id	sid	tid	token	lemma	pos
ijassa-571	1	1	adv	adv	PROPN
ijassa-571	1	2	syst	syst	PROPN
ijassa-571	1	3	sci	sci	PROPN
ijassa-571	1	4	appl	appl	PROPN
ijassa-571	1	5	2018	2018	NUM
ijassa-571	1	6	;	;	PUNCT
ijassa-571	1	7	1	1	NUM
ijassa-571	1	8	;	;	PUNCT
ijassa-571	1	9	92	92	NUM
ijassa-571	1	10	-	-	SYM
ijassa-571	1	11	101	101	NUM
ijassa-571	1	12	published	publish	VERB
ijassa-571	1	13	online	online	ADV
ijassa-571	1	14	at	at	ADP
ijassa-571	1	15	http://ijassa.ipu.ru	http://ijassa.ipu.ru	ADV
ijassa-571	1	16	.	.	PUNCT
ijassa-571	2	1	copyright	copyright	NOUN
ijassa-571	2	2	©	©	PROPN
ijassa-571	2	3	2018	2018	NUM
ijassa-571	2	4	assa	assa	NOUN
ijassa-571	2	5	.	.	PUNCT
ijassa-571	3	1	adv	adv	PROPN
ijassa-571	3	2	.	.	PUNCT
ijassa-571	4	1	in	in	ADP
ijassa-571	4	2	systems	system	NOUN
ijassa-571	4	3	science	science	NOUN
ijassa-571	4	4	and	and	CCONJ
ijassa-571	4	5	appl	appl	NOUN
ijassa-571	4	6	.	.	PUNCT
ijassa-571	5	1	(	(	PUNCT
ijassa-571	5	2	2018	2018	NUM
ijassa-571	5	3	)	)	PUNCT
ijassa-571	5	4	a	a	DET
ijassa-571	5	5	two	two	NUM
ijassa-571	5	6	-	-	PUNCT
ijassa-571	5	7	stage	stage	NOUN
ijassa-571	5	8	algorithm	algorithm	NOUN
ijassa-571	5	9	for	for	ADP
ijassa-571	5	10	generating	generate	VERB
ijassa-571	5	11	a	a	DET
ijassa-571	5	12	set	set	NOUN
ijassa-571	5	13	of	of	ADP
ijassa-571	5	14	paretooptimal	paretooptimal	ADJ
ijassa-571	5	15	trajectories	trajectory	NOUN
ijassa-571	5	16	of	of	ADP
ijassa-571	5	17	an	an	DET
ijassa-571	5	18	object	object	NOUN
ijassa-571	5	19	elena	elena	NOUN
ijassa-571	5	20	l.	l.	PROPN
ijassa-571	5	21	kulida	kulida	PROPN
ijassa-571	5	22	1	1	NUM
ijassa-571	5	23	1	1	NUM
ijassa-571	5	24	)	)	PUNCT
ijassa-571	5	25	institute	institute	NOUN
ijassa-571	5	26	of	of	ADP
ijassa-571	5	27	control	control	PROPN
ijassa-571	5	28	sciences	sciences	PROPN
ijassa-571	5	29	,	,	PUNCT
ijassa-571	5	30	russian	russian	ADJ
ijassa-571	5	31	academy	academy	PROPN
ijassa-571	5	32	of	of	ADP
ijassa-571	5	33	sciences	sciences	PROPN
ijassa-571	5	34	,	,	PUNCT
ijassa-571	5	35	moscow	moscow	PROPN
ijassa-571	5	36	,	,	PUNCT
ijassa-571	5	37	russia	russia	PROPN
ijassa-571	5	38	e	e	NOUN
ijassa-571	5	39	-	-	NOUN
ijassa-571	5	40	mail	mail	NOUN
ijassa-571	5	41	:	:	PUNCT
ijassa-571	5	42	lenak@ipu.ru	lenak@ipu.ru	VERB
ijassa-571	5	43	abstract	abstract	NOUN
ijassa-571	5	44	:	:	PUNCT
ijassa-571	5	45	a	a	DET
ijassa-571	5	46	two	two	NUM
ijassa-571	5	47	-	-	PUNCT
ijassa-571	5	48	stage	stage	NOUN
ijassa-571	5	49	algorithm	algorithm	NOUN
ijassa-571	5	50	is	be	AUX
ijassa-571	5	51	proposed	propose	VERB
ijassa-571	5	52	for	for	ADP
ijassa-571	5	53	generating	generate	VERB
ijassa-571	5	54	trajectories	trajectory	NOUN
ijassa-571	5	55	and	and	CCONJ
ijassa-571	5	56	parameters	parameter	NOUN
ijassa-571	5	57	of	of	ADP
ijassa-571	5	58	the	the	DET
ijassa-571	5	59	object	object	NOUN
ijassa-571	5	60	's	's	PART
ijassa-571	5	61	motion	motion	NOUN
ijassa-571	5	62	based	base	VERB
ijassa-571	5	63	on	on	ADP
ijassa-571	5	64	searching	search	VERB
ijassa-571	5	65	for	for	ADP
ijassa-571	5	66	a	a	DET
ijassa-571	5	67	set	set	NOUN
ijassa-571	5	68	of	of	ADP
ijassa-571	5	69	pareto	pareto	VERB
ijassa-571	5	70	-	-	PUNCT
ijassa-571	5	71	optimal	optimal	ADJ
ijassa-571	5	72	paths	path	NOUN
ijassa-571	5	73	from	from	ADP
ijassa-571	5	74	the	the	DET
ijassa-571	5	75	initial	initial	ADJ
ijassa-571	5	76	vertex	vertex	NOUN
ijassa-571	5	77	to	to	ADP
ijassa-571	5	78	the	the	DET
ijassa-571	5	79	terminal	terminal	ADJ
ijassa-571	5	80	vertex	vertex	NOUN
ijassa-571	5	81	.	.	PUNCT
ijassa-571	6	1	the	the	DET
ijassa-571	6	2	features	feature	NOUN
ijassa-571	6	3	of	of	ADP
ijassa-571	6	4	graph	graph	NOUN
ijassa-571	6	5	construction	construction	NOUN
ijassa-571	6	6	in	in	ADP
ijassa-571	6	7	the	the	DET
ijassa-571	6	8	first	first	ADJ
ijassa-571	6	9	and	and	CCONJ
ijassa-571	6	10	second	second	ADJ
ijassa-571	6	11	stages	stage	NOUN
ijassa-571	6	12	of	of	ADP
ijassa-571	6	13	the	the	DET
ijassa-571	6	14	algorithm	algorithm	NOUN
ijassa-571	6	15	are	be	AUX
ijassa-571	6	16	described	describe	VERB
ijassa-571	6	17	.	.	PUNCT
ijassa-571	7	1	at	at	ADP
ijassa-571	7	2	the	the	DET
ijassa-571	7	3	first	first	ADJ
ijassa-571	7	4	stage	stage	NOUN
ijassa-571	7	5	,	,	PUNCT
ijassa-571	7	6	the	the	DET
ijassa-571	7	7	set	set	NOUN
ijassa-571	7	8	of	of	ADP
ijassa-571	7	9	vertices	vertex	NOUN
ijassa-571	7	10	of	of	ADP
ijassa-571	7	11	the	the	DET
ijassa-571	7	12	graph	graph	NOUN
ijassa-571	7	13	uniformly	uniformly	ADV
ijassa-571	7	14	cover	cover	VERB
ijassa-571	7	15	the	the	DET
ijassa-571	7	16	area	area	NOUN
ijassa-571	7	17	of	of	ADP
ijassa-571	7	18	the	the	DET
ijassa-571	7	19	object	object	NOUN
ijassa-571	7	20	's	's	PART
ijassa-571	7	21	motion	motion	NOUN
ijassa-571	7	22	,	,	PUNCT
ijassa-571	7	23	and	and	CCONJ
ijassa-571	7	24	the	the	DET
ijassa-571	7	25	edges	edge	NOUN
ijassa-571	7	26	connect	connect	VERB
ijassa-571	7	27	only	only	ADV
ijassa-571	7	28	the	the	DET
ijassa-571	7	29	nearest	near	ADJ
ijassa-571	7	30	neighboring	neighboring	NOUN
ijassa-571	7	31	vertices	vertex	NOUN
ijassa-571	7	32	.	.	PUNCT
ijassa-571	8	1	at	at	ADP
ijassa-571	8	2	the	the	DET
ijassa-571	8	3	second	second	ADJ
ijassa-571	8	4	stage	stage	NOUN
ijassa-571	8	5	,	,	PUNCT
ijassa-571	8	6	the	the	DET
ijassa-571	8	7	set	set	NOUN
ijassa-571	8	8	of	of	ADP
ijassa-571	8	9	vertices	vertex	NOUN
ijassa-571	8	10	of	of	ADP
ijassa-571	8	11	the	the	DET
ijassa-571	8	12	graph	graph	NOUN
ijassa-571	8	13	includes	include	VERB
ijassa-571	8	14	only	only	ADV
ijassa-571	8	15	those	those	DET
ijassa-571	8	16	vertices	vertex	NOUN
ijassa-571	8	17	through	through	ADP
ijassa-571	8	18	which	which	PRON
ijassa-571	8	19	the	the	DET
ijassa-571	8	20	paths	path	NOUN
ijassa-571	8	21	constructed	construct	VERB
ijassa-571	8	22	in	in	ADP
ijassa-571	8	23	the	the	DET
ijassa-571	8	24	first	first	ADJ
ijassa-571	8	25	stage	stage	NOUN
ijassa-571	8	26	pass	pass	NOUN
ijassa-571	8	27	.	.	PUNCT
ijassa-571	9	1	for	for	ADP
ijassa-571	9	2	this	this	DET
ijassa-571	9	3	set	set	NOUN
ijassa-571	9	4	of	of	ADP
ijassa-571	9	5	vertices	vertex	NOUN
ijassa-571	9	6	,	,	PUNCT
ijassa-571	9	7	a	a	DET
ijassa-571	9	8	complete	complete	ADJ
ijassa-571	9	9	graph	graph	NOUN
ijassa-571	9	10	is	be	AUX
ijassa-571	9	11	constructed	construct	VERB
ijassa-571	9	12	:	:	PUNCT
ijassa-571	9	13	the	the	DET
ijassa-571	9	14	edges	edge	NOUN
ijassa-571	9	15	connect	connect	VERB
ijassa-571	9	16	each	each	DET
ijassa-571	9	17	vertex	vertex	NOUN
ijassa-571	9	18	to	to	ADP
ijassa-571	9	19	all	all	DET
ijassa-571	9	20	the	the	DET
ijassa-571	9	21	others	other	NOUN
ijassa-571	9	22	.	.	PUNCT
ijassa-571	10	1	an	an	DET
ijassa-571	10	2	algorithm	algorithm	NOUN
ijassa-571	10	3	for	for	ADP
ijassa-571	10	4	constructing	construct	VERB
ijassa-571	10	5	a	a	DET
ijassa-571	10	6	set	set	NOUN
ijassa-571	10	7	of	of	ADP
ijassa-571	10	8	pareto	pareto	VERB
ijassa-571	10	9	-	-	PUNCT
ijassa-571	10	10	optimal	optimal	ADJ
ijassa-571	10	11	characteristics	characteristic	NOUN
ijassa-571	10	12	of	of	ADP
ijassa-571	10	13	graph	graph	NOUN
ijassa-571	10	14	paths	path	NOUN
ijassa-571	10	15	is	be	AUX
ijassa-571	10	16	described	describe	VERB
ijassa-571	10	17	.	.	PUNCT
ijassa-571	11	1	the	the	DET
ijassa-571	11	2	two	two	NUM
ijassa-571	11	3	-	-	PUNCT
ijassa-571	11	4	stage	stage	NOUN
ijassa-571	11	5	approach	approach	NOUN
ijassa-571	11	6	allows	allow	VERB
ijassa-571	11	7	to	to	PART
ijassa-571	11	8	significantly	significantly	ADV
ijassa-571	11	9	reduce	reduce	VERB
ijassa-571	11	10	the	the	DET
ijassa-571	11	11	calculation	calculation	NOUN
ijassa-571	11	12	time	time	NOUN
ijassa-571	11	13	in	in	ADP
ijassa-571	11	14	comparison	comparison	NOUN
ijassa-571	11	15	with	with	ADP
ijassa-571	11	16	the	the	DET
ijassa-571	11	17	application	application	NOUN
ijassa-571	11	18	of	of	ADP
ijassa-571	11	19	the	the	DET
ijassa-571	11	20	described	describe	VERB
ijassa-571	11	21	algorithm	algorithm	NOUN
ijassa-571	11	22	for	for	ADP
ijassa-571	11	23	a	a	DET
ijassa-571	11	24	complete	complete	ADJ
ijassa-571	11	25	graph	graph	NOUN
ijassa-571	11	26	in	in	ADP
ijassa-571	11	27	one	one	NUM
ijassa-571	11	28	stage	stage	NOUN
ijassa-571	11	29	.	.	PUNCT
ijassa-571	12	1	two	two	NUM
ijassa-571	12	2	variants	variant	NOUN
ijassa-571	12	3	of	of	ADP
ijassa-571	12	4	the	the	DET
ijassa-571	12	5	algorithm	algorithm	NOUN
ijassa-571	12	6	are	be	AUX
ijassa-571	12	7	considered	consider	VERB
ijassa-571	12	8	.	.	PUNCT
ijassa-571	13	1	the	the	DET
ijassa-571	13	2	first	first	ADJ
ijassa-571	13	3	algorithm	algorithm	NOUN
ijassa-571	13	4	requires	require	VERB
ijassa-571	13	5	a	a	DET
ijassa-571	13	6	longer	long	ADJ
ijassa-571	13	7	calculation	calculation	NOUN
ijassa-571	13	8	time	time	NOUN
ijassa-571	13	9	,	,	PUNCT
ijassa-571	13	10	but	but	CCONJ
ijassa-571	13	11	allows	allow	VERB
ijassa-571	13	12	to	to	PART
ijassa-571	13	13	obtain	obtain	VERB
ijassa-571	13	14	more	more	ADJ
ijassa-571	13	15	trajectories	trajectory	NOUN
ijassa-571	13	16	that	that	PRON
ijassa-571	13	17	are	be	AUX
ijassa-571	13	18	diverse	diverse	ADJ
ijassa-571	13	19	.	.	PUNCT
ijassa-571	14	1	in	in	ADP
ijassa-571	14	2	particular	particular	ADJ
ijassa-571	14	3	,	,	PUNCT
ijassa-571	14	4	it	it	PRON
ijassa-571	14	5	is	be	AUX
ijassa-571	14	6	possible	possible	ADJ
ijassa-571	14	7	to	to	PART
ijassa-571	14	8	obtain	obtain	VERB
ijassa-571	14	9	trajectories	trajectory	NOUN
ijassa-571	14	10	of	of	ADP
ijassa-571	14	11	different	different	ADJ
ijassa-571	14	12	classes	class	NOUN
ijassa-571	14	13	,	,	PUNCT
ijassa-571	14	14	for	for	ADP
ijassa-571	14	15	example	example	NOUN
ijassa-571	14	16	,	,	PUNCT
ijassa-571	14	17	avoiding	avoid	VERB
ijassa-571	14	18	obstacles	obstacle	NOUN
ijassa-571	14	19	from	from	ADP
ijassa-571	14	20	different	different	ADJ
ijassa-571	14	21	sides	side	NOUN
ijassa-571	14	22	,	,	PUNCT
ijassa-571	14	23	etc	etc	X
ijassa-571	14	24	.	.	X
ijassa-571	15	1	for	for	ADP
ijassa-571	15	2	the	the	DET
ijassa-571	15	3	case	case	NOUN
ijassa-571	15	4	when	when	SCONJ
ijassa-571	15	5	time	time	NOUN
ijassa-571	15	6	for	for	ADP
ijassa-571	15	7	calculations	calculation	NOUN
ijassa-571	15	8	is	be	AUX
ijassa-571	15	9	not	not	PART
ijassa-571	15	10	enough	enough	ADJ
ijassa-571	15	11	,	,	PUNCT
ijassa-571	15	12	an	an	DET
ijassa-571	15	13	abridged	abridge	VERB
ijassa-571	15	14	algorithm	algorithm	NOUN
ijassa-571	15	15	is	be	AUX
ijassa-571	15	16	proposed	propose	VERB
ijassa-571	15	17	.	.	PUNCT
ijassa-571	16	1	the	the	DET
ijassa-571	16	2	results	result	NOUN
ijassa-571	16	3	of	of	ADP
ijassa-571	16	4	computational	computational	ADJ
ijassa-571	16	5	experiments	experiment	NOUN
ijassa-571	16	6	are	be	AUX
ijassa-571	16	7	presented	present	VERB
ijassa-571	16	8	.	.	PUNCT
ijassa-571	17	1	keywords	keyword	NOUN
ijassa-571	17	2	:	:	PUNCT
ijassa-571	17	3	approximation	approximation	NOUN
ijassa-571	17	4	of	of	ADP
ijassa-571	17	5	trajectories	trajectory	NOUN
ijassa-571	17	6	by	by	ADP
ijassa-571	17	7	graph	graph	NOUN
ijassa-571	17	8	paths	path	NOUN
ijassa-571	17	9	,	,	PUNCT
ijassa-571	17	10	a	a	DET
ijassa-571	17	11	set	set	NOUN
ijassa-571	17	12	of	of	ADP
ijassa-571	17	13	pareto	pareto	VERB
ijassa-571	17	14	-	-	PUNCT
ijassa-571	17	15	optimal	optimal	ADJ
ijassa-571	17	16	characteristics	characteristic	NOUN
ijassa-571	17	17	,	,	PUNCT
ijassa-571	17	18	search	search	NOUN
ijassa-571	17	19	for	for	ADP
ijassa-571	17	20	a	a	DET
ijassa-571	17	21	path	path	NOUN
ijassa-571	17	22	in	in	ADP
ijassa-571	17	23	a	a	DET
ijassa-571	17	24	graph	graph	NOUN
ijassa-571	17	25	,	,	PUNCT
ijassa-571	17	26	algorithm	algorithm	NOUN
ijassa-571	17	27	for	for	ADP
ijassa-571	17	28	generation	generation	NOUN
ijassa-571	17	29	of	of	ADP
ijassa-571	17	30	trajectories	trajectory	NOUN
ijassa-571	17	31	.	.	PUNCT
ijassa-571	18	1	1	1	X
ijassa-571	18	2	.	.	X
ijassa-571	18	3	introduction	introduction	NOUN
ijassa-571	18	4	algorithms	algorithm	NOUN
ijassa-571	18	5	for	for	ADP
ijassa-571	18	6	generating	generate	VERB
ijassa-571	18	7	trajectories	trajectory	NOUN
ijassa-571	18	8	that	that	PRON
ijassa-571	18	9	satisfy	satisfy	VERB
ijassa-571	18	10	specified	specify	VERB
ijassa-571	18	11	conditions	condition	NOUN
ijassa-571	18	12	are	be	AUX
ijassa-571	18	13	needed	need	VERB
ijassa-571	18	14	to	to	PART
ijassa-571	18	15	effectively	effectively	ADV
ijassa-571	18	16	control	control	VERB
ijassa-571	18	17	the	the	DET
ijassa-571	18	18	movement	movement	NOUN
ijassa-571	18	19	of	of	ADP
ijassa-571	18	20	an	an	DET
ijassa-571	18	21	object	object	NOUN
ijassa-571	18	22	moving	move	VERB
ijassa-571	18	23	in	in	ADP
ijassa-571	18	24	a	a	DET
ijassa-571	18	25	conflict	conflict	NOUN
ijassa-571	18	26	environment	environment	NOUN
ijassa-571	18	27	.	.	PUNCT
ijassa-571	19	1	it	it	PRON
ijassa-571	19	2	is	be	AUX
ijassa-571	19	3	necessary	necessary	ADJ
ijassa-571	19	4	that	that	SCONJ
ijassa-571	19	5	flight	flight	NOUN
ijassa-571	19	6	management	management	NOUN
ijassa-571	19	7	systems	system	NOUN
ijassa-571	19	8	are	be	AUX
ijassa-571	19	9	able	able	ADJ
ijassa-571	19	10	to	to	PART
ijassa-571	19	11	comply	comply	VERB
ijassa-571	19	12	with	with	ADP
ijassa-571	19	13	4d	4d	NUM
ijassa-571	19	14	trajectories	trajectory	NOUN
ijassa-571	19	15	,	,	PUNCT
ijassa-571	19	16	which	which	PRON
ijassa-571	19	17	needs	need	VERB
ijassa-571	19	18	to	to	PART
ijassa-571	19	19	be	be	AUX
ijassa-571	19	20	done	do	VERB
ijassa-571	19	21	in	in	ADP
ijassa-571	19	22	computationally	computationally	ADV
ijassa-571	19	23	efficient	efficient	ADJ
ijassa-571	19	24	ways	way	NOUN
ijassa-571	19	25	due	due	ADP
ijassa-571	19	26	to	to	ADP
ijassa-571	19	27	the	the	DET
ijassa-571	19	28	limited	limited	ADJ
ijassa-571	19	29	computational	computational	ADJ
ijassa-571	19	30	resources	resource	NOUN
ijassa-571	19	31	available	available	ADJ
ijassa-571	19	32	[	[	X
ijassa-571	19	33	3	3	NUM
ijassa-571	19	34	,	,	PUNCT
ijassa-571	19	35	5	5	NUM
ijassa-571	19	36	]	]	PUNCT
ijassa-571	19	37	.	.	PUNCT
ijassa-571	20	1	in	in	ADP
ijassa-571	20	2	[	[	X
ijassa-571	20	3	6	6	NUM
ijassa-571	20	4	]	]	PUNCT
ijassa-571	20	5	,	,	PUNCT
ijassa-571	20	6	analytical	analytical	ADJ
ijassa-571	20	7	and	and	CCONJ
ijassa-571	20	8	discrete	discrete	ADJ
ijassa-571	20	9	approaches	approach	NOUN
ijassa-571	20	10	are	be	AUX
ijassa-571	20	11	considered	consider	VERB
ijassa-571	20	12	to	to	PART
ijassa-571	20	13	optimize	optimize	VERB
ijassa-571	20	14	the	the	DET
ijassa-571	20	15	trajectory	trajectory	NOUN
ijassa-571	20	16	of	of	ADP
ijassa-571	20	17	an	an	DET
ijassa-571	20	18	aircraft	aircraft	NOUN
ijassa-571	20	19	in	in	ADP
ijassa-571	20	20	a	a	DET
ijassa-571	20	21	dangerous	dangerous	ADJ
ijassa-571	20	22	environment	environment	NOUN
ijassa-571	20	23	.	.	PUNCT
ijassa-571	21	1	the	the	DET
ijassa-571	21	2	discrete	discrete	ADJ
ijassa-571	21	3	approach	approach	NOUN
ijassa-571	21	4	allows	allow	VERB
ijassa-571	21	5	solving	solve	VERB
ijassa-571	21	6	the	the	DET
ijassa-571	21	7	problem	problem	NOUN
ijassa-571	21	8	in	in	ADP
ijassa-571	21	9	case	case	NOUN
ijassa-571	21	10	of	of	ADP
ijassa-571	21	11	the	the	DET
ijassa-571	21	12	detection	detection	NOUN
ijassa-571	21	13	risk	risk	NOUN
ijassa-571	21	14	of	of	ADP
ijassa-571	21	15	an	an	DET
ijassa-571	21	16	aircraft	aircraft	NOUN
ijassa-571	21	17	by	by	ADP
ijassa-571	21	18	several	several	ADJ
ijassa-571	21	19	radars	radar	NOUN
ijassa-571	21	20	.	.	PUNCT
ijassa-571	22	1	however	however	ADV
ijassa-571	22	2	,	,	PUNCT
ijassa-571	22	3	the	the	DET
ijassa-571	22	4	use	use	NOUN
ijassa-571	22	5	of	of	ADP
ijassa-571	22	6	discrete	discrete	ADJ
ijassa-571	22	7	optimization	optimization	NOUN
ijassa-571	22	8	methods	method	NOUN
ijassa-571	22	9	requires	require	VERB
ijassa-571	22	10	very	very	ADV
ijassa-571	22	11	large	large	ADJ
ijassa-571	22	12	computational	computational	ADJ
ijassa-571	22	13	costs	cost	NOUN
ijassa-571	22	14	to	to	PART
ijassa-571	22	15	generate	generate	VERB
ijassa-571	22	16	optimal	optimal	ADJ
ijassa-571	22	17	trajectories	trajectory	NOUN
ijassa-571	22	18	,	,	PUNCT
ijassa-571	22	19	especially	especially	ADV
ijassa-571	22	20	if	if	SCONJ
ijassa-571	22	21	optimization	optimization	NOUN
ijassa-571	22	22	by	by	ADP
ijassa-571	22	23	several	several	ADJ
ijassa-571	22	24	criteria	criterion	NOUN
ijassa-571	22	25	is	be	AUX
ijassa-571	22	26	required	require	VERB
ijassa-571	22	27	.	.	PUNCT
ijassa-571	23	1	in	in	ADP
ijassa-571	23	2	this	this	DET
ijassa-571	23	3	paper	paper	NOUN
ijassa-571	23	4	,	,	PUNCT
ijassa-571	23	5	we	we	PRON
ijassa-571	23	6	propose	propose	VERB
ijassa-571	23	7	a	a	DET
ijassa-571	23	8	decomposition	decomposition	NOUN
ijassa-571	23	9	of	of	ADP
ijassa-571	23	10	the	the	DET
ijassa-571	23	11	optimization	optimization	NOUN
ijassa-571	23	12	process	process	NOUN
ijassa-571	23	13	into	into	ADP
ijassa-571	23	14	two	two	NUM
ijassa-571	23	15	stages	stage	NOUN
ijassa-571	23	16	,	,	PUNCT
ijassa-571	23	17	which	which	PRON
ijassa-571	23	18	allows	allow	VERB
ijassa-571	23	19	to	to	PART
ijassa-571	23	20	reduce	reduce	VERB
ijassa-571	23	21	the	the	DET
ijassa-571	23	22	time	time	NOUN
ijassa-571	23	23	required	require	VERB
ijassa-571	23	24	for	for	ADP
ijassa-571	23	25	solving	solve	VERB
ijassa-571	23	26	the	the	DET
ijassa-571	23	27	problem	problem	NOUN
ijassa-571	23	28	.	.	PUNCT
ijassa-571	24	1	in	in	ADP
ijassa-571	24	2	[	[	X
ijassa-571	24	3	4	4	NUM
ijassa-571	24	4	]	]	PUNCT
ijassa-571	24	5	,	,	PUNCT
ijassa-571	24	6	an	an	DET
ijassa-571	24	7	algorithm	algorithm	NOUN
ijassa-571	24	8	for	for	ADP
ijassa-571	24	9	controlling	control	VERB
ijassa-571	24	10	the	the	DET
ijassa-571	24	11	trajectory	trajectory	NOUN
ijassa-571	24	12	and	and	CCONJ
ijassa-571	24	13	parameters	parameter	NOUN
ijassa-571	24	14	of	of	ADP
ijassa-571	24	15	the	the	DET
ijassa-571	24	16	motion	motion	NOUN
ijassa-571	24	17	of	of	ADP
ijassa-571	24	18	an	an	DET
ijassa-571	24	19	object	object	NOUN
ijassa-571	24	20	in	in	ADP
ijassa-571	24	21	a	a	DET
ijassa-571	24	22	conflict	conflict	NOUN
ijassa-571	24	23	environment	environment	NOUN
ijassa-571	24	24	is	be	AUX
ijassa-571	24	25	given	give	VERB
ijassa-571	24	26	.	.	PUNCT
ijassa-571	25	1	the	the	DET
ijassa-571	25	2	risk	risk	NOUN
ijassa-571	25	3	of	of	ADP
ijassa-571	25	4	detecting	detect	VERB
ijassa-571	25	5	an	an	DET
ijassa-571	25	6	object	object	NOUN
ijassa-571	25	7	and	and	CCONJ
ijassa-571	25	8	the	the	DET
ijassa-571	25	9	possibility	possibility	NOUN
ijassa-571	25	10	of	of	ADP
ijassa-571	25	11	collision	collision	NOUN
ijassa-571	25	12	with	with	ADP
ijassa-571	25	13	the	the	DET
ijassa-571	25	14	earth	earth	NOUN
ijassa-571	25	15	's	's	PART
ijassa-571	25	16	surface	surface	NOUN
ijassa-571	25	17	are	be	AUX
ijassa-571	25	18	taken	take	VERB
ijassa-571	25	19	into	into	ADP
ijassa-571	25	20	account	account	NOUN
ijassa-571	25	21	.	.	PUNCT
ijassa-571	26	1	optimization	optimization	NOUN
ijassa-571	26	2	is	be	AUX
ijassa-571	26	3	carried	carry	VERB
ijassa-571	26	4	out	out	ADP
ijassa-571	26	5	in	in	ADP
ijassa-571	26	6	accordance	accordance	NOUN
ijassa-571	26	7	with	with	ADP
ijassa-571	26	8	specified	specify	VERB
ijassa-571	26	9	quality	quality	NOUN
ijassa-571	26	10	criterion	criterion	NOUN
ijassa-571	26	11	of	of	ADP
ijassa-571	26	12	optimizing	optimize	VERB
ijassa-571	26	13	the	the	DET
ijassa-571	26	14	trajectory	trajectory	NOUN
ijassa-571	26	15	and	and	CCONJ
ijassa-571	26	16	traffic	traffic	NOUN
ijassa-571	26	17	parameters	parameter	NOUN
ijassa-571	26	18	with	with	ADP
ijassa-571	26	19	a	a	DET
ijassa-571	26	20	restriction	restriction	NOUN
ijassa-571	26	21	on	on	ADP
ijassa-571	26	22	the	the	DET
ijassa-571	26	23	time	time	NOUN
ijassa-571	26	24	of	of	ADP
ijassa-571	26	25	motion	motion	NOUN
ijassa-571	26	26	.	.	PUNCT
ijassa-571	27	1	for	for	ADP
ijassa-571	27	2	this	this	DET
ijassa-571	27	3	purpose	purpose	NOUN
ijassa-571	27	4	,	,	PUNCT
ijassa-571	27	5	the	the	DET
ijassa-571	27	6	specified	specify	VERB
ijassa-571	27	7	quality	quality	NOUN
ijassa-571	27	8	criterion	criterion	NOUN
ijassa-571	27	9	and	and	CCONJ
ijassa-571	27	10	the	the	DET
ijassa-571	27	11	criterion	criterion	NOUN
ijassa-571	27	12	of	of	ADP
ijassa-571	27	13	the	the	DET
ijassa-571	27	14	minimum	minimum	ADJ
ijassa-571	27	15	time	time	NOUN
ijassa-571	27	16	of	of	ADP
ijassa-571	27	17	completion	completion	NOUN
ijassa-571	27	18	of	of	ADP
ijassa-571	27	19	a	a	DET
ijassa-571	27	20	route	route	NOUN
ijassa-571	27	21	are	be	AUX
ijassa-571	27	22	considered	consider	VERB
ijassa-571	27	23	.	.	PUNCT
ijassa-571	28	1	a	a	DET
ijassa-571	28	2	graph	graph	NOUN
ijassa-571	28	3	is	be	AUX
ijassa-571	28	4	formed	form	VERB
ijassa-571	28	5	,	,	PUNCT
ijassa-571	28	6	and	and	CCONJ
ijassa-571	28	7	its	its	PRON
ijassa-571	28	8	paths	path	NOUN
ijassa-571	28	9	approximate	approximate	VERB
ijassa-571	28	10	all	all	DET
ijassa-571	28	11	possible	possible	ADJ
ijassa-571	28	12	trajectories	trajectory	NOUN
ijassa-571	28	13	of	of	ADP
ijassa-571	28	14	the	the	DET
ijassa-571	28	15	object	object	NOUN
ijassa-571	28	16	's	's	PART
ijassa-571	28	17	motion	motion	NOUN
ijassa-571	28	18	in	in	ADP
ijassa-571	28	19	the	the	DET
ijassa-571	28	20	given	give	VERB
ijassa-571	28	21	region	region	NOUN
ijassa-571	28	22	.	.	PUNCT
ijassa-571	29	1	the	the	DET
ijassa-571	29	2	graph	graph	NOUN
ijassa-571	29	3	must	must	AUX
ijassa-571	29	4	include	include	VERB
ijassa-571	29	5	vertices	vertex	NOUN
ijassa-571	29	6	that	that	PRON
ijassa-571	29	7	cover	cover	VERB
ijassa-571	29	8	the	the	DET
ijassa-571	29	9	region	region	NOUN
ijassa-571	29	10	of	of	ADP
ijassa-571	29	11	motion	motion	NOUN
ijassa-571	29	12	tightly	tightly	ADV
ijassa-571	29	13	enough	enough	ADV
ijassa-571	29	14	to	to	PART
ijassa-571	29	15	approximate	approximate	VERB
ijassa-571	29	16	the	the	DET
ijassa-571	29	17	trajectories	trajectory	NOUN
ijassa-571	29	18	with	with	ADP
ijassa-571	29	19	sufficient	sufficient	ADJ
ijassa-571	29	20	accuracy	accuracy	NOUN
ijassa-571	29	21	.	.	PUNCT
ijassa-571	30	1	it	it	PRON
ijassa-571	30	2	is	be	AUX
ijassa-571	30	3	desirable	desirable	ADJ
ijassa-571	30	4	that	that	SCONJ
ijassa-571	30	5	each	each	DET
ijassa-571	30	6	vertex	vertex	NOUN
ijassa-571	30	7	is	be	AUX
ijassa-571	30	8	a	a	DET
ijassa-571	30	9	two	two	NUM
ijassa-571	30	10	-	-	PUNCT
ijassa-571	30	11	stage	stage	NOUN
ijassa-571	30	12	algorithm	algorithm	NOUN
ijassa-571	30	13	for	for	ADP
ijassa-571	30	14	generating	generate	VERB
ijassa-571	30	15	a	a	DET
ijassa-571	30	16	set	set	NOUN
ijassa-571	30	17	of	of	ADP
ijassa-571	30	18	pareto	pareto	VERB
ijassa-571	30	19	-	-	PUNCT
ijassa-571	30	20	optimal	optimal	ADJ
ijassa-571	30	21	trajectories	trajectory	NOUN
ijassa-571	30	22	of	of	ADP
ijassa-571	30	23	an	an	DET
ijassa-571	30	24	object	object	NOUN
ijassa-571	30	25	93	93	NUM
ijassa-571	30	26	copyright	copyright	NOUN
ijassa-571	30	27	©	©	PROPN
ijassa-571	30	28	2018	2018	NUM
ijassa-571	30	29	assa	assa	NOUN
ijassa-571	30	30	.	.	PUNCT
ijassa-571	31	1	adv	adv	PROPN
ijassa-571	31	2	.	.	PUNCT
ijassa-571	32	1	in	in	ADP
ijassa-571	32	2	systems	system	NOUN
ijassa-571	32	3	science	science	NOUN
ijassa-571	32	4	and	and	CCONJ
ijassa-571	32	5	appl	appl	NOUN
ijassa-571	32	6	.	.	PUNCT
ijassa-571	33	1	(	(	PUNCT
ijassa-571	33	2	2018	2018	NUM
ijassa-571	33	3	)	)	PUNCT
ijassa-571	33	4	connected	connect	VERB
ijassa-571	33	5	by	by	ADP
ijassa-571	33	6	edges	edge	NOUN
ijassa-571	33	7	to	to	ADP
ijassa-571	33	8	all	all	DET
ijassa-571	33	9	other	other	ADJ
ijassa-571	33	10	vertices	vertex	NOUN
ijassa-571	33	11	to	to	PART
ijassa-571	33	12	move	move	VERB
ijassa-571	33	13	to	to	ADP
ijassa-571	33	14	an	an	DET
ijassa-571	33	15	arbitrary	arbitrary	ADJ
ijassa-571	33	16	direction	direction	NOUN
ijassa-571	33	17	if	if	SCONJ
ijassa-571	33	18	the	the	DET
ijassa-571	33	19	motion	motion	NOUN
ijassa-571	33	20	along	along	ADP
ijassa-571	33	21	such	such	DET
ijassa-571	33	22	an	an	DET
ijassa-571	33	23	edge	edge	NOUN
ijassa-571	33	24	does	do	AUX
ijassa-571	33	25	not	not	PART
ijassa-571	33	26	violate	violate	VERB
ijassa-571	33	27	restrictions	restriction	NOUN
ijassa-571	33	28	associated	associate	VERB
ijassa-571	33	29	with	with	ADP
ijassa-571	33	30	the	the	DET
ijassa-571	33	31	terrain	terrain	NOUN
ijassa-571	34	1	[	[	X
ijassa-571	34	2	1	1	NUM
ijassa-571	34	3	]	]	PUNCT
ijassa-571	34	4	.	.	PUNCT
ijassa-571	35	1	two	two	NUM
ijassa-571	35	2	-	-	PUNCT
ijassa-571	35	3	component	component	NOUN
ijassa-571	35	4	characteristics	characteristic	NOUN
ijassa-571	35	5	are	be	AUX
ijassa-571	35	6	set	set	VERB
ijassa-571	35	7	on	on	ADP
ijassa-571	35	8	the	the	DET
ijassa-571	35	9	edge	edge	NOUN
ijassa-571	35	10	of	of	ADP
ijassa-571	35	11	the	the	DET
ijassa-571	35	12	graph	graph	NOUN
ijassa-571	35	13	.	.	PUNCT
ijassa-571	36	1	the	the	DET
ijassa-571	36	2	characteristic	characteristic	ADJ
ijassa-571	36	3	consist	consist	VERB
ijassa-571	36	4	the	the	DET
ijassa-571	36	5	values	value	NOUN
ijassa-571	36	6	of	of	ADP
ijassa-571	36	7	two	two	NUM
ijassa-571	36	8	optimization	optimization	NOUN
ijassa-571	36	9	criteria	criterion	NOUN
ijassa-571	36	10	.	.	PUNCT
ijassa-571	37	1	sets	set	NOUN
ijassa-571	37	2	of	of	ADP
ijassa-571	37	3	pareto	pareto	VERB
ijassa-571	37	4	-	-	PUNCT
ijassa-571	37	5	optimal	optimal	ADJ
ijassa-571	37	6	characteristics	characteristic	NOUN
ijassa-571	37	7	of	of	ADP
ijassa-571	37	8	paths	path	NOUN
ijassa-571	37	9	from	from	ADP
ijassa-571	37	10	a	a	DET
ijassa-571	37	11	given	give	VERB
ijassa-571	37	12	initial	initial	ADJ
ijassa-571	37	13	vertex	vertex	NOUN
ijassa-571	37	14	are	be	AUX
ijassa-571	37	15	constructed	construct	VERB
ijassa-571	37	16	for	for	ADP
ijassa-571	37	17	the	the	DET
ijassa-571	37	18	vertices	vertex	NOUN
ijassa-571	37	19	of	of	ADP
ijassa-571	37	20	a	a	DET
ijassa-571	37	21	graph	graph	NOUN
ijassa-571	37	22	.	.	PUNCT
ijassa-571	38	1	however	however	ADV
ijassa-571	38	2	the	the	DET
ijassa-571	38	3	calculation	calculation	NOUN
ijassa-571	38	4	of	of	ADP
ijassa-571	38	5	the	the	DET
ijassa-571	38	6	set	set	NOUN
ijassa-571	38	7	of	of	ADP
ijassa-571	38	8	pareto	pareto	VERB
ijassa-571	38	9	-	-	PUNCT
ijassa-571	38	10	optimal	optimal	ADJ
ijassa-571	38	11	characteristics	characteristic	NOUN
ijassa-571	38	12	of	of	ADP
ijassa-571	38	13	the	the	DET
ijassa-571	38	14	vertices	vertex	NOUN
ijassa-571	38	15	of	of	ADP
ijassa-571	38	16	such	such	DET
ijassa-571	38	17	a	a	DET
ijassa-571	38	18	graph	graph	NOUN
ijassa-571	38	19	requires	require	VERB
ijassa-571	38	20	time	time	NOUN
ijassa-571	38	21	-	-	PUNCT
ijassa-571	38	22	consuming	consume	VERB
ijassa-571	38	23	unsatisfactory	unsatisfactory	ADJ
ijassa-571	38	24	large	large	ADJ
ijassa-571	38	25	for	for	ADP
ijassa-571	38	26	the	the	DET
ijassa-571	38	27	practical	practical	ADJ
ijassa-571	38	28	use	use	NOUN
ijassa-571	38	29	of	of	ADP
ijassa-571	38	30	the	the	DET
ijassa-571	38	31	algorithm	algorithm	NOUN
ijassa-571	38	32	.	.	PUNCT
ijassa-571	39	1	the	the	DET
ijassa-571	39	2	paper	paper	NOUN
ijassa-571	39	3	proposes	propose	VERB
ijassa-571	39	4	an	an	DET
ijassa-571	39	5	algorithm	algorithm	NOUN
ijassa-571	39	6	to	to	PART
ijassa-571	39	7	solve	solve	VERB
ijassa-571	39	8	this	this	DET
ijassa-571	39	9	problem	problem	NOUN
ijassa-571	39	10	more	more	ADV
ijassa-571	39	11	effectively	effectively	ADV
ijassa-571	39	12	in	in	ADP
ijassa-571	39	13	two	two	NUM
ijassa-571	39	14	stages	stage	NOUN
ijassa-571	39	15	.	.	PUNCT
ijassa-571	40	1	2	2	X
ijassa-571	40	2	.	.	X
ijassa-571	40	3	formulation	formulation	NOUN
ijassa-571	40	4	of	of	ADP
ijassa-571	40	5	the	the	DET
ijassa-571	40	6	problem	problem	NOUN
ijassa-571	40	7	the	the	DET
ijassa-571	40	8	area	area	NOUN
ijassa-571	40	9	of	of	ADP
ijassa-571	40	10	motion	motion	NOUN
ijassa-571	40	11	of	of	ADP
ijassa-571	40	12	the	the	DET
ijassa-571	40	13	object	object	NOUN
ijassa-571	40	14	m	m	VERB
ijassa-571	40	15	is	be	AUX
ijassa-571	40	16	set	set	VERB
ijassa-571	40	17	on	on	ADP
ijassa-571	40	18	the	the	DET
ijassa-571	40	19	map	map	NOUN
ijassa-571	40	20	.	.	PUNCT
ijassa-571	41	1	when	when	SCONJ
ijassa-571	41	2	the	the	DET
ijassa-571	41	3	object	object	NOUN
ijassa-571	41	4	moves	move	VERB
ijassa-571	41	5	in	in	ADP
ijassa-571	41	6	this	this	DET
ijassa-571	41	7	area	area	NOUN
ijassa-571	41	8	conflicts	conflict	NOUN
ijassa-571	41	9	with	with	ADP
ijassa-571	41	10	the	the	DET
ijassa-571	41	11	relief	relief	NOUN
ijassa-571	41	12	may	may	AUX
ijassa-571	41	13	occur	occur	VERB
ijassa-571	41	14	.	.	PUNCT
ijassa-571	42	1	a	a	DET
ijassa-571	42	2	known	know	VERB
ijassa-571	42	3	height	height	NOUN
ijassa-571	42	4	matrix	matrix	NOUN
ijassa-571	42	5	of	of	ADP
ijassa-571	42	6	the	the	DET
ijassa-571	42	7	relief	relief	NOUN
ijassa-571	42	8	for	for	ADP
ijassa-571	42	9	the	the	DET
ijassa-571	42	10	area	area	NOUN
ijassa-571	42	11	is	be	AUX
ijassa-571	42	12	assumed	assume	VERB
ijassa-571	42	13	.	.	PUNCT
ijassa-571	43	1	we	we	PRON
ijassa-571	43	2	consider	consider	VERB
ijassa-571	43	3	the	the	DET
ijassa-571	43	4	set	set	NOUN
ijassa-571	43	5	z	z	NOUN
ijassa-571	43	6	of	of	ADP
ijassa-571	43	7	all	all	DET
ijassa-571	43	8	possible	possible	ADJ
ijassa-571	43	9	trajectories	trajectory	NOUN
ijassa-571	43	10	of	of	ADP
ijassa-571	43	11	the	the	DET
ijassa-571	43	12	object	object	NOUN
ijassa-571	43	13	motion	motion	NOUN
ijassa-571	43	14	from	from	ADP
ijassa-571	43	15	the	the	DET
ijassa-571	43	16	initial	initial	ADJ
ijassa-571	43	17	point	point	NOUN
ijassa-571	43	18	a	a	DET
ijassa-571	43	19	m	m	NOUN
ijassa-571	43	20	with	with	ADP
ijassa-571	43	21	coordinates	coordinate	NOUN
ijassa-571	43	22	and	and	CCONJ
ijassa-571	43	23	height	height	NOUN
ijassa-571	43	24	to	to	ADP
ijassa-571	43	25	the	the	DET
ijassa-571	43	26	endpoint	endpoint	NOUN
ijassa-571	43	27	with	with	ADP
ijassa-571	43	28	coordinates	coordinate	NOUN
ijassa-571	43	29	and	and	CCONJ
ijassa-571	43	30	height	height	NOUN
ijassa-571	43	31	.	.	PUNCT
ijassa-571	44	1	where	where	SCONJ
ijassa-571	44	2	are	be	AUX
ijassa-571	44	3	the	the	DET
ijassa-571	44	4	coordinates	coordinate	NOUN
ijassa-571	44	5	of	of	ADP
ijassa-571	44	6	the	the	DET
ijassa-571	44	7	object	object	NOUN
ijassa-571	44	8	,	,	PUNCT
ijassa-571	44	9	is	be	AUX
ijassa-571	44	10	the	the	DET
ijassa-571	44	11	height	height	NOUN
ijassa-571	44	12	of	of	ADP
ijassa-571	44	13	the	the	DET
ijassa-571	44	14	object	object	NOUN
ijassa-571	44	15	,	,	PUNCT
ijassa-571	44	16	is	be	AUX
ijassa-571	44	17	the	the	DET
ijassa-571	44	18	speed	speed	NOUN
ijassa-571	44	19	of	of	ADP
ijassa-571	44	20	the	the	DET
ijassa-571	44	21	object	object	NOUN
ijassa-571	44	22	's	's	PART
ijassa-571	44	23	motion	motion	NOUN
ijassa-571	44	24	at	at	ADP
ijassa-571	44	25	time	time	NOUN
ijassa-571	44	26	t	t	PROPN
ijassa-571	44	27	,	,	PUNCT
ijassa-571	44	28	and	and	CCONJ
ijassa-571	44	29	t	t	PROPN
ijassa-571	44	30	is	be	AUX
ijassa-571	44	31	the	the	DET
ijassa-571	44	32	trajectory	trajectory	NOUN
ijassa-571	44	33	z	z	NOUN
ijassa-571	44	34	passing	passing	NOUN
ijassa-571	44	35	time	time	NOUN
ijassa-571	44	36	.	.	PUNCT
ijassa-571	45	1	the	the	DET
ijassa-571	45	2	trajectory	trajectory	NOUN
ijassa-571	45	3	should	should	AUX
ijassa-571	45	4	not	not	PART
ijassa-571	45	5	have	have	VERB
ijassa-571	45	6	conflicts	conflict	NOUN
ijassa-571	45	7	with	with	ADP
ijassa-571	45	8	the	the	DET
ijassa-571	45	9	relief	relief	NOUN
ijassa-571	45	10	,	,	PUNCT
ijassa-571	45	11	at	at	ADP
ijassa-571	45	12	any	any	DET
ijassa-571	45	13	point	point	NOUN
ijassa-571	45	14	of	of	ADP
ijassa-571	45	15	the	the	DET
ijassa-571	45	16	trajectory	trajectory	NOUN
ijassa-571	45	17	the	the	DET
ijassa-571	45	18	height	height	NOUN
ijassa-571	45	19	of	of	ADP
ijassa-571	45	20	the	the	DET
ijassa-571	45	21	object	object	NOUN
ijassa-571	45	22	above	above	ADP
ijassa-571	45	23	the	the	DET
ijassa-571	45	24	relief	relief	NOUN
ijassa-571	45	25	must	must	AUX
ijassa-571	45	26	be	be	AUX
ijassa-571	45	27	greater	great	ADJ
ijassa-571	45	28	than	than	ADP
ijassa-571	45	29	the	the	DET
ijassa-571	45	30	specified	specify	VERB
ijassa-571	45	31	value	value	NOUN
ijassa-571	45	32	.	.	PUNCT
ijassa-571	46	1	the	the	DET
ijassa-571	46	2	functional	functional	ADJ
ijassa-571	46	3	of	of	ADP
ijassa-571	46	4	the	the	DET
ijassa-571	46	5	cost	cost	NOUN
ijassa-571	46	6	(	(	PUNCT
ijassa-571	46	7	the	the	DET
ijassa-571	46	8	risk	risk	NOUN
ijassa-571	46	9	)	)	PUNCT
ijassa-571	46	10	of	of	ADP
ijassa-571	46	11	passing	pass	VERB
ijassa-571	46	12	the	the	DET
ijassa-571	46	13	point	point	NOUN
ijassa-571	46	14	with	with	ADP
ijassa-571	46	15	the	the	DET
ijassa-571	46	16	speed	speed	NOUN
ijassa-571	46	17	is	be	AUX
ijassa-571	46	18	the	the	DET
ijassa-571	46	19	cost	cost	NOUN
ijassa-571	46	20	of	of	ADP
ijassa-571	46	21	the	the	DET
ijassa-571	46	22	trajectory	trajectory	NOUN
ijassa-571	46	23	z	z	NOUN
ijassa-571	46	24	is	be	AUX
ijassa-571	46	25	the	the	DET
ijassa-571	46	26	task	task	NOUN
ijassa-571	46	27	is	be	AUX
ijassa-571	46	28	to	to	PART
ijassa-571	46	29	generate	generate	VERB
ijassa-571	46	30	trajectories	trajectory	NOUN
ijassa-571	46	31	of	of	ADP
ijassa-571	46	32	the	the	DET
ijassa-571	46	33	object	object	NOUN
ijassa-571	46	34	from	from	ADP
ijassa-571	46	35	point	point	NOUN
ijassa-571	46	36	a	a	PRON
ijassa-571	46	37	to	to	PART
ijassa-571	46	38	point	point	VERB
ijassa-571	46	39	b	b	PROPN
ijassa-571	46	40	of	of	ADP
ijassa-571	46	41	the	the	DET
ijassa-571	46	42	paretooptimal	paretooptimal	NOUN
ijassa-571	46	43	by	by	ADP
ijassa-571	46	44	two	two	NUM
ijassa-571	46	45	criteria	criterion	NOUN
ijassa-571	46	46	:	:	PUNCT
ijassa-571	46	47	the	the	DET
ijassa-571	46	48	minimum	minimum	ADJ
ijassa-571	46	49	cost	cost	NOUN
ijassa-571	46	50	and	and	CCONJ
ijassa-571	46	51	the	the	DET
ijassa-571	46	52	minimum	minimum	ADJ
ijassa-571	46	53	time	time	NOUN
ijassa-571	46	54	of	of	ADP
ijassa-571	46	55	passing	passing	NOUN
ijassa-571	46	56	of	of	ADP
ijassa-571	46	57	the	the	DET
ijassa-571	46	58	route	route	NOUN
ijassa-571	46	59	.	.	PUNCT
ijassa-571	47	1	the	the	DET
ijassa-571	47	2	problem	problem	NOUN
ijassa-571	47	3	can	can	AUX
ijassa-571	47	4	not	not	PART
ijassa-571	47	5	be	be	AUX
ijassa-571	47	6	solved	solve	VERB
ijassa-571	47	7	analytically	analytically	ADV
ijassa-571	47	8	due	due	ADP
ijassa-571	47	9	to	to	ADP
ijassa-571	47	10	the	the	DET
ijassa-571	47	11	complexity	complexity	NOUN
ijassa-571	47	12	of	of	ADP
ijassa-571	47	13	the	the	DET
ijassa-571	47	14	cost	cost	NOUN
ijassa-571	47	15	functional	functional	ADJ
ijassa-571	47	16	and	and	CCONJ
ijassa-571	47	17	the	the	DET
ijassa-571	47	18	need	need	NOUN
ijassa-571	47	19	to	to	PART
ijassa-571	47	20	take	take	VERB
ijassa-571	47	21	into	into	ADP
ijassa-571	47	22	account	account	NOUN
ijassa-571	47	23	the	the	DET
ijassa-571	47	24	terrain	terrain	NOUN
ijassa-571	47	25	.	.	PUNCT
ijassa-571	48	1	discrete	discrete	ADJ
ijassa-571	48	2	optimization	optimization	NOUN
ijassa-571	48	3	methods	method	NOUN
ijassa-571	48	4	are	be	AUX
ijassa-571	48	5	used	use	VERB
ijassa-571	48	6	to	to	PART
ijassa-571	48	7	solve	solve	VERB
ijassa-571	48	8	the	the	DET
ijassa-571	48	9	problem	problem	NOUN
ijassa-571	48	10	.	.	PUNCT
ijassa-571	49	1	a	a	DET
ijassa-571	49	2	graph	graph	NOUN
ijassa-571	49	3	is	be	AUX
ijassa-571	49	4	constructed	construct	VERB
ijassa-571	49	5	to	to	PART
ijassa-571	49	6	approximate	approximate	VERB
ijassa-571	49	7	the	the	DET
ijassa-571	49	8	trajectories	trajectory	NOUN
ijassa-571	49	9	from	from	ADP
ijassa-571	49	10	the	the	DET
ijassa-571	49	11	set	set	NOUN
ijassa-571	49	12	z	z	PROPN
ijassa-571	49	13	,	,	PUNCT
ijassa-571	49	14	and	and	CCONJ
ijassa-571	49	15	the	the	DET
ijassa-571	49	16	problem	problem	NOUN
ijassa-571	49	17	of	of	ADP
ijassa-571	49	18	finding	find	VERB
ijassa-571	49	19	the	the	DET
ijassa-571	49	20	pareto	pareto	VERB
ijassa-571	49	21	-	-	PUNCT
ijassa-571	49	22	optimal	optimal	ADJ
ijassa-571	49	23	trajectories	trajectory	NOUN
ijassa-571	49	24	of	of	ADP
ijassa-571	49	25	the	the	DET
ijassa-571	49	26	graph	graph	NOUN
ijassa-571	49	27	by	by	ADP
ijassa-571	49	28	two	two	NUM
ijassa-571	49	29	specified	specify	VERB
ijassa-571	49	30	optimality	optimality	NOUN
ijassa-571	49	31	criteria	criterion	NOUN
ijassa-571	49	32	is	be	AUX
ijassa-571	49	33	solved	solve	VERB
ijassa-571	49	34	.	.	PUNCT
ijassa-571	50	1	3	3	X
ijassa-571	50	2	.	.	X
ijassa-571	50	3	discrete	discrete	ADJ
ijassa-571	50	4	optimization	optimization	NOUN
ijassa-571	50	5	method	method	NOUN
ijassa-571	50	6	for	for	ADP
ijassa-571	50	7	solving	solve	VERB
ijassa-571	50	8	the	the	DET
ijassa-571	50	9	problem	problem	NOUN
ijassa-571	50	10	3.1	3.1	NUM
ijassa-571	50	11	.	.	PUNCT
ijassa-571	51	1	the	the	DET
ijassa-571	51	2	construction	construction	NOUN
ijassa-571	51	3	of	of	ADP
ijassa-571	51	4	the	the	DET
ijassa-571	51	5	graph	graph	NOUN
ijassa-571	51	6	in	in	ADP
ijassa-571	51	7	the	the	DET
ijassa-571	51	8	first	first	ADJ
ijassa-571	51	9	stage	stage	NOUN
ijassa-571	51	10	of	of	ADP
ijassa-571	51	11	optimization	optimization	NOUN
ijassa-571	51	12	we	we	PRON
ijassa-571	51	13	proceed	proceed	VERB
ijassa-571	51	14	to	to	ADP
ijassa-571	51	15	a	a	DET
ijassa-571	51	16	discrete	discrete	ADJ
ijassa-571	51	17	solution	solution	NOUN
ijassa-571	51	18	to	to	PART
ijassa-571	51	19	obtain	obtain	VERB
ijassa-571	51	20	an	an	DET
ijassa-571	51	21	approximate	approximate	ADJ
ijassa-571	51	22	solution	solution	NOUN
ijassa-571	51	23	from	from	ADP
ijassa-571	51	24	a	a	DET
ijassa-571	51	25	continuous	continuous	ADJ
ijassa-571	51	26	problem	problem	NOUN
ijassa-571	51	27	.	.	PUNCT
ijassa-571	52	1	the	the	DET
ijassa-571	52	2	solution	solution	NOUN
ijassa-571	52	3	is	be	AUX
ijassa-571	52	4	sought	seek	VERB
ijassa-571	52	5	in	in	ADP
ijassa-571	52	6	the	the	DET
ijassa-571	52	7	form	form	NOUN
ijassa-571	52	8	of	of	ADP
ijassa-571	52	9	a	a	DET
ijassa-571	52	10	piecewise	piecewise	NOUN
ijassa-571	52	11	linear	linear	NOUN
ijassa-571	52	12	trajectory	trajectory	NOUN
ijassa-571	52	13	with	with	ADP
ijassa-571	52	14	piecewise	piecewise	NOUN
ijassa-571	52	15	constant	constant	ADJ
ijassa-571	52	16	speed	speed	NOUN
ijassa-571	52	17	and	and	CCONJ
ijassa-571	52	18	height	height	NOUN
ijassa-571	52	19	of	of	ADP
ijassa-571	52	20	motion	motion	NOUN
ijassa-571	52	21	(	(	PUNCT
ijassa-571	52	22	speed	speed	NOUN
ijassa-571	52	23	and	and	CCONJ
ijassa-571	52	24	height	height	NOUN
ijassa-571	52	25	is	be	AUX
ijassa-571	52	26	constant	constant	ADJ
ijassa-571	52	27	on	on	ADP
ijassa-571	52	28	segments	segment	NOUN
ijassa-571	52	29	of	of	ADP
ijassa-571	52	30	the	the	DET
ijassa-571	52	31	trajectory	trajectory	NOUN
ijassa-571	52	32	and	and	CCONJ
ijassa-571	52	33	can	can	AUX
ijassa-571	52	34	be	be	AUX
ijassa-571	52	35	changed	change	VERB
ijassa-571	52	36	when	when	SCONJ
ijassa-571	52	37	moving	move	VERB
ijassa-571	52	38	from	from	ADP
ijassa-571	52	39	one	one	NUM
ijassa-571	52	40	segment	segment	NOUN
ijassa-571	52	41	to	to	ADP
ijassa-571	52	42	another	another	PRON
ijassa-571	52	43	)	)	PUNCT
ijassa-571	52	44	.	.	PUNCT
ijassa-571	53	1	we	we	PRON
ijassa-571	53	2	consider	consider	VERB
ijassa-571	53	3	a	a	DET
ijassa-571	53	4	finite	finite	ADJ
ijassa-571	53	5	set	set	NOUN
ijassa-571	53	6	of	of	ADP
ijassa-571	53	7	heights	height	NOUN
ijassa-571	53	8	(	(	PUNCT
ijassa-571	53	9	depths	depth	NOUN
ijassa-571	53	10	)	)	PUNCT
ijassa-571	53	11	of	of	ADP
ijassa-571	53	12	the	the	DET
ijassa-571	53	13	motion	motion	NOUN
ijassa-571	53	14	,	,	PUNCT
ijassa-571	53	15	l	l	NOUN
ijassa-571	53	16	is	be	AUX
ijassa-571	53	17	the	the	DET
ijassa-571	53	18	number	number	NOUN
ijassa-571	53	19	of	of	ADP
ijassa-571	53	20	heights	height	NOUN
ijassa-571	53	21	,	,	PUNCT
ijassa-571	53	22	and	and	CCONJ
ijassa-571	53	23	a	a	DET
ijassa-571	53	24	finite	finite	ADJ
ijassa-571	53	25	set	set	NOUN
ijassa-571	53	26	of	of	ADP
ijassa-571	53	27	velocities	velocity	NOUN
ijassa-571	53	28	of	of	ADP
ijassa-571	53	29	the	the	DET
ijassa-571	53	30	object	object	NOUN
ijassa-571	53	31	,	,	PUNCT
ijassa-571	53	32	m	m	VERB
ijassa-571	53	33	–	–	PUNCT
ijassa-571	53	34	the	the	DET
ijassa-571	53	35	number	number	NOUN
ijassa-571	53	36	of	of	ADP
ijassa-571	53	37	considered	consider	VERB
ijassa-571	53	38	speeds	speed	NOUN
ijassa-571	53	39	of	of	ADP
ijassa-571	53	40	movement	movement	NOUN
ijassa-571	53	41	of	of	ADP
ijassa-571	53	42	the	the	DET
ijassa-571	53	43	object	object	NOUN
ijassa-571	53	44	.	.	PUNCT
ijassa-571	54	1	94	94	NUM
ijassa-571	55	1	e.l	e.l	PROPN
ijassa-571	55	2	.	.	PROPN
ijassa-571	55	3	kulida	kulida	PROPN
ijassa-571	55	4	copyright	copyright	PROPN
ijassa-571	55	5	©	©	PROPN
ijassa-571	55	6	2018	2018	NUM
ijassa-571	55	7	assa	assa	NOUN
ijassa-571	55	8	.	.	PUNCT
ijassa-571	56	1	adv	adv	PROPN
ijassa-571	56	2	.	.	PUNCT
ijassa-571	57	1	in	in	ADP
ijassa-571	57	2	systems	system	NOUN
ijassa-571	57	3	science	science	NOUN
ijassa-571	57	4	and	and	CCONJ
ijassa-571	57	5	appl	appl	NOUN
ijassa-571	57	6	.	.	PUNCT
ijassa-571	58	1	(	(	PUNCT
ijassa-571	58	2	2018	2018	NUM
ijassa-571	58	3	)	)	PUNCT
ijassa-571	58	4	the	the	DET
ijassa-571	58	5	trajectories	trajectory	NOUN
ijassa-571	58	6	of	of	ADP
ijassa-571	58	7	the	the	DET
ijassa-571	58	8	object	object	NOUN
ijassa-571	58	9	's	's	PART
ijassa-571	58	10	motion	motion	NOUN
ijassa-571	58	11	are	be	AUX
ijassa-571	58	12	approximated	approximate	VERB
ijassa-571	58	13	by	by	ADP
ijassa-571	58	14	the	the	DET
ijassa-571	58	15	paths	path	NOUN
ijassa-571	58	16	of	of	ADP
ijassa-571	58	17	the	the	DET
ijassa-571	58	18	graph	graph	NOUN
ijassa-571	58	19	,	,	PUNCT
ijassa-571	58	20	n	n	X
ijassa-571	58	21	is	be	AUX
ijassa-571	58	22	the	the	DET
ijassa-571	58	23	set	set	NOUN
ijassa-571	58	24	of	of	ADP
ijassa-571	58	25	vertices	vertex	NOUN
ijassa-571	58	26	of	of	ADP
ijassa-571	58	27	the	the	DET
ijassa-571	58	28	graph	graph	NOUN
ijassa-571	58	29	,	,	PUNCT
ijassa-571	58	30	and	and	CCONJ
ijassa-571	58	31	e	e	NOUN
ijassa-571	58	32	is	be	AUX
ijassa-571	58	33	the	the	DET
ijassa-571	58	34	set	set	NOUN
ijassa-571	58	35	of	of	ADP
ijassa-571	58	36	edges	edge	NOUN
ijassa-571	58	37	of	of	ADP
ijassa-571	58	38	the	the	DET
ijassa-571	58	39	graph	graph	NOUN
ijassa-571	58	40	.	.	PUNCT
ijassa-571	59	1	the	the	DET
ijassa-571	59	2	path	path	NOUN
ijassa-571	59	3	is	be	AUX
ijassa-571	59	4	sought	seek	VERB
ijassa-571	59	5	in	in	ADP
ijassa-571	59	6	the	the	DET
ijassa-571	59	7	form	form	NOUN
ijassa-571	59	8	of	of	ADP
ijassa-571	59	9	a	a	DET
ijassa-571	59	10	sequence	sequence	NOUN
ijassa-571	59	11	of	of	ADP
ijassa-571	59	12	edges	edge	NOUN
ijassa-571	59	13	where	where	SCONJ
ijassa-571	59	14	is	be	AUX
ijassa-571	59	15	the	the	DET
ijassa-571	59	16	speed	speed	NOUN
ijassa-571	59	17	of	of	ADP
ijassa-571	59	18	motion	motion	NOUN
ijassa-571	59	19	along	along	ADP
ijassa-571	59	20	the	the	DET
ijassa-571	59	21	edge	edge	NOUN
ijassa-571	59	22	.	.	PUNCT
ijassa-571	60	1	the	the	DET
ijassa-571	60	2	edge	edge	NOUN
ijassa-571	60	3	either	either	CCONJ
ijassa-571	60	4	lies	lie	VERB
ijassa-571	60	5	in	in	ADP
ijassa-571	60	6	the	the	DET
ijassa-571	60	7	horizontal	horizontal	ADJ
ijassa-571	60	8	surface	surface	NOUN
ijassa-571	60	9	at	at	ADP
ijassa-571	60	10	height	height	NOUN
ijassa-571	60	11	,	,	PUNCT
ijassa-571	60	12	then	then	ADV
ijassa-571	60	13	,	,	PUNCT
ijassa-571	60	14	or	or	CCONJ
ijassa-571	60	15	is	be	AUX
ijassa-571	60	16	intended	intend	VERB
ijassa-571	60	17	to	to	PART
ijassa-571	60	18	go	go	VERB
ijassa-571	60	19	to	to	ADP
ijassa-571	60	20	another	another	DET
ijassa-571	60	21	horizontal	horizontal	ADJ
ijassa-571	60	22	surface	surface	NOUN
ijassa-571	60	23	,	,	PUNCT
ijassa-571	60	24	then	then	ADV
ijassa-571	60	25	.	.	PUNCT
ijassa-571	61	1	the	the	DET
ijassa-571	61	2	given	give	VERB
ijassa-571	61	3	area	area	NOUN
ijassa-571	61	4	of	of	ADP
ijassa-571	61	5	the	the	DET
ijassa-571	61	6	object	object	NOUN
ijassa-571	61	7	's	's	PART
ijassa-571	61	8	motion	motion	NOUN
ijassa-571	61	9	is	be	AUX
ijassa-571	61	10	covered	cover	VERB
ijassa-571	61	11	by	by	ADP
ijassa-571	61	12	a	a	DET
ijassa-571	61	13	uniform	uniform	ADJ
ijassa-571	61	14	grid	grid	NOUN
ijassa-571	61	15	of	of	ADP
ijassa-571	61	16	points	point	NOUN
ijassa-571	61	17	at	at	ADP
ijassa-571	61	18	a	a	DET
ijassa-571	61	19	distance	distance	NOUN
ijassa-571	61	20	d	d	NOUN
ijassa-571	61	21	from	from	ADP
ijassa-571	61	22	each	each	DET
ijassa-571	61	23	other	other	ADJ
ijassa-571	61	24	to	to	PART
ijassa-571	61	25	construct	construct	VERB
ijassa-571	61	26	the	the	DET
ijassa-571	61	27	set	set	NOUN
ijassa-571	61	28	of	of	ADP
ijassa-571	61	29	vertices	vertex	NOUN
ijassa-571	61	30	of	of	ADP
ijassa-571	61	31	a	a	DET
ijassa-571	61	32	graph	graph	NOUN
ijassa-571	61	33	.	.	PUNCT
ijassa-571	62	1	a	a	DET
ijassa-571	62	2	separate	separate	ADJ
ijassa-571	62	3	grid	grid	NOUN
ijassa-571	62	4	layer	layer	NOUN
ijassa-571	62	5	is	be	AUX
ijassa-571	62	6	created	create	VERB
ijassa-571	62	7	for	for	ADP
ijassa-571	62	8	each	each	PRON
ijassa-571	62	9	of	of	ADP
ijassa-571	62	10	the	the	DET
ijassa-571	62	11	l	l	NOUN
ijassa-571	62	12	different	different	ADJ
ijassa-571	62	13	heights	height	NOUN
ijassa-571	62	14	of	of	ADP
ijassa-571	62	15	the	the	DET
ijassa-571	62	16	object	object	NOUN
ijassa-571	62	17	.	.	PUNCT
ijassa-571	63	1	the	the	DET
ijassa-571	63	2	vertices	vertex	NOUN
ijassa-571	63	3	are	be	AUX
ijassa-571	63	4	projected	project	VERB
ijassa-571	63	5	onto	onto	ADP
ijassa-571	63	6	all	all	DET
ijassa-571	63	7	layers	layer	NOUN
ijassa-571	63	8	.	.	PUNCT
ijassa-571	64	1	if	if	SCONJ
ijassa-571	64	2	there	there	PRON
ijassa-571	64	3	is	be	VERB
ijassa-571	64	4	an	an	DET
ijassa-571	64	5	obstacle	obstacle	NOUN
ijassa-571	64	6	to	to	ADP
ijassa-571	64	7	the	the	DET
ijassa-571	64	8	relief	relief	NOUN
ijassa-571	64	9	:	:	PUNCT
ijassa-571	64	10	,	,	PUNCT
ijassa-571	64	11	the	the	DET
ijassa-571	64	12	corresponding	corresponding	ADJ
ijassa-571	64	13	vertex	vertex	NOUN
ijassa-571	64	14	is	be	AUX
ijassa-571	64	15	excluded	exclude	VERB
ijassa-571	64	16	from	from	ADP
ijassa-571	64	17	the	the	DET
ijassa-571	64	18	set	set	NOUN
ijassa-571	64	19	of	of	ADP
ijassa-571	64	20	vertices	vertex	NOUN
ijassa-571	64	21	of	of	ADP
ijassa-571	64	22	the	the	DET
ijassa-571	64	23	graph	graph	NOUN
ijassa-571	64	24	n.	n.	NOUN
ijassa-571	64	25	in	in	ADP
ijassa-571	64	26	addition	addition	NOUN
ijassa-571	64	27	the	the	DET
ijassa-571	64	28	points	point	NOUN
ijassa-571	64	29	a	a	PRON
ijassa-571	64	30	and	and	CCONJ
ijassa-571	64	31	b	b	NOUN
ijassa-571	64	32	are	be	AUX
ijassa-571	64	33	included	include	VERB
ijassa-571	64	34	in	in	ADP
ijassa-571	64	35	the	the	DET
ijassa-571	64	36	set	set	NOUN
ijassa-571	64	37	n.	n.	NOUN
ijassa-571	64	38	it	it	PRON
ijassa-571	64	39	is	be	AUX
ijassa-571	64	40	assumed	assume	VERB
ijassa-571	64	41	that	that	SCONJ
ijassa-571	64	42	the	the	DET
ijassa-571	64	43	constant	constant	ADJ
ijassa-571	64	44	velocity	velocity	NOUN
ijassa-571	64	45	is	be	AUX
ijassa-571	64	46	ascribed	ascribe	VERB
ijassa-571	64	47	to	to	ADP
ijassa-571	64	48	the	the	DET
ijassa-571	64	49	edge	edge	NOUN
ijassa-571	64	50	of	of	ADP
ijassa-571	64	51	the	the	DET
ijassa-571	64	52	graph	graph	NOUN
ijassa-571	64	53	.	.	PUNCT
ijassa-571	65	1	this	this	DET
ijassa-571	65	2	speed	speed	NOUN
ijassa-571	65	3	determines	determine	VERB
ijassa-571	65	4	the	the	DET
ijassa-571	65	5	cost	cost	NOUN
ijassa-571	65	6	and	and	CCONJ
ijassa-571	65	7	time	time	NOUN
ijassa-571	65	8	of	of	ADP
ijassa-571	65	9	movement	movement	NOUN
ijassa-571	65	10	along	along	ADP
ijassa-571	65	11	the	the	DET
ijassa-571	65	12	edge	edge	NOUN
ijassa-571	65	13	.	.	PUNCT
ijassa-571	66	1	m	m	PROPN
ijassa-571	66	2	edges	edge	NOUN
ijassa-571	66	3	connect	connect	VERB
ijassa-571	66	4	each	each	DET
ijassa-571	66	5	vertex	vertex	NOUN
ijassa-571	66	6	from	from	ADP
ijassa-571	66	7	the	the	DET
ijassa-571	66	8	set	set	NOUN
ijassa-571	66	9	n	n	NOUN
ijassa-571	66	10	with	with	ADP
ijassa-571	66	11	adjacent	adjacent	ADJ
ijassa-571	66	12	(	(	PUNCT
ijassa-571	66	13	nearest	near	ADJ
ijassa-571	66	14	)	)	PUNCT
ijassa-571	66	15	vertices	vertex	NOUN
ijassa-571	66	16	in	in	ADP
ijassa-571	66	17	the	the	DET
ijassa-571	66	18	horizontal	horizontal	ADJ
ijassa-571	66	19	layer	layer	NOUN
ijassa-571	66	20	.	.	PUNCT
ijassa-571	67	1	one	one	NUM
ijassa-571	67	2	of	of	ADP
ijassa-571	67	3	the	the	DET
ijassa-571	67	4	m	m	PROPN
ijassa-571	67	5	speeds	speed	NOUN
ijassa-571	67	6	corresponds	correspond	NOUN
ijassa-571	67	7	to	to	ADP
ijassa-571	67	8	one	one	NUM
ijassa-571	67	9	of	of	ADP
ijassa-571	67	10	these	these	DET
ijassa-571	67	11	m	m	NOUN
ijassa-571	67	12	edges	edge	NOUN
ijassa-571	67	13	.	.	PUNCT
ijassa-571	68	1	in	in	ADP
ijassa-571	68	2	addition	addition	NOUN
ijassa-571	68	3	,	,	PUNCT
ijassa-571	68	4	each	each	DET
ijassa-571	68	5	vertex	vertex	NOUN
ijassa-571	68	6	is	be	AUX
ijassa-571	68	7	connected	connect	VERB
ijassa-571	68	8	by	by	ADP
ijassa-571	68	9	edges	edge	NOUN
ijassa-571	68	10	to	to	ADP
ijassa-571	68	11	vertices	vertex	NOUN
ijassa-571	68	12	in	in	ADP
ijassa-571	68	13	adjacent	adjacent	ADJ
ijassa-571	68	14	horizontal	horizontal	ADJ
ijassa-571	68	15	layers	layer	NOUN
ijassa-571	68	16	;	;	PUNCT
ijassa-571	68	17	these	these	DET
ijassa-571	68	18	vertices	vertex	NOUN
ijassa-571	68	19	are	be	AUX
ijassa-571	68	20	assigned	assign	VERB
ijassa-571	68	21	vertical	vertical	ADJ
ijassa-571	68	22	velocities	velocity	NOUN
ijassa-571	68	23	(	(	PUNCT
ijassa-571	68	24	ascending	ascend	VERB
ijassa-571	68	25	or	or	CCONJ
ijassa-571	68	26	descending	descending	NOUN
ijassa-571	68	27	)	)	PUNCT
ijassa-571	68	28	of	of	ADP
ijassa-571	68	29	the	the	DET
ijassa-571	68	30	object	object	NOUN
ijassa-571	68	31	.	.	PUNCT
ijassa-571	69	1	the	the	DET
ijassa-571	69	2	construction	construction	NOUN
ijassa-571	69	3	of	of	ADP
ijassa-571	69	4	the	the	DET
ijassa-571	69	5	graph	graph	NOUN
ijassa-571	69	6	in	in	ADP
ijassa-571	69	7	the	the	DET
ijassa-571	69	8	first	first	ADJ
ijassa-571	69	9	stage	stage	NOUN
ijassa-571	69	10	of	of	ADP
ijassa-571	69	11	optimization	optimization	NOUN
ijassa-571	69	12	is	be	AUX
ijassa-571	69	13	illustrated	illustrate	VERB
ijassa-571	69	14	in	in	ADP
ijassa-571	69	15	fig	fig	NOUN
ijassa-571	69	16	.	.	PUNCT
ijassa-571	70	1	3.1	3.1	NUM
ijassa-571	70	2	.	.	PUNCT
ijassa-571	71	1	in	in	ADP
ijassa-571	71	2	this	this	DET
ijassa-571	71	3	figure	figure	NOUN
ijassa-571	71	4	in	in	ADP
ijassa-571	71	5	the	the	DET
ijassa-571	71	6	horizontal	horizontal	ADJ
ijassa-571	71	7	layers	layer	NOUN
ijassa-571	71	8	the	the	DET
ijassa-571	71	9	vertices	vertex	NOUN
ijassa-571	71	10	form	form	VERB
ijassa-571	71	11	a	a	DET
ijassa-571	71	12	square	square	ADJ
ijassa-571	71	13	grid	grid	NOUN
ijassa-571	71	14	,	,	PUNCT
ijassa-571	71	15	each	each	DET
ijassa-571	71	16	vertex	vertex	NOUN
ijassa-571	71	17	is	be	AUX
ijassa-571	71	18	connected	connect	VERB
ijassa-571	71	19	by	by	ADP
ijassa-571	71	20	edges	edge	NOUN
ijassa-571	71	21	with	with	ADP
ijassa-571	71	22	four	four	NUM
ijassa-571	71	23	neighboring	neighboring	NOUN
ijassa-571	71	24	vertices	vertex	NOUN
ijassa-571	71	25	in	in	ADP
ijassa-571	71	26	the	the	DET
ijassa-571	71	27	horizontal	horizontal	ADJ
ijassa-571	71	28	layer	layer	NOUN
ijassa-571	71	29	and	and	CCONJ
ijassa-571	71	30	with	with	ADP
ijassa-571	71	31	vertices	vertex	NOUN
ijassa-571	71	32	under	under	ADP
ijassa-571	71	33	and	and	CCONJ
ijassa-571	71	34	above	above	ADP
ijassa-571	71	35	it	it	PRON
ijassa-571	71	36	in	in	ADP
ijassa-571	71	37	adjacent	adjacent	ADJ
ijassa-571	71	38	horizontal	horizontal	ADJ
ijassa-571	71	39	layers	layer	NOUN
ijassa-571	71	40	.	.	PUNCT
ijassa-571	72	1	the	the	DET
ijassa-571	72	2	number	number	NOUN
ijassa-571	72	3	of	of	ADP
ijassa-571	72	4	vertices	vertex	NOUN
ijassa-571	72	5	of	of	ADP
ijassa-571	72	6	the	the	DET
ijassa-571	72	7	obtained	obtain	VERB
ijassa-571	72	8	graph	graph	NOUN
ijassa-571	72	9	can	can	AUX
ijassa-571	72	10	be	be	AUX
ijassa-571	72	11	approximately	approximately	ADV
ijassa-571	72	12	estimated	estimate	VERB
ijassa-571	72	13	by	by	ADP
ijassa-571	72	14	the	the	DET
ijassa-571	72	15	number	number	NOUN
ijassa-571	72	16	,	,	PUNCT
ijassa-571	72	17	where	where	SCONJ
ijassa-571	72	18	s	s	NOUN
ijassa-571	72	19	is	be	AUX
ijassa-571	72	20	the	the	DET
ijassa-571	72	21	area	area	NOUN
ijassa-571	72	22	of	of	ADP
ijassa-571	72	23	the	the	DET
ijassa-571	72	24	region	region	NOUN
ijassa-571	72	25	of	of	ADP
ijassa-571	72	26	motion	motion	NOUN
ijassa-571	72	27	,	,	PUNCT
ijassa-571	72	28	d	d	PRON
ijassa-571	72	29	is	be	AUX
ijassa-571	72	30	the	the	DET
ijassa-571	72	31	distance	distance	NOUN
ijassa-571	72	32	between	between	ADP
ijassa-571	72	33	neighboring	neighboring	NOUN
ijassa-571	72	34	vertices	vertex	NOUN
ijassa-571	72	35	in	in	ADP
ijassa-571	72	36	the	the	DET
ijassa-571	72	37	layer	layer	NOUN
ijassa-571	72	38	,	,	PUNCT
ijassa-571	72	39	and	and	CCONJ
ijassa-571	72	40	l	l	NOUN
ijassa-571	72	41	is	be	AUX
ijassa-571	72	42	the	the	DET
ijassa-571	72	43	number	number	NOUN
ijassa-571	72	44	of	of	ADP
ijassa-571	72	45	layers	layer	NOUN
ijassa-571	72	46	.	.	PUNCT
ijassa-571	73	1	the	the	DET
ijassa-571	73	2	number	number	NOUN
ijassa-571	73	3	of	of	ADP
ijassa-571	73	4	edges	edge	NOUN
ijassa-571	73	5	.	.	PUNCT
ijassa-571	74	1	these	these	PRON
ijassa-571	74	2	are	be	AUX
ijassa-571	74	3	estimates	estimate	NOUN
ijassa-571	74	4	from	from	ADP
ijassa-571	74	5	above	above	ADV
ijassa-571	74	6	,	,	PUNCT
ijassa-571	74	7	because	because	SCONJ
ijassa-571	74	8	some	some	DET
ijassa-571	74	9	vertices	vertex	NOUN
ijassa-571	74	10	and	and	CCONJ
ijassa-571	74	11	edges	edge	NOUN
ijassa-571	74	12	are	be	AUX
ijassa-571	74	13	excluded	exclude	VERB
ijassa-571	74	14	from	from	ADP
ijassa-571	74	15	consideration	consideration	NOUN
ijassa-571	74	16	due	due	ADP
ijassa-571	74	17	to	to	ADP
ijassa-571	74	18	the	the	DET
ijassa-571	74	19	obstacles	obstacle	NOUN
ijassa-571	74	20	of	of	ADP
ijassa-571	74	21	the	the	DET
ijassa-571	74	22	relief	relief	NOUN
ijassa-571	74	23	fig	fig	NOUN
ijassa-571	74	24	.	.	PUNCT
ijassa-571	75	1	3.1	3.1	NUM
ijassa-571	75	2	.	.	PUNCT
ijassa-571	76	1	graph	graph	NOUN
ijassa-571	76	2	construction	construction	NOUN
ijassa-571	76	3	in	in	ADP
ijassa-571	76	4	the	the	DET
ijassa-571	76	5	first	first	ADJ
ijassa-571	76	6	stage	stage	NOUN
ijassa-571	76	7	of	of	ADP
ijassa-571	76	8	optimization	optimization	NOUN
ijassa-571	76	9	3.2	3.2	NUM
ijassa-571	76	10	.	.	PUNCT
ijassa-571	77	1	the	the	DET
ijassa-571	77	2	algorithm	algorithm	NOUN
ijassa-571	77	3	for	for	ADP
ijassa-571	77	4	constructing	construct	VERB
ijassa-571	77	5	the	the	DET
ijassa-571	77	6	set	set	NOUN
ijassa-571	77	7	of	of	ADP
ijassa-571	77	8	pareto	pareto	VERB
ijassa-571	77	9	-	-	PUNCT
ijassa-571	77	10	optimal	optimal	ADJ
ijassa-571	77	11	characteristics	characteristic	NOUN
ijassa-571	77	12	each	each	DET
ijassa-571	77	13	edge	edge	NOUN
ijassa-571	77	14	is	be	AUX
ijassa-571	77	15	assigned	assign	VERB
ijassa-571	77	16	a	a	DET
ijassa-571	77	17	characteristic	characteristic	NOUN
ijassa-571	77	18	in	in	ADP
ijassa-571	77	19	the	the	DET
ijassa-571	77	20	resulting	result	VERB
ijassa-571	77	21	graph	graph	NOUN
ijassa-571	77	22	.	.	PUNCT
ijassa-571	78	1	definition	definition	NOUN
ijassa-571	78	2	3.1	3.1	NUM
ijassa-571	78	3	:	:	PUNCT
ijassa-571	78	4	the	the	DET
ijassa-571	78	5	characteristic	characteristic	NOUN
ijassa-571	78	6	of	of	ADP
ijassa-571	78	7	the	the	DET
ijassa-571	78	8	edge	edge	NOUN
ijassa-571	78	9	at	at	ADP
ijassa-571	78	10	the	the	DET
ijassa-571	78	11	speed	speed	NOUN
ijassa-571	78	12	of	of	ADP
ijassa-571	78	13	motion	motion	NOUN
ijassa-571	78	14	is	be	AUX
ijassa-571	78	15	the	the	DET
ijassa-571	78	16	two	two	NUM
ijassa-571	78	17	-	-	PUNCT
ijassa-571	78	18	component	component	NOUN
ijassa-571	78	19	vector	vector	NOUN
ijassa-571	78	20	,	,	PUNCT
ijassa-571	78	21	where	where	SCONJ
ijassa-571	78	22	is	be	AUX
ijassa-571	78	23	the	the	DET
ijassa-571	78	24	cost	cost	NOUN
ijassa-571	78	25	of	of	ADP
ijassa-571	78	26	passing	pass	VERB
ijassa-571	78	27	the	the	DET
ijassa-571	78	28	edge	edge	NOUN
ijassa-571	78	29	with	with	ADP
ijassa-571	78	30	the	the	DET
ijassa-571	78	31	speed	speed	NOUN
ijassa-571	78	32	,	,	PUNCT
ijassa-571	78	33	is	be	AUX
ijassa-571	78	34	the	the	DET
ijassa-571	78	35	time	time	NOUN
ijassa-571	78	36	of	of	ADP
ijassa-571	78	37	the	the	DET
ijassa-571	78	38	passing	passing	NOUN
ijassa-571	78	39	with	with	ADP
ijassa-571	78	40	the	the	DET
ijassa-571	78	41	speed	speed	NOUN
ijassa-571	78	42	,	,	PUNCT
ijassa-571	78	43	.	.	PUNCT
ijassa-571	79	1	a	a	DET
ijassa-571	79	2	two	two	NUM
ijassa-571	79	3	-	-	PUNCT
ijassa-571	79	4	stage	stage	NOUN
ijassa-571	79	5	algorithm	algorithm	NOUN
ijassa-571	79	6	for	for	ADP
ijassa-571	79	7	generating	generate	VERB
ijassa-571	79	8	a	a	DET
ijassa-571	79	9	set	set	NOUN
ijassa-571	79	10	of	of	ADP
ijassa-571	79	11	pareto	pareto	VERB
ijassa-571	79	12	-	-	PUNCT
ijassa-571	79	13	optimal	optimal	ADJ
ijassa-571	79	14	trajectories	trajectory	NOUN
ijassa-571	79	15	of	of	ADP
ijassa-571	79	16	an	an	DET
ijassa-571	79	17	object	object	NOUN
ijassa-571	79	18	95	95	NUM
ijassa-571	79	19	copyright	copyright	NOUN
ijassa-571	79	20	©	©	PROPN
ijassa-571	79	21	2018	2018	NUM
ijassa-571	79	22	assa	assa	NOUN
ijassa-571	79	23	.	.	PUNCT
ijassa-571	80	1	adv	adv	PROPN
ijassa-571	80	2	.	.	PUNCT
ijassa-571	81	1	in	in	ADP
ijassa-571	81	2	systems	system	NOUN
ijassa-571	81	3	science	science	NOUN
ijassa-571	81	4	and	and	CCONJ
ijassa-571	81	5	appl	appl	NOUN
ijassa-571	81	6	.	.	PUNCT
ijassa-571	82	1	(	(	PUNCT
ijassa-571	82	2	2018	2018	NUM
ijassa-571	82	3	)	)	PUNCT
ijassa-571	82	4	definition	definition	NOUN
ijassa-571	82	5	3.2	3.2	NUM
ijassa-571	82	6	:	:	PUNCT
ijassa-571	82	7	the	the	DET
ijassa-571	82	8	characteristic	characteristic	NOUN
ijassa-571	82	9	of	of	ADP
ijassa-571	82	10	the	the	DET
ijassa-571	82	11	trajectory	trajectory	NOUN
ijassa-571	82	12	z	z	PROPN
ijassa-571	82	13	is	be	AUX
ijassa-571	82	14	the	the	DET
ijassa-571	82	15	two	two	NUM
ijassa-571	82	16	-	-	PUNCT
ijassa-571	82	17	component	component	NOUN
ijassa-571	82	18	vector	vector	NOUN
ijassa-571	82	19	,	,	PUNCT
ijassa-571	82	20	where	where	SCONJ
ijassa-571	82	21	is	be	AUX
ijassa-571	82	22	the	the	DET
ijassa-571	82	23	cost	cost	NOUN
ijassa-571	82	24	of	of	ADP
ijassa-571	82	25	the	the	DET
ijassa-571	82	26	trajectory	trajectory	NOUN
ijassa-571	82	27	z	z	PROPN
ijassa-571	82	28	,	,	PUNCT
ijassa-571	82	29	is	be	AUX
ijassa-571	82	30	the	the	DET
ijassa-571	82	31	trajectory	trajectory	NOUN
ijassa-571	82	32	z	z	NOUN
ijassa-571	82	33	passing	passing	NOUN
ijassa-571	82	34	time	time	NOUN
ijassa-571	82	35	,	,	PUNCT
ijassa-571	82	36	defined	define	VERB
ijassa-571	82	37	by	by	ADP
ijassa-571	82	38	the	the	DET
ijassa-571	82	39	formulas	formula	NOUN
ijassa-571	82	40	:	:	PUNCT
ijassa-571	82	41	the	the	DET
ijassa-571	82	42	problem	problem	NOUN
ijassa-571	82	43	is	be	AUX
ijassa-571	82	44	to	to	PART
ijassa-571	82	45	construct	construct	VERB
ijassa-571	82	46	in	in	ADP
ijassa-571	82	47	the	the	DET
ijassa-571	82	48	graph	graph	NOUN
ijassa-571	82	49	the	the	DET
ijassa-571	82	50	set	set	NOUN
ijassa-571	82	51	of	of	ADP
ijassa-571	82	52	paths	path	NOUN
ijassa-571	82	53	from	from	ADP
ijassa-571	82	54	vertex	vertex	NOUN
ijassa-571	82	55	a	a	PRON
ijassa-571	82	56	to	to	ADP
ijassa-571	82	57	vertex	vertex	PROPN
ijassa-571	82	58	b	b	NOUN
ijassa-571	82	59	,	,	PUNCT
ijassa-571	82	60	pareto	pareto	NOUN
ijassa-571	82	61	-	-	PUNCT
ijassa-571	82	62	optimal	optimal	ADJ
ijassa-571	82	63	by	by	ADP
ijassa-571	82	64	two	two	NUM
ijassa-571	82	65	criteria	criterion	NOUN
ijassa-571	82	66	:	:	PUNCT
ijassa-571	82	67	and	and	CCONJ
ijassa-571	82	68	.	.	PUNCT
ijassa-571	83	1	an	an	DET
ijassa-571	83	2	algorithm	algorithm	NOUN
ijassa-571	83	3	is	be	AUX
ijassa-571	83	4	used	use	VERB
ijassa-571	83	5	to	to	PART
ijassa-571	83	6	construct	construct	VERB
ijassa-571	83	7	the	the	DET
ijassa-571	83	8	sets	set	NOUN
ijassa-571	83	9	of	of	ADP
ijassa-571	83	10	pareto	pareto	VERB
ijassa-571	83	11	-	-	PUNCT
ijassa-571	83	12	optimal	optimal	ADJ
ijassa-571	83	13	characteristics	characteristic	NOUN
ijassa-571	83	14	of	of	ADP
ijassa-571	83	15	paths	path	NOUN
ijassa-571	83	16	from	from	ADP
ijassa-571	83	17	the	the	DET
ijassa-571	83	18	initial	initial	ADJ
ijassa-571	83	19	vertex	vertex	NOUN
ijassa-571	83	20	to	to	ADP
ijassa-571	83	21	other	other	ADJ
ijassa-571	83	22	vertices	vertex	NOUN
ijassa-571	83	23	of	of	ADP
ijassa-571	83	24	the	the	DET
ijassa-571	83	25	graph	graph	NOUN
ijassa-571	83	26	to	to	PART
ijassa-571	83	27	solve	solve	VERB
ijassa-571	83	28	this	this	DET
ijassa-571	83	29	problem	problem	NOUN
ijassa-571	83	30	.	.	PUNCT
ijassa-571	84	1	then	then	ADV
ijassa-571	84	2	the	the	DET
ijassa-571	84	3	paths	path	NOUN
ijassa-571	84	4	corresponding	correspond	VERB
ijassa-571	84	5	to	to	ADP
ijassa-571	84	6	the	the	DET
ijassa-571	84	7	pareto	pareto	VERB
ijassa-571	84	8	-	-	PUNCT
ijassa-571	84	9	optimal	optimal	ADJ
ijassa-571	84	10	characteristics	characteristic	NOUN
ijassa-571	84	11	obtained	obtain	VERB
ijassa-571	84	12	are	be	AUX
ijassa-571	84	13	constructed	construct	VERB
ijassa-571	84	14	for	for	ADP
ijassa-571	84	15	the	the	DET
ijassa-571	84	16	final	final	ADJ
ijassa-571	84	17	vertex	vertex	NOUN
ijassa-571	84	18	.	.	PUNCT
ijassa-571	85	1	since	since	SCONJ
ijassa-571	85	2	there	there	PRON
ijassa-571	85	3	are	be	VERB
ijassa-571	85	4	two	two	NUM
ijassa-571	85	5	criteria	criterion	NOUN
ijassa-571	85	6	,	,	PUNCT
ijassa-571	85	7	each	each	DET
ijassa-571	85	8	vertex	vertex	NOUN
ijassa-571	85	9	is	be	AUX
ijassa-571	85	10	associated	associate	VERB
ijassa-571	85	11	with	with	ADP
ijassa-571	85	12	a	a	DET
ijassa-571	85	13	set	set	NOUN
ijassa-571	85	14	of	of	ADP
ijassa-571	85	15	incomparable	incomparable	ADJ
ijassa-571	85	16	twocomponent	twocomponent	NOUN
ijassa-571	85	17	characteristics	characteristic	NOUN
ijassa-571	85	18	.	.	PUNCT
ijassa-571	86	1	consider	consider	VERB
ijassa-571	86	2	two	two	NUM
ijassa-571	86	3	arbitrary	arbitrary	ADJ
ijassa-571	86	4	characteristics	characteristic	NOUN
ijassa-571	86	5	and	and	CCONJ
ijassa-571	86	6	.	.	PUNCT
ijassa-571	87	1	definition	definition	NOUN
ijassa-571	87	2	3.3	3.3	NUM
ijassa-571	87	3	:	:	PUNCT
ijassa-571	87	4	the	the	DET
ijassa-571	87	5	characteristic	characteristic	NOUN
ijassa-571	87	6	and	and	CCONJ
ijassa-571	87	7	are	be	AUX
ijassa-571	87	8	equal	equal	ADJ
ijassa-571	87	9	:	:	PUNCT
ijassa-571	87	10	,	,	PUNCT
ijassa-571	87	11	if	if	SCONJ
ijassa-571	87	12	.	.	PUNCT
ijassa-571	88	1	definition	definition	NOUN
ijassa-571	88	2	3.4	3.4	NUM
ijassa-571	88	3	:	:	PUNCT
ijassa-571	88	4	the	the	DET
ijassa-571	88	5	characteristic	characteristic	NOUN
ijassa-571	88	6	is	be	AUX
ijassa-571	88	7	smaller	small	ADJ
ijassa-571	88	8	than	than	ADP
ijassa-571	88	9	the	the	DET
ijassa-571	88	10	characteristic	characteristic	NOUN
ijassa-571	88	11	:	:	PUNCT
ijassa-571	88	12	,	,	PUNCT
ijassa-571	88	13	if	if	SCONJ
ijassa-571	88	14	.	.	PUNCT
ijassa-571	89	1	definition	definition	NOUN
ijassa-571	89	2	3.5	3.5	NUM
ijassa-571	89	3	:	:	PUNCT
ijassa-571	89	4	the	the	DET
ijassa-571	89	5	characteristics	characteristic	NOUN
ijassa-571	89	6	and	and	CCONJ
ijassa-571	89	7	are	be	AUX
ijassa-571	89	8	incomparable	incomparable	ADJ
ijassa-571	89	9	if	if	SCONJ
ijassa-571	89	10	.	.	PUNCT
ijassa-571	90	1	definition	definition	NOUN
ijassa-571	90	2	3.6	3.6	NUM
ijassa-571	90	3	:	:	PUNCT
ijassa-571	90	4	we	we	PRON
ijassa-571	90	5	call	call	VERB
ijassa-571	90	6	the	the	DET
ijassa-571	90	7	set	set	NOUN
ijassa-571	90	8	q	q	PROPN
ijassa-571	90	9	of	of	ADP
ijassa-571	90	10	path	path	NOUN
ijassa-571	90	11	characteristics	characteristic	NOUN
ijassa-571	90	12	from	from	ADP
ijassa-571	90	13	the	the	DET
ijassa-571	90	14	vertex	vertex	NOUN
ijassa-571	90	15	a	a	PRON
ijassa-571	90	16	to	to	ADP
ijassa-571	90	17	the	the	DET
ijassa-571	90	18	vertex	vertex	NOUN
ijassa-571	90	19	b	b	X
ijassa-571	90	20	pareto	pareto	NOUN
ijassa-571	90	21	-	-	PUNCT
ijassa-571	90	22	optimal	optimal	ADJ
ijassa-571	90	23	if	if	SCONJ
ijassa-571	90	24	all	all	DET
ijassa-571	90	25	the	the	DET
ijassa-571	90	26	characteristics	characteristic	NOUN
ijassa-571	90	27	of	of	ADP
ijassa-571	90	28	this	this	DET
ijassa-571	90	29	set	set	NOUN
ijassa-571	90	30	are	be	AUX
ijassa-571	90	31	pairwise	pairwise	NOUN
ijassa-571	90	32	incomparable	incomparable	ADJ
ijassa-571	90	33	and	and	CCONJ
ijassa-571	90	34	for	for	ADP
ijassa-571	90	35	the	the	DET
ijassa-571	90	36	characteristic	characteristic	NOUN
ijassa-571	90	37	of	of	ADP
ijassa-571	90	38	an	an	DET
ijassa-571	90	39	arbitrary	arbitrary	ADJ
ijassa-571	90	40	path	path	NOUN
ijassa-571	90	41	z	z	NOUN
ijassa-571	90	42	from	from	ADP
ijassa-571	90	43	the	the	DET
ijassa-571	90	44	vertex	vertex	NOUN
ijassa-571	90	45	a	a	PRON
ijassa-571	90	46	to	to	ADP
ijassa-571	90	47	the	the	DET
ijassa-571	90	48	vertex	vertex	NOUN
ijassa-571	90	49	b	b	PROPN
ijassa-571	90	50	.	.	PUNCT
ijassa-571	91	1	the	the	DET
ijassa-571	91	2	algorithm	algorithm	NOUN
ijassa-571	91	3	for	for	ADP
ijassa-571	91	4	constructing	construct	VERB
ijassa-571	91	5	the	the	DET
ijassa-571	91	6	set	set	NOUN
ijassa-571	91	7	of	of	ADP
ijassa-571	91	8	pareto	pareto	VERB
ijassa-571	91	9	-	-	PUNCT
ijassa-571	91	10	optimal	optimal	ADJ
ijassa-571	91	11	characteristics	characteristic	NOUN
ijassa-571	91	12	notation	notation	NOUN
ijassa-571	91	13	:	:	PUNCT
ijassa-571	91	14	is	be	AUX
ijassa-571	91	15	an	an	DET
ijassa-571	91	16	intermediate	intermediate	ADJ
ijassa-571	91	17	set	set	NOUN
ijassa-571	91	18	of	of	ADP
ijassa-571	91	19	pareto	pareto	VERB
ijassa-571	91	20	-	-	PUNCT
ijassa-571	91	21	optimal	optimal	ADJ
ijassa-571	91	22	characteristics	characteristic	NOUN
ijassa-571	91	23	of	of	ADP
ijassa-571	91	24	paths	path	NOUN
ijassa-571	91	25	from	from	ADP
ijassa-571	91	26	vertex	vertex	NOUN
ijassa-571	91	27	a	a	PRON
ijassa-571	91	28	to	to	ADP
ijassa-571	91	29	vertex	vertex	NOUN
ijassa-571	91	30	n	n	CCONJ
ijassa-571	91	31	;	;	PUNCT
ijassa-571	91	32	is	be	AUX
ijassa-571	91	33	the	the	DET
ijassa-571	91	34	final	final	ADJ
ijassa-571	91	35	set	set	NOUN
ijassa-571	91	36	of	of	ADP
ijassa-571	91	37	pareto	pareto	VERB
ijassa-571	91	38	-	-	PUNCT
ijassa-571	91	39	optimal	optimal	ADJ
ijassa-571	91	40	characteristics	characteristic	NOUN
ijassa-571	91	41	of	of	ADP
ijassa-571	91	42	paths	path	NOUN
ijassa-571	91	43	from	from	ADP
ijassa-571	91	44	vertex	vertex	NOUN
ijassa-571	91	45	a	a	PRON
ijassa-571	91	46	to	to	ADP
ijassa-571	91	47	vertex	vertex	NOUN
ijassa-571	91	48	n	n	CCONJ
ijassa-571	91	49	;	;	PUNCT
ijassa-571	91	50	q	q	X
ijassa-571	91	51	is	be	AUX
ijassa-571	91	52	the	the	DET
ijassa-571	91	53	set	set	NOUN
ijassa-571	91	54	of	of	ADP
ijassa-571	91	55	vertices	vertex	NOUN
ijassa-571	91	56	n	n	X
ijassa-571	91	57	for	for	ADP
ijassa-571	91	58	which	which	PRON
ijassa-571	91	59	the	the	DET
ijassa-571	91	60	set	set	NOUN
ijassa-571	91	61	.	.	PUNCT
ijassa-571	92	1	step	step	NOUN
ijassa-571	92	2	1	1	NUM
ijassa-571	92	3	:	:	PUNCT
ijassa-571	92	4	the	the	DET
ijassa-571	92	5	initial	initial	ADJ
ijassa-571	92	6	vertex	vertex	NOUN
ijassa-571	92	7	a	a	PRON
ijassa-571	92	8	is	be	AUX
ijassa-571	92	9	considered	consider	VERB
ijassa-571	92	10	.	.	PUNCT
ijassa-571	93	1	the	the	DET
ijassa-571	93	2	characteristic	characteristic	ADJ
ijassa-571	93	3	(	(	PUNCT
ijassa-571	93	4	0,0	0,0	NOUN
ijassa-571	93	5	)	)	PUNCT
ijassa-571	93	6	is	be	AUX
ijassa-571	93	7	stored	store	VERB
ijassa-571	93	8	in	in	ADP
ijassa-571	93	9	the	the	DET
ijassa-571	93	10	set	set	NOUN
ijassa-571	93	11	,	,	PUNCT
ijassa-571	93	12	the	the	DET
ijassa-571	93	13	vertex	vertex	NOUN
ijassa-571	93	14	a	a	PRON
ijassa-571	93	15	is	be	AUX
ijassa-571	93	16	stored	store	VERB
ijassa-571	93	17	in	in	ADP
ijassa-571	93	18	the	the	DET
ijassa-571	93	19	set	set	NOUN
ijassa-571	93	20	q.	q.	NOUN
ijassa-571	93	21	cycle	cycle	NOUN
ijassa-571	93	22	:	:	PUNCT
ijassa-571	93	23	a	a	DET
ijassa-571	93	24	cyclic	cyclic	ADJ
ijassa-571	93	25	process	process	NOUN
ijassa-571	93	26	is	be	AUX
ijassa-571	93	27	performed	perform	VERB
ijassa-571	93	28	until	until	SCONJ
ijassa-571	93	29	the	the	DET
ijassa-571	93	30	set	set	NOUN
ijassa-571	93	31	q	q	NOUN
ijassa-571	93	32	is	be	AUX
ijassa-571	93	33	not	not	PART
ijassa-571	93	34	empty	empty	ADJ
ijassa-571	93	35	.	.	PUNCT
ijassa-571	94	1	96	96	NUM
ijassa-571	94	2	e.l	e.l	PROPN
ijassa-571	94	3	.	.	PROPN
ijassa-571	94	4	kulida	kulida	PROPN
ijassa-571	94	5	copyright	copyright	PROPN
ijassa-571	94	6	©	©	PROPN
ijassa-571	94	7	2018	2018	NUM
ijassa-571	94	8	assa	assa	NOUN
ijassa-571	94	9	.	.	PUNCT
ijassa-571	95	1	adv	adv	PROPN
ijassa-571	95	2	.	.	PUNCT
ijassa-571	96	1	in	in	ADP
ijassa-571	96	2	systems	system	NOUN
ijassa-571	96	3	science	science	NOUN
ijassa-571	96	4	and	and	CCONJ
ijassa-571	96	5	appl	appl	NOUN
ijassa-571	96	6	.	.	PUNCT
ijassa-571	97	1	(	(	PUNCT
ijassa-571	97	2	2018	2018	NUM
ijassa-571	97	3	)	)	PUNCT
ijassa-571	97	4	an	an	DET
ijassa-571	97	5	iteration	iteration	NOUN
ijassa-571	97	6	of	of	ADP
ijassa-571	97	7	the	the	DET
ijassa-571	97	8	cycle	cycle	NOUN
ijassa-571	97	9	consists	consist	VERB
ijassa-571	97	10	of	of	ADP
ijassa-571	97	11	two	two	NUM
ijassa-571	97	12	stages	stage	NOUN
ijassa-571	97	13	.	.	PUNCT
ijassa-571	98	1	the	the	DET
ijassa-571	98	2	first	first	ADJ
ijassa-571	98	3	stage	stage	NOUN
ijassa-571	98	4	is	be	AUX
ijassa-571	98	5	to	to	PART
ijassa-571	98	6	select	select	VERB
ijassa-571	98	7	the	the	DET
ijassa-571	98	8	vertex	vertex	NOUN
ijassa-571	98	9	for	for	ADP
ijassa-571	98	10	processing	processing	NOUN
ijassa-571	98	11	:	:	PUNCT
ijassa-571	98	12	among	among	ADP
ijassa-571	98	13	all	all	DET
ijassa-571	98	14	vertices	vertex	NOUN
ijassa-571	98	15	,	,	PUNCT
ijassa-571	98	16	we	we	PRON
ijassa-571	98	17	look	look	VERB
ijassa-571	98	18	for	for	ADP
ijassa-571	98	19	a	a	DET
ijassa-571	98	20	vertex	vertex	NOUN
ijassa-571	98	21	whose	whose	DET
ijassa-571	98	22	set	set	NOUN
ijassa-571	98	23	contains	contain	VERB
ijassa-571	98	24	the	the	DET
ijassa-571	98	25	minimal	minimal	ADJ
ijassa-571	98	26	characteristic	characteristic	NOUN
ijassa-571	98	27	.	.	PUNCT
ijassa-571	99	1	the	the	DET
ijassa-571	99	2	characteristic	characteristic	NOUN
ijassa-571	99	3	is	be	AUX
ijassa-571	99	4	excluded	exclude	VERB
ijassa-571	99	5	from	from	ADP
ijassa-571	99	6	the	the	DET
ijassa-571	99	7	set	set	NOUN
ijassa-571	99	8	and	and	CCONJ
ijassa-571	99	9	is	be	AUX
ijassa-571	99	10	included	include	VERB
ijassa-571	99	11	in	in	ADP
ijassa-571	99	12	the	the	DET
ijassa-571	99	13	set	set	NOUN
ijassa-571	99	14	.	.	PUNCT
ijassa-571	100	1	if	if	SCONJ
ijassa-571	100	2	after	after	ADP
ijassa-571	100	3	this	this	PRON
ijassa-571	100	4	the	the	DET
ijassa-571	100	5	set	set	NOUN
ijassa-571	100	6	becomes	become	VERB
ijassa-571	100	7	empty	empty	ADJ
ijassa-571	100	8	,	,	PUNCT
ijassa-571	100	9	then	then	ADV
ijassa-571	100	10	the	the	DET
ijassa-571	100	11	vertex	vertex	NOUN
ijassa-571	100	12	n	n	PRON
ijassa-571	100	13	is	be	AUX
ijassa-571	100	14	excluded	exclude	VERB
ijassa-571	100	15	from	from	ADP
ijassa-571	100	16	the	the	DET
ijassa-571	100	17	set	set	NOUN
ijassa-571	100	18	q.	q.	NOUN
ijassa-571	100	19	the	the	DET
ijassa-571	100	20	second	second	ADJ
ijassa-571	100	21	stage	stage	NOUN
ijassa-571	100	22	is	be	AUX
ijassa-571	100	23	processing	process	VERB
ijassa-571	100	24	the	the	DET
ijassa-571	100	25	selected	select	VERB
ijassa-571	100	26	vertex	vertex	NOUN
ijassa-571	100	27	:	:	PUNCT
ijassa-571	100	28	all	all	DET
ijassa-571	100	29	vertices	vertex	NOUN
ijassa-571	100	30	connected	connect	VERB
ijassa-571	100	31	by	by	ADP
ijassa-571	100	32	edges	edge	NOUN
ijassa-571	100	33	with	with	ADP
ijassa-571	100	34	vertex	vertex	NOUN
ijassa-571	100	35	n	n	PRON
ijassa-571	100	36	are	be	AUX
ijassa-571	100	37	considered	consider	VERB
ijassa-571	100	38	.	.	PUNCT
ijassa-571	101	1	for	for	ADP
ijassa-571	101	2	each	each	DET
ijassa-571	101	3	vertex	vertex	NOUN
ijassa-571	101	4	m	m	NOUN
ijassa-571	101	5	,	,	PUNCT
ijassa-571	101	6	the	the	DET
ijassa-571	101	7	characteristic	characteristic	NOUN
ijassa-571	101	8	,	,	PUNCT
ijassa-571	101	9	where	where	SCONJ
ijassa-571	101	10	is	be	AUX
ijassa-571	101	11	the	the	DET
ijassa-571	101	12	minimal	minimal	ADJ
ijassa-571	101	13	characteristic	characteristic	NOUN
ijassa-571	101	14	in	in	ADP
ijassa-571	101	15	the	the	DET
ijassa-571	101	16	set	set	NOUN
ijassa-571	101	17	,	,	PUNCT
ijassa-571	101	18	is	be	AUX
ijassa-571	101	19	the	the	DET
ijassa-571	101	20	characteristic	characteristic	NOUN
ijassa-571	101	21	of	of	ADP
ijassa-571	101	22	the	the	DET
ijassa-571	101	23	edge	edge	NOUN
ijassa-571	101	24	that	that	PRON
ijassa-571	101	25	connects	connect	VERB
ijassa-571	101	26	the	the	DET
ijassa-571	101	27	vertices	vertex	NOUN
ijassa-571	101	28	n	n	NOUN
ijassa-571	101	29	and	and	CCONJ
ijassa-571	101	30	m.	m.	NOUN
ijassa-571	101	31	if	if	SCONJ
ijassa-571	101	32	in	in	ADP
ijassa-571	101	33	the	the	DET
ijassa-571	101	34	sets	set	NOUN
ijassa-571	101	35	and	and	CCONJ
ijassa-571	101	36	there	there	PRON
ijassa-571	101	37	is	be	VERB
ijassa-571	101	38	no	no	DET
ijassa-571	101	39	characteristic	characteristic	ADJ
ijassa-571	101	40	smaller	small	ADJ
ijassa-571	101	41	than	than	ADP
ijassa-571	101	42	,	,	PUNCT
ijassa-571	101	43	then	then	ADV
ijassa-571	101	44	is	be	AUX
ijassa-571	101	45	added	add	VERB
ijassa-571	101	46	to	to	ADP
ijassa-571	101	47	the	the	DET
ijassa-571	101	48	set	set	NOUN
ijassa-571	101	49	.	.	PUNCT
ijassa-571	102	1	all	all	DET
ijassa-571	102	2	the	the	DET
ijassa-571	102	3	characteristics	characteristic	NOUN
ijassa-571	102	4	,	,	PUNCT
ijassa-571	102	5	are	be	AUX
ijassa-571	102	6	removed	remove	VERB
ijassa-571	102	7	from	from	ADP
ijassa-571	102	8	–	–	PUNCT
ijassa-571	102	9	this	this	PRON
ijassa-571	102	10	ensures	ensure	VERB
ijassa-571	102	11	the	the	DET
ijassa-571	102	12	pareto	pareto	ADJ
ijassa-571	102	13	optimality	optimality	NOUN
ijassa-571	102	14	of	of	ADP
ijassa-571	102	15	the	the	DET
ijassa-571	102	16	set	set	NOUN
ijassa-571	102	17	.	.	PUNCT
ijassa-571	103	1	if	if	SCONJ
ijassa-571	103	2	before	before	SCONJ
ijassa-571	103	3	the	the	DET
ijassa-571	103	4	insertion	insertion	NOUN
ijassa-571	103	5	of	of	ADP
ijassa-571	103	6	in	in	ADP
ijassa-571	103	7	this	this	DET
ijassa-571	103	8	set	set	NOUN
ijassa-571	103	9	was	be	AUX
ijassa-571	103	10	empty	empty	ADJ
ijassa-571	103	11	,	,	PUNCT
ijassa-571	103	12	then	then	ADV
ijassa-571	103	13	the	the	DET
ijassa-571	103	14	vertex	vertex	NOUN
ijassa-571	103	15	m	m	VERB
ijassa-571	103	16	is	be	AUX
ijassa-571	103	17	stored	store	VERB
ijassa-571	103	18	in	in	ADP
ijassa-571	103	19	q.	q.	PROPN
ijassa-571	103	20	after	after	ADP
ijassa-571	103	21	the	the	DET
ijassa-571	103	22	completion	completion	NOUN
ijassa-571	103	23	of	of	ADP
ijassa-571	103	24	the	the	DET
ijassa-571	103	25	algorithm	algorithm	NOUN
ijassa-571	103	26	,	,	PUNCT
ijassa-571	103	27	the	the	DET
ijassa-571	103	28	set	set	NOUN
ijassa-571	103	29	is	be	AUX
ijassa-571	103	30	the	the	DET
ijassa-571	103	31	set	set	VERB
ijassa-571	103	32	pareto	pareto	VERB
ijassa-571	103	33	-	-	PUNCT
ijassa-571	103	34	optimal	optimal	ADJ
ijassa-571	103	35	characteristics	characteristic	NOUN
ijassa-571	103	36	of	of	ADP
ijassa-571	103	37	paths	path	NOUN
ijassa-571	103	38	from	from	ADP
ijassa-571	103	39	vertex	vertex	NOUN
ijassa-571	103	40	a	a	PRON
ijassa-571	103	41	to	to	ADP
ijassa-571	103	42	vertex	vertex	PROPN
ijassa-571	103	43	b.	b.	PROPN
ijassa-571	103	44	3.3	3.3	NUM
ijassa-571	103	45	.	.	PUNCT
ijassa-571	104	1	the	the	DET
ijassa-571	104	2	algorithm	algorithm	NOUN
ijassa-571	104	3	for	for	ADP
ijassa-571	104	4	generation	generation	NOUN
ijassa-571	104	5	of	of	ADP
ijassa-571	104	6	pareto	pareto	ADJ
ijassa-571	104	7	-	-	PUNCT
ijassa-571	104	8	optimal	optimal	ADJ
ijassa-571	104	9	trajectories	trajectory	NOUN
ijassa-571	104	10	the	the	DET
ijassa-571	104	11	goal	goal	NOUN
ijassa-571	104	12	of	of	ADP
ijassa-571	104	13	the	the	DET
ijassa-571	104	14	first	first	ADJ
ijassa-571	104	15	stage	stage	NOUN
ijassa-571	104	16	of	of	ADP
ijassa-571	104	17	optimization	optimization	NOUN
ijassa-571	104	18	is	be	AUX
ijassa-571	104	19	to	to	PART
ijassa-571	104	20	construct	construct	VERB
ijassa-571	104	21	a	a	DET
ijassa-571	104	22	set	set	NOUN
ijassa-571	104	23	n	n	NOUN
ijassa-571	104	24	of	of	ADP
ijassa-571	104	25	vertices	vertex	NOUN
ijassa-571	104	26	of	of	ADP
ijassa-571	104	27	the	the	DET
ijassa-571	104	28	graph	graph	NOUN
ijassa-571	104	29	for	for	ADP
ijassa-571	104	30	the	the	DET
ijassa-571	104	31	second	second	ADJ
ijassa-571	104	32	stage	stage	NOUN
ijassa-571	104	33	of	of	ADP
ijassa-571	104	34	optimization	optimization	NOUN
ijassa-571	104	35	.	.	PUNCT
ijassa-571	105	1	the	the	DET
ijassa-571	105	2	first	first	ADJ
ijassa-571	105	3	stage	stage	NOUN
ijassa-571	105	4	of	of	ADP
ijassa-571	105	5	optimization	optimization	NOUN
ijassa-571	105	6	step	step	NOUN
ijassa-571	105	7	1	1	NUM
ijassa-571	105	8	:	:	PUNCT
ijassa-571	105	9	the	the	DET
ijassa-571	105	10	construction	construction	NOUN
ijassa-571	105	11	of	of	ADP
ijassa-571	105	12	a	a	DET
ijassa-571	105	13	graph	graph	NOUN
ijassa-571	105	14	in	in	ADP
ijassa-571	105	15	the	the	DET
ijassa-571	105	16	form	form	NOUN
ijassa-571	105	17	of	of	ADP
ijassa-571	105	18	a	a	DET
ijassa-571	105	19	uniform	uniform	ADJ
ijassa-571	105	20	grid	grid	NOUN
ijassa-571	105	21	.	.	PUNCT
ijassa-571	106	1	calculation	calculation	NOUN
ijassa-571	106	2	of	of	ADP
ijassa-571	106	3	the	the	DET
ijassa-571	106	4	characteristics	characteristic	NOUN
ijassa-571	106	5	of	of	ADP
ijassa-571	106	6	edges	edge	NOUN
ijassa-571	106	7	of	of	ADP
ijassa-571	106	8	a	a	DET
ijassa-571	106	9	graph	graph	NOUN
ijassa-571	106	10	.	.	PUNCT
ijassa-571	107	1	step	step	NOUN
ijassa-571	107	2	2	2	NUM
ijassa-571	107	3	:	:	PUNCT
ijassa-571	107	4	construction	construction	NOUN
ijassa-571	107	5	of	of	ADP
ijassa-571	107	6	sets	set	NOUN
ijassa-571	107	7	of	of	ADP
ijassa-571	107	8	pareto	pareto	VERB
ijassa-571	107	9	-	-	PUNCT
ijassa-571	107	10	optimal	optimal	ADJ
ijassa-571	107	11	path	path	NOUN
ijassa-571	107	12	characteristics	characteristic	NOUN
ijassa-571	107	13	from	from	ADP
ijassa-571	107	14	the	the	DET
ijassa-571	107	15	vertex	vertex	NOUN
ijassa-571	107	16	a	a	PRON
ijassa-571	107	17	to	to	ADP
ijassa-571	107	18	vertices	vertex	NOUN
ijassa-571	107	19	of	of	ADP
ijassa-571	107	20	the	the	DET
ijassa-571	107	21	graph	graph	NOUN
ijassa-571	107	22	.	.	PUNCT
ijassa-571	108	1	step	step	NOUN
ijassa-571	108	2	3	3	NUM
ijassa-571	108	3	:	:	PUNCT
ijassa-571	108	4	construction	construction	NOUN
ijassa-571	108	5	of	of	ADP
ijassa-571	108	6	the	the	DET
ijassa-571	108	7	set	set	NOUN
ijassa-571	108	8	of	of	ADP
ijassa-571	108	9	pareto	pareto	VERB
ijassa-571	108	10	-	-	PUNCT
ijassa-571	108	11	optimal	optimal	ADJ
ijassa-571	108	12	paths	path	NOUN
ijassa-571	108	13	from	from	ADP
ijassa-571	108	14	vertex	vertex	NOUN
ijassa-571	108	15	a	a	PRON
ijassa-571	108	16	to	to	ADP
ijassa-571	108	17	vertex	vertex	PROPN
ijassa-571	108	18	b	b	NOUN
ijassa-571	108	19	based	base	VERB
ijassa-571	108	20	on	on	ADP
ijassa-571	108	21	the	the	DET
ijassa-571	108	22	constructed	construct	VERB
ijassa-571	108	23	set	set	NOUN
ijassa-571	108	24	.	.	PUNCT
ijassa-571	109	1	we	we	PRON
ijassa-571	109	2	denote	denote	VERB
ijassa-571	109	3	by	by	ADP
ijassa-571	109	4	n	n	PROPN
ijassa-571	109	5	*	*	PUNCT
ijassa-571	109	6	all	all	DET
ijassa-571	109	7	the	the	DET
ijassa-571	109	8	vertices	vertex	NOUN
ijassa-571	109	9	through	through	ADP
ijassa-571	109	10	which	which	PRON
ijassa-571	109	11	the	the	DET
ijassa-571	109	12	paths	path	NOUN
ijassa-571	109	13	corresponding	correspond	VERB
ijassa-571	109	14	to	to	ADP
ijassa-571	109	15	the	the	DET
ijassa-571	109	16	set	set	NOUN
ijassa-571	109	17	pass	pass	NOUN
ijassa-571	109	18	.	.	PUNCT
ijassa-571	110	1	examples	example	NOUN
ijassa-571	110	2	of	of	ADP
ijassa-571	110	3	the	the	DET
ijassa-571	110	4	pareto	pareto	VERB
ijassa-571	110	5	-	-	PUNCT
ijassa-571	110	6	optimal	optimal	ADJ
ijassa-571	110	7	trajectories	trajectory	NOUN
ijassa-571	110	8	generated	generate	VERB
ijassa-571	110	9	in	in	ADP
ijassa-571	110	10	the	the	DET
ijassa-571	110	11	first	first	ADJ
ijassa-571	110	12	stage	stage	NOUN
ijassa-571	110	13	are	be	AUX
ijassa-571	110	14	shown	show	VERB
ijassa-571	110	15	in	in	ADP
ijassa-571	110	16	figures	figure	NOUN
ijassa-571	110	17	3.2	3.2	NUM
ijassa-571	110	18	–	–	PUNCT
ijassa-571	110	19	3.4	3.4	NUM
ijassa-571	110	20	.	.	PUNCT
ijassa-571	110	21	dangerous	dangerous	ADJ
ijassa-571	110	22	areas	area	NOUN
ijassa-571	110	23	for	for	ADP
ijassa-571	110	24	the	the	DET
ijassa-571	110	25	movement	movement	NOUN
ijassa-571	110	26	of	of	ADP
ijassa-571	110	27	the	the	DET
ijassa-571	110	28	object	object	NOUN
ijassa-571	110	29	are	be	AUX
ijassa-571	110	30	represented	represent	VERB
ijassa-571	110	31	in	in	ADP
ijassa-571	110	32	the	the	DET
ijassa-571	110	33	figures	figure	NOUN
ijassa-571	110	34	with	with	ADP
ijassa-571	110	35	filled	fill	VERB
ijassa-571	110	36	rectangles	rectangle	NOUN
ijassa-571	110	37	.	.	PUNCT
ijassa-571	111	1	the	the	DET
ijassa-571	111	2	color	color	NOUN
ijassa-571	111	3	intensity	intensity	NOUN
ijassa-571	111	4	characterizes	characterize	VERB
ijassa-571	111	5	the	the	DET
ijassa-571	111	6	degree	degree	NOUN
ijassa-571	111	7	of	of	ADP
ijassa-571	111	8	danger	danger	NOUN
ijassa-571	111	9	of	of	ADP
ijassa-571	111	10	the	the	DET
ijassa-571	111	11	zone	zone	NOUN
ijassa-571	111	12	.	.	PUNCT
ijassa-571	112	1	optimization	optimization	NOUN
ijassa-571	112	2	according	accord	VERB
ijassa-571	112	3	to	to	ADP
ijassa-571	112	4	two	two	NUM
ijassa-571	112	5	criteria	criterion	NOUN
ijassa-571	112	6	allows	allow	VERB
ijassa-571	112	7	obtaining	obtain	VERB
ijassa-571	112	8	different	different	ADJ
ijassa-571	112	9	trajectories	trajectory	NOUN
ijassa-571	112	10	,	,	PUNCT
ijassa-571	112	11	including	include	VERB
ijassa-571	112	12	bypassing	bypass	VERB
ijassa-571	112	13	dangerous	dangerous	ADJ
ijassa-571	112	14	zones	zone	NOUN
ijassa-571	112	15	from	from	ADP
ijassa-571	112	16	different	different	ADJ
ijassa-571	112	17	directions	direction	NOUN
ijassa-571	112	18	or	or	CCONJ
ijassa-571	112	19	passing	pass	VERB
ijassa-571	112	20	through	through	ADP
ijassa-571	112	21	dangerous	dangerous	ADJ
ijassa-571	112	22	zones	zone	NOUN
ijassa-571	112	23	,	,	PUNCT
ijassa-571	112	24	as	as	SCONJ
ijassa-571	112	25	this	this	PRON
ijassa-571	112	26	degrades	degrade	VERB
ijassa-571	112	27	the	the	DET
ijassa-571	112	28	quality	quality	NOUN
ijassa-571	112	29	of	of	ADP
ijassa-571	112	30	the	the	DET
ijassa-571	112	31	trajectory	trajectory	NOUN
ijassa-571	112	32	by	by	ADP
ijassa-571	112	33	one	one	NUM
ijassa-571	112	34	criterion	criterion	NOUN
ijassa-571	112	35	,	,	PUNCT
ijassa-571	112	36	but	but	CCONJ
ijassa-571	112	37	improves	improve	VERB
ijassa-571	112	38	by	by	ADP
ijassa-571	112	39	the	the	DET
ijassa-571	112	40	other	other	ADJ
ijassa-571	112	41	–	–	PUNCT
ijassa-571	112	42	it	it	PRON
ijassa-571	112	43	allows	allow	VERB
ijassa-571	112	44	reducing	reduce	VERB
ijassa-571	112	45	the	the	DET
ijassa-571	112	46	trajectory	trajectory	NOUN
ijassa-571	112	47	transit	transit	NOUN
ijassa-571	112	48	time	time	NOUN
ijassa-571	112	49	.	.	PUNCT
ijassa-571	113	1	a	a	DET
ijassa-571	113	2	two	two	NUM
ijassa-571	113	3	-	-	PUNCT
ijassa-571	113	4	stage	stage	NOUN
ijassa-571	113	5	algorithm	algorithm	NOUN
ijassa-571	113	6	for	for	ADP
ijassa-571	113	7	generating	generate	VERB
ijassa-571	113	8	a	a	DET
ijassa-571	113	9	set	set	NOUN
ijassa-571	113	10	of	of	ADP
ijassa-571	113	11	pareto	pareto	VERB
ijassa-571	113	12	-	-	PUNCT
ijassa-571	113	13	optimal	optimal	ADJ
ijassa-571	113	14	trajectories	trajectory	NOUN
ijassa-571	113	15	of	of	ADP
ijassa-571	113	16	an	an	DET
ijassa-571	113	17	object	object	NOUN
ijassa-571	113	18	97	97	NUM
ijassa-571	113	19	copyright	copyright	NOUN
ijassa-571	113	20	©	©	PROPN
ijassa-571	113	21	2018	2018	NUM
ijassa-571	113	22	assa	assa	NOUN
ijassa-571	113	23	.	.	PUNCT
ijassa-571	114	1	adv	adv	PROPN
ijassa-571	114	2	.	.	PUNCT
ijassa-571	115	1	in	in	ADP
ijassa-571	115	2	systems	system	NOUN
ijassa-571	115	3	science	science	NOUN
ijassa-571	115	4	and	and	CCONJ
ijassa-571	115	5	appl	appl	NOUN
ijassa-571	115	6	.	.	PUNCT
ijassa-571	116	1	(	(	PUNCT
ijassa-571	116	2	2018	2018	NUM
ijassa-571	116	3	)	)	PUNCT
ijassa-571	116	4	fig	fig	NOUN
ijassa-571	116	5	.	.	PUNCT
ijassa-571	117	1	3.2	3.2	NUM
ijassa-571	117	2	.	.	PUNCT
ijassa-571	118	1	trajectory	trajectory	NOUN
ijassa-571	118	2	bypasses	bypass	VERB
ijassa-571	118	3	dangerous	dangerous	ADJ
ijassa-571	118	4	areas	area	NOUN
ijassa-571	118	5	fig	fig	NOUN
ijassa-571	118	6	.	.	PUNCT
ijassa-571	119	1	3.3	3.3	NUM
ijassa-571	119	2	.	.	PUNCT
ijassa-571	120	1	this	this	DET
ijassa-571	120	2	trajectory	trajectory	NOUN
ijassa-571	120	3	is	be	AUX
ijassa-571	120	4	more	more	ADV
ijassa-571	120	5	dangerous	dangerous	ADJ
ijassa-571	120	6	but	but	CCONJ
ijassa-571	120	7	the	the	DET
ijassa-571	120	8	travel	travel	NOUN
ijassa-571	120	9	time	time	NOUN
ijassa-571	120	10	is	be	AUX
ijassa-571	121	1	less	less	ADJ
ijassa-571	121	2	98	98	NUM
ijassa-571	121	3	e.l	e.l	PROPN
ijassa-571	121	4	.	.	PROPN
ijassa-571	121	5	kulida	kulida	PROPN
ijassa-571	122	1	copyright	copyright	PROPN
ijassa-571	122	2	©	©	PROPN
ijassa-571	122	3	2018	2018	NUM
ijassa-571	122	4	assa	assa	NOUN
ijassa-571	122	5	.	.	PUNCT
ijassa-571	123	1	adv	adv	PROPN
ijassa-571	123	2	.	.	PUNCT
ijassa-571	124	1	in	in	ADP
ijassa-571	124	2	systems	system	NOUN
ijassa-571	124	3	science	science	NOUN
ijassa-571	124	4	and	and	CCONJ
ijassa-571	124	5	appl	appl	NOUN
ijassa-571	124	6	.	.	PUNCT
ijassa-571	125	1	(	(	PUNCT
ijassa-571	125	2	2018	2018	NUM
ijassa-571	125	3	)	)	PUNCT
ijassa-571	125	4	fig	fig	NOUN
ijassa-571	125	5	.	.	PUNCT
ijassa-571	126	1	3.4	3.4	NUM
ijassa-571	126	2	.	.	PUNCT
ijassa-571	127	1	the	the	DET
ijassa-571	127	2	trajectory	trajectory	NOUN
ijassa-571	127	3	is	be	AUX
ijassa-571	127	4	passing	pass	VERB
ijassa-571	127	5	through	through	ADP
ijassa-571	127	6	dangerous	dangerous	ADJ
ijassa-571	127	7	zones	zone	NOUN
ijassa-571	127	8	but	but	CCONJ
ijassa-571	127	9	the	the	DET
ijassa-571	127	10	travel	travel	NOUN
ijassa-571	127	11	time	time	NOUN
ijassa-571	127	12	is	be	AUX
ijassa-571	127	13	less	less	ADJ
ijassa-571	127	14	the	the	DET
ijassa-571	127	15	second	second	ADJ
ijassa-571	127	16	stage	stage	NOUN
ijassa-571	127	17	of	of	ADP
ijassa-571	127	18	optimization	optimization	NOUN
ijassa-571	127	19	step	step	NOUN
ijassa-571	127	20	4	4	NUM
ijassa-571	127	21	:	:	PUNCT
ijassa-571	127	22	construction	construction	NOUN
ijassa-571	127	23	of	of	ADP
ijassa-571	127	24	a	a	DET
ijassa-571	127	25	graph	graph	NOUN
ijassa-571	127	26	for	for	ADP
ijassa-571	127	27	the	the	DET
ijassa-571	127	28	second	second	ADJ
ijassa-571	127	29	stage	stage	NOUN
ijassa-571	127	30	of	of	ADP
ijassa-571	127	31	optimization	optimization	NOUN
ijassa-571	127	32	.	.	PUNCT
ijassa-571	128	1	n	n	PRON
ijassa-571	128	2	*	*	PUNCT
ijassa-571	128	3	is	be	AUX
ijassa-571	128	4	the	the	DET
ijassa-571	128	5	set	set	NOUN
ijassa-571	128	6	of	of	ADP
ijassa-571	128	7	vertices	vertex	NOUN
ijassa-571	128	8	through	through	ADP
ijassa-571	128	9	which	which	PRON
ijassa-571	128	10	the	the	DET
ijassa-571	128	11	pareto	pareto	VERB
ijassa-571	128	12	-	-	PUNCT
ijassa-571	128	13	optimal	optimal	ADJ
ijassa-571	128	14	paths	path	NOUN
ijassa-571	128	15	constructed	construct	VERB
ijassa-571	128	16	in	in	ADP
ijassa-571	128	17	the	the	DET
ijassa-571	128	18	first	first	ADJ
ijassa-571	128	19	stage	stage	NOUN
ijassa-571	128	20	pass	pass	NOUN
ijassa-571	128	21	.	.	PUNCT
ijassa-571	129	1	each	each	PRON
ijassa-571	129	2	of	of	ADP
ijassa-571	129	3	the	the	DET
ijassa-571	129	4	vertices	vertex	NOUN
ijassa-571	129	5	of	of	ADP
ijassa-571	129	6	the	the	DET
ijassa-571	129	7	set	set	NOUN
ijassa-571	129	8	n	n	PROPN
ijassa-571	129	9	*	*	VERB
ijassa-571	129	10	is	be	AUX
ijassa-571	129	11	projected	project	VERB
ijassa-571	129	12	onto	onto	ADP
ijassa-571	129	13	all	all	DET
ijassa-571	129	14	l	l	NOUN
ijassa-571	129	15	layers	layer	NOUN
ijassa-571	129	16	of	of	ADP
ijassa-571	129	17	the	the	DET
ijassa-571	129	18	grid	grid	NOUN
ijassa-571	129	19	to	to	PART
ijassa-571	129	20	construct	construct	VERB
ijassa-571	129	21	the	the	DET
ijassa-571	129	22	set	set	NOUN
ijassa-571	129	23	n	n	PROPN
ijassa-571	129	24	of	of	ADP
ijassa-571	129	25	vertices	vertex	NOUN
ijassa-571	129	26	of	of	ADP
ijassa-571	129	27	the	the	DET
ijassa-571	129	28	graph	graph	NOUN
ijassa-571	129	29	for	for	ADP
ijassa-571	129	30	the	the	DET
ijassa-571	129	31	second	second	ADJ
ijassa-571	129	32	stage	stage	NOUN
ijassa-571	129	33	of	of	ADP
ijassa-571	129	34	optimization	optimization	NOUN
ijassa-571	129	35	:	:	PUNCT
ijassa-571	129	36	a	a	DET
ijassa-571	129	37	complete	complete	ADJ
ijassa-571	129	38	graph	graph	NOUN
ijassa-571	129	39	is	be	AUX
ijassa-571	129	40	constructed	construct	VERB
ijassa-571	129	41	in	in	ADP
ijassa-571	129	42	each	each	DET
ijassa-571	129	43	horizontal	horizontal	ADJ
ijassa-571	129	44	layer	layer	NOUN
ijassa-571	129	45	in	in	ADP
ijassa-571	129	46	the	the	DET
ijassa-571	129	47	second	second	ADJ
ijassa-571	129	48	stage	stage	NOUN
ijassa-571	129	49	of	of	ADP
ijassa-571	129	50	optimization	optimization	NOUN
ijassa-571	129	51	;	;	PUNCT
ijassa-571	129	52	each	each	PRON
ijassa-571	129	53	of	of	ADP
ijassa-571	129	54	the	the	DET
ijassa-571	129	55	vertices	vertex	NOUN
ijassa-571	129	56	of	of	ADP
ijassa-571	129	57	the	the	DET
ijassa-571	129	58	layer	layer	NOUN
ijassa-571	129	59	is	be	AUX
ijassa-571	129	60	joined	join	VERB
ijassa-571	129	61	by	by	ADP
ijassa-571	129	62	edges	edge	NOUN
ijassa-571	129	63	with	with	ADP
ijassa-571	129	64	all	all	DET
ijassa-571	129	65	the	the	DET
ijassa-571	129	66	other	other	ADJ
ijassa-571	129	67	vertices	vertex	NOUN
ijassa-571	129	68	of	of	ADP
ijassa-571	129	69	this	this	DET
ijassa-571	129	70	layer	layer	NOUN
ijassa-571	129	71	to	to	PART
ijassa-571	129	72	construct	construct	VERB
ijassa-571	129	73	real	real	ADJ
ijassa-571	129	74	trajectories	trajectory	NOUN
ijassa-571	129	75	of	of	ADP
ijassa-571	129	76	the	the	DET
ijassa-571	129	77	object	object	NOUN
ijassa-571	129	78	's	's	PART
ijassa-571	129	79	motion	motion	NOUN
ijassa-571	129	80	.	.	PUNCT
ijassa-571	130	1	the	the	DET
ijassa-571	130	2	vertices	vertex	NOUN
ijassa-571	130	3	are	be	AUX
ijassa-571	130	4	connected	connect	VERB
ijassa-571	130	5	by	by	ADP
ijassa-571	130	6	edges	edge	NOUN
ijassa-571	130	7	between	between	ADP
ijassa-571	130	8	the	the	DET
ijassa-571	130	9	horizontal	horizontal	ADJ
ijassa-571	130	10	layers	layer	NOUN
ijassa-571	130	11	one	one	NUM
ijassa-571	130	12	under	under	ADP
ijassa-571	130	13	the	the	DET
ijassa-571	130	14	other	other	ADJ
ijassa-571	130	15	.	.	PUNCT
ijassa-571	131	1	a	a	DET
ijassa-571	131	2	characteristic	characteristic	NOUN
ijassa-571	131	3	is	be	AUX
ijassa-571	131	4	calculated	calculate	VERB
ijassa-571	131	5	for	for	ADP
ijassa-571	131	6	each	each	DET
ijassa-571	131	7	edge	edge	NOUN
ijassa-571	131	8	in	in	ADP
ijassa-571	131	9	the	the	DET
ijassa-571	131	10	resulting	result	VERB
ijassa-571	131	11	graph	graph	NOUN
ijassa-571	131	12	.	.	PUNCT
ijassa-571	132	1	in	in	ADP
ijassa-571	132	2	the	the	DET
ijassa-571	132	3	first	first	ADJ
ijassa-571	132	4	step	step	NOUN
ijassa-571	132	5	,	,	PUNCT
ijassa-571	132	6	the	the	DET
ijassa-571	132	7	set	set	NOUN
ijassa-571	132	8	of	of	ADP
ijassa-571	132	9	vertices	vertex	NOUN
ijassa-571	132	10	of	of	ADP
ijassa-571	132	11	the	the	DET
ijassa-571	132	12	graph	graph	NOUN
ijassa-571	132	13	includes	include	VERB
ijassa-571	132	14	vertices	vertex	NOUN
ijassa-571	132	15	evenly	evenly	ADV
ijassa-571	132	16	covering	cover	VERB
ijassa-571	132	17	the	the	DET
ijassa-571	132	18	area	area	NOUN
ijassa-571	132	19	of	of	ADP
ijassa-571	132	20	motion	motion	NOUN
ijassa-571	132	21	,	,	PUNCT
ijassa-571	132	22	and	and	CCONJ
ijassa-571	132	23	the	the	DET
ijassa-571	132	24	edges	edge	NOUN
ijassa-571	132	25	of	of	ADP
ijassa-571	132	26	the	the	DET
ijassa-571	132	27	graph	graph	NOUN
ijassa-571	132	28	connect	connect	VERB
ijassa-571	132	29	only	only	ADV
ijassa-571	132	30	to	to	ADP
ijassa-571	132	31	the	the	DET
ijassa-571	132	32	nearest	near	ADJ
ijassa-571	132	33	neighboring	neighboring	NOUN
ijassa-571	132	34	vertices	vertex	NOUN
ijassa-571	132	35	.	.	PUNCT
ijassa-571	133	1	at	at	ADP
ijassa-571	133	2	the	the	DET
ijassa-571	133	3	second	second	ADJ
ijassa-571	133	4	stage	stage	NOUN
ijassa-571	133	5	,	,	PUNCT
ijassa-571	133	6	the	the	DET
ijassa-571	133	7	set	set	NOUN
ijassa-571	133	8	of	of	ADP
ijassa-571	133	9	vertices	vertex	NOUN
ijassa-571	133	10	of	of	ADP
ijassa-571	133	11	the	the	DET
ijassa-571	133	12	graph	graph	NOUN
ijassa-571	133	13	contains	contain	VERB
ijassa-571	133	14	only	only	ADV
ijassa-571	133	15	those	those	DET
ijassa-571	133	16	vertices	vertex	NOUN
ijassa-571	133	17	through	through	ADP
ijassa-571	133	18	which	which	PRON
ijassa-571	133	19	the	the	DET
ijassa-571	133	20	paths	path	NOUN
ijassa-571	133	21	built	build	VERB
ijassa-571	133	22	at	at	ADP
ijassa-571	133	23	the	the	DET
ijassa-571	133	24	first	first	ADJ
ijassa-571	133	25	stage	stage	NOUN
ijassa-571	133	26	pass	pass	NOUN
ijassa-571	133	27	.	.	PUNCT
ijassa-571	134	1	each	each	PRON
ijassa-571	134	2	of	of	ADP
ijassa-571	134	3	the	the	DET
ijassa-571	134	4	vertices	vertex	NOUN
ijassa-571	134	5	is	be	AUX
ijassa-571	134	6	connected	connect	VERB
ijassa-571	134	7	by	by	ADP
ijassa-571	134	8	edges	edge	NOUN
ijassa-571	134	9	to	to	ADP
ijassa-571	134	10	all	all	DET
ijassa-571	134	11	other	other	ADJ
ijassa-571	134	12	vertices	vertex	NOUN
ijassa-571	134	13	of	of	ADP
ijassa-571	134	14	the	the	DET
ijassa-571	134	15	graph	graph	NOUN
ijassa-571	134	16	.	.	PUNCT
ijassa-571	135	1	a	a	DET
ijassa-571	135	2	set	set	NOUN
ijassa-571	135	3	of	of	ADP
ijassa-571	135	4	pareto	pareto	VERB
ijassa-571	135	5	-	-	PUNCT
ijassa-571	135	6	optimal	optimal	ADJ
ijassa-571	135	7	paths	path	NOUN
ijassa-571	135	8	is	be	AUX
ijassa-571	135	9	constructed	construct	VERB
ijassa-571	135	10	in	in	ADP
ijassa-571	135	11	the	the	DET
ijassa-571	135	12	complete	complete	ADJ
ijassa-571	135	13	graph	graph	NOUN
ijassa-571	135	14	.	.	PUNCT
ijassa-571	136	1	this	this	DET
ijassa-571	136	2	two	two	NUM
ijassa-571	136	3	-	-	PUNCT
ijassa-571	136	4	step	step	NOUN
ijassa-571	136	5	approach	approach	NOUN
ijassa-571	136	6	allows	allow	VERB
ijassa-571	136	7	to	to	PART
ijassa-571	136	8	significantly	significantly	ADV
ijassa-571	136	9	reduce	reduce	VERB
ijassa-571	136	10	the	the	DET
ijassa-571	136	11	computation	computation	NOUN
ijassa-571	136	12	time	time	NOUN
ijassa-571	136	13	in	in	ADP
ijassa-571	136	14	comparison	comparison	NOUN
ijassa-571	136	15	with	with	ADP
ijassa-571	136	16	the	the	DET
ijassa-571	136	17	use	use	NOUN
ijassa-571	136	18	of	of	ADP
ijassa-571	136	19	the	the	DET
ijassa-571	136	20	algorithm	algorithm	NOUN
ijassa-571	136	21	for	for	ADP
ijassa-571	136	22	constructing	construct	VERB
ijassa-571	136	23	a	a	DET
ijassa-571	136	24	set	set	NOUN
ijassa-571	136	25	of	of	ADP
ijassa-571	136	26	pareto	pareto	VERB
ijassa-571	136	27	-	-	PUNCT
ijassa-571	136	28	optimal	optimal	ADJ
ijassa-571	136	29	paths	path	NOUN
ijassa-571	136	30	in	in	ADP
ijassa-571	136	31	the	the	DET
ijassa-571	136	32	initial	initial	ADJ
ijassa-571	136	33	graph	graph	NOUN
ijassa-571	136	34	.	.	PUNCT
ijassa-571	137	1	step	step	NOUN
ijassa-571	137	2	5	5	NUM
ijassa-571	137	3	:	:	PUNCT
ijassa-571	137	4	construction	construction	NOUN
ijassa-571	137	5	of	of	ADP
ijassa-571	137	6	sets	set	NOUN
ijassa-571	137	7	of	of	ADP
ijassa-571	137	8	pareto	pareto	VERB
ijassa-571	137	9	-	-	PUNCT
ijassa-571	137	10	optimal	optimal	ADJ
ijassa-571	137	11	characteristics	characteristic	NOUN
ijassa-571	137	12	of	of	ADP
ijassa-571	137	13	paths	path	NOUN
ijassa-571	137	14	from	from	ADP
ijassa-571	137	15	vertex	vertex	NOUN
ijassa-571	137	16	a	a	PRON
ijassa-571	137	17	for	for	ADP
ijassa-571	137	18	the	the	DET
ijassa-571	137	19	vertices	vertex	NOUN
ijassa-571	137	20	of	of	ADP
ijassa-571	137	21	the	the	DET
ijassa-571	137	22	graph	graph	NOUN
ijassa-571	137	23	.	.	PUNCT
ijassa-571	138	1	step	step	NOUN
ijassa-571	138	2	6	6	NUM
ijassa-571	138	3	:	:	PUNCT
ijassa-571	138	4	a	a	DET
ijassa-571	138	5	two	two	NUM
ijassa-571	138	6	-	-	PUNCT
ijassa-571	138	7	stage	stage	NOUN
ijassa-571	138	8	algorithm	algorithm	NOUN
ijassa-571	138	9	for	for	ADP
ijassa-571	138	10	generating	generate	VERB
ijassa-571	138	11	a	a	DET
ijassa-571	138	12	set	set	NOUN
ijassa-571	138	13	of	of	ADP
ijassa-571	138	14	pareto	pareto	VERB
ijassa-571	138	15	-	-	PUNCT
ijassa-571	138	16	optimal	optimal	ADJ
ijassa-571	138	17	trajectories	trajectory	NOUN
ijassa-571	138	18	of	of	ADP
ijassa-571	138	19	an	an	DET
ijassa-571	138	20	object	object	NOUN
ijassa-571	138	21	99	99	NUM
ijassa-571	138	22	copyright	copyright	NOUN
ijassa-571	138	23	©	©	PROPN
ijassa-571	138	24	2018	2018	NUM
ijassa-571	138	25	assa	assa	NOUN
ijassa-571	138	26	.	.	PUNCT
ijassa-571	139	1	adv	adv	PROPN
ijassa-571	139	2	.	.	PUNCT
ijassa-571	140	1	in	in	ADP
ijassa-571	140	2	systems	system	NOUN
ijassa-571	140	3	science	science	NOUN
ijassa-571	140	4	and	and	CCONJ
ijassa-571	140	5	appl	appl	NOUN
ijassa-571	140	6	.	.	PUNCT
ijassa-571	141	1	(	(	PUNCT
ijassa-571	141	2	2018	2018	NUM
ijassa-571	141	3	)	)	PUNCT
ijassa-571	141	4	an	an	DET
ijassa-571	141	5	analysis	analysis	NOUN
ijassa-571	141	6	of	of	ADP
ijassa-571	141	7	the	the	DET
ijassa-571	141	8	constructed	construct	VERB
ijassa-571	141	9	set	set	NOUN
ijassa-571	141	10	of	of	ADP
ijassa-571	141	11	pareto	pareto	VERB
ijassa-571	141	12	-	-	PUNCT
ijassa-571	141	13	optimal	optimal	ADJ
ijassa-571	141	14	characteristics	characteristic	NOUN
ijassa-571	141	15	;	;	PUNCT
ijassa-571	141	16	the	the	DET
ijassa-571	141	17	choice	choice	NOUN
ijassa-571	141	18	of	of	ADP
ijassa-571	141	19	characteristics	characteristic	NOUN
ijassa-571	141	20	satisfying	satisfy	VERB
ijassa-571	141	21	the	the	DET
ijassa-571	141	22	requirements	requirement	NOUN
ijassa-571	141	23	and	and	CCONJ
ijassa-571	141	24	constraints	constraint	NOUN
ijassa-571	141	25	[	[	X
ijassa-571	141	26	2	2	NUM
ijassa-571	141	27	]	]	PUNCT
ijassa-571	141	28	;	;	PUNCT
ijassa-571	141	29	the	the	DET
ijassa-571	141	30	construction	construction	NOUN
ijassa-571	141	31	of	of	ADP
ijassa-571	141	32	appropriate	appropriate	ADJ
ijassa-571	141	33	paths	path	NOUN
ijassa-571	141	34	.	.	PUNCT
ijassa-571	142	1	4	4	X
ijassa-571	142	2	.	.	X
ijassa-571	142	3	simulation	simulation	NOUN
ijassa-571	142	4	results	result	VERB
ijassa-571	142	5	a	a	DET
ijassa-571	142	6	series	series	NOUN
ijassa-571	142	7	of	of	ADP
ijassa-571	142	8	experiments	experiment	NOUN
ijassa-571	142	9	was	be	AUX
ijassa-571	142	10	performed	perform	VERB
ijassa-571	142	11	to	to	PART
ijassa-571	142	12	evaluate	evaluate	VERB
ijassa-571	142	13	the	the	DET
ijassa-571	142	14	efficiency	efficiency	NOUN
ijassa-571	142	15	and	and	CCONJ
ijassa-571	142	16	accuracy	accuracy	NOUN
ijassa-571	142	17	of	of	ADP
ijassa-571	142	18	the	the	DET
ijassa-571	142	19	proposed	propose	VERB
ijassa-571	142	20	algorithm	algorithm	NOUN
ijassa-571	142	21	using	use	VERB
ijassa-571	142	22	the	the	DET
ijassa-571	142	23	example	example	NOUN
ijassa-571	142	24	of	of	ADP
ijassa-571	142	25	generating	generate	VERB
ijassa-571	142	26	object	object	NOUN
ijassa-571	142	27	trajectories	trajectory	NOUN
ijassa-571	142	28	moving	move	VERB
ijassa-571	142	29	in	in	ADP
ijassa-571	142	30	a	a	DET
ijassa-571	142	31	conflict	conflict	NOUN
ijassa-571	142	32	environment	environment	NOUN
ijassa-571	142	33	,	,	PUNCT
ijassa-571	142	34	where	where	SCONJ
ijassa-571	142	35	it	it	PRON
ijassa-571	142	36	is	be	AUX
ijassa-571	142	37	detected	detect	VERB
ijassa-571	142	38	by	by	ADP
ijassa-571	142	39	means	mean	NOUN
ijassa-571	142	40	of	of	ADP
ijassa-571	142	41	detection	detection	NOUN
ijassa-571	142	42	of	of	ADP
ijassa-571	142	43	different	different	ADJ
ijassa-571	142	44	nature	nature	NOUN
ijassa-571	142	45	.	.	PUNCT
ijassa-571	143	1	below	below	ADV
ijassa-571	143	2	are	be	AUX
ijassa-571	143	3	the	the	DET
ijassa-571	143	4	results	result	NOUN
ijassa-571	143	5	characterizing	characterize	VERB
ijassa-571	143	6	the	the	DET
ijassa-571	143	7	use	use	NOUN
ijassa-571	143	8	of	of	ADP
ijassa-571	143	9	the	the	DET
ijassa-571	143	10	proposed	propose	VERB
ijassa-571	143	11	optimization	optimization	NOUN
ijassa-571	143	12	algorithm	algorithm	NOUN
ijassa-571	143	13	in	in	ADP
ijassa-571	143	14	one	one	NUM
ijassa-571	143	15	of	of	ADP
ijassa-571	143	16	such	such	ADJ
ijassa-571	143	17	experiments	experiment	NOUN
ijassa-571	143	18	.	.	PUNCT
ijassa-571	144	1	as	as	SCONJ
ijassa-571	144	2	can	can	AUX
ijassa-571	144	3	be	be	AUX
ijassa-571	144	4	seen	see	VERB
ijassa-571	144	5	from	from	ADP
ijassa-571	144	6	the	the	DET
ijassa-571	144	7	table	table	NOUN
ijassa-571	144	8	4.1	4.1	NUM
ijassa-571	144	9	,	,	PUNCT
ijassa-571	144	10	a	a	DET
ijassa-571	144	11	decrease	decrease	NOUN
ijassa-571	144	12	in	in	ADP
ijassa-571	144	13	the	the	DET
ijassa-571	144	14	distance	distance	NOUN
ijassa-571	144	15	d	d	NOUN
ijassa-571	144	16	between	between	ADP
ijassa-571	144	17	vertices	vertex	NOUN
ijassa-571	144	18	in	in	ADP
ijassa-571	144	19	the	the	DET
ijassa-571	144	20	construction	construction	NOUN
ijassa-571	144	21	of	of	ADP
ijassa-571	144	22	the	the	DET
ijassa-571	144	23	grid	grid	NOUN
ijassa-571	144	24	at	at	ADP
ijassa-571	144	25	the	the	DET
ijassa-571	144	26	first	first	ADJ
ijassa-571	144	27	stage	stage	NOUN
ijassa-571	144	28	of	of	ADP
ijassa-571	144	29	optimization	optimization	NOUN
ijassa-571	144	30	predictably	predictably	ADV
ijassa-571	144	31	allows	allow	VERB
ijassa-571	144	32	to	to	PART
ijassa-571	144	33	build	build	VERB
ijassa-571	144	34	more	more	ADV
ijassa-571	144	35	diverse	diverse	ADJ
ijassa-571	144	36	trajectories	trajectory	NOUN
ijassa-571	144	37	and	and	CCONJ
ijassa-571	144	38	substantially	substantially	ADV
ijassa-571	144	39	improve	improve	VERB
ijassa-571	144	40	the	the	DET
ijassa-571	144	41	accuracy	accuracy	NOUN
ijassa-571	144	42	of	of	ADP
ijassa-571	144	43	the	the	DET
ijassa-571	144	44	solution	solution	NOUN
ijassa-571	144	45	,	,	PUNCT
ijassa-571	144	46	but	but	CCONJ
ijassa-571	144	47	the	the	DET
ijassa-571	144	48	calculation	calculation	NOUN
ijassa-571	144	49	time	time	NOUN
ijassa-571	144	50	increases	increase	VERB
ijassa-571	144	51	dramatically	dramatically	ADV
ijassa-571	144	52	.	.	PUNCT
ijassa-571	145	1	the	the	DET
ijassa-571	145	2	evaluation	evaluation	NOUN
ijassa-571	145	3	of	of	ADP
ijassa-571	145	4	the	the	DET
ijassa-571	145	5	trajectory	trajectory	NOUN
ijassa-571	145	6	is	be	AUX
ijassa-571	145	7	the	the	DET
ijassa-571	145	8	probability	probability	NOUN
ijassa-571	145	9	of	of	ADP
ijassa-571	145	10	not	not	PART
ijassa-571	145	11	detecting	detect	VERB
ijassa-571	145	12	an	an	DET
ijassa-571	145	13	object	object	NOUN
ijassa-571	145	14	during	during	ADP
ijassa-571	145	15	the	the	DET
ijassa-571	145	16	trajectory	trajectory	NOUN
ijassa-571	145	17	,	,	PUNCT
ijassa-571	145	18	so	so	SCONJ
ijassa-571	145	19	the	the	DET
ijassa-571	145	20	evaluation	evaluation	NOUN
ijassa-571	145	21	lies	lie	VERB
ijassa-571	145	22	in	in	ADP
ijassa-571	145	23	the	the	DET
ijassa-571	145	24	range	range	NOUN
ijassa-571	145	25	[	[	X
ijassa-571	145	26	0,1	0,1	NUM
ijassa-571	145	27	]	]	PUNCT
ijassa-571	145	28	.	.	PUNCT
ijassa-571	146	1	the	the	DET
ijassa-571	146	2	best	good	ADJ
ijassa-571	146	3	trajectory	trajectory	NOUN
ijassa-571	146	4	has	have	VERB
ijassa-571	146	5	greater	great	ADJ
ijassa-571	146	6	evaluation	evaluation	NOUN
ijassa-571	146	7	.	.	PUNCT
ijassa-571	147	1	table	table	NOUN
ijassa-571	147	2	4.1	4.1	NUM
ijassa-571	147	3	.	.	PUNCT
ijassa-571	148	1	results	result	NOUN
ijassa-571	148	2	for	for	ADP
ijassa-571	148	3	different	different	ADJ
ijassa-571	148	4	length	length	NOUN
ijassa-571	148	5	of	of	ADP
ijassa-571	148	6	edge	edge	NOUN
ijassa-571	148	7	of	of	ADP
ijassa-571	148	8	graph	graph	NOUN
ijassa-571	148	9	length	length	NOUN
ijassa-571	148	10	of	of	ADP
ijassa-571	148	11	edge	edge	NOUN
ijassa-571	148	12	of	of	ADP
ijassa-571	148	13	graph	graph	NOUN
ijassa-571	148	14	,	,	PUNCT
ijassa-571	148	15	km	km	NOUN
ijassa-571	148	16	evaluation	evaluation	NOUN
ijassa-571	148	17	of	of	ADP
ijassa-571	148	18	the	the	DET
ijassa-571	148	19	trajectory	trajectory	NOUN
ijassa-571	148	20	travel	travel	NOUN
ijassa-571	148	21	time	time	NOUN
ijassa-571	148	22	,	,	PUNCT
ijassa-571	148	23	hours	hour	NOUN
ijassa-571	148	24	calculation	calculation	NOUN
ijassa-571	148	25	time	time	NOUN
ijassa-571	148	26	hour	hour	NOUN
ijassa-571	148	27	:	:	PUNCT
ijassa-571	148	28	min	min	NOUN
ijassa-571	148	29	:	:	PUNCT
ijassa-571	148	30	sec	sec	ADJ
ijassa-571	148	31	number	number	NOUN
ijassa-571	148	32	of	of	ADP
ijassa-571	148	33	trajectories	trajectory	NOUN
ijassa-571	148	34	32	32	NUM
ijassa-571	148	35	0,4078	0,4078	NUM
ijassa-571	148	36	28,29	28,29	NUM
ijassa-571	148	37	00:01:50	00:01:50	NUM
ijassa-571	148	38	254	254	NUM
ijassa-571	148	39	16	16	NUM
ijassa-571	148	40	0,5612	0,5612	NOUN
ijassa-571	148	41	21,05	21,05	NUM
ijassa-571	148	42	00:26:23	00:26:23	NUM
ijassa-571	148	43	1140	1140	NUM
ijassa-571	148	44	8	8	NUM
ijassa-571	148	45	0,6148	0,6148	NOUN
ijassa-571	148	46	18,4	18,4	NUM
ijassa-571	148	47	06:20:21	06:20:21	NUM
ijassa-571	148	48	2639	2639	NUM
ijassa-571	148	49	when	when	SCONJ
ijassa-571	148	50	analyzing	analyze	VERB
ijassa-571	148	51	the	the	DET
ijassa-571	148	52	set	set	NOUN
ijassa-571	148	53	of	of	ADP
ijassa-571	148	54	generated	generate	VERB
ijassa-571	148	55	trajectories	trajectory	NOUN
ijassa-571	148	56	,	,	PUNCT
ijassa-571	148	57	it	it	PRON
ijassa-571	148	58	turns	turn	VERB
ijassa-571	148	59	out	out	ADP
ijassa-571	148	60	that	that	SCONJ
ijassa-571	148	61	the	the	DET
ijassa-571	148	62	parameters	parameter	NOUN
ijassa-571	148	63	of	of	ADP
ijassa-571	148	64	incomparable	incomparable	ADJ
ijassa-571	148	65	trajectory	trajectory	NOUN
ijassa-571	148	66	characteristics	characteristic	NOUN
ijassa-571	148	67	can	can	AUX
ijassa-571	148	68	differ	differ	VERB
ijassa-571	148	69	by	by	ADP
ijassa-571	148	70	negligibly	negligibly	ADV
ijassa-571	148	71	small	small	ADJ
ijassa-571	148	72	values	value	NOUN
ijassa-571	148	73	.	.	PUNCT
ijassa-571	149	1	in	in	ADP
ijassa-571	149	2	order	order	NOUN
ijassa-571	149	3	to	to	PART
ijassa-571	149	4	reduce	reduce	VERB
ijassa-571	149	5	the	the	DET
ijassa-571	149	6	number	number	NOUN
ijassa-571	149	7	of	of	ADP
ijassa-571	149	8	generated	generate	VERB
ijassa-571	149	9	trajectories	trajectory	NOUN
ijassa-571	149	10	and	and	CCONJ
ijassa-571	149	11	to	to	PART
ijassa-571	149	12	shorten	shorten	VERB
ijassa-571	149	13	the	the	DET
ijassa-571	149	14	calculation	calculation	NOUN
ijassa-571	149	15	time	time	NOUN
ijassa-571	149	16	,	,	PUNCT
ijassa-571	149	17	the	the	DET
ijassa-571	149	18	following	follow	VERB
ijassa-571	149	19	method	method	NOUN
ijassa-571	149	20	was	be	AUX
ijassa-571	149	21	used	use	VERB
ijassa-571	149	22	:	:	PUNCT
ijassa-571	149	23	during	during	ADP
ijassa-571	149	24	the	the	DET
ijassa-571	149	25	calculation	calculation	NOUN
ijassa-571	149	26	,	,	PUNCT
ijassa-571	149	27	the	the	DET
ijassa-571	149	28	values	value	NOUN
ijassa-571	149	29	of	of	ADP
ijassa-571	149	30	the	the	DET
ijassa-571	149	31	parameters	parameter	NOUN
ijassa-571	149	32	of	of	ADP
ijassa-571	149	33	the	the	DET
ijassa-571	149	34	segments	segment	NOUN
ijassa-571	149	35	characteristics	characteristic	NOUN
ijassa-571	149	36	were	be	AUX
ijassa-571	149	37	rounded	round	VERB
ijassa-571	149	38	up	up	ADP
ijassa-571	149	39	to	to	PART
ijassa-571	149	40	four	four	NUM
ijassa-571	149	41	decimal	decimal	ADJ
ijassa-571	149	42	places	place	NOUN
ijassa-571	149	43	.	.	PUNCT
ijassa-571	150	1	the	the	DET
ijassa-571	150	2	results	result	NOUN
ijassa-571	150	3	of	of	ADP
ijassa-571	150	4	the	the	DET
ijassa-571	150	5	computational	computational	ADJ
ijassa-571	150	6	experiment	experiment	NOUN
ijassa-571	150	7	are	be	AUX
ijassa-571	150	8	shown	show	VERB
ijassa-571	150	9	in	in	ADP
ijassa-571	150	10	the	the	DET
ijassa-571	150	11	table	table	NOUN
ijassa-571	150	12	4.2	4.2	NUM
ijassa-571	150	13	.	.	PUNCT
ijassa-571	150	14	table	table	NOUN
ijassa-571	150	15	4.2	4.2	NUM
ijassa-571	150	16	.	.	PUNCT
ijassa-571	151	1	results	result	NOUN
ijassa-571	151	2	for	for	ADP
ijassa-571	151	3	different	different	ADJ
ijassa-571	151	4	length	length	NOUN
ijassa-571	151	5	of	of	ADP
ijassa-571	151	6	edge	edge	NOUN
ijassa-571	151	7	of	of	ADP
ijassa-571	151	8	graph	graph	NOUN
ijassa-571	151	9	with	with	ADP
ijassa-571	151	10	/	/	SYM
ijassa-571	151	11	without	without	ADP
ijassa-571	151	12	rounding	round	VERB
ijassa-571	151	13	length	length	NOUN
ijassa-571	151	14	of	of	ADP
ijassa-571	151	15	edge	edge	NOUN
ijassa-571	151	16	of	of	ADP
ijassa-571	151	17	graph	graph	NOUN
ijassa-571	151	18	,	,	PUNCT
ijassa-571	151	19	km	km	NOUN
ijassa-571	151	20	evaluation	evaluation	NOUN
ijassa-571	151	21	of	of	ADP
ijassa-571	151	22	the	the	DET
ijassa-571	151	23	trajectory	trajectory	NOUN
ijassa-571	151	24	travel	travel	NOUN
ijassa-571	151	25	time	time	NOUN
ijassa-571	151	26	,	,	PUNCT
ijassa-571	151	27	hours	hour	NOUN
ijassa-571	151	28	calculation	calculation	NOUN
ijassa-571	151	29	time	time	NOUN
ijassa-571	151	30	hour	hour	NOUN
ijassa-571	151	31	:	:	PUNCT
ijassa-571	151	32	min	min	NOUN
ijassa-571	151	33	:	:	PUNCT
ijassa-571	151	34	sec	sec	ADJ
ijassa-571	151	35	number	number	NOUN
ijassa-571	151	36	of	of	ADP
ijassa-571	151	37	trajectories	trajectory	NOUN
ijassa-571	151	38	without	without	ADP
ijassa-571	151	39	rounding	round	VERB
ijassa-571	151	40	32	32	NUM
ijassa-571	151	41	0,4078	0,4078	NUM
ijassa-571	151	42	28,29	28,29	NUM
ijassa-571	151	43	00:01:50	00:01:50	NUM
ijassa-571	151	44	254	254	NUM
ijassa-571	151	45	with	with	ADP
ijassa-571	151	46	rounding	round	VERB
ijassa-571	151	47	32	32	NUM
ijassa-571	151	48	0,4078	0,4078	NUM
ijassa-571	151	49	28,29	28,29	NUM
ijassa-571	151	50	00:01:12	00:01:12	NUM
ijassa-571	151	51	245	245	NUM
ijassa-571	151	52	without	without	ADP
ijassa-571	151	53	rounding	round	VERB
ijassa-571	151	54	16	16	NUM
ijassa-571	151	55	0,5612	0,5612	PROPN
ijassa-571	151	56	21,05	21,05	NUM
ijassa-571	151	57	00:26:23	00:26:23	NUM
ijassa-571	151	58	1140	1140	NUM
ijassa-571	151	59	with	with	ADP
ijassa-571	151	60	rounding	round	VERB
ijassa-571	151	61	16	16	NUM
ijassa-571	151	62	0,5613	0,5613	PROPN
ijassa-571	151	63	21,05	21,05	NUM
ijassa-571	151	64	00:19:44	00:19:44	NUM
ijassa-571	151	65	1064	1064	NUM
ijassa-571	151	66	without	without	ADP
ijassa-571	151	67	rounding	round	VERB
ijassa-571	151	68	8	8	NUM
ijassa-571	151	69	0,6148	0,6148	NOUN
ijassa-571	151	70	18,4	18,4	NUM
ijassa-571	151	71	06:20:21	06:20:21	NUM
ijassa-571	151	72	2639	2639	NUM
ijassa-571	151	73	with	with	ADP
ijassa-571	151	74	rounding	round	VERB
ijassa-571	151	75	8	8	NUM
ijassa-571	151	76	0,6149	0,6149	NUM
ijassa-571	151	77	18,4	18,4	NOUN
ijassa-571	151	78	04:04:00	04:04:00	NUM
ijassa-571	151	79	2420	2420	NUM
ijassa-571	151	80	as	as	SCONJ
ijassa-571	151	81	follows	follow	VERB
ijassa-571	151	82	from	from	ADP
ijassa-571	151	83	the	the	DET
ijassa-571	151	84	table	table	NOUN
ijassa-571	151	85	,	,	PUNCT
ijassa-571	151	86	the	the	DET
ijassa-571	151	87	characteristics	characteristic	NOUN
ijassa-571	151	88	of	of	ADP
ijassa-571	151	89	the	the	DET
ijassa-571	151	90	generated	generate	VERB
ijassa-571	151	91	trajectories	trajectory	NOUN
ijassa-571	151	92	did	do	AUX
ijassa-571	151	93	not	not	PART
ijassa-571	151	94	change	change	VERB
ijassa-571	151	95	to	to	ADP
ijassa-571	151	96	two	two	NUM
ijassa-571	151	97	decimal	decimal	ADJ
ijassa-571	151	98	places	place	NOUN
ijassa-571	151	99	,	,	PUNCT
ijassa-571	151	100	and	and	CCONJ
ijassa-571	151	101	the	the	DET
ijassa-571	151	102	calculation	calculation	NOUN
ijassa-571	151	103	time	time	NOUN
ijassa-571	151	104	decreased	decrease	VERB
ijassa-571	151	105	.	.	PUNCT
ijassa-571	152	1	in	in	ADP
ijassa-571	152	2	order	order	NOUN
ijassa-571	152	3	to	to	PART
ijassa-571	152	4	reduce	reduce	VERB
ijassa-571	152	5	the	the	DET
ijassa-571	152	6	calculation	calculation	NOUN
ijassa-571	152	7	time	time	NOUN
ijassa-571	152	8	significantly	significantly	ADV
ijassa-571	152	9	,	,	PUNCT
ijassa-571	152	10	one	one	PRON
ijassa-571	152	11	can	can	AUX
ijassa-571	152	12	use	use	VERB
ijassa-571	152	13	a	a	DET
ijassa-571	152	14	shorter	short	ADJ
ijassa-571	152	15	algorithm	algorithm	NOUN
ijassa-571	152	16	.	.	PUNCT
ijassa-571	153	1	the	the	DET
ijassa-571	153	2	algorithm	algorithm	NOUN
ijassa-571	153	3	for	for	ADP
ijassa-571	153	4	generating	generate	VERB
ijassa-571	153	5	pareto	pareto	VERB
ijassa-571	153	6	-	-	PUNCT
ijassa-571	153	7	optimal	optimal	ADJ
ijassa-571	153	8	trajectories	trajectory	NOUN
ijassa-571	153	9	can	can	AUX
ijassa-571	153	10	be	be	AUX
ijassa-571	153	11	reduced	reduce	VERB
ijassa-571	153	12	as	as	SCONJ
ijassa-571	153	13	follows	follow	VERB
ijassa-571	153	14	:	:	PUNCT
ijassa-571	153	15	step	step	NOUN
ijassa-571	153	16	2	2	NUM
ijassa-571	153	17	:	:	PUNCT
ijassa-571	153	18	instead	instead	ADV
ijassa-571	153	19	of	of	ADP
ijassa-571	153	20	constructing	construct	VERB
ijassa-571	153	21	sets	set	NOUN
ijassa-571	153	22	of	of	ADP
ijassa-571	153	23	pareto	pareto	VERB
ijassa-571	153	24	-	-	PUNCT
ijassa-571	153	25	optimal	optimal	ADJ
ijassa-571	153	26	path	path	NOUN
ijassa-571	153	27	characteristics	characteristic	NOUN
ijassa-571	153	28	,	,	PUNCT
ijassa-571	153	29	calculate	calculate	VERB
ijassa-571	153	30	the	the	DET
ijassa-571	153	31	length	length	NOUN
ijassa-571	153	32	of	of	ADP
ijassa-571	153	33	the	the	DET
ijassa-571	153	34	optimal	optimal	ADJ
ijassa-571	153	35	path	path	NOUN
ijassa-571	153	36	by	by	ADP
ijassa-571	153	37	the	the	DET
ijassa-571	153	38	main	main	ADJ
ijassa-571	153	39	criterion	criterion	NOUN
ijassa-571	153	40	for	for	ADP
ijassa-571	153	41	each	each	DET
ijassa-571	153	42	level	level	NOUN
ijassa-571	153	43	of	of	ADP
ijassa-571	153	44	the	the	DET
ijassa-571	153	45	graph	graph	NOUN
ijassa-571	153	46	,	,	PUNCT
ijassa-571	153	47	for	for	ADP
ijassa-571	153	48	example	example	NOUN
ijassa-571	153	49	using	use	VERB
ijassa-571	153	50	the	the	DET
ijassa-571	153	51	dijkstra	dijkstra	ADJ
ijassa-571	153	52	algorithm	algorithm	NOUN
ijassa-571	153	53	.	.	PUNCT
ijassa-571	154	1	100	100	NUM
ijassa-571	154	2	e.l	e.l	PROPN
ijassa-571	154	3	.	.	PROPN
ijassa-571	154	4	kulida	kulida	PROPN
ijassa-571	154	5	copyright	copyright	PROPN
ijassa-571	154	6	©	©	PROPN
ijassa-571	154	7	2018	2018	NUM
ijassa-571	154	8	assa	assa	NOUN
ijassa-571	154	9	.	.	PUNCT
ijassa-571	155	1	adv	adv	PROPN
ijassa-571	155	2	.	.	PUNCT
ijassa-571	156	1	in	in	ADP
ijassa-571	156	2	systems	system	NOUN
ijassa-571	156	3	science	science	NOUN
ijassa-571	156	4	and	and	CCONJ
ijassa-571	156	5	appl	appl	NOUN
ijassa-571	156	6	.	.	PUNCT
ijassa-571	157	1	(	(	PUNCT
ijassa-571	157	2	2018	2018	NUM
ijassa-571	157	3	)	)	PUNCT
ijassa-571	157	4	step	step	NOUN
ijassa-571	157	5	3	3	NUM
ijassa-571	157	6	:	:	PUNCT
ijassa-571	157	7	for	for	SCONJ
ijassa-571	157	8	each	each	DET
ijassa-571	157	9	layer	layer	NOUN
ijassa-571	157	10	of	of	ADP
ijassa-571	157	11	the	the	DET
ijassa-571	157	12	graph	graph	NOUN
ijassa-571	157	13	construct	construct	VERB
ijassa-571	157	14	a	a	DET
ijassa-571	157	15	path	path	NOUN
ijassa-571	157	16	from	from	ADP
ijassa-571	157	17	vertex	vertex	NOUN
ijassa-571	157	18	a	a	PRON
ijassa-571	157	19	to	to	ADP
ijassa-571	157	20	vertex	vertex	PROPN
ijassa-571	157	21	b	b	NOUN
ijassa-571	157	22	,	,	PUNCT
ijassa-571	157	23	which	which	PRON
ijassa-571	157	24	is	be	AUX
ijassa-571	157	25	optimal	optimal	ADJ
ijassa-571	157	26	by	by	ADP
ijassa-571	157	27	the	the	DET
ijassa-571	157	28	main	main	ADJ
ijassa-571	157	29	criterion	criterion	NOUN
ijassa-571	157	30	,	,	PUNCT
ijassa-571	157	31	i.e.	i.e.	X
ijassa-571	157	32	with	with	ADP
ijassa-571	157	33	a	a	DET
ijassa-571	157	34	minimal	minimal	ADJ
ijassa-571	157	35	cost	cost	NOUN
ijassa-571	157	36	.	.	PUNCT
ijassa-571	158	1	we	we	PRON
ijassa-571	158	2	denote	denote	VERB
ijassa-571	158	3	by	by	ADP
ijassa-571	158	4	n	n	X
ijassa-571	158	5	*	*	NOUN
ijassa-571	158	6	all	all	DET
ijassa-571	158	7	the	the	DET
ijassa-571	158	8	vertices	vertex	NOUN
ijassa-571	158	9	through	through	ADP
ijassa-571	158	10	which	which	PRON
ijassa-571	158	11	constructed	construct	VERB
ijassa-571	158	12	paths	path	NOUN
ijassa-571	158	13	pass	pass	VERB
ijassa-571	158	14	.	.	PUNCT
ijassa-571	159	1	the	the	DET
ijassa-571	159	2	other	other	ADJ
ijassa-571	159	3	steps	step	NOUN
ijassa-571	159	4	of	of	ADP
ijassa-571	159	5	the	the	DET
ijassa-571	159	6	algorithm	algorithm	NOUN
ijassa-571	159	7	remain	remain	VERB
ijassa-571	159	8	unchanged	unchanged	ADJ
ijassa-571	159	9	.	.	PUNCT
ijassa-571	160	1	the	the	DET
ijassa-571	160	2	results	result	NOUN
ijassa-571	160	3	of	of	ADP
ijassa-571	160	4	the	the	DET
ijassa-571	160	5	comparison	comparison	NOUN
ijassa-571	160	6	of	of	ADP
ijassa-571	160	7	the	the	DET
ijassa-571	160	8	algorithm	algorithm	NOUN
ijassa-571	160	9	1	1	NUM
ijassa-571	160	10	(	(	PUNCT
ijassa-571	160	11	source	source	NOUN
ijassa-571	160	12	)	)	PUNCT
ijassa-571	160	13	and	and	CCONJ
ijassa-571	160	14	the	the	DET
ijassa-571	160	15	algorithm	algorithm	NOUN
ijassa-571	160	16	2	2	NUM
ijassa-571	160	17	(	(	PUNCT
ijassa-571	160	18	reduced	reduce	VERB
ijassa-571	160	19	)	)	PUNCT
ijassa-571	160	20	are	be	AUX
ijassa-571	160	21	presented	present	VERB
ijassa-571	160	22	in	in	ADP
ijassa-571	160	23	the	the	DET
ijassa-571	160	24	table	table	NOUN
ijassa-571	160	25	4.3	4.3	NUM
ijassa-571	160	26	.	.	PUNCT
ijassa-571	160	27	table	table	NOUN
ijassa-571	160	28	4.3	4.3	NUM
ijassa-571	160	29	.	.	PUNCT
ijassa-571	161	1	the	the	DET
ijassa-571	161	2	results	result	NOUN
ijassa-571	161	3	of	of	ADP
ijassa-571	161	4	the	the	DET
ijassa-571	161	5	comparison	comparison	NOUN
ijassa-571	161	6	of	of	ADP
ijassa-571	161	7	the	the	DET
ijassa-571	161	8	algorithm	algorithm	NOUN
ijassa-571	161	9	1	1	NUM
ijassa-571	161	10	and	and	CCONJ
ijassa-571	161	11	the	the	DET
ijassa-571	161	12	algorithm	algorithm	NOUN
ijassa-571	161	13	2	2	NUM
ijassa-571	161	14	length	length	NOUN
ijassa-571	161	15	of	of	ADP
ijassa-571	161	16	edge	edge	NOUN
ijassa-571	161	17	of	of	ADP
ijassa-571	161	18	graph	graph	NOUN
ijassa-571	161	19	,	,	PUNCT
ijassa-571	161	20	km	km	NOUN
ijassa-571	161	21	evaluation	evaluation	NOUN
ijassa-571	161	22	of	of	ADP
ijassa-571	161	23	the	the	DET
ijassa-571	161	24	trajectory	trajectory	NOUN
ijassa-571	161	25	travel	travel	NOUN
ijassa-571	161	26	time	time	NOUN
ijassa-571	161	27	,	,	PUNCT
ijassa-571	161	28	hours	hour	NOUN
ijassa-571	161	29	сalculation	сalculation	NOUN
ijassa-571	161	30	time	time	NOUN
ijassa-571	161	31	hour	hour	NOUN
ijassa-571	161	32	:	:	PUNCT
ijassa-571	161	33	min	min	NOUN
ijassa-571	161	34	:	:	PUNCT
ijassa-571	161	35	sec	sec	PROPN
ijassa-571	161	36	тumber	тumber	NOUN
ijassa-571	161	37	of	of	ADP
ijassa-571	161	38	trajectories	trajectory	NOUN
ijassa-571	161	39	algorithm	algorithm	VERB
ijassa-571	161	40	1	1	NUM
ijassa-571	161	41	32	32	NUM
ijassa-571	161	42	0,4078	0,4078	NUM
ijassa-571	161	43	28,29	28,29	NUM
ijassa-571	161	44	00:01:12	00:01:12	NUM
ijassa-571	161	45	245	245	NUM
ijassa-571	161	46	algorithm	algorithm	NOUN
ijassa-571	161	47	2	2	NUM
ijassa-571	161	48	32	32	NUM
ijassa-571	161	49	0,332	0,332	NUM
ijassa-571	161	50	27,79	27,79	NUM
ijassa-571	161	51	00:00:14	00:00:14	NUM
ijassa-571	161	52	65	65	NUM
ijassa-571	161	53	algorithm	algorithm	NOUN
ijassa-571	161	54	1	1	NUM
ijassa-571	161	55	16	16	NUM
ijassa-571	161	56	0,5613	0,5613	PROPN
ijassa-571	161	57	21,05	21,05	NUM
ijassa-571	161	58	00:19:44	00:19:44	NUM
ijassa-571	161	59	1064	1064	NUM
ijassa-571	161	60	algorithm	algorithm	NOUN
ijassa-571	161	61	2	2	NUM
ijassa-571	161	62	16	16	NUM
ijassa-571	161	63	0,5291	0,5291	PROPN
ijassa-571	161	64	20,67	20,67	NUM
ijassa-571	161	65	00:01:33	00:01:33	NUM
ijassa-571	161	66	262	262	NUM
ijassa-571	161	67	algorithm	algorithm	NOUN
ijassa-571	161	68	1	1	NUM
ijassa-571	161	69	8	8	NUM
ijassa-571	161	70	0,6149	0,6149	NUM
ijassa-571	161	71	18,4	18,4	NOUN
ijassa-571	161	72	04:04:00	04:04:00	NUM
ijassa-571	161	73	2420	2420	NUM
ijassa-571	161	74	algorithm	algorithm	NOUN
ijassa-571	161	75	2	2	NUM
ijassa-571	161	76	8	8	NUM
ijassa-571	161	77	0,5968	0,5968	NUM
ijassa-571	161	78	19,16	19,16	NUM
ijassa-571	161	79	00:12:16	00:12:16	NUM
ijassa-571	161	80	553	553	NUM
ijassa-571	161	81	5.conclusion	5.conclusion	NUM
ijassa-571	161	82	the	the	DET
ijassa-571	161	83	article	article	NOUN
ijassa-571	161	84	presents	present	VERB
ijassa-571	161	85	two	two	NUM
ijassa-571	161	86	algorithms	algorithm	NOUN
ijassa-571	161	87	for	for	ADP
ijassa-571	161	88	constructing	construct	VERB
ijassa-571	161	89	pareto	pareto	VERB
ijassa-571	161	90	-	-	PUNCT
ijassa-571	161	91	optimal	optimal	ADJ
ijassa-571	161	92	trajectories	trajectory	NOUN
ijassa-571	161	93	of	of	ADP
ijassa-571	161	94	object	object	NOUN
ijassa-571	161	95	motion	motion	NOUN
ijassa-571	161	96	.	.	PUNCT
ijassa-571	162	1	optimization	optimization	NOUN
ijassa-571	162	2	by	by	ADP
ijassa-571	162	3	the	the	DET
ijassa-571	162	4	two	two	NUM
ijassa-571	162	5	criteria	criterion	NOUN
ijassa-571	162	6	makes	make	VERB
ijassa-571	162	7	it	it	PRON
ijassa-571	162	8	possible	possible	ADJ
ijassa-571	162	9	to	to	PART
ijassa-571	162	10	obtain	obtain	VERB
ijassa-571	162	11	trajectories	trajectory	NOUN
ijassa-571	162	12	that	that	PRON
ijassa-571	162	13	are	be	AUX
ijassa-571	162	14	optimal	optimal	ADJ
ijassa-571	162	15	by	by	ADP
ijassa-571	162	16	the	the	DET
ijassa-571	162	17	main	main	ADJ
ijassa-571	162	18	criterion	criterion	NOUN
ijassa-571	162	19	and	and	CCONJ
ijassa-571	162	20	satisfy	satisfy	VERB
ijassa-571	162	21	a	a	DET
ijassa-571	162	22	given	give	VERB
ijassa-571	162	23	time	time	NOUN
ijassa-571	162	24	limit	limit	NOUN
ijassa-571	162	25	.	.	PUNCT
ijassa-571	163	1	the	the	DET
ijassa-571	163	2	results	result	NOUN
ijassa-571	163	3	of	of	ADP
ijassa-571	163	4	numerical	numerical	ADJ
ijassa-571	163	5	experiments	experiment	NOUN
ijassa-571	163	6	are	be	AUX
ijassa-571	163	7	presented	present	VERB
ijassa-571	163	8	.	.	PUNCT
ijassa-571	164	1	the	the	DET
ijassa-571	164	2	following	following	ADJ
ijassa-571	164	3	result	result	NOUN
ijassa-571	164	4	is	be	AUX
ijassa-571	164	5	obtained	obtain	VERB
ijassa-571	164	6	by	by	ADP
ijassa-571	164	7	comparing	compare	VERB
ijassa-571	164	8	the	the	DET
ijassa-571	164	9	two	two	NUM
ijassa-571	164	10	proposed	propose	VERB
ijassa-571	164	11	algorithms	algorithm	NOUN
ijassa-571	164	12	.	.	PUNCT
ijassa-571	165	1	in	in	ADP
ijassa-571	165	2	algorithm	algorithm	NOUN
ijassa-571	165	3	2	2	NUM
ijassa-571	165	4	,	,	PUNCT
ijassa-571	165	5	the	the	DET
ijassa-571	165	6	number	number	NOUN
ijassa-571	165	7	of	of	ADP
ijassa-571	165	8	generated	generate	VERB
ijassa-571	165	9	trajectories	trajectory	NOUN
ijassa-571	165	10	is	be	AUX
ijassa-571	165	11	reduced	reduce	VERB
ijassa-571	165	12	significantly	significantly	ADV
ijassa-571	165	13	,	,	PUNCT
ijassa-571	165	14	while	while	SCONJ
ijassa-571	165	15	the	the	DET
ijassa-571	165	16	accuracy	accuracy	NOUN
ijassa-571	165	17	of	of	ADP
ijassa-571	165	18	the	the	DET
ijassa-571	165	19	best	good	ADJ
ijassa-571	165	20	solution	solution	NOUN
ijassa-571	165	21	decreases	decrease	VERB
ijassa-571	165	22	insignificantly	insignificantly	ADV
ijassa-571	165	23	,	,	PUNCT
ijassa-571	165	24	and	and	CCONJ
ijassa-571	165	25	the	the	DET
ijassa-571	165	26	calculation	calculation	NOUN
ijassa-571	165	27	time	time	NOUN
ijassa-571	165	28	decreases	decrease	VERB
ijassa-571	165	29	very	very	ADV
ijassa-571	165	30	significantly	significantly	ADV
ijassa-571	165	31	.	.	PUNCT
ijassa-571	166	1	as	as	SCONJ
ijassa-571	166	2	can	can	AUX
ijassa-571	166	3	be	be	AUX
ijassa-571	166	4	seen	see	VERB
ijassa-571	166	5	from	from	ADP
ijassa-571	166	6	the	the	DET
ijassa-571	166	7	table	table	NOUN
ijassa-571	166	8	3	3	NUM
ijassa-571	166	9	,	,	PUNCT
ijassa-571	166	10	in	in	ADP
ijassa-571	166	11	the	the	DET
ijassa-571	166	12	case	case	NOUN
ijassa-571	166	13	where	where	SCONJ
ijassa-571	166	14	the	the	DET
ijassa-571	166	15	edge	edge	NOUN
ijassa-571	166	16	of	of	ADP
ijassa-571	166	17	the	the	DET
ijassa-571	166	18	graph	graph	NOUN
ijassa-571	166	19	is	be	AUX
ijassa-571	166	20	8	8	NUM
ijassa-571	166	21	km	km	NOUN
ijassa-571	166	22	,	,	PUNCT
ijassa-571	166	23	the	the	DET
ijassa-571	166	24	calculation	calculation	NOUN
ijassa-571	166	25	time	time	NOUN
ijassa-571	166	26	has	have	AUX
ijassa-571	166	27	decreased	decrease	VERB
ijassa-571	166	28	by	by	ADP
ijassa-571	166	29	more	more	ADJ
ijassa-571	166	30	than	than	ADP
ijassa-571	166	31	20	20	NUM
ijassa-571	166	32	times	time	NOUN
ijassa-571	166	33	!	!	PUNCT
ijassa-571	167	1	references	reference	NOUN
ijassa-571	167	2	[	[	X
ijassa-571	167	3	1	1	NUM
ijassa-571	167	4	]	]	X
ijassa-571	167	5	bazhenov	bazhenov	NOUN
ijassa-571	167	6	,	,	PUNCT
ijassa-571	167	7	s.g	s.g	PROPN
ijassa-571	167	8	.	.	PROPN
ijassa-571	167	9	,	,	PUNCT
ijassa-571	167	10	egorov	egorov	PROPN
ijassa-571	167	11	,	,	PUNCT
ijassa-571	167	12	n.a	n.a	PROPN
ijassa-571	167	13	.	.	PROPN
ijassa-571	167	14	,	,	PUNCT
ijassa-571	167	15	kulida	kulida	PROPN
ijassa-571	167	16	,	,	PUNCT
ijassa-571	167	17	e.l	e.l	PROPN
ijassa-571	167	18	.	.	PROPN
ijassa-571	167	19	,	,	PUNCT
ijassa-571	167	20	&	&	CCONJ
ijassa-571	167	21	lebedev	lebedev	PROPN
ijassa-571	167	22	,	,	PUNCT
ijassa-571	167	23	v.g	v.g	PROPN
ijassa-571	167	24	.	.	PROPN
ijassa-571	167	25	(	(	PUNCT
ijassa-571	167	26	2016	2016	NUM
ijassa-571	167	27	)	)	PUNCT
ijassa-571	167	28	.	.	PUNCT
ijassa-571	168	1	control	control	NOUN
ijassa-571	168	2	of	of	ADP
ijassa-571	168	3	aircraft	aircraft	NOUN
ijassa-571	168	4	trajectory	trajectory	NOUN
ijassa-571	168	5	and	and	CCONJ
ijassa-571	168	6	speed	speed	NOUN
ijassa-571	168	7	to	to	PART
ijassa-571	168	8	avoid	avoid	VERB
ijassa-571	168	9	terrain	terrain	NOUN
ijassa-571	168	10	and	and	CCONJ
ijassa-571	168	11	traffic	traffic	NOUN
ijassa-571	168	12	conflicts	conflict	NOUN
ijassa-571	168	13	during	during	ADP
ijassa-571	168	14	approach	approach	NOUN
ijassa-571	168	15	maneuvering	maneuvering	NOUN
ijassa-571	168	16	,	,	PUNCT
ijassa-571	168	17	automation	automation	NOUN
ijassa-571	168	18	and	and	CCONJ
ijassa-571	168	19	remote	remote	ADJ
ijassa-571	168	20	control	control	NOUN
ijassa-571	168	21	77(10	77(10	NUM
ijassa-571	168	22	)	)	PUNCT
ijassa-571	168	23	,	,	PUNCT
ijassa-571	168	24	1827	1827	NUM
ijassa-571	168	25	-	-	SYM
ijassa-571	168	26	1837	1837	NUM
ijassa-571	168	27	.	.	PUNCT
ijassa-571	169	1	[	[	X
ijassa-571	169	2	2	2	NUM
ijassa-571	169	3	]	]	X
ijassa-571	169	4	bazhenov	bazhenov	NOUN
ijassa-571	169	5	,	,	PUNCT
ijassa-571	169	6	s.g	s.g	PROPN
ijassa-571	169	7	.	.	PROPN
ijassa-571	169	8	,	,	PUNCT
ijassa-571	169	9	korolyov	korolyov	PROPN
ijassa-571	169	10	,	,	PUNCT
ijassa-571	169	11	v.s.	v.s.	PROPN
ijassa-571	169	12	,	,	PUNCT
ijassa-571	169	13	kulida	kulida	PROPN
ijassa-571	169	14	,	,	PUNCT
ijassa-571	169	15	e.l	e.l	PROPN
ijassa-571	169	16	.	.	PROPN
ijassa-571	169	17	,	,	PUNCT
ijassa-571	169	18	&	&	CCONJ
ijassa-571	169	19	lebedev	lebedev	PROPN
ijassa-571	169	20	,	,	PUNCT
ijassa-571	169	21	v.g	v.g	PROPN
ijassa-571	169	22	.	.	PROPN
ijassa-571	169	23	(	(	PUNCT
ijassa-571	169	24	2014	2014	NUM
ijassa-571	169	25	)	)	PUNCT
ijassa-571	169	26	.	.	PUNCT
ijassa-571	169	27	simulation	simulation	NOUN
ijassa-571	169	28	of	of	ADP
ijassa-571	169	29	on	on	ADP
ijassa-571	169	30	-	-	PUNCT
ijassa-571	169	31	board	board	NOUN
ijassa-571	169	32	model	model	NOUN
ijassa-571	169	33	of	of	ADP
ijassa-571	169	34	airliner	airliner	NOUN
ijassa-571	169	35	to	to	PART
ijassa-571	169	36	evaluate	evaluate	VERB
ijassa-571	169	37	capability	capability	NOUN
ijassa-571	169	38	of	of	ADP
ijassa-571	169	39	trajectories	trajectory	NOUN
ijassa-571	169	40	and	and	CCONJ
ijassa-571	169	41	flight	flight	NOUN
ijassa-571	169	42	safety	safety	NOUN
ijassa-571	169	43	.	.	PUNCT
ijassa-571	170	1	29th	29th	ADJ
ijassa-571	170	2	congress	congress	NOUN
ijassa-571	170	3	of	of	ADP
ijassa-571	170	4	the	the	DET
ijassa-571	170	5	international	international	ADJ
ijassa-571	170	6	council	council	NOUN
ijassa-571	170	7	of	of	ADP
ijassa-571	170	8	the	the	DET
ijassa-571	170	9	aeronautical	aeronautical	PROPN
ijassa-571	170	10	sciences	sciences	PROPN
ijassa-571	170	11	,	,	PUNCT
ijassa-571	170	12	icas	icas	PROPN
ijassa-571	170	13	2014	2014	NUM
ijassa-571	170	14	.	.	PUNCT
ijassa-571	171	1	[	[	X
ijassa-571	171	2	3	3	X
ijassa-571	171	3	]	]	X
ijassa-571	171	4	diaz	diaz	PROPN
ijassa-571	171	5	y.	y.	PROPN
ijassa-571	171	6	,	,	PUNCT
ijassa-571	171	7	lee	lee	PROPN
ijassa-571	171	8	s.	s.	PROPN
ijassa-571	171	9	,	,	PUNCT
ijassa-571	171	10	egerstedt	egerstedt	NOUN
ijassa-571	171	11	m.	m.	NOUN
ijassa-571	171	12	,	,	PUNCT
ijassa-571	171	13	&	&	CCONJ
ijassa-571	171	14	young	young	ADJ
ijassa-571	171	15	s.	s.	PROPN
ijassa-571	171	16	(	(	PUNCT
ijassa-571	171	17	2013	2013	NUM
ijassa-571	171	18	)	)	PUNCT
ijassa-571	171	19	optimal	optimal	ADJ
ijassa-571	171	20	trajectory	trajectory	NOUN
ijassa-571	171	21	generation	generation	NOUN
ijassa-571	171	22	for	for	ADP
ijassa-571	171	23	next	next	ADJ
ijassa-571	171	24	generation	generation	NOUN
ijassa-571	171	25	flight	flight	NOUN
ijassa-571	171	26	management	management	NOUN
ijassa-571	171	27	systems	system	NOUN
ijassa-571	171	28	.	.	PUNCT
ijassa-571	172	1	32nd	32nd	ADJ
ijassa-571	172	2	digital	digital	ADJ
ijassa-571	172	3	avionics	avionic	NOUN
ijassa-571	172	4	systems	system	NOUN
ijassa-571	172	5	conference	conference	NOUN
ijassa-571	172	6	.	.	PUNCT
ijassa-571	173	1	[	[	X
ijassa-571	173	2	4	4	NUM
ijassa-571	173	3	]	]	X
ijassa-571	173	4	dobrovidov	dobrovidov	PROPN
ijassa-571	173	5	,	,	PUNCT
ijassa-571	173	6	a.v	a.v	PROPN
ijassa-571	173	7	.	.	PROPN
ijassa-571	173	8	,	,	PUNCT
ijassa-571	173	9	kulida	kulida	PROPN
ijassa-571	173	10	,	,	PUNCT
ijassa-571	173	11	e.l	e.l	PROPN
ijassa-571	173	12	.	.	PROPN
ijassa-571	173	13	,	,	PUNCT
ijassa-571	173	14	&	&	CCONJ
ijassa-571	173	15	rudko	rudko	PROPN
ijassa-571	173	16	,	,	PUNCT
ijassa-571	173	17	i.m	i.m	PROPN
ijassa-571	173	18	.	.	PUNCT
ijassa-571	173	19	(	(	PUNCT
ijassa-571	173	20	2015	2015	NUM
ijassa-571	173	21	)	)	PUNCT
ijassa-571	173	22	path	path	NOUN
ijassa-571	173	23	optimization	optimization	NOUN
ijassa-571	173	24	for	for	ADP
ijassa-571	173	25	a	a	DET
ijassa-571	173	26	moving	move	VERB
ijassa-571	173	27	object	object	NOUN
ijassa-571	173	28	in	in	ADP
ijassa-571	173	29	an	an	DET
ijassa-571	173	30	anisotropic	anisotropic	NOUN
ijassa-571	173	31	environment	environment	NOUN
ijassa-571	173	32	using	use	VERB
ijassa-571	173	33	the	the	DET
ijassa-571	173	34	probabilistic	probabilistic	ADJ
ijassa-571	173	35	criterion	criterion	NOUN
ijassa-571	173	36	in	in	ADP
ijassa-571	173	37	the	the	DET
ijassa-571	173	38	passive	passive	ADJ
ijassa-571	173	39	sonar	sonar	ADJ
ijassa-571	173	40	mode	mode	NOUN
ijassa-571	173	41	.	.	PUNCT
ijassa-571	174	1	automation	automation	NOUN
ijassa-571	174	2	and	and	CCONJ
ijassa-571	174	3	remote	remote	ADJ
ijassa-571	174	4	control	control	NOUN
ijassa-571	174	5	,	,	PUNCT
ijassa-571	174	6	76(7	76(7	NOUN
ijassa-571	174	7	)	)	PUNCT
ijassa-571	174	8	,	,	PUNCT
ijassa-571	174	9	1271	1271	NUM
ijassa-571	174	10	-	-	SYM
ijassa-571	174	11	1281	1281	NUM
ijassa-571	174	12	.	.	PUNCT
ijassa-571	175	1	[	[	X
ijassa-571	175	2	5	5	NUM
ijassa-571	175	3	]	]	X
ijassa-571	175	4	hehn	hehn	NOUN
ijassa-571	175	5	,	,	PUNCT
ijassa-571	175	6	m.	m.	NOUN
ijassa-571	175	7	,	,	PUNCT
ijassa-571	175	8	&	&	CCONJ
ijassa-571	175	9	andrea	andrea	PROPN
ijassa-571	175	10	r.d	r.d	PROPN
ijassa-571	175	11	.	.	PROPN
ijassa-571	175	12	(	(	PUNCT
ijassa-571	175	13	2011	2011	NUM
ijassa-571	175	14	)	)	PUNCT
ijassa-571	175	15	quadrocopter	quadrocopter	NOUN
ijassa-571	175	16	trajectory	trajectory	NOUN
ijassa-571	175	17	generation	generation	NOUN
ijassa-571	175	18	and	and	CCONJ
ijassa-571	175	19	control	control	NOUN
ijassa-571	175	20	.	.	PUNCT
ijassa-571	176	1	18th	18th	ADJ
ijassa-571	176	2	ifac	ifac	NOUN
ijassa-571	176	3	world	world	PROPN
ijassa-571	176	4	congress	congress	PROPN
ijassa-571	176	5	,	,	PUNCT
ijassa-571	176	6	vol	vol	NOUN
ijassa-571	176	7	.	.	PROPN
ijassa-571	176	8	18	18	NUM
ijassa-571	176	9	,	,	PUNCT
ijassa-571	176	10	1485–1491	1485–1491	NUM
ijassa-571	176	11	.	.	PUNCT
ijassa-571	177	1	a	a	DET
ijassa-571	177	2	two	two	NUM
ijassa-571	177	3	-	-	PUNCT
ijassa-571	177	4	stage	stage	NOUN
ijassa-571	177	5	algorithm	algorithm	NOUN
ijassa-571	177	6	for	for	ADP
ijassa-571	177	7	generating	generate	VERB
ijassa-571	177	8	a	a	DET
ijassa-571	177	9	set	set	NOUN
ijassa-571	177	10	of	of	ADP
ijassa-571	177	11	pareto	pareto	VERB
ijassa-571	177	12	-	-	PUNCT
ijassa-571	177	13	optimal	optimal	ADJ
ijassa-571	177	14	trajectories	trajectory	NOUN
ijassa-571	177	15	of	of	ADP
ijassa-571	177	16	an	an	DET
ijassa-571	177	17	object	object	NOUN
ijassa-571	177	18	101	101	NUM
ijassa-571	177	19	copyright	copyright	NOUN
ijassa-571	177	20	©	©	PROPN
ijassa-571	177	21	2018	2018	NUM
ijassa-571	177	22	assa	assa	NOUN
ijassa-571	177	23	.	.	PUNCT
ijassa-571	178	1	adv	adv	PROPN
ijassa-571	178	2	.	.	PUNCT
ijassa-571	179	1	in	in	ADP
ijassa-571	179	2	systems	system	NOUN
ijassa-571	179	3	science	science	NOUN
ijassa-571	179	4	and	and	CCONJ
ijassa-571	179	5	appl	appl	NOUN
ijassa-571	179	6	.	.	PUNCT
ijassa-571	180	1	(	(	PUNCT
ijassa-571	180	2	2018	2018	NUM
ijassa-571	180	3	)	)	PUNCT
ijassa-571	181	1	[	[	X
ijassa-571	181	2	6	6	NUM
ijassa-571	181	3	]	]	X
ijassa-571	181	4	zabarankin	zabarankin	X
ijassa-571	181	5	,	,	PUNCT
ijassa-571	181	6	m.	m.	NOUN
ijassa-571	181	7	,	,	PUNCT
ijassa-571	181	8	uryasev	uryasev	PROPN
ijassa-571	181	9	,	,	PUNCT
ijassa-571	181	10	s.	s.	PROPN
ijassa-571	181	11	and	and	CCONJ
ijassa-571	181	12	pardalos	pardalos	PROPN
ijassa-571	181	13	p.	p.	PROPN
ijassa-571	181	14	(	(	PUNCT
ijassa-571	181	15	2002	2002	NUM
ijassa-571	181	16	)	)	PUNCT
ijassa-571	181	17	.	.	PUNCT
ijassa-571	182	1	optimal	optimal	ADJ
ijassa-571	182	2	risk	risk	NOUN
ijassa-571	182	3	path	path	NOUN
ijassa-571	182	4	algorithms	algorithm	NOUN
ijassa-571	182	5	.	.	PUNCT
ijassa-571	183	1	cooperative	cooperative	ADJ
ijassa-571	183	2	control	control	NOUN
ijassa-571	183	3	and	and	CCONJ
ijassa-571	183	4	optimization	optimization	NOUN
ijassa-571	183	5	(	(	PUNCT
ijassa-571	183	6	r.	r.	PROPN
ijassa-571	183	7	murphey	murphey	PROPN
ijassa-571	183	8	and	and	CCONJ
ijassa-571	183	9	p.	p.	PROPN
ijassa-571	183	10	pardalos	pardalo	NOUN
ijassa-571	184	1	ed	ed	PROPN
ijassa-571	184	2	.	.	PUNCT
ijassa-571	184	3	)	)	PUNCT
ijassa-571	184	4	,	,	PUNCT
ijassa-571	184	5	kluwer	kluwer	NOUN
ijassa-571	184	6	academic	academic	ADJ
ijassa-571	184	7	publishers	publisher	NOUN
ijassa-571	184	8	,	,	PUNCT
ijassa-571	184	9	dordrecht	dordrecht	NOUN
ijassa-571	184	10	,	,	PUNCT
ijassa-571	184	11	vol	vol	NOUN
ijassa-571	184	12	.	.	PROPN
ijassa-571	184	13	66	66	NUM
ijassa-571	184	14	,	,	PUNCT
ijassa-571	184	15	271–303	271–303	NUM
ijassa-571	184	16	.	.	PUNCT