id	sid	tid	token	lemma	pos
ijassa-1061	1	1	adv	adv	PROPN
ijassa-1061	1	2	syst	syst	PROPN
ijassa-1061	1	3	sci	sci	PROPN
ijassa-1061	1	4	appl	appl	PROPN
ijassa-1061	1	5	2021	2021	NUM
ijassa-1061	1	6	;	;	PUNCT
ijassa-1061	1	7	02:71–82	02:71–82	NOUN
ijassa-1061	1	8	published	publish	VERB
ijassa-1061	1	9	online	online	ADV
ijassa-1061	1	10	at	at	ADP
ijassa-1061	1	11	https://ijassa.ipu.ru	https://ijassa.ipu.ru	ADJ
ijassa-1061	1	12	.	.	PUNCT
ijassa-1061	2	1	algorithm	algorithm	NOUN
ijassa-1061	2	2	for	for	ADP
ijassa-1061	2	3	optimal	optimal	ADJ
ijassa-1061	2	4	two	two	NUM
ijassa-1061	2	5	-	-	PUNCT
ijassa-1061	2	6	link	link	NOUN
ijassa-1061	2	7	trajectory	trajectory	NOUN
ijassa-1061	2	8	planning	planning	NOUN
ijassa-1061	2	9	in	in	ADP
ijassa-1061	2	10	evasion	evasion	NOUN
ijassa-1061	2	11	from	from	ADP
ijassa-1061	2	12	detection	detection	NOUN
ijassa-1061	2	13	problem	problem	NOUN
ijassa-1061	2	14	of	of	ADP
ijassa-1061	2	15	mobile	mobile	ADJ
ijassa-1061	2	16	vehicle	vehicle	NOUN
ijassa-1061	2	17	with	with	ADP
ijassa-1061	2	18	non	non	ADJ
ijassa-1061	2	19	-	-	ADJ
ijassa-1061	2	20	uniform	uniform	ADJ
ijassa-1061	2	21	radiation	radiation	NOUN
ijassa-1061	2	22	pattern	pattern	NOUN
ijassa-1061	2	23	andrey	andrey	PROPN
ijassa-1061	2	24	galyaev1	galyaev1	PROPN
ijassa-1061	2	25	,	,	PUNCT
ijassa-1061	2	26	pavel	pavel	PROPN
ijassa-1061	2	27	lysenko1,2*and	lysenko1,2*and	NUM
ijassa-1061	2	28	victor	victor	PROPN
ijassa-1061	2	29	yakhno1	yakhno1	PROPN
ijassa-1061	3	1	1institute	1institute	NUM
ijassa-1061	3	2	of	of	ADP
ijassa-1061	3	3	control	control	PROPN
ijassa-1061	3	4	sciences	science	NOUN
ijassa-1061	3	5	of	of	ADP
ijassa-1061	3	6	ras	ras	PROPN
ijassa-1061	3	7	,	,	PUNCT
ijassa-1061	3	8	moscow	moscow	PROPN
ijassa-1061	3	9	,	,	PUNCT
ijassa-1061	3	10	russia	russia	PROPN
ijassa-1061	3	11	,	,	PUNCT
ijassa-1061	3	12	117997	117997	NUM
ijassa-1061	3	13	2moscow	2moscow	PROPN
ijassa-1061	3	14	institute	institute	NOUN
ijassa-1061	3	15	of	of	ADP
ijassa-1061	3	16	physics	physics	PROPN
ijassa-1061	3	17	and	and	CCONJ
ijassa-1061	3	18	technology	technology	NOUN
ijassa-1061	3	19	,	,	PUNCT
ijassa-1061	3	20	dolgoprudny	dolgoprudny	PROPN
ijassa-1061	3	21	,	,	PUNCT
ijassa-1061	3	22	russia	russia	PROPN
ijassa-1061	3	23	,	,	PUNCT
ijassa-1061	3	24	141701	141701	NUM
ijassa-1061	3	25	abstract	abstract	NOUN
ijassa-1061	3	26	:	:	PUNCT
ijassa-1061	3	27	the	the	DET
ijassa-1061	3	28	problem	problem	NOUN
ijassa-1061	3	29	of	of	ADP
ijassa-1061	3	30	an	an	DET
ijassa-1061	3	31	optimal	optimal	ADJ
ijassa-1061	3	32	pp	pp	NOUN
ijassa-1061	3	33	/	/	SYM
ijassa-1061	3	34	tp	tp	NOUN
ijassa-1061	3	35	(	(	PUNCT
ijassa-1061	3	36	path	path	NOUN
ijassa-1061	3	37	/	/	SYM
ijassa-1061	3	38	trajectory	trajectory	NOUN
ijassa-1061	3	39	planning	planning	NOUN
ijassa-1061	3	40	)	)	PUNCT
ijassa-1061	3	41	evasion	evasion	NOUN
ijassa-1061	3	42	of	of	ADP
ijassa-1061	3	43	a	a	DET
ijassa-1061	3	44	mobile	mobile	ADJ
ijassa-1061	3	45	vehicle	vehicle	NOUN
ijassa-1061	3	46	from	from	ADP
ijassa-1061	3	47	the	the	DET
ijassa-1061	3	48	detection	detection	NOUN
ijassa-1061	3	49	is	be	AUX
ijassa-1061	3	50	considered	consider	VERB
ijassa-1061	3	51	.	.	PUNCT
ijassa-1061	4	1	the	the	DET
ijassa-1061	4	2	objective	objective	NOUN
ijassa-1061	4	3	is	be	AUX
ijassa-1061	4	4	to	to	PART
ijassa-1061	4	5	minimize	minimize	VERB
ijassa-1061	4	6	the	the	DET
ijassa-1061	4	7	risk	risk	NOUN
ijassa-1061	4	8	of	of	ADP
ijassa-1061	4	9	a	a	DET
ijassa-1061	4	10	moving	move	VERB
ijassa-1061	4	11	vehicle	vehicle	NOUN
ijassa-1061	4	12	being	be	AUX
ijassa-1061	4	13	detected	detect	VERB
ijassa-1061	4	14	by	by	ADP
ijassa-1061	4	15	a	a	DET
ijassa-1061	4	16	static	static	ADJ
ijassa-1061	4	17	sensor	sensor	NOUN
ijassa-1061	4	18	when	when	SCONJ
ijassa-1061	4	19	moving	move	VERB
ijassa-1061	4	20	between	between	ADP
ijassa-1061	4	21	two	two	NUM
ijassa-1061	4	22	specified	specify	VERB
ijassa-1061	4	23	points	point	NOUN
ijassa-1061	4	24	on	on	ADP
ijassa-1061	4	25	the	the	DET
ijassa-1061	4	26	plane	plane	NOUN
ijassa-1061	4	27	.	.	PUNCT
ijassa-1061	5	1	detection	detection	NOUN
ijassa-1061	5	2	is	be	AUX
ijassa-1061	5	3	based	base	VERB
ijassa-1061	5	4	on	on	ADP
ijassa-1061	5	5	the	the	DET
ijassa-1061	5	6	primary	primary	ADJ
ijassa-1061	5	7	acoustic	acoustic	ADJ
ijassa-1061	5	8	field	field	NOUN
ijassa-1061	5	9	emitted	emit	VERB
ijassa-1061	5	10	by	by	ADP
ijassa-1061	5	11	a	a	DET
ijassa-1061	5	12	vehicle	vehicle	NOUN
ijassa-1061	5	13	with	with	ADP
ijassa-1061	5	14	an	an	DET
ijassa-1061	5	15	inhomogeneous	inhomogeneous	ADJ
ijassa-1061	5	16	radiation	radiation	NOUN
ijassa-1061	5	17	pattern	pattern	NOUN
ijassa-1061	5	18	.	.	PUNCT
ijassa-1061	6	1	an	an	DET
ijassa-1061	6	2	algorithm	algorithm	NOUN
ijassa-1061	6	3	for	for	ADP
ijassa-1061	6	4	finding	find	VERB
ijassa-1061	6	5	a	a	DET
ijassa-1061	6	6	two	two	NUM
ijassa-1061	6	7	-	-	PUNCT
ijassa-1061	6	8	link	link	NOUN
ijassa-1061	6	9	optimal	optimal	ADJ
ijassa-1061	6	10	trajectory	trajectory	NOUN
ijassa-1061	6	11	is	be	AUX
ijassa-1061	6	12	proposed	propose	VERB
ijassa-1061	6	13	.	.	PUNCT
ijassa-1061	7	1	the	the	DET
ijassa-1061	7	2	optimal	optimal	ADJ
ijassa-1061	7	3	trajectory	trajectory	NOUN
ijassa-1061	7	4	and	and	CCONJ
ijassa-1061	7	5	the	the	DET
ijassa-1061	7	6	law	law	NOUN
ijassa-1061	7	7	of	of	ADP
ijassa-1061	7	8	speed	speed	NOUN
ijassa-1061	7	9	of	of	ADP
ijassa-1061	7	10	a	a	DET
ijassa-1061	7	11	mobile	mobile	ADJ
ijassa-1061	7	12	vehicle	vehicle	NOUN
ijassa-1061	7	13	,	,	PUNCT
ijassa-1061	7	14	as	as	ADV
ijassa-1061	7	15	well	well	ADV
ijassa-1061	7	16	as	as	ADP
ijassa-1061	7	17	the	the	DET
ijassa-1061	7	18	value	value	NOUN
ijassa-1061	7	19	of	of	ADP
ijassa-1061	7	20	the	the	DET
ijassa-1061	7	21	criterion	criterion	NOUN
ijassa-1061	7	22	,	,	PUNCT
ijassa-1061	7	23	are	be	AUX
ijassa-1061	7	24	found	find	VERB
ijassa-1061	7	25	.	.	PUNCT
ijassa-1061	8	1	keywords	keyword	NOUN
ijassa-1061	8	2	:	:	PUNCT
ijassa-1061	8	3	uuv	uuv	PROPN
ijassa-1061	8	4	path	path	NOUN
ijassa-1061	8	5	/	/	SYM
ijassa-1061	8	6	trajectory	trajectory	NOUN
ijassa-1061	8	7	planning	planning	NOUN
ijassa-1061	8	8	;	;	PUNCT
ijassa-1061	8	9	non	non	ADJ
ijassa-1061	8	10	-	-	ADJ
ijassa-1061	8	11	detection	detection	ADJ
ijassa-1061	8	12	probability	probability	NOUN
ijassa-1061	8	13	;	;	PUNCT
ijassa-1061	8	14	non	non	ADJ
ijassa-1061	8	15	-	-	ADJ
ijassa-1061	8	16	uniform	uniform	ADJ
ijassa-1061	8	17	radiation	radiation	NOUN
ijassa-1061	8	18	pattern	pattern	NOUN
ijassa-1061	8	19	,	,	PUNCT
ijassa-1061	8	20	evasion	evasion	NOUN
ijassa-1061	8	21	from	from	ADP
ijassa-1061	8	22	detection	detection	NOUN
ijassa-1061	8	23	1	1	NUM
ijassa-1061	8	24	.	.	PUNCT
ijassa-1061	8	25	introduction	introduction	NOUN
ijassa-1061	8	26	the	the	DET
ijassa-1061	8	27	problems	problem	NOUN
ijassa-1061	8	28	of	of	ADP
ijassa-1061	8	29	path	path	NOUN
ijassa-1061	8	30	/	/	SYM
ijassa-1061	8	31	trajectory	trajectory	NOUN
ijassa-1061	8	32	planning	planning	NOUN
ijassa-1061	8	33	of	of	ADP
ijassa-1061	8	34	autonomous	autonomous	ADJ
ijassa-1061	8	35	and	and	CCONJ
ijassa-1061	8	36	controlled	control	VERB
ijassa-1061	8	37	vehicles	vehicle	NOUN
ijassa-1061	8	38	are	be	AUX
ijassa-1061	8	39	currently	currently	ADV
ijassa-1061	8	40	interesting	interesting	ADJ
ijassa-1061	8	41	due	due	ADP
ijassa-1061	8	42	to	to	ADP
ijassa-1061	8	43	their	their	PRON
ijassa-1061	8	44	wide	wide	ADJ
ijassa-1061	8	45	usage	usage	NOUN
ijassa-1061	8	46	.	.	PUNCT
ijassa-1061	9	1	for	for	ADP
ijassa-1061	9	2	example	example	NOUN
ijassa-1061	9	3	,	,	PUNCT
ijassa-1061	9	4	in	in	ADP
ijassa-1061	9	5	the	the	DET
ijassa-1061	9	6	evasion	evasion	NOUN
ijassa-1061	9	7	problem	problem	NOUN
ijassa-1061	9	8	,	,	PUNCT
ijassa-1061	9	9	the	the	DET
ijassa-1061	9	10	moving	move	VERB
ijassa-1061	9	11	object	object	NOUN
ijassa-1061	9	12	must	must	AUX
ijassa-1061	9	13	remain	remain	VERB
ijassa-1061	9	14	hidden	hidden	ADJ
ijassa-1061	9	15	for	for	ADP
ijassa-1061	9	16	the	the	DET
ijassa-1061	9	17	detector	detector	NOUN
ijassa-1061	9	18	system	system	NOUN
ijassa-1061	9	19	[	[	X
ijassa-1061	9	20	1	1	NUM
ijassa-1061	9	21	]	]	PUNCT
ijassa-1061	9	22	.	.	PUNCT
ijassa-1061	10	1	these	these	DET
ijassa-1061	10	2	problems	problem	NOUN
ijassa-1061	10	3	are	be	AUX
ijassa-1061	10	4	extremely	extremely	ADV
ijassa-1061	10	5	relevant	relevant	ADJ
ijassa-1061	10	6	for	for	ADP
ijassa-1061	10	7	modern	modern	ADJ
ijassa-1061	10	8	military	military	ADJ
ijassa-1061	10	9	applications	application	NOUN
ijassa-1061	10	10	.	.	PUNCT
ijassa-1061	11	1	technological	technological	ADJ
ijassa-1061	11	2	advances	advance	NOUN
ijassa-1061	11	3	allow	allow	VERB
ijassa-1061	11	4	the	the	DET
ijassa-1061	11	5	onboard	onboard	ADJ
ijassa-1061	11	6	algorithms	algorithm	NOUN
ijassa-1061	11	7	of	of	ADP
ijassa-1061	11	8	unmanned	unmanned	ADJ
ijassa-1061	11	9	mobile	mobile	ADJ
ijassa-1061	11	10	vehicles	vehicle	NOUN
ijassa-1061	11	11	to	to	PART
ijassa-1061	11	12	be	be	AUX
ijassa-1061	11	13	non	non	ADJ
ijassa-1061	11	14	-	-	ADJ
ijassa-1061	11	15	trivial	trivial	ADJ
ijassa-1061	11	16	and	and	CCONJ
ijassa-1061	11	17	use	use	VERB
ijassa-1061	11	18	solutions	solution	NOUN
ijassa-1061	11	19	from	from	ADP
ijassa-1061	11	20	broad	broad	ADJ
ijassa-1061	11	21	scientific	scientific	ADJ
ijassa-1061	11	22	fields	field	NOUN
ijassa-1061	11	23	,	,	PUNCT
ijassa-1061	11	24	such	such	ADJ
ijassa-1061	11	25	as	as	ADP
ijassa-1061	11	26	optimal	optimal	ADJ
ijassa-1061	11	27	control	control	NOUN
ijassa-1061	11	28	and	and	CCONJ
ijassa-1061	11	29	differential	differential	NOUN
ijassa-1061	11	30	games	game	NOUN
ijassa-1061	11	31	.	.	PUNCT
ijassa-1061	12	1	the	the	DET
ijassa-1061	12	2	problem	problem	NOUN
ijassa-1061	12	3	of	of	ADP
ijassa-1061	12	4	evading	evade	VERB
ijassa-1061	12	5	radar	radar	NOUN
ijassa-1061	12	6	detection	detection	NOUN
ijassa-1061	12	7	,	,	PUNCT
ijassa-1061	12	8	in	in	ADP
ijassa-1061	12	9	particular	particular	ADJ
ijassa-1061	12	10	,	,	PUNCT
ijassa-1061	12	11	is	be	AUX
ijassa-1061	12	12	considered	consider	VERB
ijassa-1061	12	13	in	in	ADP
ijassa-1061	12	14	[	[	X
ijassa-1061	12	15	2	2	NUM
ijassa-1061	12	16	]	]	PUNCT
ijassa-1061	12	17	as	as	ADP
ijassa-1061	12	18	a	a	DET
ijassa-1061	12	19	problem	problem	NOUN
ijassa-1061	12	20	of	of	ADP
ijassa-1061	12	21	automated	automate	VERB
ijassa-1061	12	22	planning	planning	NOUN
ijassa-1061	12	23	of	of	ADP
ijassa-1061	12	24	the	the	DET
ijassa-1061	12	25	trajectory	trajectory	NOUN
ijassa-1061	12	26	of	of	ADP
ijassa-1061	12	27	combat	combat	NOUN
ijassa-1061	12	28	unmanned	unmanned	ADJ
ijassa-1061	12	29	aerial	aerial	ADJ
ijassa-1061	12	30	vehicles	vehicle	NOUN
ijassa-1061	12	31	(	(	PUNCT
ijassa-1061	12	32	uavs	uavs	NOUN
ijassa-1061	12	33	)	)	PUNCT
ijassa-1061	12	34	in	in	ADP
ijassa-1061	12	35	the	the	DET
ijassa-1061	12	36	presence	presence	NOUN
ijassa-1061	12	37	of	of	ADP
ijassa-1061	12	38	radar	radar	NOUN
ijassa-1061	12	39	-	-	PUNCT
ijassa-1061	12	40	guided	guide	VERB
ijassa-1061	12	41	surface	surface	NOUN
ijassa-1061	12	42	-	-	PUNCT
ijassa-1061	12	43	to	to	ADP
ijassa-1061	12	44	-	-	PUNCT
ijassa-1061	12	45	air	air	NOUN
ijassa-1061	12	46	missiles	missile	NOUN
ijassa-1061	12	47	.	.	PUNCT
ijassa-1061	13	1	it	it	PRON
ijassa-1061	13	2	turns	turn	VERB
ijassa-1061	13	3	out	out	ADP
ijassa-1061	13	4	that	that	SCONJ
ijassa-1061	13	5	the	the	DET
ijassa-1061	13	6	solution	solution	NOUN
ijassa-1061	13	7	of	of	ADP
ijassa-1061	13	8	the	the	DET
ijassa-1061	13	9	problem	problem	NOUN
ijassa-1061	13	10	significantly	significantly	ADV
ijassa-1061	13	11	depends	depend	VERB
ijassa-1061	13	12	on	on	ADP
ijassa-1061	13	13	the	the	DET
ijassa-1061	13	14	assumption	assumption	NOUN
ijassa-1061	13	15	of	of	ADP
ijassa-1061	13	16	the	the	DET
ijassa-1061	13	17	isotropic	isotropic	ADJ
ijassa-1061	13	18	capabilities	capability	NOUN
ijassa-1061	13	19	of	of	ADP
ijassa-1061	13	20	the	the	DET
ijassa-1061	13	21	radar	radar	NOUN
ijassa-1061	13	22	(	(	PUNCT
ijassa-1061	13	23	i.e.	i.e.	X
ijassa-1061	13	24	,	,	PUNCT
ijassa-1061	13	25	the	the	DET
ijassa-1061	13	26	independence	independence	NOUN
ijassa-1061	13	27	of	of	ADP
ijassa-1061	13	28	the	the	DET
ijassa-1061	13	29	reflected	reflect	VERB
ijassa-1061	13	30	signal	signal	NOUN
ijassa-1061	13	31	from	from	ADP
ijassa-1061	13	32	the	the	DET
ijassa-1061	13	33	spatial	spatial	ADJ
ijassa-1061	13	34	orientation	orientation	NOUN
ijassa-1061	13	35	of	of	ADP
ijassa-1061	13	36	the	the	DET
ijassa-1061	13	37	uav	uav	PROPN
ijassa-1061	13	38	)	)	PUNCT
ijassa-1061	13	39	.	.	PUNCT
ijassa-1061	14	1	in	in	ADP
ijassa-1061	14	2	case	case	NOUN
ijassa-1061	14	3	of	of	ADP
ijassa-1061	14	4	isotropic	isotropic	ADJ
ijassa-1061	14	5	characteristics	characteristic	NOUN
ijassa-1061	14	6	,	,	PUNCT
ijassa-1061	14	7	an	an	DET
ijassa-1061	14	8	analytical	analytical	ADJ
ijassa-1061	14	9	solution	solution	NOUN
ijassa-1061	14	10	for	for	ADP
ijassa-1061	14	11	the	the	DET
ijassa-1061	14	12	problem	problem	NOUN
ijassa-1061	14	13	is	be	AUX
ijassa-1061	14	14	possible	possible	ADJ
ijassa-1061	14	15	,	,	PUNCT
ijassa-1061	14	16	which	which	PRON
ijassa-1061	14	17	facilitates	facilitate	VERB
ijassa-1061	14	18	the	the	DET
ijassa-1061	14	19	construction	construction	NOUN
ijassa-1061	14	20	of	of	ADP
ijassa-1061	14	21	an	an	DET
ijassa-1061	14	22	onboard	onboard	ADJ
ijassa-1061	14	23	control	control	NOUN
ijassa-1061	14	24	algorithm	algorithm	NOUN
ijassa-1061	14	25	.	.	PUNCT
ijassa-1061	15	1	homogeneous	homogeneous	ADJ
ijassa-1061	15	2	radiation	radiation	NOUN
ijassa-1061	15	3	capabilities	capability	NOUN
ijassa-1061	15	4	of	of	ADP
ijassa-1061	15	5	mobile	mobile	ADJ
ijassa-1061	15	6	vehicle	vehicle	NOUN
ijassa-1061	15	7	are	be	AUX
ijassa-1061	15	8	explored	explore	VERB
ijassa-1061	15	9	in	in	ADP
ijassa-1061	15	10	papers	paper	NOUN
ijassa-1061	15	11	[	[	X
ijassa-1061	15	12	3–8	3–8	NUM
ijassa-1061	15	13	]	]	X
ijassa-1061	15	14	.	.	PUNCT
ijassa-1061	16	1	the	the	DET
ijassa-1061	16	2	paper	paper	NOUN
ijassa-1061	16	3	considers	consider	VERB
ijassa-1061	16	4	the	the	DET
ijassa-1061	16	5	problem	problem	NOUN
ijassa-1061	16	6	of	of	ADP
ijassa-1061	16	7	the	the	DET
ijassa-1061	16	8	covert	covert	ADJ
ijassa-1061	16	9	infiltration	infiltration	NOUN
ijassa-1061	16	10	of	of	ADP
ijassa-1061	16	11	an	an	DET
ijassa-1061	16	12	unmanned	unmanned	ADJ
ijassa-1061	16	13	underwater	underwater	ADJ
ijassa-1061	16	14	vehicle	vehicle	NOUN
ijassa-1061	16	15	(	(	PUNCT
ijassa-1061	16	16	uuv	uuv	PROPN
ijassa-1061	16	17	)	)	PUNCT
ijassa-1061	16	18	into	into	ADP
ijassa-1061	16	19	a	a	DET
ijassa-1061	16	20	given	give	VERB
ijassa-1061	16	21	area	area	NOUN
ijassa-1061	16	22	under	under	ADP
ijassa-1061	16	23	the	the	DET
ijassa-1061	16	24	supervision	supervision	NOUN
ijassa-1061	16	25	of	of	ADP
ijassa-1061	16	26	a	a	DET
ijassa-1061	16	27	stationary	stationary	ADJ
ijassa-1061	16	28	passive	passive	ADJ
ijassa-1061	16	29	sonar	sonar	NOUN
ijassa-1061	16	30	conducting	conduct	VERB
ijassa-1061	16	31	a	a	DET
ijassa-1061	16	32	search	search	NOUN
ijassa-1061	16	33	on	on	ADP
ijassa-1061	16	34	the	the	DET
ijassa-1061	16	35	primary	primary	ADJ
ijassa-1061	16	36	hydro	hydro	NOUN
ijassa-1061	16	37	-	-	PUNCT
ijassa-1061	16	38	acoustic	acoustic	ADJ
ijassa-1061	16	39	field	field	NOUN
ijassa-1061	16	40	as	as	ADP
ijassa-1061	16	41	in	in	ADP
ijassa-1061	16	42	[	[	X
ijassa-1061	16	43	9	9	NUM
ijassa-1061	16	44	]	]	PUNCT
ijassa-1061	16	45	.	.	PUNCT
ijassa-1061	17	1	in	in	ADP
ijassa-1061	17	2	contrast	contrast	NOUN
ijassa-1061	17	3	to	to	ADP
ijassa-1061	17	4	previous	previous	ADJ
ijassa-1061	17	5	works	work	NOUN
ijassa-1061	17	6	dealing	deal	VERB
ijassa-1061	17	7	with	with	ADP
ijassa-1061	17	8	path	path	NOUN
ijassa-1061	17	9	planning	planning	NOUN
ijassa-1061	17	10	problems	problem	NOUN
ijassa-1061	17	11	,	,	PUNCT
ijassa-1061	17	12	the	the	DET
ijassa-1061	17	13	acoustic	acoustic	ADJ
ijassa-1061	17	14	signal	signal	NOUN
ijassa-1061	17	15	emitted	emit	VERB
ijassa-1061	17	16	by	by	ADP
ijassa-1061	17	17	a	a	DET
ijassa-1061	17	18	mobile	mobile	ADJ
ijassa-1061	17	19	vehicle	vehicle	NOUN
ijassa-1061	17	20	has	have	VERB
ijassa-1061	17	21	a	a	DET
ijassa-1061	17	22	non	non	ADJ
ijassa-1061	17	23	-	-	ADJ
ijassa-1061	17	24	uniform	uniform	ADJ
ijassa-1061	17	25	pattern	pattern	NOUN
ijassa-1061	17	26	.	.	PUNCT
ijassa-1061	18	1	the	the	DET
ijassa-1061	18	2	task	task	NOUN
ijassa-1061	18	3	of	of	ADP
ijassa-1061	18	4	the	the	DET
ijassa-1061	18	5	uuv	uuv	PROPN
ijassa-1061	18	6	optimal	optimal	ADJ
ijassa-1061	18	7	route	route	NOUN
ijassa-1061	18	8	planning	plan	VERB
ijassa-1061	18	9	from	from	ADP
ijassa-1061	18	10	the	the	DET
ijassa-1061	18	11	starting	starting	NOUN
ijassa-1061	18	12	point	point	NOUN
ijassa-1061	18	13	of	of	ADP
ijassa-1061	18	14	space	space	NOUN
ijassa-1061	18	15	to	to	ADP
ijassa-1061	18	16	the	the	DET
ijassa-1061	18	17	end	end	NOUN
ijassa-1061	18	18	point	point	NOUN
ijassa-1061	18	19	can	can	AUX
ijassa-1061	18	20	be	be	AUX
ijassa-1061	18	21	formulated	formulate	VERB
ijassa-1061	18	22	as	as	ADP
ijassa-1061	18	23	a	a	DET
ijassa-1061	18	24	problem	problem	NOUN
ijassa-1061	18	25	of	of	ADP
ijassa-1061	18	26	calculus	calculus	NOUN
ijassa-1061	18	27	of	of	ADP
ijassa-1061	18	28	variations	variation	NOUN
ijassa-1061	18	29	.	.	PUNCT
ijassa-1061	19	1	the	the	DET
ijassa-1061	19	2	optimization	optimization	NOUN
ijassa-1061	19	3	criterion	criterion	NOUN
ijassa-1061	19	4	in	in	ADP
ijassa-1061	19	5	this	this	DET
ijassa-1061	19	6	problem	problem	NOUN
ijassa-1061	19	7	is	be	AUX
ijassa-1061	19	8	the	the	DET
ijassa-1061	19	9	uuv	uuv	PROPN
ijassa-1061	19	10	non	non	ADJ
ijassa-1061	19	11	-	-	ADJ
ijassa-1061	19	12	detection	detection	ADJ
ijassa-1061	19	13	probability	probability	NOUN
ijassa-1061	19	14	,	,	PUNCT
ijassa-1061	19	15	e.g.	e.g.	ADV
ijassa-1061	19	16	the	the	DET
ijassa-1061	19	17	chance	chance	NOUN
ijassa-1061	19	18	of	of	ADP
ijassa-1061	19	19	the	the	DET
ijassa-1061	19	20	sonar	sonar	NOUN
ijassa-1061	19	21	to	to	PART
ijassa-1061	19	22	make	make	VERB
ijassa-1061	19	23	a	a	DET
ijassa-1061	19	24	decision	decision	NOUN
ijassa-1061	19	25	about	about	ADP
ijassa-1061	19	26	uuv	uuv	PROPN
ijassa-1061	19	27	presence	presence	NOUN
ijassa-1061	19	28	in	in	ADP
ijassa-1061	19	29	the	the	DET
ijassa-1061	19	30	region	region	NOUN
ijassa-1061	19	31	under	under	ADP
ijassa-1061	19	32	study	study	NOUN
ijassa-1061	19	33	during	during	ADP
ijassa-1061	19	34	∗corresponding	∗corresponde	VERB
ijassa-1061	19	35	author	author	NOUN
ijassa-1061	19	36	:	:	PUNCT
ijassa-1061	19	37	pashlys@yandex.ru	pashlys@yandex.ru	NOUN
ijassa-1061	19	38	72	72	NUM
ijassa-1061	19	39	a.	a.	NOUN
ijassa-1061	19	40	galyaev	galyaev	NOUN
ijassa-1061	19	41	,	,	PUNCT
ijassa-1061	19	42	p.	p.	NOUN
ijassa-1061	19	43	lysenko	lysenko	PRON
ijassa-1061	20	1	uuv	uuv	PROPN
ijassa-1061	20	2	’s	’s	PART
ijassa-1061	20	3	passing	pass	VERB
ijassa-1061	20	4	along	along	ADP
ijassa-1061	20	5	the	the	DET
ijassa-1061	20	6	route	route	NOUN
ijassa-1061	20	7	.	.	PUNCT
ijassa-1061	21	1	the	the	DET
ijassa-1061	21	2	decision	decision	NOUN
ijassa-1061	21	3	rule	rule	NOUN
ijassa-1061	21	4	in	in	ADP
ijassa-1061	21	5	threshold	threshold	NOUN
ijassa-1061	21	6	statistics	statistic	NOUN
ijassa-1061	21	7	is	be	AUX
ijassa-1061	21	8	examined	examine	VERB
ijassa-1061	21	9	to	to	PART
ijassa-1061	21	10	make	make	VERB
ijassa-1061	21	11	the	the	DET
ijassa-1061	21	12	detection	detection	NOUN
ijassa-1061	21	13	decision	decision	NOUN
ijassa-1061	21	14	[	[	X
ijassa-1061	21	15	10	10	NUM
ijassa-1061	21	16	]	]	PUNCT
ijassa-1061	21	17	.	.	PUNCT
ijassa-1061	22	1	let	let	VERB
ijassa-1061	22	2	the	the	DET
ijassa-1061	22	3	uuv	uuv	PROPN
ijassa-1061	22	4	trajectory	trajectory	NOUN
ijassa-1061	22	5	be	be	AUX
ijassa-1061	22	6	represented	represent	VERB
ijassa-1061	22	7	by	by	ADP
ijassa-1061	22	8	a	a	DET
ijassa-1061	22	9	piecewise	piecewise	NOUN
ijassa-1061	22	10	linear	linear	NOUN
ijassa-1061	22	11	trajectory	trajectory	NOUN
ijassa-1061	22	12	with	with	ADP
ijassa-1061	22	13	the	the	DET
ijassa-1061	22	14	duration	duration	NOUN
ijassa-1061	22	15	of	of	ADP
ijassa-1061	22	16	a	a	DET
ijassa-1061	22	17	movement	movement	NOUN
ijassa-1061	22	18	on	on	ADP
ijassa-1061	22	19	each	each	DET
ijassa-1061	22	20	rectilinear	rectilinear	ADJ
ijassa-1061	22	21	section	section	NOUN
ijassa-1061	22	22	equal	equal	ADJ
ijassa-1061	22	23	to	to	ADP
ijassa-1061	22	24	the	the	DET
ijassa-1061	22	25	duration	duration	NOUN
ijassa-1061	22	26	of	of	ADP
ijassa-1061	22	27	the	the	DET
ijassa-1061	22	28	observation	observation	NOUN
ijassa-1061	22	29	”	"	PUNCT
ijassa-1061	22	30	tact	tact	NOUN
ijassa-1061	22	31	”	"	PUNCT
ijassa-1061	22	32	.	.	PUNCT
ijassa-1061	23	1	for	for	ADP
ijassa-1061	23	2	each	each	DET
ijassa-1061	23	3	clock	clock	NOUN
ijassa-1061	23	4	cycle	cycle	NOUN
ijassa-1061	23	5	,	,	PUNCT
ijassa-1061	23	6	we	we	PRON
ijassa-1061	23	7	denote	denote	VERB
ijassa-1061	23	8	the	the	DET
ijassa-1061	23	9	judgment	judgment	NOUN
ijassa-1061	23	10	”	"	PUNCT
ijassa-1061	23	11	uuv	uuv	ADV
ijassa-1061	23	12	absent	absent	NOUN
ijassa-1061	23	13	”	"	PUNCT
ijassa-1061	23	14	by	by	ADP
ijassa-1061	23	15	0	0	NUM
ijassa-1061	23	16	,	,	PUNCT
ijassa-1061	23	17	and	and	CCONJ
ijassa-1061	23	18	the	the	DET
ijassa-1061	23	19	judgment	judgment	NOUN
ijassa-1061	23	20	”	"	PUNCT
ijassa-1061	23	21	uuv	uuv	PROPN
ijassa-1061	23	22	present	present	NOUN
ijassa-1061	23	23	”	"	PUNCT
ijassa-1061	23	24	by	by	ADP
ijassa-1061	23	25	1	1	NUM
ijassa-1061	23	26	.	.	PUNCT
ijassa-1061	24	1	then	then	ADV
ijassa-1061	24	2	the	the	DET
ijassa-1061	24	3	results	result	NOUN
ijassa-1061	24	4	of	of	ADP
ijassa-1061	24	5	making	make	VERB
ijassa-1061	24	6	decisions	decision	NOUN
ijassa-1061	24	7	on	on	ADP
ijassa-1061	24	8	the	the	DET
ijassa-1061	24	9	uuv	uuv	PROPN
ijassa-1061	24	10	trajectory	trajectory	NOUN
ijassa-1061	24	11	can	can	AUX
ijassa-1061	24	12	be	be	AUX
ijassa-1061	24	13	represented	represent	VERB
ijassa-1061	24	14	by	by	ADP
ijassa-1061	24	15	a	a	DET
ijassa-1061	24	16	sequence	sequence	NOUN
ijassa-1061	24	17	of	of	ADP
ijassa-1061	24	18	zeros	zero	NOUN
ijassa-1061	24	19	and	and	CCONJ
ijassa-1061	24	20	ones	one	NOUN
ijassa-1061	24	21	.	.	PUNCT
ijassa-1061	25	1	uuv	uuv	PROPN
ijassa-1061	25	2	will	will	AUX
ijassa-1061	25	3	not	not	PART
ijassa-1061	25	4	be	be	AUX
ijassa-1061	25	5	detected	detect	VERB
ijassa-1061	25	6	on	on	ADP
ijassa-1061	25	7	the	the	DET
ijassa-1061	25	8	path	path	NOUN
ijassa-1061	25	9	if	if	SCONJ
ijassa-1061	25	10	there	there	PRON
ijassa-1061	25	11	are	be	VERB
ijassa-1061	25	12	no	no	DET
ijassa-1061	25	13	ones	one	NOUN
ijassa-1061	25	14	in	in	ADP
ijassa-1061	25	15	the	the	DET
ijassa-1061	25	16	corresponding	corresponding	ADJ
ijassa-1061	25	17	sequence	sequence	NOUN
ijassa-1061	25	18	of	of	ADP
ijassa-1061	25	19	zeros	zero	NOUN
ijassa-1061	25	20	and	and	CCONJ
ijassa-1061	25	21	ones	one	NOUN
ijassa-1061	25	22	on	on	ADP
ijassa-1061	25	23	the	the	DET
ijassa-1061	25	24	selected	select	VERB
ijassa-1061	25	25	path	path	NOUN
ijassa-1061	25	26	.	.	PUNCT
ijassa-1061	26	1	the	the	DET
ijassa-1061	26	2	optimal	optimal	ADJ
ijassa-1061	26	3	trajectory	trajectory	NOUN
ijassa-1061	26	4	is	be	AUX
ijassa-1061	26	5	the	the	DET
ijassa-1061	26	6	one	one	NUM
ijassa-1061	26	7	for	for	ADP
ijassa-1061	26	8	which	which	PRON
ijassa-1061	26	9	the	the	DET
ijassa-1061	26	10	probability	probability	NOUN
ijassa-1061	26	11	of	of	ADP
ijassa-1061	26	12	such	such	DET
ijassa-1061	26	13	an	an	DET
ijassa-1061	26	14	event	event	NOUN
ijassa-1061	26	15	is	be	AUX
ijassa-1061	26	16	maximum	maximum	ADJ
ijassa-1061	26	17	.	.	PUNCT
ijassa-1061	27	1	articles	article	NOUN
ijassa-1061	27	2	[	[	X
ijassa-1061	27	3	5	5	NUM
ijassa-1061	27	4	,	,	PUNCT
ijassa-1061	27	5	11	11	NUM
ijassa-1061	27	6	,	,	PUNCT
ijassa-1061	27	7	12	12	NUM
ijassa-1061	27	8	]	]	PUNCT
ijassa-1061	27	9	are	be	AUX
ijassa-1061	27	10	devoted	devote	VERB
ijassa-1061	27	11	to	to	ADP
ijassa-1061	27	12	the	the	DET
ijassa-1061	27	13	problems	problem	NOUN
ijassa-1061	27	14	of	of	ADP
ijassa-1061	27	15	optimal	optimal	ADJ
ijassa-1061	27	16	planning	planning	NOUN
ijassa-1061	27	17	of	of	ADP
ijassa-1061	27	18	the	the	DET
ijassa-1061	27	19	uuv	uuv	PROPN
ijassa-1061	27	20	route	route	NOUN
ijassa-1061	27	21	under	under	ADP
ijassa-1061	27	22	threat	threat	NOUN
ijassa-1061	27	23	conditions	condition	NOUN
ijassa-1061	27	24	,	,	PUNCT
ijassa-1061	27	25	in	in	ADP
ijassa-1061	27	26	which	which	PRON
ijassa-1061	27	27	other	other	ADJ
ijassa-1061	27	28	probabilistic	probabilistic	ADJ
ijassa-1061	27	29	and	and	CCONJ
ijassa-1061	27	30	energy	energy	NOUN
ijassa-1061	27	31	criteria	criterion	NOUN
ijassa-1061	27	32	are	be	AUX
ijassa-1061	27	33	implemented	implement	VERB
ijassa-1061	27	34	.	.	PUNCT
ijassa-1061	28	1	at	at	ADP
ijassa-1061	28	2	codit	codit	NOUN
ijassa-1061	28	3	2020	2020	NUM
ijassa-1061	28	4	conference	conference	NOUN
ijassa-1061	28	5	results	result	NOUN
ijassa-1061	28	6	for	for	ADP
ijassa-1061	28	7	optimal	optimal	ADJ
ijassa-1061	28	8	one	one	NUM
ijassa-1061	28	9	-	-	PUNCT
ijassa-1061	28	10	link	link	NOUN
ijassa-1061	28	11	trajectories	trajectory	NOUN
ijassa-1061	28	12	of	of	ADP
ijassa-1061	28	13	mobile	mobile	ADJ
ijassa-1061	28	14	vehicle	vehicle	NOUN
ijassa-1061	28	15	,	,	PUNCT
ijassa-1061	28	16	evading	evade	VERB
ijassa-1061	28	17	from	from	ADP
ijassa-1061	28	18	one	one	NUM
ijassa-1061	28	19	sonar	sonar	NOUN
ijassa-1061	28	20	,	,	PUNCT
ijassa-1061	28	21	were	be	AUX
ijassa-1061	28	22	presented	present	VERB
ijassa-1061	28	23	[	[	X
ijassa-1061	28	24	13	13	NUM
ijassa-1061	28	25	]	]	PUNCT
ijassa-1061	28	26	.	.	PUNCT
ijassa-1061	29	1	the	the	DET
ijassa-1061	29	2	detection	detection	NOUN
ijassa-1061	29	3	of	of	ADP
ijassa-1061	29	4	sonar	sonar	NOUN
ijassa-1061	29	5	is	be	AUX
ijassa-1061	29	6	based	base	VERB
ijassa-1061	29	7	on	on	ADP
ijassa-1061	29	8	primary	primary	ADJ
ijassa-1061	29	9	hydro	hydro	NOUN
ijassa-1061	29	10	-	-	PUNCT
ijassa-1061	29	11	acoustic	acoustic	ADJ
ijassa-1061	29	12	field	field	NOUN
ijassa-1061	29	13	signals	signal	NOUN
ijassa-1061	29	14	.	.	PUNCT
ijassa-1061	30	1	but	but	CCONJ
ijassa-1061	30	2	later	later	ADV
ijassa-1061	30	3	in	in	ADP
ijassa-1061	30	4	[	[	X
ijassa-1061	30	5	14	14	NUM
ijassa-1061	30	6	]	]	X
ijassa-1061	30	7	it	it	PRON
ijassa-1061	30	8	was	be	AUX
ijassa-1061	30	9	shown	show	VERB
ijassa-1061	30	10	,	,	PUNCT
ijassa-1061	30	11	that	that	SCONJ
ijassa-1061	30	12	sufficient	sufficient	ADJ
ijassa-1061	30	13	optimal	optimal	ADJ
ijassa-1061	30	14	conditions	condition	NOUN
ijassa-1061	30	15	can	can	AUX
ijassa-1061	30	16	brake	brake	VERB
ijassa-1061	30	17	and	and	CCONJ
ijassa-1061	30	18	then	then	ADV
ijassa-1061	30	19	multi	multi	ADJ
ijassa-1061	30	20	-	-	ADJ
ijassa-1061	30	21	link	link	ADJ
ijassa-1061	30	22	trajectory	trajectory	NOUN
ijassa-1061	30	23	becomes	become	VERB
ijassa-1061	30	24	optimal	optimal	ADJ
ijassa-1061	30	25	.	.	PUNCT
ijassa-1061	31	1	in	in	ADP
ijassa-1061	31	2	that	that	DET
ijassa-1061	31	3	article	article	NOUN
ijassa-1061	31	4	problem	problem	VERB
ijassa-1061	31	5	statements	statement	NOUN
ijassa-1061	31	6	for	for	ADP
ijassa-1061	31	7	two	two	NUM
ijassa-1061	31	8	-	-	PUNCT
ijassa-1061	31	9	link	link	NOUN
ijassa-1061	31	10	optimal	optimal	ADJ
ijassa-1061	31	11	trajectories	trajectory	NOUN
ijassa-1061	31	12	were	be	AUX
ijassa-1061	31	13	discussed	discuss	VERB
ijassa-1061	31	14	.	.	PUNCT
ijassa-1061	32	1	the	the	DET
ijassa-1061	32	2	current	current	ADJ
ijassa-1061	32	3	article	article	NOUN
ijassa-1061	32	4	considers	consider	VERB
ijassa-1061	32	5	the	the	DET
ijassa-1061	32	6	algorithm	algorithm	NOUN
ijassa-1061	32	7	for	for	ADP
ijassa-1061	32	8	solving	solving	NOUN
ijassa-1061	32	9	of	of	ADP
ijassa-1061	32	10	the	the	DET
ijassa-1061	32	11	supplementary	supplementary	ADJ
ijassa-1061	32	12	problem	problem	NOUN
ijassa-1061	32	13	,	,	PUNCT
ijassa-1061	32	14	needed	need	VERB
ijassa-1061	32	15	for	for	ADP
ijassa-1061	32	16	two	two	NUM
ijassa-1061	32	17	-	-	PUNCT
ijassa-1061	32	18	link	link	NOUN
ijassa-1061	32	19	optimal	optimal	ADJ
ijassa-1061	32	20	trajectories	trajectory	NOUN
ijassa-1061	32	21	constructing	construct	VERB
ijassa-1061	32	22	.	.	PUNCT
ijassa-1061	33	1	firstly	firstly	ADV
ijassa-1061	33	2	,	,	PUNCT
ijassa-1061	33	3	in	in	ADP
ijassa-1061	33	4	the	the	DET
ijassa-1061	33	5	article	article	NOUN
ijassa-1061	33	6	the	the	DET
ijassa-1061	33	7	non	non	ADJ
ijassa-1061	33	8	-	-	ADJ
ijassa-1061	33	9	detection	detection	ADJ
ijassa-1061	33	10	probability	probability	NOUN
ijassa-1061	33	11	of	of	ADP
ijassa-1061	33	12	uuv	uuv	PROPN
ijassa-1061	33	13	on	on	ADP
ijassa-1061	33	14	the	the	DET
ijassa-1061	33	15	route	route	NOUN
ijassa-1061	33	16	is	be	AUX
ijassa-1061	33	17	derived	derive	VERB
ijassa-1061	33	18	.	.	PUNCT
ijassa-1061	34	1	secondly	secondly	ADV
ijassa-1061	34	2	,	,	PUNCT
ijassa-1061	34	3	a	a	DET
ijassa-1061	34	4	path	path	NOUN
ijassa-1061	34	5	planning	planning	NOUN
ijassa-1061	34	6	problem	problem	NOUN
ijassa-1061	34	7	is	be	AUX
ijassa-1061	34	8	formulated	formulate	VERB
ijassa-1061	34	9	and	and	CCONJ
ijassa-1061	34	10	analytically	analytically	ADV
ijassa-1061	34	11	solved	solve	VERB
ijassa-1061	34	12	.	.	PUNCT
ijassa-1061	35	1	later	later	ADV
ijassa-1061	35	2	in	in	ADP
ijassa-1061	35	3	next	next	ADJ
ijassa-1061	35	4	chapter	chapter	NOUN
ijassa-1061	35	5	the	the	DET
ijassa-1061	35	6	special	special	ADJ
ijassa-1061	35	7	case	case	NOUN
ijassa-1061	35	8	of	of	ADP
ijassa-1061	35	9	two	two	NUM
ijassa-1061	35	10	-	-	PUNCT
ijassa-1061	35	11	link	link	NOUN
ijassa-1061	35	12	optimal	optimal	ADJ
ijassa-1061	35	13	trajectories	trajectory	NOUN
ijassa-1061	35	14	is	be	AUX
ijassa-1061	35	15	explored	explore	VERB
ijassa-1061	35	16	and	and	CCONJ
ijassa-1061	35	17	the	the	DET
ijassa-1061	35	18	algorithm	algorithm	NOUN
ijassa-1061	35	19	for	for	ADP
ijassa-1061	35	20	finding	find	VERB
ijassa-1061	35	21	such	such	ADJ
ijassa-1061	35	22	trajectories	trajectory	NOUN
ijassa-1061	35	23	is	be	AUX
ijassa-1061	35	24	obtained	obtain	VERB
ijassa-1061	35	25	.	.	PUNCT
ijassa-1061	36	1	finally	finally	ADV
ijassa-1061	36	2	,	,	PUNCT
ijassa-1061	36	3	several	several	ADJ
ijassa-1061	36	4	examples	example	NOUN
ijassa-1061	36	5	are	be	AUX
ijassa-1061	36	6	presented	present	VERB
ijassa-1061	36	7	.	.	PUNCT
ijassa-1061	37	1	2	2	X
ijassa-1061	37	2	.	.	X
ijassa-1061	37	3	non	non	ADJ
ijassa-1061	37	4	-	-	ADJ
ijassa-1061	37	5	detection	detection	ADJ
ijassa-1061	37	6	probability	probability	NOUN
ijassa-1061	37	7	of	of	ADP
ijassa-1061	37	8	uuv	uuv	PROPN
ijassa-1061	37	9	under	under	ADP
ijassa-1061	37	10	passive	passive	ADJ
ijassa-1061	37	11	surveillance	surveillance	NOUN
ijassa-1061	37	12	the	the	DET
ijassa-1061	37	13	uuv	uuv	PROPN
ijassa-1061	37	14	covertness	covertness	PROPN
ijassa-1061	37	15	on	on	ADP
ijassa-1061	37	16	the	the	DET
ijassa-1061	37	17	selected	select	VERB
ijassa-1061	37	18	trajectory	trajectory	NOUN
ijassa-1061	37	19	with	with	ADP
ijassa-1061	37	20	a	a	DET
ijassa-1061	37	21	given	give	VERB
ijassa-1061	37	22	speed	speed	NOUN
ijassa-1061	37	23	law	law	NOUN
ijassa-1061	37	24	change	change	NOUN
ijassa-1061	37	25	can	can	AUX
ijassa-1061	37	26	be	be	AUX
ijassa-1061	37	27	characterized	characterize	VERB
ijassa-1061	37	28	by	by	ADP
ijassa-1061	37	29	the	the	DET
ijassa-1061	37	30	probability	probability	NOUN
ijassa-1061	37	31	pnd	pnd	NOUN
ijassa-1061	37	32	that	that	SCONJ
ijassa-1061	37	33	during	during	ADP
ijassa-1061	37	34	the	the	DET
ijassa-1061	37	35	passage	passage	NOUN
ijassa-1061	37	36	of	of	ADP
ijassa-1061	37	37	the	the	DET
ijassa-1061	37	38	route	route	NOUN
ijassa-1061	37	39	it	it	PRON
ijassa-1061	37	40	will	will	AUX
ijassa-1061	37	41	not	not	PART
ijassa-1061	37	42	be	be	AUX
ijassa-1061	37	43	detected	detect	VERB
ijassa-1061	37	44	at	at	ADP
ijassa-1061	37	45	any	any	DET
ijassa-1061	37	46	tact	tact	NOUN
ijassa-1061	37	47	.	.	PUNCT
ijassa-1061	38	1	this	this	DET
ijassa-1061	38	2	probability	probability	NOUN
ijassa-1061	38	3	is	be	AUX
ijassa-1061	38	4	denoted	denote	VERB
ijassa-1061	38	5	pnd	pnd	NOUN
ijassa-1061	38	6	and	and	CCONJ
ijassa-1061	38	7	will	will	AUX
ijassa-1061	38	8	be	be	AUX
ijassa-1061	38	9	called	call	VERB
ijassa-1061	38	10	the	the	DET
ijassa-1061	38	11	non	non	ADJ
ijassa-1061	38	12	-	-	ADJ
ijassa-1061	38	13	detection	detection	ADJ
ijassa-1061	38	14	probability	probability	NOUN
ijassa-1061	38	15	of	of	ADP
ijassa-1061	38	16	uuv	uuv	PROPN
ijassa-1061	38	17	on	on	ADP
ijassa-1061	38	18	the	the	DET
ijassa-1061	38	19	trajectory	trajectory	NOUN
ijassa-1061	38	20	.	.	PUNCT
ijassa-1061	39	1	in	in	ADP
ijassa-1061	39	2	the	the	DET
ijassa-1061	39	3	case	case	NOUN
ijassa-1061	39	4	of	of	ADP
ijassa-1061	39	5	one	one	NUM
ijassa-1061	39	6	sonar	sonar	NOUN
ijassa-1061	39	7	this	this	DET
ijassa-1061	39	8	probability	probability	NOUN
ijassa-1061	39	9	is	be	AUX
ijassa-1061	39	10	[	[	X
ijassa-1061	39	11	3	3	NUM
ijassa-1061	39	12	]	]	X
ijassa-1061	39	13	pnd	pnd	NOUN
ijassa-1061	39	14	=	=	SYM
ijassa-1061	39	15	∏	∏	PROPN
ijassa-1061	39	16	j	j	PROPN
ijassa-1061	39	17	fn	fn	NOUN
ijassa-1061	39	18			PROPN
ijassa-1061	39	19	χ2	χ2	PROPN
ijassa-1061	39	20	1−α	1−α	NUM
ijassa-1061	39	21	,	,	PUNCT
ijassa-1061	39	22	n	n	PROPN
ijassa-1061	39	23	1	1	NUM
ijassa-1061	39	24	+	+	NOUN
ijassa-1061	39	25	σ2	σ2	PROPN
ijassa-1061	39	26	0(υj	0(υj	PROPN
ijassa-1061	39	27	/	/	SYM
ijassa-1061	39	28	υ0	υ0	NOUN
ijassa-1061	39	29	)	)	PUNCT
ijassa-1061	39	30	µr20	µr20	PROPN
ijassa-1061	39	31	σ2	σ2	PROPN
ijassa-1061	39	32	nr	nr	PROPN
ijassa-1061	39	33	2	2	NUM
ijassa-1061	39	34	j	j	PROPN
ijassa-1061	39	35	γ	γ	X
ijassa-1061	39	36			PROPN
ijassa-1061	39	37	,	,	PUNCT
ijassa-1061	39	38	(	(	PUNCT
ijassa-1061	39	39	2.1	2.1	NUM
ijassa-1061	39	40	)	)	PUNCT
ijassa-1061	39	41	where	where	SCONJ
ijassa-1061	39	42	fn	fn	NOUN
ijassa-1061	39	43	is	be	AUX
ijassa-1061	39	44	χ2	χ2	PROPN
ijassa-1061	39	45	is	be	AUX
ijassa-1061	39	46	a	a	DET
ijassa-1061	39	47	probability	probability	NOUN
ijassa-1061	39	48	distribution	distribution	NOUN
ijassa-1061	39	49	with	with	ADP
ijassa-1061	39	50	n	n	DET
ijassa-1061	39	51	degrees	degree	NOUN
ijassa-1061	39	52	of	of	ADP
ijassa-1061	39	53	freedom	freedom	NOUN
ijassa-1061	39	54	,	,	PUNCT
ijassa-1061	39	55	α	α	PROPN
ijassa-1061	39	56	is	be	AUX
ijassa-1061	39	57	a	a	DET
ijassa-1061	39	58	false	false	ADJ
ijassa-1061	39	59	alarm	alarm	NOUN
ijassa-1061	39	60	probability	probability	NOUN
ijassa-1061	39	61	,	,	PUNCT
ijassa-1061	39	62	γ	γ	PROPN
ijassa-1061	39	63	is	be	AUX
ijassa-1061	39	64	an	an	DET
ijassa-1061	39	65	attenuation	attenuation	NOUN
ijassa-1061	39	66	coefficient	coefficient	NOUN
ijassa-1061	39	67	,	,	PUNCT
ijassa-1061	39	68	rj	rj	PROPN
ijassa-1061	39	69	is	be	AUX
ijassa-1061	39	70	the	the	DET
ijassa-1061	39	71	distance	distance	NOUN
ijassa-1061	39	72	from	from	ADP
ijassa-1061	39	73	uuv	uuv	PROPN
ijassa-1061	39	74	to	to	PART
ijassa-1061	39	75	sonar	sonar	VERB
ijassa-1061	39	76	at	at	ADP
ijassa-1061	39	77	j	j	PROPN
ijassa-1061	39	78	tact	tact	PROPN
ijassa-1061	39	79	,	,	PUNCT
ijassa-1061	39	80	starting	start	VERB
ijassa-1061	39	81	from	from	ADP
ijassa-1061	39	82	the	the	DET
ijassa-1061	39	83	moment	moment	NOUN
ijassa-1061	39	84	of	of	ADP
ijassa-1061	39	85	appearance	appearance	NOUN
ijassa-1061	39	86	of	of	ADP
ijassa-1061	39	87	uuv	uuv	PROPN
ijassa-1061	39	88	on	on	ADP
ijassa-1061	39	89	the	the	DET
ijassa-1061	39	90	trajectory	trajectory	NOUN
ijassa-1061	39	91	,	,	PUNCT
ijassa-1061	39	92	and	and	CCONJ
ijassa-1061	39	93	υj	υj	PROPN
ijassa-1061	39	94	is	be	AUX
ijassa-1061	39	95	a	a	DET
ijassa-1061	39	96	constant	constant	ADJ
ijassa-1061	39	97	speed	speed	NOUN
ijassa-1061	39	98	of	of	ADP
ijassa-1061	39	99	uuv	uuv	PROPN
ijassa-1061	39	100	at	at	ADP
ijassa-1061	39	101	this	this	DET
ijassa-1061	39	102	tact	tact	NOUN
ijassa-1061	39	103	,	,	PUNCT
ijassa-1061	39	104	σ0	σ0	PROPN
ijassa-1061	39	105	,	,	PUNCT
ijassa-1061	39	106	σn	σn	PROPN
ijassa-1061	39	107	,	,	PUNCT
ijassa-1061	39	108	µ	µ	NOUN
ijassa-1061	39	109	,	,	PUNCT
ijassa-1061	39	110	r0	r0	NOUN
ijassa-1061	39	111	,	,	PUNCT
ijassa-1061	39	112	υ0	υ0	PROPN
ijassa-1061	39	113	are	be	AUX
ijassa-1061	39	114	some	some	DET
ijassa-1061	39	115	model	model	NOUN
ijassa-1061	39	116	parameters	parameter	NOUN
ijassa-1061	39	117	.	.	PUNCT
ijassa-1061	40	1	the	the	DET
ijassa-1061	40	2	number	number	NOUN
ijassa-1061	40	3	of	of	ADP
ijassa-1061	40	4	factors	factor	NOUN
ijassa-1061	40	5	in	in	ADP
ijassa-1061	40	6	the	the	DET
ijassa-1061	40	7	product	product	NOUN
ijassa-1061	40	8	is	be	AUX
ijassa-1061	40	9	equal	equal	ADJ
ijassa-1061	40	10	to	to	ADP
ijassa-1061	40	11	the	the	DET
ijassa-1061	40	12	number	number	NOUN
ijassa-1061	40	13	of	of	ADP
ijassa-1061	40	14	tacts	tact	NOUN
ijassa-1061	40	15	when	when	SCONJ
ijassa-1061	40	16	moving	move	VERB
ijassa-1061	40	17	uuv	uuv	ADV
ijassa-1061	40	18	along	along	ADP
ijassa-1061	40	19	a	a	DET
ijassa-1061	40	20	trajectory	trajectory	NOUN
ijassa-1061	40	21	.	.	PUNCT
ijassa-1061	41	1	in	in	ADP
ijassa-1061	41	2	the	the	DET
ijassa-1061	41	3	case	case	NOUN
ijassa-1061	41	4	of	of	ADP
ijassa-1061	41	5	several	several	ADJ
ijassa-1061	41	6	sonars	sonar	NOUN
ijassa-1061	41	7	,	,	PUNCT
ijassa-1061	41	8	the	the	DET
ijassa-1061	41	9	product	product	NOUN
ijassa-1061	41	10	of	of	ADP
ijassa-1061	41	11	expressions	expression	NOUN
ijassa-1061	41	12	of	of	ADP
ijassa-1061	41	13	the	the	DET
ijassa-1061	41	14	form	form	NOUN
ijassa-1061	41	15	(	(	PUNCT
ijassa-1061	41	16	2.1	2.1	NUM
ijassa-1061	41	17	)	)	PUNCT
ijassa-1061	41	18	over	over	ADP
ijassa-1061	41	19	all	all	DET
ijassa-1061	41	20	available	available	ADJ
ijassa-1061	41	21	sonars	sonar	NOUN
ijassa-1061	41	22	is	be	AUX
ijassa-1061	41	23	taken	take	VERB
ijassa-1061	41	24	[	[	PUNCT
ijassa-1061	41	25	1	1	NUM
ijassa-1061	41	26	]	]	PUNCT
ijassa-1061	41	27	.	.	PUNCT
ijassa-1061	42	1	thus	thus	ADV
ijassa-1061	42	2	the	the	DET
ijassa-1061	42	3	formalization	formalization	NOUN
ijassa-1061	42	4	of	of	ADP
ijassa-1061	42	5	the	the	DET
ijassa-1061	42	6	uuv	uuv	PROPN
ijassa-1061	42	7	covertness	covertness	PROPN
ijassa-1061	42	8	concept	concept	NOUN
ijassa-1061	42	9	is	be	AUX
ijassa-1061	42	10	reduced	reduce	VERB
ijassa-1061	42	11	to	to	ADP
ijassa-1061	42	12	the	the	DET
ijassa-1061	42	13	formula	formula	NOUN
ijassa-1061	42	14	(	(	PUNCT
ijassa-1061	42	15	2.1	2.1	NUM
ijassa-1061	42	16	)	)	PUNCT
ijassa-1061	42	17	.	.	PUNCT
ijassa-1061	43	1	now	now	ADV
ijassa-1061	43	2	the	the	DET
ijassa-1061	43	3	task	task	NOUN
ijassa-1061	43	4	is	be	AUX
ijassa-1061	43	5	to	to	PART
ijassa-1061	43	6	construct	construct	VERB
ijassa-1061	43	7	the	the	DET
ijassa-1061	43	8	optimal	optimal	ADJ
ijassa-1061	43	9	trajectory	trajectory	NOUN
ijassa-1061	43	10	and	and	CCONJ
ijassa-1061	43	11	the	the	DET
ijassa-1061	43	12	optimal	optimal	ADJ
ijassa-1061	43	13	law	law	NOUN
ijassa-1061	43	14	of	of	ADP
ijassa-1061	43	15	the	the	DET
ijassa-1061	43	16	uuv	uuv	PROPN
ijassa-1061	43	17	velocity	velocity	NOUN
ijassa-1061	43	18	variation	variation	NOUN
ijassa-1061	43	19	,	,	PUNCT
ijassa-1061	43	20	maximizing	maximize	VERB
ijassa-1061	43	21	the	the	DET
ijassa-1061	43	22	probability	probability	NOUN
ijassa-1061	43	23	pnd	pnd	NOUN
ijassa-1061	43	24	.	.	PUNCT
ijassa-1061	44	1	based	base	VERB
ijassa-1061	44	2	on	on	ADP
ijassa-1061	44	3	actual	actual	ADJ
ijassa-1061	44	4	algorithms	algorithm	NOUN
ijassa-1061	44	5	for	for	ADP
ijassa-1061	44	6	information	information	NOUN
ijassa-1061	44	7	processing	processing	NOUN
ijassa-1061	44	8	,	,	PUNCT
ijassa-1061	44	9	using	use	VERB
ijassa-1061	44	10	decisive	decisive	ADJ
ijassa-1061	44	11	threshold	threshold	NOUN
ijassa-1061	44	12	rules	rule	NOUN
ijassa-1061	44	13	,	,	PUNCT
ijassa-1061	44	14	in	in	ADP
ijassa-1061	44	15	the	the	DET
ijassa-1061	44	16	article	article	NOUN
ijassa-1061	44	17	[	[	X
ijassa-1061	44	18	13	13	NUM
ijassa-1061	44	19	]	]	PUNCT
ijassa-1061	44	20	a	a	DET
ijassa-1061	44	21	formula	formula	NOUN
ijassa-1061	44	22	was	be	AUX
ijassa-1061	44	23	obtained	obtain	VERB
ijassa-1061	44	24	for	for	ADP
ijassa-1061	44	25	calculating	calculate	VERB
ijassa-1061	44	26	the	the	DET
ijassa-1061	44	27	risk	risk	NOUN
ijassa-1061	44	28	of	of	ADP
ijassa-1061	44	29	mobile	mobile	ADJ
ijassa-1061	44	30	vehicle	vehicle	NOUN
ijassa-1061	44	31	detection	detection	NOUN
ijassa-1061	44	32	.	.	PUNCT
ijassa-1061	45	1	it	it	PRON
ijassa-1061	45	2	is	be	AUX
ijassa-1061	45	3	represented	represent	VERB
ijassa-1061	45	4	as	as	ADP
ijassa-1061	45	5	an	an	DET
ijassa-1061	45	6	integral	integral	ADJ
ijassa-1061	45	7	,	,	PUNCT
ijassa-1061	45	8	which	which	PRON
ijassa-1061	45	9	we	we	PRON
ijassa-1061	45	10	call	call	VERB
ijassa-1061	45	11	the	the	DET
ijassa-1061	45	12	threat	threat	NOUN
ijassa-1061	45	13	functional	functional	ADJ
ijassa-1061	45	14	[	[	X
ijassa-1061	45	15	6	6	NUM
ijassa-1061	45	16	]	]	PUNCT
ijassa-1061	45	17	,	,	PUNCT
ijassa-1061	45	18	[	[	X
ijassa-1061	45	19	13	13	NUM
ijassa-1061	45	20	]	]	PUNCT
ijassa-1061	45	21	in	in	ADP
ijassa-1061	45	22	the	the	DET
ijassa-1061	45	23	problem	problem	NOUN
ijassa-1061	45	24	of	of	ADP
ijassa-1061	45	25	uuv	uuv	PROPN
ijassa-1061	45	26	route	route	NOUN
ijassa-1061	45	27	planning	planning	NOUN
ijassa-1061	45	28	for	for	ADP
ijassa-1061	45	29	the	the	DET
ijassa-1061	45	30	case	case	NOUN
ijassa-1061	45	31	of	of	ADP
ijassa-1061	45	32	passive	passive	ADJ
ijassa-1061	45	33	sonar	sonar	NOUN
ijassa-1061	45	34	r	r	NOUN
ijassa-1061	45	35	=	=	SYM
ijassa-1061	45	36	∫	∫	PROPN
ijassa-1061	45	37	t0	t0	PROPN
ijassa-1061	45	38	0	0	PROPN
ijassa-1061	45	39	σ2	σ2	PROPN
ijassa-1061	45	40	s(t	s(t	PROPN
ijassa-1061	45	41	)	)	PUNCT
ijassa-1061	45	42	σ2	σ2	PROPN
ijassa-1061	45	43	n(t	n(t	PROPN
ijassa-1061	45	44	)	)	PUNCT
ijassa-1061	45	45	dt	dt	PROPN
ijassa-1061	45	46	.	.	PUNCT
ijassa-1061	46	1	(	(	PUNCT
ijassa-1061	46	2	2.2	2.2	NUM
ijassa-1061	46	3	)	)	PUNCT
ijassa-1061	46	4	copyright	copyright	NOUN
ijassa-1061	46	5	©	©	PROPN
ijassa-1061	46	6	2021	2021	NUM
ijassa-1061	46	7	assa	assa	NOUN
ijassa-1061	46	8	.	.	PUNCT
ijassa-1061	47	1	adv	adv	PROPN
ijassa-1061	47	2	syst	syst	PROPN
ijassa-1061	47	3	sci	sci	PROPN
ijassa-1061	47	4	appl	appl	PROPN
ijassa-1061	47	5	(	(	PUNCT
ijassa-1061	47	6	2021	2021	NUM
ijassa-1061	47	7	)	)	PUNCT
ijassa-1061	47	8	algorithm	algorithm	NOUN
ijassa-1061	47	9	for	for	ADP
ijassa-1061	47	10	optimal	optimal	ADJ
ijassa-1061	47	11	two	two	NUM
ijassa-1061	47	12	-	-	PUNCT
ijassa-1061	47	13	link	link	NOUN
ijassa-1061	47	14	trajectory	trajectory	NOUN
ijassa-1061	47	15	planning	planning	NOUN
ijassa-1061	47	16	in	in	ADP
ijassa-1061	47	17	evasion	evasion	NOUN
ijassa-1061	47	18	73	73	NUM
ijassa-1061	47	19	this	this	DET
ijassa-1061	47	20	conclusion	conclusion	NOUN
ijassa-1061	47	21	coincides	coincide	VERB
ijassa-1061	47	22	with	with	ADP
ijassa-1061	47	23	the	the	DET
ijassa-1061	47	24	result	result	NOUN
ijassa-1061	47	25	given	give	VERB
ijassa-1061	47	26	in	in	ADP
ijassa-1061	47	27	[	[	X
ijassa-1061	47	28	3	3	NUM
ijassa-1061	47	29	]	]	PUNCT
ijassa-1061	47	30	for	for	ADP
ijassa-1061	47	31	σ2	σ2	PROPN
ijassa-1061	47	32	s	s	PROPN
ijassa-1061	47	33	=	=	PROPN
ijassa-1061	47	34	σ2	σ2	PROPN
ijassa-1061	47	35	0	0	NUM
ijassa-1061	47	36	(	(	PUNCT
ijassa-1061	47	37	υj	υj	NOUN
ijassa-1061	47	38	/	/	SYM
ijassa-1061	47	39	υ0	υ0	NOUN
ijassa-1061	47	40	)	)	PUNCT
ijassa-1061	47	41	µ	µ	NOUN
ijassa-1061	47	42	r20	r20	NOUN
ijassa-1061	47	43	r2	r2	PROPN
ijassa-1061	47	44	γ	γ	X
ijassa-1061	47	45	,	,	PUNCT
ijassa-1061	47	46	and	and	CCONJ
ijassa-1061	47	47	σ2	σ2	PROPN
ijassa-1061	47	48	n(t	n(t	PROPN
ijassa-1061	47	49	)	)	PUNCT
ijassa-1061	47	50	=	=	PUNCT
ijassa-1061	48	1	const	const	ADJ
ijassa-1061	48	2	.	.	PUNCT
ijassa-1061	49	1	(	(	PUNCT
ijassa-1061	49	2	2.3	2.3	NUM
ijassa-1061	49	3	)	)	PUNCT
ijassa-1061	49	4	moreover	moreover	ADV
ijassa-1061	49	5	,	,	PUNCT
ijassa-1061	49	6	for	for	ADP
ijassa-1061	49	7	the	the	DET
ijassa-1061	49	8	path	path	NOUN
ijassa-1061	49	9	planning	planning	NOUN
ijassa-1061	49	10	task	task	NOUN
ijassa-1061	49	11	,	,	PUNCT
ijassa-1061	49	12	it	it	PRON
ijassa-1061	49	13	is	be	AUX
ijassa-1061	49	14	not	not	PART
ijassa-1061	49	15	required	require	VERB
ijassa-1061	49	16	to	to	PART
ijassa-1061	49	17	know	know	VERB
ijassa-1061	49	18	the	the	DET
ijassa-1061	49	19	exact	exact	ADJ
ijassa-1061	49	20	values	value	NOUN
ijassa-1061	49	21	of	of	ADP
ijassa-1061	49	22	the	the	DET
ijassa-1061	49	23	information	information	NOUN
ijassa-1061	49	24	processing	processing	NOUN
ijassa-1061	49	25	parameters	parameter	NOUN
ijassa-1061	49	26	because	because	SCONJ
ijassa-1061	49	27	they	they	PRON
ijassa-1061	49	28	are	be	AUX
ijassa-1061	49	29	not	not	PART
ijassa-1061	49	30	included	include	VERB
ijassa-1061	49	31	in	in	ADP
ijassa-1061	49	32	(	(	PUNCT
ijassa-1061	49	33	2.2	2.2	NUM
ijassa-1061	49	34	)	)	PUNCT
ijassa-1061	49	35	.	.	PUNCT
ijassa-1061	50	1	3	3	X
ijassa-1061	50	2	.	.	X
ijassa-1061	50	3	path	path	NOUN
ijassa-1061	50	4	planning	planning	NOUN
ijassa-1061	50	5	problem	problem	NOUN
ijassa-1061	50	6	3.1	3.1	NUM
ijassa-1061	50	7	.	.	PUNCT
ijassa-1061	51	1	risk	risk	NOUN
ijassa-1061	51	2	functional	functional	ADJ
ijassa-1061	51	3	to	to	PART
ijassa-1061	51	4	formulate	formulate	VERB
ijassa-1061	51	5	the	the	DET
ijassa-1061	51	6	path	path	NOUN
ijassa-1061	51	7	planning	planning	NOUN
ijassa-1061	51	8	problem	problem	NOUN
ijassa-1061	51	9	as	as	SCONJ
ijassa-1061	51	10	the	the	DET
ijassa-1061	51	11	problem	problem	NOUN
ijassa-1061	51	12	of	of	ADP
ijassa-1061	51	13	calculus	calculus	NOUN
ijassa-1061	51	14	of	of	ADP
ijassa-1061	51	15	variations	variation	NOUN
ijassa-1061	51	16	let	let	VERB
ijassa-1061	51	17	us	we	PRON
ijassa-1061	51	18	rewrite	rewrite	VERB
ijassa-1061	51	19	the	the	DET
ijassa-1061	51	20	risk	risk	NOUN
ijassa-1061	51	21	functional	functional	ADJ
ijassa-1061	51	22	(	(	PUNCT
ijassa-1061	51	23	2.2	2.2	NUM
ijassa-1061	51	24	)	)	PUNCT
ijassa-1061	51	25	.	.	PUNCT
ijassa-1061	52	1	due	due	ADP
ijassa-1061	52	2	to	to	ADP
ijassa-1061	52	3	(	(	PUNCT
ijassa-1061	52	4	2.3	2.3	NUM
ijassa-1061	52	5	)	)	PUNCT
ijassa-1061	52	6	,	,	PUNCT
ijassa-1061	52	7	after	after	ADP
ijassa-1061	52	8	omitting	omit	VERB
ijassa-1061	52	9	the	the	DET
ijassa-1061	52	10	constants	constant	NOUN
ijassa-1061	52	11	the	the	DET
ijassa-1061	52	12	expression	expression	NOUN
ijassa-1061	52	13	in	in	ADP
ijassa-1061	52	14	integral	integral	ADJ
ijassa-1061	52	15	can	can	AUX
ijassa-1061	52	16	take	take	VERB
ijassa-1061	52	17	a	a	DET
ijassa-1061	52	18	general	general	ADJ
ijassa-1061	52	19	form	form	NOUN
ijassa-1061	52	20	as	as	ADP
ijassa-1061	52	21	a	a	DET
ijassa-1061	52	22	power	power	NOUN
ijassa-1061	52	23	model	model	NOUN
ijassa-1061	52	24	σ2	σ2	PROPN
ijassa-1061	52	25	s(t	s(t	PROPN
ijassa-1061	52	26	)	)	PUNCT
ijassa-1061	52	27	σ2	σ2	NOUN
ijassa-1061	52	28	n(t	n(t	NOUN
ijassa-1061	52	29	)	)	PUNCT
ijassa-1061	52	30	∼	∼	NOUN
ijassa-1061	52	31	vµ	vµ	ADP
ijassa-1061	52	32	rk	rk	NOUN
ijassa-1061	52	33	.	.	PUNCT
ijassa-1061	53	1	(	(	PUNCT
ijassa-1061	53	2	3.4	3.4	NUM
ijassa-1061	53	3	)	)	PUNCT
ijassa-1061	53	4	as	as	ADV
ijassa-1061	53	5	well	well	ADV
ijassa-1061	53	6	as	as	ADP
ijassa-1061	53	7	in	in	ADP
ijassa-1061	53	8	[	[	X
ijassa-1061	53	9	1	1	NUM
ijassa-1061	53	10	]	]	PUNCT
ijassa-1061	53	11	from	from	ADP
ijassa-1061	53	12	the	the	DET
ijassa-1061	53	13	physical	physical	ADJ
ijassa-1061	53	14	point	point	NOUN
ijassa-1061	53	15	of	of	ADP
ijassa-1061	53	16	view	view	NOUN
ijassa-1061	53	17	this	this	DET
ijassa-1061	53	18	function	function	NOUN
ijassa-1061	53	19	is	be	AUX
ijassa-1061	53	20	the	the	DET
ijassa-1061	53	21	instantaneous	instantaneous	ADJ
ijassa-1061	53	22	level	level	NOUN
ijassa-1061	53	23	of	of	ADP
ijassa-1061	53	24	signal	signal	NOUN
ijassa-1061	53	25	s	s	PROPN
ijassa-1061	53	26	,	,	PUNCT
ijassa-1061	53	27	received	receive	VERB
ijassa-1061	53	28	by	by	ADP
ijassa-1061	53	29	the	the	DET
ijassa-1061	53	30	sensor	sensor	NOUN
ijassa-1061	53	31	.	.	PUNCT
ijassa-1061	54	1	it	it	PRON
ijassa-1061	54	2	depends	depend	VERB
ijassa-1061	54	3	on	on	ADP
ijassa-1061	54	4	the	the	DET
ijassa-1061	54	5	current	current	ADJ
ijassa-1061	54	6	distance	distance	NOUN
ijassa-1061	54	7	between	between	ADP
ijassa-1061	54	8	sensor	sensor	NOUN
ijassa-1061	54	9	and	and	CCONJ
ijassa-1061	54	10	evading	evade	VERB
ijassa-1061	54	11	object	object	NOUN
ijassa-1061	54	12	r	r	NOUN
ijassa-1061	54	13	,	,	PUNCT
ijassa-1061	54	14	for	for	ADP
ijassa-1061	54	15	some	some	DET
ijassa-1061	54	16	types	type	NOUN
ijassa-1061	54	17	of	of	ADP
ijassa-1061	54	18	physical	physical	ADJ
ijassa-1061	54	19	fields	field	NOUN
ijassa-1061	54	20	–	–	PUNCT
ijassa-1061	54	21	on	on	ADP
ijassa-1061	54	22	absolute	absolute	ADJ
ijassa-1061	54	23	instant	instant	ADJ
ijassa-1061	54	24	velocity	velocity	NOUN
ijassa-1061	54	25	of	of	ADP
ijassa-1061	54	26	the	the	DET
ijassa-1061	54	27	object	object	NOUN
ijassa-1061	54	28	v	v	ADP
ijassa-1061	54	29	too	too	ADV
ijassa-1061	54	30	and	and	CCONJ
ijassa-1061	54	31	can	can	AUX
ijassa-1061	54	32	be	be	AUX
ijassa-1061	54	33	represented	represent	VERB
ijassa-1061	54	34	as	as	ADP
ijassa-1061	54	35	s	s	NOUN
ijassa-1061	54	36	=	=	PUNCT
ijassa-1061	54	37	vµ	vµ	VERB
ijassa-1061	54	38	rk	rk	NOUN
ijassa-1061	54	39	.	.	PUNCT
ijassa-1061	55	1	(	(	PUNCT
ijassa-1061	55	2	3.5	3.5	NUM
ijassa-1061	55	3	)	)	PUNCT
ijassa-1061	55	4	the	the	DET
ijassa-1061	55	5	exponents	exponent	NOUN
ijassa-1061	55	6	k	k	PROPN
ijassa-1061	55	7	and	and	CCONJ
ijassa-1061	55	8	µ	µ	PRON
ijassa-1061	55	9	characterize	characterize	VERB
ijassa-1061	55	10	the	the	DET
ijassa-1061	55	11	physical	physical	ADJ
ijassa-1061	55	12	field	field	NOUN
ijassa-1061	55	13	used	use	VERB
ijassa-1061	55	14	for	for	ADP
ijassa-1061	55	15	detection	detection	NOUN
ijassa-1061	55	16	.	.	PUNCT
ijassa-1061	56	1	depending	depend	VERB
ijassa-1061	56	2	on	on	ADP
ijassa-1061	56	3	values	value	NOUN
ijassa-1061	56	4	of	of	ADP
ijassa-1061	56	5	k	k	PROPN
ijassa-1061	56	6	and	and	CCONJ
ijassa-1061	56	7	µ	µ	PROPN
ijassa-1061	56	8	this	this	PRON
ijassa-1061	56	9	can	can	AUX
ijassa-1061	56	10	be	be	AUX
ijassa-1061	56	11	magnetic	magnetic	ADJ
ijassa-1061	56	12	,	,	PUNCT
ijassa-1061	56	13	thermal	thermal	ADJ
ijassa-1061	56	14	,	,	PUNCT
ijassa-1061	56	15	acoustic	acoustic	ADJ
ijassa-1061	56	16	or	or	CCONJ
ijassa-1061	56	17	electromagnetic	electromagnetic	ADJ
ijassa-1061	56	18	fields	field	NOUN
ijassa-1061	56	19	.	.	PUNCT
ijassa-1061	57	1	moreover	moreover	ADV
ijassa-1061	57	2	,	,	PUNCT
ijassa-1061	57	3	this	this	DET
ijassa-1061	57	4	signal	signal	NOUN
ijassa-1061	57	5	depends	depend	VERB
ijassa-1061	57	6	on	on	ADP
ijassa-1061	57	7	the	the	DET
ijassa-1061	57	8	receiving	receive	VERB
ijassa-1061	57	9	diagram	diagram	NOUN
ijassa-1061	57	10	of	of	ADP
ijassa-1061	57	11	the	the	DET
ijassa-1061	57	12	sensor	sensor	NOUN
ijassa-1061	57	13	and	and	CCONJ
ijassa-1061	57	14	the	the	DET
ijassa-1061	57	15	radiation	radiation	NOUN
ijassa-1061	57	16	pattern	pattern	NOUN
ijassa-1061	57	17	of	of	ADP
ijassa-1061	57	18	the	the	DET
ijassa-1061	57	19	object	object	NOUN
ijassa-1061	57	20	s	s	VERB
ijassa-1061	57	21	=	=	X
ijassa-1061	57	22	vµ	vµ	ADJ
ijassa-1061	57	23	rk	rk	NOUN
ijassa-1061	57	24	a0(ϕ)g(ψ	a0(ϕ)g(ψ	ADJ
ijassa-1061	57	25	,	,	PUNCT
ijassa-1061	57	26	ϕ	ϕ	NOUN
ijassa-1061	57	27	)	)	PUNCT
ijassa-1061	57	28	,	,	PUNCT
ijassa-1061	57	29	(	(	PUNCT
ijassa-1061	57	30	3.6	3.6	NUM
ijassa-1061	57	31	)	)	PUNCT
ijassa-1061	57	32	where	where	SCONJ
ijassa-1061	57	33	multipliera0(ϕ	multipliera0(ϕ	X
ijassa-1061	57	34	)	)	PUNCT
ijassa-1061	57	35	is	be	AUX
ijassa-1061	57	36	responsible	responsible	ADJ
ijassa-1061	57	37	for	for	ADP
ijassa-1061	57	38	diagram	diagram	NOUN
ijassa-1061	57	39	of	of	ADP
ijassa-1061	57	40	sensor	sensor	NOUN
ijassa-1061	57	41	antenna	antenna	NOUN
ijassa-1061	57	42	and	and	CCONJ
ijassa-1061	57	43	g(ψ	g(ψ	PROPN
ijassa-1061	57	44	,	,	PUNCT
ijassa-1061	57	45	ϕ	ϕ	NOUN
ijassa-1061	57	46	)	)	PUNCT
ijassa-1061	57	47	is	be	AUX
ijassa-1061	57	48	a	a	DET
ijassa-1061	57	49	radiation	radiation	NOUN
ijassa-1061	57	50	pattern	pattern	NOUN
ijassa-1061	57	51	of	of	ADP
ijassa-1061	57	52	the	the	DET
ijassa-1061	57	53	moving	move	VERB
ijassa-1061	57	54	object	object	NOUN
ijassa-1061	57	55	.	.	PUNCT
ijassa-1061	58	1	the	the	DET
ijassa-1061	58	2	risk	risk	NOUN
ijassa-1061	58	3	r	r	NOUN
ijassa-1061	58	4	is	be	AUX
ijassa-1061	58	5	the	the	DET
ijassa-1061	58	6	integral	integral	ADJ
ijassa-1061	58	7	value	value	NOUN
ijassa-1061	58	8	of	of	ADP
ijassa-1061	58	9	this	this	DET
ijassa-1061	58	10	signal	signal	NOUN
ijassa-1061	58	11	,	,	PUNCT
ijassa-1061	58	12	so	so	CCONJ
ijassa-1061	58	13	the	the	DET
ijassa-1061	58	14	criterion	criterion	NOUN
ijassa-1061	58	15	of	of	ADP
ijassa-1061	58	16	optimization	optimization	NOUN
ijassa-1061	58	17	(	(	PUNCT
ijassa-1061	58	18	2.2	2.2	NUM
ijassa-1061	58	19	)	)	PUNCT
ijassa-1061	58	20	is	be	AUX
ijassa-1061	58	21	a	a	DET
ijassa-1061	58	22	function	function	NOUN
ijassa-1061	58	23	of	of	ADP
ijassa-1061	58	24	phase	phase	NOUN
ijassa-1061	58	25	coordinates	coordinate	NOUN
ijassa-1061	58	26	of	of	ADP
ijassa-1061	58	27	the	the	DET
ijassa-1061	58	28	object	object	NOUN
ijassa-1061	58	29	and	and	CCONJ
ijassa-1061	58	30	qualities	quality	NOUN
ijassa-1061	58	31	of	of	ADP
ijassa-1061	58	32	the	the	DET
ijassa-1061	58	33	sensor	sensor	NOUN
ijassa-1061	58	34	and	and	CCONJ
ijassa-1061	58	35	the	the	DET
ijassa-1061	58	36	object	object	NOUN
ijassa-1061	58	37	itself	itself	PRON
ijassa-1061	58	38	:	:	PUNCT
ijassa-1061	58	39	r	r	NOUN
ijassa-1061	58	40	=	=	SYM
ijassa-1061	58	41	∫	∫	PROPN
ijassa-1061	58	42	t0	t0	PROPN
ijassa-1061	58	43	0	0	PUNCT
ijassa-1061	59	1	(	(	PUNCT
ijassa-1061	59	2	vµ	vµ	PRON
ijassa-1061	59	3	rk	rk	NOUN
ijassa-1061	59	4	a0(ϕ)g(ψ	a0(ϕ)g(ψ	VERB
ijassa-1061	59	5	,	,	PUNCT
ijassa-1061	59	6	ϕ	ϕ	NOUN
ijassa-1061	59	7	)	)	PUNCT
ijassa-1061	59	8	)	)	PUNCT
ijassa-1061	60	1	dt	dt	X
ijassa-1061	60	2	.	.	PUNCT
ijassa-1061	61	1	(	(	PUNCT
ijassa-1061	61	2	3.7	3.7	NUM
ijassa-1061	61	3	)	)	PUNCT
ijassa-1061	61	4	we	we	PRON
ijassa-1061	61	5	consider	consider	VERB
ijassa-1061	61	6	sensor	sensor	NOUN
ijassa-1061	61	7	antenna	antenna	NOUN
ijassa-1061	61	8	diagram	diagram	NOUN
ijassa-1061	61	9	to	to	PART
ijassa-1061	61	10	be	be	AUX
ijassa-1061	61	11	homogeneous	homogeneous	ADJ
ijassa-1061	61	12	,	,	PUNCT
ijassa-1061	61	13	so	so	CCONJ
ijassa-1061	61	14	a0(ϕ	a0(ϕ	NOUN
ijassa-1061	61	15	)	)	PUNCT
ijassa-1061	61	16	≡	≡	PROPN
ijassa-1061	61	17	1	1	NUM
ijassa-1061	61	18	.	.	PUNCT
ijassa-1061	62	1	the	the	DET
ijassa-1061	62	2	geometric	geometric	ADJ
ijassa-1061	62	3	meaning	meaning	NOUN
ijassa-1061	62	4	of	of	ADP
ijassa-1061	62	5	angles	angle	NOUN
ijassa-1061	62	6	ψ	ψ	NOUN
ijassa-1061	62	7	and	and	CCONJ
ijassa-1061	62	8	ϕ	ϕ	NOUN
ijassa-1061	62	9	is	be	AUX
ijassa-1061	62	10	as	as	SCONJ
ijassa-1061	62	11	follows	follow	VERB
ijassa-1061	62	12	.	.	PUNCT
ijassa-1061	63	1	here	here	ADV
ijassa-1061	63	2	ψ	ψ	VERB
ijassa-1061	63	3	is	be	AUX
ijassa-1061	63	4	the	the	DET
ijassa-1061	63	5	angle	angle	NOUN
ijassa-1061	63	6	of	of	ADP
ijassa-1061	63	7	rotation	rotation	NOUN
ijassa-1061	63	8	of	of	ADP
ijassa-1061	63	9	object	object	NOUN
ijassa-1061	63	10	’s	’s	PART
ijassa-1061	63	11	velocity	velocity	NOUN
ijassa-1061	63	12	vector	vector	NOUN
ijassa-1061	63	13	and	and	CCONJ
ijassa-1061	63	14	ϕ	ϕ	NOUN
ijassa-1061	63	15	is	be	AUX
ijassa-1061	63	16	the	the	DET
ijassa-1061	63	17	angle	angle	NOUN
ijassa-1061	63	18	of	of	ADP
ijassa-1061	63	19	rotation	rotation	NOUN
ijassa-1061	63	20	of	of	ADP
ijassa-1061	63	21	radius	radius	NOUN
ijassa-1061	63	22	vector	vector	NOUN
ijassa-1061	63	23	as	as	SCONJ
ijassa-1061	63	24	shown	show	VERB
ijassa-1061	63	25	in	in	ADP
ijassa-1061	63	26	fig	fig	NOUN
ijassa-1061	63	27	.	.	PUNCT
ijassa-1061	64	1	3.1	3.1	NUM
ijassa-1061	64	2	.	.	PUNCT
ijassa-1061	65	1	we	we	PRON
ijassa-1061	65	2	study	study	VERB
ijassa-1061	65	3	the	the	DET
ijassa-1061	65	4	case	case	NOUN
ijassa-1061	65	5	of	of	ADP
ijassa-1061	65	6	k	k	PROPN
ijassa-1061	65	7	=	=	SYM
ijassa-1061	65	8	2	2	NUM
ijassa-1061	65	9	and	and	CCONJ
ijassa-1061	65	10	µ	µ	X
ijassa-1061	65	11	=	=	SYM
ijassa-1061	65	12	2	2	NUM
ijassa-1061	65	13	for	for	ADP
ijassa-1061	65	14	acoustic	acoustic	ADJ
ijassa-1061	65	15	field	field	NOUN
ijassa-1061	65	16	.	.	PUNCT
ijassa-1061	66	1	non	non	ADJ
ijassa-1061	66	2	-	-	ADJ
ijassa-1061	66	3	uniform	uniform	ADJ
ijassa-1061	66	4	radiation	radiation	NOUN
ijassa-1061	66	5	pattern	pattern	NOUN
ijassa-1061	66	6	of	of	ADP
ijassa-1061	66	7	the	the	DET
ijassa-1061	66	8	object	object	NOUN
ijassa-1061	66	9	can	can	AUX
ijassa-1061	66	10	be	be	AUX
ijassa-1061	66	11	described	describe	VERB
ijassa-1061	66	12	as	as	ADP
ijassa-1061	66	13	g(ψ	g(ψ	PROPN
ijassa-1061	66	14	,	,	PUNCT
ijassa-1061	66	15	ϕ	ϕ	NOUN
ijassa-1061	66	16	)	)	PUNCT
ijassa-1061	66	17	=	=	SYM
ijassa-1061	66	18	g(β	g(β	PROPN
ijassa-1061	66	19	)	)	PUNCT
ijassa-1061	66	20	.	.	PUNCT
ijassa-1061	67	1	thus	thus	ADV
ijassa-1061	67	2	signal	signal	VERB
ijassa-1061	67	3	expression	expression	NOUN
ijassa-1061	67	4	(	(	PUNCT
ijassa-1061	67	5	3.6	3.6	NUM
ijassa-1061	67	6	)	)	PUNCT
ijassa-1061	67	7	has	have	VERB
ijassa-1061	67	8	a	a	DET
ijassa-1061	67	9	form	form	NOUN
ijassa-1061	67	10	s	s	PART
ijassa-1061	67	11	=	=	NOUN
ijassa-1061	67	12	v2	v2	PROPN
ijassa-1061	67	13	r2	r2	NOUN
ijassa-1061	67	14	g(β	g(β	PROPN
ijassa-1061	67	15	)	)	PUNCT
ijassa-1061	67	16	.	.	PUNCT
ijassa-1061	68	1	copyright	copyright	NOUN
ijassa-1061	68	2	©	©	PROPN
ijassa-1061	68	3	2021	2021	NUM
ijassa-1061	68	4	assa	assa	NOUN
ijassa-1061	68	5	.	.	PUNCT
ijassa-1061	69	1	adv	adv	PROPN
ijassa-1061	69	2	syst	syst	PROPN
ijassa-1061	69	3	sci	sci	PROPN
ijassa-1061	69	4	appl	appl	PROPN
ijassa-1061	69	5	(	(	PUNCT
ijassa-1061	69	6	2021	2021	NUM
ijassa-1061	69	7	)	)	PUNCT
ijassa-1061	69	8	74	74	NUM
ijassa-1061	69	9	a.	a.	NOUN
ijassa-1061	69	10	galyaev	galyaev	NOUN
ijassa-1061	69	11	,	,	PUNCT
ijassa-1061	69	12	p.	p.	NOUN
ijassa-1061	69	13	lysenko	lysenko	ADJ
ijassa-1061	69	14	fig	fig	NOUN
ijassa-1061	69	15	.	.	PUNCT
ijassa-1061	70	1	3.1	3.1	NUM
ijassa-1061	70	2	.	.	PUNCT
ijassa-1061	71	1	the	the	DET
ijassa-1061	71	2	moving	move	VERB
ijassa-1061	71	3	object	object	NOUN
ijassa-1061	71	4	in	in	ADP
ijassa-1061	71	5	the	the	DET
ijassa-1061	71	6	cartesian	cartesian	ADJ
ijassa-1061	71	7	coordinate	coordinate	NOUN
ijassa-1061	71	8	system	system	NOUN
ijassa-1061	71	9	with	with	ADP
ijassa-1061	71	10	sensor	sensor	NOUN
ijassa-1061	71	11	s.	s.	PROPN
ijassa-1061	71	12	fig	fig	PROPN
ijassa-1061	71	13	.	.	PUNCT
ijassa-1061	72	1	3.2	3.2	NUM
ijassa-1061	72	2	.	.	X
ijassa-1061	72	3	rectangular	rectangular	ADJ
ijassa-1061	72	4	triangle	triangle	NOUN
ijassa-1061	72	5	of	of	ADP
ijassa-1061	72	6	velocity	velocity	NOUN
ijassa-1061	72	7	vectors	vector	NOUN
ijassa-1061	72	8	~v,~vr	~v,~vr	PUNCT
ijassa-1061	72	9	and	and	CCONJ
ijassa-1061	72	10	~vϕ.	~vϕ.	NUM
ijassa-1061	72	11	3.2	3.2	NUM
ijassa-1061	72	12	.	.	PUNCT
ijassa-1061	73	1	mathematical	mathematical	ADJ
ijassa-1061	73	2	statement	statement	NOUN
ijassa-1061	73	3	of	of	ADP
ijassa-1061	73	4	the	the	DET
ijassa-1061	73	5	problem	problem	NOUN
ijassa-1061	73	6	therefore	therefore	ADV
ijassa-1061	73	7	we	we	PRON
ijassa-1061	73	8	can	can	AUX
ijassa-1061	73	9	formulate	formulate	VERB
ijassa-1061	73	10	the	the	DET
ijassa-1061	73	11	optimal	optimal	ADJ
ijassa-1061	73	12	path	path	NOUN
ijassa-1061	73	13	planning	planning	NOUN
ijassa-1061	73	14	problem	problem	NOUN
ijassa-1061	73	15	.	.	PUNCT
ijassa-1061	74	1	problem	problem	NOUN
ijassa-1061	74	2	3.1	3.1	NUM
ijassa-1061	74	3	:	:	PUNCT
ijassa-1061	74	4	it	it	PRON
ijassa-1061	74	5	is	be	AUX
ijassa-1061	74	6	required	require	VERB
ijassa-1061	74	7	to	to	PART
ijassa-1061	74	8	find	find	VERB
ijassa-1061	74	9	such	such	ADJ
ijassa-1061	74	10	trajectory	trajectory	NOUN
ijassa-1061	74	11	(	(	PUNCT
ijassa-1061	74	12	r(t	r(t	NOUN
ijassa-1061	74	13	)	)	PUNCT
ijassa-1061	74	14	,	,	PUNCT
ijassa-1061	74	15	ϕ(t	ϕ(t	NUM
ijassa-1061	74	16	)	)	PUNCT
ijassa-1061	74	17	)	)	PUNCT
ijassa-1061	74	18	,	,	PUNCT
ijassa-1061	74	19	which	which	PRON
ijassa-1061	74	20	minimizes	minimize	VERB
ijassa-1061	74	21	the	the	DET
ijassa-1061	74	22	functional	functional	ADJ
ijassa-1061	74	23	r	r	NOUN
ijassa-1061	74	24	=	=	SYM
ijassa-1061	74	25	∫	∫	PROPN
ijassa-1061	74	26	t0	t0	NOUN
ijassa-1061	74	27	0	0	PUNCT
ijassa-1061	75	1	v2	v2	PROPN
ijassa-1061	75	2	r2	r2	PROPN
ijassa-1061	75	3	g(β)dt	g(β)dt	PROPN
ijassa-1061	75	4	,	,	PUNCT
ijassa-1061	75	5	(	(	PUNCT
ijassa-1061	75	6	3.8	3.8	NUM
ijassa-1061	75	7	)	)	PUNCT
ijassa-1061	75	8	where	where	SCONJ
ijassa-1061	75	9	v	v	NOUN
ijassa-1061	75	10	is	be	AUX
ijassa-1061	75	11	a	a	DET
ijassa-1061	75	12	velocity	velocity	NOUN
ijassa-1061	75	13	of	of	ADP
ijassa-1061	75	14	the	the	DET
ijassa-1061	75	15	object	object	NOUN
ijassa-1061	75	16	,	,	PUNCT
ijassa-1061	75	17	r	r	NOUN
ijassa-1061	75	18	is	be	AUX
ijassa-1061	75	19	the	the	DET
ijassa-1061	75	20	distance	distance	NOUN
ijassa-1061	75	21	between	between	ADP
ijassa-1061	75	22	the	the	DET
ijassa-1061	75	23	sensor	sensor	NOUN
ijassa-1061	75	24	and	and	CCONJ
ijassa-1061	75	25	the	the	DET
ijassa-1061	75	26	object	object	NOUN
ijassa-1061	75	27	.	.	PUNCT
ijassa-1061	76	1	boundary	boundary	ADJ
ijassa-1061	76	2	conditions	condition	NOUN
ijassa-1061	76	3	are	be	AUX
ijassa-1061	76	4	r(0	r(0	PROPN
ijassa-1061	76	5	)	)	PUNCT
ijassa-1061	76	6	=	=	SYM
ijassa-1061	76	7	xa	xa	PROPN
ijassa-1061	76	8	,	,	PUNCT
ijassa-1061	76	9	r(t0	r(t0	NOUN
ijassa-1061	76	10	)	)	PUNCT
ijassa-1061	76	11	=	=	SYM
ijassa-1061	76	12	rb	rb	PROPN
ijassa-1061	76	13	,	,	PUNCT
ijassa-1061	76	14	ϕ(0	ϕ(0	PROPN
ijassa-1061	76	15	)	)	PUNCT
ijassa-1061	76	16	=	=	SYM
ijassa-1061	76	17	ϕa	ϕa	PROPN
ijassa-1061	76	18	,	,	PUNCT
ijassa-1061	76	19	ϕ(t0	ϕ(t0	NOUN
ijassa-1061	76	20	)	)	PUNCT
ijassa-1061	77	1	=	=	PUNCT
ijassa-1061	78	1	ϕb	ϕb	ADJ
ijassa-1061	78	2	.	.	PUNCT
ijassa-1061	79	1	(	(	PUNCT
ijassa-1061	79	2	3.9	3.9	NUM
ijassa-1061	79	3	)	)	PUNCT
ijassa-1061	79	4	time	time	NOUN
ijassa-1061	79	5	t0	t0	NOUN
ijassa-1061	79	6	of	of	ADP
ijassa-1061	79	7	moving	move	VERB
ijassa-1061	79	8	on	on	ADP
ijassa-1061	79	9	route	route	NOUN
ijassa-1061	79	10	from	from	ADP
ijassa-1061	79	11	point	point	NOUN
ijassa-1061	79	12	a	a	DET
ijassa-1061	79	13	to	to	ADP
ijassa-1061	79	14	b	b	PROPN
ijassa-1061	79	15	is	be	AUX
ijassa-1061	79	16	fixed	fix	VERB
ijassa-1061	79	17	.	.	PUNCT
ijassa-1061	80	1	the	the	DET
ijassa-1061	80	2	detection	detection	NOUN
ijassa-1061	80	3	system	system	NOUN
ijassa-1061	80	4	consists	consist	VERB
ijassa-1061	80	5	of	of	ADP
ijassa-1061	80	6	one	one	NUM
ijassa-1061	80	7	static	static	ADJ
ijassa-1061	80	8	sensor	sensor	NOUN
ijassa-1061	80	9	placed	place	VERB
ijassa-1061	80	10	in	in	ADP
ijassa-1061	80	11	the	the	DET
ijassa-1061	80	12	origin	origin	NOUN
ijassa-1061	80	13	of	of	ADP
ijassa-1061	80	14	cartesian	cartesian	ADJ
ijassa-1061	80	15	coordinate	coordinate	NOUN
ijassa-1061	80	16	system	system	NOUN
ijassa-1061	80	17	with	with	ADP
ijassa-1061	80	18	x	x	PUNCT
ijassa-1061	80	19	axis	axis	ADJ
ijassa-1061	80	20	passing	passing	NOUN
ijassa-1061	80	21	point	point	NOUN
ijassa-1061	80	22	a.	a.	NOUN
ijassa-1061	80	23	the	the	DET
ijassa-1061	80	24	polar	polar	ADJ
ijassa-1061	80	25	coordinate	coordinate	NOUN
ijassa-1061	80	26	system	system	NOUN
ijassa-1061	80	27	is	be	AUX
ijassa-1061	80	28	used	use	VERB
ijassa-1061	80	29	for	for	ADP
ijassa-1061	80	30	solution	solution	NOUN
ijassa-1061	80	31	simplicity	simplicity	NOUN
ijassa-1061	80	32	.	.	PUNCT
ijassa-1061	81	1	it	it	PRON
ijassa-1061	81	2	is	be	AUX
ijassa-1061	81	3	easy	easy	ADJ
ijassa-1061	81	4	to	to	PART
ijassa-1061	81	5	see	see	VERB
ijassa-1061	81	6	that	that	PRON
ijassa-1061	81	7	ψ	ψ	ADP
ijassa-1061	81	8	−	−	NOUN
ijassa-1061	81	9	ϕ	ϕ	NOUN
ijassa-1061	81	10	=	=	X
ijassa-1061	81	11	β	β	X
ijassa-1061	81	12	is	be	AUX
ijassa-1061	81	13	the	the	DET
ijassa-1061	81	14	angle	angle	NOUN
ijassa-1061	81	15	in	in	ADP
ijassa-1061	81	16	triangle	triangle	NOUN
ijassa-1061	81	17	built	build	VERB
ijassa-1061	81	18	from	from	ADP
ijassa-1061	81	19	radial	radial	ADJ
ijassa-1061	81	20	vr	vr	NOUN
ijassa-1061	81	21	and	and	CCONJ
ijassa-1061	81	22	transversal	transversal	ADJ
ijassa-1061	81	23	vϕ	vϕ	NOUN
ijassa-1061	81	24	velocities	velocity	NOUN
ijassa-1061	81	25	of	of	ADP
ijassa-1061	81	26	the	the	DET
ijassa-1061	81	27	object	object	NOUN
ijassa-1061	81	28	,	,	PUNCT
ijassa-1061	81	29	e.g.	e.g.	ADV
ijassa-1061	81	30	the	the	DET
ijassa-1061	81	31	angle	angle	NOUN
ijassa-1061	81	32	between	between	ADP
ijassa-1061	81	33	velocity	velocity	NOUN
ijassa-1061	81	34	of	of	ADP
ijassa-1061	81	35	the	the	DET
ijassa-1061	81	36	object	object	NOUN
ijassa-1061	81	37	and	and	CCONJ
ijassa-1061	81	38	its	its	PRON
ijassa-1061	81	39	projection	projection	NOUN
ijassa-1061	81	40	on	on	ADP
ijassa-1061	81	41	radius	radius	NOUN
ijassa-1061	81	42	vector	vector	NOUN
ijassa-1061	81	43	as	as	SCONJ
ijassa-1061	81	44	shown	show	VERB
ijassa-1061	81	45	in	in	ADP
ijassa-1061	81	46	fig	fig	NOUN
ijassa-1061	81	47	.	.	PUNCT
ijassa-1061	82	1	3.2	3.2	NUM
ijassa-1061	82	2	.	.	PUNCT
ijassa-1061	83	1	next	next	ADJ
ijassa-1061	83	2	lemma	lemma	PROPN
ijassa-1061	83	3	is	be	AUX
ijassa-1061	83	4	valid	valid	ADJ
ijassa-1061	83	5	.	.	PUNCT
ijassa-1061	84	1	lemma	lemma	PROPN
ijassa-1061	84	2	3.1	3.1	NUM
ijassa-1061	84	3	:	:	PUNCT
ijassa-1061	84	4	substitution	substitution	NOUN
ijassa-1061	84	5	of	of	ADP
ijassa-1061	84	6	variable	variable	ADJ
ijassa-1061	84	7	ρ	ρ	NOUN
ijassa-1061	84	8	=	=	SYM
ijassa-1061	84	9	ln	ln	NOUN
ijassa-1061	84	10	r	r	NOUN
ijassa-1061	84	11	brings	bring	VERB
ijassa-1061	84	12	functional	functional	ADJ
ijassa-1061	84	13	(	(	PUNCT
ijassa-1061	84	14	3.8	3.8	NUM
ijassa-1061	84	15	)	)	PUNCT
ijassa-1061	84	16	to	to	ADP
ijassa-1061	84	17	the	the	DET
ijassa-1061	84	18	form	form	NOUN
ijassa-1061	84	19	r(ρ	r(ρ	PROPN
ijassa-1061	84	20	(	(	PUNCT
ijassa-1061	84	21	·	·	PUNCT
ijassa-1061	84	22	)	)	PUNCT
ijassa-1061	84	23	,	,	PUNCT
ijassa-1061	84	24	ϕ	ϕ	X
ijassa-1061	84	25	(	(	PUNCT
ijassa-1061	84	26	·	·	PUNCT
ijassa-1061	84	27	)	)	PUNCT
ijassa-1061	84	28	)	)	PUNCT
ijassa-1061	85	1	=	=	SYM
ijassa-1061	86	1	∫	∫	PROPN
ijassa-1061	86	2	t0	t0	NOUN
ijassa-1061	86	3	0	0	NUM
ijassa-1061	87	1	sdt	sdt	PROPN
ijassa-1061	87	2	=	=	SYM
ijassa-1061	87	3	∫	∫	PROPN
ijassa-1061	87	4	t0	t0	PROPN
ijassa-1061	87	5	0	0	PUNCT
ijassa-1061	88	1	(	(	PUNCT
ijassa-1061	88	2	ρ̇2	ρ̇2	PROPN
ijassa-1061	88	3	+	+	NUM
ijassa-1061	88	4	ϕ̇2)g	ϕ̇2)g	PROPN
ijassa-1061	88	5	(	(	PUNCT
ijassa-1061	88	6	arctan	arctan	PROPN
ijassa-1061	88	7	ϕ̇	ϕ̇	PROPN
ijassa-1061	88	8	ρ̇	ρ̇	NOUN
ijassa-1061	88	9	)	)	PUNCT
ijassa-1061	88	10	dt	dt	X
ijassa-1061	88	11	.	.	PUNCT
ijassa-1061	89	1	(	(	PUNCT
ijassa-1061	89	2	3.10	3.10	NUM
ijassa-1061	89	3	)	)	PUNCT
ijassa-1061	89	4	copyright	copyright	NOUN
ijassa-1061	89	5	©	©	PROPN
ijassa-1061	89	6	2021	2021	NUM
ijassa-1061	89	7	assa	assa	NOUN
ijassa-1061	89	8	.	.	PUNCT
ijassa-1061	90	1	adv	adv	PROPN
ijassa-1061	90	2	syst	syst	PROPN
ijassa-1061	90	3	sci	sci	PROPN
ijassa-1061	90	4	appl	appl	PROPN
ijassa-1061	90	5	(	(	PUNCT
ijassa-1061	90	6	2021	2021	NUM
ijassa-1061	90	7	)	)	PUNCT
ijassa-1061	90	8	algorithm	algorithm	NOUN
ijassa-1061	90	9	for	for	ADP
ijassa-1061	90	10	optimal	optimal	ADJ
ijassa-1061	90	11	two	two	NUM
ijassa-1061	90	12	-	-	PUNCT
ijassa-1061	90	13	link	link	NOUN
ijassa-1061	90	14	trajectory	trajectory	NOUN
ijassa-1061	90	15	planning	planning	NOUN
ijassa-1061	90	16	in	in	ADP
ijassa-1061	90	17	evasion	evasion	NOUN
ijassa-1061	90	18	75	75	NUM
ijassa-1061	90	19	a	a	DET
ijassa-1061	90	20	proof	proof	NOUN
ijassa-1061	90	21	for	for	ADP
ijassa-1061	90	22	lemma	lemma	PROPN
ijassa-1061	90	23	3.1	3.1	NUM
ijassa-1061	90	24	can	can	AUX
ijassa-1061	90	25	be	be	AUX
ijassa-1061	90	26	found	find	VERB
ijassa-1061	90	27	in	in	ADP
ijassa-1061	90	28	[	[	X
ijassa-1061	90	29	13	13	NUM
ijassa-1061	90	30	]	]	PUNCT
ijassa-1061	90	31	.	.	PUNCT
ijassa-1061	91	1	instead	instead	ADV
ijassa-1061	91	2	of	of	ADP
ijassa-1061	91	3	solving	solve	VERB
ijassa-1061	91	4	the	the	DET
ijassa-1061	91	5	original	original	ADJ
ijassa-1061	91	6	problem	problem	NOUN
ijassa-1061	91	7	1	1	NUM
ijassa-1061	91	8	according	accord	VERB
ijassa-1061	91	9	to	to	ADP
ijassa-1061	91	10	lemma	lemma	PROPN
ijassa-1061	91	11	2	2	NUM
ijassa-1061	91	12	it	it	PRON
ijassa-1061	91	13	is	be	AUX
ijassa-1061	91	14	necessary	necessary	ADJ
ijassa-1061	91	15	to	to	PART
ijassa-1061	91	16	solve	solve	VERB
ijassa-1061	91	17	a	a	DET
ijassa-1061	91	18	two	two	NUM
ijassa-1061	91	19	point	point	NOUN
ijassa-1061	91	20	boundary	boundary	ADJ
ijassa-1061	91	21	value	value	NOUN
ijassa-1061	91	22	variational	variational	ADJ
ijassa-1061	91	23	problem	problem	NOUN
ijassa-1061	91	24	on	on	ADP
ijassa-1061	91	25	the	the	DET
ijassa-1061	91	26	minimum	minimum	NOUN
ijassa-1061	91	27	of	of	ADP
ijassa-1061	91	28	the	the	DET
ijassa-1061	91	29	functional	functional	ADJ
ijassa-1061	91	30	(	(	PUNCT
ijassa-1061	91	31	3.10	3.10	NUM
ijassa-1061	91	32	)	)	PUNCT
ijassa-1061	91	33	.	.	PUNCT
ijassa-1061	92	1	problem	problem	NOUN
ijassa-1061	92	2	3.2	3.2	NUM
ijassa-1061	92	3	:	:	PUNCT
ijassa-1061	92	4	it	it	PRON
ijassa-1061	92	5	is	be	AUX
ijassa-1061	92	6	required	require	VERB
ijassa-1061	92	7	to	to	PART
ijassa-1061	92	8	find	find	VERB
ijassa-1061	92	9	the	the	DET
ijassa-1061	92	10	trajectory	trajectory	NOUN
ijassa-1061	92	11	(	(	PUNCT
ijassa-1061	92	12	ρ∗(t	ρ∗(t	PROPN
ijassa-1061	92	13	)	)	PUNCT
ijassa-1061	92	14	,	,	PUNCT
ijassa-1061	92	15	ϕ∗(t	ϕ∗(t	NOUN
ijassa-1061	92	16	)	)	PUNCT
ijassa-1061	92	17	)	)	PUNCT
ijassa-1061	92	18	,	,	PUNCT
ijassa-1061	92	19	which	which	PRON
ijassa-1061	92	20	minimizes	minimize	VERB
ijassa-1061	92	21	the	the	DET
ijassa-1061	92	22	functional	functional	ADJ
ijassa-1061	92	23	r(ρ	r(ρ	NOUN
ijassa-1061	92	24	(	(	PUNCT
ijassa-1061	92	25	·	·	PUNCT
ijassa-1061	92	26	)	)	PUNCT
ijassa-1061	92	27	,	,	PUNCT
ijassa-1061	92	28	ϕ	ϕ	X
ijassa-1061	92	29	(	(	PUNCT
ijassa-1061	92	30	·	·	PUNCT
ijassa-1061	92	31	)	)	PUNCT
ijassa-1061	92	32	)	)	PUNCT
ijassa-1061	93	1	=	=	SYM
ijassa-1061	94	1	∫	∫	PROPN
ijassa-1061	94	2	t	t	PROPN
ijassa-1061	94	3	0	0	NUM
ijassa-1061	95	1	(	(	PUNCT
ijassa-1061	95	2	ρ̇2	ρ̇2	X
ijassa-1061	95	3	+	+	CCONJ
ijassa-1061	95	4	ϕ̇2	ϕ̇2	PROPN
ijassa-1061	95	5	)	)	PUNCT
ijassa-1061	95	6	g	g	PROPN
ijassa-1061	95	7	(	(	PUNCT
ijassa-1061	95	8	arctan	arctan	PROPN
ijassa-1061	95	9	ϕ̇	ϕ̇	PROPN
ijassa-1061	95	10	ρ̇	ρ̇	PROPN
ijassa-1061	95	11	)	)	PUNCT
ijassa-1061	96	1	dt→	dt→	X
ijassa-1061	96	2	min	min	NOUN
ijassa-1061	96	3	ρ(·),ϕ	ρ(·),ϕ	NOUN
ijassa-1061	96	4	(	(	PUNCT
ijassa-1061	96	5	·	·	PUNCT
ijassa-1061	96	6	)	)	PUNCT
ijassa-1061	96	7	.	.	PUNCT
ijassa-1061	97	1	(	(	PUNCT
ijassa-1061	97	2	3.11	3.11	NUM
ijassa-1061	97	3	)	)	PUNCT
ijassa-1061	97	4	with	with	ADP
ijassa-1061	97	5	boundary	boundary	ADJ
ijassa-1061	97	6	conditions	condition	NOUN
ijassa-1061	97	7	ρ(0	ρ(0	NOUN
ijassa-1061	97	8	)	)	PUNCT
ijassa-1061	97	9	=	=	SYM
ijassa-1061	97	10	ρa	ρa	PROPN
ijassa-1061	97	11	,	,	PUNCT
ijassa-1061	97	12	ρ(t	ρ(t	PROPN
ijassa-1061	97	13	)	)	PUNCT
ijassa-1061	98	1	=	=	SYM
ijassa-1061	98	2	ρb	ρb	PROPN
ijassa-1061	98	3	,	,	PUNCT
ijassa-1061	98	4	ϕ(0	ϕ(0	PROPN
ijassa-1061	98	5	)	)	PUNCT
ijassa-1061	98	6	=	=	SYM
ijassa-1061	98	7	ϕa	ϕa	PROPN
ijassa-1061	98	8	,	,	PUNCT
ijassa-1061	98	9	ϕ(t	ϕ(t	PROPN
ijassa-1061	98	10	)	)	PUNCT
ijassa-1061	99	1	=	=	PUNCT
ijassa-1061	99	2	ϕb	ϕb	ADJ
ijassa-1061	99	3	.	.	NOUN
ijassa-1061	100	1	4	4	X
ijassa-1061	100	2	.	.	X
ijassa-1061	100	3	solution	solution	NOUN
ijassa-1061	100	4	of	of	ADP
ijassa-1061	100	5	the	the	DET
ijassa-1061	100	6	path	path	NOUN
ijassa-1061	100	7	planning	planning	NOUN
ijassa-1061	100	8	problem	problem	NOUN
ijassa-1061	100	9	4.1	4.1	NUM
ijassa-1061	100	10	.	.	PUNCT
ijassa-1061	101	1	the	the	DET
ijassa-1061	101	2	necessary	necessary	ADJ
ijassa-1061	101	3	optimality	optimality	NOUN
ijassa-1061	101	4	conditions	condition	NOUN
ijassa-1061	101	5	theorem	theorem	VERB
ijassa-1061	101	6	4.1	4.1	NUM
ijassa-1061	101	7	:	:	PUNCT
ijassa-1061	101	8	suppose	suppose	VERB
ijassa-1061	101	9	that	that	SCONJ
ijassa-1061	101	10	0	0	PUNCT
ijassa-1061	101	11	<	<	X
ijassa-1061	101	12	g1	g1	PROPN
ijassa-1061	101	13	<	<	X
ijassa-1061	101	14	g(β	g(β	PROPN
ijassa-1061	101	15	)	)	PUNCT
ijassa-1061	101	16	<	<	X
ijassa-1061	101	17	g2	g2	PROPN
ijassa-1061	101	18	for	for	ADP
ijassa-1061	101	19	all	all	DET
ijassa-1061	101	20	β	β	X
ijassa-1061	101	21	∈	∈	PROPN
ijassa-1061	102	1	[	[	X
ijassa-1061	102	2	0	0	NUM
ijassa-1061	102	3	,	,	PUNCT
ijassa-1061	102	4	2π	2π	NOUN
ijassa-1061	102	5	]	]	PUNCT
ijassa-1061	102	6	is	be	AUX
ijassa-1061	102	7	a	a	DET
ijassa-1061	102	8	twice	twice	ADV
ijassa-1061	102	9	continuously	continuously	ADV
ijassa-1061	102	10	differentiated	differentiate	VERB
ijassa-1061	102	11	function	function	NOUN
ijassa-1061	102	12	of	of	ADP
ijassa-1061	102	13	β	β	X
ijassa-1061	102	14	,	,	PUNCT
ijassa-1061	102	15	where	where	SCONJ
ijassa-1061	102	16	g1	g1	PROPN
ijassa-1061	102	17	,	,	PUNCT
ijassa-1061	102	18	g2	g2	PROPN
ijassa-1061	102	19	are	be	AUX
ijassa-1061	102	20	some	some	DET
ijassa-1061	102	21	constant	constant	ADJ
ijassa-1061	102	22	values	value	NOUN
ijassa-1061	102	23	,	,	PUNCT
ijassa-1061	102	24	and	and	CCONJ
ijassa-1061	102	25	ρ̈(t	ρ̈(t	NUM
ijassa-1061	102	26	)	)	PUNCT
ijassa-1061	102	27	,	,	PUNCT
ijassa-1061	102	28	ϕ̈(t	ϕ̈(t	PROPN
ijassa-1061	102	29	)	)	PUNCT
ijassa-1061	102	30	exist	exist	VERB
ijassa-1061	102	31	and	and	CCONJ
ijassa-1061	102	32	are	be	AUX
ijassa-1061	102	33	continuous	continuous	ADJ
ijassa-1061	102	34	functions	function	NOUN
ijassa-1061	102	35	of	of	ADP
ijassa-1061	102	36	t.	t.	PROPN
ijassa-1061	102	37	then	then	ADV
ijassa-1061	102	38	the	the	DET
ijassa-1061	102	39	extremal	extremal	ADJ
ijassa-1061	102	40	trajectory	trajectory	NOUN
ijassa-1061	102	41	satisfies	satisfy	VERB
ijassa-1061	102	42	the	the	DET
ijassa-1061	102	43	following	follow	VERB
ijassa-1061	102	44	system	system	NOUN
ijassa-1061	102	45	of	of	ADP
ijassa-1061	102	46	equations	equation	NOUN
ijassa-1061	102	47	{	{	PUNCT
ijassa-1061	102	48	ρ̇	ρ̇	NOUN
ijassa-1061	102	49	=	=	SYM
ijassa-1061	102	50	const	const	PROPN
ijassa-1061	102	51	,	,	PUNCT
ijassa-1061	102	52	ϕ̇	ϕ̇	ADJ
ijassa-1061	102	53	=	=	PUNCT
ijassa-1061	102	54	const	const	ADJ
ijassa-1061	102	55	.	.	PUNCT
ijassa-1061	103	1	(	(	PUNCT
ijassa-1061	103	2	4.12	4.12	NUM
ijassa-1061	103	3	)	)	PUNCT
ijassa-1061	103	4	thus	thus	ADV
ijassa-1061	103	5	the	the	DET
ijassa-1061	103	6	extremal	extremal	ADJ
ijassa-1061	103	7	trajectory	trajectory	NOUN
ijassa-1061	103	8	,	,	PUNCT
ijassa-1061	103	9	which	which	PRON
ijassa-1061	103	10	can	can	AUX
ijassa-1061	103	11	be	be	AUX
ijassa-1061	103	12	the	the	DET
ijassa-1061	103	13	solution	solution	NOUN
ijassa-1061	103	14	for	for	ADP
ijassa-1061	103	15	problem	problem	NOUN
ijassa-1061	103	16	3.2	3.2	NUM
ijassa-1061	103	17	can	can	AUX
ijassa-1061	103	18	be	be	AUX
ijassa-1061	103	19	represented	represent	VERB
ijassa-1061	103	20	in	in	ADP
ijassa-1061	103	21	the	the	DET
ijassa-1061	103	22	parametric	parametric	ADJ
ijassa-1061	103	23	form	form	NOUN
ijassa-1061	103	24	of	of	ADP
ijassa-1061	103	25	logarithmic	logarithmic	ADJ
ijassa-1061	103	26	spiral	spiral	NUM
ijassa-1061	103	27	r(t	r(t	NOUN
ijassa-1061	103	28	)	)	PUNCT
ijassa-1061	104	1	=	=	SYM
ijassa-1061	104	2	ra	ra	PROPN
ijassa-1061	104	3	exp	exp	NOUN
ijassa-1061	104	4	(	(	PUNCT
ijassa-1061	104	5	t	t	PROPN
ijassa-1061	104	6	t0	t0	PROPN
ijassa-1061	104	7	ln	ln	PROPN
ijassa-1061	104	8	rb	rb	PROPN
ijassa-1061	104	9	ra	ra	PROPN
ijassa-1061	104	10	)	)	PUNCT
ijassa-1061	104	11	,	,	PUNCT
ijassa-1061	104	12	ϕ(t	ϕ(t	NUM
ijassa-1061	104	13	)	)	PUNCT
ijassa-1061	105	1	=	=	SYM
ijassa-1061	105	2	ϕa	ϕa	PROPN
ijassa-1061	106	1	+	+	CCONJ
ijassa-1061	106	2	ϕb	ϕb	ADV
ijassa-1061	106	3	−	−	PROPN
ijassa-1061	107	1	ϕa	ϕa	PROPN
ijassa-1061	107	2	t0	t0	PROPN
ijassa-1061	107	3	t.	t.	PROPN
ijassa-1061	107	4	(	(	PUNCT
ijassa-1061	107	5	4.13	4.13	NUM
ijassa-1061	107	6	)	)	PUNCT
ijassa-1061	107	7	on	on	ADP
ijassa-1061	107	8	the	the	DET
ijassa-1061	107	9	plane	plane	NOUN
ijassa-1061	107	10	(	(	PUNCT
ijassa-1061	107	11	r	r	NOUN
ijassa-1061	107	12	,	,	PUNCT
ijassa-1061	107	13	ϕ	ϕ	NOUN
ijassa-1061	107	14	)	)	PUNCT
ijassa-1061	107	15	this	this	DET
ijassa-1061	107	16	line	line	NOUN
ijassa-1061	107	17	has	have	VERB
ijassa-1061	107	18	a	a	DET
ijassa-1061	107	19	form	form	NOUN
ijassa-1061	107	20	r(ϕ	r(ϕ	NOUN
ijassa-1061	107	21	)	)	PUNCT
ijassa-1061	108	1	=	=	SYM
ijassa-1061	108	2	ra	ra	PROPN
ijassa-1061	108	3	exp	exp	NOUN
ijassa-1061	108	4	(	(	PUNCT
ijassa-1061	108	5	ϕ−	ϕ−	PROPN
ijassa-1061	108	6	ϕa	ϕa	VERB
ijassa-1061	109	1	ϕb	ϕb	INTJ
ijassa-1061	109	2	−	−	PROPN
ijassa-1061	109	3	ϕa	ϕa	INTJ
ijassa-1061	109	4	ln	ln	NOUN
ijassa-1061	109	5	rb	rb	PROPN
ijassa-1061	109	6	ra	ra	PROPN
ijassa-1061	109	7	)	)	PUNCT
ijassa-1061	109	8	.	.	PUNCT
ijassa-1061	110	1	(	(	PUNCT
ijassa-1061	110	2	4.14	4.14	NUM
ijassa-1061	110	3	)	)	PUNCT
ijassa-1061	110	4	next	next	ADJ
ijassa-1061	110	5	two	two	NUM
ijassa-1061	110	6	lemmas	lemma	NOUN
ijassa-1061	110	7	define	define	VERB
ijassa-1061	110	8	the	the	DET
ijassa-1061	110	9	velocity	velocity	NOUN
ijassa-1061	110	10	law	law	NOUN
ijassa-1061	110	11	of	of	ADP
ijassa-1061	110	12	the	the	DET
ijassa-1061	110	13	vehicle	vehicle	NOUN
ijassa-1061	110	14	on	on	ADP
ijassa-1061	110	15	the	the	DET
ijassa-1061	110	16	extremal	extremal	ADJ
ijassa-1061	110	17	trajectory	trajectory	NOUN
ijassa-1061	110	18	and	and	CCONJ
ijassa-1061	110	19	the	the	DET
ijassa-1061	110	20	risk	risk	NOUN
ijassa-1061	110	21	value	value	NOUN
ijassa-1061	110	22	on	on	ADP
ijassa-1061	110	23	it	it	PRON
ijassa-1061	110	24	.	.	PUNCT
ijassa-1061	111	1	lemma	lemma	PROPN
ijassa-1061	111	2	4.1	4.1	NUM
ijassa-1061	111	3	:	:	PUNCT
ijassa-1061	111	4	the	the	DET
ijassa-1061	111	5	velocity	velocity	NOUN
ijassa-1061	111	6	law	law	NOUN
ijassa-1061	111	7	on	on	ADP
ijassa-1061	111	8	the	the	DET
ijassa-1061	111	9	extremal	extremal	ADJ
ijassa-1061	111	10	trajectory	trajectory	NOUN
ijassa-1061	111	11	equation	equation	NOUN
ijassa-1061	111	12	(	(	PUNCT
ijassa-1061	111	13	4.14	4.14	NUM
ijassa-1061	111	14	)	)	PUNCT
ijassa-1061	111	15	is	be	AUX
ijassa-1061	111	16	represented	represent	VERB
ijassa-1061	111	17	as	as	SCONJ
ijassa-1061	111	18	follows	follow	VERB
ijassa-1061	111	19	v(t	v(t	NOUN
ijassa-1061	111	20	)	)	PUNCT
ijassa-1061	112	1	=	=	SYM
ijassa-1061	112	2	ra	ra	PROPN
ijassa-1061	112	3	t	t	PROPN
ijassa-1061	112	4	exp	exp	NOUN
ijassa-1061	112	5	(	(	PUNCT
ijassa-1061	112	6	t	t	PROPN
ijassa-1061	112	7	t	t	PROPN
ijassa-1061	112	8	ln	ln	NOUN
ijassa-1061	112	9	rb	rb	PROPN
ijassa-1061	112	10	ra	ra	PROPN
ijassa-1061	112	11	)	)	PUNCT
ijassa-1061	112	12	√	√	PROPN
ijassa-1061	112	13	ln2	ln2	PROPN
ijassa-1061	112	14	rb	rb	PROPN
ijassa-1061	112	15	ra	ra	PROPN
ijassa-1061	113	1	+	+	CCONJ
ijassa-1061	113	2	(	(	PUNCT
ijassa-1061	113	3	ϕb	ϕb	ADV
ijassa-1061	113	4	−	−	PROPN
ijassa-1061	113	5	ϕa)2	ϕa)2	PROPN
ijassa-1061	113	6	.	.	PUNCT
ijassa-1061	114	1	(	(	PUNCT
ijassa-1061	114	2	4.15	4.15	NUM
ijassa-1061	114	3	)	)	PUNCT
ijassa-1061	114	4	lemma	lemma	PROPN
ijassa-1061	114	5	4.2	4.2	NUM
ijassa-1061	114	6	:	:	PUNCT
ijassa-1061	114	7	the	the	DET
ijassa-1061	114	8	explicit	explicit	ADJ
ijassa-1061	114	9	dependence	dependence	NOUN
ijassa-1061	114	10	risk	risk	NOUN
ijassa-1061	114	11	(	(	PUNCT
ijassa-1061	114	12	3.11	3.11	NUM
ijassa-1061	114	13	)	)	PUNCT
ijassa-1061	114	14	from	from	ADP
ijassa-1061	114	15	boundary	boundary	ADJ
ijassa-1061	114	16	conditions	condition	NOUN
ijassa-1061	114	17	on	on	ADP
ijassa-1061	114	18	the	the	DET
ijassa-1061	114	19	extremal	extremal	ADJ
ijassa-1061	114	20	trajectory	trajectory	NOUN
ijassa-1061	114	21	equation	equation	NOUN
ijassa-1061	114	22	(	(	PUNCT
ijassa-1061	114	23	4.14	4.14	NUM
ijassa-1061	114	24	)	)	PUNCT
ijassa-1061	114	25	has	have	VERB
ijassa-1061	114	26	the	the	DET
ijassa-1061	114	27	form	form	NOUN
ijassa-1061	114	28	r∗	r∗	VERB
ijassa-1061	114	29	=	=	SYM
ijassa-1061	114	30	(	(	PUNCT
ijassa-1061	114	31	ρb	ρb	NUM
ijassa-1061	114	32	−	−	PROPN
ijassa-1061	114	33	ρa)2	ρa)2	PROPN
ijassa-1061	114	34	+	+	CCONJ
ijassa-1061	115	1	(	(	PUNCT
ijassa-1061	115	2	ϕb	ϕb	ADV
ijassa-1061	115	3	−	−	PROPN
ijassa-1061	115	4	ϕa)2	ϕa)2	PROPN
ijassa-1061	115	5	t	t	PROPN
ijassa-1061	115	6	g(β0	g(β0	PROPN
ijassa-1061	115	7	)	)	PUNCT
ijassa-1061	115	8	=	=	PUNCT
ijassa-1061	115	9	l2	l2	NOUN
ijassa-1061	115	10	t	t	PROPN
ijassa-1061	115	11	g(β0	g(β0	NOUN
ijassa-1061	115	12	)	)	PUNCT
ijassa-1061	115	13	,	,	PUNCT
ijassa-1061	115	14	(	(	PUNCT
ijassa-1061	115	15	4.16	4.16	X
ijassa-1061	115	16	)	)	PUNCT
ijassa-1061	115	17	copyright	copyright	NOUN
ijassa-1061	115	18	©	©	PROPN
ijassa-1061	115	19	2021	2021	NUM
ijassa-1061	115	20	assa	assa	NOUN
ijassa-1061	115	21	.	.	PUNCT
ijassa-1061	116	1	adv	adv	PROPN
ijassa-1061	116	2	syst	syst	PROPN
ijassa-1061	116	3	sci	sci	PROPN
ijassa-1061	116	4	appl	appl	PROPN
ijassa-1061	116	5	(	(	PUNCT
ijassa-1061	116	6	2021	2021	NUM
ijassa-1061	116	7	)	)	PUNCT
ijassa-1061	116	8	76	76	NUM
ijassa-1061	116	9	a.	a.	NOUN
ijassa-1061	116	10	galyaev	galyaev	NOUN
ijassa-1061	116	11	,	,	PUNCT
ijassa-1061	116	12	p.	p.	NOUN
ijassa-1061	116	13	lysenko	lysenko	NOUN
ijassa-1061	116	14	where	where	SCONJ
ijassa-1061	116	15	β0	β0	NOUN
ijassa-1061	116	16	=	=	PROPN
ijassa-1061	116	17	arctan	arctan	PROPN
ijassa-1061	116	18	ϕb	ϕb	ADP
ijassa-1061	116	19	−	−	PROPN
ijassa-1061	116	20	ϕa	ϕa	INTJ
ijassa-1061	116	21	ρb	ρb	NUM
ijassa-1061	116	22	−	−	PROPN
ijassa-1061	116	23	ρa	ρa	INTJ
ijassa-1061	116	24	,	,	PUNCT
ijassa-1061	116	25	and	and	CCONJ
ijassa-1061	116	26	l	l	NOUN
ijassa-1061	116	27	=	=	PUNCT
ijassa-1061	116	28	√	√	INTJ
ijassa-1061	116	29	(	(	PUNCT
ijassa-1061	116	30	ρb	ρb	NOUN
ijassa-1061	116	31	−	−	PROPN
ijassa-1061	116	32	ρa)2	ρa)2	PROPN
ijassa-1061	116	33	+	+	CCONJ
ijassa-1061	116	34	(	(	PUNCT
ijassa-1061	116	35	ϕb	ϕb	ADV
ijassa-1061	116	36	−	−	PROPN
ijassa-1061	116	37	ϕa)2	ϕa)2	PROPN
ijassa-1061	116	38	is	be	AUX
ijassa-1061	116	39	the	the	DET
ijassa-1061	116	40	length	length	NOUN
ijassa-1061	116	41	of	of	ADP
ijassa-1061	116	42	the	the	DET
ijassa-1061	116	43	straight	straight	ADJ
ijassa-1061	116	44	line	line	NOUN
ijassa-1061	116	45	segment	segment	NOUN
ijassa-1061	116	46	between	between	ADP
ijassa-1061	116	47	points	point	NOUN
ijassa-1061	116	48	a	a	PRON
ijassa-1061	116	49	and	and	CCONJ
ijassa-1061	116	50	b	b	NOUN
ijassa-1061	116	51	in	in	ADP
ijassa-1061	116	52	the	the	DET
ijassa-1061	116	53	space	space	NOUN
ijassa-1061	116	54	(	(	PUNCT
ijassa-1061	116	55	ρ	ρ	PROPN
ijassa-1061	116	56	,	,	PUNCT
ijassa-1061	116	57	ϕ	ϕ	NOUN
ijassa-1061	116	58	)	)	PUNCT
ijassa-1061	116	59	.	.	PUNCT
ijassa-1061	117	1	the	the	DET
ijassa-1061	117	2	proofs	proof	NOUN
ijassa-1061	117	3	of	of	ADP
ijassa-1061	117	4	lemmas	lemmas	PROPN
ijassa-1061	117	5	4.1	4.1	NUM
ijassa-1061	117	6	and	and	CCONJ
ijassa-1061	117	7	4.2	4.2	NUM
ijassa-1061	117	8	remain	remain	VERB
ijassa-1061	117	9	valid	valid	ADJ
ijassa-1061	117	10	as	as	SCONJ
ijassa-1061	117	11	shown	show	VERB
ijassa-1061	117	12	in	in	ADP
ijassa-1061	117	13	reference	reference	NOUN
ijassa-1061	117	14	[	[	X
ijassa-1061	117	15	9	9	NUM
ijassa-1061	117	16	]	]	PUNCT
ijassa-1061	117	17	.	.	PUNCT
ijassa-1061	118	1	4.2	4.2	NUM
ijassa-1061	118	2	.	.	PUNCT
ijassa-1061	119	1	the	the	DET
ijassa-1061	119	2	sufficient	sufficient	ADJ
ijassa-1061	119	3	optimality	optimality	NOUN
ijassa-1061	119	4	conditions	condition	NOUN
ijassa-1061	119	5	the	the	DET
ijassa-1061	119	6	sufficient	sufficient	ADJ
ijassa-1061	119	7	optimality	optimality	NOUN
ijassa-1061	119	8	conditions	condition	NOUN
ijassa-1061	119	9	for	for	ADP
ijassa-1061	119	10	path	path	NOUN
ijassa-1061	119	11	planning	planning	NOUN
ijassa-1061	119	12	problem	problem	NOUN
ijassa-1061	119	13	3.2	3.2	NUM
ijassa-1061	119	14	and	and	CCONJ
ijassa-1061	119	15	the	the	DET
ijassa-1061	119	16	hessian	hessian	ADJ
ijassa-1061	119	17	matrix	matrix	NOUN
ijassa-1061	119	18	explicit	explicit	ADJ
ijassa-1061	119	19	form	form	NOUN
ijassa-1061	119	20	are	be	AUX
ijassa-1061	119	21	presented	present	VERB
ijassa-1061	119	22	in	in	ADP
ijassa-1061	119	23	[	[	X
ijassa-1061	119	24	9	9	NUM
ijassa-1061	119	25	]	]	PUNCT
ijassa-1061	119	26	as	as	SCONJ
ijassa-1061	119	27	follows	follow	VERB
ijassa-1061	119	28	lemma	lemma	PROPN
ijassa-1061	119	29	4.3	4.3	NUM
ijassa-1061	119	30	:	:	PUNCT
ijassa-1061	119	31	let	let	VERB
ijassa-1061	119	32	s(ρ	s(ρ	PROPN
ijassa-1061	119	33	,	,	PUNCT
ijassa-1061	119	34	ρ̇	ρ̇	PROPN
ijassa-1061	119	35	,	,	PUNCT
ijassa-1061	119	36	ϕ	ϕ	NOUN
ijassa-1061	119	37	,	,	PUNCT
ijassa-1061	119	38	ϕ̇	ϕ̇	PRON
ijassa-1061	119	39	,	,	PUNCT
ijassa-1061	119	40	t	t	PROPN
ijassa-1061	119	41	)	)	PUNCT
ijassa-1061	119	42	=	=	PUNCT
ijassa-1061	120	1	(	(	PUNCT
ijassa-1061	120	2	ρ̇2	ρ̇2	X
ijassa-1061	120	3	+	+	CCONJ
ijassa-1061	120	4	ϕ̇2	ϕ̇2	PROPN
ijassa-1061	120	5	)	)	PUNCT
ijassa-1061	120	6	g	g	NOUN
ijassa-1061	120	7	(	(	PUNCT
ijassa-1061	120	8	β	β	NOUN
ijassa-1061	120	9	)	)	PUNCT
ijassa-1061	120	10	,	,	PUNCT
ijassa-1061	120	11	g(β	g(β	PROPN
ijassa-1061	120	12	)	)	PUNCT
ijassa-1061	120	13	–	–	PUNCT
ijassa-1061	120	14	thrice	thrice	NOUN
ijassa-1061	120	15	continuously	continuously	ADV
ijassa-1061	120	16	differentiated	differentiate	VERB
ijassa-1061	120	17	function	function	NOUN
ijassa-1061	120	18	of	of	ADP
ijassa-1061	120	19	β	β	X
ijassa-1061	120	20	,	,	PUNCT
ijassa-1061	120	21	then	then	ADV
ijassa-1061	120	22	hessian	hessian	ADJ
ijassa-1061	120	23	matrix	matrix	NOUN
ijassa-1061	120	24	h	h	NOUN
ijassa-1061	120	25	equals	equal	VERB
ijassa-1061	120	26	h	h	NOUN
ijassa-1061	120	27	=	=	PUNCT
ijassa-1061	120	28	(	(	PUNCT
ijassa-1061	120	29	h11	h11	PROPN
ijassa-1061	120	30	h12	h12	PROPN
ijassa-1061	120	31	h21	h21	PROPN
ijassa-1061	120	32	h22	h22	PROPN
ijassa-1061	120	33	)	)	PUNCT
ijassa-1061	120	34	where	where	SCONJ
ijassa-1061	120	35	h11	h11	NOUN
ijassa-1061	120	36	=	=	SYM
ijassa-1061	120	37	∂2s	∂2s	PROPN
ijassa-1061	120	38	∂ρ̇2	∂ρ̇2	PROPN
ijassa-1061	120	39	=	=	PUNCT
ijassa-1061	120	40	2	2	NUM
ijassa-1061	120	41	g	g	NOUN
ijassa-1061	120	42	(	(	PUNCT
ijassa-1061	120	43	β)−	β)−	PROPN
ijassa-1061	120	44	2ϕ̇ρ̇g′	2ϕ̇ρ̇g′	NUM
ijassa-1061	120	45	(	(	PUNCT
ijassa-1061	120	46	β)−	β)−	PROPN
ijassa-1061	120	47	g′′	g′′	PROPN
ijassa-1061	120	48	(	(	PUNCT
ijassa-1061	120	49	β	β	NOUN
ijassa-1061	120	50	)	)	PUNCT
ijassa-1061	120	51	ϕ̇2	ϕ̇2	PROPN
ijassa-1061	120	52	ϕ̇2	ϕ̇2	PROPN
ijassa-1061	120	53	+	+	PROPN
ijassa-1061	120	54	ρ̇2	ρ̇2	PROPN
ijassa-1061	120	55	,	,	PUNCT
ijassa-1061	120	56	h12	h12	NOUN
ijassa-1061	120	57	=	=	SYM
ijassa-1061	120	58	∂2s	∂2s	PROPN
ijassa-1061	120	59	∂ρ̇∂ϕ̇	∂ρ̇∂ϕ̇	NOUN
ijassa-1061	120	60	=	=	PUNCT
ijassa-1061	120	61	(	(	PUNCT
ijassa-1061	120	62	ρ̇2	ρ̇2	PROPN
ijassa-1061	120	63	−	−	PROPN
ijassa-1061	120	64	ϕ̇2	ϕ̇2	PROPN
ijassa-1061	120	65	)	)	PUNCT
ijassa-1061	120	66	g′(β)−	g′(β)−	PROPN
ijassa-1061	120	67	g′′(β	g′′(β	NOUN
ijassa-1061	120	68	)	)	PUNCT
ijassa-1061	120	69	ϕ̇2	ϕ̇2	PROPN
ijassa-1061	120	70	+	+	SYM
ijassa-1061	120	71	ρ̇2	ρ̇2	PROPN
ijassa-1061	120	72	,	,	PUNCT
ijassa-1061	120	73	h21	h21	NOUN
ijassa-1061	120	74	=	=	SYM
ijassa-1061	120	75	∂2s	∂2s	NOUN
ijassa-1061	120	76	∂ϕ̇∂ρ̇	∂ϕ̇∂ρ̇	NOUN
ijassa-1061	120	77	=	=	SYM
ijassa-1061	120	78	(	(	PUNCT
ijassa-1061	120	79	ρ̇2	ρ̇2	PROPN
ijassa-1061	120	80	−	−	PROPN
ijassa-1061	120	81	ϕ̇2	ϕ̇2	PROPN
ijassa-1061	120	82	)	)	PUNCT
ijassa-1061	120	83	g′(β)−	g′(β)−	PROPN
ijassa-1061	120	84	g′′(β	g′′(β	NOUN
ijassa-1061	120	85	)	)	PUNCT
ijassa-1061	120	86	ϕ̇2	ϕ̇2	PROPN
ijassa-1061	120	87	+	+	SYM
ijassa-1061	120	88	ρ̇2	ρ̇2	PROPN
ijassa-1061	120	89	,	,	PUNCT
ijassa-1061	120	90	h22	h22	PROPN
ijassa-1061	120	91	=	=	SYM
ijassa-1061	120	92	∂2s	∂2s	NOUN
ijassa-1061	120	93	∂ϕ̇2	∂ϕ̇2	NOUN
ijassa-1061	120	94	=	=	NOUN
ijassa-1061	120	95	2	2	NUM
ijassa-1061	120	96	g	g	NOUN
ijassa-1061	120	97	(	(	PUNCT
ijassa-1061	120	98	β	β	NOUN
ijassa-1061	120	99	)	)	PUNCT
ijassa-1061	121	1	+	+	NUM
ijassa-1061	121	2	2ϕ̇ρ̇g′	2ϕ̇ρ̇g′	NUM
ijassa-1061	121	3	(	(	PUNCT
ijassa-1061	121	4	β	β	X
ijassa-1061	121	5	)	)	PUNCT
ijassa-1061	122	1	+	+	CCONJ
ijassa-1061	122	2	g′′	g′′	PROPN
ijassa-1061	122	3	(	(	PUNCT
ijassa-1061	122	4	β	β	X
ijassa-1061	122	5	)	)	PUNCT
ijassa-1061	123	1	ρ̇2	ρ̇2	PROPN
ijassa-1061	123	2	ϕ̇2	ϕ̇2	PROPN
ijassa-1061	123	3	+	+	CCONJ
ijassa-1061	123	4	ρ̇2	ρ̇2	PROPN
ijassa-1061	123	5	,	,	PUNCT
ijassa-1061	123	6	(	(	PUNCT
ijassa-1061	123	7	4.17	4.17	NUM
ijassa-1061	123	8	)	)	PUNCT
ijassa-1061	123	9	and	and	CCONJ
ijassa-1061	123	10	the	the	DET
ijassa-1061	123	11	hessian	hessian	NOUN
ijassa-1061	123	12	itself	itself	PRON
ijassa-1061	123	13	is	be	AUX
ijassa-1061	123	14	the	the	DET
ijassa-1061	123	15	determinant	determinant	ADJ
ijassa-1061	123	16	of	of	ADP
ijassa-1061	123	17	the	the	DET
ijassa-1061	123	18	matrix	matrix	NOUN
ijassa-1061	123	19	deth	deth	NOUN
ijassa-1061	123	20	=	=	SYM
ijassa-1061	123	21	4g2(β	4g2(β	NUM
ijassa-1061	123	22	)	)	PUNCT
ijassa-1061	124	1	+	+	CCONJ
ijassa-1061	124	2	2g(β)g′′(β)−	2g(β)g′′(β)−	NUM
ijassa-1061	124	3	g′2(β	g′2(β	PROPN
ijassa-1061	124	4	)	)	PUNCT
ijassa-1061	124	5	.	.	PUNCT
ijassa-1061	125	1	(	(	PUNCT
ijassa-1061	125	2	4.18	4.18	NUM
ijassa-1061	125	3	)	)	PUNCT
ijassa-1061	125	4	theorem	theorem	VERB
ijassa-1061	125	5	4.2	4.2	NUM
ijassa-1061	125	6	:	:	PUNCT
ijassa-1061	125	7	assume	assume	VERB
ijassa-1061	125	8	that	that	SCONJ
ijassa-1061	125	9	the	the	DET
ijassa-1061	125	10	conditions	condition	NOUN
ijassa-1061	125	11	of	of	ADP
ijassa-1061	125	12	theorem	theorem	NOUN
ijassa-1061	125	13	4.1	4.1	NUM
ijassa-1061	125	14	,	,	PUNCT
ijassa-1061	125	15	lemma	lemma	PROPN
ijassa-1061	125	16	4.3	4.3	NUM
ijassa-1061	125	17	are	be	AUX
ijassa-1061	125	18	satisfied	satisfied	ADJ
ijassa-1061	125	19	,	,	PUNCT
ijassa-1061	125	20	and	and	CCONJ
ijassa-1061	125	21	the	the	DET
ijassa-1061	125	22	inequality	inequality	NOUN
ijassa-1061	125	23	deth	deth	VERB
ijassa-1061	125	24	>	>	X
ijassa-1061	125	25	0	0	PUNCT
ijassa-1061	125	26	is	be	AUX
ijassa-1061	125	27	valid	valid	ADJ
ijassa-1061	125	28	for	for	ADP
ijassa-1061	125	29	all	all	DET
ijassa-1061	125	30	values	value	NOUN
ijassa-1061	125	31	β	β	X
ijassa-1061	125	32	.	.	PUNCT
ijassa-1061	126	1	then	then	ADV
ijassa-1061	126	2	the	the	DET
ijassa-1061	126	3	optimal	optimal	ADJ
ijassa-1061	126	4	trajectory	trajectory	NOUN
ijassa-1061	126	5	given	give	VERB
ijassa-1061	126	6	by	by	ADP
ijassa-1061	126	7	equation	equation	NOUN
ijassa-1061	126	8	(	(	PUNCT
ijassa-1061	126	9	4.12	4.12	NUM
ijassa-1061	126	10	)	)	PUNCT
ijassa-1061	126	11	brings	bring	VERB
ijassa-1061	126	12	the	the	DET
ijassa-1061	126	13	strong	strong	ADJ
ijassa-1061	126	14	minimum	minimum	NOUN
ijassa-1061	126	15	to	to	ADP
ijassa-1061	126	16	the	the	DET
ijassa-1061	126	17	risk	risk	NOUN
ijassa-1061	126	18	functional	functional	ADJ
ijassa-1061	126	19	equation	equation	NOUN
ijassa-1061	126	20	(	(	PUNCT
ijassa-1061	126	21	3.11	3.11	NUM
ijassa-1061	126	22	)	)	PUNCT
ijassa-1061	126	23	.	.	PUNCT
ijassa-1061	127	1	5	5	X
ijassa-1061	127	2	.	.	X
ijassa-1061	127	3	algorithm	algorithm	NOUN
ijassa-1061	127	4	for	for	ADP
ijassa-1061	127	5	finding	find	VERB
ijassa-1061	127	6	two	two	NUM
ijassa-1061	127	7	-	-	PUNCT
ijassa-1061	127	8	link	link	NOUN
ijassa-1061	127	9	optimal	optimal	ADJ
ijassa-1061	127	10	trajectories	trajectory	NOUN
ijassa-1061	127	11	if	if	SCONJ
ijassa-1061	127	12	conditions	condition	NOUN
ijassa-1061	127	13	of	of	ADP
ijassa-1061	127	14	theorem	theorem	ADJ
ijassa-1061	127	15	4.2	4.2	NUM
ijassa-1061	127	16	are	be	AUX
ijassa-1061	127	17	not	not	PART
ijassa-1061	127	18	fulfilled	fulfil	VERB
ijassa-1061	127	19	,	,	PUNCT
ijassa-1061	127	20	e.g.	e.g.	ADV
ijassa-1061	127	21	deth	deth	VERB
ijassa-1061	127	22	≤	≤	NUM
ijassa-1061	127	23	0	0	NUM
ijassa-1061	127	24	,	,	PUNCT
ijassa-1061	127	25	then	then	ADV
ijassa-1061	127	26	optimal	optimal	ADJ
ijassa-1061	127	27	trajectory	trajectory	NOUN
ijassa-1061	127	28	can	can	AUX
ijassa-1061	127	29	consist	consist	VERB
ijassa-1061	127	30	of	of	ADP
ijassa-1061	127	31	many	many	ADJ
ijassa-1061	127	32	segments	segment	NOUN
ijassa-1061	127	33	of	of	ADP
ijassa-1061	127	34	logarithmic	logarithmic	ADJ
ijassa-1061	127	35	spirals	spiral	NOUN
ijassa-1061	127	36	.	.	PUNCT
ijassa-1061	128	1	the	the	DET
ijassa-1061	128	2	current	current	ADJ
ijassa-1061	128	3	article	article	NOUN
ijassa-1061	128	4	explores	explore	VERB
ijassa-1061	128	5	the	the	DET
ijassa-1061	128	6	case	case	NOUN
ijassa-1061	128	7	of	of	ADP
ijassa-1061	128	8	two	two	NUM
ijassa-1061	128	9	segments	segment	NOUN
ijassa-1061	128	10	,	,	PUNCT
ijassa-1061	128	11	however	however	ADV
ijassa-1061	128	12	it	it	PRON
ijassa-1061	128	13	can	can	AUX
ijassa-1061	128	14	be	be	AUX
ijassa-1061	128	15	shown	show	VERB
ijassa-1061	128	16	that	that	SCONJ
ijassa-1061	128	17	any	any	DET
ijassa-1061	128	18	optimal	optimal	ADJ
ijassa-1061	128	19	multi	multi	ADJ
ijassa-1061	128	20	-	-	ADJ
ijassa-1061	128	21	link	link	ADJ
ijassa-1061	128	22	trajectory	trajectory	NOUN
ijassa-1061	128	23	is	be	AUX
ijassa-1061	128	24	constructed	construct	VERB
ijassa-1061	128	25	from	from	ADP
ijassa-1061	128	26	segments	segment	NOUN
ijassa-1061	128	27	of	of	ADP
ijassa-1061	128	28	two	two	NUM
ijassa-1061	128	29	base	base	NOUN
ijassa-1061	128	30	directions	direction	NOUN
ijassa-1061	128	31	.	.	PUNCT
ijassa-1061	129	1	as	as	SCONJ
ijassa-1061	129	2	explained	explain	VERB
ijassa-1061	129	3	above	above	ADV
ijassa-1061	129	4	,	,	PUNCT
ijassa-1061	129	5	these	these	DET
ijassa-1061	129	6	segments	segment	NOUN
ijassa-1061	129	7	in	in	ADP
ijassa-1061	129	8	(	(	PUNCT
ijassa-1061	129	9	ρ	ρ	PROPN
ijassa-1061	129	10	,	,	PUNCT
ijassa-1061	129	11	ϕ	ϕ	NOUN
ijassa-1061	129	12	)	)	PUNCT
ijassa-1061	129	13	space	space	NOUN
ijassa-1061	129	14	transform	transform	NOUN
ijassa-1061	129	15	into	into	ADP
ijassa-1061	129	16	straight	straight	ADJ
ijassa-1061	129	17	lines	line	NOUN
ijassa-1061	129	18	.	.	PUNCT
ijassa-1061	130	1	this	this	DET
ijassa-1061	130	2	fact	fact	NOUN
ijassa-1061	130	3	is	be	AUX
ijassa-1061	130	4	illustrated	illustrate	VERB
ijassa-1061	130	5	in	in	ADP
ijassa-1061	130	6	figure	figure	NOUN
ijassa-1061	130	7	5.3	5.3	NUM
ijassa-1061	130	8	.	.	PUNCT
ijassa-1061	131	1	copyright	copyright	NOUN
ijassa-1061	131	2	©	©	PROPN
ijassa-1061	131	3	2021	2021	NUM
ijassa-1061	131	4	assa	assa	NOUN
ijassa-1061	131	5	.	.	PUNCT
ijassa-1061	132	1	adv	adv	PROPN
ijassa-1061	132	2	syst	syst	PROPN
ijassa-1061	132	3	sci	sci	PROPN
ijassa-1061	132	4	appl	appl	PROPN
ijassa-1061	132	5	(	(	PUNCT
ijassa-1061	132	6	2021	2021	NUM
ijassa-1061	132	7	)	)	PUNCT
ijassa-1061	132	8	algorithm	algorithm	NOUN
ijassa-1061	132	9	for	for	ADP
ijassa-1061	132	10	optimal	optimal	ADJ
ijassa-1061	132	11	two	two	NUM
ijassa-1061	132	12	-	-	PUNCT
ijassa-1061	132	13	link	link	NOUN
ijassa-1061	132	14	trajectory	trajectory	NOUN
ijassa-1061	132	15	planning	planning	NOUN
ijassa-1061	132	16	in	in	ADP
ijassa-1061	132	17	evasion	evasion	NOUN
ijassa-1061	132	18	77	77	NUM
ijassa-1061	132	19	0	0	NUM
ijassa-1061	133	1	ρ−	ρ−	NOUN
ijassa-1061	133	2	ρ0	ρ0	PROPN
ijassa-1061	133	3	ϕ−	ϕ−	PROPN
ijassa-1061	133	4	ϕ0	ϕ0	PROPN
ijassa-1061	133	5	l0	l0	PROPN
ijassa-1061	133	6	l1	l1	PROPN
ijassa-1061	133	7	l2	l2	PROPN
ijassa-1061	133	8	β0	β0	PROPN
ijassa-1061	133	9	β1	β1	PROPN
ijassa-1061	133	10	β2	β2	PROPN
ijassa-1061	133	11	fig	fig	NOUN
ijassa-1061	133	12	.	.	PUNCT
ijassa-1061	134	1	5.3	5.3	NUM
ijassa-1061	134	2	.	.	PUNCT
ijassa-1061	135	1	the	the	DET
ijassa-1061	135	2	mobile	mobile	ADJ
ijassa-1061	135	3	vehicle	vehicle	NOUN
ijassa-1061	135	4	in	in	ADP
ijassa-1061	135	5	the	the	DET
ijassa-1061	135	6	(	(	PUNCT
ijassa-1061	135	7	ρ	ρ	PROPN
ijassa-1061	135	8	,	,	PUNCT
ijassa-1061	135	9	ϕ	ϕ	NOUN
ijassa-1061	135	10	)	)	PUNCT
ijassa-1061	135	11	coordinate	coordinate	NOUN
ijassa-1061	135	12	system	system	NOUN
ijassa-1061	135	13	.	.	PUNCT
ijassa-1061	136	1	next	next	ADJ
ijassa-1061	136	2	lemma	lemma	PROPN
ijassa-1061	136	3	allows	allow	VERB
ijassa-1061	136	4	to	to	PART
ijassa-1061	136	5	choose	choose	VERB
ijassa-1061	136	6	two	two	NUM
ijassa-1061	136	7	optimal	optimal	ADJ
ijassa-1061	136	8	angles	angle	NOUN
ijassa-1061	136	9	β1	β1	NOUN
ijassa-1061	136	10	and	and	CCONJ
ijassa-1061	136	11	β2	β2	VERB
ijassa-1061	136	12	from	from	ADP
ijassa-1061	136	13	the	the	DET
ijassa-1061	136	14	whole	whole	ADJ
ijassa-1061	136	15	set	set	NOUN
ijassa-1061	136	16	of	of	ADP
ijassa-1061	136	17	such	such	ADJ
ijassa-1061	136	18	angles	angle	NOUN
ijassa-1061	136	19	,	,	PUNCT
ijassa-1061	136	20	fulfilling	fulfil	VERB
ijassa-1061	136	21	the	the	DET
ijassa-1061	136	22	boundary	boundary	ADJ
ijassa-1061	136	23	conditions	condition	NOUN
ijassa-1061	136	24	of	of	ADP
ijassa-1061	136	25	the	the	DET
ijassa-1061	136	26	problem	problem	NOUN
ijassa-1061	136	27	.	.	PUNCT
ijassa-1061	137	1	a	a	DET
ijassa-1061	137	2	corresponding	corresponding	NOUN
ijassa-1061	137	3	to	to	ADP
ijassa-1061	137	4	these	these	DET
ijassa-1061	137	5	angles	angle	NOUN
ijassa-1061	137	6	optimal	optimal	ADJ
ijassa-1061	137	7	risk	risk	NOUN
ijassa-1061	137	8	is	be	AUX
ijassa-1061	137	9	denoted	denote	VERB
ijassa-1061	137	10	as	as	ADP
ijassa-1061	137	11	r∗(β1	r∗(β1	PROPN
ijassa-1061	137	12	,	,	PUNCT
ijassa-1061	137	13	β2	β2	NOUN
ijassa-1061	137	14	)	)	PUNCT
ijassa-1061	137	15	and	and	CCONJ
ijassa-1061	137	16	is	be	AUX
ijassa-1061	137	17	calculated	calculate	VERB
ijassa-1061	137	18	according	accord	VERB
ijassa-1061	137	19	to	to	ADP
ijassa-1061	137	20	lemma	lemma	PROPN
ijassa-1061	137	21	4.2	4.2	NUM
ijassa-1061	137	22	.	.	PUNCT
ijassa-1061	138	1	lemma	lemma	PROPN
ijassa-1061	138	2	5.1	5.1	NUM
ijassa-1061	138	3	:	:	PUNCT
ijassa-1061	138	4	angles	angle	VERB
ijassa-1061	138	5	β∗1	β∗1	NOUN
ijassa-1061	138	6	,	,	PUNCT
ijassa-1061	138	7	β	β	X
ijassa-1061	138	8	∗	∗	X
ijassa-1061	138	9	2	2	NUM
ijassa-1061	138	10	for	for	ADP
ijassa-1061	138	11	optimal	optimal	ADJ
ijassa-1061	138	12	trajectory	trajectory	NOUN
ijassa-1061	138	13	can	can	AUX
ijassa-1061	138	14	be	be	AUX
ijassa-1061	138	15	found	find	VERB
ijassa-1061	138	16	from	from	ADP
ijassa-1061	138	17	system	system	NUM
ijassa-1061	138	18	cos(β2	cos(β2	NOUN
ijassa-1061	138	19	−	−	PROPN
ijassa-1061	138	20	β1	β1	PROPN
ijassa-1061	138	21	)	)	PUNCT
ijassa-1061	139	1	=	=	SYM
ijassa-1061	139	2	cos(ξ(β1)−	cos(ξ(β1)−	PROPN
ijassa-1061	139	3	ξ(β2	ξ(β2	NOUN
ijassa-1061	139	4	)	)	PUNCT
ijassa-1061	139	5	)	)	PUNCT
ijassa-1061	139	6	,	,	PUNCT
ijassa-1061	139	7	g(β2	g(β2	NOUN
ijassa-1061	139	8	)	)	PUNCT
ijassa-1061	139	9	g(β1	g(β1	NOUN
ijassa-1061	139	10	)	)	PUNCT
ijassa-1061	139	11	=	=	SYM
ijassa-1061	139	12	cos2	cos2	NOUN
ijassa-1061	139	13	ξ(β2	ξ(β2	NOUN
ijassa-1061	139	14	)	)	PUNCT
ijassa-1061	139	15	cos2	cos2	PROPN
ijassa-1061	139	16	ξ(β1	ξ(β1	NOUN
ijassa-1061	139	17	)	)	PUNCT
ijassa-1061	139	18	,	,	PUNCT
ijassa-1061	139	19	(	(	PUNCT
ijassa-1061	139	20	5.19	5.19	NUM
ijassa-1061	139	21	)	)	PUNCT
ijassa-1061	139	22	where	where	SCONJ
ijassa-1061	139	23	function	function	NOUN
ijassa-1061	139	24	ξ(β	ξ(β	PROPN
ijassa-1061	139	25	)	)	PUNCT
ijassa-1061	140	1	=	=	SYM
ijassa-1061	140	2	arctan	arctan	PROPN
ijassa-1061	140	3	1	1	NUM
ijassa-1061	140	4	2	2	NUM
ijassa-1061	140	5	g′(β	g′(β	NOUN
ijassa-1061	140	6	)	)	PUNCT
ijassa-1061	140	7	g(β	g(β	NOUN
ijassa-1061	140	8	)	)	PUNCT
ijassa-1061	140	9	.	.	PUNCT
ijassa-1061	141	1	we	we	PRON
ijassa-1061	141	2	introduce	introduce	VERB
ijassa-1061	141	3	two	two	NUM
ijassa-1061	141	4	new	new	ADJ
ijassa-1061	141	5	functions	function	NOUN
ijassa-1061	141	6	χ(β	χ(β	NOUN
ijassa-1061	141	7	)	)	PUNCT
ijassa-1061	141	8	=	=	PUNCT
ijassa-1061	141	9	β	β	X
ijassa-1061	141	10	+	+	PUNCT
ijassa-1061	141	11	ξ(β	ξ(β	PROPN
ijassa-1061	141	12	)	)	PUNCT
ijassa-1061	141	13	,	,	PUNCT
ijassa-1061	141	14	η(β	η(β	NOUN
ijassa-1061	141	15	)	)	PUNCT
ijassa-1061	141	16	=	=	SYM
ijassa-1061	142	1	g	g	NOUN
ijassa-1061	142	2	1	1	NUM
ijassa-1061	142	3	2	2	NUM
ijassa-1061	142	4	(	(	PUNCT
ijassa-1061	142	5	β	β	NOUN
ijassa-1061	142	6	)	)	PUNCT
ijassa-1061	142	7	cos	cos	PROPN
ijassa-1061	142	8	ξ(β	ξ(β	PROPN
ijassa-1061	142	9	)	)	PUNCT
ijassa-1061	142	10	(	(	PUNCT
ijassa-1061	142	11	5.20	5.20	NUM
ijassa-1061	142	12	)	)	PUNCT
ijassa-1061	142	13	and	and	CCONJ
ijassa-1061	142	14	rewrite	rewrite	VERB
ijassa-1061	142	15	the	the	DET
ijassa-1061	142	16	system	system	NOUN
ijassa-1061	142	17	(	(	PUNCT
ijassa-1061	142	18	5.19	5.19	NUM
ijassa-1061	142	19	)	)	PUNCT
ijassa-1061	142	20	as	as	ADP
ijassa-1061	142	21	{	{	PUNCT
ijassa-1061	142	22	χ(β1	χ(β1	NOUN
ijassa-1061	142	23	)	)	PUNCT
ijassa-1061	142	24	=	=	SYM
ijassa-1061	142	25	χ(β2	χ(β2	NOUN
ijassa-1061	142	26	)	)	PUNCT
ijassa-1061	142	27	,	,	PUNCT
ijassa-1061	142	28	η(β1	η(β1	NUM
ijassa-1061	142	29	)	)	PUNCT
ijassa-1061	142	30	=	=	PUNCT
ijassa-1061	142	31	η(β2	η(β2	NOUN
ijassa-1061	142	32	)	)	PUNCT
ijassa-1061	142	33	.	.	PUNCT
ijassa-1061	143	1	(	(	PUNCT
ijassa-1061	143	2	5.21	5.21	NUM
ijassa-1061	143	3	)	)	PUNCT
ijassa-1061	143	4	notice	notice	NOUN
ijassa-1061	143	5	that	that	SCONJ
ijassa-1061	143	6	cos	cos	PROPN
ijassa-1061	143	7	ξ(β	ξ(β	PROPN
ijassa-1061	143	8	)	)	PUNCT
ijassa-1061	143	9	>	>	X
ijassa-1061	143	10	0	0	PUNCT
ijassa-1061	144	1	according	accord	VERB
ijassa-1061	144	2	to	to	ADP
ijassa-1061	144	3	definition	definition	NOUN
ijassa-1061	144	4	function	function	NOUN
ijassa-1061	144	5	ξ(β	ξ(β	PROPN
ijassa-1061	144	6	)	)	PUNCT
ijassa-1061	144	7	in	in	ADP
ijassa-1061	144	8	lemma	lemma	PROPN
ijassa-1061	144	9	5.1	5.1	NUM
ijassa-1061	144	10	.	.	PUNCT
ijassa-1061	145	1	thereby	thereby	ADV
ijassa-1061	145	2	the	the	DET
ijassa-1061	145	3	search	search	NOUN
ijassa-1061	145	4	of	of	ADP
ijassa-1061	145	5	optimal	optimal	ADJ
ijassa-1061	145	6	two	two	NUM
ijassa-1061	145	7	-	-	PUNCT
ijassa-1061	145	8	link	link	NOUN
ijassa-1061	145	9	trajectories	trajectory	NOUN
ijassa-1061	145	10	is	be	AUX
ijassa-1061	145	11	reduced	reduce	VERB
ijassa-1061	145	12	to	to	ADP
ijassa-1061	145	13	the	the	DET
ijassa-1061	145	14	solution	solution	NOUN
ijassa-1061	145	15	of	of	ADP
ijassa-1061	145	16	the	the	DET
ijassa-1061	145	17	system	system	NOUN
ijassa-1061	145	18	(	(	PUNCT
ijassa-1061	145	19	5.21	5.21	NUM
ijassa-1061	145	20	)	)	PUNCT
ijassa-1061	145	21	.	.	PUNCT
ijassa-1061	146	1	unfortunately	unfortunately	ADV
ijassa-1061	146	2	,	,	PUNCT
ijassa-1061	146	3	it	it	PRON
ijassa-1061	146	4	can	can	AUX
ijassa-1061	146	5	not	not	PART
ijassa-1061	146	6	be	be	AUX
ijassa-1061	146	7	solved	solve	VERB
ijassa-1061	146	8	analytically	analytically	ADV
ijassa-1061	146	9	,	,	PUNCT
ijassa-1061	146	10	so	so	SCONJ
ijassa-1061	146	11	we	we	PRON
ijassa-1061	146	12	have	have	AUX
ijassa-1061	146	13	developed	develop	VERB
ijassa-1061	146	14	a	a	DET
ijassa-1061	146	15	specific	specific	ADJ
ijassa-1061	146	16	algorithm	algorithm	NOUN
ijassa-1061	146	17	for	for	ADP
ijassa-1061	146	18	finding	find	VERB
ijassa-1061	146	19	solutions	solution	NOUN
ijassa-1061	146	20	of	of	ADP
ijassa-1061	146	21	system	system	NOUN
ijassa-1061	146	22	(	(	PUNCT
ijassa-1061	146	23	5.21	5.21	NUM
ijassa-1061	146	24	)	)	PUNCT
ijassa-1061	146	25	.	.	PUNCT
ijassa-1061	147	1	first	first	ADV
ijassa-1061	147	2	of	of	ADP
ijassa-1061	147	3	all	all	PRON
ijassa-1061	147	4	,	,	PUNCT
ijassa-1061	147	5	let	let	VERB
ijassa-1061	147	6	us	we	PRON
ijassa-1061	147	7	investigate	investigate	VERB
ijassa-1061	147	8	each	each	PRON
ijassa-1061	147	9	of	of	ADP
ijassa-1061	147	10	the	the	DET
ijassa-1061	147	11	functions	function	NOUN
ijassa-1061	147	12	χ(β	χ(β	NOUN
ijassa-1061	147	13	)	)	PUNCT
ijassa-1061	147	14	and	and	CCONJ
ijassa-1061	147	15	η(β	η(β	NOUN
ijassa-1061	147	16	)	)	PUNCT
ijassa-1061	147	17	by	by	ADP
ijassa-1061	147	18	extreme	extreme	NOUN
ijassa-1061	147	19	’s	’s	PART
ijassa-1061	147	20	and	and	CCONJ
ijassa-1061	147	21	find	find	VERB
ijassa-1061	147	22	their	their	PRON
ijassa-1061	147	23	first	first	ADJ
ijassa-1061	147	24	derivatives	derivative	NOUN
ijassa-1061	147	25	dχ(β	dχ(β	ADP
ijassa-1061	147	26	)	)	PUNCT
ijassa-1061	147	27	dβ	dβ	ADP
ijassa-1061	147	28	=	=	SYM
ijassa-1061	147	29	4g2(β)−	4g2(β)−	NUM
ijassa-1061	147	30	(	(	PUNCT
ijassa-1061	147	31	g′(β))2	g′(β))2	NOUN
ijassa-1061	147	32	+	+	CCONJ
ijassa-1061	147	33	2g′′(β)g(β	2g′′(β)g(β	NOUN
ijassa-1061	147	34	)	)	PUNCT
ijassa-1061	147	35	4g2(β	4g2(β	NUM
ijassa-1061	147	36	)	)	PUNCT
ijassa-1061	148	1	+	+	CCONJ
ijassa-1061	148	2	(	(	PUNCT
ijassa-1061	148	3	g′(β))2	g′(β))2	NOUN
ijassa-1061	148	4	.	.	PUNCT
ijassa-1061	149	1	the	the	DET
ijassa-1061	149	2	numerator	numerator	NOUN
ijassa-1061	149	3	of	of	ADP
ijassa-1061	149	4	this	this	DET
ijassa-1061	149	5	fraction	fraction	NOUN
ijassa-1061	149	6	is	be	AUX
ijassa-1061	149	7	a	a	DET
ijassa-1061	149	8	part	part	NOUN
ijassa-1061	149	9	of	of	ADP
ijassa-1061	149	10	expression	expression	NOUN
ijassa-1061	149	11	for	for	ADP
ijassa-1061	149	12	deth	deth	PROPN
ijassa-1061	149	13	,	,	PUNCT
ijassa-1061	149	14	so	so	ADV
ijassa-1061	149	15	dχ(β	dχ(β	PUNCT
ijassa-1061	149	16	)	)	PUNCT
ijassa-1061	150	1	dβ	dβ	ADP
ijassa-1061	150	2	=	=	SYM
ijassa-1061	150	3	0	0	NUM
ijassa-1061	150	4	⇐	⇐	ADJ
ijassa-1061	150	5	⇒	⇒	NOUN
ijassa-1061	150	6	deth	deth	PROPN
ijassa-1061	150	7	=	=	SYM
ijassa-1061	150	8	0	0	X
ijassa-1061	150	9	.	.	PUNCT
ijassa-1061	151	1	copyright	copyright	NOUN
ijassa-1061	151	2	©	©	PROPN
ijassa-1061	151	3	2021	2021	NUM
ijassa-1061	151	4	assa	assa	NOUN
ijassa-1061	151	5	.	.	PUNCT
ijassa-1061	152	1	adv	adv	PROPN
ijassa-1061	152	2	syst	syst	PROPN
ijassa-1061	152	3	sci	sci	PROPN
ijassa-1061	152	4	appl	appl	PROPN
ijassa-1061	152	5	(	(	PUNCT
ijassa-1061	152	6	2021	2021	NUM
ijassa-1061	152	7	)	)	PUNCT
ijassa-1061	152	8	78	78	NUM
ijassa-1061	152	9	a.	a.	NOUN
ijassa-1061	152	10	galyaev	galyaev	NOUN
ijassa-1061	152	11	,	,	PUNCT
ijassa-1061	152	12	p.	p.	NOUN
ijassa-1061	152	13	lysenko	lysenko	NOUN
ijassa-1061	152	14	as	as	ADP
ijassa-1061	152	15	for	for	ADP
ijassa-1061	152	16	η(β	η(β	NOUN
ijassa-1061	152	17	)	)	PUNCT
ijassa-1061	152	18	function	function	NOUN
ijassa-1061	152	19	we	we	PRON
ijassa-1061	152	20	have	have	VERB
ijassa-1061	152	21	dη(β	dη(β	NOUN
ijassa-1061	152	22	)	)	PUNCT
ijassa-1061	152	23	dβ	dβ	NOUN
ijassa-1061	152	24	=	=	SYM
ijassa-1061	152	25	g	g	PROPN
ijassa-1061	152	26	1	1	NUM
ijassa-1061	152	27	2	2	NUM
ijassa-1061	152	28	(	(	PUNCT
ijassa-1061	152	29	β)g′(β	β)g′(β	NOUN
ijassa-1061	152	30	)	)	PUNCT
ijassa-1061	152	31	4g2(β	4g2(β	NUM
ijassa-1061	152	32	)	)	PUNCT
ijassa-1061	152	33	√	√	ADP
ijassa-1061	152	34	4g2(β	4g2(β	NUM
ijassa-1061	152	35	)	)	PUNCT
ijassa-1061	153	1	+	+	CCONJ
ijassa-1061	153	2	g′2(β	g′2(β	NOUN
ijassa-1061	153	3	)	)	PUNCT
ijassa-1061	153	4	deth	deth	VERB
ijassa-1061	153	5	from	from	ADP
ijassa-1061	153	6	last	last	ADJ
ijassa-1061	153	7	expression	expression	NOUN
ijassa-1061	153	8	follows	follow	VERB
ijassa-1061	153	9	dη(β	dη(β	NOUN
ijassa-1061	153	10	)	)	PUNCT
ijassa-1061	154	1	dβ	dβ	NOUN
ijassa-1061	154	2	=	=	SYM
ijassa-1061	154	3	0	0	NUM
ijassa-1061	154	4	⇐	⇐	ADJ
ijassa-1061	154	5	⇒	⇒	NOUN
ijassa-1061	154	6	deth	deth	PROPN
ijassa-1061	154	7	=	=	SYM
ijassa-1061	154	8	0	0	NUM
ijassa-1061	154	9	or	or	CCONJ
ijassa-1061	154	10	g′(β	g′(β	PROPN
ijassa-1061	154	11	)	)	PUNCT
ijassa-1061	154	12	=	=	SYM
ijassa-1061	154	13	0	0	X
ijassa-1061	154	14	.	.	PUNCT
ijassa-1061	155	1	the	the	DET
ijassa-1061	155	2	illustration	illustration	NOUN
ijassa-1061	155	3	of	of	ADP
ijassa-1061	155	4	the	the	DET
ijassa-1061	155	5	theorem	theorem	ADJ
ijassa-1061	155	6	4.2	4.2	NUM
ijassa-1061	155	7	implementation	implementation	NOUN
ijassa-1061	155	8	is	be	AUX
ijassa-1061	155	9	as	as	SCONJ
ijassa-1061	155	10	follows	follow	VERB
ijassa-1061	155	11	.	.	PUNCT
ijassa-1061	156	1	if	if	SCONJ
ijassa-1061	156	2	deth	deth	X
ijassa-1061	156	3	>	>	X
ijassa-1061	156	4	0	0	PUNCT
ijassa-1061	156	5	for	for	ADP
ijassa-1061	156	6	all	all	DET
ijassa-1061	156	7	β	β	NOUN
ijassa-1061	156	8	,	,	PUNCT
ijassa-1061	156	9	then	then	ADV
ijassa-1061	156	10	dχ(β	dχ(β	PUNCT
ijassa-1061	156	11	)	)	PUNCT
ijassa-1061	156	12	dβ	dβ	ADP
ijassa-1061	156	13	>	>	X
ijassa-1061	156	14	0	0	NUM
ijassa-1061	156	15	,	,	PUNCT
ijassa-1061	156	16	i.e.	i.e.	X
ijassa-1061	156	17	the	the	DET
ijassa-1061	156	18	function	function	NOUN
ijassa-1061	156	19	χ(β	χ(β	NOUN
ijassa-1061	156	20	)	)	PUNCT
ijassa-1061	156	21	increases	increase	VERB
ijassa-1061	156	22	monotonically	monotonically	ADV
ijassa-1061	156	23	and	and	CCONJ
ijassa-1061	156	24	therefore	therefore	ADV
ijassa-1061	156	25	there	there	PRON
ijassa-1061	156	26	is	be	VERB
ijassa-1061	156	27	no	no	DET
ijassa-1061	156	28	solution	solution	NOUN
ijassa-1061	156	29	for	for	ADP
ijassa-1061	156	30	the	the	DET
ijassa-1061	156	31	first	first	ADJ
ijassa-1061	156	32	of	of	ADP
ijassa-1061	156	33	the	the	DET
ijassa-1061	156	34	equations	equation	NOUN
ijassa-1061	156	35	(	(	PUNCT
ijassa-1061	156	36	5.21	5.21	NUM
ijassa-1061	156	37	)	)	PUNCT
ijassa-1061	156	38	and	and	CCONJ
ijassa-1061	156	39	one	one	NUM
ijassa-1061	156	40	-	-	PUNCT
ijassa-1061	156	41	link	link	NOUN
ijassa-1061	156	42	trajectory	trajectory	NOUN
ijassa-1061	156	43	is	be	AUX
ijassa-1061	156	44	optimal	optimal	ADJ
ijassa-1061	156	45	.	.	PUNCT
ijassa-1061	157	1	now	now	ADV
ijassa-1061	157	2	we	we	PRON
ijassa-1061	157	3	propose	propose	VERB
ijassa-1061	157	4	algorithm	algorithm	NOUN
ijassa-1061	157	5	for	for	ADP
ijassa-1061	157	6	finding	find	VERB
ijassa-1061	157	7	system	system	NOUN
ijassa-1061	157	8	(	(	PUNCT
ijassa-1061	157	9	5.21	5.21	NUM
ijassa-1061	157	10	)	)	PUNCT
ijassa-1061	157	11	solution	solution	NOUN
ijassa-1061	157	12	.	.	PUNCT
ijassa-1061	158	1	we	we	PRON
ijassa-1061	158	2	consider	consider	VERB
ijassa-1061	158	3	β	β	X
ijassa-1061	158	4	∈	∈	PROPN
ijassa-1061	159	1	[	[	X
ijassa-1061	159	2	0	0	NUM
ijassa-1061	159	3	◦	◦	NOUN
ijassa-1061	159	4	,	,	PUNCT
ijassa-1061	159	5	450	450	NUM
ijassa-1061	159	6	◦	◦	NOUN
ijassa-1061	159	7	]	]	PUNCT
ijassa-1061	159	8	and	and	CCONJ
ijassa-1061	159	9	denote	denote	VERB
ijassa-1061	159	10	all	all	DET
ijassa-1061	159	11	intervals	interval	NOUN
ijassa-1061	159	12	β	β	X
ijassa-1061	159	13	∈	∈	PROPN
ijassa-1061	159	14	(	(	PUNCT
ijassa-1061	159	15	a2i−1	a2i−1	PROPN
ijassa-1061	159	16	,	,	PUNCT
ijassa-1061	159	17	a2i	a2i	NOUN
ijassa-1061	159	18	)	)	PUNCT
ijassa-1061	159	19	,	,	PUNCT
ijassa-1061	159	20	i	i	PRON
ijassa-1061	159	21	=	=	NOUN
ijassa-1061	159	22	1	1	NUM
ijassa-1061	159	23	,	,	PUNCT
ijassa-1061	159	24	..	..	PUNCT
ijassa-1061	159	25	,	,	PUNCT
ijassa-1061	159	26	n	n	X
ijassa-1061	159	27	,	,	PUNCT
ijassa-1061	159	28	where	where	SCONJ
ijassa-1061	159	29	deth	deth	X
ijassa-1061	159	30	>	>	X
ijassa-1061	159	31	0	0	X
ijassa-1061	159	32	.	.	PUNCT
ijassa-1061	159	33	algorithm	algorithm	PROPN
ijassa-1061	159	34	1	1	NUM
ijassa-1061	159	35	:	:	PUNCT
ijassa-1061	159	36	algorithm	algorithm	NOUN
ijassa-1061	159	37	for	for	ADP
ijassa-1061	159	38	finding	find	VERB
ijassa-1061	159	39	optimal	optimal	ADJ
ijassa-1061	159	40	values	value	NOUN
ijassa-1061	159	41	of	of	ADP
ijassa-1061	159	42	β1	β1	PROPN
ijassa-1061	159	43	,	,	PUNCT
ijassa-1061	159	44	β2	β2	NOUN
ijassa-1061	159	45	result	result	VERB
ijassa-1061	159	46	:	:	PUNCT
ijassa-1061	159	47	β∗1	β∗1	NOUN
ijassa-1061	159	48	,	,	PUNCT
ijassa-1061	159	49	β∗2	β∗2	PROPN
ijassa-1061	159	50	initialization	initialization	NOUN
ijassa-1061	159	51	β1	β1	PROPN
ijassa-1061	159	52	=	=	PUNCT
ijassa-1061	159	53	a1	a1	PROPN
ijassa-1061	159	54	,	,	PUNCT
ijassa-1061	159	55	β2	β2	NOUN
ijassa-1061	159	56	=	=	NOUN
ijassa-1061	159	57	a3	a3	NOUN
ijassa-1061	159	58	,	,	PUNCT
ijassa-1061	159	59	r∗	r∗	ADJ
ijassa-1061	159	60	=	=	PUNCT
ijassa-1061	159	61	r(β1	r(β1	NOUN
ijassa-1061	159	62	,	,	PUNCT
ijassa-1061	159	63	β2	β2	NOUN
ijassa-1061	159	64	)	)	PUNCT
ijassa-1061	159	65	while	while	SCONJ
ijassa-1061	159	66	i	i	PRON
ijassa-1061	159	67	<	<	X
ijassa-1061	159	68	n	n	X
ijassa-1061	159	69	,	,	PUNCT
ijassa-1061	159	70	i	i	PRON
ijassa-1061	159	71	=	=	NOUN
ijassa-1061	159	72	i+	i+	NUM
ijassa-1061	159	73	1	1	NUM
ijassa-1061	159	74	do	do	AUX
ijassa-1061	159	75	k	k	PROPN
ijassa-1061	160	1	=	=	PUNCT
ijassa-1061	160	2	i+	i+	ADJ
ijassa-1061	160	3	1	1	NUM
ijassa-1061	160	4	;	;	PUNCT
ijassa-1061	160	5	while	while	SCONJ
ijassa-1061	160	6	k	k	PROPN
ijassa-1061	160	7	<	<	X
ijassa-1061	160	8	n	n	X
ijassa-1061	160	9	,	,	PUNCT
ijassa-1061	160	10	k	k	PROPN
ijassa-1061	161	1	=	=	PUNCT
ijassa-1061	161	2	k	k	PROPN
ijassa-1061	161	3	+	+	CCONJ
ijassa-1061	161	4	1	1	NUM
ijassa-1061	161	5	do	do	AUX
ijassa-1061	161	6	find	find	VERB
ijassa-1061	161	7	system	system	NOUN
ijassa-1061	161	8	(	(	PUNCT
ijassa-1061	161	9	5.21	5.21	NUM
ijassa-1061	161	10	)	)	PUNCT
ijassa-1061	161	11	single	single	ADJ
ijassa-1061	161	12	solution	solution	NOUN
ijassa-1061	161	13	(	(	PUNCT
ijassa-1061	161	14	β1	β1	NOUN
ijassa-1061	161	15	,	,	PUNCT
ijassa-1061	161	16	β2	β2	PROPN
ijassa-1061	161	17	)	)	PUNCT
ijassa-1061	161	18	,	,	PUNCT
ijassa-1061	161	19	β1	β1	PROPN
ijassa-1061	161	20	∈	∈	PROPN
ijassa-1061	162	1	[	[	X
ijassa-1061	162	2	a2i−1	a2i−1	PROPN
ijassa-1061	162	3	,	,	PUNCT
ijassa-1061	162	4	a2i	a2i	NOUN
ijassa-1061	162	5	]	]	X
ijassa-1061	162	6	,	,	PUNCT
ijassa-1061	162	7	β2	β2	NOUN
ijassa-1061	162	8	∈	∈	PROPN
ijassa-1061	163	1	[	[	X
ijassa-1061	163	2	a2k−1	a2k−1	PROPN
ijassa-1061	163	3	,	,	PUNCT
ijassa-1061	163	4	a2k	a2k	ADJ
ijassa-1061	163	5	]	]	PUNCT
ijassa-1061	163	6	;	;	PUNCT
ijassa-1061	163	7	if	if	SCONJ
ijassa-1061	163	8	such	such	ADJ
ijassa-1061	163	9	solution	solution	NOUN
ijassa-1061	163	10	exists	exist	VERB
ijassa-1061	163	11	then	then	ADV
ijassa-1061	163	12	calculate	calculate	VERB
ijassa-1061	163	13	r(β1	r(β1	NOUN
ijassa-1061	163	14	,	,	PUNCT
ijassa-1061	163	15	β2	β2	NOUN
ijassa-1061	163	16	)	)	PUNCT
ijassa-1061	163	17	;	;	PUNCT
ijassa-1061	163	18	if	if	SCONJ
ijassa-1061	163	19	r(β1	r(β1	NOUN
ijassa-1061	163	20	,	,	PUNCT
ijassa-1061	163	21	β2	β2	PROPN
ijassa-1061	163	22	)	)	PUNCT
ijassa-1061	163	23	<	<	X
ijassa-1061	164	1	r∗	r∗	PROPN
ijassa-1061	164	2	then	then	ADV
ijassa-1061	164	3	r∗	r∗	VERB
ijassa-1061	164	4	=	=	PUNCT
ijassa-1061	164	5	r(β1	r(β1	NOUN
ijassa-1061	164	6	,	,	PUNCT
ijassa-1061	164	7	β2	β2	NOUN
ijassa-1061	164	8	)	)	PUNCT
ijassa-1061	164	9	;	;	PUNCT
ijassa-1061	164	10	(	(	PUNCT
ijassa-1061	164	11	β∗1	β∗1	NOUN
ijassa-1061	164	12	,	,	PUNCT
ijassa-1061	164	13	β	β	X
ijassa-1061	164	14	∗	∗	NOUN
ijassa-1061	164	15	2	2	NUM
ijassa-1061	164	16	)	)	PUNCT
ijassa-1061	164	17	=	=	SYM
ijassa-1061	164	18	(	(	PUNCT
ijassa-1061	164	19	β1	β1	PROPN
ijassa-1061	164	20	,	,	PUNCT
ijassa-1061	164	21	β2	β2	PROPN
ijassa-1061	164	22	)	)	PUNCT
ijassa-1061	164	23	;	;	PUNCT
ijassa-1061	164	24	else	else	ADV
ijassa-1061	164	25	continue	continue	VERB
ijassa-1061	164	26	end	end	NOUN
ijassa-1061	164	27	else	else	ADV
ijassa-1061	164	28	continue	continue	VERB
ijassa-1061	164	29	end	end	NOUN
ijassa-1061	164	30	end	end	NOUN
ijassa-1061	164	31	end	end	NOUN
ijassa-1061	164	32	the	the	DET
ijassa-1061	164	33	proposed	propose	VERB
ijassa-1061	164	34	algorithm	algorithm	NOUN
ijassa-1061	164	35	has	have	VERB
ijassa-1061	164	36	the	the	DET
ijassa-1061	164	37	following	following	ADJ
ijassa-1061	164	38	advantages	advantage	NOUN
ijassa-1061	164	39	.	.	PUNCT
ijassa-1061	165	1	it	it	PRON
ijassa-1061	165	2	looks	look	VERB
ijassa-1061	165	3	for	for	ADP
ijassa-1061	165	4	solutions	solution	NOUN
ijassa-1061	165	5	on	on	ADP
ijassa-1061	165	6	reduced	reduce	VERB
ijassa-1061	165	7	β	β	X
ijassa-1061	165	8	domains	domain	NOUN
ijassa-1061	165	9	only	only	ADV
ijassa-1061	165	10	where	where	SCONJ
ijassa-1061	165	11	deth	deth	X
ijassa-1061	165	12	>	>	X
ijassa-1061	165	13	0	0	PUNCT
ijassa-1061	165	14	and	and	CCONJ
ijassa-1061	165	15	additionally	additionally	ADV
ijassa-1061	165	16	where	where	SCONJ
ijassa-1061	165	17	solution	solution	NOUN
ijassa-1061	165	18	is	be	AUX
ijassa-1061	165	19	possible	possible	ADJ
ijassa-1061	165	20	.	.	PUNCT
ijassa-1061	166	1	all	all	DET
ijassa-1061	166	2	possible	possible	ADJ
ijassa-1061	166	3	optimal	optimal	ADJ
ijassa-1061	166	4	directions	direction	NOUN
ijassa-1061	166	5	are	be	AUX
ijassa-1061	166	6	found	find	VERB
ijassa-1061	166	7	,	,	PUNCT
ijassa-1061	166	8	regardless	regardless	ADV
ijassa-1061	166	9	of	of	ADP
ijassa-1061	166	10	the	the	DET
ijassa-1061	166	11	initialization	initialization	NOUN
ijassa-1061	166	12	values	value	NOUN
ijassa-1061	166	13	of	of	ADP
ijassa-1061	166	14	the	the	DET
ijassa-1061	166	15	algorithm	algorithm	NOUN
ijassa-1061	166	16	,	,	PUNCT
ijassa-1061	166	17	as	as	SCONJ
ijassa-1061	166	18	will	will	AUX
ijassa-1061	166	19	be	be	AUX
ijassa-1061	166	20	shown	show	VERB
ijassa-1061	166	21	in	in	ADP
ijassa-1061	166	22	the	the	DET
ijassa-1061	166	23	example	example	NOUN
ijassa-1061	166	24	.	.	PUNCT
ijassa-1061	167	1	the	the	DET
ijassa-1061	167	2	optimal	optimal	ADJ
ijassa-1061	167	3	value	value	NOUN
ijassa-1061	167	4	of	of	ADP
ijassa-1061	167	5	the	the	DET
ijassa-1061	167	6	criterion	criterion	NOUN
ijassa-1061	167	7	depends	depend	VERB
ijassa-1061	167	8	on	on	ADP
ijassa-1061	167	9	the	the	DET
ijassa-1061	167	10	directions	direction	NOUN
ijassa-1061	167	11	β1	β1	PROPN
ijassa-1061	167	12	and	and	CCONJ
ijassa-1061	167	13	β2	β2	NOUN
ijassa-1061	167	14	and	and	CCONJ
ijassa-1061	167	15	the	the	DET
ijassa-1061	167	16	length	length	NOUN
ijassa-1061	167	17	of	of	ADP
ijassa-1061	167	18	the	the	DET
ijassa-1061	167	19	corresponding	corresponding	ADJ
ijassa-1061	167	20	trajectory	trajectory	NOUN
ijassa-1061	167	21	segments	segment	NOUN
ijassa-1061	167	22	.	.	PUNCT
ijassa-1061	168	1	moreover	moreover	ADV
ijassa-1061	168	2	,	,	PUNCT
ijassa-1061	168	3	that	that	PRON
ijassa-1061	168	4	is	be	AUX
ijassa-1061	168	5	an	an	DET
ijassa-1061	168	6	efficient	efficient	ADJ
ijassa-1061	168	7	algorithm	algorithm	NOUN
ijassa-1061	168	8	.	.	PUNCT
ijassa-1061	169	1	the	the	DET
ijassa-1061	169	2	only	only	ADJ
ijassa-1061	169	3	other	other	ADJ
ijassa-1061	169	4	way	way	NOUN
ijassa-1061	169	5	to	to	PART
ijassa-1061	169	6	find	find	VERB
ijassa-1061	169	7	optimal	optimal	ADJ
ijassa-1061	169	8	angles	angle	NOUN
ijassa-1061	169	9	β1	β1	NOUN
ijassa-1061	169	10	,	,	PUNCT
ijassa-1061	169	11	β2	β2	PROPN
ijassa-1061	169	12	is	be	AUX
ijassa-1061	169	13	a	a	DET
ijassa-1061	169	14	brute	brute	ADJ
ijassa-1061	169	15	force	force	NOUN
ijassa-1061	169	16	approach	approach	NOUN
ijassa-1061	169	17	of	of	ADP
ijassa-1061	169	18	sorting	sort	VERB
ijassa-1061	169	19	through	through	ADP
ijassa-1061	169	20	all	all	DET
ijassa-1061	169	21	possible	possible	ADJ
ijassa-1061	169	22	two	two	NUM
ijassa-1061	169	23	-	-	PUNCT
ijassa-1061	169	24	link	link	NOUN
ijassa-1061	169	25	trajectories	trajectory	NOUN
ijassa-1061	169	26	,	,	PUNCT
ijassa-1061	169	27	which	which	PRON
ijassa-1061	169	28	is	be	AUX
ijassa-1061	169	29	a	a	DET
ijassa-1061	169	30	much	much	ADV
ijassa-1061	169	31	more	more	ADJ
ijassa-1061	169	32	time	time	NOUN
ijassa-1061	169	33	-	-	PUNCT
ijassa-1061	169	34	consuming	consume	VERB
ijassa-1061	169	35	process	process	NOUN
ijassa-1061	169	36	,	,	PUNCT
ijassa-1061	169	37	compared	compare	VERB
ijassa-1061	169	38	to	to	ADP
ijassa-1061	169	39	the	the	DET
ijassa-1061	169	40	algorithm	algorithm	NOUN
ijassa-1061	169	41	above	above	ADV
ijassa-1061	169	42	.	.	PUNCT
ijassa-1061	170	1	6	6	NUM
ijassa-1061	170	2	.	.	NOUN
ijassa-1061	170	3	example	example	NOUN
ijassa-1061	170	4	this	this	DET
ijassa-1061	170	5	section	section	NOUN
ijassa-1061	170	6	demonstrates	demonstrate	VERB
ijassa-1061	170	7	the	the	DET
ijassa-1061	170	8	use	use	NOUN
ijassa-1061	170	9	of	of	ADP
ijassa-1061	170	10	proposed	propose	VERB
ijassa-1061	170	11	algorithm	algorithm	NOUN
ijassa-1061	170	12	in	in	ADP
ijassa-1061	170	13	one	one	NUM
ijassa-1061	170	14	model	model	NOUN
ijassa-1061	170	15	case	case	NOUN
ijassa-1061	170	16	.	.	PUNCT
ijassa-1061	171	1	the	the	DET
ijassa-1061	171	2	considered	consider	VERB
ijassa-1061	171	3	algorithm	algorithm	NOUN
ijassa-1061	171	4	has	have	AUX
ijassa-1061	171	5	been	be	AUX
ijassa-1061	171	6	implemented	implement	VERB
ijassa-1061	171	7	in	in	ADP
ijassa-1061	171	8	matlab	matlab	PROPN
ijassa-1061	171	9	.	.	PUNCT
ijassa-1061	172	1	also	also	ADV
ijassa-1061	172	2	matlab	matlab	PROPN
ijassa-1061	172	3	scripts	script	NOUN
ijassa-1061	172	4	have	have	AUX
ijassa-1061	172	5	been	be	AUX
ijassa-1061	172	6	developed	develop	VERB
ijassa-1061	172	7	to	to	PART
ijassa-1061	172	8	validate	validate	VERB
ijassa-1061	172	9	and	and	CCONJ
ijassa-1061	172	10	illustrate	illustrate	VERB
ijassa-1061	172	11	obtained	obtain	VERB
ijassa-1061	172	12	results	result	NOUN
ijassa-1061	172	13	.	.	PUNCT
ijassa-1061	173	1	copyright	copyright	NOUN
ijassa-1061	173	2	©	©	PROPN
ijassa-1061	173	3	2021	2021	NUM
ijassa-1061	173	4	assa	assa	NOUN
ijassa-1061	173	5	.	.	PUNCT
ijassa-1061	174	1	adv	adv	PROPN
ijassa-1061	174	2	syst	syst	PROPN
ijassa-1061	174	3	sci	sci	PROPN
ijassa-1061	174	4	appl	appl	PROPN
ijassa-1061	174	5	(	(	PUNCT
ijassa-1061	174	6	2021	2021	NUM
ijassa-1061	174	7	)	)	PUNCT
ijassa-1061	174	8	algorithm	algorithm	NOUN
ijassa-1061	174	9	for	for	ADP
ijassa-1061	174	10	optimal	optimal	ADJ
ijassa-1061	174	11	two	two	NUM
ijassa-1061	174	12	-	-	PUNCT
ijassa-1061	174	13	link	link	NOUN
ijassa-1061	174	14	trajectory	trajectory	NOUN
ijassa-1061	174	15	planning	planning	NOUN
ijassa-1061	174	16	in	in	ADP
ijassa-1061	174	17	evasion	evasion	NOUN
ijassa-1061	174	18	79	79	NUM
ijassa-1061	174	19	figures	figure	NOUN
ijassa-1061	174	20	6.4	6.4	NUM
ijassa-1061	174	21	and	and	CCONJ
ijassa-1061	174	22	6.5	6.5	NUM
ijassa-1061	174	23	show	show	VERB
ijassa-1061	174	24	a	a	DET
ijassa-1061	174	25	fairly	fairly	ADV
ijassa-1061	174	26	simple	simple	ADJ
ijassa-1061	174	27	radiation	radiation	NOUN
ijassa-1061	174	28	pattern	pattern	NOUN
ijassa-1061	174	29	of	of	ADP
ijassa-1061	174	30	a	a	DET
ijassa-1061	174	31	mobile	mobile	ADJ
ijassa-1061	174	32	vehicle	vehicle	NOUN
ijassa-1061	174	33	g(β	g(β	NOUN
ijassa-1061	174	34	)	)	PUNCT
ijassa-1061	174	35	=	=	PUNCT
ijassa-1061	175	1	1	1	NUM
ijassa-1061	175	2	+	+	NUM
ijassa-1061	175	3	0.3	0.3	NUM
ijassa-1061	175	4	cos(4β	cos(4β	NOUN
ijassa-1061	175	5	)	)	PUNCT
ijassa-1061	175	6	1.3	1.3	NUM
ijassa-1061	175	7	.	.	PUNCT
ijassa-1061	176	1	(	(	PUNCT
ijassa-1061	176	2	6.22	6.22	NUM
ijassa-1061	176	3	)	)	PUNCT
ijassa-1061	176	4	fig	fig	NOUN
ijassa-1061	176	5	.	.	PUNCT
ijassa-1061	177	1	6.4	6.4	NUM
ijassa-1061	177	2	.	.	PUNCT
ijassa-1061	178	1	radiation	radiation	NOUN
ijassa-1061	178	2	pattern	pattern	NOUN
ijassa-1061	178	3	of	of	ADP
ijassa-1061	178	4	the	the	DET
ijassa-1061	178	5	mobile	mobile	ADJ
ijassa-1061	178	6	vehicle	vehicle	NOUN
ijassa-1061	178	7	on	on	ADP
ijassa-1061	178	8	cartesian	cartesian	ADJ
ijassa-1061	178	9	plane	plane	NOUN
ijassa-1061	178	10	fig	fig	NOUN
ijassa-1061	178	11	.	.	PUNCT
ijassa-1061	179	1	6.5	6.5	NUM
ijassa-1061	179	2	.	.	PUNCT
ijassa-1061	179	3	radiation	radiation	NOUN
ijassa-1061	179	4	pattern	pattern	NOUN
ijassa-1061	179	5	of	of	ADP
ijassa-1061	179	6	the	the	DET
ijassa-1061	179	7	mobile	mobile	ADJ
ijassa-1061	179	8	vehicle	vehicle	NOUN
ijassa-1061	179	9	as	as	ADP
ijassa-1061	179	10	a	a	DET
ijassa-1061	179	11	function	function	NOUN
ijassa-1061	179	12	of	of	ADP
ijassa-1061	179	13	β	β	NOUN
ijassa-1061	179	14	figure	figure	NOUN
ijassa-1061	179	15	6.4	6.4	NUM
ijassa-1061	179	16	shows	show	VERB
ijassa-1061	179	17	a	a	DET
ijassa-1061	179	18	radiation	radiation	NOUN
ijassa-1061	179	19	pattern	pattern	NOUN
ijassa-1061	179	20	on	on	ADP
ijassa-1061	179	21	a	a	DET
ijassa-1061	179	22	cartesian	cartesian	ADJ
ijassa-1061	179	23	plane	plane	NOUN
ijassa-1061	179	24	.	.	PUNCT
ijassa-1061	180	1	this	this	DET
ijassa-1061	180	2	pattern	pattern	NOUN
ijassa-1061	180	3	is	be	AUX
ijassa-1061	180	4	symmetrical	symmetrical	ADJ
ijassa-1061	180	5	in	in	ADP
ijassa-1061	180	6	respect	respect	NOUN
ijassa-1061	180	7	to	to	ADP
ijassa-1061	180	8	both	both	DET
ijassa-1061	180	9	cartesian	cartesian	ADJ
ijassa-1061	180	10	axes	axis	NOUN
ijassa-1061	180	11	.	.	PUNCT
ijassa-1061	181	1	the	the	DET
ijassa-1061	181	2	solid	solid	ADJ
ijassa-1061	181	3	line	line	NOUN
ijassa-1061	181	4	represents	represent	VERB
ijassa-1061	181	5	the	the	DET
ijassa-1061	181	6	function	function	NOUN
ijassa-1061	181	7	g(β	g(β	NOUN
ijassa-1061	181	8	)	)	PUNCT
ijassa-1061	181	9	level	level	NOUN
ijassa-1061	181	10	line	line	NOUN
ijassa-1061	181	11	.	.	PUNCT
ijassa-1061	182	1	the	the	DET
ijassa-1061	182	2	value	value	NOUN
ijassa-1061	182	3	g(β	g(β	NOUN
ijassa-1061	182	4	)	)	PUNCT
ijassa-1061	182	5	is	be	AUX
ijassa-1061	182	6	a	a	DET
ijassa-1061	182	7	radius	radius	ADJ
ijassa-1061	182	8	-	-	PUNCT
ijassa-1061	182	9	vector	vector	NOUN
ijassa-1061	182	10	modulo	modulo	NOUN
ijassa-1061	182	11	directed	direct	VERB
ijassa-1061	182	12	from	from	ADP
ijassa-1061	182	13	zero	zero	NUM
ijassa-1061	182	14	point	point	NOUN
ijassa-1061	182	15	to	to	PART
ijassa-1061	182	16	point	point	VERB
ijassa-1061	182	17	lying	lie	VERB
ijassa-1061	182	18	on	on	ADP
ijassa-1061	182	19	the	the	DET
ijassa-1061	182	20	shown	show	VERB
ijassa-1061	182	21	level	level	NOUN
ijassa-1061	182	22	line	line	NOUN
ijassa-1061	182	23	.	.	PUNCT
ijassa-1061	183	1	figure	figure	NOUN
ijassa-1061	183	2	6.5	6.5	NUM
ijassa-1061	183	3	,	,	PUNCT
ijassa-1061	183	4	on	on	ADP
ijassa-1061	183	5	the	the	DET
ijassa-1061	183	6	other	other	ADJ
ijassa-1061	183	7	hand	hand	NOUN
ijassa-1061	183	8	,	,	PUNCT
ijassa-1061	183	9	presents	present	VERB
ijassa-1061	183	10	a	a	DET
ijassa-1061	183	11	radiation	radiation	NOUN
ijassa-1061	183	12	pattern	pattern	NOUN
ijassa-1061	183	13	as	as	ADP
ijassa-1061	183	14	a	a	DET
ijassa-1061	183	15	dependence	dependence	NOUN
ijassa-1061	183	16	from	from	ADP
ijassa-1061	183	17	β	β	PROPN
ijassa-1061	183	18	.	.	PUNCT
ijassa-1061	183	19	figures	figure	NOUN
ijassa-1061	183	20	6.6	6.6	NUM
ijassa-1061	183	21	and	and	CCONJ
ijassa-1061	183	22	6.7	6.7	NUM
ijassa-1061	183	23	demonstrate	demonstrate	NOUN
ijassa-1061	183	24	functions	function	NOUN
ijassa-1061	183	25	χ(β	χ(β	NOUN
ijassa-1061	183	26	)	)	PUNCT
ijassa-1061	183	27	and	and	CCONJ
ijassa-1061	183	28	η(β	η(β	NOUN
ijassa-1061	183	29	)	)	PUNCT
ijassa-1061	183	30	respectively	respectively	ADV
ijassa-1061	183	31	.	.	PUNCT
ijassa-1061	184	1	blue	blue	ADJ
ijassa-1061	184	2	color	color	NOUN
ijassa-1061	184	3	solid	solid	ADJ
ijassa-1061	184	4	line	line	NOUN
ijassa-1061	184	5	segments	segment	NOUN
ijassa-1061	184	6	on	on	ADP
ijassa-1061	184	7	those	those	DET
ijassa-1061	184	8	graphs	graph	NOUN
ijassa-1061	184	9	are	be	AUX
ijassa-1061	184	10	assigned	assign	VERB
ijassa-1061	184	11	to	to	ADP
ijassa-1061	184	12	intervals	interval	NOUN
ijassa-1061	184	13	β	β	X
ijassa-1061	184	14	∈	∈	PROPN
ijassa-1061	184	15	(	(	PUNCT
ijassa-1061	184	16	a2i−1	a2i−1	PROPN
ijassa-1061	184	17	,	,	PUNCT
ijassa-1061	184	18	a2i	a2i	NOUN
ijassa-1061	184	19	)	)	PUNCT
ijassa-1061	184	20	,	,	PUNCT
ijassa-1061	184	21	i	i	PRON
ijassa-1061	184	22	=	=	NOUN
ijassa-1061	184	23	1	1	NUM
ijassa-1061	184	24	,	,	PUNCT
ijassa-1061	184	25	..	..	PUNCT
ijassa-1061	184	26	,	,	PUNCT
ijassa-1061	184	27	n	n	X
ijassa-1061	184	28	,	,	PUNCT
ijassa-1061	184	29	where	where	SCONJ
ijassa-1061	184	30	deth	deth	X
ijassa-1061	184	31	>	>	X
ijassa-1061	184	32	0	0	X
ijassa-1061	184	33	.	.	PUNCT
ijassa-1061	185	1	we	we	PRON
ijassa-1061	185	2	see	see	VERB
ijassa-1061	185	3	that	that	SCONJ
ijassa-1061	185	4	in	in	ADP
ijassa-1061	185	5	the	the	DET
ijassa-1061	185	6	example	example	NOUN
ijassa-1061	185	7	n	n	NOUN
ijassa-1061	185	8	=	=	SYM
ijassa-1061	185	9	5	5	PROPN
ijassa-1061	185	10	.	.	X
ijassa-1061	185	11	fig	fig	NOUN
ijassa-1061	185	12	.	.	PUNCT
ijassa-1061	186	1	6.6	6.6	NUM
ijassa-1061	186	2	.	.	PUNCT
ijassa-1061	186	3	function	function	NOUN
ijassa-1061	186	4	χ(β	χ(β	NOUN
ijassa-1061	186	5	)	)	PUNCT
ijassa-1061	186	6	copyright	copyright	NOUN
ijassa-1061	186	7	©	©	PROPN
ijassa-1061	186	8	2021	2021	NUM
ijassa-1061	186	9	assa	assa	NOUN
ijassa-1061	186	10	.	.	PUNCT
ijassa-1061	187	1	adv	adv	PROPN
ijassa-1061	187	2	syst	syst	PROPN
ijassa-1061	187	3	sci	sci	PROPN
ijassa-1061	187	4	appl	appl	PROPN
ijassa-1061	187	5	(	(	PUNCT
ijassa-1061	187	6	2021	2021	NUM
ijassa-1061	187	7	)	)	PUNCT
ijassa-1061	187	8	80	80	NUM
ijassa-1061	187	9	a.	a.	NOUN
ijassa-1061	187	10	galyaev	galyaev	NOUN
ijassa-1061	187	11	,	,	PUNCT
ijassa-1061	187	12	p.	p.	NOUN
ijassa-1061	187	13	lysenko	lysenko	ADJ
ijassa-1061	187	14	fig	fig	NOUN
ijassa-1061	187	15	.	.	PUNCT
ijassa-1061	188	1	6.7	6.7	NUM
ijassa-1061	188	2	.	.	PUNCT
ijassa-1061	188	3	function	function	PROPN
ijassa-1061	188	4	η(β	η(β	PROPN
ijassa-1061	188	5	)	)	PUNCT
ijassa-1061	188	6	let	let	VERB
ijassa-1061	188	7	us	we	PRON
ijassa-1061	188	8	introduce	introduce	VERB
ijassa-1061	188	9	notation	notation	NOUN
ijassa-1061	188	10	a′i	a′i	PROPN
ijassa-1061	188	11	for	for	ADP
ijassa-1061	188	12	further	further	ADJ
ijassa-1061	188	13	exploration	exploration	NOUN
ijassa-1061	188	14	.	.	PUNCT
ijassa-1061	189	1	we	we	PRON
ijassa-1061	189	2	declare	declare	VERB
ijassa-1061	189	3	that	that	SCONJ
ijassa-1061	189	4	for	for	ADP
ijassa-1061	189	5	β	β	X
ijassa-1061	189	6	∈	∈	PROPN
ijassa-1061	189	7	[	[	X
ijassa-1061	189	8	a2i−1	a2i−1	PROPN
ijassa-1061	189	9	,	,	PUNCT
ijassa-1061	189	10	a2i	a2i	X
ijassa-1061	189	11	]	]	PUNCT
ijassa-1061	189	12	and	and	CCONJ
ijassa-1061	189	13	fixed	fix	VERB
ijassa-1061	189	14	k	k	PROPN
ijassa-1061	189	15	a′2i−1	a′2i−1	PROPN
ijassa-1061	189	16	=	=	SYM
ijassa-1061	189	17	max(a2i−1	max(a2i−1	PROPN
ijassa-1061	189	18	,	,	PUNCT
ijassa-1061	189	19	arg(χ(β	arg(χ(β	NOUN
ijassa-1061	189	20	)	)	PUNCT
ijassa-1061	189	21	=	=	SYM
ijassa-1061	189	22	χ(a2k−1	χ(a2k−1	PROPN
ijassa-1061	189	23	)	)	PUNCT
ijassa-1061	189	24	)	)	PUNCT
ijassa-1061	189	25	)	)	PUNCT
ijassa-1061	189	26	,	,	PUNCT
ijassa-1061	189	27	a′2i	a′2i	PROPN
ijassa-1061	189	28	=	=	SYM
ijassa-1061	189	29	min(a2i	min(a2i	PROPN
ijassa-1061	189	30	,	,	PUNCT
ijassa-1061	189	31	arg(χ(β	arg(χ(β	NOUN
ijassa-1061	189	32	)	)	PUNCT
ijassa-1061	189	33	=	=	PUNCT
ijassa-1061	189	34	χ(a2k	χ(a2k	VERB
ijassa-1061	189	35	)	)	PUNCT
ijassa-1061	189	36	)	)	PUNCT
ijassa-1061	189	37	)	)	PUNCT
ijassa-1061	189	38	.	.	PUNCT
ijassa-1061	190	1	this	this	DET
ijassa-1061	190	2	notation	notation	NOUN
ijassa-1061	190	3	takes	take	VERB
ijassa-1061	190	4	place	place	NOUN
ijassa-1061	190	5	because	because	SCONJ
ijassa-1061	190	6	χ(β	χ(β	NOUN
ijassa-1061	190	7	)	)	PUNCT
ijassa-1061	190	8	is	be	AUX
ijassa-1061	190	9	monotonically	monotonically	ADV
ijassa-1061	190	10	increasing	increase	VERB
ijassa-1061	190	11	function	function	NOUN
ijassa-1061	190	12	on	on	ADP
ijassa-1061	190	13	β	β	X
ijassa-1061	190	14	∈	∈	PROPN
ijassa-1061	191	1	[	[	X
ijassa-1061	191	2	a2i−1	a2i−1	PROPN
ijassa-1061	191	3	,	,	PUNCT
ijassa-1061	191	4	a2i	a2i	X
ijassa-1061	191	5	]	]	PUNCT
ijassa-1061	191	6	.	.	PUNCT
ijassa-1061	192	1	further	far	ADV
ijassa-1061	192	2	we	we	PRON
ijassa-1061	192	3	need	need	VERB
ijassa-1061	192	4	to	to	PART
ijassa-1061	192	5	narrow	narrow	VERB
ijassa-1061	192	6	down	down	ADP
ijassa-1061	192	7	the	the	DET
ijassa-1061	192	8	exploration	exploration	NOUN
ijassa-1061	192	9	area	area	NOUN
ijassa-1061	192	10	on	on	ADP
ijassa-1061	192	11	β	β	PROPN
ijassa-1061	192	12	of	of	ADP
ijassa-1061	192	13	functions	function	NOUN
ijassa-1061	192	14	χ(β	χ(β	NOUN
ijassa-1061	192	15	)	)	PUNCT
ijassa-1061	192	16	,	,	PUNCT
ijassa-1061	192	17	η(β	η(β	NOUN
ijassa-1061	192	18	)	)	PUNCT
ijassa-1061	192	19	.	.	PUNCT
ijassa-1061	193	1	figures	figure	NOUN
ijassa-1061	193	2	6.8	6.8	NUM
ijassa-1061	193	3	and	and	CCONJ
ijassa-1061	193	4	6.9	6.9	NUM
ijassa-1061	193	5	correspond	correspond	NOUN
ijassa-1061	193	6	to	to	ADP
ijassa-1061	193	7	the	the	DET
ijassa-1061	193	8	first	first	ADJ
ijassa-1061	193	9	pair	pair	NOUN
ijassa-1061	193	10	of	of	ADP
ijassa-1061	193	11	narrowed	narrow	VERB
ijassa-1061	193	12	intervals	interval	NOUN
ijassa-1061	193	13	of	of	ADP
ijassa-1061	193	14	hessian	hessian	ADJ
ijassa-1061	193	15	positivity	positivity	NOUN
ijassa-1061	194	1	[	[	X
ijassa-1061	194	2	a′1	a′1	X
ijassa-1061	194	3	,	,	PUNCT
ijassa-1061	194	4	a	a	DET
ijassa-1061	194	5	′	′	NOUN
ijassa-1061	194	6	2	2	NUM
ijassa-1061	194	7	]	]	PUNCT
ijassa-1061	194	8	and	and	CCONJ
ijassa-1061	194	9	[	[	X
ijassa-1061	194	10	a′3	a′3	X
ijassa-1061	194	11	,	,	PUNCT
ijassa-1061	194	12	a	a	DET
ijassa-1061	194	13	′	′	NUM
ijassa-1061	194	14	4	4	NUM
ijassa-1061	194	15	]	]	PUNCT
ijassa-1061	194	16	.	.	PUNCT
ijassa-1061	195	1	black	black	ADJ
ijassa-1061	195	2	dots	dot	NOUN
ijassa-1061	195	3	show	show	NOUN
ijassa-1061	195	4	found	find	VERB
ijassa-1061	195	5	at	at	ADP
ijassa-1061	195	6	this	this	DET
ijassa-1061	195	7	iteration	iteration	NOUN
ijassa-1061	195	8	of	of	ADP
ijassa-1061	195	9	the	the	DET
ijassa-1061	195	10	algorithm	algorithm	NOUN
ijassa-1061	195	11	1	1	NUM
ijassa-1061	195	12	solutions	solution	NOUN
ijassa-1061	195	13	β1	β1	PROPN
ijassa-1061	195	14	,	,	PUNCT
ijassa-1061	195	15	β2	β2	PROPN
ijassa-1061	195	16	.	.	PUNCT
ijassa-1061	196	1	fig	fig	PROPN
ijassa-1061	196	2	.	.	PUNCT
ijassa-1061	197	1	6.8	6.8	NUM
ijassa-1061	197	2	.	.	PUNCT
ijassa-1061	197	3	enlarged	enlarge	VERB
ijassa-1061	197	4	segment	segment	NOUN
ijassa-1061	197	5	of	of	ADP
ijassa-1061	197	6	function	function	NOUN
ijassa-1061	197	7	χ(β	χ(β	NOUN
ijassa-1061	197	8	)	)	PUNCT
ijassa-1061	197	9	.	.	PUNCT
ijassa-1061	198	1	fig	fig	NOUN
ijassa-1061	198	2	.	.	PUNCT
ijassa-1061	199	1	6.9	6.9	NUM
ijassa-1061	199	2	.	.	PUNCT
ijassa-1061	199	3	enlarged	enlarge	VERB
ijassa-1061	199	4	segment	segment	NOUN
ijassa-1061	199	5	of	of	ADP
ijassa-1061	199	6	function	function	NOUN
ijassa-1061	199	7	η(β	η(β	NOUN
ijassa-1061	199	8	)	)	PUNCT
ijassa-1061	199	9	.	.	PUNCT
ijassa-1061	200	1	so	so	ADV
ijassa-1061	200	2	the	the	DET
ijassa-1061	200	3	domain	domain	NOUN
ijassa-1061	200	4	of	of	ADP
ijassa-1061	200	5	values	value	NOUN
ijassa-1061	200	6	of	of	ADP
ijassa-1061	200	7	function	function	NOUN
ijassa-1061	200	8	χ(β	χ(β	NOUN
ijassa-1061	200	9	)	)	PUNCT
ijassa-1061	200	10	when	when	SCONJ
ijassa-1061	200	11	β	β	X
ijassa-1061	200	12	belongs	belong	VERB
ijassa-1061	200	13	to	to	ADP
ijassa-1061	200	14	the	the	DET
ijassa-1061	200	15	first	first	ADJ
ijassa-1061	200	16	interval	interval	NOUN
ijassa-1061	200	17	[	[	X
ijassa-1061	200	18	a1	a1	NOUN
ijassa-1061	200	19	,	,	PUNCT
ijassa-1061	200	20	a2	a2	PROPN
ijassa-1061	200	21	]	]	PUNCT
ijassa-1061	200	22	do	do	AUX
ijassa-1061	200	23	not	not	PART
ijassa-1061	200	24	cross	cross	VERB
ijassa-1061	200	25	with	with	ADP
ijassa-1061	200	26	the	the	DET
ijassa-1061	200	27	same	same	ADJ
ijassa-1061	200	28	one	one	NOUN
ijassa-1061	200	29	when	when	SCONJ
ijassa-1061	200	30	β	β	X
ijassa-1061	200	31	belongs	belong	VERB
ijassa-1061	200	32	to	to	ADP
ijassa-1061	200	33	the	the	DET
ijassa-1061	200	34	third	third	ADJ
ijassa-1061	200	35	,	,	PUNCT
ijassa-1061	200	36	forth	forth	ADV
ijassa-1061	200	37	and	and	CCONJ
ijassa-1061	200	38	fifth	fifth	ADJ
ijassa-1061	200	39	interval	interval	NOUN
ijassa-1061	200	40	[	[	X
ijassa-1061	200	41	a5	a5	NOUN
ijassa-1061	200	42	,	,	PUNCT
ijassa-1061	200	43	a6	a6	NOUN
ijassa-1061	200	44	]	]	PUNCT
ijassa-1061	200	45	,	,	PUNCT
ijassa-1061	200	46	[	[	X
ijassa-1061	200	47	a7	a7	ADJ
ijassa-1061	200	48	,	,	PUNCT
ijassa-1061	200	49	a8	a8	PROPN
ijassa-1061	200	50	]	]	PUNCT
ijassa-1061	200	51	,	,	PUNCT
ijassa-1061	201	1	[	[	X
ijassa-1061	201	2	a9	a9	NOUN
ijassa-1061	201	3	,	,	PUNCT
ijassa-1061	201	4	a10	a10	NOUN
ijassa-1061	201	5	]	]	PUNCT
ijassa-1061	201	6	,	,	PUNCT
ijassa-1061	201	7	then	then	ADV
ijassa-1061	201	8	the	the	DET
ijassa-1061	201	9	algorithm	algorithm	NOUN
ijassa-1061	201	10	continues	continue	VERB
ijassa-1061	201	11	searching	search	VERB
ijassa-1061	201	12	the	the	DET
ijassa-1061	201	13	solution	solution	NOUN
ijassa-1061	201	14	comparing	compare	VERB
ijassa-1061	201	15	intervals	interval	NOUN
ijassa-1061	201	16	two	two	NUM
ijassa-1061	201	17	and	and	CCONJ
ijassa-1061	201	18	three	three	NUM
ijassa-1061	201	19	on	on	ADP
ijassa-1061	201	20	β	β	NOUN
ijassa-1061	201	21	,	,	PUNCT
ijassa-1061	201	22	then	then	ADV
ijassa-1061	201	23	three	three	NUM
ijassa-1061	201	24	and	and	CCONJ
ijassa-1061	201	25	four	four	NUM
ijassa-1061	201	26	,	,	PUNCT
ijassa-1061	201	27	and	and	CCONJ
ijassa-1061	201	28	so	so	ADV
ijassa-1061	201	29	on	on	ADV
ijassa-1061	201	30	.	.	PUNCT
ijassa-1061	202	1	candidates	candidate	NOUN
ijassa-1061	202	2	of	of	ADP
ijassa-1061	202	3	optimal	optimal	ADJ
ijassa-1061	202	4	pairs	pair	NOUN
ijassa-1061	202	5	of	of	ADP
ijassa-1061	202	6	(	(	PUNCT
ijassa-1061	202	7	β1	β1	PROPN
ijassa-1061	202	8	,	,	PUNCT
ijassa-1061	202	9	β2	β2	NOUN
ijassa-1061	202	10	)	)	PUNCT
ijassa-1061	202	11	are	be	AUX
ijassa-1061	202	12	approximately	approximately	ADV
ijassa-1061	202	13	(	(	PUNCT
ijassa-1061	202	14	59	59	NUM
ijassa-1061	202	15	◦	◦	NOUN
ijassa-1061	202	16	,	,	PUNCT
ijassa-1061	202	17	121	121	NUM
ijassa-1061	202	18	◦	◦	NOUN
ijassa-1061	202	19	)	)	PUNCT
ijassa-1061	202	20	,	,	PUNCT
ijassa-1061	202	21	(	(	PUNCT
ijassa-1061	202	22	149	149	NUM
ijassa-1061	202	23	◦	◦	NOUN
ijassa-1061	202	24	,	,	PUNCT
ijassa-1061	202	25	211	211	NUM
ijassa-1061	202	26	◦	◦	NOUN
ijassa-1061	202	27	)	)	PUNCT
ijassa-1061	202	28	,	,	PUNCT
ijassa-1061	202	29	(	(	PUNCT
ijassa-1061	202	30	239	239	NUM
ijassa-1061	202	31	◦	◦	NOUN
ijassa-1061	202	32	,	,	PUNCT
ijassa-1061	202	33	301	301	NUM
ijassa-1061	202	34	◦	◦	NOUN
ijassa-1061	202	35	)	)	PUNCT
ijassa-1061	202	36	,	,	PUNCT
ijassa-1061	202	37	(	(	PUNCT
ijassa-1061	202	38	329	329	NUM
ijassa-1061	202	39	◦	◦	NOUN
ijassa-1061	202	40	,	,	PUNCT
ijassa-1061	202	41	391	391	NUM
ijassa-1061	202	42	◦	◦	NOUN
ijassa-1061	202	43	)	)	PUNCT
ijassa-1061	202	44	.	.	PUNCT
ijassa-1061	203	1	these	these	DET
ijassa-1061	203	2	directions	direction	NOUN
ijassa-1061	203	3	and	and	CCONJ
ijassa-1061	203	4	trajectories	trajectory	NOUN
ijassa-1061	203	5	are	be	AUX
ijassa-1061	203	6	presented	present	VERB
ijassa-1061	203	7	in	in	ADP
ijassa-1061	203	8	figure	figure	NOUN
ijassa-1061	203	9	6.10	6.10	NUM
ijassa-1061	203	10	.	.	PUNCT
ijassa-1061	204	1	if	if	SCONJ
ijassa-1061	204	2	the	the	DET
ijassa-1061	204	3	direction	direction	NOUN
ijassa-1061	204	4	β0	β0	NOUN
ijassa-1061	204	5	lies	lie	VERB
ijassa-1061	204	6	in	in	ADP
ijassa-1061	204	7	the	the	DET
ijassa-1061	204	8	domain	domain	NOUN
ijassa-1061	204	9	where	where	SCONJ
ijassa-1061	204	10	deth	deth	PROPN
ijassa-1061	204	11	>	>	X
ijassa-1061	204	12	0	0	PUNCT
ijassa-1061	205	1	then	then	ADV
ijassa-1061	205	2	the	the	DET
ijassa-1061	205	3	optimal	optimal	ADJ
ijassa-1061	205	4	trajectory	trajectory	NOUN
ijassa-1061	205	5	is	be	AUX
ijassa-1061	205	6	one	one	NUM
ijassa-1061	205	7	-	-	PUNCT
ijassa-1061	205	8	link	link	NOUN
ijassa-1061	205	9	one	one	NUM
ijassa-1061	205	10	.	.	PUNCT
ijassa-1061	206	1	on	on	ADP
ijassa-1061	206	2	the	the	DET
ijassa-1061	206	3	contrary	contrary	NOUN
ijassa-1061	206	4	if	if	SCONJ
ijassa-1061	206	5	the	the	DET
ijassa-1061	206	6	direction	direction	NOUN
ijassa-1061	206	7	β0	β0	NOUN
ijassa-1061	206	8	lies	lie	VERB
ijassa-1061	206	9	in	in	ADP
ijassa-1061	206	10	the	the	DET
ijassa-1061	206	11	domain	domain	NOUN
ijassa-1061	206	12	where	where	SCONJ
ijassa-1061	206	13	deth	deth	PROPN
ijassa-1061	206	14	<	<	X
ijassa-1061	206	15	0	0	PROPN
ijassa-1061	207	1	then	then	ADV
ijassa-1061	207	2	two	two	NUM
ijassa-1061	207	3	-	-	PUNCT
ijassa-1061	207	4	link	link	NOUN
ijassa-1061	207	5	trajectory	trajectory	NOUN
ijassa-1061	207	6	is	be	AUX
ijassa-1061	207	7	optimal	optimal	ADJ
ijassa-1061	207	8	.	.	PUNCT
ijassa-1061	208	1	found	find	VERB
ijassa-1061	208	2	by	by	ADP
ijassa-1061	208	3	algorithm	algorithm	NOUN
ijassa-1061	208	4	1	1	NUM
ijassa-1061	208	5	optimal	optimal	ADJ
ijassa-1061	208	6	pairs	pair	NOUN
ijassa-1061	208	7	(	(	PUNCT
ijassa-1061	208	8	β1	β1	NOUN
ijassa-1061	208	9	,	,	PUNCT
ijassa-1061	208	10	β2	β2	PROPN
ijassa-1061	208	11	)	)	PUNCT
ijassa-1061	208	12	in	in	ADP
ijassa-1061	208	13	every	every	DET
ijassa-1061	208	14	domain	domain	NOUN
ijassa-1061	208	15	where	where	SCONJ
ijassa-1061	208	16	deth	deth	PROPN
ijassa-1061	208	17	<	<	X
ijassa-1061	208	18	0	0	NUM
ijassa-1061	208	19	are	be	AUX
ijassa-1061	208	20	the	the	DET
ijassa-1061	208	21	same	same	ADJ
ijassa-1061	208	22	as	as	SCONJ
ijassa-1061	208	23	shown	show	VERB
ijassa-1061	208	24	on	on	ADP
ijassa-1061	208	25	figure	figure	NOUN
ijassa-1061	208	26	6.10	6.10	NUM
ijassa-1061	208	27	.	.	PUNCT
ijassa-1061	209	1	copyright	copyright	NOUN
ijassa-1061	209	2	©	©	PROPN
ijassa-1061	209	3	2021	2021	NUM
ijassa-1061	209	4	assa	assa	NOUN
ijassa-1061	209	5	.	.	PUNCT
ijassa-1061	210	1	adv	adv	PROPN
ijassa-1061	210	2	syst	syst	PROPN
ijassa-1061	210	3	sci	sci	PROPN
ijassa-1061	210	4	appl	appl	PROPN
ijassa-1061	210	5	(	(	PUNCT
ijassa-1061	210	6	2021	2021	NUM
ijassa-1061	210	7	)	)	PUNCT
ijassa-1061	210	8	algorithm	algorithm	NOUN
ijassa-1061	210	9	for	for	ADP
ijassa-1061	210	10	optimal	optimal	ADJ
ijassa-1061	210	11	two	two	NUM
ijassa-1061	210	12	-	-	PUNCT
ijassa-1061	210	13	link	link	NOUN
ijassa-1061	210	14	trajectory	trajectory	NOUN
ijassa-1061	210	15	planning	planning	NOUN
ijassa-1061	210	16	in	in	ADP
ijassa-1061	210	17	evasion	evasion	NOUN
ijassa-1061	210	18	81	81	NUM
ijassa-1061	210	19	fig	fig	NOUN
ijassa-1061	210	20	.	.	PUNCT
ijassa-1061	211	1	6.10	6.10	NUM
ijassa-1061	211	2	.	.	PUNCT
ijassa-1061	212	1	optimal	optimal	ADJ
ijassa-1061	212	2	trajectories	trajectory	NOUN
ijassa-1061	212	3	for	for	ADP
ijassa-1061	212	4	different	different	ADJ
ijassa-1061	212	5	β0	β0	NOUN
ijassa-1061	212	6	.	.	PUNCT
ijassa-1061	213	1	7	7	NUM
ijassa-1061	213	2	.	.	PUNCT
ijassa-1061	213	3	conclusions	conclusion	NOUN
ijassa-1061	213	4	the	the	DET
ijassa-1061	213	5	problem	problem	NOUN
ijassa-1061	213	6	of	of	ADP
ijassa-1061	213	7	minimizing	minimize	VERB
ijassa-1061	213	8	the	the	DET
ijassa-1061	213	9	risk	risk	NOUN
ijassa-1061	213	10	of	of	ADP
ijassa-1061	213	11	uuv	uuv	PROPN
ijassa-1061	213	12	detection	detection	NOUN
ijassa-1061	213	13	by	by	ADP
ijassa-1061	213	14	a	a	DET
ijassa-1061	213	15	static	static	ADJ
ijassa-1061	213	16	sensor	sensor	NOUN
ijassa-1061	213	17	while	while	SCONJ
ijassa-1061	213	18	moving	move	VERB
ijassa-1061	213	19	between	between	ADP
ijassa-1061	213	20	two	two	NUM
ijassa-1061	213	21	given	give	VERB
ijassa-1061	213	22	points	point	NOUN
ijassa-1061	213	23	on	on	ADP
ijassa-1061	213	24	a	a	DET
ijassa-1061	213	25	plane	plane	NOUN
ijassa-1061	213	26	is	be	AUX
ijassa-1061	213	27	solved	solve	VERB
ijassa-1061	213	28	.	.	PUNCT
ijassa-1061	214	1	the	the	DET
ijassa-1061	214	2	detection	detection	NOUN
ijassa-1061	214	3	is	be	AUX
ijassa-1061	214	4	based	base	VERB
ijassa-1061	214	5	on	on	ADP
ijassa-1061	214	6	the	the	DET
ijassa-1061	214	7	primary	primary	ADJ
ijassa-1061	214	8	acoustic	acoustic	ADJ
ijassa-1061	214	9	field	field	NOUN
ijassa-1061	214	10	radiated	radiate	VERB
ijassa-1061	214	11	by	by	ADP
ijassa-1061	214	12	the	the	DET
ijassa-1061	214	13	vehicle	vehicle	NOUN
ijassa-1061	214	14	with	with	ADP
ijassa-1061	214	15	a	a	DET
ijassa-1061	214	16	non	non	ADJ
ijassa-1061	214	17	-	-	ADJ
ijassa-1061	214	18	uniform	uniform	ADJ
ijassa-1061	214	19	radiation	radiation	NOUN
ijassa-1061	214	20	pattern	pattern	NOUN
ijassa-1061	214	21	,	,	PUNCT
ijassa-1061	214	22	which	which	PRON
ijassa-1061	214	23	differs	differ	VERB
ijassa-1061	214	24	this	this	DET
ijassa-1061	214	25	work	work	NOUN
ijassa-1061	214	26	form	form	NOUN
ijassa-1061	214	27	the	the	DET
ijassa-1061	214	28	previous	previous	ADJ
ijassa-1061	214	29	researches	research	NOUN
ijassa-1061	214	30	in	in	ADP
ijassa-1061	214	31	the	the	DET
ijassa-1061	214	32	area	area	NOUN
ijassa-1061	214	33	.	.	PUNCT
ijassa-1061	215	1	in	in	ADP
ijassa-1061	215	2	the	the	DET
ijassa-1061	215	3	first	first	ADJ
ijassa-1061	215	4	part	part	NOUN
ijassa-1061	215	5	of	of	ADP
ijassa-1061	215	6	the	the	DET
ijassa-1061	215	7	article	article	NOUN
ijassa-1061	215	8	,	,	PUNCT
ijassa-1061	215	9	the	the	DET
ijassa-1061	215	10	non	non	ADJ
ijassa-1061	215	11	-	-	ADJ
ijassa-1061	215	12	detection	detection	ADJ
ijassa-1061	215	13	probability	probability	NOUN
ijassa-1061	215	14	is	be	AUX
ijassa-1061	215	15	derived	derive	VERB
ijassa-1061	215	16	.	.	PUNCT
ijassa-1061	216	1	further	far	ADV
ijassa-1061	216	2	it	it	PRON
ijassa-1061	216	3	is	be	AUX
ijassa-1061	216	4	used	use	VERB
ijassa-1061	216	5	as	as	ADP
ijassa-1061	216	6	an	an	DET
ijassa-1061	216	7	optimization	optimization	NOUN
ijassa-1061	216	8	criterion	criterion	NOUN
ijassa-1061	216	9	in	in	ADP
ijassa-1061	216	10	the	the	DET
ijassa-1061	216	11	path	path	NOUN
ijassa-1061	216	12	planning	planning	NOUN
ijassa-1061	216	13	problem	problem	NOUN
ijassa-1061	216	14	.	.	PUNCT
ijassa-1061	217	1	the	the	DET
ijassa-1061	217	2	optimal	optimal	ADJ
ijassa-1061	217	3	trajectory	trajectory	NOUN
ijassa-1061	217	4	and	and	CCONJ
ijassa-1061	217	5	velocity	velocity	NOUN
ijassa-1061	217	6	law	law	NOUN
ijassa-1061	217	7	of	of	ADP
ijassa-1061	217	8	the	the	DET
ijassa-1061	217	9	uuv	uuv	PROPN
ijassa-1061	217	10	are	be	AUX
ijassa-1061	217	11	found	find	VERB
ijassa-1061	217	12	,	,	PUNCT
ijassa-1061	217	13	as	as	ADV
ijassa-1061	217	14	well	well	ADV
ijassa-1061	217	15	as	as	ADP
ijassa-1061	217	16	the	the	DET
ijassa-1061	217	17	risk	risk	NOUN
ijassa-1061	217	18	value	value	NOUN
ijassa-1061	217	19	.	.	PUNCT
ijassa-1061	218	1	a	a	DET
ijassa-1061	218	2	case	case	NOUN
ijassa-1061	218	3	of	of	ADP
ijassa-1061	218	4	the	the	DET
ijassa-1061	218	5	two	two	NUM
ijassa-1061	218	6	-	-	PUNCT
ijassa-1061	218	7	link	link	NOUN
ijassa-1061	218	8	optimal	optimal	ADJ
ijassa-1061	218	9	trajectories	trajectory	NOUN
ijassa-1061	218	10	is	be	AUX
ijassa-1061	218	11	studied	study	VERB
ijassa-1061	218	12	,	,	PUNCT
ijassa-1061	218	13	when	when	SCONJ
ijassa-1061	218	14	sufficient	sufficient	ADJ
ijassa-1061	218	15	optimal	optimal	ADJ
ijassa-1061	218	16	conditions	condition	NOUN
ijassa-1061	218	17	are	be	AUX
ijassa-1061	218	18	not	not	PART
ijassa-1061	218	19	fulfilled	fulfil	VERB
ijassa-1061	218	20	.	.	PUNCT
ijassa-1061	219	1	a	a	DET
ijassa-1061	219	2	special	special	ADJ
ijassa-1061	219	3	algorithm	algorithm	NOUN
ijassa-1061	219	4	has	have	AUX
ijassa-1061	219	5	been	be	AUX
ijassa-1061	219	6	developed	develop	VERB
ijassa-1061	219	7	for	for	ADP
ijassa-1061	219	8	finding	find	VERB
ijassa-1061	219	9	optimal	optimal	ADJ
ijassa-1061	219	10	angles	angle	NOUN
ijassa-1061	219	11	of	of	ADP
ijassa-1061	219	12	logarithmic	logarithmic	ADJ
ijassa-1061	219	13	segments	segment	NOUN
ijassa-1061	219	14	.	.	PUNCT
ijassa-1061	220	1	it	it	PRON
ijassa-1061	220	2	allows	allow	VERB
ijassa-1061	220	3	to	to	PART
ijassa-1061	220	4	solve	solve	VERB
ijassa-1061	220	5	the	the	DET
ijassa-1061	220	6	whole	whole	ADJ
ijassa-1061	220	7	problem	problem	NOUN
ijassa-1061	220	8	and	and	CCONJ
ijassa-1061	220	9	find	find	VERB
ijassa-1061	220	10	optimal	optimal	ADJ
ijassa-1061	220	11	angles	angle	NOUN
ijassa-1061	220	12	β1	β1	PROPN
ijassa-1061	220	13	,	,	PUNCT
ijassa-1061	220	14	β2	β2	PROPN
ijassa-1061	220	15	.	.	PUNCT
ijassa-1061	221	1	in	in	ADP
ijassa-1061	221	2	practical	practical	ADJ
ijassa-1061	221	3	applications	application	NOUN
ijassa-1061	221	4	this	this	DET
ijassa-1061	221	5	algorithm	algorithm	NOUN
ijassa-1061	221	6	allows	allow	VERB
ijassa-1061	221	7	to	to	PART
ijassa-1061	221	8	preprocess	preprocess	VERB
ijassa-1061	221	9	these	these	DET
ijassa-1061	221	10	angles	angle	NOUN
ijassa-1061	221	11	for	for	ADP
ijassa-1061	221	12	all	all	DET
ijassa-1061	221	13	initial	initial	ADJ
ijassa-1061	221	14	conditions	condition	NOUN
ijassa-1061	221	15	of	of	ADP
ijassa-1061	221	16	β0	β0	NOUN
ijassa-1061	221	17	for	for	ADP
ijassa-1061	221	18	a	a	DET
ijassa-1061	221	19	particular	particular	ADJ
ijassa-1061	221	20	radiation	radiation	NOUN
ijassa-1061	221	21	pattern	pattern	NOUN
ijassa-1061	221	22	g(β	g(β	NOUN
ijassa-1061	221	23	)	)	PUNCT
ijassa-1061	221	24	of	of	ADP
ijassa-1061	221	25	the	the	DET
ijassa-1061	221	26	mobile	mobile	ADJ
ijassa-1061	221	27	vehicle	vehicle	NOUN
ijassa-1061	221	28	,	,	PUNCT
ijassa-1061	221	29	store	store	VERB
ijassa-1061	221	30	it	it	PRON
ijassa-1061	221	31	in	in	ADP
ijassa-1061	221	32	memory	memory	NOUN
ijassa-1061	221	33	and	and	CCONJ
ijassa-1061	221	34	use	use	NOUN
ijassa-1061	221	35	later	later	ADV
ijassa-1061	221	36	this	this	DET
ijassa-1061	221	37	information	information	NOUN
ijassa-1061	221	38	for	for	ADP
ijassa-1061	221	39	onboard	onboard	NOUN
ijassa-1061	221	40	calculations	calculation	NOUN
ijassa-1061	221	41	.	.	PUNCT
ijassa-1061	222	1	this	this	DET
ijassa-1061	222	2	approach	approach	NOUN
ijassa-1061	222	3	saves	save	VERB
ijassa-1061	222	4	a	a	DET
ijassa-1061	222	5	lot	lot	NOUN
ijassa-1061	222	6	of	of	ADP
ijassa-1061	222	7	computational	computational	ADJ
ijassa-1061	222	8	power	power	NOUN
ijassa-1061	222	9	,	,	PUNCT
ijassa-1061	222	10	which	which	PRON
ijassa-1061	222	11	is	be	AUX
ijassa-1061	222	12	very	very	ADV
ijassa-1061	222	13	important	important	ADJ
ijassa-1061	222	14	for	for	ADP
ijassa-1061	222	15	resource	resource	NOUN
ijassa-1061	222	16	-	-	PUNCT
ijassa-1061	222	17	efficient	efficient	ADJ
ijassa-1061	222	18	missions	mission	NOUN
ijassa-1061	222	19	.	.	PUNCT
ijassa-1061	223	1	acknowledgements	acknowledgement	VERB
ijassa-1061	223	2	the	the	DET
ijassa-1061	223	3	work	work	NOUN
ijassa-1061	223	4	of	of	ADP
ijassa-1061	223	5	a.a.g	a.a.g	NOUN
ijassa-1061	223	6	.	.	PUNCT
ijassa-1061	224	1	was	be	AUX
ijassa-1061	224	2	partially	partially	ADV
ijassa-1061	224	3	supported	support	VERB
ijassa-1061	224	4	by	by	ADP
ijassa-1061	224	5	programm	programm	NOUN
ijassa-1061	224	6	of	of	ADP
ijassa-1061	224	7	basic	basic	ADJ
ijassa-1061	224	8	research	research	NOUN
ijassa-1061	224	9	of	of	ADP
ijassa-1061	224	10	ras	ras	PROPN
ijassa-1061	224	11	;	;	PUNCT
ijassa-1061	224	12	the	the	DET
ijassa-1061	224	13	work	work	NOUN
ijassa-1061	224	14	of	of	ADP
ijassa-1061	224	15	p.v.l	p.v.l	NOUN
ijassa-1061	224	16	.	.	PROPN
ijassa-1061	224	17	was	be	AUX
ijassa-1061	224	18	partially	partially	ADV
ijassa-1061	224	19	supported	support	VERB
ijassa-1061	224	20	by	by	ADP
ijassa-1061	224	21	russian	russian	ADJ
ijassa-1061	224	22	foundation	foundation	NOUN
ijassa-1061	224	23	for	for	ADP
ijassa-1061	224	24	basic	basic	ADJ
ijassa-1061	224	25	research	research	NOUN
ijassa-1061	224	26	grant	grant	NOUN
ijassa-1061	224	27	2038	2038	NUM
ijassa-1061	224	28	-	-	SYM
ijassa-1061	224	29	90215	90215	NUM
ijassa-1061	224	30	;	;	PUNCT
ijassa-1061	224	31	the	the	DET
ijassa-1061	224	32	work	work	NOUN
ijassa-1061	224	33	of	of	ADP
ijassa-1061	224	34	v.p.y	v.p.y	PROPN
ijassa-1061	224	35	.	.	PROPN
ijassa-1061	224	36	was	be	AUX
ijassa-1061	224	37	partially	partially	ADV
ijassa-1061	224	38	supported	support	VERB
ijassa-1061	224	39	by	by	ADP
ijassa-1061	224	40	programm	programm	NOUN
ijassa-1061	224	41	of	of	ADP
ijassa-1061	224	42	basic	basic	ADJ
ijassa-1061	224	43	research	research	NOUN
ijassa-1061	224	44	of	of	ADP
ijassa-1061	224	45	ras	ras	PROPN
ijassa-1061	224	46	.	.	PUNCT
ijassa-1061	225	1	the	the	DET
ijassa-1061	225	2	authors	author	NOUN
ijassa-1061	225	3	declare	declare	VERB
ijassa-1061	225	4	that	that	SCONJ
ijassa-1061	225	5	there	there	PRON
ijassa-1061	225	6	is	be	VERB
ijassa-1061	225	7	no	no	DET
ijassa-1061	225	8	conflict	conflict	NOUN
ijassa-1061	225	9	of	of	ADP
ijassa-1061	225	10	interest	interest	NOUN
ijassa-1061	225	11	.	.	PUNCT
ijassa-1061	226	1	references	reference	NOUN
ijassa-1061	226	2	1	1	NUM
ijassa-1061	226	3	.	.	PUNCT
ijassa-1061	227	1	galyaev	galyaev	NOUN
ijassa-1061	227	2	,	,	PUNCT
ijassa-1061	227	3	a.	a.	NOUN
ijassa-1061	227	4	a.	a.	PROPN
ijassa-1061	227	5	&	&	CCONJ
ijassa-1061	227	6	maslov	maslov	PROPN
ijassa-1061	227	7	,	,	PUNCT
ijassa-1061	227	8	e.	e.	PROPN
ijassa-1061	227	9	p.	p.	PROPN
ijassa-1061	227	10	(	(	PUNCT
ijassa-1061	227	11	2010	2010	NUM
ijassa-1061	227	12	)	)	PUNCT
ijassa-1061	227	13	optimization	optimization	NOUN
ijassa-1061	227	14	of	of	ADP
ijassa-1061	227	15	a	a	DET
ijassa-1061	227	16	mobile	mobile	ADJ
ijassa-1061	227	17	object	object	NOUN
ijassa-1061	227	18	evasion	evasion	NOUN
ijassa-1061	227	19	laws	law	NOUN
ijassa-1061	227	20	from	from	ADP
ijassa-1061	227	21	detection	detection	NOUN
ijassa-1061	227	22	.	.	PUNCT
ijassa-1061	228	1	j.	j.	PROPN
ijassa-1061	228	2	comput	comput	PROPN
ijassa-1061	228	3	.	.	PUNCT
ijassa-1061	229	1	syst	syst	PROPN
ijassa-1061	229	2	.	.	PUNCT
ijassa-1061	230	1	sci	sci	PROPN
ijassa-1061	230	2	.	.	PUNCT
ijassa-1061	230	3	int	int	PROPN
ijassa-1061	230	4	.	.	PUNCT
ijassa-1061	230	5	,	,	PUNCT
ijassa-1061	230	6	49	49	NUM
ijassa-1061	230	7	,	,	PUNCT
ijassa-1061	230	8	560–569	560–569	NUM
ijassa-1061	230	9	.	.	NOUN
ijassa-1061	231	1	2	2	NUM
ijassa-1061	231	2	.	.	NUM
ijassa-1061	231	3	kabamba	kabamba	NOUN
ijassa-1061	231	4	,	,	PUNCT
ijassa-1061	231	5	p.	p.	PROPN
ijassa-1061	231	6	t.	t.	PROPN
ijassa-1061	231	7	,	,	PUNCT
ijassa-1061	231	8	meerkov	meerkov	PROPN
ijassa-1061	231	9	,	,	PUNCT
ijassa-1061	231	10	s.	s.	PROPN
ijassa-1061	231	11	m.	m.	PROPN
ijassa-1061	231	12	,	,	PUNCT
ijassa-1061	231	13	&	&	CCONJ
ijassa-1061	231	14	zeitz	zeitz	PROPN
ijassa-1061	231	15	,	,	PUNCT
ijassa-1061	231	16	f.	f.	PROPN
ijassa-1061	231	17	h.	h.	PROPN
ijassa-1061	231	18	(	(	PUNCT
ijassa-1061	231	19	2006	2006	NUM
ijassa-1061	231	20	)	)	PUNCT
ijassa-1061	231	21	optimal	optimal	ADJ
ijassa-1061	231	22	path	path	NOUN
ijassa-1061	231	23	planning	planning	NOUN
ijassa-1061	231	24	for	for	ADP
ijassa-1061	231	25	unmanned	unmanned	ADJ
ijassa-1061	231	26	combat	combat	NOUN
ijassa-1061	231	27	aerial	aerial	ADJ
ijassa-1061	231	28	vehicles	vehicle	NOUN
ijassa-1061	231	29	to	to	PART
ijassa-1061	231	30	defeat	defeat	VERB
ijassa-1061	231	31	radar	radar	NOUN
ijassa-1061	231	32	tracking	tracking	NOUN
ijassa-1061	231	33	.	.	PUNCT
ijassa-1061	232	1	j	j	PROPN
ijassa-1061	232	2	guid	guid	PROPN
ijassa-1061	232	3	control	control	PROPN
ijassa-1061	232	4	dynam	dynam	PROPN
ijassa-1061	232	5	,	,	PUNCT
ijassa-1061	232	6	29	29	NUM
ijassa-1061	232	7	,	,	PUNCT
ijassa-1061	232	8	279–288	279–288	NUM
ijassa-1061	232	9	.	.	PUNCT
ijassa-1061	233	1	3	3	X
ijassa-1061	233	2	.	.	X
ijassa-1061	233	3	sysoev	sysoev	NOUN
ijassa-1061	233	4	,	,	PUNCT
ijassa-1061	233	5	l.	l.	PROPN
ijassa-1061	233	6	p.	p.	PROPN
ijassa-1061	233	7	(	(	PUNCT
ijassa-1061	233	8	2011	2011	NUM
ijassa-1061	233	9	)	)	PUNCT
ijassa-1061	233	10	detection	detection	NOUN
ijassa-1061	233	11	probability	probability	NOUN
ijassa-1061	233	12	criterion	criterion	NOUN
ijassa-1061	233	13	on	on	ADP
ijassa-1061	233	14	the	the	DET
ijassa-1061	233	15	path	path	NOUN
ijassa-1061	233	16	for	for	ADP
ijassa-1061	233	17	mobile	mobile	ADJ
ijassa-1061	233	18	object	object	NOUN
ijassa-1061	233	19	control	control	NOUN
ijassa-1061	233	20	problem	problem	NOUN
ijassa-1061	233	21	in	in	ADP
ijassa-1061	233	22	conflict	conflict	NOUN
ijassa-1061	233	23	environment	environment	NOUN
ijassa-1061	233	24	.	.	PUNCT
ijassa-1061	234	1	autom	autom	PROPN
ijassa-1061	234	2	remote	remote	PROPN
ijassa-1061	234	3	control	control	PROPN
ijassa-1061	234	4	,	,	PUNCT
ijassa-1061	234	5	72	72	NUM
ijassa-1061	234	6	,	,	PUNCT
ijassa-1061	234	7	65–72	65–72	NUM
ijassa-1061	234	8	.	.	PUNCT
ijassa-1061	235	1	copyright	copyright	NOUN
ijassa-1061	235	2	©	©	PROPN
ijassa-1061	235	3	2021	2021	NUM
ijassa-1061	235	4	assa	assa	NOUN
ijassa-1061	235	5	.	.	PUNCT
ijassa-1061	236	1	adv	adv	PROPN
ijassa-1061	236	2	syst	syst	PROPN
ijassa-1061	236	3	sci	sci	PROPN
ijassa-1061	236	4	appl	appl	PROPN
ijassa-1061	236	5	(	(	PUNCT
ijassa-1061	236	6	2021	2021	NUM
ijassa-1061	236	7	)	)	PUNCT
ijassa-1061	236	8	82	82	NUM
ijassa-1061	236	9	a.	a.	NOUN
ijassa-1061	236	10	galyaev	galyaev	NOUN
ijassa-1061	236	11	,	,	PUNCT
ijassa-1061	236	12	p.	p.	NOUN
ijassa-1061	236	13	lysenko	lysenko	ADJ
ijassa-1061	236	14	4	4	NUM
ijassa-1061	236	15	.	.	PUNCT
ijassa-1061	237	1	dogan	dogan	PROPN
ijassa-1061	237	2	,	,	PUNCT
ijassa-1061	237	3	a.	a.	PROPN
ijassa-1061	237	4	&	&	CCONJ
ijassa-1061	237	5	zengin	zengin	PROPN
ijassa-1061	237	6	,	,	PUNCT
ijassa-1061	237	7	u.	u.	PROPN
ijassa-1061	237	8	(	(	PUNCT
ijassa-1061	237	9	2006	2006	NUM
ijassa-1061	237	10	)	)	PUNCT
ijassa-1061	237	11	unmanned	unmanned	ADJ
ijassa-1061	237	12	aerial	aerial	ADJ
ijassa-1061	237	13	vehicle	vehicle	NOUN
ijassa-1061	237	14	dynamic	dynamic	ADJ
ijassa-1061	237	15	-	-	PUNCT
ijassa-1061	237	16	target	target	NOUN
ijassa-1061	237	17	pursuit	pursuit	NOUN
ijassa-1061	237	18	by	by	ADP
ijassa-1061	237	19	using	use	VERB
ijassa-1061	237	20	probabilistic	probabilistic	ADJ
ijassa-1061	237	21	threat	threat	NOUN
ijassa-1061	237	22	exposure	exposure	NOUN
ijassa-1061	237	23	map	map	NOUN
ijassa-1061	237	24	.	.	PUNCT
ijassa-1061	238	1	j	j	PROPN
ijassa-1061	238	2	guid	guid	PROPN
ijassa-1061	238	3	control	control	PROPN
ijassa-1061	238	4	dynam	dynam	PROPN
ijassa-1061	238	5	,	,	PUNCT
ijassa-1061	238	6	29	29	NUM
ijassa-1061	238	7	,	,	PUNCT
ijassa-1061	238	8	944–954	944–954	NUM
ijassa-1061	238	9	.	.	PUNCT
ijassa-1061	239	1	5	5	NUM
ijassa-1061	239	2	.	.	PUNCT
ijassa-1061	240	1	galyaev	galyaev	NOUN
ijassa-1061	240	2	,	,	PUNCT
ijassa-1061	240	3	a.	a.	NOUN
ijassa-1061	240	4	a.	a.	PROPN
ijassa-1061	240	5	,	,	PUNCT
ijassa-1061	240	6	lysenko	lysenko	PROPN
ijassa-1061	240	7	,	,	PUNCT
ijassa-1061	240	8	p.	p.	NOUN
ijassa-1061	240	9	v.	v.	PROPN
ijassa-1061	240	10	,	,	PUNCT
ijassa-1061	240	11	&	&	CCONJ
ijassa-1061	240	12	yakhno	yakhno	ADV
ijassa-1061	240	13	,	,	PUNCT
ijassa-1061	240	14	v.	v.	PROPN
ijassa-1061	240	15	p.	p.	NOUN
ijassa-1061	240	16	(	(	PUNCT
ijassa-1061	240	17	2020	2020	NUM
ijassa-1061	240	18	)	)	PUNCT
ijassa-1061	240	19	moving	move	VERB
ijassa-1061	240	20	object	object	NOUN
ijassa-1061	240	21	evasion	evasion	NOUN
ijassa-1061	240	22	from	from	ADP
ijassa-1061	240	23	single	single	ADJ
ijassa-1061	240	24	detector	detector	NOUN
ijassa-1061	240	25	at	at	ADP
ijassa-1061	240	26	given	give	VERB
ijassa-1061	240	27	speed	speed	NOUN
ijassa-1061	240	28	.	.	PUNCT
ijassa-1061	241	1	probl	probl	NOUN
ijassa-1061	241	2	.	.	PUNCT
ijassa-1061	242	1	upr	upr	PROPN
ijassa-1061	242	2	.	.	PUNCT
ijassa-1061	242	3	,	,	PUNCT
ijassa-1061	242	4	83–91	83–91	NUM
ijassa-1061	242	5	.	.	PUNCT
ijassa-1061	243	1	6	6	NUM
ijassa-1061	243	2	.	.	X
ijassa-1061	243	3	zabarankin	zabarankin	PROPN
ijassa-1061	243	4	,	,	PUNCT
ijassa-1061	243	5	m.	m.	NOUN
ijassa-1061	243	6	,	,	PUNCT
ijassa-1061	243	7	uryasev	uryasev	PROPN
ijassa-1061	243	8	,	,	PUNCT
ijassa-1061	243	9	s.	s.	PROPN
ijassa-1061	243	10	,	,	PUNCT
ijassa-1061	243	11	&	&	CCONJ
ijassa-1061	243	12	pardalos	pardalos	PROPN
ijassa-1061	243	13	,	,	PUNCT
ijassa-1061	243	14	p.	p.	NOUN
ijassa-1061	243	15	(	(	PUNCT
ijassa-1061	243	16	2002	2002	NUM
ijassa-1061	243	17	)	)	PUNCT
ijassa-1061	243	18	optimal	optimal	ADJ
ijassa-1061	243	19	risk	risk	NOUN
ijassa-1061	243	20	path	path	NOUN
ijassa-1061	243	21	algorithms	algorithm	NOUN
ijassa-1061	243	22	.	.	PUNCT
ijassa-1061	244	1	in	in	ADP
ijassa-1061	244	2	murphey	murphey	PROPN
ijassa-1061	244	3	,	,	PUNCT
ijassa-1061	244	4	r.	r.	PROPN
ijassa-1061	244	5	&	&	CCONJ
ijassa-1061	244	6	pardalos	pardalos	PROPN
ijassa-1061	244	7	,	,	PUNCT
ijassa-1061	244	8	p.	p.	NOUN
ijassa-1061	244	9	(	(	PUNCT
ijassa-1061	244	10	eds	ed	NOUN
ijassa-1061	244	11	.	.	PUNCT
ijassa-1061	244	12	)	)	PUNCT
ijassa-1061	244	13	,	,	PUNCT
ijassa-1061	244	14	cooperative	cooperative	ADJ
ijassa-1061	244	15	control	control	NOUN
ijassa-1061	244	16	and	and	CCONJ
ijassa-1061	244	17	optimization	optimization	NOUN
ijassa-1061	244	18	,	,	PUNCT
ijassa-1061	244	19	(	(	PUNCT
ijassa-1061	244	20	pp	pp	ADV
ijassa-1061	244	21	.	.	PUNCT
ijassa-1061	244	22	273	273	NUM
ijassa-1061	244	23	–	–	PUNCT
ijassa-1061	244	24	298	298	NUM
ijassa-1061	244	25	)	)	PUNCT
ijassa-1061	244	26	,	,	PUNCT
ijassa-1061	244	27	dordrecht	dordrecht	PROPN
ijassa-1061	244	28	:	:	PUNCT
ijassa-1061	244	29	kluwer	kluwer	PROPN
ijassa-1061	244	30	acad	acad	PROPN
ijassa-1061	244	31	.	.	PUNCT
ijassa-1061	245	1	7	7	X
ijassa-1061	245	2	.	.	X
ijassa-1061	245	3	sidhu	sidhu	PROPN
ijassa-1061	245	4	h	h	PROPN
ijassa-1061	245	5	,	,	PUNCT
ijassa-1061	245	6	m.	m.	PROPN
ijassa-1061	245	7	g.	g.	PROPN
ijassa-1061	245	8	&	&	CCONJ
ijassa-1061	245	9	m	m	PROPN
ijassa-1061	245	10	,	,	PUNCT
ijassa-1061	245	11	s.	s.	PROPN
ijassa-1061	245	12	(	(	PUNCT
ijassa-1061	245	13	2006	2006	NUM
ijassa-1061	245	14	)	)	PUNCT
ijassa-1061	245	15	optimal	optimal	ADJ
ijassa-1061	245	16	trajectories	trajectory	NOUN
ijassa-1061	245	17	in	in	ADP
ijassa-1061	245	18	a	a	DET
ijassa-1061	245	19	threat	threat	NOUN
ijassa-1061	245	20	environment	environment	NOUN
ijassa-1061	245	21	.	.	PUNCT
ijassa-1061	246	1	jbt	jbt	PROPN
ijassa-1061	246	2	,	,	PUNCT
ijassa-1061	246	3	9	9	NUM
ijassa-1061	246	4	,	,	PUNCT
ijassa-1061	246	5	33–39	33–39	NUM
ijassa-1061	246	6	.	.	PUNCT
ijassa-1061	247	1	8	8	NUM
ijassa-1061	247	2	.	.	X
ijassa-1061	247	3	pachter	pachter	PROPN
ijassa-1061	247	4	,	,	PUNCT
ijassa-1061	247	5	l.	l.	PROPN
ijassa-1061	247	6	s.	s.	PROPN
ijassa-1061	247	7	&	&	CCONJ
ijassa-1061	247	8	pachter	pachter	PROPN
ijassa-1061	247	9	,	,	PUNCT
ijassa-1061	247	10	m.	m.	NOUN
ijassa-1061	247	11	(	(	PUNCT
ijassa-1061	247	12	2001	2001	NUM
ijassa-1061	247	13	)	)	PUNCT
ijassa-1061	247	14	optimal	optimal	ADJ
ijassa-1061	247	15	paths	path	NOUN
ijassa-1061	247	16	for	for	ADP
ijassa-1061	247	17	avoiding	avoid	VERB
ijassa-1061	247	18	a	a	DET
ijassa-1061	247	19	radiating	radiating	NOUN
ijassa-1061	247	20	source	source	NOUN
ijassa-1061	247	21	.	.	PUNCT
ijassa-1061	248	1	in	in	ADP
ijassa-1061	248	2	proceedings	proceeding	NOUN
ijassa-1061	248	3	of	of	ADP
ijassa-1061	248	4	the	the	DET
ijassa-1061	248	5	40th	40th	ADJ
ijassa-1061	248	6	ieee	ieee	NOUN
ijassa-1061	248	7	conference	conference	NOUN
ijassa-1061	248	8	on	on	ADP
ijassa-1061	248	9	decision	decision	NOUN
ijassa-1061	248	10	and	and	CCONJ
ijassa-1061	248	11	control	control	NOUN
ijassa-1061	248	12	,	,	PUNCT
ijassa-1061	248	13	vol	vol	NOUN
ijassa-1061	248	14	.	.	PROPN
ijassa-1061	248	15	4	4	NUM
ijassa-1061	248	16	,	,	PUNCT
ijassa-1061	248	17	3581–3586	3581–3586	NUM
ijassa-1061	248	18	.	.	NOUN
ijassa-1061	248	19	9	9	NUM
ijassa-1061	248	20	.	.	X
ijassa-1061	248	21	galyaev	galyaev	NOUN
ijassa-1061	248	22	,	,	PUNCT
ijassa-1061	248	23	a.	a.	NOUN
ijassa-1061	248	24	a.	a.	PROPN
ijassa-1061	248	25	,	,	PUNCT
ijassa-1061	248	26	dobrovidov	dobrovidov	PROPN
ijassa-1061	248	27	,	,	PUNCT
ijassa-1061	248	28	a.	a.	PROPN
ijassa-1061	248	29	v.	v.	PROPN
ijassa-1061	248	30	,	,	PUNCT
ijassa-1061	248	31	lysenko	lysenko	PROPN
ijassa-1061	248	32	,	,	PUNCT
ijassa-1061	248	33	p.	p.	NOUN
ijassa-1061	248	34	v.	v.	PROPN
ijassa-1061	248	35	,	,	PUNCT
ijassa-1061	248	36	shaikin	shaikin	PROPN
ijassa-1061	248	37	,	,	PUNCT
ijassa-1061	248	38	m.	m.	PROPN
ijassa-1061	248	39	e.	e.	PROPN
ijassa-1061	248	40	,	,	PUNCT
ijassa-1061	248	41	&	&	CCONJ
ijassa-1061	248	42	yakhno	yakhno	ADV
ijassa-1061	248	43	,	,	PUNCT
ijassa-1061	248	44	v.	v.	PROPN
ijassa-1061	248	45	p.	p.	NOUN
ijassa-1061	248	46	(	(	PUNCT
ijassa-1061	248	47	2020	2020	NUM
ijassa-1061	248	48	)	)	PUNCT
ijassa-1061	248	49	path	path	NOUN
ijassa-1061	248	50	planning	planning	NOUN
ijassa-1061	248	51	in	in	ADP
ijassa-1061	248	52	threat	threat	NOUN
ijassa-1061	248	53	environment	environment	NOUN
ijassa-1061	248	54	for	for	ADP
ijassa-1061	248	55	uuv	uuv	PROPN
ijassa-1061	248	56	with	with	ADP
ijassa-1061	248	57	non	non	ADJ
ijassa-1061	248	58	-	-	ADJ
ijassa-1061	248	59	uniform	uniform	ADJ
ijassa-1061	248	60	radiation	radiation	NOUN
ijassa-1061	248	61	pattern	pattern	NOUN
ijassa-1061	248	62	.	.	PUNCT
ijassa-1061	249	1	sensors	sensor	NOUN
ijassa-1061	249	2	,	,	PUNCT
ijassa-1061	249	3	20	20	NUM
ijassa-1061	249	4	.	.	NOUN
ijassa-1061	249	5	10	10	NUM
ijassa-1061	249	6	.	.	PUNCT
ijassa-1061	250	1	lehmann	lehmann	PROPN
ijassa-1061	250	2	,	,	PUNCT
ijassa-1061	250	3	e.	e.	PROPN
ijassa-1061	250	4	l.	l.	PROPN
ijassa-1061	250	5	&	&	CCONJ
ijassa-1061	250	6	romano	romano	PROPN
ijassa-1061	250	7	,	,	PUNCT
ijassa-1061	250	8	j.	j.	PROPN
ijassa-1061	250	9	p.	p.	PROPN
ijassa-1061	250	10	(	(	PUNCT
ijassa-1061	250	11	2005	2005	NUM
ijassa-1061	250	12	)	)	PUNCT
ijassa-1061	250	13	testing	test	VERB
ijassa-1061	250	14	statistical	statistical	ADJ
ijassa-1061	250	15	hypotheses	hypothesis	NOUN
ijassa-1061	250	16	.	.	PUNCT
ijassa-1061	251	1	springer	springer	NOUN
ijassa-1061	251	2	texts	text	NOUN
ijassa-1061	251	3	in	in	ADP
ijassa-1061	251	4	statistics	statistic	NOUN
ijassa-1061	251	5	,	,	PUNCT
ijassa-1061	251	6	new	new	PROPN
ijassa-1061	251	7	york	york	PROPN
ijassa-1061	251	8	:	:	PUNCT
ijassa-1061	251	9	springer	springer	NOUN
ijassa-1061	251	10	.	.	PUNCT
ijassa-1061	252	1	11	11	NUM
ijassa-1061	252	2	.	.	X
ijassa-1061	252	3	rubinovich	rubinovich	PROPN
ijassa-1061	252	4	,	,	PUNCT
ijassa-1061	252	5	e.	e.	PROPN
ijassa-1061	252	6	y.	y.	PROPN
ijassa-1061	252	7	&	&	CCONJ
ijassa-1061	252	8	andreev	andreev	PROPN
ijassa-1061	252	9	,	,	PUNCT
ijassa-1061	252	10	k.	k.	PROPN
ijassa-1061	252	11	v.	v.	PROPN
ijassa-1061	253	1	(	(	PUNCT
ijassa-1061	253	2	2016	2016	NUM
ijassa-1061	253	3	)	)	PUNCT
ijassa-1061	253	4	moving	move	VERB
ijassa-1061	253	5	observer	observer	NOUN
ijassa-1061	253	6	trajectory	trajectory	NOUN
ijassa-1061	253	7	control	control	NOUN
ijassa-1061	253	8	by	by	ADP
ijassa-1061	253	9	angular	angular	ADJ
ijassa-1061	253	10	measurements	measurement	NOUN
ijassa-1061	253	11	in	in	ADP
ijassa-1061	253	12	tracking	tracking	NOUN
ijassa-1061	253	13	problem	problem	NOUN
ijassa-1061	253	14	.	.	PUNCT
ijassa-1061	254	1	autom	autom	PROPN
ijassa-1061	254	2	remote	remote	PROPN
ijassa-1061	254	3	control	control	PROPN
ijassa-1061	254	4	,	,	PUNCT
ijassa-1061	254	5	77	77	NUM
ijassa-1061	254	6	,	,	PUNCT
ijassa-1061	254	7	106–129	106–129	NUM
ijassa-1061	254	8	.	.	PUNCT
ijassa-1061	255	1	12	12	NUM
ijassa-1061	255	2	.	.	PUNCT
ijassa-1061	256	1	mercer	mercer	PROPN
ijassa-1061	256	2	,	,	PUNCT
ijassa-1061	256	3	g.	g.	PROPN
ijassa-1061	256	4	n.	n.	PROPN
ijassa-1061	256	5	&	&	CCONJ
ijassa-1061	256	6	sidhu	sidhu	PROPN
ijassa-1061	256	7	,	,	PUNCT
ijassa-1061	256	8	h.	h.	PROPN
ijassa-1061	256	9	s.	s.	PROPN
ijassa-1061	256	10	(	(	PUNCT
ijassa-1061	256	11	2007	2007	NUM
ijassa-1061	256	12	)	)	PUNCT
ijassa-1061	256	13	two	two	NUM
ijassa-1061	256	14	continuous	continuous	ADJ
ijassa-1061	256	15	methods	method	NOUN
ijassa-1061	256	16	for	for	ADP
ijassa-1061	256	17	determining	determine	VERB
ijassa-1061	256	18	a	a	DET
ijassa-1061	256	19	minimal	minimal	ADJ
ijassa-1061	256	20	risk	risk	NOUN
ijassa-1061	256	21	path	path	NOUN
ijassa-1061	256	22	through	through	ADP
ijassa-1061	256	23	a	a	DET
ijassa-1061	256	24	minefield	minefield	NOUN
ijassa-1061	256	25	.	.	PUNCT
ijassa-1061	257	1	in	in	ADP
ijassa-1061	257	2	read	read	PROPN
ijassa-1061	257	3	,	,	PUNCT
ijassa-1061	257	4	w.	w.	PROPN
ijassa-1061	257	5	&	&	CCONJ
ijassa-1061	257	6	roberts	roberts	PROPN
ijassa-1061	257	7	,	,	PUNCT
ijassa-1061	257	8	a.	a.	PROPN
ijassa-1061	257	9	j.	j.	PROPN
ijassa-1061	257	10	(	(	PUNCT
ijassa-1061	257	11	eds	eds	PROPN
ijassa-1061	257	12	.	.	PUNCT
ijassa-1061	257	13	)	)	PUNCT
ijassa-1061	257	14	,	,	PUNCT
ijassa-1061	257	15	proceedings	proceeding	NOUN
ijassa-1061	257	16	of	of	ADP
ijassa-1061	257	17	the	the	DET
ijassa-1061	257	18	13th	13th	ADJ
ijassa-1061	257	19	biennial	biennial	ADJ
ijassa-1061	257	20	computational	computational	ADJ
ijassa-1061	257	21	techniques	technique	NOUN
ijassa-1061	257	22	and	and	CCONJ
ijassa-1061	257	23	applications	application	NOUN
ijassa-1061	257	24	conference	conference	NOUN
ijassa-1061	257	25	,	,	PUNCT
ijassa-1061	257	26	ctac-2006	ctac-2006	ADJ
ijassa-1061	257	27	,	,	PUNCT
ijassa-1061	257	28	vol	vol	NOUN
ijassa-1061	257	29	.	.	PROPN
ijassa-1061	258	1	48	48	NUM
ijassa-1061	258	2	of	of	ADP
ijassa-1061	258	3	anziam	anziam	PROPN
ijassa-1061	258	4	j.	j.	PROPN
ijassa-1061	258	5	,	,	PUNCT
ijassa-1061	258	6	293–306	293–306	NUM
ijassa-1061	258	7	.	.	PUNCT
ijassa-1061	259	1	13	13	NUM
ijassa-1061	259	2	.	.	PUNCT
ijassa-1061	260	1	galyaev	galyaev	PROPN
ijassa-1061	260	2	,	,	PUNCT
ijassa-1061	260	3	a.	a.	NOUN
ijassa-1061	260	4	a.	a.	PROPN
ijassa-1061	260	5	,	,	PUNCT
ijassa-1061	260	6	lysenko	lysenko	PROPN
ijassa-1061	260	7	,	,	PUNCT
ijassa-1061	260	8	p.	p.	NOUN
ijassa-1061	260	9	v.	v.	PROPN
ijassa-1061	260	10	,	,	PUNCT
ijassa-1061	260	11	&	&	CCONJ
ijassa-1061	260	12	yakhno	yakhno	ADV
ijassa-1061	260	13	,	,	PUNCT
ijassa-1061	260	14	v.	v.	PROPN
ijassa-1061	260	15	p.	p.	NOUN
ijassa-1061	260	16	(	(	PUNCT
ijassa-1061	260	17	2020	2020	NUM
ijassa-1061	260	18	)	)	PUNCT
ijassa-1061	260	19	evasion	evasion	NOUN
ijassa-1061	260	20	from	from	ADP
ijassa-1061	260	21	detection	detection	NOUN
ijassa-1061	260	22	of	of	ADP
ijassa-1061	260	23	the	the	DET
ijassa-1061	260	24	moving	move	VERB
ijassa-1061	260	25	object	object	NOUN
ijassa-1061	260	26	with	with	ADP
ijassa-1061	260	27	non	non	ADJ
ijassa-1061	260	28	-	-	ADJ
ijassa-1061	260	29	uniform	uniform	ADJ
ijassa-1061	260	30	radiation	radiation	NOUN
ijassa-1061	260	31	pattern	pattern	NOUN
ijassa-1061	260	32	.	.	PUNCT
ijassa-1061	261	1	in	in	ADP
ijassa-1061	261	2	2020	2020	NUM
ijassa-1061	261	3	7th	7th	ADJ
ijassa-1061	261	4	international	international	ADJ
ijassa-1061	261	5	conference	conference	NOUN
ijassa-1061	261	6	on	on	ADP
ijassa-1061	261	7	control	control	NOUN
ijassa-1061	261	8	,	,	PUNCT
ijassa-1061	261	9	decision	decision	NOUN
ijassa-1061	261	10	and	and	CCONJ
ijassa-1061	261	11	information	information	NOUN
ijassa-1061	261	12	technologies	technology	NOUN
ijassa-1061	261	13	(	(	PUNCT
ijassa-1061	261	14	codit	codit	NOUN
ijassa-1061	261	15	)	)	PUNCT
ijassa-1061	261	16	,	,	PUNCT
ijassa-1061	261	17	vol	vol	NOUN
ijassa-1061	261	18	.	.	PROPN
ijassa-1061	261	19	1	1	NUM
ijassa-1061	261	20	,	,	PUNCT
ijassa-1061	261	21	463–468	463–468	NUM
ijassa-1061	261	22	.	.	PUNCT
ijassa-1061	262	1	14	14	NUM
ijassa-1061	262	2	.	.	PUNCT
ijassa-1061	263	1	galyaev	galyaev	PROPN
ijassa-1061	263	2	,	,	PUNCT
ijassa-1061	263	3	a.	a.	NOUN
ijassa-1061	263	4	a.	a.	PROPN
ijassa-1061	263	5	,	,	PUNCT
ijassa-1061	263	6	lysenko	lysenko	PROPN
ijassa-1061	263	7	,	,	PUNCT
ijassa-1061	263	8	p.	p.	NOUN
ijassa-1061	263	9	v.	v.	PROPN
ijassa-1061	263	10	,	,	PUNCT
ijassa-1061	263	11	&	&	CCONJ
ijassa-1061	263	12	yakhno	yakhno	ADV
ijassa-1061	263	13	,	,	PUNCT
ijassa-1061	263	14	v.	v.	PROPN
ijassa-1061	263	15	p.	p.	NOUN
ijassa-1061	263	16	(	(	PUNCT
ijassa-1061	263	17	2021	2021	NUM
ijassa-1061	263	18	)	)	PUNCT
ijassa-1061	263	19	2d	2d	NUM
ijassa-1061	263	20	optimal	optimal	ADJ
ijassa-1061	263	21	trajectory	trajectory	NOUN
ijassa-1061	263	22	planning	planning	NOUN
ijassa-1061	263	23	problem	problem	NOUN
ijassa-1061	263	24	in	in	ADP
ijassa-1061	263	25	threat	threat	NOUN
ijassa-1061	263	26	environment	environment	NOUN
ijassa-1061	263	27	for	for	ADP
ijassa-1061	263	28	uuv	uuv	PROPN
ijassa-1061	263	29	with	with	ADP
ijassa-1061	263	30	non	non	ADJ
ijassa-1061	263	31	-	-	ADJ
ijassa-1061	263	32	uniform	uniform	ADJ
ijassa-1061	263	33	radiation	radiation	NOUN
ijassa-1061	263	34	pattern	pattern	NOUN
ijassa-1061	263	35	.	.	PUNCT
ijassa-1061	264	1	sensors	sensor	NOUN
ijassa-1061	264	2	,	,	PUNCT
ijassa-1061	264	3	21	21	NUM
ijassa-1061	264	4	.	.	PUNCT
ijassa-1061	265	1	copyright	copyright	NOUN
ijassa-1061	265	2	©	©	PROPN
ijassa-1061	265	3	2021	2021	NUM
ijassa-1061	265	4	assa	assa	NOUN
ijassa-1061	265	5	.	.	PUNCT
ijassa-1061	266	1	adv	adv	PROPN
ijassa-1061	266	2	syst	syst	PROPN
ijassa-1061	266	3	sci	sci	PROPN
ijassa-1061	266	4	appl	appl	PROPN
ijassa-1061	266	5	(	(	PUNCT
ijassa-1061	266	6	2021	2021	NUM
ijassa-1061	266	7	)	)	PUNCT
ijassa-1061	266	8	introduction	introduction	NOUN
ijassa-1061	266	9	non	non	ADJ
ijassa-1061	266	10	-	-	ADJ
ijassa-1061	266	11	detection	detection	ADJ
ijassa-1061	266	12	probability	probability	NOUN
ijassa-1061	266	13	of	of	ADP
ijassa-1061	266	14	uuv	uuv	PROPN
ijassa-1061	266	15	under	under	ADP
ijassa-1061	266	16	passive	passive	ADJ
ijassa-1061	266	17	surveillance	surveillance	NOUN
ijassa-1061	266	18	path	path	NOUN
ijassa-1061	266	19	planning	planning	NOUN
ijassa-1061	266	20	problem	problem	NOUN
ijassa-1061	266	21	risk	risk	VERB
ijassa-1061	266	22	functional	functional	ADJ
ijassa-1061	266	23	mathematical	mathematical	ADJ
ijassa-1061	266	24	statement	statement	NOUN
ijassa-1061	266	25	of	of	ADP
ijassa-1061	266	26	the	the	DET
ijassa-1061	266	27	problem	problem	NOUN
ijassa-1061	266	28	solution	solution	NOUN
ijassa-1061	266	29	of	of	ADP
ijassa-1061	266	30	the	the	DET
ijassa-1061	266	31	path	path	NOUN
ijassa-1061	266	32	planning	planning	NOUN
ijassa-1061	266	33	problem	problem	NOUN
ijassa-1061	266	34	the	the	DET
ijassa-1061	266	35	necessary	necessary	ADJ
ijassa-1061	266	36	optimality	optimality	NOUN
ijassa-1061	266	37	conditions	condition	NOUN
ijassa-1061	266	38	the	the	DET
ijassa-1061	266	39	sufficient	sufficient	ADJ
ijassa-1061	266	40	optimality	optimality	NOUN
ijassa-1061	266	41	conditions	condition	NOUN
ijassa-1061	266	42	algorithm	algorithm	NOUN
ijassa-1061	266	43	for	for	ADP
ijassa-1061	266	44	finding	find	VERB
ijassa-1061	266	45	two	two	NUM
ijassa-1061	266	46	-	-	PUNCT
ijassa-1061	266	47	link	link	NOUN
ijassa-1061	266	48	optimal	optimal	ADJ
ijassa-1061	266	49	trajectories	trajectory	NOUN
ijassa-1061	266	50	example	example	VERB
ijassa-1061	266	51	conclusions	conclusion	NOUN