	90	17	passing	pass	VERB
app01-3930	90	18	the	the	DET
app01-3930	90	19	target	target	NOUN
app01-3930	90	20	location	location	NOUN
app01-3930	90	21	,	,	PUNCT
app01-3930	90	22	the	the	DET
app01-3930	90	23	problem	problem	NOUN
app01-3930	90	24	is	be	AUX
app01-3930	90	25	to	to	PART
app01-3930	90	26	find	find	VERB
app01-3930	90	27	the	the	DET
app01-3930	90	28	segment	segment	NOUN
app01-3930	90	29	orientation	orientation	NOUN
app01-3930	90	30	for	for	ADP
app01-3930	90	31	each	each	DET
app01-3930	90	32	target	target	NOUN
app01-3930	90	33	,	,	PUNCT
app01-3930	90	34	i.e.	i.e.	X
app01-3930	90	35	,	,	PUNCT
app01-3930	90	36	we	we	PRON
app01-3930	90	37	need	need	VERB
app01-3930	90	38	to	to	PART
app01-3930	90	39	determine	determine	VERB
app01-3930	90	40	the	the	DET
app01-3930	90	41	vehicle	vehicle	NOUN
app01-3930	90	42	heading	head	VERB
app01-3930	90	43	at	at	ADP
app01-3930	90	44	each	each	DET
app01-3930	90	45	target	target	NOUN
app01-3930	90	46	location	location	NOUN
app01-3930	90	47	as	as	ADP
app01-3930	90	48	in	in	ADP
app01-3930	90	49	the	the	DET
app01-3930	90	50	ordinary	ordinary	ADJ
app01-3930	90	51	dtsp	dtsp	NOUN
app01-3930	90	52	.	.	PUNCT
app01-3930	91	1	the	the	DET
app01-3930	91	2	considered	considered	ADJ
app01-3930	91	3	straight	straight	ADJ
app01-3930	91	4	collecting	collecting	NOUN
app01-3930	91	5	maneuver	maneuver	NOUN
app01-3930	91	6	can	can	AUX
app01-3930	91	7	be	be	AUX
app01-3930	91	8	specified	specify	VERB
app01-3930	91	9	by	by	ADP
app01-3930	91	10	two	two	NUM
app01-3930	91	11	parameters	parameter	NOUN
app01-3930	91	12	that	that	PRON
app01-3930	91	13	determine	determine	VERB
app01-3930	91	14	its	its	PRON
app01-3930	91	15	relative	relative	ADJ
app01-3930	91	16	position	position	NOUN
app01-3930	91	17	to	to	ADP
app01-3930	91	18	the	the	DET
app01-3930	91	19	target	target	NOUN
app01-3930	91	20	location	location	NOUN
app01-3930	91	21	:	:	PUNCT
app01-3930	91	22	1	1	X
app01-3930	91	23	)	)	PUNCT
app01-3930	91	24	the	the	DET
app01-3930	91	25	parameter	parameter	NOUN
app01-3930	91	26	α	α	PROPN
app01-3930	91	27	represents	represent	VERB
app01-3930	91	28	a	a	DET
app01-3930	91	29	distance	distance	NOUN
app01-3930	91	30	of	of	ADP
app01-3930	91	31	the	the	DET
app01-3930	91	32	maneuver	maneuver	NOUN
app01-3930	91	33	starting	starting	NOUN
app01-3930	91	34	point	point	NOUN
app01-3930	91	35	to	to	ADP
app01-3930	91	36	the	the	DET
app01-3930	91	37	target	target	NOUN
app01-3930	91	38	location	location	NOUN
app01-3930	91	39	;	;	PUNCT
app01-3930	91	40	2	2	X
app01-3930	91	41	)	)	PUNCT
app01-3930	91	42	and	and	CCONJ
app01-3930	91	43	the	the	DET
app01-3930	91	44	parameter	parameter	NOUN
app01-3930	91	45	β	β	PROPN
app01-3930	91	46	that	that	PRON
app01-3930	91	47	specifies	specify	VERB
app01-3930	91	48	the	the	DET
app01-3930	91	49	end	end	NOUN
app01-3930	91	50	of	of	ADP
app01-3930	91	51	the	the	DET
app01-3930	91	52	collecting	collecting	NOUN
app01-3930	91	53	maneuver	maneuver	NOUN
app01-3930	91	54	from	from	ADP
app01-3930	91	55	the	the	DET
app01-3930	91	56	target	target	NOUN
app01-3930	91	57	location	location	NOUN
app01-3930	91	58	.	.	PUNCT
app01-3930	92	1	for	for	ADP
app01-3930	92	2	both	both	DET
app01-3930	92	3	parameters	parameter	NOUN
app01-3930	92	4	we	we	PRON
app01-3930	92	5	can	can	AUX
app01-3930	92	6	consider	consider	VERB
app01-3930	92	7	positive	positive	ADJ
app01-3930	92	8	or	or	CCONJ
app01-3930	92	9	negative	negative	ADJ
app01-3930	92	10	values	value	NOUN
app01-3930	92	11	according	accord	VERB
app01-3930	92	12	to	to	ADP
app01-3930	92	13	their	their	PRON
app01-3930	92	14	relative	relative	ADJ
app01-3930	92	15	location	location	NOUN
app01-3930	92	16	to	to	PART
app01-3930	92	17	target	target	VERB
app01-3930	92	18	location	location	NOUN
app01-3930	92	19	defined	define	VERB
app01-3930	92	20	by	by	ADP
app01-3930	92	21	the	the	DET
app01-3930	92	22	vehicle	vehicle	NOUN
app01-3930	92	23	motion	motion	NOUN
app01-3930	92	24	.	.	PUNCT
app01-3930	93	1	thus	thus	ADV
app01-3930	93	2	,	,	PUNCT
app01-3930	93	3	positive	positive	ADJ
app01-3930	93	4	values	value	NOUN
app01-3930	93	5	denote	denote	VERB
app01-3930	93	6	the	the	DET
app01-3930	93	7	positions	position	NOUN
app01-3930	93	8	of	of	ADP
app01-3930	93	9	the	the	DET
app01-3930	93	10	maneuver	maneuver	NOUN
app01-3930	93	11	endpoints	endpoint	NOUN
app01-3930	93	12	that	that	PRON
app01-3930	93	13	are	be	AUX
app01-3930	93	14	on	on	ADP
app01-3930	93	15	the	the	DET
app01-3930	93	16	approaching	approach	VERB
app01-3930	93	17	side	side	NOUN
app01-3930	93	18	to	to	ADP
app01-3930	93	19	the	the	DET
app01-3930	93	20	target	target	NOUN
app01-3930	93	21	locations	location	NOUN
app01-3930	93	22	(	(	PUNCT
app01-3930	93	23	the	the	DET
app01-3930	93	24	vehicle	vehicle	NOUN
app01-3930	93	25	is	be	AUX
app01-3930	93	26	approaching	approach	VERB
app01-3930	93	27	the	the	DET
app01-3930	93	28	target	target	NOUN
app01-3930	93	29	)	)	PUNCT
app01-3930	93	30	,	,	PUNCT
app01-3930	93	31	while	while	SCONJ
app01-3930	93	32	the	the	DET
app01-3930	93	33	negative	negative	ADJ
app01-3930	93	34	values	value	NOUN
app01-3930	93	35	denote	denote	VERB
app01-3930	93	36	the	the	DET
app01-3930	93	37	position	position	NOUN
app01-3930	93	38	of	of	ADP
app01-3930	93	39	the	the	DET
app01-3930	93	40	endpoints	endpoint	NOUN
app01-3930	93	41	for	for	ADP
app01-3930	93	42	which	which	PRON
app01-3930	93	43	the	the	DET
app01-3930	93	44	vehicle	vehicle	NOUN
app01-3930	93	45	recedes	recede	VERB
app01-3930	93	46	the	the	DET
app01-3930	93	47	target	target	NOUN
app01-3930	93	48	location	location	NOUN
app01-3930	93	49	.	.	PUNCT
app01-3930	94	1	the	the	DET
app01-3930	94	2	length	length	NOUN
app01-3930	94	3	of	of	ADP
app01-3930	94	4	the	the	DET
app01-3930	94	5	maneuver	maneuver	NOUN
app01-3930	94	6	l(τ	l(τ	PROPN
app01-3930	94	7	)	)	PUNCT
app01-3930	94	8	is	be	AUX
app01-3930	94	9	always	always	ADV
app01-3930	94	10	positive	positive	ADJ
app01-3930	94	11	,	,	PUNCT
app01-3930	94	12	and	and	CCONJ
app01-3930	94	13	therefore	therefore	ADV
app01-3930	94	14	,	,	PUNCT
app01-3930	94	15	we	we	PRON
app01-3930	94	16	define	define	VERB
app01-3930	94	17	it	it	PRON
app01-3930	94	18	as	as	ADP
app01-3930	94	19	l(τ	l(τ	PROPN
app01-3930	94	20	)	)	PUNCT
app01-3930	95	1	=	=	SYM
app01-3930	95	2	|α−	|α−	ADJ
app01-3930	95	3	β|	β|	NOUN
app01-3930	95	4	,	,	PUNCT
app01-3930	95	5	l(τ	l(τ	PROPN
app01-3930	95	6	)	)	PUNCT
app01-3930	95	7	>	>	X
app01-3930	96	1	0	0	X
app01-3930	96	2	.	.	PUNCT
app01-3930	97	1	(	(	PUNCT
app01-3930	97	2	3	3	X
app01-3930	97	3	)	)	PUNCT
app01-3930	97	4	we	we	PRON
app01-3930	97	5	consider	consider	VERB
app01-3930	97	6	two	two	NUM
app01-3930	97	7	types	type	NOUN
app01-3930	97	8	of	of	ADP
app01-3930	97	9	straight	straight	ADJ
app01-3930	97	10	collecting	collecting	NOUN
app01-3930	97	11	maneuvers	maneuver	NOUN
app01-3930	97	12	.	.	PUNCT
app01-3930	98	1	the	the	DET
app01-3930	98	2	first	first	ADJ
app01-3930	98	3	type	type	NOUN
app01-3930	98	4	represents	represent	VERB
app01-3930	98	5	a	a	DET
app01-3930	98	6	situation	situation	NOUN
app01-3930	98	7	where	where	SCONJ
app01-3930	98	8	the	the	DET
app01-3930	98	9	target	target	NOUN
app01-3930	98	10	location	location	NOUN
app01-3930	98	11	lies	lie	VERB
app01-3930	98	12	directly	directly	ADV
app01-3930	98	13	on	on	ADP
app01-3930	98	14	the	the	DET
app01-3930	98	15	collecting	collecting	NOUN
app01-3930	98	16	maneuver	maneuver	NOUN
app01-3930	98	17	.	.	PUNCT
app01-3930	99	1	such	such	DET
app01-3930	99	2	a	a	DET
app01-3930	99	3	maneuver	maneuver	NOUN
app01-3930	99	4	is	be	AUX
app01-3930	99	5	called	call	VERB
app01-3930	99	6	the	the	DET
app01-3930	99	7	crossing	crossing	NOUN
app01-3930	99	8	maneuver	maneuver	NOUN
app01-3930	99	9	(	(	PUNCT
app01-3930	99	10	α	α	X
app01-3930	99	11	>	>	X
app01-3930	99	12	0	0	PUNCT
app01-3930	99	13	and	and	CCONJ
app01-3930	99	14	β	β	X
app01-3930	99	15	<	<	X
app01-3930	99	16	0	0	NUM
app01-3930	99	17	)	)	PUNCT
app01-3930	99	18	and	and	CCONJ
app01-3930	99	19	it	it	PRON
app01-3930	99	20	is	be	AUX
app01-3930	99	21	motivated	motivate	VERB
app01-3930	99	22	by	by	ADP
app01-3930	99	23	robotic	robotic	ADJ
app01-3930	99	24	scenarios	scenario	NOUN
app01-3930	99	25	to	to	PART
app01-3930	99	26	precisely	precisely	ADV
app01-3930	99	27	measure	measure	VERB
app01-3930	99	28	some	some	DET
app01-3930	99	29	location	location	NOUN
app01-3930	99	30	and	and	CCONJ
app01-3930	99	31	where	where	SCONJ
app01-3930	99	32	the	the	DET
app01-3930	99	33	vehicle	vehicle	NOUN
app01-3930	99	34	can	can	AUX
app01-3930	99	35	not	not	PART
app01-3930	99	36	change	change	VERB
app01-3930	99	37	its	its	PRON
app01-3930	99	38	heading	heading	NOUN
app01-3930	99	39	during	during	ADP
app01-3930	99	40	the	the	DET
app01-3930	99	41	sensing	sense	VERB
app01-3930	99	42	phase	phase	NOUN
app01-3930	99	43	.	.	PUNCT
app01-3930	100	1	an	an	DET
app01-3930	100	2	example	example	NOUN
app01-3930	100	3	of	of	ADP
app01-3930	100	4	the	the	DET
app01-3930	100	5	crossing	crossing	NOUN
app01-3930	100	6	maneuver	maneuver	NOUN
app01-3930	100	7	is	be	AUX
app01-3930	100	8	depicted	depict	VERB
app01-3930	100	9	in	in	ADP
app01-3930	100	10	fig	fig	NOUN
app01-3930	100	11	.	.	PUNCT
app01-3930	101	1	2a	2a	NUM
app01-3930	101	2	.	.	PUNCT
app01-3930	102	1	the	the	DET
app01-3930	102	2	second	second	ADJ
app01-3930	102	3	type	type	NOUN
app01-3930	102	4	of	of	ADP
app01-3930	102	5	straight	straight	ADJ
app01-3930	102	6	collecting	collecting	NOUN
app01-3930	102	7	maneuvers	maneuver	NOUN
app01-3930	102	8	is	be	AUX
app01-3930	102	9	a	a	DET
app01-3930	102	10	so	so	ADV
app01-3930	102	11	-	-	PUNCT
app01-3930	102	12	called	call	VERB
app01-3930	102	13	dropping	dropping	NOUN
app01-3930	102	14	maneuver	maneuver	NOUN
app01-3930	102	15	.	.	PUNCT
app01-3930	103	1	in	in	ADP
app01-3930	103	2	this	this	DET
app01-3930	103	3	case	case	NOUN
app01-3930	103	4	,	,	PUNCT
app01-3930	103	5	the	the	DET
app01-3930	103	6	target	target	NOUN
app01-3930	103	7	location	location	NOUN
app01-3930	103	8	is	be	AUX
app01-3930	103	9	at	at	ADP
app01-3930	103	10	the	the	DET
app01-3930	103	11	maneuver	maneuver	NOUN
app01-3930	103	12	direction	direction	NOUN
app01-3930	103	13	,	,	PUNCT
app01-3930	103	14	but	but	CCONJ
app01-3930	103	15	not	not	PART
app01-3930	103	16	necessary	necessary	ADJ
app01-3930	103	17	on	on	ADP
app01-3930	103	18	the	the	DET
app01-3930	103	19	maneuver	maneuver	NOUN
app01-3930	103	20	itself	itself	PRON
app01-3930	103	21	,	,	PUNCT
app01-3930	103	22	α	α	PROPN
app01-3930	103	23	>	>	X
app01-3930	103	24	0	0	PUNCT
app01-3930	103	25	and	and	CCONJ
app01-3930	103	26	β	β	X
app01-3930	103	27	>	>	X
app01-3930	103	28	0	0	X
app01-3930	103	29	.	.	PUNCT
app01-3930	104	1	this	this	DET
app01-3930	104	2	type	type	NOUN
app01-3930	104	3	of	of	ADP
app01-3930	104	4	maneuver	maneuver	NOUN
app01-3930	104	5	can	can	AUX
app01-3930	104	6	be	be	AUX
app01-3930	104	7	used	use	VERB
app01-3930	104	8	for	for	ADP
app01-3930	104	9	planning	plan	VERB
app01-3930	104	10	object	object	NOUN
app01-3930	104	11	dropping	dropping	NOUN
app01-3930	104	12	,	,	PUNCT
app01-3930	104	13	since	since	SCONJ
app01-3930	104	14	the	the	DET
app01-3930	104	15	vehicle	vehicle	NOUN
app01-3930	104	16	is	be	AUX
app01-3930	104	17	required	require	VERB
app01-3930	104	18	to	to	PART
app01-3930	104	19	focus	focus	VERB
app01-3930	104	20	the	the	DET
app01-3930	104	21	target	target	NOUN
app01-3930	104	22	while	while	SCONJ
app01-3930	104	23	moving	move	VERB
app01-3930	104	24	on	on	ADP
app01-3930	104	25	the	the	DET
app01-3930	104	26	straight	straight	ADJ
app01-3930	104	27	line	line	NOUN
app01-3930	104	28	segment	segment	NOUN
app01-3930	104	29	to	to	PART
app01-3930	104	30	ensure	ensure	VERB
app01-3930	104	31	a	a	DET
app01-3930	104	32	precise	precise	ADJ
app01-3930	104	33	airdrop	airdrop	NOUN
app01-3930	104	34	location	location	NOUN
app01-3930	105	1	[	[	X
app01-3930	105	2	15	15	NUM
app01-3930	105	3	]	]	PUNCT
app01-3930	105	4	.	.	PUNCT
app01-3930	106	1	after	after	ADP
app01-3930	106	2	the	the	DET
app01-3930	106	3	object	object	NOUN
app01-3930	106	4	dropping	dropping	NOUN
app01-3930	106	5	,	,	PUNCT
app01-3930	106	6	the	the	DET
app01-3930	106	7	vehicle	vehicle	NOUN
app01-3930	106	8	can	can	AUX
app01-3930	106	9	continue	continue	VERB
app01-3930	106	10	in	in	ADP
app01-3930	106	11	an	an	DET
app01-3930	106	12	arbitrary	arbitrary	ADJ
app01-3930	106	13	direction	direction	NOUN
app01-3930	106	14	and	and	CCONJ
app01-3930	106	15	does	do	AUX
app01-3930	106	16	not	not	PART
app01-3930	106	17	need	need	VERB
app01-3930	106	18	to	to	PART
app01-3930	106	19	achieve	achieve	VERB
app01-3930	106	20	the	the	DET
app01-3930	106	21	target	target	NOUN
app01-3930	106	22	location	location	NOUN
app01-3930	106	23	itself	itself	PRON
app01-3930	106	24	.	.	PUNCT
app01-3930	107	1	an	an	DET
app01-3930	107	2	example	example	NOUN
app01-3930	107	3	of	of	ADP
app01-3930	107	4	the	the	DET
app01-3930	107	5	dropping	dropping	NOUN
app01-3930	107	6	maneuver	maneuver	NOUN
app01-3930	107	7	is	be	AUX
app01-3930	107	8	depicted	depict	VERB
app01-3930	107	9	in	in	ADP
app01-3930	107	10	fig	fig	NOUN
app01-3930	107	11	.	.	PUNCT
app01-3930	108	1	2b	2b	NOUN
app01-3930	108	2	.	.	PUNCT
app01-3930	109	1	formally	formally	ADV
app01-3930	109	2	,	,	PUNCT
app01-3930	109	3	the	the	DET
app01-3930	109	4	dtsp	dtsp	NOUN
app01-3930	109	5	-	-	PUNCT
app01-3930	109	6	scm	scm	PROPN
app01-3930	109	7	is	be	AUX
app01-3930	109	8	a	a	DET
app01-3930	109	9	variant	variant	NOUN
app01-3930	109	10	of	of	ADP
app01-3930	109	11	the	the	DET
app01-3930	109	12	optimization	optimization	NOUN
app01-3930	109	13	problem	problem	NOUN
app01-3930	109	14	3.1	3.1	NUM
app01-3930	109	15	.	.	PUNCT
app01-3930	110	1	in	in	ADP
app01-3930	110	2	contrast	contrast	NOUN
app01-3930	110	3	to	to	ADP
app01-3930	110	4	the	the	DET
app01-3930	110	5	general	general	ADJ
app01-3930	110	6	dtsp	dtsp	NOUN
app01-3930	110	7	-	-	PUNCT
app01-3930	110	8	cm	cm	NOUN
app01-3930	110	9	,	,	PUNCT
app01-3930	110	10	the	the	DET
app01-3930	110	11	straight	straight	ADJ
app01-3930	110	12	collecting	collecting	NOUN
app01-3930	110	13	maneuvers	maneuver	NOUN
app01-3930	110	14	have	have	VERB
app01-3930	110	15	a	a	DET
app01-3930	110	16	constant	constant	ADJ
app01-3930	110	17	length	length	NOUN
app01-3930	110	18	,	,	PUNCT
app01-3930	110	19	since	since	SCONJ
app01-3930	110	20	the	the	DET
app01-3930	110	21	parameters	parameter	NOUN
app01-3930	110	22	α	α	PROPN
app01-3930	110	23	and	and	CCONJ
app01-3930	110	24	β	β	X
app01-3930	110	25	are	be	AUX
app01-3930	110	26	fixed	fix	VERB
app01-3930	110	27	for	for	ADP
app01-3930	110	28	the	the	DET
app01-3930	110	29	particular	particular	ADJ
app01-3930	110	30	problem	problem	NOUN
app01-3930	110	31	instance	instance	NOUN
app01-3930	110	32	.	.	PUNCT
app01-3930	111	1	therefore	therefore	ADV
app01-3930	111	2	,	,	PUNCT
app01-3930	111	3	the	the	DET
app01-3930	111	4	total	total	ADJ
app01-3930	111	5	length	length	NOUN
app01-3930	111	6	l(m	l(m	PROPN
app01-3930	111	7	)	)	PUNCT
app01-3930	111	8	of	of	ADP
app01-3930	111	9	all	all	DET
app01-3930	111	10	collecting	collect	VERB
app01-3930	111	11	maneuvers	maneuver	NOUN
app01-3930	111	12	can	can	AUX
app01-3930	111	13	be	be	AUX
app01-3930	111	14	determined	determine	VERB
app01-3930	111	15	l(m	l(m	PROPN
app01-3930	111	16	)	)	PUNCT
app01-3930	112	1	=	=	SYM
app01-3930	112	2	n∑	n∑	NOUN
app01-3930	112	3	i=1	i=1	PROPN
app01-3930	112	4	l(τi	l(τi	PROPN
app01-3930	112	5	)	)	PUNCT
app01-3930	113	1	=	=	SYM
app01-3930	113	2	n∑	n∑	NOUN
app01-3930	113	3	i=1	i=1	X
app01-3930	114	1	|α−	|α−	ADJ
app01-3930	114	2	β|	β|	NOUN
app01-3930	114	3	(	(	PUNCT
app01-3930	114	4	4	4	NUM
app01-3930	114	5	)	)	PUNCT
app01-3930	114	6	and	and	CCONJ
app01-3930	114	7	its	its	PRON
app01-3930	114	8	value	value	NOUN
app01-3930	114	9	is	be	AUX
app01-3930	114	10	constant	constant	ADJ
app01-3930	114	11	that	that	PRON
app01-3930	114	12	can	can	AUX
app01-3930	114	13	be	be	AUX
app01-3930	114	14	computed	compute	VERB
app01-3930	114	15	before	before	ADP
app01-3930	114	16	solving	solve	VERB
app01-3930	114	17	the	the	DET
app01-3930	114	18	particular	particular	ADJ
app01-3930	114	19	instance	instance	NOUN
app01-3930	114	20	of	of	ADP
app01-3930	114	21	the	the	DET
app01-3930	114	22	dtsp	dtsp	NOUN
app01-3930	114	23	-	-	PUNCT
app01-3930	114	24	scm	scm	PROPN
app01-3930	114	25	.	.	PUNCT
app01-3930	115	1	this	this	DET
app01-3930	115	2	property	property	NOUN
app01-3930	115	3	enables	enable	VERB
app01-3930	115	4	to	to	PART
app01-3930	115	5	consider	consider	VERB
app01-3930	115	6	only	only	ADJ
app01-3930	115	7	dubins	dubin	NOUN
app01-3930	115	8	maneuvers	maneuver	NOUN
app01-3930	115	9	length	length	NOUN
app01-3930	115	10	while	while	SCONJ
app01-3930	115	11	minimizing	minimize	VERB
app01-3930	115	12	the	the	DET
app01-3930	115	13	tour	tour	NOUN
app01-3930	115	14	length	length	NOUN
app01-3930	115	15	,	,	PUNCT
app01-3930	115	16	which	which	PRON
app01-3930	115	17	significantly	significantly	ADV
app01-3930	115	18	simplifies	simplify	VERB
app01-3930	115	19	possible	possible	ADJ
app01-3930	115	20	methods	method	NOUN
app01-3930	115	21	addressing	address	VERB
app01-3930	115	22	the	the	DET
app01-3930	115	23	dtsp	dtsp	NOUN
app01-3930	115	24	-	-	PUNCT
app01-3930	115	25	scm	scm	PROPN
app01-3930	115	26	.	.	PUNCT
app01-3930	116	1	furthermore	furthermore	ADV
app01-3930	116	2	,	,	PUNCT
app01-3930	116	3	it	it	PRON
app01-3930	116	4	is	be	AUX
app01-3930	116	5	possible	possible	ADJ
app01-3930	116	6	to	to	PART
app01-3930	116	7	modify	modify	VERB
app01-3930	116	8	approaches	approach	NOUN
app01-3930	116	9	for	for	ADP
app01-3930	116	10	the	the	DET
app01-3930	116	11	dtsp	dtsp	NOUN
app01-3930	116	12	to	to	PART
app01-3930	116	13	address	address	VERB
app01-3930	116	14	the	the	DET
app01-3930	116	15	proposed	propose	VERB
app01-3930	116	16	dtsp	dtsp	NOUN
app01-3930	116	17	-	-	PUNCT
app01-3930	116	18	smc	smc	PROPN
app01-3930	116	19	due	due	ADP
app01-3930	116	20	to	to	ADP
app01-3930	116	21	the	the	DET
app01-3930	116	22	constant	constant	ADJ
app01-3930	116	23	length	length	NOUN
app01-3930	116	24	of	of	ADP
app01-3930	116	25	the	the	DET
app01-3930	116	26	collecting	collecting	NOUN
app01-3930	116	27	maneuver	maneuver	NOUN
app01-3930	116	28	.	.	PUNCT
app01-3930	117	1	proposed	propose	VERB
app01-3930	117	2	modifications	modification	NOUN
app01-3930	117	3	for	for	ADP
app01-3930	117	4	existing	exist	VERB
app01-3930	117	5	dtsp	dtsp	NOUN
app01-3930	117	6	approaches	approach	NOUN
app01-3930	117	7	are	be	AUX
app01-3930	117	8	presented	present	VERB
app01-3930	117	9	in	in	ADP
app01-3930	117	10	the	the	DET
app01-3930	117	11	next	next	ADJ
app01-3930	117	12	section	section	NOUN
app01-3930	117	13	.	.	PUNCT
app01-3930	118	1	36	36	NUM
app01-3930	118	2	vol	vol	NOUN
app01-3930	118	3	.	.	PUNCT
app01-3930	119	1	6/2016	6/2016	NUM
app01-3930	119	2	dubins	dubin	NOUN
app01-3930	119	3	traveling	travel	VERB
app01-3930	119	4	salesman	salesman	NOUN
app01-3930	119	5	problem	problem	NOUN
app01-3930	119	6	4	4	NUM
app01-3930	119	7	.	.	PUNCT
app01-3930	119	8	solution	solution	NOUN
app01-3930	119	9	of	of	ADP
app01-3930	119	10	the	the	DET
app01-3930	119	11	dtsp	dtsp	NOUN
app01-3930	119	12	-	-	PUNCT
app01-3930	119	13	scm	scm	PROPN
app01-3930	119	14	the	the	DET
app01-3930	119	15	main	main	ADJ
app01-3930	119	16	advantage	advantage	NOUN
app01-3930	119	17	of	of	ADP
app01-3930	119	18	the	the	DET
app01-3930	119	19	proposed	propose	VERB
app01-3930	119	20	dtsp	dtsp	NOUN
app01-3930	119	21	-	-	PUNCT
app01-3930	119	22	scm	scm	PROPN
app01-3930	119	23	over	over	ADP
app01-3930	119	24	more	more	ADV
app01-3930	119	25	general	general	ADJ
app01-3930	119	26	the	the	DET
app01-3930	119	27	dtsp	dtsp	NOUN
app01-3930	119	28	-	-	PUNCT
app01-3930	119	29	cm	cm	NOUN
app01-3930	119	30	is	be	AUX
app01-3930	119	31	that	that	SCONJ
app01-3930	119	32	it	it	PRON
app01-3930	119	33	is	be	AUX
app01-3930	119	34	possible	possible	ADJ
app01-3930	119	35	to	to	PART
app01-3930	119	36	solve	solve	VERB
app01-3930	119	37	the	the	DET
app01-3930	119	38	dtsp	dtsp	NOUN
app01-3930	119	39	-	-	PUNCT
app01-3930	119	40	scm	scm	PROPN
app01-3930	119	41	in	in	ADP
app01-3930	119	42	a	a	DET
app01-3930	119	43	relatively	relatively	ADV
app01-3930	119	44	straightforward	straightforward	ADJ
app01-3930	119	45	way	way	NOUN
app01-3930	119	46	by	by	ADP
app01-3930	119	47	approaches	approach	NOUN
app01-3930	119	48	developed	develop	VERB
app01-3930	119	49	for	for	ADP
app01-3930	119	50	the	the	DET
app01-3930	119	51	dtsp	dtsp	NOUN
app01-3930	119	52	with	with	ADP
app01-3930	119	53	only	only	ADJ
app01-3930	119	54	slight	slight	ADJ
app01-3930	119	55	modifications	modification	NOUN
app01-3930	119	56	.	.	PUNCT
app01-3930	120	1	this	this	PRON
app01-3930	120	2	is	be	AUX
app01-3930	120	3	possible	possible	ADJ
app01-3930	120	4	because	because	SCONJ
app01-3930	120	5	the	the	DET
app01-3930	120	6	length	length	NOUN
app01-3930	120	7	of	of	ADP
app01-3930	120	8	the	the	DET
app01-3930	120	9	individual	individual	ADJ
app01-3930	120	10	collecting	collecting	NOUN
app01-3930	120	11	maneuver	maneuver	NOUN
app01-3930	120	12	is	be	AUX
app01-3930	120	13	constant	constant	ADJ
app01-3930	120	14	,	,	PUNCT
app01-3930	120	15	and	and	CCONJ
app01-3930	120	16	thus	thus	ADV
app01-3930	120	17	the	the	DET
app01-3930	120	18	sum	sum	NOUN
app01-3930	120	19	of	of	ADP
app01-3930	120	20	all	all	DET
app01-3930	120	21	collecting	collect	VERB
app01-3930	120	22	maneuvers	maneuver	NOUN
app01-3930	120	23	(	(	PUNCT
app01-3930	120	24	4	4	NUM
app01-3930	120	25	)	)	PUNCT
app01-3930	120	26	is	be	AUX
app01-3930	120	27	a	a	DET
app01-3930	120	28	constant	constant	ADJ
app01-3930	120	29	value	value	NOUN
app01-3930	120	30	and	and	CCONJ
app01-3930	120	31	it	it	PRON
app01-3930	120	32	is	be	AUX
app01-3930	120	33	not	not	PART
app01-3930	120	34	needed	need	VERB
app01-3930	120	35	to	to	PART
app01-3930	120	36	consider	consider	VERB
app01-3930	120	37	individual	individual	ADJ
app01-3930	120	38	lengths	length	NOUN
app01-3930	120	39	during	during	ADP
app01-3930	120	40	the	the	DET
app01-3930	120	41	optimization	optimization	NOUN
app01-3930	120	42	process	process	NOUN
app01-3930	120	43	.	.	PUNCT
app01-3930	121	1	hence	hence	ADV
app01-3930	121	2	,	,	PUNCT
app01-3930	121	3	we	we	PRON
app01-3930	121	4	can	can	AUX
app01-3930	121	5	build	build	VERB
app01-3930	121	6	solvers	solver	NOUN
app01-3930	121	7	for	for	ADP
app01-3930	121	8	the	the	DET
app01-3930	121	9	dtsp	dtsp	NOUN
app01-3930	121	10	-	-	PUNCT
app01-3930	121	11	scm	scm	PROPN
app01-3930	121	12	on	on	ADP
app01-3930	121	13	the	the	DET
app01-3930	121	14	existing	exist	VERB
app01-3930	121	15	methods	method	NOUN
app01-3930	121	16	for	for	ADP
app01-3930	121	17	the	the	DET
app01-3930	121	18	dtsp	dtsp	NOUN
app01-3930	121	19	.	.	PUNCT
app01-3930	122	1	the	the	DET
app01-3930	122	2	proposed	propose	VERB
app01-3930	122	3	modifications	modification	NOUN
app01-3930	122	4	of	of	ADP
app01-3930	122	5	the	the	DET
app01-3930	122	6	selected	select	VERB
app01-3930	122	7	representative	representative	ADJ
app01-3930	122	8	approaches	approach	NOUN
app01-3930	122	9	for	for	ADP
app01-3930	122	10	each	each	PRON
app01-3930	122	11	of	of	ADP
app01-3930	122	12	three	three	NUM
app01-3930	122	13	classes	class	NOUN
app01-3930	122	14	of	of	ADP
app01-3930	122	15	the	the	DET
app01-3930	122	16	dtsp	dtsp	NOUN
app01-3930	122	17	approaches	approach	NOUN
app01-3930	122	18	introduced	introduce	VERB
app01-3930	122	19	in	in	ADP
app01-3930	122	20	section	section	NOUN
app01-3930	122	21	2	2	NUM
app01-3930	122	22	are	be	AUX
app01-3930	122	23	presented	present	VERB
app01-3930	122	24	in	in	ADP
app01-3930	122	25	this	this	DET
app01-3930	122	26	section	section	NOUN
app01-3930	122	27	.	.	PUNCT
app01-3930	123	1	for	for	ADP
app01-3930	123	2	decoupled	decouple	VERB
app01-3930	123	3	approaches	approach	NOUN
app01-3930	123	4	,	,	PUNCT
app01-3930	123	5	we	we	PRON
app01-3930	123	6	can	can	AUX
app01-3930	123	7	still	still	ADV
app01-3930	123	8	utilize	utilize	VERB
app01-3930	123	9	a	a	DET
app01-3930	123	10	solution	solution	NOUN
app01-3930	123	11	of	of	ADP
app01-3930	123	12	the	the	DET
app01-3930	123	13	euclidean	euclidean	ADJ
app01-3930	123	14	tsp	tsp	NOUN
app01-3930	123	15	to	to	PART
app01-3930	123	16	determine	determine	VERB
app01-3930	123	17	the	the	DET
app01-3930	123	18	sequence	sequence	NOUN
app01-3930	123	19	of	of	ADP
app01-3930	123	20	visits	visit	NOUN
app01-3930	123	21	to	to	ADP
app01-3930	123	22	the	the	DET
app01-3930	123	23	targets	target	NOUN
app01-3930	123	24	.	.	PUNCT
app01-3930	124	1	however	however	ADV
app01-3930	124	2	,	,	PUNCT
app01-3930	124	3	we	we	PRON
app01-3930	124	4	can	can	AUX
app01-3930	124	5	expect	expect	VERB
app01-3930	124	6	that	that	SCONJ
app01-3930	124	7	such	such	DET
app01-3930	124	8	a	a	DET
app01-3930	124	9	sequence	sequence	NOUN
app01-3930	124	10	can	can	AUX
app01-3930	124	11	be	be	AUX
app01-3930	124	12	farther	far	ADV
app01-3930	124	13	from	from	ADP
app01-3930	124	14	the	the	DET
app01-3930	124	15	optimum	optimum	NOUN
app01-3930	124	16	when	when	SCONJ
app01-3930	124	17	the	the	DET
app01-3930	124	18	collecting	collecting	NOUN
app01-3930	124	19	maneuvers	maneuver	NOUN
app01-3930	124	20	are	be	AUX
app01-3930	124	21	getting	get	VERB
app01-3930	124	22	longer	long	ADJ
app01-3930	124	23	.	.	PUNCT
app01-3930	125	1	a	a	DET
app01-3930	125	2	modification	modification	NOUN
app01-3930	125	3	of	of	ADP
app01-3930	125	4	the	the	DET
app01-3930	125	5	original	original	ADJ
app01-3930	125	6	aa	aa	NOUN
app01-3930	125	7	[	[	X
app01-3930	125	8	1	1	NUM
app01-3930	125	9	]	]	PUNCT
app01-3930	125	10	to	to	PART
app01-3930	125	11	utilize	utilize	VERB
app01-3930	125	12	collecting	collect	VERB
app01-3930	125	13	maneuvers	maneuver	NOUN
app01-3930	125	14	is	be	AUX
app01-3930	125	15	straightforward	straightforward	ADJ
app01-3930	125	16	.	.	PUNCT
app01-3930	126	1	in	in	ADP
app01-3930	126	2	solving	solve	VERB
app01-3930	126	3	the	the	DET
app01-3930	126	4	ordinary	ordinary	ADJ
app01-3930	126	5	dtsp	dtsp	NOUN
app01-3930	126	6	,	,	PUNCT
app01-3930	126	7	vehicle	vehicle	NOUN
app01-3930	126	8	headings	heading	NOUN
app01-3930	126	9	are	be	AUX
app01-3930	126	10	determined	determine	VERB
app01-3930	126	11	for	for	ADP
app01-3930	126	12	each	each	DET
app01-3930	126	13	target	target	NOUN
app01-3930	126	14	location	location	NOUN
app01-3930	126	15	.	.	PUNCT
app01-3930	127	1	instead	instead	ADV
app01-3930	127	2	of	of	ADP
app01-3930	127	3	that	that	PRON
app01-3930	127	4	,	,	PUNCT
app01-3930	127	5	we	we	PRON
app01-3930	127	6	can	can	AUX
app01-3930	127	7	determine	determine	VERB
app01-3930	127	8	directions	direction	NOUN
app01-3930	127	9	of	of	ADP
app01-3930	127	10	collecting	collect	VERB
app01-3930	127	11	maneuvers	maneuver	NOUN
app01-3930	127	12	using	use	VERB
app01-3930	127	13	the	the	DET
app01-3930	127	14	direction	direction	NOUN
app01-3930	127	15	in	in	ADP
app01-3930	127	16	odd	odd	ADJ
app01-3930	127	17	segments	segment	NOUN
app01-3930	127	18	.	.	PUNCT
app01-3930	128	1	then	then	ADV
app01-3930	128	2	,	,	PUNCT
app01-3930	128	3	we	we	PRON
app01-3930	128	4	can	can	AUX
app01-3930	128	5	connect	connect	VERB
app01-3930	128	6	even	even	ADV
app01-3930	128	7	segments	segment	NOUN
app01-3930	128	8	by	by	ADP
app01-3930	128	9	the	the	DET
app01-3930	128	10	dubins	dubin	NOUN
app01-3930	128	11	maneuvers	maneuver	NOUN
app01-3930	128	12	to	to	PART
app01-3930	128	13	create	create	VERB
app01-3930	128	14	a	a	DET
app01-3930	128	15	closed	closed	ADJ
app01-3930	128	16	tour	tour	NOUN
app01-3930	128	17	,	,	PUNCT
app01-3930	128	18	and	and	CCONJ
app01-3930	128	19	thus	thus	ADV
app01-3930	128	20	solve	solve	VERB
app01-3930	128	21	the	the	DET
app01-3930	128	22	dtsp	dtsp	NOUN
app01-3930	128	23	-	-	PUNCT
app01-3930	128	24	scm	scm	PROPN
app01-3930	128	25	.	.	PUNCT
app01-3930	129	1	the	the	DET
app01-3930	129	2	sampling	sample	VERB
app01-3930	129	3	-	-	PUNCT
app01-3930	129	4	based	base	VERB
app01-3930	129	5	approach	approach	NOUN
app01-3930	129	6	[	[	X
app01-3930	129	7	5	5	NUM
app01-3930	129	8	]	]	PUNCT
app01-3930	129	9	is	be	AUX
app01-3930	129	10	another	another	DET
app01-3930	129	11	option	option	NOUN
app01-3930	129	12	how	how	SCONJ
app01-3930	129	13	to	to	PART
app01-3930	129	14	address	address	VERB
app01-3930	129	15	the	the	DET
app01-3930	129	16	proposed	propose	VERB
app01-3930	129	17	dtsp	dtsp	NOUN
app01-3930	129	18	-	-	PUNCT
app01-3930	129	19	scm	scm	PROPN
app01-3930	129	20	.	.	PUNCT
app01-3930	130	1	instead	instead	ADV
app01-3930	130	2	of	of	ADP
app01-3930	130	3	sampling	sample	VERB
app01-3930	130	4	the	the	DET
app01-3930	130	5	vehicle	vehicle	NOUN
app01-3930	130	6	heading	head	VERB
app01-3930	130	7	at	at	ADP
app01-3930	130	8	each	each	DET
app01-3930	130	9	target	target	NOUN
app01-3930	130	10	location	location	NOUN
app01-3930	130	11	,	,	PUNCT
app01-3930	130	12	we	we	PRON
app01-3930	130	13	need	need	VERB
app01-3930	130	14	to	to	PART
app01-3930	130	15	sample	sample	VERB
app01-3930	130	16	a	a	DET
app01-3930	130	17	set	set	NOUN
app01-3930	130	18	of	of	ADP
app01-3930	130	19	collecting	collect	VERB
app01-3930	130	20	maneuvers	maneuver	NOUN
app01-3930	130	21	corresponding	correspond	VERB
app01-3930	130	22	to	to	ADP
app01-3930	130	23	each	each	DET
app01-3930	130	24	particular	particular	ADJ
app01-3930	130	25	target	target	NOUN
app01-3930	130	26	location	location	NOUN
app01-3930	130	27	in	in	ADP
app01-3930	130	28	the	the	DET
app01-3930	130	29	dtsp	dtsp	NOUN
app01-3930	130	30	-	-	PUNCT
app01-3930	130	31	scm	scm	PROPN
app01-3930	130	32	.	.	PUNCT
app01-3930	131	1	in	in	ADP
app01-3930	131	2	[	[	X
app01-3930	131	3	5	5	NUM
app01-3930	131	4	]	]	PUNCT
app01-3930	131	5	,	,	PUNCT
app01-3930	131	6	the	the	DET
app01-3930	131	7	authors	author	NOUN
app01-3930	131	8	propose	propose	VERB
app01-3930	131	9	to	to	PART
app01-3930	131	10	create	create	VERB
app01-3930	131	11	a	a	DET
app01-3930	131	12	distance	distance	NOUN
app01-3930	131	13	graph	graph	NOUN
app01-3930	131	14	which	which	PRON
app01-3930	131	15	is	be	AUX
app01-3930	131	16	an	an	DET
app01-3930	131	17	instance	instance	NOUN
app01-3930	131	18	of	of	ADP
app01-3930	131	19	the	the	DET
app01-3930	131	20	gatsp	gatsp	NOUN
app01-3930	131	21	.	.	PUNCT
app01-3930	132	1	for	for	ADP
app01-3930	132	2	the	the	DET
app01-3930	132	3	proposed	propose	VERB
app01-3930	132	4	dtsp	dtsp	NOUN
app01-3930	132	5	variant	variant	NOUN
app01-3930	132	6	with	with	ADP
app01-3930	132	7	collecting	collect	VERB
app01-3930	132	8	maneuvers	maneuver	NOUN
app01-3930	132	9	,	,	PUNCT
app01-3930	132	10	the	the	DET
app01-3930	132	11	resulting	result	VERB
app01-3930	132	12	instance	instance	NOUN
app01-3930	132	13	of	of	ADP
app01-3930	132	14	the	the	DET
app01-3930	132	15	gatsp	gatsp	NOUN
app01-3930	132	16	has	have	VERB
app01-3930	132	17	twice	twice	DET
app01-3930	132	18	the	the	DET
app01-3930	132	19	number	number	NOUN
app01-3930	132	20	of	of	ADP
app01-3930	132	21	vertices	vertex	NOUN
app01-3930	132	22	.	.	PUNCT
app01-3930	133	1	however	however	ADV
app01-3930	133	2	,	,	PUNCT
app01-3930	133	3	the	the	DET
app01-3930	133	4	size	size	NOUN
app01-3930	133	5	of	of	ADP
app01-3930	133	6	the	the	DET
app01-3930	133	7	gatsp	gatsp	NOUN
app01-3930	133	8	instance	instance	NOUN
app01-3930	133	9	can	can	AUX
app01-3930	133	10	be	be	AUX
app01-3930	133	11	reduced	reduce	VERB
app01-3930	133	12	back	back	ADV
app01-3930	133	13	to	to	ADP
app01-3930	133	14	the	the	DET
app01-3930	133	15	original	original	ADJ
app01-3930	133	16	size	size	NOUN
app01-3930	133	17	by	by	ADP
app01-3930	133	18	a	a	DET
app01-3930	133	19	simple	simple	ADJ
app01-3930	133	20	transformation	transformation	NOUN
app01-3930	133	21	as	as	SCONJ
app01-3930	133	22	follows	follow	VERB
app01-3930	133	23	.	.	PUNCT
app01-3930	134	1	the	the	DET
app01-3930	134	2	length	length	NOUN
app01-3930	134	3	of	of	ADP
app01-3930	134	4	the	the	DET
app01-3930	134	5	utilized	utilize	VERB
app01-3930	134	6	collecting	collecting	NOUN
app01-3930	134	7	maneuver	maneuver	NOUN
app01-3930	134	8	is	be	AUX
app01-3930	134	9	added	add	VERB
app01-3930	134	10	to	to	ADP
app01-3930	134	11	the	the	DET
app01-3930	134	12	length	length	NOUN
app01-3930	134	13	of	of	ADP
app01-3930	134	14	the	the	DET
app01-3930	134	15	dubins	dubin	NOUN
app01-3930	134	16	maneuver	maneuver	NOUN
app01-3930	134	17	which	which	PRON
app01-3930	134	18	together	together	ADV
app01-3930	134	19	form	form	VERB
app01-3930	134	20	a	a	DET
app01-3930	134	21	continuous	continuous	ADJ
app01-3930	134	22	path	path	NOUN
app01-3930	134	23	.	.	PUNCT
app01-3930	135	1	similarly	similarly	ADV
app01-3930	135	2	the	the	DET
app01-3930	135	3	evolutionary	evolutionary	ADJ
app01-3930	135	4	-	-	PUNCT
app01-3930	135	5	based	base	VERB
app01-3930	135	6	algorithms	algorithm	NOUN
app01-3930	135	7	[	[	X
app01-3930	135	8	10	10	NUM
app01-3930	135	9	,	,	PUNCT
app01-3930	135	10	11	11	NUM
app01-3930	135	11	]	]	PUNCT
app01-3930	135	12	are	be	AUX
app01-3930	135	13	also	also	ADV
app01-3930	135	14	suitable	suitable	ADJ
app01-3930	135	15	for	for	ADP
app01-3930	135	16	a	a	DET
app01-3930	135	17	straightforward	straightforward	ADJ
app01-3930	135	18	extension	extension	NOUN
app01-3930	135	19	to	to	PART
app01-3930	135	20	address	address	VERB
app01-3930	135	21	the	the	DET
app01-3930	135	22	proposed	propose	VERB
app01-3930	135	23	dtsp	dtsp	NOUN
app01-3930	135	24	-	-	PUNCT
app01-3930	135	25	scm	scm	PROPN
app01-3930	135	26	.	.	PUNCT
app01-3930	136	1	here	here	ADV
app01-3930	136	2	,	,	PUNCT
app01-3930	136	3	the	the	DET
app01-3930	136	4	chromosome	chromosome	NOUN
app01-3930	136	5	representing	represent	VERB
app01-3930	136	6	the	the	DET
app01-3930	136	7	individual	individual	ADJ
app01-3930	136	8	needs	need	NOUN
app01-3930	136	9	to	to	PART
app01-3930	136	10	be	be	AUX
app01-3930	136	11	modified	modify	VERB
app01-3930	136	12	to	to	PART
app01-3930	136	13	contain	contain	VERB
app01-3930	136	14	the	the	DET
app01-3930	136	15	collecting	collecting	NOUN
app01-3930	136	16	maneuver	maneuver	NOUN
app01-3930	136	17	instead	instead	ADV
app01-3930	136	18	of	of	ADP
app01-3930	136	19	the	the	DET
app01-3930	136	20	vehicle	vehicle	NOUN
app01-3930	136	21	heading	head	VERB
app01-3930	136	22	only	only	ADV
app01-3930	136	23	.	.	PUNCT
app01-3930	137	1	in	in	ADP
app01-3930	137	2	addition	addition	NOUN
app01-3930	137	3	,	,	PUNCT
app01-3930	137	4	the	the	DET
app01-3930	137	5	evaluation	evaluation	NOUN
app01-3930	137	6	function	function	NOUN
app01-3930	137	7	needs	need	VERB
app01-3930	137	8	to	to	PART
app01-3930	137	9	be	be	AUX
app01-3930	137	10	modified	modify	VERB
app01-3930	137	11	to	to	PART
app01-3930	137	12	respect	respect	VERB
app01-3930	137	13	the	the	DET
app01-3930	137	14	total	total	ADJ
app01-3930	137	15	tour	tour	NOUN
app01-3930	137	16	length	length	NOUN
app01-3930	137	17	according	accord	VERB
app01-3930	137	18	to	to	ADP
app01-3930	137	19	(	(	PUNCT
app01-3930	137	20	2	2	NUM
app01-3930	137	21	)	)	PUNCT
app01-3930	137	22	.	.	PUNCT
app01-3930	138	1	5	5	X
app01-3930	138	2	.	.	X
app01-3930	138	3	evaluation	evaluation	NOUN
app01-3930	138	4	results	result	VERB
app01-3930	138	5	several	several	ADJ
app01-3930	138	6	problem	problem	NOUN
app01-3930	138	7	instances	instance	NOUN
app01-3930	138	8	of	of	ADP
app01-3930	138	9	the	the	DET
app01-3930	138	10	dtsp	dtsp	NOUN
app01-3930	138	11	-	-	PUNCT
app01-3930	138	12	scm	scm	PROPN
app01-3930	138	13	have	have	AUX
app01-3930	138	14	been	be	AUX
app01-3930	138	15	solved	solve	VERB
app01-3930	138	16	to	to	PART
app01-3930	138	17	demonstrate	demonstrate	VERB
app01-3930	138	18	usability	usability	NOUN
app01-3930	138	19	of	of	ADP
app01-3930	138	20	the	the	DET
app01-3930	138	21	newly	newly	ADV
app01-3930	138	22	proposed	propose	VERB
app01-3930	138	23	variant	variant	NOUN
app01-3930	138	24	of	of	ADP
app01-3930	138	25	the	the	DET
app01-3930	138	26	dtsp	dtsp	NOUN
app01-3930	138	27	with	with	ADP
app01-3930	138	28	straight	straight	ADJ
app01-3930	138	29	collecting	collecting	NOUN
app01-3930	138	30	maneuvers	maneuver	NOUN
app01-3930	138	31	.	.	PUNCT
app01-3930	139	1	a	a	DET
app01-3930	139	2	small	small	ADJ
app01-3930	139	3	quadrotor	quadrotor	NOUN
app01-3930	139	4	helicopter	helicopter	NOUN
app01-3930	139	5	has	have	AUX
app01-3930	139	6	been	be	AUX
app01-3930	139	7	simulated	simulate	VERB
app01-3930	139	8	in	in	ADP
app01-3930	139	9	the	the	DET
app01-3930	139	10	realistic	realistic	ADJ
app01-3930	139	11	gazebo	gazebo	PROPN
app01-3930	139	12	simulator	simulator	NOUN
app01-3930	140	1	[	[	X
app01-3930	140	2	16	16	NUM
app01-3930	140	3	]	]	PUNCT
app01-3930	140	4	with	with	ADP
app01-3930	140	5	a	a	DET
app01-3930	140	6	physical	physical	ADJ
app01-3930	140	7	model	model	NOUN
app01-3930	140	8	based	base	VERB
app01-3930	140	9	on	on	ADP
app01-3930	140	10	the	the	DET
app01-3930	140	11	pixhawk	pixhawk	NOUN
app01-3930	140	12	flight	flight	NOUN
app01-3930	140	13	controller	controller	NOUN
app01-3930	140	14	.	.	PUNCT
app01-3930	141	1	figure	figure	VERB
app01-3930	141	2	3	3	NUM
app01-3930	141	3	.	.	PUNCT
app01-3930	141	4	simulated	simulate	VERB
app01-3930	141	5	quadrotor	quadrotor	NOUN
app01-3930	141	6	helicopter	helicopter	NOUN
app01-3930	141	7	dropping	drop	VERB
app01-3930	141	8	red	red	ADJ
app01-3930	141	9	ball	ball	NOUN
app01-3930	141	10	object	object	NOUN
app01-3930	141	11	.	.	PUNCT
app01-3930	142	1	an	an	DET
app01-3930	142	2	example	example	NOUN
app01-3930	142	3	of	of	ADP
app01-3930	142	4	graphical	graphical	ADJ
app01-3930	142	5	output	output	NOUN
app01-3930	142	6	from	from	ADP
app01-3930	142	7	the	the	DET
app01-3930	142	8	simulator	simulator	NOUN
app01-3930	142	9	is	be	AUX
app01-3930	142	10	depicted	depict	VERB
app01-3930	142	11	in	in	ADP
app01-3930	142	12	fig	fig	NOUN
app01-3930	142	13	.	.	PUNCT
app01-3930	143	1	3	3	X
app01-3930	143	2	.	.	X
app01-3930	143	3	the	the	DET
app01-3930	143	4	helicopter	helicopter	NOUN
app01-3930	143	5	has	have	AUX
app01-3930	143	6	been	be	AUX
app01-3930	143	7	requested	request	VERB
app01-3930	143	8	to	to	PART
app01-3930	143	9	fly	fly	VERB
app01-3930	143	10	at	at	ADP
app01-3930	143	11	the	the	DET
app01-3930	143	12	altitude	altitude	NOUN
app01-3930	143	13	20	20	NUM
app01-3930	143	14	m	m	NOUN
app01-3930	143	15	with	with	ADP
app01-3930	143	16	the	the	DET
app01-3930	143	17	speed	speed	NOUN
app01-3930	143	18	5	5	NUM
app01-3930	143	19	m.s-1	m.s-1	NOUN
app01-3930	143	20	and	and	CCONJ
app01-3930	143	21	the	the	DET
app01-3930	143	22	minimal	minimal	ADJ
app01-3930	143	23	turning	turning	NOUN
app01-3930	143	24	radius	radius	NOUN
app01-3930	143	25	has	have	AUX
app01-3930	143	26	been	be	AUX
app01-3930	143	27	set	set	VERB
app01-3930	143	28	to	to	ADP
app01-3930	143	29	ρ	ρ	PROPN
app01-3930	143	30	=	=	SYM
app01-3930	143	31	7	7	NUM
app01-3930	143	32	m	m	NOUN
app01-3930	143	33	to	to	PART
app01-3930	143	34	imitate	imitate	VERB
app01-3930	143	35	realistic	realistic	ADJ
app01-3930	143	36	conditions	condition	NOUN
app01-3930	143	37	of	of	ADP
app01-3930	143	38	a	a	DET
app01-3930	143	39	real	real	ADJ
app01-3930	143	40	aircraft	aircraft	NOUN
app01-3930	143	41	.	.	PUNCT
app01-3930	144	1	the	the	DET
app01-3930	144	2	dropping	drop	VERB
app01-3930	144	3	distance	distance	NOUN
app01-3930	144	4	has	have	AUX
app01-3930	144	5	been	be	AUX
app01-3930	144	6	set	set	VERB
app01-3930	144	7	to	to	ADP
app01-3930	144	8	approximately	approximately	ADV
app01-3930	144	9	9.5	9.5	NUM
app01-3930	144	10	m	m	NOUN
app01-3930	144	11	and	and	CCONJ
app01-3930	144	12	the	the	DET
app01-3930	144	13	used	used	ADJ
app01-3930	144	14	straight	straight	ADJ
app01-3930	144	15	collecting	collecting	NOUN
app01-3930	144	16	maneuvers	maneuver	NOUN
app01-3930	144	17	have	have	VERB
app01-3930	144	18	the	the	DET
app01-3930	144	19	parameters	parameter	NOUN
app01-3930	144	20	:	:	PUNCT
app01-3930	144	21	α	α	X
app01-3930	144	22	=	=	NUM
app01-3930	144	23	12	12	NUM
app01-3930	144	24	m	m	NOUN
app01-3930	144	25	and	and	CCONJ
app01-3930	144	26	β	β	X
app01-3930	144	27	=	=	SYM
app01-3930	144	28	8	8	NUM
app01-3930	144	29	m.	m.	NOUN
app01-3930	144	30	we	we	PRON
app01-3930	144	31	have	have	AUX
app01-3930	144	32	conducted	conduct	VERB
app01-3930	144	33	two	two	NUM
app01-3930	144	34	types	type	NOUN
app01-3930	144	35	of	of	ADP
app01-3930	144	36	evaluation	evaluation	NOUN
app01-3930	144	37	scenarios	scenario	NOUN
app01-3930	144	38	.	.	PUNCT
app01-3930	145	1	the	the	DET
app01-3930	145	2	first	first	ADJ
app01-3930	145	3	scenario	scenario	NOUN
app01-3930	145	4	is	be	AUX
app01-3930	145	5	designed	design	VERB
app01-3930	145	6	to	to	PART
app01-3930	145	7	validate	validate	VERB
app01-3930	145	8	a	a	DET
app01-3930	145	9	precision	precision	NOUN
app01-3930	145	10	of	of	ADP
app01-3930	145	11	the	the	DET
app01-3930	145	12	airdrop	airdrop	NOUN
app01-3930	145	13	maneuvers	maneuver	NOUN
app01-3930	145	14	without	without	ADP
app01-3930	145	15	and	and	CCONJ
app01-3930	145	16	with	with	ADP
app01-3930	145	17	the	the	DET
app01-3930	145	18	explicit	explicit	ADJ
app01-3930	145	19	consideration	consideration	NOUN
app01-3930	145	20	of	of	ADP
app01-3930	145	21	the	the	DET
app01-3930	145	22	straight	straight	ADJ
app01-3930	145	23	collecting	collecting	NOUN
app01-3930	145	24	maneuvers	maneuver	NOUN
app01-3930	145	25	in	in	ADP
app01-3930	145	26	the	the	DET
app01-3930	145	27	proposed	propose	VERB
app01-3930	145	28	dtsp	dtsp	NOUN
app01-3930	145	29	-	-	PUNCT
app01-3930	145	30	scm	scm	PROPN
app01-3930	145	31	.	.	PUNCT
app01-3930	146	1	the	the	DET
app01-3930	146	2	second	second	ADJ
app01-3930	146	3	scenario	scenario	NOUN
app01-3930	146	4	is	be	AUX
app01-3930	146	5	designed	design	VERB
app01-3930	146	6	to	to	PART
app01-3930	146	7	evaluate	evaluate	VERB
app01-3930	146	8	performance	performance	NOUN
app01-3930	146	9	of	of	ADP
app01-3930	146	10	the	the	DET
app01-3930	146	11	proposed	propose	VERB
app01-3930	146	12	modifications	modification	NOUN
app01-3930	146	13	of	of	ADP
app01-3930	146	14	the	the	DET
app01-3930	146	15	existing	exist	VERB
app01-3930	146	16	solutions	solution	NOUN
app01-3930	146	17	for	for	ADP
app01-3930	146	18	the	the	DET
app01-3930	146	19	dtsp	dtsp	NOUN
app01-3930	146	20	in	in	ADP
app01-3930	146	21	solving	solve	VERB
app01-3930	146	22	instances	instance	NOUN
app01-3930	146	23	of	of	ADP
app01-3930	146	24	the	the	DET
app01-3930	146	25	introduced	introduce	VERB
app01-3930	146	26	dtspscm	dtspscm	NOUN
app01-3930	146	27	.	.	PUNCT
app01-3930	147	1	5.1	5.1	NUM
app01-3930	147	2	.	.	PUNCT
app01-3930	147	3	precision	precision	NOUN
app01-3930	147	4	of	of	ADP
app01-3930	147	5	the	the	DET
app01-3930	147	6	airdrop	airdrop	NOUN
app01-3930	147	7	first	first	ADV
app01-3930	147	8	,	,	PUNCT
app01-3930	147	9	we	we	PRON
app01-3930	147	10	found	find	VERB
app01-3930	147	11	solutions	solution	NOUN
app01-3930	147	12	of	of	ADP
app01-3930	147	13	the	the	DET
app01-3930	147	14	ordinary	ordinary	ADJ
app01-3930	147	15	dtsp	dtsp	NOUN
app01-3930	147	16	and	and	CCONJ
app01-3930	147	17	the	the	DET
app01-3930	147	18	proposed	propose	VERB
app01-3930	147	19	dtsp	dtsp	NOUN
app01-3930	147	20	-	-	PUNCT
app01-3930	147	21	scm	scm	PROPN
app01-3930	147	22	using	use	VERB
app01-3930	147	23	the	the	DET
app01-3930	147	24	sampling	sampling	NOUN
app01-3930	147	25	based	base	VERB
app01-3930	147	26	approach	approach	NOUN
app01-3930	147	27	with	with	ADP
app01-3930	147	28	the	the	DET
app01-3930	147	29	lkh	lkh	ADJ
app01-3930	147	30	solver	solver	NOUN
app01-3930	147	31	[	[	X
app01-3930	147	32	17	17	NUM
app01-3930	147	33	]	]	PUNCT
app01-3930	147	34	.	.	PUNCT
app01-3930	148	1	the	the	DET
app01-3930	148	2	evaluation	evaluation	NOUN
app01-3930	148	3	instance	instance	NOUN
app01-3930	148	4	is	be	AUX
app01-3930	148	5	generated	generate	VERB
app01-3930	148	6	for	for	ADP
app01-3930	148	7	10	10	NUM
app01-3930	148	8	target	target	NOUN
app01-3930	148	9	locations	location	NOUN
app01-3930	148	10	(	(	PUNCT
app01-3930	148	11	n	n	NOUN
app01-3930	148	12	=	=	NUM
app01-3930	148	13	10	10	NUM
app01-3930	148	14	)	)	PUNCT
app01-3930	148	15	with	with	ADP
app01-3930	148	16	the	the	DET
app01-3930	148	17	relative	relative	ADJ
app01-3930	148	18	density	density	NOUN
app01-3930	149	1	d	d	PROPN
app01-3930	149	2	=	=	NOUN
app01-3930	149	3	0.3	0.3	NUM
app01-3930	149	4	defined	define	VERB
app01-3930	149	5	as	as	ADP
app01-3930	149	6	:	:	PUNCT
app01-3930	149	7	d	d	X
app01-3930	149	8	=	=	SYM
app01-3930	149	9	ρ	ρ	PROPN
app01-3930	149	10	√	√	PROPN
app01-3930	149	11	n	n	NUM
app01-3930	149	12	s	s	NOUN
app01-3930	149	13	,	,	PUNCT
app01-3930	149	14	(	(	PUNCT
app01-3930	149	15	5	5	NUM
app01-3930	149	16	)	)	PUNCT
app01-3930	149	17	where	where	SCONJ
app01-3930	149	18	s	s	NOUN
app01-3930	149	19	is	be	AUX
app01-3930	149	20	the	the	DET
app01-3930	149	21	size	size	NOUN
app01-3930	149	22	of	of	ADP
app01-3930	149	23	the	the	DET
app01-3930	149	24	bounding	bounding	NOUN
app01-3930	149	25	box	box	NOUN
app01-3930	149	26	where	where	SCONJ
app01-3930	149	27	all	all	DET
app01-3930	149	28	target	target	NOUN
app01-3930	149	29	locations	location	NOUN
app01-3930	149	30	are	be	AUX
app01-3930	149	31	positioned	position	VERB
app01-3930	149	32	.	.	PUNCT
app01-3930	150	1	we	we	PRON
app01-3930	150	2	consider	consider	VERB
app01-3930	150	3	solution	solution	NOUN
app01-3930	150	4	of	of	ADP
app01-3930	150	5	10	10	NUM
app01-3930	150	6	random	random	ADJ
app01-3930	150	7	instances	instance	NOUN
app01-3930	150	8	with	with	ADP
app01-3930	150	9	n	n	NOUN
app01-3930	150	10	=	=	SYM
app01-3930	150	11	10	10	NUM
app01-3930	150	12	solved	solve	VERB
app01-3930	150	13	by	by	ADP
app01-3930	150	14	each	each	DET
app01-3930	150	15	particular	particular	ADJ
app01-3930	150	16	approach	approach	NOUN
app01-3930	150	17	(	(	PUNCT
app01-3930	150	18	dtsp	dtsp	NOUN
app01-3930	150	19	and	and	CCONJ
app01-3930	150	20	dtsp	dtsp	NOUN
app01-3930	150	21	-	-	PUNCT
app01-3930	150	22	scm	scm	PROPN
app01-3930	150	23	)	)	PUNCT
app01-3930	150	24	to	to	PART
app01-3930	150	25	obtain	obtain	VERB
app01-3930	150	26	statistically	statistically	ADV
app01-3930	150	27	significant	significant	ADJ
app01-3930	150	28	results	result	NOUN
app01-3930	150	29	.	.	PUNCT
app01-3930	151	1	hence	hence	ADV
app01-3930	151	2	,	,	PUNCT
app01-3930	151	3	100	100	NUM
app01-3930	151	4	simulated	simulated	ADJ
app01-3930	151	5	intersection	intersection	NOUN
app01-3930	151	6	of	of	ADP
app01-3930	151	7	the	the	DET
app01-3930	151	8	dropped	drop	VERB
app01-3930	151	9	object	object	NOUN
app01-3930	151	10	with	with	ADP
app01-3930	151	11	ground	ground	NOUN
app01-3930	151	12	have	have	AUX
app01-3930	151	13	been	be	AUX
app01-3930	151	14	recorded	record	VERB
app01-3930	151	15	.	.	PUNCT
app01-3930	152	1	in	in	ADP
app01-3930	152	2	the	the	DET
app01-3930	152	3	used	use	VERB
app01-3930	152	4	simulated	simulate	VERB
app01-3930	152	5	environment	environment	NOUN
app01-3930	152	6	,	,	PUNCT
app01-3930	152	7	a	a	DET
app01-3930	152	8	limited	limited	ADJ
app01-3930	152	9	precision	precision	NOUN
app01-3930	152	10	of	of	ADP
app01-3930	152	11	the	the	DET
app01-3930	152	12	gps	gps	PROPN
app01-3930	152	13	and	and	CCONJ
app01-3930	152	14	all	all	DET
app01-3930	152	15	the	the	DET
app01-3930	152	16	motors	motor	NOUN
app01-3930	152	17	were	be	AUX
app01-3930	152	18	considered	consider	VERB
app01-3930	152	19	except	except	SCONJ
app01-3930	152	20	of	of	ADP
app01-3930	152	21	air	air	NOUN
app01-3930	152	22	resistance	resistance	NOUN
app01-3930	152	23	.	.	PUNCT
app01-3930	153	1	the	the	DET
app01-3930	153	2	obtained	obtain	VERB
app01-3930	153	3	locations	location	NOUN
app01-3930	153	4	of	of	ADP
app01-3930	153	5	the	the	DET
app01-3930	153	6	dropped	drop	VERB
app01-3930	153	7	object	object	NOUN
app01-3930	153	8	are	be	AUX
app01-3930	153	9	visualized	visualize	VERB
app01-3930	153	10	in	in	ADP
app01-3930	153	11	fig	fig	NOUN
app01-3930	153	12	.	.	PUNCT
app01-3930	154	1	4	4	NUM
app01-3930	154	2	where	where	SCONJ
app01-3930	154	3	a	a	DET
app01-3930	154	4	direction	direction	NOUN
app01-3930	154	5	of	of	ADP
app01-3930	154	6	all	all	DET
app01-3930	154	7	dropping	drop	VERB
app01-3930	154	8	maneuvers	maneuver	NOUN
app01-3930	154	9	is	be	AUX
app01-3930	154	10	rotated	rotate	VERB
app01-3930	154	11	to	to	ADP
app01-3930	154	12	the	the	DET
app01-3930	154	13	same	same	ADJ
app01-3930	154	14	orientation	orientation	NOUN
app01-3930	154	15	to	to	PART
app01-3930	154	16	draw	draw	VERB
app01-3930	154	17	all	all	DET
app01-3930	154	18	locations	location	NOUN
app01-3930	154	19	within	within	ADP
app01-3930	154	20	the	the	DET
app01-3930	154	21	same	same	ADJ
app01-3930	154	22	figure	figure	NOUN
app01-3930	154	23	.	.	PUNCT
app01-3930	155	1	it	it	PRON
app01-3930	155	2	can	can	AUX
app01-3930	155	3	be	be	AUX
app01-3930	155	4	easily	easily	ADV
app01-3930	155	5	seen	see	VERB
app01-3930	155	6	that	that	SCONJ
app01-3930	155	7	objects	object	NOUN
app01-3930	155	8	dropped	drop	VERB
app01-3930	155	9	without	without	ADP
app01-3930	155	10	explicit	explicit	ADJ
app01-3930	155	11	consideration	consideration	NOUN
app01-3930	155	12	of	of	ADP
app01-3930	155	13	the	the	DET
app01-3930	155	14	straight	straight	ADJ
app01-3930	155	15	collecting	collecting	NOUN
app01-3930	155	16	maneuvers	maneuver	NOUN
app01-3930	155	17	(	(	PUNCT
app01-3930	155	18	i.e.	i.e.	X
app01-3930	155	19	,	,	PUNCT
app01-3930	155	20	a	a	DET
app01-3930	155	21	solution	solution	NOUN
app01-3930	155	22	of	of	ADP
app01-3930	155	23	the	the	DET
app01-3930	155	24	ordinary	ordinary	ADJ
app01-3930	155	25	dtsp	dtsp	NOUN
app01-3930	155	26	)	)	PUNCT
app01-3930	155	27	are	be	AUX
app01-3930	155	28	often	often	ADV
app01-3930	155	29	dropped	drop	VERB
app01-3930	155	30	with	with	ADP
app01-3930	155	31	a	a	DET
app01-3930	155	32	longer	long	ADJ
app01-3930	155	33	distance	distance	NOUN
app01-3930	155	34	error	error	NOUN
app01-3930	155	35	from	from	ADP
app01-3930	155	36	the	the	DET
app01-3930	155	37	desired	desire	VERB
app01-3930	155	38	target	target	NOUN
app01-3930	155	39	37	37	NUM
app01-3930	155	40	petr	petr	PROPN
app01-3930	155	41	váňa	váňa	NOUN
app01-3930	155	42	,	,	PUNCT
app01-3930	155	43	jan	jan	PROPN
app01-3930	155	44	faigl	faigl	PROPN
app01-3930	155	45	acta	acta	PROPN
app01-3930	155	46	polytechnica	polytechnica	PROPN
app01-3930	155	47	ctu	ctu	NOUN
app01-3930	155	48	proceedings	proceeding	NOUN
app01-3930	155	49	●	●	PUNCT
app01-3930	155	50	●	●	PUNCT
app01-3930	155	51	●	●	NUM
app01-3930	155	52	●	●	NUM
app01-3930	155	53	●	●	NUM
app01-3930	155	54	●	●	NUM
app01-3930	155	55	●	●	PUNCT
app01-3930	155	56	●	●	PUNCT
app01-3930	155	57	●	●	PUNCT
app01-3930	155	58	●	●	PUNCT
app01-3930	155	59	●	●	PUNCT
app01-3930	155	60	●	●	PUNCT
app01-3930	155	61	●	●	PUNCT
app01-3930	155	62	●	●	PUNCT
app01-3930	155	63	●	●	PUNCT
app01-3930	155	64	●	●	PUNCT
app01-3930	155	65	●	●	PUNCT
app01-3930	155	66	●	●	PUNCT
app01-3930	155	67	●	●	PUNCT
app01-3930	155	68	●	●	PUNCT
app01-3930	155	69	●	●	PUNCT
app01-3930	155	70	●	●	PUNCT
app01-3930	155	71	●	●	PUNCT
app01-3930	155	72	●	●	PUNCT
app01-3930	155	73	●	●	PUNCT
app01-3930	155	74	●	●	PUNCT
app01-3930	155	75	●	●	PUNCT
app01-3930	155	76	●	●	PUNCT
app01-3930	155	77	●	●	NUM
app01-3930	155	78	●	●	PUNCT
app01-3930	155	79	●	●	SYM
app01-3930	155	80	●	●	NUM
app01-3930	155	81	●	●	NUM
app01-3930	155	82	●	●	NUM
app01-3930	155	83	●	●	NUM
app01-3930	155	84	●	●	PUNCT
app01-3930	155	85	●	●	SYM
app01-3930	155	86	●	●	NUM
app01-3930	155	87	●	●	NUM
app01-3930	155	88	●	●	NUM
app01-3930	155	89	●	●	SYM
app01-3930	155	90	●	●	NUM
app01-3930	155	91	●	●	NUM
app01-3930	155	92	●	●	NUM
app01-3930	155	93	●	●	NUM
app01-3930	155	94	●	●	PUNCT
app01-3930	155	95	●	●	SYM
app01-3930	155	96	●	●	NUM
app01-3930	155	97	●	●	NUM
app01-3930	155	98	●	●	NUM
app01-3930	155	99	●	●	PUNCT
app01-3930	155	100	●	●	PUNCT
app01-3930	155	101	●	●	PUNCT
app01-3930	155	102	●	●	PUNCT
app01-3930	155	103	●	●	PUNCT
app01-3930	155	104	●	●	PUNCT
app01-3930	155	105	●	●	PUNCT
app01-3930	155	106	●	●	PUNCT
app01-3930	155	107	●	●	PUNCT
app01-3930	155	108	●	●	PUNCT
app01-3930	155	109	●	●	PUNCT
app01-3930	155	110	●	●	PUNCT
app01-3930	155	111	●	●	PUNCT
app01-3930	155	112	●	●	PUNCT
app01-3930	155	113	●	●	PUNCT
app01-3930	155	114	●	●	PUNCT
app01-3930	155	115	●	●	PUNCT
app01-3930	155	116	●	●	PUNCT
app01-3930	155	117	●	●	PUNCT
app01-3930	155	118	●	●	PUNCT
app01-3930	155	119	●	●	PUNCT
app01-3930	155	120	●	●	PUNCT
app01-3930	155	121	●	●	PUNCT
app01-3930	155	122	●	●	PUNCT
app01-3930	155	123	●	●	PUNCT
app01-3930	155	124	●	●	PUNCT
app01-3930	155	125	●	●	PUNCT
app01-3930	155	126	●	●	PUNCT
app01-3930	155	127	●	●	PUNCT
app01-3930	155	128	●	●	PUNCT
app01-3930	155	129	●	●	PUNCT
app01-3930	155	130	●	●	PUNCT
app01-3930	155	131	●	●	PUNCT
app01-3930	155	132	●	●	PUNCT
app01-3930	155	133	●	●	PUNCT
app01-3930	155	134	●	●	PUNCT
app01-3930	155	135	●	●	PUNCT
app01-3930	155	136	●	●	PUNCT
app01-3930	155	137	●	●	PUNCT
app01-3930	155	138	●	●	PUNCT
app01-3930	155	139	●	●	PUNCT
app01-3930	155	140	●	●	PUNCT
app01-3930	155	141	●	●	PUNCT
app01-3930	155	142	●	●	PUNCT
app01-3930	155	143	●	●	NUM
app01-3930	155	144	●	●	PUNCT
app01-3930	155	145	●	●	NUM
app01-3930	155	146	●	●	NUM
app01-3930	155	147	●	●	NUM
app01-3930	155	148	−10	−10	NOUN
app01-3930	155	149	−5	−5	ADV
app01-3930	155	150	0	0	NUM
app01-3930	155	151	5	5	NUM
app01-3930	155	152	−5	−5	NOUN
app01-3930	155	153	0	0	NUM
app01-3930	155	154	5	5	NUM
app01-3930	155	155	10	10	NUM
app01-3930	155	156	xerror	xerror	NOUN
app01-3930	156	1	[	[	X
app01-3930	156	2	m	m	X
app01-3930	156	3	]	]	X
app01-3930	156	4	y	y	PROPN
app01-3930	156	5	e	e	PROPN
app01-3930	156	6	rr	rr	NOUN
app01-3930	156	7	or	or	CCONJ
app01-3930	156	8	[	[	X
app01-3930	156	9	m	m	X
app01-3930	156	10	]	]	X
app01-3930	156	11	method	method	NOUN
app01-3930	156	12	●	●	NUM
app01-3930	156	13	dtsp	dtsp	NOUN
app01-3930	156	14	dtsp−scm	dtsp−scm	NOUN
app01-3930	156	15	airdrop	airdrop	NOUN
app01-3930	156	16	target	target	NOUN
app01-3930	156	17	figure	figure	NOUN
app01-3930	156	18	4	4	NUM
app01-3930	156	19	.	.	PUNCT
app01-3930	156	20	locations	location	NOUN
app01-3930	156	21	of	of	ADP
app01-3930	156	22	the	the	DET
app01-3930	156	23	dropped	drop	VERB
app01-3930	156	24	object	object	NOUN
app01-3930	156	25	to	to	ADP
app01-3930	156	26	the	the	DET
app01-3930	156	27	target	target	NOUN
app01-3930	156	28	location	location	NOUN
app01-3930	156	29	as	as	ADP
app01-3930	156	30	a	a	DET
app01-3930	156	31	result	result	NOUN
app01-3930	156	32	of	of	ADP
app01-3930	156	33	the	the	DET
app01-3930	156	34	performing	perform	VERB
app01-3930	156	35	dtsp	dtsp	NOUN
app01-3930	156	36	solution	solution	NOUN
app01-3930	156	37	and	and	CCONJ
app01-3930	156	38	a	a	DET
app01-3930	156	39	solution	solution	NOUN
app01-3930	156	40	of	of	ADP
app01-3930	156	41	the	the	DET
app01-3930	156	42	newly	newly	ADV
app01-3930	156	43	introduced	introduce	VERB
app01-3930	156	44	dtspscm	dtspscm	NOUN
app01-3930	156	45	.	.	PUNCT
app01-3930	157	1	all	all	DET
app01-3930	157	2	measurements	measurement	NOUN
app01-3930	157	3	are	be	AUX
app01-3930	157	4	normalized	normalize	VERB
app01-3930	157	5	by	by	ADP
app01-3930	157	6	the	the	DET
app01-3930	157	7	position	position	NOUN
app01-3930	157	8	of	of	ADP
app01-3930	157	9	the	the	DET
app01-3930	157	10	airdrop	airdrop	NOUN
app01-3930	157	11	and	and	CCONJ
app01-3930	157	12	the	the	DET
app01-3930	157	13	target	target	NOUN
app01-3930	157	14	location	location	NOUN
app01-3930	157	15	.	.	PUNCT
app01-3930	158	1	0.0	0.0	NUM
app01-3930	158	2	2.5	2.5	NUM
app01-3930	158	3	5.0	5.0	NUM
app01-3930	158	4	7.5	7.5	NUM
app01-3930	158	5	10.0	10.0	NUM
app01-3930	158	6	12.5	12.5	NUM
app01-3930	158	7	0255075100	0255075100	NUM
app01-3930	158	8	percent	percent	NOUN
app01-3930	158	9	of	of	ADP
app01-3930	158	10	dataset	dataset	NOUN
app01-3930	158	11	[	[	X
app01-3930	158	12	%	%	X
app01-3930	158	13	]	]	X
app01-3930	158	14	e	e	X
app01-3930	158	15	rr	rr	PROPN
app01-3930	158	16	or	or	CCONJ
app01-3930	158	17	d	d	PROPN
app01-3930	158	18	is	be	AUX
app01-3930	158	19	ta	ta	PROPN
app01-3930	158	20	nc	nc	PROPN
app01-3930	158	21	e	e	PROPN
app01-3930	159	1	[	[	X
app01-3930	159	2	m	m	X
app01-3930	159	3	]	]	X
app01-3930	159	4	solver	solver	VERB
app01-3930	159	5	dtsp	dtsp	NOUN
app01-3930	159	6	dtsp−scm	dtsp−scm	PROPN
app01-3930	159	7	figure	figure	NOUN
app01-3930	159	8	5	5	NUM
app01-3930	159	9	.	.	PUNCT
app01-3930	159	10	precision	precision	NOUN
app01-3930	159	11	of	of	ADP
app01-3930	159	12	the	the	DET
app01-3930	159	13	airdrop	airdrop	NOUN
app01-3930	159	14	maneuver	maneuver	NOUN
app01-3930	159	15	obtained	obtain	VERB
app01-3930	159	16	by	by	ADP
app01-3930	159	17	solution	solution	NOUN
app01-3930	159	18	of	of	ADP
app01-3930	159	19	the	the	DET
app01-3930	159	20	dtsp	dtsp	NOUN
app01-3930	159	21	and	and	CCONJ
app01-3930	159	22	the	the	DET
app01-3930	159	23	newly	newly	ADV
app01-3930	159	24	proposed	propose	VERB
app01-3930	159	25	formulation	formulation	NOUN
app01-3930	159	26	of	of	ADP
app01-3930	159	27	the	the	DET
app01-3930	159	28	dtsp	dtsp	NOUN
app01-3930	159	29	-	-	PUNCT
app01-3930	159	30	scm	scm	PROPN
app01-3930	159	31	location	location	NOUN
app01-3930	159	32	than	than	ADP
app01-3930	159	33	for	for	ADP
app01-3930	159	34	the	the	DET
app01-3930	159	35	case	case	NOUN
app01-3930	159	36	when	when	SCONJ
app01-3930	159	37	the	the	DET
app01-3930	159	38	trajectory	trajectory	NOUN
app01-3930	159	39	is	be	AUX
app01-3930	159	40	found	find	VERB
app01-3930	159	41	as	as	ADP
app01-3930	159	42	a	a	DET
app01-3930	159	43	solution	solution	NOUN
app01-3930	159	44	of	of	ADP
app01-3930	159	45	the	the	DET
app01-3930	159	46	dtsp	dtsp	NOUN
app01-3930	159	47	-	-	PUNCT
app01-3930	159	48	scm	scm	PROPN
app01-3930	159	49	.	.	PUNCT
app01-3930	160	1	the	the	DET
app01-3930	160	2	distance	distance	NOUN
app01-3930	160	3	of	of	ADP
app01-3930	160	4	the	the	DET
app01-3930	160	5	real	real	ADJ
app01-3930	160	6	position	position	NOUN
app01-3930	160	7	of	of	ADP
app01-3930	160	8	the	the	DET
app01-3930	160	9	dropped	drop	VERB
app01-3930	160	10	object	object	NOUN
app01-3930	160	11	to	to	ADP
app01-3930	160	12	its	its	PRON
app01-3930	160	13	expect	expect	VERB
app01-3930	160	14	position	position	NOUN
app01-3930	160	15	at	at	ADP
app01-3930	160	16	the	the	DET
app01-3930	160	17	target	target	NOUN
app01-3930	160	18	location	location	NOUN
app01-3930	160	19	is	be	AUX
app01-3930	160	20	depicted	depict	VERB
app01-3930	160	21	in	in	ADP
app01-3930	160	22	fig	fig	NOUN
app01-3930	160	23	.	.	PUNCT
app01-3930	161	1	5	5	NUM
app01-3930	161	2	.	.	PUNCT
app01-3930	161	3	the	the	DET
app01-3930	161	4	error	error	NOUN
app01-3930	161	5	for	for	ADP
app01-3930	161	6	the	the	DET
app01-3930	161	7	solutions	solution	NOUN
app01-3930	161	8	of	of	ADP
app01-3930	161	9	the	the	DET
app01-3930	161	10	dtsp	dtsp	NOUN
app01-3930	161	11	-	-	PUNCT
app01-3930	161	12	scm	scm	PROPN
app01-3930	161	13	is	be	AUX
app01-3930	161	14	almost	almost	ADV
app01-3930	161	15	half	half	NOUN
app01-3930	161	16	of	of	ADP
app01-3930	161	17	the	the	DET
app01-3930	161	18	error	error	NOUN
app01-3930	161	19	for	for	ADP
app01-3930	161	20	the	the	DET
app01-3930	161	21	dtsp	dtsp	NOUN
app01-3930	161	22	.	.	PUNCT
app01-3930	162	1	5.2	5.2	NUM
app01-3930	162	2	.	.	PUNCT
app01-3930	162	3	performance	performance	NOUN
app01-3930	162	4	of	of	ADP
app01-3930	162	5	dtsp	dtsp	NOUN
app01-3930	162	6	approaches	approach	NOUN
app01-3930	162	7	in	in	ADP
app01-3930	162	8	the	the	DET
app01-3930	162	9	dtsp	dtsp	NOUN
app01-3930	162	10	-	-	PUNCT
app01-3930	162	11	scm	scm	PROPN
app01-3930	162	12	the	the	DET
app01-3930	162	13	proposed	propose	VERB
app01-3930	162	14	modifications	modification	NOUN
app01-3930	162	15	of	of	ADP
app01-3930	162	16	the	the	DET
app01-3930	162	17	existing	exist	VERB
app01-3930	162	18	approaches	approach	NOUN
app01-3930	162	19	for	for	ADP
app01-3930	162	20	the	the	DET
app01-3930	162	21	dtsp	dtsp	NOUN
app01-3930	162	22	to	to	PART
app01-3930	162	23	address	address	VERB
app01-3930	162	24	the	the	DET
app01-3930	162	25	introduced	introduce	VERB
app01-3930	162	26	dtsp	dtsp	NOUN
app01-3930	162	27	-	-	PUNCT
app01-3930	162	28	scm	scm	PROPN
app01-3930	162	29	have	have	AUX
app01-3930	162	30	been	be	AUX
app01-3930	162	31	evaluated	evaluate	VERB
app01-3930	162	32	in	in	ADP
app01-3930	162	33	a	a	DET
app01-3930	162	34	series	series	NOUN
app01-3930	162	35	of	of	ADP
app01-3930	162	36	dtsp	dtsp	NOUN
app01-3930	162	37	-	-	PUNCT
app01-3930	162	38	scm	scm	PROPN
app01-3930	162	39	instances	instance	NOUN
app01-3930	162	40	according	accord	VERB
app01-3930	162	41	to	to	ADP
app01-3930	162	42	the	the	DET
app01-3930	162	43	number	number	NOUN
app01-3930	162	44	of	of	ADP
app01-3930	162	45	target	target	NOUN
app01-3930	162	46	locations	location	NOUN
app01-3930	162	47	n	n	PRON
app01-3930	162	48	and	and	CCONJ
app01-3930	162	49	their	their	PRON
app01-3930	162	50	density	density	NOUN
app01-3930	162	51	d	d	NOUN
app01-3930	162	52	determined	determine	VERB
app01-3930	162	53	by	by	ADP
app01-3930	162	54	(	(	PUNCT
app01-3930	162	55	5	5	NUM
app01-3930	162	56	)	)	PUNCT
app01-3930	162	57	.	.	PUNCT
app01-3930	163	1	six	six	NUM
app01-3930	163	2	algorithms	algorithm	NOUN
app01-3930	163	3	for	for	ADP
app01-3930	163	4	the	the	DET
app01-3930	163	5	dtsp	dtsp	NOUN
app01-3930	163	6	-	-	PUNCT
app01-3930	163	7	scm	scm	PROPN
app01-3930	163	8	has	have	AUX
app01-3930	163	9	been	be	AUX
app01-3930	163	10	compared	compare	VERB
app01-3930	163	11	.	.	PUNCT
app01-3930	164	1	in	in	ADP
app01-3930	164	2	particular	particular	ADJ
app01-3930	164	3	,	,	PUNCT
app01-3930	164	4	the	the	DET
app01-3930	164	5	proposed	propose	VERB
app01-3930	164	6	modifications	modification	NOUN
app01-3930	164	7	of	of	ADP
app01-3930	164	8	approaches	approach	NOUN
app01-3930	164	9	:	:	PUNCT
app01-3930	164	10	alternating	alternate	VERB
app01-3930	164	11	algorithm	algorithm	NOUN
app01-3930	164	12	(	(	PUNCT
app01-3930	164	13	aa	aa	NOUN
app01-3930	164	14	)	)	PUNCT
app01-3930	165	1	[	[	X
app01-3930	165	2	1	1	NUM
app01-3930	165	3	]	]	PUNCT
app01-3930	165	4	,	,	PUNCT
app01-3930	165	5	local	local	ADJ
app01-3930	165	6	iterative	iterative	NOUN
app01-3930	165	7	optimization	optimization	NOUN
app01-3930	165	8	[	[	X
app01-3930	165	9	18	18	NUM
app01-3930	165	10	]	]	PUNCT
app01-3930	165	11	,	,	PUNCT
app01-3930	165	12	genetic	genetic	ADJ
app01-3930	165	13	algorithm	algorithm	NOUN
app01-3930	165	14	[	[	X
app01-3930	165	15	10	10	NUM
app01-3930	165	16	]	]	PUNCT
app01-3930	165	17	,	,	PUNCT
app01-3930	165	18	memetic	memetic	ADJ
app01-3930	165	19	algorithm	algorithm	NOUN
app01-3930	166	1	[	[	X
app01-3930	166	2	11	11	NUM
app01-3930	166	3	]	]	PUNCT
app01-3930	166	4	,	,	PUNCT
app01-3930	166	5	and	and	CCONJ
app01-3930	166	6	sampling	sample	VERB
app01-3930	166	7	-	-	PUNCT
app01-3930	166	8	based	base	VERB
app01-3930	166	9	approach	approach	NOUN
app01-3930	166	10	[	[	X
app01-3930	166	11	6	6	NUM
app01-3930	166	12	]	]	PUNCT
app01-3930	166	13	with	with	ADP
app01-3930	166	14	the	the	DET
app01-3930	166	15	lkh	lkh	ADJ
app01-3930	166	16	solver	solver	NOUN
app01-3930	167	1	[	[	X
app01-3930	167	2	17	17	NUM
app01-3930	167	3	]	]	PUNCT
app01-3930	167	4	(	(	PUNCT
app01-3930	167	5	denoted	denote	VERB
app01-3930	167	6	as	as	ADP
app01-3930	167	7	the	the	DET
app01-3930	167	8	sampling+lkh	sampling+lkh	NOUN
app01-3930	167	9	)	)	PUNCT
app01-3930	167	10	and	and	CCONJ
app01-3930	167	11	with	with	ADP
app01-3930	167	12	the	the	DET
app01-3930	167	13	optimal	optimal	ADJ
app01-3930	167	14	concorde	concorde	PROPN
app01-3930	167	15	solver	solver	NOUN
app01-3930	168	1	[	[	X
app01-3930	168	2	8	8	NUM
app01-3930	168	3	]	]	PUNCT
app01-3930	168	4	,	,	PUNCT
app01-3930	168	5	denoted	denote	VERB
app01-3930	168	6	as	as	ADP
app01-3930	168	7	the	the	DET
app01-3930	168	8	sampling+concorde	sampling+concorde	PROPN
app01-3930	168	9	.	.	PUNCT
app01-3930	169	1	due	due	ADP
app01-3930	169	2	to	to	ADP
app01-3930	169	3	high	high	ADJ
app01-3930	169	4	computational	computational	ADJ
app01-3930	169	5	requirements	requirement	NOUN
app01-3930	169	6	of	of	ADP
app01-3930	169	7	the	the	DET
app01-3930	169	8	genetic	genetic	ADJ
app01-3930	169	9	,	,	PUNCT
app01-3930	169	10	memetic	memetic	ADJ
app01-3930	169	11	,	,	PUNCT
app01-3930	169	12	and	and	CCONJ
app01-3930	169	13	sampling	sample	VERB
app01-3930	169	14	●	●	NUM
app01-3930	169	15	●	●	PUNCT
app01-3930	169	16	●	●	PUNCT
app01-3930	169	17	●	●	PUNCT
app01-3930	169	18	●	●	PUNCT
app01-3930	169	19	●	●	PUNCT
app01-3930	169	20	●	●	PUNCT
app01-3930	169	21	●	●	PUNCT
app01-3930	169	22	●	●	NUM
app01-3930	169	23	●	●	PUNCT
app01-3930	169	24	●	●	SYM
app01-3930	169	25	●	●	NUM
app01-3930	169	26	●	●	NUM
app01-3930	169	27	●	●	NUM
app01-3930	169	28	●	●	PUNCT
app01-3930	169	29	●	●	PUNCT
app01-3930	169	30	●	●	PUNCT
app01-3930	169	31	●	●	PUNCT
app01-3930	169	32	●	●	PUNCT
app01-3930	169	33	●	●	PUNCT
app01-3930	169	34	●	●	PUNCT
app01-3930	169	35	●	●	NUM
app01-3930	169	36	●	●	PUNCT
app01-3930	169	37	●	●	NUM
app01-3930	169	38	0	0	NUM
app01-3930	169	39	1	1	NUM
app01-3930	169	40	2	2	NUM
app01-3930	169	41	3	3	NUM
app01-3930	169	42	10	10	NUM
app01-3930	169	43	20	20	NUM
app01-3930	169	44	50	50	NUM
app01-3930	169	45	100	100	NUM
app01-3930	169	46	number	number	NOUN
app01-3930	169	47	of	of	ADP
app01-3930	169	48	target	target	NOUN
app01-3930	169	49	positions	position	NOUN
app01-3930	169	50	r	r	NOUN
app01-3930	169	51	at	at	ADP
app01-3930	169	52	io	io	X
app01-3930	169	53	o	o	X
app01-3930	170	1	f	f	PROPN
app01-3930	170	2	s	s	VERB
app01-3930	170	3	ol	ol	PROPN
app01-3930	170	4	ut	ut	PROPN
app01-3930	170	5	io	io	PROPN
app01-3930	170	6	n	n	PROPN
app01-3930	170	7	le	le	X
app01-3930	170	8	ng	ng	PROPN
app01-3930	170	9	th	th	X
app01-3930	170	10	to	to	ADP
app01-3930	170	11	th	th	ADP
app01-3930	170	12	e	e	X
app01-3930	170	13	re	re	X
app01-3930	170	14	fe	fe	X
app01-3930	170	15	re	re	X
app01-3930	170	16	nc	nc	PROPN
app01-3930	170	17	e	e	PROPN
app01-3930	170	18	le	le	PROPN
app01-3930	170	19	ng	ng	PROPN
app01-3930	170	20	th	th	X
app01-3930	170	21	method	method	VERB
app01-3930	170	22	●	●	PUNCT
app01-3930	170	23	●	●	PUNCT
app01-3930	170	24	●	●	NUM
app01-3930	170	25	●	●	PUNCT
app01-3930	170	26	●	●	PUNCT
app01-3930	170	27	●	●	NUM
app01-3930	170	28	aa	aa	NOUN
app01-3930	170	29	lio	lio	PROPN
app01-3930	170	30	genetic	genetic	ADJ
app01-3930	170	31	memetic	memetic	ADJ
app01-3930	170	32	sampling+lkh	sampling+lkh	NOUN
app01-3930	170	33	sampling+con	sampling+con	NOUN
app01-3930	170	34	.	.	PUNCT
app01-3930	171	1	figure	figure	NOUN
app01-3930	171	2	6	6	NUM
app01-3930	171	3	.	.	PUNCT
app01-3930	172	1	average	average	ADJ
app01-3930	172	2	ratios	ratio	NOUN
app01-3930	172	3	of	of	ADP
app01-3930	172	4	the	the	DET
app01-3930	172	5	solution	solution	NOUN
app01-3930	172	6	length	length	NOUN
app01-3930	172	7	to	to	ADP
app01-3930	172	8	the	the	DET
app01-3930	172	9	reference	reference	NOUN
app01-3930	172	10	length	length	NOUN
app01-3930	172	11	of	of	ADP
app01-3930	172	12	the	the	DET
app01-3930	172	13	best	well	ADV
app01-3930	172	14	found	find	VERB
app01-3930	172	15	solution	solution	NOUN
app01-3930	172	16	depending	depend	VERB
app01-3930	172	17	on	on	ADP
app01-3930	172	18	the	the	DET
app01-3930	172	19	number	number	NOUN
app01-3930	172	20	of	of	ADP
app01-3930	172	21	target	target	NOUN
app01-3930	172	22	locations	location	NOUN
app01-3930	172	23	with	with	ADP
app01-3930	172	24	the	the	DET
app01-3930	172	25	relative	relative	ADJ
app01-3930	172	26	density	density	NOUN
app01-3930	173	1	d	d	NOUN
app01-3930	173	2	=	=	NOUN
app01-3930	173	3	0.3	0.3	NUM
app01-3930	173	4	●	●	NUM
app01-3930	173	5	●	●	PUNCT
app01-3930	173	6	●	●	NUM
app01-3930	173	7	●	●	PUNCT
app01-3930	173	8	●	●	SYM
app01-3930	173	9	●	●	NUM
app01-3930	173	10	●	●	NUM
app01-3930	173	11	●	●	NUM
app01-3930	173	12	●	●	NUM
app01-3930	173	13	●	●	PUNCT
app01-3930	173	14	●	●	SYM
app01-3930	173	15	●	●	NUM
app01-3930	173	16	●	●	NUM
app01-3930	173	17	●	●	NUM
app01-3930	173	18	●	●	PUNCT
app01-3930	173	19	●	●	NUM
app01-3930	173	20	●	●	PUNCT
app01-3930	173	21	●	●	NUM
app01-3930	173	22	0	0	NUM
app01-3930	173	23	1	1	NUM
app01-3930	173	24	2	2	NUM
app01-3930	173	25	0.2	0.2	NUM
app01-3930	173	26	0.3	0.3	NUM
app01-3930	173	27	0.4	0.4	NUM
app01-3930	173	28	density	density	NOUN
app01-3930	173	29	of	of	ADP
app01-3930	173	30	target	target	NOUN
app01-3930	173	31	positions	position	NOUN
app01-3930	173	32	r	r	NOUN
app01-3930	173	33	at	at	ADP
app01-3930	173	34	io	io	X
app01-3930	173	35	o	o	X
app01-3930	174	1	f	f	PROPN
app01-3930	174	2	s	s	VERB
app01-3930	174	3	ol	ol	PROPN
app01-3930	174	4	ut	ut	PROPN
app01-3930	174	5	io	io	PROPN
app01-3930	174	6	n	n	PROPN
app01-3930	174	7	le	le	X
app01-3930	174	8	ng	ng	PROPN
app01-3930	174	9	th	th	X
app01-3930	174	10	to	to	ADP
app01-3930	174	11	th	th	ADP
app01-3930	174	12	e	e	X
app01-3930	174	13	re	re	X
app01-3930	174	14	fe	fe	X
app01-3930	174	15	re	re	X
app01-3930	174	16	nc	nc	PROPN
app01-3930	174	17	e	e	PROPN
app01-3930	174	18	le	le	PROPN
app01-3930	174	19	ng	ng	PROPN
app01-3930	174	20	th	th	X
app01-3930	174	21	method	method	VERB
app01-3930	174	22	●	●	PUNCT
app01-3930	174	23	●	●	PUNCT
app01-3930	174	24	●	●	NUM
app01-3930	174	25	●	●	PUNCT
app01-3930	174	26	●	●	PUNCT
app01-3930	174	27	●	●	NUM
app01-3930	174	28	aa	aa	NOUN
app01-3930	174	29	lio	lio	PROPN
app01-3930	174	30	genetic	genetic	ADJ
app01-3930	174	31	memetic	memetic	ADJ
app01-3930	174	32	sampling+lkh	sampling+lkh	NOUN
app01-3930	174	33	sampling+con	sampling+con	NOUN
app01-3930	174	34	.	.	PUNCT
app01-3930	175	1	figure	figure	NOUN
app01-3930	175	2	7	7	NUM
app01-3930	175	3	.	.	PUNCT
app01-3930	175	4	average	average	ADJ
app01-3930	175	5	ratios	ratio	NOUN
app01-3930	175	6	of	of	ADP
app01-3930	175	7	the	the	DET
app01-3930	175	8	solution	solution	NOUN
app01-3930	175	9	length	length	NOUN
app01-3930	175	10	to	to	ADP
app01-3930	175	11	the	the	DET
app01-3930	175	12	reference	reference	NOUN
app01-3930	175	13	length	length	NOUN
app01-3930	175	14	of	of	ADP
app01-3930	175	15	the	the	DET
app01-3930	175	16	best	well	ADV
app01-3930	175	17	found	find	VERB
app01-3930	175	18	solution	solution	NOUN
app01-3930	175	19	depending	depend	VERB
app01-3930	175	20	on	on	ADP
app01-3930	175	21	the	the	DET
app01-3930	175	22	density	density	NOUN
app01-3930	175	23	of	of	ADP
app01-3930	175	24	n	n	NOUN
app01-3930	175	25	=	=	SYM
app01-3930	175	26	20	20	NUM
app01-3930	175	27	target	target	NOUN
app01-3930	175	28	locations	location	NOUN
app01-3930	175	29	based	base	VERB
app01-3930	175	30	algorithms	algorithm	NOUN
app01-3930	175	31	,	,	PUNCT
app01-3930	175	32	their	their	PRON
app01-3930	175	33	computational	computational	ADJ
app01-3930	175	34	time	time	NOUN
app01-3930	175	35	has	have	AUX
app01-3930	175	36	been	be	AUX
app01-3930	175	37	limited	limit	VERB
app01-3930	175	38	to	to	ADP
app01-3930	175	39	1	1	NUM
app01-3930	175	40	hour	hour	NOUN
app01-3930	175	41	.	.	PUNCT
app01-3930	176	1	for	for	ADP
app01-3930	176	2	sampling	sample	VERB
app01-3930	176	3	based	base	VERB
app01-3930	176	4	approach	approach	NOUN
app01-3930	176	5	,	,	PUNCT
app01-3930	176	6	a	a	DET
app01-3930	176	7	series	series	NOUN
app01-3930	176	8	of	of	ADP
app01-3930	176	9	solutions	solution	NOUN
app01-3930	176	10	is	be	AUX
app01-3930	176	11	found	find	VERB
app01-3930	176	12	with	with	ADP
app01-3930	176	13	iteratively	iteratively	ADV
app01-3930	176	14	increasing	increase	VERB
app01-3930	176	15	number	number	NOUN
app01-3930	176	16	of	of	ADP
app01-3930	176	17	samples	sample	NOUN
app01-3930	176	18	until	until	SCONJ
app01-3930	176	19	the	the	DET
app01-3930	176	20	time	time	NOUN
app01-3930	176	21	limit	limit	NOUN
app01-3930	176	22	is	be	AUX
app01-3930	176	23	reached	reach	VERB
app01-3930	176	24	[	[	X
app01-3930	176	25	19	19	NUM
app01-3930	176	26	]	]	PUNCT
app01-3930	176	27	.	.	PUNCT
app01-3930	177	1	therefore	therefore	ADV
app01-3930	177	2	,	,	PUNCT
app01-3930	177	3	all	all	DET
app01-3930	177	4	the	the	DET
app01-3930	177	5	algorithms	algorithm	NOUN
app01-3930	177	6	provide	provide	VERB
app01-3930	177	7	a	a	DET
app01-3930	177	8	solution	solution	NOUN
app01-3930	177	9	,	,	PUNCT
app01-3930	177	10	albeit	albeit	SCONJ
app01-3930	177	11	more	more	ADV
app01-3930	177	12	demanding	demanding	ADJ
app01-3930	177	13	approach	approach	NOUN
app01-3930	177	14	(	(	PUNCT
app01-3930	177	15	i.e.	i.e.	X
app01-3930	177	16	,	,	PUNCT
app01-3930	177	17	based	base	VERB
app01-3930	177	18	on	on	ADP
app01-3930	177	19	the	the	DET
app01-3930	177	20	concorde	concorde	PROPN
app01-3930	177	21	solver	solver	ADV
app01-3930	177	22	)	)	PUNCT
app01-3930	177	23	for	for	ADP
app01-3930	177	24	less	less	ADJ
app01-3930	177	25	samples	sample	NOUN
app01-3930	177	26	than	than	ADP
app01-3930	177	27	faster	fast	ADJ
app01-3930	177	28	heuristic	heuristic	ADJ
app01-3930	177	29	lkh	lkh	NOUN
app01-3930	177	30	solver	solver	NOUN
app01-3930	177	31	,	,	PUNCT
app01-3930	177	32	which	which	PRON
app01-3930	177	33	solves	solve	VERB
app01-3930	177	34	more	more	ADJ
app01-3930	177	35	iterations	iteration	NOUN
app01-3930	177	36	within	within	ADP
app01-3930	177	37	the	the	DET
app01-3930	177	38	same	same	ADJ
app01-3930	177	39	time	time	NOUN
app01-3930	177	40	limit	limit	NOUN
app01-3930	177	41	.	.	PUNCT
app01-3930	178	1	the	the	DET
app01-3930	178	2	considered	consider	VERB
app01-3930	178	3	number	number	NOUN
app01-3930	178	4	of	of	ADP
app01-3930	178	5	target	target	NOUN
app01-3930	178	6	locations	location	NOUN
app01-3930	178	7	n	n	PRON
app01-3930	178	8	has	have	AUX
app01-3930	178	9	been	be	AUX
app01-3930	178	10	selected	select	VERB
app01-3930	178	11	from	from	ADP
app01-3930	178	12	the	the	DET
app01-3930	178	13	set	set	NOUN
app01-3930	178	14	n	n	X
app01-3930	178	15	∈	∈	NOUN
app01-3930	178	16	{	{	PUNCT
app01-3930	178	17	10	10	NUM
app01-3930	178	18	,	,	PUNCT
app01-3930	178	19	20	20	NUM
app01-3930	178	20	,	,	PUNCT
app01-3930	178	21	50	50	NUM
app01-3930	178	22	,	,	PUNCT
app01-3930	178	23	100	100	NUM
app01-3930	178	24	}	}	PUNCT
app01-3930	178	25	and	and	CCONJ
app01-3930	178	26	the	the	DET
app01-3930	178	27	density	density	NOUN
app01-3930	178	28	d	d	PROPN
app01-3930	178	29	has	have	AUX
app01-3930	178	30	been	be	AUX
app01-3930	178	31	selected	select	VERB
app01-3930	178	32	from	from	ADP
app01-3930	178	33	the	the	DET
app01-3930	178	34	set	set	NOUN
app01-3930	178	35	d	d	PROPN
app01-3930	178	36	∈	∈	PROPN
app01-3930	178	37	{	{	PUNCT
app01-3930	178	38	0.2	0.2	NUM
app01-3930	178	39	,	,	PUNCT
app01-3930	178	40	0.3	0.3	NUM
app01-3930	178	41	,	,	PUNCT
app01-3930	178	42	0.4	0.4	NUM
app01-3930	178	43	}	}	PUNCT
app01-3930	178	44	.	.	PUNCT
app01-3930	179	1	for	for	ADP
app01-3930	179	2	each	each	DET
app01-3930	179	3	particular	particular	ADJ
app01-3930	179	4	scenario	scenario	NOUN
app01-3930	179	5	defined	define	VERB
app01-3930	179	6	by	by	ADP
app01-3930	179	7	the	the	DET
app01-3930	179	8	n	n	NOUN
app01-3930	179	9	and	and	CCONJ
app01-3930	179	10	d	d	NOUN
app01-3930	179	11	,	,	PUNCT
app01-3930	179	12	20	20	NUM
app01-3930	179	13	random	random	ADJ
app01-3930	179	14	instances	instance	NOUN
app01-3930	179	15	were	be	AUX
app01-3930	179	16	generated	generate	VERB
app01-3930	179	17	.	.	PUNCT
app01-3930	180	1	for	for	ADP
app01-3930	180	2	each	each	DET
app01-3930	180	3	problem	problem	NOUN
app01-3930	180	4	instance	instance	NOUN
app01-3930	180	5	,	,	PUNCT
app01-3930	180	6	the	the	DET
app01-3930	180	7	best	well	ADV
app01-3930	180	8	found	find	VERB
app01-3930	180	9	solution	solution	NOUN
app01-3930	180	10	(	(	PUNCT
app01-3930	180	11	among	among	ADP
app01-3930	180	12	all	all	DET
app01-3930	180	13	solutions	solution	NOUN
app01-3930	180	14	found	find	VERB
app01-3930	180	15	by	by	ADP
app01-3930	180	16	all	all	DET
app01-3930	180	17	approaches	approach	NOUN
app01-3930	180	18	)	)	PUNCT
app01-3930	180	19	has	have	AUX
app01-3930	180	20	been	be	AUX
app01-3930	180	21	selected	select	VERB
app01-3930	180	22	as	as	ADP
app01-3930	180	23	a	a	DET
app01-3930	180	24	reference	reference	NOUN
app01-3930	180	25	solution	solution	NOUN
app01-3930	180	26	that	that	PRON
app01-3930	180	27	allows	allow	VERB
app01-3930	180	28	to	to	PART
app01-3930	180	29	aggregate	aggregate	VERB
app01-3930	180	30	the	the	DET
app01-3930	180	31	results	result	NOUN
app01-3930	180	32	into	into	ADP
app01-3930	180	33	a	a	DET
app01-3930	180	34	single	single	ADJ
app01-3930	180	35	solution	solution	NOUN
app01-3930	180	36	quality	quality	NOUN
app01-3930	180	37	indicator	indicator	NOUN
app01-3930	180	38	as	as	ADP
app01-3930	180	39	the	the	DET
app01-3930	180	40	ratio	ratio	NOUN
app01-3930	180	41	of	of	ADP
app01-3930	180	42	the	the	DET
app01-3930	180	43	length	length	NOUN
app01-3930	180	44	of	of	ADP
app01-3930	180	45	the	the	DET
app01-3930	180	46	found	find	VERB
app01-3930	180	47	tour	tour	NOUN
app01-3930	180	48	to	to	ADP
app01-3930	180	49	the	the	DET
app01-3930	180	50	length	length	NOUN
app01-3930	180	51	of	of	ADP
app01-3930	180	52	the	the	DET
app01-3930	180	53	reference	reference	NOUN
app01-3930	180	54	solution	solution	NOUN
app01-3930	180	55	.	.	PUNCT
app01-3930	181	1	average	average	ADJ
app01-3930	181	2	ratios	ratio	NOUN
app01-3930	181	3	and	and	CCONJ
app01-3930	181	4	standard	standard	ADJ
app01-3930	181	5	deviations	deviation	NOUN
app01-3930	181	6	(	(	PUNCT
app01-3930	181	7	shown	show	VERB
app01-3930	181	8	as	as	ADP
app01-3930	181	9	error	error	NOUN
app01-3930	181	10	bars	bar	NOUN
app01-3930	181	11	)	)	PUNCT
app01-3930	181	12	are	be	AUX
app01-3930	181	13	presented	present	VERB
app01-3930	181	14	in	in	ADP
app01-3930	181	15	fig	fig	NOUN
app01-3930	181	16	.	.	PUNCT
app01-3930	182	1	6	6	NUM
app01-3930	182	2	and	and	CCONJ
app01-3930	182	3	fig	fig	NOUN
app01-3930	182	4	.	.	PUNCT
app01-3930	183	1	7	7	NUM
app01-3930	184	1	depending	depend	VERB
app01-3930	184	2	on	on	ADP
app01-3930	184	3	the	the	DET
app01-3930	184	4	number	number	NOUN
app01-3930	184	5	of	of	ADP
app01-3930	184	6	target	target	NOUN
app01-3930	184	7	locations	location	NOUN
app01-3930	184	8	n	n	PRON
app01-3930	184	9	and	and	CCONJ
app01-3930	184	10	for	for	ADP
app01-3930	184	11	the	the	DET
app01-3930	184	12	particular	particular	ADJ
app01-3930	184	13	density	density	NOUN
app01-3930	184	14	of	of	ADP
app01-3930	184	15	the	the	DET
app01-3930	184	16	target	target	NOUN
app01-3930	184	17	locations	location	NOUN
app01-3930	184	18	d	d	NOUN
app01-3930	184	19	,	,	PUNCT
app01-3930	184	20	respectively	respectively	ADV
app01-3930	184	21	.	.	PUNCT
app01-3930	185	1	the	the	DET
app01-3930	185	2	results	result	NOUN
app01-3930	185	3	indicate	indicate	VERB
app01-3930	185	4	that	that	SCONJ
app01-3930	185	5	superior	superior	ADJ
app01-3930	185	6	solutions	solution	NOUN
app01-3930	185	7	38	38	NUM
app01-3930	185	8	vol	vol	NOUN
app01-3930	185	9	.	.	PUNCT
app01-3930	186	1	6/2016	6/2016	NUM
app01-3930	186	2	dubins	dubin	NOUN
app01-3930	186	3	traveling	travel	VERB
app01-3930	186	4	salesman	salesman	ADJ
app01-3930	186	5	problem	problem	NOUN
app01-3930	186	6	are	be	AUX
app01-3930	186	7	found	find	VERB
app01-3930	186	8	by	by	ADP
app01-3930	186	9	the	the	DET
app01-3930	186	10	sampling	sampling	NOUN
app01-3930	186	11	-	-	PUNCT
app01-3930	186	12	based	base	VERB
app01-3930	186	13	approaches	approach	NOUN
app01-3930	186	14	.	.	PUNCT
app01-3930	187	1	the	the	DET
app01-3930	187	2	lkh	lkh	PROPN
app01-3930	187	3	heuristic	heuristic	ADJ
app01-3930	187	4	approach	approach	NOUN
app01-3930	187	5	provides	provide	VERB
app01-3930	187	6	better	well	ADJ
app01-3930	187	7	results	result	NOUN
app01-3930	187	8	than	than	SCONJ
app01-3930	187	9	the	the	DET
app01-3930	187	10	concorde	concorde	PROPN
app01-3930	187	11	solver	solver	VERB
app01-3930	187	12	because	because	SCONJ
app01-3930	187	13	of	of	ADP
app01-3930	187	14	limited	limited	ADJ
app01-3930	187	15	computational	computational	ADJ
app01-3930	187	16	time	time	NOUN
app01-3930	187	17	,	,	PUNCT
app01-3930	187	18	and	and	CCONJ
app01-3930	187	19	thus	thus	ADV
app01-3930	187	20	solutions	solution	NOUN
app01-3930	187	21	with	with	ADP
app01-3930	187	22	finer	fine	ADJ
app01-3930	187	23	discretizations	discretization	NOUN
app01-3930	187	24	are	be	AUX
app01-3930	187	25	not	not	PART
app01-3930	187	26	computed	compute	VERB
app01-3930	187	27	within	within	ADP
app01-3930	187	28	the	the	DET
app01-3930	187	29	dedicated	dedicated	ADJ
app01-3930	187	30	time	time	NOUN
app01-3930	187	31	limit	limit	NOUN
app01-3930	187	32	by	by	ADP
app01-3930	187	33	the	the	DET
app01-3930	187	34	optimal	optimal	ADJ
app01-3930	187	35	concorde	concorde	PROPN
app01-3930	187	36	solver	solver	NOUN
app01-3930	187	37	.	.	PUNCT
app01-3930	188	1	6	6	X
app01-3930	188	2	.	.	X
app01-3930	188	3	conclusion	conclusion	NOUN
app01-3930	188	4	in	in	ADP
app01-3930	188	5	this	this	DET
app01-3930	188	6	paper	paper	NOUN
app01-3930	188	7	,	,	PUNCT
app01-3930	188	8	we	we	PRON
app01-3930	188	9	propose	propose	VERB
app01-3930	188	10	a	a	DET
app01-3930	188	11	new	new	ADJ
app01-3930	188	12	variant	variant	NOUN
app01-3930	188	13	of	of	ADP
app01-3930	188	14	the	the	DET
app01-3930	188	15	dtsp	dtsp	NOUN
app01-3930	188	16	formulation	formulation	NOUN
app01-3930	188	17	to	to	PART
app01-3930	188	18	address	address	VERB
app01-3930	188	19	specific	specific	ADJ
app01-3930	188	20	requirements	requirement	NOUN
app01-3930	188	21	of	of	ADP
app01-3930	188	22	the	the	DET
app01-3930	188	23	collecting	collect	VERB
app01-3930	188	24	maneuvers	maneuver	NOUN
app01-3930	188	25	to	to	PART
app01-3930	188	26	accomplish	accomplish	VERB
app01-3930	188	27	visitation	visitation	NOUN
app01-3930	188	28	of	of	ADP
app01-3930	188	29	each	each	DET
app01-3930	188	30	target	target	NOUN
app01-3930	188	31	location	location	NOUN
app01-3930	188	32	.	.	PUNCT
app01-3930	189	1	the	the	DET
app01-3930	189	2	proposed	propose	VERB
app01-3930	189	3	variant	variant	NOUN
app01-3930	189	4	of	of	ADP
app01-3930	189	5	the	the	DET
app01-3930	189	6	dtsp	dtsp	NOUN
app01-3930	189	7	is	be	AUX
app01-3930	189	8	called	call	VERB
app01-3930	189	9	the	the	DET
app01-3930	189	10	dubins	dubin	NOUN
app01-3930	189	11	traveling	travel	VERB
app01-3930	189	12	salesman	salesman	ADJ
app01-3930	189	13	problem	problem	NOUN
app01-3930	189	14	with	with	ADP
app01-3930	189	15	collecting	collect	VERB
app01-3930	189	16	maneuvers	maneuver	NOUN
app01-3930	189	17	(	(	PUNCT
app01-3930	189	18	dtsp	dtsp	NOUN
app01-3930	189	19	-	-	PUNCT
app01-3930	189	20	cm	cm	NOUN
app01-3930	189	21	)	)	PUNCT
app01-3930	189	22	.	.	PUNCT
app01-3930	190	1	further	far	ADV
app01-3930	190	2	,	,	PUNCT
app01-3930	190	3	we	we	PRON
app01-3930	190	4	considered	consider	VERB
app01-3930	190	5	collecting	collect	VERB
app01-3930	190	6	maneuvers	maneuver	NOUN
app01-3930	190	7	restricted	restrict	VERB
app01-3930	190	8	to	to	ADP
app01-3930	190	9	straight	straight	ADJ
app01-3930	190	10	line	line	NOUN
app01-3930	190	11	segments	segment	NOUN
app01-3930	190	12	with	with	ADP
app01-3930	190	13	fixed	fix	VERB
app01-3930	190	14	length	length	NOUN
app01-3930	190	15	and	and	CCONJ
app01-3930	190	16	its	its	PRON
app01-3930	190	17	specified	specified	ADJ
app01-3930	190	18	relative	relative	ADJ
app01-3930	190	19	position	position	NOUN
app01-3930	190	20	to	to	ADP
app01-3930	190	21	the	the	DET
app01-3930	190	22	target	target	NOUN
app01-3930	190	23	that	that	PRON
app01-3930	190	24	is	be	AUX
app01-3930	190	25	denoted	denote	VERB
app01-3930	190	26	as	as	ADP
app01-3930	190	27	the	the	DET
app01-3930	190	28	dtsp	dtsp	NOUN
app01-3930	190	29	with	with	ADP
app01-3930	190	30	straight	straight	ADJ
app01-3930	190	31	collecting	collecting	NOUN
app01-3930	190	32	maneuvers	maneuver	NOUN
app01-3930	190	33	(	(	PUNCT
app01-3930	190	34	dtsp	dtsp	NOUN
app01-3930	190	35	-	-	PUNCT
app01-3930	190	36	scm	scm	PROPN
app01-3930	190	37	)	)	PUNCT
app01-3930	190	38	.	.	PUNCT
app01-3930	191	1	for	for	ADP
app01-3930	191	2	the	the	DET
app01-3930	191	3	dtsp	dtsp	NOUN
app01-3930	191	4	-	-	PUNCT
app01-3930	191	5	scm	scm	PROPN
app01-3930	191	6	,	,	PUNCT
app01-3930	191	7	we	we	PRON
app01-3930	191	8	propose	propose	VERB
app01-3930	191	9	modifications	modification	NOUN
app01-3930	191	10	of	of	ADP
app01-3930	191	11	the	the	DET
app01-3930	191	12	existing	exist	VERB
app01-3930	191	13	approaches	approach	NOUN
app01-3930	191	14	to	to	ADP
app01-3930	191	15	the	the	DET
app01-3930	191	16	dtsp	dtsp	NOUN
app01-3930	191	17	to	to	PART
app01-3930	191	18	address	address	VERB
app01-3930	191	19	the	the	DET
app01-3930	191	20	prescribed	prescribe	VERB
app01-3930	191	21	constrained	constrain	VERB
app01-3930	191	22	collecting	collecting	NOUN
app01-3930	191	23	maneuvers	maneuver	NOUN
app01-3930	191	24	.	.	PUNCT
app01-3930	192	1	the	the	DET
app01-3930	192	2	proposed	propose	VERB
app01-3930	192	3	modifications	modification	NOUN
app01-3930	192	4	of	of	ADP
app01-3930	192	5	the	the	DET
app01-3930	192	6	algorithms	algorithm	NOUN
app01-3930	192	7	have	have	AUX
app01-3930	192	8	been	be	AUX
app01-3930	192	9	evaluated	evaluate	VERB
app01-3930	192	10	in	in	ADP
app01-3930	192	11	several	several	ADJ
app01-3930	192	12	scenarios	scenario	NOUN
app01-3930	192	13	including	include	VERB
app01-3930	192	14	evaluation	evaluation	NOUN
app01-3930	192	15	of	of	ADP
app01-3930	192	16	the	the	DET
app01-3930	192	17	proposed	propose	VERB
app01-3930	192	18	problem	problem	NOUN
app01-3930	192	19	formulation	formulation	NOUN
app01-3930	192	20	to	to	ADP
app01-3930	192	21	the	the	DET
app01-3930	192	22	precision	precision	NOUN
app01-3930	192	23	of	of	ADP
app01-3930	192	24	the	the	DET
app01-3930	192	25	cargo	cargo	NOUN
app01-3930	192	26	delivery	delivery	NOUN
app01-3930	192	27	in	in	ADP
app01-3930	192	28	airdrop	airdrop	NOUN
app01-3930	192	29	maneuvers	maneuver	NOUN
app01-3930	192	30	.	.	PUNCT
app01-3930	193	1	the	the	DET
app01-3930	193	2	presented	present	VERB
app01-3930	193	3	results	result	NOUN
app01-3930	193	4	indicate	indicate	VERB
app01-3930	193	5	that	that	SCONJ
app01-3930	193	6	the	the	DET
app01-3930	193	7	proposed	propose	VERB
app01-3930	193	8	formulation	formulation	NOUN
app01-3930	193	9	improves	improve	VERB
app01-3930	193	10	the	the	DET
app01-3930	193	11	reliability	reliability	NOUN
app01-3930	193	12	of	of	ADP
app01-3930	193	13	the	the	DET
app01-3930	193	14	mission	mission	NOUN
app01-3930	193	15	accomplishment	accomplishment	NOUN
app01-3930	193	16	.	.	PUNCT
app01-3930	194	1	moreover	moreover	ADV
app01-3930	194	2	,	,	PUNCT
app01-3930	194	3	the	the	DET
app01-3930	194	4	presented	present	VERB
app01-3930	194	5	evaluation	evaluation	NOUN
app01-3930	194	6	results	result	NOUN
app01-3930	194	7	also	also	ADV
app01-3930	194	8	provide	provide	VERB
app01-3930	194	9	an	an	DET
app01-3930	194	10	overview	overview	NOUN
app01-3930	194	11	of	of	ADP
app01-3930	194	12	the	the	DET
app01-3930	194	13	performance	performance	NOUN
app01-3930	194	14	of	of	ADP
app01-3930	194	15	particular	particular	ADJ
app01-3930	194	16	approaches	approach	NOUN
app01-3930	194	17	to	to	ADP
app01-3930	194	18	the	the	DET
app01-3930	194	19	dtsp	dtsp	NOUN
app01-3930	194	20	in	in	ADP
app01-3930	194	21	the	the	DET
app01-3930	194	22	dtsp	dtsp	NOUN
app01-3930	194	23	-	-	PUNCT
app01-3930	194	24	scm	scm	PROPN
app01-3930	194	25	formulation	formulation	NOUN
app01-3930	194	26	,	,	PUNCT
app01-3930	194	27	where	where	SCONJ
app01-3930	194	28	the	the	DET
app01-3930	194	29	sampling	sampling	NOUN
app01-3930	194	30	based	base	VERB
app01-3930	194	31	methods	method	NOUN
app01-3930	194	32	provide	provide	VERB
app01-3930	194	33	the	the	DET
app01-3930	194	34	best	good	ADJ
app01-3930	194	35	found	find	VERB
app01-3930	194	36	solution	solution	NOUN
app01-3930	194	37	among	among	ADP
app01-3930	194	38	the	the	DET
app01-3930	194	39	evaluated	evaluated	ADJ
app01-3930	194	40	approaches	approach	NOUN
app01-3930	194	41	.	.	PUNCT
app01-3930	195	1	acknowledgements	acknowledgement	NOUN
app01-3930	195	2	the	the	DET
app01-3930	195	3	presented	present	VERB
app01-3930	195	4	work	work	NOUN
app01-3930	195	5	has	have	AUX
app01-3930	195	6	been	be	AUX
app01-3930	195	7	supported	support	VERB
app01-3930	195	8	by	by	ADP
app01-3930	195	9	the	the	DET
app01-3930	195	10	czech	czech	PROPN
app01-3930	195	11	science	science	PROPN
app01-3930	195	12	foundation	foundation	PROPN
app01-3930	195	13	(	(	PUNCT
app01-3930	195	14	gačr	gačr	NOUN
app01-3930	195	15	)	)	PUNCT
app01-3930	195	16	under	under	ADP
app01-3930	195	17	research	research	NOUN
app01-3930	195	18	project	project	NOUN
app01-3930	195	19	no	no	NOUN
app01-3930	195	20	.	.	NOUN
app01-3930	196	1	16	16	NUM
app01-3930	196	2	-	-	PUNCT
app01-3930	196	3	24206s	24206s	NUM
app01-3930	196	4	.	.	PUNCT
app01-3930	197	1	the	the	DET
app01-3930	197	2	support	support	NOUN
app01-3930	197	3	of	of	ADP
app01-3930	197	4	grant	grant	NOUN
app01-3930	197	5	no	no	INTJ
app01-3930	197	6	.	.	PUNCT
app01-3930	197	7	sgs16/235	sgs16/235	PROPN
app01-3930	197	8	/	/	SYM
app01-3930	197	9	ohk3/3t/13	ohk3/3t/13	ADJ
app01-3930	197	10	to	to	PART
app01-3930	197	11	petr	petr	PROPN
app01-3930	197	12	váňa	váňa	PROPN
app01-3930	197	13	is	be	AUX
app01-3930	197	14	also	also	ADV
app01-3930	197	15	gratefully	gratefully	ADV
app01-3930	197	16	acknowledged	acknowledge	VERB
app01-3930	197	17	.	.	PUNCT
app01-3930	198	1	references	reference	NOUN
app01-3930	198	2	[	[	X
app01-3930	198	3	1	1	NUM
app01-3930	198	4	]	]	PUNCT
app01-3930	198	5	k.	k.	PROPN
app01-3930	198	6	savla	savla	PROPN
app01-3930	198	7	,	,	PUNCT
app01-3930	198	8	e.	e.	PROPN
app01-3930	198	9	frazzoli	frazzoli	PROPN
app01-3930	198	10	,	,	PUNCT
app01-3930	198	11	f.	f.	PROPN
app01-3930	198	12	bullo	bullo	PROPN
app01-3930	198	13	.	.	PUNCT
app01-3930	199	1	on	on	ADP
app01-3930	199	2	the	the	DET
app01-3930	199	3	point	point	NOUN
app01-3930	199	4	-	-	PUNCT
app01-3930	199	5	to	to	ADP
app01-3930	199	6	-	-	PUNCT
app01-3930	199	7	point	point	NOUN
app01-3930	199	8	and	and	CCONJ
app01-3930	199	9	traveling	travel	VERB
app01-3930	199	10	salesperson	salesperson	NOUN
app01-3930	199	11	problems	problem	NOUN
app01-3930	199	12	for	for	ADP
app01-3930	199	13	dubins	dubin	NOUN
app01-3930	199	14	’	'	PUNCT
app01-3930	199	15	vehicle	vehicle	NOUN
app01-3930	199	16	.	.	PUNCT
app01-3930	200	1	in	in	ADP
app01-3930	200	2	proceedings	proceeding	NOUN
app01-3930	200	3	of	of	ADP
app01-3930	200	4	the	the	DET
app01-3930	200	5	american	american	PROPN
app01-3930	200	6	control	control	PROPN
app01-3930	200	7	conference	conference	PROPN
app01-3930	200	8	,	,	PUNCT
app01-3930	200	9	pp	pp	X
app01-3930	200	10	.	.	PUNCT
app01-3930	201	1	786–791	786–791	NUM
app01-3930	201	2	.	.	X
app01-3930	201	3	ieee	ieee	NOUN
app01-3930	201	4	,	,	PUNCT
app01-3930	201	5	2005	2005	NUM
app01-3930	201	6	.	.	PUNCT
app01-3930	202	1	doi:10.1109	doi:10.1109	VERB
app01-3930	202	2	/	/	SYM
app01-3930	202	3	acc.2005.1470055	acc.2005.1470055	NUM
app01-3930	202	4	.	.	PUNCT
app01-3930	203	1	[	[	X
app01-3930	203	2	2	2	NUM
app01-3930	203	3	]	]	PUNCT
app01-3930	203	4	l.	l.	PROPN
app01-3930	203	5	e.	e.	PROPN
app01-3930	203	6	dubins	dubins	PROPN
app01-3930	203	7	.	.	PUNCT
app01-3930	204	1	on	on	ADP
app01-3930	204	2	curves	curve	NOUN
app01-3930	204	3	of	of	ADP
app01-3930	204	4	minimal	minimal	ADJ
app01-3930	204	5	length	length	NOUN
app01-3930	204	6	with	with	ADP
app01-3930	204	7	a	a	DET
app01-3930	204	8	constraint	constraint	NOUN
app01-3930	204	9	on	on	ADP
app01-3930	204	10	average	average	ADJ
app01-3930	204	11	curvature	curvature	NOUN
app01-3930	204	12	,	,	PUNCT
app01-3930	204	13	and	and	CCONJ
app01-3930	204	14	with	with	ADP
app01-3930	204	15	prescribed	prescribed	ADJ
app01-3930	204	16	initial	initial	ADJ
app01-3930	204	17	and	and	CCONJ
app01-3930	204	18	terminal	terminal	ADJ
app01-3930	204	19	positions	position	NOUN
app01-3930	204	20	and	and	CCONJ
app01-3930	204	21	tangents	tangent	NOUN
app01-3930	204	22	.	.	PUNCT
app01-3930	204	23	american	american	ADJ
app01-3930	204	24	journal	journal	PROPN
app01-3930	204	25	of	of	ADP
app01-3930	204	26	mathematics	mathematics	PROPN
app01-3930	204	27	pp	pp	ADV
app01-3930	204	28	.	.	PUNCT
app01-3930	205	1	497–516	497–516	NUM
app01-3930	205	2	,	,	PUNCT
app01-3930	205	3	1957	1957	NUM
app01-3930	205	4	.	.	PUNCT
app01-3930	206	1	doi:10.2307/2372560	doi:10.2307/2372560	ADJ
app01-3930	206	2	.	.	PUNCT
app01-3930	207	1	[	[	X
app01-3930	207	2	3	3	X
app01-3930	207	3	]	]	X
app01-3930	207	4	j.	j.	PROPN
app01-3930	207	5	le	le	PROPN
app01-3930	207	6	ny	ny	PROPN
app01-3930	207	7	,	,	PUNCT
app01-3930	207	8	e.	e.	PROPN
app01-3930	207	9	frazzoli	frazzoli	PROPN
app01-3930	207	10	,	,	PUNCT
app01-3930	207	11	e.	e.	PROPN
app01-3930	207	12	feron	feron	PROPN
app01-3930	207	13	.	.	PUNCT
app01-3930	208	1	the	the	DET
app01-3930	208	2	curvature	curvature	NOUN
app01-3930	208	3	-	-	PUNCT
app01-3930	208	4	constrained	constrain	VERB
app01-3930	208	5	traveling	travel	VERB
app01-3930	208	6	salesman	salesman	NOUN
app01-3930	208	7	problem	problem	NOUN
app01-3930	208	8	for	for	ADP
app01-3930	208	9	high	high	ADJ
app01-3930	208	10	point	point	NOUN
app01-3930	208	11	densities	density	NOUN
app01-3930	208	12	.	.	PUNCT
app01-3930	209	1	in	in	ADP
app01-3930	209	2	46th	46th	ADJ
app01-3930	209	3	ieee	ieee	NOUN
app01-3930	209	4	conference	conference	NOUN
app01-3930	209	5	on	on	ADP
app01-3930	209	6	decision	decision	NOUN
app01-3930	209	7	and	and	CCONJ
app01-3930	209	8	control	control	NOUN
app01-3930	209	9	,	,	PUNCT
app01-3930	209	10	pp	pp	X
app01-3930	209	11	.	.	PUNCT
app01-3930	210	1	5985–5990	5985–5990	NUM
app01-3930	210	2	.	.	PUNCT
app01-3930	211	1	2007	2007	NUM
app01-3930	211	2	.	.	PUNCT
app01-3930	212	1	doi:10.1109	doi:10.1109	VERB
app01-3930	212	2	/	/	SYM
app01-3930	212	3	cdc.2007.4434503	cdc.2007.4434503	NUM
app01-3930	212	4	.	.	PUNCT
app01-3930	213	1	[	[	X
app01-3930	213	2	4	4	X
app01-3930	213	3	]	]	PUNCT
app01-3930	213	4	x.	x.	PROPN
app01-3930	213	5	ma	ma	PROPN
app01-3930	213	6	,	,	PUNCT
app01-3930	213	7	d.	d.	PROPN
app01-3930	213	8	a.	a.	PROPN
app01-3930	213	9	castanon	castanon	PROPN
app01-3930	213	10	.	.	PUNCT
app01-3930	214	1	receding	recede	VERB
app01-3930	214	2	horizon	horizon	NOUN
app01-3930	214	3	planning	plan	VERB
app01-3930	214	4	for	for	ADP
app01-3930	214	5	dubins	dubin	NOUN
app01-3930	214	6	traveling	travel	VERB
app01-3930	214	7	salesman	salesman	NOUN
app01-3930	214	8	problems	problem	NOUN
app01-3930	214	9	.	.	PUNCT
app01-3930	215	1	in	in	ADP
app01-3930	215	2	45th	45th	ADJ
app01-3930	215	3	ieee	ieee	NOUN
app01-3930	215	4	conference	conference	NOUN
app01-3930	215	5	on	on	ADP
app01-3930	215	6	decision	decision	NOUN
app01-3930	215	7	and	and	CCONJ
app01-3930	215	8	control	control	NOUN
app01-3930	215	9	,	,	PUNCT
app01-3930	215	10	pp	pp	X
app01-3930	215	11	.	.	PUNCT
app01-3930	215	12	5453–5458	5453–5458	NUM
app01-3930	215	13	.	.	PUNCT
app01-3930	216	1	2006	2006	NUM
app01-3930	216	2	.	.	PUNCT
app01-3930	217	1	doi:10.1109	doi:10.1109	VERB
app01-3930	217	2	/	/	SYM
app01-3930	218	1	cdc.2006.376928	cdc.2006.376928	PROPN
app01-3930	218	2	.	.	PUNCT
app01-3930	219	1	[	[	X
app01-3930	219	2	5	5	X
app01-3930	219	3	]	]	PUNCT
app01-3930	219	4	j.	j.	PROPN
app01-3930	219	5	t.	t.	PROPN
app01-3930	219	6	isaacs	isaacs	PROPN
app01-3930	219	7	,	,	PUNCT
app01-3930	219	8	d.	d.	PROPN
app01-3930	219	9	j.	j.	PROPN
app01-3930	219	10	klein	klein	PROPN
app01-3930	219	11	,	,	PUNCT
app01-3930	219	12	j.	j.	PROPN
app01-3930	219	13	p.	p.	PROPN
app01-3930	219	14	hespanha	hespanha	PROPN
app01-3930	219	15	.	.	PUNCT
app01-3930	220	1	algorithms	algorithm	NOUN
app01-3930	220	2	for	for	ADP
app01-3930	220	3	the	the	DET
app01-3930	220	4	traveling	travel	VERB
app01-3930	220	5	salesman	salesman	ADJ
app01-3930	220	6	problem	problem	NOUN
app01-3930	220	7	with	with	ADP
app01-3930	220	8	neighborhoods	neighborhood	NOUN
app01-3930	220	9	involving	involve	VERB
app01-3930	220	10	a	a	DET
app01-3930	220	11	dubins	dubin	NOUN
app01-3930	220	12	vehicle	vehicle	NOUN
app01-3930	220	13	.	.	PUNCT
app01-3930	221	1	in	in	ADP
app01-3930	221	2	american	american	PROPN
app01-3930	221	3	control	control	PROPN
app01-3930	221	4	conference	conference	PROPN
app01-3930	221	5	(	(	PUNCT
app01-3930	221	6	acc	acc	PROPN
app01-3930	221	7	)	)	PUNCT
app01-3930	221	8	,	,	PUNCT
app01-3930	221	9	pp	pp	ADP
app01-3930	221	10	.	.	PUNCT
app01-3930	222	1	1704–1709	1704–1709	NUM
app01-3930	222	2	.	.	PUNCT
app01-3930	223	1	ieee	ieee	PROPN
app01-3930	223	2	,	,	PUNCT
app01-3930	223	3	2011	2011	NUM
app01-3930	223	4	.	.	PUNCT
app01-3930	224	1	doi:10.1109	doi:10.1109	VERB
app01-3930	224	2	/	/	SYM
app01-3930	224	3	acc.2011.5991501	acc.2011.5991501	VERB
app01-3930	224	4	.	.	PUNCT
app01-3930	225	1	[	[	X
app01-3930	225	2	6	6	NUM
app01-3930	225	3	]	]	PUNCT
app01-3930	225	4	k.	k.	PROPN
app01-3930	225	5	j.	j.	PROPN
app01-3930	225	6	obermeyer	obermeyer	PROPN
app01-3930	225	7	,	,	PUNCT
app01-3930	225	8	p.	p.	PROPN
app01-3930	225	9	oberlin	oberlin	PROPN
app01-3930	225	10	,	,	PUNCT
app01-3930	225	11	s.	s.	PROPN
app01-3930	225	12	darbha	darbha	PROPN
app01-3930	225	13	.	.	PUNCT
app01-3930	226	1	samplingbased	samplingbase	VERB
app01-3930	226	2	path	path	NOUN
app01-3930	226	3	planning	planning	NOUN
app01-3930	226	4	for	for	ADP
app01-3930	226	5	a	a	DET
app01-3930	226	6	visual	visual	ADJ
app01-3930	226	7	reconnaissance	reconnaissance	NOUN
app01-3930	226	8	unmanned	unmanned	ADJ
app01-3930	226	9	air	air	NOUN
app01-3930	226	10	vehicle	vehicle	NOUN
app01-3930	226	11	.	.	PUNCT
app01-3930	227	1	journal	journal	PROPN
app01-3930	227	2	of	of	ADP
app01-3930	227	3	guidance	guidance	NOUN
app01-3930	227	4	,	,	PUNCT
app01-3930	227	5	control	control	NOUN
app01-3930	227	6	,	,	PUNCT
app01-3930	227	7	and	and	CCONJ
app01-3930	227	8	dynamics	dynamic	NOUN
app01-3930	227	9	35(2):619–631	35(2):619–631	NUM
app01-3930	227	10	,	,	PUNCT
app01-3930	227	11	2012	2012	NUM
app01-3930	227	12	.	.	PUNCT
app01-3930	228	1	doi:10.2514/1.48949	doi:10.2514/1.48949	PROPN
app01-3930	228	2	.	.	PUNCT
app01-3930	229	1	[	[	X
app01-3930	229	2	7	7	X
app01-3930	229	3	]	]	X
app01-3930	229	4	c.	c.	PROPN
app01-3930	229	5	e.	e.	PROPN
app01-3930	229	6	noon	noon	PROPN
app01-3930	229	7	,	,	PUNCT
app01-3930	229	8	j.	j.	PROPN
app01-3930	229	9	c.	c.	PROPN
app01-3930	229	10	bean	bean	PROPN
app01-3930	229	11	.	.	PUNCT
app01-3930	230	1	a	a	DET
app01-3930	230	2	lagrangian	lagrangian	ADJ
app01-3930	230	3	based	base	VERB
app01-3930	230	4	approach	approach	NOUN
app01-3930	230	5	for	for	ADP
app01-3930	230	6	the	the	DET
app01-3930	230	7	asymmetric	asymmetric	ADJ
app01-3930	230	8	generalized	generalized	ADJ
app01-3930	230	9	traveling	travel	VERB
app01-3930	230	10	salesman	salesman	ADJ
app01-3930	230	11	problem	problem	NOUN
app01-3930	230	12	.	.	PUNCT
app01-3930	231	1	operations	operation	NOUN
app01-3930	231	2	research	research	VERB
app01-3930	231	3	39(4):623–632	39(4):623–632	PROPN
app01-3930	231	4	,	,	PUNCT
app01-3930	231	5	1991	1991	NUM
app01-3930	231	6	.	.	PUNCT
app01-3930	232	1	doi:10.1287	doi:10.1287	PROPN
app01-3930	232	2	/	/	SYM
app01-3930	232	3	opre.39.4.623	opre.39.4.623	AUX
app01-3930	232	4	.	.	PUNCT
app01-3930	233	1	[	[	X
app01-3930	233	2	8	8	NUM
app01-3930	233	3	]	]	X
app01-3930	233	4	d.	d.	PROPN
app01-3930	233	5	applegate	applegate	PROPN
app01-3930	233	6	,	,	PUNCT
app01-3930	233	7	r.	r.	PROPN
app01-3930	233	8	bixby	bixby	PROPN
app01-3930	233	9	,	,	PUNCT
app01-3930	233	10	v.	v.	PROPN
app01-3930	233	11	chvátal	chvátal	PROPN
app01-3930	233	12	,	,	PUNCT
app01-3930	233	13	w.	w.	PROPN
app01-3930	233	14	cook	cook	PROPN
app01-3930	233	15	.	.	PUNCT
app01-3930	234	1	concorde	concorde	PROPN
app01-3930	234	2	tsp	tsp	PROPN
app01-3930	234	3	solver	solver	NOUN
app01-3930	234	4	,	,	PUNCT
app01-3930	234	5	2003	2003	NUM
app01-3930	234	6	.	.	PUNCT
app01-3930	235	1	[	[	X
app01-3930	235	2	cited	cite	VERB
app01-3930	235	3	31	31	NUM
app01-3930	235	4	oct	oct	NOUN
app01-3930	235	5	2016	2016	NUM
app01-3930	235	6	]	]	PUNCT
app01-3930	235	7	.	.	PUNCT
app01-3930	236	1	[	[	X
app01-3930	236	2	9	9	NUM
app01-3930	236	3	]	]	PUNCT
app01-3930	236	4	k.	k.	PROPN
app01-3930	236	5	helsgaun	helsgaun	PROPN
app01-3930	236	6	.	.	PUNCT
app01-3930	237	1	an	an	DET
app01-3930	237	2	effective	effective	ADJ
app01-3930	237	3	implementation	implementation	NOUN
app01-3930	237	4	of	of	ADP
app01-3930	237	5	the	the	DET
app01-3930	237	6	lin	lin	PROPN
app01-3930	237	7	-	-	PUNCT
app01-3930	237	8	kernighan	kernighan	PROPN
app01-3930	237	9	traveling	travel	VERB
app01-3930	237	10	salesman	salesman	NOUN
app01-3930	237	11	heuristic	heuristic	NOUN
app01-3930	237	12	.	.	PUNCT
app01-3930	238	1	european	european	ADJ
app01-3930	238	2	journal	journal	PROPN
app01-3930	238	3	of	of	ADP
app01-3930	238	4	operational	operational	ADJ
app01-3930	238	5	research	research	NOUN
app01-3930	238	6	126(1):106–130	126(1):106–130	NUM
app01-3930	238	7	,	,	PUNCT
app01-3930	238	8	2000	2000	NUM
app01-3930	238	9	.	.	PUNCT
app01-3930	239	1	doi:10.1016	doi:10.1016	PROPN
app01-3930	239	2	/	/	SYM
app01-3930	240	1	s0377	s0377	PROPN
app01-3930	240	2	-	-	PUNCT
app01-3930	240	3	2217(99)00284	2217(99)00284	NUM
app01-3930	240	4	-	-	PUNCT
app01-3930	240	5	2	2	NUM
app01-3930	240	6	.	.	PUNCT
app01-3930	241	1	[	[	X
app01-3930	241	2	10	10	NUM
app01-3930	241	3	]	]	PUNCT
app01-3930	241	4	x.	x.	PROPN
app01-3930	241	5	yu	yu	PROPN
app01-3930	241	6	,	,	PUNCT
app01-3930	241	7	j.	j.	PROPN
app01-3930	241	8	hung	hung	PROPN
app01-3930	241	9	.	.	PUNCT
app01-3930	242	1	a	a	DET
app01-3930	242	2	genetic	genetic	ADJ
app01-3930	242	3	algorithm	algorithm	NOUN
app01-3930	242	4	for	for	ADP
app01-3930	242	5	the	the	DET
app01-3930	242	6	dubins	dubin	NOUN
app01-3930	242	7	traveling	travel	VERB
app01-3930	242	8	salesman	salesman	ADJ
app01-3930	242	9	problem	problem	NOUN
app01-3930	242	10	.	.	PUNCT
app01-3930	243	1	in	in	ADP
app01-3930	243	2	ieee	ieee	PROPN
app01-3930	243	3	international	international	ADJ
app01-3930	243	4	symposium	symposium	NOUN
app01-3930	243	5	on	on	ADP
app01-3930	243	6	industrial	industrial	ADJ
app01-3930	243	7	electronics	electronic	NOUN
app01-3930	243	8	,	,	PUNCT
app01-3930	243	9	pp	pp	ADJ
app01-3930	243	10	.	.	PUNCT
app01-3930	243	11	1256–1261	1256–1261	NUM
app01-3930	243	12	.	.	NOUN
app01-3930	243	13	2012	2012	NUM
app01-3930	243	14	.	.	PUNCT
app01-3930	244	1	doi:10.1109	doi:10.1109	VERB
app01-3930	244	2	/	/	SYM
app01-3930	244	3	isie.2012.6237270	isie.2012.6237270	PROPN
app01-3930	244	4	.	.	PUNCT
app01-3930	245	1	[	[	X
app01-3930	245	2	11	11	NUM
app01-3930	245	3	]	]	PUNCT
app01-3930	245	4	x.	x.	PROPN
app01-3930	245	5	zhang	zhang	PROPN
app01-3930	245	6	,	,	PUNCT
app01-3930	245	7	j.	j.	PROPN
app01-3930	245	8	chen	chen	PROPN
app01-3930	245	9	,	,	PUNCT
app01-3930	245	10	b.	b.	PROPN
app01-3930	245	11	xin	xin	PROPN
app01-3930	245	12	,	,	PUNCT
app01-3930	245	13	z.	z.	PROPN
app01-3930	245	14	peng	peng	PROPN
app01-3930	245	15	.	.	PUNCT
app01-3930	246	1	a	a	DET
app01-3930	246	2	memetic	memetic	ADJ
app01-3930	246	3	algorithm	algorithm	NOUN
app01-3930	246	4	for	for	ADP
app01-3930	246	5	path	path	NOUN
app01-3930	246	6	planning	planning	NOUN
app01-3930	246	7	of	of	ADP
app01-3930	246	8	curvature	curvature	NOUN
app01-3930	246	9	-	-	PUNCT
app01-3930	246	10	constrained	constrain	VERB
app01-3930	246	11	uavs	uavs	NOUN
app01-3930	246	12	performing	perform	VERB
app01-3930	246	13	surveillance	surveillance	NOUN
app01-3930	246	14	of	of	ADP
app01-3930	246	15	multiple	multiple	ADJ
app01-3930	246	16	ground	ground	NOUN
app01-3930	246	17	targets	target	NOUN
app01-3930	246	18	.	.	PUNCT
app01-3930	247	1	chinese	chinese	ADJ
app01-3930	247	2	journal	journal	PROPN
app01-3930	247	3	of	of	ADP
app01-3930	247	4	aeronautics	aeronautics	PROPN
app01-3930	247	5	27(3):622–633	27(3):622–633	PROPN
app01-3930	247	6	,	,	PUNCT
app01-3930	247	7	2014	2014	NUM
app01-3930	247	8	.	.	PUNCT
app01-3930	248	1	doi:10.1016	doi:10.1016	PROPN
app01-3930	248	2	/	/	SYM
app01-3930	248	3	j.cja.2014.04.024	j.cja.2014.04.024	PROPN
app01-3930	248	4	.	.	PUNCT
app01-3930	249	1	[	[	X
app01-3930	249	2	12	12	NUM
app01-3930	249	3	]	]	PUNCT
app01-3930	249	4	k.	k.	PROPN
app01-3930	249	5	deb	deb	PROPN
app01-3930	249	6	,	,	PUNCT
app01-3930	249	7	a.	a.	NOUN
app01-3930	249	8	pratap	pratap	PROPN
app01-3930	249	9	,	,	PUNCT
app01-3930	249	10	s.	s.	PROPN
app01-3930	249	11	agarwal	agarwal	PROPN
app01-3930	249	12	,	,	PUNCT
app01-3930	249	13	t.	t.	PROPN
app01-3930	249	14	meyarivan	meyarivan	PROPN
app01-3930	249	15	.	.	PUNCT
app01-3930	250	1	a	a	DET
app01-3930	250	2	fast	fast	ADJ
app01-3930	250	3	and	and	CCONJ
app01-3930	250	4	elitist	elitist	ADJ
app01-3930	250	5	multiobjective	multiobjective	ADJ
app01-3930	250	6	genetic	genetic	ADJ
app01-3930	250	7	algorithm	algorithm	NOUN
app01-3930	250	8	:	:	PUNCT
app01-3930	250	9	nsga	nsga	PROPN
app01-3930	250	10	-	-	PUNCT
app01-3930	250	11	ii	ii	PROPN
app01-3930	250	12	.	.	PUNCT
app01-3930	251	1	ieee	ieee	NOUN
app01-3930	251	2	transactions	transaction	NOUN
app01-3930	251	3	on	on	ADP
app01-3930	251	4	evolutionary	evolutionary	ADJ
app01-3930	251	5	computation	computation	NOUN
app01-3930	251	6	6(2):182–197	6(2):182–197	PROPN
app01-3930	251	7	,	,	PUNCT
app01-3930	251	8	2002	2002	NUM
app01-3930	251	9	.	.	PUNCT
app01-3930	252	1	doi:10.1109/4235.996017	doi:10.1109/4235.996017	NOUN
app01-3930	252	2	.	.	PUNCT
app01-3930	253	1	[	[	X
app01-3930	253	2	13	13	NUM
app01-3930	253	3	]	]	X
app01-3930	253	4	d.	d.	PROPN
app01-3930	253	5	g.	g.	PROPN
app01-3930	253	6	macharet	macharet	PROPN
app01-3930	253	7	,	,	PUNCT
app01-3930	253	8	j.	j.	PROPN
app01-3930	253	9	w.	w.	PROPN
app01-3930	253	10	monteiro	monteiro	PROPN
app01-3930	253	11	,	,	PUNCT
app01-3930	253	12	g.	g.	PROPN
app01-3930	253	13	r.	r.	PROPN
app01-3930	253	14	mateus	mateus	PROPN
app01-3930	253	15	,	,	PUNCT
app01-3930	253	16	m.	m.	PROPN
app01-3930	253	17	f.	f.	PROPN
app01-3930	253	18	campos	campos	PROPN
app01-3930	253	19	.	.	PUNCT
app01-3930	254	1	bi	bi	ADJ
app01-3930	254	2	-	-	ADJ
app01-3930	254	3	objective	objective	ADJ
app01-3930	254	4	data	datum	NOUN
app01-3930	254	5	gathering	gather	VERB
app01-3930	254	6	path	path	NOUN
app01-3930	254	7	planning	planning	NOUN
app01-3930	254	8	for	for	ADP
app01-3930	254	9	vehicles	vehicle	NOUN
app01-3930	254	10	with	with	ADP
app01-3930	254	11	bounded	bounded	ADJ
app01-3930	254	12	curvature	curvature	NOUN
app01-3930	254	13	.	.	PUNCT
app01-3930	255	1	computers	computer	NOUN
app01-3930	255	2	&	&	CCONJ
app01-3930	255	3	operations	operation	NOUN
app01-3930	255	4	research	research	PROPN
app01-3930	255	5	2016	2016	NUM
app01-3930	255	6	.	.	PUNCT
app01-3930	256	1	doi:10.1016	doi:10.1016	PROPN
app01-3930	256	2	/	/	SYM
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app01-3930	256	4	.	.	PUNCT
app01-3930	257	1	[	[	X
app01-3930	257	2	14	14	NUM
app01-3930	257	3	]	]	PUNCT
app01-3930	257	4	x.	x.	NOUN
app01-3930	257	5	goaoc	goaoc	PROPN
app01-3930	257	6	,	,	PUNCT
app01-3930	257	7	h.-s	h.-s	PROPN
app01-3930	257	8	.	.	PUNCT
app01-3930	258	1	kim	kim	PROPN
app01-3930	258	2	,	,	PUNCT
app01-3930	258	3	s.	s.	PROPN
app01-3930	258	4	lazard	lazard	PROPN
app01-3930	258	5	.	.	PUNCT
app01-3930	259	1	bounded	bound	VERB
app01-3930	259	2	-	-	PUNCT
app01-3930	259	3	curvature	curvature	NOUN
app01-3930	259	4	shortest	short	ADJ
app01-3930	259	5	paths	path	NOUN
app01-3930	259	6	through	through	ADP
app01-3930	259	7	a	a	DET
app01-3930	259	8	sequence	sequence	NOUN
app01-3930	259	9	of	of	ADP
app01-3930	259	10	points	point	NOUN
app01-3930	259	11	using	use	VERB
app01-3930	259	12	convex	convex	PROPN
app01-3930	259	13	optimization	optimization	NOUN
app01-3930	259	14	.	.	PUNCT
app01-3930	260	1	siam	siam	PROPN
app01-3930	260	2	journal	journal	PROPN
app01-3930	260	3	on	on	ADP
app01-3930	260	4	computing	compute	VERB
app01-3930	260	5	42(2):662–684	42(2):662–684	PROPN
app01-3930	260	6	,	,	PUNCT
app01-3930	260	7	2013	2013	NUM
app01-3930	260	8	.	.	PUNCT
app01-3930	261	1	doi:10.1137/100816079	doi:10.1137/100816079	PROPN
app01-3930	261	2	.	.	PUNCT
app01-3930	262	1	[	[	X
app01-3930	262	2	15	15	NUM
app01-3930	262	3	]	]	X
app01-3930	262	4	c.	c.	PROPN
app01-3930	262	5	w.	w.	PROPN
app01-3930	262	6	hewgley	hewgley	PROPN
app01-3930	262	7	,	,	PUNCT
app01-3930	262	8	o.	o.	PROPN
app01-3930	262	9	yakimenko	yakimenko	PROPN
app01-3930	262	10	.	.	PUNCT
app01-3930	263	1	precision	precision	NOUN
app01-3930	263	2	guided	guide	VERB
app01-3930	263	3	airdrop	airdrop	NOUN
app01-3930	263	4	for	for	ADP
app01-3930	263	5	vertical	vertical	ADJ
app01-3930	263	6	replenishment	replenishment	NOUN
app01-3930	263	7	of	of	ADP
app01-3930	263	8	naval	naval	ADJ
app01-3930	263	9	vessels	vessel	NOUN
app01-3930	263	10	.	.	PUNCT
app01-3930	264	1	in	in	ADP
app01-3930	264	2	proceedings	proceeding	NOUN
app01-3930	264	3	of	of	ADP
app01-3930	264	4	the	the	DET
app01-3930	264	5	20th	20th	ADJ
app01-3930	264	6	aiaa	aiaa	ADJ
app01-3930	264	7	aerodynamic	aerodynamic	PROPN
app01-3930	264	8	decelerator	decelerator	NOUN
app01-3930	264	9	systems	system	NOUN
app01-3930	264	10	technology	technology	NOUN
app01-3930	264	11	conference	conference	NOUN
app01-3930	264	12	,	,	PUNCT
app01-3930	264	13	pp	pp	X
app01-3930	264	14	.	.	PUNCT
app01-3930	265	1	4–7	4–7	X
app01-3930	265	2	.	.	NOUN
app01-3930	265	3	2009	2009	NUM
app01-3930	265	4	.	.	PUNCT
app01-3930	266	1	doi:10.2514/6.2009	doi:10.2514/6.2009	PROPN
app01-3930	266	2	-	-	PUNCT
app01-3930	266	3	2995	2995	NUM
app01-3930	266	4	.	.	PUNCT
app01-3930	267	1	[	[	X
app01-3930	267	2	16	16	NUM
app01-3930	267	3	]	]	PUNCT
app01-3930	267	4	gazebo	gazebo	PROPN
app01-3930	267	5	robot	robot	NOUN
app01-3930	267	6	simulator	simulator	NOUN
app01-3930	267	7	.	.	PUNCT
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app01-3930	268	7	.	.	PUNCT
app01-3930	269	1	[	[	X
app01-3930	269	2	17	17	NUM
app01-3930	269	3	]	]	PUNCT
app01-3930	269	4	k.	k.	PROPN
app01-3930	269	5	helsgaun	helsgaun	PROPN
app01-3930	269	6	.	.	PROPN
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app01-3930	270	4	.	.	PUNCT
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app01-3930	271	2	.	.	PUNCT
app01-3930	272	1	[	[	X
app01-3930	272	2	cited	cite	VERB
app01-3930	272	3	31	31	NUM
app01-3930	272	4	oct	oct	NOUN
app01-3930	272	5	2016	2016	NUM
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app01-3930	272	7	.	.	PUNCT
app01-3930	273	1	[	[	X
app01-3930	273	2	18	18	NUM
app01-3930	273	3	]	]	PUNCT
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app01-3930	273	9	.	.	PUNCT
app01-3930	274	1	on	on	ADP
app01-3930	274	2	the	the	DET
app01-3930	274	3	dubins	dubin	NOUN
app01-3930	274	4	traveling	travel	VERB
app01-3930	274	5	salesman	salesman	ADJ
app01-3930	274	6	problem	problem	NOUN
app01-3930	274	7	with	with	ADP
app01-3930	274	8	neighborhoods	neighborhood	NOUN
app01-3930	274	9	.	.	PUNCT
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app01-3930	275	2	conference	conference	NOUN
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app01-3930	275	5	robots	robot	NOUN
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app01-3930	275	7	systems	system	NOUN
app01-3930	275	8	(	(	PUNCT
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app01-3930	275	10	)	)	PUNCT
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app01-3930	278	5	for	for	ADP
app01-3930	278	6	the	the	DET
app01-3930	278	7	dubins	dubin	NOUN
app01-3930	278	8	traveling	travel	VERB
app01-3930	278	9	salesman	salesman	ADJ
app01-3930	278	10	problem	problem	NOUN
app01-3930	278	11	with	with	ADP
app01-3930	278	12	neighborhoods	neighborhood	NOUN
app01-3930	278	13	.	.	PUNCT
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app01-3930	279	6	,	,	PUNCT
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app01-3930	280	11	http://dx.doi.org/10.2514/1.48949	http://dx.doi.org/10.2514/1.48949	PROPN
app01-3930	280	12	http://dx.doi.org/10.1287/opre.39.4.623	http://dx.doi.org/10.1287/opre.39.4.623	PROPN
app01-3930	280	13	http://dx.doi.org/10.1016/s0377-2217(99)00284-2	http://dx.doi.org/10.1016/s0377-2217(99)00284-2	PROPN
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app01-3930	280	20	www.akira.ruc.dk/~keld/research/lkh	www.akira.ruc.dk/~keld/research/lkh	PROPN
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app01-3930	280	23	acta	acta	PROPN
app01-3930	280	24	polytechnica	polytechnica	PROPN
app01-3930	280	25	ctu	ctu	NOUN
app01-3930	280	26	proceedings	proceeding	NOUN
app01-3930	280	27	6:34–39	6:34–39	NUM
app01-3930	280	28	,	,	PUNCT
app01-3930	280	29	2016	2016	NUM
app01-3930	280	30	1	1	NUM
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app01-3930	280	32	2	2	NUM
app01-3930	280	33	related	relate	VERB
app01-3930	280	34	work	work	NOUN
app01-3930	280	35	3	3	NUM
app01-3930	280	36	problem	problem	NOUN
app01-3930	280	37	statement	statement	NOUN
app01-3930	280	38	3.1	3.1	NUM
app01-3930	280	39	dtsp	dtsp	NOUN
app01-3930	280	40	-	-	PUNCT
app01-3930	280	41	cm	cm	NOUN
app01-3930	280	42	with	with	ADP
app01-3930	280	43	straight	straight	ADJ
app01-3930	280	44	collecting	collecting	NOUN
app01-3930	280	45	maneuvers	maneuver	NOUN
app01-3930	280	46	(	(	PUNCT
app01-3930	280	47	dtsp	dtsp	NOUN
app01-3930	280	48	-	-	PUNCT
app01-3930	280	49	scm	scm	PROPN
app01-3930	280	50	)	)	PUNCT
app01-3930	280	51	4	4	NUM
app01-3930	280	52	solution	solution	NOUN
app01-3930	280	53	of	of	ADP
app01-3930	280	54	the	the	DET
app01-3930	280	55	dtsp	dtsp	NOUN
app01-3930	280	56	-	-	PUNCT
app01-3930	280	57	scm	scm	PROPN
app01-3930	280	58	5	5	NUM
app01-3930	280	59	evaluation	evaluation	NOUN
app01-3930	280	60	results	result	VERB
app01-3930	280	61	5.1	5.1	NUM
app01-3930	280	62	precision	precision	NOUN
app01-3930	280	63	of	of	ADP
app01-3930	280	64	the	the	DET
app01-3930	280	65	airdrop	airdrop	NOUN
app01-3930	280	66	5.2	5.2	NUM
app01-3930	280	67	performance	performance	NOUN
app01-3930	280	68	of	of	ADP
app01-3930	280	69	dtsp	dtsp	NOUN
app01-3930	280	70	approaches	approach	NOUN
app01-3930	280	71	in	in	ADP
app01-3930	280	72	the	the	DET
app01-3930	280	73	dtsp	dtsp	NOUN
app01-3930	280	74	-	-	PUNCT
app01-3930	280	75	scm	scm	PROPN
app01-3930	280	76	6	6	NUM
app01-3930	280	77	conclusion	conclusion	NOUN
app01-3930	280	78	acknowledgements	acknowledgement	NOUN
app01-3930	280	79	references	reference	NOUN