id	sid	tid	token	lemma	pos
ijassa-1307	1	1	adv	adv	PROPN
ijassa-1307	1	2	syst	syst	PROPN
ijassa-1307	1	3	sci	sci	PROPN
ijassa-1307	1	4	appl	appl	PROPN
ijassa-1307	1	5	2022	2022	NUM
ijassa-1307	1	6	;	;	PUNCT
ijassa-1307	1	7	04:193–201	04:193–201	NOUN
ijassa-1307	1	8	published	publish	VERB
ijassa-1307	1	9	online	online	ADV
ijassa-1307	1	10	at	at	ADP
ijassa-1307	1	11	https://ijassa.ipu.ru	https://ijassa.ipu.ru	ADV
ijassa-1307	1	12	.	.	PUNCT
ijassa-1307	2	1	extending	extend	VERB
ijassa-1307	2	2	obstacle	obstacle	NOUN
ijassa-1307	2	3	map	map	NOUN
ijassa-1307	2	4	of	of	ADP
ijassa-1307	2	5	autonomous	autonomous	ADJ
ijassa-1307	2	6	vehicles	vehicle	NOUN
ijassa-1307	2	7	based	base	VERB
ijassa-1307	2	8	on	on	ADP
ijassa-1307	2	9	network	network	NOUN
ijassa-1307	2	10	model	model	NOUN
ijassa-1307	2	11	of	of	ADP
ijassa-1307	2	12	local	local	ADJ
ijassa-1307	2	13	positioning	positioning	NOUN
ijassa-1307	2	14	alexander	alexander	PROPN
ijassa-1307	2	15	abdulov	abdulov	PROPN
ijassa-1307	2	16	*	*	PROPN
ijassa-1307	2	17	v.	v.	ADP
ijassa-1307	2	18	a.	a.	PROPN
ijassa-1307	2	19	trapeznikov	trapeznikov	PROPN
ijassa-1307	2	20	institute	institute	PROPN
ijassa-1307	2	21	of	of	ADP
ijassa-1307	2	22	control	control	PROPN
ijassa-1307	2	23	sciences	sciences	PROPN
ijassa-1307	2	24	,	,	PUNCT
ijassa-1307	2	25	moscow	moscow	PROPN
ijassa-1307	2	26	,	,	PUNCT
ijassa-1307	2	27	russia	russia	PROPN
ijassa-1307	2	28	abstract	abstract	NOUN
ijassa-1307	2	29	:	:	PUNCT
ijassa-1307	2	30	at	at	ADP
ijassa-1307	2	31	present	present	ADJ
ijassa-1307	2	32	,	,	PUNCT
ijassa-1307	2	33	an	an	DET
ijassa-1307	2	34	unmanned	unmanned	ADJ
ijassa-1307	2	35	autonomous	autonomous	ADJ
ijassa-1307	2	36	vehicle	vehicle	NOUN
ijassa-1307	2	37	(	(	PUNCT
ijassa-1307	2	38	av	av	NOUN
ijassa-1307	2	39	)	)	PUNCT
ijassa-1307	2	40	to	to	PART
ijassa-1307	2	41	provide	provide	VERB
ijassa-1307	2	42	accurate	accurate	ADJ
ijassa-1307	2	43	navigation	navigation	NOUN
ijassa-1307	2	44	during	during	ADP
ijassa-1307	2	45	motion	motion	NOUN
ijassa-1307	2	46	depends	depend	VERB
ijassa-1307	2	47	on	on	ADP
ijassa-1307	2	48	gps	gps	PROPN
ijassa-1307	2	49	.	.	PUNCT
ijassa-1307	3	1	the	the	DET
ijassa-1307	3	2	search	search	NOUN
ijassa-1307	3	3	and	and	CCONJ
ijassa-1307	3	4	study	study	NOUN
ijassa-1307	3	5	for	for	ADP
ijassa-1307	3	6	the	the	DET
ijassa-1307	3	7	alternative	alternative	ADJ
ijassa-1307	3	8	methods	method	NOUN
ijassa-1307	3	9	of	of	ADP
ijassa-1307	3	10	av	av	PROPN
ijassa-1307	3	11	localization	localization	NOUN
ijassa-1307	3	12	is	be	AUX
ijassa-1307	3	13	the	the	DET
ijassa-1307	3	14	demand	demand	NOUN
ijassa-1307	3	15	to	to	PART
ijassa-1307	3	16	implement	implement	VERB
ijassa-1307	3	17	smart	smart	ADJ
ijassa-1307	3	18	city	city	NOUN
ijassa-1307	3	19	concepts	concept	NOUN
ijassa-1307	3	20	because	because	SCONJ
ijassa-1307	3	21	in	in	ADP
ijassa-1307	3	22	real	real	ADJ
ijassa-1307	3	23	-	-	PUNCT
ijassa-1307	3	24	world	world	NOUN
ijassa-1307	3	25	conditions	condition	NOUN
ijassa-1307	3	26	,	,	PUNCT
ijassa-1307	3	27	the	the	DET
ijassa-1307	3	28	gps	gps	PROPN
ijassa-1307	3	29	signal	signal	NOUN
ijassa-1307	3	30	may	may	AUX
ijassa-1307	3	31	either	either	CCONJ
ijassa-1307	3	32	be	be	AUX
ijassa-1307	3	33	absent	absent	ADJ
ijassa-1307	3	34	,	,	PUNCT
ijassa-1307	3	35	or	or	CCONJ
ijassa-1307	3	36	its	its	PRON
ijassa-1307	3	37	accuracy	accuracy	NOUN
ijassa-1307	3	38	may	may	AUX
ijassa-1307	3	39	be	be	AUX
ijassa-1307	3	40	insufficient	insufficient	ADJ
ijassa-1307	3	41	to	to	ADP
ijassa-1307	3	42	trajectory	trajectory	NOUN
ijassa-1307	3	43	following	following	NOUN
ijassa-1307	3	44	and	and	CCONJ
ijassa-1307	3	45	perform	perform	VERB
ijassa-1307	3	46	maneuvers	maneuver	NOUN
ijassa-1307	3	47	.	.	PUNCT
ijassa-1307	4	1	for	for	ADP
ijassa-1307	4	2	collision	collision	NOUN
ijassa-1307	4	3	avoidance	avoidance	NOUN
ijassa-1307	4	4	to	to	PART
ijassa-1307	4	5	raise	raise	VERB
ijassa-1307	4	6	av	av	PROPN
ijassa-1307	4	7	safety	safety	NOUN
ijassa-1307	4	8	,	,	PUNCT
ijassa-1307	4	9	the	the	DET
ijassa-1307	4	10	network	network	NOUN
ijassa-1307	4	11	model	model	NOUN
ijassa-1307	4	12	of	of	ADP
ijassa-1307	4	13	local	local	ADJ
ijassa-1307	4	14	positioning	positioning	NOUN
ijassa-1307	4	15	is	be	AUX
ijassa-1307	4	16	proposed	propose	VERB
ijassa-1307	4	17	.	.	PUNCT
ijassa-1307	5	1	control	control	NOUN
ijassa-1307	5	2	systems	system	NOUN
ijassa-1307	5	3	based	base	VERB
ijassa-1307	5	4	on	on	ADP
ijassa-1307	5	5	obtained	obtain	VERB
ijassa-1307	5	6	local	local	ADJ
ijassa-1307	5	7	maps	map	NOUN
ijassa-1307	5	8	partially	partially	ADV
ijassa-1307	5	9	solve	solve	VERB
ijassa-1307	5	10	the	the	DET
ijassa-1307	5	11	problem	problem	NOUN
ijassa-1307	5	12	of	of	ADP
ijassa-1307	5	13	a	a	DET
ijassa-1307	5	14	safety	safety	NOUN
ijassa-1307	5	15	motion	motion	NOUN
ijassa-1307	5	16	.	.	PUNCT
ijassa-1307	6	1	the	the	DET
ijassa-1307	6	2	presented	present	VERB
ijassa-1307	6	3	simulation	simulation	NOUN
ijassa-1307	6	4	results	result	NOUN
ijassa-1307	6	5	confirm	confirm	VERB
ijassa-1307	6	6	the	the	DET
ijassa-1307	6	7	effectiveness	effectiveness	NOUN
ijassa-1307	6	8	of	of	ADP
ijassa-1307	6	9	the	the	DET
ijassa-1307	6	10	described	describe	VERB
ijassa-1307	6	11	approach	approach	NOUN
ijassa-1307	6	12	to	to	ADP
ijassa-1307	6	13	improving	improve	VERB
ijassa-1307	6	14	traffic	traffic	NOUN
ijassa-1307	6	15	safety	safety	NOUN
ijassa-1307	6	16	in	in	ADP
ijassa-1307	6	17	uncontrolled	uncontrolled	ADJ
ijassa-1307	6	18	dynamic	dynamic	ADJ
ijassa-1307	6	19	environments	environment	NOUN
ijassa-1307	6	20	.	.	PUNCT
ijassa-1307	7	1	keywords	keyword	NOUN
ijassa-1307	7	2	:	:	PUNCT
ijassa-1307	7	3	autonomous	autonomous	ADJ
ijassa-1307	7	4	vehicle	vehicle	NOUN
ijassa-1307	7	5	,	,	PUNCT
ijassa-1307	7	6	local	local	ADJ
ijassa-1307	7	7	positioning	positioning	NOUN
ijassa-1307	7	8	,	,	PUNCT
ijassa-1307	7	9	collision	collision	NOUN
ijassa-1307	7	10	avoidance	avoidance	NOUN
ijassa-1307	7	11	,	,	PUNCT
ijassa-1307	7	12	simulation	simulation	NOUN
ijassa-1307	7	13	modeling	model	VERB
ijassa-1307	7	14	1	1	NUM
ijassa-1307	7	15	.	.	PUNCT
ijassa-1307	7	16	introduction	introduction	NOUN
ijassa-1307	7	17	an	an	DET
ijassa-1307	7	18	unmanned	unmanned	ADJ
ijassa-1307	7	19	autonomous	autonomous	ADJ
ijassa-1307	7	20	vehicle	vehicle	NOUN
ijassa-1307	7	21	(	(	PUNCT
ijassa-1307	7	22	av	av	NOUN
ijassa-1307	7	23	)	)	PUNCT
ijassa-1307	7	24	for	for	ADP
ijassa-1307	7	25	safety	safety	NOUN
ijassa-1307	7	26	motion	motion	NOUN
ijassa-1307	7	27	applies	apply	VERB
ijassa-1307	7	28	optimal	optimal	ADJ
ijassa-1307	7	29	control	control	NOUN
ijassa-1307	7	30	rules	rule	NOUN
ijassa-1307	7	31	enabling	enable	VERB
ijassa-1307	7	32	one	one	NUM
ijassa-1307	7	33	to	to	PART
ijassa-1307	7	34	avoid	avoid	VERB
ijassa-1307	7	35	collisions	collision	NOUN
ijassa-1307	7	36	.	.	PUNCT
ijassa-1307	8	1	due	due	ADP
ijassa-1307	8	2	to	to	ADP
ijassa-1307	8	3	that	that	PRON
ijassa-1307	8	4	,	,	PUNCT
ijassa-1307	8	5	avs	avs	PROPN
ijassa-1307	8	6	form	form	NOUN
ijassa-1307	8	7	models	model	NOUN
ijassa-1307	8	8	of	of	ADP
ijassa-1307	8	9	observed	observed	ADJ
ijassa-1307	8	10	obstacles	obstacle	NOUN
ijassa-1307	8	11	,	,	PUNCT
ijassa-1307	8	12	accounting	account	VERB
ijassa-1307	8	13	for	for	ADP
ijassa-1307	8	14	dynamic	dynamic	ADJ
ijassa-1307	8	15	characteristics	characteristic	NOUN
ijassa-1307	8	16	of	of	ADP
ijassa-1307	8	17	moving	move	VERB
ijassa-1307	8	18	objects	object	NOUN
ijassa-1307	8	19	(	(	PUNCT
ijassa-1307	8	20	including	include	VERB
ijassa-1307	8	21	other	other	ADJ
ijassa-1307	8	22	vehicles	vehicle	NOUN
ijassa-1307	8	23	)	)	PUNCT
ijassa-1307	8	24	.	.	PUNCT
ijassa-1307	9	1	the	the	DET
ijassa-1307	9	2	accuracy	accuracy	NOUN
ijassa-1307	9	3	of	of	ADP
ijassa-1307	9	4	determining	determine	VERB
ijassa-1307	9	5	obstacle	obstacle	NOUN
ijassa-1307	9	6	model	model	NOUN
ijassa-1307	9	7	parameters	parameter	NOUN
ijassa-1307	9	8	is	be	AUX
ijassa-1307	9	9	directly	directly	ADV
ijassa-1307	9	10	concerned	concerned	ADJ
ijassa-1307	9	11	with	with	ADP
ijassa-1307	9	12	the	the	DET
ijassa-1307	9	13	probability	probability	NOUN
ijassa-1307	9	14	of	of	ADP
ijassa-1307	9	15	avoiding	avoid	VERB
ijassa-1307	9	16	a	a	DET
ijassa-1307	9	17	collision	collision	NOUN
ijassa-1307	9	18	[	[	X
ijassa-1307	9	19	1	1	NUM
ijassa-1307	9	20	]	]	PUNCT
ijassa-1307	9	21	.	.	PUNCT
ijassa-1307	10	1	one	one	PRON
ijassa-1307	10	2	should	should	AUX
ijassa-1307	10	3	point	point	VERB
ijassa-1307	10	4	out	out	ADP
ijassa-1307	10	5	that	that	SCONJ
ijassa-1307	10	6	in	in	ADP
ijassa-1307	10	7	real	real	ADJ
ijassa-1307	10	8	-	-	PUNCT
ijassa-1307	10	9	time	time	NOUN
ijassa-1307	10	10	,	,	PUNCT
ijassa-1307	10	11	it	it	PRON
ijassa-1307	10	12	is	be	AUX
ijassa-1307	10	13	not	not	PART
ijassa-1307	10	14	always	always	ADV
ijassa-1307	10	15	possible	possible	ADJ
ijassa-1307	10	16	to	to	PART
ijassa-1307	10	17	estimate	estimate	VERB
ijassa-1307	10	18	the	the	DET
ijassa-1307	10	19	position	position	NOUN
ijassa-1307	10	20	and	and	CCONJ
ijassa-1307	10	21	dynamics	dynamic	NOUN
ijassa-1307	10	22	of	of	ADP
ijassa-1307	10	23	other	other	ADJ
ijassa-1307	10	24	road	road	NOUN
ijassa-1307	10	25	traffic	traffic	NOUN
ijassa-1307	10	26	participants	participant	NOUN
ijassa-1307	10	27	accurately	accurately	ADV
ijassa-1307	10	28	directly	directly	ADV
ijassa-1307	10	29	using	use	VERB
ijassa-1307	10	30	only	only	ADV
ijassa-1307	10	31	onboard	onboard	ADP
ijassa-1307	10	32	computational	computational	ADJ
ijassa-1307	10	33	tools	tool	NOUN
ijassa-1307	10	34	.	.	PUNCT
ijassa-1307	11	1	as	as	ADP
ijassa-1307	11	2	a	a	DET
ijassa-1307	11	3	rule	rule	NOUN
ijassa-1307	11	4	,	,	PUNCT
ijassa-1307	11	5	all	all	DET
ijassa-1307	11	6	road	road	NOUN
ijassa-1307	11	7	traffic	traffic	NOUN
ijassa-1307	11	8	participants	participant	NOUN
ijassa-1307	11	9	are	be	AUX
ijassa-1307	11	10	interested	interested	ADJ
ijassa-1307	11	11	in	in	ADP
ijassa-1307	11	12	minimizing	minimize	VERB
ijassa-1307	11	13	the	the	DET
ijassa-1307	11	14	collision	collision	NOUN
ijassa-1307	11	15	number	number	NOUN
ijassa-1307	11	16	,	,	PUNCT
ijassa-1307	11	17	so	so	SCONJ
ijassa-1307	11	18	it	it	PRON
ijassa-1307	11	19	is	be	AUX
ijassa-1307	11	20	reasonable	reasonable	ADJ
ijassa-1307	11	21	for	for	SCONJ
ijassa-1307	11	22	them	they	PRON
ijassa-1307	11	23	to	to	PART
ijassa-1307	11	24	exchange	exchange	VERB
ijassa-1307	11	25	helpful	helpful	ADJ
ijassa-1307	11	26	information	information	NOUN
ijassa-1307	11	27	with	with	ADP
ijassa-1307	11	28	each	each	DET
ijassa-1307	11	29	other	other	ADJ
ijassa-1307	11	30	under	under	ADP
ijassa-1307	11	31	the	the	DET
ijassa-1307	11	32	availability	availability	NOUN
ijassa-1307	11	33	of	of	ADP
ijassa-1307	11	34	communication	communication	NOUN
ijassa-1307	11	35	channels	channel	NOUN
ijassa-1307	11	36	.	.	PUNCT
ijassa-1307	12	1	then	then	ADV
ijassa-1307	12	2	the	the	DET
ijassa-1307	12	3	communication	communication	NOUN
ijassa-1307	12	4	can	can	AUX
ijassa-1307	12	5	become	become	VERB
ijassa-1307	12	6	a	a	DET
ijassa-1307	12	7	key	key	ADJ
ijassa-1307	12	8	factor	factor	NOUN
ijassa-1307	12	9	in	in	ADP
ijassa-1307	12	10	searching	search	VERB
ijassa-1307	12	11	for	for	ADP
ijassa-1307	12	12	safe	safe	ADJ
ijassa-1307	12	13	motion	motion	NOUN
ijassa-1307	12	14	paths	path	NOUN
ijassa-1307	12	15	.	.	PUNCT
ijassa-1307	13	1	let	let	VERB
ijassa-1307	13	2	us	we	PRON
ijassa-1307	13	3	consider	consider	VERB
ijassa-1307	13	4	a	a	DET
ijassa-1307	13	5	case	case	NOUN
ijassa-1307	13	6	of	of	ADP
ijassa-1307	13	7	motion	motion	NOUN
ijassa-1307	13	8	in	in	ADP
ijassa-1307	13	9	a	a	DET
ijassa-1307	13	10	“	"	PUNCT
ijassa-1307	13	11	crowd	crowd	NOUN
ijassa-1307	13	12	”	"	PUNCT
ijassa-1307	13	13	with	with	ADP
ijassa-1307	13	14	a	a	DET
ijassa-1307	13	15	possibility	possibility	NOUN
ijassa-1307	13	16	of	of	ADP
ijassa-1307	13	17	avs	avs	PROPN
ijassa-1307	13	18	communicating	communicate	VERB
ijassa-1307	13	19	with	with	ADP
ijassa-1307	13	20	each	each	DET
ijassa-1307	13	21	other	other	ADJ
ijassa-1307	13	22	by	by	ADP
ijassa-1307	13	23	the	the	DET
ijassa-1307	13	24	wireless	wireless	ADJ
ijassa-1307	13	25	network	network	NOUN
ijassa-1307	13	26	.	.	PUNCT
ijassa-1307	14	1	the	the	DET
ijassa-1307	14	2	avs	avs	PROPN
ijassa-1307	14	3	are	be	AUX
ijassa-1307	14	4	equipped	equip	VERB
ijassa-1307	14	5	with	with	ADP
ijassa-1307	14	6	rangefinders	rangefinder	NOUN
ijassa-1307	14	7	enabling	enable	VERB
ijassa-1307	14	8	them	they	PRON
ijassa-1307	14	9	to	to	PART
ijassa-1307	14	10	evaluate	evaluate	VERB
ijassa-1307	14	11	distances	distance	NOUN
ijassa-1307	14	12	to	to	ADP
ijassa-1307	14	13	obstacles	obstacle	NOUN
ijassa-1307	14	14	and	and	CCONJ
ijassa-1307	14	15	wireless	wireless	ADJ
ijassa-1307	14	16	communication	communication	NOUN
ijassa-1307	14	17	modules	module	NOUN
ijassa-1307	14	18	to	to	PART
ijassa-1307	14	19	receive	receive	VERB
ijassa-1307	14	20	and	and	CCONJ
ijassa-1307	14	21	transmit	transmit	VERB
ijassa-1307	14	22	messages	message	NOUN
ijassa-1307	14	23	.	.	PUNCT
ijassa-1307	15	1	suppose	suppose	VERB
ijassa-1307	15	2	the	the	DET
ijassa-1307	15	3	radius	radius	NOUN
ijassa-1307	15	4	of	of	ADP
ijassa-1307	15	5	action	action	NOUN
ijassa-1307	15	6	of	of	ADP
ijassa-1307	15	7	the	the	DET
ijassa-1307	15	8	wireless	wireless	ADJ
ijassa-1307	15	9	communication	communication	NOUN
ijassa-1307	15	10	module	module	NOUN
ijassa-1307	15	11	is	be	AUX
ijassa-1307	15	12	comparable	comparable	ADJ
ijassa-1307	15	13	with	with	ADP
ijassa-1307	15	14	the	the	DET
ijassa-1307	15	15	av	av	PROPN
ijassa-1307	15	16	dimension	dimension	NOUN
ijassa-1307	15	17	and	and	CCONJ
ijassa-1307	15	18	its	its	PRON
ijassa-1307	15	19	speed	speed	NOUN
ijassa-1307	15	20	characteristics	characteristic	NOUN
ijassa-1307	15	21	to	to	PART
ijassa-1307	15	22	receive	receive	VERB
ijassa-1307	15	23	helpful	helpful	ADJ
ijassa-1307	15	24	information	information	NOUN
ijassa-1307	15	25	from	from	ADP
ijassa-1307	15	26	other	other	ADJ
ijassa-1307	15	27	participants	participant	NOUN
ijassa-1307	15	28	from	from	ADP
ijassa-1307	15	29	the	the	DET
ijassa-1307	15	30	network	network	NOUN
ijassa-1307	15	31	in	in	ADP
ijassa-1307	15	32	advance	advance	NOUN
ijassa-1307	15	33	.	.	PUNCT
ijassa-1307	16	1	2	2	X
ijassa-1307	16	2	.	.	X
ijassa-1307	16	3	problem	problem	NOUN
ijassa-1307	16	4	statement	statement	NOUN
ijassa-1307	16	5	all	all	DET
ijassa-1307	16	6	avs	avs	PROPN
ijassa-1307	16	7	have	have	VERB
ijassa-1307	16	8	the	the	DET
ijassa-1307	16	9	possibility	possibility	NOUN
ijassa-1307	16	10	to	to	PART
ijassa-1307	16	11	build	build	VERB
ijassa-1307	16	12	their	their	PRON
ijassa-1307	16	13	local	local	ADJ
ijassa-1307	16	14	map	map	NOUN
ijassa-1307	16	15	of	of	ADP
ijassa-1307	16	16	observed	observed	ADJ
ijassa-1307	16	17	objects	object	NOUN
ijassa-1307	16	18	,	,	PUNCT
ijassa-1307	16	19	transmit	transmit	VERB
ijassa-1307	16	20	it	it	PRON
ijassa-1307	16	21	to	to	ADP
ijassa-1307	16	22	other	other	ADJ
ijassa-1307	16	23	network	network	NOUN
ijassa-1307	16	24	participants	participant	NOUN
ijassa-1307	16	25	,	,	PUNCT
ijassa-1307	16	26	and	and	CCONJ
ijassa-1307	16	27	receive	receive	VERB
ijassa-1307	16	28	their	their	PRON
ijassa-1307	16	29	maps	map	NOUN
ijassa-1307	16	30	of	of	ADP
ijassa-1307	16	31	obstacles	obstacle	NOUN
ijassa-1307	16	32	.	.	PUNCT
ijassa-1307	17	1	for	for	ADP
ijassa-1307	17	2	the	the	DET
ijassa-1307	17	3	two	two	NUM
ijassa-1307	17	4	-	-	PUNCT
ijassa-1307	17	5	dimensional	dimensional	ADJ
ijassa-1307	17	6	case	case	NOUN
ijassa-1307	17	7	,	,	PUNCT
ijassa-1307	17	8	a	a	DET
ijassa-1307	17	9	local	local	ADJ
ijassa-1307	17	10	map	map	NOUN
ijassa-1307	17	11	of	of	ADP
ijassa-1307	17	12	obstacles	obstacle	NOUN
ijassa-1307	17	13	(	(	PUNCT
ijassa-1307	17	14	see	see	VERB
ijassa-1307	17	15	fig	fig	NOUN
ijassa-1307	17	16	.	.	PUNCT
ijassa-1307	18	1	2.1a	2.1a	NOUN
ijassa-1307	18	2	)	)	PUNCT
ijassa-1307	18	3	which	which	PRON
ijassa-1307	18	4	is	be	AUX
ijassa-1307	18	5	represented	represent	VERB
ijassa-1307	18	6	by	by	ADP
ijassa-1307	18	7	the	the	DET
ijassa-1307	18	8	data	datum	NOUN
ijassa-1307	18	9	type	type	NOUN
ijassa-1307	18	10	mapmsg	mapmsg	NOUN
ijassa-1307	18	11	:	:	PUNCT
ijassa-1307	18	12	<	<	X
ijassa-1307	18	13	id	id	X
ijassa-1307	18	14	,	,	PUNCT
ijassa-1307	18	15	g	g	PROPN
ijassa-1307	18	16	=	=	PUNCT
ijassa-1307	18	17	{	{	PUNCT
ijassa-1307	18	18	gi	gi	INTJ
ijassa-1307	18	19	}	}	PUNCT
ijassa-1307	18	20	,	,	PUNCT
ijassa-1307	18	21	u	u	NOUN
ijassa-1307	18	22	=	=	SYM
ijassa-1307	18	23	(	(	PUNCT
ijassa-1307	18	24	uj	uj	PROPN
ijassa-1307	18	25	)	)	PUNCT
ijassa-1307	18	26	>	>	PUNCT
ijassa-1307	18	27	,	,	PUNCT
ijassa-1307	18	28	where	where	SCONJ
ijassa-1307	18	29	gi	gi	VERB
ijassa-1307	18	30	=	=	SYM
ijassa-1307	18	31	(	(	PUNCT
ijassa-1307	18	32	d	d	PROPN
ijassa-1307	18	33	,	,	PUNCT
ijassa-1307	18	34	a	a	DET
ijassa-1307	18	35	,	,	PUNCT
ijassa-1307	18	36	s	s	NOUN
ijassa-1307	18	37	)	)	PUNCT
ijassa-1307	18	38	–	–	PUNCT
ijassa-1307	18	39	sets	set	NOUN
ijassa-1307	18	40	of	of	ADP
ijassa-1307	18	41	relative	relative	ADJ
ijassa-1307	18	42	positions	position	NOUN
ijassa-1307	18	43	of	of	ADP
ijassa-1307	18	44	directly	directly	ADV
ijassa-1307	18	45	∗corresponding	∗corresponde	VERB
ijassa-1307	18	46	author	author	NOUN
ijassa-1307	18	47	:	:	PUNCT
ijassa-1307	18	48	aabdulov@asmon.ru	aabdulov@asmon.ru	PROPN
ijassa-1307	18	49	194	194	NUM
ijassa-1307	18	50	a.	a.	NOUN
ijassa-1307	18	51	abdulov	abdulov	NOUN
ijassa-1307	18	52	(	(	PUNCT
ijassa-1307	18	53	a	a	X
ijassa-1307	18	54	)	)	PUNCT
ijassa-1307	18	55	local	local	ADJ
ijassa-1307	18	56	map	map	NOUN
ijassa-1307	18	57	of	of	ADP
ijassa-1307	18	58	obstacles	obstacle	NOUN
ijassa-1307	18	59	(	(	PUNCT
ijassa-1307	18	60	b	b	NOUN
ijassa-1307	18	61	)	)	PUNCT
ijassa-1307	18	62	principle	principle	NOUN
ijassa-1307	18	63	of	of	ADP
ijassa-1307	18	64	a	a	DET
ijassa-1307	18	65	safe	safe	ADJ
ijassa-1307	18	66	path	path	NOUN
ijassa-1307	18	67	choosing	choose	VERB
ijassa-1307	18	68	fig	fig	NOUN
ijassa-1307	18	69	.	.	PUNCT
ijassa-1307	19	1	2.1	2.1	NUM
ijassa-1307	19	2	.	.	PUNCT
ijassa-1307	19	3	simple	simple	ADJ
ijassa-1307	19	4	model	model	NOUN
ijassa-1307	19	5	of	of	ADP
ijassa-1307	19	6	the	the	DET
ijassa-1307	19	7	mobile	mobile	ADJ
ijassa-1307	19	8	autonomous	autonomous	ADJ
ijassa-1307	19	9	vehicle	vehicle	NOUN
ijassa-1307	19	10	.	.	PUNCT
ijassa-1307	20	1	observed	observe	VERB
ijassa-1307	20	2	objects	object	NOUN
ijassa-1307	20	3	(	(	PUNCT
ijassa-1307	20	4	distant	distant	ADJ
ijassa-1307	20	5	at	at	ADP
ijassa-1307	20	6	the	the	DET
ijassa-1307	20	7	distance	distance	NOUN
ijassa-1307	20	8	d	d	NOUN
ijassa-1307	20	9	and	and	CCONJ
ijassa-1307	20	10	deviated	deviate	VERB
ijassa-1307	20	11	on	on	ADP
ijassa-1307	20	12	the	the	DET
ijassa-1307	20	13	angle	angle	NOUN
ijassa-1307	20	14	a	a	PRON
ijassa-1307	20	15	from	from	ADP
ijassa-1307	20	16	observer	observer	NOUN
ijassa-1307	20	17	heading	head	VERB
ijassa-1307	20	18	)	)	PUNCT
ijassa-1307	20	19	,	,	PUNCT
ijassa-1307	20	20	and	and	CCONJ
ijassa-1307	20	21	s	s	X
ijassa-1307	20	22	–	–	PUNCT
ijassa-1307	20	23	approximate	approximate	ADJ
ijassa-1307	20	24	dimensions	dimension	NOUN
ijassa-1307	20	25	of	of	ADP
ijassa-1307	20	26	the	the	DET
ijassa-1307	20	27	obstacle	obstacle	NOUN
ijassa-1307	20	28	(	(	PUNCT
ijassa-1307	20	29	since	since	SCONJ
ijassa-1307	20	30	they	they	PRON
ijassa-1307	20	31	are	be	AUX
ijassa-1307	20	32	unknown	unknown	ADJ
ijassa-1307	20	33	,	,	PUNCT
ijassa-1307	20	34	they	they	PRON
ijassa-1307	20	35	should	should	AUX
ijassa-1307	20	36	be	be	AUX
ijassa-1307	20	37	estimated	estimate	VERB
ijassa-1307	20	38	)	)	PUNCT
ijassa-1307	20	39	.	.	PUNCT
ijassa-1307	21	1	note	note	VERB
ijassa-1307	21	2	that	that	SCONJ
ijassa-1307	21	3	it	it	PRON
ijassa-1307	21	4	is	be	AUX
ijassa-1307	21	5	quite	quite	ADV
ijassa-1307	21	6	difficult	difficult	ADJ
ijassa-1307	21	7	to	to	PART
ijassa-1307	21	8	focus	focus	VERB
ijassa-1307	21	9	on	on	ADP
ijassa-1307	21	10	the	the	DET
ijassa-1307	21	11	dimensions	dimension	NOUN
ijassa-1307	21	12	estimated	estimate	VERB
ijassa-1307	21	13	by	by	ADP
ijassa-1307	21	14	rangefinders	rangefinder	NOUN
ijassa-1307	21	15	in	in	ADP
ijassa-1307	21	16	practice	practice	NOUN
ijassa-1307	21	17	.	.	PUNCT
ijassa-1307	22	1	therefore	therefore	ADV
ijassa-1307	22	2	,	,	PUNCT
ijassa-1307	22	3	this	this	DET
ijassa-1307	22	4	information	information	NOUN
ijassa-1307	22	5	is	be	AUX
ijassa-1307	22	6	rather	rather	ADV
ijassa-1307	22	7	needed	need	VERB
ijassa-1307	22	8	for	for	ADP
ijassa-1307	22	9	the	the	DET
ijassa-1307	22	10	subsequent	subsequent	ADJ
ijassa-1307	22	11	evasion	evasion	NOUN
ijassa-1307	22	12	from	from	ADP
ijassa-1307	22	13	unidentified	unidentified	ADJ
ijassa-1307	22	14	objects	object	NOUN
ijassa-1307	22	15	,	,	PUNCT
ijassa-1307	22	16	which	which	PRON
ijassa-1307	22	17	in	in	ADP
ijassa-1307	22	18	theory	theory	NOUN
ijassa-1307	22	19	appear	appear	VERB
ijassa-1307	22	20	to	to	PART
ijassa-1307	22	21	be	be	AUX
ijassa-1307	22	22	stationary	stationary	ADJ
ijassa-1307	22	23	objects	object	NOUN
ijassa-1307	22	24	with	with	ADP
ijassa-1307	22	25	some	some	DET
ijassa-1307	22	26	size	size	NOUN
ijassa-1307	22	27	.	.	PUNCT
ijassa-1307	23	1	in	in	ADP
ijassa-1307	23	2	turn	turn	NOUN
ijassa-1307	23	3	,	,	PUNCT
ijassa-1307	23	4	u	u	NOUN
ijassa-1307	23	5	is	be	AUX
ijassa-1307	23	6	the	the	DET
ijassa-1307	23	7	state	state	NOUN
ijassa-1307	23	8	vector	vector	NOUN
ijassa-1307	23	9	of	of	ADP
ijassa-1307	23	10	the	the	DET
ijassa-1307	23	11	av	av	PROPN
ijassa-1307	23	12	(	(	PUNCT
ijassa-1307	23	13	dimension	dimension	NOUN
ijassa-1307	23	14	,	,	PUNCT
ijassa-1307	23	15	planned	plan	VERB
ijassa-1307	23	16	path	path	NOUN
ijassa-1307	23	17	in	in	ADP
ijassa-1307	23	18	local	local	ADJ
ijassa-1307	23	19	coordinate	coordinate	NOUN
ijassa-1307	23	20	system	system	NOUN
ijassa-1307	23	21	,	,	PUNCT
ijassa-1307	23	22	and	and	CCONJ
ijassa-1307	23	23	other	other	ADJ
ijassa-1307	23	24	useful	useful	ADJ
ijassa-1307	23	25	information	information	NOUN
ijassa-1307	23	26	)	)	PUNCT
ijassa-1307	23	27	.	.	PUNCT
ijassa-1307	24	1	it	it	PRON
ijassa-1307	24	2	is	be	AUX
ijassa-1307	24	3	advisable	advisable	ADJ
ijassa-1307	24	4	to	to	PART
ijassa-1307	24	5	use	use	VERB
ijassa-1307	24	6	wireless	wireless	ADJ
ijassa-1307	24	7	network	network	NOUN
ijassa-1307	24	8	ip	ip	NOUN
ijassa-1307	24	9	addresses	address	NOUN
ijassa-1307	24	10	or	or	CCONJ
ijassa-1307	24	11	mac	mac	NOUN
ijassa-1307	24	12	addresses	address	NOUN
ijassa-1307	24	13	of	of	ADP
ijassa-1307	24	14	network	network	NOUN
ijassa-1307	24	15	devices	device	NOUN
ijassa-1307	24	16	as	as	ADP
ijassa-1307	24	17	unique	unique	ADJ
ijassa-1307	24	18	identifiers	identifier	NOUN
ijassa-1307	24	19	i	i	PRON
ijassa-1307	24	20	d.	d.	PROPN
ijassa-1307	25	1	all	all	DET
ijassa-1307	25	2	examples	example	NOUN
ijassa-1307	25	3	are	be	AUX
ijassa-1307	25	4	used	use	VERB
ijassa-1307	25	5	simple	simple	ADJ
ijassa-1307	25	6	integer	integer	NOUN
ijassa-1307	25	7	identifiers	identifier	NOUN
ijassa-1307	25	8	.	.	PUNCT
ijassa-1307	26	1	there	there	PRON
ijassa-1307	26	2	are	be	VERB
ijassa-1307	26	3	n	n	PRON
ijassa-1307	26	4	observable	observable	ADJ
ijassa-1307	26	5	objects	object	NOUN
ijassa-1307	26	6	for	for	ADP
ijassa-1307	26	7	each	each	DET
ijassa-1307	26	8	av	av	PROPN
ijassa-1307	26	9	in	in	ADP
ijassa-1307	26	10	the	the	DET
ijassa-1307	26	11	general	general	ADJ
ijassa-1307	26	12	case	case	NOUN
ijassa-1307	26	13	,	,	PUNCT
ijassa-1307	26	14	and	and	CCONJ
ijassa-1307	26	15	m	m	AUX
ijassa-1307	26	16	received	receive	VERB
ijassa-1307	26	17	messages	message	NOUN
ijassa-1307	26	18	from	from	ADP
ijassa-1307	26	19	the	the	DET
ijassa-1307	26	20	network	network	NOUN
ijassa-1307	26	21	.	.	PUNCT
ijassa-1307	27	1	so	so	ADV
ijassa-1307	27	2	,	,	PUNCT
ijassa-1307	27	3	a	a	DET
ijassa-1307	27	4	problem	problem	NOUN
ijassa-1307	27	5	arises	arise	VERB
ijassa-1307	27	6	to	to	PART
ijassa-1307	27	7	determine	determine	VERB
ijassa-1307	27	8	message	message	NOUN
ijassa-1307	27	9	sender	sender	NOUN
ijassa-1307	27	10	location	location	NOUN
ijassa-1307	27	11	at	at	ADP
ijassa-1307	27	12	the	the	DET
ijassa-1307	27	13	local	local	ADJ
ijassa-1307	27	14	map	map	NOUN
ijassa-1307	27	15	of	of	ADP
ijassa-1307	27	16	obstacles	obstacle	NOUN
ijassa-1307	27	17	.	.	PUNCT
ijassa-1307	28	1	choosing	choose	VERB
ijassa-1307	28	2	safety	safety	NOUN
ijassa-1307	28	3	path	path	NOUN
ijassa-1307	28	4	control	control	NOUN
ijassa-1307	28	5	(	(	PUNCT
ijassa-1307	28	6	see	see	VERB
ijassa-1307	28	7	fig	fig	NOUN
ijassa-1307	28	8	.	.	PUNCT
ijassa-1307	29	1	2.1b	2.1b	NUM
ijassa-1307	29	2	)	)	PUNCT
ijassa-1307	29	3	can	can	AUX
ijassa-1307	29	4	be	be	AUX
ijassa-1307	29	5	implemented	implement	VERB
ijassa-1307	29	6	by	by	ADP
ijassa-1307	29	7	modifications	modification	NOUN
ijassa-1307	29	8	of	of	ADP
ijassa-1307	29	9	dwa	dwa	PROPN
ijassa-1307	30	1	[	[	X
ijassa-1307	30	2	2	2	NUM
ijassa-1307	30	3	]	]	PUNCT
ijassa-1307	30	4	,	,	PUNCT
ijassa-1307	30	5	teb	teb	PROPN
ijassa-1307	31	1	[	[	X
ijassa-1307	31	2	3	3	NUM
ijassa-1307	31	3	]	]	PUNCT
ijassa-1307	31	4	,	,	PUNCT
ijassa-1307	31	5	or	or	CCONJ
ijassa-1307	31	6	mpc	mpc	NOUN
ijassa-1307	32	1	[	[	X
ijassa-1307	32	2	4	4	NUM
ijassa-1307	32	3	]	]	PUNCT
ijassa-1307	32	4	.	.	PUNCT
ijassa-1307	33	1	3	3	X
ijassa-1307	33	2	.	.	X
ijassa-1307	33	3	algorithm	algorithm	NOUN
ijassa-1307	33	4	description	description	NOUN
ijassa-1307	33	5	partially	partially	ADV
ijassa-1307	33	6	this	this	DET
ijassa-1307	33	7	uncertainty	uncertainty	NOUN
ijassa-1307	33	8	can	can	AUX
ijassa-1307	33	9	be	be	AUX
ijassa-1307	33	10	decreased	decrease	VERB
ijassa-1307	33	11	by	by	ADP
ijassa-1307	33	12	solving	solve	VERB
ijassa-1307	33	13	for	for	ADP
ijassa-1307	33	14	each	each	DET
ijassa-1307	33	15	av	av	PROPN
ijassa-1307	33	16	the	the	DET
ijassa-1307	33	17	local	local	ADJ
ijassa-1307	33	18	positioning	positioning	NOUN
ijassa-1307	33	19	problem	problem	NOUN
ijassa-1307	33	20	,	,	PUNCT
ijassa-1307	33	21	which	which	PRON
ijassa-1307	33	22	is	be	AUX
ijassa-1307	33	23	to	to	PART
ijassa-1307	33	24	determine	determine	VERB
ijassa-1307	33	25	a	a	DET
ijassa-1307	33	26	relative	relative	ADJ
ijassa-1307	33	27	location	location	NOUN
ijassa-1307	33	28	and	and	CCONJ
ijassa-1307	33	29	parameters	parameter	NOUN
ijassa-1307	33	30	of	of	ADP
ijassa-1307	33	31	motion	motion	NOUN
ijassa-1307	33	32	of	of	ADP
ijassa-1307	33	33	different	different	ADJ
ijassa-1307	33	34	objects	object	NOUN
ijassa-1307	33	35	.	.	PUNCT
ijassa-1307	34	1	a	a	DET
ijassa-1307	34	2	feature	feature	NOUN
ijassa-1307	34	3	of	of	ADP
ijassa-1307	34	4	the	the	DET
ijassa-1307	34	5	problem	problem	NOUN
ijassa-1307	34	6	is	be	AUX
ijassa-1307	34	7	the	the	DET
ijassa-1307	34	8	absence	absence	NOUN
ijassa-1307	34	9	of	of	ADP
ijassa-1307	34	10	common	common	ADJ
ijassa-1307	34	11	orient	orient	NOUN
ijassa-1307	34	12	beacons	beacon	NOUN
ijassa-1307	34	13	for	for	ADP
ijassa-1307	34	14	all	all	DET
ijassa-1307	34	15	road	road	NOUN
ijassa-1307	34	16	traffic	traffic	NOUN
ijassa-1307	34	17	participants	participant	NOUN
ijassa-1307	34	18	.	.	PUNCT
ijassa-1307	35	1	groups	group	NOUN
ijassa-1307	35	2	of	of	ADP
ijassa-1307	35	3	avs	avs	PROPN
ijassa-1307	35	4	with	with	ADP
ijassa-1307	35	5	communication	communication	NOUN
ijassa-1307	35	6	channels	channel	NOUN
ijassa-1307	35	7	can	can	AUX
ijassa-1307	35	8	apply	apply	VERB
ijassa-1307	35	9	network	network	NOUN
ijassa-1307	35	10	models	model	NOUN
ijassa-1307	35	11	of	of	ADP
ijassa-1307	35	12	local	local	ADJ
ijassa-1307	35	13	positioning	positioning	NOUN
ijassa-1307	35	14	based	base	VERB
ijassa-1307	35	15	on	on	ADP
ijassa-1307	35	16	known	known	ADJ
ijassa-1307	35	17	approaches	approach	NOUN
ijassa-1307	35	18	:	:	PUNCT
ijassa-1307	35	19	triangulation	triangulation	NOUN
ijassa-1307	35	20	,	,	PUNCT
ijassa-1307	35	21	trilateration	trilateration	NOUN
ijassa-1307	35	22	,	,	PUNCT
ijassa-1307	35	23	and	and	CCONJ
ijassa-1307	35	24	navigation	navigation	NOUN
ijassa-1307	35	25	numeration	numeration	NOUN
ijassa-1307	35	26	[	[	X
ijassa-1307	35	27	5	5	NUM
ijassa-1307	35	28	]	]	PUNCT
ijassa-1307	35	29	.	.	PUNCT
ijassa-1307	36	1	the	the	DET
ijassa-1307	36	2	proposed	propose	VERB
ijassa-1307	36	3	method	method	NOUN
ijassa-1307	36	4	is	be	AUX
ijassa-1307	36	5	applicable	applicable	ADJ
ijassa-1307	36	6	,	,	PUNCT
ijassa-1307	36	7	taking	take	VERB
ijassa-1307	36	8	into	into	ADP
ijassa-1307	36	9	account	account	NOUN
ijassa-1307	36	10	the	the	DET
ijassa-1307	36	11	following	follow	VERB
ijassa-1307	36	12	statement	statement	NOUN
ijassa-1307	36	13	:	:	PUNCT
ijassa-1307	36	14	the	the	DET
ijassa-1307	36	15	distance	distance	NOUN
ijassa-1307	36	16	between	between	ADP
ijassa-1307	36	17	the	the	DET
ijassa-1307	36	18	participants	participant	NOUN
ijassa-1307	36	19	of	of	ADP
ijassa-1307	36	20	the	the	DET
ijassa-1307	36	21	movement	movement	NOUN
ijassa-1307	36	22	observing	observe	VERB
ijassa-1307	36	23	each	each	DET
ijassa-1307	36	24	other	other	ADJ
ijassa-1307	36	25	is	be	AUX
ijassa-1307	36	26	the	the	DET
ijassa-1307	36	27	same	same	ADJ
ijassa-1307	36	28	.	.	PUNCT
ijassa-1307	37	1	the	the	DET
ijassa-1307	37	2	complete	complete	ADJ
ijassa-1307	37	3	cycle	cycle	NOUN
ijassa-1307	37	4	of	of	ADP
ijassa-1307	37	5	the	the	DET
ijassa-1307	37	6	algorithm	algorithm	NOUN
ijassa-1307	37	7	for	for	ADP
ijassa-1307	37	8	obtaining	obtain	VERB
ijassa-1307	37	9	an	an	DET
ijassa-1307	37	10	extended	extended	ADJ
ijassa-1307	37	11	local	local	ADJ
ijassa-1307	37	12	obstacle	obstacle	NOUN
ijassa-1307	37	13	map	map	NOUN
ijassa-1307	37	14	is	be	AUX
ijassa-1307	37	15	shown	show	VERB
ijassa-1307	37	16	in	in	ADP
ijassa-1307	37	17	fig	fig	NOUN
ijassa-1307	37	18	.	.	PUNCT
ijassa-1307	38	1	3.2	3.2	NUM
ijassa-1307	38	2	.	.	PUNCT
ijassa-1307	39	1	let	let	VERB
ijassa-1307	39	2	’s	’s	NOUN
ijassa-1307	39	3	consider	consider	VERB
ijassa-1307	39	4	it	it	PRON
ijassa-1307	39	5	in	in	ADP
ijassa-1307	39	6	more	more	ADJ
ijassa-1307	39	7	detail	detail	NOUN
ijassa-1307	39	8	.	.	PUNCT
ijassa-1307	40	1	3.1	3.1	NUM
ijassa-1307	40	2	.	.	PUNCT
ijassa-1307	40	3	rangefinder	rangefinder	NOUN
ijassa-1307	40	4	data	datum	NOUN
ijassa-1307	40	5	capture	capture	VERB
ijassa-1307	40	6	first	first	ADV
ijassa-1307	40	7	of	of	ADP
ijassa-1307	40	8	all	all	PRON
ijassa-1307	40	9	,	,	PUNCT
ijassa-1307	40	10	it	it	PRON
ijassa-1307	40	11	is	be	AUX
ijassa-1307	40	12	necessary	necessary	ADJ
ijassa-1307	40	13	to	to	PART
ijassa-1307	40	14	capture	capture	VERB
ijassa-1307	40	15	readings	reading	NOUN
ijassa-1307	40	16	from	from	ADP
ijassa-1307	40	17	the	the	DET
ijassa-1307	40	18	rangefinders	rangefinder	NOUN
ijassa-1307	40	19	installed	instal	VERB
ijassa-1307	40	20	on	on	ADP
ijassa-1307	40	21	board	board	NOUN
ijassa-1307	40	22	,	,	PUNCT
ijassa-1307	40	23	these	these	PRON
ijassa-1307	40	24	can	can	AUX
ijassa-1307	40	25	be	be	AUX
ijassa-1307	40	26	circular	circular	ADJ
ijassa-1307	40	27	or	or	CCONJ
ijassa-1307	40	28	multi	multi	ADJ
ijassa-1307	40	29	-	-	ADJ
ijassa-1307	40	30	beam	beam	ADJ
ijassa-1307	40	31	lidars	lidar	NOUN
ijassa-1307	40	32	,	,	PUNCT
ijassa-1307	40	33	depth	depth	NOUN
ijassa-1307	40	34	or	or	CCONJ
ijassa-1307	40	35	stereo	stereo	NOUN
ijassa-1307	40	36	cameras	camera	NOUN
ijassa-1307	40	37	,	,	PUNCT
ijassa-1307	40	38	etc	etc	X
ijassa-1307	40	39	.	.	X
ijassa-1307	41	1	copyright	copyright	NOUN
ijassa-1307	41	2	©	©	PROPN
ijassa-1307	41	3	2022	2022	NUM
ijassa-1307	41	4	assa	assa	NOUN
ijassa-1307	41	5	.	.	PUNCT
ijassa-1307	42	1	adv	adv	PROPN
ijassa-1307	42	2	syst	syst	PROPN
ijassa-1307	42	3	sci	sci	PROPN
ijassa-1307	42	4	appl	appl	PROPN
ijassa-1307	42	5	(	(	PUNCT
ijassa-1307	42	6	2022	2022	NUM
ijassa-1307	42	7	)	)	PUNCT
ijassa-1307	42	8	extending	extend	VERB
ijassa-1307	42	9	obstacle	obstacle	NOUN
ijassa-1307	42	10	map	map	NOUN
ijassa-1307	42	11	of	of	ADP
ijassa-1307	42	12	autonomous	autonomous	ADJ
ijassa-1307	42	13	vehicles	vehicle	NOUN
ijassa-1307	42	14	195	195	NUM
ijassa-1307	42	15	fig	fig	NOUN
ijassa-1307	42	16	.	.	PUNCT
ijassa-1307	43	1	3.2	3.2	NUM
ijassa-1307	43	2	.	.	PUNCT
ijassa-1307	44	1	algorithm	algorithm	NOUN
ijassa-1307	44	2	cycle	cycle	NOUN
ijassa-1307	44	3	to	to	ADP
ijassa-1307	44	4	obtaining	obtain	VERB
ijassa-1307	44	5	an	an	DET
ijassa-1307	44	6	extended	extended	ADJ
ijassa-1307	44	7	local	local	ADJ
ijassa-1307	44	8	obstacle	obstacle	NOUN
ijassa-1307	44	9	map	map	NOUN
ijassa-1307	44	10	.	.	PUNCT
ijassa-1307	45	1	3.2	3.2	NUM
ijassa-1307	45	2	.	.	PUNCT
ijassa-1307	45	3	create	create	VERB
ijassa-1307	45	4	self	self	NOUN
ijassa-1307	45	5	local	local	ADJ
ijassa-1307	45	6	map	map	NOUN
ijassa-1307	45	7	of	of	ADP
ijassa-1307	45	8	obstacles	obstacle	NOUN
ijassa-1307	45	9	then	then	ADV
ijassa-1307	45	10	create	create	VERB
ijassa-1307	45	11	self	self	NOUN
ijassa-1307	45	12	local	local	ADJ
ijassa-1307	45	13	obstacle	obstacle	NOUN
ijassa-1307	45	14	map	map	VERB
ijassa-1307	45	15	gself	gself	PRON
ijassa-1307	45	16	.	.	PUNCT
ijassa-1307	46	1	here	here	ADV
ijassa-1307	46	2	,	,	PUNCT
ijassa-1307	46	3	rangefinder	rangefinder	NOUN
ijassa-1307	46	4	readings	reading	NOUN
ijassa-1307	46	5	are	be	AUX
ijassa-1307	46	6	used	use	VERB
ijassa-1307	46	7	as	as	ADP
ijassa-1307	46	8	input	input	NOUN
ijassa-1307	46	9	,	,	PUNCT
ijassa-1307	46	10	but	but	CCONJ
ijassa-1307	46	11	they	they	PRON
ijassa-1307	46	12	should	should	AUX
ijassa-1307	46	13	be	be	AUX
ijassa-1307	46	14	prepared	prepare	VERB
ijassa-1307	46	15	.	.	PUNCT
ijassa-1307	47	1	it	it	PRON
ijassa-1307	47	2	is	be	AUX
ijassa-1307	47	3	required	require	VERB
ijassa-1307	47	4	to	to	PART
ijassa-1307	47	5	isolate	isolate	VERB
ijassa-1307	47	6	individual	individual	ADJ
ijassa-1307	47	7	objects	object	NOUN
ijassa-1307	47	8	(	(	PUNCT
ijassa-1307	47	9	obstacles	obstacle	NOUN
ijassa-1307	47	10	)	)	PUNCT
ijassa-1307	47	11	based	base	VERB
ijassa-1307	47	12	on	on	ADP
ijassa-1307	47	13	raw	raw	ADJ
ijassa-1307	47	14	data	datum	NOUN
ijassa-1307	47	15	gi	gi	NOUN
ijassa-1307	47	16	:	:	PUNCT
ijassa-1307	47	17	determine	determine	VERB
ijassa-1307	47	18	the	the	DET
ijassa-1307	47	19	distance	distance	NOUN
ijassa-1307	47	20	di	di	NOUN
ijassa-1307	47	21	,	,	PUNCT
ijassa-1307	47	22	the	the	DET
ijassa-1307	47	23	angleai	angleai	NOUN
ijassa-1307	47	24	of	of	ADP
ijassa-1307	47	25	deviation	deviation	NOUN
ijassa-1307	47	26	from	from	ADP
ijassa-1307	47	27	its	its	PRON
ijassa-1307	47	28	course	course	NOUN
ijassa-1307	47	29	on	on	ADP
ijassa-1307	47	30	it	it	PRON
ijassa-1307	47	31	and	and	CCONJ
ijassa-1307	47	32	additionally	additionally	ADV
ijassa-1307	47	33	evaluate	evaluate	VERB
ijassa-1307	47	34	its	its	PRON
ijassa-1307	47	35	dimensions	dimension	NOUN
ijassa-1307	47	36	si	si	INTJ
ijassa-1307	47	37	.	.	PUNCT
ijassa-1307	48	1	this	this	PRON
ijassa-1307	48	2	is	be	AUX
ijassa-1307	48	3	a	a	DET
ijassa-1307	48	4	very	very	ADV
ijassa-1307	48	5	important	important	ADJ
ijassa-1307	48	6	stage	stage	NOUN
ijassa-1307	48	7	,	,	PUNCT
ijassa-1307	48	8	especially	especially	ADV
ijassa-1307	48	9	in	in	ADP
ijassa-1307	48	10	practice	practice	NOUN
ijassa-1307	48	11	when	when	SCONJ
ijassa-1307	48	12	the	the	DET
ijassa-1307	48	13	sensor	sensor	NOUN
ijassa-1307	48	14	readings	reading	NOUN
ijassa-1307	48	15	are	be	AUX
ijassa-1307	48	16	noisy	noisy	ADJ
ijassa-1307	48	17	.	.	PUNCT
ijassa-1307	49	1	the	the	DET
ijassa-1307	49	2	prepared	prepared	ADJ
ijassa-1307	49	3	map	map	NOUN
ijassa-1307	49	4	gself	gself	PRON
ijassa-1307	49	5	should	should	AUX
ijassa-1307	49	6	be	be	AUX
ijassa-1307	49	7	packed	pack	VERB
ijassa-1307	49	8	into	into	ADP
ijassa-1307	49	9	a	a	DET
ijassa-1307	49	10	message	message	NOUN
ijassa-1307	49	11	msgself	msgself	PRON
ijassa-1307	49	12	∈	∈	NOUN
ijassa-1307	49	13	mapmsg	mapmsg	NOUN
ijassa-1307	49	14	(	(	PUNCT
ijassa-1307	49	15	supplemented	supplement	VERB
ijassa-1307	49	16	with	with	ADP
ijassa-1307	49	17	information	information	NOUN
ijassa-1307	49	18	uself	uself	PRON
ijassa-1307	49	19	about	about	ADP
ijassa-1307	49	20	its	its	PRON
ijassa-1307	49	21	dimensions	dimension	NOUN
ijassa-1307	49	22	and	and	CCONJ
ijassa-1307	49	23	the	the	DET
ijassa-1307	49	24	estimated	estimate	VERB
ijassa-1307	49	25	trajectory	trajectory	NOUN
ijassa-1307	49	26	of	of	ADP
ijassa-1307	49	27	movement	movement	NOUN
ijassa-1307	49	28	relative	relative	ADJ
ijassa-1307	49	29	to	to	ADP
ijassa-1307	49	30	the	the	DET
ijassa-1307	49	31	current	current	ADJ
ijassa-1307	49	32	position	position	NOUN
ijassa-1307	49	33	)	)	PUNCT
ijassa-1307	49	34	,	,	PUNCT
ijassa-1307	49	35	and	and	CCONJ
ijassa-1307	49	36	sent	send	VERB
ijassa-1307	49	37	to	to	ADP
ijassa-1307	49	38	the	the	DET
ijassa-1307	49	39	network	network	NOUN
ijassa-1307	49	40	so	so	SCONJ
ijassa-1307	49	41	that	that	SCONJ
ijassa-1307	49	42	other	other	ADJ
ijassa-1307	49	43	participants	participant	NOUN
ijassa-1307	49	44	can	can	AUX
ijassa-1307	49	45	also	also	ADV
ijassa-1307	49	46	use	use	VERB
ijassa-1307	49	47	it	it	PRON
ijassa-1307	49	48	.	.	PUNCT
ijassa-1307	50	1	3.3	3.3	NUM
ijassa-1307	50	2	.	.	PUNCT
ijassa-1307	51	1	database	database	NOUN
ijassa-1307	51	2	of	of	ADP
ijassa-1307	51	3	local	local	ADJ
ijassa-1307	51	4	maps	map	NOUN
ijassa-1307	51	5	self	self	NOUN
ijassa-1307	51	6	message	message	NOUN
ijassa-1307	51	7	msgself	msgself	PRON
ijassa-1307	51	8	=	=	NOUN
ijassa-1307	51	9	<	<	X
ijassa-1307	51	10	self	self	NOUN
ijassa-1307	51	11	,	,	PUNCT
ijassa-1307	51	12	gself	gself	NOUN
ijassa-1307	51	13	,	,	PUNCT
ijassa-1307	51	14	uself	uself	PRON
ijassa-1307	51	15	>	>	X
ijassa-1307	51	16	and	and	CCONJ
ijassa-1307	51	17	others	other	NOUN
ijassa-1307	51	18	{	{	PUNCT
ijassa-1307	51	19	msgid	msgid	ADJ
ijassa-1307	51	20	}	}	PUNCT
ijassa-1307	51	21	received	receive	VERB
ijassa-1307	51	22	from	from	ADP
ijassa-1307	51	23	the	the	DET
ijassa-1307	51	24	network	network	NOUN
ijassa-1307	51	25	are	be	AUX
ijassa-1307	51	26	stored	store	VERB
ijassa-1307	51	27	on	on	ADP
ijassa-1307	51	28	board	board	NOUN
ijassa-1307	51	29	in	in	ADP
ijassa-1307	51	30	a	a	DET
ijassa-1307	51	31	special	special	ADJ
ijassa-1307	51	32	database	database	NOUN
ijassa-1307	51	33	for	for	ADP
ijassa-1307	51	34	further	further	ADJ
ijassa-1307	51	35	operational	operational	ADJ
ijassa-1307	51	36	use	use	NOUN
ijassa-1307	51	37	.	.	PUNCT
ijassa-1307	52	1	outdated	outdated	ADJ
ijassa-1307	52	2	records	record	NOUN
ijassa-1307	52	3	from	from	ADP
ijassa-1307	52	4	the	the	DET
ijassa-1307	52	5	database	database	NOUN
ijassa-1307	52	6	can	can	AUX
ijassa-1307	52	7	be	be	AUX
ijassa-1307	52	8	automatically	automatically	ADV
ijassa-1307	52	9	deleted	delete	VERB
ijassa-1307	52	10	.	.	PUNCT
ijassa-1307	53	1	in	in	ADP
ijassa-1307	53	2	this	this	DET
ijassa-1307	53	3	case	case	NOUN
ijassa-1307	53	4	,	,	PUNCT
ijassa-1307	53	5	the	the	DET
ijassa-1307	53	6	component	component	NOUN
ijassa-1307	53	7	g	g	NOUN
ijassa-1307	53	8	of	of	ADP
ijassa-1307	53	9	messages	message	NOUN
ijassa-1307	53	10	in	in	ADP
ijassa-1307	53	11	the	the	DET
ijassa-1307	53	12	database	database	NOUN
ijassa-1307	53	13	will	will	AUX
ijassa-1307	53	14	be	be	AUX
ijassa-1307	53	15	represented	represent	VERB
ijassa-1307	53	16	in	in	ADP
ijassa-1307	53	17	the	the	DET
ijassa-1307	53	18	form	form	NOUN
ijassa-1307	53	19	of	of	ADP
ijassa-1307	53	20	a	a	DET
ijassa-1307	53	21	directed	direct	VERB
ijassa-1307	53	22	tree	tree	NOUN
ijassa-1307	53	23	g(v	g(v	PROPN
ijassa-1307	53	24	,	,	PUNCT
ijassa-1307	53	25	e	e	NOUN
ijassa-1307	53	26	)	)	PUNCT
ijassa-1307	53	27	.	.	PUNCT
ijassa-1307	54	1	so	so	ADV
ijassa-1307	54	2	each	each	DET
ijassa-1307	54	3	local	local	ADJ
ijassa-1307	54	4	obstacle	obstacle	NOUN
ijassa-1307	54	5	map	map	NOUN
ijassa-1307	54	6	consists	consist	VERB
ijassa-1307	54	7	of	of	ADP
ijassa-1307	54	8	a	a	DET
ijassa-1307	54	9	root	root	NOUN
ijassa-1307	54	10	node	node	NOUN
ijassa-1307	54	11	i	i	PROPN
ijassa-1307	54	12	d	d	PROPN
ijassa-1307	54	13	∈	∈	PROPN
ijassa-1307	54	14	v	v	NOUN
ijassa-1307	54	15	and	and	CCONJ
ijassa-1307	54	16	its	its	PRON
ijassa-1307	54	17	associated	associated	ADJ
ijassa-1307	54	18	terminal	terminal	ADJ
ijassa-1307	54	19	vertices	vertex	NOUN
ijassa-1307	54	20	{	{	PUNCT
ijassa-1307	54	21	v	v	NOUN
ijassa-1307	54	22	=	=	SYM
ijassa-1307	54	23	(	(	PUNCT
ijassa-1307	54	24	i	i	PROPN
ijassa-1307	54	25	d	d	PROPN
ijassa-1307	54	26	,	,	PUNCT
ijassa-1307	54	27	ai)|d(v	ai)|d(v	NOUN
ijassa-1307	54	28	)	)	PUNCT
ijassa-1307	54	29	=	=	SYM
ijassa-1307	54	30	1	1	X
ijassa-1307	54	31	}	}	PUNCT
ijassa-1307	54	32	⊂	⊂	PROPN
ijassa-1307	54	33	v	v	NOUN
ijassa-1307	54	34	as	as	ADP
ijassa-1307	54	35	“	"	PUNCT
ijassa-1307	54	36	star	star	NOUN
ijassa-1307	54	37	”	"	PUNCT
ijassa-1307	54	38	topology	topology	NOUN
ijassa-1307	54	39	.	.	PUNCT
ijassa-1307	55	1	all	all	DET
ijassa-1307	55	2	nodes	node	NOUN
ijassa-1307	55	3	of	of	ADP
ijassa-1307	55	4	this	this	DET
ijassa-1307	55	5	graph	graph	NOUN
ijassa-1307	55	6	have	have	VERB
ijassa-1307	55	7	the	the	DET
ijassa-1307	55	8	attribute	attribute	NOUN
ijassa-1307	55	9	s	s	PART
ijassa-1307	55	10	(	(	PUNCT
ijassa-1307	55	11	object	object	NOUN
ijassa-1307	55	12	dimensions	dimension	NOUN
ijassa-1307	55	13	)	)	PUNCT
ijassa-1307	55	14	,	,	PUNCT
ijassa-1307	55	15	and	and	CCONJ
ijassa-1307	55	16	edges	edge	NOUN
ijassa-1307	55	17	e	e	NOUN
ijassa-1307	55	18	=	=	SYM
ijassa-1307	55	19	(	(	PUNCT
ijassa-1307	55	20	i	i	PROPN
ijassa-1307	55	21	d	d	PROPN
ijassa-1307	55	22	,	,	PUNCT
ijassa-1307	55	23	(	(	PUNCT
ijassa-1307	55	24	i	i	PROPN
ijassa-1307	55	25	d	d	PROPN
ijassa-1307	55	26	,	,	PUNCT
ijassa-1307	55	27	a	a	PRON
ijassa-1307	55	28	)	)	PUNCT
ijassa-1307	55	29	)	)	PUNCT
ijassa-1307	56	1	∈	∈	PROPN
ijassa-1307	56	2	e	e	NOUN
ijassa-1307	56	3	with	with	ADP
ijassa-1307	56	4	attribute	attribute	NOUN
ijassa-1307	56	5	d	d	X
ijassa-1307	56	6	(	(	PUNCT
ijassa-1307	56	7	distance	distance	NOUN
ijassa-1307	56	8	of	of	ADP
ijassa-1307	56	9	the	the	DET
ijassa-1307	56	10	obstacle	obstacle	NOUN
ijassa-1307	56	11	)	)	PUNCT
ijassa-1307	56	12	.	.	PUNCT
ijassa-1307	57	1	examples	example	NOUN
ijassa-1307	57	2	of	of	ADP
ijassa-1307	57	3	such	such	ADJ
ijassa-1307	57	4	“	"	PUNCT
ijassa-1307	57	5	stars	star	NOUN
ijassa-1307	57	6	”	"	PUNCT
ijassa-1307	57	7	are	be	AUX
ijassa-1307	57	8	shown	show	VERB
ijassa-1307	57	9	in	in	ADP
ijassa-1307	57	10	fig	fig	NOUN
ijassa-1307	57	11	.	.	PUNCT
ijassa-1307	58	1	3.3	3.3	NUM
ijassa-1307	58	2	.	.	X
ijassa-1307	59	1	3.4	3.4	NUM
ijassa-1307	59	2	.	.	PUNCT
ijassa-1307	59	3	edge	edge	NOUN
ijassa-1307	59	4	clustering	cluster	VERB
ijassa-1307	59	5	by	by	ADP
ijassa-1307	59	6	its	its	PRON
ijassa-1307	59	7	lengths	length	NOUN
ijassa-1307	59	8	from	from	ADP
ijassa-1307	59	9	all	all	DET
ijassa-1307	59	10	relevant	relevant	ADJ
ijassa-1307	59	11	messages	message	NOUN
ijassa-1307	59	12	in	in	ADP
ijassa-1307	59	13	the	the	DET
ijassa-1307	59	14	database	database	NOUN
ijassa-1307	59	15	edges	edge	VERB
ijassa-1307	59	16	ei	ei	ADP
ijassa-1307	59	17	∈	∈	PROPN
ijassa-1307	59	18	e(gself	e(gself	NOUN
ijassa-1307	59	19	∪gid	∪gid	ADJ
ijassa-1307	59	20	)	)	PUNCT
ijassa-1307	59	21	are	be	AUX
ijassa-1307	59	22	extracted	extract	VERB
ijassa-1307	59	23	to	to	PART
ijassa-1307	59	24	perform	perform	VERB
ijassa-1307	59	25	clustering	clustering	NOUN
ijassa-1307	59	26	based	base	VERB
ijassa-1307	59	27	on	on	ADP
ijassa-1307	59	28	their	their	PRON
ijassa-1307	59	29	lengths	length	NOUN
ijassa-1307	60	1	d	d	NOUN
ijassa-1307	60	2	with	with	ADP
ijassa-1307	60	3	an	an	DET
ijassa-1307	60	4	unknown	unknown	ADJ
ijassa-1307	60	5	number	number	NOUN
ijassa-1307	60	6	of	of	ADP
ijassa-1307	60	7	clusters	cluster	NOUN
ijassa-1307	60	8	.	.	PUNCT
ijassa-1307	61	1	methods	method	NOUN
ijassa-1307	61	2	like	like	ADP
ijassa-1307	61	3	dbscan	dbscan	NOUN
ijassa-1307	61	4	[	[	X
ijassa-1307	61	5	6	6	NUM
ijassa-1307	61	6	]	]	PUNCT
ijassa-1307	61	7	are	be	AUX
ijassa-1307	61	8	suitable	suitable	ADJ
ijassa-1307	61	9	for	for	ADP
ijassa-1307	61	10	this	this	DET
ijassa-1307	61	11	task	task	NOUN
ijassa-1307	61	12	.	.	PUNCT
ijassa-1307	62	1	note	note	NOUN
ijassa-1307	62	2	:	:	PUNCT
ijassa-1307	62	3	when	when	SCONJ
ijassa-1307	62	4	clustering	clustering	ADJ
ijassa-1307	62	5	edges	edge	NOUN
ijassa-1307	62	6	,	,	PUNCT
ijassa-1307	62	7	one	one	PRON
ijassa-1307	62	8	can	can	AUX
ijassa-1307	62	9	take	take	VERB
ijassa-1307	62	10	into	into	ADP
ijassa-1307	62	11	account	account	NOUN
ijassa-1307	62	12	not	not	PART
ijassa-1307	62	13	only	only	ADV
ijassa-1307	62	14	their	their	PRON
ijassa-1307	62	15	lengths	length	NOUN
ijassa-1307	62	16	,	,	PUNCT
ijassa-1307	62	17	but	but	CCONJ
ijassa-1307	62	18	also	also	ADV
ijassa-1307	62	19	the	the	DET
ijassa-1307	62	20	dimensions	dimension	NOUN
ijassa-1307	62	21	of	of	ADP
ijassa-1307	62	22	the	the	DET
ijassa-1307	62	23	nodes	node	NOUN
ijassa-1307	62	24	connected	connect	VERB
ijassa-1307	62	25	by	by	ADP
ijassa-1307	62	26	them	they	PRON
ijassa-1307	62	27	.	.	PUNCT
ijassa-1307	63	1	through	through	ADP
ijassa-1307	63	2	this	this	DET
ijassa-1307	63	3	clustering	clustering	NOUN
ijassa-1307	63	4	,	,	PUNCT
ijassa-1307	63	5	many	many	ADJ
ijassa-1307	63	6	sets	set	VERB
ijassa-1307	63	7	ck	ck	PROPN
ijassa-1307	63	8	⊂	⊂	PROPN
ijassa-1307	63	9	e	e	PROPN
ijassa-1307	63	10	of	of	ADP
ijassa-1307	63	11	similar	similar	ADJ
ijassa-1307	63	12	edges	edge	NOUN
ijassa-1307	63	13	are	be	AUX
ijassa-1307	63	14	generated	generate	VERB
ijassa-1307	63	15	.	.	PUNCT
ijassa-1307	64	1	if	if	SCONJ
ijassa-1307	64	2	any	any	DET
ijassa-1307	64	3	two	two	NUM
ijassa-1307	64	4	edges	edge	NOUN
ijassa-1307	64	5	ei	ei	NOUN
ijassa-1307	64	6	,	,	PUNCT
ijassa-1307	64	7	ej	ej	PROPN
ijassa-1307	64	8	∈	∈	PROPN
ijassa-1307	64	9	ck	ck	INTJ
ijassa-1307	64	10	are	be	AUX
ijassa-1307	64	11	from	from	ADP
ijassa-1307	64	12	the	the	DET
ijassa-1307	64	13	same	same	ADJ
ijassa-1307	64	14	cluster	cluster	NOUN
ijassa-1307	64	15	,	,	PUNCT
ijassa-1307	64	16	then	then	ADV
ijassa-1307	64	17	the	the	DET
ijassa-1307	64	18	corresponding	corresponding	ADJ
ijassa-1307	64	19	nodes	node	NOUN
ijassa-1307	64	20	(	(	PUNCT
ijassa-1307	64	21	av	av	NOUN
ijassa-1307	64	22	)	)	PUNCT
ijassa-1307	64	23	are	be	AUX
ijassa-1307	64	24	potential	potential	ADJ
ijassa-1307	64	25	candidates	candidate	NOUN
ijassa-1307	64	26	for	for	ADP
ijassa-1307	64	27	docking	dock	VERB
ijassa-1307	64	28	into	into	ADP
ijassa-1307	64	29	a	a	DET
ijassa-1307	64	30	combination	combination	NOUN
ijassa-1307	64	31	.	.	PUNCT
ijassa-1307	65	1	in	in	ADP
ijassa-1307	65	2	fig	fig	NOUN
ijassa-1307	65	3	.	.	PUNCT
ijassa-1307	66	1	3.3	3.3	NUM
ijassa-1307	66	2	edges	edge	NOUN
ijassa-1307	66	3	from	from	ADP
ijassa-1307	66	4	the	the	DET
ijassa-1307	66	5	same	same	ADJ
ijassa-1307	66	6	cluster	cluster	NOUN
ijassa-1307	66	7	have	have	VERB
ijassa-1307	66	8	the	the	DET
ijassa-1307	66	9	same	same	ADJ
ijassa-1307	66	10	color	color	NOUN
ijassa-1307	66	11	.	.	PUNCT
ijassa-1307	67	1	copyright	copyright	NOUN
ijassa-1307	67	2	©	©	PROPN
ijassa-1307	67	3	2022	2022	NUM
ijassa-1307	67	4	assa	assa	NOUN
ijassa-1307	67	5	.	.	PUNCT
ijassa-1307	68	1	adv	adv	PROPN
ijassa-1307	68	2	syst	syst	PROPN
ijassa-1307	68	3	sci	sci	PROPN
ijassa-1307	68	4	appl	appl	PROPN
ijassa-1307	68	5	(	(	PUNCT
ijassa-1307	68	6	2022	2022	NUM
ijassa-1307	68	7	)	)	PUNCT
ijassa-1307	68	8	196	196	NUM
ijassa-1307	68	9	a.	a.	NOUN
ijassa-1307	68	10	abdulov	abdulov	NOUN
ijassa-1307	68	11	3.5	3.5	NUM
ijassa-1307	68	12	.	.	PUNCT
ijassa-1307	69	1	many	many	ADJ
ijassa-1307	69	2	possible	possible	ADJ
ijassa-1307	69	3	docking	docking	NOUN
ijassa-1307	69	4	combinations	combination	NOUN
ijassa-1307	69	5	for	for	ADP
ijassa-1307	69	6	each	each	DET
ijassa-1307	69	7	cluster	cluster	NOUN
ijassa-1307	69	8	with	with	ADP
ijassa-1307	69	9	multiple	multiple	ADJ
ijassa-1307	69	10	nodes	node	NOUN
ijassa-1307	69	11	(	(	PUNCT
ijassa-1307	69	12	i.e.	i.e.	X
ijassa-1307	69	13	|ck|	|ck|	PROPN
ijassa-1307	69	14	>	>	X
ijassa-1307	69	15	1	1	NUM
ijassa-1307	69	16	)	)	PUNCT
ijassa-1307	69	17	,	,	PUNCT
ijassa-1307	69	18	its	its	PRON
ijassa-1307	69	19	docking	docking	NOUN
ijassa-1307	69	20	edges	edge	NOUN
ijassa-1307	69	21	ei	ei	ADP
ijassa-1307	69	22	∈	∈	NOUN
ijassa-1307	69	23	ck	ck	INTJ
ijassa-1307	69	24	can	can	AUX
ijassa-1307	69	25	be	be	AUX
ijassa-1307	69	26	represented	represent	VERB
ijassa-1307	69	27	by	by	ADP
ijassa-1307	69	28	nodes	node	NOUN
ijassa-1307	69	29	of	of	ADP
ijassa-1307	69	30	a	a	DET
ijassa-1307	69	31	connected	connected	ADJ
ijassa-1307	69	32	graph	graph	NOUN
ijassa-1307	69	33	gk	gk	NOUN
ijassa-1307	69	34	=	=	SYM
ijassa-1307	69	35	g(ck	g(ck	PROPN
ijassa-1307	69	36	,	,	PUNCT
ijassa-1307	69	37	ck	ck	INTJ
ijassa-1307	69	38	×	×	NOUN
ijassa-1307	69	39	ck	ck	NOUN
ijassa-1307	69	40	)	)	PUNCT
ijassa-1307	69	41	of	of	ADP
ijassa-1307	69	42	possible	possible	ADJ
ijassa-1307	69	43	permutations	permutation	NOUN
ijassa-1307	69	44	within	within	ADP
ijassa-1307	69	45	a	a	DET
ijassa-1307	69	46	given	give	VERB
ijassa-1307	69	47	cluster	cluster	NOUN
ijassa-1307	69	48	.	.	PUNCT
ijassa-1307	70	1	joints	joint	NOUN
ijassa-1307	70	2	within	within	ADP
ijassa-1307	70	3	such	such	DET
ijassa-1307	70	4	a	a	DET
ijassa-1307	70	5	graph	graph	NOUN
ijassa-1307	70	6	of	of	ADP
ijassa-1307	70	7	permutations	permutation	NOUN
ijassa-1307	70	8	are	be	AUX
ijassa-1307	70	9	mutually	mutually	ADV
ijassa-1307	70	10	exclusive	exclusive	ADJ
ijassa-1307	70	11	.	.	PUNCT
ijassa-1307	71	1	let	let	VERB
ijassa-1307	71	2	gk	gk	PROPN
ijassa-1307	71	3	!	!	PUNCT
ijassa-1307	71	4	!	!	PUNCT
ijassa-1307	72	1	denote	denote	VERB
ijassa-1307	72	2	their	their	PRON
ijassa-1307	72	3	number	number	NOUN
ijassa-1307	72	4	.	.	PUNCT
ijassa-1307	73	1	note	note	NOUN
ijassa-1307	73	2	:	:	PUNCT
ijassa-1307	73	3	for	for	ADP
ijassa-1307	73	4	a	a	DET
ijassa-1307	73	5	fully	fully	ADV
ijassa-1307	73	6	connected	connect	VERB
ijassa-1307	73	7	graph	graph	NOUN
ijassa-1307	73	8	(	(	PUNCT
ijassa-1307	73	9	upper	upper	ADJ
ijassa-1307	73	10	bound	bound	NOUN
ijassa-1307	73	11	)	)	PUNCT
ijassa-1307	73	12	,	,	PUNCT
ijassa-1307	73	13	the	the	DET
ijassa-1307	73	14	number	number	NOUN
ijassa-1307	73	15	of	of	ADP
ijassa-1307	73	16	permutations	permutation	NOUN
ijassa-1307	73	17	of	of	ADP
ijassa-1307	73	18	the	the	DET
ijassa-1307	73	19	choice	choice	NOUN
ijassa-1307	73	20	of	of	ADP
ijassa-1307	73	21	all	all	DET
ijassa-1307	73	22	possible	possible	ADJ
ijassa-1307	73	23	docking	docking	NOUN
ijassa-1307	73	24	edges	edge	NOUN
ijassa-1307	73	25	will	will	AUX
ijassa-1307	73	26	be	be	AUX
ijassa-1307	73	27	equal	equal	ADJ
ijassa-1307	73	28	to	to	ADP
ijassa-1307	73	29	the	the	DET
ijassa-1307	73	30	double	double	ADJ
ijassa-1307	73	31	factorial	factorial	NOUN
ijassa-1307	73	32	(	(	PUNCT
ijassa-1307	73	33	3.1	3.1	NUM
ijassa-1307	73	34	)	)	PUNCT
ijassa-1307	73	35	of	of	ADP
ijassa-1307	73	36	the	the	DET
ijassa-1307	73	37	number	number	NOUN
ijassa-1307	73	38	of	of	ADP
ijassa-1307	73	39	nodes	node	NOUN
ijassa-1307	73	40	.	.	PUNCT
ijassa-1307	74	1	if	if	SCONJ
ijassa-1307	74	2	the	the	DET
ijassa-1307	74	3	number	number	NOUN
ijassa-1307	74	4	of	of	ADP
ijassa-1307	74	5	nodes	node	NOUN
ijassa-1307	74	6	n	n	PRON
ijassa-1307	74	7	is	be	AUX
ijassa-1307	74	8	even	even	ADV
ijassa-1307	74	9	,	,	PUNCT
ijassa-1307	74	10	then	then	ADV
ijassa-1307	74	11	take	take	VERB
ijassa-1307	74	12	the	the	PRON
ijassa-1307	74	13	nearest	near	ADJ
ijassa-1307	74	14	less	less	ADV
ijassa-1307	74	15	odd	odd	ADJ
ijassa-1307	74	16	:	:	PUNCT
ijassa-1307	74	17	n	n	NOUN
ijassa-1307	74	18	=	=	PUNCT
ijassa-1307	74	19	n−	n−	NOUN
ijassa-1307	74	20	1	1	NUM
ijassa-1307	74	21	.	.	PUNCT
ijassa-1307	74	22	n	n	CCONJ
ijassa-1307	74	23	!	!	PUNCT
ijassa-1307	74	24	!	!	PUNCT
ijassa-1307	75	1	=	=	PUNCT
ijassa-1307	76	1	n	n	CCONJ
ijassa-1307	76	2	!	!	NOUN
ijassa-1307	76	3	2	2	NUM
ijassa-1307	76	4	n−1	n−1	PROPN
ijassa-1307	76	5	2	2	NUM
ijassa-1307	76	6	·	·	PUNCT
ijassa-1307	76	7	(	(	PUNCT
ijassa-1307	76	8	n−1	n−1	PROPN
ijassa-1307	76	9	2	2	NUM
ijassa-1307	76	10	)	)	PUNCT
ijassa-1307	76	11	!	!	PUNCT
ijassa-1307	76	12	.	.	PUNCT
ijassa-1307	77	1	(	(	PUNCT
ijassa-1307	77	2	3.1	3.1	NUM
ijassa-1307	77	3	)	)	PUNCT
ijassa-1307	77	4	if	if	SCONJ
ijassa-1307	77	5	n	n	NOUN
ijassa-1307	77	6	=	=	SYM
ijassa-1307	77	7	9	9	NUM
ijassa-1307	77	8	then	then	ADV
ijassa-1307	77	9	n	n	CCONJ
ijassa-1307	77	10	!	!	PUNCT
ijassa-1307	77	11	!	!	PUNCT
ijassa-1307	78	1	=	=	PUNCT
ijassa-1307	79	1	945	945	NUM
ijassa-1307	79	2	.	.	PUNCT
ijassa-1307	79	3	therefore	therefore	ADV
ijassa-1307	79	4	,	,	PUNCT
ijassa-1307	79	5	even	even	ADV
ijassa-1307	79	6	with	with	ADP
ijassa-1307	79	7	a	a	DET
ijassa-1307	79	8	small	small	ADJ
ijassa-1307	79	9	number	number	NOUN
ijassa-1307	79	10	of	of	ADP
ijassa-1307	79	11	candidates	candidate	NOUN
ijassa-1307	79	12	,	,	PUNCT
ijassa-1307	79	13	the	the	DET
ijassa-1307	79	14	total	total	ADJ
ijassa-1307	79	15	number	number	NOUN
ijassa-1307	79	16	of	of	ADP
ijassa-1307	79	17	permutations	permutation	NOUN
ijassa-1307	79	18	may	may	AUX
ijassa-1307	79	19	turn	turn	VERB
ijassa-1307	79	20	out	out	ADP
ijassa-1307	79	21	to	to	PART
ijassa-1307	79	22	be	be	AUX
ijassa-1307	79	23	quite	quite	ADV
ijassa-1307	79	24	large	large	ADJ
ijassa-1307	79	25	.	.	PUNCT
ijassa-1307	80	1	the	the	DET
ijassa-1307	80	2	total	total	ADJ
ijassa-1307	80	3	number	number	NOUN
ijassa-1307	80	4	of	of	ADP
ijassa-1307	80	5	permutations	permutation	NOUN
ijassa-1307	80	6	of	of	ADP
ijassa-1307	80	7	all	all	DET
ijassa-1307	80	8	combinations	combination	NOUN
ijassa-1307	80	9	is	be	AUX
ijassa-1307	80	10	(	(	PUNCT
ijassa-1307	80	11	3.2	3.2	NUM
ijassa-1307	80	12	)	)	PUNCT
ijassa-1307	80	13	.	.	PUNCT
ijassa-1307	81	1	∏	∏	PROPN
ijassa-1307	81	2	|ck|>1	|ck|>1	NOUN
ijassa-1307	81	3	gk	gk	PROPN
ijassa-1307	81	4	!	!	PROPN
ijassa-1307	81	5	!	!	PUNCT
ijassa-1307	82	1	(	(	PUNCT
ijassa-1307	82	2	3.2	3.2	NUM
ijassa-1307	82	3	)	)	PUNCT
ijassa-1307	82	4	taking	take	VERB
ijassa-1307	82	5	into	into	ADP
ijassa-1307	82	6	account	account	NOUN
ijassa-1307	82	7	the	the	DET
ijassa-1307	82	8	specifics	specific	NOUN
ijassa-1307	82	9	of	of	ADP
ijassa-1307	82	10	the	the	DET
ijassa-1307	82	11	problem	problem	NOUN
ijassa-1307	82	12	,	,	PUNCT
ijassa-1307	82	13	the	the	DET
ijassa-1307	82	14	number	number	NOUN
ijassa-1307	82	15	of	of	ADP
ijassa-1307	82	16	permutations	permutation	NOUN
ijassa-1307	82	17	can	can	AUX
ijassa-1307	82	18	be	be	AUX
ijassa-1307	82	19	significantly	significantly	ADV
ijassa-1307	82	20	reduced	reduce	VERB
ijassa-1307	82	21	to	to	PART
ijassa-1307	82	22	improve	improve	VERB
ijassa-1307	82	23	performance	performance	NOUN
ijassa-1307	82	24	,	,	PUNCT
ijassa-1307	82	25	for	for	ADP
ijassa-1307	82	26	calculations	calculation	NOUN
ijassa-1307	82	27	on	on	ADP
ijassa-1307	82	28	board	board	NOUN
ijassa-1307	82	29	.	.	PUNCT
ijassa-1307	83	1	first	first	ADV
ijassa-1307	83	2	,	,	PUNCT
ijassa-1307	83	3	take	take	VERB
ijassa-1307	83	4	fig	fig	NOUN
ijassa-1307	83	5	.	.	PUNCT
ijassa-1307	84	1	3.3	3.3	NUM
ijassa-1307	84	2	.	.	PUNCT
ijassa-1307	85	1	examples	example	NOUN
ijassa-1307	85	2	of	of	ADP
ijassa-1307	85	3	docking	docking	NOUN
ijassa-1307	85	4	items	item	NOUN
ijassa-1307	85	5	.	.	PUNCT
ijassa-1307	86	1	copyright	copyright	NOUN
ijassa-1307	86	2	©	©	PROPN
ijassa-1307	86	3	2022	2022	NUM
ijassa-1307	86	4	assa	assa	NOUN
ijassa-1307	86	5	.	.	PUNCT
ijassa-1307	87	1	adv	adv	PROPN
ijassa-1307	87	2	syst	syst	PROPN
ijassa-1307	87	3	sci	sci	PROPN
ijassa-1307	87	4	appl	appl	PROPN
ijassa-1307	87	5	(	(	PUNCT
ijassa-1307	87	6	2022	2022	NUM
ijassa-1307	87	7	)	)	PUNCT
ijassa-1307	87	8	extending	extend	VERB
ijassa-1307	87	9	obstacle	obstacle	NOUN
ijassa-1307	87	10	map	map	NOUN
ijassa-1307	87	11	of	of	ADP
ijassa-1307	87	12	autonomous	autonomous	ADJ
ijassa-1307	87	13	vehicles	vehicle	NOUN
ijassa-1307	87	14	197	197	NUM
ijassa-1307	87	15	the	the	DET
ijassa-1307	87	16	possible	possible	ADJ
ijassa-1307	87	17	docking	docking	NOUN
ijassa-1307	87	18	with	with	ADP
ijassa-1307	87	19	self	self	NOUN
ijassa-1307	87	20	av	av	PROPN
ijassa-1307	87	21	edges	edge	NOUN
ijassa-1307	87	22	obtained	obtain	VERB
ijassa-1307	87	23	directly	directly	ADV
ijassa-1307	87	24	.	.	PUNCT
ijassa-1307	88	1	further	far	ADV
ijassa-1307	88	2	,	,	PUNCT
ijassa-1307	88	3	may	may	AUX
ijassa-1307	88	4	be	be	AUX
ijassa-1307	88	5	use	use	VERB
ijassa-1307	88	6	not	not	PART
ijassa-1307	88	7	all	all	DET
ijassa-1307	88	8	combinations	combination	NOUN
ijassa-1307	88	9	available	available	ADJ
ijassa-1307	88	10	on	on	ADP
ijassa-1307	88	11	the	the	DET
ijassa-1307	88	12	network	network	NOUN
ijassa-1307	88	13	,	,	PUNCT
ijassa-1307	88	14	and	and	CCONJ
ijassa-1307	88	15	append	append	VERB
ijassa-1307	88	16	the	the	DET
ijassa-1307	88	17	list	list	NOUN
ijassa-1307	88	18	of	of	ADP
ijassa-1307	88	19	possible	possible	ADJ
ijassa-1307	88	20	connections	connection	NOUN
ijassa-1307	88	21	only	only	ADV
ijassa-1307	88	22	twice	twice	ADV
ijassa-1307	88	23	(	(	PUNCT
ijassa-1307	88	24	k1	k1	NOUN
ijassa-1307	88	25	=	=	SYM
ijassa-1307	88	26	2	2	NUM
ijassa-1307	88	27	)	)	PUNCT
ijassa-1307	88	28	.	.	PUNCT
ijassa-1307	89	1	1	1	X
ijassa-1307	89	2	.	.	X
ijassa-1307	89	3	docking	docking	NOUN
ijassa-1307	89	4	observed	observe	VERB
ijassa-1307	89	5	by	by	ADP
ijassa-1307	89	6	self	self	NOUN
ijassa-1307	89	7	av	av	PROPN
ijassa-1307	89	8	,	,	PUNCT
ijassa-1307	89	9	because	because	SCONJ
ijassa-1307	89	10	for	for	ADP
ijassa-1307	89	11	successful	successful	ADJ
ijassa-1307	89	12	docking	docking	NOUN
ijassa-1307	89	13	the	the	DET
ijassa-1307	89	14	avs	avs	NOUN
ijassa-1307	89	15	must	must	AUX
ijassa-1307	89	16	be	be	AUX
ijassa-1307	89	17	in	in	ADP
ijassa-1307	89	18	fov	fov	PROPN
ijassa-1307	89	19	(	(	PUNCT
ijassa-1307	89	20	field	field	NOUN
ijassa-1307	89	21	of	of	ADP
ijassa-1307	89	22	view	view	NOUN
ijassa-1307	89	23	)	)	PUNCT
ijassa-1307	89	24	of	of	ADP
ijassa-1307	89	25	each	each	DET
ijassa-1307	89	26	other	other	ADJ
ijassa-1307	89	27	.	.	PUNCT
ijassa-1307	90	1	2	2	X
ijassa-1307	90	2	.	.	X
ijassa-1307	90	3	control	control	NOUN
ijassa-1307	90	4	docks	dock	NOUN
ijassa-1307	90	5	for	for	ADP
ijassa-1307	90	6	the	the	DET
ijassa-1307	90	7	appended	append	VERB
ijassa-1307	90	8	list	list	NOUN
ijassa-1307	90	9	in	in	ADP
ijassa-1307	90	10	the	the	DET
ijassa-1307	90	11	previous	previous	ADJ
ijassa-1307	90	12	iteration	iteration	NOUN
ijassa-1307	90	13	.	.	PUNCT
ijassa-1307	91	1	in	in	ADP
ijassa-1307	91	2	the	the	DET
ijassa-1307	91	3	process	process	NOUN
ijassa-1307	91	4	of	of	ADP
ijassa-1307	91	5	forming	form	VERB
ijassa-1307	91	6	possible	possible	ADJ
ijassa-1307	91	7	combinations	combination	NOUN
ijassa-1307	91	8	,	,	PUNCT
ijassa-1307	91	9	invalid	invalid	ADJ
ijassa-1307	91	10	ones	one	NOUN
ijassa-1307	91	11	should	should	AUX
ijassa-1307	91	12	be	be	AUX
ijassa-1307	91	13	eliminated	eliminate	VERB
ijassa-1307	91	14	immediately	immediately	ADV
ijassa-1307	91	15	,	,	PUNCT
ijassa-1307	91	16	for	for	ADP
ijassa-1307	91	17	example	example	NOUN
ijassa-1307	91	18	,	,	PUNCT
ijassa-1307	91	19	based	base	VERB
ijassa-1307	91	20	on	on	ADP
ijassa-1307	91	21	limited	limited	ADJ
ijassa-1307	91	22	fov	fov	PROPN
ijassa-1307	91	23	.	.	PUNCT
ijassa-1307	92	1	the	the	DET
ijassa-1307	92	2	proposed	propose	VERB
ijassa-1307	92	3	docking	docking	NOUN
ijassa-1307	92	4	may	may	AUX
ijassa-1307	92	5	add	add	VERB
ijassa-1307	92	6	to	to	ADP
ijassa-1307	92	7	the	the	DET
ijassa-1307	92	8	participants	participant	NOUN
ijassa-1307	92	9	’	'	PUNCT
ijassa-1307	92	10	fov	fov	NOUN
ijassa-1307	92	11	some	some	DET
ijassa-1307	92	12	objects	object	NOUN
ijassa-1307	92	13	that	that	SCONJ
ijassa-1307	92	14	they	they	PRON
ijassa-1307	92	15	did	do	AUX
ijassa-1307	92	16	not	not	PART
ijassa-1307	92	17	initially	initially	ADV
ijassa-1307	92	18	observe	observe	VERB
ijassa-1307	92	19	–	–	PUNCT
ijassa-1307	92	20	these	these	PRON
ijassa-1307	92	21	should	should	AUX
ijassa-1307	92	22	be	be	AUX
ijassa-1307	92	23	excluded	exclude	VERB
ijassa-1307	92	24	.	.	PUNCT
ijassa-1307	93	1	there	there	PRON
ijassa-1307	93	2	are	be	VERB
ijassa-1307	93	3	also	also	ADV
ijassa-1307	93	4	cases	case	NOUN
ijassa-1307	93	5	when	when	SCONJ
ijassa-1307	93	6	,	,	PUNCT
ijassa-1307	93	7	in	in	ADP
ijassa-1307	93	8	false	false	ADJ
ijassa-1307	93	9	positives	positive	NOUN
ijassa-1307	93	10	,	,	PUNCT
ijassa-1307	93	11	the	the	DET
ijassa-1307	93	12	identified	identify	VERB
ijassa-1307	93	13	node	node	NOUN
ijassa-1307	93	14	goes	go	VERB
ijassa-1307	93	15	beyond	beyond	ADP
ijassa-1307	93	16	the	the	DET
ijassa-1307	93	17	radius	radius	NOUN
ijassa-1307	93	18	of	of	ADP
ijassa-1307	93	19	the	the	DET
ijassa-1307	93	20	wireless	wireless	ADJ
ijassa-1307	93	21	network	network	NOUN
ijassa-1307	93	22	signal	signal	NOUN
ijassa-1307	93	23	–	–	PUNCT
ijassa-1307	93	24	it	it	PRON
ijassa-1307	93	25	should	should	AUX
ijassa-1307	93	26	n’t	not	PART
ijassa-1307	93	27	be	be	AUX
ijassa-1307	93	28	there	there	ADV
ijassa-1307	93	29	.	.	PUNCT
ijassa-1307	94	1	another	another	DET
ijassa-1307	94	2	way	way	NOUN
ijassa-1307	94	3	to	to	PART
ijassa-1307	94	4	reduce	reduce	VERB
ijassa-1307	94	5	the	the	DET
ijassa-1307	94	6	number	number	NOUN
ijassa-1307	94	7	of	of	ADP
ijassa-1307	94	8	permutations	permutation	NOUN
ijassa-1307	94	9	is	be	AUX
ijassa-1307	94	10	the	the	DET
ijassa-1307	94	11	probabilistic	probabilistic	ADJ
ijassa-1307	94	12	approach	approach	NOUN
ijassa-1307	94	13	.	.	PUNCT
ijassa-1307	95	1	the	the	DET
ijassa-1307	95	2	more	more	ADJ
ijassa-1307	95	3	samples	sample	NOUN
ijassa-1307	95	4	in	in	ADP
ijassa-1307	95	5	the	the	DET
ijassa-1307	95	6	cluster	cluster	NOUN
ijassa-1307	95	7	(	(	PUNCT
ijassa-1307	95	8	more	more	ADJ
ijassa-1307	95	9	candidates	candidate	NOUN
ijassa-1307	95	10	)	)	PUNCT
ijassa-1307	95	11	,	,	PUNCT
ijassa-1307	95	12	the	the	PRON
ijassa-1307	95	13	more	more	ADV
ijassa-1307	95	14	likely	likely	ADJ
ijassa-1307	95	15	it	it	PRON
ijassa-1307	95	16	is	be	AUX
ijassa-1307	95	17	to	to	PART
ijassa-1307	95	18	misplace	misplace	VERB
ijassa-1307	95	19	the	the	DET
ijassa-1307	95	20	nodes	node	NOUN
ijassa-1307	95	21	.	.	PUNCT
ijassa-1307	96	1	given	give	VERB
ijassa-1307	96	2	the	the	DET
ijassa-1307	96	3	mutually	mutually	ADV
ijassa-1307	96	4	exclusiveness	exclusiveness	NOUN
ijassa-1307	96	5	of	of	ADP
ijassa-1307	96	6	the	the	DET
ijassa-1307	96	7	docking	docking	NOUN
ijassa-1307	96	8	,	,	PUNCT
ijassa-1307	96	9	only	only	ADV
ijassa-1307	96	10	a	a	DET
ijassa-1307	96	11	few	few	ADJ
ijassa-1307	96	12	of	of	ADP
ijassa-1307	96	13	the	the	DET
ijassa-1307	96	14	most	most	ADV
ijassa-1307	96	15	probable	probable	ADJ
ijassa-1307	96	16	combinations	combination	NOUN
ijassa-1307	96	17	can	can	AUX
ijassa-1307	96	18	be	be	AUX
ijassa-1307	96	19	selected	select	VERB
ijassa-1307	96	20	.	.	PUNCT
ijassa-1307	97	1	for	for	ADP
ijassa-1307	97	2	simulation	simulation	NOUN
ijassa-1307	97	3	experiments	experiment	NOUN
ijassa-1307	97	4	,	,	PUNCT
ijassa-1307	97	5	the	the	DET
ijassa-1307	97	6	value	value	NOUN
ijassa-1307	97	7	of	of	ADP
ijassa-1307	97	8	the	the	DET
ijassa-1307	97	9	corresponding	corresponding	ADJ
ijassa-1307	97	10	parameter	parameter	NOUN
ijassa-1307	97	11	k2	k2	PROPN
ijassa-1307	97	12	=	=	PROPN
ijassa-1307	97	13	3	3	NUM
ijassa-1307	97	14	was	be	AUX
ijassa-1307	97	15	chosen	choose	VERB
ijassa-1307	97	16	(	(	PUNCT
ijassa-1307	97	17	the	the	DET
ijassa-1307	97	18	algorithm	algorithm	NOUN
ijassa-1307	97	19	still	still	ADV
ijassa-1307	97	20	reliable	reliable	ADJ
ijassa-1307	97	21	)	)	PUNCT
ijassa-1307	97	22	.	.	PUNCT
ijassa-1307	98	1	3.6	3.6	NUM
ijassa-1307	98	2	.	.	PUNCT
ijassa-1307	99	1	optimal	optimal	ADJ
ijassa-1307	99	2	extending	extending	NOUN
ijassa-1307	99	3	of	of	ADP
ijassa-1307	99	4	the	the	DET
ijassa-1307	99	5	local	local	ADJ
ijassa-1307	99	6	obstacle	obstacle	NOUN
ijassa-1307	99	7	map	map	NOUN
ijassa-1307	99	8	of	of	ADP
ijassa-1307	99	9	the	the	DET
ijassa-1307	99	10	many	many	ADJ
ijassa-1307	99	11	admissible	admissible	ADJ
ijassa-1307	99	12	combinations	combination	NOUN
ijassa-1307	99	13	of	of	ADP
ijassa-1307	99	14	docking	docking	NOUN
ijassa-1307	99	15	,	,	PUNCT
ijassa-1307	99	16	the	the	DET
ijassa-1307	99	17	most	most	ADV
ijassa-1307	99	18	suitable	suitable	ADJ
ijassa-1307	99	19	one	one	NUM
ijassa-1307	99	20	will	will	AUX
ijassa-1307	99	21	be	be	AUX
ijassa-1307	99	22	selected	select	VERB
ijassa-1307	99	23	in	in	ADP
ijassa-1307	99	24	accordance	accordance	NOUN
ijassa-1307	99	25	with	with	ADP
ijassa-1307	99	26	the	the	DET
ijassa-1307	99	27	given	give	VERB
ijassa-1307	99	28	criterion	criterion	NOUN
ijassa-1307	99	29	of	of	ADP
ijassa-1307	99	30	optimality	optimality	NOUN
ijassa-1307	99	31	,	,	PUNCT
ijassa-1307	99	32	which	which	PRON
ijassa-1307	99	33	will	will	AUX
ijassa-1307	99	34	be	be	AUX
ijassa-1307	99	35	further	far	ADV
ijassa-1307	99	36	used	use	VERB
ijassa-1307	99	37	for	for	ADP
ijassa-1307	99	38	navigation	navigation	NOUN
ijassa-1307	99	39	.	.	PUNCT
ijassa-1307	100	1	as	as	ADP
ijassa-1307	100	2	a	a	DET
ijassa-1307	100	3	result	result	NOUN
ijassa-1307	100	4	,	,	PUNCT
ijassa-1307	100	5	its	its	PRON
ijassa-1307	100	6	own	own	ADJ
ijassa-1307	100	7	extended	extended	ADJ
ijassa-1307	100	8	local	local	ADJ
ijassa-1307	100	9	obstacle	obstacle	NOUN
ijassa-1307	100	10	map	map	NOUN
ijassa-1307	100	11	ĝself	ĝself	PRON
ijassa-1307	100	12	=	=	SYM
ijassa-1307	100	13	(	(	PUNCT
ijassa-1307	100	14	gi	gi	INTJ
ijassa-1307	100	15	)	)	PUNCT
ijassa-1307	100	16	is	be	AUX
ijassa-1307	100	17	a	a	DET
ijassa-1307	100	18	certain	certain	ADJ
ijassa-1307	100	19	combination	combination	NOUN
ijassa-1307	100	20	(	(	PUNCT
ijassa-1307	100	21	ordered	order	VERB
ijassa-1307	100	22	set	set	NOUN
ijassa-1307	100	23	)	)	PUNCT
ijassa-1307	100	24	of	of	ADP
ijassa-1307	100	25	docking	dock	VERB
ijassa-1307	100	26	permutations	permutation	NOUN
ijassa-1307	100	27	connecting	connect	VERB
ijassa-1307	100	28	all	all	DET
ijassa-1307	100	29	currently	currently	ADV
ijassa-1307	100	30	relevant	relevant	ADJ
ijassa-1307	100	31	“	"	PUNCT
ijassa-1307	100	32	stars	star	NOUN
ijassa-1307	100	33	”	"	PUNCT
ijassa-1307	100	34	into	into	ADP
ijassa-1307	100	35	a	a	DET
ijassa-1307	100	36	single	single	ADJ
ijassa-1307	100	37	map	map	NOUN
ijassa-1307	100	38	.	.	PUNCT
ijassa-1307	101	1	as	as	ADP
ijassa-1307	101	2	an	an	DET
ijassa-1307	101	3	optimality	optimality	NOUN
ijassa-1307	101	4	criterion	criterion	NOUN
ijassa-1307	101	5	when	when	SCONJ
ijassa-1307	101	6	choosing	choose	VERB
ijassa-1307	101	7	the	the	DET
ijassa-1307	101	8	most	most	ADV
ijassa-1307	101	9	suitable	suitable	ADJ
ijassa-1307	101	10	combination	combination	NOUN
ijassa-1307	101	11	of	of	ADP
ijassa-1307	101	12	joints	joint	NOUN
ijassa-1307	101	13	used	use	VERB
ijassa-1307	101	14	:	:	PUNCT
ijassa-1307	101	15	|{v	|{v	PROPN
ijassa-1307	101	16	∈	∈	PROPN
ijassa-1307	101	17	v	v	X
ijassa-1307	101	18	(	(	PUNCT
ijassa-1307	101	19	gself	gself	NOUN
ijassa-1307	101	20	)	)	PUNCT
ijassa-1307	101	21	|d(v	|d(v	PROPN
ijassa-1307	101	22	)	)	PUNCT
ijassa-1307	101	23	=	=	SYM
ijassa-1307	101	24	1}|	1}|	NUM
ijassa-1307	101	25	|e(gself	|e(gself	SYM
ijassa-1307	101	26	∪	∪	ADJ
ijassa-1307	101	27	{	{	PUNCT
ijassa-1307	101	28	gid})|	gid})|	X
ijassa-1307	101	29	→	→	SYM
ijassa-1307	101	30	min	min	NOUN
ijassa-1307	101	31	(	(	PUNCT
ijassa-1307	101	32	3.3	3.3	NUM
ijassa-1307	101	33	)	)	PUNCT
ijassa-1307	101	34	here	here	ADV
ijassa-1307	101	35	,	,	PUNCT
ijassa-1307	101	36	the	the	DET
ijassa-1307	101	37	denominator	denominator	NOUN
ijassa-1307	101	38	is	be	AUX
ijassa-1307	101	39	the	the	DET
ijassa-1307	101	40	total	total	ADJ
ijassa-1307	101	41	number	number	NOUN
ijassa-1307	101	42	of	of	ADP
ijassa-1307	101	43	joining	join	VERB
ijassa-1307	101	44	edges	edge	NOUN
ijassa-1307	101	45	,	,	PUNCT
ijassa-1307	101	46	and	and	CCONJ
ijassa-1307	101	47	the	the	DET
ijassa-1307	101	48	numerator	numerator	NOUN
ijassa-1307	101	49	is	be	AUX
ijassa-1307	101	50	the	the	DET
ijassa-1307	101	51	number	number	NOUN
ijassa-1307	101	52	of	of	ADP
ijassa-1307	101	53	remaining	remaining	ADJ
ijassa-1307	101	54	terminal	terminal	ADJ
ijassa-1307	101	55	vertices	vertex	NOUN
ijassa-1307	101	56	.	.	PUNCT
ijassa-1307	102	1	also	also	ADV
ijassa-1307	102	2	have	have	VERB
ijassa-1307	102	3	ideas	idea	NOUN
ijassa-1307	102	4	for	for	ADP
ijassa-1307	102	5	using	use	VERB
ijassa-1307	102	6	weighting	weight	VERB
ijassa-1307	102	7	factors	factor	NOUN
ijassa-1307	102	8	to	to	PART
ijassa-1307	102	9	take	take	VERB
ijassa-1307	102	10	into	into	ADP
ijassa-1307	102	11	account	account	NOUN
ijassa-1307	102	12	the	the	DET
ijassa-1307	102	13	importance	importance	NOUN
ijassa-1307	102	14	of	of	ADP
ijassa-1307	102	15	joining	join	VERB
ijassa-1307	102	16	certain	certain	ADJ
ijassa-1307	102	17	nodes	node	NOUN
ijassa-1307	102	18	when	when	SCONJ
ijassa-1307	102	19	calculating	calculate	VERB
ijassa-1307	102	20	the	the	DET
ijassa-1307	102	21	combination	combination	NOUN
ijassa-1307	102	22	scores	score	NOUN
ijassa-1307	102	23	.	.	PUNCT
ijassa-1307	103	1	note	note	NOUN
ijassa-1307	103	2	:	:	PUNCT
ijassa-1307	103	3	the	the	DET
ijassa-1307	103	4	resulting	result	VERB
ijassa-1307	103	5	extended	extended	ADJ
ijassa-1307	103	6	local	local	ADJ
ijassa-1307	103	7	obstacle	obstacle	NOUN
ijassa-1307	103	8	map	map	NOUN
ijassa-1307	103	9	can	can	AUX
ijassa-1307	103	10	also	also	ADV
ijassa-1307	103	11	be	be	AUX
ijassa-1307	103	12	sent	send	VERB
ijassa-1307	103	13	to	to	ADP
ijassa-1307	103	14	the	the	DET
ijassa-1307	103	15	network	network	NOUN
ijassa-1307	103	16	as	as	ADP
ijassa-1307	103	17	the	the	DET
ijassa-1307	103	18	initial	initial	ADJ
ijassa-1307	103	19	one	one	NOUN
ijassa-1307	103	20	,	,	PUNCT
ijassa-1307	103	21	especially	especially	ADV
ijassa-1307	103	22	if	if	SCONJ
ijassa-1307	103	23	there	there	PRON
ijassa-1307	103	24	is	be	VERB
ijassa-1307	103	25	high	high	ADJ
ijassa-1307	103	26	confidence	confidence	NOUN
ijassa-1307	103	27	in	in	ADP
ijassa-1307	103	28	its	its	PRON
ijassa-1307	103	29	reliability	reliability	NOUN
ijassa-1307	103	30	.	.	PUNCT
ijassa-1307	104	1	an	an	DET
ijassa-1307	104	2	example	example	NOUN
ijassa-1307	104	3	of	of	ADP
ijassa-1307	104	4	the	the	DET
ijassa-1307	104	5	result	result	NOUN
ijassa-1307	104	6	is	be	AUX
ijassa-1307	104	7	shown	show	VERB
ijassa-1307	104	8	in	in	ADP
ijassa-1307	104	9	fig	fig	NOUN
ijassa-1307	104	10	.	.	PUNCT
ijassa-1307	105	1	3.4	3.4	NUM
ijassa-1307	105	2	.	.	PUNCT
ijassa-1307	106	1	the	the	DET
ijassa-1307	106	2	negative	negative	ADJ
ijassa-1307	106	3	identifiers	identifier	NOUN
ijassa-1307	106	4	mean	mean	VERB
ijassa-1307	106	5	that	that	SCONJ
ijassa-1307	106	6	this	this	DET
ijassa-1307	106	7	node	node	NOUN
ijassa-1307	106	8	is	be	AUX
ijassa-1307	106	9	a	a	DET
ijassa-1307	106	10	common	common	ADJ
ijassa-1307	106	11	obstacle	obstacle	NOUN
ijassa-1307	106	12	for	for	ADP
ijassa-1307	106	13	several	several	ADJ
ijassa-1307	106	14	observers	observer	NOUN
ijassa-1307	106	15	,	,	PUNCT
ijassa-1307	106	16	but	but	CCONJ
ijassa-1307	106	17	has	have	AUX
ijassa-1307	106	18	never	never	ADV
ijassa-1307	106	19	been	be	AUX
ijassa-1307	106	20	identified	identify	VERB
ijassa-1307	106	21	on	on	ADP
ijassa-1307	106	22	the	the	DET
ijassa-1307	106	23	network	network	NOUN
ijassa-1307	106	24	.	.	PUNCT
ijassa-1307	107	1	the	the	DET
ijassa-1307	107	2	presence	presence	NOUN
ijassa-1307	107	3	of	of	ADP
ijassa-1307	107	4	such	such	ADJ
ijassa-1307	107	5	common	common	ADJ
ijassa-1307	107	6	obstacles	obstacle	NOUN
ijassa-1307	107	7	,	,	PUNCT
ijassa-1307	107	8	one	one	PRON
ijassa-1307	107	9	might	might	AUX
ijassa-1307	107	10	say	say	VERB
ijassa-1307	107	11	,	,	PUNCT
ijassa-1307	107	12	increases	increase	VERB
ijassa-1307	107	13	the	the	DET
ijassa-1307	107	14	reliability	reliability	NOUN
ijassa-1307	107	15	of	of	ADP
ijassa-1307	107	16	the	the	DET
ijassa-1307	107	17	docking	docking	NOUN
ijassa-1307	107	18	.	.	PUNCT
ijassa-1307	108	1	the	the	DET
ijassa-1307	108	2	optimality	optimality	NOUN
ijassa-1307	108	3	criterion	criterion	NOUN
ijassa-1307	108	4	(	(	PUNCT
ijassa-1307	108	5	3.3	3.3	NUM
ijassa-1307	108	6	)	)	PUNCT
ijassa-1307	108	7	does	do	AUX
ijassa-1307	108	8	not	not	PART
ijassa-1307	108	9	guarantee	guarantee	VERB
ijassa-1307	108	10	perfect	perfect	ADJ
ijassa-1307	108	11	results	result	NOUN
ijassa-1307	108	12	and	and	CCONJ
ijassa-1307	108	13	“	"	PUNCT
ijassa-1307	108	14	false	false	ADJ
ijassa-1307	108	15	positives	positive	NOUN
ijassa-1307	108	16	”	"	PUNCT
ijassa-1307	108	17	are	be	AUX
ijassa-1307	108	18	quite	quite	ADV
ijassa-1307	108	19	acceptable	acceptable	ADJ
ijassa-1307	108	20	.	.	PUNCT
ijassa-1307	109	1	4	4	X
ijassa-1307	109	2	.	.	X
ijassa-1307	109	3	simulation	simulation	NOUN
ijassa-1307	109	4	modeling	model	VERB
ijassa-1307	109	5	experiments	experiment	NOUN
ijassa-1307	109	6	have	have	AUX
ijassa-1307	109	7	been	be	AUX
ijassa-1307	109	8	implemented	implement	VERB
ijassa-1307	109	9	on	on	ADP
ijassa-1307	109	10	the	the	DET
ijassa-1307	109	11	specially	specially	ADV
ijassa-1307	109	12	developed	develop	VERB
ijassa-1307	109	13	program	program	NOUN
ijassa-1307	109	14	simulator	simulator	NOUN
ijassa-1307	109	15	to	to	PART
ijassa-1307	109	16	evaluate	evaluate	VERB
ijassa-1307	109	17	the	the	DET
ijassa-1307	109	18	efficiency	efficiency	NOUN
ijassa-1307	109	19	of	of	ADP
ijassa-1307	109	20	the	the	DET
ijassa-1307	109	21	communication	communication	NOUN
ijassa-1307	109	22	factor	factor	NOUN
ijassa-1307	109	23	and	and	CCONJ
ijassa-1307	109	24	collisions	collision	NOUN
ijassa-1307	109	25	minimization	minimization	NOUN
ijassa-1307	109	26	.	.	PUNCT
ijassa-1307	110	1	the	the	DET
ijassa-1307	110	2	av	av	PROPN
ijassa-1307	110	3	model	model	NOUN
ijassa-1307	110	4	with	with	ADP
ijassa-1307	110	5	a	a	DET
ijassa-1307	110	6	given	give	VERB
ijassa-1307	110	7	frequency	frequency	NOUN
ijassa-1307	110	8	of	of	ADP
ijassa-1307	110	9	the	the	DET
ijassa-1307	110	10	main	main	ADJ
ijassa-1307	110	11	cycle	cycle	NOUN
ijassa-1307	110	12	builds	build	VERB
ijassa-1307	110	13	its	its	PRON
ijassa-1307	110	14	local	local	ADJ
ijassa-1307	110	15	map	map	NOUN
ijassa-1307	110	16	,	,	PUNCT
ijassa-1307	110	17	sends	send	VERB
ijassa-1307	110	18	data	datum	NOUN
ijassa-1307	110	19	to	to	ADP
ijassa-1307	110	20	the	the	DET
ijassa-1307	110	21	network	network	NOUN
ijassa-1307	110	22	,	,	PUNCT
ijassa-1307	110	23	receives	receive	VERB
ijassa-1307	110	24	messages	message	NOUN
ijassa-1307	110	25	from	from	ADP
ijassa-1307	110	26	other	other	ADJ
ijassa-1307	110	27	ones	one	NOUN
ijassa-1307	110	28	,	,	PUNCT
ijassa-1307	110	29	analyzes	analyze	VERB
ijassa-1307	110	30	the	the	DET
ijassa-1307	110	31	situation	situation	NOUN
ijassa-1307	110	32	,	,	PUNCT
ijassa-1307	110	33	and	and	CCONJ
ijassa-1307	110	34	selects	select	VERB
ijassa-1307	110	35	maximally	maximally	ADV
ijassa-1307	110	36	safe	safe	ADJ
ijassa-1307	110	37	control	control	NOUN
ijassa-1307	110	38	approaching	approach	VERB
ijassa-1307	110	39	the	the	DET
ijassa-1307	110	40	destination	destination	NOUN
ijassa-1307	110	41	based	base	VERB
ijassa-1307	110	42	on	on	ADP
ijassa-1307	110	43	the	the	DET
ijassa-1307	110	44	extended	extend	VERB
ijassa-1307	110	45	obstacle	obstacle	NOUN
ijassa-1307	110	46	map	map	NOUN
ijassa-1307	110	47	.	.	PUNCT
ijassa-1307	111	1	simulation	simulation	NOUN
ijassa-1307	111	2	scene	scene	NOUN
ijassa-1307	111	3	is	be	AUX
ijassa-1307	111	4	the	the	DET
ijassa-1307	111	5	corridor	corridor	NOUN
ijassa-1307	111	6	10	10	NUM
ijassa-1307	111	7	m	m	NOUN
ijassa-1307	111	8	(	(	PUNCT
ijassa-1307	111	9	see	see	VERB
ijassa-1307	111	10	fig	fig	NOUN
ijassa-1307	111	11	.	.	PUNCT
ijassa-1307	112	1	4.5	4.5	NUM
ijassa-1307	112	2	)	)	PUNCT
ijassa-1307	112	3	.	.	PUNCT
ijassa-1307	113	1	the	the	DET
ijassa-1307	113	2	intensity	intensity	NOUN
ijassa-1307	113	3	of	of	ADP
ijassa-1307	113	4	the	the	DET
ijassa-1307	113	5	av	av	PROPN
ijassa-1307	113	6	model	model	PROPN
ijassa-1307	113	7	generator	generator	PROPN
ijassa-1307	113	8	is	be	AUX
ijassa-1307	113	9	0.5	0.5	NUM
ijassa-1307	113	10	2.5	2.5	NUM
ijassa-1307	113	11	(	(	PUNCT
ijassa-1307	113	12	units	unit	NOUN
ijassa-1307	113	13	per	per	ADP
ijassa-1307	113	14	second	second	ADJ
ijassa-1307	113	15	)	)	PUNCT
ijassa-1307	113	16	.	.	PUNCT
ijassa-1307	114	1	there	there	PRON
ijassa-1307	114	2	are	be	VERB
ijassa-1307	114	3	2	2	NUM
ijassa-1307	114	4	generators	generator	NOUN
ijassa-1307	114	5	on	on	ADP
ijassa-1307	114	6	the	the	DET
ijassa-1307	114	7	scene	scene	NOUN
ijassa-1307	114	8	.	.	PUNCT
ijassa-1307	115	1	av	av	PROPN
ijassa-1307	115	2	models	model	NOUN
ijassa-1307	115	3	move	move	VERB
ijassa-1307	115	4	in	in	ADP
ijassa-1307	115	5	counterflows	counterflow	NOUN
ijassa-1307	115	6	:	:	PUNCT
ijassa-1307	115	7	one	one	NUM
ijassa-1307	115	8	group	group	NOUN
ijassa-1307	115	9	(	(	PUNCT
ijassa-1307	115	10	from	from	ADP
ijassa-1307	115	11	generator	generator	NOUN
ijassa-1307	115	12	1	1	NUM
ijassa-1307	115	13	,	,	PUNCT
ijassa-1307	115	14	cyan	cyan	NOUN
ijassa-1307	115	15	)	)	PUNCT
ijassa-1307	115	16	travels	travel	VERB
ijassa-1307	115	17	towards	towards	ADP
ijassa-1307	115	18	generator	generator	NOUN
ijassa-1307	115	19	2	2	NUM
ijassa-1307	115	20	(	(	PUNCT
ijassa-1307	115	21	magenta	magenta	NOUN
ijassa-1307	115	22	)	)	PUNCT
ijassa-1307	115	23	and	and	CCONJ
ijassa-1307	115	24	vice	vice	ADV
ijassa-1307	115	25	versa	versa	ADV
ijassa-1307	115	26	.	.	PUNCT
ijassa-1307	116	1	for	for	ADP
ijassa-1307	116	2	each	each	DET
ijassa-1307	116	3	intensity	intensity	NOUN
ijassa-1307	116	4	,	,	PUNCT
ijassa-1307	116	5	the	the	DET
ijassa-1307	116	6	experiment	experiment	NOUN
ijassa-1307	116	7	lasted	last	VERB
ijassa-1307	116	8	10	10	NUM
ijassa-1307	116	9	min	min	NOUN
ijassa-1307	116	10	.	.	PROPN
ijassa-1307	116	11	simulation	simulation	PROPN
ijassa-1307	116	12	time	time	NOUN
ijassa-1307	116	13	,	,	PUNCT
ijassa-1307	116	14	statistics	statistic	NOUN
ijassa-1307	116	15	were	be	AUX
ijassa-1307	116	16	collected	collect	VERB
ijassa-1307	116	17	every	every	DET
ijassa-1307	116	18	dt	dt	NOUN
ijassa-1307	116	19	=	=	SYM
ijassa-1307	116	20	0.1	0.1	NUM
ijassa-1307	116	21	s.	s.	PROPN
ijassa-1307	116	22	during	during	ADP
ijassa-1307	116	23	this	this	DET
ijassa-1307	116	24	time	time	NOUN
ijassa-1307	116	25	,	,	PUNCT
ijassa-1307	116	26	two	two	NUM
ijassa-1307	116	27	generators	generator	NOUN
ijassa-1307	116	28	are	be	AUX
ijassa-1307	116	29	released	release	VERB
ijassa-1307	116	30	on	on	ADP
ijassa-1307	116	31	the	the	DET
ijassa-1307	116	32	stage	stage	NOUN
ijassa-1307	116	33	somewhere	somewhere	ADV
ijassa-1307	116	34	from	from	ADP
ijassa-1307	116	35	600	600	NUM
ijassa-1307	116	36	(	(	PUNCT
ijassa-1307	116	37	0.5	0.5	NUM
ijassa-1307	116	38	hz	hz	NOUN
ijassa-1307	116	39	)	)	PUNCT
ijassa-1307	116	40	to	to	ADP
ijassa-1307	116	41	3000	3000	NUM
ijassa-1307	116	42	(	(	PUNCT
ijassa-1307	116	43	2.5	2.5	NUM
ijassa-1307	116	44	hz	hz	NOUN
ijassa-1307	116	45	)	)	PUNCT
ijassa-1307	116	46	av	av	PROPN
ijassa-1307	116	47	models	model	NOUN
ijassa-1307	116	48	.	.	PUNCT
ijassa-1307	117	1	there	there	PRON
ijassa-1307	117	2	are	be	VERB
ijassa-1307	117	3	no	no	DET
ijassa-1307	117	4	side	side	NOUN
ijassa-1307	117	5	walls	wall	NOUN
ijassa-1307	117	6	in	in	ADP
ijassa-1307	117	7	this	this	DET
ijassa-1307	117	8	experiment	experiment	NOUN
ijassa-1307	117	9	to	to	PART
ijassa-1307	117	10	eliminate	eliminate	VERB
ijassa-1307	117	11	the	the	DET
ijassa-1307	117	12	congestion	congestion	NOUN
ijassa-1307	117	13	effect	effect	NOUN
ijassa-1307	117	14	.	.	PUNCT
ijassa-1307	118	1	the	the	DET
ijassa-1307	118	2	parameters	parameter	NOUN
ijassa-1307	118	3	of	of	ADP
ijassa-1307	118	4	the	the	DET
ijassa-1307	118	5	av	av	PROPN
ijassa-1307	118	6	models	model	NOUN
ijassa-1307	118	7	at	at	ADP
ijassa-1307	118	8	:	:	PUNCT
ijassa-1307	118	9	copyright	copyright	NOUN
ijassa-1307	118	10	©	©	PROPN
ijassa-1307	118	11	2022	2022	NUM
ijassa-1307	118	12	assa	assa	NOUN
ijassa-1307	118	13	.	.	PUNCT
ijassa-1307	119	1	adv	adv	PROPN
ijassa-1307	119	2	syst	syst	PROPN
ijassa-1307	119	3	sci	sci	PROPN
ijassa-1307	119	4	appl	appl	PROPN
ijassa-1307	119	5	(	(	PUNCT
ijassa-1307	119	6	2022	2022	NUM
ijassa-1307	119	7	)	)	PUNCT
ijassa-1307	119	8	198	198	NUM
ijassa-1307	119	9	a.	a.	NOUN
ijassa-1307	119	10	abdulov	abdulov	PROPN
ijassa-1307	119	11	fig	fig	NOUN
ijassa-1307	119	12	.	.	PUNCT
ijassa-1307	120	1	3.4	3.4	NUM
ijassa-1307	120	2	.	.	PUNCT
ijassa-1307	120	3	example	example	NOUN
ijassa-1307	120	4	of	of	ADP
ijassa-1307	120	5	an	an	DET
ijassa-1307	120	6	extended	extended	ADJ
ijassa-1307	120	7	obstacle	obstacle	NOUN
ijassa-1307	120	8	map	map	NOUN
ijassa-1307	120	9	.	.	PUNCT
ijassa-1307	121	1	•	•	NUM
ijassa-1307	122	1	linear	linear	PROPN
ijassa-1307	122	2	velocities	velocity	NOUN
ijassa-1307	122	3	:	:	PUNCT
ijassa-1307	122	4	1.5±	1.5±	NUM
ijassa-1307	122	5	0.5	0.5	NUM
ijassa-1307	122	6	m	m	NOUN
ijassa-1307	122	7	/	/	SYM
ijassa-1307	122	8	s	s	PROPN
ijassa-1307	122	9	;	;	PUNCT
ijassa-1307	122	10	•	•	NUM
ijassa-1307	122	11	speed	speed	NOUN
ijassa-1307	122	12	of	of	ADP
ijassa-1307	122	13	rotations	rotation	NOUN
ijassa-1307	122	14	:	:	PUNCT
ijassa-1307	122	15	180±	180±	NUM
ijassa-1307	122	16	60	60	NUM
ijassa-1307	122	17	deg	deg	NOUN
ijassa-1307	122	18	/	/	SYM
ijassa-1307	122	19	s	s	PROPN
ijassa-1307	122	20	;	;	PUNCT
ijassa-1307	122	21	•	•	NUM
ijassa-1307	122	22	dimensions	dimension	NOUN
ijassa-1307	122	23	(	(	PUNCT
ijassa-1307	122	24	radii	radii	PROPN
ijassa-1307	122	25	):	):	PUNCT
ijassa-1307	122	26	0.15±	0.15±	NOUN
ijassa-1307	122	27	0.05	0.05	NUM
ijassa-1307	122	28	m	m	NOUN
ijassa-1307	122	29	;	;	PUNCT
ijassa-1307	122	30	•	•	NUM
ijassa-1307	122	31	wireless	wireless	ADJ
ijassa-1307	122	32	network	network	NOUN
ijassa-1307	122	33	signal	signal	NOUN
ijassa-1307	122	34	range	range	NOUN
ijassa-1307	122	35	(	(	PUNCT
ijassa-1307	122	36	radii	radii	NOUN
ijassa-1307	122	37	):	):	PUNCT
ijassa-1307	122	38	2.5±	2.5±	PROPN
ijassa-1307	122	39	0.5	0.5	NUM
ijassa-1307	122	40	m	m	NOUN
ijassa-1307	122	41	;	;	PUNCT
ijassa-1307	122	42	•	•	NUM
ijassa-1307	122	43	rangefinder	rangefinder	NOUN
ijassa-1307	122	44	maximum	maximum	ADJ
ijassa-1307	122	45	distance	distance	NOUN
ijassa-1307	122	46	:	:	PUNCT
ijassa-1307	122	47	1.5±	1.5±	NUM
ijassa-1307	122	48	0.5	0.5	NUM
ijassa-1307	122	49	m	m	NOUN
ijassa-1307	122	50	;	;	PUNCT
ijassa-1307	122	51	•	•	NUM
ijassa-1307	122	52	field	field	NOUN
ijassa-1307	122	53	of	of	ADP
ijassa-1307	122	54	view	view	NOUN
ijassa-1307	122	55	(	(	PUNCT
ijassa-1307	122	56	sector	sector	NOUN
ijassa-1307	122	57	):	):	PUNCT
ijassa-1307	122	58	180±	180±	PROPN
ijassa-1307	122	59	60	60	NUM
ijassa-1307	122	60	deg	deg	NOUN
ijassa-1307	122	61	.	.	PUNCT
ijassa-1307	123	1	series	series	PROPN
ijassa-1307	123	2	of	of	ADP
ijassa-1307	123	3	experiments	experiment	NOUN
ijassa-1307	123	4	:	:	PUNCT
ijassa-1307	123	5	•	•	NUM
ijassa-1307	123	6	t1	t1	NOUN
ijassa-1307	123	7	everything	everything	PRON
ijassa-1307	123	8	is	be	AUX
ijassa-1307	123	9	known	know	VERB
ijassa-1307	123	10	about	about	ADP
ijassa-1307	123	11	those	those	PRON
ijassa-1307	123	12	who	who	PRON
ijassa-1307	123	13	fall	fall	VERB
ijassa-1307	123	14	into	into	ADP
ijassa-1307	123	15	direct	direct	ADJ
ijassa-1307	123	16	observation	observation	NOUN
ijassa-1307	123	17	(	(	PUNCT
ijassa-1307	123	18	uses	use	VERB
ijassa-1307	123	19	known	know	VERB
ijassa-1307	123	20	dimensions	dimension	NOUN
ijassa-1307	123	21	and	and	CCONJ
ijassa-1307	123	22	planned	plan	VERB
ijassa-1307	123	23	trajectories	trajectory	NOUN
ijassa-1307	123	24	)	)	PUNCT
ijassa-1307	123	25	;	;	PUNCT
ijassa-1307	123	26	•	•	NUM
ijassa-1307	123	27	t2	t2	NOUN
ijassa-1307	123	28	direct	direct	ADJ
ijassa-1307	123	29	observation	observation	NOUN
ijassa-1307	123	30	(	(	PUNCT
ijassa-1307	123	31	information	information	NOUN
ijassa-1307	123	32	from	from	ADP
ijassa-1307	123	33	the	the	DET
ijassa-1307	123	34	network	network	NOUN
ijassa-1307	123	35	is	be	AUX
ijassa-1307	123	36	not	not	PART
ijassa-1307	123	37	available	available	ADJ
ijassa-1307	123	38	,	,	PUNCT
ijassa-1307	123	39	all	all	DET
ijassa-1307	123	40	observed	observed	ADJ
ijassa-1307	123	41	obstacles	obstacle	NOUN
ijassa-1307	123	42	are	be	AUX
ijassa-1307	123	43	considered	consider	VERB
ijassa-1307	123	44	as	as	ADP
ijassa-1307	123	45	static	static	NOUN
ijassa-1307	123	46	)	)	PUNCT
ijassa-1307	123	47	;	;	PUNCT
ijassa-1307	123	48	•	•	NUM
ijassa-1307	123	49	t3	t3	NOUN
ijassa-1307	123	50	the	the	DET
ijassa-1307	123	51	proposed	propose	VERB
ijassa-1307	123	52	approach	approach	NOUN
ijassa-1307	123	53	based	base	VERB
ijassa-1307	123	54	on	on	ADP
ijassa-1307	123	55	an	an	DET
ijassa-1307	123	56	extended	extend	VERB
ijassa-1307	123	57	obstacle	obstacle	NOUN
ijassa-1307	123	58	map	map	NOUN
ijassa-1307	123	59	(	(	PUNCT
ijassa-1307	123	60	uses	use	VERB
ijassa-1307	123	61	information	information	NOUN
ijassa-1307	123	62	from	from	ADP
ijassa-1307	123	63	the	the	DET
ijassa-1307	123	64	network	network	NOUN
ijassa-1307	123	65	for	for	ADP
ijassa-1307	123	66	those	those	DET
ijassa-1307	123	67	network	network	NOUN
ijassa-1307	123	68	participants	participant	NOUN
ijassa-1307	123	69	whose	whose	DET
ijassa-1307	123	70	position	position	NOUN
ijassa-1307	123	71	has	have	AUX
ijassa-1307	123	72	been	be	AUX
ijassa-1307	123	73	established	establish	VERB
ijassa-1307	123	74	,	,	PUNCT
ijassa-1307	123	75	including	include	VERB
ijassa-1307	123	76	false	false	ADJ
ijassa-1307	123	77	positives	positive	NOUN
ijassa-1307	123	78	,	,	PUNCT
ijassa-1307	123	79	all	all	DET
ijassa-1307	123	80	other	other	ADJ
ijassa-1307	123	81	nodes	node	NOUN
ijassa-1307	123	82	are	be	AUX
ijassa-1307	123	83	considered	consider	VERB
ijassa-1307	123	84	as	as	ADP
ijassa-1307	123	85	static	static	ADJ
ijassa-1307	123	86	obstacles	obstacle	NOUN
ijassa-1307	123	87	)	)	PUNCT
ijassa-1307	123	88	.	.	PUNCT
ijassa-1307	124	1	copyright	copyright	NOUN
ijassa-1307	124	2	©	©	PROPN
ijassa-1307	124	3	2022	2022	NUM
ijassa-1307	124	4	assa	assa	NOUN
ijassa-1307	124	5	.	.	PUNCT
ijassa-1307	125	1	adv	adv	PROPN
ijassa-1307	125	2	syst	syst	PROPN
ijassa-1307	125	3	sci	sci	PROPN
ijassa-1307	125	4	appl	appl	PROPN
ijassa-1307	125	5	(	(	PUNCT
ijassa-1307	125	6	2022	2022	NUM
ijassa-1307	125	7	)	)	PUNCT
ijassa-1307	125	8	extending	extend	VERB
ijassa-1307	125	9	obstacle	obstacle	NOUN
ijassa-1307	125	10	map	map	NOUN
ijassa-1307	125	11	of	of	ADP
ijassa-1307	125	12	autonomous	autonomous	ADJ
ijassa-1307	125	13	vehicles	vehicle	NOUN
ijassa-1307	125	14	199	199	NUM
ijassa-1307	125	15	5	5	NUM
ijassa-1307	125	16	.	.	PUNCT
ijassa-1307	125	17	experimental	experimental	ADJ
ijassa-1307	125	18	results	result	NOUN
ijassa-1307	125	19	.	.	PUNCT
ijassa-1307	126	1	during	during	ADP
ijassa-1307	126	2	the	the	DET
ijassa-1307	126	3	experiments	experiment	NOUN
ijassa-1307	126	4	,	,	PUNCT
ijassa-1307	126	5	the	the	DET
ijassa-1307	126	6	following	follow	VERB
ijassa-1307	126	7	average	average	ADJ
ijassa-1307	126	8	indicators	indicator	NOUN
ijassa-1307	126	9	were	be	AUX
ijassa-1307	126	10	evaluated	evaluate	VERB
ijassa-1307	126	11	:	:	PUNCT
ijassa-1307	126	12	•	•	NUM
ijassa-1307	126	13	count	count	NOUN
ijassa-1307	126	14	of	of	ADP
ijassa-1307	126	15	hits	hit	NOUN
ijassa-1307	126	16	(	(	PUNCT
ijassa-1307	126	17	collisions	collision	NOUN
ijassa-1307	126	18	)	)	PUNCT
ijassa-1307	126	19	.	.	PUNCT
ijassa-1307	127	1	•	•	NUM
ijassa-1307	127	2	delay	delay	NOUN
ijassa-1307	127	3	on	on	ADP
ijassa-1307	127	4	the	the	DET
ijassa-1307	127	5	way	way	NOUN
ijassa-1307	127	6	.	.	PUNCT
ijassa-1307	128	1	delay	delay	NOUN
ijassa-1307	128	2	=	=	PUNCT
ijassa-1307	128	3	exitt	exitt	NOUN
ijassa-1307	128	4	ime−	ime−	DET
ijassa-1307	128	5	startt	startt	ADJ
ijassa-1307	128	6	ime	ime	PROPN
ijassa-1307	128	7	mint	mint	PROPN
ijassa-1307	128	8	ime	ime	PROPN
ijassa-1307	128	9	−	−	PROPN
ijassa-1307	128	10	1	1	NUM
ijassa-1307	128	11	if	if	SCONJ
ijassa-1307	128	12	it	it	PRON
ijassa-1307	128	13	is	be	AUX
ijassa-1307	128	14	possible	possible	ADJ
ijassa-1307	128	15	to	to	PART
ijassa-1307	128	16	reach	reach	VERB
ijassa-1307	128	17	the	the	DET
ijassa-1307	128	18	goal	goal	NOUN
ijassa-1307	128	19	in	in	ADP
ijassa-1307	128	20	the	the	DET
ijassa-1307	128	21	minimum	minimum	ADJ
ijassa-1307	128	22	possible	possible	ADJ
ijassa-1307	128	23	time	time	NOUN
ijassa-1307	128	24	mintime	mintime	ADV
ijassa-1307	128	25	,	,	PUNCT
ijassa-1307	128	26	then	then	ADV
ijassa-1307	128	27	the	the	DET
ijassa-1307	128	28	delay	delay	NOUN
ijassa-1307	128	29	is	be	AUX
ijassa-1307	128	30	0	0	NUM
ijassa-1307	128	31	,	,	PUNCT
ijassa-1307	128	32	and	and	CCONJ
ijassa-1307	128	33	if	if	SCONJ
ijassa-1307	128	34	1	1	NUM
ijassa-1307	128	35	,	,	PUNCT
ijassa-1307	128	36	then	then	ADV
ijassa-1307	128	37	the	the	DET
ijassa-1307	128	38	delay	delay	NOUN
ijassa-1307	128	39	relative	relative	ADJ
ijassa-1307	128	40	to	to	ADP
ijassa-1307	128	41	the	the	DET
ijassa-1307	128	42	minimum	minimum	ADJ
ijassa-1307	128	43	possible	possible	ADJ
ijassa-1307	128	44	time	time	NOUN
ijassa-1307	128	45	is	be	AUX
ijassa-1307	128	46	100	100	NUM
ijassa-1307	128	47	%	%	NOUN
ijassa-1307	128	48	.	.	PUNCT
ijassa-1307	129	1	the	the	DET
ijassa-1307	129	2	simulation	simulation	NOUN
ijassa-1307	129	3	results	result	VERB
ijassa-1307	129	4	(	(	PUNCT
ijassa-1307	129	5	see	see	VERB
ijassa-1307	129	6	fig	fig	NOUN
ijassa-1307	129	7	.	.	PUNCT
ijassa-1307	130	1	5.6	5.6	NUM
ijassa-1307	130	2	)	)	PUNCT
ijassa-1307	130	3	have	have	AUX
ijassa-1307	130	4	confirmed	confirm	VERB
ijassa-1307	130	5	the	the	DET
ijassa-1307	130	6	efficiency	efficiency	NOUN
ijassa-1307	130	7	of	of	ADP
ijassa-1307	130	8	the	the	DET
ijassa-1307	130	9	proposed	propose	VERB
ijassa-1307	130	10	approach	approach	NOUN
ijassa-1307	130	11	:	:	PUNCT
ijassa-1307	130	12	the	the	DET
ijassa-1307	130	13	developed	develop	VERB
ijassa-1307	130	14	model	model	NOUN
ijassa-1307	130	15	enables	enable	VERB
ijassa-1307	130	16	one	one	NUM
ijassa-1307	130	17	to	to	PART
ijassa-1307	130	18	considerably	considerably	ADV
ijassa-1307	130	19	restrict	restrict	VERB
ijassa-1307	130	20	the	the	DET
ijassa-1307	130	21	number	number	NOUN
ijassa-1307	130	22	of	of	ADP
ijassa-1307	130	23	collisions	collision	NOUN
ijassa-1307	130	24	under	under	ADP
ijassa-1307	130	25	motion	motion	NOUN
ijassa-1307	130	26	over	over	ADP
ijassa-1307	130	27	non	non	ADJ
ijassa-1307	130	28	-	-	ADJ
ijassa-1307	130	29	regulated	regulated	ADJ
ijassa-1307	130	30	counter	counter	NOUN
ijassa-1307	130	31	flows	flow	NOUN
ijassa-1307	130	32	.	.	PUNCT
ijassa-1307	131	1	such	such	DET
ijassa-1307	131	2	a	a	DET
ijassa-1307	131	3	model	model	NOUN
ijassa-1307	131	4	of	of	ADP
ijassa-1307	131	5	local	local	ADJ
ijassa-1307	131	6	positioning	positioning	NOUN
ijassa-1307	131	7	enables	enable	VERB
ijassa-1307	131	8	one	one	NUM
ijassa-1307	131	9	to	to	PART
ijassa-1307	131	10	increase	increase	VERB
ijassa-1307	131	11	the	the	DET
ijassa-1307	131	12	awareness	awareness	NOUN
ijassa-1307	131	13	of	of	ADP
ijassa-1307	131	14	the	the	DET
ijassa-1307	131	15	road	road	NOUN
ijassa-1307	131	16	traffic	traffic	NOUN
ijassa-1307	131	17	participants	participant	NOUN
ijassa-1307	131	18	without	without	ADP
ijassa-1307	131	19	a	a	DET
ijassa-1307	131	20	common	common	ADJ
ijassa-1307	131	21	regulation	regulation	NOUN
ijassa-1307	131	22	center	center	NOUN
ijassa-1307	131	23	.	.	PUNCT
ijassa-1307	132	1	this	this	DET
ijassa-1307	132	2	approach	approach	NOUN
ijassa-1307	132	3	will	will	AUX
ijassa-1307	132	4	work	work	VERB
ijassa-1307	132	5	both	both	PRON
ijassa-1307	132	6	in	in	ADP
ijassa-1307	132	7	networks	network	NOUN
ijassa-1307	132	8	with	with	ADP
ijassa-1307	132	9	centralized	centralized	ADJ
ijassa-1307	132	10	common	common	ADJ
ijassa-1307	132	11	access	access	NOUN
ijassa-1307	132	12	points	point	NOUN
ijassa-1307	132	13	and	and	CCONJ
ijassa-1307	132	14	in	in	ADP
ijassa-1307	132	15	distributed	distribute	VERB
ijassa-1307	132	16	self	self	NOUN
ijassa-1307	132	17	-	-	PUNCT
ijassa-1307	132	18	organizing	organize	VERB
ijassa-1307	132	19	mesh	mesh	NOUN
ijassa-1307	132	20	networks	network	NOUN
ijassa-1307	132	21	[	[	X
ijassa-1307	132	22	7	7	NUM
ijassa-1307	132	23	]	]	PUNCT
ijassa-1307	132	24	.	.	PUNCT
ijassa-1307	133	1	in	in	ADP
ijassa-1307	133	2	addition	addition	NOUN
ijassa-1307	133	3	,	,	PUNCT
ijassa-1307	133	4	a	a	DET
ijassa-1307	133	5	number	number	NOUN
ijassa-1307	133	6	of	of	ADP
ijassa-1307	133	7	subtasks	subtask	NOUN
ijassa-1307	133	8	appear	appear	VERB
ijassa-1307	133	9	to	to	PART
ijassa-1307	133	10	reduce	reduce	VERB
ijassa-1307	133	11	the	the	DET
ijassa-1307	133	12	number	number	NOUN
ijassa-1307	133	13	of	of	ADP
ijassa-1307	133	14	permutations	permutation	NOUN
ijassa-1307	133	15	and	and	CCONJ
ijassa-1307	133	16	develop	develop	VERB
ijassa-1307	133	17	a	a	DET
ijassa-1307	133	18	more	more	ADV
ijassa-1307	133	19	reliable	reliable	ADJ
ijassa-1307	133	20	criterion	criterion	NOUN
ijassa-1307	133	21	of	of	ADP
ijassa-1307	133	22	optimality	optimality	NOUN
ijassa-1307	133	23	to	to	PART
ijassa-1307	133	24	reduce	reduce	VERB
ijassa-1307	133	25	the	the	DET
ijassa-1307	133	26	number	number	NOUN
ijassa-1307	133	27	of	of	ADP
ijassa-1307	133	28	false	false	ADJ
ijassa-1307	133	29	positives	positive	NOUN
ijassa-1307	133	30	,	,	PUNCT
ijassa-1307	133	31	so	so	SCONJ
ijassa-1307	133	32	that	that	SCONJ
ijassa-1307	133	33	the	the	DET
ijassa-1307	133	34	method	method	NOUN
ijassa-1307	133	35	continues	continue	VERB
ijassa-1307	133	36	to	to	PART
ijassa-1307	133	37	work	work	VERB
ijassa-1307	133	38	not	not	PART
ijassa-1307	133	39	only	only	ADV
ijassa-1307	133	40	in	in	ADP
ijassa-1307	133	41	conditions	condition	NOUN
ijassa-1307	133	42	of	of	ADP
ijassa-1307	133	43	artificial	artificial	ADJ
ijassa-1307	133	44	noisy	noisy	ADJ
ijassa-1307	133	45	readings	reading	NOUN
ijassa-1307	133	46	of	of	ADP
ijassa-1307	133	47	rangefinders	rangefinder	NOUN
ijassa-1307	133	48	,	,	PUNCT
ijassa-1307	133	49	but	but	CCONJ
ijassa-1307	133	50	also	also	ADV
ijassa-1307	133	51	in	in	ADP
ijassa-1307	133	52	reality	reality	NOUN
ijassa-1307	133	53	,	,	PUNCT
ijassa-1307	133	54	where	where	SCONJ
ijassa-1307	133	55	there	there	PRON
ijassa-1307	133	56	are	be	VERB
ijassa-1307	133	57	a	a	DET
ijassa-1307	133	58	lot	lot	NOUN
ijassa-1307	133	59	of	of	ADP
ijassa-1307	133	60	other	other	ADJ
ijassa-1307	133	61	inaccuracies	inaccuracy	NOUN
ijassa-1307	133	62	,	,	PUNCT
ijassa-1307	133	63	for	for	ADP
ijassa-1307	133	64	example	example	NOUN
ijassa-1307	133	65	,	,	PUNCT
ijassa-1307	133	66	in	in	ADP
ijassa-1307	133	67	the	the	DET
ijassa-1307	133	68	the	the	DET
ijassa-1307	133	69	experiments	experiment	NOUN
ijassa-1307	133	70	did	do	AUX
ijassa-1307	133	71	not	not	PART
ijassa-1307	133	72	take	take	VERB
ijassa-1307	133	73	into	into	ADP
ijassa-1307	133	74	account	account	NOUN
ijassa-1307	133	75	the	the	DET
ijassa-1307	133	76	delays	delay	NOUN
ijassa-1307	133	77	in	in	ADP
ijassa-1307	133	78	data	data	NOUN
ijassa-1307	133	79	transmission	transmission	NOUN
ijassa-1307	133	80	over	over	ADP
ijassa-1307	133	81	the	the	DET
ijassa-1307	133	82	network	network	NOUN
ijassa-1307	133	83	.	.	PUNCT
ijassa-1307	134	1	in	in	ADP
ijassa-1307	134	2	addition	addition	NOUN
ijassa-1307	134	3	,	,	PUNCT
ijassa-1307	134	4	in	in	ADP
ijassa-1307	134	5	connection	connection	NOUN
ijassa-1307	134	6	with	with	ADP
ijassa-1307	134	7	the	the	DET
ijassa-1307	134	8	combinatorial	combinatorial	ADJ
ijassa-1307	134	9	problem	problem	NOUN
ijassa-1307	134	10	,	,	PUNCT
ijassa-1307	134	11	the	the	DET
ijassa-1307	134	12	question	question	NOUN
ijassa-1307	134	13	remains	remain	VERB
ijassa-1307	134	14	about	about	ADP
ijassa-1307	134	15	the	the	DET
ijassa-1307	134	16	minimum	minimum	ADJ
ijassa-1307	134	17	sufficient	sufficient	ADJ
ijassa-1307	134	18	number	number	NOUN
ijassa-1307	134	19	of	of	ADP
ijassa-1307	134	20	successfully	successfully	ADV
ijassa-1307	134	21	identified	identify	VERB
ijassa-1307	134	22	participants	participant	NOUN
ijassa-1307	134	23	to	to	PART
ijassa-1307	134	24	ensure	ensure	VERB
ijassa-1307	134	25	safe	safe	ADJ
ijassa-1307	134	26	movement	movement	NOUN
ijassa-1307	134	27	in	in	ADP
ijassa-1307	134	28	clusters	cluster	NOUN
ijassa-1307	134	29	.	.	PUNCT
ijassa-1307	135	1	at	at	ADP
ijassa-1307	135	2	high	high	ADJ
ijassa-1307	135	3	intensities	intensity	NOUN
ijassa-1307	135	4	,	,	PUNCT
ijassa-1307	135	5	even	even	ADV
ijassa-1307	135	6	with	with	ADP
ijassa-1307	135	7	k1	k1	NOUN
ijassa-1307	135	8	=	=	SYM
ijassa-1307	135	9	2	2	NUM
ijassa-1307	135	10	and	and	CCONJ
ijassa-1307	135	11	k2	k2	NOUN
ijassa-1307	135	12	=	=	SYM
ijassa-1307	135	13	3	3	NUM
ijassa-1307	135	14	,	,	PUNCT
ijassa-1307	135	15	lengthy	lengthy	ADJ
ijassa-1307	135	16	calculations	calculation	NOUN
ijassa-1307	135	17	had	have	VERB
ijassa-1307	135	18	to	to	PART
ijassa-1307	135	19	be	be	AUX
ijassa-1307	135	20	performed	perform	VERB
ijassa-1307	135	21	at	at	ADP
ijassa-1307	135	22	the	the	DET
ijassa-1307	135	23	stage	stage	NOUN
ijassa-1307	135	24	of	of	ADP
ijassa-1307	135	25	enumerating	enumerate	VERB
ijassa-1307	135	26	combinations	combination	NOUN
ijassa-1307	135	27	.	.	PUNCT
ijassa-1307	136	1	fig	fig	NOUN
ijassa-1307	136	2	.	.	PUNCT
ijassa-1307	137	1	4.5	4.5	NUM
ijassa-1307	137	2	.	.	PUNCT
ijassa-1307	137	3	scene	scene	PROPN
ijassa-1307	137	4	example	example	NOUN
ijassa-1307	137	5	of	of	ADP
ijassa-1307	137	6	the	the	DET
ijassa-1307	137	7	developed	develop	VERB
ijassa-1307	137	8	simulator	simulator	NOUN
ijassa-1307	137	9	:	:	PUNCT
ijassa-1307	137	10	(	(	PUNCT
ijassa-1307	137	11	a	a	X
ijassa-1307	137	12	)	)	PUNCT
ijassa-1307	137	13	move	move	NOUN
ijassa-1307	137	14	area	area	NOUN
ijassa-1307	137	15	;	;	PUNCT
ijassa-1307	137	16	(	(	PUNCT
ijassa-1307	137	17	b	b	X
ijassa-1307	137	18	)	)	PUNCT
ijassa-1307	137	19	ideal	ideal	ADJ
ijassa-1307	137	20	extended	extend	VERB
ijassa-1307	137	21	local	local	ADJ
ijassa-1307	137	22	map	map	NOUN
ijassa-1307	137	23	;	;	PUNCT
ijassa-1307	137	24	(	(	PUNCT
ijassa-1307	137	25	c	c	X
ijassa-1307	137	26	)	)	PUNCT
ijassa-1307	137	27	proposed	propose	VERB
ijassa-1307	137	28	method	method	NOUN
ijassa-1307	137	29	in	in	ADP
ijassa-1307	137	30	scene	scene	NOUN
ijassa-1307	137	31	;	;	PUNCT
ijassa-1307	137	32	(	(	PUNCT
ijassa-1307	137	33	d	d	X
ijassa-1307	137	34	)	)	PUNCT
ijassa-1307	137	35	extended	extended	ADJ
ijassa-1307	137	36	map	map	NOUN
ijassa-1307	137	37	by	by	ADP
ijassa-1307	137	38	the	the	DET
ijassa-1307	137	39	proposed	propose	VERB
ijassa-1307	137	40	method	method	NOUN
ijassa-1307	137	41	with	with	ADP
ijassa-1307	137	42	normed	normed	ADJ
ijassa-1307	137	43	angles	angle	NOUN
ijassa-1307	137	44	.	.	PUNCT
ijassa-1307	138	1	copyright	copyright	NOUN
ijassa-1307	138	2	©	©	ADP
ijassa-1307	138	3	2022	2022	NUM
ijassa-1307	138	4	assa	assa	NOUN
ijassa-1307	138	5	.	.	PUNCT
ijassa-1307	139	1	adv	adv	PROPN
ijassa-1307	139	2	syst	syst	PROPN
ijassa-1307	139	3	sci	sci	PROPN
ijassa-1307	139	4	appl	appl	PROPN
ijassa-1307	139	5	(	(	PUNCT
ijassa-1307	139	6	2022	2022	NUM
ijassa-1307	139	7	)	)	PUNCT
ijassa-1307	139	8	200	200	NUM
ijassa-1307	139	9	a.	a.	NOUN
ijassa-1307	139	10	abdulov	abdulov	PROPN
ijassa-1307	139	11	fig	fig	NOUN
ijassa-1307	139	12	.	.	PUNCT
ijassa-1307	140	1	5.6	5.6	NUM
ijassa-1307	140	2	.	.	PUNCT
ijassa-1307	141	1	experimental	experimental	ADJ
ijassa-1307	141	2	results	result	NOUN
ijassa-1307	141	3	.	.	PUNCT
ijassa-1307	142	1	6	6	X
ijassa-1307	142	2	.	.	X
ijassa-1307	142	3	conclusion	conclusion	NOUN
ijassa-1307	142	4	the	the	DET
ijassa-1307	142	5	smart	smart	ADJ
ijassa-1307	142	6	city	city	NOUN
ijassa-1307	142	7	strategically	strategically	ADV
ijassa-1307	142	8	considers	consider	VERB
ijassa-1307	142	9	transport	transport	NOUN
ijassa-1307	142	10	development	development	NOUN
ijassa-1307	142	11	.	.	PUNCT
ijassa-1307	143	1	the	the	DET
ijassa-1307	143	2	transport	transport	NOUN
ijassa-1307	143	3	structure	structure	NOUN
ijassa-1307	143	4	becomes	become	VERB
ijassa-1307	143	5	intelligent	intelligent	ADJ
ijassa-1307	143	6	.	.	PUNCT
ijassa-1307	144	1	the	the	DET
ijassa-1307	144	2	tendency	tendency	NOUN
ijassa-1307	144	3	to	to	PART
ijassa-1307	144	4	apply	apply	VERB
ijassa-1307	144	5	dynamic	dynamic	ADJ
ijassa-1307	144	6	and	and	CCONJ
ijassa-1307	144	7	multi	multi	ADJ
ijassa-1307	144	8	-	-	ADJ
ijassa-1307	144	9	modal	modal	ADJ
ijassa-1307	144	10	information	information	NOUN
ijassa-1307	144	11	is	be	AUX
ijassa-1307	144	12	appreciable	appreciable	ADJ
ijassa-1307	144	13	in	in	ADP
ijassa-1307	144	14	control	control	NOUN
ijassa-1307	144	15	of	of	ADP
ijassa-1307	144	16	the	the	DET
ijassa-1307	144	17	city	city	NOUN
ijassa-1307	144	18	logistics	logistic	NOUN
ijassa-1307	144	19	.	.	PUNCT
ijassa-1307	145	1	big	big	ADJ
ijassa-1307	145	2	data	datum	NOUN
ijassa-1307	145	3	are	be	AUX
ijassa-1307	145	4	sampled	sample	VERB
ijassa-1307	145	5	from	from	ADP
ijassa-1307	145	6	avs	avs	PROPN
ijassa-1307	145	7	sensors	sensor	NOUN
ijassa-1307	145	8	,	,	PUNCT
ijassa-1307	145	9	safety	safety	NOUN
ijassa-1307	145	10	cameras	camera	NOUN
ijassa-1307	145	11	,	,	PUNCT
ijassa-1307	145	12	rfid	rfid	NOUN
ijassa-1307	145	13	(	(	PUNCT
ijassa-1307	145	14	radio	radio	NOUN
ijassa-1307	145	15	frequency	frequency	NOUN
ijassa-1307	145	16	identification	identification	NOUN
ijassa-1307	145	17	)	)	PUNCT
ijassa-1307	145	18	labels	label	NOUN
ijassa-1307	145	19	,	,	PUNCT
ijassa-1307	145	20	etc	etc	X
ijassa-1307	145	21	.	.	X
ijassa-1307	146	1	the	the	DET
ijassa-1307	146	2	avs	avs	PROPN
ijassa-1307	146	3	take	take	VERB
ijassa-1307	146	4	a	a	DET
ijassa-1307	146	5	particular	particular	ADJ
ijassa-1307	146	6	place	place	NOUN
ijassa-1307	146	7	in	in	ADP
ijassa-1307	146	8	the	the	DET
ijassa-1307	146	9	transport	transport	NOUN
ijassa-1307	146	10	infrastructure	infrastructure	NOUN
ijassa-1307	146	11	,	,	PUNCT
ijassa-1307	146	12	which	which	PRON
ijassa-1307	146	13	requires	require	VERB
ijassa-1307	146	14	the	the	DET
ijassa-1307	146	15	development	development	NOUN
ijassa-1307	146	16	of	of	ADP
ijassa-1307	146	17	technologies	technology	NOUN
ijassa-1307	146	18	:	:	PUNCT
ijassa-1307	146	19	artificial	artificial	ADJ
ijassa-1307	146	20	intelligence	intelligence	NOUN
ijassa-1307	146	21	,	,	PUNCT
ijassa-1307	146	22	telecommunication	telecommunication	NOUN
ijassa-1307	146	23	systems	system	NOUN
ijassa-1307	146	24	,	,	PUNCT
ijassa-1307	146	25	cyber	cyber	NOUN
ijassa-1307	146	26	-	-	PUNCT
ijassa-1307	146	27	physical	physical	ADJ
ijassa-1307	146	28	interfaces	interface	NOUN
ijassa-1307	146	29	,	,	PUNCT
ijassa-1307	146	30	informationand	informationand	ADJ
ijassa-1307	146	31	cybersecurity	cybersecurity	NOUN
ijassa-1307	146	32	[	[	X
ijassa-1307	146	33	1	1	NUM
ijassa-1307	146	34	,	,	PUNCT
ijassa-1307	146	35	5	5	NUM
ijassa-1307	146	36	,	,	PUNCT
ijassa-1307	146	37	8	8	NUM
ijassa-1307	146	38	]	]	PUNCT
ijassa-1307	146	39	.	.	PUNCT
ijassa-1307	147	1	the	the	DET
ijassa-1307	147	2	“	"	PUNCT
ijassa-1307	147	3	smart	smart	ADJ
ijassa-1307	147	4	city	city	NOUN
ijassa-1307	147	5	”	"	PUNCT
ijassa-1307	147	6	approach	approach	NOUN
ijassa-1307	147	7	,	,	PUNCT
ijassa-1307	147	8	oriented	orient	VERB
ijassa-1307	147	9	to	to	ADP
ijassa-1307	147	10	safety	safety	NOUN
ijassa-1307	147	11	,	,	PUNCT
ijassa-1307	147	12	is	be	AUX
ijassa-1307	147	13	to	to	PART
ijassa-1307	147	14	react	react	VERB
ijassa-1307	147	15	not	not	PART
ijassa-1307	147	16	only	only	ADV
ijassa-1307	147	17	to	to	ADP
ijassa-1307	147	18	existing	exist	VERB
ijassa-1307	147	19	but	but	CCONJ
ijassa-1307	147	20	also	also	ADV
ijassa-1307	147	21	to	to	ADP
ijassa-1307	147	22	occurring	occur	VERB
ijassa-1307	147	23	vulnerabilities	vulnerability	NOUN
ijassa-1307	147	24	,	,	PUNCT
ijassa-1307	147	25	account	account	NOUN
ijassa-1307	147	26	dangers	danger	NOUN
ijassa-1307	147	27	arising	arise	VERB
ijassa-1307	147	28	under	under	ADP
ijassa-1307	147	29	developing	develop	VERB
ijassa-1307	147	30	new	new	ADJ
ijassa-1307	147	31	technologies	technology	NOUN
ijassa-1307	147	32	.	.	PUNCT
ijassa-1307	148	1	du	du	PROPN
ijassa-1307	148	2	to	to	ADP
ijassa-1307	148	3	that	that	PRON
ijassa-1307	148	4	,	,	PUNCT
ijassa-1307	148	5	safety	safety	NOUN
ijassa-1307	148	6	management	management	NOUN
ijassa-1307	148	7	systems	system	NOUN
ijassa-1307	149	1	[	[	X
ijassa-1307	149	2	9–12	9–12	X
ijassa-1307	149	3	]	]	PUNCT
ijassa-1307	149	4	based	base	VERB
ijassa-1307	149	5	on	on	ADP
ijassa-1307	149	6	determining	determine	VERB
ijassa-1307	149	7	risks	risk	NOUN
ijassa-1307	149	8	of	of	ADP
ijassa-1307	149	9	different	different	ADJ
ijassa-1307	149	10	kinds	kind	NOUN
ijassa-1307	149	11	(	(	PUNCT
ijassa-1307	149	12	cybersecurity	cybersecurity	NOUN
ijassa-1307	149	13	,	,	PUNCT
ijassa-1307	149	14	efficiency	efficiency	NOUN
ijassa-1307	149	15	,	,	PUNCT
ijassa-1307	149	16	and	and	CCONJ
ijassa-1307	149	17	reliability	reliability	NOUN
ijassa-1307	149	18	of	of	ADP
ijassa-1307	149	19	software	software	NOUN
ijassa-1307	149	20	and	and	CCONJ
ijassa-1307	149	21	hardware	hardware	NOUN
ijassa-1307	149	22	tools	tool	NOUN
ijassa-1307	149	23	,	,	PUNCT
ijassa-1307	149	24	etc	etc	X
ijassa-1307	149	25	.	.	X
ijassa-1307	149	26	)	)	PUNCT
ijassa-1307	149	27	,	,	PUNCT
ijassa-1307	149	28	will	will	AUX
ijassa-1307	149	29	enable	enable	VERB
ijassa-1307	149	30	one	one	NUM
ijassa-1307	149	31	to	to	PART
ijassa-1307	149	32	reveal	reveal	VERB
ijassa-1307	149	33	vulnerabilities	vulnerability	NOUN
ijassa-1307	149	34	,	,	PUNCT
ijassa-1307	149	35	dangerous	dangerous	ADJ
ijassa-1307	149	36	factors	factor	NOUN
ijassa-1307	149	37	,	,	PUNCT
ijassa-1307	149	38	and	and	CCONJ
ijassa-1307	149	39	to	to	PART
ijassa-1307	149	40	develop	develop	VERB
ijassa-1307	149	41	corresponding	correspond	VERB
ijassa-1307	149	42	compensation	compensation	NOUN
ijassa-1307	149	43	measures	measure	NOUN
ijassa-1307	149	44	,	,	PUNCT
ijassa-1307	149	45	what	what	PRON
ijassa-1307	149	46	,	,	PUNCT
ijassa-1307	149	47	in	in	ADP
ijassa-1307	149	48	turn	turn	NOUN
ijassa-1307	149	49	,	,	PUNCT
ijassa-1307	149	50	will	will	AUX
ijassa-1307	149	51	increase	increase	VERB
ijassa-1307	149	52	the	the	DET
ijassa-1307	149	53	smart	smart	ADJ
ijassa-1307	149	54	city	city	NOUN
ijassa-1307	149	55	cii	cii	PROPN
ijassa-1307	149	56	safety	safety	NOUN
ijassa-1307	149	57	.	.	PUNCT
ijassa-1307	150	1	applying	apply	VERB
ijassa-1307	150	2	the	the	DET
ijassa-1307	150	3	network	network	NOUN
ijassa-1307	150	4	models	model	NOUN
ijassa-1307	150	5	of	of	ADP
ijassa-1307	150	6	local	local	ADJ
ijassa-1307	150	7	positioning	positioning	NOUN
ijassa-1307	150	8	as	as	SCONJ
ijassa-1307	150	9	additional	additional	ADJ
ijassa-1307	150	10	method	method	NOUN
ijassa-1307	150	11	localization	localization	NOUN
ijassa-1307	150	12	to	to	PART
ijassa-1307	150	13	organize	organize	VERB
ijassa-1307	150	14	the	the	DET
ijassa-1307	150	15	avs	avs	PROPN
ijassa-1307	150	16	traffic	traffic	NOUN
ijassa-1307	150	17	in	in	ADP
ijassa-1307	150	18	the	the	DET
ijassa-1307	150	19	smart	smart	ADJ
ijassa-1307	150	20	city	city	NOUN
ijassa-1307	150	21	will	will	AUX
ijassa-1307	150	22	enable	enable	VERB
ijassa-1307	150	23	one	one	NUM
ijassa-1307	150	24	to	to	PART
ijassa-1307	150	25	increase	increase	VERB
ijassa-1307	150	26	motion	motion	NOUN
ijassa-1307	150	27	safety	safety	NOUN
ijassa-1307	150	28	even	even	ADV
ijassa-1307	150	29	in	in	ADP
ijassa-1307	150	30	the	the	DET
ijassa-1307	150	31	case	case	NOUN
ijassa-1307	150	32	of	of	ADP
ijassa-1307	150	33	the	the	DET
ijassa-1307	150	34	absence	absence	NOUN
ijassa-1307	150	35	of	of	ADP
ijassa-1307	150	36	gps	gps	PROPN
ijassa-1307	150	37	.	.	PUNCT
ijassa-1307	151	1	in	in	ADP
ijassa-1307	151	2	the	the	DET
ijassa-1307	151	3	case	case	NOUN
ijassa-1307	151	4	of	of	ADP
ijassa-1307	151	5	successfully	successfully	ADV
ijassa-1307	151	6	extending	extend	VERB
ijassa-1307	151	7	the	the	DET
ijassa-1307	151	8	local	local	ADJ
ijassa-1307	151	9	map	map	NOUN
ijassa-1307	151	10	of	of	ADP
ijassa-1307	151	11	obstacles	obstacle	NOUN
ijassa-1307	151	12	by	by	ADP
ijassa-1307	151	13	comparing	compare	VERB
ijassa-1307	151	14	relative	relative	ADJ
ijassa-1307	151	15	mutual	mutual	ADJ
ijassa-1307	151	16	locations	location	NOUN
ijassa-1307	151	17	,	,	PUNCT
ijassa-1307	151	18	i.e.	i.e.	X
ijassa-1307	151	19	,	,	PUNCT
ijassa-1307	151	20	if	if	SCONJ
ijassa-1307	151	21	for	for	ADP
ijassa-1307	151	22	the	the	DET
ijassa-1307	151	23	av	av	PROPN
ijassa-1307	151	24	will	will	AUX
ijassa-1307	151	25	be	be	AUX
ijassa-1307	151	26	correspondence	correspondence	NOUN
ijassa-1307	151	27	between	between	ADP
ijassa-1307	151	28	network	network	NOUN
ijassa-1307	151	29	addresses	address	NOUN
ijassa-1307	151	30	of	of	ADP
ijassa-1307	151	31	message	message	NOUN
ijassa-1307	151	32	senders	sender	NOUN
ijassa-1307	151	33	with	with	ADP
ijassa-1307	151	34	their	their	PRON
ijassa-1307	151	35	location	location	NOUN
ijassa-1307	151	36	on	on	ADP
ijassa-1307	151	37	the	the	DET
ijassa-1307	151	38	map	map	NOUN
ijassa-1307	151	39	has	have	AUX
ijassa-1307	151	40	been	be	AUX
ijassa-1307	151	41	established	establish	VERB
ijassa-1307	151	42	,	,	PUNCT
ijassa-1307	151	43	then	then	ADV
ijassa-1307	151	44	it	it	PRON
ijassa-1307	151	45	can	can	AUX
ijassa-1307	151	46	able	able	ADJ
ijassa-1307	151	47	to	to	PART
ijassa-1307	151	48	use	use	VERB
ijassa-1307	151	49	data	datum	NOUN
ijassa-1307	151	50	received	receive	VERB
ijassa-1307	151	51	from	from	ADP
ijassa-1307	151	52	the	the	DET
ijassa-1307	151	53	network	network	NOUN
ijassa-1307	151	54	.	.	PUNCT
ijassa-1307	152	1	the	the	DET
ijassa-1307	152	2	simulation	simulation	NOUN
ijassa-1307	152	3	results	result	NOUN
ijassa-1307	152	4	show	show	VERB
ijassa-1307	152	5	that	that	SCONJ
ijassa-1307	152	6	the	the	DET
ijassa-1307	152	7	proposed	propose	VERB
ijassa-1307	152	8	approach	approach	NOUN
ijassa-1307	152	9	allows	allow	VERB
ijassa-1307	152	10	to	to	PART
ijassa-1307	152	11	reduce	reduce	VERB
ijassa-1307	152	12	the	the	DET
ijassa-1307	152	13	number	number	NOUN
ijassa-1307	152	14	of	of	ADP
ijassa-1307	152	15	collisions	collision	NOUN
ijassa-1307	152	16	when	when	SCONJ
ijassa-1307	152	17	driving	drive	VERB
ijassa-1307	152	18	in	in	ADP
ijassa-1307	152	19	counterflow	counterflow	NOUN
ijassa-1307	152	20	traffic	traffic	NOUN
ijassa-1307	152	21	on	on	ADP
ijassa-1307	152	22	the	the	DET
ijassa-1307	152	23	basis	basis	NOUN
ijassa-1307	152	24	of	of	ADP
ijassa-1307	152	25	the	the	DET
ijassa-1307	152	26	considered	consider	VERB
ijassa-1307	152	27	algorithm	algorithm	NOUN
ijassa-1307	152	28	for	for	ADP
ijassa-1307	152	29	extending	extend	VERB
ijassa-1307	152	30	the	the	DET
ijassa-1307	152	31	local	local	ADJ
ijassa-1307	152	32	obstacle	obstacle	NOUN
ijassa-1307	152	33	map	map	NOUN
ijassa-1307	152	34	.	.	PUNCT
ijassa-1307	153	1	acknowledgements	acknowledgement	NOUN
ijassa-1307	153	2	section	section	NOUN
ijassa-1307	153	3	3	3	NUM
ijassa-1307	153	4	of	of	ADP
ijassa-1307	153	5	the	the	DET
ijassa-1307	153	6	reported	report	VERB
ijassa-1307	153	7	study	study	NOUN
ijassa-1307	153	8	was	be	AUX
ijassa-1307	153	9	funded	fund	VERB
ijassa-1307	153	10	by	by	ADP
ijassa-1307	153	11	rfbr	rfbr	NOUN
ijassa-1307	153	12	,	,	PUNCT
ijassa-1307	153	13	project	project	NOUN
ijassa-1307	153	14	number	number	NOUN
ijassa-1307	153	15	19	19	NUM
ijassa-1307	153	16	-	-	SYM
ijassa-1307	153	17	29	29	NUM
ijassa-1307	153	18	-	-	PUNCT
ijassa-1307	153	19	06044	06044	NUM
ijassa-1307	153	20	.	.	PUNCT
ijassa-1307	154	1	references	reference	NOUN
ijassa-1307	154	2	1	1	NUM
ijassa-1307	154	3	.	.	PUNCT
ijassa-1307	155	1	abdulov	abdulov	PROPN
ijassa-1307	155	2	,	,	PUNCT
ijassa-1307	155	3	a.	a.	PROPN
ijassa-1307	155	4	&	&	CCONJ
ijassa-1307	155	5	abramenkov	abramenkov	PROPN
ijassa-1307	155	6	,	,	PUNCT
ijassa-1307	155	7	a.	a.	PROPN
ijassa-1307	155	8	(	(	PUNCT
ijassa-1307	155	9	2018	2018	NUM
ijassa-1307	155	10	)	)	PUNCT
ijassa-1307	155	11	collision	collision	NOUN
ijassa-1307	155	12	avoidance	avoidance	NOUN
ijassa-1307	155	13	by	by	ADP
ijassa-1307	155	14	communication	communication	NOUN
ijassa-1307	155	15	for	for	ADP
ijassa-1307	155	16	autonomous	autonomous	ADJ
ijassa-1307	155	17	mobile	mobile	ADJ
ijassa-1307	155	18	robots	robot	NOUN
ijassa-1307	155	19	in	in	ADP
ijassa-1307	155	20	crowd	crowd	NOUN
ijassa-1307	155	21	.	.	PUNCT
ijassa-1307	156	1	in	in	ADP
ijassa-1307	156	2	2018	2018	NUM
ijassa-1307	156	3	eleventh	eleventh	NOUN
ijassa-1307	156	4	international	international	ADJ
ijassa-1307	156	5	copyright	copyright	NOUN
ijassa-1307	156	6	©	©	ADP
ijassa-1307	156	7	2022	2022	NUM
ijassa-1307	156	8	assa	assa	NOUN
ijassa-1307	156	9	.	.	PUNCT
ijassa-1307	157	1	adv	adv	PROPN
ijassa-1307	157	2	syst	syst	PROPN
ijassa-1307	157	3	sci	sci	PROPN
ijassa-1307	157	4	appl	appl	PROPN
ijassa-1307	157	5	(	(	PUNCT
ijassa-1307	157	6	2022	2022	NUM
ijassa-1307	157	7	)	)	PUNCT
ijassa-1307	157	8	extending	extend	VERB
ijassa-1307	157	9	obstacle	obstacle	NOUN
ijassa-1307	157	10	map	map	NOUN
ijassa-1307	157	11	of	of	ADP
ijassa-1307	157	12	autonomous	autonomous	ADJ
ijassa-1307	157	13	vehicles	vehicle	NOUN
ijassa-1307	157	14	201	201	NUM
ijassa-1307	157	15	conference	conference	NOUN
ijassa-1307	157	16	“	"	PUNCT
ijassa-1307	157	17	management	management	NOUN
ijassa-1307	157	18	of	of	ADP
ijassa-1307	157	19	large	large	ADJ
ijassa-1307	157	20	-	-	PUNCT
ijassa-1307	157	21	scale	scale	NOUN
ijassa-1307	157	22	system	system	NOUN
ijassa-1307	157	23	development	development	NOUN
ijassa-1307	157	24	”	"	PUNCT
ijassa-1307	157	25	(	(	PUNCT
ijassa-1307	157	26	mlsd	mlsd	PROPN
ijassa-1307	157	27	)	)	PUNCT
ijassa-1307	157	28	,	,	PUNCT
ijassa-1307	157	29	1–4	1–4	NOUN
ijassa-1307	157	30	,	,	PUNCT
ijassa-1307	157	31	https://dx.doi.org/10.1109/mlsd.2018.8551804	https://dx.doi.org/10.1109/mlsd.2018.8551804	NOUN
ijassa-1307	157	32	.	.	PUNCT
ijassa-1307	158	1	2	2	X
ijassa-1307	158	2	.	.	X
ijassa-1307	158	3	fox	fox	PROPN
ijassa-1307	158	4	,	,	PUNCT
ijassa-1307	158	5	d.	d.	PROPN
ijassa-1307	158	6	,	,	PUNCT
ijassa-1307	158	7	burgard	burgard	PROPN
ijassa-1307	158	8	,	,	PUNCT
ijassa-1307	158	9	w.	w.	PROPN
ijassa-1307	158	10	,	,	PUNCT
ijassa-1307	158	11	&	&	CCONJ
ijassa-1307	158	12	thrun	thrun	NOUN
ijassa-1307	158	13	,	,	PUNCT
ijassa-1307	158	14	s.	s.	PROPN
ijassa-1307	158	15	(	(	PUNCT
ijassa-1307	158	16	1997	1997	NUM
ijassa-1307	158	17	)	)	PUNCT
ijassa-1307	158	18	the	the	DET
ijassa-1307	158	19	dynamic	dynamic	ADJ
ijassa-1307	158	20	window	window	NOUN
ijassa-1307	158	21	approach	approach	NOUN
ijassa-1307	158	22	to	to	ADP
ijassa-1307	158	23	collision	collision	NOUN
ijassa-1307	158	24	avoidance	avoidance	NOUN
ijassa-1307	158	25	.	.	PUNCT
ijassa-1307	159	1	ieee	ieee	NOUN
ijassa-1307	159	2	robotics	robotic	NOUN
ijassa-1307	159	3	automation	automation	NOUN
ijassa-1307	159	4	magazine	magazine	NOUN
ijassa-1307	159	5	,	,	PUNCT
ijassa-1307	159	6	4(1	4(1	NOUN
ijassa-1307	159	7	)	)	PUNCT
ijassa-1307	159	8	,	,	PUNCT
ijassa-1307	159	9	23–33	23–33	NUM
ijassa-1307	159	10	,	,	PUNCT
ijassa-1307	159	11	https://dx.doi.org/10.1109/100.580977	https://dx.doi.org/10.1109/100.580977	NOUN
ijassa-1307	159	12	.	.	NOUN
ijassa-1307	160	1	3	3	NUM
ijassa-1307	160	2	.	.	X
ijassa-1307	160	3	rösmann	rösmann	PROPN
ijassa-1307	160	4	,	,	PUNCT
ijassa-1307	160	5	c.	c.	PROPN
ijassa-1307	160	6	,	,	PUNCT
ijassa-1307	160	7	hoffmann	hoffmann	PROPN
ijassa-1307	160	8	,	,	PUNCT
ijassa-1307	160	9	f.	f.	PROPN
ijassa-1307	160	10	,	,	PUNCT
ijassa-1307	160	11	&	&	CCONJ
ijassa-1307	160	12	bertram	bertram	PROPN
ijassa-1307	160	13	,	,	PUNCT
ijassa-1307	160	14	t.	t.	PROPN
ijassa-1307	160	15	(	(	PUNCT
ijassa-1307	160	16	2017	2017	NUM
ijassa-1307	160	17	)	)	PUNCT
ijassa-1307	160	18	integrated	integrate	VERB
ijassa-1307	160	19	online	online	ADJ
ijassa-1307	160	20	trajectory	trajectory	NOUN
ijassa-1307	160	21	planning	planning	NOUN
ijassa-1307	160	22	and	and	CCONJ
ijassa-1307	160	23	optimization	optimization	NOUN
ijassa-1307	160	24	in	in	ADP
ijassa-1307	160	25	distinctive	distinctive	ADJ
ijassa-1307	160	26	topologies	topology	NOUN
ijassa-1307	160	27	.	.	PUNCT
ijassa-1307	161	1	robotics	robotic	NOUN
ijassa-1307	161	2	and	and	CCONJ
ijassa-1307	161	3	autonomous	autonomous	ADJ
ijassa-1307	161	4	systems	system	NOUN
ijassa-1307	161	5	,	,	PUNCT
ijassa-1307	161	6	88	88	NUM
ijassa-1307	161	7	,	,	PUNCT
ijassa-1307	161	8	142	142	NUM
ijassa-1307	161	9	–	–	SYM
ijassa-1307	161	10	153	153	NUM
ijassa-1307	161	11	,	,	PUNCT
ijassa-1307	161	12	https://dx.doi.org/https://doi.org/10.1016/j.robot.2016.11.007	https://dx.doi.org/https://doi.org/10.1016/j.robot.2016.11.007	ADJ
ijassa-1307	161	13	.	.	PUNCT
ijassa-1307	162	1	4	4	X
ijassa-1307	162	2	.	.	X
ijassa-1307	162	3	li	li	PROPN
ijassa-1307	162	4	,	,	PUNCT
ijassa-1307	162	5	j.	j.	PROPN
ijassa-1307	162	6	,	,	PUNCT
ijassa-1307	162	7	ran	run	VERB
ijassa-1307	162	8	,	,	PUNCT
ijassa-1307	162	9	m.	m.	NOUN
ijassa-1307	162	10	,	,	PUNCT
ijassa-1307	162	11	wang	wang	PROPN
ijassa-1307	162	12	,	,	PUNCT
ijassa-1307	162	13	h.	h.	PROPN
ijassa-1307	162	14	,	,	PUNCT
ijassa-1307	162	15	&	&	CCONJ
ijassa-1307	162	16	xie	xie	PROPN
ijassa-1307	162	17	,	,	PUNCT
ijassa-1307	162	18	l.	l.	PROPN
ijassa-1307	162	19	(	(	PUNCT
ijassa-1307	162	20	2019	2019	NUM
ijassa-1307	162	21	)	)	PUNCT
ijassa-1307	162	22	mpc	mpc	NOUN
ijassa-1307	162	23	-	-	PUNCT
ijassa-1307	162	24	based	base	VERB
ijassa-1307	162	25	unified	unified	ADJ
ijassa-1307	162	26	trajectory	trajectory	NOUN
ijassa-1307	162	27	planning	planning	NOUN
ijassa-1307	162	28	and	and	CCONJ
ijassa-1307	162	29	tracking	tracking	NOUN
ijassa-1307	162	30	control	control	NOUN
ijassa-1307	162	31	approach	approach	NOUN
ijassa-1307	162	32	for	for	ADP
ijassa-1307	162	33	automated	automate	VERB
ijassa-1307	162	34	guided	guide	VERB
ijassa-1307	162	35	vehicles	vehicle	NOUN
ijassa-1307	162	36	.	.	PUNCT
ijassa-1307	163	1	in	in	ADP
ijassa-1307	163	2	2019	2019	NUM
ijassa-1307	163	3	ieee	ieee	NOUN
ijassa-1307	163	4	15th	15th	ADJ
ijassa-1307	163	5	international	international	ADJ
ijassa-1307	163	6	conference	conference	NOUN
ijassa-1307	163	7	on	on	ADP
ijassa-1307	163	8	control	control	NOUN
ijassa-1307	163	9	and	and	CCONJ
ijassa-1307	163	10	automation	automation	NOUN
ijassa-1307	163	11	(	(	PUNCT
ijassa-1307	163	12	icca	icca	PROPN
ijassa-1307	163	13	)	)	PUNCT
ijassa-1307	163	14	,	,	PUNCT
ijassa-1307	163	15	374–380	374–380	NUM
ijassa-1307	163	16	,	,	PUNCT
ijassa-1307	163	17	https://dx.doi.org/10.1109/icca.2019.8899955	https://dx.doi.org/10.1109/icca.2019.8899955	NOUN
ijassa-1307	163	18	.	.	PROPN
ijassa-1307	163	19	5	5	X
ijassa-1307	163	20	.	.	X
ijassa-1307	163	21	abdulov	abdulov	PROPN
ijassa-1307	163	22	,	,	PUNCT
ijassa-1307	163	23	a.	a.	NOUN
ijassa-1307	163	24	,	,	PUNCT
ijassa-1307	163	25	abramenkov	abramenkov	PROPN
ijassa-1307	163	26	,	,	PUNCT
ijassa-1307	163	27	a.	a.	PROPN
ijassa-1307	163	28	,	,	PUNCT
ijassa-1307	163	29	&	&	CCONJ
ijassa-1307	163	30	shevlyakov	shevlyakov	PROPN
ijassa-1307	163	31	,	,	PUNCT
ijassa-1307	163	32	a.	a.	NOUN
ijassa-1307	163	33	(	(	PUNCT
ijassa-1307	163	34	2018	2018	NUM
ijassa-1307	163	35	)	)	PUNCT
ijassa-1307	163	36	visual	visual	ADJ
ijassa-1307	163	37	odometry	odometry	NOUN
ijassa-1307	163	38	approaches	approach	VERB
ijassa-1307	163	39	to	to	ADP
ijassa-1307	163	40	autonomous	autonomous	ADJ
ijassa-1307	163	41	navigation	navigation	NOUN
ijassa-1307	163	42	for	for	ADP
ijassa-1307	163	43	multicopter	multicopter	PROPN
ijassa-1307	163	44	model	model	PROPN
ijassa-1307	163	45	in	in	ADP
ijassa-1307	163	46	virtual	virtual	ADJ
ijassa-1307	163	47	indoor	indoor	ADJ
ijassa-1307	163	48	environment	environment	NOUN
ijassa-1307	163	49	.	.	PUNCT
ijassa-1307	164	1	advances	advance	NOUN
ijassa-1307	164	2	in	in	ADP
ijassa-1307	164	3	systems	system	NOUN
ijassa-1307	164	4	science	science	NOUN
ijassa-1307	164	5	and	and	CCONJ
ijassa-1307	164	6	applications	application	NOUN
ijassa-1307	164	7	,	,	PUNCT
ijassa-1307	164	8	18(3	18(3	NUM
ijassa-1307	164	9	)	)	PUNCT
ijassa-1307	164	10	,	,	PUNCT
ijassa-1307	164	11	17–28	17–28	NUM
ijassa-1307	164	12	,	,	PUNCT
ijassa-1307	164	13	https://dx.doi.org/10.25728/assa.2018.18.3.583	https://dx.doi.org/10.25728/assa.2018.18.3.583	PROPN
ijassa-1307	164	14	.	.	PROPN
ijassa-1307	165	1	6	6	NUM
ijassa-1307	165	2	.	.	X
ijassa-1307	165	3	khan	khan	PROPN
ijassa-1307	165	4	,	,	PUNCT
ijassa-1307	165	5	k.	k.	PROPN
ijassa-1307	165	6	,	,	PUNCT
ijassa-1307	165	7	rehman	rehman	PROPN
ijassa-1307	165	8	,	,	PUNCT
ijassa-1307	165	9	s.	s.	PROPN
ijassa-1307	165	10	u.	u.	PROPN
ijassa-1307	165	11	,	,	PUNCT
ijassa-1307	165	12	aziz	aziz	PROPN
ijassa-1307	165	13	,	,	PUNCT
ijassa-1307	165	14	k.	k.	PROPN
ijassa-1307	165	15	,	,	PUNCT
ijassa-1307	165	16	fong	fong	PROPN
ijassa-1307	165	17	,	,	PUNCT
ijassa-1307	165	18	s.	s.	PROPN
ijassa-1307	165	19	,	,	PUNCT
ijassa-1307	165	20	&	&	CCONJ
ijassa-1307	165	21	sarasvady	sarasvady	PROPN
ijassa-1307	165	22	,	,	PUNCT
ijassa-1307	165	23	s.	s.	PROPN
ijassa-1307	165	24	(	(	PUNCT
ijassa-1307	165	25	2014	2014	NUM
ijassa-1307	165	26	)	)	PUNCT
ijassa-1307	165	27	dbscan	dbscan	NOUN
ijassa-1307	165	28	:	:	PUNCT
ijassa-1307	165	29	past	past	ADJ
ijassa-1307	165	30	,	,	PUNCT
ijassa-1307	165	31	present	present	ADJ
ijassa-1307	165	32	and	and	CCONJ
ijassa-1307	165	33	future	future	ADJ
ijassa-1307	165	34	.	.	PUNCT
ijassa-1307	166	1	in	in	ADP
ijassa-1307	166	2	the	the	DET
ijassa-1307	166	3	fifth	fifth	ADJ
ijassa-1307	166	4	international	international	ADJ
ijassa-1307	166	5	conference	conference	NOUN
ijassa-1307	166	6	on	on	ADP
ijassa-1307	166	7	the	the	DET
ijassa-1307	166	8	applications	application	NOUN
ijassa-1307	166	9	of	of	ADP
ijassa-1307	166	10	digital	digital	ADJ
ijassa-1307	166	11	information	information	NOUN
ijassa-1307	166	12	and	and	CCONJ
ijassa-1307	166	13	web	web	NOUN
ijassa-1307	166	14	technologies	technology	NOUN
ijassa-1307	166	15	(	(	PUNCT
ijassa-1307	166	16	icadiwt	icadiwt	NOUN
ijassa-1307	166	17	)	)	PUNCT
ijassa-1307	166	18	,	,	PUNCT
ijassa-1307	166	19	232–238	232–238	NUM
ijassa-1307	166	20	,	,	PUNCT
ijassa-1307	166	21	https://dx.doi.org/10.1109/icadiwt.2014.6814687	https://dx.doi.org/10.1109/icadiwt.2014.6814687	NOUN
ijassa-1307	166	22	.	.	PUNCT
ijassa-1307	167	1	7	7	X
ijassa-1307	167	2	.	.	X
ijassa-1307	167	3	guss	guss	PROPN
ijassa-1307	167	4	,	,	PUNCT
ijassa-1307	167	5	s.	s.	PROPN
ijassa-1307	167	6	(	(	PUNCT
ijassa-1307	167	7	2016	2016	NUM
ijassa-1307	167	8	)	)	PUNCT
ijassa-1307	167	9	private	private	ADJ
ijassa-1307	167	10	wireless	wireless	ADJ
ijassa-1307	167	11	mesh	mesh	NOUN
ijassa-1307	167	12	networks	network	NOUN
ijassa-1307	167	13	.	.	PUNCT
ijassa-1307	168	1	mathematical	mathematical	ADJ
ijassa-1307	168	2	structures	structure	NOUN
ijassa-1307	168	3	and	and	CCONJ
ijassa-1307	168	4	modeling	modeling	NOUN
ijassa-1307	168	5	,	,	PUNCT
ijassa-1307	168	6	4	4	NUM
ijassa-1307	168	7	,	,	PUNCT
ijassa-1307	168	8	102–115	102–115	NUM
ijassa-1307	168	9	.	.	PUNCT
ijassa-1307	169	1	8	8	NUM
ijassa-1307	169	2	.	.	X
ijassa-1307	170	1	promyslov	promyslov	PROPN
ijassa-1307	170	2	,	,	PUNCT
ijassa-1307	170	3	v.	v.	PROPN
ijassa-1307	170	4	,	,	PUNCT
ijassa-1307	170	5	sakrutina	sakrutina	PROPN
ijassa-1307	170	6	,	,	PUNCT
ijassa-1307	170	7	e.	e.	PROPN
ijassa-1307	170	8	,	,	PUNCT
ijassa-1307	170	9	&	&	CCONJ
ijassa-1307	170	10	meshcheryakov	meshcheryakov	PROPN
ijassa-1307	170	11	,	,	PUNCT
ijassa-1307	170	12	r.	r.	PROPN
ijassa-1307	170	13	(	(	PUNCT
ijassa-1307	170	14	2019	2019	NUM
ijassa-1307	170	15	)	)	PUNCT
ijassa-1307	170	16	coherence	coherence	NOUN
ijassa-1307	170	17	criterion	criterion	NOUN
ijassa-1307	170	18	for	for	ADP
ijassa-1307	170	19	security	security	NOUN
ijassa-1307	170	20	architecture	architecture	NOUN
ijassa-1307	170	21	of	of	ADP
ijassa-1307	170	22	digital	digital	ADJ
ijassa-1307	170	23	control	control	NOUN
ijassa-1307	170	24	system	system	NOUN
ijassa-1307	170	25	.	.	PUNCT
ijassa-1307	171	1	in	in	ADP
ijassa-1307	171	2	2019	2019	NUM
ijassa-1307	171	3	international	international	ADJ
ijassa-1307	171	4	russian	russian	ADJ
ijassa-1307	171	5	automation	automation	NOUN
ijassa-1307	171	6	conference	conference	NOUN
ijassa-1307	171	7	(	(	PUNCT
ijassa-1307	171	8	rusautocon	rusautocon	NOUN
ijassa-1307	171	9	)	)	PUNCT
ijassa-1307	171	10	,	,	PUNCT
ijassa-1307	171	11	1–5	1–5	PROPN
ijassa-1307	171	12	,	,	PUNCT
ijassa-1307	171	13	https://dx.doi.org/10.1109/rusautocon.2019.8867615	https://dx.doi.org/10.1109/rusautocon.2019.8867615	NOUN
ijassa-1307	171	14	.	.	PUNCT
ijassa-1307	172	1	9	9	NUM
ijassa-1307	172	2	.	.	X
ijassa-1307	172	3	li	li	PROPN
ijassa-1307	172	4	,	,	PUNCT
ijassa-1307	172	5	c.-y	c.-y	NOUN
ijassa-1307	172	6	.	.	PUNCT
ijassa-1307	172	7	,	,	PUNCT
ijassa-1307	172	8	wang	wang	PROPN
ijassa-1307	172	9	,	,	PUNCT
ijassa-1307	172	10	j.-h	j.-h	PROPN
ijassa-1307	172	11	.	.	PUNCT
ijassa-1307	172	12	,	,	PUNCT
ijassa-1307	172	13	zhi	zhi	PROPN
ijassa-1307	172	14	,	,	PUNCT
ijassa-1307	172	15	y.-r	y.-r	PROPN
ijassa-1307	172	16	.	.	PROPN
ijassa-1307	172	17	,	,	PUNCT
ijassa-1307	172	18	wang	wang	PROPN
ijassa-1307	172	19	,	,	PUNCT
ijassa-1307	172	20	z.-r	z.-r	PROPN
ijassa-1307	172	21	.	.	PROPN
ijassa-1307	172	22	,	,	PUNCT
ijassa-1307	172	23	&	&	CCONJ
ijassa-1307	172	24	gong	gong	PROPN
ijassa-1307	172	25	,	,	PUNCT
ijassa-1307	172	26	j.-h	j.-h	PROPN
ijassa-1307	172	27	.	.	PUNCT
ijassa-1307	173	1	(	(	PUNCT
ijassa-1307	173	2	2018	2018	NUM
ijassa-1307	173	3	)	)	PUNCT
ijassa-1307	173	4	simulation	simulation	NOUN
ijassa-1307	173	5	of	of	ADP
ijassa-1307	173	6	the	the	DET
ijassa-1307	173	7	chlorination	chlorination	NOUN
ijassa-1307	173	8	process	process	NOUN
ijassa-1307	173	9	safety	safety	NOUN
ijassa-1307	173	10	management	management	NOUN
ijassa-1307	173	11	system	system	NOUN
ijassa-1307	173	12	based	base	VERB
ijassa-1307	173	13	on	on	ADP
ijassa-1307	173	14	system	system	NOUN
ijassa-1307	173	15	dynamics	dynamic	NOUN
ijassa-1307	173	16	approach	approach	NOUN
ijassa-1307	173	17	.	.	PUNCT
ijassa-1307	174	1	procedia	procedia	PROPN
ijassa-1307	174	2	engineering	engineering	PROPN
ijassa-1307	174	3	,	,	PUNCT
ijassa-1307	174	4	211	211	NUM
ijassa-1307	174	5	,	,	PUNCT
ijassa-1307	174	6	332–342	332–342	NUM
ijassa-1307	174	7	,	,	PUNCT
ijassa-1307	174	8	2017	2017	NUM
ijassa-1307	174	9	8th	8th	ADJ
ijassa-1307	174	10	international	international	ADJ
ijassa-1307	174	11	conference	conference	NOUN
ijassa-1307	174	12	on	on	ADP
ijassa-1307	174	13	fire	fire	NOUN
ijassa-1307	174	14	science	science	NOUN
ijassa-1307	174	15	and	and	CCONJ
ijassa-1307	174	16	fire	fire	NOUN
ijassa-1307	174	17	protection	protection	NOUN
ijassa-1307	174	18	engineering	engineering	NOUN
ijassa-1307	174	19	(	(	PUNCT
ijassa-1307	174	20	icfsfpe	icfsfpe	PROPN
ijassa-1307	174	21	2017	2017	NUM
ijassa-1307	174	22	)	)	PUNCT
ijassa-1307	174	23	,	,	PUNCT
ijassa-1307	174	24	https://dx.doi.org/10.1016/j.proeng.2017.12.020	https://dx.doi.org/10.1016/j.proeng.2017.12.020	PROPN
ijassa-1307	174	25	.	.	PROPN
ijassa-1307	175	1	10	10	NUM
ijassa-1307	175	2	.	.	X
ijassa-1307	176	1	kalashnikov	kalashnikov	PROPN
ijassa-1307	176	2	,	,	PUNCT
ijassa-1307	176	3	a.	a.	PROPN
ijassa-1307	176	4	&	&	CCONJ
ijassa-1307	176	5	sakrutina	sakrutina	PROPN
ijassa-1307	176	6	,	,	PUNCT
ijassa-1307	176	7	e.	e.	PROPN
ijassa-1307	176	8	(	(	PUNCT
ijassa-1307	176	9	2019	2019	NUM
ijassa-1307	176	10	)	)	PUNCT
ijassa-1307	176	11	safety	safety	NOUN
ijassa-1307	176	12	management	management	NOUN
ijassa-1307	176	13	system	system	NOUN
ijassa-1307	176	14	and	and	CCONJ
ijassa-1307	176	15	significant	significant	ADJ
ijassa-1307	176	16	plants	plant	NOUN
ijassa-1307	176	17	of	of	ADP
ijassa-1307	176	18	critical	critical	ADJ
ijassa-1307	176	19	information	information	NOUN
ijassa-1307	176	20	infrastructure	infrastructure	NOUN
ijassa-1307	176	21	.	.	PUNCT
ijassa-1307	177	1	ifac	ifac	NOUN
ijassa-1307	177	2	-	-	PUNCT
ijassa-1307	177	3	papersonline	papersonline	NOUN
ijassa-1307	177	4	,	,	PUNCT
ijassa-1307	177	5	52	52	NUM
ijassa-1307	177	6	,	,	PUNCT
ijassa-1307	177	7	1391–1396	1391–1396	NUM
ijassa-1307	177	8	,	,	PUNCT
ijassa-1307	177	9	9th	9th	ADJ
ijassa-1307	177	10	ifac	ifac	NOUN
ijassa-1307	177	11	conference	conference	NOUN
ijassa-1307	177	12	on	on	ADP
ijassa-1307	177	13	manufacturing	manufacturing	NOUN
ijassa-1307	177	14	modelling	modelling	NOUN
ijassa-1307	177	15	,	,	PUNCT
ijassa-1307	177	16	management	management	NOUN
ijassa-1307	177	17	and	and	CCONJ
ijassa-1307	177	18	control	control	NOUN
ijassa-1307	177	19	mim	mim	PROPN
ijassa-1307	177	20	2019	2019	NUM
ijassa-1307	177	21	,	,	PUNCT
ijassa-1307	177	22	https://dx.doi.org/10.1016/j.ifacol.2019.11.393	https://dx.doi.org/10.1016/j.ifacol.2019.11.393	NOUN
ijassa-1307	177	23	.	.	PROPN
ijassa-1307	178	1	11	11	NUM
ijassa-1307	178	2	.	.	X
ijassa-1307	178	3	sakrutina	sakrutina	PROPN
ijassa-1307	178	4	,	,	PUNCT
ijassa-1307	178	5	e.	e.	PROPN
ijassa-1307	178	6	&	&	CCONJ
ijassa-1307	178	7	kalashnikov	kalashnikov	PROPN
ijassa-1307	178	8	,	,	PUNCT
ijassa-1307	178	9	a.	a.	NOUN
ijassa-1307	178	10	(	(	PUNCT
ijassa-1307	178	11	2020	2020	NUM
ijassa-1307	178	12	)	)	PUNCT
ijassa-1307	178	13	towards	towards	ADP
ijassa-1307	178	14	the	the	DET
ijassa-1307	178	15	issue	issue	NOUN
ijassa-1307	178	16	of	of	ADP
ijassa-1307	178	17	the	the	DET
ijassa-1307	178	18	cybersecurity	cybersecurity	NOUN
ijassa-1307	178	19	analysis	analysis	NOUN
ijassa-1307	178	20	of	of	ADP
ijassa-1307	178	21	a	a	DET
ijassa-1307	178	22	significant	significant	ADJ
ijassa-1307	178	23	object	object	NOUN
ijassa-1307	178	24	of	of	ADP
ijassa-1307	178	25	critical	critical	ADJ
ijassa-1307	178	26	information	information	NOUN
ijassa-1307	178	27	infrastructure	infrastructure	NOUN
ijassa-1307	178	28	.	.	PUNCT
ijassa-1307	179	1	in	in	ADP
ijassa-1307	179	2	2020	2020	NUM
ijassa-1307	179	3	13th	13th	NOUN
ijassa-1307	179	4	international	international	ADJ
ijassa-1307	179	5	conference	conference	NOUN
ijassa-1307	179	6	”	"	PUNCT
ijassa-1307	179	7	management	management	NOUN
ijassa-1307	179	8	of	of	ADP
ijassa-1307	179	9	large	large	ADJ
ijassa-1307	179	10	-	-	PUNCT
ijassa-1307	179	11	scale	scale	NOUN
ijassa-1307	179	12	system	system	NOUN
ijassa-1307	179	13	development	development	NOUN
ijassa-1307	179	14	”	"	PUNCT
ijassa-1307	179	15	(	(	PUNCT
ijassa-1307	179	16	mlsd	mlsd	PROPN
ijassa-1307	179	17	)	)	PUNCT
ijassa-1307	179	18	,	,	PUNCT
ijassa-1307	179	19	1–5	1–5	NUM
ijassa-1307	179	20	,	,	PUNCT
ijassa-1307	179	21	https://dx.doi.org/10.1109/mlsd49919.2020.9247693	https://dx.doi.org/10.1109/mlsd49919.2020.9247693	PROPN
ijassa-1307	179	22	.	.	NOUN
ijassa-1307	179	23	12	12	NUM
ijassa-1307	179	24	.	.	PUNCT
ijassa-1307	179	25	jharko	jharko	PROPN
ijassa-1307	179	26	,	,	PUNCT
ijassa-1307	179	27	e.	e.	PROPN
ijassa-1307	179	28	,	,	PUNCT
ijassa-1307	179	29	abdulova	abdulova	PROPN
ijassa-1307	179	30	,	,	PUNCT
ijassa-1307	179	31	e.	e.	PROPN
ijassa-1307	179	32	,	,	PUNCT
ijassa-1307	179	33	&	&	CCONJ
ijassa-1307	179	34	iskhakov	iskhakov	PROPN
ijassa-1307	179	35	,	,	PUNCT
ijassa-1307	179	36	a.	a.	NOUN
ijassa-1307	179	37	(	(	PUNCT
ijassa-1307	179	38	2021	2021	NUM
ijassa-1307	179	39	)	)	PUNCT
ijassa-1307	179	40	unmanned	unmanned	ADJ
ijassa-1307	179	41	vehicles	vehicle	NOUN
ijassa-1307	179	42	:	:	PUNCT
ijassa-1307	179	43	safety	safety	NOUN
ijassa-1307	179	44	management	management	NOUN
ijassa-1307	179	45	systems	system	NOUN
ijassa-1307	179	46	and	and	CCONJ
ijassa-1307	179	47	safety	safety	NOUN
ijassa-1307	179	48	functions	function	NOUN
ijassa-1307	179	49	.	.	PUNCT
ijassa-1307	180	1	communications	communication	NOUN
ijassa-1307	180	2	in	in	ADP
ijassa-1307	180	3	computer	computer	NOUN
ijassa-1307	180	4	and	and	CCONJ
ijassa-1307	180	5	information	information	NOUN
ijassa-1307	180	6	science	science	NOUN
ijassa-1307	180	7	,	,	PUNCT
ijassa-1307	180	8	1396	1396	NUM
ijassa-1307	180	9	,	,	PUNCT
ijassa-1307	180	10	112–121	112–121	NUM
ijassa-1307	180	11	,	,	PUNCT
ijassa-1307	180	12	https://dx.doi.org/10.1007/978-981-16-1483-5	https://dx.doi.org/10.1007/978-981-16-1483-5	NOUN
ijassa-1307	180	13	.	.	PUNCT
ijassa-1307	180	14	copyright	copyright	NOUN
ijassa-1307	180	15	©	©	PROPN
ijassa-1307	180	16	2022	2022	NUM
ijassa-1307	180	17	assa	assa	NOUN
ijassa-1307	180	18	.	.	PUNCT
ijassa-1307	181	1	adv	adv	PROPN
ijassa-1307	181	2	syst	syst	PROPN
ijassa-1307	181	3	sci	sci	PROPN
ijassa-1307	181	4	appl	appl	PROPN
ijassa-1307	181	5	(	(	PUNCT
ijassa-1307	181	6	2022	2022	NUM
ijassa-1307	181	7	)	)	PUNCT
ijassa-1307	181	8	https://dx.doi.org/10.1109/mlsd.2018.8551804	https://dx.doi.org/10.1109/mlsd.2018.8551804	NOUN
ijassa-1307	181	9	https://dx.doi.org/10.1109/100.580977	https://dx.doi.org/10.1109/100.580977	PROPN
ijassa-1307	181	10	https://dx.doi.org/https://doi.org/10.1016/j.robot.2016.11.007	https://dx.doi.org/https://doi.org/10.1016/j.robot.2016.11.007	ADJ
ijassa-1307	181	11	https://dx.doi.org/10.1109/icca.2019.8899955	https://dx.doi.org/10.1109/icca.2019.8899955	INTJ
ijassa-1307	181	12	https://dx.doi.org/10.25728/assa.2018.18.3.583	https://dx.doi.org/10.25728/assa.2018.18.3.583	PROPN
ijassa-1307	182	1	https://dx.doi.org/10.1109/icadiwt.2014.6814687	https://dx.doi.org/10.1109/icadiwt.2014.6814687	PROPN
ijassa-1307	182	2	https://dx.doi.org/10.1109/rusautocon.2019.8867615	https://dx.doi.org/10.1109/rusautocon.2019.8867615	NOUN
ijassa-1307	182	3	https://dx.doi.org/10.1016/j.proeng.2017.12.020	https://dx.doi.org/10.1016/j.proeng.2017.12.020	PROPN
ijassa-1307	182	4	https://dx.doi.org/10.1016/j.ifacol.2019.11.393	https://dx.doi.org/10.1016/j.ifacol.2019.11.393	PROPN
ijassa-1307	183	1	https://dx.doi.org/10.1109/mlsd49919.2020.9247693	https://dx.doi.org/10.1109/mlsd49919.2020.9247693	NOUN
ijassa-1307	183	2	https://dx.doi.org/10.1007/978-981-16-1483-5	https://dx.doi.org/10.1007/978-981-16-1483-5	NOUN
ijassa-1307	183	3	introduction	introduction	NOUN
ijassa-1307	183	4	problem	problem	NOUN
ijassa-1307	183	5	statement	statement	NOUN
ijassa-1307	183	6	algorithm	algorithm	NOUN
ijassa-1307	183	7	description	description	NOUN
ijassa-1307	183	8	rangefinder	rangefinder	NOUN
ijassa-1307	183	9	data	datum	NOUN
ijassa-1307	183	10	capture	capture	NOUN
ijassa-1307	183	11	create	create	VERB
ijassa-1307	183	12	self	self	NOUN
ijassa-1307	183	13	local	local	ADJ
ijassa-1307	183	14	map	map	NOUN
ijassa-1307	183	15	of	of	ADP
ijassa-1307	183	16	obstacles	obstacle	NOUN
ijassa-1307	183	17	database	database	NOUN
ijassa-1307	183	18	of	of	ADP
ijassa-1307	183	19	local	local	ADJ
ijassa-1307	183	20	maps	map	NOUN
ijassa-1307	183	21	edge	edge	NOUN
ijassa-1307	183	22	clustering	cluster	VERB
ijassa-1307	183	23	by	by	ADP
ijassa-1307	183	24	its	its	PRON
ijassa-1307	183	25	lengths	length	NOUN
ijassa-1307	183	26	many	many	ADJ
ijassa-1307	183	27	possible	possible	ADJ
ijassa-1307	183	28	docking	docking	NOUN
ijassa-1307	183	29	combinations	combination	NOUN
ijassa-1307	183	30	optimal	optimal	ADJ
ijassa-1307	183	31	extending	extending	NOUN
ijassa-1307	183	32	of	of	ADP
ijassa-1307	183	33	the	the	DET
ijassa-1307	183	34	local	local	ADJ
ijassa-1307	183	35	obstacle	obstacle	NOUN
ijassa-1307	183	36	map	map	VERB
ijassa-1307	183	37	simulation	simulation	NOUN
ijassa-1307	183	38	modeling	model	VERB
ijassa-1307	183	39	experimental	experimental	ADJ
ijassa-1307	183	40	results	result	NOUN
ijassa-1307	183	41	.	.	PUNCT
ijassa-1307	184	1	conclusion	conclusion	NOUN