id	sid	tid	token	lemma	pos
ijassa-1149	1	1	microsoft	microsoft	PROPN
ijassa-1149	1	2	word	word	NOUN
ijassa-1149	1	3	abrosimov_mazurov_assa_2021_edited	abrosimov_mazurov_assa_2021_edite	VERB
ijassa-1149	1	4	adv	adv	PROPN
ijassa-1149	1	5	syst	syst	PROPN
ijassa-1149	1	6	sci	sci	PROPN
ijassa-1149	1	7	appl	appl	PROPN
ijassa-1149	1	8	2022	2022	NUM
ijassa-1149	1	9	;	;	PUNCT
ijassa-1149	1	10	04	04	NUM
ijassa-1149	1	11	;	;	PUNCT
ijassa-1149	1	12	162	162	NUM
ijassa-1149	1	13	-	-	SYM
ijassa-1149	1	14	175	175	NUM
ijassa-1149	1	15	published	publish	VERB
ijassa-1149	1	16	online	online	ADV
ijassa-1149	1	17	at	at	ADP
ijassa-1149	1	18	http://ijassa.ipu.ru	http://ijassa.ipu.ru	ADV
ijassa-1149	1	19	.	.	PUNCT
ijassa-1149	2	1	the	the	DET
ijassa-1149	2	2	collective	collective	ADJ
ijassa-1149	2	3	behavior	behavior	NOUN
ijassa-1149	2	4	of	of	ADP
ijassa-1149	2	5	robots	robot	NOUN
ijassa-1149	2	6	based	base	VERB
ijassa-1149	2	7	on	on	ADP
ijassa-1149	2	8	the	the	DET
ijassa-1149	2	9	internet	internet	NOUN
ijassa-1149	2	10	-	-	PUNCT
ijassa-1149	2	11	of	of	ADP
ijassa-1149	2	12	-	-	PUNCT
ijassa-1149	2	13	things	thing	NOUN
ijassa-1149	2	14	paradigm	paradigm	NOUN
ijassa-1149	2	15	vyacheslav	vyacheslav	NOUN
ijassa-1149	2	16	abrosimov1	abrosimov1	NOUN
ijassa-1149	2	17	*	*	PROPN
ijassa-1149	2	18	,	,	PUNCT
ijassa-1149	2	19	alexander	alexander	PROPN
ijassa-1149	2	20	mazurov2	mazurov2	PROPN
ijassa-1149	2	21	1	1	NUM
ijassa-1149	2	22	)	)	PUNCT
ijassa-1149	2	23	ministry	ministry	PROPN
ijassa-1149	2	24	of	of	ADP
ijassa-1149	2	25	defence	defence	PROPN
ijassa-1149	2	26	of	of	ADP
ijassa-1149	2	27	the	the	DET
ijassa-1149	2	28	russian	russian	PROPN
ijassa-1149	2	29	federation	federation	PROPN
ijassa-1149	2	30	,	,	PUNCT
ijassa-1149	2	31	moscow	moscow	PROPN
ijassa-1149	2	32	,	,	PUNCT
ijassa-1149	2	33	russia	russia	PROPN
ijassa-1149	2	34	e	e	NOUN
ijassa-1149	2	35	-	-	NOUN
ijassa-1149	2	36	mail	mail	NOUN
ijassa-1149	2	37	:	:	PUNCT
ijassa-1149	2	38	avk787@yandex.ru	avk787@yandex.ru	PROPN
ijassa-1149	2	39	2	2	NUM
ijassa-1149	2	40	)	)	PUNCT
ijassa-1149	2	41	trapeznikov	trapeznikov	PROPN
ijassa-1149	2	42	institute	institute	PROPN
ijassa-1149	2	43	of	of	ADP
ijassa-1149	2	44	control	control	PROPN
ijassa-1149	2	45	sciences	sciences	PROPN
ijassa-1149	2	46	,	,	PUNCT
ijassa-1149	2	47	russian	russian	ADJ
ijassa-1149	2	48	academy	academy	PROPN
ijassa-1149	2	49	of	of	ADP
ijassa-1149	2	50	sciences	sciences	PROPN
ijassa-1149	2	51	,	,	PUNCT
ijassa-1149	2	52	moscow	moscow	PROPN
ijassa-1149	2	53	,	,	PUNCT
ijassa-1149	2	54	russia	russia	PROPN
ijassa-1149	2	55	e	e	NOUN
ijassa-1149	2	56	-	-	NOUN
ijassa-1149	2	57	mail	mail	NOUN
ijassa-1149	2	58	:	:	PUNCT
ijassa-1149	2	59	alexander.mazurov08@gmail.com	alexander.mazurov08@gmail.com	X
ijassa-1149	2	60	abstract	abstract	NOUN
ijassa-1149	2	61	:	:	PUNCT
ijassa-1149	2	62	this	this	DET
ijassa-1149	2	63	paper	paper	NOUN
ijassa-1149	2	64	considers	consider	VERB
ijassa-1149	2	65	a	a	DET
ijassa-1149	2	66	group	group	NOUN
ijassa-1149	2	67	of	of	ADP
ijassa-1149	2	68	autonomous	autonomous	ADJ
ijassa-1149	2	69	robots	robot	NOUN
ijassa-1149	2	70	performing	perform	VERB
ijassa-1149	2	71	collective	collective	ADJ
ijassa-1149	2	72	tasks	task	NOUN
ijassa-1149	2	73	in	in	ADP
ijassa-1149	2	74	an	an	DET
ijassa-1149	2	75	antagonistic	antagonistic	ADJ
ijassa-1149	2	76	environment	environment	NOUN
ijassa-1149	2	77	.	.	PUNCT
ijassa-1149	3	1	the	the	DET
ijassa-1149	3	2	environment	environment	NOUN
ijassa-1149	3	3	can	can	AUX
ijassa-1149	3	4	significantly	significantly	ADV
ijassa-1149	3	5	hamper	hamper	VERB
ijassa-1149	3	6	information	information	NOUN
ijassa-1149	3	7	exchange	exchange	NOUN
ijassa-1149	3	8	and	and	CCONJ
ijassa-1149	3	9	decision	decision	NOUN
ijassa-1149	3	10	-	-	PUNCT
ijassa-1149	3	11	making	making	NOUN
ijassa-1149	3	12	in	in	ADP
ijassa-1149	3	13	the	the	DET
ijassa-1149	3	14	group	group	NOUN
ijassa-1149	3	15	.	.	PUNCT
ijassa-1149	4	1	well	well	ADV
ijassa-1149	4	2	-	-	PUNCT
ijassa-1149	4	3	known	know	VERB
ijassa-1149	4	4	methods	method	NOUN
ijassa-1149	4	5	are	be	AUX
ijassa-1149	4	6	intended	intend	VERB
ijassa-1149	4	7	for	for	ADP
ijassa-1149	4	8	performing	perform	VERB
ijassa-1149	4	9	collective	collective	ADJ
ijassa-1149	4	10	tasks	task	NOUN
ijassa-1149	4	11	by	by	ADP
ijassa-1149	4	12	a	a	DET
ijassa-1149	4	13	large	large	ADJ
ijassa-1149	4	14	group	group	NOUN
ijassa-1149	4	15	of	of	ADP
ijassa-1149	4	16	relatively	relatively	ADV
ijassa-1149	4	17	simple	simple	ADJ
ijassa-1149	4	18	objects	object	NOUN
ijassa-1149	4	19	and	and	CCONJ
ijassa-1149	4	20	have	have	VERB
ijassa-1149	4	21	obvious	obvious	ADJ
ijassa-1149	4	22	advantages	advantage	NOUN
ijassa-1149	4	23	(	(	PUNCT
ijassa-1149	4	24	high	high	ADJ
ijassa-1149	4	25	reliability	reliability	NOUN
ijassa-1149	4	26	,	,	PUNCT
ijassa-1149	4	27	potential	potential	ADJ
ijassa-1149	4	28	complexity	complexity	NOUN
ijassa-1149	4	29	increase	increase	NOUN
ijassa-1149	4	30	,	,	PUNCT
ijassa-1149	4	31	etc	etc	X
ijassa-1149	4	32	.	.	X
ijassa-1149	4	33	)	)	PUNCT
ijassa-1149	4	34	.	.	PUNCT
ijassa-1149	5	1	however	however	ADV
ijassa-1149	5	2	,	,	PUNCT
ijassa-1149	5	3	these	these	DET
ijassa-1149	5	4	methods	method	NOUN
ijassa-1149	5	5	neglect	neglect	VERB
ijassa-1149	5	6	the	the	DET
ijassa-1149	5	7	specifics	specific	NOUN
ijassa-1149	5	8	of	of	ADP
ijassa-1149	5	9	collective	collective	ADJ
ijassa-1149	5	10	behavior	behavior	NOUN
ijassa-1149	5	11	in	in	ADP
ijassa-1149	5	12	an	an	DET
ijassa-1149	5	13	antagonistic	antagonistic	ADJ
ijassa-1149	5	14	environment	environment	NOUN
ijassa-1149	5	15	.	.	PUNCT
ijassa-1149	6	1	moreover	moreover	ADV
ijassa-1149	6	2	,	,	PUNCT
ijassa-1149	6	3	they	they	PRON
ijassa-1149	6	4	are	be	AUX
ijassa-1149	6	5	inapplicable	inapplicable	ADJ
ijassa-1149	6	6	when	when	SCONJ
ijassa-1149	6	7	a	a	DET
ijassa-1149	6	8	collective	collective	ADJ
ijassa-1149	6	9	mission	mission	NOUN
ijassa-1149	6	10	is	be	AUX
ijassa-1149	6	11	fulfilled	fulfil	VERB
ijassa-1149	6	12	by	by	ADP
ijassa-1149	6	13	a	a	DET
ijassa-1149	6	14	few	few	ADJ
ijassa-1149	6	15	objects	object	NOUN
ijassa-1149	6	16	expensive	expensive	ADJ
ijassa-1149	6	17	for	for	ADP
ijassa-1149	6	18	production	production	NOUN
ijassa-1149	6	19	and	and	CCONJ
ijassa-1149	6	20	maintenance	maintenance	NOUN
ijassa-1149	6	21	.	.	PUNCT
ijassa-1149	7	1	we	we	PRON
ijassa-1149	7	2	propose	propose	VERB
ijassa-1149	7	3	a	a	DET
ijassa-1149	7	4	new	new	ADJ
ijassa-1149	7	5	approach	approach	NOUN
ijassa-1149	7	6	to	to	ADP
ijassa-1149	7	7	collective	collective	ADJ
ijassa-1149	7	8	mission	mission	NOUN
ijassa-1149	7	9	fulfillment	fulfillment	NOUN
ijassa-1149	7	10	based	base	VERB
ijassa-1149	7	11	on	on	ADP
ijassa-1149	7	12	the	the	DET
ijassa-1149	7	13	principle	principle	NOUN
ijassa-1149	7	14	of	of	ADP
ijassa-1149	7	15	collectivism	collectivism	NOUN
ijassa-1149	7	16	and	and	CCONJ
ijassa-1149	7	17	the	the	DET
ijassa-1149	7	18	internet	internet	NOUN
ijassa-1149	7	19	-	-	PUNCT
ijassa-1149	7	20	of	of	ADP
ijassa-1149	7	21	-	-	PUNCT
ijassa-1149	7	22	things	thing	NOUN
ijassa-1149	7	23	paradigm	paradigm	NOUN
ijassa-1149	7	24	.	.	PUNCT
ijassa-1149	8	1	the	the	DET
ijassa-1149	8	2	novelty	novelty	NOUN
ijassa-1149	8	3	of	of	ADP
ijassa-1149	8	4	the	the	DET
ijassa-1149	8	5	approach	approach	NOUN
ijassa-1149	8	6	is	be	AUX
ijassa-1149	8	7	that	that	SCONJ
ijassa-1149	8	8	each	each	DET
ijassa-1149	8	9	robot	robot	NOUN
ijassa-1149	8	10	in	in	ADP
ijassa-1149	8	11	the	the	DET
ijassa-1149	8	12	group	group	NOUN
ijassa-1149	8	13	is	be	AUX
ijassa-1149	8	14	valuable	valuable	ADJ
ijassa-1149	8	15	:	:	PUNCT
ijassa-1149	8	16	with	with	ADP
ijassa-1149	8	17	different	different	ADJ
ijassa-1149	8	18	resources	resource	NOUN
ijassa-1149	8	19	and	and	CCONJ
ijassa-1149	8	20	functionality	functionality	NOUN
ijassa-1149	8	21	,	,	PUNCT
ijassa-1149	8	22	they	they	PRON
ijassa-1149	8	23	assist	assist	VERB
ijassa-1149	8	24	each	each	DET
ijassa-1149	8	25	other	other	ADJ
ijassa-1149	8	26	.	.	PUNCT
ijassa-1149	9	1	the	the	DET
ijassa-1149	9	2	robots	robot	NOUN
ijassa-1149	9	3	execute	execute	VERB
ijassa-1149	9	4	different	different	ADJ
ijassa-1149	9	5	roles	role	NOUN
ijassa-1149	9	6	within	within	ADP
ijassa-1149	9	7	the	the	DET
ijassa-1149	9	8	group	group	NOUN
ijassa-1149	9	9	,	,	PUNCT
ijassa-1149	9	10	operating	operate	VERB
ijassa-1149	9	11	independently	independently	ADV
ijassa-1149	9	12	to	to	PART
ijassa-1149	9	13	fulfill	fulfill	VERB
ijassa-1149	9	14	a	a	DET
ijassa-1149	9	15	collective	collective	ADJ
ijassa-1149	9	16	mission	mission	NOUN
ijassa-1149	9	17	.	.	PUNCT
ijassa-1149	10	1	the	the	DET
ijassa-1149	10	2	robots	robot	NOUN
ijassa-1149	10	3	are	be	AUX
ijassa-1149	10	4	equipped	equip	VERB
ijassa-1149	10	5	with	with	ADP
ijassa-1149	10	6	observation	observation	NOUN
ijassa-1149	10	7	sensors	sensor	NOUN
ijassa-1149	10	8	and	and	CCONJ
ijassa-1149	10	9	motion	motion	NOUN
ijassa-1149	10	10	detectors	detector	NOUN
ijassa-1149	10	11	.	.	PUNCT
ijassa-1149	11	1	the	the	DET
ijassa-1149	11	2	functions	function	NOUN
ijassa-1149	11	3	and	and	CCONJ
ijassa-1149	11	4	resources	resource	NOUN
ijassa-1149	11	5	of	of	ADP
ijassa-1149	11	6	robots	robot	NOUN
ijassa-1149	11	7	are	be	AUX
ijassa-1149	11	8	represented	represent	VERB
ijassa-1149	11	9	as	as	ADP
ijassa-1149	11	10	external	external	ADJ
ijassa-1149	11	11	services	service	NOUN
ijassa-1149	11	12	.	.	PUNCT
ijassa-1149	12	1	a	a	DET
ijassa-1149	12	2	service	service	NOUN
ijassa-1149	12	3	-	-	PUNCT
ijassa-1149	12	4	oriented	orient	VERB
ijassa-1149	12	5	mutual	mutual	ADJ
ijassa-1149	12	6	assistance	assistance	NOUN
ijassa-1149	12	7	architecture	architecture	NOUN
ijassa-1149	12	8	is	be	AUX
ijassa-1149	12	9	designed	design	VERB
ijassa-1149	12	10	for	for	SCONJ
ijassa-1149	12	11	robots	robot	NOUN
ijassa-1149	12	12	to	to	PART
ijassa-1149	12	13	resolve	resolve	VERB
ijassa-1149	12	14	conflicts	conflict	NOUN
ijassa-1149	12	15	and	and	CCONJ
ijassa-1149	12	16	problem	problem	NOUN
ijassa-1149	12	17	situations	situation	NOUN
ijassa-1149	12	18	caused	cause	VERB
ijassa-1149	12	19	by	by	ADP
ijassa-1149	12	20	the	the	DET
ijassa-1149	12	21	environment	environment	NOUN
ijassa-1149	12	22	:	:	PUNCT
ijassa-1149	12	23	each	each	DET
ijassa-1149	12	24	robot	robot	NOUN
ijassa-1149	12	25	can	can	AUX
ijassa-1149	12	26	use	use	VERB
ijassa-1149	12	27	the	the	DET
ijassa-1149	12	28	resources	resource	NOUN
ijassa-1149	12	29	and	and	CCONJ
ijassa-1149	12	30	functionality	functionality	NOUN
ijassa-1149	12	31	of	of	ADP
ijassa-1149	12	32	other	other	ADJ
ijassa-1149	12	33	robots	robot	NOUN
ijassa-1149	12	34	via	via	ADP
ijassa-1149	12	35	online	online	ADJ
ijassa-1149	12	36	requests	request	NOUN
ijassa-1149	12	37	when	when	SCONJ
ijassa-1149	12	38	needed	need	VERB
ijassa-1149	12	39	.	.	PUNCT
ijassa-1149	13	1	such	such	ADJ
ijassa-1149	13	2	spontaneous	spontaneous	ADJ
ijassa-1149	13	3	relations	relation	NOUN
ijassa-1149	13	4	provide	provide	VERB
ijassa-1149	13	5	a	a	DET
ijassa-1149	13	6	fundamental	fundamental	ADJ
ijassa-1149	13	7	opportunity	opportunity	NOUN
ijassa-1149	13	8	for	for	ADP
ijassa-1149	13	9	the	the	DET
ijassa-1149	13	10	collective	collective	ADJ
ijassa-1149	13	11	management	management	NOUN
ijassa-1149	13	12	of	of	ADP
ijassa-1149	13	13	unpredicted	unpredicted	ADJ
ijassa-1149	13	14	situations	situation	NOUN
ijassa-1149	13	15	and	and	CCONJ
ijassa-1149	13	16	the	the	DET
ijassa-1149	13	17	possibility	possibility	NOUN
ijassa-1149	13	18	of	of	ADP
ijassa-1149	13	19	changing	change	VERB
ijassa-1149	13	20	behavioral	behavioral	ADJ
ijassa-1149	13	21	scenarios	scenario	NOUN
ijassa-1149	13	22	when	when	SCONJ
ijassa-1149	13	23	fulfilling	fulfil	VERB
ijassa-1149	13	24	a	a	DET
ijassa-1149	13	25	collective	collective	ADJ
ijassa-1149	13	26	mission	mission	NOUN
ijassa-1149	13	27	,	,	PUNCT
ijassa-1149	13	28	leading	lead	VERB
ijassa-1149	13	29	to	to	ADP
ijassa-1149	13	30	self	self	NOUN
ijassa-1149	13	31	-	-	PUNCT
ijassa-1149	13	32	organization	organization	NOUN
ijassa-1149	13	33	.	.	PUNCT
ijassa-1149	14	1	the	the	DET
ijassa-1149	14	2	effectiveness	effectiveness	NOUN
ijassa-1149	14	3	of	of	ADP
ijassa-1149	14	4	this	this	DET
ijassa-1149	14	5	approach	approach	NOUN
ijassa-1149	14	6	is	be	AUX
ijassa-1149	14	7	illustrated	illustrate	VERB
ijassa-1149	14	8	by	by	ADP
ijassa-1149	14	9	an	an	DET
ijassa-1149	14	10	example	example	NOUN
ijassa-1149	14	11	:	:	PUNCT
ijassa-1149	14	12	a	a	DET
ijassa-1149	14	13	group	group	NOUN
ijassa-1149	14	14	of	of	ADP
ijassa-1149	14	15	robots	robot	NOUN
ijassa-1149	14	16	attacks	attack	VERB
ijassa-1149	14	17	a	a	DET
ijassa-1149	14	18	complex	complex	ADJ
ijassa-1149	14	19	target	target	NOUN
ijassa-1149	14	20	secured	secure	VERB
ijassa-1149	14	21	by	by	ADP
ijassa-1149	14	22	a	a	DET
ijassa-1149	14	23	defense	defense	NOUN
ijassa-1149	14	24	system	system	NOUN
ijassa-1149	14	25	.	.	PUNCT
ijassa-1149	15	1	keywords	keyword	NOUN
ijassa-1149	15	2	:	:	PUNCT
ijassa-1149	15	3	robot	robot	NOUN
ijassa-1149	15	4	,	,	PUNCT
ijassa-1149	15	5	antagonistic	antagonistic	ADJ
ijassa-1149	15	6	environment	environment	NOUN
ijassa-1149	15	7	,	,	PUNCT
ijassa-1149	15	8	internet	internet	NOUN
ijassa-1149	15	9	-	-	PUNCT
ijassa-1149	15	10	of	of	ADP
ijassa-1149	15	11	-	-	PUNCT
ijassa-1149	15	12	things	thing	NOUN
ijassa-1149	15	13	,	,	PUNCT
ijassa-1149	15	14	collective	collective	ADJ
ijassa-1149	15	15	mission	mission	NOUN
ijassa-1149	15	16	,	,	PUNCT
ijassa-1149	15	17	mutual	mutual	ADJ
ijassa-1149	15	18	assistance	assistance	NOUN
ijassa-1149	15	19	,	,	PUNCT
ijassa-1149	15	20	conflict	conflict	NOUN
ijassa-1149	15	21	resolution	resolution	NOUN
ijassa-1149	15	22	,	,	PUNCT
ijassa-1149	15	23	cooperative	cooperative	ADJ
ijassa-1149	15	24	strategy	strategy	NOUN
ijassa-1149	15	25	.	.	PUNCT
ijassa-1149	16	1	1	1	X
ijassa-1149	16	2	.	.	X
ijassa-1149	16	3	introduction	introduction	NOUN
ijassa-1149	16	4	in	in	ADP
ijassa-1149	16	5	many	many	ADJ
ijassa-1149	16	6	applications	application	NOUN
ijassa-1149	16	7	,	,	PUNCT
ijassa-1149	16	8	heterogeneous	heterogeneous	ADJ
ijassa-1149	16	9	robots	robot	NOUN
ijassa-1149	16	10	have	have	VERB
ijassa-1149	16	11	to	to	PART
ijassa-1149	16	12	move	move	VERB
ijassa-1149	16	13	cooperatively	cooperatively	ADV
ijassa-1149	16	14	in	in	ADP
ijassa-1149	16	15	time	time	NOUN
ijassa-1149	16	16	and	and	CCONJ
ijassa-1149	16	17	space	space	NOUN
ijassa-1149	16	18	to	to	PART
ijassa-1149	16	19	fulfill	fulfill	VERB
ijassa-1149	16	20	a	a	DET
ijassa-1149	16	21	collective	collective	ADJ
ijassa-1149	16	22	mission	mission	NOUN
ijassa-1149	16	23	.	.	PUNCT
ijassa-1149	17	1	preset	preset	ADJ
ijassa-1149	17	2	cooperative	cooperative	ADJ
ijassa-1149	17	3	strategies	strategy	NOUN
ijassa-1149	17	4	are	be	AUX
ijassa-1149	17	5	almost	almost	ADV
ijassa-1149	17	6	not	not	PART
ijassa-1149	17	7	implemented	implement	VERB
ijassa-1149	17	8	in	in	ADP
ijassa-1149	17	9	practice	practice	NOUN
ijassa-1149	17	10	due	due	ADP
ijassa-1149	17	11	to	to	ADP
ijassa-1149	17	12	different	different	ADJ
ijassa-1149	17	13	factors	factor	NOUN
ijassa-1149	17	14	.	.	PUNCT
ijassa-1149	18	1	here	here	ADV
ijassa-1149	18	2	,	,	PUNCT
ijassa-1149	18	3	we	we	PRON
ijassa-1149	18	4	mention	mention	VERB
ijassa-1149	18	5	objective	objective	ADJ
ijassa-1149	18	6	natural	natural	ADJ
ijassa-1149	18	7	factors	factor	NOUN
ijassa-1149	18	8	(	(	PUNCT
ijassa-1149	18	9	night	night	NOUN
ijassa-1149	18	10	-	-	PUNCT
ijassa-1149	18	11	time	time	NOUN
ijassa-1149	18	12	,	,	PUNCT
ijassa-1149	18	13	fog	fog	NOUN
ijassa-1149	18	14	,	,	PUNCT
ijassa-1149	18	15	rain	rain	NOUN
ijassa-1149	18	16	,	,	PUNCT
ijassa-1149	18	17	etc	etc	X
ijassa-1149	18	18	.	.	X
ijassa-1149	18	19	)	)	PUNCT
ijassa-1149	18	20	and	and	CCONJ
ijassa-1149	18	21	subjective	subjective	ADJ
ijassa-1149	18	22	factors	factor	NOUN
ijassa-1149	18	23	,	,	PUNCT
ijassa-1149	18	24	e.g.	e.g.	ADV
ijassa-1149	18	25	,	,	PUNCT
ijassa-1149	18	26	an	an	DET
ijassa-1149	18	27	active	active	ADJ
ijassa-1149	18	28	counteraction	counteraction	NOUN
ijassa-1149	18	29	of	of	ADP
ijassa-1149	18	30	other	other	ADJ
ijassa-1149	18	31	robots	robot	NOUN
ijassa-1149	18	32	pursuing	pursue	VERB
ijassa-1149	18	33	opposite	opposite	ADJ
ijassa-1149	18	34	goals	goal	NOUN
ijassa-1149	18	35	.	.	PUNCT
ijassa-1149	19	1	this	this	DET
ijassa-1149	19	2	counteraction	counteraction	NOUN
ijassa-1149	19	3	of	of	ADP
ijassa-1149	19	4	an	an	DET
ijassa-1149	19	5	environment	environment	NOUN
ijassa-1149	19	6	may	may	AUX
ijassa-1149	19	7	have	have	VERB
ijassa-1149	19	8	critical	critical	ADJ
ijassa-1149	19	9	consequences	consequence	NOUN
ijassa-1149	19	10	for	for	ADP
ijassa-1149	19	11	the	the	DET
ijassa-1149	19	12	efficiency	efficiency	NOUN
ijassa-1149	19	13	of	of	ADP
ijassa-1149	19	14	collective	collective	ADJ
ijassa-1149	19	15	mission	mission	NOUN
ijassa-1149	19	16	fulfillment	fulfillment	NOUN
ijassa-1149	19	17	.	.	PUNCT
ijassa-1149	20	1	theoretically	theoretically	ADV
ijassa-1149	20	2	,	,	PUNCT
ijassa-1149	20	3	there	there	PRON
ijassa-1149	20	4	are	be	VERB
ijassa-1149	20	5	two	two	NUM
ijassa-1149	20	6	fundamental	fundamental	ADJ
ijassa-1149	20	7	approaches	approach	NOUN
ijassa-1149	20	8	to	to	PART
ijassa-1149	20	9	construct	construct	VERB
ijassa-1149	20	10	collective	collective	ADJ
ijassa-1149	20	11	behavioral	behavioral	ADJ
ijassa-1149	20	12	strategies	strategy	NOUN
ijassa-1149	20	13	of	of	ADP
ijassa-1149	20	14	robots	robot	NOUN
ijassa-1149	20	15	.	.	PUNCT
ijassa-1149	21	1	within	within	ADP
ijassa-1149	21	2	the	the	DET
ijassa-1149	21	3	first	first	ADJ
ijassa-1149	21	4	approach	approach	NOUN
ijassa-1149	21	5	,	,	PUNCT
ijassa-1149	21	6	robots	robot	NOUN
ijassa-1149	21	7	use	use	VERB
ijassa-1149	21	8	some	some	DET
ijassa-1149	21	9	mechanism	mechanism	NOUN
ijassa-1149	21	10	for	for	ADP
ijassa-1149	21	11	adapting	adapt	VERB
ijassa-1149	21	12	to	to	ADP
ijassa-1149	21	13	a	a	DET
ijassa-1149	21	14	current	current	ADJ
ijassa-1149	21	15	situation	situation	NOUN
ijassa-1149	21	16	.	.	PUNCT
ijassa-1149	22	1	note	note	VERB
ijassa-1149	22	2	that	that	SCONJ
ijassa-1149	22	3	such	such	ADJ
ijassa-1149	22	4	adaptation	adaptation	NOUN
ijassa-1149	22	5	must	must	AUX
ijassa-1149	22	6	be	be	AUX
ijassa-1149	22	7	collective	collective	ADJ
ijassa-1149	22	8	,	,	PUNCT
ijassa-1149	22	9	and	and	CCONJ
ijassa-1149	22	10	biological	biological	ADJ
ijassa-1149	22	11	adaptation	adaptation	NOUN
ijassa-1149	22	12	mechanisms	mechanism	NOUN
ijassa-1149	22	13	[	[	X
ijassa-1149	22	14	7	7	X
ijassa-1149	22	15	]	]	PUNCT
ijassa-1149	22	16	are	be	AUX
ijassa-1149	22	17	efficient	efficient	ADJ
ijassa-1149	22	18	.	.	PUNCT
ijassa-1149	23	1	like	like	ADP
ijassa-1149	23	2	biological	biological	ADJ
ijassa-1149	23	3	specimen	speciman	NOUN
ijassa-1149	23	4	,	,	PUNCT
ijassa-1149	23	5	robots	robot	NOUN
ijassa-1149	23	6	in	in	ADP
ijassa-1149	23	7	these	these	DET
ijassa-1149	23	8	mechanisms	mechanism	NOUN
ijassa-1149	23	9	are	be	AUX
ijassa-1149	23	10	comparatively	comparatively	ADV
ijassa-1149	23	11	independent	independent	ADJ
ijassa-1149	23	12	and	and	CCONJ
ijassa-1149	23	13	obey	obey	VERB
ijassa-1149	23	14	rather	rather	ADV
ijassa-1149	23	15	simple	simple	ADJ
ijassa-1149	23	16	rules	rule	NOUN
ijassa-1149	23	17	without	without	ADP
ijassa-1149	23	18	cooperation	cooperation	NOUN
ijassa-1149	23	19	.	.	PUNCT
ijassa-1149	24	1	the	the	DET
ijassa-1149	24	2	development	development	NOUN
ijassa-1149	24	3	of	of	ADP
ijassa-1149	24	4	biological	biological	ADJ
ijassa-1149	24	5	algorithms	algorithm	NOUN
ijassa-1149	24	6	requires	require	VERB
ijassa-1149	24	7	much	much	ADJ
ijassa-1149	24	8	time	time	NOUN
ijassa-1149	24	9	,	,	PUNCT
ijassa-1149	24	10	accumulated	accumulated	ADJ
ijassa-1149	24	11	experience	experience	NOUN
ijassa-1149	24	12	,	,	PUNCT
ijassa-1149	24	13	and	and	CCONJ
ijassa-1149	24	14	knowledge	knowledge	NOUN
ijassa-1149	24	15	.	.	PUNCT
ijassa-1149	25	1	the	the	DET
ijassa-1149	25	2	second	second	ADJ
ijassa-1149	25	3	approach	approach	NOUN
ijassa-1149	25	4	is	be	AUX
ijassa-1149	25	5	self	self	NOUN
ijassa-1149	25	6	-	-	PUNCT
ijassa-1149	25	7	organization	organization	NOUN
ijassa-1149	25	8	:	:	PUNCT
ijassa-1149	25	9	under	under	ADP
ijassa-1149	25	10	limited	limited	ADJ
ijassa-1149	25	11	time	time	NOUN
ijassa-1149	25	12	to	to	PART
ijassa-1149	25	13	solve	solve	VERB
ijassa-1149	25	14	tasks	task	NOUN
ijassa-1149	25	15	and	and	CCONJ
ijassa-1149	25	16	*	*	PUNCT
ijassa-1149	25	17	corresponding	correspond	VERB
ijassa-1149	25	18	author	author	NOUN
ijassa-1149	25	19	:	:	PUNCT
ijassa-1149	25	20	avk787@yandex.ru	avk787@yandex.ru	PROPN
ijassa-1149	25	21	the	the	DET
ijassa-1149	25	22	collective	collective	ADJ
ijassa-1149	25	23	behavior	behavior	NOUN
ijassa-1149	25	24	of	of	ADP
ijassa-1149	25	25	robots	robot	NOUN
ijassa-1149	25	26	based	base	VERB
ijassa-1149	25	27	on	on	ADP
ijassa-1149	25	28	the	the	DET
ijassa-1149	25	29	internet	internet	NOUN
ijassa-1149	25	30	-	-	PUNCT
ijassa-1149	25	31	of	of	ADP
ijassa-1149	25	32	-	-	PUNCT
ijassa-1149	25	33	things	thing	NOUN
ijassa-1149	25	34	paradigm	paradigm	NOUN
ijassa-1149	25	35	163	163	NUM
ijassa-1149	25	36	copyright	copyright	NOUN
ijassa-1149	25	37	©	©	PROPN
ijassa-1149	25	38	2022	2022	NUM
ijassa-1149	25	39	assa	assa	NOUN
ijassa-1149	25	40	.	.	PUNCT
ijassa-1149	26	1	adv	adv	PROPN
ijassa-1149	26	2	.	.	PUNCT
ijassa-1149	27	1	in	in	ADP
ijassa-1149	27	2	systems	system	NOUN
ijassa-1149	27	3	science	science	NOUN
ijassa-1149	27	4	and	and	CCONJ
ijassa-1149	27	5	appl	appl	NOUN
ijassa-1149	27	6	.	.	PUNCT
ijassa-1149	28	1	(	(	PUNCT
ijassa-1149	28	2	2022	2022	NUM
ijassa-1149	28	3	)	)	PUNCT
ijassa-1149	28	4	an	an	DET
ijassa-1149	28	5	active	active	ADJ
ijassa-1149	28	6	counteraction	counteraction	NOUN
ijassa-1149	28	7	of	of	ADP
ijassa-1149	28	8	an	an	DET
ijassa-1149	28	9	environment	environment	NOUN
ijassa-1149	28	10	,	,	PUNCT
ijassa-1149	28	11	the	the	DET
ijassa-1149	28	12	group	group	NOUN
ijassa-1149	28	13	control	control	NOUN
ijassa-1149	28	14	of	of	ADP
ijassa-1149	28	15	robots	robot	NOUN
ijassa-1149	28	16	should	should	AUX
ijassa-1149	28	17	be	be	AUX
ijassa-1149	28	18	designed	design	VERB
ijassa-1149	28	19	in	in	ADP
ijassa-1149	28	20	the	the	DET
ijassa-1149	28	21	class	class	NOUN
ijassa-1149	28	22	of	of	ADP
ijassa-1149	28	23	self	self	NOUN
ijassa-1149	28	24	-	-	PUNCT
ijassa-1149	28	25	organizing	organize	VERB
ijassa-1149	28	26	systems	system	NOUN
ijassa-1149	28	27	[	[	X
ijassa-1149	28	28	20	20	NUM
ijassa-1149	28	29	]	]	PUNCT
ijassa-1149	28	30	.	.	PUNCT
ijassa-1149	29	1	self	self	NOUN
ijassa-1149	29	2	-	-	PUNCT
ijassa-1149	29	3	organization	organization	NOUN
ijassa-1149	29	4	implies	imply	VERB
ijassa-1149	29	5	a	a	DET
ijassa-1149	29	6	joint	joint	ADJ
ijassa-1149	29	7	assessment	assessment	NOUN
ijassa-1149	29	8	of	of	ADP
ijassa-1149	29	9	situational	situational	ADJ
ijassa-1149	29	10	awareness	awareness	NOUN
ijassa-1149	29	11	but	but	CCONJ
ijassa-1149	29	12	an	an	DET
ijassa-1149	29	13	autonomous	autonomous	ADJ
ijassa-1149	29	14	motion	motion	NOUN
ijassa-1149	29	15	of	of	ADP
ijassa-1149	29	16	robots	robot	NOUN
ijassa-1149	29	17	.	.	PUNCT
ijassa-1149	30	1	in	in	ADP
ijassa-1149	30	2	this	this	DET
ijassa-1149	30	3	case	case	NOUN
ijassa-1149	30	4	,	,	PUNCT
ijassa-1149	30	5	each	each	DET
ijassa-1149	30	6	robot	robot	NOUN
ijassa-1149	30	7	performs	perform	VERB
ijassa-1149	30	8	its	its	PRON
ijassa-1149	30	9	task	task	NOUN
ijassa-1149	30	10	as	as	ADP
ijassa-1149	30	11	part	part	NOUN
ijassa-1149	30	12	of	of	ADP
ijassa-1149	30	13	the	the	DET
ijassa-1149	30	14	collective	collective	ADJ
ijassa-1149	30	15	mission	mission	NOUN
ijassa-1149	30	16	.	.	PUNCT
ijassa-1149	31	1	however	however	ADV
ijassa-1149	31	2	,	,	PUNCT
ijassa-1149	31	3	under	under	ADP
ijassa-1149	31	4	existing	exist	VERB
ijassa-1149	31	5	threats	threat	NOUN
ijassa-1149	31	6	to	to	ADP
ijassa-1149	31	7	the	the	DET
ijassa-1149	31	8	collective	collective	ADJ
ijassa-1149	31	9	mission	mission	NOUN
ijassa-1149	31	10	(	(	PUNCT
ijassa-1149	31	11	e.g.	e.g.	ADV
ijassa-1149	31	12	,	,	PUNCT
ijassa-1149	31	13	failure	failure	NOUN
ijassa-1149	31	14	,	,	PUNCT
ijassa-1149	31	15	termination	termination	NOUN
ijassa-1149	31	16	,	,	PUNCT
ijassa-1149	31	17	or	or	CCONJ
ijassa-1149	31	18	restricted	restrict	VERB
ijassa-1149	31	19	functionality	functionality	NOUN
ijassa-1149	31	20	)	)	PUNCT
ijassa-1149	31	21	,	,	PUNCT
ijassa-1149	31	22	cooperation	cooperation	NOUN
ijassa-1149	31	23	and	and	CCONJ
ijassa-1149	31	24	assistance	assistance	NOUN
ijassa-1149	31	25	can	can	AUX
ijassa-1149	31	26	be	be	AUX
ijassa-1149	31	27	reasonable	reasonable	ADJ
ijassa-1149	31	28	or	or	CCONJ
ijassa-1149	31	29	vital	vital	ADJ
ijassa-1149	31	30	for	for	ADP
ijassa-1149	31	31	robots	robot	NOUN
ijassa-1149	31	32	.	.	PUNCT
ijassa-1149	32	1	this	this	DET
ijassa-1149	32	2	paper	paper	NOUN
ijassa-1149	32	3	draws	draw	VERB
ijassa-1149	32	4	an	an	DET
ijassa-1149	32	5	analogy	analogy	NOUN
ijassa-1149	32	6	between	between	ADP
ijassa-1149	32	7	the	the	DET
ijassa-1149	32	8	collective	collective	ADJ
ijassa-1149	32	9	control	control	NOUN
ijassa-1149	32	10	principles	principle	NOUN
ijassa-1149	32	11	for	for	ADP
ijassa-1149	32	12	a	a	DET
ijassa-1149	32	13	group	group	NOUN
ijassa-1149	32	14	of	of	ADP
ijassa-1149	32	15	autonomous	autonomous	ADJ
ijassa-1149	32	16	robots	robot	NOUN
ijassa-1149	32	17	and	and	CCONJ
ijassa-1149	32	18	the	the	DET
ijassa-1149	32	19	internet	internet	NOUN
ijassa-1149	32	20	-	-	PUNCT
ijassa-1149	32	21	of	of	ADP
ijassa-1149	32	22	-	-	PUNCT
ijassa-1149	32	23	things	thing	NOUN
ijassa-1149	32	24	(	(	PUNCT
ijassa-1149	32	25	iot	iot	NOUN
ijassa-1149	32	26	)	)	PUNCT
ijassa-1149	32	27	paradigm	paradigm	NOUN
ijassa-1149	32	28	.	.	PUNCT
ijassa-1149	33	1	network	network	NOUN
ijassa-1149	33	2	design	design	NOUN
ijassa-1149	33	3	and	and	CCONJ
ijassa-1149	33	4	communication	communication	NOUN
ijassa-1149	33	5	of	of	ADP
ijassa-1149	33	6	things	thing	NOUN
ijassa-1149	33	7	are	be	AUX
ijassa-1149	33	8	crucial	crucial	ADJ
ijassa-1149	33	9	for	for	ADP
ijassa-1149	33	10	the	the	DET
ijassa-1149	33	11	iot	iot	NOUN
ijassa-1149	33	12	.	.	PUNCT
ijassa-1149	34	1	speaking	speak	VERB
ijassa-1149	34	2	simplistically	simplistically	ADV
ijassa-1149	34	3	,	,	PUNCT
ijassa-1149	34	4	the	the	DET
ijassa-1149	34	5	sensors	sensor	NOUN
ijassa-1149	34	6	of	of	ADP
ijassa-1149	34	7	systems	system	NOUN
ijassa-1149	34	8	communicate	communicate	VERB
ijassa-1149	34	9	and	and	CCONJ
ijassa-1149	34	10	control	control	VERB
ijassa-1149	34	11	the	the	DET
ijassa-1149	34	12	sensors	sensor	NOUN
ijassa-1149	34	13	of	of	ADP
ijassa-1149	34	14	the	the	DET
ijassa-1149	34	15	other	other	ADJ
ijassa-1149	34	16	systems	system	NOUN
ijassa-1149	34	17	.	.	PUNCT
ijassa-1149	35	1	such	such	DET
ijassa-1149	35	2	a	a	DET
ijassa-1149	35	3	statement	statement	NOUN
ijassa-1149	35	4	seems	seem	VERB
ijassa-1149	35	5	intuitively	intuitively	ADV
ijassa-1149	35	6	clear	clear	ADJ
ijassa-1149	35	7	for	for	ADP
ijassa-1149	35	8	things	thing	NOUN
ijassa-1149	35	9	(	(	PUNCT
ijassa-1149	35	10	systems	system	NOUN
ijassa-1149	35	11	)	)	PUNCT
ijassa-1149	35	12	controlled	control	VERB
ijassa-1149	35	13	without	without	ADP
ijassa-1149	35	14	intelligent	intelligent	ADJ
ijassa-1149	35	15	means	mean	NOUN
ijassa-1149	35	16	.	.	PUNCT
ijassa-1149	36	1	if	if	SCONJ
ijassa-1149	36	2	control	control	NOUN
ijassa-1149	36	3	systems	system	NOUN
ijassa-1149	36	4	of	of	ADP
ijassa-1149	36	5	objects	object	NOUN
ijassa-1149	36	6	are	be	AUX
ijassa-1149	36	7	intelligent	intelligent	ADJ
ijassa-1149	36	8	,	,	PUNCT
ijassa-1149	36	9	then	then	ADV
ijassa-1149	36	10	sensor	sensor	NOUN
ijassa-1149	36	11	commands	command	NOUN
ijassa-1149	36	12	from	from	ADP
ijassa-1149	36	13	objects	object	NOUN
ijassa-1149	36	14	to	to	ADP
ijassa-1149	36	15	other	other	ADJ
ijassa-1149	36	16	objects	object	NOUN
ijassa-1149	36	17	may	may	AUX
ijassa-1149	36	18	contradict	contradict	VERB
ijassa-1149	36	19	their	their	PRON
ijassa-1149	36	20	individual	individual	ADJ
ijassa-1149	36	21	behavioral	behavioral	ADJ
ijassa-1149	36	22	strategies	strategy	NOUN
ijassa-1149	36	23	.	.	PUNCT
ijassa-1149	37	1	collective	collective	ADJ
ijassa-1149	37	2	control	control	NOUN
ijassa-1149	37	3	design	design	NOUN
ijassa-1149	37	4	for	for	ADP
ijassa-1149	37	5	groups	group	NOUN
ijassa-1149	37	6	of	of	ADP
ijassa-1149	37	7	such	such	ADJ
ijassa-1149	37	8	intelligent	intelligent	ADJ
ijassa-1149	37	9	objects	object	NOUN
ijassa-1149	37	10	requires	require	VERB
ijassa-1149	37	11	negotiations	negotiation	NOUN
ijassa-1149	37	12	.	.	PUNCT
ijassa-1149	38	1	as	as	ADP
ijassa-1149	38	2	a	a	DET
ijassa-1149	38	3	rule	rule	NOUN
ijassa-1149	38	4	,	,	PUNCT
ijassa-1149	38	5	negotiations	negotiation	NOUN
ijassa-1149	38	6	are	be	AUX
ijassa-1149	38	7	organized	organize	VERB
ijassa-1149	38	8	using	use	VERB
ijassa-1149	38	9	the	the	DET
ijassa-1149	38	10	principles	principle	NOUN
ijassa-1149	38	11	of	of	ADP
ijassa-1149	38	12	competition	competition	NOUN
ijassa-1149	39	1	[	[	X
ijassa-1149	39	2	16	16	NUM
ijassa-1149	39	3	]	]	PUNCT
ijassa-1149	39	4	.	.	PUNCT
ijassa-1149	40	1	considering	consider	VERB
ijassa-1149	40	2	earlier	early	ADJ
ijassa-1149	40	3	publications	publication	NOUN
ijassa-1149	40	4	,	,	PUNCT
ijassa-1149	40	5	we	we	PRON
ijassa-1149	40	6	hypothesize	hypothesize	VERB
ijassa-1149	40	7	(	(	PUNCT
ijassa-1149	40	8	and	and	CCONJ
ijassa-1149	40	9	try	try	VERB
ijassa-1149	40	10	to	to	PART
ijassa-1149	40	11	validate	validate	VERB
ijassa-1149	40	12	)	)	PUNCT
ijassa-1149	40	13	that	that	SCONJ
ijassa-1149	40	14	in	in	ADP
ijassa-1149	40	15	such	such	ADJ
ijassa-1149	40	16	conditions	condition	NOUN
ijassa-1149	40	17	,	,	PUNCT
ijassa-1149	40	18	an	an	DET
ijassa-1149	40	19	efficient	efficient	ADJ
ijassa-1149	40	20	approach	approach	NOUN
ijassa-1149	40	21	is	be	AUX
ijassa-1149	40	22	to	to	PART
ijassa-1149	40	23	train	train	VERB
ijassa-1149	40	24	control	control	NOUN
ijassa-1149	40	25	systems	system	NOUN
ijassa-1149	40	26	of	of	ADP
ijassa-1149	40	27	autonomous	autonomous	ADJ
ijassa-1149	40	28	robots	robot	NOUN
ijassa-1149	40	29	based	base	VERB
ijassa-1149	40	30	on	on	ADP
ijassa-1149	40	31	the	the	DET
ijassa-1149	40	32	principles	principle	NOUN
ijassa-1149	40	33	of	of	ADP
ijassa-1149	40	34	collectivism	collectivism	NOUN
ijassa-1149	40	35	.	.	PUNCT
ijassa-1149	41	1	each	each	DET
ijassa-1149	41	2	robot	robot	NOUN
ijassa-1149	41	3	should	should	AUX
ijassa-1149	41	4	be	be	AUX
ijassa-1149	41	5	ready	ready	ADJ
ijassa-1149	41	6	to	to	PART
ijassa-1149	41	7	execute	execute	VERB
ijassa-1149	41	8	another	another	DET
ijassa-1149	41	9	(	(	PUNCT
ijassa-1149	41	10	generally	generally	ADV
ijassa-1149	41	11	,	,	PUNCT
ijassa-1149	41	12	subordinate	subordinate	ADJ
ijassa-1149	41	13	)	)	PUNCT
ijassa-1149	41	14	role	role	NOUN
ijassa-1149	41	15	,	,	PUNCT
ijassa-1149	41	16	allocating	allocate	VERB
ijassa-1149	41	17	its	its	PRON
ijassa-1149	41	18	functions	function	NOUN
ijassa-1149	41	19	and	and	CCONJ
ijassa-1149	41	20	resources	resource	NOUN
ijassa-1149	41	21	to	to	ADP
ijassa-1149	41	22	other	other	ADJ
ijassa-1149	41	23	robots	robot	NOUN
ijassa-1149	41	24	whenever	whenever	SCONJ
ijassa-1149	41	25	necessary	necessary	ADJ
ijassa-1149	41	26	,	,	PUNCT
ijassa-1149	41	27	for	for	ADP
ijassa-1149	41	28	fulfilling	fulfil	VERB
ijassa-1149	41	29	the	the	DET
ijassa-1149	41	30	collective	collective	ADJ
ijassa-1149	41	31	mission	mission	NOUN
ijassa-1149	41	32	in	in	ADP
ijassa-1149	41	33	a	a	DET
ijassa-1149	41	34	current	current	ADJ
ijassa-1149	41	35	situation	situation	NOUN
ijassa-1149	41	36	.	.	PUNCT
ijassa-1149	42	1	2	2	X
ijassa-1149	42	2	.	.	X
ijassa-1149	42	3	a	a	DET
ijassa-1149	42	4	survey	survey	NOUN
ijassa-1149	42	5	of	of	ADP
ijassa-1149	42	6	related	related	ADJ
ijassa-1149	42	7	literature	literature	NOUN
ijassa-1149	42	8	the	the	DET
ijassa-1149	42	9	subject	subject	NOUN
ijassa-1149	42	10	matter	matter	NOUN
ijassa-1149	42	11	is	be	AUX
ijassa-1149	42	12	at	at	ADP
ijassa-1149	42	13	the	the	DET
ijassa-1149	42	14	junction	junction	NOUN
ijassa-1149	42	15	of	of	ADP
ijassa-1149	42	16	several	several	ADJ
ijassa-1149	42	17	fields	field	NOUN
ijassa-1149	42	18	,	,	PUNCT
ijassa-1149	42	19	namely	namely	ADV
ijassa-1149	42	20	,	,	PUNCT
ijassa-1149	42	21	machine	machine	NOUN
ijassa-1149	42	22	-	-	PUNCT
ijassa-1149	42	23	to	to	ADP
ijassa-1149	42	24	-	-	PUNCT
ijassa-1149	42	25	machine	machine	NOUN
ijassa-1149	42	26	interaction	interaction	NOUN
ijassa-1149	42	27	(	(	PUNCT
ijassa-1149	42	28	m2	m2	PROPN
ijassa-1149	42	29	m	m	PROPN
ijassa-1149	42	30	)	)	PUNCT
ijassa-1149	42	31	,	,	PUNCT
ijassa-1149	42	32	the	the	DET
ijassa-1149	42	33	internet	internet	NOUN
ijassa-1149	42	34	of	of	ADP
ijassa-1149	42	35	things	thing	NOUN
ijassa-1149	42	36	(	(	PUNCT
ijassa-1149	42	37	iot	iot	NOUN
ijassa-1149	42	38	)	)	PUNCT
ijassa-1149	42	39	,	,	PUNCT
ijassa-1149	42	40	and	and	CCONJ
ijassa-1149	42	41	the	the	DET
ijassa-1149	42	42	group	group	NOUN
ijassa-1149	42	43	motion	motion	NOUN
ijassa-1149	42	44	of	of	ADP
ijassa-1149	42	45	robots	robot	NOUN
ijassa-1149	42	46	.	.	PUNCT
ijassa-1149	43	1	however	however	ADV
ijassa-1149	43	2	,	,	PUNCT
ijassa-1149	43	3	all	all	DET
ijassa-1149	43	4	three	three	NUM
ijassa-1149	43	5	fields	field	NOUN
ijassa-1149	43	6	together	together	ADV
ijassa-1149	43	7	were	be	AUX
ijassa-1149	43	8	addressed	address	VERB
ijassa-1149	43	9	in	in	ADP
ijassa-1149	43	10	a	a	DET
ijassa-1149	43	11	few	few	ADJ
ijassa-1149	43	12	publications	publication	NOUN
ijassa-1149	43	13	.	.	PUNCT
ijassa-1149	44	1	according	accord	VERB
ijassa-1149	44	2	to	to	ADP
ijassa-1149	44	3	the	the	DET
ijassa-1149	44	4	surveys	survey	NOUN
ijassa-1149	44	5	on	on	ADP
ijassa-1149	44	6	m2	m2	PROPN
ijassa-1149	44	7	m	m	PROPN
ijassa-1149	44	8	methods	method	NOUN
ijassa-1149	44	9	[	[	X
ijassa-1149	44	10	10	10	NUM
ijassa-1149	44	11	,	,	PUNCT
ijassa-1149	44	12	13	13	NUM
ijassa-1149	44	13	,	,	PUNCT
ijassa-1149	44	14	17	17	NUM
ijassa-1149	44	15	,	,	PUNCT
ijassa-1149	44	16	18	18	NUM
ijassa-1149	44	17	]	]	PUNCT
ijassa-1149	44	18	,	,	PUNCT
ijassa-1149	44	19	a	a	DET
ijassa-1149	44	20	unified	unified	ADJ
ijassa-1149	44	21	platform	platform	NOUN
ijassa-1149	44	22	would	would	AUX
ijassa-1149	44	23	hardly	hardly	ADV
ijassa-1149	44	24	be	be	AUX
ijassa-1149	44	25	developed	develop	VERB
ijassa-1149	44	26	.	.	PUNCT
ijassa-1149	45	1	at	at	ADP
ijassa-1149	45	2	the	the	DET
ijassa-1149	45	3	same	same	ADJ
ijassa-1149	45	4	time	time	NOUN
ijassa-1149	45	5	,	,	PUNCT
ijassa-1149	45	6	numerous	numerous	ADJ
ijassa-1149	45	7	ореn	ореn	ADJ
ijassa-1149	45	8	sourсe	sourсe	NOUN
ijassa-1149	45	9	realizations	realization	NOUN
ijassa-1149	45	10	are	be	AUX
ijassa-1149	45	11	expected	expect	VERB
ijassa-1149	45	12	to	to	PART
ijassa-1149	45	13	yield	yield	VERB
ijassa-1149	45	14	good	good	ADJ
ijassa-1149	45	15	engineering	engineering	NOUN
ijassa-1149	45	16	solutions	solution	NOUN
ijassa-1149	45	17	for	for	ADP
ijassa-1149	45	18	interacting	interact	VERB
ijassa-1149	45	19	robots	robot	NOUN
ijassa-1149	45	20	with	with	ADP
ijassa-1149	45	21	collective	collective	ADJ
ijassa-1149	45	22	tasks	task	NOUN
ijassa-1149	45	23	.	.	PUNCT
ijassa-1149	46	1	as	as	SCONJ
ijassa-1149	46	2	emphasized	emphasize	VERB
ijassa-1149	46	3	in	in	ADP
ijassa-1149	46	4	the	the	DET
ijassa-1149	46	5	paper	paper	NOUN
ijassa-1149	47	1	[	[	X
ijassa-1149	47	2	12	12	NUM
ijassa-1149	47	3	]	]	PUNCT
ijassa-1149	47	4	,	,	PUNCT
ijassa-1149	47	5	robots	robot	NOUN
ijassa-1149	47	6	performing	perform	VERB
ijassa-1149	47	7	a	a	DET
ijassa-1149	47	8	common	common	ADJ
ijassa-1149	47	9	task	task	NOUN
ijassa-1149	47	10	must	must	AUX
ijassa-1149	47	11	exchange	exchange	VERB
ijassa-1149	47	12	information	information	NOUN
ijassa-1149	47	13	about	about	ADP
ijassa-1149	47	14	the	the	DET
ijassa-1149	47	15	environment	environment	NOUN
ijassa-1149	47	16	.	.	PUNCT
ijassa-1149	48	1	in	in	ADP
ijassa-1149	48	2	particular	particular	ADJ
ijassa-1149	48	3	,	,	PUNCT
ijassa-1149	48	4	jha	jha	PROPN
ijassa-1149	48	5	and	and	CCONJ
ijassa-1149	48	6	gupta	gupta	PROPN
ijassa-1149	48	7	proposed	propose	VERB
ijassa-1149	48	8	a	a	DET
ijassa-1149	48	9	communication	communication	NOUN
ijassa-1149	48	10	architecture	architecture	NOUN
ijassa-1149	48	11	with	with	ADP
ijassa-1149	48	12	an	an	DET
ijassa-1149	48	13	algorithm	algorithm	NOUN
ijassa-1149	48	14	for	for	ADP
ijassa-1149	48	15	searching	search	VERB
ijassa-1149	48	16	the	the	DET
ijassa-1149	48	17	lost	lost	ADJ
ijassa-1149	48	18	network	network	NOUN
ijassa-1149	48	19	members	member	NOUN
ijassa-1149	48	20	to	to	PART
ijassa-1149	48	21	route	route	VERB
ijassa-1149	48	22	the	the	DET
ijassa-1149	48	23	information	information	NOUN
ijassa-1149	48	24	from	from	ADP
ijassa-1149	48	25	a	a	DET
ijassa-1149	48	26	lost	lose	VERB
ijassa-1149	48	27	source	source	NOUN
ijassa-1149	48	28	robot	robot	NOUN
ijassa-1149	48	29	to	to	ADP
ijassa-1149	48	30	a	a	DET
ijassa-1149	48	31	destination	destination	NOUN
ijassa-1149	48	32	robot	robot	NOUN
ijassa-1149	48	33	.	.	PUNCT
ijassa-1149	49	1	an	an	DET
ijassa-1149	49	2	appropriate	appropriate	ADJ
ijassa-1149	49	3	robot	robot	NOUN
ijassa-1149	49	4	for	for	ADP
ijassa-1149	49	5	routing	routing	NOUN
ijassa-1149	49	6	in	in	ADP
ijassa-1149	49	7	the	the	DET
ijassa-1149	49	8	network	network	NOUN
ijassa-1149	49	9	is	be	AUX
ijassa-1149	49	10	selected	select	VERB
ijassa-1149	49	11	based	base	VERB
ijassa-1149	49	12	on	on	ADP
ijassa-1149	49	13	its	its	PRON
ijassa-1149	49	14	load	load	NOUN
ijassa-1149	49	15	,	,	PUNCT
ijassa-1149	49	16	estimated	estimate	VERB
ijassa-1149	49	17	by	by	ADP
ijassa-1149	49	18	different	different	ADJ
ijassa-1149	49	19	factors	factor	NOUN
ijassa-1149	49	20	(	(	PUNCT
ijassa-1149	49	21	ongoing	ongoing	ADJ
ijassa-1149	49	22	processes	process	NOUN
ijassa-1149	49	23	,	,	PUNCT
ijassa-1149	49	24	battery	battery	NOUN
ijassa-1149	49	25	power	power	NOUN
ijassa-1149	49	26	,	,	PUNCT
ijassa-1149	49	27	connectivity	connectivity	NOUN
ijassa-1149	49	28	,	,	PUNCT
ijassa-1149	49	29	or	or	CCONJ
ijassa-1149	49	30	storage	storage	NOUN
ijassa-1149	49	31	space	space	NOUN
ijassa-1149	49	32	)	)	PUNCT
ijassa-1149	49	33	.	.	PUNCT
ijassa-1149	50	1	the	the	DET
ijassa-1149	50	2	idle	idle	ADJ
ijassa-1149	50	3	robots	robot	NOUN
ijassa-1149	50	4	have	have	VERB
ijassa-1149	50	5	an	an	DET
ijassa-1149	50	6	effective	effective	ADJ
ijassa-1149	50	7	role	role	NOUN
ijassa-1149	50	8	in	in	ADP
ijassa-1149	50	9	the	the	DET
ijassa-1149	50	10	network	network	NOUN
ijassa-1149	50	11	to	to	PART
ijassa-1149	50	12	increase	increase	VERB
ijassa-1149	50	13	the	the	DET
ijassa-1149	50	14	efficiency	efficiency	NOUN
ijassa-1149	50	15	of	of	ADP
ijassa-1149	50	16	the	the	DET
ijassa-1149	50	17	communication	communication	NOUN
ijassa-1149	50	18	system	system	NOUN
ijassa-1149	50	19	.	.	PUNCT
ijassa-1149	51	1	the	the	DET
ijassa-1149	51	2	authors	author	NOUN
ijassa-1149	51	3	[	[	X
ijassa-1149	51	4	11	11	NUM
ijassa-1149	51	5	]	]	PUNCT
ijassa-1149	51	6	extended	extend	VERB
ijassa-1149	51	7	the	the	DET
ijassa-1149	51	8	computation	computation	NOUN
ijassa-1149	51	9	and	and	CCONJ
ijassa-1149	51	10	information	information	NOUN
ijassa-1149	51	11	-	-	PUNCT
ijassa-1149	51	12	sharing	share	VERB
ijassa-1149	51	13	capabilities	capability	NOUN
ijassa-1149	51	14	of	of	ADP
ijassa-1149	51	15	networked	networked	ADJ
ijassa-1149	51	16	robotics	robotic	NOUN
ijassa-1149	51	17	by	by	ADP
ijassa-1149	51	18	proposing	propose	VERB
ijassa-1149	51	19	a	a	DET
ijassa-1149	51	20	cloud	cloud	ADJ
ijassa-1149	51	21	robotic	robotic	ADJ
ijassa-1149	51	22	architecture	architecture	NOUN
ijassa-1149	51	23	.	.	PUNCT
ijassa-1149	52	1	the	the	DET
ijassa-1149	52	2	cloud	cloud	NOUN
ijassa-1149	52	3	robotics	robotic	NOUN
ijassa-1149	52	4	architecture	architecture	NOUN
ijassa-1149	52	5	leverages	leverage	VERB
ijassa-1149	52	6	the	the	DET
ijassa-1149	52	7	combination	combination	NOUN
ijassa-1149	52	8	of	of	ADP
ijassa-1149	52	9	a	a	DET
ijassa-1149	52	10	virtual	virtual	ADJ
ijassa-1149	52	11	ad	ad	NOUN
ijassa-1149	52	12	-	-	PUNCT
ijassa-1149	52	13	hoc	hoc	X
ijassa-1149	52	14	cloud	cloud	NOUN
ijassa-1149	52	15	formed	form	VERB
ijassa-1149	52	16	by	by	ADP
ijassa-1149	52	17	machine	machine	NOUN
ijassa-1149	52	18	-	-	PUNCT
ijassa-1149	52	19	to	to	ADP
ijassa-1149	52	20	-	-	PUNCT
ijassa-1149	52	21	machine	machine	NOUN
ijassa-1149	52	22	(	(	PUNCT
ijassa-1149	52	23	m2	m2	PROPN
ijassa-1149	52	24	m	m	NOUN
ijassa-1149	52	25	)	)	PUNCT
ijassa-1149	52	26	communications	communication	NOUN
ijassa-1149	52	27	among	among	ADP
ijassa-1149	52	28	participating	participate	VERB
ijassa-1149	52	29	robots	robot	NOUN
ijassa-1149	52	30	.	.	PUNCT
ijassa-1149	53	1	cloud	cloud	NOUN
ijassa-1149	53	2	robotics	robotic	NOUN
ijassa-1149	53	3	utilizes	utilize	VERB
ijassa-1149	53	4	elastic	elastic	ADJ
ijassa-1149	53	5	computing	computing	NOUN
ijassa-1149	53	6	models	model	NOUN
ijassa-1149	53	7	,	,	PUNCT
ijassa-1149	53	8	in	in	ADP
ijassa-1149	53	9	which	which	PRON
ijassa-1149	53	10	resources	resource	NOUN
ijassa-1149	53	11	are	be	AUX
ijassa-1149	53	12	dynamically	dynamically	ADV
ijassa-1149	53	13	allocated	allocate	VERB
ijassa-1149	53	14	from	from	ADP
ijassa-1149	53	15	a	a	DET
ijassa-1149	53	16	shared	share	VERB
ijassa-1149	53	17	resource	resource	NOUN
ijassa-1149	53	18	pool	pool	NOUN
ijassa-1149	53	19	in	in	ADP
ijassa-1149	53	20	the	the	DET
ijassa-1149	53	21	cloud	cloud	NOUN
ijassa-1149	53	22	to	to	PART
ijassa-1149	53	23	support	support	VERB
ijassa-1149	53	24	task	task	NOUN
ijassa-1149	53	25	offloading	offloading	NOUN
ijassa-1149	53	26	and	and	CCONJ
ijassa-1149	53	27	information	information	NOUN
ijassa-1149	53	28	sharing	sharing	NOUN
ijassa-1149	53	29	in	in	ADP
ijassa-1149	53	30	robotic	robotic	ADJ
ijassa-1149	53	31	applications	application	NOUN
ijassa-1149	53	32	.	.	PUNCT
ijassa-1149	54	1	the	the	DET
ijassa-1149	54	2	paper	paper	NOUN
ijassa-1149	54	3	[	[	X
ijassa-1149	54	4	14	14	NUM
ijassa-1149	54	5	]	]	PUNCT
ijassa-1149	54	6	considered	consider	VERB
ijassa-1149	54	7	the	the	DET
ijassa-1149	54	8	conceptual	conceptual	ADJ
ijassa-1149	54	9	similarities	similarity	NOUN
ijassa-1149	54	10	and	and	CCONJ
ijassa-1149	54	11	differences	difference	NOUN
ijassa-1149	54	12	of	of	ADP
ijassa-1149	54	13	m2	m2	PROPN
ijassa-1149	54	14	m	m	PROPN
ijassa-1149	54	15	and	and	CCONJ
ijassa-1149	54	16	iot	iot	NOUN
ijassa-1149	54	17	.	.	PUNCT
ijassa-1149	55	1	as	as	SCONJ
ijassa-1149	55	2	noted	note	VERB
ijassa-1149	55	3	,	,	PUNCT
ijassa-1149	55	4	m2	m2	PROPN
ijassa-1149	55	5	m	m	PROPN
ijassa-1149	55	6	supplier	supplier	NOUN
ijassa-1149	55	7	competencies	competency	NOUN
ijassa-1149	55	8	tend	tend	VERB
ijassa-1149	55	9	to	to	PART
ijassa-1149	55	10	focus	focus	VERB
ijassa-1149	55	11	on	on	ADP
ijassa-1149	55	12	the	the	DET
ijassa-1149	55	13	“	"	PUNCT
ijassa-1149	55	14	plumbing	plumbing	NOUN
ijassa-1149	55	15	”	"	PUNCT
ijassa-1149	55	16	aspects	aspect	NOUN
ijassa-1149	55	17	mentioned	mention	VERB
ijassa-1149	55	18	earlier	early	ADV
ijassa-1149	55	19	,	,	PUNCT
ijassa-1149	55	20	particularly	particularly	ADV
ijassa-1149	55	21	embedded	embed	VERB
ijassa-1149	55	22	hardware	hardware	NOUN
ijassa-1149	55	23	and	and	CCONJ
ijassa-1149	55	24	cellular	cellular	ADJ
ijassa-1149	55	25	telecommunications	telecommunication	NOUN
ijassa-1149	55	26	networks	network	NOUN
ijassa-1149	55	27	.	.	PUNCT
ijassa-1149	56	1	many	many	ADJ
ijassa-1149	56	2	are	be	AUX
ijassa-1149	56	3	starting	start	VERB
ijassa-1149	56	4	to	to	PART
ijassa-1149	56	5	add	add	VERB
ijassa-1149	56	6	cloud	cloud	NOUN
ijassa-1149	56	7	capability	capability	NOUN
ijassa-1149	56	8	through	through	ADP
ijassa-1149	56	9	internal	internal	ADJ
ijassa-1149	56	10	development	development	NOUN
ijassa-1149	56	11	,	,	PUNCT
ijassa-1149	56	12	acquisition	acquisition	NOUN
ijassa-1149	56	13	,	,	PUNCT
ijassa-1149	56	14	or	or	CCONJ
ijassa-1149	56	15	partnering	partnering	NOUN
ijassa-1149	56	16	,	,	PUNCT
ijassa-1149	56	17	but	but	CCONJ
ijassa-1149	56	18	this	this	PRON
ijassa-1149	56	19	represents	represent	VERB
ijassa-1149	56	20	new	new	ADJ
ijassa-1149	56	21	terrain	terrain	NOUN
ijassa-1149	56	22	for	for	ADP
ijassa-1149	56	23	most	most	ADJ
ijassa-1149	56	24	m2	m2	PROPN
ijassa-1149	56	25	m	m	PROPN
ijassa-1149	56	26	suppliers	supplier	NOUN
ijassa-1149	56	27	.	.	PUNCT
ijassa-1149	57	1	iot	iot	ADJ
ijassa-1149	57	2	solution	solution	NOUN
ijassa-1149	57	3	suppliers	supplier	NOUN
ijassa-1149	57	4	,	,	PUNCT
ijassa-1149	57	5	on	on	ADP
ijassa-1149	57	6	the	the	DET
ijassa-1149	57	7	other	other	ADJ
ijassa-1149	57	8	hand	hand	NOUN
ijassa-1149	57	9	,	,	PUNCT
ijassa-1149	57	10	tend	tend	VERB
ijassa-1149	57	11	to	to	PART
ijassa-1149	57	12	emphasize	emphasize	VERB
ijassa-1149	57	13	software	software	NOUN
ijassa-1149	57	14	capabilities	capability	NOUN
ijassa-1149	57	15	and	and	CCONJ
ijassa-1149	57	16	particularly	particularly	ADV
ijassa-1149	57	17	enterprise	enterprise	NOUN
ijassa-1149	57	18	integration	integration	NOUN
ijassa-1149	57	19	.	.	PUNCT
ijassa-1149	58	1	these	these	PRON
ijassa-1149	58	2	are	be	AUX
ijassa-1149	58	3	important	important	ADJ
ijassa-1149	58	4	distinctions	distinction	NOUN
ijassa-1149	58	5	.	.	PUNCT
ijassa-1149	59	1	duarte	duarte	PROPN
ijassa-1149	59	2	et	et	PROPN
ijassa-1149	59	3	al	al	PROPN
ijassa-1149	59	4	.	.	PUNCT
ijassa-1149	60	1	[	[	X
ijassa-1149	60	2	8	8	NUM
ijassa-1149	60	3	]	]	PUNCT
ijassa-1149	60	4	proposed	propose	VERB
ijassa-1149	60	5	swarm	swarm	NOUN
ijassa-1149	60	6	robotics	robotic	NOUN
ijassa-1149	60	7	systems	system	NOUN
ijassa-1149	60	8	to	to	PART
ijassa-1149	60	9	carry	carry	VERB
ijassa-1149	60	10	out	out	ADP
ijassa-1149	60	11	marine	marine	ADJ
ijassa-1149	60	12	environmental	environmental	ADJ
ijassa-1149	60	13	monitoring	monitoring	NOUN
ijassa-1149	60	14	missions	mission	NOUN
ijassa-1149	60	15	.	.	PUNCT
ijassa-1149	61	1	in	in	ADP
ijassa-1149	61	2	swarm	swarm	NOUN
ijassa-1149	61	3	robotics	robotic	NOUN
ijassa-1149	61	4	systems	system	NOUN
ijassa-1149	61	5	,	,	PUNCT
ijassa-1149	61	6	each	each	DET
ijassa-1149	61	7	individual	individual	ADJ
ijassa-1149	61	8	unit	unit	NOUN
ijassa-1149	61	9	is	be	AUX
ijassa-1149	61	10	relatively	relatively	ADV
ijassa-1149	61	11	simple	simple	ADJ
ijassa-1149	61	12	and	and	CCONJ
ijassa-1149	61	13	inexpensive	inexpensive	ADJ
ijassa-1149	61	14	.	.	PUNCT
ijassa-1149	62	1	the	the	DET
ijassa-1149	62	2	robots	robot	NOUN
ijassa-1149	62	3	rely	rely	VERB
ijassa-1149	62	4	on	on	ADP
ijassa-1149	62	5	decentralized	decentralized	ADJ
ijassa-1149	62	6	control	control	NOUN
ijassa-1149	62	7	and	and	CCONJ
ijassa-1149	62	8	local	local	ADJ
ijassa-1149	62	9	communication	communication	NOUN
ijassa-1149	62	10	,	,	PUNCT
ijassa-1149	62	11	allowing	allow	VERB
ijassa-1149	62	12	the	the	DET
ijassa-1149	62	13	swarm	swarm	NOUN
ijassa-1149	62	14	to	to	PART
ijassa-1149	62	15	scale	scale	VERB
ijassa-1149	62	16	to	to	ADP
ijassa-1149	62	17	hundreds	hundred	NOUN
ijassa-1149	62	18	of	of	ADP
ijassa-1149	62	19	units	unit	NOUN
ijassa-1149	62	20	and	and	CCONJ
ijassa-1149	62	21	cover	cover	VERB
ijassa-1149	62	22	large	large	ADJ
ijassa-1149	62	23	areas	area	NOUN
ijassa-1149	62	24	.	.	PUNCT
ijassa-1149	63	1	the	the	DET
ijassa-1149	63	2	cited	cite	VERB
ijassa-1149	63	3	authors	author	NOUN
ijassa-1149	63	4	studied	study	VERB
ijassa-1149	63	5	the	the	DET
ijassa-1149	63	6	164	164	NUM
ijassa-1149	63	7	v.	v.	ADP
ijassa-1149	63	8	abrosimov	abrosimov	NOUN
ijassa-1149	63	9	,	,	PUNCT
ijassa-1149	63	10	a.	a.	NOUN
ijassa-1149	63	11	mazurov	mazurov	PROPN
ijassa-1149	63	12	copyright	copyright	PROPN
ijassa-1149	64	1	©	©	PROPN
ijassa-1149	64	2	2022	2022	NUM
ijassa-1149	64	3	assa	assa	PROPN
ijassa-1149	64	4	adv	adv	PROPN
ijassa-1149	64	5	.	.	PUNCT
ijassa-1149	65	1	in	in	ADP
ijassa-1149	65	2	systems	system	NOUN
ijassa-1149	65	3	science	science	NOUN
ijassa-1149	65	4	and	and	CCONJ
ijassa-1149	65	5	appl	appl	NOUN
ijassa-1149	65	6	.	.	PUNCT
ijassa-1149	66	1	(	(	PUNCT
ijassa-1149	66	2	2022	2022	NUM
ijassa-1149	66	3	)	)	PUNCT
ijassa-1149	66	4	application	application	NOUN
ijassa-1149	66	5	of	of	ADP
ijassa-1149	66	6	a	a	DET
ijassa-1149	66	7	swarm	swarm	NOUN
ijassa-1149	66	8	of	of	ADP
ijassa-1149	66	9	aquatic	aquatic	ADJ
ijassa-1149	66	10	robots	robot	NOUN
ijassa-1149	66	11	to	to	ADP
ijassa-1149	66	12	environmental	environmental	ADJ
ijassa-1149	66	13	monitoring	monitoring	NOUN
ijassa-1149	66	14	tasks	task	NOUN
ijassa-1149	66	15	.	.	PUNCT
ijassa-1149	67	1	the	the	DET
ijassa-1149	67	2	first	first	ADJ
ijassa-1149	67	3	part	part	NOUN
ijassa-1149	67	4	of	of	ADP
ijassa-1149	67	5	the	the	DET
ijassa-1149	67	6	study	study	NOUN
ijassa-1149	67	7	synthesized	synthesize	VERB
ijassa-1149	67	8	swarm	swarm	NOUN
ijassa-1149	67	9	control	control	NOUN
ijassa-1149	67	10	for	for	ADP
ijassa-1149	67	11	a	a	DET
ijassa-1149	67	12	temperature	temperature	NOUN
ijassa-1149	67	13	monitoring	monitoring	NOUN
ijassa-1149	67	14	mission	mission	NOUN
ijassa-1149	67	15	and	and	CCONJ
ijassa-1149	67	16	validated	validate	VERB
ijassa-1149	67	17	the	the	DET
ijassa-1149	67	18	results	result	NOUN
ijassa-1149	67	19	with	with	ADP
ijassa-1149	67	20	a	a	DET
ijassa-1149	67	21	real	real	ADJ
ijassa-1149	67	22	swarm	swarm	NOUN
ijassa-1149	67	23	robotics	robotic	NOUN
ijassa-1149	67	24	system	system	NOUN
ijassa-1149	67	25	.	.	PUNCT
ijassa-1149	68	1	then	then	ADV
ijassa-1149	68	2	,	,	PUNCT
ijassa-1149	68	3	the	the	DET
ijassa-1149	68	4	authors	author	NOUN
ijassa-1149	68	5	conducted	conduct	VERB
ijassa-1149	68	6	a	a	DET
ijassa-1149	68	7	simulation	simulation	NOUN
ijassa-1149	68	8	-	-	PUNCT
ijassa-1149	68	9	based	base	VERB
ijassa-1149	68	10	evaluation	evaluation	NOUN
ijassa-1149	68	11	of	of	ADP
ijassa-1149	68	12	the	the	DET
ijassa-1149	68	13	robots	robot	NOUN
ijassa-1149	68	14	’	'	PUNCT
ijassa-1149	68	15	performance	performance	NOUN
ijassa-1149	68	16	over	over	ADP
ijassa-1149	68	17	large	large	ADJ
ijassa-1149	68	18	areas	area	NOUN
ijassa-1149	68	19	and	and	CCONJ
ijassa-1149	68	20	with	with	ADP
ijassa-1149	68	21	large	large	ADJ
ijassa-1149	68	22	swarm	swarm	NOUN
ijassa-1149	68	23	sizes	size	NOUN
ijassa-1149	68	24	and	and	CCONJ
ijassa-1149	68	25	demonstrated	demonstrate	VERB
ijassa-1149	68	26	the	the	DET
ijassa-1149	68	27	swarm	swarm	NOUN
ijassa-1149	68	28	’s	’s	PART
ijassa-1149	68	29	robustness	robustness	NOUN
ijassa-1149	68	30	to	to	ADP
ijassa-1149	68	31	faults	fault	NOUN
ijassa-1149	68	32	.	.	PUNCT
ijassa-1149	69	1	according	accord	VERB
ijassa-1149	69	2	to	to	ADP
ijassa-1149	69	3	the	the	DET
ijassa-1149	69	4	results	result	NOUN
ijassa-1149	69	5	obtained	obtain	VERB
ijassa-1149	69	6	,	,	PUNCT
ijassa-1149	69	7	swarm	swarm	NOUN
ijassa-1149	69	8	robotics	robotic	NOUN
ijassa-1149	69	9	systems	system	NOUN
ijassa-1149	69	10	are	be	AUX
ijassa-1149	69	11	suited	suit	VERB
ijassa-1149	69	12	for	for	ADP
ijassa-1149	69	13	environmental	environmental	ADJ
ijassa-1149	69	14	monitoring	monitoring	NOUN
ijassa-1149	69	15	tasks	task	NOUN
ijassa-1149	69	16	by	by	ADP
ijassa-1149	69	17	efficiently	efficiently	ADV
ijassa-1149	69	18	covering	cover	VERB
ijassa-1149	69	19	a	a	DET
ijassa-1149	69	20	target	target	NOUN
ijassa-1149	69	21	area	area	NOUN
ijassa-1149	69	22	,	,	PUNCT
ijassa-1149	69	23	allowing	allow	VERB
ijassa-1149	69	24	redundancy	redundancy	NOUN
ijassa-1149	69	25	in	in	ADP
ijassa-1149	69	26	the	the	DET
ijassa-1149	69	27	data	data	NOUN
ijassa-1149	69	28	collection	collection	NOUN
ijassa-1149	69	29	process	process	NOUN
ijassa-1149	69	30	,	,	PUNCT
ijassa-1149	69	31	and	and	CCONJ
ijassa-1149	69	32	tolerating	tolerate	VERB
ijassa-1149	69	33	individual	individual	ADJ
ijassa-1149	69	34	robot	robot	NOUN
ijassa-1149	69	35	faults	fault	NOUN
ijassa-1149	69	36	.	.	PUNCT
ijassa-1149	70	1	the	the	DET
ijassa-1149	70	2	paper	paper	NOUN
ijassa-1149	70	3	[	[	X
ijassa-1149	70	4	6	6	NUM
ijassa-1149	70	5	]	]	PUNCT
ijassa-1149	70	6	presented	present	VERB
ijassa-1149	70	7	a	a	DET
ijassa-1149	70	8	survey	survey	NOUN
ijassa-1149	70	9	of	of	ADP
ijassa-1149	70	10	related	related	ADJ
ijassa-1149	70	11	work	work	NOUN
ijassa-1149	70	12	in	in	ADP
ijassa-1149	70	13	the	the	DET
ijassa-1149	70	14	area	area	NOUN
ijassa-1149	70	15	of	of	ADP
ijassa-1149	70	16	self	self	NOUN
ijassa-1149	70	17	-	-	PUNCT
ijassa-1149	70	18	organization	organization	NOUN
ijassa-1149	70	19	and	and	CCONJ
ijassa-1149	70	20	discussed	discuss	VERB
ijassa-1149	70	21	future	future	ADJ
ijassa-1149	70	22	research	research	NOUN
ijassa-1149	70	23	opportunities	opportunity	NOUN
ijassa-1149	70	24	and	and	CCONJ
ijassa-1149	70	25	challenges	challenge	NOUN
ijassa-1149	70	26	for	for	ADP
ijassa-1149	70	27	self	self	NOUN
ijassa-1149	70	28	-	-	PUNCT
ijassa-1149	70	29	organization	organization	NOUN
ijassa-1149	70	30	in	in	ADP
ijassa-1149	70	31	the	the	DET
ijassa-1149	70	32	iot	iot	PROPN
ijassa-1149	70	33	.	.	PROPN
ijassa-1149	70	34	athreya	athreya	PROPN
ijassa-1149	70	35	and	and	CCONJ
ijassa-1149	70	36	tague	tague	PROPN
ijassa-1149	70	37	considered	consider	VERB
ijassa-1149	70	38	the	the	DET
ijassa-1149	70	39	process	process	NOUN
ijassa-1149	70	40	of	of	ADP
ijassa-1149	70	41	discovering	discover	VERB
ijassa-1149	70	42	available	available	ADJ
ijassa-1149	70	43	peer	peer	NOUN
ijassa-1149	70	44	devices	device	NOUN
ijassa-1149	70	45	to	to	PART
ijassa-1149	70	46	support	support	VERB
ijassa-1149	70	47	and	and	CCONJ
ijassa-1149	70	48	initiate	initiate	VERB
ijassa-1149	70	49	communications	communication	NOUN
ijassa-1149	70	50	during	during	ADP
ijassa-1149	70	51	self	self	NOUN
ijassa-1149	70	52	-	-	PUNCT
ijassa-1149	70	53	organization	organization	NOUN
ijassa-1149	70	54	.	.	PUNCT
ijassa-1149	71	1	they	they	PRON
ijassa-1149	71	2	discussed	discuss	VERB
ijassa-1149	71	3	how	how	SCONJ
ijassa-1149	71	4	establishing	establish	VERB
ijassa-1149	71	5	peer	peer	NOUN
ijassa-1149	71	6	connectivity	connectivity	NOUN
ijassa-1149	71	7	could	could	AUX
ijassa-1149	71	8	lead	lead	VERB
ijassa-1149	71	9	to	to	ADP
ijassa-1149	71	10	end	end	NOUN
ijassa-1149	71	11	-	-	PUNCT
ijassa-1149	71	12	to	to	ADP
ijassa-1149	71	13	-	-	PUNCT
ijassa-1149	71	14	end	end	NOUN
ijassa-1149	71	15	path	path	NOUN
ijassa-1149	71	16	establishment	establishment	NOUN
ijassa-1149	71	17	allowing	allow	VERB
ijassa-1149	71	18	for	for	ADP
ijassa-1149	71	19	connectivity	connectivity	NOUN
ijassa-1149	71	20	in	in	ADP
ijassa-1149	71	21	the	the	DET
ijassa-1149	71	22	self	self	NOUN
ijassa-1149	71	23	-	-	PUNCT
ijassa-1149	71	24	organized	organize	VERB
ijassa-1149	71	25	network	network	NOUN
ijassa-1149	71	26	.	.	PUNCT
ijassa-1149	72	1	service	service	NOUN
ijassa-1149	72	2	recovery	recovery	NOUN
ijassa-1149	72	3	management	management	NOUN
ijassa-1149	72	4	is	be	AUX
ijassa-1149	72	5	the	the	DET
ijassa-1149	72	6	process	process	NOUN
ijassa-1149	72	7	of	of	ADP
ijassa-1149	72	8	recovering	recover	VERB
ijassa-1149	72	9	from	from	ADP
ijassa-1149	72	10	local	local	ADJ
ijassa-1149	72	11	failures	failure	NOUN
ijassa-1149	72	12	of	of	ADP
ijassa-1149	72	13	devices	device	NOUN
ijassa-1149	72	14	and	and	CCONJ
ijassa-1149	72	15	avoiding	avoid	VERB
ijassa-1149	72	16	network	network	NOUN
ijassa-1149	72	17	service	service	NOUN
ijassa-1149	72	18	disruptions	disruption	NOUN
ijassa-1149	72	19	in	in	ADP
ijassa-1149	72	20	the	the	DET
ijassa-1149	72	21	self	self	NOUN
ijassa-1149	72	22	-	-	PUNCT
ijassa-1149	72	23	organized	organize	VERB
ijassa-1149	72	24	network	network	NOUN
ijassa-1149	72	25	.	.	PUNCT
ijassa-1149	73	1	yadav	yadav	PROPN
ijassa-1149	73	2	,	,	PUNCT
ijassa-1149	73	3	mccann	mccann	PROPN
ijassa-1149	73	4	,	,	PUNCT
ijassa-1149	73	5	and	and	CCONJ
ijassa-1149	73	6	pereira	pereira	PROPN
ijassa-1149	74	1	[	[	X
ijassa-1149	74	2	19	19	NUM
ijassa-1149	74	3	]	]	PUNCT
ijassa-1149	74	4	introduced	introduce	VERB
ijassa-1149	74	5	an	an	DET
ijassa-1149	74	6	extended	extended	ADJ
ijassa-1149	74	7	and	and	CCONJ
ijassa-1149	74	8	improved	improve	VERB
ijassa-1149	74	9	emergent	emergent	ADJ
ijassa-1149	74	10	broadcast	broadcast	NOUN
ijassa-1149	74	11	slot	slot	NOUN
ijassa-1149	74	12	(	(	PUNCT
ijassa-1149	74	13	ebs	ebs	NOUN
ijassa-1149	74	14	)	)	PUNCT
ijassa-1149	74	15	scheme	scheme	NOUN
ijassa-1149	74	16	,	,	PUNCT
ijassa-1149	74	17	which	which	PRON
ijassa-1149	74	18	facilitates	facilitate	VERB
ijassa-1149	74	19	collaboration	collaboration	NOUN
ijassa-1149	74	20	for	for	ADP
ijassa-1149	74	21	robust	robust	ADJ
ijassa-1149	74	22	communication	communication	NOUN
ijassa-1149	74	23	and	and	CCONJ
ijassa-1149	74	24	is	be	AUX
ijassa-1149	74	25	energy	energy	NOUN
ijassa-1149	74	26	efficient	efficient	ADJ
ijassa-1149	74	27	.	.	PUNCT
ijassa-1149	75	1	in	in	ADP
ijassa-1149	75	2	the	the	DET
ijassa-1149	75	3	ebs	ebs	NOUN
ijassa-1149	75	4	,	,	PUNCT
ijassa-1149	75	5	nodes	nod	VERB
ijassa-1149	75	6	communication	communication	NOUN
ijassa-1149	75	7	units	unit	NOUN
ijassa-1149	75	8	remain	remain	VERB
ijassa-1149	75	9	in	in	ADP
ijassa-1149	75	10	sleeping	sleep	VERB
ijassa-1149	75	11	mode	mode	NOUN
ijassa-1149	75	12	and	and	CCONJ
ijassa-1149	75	13	are	be	AUX
ijassa-1149	75	14	awake	awake	ADJ
ijassa-1149	75	15	to	to	PART
ijassa-1149	75	16	communicate	communicate	VERB
ijassa-1149	75	17	.	.	PUNCT
ijassa-1149	76	1	the	the	DET
ijassa-1149	76	2	ebs	ebs	PROPN
ijassa-1149	76	3	scheme	scheme	NOUN
ijassa-1149	76	4	is	be	AUX
ijassa-1149	76	5	fully	fully	ADV
ijassa-1149	76	6	decentralized	decentralize	VERB
ijassa-1149	76	7	:	:	PUNCT
ijassa-1149	76	8	nodes	node	NOUN
ijassa-1149	76	9	coordinate	coordinate	VERB
ijassa-1149	76	10	their	their	PRON
ijassa-1149	76	11	wakeup	wakeup	NOUN
ijassa-1149	76	12	window	window	NOUN
ijassa-1149	76	13	,	,	PUNCT
ijassa-1149	76	14	partially	partially	ADV
ijassa-1149	76	15	overlapping	overlap	VERB
ijassa-1149	76	16	within	within	ADP
ijassa-1149	76	17	each	each	DET
ijassa-1149	76	18	duty	duty	NOUN
ijassa-1149	76	19	-	-	PUNCT
ijassa-1149	76	20	cycle	cycle	NOUN
ijassa-1149	76	21	,	,	PUNCT
ijassa-1149	76	22	to	to	PART
ijassa-1149	76	23	avoid	avoid	VERB
ijassa-1149	76	24	message	message	NOUN
ijassa-1149	76	25	collisions	collision	NOUN
ijassa-1149	76	26	.	.	PUNCT
ijassa-1149	77	1	in	in	ADP
ijassa-1149	77	2	the	the	DET
ijassa-1149	77	3	paper	paper	NOUN
ijassa-1149	77	4	[	[	X
ijassa-1149	77	5	15	15	NUM
ijassa-1149	77	6	]	]	PUNCT
ijassa-1149	77	7	closely	closely	ADV
ijassa-1149	77	8	relating	relate	VERB
ijassa-1149	77	9	to	to	ADP
ijassa-1149	77	10	the	the	DET
ijassa-1149	77	11	subject	subject	NOUN
ijassa-1149	77	12	matter	matter	NOUN
ijassa-1149	77	13	,	,	PUNCT
ijassa-1149	77	14	ray	ray	PROPN
ijassa-1149	77	15	introduced	introduce	VERB
ijassa-1149	77	16	a	a	DET
ijassa-1149	77	17	new	new	ADJ
ijassa-1149	77	18	concept	concept	NOUN
ijassa-1149	77	19	called	call	VERB
ijassa-1149	77	20	the	the	DET
ijassa-1149	77	21	internet	internet	NOUN
ijassa-1149	77	22	of	of	ADP
ijassa-1149	77	23	robotic	robotic	ADJ
ijassa-1149	77	24	things	thing	NOUN
ijassa-1149	77	25	(	(	PUNCT
ijassa-1149	77	26	iort	iort	NOUN
ijassa-1149	77	27	)	)	PUNCT
ijassa-1149	77	28	.	.	PUNCT
ijassa-1149	78	1	this	this	DET
ijassa-1149	78	2	concept	concept	NOUN
ijassa-1149	78	3	tackles	tackle	VERB
ijassa-1149	78	4	the	the	DET
ijassa-1149	78	5	issues	issue	NOUN
ijassa-1149	78	6	for	for	ADP
ijassa-1149	78	7	supporting	support	VERB
ijassa-1149	78	8	control	control	NOUN
ijassa-1149	78	9	and	and	CCONJ
ijassa-1149	78	10	monitoring	monitoring	NOUN
ijassa-1149	78	11	activities	activity	NOUN
ijassa-1149	78	12	at	at	ADP
ijassa-1149	78	13	deployment	deployment	NOUN
ijassa-1149	78	14	sites	site	NOUN
ijassa-1149	78	15	and	and	CCONJ
ijassa-1149	78	16	industrial	industrial	ADJ
ijassa-1149	78	17	automations	automation	NOUN
ijassa-1149	78	18	,	,	PUNCT
ijassa-1149	78	19	where	where	SCONJ
ijassa-1149	78	20	intelligent	intelligent	ADJ
ijassa-1149	78	21	things	thing	NOUN
ijassa-1149	78	22	can	can	AUX
ijassa-1149	78	23	monitor	monitor	VERB
ijassa-1149	78	24	peripheral	peripheral	ADJ
ijassa-1149	78	25	events	event	NOUN
ijassa-1149	78	26	,	,	PUNCT
ijassa-1149	78	27	induce	induce	VERB
ijassa-1149	78	28	sensor	sensor	NOUN
ijassa-1149	78	29	data	datum	NOUN
ijassa-1149	78	30	acquired	acquire	VERB
ijassa-1149	78	31	from	from	ADP
ijassa-1149	78	32	various	various	ADJ
ijassa-1149	78	33	sources	source	NOUN
ijassa-1149	78	34	,	,	PUNCT
ijassa-1149	78	35	and	and	CCONJ
ijassa-1149	78	36	use	use	VERB
ijassa-1149	78	37	ad	ad	NOUN
ijassa-1149	78	38	-	-	PUNCT
ijassa-1149	78	39	hoc	hoc	ADJ
ijassa-1149	78	40	,	,	PUNCT
ijassa-1149	78	41	local	local	ADJ
ijassa-1149	78	42	,	,	PUNCT
ijassa-1149	78	43	and	and	CCONJ
ijassa-1149	78	44	distributed	distribute	VERB
ijassa-1149	78	45	“	"	PUNCT
ijassa-1149	78	46	machine	machine	NOUN
ijassa-1149	78	47	intelligence	intelligence	NOUN
ijassa-1149	78	48	”	"	PUNCT
ijassa-1149	78	49	to	to	PART
ijassa-1149	78	50	determine	determine	VERB
ijassa-1149	78	51	an	an	DET
ijassa-1149	78	52	appropriate	appropriate	ADJ
ijassa-1149	78	53	course	course	NOUN
ijassa-1149	78	54	of	of	ADP
ijassa-1149	78	55	actions	action	NOUN
ijassa-1149	78	56	.	.	PUNCT
ijassa-1149	79	1	the	the	DET
ijassa-1149	79	2	ultimate	ultimate	ADJ
ijassa-1149	79	3	goal	goal	NOUN
ijassa-1149	79	4	is	be	AUX
ijassa-1149	79	5	to	to	PART
ijassa-1149	79	6	control	control	VERB
ijassa-1149	79	7	or	or	CCONJ
ijassa-1149	79	8	disseminate	disseminate	VERB
ijassa-1149	79	9	static	static	ADJ
ijassa-1149	79	10	or	or	CCONJ
ijassa-1149	79	11	dynamic	dynamic	ADJ
ijassa-1149	79	12	position	position	NOUN
ijassa-1149	79	13	-	-	PUNCT
ijassa-1149	79	14	aware	aware	ADJ
ijassa-1149	79	15	robotic	robotic	ADJ
ijassa-1149	79	16	things	thing	NOUN
ijassa-1149	79	17	in	in	ADP
ijassa-1149	79	18	the	the	DET
ijassa-1149	79	19	physical	physical	ADJ
ijassa-1149	79	20	world	world	NOUN
ijassa-1149	79	21	through	through	ADP
ijassa-1149	79	22	a	a	DET
ijassa-1149	79	23	seamless	seamless	ADJ
ijassa-1149	79	24	manner	manner	NOUN
ijassa-1149	79	25	by	by	ADP
ijassa-1149	79	26	providing	provide	VERB
ijassa-1149	79	27	a	a	DET
ijassa-1149	79	28	means	mean	NOUN
ijassa-1149	79	29	for	for	ADP
ijassa-1149	79	30	utilizing	utilize	VERB
ijassa-1149	79	31	them	they	PRON
ijassa-1149	79	32	as	as	ADP
ijassa-1149	79	33	the	the	DET
ijassa-1149	79	34	iort	iort	NOUN
ijassa-1149	79	35	.	.	PUNCT
ijassa-1149	80	1	although	although	SCONJ
ijassa-1149	80	2	progressive	progressive	ADJ
ijassa-1149	80	3	advancements	advancement	NOUN
ijassa-1149	80	4	can	can	AUX
ijassa-1149	80	5	be	be	AUX
ijassa-1149	80	6	seen	see	VERB
ijassa-1149	80	7	in	in	ADP
ijassa-1149	80	8	multi	multi	ADJ
ijassa-1149	80	9	-	-	ADJ
ijassa-1149	80	10	robotic	robotic	ADJ
ijassa-1149	80	11	systems	system	NOUN
ijassa-1149	80	12	,	,	PUNCT
ijassa-1149	80	13	and	and	CCONJ
ijassa-1149	80	14	robots	robot	NOUN
ijassa-1149	80	15	are	be	AUX
ijassa-1149	80	16	constantly	constantly	ADV
ijassa-1149	80	17	getting	getting	AUX
ijassa-1149	80	18	enriched	enrich	VERB
ijassa-1149	80	19	by	by	ADP
ijassa-1149	80	20	easier	easy	ADJ
ijassa-1149	80	21	developmental	developmental	ADJ
ijassa-1149	80	22	functionalities	functionality	NOUN
ijassa-1149	80	23	,	,	PUNCT
ijassa-1149	80	24	such	such	ADJ
ijassa-1149	80	25	vertical	vertical	ADJ
ijassa-1149	80	26	robotic	robotic	ADJ
ijassa-1149	80	27	service	service	NOUN
ijassa-1149	80	28	-	-	PUNCT
ijassa-1149	80	29	centric	centric	ADJ
ijassa-1149	80	30	silos	silo	NOUN
ijassa-1149	80	31	are	be	AUX
ijassa-1149	80	32	not	not	PART
ijassa-1149	80	33	enough	enough	ADJ
ijassa-1149	80	34	for	for	ADP
ijassa-1149	80	35	continuously	continuously	ADV
ijassa-1149	80	36	and	and	CCONJ
ijassa-1149	80	37	seamlessly	seamlessly	ADV
ijassa-1149	80	38	supporting	support	VERB
ijassa-1149	80	39	for	for	ADP
ijassa-1149	80	40	which	which	PRON
ijassa-1149	80	41	they	they	PRON
ijassa-1149	80	42	are	be	AUX
ijassa-1149	80	43	meant	mean	VERB
ijassa-1149	80	44	.	.	PUNCT
ijassa-1149	81	1	thus	thus	ADV
ijassa-1149	81	2	,	,	PUNCT
ijassa-1149	81	3	the	the	DET
ijassa-1149	81	4	collective	collective	ADJ
ijassa-1149	81	5	management	management	NOUN
ijassa-1149	81	6	of	of	ADP
ijassa-1149	81	7	unpredicted	unpredicted	ADJ
ijassa-1149	81	8	situations	situation	NOUN
ijassa-1149	81	9	and	and	CCONJ
ijassa-1149	81	10	the	the	DET
ijassa-1149	81	11	possibility	possibility	NOUN
ijassa-1149	81	12	of	of	ADP
ijassa-1149	81	13	changing	change	VERB
ijassa-1149	81	14	scenarios	scenario	NOUN
ijassa-1149	81	15	were	be	AUX
ijassa-1149	81	16	not	not	PART
ijassa-1149	81	17	properly	properly	ADV
ijassa-1149	81	18	considered	consider	VERB
ijassa-1149	81	19	in	in	ADP
ijassa-1149	81	20	the	the	DET
ijassa-1149	81	21	literature	literature	NOUN
ijassa-1149	81	22	on	on	ADP
ijassa-1149	81	23	the	the	DET
ijassa-1149	81	24	collective	collective	ADJ
ijassa-1149	81	25	behavior	behavior	NOUN
ijassa-1149	81	26	of	of	ADP
ijassa-1149	81	27	objects	object	NOUN
ijassa-1149	81	28	(	(	PUNCT
ijassa-1149	81	29	particularly	particularly	ADV
ijassa-1149	81	30	robots	robot	NOUN
ijassa-1149	81	31	)	)	PUNCT
ijassa-1149	81	32	.	.	PUNCT
ijassa-1149	82	1	if	if	SCONJ
ijassa-1149	82	2	an	an	DET
ijassa-1149	82	3	object	object	NOUN
ijassa-1149	82	4	can	can	AUX
ijassa-1149	82	5	not	not	PART
ijassa-1149	82	6	perform	perform	VERB
ijassa-1149	82	7	an	an	DET
ijassa-1149	82	8	assigned	assign	VERB
ijassa-1149	82	9	task	task	NOUN
ijassa-1149	82	10	(	(	PUNCT
ijassa-1149	82	11	due	due	ADP
ijassa-1149	82	12	to	to	ADP
ijassa-1149	82	13	exhausted	exhausted	ADJ
ijassa-1149	82	14	resources	resource	NOUN
ijassa-1149	82	15	,	,	PUNCT
ijassa-1149	82	16	new	new	ADJ
ijassa-1149	82	17	conditions	condition	NOUN
ijassa-1149	82	18	in	in	ADP
ijassa-1149	82	19	the	the	DET
ijassa-1149	82	20	environment	environment	NOUN
ijassa-1149	82	21	,	,	PUNCT
ijassa-1149	82	22	etc	etc	X
ijassa-1149	82	23	.	.	X
ijassa-1149	82	24	)	)	PUNCT
ijassa-1149	82	25	,	,	PUNCT
ijassa-1149	82	26	it	it	PRON
ijassa-1149	82	27	becomes	become	VERB
ijassa-1149	82	28	unnecessary	unnecessary	ADJ
ijassa-1149	82	29	for	for	ADP
ijassa-1149	82	30	the	the	DET
ijassa-1149	82	31	group	group	NOUN
ijassa-1149	82	32	.	.	PUNCT
ijassa-1149	83	1	well	well	ADV
ijassa-1149	83	2	-	-	PUNCT
ijassa-1149	83	3	known	know	VERB
ijassa-1149	83	4	methods	method	NOUN
ijassa-1149	83	5	are	be	AUX
ijassa-1149	83	6	intended	intend	VERB
ijassa-1149	83	7	for	for	ADP
ijassa-1149	83	8	performing	perform	VERB
ijassa-1149	83	9	collective	collective	ADJ
ijassa-1149	83	10	tasks	task	NOUN
ijassa-1149	83	11	by	by	ADP
ijassa-1149	83	12	a	a	DET
ijassa-1149	83	13	large	large	ADJ
ijassa-1149	83	14	group	group	NOUN
ijassa-1149	83	15	of	of	ADP
ijassa-1149	83	16	relatively	relatively	ADV
ijassa-1149	83	17	simple	simple	ADJ
ijassa-1149	83	18	objects	object	NOUN
ijassa-1149	83	19	.	.	PUNCT
ijassa-1149	84	1	they	they	PRON
ijassa-1149	84	2	have	have	VERB
ijassa-1149	84	3	obvious	obvious	ADJ
ijassa-1149	84	4	advantages	advantage	NOUN
ijassa-1149	84	5	such	such	ADJ
ijassa-1149	84	6	as	as	ADP
ijassa-1149	84	7	high	high	ADJ
ijassa-1149	84	8	reliability	reliability	NOUN
ijassa-1149	84	9	(	(	PUNCT
ijassa-1149	84	10	loss	loss	NOUN
ijassa-1149	84	11	of	of	ADP
ijassa-1149	84	12	one	one	NUM
ijassa-1149	84	13	object	object	NOUN
ijassa-1149	84	14	does	do	AUX
ijassa-1149	84	15	not	not	PART
ijassa-1149	84	16	affect	affect	VERB
ijassa-1149	84	17	the	the	DET
ijassa-1149	84	18	entire	entire	ADJ
ijassa-1149	84	19	group	group	NOUN
ijassa-1149	84	20	’s	’s	PART
ijassa-1149	84	21	performance	performance	NOUN
ijassa-1149	84	22	)	)	PUNCT
ijassa-1149	84	23	,	,	PUNCT
ijassa-1149	84	24	potential	potential	ADJ
ijassa-1149	84	25	complexity	complexity	NOUN
ijassa-1149	84	26	increase	increase	NOUN
ijassa-1149	84	27	(	(	PUNCT
ijassa-1149	84	28	the	the	DET
ijassa-1149	84	29	complexity	complexity	NOUN
ijassa-1149	84	30	of	of	ADP
ijassa-1149	84	31	tasks	task	NOUN
ijassa-1149	84	32	can	can	AUX
ijassa-1149	84	33	be	be	AUX
ijassa-1149	84	34	increased	increase	VERB
ijassa-1149	84	35	by	by	ADP
ijassa-1149	84	36	adding	add	VERB
ijassa-1149	84	37	new	new	ADJ
ijassa-1149	84	38	objects	object	NOUN
ijassa-1149	84	39	to	to	ADP
ijassa-1149	84	40	the	the	DET
ijassa-1149	84	41	group	group	NOUN
ijassa-1149	84	42	)	)	PUNCT
ijassa-1149	84	43	,	,	PUNCT
ijassa-1149	84	44	and	and	CCONJ
ijassa-1149	84	45	others	other	NOUN
ijassa-1149	84	46	.	.	PUNCT
ijassa-1149	85	1	however	however	ADV
ijassa-1149	85	2	,	,	PUNCT
ijassa-1149	85	3	these	these	DET
ijassa-1149	85	4	methods	method	NOUN
ijassa-1149	85	5	neglect	neglect	VERB
ijassa-1149	85	6	the	the	DET
ijassa-1149	85	7	specifics	specific	NOUN
ijassa-1149	85	8	of	of	ADP
ijassa-1149	85	9	collective	collective	ADJ
ijassa-1149	85	10	behavior	behavior	NOUN
ijassa-1149	85	11	in	in	ADP
ijassa-1149	85	12	an	an	DET
ijassa-1149	85	13	antagonistic	antagonistic	ADJ
ijassa-1149	85	14	environment	environment	NOUN
ijassa-1149	85	15	.	.	PUNCT
ijassa-1149	86	1	moreover	moreover	ADV
ijassa-1149	86	2	,	,	PUNCT
ijassa-1149	86	3	they	they	PRON
ijassa-1149	86	4	are	be	AUX
ijassa-1149	86	5	inapplicable	inapplicable	ADJ
ijassa-1149	86	6	when	when	SCONJ
ijassa-1149	86	7	a	a	DET
ijassa-1149	86	8	collective	collective	ADJ
ijassa-1149	86	9	mission	mission	NOUN
ijassa-1149	86	10	is	be	AUX
ijassa-1149	86	11	fulfilled	fulfil	VERB
ijassa-1149	86	12	by	by	ADP
ijassa-1149	86	13	a	a	DET
ijassa-1149	86	14	few	few	ADJ
ijassa-1149	86	15	objects	object	NOUN
ijassa-1149	86	16	expensive	expensive	ADJ
ijassa-1149	86	17	for	for	ADP
ijassa-1149	86	18	production	production	NOUN
ijassa-1149	86	19	and	and	CCONJ
ijassa-1149	86	20	maintenance	maintenance	NOUN
ijassa-1149	86	21	.	.	PUNCT
ijassa-1149	87	1	of	of	ADP
ijassa-1149	87	2	particular	particular	ADJ
ijassa-1149	87	3	interest	interest	NOUN
ijassa-1149	87	4	are	be	AUX
ijassa-1149	87	5	practical	practical	ADJ
ijassa-1149	87	6	situations	situation	NOUN
ijassa-1149	87	7	when	when	SCONJ
ijassa-1149	87	8	an	an	DET
ijassa-1149	87	9	object	object	NOUN
ijassa-1149	87	10	enters	enter	VERB
ijassa-1149	87	11	the	the	DET
ijassa-1149	87	12	enemy	enemy	NOUN
ijassa-1149	87	13	’s	’s	PART
ijassa-1149	87	14	counteraction	counteraction	NOUN
ijassa-1149	87	15	zone	zone	NOUN
ijassa-1149	87	16	(	(	PUNCT
ijassa-1149	87	17	is	be	AUX
ijassa-1149	87	18	exposed	expose	VERB
ijassa-1149	87	19	to	to	ADP
ijassa-1149	87	20	a	a	DET
ijassa-1149	87	21	threat	threat	NOUN
ijassa-1149	87	22	)	)	PUNCT
ijassa-1149	87	23	,	,	PUNCT
ijassa-1149	87	24	and	and	CCONJ
ijassa-1149	87	25	other	other	ADJ
ijassa-1149	87	26	objects	object	NOUN
ijassa-1149	87	27	in	in	ADP
ijassa-1149	87	28	the	the	DET
ijassa-1149	87	29	group	group	NOUN
ijassa-1149	87	30	have	have	VERB
ijassa-1149	87	31	the	the	DET
ijassa-1149	87	32	resources	resource	NOUN
ijassa-1149	87	33	and	and	CCONJ
ijassa-1149	87	34	functionality	functionality	NOUN
ijassa-1149	87	35	to	to	PART
ijassa-1149	87	36	eliminate	eliminate	VERB
ijassa-1149	87	37	this	this	DET
ijassa-1149	87	38	threat	threat	NOUN
ijassa-1149	87	39	.	.	PUNCT
ijassa-1149	88	1	therefore	therefore	ADV
ijassa-1149	88	2	,	,	PUNCT
ijassa-1149	88	3	we	we	PRON
ijassa-1149	88	4	propose	propose	VERB
ijassa-1149	88	5	a	a	DET
ijassa-1149	88	6	new	new	ADJ
ijassa-1149	88	7	approach	approach	NOUN
ijassa-1149	88	8	to	to	ADP
ijassa-1149	88	9	collective	collective	ADJ
ijassa-1149	88	10	mission	mission	NOUN
ijassa-1149	88	11	fulfillment	fulfillment	NOUN
ijassa-1149	88	12	based	base	VERB
ijassa-1149	88	13	on	on	ADP
ijassa-1149	88	14	the	the	DET
ijassa-1149	88	15	principle	principle	NOUN
ijassa-1149	88	16	of	of	ADP
ijassa-1149	88	17	collectivism	collectivism	NOUN
ijassa-1149	88	18	and	and	CCONJ
ijassa-1149	88	19	the	the	DET
ijassa-1149	88	20	internet	internet	NOUN
ijassa-1149	88	21	-	-	PUNCT
ijassa-1149	88	22	of	of	ADP
ijassa-1149	88	23	-	-	PUNCT
ijassa-1149	88	24	things	thing	NOUN
ijassa-1149	88	25	paradigm	paradigm	NOUN
ijassa-1149	88	26	.	.	PUNCT
ijassa-1149	89	1	the	the	DET
ijassa-1149	89	2	novelty	novelty	NOUN
ijassa-1149	89	3	of	of	ADP
ijassa-1149	89	4	the	the	DET
ijassa-1149	89	5	approach	approach	NOUN
ijassa-1149	89	6	is	be	AUX
ijassa-1149	89	7	that	that	SCONJ
ijassa-1149	89	8	each	each	DET
ijassa-1149	89	9	robot	robot	NOUN
ijassa-1149	89	10	in	in	ADP
ijassa-1149	89	11	the	the	DET
ijassa-1149	89	12	group	group	NOUN
ijassa-1149	89	13	is	be	AUX
ijassa-1149	89	14	valuable	valuable	ADJ
ijassa-1149	89	15	:	:	PUNCT
ijassa-1149	89	16	with	with	ADP
ijassa-1149	89	17	different	different	ADJ
ijassa-1149	89	18	resources	resource	NOUN
ijassa-1149	89	19	and	and	CCONJ
ijassa-1149	89	20	functionality	functionality	NOUN
ijassa-1149	89	21	,	,	PUNCT
ijassa-1149	89	22	they	they	PRON
ijassa-1149	89	23	assist	assist	VERB
ijassa-1149	89	24	each	each	DET
ijassa-1149	89	25	other	other	ADJ
ijassa-1149	89	26	.	.	PUNCT
ijassa-1149	90	1	the	the	DET
ijassa-1149	90	2	robots	robot	NOUN
ijassa-1149	90	3	execute	execute	VERB
ijassa-1149	90	4	different	different	ADJ
ijassa-1149	90	5	roles	role	NOUN
ijassa-1149	90	6	within	within	ADP
ijassa-1149	90	7	the	the	DET
ijassa-1149	90	8	group	group	NOUN
ijassa-1149	90	9	,	,	PUNCT
ijassa-1149	90	10	operating	operate	VERB
ijassa-1149	90	11	independently	independently	ADV
ijassa-1149	90	12	to	to	PART
ijassa-1149	90	13	fulfill	fulfill	VERB
ijassa-1149	90	14	a	a	DET
ijassa-1149	90	15	collective	collective	ADJ
ijassa-1149	90	16	mission	mission	NOUN
ijassa-1149	90	17	.	.	PUNCT
ijassa-1149	91	1	the	the	DET
ijassa-1149	91	2	robots	robot	NOUN
ijassa-1149	91	3	are	be	AUX
ijassa-1149	91	4	equipped	equip	VERB
ijassa-1149	91	5	with	with	ADP
ijassa-1149	91	6	observation	observation	NOUN
ijassa-1149	91	7	sensors	sensor	NOUN
ijassa-1149	91	8	and	and	CCONJ
ijassa-1149	91	9	motion	motion	NOUN
ijassa-1149	91	10	detectors	detector	NOUN
ijassa-1149	91	11	.	.	PUNCT
ijassa-1149	92	1	the	the	DET
ijassa-1149	92	2	functions	function	NOUN
ijassa-1149	92	3	and	and	CCONJ
ijassa-1149	92	4	resources	resource	NOUN
ijassa-1149	92	5	of	of	ADP
ijassa-1149	92	6	robots	robot	NOUN
ijassa-1149	92	7	are	be	AUX
ijassa-1149	92	8	represented	represent	VERB
ijassa-1149	92	9	as	as	ADP
ijassa-1149	92	10	external	external	ADJ
ijassa-1149	92	11	services	service	NOUN
ijassa-1149	92	12	.	.	PUNCT
ijassa-1149	93	1	a	a	DET
ijassa-1149	93	2	service	service	NOUN
ijassa-1149	93	3	-	-	PUNCT
ijassa-1149	93	4	oriented	orient	VERB
ijassa-1149	93	5	mutual	mutual	ADJ
ijassa-1149	93	6	assistance	assistance	NOUN
ijassa-1149	93	7	architecture	architecture	NOUN
ijassa-1149	93	8	is	be	AUX
ijassa-1149	93	9	designed	design	VERB
ijassa-1149	93	10	for	for	SCONJ
ijassa-1149	93	11	robots	robot	NOUN
ijassa-1149	93	12	to	to	PART
ijassa-1149	93	13	resolve	resolve	VERB
ijassa-1149	93	14	conflicts	conflict	NOUN
ijassa-1149	93	15	and	and	CCONJ
ijassa-1149	93	16	the	the	DET
ijassa-1149	93	17	collective	collective	ADJ
ijassa-1149	93	18	behavior	behavior	NOUN
ijassa-1149	93	19	of	of	ADP
ijassa-1149	93	20	robots	robot	NOUN
ijassa-1149	93	21	based	base	VERB
ijassa-1149	93	22	on	on	ADP
ijassa-1149	93	23	the	the	DET
ijassa-1149	93	24	internet	internet	NOUN
ijassa-1149	93	25	-	-	PUNCT
ijassa-1149	93	26	of	of	ADP
ijassa-1149	93	27	-	-	PUNCT
ijassa-1149	93	28	things	thing	NOUN
ijassa-1149	93	29	paradigm	paradigm	NOUN
ijassa-1149	93	30	165	165	NUM
ijassa-1149	93	31	copyright	copyright	NOUN
ijassa-1149	93	32	©	©	PROPN
ijassa-1149	93	33	2022	2022	NUM
ijassa-1149	93	34	assa	assa	NOUN
ijassa-1149	93	35	.	.	PUNCT
ijassa-1149	94	1	adv	adv	PROPN
ijassa-1149	94	2	.	.	PUNCT
ijassa-1149	95	1	in	in	ADP
ijassa-1149	95	2	systems	system	NOUN
ijassa-1149	95	3	science	science	NOUN
ijassa-1149	95	4	and	and	CCONJ
ijassa-1149	95	5	appl	appl	NOUN
ijassa-1149	95	6	.	.	PUNCT
ijassa-1149	96	1	(	(	PUNCT
ijassa-1149	96	2	2022	2022	NUM
ijassa-1149	96	3	)	)	PUNCT
ijassa-1149	96	4	problem	problem	NOUN
ijassa-1149	96	5	situations	situation	NOUN
ijassa-1149	96	6	caused	cause	VERB
ijassa-1149	96	7	by	by	ADP
ijassa-1149	96	8	the	the	DET
ijassa-1149	96	9	environment	environment	NOUN
ijassa-1149	96	10	.	.	PUNCT
ijassa-1149	97	1	within	within	ADP
ijassa-1149	97	2	the	the	DET
ijassa-1149	97	3	internet	internet	NOUN
ijassa-1149	97	4	-	-	PUNCT
ijassa-1149	97	5	of	of	ADP
ijassa-1149	97	6	-	-	PUNCT
ijassa-1149	97	7	things	thing	NOUN
ijassa-1149	97	8	paradigm	paradigm	NOUN
ijassa-1149	97	9	,	,	PUNCT
ijassa-1149	97	10	each	each	DET
ijassa-1149	97	11	robot	robot	NOUN
ijassa-1149	97	12	can	can	AUX
ijassa-1149	97	13	use	use	VERB
ijassa-1149	97	14	the	the	DET
ijassa-1149	97	15	resources	resource	NOUN
ijassa-1149	97	16	and	and	CCONJ
ijassa-1149	97	17	functionality	functionality	NOUN
ijassa-1149	97	18	of	of	ADP
ijassa-1149	97	19	other	other	ADJ
ijassa-1149	97	20	robots	robot	NOUN
ijassa-1149	97	21	via	via	ADP
ijassa-1149	97	22	online	online	ADJ
ijassa-1149	97	23	requests	request	NOUN
ijassa-1149	97	24	when	when	SCONJ
ijassa-1149	97	25	needed	need	VERB
ijassa-1149	97	26	.	.	PUNCT
ijassa-1149	98	1	such	such	ADJ
ijassa-1149	98	2	spontaneous	spontaneous	ADJ
ijassa-1149	98	3	relations	relation	NOUN
ijassa-1149	98	4	provide	provide	VERB
ijassa-1149	98	5	a	a	DET
ijassa-1149	98	6	fundamental	fundamental	ADJ
ijassa-1149	98	7	opportunity	opportunity	NOUN
ijassa-1149	98	8	for	for	ADP
ijassa-1149	98	9	the	the	DET
ijassa-1149	98	10	collective	collective	ADJ
ijassa-1149	98	11	management	management	NOUN
ijassa-1149	98	12	of	of	ADP
ijassa-1149	98	13	unpredicted	unpredicted	ADJ
ijassa-1149	98	14	situations	situation	NOUN
ijassa-1149	98	15	and	and	CCONJ
ijassa-1149	98	16	the	the	DET
ijassa-1149	98	17	possibility	possibility	NOUN
ijassa-1149	98	18	of	of	ADP
ijassa-1149	98	19	changing	change	VERB
ijassa-1149	98	20	behavioral	behavioral	ADJ
ijassa-1149	98	21	scenarios	scenario	NOUN
ijassa-1149	98	22	when	when	SCONJ
ijassa-1149	98	23	fulfilling	fulfil	VERB
ijassa-1149	98	24	a	a	DET
ijassa-1149	98	25	collective	collective	ADJ
ijassa-1149	98	26	mission	mission	NOUN
ijassa-1149	98	27	,	,	PUNCT
ijassa-1149	98	28	leading	lead	VERB
ijassa-1149	98	29	to	to	ADP
ijassa-1149	98	30	self	self	NOUN
ijassa-1149	98	31	-	-	PUNCT
ijassa-1149	98	32	organization	organization	NOUN
ijassa-1149	98	33	.	.	PUNCT
ijassa-1149	99	1	the	the	DET
ijassa-1149	99	2	effectiveness	effectiveness	NOUN
ijassa-1149	99	3	of	of	ADP
ijassa-1149	99	4	the	the	DET
ijassa-1149	99	5	proposed	propose	VERB
ijassa-1149	99	6	approach	approach	NOUN
ijassa-1149	99	7	is	be	AUX
ijassa-1149	99	8	illustrated	illustrate	VERB
ijassa-1149	99	9	by	by	ADP
ijassa-1149	99	10	an	an	DET
ijassa-1149	99	11	example	example	NOUN
ijassa-1149	99	12	:	:	PUNCT
ijassa-1149	99	13	a	a	DET
ijassa-1149	99	14	group	group	NOUN
ijassa-1149	99	15	of	of	ADP
ijassa-1149	99	16	robots	robot	NOUN
ijassa-1149	99	17	attacks	attack	VERB
ijassa-1149	99	18	a	a	DET
ijassa-1149	99	19	complex	complex	ADJ
ijassa-1149	99	20	target	target	NOUN
ijassa-1149	99	21	secured	secure	VERB
ijassa-1149	99	22	by	by	ADP
ijassa-1149	99	23	a	a	DET
ijassa-1149	99	24	defense	defense	NOUN
ijassa-1149	99	25	system	system	NOUN
ijassa-1149	99	26	.	.	PUNCT
ijassa-1149	100	1	3	3	X
ijassa-1149	100	2	.	.	X
ijassa-1149	100	3	robot	robot	NOUN
ijassa-1149	100	4	’s	’s	PART
ijassa-1149	100	5	situational	situational	ADJ
ijassa-1149	100	6	awareness	awareness	NOUN
ijassa-1149	100	7	each	each	DET
ijassa-1149	100	8	robot	robot	NOUN
ijassa-1149	100	9	has	have	VERB
ijassa-1149	100	10	to	to	PART
ijassa-1149	100	11	implement	implement	VERB
ijassa-1149	100	12	an	an	DET
ijassa-1149	100	13	individual	individual	ADJ
ijassa-1149	100	14	control	control	NOUN
ijassa-1149	100	15	strategy	strategy	NOUN
ijassa-1149	100	16	and	and	CCONJ
ijassa-1149	100	17	coordinate	coordinate	VERB
ijassa-1149	100	18	its	its	PRON
ijassa-1149	100	19	actions	action	NOUN
ijassa-1149	100	20	with	with	ADP
ijassa-1149	100	21	other	other	ADJ
ijassa-1149	100	22	group	group	NOUN
ijassa-1149	100	23	robots	robot	NOUN
ijassa-1149	100	24	.	.	PUNCT
ijassa-1149	101	1	therefore	therefore	ADV
ijassa-1149	101	2	,	,	PUNCT
ijassa-1149	101	3	each	each	DET
ijassa-1149	101	4	robot	robot	NOUN
ijassa-1149	101	5	needs	need	VERB
ijassa-1149	101	6	to	to	PART
ijassa-1149	101	7	know	know	VERB
ijassa-1149	101	8	and	and	CCONJ
ijassa-1149	101	9	predict	predict	VERB
ijassa-1149	101	10	its	its	PRON
ijassa-1149	101	11	position	position	NOUN
ijassa-1149	101	12	and	and	CCONJ
ijassa-1149	101	13	the	the	DET
ijassa-1149	101	14	situation	situation	NOUN
ijassa-1149	101	15	in	in	ADP
ijassa-1149	101	16	an	an	DET
ijassa-1149	101	17	environment	environment	NOUN
ijassa-1149	101	18	(	(	PUNCT
ijassa-1149	101	19	particularly	particularly	ADV
ijassa-1149	101	20	the	the	DET
ijassa-1149	101	21	states	state	NOUN
ijassa-1149	101	22	of	of	ADP
ijassa-1149	101	23	other	other	ADJ
ijassa-1149	101	24	robots	robot	NOUN
ijassa-1149	101	25	)	)	PUNCT
ijassa-1149	101	26	.	.	PUNCT
ijassa-1149	102	1	in	in	ADP
ijassa-1149	102	2	other	other	ADJ
ijassa-1149	102	3	words	word	NOUN
ijassa-1149	102	4	,	,	PUNCT
ijassa-1149	102	5	each	each	DET
ijassa-1149	102	6	robot	robot	NOUN
ijassa-1149	102	7	must	must	AUX
ijassa-1149	102	8	have	have	VERB
ijassa-1149	102	9	situational	situational	ADJ
ijassa-1149	102	10	awareness	awareness	NOUN
ijassa-1149	102	11	[	[	X
ijassa-1149	102	12	9	9	NUM
ijassa-1149	102	13	]	]	PUNCT
ijassa-1149	102	14	.	.	PUNCT
ijassa-1149	103	1	situational	situational	ADJ
ijassa-1149	103	2	awareness	awareness	NOUN
ijassa-1149	103	3	forms	form	VERB
ijassa-1149	103	4	the	the	DET
ijassa-1149	103	5	basis	basis	NOUN
ijassa-1149	103	6	of	of	ADP
ijassa-1149	103	7	the	the	DET
ijassa-1149	103	8	individual	individual	ADJ
ijassa-1149	103	9	behavioral	behavioral	ADJ
ijassa-1149	103	10	rules	rule	NOUN
ijassa-1149	103	11	of	of	ADP
ijassa-1149	103	12	a	a	DET
ijassa-1149	103	13	robot	robot	NOUN
ijassa-1149	103	14	designed	design	VERB
ijassa-1149	103	15	to	to	PART
ijassa-1149	103	16	fulfill	fulfill	VERB
ijassa-1149	103	17	a	a	DET
ijassa-1149	103	18	collective	collective	ADJ
ijassa-1149	103	19	mission	mission	NOUN
ijassa-1149	103	20	within	within	ADP
ijassa-1149	103	21	a	a	DET
ijassa-1149	103	22	group	group	NOUN
ijassa-1149	103	23	.	.	PUNCT
ijassa-1149	104	1	nowadays	nowadays	ADV
ijassa-1149	104	2	,	,	PUNCT
ijassa-1149	104	3	researchers	researcher	NOUN
ijassa-1149	104	4	identify	identify	VERB
ijassa-1149	104	5	three	three	NUM
ijassa-1149	104	6	main	main	ADJ
ijassa-1149	104	7	elements	element	NOUN
ijassa-1149	104	8	in	in	ADP
ijassa-1149	104	9	the	the	DET
ijassa-1149	104	10	concept	concept	NOUN
ijassa-1149	104	11	of	of	ADP
ijassa-1149	104	12	situational	situational	ADJ
ijassa-1149	104	13	awareness	awareness	NOUN
ijassa-1149	104	14	:	:	PUNCT
ijassa-1149	104	15	information	information	NOUN
ijassa-1149	104	16	about	about	ADP
ijassa-1149	104	17	the	the	DET
ijassa-1149	104	18	environmental	environmental	ADJ
ijassa-1149	104	19	situation	situation	NOUN
ijassa-1149	104	20	in	in	ADP
ijassa-1149	104	21	time	time	NOUN
ijassa-1149	104	22	and	and	CCONJ
ijassa-1149	104	23	space	space	NOUN
ijassa-1149	104	24	,	,	PUNCT
ijassa-1149	104	25	situation	situation	NOUN
ijassa-1149	104	26	assessment	assessment	NOUN
ijassa-1149	104	27	and	and	CCONJ
ijassa-1149	104	28	prediction	prediction	NOUN
ijassa-1149	104	29	(	(	PUNCT
ijassa-1149	104	30	scenarios	scenario	NOUN
ijassa-1149	104	31	of	of	ADP
ijassa-1149	104	32	further	further	ADJ
ijassa-1149	104	33	development	development	NOUN
ijassa-1149	104	34	)	)	PUNCT
ijassa-1149	104	35	in	in	ADP
ijassa-1149	104	36	the	the	DET
ijassa-1149	104	37	form	form	NOUN
ijassa-1149	104	38	of	of	ADP
ijassa-1149	104	39	events	event	NOUN
ijassa-1149	104	40	,	,	PUNCT
ijassa-1149	104	41	individual	individual	ADJ
ijassa-1149	104	42	actions	action	NOUN
ijassa-1149	104	43	,	,	PUNCT
ijassa-1149	104	44	and	and	CCONJ
ijassa-1149	104	45	other	other	ADJ
ijassa-1149	104	46	participants	participant	NOUN
ijassa-1149	104	47	’	'	PUNCT
ijassa-1149	104	48	actions	action	NOUN
ijassa-1149	104	49	.	.	PUNCT
ijassa-1149	105	1	in	in	ADP
ijassa-1149	105	2	practice	practice	NOUN
ijassa-1149	105	3	,	,	PUNCT
ijassa-1149	105	4	situational	situational	ADJ
ijassa-1149	105	5	awareness	awareness	NOUN
ijassa-1149	105	6	is	be	AUX
ijassa-1149	105	7	realized	realize	VERB
ijassa-1149	105	8	by	by	ADP
ijassa-1149	105	9	specific	specific	ADJ
ijassa-1149	105	10	models	model	NOUN
ijassa-1149	105	11	of	of	ADP
ijassa-1149	105	12	data	data	NOUN
ijassa-1149	105	13	acquisition	acquisition	NOUN
ijassa-1149	105	14	,	,	PUNCT
ijassa-1149	105	15	accumulation	accumulation	NOUN
ijassa-1149	105	16	,	,	PUNCT
ijassa-1149	105	17	storage	storage	NOUN
ijassa-1149	105	18	,	,	PUNCT
ijassa-1149	105	19	and	and	CCONJ
ijassa-1149	105	20	analysis	analysis	NOUN
ijassa-1149	105	21	,	,	PUNCT
ijassa-1149	105	22	including	include	VERB
ijassa-1149	105	23	access	access	NOUN
ijassa-1149	105	24	rules	rule	NOUN
ijassa-1149	105	25	for	for	ADP
ijassa-1149	105	26	robots	robot	NOUN
ijassa-1149	105	27	.	.	PUNCT
ijassa-1149	106	1	3.1	3.1	NUM
ijassa-1149	106	2	.	.	PUNCT
ijassa-1149	106	3	information	information	NOUN
ijassa-1149	106	4	about	about	ADP
ijassa-1149	106	5	the	the	DET
ijassa-1149	106	6	environment	environment	NOUN
ijassa-1149	106	7	there	there	ADV
ijassa-1149	106	8	exist	exist	VERB
ijassa-1149	106	9	two	two	NUM
ijassa-1149	106	10	main	main	ADJ
ijassa-1149	106	11	sources	source	NOUN
ijassa-1149	106	12	of	of	ADP
ijassa-1149	106	13	information	information	NOUN
ijassa-1149	106	14	about	about	ADP
ijassa-1149	106	15	the	the	DET
ijassa-1149	106	16	environment	environment	NOUN
ijassa-1149	106	17	.	.	PUNCT
ijassa-1149	107	1	the	the	DET
ijassa-1149	107	2	first	first	ADJ
ijassa-1149	107	3	source	source	NOUN
ijassa-1149	107	4	is	be	AUX
ijassa-1149	107	5	the	the	DET
ijassa-1149	107	6	observation	observation	NOUN
ijassa-1149	107	7	systems	system	NOUN
ijassa-1149	107	8	of	of	ADP
ijassa-1149	107	9	a	a	DET
ijassa-1149	107	10	robot	robot	NOUN
ijassa-1149	107	11	.	.	PUNCT
ijassa-1149	108	1	this	this	DET
ijassa-1149	108	2	group	group	NOUN
ijassa-1149	108	3	includes	include	VERB
ijassa-1149	108	4	various	various	ADJ
ijassa-1149	108	5	technical	technical	ADJ
ijassa-1149	108	6	means	mean	NOUN
ijassa-1149	108	7	,	,	PUNCT
ijassa-1149	108	8	e.g.	e.g.	ADV
ijassa-1149	108	9	,	,	PUNCT
ijassa-1149	108	10	optical	optical	ADJ
ijassa-1149	108	11	,	,	PUNCT
ijassa-1149	108	12	ultrasonic	ultrasonic	ADJ
ijassa-1149	108	13	,	,	PUNCT
ijassa-1149	108	14	infrared	infrared	ADJ
ijassa-1149	108	15	sensors	sensor	NOUN
ijassa-1149	108	16	,	,	PUNCT
ijassa-1149	108	17	etc	etc	X
ijassa-1149	108	18	.	.	X
ijassa-1149	108	19	however	however	ADV
ijassa-1149	108	20	,	,	PUNCT
ijassa-1149	108	21	the	the	DET
ijassa-1149	108	22	technical	technical	ADJ
ijassa-1149	108	23	capabilities	capability	NOUN
ijassa-1149	108	24	of	of	ADP
ijassa-1149	108	25	such	such	ADJ
ijassa-1149	108	26	sensors	sensor	NOUN
ijassa-1149	108	27	to	to	PART
ijassa-1149	108	28	observe	observe	VERB
ijassa-1149	108	29	and	and	CCONJ
ijassa-1149	108	30	measure	measure	VERB
ijassa-1149	108	31	environmental	environmental	ADJ
ijassa-1149	108	32	parameters	parameter	NOUN
ijassa-1149	108	33	are	be	AUX
ijassa-1149	108	34	limited	limit	VERB
ijassa-1149	108	35	in	in	ADP
ijassa-1149	108	36	principle	principle	NOUN
ijassa-1149	108	37	.	.	PUNCT
ijassa-1149	109	1	the	the	DET
ijassa-1149	109	2	second	second	ADJ
ijassa-1149	109	3	source	source	NOUN
ijassa-1149	109	4	is	be	AUX
ijassa-1149	109	5	external	external	ADJ
ijassa-1149	109	6	monitoring	monitoring	NOUN
ijassa-1149	109	7	systems	system	NOUN
ijassa-1149	109	8	,	,	PUNCT
ijassa-1149	109	9	e.g.	e.g.	ADV
ijassa-1149	109	10	,	,	PUNCT
ijassa-1149	109	11	aerospace	aerospace	NOUN
ijassa-1149	109	12	monitoring	monitoring	NOUN
ijassa-1149	109	13	systems	system	NOUN
ijassa-1149	109	14	,	,	PUNCT
ijassa-1149	109	15	remote	remote	ADJ
ijassa-1149	109	16	information	information	NOUN
ijassa-1149	109	17	support	support	NOUN
ijassa-1149	109	18	systems	system	NOUN
ijassa-1149	109	19	deployed	deploy	VERB
ijassa-1149	109	20	at	at	ADP
ijassa-1149	109	21	a	a	DET
ijassa-1149	109	22	considerable	considerable	ADJ
ijassa-1149	109	23	distance	distance	NOUN
ijassa-1149	109	24	to	to	ADP
ijassa-1149	109	25	the	the	DET
ijassa-1149	109	26	operational	operational	ADJ
ijassa-1149	109	27	space	space	NOUN
ijassa-1149	109	28	of	of	ADP
ijassa-1149	109	29	robots	robot	NOUN
ijassa-1149	109	30	,	,	PUNCT
ijassa-1149	109	31	and	and	CCONJ
ijassa-1149	109	32	others	other	NOUN
ijassa-1149	109	33	.	.	PUNCT
ijassa-1149	110	1	as	as	ADP
ijassa-1149	110	2	a	a	DET
ijassa-1149	110	3	rule	rule	NOUN
ijassa-1149	110	4	,	,	PUNCT
ijassa-1149	110	5	such	such	ADJ
ijassa-1149	110	6	monitoring	monitoring	NOUN
ijassa-1149	110	7	systems	system	NOUN
ijassa-1149	110	8	enable	enable	VERB
ijassa-1149	110	9	robots	robot	NOUN
ijassa-1149	110	10	to	to	PART
ijassa-1149	110	11	perform	perform	VERB
ijassa-1149	110	12	collective	collective	ADJ
ijassa-1149	110	13	tasks	task	NOUN
ijassa-1149	110	14	.	.	PUNCT
ijassa-1149	111	1	the	the	DET
ijassa-1149	111	2	sources	source	NOUN
ijassa-1149	111	3	mentioned	mention	VERB
ijassa-1149	111	4	can	can	AUX
ijassa-1149	111	5	be	be	AUX
ijassa-1149	111	6	used	use	VERB
ijassa-1149	111	7	to	to	PART
ijassa-1149	111	8	design	design	VERB
ijassa-1149	111	9	a	a	DET
ijassa-1149	111	10	full	full	ADJ
ijassa-1149	111	11	-	-	PUNCT
ijassa-1149	111	12	scale	scale	NOUN
ijassa-1149	111	13	geo	geo	PROPN
ijassa-1149	111	14	-	-	PUNCT
ijassa-1149	111	15	informational	informational	ADJ
ijassa-1149	111	16	system	system	NOUN
ijassa-1149	111	17	to	to	PART
ijassa-1149	111	18	describe	describe	VERB
ijassa-1149	111	19	situational	situational	ADJ
ijassa-1149	111	20	awareness	awareness	NOUN
ijassa-1149	111	21	.	.	PUNCT
ijassa-1149	112	1	this	this	DET
ijassa-1149	112	2	paper	paper	NOUN
ijassa-1149	112	3	considers	consider	VERB
ijassa-1149	112	4	the	the	DET
ijassa-1149	112	5	following	follow	VERB
ijassa-1149	112	6	simple	simple	ADJ
ijassa-1149	112	7	case	case	NOUN
ijassa-1149	112	8	.	.	PUNCT
ijassa-1149	113	1	we	we	PRON
ijassa-1149	113	2	divide	divide	VERB
ijassa-1149	113	3	the	the	DET
ijassa-1149	113	4	operational	operational	ADJ
ijassa-1149	113	5	space	space	NOUN
ijassa-1149	113	6	of	of	ADP
ijassa-1149	113	7	a	a	DET
ijassa-1149	113	8	group	group	NOUN
ijassa-1149	113	9	of	of	ADP
ijassa-1149	113	10	robots	robot	NOUN
ijassa-1149	113	11	into	into	ADP
ijassa-1149	113	12	a	a	DET
ijassa-1149	113	13	finite	finite	ADJ
ijassa-1149	113	14	number	number	NOUN
ijassa-1149	113	15	of	of	ADP
ijassa-1149	113	16	domains	domain	NOUN
ijassa-1149	113	17	(	(	PUNCT
ijassa-1149	113	18	segments	segment	NOUN
ijassa-1149	113	19	)	)	PUNCT
ijassa-1149	113	20	.	.	PUNCT
ijassa-1149	114	1	each	each	DET
ijassa-1149	114	2	segment	segment	NOUN
ijassa-1149	114	3	can	can	AUX
ijassa-1149	114	4	be	be	AUX
ijassa-1149	114	5	characterized	characterize	VERB
ijassa-1149	114	6	by	by	ADP
ijassa-1149	114	7	different	different	ADJ
ijassa-1149	114	8	parameters	parameter	NOUN
ijassa-1149	114	9	:	:	PUNCT
ijassa-1149	114	10	coordinates	coordinate	NOUN
ijassa-1149	114	11	,	,	PUNCT
ijassa-1149	114	12	size	size	NOUN
ijassa-1149	114	13	,	,	PUNCT
ijassa-1149	114	14	the	the	DET
ijassa-1149	114	15	probability	probability	NOUN
ijassa-1149	114	16	of	of	ADP
ijassa-1149	114	17	problem	problem	NOUN
ijassa-1149	114	18	occurrence	occurrence	NOUN
ijassa-1149	114	19	,	,	PUNCT
ijassa-1149	114	20	and	and	CCONJ
ijassa-1149	114	21	others	other	NOUN
ijassa-1149	114	22	.	.	PUNCT
ijassa-1149	115	1	(	(	PUNCT
ijassa-1149	115	2	a	a	DET
ijassa-1149	115	3	problem	problem	NOUN
ijassa-1149	115	4	is	be	AUX
ijassa-1149	115	5	an	an	DET
ijassa-1149	115	6	event	event	NOUN
ijassa-1149	115	7	in	in	ADP
ijassa-1149	115	8	the	the	DET
ijassa-1149	115	9	environment	environment	NOUN
ijassa-1149	115	10	that	that	PRON
ijassa-1149	115	11	affects	affect	VERB
ijassa-1149	115	12	the	the	DET
ijassa-1149	115	13	operation	operation	NOUN
ijassa-1149	115	14	of	of	ADP
ijassa-1149	115	15	a	a	DET
ijassa-1149	115	16	robot	robot	NOUN
ijassa-1149	115	17	in	in	ADP
ijassa-1149	115	18	a	a	DET
ijassa-1149	115	19	segment	segment	NOUN
ijassa-1149	115	20	.	.	PUNCT
ijassa-1149	115	21	)	)	PUNCT
ijassa-1149	116	1	let	let	VERB
ijassa-1149	116	2	us	we	PRON
ijassa-1149	116	3	adopt	adopt	VERB
ijassa-1149	116	4	an	an	DET
ijassa-1149	116	5	elementary	elementary	ADJ
ijassa-1149	116	6	description	description	NOUN
ijassa-1149	116	7	of	of	ADP
ijassa-1149	116	8	a	a	DET
ijassa-1149	116	9	segment	segment	NOUN
ijassa-1149	116	10	:	:	PUNCT
ijassa-1149	116	11			PROPN
ijassa-1149	116	12			PROPN
ijassa-1149	116	13	,	,	PUNCT
ijassa-1149	116	14	,	,	PUNCT
ijassa-1149	116	15	,	,	PUNCT
ijassa-1149	116	16	,	,	PUNCT
ijassa-1149	116	17	,	,	PUNCT
ijassa-1149	116	18	,	,	PUNCT
ijassa-1149	116	19	,	,	PUNCT
ijassa-1149	116	20	,	,	PUNCT
ijassa-1149	116	21	e	e	X
ijassa-1149	116	22	e	e	NOUN
ijassa-1149	116	23	r	r	NOUN
ijassa-1149	116	24	r	r	NOUN
ijassa-1149	116	25	r	r	NOUN
ijassa-1149	116	26	k	k	X
ijassa-1149	116	27	kx	kx	PROPN
ijassa-1149	117	1	y	y	PROPN
ijassa-1149	117	2	z	z	PROPN
ijassa-1149	117	3	h	h	PROPN
ijassa-1149	117	4	seg	seg	PROPN
ijassa-1149	117	5	e	e	PROPN
ijassa-1149	117	6	pseg	pseg	VERB
ijassa-1149	117	7			NOUN
ijassa-1149	117	8	(	(	PUNCT
ijassa-1149	117	9	3.1	3.1	NUM
ijassa-1149	117	10	)	)	PUNCT
ijassa-1149	117	11	with	with	ADP
ijassa-1149	117	12	the	the	DET
ijassa-1149	117	13	following	follow	VERB
ijassa-1149	117	14	notations	notation	NOUN
ijassa-1149	117	15	:	:	PUNCT
ijassa-1149	117	16	,	,	PUNCT
ijassa-1149	117	17	,	,	PUNCT
ijassa-1149	117	18	r	r	NOUN
ijassa-1149	117	19	r	r	NOUN
ijassa-1149	117	20	rx	rx	VERB
ijassa-1149	117	21	y	y	PROPN
ijassa-1149	117	22	z	z	PROPN
ijassa-1149	117	23	are	be	AUX
ijassa-1149	117	24	the	the	DET
ijassa-1149	117	25	coordinates	coordinate	NOUN
ijassa-1149	117	26	of	of	ADP
ijassa-1149	117	27	the	the	DET
ijassa-1149	117	28	center	center	NOUN
ijassa-1149	117	29	of	of	ADP
ijassa-1149	117	30	the	the	DET
ijassa-1149	117	31	segment	segment	NOUN
ijassa-1149	117	32	seg	seg	PROPN
ijassa-1149	117	33	in	in	ADP
ijassa-1149	117	34	a	a	DET
ijassa-1149	117	35	given	give	VERB
ijassa-1149	117	36	coordinate	coordinate	NOUN
ijassa-1149	117	37	system	system	NOUN
ijassa-1149	117	38	;	;	PUNCT
ijassa-1149	117	39	h	h	NOUN
ijassa-1149	117	40	is	be	AUX
ijassa-1149	117	41	the	the	DET
ijassa-1149	117	42	shape	shape	NOUN
ijassa-1149	117	43	of	of	ADP
ijassa-1149	117	44	the	the	DET
ijassa-1149	117	45	segment	segment	NOUN
ijassa-1149	117	46	seg	seg	PROPN
ijassa-1149	117	47	;	;	PUNCT
ijassa-1149	117	48	δseg	δseg	NOUN
ijassa-1149	117	49	are	be	AUX
ijassa-1149	117	50	the	the	DET
ijassa-1149	117	51	dimensions	dimension	NOUN
ijassa-1149	117	52	of	of	ADP
ijassa-1149	117	53	the	the	DET
ijassa-1149	117	54	segment	segment	NOUN
ijassa-1149	117	55	seg	seg	PROPN
ijassa-1149	117	56	;	;	PUNCT
ijassa-1149	117	57	e	e	X
ijassa-1149	117	58	is	be	AUX
ijassa-1149	117	59	an	an	DET
ijassa-1149	117	60	event	event	NOUN
ijassa-1149	117	61	observed	observe	VERB
ijassa-1149	117	62	or	or	CCONJ
ijassa-1149	117	63	predicted	predict	VERB
ijassa-1149	117	64	in	in	ADP
ijassa-1149	117	65	the	the	DET
ijassa-1149	117	66	segment	segment	NOUN
ijassa-1149	117	67	seg	seg	PROPN
ijassa-1149	117	68	;	;	PUNCT
ijassa-1149	117	69	e	e	X
ijassa-1149	117	70	kp	kp	PROPN
ijassa-1149	117	71	is	be	AUX
ijassa-1149	117	72	the	the	DET
ijassa-1149	117	73	probability	probability	NOUN
ijassa-1149	117	74	(	(	PUNCT
ijassa-1149	117	75	or	or	CCONJ
ijassa-1149	117	76	possibility	possibility	NOUN
ijassa-1149	117	77	)	)	PUNCT
ijassa-1149	117	78	of	of	ADP
ijassa-1149	117	79	the	the	DET
ijassa-1149	117	80	event	event	NOUN
ijassa-1149	117	81	е	е	NOUN
ijassa-1149	117	82	for	for	ADP
ijassa-1149	117	83	the	the	DET
ijassa-1149	117	84	k	k	NOUN
ijassa-1149	117	85	-	-	NOUN
ijassa-1149	117	86	robot	robot	NOUN
ijassa-1149	117	87	in	in	ADP
ijassa-1149	117	88	the	the	DET
ijassa-1149	117	89	segment	segment	NOUN
ijassa-1149	117	90	seg	seg	PROPN
ijassa-1149	117	91	;	;	PUNCT
ijassa-1149	117	92	e	e	X
ijassa-1149	117	93	k	k	PROPN
ijassa-1149	117	94	is	be	AUX
ijassa-1149	117	95	the	the	DET
ijassa-1149	117	96	probability	probability	NOUN
ijassa-1149	117	97	(	(	PUNCT
ijassa-1149	117	98	or	or	CCONJ
ijassa-1149	117	99	possibility	possibility	NOUN
ijassa-1149	117	100	)	)	PUNCT
ijassa-1149	117	101	of	of	ADP
ijassa-1149	117	102	threat	threat	NOUN
ijassa-1149	117	103	to	to	ADP
ijassa-1149	117	104	the	the	DET
ijassa-1149	117	105	k	k	PROPN
ijassa-1149	117	106	-	-	PUNCT
ijassa-1149	117	107	robot	robot	NOUN
ijassa-1149	117	108	’s	’s	PART
ijassa-1149	117	109	task	task	NOUN
ijassa-1149	117	110	under	under	ADP
ijassa-1149	117	111	the	the	DET
ijassa-1149	117	112	event	event	NOUN
ijassa-1149	117	113	е	е	NOUN
ijassa-1149	117	114	in	in	ADP
ijassa-1149	117	115	the	the	DET
ijassa-1149	117	116	segment	segment	PROPN
ijassa-1149	117	117	seg	seg	PROPN
ijassa-1149	117	118	.	.	PROPN
ijassa-1149	118	1	assume	assume	VERB
ijassa-1149	118	2	that	that	SCONJ
ijassa-1149	118	3	an	an	DET
ijassa-1149	118	4	event	event	NOUN
ijassa-1149	118	5	is	be	AUX
ijassa-1149	118	6	detected	detect	VERB
ijassa-1149	118	7	by	by	ADP
ijassa-1149	118	8	the	the	DET
ijassa-1149	118	9	robot	robot	NOUN
ijassa-1149	118	10	’s	’s	PART
ijassa-1149	118	11	sensors	sensor	NOUN
ijassa-1149	118	12	or	or	CCONJ
ijassa-1149	118	13	external	external	ADJ
ijassa-1149	118	14	monitoring	monitoring	NOUN
ijassa-1149	118	15	systems	system	NOUN
ijassa-1149	118	16	.	.	PUNCT
ijassa-1149	119	1	the	the	DET
ijassa-1149	119	2	range	range	NOUN
ijassa-1149	119	3	of	of	ADP
ijassa-1149	119	4	possible	possible	ADJ
ijassa-1149	119	5	events	event	NOUN
ijassa-1149	119	6	and	and	CCONJ
ijassa-1149	119	7	threats	threat	NOUN
ijassa-1149	119	8	(	(	PUNCT
ijassa-1149	119	9	including	include	VERB
ijassa-1149	119	10	their	their	PRON
ijassa-1149	119	11	characteristics	characteristic	NOUN
ijassa-1149	119	12	e	e	NOUN
ijassa-1149	119	13	kp	kp	PROPN
ijassa-1149	119	14	and	and	CCONJ
ijassa-1149	119	15	e	e	PROPN
ijassa-1149	119	16	k	k	PROPN
ijassa-1149	119	17	)	)	PUNCT
ijassa-1149	119	18	should	should	AUX
ijassa-1149	119	19	be	be	AUX
ijassa-1149	119	20	defined	define	VERB
ijassa-1149	119	21	by	by	ADP
ijassa-1149	119	22	simulating	simulate	VERB
ijassa-1149	119	23	group	group	NOUN
ijassa-1149	119	24	motion	motion	NOUN
ijassa-1149	119	25	and	and	CCONJ
ijassa-1149	119	26	learning	learn	VERB
ijassa-1149	119	27	in	in	ADP
ijassa-1149	119	28	advance	advance	NOUN
ijassa-1149	119	29	.	.	PUNCT
ijassa-1149	120	1	166	166	NUM
ijassa-1149	120	2	v.	v.	CCONJ
ijassa-1149	120	3	abrosimov	abrosimov	NOUN
ijassa-1149	120	4	,	,	PUNCT
ijassa-1149	120	5	a.	a.	NOUN
ijassa-1149	120	6	mazurov	mazurov	PROPN
ijassa-1149	120	7	copyright	copyright	PROPN
ijassa-1149	121	1	©	©	PROPN
ijassa-1149	121	2	2022	2022	NUM
ijassa-1149	121	3	assa	assa	PROPN
ijassa-1149	121	4	adv	adv	PROPN
ijassa-1149	121	5	.	.	PUNCT
ijassa-1149	122	1	in	in	ADP
ijassa-1149	122	2	systems	system	NOUN
ijassa-1149	122	3	science	science	NOUN
ijassa-1149	122	4	and	and	CCONJ
ijassa-1149	122	5	appl	appl	NOUN
ijassa-1149	122	6	.	.	PUNCT
ijassa-1149	123	1	(	(	PUNCT
ijassa-1149	123	2	2022	2022	NUM
ijassa-1149	123	3	)	)	PUNCT
ijassa-1149	123	4	3.2	3.2	NUM
ijassa-1149	123	5	.	.	PUNCT
ijassa-1149	124	1	robot	robot	NOUN
ijassa-1149	124	2	’s	’s	PART
ijassa-1149	124	3	status	status	NOUN
ijassa-1149	124	4	now	now	ADV
ijassa-1149	124	5	we	we	PRON
ijassa-1149	124	6	introduce	introduce	VERB
ijassa-1149	124	7	the	the	DET
ijassa-1149	124	8	concept	concept	NOUN
ijassa-1149	124	9	of	of	ADP
ijassa-1149	124	10	the	the	DET
ijassa-1149	124	11	robot	robot	NOUN
ijassa-1149	124	12	’s	’s	PART
ijassa-1149	124	13	status	status	NOUN
ijassa-1149	124	14	,	,	PUNCT
ijassa-1149	124	15	stat	stat	PROPN
ijassa-1149	124	16	.	.	PUNCT
ijassa-1149	125	1	the	the	DET
ijassa-1149	125	2	intelligent	intelligent	ADJ
ijassa-1149	125	3	robots	robot	NOUN
ijassa-1149	125	4	under	under	ADP
ijassa-1149	125	5	consideration	consideration	NOUN
ijassa-1149	125	6	act	act	NOUN
ijassa-1149	125	7	autonomously	autonomously	ADV
ijassa-1149	125	8	to	to	PART
ijassa-1149	125	9	fulfill	fulfill	VERB
ijassa-1149	125	10	a	a	DET
ijassa-1149	125	11	collective	collective	ADJ
ijassa-1149	125	12	mission	mission	NOUN
ijassa-1149	125	13	.	.	PUNCT
ijassa-1149	126	1	each	each	DET
ijassa-1149	126	2	robot	robot	NOUN
ijassa-1149	126	3	has	have	VERB
ijassa-1149	126	4	an	an	DET
ijassa-1149	126	5	individual	individual	ADJ
ijassa-1149	126	6	functionality	functionality	NOUN
ijassa-1149	126	7	(	(	PUNCT
ijassa-1149	126	8	capabilities	capability	NOUN
ijassa-1149	126	9	)	)	PUNCT
ijassa-1149	126	10	and	and	CCONJ
ijassa-1149	126	11	individual	individual	ADJ
ijassa-1149	126	12	characteristics	characteristic	NOUN
ijassa-1149	126	13	to	to	PART
ijassa-1149	126	14	realize	realize	VERB
ijassa-1149	126	15	the	the	DET
ijassa-1149	126	16	functionality	functionality	NOUN
ijassa-1149	126	17	.	.	PUNCT
ijassa-1149	127	1	a	a	DET
ijassa-1149	127	2	robot	robot	NOUN
ijassa-1149	127	3	may	may	AUX
ijassa-1149	127	4	execute	execute	VERB
ijassa-1149	127	5	several	several	ADJ
ijassa-1149	127	6	roles	role	NOUN
ijassa-1149	127	7	.	.	PUNCT
ijassa-1149	128	1	with	with	ADP
ijassa-1149	128	2	a	a	DET
ijassa-1149	128	3	role	role	NOUN
ijassa-1149	128	4	assigned	assign	VERB
ijassa-1149	128	5	,	,	PUNCT
ijassa-1149	128	6	a	a	DET
ijassa-1149	128	7	robot	robot	NOUN
ijassa-1149	128	8	acts	act	VERB
ijassa-1149	128	9	and	and	CCONJ
ijassa-1149	128	10	observes	observe	VERB
ijassa-1149	128	11	the	the	DET
ijassa-1149	128	12	environment	environment	NOUN
ijassa-1149	128	13	in	in	ADP
ijassa-1149	128	14	its	its	PRON
ijassa-1149	128	15	narrow	narrow	ADJ
ijassa-1149	128	16	sphere	sphere	NOUN
ijassa-1149	128	17	of	of	ADP
ijassa-1149	128	18	responsibility	responsibility	NOUN
ijassa-1149	128	19	due	due	ADP
ijassa-1149	128	20	to	to	ADP
ijassa-1149	128	21	the	the	DET
ijassa-1149	128	22	limited	limited	ADJ
ijassa-1149	128	23	capabilities	capability	NOUN
ijassa-1149	128	24	of	of	ADP
ijassa-1149	128	25	its	its	PRON
ijassa-1149	128	26	observation	observation	NOUN
ijassa-1149	128	27	systems	system	NOUN
ijassa-1149	128	28	.	.	PUNCT
ijassa-1149	129	1	for	for	ADP
ijassa-1149	129	2	moving	move	VERB
ijassa-1149	129	3	in	in	ADP
ijassa-1149	129	4	the	the	DET
ijassa-1149	129	5	operational	operational	ADJ
ijassa-1149	129	6	space	space	NOUN
ijassa-1149	129	7	,	,	PUNCT
ijassa-1149	129	8	a	a	DET
ijassa-1149	129	9	robot	robot	NOUN
ijassa-1149	129	10	uses	use	VERB
ijassa-1149	129	11	a	a	DET
ijassa-1149	129	12	system	system	NOUN
ijassa-1149	129	13	of	of	ADP
ijassa-1149	129	14	actuators	actuator	NOUN
ijassa-1149	129	15	with	with	ADP
ijassa-1149	129	16	different	different	ADJ
ijassa-1149	129	17	sensors	sensor	NOUN
ijassa-1149	129	18	(	(	PUNCT
ijassa-1149	129	19	position	position	NOUN
ijassa-1149	129	20	,	,	PUNCT
ijassa-1149	129	21	tilt	tilt	NOUN
ijassa-1149	129	22	,	,	PUNCT
ijassa-1149	129	23	displacement	displacement	NOUN
ijassa-1149	129	24	,	,	PUNCT
ijassa-1149	129	25	etc	etc	X
ijassa-1149	129	26	.	.	X
ijassa-1149	129	27	)	)	PUNCT
ijassa-1149	130	1	implementing	implement	VERB
ijassa-1149	130	2	the	the	DET
ijassa-1149	130	3	corresponding	correspond	VERB
ijassa-1149	130	4	functions	function	NOUN
ijassa-1149	130	5	(	(	PUNCT
ijassa-1149	130	6	movement	movement	NOUN
ijassa-1149	130	7	,	,	PUNCT
ijassa-1149	130	8	maneuver	maneuver	NOUN
ijassa-1149	130	9	,	,	PUNCT
ijassa-1149	130	10	stop	stop	VERB
ijassa-1149	130	11	,	,	PUNCT
ijassa-1149	130	12	and	and	CCONJ
ijassa-1149	130	13	others	other	NOUN
ijassa-1149	130	14	.	.	PUNCT
ijassa-1149	131	1	let	let	VERB
ijassa-1149	131	2	each	each	PRON
ijassa-1149	131	3	k	k	NOUN
ijassa-1149	131	4	-	-	NOUN
ijassa-1149	131	5	robot	robot	NOUN
ijassa-1149	131	6	be	be	AUX
ijassa-1149	131	7	represented	represent	VERB
ijassa-1149	131	8	by	by	ADP
ijassa-1149	131	9	an	an	DET
ijassa-1149	131	10	ordered	order	VERB
ijassa-1149	131	11	set	set	NOUN
ijassa-1149	131	12			PROPN
ijassa-1149	131	13			PROPN
ijassa-1149	131	14	,	,	PUNCT
ijassa-1149	131	15	,	,	PUNCT
ijassa-1149	131	16	,	,	PUNCT
ijassa-1149	131	17	,	,	PUNCT
ijassa-1149	131	18	(	(	PUNCT
ijassa-1149	131	19	)	)	PUNCT
ijassa-1149	131	20	,	,	PUNCT
ijassa-1149	131	21	(	(	PUNCT
ijassa-1149	131	22	)	)	PUNCT
ijassa-1149	131	23	,	,	PUNCT
ijassa-1149	131	24	(	(	PUNCT
ijassa-1149	131	25	)	)	PUNCT
ijassa-1149	131	26	,	,	PUNCT
ijassa-1149	131	27	,	,	PUNCT
ijassa-1149	131	28	,	,	PUNCT
ijassa-1149	131	29	,	,	PUNCT
ijassa-1149	131	30	,	,	PUNCT
ijassa-1149	131	31	,	,	PUNCT
ijassa-1149	131	32	(	(	PUNCT
ijassa-1149	131	33	)	)	PUNCT
ijassa-1149	132	1	k	k	PROPN
ijassa-1149	133	1	k	k	PROPN
ijassa-1149	133	2	k	k	PROPN
ijassa-1149	133	3	k	k	PROPN
ijassa-1149	133	4	k	k	PROPN
ijassa-1149	133	5	k	k	PROPN
ijassa-1149	133	6	k	k	PROPN
ijassa-1149	133	7	k	k	PROPN
ijassa-1149	133	8	kk	kk	PROPN
ijassa-1149	133	9	role	role	NOUN
ijassa-1149	133	10	m	m	PROPN
ijassa-1149	133	11	seg	seg	PROPN
ijassa-1149	133	12	t	t	PROPN
ijassa-1149	133	13	seg	seg	PROPN
ijassa-1149	133	14	t	t	PROPN
ijassa-1149	133	15	t	t	PROPN
ijassa-1149	133	16	r	r	NOUN
ijassa-1149	133	17	t	t	PROPN
ijassa-1149	133	18	func	func	NOUN
ijassa-1149	133	19	g	g	PROPN
ijassa-1149	133	20	kstat	kstat	X
ijassa-1149	133	21	kt	kt	PROPN
ijassa-1149	133	22			NUM
ijassa-1149	133	23			NUM
ijassa-1149	133	24			NOUN
ijassa-1149	133	25			AUX
ijassa-1149	133	26			PROPN
ijassa-1149	133	27			VERB
ijassa-1149	133	28			X
ijassa-1149	133	29	(	(	PUNCT
ijassa-1149	133	30	3.2	3.2	NUM
ijassa-1149	133	31	)	)	PUNCT
ijassa-1149	133	32	where	where	SCONJ
ijassa-1149	133	33	:	:	PUNCT
ijassa-1149	133	34	k	k	X
ijassa-1149	133	35	is	be	AUX
ijassa-1149	133	36	the	the	DET
ijassa-1149	133	37	robot	robot	NOUN
ijassa-1149	133	38	’s	’s	PART
ijassa-1149	133	39	number	number	NOUN
ijassa-1149	133	40	in	in	ADP
ijassa-1149	133	41	the	the	DET
ijassa-1149	133	42	group	group	NOUN
ijassa-1149	133	43	;	;	PUNCT
ijassa-1149	133	44	krole	krole	PROPN
ijassa-1149	133	45	is	be	AUX
ijassa-1149	133	46	the	the	DET
ijassa-1149	133	47	robot	robot	NOUN
ijassa-1149	133	48	’s	’s	PART
ijassa-1149	133	49	role	role	NOUN
ijassa-1149	133	50	;	;	PUNCT
ijassa-1149	133	51	km	km	NOUN
ijassa-1149	133	52	is	be	AUX
ijassa-1149	133	53	the	the	DET
ijassa-1149	133	54	robot	robot	NOUN
ijassa-1149	133	55	’s	’s	PART
ijassa-1149	133	56	route	route	NOUN
ijassa-1149	133	57	in	in	ADP
ijassa-1149	133	58	the	the	DET
ijassa-1149	133	59	environment	environment	NOUN
ijassa-1149	133	60	;	;	PUNCT
ijassa-1149	133	61	k	k	PROPN
ijassa-1149	133	62	is	be	AUX
ijassa-1149	133	63	the	the	DET
ijassa-1149	133	64	robot	robot	NOUN
ijassa-1149	133	65	’s	’s	PART
ijassa-1149	133	66	value	value	NOUN
ijassa-1149	133	67	(	(	PUNCT
ijassa-1149	133	68	significance	significance	NOUN
ijassa-1149	133	69	)	)	PUNCT
ijassa-1149	133	70	for	for	ADP
ijassa-1149	133	71	the	the	DET
ijassa-1149	133	72	group	group	NOUN
ijassa-1149	133	73	;	;	PUNCT
ijassa-1149	133	74	(	(	PUNCT
ijassa-1149	133	75	)	)	PUNCT
ijassa-1149	133	76	seg	seg	PROPN
ijassa-1149	133	77	t	t	PROPN
ijassa-1149	133	78	is	be	AUX
ijassa-1149	133	79	the	the	DET
ijassa-1149	133	80	robot	robot	NOUN
ijassa-1149	133	81	’s	’s	PART
ijassa-1149	133	82	location	location	NOUN
ijassa-1149	133	83	(	(	PUNCT
ijassa-1149	133	84	segment	segment	NOUN
ijassa-1149	133	85	)	)	PUNCT
ijassa-1149	133	86	at	at	ADP
ijassa-1149	133	87	a	a	DET
ijassa-1149	133	88	time	time	NOUN
ijassa-1149	133	89	instant	instant	ADJ
ijassa-1149	133	90	t	t	PROPN
ijassa-1149	133	91	;	;	PUNCT
ijassa-1149	133	92	(	(	PUNCT
ijassa-1149	133	93	)	)	PUNCT
ijassa-1149	133	94	seg	seg	PROPN
ijassa-1149	133	95	t	t	PROPN
ijassa-1149	133	96	t	t	X
ijassa-1149	133	97	is	be	AUX
ijassa-1149	133	98	the	the	DET
ijassa-1149	133	99	predicted	predict	VERB
ijassa-1149	133	100	robot	robot	NOUN
ijassa-1149	133	101	’s	’s	PART
ijassa-1149	133	102	location	location	NOUN
ijassa-1149	133	103	(	(	PUNCT
ijassa-1149	133	104	segment	segment	NOUN
ijassa-1149	133	105	)	)	PUNCT
ijassa-1149	133	106	at	at	ADP
ijassa-1149	133	107	a	a	DET
ijassa-1149	133	108	time	time	NOUN
ijassa-1149	133	109	instant	instant	NOUN
ijassa-1149	133	110	(	(	PUNCT
ijassa-1149	133	111	)	)	PUNCT
ijassa-1149	133	112	t	t	PROPN
ijassa-1149	133	113	t	t	NUM
ijassa-1149	133	114	;	;	PUNCT
ijassa-1149	133	115	(	(	PUNCT
ijassa-1149	133	116	)	)	PUNCT
ijassa-1149	133	117	kr	kr	PROPN
ijassa-1149	133	118	t	t	PROPN
ijassa-1149	133	119	is	be	AUX
ijassa-1149	133	120	the	the	DET
ijassa-1149	133	121	robot	robot	NOUN
ijassa-1149	133	122	’s	’s	PART
ijassa-1149	133	123	residual	residual	ADJ
ijassa-1149	133	124	resources	resource	NOUN
ijassa-1149	133	125	at	at	ADP
ijassa-1149	133	126	a	a	DET
ijassa-1149	133	127	time	time	NOUN
ijassa-1149	133	128	instant	instant	ADJ
ijassa-1149	133	129	t	t	PROPN
ijassa-1149	133	130	;	;	PUNCT
ijassa-1149	133	131	kfunc	kfunc	PROPN
ijassa-1149	133	132	is	be	AUX
ijassa-1149	133	133	the	the	DET
ijassa-1149	133	134	robot	robot	NOUN
ijassa-1149	133	135	’s	’s	PART
ijassa-1149	133	136	functionality	functionality	NOUN
ijassa-1149	133	137	(	(	PUNCT
ijassa-1149	133	138	set	set	NOUN
ijassa-1149	133	139	of	of	ADP
ijassa-1149	133	140	functions	function	NOUN
ijassa-1149	133	141	)	)	PUNCT
ijassa-1149	133	142	;	;	PUNCT
ijassa-1149	133	143	k	k	NUM
ijassa-1149	133	144	is	be	AUX
ijassa-1149	133	145	a	a	DET
ijassa-1149	133	146	coefficient	coefficient	NOUN
ijassa-1149	133	147	reflecting	reflect	VERB
ijassa-1149	133	148	the	the	DET
ijassa-1149	133	149	robot	robot	NOUN
ijassa-1149	133	150	’s	’s	PART
ijassa-1149	133	151	skills	skill	NOUN
ijassa-1149	133	152	and	and	CCONJ
ijassa-1149	133	153	experience	experience	NOUN
ijassa-1149	133	154	;	;	PUNCT
ijassa-1149	133	155	k	k	PROPN
ijassa-1149	133	156	is	be	AUX
ijassa-1149	133	157	the	the	DET
ijassa-1149	133	158	robot	robot	NOUN
ijassa-1149	133	159	’s	’s	PART
ijassa-1149	133	160	attribute	attribute	NOUN
ijassa-1149	133	161	of	of	ADP
ijassa-1149	133	162	activity	activity	NOUN
ijassa-1149	133	163	(	(	PUNCT
ijassa-1149	133	164	operability	operability	NOUN
ijassa-1149	133	165	)	)	PUNCT
ijassa-1149	133	166	;	;	PUNCT
ijassa-1149	133	167	k	k	NOUN
ijassa-1149	133	168	is	be	AUX
ijassa-1149	133	169	the	the	DET
ijassa-1149	133	170	robot	robot	NOUN
ijassa-1149	133	171	’s	’s	PART
ijassa-1149	133	172	willingness	willingness	NOUN
ijassa-1149	133	173	to	to	PART
ijassa-1149	133	174	assist	assist	VERB
ijassa-1149	133	175	other	other	ADJ
ijassa-1149	133	176	robots	robot	NOUN
ijassa-1149	133	177	(	(	PUNCT
ijassa-1149	133	178	the	the	DET
ijassa-1149	133	179	behavioral	behavioral	ADJ
ijassa-1149	133	180	paradigm	paradigm	NOUN
ijassa-1149	133	181	formed	form	VERB
ijassa-1149	133	182	by	by	ADP
ijassa-1149	133	183	learning	learn	VERB
ijassa-1149	133	184	)	)	PUNCT
ijassa-1149	133	185	;	;	PUNCT
ijassa-1149	133	186	finally	finally	ADV
ijassa-1149	133	187	,	,	PUNCT
ijassa-1149	133	188	kg	kg	PROPN
ijassa-1149	133	189	is	be	AUX
ijassa-1149	133	190	the	the	DET
ijassa-1149	133	191	robot	robot	NOUN
ijassa-1149	133	192	’s	’s	PART
ijassa-1149	133	193	capabilities	capability	NOUN
ijassa-1149	133	194	to	to	PART
ijassa-1149	133	195	reduce	reduce	VERB
ijassa-1149	133	196	the	the	DET
ijassa-1149	133	197	environment	environment	NOUN
ijassa-1149	133	198	’s	’s	PART
ijassa-1149	133	199	degree	degree	NOUN
ijassa-1149	133	200	of	of	ADP
ijassa-1149	133	201	counteraction	counteraction	NOUN
ijassa-1149	133	202	.	.	PUNCT
ijassa-1149	134	1	all	all	DET
ijassa-1149	134	2	robots	robot	NOUN
ijassa-1149	134	3	transmit	transmit	VERB
ijassa-1149	134	4	their	their	PRON
ijassa-1149	134	5	statuses	status	NOUN
ijassa-1149	134	6	online	online	ADV
ijassa-1149	134	7	to	to	ADP
ijassa-1149	134	8	an	an	DET
ijassa-1149	134	9	information	information	NOUN
ijassa-1149	134	10	resource	resource	NOUN
ijassa-1149	134	11	on	on	ADP
ijassa-1149	134	12	the	the	DET
ijassa-1149	134	13	internet	internet	NOUN
ijassa-1149	134	14	.	.	PUNCT
ijassa-1149	135	1	any	any	DET
ijassa-1149	135	2	robot	robot	NOUN
ijassa-1149	135	3	has	have	VERB
ijassa-1149	135	4	online	online	ADJ
ijassa-1149	135	5	access	access	NOUN
ijassa-1149	135	6	to	to	ADP
ijassa-1149	135	7	this	this	DET
ijassa-1149	135	8	information	information	NOUN
ijassa-1149	135	9	resource	resource	NOUN
ijassa-1149	135	10	.	.	PUNCT
ijassa-1149	136	1	3.3	3.3	NUM
ijassa-1149	136	2	.	.	PUNCT
ijassa-1149	137	1	influence	influence	NOUN
ijassa-1149	137	2	factors	factor	VERB
ijassa-1149	137	3	the	the	DET
ijassa-1149	137	4	environment	environment	NOUN
ijassa-1149	137	5	is	be	AUX
ijassa-1149	137	6	antagonistic	antagonistic	ADJ
ijassa-1149	137	7	and	and	CCONJ
ijassa-1149	137	8	has	have	VERB
ijassa-1149	137	9	different	different	ADJ
ijassa-1149	137	10	influence	influence	NOUN
ijassa-1149	137	11	factors	factor	NOUN
ijassa-1149	138	1	f.	f.	PROPN
ijassa-1149	138	2	the	the	DET
ijassa-1149	138	3	first	first	ADJ
ijassa-1149	138	4	source	source	NOUN
ijassa-1149	138	5	of	of	ADP
ijassa-1149	138	6	such	such	ADJ
ijassa-1149	138	7	factors	factor	NOUN
ijassa-1149	138	8	,	,	PUNCT
ijassa-1149	138	9	denoted	denote	VERB
ijassa-1149	138	10	by	by	ADP
ijassa-1149	138	11	af	af	PROPN
ijassa-1149	138	12	,	,	PUNCT
ijassa-1149	138	13	is	be	AUX
ijassa-1149	138	14	uncontrolled	uncontrolled	ADJ
ijassa-1149	138	15	objective	objective	ADJ
ijassa-1149	138	16	conditions	condition	NOUN
ijassa-1149	138	17	of	of	ADP
ijassa-1149	138	18	the	the	DET
ijassa-1149	138	19	environment	environment	NOUN
ijassa-1149	138	20	that	that	PRON
ijassa-1149	138	21	hamper	hamper	VERB
ijassa-1149	138	22	collective	collective	ADJ
ijassa-1149	138	23	mission	mission	NOUN
ijassa-1149	138	24	fulfillment	fulfillment	NOUN
ijassa-1149	138	25	(	(	PUNCT
ijassa-1149	138	26	e.g.	e.g.	ADV
ijassa-1149	138	27	,	,	PUNCT
ijassa-1149	138	28	night	night	NOUN
ijassa-1149	138	29	-	-	PUNCT
ijassa-1149	138	30	time	time	NOUN
ijassa-1149	138	31	,	,	PUNCT
ijassa-1149	138	32	fog	fog	PROPN
ijassa-1149	138	33	,	,	PUNCT
ijassa-1149	138	34	or	or	CCONJ
ijassa-1149	138	35	rain	rain	NOUN
ijassa-1149	138	36	)	)	PUNCT
ijassa-1149	138	37	.	.	PUNCT
ijassa-1149	139	1	the	the	DET
ijassa-1149	139	2	second	second	ADJ
ijassa-1149	139	3	source	source	NOUN
ijassa-1149	139	4	bf	bf	NOUN
ijassa-1149	139	5	relates	relate	VERB
ijassa-1149	139	6	to	to	ADP
ijassa-1149	139	7	a	a	DET
ijassa-1149	139	8	specially	specially	ADV
ijassa-1149	139	9	organized	organize	VERB
ijassa-1149	139	10	counteraction	counteraction	NOUN
ijassa-1149	139	11	(	(	PUNCT
ijassa-1149	139	12	e.g.	e.g.	ADV
ijassa-1149	139	13	,	,	PUNCT
ijassa-1149	139	14	the	the	DET
ijassa-1149	139	15	defense	defense	NOUN
ijassa-1149	139	16	systems	system	NOUN
ijassa-1149	139	17	of	of	ADP
ijassa-1149	139	18	a	a	DET
ijassa-1149	139	19	potential	potential	ADJ
ijassa-1149	139	20	target	target	NOUN
ijassa-1149	139	21	under	under	ADP
ijassa-1149	139	22	attack	attack	NOUN
ijassa-1149	139	23	)	)	PUNCT
ijassa-1149	139	24	.	.	PUNCT
ijassa-1149	140	1	the	the	DET
ijassa-1149	140	2	factors	factor	NOUN
ijassa-1149	140	3	can	can	AUX
ijassa-1149	140	4	be	be	AUX
ijassa-1149	140	5	formally	formally	ADV
ijassa-1149	140	6	described	describe	VERB
ijassa-1149	140	7	by	by	ADP
ijassa-1149	140	8	a	a	DET
ijassa-1149	140	9	set	set	NOUN
ijassa-1149	140	10	of	of	ADP
ijassa-1149	140	11	attributes	attribute	NOUN
ijassa-1149	140	12	.	.	PUNCT
ijassa-1149	141	1	in	in	ADP
ijassa-1149	141	2	many	many	ADJ
ijassa-1149	141	3	cases	case	NOUN
ijassa-1149	141	4	,	,	PUNCT
ijassa-1149	141	5	they	they	PRON
ijassa-1149	141	6	are	be	AUX
ijassa-1149	141	7	not	not	PART
ijassa-1149	141	8	deterministic	deterministic	ADJ
ijassa-1149	141	9	.	.	PUNCT
ijassa-1149	142	1	for	for	ADP
ijassa-1149	142	2	example	example	NOUN
ijassa-1149	142	3	,	,	PUNCT
ijassa-1149	142	4	reconnaissance	reconnaissance	NOUN
ijassa-1149	142	5	means	mean	VERB
ijassa-1149	142	6	detect	detect	VERB
ijassa-1149	142	7	the	the	DET
ijassa-1149	142	8	opponent	opponent	NOUN
ijassa-1149	142	9	’s	’s	PART
ijassa-1149	142	10	antagonistic	antagonistic	ADJ
ijassa-1149	142	11	systems	system	NOUN
ijassa-1149	142	12	and	and	CCONJ
ijassa-1149	142	13	capabilities	capability	NOUN
ijassa-1149	142	14	only	only	ADV
ijassa-1149	142	15	approximately	approximately	ADV
ijassa-1149	142	16	;	;	PUNCT
ijassa-1149	142	17	the	the	DET
ijassa-1149	142	18	probability	probability	NOUN
ijassa-1149	142	19	of	of	ADP
ijassa-1149	142	20	a	a	DET
ijassa-1149	142	21	sustainable	sustainable	ADJ
ijassa-1149	142	22	malicious	malicious	ADJ
ijassa-1149	142	23	interference	interference	NOUN
ijassa-1149	142	24	for	for	ADP
ijassa-1149	142	25	communication	communication	NOUN
ijassa-1149	142	26	means	mean	NOUN
ijassa-1149	142	27	is	be	AUX
ijassa-1149	142	28	high	high	ADJ
ijassa-1149	142	29	.	.	PUNCT
ijassa-1149	143	1	on	on	ADP
ijassa-1149	143	2	the	the	DET
ijassa-1149	143	3	other	other	ADJ
ijassa-1149	143	4	hand	hand	NOUN
ijassa-1149	143	5	,	,	PUNCT
ijassa-1149	143	6	robots	robot	NOUN
ijassa-1149	143	7	and	and	CCONJ
ijassa-1149	143	8	their	their	PRON
ijassa-1149	143	9	sensors	sensor	NOUN
ijassa-1149	143	10	may	may	AUX
ijassa-1149	143	11	fail	fail	VERB
ijassa-1149	143	12	due	due	ADP
ijassa-1149	143	13	to	to	ADP
ijassa-1149	143	14	different	different	ADJ
ijassa-1149	143	15	reasons	reason	NOUN
ijassa-1149	143	16	.	.	PUNCT
ijassa-1149	144	1	the	the	DET
ijassa-1149	144	2	unpredictability	unpredictability	NOUN
ijassa-1149	144	3	of	of	ADP
ijassa-1149	144	4	possible	possible	ADJ
ijassa-1149	144	5	situations	situation	NOUN
ijassa-1149	144	6	complicates	complicate	VERB
ijassa-1149	144	7	the	the	DET
ijassa-1149	144	8	definition	definition	NOUN
ijassa-1149	144	9	and	and	CCONJ
ijassa-1149	144	10	fulfillment	fulfillment	NOUN
ijassa-1149	144	11	of	of	ADP
ijassa-1149	144	12	tasks	task	NOUN
ijassa-1149	144	13	by	by	ADP
ijassa-1149	144	14	robots	robot	NOUN
ijassa-1149	144	15	.	.	PUNCT
ijassa-1149	145	1	therefore	therefore	ADV
ijassa-1149	145	2	,	,	PUNCT
ijassa-1149	145	3	it	it	PRON
ijassa-1149	145	4	is	be	AUX
ijassa-1149	145	5	necessary	necessary	ADJ
ijassa-1149	145	6	to	to	PART
ijassa-1149	145	7	use	use	VERB
ijassa-1149	145	8	probabilistic	probabilistic	ADJ
ijassa-1149	145	9	or	or	CCONJ
ijassa-1149	145	10	fuzzy	fuzzy	ADJ
ijassa-1149	145	11	variables	variable	NOUN
ijassa-1149	145	12	to	to	PART
ijassa-1149	145	13	describe	describe	VERB
ijassa-1149	145	14	the	the	DET
ijassa-1149	145	15	attributes	attribute	NOUN
ijassa-1149	145	16	of	of	ADP
ijassa-1149	145	17	influence	influence	NOUN
ijassa-1149	145	18	factors	factor	NOUN
ijassa-1149	145	19	.	.	PUNCT
ijassa-1149	146	1	3.4	3.4	NUM
ijassa-1149	146	2	.	.	PUNCT
ijassa-1149	146	3	events	event	NOUN
ijassa-1149	146	4	in	in	ADP
ijassa-1149	146	5	the	the	DET
ijassa-1149	146	6	environment	environment	NOUN
ijassa-1149	146	7	an	an	DET
ijassa-1149	146	8	event	event	NOUN
ijassa-1149	146	9	occurs	occur	VERB
ijassa-1149	146	10	if	if	SCONJ
ijassa-1149	146	11	a	a	DET
ijassa-1149	146	12	set	set	NOUN
ijassa-1149	146	13	of	of	ADP
ijassa-1149	146	14	influence	influence	NOUN
ijassa-1149	146	15	factors	factor	NOUN
ijassa-1149	146	16	shows	show	VERB
ijassa-1149	146	17	itself	itself	PRON
ijassa-1149	146	18	in	in	ADP
ijassa-1149	146	19	specific	specific	ADJ
ijassa-1149	146	20	conditions	condition	NOUN
ijassa-1149	146	21	.	.	PUNCT
ijassa-1149	147	1	an	an	DET
ijassa-1149	147	2	event	event	NOUN
ijassa-1149	147	3	e	e	X
ijassa-1149	147	4	e	e	NOUN
ijassa-1149	147	5	is	be	AUX
ijassa-1149	147	6	the	the	DET
ijassa-1149	147	7	consequence	consequence	NOUN
ijassa-1149	147	8	of	of	ADP
ijassa-1149	147	9	the	the	DET
ijassa-1149	147	10	influence	influence	NOUN
ijassa-1149	147	11	factors	factor	NOUN
ijassa-1149	147	12	(	(	PUNCT
ijassa-1149	147	13	)	)	PUNCT
ijassa-1149	147	14	af	af	PROPN
ijassa-1149	147	15	t	t	PROPN
ijassa-1149	147	16	and	and	CCONJ
ijassa-1149	147	17	(	(	PUNCT
ijassa-1149	147	18	)	)	PUNCT
ijassa-1149	147	19	bf	bf	NOUN
ijassa-1149	147	20	t	t	PROPN
ijassa-1149	147	21	affecting	affect	VERB
ijassa-1149	147	22	the	the	DET
ijassa-1149	147	23	robot	robot	NOUN
ijassa-1149	147	24	’s	’s	PART
ijassa-1149	147	25	status	status	NOUN
ijassa-1149	147	26	integrally	integrally	ADV
ijassa-1149	147	27	at	at	ADP
ijassa-1149	147	28	a	a	DET
ijassa-1149	147	29	given	give	VERB
ijassa-1149	147	30	time	time	NOUN
ijassa-1149	147	31	instant	instant	ADJ
ijassa-1149	147	32	t.	t.	PROPN
ijassa-1149	147	33	an	an	DET
ijassa-1149	147	34	event	event	NOUN
ijassa-1149	147	35	e	e	NOUN
ijassa-1149	147	36	occurs	occur	VERB
ijassa-1149	147	37	due	due	ADJ
ijassa-1149	147	38	to	to	ADP
ijassa-1149	147	39	realizing	realize	VERB
ijassa-1149	147	40	a	a	DET
ijassa-1149	147	41	set	set	NOUN
ijassa-1149	147	42	of	of	ADP
ijassa-1149	147	43	factors	factor	NOUN
ijassa-1149	147	44	with	with	ADP
ijassa-1149	147	45	definite	definite	ADJ
ijassa-1149	147	46	characteristics	characteristic	NOUN
ijassa-1149	147	47	:	:	PUNCT
ijassa-1149	147	48	:	:	PUNCT
ijassa-1149	147	49	(	(	PUNCT
ijassa-1149	147	50	)	)	PUNCT
ijassa-1149	147	51	.a	.a	PROPN
ijassa-1149	148	1	b	b	X
ijassa-1149	148	2	a	a	DET
ijassa-1149	148	3	b	b	NOUN
ijassa-1149	149	1	f	f	X
ijassa-1149	149	2	f	f	PROPN
ijassa-1149	149	3	e	e	PROPN
ijassa-1149	149	4	stat	stat	VERB
ijassa-1149	149	5	t	t	X
ijassa-1149	149	6			NOUN
ijassa-1149	149	7			NOUN
ijassa-1149	149	8			X
ijassa-1149	149	9	(	(	PUNCT
ijassa-1149	149	10	3.3	3.3	NUM
ijassa-1149	149	11	)	)	PUNCT
ijassa-1149	149	12	the	the	DET
ijassa-1149	149	13	collective	collective	ADJ
ijassa-1149	149	14	behavior	behavior	NOUN
ijassa-1149	149	15	of	of	ADP
ijassa-1149	149	16	robots	robot	NOUN
ijassa-1149	149	17	based	base	VERB
ijassa-1149	149	18	on	on	ADP
ijassa-1149	149	19	the	the	DET
ijassa-1149	149	20	internet	internet	NOUN
ijassa-1149	149	21	-	-	PUNCT
ijassa-1149	149	22	of	of	ADP
ijassa-1149	149	23	-	-	PUNCT
ijassa-1149	149	24	things	thing	NOUN
ijassa-1149	149	25	paradigm	paradigm	NOUN
ijassa-1149	149	26	167	167	NUM
ijassa-1149	149	27	copyright	copyright	NOUN
ijassa-1149	149	28	©	©	PROPN
ijassa-1149	149	29	2022	2022	NUM
ijassa-1149	149	30	assa	assa	NOUN
ijassa-1149	149	31	.	.	PUNCT
ijassa-1149	150	1	adv	adv	PROPN
ijassa-1149	150	2	.	.	PUNCT
ijassa-1149	151	1	in	in	ADP
ijassa-1149	151	2	systems	system	NOUN
ijassa-1149	151	3	science	science	NOUN
ijassa-1149	151	4	and	and	CCONJ
ijassa-1149	151	5	appl	appl	NOUN
ijassa-1149	151	6	.	.	PUNCT
ijassa-1149	152	1	(	(	PUNCT
ijassa-1149	152	2	2022	2022	NUM
ijassa-1149	152	3	)	)	PUNCT
ijassa-1149	152	4	an	an	DET
ijassa-1149	152	5	event	event	NOUN
ijassa-1149	152	6	e	e	NOUN
ijassa-1149	152	7	is	be	AUX
ijassa-1149	152	8	characterized	characterize	VERB
ijassa-1149	152	9	by	by	ADP
ijassa-1149	152	10	its	its	PRON
ijassa-1149	152	11	probability	probability	NOUN
ijassa-1149	152	12	ep	ep	PROPN
ijassa-1149	152	13	,	,	PUNCT
ijassa-1149	152	14	a	a	DET
ijassa-1149	152	15	segment	segment	NOUN
ijassa-1149	152	16	eseg	eseg	NOUN
ijassa-1149	152	17	of	of	ADP
ijassa-1149	152	18	the	the	DET
ijassa-1149	152	19	operational	operational	ADJ
ijassa-1149	152	20	space	space	NOUN
ijassa-1149	152	21	where	where	SCONJ
ijassa-1149	152	22	it	it	PRON
ijassa-1149	152	23	occurs	occur	VERB
ijassa-1149	152	24	,	,	PUNCT
ijassa-1149	152	25	and	and	CCONJ
ijassa-1149	152	26	its	its	PRON
ijassa-1149	152	27	threat	threat	NOUN
ijassa-1149	152	28	e	e	NOUN
ijassa-1149	152	29	k	k	NOUN
ijassa-1149	152	30	to	to	ADP
ijassa-1149	152	31	the	the	DET
ijassa-1149	152	32	task	task	NOUN
ijassa-1149	152	33	of	of	ADP
ijassa-1149	152	34	the	the	DET
ijassa-1149	152	35	k	k	NOUN
ijassa-1149	152	36	-	-	NOUN
ijassa-1149	152	37	robot	robot	NOUN
ijassa-1149	152	38	.	.	PUNCT
ijassa-1149	153	1	in	in	ADP
ijassa-1149	153	2	principle	principle	NOUN
ijassa-1149	153	3	,	,	PUNCT
ijassa-1149	153	4	the	the	DET
ijassa-1149	153	5	events	event	NOUN
ijassa-1149	153	6	can	can	AUX
ijassa-1149	153	7	be	be	AUX
ijassa-1149	153	8	divided	divide	VERB
ijassa-1149	153	9	into	into	ADP
ijassa-1149	153	10	groups	group	NOUN
ijassa-1149	153	11	.	.	PUNCT
ijassa-1149	154	1	according	accord	VERB
ijassa-1149	154	2	to	to	ADP
ijassa-1149	154	3	practical	practical	ADJ
ijassa-1149	154	4	evidence	evidence	NOUN
ijassa-1149	154	5	,	,	PUNCT
ijassa-1149	154	6	such	such	ADJ
ijassa-1149	154	7	groups	group	NOUN
ijassa-1149	154	8	are	be	AUX
ijassa-1149	154	9	finite	finite	ADJ
ijassa-1149	154	10	for	for	ADP
ijassa-1149	154	11	a	a	DET
ijassa-1149	154	12	given	give	VERB
ijassa-1149	154	13	environment	environment	NOUN
ijassa-1149	154	14	and	and	CCONJ
ijassa-1149	154	15	a	a	DET
ijassa-1149	154	16	given	give	VERB
ijassa-1149	154	17	class	class	NOUN
ijassa-1149	154	18	of	of	ADP
ijassa-1149	154	19	collective	collective	ADJ
ijassa-1149	154	20	missions	mission	NOUN
ijassa-1149	154	21	.	.	PUNCT
ijassa-1149	155	1	however	however	ADV
ijassa-1149	155	2	,	,	PUNCT
ijassa-1149	155	3	influence	influence	NOUN
ijassa-1149	155	4	factors	factor	NOUN
ijassa-1149	155	5	as	as	SCONJ
ijassa-1149	155	6	the	the	DET
ijassa-1149	155	7	sources	source	NOUN
ijassa-1149	155	8	of	of	ADP
ijassa-1149	155	9	an	an	DET
ijassa-1149	155	10	event	event	NOUN
ijassa-1149	155	11	are	be	AUX
ijassa-1149	155	12	often	often	ADV
ijassa-1149	155	13	unknown	unknown	ADJ
ijassa-1149	155	14	,	,	PUNCT
ijassa-1149	155	15	while	while	SCONJ
ijassa-1149	155	16	an	an	DET
ijassa-1149	155	17	event	event	NOUN
ijassa-1149	155	18	itself	itself	PRON
ijassa-1149	155	19	may	may	AUX
ijassa-1149	155	20	critically	critically	ADV
ijassa-1149	155	21	affect	affect	VERB
ijassa-1149	155	22	robots	robot	NOUN
ijassa-1149	155	23	.	.	PUNCT
ijassa-1149	156	1	3.5	3.5	NUM
ijassa-1149	156	2	.	.	PUNCT
ijassa-1149	156	3	situation	situation	NOUN
ijassa-1149	156	4	in	in	ADP
ijassa-1149	156	5	the	the	DET
ijassa-1149	156	6	environment	environment	NOUN
ijassa-1149	156	7	a	a	DET
ijassa-1149	156	8	set	set	NOUN
ijassa-1149	156	9	of	of	ADP
ijassa-1149	156	10	events	event	NOUN
ijassa-1149	156	11	occurring	occur	VERB
ijassa-1149	156	12	in	in	ADP
ijassa-1149	156	13	the	the	DET
ijassa-1149	156	14	environment	environment	NOUN
ijassa-1149	156	15	forms	form	VERB
ijassa-1149	156	16	a	a	DET
ijassa-1149	156	17	certain	certain	ADJ
ijassa-1149	156	18	situation	situation	NOUN
ijassa-1149	156	19	s	s	VERB
ijassa-1149	156	20	s	s	NOUN
ijassa-1149	156	21	for	for	ADP
ijassa-1149	156	22	each	each	DET
ijassa-1149	156	23	robot	robot	NOUN
ijassa-1149	156	24	.	.	PUNCT
ijassa-1149	157	1	the	the	DET
ijassa-1149	157	2	current	current	ADJ
ijassa-1149	157	3	situation	situation	NOUN
ijassa-1149	157	4	affects	affect	VERB
ijassa-1149	157	5	the	the	DET
ijassa-1149	157	6	fulfillment	fulfillment	NOUN
ijassa-1149	157	7	of	of	ADP
ijassa-1149	157	8	a	a	DET
ijassa-1149	157	9	collective	collective	ADJ
ijassa-1149	157	10	mission	mission	NOUN
ijassa-1149	157	11	by	by	ADP
ijassa-1149	157	12	robots	robot	NOUN
ijassa-1149	157	13	.	.	PUNCT
ijassa-1149	158	1	in	in	ADP
ijassa-1149	158	2	an	an	DET
ijassa-1149	158	3	antagonistic	antagonistic	ADJ
ijassa-1149	158	4	environment	environment	NOUN
ijassa-1149	158	5	,	,	PUNCT
ijassa-1149	158	6	a	a	DET
ijassa-1149	158	7	realized	realize	VERB
ijassa-1149	158	8	situation	situation	NOUN
ijassa-1149	158	9	causes	cause	VERB
ijassa-1149	158	10	a	a	DET
ijassa-1149	158	11	loss	loss	NOUN
ijassa-1149	158	12	for	for	ADP
ijassa-1149	158	13	the	the	DET
ijassa-1149	158	14	group	group	NOUN
ijassa-1149	158	15	of	of	ADP
ijassa-1149	158	16	robots	robot	NOUN
ijassa-1149	158	17	.	.	PUNCT
ijassa-1149	159	1	for	for	ADP
ijassa-1149	159	2	the	the	DET
ijassa-1149	159	3	irobot	irobot	NOUN
ijassa-1149	159	4	(	(	PUNCT
ijassa-1149	159	5	)	)	PUNCT
ijassa-1149	159	6	i	i	PRON
ijassa-1149	159	7	i	i	PRON
ijassa-1149	159	8	k	k	VERB
ijassa-1149	159	9			PROPN
ijassa-1149	159	10	,	,	PUNCT
ijassa-1149	159	11	the	the	DET
ijassa-1149	159	12	loss	loss	NOUN
ijassa-1149	159	13	consists	consist	VERB
ijassa-1149	159	14	in	in	ADP
ijassa-1149	159	15	its	its	PRON
ijassa-1149	159	16	missed	miss	VERB
ijassa-1149	159	17	contribution	contribution	NOUN
ijassa-1149	159	18	iw	iw	VERB
ijassa-1149	159	19			PROPN
ijassa-1149	159	20	to	to	ADP
ijassa-1149	159	21	a	a	DET
ijassa-1149	159	22	collective	collective	ADJ
ijassa-1149	159	23	objective	objective	ADJ
ijassa-1149	159	24	function	function	NOUN
ijassa-1149	159	25	w	w	PROPN
ijassa-1149	159	26	:	:	PUNCT
ijassa-1149	159	27	:	:	PUNCT
ijassa-1149	159	28	(	(	PUNCT
ijassa-1149	159	29	)	)	PUNCT
ijassa-1149	159	30	.ke	.ke	PUNCT
ijassa-1149	160	1	s	s	X
ijassa-1149	160	2	s	s	X
ijassa-1149	160	3	e	e	X
ijassa-1149	160	4	stat	stat	PROPN
ijassa-1149	160	5	t	t	PROPN
ijassa-1149	160	6	w	w	NOUN
ijassa-1149	160	7			PROPN
ijassa-1149	160	8			NOUN
ijassa-1149	160	9			NOUN
ijassa-1149	160	10	(	(	PUNCT
ijassa-1149	160	11	3.4	3.4	NUM
ijassa-1149	160	12	)	)	PUNCT
ijassa-1149	160	13	the	the	DET
ijassa-1149	160	14	total	total	ADJ
ijassa-1149	160	15	loss	loss	NOUN
ijassa-1149	160	16	for	for	ADP
ijassa-1149	160	17	the	the	DET
ijassa-1149	160	18	group	group	NOUN
ijassa-1149	160	19	is	be	AUX
ijassa-1149	160	20	the	the	DET
ijassa-1149	160	21	sum	sum	NOUN
ijassa-1149	160	22	of	of	ADP
ijassa-1149	160	23	the	the	DET
ijassa-1149	160	24	missed	miss	VERB
ijassa-1149	160	25	contributions	contribution	NOUN
ijassa-1149	160	26	of	of	ADP
ijassa-1149	160	27	all	all	DET
ijassa-1149	160	28	robots	robot	NOUN
ijassa-1149	160	29	from	from	ADP
ijassa-1149	160	30	the	the	DET
ijassa-1149	160	31	set	set	NOUN
ijassa-1149	160	32	i	i	PRON
ijassa-1149	160	33	k	k	VERB
ijassa-1149	160	34	for	for	ADP
ijassa-1149	160	35	which	which	PRON
ijassa-1149	160	36	this	this	DET
ijassa-1149	160	37	situation	situation	NOUN
ijassa-1149	160	38	becomes	become	VERB
ijassa-1149	160	39	critical	critical	ADJ
ijassa-1149	160	40	:	:	PUNCT
ijassa-1149	160	41	.ii	.ii	PUNCT
ijassa-1149	161	1	w	w	PUNCT
ijassa-1149	161	2	w	w	NOUN
ijassa-1149	161	3			NUM
ijassa-1149	161	4			NUM
ijassa-1149	161	5	(	(	PUNCT
ijassa-1149	161	6	3.5	3.5	NUM
ijassa-1149	161	7	)	)	PUNCT
ijassa-1149	161	8	any	any	DET
ijassa-1149	161	9	situation	situation	NOUN
ijassa-1149	161	10	requires	require	VERB
ijassa-1149	161	11	collective	collective	ADJ
ijassa-1149	161	12	decision	decision	NOUN
ijassa-1149	161	13	-	-	PUNCT
ijassa-1149	161	14	making	making	NOUN
ijassa-1149	161	15	by	by	ADP
ijassa-1149	161	16	the	the	DET
ijassa-1149	161	17	group	group	NOUN
ijassa-1149	161	18	of	of	ADP
ijassa-1149	161	19	robots	robot	NOUN
ijassa-1149	161	20	.	.	PUNCT
ijassa-1149	162	1	in	in	ADP
ijassa-1149	162	2	the	the	DET
ijassa-1149	162	3	set	set	NOUN
ijassa-1149	162	4	of	of	ADP
ijassa-1149	162	5	all	all	DET
ijassa-1149	162	6	admissible	admissible	ADJ
ijassa-1149	162	7	decisions	decision	NOUN
ijassa-1149	162	8	d	d	NOUN
ijassa-1149	162	9	for	for	ADP
ijassa-1149	162	10	the	the	DET
ijassa-1149	162	11	s	s	NOUN
ijassa-1149	162	12	-	-	NOUN
ijassa-1149	162	13	situation	situation	NOUN
ijassa-1149	162	14	,	,	PUNCT
ijassa-1149	162	15	an	an	DET
ijassa-1149	162	16	optimal	optimal	ADJ
ijassa-1149	162	17	decision	decision	NOUN
ijassa-1149	162	18	s	s	AUX
ijassa-1149	162	19	optd	optd	NOUN
ijassa-1149	162	20	minimizes	minimize	VERB
ijassa-1149	162	21	the	the	DET
ijassa-1149	162	22	total	total	ADJ
ijassa-1149	162	23	loss	loss	NOUN
ijassa-1149	162	24	:	:	PUNCT
ijassa-1149	162	25	min	min	NOUN
ijassa-1149	162	26	.s	.s	NOUN
ijassa-1149	162	27	opt	opt	PROPN
ijassa-1149	162	28	dd	dd	PROPN
ijassa-1149	162	29	w	w	NOUN
ijassa-1149	162	30	(	(	PUNCT
ijassa-1149	162	31	3.6	3.6	NUM
ijassa-1149	162	32	)	)	PUNCT
ijassa-1149	162	33	3.6	3.6	NUM
ijassa-1149	162	34	.	.	PUNCT
ijassa-1149	163	1	precedents	precedent	NOUN
ijassa-1149	163	2	there	there	PRON
ijassa-1149	163	3	is	be	VERB
ijassa-1149	163	4	nothing	nothing	PRON
ijassa-1149	163	5	new	new	ADJ
ijassa-1149	163	6	under	under	ADP
ijassa-1149	163	7	the	the	DET
ijassa-1149	163	8	sun	sun	NOUN
ijassa-1149	163	9	despite	despite	SCONJ
ijassa-1149	163	10	an	an	DET
ijassa-1149	163	11	intrinsic	intrinsic	ADJ
ijassa-1149	163	12	uncertainty	uncertainty	NOUN
ijassa-1149	163	13	of	of	ADP
ijassa-1149	163	14	collective	collective	ADJ
ijassa-1149	163	15	mission	mission	NOUN
ijassa-1149	163	16	fulfillment	fulfillment	NOUN
ijassa-1149	163	17	in	in	ADP
ijassa-1149	163	18	antagonistic	antagonistic	ADJ
ijassa-1149	163	19	environments	environment	NOUN
ijassa-1149	163	20	.	.	PUNCT
ijassa-1149	164	1	humankind	humankind	NOUN
ijassa-1149	164	2	has	have	AUX
ijassa-1149	164	3	accumulated	accumulate	VERB
ijassa-1149	164	4	a	a	DET
ijassa-1149	164	5	rich	rich	ADJ
ijassa-1149	164	6	experience	experience	NOUN
ijassa-1149	164	7	of	of	ADP
ijassa-1149	164	8	actions	action	NOUN
ijassa-1149	164	9	in	in	ADP
ijassa-1149	164	10	different	different	ADJ
ijassa-1149	164	11	situations	situation	NOUN
ijassa-1149	164	12	.	.	PUNCT
ijassa-1149	165	1	this	this	DET
ijassa-1149	165	2	experience	experience	NOUN
ijassa-1149	165	3	is	be	AUX
ijassa-1149	165	4	yielded	yield	VERB
ijassa-1149	165	5	by	by	ADP
ijassa-1149	165	6	mathematical	mathematical	ADJ
ijassa-1149	165	7	,	,	PUNCT
ijassa-1149	165	8	physical	physical	ADJ
ijassa-1149	165	9	,	,	PUNCT
ijassa-1149	165	10	and	and	CCONJ
ijassa-1149	165	11	simulation	simulation	NOUN
ijassa-1149	165	12	modeling	modeling	NOUN
ijassa-1149	165	13	of	of	ADP
ijassa-1149	165	14	different	different	ADJ
ijassa-1149	165	15	situations	situation	NOUN
ijassa-1149	165	16	,	,	PUNCT
ijassa-1149	165	17	carried	carry	VERB
ijassa-1149	165	18	out	out	ADP
ijassa-1149	165	19	a	a	DET
ijassa-1149	165	20	priori	priori	ADV
ijassa-1149	165	21	.	.	PUNCT
ijassa-1149	166	1	the	the	DET
ijassa-1149	166	2	correctness	correctness	NOUN
ijassa-1149	166	3	of	of	ADP
ijassa-1149	166	4	modelbased	modelbase	VERB
ijassa-1149	166	5	solutions	solution	NOUN
ijassa-1149	166	6	is	be	AUX
ijassa-1149	166	7	verified	verify	VERB
ijassa-1149	166	8	a	a	DET
ijassa-1149	166	9	posteriori	posteriori	NOUN
ijassa-1149	166	10	in	in	ADP
ijassa-1149	166	11	practice	practice	NOUN
ijassa-1149	166	12	.	.	PUNCT
ijassa-1149	167	1	robots	robot	NOUN
ijassa-1149	167	2	are	be	AUX
ijassa-1149	167	3	trained	train	VERB
ijassa-1149	167	4	to	to	PART
ijassa-1149	167	5	choose	choose	VERB
ijassa-1149	167	6	proper	proper	ADJ
ijassa-1149	167	7	actions	action	NOUN
ijassa-1149	167	8	in	in	ADP
ijassa-1149	167	9	different	different	ADJ
ijassa-1149	167	10	situations	situation	NOUN
ijassa-1149	167	11	using	use	VERB
ijassa-1149	167	12	learning	learn	VERB
ijassa-1149	167	13	procedures	procedure	NOUN
ijassa-1149	167	14	and	and	CCONJ
ijassa-1149	167	15	the	the	DET
ijassa-1149	167	16	results	result	NOUN
ijassa-1149	167	17	of	of	ADP
ijassa-1149	167	18	modeling	modeling	NOUN
ijassa-1149	167	19	.	.	PUNCT
ijassa-1149	168	1	the	the	DET
ijassa-1149	168	2	robot	robot	NOUN
ijassa-1149	168	3	’s	’s	PART
ijassa-1149	168	4	behavioral	behavioral	ADJ
ijassa-1149	168	5	paradigm	paradigm	NOUN
ijassa-1149	168	6	forms	form	VERB
ijassa-1149	168	7	its	its	PRON
ijassa-1149	168	8	intelligence	intelligence	NOUN
ijassa-1149	168	9	.	.	PUNCT
ijassa-1149	169	1	therefore	therefore	ADV
ijassa-1149	169	2	,	,	PUNCT
ijassa-1149	169	3	we	we	PRON
ijassa-1149	169	4	can	can	AUX
ijassa-1149	169	5	specify	specify	VERB
ijassa-1149	169	6	a	a	DET
ijassa-1149	169	7	set	set	NOUN
ijassa-1149	169	8	of	of	ADP
ijassa-1149	169	9	precedents	precedent	NOUN
ijassa-1149	169	10	(	(	PUNCT
ijassa-1149	169	11	similar	similar	ADJ
ijassa-1149	169	12	situations	situation	NOUN
ijassa-1149	169	13	in	in	ADP
ijassa-1149	169	14	the	the	DET
ijassa-1149	169	15	past	past	NOUN
ijassa-1149	169	16	)	)	PUNCT
ijassa-1149	169	17	for	for	ADP
ijassa-1149	169	18	any	any	DET
ijassa-1149	169	19	collective	collective	ADJ
ijassa-1149	169	20	mission	mission	NOUN
ijassa-1149	169	21	.	.	PUNCT
ijassa-1149	170	1	what	what	PRON
ijassa-1149	170	2	is	be	AUX
ijassa-1149	170	3	important	important	ADJ
ijassa-1149	170	4	,	,	PUNCT
ijassa-1149	170	5	we	we	PRON
ijassa-1149	170	6	know	know	VERB
ijassa-1149	170	7	the	the	DET
ijassa-1149	170	8	decisions	decision	NOUN
ijassa-1149	170	9	made	make	VERB
ijassa-1149	170	10	in	in	ADP
ijassa-1149	170	11	such	such	ADJ
ijassa-1149	170	12	precedents	precedent	NOUN
ijassa-1149	170	13	,	,	PUNCT
ijassa-1149	170	14	including	include	VERB
ijassa-1149	170	15	their	their	PRON
ijassa-1149	170	16	efficiency	efficiency	NOUN
ijassa-1149	170	17	and	and	CCONJ
ijassa-1149	170	18	consequences	consequence	NOUN
ijassa-1149	170	19	.	.	PUNCT
ijassa-1149	171	1	hence	hence	ADV
ijassa-1149	171	2	,	,	PUNCT
ijassa-1149	171	3	a	a	DET
ijassa-1149	171	4	robot	robot	NOUN
ijassa-1149	171	5	can	can	AUX
ijassa-1149	171	6	analyze	analyze	VERB
ijassa-1149	171	7	its	its	PRON
ijassa-1149	171	8	status	status	NOUN
ijassa-1149	171	9	and	and	CCONJ
ijassa-1149	171	10	the	the	DET
ijassa-1149	171	11	statuses	status	NOUN
ijassa-1149	171	12	of	of	ADP
ijassa-1149	171	13	other	other	ADJ
ijassa-1149	171	14	robots	robot	NOUN
ijassa-1149	171	15	,	,	PUNCT
ijassa-1149	171	16	detect	detect	VERB
ijassa-1149	171	17	current	current	ADJ
ijassa-1149	171	18	situations	situation	NOUN
ijassa-1149	171	19	,	,	PUNCT
ijassa-1149	171	20	and	and	CCONJ
ijassa-1149	171	21	seek	seek	VERB
ijassa-1149	171	22	appropriate	appropriate	ADJ
ijassa-1149	171	23	decisions	decision	NOUN
ijassa-1149	171	24	in	in	ADP
ijassa-1149	171	25	a	a	DET
ijassa-1149	171	26	neighborhood	neighborhood	NOUN
ijassa-1149	171	27	of	of	ADP
ijassa-1149	171	28	well	well	ADV
ijassa-1149	171	29	-	-	PUNCT
ijassa-1149	171	30	known	know	VERB
ijassa-1149	171	31	(	(	PUNCT
ijassa-1149	171	32	validated	validated	ADJ
ijassa-1149	171	33	)	)	PUNCT
ijassa-1149	171	34	decisions	decision	NOUN
ijassa-1149	171	35	to	to	PART
ijassa-1149	171	36	establish	establish	VERB
ijassa-1149	171	37	self	self	NOUN
ijassa-1149	171	38	-	-	PUNCT
ijassa-1149	171	39	organization	organization	NOUN
ijassa-1149	171	40	rules	rule	NOUN
ijassa-1149	171	41	.	.	PUNCT
ijassa-1149	172	1	3.7	3.7	NUM
ijassa-1149	172	2	.	.	PUNCT
ijassa-1149	173	1	state	state	NOUN
ijassa-1149	173	2	of	of	ADP
ijassa-1149	173	3	the	the	DET
ijassa-1149	173	4	environment	environment	NOUN
ijassa-1149	173	5	the	the	DET
ijassa-1149	173	6	set	set	NOUN
ijassa-1149	173	7	of	of	ADP
ijassa-1149	173	8	factors	factor	NOUN
ijassa-1149	173	9	f	f	X
ijassa-1149	173	10	,	,	PUNCT
ijassa-1149	173	11	related	relate	VERB
ijassa-1149	173	12	events	event	NOUN
ijassa-1149	173	13	e	e	NOUN
ijassa-1149	173	14	,	,	PUNCT
ijassa-1149	173	15	and	and	CCONJ
ijassa-1149	173	16	situations	situation	NOUN
ijassa-1149	173	17	s	s	AUX
ijassa-1149	173	18	generated	generate	VERB
ijassa-1149	173	19	by	by	ADP
ijassa-1149	173	20	these	these	DET
ijassa-1149	173	21	events	event	NOUN
ijassa-1149	173	22	represents	represent	VERB
ijassa-1149	173	23	the	the	DET
ijassa-1149	173	24	environment	environment	NOUN
ijassa-1149	173	25	’s	’s	PART
ijassa-1149	173	26	current	current	ADJ
ijassa-1149	173	27	state	state	NOUN
ijassa-1149	173	28	(	(	PUNCT
ijassa-1149	173	29	)	)	PUNCT
ijassa-1149	173	30	env	env	PROPN
ijassa-1149	173	31	t	t	PROPN
ijassa-1149	173	32	at	at	ADP
ijassa-1149	173	33	a	a	DET
ijassa-1149	173	34	given	give	VERB
ijassa-1149	173	35	time	time	NOUN
ijassa-1149	173	36	instant	instant	ADJ
ijassa-1149	173	37	t.	t.	PROPN
ijassa-1149	173	38	therefore	therefore	ADV
ijassa-1149	173	39	,	,	PUNCT
ijassa-1149	173	40	the	the	DET
ijassa-1149	173	41	state	state	NOUN
ijassa-1149	173	42	(	(	PUNCT
ijassa-1149	173	43	)	)	PUNCT
ijassa-1149	173	44	env	env	PROPN
ijassa-1149	173	45	t	t	PROPN
ijassa-1149	173	46	is	be	AUX
ijassa-1149	173	47	formed	form	VERB
ijassa-1149	173	48	according	accord	VERB
ijassa-1149	173	49	to	to	ADP
ijassa-1149	173	50	the	the	DET
ijassa-1149	173	51	following	follow	VERB
ijassa-1149	173	52	scheme	scheme	NOUN
ijassa-1149	173	53	:	:	PUNCT
ijassa-1149	173	54	realization	realization	NOUN
ijassa-1149	173	55	of	of	ADP
ijassa-1149	173	56	influence	influence	NOUN
ijassa-1149	173	57	factors	factor	NOUN
ijassa-1149	173	58	in	in	ADP
ijassa-1149	173	59	the	the	DET
ijassa-1149	173	60	environment	environment	NOUN
ijassa-1149	173	61	=	=	NOUN
ijassa-1149	173	62	>	>	X
ijassa-1149	173	63	occurrence	occurrence	NOUN
ijassa-1149	173	64	of	of	ADP
ijassa-1149	173	65	events	event	NOUN
ijassa-1149	173	66	affecting	affect	VERB
ijassa-1149	173	67	robots	robot	NOUN
ijassa-1149	173	68	=	=	SYM
ijassa-1149	173	69	>	>	X
ijassa-1149	173	70	formation	formation	NOUN
ijassa-1149	173	71	of	of	ADP
ijassa-1149	173	72	a	a	DET
ijassa-1149	173	73	situation	situation	NOUN
ijassa-1149	173	74	in	in	ADP
ijassa-1149	173	75	a	a	DET
ijassa-1149	173	76	given	give	VERB
ijassa-1149	173	77	segment	segment	NOUN
ijassa-1149	173	78	of	of	ADP
ijassa-1149	173	79	the	the	DET
ijassa-1149	173	80	operational	operational	ADJ
ijassa-1149	173	81	space	space	NOUN
ijassa-1149	173	82	and	and	CCONJ
ijassa-1149	173	83	losses	loss	NOUN
ijassa-1149	173	84	for	for	ADP
ijassa-1149	173	85	robots	robot	NOUN
ijassa-1149	174	1	=	=	PRON
ijassa-1149	174	2	>	>	X
ijassa-1149	174	3	the	the	DET
ijassa-1149	174	4	environment	environment	NOUN
ijassa-1149	174	5	with	with	ADP
ijassa-1149	174	6	fixed	fix	VERB
ijassa-1149	174	7	factors	factor	NOUN
ijassa-1149	174	8	,	,	PUNCT
ijassa-1149	174	9	events	event	NOUN
ijassa-1149	174	10	,	,	PUNCT
ijassa-1149	174	11	situations	situation	NOUN
ijassa-1149	174	12	,	,	PUNCT
ijassa-1149	174	13	and	and	CCONJ
ijassa-1149	174	14	precedents	precedent	NOUN
ijassa-1149	174	15	.	.	PUNCT
ijassa-1149	175	1	consider	consider	VERB
ijassa-1149	175	2	an	an	DET
ijassa-1149	175	3	illustrative	illustrative	ADJ
ijassa-1149	175	4	example	example	NOUN
ijassa-1149	175	5	.	.	PUNCT
ijassa-1149	176	1	a	a	DET
ijassa-1149	176	2	group	group	NOUN
ijassa-1149	176	3	of	of	ADP
ijassa-1149	176	4	fire	fire	NOUN
ijassa-1149	176	5	-	-	PUNCT
ijassa-1149	176	6	suppression	suppression	NOUN
ijassa-1149	176	7	robots	robot	NOUN
ijassa-1149	176	8	is	be	AUX
ijassa-1149	176	9	eliminating	eliminate	VERB
ijassa-1149	176	10	the	the	DET
ijassa-1149	176	11	consequences	consequence	NOUN
ijassa-1149	176	12	of	of	ADP
ijassa-1149	176	13	an	an	DET
ijassa-1149	176	14	earthquake	earthquake	NOUN
ijassa-1149	176	15	.	.	PUNCT
ijassa-1149	177	1	the	the	DET
ijassa-1149	177	2	earthquake	earthquake	NOUN
ijassa-1149	177	3	is	be	AUX
ijassa-1149	177	4	described	describe	VERB
ijassa-1149	177	5	by	by	ADP
ijassa-1149	177	6	factors	factor	NOUN
ijassa-1149	177	7	(	(	PUNCT
ijassa-1149	177	8	the	the	DET
ijassa-1149	177	9	time	time	NOUN
ijassa-1149	177	10	and	and	CCONJ
ijassa-1149	177	11	duration	duration	NOUN
ijassa-1149	177	12	of	of	ADP
ijassa-1149	177	13	earth	earth	NOUN
ijassa-1149	177	14	shocks	shock	NOUN
ijassa-1149	177	15	)	)	PUNCT
ijassa-1149	177	16	.	.	PUNCT
ijassa-1149	178	1	a	a	DET
ijassa-1149	178	2	set	set	NOUN
ijassa-1149	178	3	of	of	ADP
ijassa-1149	178	4	these	these	DET
ijassa-1149	178	5	factors	factor	NOUN
ijassa-1149	178	6	,	,	PUNCT
ijassa-1149	178	7	realized	realize	VERB
ijassa-1149	178	8	within	within	ADP
ijassa-1149	178	9	24	24	NUM
ijassa-1149	178	10	hours	hour	NOUN
ijassa-1149	178	11	,	,	PUNCT
ijassa-1149	178	12	generates	generate	VERB
ijassa-1149	178	13	events	event	NOUN
ijassa-1149	178	14	(	(	PUNCT
ijassa-1149	178	15	destruction	destruction	NOUN
ijassa-1149	178	16	of	of	ADP
ijassa-1149	178	17	buildings	building	NOUN
ijassa-1149	178	18	)	)	PUNCT
ijassa-1149	178	19	.	.	PUNCT
ijassa-1149	179	1	a	a	DET
ijassa-1149	179	2	sequence	sequence	NOUN
ijassa-1149	179	3	of	of	ADP
ijassa-1149	179	4	such	such	ADJ
ijassa-1149	179	5	events	event	NOUN
ijassa-1149	179	6	forms	form	VERB
ijassa-1149	179	7	a	a	DET
ijassa-1149	179	8	situation	situation	NOUN
ijassa-1149	179	9	(	(	PUNCT
ijassa-1149	179	10	fire	fire	NOUN
ijassa-1149	179	11	)	)	PUNCT
ijassa-1149	179	12	.	.	PUNCT
ijassa-1149	180	1	there	there	PRON
ijassa-1149	180	2	exist	exist	VERB
ijassa-1149	180	3	numerous	numerous	ADJ
ijassa-1149	180	4	precedents	precedent	NOUN
ijassa-1149	180	5	of	of	ADP
ijassa-1149	180	6	fire	fire	NOUN
ijassa-1149	180	7	suppression	suppression	NOUN
ijassa-1149	180	8	depending	depend	VERB
ijassa-1149	180	9	on	on	ADP
ijassa-1149	180	10	the	the	DET
ijassa-1149	180	11	intensity	intensity	NOUN
ijassa-1149	180	12	and	and	CCONJ
ijassa-1149	180	13	rate	rate	NOUN
ijassa-1149	180	14	of	of	ADP
ijassa-1149	180	15	propagation	propagation	NOUN
ijassa-1149	180	16	.	.	PUNCT
ijassa-1149	181	1	robots	robot	NOUN
ijassa-1149	181	2	make	make	VERB
ijassa-1149	181	3	decisions	decision	NOUN
ijassa-1149	181	4	considering	consider	VERB
ijassa-1149	181	5	the	the	DET
ijassa-1149	181	6	current	current	ADJ
ijassa-1149	181	7	situation	situation	NOUN
ijassa-1149	181	8	and	and	CCONJ
ijassa-1149	181	9	the	the	DET
ijassa-1149	181	10	experience	experience	NOUN
ijassa-1149	181	11	of	of	ADP
ijassa-1149	181	12	similar	similar	ADJ
ijassa-1149	181	13	operations	operation	NOUN
ijassa-1149	181	14	.	.	PUNCT
ijassa-1149	182	1	168	168	NUM
ijassa-1149	182	2	v.	v.	CCONJ
ijassa-1149	182	3	abrosimov	abrosimov	ADJ
ijassa-1149	182	4	,	,	PUNCT
ijassa-1149	182	5	a.	a.	NOUN
ijassa-1149	182	6	mazurov	mazurov	PROPN
ijassa-1149	182	7	copyright	copyright	PROPN
ijassa-1149	183	1	©	©	PROPN
ijassa-1149	183	2	2022	2022	NUM
ijassa-1149	183	3	assa	assa	PROPN
ijassa-1149	183	4	adv	adv	PROPN
ijassa-1149	183	5	.	.	PUNCT
ijassa-1149	184	1	in	in	ADP
ijassa-1149	184	2	systems	system	NOUN
ijassa-1149	184	3	science	science	NOUN
ijassa-1149	184	4	and	and	CCONJ
ijassa-1149	184	5	appl	appl	NOUN
ijassa-1149	184	6	.	.	PUNCT
ijassa-1149	185	1	(	(	PUNCT
ijassa-1149	185	2	2022	2022	NUM
ijassa-1149	185	3	)	)	PUNCT
ijassa-1149	185	4	the	the	DET
ijassa-1149	185	5	scheme	scheme	NOUN
ijassa-1149	185	6	described	describe	VERB
ijassa-1149	185	7	above	above	ADV
ijassa-1149	185	8	(	(	PUNCT
ijassa-1149	185	9	factors	factor	NOUN
ijassa-1149	185	10	=	=	SYM
ijassa-1149	185	11	>	>	X
ijassa-1149	185	12	events	event	NOUN
ijassa-1149	185	13	=	=	SYM
ijassa-1149	185	14	>	>	X
ijassa-1149	185	15	situations	situation	NOUN
ijassa-1149	185	16	=	=	SYM
ijassa-1149	185	17	>	>	X
ijassa-1149	185	18	environment	environment	NOUN
ijassa-1149	185	19	’s	’s	PART
ijassa-1149	185	20	state	state	PROPN
ijassa-1149	185	21	=	=	NOUN
ijassa-1149	185	22	>	>	X
ijassa-1149	185	23	precedents	precedent	NOUN
ijassa-1149	185	24	)	)	PUNCT
ijassa-1149	185	25	has	have	VERB
ijassa-1149	185	26	no	no	DET
ijassa-1149	185	27	crisp	crisp	ADJ
ijassa-1149	185	28	mathematical	mathematical	ADJ
ijassa-1149	185	29	relations	relation	NOUN
ijassa-1149	185	30	.	.	PUNCT
ijassa-1149	186	1	physical	physical	ADJ
ijassa-1149	186	2	and	and	CCONJ
ijassa-1149	186	3	other	other	ADJ
ijassa-1149	186	4	regularities	regularity	NOUN
ijassa-1149	186	5	or	or	CCONJ
ijassa-1149	186	6	patterns	pattern	NOUN
ijassa-1149	186	7	are	be	AUX
ijassa-1149	186	8	also	also	ADV
ijassa-1149	186	9	absent	absent	ADJ
ijassa-1149	186	10	.	.	PUNCT
ijassa-1149	187	1	the	the	DET
ijassa-1149	187	2	underlying	underlie	VERB
ijassa-1149	187	3	processes	process	NOUN
ijassa-1149	187	4	can	can	AUX
ijassa-1149	187	5	be	be	AUX
ijassa-1149	187	6	described	describe	VERB
ijassa-1149	187	7	by	by	ADP
ijassa-1149	187	8	variations	variation	NOUN
ijassa-1149	187	9	(	(	PUNCT
ijassa-1149	187	10	increase	increase	NOUN
ijassa-1149	187	11	or	or	CCONJ
ijassa-1149	187	12	decrease	decrease	NOUN
ijassa-1149	187	13	)	)	PUNCT
ijassa-1149	187	14	in	in	ADP
ijassa-1149	187	15	the	the	DET
ijassa-1149	187	16	activity	activity	NOUN
ijassa-1149	187	17	of	of	ADP
ijassa-1149	187	18	the	the	DET
ijassa-1149	187	19	environment	environment	NOUN
ijassa-1149	187	20	and	and	CCONJ
ijassa-1149	187	21	robots	robot	NOUN
ijassa-1149	187	22	.	.	PUNCT
ijassa-1149	188	1	it	it	PRON
ijassa-1149	188	2	is	be	AUX
ijassa-1149	188	3	possible	possible	ADJ
ijassa-1149	188	4	to	to	PART
ijassa-1149	188	5	identify	identify	VERB
ijassa-1149	188	6	several	several	ADJ
ijassa-1149	188	7	types	type	NOUN
ijassa-1149	188	8	of	of	ADP
ijassa-1149	188	9	such	such	ADJ
ijassa-1149	188	10	variations	variation	NOUN
ijassa-1149	188	11	.	.	PUNCT
ijassa-1149	189	1	for	for	ADP
ijassa-1149	189	2	example	example	NOUN
ijassa-1149	189	3	,	,	PUNCT
ijassa-1149	189	4	the	the	DET
ijassa-1149	189	5	probability	probability	NOUN
ijassa-1149	189	6	of	of	ADP
ijassa-1149	189	7	destruction	destruction	NOUN
ijassa-1149	189	8	increases	increase	NOUN
ijassa-1149	189	9	when	when	SCONJ
ijassa-1149	189	10	a	a	DET
ijassa-1149	189	11	robot	robot	NOUN
ijassa-1149	189	12	approaches	approach	VERB
ijassa-1149	189	13	a	a	DET
ijassa-1149	189	14	dangerous	dangerous	ADJ
ijassa-1149	189	15	zone	zone	NOUN
ijassa-1149	189	16	.	.	PUNCT
ijassa-1149	190	1	if	if	SCONJ
ijassa-1149	190	2	a	a	DET
ijassa-1149	190	3	robot	robot	NOUN
ijassa-1149	190	4	can	can	AUX
ijassa-1149	190	5	affect	affect	VERB
ijassa-1149	190	6	the	the	DET
ijassa-1149	190	7	environment	environment	NOUN
ijassa-1149	190	8	,	,	PUNCT
ijassa-1149	190	9	the	the	DET
ijassa-1149	190	10	latter	latter	ADJ
ijassa-1149	190	11	’s	’s	PART
ijassa-1149	190	12	negative	negative	ADJ
ijassa-1149	190	13	impact	impact	NOUN
ijassa-1149	190	14	can	can	AUX
ijassa-1149	190	15	be	be	AUX
ijassa-1149	190	16	reduced	reduce	VERB
ijassa-1149	190	17	.	.	PUNCT
ijassa-1149	191	1	when	when	SCONJ
ijassa-1149	191	2	external	external	ADJ
ijassa-1149	191	3	observation	observation	NOUN
ijassa-1149	191	4	systems	system	NOUN
ijassa-1149	191	5	monitor	monitor	VERB
ijassa-1149	191	6	a	a	DET
ijassa-1149	191	7	territory	territory	NOUN
ijassa-1149	191	8	,	,	PUNCT
ijassa-1149	191	9	events	event	NOUN
ijassa-1149	191	10	occur	occur	VERB
ijassa-1149	191	11	in	in	ADP
ijassa-1149	191	12	discrete	discrete	ADJ
ijassa-1149	191	13	time	time	NOUN
ijassa-1149	191	14	:	:	PUNCT
ijassa-1149	191	15	an	an	DET
ijassa-1149	191	16	event	event	NOUN
ijassa-1149	191	17	can	can	AUX
ijassa-1149	191	18	be	be	AUX
ijassa-1149	191	19	detected	detect	VERB
ijassa-1149	191	20	at	at	ADP
ijassa-1149	191	21	a	a	DET
ijassa-1149	191	22	time	time	NOUN
ijassa-1149	191	23	instant	instant	NOUN
ijassa-1149	191	24	*	*	NOUN
ijassa-1149	191	25	(	(	PUNCT
ijassa-1149	191	26	0)t	0)t	NOUN
ijassa-1149	191	27			VERB
ijassa-1149	191	28	although	although	SCONJ
ijassa-1149	191	29	it	it	PRON
ijassa-1149	191	30	was	be	AUX
ijassa-1149	191	31	not	not	PART
ijassa-1149	191	32	the	the	DET
ijassa-1149	191	33	case	case	NOUN
ijassa-1149	191	34	at	at	ADP
ijassa-1149	191	35	a	a	DET
ijassa-1149	191	36	previous	previous	ADJ
ijassa-1149	191	37	time	time	NOUN
ijassa-1149	191	38	instant	instant	NOUN
ijassa-1149	191	39	*	*	NOUN
ijassa-1149	191	40	(	(	PUNCT
ijassa-1149	191	41	0)t	0)t	PRON
ijassa-1149	191	42			NOUN
ijassa-1149	191	43	.	.	PUNCT
ijassa-1149	192	1	discontinuities	discontinuity	NOUN
ijassa-1149	192	2	of	of	ADP
ijassa-1149	192	3	activity	activity	NOUN
ijassa-1149	192	4	are	be	AUX
ijassa-1149	192	5	also	also	ADV
ijassa-1149	192	6	possible	possible	ADJ
ijassa-1149	192	7	,	,	PUNCT
ijassa-1149	192	8	e.g.	e.g.	ADV
ijassa-1149	192	9	,	,	PUNCT
ijassa-1149	192	10	when	when	SCONJ
ijassa-1149	192	11	robots	robot	NOUN
ijassa-1149	192	12	lose	lose	VERB
ijassa-1149	192	13	communication	communication	NOUN
ijassa-1149	192	14	.	.	PUNCT
ijassa-1149	193	1	in	in	ADP
ijassa-1149	193	2	contrast	contrast	NOUN
ijassa-1149	193	3	,	,	PUNCT
ijassa-1149	193	4	the	the	DET
ijassa-1149	193	5	phenomenon	phenomenon	NOUN
ijassa-1149	193	6	of	of	ADP
ijassa-1149	193	7	“	"	PUNCT
ijassa-1149	193	8	hyperactivity	hyperactivity	NOUN
ijassa-1149	193	9	”	"	PUNCT
ijassa-1149	193	10	can	can	AUX
ijassa-1149	193	11	be	be	AUX
ijassa-1149	193	12	observed	observe	VERB
ijassa-1149	193	13	:	:	PUNCT
ijassa-1149	193	14	as	as	SCONJ
ijassa-1149	193	15	robots	robot	NOUN
ijassa-1149	193	16	restore	restore	VERB
ijassa-1149	193	17	communication	communication	NOUN
ijassa-1149	193	18	,	,	PUNCT
ijassa-1149	193	19	they	they	PRON
ijassa-1149	193	20	have	have	VERB
ijassa-1149	193	21	to	to	PART
ijassa-1149	193	22	act	act	VERB
ijassa-1149	193	23	in	in	ADP
ijassa-1149	193	24	another	another	DET
ijassa-1149	193	25	(	(	PUNCT
ijassa-1149	193	26	essentially	essentially	ADV
ijassa-1149	193	27	complicated	complicated	ADJ
ijassa-1149	193	28	)	)	PUNCT
ijassa-1149	193	29	situation	situation	NOUN
ijassa-1149	193	30	.	.	PUNCT
ijassa-1149	194	1	what	what	PRON
ijassa-1149	194	2	are	be	AUX
ijassa-1149	194	3	possible	possible	ADJ
ijassa-1149	194	4	ways	way	NOUN
ijassa-1149	194	5	to	to	PART
ijassa-1149	194	6	model	model	VERB
ijassa-1149	194	7	situational	situational	ADJ
ijassa-1149	194	8	awareness	awareness	NOUN
ijassa-1149	194	9	without	without	ADP
ijassa-1149	194	10	crisp	crisp	ADJ
ijassa-1149	194	11	mathematical	mathematical	ADJ
ijassa-1149	194	12	and	and	CCONJ
ijassa-1149	194	13	physical	physical	ADJ
ijassa-1149	194	14	relationships	relationship	NOUN
ijassa-1149	194	15	among	among	ADP
ijassa-1149	194	16	the	the	DET
ijassa-1149	194	17	observed	observed	ADJ
ijassa-1149	194	18	phenomena	phenomenon	NOUN
ijassa-1149	194	19	?	?	PUNCT
ijassa-1149	195	1	the	the	DET
ijassa-1149	195	2	theory	theory	NOUN
ijassa-1149	195	3	of	of	ADP
ijassa-1149	195	4	neural	neural	ADJ
ijassa-1149	195	5	networks	network	NOUN
ijassa-1149	195	6	provides	provide	VERB
ijassa-1149	195	7	one	one	NUM
ijassa-1149	195	8	solution	solution	NOUN
ijassa-1149	195	9	;	;	PUNCT
ijassa-1149	195	10	see	see	VERB
ijassa-1149	195	11	the	the	DET
ijassa-1149	195	12	paper	paper	NOUN
ijassa-1149	196	1	[	[	X
ijassa-1149	196	2	1	1	NUM
ijassa-1149	196	3	]	]	PUNCT
ijassa-1149	196	4	.	.	PUNCT
ijassa-1149	197	1	hopefully	hopefully	ADV
ijassa-1149	197	2	,	,	PUNCT
ijassa-1149	197	3	the	the	DET
ijassa-1149	197	4	neural	neural	ADJ
ijassa-1149	197	5	model	model	NOUN
ijassa-1149	197	6	described	describe	VERB
ijassa-1149	197	7	therein	therein	ADV
ijassa-1149	197	8	can	can	AUX
ijassa-1149	197	9	be	be	AUX
ijassa-1149	197	10	implemented	implement	VERB
ijassa-1149	197	11	in	in	ADP
ijassa-1149	197	12	practice	practice	NOUN
ijassa-1149	197	13	.	.	PUNCT
ijassa-1149	198	1	4	4	X
ijassa-1149	198	2	.	.	X
ijassa-1149	198	3	robot	robot	NOUN
ijassa-1149	198	4	as	as	ADP
ijassa-1149	198	5	a	a	DET
ijassa-1149	198	6	thing	thing	NOUN
ijassa-1149	198	7	in	in	ADP
ijassa-1149	198	8	the	the	DET
ijassa-1149	198	9	iot	iot	NOUN
ijassa-1149	198	10	paradigm	paradigm	NOUN
ijassa-1149	198	11	we	we	PRON
ijassa-1149	198	12	accept	accept	VERB
ijassa-1149	198	13	a	a	DET
ijassa-1149	198	14	conventional	conventional	ADJ
ijassa-1149	198	15	proposition	proposition	NOUN
ijassa-1149	198	16	of	of	ADP
ijassa-1149	198	17	the	the	DET
ijassa-1149	198	18	internet	internet	NOUN
ijassa-1149	198	19	of	of	ADP
ijassa-1149	198	20	things	thing	NOUN
ijassa-1149	198	21	:	:	PUNCT
ijassa-1149	198	22	each	each	DET
ijassa-1149	198	23	thing	thing	NOUN
ijassa-1149	198	24	provides	provide	VERB
ijassa-1149	198	25	a	a	DET
ijassa-1149	198	26	statefunction	statefunction	NOUN
ijassa-1149	198	27	interface	interface	NOUN
ijassa-1149	198	28	for	for	ADP
ijassa-1149	198	29	interaction	interaction	NOUN
ijassa-1149	198	30	,	,	PUNCT
ijassa-1149	198	31	making	make	VERB
ijassa-1149	198	32	it	it	PRON
ijassa-1149	198	33	accessible	accessible	ADJ
ijassa-1149	198	34	to	to	ADP
ijassa-1149	198	35	external	external	ADJ
ijassa-1149	198	36	users	user	NOUN
ijassa-1149	198	37	and	and	CCONJ
ijassa-1149	198	38	other	other	ADJ
ijassa-1149	198	39	things	thing	NOUN
ijassa-1149	198	40	.	.	PUNCT
ijassa-1149	199	1	nowadays	nowadays	ADV
ijassa-1149	199	2	,	,	PUNCT
ijassa-1149	199	3	researchers	researcher	NOUN
ijassa-1149	199	4	are	be	AUX
ijassa-1149	199	5	oriented	orient	VERB
ijassa-1149	199	6	towards	towards	ADP
ijassa-1149	199	7	iot	iot	NOUN
ijassa-1149	199	8	-	-	PUNCT
ijassa-1149	199	9	based	base	VERB
ijassa-1149	199	10	technologies	technology	NOUN
ijassa-1149	199	11	with	with	ADP
ijassa-1149	199	12	a	a	DET
ijassa-1149	199	13	high	high	ADJ
ijassa-1149	199	14	market	market	NOUN
ijassa-1149	199	15	priority	priority	NOUN
ijassa-1149	199	16	(	(	PUNCT
ijassa-1149	199	17	intelligent	intelligent	ADJ
ijassa-1149	199	18	house	house	NOUN
ijassa-1149	199	19	,	,	PUNCT
ijassa-1149	199	20	intelligent	intelligent	ADJ
ijassa-1149	199	21	public	public	ADJ
ijassa-1149	199	22	transport	transport	NOUN
ijassa-1149	199	23	,	,	PUNCT
ijassa-1149	199	24	and	and	CCONJ
ijassa-1149	199	25	others	other	NOUN
ijassa-1149	199	26	)	)	PUNCT
ijassa-1149	199	27	.	.	PUNCT
ijassa-1149	200	1	there	there	PRON
ijassa-1149	200	2	exists	exist	VERB
ijassa-1149	200	3	scarce	scarce	ADJ
ijassa-1149	200	4	information	information	NOUN
ijassa-1149	200	5	on	on	ADP
ijassa-1149	200	6	using	use	VERB
ijassa-1149	200	7	the	the	DET
ijassa-1149	200	8	iot	iot	NOUN
ijassa-1149	200	9	in	in	ADP
ijassa-1149	200	10	complex	complex	ADJ
ijassa-1149	200	11	,	,	PUNCT
ijassa-1149	200	12	intelligent	intelligent	ADJ
ijassa-1149	200	13	controlled	control	VERB
ijassa-1149	200	14	objects	object	NOUN
ijassa-1149	200	15	(	(	PUNCT
ijassa-1149	200	16	and	and	CCONJ
ijassa-1149	200	17	their	their	PRON
ijassa-1149	200	18	interaction	interaction	NOUN
ijassa-1149	200	19	)	)	PUNCT
ijassa-1149	200	20	,	,	PUNCT
ijassa-1149	200	21	mostly	mostly	ADV
ijassa-1149	200	22	for	for	ADP
ijassa-1149	200	23	marketing	marketing	NOUN
ijassa-1149	200	24	purposes	purpose	NOUN
ijassa-1149	200	25	.	.	PUNCT
ijassa-1149	201	1	let	let	VERB
ijassa-1149	201	2	us	we	PRON
ijassa-1149	201	3	endow	endow	VERB
ijassa-1149	201	4	a	a	DET
ijassa-1149	201	5	robot	robot	NOUN
ijassa-1149	201	6	with	with	ADP
ijassa-1149	201	7	the	the	DET
ijassa-1149	201	8	following	follow	VERB
ijassa-1149	201	9	properties	property	NOUN
ijassa-1149	201	10	intrinsic	intrinsic	ADJ
ijassa-1149	201	11	to	to	ADP
ijassa-1149	201	12	the	the	DET
ijassa-1149	201	13	iot	iot	NOUN
ijassa-1149	201	14	paradigm	paradigm	NOUN
ijassa-1149	201	15	.	.	PUNCT
ijassa-1149	202	1	4.1	4.1	NUM
ijassa-1149	202	2	.	.	PUNCT
ijassa-1149	202	3	collectivism	collectivism	NOUN
ijassa-1149	202	4	as	as	ADP
ijassa-1149	202	5	the	the	DET
ijassa-1149	202	6	main	main	ADJ
ijassa-1149	202	7	principle	principle	NOUN
ijassa-1149	202	8	of	of	ADP
ijassa-1149	202	9	interaction	interaction	NOUN
ijassa-1149	202	10	each	each	DET
ijassa-1149	202	11	robot	robot	NOUN
ijassa-1149	202	12	operates	operate	VERB
ijassa-1149	202	13	autonomously	autonomously	ADV
ijassa-1149	202	14	but	but	CCONJ
ijassa-1149	202	15	can	can	AUX
ijassa-1149	202	16	interact	interact	VERB
ijassa-1149	202	17	with	with	ADP
ijassa-1149	202	18	other	other	ADJ
ijassa-1149	202	19	robots	robot	NOUN
ijassa-1149	202	20	simultaneously	simultaneously	ADV
ijassa-1149	202	21	and	and	CCONJ
ijassa-1149	202	22	independently	independently	ADV
ijassa-1149	202	23	.	.	PUNCT
ijassa-1149	203	1	unlike	unlike	ADP
ijassa-1149	203	2	the	the	DET
ijassa-1149	203	3	existing	exist	VERB
ijassa-1149	203	4	approaches	approach	NOUN
ijassa-1149	203	5	,	,	PUNCT
ijassa-1149	203	6	we	we	PRON
ijassa-1149	203	7	incorporate	incorporate	VERB
ijassa-1149	203	8	the	the	DET
ijassa-1149	203	9	principles	principle	NOUN
ijassa-1149	203	10	of	of	ADP
ijassa-1149	203	11	collectivism	collectivism	NOUN
ijassa-1149	203	12	in	in	ADP
ijassa-1149	203	13	the	the	DET
ijassa-1149	203	14	interaction	interaction	NOUN
ijassa-1149	203	15	of	of	ADP
ijassa-1149	203	16	robots	robot	NOUN
ijassa-1149	203	17	,	,	PUNCT
ijassa-1149	203	18	as	as	SCONJ
ijassa-1149	203	19	described	describe	VERB
ijassa-1149	203	20	in	in	ADP
ijassa-1149	203	21	the	the	DET
ijassa-1149	203	22	book	book	NOUN
ijassa-1149	203	23	[	[	X
ijassa-1149	203	24	3	3	NUM
ijassa-1149	203	25	]	]	PUNCT
ijassa-1149	203	26	.	.	PUNCT
ijassa-1149	204	1	each	each	DET
ijassa-1149	204	2	robot	robot	NOUN
ijassa-1149	204	3	in	in	ADP
ijassa-1149	204	4	a	a	DET
ijassa-1149	204	5	group	group	NOUN
ijassa-1149	204	6	is	be	AUX
ijassa-1149	204	7	learned	learn	VERB
ijassa-1149	204	8	to	to	ADP
ijassa-1149	204	9	one	one	NUM
ijassa-1149	204	10	of	of	ADP
ijassa-1149	204	11	the	the	DET
ijassa-1149	204	12	three	three	NUM
ijassa-1149	204	13	paradigms	paradigm	NOUN
ijassa-1149	204	14	of	of	ADP
ijassa-1149	204	15	collective	collective	ADJ
ijassa-1149	204	16	behavior	behavior	NOUN
ijassa-1149	204	17	:	:	PUNCT
ijassa-1149	204	18	altruistic	altruistic	ADJ
ijassa-1149	204	19	behavior	behavior	NOUN
ijassa-1149	204	20	(	(	PUNCT
ijassa-1149	204	21	a	a	DET
ijassa-1149	204	22	higher	high	ADJ
ijassa-1149	204	23	priority	priority	NOUN
ijassa-1149	204	24	for	for	ADP
ijassa-1149	204	25	group	group	NOUN
ijassa-1149	204	26	’s	’s	PART
ijassa-1149	204	27	tasks	task	NOUN
ijassa-1149	204	28	)	)	PUNCT
ijassa-1149	204	29	,	,	PUNCT
ijassa-1149	204	30	egoistic	egoistic	ADJ
ijassa-1149	204	31	behavior	behavior	NOUN
ijassa-1149	204	32	(	(	PUNCT
ijassa-1149	204	33	a	a	DET
ijassa-1149	204	34	higher	high	ADJ
ijassa-1149	204	35	priority	priority	NOUN
ijassa-1149	204	36	for	for	ADP
ijassa-1149	204	37	individual	individual	ADJ
ijassa-1149	204	38	tasks	task	NOUN
ijassa-1149	204	39	)	)	PUNCT
ijassa-1149	204	40	,	,	PUNCT
ijassa-1149	204	41	and	and	CCONJ
ijassa-1149	204	42	pragmatic	pragmatic	ADJ
ijassa-1149	204	43	behavior	behavior	NOUN
ijassa-1149	204	44	(	(	PUNCT
ijassa-1149	204	45	decision	decision	NOUN
ijassa-1149	204	46	-	-	PUNCT
ijassa-1149	204	47	making	making	NOUN
ijassa-1149	204	48	with	with	ADP
ijassa-1149	204	49	a	a	DET
ijassa-1149	204	50	complex	complex	ADJ
ijassa-1149	204	51	priority	priority	NOUN
ijassa-1149	204	52	choice	choice	NOUN
ijassa-1149	204	53	algorithm	algorithm	NOUN
ijassa-1149	204	54	)	)	PUNCT
ijassa-1149	204	55	.	.	PUNCT
ijassa-1149	205	1	the	the	DET
ijassa-1149	205	2	details	detail	NOUN
ijassa-1149	205	3	were	be	AUX
ijassa-1149	205	4	described	describe	VERB
ijassa-1149	205	5	in	in	ADP
ijassa-1149	205	6	the	the	DET
ijassa-1149	205	7	paper	paper	NOUN
ijassa-1149	205	8	[	[	X
ijassa-1149	205	9	2	2	NUM
ijassa-1149	205	10	]	]	PUNCT
ijassa-1149	205	11	.	.	PUNCT
ijassa-1149	206	1	in	in	ADP
ijassa-1149	206	2	this	this	DET
ijassa-1149	206	3	statement	statement	NOUN
ijassa-1149	206	4	,	,	PUNCT
ijassa-1149	206	5	while	while	SCONJ
ijassa-1149	206	6	performing	perform	VERB
ijassa-1149	206	7	individual	individual	ADJ
ijassa-1149	206	8	tasks	task	NOUN
ijassa-1149	206	9	according	accord	VERB
ijassa-1149	206	10	to	to	ADP
ijassa-1149	206	11	its	its	PRON
ijassa-1149	206	12	behavioral	behavioral	ADJ
ijassa-1149	206	13	paradigm	paradigm	NOUN
ijassa-1149	206	14	,	,	PUNCT
ijassa-1149	206	15	each	each	DET
ijassa-1149	206	16	robot	robot	NOUN
ijassa-1149	206	17	possesses	possess	VERB
ijassa-1149	206	18	information	information	NOUN
ijassa-1149	206	19	about	about	ADP
ijassa-1149	206	20	the	the	DET
ijassa-1149	206	21	existing	exist	VERB
ijassa-1149	206	22	problems	problem	NOUN
ijassa-1149	206	23	of	of	ADP
ijassa-1149	206	24	other	other	ADJ
ijassa-1149	206	25	robots	robot	NOUN
ijassa-1149	206	26	in	in	ADP
ijassa-1149	206	27	their	their	PRON
ijassa-1149	206	28	tasks	task	NOUN
ijassa-1149	206	29	and	and	CCONJ
ijassa-1149	206	30	expresses	express	VERB
ijassa-1149	206	31	its	its	PRON
ijassa-1149	206	32	willingness	willingness	NOUN
ijassa-1149	206	33	to	to	PART
ijassa-1149	206	34	solve	solve	VERB
ijassa-1149	206	35	these	these	DET
ijassa-1149	206	36	problems	problem	NOUN
ijassa-1149	206	37	using	use	VERB
ijassa-1149	206	38	its	its	PRON
ijassa-1149	206	39	functionality	functionality	NOUN
ijassa-1149	206	40	and	and	CCONJ
ijassa-1149	206	41	residual	residual	ADJ
ijassa-1149	206	42	resources	resource	NOUN
ijassa-1149	206	43	(	(	PUNCT
ijassa-1149	206	44	if	if	SCONJ
ijassa-1149	206	45	necessary	necessary	ADJ
ijassa-1149	206	46	)	)	PUNCT
ijassa-1149	206	47	.	.	PUNCT
ijassa-1149	207	1	this	this	DET
ijassa-1149	207	2	collectivism	collectivism	NOUN
ijassa-1149	207	3	of	of	ADP
ijassa-1149	207	4	the	the	DET
ijassa-1149	207	5	autonomous	autonomous	ADJ
ijassa-1149	207	6	behavior	behavior	NOUN
ijassa-1149	207	7	of	of	ADP
ijassa-1149	207	8	robots	robot	NOUN
ijassa-1149	207	9	within	within	ADP
ijassa-1149	207	10	the	the	DET
ijassa-1149	207	11	group	group	NOUN
ijassa-1149	207	12	is	be	AUX
ijassa-1149	207	13	a	a	DET
ijassa-1149	207	14	prerequisite	prerequisite	NOUN
ijassa-1149	207	15	to	to	ADP
ijassa-1149	207	16	creating	create	VERB
ijassa-1149	207	17	an	an	DET
ijassa-1149	207	18	innovative	innovative	ADJ
ijassa-1149	207	19	serviceoriented	serviceoriente	VERB
ijassa-1149	207	20	interaction	interaction	NOUN
ijassa-1149	207	21	architecture	architecture	NOUN
ijassa-1149	207	22	of	of	ADP
ijassa-1149	207	23	robots	robot	NOUN
ijassa-1149	207	24	,	,	PUNCT
ijassa-1149	207	25	which	which	PRON
ijassa-1149	207	26	guarantees	guarantee	VERB
ijassa-1149	207	27	a	a	DET
ijassa-1149	207	28	proper	proper	ADJ
ijassa-1149	207	29	operation	operation	NOUN
ijassa-1149	207	30	of	of	ADP
ijassa-1149	207	31	the	the	DET
ijassa-1149	207	32	entire	entire	ADJ
ijassa-1149	207	33	group	group	NOUN
ijassa-1149	207	34	regardless	regardless	ADV
ijassa-1149	207	35	of	of	ADP
ijassa-1149	207	36	the	the	DET
ijassa-1149	207	37	states	state	NOUN
ijassa-1149	207	38	of	of	ADP
ijassa-1149	207	39	individual	individual	ADJ
ijassa-1149	207	40	robots	robot	NOUN
ijassa-1149	207	41	through	through	ADP
ijassa-1149	207	42	the	the	DET
ijassa-1149	207	43	role	role	NOUN
ijassa-1149	207	44	and	and	CCONJ
ijassa-1149	207	45	functional	functional	ADJ
ijassa-1149	207	46	interchangeability	interchangeability	NOUN
ijassa-1149	207	47	of	of	ADP
ijassa-1149	207	48	robots	robot	NOUN
ijassa-1149	207	49	and	and	CCONJ
ijassa-1149	207	50	their	their	PRON
ijassa-1149	207	51	mutual	mutual	ADJ
ijassa-1149	207	52	assistance	assistance	NOUN
ijassa-1149	207	53	(	(	PUNCT
ijassa-1149	207	54	cooperation	cooperation	NOUN
ijassa-1149	207	55	)	)	PUNCT
ijassa-1149	207	56	.	.	PUNCT
ijassa-1149	208	1	4.2	4.2	NUM
ijassa-1149	208	2	.	.	PUNCT
ijassa-1149	208	3	functionality	functionality	NOUN
ijassa-1149	208	4	as	as	ADP
ijassa-1149	208	5	service	service	NOUN
ijassa-1149	208	6	robot	robot	NOUN
ijassa-1149	208	7	’s	’s	PART
ijassa-1149	208	8	roles	role	NOUN
ijassa-1149	208	9	are	be	AUX
ijassa-1149	208	10	defined	define	VERB
ijassa-1149	208	11	by	by	ADP
ijassa-1149	208	12	its	its	PRON
ijassa-1149	208	13	functionality	functionality	NOUN
ijassa-1149	208	14	,	,	PUNCT
ijassa-1149	208	15	behavioral	behavioral	ADJ
ijassa-1149	208	16	paradigm	paradigm	NOUN
ijassa-1149	208	17	,	,	PUNCT
ijassa-1149	208	18	and	and	CCONJ
ijassa-1149	208	19	the	the	DET
ijassa-1149	208	20	scale	scale	NOUN
ijassa-1149	208	21	of	of	ADP
ijassa-1149	208	22	learning	learn	VERB
ijassa-1149	208	23	for	for	ADP
ijassa-1149	208	24	different	different	ADJ
ijassa-1149	208	25	actions	action	NOUN
ijassa-1149	208	26	in	in	ADP
ijassa-1149	208	27	complex	complex	ADJ
ijassa-1149	208	28	situations	situation	NOUN
ijassa-1149	208	29	.	.	PUNCT
ijassa-1149	209	1	modern	modern	ADJ
ijassa-1149	209	2	autonomous	autonomous	ADJ
ijassa-1149	209	3	robots	robot	NOUN
ijassa-1149	209	4	have	have	VERB
ijassa-1149	209	5	a	a	DET
ijassa-1149	209	6	multifunctional	multifunctional	ADJ
ijassa-1149	209	7	design	design	NOUN
ijassa-1149	209	8	.	.	PUNCT
ijassa-1149	210	1	while	while	SCONJ
ijassa-1149	210	2	fulfilling	fulfil	VERB
ijassa-1149	210	3	a	a	DET
ijassa-1149	210	4	collective	collective	ADJ
ijassa-1149	210	5	mission	mission	NOUN
ijassa-1149	210	6	,	,	PUNCT
ijassa-1149	210	7	in	in	ADP
ijassa-1149	210	8	addition	addition	NOUN
ijassa-1149	210	9	to	to	ADP
ijassa-1149	210	10	its	its	PRON
ijassa-1149	210	11	main	main	ADJ
ijassa-1149	210	12	functional	functional	ADJ
ijassa-1149	210	13	role	role	NOUN
ijassa-1149	210	14	,	,	PUNCT
ijassa-1149	210	15	each	each	DET
ijassa-1149	210	16	robot	robot	NOUN
ijassa-1149	210	17	may	may	AUX
ijassa-1149	210	18	have	have	AUX
ijassa-1149	210	19	(	(	PUNCT
ijassa-1149	210	20	reveal	reveal	VERB
ijassa-1149	210	21	)	)	PUNCT
ijassa-1149	210	22	another	another	DET
ijassa-1149	210	23	potentially	potentially	ADV
ijassa-1149	210	24	admissible	admissible	ADJ
ijassa-1149	210	25	role	role	NOUN
ijassa-1149	210	26	depending	depend	VERB
ijassa-1149	210	27	on	on	ADP
ijassa-1149	210	28	its	its	PRON
ijassa-1149	210	29	status	status	NOUN
ijassa-1149	210	30	,	,	PUNCT
ijassa-1149	210	31	role	role	NOUN
ijassa-1149	210	32	,	,	PUNCT
ijassa-1149	210	33	functionality	functionality	NOUN
ijassa-1149	210	34	,	,	PUNCT
ijassa-1149	210	35	and	and	CCONJ
ijassa-1149	210	36	residual	residual	ADJ
ijassa-1149	210	37	resources	resource	NOUN
ijassa-1149	210	38	.	.	PUNCT
ijassa-1149	211	1	some	some	DET
ijassa-1149	211	2	examples	example	NOUN
ijassa-1149	211	3	of	of	ADP
ijassa-1149	211	4	roles	role	NOUN
ijassa-1149	211	5	include	include	VERB
ijassa-1149	211	6	leader	leader	NOUN
ijassa-1149	211	7	(	(	PUNCT
ijassa-1149	211	8	a	a	DET
ijassa-1149	211	9	robot	robot	NOUN
ijassa-1149	211	10	initiating	initiate	VERB
ijassa-1149	211	11	control	control	NOUN
ijassa-1149	211	12	commands	command	NOUN
ijassa-1149	211	13	)	)	PUNCT
ijassa-1149	211	14	,	,	PUNCT
ijassa-1149	211	15	cooperator	cooperator	NOUN
ijassa-1149	211	16	(	(	PUNCT
ijassa-1149	211	17	a	a	DET
ijassa-1149	211	18	robot	robot	NOUN
ijassa-1149	211	19	collaborating	collaborate	VERB
ijassa-1149	211	20	with	with	ADP
ijassa-1149	211	21	other	other	ADJ
ijassa-1149	211	22	robots	robot	NOUN
ijassa-1149	211	23	in	in	ADP
ijassa-1149	211	24	collective	collective	ADJ
ijassa-1149	211	25	mission	mission	NOUN
ijassa-1149	211	26	fulfillment	fulfillment	NOUN
ijassa-1149	211	27	)	)	PUNCT
ijassa-1149	211	28	,	,	PUNCT
ijassa-1149	211	29	communicator	communicator	NOUN
ijassa-1149	211	30	(	(	PUNCT
ijassa-1149	211	31	a	a	DET
ijassa-1149	211	32	robot	robot	NOUN
ijassa-1149	211	33	responsible	responsible	ADJ
ijassa-1149	211	34	for	for	ADP
ijassa-1149	211	35	interaction	interaction	NOUN
ijassa-1149	211	36	and	and	CCONJ
ijassa-1149	211	37	communication	communication	NOUN
ijassa-1149	211	38	)	)	PUNCT
ijassa-1149	211	39	,	,	PUNCT
ijassa-1149	211	40	executor	executor	NOUN
ijassa-1149	211	41	(	(	PUNCT
ijassa-1149	211	42	a	a	DET
ijassa-1149	211	43	robot	robot	NOUN
ijassa-1149	211	44	implementing	implement	VERB
ijassa-1149	211	45	actions	action	NOUN
ijassa-1149	211	46	)	)	PUNCT
ijassa-1149	211	47	,	,	PUNCT
ijassa-1149	211	48	resource	resource	NOUN
ijassa-1149	211	49	(	(	PUNCT
ijassa-1149	211	50	a	a	DET
ijassa-1149	211	51	partially	partially	ADV
ijassa-1149	211	52	or	or	CCONJ
ijassa-1149	211	53	the	the	DET
ijassa-1149	211	54	collective	collective	ADJ
ijassa-1149	211	55	behavior	behavior	NOUN
ijassa-1149	211	56	of	of	ADP
ijassa-1149	211	57	robots	robot	NOUN
ijassa-1149	211	58	based	base	VERB
ijassa-1149	211	59	on	on	ADP
ijassa-1149	211	60	the	the	DET
ijassa-1149	211	61	internet	internet	NOUN
ijassa-1149	211	62	-	-	PUNCT
ijassa-1149	211	63	of	of	ADP
ijassa-1149	211	64	-	-	PUNCT
ijassa-1149	211	65	things	thing	NOUN
ijassa-1149	211	66	paradigm	paradigm	NOUN
ijassa-1149	211	67	169	169	NUM
ijassa-1149	211	68	copyright	copyright	NOUN
ijassa-1149	211	69	©	©	PROPN
ijassa-1149	211	70	2022	2022	NUM
ijassa-1149	211	71	assa	assa	NOUN
ijassa-1149	211	72	.	.	PUNCT
ijassa-1149	212	1	adv	adv	PROPN
ijassa-1149	212	2	.	.	PUNCT
ijassa-1149	213	1	in	in	ADP
ijassa-1149	213	2	systems	system	NOUN
ijassa-1149	213	3	science	science	NOUN
ijassa-1149	213	4	and	and	CCONJ
ijassa-1149	213	5	appl	appl	NOUN
ijassa-1149	213	6	.	.	PUNCT
ijassa-1149	214	1	(	(	PUNCT
ijassa-1149	214	2	2022	2022	NUM
ijassa-1149	214	3	)	)	PUNCT
ijassa-1149	214	4	completely	completely	ADV
ijassa-1149	214	5	informed	inform	VERB
ijassa-1149	214	6	robot	robot	NOUN
ijassa-1149	214	7	placed	place	VERB
ijassa-1149	214	8	in	in	ADP
ijassa-1149	214	9	reserve	reserve	NOUN
ijassa-1149	214	10	;	;	PUNCT
ijassa-1149	214	11	participates	participate	VERB
ijassa-1149	214	12	in	in	ADP
ijassa-1149	214	13	collective	collective	ADJ
ijassa-1149	214	14	mission	mission	NOUN
ijassa-1149	214	15	fulfillment	fulfillment	NOUN
ijassa-1149	214	16	by	by	ADP
ijassa-1149	214	17	request	request	NOUN
ijassa-1149	214	18	only	only	ADV
ijassa-1149	214	19	)	)	PUNCT
ijassa-1149	214	20	,	,	PUNCT
ijassa-1149	214	21	and	and	CCONJ
ijassa-1149	214	22	other	other	ADJ
ijassa-1149	214	23	roles	role	NOUN
ijassa-1149	214	24	.	.	PUNCT
ijassa-1149	215	1	under	under	ADP
ijassa-1149	215	2	the	the	DET
ijassa-1149	215	3	principle	principle	NOUN
ijassa-1149	215	4	of	of	ADP
ijassa-1149	215	5	collectivism	collectivism	NOUN
ijassa-1149	215	6	,	,	PUNCT
ijassa-1149	215	7	any	any	DET
ijassa-1149	215	8	robot	robot	NOUN
ijassa-1149	215	9	accepting	accept	VERB
ijassa-1149	215	10	another	another	DET
ijassa-1149	215	11	role	role	NOUN
ijassa-1149	215	12	offers	offer	VERB
ijassa-1149	215	13	its	its	PRON
ijassa-1149	215	14	functionality	functionality	NOUN
ijassa-1149	215	15	and	and	CCONJ
ijassa-1149	215	16	resources	resource	NOUN
ijassa-1149	215	17	to	to	ADP
ijassa-1149	215	18	other	other	ADJ
ijassa-1149	215	19	robots	robot	NOUN
ijassa-1149	215	20	as	as	ADP
ijassa-1149	215	21	an	an	DET
ijassa-1149	215	22	external	external	ADJ
ijassa-1149	215	23	service	service	NOUN
ijassa-1149	215	24	available	available	ADJ
ijassa-1149	215	25	to	to	PART
ijassa-1149	215	26	solve	solve	VERB
ijassa-1149	215	27	their	their	PRON
ijassa-1149	215	28	tasks	task	NOUN
ijassa-1149	215	29	.	.	PUNCT
ijassa-1149	216	1	on	on	ADP
ijassa-1149	216	2	the	the	DET
ijassa-1149	216	3	other	other	ADJ
ijassa-1149	216	4	hand	hand	NOUN
ijassa-1149	216	5	,	,	PUNCT
ijassa-1149	216	6	any	any	DET
ijassa-1149	216	7	robot	robot	NOUN
ijassa-1149	216	8	may	may	AUX
ijassa-1149	216	9	request	request	VERB
ijassa-1149	216	10	required	require	VERB
ijassa-1149	216	11	functionality	functionality	NOUN
ijassa-1149	216	12	and	and	CCONJ
ijassa-1149	216	13	resources	resource	NOUN
ijassa-1149	216	14	from	from	ADP
ijassa-1149	216	15	other	other	ADJ
ijassa-1149	216	16	robots	robot	NOUN
ijassa-1149	216	17	and	and	CCONJ
ijassa-1149	216	18	use	use	VERB
ijassa-1149	216	19	them	they	PRON
ijassa-1149	216	20	if	if	SCONJ
ijassa-1149	216	21	necessary	necessary	ADJ
ijassa-1149	216	22	.	.	PUNCT
ijassa-1149	217	1	with	with	ADP
ijassa-1149	217	2	interaction	interaction	NOUN
ijassa-1149	217	3	processes	process	NOUN
ijassa-1149	217	4	organized	organize	VERB
ijassa-1149	217	5	in	in	ADP
ijassa-1149	217	6	this	this	DET
ijassa-1149	217	7	way	way	NOUN
ijassa-1149	217	8	,	,	PUNCT
ijassa-1149	217	9	each	each	DET
ijassa-1149	217	10	robot	robot	NOUN
ijassa-1149	217	11	disposes	dispose	VERB
ijassa-1149	217	12	of	of	ADP
ijassa-1149	217	13	additional	additional	ADJ
ijassa-1149	217	14	functionality	functionality	NOUN
ijassa-1149	217	15	,	,	PUNCT
ijassa-1149	217	16	which	which	PRON
ijassa-1149	217	17	appreciably	appreciably	ADV
ijassa-1149	217	18	enlarges	enlarge	VERB
ijassa-1149	217	19	its	its	PRON
ijassa-1149	217	20	capabilities	capability	NOUN
ijassa-1149	217	21	.	.	PUNCT
ijassa-1149	218	1	moreover	moreover	ADV
ijassa-1149	218	2	,	,	PUNCT
ijassa-1149	218	3	the	the	DET
ijassa-1149	218	4	entire	entire	ADJ
ijassa-1149	218	5	group	group	NOUN
ijassa-1149	218	6	considerably	considerably	ADV
ijassa-1149	218	7	increases	increase	VERB
ijassa-1149	218	8	the	the	DET
ijassa-1149	218	9	adaptability	adaptability	NOUN
ijassa-1149	218	10	to	to	ADP
ijassa-1149	218	11	the	the	DET
ijassa-1149	218	12	negative	negative	ADJ
ijassa-1149	218	13	impact	impact	NOUN
ijassa-1149	218	14	of	of	ADP
ijassa-1149	218	15	the	the	DET
ijassa-1149	218	16	antagonistic	antagonistic	ADJ
ijassa-1149	218	17	environment	environment	NOUN
ijassa-1149	218	18	.	.	PUNCT
ijassa-1149	219	1	4.3	4.3	NUM
ijassa-1149	219	2	.	.	PUNCT
ijassa-1149	219	3	mutual	mutual	ADJ
ijassa-1149	219	4	assistance	assistance	NOUN
ijassa-1149	219	5	as	as	ADP
ijassa-1149	219	6	a	a	DET
ijassa-1149	219	7	basis	basis	NOUN
ijassa-1149	219	8	of	of	ADP
ijassa-1149	219	9	behavioral	behavioral	ADJ
ijassa-1149	219	10	strategies	strategy	NOUN
ijassa-1149	219	11	a	a	DET
ijassa-1149	219	12	robot	robot	NOUN
ijassa-1149	219	13	may	may	AUX
ijassa-1149	219	14	implement	implement	VERB
ijassa-1149	219	15	different	different	ADJ
ijassa-1149	219	16	levels	level	NOUN
ijassa-1149	219	17	of	of	ADP
ijassa-1149	219	18	access	access	NOUN
ijassa-1149	219	19	to	to	ADP
ijassa-1149	219	20	its	its	PRON
ijassa-1149	219	21	functionality	functionality	NOUN
ijassa-1149	219	22	.	.	PUNCT
ijassa-1149	220	1	this	this	DET
ijassa-1149	220	2	property	property	NOUN
ijassa-1149	220	3	allows	allow	VERB
ijassa-1149	220	4	creating	create	VERB
ijassa-1149	220	5	networks	network	NOUN
ijassa-1149	220	6	of	of	ADP
ijassa-1149	220	7	robots	robot	NOUN
ijassa-1149	220	8	differing	differ	VERB
ijassa-1149	220	9	by	by	ADP
ijassa-1149	220	10	structure	structure	NOUN
ijassa-1149	220	11	and	and	CCONJ
ijassa-1149	220	12	complexity	complexity	NOUN
ijassa-1149	220	13	:	:	PUNCT
ijassa-1149	220	14	common	common	ADJ
ijassa-1149	220	15	networks	network	NOUN
ijassa-1149	220	16	,	,	PUNCT
ijassa-1149	220	17	networks	network	NOUN
ijassa-1149	220	18	with	with	ADP
ijassa-1149	220	19	complex	complex	ADJ
ijassa-1149	220	20	structure	structure	NOUN
ijassa-1149	220	21	and	and	CCONJ
ijassa-1149	220	22	subordination	subordination	NOUN
ijassa-1149	220	23	,	,	PUNCT
ijassa-1149	220	24	networks	network	NOUN
ijassa-1149	220	25	with	with	ADP
ijassa-1149	220	26	hidden	hidden	ADJ
ijassa-1149	220	27	elements	element	NOUN
ijassa-1149	220	28	,	,	PUNCT
ijassa-1149	220	29	and	and	CCONJ
ijassa-1149	220	30	others	other	NOUN
ijassa-1149	220	31	.	.	PUNCT
ijassa-1149	221	1	(	(	PUNCT
ijassa-1149	221	2	a	a	DET
ijassa-1149	221	3	hidden	hide	VERB
ijassa-1149	221	4	element	element	NOUN
ijassa-1149	221	5	shows	show	VERB
ijassa-1149	221	6	itself	itself	PRON
ijassa-1149	221	7	if	if	SCONJ
ijassa-1149	221	8	necessary	necessary	ADJ
ijassa-1149	221	9	,	,	PUNCT
ijassa-1149	221	10	e.g.	e.g.	ADV
ijassa-1149	221	11	,	,	PUNCT
ijassa-1149	221	12	a	a	DET
ijassa-1149	221	13	sacrifice	sacrifice	NOUN
ijassa-1149	221	14	.	.	PUNCT
ijassa-1149	221	15	)	)	PUNCT
ijassa-1149	222	1	a	a	DET
ijassa-1149	222	2	robot	robot	NOUN
ijassa-1149	222	3	can	can	AUX
ijassa-1149	222	4	be	be	AUX
ijassa-1149	222	5	identified	identify	VERB
ijassa-1149	222	6	in	in	ADP
ijassa-1149	222	7	a	a	DET
ijassa-1149	222	8	network	network	NOUN
ijassa-1149	222	9	as	as	ADP
ijassa-1149	222	10	a	a	DET
ijassa-1149	222	11	part	part	NOUN
ijassa-1149	222	12	of	of	ADP
ijassa-1149	222	13	another	another	DET
ijassa-1149	222	14	robot	robot	NOUN
ijassa-1149	222	15	.	.	PUNCT
ijassa-1149	223	1	it	it	PRON
ijassa-1149	223	2	can	can	AUX
ijassa-1149	223	3	be	be	AUX
ijassa-1149	223	4	hidden	hide	VERB
ijassa-1149	223	5	or	or	CCONJ
ijassa-1149	223	6	identified	identify	VERB
ijassa-1149	223	7	through	through	ADP
ijassa-1149	223	8	another	another	DET
ijassa-1149	223	9	robot	robot	NOUN
ijassa-1149	223	10	,	,	PUNCT
ijassa-1149	223	11	forming	form	VERB
ijassa-1149	223	12	new	new	ADJ
ijassa-1149	223	13	networks	network	NOUN
ijassa-1149	223	14	.	.	PUNCT
ijassa-1149	224	1	such	such	ADJ
ijassa-1149	224	2	networks	network	NOUN
ijassa-1149	224	3	can	can	AUX
ijassa-1149	224	4	implement	implement	VERB
ijassa-1149	224	5	different	different	ADJ
ijassa-1149	224	6	behavioral	behavioral	ADJ
ijassa-1149	224	7	strategies	strategy	NOUN
ijassa-1149	224	8	for	for	ADP
ijassa-1149	224	9	a	a	DET
ijassa-1149	224	10	group	group	NOUN
ijassa-1149	224	11	of	of	ADP
ijassa-1149	224	12	robots	robot	NOUN
ijassa-1149	224	13	in	in	ADP
ijassa-1149	224	14	the	the	DET
ijassa-1149	224	15	antagonistic	antagonistic	ADJ
ijassa-1149	224	16	environment	environment	NOUN
ijassa-1149	224	17	,	,	PUNCT
ijassa-1149	224	18	depending	depend	VERB
ijassa-1149	224	19	on	on	ADP
ijassa-1149	224	20	the	the	DET
ijassa-1149	224	21	events	event	NOUN
ijassa-1149	224	22	and	and	CCONJ
ijassa-1149	224	23	current	current	ADJ
ijassa-1149	224	24	situation	situation	NOUN
ijassa-1149	224	25	.	.	PUNCT
ijassa-1149	225	1	here	here	ADV
ijassa-1149	225	2	,	,	PUNCT
ijassa-1149	225	3	major	major	ADJ
ijassa-1149	225	4	aspects	aspect	NOUN
ijassa-1149	225	5	are	be	AUX
ijassa-1149	225	6	allocating	allocate	VERB
ijassa-1149	225	7	tasks	task	NOUN
ijassa-1149	225	8	and	and	CCONJ
ijassa-1149	225	9	goals	goal	NOUN
ijassa-1149	225	10	before	before	ADP
ijassa-1149	225	11	collective	collective	ADJ
ijassa-1149	225	12	mission	mission	NOUN
ijassa-1149	225	13	fulfillment	fulfillment	NOUN
ijassa-1149	225	14	,	,	PUNCT
ijassa-1149	225	15	routing	routing	NOUN
ijassa-1149	225	16	,	,	PUNCT
ijassa-1149	225	17	and	and	CCONJ
ijassa-1149	225	18	coordinating	coordinate	VERB
ijassa-1149	225	19	the	the	DET
ijassa-1149	225	20	individual	individual	ADJ
ijassa-1149	225	21	behavioral	behavioral	ADJ
ijassa-1149	225	22	strategies	strategy	NOUN
ijassa-1149	225	23	of	of	ADP
ijassa-1149	225	24	robots	robot	NOUN
ijassa-1149	225	25	during	during	ADP
ijassa-1149	225	26	mission	mission	NOUN
ijassa-1149	225	27	fulfillment	fulfillment	NOUN
ijassa-1149	225	28	.	.	PUNCT
ijassa-1149	226	1	thus	thus	ADV
ijassa-1149	226	2	,	,	PUNCT
ijassa-1149	226	3	we	we	PRON
ijassa-1149	226	4	interpret	interpret	VERB
ijassa-1149	226	5	a	a	DET
ijassa-1149	226	6	robot	robot	NOUN
ijassa-1149	226	7	as	as	ADP
ijassa-1149	226	8	a	a	DET
ijassa-1149	226	9	thing	thing	NOUN
ijassa-1149	226	10	in	in	ADP
ijassa-1149	226	11	the	the	DET
ijassa-1149	226	12	iot	iot	NOUN
ijassa-1149	226	13	paradigm	paradigm	NOUN
ijassa-1149	226	14	.	.	PUNCT
ijassa-1149	227	1	each	each	DET
ijassa-1149	227	2	robot	robot	NOUN
ijassa-1149	227	3	informs	inform	VERB
ijassa-1149	227	4	other	other	ADJ
ijassa-1149	227	5	robots	robot	NOUN
ijassa-1149	227	6	about	about	ADP
ijassa-1149	227	7	its	its	PRON
ijassa-1149	227	8	status	status	NOUN
ijassa-1149	227	9	and	and	CCONJ
ijassa-1149	227	10	acts	act	VERB
ijassa-1149	227	11	as	as	ADP
ijassa-1149	227	12	an	an	DET
ijassa-1149	227	13	external	external	ADJ
ijassa-1149	227	14	service	service	NOUN
ijassa-1149	227	15	for	for	ADP
ijassa-1149	227	16	them	they	PRON
ijassa-1149	227	17	,	,	PUNCT
ijassa-1149	227	18	and	and	CCONJ
ijassa-1149	227	19	the	the	DET
ijassa-1149	227	20	robot	robot	NOUN
ijassa-1149	227	21	’s	’s	PART
ijassa-1149	227	22	attributes	attribute	NOUN
ijassa-1149	227	23	describe	describe	VERB
ijassa-1149	227	24	its	its	PRON
ijassa-1149	227	25	admissible	admissible	ADJ
ijassa-1149	227	26	roles	role	NOUN
ijassa-1149	227	27	,	,	PUNCT
ijassa-1149	227	28	functionality	functionality	NOUN
ijassa-1149	227	29	,	,	PUNCT
ijassa-1149	227	30	and	and	CCONJ
ijassa-1149	227	31	residual	residual	ADJ
ijassa-1149	227	32	resources	resource	NOUN
ijassa-1149	227	33	to	to	PART
ijassa-1149	227	34	solve	solve	VERB
ijassa-1149	227	35	tasks	task	NOUN
ijassa-1149	227	36	within	within	ADP
ijassa-1149	227	37	a	a	DET
ijassa-1149	227	38	collective	collective	ADJ
ijassa-1149	227	39	mission	mission	NOUN
ijassa-1149	227	40	.	.	PUNCT
ijassa-1149	228	1	the	the	DET
ijassa-1149	228	2	robot	robot	NOUN
ijassa-1149	228	3	’s	’s	PART
ijassa-1149	228	4	functions	function	NOUN
ijassa-1149	228	5	and	and	CCONJ
ijassa-1149	228	6	resources	resource	NOUN
ijassa-1149	228	7	can	can	AUX
ijassa-1149	228	8	be	be	AUX
ijassa-1149	228	9	requested	request	VERB
ijassa-1149	228	10	and	and	CCONJ
ijassa-1149	228	11	used	use	VERB
ijassa-1149	228	12	by	by	ADP
ijassa-1149	228	13	other	other	ADJ
ijassa-1149	228	14	robots	robot	NOUN
ijassa-1149	228	15	.	.	PUNCT
ijassa-1149	229	1	on	on	ADP
ijassa-1149	229	2	the	the	DET
ijassa-1149	229	3	other	other	ADJ
ijassa-1149	229	4	hand	hand	NOUN
ijassa-1149	229	5	,	,	PUNCT
ijassa-1149	229	6	the	the	DET
ijassa-1149	229	7	capabilities	capability	NOUN
ijassa-1149	229	8	of	of	ADP
ijassa-1149	229	9	a	a	DET
ijassa-1149	229	10	given	give	VERB
ijassa-1149	229	11	robot	robot	NOUN
ijassa-1149	229	12	can	can	AUX
ijassa-1149	229	13	be	be	AUX
ijassa-1149	229	14	enlarged	enlarge	VERB
ijassa-1149	229	15	(	(	PUNCT
ijassa-1149	229	16	if	if	SCONJ
ijassa-1149	229	17	necessary	necessary	ADJ
ijassa-1149	229	18	)	)	PUNCT
ijassa-1149	229	19	using	use	VERB
ijassa-1149	229	20	the	the	DET
ijassa-1149	229	21	functionality	functionality	NOUN
ijassa-1149	229	22	,	,	PUNCT
ijassa-1149	229	23	roles	role	NOUN
ijassa-1149	229	24	,	,	PUNCT
ijassa-1149	229	25	and	and	CCONJ
ijassa-1149	229	26	resources	resource	NOUN
ijassa-1149	229	27	of	of	ADP
ijassa-1149	229	28	other	other	ADJ
ijassa-1149	229	29	robots	robot	NOUN
ijassa-1149	229	30	.	.	PUNCT
ijassa-1149	230	1	4.4	4.4	NUM
ijassa-1149	230	2	.	.	PUNCT
ijassa-1149	230	3	provision	provision	NOUN
ijassa-1149	230	4	of	of	ADP
ijassa-1149	230	5	robot	robot	NOUN
ijassa-1149	230	6	’s	’s	PART
ijassa-1149	230	7	functionality	functionality	NOUN
ijassa-1149	230	8	to	to	ADP
ijassa-1149	230	9	other	other	ADJ
ijassa-1149	230	10	robots	robot	NOUN
ijassa-1149	230	11	in	in	ADP
ijassa-1149	230	12	the	the	DET
ijassa-1149	230	13	operational	operational	ADJ
ijassa-1149	230	14	space	space	NOUN
ijassa-1149	230	15	with	with	ADP
ijassa-1149	230	16	an	an	DET
ijassa-1149	230	17	antagonistic	antagonistic	ADJ
ijassa-1149	230	18	environment	environment	NOUN
ijassa-1149	230	19	,	,	PUNCT
ijassa-1149	230	20	robots	robot	NOUN
ijassa-1149	230	21	need	need	VERB
ijassa-1149	230	22	different	different	ADJ
ijassa-1149	230	23	functionality	functionality	NOUN
ijassa-1149	230	24	(	(	PUNCT
ijassa-1149	230	25	e.g.	e.g.	ADV
ijassa-1149	230	26	,	,	PUNCT
ijassa-1149	230	27	reconnaissance	reconnaissance	NOUN
ijassa-1149	230	28	,	,	PUNCT
ijassa-1149	230	29	the	the	DET
ijassa-1149	230	30	capability	capability	NOUN
ijassa-1149	230	31	to	to	PART
ijassa-1149	230	32	reduce	reduce	VERB
ijassa-1149	230	33	or	or	CCONJ
ijassa-1149	230	34	even	even	ADV
ijassa-1149	230	35	neutralize	neutralize	VERB
ijassa-1149	230	36	counteraction	counteraction	NOUN
ijassa-1149	230	37	,	,	PUNCT
ijassa-1149	230	38	concealed	conceal	VERB
ijassa-1149	230	39	motion	motion	NOUN
ijassa-1149	230	40	,	,	PUNCT
ijassa-1149	230	41	etc	etc	X
ijassa-1149	230	42	.	.	X
ijassa-1149	230	43	)	)	PUNCT
ijassa-1149	230	44	.	.	PUNCT
ijassa-1149	231	1	in	in	ADP
ijassa-1149	231	2	standard	standard	ADJ
ijassa-1149	231	3	solutions	solution	NOUN
ijassa-1149	231	4	,	,	PUNCT
ijassa-1149	231	5	the	the	DET
ijassa-1149	231	6	robot	robot	NOUN
ijassa-1149	231	7	’s	’s	PART
ijassa-1149	231	8	functionality	functionality	NOUN
ijassa-1149	231	9	decreases	decrease	NOUN
ijassa-1149	231	10	over	over	ADP
ijassa-1149	231	11	time	time	NOUN
ijassa-1149	231	12	due	due	ADP
ijassa-1149	231	13	to	to	ADP
ijassa-1149	231	14	consumed	consume	VERB
ijassa-1149	231	15	resources	resource	NOUN
ijassa-1149	231	16	.	.	PUNCT
ijassa-1149	232	1	however	however	ADV
ijassa-1149	232	2	,	,	PUNCT
ijassa-1149	232	3	the	the	DET
ijassa-1149	232	4	approach	approach	NOUN
ijassa-1149	232	5	with	with	ADP
ijassa-1149	232	6	assistance	assistance	NOUN
ijassa-1149	232	7	from	from	ADP
ijassa-1149	232	8	other	other	ADJ
ijassa-1149	232	9	robots	robot	NOUN
ijassa-1149	232	10	allows	allow	VERB
ijassa-1149	232	11	increasing	increase	VERB
ijassa-1149	232	12	and	and	CCONJ
ijassa-1149	232	13	extending	extend	VERB
ijassa-1149	232	14	the	the	DET
ijassa-1149	232	15	robot	robot	NOUN
ijassa-1149	232	16	’s	’s	PART
ijassa-1149	232	17	functionality	functionality	NOUN
ijassa-1149	232	18	.	.	PUNCT
ijassa-1149	233	1	each	each	DET
ijassa-1149	233	2	k	k	NOUN
ijassa-1149	233	3	-	-	NOUN
ijassa-1149	233	4	robot	robot	NOUN
ijassa-1149	233	5	(	(	PUNCT
ijassa-1149	233	6	3.2	3.2	NUM
ijassa-1149	233	7	)	)	PUNCT
ijassa-1149	233	8	can	can	AUX
ijassa-1149	233	9	be	be	AUX
ijassa-1149	233	10	assigned	assign	VERB
ijassa-1149	233	11	a	a	DET
ijassa-1149	233	12	set	set	NOUN
ijassa-1149	233	13	of	of	ADP
ijassa-1149	233	14	functions	function	NOUN
ijassa-1149	233	15	(	(	PUNCT
ijassa-1149	233	16	its	its	PRON
ijassa-1149	233	17	functionality	functionality	NOUN
ijassa-1149	233	18	):	):	PUNCT
ijassa-1149	233	19			NOUN
ijassa-1149	233	20	1	1	NOUN
ijassa-1149	233	21	2	2	NUM
ijassa-1149	233	22	,	,	PUNCT
ijassa-1149	233	23	,	,	PUNCT
ijassa-1149	233	24	...	...	PUNCT
ijassa-1149	233	25	,	,	PUNCT
ijassa-1149	233	26	,	,	PUNCT
ijassa-1149	233	27	...	...	PUNCT
ijassa-1149	233	28	,	,	PUNCT
ijassa-1149	233	29	.k	.k	PUNCT
ijassa-1149	234	1	k	k	PROPN
ijassa-1149	234	2	k	k	PROPN
ijassa-1149	234	3	jk	jk	PROPN
ijassa-1149	234	4	jkfunc	jkfunc	VERB
ijassa-1149	235	1	f	f	PROPN
ijassa-1149	235	2	f	f	PROPN
ijassa-1149	235	3	f	f	PROPN
ijassa-1149	235	4	f	f	PROPN
ijassa-1149	235	5	k	k	PROPN
ijassa-1149	235	6	k	k	PROPN
ijassa-1149	235	7			VERB
ijassa-1149	235	8			NOUN
ijassa-1149	235	9	(	(	PUNCT
ijassa-1149	235	10	4.1	4.1	NUM
ijassa-1149	235	11	)	)	PUNCT
ijassa-1149	235	12	a	a	DET
ijassa-1149	235	13	characteristic	characteristic	ADJ
ijassa-1149	235	14	jkf	jkf	NOUN
ijassa-1149	235	15	in	in	ADP
ijassa-1149	235	16	the	the	DET
ijassa-1149	235	17	set	set	VERB
ijassa-1149	235	18	kfunc	kfunc	NOUN
ijassa-1149	235	19	can	can	AUX
ijassa-1149	235	20	be	be	AUX
ijassa-1149	235	21	another	another	DET
ijassa-1149	235	22	set	set	NOUN
ijassa-1149	235	23	containing	contain	VERB
ijassa-1149	235	24	several	several	ADJ
ijassa-1149	235	25	numerical	numerical	ADJ
ijassa-1149	235	26	,	,	PUNCT
ijassa-1149	235	27	probabilistic	probabilistic	ADJ
ijassa-1149	235	28	,	,	PUNCT
ijassa-1149	235	29	and	and	CCONJ
ijassa-1149	235	30	fuzzy	fuzzy	ADJ
ijassa-1149	235	31	parameters	parameter	NOUN
ijassa-1149	235	32	.	.	PUNCT
ijassa-1149	236	1	for	for	ADP
ijassa-1149	236	2	example	example	NOUN
ijassa-1149	236	3	,	,	PUNCT
ijassa-1149	236	4	the	the	DET
ijassa-1149	236	5	characteristic	characteristic	ADJ
ijassa-1149	236	6	3kf	3kf	NOUN
ijassa-1149	236	7	can	can	AUX
ijassa-1149	236	8	be	be	AUX
ijassa-1149	236	9	the	the	DET
ijassa-1149	236	10	robot	robot	NOUN
ijassa-1149	236	11	’s	’s	PART
ijassa-1149	236	12	effective	effective	ADJ
ijassa-1149	236	13	distance	distance	NOUN
ijassa-1149	236	14	(	(	PUNCT
ijassa-1149	236	15	in	in	ADP
ijassa-1149	236	16	terms	term	NOUN
ijassa-1149	236	17	of	of	ADP
ijassa-1149	236	18	its	its	PRON
ijassa-1149	236	19	impact	impact	NOUN
ijassa-1149	236	20	on	on	ADP
ijassa-1149	236	21	the	the	DET
ijassa-1149	236	22	environment	environment	NOUN
ijassa-1149	236	23	)	)	PUNCT
ijassa-1149	236	24	,	,	PUNCT
ijassa-1149	236	25	the	the	DET
ijassa-1149	236	26	angular	angular	ADJ
ijassa-1149	236	27	range	range	NOUN
ijassa-1149	236	28	and	and	CCONJ
ijassa-1149	236	29	efficiency	efficiency	NOUN
ijassa-1149	236	30	of	of	ADP
ijassa-1149	236	31	this	this	DET
ijassa-1149	236	32	impact	impact	NOUN
ijassa-1149	236	33	depending	depend	VERB
ijassa-1149	236	34	on	on	ADP
ijassa-1149	236	35	the	the	DET
ijassa-1149	236	36	environment	environment	NOUN
ijassa-1149	236	37	’s	’s	PART
ijassa-1149	236	38	counteraction	counteraction	NOUN
ijassa-1149	236	39	(	(	PUNCT
ijassa-1149	236	40	a	a	DET
ijassa-1149	236	41	probabilistic	probabilistic	ADJ
ijassa-1149	236	42	or	or	CCONJ
ijassa-1149	236	43	fuzzy	fuzzy	ADJ
ijassa-1149	236	44	variable	variable	NOUN
ijassa-1149	236	45	)	)	PUNCT
ijassa-1149	236	46	,	,	PUNCT
ijassa-1149	236	47	the	the	DET
ijassa-1149	236	48	admissible	admissible	ADJ
ijassa-1149	236	49	number	number	NOUN
ijassa-1149	236	50	of	of	ADP
ijassa-1149	236	51	such	such	ADJ
ijassa-1149	236	52	impacts	impact	NOUN
ijassa-1149	236	53	,	,	PUNCT
ijassa-1149	236	54	etc	etc	X
ijassa-1149	236	55	.	.	X
ijassa-1149	236	56	combining	combine	VERB
ijassa-1149	236	57	the	the	DET
ijassa-1149	236	58	functional	functional	ADJ
ijassa-1149	236	59	characteristics	characteristic	NOUN
ijassa-1149	236	60	of	of	ADP
ijassa-1149	236	61	robots	robot	NOUN
ijassa-1149	236	62	in	in	ADP
ijassa-1149	236	63	rows	row	NOUN
ijassa-1149	236	64	and	and	CCONJ
ijassa-1149	236	65	their	their	PRON
ijassa-1149	236	66	parameters	parameter	NOUN
ijassa-1149	236	67	in	in	ADP
ijassa-1149	236	68	columns	column	NOUN
ijassa-1149	236	69	,	,	PUNCT
ijassa-1149	236	70	we	we	PRON
ijassa-1149	236	71	construct	construct	VERB
ijassa-1149	236	72	matrices	matrix	NOUN
ijassa-1149	236	73	completely	completely	ADV
ijassa-1149	236	74	describing	describe	VERB
ijassa-1149	236	75	the	the	DET
ijassa-1149	236	76	robot	robot	NOUN
ijassa-1149	236	77	’s	’s	PART
ijassa-1149	236	78	functionality	functionality	NOUN
ijassa-1149	236	79	.	.	PUNCT
ijassa-1149	237	1	different	different	ADJ
ijassa-1149	237	2	matrices	matrix	NOUN
ijassa-1149	237	3	of	of	ADP
ijassa-1149	237	4	this	this	DET
ijassa-1149	237	5	type	type	NOUN
ijassa-1149	237	6	can	can	AUX
ijassa-1149	237	7	be	be	AUX
ijassa-1149	237	8	formed	form	VERB
ijassa-1149	237	9	depending	depend	VERB
ijassa-1149	237	10	on	on	ADP
ijassa-1149	237	11	the	the	DET
ijassa-1149	237	12	robot	robot	NOUN
ijassa-1149	237	13	’s	’s	PART
ijassa-1149	237	14	design	design	NOUN
ijassa-1149	237	15	,	,	PUNCT
ijassa-1149	237	16	functionality	functionality	NOUN
ijassa-1149	237	17	,	,	PUNCT
ijassa-1149	237	18	and	and	CCONJ
ijassa-1149	237	19	learning	learning	NOUN
ijassa-1149	237	20	paradigms	paradigm	NOUN
ijassa-1149	237	21	.	.	PUNCT
ijassa-1149	238	1	the	the	DET
ijassa-1149	238	2	paper	paper	NOUN
ijassa-1149	238	3	[	[	X
ijassa-1149	238	4	4	4	X
ijassa-1149	238	5	]	]	PUNCT
ijassa-1149	238	6	considered	consider	VERB
ijassa-1149	238	7	a	a	DET
ijassa-1149	238	8	group	group	NOUN
ijassa-1149	238	9	of	of	ADP
ijassa-1149	238	10	controlled	control	VERB
ijassa-1149	238	11	objects	object	NOUN
ijassa-1149	238	12	(	(	PUNCT
ijassa-1149	238	13	agents	agent	NOUN
ijassa-1149	238	14	)	)	PUNCT
ijassa-1149	238	15	and	and	CCONJ
ijassa-1149	238	16	developed	develop	VERB
ijassa-1149	238	17	a	a	DET
ijassa-1149	238	18	role	role	NOUN
ijassa-1149	238	19	allocation	allocation	NOUN
ijassa-1149	238	20	algorithm	algorithm	NOUN
ijassa-1149	238	21	with	with	ADP
ijassa-1149	238	22	a	a	DET
ijassa-1149	238	23	ranking	rank	VERB
ijassa-1149	238	24	procedure	procedure	NOUN
ijassa-1149	238	25	based	base	VERB
ijassa-1149	238	26	on	on	ADP
ijassa-1149	238	27	the	the	DET
ijassa-1149	238	28	closeness	closeness	NOUN
ijassa-1149	238	29	to	to	ADP
ijassa-1149	238	30	role	role	NOUN
ijassa-1149	238	31	requirements	requirement	NOUN
ijassa-1149	238	32	in	in	ADP
ijassa-1149	238	33	terms	term	NOUN
ijassa-1149	238	34	of	of	ADP
ijassa-1149	238	35	functionality	functionality	NOUN
ijassa-1149	238	36	and	and	CCONJ
ijassa-1149	238	37	characteristics	characteristic	NOUN
ijassa-1149	238	38	.	.	PUNCT
ijassa-1149	239	1	applying	apply	VERB
ijassa-1149	239	2	this	this	DET
ijassa-1149	239	3	algorithm	algorithm	NOUN
ijassa-1149	239	4	,	,	PUNCT
ijassa-1149	239	5	we	we	PRON
ijassa-1149	239	6	find	find	VERB
ijassa-1149	239	7	an	an	DET
ijassa-1149	239	8	appropriate	appropriate	ADJ
ijassa-1149	239	9	robot	robot	NOUN
ijassa-1149	239	10	for	for	ADP
ijassa-1149	239	11	assistance	assistance	NOUN
ijassa-1149	239	12	.	.	PUNCT
ijassa-1149	240	1	assume	assume	VERB
ijassa-1149	240	2	that	that	SCONJ
ijassa-1149	240	3	due	due	ADP
ijassa-1149	240	4	to	to	ADP
ijassa-1149	240	5	an	an	DET
ijassa-1149	240	6	event	event	NOUN
ijassa-1149	240	7	e	e	NOUN
ijassa-1149	240	8	e	e	PROPN
ijassa-1149	240	9	,	,	PUNCT
ijassa-1149	240	10	an	an	DET
ijassa-1149	240	11	m	m	NOUN
ijassa-1149	240	12	-	-	NOUN
ijassa-1149	240	13	robot	robot	NOUN
ijassa-1149	240	14	(	(	PUNCT
ijassa-1149	240	15	)	)	PUNCT
ijassa-1149	240	16	m	m	VERB
ijassa-1149	240	17	k	k	PROPN
ijassa-1149	240	18	was	be	AUX
ijassa-1149	240	19	impacted	impact	VERB
ijassa-1149	240	20	by	by	ADP
ijassa-1149	240	21	an	an	DET
ijassa-1149	240	22	antagonistic	antagonistic	ADJ
ijassa-1149	240	23	environment	environment	NOUN
ijassa-1149	240	24	when	when	SCONJ
ijassa-1149	240	25	performing	perform	VERB
ijassa-1149	240	26	its	its	PRON
ijassa-1149	240	27	individual	individual	ADJ
ijassa-1149	240	28	tasks	task	NOUN
ijassa-1149	240	29	.	.	PUNCT
ijassa-1149	241	1	as	as	ADP
ijassa-1149	241	2	a	a	DET
ijassa-1149	241	3	consequence	consequence	NOUN
ijassa-1149	241	4	,	,	PUNCT
ijassa-1149	241	5	some	some	DET
ijassa-1149	241	6	functional	functional	ADJ
ijassa-1149	241	7	capabilities	capability	NOUN
ijassa-1149	241	8	jmf	jmf	PROPN
ijassa-1149	241	9	of	of	ADP
ijassa-1149	241	10	the	the	DET
ijassa-1149	241	11	robot	robot	NOUN
ijassa-1149	241	12	were	be	AUX
ijassa-1149	241	13	decreased	decrease	VERB
ijassa-1149	241	14	to	to	ADP
ijassa-1149	241	15	an	an	DET
ijassa-1149	241	16	inadmissible	inadmissible	ADJ
ijassa-1149	241	17	level	level	NOUN
ijassa-1149	241	18	,	,	PUNCT
ijassa-1149	241	19	*	*	PUNCT
ijassa-1149	241	20	.jm	.jm	PUNCT
ijassa-1149	242	1	jmf	jmf	PROPN
ijassa-1149	242	2	f	f	NOUN
ijassa-1149	242	3	requesting	request	VERB
ijassa-1149	242	4	or	or	CCONJ
ijassa-1149	242	5	rendering	render	VERB
ijassa-1149	242	6	assistance	assistance	NOUN
ijassa-1149	242	7	can	can	AUX
ijassa-1149	242	8	be	be	AUX
ijassa-1149	242	9	formally	formally	ADV
ijassa-1149	242	10	described	describe	VERB
ijassa-1149	242	11	by	by	ADP
ijassa-1149	242	12	activating	activate	VERB
ijassa-1149	242	13	a	a	DET
ijassa-1149	242	14	special	special	ADJ
ijassa-1149	242	15	variable	variable	NOUN
ijassa-1149	242	16	170	170	NUM
ijassa-1149	242	17	v.	v.	ADP
ijassa-1149	242	18	abrosimov	abrosimov	NOUN
ijassa-1149	242	19	,	,	PUNCT
ijassa-1149	242	20	a.	a.	NOUN
ijassa-1149	242	21	mazurov	mazurov	PROPN
ijassa-1149	242	22	copyright	copyright	PROPN
ijassa-1149	243	1	©	©	PROPN
ijassa-1149	243	2	2022	2022	NUM
ijassa-1149	243	3	assa	assa	PROPN
ijassa-1149	243	4	adv	adv	PROPN
ijassa-1149	243	5	.	.	PUNCT
ijassa-1149	244	1	in	in	ADP
ijassa-1149	244	2	systems	system	NOUN
ijassa-1149	244	3	science	science	NOUN
ijassa-1149	244	4	and	and	CCONJ
ijassa-1149	244	5	appl	appl	NOUN
ijassa-1149	244	6	.	.	PUNCT
ijassa-1149	245	1	(	(	PUNCT
ijassa-1149	245	2	2022	2022	NUM
ijassa-1149	245	3	)	)	PUNCT
ijassa-1149	245	4	ma	ma	PROPN
ijassa-1149	245	5	of	of	ADP
ijassa-1149	245	6	the	the	DET
ijassa-1149	245	7	robot	robot	NOUN
ijassa-1149	245	8	’s	’s	PART
ijassa-1149	245	9	status	status	NOUN
ijassa-1149	245	10	.	.	PUNCT
ijassa-1149	246	1	in	in	ADP
ijassa-1149	246	2	response	response	NOUN
ijassa-1149	246	3	to	to	ADP
ijassa-1149	246	4	the	the	DET
ijassa-1149	246	5	alarm	alarm	NOUN
ijassa-1149	246	6	signal	signal	NOUN
ijassa-1149	246	7	(	(	PUNCT
ijassa-1149	246	8	1),ma	1),ma	NUM
ijassa-1149	246	9			PROPN
ijassa-1149	246	10	negotiations	negotiation	NOUN
ijassa-1149	246	11	are	be	AUX
ijassa-1149	246	12	organized	organize	VERB
ijassa-1149	246	13	among	among	ADP
ijassa-1149	246	14	the	the	DET
ijassa-1149	246	15	other	other	ADJ
ijassa-1149	246	16	k	k	PROPN
ijassa-1149	246	17	-	-	PUNCT
ijassa-1149	246	18	robots	robot	NOUN
ijassa-1149	246	19	(	(	PUNCT
ijassa-1149	246	20	)	)	PUNCT
ijassa-1149	246	21	.k	.k	PROPN
ijassa-1149	246	22	k	k	PROPN
ijassa-1149	246	23	in	in	ADP
ijassa-1149	246	24	a	a	DET
ijassa-1149	246	25	technical	technical	ADJ
ijassa-1149	246	26	sense	sense	NOUN
ijassa-1149	246	27	,	,	PUNCT
ijassa-1149	246	28	it	it	PRON
ijassa-1149	246	29	is	be	AUX
ijassa-1149	246	30	necessary	necessary	ADJ
ijassa-1149	246	31	to	to	PART
ijassa-1149	246	32	find	find	VERB
ijassa-1149	246	33	a	a	DET
ijassa-1149	246	34	g	g	NOUN
ijassa-1149	246	35	-	-	PUNCT
ijassa-1149	246	36	robot	robot	NOUN
ijassa-1149	246	37	,	,	PUNCT
ijassa-1149	246	38	g	g	PROPN
ijassa-1149	246	39	k	k	PROPN
ijassa-1149	246	40	,	,	PUNCT
ijassa-1149	246	41	with	with	ADP
ijassa-1149	246	42	maximum	maximum	ADJ
ijassa-1149	246	43	functional	functional	ADJ
ijassa-1149	246	44	capabilities	capability	NOUN
ijassa-1149	246	45	for	for	ADP
ijassa-1149	246	46	assistance	assistance	NOUN
ijassa-1149	246	47	and	and	CCONJ
ijassa-1149	246	48	enough	enough	ADJ
ijassa-1149	246	49	resources	resource	NOUN
ijassa-1149	246	50	to	to	PART
ijassa-1149	246	51	implement	implement	VERB
ijassa-1149	246	52	this	this	DET
ijassa-1149	246	53	functionality	functionality	NOUN
ijassa-1149	246	54	:	:	PUNCT
ijassa-1149	246	55	*	*	PUNCT
ijassa-1149	246	56	{	{	PUNCT
ijassa-1149	246	57	}	}	PUNCT
ijassa-1149	246	58	:	:	PUNCT
ijassa-1149	246	59	max	max	PROPN
ijassa-1149	246	60	,	,	PUNCT
ijassa-1149	246	61	.jg	.jg	PUNCT
ijassa-1149	247	1	k	k	PROPN
ijassa-1149	247	2	m	m	VERB
ijassa-1149	247	3	jkg	jkg	INTJ
ijassa-1149	248	1	f	f	PROPN
ijassa-1149	248	2	f	f	PROPN
ijassa-1149	248	3	k	k	PROPN
ijassa-1149	248	4	k	k	PROPN
ijassa-1149	248	5	j	j	PROPN
ijassa-1149	248	6	j	j	PROPN
ijassa-1149	248	7			VERB
ijassa-1149	248	8			PROPN
ijassa-1149	248	9			VERB
ijassa-1149	248	10			NOUN
ijassa-1149	248	11	(	(	PUNCT
ijassa-1149	248	12	4.2	4.2	NUM
ijassa-1149	248	13	)	)	PUNCT
ijassa-1149	248	14	the	the	DET
ijassa-1149	248	15	g	g	NOUN
ijassa-1149	248	16	-	-	PUNCT
ijassa-1149	248	17	robot	robot	NOUN
ijassa-1149	248	18	with	with	ADP
ijassa-1149	248	19	the	the	DET
ijassa-1149	248	20	value	value	NOUN
ijassa-1149	248	21	*	*	PUNCT
ijassa-1149	248	22	jgf	jgf	NOUN
ijassa-1149	248	23	will	will	AUX
ijassa-1149	248	24	be	be	AUX
ijassa-1149	248	25	assigned	assign	VERB
ijassa-1149	248	26	the	the	DET
ijassa-1149	248	27	highest	high	ADJ
ijassa-1149	248	28	priority	priority	NOUN
ijassa-1149	248	29	during	during	ADP
ijassa-1149	248	30	negotiations	negotiation	NOUN
ijassa-1149	248	31	.	.	PUNCT
ijassa-1149	249	1	according	accord	VERB
ijassa-1149	249	2	to	to	ADP
ijassa-1149	249	3	practical	practical	ADJ
ijassa-1149	249	4	evidence	evidence	NOUN
ijassa-1149	249	5	,	,	PUNCT
ijassa-1149	249	6	the	the	DET
ijassa-1149	249	7	following	follow	VERB
ijassa-1149	249	8	parameters	parameter	NOUN
ijassa-1149	249	9	should	should	AUX
ijassa-1149	249	10	be	be	AUX
ijassa-1149	249	11	introduced	introduce	VERB
ijassa-1149	249	12	for	for	ADP
ijassa-1149	249	13	choosing	choose	VERB
ijassa-1149	249	14	an	an	DET
ijassa-1149	249	15	appropriate	appropriate	ADJ
ijassa-1149	249	16	robot	robot	NOUN
ijassa-1149	249	17	for	for	ADP
ijassa-1149	249	18	assistance	assistance	NOUN
ijassa-1149	249	19	:	:	PUNCT
ijassa-1149	249	20			X
ijassa-1149	249	21	the	the	DET
ijassa-1149	249	22	weights	weight	NOUN
ijassa-1149	249	23	f	f	X
ijassa-1149	250	1	that	that	PRON
ijassa-1149	250	2	describe	describe	VERB
ijassa-1149	250	3	the	the	DET
ijassa-1149	250	4	significance	significance	NOUN
ijassa-1149	250	5	of	of	ADP
ijassa-1149	250	6	each	each	DET
ijassa-1149	250	7	function	function	NOUN
ijassa-1149	250	8	jf	jf	PROPN
ijassa-1149	250	9	for	for	ADP
ijassa-1149	250	10	collective	collective	ADJ
ijassa-1149	250	11	mission	mission	NOUN
ijassa-1149	250	12	fulfillment	fulfillment	NOUN
ijassa-1149	250	13	;	;	PUNCT
ijassa-1149	250	14			NOUN
ijassa-1149	250	15	the	the	DET
ijassa-1149	250	16	significance	significance	NOUN
ijassa-1149	250	17	k	k	NOUN
ijassa-1149	250	18	of	of	ADP
ijassa-1149	250	19	each	each	DET
ijassa-1149	250	20	k	k	NOUN
ijassa-1149	250	21	-	-	NOUN
ijassa-1149	250	22	robot	robot	NOUN
ijassa-1149	250	23	for	for	ADP
ijassa-1149	250	24	the	the	DET
ijassa-1149	250	25	entire	entire	ADJ
ijassa-1149	250	26	group	group	NOUN
ijassa-1149	250	27	(	(	PUNCT
ijassa-1149	250	28	e.g.	e.g.	ADV
ijassa-1149	250	29	,	,	PUNCT
ijassa-1149	250	30	leader	leader	NOUN
ijassa-1149	250	31	must	must	AUX
ijassa-1149	250	32	be	be	AUX
ijassa-1149	250	33	eliminated	eliminate	VERB
ijassa-1149	250	34	from	from	ADP
ijassa-1149	250	35	the	the	DET
ijassa-1149	250	36	list	list	NOUN
ijassa-1149	250	37	of	of	ADP
ijassa-1149	250	38	potential	potential	ADJ
ijassa-1149	250	39	assistants	assistant	NOUN
ijassa-1149	250	40	)	)	PUNCT
ijassa-1149	250	41	;	;	PUNCT
ijassa-1149	250	42			PRON
ijassa-1149	250	43	the	the	DET
ijassa-1149	250	44	practical	practical	ADJ
ijassa-1149	250	45	experience	experience	NOUN
ijassa-1149	250	46	k	k	NOUN
ijassa-1149	250	47	of	of	ADP
ijassa-1149	250	48	each	each	DET
ijassa-1149	250	49	k	k	NOUN
ijassa-1149	250	50	-	-	NOUN
ijassa-1149	250	51	robot	robot	NOUN
ijassa-1149	250	52	in	in	ADP
ijassa-1149	250	53	the	the	DET
ijassa-1149	250	54	same	same	ADJ
ijassa-1149	250	55	(	(	PUNCT
ijassa-1149	250	56	or	or	CCONJ
ijassa-1149	250	57	similar	similar	ADJ
ijassa-1149	250	58	)	)	PUNCT
ijassa-1149	250	59	role	role	NOUN
ijassa-1149	250	60	in	in	ADP
ijassa-1149	250	61	precedents	precedent	NOUN
ijassa-1149	250	62	;	;	PUNCT
ijassa-1149	250	63			PRON
ijassa-1149	250	64	the	the	DET
ijassa-1149	250	65	skill	skill	NOUN
ijassa-1149	250	66	of	of	ADP
ijassa-1149	250	67	each	each	DET
ijassa-1149	250	68	k	k	NOUN
ijassa-1149	250	69	-	-	NOUN
ijassa-1149	250	70	agent	agent	NOUN
ijassa-1149	250	71	in	in	ADP
ijassa-1149	250	72	a	a	DET
ijassa-1149	250	73	required	require	VERB
ijassa-1149	250	74	function	function	NOUN
ijassa-1149	250	75	acquired	acquire	VERB
ijassa-1149	250	76	by	by	ADP
ijassa-1149	250	77	learning	learn	VERB
ijassa-1149	250	78	(	(	PUNCT
ijassa-1149	250	79	e.g.	e.g.	ADV
ijassa-1149	250	80	,	,	PUNCT
ijassa-1149	250	81	the	the	DET
ijassa-1149	250	82	“	"	PUNCT
ijassa-1149	250	83	sacrifice	sacrifice	NOUN
ijassa-1149	250	84	”	"	PUNCT
ijassa-1149	250	85	function	function	NOUN
ijassa-1149	250	86	[	[	X
ijassa-1149	250	87	0,1]k	0,1]k	NUM
ijassa-1149	250	88			NOUN
ijassa-1149	250	89	;	;	PUNCT
ijassa-1149	250	90	see	see	VERB
ijassa-1149	250	91	the	the	DET
ijassa-1149	250	92	paper	paper	NOUN
ijassa-1149	251	1	[	[	X
ijassa-1149	251	2	2	2	X
ijassa-1149	251	3	]	]	PUNCT
ijassa-1149	251	4	for	for	ADP
ijassa-1149	251	5	details	detail	NOUN
ijassa-1149	251	6	)	)	PUNCT
ijassa-1149	251	7	.	.	PUNCT
ijassa-1149	252	1	5	5	X
ijassa-1149	252	2	.	.	X
ijassa-1149	252	3	an	an	DET
ijassa-1149	252	4	approach	approach	NOUN
ijassa-1149	252	5	to	to	PART
ijassa-1149	252	6	design	design	VERB
ijassa-1149	252	7	local	local	ADJ
ijassa-1149	252	8	self	self	NOUN
ijassa-1149	252	9	-	-	PUNCT
ijassa-1149	252	10	organization	organization	NOUN
ijassa-1149	252	11	rules	rule	NOUN
ijassa-1149	252	12	of	of	ADP
ijassa-1149	252	13	robots	robot	NOUN
ijassa-1149	252	14	5.1	5.1	NUM
ijassa-1149	252	15	.	.	PUNCT
ijassa-1149	253	1	specific	specific	ADJ
ijassa-1149	253	2	features	feature	NOUN
ijassa-1149	253	3	of	of	ADP
ijassa-1149	253	4	collective	collective	ADJ
ijassa-1149	253	5	strategy	strategy	NOUN
ijassa-1149	253	6	formation	formation	NOUN
ijassa-1149	253	7	consider	consider	VERB
ijassa-1149	253	8	a	a	DET
ijassa-1149	253	9	group	group	NOUN
ijassa-1149	253	10	of	of	ADP
ijassa-1149	253	11	robots	robot	NOUN
ijassa-1149	253	12	,	,	PUNCT
ijassa-1149	253	13	and	and	CCONJ
ijassa-1149	253	14	let	let	VERB
ijassa-1149	253	15	their	their	PRON
ijassa-1149	253	16	collective	collective	ADJ
ijassa-1149	253	17	mission	mission	NOUN
ijassa-1149	253	18	be	be	AUX
ijassa-1149	253	19	the	the	DET
ijassa-1149	253	20	passage	passage	NOUN
ijassa-1149	253	21	through	through	ADP
ijassa-1149	253	22	the	the	DET
ijassa-1149	253	23	counteraction	counteraction	NOUN
ijassa-1149	253	24	zones	zone	NOUN
ijassa-1149	253	25	of	of	ADP
ijassa-1149	253	26	an	an	DET
ijassa-1149	253	27	antagonistic	antagonistic	ADJ
ijassa-1149	253	28	environment	environment	NOUN
ijassa-1149	253	29	with	with	ADP
ijassa-1149	253	30	a	a	DET
ijassa-1149	253	31	minimum	minimum	ADJ
ijassa-1149	253	32	loss	loss	NOUN
ijassa-1149	253	33	of	of	ADP
ijassa-1149	253	34	a	a	DET
ijassa-1149	253	35	collective	collective	ADJ
ijassa-1149	253	36	objective	objective	ADJ
ijassa-1149	253	37	function	function	NOUN
ijassa-1149	253	38	.	.	PUNCT
ijassa-1149	254	1	the	the	DET
ijassa-1149	254	2	counteraction	counteraction	NOUN
ijassa-1149	254	3	means	mean	VERB
ijassa-1149	254	4	seek	seek	VERB
ijassa-1149	254	5	to	to	PART
ijassa-1149	254	6	hamper	hamper	VERB
ijassa-1149	254	7	collective	collective	ADJ
ijassa-1149	254	8	mission	mission	NOUN
ijassa-1149	254	9	fulfillment	fulfillment	NOUN
ijassa-1149	254	10	as	as	ADV
ijassa-1149	254	11	much	much	ADV
ijassa-1149	254	12	as	as	ADP
ijassa-1149	254	13	possible	possible	ADJ
ijassa-1149	254	14	through	through	ADP
ijassa-1149	254	15	a	a	DET
ijassa-1149	254	16	negative	negative	ADJ
ijassa-1149	254	17	impact	impact	NOUN
ijassa-1149	254	18	on	on	ADP
ijassa-1149	254	19	the	the	DET
ijassa-1149	254	20	robots	robot	NOUN
ijassa-1149	254	21	for	for	ADP
ijassa-1149	254	22	disrupting	disrupt	VERB
ijassa-1149	254	23	their	their	PRON
ijassa-1149	254	24	normal	normal	ADJ
ijassa-1149	254	25	operation	operation	NOUN
ijassa-1149	254	26	and	and	CCONJ
ijassa-1149	254	27	even	even	ADV
ijassa-1149	254	28	neutralizing	neutralize	VERB
ijassa-1149	254	29	them	they	PRON
ijassa-1149	254	30	.	.	PUNCT
ijassa-1149	255	1	the	the	DET
ijassa-1149	255	2	collective	collective	ADJ
ijassa-1149	255	3	objective	objective	ADJ
ijassa-1149	255	4	function	function	NOUN
ijassa-1149	255	5	is	be	AUX
ijassa-1149	255	6	given	give	VERB
ijassa-1149	255	7	by	by	ADP
ijassa-1149	255	8	the	the	DET
ijassa-1149	255	9	sum	sum	NOUN
ijassa-1149	255	10	of	of	ADP
ijassa-1149	255	11	the	the	DET
ijassa-1149	255	12	contributions	contribution	NOUN
ijassa-1149	255	13	kw	kw	NOUN
ijassa-1149	255	14	of	of	ADP
ijassa-1149	255	15	all	all	DET
ijassa-1149	255	16	krobots	krobot	NOUN
ijassa-1149	255	17	,	,	PUNCT
ijassa-1149	255	18	k	k	PROPN
ijassa-1149	255	19	k	k	PROPN
ijassa-1149	255	20	:	:	PUNCT
ijassa-1149	255	21	.kk	.kk	PUNCT
ijassa-1149	256	1	w	w	PROPN
ijassa-1149	256	2	w	w	PROPN
ijassa-1149	256	3	(	(	PUNCT
ijassa-1149	256	4	5.1	5.1	NUM
ijassa-1149	256	5	)	)	PUNCT
ijassa-1149	256	6	we	we	PRON
ijassa-1149	256	7	will	will	AUX
ijassa-1149	256	8	interpret	interpret	VERB
ijassa-1149	256	9	the	the	DET
ijassa-1149	256	10	environment	environment	NOUN
ijassa-1149	256	11	’s	’s	PART
ijassa-1149	256	12	impact	impact	NOUN
ijassa-1149	256	13	on	on	ADP
ijassa-1149	256	14	a	a	DET
ijassa-1149	256	15	robot	robot	NOUN
ijassa-1149	256	16	as	as	ADP
ijassa-1149	256	17	an	an	DET
ijassa-1149	256	18	event	event	NOUN
ijassa-1149	256	19	.e	.e	PUNCT
ijassa-1149	257	1	e	e	NOUN
ijassa-1149	257	2	due	due	ADP
ijassa-1149	257	3	to	to	ADP
ijassa-1149	257	4	this	this	DET
ijassa-1149	257	5	impact	impact	NOUN
ijassa-1149	257	6	,	,	PUNCT
ijassa-1149	257	7	the	the	DET
ijassa-1149	257	8	contribution	contribution	NOUN
ijassa-1149	257	9	of	of	ADP
ijassa-1149	257	10	each	each	DET
ijassa-1149	257	11	k	k	NOUN
ijassa-1149	257	12	-	-	NOUN
ijassa-1149	257	13	robot	robot	NOUN
ijassa-1149	257	14	is	be	AUX
ijassa-1149	257	15	reduced	reduce	VERB
ijassa-1149	257	16	by	by	ADP
ijassa-1149	257	17	a	a	DET
ijassa-1149	257	18	value	value	NOUN
ijassa-1149	257	19	e	e	NOUN
ijassa-1149	257	20	kw	kw	NOUN
ijassa-1149	257	21	,	,	PUNCT
ijassa-1149	257	22	which	which	PRON
ijassa-1149	257	23	describes	describe	VERB
ijassa-1149	257	24	the	the	DET
ijassa-1149	257	25	corresponding	correspond	VERB
ijassa-1149	257	26	loss	loss	NOUN
ijassa-1149	257	27	.	.	PUNCT
ijassa-1149	258	1	while	while	SCONJ
ijassa-1149	258	2	fulfilling	fulfil	VERB
ijassa-1149	258	3	the	the	DET
ijassa-1149	258	4	collective	collective	ADJ
ijassa-1149	258	5	mission	mission	NOUN
ijassa-1149	258	6	,	,	PUNCT
ijassa-1149	258	7	the	the	DET
ijassa-1149	258	8	group	group	NOUN
ijassa-1149	258	9	of	of	ADP
ijassa-1149	258	10	robots	robot	NOUN
ijassa-1149	258	11	seeks	seek	VERB
ijassa-1149	258	12	to	to	PART
ijassa-1149	258	13	achieve	achieve	VERB
ijassa-1149	258	14	maxe	maxe	NOUN
ijassa-1149	258	15	w	w	ADP
ijassa-1149	258	16	over	over	ADP
ijassa-1149	258	17	all	all	DET
ijassa-1149	258	18	possible	possible	ADJ
ijassa-1149	258	19	events	event	NOUN
ijassa-1149	258	20	e	e	NOUN
ijassa-1149	258	21	,	,	PUNCT
ijassa-1149	258	22	whereas	whereas	SCONJ
ijassa-1149	258	23	the	the	DET
ijassa-1149	258	24	environment	environment	NOUN
ijassa-1149	258	25	’s	’s	PART
ijassa-1149	258	26	goal	goal	NOUN
ijassa-1149	258	27	is	be	AUX
ijassa-1149	258	28	to	to	PART
ijassa-1149	258	29	generate	generate	VERB
ijassa-1149	258	30	events	event	NOUN
ijassa-1149	258	31	e	e	ADP
ijassa-1149	258	32	e	e	NOUN
ijassa-1149	258	33	to	to	PART
ijassa-1149	258	34	achieve	achieve	VERB
ijassa-1149	258	35	max	max	PROPN
ijassa-1149	258	36	,	,	PUNCT
ijassa-1149	258	37	.e	.e	PUNCT
ijassa-1149	259	1	e	e	X
ijassa-1149	259	2	kw	kw	X
ijassa-1149	259	3	e	e	X
ijassa-1149	259	4	e	e	PROPN
ijassa-1149	259	5	k	k	PROPN
ijassa-1149	259	6	k	k	PROPN
ijassa-1149	259	7			PROPN
ijassa-1149	259	8			VERB
ijassa-1149	259	9			PROPN
ijassa-1149	259	10			VERB
ijassa-1149	259	11			PROPN
ijassa-1149	259	12	a	a	DET
ijassa-1149	259	13	collective	collective	ADJ
ijassa-1149	259	14	strategy	strategy	NOUN
ijassa-1149	259	15	of	of	ADP
ijassa-1149	259	16	the	the	DET
ijassa-1149	259	17	group	group	NOUN
ijassa-1149	259	18	realizes	realize	VERB
ijassa-1149	259	19	the	the	DET
ijassa-1149	259	20	following	following	NOUN
ijassa-1149	259	21	.	.	PUNCT
ijassa-1149	260	1	a	a	X
ijassa-1149	260	2	)	)	PUNCT
ijassa-1149	260	3	the	the	DET
ijassa-1149	260	4	collective	collective	ADJ
ijassa-1149	260	5	mission	mission	NOUN
ijassa-1149	260	6	is	be	AUX
ijassa-1149	260	7	decomposed	decompose	VERB
ijassa-1149	260	8	into	into	ADP
ijassa-1149	260	9	tasks	task	NOUN
ijassa-1149	260	10	with	with	ADP
ijassa-1149	260	11	certain	certain	ADJ
ijassa-1149	260	12	roles	role	NOUN
ijassa-1149	260	13	for	for	ADP
ijassa-1149	260	14	each	each	DET
ijassa-1149	260	15	robot	robot	NOUN
ijassa-1149	260	16	;	;	PUNCT
ijassa-1149	260	17	for	for	ADP
ijassa-1149	260	18	details	detail	NOUN
ijassa-1149	260	19	,	,	PUNCT
ijassa-1149	260	20	see	see	VERB
ijassa-1149	260	21	the	the	DET
ijassa-1149	260	22	algorithm	algorithm	NOUN
ijassa-1149	260	23	presented	present	VERB
ijassa-1149	260	24	in	in	ADP
ijassa-1149	260	25	the	the	DET
ijassa-1149	260	26	paper	paper	NOUN
ijassa-1149	261	1	[	[	X
ijassa-1149	261	2	4	4	NUM
ijassa-1149	261	3	]	]	PUNCT
ijassa-1149	261	4	.	.	PUNCT
ijassa-1149	262	1	b	b	X
ijassa-1149	262	2	)	)	PUNCT
ijassa-1149	262	3	information	information	NOUN
ijassa-1149	262	4	about	about	ADP
ijassa-1149	262	5	the	the	DET
ijassa-1149	262	6	antagonistic	antagonistic	ADJ
ijassa-1149	262	7	environment	environment	NOUN
ijassa-1149	262	8	and	and	CCONJ
ijassa-1149	262	9	robots	robot	NOUN
ijassa-1149	262	10	’	'	PUNCT
ijassa-1149	262	11	statuses	status	NOUN
ijassa-1149	262	12	is	be	AUX
ijassa-1149	262	13	registered	register	VERB
ijassa-1149	262	14	.	.	PUNCT
ijassa-1149	263	1	considering	consider	VERB
ijassa-1149	263	2	the	the	DET
ijassa-1149	263	3	allocated	allocate	VERB
ijassa-1149	263	4	roles	role	NOUN
ijassa-1149	263	5	,	,	PUNCT
ijassa-1149	263	6	each	each	DET
ijassa-1149	263	7	robot	robot	NOUN
ijassa-1149	263	8	forms	form	VERB
ijassa-1149	263	9	algorithms	algorithm	NOUN
ijassa-1149	263	10	for	for	ADP
ijassa-1149	263	11	its	its	PRON
ijassa-1149	263	12	individual	individual	ADJ
ijassa-1149	263	13	tasks	task	NOUN
ijassa-1149	263	14	.	.	PUNCT
ijassa-1149	264	1	(	(	PUNCT
ijassa-1149	264	2	an	an	DET
ijassa-1149	264	3	example	example	NOUN
ijassa-1149	264	4	of	of	ADP
ijassa-1149	264	5	a	a	DET
ijassa-1149	264	6	routing	routing	NOUN
ijassa-1149	264	7	algorithm	algorithm	NOUN
ijassa-1149	264	8	in	in	ADP
ijassa-1149	264	9	the	the	DET
ijassa-1149	264	10	earth	earth	NOUN
ijassa-1149	264	11	surface	surface	NOUN
ijassa-1149	264	12	monitoring	monitoring	NOUN
ijassa-1149	264	13	problem	problem	NOUN
ijassa-1149	264	14	by	by	ADP
ijassa-1149	264	15	a	a	DET
ijassa-1149	264	16	group	group	NOUN
ijassa-1149	264	17	of	of	ADP
ijassa-1149	264	18	heterogeneous	heterogeneous	ADJ
ijassa-1149	264	19	robots	robot	NOUN
ijassa-1149	264	20	was	be	AUX
ijassa-1149	264	21	given	give	VERB
ijassa-1149	264	22	in	in	ADP
ijassa-1149	264	23	the	the	DET
ijassa-1149	264	24	book	book	NOUN
ijassa-1149	264	25	[	[	X
ijassa-1149	264	26	3	3	NUM
ijassa-1149	264	27	]	]	PUNCT
ijassa-1149	264	28	.	.	PUNCT
ijassa-1149	264	29	)	)	PUNCT
ijassa-1149	265	1	c	c	X
ijassa-1149	265	2	)	)	PUNCT
ijassa-1149	265	3	while	while	SCONJ
ijassa-1149	265	4	performing	perform	VERB
ijassa-1149	265	5	its	its	PRON
ijassa-1149	265	6	tasks	task	NOUN
ijassa-1149	265	7	,	,	PUNCT
ijassa-1149	265	8	each	each	DET
ijassa-1149	265	9	robot	robot	NOUN
ijassa-1149	265	10	updates	update	VERB
ijassa-1149	265	11	the	the	DET
ijassa-1149	265	12	situational	situational	ADJ
ijassa-1149	265	13	awareness	awareness	NOUN
ijassa-1149	265	14	model	model	NOUN
ijassa-1149	265	15	by	by	ADP
ijassa-1149	265	16	the	the	DET
ijassa-1149	265	17	following	follow	VERB
ijassa-1149	265	18	elements	element	NOUN
ijassa-1149	265	19	with	with	ADP
ijassa-1149	265	20	a	a	DET
ijassa-1149	265	21	given	give	VERB
ijassa-1149	265	22	period	period	NOUN
ijassa-1149	265	23	t	t	PROPN
ijassa-1149	265	24	:	:	PUNCT
ijassa-1149	265	25	(	(	PUNCT
ijassa-1149	265	26	a	a	X
ijassa-1149	265	27	)	)	PUNCT
ijassa-1149	265	28	the	the	DET
ijassa-1149	265	29	robot	robot	NOUN
ijassa-1149	265	30	’s	’s	PART
ijassa-1149	265	31	current	current	ADJ
ijassa-1149	265	32	status	status	NOUN
ijassa-1149	265	33	and	and	CCONJ
ijassa-1149	265	34	(	(	PUNCT
ijassa-1149	265	35	b	b	X
ijassa-1149	265	36	)	)	PUNCT
ijassa-1149	265	37	the	the	DET
ijassa-1149	265	38	current	current	ADJ
ijassa-1149	265	39	environment	environment	NOUN
ijassa-1149	265	40	’s	’s	PART
ijassa-1149	265	41	state	state	NOUN
ijassa-1149	265	42	observed	observe	VERB
ijassa-1149	265	43	by	by	ADP
ijassa-1149	265	44	the	the	DET
ijassa-1149	265	45	robot	robot	NOUN
ijassa-1149	265	46	’s	’s	PART
ijassa-1149	265	47	sensors	sensor	NOUN
ijassa-1149	265	48	.	.	PUNCT
ijassa-1149	266	1	d	d	X
ijassa-1149	266	2	)	)	PUNCT
ijassa-1149	266	3	in	in	ADP
ijassa-1149	266	4	response	response	NOUN
ijassa-1149	266	5	to	to	ADP
ijassa-1149	266	6	occurring	occur	VERB
ijassa-1149	266	7	events	event	NOUN
ijassa-1149	266	8	(	(	PUNCT
ijassa-1149	266	9	failures	failure	NOUN
ijassa-1149	266	10	of	of	ADP
ijassa-1149	266	11	robots	robot	NOUN
ijassa-1149	266	12	or	or	CCONJ
ijassa-1149	266	13	their	their	PRON
ijassa-1149	266	14	sensors	sensor	NOUN
ijassa-1149	266	15	,	,	PUNCT
ijassa-1149	266	16	exhaustion	exhaustion	NOUN
ijassa-1149	266	17	of	of	ADP
ijassa-1149	266	18	robot	robot	NOUN
ijassa-1149	266	19	’s	’s	PART
ijassa-1149	266	20	non	non	ADJ
ijassa-1149	266	21	-	-	ADJ
ijassa-1149	266	22	replenishable	replenishable	ADJ
ijassa-1149	266	23	resources	resource	NOUN
ijassa-1149	266	24	,	,	PUNCT
ijassa-1149	266	25	detection	detection	NOUN
ijassa-1149	266	26	of	of	ADP
ijassa-1149	266	27	new	new	ADJ
ijassa-1149	266	28	counteraction	counteraction	NOUN
ijassa-1149	266	29	means	mean	NOUN
ijassa-1149	266	30	,	,	PUNCT
ijassa-1149	266	31	etc	etc	X
ijassa-1149	266	32	.	.	X
ijassa-1149	266	33	)	)	PUNCT
ijassa-1149	266	34	,	,	PUNCT
ijassa-1149	266	35	the	the	DET
ijassa-1149	266	36	group	group	NOUN
ijassa-1149	266	37	organizes	organize	VERB
ijassa-1149	266	38	negotiations	negotiation	NOUN
ijassa-1149	266	39	.	.	PUNCT
ijassa-1149	267	1	the	the	DET
ijassa-1149	267	2	new	new	ADJ
ijassa-1149	267	3	roles	role	NOUN
ijassa-1149	267	4	and	and	CCONJ
ijassa-1149	267	5	control	control	NOUN
ijassa-1149	267	6	strategies	strategy	NOUN
ijassa-1149	267	7	of	of	ADP
ijassa-1149	267	8	robots	robot	NOUN
ijassa-1149	267	9	are	be	AUX
ijassa-1149	267	10	negotiated	negotiate	VERB
ijassa-1149	267	11	the	the	DET
ijassa-1149	267	12	collective	collective	ADJ
ijassa-1149	267	13	behavior	behavior	NOUN
ijassa-1149	267	14	of	of	ADP
ijassa-1149	267	15	robots	robot	NOUN
ijassa-1149	267	16	based	base	VERB
ijassa-1149	267	17	on	on	ADP
ijassa-1149	267	18	the	the	DET
ijassa-1149	267	19	internet	internet	NOUN
ijassa-1149	267	20	-	-	PUNCT
ijassa-1149	267	21	of	of	ADP
ijassa-1149	267	22	-	-	PUNCT
ijassa-1149	267	23	things	thing	NOUN
ijassa-1149	267	24	paradigm	paradigm	NOUN
ijassa-1149	267	25	171	171	NUM
ijassa-1149	267	26	copyright	copyright	NOUN
ijassa-1149	267	27	©	©	PROPN
ijassa-1149	267	28	2022	2022	NUM
ijassa-1149	267	29	assa	assa	NOUN
ijassa-1149	267	30	.	.	PUNCT
ijassa-1149	268	1	adv	adv	PROPN
ijassa-1149	268	2	.	.	PUNCT
ijassa-1149	269	1	in	in	ADP
ijassa-1149	269	2	systems	system	NOUN
ijassa-1149	269	3	science	science	NOUN
ijassa-1149	269	4	and	and	CCONJ
ijassa-1149	269	5	appl	appl	NOUN
ijassa-1149	269	6	.	.	PUNCT
ijassa-1149	270	1	(	(	PUNCT
ijassa-1149	270	2	2022	2022	NUM
ijassa-1149	270	3	)	)	PUNCT
ijassa-1149	270	4	depending	depend	VERB
ijassa-1149	270	5	on	on	ADP
ijassa-1149	270	6	their	their	PRON
ijassa-1149	270	7	statuses	status	NOUN
ijassa-1149	270	8	and	and	CCONJ
ijassa-1149	270	9	learning	learn	VERB
ijassa-1149	270	10	paradigms	paradigm	NOUN
ijassa-1149	270	11	to	to	PART
ijassa-1149	270	12	fulfill	fulfill	VERB
ijassa-1149	270	13	the	the	DET
ijassa-1149	270	14	collective	collective	ADJ
ijassa-1149	270	15	mission	mission	NOUN
ijassa-1149	270	16	in	in	ADP
ijassa-1149	270	17	new	new	ADJ
ijassa-1149	270	18	situations	situation	NOUN
ijassa-1149	270	19	.	.	PUNCT
ijassa-1149	271	1	note	note	VERB
ijassa-1149	271	2	that	that	SCONJ
ijassa-1149	271	3	the	the	DET
ijassa-1149	271	4	existing	exist	VERB
ijassa-1149	271	5	precedents	precedent	NOUN
ijassa-1149	271	6	are	be	AUX
ijassa-1149	271	7	used	use	VERB
ijassa-1149	271	8	for	for	ADP
ijassa-1149	271	9	this	this	DET
ijassa-1149	271	10	purpose	purpose	NOUN
ijassa-1149	271	11	.	.	PUNCT
ijassa-1149	272	1	an	an	DET
ijassa-1149	272	2	important	important	ADJ
ijassa-1149	272	3	problem	problem	NOUN
ijassa-1149	272	4	is	be	AUX
ijassa-1149	272	5	to	to	PART
ijassa-1149	272	6	hide	hide	VERB
ijassa-1149	272	7	the	the	DET
ijassa-1149	272	8	actual	actual	ADJ
ijassa-1149	272	9	roles	role	NOUN
ijassa-1149	272	10	of	of	ADP
ijassa-1149	272	11	robots	robot	NOUN
ijassa-1149	272	12	operating	operate	VERB
ijassa-1149	272	13	in	in	ADP
ijassa-1149	272	14	the	the	DET
ijassa-1149	272	15	antagonistic	antagonistic	ADJ
ijassa-1149	272	16	environment	environment	NOUN
ijassa-1149	272	17	.	.	PUNCT
ijassa-1149	273	1	one	one	NUM
ijassa-1149	273	2	interesting	interesting	ADJ
ijassa-1149	273	3	solution	solution	NOUN
ijassa-1149	273	4	involves	involve	VERB
ijassa-1149	273	5	irrational	irrational	ADJ
ijassa-1149	273	6	behavioral	behavioral	ADJ
ijassa-1149	273	7	strategies	strategy	NOUN
ijassa-1149	273	8	or	or	CCONJ
ijassa-1149	273	9	robots	robot	NOUN
ijassa-1149	273	10	;	;	PUNCT
ijassa-1149	273	11	see	see	VERB
ijassa-1149	273	12	the	the	DET
ijassa-1149	273	13	recent	recent	ADJ
ijassa-1149	273	14	paper	paper	NOUN
ijassa-1149	274	1	[	[	X
ijassa-1149	274	2	5	5	NUM
ijassa-1149	274	3	]	]	PUNCT
ijassa-1149	274	4	.	.	PUNCT
ijassa-1149	275	1	5.2	5.2	NUM
ijassa-1149	275	2	.	.	PUNCT
ijassa-1149	276	1	specific	specific	ADJ
ijassa-1149	276	2	features	feature	NOUN
ijassa-1149	276	3	of	of	ADP
ijassa-1149	276	4	individual	individual	ADJ
ijassa-1149	276	5	strategy	strategy	NOUN
ijassa-1149	276	6	formation	formation	NOUN
ijassa-1149	276	7	as	as	SCONJ
ijassa-1149	276	8	demonstrated	demonstrate	VERB
ijassa-1149	276	9	by	by	ADP
ijassa-1149	276	10	several	several	ADJ
ijassa-1149	276	11	researchers	researcher	NOUN
ijassa-1149	276	12	,	,	PUNCT
ijassa-1149	276	13	the	the	DET
ijassa-1149	276	14	emergent	emergent	ADJ
ijassa-1149	276	15	collective	collective	ADJ
ijassa-1149	276	16	behavior	behavior	NOUN
ijassa-1149	276	17	of	of	ADP
ijassa-1149	276	18	objects	object	NOUN
ijassa-1149	276	19	can	can	AUX
ijassa-1149	276	20	be	be	AUX
ijassa-1149	276	21	constructed	construct	VERB
ijassa-1149	276	22	using	use	VERB
ijassa-1149	276	23	their	their	PRON
ijassa-1149	276	24	elementary	elementary	ADJ
ijassa-1149	276	25	interactions	interaction	NOUN
ijassa-1149	276	26	.	.	PUNCT
ijassa-1149	277	1	for	for	ADP
ijassa-1149	277	2	the	the	DET
ijassa-1149	277	3	class	class	NOUN
ijassa-1149	277	4	of	of	ADP
ijassa-1149	277	5	problems	problem	NOUN
ijassa-1149	277	6	under	under	ADP
ijassa-1149	277	7	consideration	consideration	NOUN
ijassa-1149	277	8	,	,	PUNCT
ijassa-1149	277	9	such	such	ADJ
ijassa-1149	277	10	elementary	elementary	ADJ
ijassa-1149	277	11	interactions	interaction	NOUN
ijassa-1149	277	12	include	include	VERB
ijassa-1149	277	13	the	the	DET
ijassa-1149	277	14	following	following	NOUN
ijassa-1149	277	15	:	:	PUNCT
ijassa-1149	277	16	updating	update	VERB
ijassa-1149	277	17	the	the	DET
ijassa-1149	277	18	situational	situational	ADJ
ijassa-1149	277	19	awareness	awareness	NOUN
ijassa-1149	277	20	model	model	NOUN
ijassa-1149	277	21	with	with	ADP
ijassa-1149	277	22	the	the	DET
ijassa-1149	277	23	robot	robot	NOUN
ijassa-1149	277	24	’s	’s	PART
ijassa-1149	277	25	current	current	ADJ
ijassa-1149	277	26	status	status	NOUN
ijassa-1149	277	27	;	;	PUNCT
ijassa-1149	277	28	requesting	request	VERB
ijassa-1149	277	29	the	the	DET
ijassa-1149	277	30	current	current	ADJ
ijassa-1149	277	31	situation	situation	NOUN
ijassa-1149	277	32	at	at	ADP
ijassa-1149	277	33	a	a	DET
ijassa-1149	277	34	given	give	VERB
ijassa-1149	277	35	location	location	NOUN
ijassa-1149	277	36	(	(	PUNCT
ijassa-1149	277	37	point	point	NOUN
ijassa-1149	277	38	on	on	ADP
ijassa-1149	277	39	a	a	DET
ijassa-1149	277	40	path	path	NOUN
ijassa-1149	277	41	)	)	PUNCT
ijassa-1149	277	42	;	;	PUNCT
ijassa-1149	277	43	requesting	request	VERB
ijassa-1149	277	44	assistance	assistance	NOUN
ijassa-1149	277	45	;	;	PUNCT
ijassa-1149	277	46	rendering	render	VERB
ijassa-1149	277	47	assistance	assistance	NOUN
ijassa-1149	277	48	;	;	PUNCT
ijassa-1149	277	49	and	and	CCONJ
ijassa-1149	277	50	so	so	ADV
ijassa-1149	277	51	on	on	ADV
ijassa-1149	277	52	.	.	PUNCT
ijassa-1149	278	1	due	due	ADP
ijassa-1149	278	2	to	to	ADP
ijassa-1149	278	3	the	the	DET
ijassa-1149	278	4	negative	negative	ADJ
ijassa-1149	278	5	impact	impact	NOUN
ijassa-1149	278	6	of	of	ADP
ijassa-1149	278	7	the	the	DET
ijassa-1149	278	8	antagonistic	antagonistic	ADJ
ijassa-1149	278	9	environment	environment	NOUN
ijassa-1149	278	10	,	,	PUNCT
ijassa-1149	278	11	some	some	DET
ijassa-1149	278	12	robots	robot	NOUN
ijassa-1149	278	13	may	may	AUX
ijassa-1149	278	14	fail	fail	VERB
ijassa-1149	278	15	to	to	PART
ijassa-1149	278	16	perform	perform	VERB
ijassa-1149	278	17	their	their	PRON
ijassa-1149	278	18	tasks	task	NOUN
ijassa-1149	278	19	.	.	PUNCT
ijassa-1149	279	1	therefore	therefore	ADV
ijassa-1149	279	2	,	,	PUNCT
ijassa-1149	279	3	we	we	PRON
ijassa-1149	279	4	design	design	VERB
ijassa-1149	279	5	the	the	DET
ijassa-1149	279	6	robot	robot	NOUN
ijassa-1149	279	7	’s	’s	PART
ijassa-1149	279	8	individual	individual	ADJ
ijassa-1149	279	9	strategy	strategy	NOUN
ijassa-1149	279	10	by	by	ADP
ijassa-1149	279	11	realizing	realize	VERB
ijassa-1149	279	12	two	two	NUM
ijassa-1149	279	13	principles	principle	NOUN
ijassa-1149	279	14	as	as	SCONJ
ijassa-1149	279	15	follows	follow	VERB
ijassa-1149	279	16	.	.	PUNCT
ijassa-1149	280	1	first	first	ADV
ijassa-1149	280	2	,	,	PUNCT
ijassa-1149	280	3	each	each	DET
ijassa-1149	280	4	robot	robot	NOUN
ijassa-1149	280	5	performs	perform	VERB
ijassa-1149	280	6	the	the	DET
ijassa-1149	280	7	individual	individual	ADJ
ijassa-1149	280	8	tasks	task	NOUN
ijassa-1149	280	9	within	within	ADP
ijassa-1149	280	10	its	its	PRON
ijassa-1149	280	11	role	role	NOUN
ijassa-1149	280	12	defined	define	VERB
ijassa-1149	280	13	when	when	SCONJ
ijassa-1149	280	14	decomposing	decompose	VERB
ijassa-1149	280	15	the	the	DET
ijassa-1149	280	16	collective	collective	ADJ
ijassa-1149	280	17	mission	mission	NOUN
ijassa-1149	280	18	.	.	PUNCT
ijassa-1149	281	1	second	second	ADJ
ijassa-1149	281	2	,	,	PUNCT
ijassa-1149	281	3	to	to	ADP
ijassa-1149	281	4	the	the	DET
ijassa-1149	281	5	extent	extent	NOUN
ijassa-1149	281	6	possible	possible	ADJ
ijassa-1149	281	7	,	,	PUNCT
ijassa-1149	281	8	each	each	DET
ijassa-1149	281	9	robot	robot	NOUN
ijassa-1149	281	10	considers	consider	VERB
ijassa-1149	281	11	the	the	DET
ijassa-1149	281	12	problems	problem	NOUN
ijassa-1149	281	13	of	of	ADP
ijassa-1149	281	14	other	other	ADJ
ijassa-1149	281	15	robots	robot	NOUN
ijassa-1149	281	16	fulfilling	fulfil	VERB
ijassa-1149	281	17	the	the	DET
ijassa-1149	281	18	collective	collective	ADJ
ijassa-1149	281	19	mission	mission	NOUN
ijassa-1149	281	20	as	as	SCONJ
ijassa-1149	281	21	unpredictable	unpredictable	ADJ
ijassa-1149	281	22	situations	situation	NOUN
ijassa-1149	281	23	occur	occur	VERB
ijassa-1149	281	24	.	.	PUNCT
ijassa-1149	282	1	a	a	DET
ijassa-1149	282	2	typical	typical	ADJ
ijassa-1149	282	3	strategy	strategy	NOUN
ijassa-1149	282	4	of	of	ADP
ijassa-1149	282	5	each	each	DET
ijassa-1149	282	6	k	k	NOUN
ijassa-1149	282	7	-	-	NOUN
ijassa-1149	282	8	robot	robot	NOUN
ijassa-1149	282	9	consists	consist	VERB
ijassa-1149	282	10	of	of	ADP
ijassa-1149	282	11	two	two	NUM
ijassa-1149	282	12	mutually	mutually	ADV
ijassa-1149	282	13	complementing	complement	VERB
ijassa-1149	282	14	components	component	NOUN
ijassa-1149	282	15	,	,	PUNCT
ijassa-1149	282	16	general	general	ADJ
ijassa-1149	282	17	and	and	CCONJ
ijassa-1149	282	18	special	special	ADJ
ijassa-1149	282	19	.	.	PUNCT
ijassa-1149	283	1	the	the	DET
ijassa-1149	283	2	general	general	ADJ
ijassa-1149	283	3	component	component	NOUN
ijassa-1149	283	4	includes	include	VERB
ijassa-1149	283	5	:	:	PUNCT
ijassa-1149	283	6	1	1	X
ijassa-1149	283	7	.	.	X
ijassa-1149	283	8	permanently	permanently	ADV
ijassa-1149	283	9	monitoring	monitor	VERB
ijassa-1149	283	10	the	the	DET
ijassa-1149	283	11	environment	environment	NOUN
ijassa-1149	283	12	by	by	ADP
ijassa-1149	283	13	robot	robot	NOUN
ijassa-1149	283	14	’s	’s	PART
ijassa-1149	283	15	sensors	sensor	NOUN
ijassa-1149	283	16	and	and	CCONJ
ijassa-1149	283	17	quantitatively	quantitatively	ADV
ijassa-1149	283	18	assessing	assess	VERB
ijassa-1149	283	19	the	the	DET
ijassa-1149	283	20	influence	influence	NOUN
ijassa-1149	283	21	factors	factor	NOUN
ijassa-1149	283	22	(	(	PUNCT
ijassa-1149	283	23	events	event	NOUN
ijassa-1149	283	24	and	and	CCONJ
ijassa-1149	283	25	situations	situation	NOUN
ijassa-1149	283	26	)	)	PUNCT
ijassa-1149	283	27	and	and	CCONJ
ijassa-1149	283	28	their	their	PRON
ijassa-1149	283	29	attributes	attribute	NOUN
ijassa-1149	283	30	;	;	PUNCT
ijassa-1149	283	31	2	2	X
ijassa-1149	283	32	.	.	X
ijassa-1149	283	33	predicting	predict	VERB
ijassa-1149	283	34	the	the	DET
ijassa-1149	283	35	path	path	NOUN
ijassa-1149	283	36	for	for	ADP
ijassa-1149	283	37	a	a	DET
ijassa-1149	283	38	time	time	NOUN
ijassa-1149	283	39	instant	instant	NOUN
ijassa-1149	283	40	(	(	PUNCT
ijassa-1149	283	41	)	)	PUNCT
ijassa-1149	283	42	,	,	PUNCT
ijassa-1149	283	43	t	t	PROPN
ijassa-1149	283	44	t	t	NUM
ijassa-1149	283	45	where	where	SCONJ
ijassa-1149	283	46	t	t	PROPN
ijassa-1149	283	47	is	be	AUX
ijassa-1149	283	48	a	a	DET
ijassa-1149	283	49	given	give	VERB
ijassa-1149	283	50	period	period	NOUN
ijassa-1149	283	51	;	;	PUNCT
ijassa-1149	283	52	3	3	X
ijassa-1149	283	53	.	.	X
ijassa-1149	283	54	estimating	estimate	VERB
ijassa-1149	283	55	the	the	DET
ijassa-1149	283	56	probability	probability	NOUN
ijassa-1149	283	57	e	e	X
ijassa-1149	283	58	kp	kp	PROPN
ijassa-1149	283	59	of	of	ADP
ijassa-1149	283	60	a	a	DET
ijassa-1149	283	61	critical	critical	ADJ
ijassa-1149	283	62	event	event	NOUN
ijassa-1149	283	63	*	*	PUNCT
ijassa-1149	283	64	(	(	PUNCT
ijassa-1149	283	65	)	)	PUNCT
ijassa-1149	283	66	ke	ke	PROPN
ijassa-1149	283	67	t	t	PROPN
ijassa-1149	283	68	t	t	AUX
ijassa-1149	283	69	in	in	ADP
ijassa-1149	283	70	the	the	DET
ijassa-1149	283	71	predicted	predict	VERB
ijassa-1149	283	72	motion	motion	NOUN
ijassa-1149	283	73	zone	zone	NOUN
ijassa-1149	283	74	and	and	CCONJ
ijassa-1149	283	75	assessing	assess	VERB
ijassa-1149	283	76	the	the	DET
ijassa-1149	283	77	threats	threat	NOUN
ijassa-1149	283	78	e	e	X
ijassa-1149	283	79	k	k	PROPN
ijassa-1149	283	80	created	create	VERB
ijassa-1149	283	81	by	by	ADP
ijassa-1149	283	82	the	the	DET
ijassa-1149	283	83	environment	environment	NOUN
ijassa-1149	283	84	;	;	PUNCT
ijassa-1149	283	85	4	4	X
ijassa-1149	283	86	.	.	X
ijassa-1149	283	87	updating	updating	NOUN
ijassa-1149	283	88	of	of	ADP
ijassa-1149	283	89	the	the	DET
ijassa-1149	283	90	situational	situational	ADJ
ijassa-1149	283	91	awareness	awareness	NOUN
ijassa-1149	283	92	model	model	NOUN
ijassa-1149	283	93	by	by	ADP
ijassa-1149	283	94	the	the	DET
ijassa-1149	283	95	observed	observed	ADJ
ijassa-1149	283	96	information	information	NOUN
ijassa-1149	283	97	;	;	PUNCT
ijassa-1149	283	98	5	5	X
ijassa-1149	283	99	.	.	X
ijassa-1149	283	100	analyzing	analyze	VERB
ijassa-1149	283	101	an	an	DET
ijassa-1149	283	102	occurred	occurred	ADJ
ijassa-1149	283	103	situation	situation	NOUN
ijassa-1149	283	104	s	s	PART
ijassa-1149	283	105	s	s	ADJ
ijassa-1149	283	106	and	and	CCONJ
ijassa-1149	283	107	incurred	incurred	ADJ
ijassa-1149	283	108	losses	loss	NOUN
ijassa-1149	283	109	kw	kw	VERB
ijassa-1149	283	110			PROPN
ijassa-1149	283	111	and	and	CCONJ
ijassa-1149	283	112	assessing	assess	VERB
ijassa-1149	283	113	the	the	DET
ijassa-1149	283	114	individual	individual	ADJ
ijassa-1149	283	115	functional	functional	ADJ
ijassa-1149	283	116	capabilities	capability	NOUN
ijassa-1149	283	117	to	to	PART
ijassa-1149	283	118	solve	solve	VERB
ijassa-1149	283	119	the	the	DET
ijassa-1149	283	120	problem	problem	NOUN
ijassa-1149	283	121	;	;	PUNCT
ijassa-1149	283	122	6	6	X
ijassa-1149	283	123	.	.	X
ijassa-1149	283	124	acting	act	VERB
ijassa-1149	283	125	to	to	PART
ijassa-1149	283	126	solve	solve	VERB
ijassa-1149	283	127	the	the	DET
ijassa-1149	283	128	problem	problem	NOUN
ijassa-1149	283	129	;	;	PUNCT
ijassa-1149	283	130	7	7	X
ijassa-1149	283	131	.	.	X
ijassa-1149	283	132	when	when	SCONJ
ijassa-1149	283	133	necessary	necessary	ADJ
ijassa-1149	283	134	(	(	PUNCT
ijassa-1149	283	135	no	no	DET
ijassa-1149	283	136	individual	individual	ADJ
ijassa-1149	283	137	solution	solution	NOUN
ijassa-1149	283	138	)	)	PUNCT
ijassa-1149	283	139	,	,	PUNCT
ijassa-1149	283	140	requesting	request	VERB
ijassa-1149	283	141	assistance	assistance	NOUN
ijassa-1149	283	142	from	from	ADP
ijassa-1149	283	143	the	the	DET
ijassa-1149	283	144	group	group	NOUN
ijassa-1149	283	145	(	(	PUNCT
ijassa-1149	283	146	1)ka	1)ka	PROPN
ijassa-1149	283	147			NUM
ijassa-1149	283	148	;	;	PUNCT
ijassa-1149	283	149	8	8	X
ijassa-1149	283	150	.	.	X
ijassa-1149	283	151	participating	participate	VERB
ijassa-1149	283	152	in	in	ADP
ijassa-1149	283	153	negotiations	negotiation	NOUN
ijassa-1149	283	154	(	(	PUNCT
ijassa-1149	283	155	see	see	VERB
ijassa-1149	283	156	the	the	DET
ijassa-1149	283	157	scheme	scheme	NOUN
ijassa-1149	283	158	(	(	PUNCT
ijassa-1149	283	159	4.1	4.1	NUM
ijassa-1149	283	160	)	)	PUNCT
ijassa-1149	283	161	,	,	PUNCT
ijassa-1149	283	162	(	(	PUNCT
ijassa-1149	283	163	4.2	4.2	NUM
ijassa-1149	283	164	)	)	PUNCT
ijassa-1149	283	165	)	)	PUNCT
ijassa-1149	283	166	to	to	PART
ijassa-1149	283	167	provide	provide	VERB
ijassa-1149	283	168	the	the	DET
ijassa-1149	283	169	functionality	functionality	NOUN
ijassa-1149	283	170	kfunc	kfunc	NOUN
ijassa-1149	283	171	to	to	ADP
ijassa-1149	283	172	other	other	ADJ
ijassa-1149	283	173	robots	robot	NOUN
ijassa-1149	283	174	for	for	ADP
ijassa-1149	283	175	performing	perform	VERB
ijassa-1149	283	176	their	their	PRON
ijassa-1149	283	177	tasks	task	NOUN
ijassa-1149	283	178	.	.	PUNCT
ijassa-1149	284	1	the	the	DET
ijassa-1149	284	2	special	special	ADJ
ijassa-1149	284	3	component	component	NOUN
ijassa-1149	284	4	of	of	ADP
ijassa-1149	284	5	the	the	DET
ijassa-1149	284	6	robot	robot	NOUN
ijassa-1149	284	7	’s	’s	PART
ijassa-1149	284	8	behavioral	behavioral	ADJ
ijassa-1149	284	9	strategy	strategy	NOUN
ijassa-1149	284	10	reflects	reflect	VERB
ijassa-1149	284	11	its	its	PRON
ijassa-1149	284	12	particular	particular	ADJ
ijassa-1149	284	13	features	feature	NOUN
ijassa-1149	284	14	and	and	CCONJ
ijassa-1149	284	15	depends	depend	VERB
ijassa-1149	284	16	on	on	ADP
ijassa-1149	284	17	the	the	DET
ijassa-1149	284	18	roles	role	NOUN
ijassa-1149	284	19	.	.	PUNCT
ijassa-1149	285	1	5.3	5.3	NUM
ijassa-1149	285	2	.	.	PUNCT
ijassa-1149	286	1	behavioral	behavioral	ADJ
ijassa-1149	286	2	rules	rule	NOUN
ijassa-1149	286	3	for	for	ADP
ijassa-1149	286	4	a	a	DET
ijassa-1149	286	5	robot	robot	NOUN
ijassa-1149	286	6	-	-	PUNCT
ijassa-1149	286	7	thing	thing	NOUN
ijassa-1149	286	8	assisting	assist	VERB
ijassa-1149	286	9	other	other	ADJ
ijassa-1149	286	10	robot	robot	NOUN
ijassa-1149	286	11	-	-	PUNCT
ijassa-1149	286	12	things	thing	NOUN
ijassa-1149	286	13	:	:	PUNCT
ijassa-1149	286	14	an	an	DET
ijassa-1149	286	15	example	example	NOUN
ijassa-1149	286	16	of	of	ADP
ijassa-1149	286	17	design	design	NOUN
ijassa-1149	286	18	consider	consider	VERB
ijassa-1149	286	19	an	an	DET
ijassa-1149	286	20	illustrative	illustrative	ADJ
ijassa-1149	286	21	example	example	NOUN
ijassa-1149	286	22	to	to	ADP
ijassa-1149	286	23	design	design	NOUN
ijassa-1149	286	24	robot	robot	NOUN
ijassa-1149	286	25	’s	’s	PART
ijassa-1149	286	26	behavioral	behavioral	ADJ
ijassa-1149	286	27	rules	rule	NOUN
ijassa-1149	286	28	within	within	ADP
ijassa-1149	286	29	the	the	DET
ijassa-1149	286	30	iot	iot	NOUN
ijassa-1149	286	31	paradigm	paradigm	NOUN
ijassa-1149	286	32	.	.	PUNCT
ijassa-1149	287	1	robots	robot	NOUN
ijassa-1149	287	2	a	a	PRON
ijassa-1149	287	3	and	and	CCONJ
ijassa-1149	287	4	b	b	NOUN
ijassa-1149	287	5	have	have	VERB
ijassa-1149	287	6	the	the	DET
ijassa-1149	287	7	same	same	ADJ
ijassa-1149	287	8	functionality	functionality	NOUN
ijassa-1149	287	9	(	(	PUNCT
ijassa-1149	287	10	see	see	VERB
ijassa-1149	287	11	table	table	NOUN
ijassa-1149	287	12	5.1	5.1	NUM
ijassa-1149	287	13	)	)	PUNCT
ijassa-1149	287	14	and	and	CCONJ
ijassa-1149	287	15	perform	perform	VERB
ijassa-1149	287	16	individual	individual	ADJ
ijassa-1149	287	17	tasks	task	NOUN
ijassa-1149	287	18	,	,	PUNCT
ijassa-1149	287	19	moving	move	VERB
ijassa-1149	287	20	towards	towards	ADP
ijassa-1149	287	21	targets	target	NOUN
ijassa-1149	287	22	to	to	PART
ijassa-1149	287	23	attack	attack	VERB
ijassa-1149	287	24	them	they	PRON
ijassa-1149	287	25	.	.	PUNCT
ijassa-1149	288	1	the	the	DET
ijassa-1149	288	2	targets	target	NOUN
ijassa-1149	288	3	are	be	AUX
ijassa-1149	288	4	secured	secure	VERB
ijassa-1149	288	5	by	by	ADP
ijassa-1149	288	6	the	the	DET
ijassa-1149	288	7	technical	technical	ADJ
ijassa-1149	288	8	means	mean	NOUN
ijassa-1149	288	9	of	of	ADP
ijassa-1149	288	10	a	a	DET
ijassa-1149	288	11	defense	defense	NOUN
ijassa-1149	288	12	system	system	NOUN
ijassa-1149	288	13	c.	c.	PROPN
ijassa-1149	288	14	table	table	NOUN
ijassa-1149	288	15	5.1	5.1	NUM
ijassa-1149	288	16	functionality	functionality	NOUN
ijassa-1149	288	17	of	of	ADP
ijassa-1149	288	18	robots	robot	NOUN
ijassa-1149	288	19	(	(	PUNCT
ijassa-1149	288	20	k	k	X
ijassa-1149	288	21	,	,	PUNCT
ijassa-1149	288	22	m	m	VERB
ijassa-1149	288	23	=	=	SYM
ijassa-1149	288	24	a	a	PRON
ijassa-1149	288	25	,	,	PUNCT
ijassa-1149	288	26	b	b	NOUN
ijassa-1149	288	27	)	)	PUNCT
ijassa-1149	288	28	identifier	identifier	NOUN
ijassa-1149	288	29	function	function	NOUN
ijassa-1149	288	30	values	value	NOUN
ijassa-1149	288	31	1kf	1kf	VERB
ijassa-1149	288	32	(	(	PUNCT
ijassa-1149	288	33	role	role	NOUN
ijassa-1149	288	34	)	)	PUNCT
ijassa-1149	288	35	robot	robot	NOUN
ijassa-1149	288	36	’s	’s	PART
ijassa-1149	288	37	role	role	NOUN
ijassa-1149	288	38	in	in	ADP
ijassa-1149	288	39	group	group	NOUN
ijassa-1149	288	40	1––leader	1––leader	NUM
ijassa-1149	288	41	;	;	PUNCT
ijassa-1149	288	42	2––attacker	2––attacker	NUM
ijassa-1149	288	43	;	;	PUNCT
ijassa-1149	288	44	3––supporter	3––supporter	NUM
ijassa-1149	288	45	;	;	PUNCT
ijassa-1149	288	46	4––communicator	4––communicator	NUM
ijassa-1149	288	47	2kf	2kf	PROPN
ijassa-1149	288	48	robot	robot	NOUN
ijassa-1149	288	49	’s	’s	PART
ijassa-1149	288	50	motion	motion	NOUN
ijassa-1149	288	51	v––forward	v––forward	NUM
ijassa-1149	288	52	motion	motion	NOUN
ijassa-1149	288	53	with	with	ADP
ijassa-1149	288	54	velocity	velocity	NOUN
ijassa-1149	288	55	v	v	NOUN
ijassa-1149	288	56	;	;	PUNCT
ijassa-1149	288	57	0––stop	0––stop	NUM
ijassa-1149	288	58	;	;	PUNCT
ijassa-1149	288	59	(	(	PUNCT
ijassa-1149	288	60	–	–	PUNCT
ijassa-1149	288	61	v)––backward	v)––backward	ADP
ijassa-1149	288	62	motion	motion	NOUN
ijassa-1149	288	63	with	with	ADP
ijassa-1149	288	64	velocity	velocity	NOUN
ijassa-1149	288	65	v	v	ADP
ijassa-1149	288	66	172	172	NUM
ijassa-1149	288	67	v.	v.	ADP
ijassa-1149	288	68	abrosimov	abrosimov	NOUN
ijassa-1149	288	69	,	,	PUNCT
ijassa-1149	288	70	a.	a.	NOUN
ijassa-1149	288	71	mazurov	mazurov	PROPN
ijassa-1149	288	72	copyright	copyright	PROPN
ijassa-1149	288	73	©	©	PROPN
ijassa-1149	288	74	2022	2022	NUM
ijassa-1149	288	75	assa	assa	PROPN
ijassa-1149	288	76	adv	adv	PROPN
ijassa-1149	288	77	.	.	PUNCT
ijassa-1149	289	1	in	in	ADP
ijassa-1149	289	2	systems	system	NOUN
ijassa-1149	289	3	science	science	NOUN
ijassa-1149	289	4	and	and	CCONJ
ijassa-1149	289	5	appl	appl	NOUN
ijassa-1149	289	6	.	.	PUNCT
ijassa-1149	290	1	(	(	PUNCT
ijassa-1149	290	2	2022	2022	NUM
ijassa-1149	290	3	)	)	PUNCT
ijassa-1149	290	4	3kf	3kf	ADJ
ijassa-1149	290	5	detection	detection	NOUN
ijassa-1149	290	6	of	of	ADP
ijassa-1149	290	7	threat	threat	NOUN
ijassa-1149	290	8	to	to	ADP
ijassa-1149	290	9	k	k	NOUN
ijassa-1149	290	10	-	-	NOUN
ijassa-1149	290	11	robot	robot	NOUN
ijassa-1149	290	12	from	from	ADP
ijassa-1149	290	13	defense	defense	NOUN
ijassa-1149	290	14	system	system	NOUN
ijassa-1149	290	15	c	c	PROPN
ijassa-1149	290	16	k	k	PROPN
ijassa-1149	290	17	zp	zp	PROPN
ijassa-1149	290	18	–	–	PUNCT
ijassa-1149	290	19	–	–	PUNCT
ijassa-1149	290	20	the	the	DET
ijassa-1149	290	21	probability	probability	NOUN
ijassa-1149	290	22	of	of	ADP
ijassa-1149	290	23	threat	threat	NOUN
ijassa-1149	290	24	from	from	ADP
ijassa-1149	290	25	z	z	NOUN
ijassa-1149	290	26	-	-	PUNCT
ijassa-1149	290	27	defensive	defensive	ADJ
ijassa-1149	290	28	means	mean	NOUN
ijassa-1149	290	29	:	:	PUNCT
ijassa-1149	290	30	zc	zc	NOUN
ijassa-1149	290	31	0k	0k	NOUN
ijassa-1149	290	32	zp	zp	NOUN
ijassa-1149	291	1			PRON
ijassa-1149	291	2	(	(	PUNCT
ijassa-1149	291	3	no	no	DET
ijassa-1149	291	4	threat	threat	NOUN
ijassa-1149	291	5	)	)	PUNCT
ijassa-1149	291	6	,	,	PUNCT
ijassa-1149	291	7	0	0	NUM
ijassa-1149	292	1	1,k	1,k	PROPN
ijassa-1149	292	2	zp	zp	PROPN
ijassa-1149	292	3			PROPN
ijassa-1149	293	1	1k	1k	NOUN
ijassa-1149	293	2	zp	zp	NOUN
ijassa-1149	294	1			PRON
ijassa-1149	295	1	(	(	PUNCT
ijassa-1149	295	2	annihilation	annihilation	NOUN
ijassa-1149	295	3	of	of	ADP
ijassa-1149	295	4	k	k	NOUN
ijassa-1149	295	5	-	-	NOUN
ijassa-1149	295	6	robot	robot	NOUN
ijassa-1149	295	7	a	a	NOUN
ijassa-1149	295	8	by	by	ADP
ijassa-1149	295	9	the	the	DET
ijassa-1149	295	10	defensive	defensive	ADJ
ijassa-1149	295	11	means	mean	VERB
ijassa-1149	295	12	zc	zc	NOUN
ijassa-1149	295	13	)	)	PUNCT
ijassa-1149	295	14	4kf	4kf	ADJ
ijassa-1149	295	15	response	response	NOUN
ijassa-1149	295	16	or	or	CCONJ
ijassa-1149	295	17	preventive	preventive	ADJ
ijassa-1149	295	18	impact	impact	NOUN
ijassa-1149	295	19	of	of	ADP
ijassa-1149	295	20	krobot	krobot	PROPN
ijassa-1149	295	21	on	on	ADP
ijassa-1149	295	22	defense	defense	NOUN
ijassa-1149	295	23	system	system	NOUN
ijassa-1149	296	1	c	c	NOUN
ijassa-1149	296	2	0––no	0––no	NUM
ijassa-1149	296	3	preventive	preventive	ADJ
ijassa-1149	296	4	impacts	impact	NOUN
ijassa-1149	296	5	;	;	PUNCT
ijassa-1149	296	6	z	z	NOUN
ijassa-1149	296	7	kq	kq	PROPN
ijassa-1149	296	8	–	–	PUNCT
ijassa-1149	296	9	–	–	PUNCT
ijassa-1149	296	10	the	the	DET
ijassa-1149	296	11	number	number	NOUN
ijassa-1149	296	12	of	of	ADP
ijassa-1149	296	13	preventive	preventive	ADJ
ijassa-1149	296	14	impacts	impact	NOUN
ijassa-1149	296	15	on	on	ADP
ijassa-1149	296	16	zc	zc	NOUN
ijassa-1149	296	17	;	;	PUNCT
ijassa-1149	296	18	z	z	PROPN
ijassa-1149	296	19	kqp	kqp	PROPN
ijassa-1149	296	20	–	–	PUNCT
ijassa-1149	296	21	–	–	PUNCT
ijassa-1149	296	22	the	the	DET
ijassa-1149	296	23	reduced	reduce	VERB
ijassa-1149	296	24	probability	probability	NOUN
ijassa-1149	296	25	of	of	ADP
ijassa-1149	296	26	threat	threat	NOUN
ijassa-1149	296	27	from	from	ADP
ijassa-1149	296	28	zc	zc	PROPN
ijassa-1149	296	29	due	due	ADP
ijassa-1149	296	30	to	to	ADP
ijassa-1149	296	31	z	z	PROPN
ijassa-1149	296	32	kq	kq	PROPN
ijassa-1149	296	33	impacts	impact	NOUN
ijassa-1149	296	34	of	of	ADP
ijassa-1149	296	35	k	k	NOUN
ijassa-1149	296	36	-	-	NOUN
ijassa-1149	296	37	robot	robot	NOUN
ijassa-1149	296	38	;	;	PUNCT
ijassa-1149	296	39	1––eliminated	1––eliminated	NUM
ijassa-1149	296	40	threat	threat	NOUN
ijassa-1149	296	41	from	from	ADP
ijassa-1149	296	42	zc	zc	PROPN
ijassa-1149	296	43	5kmf	5kmf	PROPN
ijassa-1149	296	44	assistance	assistance	NOUN
ijassa-1149	296	45	from	from	ADP
ijassa-1149	296	46	k	k	NOUN
ijassa-1149	296	47	-	-	NOUN
ijassa-1149	296	48	robot	robot	NOUN
ijassa-1149	296	49	to	to	ADP
ijassa-1149	296	50	m	m	NOUN
ijassa-1149	296	51	-	-	NOUN
ijassa-1149	296	52	robot	robot	NOUN
ijassa-1149	296	53	0––no	0––no	NUM
ijassa-1149	296	54	assistance	assistance	NOUN
ijassa-1149	296	55	required	require	VERB
ijassa-1149	296	56	;	;	PUNCT
ijassa-1149	296	57	1––assistance	1––assistance	NUM
ijassa-1149	296	58	required	require	VERB
ijassa-1149	296	59	from	from	ADP
ijassa-1149	296	60	any	any	DET
ijassa-1149	296	61	robot	robot	NOUN
ijassa-1149	296	62	with	with	ADP
ijassa-1149	296	63	appropriate	appropriate	ADJ
ijassa-1149	296	64	functionality	functionality	NOUN
ijassa-1149	296	65	and	and	CCONJ
ijassa-1149	296	66	sufficient	sufficient	ADJ
ijassa-1149	296	67	resources	resource	NOUN
ijassa-1149	296	68	;	;	PUNCT
ijassa-1149	296	69	:	:	PUNCT
ijassa-1149	296	70	k	k	PROPN
ijassa-1149	296	71	m	m	PROPN
ijassa-1149	296	72	k	k	PROPN
ijassa-1149	296	73	-	-	PUNCT
ijassa-1149	296	74	robot	robot	NOUN
ijassa-1149	296	75	assists	assist	NOUN
ijassa-1149	296	76	m	m	NOUN
ijassa-1149	296	77	-	-	NOUN
ijassa-1149	296	78	robot	robot	NOUN
ijassa-1149	296	79	6kmf	6kmf	NOUN
ijassa-1149	296	80	activation	activation	NOUN
ijassa-1149	296	81	of	of	ADP
ijassa-1149	296	82	the	the	DET
ijassa-1149	296	83	motion	motion	NOUN
ijassa-1149	296	84	system	system	NOUN
ijassa-1149	296	85	of	of	ADP
ijassa-1149	296	86	m	m	NOUN
ijassa-1149	296	87	-	-	NOUN
ijassa-1149	296	88	robot	robot	NOUN
ijassa-1149	296	89	by	by	ADP
ijassa-1149	296	90	k	k	ADJ
ijassa-1149	296	91	-	-	NOUN
ijassa-1149	296	92	robot	robot	NOUN
ijassa-1149	296	93	0k	0k	NOUN
ijassa-1149	296	94	mv	mv	PROPN
ijassa-1149	296	95			PROPN
ijassa-1149	297	1			NUM
ijassa-1149	297	2	–	–	PUNCT
ijassa-1149	297	3	–	–	PUNCT
ijassa-1149	297	4	the	the	DET
ijassa-1149	297	5	motion	motion	NOUN
ijassa-1149	297	6	system	system	NOUN
ijassa-1149	297	7	of	of	ADP
ijassa-1149	297	8	m	m	NOUN
ijassa-1149	297	9	-	-	NOUN
ijassa-1149	297	10	robot	robot	NOUN
ijassa-1149	297	11	not	not	PART
ijassa-1149	297	12	activated	activate	VERB
ijassa-1149	297	13	by	by	ADP
ijassa-1149	297	14	k	k	NOUN
ijassa-1149	297	15	-	-	NOUN
ijassa-1149	297	16	robot	robot	NOUN
ijassa-1149	297	17	;	;	PUNCT
ijassa-1149	297	18	1k	1k	NUM
ijassa-1149	297	19	mv	mv	PROPN
ijassa-1149	297	20			NOUN
ijassa-1149	298	1			NUM
ijassa-1149	298	2	–	–	PUNCT
ijassa-1149	298	3	–	–	PUNCT
ijassa-1149	298	4	the	the	DET
ijassa-1149	298	5	motion	motion	NOUN
ijassa-1149	298	6	system	system	NOUN
ijassa-1149	298	7	of	of	ADP
ijassa-1149	298	8	m	m	NOUN
ijassa-1149	298	9	-	-	NOUN
ijassa-1149	298	10	robot	robot	NOUN
ijassa-1149	298	11	activated	activate	VERB
ijassa-1149	298	12	by	by	ADP
ijassa-1149	298	13	k	k	ADJ
ijassa-1149	298	14	-	-	NOUN
ijassa-1149	298	15	robot	robot	NOUN
ijassa-1149	298	16	7kmf	7kmf	PROPN
ijassa-1149	298	17	activation	activation	NOUN
ijassa-1149	298	18	of	of	ADP
ijassa-1149	298	19	the	the	DET
ijassa-1149	298	20	combat	combat	NOUN
ijassa-1149	298	21	system	system	NOUN
ijassa-1149	298	22	of	of	ADP
ijassa-1149	298	23	m	m	NOUN
ijassa-1149	298	24	-	-	NOUN
ijassa-1149	298	25	robot	robot	NOUN
ijassa-1149	298	26	by	by	ADP
ijassa-1149	298	27	k	k	NOUN
ijassa-1149	298	28	-	-	NOUN
ijassa-1149	298	29	robot	robot	NOUN
ijassa-1149	298	30	to	to	PART
ijassa-1149	298	31	impact	impact	VERB
ijassa-1149	298	32	defensive	defensive	ADJ
ijassa-1149	298	33	means	mean	NOUN
ijassa-1149	298	34	0k	0k	NOUN
ijassa-1149	298	35	mh	mh	PROPN
ijassa-1149	298	36			PROPN
ijassa-1149	299	1			NUM
ijassa-1149	299	2	–	–	PUNCT
ijassa-1149	299	3	–	–	PUNCT
ijassa-1149	299	4	the	the	DET
ijassa-1149	299	5	combat	combat	NOUN
ijassa-1149	299	6	system	system	NOUN
ijassa-1149	299	7	of	of	ADP
ijassa-1149	299	8	m	m	NOUN
ijassa-1149	299	9	-	-	NOUN
ijassa-1149	299	10	robot	robot	NOUN
ijassa-1149	299	11	not	not	PART
ijassa-1149	299	12	activated	activate	VERB
ijassa-1149	299	13	by	by	ADP
ijassa-1149	299	14	k	k	NOUN
ijassa-1149	299	15	-	-	NOUN
ijassa-1149	299	16	robot	robot	NOUN
ijassa-1149	299	17	;	;	PUNCT
ijassa-1149	300	1	1k	1k	NUM
ijassa-1149	300	2	mh	mh	PROPN
ijassa-1149	300	3			PROPN
ijassa-1149	300	4			NUM
ijassa-1149	300	5	–	–	PUNCT
ijassa-1149	300	6	–	–	PUNCT
ijassa-1149	300	7	the	the	DET
ijassa-1149	300	8	combat	combat	NOUN
ijassa-1149	300	9	system	system	NOUN
ijassa-1149	300	10	of	of	ADP
ijassa-1149	300	11	m	m	NOUN
ijassa-1149	300	12	-	-	NOUN
ijassa-1149	300	13	robot	robot	NOUN
ijassa-1149	300	14	activated	activate	VERB
ijassa-1149	300	15	by	by	ADP
ijassa-1149	300	16	k	k	ADJ
ijassa-1149	300	17	-	-	ADJ
ijassa-1149	300	18	robot	robot	NOUN
ijassa-1149	300	19	8kf	8kf	ADJ
ijassa-1149	300	20	activation	activation	NOUN
ijassa-1149	300	21	of	of	ADP
ijassa-1149	300	22	the	the	DET
ijassa-1149	300	23	observation	observation	NOUN
ijassa-1149	300	24	system	system	NOUN
ijassa-1149	300	25	of	of	ADP
ijassa-1149	300	26	m	m	NOUN
ijassa-1149	300	27	-	-	NOUN
ijassa-1149	300	28	robot	robot	NOUN
ijassa-1149	300	29	by	by	ADP
ijassa-1149	300	30	k	k	NOUN
ijassa-1149	300	31	-	-	NOUN
ijassa-1149	300	32	robot	robot	NOUN
ijassa-1149	300	33	to	to	PART
ijassa-1149	300	34	acquire	acquire	VERB
ijassa-1149	300	35	information	information	NOUN
ijassa-1149	300	36	on	on	ADP
ijassa-1149	300	37	its	its	PRON
ijassa-1149	300	38	route	route	NOUN
ijassa-1149	300	39	0k	0k	NOUN
ijassa-1149	300	40	mb	mb	ADP
ijassa-1149	300	41			NOUN
ijassa-1149	300	42			NUM
ijassa-1149	300	43	–	–	PUNCT
ijassa-1149	300	44	–	–	PUNCT
ijassa-1149	300	45	the	the	DET
ijassa-1149	300	46	observation	observation	NOUN
ijassa-1149	300	47	system	system	NOUN
ijassa-1149	300	48	of	of	ADP
ijassa-1149	300	49	m	m	NOUN
ijassa-1149	300	50	-	-	NOUN
ijassa-1149	300	51	robot	robot	NOUN
ijassa-1149	300	52	not	not	PART
ijassa-1149	300	53	activated	activate	VERB
ijassa-1149	300	54	by	by	ADP
ijassa-1149	300	55	k	k	NOUN
ijassa-1149	300	56	-	-	NOUN
ijassa-1149	300	57	robot	robot	NOUN
ijassa-1149	300	58	;	;	PUNCT
ijassa-1149	300	59	0k	0k	NOUN
ijassa-1149	300	60	mb	mb	ADP
ijassa-1149	300	61			PROPN
ijassa-1149	300	62			NUM
ijassa-1149	300	63	–	–	PUNCT
ijassa-1149	300	64	–	–	PUNCT
ijassa-1149	300	65	the	the	DET
ijassa-1149	300	66	observation	observation	NOUN
ijassa-1149	300	67	system	system	NOUN
ijassa-1149	300	68	of	of	ADP
ijassa-1149	300	69	m	m	NOUN
ijassa-1149	300	70	-	-	NOUN
ijassa-1149	300	71	robot	robot	NOUN
ijassa-1149	300	72	activated	activate	VERB
ijassa-1149	300	73	by	by	ADP
ijassa-1149	300	74	k	k	NOUN
ijassa-1149	300	75	-	-	NOUN
ijassa-1149	300	76	robot	robot	NOUN
ijassa-1149	300	77	9kf	9kf	NOUN
ijassa-1149	300	78	the	the	DET
ijassa-1149	300	79	“	"	PUNCT
ijassa-1149	300	80	sacrifice	sacrifice	NOUN
ijassa-1149	300	81	”	"	PUNCT
ijassa-1149	300	82	paradigm	paradigm	NOUN
ijassa-1149	300	83	of	of	ADP
ijassa-1149	300	84	k	k	ADJ
ijassa-1149	300	85	-	-	NOUN
ijassa-1149	300	86	robot	robot	NOUN
ijassa-1149	300	87	1––“altruist	1––“altruist	NOUN
ijassa-1149	300	88	”	"	PUNCT
ijassa-1149	300	89	;	;	PUNCT
ijassa-1149	300	90	0––“egoist	0––“egoist	PROPN
ijassa-1149	300	91	”	"	PUNCT
ijassa-1149	300	92	;	;	PUNCT
ijassa-1149	300	93	k	k	NOUN
ijassa-1149	300	94	–	–	PUNCT
ijassa-1149	300	95	–	–	PUNCT
ijassa-1149	300	96	“	"	PUNCT
ijassa-1149	300	97	pragmatist	pragmatist	NOUN
ijassa-1149	300	98	”	"	PUNCT
ijassa-1149	300	99	with	with	ADP
ijassa-1149	300	100	the	the	DET
ijassa-1149	300	101	willingness	willingness	NOUN
ijassa-1149	300	102	for	for	ADP
ijassa-1149	300	103	sacrifice	sacrifice	NOUN
ijassa-1149	300	104	k	k	NOUN
ijassa-1149	300	105	consider	consider	VERB
ijassa-1149	300	106	two	two	NUM
ijassa-1149	300	107	common	common	ADJ
ijassa-1149	300	108	events	event	NOUN
ijassa-1149	300	109	:	:	PUNCT
ijassa-1149	300	110	the	the	DET
ijassa-1149	300	111	predicted	predict	VERB
ijassa-1149	300	112	path	path	NOUN
ijassa-1149	300	113	of	of	ADP
ijassa-1149	300	114	a	a	DET
ijassa-1149	300	115	k	k	ADJ
ijassa-1149	300	116	-	-	NOUN
ijassa-1149	300	117	robot	robot	NOUN
ijassa-1149	300	118	intersects	intersect	VERB
ijassa-1149	300	119	the	the	DET
ijassa-1149	300	120	responsibility	responsibility	NOUN
ijassa-1149	300	121	zone	zone	NOUN
ijassa-1149	300	122	of	of	ADP
ijassa-1149	300	123	the	the	DET
ijassa-1149	300	124	defense	defense	NOUN
ijassa-1149	300	125	system	system	NOUN
ijassa-1149	300	126	c	c	PROPN
ijassa-1149	300	127	(	(	PUNCT
ijassa-1149	300	128	the	the	DET
ijassa-1149	300	129	event	event	NOUN
ijassa-1149	300	130	1e	1e	NOUN
ijassa-1149	300	131	)	)	PUNCT
ijassa-1149	300	132	,	,	PUNCT
ijassa-1149	300	133	and	and	CCONJ
ijassa-1149	300	134	the	the	DET
ijassa-1149	300	135	operation	operation	NOUN
ijassa-1149	300	136	of	of	ADP
ijassa-1149	300	137	a	a	DET
ijassa-1149	300	138	k	k	NOUN
ijassa-1149	300	139	-	-	NOUN
ijassa-1149	300	140	robot	robot	NOUN
ijassa-1149	300	141	is	be	AUX
ijassa-1149	300	142	violated	violate	VERB
ijassa-1149	300	143	by	by	ADP
ijassa-1149	300	144	the	the	DET
ijassa-1149	300	145	defense	defense	NOUN
ijassa-1149	300	146	system	system	NOUN
ijassa-1149	300	147	c	c	PROPN
ijassa-1149	300	148	with	with	ADP
ijassa-1149	300	149	a	a	DET
ijassa-1149	300	150	threat	threat	NOUN
ijassa-1149	300	151	e	e	NOUN
ijassa-1149	300	152	k	k	NOUN
ijassa-1149	300	153	under	under	ADP
ijassa-1149	300	154	an	an	DET
ijassa-1149	300	155	admissible	admissible	ADJ
ijassa-1149	300	156	threat	threat	NOUN
ijassa-1149	300	157	*	*	PUNCT
ijassa-1149	300	158	e	e	NOUN
ijassa-1149	300	159	k	k	PRON
ijassa-1149	300	160	(	(	PUNCT
ijassa-1149	300	161	the	the	DET
ijassa-1149	300	162	event	event	NOUN
ijassa-1149	300	163	2e	2e	NOUN
ijassa-1149	300	164	)	)	PUNCT
ijassa-1149	300	165	.	.	PUNCT
ijassa-1149	301	1	let	let	VERB
ijassa-1149	301	2	us	we	PRON
ijassa-1149	301	3	formulate	formulate	VERB
ijassa-1149	301	4	the	the	DET
ijassa-1149	301	5	behavioral	behavioral	ADJ
ijassa-1149	301	6	rules	rule	NOUN
ijassa-1149	301	7	of	of	ADP
ijassa-1149	301	8	robots	robot	NOUN
ijassa-1149	301	9	a	a	PRON
ijassa-1149	301	10	and	and	CCONJ
ijassa-1149	301	11	b	b	NOUN
ijassa-1149	301	12	with	with	ADP
ijassa-1149	301	13	functionalities	functionality	NOUN
ijassa-1149	301	14	afunc	afunc	NOUN
ijassa-1149	301	15	and	and	CCONJ
ijassa-1149	301	16	bfunc	bfunc	ADJ
ijassa-1149	301	17	,	,	PUNCT
ijassa-1149	301	18	respectively	respectively	ADV
ijassa-1149	301	19	;	;	PUNCT
ijassa-1149	301	20	see	see	VERB
ijassa-1149	301	21	table	table	NOUN
ijassa-1149	301	22	5.2	5.2	NUM
ijassa-1149	301	23	.	.	PUNCT
ijassa-1149	302	1	table	table	NOUN
ijassa-1149	302	2	5.2	5.2	NUM
ijassa-1149	302	3	strategies	strategy	NOUN
ijassa-1149	302	4	of	of	ADP
ijassa-1149	302	5	robots	robot	NOUN
ijassa-1149	302	6	a	a	PRON
ijassa-1149	302	7	and	and	CCONJ
ijassa-1149	302	8	b	b	NOUN
ijassa-1149	302	9	in	in	ADP
ijassa-1149	302	10	the	the	DET
ijassa-1149	302	11	responsibility	responsibility	NOUN
ijassa-1149	302	12	zone	zone	NOUN
ijassa-1149	302	13	of	of	ADP
ijassa-1149	302	14	defense	defense	NOUN
ijassa-1149	302	15	system	system	NOUN
ijassa-1149	302	16	c	c	NOUN
ijassa-1149	302	17	step	step	NOUN
ijassa-1149	302	18	events	event	NOUN
ijassa-1149	302	19	in	in	ADP
ijassa-1149	302	20	environ	environ	X
ijassa-1149	302	21	ment	ment	X
ijassa-1149	302	22	data	datum	NOUN
ijassa-1149	302	23	in	in	ADP
ijassa-1149	302	24	the	the	DET
ijassa-1149	302	25	situational	situational	ADJ
ijassa-1149	302	26	awareness	awareness	NOUN
ijassa-1149	302	27	model	model	NOUN
ijassa-1149	302	28	local	local	ADJ
ijassa-1149	302	29	rules	rule	NOUN
ijassa-1149	302	30	for	for	ADP
ijassa-1149	302	31	robots	robot	NOUN
ijassa-1149	302	32	a	a	PRON
ijassa-1149	302	33	and	and	CCONJ
ijassa-1149	302	34	b	b	NOUN
ijassa-1149	303	1	r	r	NOUN
ijassa-1149	303	2	o	o	X
ijassa-1149	303	3	b	b	X
ijassa-1149	303	4	o	o	X
ijassa-1149	303	5	t	t	NOUN
ijassa-1149	303	6	func	func	VERB
ijassa-1149	303	7	1	1	NUM
ijassa-1149	303	8	2	2	NUM
ijassa-1149	303	9	3	3	NUM
ijassa-1149	303	10	4	4	NUM
ijassa-1149	303	11	5	5	NUM
ijassa-1149	303	12	6	6	NUM
ijassa-1149	303	13	7	7	NUM
ijassa-1149	303	14	8	8	NUM
ijassa-1149	303	15	9	9	NUM
ijassa-1149	303	16	r	r	NOUN
ijassa-1149	303	17	ol	ol	NOUN
ijassa-1149	303	18	e	e	X
ijassa-1149	303	19	v	v	PROPN
ijassa-1149	304	1	k	k	PROPN
ijassa-1149	304	2	zp	zp	PROPN
ijassa-1149	304	3	z	z	PROPN
ijassa-1149	304	4	kq	kq	PROPN
ijassa-1149	304	5	h	h	PROPN
ijassa-1149	304	6	a	a	DET
ijassa-1149	304	7	bv	bv	PROPN
ijassa-1149	304	8			PROPN
ijassa-1149	304	9	a	a	DET
ijassa-1149	304	10	bh	bh	NOUN
ijassa-1149	304	11			PROPN
ijassa-1149	304	12	a	a	DET
ijassa-1149	304	13	bb	bb	NOUN
ijassa-1149	304	14			NOUN
ijassa-1149	304	15	k	k	VERB
ijassa-1149	304	16	1	1	NUM
ijassa-1149	304	17	1	1	NUM
ijassa-1149	304	18	0e	0e	NOUN
ijassa-1149	304	19			NUM
ijassa-1149	304	20	*	*	PUNCT
ijassa-1149	304	21	e	e	X
ijassa-1149	304	22	e	e	X
ijassa-1149	304	23	a	a	X
ijassa-1149	304	24	a	a	X
ijassa-1149	304	25			PROPN
ijassa-1149	304	26	*	*	PUNCT
ijassa-1149	304	27	e	e	PROPN
ijassa-1149	304	28	e	e	PROPN
ijassa-1149	304	29	b	b	PROPN
ijassa-1149	304	30	b	b	PROPN
ijassa-1149	304	31			PROPN
ijassa-1149	304	32	a	a	DET
ijassa-1149	304	33	afunc	afunc	NOUN
ijassa-1149	304	34	2	2	NUM
ijassa-1149	304	35	av	av	NOUN
ijassa-1149	304	36	0	0	NUM
ijassa-1149	304	37	0	0	NUM
ijassa-1149	304	38	0	0	NUM
ijassa-1149	304	39	0	0	NUM
ijassa-1149	304	40	0	0	NUM
ijassa-1149	304	41	0	0	NUM
ijassa-1149	304	42	0	0	NUM
ijassa-1149	304	43	b	b	NOUN
ijassa-1149	304	44	bfunc	bfunc	ADJ
ijassa-1149	304	45	2	2	NUM
ijassa-1149	304	46	bv	bv	PROPN
ijassa-1149	304	47	0	0	NUM
ijassa-1149	304	48	0	0	NUM
ijassa-1149	304	49	0	0	NUM
ijassa-1149	304	50	0	0	NUM
ijassa-1149	304	51	0	0	NUM
ijassa-1149	304	52	0	0	NUM
ijassa-1149	304	53	1	1	NUM
ijassa-1149	304	54	2	2	NUM
ijassa-1149	304	55	1	1	NUM
ijassa-1149	304	56	1e	1e	NOUN
ijassa-1149	304	57			NUM
ijassa-1149	304	58	*	*	PUNCT
ijassa-1149	304	59	e	e	X
ijassa-1149	304	60	e	e	X
ijassa-1149	304	61	a	a	X
ijassa-1149	304	62	a	a	PROPN
ijassa-1149	304	63			PROPN
ijassa-1149	304	64	a	a	DET
ijassa-1149	304	65	afunc	afunc	NOUN
ijassa-1149	304	66	2	2	NUM
ijassa-1149	304	67	av	av	NOUN
ijassa-1149	304	68	0	0	NUM
ijassa-1149	304	69	0	0	NUM
ijassa-1149	304	70	0	0	NUM
ijassa-1149	304	71	0	0	NUM
ijassa-1149	304	72	0	0	NUM
ijassa-1149	304	73	0	0	NUM
ijassa-1149	304	74	0	0	NUM
ijassa-1149	305	1	the	the	DET
ijassa-1149	305	2	collective	collective	ADJ
ijassa-1149	305	3	behavior	behavior	NOUN
ijassa-1149	305	4	of	of	ADP
ijassa-1149	305	5	robots	robot	NOUN
ijassa-1149	305	6	based	base	VERB
ijassa-1149	305	7	on	on	ADP
ijassa-1149	305	8	the	the	DET
ijassa-1149	305	9	internet	internet	NOUN
ijassa-1149	305	10	-	-	PUNCT
ijassa-1149	305	11	of	of	ADP
ijassa-1149	305	12	-	-	PUNCT
ijassa-1149	305	13	things	thing	NOUN
ijassa-1149	305	14	paradigm	paradigm	NOUN
ijassa-1149	305	15	173	173	NUM
ijassa-1149	305	16	copyright	copyright	NOUN
ijassa-1149	305	17	©	©	PROPN
ijassa-1149	305	18	2022	2022	NUM
ijassa-1149	305	19	assa	assa	NOUN
ijassa-1149	305	20	.	.	PUNCT
ijassa-1149	306	1	adv	adv	PROPN
ijassa-1149	306	2	.	.	PUNCT
ijassa-1149	307	1	in	in	ADP
ijassa-1149	307	2	systems	system	NOUN
ijassa-1149	307	3	science	science	NOUN
ijassa-1149	307	4	and	and	CCONJ
ijassa-1149	307	5	appl	appl	NOUN
ijassa-1149	307	6	.	.	PUNCT
ijassa-1149	308	1	(	(	PUNCT
ijassa-1149	308	2	2022	2022	NUM
ijassa-1149	308	3	)	)	PUNCT
ijassa-1149	308	4	*	*	PUNCT
ijassa-1149	308	5	e	e	X
ijassa-1149	308	6	e	e	X
ijassa-1149	308	7	b	b	PROPN
ijassa-1149	308	8	b	b	PROPN
ijassa-1149	308	9			PROPN
ijassa-1149	308	10	b	b	PROPN
ijassa-1149	308	11	bfunc	bfunc	VERB
ijassa-1149	308	12	2	2	NUM
ijassa-1149	308	13	bv	bv	PROPN
ijassa-1149	308	14	0	0	NUM
ijassa-1149	308	15	0	0	NUM
ijassa-1149	308	16	0	0	NUM
ijassa-1149	308	17	0	0	NUM
ijassa-1149	308	18	0	0	NUM
ijassa-1149	308	19	0	0	NUM
ijassa-1149	308	20	1	1	NUM
ijassa-1149	308	21	3	3	NUM
ijassa-1149	308	22	1	1	NUM
ijassa-1149	308	23	1e	1e	NOUN
ijassa-1149	308	24			NOUN
ijassa-1149	308	25			PROPN
ijassa-1149	308	26	2	2	NUM
ijassa-1149	308	27	1e	1e	NOUN
ijassa-1149	308	28			NOUN
ijassa-1149	308	29	*	*	PUNCT
ijassa-1149	308	30	e	e	X
ijassa-1149	308	31	e	e	X
ijassa-1149	308	32	a	a	X
ijassa-1149	308	33	a	a	X
ijassa-1149	308	34			PROPN
ijassa-1149	308	35	*	*	PUNCT
ijassa-1149	308	36	e	e	X
ijassa-1149	308	37	e	e	PROPN
ijassa-1149	308	38	b	b	PROPN
ijassa-1149	308	39	b	b	PROPN
ijassa-1149	308	40			PROPN
ijassa-1149	308	41	a	a	DET
ijassa-1149	308	42	afunc	afunc	NOUN
ijassa-1149	308	43	2	2	NUM
ijassa-1149	308	44	0	0	NUM
ijassa-1149	308	45	a	a	DET
ijassa-1149	308	46	zp	zp	PROPN
ijassa-1149	308	47	z	z	PROPN
ijassa-1149	308	48	aqp	aqp	VERB
ijassa-1149	308	49	0	0	NUM
ijassa-1149	308	50	0	0	NUM
ijassa-1149	308	51	0	0	NUM
ijassa-1149	308	52	0	0	NUM
ijassa-1149	309	1	0	0	NUM
ijassa-1149	309	2	b	b	NOUN
ijassa-1149	309	3	bfunc	bfunc	ADJ
ijassa-1149	309	4	2	2	NUM
ijassa-1149	309	5	bv	bv	PROPN
ijassa-1149	309	6	0	0	NUM
ijassa-1149	309	7	0	0	NUM
ijassa-1149	309	8	0	0	NUM
ijassa-1149	309	9	0	0	NUM
ijassa-1149	309	10	0	0	NUM
ijassa-1149	309	11	0	0	NUM
ijassa-1149	309	12	1	1	NUM
ijassa-1149	309	13	4	4	NUM
ijassa-1149	309	14	1	1	NUM
ijassa-1149	309	15	1e	1e	NOUN
ijassa-1149	309	16			NOUN
ijassa-1149	309	17			PROPN
ijassa-1149	309	18	2	2	NUM
ijassa-1149	309	19	1e	1e	NOUN
ijassa-1149	309	20			NOUN
ijassa-1149	309	21	*	*	PUNCT
ijassa-1149	309	22	e	e	X
ijassa-1149	309	23	e	e	X
ijassa-1149	309	24	a	a	X
ijassa-1149	309	25	a	a	X
ijassa-1149	309	26			PROPN
ijassa-1149	309	27	*	*	PUNCT
ijassa-1149	309	28	e	e	X
ijassa-1149	309	29	e	e	PROPN
ijassa-1149	309	30	b	b	PROPN
ijassa-1149	309	31	b	b	PROPN
ijassa-1149	309	32			PROPN
ijassa-1149	309	33	a	a	DET
ijassa-1149	309	34	afunc	afunc	NOUN
ijassa-1149	309	35	2	2	NUM
ijassa-1149	309	36	0	0	NUM
ijassa-1149	309	37	1	1	NUM
ijassa-1149	309	38	0	0	NUM
ijassa-1149	309	39	1	1	NUM
ijassa-1149	309	40	0	0	NUM
ijassa-1149	309	41	b	b	NOUN
ijassa-1149	309	42	bfunc	bfunc	VERB
ijassa-1149	309	43	3	3	NUM
ijassa-1149	309	44	0	0	NUM
ijassa-1149	309	45	0	0	NUM
ijassa-1149	309	46	z	z	X
ijassa-1149	309	47	bqp	bqp	PROPN
ijassa-1149	309	48	0	0	PROPN
ijassa-1149	310	1	1bv	1bv	NOUN
ijassa-1149	310	2	1	1	NUM
ijassa-1149	310	3	1	1	NUM
ijassa-1149	310	4	1	1	NUM
ijassa-1149	310	5	5	5	NUM
ijassa-1149	310	6	1	1	NUM
ijassa-1149	310	7	1e	1e	NOUN
ijassa-1149	310	8			NOUN
ijassa-1149	310	9			PROPN
ijassa-1149	310	10	2	2	NUM
ijassa-1149	310	11	0e	0e	NOUN
ijassa-1149	310	12			NUM
ijassa-1149	310	13	*	*	PUNCT
ijassa-1149	310	14	e	e	X
ijassa-1149	310	15	e	e	X
ijassa-1149	310	16	a	a	X
ijassa-1149	310	17	a	a	X
ijassa-1149	310	18			PROPN
ijassa-1149	310	19	*	*	PUNCT
ijassa-1149	310	20	e	e	PROPN
ijassa-1149	310	21	e	e	PROPN
ijassa-1149	310	22	b	b	PROPN
ijassa-1149	310	23	b	b	PROPN
ijassa-1149	310	24			PROPN
ijassa-1149	310	25	a	a	DET
ijassa-1149	310	26	afunc	afunc	NOUN
ijassa-1149	310	27	2	2	NUM
ijassa-1149	310	28	av	av	PROPN
ijassa-1149	310	29	1	1	NUM
ijassa-1149	310	30	b	b	PROPN
ijassa-1149	310	31	a	a	PROPN
ijassa-1149	310	32	0	0	SYM
ijassa-1149	311	1	b	b	X
ijassa-1149	311	2	bfunc	bfunc	VERB
ijassa-1149	311	3	3	3	NUM
ijassa-1149	311	4	0	0	NUM
ijassa-1149	311	5	1	1	NUM
ijassa-1149	311	6	b	b	NUM
ijassa-1149	311	7	a	a	NOUN
ijassa-1149	311	8	1bv	1bv	NOUN
ijassa-1149	311	9	0	0	NUM
ijassa-1149	311	10	1	1	NUM
ijassa-1149	311	11	1	1	NUM
ijassa-1149	311	12	now	now	ADV
ijassa-1149	311	13	,	,	PUNCT
ijassa-1149	311	14	we	we	PRON
ijassa-1149	311	15	analyze	analyze	VERB
ijassa-1149	311	16	the	the	DET
ijassa-1149	311	17	actions	action	NOUN
ijassa-1149	311	18	performed	perform	VERB
ijassa-1149	311	19	by	by	ADP
ijassa-1149	311	20	robots	robot	NOUN
ijassa-1149	311	21	as	as	ADP
ijassa-1149	311	22	things	thing	NOUN
ijassa-1149	311	23	whose	whose	DET
ijassa-1149	311	24	control	control	NOUN
ijassa-1149	311	25	systems	system	NOUN
ijassa-1149	311	26	can	can	AUX
ijassa-1149	311	27	communicate	communicate	VERB
ijassa-1149	311	28	and	and	CCONJ
ijassa-1149	311	29	control	control	VERB
ijassa-1149	311	30	each	each	DET
ijassa-1149	311	31	other	other	ADJ
ijassa-1149	311	32	.	.	PUNCT
ijassa-1149	312	1	at	at	ADP
ijassa-1149	312	2	step	step	NOUN
ijassa-1149	312	3	1	1	NUM
ijassa-1149	312	4	of	of	ADP
ijassa-1149	312	5	the	the	DET
ijassa-1149	312	6	process	process	NOUN
ijassa-1149	312	7	,	,	PUNCT
ijassa-1149	312	8	robots	robot	NOUN
ijassa-1149	312	9	a	a	PRON
ijassa-1149	312	10	and	and	CCONJ
ijassa-1149	312	11	b	b	NOUN
ijassa-1149	312	12	are	be	AUX
ijassa-1149	312	13	outside	outside	ADP
ijassa-1149	312	14	the	the	DET
ijassa-1149	312	15	potential	potential	ADJ
ijassa-1149	312	16	threat	threat	NOUN
ijassa-1149	312	17	zone	zone	NOUN
ijassa-1149	312	18	.	.	PUNCT
ijassa-1149	313	1	both	both	DET
ijassa-1149	313	2	robots	robot	NOUN
ijassa-1149	313	3	move	move	VERB
ijassa-1149	313	4	to	to	ADP
ijassa-1149	313	5	the	the	DET
ijassa-1149	313	6	given	give	VERB
ijassa-1149	313	7	targets	target	NOUN
ijassa-1149	313	8	.	.	PUNCT
ijassa-1149	314	1	at	at	ADP
ijassa-1149	314	2	step	step	NOUN
ijassa-1149	314	3	2	2	NUM
ijassa-1149	314	4	,	,	PUNCT
ijassa-1149	314	5	the	the	DET
ijassa-1149	314	6	following	follow	VERB
ijassa-1149	314	7	event	event	NOUN
ijassa-1149	314	8	occurs	occur	VERB
ijassa-1149	314	9	:	:	PUNCT
ijassa-1149	314	10	the	the	DET
ijassa-1149	314	11	predicted	predict	VERB
ijassa-1149	314	12	path	path	NOUN
ijassa-1149	314	13	of	of	ADP
ijassa-1149	314	14	robot	robot	NOUN
ijassa-1149	314	15	a	a	DET
ijassa-1149	314	16	intersects	intersect	NOUN
ijassa-1149	314	17	the	the	DET
ijassa-1149	314	18	responsibility	responsibility	NOUN
ijassa-1149	314	19	zone	zone	NOUN
ijassa-1149	314	20	of	of	ADP
ijassa-1149	314	21	the	the	DET
ijassa-1149	314	22	defensive	defensive	ADJ
ijassa-1149	314	23	means	mean	NOUN
ijassa-1149	314	24	.zc	.zc	PUNCT
ijassa-1149	315	1	however	however	ADV
ijassa-1149	315	2	,	,	PUNCT
ijassa-1149	315	3	the	the	DET
ijassa-1149	315	4	probability	probability	NOUN
ijassa-1149	315	5	of	of	ADP
ijassa-1149	315	6	annihilation	annihilation	NOUN
ijassa-1149	315	7	does	do	AUX
ijassa-1149	315	8	not	not	PART
ijassa-1149	315	9	exceed	exceed	VERB
ijassa-1149	315	10	the	the	DET
ijassa-1149	315	11	given	give	VERB
ijassa-1149	315	12	thresholds	threshold	NOUN
ijassa-1149	315	13	for	for	ADP
ijassa-1149	315	14	robots	robot	NOUN
ijassa-1149	315	15	a	a	PRON
ijassa-1149	315	16	and	and	CCONJ
ijassa-1149	315	17	b.	b.	PROPN
ijassa-1149	315	18	there	there	PRON
ijassa-1149	315	19	is	be	VERB
ijassa-1149	315	20	no	no	DET
ijassa-1149	315	21	impact	impact	NOUN
ijassa-1149	315	22	from	from	ADP
ijassa-1149	315	23	zc	zc	NOUN
ijassa-1149	315	24	on	on	ADP
ijassa-1149	315	25	robots	robot	NOUN
ijassa-1149	315	26	a	a	PRON
ijassa-1149	315	27	and	and	CCONJ
ijassa-1149	315	28	b.	b.	X
ijassa-1149	315	29	the	the	DET
ijassa-1149	315	30	current	current	ADJ
ijassa-1149	315	31	situation	situation	NOUN
ijassa-1149	315	32	on	on	ADP
ijassa-1149	315	33	the	the	DET
ijassa-1149	315	34	predicted	predict	VERB
ijassa-1149	315	35	paths	path	NOUN
ijassa-1149	315	36	of	of	ADP
ijassa-1149	315	37	the	the	DET
ijassa-1149	315	38	robots	robot	NOUN
ijassa-1149	315	39	is	be	AUX
ijassa-1149	315	40	not	not	PART
ijassa-1149	315	41	dangerous	dangerous	ADJ
ijassa-1149	315	42	.	.	PUNCT
ijassa-1149	316	1	robots	robot	NOUN
ijassa-1149	316	2	a	a	PRON
ijassa-1149	316	3	and	and	CCONJ
ijassa-1149	316	4	b	b	NOUN
ijassa-1149	316	5	continue	continue	VERB
ijassa-1149	316	6	their	their	PRON
ijassa-1149	316	7	motion	motion	NOUN
ijassa-1149	316	8	to	to	ADP
ijassa-1149	316	9	the	the	DET
ijassa-1149	316	10	targets	target	NOUN
ijassa-1149	316	11	.	.	PUNCT
ijassa-1149	317	1	at	at	ADP
ijassa-1149	317	2	step	step	NOUN
ijassa-1149	317	3	3	3	NUM
ijassa-1149	317	4	,	,	PUNCT
ijassa-1149	317	5	a	a	DET
ijassa-1149	317	6	new	new	ADJ
ijassa-1149	317	7	event	event	NOUN
ijassa-1149	317	8	occurs	occur	VERB
ijassa-1149	317	9	in	in	ADP
ijassa-1149	317	10	the	the	DET
ijassa-1149	317	11	environment	environment	NOUN
ijassa-1149	317	12	:	:	PUNCT
ijassa-1149	317	13	the	the	DET
ijassa-1149	317	14	defensive	defensive	ADJ
ijassa-1149	317	15	means	mean	VERB
ijassa-1149	317	16	zc	zc	X
ijassa-1149	317	17	apply	apply	VERB
ijassa-1149	317	18	impact	impact	NOUN
ijassa-1149	317	19	on	on	ADP
ijassa-1149	317	20	robot	robot	NOUN
ijassa-1149	317	21	a	a	PRON
ijassa-1149	317	22	with	with	ADP
ijassa-1149	317	23	the	the	DET
ijassa-1149	317	24	probability	probability	NOUN
ijassa-1149	317	25	a	a	DET
ijassa-1149	317	26	zp	zp	NOUN
ijassa-1149	317	27	.	.	PUNCT
ijassa-1149	318	1	the	the	DET
ijassa-1149	318	2	current	current	ADJ
ijassa-1149	318	3	situation	situation	NOUN
ijassa-1149	318	4	on	on	ADP
ijassa-1149	318	5	the	the	DET
ijassa-1149	318	6	predicted	predict	VERB
ijassa-1149	318	7	path	path	NOUN
ijassa-1149	318	8	of	of	ADP
ijassa-1149	318	9	robot	robot	NOUN
ijassa-1149	318	10	a	a	PRON
ijassa-1149	318	11	becomes	become	VERB
ijassa-1149	318	12	dangerous	dangerous	ADJ
ijassa-1149	318	13	.	.	PUNCT
ijassa-1149	319	1	learned	learn	VERB
ijassa-1149	319	2	in	in	ADP
ijassa-1149	319	3	the	the	DET
ijassa-1149	319	4	egoistic	egoistic	ADJ
ijassa-1149	319	5	paradigm	paradigm	NOUN
ijassa-1149	319	6	,	,	PUNCT
ijassa-1149	319	7	robot	robot	NOUN
ijassa-1149	319	8	a	a	DET
ijassa-1149	319	9	stops	stop	NOUN
ijassa-1149	319	10	applying	apply	VERB
ijassa-1149	319	11	z	z	NOUN
ijassa-1149	319	12	aq	aq	NOUN
ijassa-1149	319	13	impacts	impact	NOUN
ijassa-1149	319	14	on	on	ADP
ijassa-1149	319	15	the	the	DET
ijassa-1149	319	16	defensive	defensive	ADJ
ijassa-1149	319	17	means	mean	VERB
ijassa-1149	319	18	zc	zc	NOUN
ijassa-1149	319	19	with	with	ADP
ijassa-1149	319	20	the	the	DET
ijassa-1149	319	21	total	total	ADJ
ijassa-1149	319	22	success	success	NOUN
ijassa-1149	319	23	probability	probability	NOUN
ijassa-1149	319	24	z	z	NOUN
ijassa-1149	319	25	aqp	aqp	NOUN
ijassa-1149	319	26	.	.	PUNCT
ijassa-1149	320	1	in	in	ADP
ijassa-1149	320	2	turn	turn	NOUN
ijassa-1149	320	3	,	,	PUNCT
ijassa-1149	320	4	robot	robot	NOUN
ijassa-1149	320	5	b	b	PROPN
ijassa-1149	320	6	executes	execute	VERB
ijassa-1149	320	7	the	the	DET
ijassa-1149	320	8	same	same	ADJ
ijassa-1149	320	9	role	role	NOUN
ijassa-1149	320	10	and	and	CCONJ
ijassa-1149	320	11	continues	continue	VERB
ijassa-1149	320	12	to	to	PART
ijassa-1149	320	13	perform	perform	VERB
ijassa-1149	320	14	its	its	PRON
ijassa-1149	320	15	individual	individual	ADJ
ijassa-1149	320	16	tasks	task	NOUN
ijassa-1149	320	17	since	since	SCONJ
ijassa-1149	320	18	robot	robot	NOUN
ijassa-1149	320	19	a	a	DET
ijassa-1149	320	20	requests	request	NOUN
ijassa-1149	320	21	no	no	DET
ijassa-1149	320	22	assistance	assistance	NOUN
ijassa-1149	320	23	.	.	PUNCT
ijassa-1149	321	1	at	at	ADP
ijassa-1149	321	2	step	step	NOUN
ijassa-1149	321	3	4	4	NUM
ijassa-1149	321	4	,	,	PUNCT
ijassa-1149	321	5	the	the	DET
ijassa-1149	321	6	defensive	defensive	ADJ
ijassa-1149	321	7	means	mean	VERB
ijassa-1149	321	8	zc	zc	X
ijassa-1149	321	9	apply	apply	VERB
ijassa-1149	321	10	impact	impact	NOUN
ijassa-1149	321	11	on	on	ADP
ijassa-1149	321	12	robot	robot	NOUN
ijassa-1149	321	13	a	a	PRON
ijassa-1149	321	14	without	without	ADP
ijassa-1149	321	15	complete	complete	ADJ
ijassa-1149	321	16	success	success	NOUN
ijassa-1149	321	17	:	:	PUNCT
ijassa-1149	321	18	the	the	DET
ijassa-1149	321	19	latter	latter	ADJ
ijassa-1149	321	20	’s	’s	PART
ijassa-1149	321	21	functionality	functionality	NOUN
ijassa-1149	321	22	is	be	AUX
ijassa-1149	321	23	partially	partially	ADV
ijassa-1149	321	24	reduced	reduce	VERB
ijassa-1149	321	25	(	(	PUNCT
ijassa-1149	321	26	e.g.	e.g.	ADV
ijassa-1149	321	27	,	,	PUNCT
ijassa-1149	321	28	the	the	DET
ijassa-1149	321	29	observation	observation	NOUN
ijassa-1149	321	30	system	system	NOUN
ijassa-1149	321	31	is	be	AUX
ijassa-1149	321	32	damaged	damage	VERB
ijassa-1149	321	33	)	)	PUNCT
ijassa-1149	321	34	.	.	PUNCT
ijassa-1149	322	1	robot	robot	NOUN
ijassa-1149	322	2	a	a	DET
ijassa-1149	322	3	requests	request	NOUN
ijassa-1149	322	4	assistance	assistance	NOUN
ijassa-1149	322	5	from	from	ADP
ijassa-1149	322	6	robot	robot	PROPN
ijassa-1149	322	7	b.	b.	PROPN
ijassa-1149	322	8	learned	learn	VERB
ijassa-1149	322	9	in	in	ADP
ijassa-1149	322	10	the	the	DET
ijassa-1149	322	11	sacrifice	sacrifice	NOUN
ijassa-1149	322	12	paradigm	paradigm	NOUN
ijassa-1149	322	13	,	,	PUNCT
ijassa-1149	322	14	robot	robot	NOUN
ijassa-1149	322	15	b	b	PROPN
ijassa-1149	322	16	assesses	assess	VERB
ijassa-1149	322	17	its	its	PRON
ijassa-1149	322	18	functionality	functionality	NOUN
ijassa-1149	322	19	and	and	CCONJ
ijassa-1149	322	20	available	available	ADJ
ijassa-1149	322	21	resources	resource	NOUN
ijassa-1149	322	22	and	and	CCONJ
ijassa-1149	322	23	suspends	suspend	VERB
ijassa-1149	322	24	its	its	PRON
ijassa-1149	322	25	individual	individual	ADJ
ijassa-1149	322	26	tasks	task	NOUN
ijassa-1149	322	27	for	for	ADP
ijassa-1149	322	28	executing	execute	VERB
ijassa-1149	322	29	the	the	DET
ijassa-1149	322	30	supporter	supporter	ADJ
ijassa-1149	322	31	role	role	NOUN
ijassa-1149	322	32	:	:	PUNCT
ijassa-1149	322	33	robot	robot	NOUN
ijassa-1149	322	34	b	b	PROPN
ijassa-1149	322	35	authorizes	authorize	VERB
ijassa-1149	322	36	using	use	VERB
ijassa-1149	322	37	its	its	PRON
ijassa-1149	322	38	observation	observation	NOUN
ijassa-1149	322	39	and	and	CCONJ
ijassa-1149	322	40	motion	motion	NOUN
ijassa-1149	322	41	systems	system	NOUN
ijassa-1149	322	42	to	to	ADP
ijassa-1149	322	43	robot	robot	NOUN
ijassa-1149	322	44	a.	a.	NOUN
ijassa-1149	322	45	responding	respond	VERB
ijassa-1149	322	46	to	to	ADP
ijassa-1149	322	47	the	the	DET
ijassa-1149	322	48	control	control	NOUN
ijassa-1149	322	49	system	system	NOUN
ijassa-1149	322	50	of	of	ADP
ijassa-1149	322	51	robot	robot	NOUN
ijassa-1149	322	52	a	a	PRON
ijassa-1149	322	53	,	,	PUNCT
ijassa-1149	322	54	robot	robot	NOUN
ijassa-1149	322	55	b	b	PROPN
ijassa-1149	322	56	changes	change	VERB
ijassa-1149	322	57	its	its	PRON
ijassa-1149	322	58	velocity	velocity	NOUN
ijassa-1149	322	59	1bv	1bv	NOUN
ijassa-1149	322	60	and	and	CCONJ
ijassa-1149	322	61	direction	direction	NOUN
ijassa-1149	322	62	.	.	PUNCT
ijassa-1149	323	1	the	the	DET
ijassa-1149	323	2	combat	combat	NOUN
ijassa-1149	323	3	system	system	NOUN
ijassa-1149	323	4	of	of	ADP
ijassa-1149	323	5	robot	robot	PROPN
ijassa-1149	323	6	b	b	PROPN
ijassa-1149	323	7	applies	apply	VERB
ijassa-1149	323	8	impact	impact	NOUN
ijassa-1149	323	9	on	on	ADP
ijassa-1149	323	10	the	the	DET
ijassa-1149	323	11	defensive	defensive	ADJ
ijassa-1149	323	12	means	mean	VERB
ijassa-1149	323	13	zc	zc	NOUN
ijassa-1149	323	14	with	with	ADP
ijassa-1149	323	15	the	the	DET
ijassa-1149	323	16	probability	probability	NOUN
ijassa-1149	323	17	of	of	ADP
ijassa-1149	323	18	annihilation	annihilation	NOUN
ijassa-1149	323	19	z	z	PROPN
ijassa-1149	323	20	bqp	bqp	PROPN
ijassa-1149	323	21	.	.	PUNCT
ijassa-1149	324	1	at	at	ADP
ijassa-1149	324	2	step	step	NOUN
ijassa-1149	324	3	5	5	NUM
ijassa-1149	324	4	,	,	PUNCT
ijassa-1149	324	5	due	due	ADP
ijassa-1149	324	6	to	to	ADP
ijassa-1149	324	7	z	z	PROPN
ijassa-1149	324	8	b	b	PROPN
ijassa-1149	324	9	bq	bq	INTJ
ijassa-1149	324	10	zp	zp	PROPN
ijassa-1149	324	11	p	p	PROPN
ijassa-1149	324	12	,	,	PUNCT
ijassa-1149	324	13	both	both	DET
ijassa-1149	324	14	robots	robot	NOUN
ijassa-1149	324	15	win	win	VERB
ijassa-1149	324	16	the	the	DET
ijassa-1149	324	17	duel	duel	NOUN
ijassa-1149	324	18	,	,	PUNCT
ijassa-1149	324	19	and	and	CCONJ
ijassa-1149	324	20	robot	robot	NOUN
ijassa-1149	324	21	a	a	PRON
ijassa-1149	324	22	continues	continue	VERB
ijassa-1149	324	23	its	its	PRON
ijassa-1149	324	24	motion	motion	NOUN
ijassa-1149	324	25	to	to	ADP
ijassa-1149	324	26	the	the	DET
ijassa-1149	324	27	target	target	NOUN
ijassa-1149	324	28	without	without	ADP
ijassa-1149	324	29	threat	threat	NOUN
ijassa-1149	324	30	(	(	PUNCT
ijassa-1149	324	31	using	use	VERB
ijassa-1149	324	32	the	the	DET
ijassa-1149	324	33	observation	observation	NOUN
ijassa-1149	324	34	system	system	NOUN
ijassa-1149	324	35	of	of	ADP
ijassa-1149	324	36	robot	robot	PROPN
ijassa-1149	324	37	b	b	PROPN
ijassa-1149	324	38	for	for	ADP
ijassa-1149	324	39	situational	situational	ADJ
ijassa-1149	324	40	awareness	awareness	NOUN
ijassa-1149	324	41	)	)	PUNCT
ijassa-1149	324	42	.	.	PUNCT
ijassa-1149	325	1	robot	robot	PROPN
ijassa-1149	325	2	b	b	PROPN
ijassa-1149	325	3	assesses	assess	VERB
ijassa-1149	325	4	the	the	DET
ijassa-1149	325	5	residual	residual	ADJ
ijassa-1149	325	6	resources	resource	NOUN
ijassa-1149	325	7	to	to	PART
ijassa-1149	325	8	optimize	optimize	VERB
ijassa-1149	325	9	its	its	PRON
ijassa-1149	325	10	route	route	NOUN
ijassa-1149	325	11	to	to	ADP
ijassa-1149	325	12	the	the	DET
ijassa-1149	325	13	targets	target	NOUN
ijassa-1149	325	14	.	.	PUNCT
ijassa-1149	326	1	5	5	X
ijassa-1149	326	2	.	.	X
ijassa-1149	326	3	conclusion	conclusion	NOUN
ijassa-1149	326	4	therefore	therefore	ADV
ijassa-1149	326	5	,	,	PUNCT
ijassa-1149	326	6	applying	apply	VERB
ijassa-1149	326	7	the	the	DET
ijassa-1149	326	8	internet	internet	NOUN
ijassa-1149	326	9	-	-	PUNCT
ijassa-1149	326	10	of	of	ADP
ijassa-1149	326	11	-	-	PUNCT
ijassa-1149	326	12	things	thing	NOUN
ijassa-1149	326	13	paradigm	paradigm	NOUN
ijassa-1149	326	14	is	be	AUX
ijassa-1149	326	15	a	a	DET
ijassa-1149	326	16	fundamentally	fundamentally	ADV
ijassa-1149	326	17	new	new	ADJ
ijassa-1149	326	18	solution	solution	NOUN
ijassa-1149	326	19	to	to	PART
ijassa-1149	326	20	design	design	VERB
ijassa-1149	326	21	collective	collective	ADJ
ijassa-1149	326	22	behavioral	behavioral	ADJ
ijassa-1149	326	23	strategies	strategy	NOUN
ijassa-1149	326	24	of	of	ADP
ijassa-1149	326	25	robots	robot	NOUN
ijassa-1149	326	26	performing	perform	VERB
ijassa-1149	326	27	collective	collective	ADJ
ijassa-1149	326	28	missions	mission	NOUN
ijassa-1149	326	29	in	in	ADP
ijassa-1149	326	30	antagonistic	antagonistic	ADJ
ijassa-1149	326	31	environments	environment	NOUN
ijassa-1149	326	32	.	.	PUNCT
ijassa-1149	327	1	implementing	implement	VERB
ijassa-1149	327	2	a	a	DET
ijassa-1149	327	3	group	group	NOUN
ijassa-1149	327	4	control	control	NOUN
ijassa-1149	327	5	strategy	strategy	NOUN
ijassa-1149	327	6	based	base	VERB
ijassa-1149	327	7	on	on	ADP
ijassa-1149	327	8	the	the	DET
ijassa-1149	327	9	principles	principle	NOUN
ijassa-1149	327	10	of	of	ADP
ijassa-1149	327	11	collectivism	collectivism	NOUN
ijassa-1149	327	12	,	,	PUNCT
ijassa-1149	327	13	we	we	PRON
ijassa-1149	327	14	create	create	VERB
ijassa-1149	327	15	and	and	CCONJ
ijassa-1149	327	16	refine	refine	VERB
ijassa-1149	327	17	a	a	DET
ijassa-1149	327	18	networked	networked	ADJ
ijassa-1149	327	19	service	service	NOUN
ijassa-1149	327	20	-	-	PUNCT
ijassa-1149	327	21	oriented	orient	VERB
ijassa-1149	327	22	infrastructure	infrastructure	NOUN
ijassa-1149	327	23	.	.	PUNCT
ijassa-1149	328	1	in	in	ADP
ijassa-1149	328	2	a	a	DET
ijassa-1149	328	3	group	group	NOUN
ijassa-1149	328	4	of	of	ADP
ijassa-1149	328	5	autonomous	autonomous	ADJ
ijassa-1149	328	6	mobile	mobile	ADJ
ijassa-1149	328	7	robots	robot	NOUN
ijassa-1149	328	8	,	,	PUNCT
ijassa-1149	328	9	various	various	ADJ
ijassa-1149	328	10	relations	relation	NOUN
ijassa-1149	328	11	arise	arise	VERB
ijassa-1149	328	12	and	and	CCONJ
ijassa-1149	328	13	disappear	disappear	VERB
ijassa-1149	328	14	among	among	ADP
ijassa-1149	328	15	the	the	DET
ijassa-1149	328	16	observation	observation	NOUN
ijassa-1149	328	17	and	and	CCONJ
ijassa-1149	328	18	actuation	actuation	NOUN
ijassa-1149	328	19	systems	system	NOUN
ijassa-1149	328	20	of	of	ADP
ijassa-1149	328	21	robots	robot	NOUN
ijassa-1149	328	22	,	,	PUNCT
ijassa-1149	328	23	depending	depend	VERB
ijassa-1149	328	24	on	on	ADP
ijassa-1149	328	25	the	the	DET
ijassa-1149	328	26	events	event	NOUN
ijassa-1149	328	27	and	and	CCONJ
ijassa-1149	328	28	situations	situation	NOUN
ijassa-1149	328	29	in	in	ADP
ijassa-1149	328	30	the	the	DET
ijassa-1149	328	31	environment	environment	NOUN
ijassa-1149	328	32	.	.	PUNCT
ijassa-1149	329	1	the	the	DET
ijassa-1149	329	2	generation	generation	NOUN
ijassa-1149	329	3	processes	process	NOUN
ijassa-1149	329	4	of	of	ADP
ijassa-1149	329	5	new	new	ADJ
ijassa-1149	329	6	relations	relation	NOUN
ijassa-1149	329	7	are	be	AUX
ijassa-1149	329	8	spontaneous	spontaneous	ADJ
ijassa-1149	329	9	,	,	PUNCT
ijassa-1149	329	10	a	a	DET
ijassa-1149	329	11	priori	priori	ADJ
ijassa-1149	329	12	unknown	unknown	NOUN
ijassa-1149	329	13	,	,	PUNCT
ijassa-1149	329	14	and	and	CCONJ
ijassa-1149	329	15	are	be	AUX
ijassa-1149	329	16	dictated	dictate	VERB
ijassa-1149	329	17	by	by	ADP
ijassa-1149	329	18	the	the	DET
ijassa-1149	329	19	current	current	ADJ
ijassa-1149	329	20	situation	situation	NOUN
ijassa-1149	329	21	and	and	CCONJ
ijassa-1149	329	22	events	event	NOUN
ijassa-1149	329	23	occurring	occur	VERB
ijassa-1149	329	24	in	in	ADP
ijassa-1149	329	25	the	the	DET
ijassa-1149	329	26	environment	environment	NOUN
ijassa-1149	329	27	.	.	PUNCT
ijassa-1149	330	1	the	the	DET
ijassa-1149	330	2	control	control	PROPN
ijassa-1149	330	3	systems	system	NOUN
ijassa-1149	330	4	of	of	ADP
ijassa-1149	330	5	upper	upper	ADJ
ijassa-1149	330	6	-	-	PUNCT
ijassa-1149	330	7	level	level	NOUN
ijassa-1149	330	8	robots	robot	NOUN
ijassa-1149	330	9	in	in	ADP
ijassa-1149	330	10	the	the	DET
ijassa-1149	330	11	role	role	NOUN
ijassa-1149	330	12	hierarchy	hierarchy	NOUN
ijassa-1149	330	13	activate	activate	VERB
ijassa-1149	330	14	the	the	DET
ijassa-1149	330	15	control	control	NOUN
ijassa-1149	330	16	systems	system	NOUN
ijassa-1149	330	17	of	of	ADP
ijassa-1149	330	18	the	the	DET
ijassa-1149	330	19	lower	low	ADJ
ijassa-1149	330	20	-	-	PUNCT
ijassa-1149	330	21	level	level	NOUN
ijassa-1149	330	22	ones	one	NOUN
ijassa-1149	330	23	,	,	PUNCT
ijassa-1149	330	24	reallocating	reallocate	VERB
ijassa-1149	330	25	their	their	PRON
ijassa-1149	330	26	roles	role	NOUN
ijassa-1149	330	27	.	.	PUNCT
ijassa-1149	331	1	if	if	SCONJ
ijassa-1149	331	2	174	174	NUM
ijassa-1149	331	3	v.	v.	CCONJ
ijassa-1149	331	4	abrosimov	abrosimov	NOUN
ijassa-1149	331	5	,	,	PUNCT
ijassa-1149	331	6	a.	a.	NOUN
ijassa-1149	331	7	mazurov	mazurov	PROPN
ijassa-1149	331	8	copyright	copyright	PROPN
ijassa-1149	331	9	©	©	PROPN
ijassa-1149	331	10	2022	2022	NUM
ijassa-1149	331	11	assa	assa	PROPN
ijassa-1149	331	12	adv	adv	PROPN
ijassa-1149	331	13	.	.	PUNCT
ijassa-1149	332	1	in	in	ADP
ijassa-1149	332	2	systems	system	NOUN
ijassa-1149	332	3	science	science	NOUN
ijassa-1149	332	4	and	and	CCONJ
ijassa-1149	332	5	appl	appl	NOUN
ijassa-1149	332	6	.	.	PUNCT
ijassa-1149	333	1	(	(	PUNCT
ijassa-1149	333	2	2022	2022	NUM
ijassa-1149	333	3	)	)	PUNCT
ijassa-1149	333	4	the	the	DET
ijassa-1149	333	5	robots	robot	NOUN
ijassa-1149	333	6	have	have	VERB
ijassa-1149	333	7	no	no	DET
ijassa-1149	333	8	hierarchy	hierarchy	NOUN
ijassa-1149	333	9	,	,	PUNCT
ijassa-1149	333	10	control	control	NOUN
ijassa-1149	333	11	issues	issue	NOUN
ijassa-1149	333	12	are	be	AUX
ijassa-1149	333	13	settled	settle	VERB
ijassa-1149	333	14	during	during	ADP
ijassa-1149	333	15	negotiations	negotiation	NOUN
ijassa-1149	333	16	using	use	VERB
ijassa-1149	333	17	the	the	DET
ijassa-1149	333	18	principle	principle	NOUN
ijassa-1149	333	19	of	of	ADP
ijassa-1149	333	20	collectivism	collectivism	NOUN
ijassa-1149	333	21	.	.	PUNCT
ijassa-1149	334	1	thus	thus	ADV
ijassa-1149	334	2	,	,	PUNCT
ijassa-1149	334	3	the	the	DET
ijassa-1149	334	4	iot	iot	PROPN
ijassa-1149	334	5	paradigm	paradigm	NOUN
ijassa-1149	334	6	-	-	PUNCT
ijassa-1149	334	7	based	base	VERB
ijassa-1149	334	8	solution	solution	NOUN
ijassa-1149	334	9	leads	lead	VERB
ijassa-1149	334	10	to	to	ADP
ijassa-1149	334	11	self	self	NOUN
ijassa-1149	334	12	-	-	PUNCT
ijassa-1149	334	13	organization	organization	NOUN
ijassa-1149	334	14	.	.	PUNCT
ijassa-1149	335	1	this	this	DET
ijassa-1149	335	2	aspect	aspect	NOUN
ijassa-1149	335	3	is	be	AUX
ijassa-1149	335	4	particularly	particularly	ADV
ijassa-1149	335	5	important	important	ADJ
ijassa-1149	335	6	due	due	ADP
ijassa-1149	335	7	to	to	ADP
ijassa-1149	335	8	the	the	DET
ijassa-1149	335	9	current	current	ADJ
ijassa-1149	335	10	engineering	engineering	NOUN
ijassa-1149	335	11	trend	trend	NOUN
ijassa-1149	335	12	of	of	ADP
ijassa-1149	335	13	constructing	construct	VERB
ijassa-1149	335	14	multifunctional	multifunctional	ADJ
ijassa-1149	335	15	robotic	robotic	ADJ
ijassa-1149	335	16	complexes	complex	NOUN
ijassa-1149	335	17	using	use	VERB
ijassa-1149	335	18	a	a	DET
ijassa-1149	335	19	group	group	NOUN
ijassa-1149	335	20	of	of	ADP
ijassa-1149	335	21	simple	simple	ADJ
ijassa-1149	335	22	robots	robot	NOUN
ijassa-1149	335	23	with	with	ADP
ijassa-1149	335	24	a	a	DET
ijassa-1149	335	25	small	small	ADJ
ijassa-1149	335	26	set	set	NOUN
ijassa-1149	335	27	of	of	ADP
ijassa-1149	335	28	functions	function	NOUN
ijassa-1149	335	29	(	(	PUNCT
ijassa-1149	335	30	instead	instead	ADV
ijassa-1149	335	31	of	of	ADP
ijassa-1149	335	32	single	single	ADJ
ijassa-1149	335	33	complex	complex	ADJ
ijassa-1149	335	34	platforms	platform	NOUN
ijassa-1149	335	35	)	)	PUNCT
ijassa-1149	335	36	.	.	PUNCT
ijassa-1149	336	1	another	another	DET
ijassa-1149	336	2	determinant	determinant	ADJ
ijassa-1149	336	3	factor	factor	NOUN
ijassa-1149	336	4	to	to	PART
ijassa-1149	336	5	use	use	VERB
ijassa-1149	336	6	the	the	DET
ijassa-1149	336	7	iot	iot	NOUN
ijassa-1149	336	8	paradigm	paradigm	NOUN
ijassa-1149	336	9	is	be	AUX
ijassa-1149	336	10	the	the	DET
ijassa-1149	336	11	activation	activation	NOUN
ijassa-1149	336	12	of	of	ADP
ijassa-1149	336	13	control	control	NOUN
ijassa-1149	336	14	systems	system	NOUN
ijassa-1149	336	15	of	of	ADP
ijassa-1149	336	16	robots	robot	NOUN
ijassa-1149	336	17	by	by	ADP
ijassa-1149	336	18	other	other	ADJ
ijassa-1149	336	19	robots	robot	NOUN
ijassa-1149	336	20	according	accord	VERB
ijassa-1149	336	21	to	to	ADP
ijassa-1149	336	22	the	the	DET
ijassa-1149	336	23	roles	role	NOUN
ijassa-1149	336	24	and	and	CCONJ
ijassa-1149	336	25	structural	structural	ADJ
ijassa-1149	336	26	hierarchy	hierarchy	NOUN
ijassa-1149	336	27	of	of	ADP
ijassa-1149	336	28	the	the	DET
ijassa-1149	336	29	group	group	NOUN
ijassa-1149	336	30	.	.	PUNCT
ijassa-1149	337	1	many	many	ADJ
ijassa-1149	337	2	issues	issue	NOUN
ijassa-1149	337	3	are	be	AUX
ijassa-1149	337	4	beyond	beyond	ADP
ijassa-1149	337	5	the	the	DET
ijassa-1149	337	6	scope	scope	NOUN
ijassa-1149	337	7	of	of	ADP
ijassa-1149	337	8	this	this	DET
ijassa-1149	337	9	paper	paper	NOUN
ijassa-1149	337	10	.	.	PUNCT
ijassa-1149	338	1	what	what	PRON
ijassa-1149	338	2	are	be	AUX
ijassa-1149	338	3	the	the	DET
ijassa-1149	338	4	consequences	consequence	NOUN
ijassa-1149	338	5	of	of	ADP
ijassa-1149	338	6	communication	communication	NOUN
ijassa-1149	338	7	failures	failure	NOUN
ijassa-1149	338	8	?	?	PUNCT
ijassa-1149	339	1	how	how	SCONJ
ijassa-1149	339	2	will	will	AUX
ijassa-1149	339	3	a	a	DET
ijassa-1149	339	4	robot	robot	NOUN
ijassa-1149	339	5	“	"	PUNCT
ijassa-1149	339	6	agree	agree	VERB
ijassa-1149	339	7	”	"	PUNCT
ijassa-1149	339	8	to	to	PART
ijassa-1149	339	9	execute	execute	VERB
ijassa-1149	339	10	an	an	DET
ijassa-1149	339	11	auxiliary	auxiliary	ADJ
ijassa-1149	339	12	role	role	NOUN
ijassa-1149	339	13	in	in	ADP
ijassa-1149	339	14	addition	addition	NOUN
ijassa-1149	339	15	to	to	ADP
ijassa-1149	339	16	its	its	PRON
ijassa-1149	339	17	individual	individual	ADJ
ijassa-1149	339	18	tasks	task	NOUN
ijassa-1149	339	19	?	?	PUNCT
ijassa-1149	340	1	what	what	PRON
ijassa-1149	340	2	is	be	AUX
ijassa-1149	340	3	the	the	DET
ijassa-1149	340	4	efficiency	efficiency	NOUN
ijassa-1149	340	5	of	of	ADP
ijassa-1149	340	6	the	the	DET
ijassa-1149	340	7	suggested	suggest	VERB
ijassa-1149	340	8	approach	approach	NOUN
ijassa-1149	340	9	under	under	ADP
ijassa-1149	340	10	different	different	ADJ
ijassa-1149	340	11	scales	scale	NOUN
ijassa-1149	340	12	and	and	CCONJ
ijassa-1149	340	13	counteraction	counteraction	NOUN
ijassa-1149	340	14	of	of	ADP
ijassa-1149	340	15	an	an	DET
ijassa-1149	340	16	environment	environment	NOUN
ijassa-1149	340	17	?	?	PUNCT
ijassa-1149	341	1	how	how	SCONJ
ijassa-1149	341	2	can	can	AUX
ijassa-1149	341	3	we	we	PRON
ijassa-1149	341	4	design	design	VERB
ijassa-1149	341	5	a	a	DET
ijassa-1149	341	6	service	service	NOUN
ijassa-1149	341	7	-	-	PUNCT
ijassa-1149	341	8	oriented	orient	VERB
ijassa-1149	341	9	architecture	architecture	NOUN
ijassa-1149	341	10	of	of	ADP
ijassa-1149	341	11	interaction	interaction	NOUN
ijassa-1149	341	12	for	for	ADP
ijassa-1149	341	13	multifunctional	multifunctional	ADJ
ijassa-1149	341	14	controlled	control	VERB
ijassa-1149	341	15	objects	object	NOUN
ijassa-1149	341	16	?	?	PUNCT
ijassa-1149	342	1	how	how	SCONJ
ijassa-1149	342	2	many	many	ADJ
ijassa-1149	342	3	levels	level	NOUN
ijassa-1149	342	4	should	should	AUX
ijassa-1149	342	5	the	the	DET
ijassa-1149	342	6	resulting	result	VERB
ijassa-1149	342	7	network	network	NOUN
ijassa-1149	342	8	be	be	AUX
ijassa-1149	342	9	composed	compose	VERB
ijassa-1149	342	10	of	of	ADP
ijassa-1149	342	11	?	?	PUNCT
ijassa-1149	343	1	what	what	PRON
ijassa-1149	343	2	is	be	AUX
ijassa-1149	343	3	their	their	PRON
ijassa-1149	343	4	structure	structure	NOUN
ijassa-1149	343	5	?	?	PUNCT
ijassa-1149	344	1	what	what	PRON
ijassa-1149	344	2	are	be	AUX
ijassa-1149	344	3	the	the	DET
ijassa-1149	344	4	required	require	VERB
ijassa-1149	344	5	geo	geo	PROPN
ijassa-1149	344	6	-	-	PUNCT
ijassa-1149	344	7	informational	informational	ADJ
ijassa-1149	344	8	models	model	NOUN
ijassa-1149	344	9	of	of	ADP
ijassa-1149	344	10	situational	situational	ADJ
ijassa-1149	344	11	awareness	awareness	NOUN
ijassa-1149	344	12	?	?	PUNCT
ijassa-1149	345	1	these	these	DET
ijassa-1149	345	2	issues	issue	NOUN
ijassa-1149	345	3	will	will	AUX
ijassa-1149	345	4	be	be	AUX
ijassa-1149	345	5	considered	consider	VERB
ijassa-1149	345	6	in	in	ADP
ijassa-1149	345	7	future	future	ADJ
ijassa-1149	345	8	work	work	NOUN
ijassa-1149	345	9	.	.	PUNCT
ijassa-1149	346	1	references	reference	NOUN
ijassa-1149	346	2	1	1	NUM
ijassa-1149	346	3	.	.	PUNCT
ijassa-1149	346	4	abrosimov	abrosimov	VERB
ijassa-1149	346	5	,	,	PUNCT
ijassa-1149	346	6	v.	v.	CCONJ
ijassa-1149	346	7	(	(	PUNCT
ijassa-1149	346	8	2015	2015	NUM
ijassa-1149	346	9	)	)	PUNCT
ijassa-1149	346	10	.	.	PUNCT
ijassa-1149	347	1	swarm	swarm	NOUN
ijassa-1149	347	2	intelligent	intelligent	ADJ
ijassa-1149	347	3	control	control	NOUN
ijassa-1149	347	4	object	object	NOUN
ijassa-1149	347	5	’s	’s	PART
ijassa-1149	347	6	movement	movement	NOUN
ijassa-1149	347	7	simulation	simulation	NOUN
ijassa-1149	347	8	in	in	ADP
ijassa-1149	347	9	net	net	ADJ
ijassa-1149	347	10	-	-	PUNCT
ijassa-1149	347	11	centric	centric	ADJ
ijassa-1149	347	12	environment	environment	NOUN
ijassa-1149	347	13	using	use	VERB
ijassa-1149	347	14	neural	neural	ADJ
ijassa-1149	347	15	networks	network	NOUN
ijassa-1149	347	16	.	.	PUNCT
ijassa-1149	348	1	in	in	ADP
ijassa-1149	348	2	iaeng	iaeng	ADJ
ijassa-1149	348	3	transactions	transaction	NOUN
ijassa-1149	348	4	on	on	ADP
ijassa-1149	348	5	engineering	engineering	NOUN
ijassa-1149	348	6	sciences	science	NOUN
ijassa-1149	348	7	,	,	PUNCT
ijassa-1149	348	8	special	special	ADJ
ijassa-1149	348	9	issue	issue	NOUN
ijassa-1149	348	10	for	for	ADP
ijassa-1149	348	11	the	the	DET
ijassa-1149	348	12	international	international	ADJ
ijassa-1149	348	13	association	association	NOUN
ijassa-1149	348	14	of	of	ADP
ijassa-1149	348	15	engineers	engineer	NOUN
ijassa-1149	348	16	conferences	conference	NOUN
ijassa-1149	348	17	2014	2014	NUM
ijassa-1149	348	18	(	(	PUNCT
ijassa-1149	348	19	рp	рp	NOUN
ijassa-1149	348	20	.	.	PROPN
ijassa-1149	348	21	301–314	301–314	NUM
ijassa-1149	348	22	)	)	PUNCT
ijassa-1149	348	23	,	,	PUNCT
ijassa-1149	348	24	world	world	NOUN
ijassa-1149	348	25	scientific	scientific	ADJ
ijassa-1149	348	26	publisher	publisher	NOUN
ijassa-1149	348	27	,	,	PUNCT
ijassa-1149	348	28	https://doi.org/10.1142/9789814667364_0023	https://doi.org/10.1142/9789814667364_0023	PROPN
ijassa-1149	348	29	2	2	NUM
ijassa-1149	348	30	.	.	PUNCT
ijassa-1149	348	31	abrosimov	abrosimov	VERB
ijassa-1149	348	32	,	,	PUNCT
ijassa-1149	348	33	v.	v.	CCONJ
ijassa-1149	348	34	(	(	PUNCT
ijassa-1149	348	35	2016	2016	NUM
ijassa-1149	348	36	)	)	PUNCT
ijassa-1149	348	37	.	.	PUNCT
ijassa-1149	349	1	the	the	DET
ijassa-1149	349	2	property	property	NOUN
ijassa-1149	349	3	of	of	ADP
ijassa-1149	349	4	agent	agent	NOUN
ijassa-1149	349	5	’s	’s	PART
ijassa-1149	349	6	sacrifice	sacrifice	NOUN
ijassa-1149	349	7	:	:	PUNCT
ijassa-1149	349	8	definition	definition	NOUN
ijassa-1149	349	9	,	,	PUNCT
ijassa-1149	349	10	measure	measure	NOUN
ijassa-1149	349	11	,	,	PUNCT
ijassa-1149	349	12	effect	effect	NOUN
ijassa-1149	349	13	and	and	CCONJ
ijassa-1149	349	14	applications	application	NOUN
ijassa-1149	349	15	,	,	PUNCT
ijassa-1149	349	16	international	international	ADJ
ijassa-1149	349	17	journal	journal	NOUN
ijassa-1149	349	18	of	of	ADP
ijassa-1149	349	19	reasoning	reasoning	NOUN
ijassa-1149	349	20	-	-	PUNCT
ijassa-1149	349	21	based	base	VERB
ijassa-1149	349	22	intelligent	intelligent	ADJ
ijassa-1149	349	23	systems	system	NOUN
ijassa-1149	349	24	,	,	PUNCT
ijassa-1149	349	25	8(1/2	8(1/2	NUM
ijassa-1149	349	26	)	)	PUNCT
ijassa-1149	349	27	,	,	PUNCT
ijassa-1149	349	28	76–83	76–83	NUM
ijassa-1149	349	29	,	,	PUNCT
ijassa-1149	349	30	https://doi.org/10.1504/ijris.2016.080069	https://doi.org/10.1504/ijris.2016.080069	PROPN
ijassa-1149	349	31	.	.	NOUN
ijassa-1149	349	32	3	3	NUM
ijassa-1149	349	33	.	.	X
ijassa-1149	349	34	abrosimov	abrosimov	VERB
ijassa-1149	349	35	,	,	PUNCT
ijassa-1149	349	36	v.	v.	CCONJ
ijassa-1149	349	37	(	(	PUNCT
ijassa-1149	349	38	2017	2017	NUM
ijassa-1149	349	39	)	)	PUNCT
ijassa-1149	349	40	.	.	PUNCT
ijassa-1149	350	1	kollektivy	kollektivy	PROPN
ijassa-1149	350	2	intellektual’nykh	intellektual’nykh	INTJ
ijassa-1149	350	3	letatel’nykh	letatel’nykh	VERB
ijassa-1149	350	4	apparatov	apparatov	NOUN
ijassa-1149	351	1	[	[	X
ijassa-1149	351	2	collectives	collective	NOUN
ijassa-1149	351	3	of	of	ADP
ijassa-1149	351	4	intelligent	intelligent	ADJ
ijassa-1149	351	5	aircrafts	aircraft	NOUN
ijassa-1149	351	6	]	]	PUNCT
ijassa-1149	351	7	.	.	PUNCT
ijassa-1149	352	1	moscow	moscow	PROPN
ijassa-1149	352	2	,	,	PUNCT
ijassa-1149	352	3	russia	russia	PROPN
ijassa-1149	352	4	:	:	PUNCT
ijassa-1149	352	5	nauka	nauka	PROPN
ijassa-1149	352	6	,	,	PUNCT
ijassa-1149	353	1	[	[	X
ijassa-1149	353	2	in	in	ADP
ijassa-1149	353	3	russian	russian	PROPN
ijassa-1149	353	4	]	]	PUNCT
ijassa-1149	353	5	.	.	PUNCT
ijassa-1149	354	1	4	4	X
ijassa-1149	354	2	.	.	X
ijassa-1149	354	3	abrosimov	abrosimov	VERB
ijassa-1149	354	4	,	,	PUNCT
ijassa-1149	354	5	v.	v.	CCONJ
ijassa-1149	354	6	(	(	PUNCT
ijassa-1149	354	7	2017	2017	NUM
ijassa-1149	354	8	)	)	PUNCT
ijassa-1149	354	9	.	.	PUNCT
ijassa-1149	355	1	role	role	NOUN
ijassa-1149	355	2	allocation	allocation	NOUN
ijassa-1149	355	3	in	in	ADP
ijassa-1149	355	4	a	a	DET
ijassa-1149	355	5	group	group	NOUN
ijassa-1149	355	6	of	of	ADP
ijassa-1149	355	7	control	control	NOUN
ijassa-1149	355	8	objects	object	NOUN
ijassa-1149	355	9	.	.	PUNCT
ijassa-1149	356	1	in	in	ADP
ijassa-1149	356	2	recent	recent	ADJ
ijassa-1149	356	3	developments	development	NOUN
ijassa-1149	356	4	in	in	ADP
ijassa-1149	356	5	intelligent	intelligent	ADJ
ijassa-1149	356	6	nature	nature	NOUN
ijassa-1149	356	7	-	-	PUNCT
ijassa-1149	356	8	inspired	inspire	VERB
ijassa-1149	356	9	computing	computing	NOUN
ijassa-1149	356	10	(	(	PUNCT
ijassa-1149	356	11	pp	pp	ADJ
ijassa-1149	356	12	.	.	PUNCT
ijassa-1149	357	1	206–224	206–224	NUM
ijassa-1149	357	2	)	)	PUNCT
ijassa-1149	357	3	.	.	PUNCT
ijassa-1149	358	1	igi	igi	PROPN
ijassa-1149	358	2	global	global	PROPN
ijassa-1149	358	3	.	.	PUNCT
ijassa-1149	359	1	https://doi.org/10.4018/978-1-5225-2322-2.ch010	https://doi.org/10.4018/978-1-5225-2322-2.ch010	PROPN
ijassa-1149	359	2	.	.	PUNCT
ijassa-1149	360	1	5	5	X
ijassa-1149	360	2	.	.	X
ijassa-1149	360	3	abrosimov	abrosimov	VERB
ijassa-1149	360	4	,	,	PUNCT
ijassa-1149	360	5	v.	v.	PROPN
ijassa-1149	360	6	&	&	CCONJ
ijassa-1149	360	7	mazurov	mazurov	PROPN
ijassa-1149	360	8	,	,	PUNCT
ijassa-1149	360	9	a.	a.	NOUN
ijassa-1149	360	10	(	(	PUNCT
ijassa-1149	360	11	2021	2021	NUM
ijassa-1149	360	12	)	)	PUNCT
ijassa-1149	360	13	.	.	PUNCT
ijassa-1149	361	1	irrational	irrational	ADJ
ijassa-1149	361	2	behavioral	behavioral	ADJ
ijassa-1149	361	3	strategies	strategy	NOUN
ijassa-1149	361	4	for	for	ADP
ijassa-1149	361	5	a	a	DET
ijassa-1149	361	6	swarm	swarm	NOUN
ijassa-1149	361	7	of	of	ADP
ijassa-1149	361	8	mini	mini	NOUN
ijassa-1149	361	9	-	-	NOUN
ijassa-1149	361	10	robots	robot	NOUN
ijassa-1149	361	11	,	,	PUNCT
ijassa-1149	361	12	vestn	vestn	NOUN
ijassa-1149	361	13	.	.	PUNCT
ijassa-1149	362	1	st	st	PROPN
ijassa-1149	362	2	.	.	PROPN
ijassa-1149	362	3	petersburg	petersburg	PROPN
ijassa-1149	362	4	state	state	PROPN
ijassa-1149	362	5	univ	univ	PROPN
ijassa-1149	362	6	.	.	PUNCT
ijassa-1149	363	1	appl	appl	PROPN
ijassa-1149	363	2	.	.	PROPN
ijassa-1149	363	3	math	math	PROPN
ijassa-1149	363	4	.	.	PUNCT
ijassa-1149	364	1	comp	comp	PROPN
ijassa-1149	364	2	.	.	PUNCT
ijassa-1149	365	1	sci	sci	PROPN
ijassa-1149	365	2	.	.	PROPN
ijassa-1149	365	3	contr	contr	PROPN
ijassa-1149	365	4	.	.	PUNCT
ijassa-1149	366	1	proc	proc	PROPN
ijassa-1149	366	2	.	.	PROPN
ijassa-1149	366	3	,	,	PUNCT
ijassa-1149	366	4	17(4	17(4	NUM
ijassa-1149	366	5	)	)	PUNCT
ijassa-1149	366	6	,	,	PUNCT
ijassa-1149	366	7	in	in	ADP
ijassa-1149	366	8	press	press	NOUN
ijassa-1149	366	9	.	.	PUNCT
ijassa-1149	367	1	6	6	NUM
ijassa-1149	367	2	.	.	X
ijassa-1149	367	3	athreya	athreya	PROPN
ijassa-1149	367	4	,	,	PUNCT
ijassa-1149	367	5	a.p	a.p	PROPN
ijassa-1149	367	6	.	.	PROPN
ijassa-1149	367	7	&	&	CCONJ
ijassa-1149	367	8	tague	tague	PROPN
ijassa-1149	367	9	,	,	PUNCT
ijassa-1149	367	10	p.	p.	NOUN
ijassa-1149	367	11	(	(	PUNCT
ijassa-1149	367	12	2013	2013	NUM
ijassa-1149	367	13	)	)	PUNCT
ijassa-1149	367	14	.	.	PUNCT
ijassa-1149	368	1	network	network	NOUN
ijassa-1149	368	2	self	self	NOUN
ijassa-1149	368	3	-	-	PUNCT
ijassa-1149	368	4	organization	organization	NOUN
ijassa-1149	368	5	in	in	ADP
ijassa-1149	368	6	the	the	DET
ijassa-1149	368	7	internet	internet	NOUN
ijassa-1149	368	8	of	of	ADP
ijassa-1149	368	9	things	thing	NOUN
ijassa-1149	368	10	.	.	PUNCT
ijassa-1149	369	1	proc	proc	NOUN
ijassa-1149	369	2	.	.	PUNCT
ijassa-1149	370	1	2013	2013	NUM
ijassa-1149	370	2	ieee	ieee	PROPN
ijassa-1149	370	3	int	int	NOUN
ijassa-1149	370	4	.	.	PUNCT
ijassa-1149	370	5	conf	conf	PROPN
ijassa-1149	370	6	.	.	PUNCT
ijassa-1149	371	1	on	on	ADP
ijassa-1149	371	2	sensing	sense	VERB
ijassa-1149	371	3	,	,	PUNCT
ijassa-1149	371	4	communications	communication	NOUN
ijassa-1149	371	5	and	and	CCONJ
ijassa-1149	371	6	networking	networking	NOUN
ijassa-1149	371	7	(	(	PUNCT
ijassa-1149	371	8	secon	secon	NOUN
ijassa-1149	371	9	)	)	PUNCT
ijassa-1149	371	10	,	,	PUNCT
ijassa-1149	371	11	25–33	25–33	NUM
ijassa-1149	371	12	.	.	PUNCT
ijassa-1149	372	1	https://doi.org/10.1109/sahcn.2013.6644956	https://doi.org/10.1109/sahcn.2013.6644956	PROPN
ijassa-1149	372	2	.	.	PROPN
ijassa-1149	372	3	7	7	X
ijassa-1149	372	4	.	.	X
ijassa-1149	372	5	bonabeau	bonabeau	PROPN
ijassa-1149	372	6	,	,	PUNCT
ijassa-1149	372	7	e.	e.	PROPN
ijassa-1149	372	8	,	,	PUNCT
ijassa-1149	372	9	dorigo	dorigo	PROPN
ijassa-1149	372	10	,	,	PUNCT
ijassa-1149	372	11	m.	m.	NOUN
ijassa-1149	372	12	,	,	PUNCT
ijassa-1149	372	13	&	&	CCONJ
ijassa-1149	372	14	theraulaz	theraulaz	PROPN
ijassa-1149	372	15	,	,	PUNCT
ijassa-1149	372	16	g.	g.	PROPN
ijassa-1149	372	17	(	(	PUNCT
ijassa-1149	372	18	1999	1999	NUM
ijassa-1149	372	19	)	)	PUNCT
ijassa-1149	372	20	.	.	PUNCT
ijassa-1149	373	1	swarm	swarm	NOUN
ijassa-1149	373	2	intelligence	intelligence	NOUN
ijassa-1149	373	3	:	:	PUNCT
ijassa-1149	373	4	from	from	ADP
ijassa-1149	373	5	natural	natural	ADJ
ijassa-1149	373	6	to	to	ADP
ijassa-1149	373	7	artificial	artificial	ADJ
ijassa-1149	373	8	systems	system	NOUN
ijassa-1149	373	9	.	.	PUNCT
ijassa-1149	374	1	oxford	oxford	PROPN
ijassa-1149	374	2	,	,	PUNCT
ijassa-1149	374	3	uk	uk	PROPN
ijassa-1149	374	4	:	:	PUNCT
ijassa-1149	374	5	oxford	oxford	PROPN
ijassa-1149	374	6	university	university	PROPN
ijassa-1149	374	7	press	press	NOUN
ijassa-1149	374	8	.	.	PUNCT
ijassa-1149	375	1	8	8	X
ijassa-1149	375	2	.	.	X
ijassa-1149	375	3	duarte	duarte	PROPN
ijassa-1149	375	4	,	,	PUNCT
ijassa-1149	375	5	m.	m.	NOUN
ijassa-1149	375	6	,	,	PUNCT
ijassa-1149	375	7	carvalho	carvalho	PROPN
ijassa-1149	375	8	,	,	PUNCT
ijassa-1149	375	9	j.	j.	PROPN
ijassa-1149	375	10	,	,	PUNCT
ijassa-1149	375	11	costa	costa	PROPN
ijassa-1149	375	12	,	,	PUNCT
ijassa-1149	375	13	v.	v.	PROPN
ijassa-1149	375	14	,	,	PUNCT
ijassa-1149	375	15	christensen	christensen	PROPN
ijassa-1149	375	16	,	,	PUNCT
ijassa-1149	375	17	a.l	a.l	PROPN
ijassa-1149	375	18	.	.	PROPN
ijassa-1149	375	19	,	,	PUNCT
ijassa-1149	375	20	et	et	PROPN
ijassa-1149	375	21	al	al	PROPN
ijassa-1149	375	22	.	.	PUNCT
ijassa-1149	375	23	(	(	PUNCT
ijassa-1149	375	24	2016	2016	NUM
ijassa-1149	375	25	)	)	PUNCT
ijassa-1149	375	26	.	.	PUNCT
ijassa-1149	376	1	application	application	NOUN
ijassa-1149	376	2	of	of	ADP
ijassa-1149	376	3	swarm	swarm	NOUN
ijassa-1149	376	4	robotics	robotic	NOUN
ijassa-1149	376	5	systems	system	NOUN
ijassa-1149	376	6	to	to	ADP
ijassa-1149	376	7	marine	marine	ADJ
ijassa-1149	376	8	environmental	environmental	ADJ
ijassa-1149	376	9	monitoring	monitoring	NOUN
ijassa-1149	376	10	.	.	PUNCT
ijassa-1149	377	1	proc	proc	NOUN
ijassa-1149	377	2	.	.	PUNCT
ijassa-1149	378	1	ieee	ieee	PROPN
ijassa-1149	378	2	/	/	SYM
ijassa-1149	378	3	mts	mts	PROPN
ijassa-1149	378	4	oceans	oceans	PROPN
ijassa-1149	378	5	conference	conference	PROPN
ijassa-1149	378	6	,	,	PUNCT
ijassa-1149	378	7	shanghai	shanghai	PROPN
ijassa-1149	378	8	,	,	PUNCT
ijassa-1149	378	9	china	china	PROPN
ijassa-1149	378	10	.	.	PUNCT
ijassa-1149	379	1	https://doi.org/10.1109/oceansap.2016.7485429	https://doi.org/10.1109/oceansap.2016.7485429	PROPN
ijassa-1149	379	2	.	.	PROPN
ijassa-1149	379	3	9	9	NUM
ijassa-1149	379	4	.	.	X
ijassa-1149	379	5	endsley	endsley	PROPN
ijassa-1149	379	6	,	,	PUNCT
ijassa-1149	379	7	m.r	m.r	PROPN
ijassa-1149	379	8	.	.	PROPN
ijassa-1149	379	9	&	&	CCONJ
ijassa-1149	379	10	jones	jones	PROPN
ijassa-1149	379	11	,	,	PUNCT
ijassa-1149	379	12	d.g	d.g	PROPN
ijassa-1149	379	13	.	.	PROPN
ijassa-1149	379	14	(	(	PUNCT
ijassa-1149	379	15	2012	2012	NUM
ijassa-1149	379	16	)	)	PUNCT
ijassa-1149	379	17	.	.	PUNCT
ijassa-1149	380	1	designing	design	VERB
ijassa-1149	380	2	for	for	ADP
ijassa-1149	380	3	situation	situation	NOUN
ijassa-1149	380	4	awareness	awareness	NOUN
ijassa-1149	380	5	:	:	PUNCT
ijassa-1149	380	6	an	an	DET
ijassa-1149	380	7	approach	approach	NOUN
ijassa-1149	380	8	to	to	ADP
ijassa-1149	380	9	human	human	NOUN
ijassa-1149	380	10	-	-	PUNCT
ijassa-1149	380	11	centered	center	VERB
ijassa-1149	380	12	design	design	NOUN
ijassa-1149	380	13	.	.	PUNCT
ijassa-1149	381	1	crc	crc	PROPN
ijassa-1149	381	2	press	press	PROPN
ijassa-1149	381	3	.	.	PUNCT
ijassa-1149	382	1	10	10	NUM
ijassa-1149	382	2	.	.	X
ijassa-1149	383	1	galetić	galetić	NOUN
ijassa-1149	383	2	,	,	PUNCT
ijassa-1149	383	3	v.	v.	PROPN
ijassa-1149	383	4	,	,	PUNCT
ijassa-1149	383	5	bojić	bojić	PROPN
ijassa-1149	383	6	,	,	PUNCT
ijassa-1149	383	7	i.	i.	PROPN
ijassa-1149	383	8	,	,	PUNCT
ijassa-1149	383	9	kušek	kušek	NOUN
ijassa-1149	383	10	,	,	PUNCT
ijassa-1149	383	11	m.	m.	NOUN
ijassa-1149	383	12	,	,	PUNCT
ijassa-1149	383	13	ježić	ježić	PROPN
ijassa-1149	383	14	,	,	PUNCT
ijassa-1149	383	15	g.	g.	PROPN
ijassa-1149	383	16	,	,	PUNCT
ijassa-1149	383	17	dešić	dešić	PROPN
ijassa-1149	383	18	,	,	PUNCT
ijassa-1149	383	19	s.	s.	PROPN
ijassa-1149	383	20	,	,	PUNCT
ijassa-1149	383	21	&	&	CCONJ
ijassa-1149	383	22	huljenić	huljenić	PROPN
ijassa-1149	383	23	,	,	PUNCT
ijassa-1149	383	24	d.	d.	PROPN
ijassa-1149	383	25	(	(	PUNCT
ijassa-1149	383	26	2011	2011	NUM
ijassa-1149	383	27	)	)	PUNCT
ijassa-1149	383	28	.	.	PUNCT
ijassa-1149	384	1	basic	basic	ADJ
ijassa-1149	384	2	principles	principle	NOUN
ijassa-1149	384	3	of	of	ADP
ijassa-1149	384	4	machine	machine	NOUN
ijassa-1149	384	5	-	-	PUNCT
ijassa-1149	384	6	to	to	ADP
ijassa-1149	384	7	-	-	PUNCT
ijassa-1149	384	8	machine	machine	NOUN
ijassa-1149	384	9	communication	communication	NOUN
ijassa-1149	384	10	and	and	CCONJ
ijassa-1149	384	11	its	its	PRON
ijassa-1149	384	12	impact	impact	NOUN
ijassa-1149	384	13	on	on	ADP
ijassa-1149	384	14	telecommunications	telecommunication	NOUN
ijassa-1149	384	15	industry	industry	NOUN
ijassa-1149	384	16	.	.	PUNCT
ijassa-1149	385	1	proc	proc	PROPN
ijassa-1149	385	2	.	.	PUNCT
ijassa-1149	386	1	of	of	ADP
ijassa-1149	386	2	the	the	DET
ijassa-1149	386	3	34th	34th	ADJ
ijassa-1149	386	4	int	int	NOUN
ijassa-1149	386	5	.	.	PUNCT
ijassa-1149	387	1	convention	convention	NOUN
ijassa-1149	387	2	mipro	mipro	NOUN
ijassa-1149	387	3	,	,	PUNCT
ijassa-1149	387	4	380–385	380–385	NUM
ijassa-1149	387	5	.	.	NOUN
ijassa-1149	388	1	11	11	NUM
ijassa-1149	388	2	.	.	PUNCT
ijassa-1149	389	1	hu	hu	PROPN
ijassa-1149	389	2	,	,	PUNCT
ijassa-1149	389	3	g.	g.	PROPN
ijassa-1149	389	4	,	,	PUNCT
ijassa-1149	389	5	tay	tay	PROPN
ijassa-1149	389	6	,	,	PUNCT
ijassa-1149	389	7	w.p	w.p	PROPN
ijassa-1149	389	8	.	.	PROPN
ijassa-1149	389	9	,	,	PUNCT
ijassa-1149	389	10	&	&	CCONJ
ijassa-1149	389	11	wen	wen	PROPN
ijassa-1149	389	12	,	,	PUNCT
ijassa-1149	389	13	y.	y.	PROPN
ijassa-1149	389	14	(	(	PUNCT
ijassa-1149	389	15	2012	2012	NUM
ijassa-1149	389	16	)	)	PUNCT
ijassa-1149	389	17	.	.	PUNCT
ijassa-1149	390	1	cloud	cloud	NOUN
ijassa-1149	390	2	robotics	robotic	NOUN
ijassa-1149	390	3	:	:	PUNCT
ijassa-1149	390	4	architecture	architecture	NOUN
ijassa-1149	390	5	,	,	PUNCT
ijassa-1149	390	6	challenges	challenge	NOUN
ijassa-1149	390	7	and	and	CCONJ
ijassa-1149	390	8	applications	application	NOUN
ijassa-1149	390	9	,	,	PUNCT
ijassa-1149	390	10	ieee	ieee	NOUN
ijassa-1149	390	11	network	network	NOUN
ijassa-1149	390	12	,	,	PUNCT
ijassa-1149	390	13	26(3	26(3	NUM
ijassa-1149	390	14	)	)	PUNCT
ijassa-1149	390	15	,	,	PUNCT
ijassa-1149	390	16	21–28	21–28	NUM
ijassa-1149	390	17	.	.	PUNCT
ijassa-1149	391	1	https://doi.org/10.1109/mnet.2012.6201212	https://doi.org/10.1109/mnet.2012.6201212	PROPN
ijassa-1149	391	2	.	.	PROPN
ijassa-1149	391	3	12	12	NUM
ijassa-1149	391	4	.	.	PUNCT
ijassa-1149	392	1	jha	jha	PROPN
ijassa-1149	392	2	,	,	PUNCT
ijassa-1149	392	3	a.	a.	PROPN
ijassa-1149	392	4	,	,	PUNCT
ijassa-1149	392	5	gupta	gupta	PROPN
ijassa-1149	392	6	,	,	PUNCT
ijassa-1149	392	7	k.	k.	PROPN
ijassa-1149	392	8	,	,	PUNCT
ijassa-1149	392	9	&	&	CCONJ
ijassa-1149	392	10	sen	sen	PROPN
ijassa-1149	392	11	,	,	PUNCT
ijassa-1149	392	12	m.	m.	NOUN
ijassa-1149	392	13	(	(	PUNCT
ijassa-1149	392	14	2014	2014	NUM
ijassa-1149	392	15	)	)	PUNCT
ijassa-1149	392	16	.	.	PUNCT
ijassa-1149	393	1	m2	m2	PROPN
ijassa-1149	393	2	m	m	PROPN
ijassa-1149	393	3	communication	communication	NOUN
ijassa-1149	393	4	system	system	NOUN
ijassa-1149	393	5	for	for	ADP
ijassa-1149	393	6	networked	networked	ADJ
ijassa-1149	393	7	robots	robot	NOUN
ijassa-1149	393	8	with	with	ADP
ijassa-1149	393	9	low	low	ADJ
ijassa-1149	393	10	memory	memory	NOUN
ijassa-1149	393	11	footprint	footprint	NOUN
ijassa-1149	393	12	.	.	PUNCT
ijassa-1149	394	1	proc	proc	NOUN
ijassa-1149	394	2	.	.	PUNCT
ijassa-1149	395	1	of	of	ADP
ijassa-1149	395	2	int	int	PROPN
ijassa-1149	395	3	.	.	PUNCT
ijassa-1149	396	1	conference	conference	NOUN
ijassa-1149	396	2	on	on	ADP
ijassa-1149	396	3	information	information	NOUN
ijassa-1149	396	4	the	the	DET
ijassa-1149	396	5	collective	collective	ADJ
ijassa-1149	396	6	behavior	behavior	NOUN
ijassa-1149	396	7	of	of	ADP
ijassa-1149	396	8	robots	robot	NOUN
ijassa-1149	396	9	based	base	VERB
ijassa-1149	396	10	on	on	ADP
ijassa-1149	396	11	the	the	DET
ijassa-1149	396	12	internet	internet	NOUN
ijassa-1149	396	13	-	-	PUNCT
ijassa-1149	396	14	of	of	ADP
ijassa-1149	396	15	-	-	PUNCT
ijassa-1149	396	16	things	thing	NOUN
ijassa-1149	396	17	paradigm	paradigm	NOUN
ijassa-1149	396	18	175	175	NUM
ijassa-1149	396	19	copyright	copyright	NOUN
ijassa-1149	396	20	©	©	PROPN
ijassa-1149	396	21	2022	2022	NUM
ijassa-1149	396	22	assa	assa	NOUN
ijassa-1149	396	23	.	.	PUNCT
ijassa-1149	397	1	adv	adv	PROPN
ijassa-1149	397	2	.	.	PUNCT
ijassa-1149	398	1	in	in	ADP
ijassa-1149	398	2	systems	system	NOUN
ijassa-1149	398	3	science	science	NOUN
ijassa-1149	398	4	and	and	CCONJ
ijassa-1149	398	5	appl	appl	NOUN
ijassa-1149	398	6	.	.	PUNCT
ijassa-1149	399	1	(	(	PUNCT
ijassa-1149	399	2	2022	2022	NUM
ijassa-1149	399	3	)	)	PUNCT
ijassa-1149	399	4	technology	technology	NOUN
ijassa-1149	399	5	systems	system	NOUN
ijassa-1149	399	6	and	and	CCONJ
ijassa-1149	399	7	innovation	innovation	NOUN
ijassa-1149	399	8	(	(	PUNCT
ijassa-1149	399	9	icitsi	icitsi	PROPN
ijassa-1149	399	10	)	)	PUNCT
ijassa-1149	399	11	,	,	PUNCT
ijassa-1149	399	12	310–316	310–316	NUM
ijassa-1149	399	13	.	.	PUNCT
ijassa-1149	400	1	https://doi.org/10.1109/icitsi.2014.7048284a	https://doi.org/10.1109/icitsi.2014.7048284a	PROPN
ijassa-1149	400	2	.	.	PROPN
ijassa-1149	401	1	13	13	NUM
ijassa-1149	401	2	.	.	PUNCT
ijassa-1149	401	3	namiot	namiot	PROPN
ijassa-1149	401	4	,	,	PUNCT
ijassa-1149	401	5	d.	d.	PROPN
ijassa-1149	401	6	&	&	CCONJ
ijassa-1149	401	7	sneps	sneps	PROPN
ijassa-1149	401	8	-	-	PUNCT
ijassa-1149	401	9	sneppe	sneppe	PROPN
ijassa-1149	401	10	,	,	PUNCT
ijassa-1149	401	11	m.	m.	NOUN
ijassa-1149	401	12	(	(	PUNCT
ijassa-1149	401	13	2014	2014	NUM
ijassa-1149	401	14	)	)	PUNCT
ijassa-1149	401	15	.	.	PUNCT
ijassa-1149	402	1	on	on	ADP
ijassa-1149	402	2	m2	m2	PROPN
ijassa-1149	402	3	m	m	PROPN
ijassa-1149	402	4	software	software	NOUN
ijassa-1149	402	5	,	,	PUNCT
ijassa-1149	402	6	international	international	ADJ
ijassa-1149	402	7	journal	journal	NOUN
ijassa-1149	402	8	of	of	ADP
ijassa-1149	402	9	open	open	ADJ
ijassa-1149	402	10	information	information	NOUN
ijassa-1149	402	11	technologies	technology	NOUN
ijassa-1149	402	12	,	,	PUNCT
ijassa-1149	402	13	2(6	2(6	NUM
ijassa-1149	402	14	)	)	PUNCT
ijassa-1149	402	15	,	,	PUNCT
ijassa-1149	402	16	29–36	29–36	NUM
ijassa-1149	402	17	.	.	PUNCT
ijassa-1149	402	18	14	14	NUM
ijassa-1149	402	19	.	.	PUNCT
ijassa-1149	403	1	polsonetti	polsonetti	NOUN
ijassa-1149	403	2	,	,	PUNCT
ijassa-1149	403	3	c.	c.	NOUN
ijassa-1149	403	4	(	(	PUNCT
ijassa-1149	403	5	2014	2014	NUM
ijassa-1149	403	6	)	)	PUNCT
ijassa-1149	403	7	.	.	PUNCT
ijassa-1149	404	1	know	know	VERB
ijassa-1149	404	2	the	the	DET
ijassa-1149	404	3	difference	difference	NOUN
ijassa-1149	404	4	between	between	ADP
ijassa-1149	404	5	iot	iot	PROPN
ijassa-1149	404	6	and	and	CCONJ
ijassa-1149	404	7	m2	m2	PROPN
ijassa-1149	404	8	m.	m.	NOUN
ijassa-1149	405	1	[	[	X
ijassa-1149	405	2	online	online	X
ijassa-1149	405	3	]	]	X
ijassa-1149	405	4	.	.	PUNCT
ijassa-1149	406	1	available	available	ADJ
ijassa-1149	406	2	https://www.automationworld.com/article/topics/cloud-computing/knowdifference-between-iot-and-m2	https://www.automationworld.com/article/topics/cloud-computing/knowdifference-between-iot-and-m2	NOUN
ijassa-1149	406	3	m	m	PROPN
ijassa-1149	406	4	15	15	NUM
ijassa-1149	406	5	.	.	PUNCT
ijassa-1149	407	1	ray	ray	PROPN
ijassa-1149	407	2	,	,	PUNCT
ijassa-1149	407	3	p.p	p.p	PROPN
ijassa-1149	407	4	.	.	PROPN
ijassa-1149	407	5	(	(	PUNCT
ijassa-1149	407	6	2017	2017	NUM
ijassa-1149	407	7	)	)	PUNCT
ijassa-1149	407	8	.	.	PUNCT
ijassa-1149	408	1	internet	internet	NOUN
ijassa-1149	408	2	of	of	ADP
ijassa-1149	408	3	robotic	robotic	ADJ
ijassa-1149	408	4	things	thing	NOUN
ijassa-1149	408	5	:	:	PUNCT
ijassa-1149	408	6	concept	concept	NOUN
ijassa-1149	408	7	,	,	PUNCT
ijassa-1149	408	8	technologies	technology	NOUN
ijassa-1149	408	9	,	,	PUNCT
ijassa-1149	408	10	and	and	CCONJ
ijassa-1149	408	11	challenges	challenge	NOUN
ijassa-1149	408	12	,	,	PUNCT
ijassa-1149	408	13	ieee	ieee	NOUN
ijassa-1149	408	14	access	access	NOUN
ijassa-1149	408	15	,	,	PUNCT
ijassa-1149	408	16	4(16	4(16	NUM
ijassa-1149	408	17	)	)	PUNCT
ijassa-1149	408	18	,	,	PUNCT
ijassa-1149	408	19	9489–9499	9489–9499	NUM
ijassa-1149	408	20	.	.	PUNCT
ijassa-1149	409	1	https://doi.org/10.1109/access.2017.2647747	https://doi.org/10.1109/access.2017.2647747	PROPN
ijassa-1149	409	2	16	16	NUM
ijassa-1149	409	3	.	.	PUNCT
ijassa-1149	410	1	ren	ren	PROPN
ijassa-1149	410	2	,	,	PUNCT
ijassa-1149	410	3	f.	f.	PROPN
ijassa-1149	410	4	(	(	PUNCT
ijassa-1149	410	5	2010	2010	NUM
ijassa-1149	410	6	)	)	PUNCT
ijassa-1149	410	7	.	.	PUNCT
ijassa-1149	411	1	autonomous	autonomous	ADJ
ijassa-1149	411	2	agent	agent	NOUN
ijassa-1149	411	3	negotiations	negotiation	NOUN
ijassa-1149	411	4	strategies	strategy	NOUN
ijassa-1149	411	5	in	in	ADP
ijassa-1149	411	6	complex	complex	ADJ
ijassa-1149	411	7	environment	environment	NOUN
ijassa-1149	411	8	.	.	PUNCT
ijassa-1149	412	1	ph.d	ph.d	PROPN
ijassa-1149	412	2	.	.	PUNCT
ijassa-1149	413	1	thesis	thesis	NOUN
ijassa-1149	413	2	,	,	PUNCT
ijassa-1149	413	3	school	school	NOUN
ijassa-1149	413	4	of	of	ADP
ijassa-1149	413	5	computer	computer	NOUN
ijassa-1149	413	6	science	science	NOUN
ijassa-1149	413	7	and	and	CCONJ
ijassa-1149	413	8	software	software	NOUN
ijassa-1149	413	9	engineering	engineering	NOUN
ijassa-1149	413	10	,	,	PUNCT
ijassa-1149	413	11	faculty	faculty	NOUN
ijassa-1149	413	12	of	of	ADP
ijassa-1149	413	13	engineering	engineering	NOUN
ijassa-1149	413	14	,	,	PUNCT
ijassa-1149	413	15	university	university	PROPN
ijassa-1149	413	16	of	of	ADP
ijassa-1149	413	17	wollongong	wollongong	PROPN
ijassa-1149	413	18	.	.	PUNCT
ijassa-1149	414	1	17	17	NUM
ijassa-1149	414	2	.	.	X
ijassa-1149	414	3	starsinic	starsinic	ADJ
ijassa-1149	414	4	,	,	PUNCT
ijassa-1149	414	5	m.	m.	NOUN
ijassa-1149	414	6	(	(	PUNCT
ijassa-1149	414	7	2010	2010	NUM
ijassa-1149	414	8	)	)	PUNCT
ijassa-1149	414	9	.	.	PUNCT
ijassa-1149	415	1	system	system	NOUN
ijassa-1149	415	2	architecture	architecture	NOUN
ijassa-1149	415	3	challenges	challenge	NOUN
ijassa-1149	415	4	in	in	ADP
ijassa-1149	415	5	the	the	DET
ijassa-1149	415	6	home	home	NOUN
ijassa-1149	415	7	m2	m2	PROPN
ijassa-1149	415	8	m	m	PROPN
ijassa-1149	415	9	network	network	NOUN
ijassa-1149	415	10	.	.	PUNCT
ijassa-1149	416	1	proc	proc	PROPN
ijassa-1149	416	2	.	.	PUNCT
ijassa-1149	417	1	ieee	ieee	PROPN
ijassa-1149	417	2	long	long	PROPN
ijassa-1149	417	3	island	island	NOUN
ijassa-1149	417	4	systems	system	NOUN
ijassa-1149	417	5	,	,	PUNCT
ijassa-1149	417	6	applications	application	NOUN
ijassa-1149	417	7	and	and	CCONJ
ijassa-1149	417	8	technology	technology	NOUN
ijassa-1149	417	9	conference	conference	NOUN
ijassa-1149	417	10	(	(	PUNCT
ijassa-1149	417	11	lisat	lisat	ADJ
ijassa-1149	417	12	)	)	PUNCT
ijassa-1149	417	13	,	,	PUNCT
ijassa-1149	417	14	1–7	1–7	X
ijassa-1149	417	15	.	.	PROPN
ijassa-1149	417	16	18	18	NUM
ijassa-1149	417	17	.	.	PUNCT
ijassa-1149	418	1	tan	tan	PROPN
ijassa-1149	418	2	,	,	PUNCT
ijassa-1149	418	3	s.k	s.k	PROPN
ijassa-1149	418	4	.	.	PROPN
ijassa-1149	418	5	,	,	PUNCT
ijassa-1149	418	6	sooriyabandara	sooriyabandara	INTJ
ijassa-1149	418	7	,	,	PUNCT
ijassa-1149	418	8	m.	m.	NOUN
ijassa-1149	418	9	,	,	PUNCT
ijassa-1149	418	10	&	&	CCONJ
ijassa-1149	418	11	fan	fan	PROPN
ijassa-1149	418	12	.	.	PROPN
ijassa-1149	418	13	,	,	PUNCT
ijassa-1149	418	14	z.	z.	PROPN
ijassa-1149	418	15	(	(	PUNCT
ijassa-1149	418	16	2011	2011	NUM
ijassa-1149	418	17	)	)	PUNCT
ijassa-1149	418	18	.	.	PUNCT
ijassa-1149	419	1	m2	m2	PROPN
ijassa-1149	419	2	m	m	PROPN
ijassa-1149	419	3	communications	communication	NOUN
ijassa-1149	419	4	in	in	ADP
ijassa-1149	419	5	the	the	DET
ijassa-1149	419	6	smart	smart	ADJ
ijassa-1149	419	7	grid	grid	NOUN
ijassa-1149	419	8	:	:	PUNCT
ijassa-1149	419	9	applications	application	NOUN
ijassa-1149	419	10	,	,	PUNCT
ijassa-1149	419	11	standards	standard	NOUN
ijassa-1149	419	12	,	,	PUNCT
ijassa-1149	419	13	enabling	enable	VERB
ijassa-1149	419	14	technologies	technology	NOUN
ijassa-1149	419	15	,	,	PUNCT
ijassa-1149	419	16	and	and	CCONJ
ijassa-1149	419	17	research	research	NOUN
ijassa-1149	419	18	challenges	challenge	NOUN
ijassa-1149	419	19	.	.	PUNCT
ijassa-1149	420	1	international	international	ADJ
ijassa-1149	420	2	journal	journal	NOUN
ijassa-1149	420	3	of	of	ADP
ijassa-1149	420	4	digital	digital	ADJ
ijassa-1149	420	5	multimedia	multimedia	NOUN
ijassa-1149	420	6	broadcasting	broadcasting	NOUN
ijassa-1149	420	7	,	,	PUNCT
ijassa-1149	420	8	https://doi.org/10.1155/2011/289015	https://doi.org/10.1155/2011/289015	PROPN
ijassa-1149	420	9	.	.	PUNCT
ijassa-1149	421	1	19	19	NUM
ijassa-1149	421	2	.	.	X
ijassa-1149	421	3	yadav	yadav	PROPN
ijassa-1149	421	4	,	,	PUNCT
ijassa-1149	421	5	p.	p.	PROPN
ijassa-1149	421	6	,	,	PUNCT
ijassa-1149	421	7	mccann	mccann	PROPN
ijassa-1149	421	8	,	,	PUNCT
ijassa-1149	421	9	j.a	j.a	PROPN
ijassa-1149	421	10	.	.	PROPN
ijassa-1149	421	11	,	,	PUNCT
ijassa-1149	421	12	&	&	CCONJ
ijassa-1149	421	13	pereira	pereira	PROPN
ijassa-1149	421	14	,	,	PUNCT
ijassa-1149	421	15	t.	t.	PROPN
ijassa-1149	421	16	(	(	PUNCT
ijassa-1149	421	17	2017	2017	NUM
ijassa-1149	421	18	)	)	PUNCT
ijassa-1149	421	19	,	,	PUNCT
ijassa-1149	421	20	self	self	NOUN
ijassa-1149	421	21	-	-	PUNCT
ijassa-1149	421	22	synchronization	synchronization	NOUN
ijassa-1149	421	23	in	in	ADP
ijassa-1149	421	24	duty	duty	NOUN
ijassa-1149	421	25	-	-	PUNCT
ijassa-1149	421	26	cycled	cycle	VERB
ijassa-1149	421	27	internet	internet	NOUN
ijassa-1149	421	28	of	of	ADP
ijassa-1149	421	29	things	thing	NOUN
ijassa-1149	421	30	(	(	PUNCT
ijassa-1149	421	31	iot	iot	NOUN
ijassa-1149	421	32	)	)	PUNCT
ijassa-1149	421	33	applications	application	NOUN
ijassa-1149	421	34	,	,	PUNCT
ijassa-1149	421	35	ieee	ieee	NOUN
ijassa-1149	421	36	internet	internet	NOUN
ijassa-1149	421	37	of	of	ADP
ijassa-1149	421	38	things	thing	NOUN
ijassa-1149	421	39	journal	journal	NOUN
ijassa-1149	421	40	,	,	PUNCT
ijassa-1149	421	41	4	4	NUM
ijassa-1149	421	42	,	,	PUNCT
ijassa-1149	421	43	2058–2069	2058–2069	NUM
ijassa-1149	421	44	.	.	PUNCT
ijassa-1149	422	1	https://doi.org/10.1109/jiot.2017.2757138	https://doi.org/10.1109/jiot.2017.2757138	PROPN
ijassa-1149	422	2	20	20	NUM
ijassa-1149	422	3	.	.	PUNCT
ijassa-1149	423	1	ye	ye	PROPN
ijassa-1149	423	2	,	,	PUNCT
ijassa-1149	423	3	d.	d.	PROPN
ijassa-1149	423	4	,	,	PUNCT
ijassa-1149	423	5	zhang	zhang	PROPN
ijassa-1149	423	6	,	,	PUNCT
ijassa-1149	423	7	m.	m.	NOUN
ijassa-1149	423	8	,	,	PUNCT
ijassa-1149	423	9	&	&	CCONJ
ijassa-1149	423	10	vasilakos	vasilakos	PROPN
ijassa-1149	423	11	,	,	PUNCT
ijassa-1149	423	12	a.v	a.v	PROPN
ijassa-1149	423	13	.	.	PROPN
ijassa-1149	423	14	(	(	PUNCT
ijassa-1149	423	15	2016	2016	NUM
ijassa-1149	423	16	)	)	PUNCT
ijassa-1149	423	17	.	.	PUNCT
ijassa-1149	424	1	a	a	DET
ijassa-1149	424	2	survey	survey	NOUN
ijassa-1149	424	3	of	of	ADP
ijassa-1149	424	4	self	self	NOUN
ijassa-1149	424	5	-	-	PUNCT
ijassa-1149	424	6	organization	organization	NOUN
ijassa-1149	424	7	mechanisms	mechanism	NOUN
ijassa-1149	424	8	in	in	ADP
ijassa-1149	424	9	multiagent	multiagent	NOUN
ijassa-1149	424	10	systems	system	NOUN
ijassa-1149	424	11	.	.	PUNCT
ijassa-1149	425	1	ieee	ieee	NOUN
ijassa-1149	425	2	transactions	transaction	NOUN
ijassa-1149	425	3	on	on	ADP
ijassa-1149	425	4	systems	system	NOUN
ijassa-1149	425	5	,	,	PUNCT
ijassa-1149	425	6	47(3	47(3	NUM
ijassa-1149	425	7	)	)	PUNCT
ijassa-1149	425	8	,	,	PUNCT
ijassa-1149	425	9	441–461	441–461	NUM
ijassa-1149	425	10	.	.	PUNCT